+ python -m lidar_slam --no-model /working/cc565e2a-c168-462e-a9c1-b82429f904d4 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/cc565e2a-c168-462e-a9c1-b82429f904d4 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 0.021052754 Adjusted end_distance from 9.223372036854776e+18 to 124.961052754 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021052754 meters 0.0634443042115122 Centerline is valid? [0, True] SLAMing on 0.051052754 meters 0.06439471651478307 Centerline is valid? [True, True] Translation: X:0.03, Y:0.01, Z:0.01 [[ 9.99993878e-01 1.96734291e-03 2.89369767e-03 2.98926005e-02] [-1.96722951e-03 9.99998064e-01 -4.20327259e-05 8.88279217e-03] [-2.89377476e-03 3.63399011e-05 9.99995812e-01 5.45693587e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.081052754 meters 0.06533632427559422 Centerline is valid? [True, True] Translation: X:0.06, Y:0.02, Z:0.01 [[ 9.99981497e-01 4.65674465e-03 3.91416331e-03 6.11055182e-02] [-4.65655124e-03 9.99989156e-01 -5.85237507e-05 1.82981567e-02] [-3.91439340e-03 4.02961659e-05 9.99992338e-01 9.30233049e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.111052754 meters 0.06664189951786635 Centerline is valid? [True, True] Translation: X:0.09, Y:0.04, Z:0.00 [[ 9.99918033e-01 9.08230833e-03 9.02431014e-03 9.32122492e-02] [-9.08147947e-03 9.99958754e-01 -1.32822637e-04 4.05147327e-02] [-9.02514426e-03 5.08576626e-05 9.99959271e-01 2.31522816e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.141052754 meters 0.06869561875673505 Centerline is valid? [True, True] Translation: X:0.12, Y:0.06, Z:0.00 [[ 9.99848085e-01 1.21746084e-02 1.24734388e-02 1.24404479e-01] [-1.21732743e-02 9.99925886e-01 -1.82873464e-04 5.61834077e-02] [-1.24747408e-02 3.10030905e-05 9.99922187e-01 1.85080734e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.171052754 meters 0.07007792881595697 Centerline is valid? [True, True] Translation: X:0.16, Y:0.06, Z:0.00 [[ 9.99807940e-01 1.23089470e-02 1.52503465e-02 1.56046049e-01] [-1.23069550e-02 9.99924241e-01 -2.24467640e-04 6.11300764e-02] [-1.52519541e-02 3.67392013e-05 9.99883682e-01 2.15005018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.201052754 meters 0.07247826828322489 Centerline is valid? [True, True] Translation: X:0.19, Y:0.07, Z:0.00 [[ 9.99728689e-01 1.40097975e-02 1.86084566e-02 1.86384924e-01] [-1.40071493e-02 9.99901858e-01 -2.72647705e-04 7.12594303e-02] [-1.86104501e-02 1.19223024e-05 9.99826811e-01 2.94261166e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.231052754 meters 0.07600506268958111 Centerline is valid? [True, True] Translation: X:0.22, Y:0.08, Z:0.00 [[ 9.99645034e-01 1.47846714e-02 2.21634621e-02 2.17688588e-01] [-1.47810861e-02 9.99890701e-01 -3.25586980e-04 7.70720315e-02] [-2.21658534e-02 -2.12863365e-06 9.99754307e-01 1.36025784e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.261052754 meters 0.07763777028748749 Centerline is valid? [True, True] Translation: X:0.25, Y:0.08, Z:-0.00 [[ 9.99575949e-01 1.71947982e-02 2.35002224e-02 2.49612474e-01] [-1.71911661e-02 9.99852157e-01 -3.56588876e-04 8.21221928e-02] [-2.35028796e-02 -4.75585634e-05 9.99723768e-01 -4.84578259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.291052754 meters 0.08306492159137663 Centerline is valid? [True, True] Translation: X:0.28, Y:0.09, Z:0.00 [[ 9.99295479e-01 2.15361557e-02 3.07366157e-02 2.78895509e-01] [-2.15323003e-02 9.99768049e-01 -4.56458545e-04 9.11754783e-02] [-3.07393167e-02 -2.05693079e-04 9.99527414e-01 3.56028875e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.321052754 meters 0.09120489455281255 Centerline is valid? [True, True] Translation: X:0.31, Y:0.10, Z:-0.00 [[ 9.99009528e-01 2.37595604e-02 3.76224189e-02 3.08758529e-01] [-2.37552960e-02 9.99717646e-01 -5.60432578e-04 9.56845553e-02] [-3.76251117e-02 -3.33854211e-04 9.99291869e-01 -9.95118517e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35105275399999997 meters 0.0971710876838101 Centerline is valid? [True, True] Translation: X:0.34, Y:0.10, Z:-0.01 [[ 9.98920774e-01 2.37408168e-02 3.99206784e-02 3.40438206e-01] [-2.37359267e-02 9.99718085e-01 -5.96524381e-04 9.59171516e-02] [-3.99235861e-02 -3.51673701e-04 9.99202674e-01 -1.23602489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.381052754 meters 0.1350315974958089 Centerline is valid? [True, False] Translation: X:0.36, Y:0.10, Z:-0.00 [[ 0.99960325 0.02264268 0.01675247 0.35609414] [-0.02262035 0.99974297 -0.00152133 0.09599969] [-0.01678261 0.00114178 0.99985851 -0.00468017] [ 0. 0. 0. 1. ]] SLAMing on 0.411052754 meters 0.13501110637741093 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:-0.00 [[ 0.99960635 0.02261999 0.01659764 0.3565268 ] [-0.02259946 0.99974359 -0.00142325 0.09541137] [-0.01662558 0.00104759 0.99986124 -0.00489905] [ 0. 0. 0. 1. ]] SLAMing on 0.441052754 meters 0.14125384142531688 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:-0.01 [[ 0.99986508 0.00944543 0.01343911 0.35984243] [-0.0094847 0.99995093 0.00286147 0.0982564 ] [-0.01341142 -0.00298855 0.9999056 -0.00737244] [ 0. 0. 0. 1. ]] SLAMing on 0.47105275399999996 meters 0.14161920166898728 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:-0.01 [[ 0.99990595 0.00475967 0.01286258 0.36162711] [-0.0047366 0.99998712 -0.00182336 0.09889706] [-0.01287109 0.00176227 0.99991561 -0.00847221] [ 0. 0. 0. 1. ]] SLAMing on 0.5010527539999999 meters 0.1474146767158812 Centerline is valid? [False, False] Translation: X:0.36, Y:0.10, Z:-0.01 [[ 0.99991037 0.00476516 0.01251159 0.36292374] [-0.00474654 0.99998758 -0.00151708 0.09761857] [-0.01251866 0.00145755 0.99992058 -0.00937184] [ 0. 0. 0. 1. ]] SLAMing on 0.531052754 meters 0.16881615150901208 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:-0.01 [[ 0.99992717 0.00324981 0.01162271 0.36645832] [-0.00322229 0.99999196 -0.00238564 0.09676254] [-0.01163037 0.00234801 0.99992961 -0.01182945] [ 0. 0. 0. 1. ]] SLAMing on 0.561052754 meters 0.17479399587735453 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:-0.01 [[ 0.99994323 0.00185354 0.01049247 0.37037966] [-0.00181862 0.99999278 -0.00333673 0.09796183] [-0.01049858 0.00331746 0.99993939 -0.01412305] [ 0. 0. 0. 1. ]] SLAMing on 0.5910527539999999 meters 0.17287587386110326 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:-0.02 [[ 0.99994681 0.00173234 0.01016724 0.37171558] [-0.00169802 0.99999283 -0.00338362 0.09793464] [-0.01017303 0.00336617 0.99994259 -0.01504766] [ 0. 0. 0. 1. ]] SLAMing on 0.6210527539999999 meters 0.17866797887011013 Centerline is valid? [False, False] Translation: X:0.37, Y:0.10, Z:-0.02 [[ 0.99995077 0.00128477 0.00983922 0.37344585] [-0.00124661 0.99999168 -0.00388418 0.09853272] [-0.00984412 0.00387173 0.99994405 -0.01645353] [ 0. 0. 0. 1. ]] SLAMing on 0.651052754 meters 0.18366214894919877 Centerline is valid? [False, False] Translation: X:0.38, Y:0.10, Z:-0.02 [[ 0.99995573 0.00110079 0.00934515 0.37588532] [-0.00106482 0.99999201 -0.00385298 0.09768146] [-0.00934931 0.00384286 0.99994891 -0.0183393 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6810527539999999 meters 0.1841343375870628 Centerline is valid? [False, False] Translation: X:0.38, Y:0.10, Z:-0.02 [[ 9.99962719e-01 8.03654827e-04 8.59736115e-03 3.79265428e-01] [-7.73528805e-04 9.99993552e-01 -3.50685250e-03 9.56097313e-02] [-8.60012402e-03 3.50007145e-03 9.99956893e-01 -2.07978669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7110527539999999 meters 0.18363810405949096 Centerline is valid? [False, False] Translation: X:0.38, Y:0.09, Z:-0.02 [[ 9.99966861e-01 6.09352483e-04 8.11819500e-03 3.81617543e-01] [-5.82547208e-04 9.99994373e-01 -3.30383186e-03 9.42549206e-02] [-8.12016251e-03 3.29899314e-03 9.99961589e-01 -2.26258153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7410527539999999 meters 0.2038227889063554 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:-0.03 [[ 9.99975378e-01 2.44414811e-04 7.01316289e-03 3.87205174e-01] [-2.28233002e-04 9.99997310e-01 -2.30805571e-03 8.99580352e-02] [-7.01370815e-03 2.30639825e-03 9.99972744e-01 -2.69482913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.771052754 meters 0.21295322395680705 Centerline is valid? [False, False] Translation: X:0.39, Y:0.09, Z:-0.03 [[ 9.99979463e-01 -1.91886884e-05 6.40883863e-03 3.90969376e-01] [ 3.17532248e-05 9.99998078e-01 -1.96040529e-03 8.80517878e-02] [-6.40878870e-03 1.96056853e-03 9.99977542e-01 -3.01393403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.801052754 meters 0.2148794414534665 Centerline is valid? [False, False] Translation: X:0.40, Y:0.09, Z:-0.03 [[ 9.99984211e-01 -2.24659547e-04 5.61483581e-03 3.95002090e-01] [ 2.32665604e-04 9.99998957e-01 -1.42526307e-03 8.56585695e-02] [-5.61450975e-03 1.42654694e-03 9.99983221e-01 -3.32306080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8310527539999999 meters 0.2127734934038502 Centerline is valid? [False, False] Translation: X:0.40, Y:0.08, Z:-0.04 [[ 0.99998139 -0.00345134 0.00503097 0.40003391] [ 0.00347052 0.99998672 -0.00380878 0.08082972] [-0.00501776 0.00382617 0.99998009 -0.038231 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8610527539999999 meters 0.2210562005779905 Centerline is valid? [False, False] Translation: X:0.40, Y:0.07, Z:-0.04 [[ 0.99997129 -0.00595149 0.00469036 0.40447749] [ 0.00597655 0.99996785 -0.00534626 0.07319392] [-0.00465839 0.00537414 0.99997471 -0.04302919] [ 0. 0. 0. 1. ]] SLAMing on 0.891052754 meters 0.22169657414016114 Centerline is valid? [False, False] Translation: X:0.41, Y:0.07, Z:-0.05 [[ 0.99997724 -0.00509125 0.0044266 0.40701882] [ 0.0051075 0.99998023 -0.00366824 0.06846319] [-0.00440783 0.00369076 0.99998347 -0.04551988] [ 0. 0. 0. 1. ]] SLAMing on 0.9210527539999999 meters 0.22428334673805014 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.05 [[ 9.99985103e-01 -3.51427854e-03 4.17656340e-03 4.10281557e-01] [ 3.51814285e-03 9.99993390e-01 -9.18250038e-04 6.00585920e-02] [-4.17330881e-03 9.32930106e-04 9.99990857e-01 -4.90234691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9510527539999999 meters 0.23067291476501098 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.05 [[ 9.99988390e-01 -2.83111984e-03 3.89939145e-03 4.12121554e-01] [ 2.82920294e-03 9.99995874e-01 4.97017884e-04 5.56873721e-02] [-3.90078248e-03 -4.85979944e-04 9.99992274e-01 -5.06462260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9810527539999999 meters 0.23067291476501098 Centerline is valid? [False, False] Translation: X:0.41, Y:0.06, Z:-0.05 [[ 9.99988390e-01 -2.83111984e-03 3.89939145e-03 4.12121554e-01] [ 2.82920294e-03 9.99995874e-01 4.97017884e-04 5.56873721e-02] [-3.90078248e-03 -4.85979944e-04 9.99992274e-01 -5.06462260e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.011052754 meters 0.23540816350389857 Centerline is valid? [False, False] Translation: X:0.42, Y:0.05, Z:-0.05 [[ 0.99999172 -0.00258139 0.00314663 0.41632099] [ 0.00257537 0.99999485 0.00191628 0.05070773] [-0.00315156 -0.00190816 0.99999321 -0.0537782 ] [ 0. 0. 0. 1. ]] SLAMing on 1.041052754 meters 0.2474008394175533 Centerline is valid? [False, False] Translation: X:0.42, Y:0.04, Z:-0.06 [[ 0.9999833 -0.00476108 0.00327686 0.41820275] [ 0.00475728 0.999988 0.00116704 0.03866979] [-0.00328238 -0.00115143 0.99999395 -0.05650651] [ 0. 0. 0. 1. ]] SLAMing on 1.071052754 meters 0.26282835976676 Centerline is valid? [False, False] Translation: X:0.42, Y:0.03, Z:-0.06 [[ 0.99998489 -0.00505029 0.00217024 0.42327191] [ 0.00504425 0.99998341 0.00278182 0.03141642] [-0.00218426 -0.00277083 0.99999378 -0.05980018] [ 0. 0. 0. 1. ]] SLAMing on 1.1010527540000001 meters 0.2776866323931307 Centerline is valid? [False, False] Translation: X:0.43, Y:0.02, Z:-0.06 [[ 9.99959789e-01 -8.92631033e-03 8.60516557e-04 4.28539126e-01] [ 8.92417456e-03 9.99957166e-01 2.45465438e-03 1.81538769e-02] [-8.82390704e-04 -2.44687628e-03 9.99996617e-01 -6.22987426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.131052754 meters 0.27060926109710615 Centerline is valid? [False, False] Translation: X:0.43, Y:0.01, Z:-0.06 [[ 9.99919068e-01 -1.27201722e-02 2.33602396e-04 4.32073580e-01] [ 1.27197637e-02 9.99917699e-01 1.67399388e-03 7.96927863e-03] [-2.54876661e-04 -1.67088703e-03 9.99998572e-01 -6.40294788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.161052754 meters 0.2677009240020332 Centerline is valid? [False, False] Translation: X:0.44, Y:0.00, Z:-0.07 [[ 9.99921473e-01 -1.25089340e-02 -7.57737446e-04 4.35825289e-01] [ 1.25115358e-02 9.99915489e-01 3.53211062e-03 2.26872885e-03] [ 7.13490471e-04 -3.54131371e-03 9.99993475e-01 -6.58842993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.191052754 meters 0.2469773163354882 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.01, Z:-0.07 [[ 0.99988278 -0.01523257 -0.00155035 0.43979932] [ 0.01523764 0.99987841 0.003313 -0.0086638 ] [ 0.00149969 -0.00333623 0.99999331 -0.06811309] [ 0. 0. 0. 1. ]] SLAMing on 1.221052754 meters 0.24744799172534013 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.99990259 -0.01172907 -0.00756593 0.45094522] [ 0.01175538 0.99992498 0.00344232 -0.0165648 ] [ 0.00752499 -0.00353092 0.99996545 -0.06577244] [ 0. 0. 0. 1. ]] SLAMing on 1.251052754 meters 0.24370488581748015 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.02, Z:-0.07 [[ 0.99990146 -0.01137426 -0.00822807 0.45369239] [ 0.0114157 0.99992231 0.00500635 -0.02164801] [ 0.00817048 -0.00509979 0.99995362 -0.06720239] [ 0. 0. 0. 1. ]] SLAMing on 1.281052754 meters 0.24159065251596118 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.03, Z:-0.07 [[ 0.99990218 -0.01073331 -0.00896779 0.45696566] [ 0.01080081 0.99991345 0.00751246 -0.02948633] [ 0.00888638 -0.00760858 0.99993157 -0.06874683] [ 0. 0. 0. 1. ]] SLAMing on 1.311052754 meters 0.22309253431438208 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.04, Z:-0.07 [[ 0.99988075 -0.01210543 -0.00958867 0.45856324] [ 0.01217936 0.99989626 0.00768949 -0.03645435] [ 0.00949459 -0.00780536 0.99992446 -0.06841033] [ 0. 0. 0. 1. ]] SLAMing on 1.341052754 meters 0.21135728674924903 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 9.99946712e-01 -7.63263310e-03 -6.95095559e-03 4.68255156e-01] [ 7.63035178e-03 9.99970826e-01 -3.54662912e-04 -3.77520261e-02] [ 6.95345981e-03 3.01605777e-04 9.99975779e-01 -7.01832663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.371052754 meters 0.21551349976030024 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 0.99996142 -0.00386939 -0.00788578 0.47245324] [ 0.00390149 0.99998415 0.00405973 -0.04006518] [ 0.00786994 -0.00409034 0.99996067 -0.07330104] [ 0. 0. 0. 1. ]] SLAMing on 1.401052754 meters 0.20766099603436589 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 0.9999591 -0.00397452 -0.00812366 0.47359288] [ 0.00400628 0.99998438 0.00389684 -0.03973115] [ 0.00810805 -0.00392922 0.99995941 -0.07422034] [ 0. 0. 0. 1. ]] SLAMing on 1.431052754 meters 0.1970892928476578 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 0.99996117 -0.00316353 -0.00822506 0.47364649] [ 0.0032057 0.99998175 0.00512002 -0.04220184] [ 0.00820871 -0.00514619 0.99995307 -0.07382744] [ 0. 0. 0. 1. ]] SLAMing on 1.461052754 meters 0.18577011500857848 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 0.99995985 -0.00303817 -0.00842959 0.4742373 ] [ 0.00308536 0.99997961 0.0055903 -0.04363562] [ 0.00841244 -0.00561608 0.99994884 -0.07386515] [ 0. 0. 0. 1. ]] SLAMing on 1.491052754 meters 0.17104209109776664 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.07 [[ 0.99995839 -0.00305094 -0.00859752 0.47456701] [ 0.00310212 0.99997751 0.00594628 -0.04441785] [ 0.00857919 -0.0059727 0.99994536 -0.07359614] [ 0. 0. 0. 1. ]] SLAMing on 1.521052754 meters 0.16979929888195536 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:-0.07 [[ 0.9999557 -0.00352527 -0.00872716 0.47547987] [ 0.00357027 0.99998039 0.00514609 -0.04287769] [ 0.00870885 -0.00517702 0.99994868 -0.07457104] [ 0. 0. 0. 1. ]] SLAMing on 1.551052754 meters 0.1575268224016762 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:-0.08 [[ 0.999953 -0.00385931 -0.00889414 0.47611245] [ 0.00389661 0.99998367 0.00418132 -0.03994911] [ 0.00887786 -0.00421578 0.9999517 -0.0752907 ] [ 0. 0. 0. 1. ]] SLAMing on 1.5810527540000001 meters 0.14929593926188578 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:-0.08 [[ 0.9999489 -0.00431641 -0.00914102 0.47729983] [ 0.00434775 0.99998473 0.00341123 -0.03847689] [ 0.00912616 -0.0034508 0.9999524 -0.07634863] [ 0. 0. 0. 1. ]] SLAMing on 1.611052754 meters 0.136076982214851 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.04, Z:-0.08 [[ 0.99994249 -0.0049156 -0.0095312 0.47857263] [ 0.00494037 0.99998447 0.00257737 -0.03670732] [ 0.00951838 -0.00262431 0.99995126 -0.07710062] [ 0. 0. 0. 1. ]] SLAMing on 1.641052754 meters 0.1353460883324579 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.08 [[ 0.99993579 -0.00559279 -0.0098561 0.47989818] [ 0.0056068 0.99998331 0.00139431 -0.03418602] [ 0.00984814 -0.00144948 0.99995046 -0.07820878] [ 0. 0. 0. 1. ]] SLAMing on 1.671052754 meters 0.12640129836697547 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.08 [[ 0.99991105 -0.00771379 -0.01088045 0.48394801] [ 0.00769585 0.99996896 -0.00168969 -0.02816405] [ 0.01089315 0.0016058 0.99993938 -0.08150512] [ 0. 0. 0. 1. ]] SLAMing on 1.701052754 meters 0.12447030881822012 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.08 [[ 9.99918065e-01 -5.48975787e-03 -1.15639839e-02 4.87069782e-01] [ 5.50003379e-03 9.99984507e-01 8.56999438e-04 -2.77734046e-02] [ 1.15591001e-02 -9.20531522e-04 9.99932768e-01 -8.38584589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.731052754 meters 0.12013070469852326 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.03, Z:-0.09 [[ 0.99989515 -0.00795322 -0.01210064 0.48992475] [ 0.00793562 0.99996738 -0.00150168 -0.02511456] [ 0.01211219 0.00140549 0.99992566 -0.08605998] [ 0. 0. 0. 1. ]] SLAMing on 1.761052754 meters 0.12055878794613066 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:-0.09 [[ 0.9998822 -0.00847696 -0.01279538 0.49179428] [ 0.00845178 0.99996224 -0.00202071 -0.02415352] [ 0.01281203 0.00191233 0.99991609 -0.08682026] [ 0. 0. 0. 1. ]] SLAMing on 1.791052754 meters 0.1175526901687685 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:-0.09 [[ 0.99986482 -0.00988947 -0.01313557 0.49281743] [ 0.00985475 0.99994778 -0.00270579 -0.02354975] [ 0.01316164 0.00257598 0.99991006 -0.08649076] [ 0. 0. 0. 1. ]] SLAMing on 1.8210527539999999 meters 0.1170579486206231 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.02, Z:-0.09 [[ 0.99985885 -0.01003839 -0.01347241 0.4931885 ] [ 0.0100024 0.99994623 -0.00273605 -0.02326085] [ 0.01349915 0.00260091 0.9999055 -0.08605011] [ 0. 0. 0. 1. ]] SLAMing on 1.851052754 meters 0.11418909766527742 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.09 [[ 9.99937473e-01 -1.11532132e-02 -8.09999825e-04 4.97185592e-01] [ 1.11522648e-02 9.99937132e-01 -1.16604732e-03 -2.06775652e-02] [ 8.22954076e-04 1.15694107e-03 9.99998992e-01 -9.19398539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.881052754 meters 0.11321506948664206 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.09 [[ 0.9999715 -0.00739924 -0.00150281 0.49898619] [ 0.00740363 0.99996827 0.00294077 -0.02142664] [ 0.00148101 -0.00295182 0.99999455 -0.09280059] [ 0. 0. 0. 1. ]] SLAMing on 1.911052754 meters 0.11150016965560688 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.09 [[ 0.99997395 -0.00700878 -0.00172459 0.49917572] [ 0.00701524 0.9999683 0.00376541 -0.02311357] [ 0.00169814 -0.00377741 0.99999142 -0.09228638] [ 0. 0. 0. 1. ]] SLAMing on 1.941052754 meters 0.11227226834610882 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.09 [[ 0.99997284 -0.00712254 -0.00189215 0.49966195] [ 0.00712892 0.99996885 0.00338691 -0.02210546] [ 0.00186797 -0.00340031 0.99999247 -0.09264509] [ 0. 0. 0. 1. ]] SLAMing on 1.971052754 meters 0.10914683007023121 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.09 [[ 0.99999239 -0.00331492 -0.00205534 0.49982006] [ 0.00332777 0.99997473 0.0062822 -0.01873793] [ 0.00203446 -0.006289 0.99997815 -0.09286214] [ 0. 0. 0. 1. ]] SLAMing on 2.001052754 meters 0.1082208441319832 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.02, Z:-0.09 [[ 0.99998957 -0.00397548 -0.00225041 0.50036176] [ 0.00398629 0.99998045 0.00481848 -0.01547778] [ 0.00223121 -0.0048274 0.99998586 -0.09327262] [ 0. 0. 0. 1. ]] SLAMing on 2.0310527539999996 meters 0.10735220363894632 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.09 [[ 0.99998932 -0.00382199 -0.00260012 0.50086993] [ 0.00383106 0.99998656 0.00349274 -0.01131214] [ 0.00258673 -0.00350267 0.99999052 -0.09390421] [ 0. 0. 0. 1. ]] SLAMing on 2.061052754 meters 0.10280658606362722 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.01, Z:-0.10 [[ 0.99998857 -0.00404116 -0.00255467 0.50104947] [ 0.00404566 0.99999027 0.00175987 -0.00629342] [ 0.00254753 -0.00177018 0.99999519 -0.09516516] [ 0. 0. 0. 1. ]] SLAMing on 2.0910527539999997 meters 0.10494136107082491 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.10 [[ 9.99985902e-01 -4.48890698e-03 -2.83654494e-03 5.01912417e-01] [ 4.49129282e-03 9.99989565e-01 8.35298163e-04 -4.09257284e-03] [ 2.83276577e-03 -8.48026141e-04 9.99995628e-01 -9.58268628e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.121052754 meters 0.10612952731188591 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.10 [[ 9.99983220e-01 -4.82464545e-03 -3.20649032e-03 5.03206587e-01] [ 4.82537030e-03 9.99988334e-01 2.18358752e-04 -2.83297782e-03] [ 3.20539941e-03 -2.33827591e-04 9.99994835e-01 -9.68664547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1510527539999997 meters 0.10285633850798215 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.00, Z:-0.10 [[ 9.99979545e-01 -5.23758160e-03 -3.67108902e-03 5.04573912e-01] [ 5.23533322e-03 9.99986102e-01 -6.21799270e-04 -9.80849063e-04] [ 3.67429473e-03 6.02567177e-04 9.99993068e-01 -9.78750967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.181052754 meters 0.10134587038021188 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.10 [[ 9.99988404e-01 -1.86512695e-03 -4.44005686e-03 5.06437642e-01] [ 1.87650989e-03 9.99994960e-01 2.56090968e-03 3.22745239e-04] [ 4.43525806e-03 -2.56921179e-03 9.99986864e-01 -9.87374761e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.211052754 meters 0.10243847422429771 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.10 [[ 9.99983615e-01 -3.05105127e-03 -4.84367473e-03 5.07266099e-01] [ 3.04908545e-03 9.99995266e-01 -4.13186271e-04 7.91465807e-03] [ 4.84491245e-03 3.98410723e-04 9.99988184e-01 -9.96469150e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2410527539999996 meters 0.09782108369775648 Centerline is valid? [False, True] Translation: X:0.51, Y:0.01, Z:-0.10 [[ 0.9999827 -0.00326407 -0.00489434 0.50681656] [ 0.00325889 0.99999412 -0.00106487 0.00997123] [ 0.00489779 0.0010489 0.99998746 -0.09890104] [ 0. 0. 0. 1. ]] SLAMing on 2.271052754 meters 0.09672233143952408 Centerline is valid? [True, True] Translation: X:0.54, Y:0.01, Z:-0.09 [[ 9.99965526e-01 -8.08857664e-03 1.87664804e-03 5.38477948e-01] [ 8.08858301e-03 9.99967287e-01 4.19400293e-06 1.11787177e-02] [-1.87662058e-03 1.09855651e-05 9.99998239e-01 -8.64324965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3010527539999996 meters 0.0905928200230139 Centerline is valid? [True, True] Translation: X:0.57, Y:0.01, Z:-0.09 [[ 9.99901419e-01 -1.23162633e-02 6.74259590e-03 5.69152269e-01] [ 1.23164378e-02 9.99924150e-01 1.56439025e-05 1.38553024e-02] [-6.74227714e-03 6.74024024e-05 9.99977268e-01 -8.81776630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.331052754 meters 0.08810536218582901 Centerline is valid? [True, True] Translation: X:0.60, Y:0.02, Z:-0.09 [[ 9.99805076e-01 -1.77921439e-02 8.55856926e-03 5.99343744e-01] [ 1.77926184e-02 9.99841699e-01 2.07012469e-05 2.14215517e-02] [-8.55758274e-03 1.31582145e-04 9.99963375e-01 -9.09333881e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3610527539999997 meters 0.08896608158278446 Centerline is valid? [True, True] Translation: X:0.63, Y:0.02, Z:-0.10 [[ 9.99770920e-01 -2.01495296e-02 7.21827360e-03 6.28717745e-01] [ 2.01498940e-02 9.99796970e-01 2.22378945e-05 2.28734091e-02] [-7.21725616e-03 1.23214648e-04 9.99973948e-01 -9.68889113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.391052754 meters 0.08962650694853298 Centerline is valid? [True, True] Translation: X:0.66, Y:0.02, Z:-0.10 [[ 9.99705560e-01 -2.35970700e-02 5.65426858e-03 6.58642182e-01] [ 2.35973743e-02 9.99721543e-01 1.29037053e-05 2.34181275e-02] [-5.65299860e-03 1.20525986e-04 9.99984014e-01 -1.01408238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4210527539999998 meters 0.09040441537698243 Centerline is valid? [True, True] Translation: X:0.69, Y:0.03, Z:-0.11 [[ 9.99514222e-01 -3.10854496e-02 2.23939098e-03 6.87681036e-01] [ 3.10855166e-02 9.99516729e-01 4.90286636e-06 2.60210019e-02] [-2.23846115e-03 6.47121407e-05 9.99997493e-01 -1.10031530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4510527539999996 meters 0.09114703541705285 Centerline is valid? [True, True] Translation: X:0.72, Y:0.03, Z:-0.11 [[ 9.99289405e-01 -3.76839681e-02 7.77070360e-04 7.17607907e-01] [ 3.76839792e-02 9.99289707e-01 3.76507390e-07 3.02237755e-02] [-7.76532600e-04 2.89068635e-05 9.99999698e-01 -1.13114180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.481052754 meters 0.08926678583839727 Centerline is valid? [True, True] Translation: X:0.74, Y:0.03, Z:-0.12 [[ 9.99154370e-01 -4.10381783e-02 2.53252739e-03 7.44864468e-01] [ 4.10383147e-02 9.99157574e-01 -1.91890921e-06 3.20772551e-02] [-2.53031517e-03 1.05847943e-04 9.99996793e-01 -1.17271825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5110527539999996 meters 0.08756025451632904 Centerline is valid? [True, True] Translation: X:0.77, Y:0.04, Z:-0.12 [[ 9.99112418e-01 -4.16187243e-02 6.50055082e-03 7.74807028e-01] [ 4.16195090e-02 9.99133533e-01 1.45688162e-05 4.19251592e-02] [-6.49552464e-03 2.55993848e-04 9.99978871e-01 -1.17607864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.541052754 meters 0.08515504041969511 Centerline is valid? [True, True] Translation: X:0.81, Y:0.05, Z:-0.12 [[ 9.99096972e-01 -4.14267052e-02 9.43764655e-03 8.05072419e-01] [ 4.14283360e-02 9.99141478e-01 2.27270567e-05 4.81313061e-02] [-9.43048563e-03 3.68279458e-04 9.99955464e-01 -1.18969509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5710527539999997 meters 0.08137961852266648 Centerline is valid? [True, True] Translation: X:0.83, Y:0.06, Z:-0.12 [[ 9.99067902e-01 -4.03121100e-02 1.54357244e-02 8.34283921e-01] [ 4.03163378e-02 9.99186965e-01 3.73018248e-05 5.97435646e-02] [-1.54246784e-02 5.85044825e-04 9.99880861e-01 -1.20702011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601052754 meters 0.0795266368669418 Centerline is valid? [True, True] Translation: X:0.86, Y:0.07, Z:-0.12 [[ 9.99039420e-01 -4.01741684e-02 1.75006572e-02 8.64962275e-01] [ 4.01795644e-02 9.99192474e-01 4.33135882e-05 6.52955673e-02] [-1.74882650e-02 6.59896801e-04 9.99846851e-01 -1.22344514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6310527539999997 meters 0.07684003969591183 Centerline is valid? [True, True] Translation: X:0.89, Y:0.08, Z:-0.13 [[ 9.99096068e-01 -3.81233680e-02 1.88057294e-02 8.94271835e-01] [ 3.81292461e-02 9.99272815e-01 4.60211027e-05 7.79266411e-02] [-1.87938086e-02 6.71068779e-04 9.99823156e-01 -1.26873738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6610527539999995 meters 0.0766444096273329 Centerline is valid? [True, True] Translation: X:0.92, Y:0.09, Z:-0.13 [[ 9.99149561e-01 -3.74001840e-02 1.73603112e-02 9.24167644e-01] [ 3.74050379e-02 9.99300186e-01 4.51381118e-05 8.70989319e-02] [-1.73498504e-02 6.04263375e-04 9.99849297e-01 -1.33862408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6910527539999998 meters 0.07407779992898104 Centerline is valid? [True, True] Translation: X:0.96, Y:0.09, Z:-0.13 [[ 9.99147334e-01 -3.77135567e-02 1.68015382e-02 9.56259785e-01] [ 3.77181268e-02 9.99288417e-01 4.49092932e-05 9.49464104e-02] [-1.67912762e-02 5.88851549e-04 9.99858843e-01 -1.27158697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7210527539999996 meters 0.07203017585404865 Centerline is valid? [True, True] Translation: X:0.99, Y:0.10, Z:-0.13 [[ 9.98674275e-01 -4.56929641e-02 2.37032655e-02 9.86600058e-01] [ 4.57044152e-02 9.98955005e-01 5.87049577e-05 1.01209380e-01] [-2.36811782e-02 1.02471676e-03 9.99719036e-01 -1.25732859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.751052754 meters 0.07103406114784315 Centerline is valid? [True, True] Translation: X:1.02, Y:0.10, Z:-0.13 [[ 9.98262198e-01 -5.16227955e-02 2.84195430e-02 1.01740313e+00] [ 5.16415867e-02 9.98665680e-01 7.28470355e-05 1.00894160e-01] [-2.83853828e-02 1.39490985e-03 9.99596081e-01 -1.26545898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7810527539999996 meters 0.07055293053958954 Centerline is valid? [True, True] Translation: X:1.05, Y:0.10, Z:-0.12 [[ 9.97546892e-01 -5.95480306e-02 3.67998713e-02 1.04736227e+00] [ 5.95851000e-02 9.98223225e-01 8.95640522e-05 9.80206074e-02] [-3.67398196e-02 2.10337967e-03 9.99322651e-01 -1.24210041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.811052754 meters 0.06113715721079717 Centerline is valid? [True, True] Translation: X:1.08, Y:0.11, Z:-0.11 [[ 9.97275519e-01 -6.08960726e-02 4.16318002e-02 1.07967952e+00] [ 6.09446440e-02 9.98141142e-01 1.02662059e-04 1.11590286e-01] [-4.15606643e-02 2.43485288e-03 9.99133016e-01 -1.09921050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8410527539999997 meters 0.057913564136943055 Centerline is valid? [True, True] Translation: X:1.11, Y:0.12, Z:-0.11 [[ 9.97115319e-01 -5.89162026e-02 4.78531359e-02 1.10983655e+00] [ 5.89781999e-02 9.98259264e-01 1.16574347e-04 1.20232729e-01] [-4.77767043e-02 2.70605375e-03 9.98854376e-01 -1.06902789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.871052754 meters 0.057913564136943055 Centerline is valid? [True, True] Translation: X:1.14, Y:0.12, Z:-0.11 [[ 9.97120890e-01 -5.88218484e-02 4.78531180e-02 1.14225170e+00] [ 5.88833865e-02 9.98264860e-01 1.23909622e-04 1.20217908e-01] [-4.77773748e-02 2.69420077e-03 9.98854376e-01 -1.10412087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9010527539999997 meters 0.05986191508672886 Centerline is valid? [True, True] Translation: X:1.17, Y:0.12, Z:-0.12 [[ 9.96876838e-01 -5.89976056e-02 5.24962152e-02 1.17139974e+00] [ 5.90725697e-02 9.98253683e-01 1.23829618e-04 1.16812907e-01] [-5.24118458e-02 2.97764345e-03 9.98621115e-01 -1.18285632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9310527539999995 meters 0.054548092531464386 Centerline is valid? [True, True] Translation: X:1.20, Y:0.13, Z:-0.12 [[ 9.96857163e-01 -5.80883913e-02 5.38658961e-02 1.20377495e+00] [ 5.81657826e-02 9.98306929e-01 1.31187335e-04 1.26855967e-01] [-5.37823178e-02 3.00237697e-03 9.98548170e-01 -1.15683749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.961052754 meters 0.05814648748699896 Centerline is valid? [True, True] Translation: X:1.23, Y:0.12, Z:-0.12 [[ 9.96723380e-01 -5.81728198e-02 5.61998825e-02 1.23393675e+00] [ 5.82574185e-02 9.98301585e-01 1.33223579e-04 1.19406494e-01] [-5.61121818e-02 3.14127302e-03 9.98419529e-01 -1.24864786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9910527539999996 meters 0.05189361587856608 Centerline is valid? [True, True] Translation: X:1.27, Y:0.12, Z:-0.11 [[ 9.96198638e-01 -5.92753664e-02 6.38334095e-02 1.26595341e+00] [ 5.93870818e-02 9.98235019e-01 1.47515814e-04 1.24681775e-01] [-6.37294888e-02 3.64392486e-03 9.97960557e-01 -1.14806786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.021052754 meters 0.05097486717099193 Centerline is valid? [True, True] Translation: X:1.30, Y:0.12, Z:-0.12 [[ 9.95744058e-01 -6.13450154e-02 6.87790695e-02 1.29736285e+00] [ 6.14796055e-02 9.98108327e-01 1.60205997e-04 1.23292576e-01] [-6.86587899e-02 4.06898590e-03 9.97631903e-01 -1.15260751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0510527539999996 meters 0.05158767714404684 Centerline is valid? [True, True] Translation: X:1.33, Y:0.12, Z:-0.12 [[ 9.95428459e-01 -6.40007298e-02 7.08949239e-02 1.32840171e+00] [ 6.41506220e-02 9.97940214e-01 1.62878496e-04 1.20490467e-01] [-7.07593199e-02 4.38581957e-03 9.97483776e-01 -1.15165538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081052754 meters 0.0450246748113902 Centerline is valid? [True, True] Translation: X:1.36, Y:0.13, Z:-0.11 [[ 9.94753120e-01 -6.70560856e-02 7.72639041e-02 1.36125700e+00] [ 6.72435374e-02 9.97736576e-01 1.75898666e-04 1.28338224e-01] [-7.71008183e-02 5.02052248e-03 9.97010661e-01 -1.10592018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1110527539999997 meters 0.043778430398593166 Centerline is valid? [True, True] Translation: X:1.39, Y:0.13, Z:-0.11 [[ 9.94581956e-01 -6.75566620e-02 7.90115882e-02 1.39421186e+00] [ 6.77542785e-02 9.97702022e-01 1.80169685e-04 1.28933372e-01] [-7.88421930e-02 5.17417964e-03 9.96873681e-01 -1.12725064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141052754 meters 0.04474519651085929 Centerline is valid? [True, True] Translation: X:1.43, Y:0.12, Z:-0.11 [[ 9.94202371e-01 -7.00375122e-02 8.15867179e-02 1.42545183e+00] [ 7.02586818e-02 9.97528793e-01 1.60405453e-04 1.22810220e-01] [-8.13963346e-02 5.57269977e-03 9.96666234e-01 -1.13472879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1710527539999998 meters 0.04585840371590103 Centerline is valid? [True, True] Translation: X:1.46, Y:0.12, Z:-0.12 [[ 9.94312021e-01 -7.04787832e-02 7.98520249e-02 1.45652633e+00] [ 7.06924228e-02 9.97498150e-01 1.51905681e-04 1.18765488e-01] [-7.96629532e-02 5.49389147e-03 9.96806717e-01 -1.15795584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2010527539999996 meters 0.04601706655440245 Centerline is valid? [True, True] Translation: X:1.49, Y:0.11, Z:-0.12 [[ 9.93806410e-01 -7.21669297e-02 8.45029778e-02 1.48914117e+00] [ 7.24142157e-02 9.97374635e-01 1.39089100e-04 1.14694474e-01] [-8.42911642e-02 5.98098922e-03 9.96423217e-01 -1.17367143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.231052754 meters 0.04673800969625609 Centerline is valid? [True, True] Translation: X:1.52, Y:0.11, Z:-0.12 [[ 9.93527484e-01 -7.27615452e-02 8.72289883e-02 1.52115640e+00] [ 7.30276040e-02 9.97329910e-01 1.41394136e-04 1.09103994e-01] [-8.70063671e-02 6.22964505e-03 9.96188277e-01 -1.18866533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2610527539999996 meters 0.047908757135859056 Centerline is valid? [True, True] Translation: X:1.55, Y:0.11, Z:-0.12 [[ 9.93527954e-01 -7.30122671e-02 8.70138749e-02 1.55273532e+00] [ 7.32800142e-02 9.97311399e-01 1.17494429e-04 1.06372805e-01] [-8.67885078e-02 6.25964399e-03 9.96207093e-01 -1.22841883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.291052754 meters 0.04878747014830959 Centerline is valid? [True, True] Translation: X:1.58, Y:0.10, Z:-0.13 [[ 9.93295230e-01 -7.51423307e-02 8.78533742e-02 1.58272369e+00] [ 7.54241534e-02 9.97151535e-01 1.11989115e-04 1.01607313e-01] [-8.76115421e-02 6.51502811e-03 9.96133411e-01 -1.25610630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3210527539999997 meters 0.049523125435388206 Centerline is valid? [True, True] Translation: X:1.61, Y:0.10, Z:-0.13 [[ 9.93122321e-01 -7.63110317e-02 8.87957342e-02 1.61433604e+00] [ 7.66035293e-02 9.97061626e-01 1.14043157e-04 9.80205082e-02] [-8.85435219e-02 6.68880783e-03 9.96049850e-01 -1.28548909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.351052754 meters 0.05309276019332242 Centerline is valid? [True, True] Translation: X:1.64, Y:0.09, Z:-0.13 [[ 9.92658878e-01 -8.08029796e-02 8.99957267e-02 1.64463284e+00] [ 8.11221868e-02 9.96704158e-01 1.11192111e-04 8.58966648e-02] [-8.97080996e-02 7.19027432e-03 9.95942145e-01 -1.30520580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3810527539999997 meters 0.056864249364908116 Centerline is valid? [True, True] Translation: X:1.67, Y:0.07, Z:-0.13 [[ 9.91853100e-01 -8.77379354e-02 9.23551997e-02 1.67457751e+00] [ 8.81042947e-02 9.96111249e-01 1.10732171e-04 7.38192458e-02] [-9.20057688e-02 8.02705968e-03 9.95726119e-01 -1.29796467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4110527539999995 meters 0.060479869638363215 Centerline is valid? [True, True] Translation: X:1.70, Y:0.07, Z:-0.13 [[ 9.91423712e-01 -9.26735421e-02 9.21446611e-02 1.70489833e+00] [ 9.30593508e-02 9.95660557e-01 1.10083078e-04 6.82016353e-02] [-9.17550064e-02 8.46578337e-03 9.95745625e-01 -1.32744363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4410527539999998 meters 0.06677815732083751 Centerline is valid? [True, True] Translation: X:1.73, Y:0.06, Z:-0.13 [[ 9.90248300e-01 -1.02572232e-01 9.42721665e-02 1.73473910e+00] [ 1.03020512e-01 9.94679225e-01 1.12247423e-04 5.74908429e-02] [-9.37820790e-02 9.60081399e-03 9.95546456e-01 -1.33389150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4710527539999996 meters 0.0700398871363501 Centerline is valid? [True, True] Translation: X:1.77, Y:0.05, Z:-0.14 [[ 9.89441275e-01 -1.08119098e-01 9.65205917e-02 1.76520632e+00] [ 1.08615263e-01 9.94083855e-01 1.14226658e-04 5.19644929e-02] [-9.59619120e-02 1.03705889e-02 9.95330981e-01 -1.35188978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.501052754 meters 0.07572625548411237 Centerline is valid? [True, True] Translation: X:1.80, Y:0.04, Z:-0.14 [[ 9.88716564e-01 -1.15070862e-01 9.59075168e-02 1.79500293e+00] [ 1.15592947e-01 9.93296662e-01 1.13048661e-04 4.24677579e-02] [-9.52776249e-02 1.09744594e-02 9.95390243e-01 -1.38335932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5310527539999996 meters 0.07875398458024375 Centerline is valid? [True, True] Translation: X:1.82, Y:0.04, Z:-0.14 [[ 9.88518622e-01 -1.17680573e-01 9.47745607e-02 1.82464792e+00] [ 1.18202135e-01 9.92989548e-01 1.11505640e-04 3.84154519e-02] [-9.41232702e-02 1.10923300e-02 9.95498755e-01 -1.41983562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.561052754 meters 0.0942828361856588 Centerline is valid? [True, True] Translation: X:1.85, Y:0.02, Z:-0.15 [[ 9.88356237e-01 -1.21356449e-01 9.17854042e-02 1.85300606e+00] [ 1.21860894e-01 9.92547183e-01 1.09242090e-04 1.97825093e-02] [-9.11146016e-02 1.10770813e-02 9.95778805e-01 -1.49129762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5910527539999997 meters 0.08565977319422101 Centerline is valid? [True, True] Translation: X:1.88, Y:0.03, Z:-0.15 [[ 9.88225542e-01 -1.23974270e-01 8.96697183e-02 1.88276071e+00] [ 1.24466204e-01 9.92223842e-01 1.06442547e-04 3.09185820e-02] [-8.89856285e-02 1.10556602e-02 9.95971551e-01 -1.51900953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6210527539999995 meters 0.10048192462232962 Centerline is valid? [True, False] Translation: X:1.89, Y:0.03, Z:-0.15 [[ 0.99000202 -0.11571569 0.08065902 1.88596749] [ 0.11673666 0.99313033 -0.00804331 0.03084043] [-0.07917418 0.01737876 0.9967093 -0.15196232] [ 0. 0. 0. 1. ]] SLAMing on 3.6510527539999997 meters 0.10634219325536584 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.15 [[ 0.99140868 -0.10732041 0.07477404 1.88876642] [ 0.10879713 0.99393597 -0.01595205 0.03141161] [-0.07260863 0.0239502 0.9970729 -0.15384254] [ 0. 0. 0. 1. ]] SLAMing on 3.6810527539999995 meters 0.1149685572778414 Centerline is valid? [False, False] Translation: X:1.89, Y:0.03, Z:-0.15 [[ 0.99170355 -0.10451975 0.07483104 1.888226 ] [ 0.10569536 0.99432717 -0.01191536 0.02964272] [-0.07316114 0.0197258 0.99712504 -0.15394787] [ 0. 0. 0. 1. ]] SLAMing on 3.711052754 meters 0.08531537117225872 Centerline is valid? [False, True] Translation: X:1.89, Y:0.03, Z:-0.15 [[ 0.99283099 -0.10335424 0.06003769 1.88808784] [ 0.10397794 0.99455244 -0.00735061 0.02671474] [-0.05895092 0.01354051 0.99816905 -0.14966895] [ 0. 0. 0. 1. ]] SLAMing on 3.7410527539999996 meters 0.09279724332090886 Centerline is valid? [True, True] Translation: X:1.92, Y:0.01, Z:-0.15 [[ 0.99185419 -0.11081385 0.06281369 1.91778283] [ 0.1111865 0.99379652 -0.00245781 0.0140775 ] [-0.06215167 0.00942182 0.99802224 -0.146497 ] [ 0. 0. 0. 1. ]] SLAMing on 3.771052754 meters 0.09487923450229138 Centerline is valid? [True, True] Translation: X:1.95, Y:0.01, Z:-0.15 [[ 0.99154095 -0.11247474 0.06477637 1.94844735] [ 0.11287459 0.99360601 -0.002535 0.0106683 ] [-0.06407706 0.00982516 0.99789659 -0.14539099] [ 0. 0. 0. 1. ]] SLAMing on 3.8010527539999996 meters 0.10032321323043324 Centerline is valid? [True, False] Translation: X:1.95, Y:0.01, Z:-0.15 [[ 0.99307259 -0.09985751 0.06192987 1.94877876] [ 0.10066544 0.99486949 -0.01005811 0.01214582] [-0.06060776 0.01622263 0.99802982 -0.14502073] [ 0. 0. 0. 1. ]] SLAMing on 3.831052754 meters 0.09497833394008198 Centerline is valid? [False, True] Translation: X:1.95, Y:0.02, Z:-0.14 [[ 0.99470627 -0.08501772 0.05771849 1.94951794] [ 0.08601275 0.99618148 -0.01497521 0.01709114] [-0.05622493 0.01986046 0.99822058 -0.14492916] [ 0. 0. 0. 1. ]] SLAMing on 3.8610527539999997 meters 0.09244078807154005 Centerline is valid? [True, True] Translation: X:1.98, Y:0.02, Z:-0.14 [[ 0.99527895 -0.0784368 0.05716183 1.97912999] [ 0.07877283 0.99688593 -0.00364563 0.02006263] [-0.05669787 0.00813121 0.99835827 -0.14344211] [ 0. 0. 0. 1. ]] SLAMing on 3.8910527539999995 meters 0.09031635370699842 Centerline is valid? [True, True] Translation: X:2.01, Y:0.02, Z:-0.15 [[ 0.99568818 -0.07350592 0.0565855 2.00987423] [ 0.07382736 0.99726451 -0.00360845 0.02213806] [-0.05616547 0.00777045 0.99839124 -0.14533333] [ 0. 0. 0. 1. ]] SLAMing on 3.9210527539999998 meters 0.0868965805973058 Centerline is valid? [True, True] Translation: X:2.04, Y:0.03, Z:-0.15 [[ 0.99641954 -0.06407001 0.05516468 2.03953296] [ 0.06436126 0.99792047 -0.00351754 0.02707412] [-0.05482459 0.00705541 0.99847107 -0.14781651] [ 0. 0. 0. 1. ]] SLAMing on 3.9510527539999996 meters 0.08580027294553474 Centerline is valid? [True, True] Translation: X:2.07, Y:0.03, Z:-0.15 [[ 0.99661679 -0.0599256 0.05624861 2.07035595] [ 0.06022189 0.99817857 -0.00358589 0.02793262] [-0.05593127 0.00696116 0.99841035 -0.14878223] [ 0. 0. 0. 1. ]] SLAMing on 3.981052754 meters 0.08319248429520096 Centerline is valid? [True, True] Translation: X:2.10, Y:0.03, Z:-0.15 [[ 0.99675715 -0.05688995 0.05690973 2.10078659] [ 0.05718841 0.99835681 -0.00362845 0.03050237] [-0.05660979 0.00687126 0.99837273 -0.14991628] [ 0. 0. 0. 1. ]] SLAMing on 4.011052754 meters 0.08256890282659447 Centerline is valid? [True, True] Translation: X:2.13, Y:0.03, Z:-0.15 [[ 0.99685335 -0.05386148 0.0581578 2.13012706] [ 0.05416814 0.99852494 -0.00370811 0.02638237] [-0.05787229 0.00684674 0.99830052 -0.15096465] [ 0. 0. 0. 1. ]] SLAMing on 4.041052754 meters 0.0836040790541381 Centerline is valid? [True, True] Translation: X:2.16, Y:0.02, Z:-0.15 [[ 0.99686223 -0.05349686 0.058342 2.16188873] [ 0.05380474 0.99854455 -0.00371794 0.02029453] [-0.05805819 0.00684535 0.99828973 -0.15286326] [ 0. 0. 0. 1. ]] SLAMing on 4.071052754 meters 0.08592132173920342 Centerline is valid? [True, True] Translation: X:2.19, Y:0.01, Z:-0.16 [[ 0.99677903 -0.05484599 0.05851055 2.19167559] [ 0.05515818 0.99847065 -0.00373264 0.01296072] [-0.05821635 0.00694795 0.99827981 -0.15691721] [ 0. 0. 0. 1. ]] SLAMing on 4.101052754 meters 0.08935888698727654 Centerline is valid? [True, True] Translation: X:2.22, Y:0.00, Z:-0.16 [[ 0.99672201 -0.05719244 0.05722113 2.22003838] [ 0.05749495 0.99833911 -0.00365305 0.00295964] [-0.05691717 0.006931 0.99835485 -0.16101096] [ 0. 0. 0. 1. ]] SLAMing on 4.131052754 meters 0.0904001721857996 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.00, Z:-0.16 [[ 0.99668749 -0.05719555 0.05781621 2.25180872] [ 0.05750425 0.99833845 -0.00368832 -0.00444896] [-0.05750919 0.00700078 0.99832043 -0.16201569] [ 0. 0. 0. 1. ]] SLAMing on 4.161052754 meters 0.09294957894017124 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.02, Z:-0.16 [[ 0.99669495 -0.0579923 0.05688655 2.28127471] [ 0.05829263 0.99829293 -0.00363299 -0.01503938] [-0.05657876 0.00693705 0.99837404 -0.16439808] [ 0. 0. 0. 1. ]] SLAMing on 4.191052754 meters 0.09393370294927848 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.02, Z:-0.17 [[ 0.99666114 -0.05849822 0.05696086 2.31165503] [ 0.0588002 0.99826314 -0.0036386 -0.02012923] [-0.05664907 0.00697576 0.99836978 -0.16713305] [ 0. 0. 0. 1. ]] SLAMing on 4.2210527540000005 meters 0.09606153487399102 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.03, Z:-0.17 [[ 0.99652243 -0.05905291 0.05878609 2.34198354] [ 0.0593756 0.99822865 -0.00375611 -0.02813374] [-0.05846015 0.00723351 0.99826354 -0.16644426] [ 0. 0. 0. 1. ]] SLAMing on 4.251052754 meters 0.05568075500259981 Centerline is valid? [True, True] Translation: X:2.38, Y:0.02, Z:-0.16 [[ 0.99642217 -0.0582949 0.06119282 2.37667985] [ 0.05864325 0.99827134 -0.00391065 0.01944093] [-0.06085907 0.00748521 0.9981183 -0.16100336] [ 0. 0. 0. 1. ]] SLAMing on 4.281052754 meters 0.0462189862894276 Centerline is valid? [True, True] Translation: X:2.41, Y:0.03, Z:-0.16 [[ 0.9960165 -0.05797488 0.06774992 2.40937236] [ 0.05840154 0.99828377 -0.0043324 0.02678611] [-0.06738247 0.00827184 0.99769293 -0.15613366] [ 0. 0. 0. 1. ]] SLAMing on 4.311052754 meters 0.058375703432079325 Centerline is valid? [True, True] Translation: X:2.44, Y:0.01, Z:-0.16 [[ 0.99580366 -0.05964364 0.06940969 2.43962059] [ 0.06009587 0.99818272 -0.00444372 0.00750234] [-0.06901851 0.00859631 0.99757834 -0.15703629] [ 0. 0. 0. 1. ]] SLAMing on 4.341052754000001 meters 0.07168971524486421 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.01, Z:-0.16 [[ 0.99546701 -0.06417081 0.07019637 2.46843231] [ 0.0646447 0.99789821 -0.00449788 -0.01130711] [-0.0697602 0.00901531 0.99752305 -0.15902155] [ 0. 0. 0. 1. ]] SLAMing on 4.371052754 meters 0.11298377507605403 Centerline is valid? [True, False] Translation: X:2.47, Y:-0.01, Z:-0.16 [[ 0.9955324 -0.06343411 0.06993828 2.46993214] [ 0.06381827 0.99795618 -0.00326991 -0.01260673] [-0.06958792 0.00771864 0.99754596 -0.16086357] [ 0. 0. 0. 1. ]] SLAMing on 4.401052754 meters 0.11976066492200897 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:-0.16 [[ 0.99552826 -0.06374196 0.06971694 2.47045685] [ 0.06412909 0.99793607 -0.00332656 -0.01304001] [-0.06936101 0.00778256 0.99756127 -0.16123044] [ 0. 0. 0. 1. ]] SLAMing on 4.431052754 meters 0.08241540079803869 Centerline is valid? [False, True] Translation: X:2.47, Y:-0.01, Z:-0.16 [[ 0.99654387 -0.05348929 0.06355475 2.47336519] [ 0.05437726 0.99844441 -0.01232379 -0.01279152] [-0.06279669 0.01573713 0.99790226 -0.16161845] [ 0. 0. 0. 1. ]] SLAMing on 4.461052754 meters 0.07481984621377022 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.00, Z:-0.16 [[ 0.99665487 -0.05213769 0.06293428 2.50513038] [ 0.0525748 0.99860288 -0.00530839 -0.00490328] [-0.06256959 0.00859939 0.99800356 -0.16214327] [ 0. 0. 0. 1. ]] SLAMing on 4.491052754 meters 0.0735295862671215 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.00, Z:-0.16 [[ 0.99691576 -0.04845199 0.06173627 2.53568253] [ 0.04886567 0.99879178 -0.00520772 -0.0031217 ] [-0.06140935 0.00820844 0.99807891 -0.16490609] [ 0. 0. 0. 1. ]] SLAMing on 4.521052754 meters 0.0687740711061665 Centerline is valid? [True, True] Translation: X:2.57, Y:0.01, Z:-0.16 [[ 0.99739083 -0.03704228 0.06196289 2.56594516] [ 0.03743739 0.9992853 -0.00522738 0.00628893] [-0.06172497 0.00753347 0.99806476 -0.1640913 ] [ 0. 0. 0. 1. ]] SLAMing on 4.5510527540000005 meters 0.04238934567187775 Centerline is valid? [True, True] Translation: X:2.60, Y:0.04, Z:-0.17 [[ 0.99788873 -0.02159466 0.06125163 2.5995701 ] [ 0.02195202 0.99974567 -0.00516727 0.04192292] [-0.06112447 0.00650096 0.99810898 -0.16550013] [ 0. 0. 0. 1. ]] SLAMing on 4.581052754 meters 0.05125951747546004 Centerline is valid? [True, True] Translation: X:2.63, Y:0.03, Z:-0.17 [[ 0.99805088 -0.01422605 0.06076226 2.62779624] [ 0.01456424 0.99988079 -0.00512652 0.0275845 ] [-0.06068209 0.00600149 0.9981391 -0.16793165] [ 0. 0. 0. 1. ]] SLAMing on 4.611052754 meters 0.03880208955394869 Centerline is valid? [True, True] Translation: X:2.66, Y:0.04, Z:-0.17 [[ 0.99814897 -0.00307254 0.06073871 2.65990827] [ 0.00338997 0.99998113 -0.00512368 0.04089747] [-0.06072182 0.0053201 0.99814055 -0.16933197] [ 0. 0. 0. 1. ]] SLAMing on 4.641052754 meters 0.03764046086192542 Centerline is valid? [True, True] Translation: X:2.69, Y:0.04, Z:-0.17 [[ 9.98116407e-01 4.66272150e-04 6.13467232e-02 2.69074637e+00] [-1.49060815e-04 9.99986597e-01 -5.17526999e-03 3.96021401e-02] [-6.13483140e-02 5.15637750e-03 9.98103099e-01 -1.70291725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.671052754 meters 0.036848161069650893 Centerline is valid? [True, True] Translation: X:2.72, Y:0.04, Z:-0.17 [[ 0.9981803 0.00615003 0.05998561 2.72062232] [-0.00585695 0.99997004 -0.00506045 0.03761472] [-0.06001494 0.00469991 0.99818641 -0.17230499] [ 0. 0. 0. 1. ]] SLAMing on 4.701052754 meters 0.037559877035340056 Centerline is valid? [True, True] Translation: X:2.75, Y:0.03, Z:-0.18 [[ 0.99824886 0.00923498 0.05842889 2.75006036] [-0.0089622 0.99994769 -0.00492888 0.03437079] [-0.05847135 0.0043966 0.99827941 -0.17590194] [ 0. 0. 0. 1. ]] SLAMing on 4.731052754 meters 0.032910175157423865 Centerline is valid? [True, True] Translation: X:2.78, Y:0.03, Z:-0.18 [[ 0.99835269 0.01726585 0.05471559 2.78036543] [-0.01703871 0.99984418 -0.00461508 0.03475692] [-0.05478675 0.0036752 0.99849131 -0.18126798] [ 0. 0. 0. 1. ]] SLAMing on 4.7610527540000005 meters 0.029005963231909498 Centerline is valid? [True, True] Translation: X:2.81, Y:0.03, Z:-0.18 [[ 0.99829005 0.02080862 0.05462573 2.81163884] [-0.0205875 0.99977744 -0.00460765 0.03470056] [-0.05470945 0.00347516 0.99849627 -0.18382265] [ 0. 0. 0. 1. ]] SLAMing on 4.791052754 meters 0.029005963231909498 Centerline is valid? [True, True] Translation: X:2.84, Y:0.03, Z:-0.19 [[ 0.99828435 0.02107989 0.05462586 2.84399682] [-0.02085926 0.99977181 -0.00460612 0.03191808] [-0.05471049 0.00345877 0.99849627 -0.1859163 ] [ 0. 0. 0. 1. ]] SLAMing on 4.821052754 meters 0.033452961094828496 Centerline is valid? [True, True] Translation: X:2.87, Y:0.02, Z:-0.19 [[ 0.99819804 0.02415044 0.05493114 2.87271811] [-0.02393098 0.9997028 -0.00464955 0.02027722] [-0.0550271 0.00332661 0.99847932 -0.18880479] [ 0. 0. 0. 1. ]] SLAMing on 4.851052754 meters 0.027288519692121843 Centerline is valid? [True, True] Translation: X:2.90, Y:0.02, Z:-0.19 [[ 0.99791304 0.02969104 0.05734115 2.90344866] [-0.02946098 0.99955415 -0.00485354 0.02346445] [-0.05745969 0.00315409 0.99834284 -0.18907686] [ 0. 0. 0. 1. ]] SLAMing on 4.881052754 meters 0.0308520477030858 Centerline is valid? [True, True] Translation: X:2.93, Y:0.01, Z:-0.19 [[ 0.99787193 0.03165249 0.05700638 2.93321125] [-0.03142832 0.99949436 -0.00482491 0.01290835] [-0.05713028 0.00302302 0.99836216 -0.19276355] [ 0. 0. 0. 1. ]] SLAMing on 4.911052754 meters 0.02694769785351783 Centerline is valid? [True, True] Translation: X:2.96, Y:0.01, Z:-0.20 [[ 9.97910452e-01 3.48082871e-02 5.44344879e-02 2.96409295e+00] [-3.46084939e-02 9.99390319e-01 -4.60897743e-03 7.32064967e-03] [-5.45617308e-02 2.71545110e-03 9.98506707e-01 -1.96281705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941052754 meters 0.030880780768020755 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.01, Z:-0.20 [[ 9.97918643e-01 3.60474541e-02 5.34692624e-02 2.99404907e+00] [-3.58564749e-02 9.99346696e-01 -4.52707612e-03 -5.12193410e-03] [-5.35975202e-02 2.60043440e-03 9.98559234e-01 -2.00209898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9710527540000005 meters 0.026670670471233345 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.01, Z:-0.20 [[ 9.97804566e-01 3.81391199e-02 5.41429199e-02 3.02555599e+00] [-3.79456189e-02 9.99269228e-01 -4.59777680e-03 -7.07962030e-03] [-5.42787090e-02 2.53319608e-03 9.98522611e-01 -2.01386106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001052754 meters 0.030094703045723013 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.02, Z:-0.20 [[ 9.97706689e-01 3.96514911e-02 5.48554634e-02 3.05609628e+00] [-3.94551342e-02 9.99210485e-01 -4.65832098e-03 -1.88935998e-02] [-5.49968636e-02 2.48330833e-03 9.98483439e-01 -2.04648592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.031052754 meters 0.028085359633180932 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.03, Z:-0.20 [[ 9.97513742e-01 4.11148097e-02 5.72355473e-02 3.08769495e+00] [-4.09026240e-02 9.99151248e-01 -4.87431314e-03 -3.11640914e-02] [-5.73873750e-02 2.52111026e-03 9.98348803e-01 -2.03042540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061052754 meters 0.026805660756867588 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.04, Z:-0.20 [[ 9.97294815e-01 4.05655493e-02 6.12983613e-02 3.11959496e+00] [-4.03201893e-02 9.99173097e-01 -5.23488334e-03 -4.11558413e-02] [-6.14600295e-02 2.74916047e-03 9.98105759e-01 -1.99938555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.091052754 meters 0.025116450997828384 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.04, Z:-0.20 [[ 9.97254084e-01 4.07636288e-02 6.18273304e-02 3.15272066e+00] [-4.05135156e-02 9.99164965e-01 -5.29411340e-03 -4.43837064e-02] [-6.19915097e-02 2.77473370e-03 9.98072820e-01 -2.00884351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121052754 meters 0.02363618203000811 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.05, Z:-0.20 [[ 9.97249066e-01 4.10844939e-02 6.16957357e-02 3.18569383e+00] [-4.08350401e-02 9.99151849e-01 -5.29927073e-03 -4.78686741e-02] [-6.18611263e-02 2.76534495e-03 9.98080936e-01 -2.02380746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.151052754 meters 0.024378136144993047 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.06, Z:-0.20 [[ 9.97363761e-01 4.02141696e-02 6.04015601e-02 3.21551455e+00] [-3.99724584e-02 9.99187224e-01 -5.20521454e-03 -5.82068793e-02] [-6.05617905e-02 2.77709351e-03 9.98160587e-01 -2.03967487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.181052754 meters 0.025305065443659024 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.07, Z:-0.20 [[ 9.97365549e-01 3.89119816e-02 6.12194321e-02 3.24664050e+00] [-3.86611257e-02 9.99238444e-01 -5.27729660e-03 -6.56599224e-02] [-6.13781601e-02 2.89658167e-03 9.98110380e-01 -2.04255843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.211052754 meters 0.026881152401683216 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.07, Z:-0.20 [[ 0.99740773 0.03311859 0.06388257 3.27679468] [-0.03283261 0.99944561 -0.00552152 -0.07495579] [-0.06403002 0.00340978 0.99794215 -0.20213509] [ 0. 0. 0. 1. ]] SLAMing on 5.241052754 meters 0.028564425219605265 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.08, Z:-0.20 [[ 0.99749528 0.02934277 0.06435964 3.30705462] [-0.02904464 0.99956263 -0.0055632 -0.08172585] [-0.06449473 0.00367997 0.99791126 -0.20190055] [ 0. 0. 0. 1. ]] SLAMing on 5.271052754 meters 0.03217918789459179 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.09, Z:-0.20 [[ 0.99787104 0.02073778 0.06183314 3.33577761] [-0.02044613 0.99977666 -0.00534577 -0.09352255] [-0.06193019 0.00407014 0.99807218 -0.20383421] [ 0. 0. 0. 1. ]] SLAMing on 5.301052754 meters 0.035534291323529116 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.10, Z:-0.21 [[ 0.99805261 0.01491595 0.0605681 3.36552916] [-0.01462541 0.99987933 -0.00523739 -0.09908064] [-0.06063891 0.00434135 0.99815033 -0.20668334] [ 0. 0. 0. 1. ]] SLAMing on 5.331052754 meters 0.03595457861642364 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.10, Z:-0.21 [[ 0.99798075 0.01382919 0.06199335 3.39771018] [-0.01352263 0.99989419 -0.0053619 -0.10193347] [-0.06206094 0.00451276 0.99806216 -0.20660104] [ 0. 0. 0. 1. ]] SLAMing on 5.361052754 meters 0.03623432309580548 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.11, Z:-0.21 [[ 0.99789049 0.01429754 0.06332573 3.42969925] [-0.01397831 0.99988728 -0.00548124 -0.10514539] [-0.06339696 0.00458449 0.99797786 -0.20572063] [ 0. 0. 0. 1. ]] SLAMing on 5.391052754 meters 0.032325003171137595 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.10, Z:-0.20 [[ 0.99786747 0.01650276 0.06315205 3.46053508] [-0.01618875 0.99985393 -0.00548072 -0.10118105] [-0.06323327 0.00444668 0.99798887 -0.20496189] [ 0. 0. 0. 1. ]] SLAMing on 5.421052754 meters 0.03653453089259074 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.11, Z:-0.21 [[ 0.99779056 0.01893475 0.06368258 3.49043608] [-0.01862036 0.99981135 -0.00552676 -0.10593164] [-0.06377522 0.00432876 0.9979549 -0.20547647] [ 0. 0. 0. 1. ]] SLAMing on 5.451052754 meters 0.03648247999317865 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.11, Z:-0.21 [[ 0.99772561 0.02015551 0.06432236 3.5205648 ] [-0.01983728 0.99978764 -0.00558229 -0.10612353] [-0.06442122 0.00429361 0.99791356 -0.20688687] [ 0. 0. 0. 1. ]] SLAMing on 5.481052754 meters 0.030825267878984274 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.10, Z:-0.21 [[ 0.99776872 0.02291617 0.06270915 3.55254639] [-0.0226191 0.99972934 -0.00544325 -0.09712981] [-0.06281691 0.00401268 0.998017 -0.20931412] [ 0. 0. 0. 1. ]] SLAMing on 5.5110527540000005 meters 0.03217858131241386 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.10, Z:-0.21 [[ 0.99777318 0.02443344 0.06206197 3.58316961] [-0.02414533 0.99969394 -0.00538806 -0.10086009] [-0.06217462 0.00387756 0.99805775 -0.21170464] [ 0. 0. 0. 1. ]] SLAMing on 5.541052754 meters 0.028053995807933718 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.10, Z:-0.21 [[ 0.9978546 0.02636219 0.05992688 3.61566522] [-0.02609695 0.99964587 -0.00520456 -0.09580204] [-0.06004286 0.00362949 0.9981892 -0.21382392] [ 0. 0. 0. 1. ]] SLAMing on 5.571052754 meters 0.028317597557000657 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.10, Z:-0.22 [[ 9.97896030e-01 2.71995401e-02 5.88531978e-02 3.64736141e+00] [-2.69450661e-02 9.99623838e-01 -5.11330115e-03 -9.92672487e-02] [-5.89701389e-02 3.51673961e-03 9.98253553e-01 -2.16553750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601052754 meters 0.028654633927752967 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.10, Z:-0.22 [[ 9.97887755e-01 2.84411789e-02 5.84048590e-02 3.67767955e+00] [-2.81918780e-02 9.99589580e-01 -5.08821177e-03 -1.04367428e-01] [-5.85256032e-02 3.43092156e-03 9.98280012e-01 -2.19520432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631052754 meters 0.03342663533642121 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.11, Z:-0.22 [[ 9.97867661e-01 2.93369871e-02 5.83049875e-02 3.70825806e+00] [-2.90893159e-02 9.99563845e-01 -5.09225749e-03 -1.13926949e-01] [-5.84289490e-02 3.38534687e-03 9.98285829e-01 -2.23026481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661052754 meters 0.029601423934714658 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.11, Z:-0.23 [[ 9.97933363e-01 2.98183845e-02 5.69198293e-02 3.74077549e+00] [-2.95824733e-02 9.99549923e-01 -4.98291815e-03 -1.13130768e-01] [-5.70427935e-02 3.28879094e-03 9.98366317e-01 -2.26562061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691052754 meters 0.03043220339018619 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.12, Z:-0.23 [[ 9.97991718e-01 2.93467815e-02 5.61364082e-02 3.77182424e+00] [-2.91157335e-02 9.99563892e-01 -4.92946074e-03 -1.19730932e-01] [-5.62565905e-02 3.28510830e-03 9.98410939e-01 -2.29235160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7210527540000005 meters 0.031613902764168665 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.13, Z:-0.23 [[ 9.98066049e-01 2.79753924e-02 5.55116193e-02 3.80236867e+00] [-2.77466474e-02 9.99603040e-01 -4.88727487e-03 -1.30052680e-01] [-5.56263069e-02 3.33756178e-03 9.98446080e-01 -2.30490226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751052754 meters 0.03213218030479345 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.13, Z:-0.23 [[ 9.98075911e-01 2.77526024e-02 5.54460984e-02 3.83457076e+00] [-2.75237743e-02 9.99609205e-01 -4.88656106e-03 -1.34856605e-01] [-5.55600451e-02 3.35107298e-03 9.98449724e-01 -2.31806371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781052754 meters 0.03281212683169005 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.14, Z:-0.23 [[ 9.98088466e-01 2.70142023e-02 5.55846009e-02 3.86641818e+00] [-2.67823794e-02 9.99629222e-01 -4.91146913e-03 -1.38051457e-01] [-5.56966707e-02 3.41339281e-03 9.98441901e-01 -2.32422552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811052754 meters 0.034014973563277026 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.14, Z:-0.23 [[ 9.98091402e-01 2.56841461e-02 5.61593953e-02 3.89727814e+00] [-2.54446675e-02 9.99663851e-01 -4.97527811e-03 -1.42662380e-01] [-5.62683032e-02 3.53682517e-03 9.98409419e-01 -2.34157236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841052754 meters 0.03714684492022241 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.15, Z:-0.24 [[ 0.99814815 0.02006982 0.05742355 3.92680771] [-0.01980939 0.99979076 -0.00510087 -0.15123782] [-0.0575139 0.0039539 0.99833688 -0.23554315] [ 0. 0. 0. 1. ]] SLAMing on 5.871052754 meters 0.03864060854331472 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.16, Z:-0.24 [[ 0.99815557 0.01736989 0.05817002 3.95740929] [-0.01709804 0.99984046 -0.0051678 -0.15577869] [-0.0582505 0.00416367 0.99829332 -0.23668977] [ 0. 0. 0. 1. ]] SLAMing on 5.901052754 meters 0.040092178763492255 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.16, Z:-0.24 [[ 0.9980582 0.01379454 0.06074166 3.98825514] [-0.01349144 0.99989442 -0.00539731 -0.15705606] [-0.0608097 0.00456733 0.99813893 -0.23737801] [ 0. 0. 0. 1. ]] SLAMing on 5.931052754 meters 0.036480455114001206 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.15, Z:-0.24 [[ 0.99807189 0.01370966 0.06053548 4.02079955] [-0.01340849 0.99989564 -0.00537843 -0.15321277] [-0.0606029 0.00455637 0.99815156 -0.23967146] [ 0. 0. 0. 1. ]] SLAMing on 5.961052754 meters 0.042210389690751374 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.16, Z:-0.25 [[ 0.99823731 0.01573481 0.05722496 4.05015941] [-0.01546826 0.99986736 -0.0050979 -0.16308092] [-0.05729759 0.00420375 0.99834829 -0.24710327] [ 0. 0. 0. 1. ]] SLAMing on 5.991052754 meters 0.03747631698109881 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.16, Z:-0.25 [[ 9.98249535e-01 1.79957022e-02 5.63384413e-02 4.08143253e+00] [-1.77408317e-02 9.99830013e-01 -5.02083787e-03 -1.60967260e-01] [-5.64192180e-02 4.01255827e-03 9.98399104e-01 -2.50393626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021052754 meters 0.036170384302856066 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.17, Z:-0.25 [[ 9.98212843e-01 2.24373452e-02 5.53866876e-02 4.11073954e+00] [-2.21977611e-02 9.99741408e-01 -4.93715895e-03 -1.67834919e-01] [-5.54831418e-02 3.69887501e-03 9.98452773e-01 -2.53203288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.051052754 meters 0.04019292085546877 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.18, Z:-0.26 [[ 9.98186324e-01 2.52601872e-02 5.46441698e-02 4.13987840e+00] [-2.50311812e-02 9.99674802e-01 -4.87133273e-03 -1.79440244e-01] [-5.47494504e-02 3.49468960e-03 9.98494008e-01 -2.56452486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081052754 meters 0.036946079442966726 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.18, Z:-0.26 [[ 9.98055047e-01 3.31504689e-02 5.27936520e-02 4.16974360e+00] [-3.29477231e-02 9.99445996e-01 -4.70628773e-03 -1.84323859e-01] [-5.29204197e-02 2.95770360e-03 9.98594353e-01 -2.61826574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.111052754 meters 0.0316545019819789 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.18, Z:-0.26 [[ 9.97933905e-01 3.72347221e-02 5.23592982e-02 4.20010559e+00] [-3.70408765e-02 9.99302848e-01 -4.66807687e-03 -1.83529617e-01] [-5.24966103e-02 2.71899789e-03 9.98617401e-01 -2.63894206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141052754 meters 0.028477830882221715 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.19, Z:-0.27 [[ 9.97500976e-01 4.54121326e-02 5.41252263e-02 4.23054978e+00] [-4.52170007e-02 9.98965536e-01 -4.82497990e-03 -1.89726930e-01] [-5.42883483e-02 2.36554177e-03 9.98522498e-01 -2.66519549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171052754 meters 0.0266530611232299 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.20, Z:-0.27 [[ 9.97258090e-01 4.97366210e-02 5.47957099e-02 4.26077047e+00] [-4.95430893e-02 9.98760038e-01 -4.88547080e-03 -1.95420702e-01] [-5.49707521e-02 2.15732653e-03 9.98485635e-01 -2.67626226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201052754 meters 0.023628230012094353 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.21, Z:-0.27 [[ 9.96770746e-01 5.77667473e-02 5.57770827e-02 4.28964609e+00] [-5.75786709e-02 9.98328579e-01 -4.97444329e-03 -2.06143172e-01] [-5.59712131e-02 1.74680925e-03 9.98430855e-01 -2.67469887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.231052754 meters 0.022461555890087793 Centerline is valid? [True, True] Translation: X:4.32, Y:-0.21, Z:-0.27 [[ 9.96609332e-01 6.05341344e-02 5.57266276e-02 4.32053361e+00] [-6.03507867e-02 9.98164863e-01 -4.96869668e-03 -2.12911980e-01] [-5.59251373e-02 1.58870366e-03 9.98433701e-01 -2.69202751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2610527540000005 meters 0.01993606930514391 Centerline is valid? [True, True] Translation: X:4.35, Y:-0.22, Z:-0.27 [[ 9.96451383e-01 6.29263203e-02 5.59009804e-02 4.35164907e+00] [-6.27455729e-02 9.98017109e-01 -4.98437276e-03 -2.20551514e-01] [-5.61037831e-02 1.45914609e-03 9.98423876e-01 -2.71565992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.291052754 meters 0.020074240505699368 Centerline is valid? [True, True] Translation: X:4.38, Y:-0.23, Z:-0.27 [[ 9.96391331e-01 6.33317892e-02 5.65101733e-02 4.38320619e+00] [-6.31469861e-02 9.97991452e-01 -5.05174105e-03 -2.27255202e-01] [-5.67166057e-02 1.46506386e-03 9.98389243e-01 -2.74318418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321052754 meters 0.020298357425255396 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.24, Z:-0.28 [[ 9.96201218e-01 6.41941848e-02 5.88408064e-02 4.41398002e+00] [-6.39944776e-02 9.97936316e-01 -5.27409220e-03 -2.38182073e-01] [-5.90579436e-02 1.48857040e-03 9.98253447e-01 -2.75047204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.351052754 meters 0.019687339181345652 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.24, Z:-0.27 [[ 9.96025449e-01 6.52771123e-02 6.05987042e-02 4.44602531e+00] [-6.50664168e-02 9.97866075e-01 -5.44580733e-03 -2.43823718e-01] [-6.08248777e-02 1.48122215e-03 9.98147354e-01 -2.74880274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381052754 meters 0.01960450530098514 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.25, Z:-0.28 [[ 9.95940588e-01 6.61834268e-02 6.10090123e-02 4.47592810e+00] [-6.59707111e-02 9.97806421e-01 -5.49655529e-03 -2.54441789e-01] [-6.12389650e-02 1.44943458e-03 9.98122081e-01 -2.75687484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.411052754 meters 0.019659892726294665 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.26, Z:-0.28 [[ 9.96031635e-01 6.64808577e-02 5.91715914e-02 4.50829615e+00] [-6.62806093e-02 9.97786719e-01 -5.34265257e-03 -2.63155161e-01] [-5.93958122e-02 1.39952185e-03 9.98233529e-01 -2.79213762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441052754 meters 0.021271989384971542 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.28, Z:-0.29 [[ 9.96422150e-01 6.29605827e-02 5.63814111e-02 4.53806188e+00] [-6.27722956e-02 9.98014813e-01 -5.10608631e-03 -2.78249464e-01] [-5.65909656e-02 1.54862690e-03 9.98396246e-01 -2.85587664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4710527540000005 meters 0.021354597733108903 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.29, Z:-0.29 [[ 9.96591089e-01 5.93927489e-02 5.72599512e-02 4.56963320e+00] [-5.91925675e-02 9.98233105e-01 -5.18726925e-03 -2.85974579e-01] [-5.74668651e-02 1.78022278e-03 9.98345827e-01 -2.87640224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501052754 meters 0.02741577792011235 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.31, Z:-0.29 [[ 9.96992415e-01 5.01522856e-02 5.90836036e-02 4.59749783e+00] [-4.99226787e-02 9.98738720e-01 -5.35677463e-03 -3.12699126e-01] [-5.92777371e-02 2.39105192e-03 9.98238665e-01 -2.87732696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.531052754 meters 0.029909852161841992 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.33, Z:-0.29 [[ 9.97226356e-01 4.53043303e-02 5.90517855e-02 4.62668309e+00] [-4.50664667e-02 9.98969642e-01 -5.35432166e-03 -3.26807258e-01] [-5.92335149e-02 2.67821535e-03 9.98240561e-01 -2.88518914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561052754 meters 0.03199537664604271 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.34, Z:-0.29 [[ 9.97431724e-01 4.10263057e-02 5.87094418e-02 4.65620442e+00] [-4.07837751e-02 9.99153812e-01 -5.32382270e-03 -3.39576948e-01] [-5.88781794e-02 2.91575698e-03 9.98260917e-01 -2.89861487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.591052754 meters 0.0319902636247245 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.36, Z:-0.29 [[ 9.97674022e-01 3.33468422e-02 5.94519471e-02 4.68591197e+00] [-3.30845091e-02 9.99438015e-01 -5.39169014e-03 -3.57880253e-01] [-5.95983319e-02 3.41221070e-03 9.98216608e-01 -2.86777734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621052754 meters 0.024557101071560738 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.36, Z:-0.28 [[ 9.97551049e-01 3.25179586e-02 6.19232282e-02 4.71812044e+00] [-3.22316798e-02 9.99464642e-01 -5.61669364e-03 -3.64052658e-01] [-6.20727206e-02 3.60704897e-03 9.98065111e-01 -2.81873785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.651052754 meters 0.03236971869168148 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.38, Z:-0.28 [[ 9.97426912e-01 3.46178050e-02 6.27786751e-02 4.74750723e+00] [-3.43266902e-02 9.99394353e-01 -5.71012737e-03 -3.82097804e-01] [-6.29383255e-02 3.54045058e-03 9.98011138e-01 -2.83140447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.681052754 meters 0.02245578847231689 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.37, Z:-0.29 [[ 9.97180033e-01 4.09467383e-02 6.28915373e-02 4.77896704e+00] [-4.06669688e-02 9.99156369e-01 -5.72263144e-03 -3.72224328e-01] [-6.30728031e-02 3.14888563e-03 9.98003961e-01 -2.85926549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.711052754 meters 0.02245578847231689 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.38, Z:-0.29 [[ 9.97168649e-01 4.12230201e-02 6.28915653e-02 4.81121556e+00] [-4.09438175e-02 9.99145064e-01 -5.72232376e-03 -3.75209899e-01] [-6.30736885e-02 3.13110107e-03 9.98003961e-01 -2.88014185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741052754 meters 0.030250968261496588 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.39, Z:-0.29 [[ 9.97093772e-01 4.32075953e-02 6.27464257e-02 4.83988129e+00] [-4.29324712e-02 9.99061562e-01 -5.72698886e-03 -3.90508538e-01] [-6.29349915e-02 3.01648581e-03 9.98013070e-01 -2.91799157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.771052754 meters 0.023114425363927486 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.38, Z:-0.29 [[ 9.97048969e-01 4.38453336e-02 6.30154038e-02 4.87315424e+00] [-4.35690461e-02 9.99033856e-01 -5.75256494e-03 -3.84113015e-01] [-6.32067450e-02 2.99006790e-03 9.97995975e-01 -2.94218106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.801052754 meters 0.02330114547732145 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.39, Z:-0.29 [[ 9.97062493e-01 4.29166833e-02 6.34392958e-02 4.90430440e+00] [-4.26344431e-02 9.99073923e-01 -5.79664527e-03 -3.91419029e-01] [-6.36293189e-02 3.07491854e-03 9.97968865e-01 -2.94957645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.831052754 meters 0.024690315886240495 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.40, Z:-0.30 [[ 9.97260522e-01 4.20029222e-02 6.08868204e-02 4.93504408e+00] [-4.17404801e-02 9.99112925e-01 -5.57640319e-03 -3.98621089e-01] [-6.10670345e-02 3.01968164e-03 9.98129099e-01 -2.97958603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861052754 meters 0.022162612478036584 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.40, Z:-0.30 [[ 9.97363437e-01 4.16200668e-02 5.94469889e-02 4.96674678e+00] [-4.13684688e-02 9.99129055e-01 -5.45729514e-03 -3.96451869e-01] [-5.96223468e-02 2.98367573e-03 9.98216546e-01 -3.02220471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.891052754 meters 0.024157539327529755 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.40, Z:-0.31 [[ 9.97614849e-01 3.76763002e-02 5.78369148e-02 4.99641049e+00] [-3.74307298e-02 9.99285043e-01 -5.32378721e-03 -3.98993974e-01] [-5.79961445e-02 3.14621124e-03 9.98311849e-01 -3.08379829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921052754 meters 0.025252507722246686 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.40, Z:-0.31 [[ 9.97716408e-01 3.39452271e-02 5.83925546e-02 5.02722980e+00] [-3.36885557e-02 9.99417927e-01 -5.37472105e-03 -4.04003290e-01] [-5.85410120e-02 3.39528655e-03 9.98279230e-01 -3.10368426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.951052754 meters 0.028148067822145628 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.42, Z:-0.31 [[ 9.97878211e-01 2.64557075e-02 5.94909354e-02 5.05644965e+00] [-2.61759002e-02 9.99642344e-01 -5.47789289e-03 -4.15533430e-01] [-5.96145797e-02 3.90904117e-03 9.98213815e-01 -3.08708150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981052754 meters 0.026862591971432433 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.42, Z:-0.31 [[ 9.97901574e-01 2.40975817e-02 6.00978825e-02 5.08726284e+00] [-2.38076201e-02 9.99701229e-01 -5.53631015e-03 -4.17509799e-01] [-6.02133386e-02 4.09390506e-03 9.98177135e-01 -3.09368324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.011052754 meters 0.026898009310972477 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.42, Z:-0.31 [[ 9.97831513e-01 2.51124215e-02 6.08410927e-02 5.11906725e+00] [-2.48170860e-02 9.99676295e-01 -5.60512750e-03 -4.17429996e-01] [-6.09621564e-02 4.08307423e-03 9.98131727e-01 -3.10765861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041052754 meters 0.025163354435118915 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.41, Z:-0.31 [[ 9.97585395e-01 3.12013215e-02 6.20472103e-02 5.15066960e+00] [-3.09048650e-02 9.99505894e-01 -5.73213094e-03 -4.12309741e-01] [-6.21954024e-02 3.80072945e-03 9.98056755e-01 -3.12606556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.071052754 meters 0.0231638790489934 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.41, Z:-0.31 [[ 9.97324301e-01 3.91259673e-02 6.17527058e-02 5.18233372e+00] [-3.88473852e-02 9.99228864e-01 -5.70589817e-03 -4.09748385e-01] [-6.19283348e-02 3.29169976e-03 9.98075171e-01 -3.12993966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101052754 meters 0.02250493510602293 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.41, Z:-0.31 [[ 9.97155277e-01 4.22993441e-02 6.23868444e-02 5.21334027e+00] [-4.20211176e-02 9.99100087e-01 -5.76562509e-03 -4.10850629e-01] [-6.25745838e-02 3.12765856e-03 9.98035390e-01 -3.13982305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.131052754 meters 0.02250493510602293 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.41, Z:-0.32 [[ 9.97143539e-01 4.25752485e-02 6.23867849e-02 5.24558527e+00] [-4.22975199e-02 9.99088419e-01 -5.76627025e-03 -4.13882786e-01] [-6.25754147e-02 3.11099285e-03 9.98035390e-01 -3.16070410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161052754 meters 0.021607975074717876 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.41, Z:-0.32 [[ 9.96731192e-01 4.79294571e-02 6.50361320e-02 5.27567651e+00] [-4.76377329e-02 9.98846479e-01 -6.02980461e-03 -4.13342220e-01] [-6.52501167e-02 2.91192046e-03 9.97864692e-01 -3.16010149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.191052754 meters 0.021152671386828564 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.41, Z:-0.32 [[ 9.96483023e-01 5.08349135e-02 6.66137893e-02 5.30628343e+00] [-5.05353427e-02 9.98703180e-01 -6.17557887e-03 -4.14569897e-01] [-6.68413382e-02 2.78750883e-03 9.97759723e-01 -3.18206050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.221052754 meters 0.021154911643230072 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.42, Z:-0.32 [[ 9.96506852e-01 5.15879128e-02 6.56717637e-02 5.33841443e+00] [-5.12982470e-02 9.98664806e-01 -6.09056766e-03 -4.19362373e-01] [-6.58982789e-02 2.70044605e-03 9.97822692e-01 -3.21728766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.251052754 meters 0.021705892438755682 Centerline is valid? [True, True] Translation: X:5.37, Y:-0.43, Z:-0.33 [[ 9.96669668e-01 5.13531981e-02 6.33436884e-02 5.36905572e+00] [-5.10829346e-02 9.98677106e-01 -5.87985687e-03 -4.26602166e-01] [-6.35618408e-02 2.62449350e-03 9.97974451e-01 -3.25479763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281052754 meters 0.020062462535299263 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.44, Z:-0.33 [[ 9.96874922e-01 5.05327792e-02 6.07192504e-02 5.39987754e+00] [-5.02825176e-02 9.98719089e-01 -5.64352087e-03 -4.35597584e-01] [-6.09266572e-02 2.57276766e-03 9.98138930e-01 -3.28611345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.311052754 meters 0.020845853481076877 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.44, Z:-0.33 [[ 9.96883102e-01 5.04916888e-02 6.06190556e-02 5.43035924e+00] [-5.02413315e-02 9.98721136e-01 -5.64809762e-03 -4.44593661e-01] [-6.08267141e-02 2.58491100e-03 9.98144994e-01 -3.30622287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341052754 meters 0.018914208671165087 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.45, Z:-0.33 [[ 9.96942986e-01 5.22476994e-02 5.80935431e-02 5.46216706e+00] [-5.20199861e-02 9.98631302e-01 -5.42620983e-03 -4.53079203e-01] [-5.82975375e-02 2.38759653e-03 9.98296397e-01 -3.34324082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.371052754 meters 0.022370771455353437 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.47, Z:-0.34 [[ 9.96934287e-01 5.44352703e-02 5.62034550e-02 5.49207829e+00] [-5.42254071e-02 9.98514901e-01 -5.25343062e-03 -4.65318510e-01] [-5.64059592e-02 2.18966988e-03 9.98405515e-01 -3.39255148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401052754 meters 0.02138032407111258 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.47, Z:-0.34 [[ 9.96781246e-01 5.92296555e-02 5.40277307e-02 5.52113070e+00] [-5.90419942e-02 9.98242653e-01 -5.06436176e-03 -4.74469469e-01] [-5.42327456e-02 1.85815587e-03 9.98526593e-01 -3.42137214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.431052754 meters 0.01916498707892696 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.48, Z:-0.34 [[ 9.96670196e-01 6.18952136e-02 5.30801639e-02 5.55278659e+00] [-6.17179965e-02 9.98081239e-01 -4.97292729e-03 -4.78646340e-01] [-5.32861161e-02 1.68036704e-03 9.98577872e-01 -3.42392151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461052754 meters 0.020628891950465494 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.49, Z:-0.34 [[ 9.96566254e-01 6.39392693e-02 5.26067544e-02 5.58233773e+00] [-6.37673782e-02 9.97952557e-01 -4.94119113e-03 -4.93317432e-01] [-5.28149812e-02 1.56962953e-03 9.98603081e-01 -3.41951819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.491052754 meters 0.01692975216481282 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.50, Z:-0.34 [[ 9.96454062e-01 6.28251690e-02 5.59669539e-02 5.61587750e+00] [-6.26281251e-02 9.98023021e-01 -5.26945480e-03 -4.95126575e-01] [-5.61873628e-02 1.74566425e-03 9.98418716e-01 -3.38292835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521052754 meters 0.01692597753263385 Centerline is valid? [True, True] Translation: X:5.65, Y:-0.50, Z:-0.34 [[ 9.96397686e-01 6.12566827e-02 5.86452857e-02 5.64724813e+00] [-6.10364930e-02 9.98120159e-01 -5.54024850e-03 -5.00777800e-01] [-5.88744192e-02 1.94078821e-03 9.98263510e-01 -3.37826084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.551052754 meters 0.01762291111334968 Centerline is valid? [True, True] Translation: X:5.68, Y:-0.51, Z:-0.34 [[ 9.96426470e-01 5.91021390e-02 6.03425813e-02 5.67792423e+00] [-5.88645651e-02 9.98249655e-01 -5.70872205e-03 -5.08174375e-01] [-6.05743587e-02 2.13628195e-03 9.98161401e-01 -3.37813500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581052754 meters 0.018749885879594957 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.52, Z:-0.34 [[ 9.96749467e-01 5.42695456e-02 5.95425585e-02 5.70802564e+00] [-5.40287547e-02 9.98523408e-01 -5.64771233e-03 -5.19218890e-01] [-5.97611373e-02 2.41234397e-03 9.98209791e-01 -3.37840987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.611052754 meters 0.019656435624248802 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.53, Z:-0.34 [[ 9.96898193e-01 5.24331975e-02 5.86920153e-02 5.73800871e+00] [-5.21960162e-02 9.98621336e-01 -5.56797329e-03 -5.29774603e-01] [-5.89030454e-02 2.48721313e-03 9.98260610e-01 -3.37666561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641052754 meters 0.020040443825444544 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.54, Z:-0.34 [[ 9.96915835e-01 5.33912559e-02 5.75168814e-02 5.76891878e+00] [-5.31650037e-02 9.98570826e-01 -5.45781294e-03 -5.35662808e-01] [-5.77260793e-02 2.38309493e-03 9.98329615e-01 -3.39165050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671052754 meters 0.019673640772452587 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.54, Z:-0.34 [[ 9.96873986e-01 5.54549822e-02 5.62761084e-02 5.80066557e+00] [-5.52412885e-02 9.98458717e-01 -5.34697460e-03 -5.39318592e-01] [-5.64858873e-02 2.22149515e-03 9.98400926e-01 -3.41392391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701052754 meters 0.018757765411690015 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.54, Z:-0.34 [[ 9.96799074e-01 6.01390804e-02 5.26772831e-02 5.83183203e+00] [-5.99576424e-02 9.98188303e-01 -5.01931920e-03 -5.42886002e-01] [-5.28837051e-02 1.84484703e-03 9.98598974e-01 -3.44438122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731052754 meters 0.019298722114768747 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.55, Z:-0.35 [[ 9.96738351e-01 6.26240745e-02 5.09007410e-02 5.86217768e+00] [-6.24579550e-02 9.98035815e-01 -4.84924514e-03 -5.48998391e-01] [-5.11044420e-02 1.65427241e-03 9.98691944e-01 -3.47309859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.761052754 meters 0.01908849903173402 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.56, Z:-0.35 [[ 9.96871070e-01 6.44670847e-02 4.57390923e-02 5.89323918e+00] [-6.43345119e-02 9.97918838e-01 -4.36616738e-03 -5.58453308e-01] [-4.59253759e-02 1.40990377e-03 9.98943878e-01 -3.50478768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.791052754 meters 0.020118358607178647 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.57, Z:-0.35 [[ 9.96985904e-01 6.44194058e-02 4.32347902e-02 5.92322210e+00] [-6.43004829e-02 9.97922007e-01 -4.13712190e-03 -5.67888651e-01] [-4.34114596e-02 1.34463433e-03 9.99056373e-01 -3.53909360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821052754 meters 0.019146329088601942 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.57, Z:-0.35 [[ 9.97101678e-01 6.38644740e-02 4.13469704e-02 5.95452986e+00] [-6.37548876e-02 9.97957711e-01 -3.96495485e-03 -5.73808667e-01] [-4.15157477e-02 1.31739168e-03 9.99136981e-01 -3.54170326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.851052754 meters 0.022072688101496332 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.59, Z:-0.36 [[ 9.97316495e-01 6.13515330e-02 3.99474347e-02 5.98290348e+00] [-6.12466634e-02 9.98115255e-01 -3.84488689e-03 -5.89172048e-01] [-4.01080337e-02 1.38792202e-03 9.99194385e-01 -3.59291996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881052754 meters 0.022477753671204297 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.60, Z:-0.36 [[ 9.97454855e-01 5.95822891e-02 3.91632903e-02 6.01452721e+00] [-5.94802026e-02 9.98222375e-01 -3.76774284e-03 -5.97371803e-01] [-3.93181634e-02 1.42871294e-03 9.99225721e-01 -3.60503491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.911052754 meters 0.02320320939857839 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.61, Z:-0.36 [[ 9.97743866e-01 5.45095112e-02 3.91904456e-02 6.04410021e+00] [-5.44032232e-02 9.98511915e-01 -3.77424158e-03 -6.13157069e-01] [-3.93378590e-02 1.63363983e-03 9.99224631e-01 -3.56321783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941052754 meters 0.022578186813909513 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.62, Z:-0.35 [[ 9.97902645e-01 5.14547863e-02 3.92774357e-02 6.07526084e+00] [-5.13456554e-02 9.98673777e-01 -3.78284808e-03 -6.21374710e-01] [-3.94199908e-02 1.75818842e-03 9.99221183e-01 -3.53471022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.971052754 meters 0.02640270974626789 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.64, Z:-0.35 [[ 9.98048118e-01 4.91243043e-02 3.85584956e-02 6.10441542e+00] [-4.90173314e-02 9.98791018e-01 -3.71535642e-03 -6.35726136e-01] [-3.86943933e-02 1.81806992e-03 9.99249438e-01 -3.54731434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001052754 meters 0.024793560722422614 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.64, Z:-0.35 [[ 9.98217801e-01 4.63649805e-02 3.75700709e-02 6.13468638e+00] [-4.62614522e-02 9.98922804e-01 -3.62073655e-03 -6.43688529e-01] [-3.76974759e-02 1.87623764e-03 9.99287436e-01 -3.52240165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.031052754 meters 0.025577867722150198 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.65, Z:-0.36 [[ 9.98255840e-01 4.78131599e-02 3.46291798e-02 6.16529274e+00] [-4.77262742e-02 9.98854895e-01 -3.33178111e-03 -6.52167248e-01] [-3.47488288e-02 1.67324821e-03 9.99394676e-01 -3.55566274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061052753999999 meters 0.024520647804077367 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.66, Z:-0.36 [[ 9.98268254e-01 4.81057299e-02 3.38575143e-02 6.19740641e+00] [-4.80226175e-02 9.98840915e-01 -3.26417220e-03 -6.55732996e-01] [-3.39752959e-02 1.63259303e-03 9.99421340e-01 -3.56735922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.091052754 meters 0.026131855083168665 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.66, Z:-0.36 [[ 9.98283373e-01 4.79453562e-02 3.36385218e-02 6.22768032e+00] [-4.78629333e-02 9.98848620e-01 -3.25170025e-03 -6.63697000e-01] [-3.37556950e-02 1.63607997e-03 9.99428775e-01 -3.59599893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121052753999999 meters 0.02744065456305357 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.67, Z:-0.36 [[ 9.98343982e-01 4.71171026e-02 3.30041166e-02 6.25767058e+00] [-4.70368776e-02 9.98888017e-01 -3.20340342e-03 -6.73080882e-01] [-3.31183517e-02 1.64568794e-03 9.99450082e-01 -3.60925949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.151052753999998 meters 0.02513803225102507 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.67, Z:-0.36 [[ 9.98325789e-01 4.84164692e-02 3.16459156e-02 6.28964312e+00] [-4.83435477e-02 9.98826062e-01 -3.06582543e-03 -6.74458437e-01] [-3.17572017e-02 1.53081676e-03 9.99494441e-01 -3.61213021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181052754 meters 0.027706458372202068 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.68, Z:-0.37 [[ 9.98214788e-01 5.21677723e-02 2.90819570e-02 6.31945723e+00] [-5.21075919e-02 9.98637484e-01 -2.82388370e-03 -6.83361711e-01] [-2.91896481e-02 1.30345172e-03 9.99573042e-01 -3.66282650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.211052753999999 meters 0.025398491451512704 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.68, Z:-0.37 [[ 9.98126886e-01 5.48342525e-02 2.71279279e-02 6.35136600e+00] [-5.47827474e-02 9.98494811e-01 -2.63873928e-03 -6.84244224e-01] [-2.72317885e-02 1.14765420e-03 9.99628487e-01 -3.67344641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241052753999998 meters 0.02570200064906833 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.69, Z:-0.37 [[ 9.98037164e-01 5.86524479e-02 2.19478971e-02 6.38106807e+00] [-5.86194212e-02 9.98278097e-01 -2.14568509e-03 -6.91830064e-01] [-2.20359547e-02 8.54900437e-04 9.99756813e-01 -3.73631880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.271052754 meters 0.026575831187805734 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.70, Z:-0.38 [[ 9.97911368e-01 6.10068648e-02 2.12382575e-02 6.41124491e+00] [-6.09766228e-02 9.98137050e-01 -2.06923467e-03 -6.99576559e-01] [-2.13249292e-02 7.69875585e-04 9.99772301e-01 -3.77793993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301052753999999 meters 0.02430437399805196 Centerline is valid? [True, True] Translation: X:6.44, Y:-0.70, Z:-0.38 [[ 9.97689634e-01 6.47079601e-02 2.06948024e-02 6.44226899e+00] [-6.46797935e-02 9.97904009e-01 -2.02820721e-03 -7.04204648e-01] [-2.07826674e-02 6.84985765e-04 9.99783782e-01 -3.76504056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.331052754 meters 0.023343715935505875 Centerline is valid? [True, True] Translation: X:6.47, Y:-0.71, Z:-0.38 [[ 9.97575848e-01 6.66771383e-02 1.99144683e-02 6.47433168e+00] [-6.66516151e-02 9.97774416e-01 -1.94337144e-03 -7.07979795e-01] [-1.99997255e-02 6.11328937e-04 9.99799799e-01 -3.77789299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361052754 meters 0.022478509932709563 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.72, Z:-0.38 [[ 9.97466435e-01 6.82382232e-02 2.01061301e-02 6.50623544e+00] [-6.82124256e-02 9.97668881e-01 -1.96690525e-03 -7.15322870e-01] [-2.01934784e-02 5.90434067e-04 9.99795917e-01 -3.78148995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.391052753999999 meters 0.022844679651468858 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.72, Z:-0.38 [[ 9.97284696e-01 7.03815659e-02 2.16718652e-02 6.53629587e+00] [-7.03517569e-02 9.97519959e-01 -2.13577444e-03 -7.19961747e-01] [-2.17684373e-02 6.05321375e-04 9.99762856e-01 -3.79676682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421052754 meters 0.021180168173143697 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.72, Z:-0.38 [[ 9.96940759e-01 7.48032065e-02 2.26628134e-02 6.56679804e+00] [-7.47717239e-02 9.97198173e-01 -2.23457104e-03 -7.22201011e-01] [-2.27664692e-02 5.33197324e-04 9.99740668e-01 -3.76794330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.451052754 meters 0.02015189684722949 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.72, Z:-0.38 [[ 9.96711260e-01 7.76210589e-02 2.32730760e-02 6.59854183e+00] [-7.75888493e-02 9.96982823e-01 -2.28516101e-03 -7.23668007e-01] [-2.33802336e-02 4.71914523e-04 9.99726534e-01 -3.76943927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481052753999998 meters 0.01982316859919439 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.72, Z:-0.38 [[ 9.96560109e-01 7.97729895e-02 2.24548485e-02 6.63122596e+00] [-7.97434758e-02 9.96812972e-01 -2.20816115e-03 -7.24913895e-01] [-2.25594359e-02 4.09937642e-04 9.99745419e-01 -3.79620444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.511052754 meters 0.02049586088452606 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.73, Z:-0.38 [[ 9.96625154e-01 7.90988438e-02 2.19471082e-02 6.66160371e+00] [-7.90702307e-02 9.96866686e-01 -2.16982745e-03 -7.27961031e-01] [-2.20499718e-02 4.27141713e-04 9.99756779e-01 -3.83930676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541052753999999 meters 0.020564761833836664 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.73, Z:-0.39 [[ 9.96683955e-01 7.76124096e-02 2.44419232e-02 6.69342080e+00] [-7.75764815e-02 9.96983476e-01 -2.41615748e-03 -7.29563591e-01] [-2.45557174e-02 5.12026984e-04 9.99698332e-01 -3.86717623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571052753999998 meters 0.02211591598125424 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.73, Z:-0.39 [[ 9.96863910e-01 7.43849726e-02 2.70040951e-02 6.72439017e+00] [-7.43397009e-02 9.97229381e-01 -2.67793616e-03 -7.34784156e-01] [-2.71284752e-02 6.62061556e-04 9.99631736e-01 -3.88964827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601052754 meters 0.02211591598125424 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.74, Z:-0.39 [[ 9.96844802e-01 7.46407548e-02 2.70036705e-02 6.75656308e+00] [-7.45954613e-02 9.97210270e-01 -2.68220815e-03 -7.38079282e-01] [-2.71285396e-02 6.59393994e-04 9.99631736e-01 -3.91057233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.631052753999999 meters 0.02105792636842644 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.74, Z:-0.39 [[ 9.96962709e-01 7.30315929e-02 2.70507429e-02 6.78907739e+00] [-7.29853343e-02 9.97329373e-01 -2.69479434e-03 -7.40023060e-01] [-2.71753056e-02 7.12301959e-04 9.99630429e-01 -3.89086814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661052754 meters 0.021749428073764433 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.74, Z:-0.39 [[ 9.97045173e-01 7.22280047e-02 2.61541228e-02 6.82083952e+00] [-7.21843353e-02 9.97387890e-01 -2.61121824e-03 -7.44615588e-01] [-2.62744084e-02 7.15584575e-04 9.99654512e-01 -3.91704625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.691052754 meters 0.02322502493511029 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.75, Z:-0.40 [[ 9.97340307e-01 6.87943113e-02 2.40760362e-02 6.85076526e+00] [-6.87559908e-02 9.97630579e-01 -2.41683209e-03 -7.49539742e-01] [-2.41852542e-02 7.55032340e-04 9.99707209e-01 -3.96122512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721052753999999 meters 0.026151958021125993 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.76, Z:-0.40 [[ 9.97800214e-01 6.19874386e-02 2.35008675e-02 6.87974804e+00] [-6.19490429e-02 9.98076526e-01 -2.35902137e-03 -7.55977650e-01] [-2.36018938e-02 8.97975780e-04 9.99721033e-01 -4.01821148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.751052754 meters 0.026236290093732597 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.76, Z:-0.40 [[ 9.98017340e-01 5.81978918e-02 2.39665427e-02 6.91045547e+00] [-5.81568408e-02 9.98304557e-01 -2.40689749e-03 -7.59577400e-01] [-2.40659852e-02 1.00830702e-03 9.99709864e-01 -4.02880830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781052754 meters 0.027236413686158294 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.76, Z:-0.40 [[ 9.98210139e-01 5.42919754e-02 2.50778804e-02 6.94089983e+00] [-5.42457862e-02 9.98524436e-01 -2.51896652e-03 -7.64463539e-01] [-2.51776360e-02 1.15408858e-03 9.99682327e-01 -4.04136038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811052753999999 meters 0.03051183689564997 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.77, Z:-0.41 [[ 9.98429217e-01 5.04021831e-02 2.44687245e-02 6.97033998e+00] [-5.03570594e-02 9.98728256e-01 -2.45721829e-03 -7.70949853e-01] [-2.45614557e-02 1.22118552e-03 9.99697576e-01 -4.07635746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841052754 meters 0.02737621247631343 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.77, Z:-0.41 [[ 9.98491963e-01 4.99569633e-02 2.27618466e-02 7.00228089e+00] [-4.99178520e-02 9.98750716e-01 -2.28359188e-03 -7.69262432e-01] [-2.28474919e-02 1.14392565e-03 9.99738308e-01 -4.06608134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.871052753999999 meters 0.030225406742447527 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.77, Z:-0.41 [[ 9.98602126e-01 4.89063650e-02 2.00489872e-02 7.03150676e+00] [-4.88757438e-02 9.98802835e-01 -2.01478111e-03 -7.74680618e-01] [-2.01235209e-02 1.03205553e-03 9.99796969e-01 -4.11990175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901052753999998 meters 0.027291545558616914 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.77, Z:-0.41 [[ 9.98599363e-01 4.87113064e-02 2.06523738e-02 7.06441249e+00] [-4.86789252e-02 9.98812337e-01 -2.06805116e-03 -7.72979390e-01] [-2.07285832e-02 1.05981921e-03 9.99784578e-01 -4.11121827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.931052754 meters 0.028001528600425356 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.78, Z:-0.42 [[ 9.98572650e-01 4.87087067e-02 2.19117363e-02 7.09498741e+00] [-4.86719730e-02 9.98812379e-01 -2.20695028e-03 -7.75414247e-01] [-2.19932112e-02 1.13731275e-03 9.99757473e-01 -4.15028083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961052753999999 meters 0.026379820321707326 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.77, Z:-0.42 [[ 9.98347564e-01 5.17955928e-02 2.48869171e-02 7.12607293e+00] [-5.17489179e-02 9.98656957e-01 -2.51630174e-03 -7.73098432e-01] [-2.49838262e-02 1.22427268e-03 9.99687106e-01 -4.16336831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.991052753999998 meters 0.025719297384544256 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.77, Z:-0.41 [[ 9.97979713e-01 5.66850348e-02 2.86931869e-02 7.15568651e+00] [-5.66249742e-02 9.98391301e-01 -2.90208577e-03 -7.74025723e-01] [-2.88115331e-02 1.27147175e-03 9.99584053e-01 -4.14564588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021052754 meters 0.022644802596375736 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.77, Z:-0.41 [[ 9.97773432e-01 5.90962022e-02 3.09162863e-02 7.18683468e+00] [-5.90276643e-02 9.98251454e-01 -3.12568242e-03 -7.72757408e-01] [-3.10469437e-02 1.29380671e-03 9.99517090e-01 -4.11195207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.051052753999999 meters 0.022724977018010514 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.77, Z:-0.41 [[ 9.97390570e-01 6.37625605e-02 3.38583314e-02 7.21694146e+00] [-6.36830227e-02 9.97964304e-01 -3.42347007e-03 -7.73525861e-01] [-3.40076954e-02 1.25833588e-03 9.99420779e-01 -4.12435299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081052754 meters 0.02123092333689704 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.77, Z:-0.41 [[ 9.97215597e-01 6.59356833e-02 3.48358959e-02 7.24843020e+00] [-6.58528696e-02 9.97823133e-01 -3.52054837e-03 -7.73179083e-01] [-3.49921925e-02 1.21670203e-03 9.99386845e-01 -4.13988585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.111052754 meters 0.02227609298365924 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.78, Z:-0.42 [[ 9.97161940e-01 6.63852019e-02 3.55115601e-02 7.27884510e+00] [-6.62995748e-02 9.97793323e-01 -3.58470735e-03 -7.76962255e-01] [-3.56711691e-02 1.22013239e-03 9.99362836e-01 -4.21001345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141052753999999 meters 0.023335608755631815 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.78, Z:-0.43 [[ 9.97196995e-01 6.50146083e-02 3.70304519e-02 7.30951018e+00] [-6.49202114e-02 9.97883422e-01 -3.74718794e-03 -7.81723847e-01] [-3.71956960e-02 1.33265978e-03 9.99307112e-01 -4.25499023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.171052754 meters 0.021993081326002594 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.78, Z:-0.43 [[ 9.97132706e-01 6.52837727e-02 3.82674104e-02 7.34199258e+00] [-6.51828448e-02 9.97865792e-01 -3.88051058e-03 -7.82478245e-01] [-3.84390741e-02 1.37500534e-03 9.99260000e-01 -4.26587295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201052754 meters 0.02162555842853604 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.78, Z:-0.43 [[ 9.96891785e-01 6.72598853e-02 4.10228828e-02 7.37258526e+00] [-6.71449126e-02 9.97734496e-01 -4.17562112e-03 -7.83459877e-01] [-4.12107971e-02 1.40816451e-03 9.99149482e-01 -4.29637749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.231052753999998 meters 0.01997924341856394 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.78, Z:-0.43 [[ 9.96764457e-01 6.84655155e-02 4.21080912e-02 7.40507628e+00] [-6.83455808e-02 9.97652514e-01 -4.28297512e-03 -7.84263286e-01] [-4.23024791e-02 1.39121542e-03 9.99103881e-01 -4.30069694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261052754 meters 0.01984359110381465 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.79, Z:-0.43 [[ 9.96666810e-01 6.90303211e-02 4.34751117e-02 7.43697202e+00] [-6.89025151e-02 9.97613548e-01 -4.43319368e-03 -7.89748831e-01] [-4.36773852e-02 1.42287245e-03 9.99044674e-01 -4.31287345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.291052753999999 meters 0.020933113102521654 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.80, Z:-0.44 [[ 9.96644021e-01 6.95453402e-02 4.31756959e-02 7.46737654e+00] [-6.94192176e-02 9.97577805e-01 -4.41543750e-03 -7.96093260e-01] [-4.33781890e-02 1.40339636e-03 9.99057738e-01 -4.35249755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321052753999998 meters 0.019540259553492017 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.80, Z:-0.44 [[ 9.96562703e-01 7.06761558e-02 4.32164420e-02 7.49987797e+00] [-7.05506970e-02 9.97498388e-01 -4.42327570e-03 -7.96799979e-01] [-4.34209513e-02 1.35912149e-03 9.99055941e-01 -4.37366615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.351052754 meters 0.020172154844312618 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.80, Z:-0.44 [[ 9.96250518e-01 7.40679545e-02 4.47084252e-02 7.52941200e+00] [-7.39364417e-02 9.97252391e-01 -4.59033019e-03 -8.00997845e-01] [-4.49255803e-02 1.26753696e-03 9.98989532e-01 -4.43162525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381052753999999 meters 0.01941395044840436 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.80, Z:-0.45 [[ 9.96043676e-01 7.59850295e-02 4.60789568e-02 7.56158753e+00] [-7.58472476e-02 9.97108212e-01 -4.73373605e-03 -8.03434391e-01] [-4.63053993e-02 1.22004582e-03 9.98926585e-01 -4.45224966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411052753999998 meters 0.019535695622695127 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.81, Z:-0.45 [[ 9.95968632e-01 7.60143455e-02 4.76267174e-02 7.59168039e+00] [-7.58665956e-02 9.97105913e-01 -4.90489360e-03 -8.09211385e-01] [-4.78617238e-02 1.27184326e-03 9.98853161e-01 -4.48107859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441052754 meters 0.020335526487862323 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.82, Z:-0.45 [[ 9.96086258e-01 7.37656227e-02 4.86908610e-02 7.62314560e+00] [-7.36079766e-02 9.97274592e-01 -5.02532265e-03 -8.15763624e-01] [-4.89288546e-02 1.42161908e-03 9.98801255e-01 -4.49890184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.471052753999999 meters 0.02229229120815811 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.83, Z:-0.45 [[ 9.96385521e-01 6.56057101e-02 5.39609610e-02 7.65286138e+00] [-6.53992078e-02 9.97843547e-01 -5.58571845e-03 -8.27575315e-01] [-5.42110517e-02 2.03652488e-03 9.98527423e-01 -4.48075125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501052754 meters 0.022174194976014024 Centerline is valid? [True, True] Translation: X:7.68, Y:-0.83, Z:-0.45 [[ 9.96331922e-01 6.11927328e-02 5.98176514e-02 7.68347287e+00] [-6.09309048e-02 9.98122773e-01 -6.19306627e-03 -8.29956798e-01] [-6.00843308e-02 2.52560599e-03 9.98190109e-01 -4.48038193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.531052754 meters 0.022913536803648247 Centerline is valid? [True, True] Translation: X:7.71, Y:-0.83, Z:-0.45 [[ 9.96229029e-01 6.05688377e-02 6.21219624e-02 7.71437030e+00] [-6.02851620e-02 9.98160470e-01 -6.43236473e-03 -8.32948676e-01] [-6.23972880e-02 2.66307591e-03 9.98047838e-01 -4.51102137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561052753999999 meters 0.023406869130562592 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.84, Z:-0.45 [[ 9.96407950e-01 5.75262582e-02 6.21444058e-02 7.74555239e+00] [-5.72355928e-02 9.98339872e-01 -6.44881049e-03 -8.36643702e-01] [-6.24122141e-02 2.86877413e-03 9.98046334e-01 -4.52993984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.591052754 meters 0.024413201301698835 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.84, Z:-0.45 [[ 9.96447625e-01 5.68426534e-02 6.21372900e-02 7.77613551e+00] [-5.65506191e-02 9.98378900e-01 -6.44984123e-03 -8.40869034e-01] [-6.24031853e-02 2.91302676e-03 9.98046771e-01 -4.54926679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621052753999999 meters 0.022827442515841186 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.84, Z:-0.46 [[ 9.96370720e-01 5.76931566e-02 6.25850485e-02 7.80830516e+00] [-5.73976956e-02 9.98330167e-01 -6.51010650e-03 -8.37416722e-01] [-6.28561305e-02 2.89424193e-03 9.98018402e-01 -4.59216217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.651052753999998 meters 0.02384980206948792 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.84, Z:-0.46 [[ 9.96351228e-01 5.94080349e-02 6.12773749e-02 7.83928085e+00] [-5.91271513e-02 9.98230017e-01 -6.38855521e-03 -8.39469376e-01] [-6.15484465e-02 2.74208821e-03 9.98100330e-01 -4.63996267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681052754 meters 0.021975887496950435 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.84, Z:-0.47 [[ 9.96148480e-01 6.28616013e-02 6.11279451e-02 7.87152282e+00] [-6.25877081e-02 9.98019030e-01 -6.38699996e-03 -8.37498009e-01] [-6.14083496e-02 2.53654231e-03 9.98109503e-01 -4.67534560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.711052753999999 meters 0.019474310555420017 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.83, Z:-0.47 [[ 9.95685522e-01 7.25112177e-02 5.79004668e-02 7.90278445e+00] [-7.22816100e-02 9.97365897e-01 -6.05285431e-03 -8.31439312e-01] [-5.81868508e-02 1.84160044e-03 9.98304011e-01 -4.72923850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741052753999998 meters 0.017353707875416416 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.83, Z:-0.48 [[ 9.95117763e-01 8.05857460e-02 5.69787249e-02 7.93362291e+00] [-8.03765944e-02 9.96746769e-01 -5.95669729e-03 -8.27088911e-01] [-5.72733848e-02 1.34785941e-03 9.98357623e-01 -4.77231557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.771052754 meters 0.016977780142626905 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.83, Z:-0.48 [[ 9.94886499e-01 8.27628784e-02 5.78892036e-02 7.96576952e+00] [-8.25507450e-02 9.96568496e-01 -6.05044801e-03 -8.29069777e-01] [-5.81913090e-02 1.24071215e-03 9.98304679e-01 -4.78542696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801052753999999 meters 0.016863526833890773 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.83, Z:-0.48 [[ 9.94703825e-01 8.38739225e-02 5.94093080e-02 7.99716748e+00] [-8.36516064e-02 9.96475626e-01 -6.22371525e-03 -8.31925667e-01] [-5.97219348e-02 1.22106932e-03 9.98214305e-01 -4.79355695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.831052754 meters 0.01713668365805145 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.84, Z:-0.48 [[ 9.94602422e-01 8.25454190e-02 6.28671243e-02 8.02926600e+00] [-8.22928004e-02 9.96586331e-01 -6.60150472e-03 -8.35379456e-01] [-6.31974407e-02 1.39236087e-03 9.98000073e-01 -4.79778602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861052754 meters 0.019036177445512347 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.84, Z:-0.48 [[ 9.94904100e-01 7.60342897e-02 6.62164562e-02 8.05906188e+00] [-7.57385397e-02 9.97103358e-01 -6.96899198e-03 -8.43652899e-01] [-6.65545332e-02 1.91834099e-03 9.97780945e-01 -4.80985543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.891052753999999 meters 0.019636800031027895 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.85, Z:-0.48 [[ 9.95145599e-01 7.20233387e-02 6.70662095e-02 8.08946939e+00] [-7.17106808e-02 9.97400483e-01 -7.06084927e-03 -8.49906884e-01] [-6.74004157e-02 2.21720953e-03 9.97723543e-01 -4.81852479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921052754 meters 0.022542428435625185 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.86, Z:-0.48 [[ 9.95665268e-01 6.41234981e-02 6.73709892e-02 8.11851586e+00] [-6.37898568e-02 9.97938138e-01 -7.09414252e-03 -8.61663882e-01] [-6.76869808e-02 2.76580557e-03 9.97702773e-01 -4.82097507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.951052754 meters 0.024954523542196443 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.87, Z:-0.48 [[ 9.95843728e-01 6.08961469e-02 6.77268736e-02 8.14757944e+00] [-6.05513540e-02 9.98139589e-01 -7.13408043e-03 -8.70021381e-01] [-6.80353117e-02 3.00347536e-03 9.97678393e-01 -4.83169258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981052753999998 meters 0.02224627885851319 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.87, Z:-0.49 [[ 9.96014473e-01 5.78309261e-02 6.79025253e-02 8.17822775e+00] [-5.74772333e-02 9.98321194e-01 -7.15265056e-03 -8.70401052e-01] [-6.82021746e-02 3.22129420e-03 9.97666320e-01 -4.86230666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.011052754 meters 0.021839973132892425 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.87, Z:-0.49 [[ 9.96076403e-01 5.76803827e-02 6.71176087e-02 8.21019824e+00] [-5.73343688e-02 9.98329985e-01 -7.07182317e-03 -8.73566076e-01] [-6.74134268e-02 3.19593046e-03 9.97720009e-01 -4.89671477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041052753999999 meters 0.026086226209716425 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.88, Z:-0.49 [[ 9.96043148e-01 5.81871737e-02 6.71736540e-02 8.24011360e+00] [-5.78406280e-02 9.98300624e-01 -7.09401141e-03 -8.84419543e-01] [-6.74722812e-02 3.18057513e-03 9.97716079e-01 -4.92585995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.071052753999998 meters 0.024702670321712538 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.89, Z:-0.49 [[ 9.95864357e-01 5.93775270e-02 6.87640256e-02 8.27162915e+00] [-5.90160800e-02 9.98230503e-01 -7.27775956e-03 -8.86608202e-01] [-6.90744832e-02 3.18947811e-03 9.97606407e-01 -4.94496615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101052754 meters 0.020627466981686552 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.88, Z:-0.50 [[ 9.95569778e-01 6.28701622e-02 6.99153758e-02 8.30397766e+00] [-6.25039865e-02 9.98017169e-01 -7.41498283e-03 -8.84527823e-01] [-7.02429266e-02 3.01214311e-03 9.97525367e-01 -4.95505057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.131052753999999 meters 0.018811883664607322 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.89, Z:-0.50 [[ 9.95150209e-01 7.01766525e-02 6.89296678e-02 8.33471507e+00] [-6.98378838e-02 9.97531532e-01 -7.31526789e-03 -8.85006768e-01] [-6.92728781e-02 2.46588824e-03 9.97594701e-01 -4.97503009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161052753999998 meters 0.01820040417186876 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.89, Z:-0.50 [[ 9.94842646e-01 7.48816695e-02 6.84166987e-02 8.36414809e+00] [-7.45589669e-02 9.97190166e-01 -7.26174315e-03 -8.86532695e-01] [-6.87682306e-02 2.12321339e-03 9.97630404e-01 -5.00082453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191052754 meters 0.01612309379501229 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.89, Z:-0.50 [[ 9.94566240e-01 7.90245584e-02 6.77725179e-02 8.39573493e+00] [-7.87171715e-02 9.96871000e-01 -7.19833598e-03 -8.85492946e-01] [-6.81293030e-02 1.82436103e-03 9.97674832e-01 -5.03705624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221052753999999 meters 0.01574673855841503 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.89, Z:-0.51 [[ 9.94046074e-01 8.55165944e-02 6.75226993e-02 8.42629740e+00] [-8.52262548e-02 9.96335795e-01 -7.17418207e-03 -8.87459601e-01] [-6.78887939e-02 1.37676075e-03 9.97691945e-01 -5.09126975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251052754 meters 0.01506672340052538 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.89, Z:-0.51 [[ 9.93819945e-01 8.78964694e-02 6.77947453e-02 8.45850280e+00] [-8.76090960e-02 9.96128866e-01 -7.20621237e-03 -8.88563579e-01] [-6.81657034e-02 1.22224122e-03 9.97673265e-01 -5.13168425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281052754 meters 0.014330703086094956 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.89, Z:-0.52 [[ 9.93553399e-01 8.99484185e-02 6.89994634e-02 8.49073648e+00] [-8.96545211e-02 9.95945799e-01 -7.35071527e-03 -8.90892954e-01] [-6.93809109e-02 1.11721430e-03 9.97589616e-01 -5.16990566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.311052753999999 meters 0.014521109677501287 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.90, Z:-0.52 [[ 9.93685816e-01 8.69565645e-02 7.09017293e-02 8.52251013e+00] [-8.66373607e-02 9.96211148e-01 -7.57079552e-03 -8.99559475e-01] [-7.12914235e-02 1.38025343e-03 9.97454574e-01 -5.15986812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341052754 meters 0.015987932286369105 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.91, Z:-0.52 [[ 9.93782209e-01 8.45176192e-02 7.24823574e-02 8.55328968e+00] [-8.41762053e-02 9.96420687e-01 -7.75759819e-03 -9.08221760e-01] [-7.28785742e-02 1.60807327e-03 9.97339525e-01 -5.15562443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.371052753999999 meters 0.015255419197087335 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.91, Z:-0.52 [[ 9.93957908e-01 8.19315231e-02 7.30404172e-02 8.58462448e+00] [-8.15766221e-02 9.96636284e-01 -7.83402110e-03 -9.11247284e-01] [-7.34365833e-02 1.82829671e-03 9.97298213e-01 -5.18213370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401052753999998 meters 0.01693346575453949 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.92, Z:-0.52 [[ 9.94384204e-01 7.68293828e-02 7.27825568e-02 8.61419682e+00] [-7.64622454e-02 9.97041800e-01 -7.82134018e-03 -9.18807187e-01] [-7.31681602e-02 2.21229941e-03 9.97317164e-01 -5.21954195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.431052754 meters 0.0170713129603123 Centerline is valid? [True, True] Translation: X:8.65, Y:-0.92, Z:-0.53 [[ 9.94527249e-01 7.55857604e-02 7.21272787e-02 8.64561164e+00] [-7.52217259e-02 9.97136684e-01 -7.75404762e-03 -9.23319682e-01] [-7.25068511e-02 2.28607326e-03 9.97365294e-01 -5.26011561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461052753999999 meters 0.017683362012838492 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.93, Z:-0.53 [[ 9.94683078e-01 7.43006134e-02 7.13091419e-02 8.67590724e+00] [-7.39402767e-02 9.97233074e-01 -7.68326571e-03 -9.30002475e-01] [-7.16827061e-02 2.36979670e-03 9.97424671e-01 -5.29020240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.491052753999998 meters 0.017683362012838492 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.93, Z:-0.53 [[ 9.94662701e-01 7.45745889e-02 7.13073779e-02 8.70803389e+00] [-7.42137846e-02 9.97212630e-01 -7.69960396e-03 -9.33527779e-01] [-7.16828127e-02 2.36651848e-03 9.97424671e-01 -5.31111438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521052754 meters 0.01770234636242546 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.94, Z:-0.53 [[ 9.94577350e-01 7.61451783e-02 7.08364854e-02 8.73890861e+00] [-7.57917765e-02 9.97094187e-01 -7.66738308e-03 -9.38737344e-01] [-7.12144821e-02 2.25698247e-03 9.97458472e-01 -5.32631720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.551052753999999 meters 0.01731909773941842 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.94, Z:-0.53 [[ 9.94512044e-01 7.75212449e-02 7.02584646e-02 8.77091397e+00] [-7.71762941e-02 9.96988380e-01 -7.61511620e-03 -9.41416283e-01] [-7.06372061e-02 2.15103684e-03 9.97499753e-01 -5.34632400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581052753999998 meters 0.01716091934513122 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.94, Z:-0.54 [[ 9.94350707e-01 7.97958269e-02 6.99949812e-02 8.80171043e+00] [-7.94579462e-02 9.96809226e-01 -7.60271017e-03 -9.43481562e-01] [-7.03783076e-02 1.99810278e-03 9.97518371e-01 -5.38260179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.611052754 meters 0.017224001531992397 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.95, Z:-0.54 [[ 9.94416233e-01 8.01768968e-02 6.86150189e-02 8.83325265e+00] [-7.98524645e-02 9.96778759e-01 -7.46251726e-03 -9.47463767e-01] [-6.89923149e-02 1.94176994e-03 9.97615302e-01 -5.42914213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641052753999999 meters 0.01747775359350752 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.95, Z:-0.55 [[ 9.94473775e-01 8.00676551e-02 6.79049510e-02 8.86524757e+00] [-7.97485600e-02 9.96787534e-01 -7.40136009e-03 -9.51553425e-01] [-6.82794182e-02 1.94513645e-03 9.97664341e-01 -5.46233088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.671052754 meters 0.017651702893468485 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.96, Z:-0.55 [[ 9.94493848e-01 7.99541853e-02 6.77444834e-02 8.89729526e+00] [-7.96351155e-02 9.96796600e-01 -7.40175014e-03 -9.55504564e-01] [-6.81192716e-02 1.96615522e-03 9.97675247e-01 -5.49234555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701052754 meters 0.018511093908093457 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.96, Z:-0.55 [[ 9.94471376e-01 7.84499924e-02 6.98017304e-02 8.92831232e+00] [-7.81066467e-02 9.96915743e-01 -7.63889449e-03 -9.60337424e-01] [-7.01857152e-02 2.14468281e-03 9.97531636e-01 -5.50573332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.731052753999998 meters 0.01737977506756292 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.96, Z:-0.55 [[ 9.94486811e-01 7.69917785e-02 7.11916343e-02 8.96055114e+00] [-7.66297298e-02 9.97029055e-01 -7.80688077e-03 -9.62812605e-01] [-7.15811936e-02 2.30844425e-03 9.97432105e-01 -5.51475750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761052754 meters 0.018882354031193677 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.97, Z:-0.55 [[ 9.94708121e-01 7.26667770e-02 7.26312173e-02 8.99028998e+00] [-7.22772306e-02 9.97352650e-01 -7.98078886e-03 -9.71142497e-01] [-7.30188753e-02 2.68897225e-03 9.97326934e-01 -5.49845179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.791052753999999 meters 0.02131664058215567 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.98, Z:-0.55 [[ 9.94971906e-01 6.78882442e-02 7.36348646e-02 9.01993626e+00] [-6.74746877e-02 9.97688168e-01 -8.09235373e-03 -9.78548307e-01] [-7.40140088e-02 3.08317512e-03 9.97252436e-01 -5.50983702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821052753999998 meters 0.021842781246832317 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.98, Z:-0.55 [[ 9.95083688e-01 6.56098519e-02 7.41876108e-02 9.05187359e+00] [-6.51836030e-02 9.97839965e-01 -8.15489639e-03 -9.82061314e-01] [-7.45624045e-02 3.27898861e-03 9.97210959e-01 -5.54333742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.851052754 meters 0.02507375221485973 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.99, Z:-0.56 [[ 9.95350478e-01 6.04800970e-02 7.49638784e-02 9.08092081e+00] [-6.00300332e-02 9.98162523e-01 -8.24455663e-03 -9.87824611e-01] [-7.53247656e-02 3.70613928e-03 9.97152167e-01 -5.57762143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881052753999999 meters 0.02407892005768894 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.99, Z:-0.56 [[ 9.95430005e-01 5.86783855e-02 7.53389202e-02 9.11307872e+00] [-5.82186199e-02 9.98269468e-01 -8.28628206e-03 -9.88917131e-01] [-7.56947694e-02 3.86228583e-03 9.97123555e-01 -5.61098480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.911052753999998 meters 0.023290351580416094 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.99, Z:-0.56 [[ 9.95571657e-01 5.58124793e-02 7.56441827e-02 9.14391440e+00] [-5.53403857e-02 9.98432845e-01 -8.32440778e-03 -9.90081325e-01] [-7.59902424e-02 4.10136620e-03 9.97100126e-01 -5.62367063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941052754 meters 0.023680354946788513 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.99, Z:-0.56 [[ 9.95603619e-01 5.56427449e-02 7.53479819e-02 9.17611064e+00] [-5.51735734e-02 9.98442316e-01 -8.29566712e-03 -9.93150392e-01] [-7.56922072e-02 4.10197880e-03 9.97122793e-01 -5.64194040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.971052753999999 meters 0.023742438277389488 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.99, Z:-0.57 [[ 9.95620721e-01 5.81487198e-02 7.31990895e-02 9.20603260e+00] [-5.77116247e-02 9.98300645e-01 -8.07407694e-03 -9.93048590e-01] [-7.35441955e-02 3.81427992e-03 9.97284665e-01 -5.68885882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001052754 meters 0.023630675672167454 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.99, Z:-0.57 [[ 9.95495656e-01 6.07487076e-02 7.27873215e-02 9.23625140e+00] [-6.03234348e-02 9.98146593e-01 -8.02884552e-03 -9.93793375e-01] [-7.31401589e-02 3.60189959e-03 9.97315168e-01 -5.72361800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.031052754 meters 0.021225861706176335 Centerline is valid? [True, True] Translation: X:9.27, Y:-0.99, Z:-0.58 [[ 9.95037455e-01 6.87790547e-02 7.19020494e-02 9.26739676e+00] [-6.83848904e-02 9.97627478e-01 -7.93228570e-03 -9.89565501e-01] [-7.22770353e-02 2.97590761e-03 9.97380155e-01 -5.75917128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061052753999999 meters 0.02081744010085794 Centerline is valid? [True, True] Translation: X:9.30, Y:-0.99, Z:-0.58 [[ 9.94672608e-01 7.40541877e-02 7.17103902e-02 9.29747129e+00] [-7.36757859e-02 9.97250867e-01 -7.91122134e-03 -9.91115462e-01] [-7.20991079e-02 2.58575581e-03 9.97394121e-01 -5.77518366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.091052754 meters 0.017596593347059517 Centerline is valid? [True, True] Translation: X:9.33, Y:-0.99, Z:-0.58 [[ 9.94307427e-01 7.87984550e-02 7.17184993e-02 9.32842716e+00] [-7.84322742e-02 9.96888046e-01 -7.91211595e-03 -9.88231313e-01] [-7.21187771e-02 2.24203066e-03 9.97393531e-01 -5.79471700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121052753999999 meters 0.015690171277207975 Centerline is valid? [True, True] Translation: X:9.36, Y:-0.99, Z:-0.58 [[ 9.93414310e-01 8.68327153e-02 7.47535122e-02 9.35915496e+00] [-8.64575039e-02 9.96221405e-01 -8.24694412e-03 -9.86097042e-01] [-7.51871535e-02 1.72963024e-03 9.97167940e-01 -5.79391932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.151052753999998 meters 0.015317336798822696 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.99, Z:-0.58 [[ 9.92972636e-01 9.02236971e-02 7.65834738e-02 9.38989650e+00] [-8.98397032e-02 9.95920378e-01 -8.45158306e-03 -9.87945714e-01] [-7.70335752e-02 1.51195416e-03 9.97027353e-01 -5.80248924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181052754 meters 0.014476926491878902 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.99, Z:-0.58 [[ 9.92457967e-01 9.41789257e-02 7.84698329e-02 9.42226829e+00] [-9.37866812e-02 9.95554499e-01 -8.67740281e-03 -9.91067518e-01] [-7.89382236e-02 1.25253235e-03 9.96878723e-01 -5.80193448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.211052753999999 meters 0.01411815928627751 Centerline is valid? [True, True] Translation: X:9.45, Y:-1.00, Z:-0.58 [[ 9.92409509e-01 9.53389719e-02 7.76778365e-02 9.45372652e+00] [-9.49567588e-02 9.95444182e-01 -8.60778997e-03 -9.95679582e-01] [-7.81446083e-02 1.16641704e-03 9.96941352e-01 -5.84360895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241052753999998 meters 0.014296626761483735 Centerline is valid? [True, True] Translation: X:9.49, Y:-1.00, Z:-0.59 [[ 9.92501665e-01 9.51642571e-02 7.67085994e-02 9.48611086e+00] [-9.47895979e-02 9.95460880e-01 -8.51874880e-03 -1.00093848e+00] [-7.71710903e-02 1.18369507e-03 9.97017162e-01 -5.88122840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.271052754 meters 0.014059135050315471 Centerline is valid? [True, True] Translation: X:9.52, Y:-1.01, Z:-0.59 [[ 9.92555883e-01 9.49527316e-02 7.62679308e-02 9.51832922e+00] [-9.45801608e-02 9.95481042e-01 -8.49045212e-03 -1.00548006e+00] [-7.67294708e-02 1.21381505e-03 9.97051210e-01 -5.91672113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301052753999999 meters 0.014563604535067524 Centerline is valid? [True, True] Translation: X:9.55, Y:-1.01, Z:-0.59 [[ 9.92581029e-01 9.55848556e-02 7.51427736e-02 9.54835413e+00] [-9.52235880e-02 9.95420602e-01 -8.38414029e-03 -1.01263554e+00] [-7.56000617e-02 1.16657409e-03 9.97137538e-01 -5.94194013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.331052753999998 meters 0.01449064715943557 Centerline is valid? [True, True] Translation: X:9.58, Y:-1.02, Z:-0.60 [[ 9.92745590e-01 9.46820753e-02 7.41046428e-02 9.58060885e+00] [-9.43273817e-02 9.95506802e-01 -8.27961299e-03 -1.01856043e+00] [-7.45556069e-02 1.22945236e-03 9.97216100e-01 -5.98563105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361052754 meters 0.014907576483722264 Centerline is valid? [True, True] Translation: X:9.61, Y:-1.03, Z:-0.60 [[ 9.92903763e-01 9.32253071e-02 7.38319617e-02 9.61220369e+00] [-9.28677618e-02 9.95644119e-01 -8.26848562e-03 -1.02513311e+00] [-7.42811905e-02 1.35320146e-03 9.97236418e-01 -6.00691200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.391052753999999 meters 0.016014852224387147 Centerline is valid? [True, True] Translation: X:9.64, Y:-1.04, Z:-0.60 [[ 9.93418010e-01 8.78391499e-02 7.35183101e-02 9.64237806e+00] [-8.74687858e-02 9.96133110e-01 -8.24853737e-03 -1.03538574e+00] [-7.39585674e-02 1.76368826e-03 9.97259755e-01 -6.02421721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421052754 meters 0.017608314504707602 Centerline is valid? [True, True] Translation: X:9.67, Y:-1.04, Z:-0.60 [[ 9.93681441e-01 8.50452021e-02 7.32427960e-02 9.67236202e+00] [-8.46697287e-02 9.96375150e-01 -8.22180344e-03 -1.04386182e+00] [-7.36765268e-02 1.96840582e-03 9.97280249e-01 -6.04511659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.451052754 meters 0.018336210853983213 Centerline is valid? [True, True] Translation: X:9.70, Y:-1.05, Z:-0.61 [[ 9.93947996e-01 8.20007314e-02 7.30976116e-02 9.70324956e+00] [-8.16173610e-02 9.96629829e-01 -8.22136904e-03 -1.05091402e+00] [-7.35254184e-02 2.20557913e-03 9.97290905e-01 -6.06700709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481052753999998 meters 0.01913545914613551 Centerline is valid? [True, True] Translation: X:9.73, Y:-1.06, Z:-0.61 [[ 9.94329044e-01 7.66384118e-02 7.37313102e-02 9.73370045e+00] [-7.62325783e-02 9.97055459e-01 -8.30692130e-03 -1.06050398e+00] [-7.41508347e-02 2.63908523e-03 9.97243545e-01 -6.07079355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.511052754 meters 0.019986851125116348 Centerline is valid? [True, True] Translation: X:9.77, Y:-1.07, Z:-0.61 [[ 9.94406369e-01 7.52193554e-02 7.41486460e-02 9.76526281e+00] [-7.48046274e-02 9.97163178e-01 -8.35852806e-03 -1.06663647e+00] [-7.45670225e-02 2.76511171e-03 9.97212171e-01 -6.08110711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541052753999999 meters 0.019142389336575114 Centerline is valid? [True, True] Translation: X:9.80, Y:-1.07, Z:-0.61 [[ 9.94133132e-01 7.79980401e-02 7.49374479e-02 9.79693092e+00] [-7.75811158e-02 9.96950123e-01 -8.46303123e-03 -1.06730836e+00] [-7.53689978e-02 2.59964891e-03 9.97152323e-01 -6.10146240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.571052753999998 meters 0.01919032172306759 Centerline is valid? [True, True] Translation: X:9.83, Y:-1.07, Z:-0.61 [[ 9.94044678e-01 7.93749754e-02 7.46645318e-02 9.82755915e+00] [-7.89646239e-02 9.96841718e-01 -8.43670648e-03 -1.07010853e+00] [-7.50983835e-02 2.49060651e-03 9.97173019e-01 -6.12447956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601052754 meters 0.017750026280985504 Centerline is valid? [True, True] Translation: X:9.86, Y:-1.07, Z:-0.61 [[ 9.93731017e-01 8.38241867e-02 7.39741290e-02 9.85920685e+00] [-8.34326452e-02 9.96478244e-01 -8.37280488e-03 -1.06939987e+00] [-7.44154537e-02 2.14845865e-03 9.97225012e-01 -6.14677894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.631052753999999 meters 0.016140354676987517 Centerline is valid? [True, True] Translation: X:9.89, Y:-1.07, Z:-0.62 [[ 9.93397104e-01 8.94428690e-02 7.18482210e-02 9.89008775e+00] [-8.90880507e-02 9.95990538e-01 -8.13436448e-03 -1.06825142e+00] [-7.22877092e-02 1.67983616e-03 9.97382407e-01 -6.17959276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661052753999998 meters 0.015182760254532548 Centerline is valid? [True, True] Translation: X:9.92, Y:-1.07, Z:-0.62 [[ 9.93278260e-01 9.25790711e-02 6.94795958e-02 9.92199685e+00] [-9.22547954e-02 9.95704343e-01 -7.86850610e-03 -1.06882957e+00] [-6.99095943e-02 1.40579015e-03 9.97552341e-01 -6.22767039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.691052754 meters 0.014070965796032916 Centerline is valid? [True, True] Translation: X:9.95, Y:-1.07, Z:-0.63 [[ 9.93180176e-01 9.59573433e-02 6.62217963e-02 9.95457147e+00] [-9.56693408e-02 9.95384809e-01 -7.51397776e-03 -1.06824238e+00] [-6.66371914e-02 1.12733815e-03 9.97776635e-01 -6.28756038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721052753999999 meters 0.013420221224684836 Centerline is valid? [True, True] Translation: X:9.99, Y:-1.06, Z:-0.64 [[ 9.92937205e-01 1.01468001e-01 6.14813176e-02 9.98545527e+00] [-1.01229910e-01 9.94838550e-01 -6.98318401e-03 -1.06495974e+00] [-6.18725546e-02 7.10114963e-04 9.98083805e-01 -6.38113331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751052754 meters 0.01296662486624532 Centerline is valid? [True, True] Translation: X:10.02, Y:-1.07, Z:-0.64 [[ 9.92766031e-01 1.02538038e-01 6.24624624e-02 1.00178117e+01] [-1.02293528e-01 9.94728860e-01 -7.10835400e-03 -1.06749496e+00] [-6.28620907e-02 6.67426716e-04 9.98022000e-01 -6.39430907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781052754 meters 0.013164341117300783 Centerline is valid? [True, True] Translation: X:10.05, Y:-1.07, Z:-0.64 [[ 9.92802651e-01 1.01636004e-01 6.33483958e-02 1.00492861e+01] [-1.01381710e-01 9.94821371e-01 -7.22415003e-03 -1.07300837e+00] [-6.37545717e-02 7.49786605e-04 9.97965326e-01 -6.39304734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.811052753999999 meters 0.01439964406497594 Centerline is valid? [True, True] Translation: X:10.08, Y:-1.08, Z:-0.64 [[ 9.93124300e-01 9.66620165e-02 6.60346796e-02 1.00810958e+01] [-9.63736327e-02 9.95316621e-01 -7.54626404e-03 -1.08209319e+00] [-6.64548513e-02 1.13037624e-03 9.97788793e-01 -6.37255733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841052754 meters 0.016084982945184328 Centerline is valid? [True, True] Translation: X:10.11, Y:-1.09, Z:-0.64 [[ 9.93669295e-01 9.03903383e-02 6.67152043e-02 1.01116796e+01] [-9.00815527e-02 9.95905177e-01 -7.62843937e-03 -1.09192387e+00] [-6.71315546e-02 1.57033678e-03 9.97742897e-01 -6.36014884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.871052753999999 meters 0.016287083796164004 Centerline is valid? [True, True] Translation: X:10.14, Y:-1.10, Z:-0.64 [[ 9.93913278e-01 8.81315739e-02 6.61000858e-02 1.01434206e+01] [-8.78233021e-02 9.96107375e-01 -7.56072713e-03 -1.09603317e+00] [-6.65091217e-02 1.70957929e-03 9.97784352e-01 -6.38189397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901052753999998 meters 0.017405978006297423 Centerline is valid? [True, True] Translation: X:10.17, Y:-1.10, Z:-0.64 [[ 9.94100921e-01 8.57520566e-02 6.64074126e-02 1.01740654e+01] [-8.54345494e-02 9.96314709e-01 -7.61166693e-03 -1.10057381e+00] [-6.68153981e-02 1.89327772e-03 9.97763558e-01 -6.40479100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.931052754 meters 0.018152288286610863 Centerline is valid? [True, True] Translation: X:10.20, Y:-1.10, Z:-0.64 [[ 9.94216191e-01 8.17354639e-02 6.96669118e-02 1.02048378e+01] [-8.13750877e-02 9.96651441e-01 -8.00004014e-03 -1.10290591e+00] [-7.00875150e-02 2.28461838e-03 9.97538230e-01 -6.42506420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961052753999999 meters 0.020016756234532557 Centerline is valid? [True, True] Translation: X:10.24, Y:-1.11, Z:-0.64 [[ 9.94292656e-01 8.00220550e-02 7.05590928e-02 1.02356417e+01] [-7.96478865e-02 9.96790110e-01 -8.10504167e-03 -1.10932521e+00] [-7.09811880e-02 2.43890079e-03 9.97474673e-01 -6.42180030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.991052753999998 meters 0.020540758989767424 Centerline is valid? [True, True] Translation: X:10.27, Y:-1.11, Z:-0.64 [[ 9.94519629e-01 7.78465658e-02 6.97898184e-02 1.02673911e+01] [-7.74741824e-02 9.96962013e-01 -8.03088237e-03 -1.11352092e+00] [-7.02029745e-02 2.57996104e-03 9.97529391e-01 -6.42615484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021052754 meters 0.02079181149027951 Centerline is valid? [True, True] Translation: X:10.30, Y:-1.12, Z:-0.65 [[ 9.94617739e-01 7.81510090e-02 6.80292092e-02 1.02988569e+01] [-7.77975711e-02 9.96938401e-01 -7.83336738e-03 -1.11681748e+00] [-6.84331166e-02 2.49869892e-03 9.97652577e-01 -6.45144662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.051052753999999 meters 0.02115557604877225 Centerline is valid? [True, True] Translation: X:10.33, Y:-1.12, Z:-0.65 [[ 9.94795573e-01 7.92369107e-02 6.40568550e-02 1.03300870e+01] [-7.89249526e-02 9.96853170e-01 -7.38987507e-03 -1.11916200e+00] [-6.44408299e-02 2.29573075e-03 9.97918889e-01 -6.49316825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081052753999998 meters 0.021322704975221828 Centerline is valid? [True, True] Translation: X:10.36, Y:-1.12, Z:-0.65 [[ 9.94783569e-01 8.05353066e-02 6.26076282e-02 1.03621694e+01] [-8.02390065e-02 9.96749383e-01 -7.23668935e-03 -1.12165709e+00] [-6.29869238e-02 2.17536578e-03 9.98011981e-01 -6.52655649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.111052754 meters 0.018295046246109045 Centerline is valid? [True, True] Translation: X:10.39, Y:-1.12, Z:-0.66 [[ 9.94667485e-01 8.40819750e-02 5.97228202e-02 1.03944928e+01] [-8.38179479e-02 9.96457078e-01 -6.91681551e-03 -1.11697429e+00] [-6.00928065e-02 1.87408726e-03 9.98191035e-01 -6.58519375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141052753999999 meters 0.017823940581061206 Centerline is valid? [True, True] Translation: X:10.42, Y:-1.12, Z:-0.66 [[ 9.94485720e-01 8.71901607e-02 5.82754586e-02 1.04245516e+01] [-8.69439349e-02 9.96190323e-01 -6.75228794e-03 -1.11867077e+00] [-5.86421810e-02 1.64835626e-03 9.98277706e-01 -6.62184664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.171052754 meters 0.01606800974102881 Centerline is valid? [True, True] Translation: X:10.46, Y:-1.12, Z:-0.66 [[ 9.93911854e-01 9.45576115e-02 5.65516123e-02 1.04557075e+01] [-9.43376016e-02 9.95518693e-01 -6.55347056e-03 -1.11834489e+00] [-5.69178677e-02 1.17862861e-03 9.98378168e-01 -6.63387528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201052754 meters 0.015620814480783177 Centerline is valid? [True, True] Translation: X:10.49, Y:-1.12, Z:-0.66 [[ 9.93562336e-01 9.80668794e-02 5.67165907e-02 1.04871528e+01] [-9.78513260e-02 9.95179344e-01 -6.57198693e-03 -1.12124492e+00] [-5.70876738e-02 9.79885081e-04 9.98368688e-01 -6.64462878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.231052753999998 meters 0.014500713659291415 Centerline is valid? [True, True] Translation: X:10.52, Y:-1.12, Z:-0.67 [[ 9.93293592e-01 1.02094853e-01 5.42630765e-02 1.05192843e+01] [-1.01902908e-01 9.94774402e-01 -6.29967873e-03 -1.12302118e+00] [-5.46226843e-02 7.27865190e-04 9.98506801e-01 -6.65125647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261052754 meters 0.014384702253790758 Centerline is valid? [True, True] Translation: X:10.55, Y:-1.13, Z:-0.67 [[ 9.93258903e-01 1.03290053e-01 5.26109866e-02 1.05513039e+01] [-1.03110685e-01 9.94651063e-01 -6.11953582e-03 -1.12755959e+00] [-5.29616609e-02 6.53528544e-04 9.98596333e-01 -6.67982755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.291052753999999 meters 0.015057492291406566 Centerline is valid? [True, True] Translation: X:10.58, Y:-1.14, Z:-0.67 [[ 9.93535263e-01 1.00528362e-01 5.27420956e-02 1.05817589e+01] [-1.00343416e-01 9.94933857e-01 -6.14971348e-03 -1.13561340e+00] [-5.30931172e-02 8.17635159e-04 9.98589231e-01 -6.68817222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321052753999998 meters 0.015426045864379557 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.14, Z:-0.67 [[ 9.93693319e-01 9.80595575e-02 5.43866798e-02 1.06130683e+01] [-9.78585231e-02 9.95180054e-01 -6.35367101e-03 -1.14190302e+00] [-5.47475771e-02 9.91400269e-04 9.98499735e-01 -6.68566196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.351052754 meters 0.01665178828170296 Centerline is valid? [True, True] Translation: X:10.64, Y:-1.15, Z:-0.67 [[ 9.93982967e-01 9.35512642e-02 5.69738757e-02 1.06447203e+01] [-9.33223460e-02 9.95613597e-01 -6.67127227e-03 -1.15067623e+00] [-5.73480712e-02 1.31419527e-03 9.98353380e-01 -6.67866617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381052753999999 meters 0.017248814386804392 Centerline is valid? [True, True] Translation: X:10.68, Y:-1.16, Z:-0.67 [[ 9.94146644e-01 9.18680230e-02 5.68569908e-02 1.06758689e+01] [-9.16371423e-02 9.95770192e-01 -6.66024359e-03 -1.15734260e+00] [-5.72283601e-02 1.41104665e-03 9.98360117e-01 -6.68985995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.411052753999998 meters 0.017248814386804392 Centerline is valid? [True, True] Translation: X:10.71, Y:-1.16, Z:-0.67 [[ 9.94122487e-01 9.21299944e-02 5.68554819e-02 1.07079578e+01] [-9.18988068e-02 9.95745991e-01 -6.67309787e-03 -1.16118336e+00] [-5.72284107e-02 1.40892569e-03 9.98360117e-01 -6.71077310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441052754 meters 0.022626901736144768 Centerline is valid? [True, True] Translation: X:10.74, Y:-1.17, Z:-0.67 [[ 9.94452359e-01 9.06973235e-02 5.32775917e-02 1.07381278e+01] [-9.04914994e-02 9.95877503e-01 -6.26790906e-03 -1.16587351e+00] [-5.36264376e-02 1.41196779e-03 9.98560069e-01 -6.74630177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.471052753999999 meters 0.023440937765221444 Centerline is valid? [True, True] Translation: X:10.77, Y:-1.17, Z:-0.68 [[ 9.94402202e-01 9.22009678e-02 5.16066140e-02 1.07702040e+01] [-9.20096598e-02 9.95739579e-01 -6.07566616e-03 -1.16731383e+00] [-5.19469304e-02 1.29334881e-03 9.98649009e-01 -6.78517172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501052754 meters 0.02428414137022548 Centerline is valid? [True, True] Translation: X:10.80, Y:-1.17, Z:-0.68 [[ 9.94284781e-01 9.46858050e-02 4.93190819e-02 1.08008176e+01] [-9.45136006e-02 9.95506573e-01 -5.81735540e-03 -1.16866543e+00] [-4.96482912e-02 1.12278394e-03 9.98766132e-01 -6.83648780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.531052754 meters 0.025338070432060517 Centerline is valid? [True, True] Translation: X:10.83, Y:-1.17, Z:-0.69 [[ 9.94505219e-01 9.31590922e-02 4.77572373e-02 1.08321991e+01] [-9.29954147e-02 9.95650548e-01 -5.64262154e-03 -1.17471789e+00] [-4.80751810e-02 1.17041248e-03 9.98843034e-01 -6.86664987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561052753999999 meters 0.02528100774297286 Centerline is valid? [True, True] Translation: X:10.86, Y:-1.18, Z:-0.69 [[ 9.94652741e-01 9.20546097e-02 4.68174513e-02 1.08633626e+01] [-9.18955960e-02 9.95753225e-01 -5.54212177e-03 -1.17959151e+00] [-4.71288059e-02 1.21016902e-03 9.98888087e-01 -6.89324072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591052754 meters 0.026680588330294863 Centerline is valid? [True, True] Translation: X:10.89, Y:-1.18, Z:-0.69 [[ 9.94764660e-01 9.08531656e-02 4.67864692e-02 1.08949037e+01] [-9.06925833e-02 9.95863482e-01 -5.54803753e-03 -1.18332915e+00] [-4.70969929e-02 1.27580591e-03 9.98889506e-01 -6.91476029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621052753999999 meters 0.027539614783035626 Centerline is valid? [True, True] Translation: X:10.93, Y:-1.19, Z:-0.69 [[ 9.95067187e-01 8.82131794e-02 4.53842220e-02 1.09253851e+01] [-8.80588760e-02 9.96100678e-01 -5.39195779e-03 -1.18725530e+00] [-4.56828960e-02 1.36887670e-03 9.98955054e-01 -6.94780092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.651052753999998 meters 0.02659491999383776 Centerline is valid? [True, True] Translation: X:10.96, Y:-1.19, Z:-0.70 [[ 9.95176560e-01 8.75543647e-02 4.42475739e-02 1.09579217e+01] [-8.74066762e-02 9.96158798e-01 -5.26526908e-03 -1.18817790e+00] [-4.45386073e-02 1.37233900e-03 9.99006721e-01 -6.95101521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681052754 meters 0.02736108065010482 Centerline is valid? [True, True] Translation: X:10.99, Y:-1.19, Z:-0.70 [[ 9.95585043e-01 8.39872588e-02 4.19113545e-02 1.09877136e+01] [-8.38510250e-02 9.96465752e-01 -5.00104756e-03 -1.19494029e+00] [-4.21832536e-02 1.46465812e-03 9.99108817e-01 -6.96492741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.711052753999999 meters 0.028556263591075923 Centerline is valid? [True, True] Translation: X:11.02, Y:-1.20, Z:-0.70 [[ 9.95779027e-01 8.19888561e-02 4.12547899e-02 1.10190803e+01] [-8.18553055e-02 9.96632085e-01 -4.91889899e-03 -1.19893554e+00] [-4.15191421e-02 1.52121302e-03 9.99136551e-01 -6.98667702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741052753999998 meters 0.029668702143760762 Centerline is valid? [True, True] Translation: X:11.05, Y:-1.20, Z:-0.70 [[ 9.96070428e-01 7.81352049e-02 4.16964282e-02 1.10489156e+01] [-7.79948650e-02 9.96941300e-01 -4.98445992e-03 -1.20263865e+00] [-4.19583532e-02 1.71276584e-03 9.99117892e-01 -7.01147079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.771052754 meters 0.03029136087396409 Centerline is valid? [True, True] Translation: X:11.08, Y:-1.21, Z:-0.70 [[ 9.96241814e-01 7.60765583e-02 4.14078049e-02 1.10806583e+01] [-7.59363310e-02 9.97100376e-01 -4.95116369e-03 -1.20812893e+00] [-4.16644053e-02 1.78819952e-03 9.99130061e-01 -7.02178646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801052753999999 meters 0.03262886298335588 Centerline is valid? [True, True] Translation: X:11.11, Y:-1.21, Z:-0.70 [[ 9.96552062e-01 7.17698067e-02 4.16303073e-02 1.11104641e+01] [-7.16241571e-02 9.97419252e-01 -4.98159590e-03 -1.21420450e+00] [-4.18803981e-02 1.98268399e-03 9.99120664e-01 -7.03271289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.831052753999998 meters 0.032970705184490134 Centerline is valid? [True, True] Translation: X:11.14, Y:-1.22, Z:-0.70 [[ 9.96573200e-01 7.11726737e-02 4.21462584e-02 1.11423003e+01] [-7.10230186e-02 9.97461946e-01 -5.03951365e-03 -1.21832543e+00] [-4.23979646e-02 2.02888975e-03 9.99098742e-01 -7.04796899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861052754 meters 0.029762829128699198 Centerline is valid? [True, True] Translation: X:11.17, Y:-1.22, Z:-0.70 [[ 9.96416852e-01 7.25732468e-02 4.34347925e-02 1.11738155e+01] [-7.24150060e-02 9.97360991e-01 -5.20764764e-03 -1.21767358e+00] [-4.36981036e-02 2.04365711e-03 9.99042691e-01 -7.04099442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.891052753999999 meters 0.0279427592763408 Centerline is valid? [True, True] Translation: X:11.21, Y:-1.22, Z:-0.70 [[ 9.96301881e-01 7.36303853e-02 4.42846317e-02 1.12067143e+01] [-7.34669454e-02 9.97283521e-01 -5.30915616e-03 -1.21750797e+00] [-4.45552486e-02 2.03606565e-03 9.99004847e-01 -7.03807281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921052754 meters 0.027894629154373313 Centerline is valid? [True, True] Translation: X:11.24, Y:-1.22, Z:-0.71 [[ 9.95891429e-01 7.75237896e-02 4.68008860e-02 1.12365451e+01] [-7.73451041e-02 9.96988543e-01 -5.61963208e-03 -1.22021580e+00] [-4.70956023e-02 1.97672402e-03 9.98888431e-01 -7.05989035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951052754 meters 0.03021820414064109 Centerline is valid? [True, True] Translation: X:11.27, Y:-1.22, Z:-0.71 [[ 9.95482028e-01 8.23255707e-02 4.73078408e-02 1.12653822e+01] [-8.21484503e-02 9.96603922e-01 -5.67941273e-03 -1.22417571e+00] [-4.76147406e-02 1.76748749e-03 9.98864211e-01 -7.12552185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981052753999998 meters 0.02854003820033739 Centerline is valid? [True, True] Translation: X:11.30, Y:-1.22, Z:-0.72 [[ 9.95201727e-01 8.57026844e-02 4.72077610e-02 1.12967370e+01] [-8.55299290e-02 9.96319462e-01 -5.67108846e-03 -1.22497264e+00] [-4.75200386e-02 1.60620058e-03 9.98868993e-01 -7.16119598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011052754 meters 0.026741576100416775 Centerline is valid? [True, True] Translation: X:11.33, Y:-1.22, Z:-0.72 [[ 9.94624253e-01 9.39285155e-02 4.35893151e-02 1.13264400e+01] [-9.37890484e-02 9.95578312e-01 -5.23822437e-03 -1.22357443e+00] [-4.38885954e-02 1.12186462e-03 9.99035801e-01 -7.20898592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041052753999999 meters 0.023343898751004212 Centerline is valid? [True, True] Translation: X:11.36, Y:-1.22, Z:-0.72 [[ 9.94302046e-01 9.82241880e-02 4.14179963e-02 1.13589109e+01] [-9.81022168e-02 9.95163923e-01 -4.97207480e-03 -1.22133067e+00] [-4.17060737e-02 8.80546891e-04 9.99129535e-01 -7.20568865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.071052753999998 meters 0.02450077746909676 Centerline is valid? [True, True] Translation: X:11.39, Y:-1.23, Z:-0.73 [[ 9.94030584e-01 1.01568066e-01 3.98387596e-02 1.13889232e+01] [-1.01457540e-01 9.94828331e-01 -4.79161569e-03 -1.22728603e+00] [-4.01194018e-02 7.21070014e-04 9.99194633e-01 -7.28223120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101052754 meters 0.022744443001479337 Centerline is valid? [True, True] Translation: X:11.42, Y:-1.23, Z:-0.73 [[ 9.93826989e-01 1.03377594e-01 4.02615062e-02 1.14217029e+01] [-1.03265708e-01 9.94641960e-01 -4.85439289e-03 -1.22977428e+00] [-4.05476188e-02 6.66793713e-04 9.99177385e-01 -7.25963834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.131052753999999 meters 0.02294440585993045 Centerline is valid? [True, True] Translation: X:11.45, Y:-1.24, Z:-0.73 [[ 9.93975821e-01 1.01128416e-01 4.22505771e-02 1.14529140e+01] [-1.01003155e-01 9.94873062e-01 -5.09443384e-03 -1.23832930e+00] [-4.25491531e-02 7.96302476e-04 9.99094057e-01 -7.28097853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161052753999998 meters 0.023247034147755162 Centerline is valid? [True, True] Translation: X:11.49, Y:-1.24, Z:-0.73 [[ 9.94109409e-01 9.88964525e-02 4.43393185e-02 1.14851430e+01] [-9.87557702e-02 9.95097279e-01 -5.35755584e-03 -1.24478269e+00] [-4.46517784e-02 9.47233124e-04 9.99002163e-01 -7.27528129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.191052754 meters 0.022630465807211148 Centerline is valid? [True, True] Translation: X:11.52, Y:-1.25, Z:-0.73 [[ 9.93861529e-01 9.99464868e-02 4.74337524e-02 1.15162514e+01] [-9.97858984e-02 9.94992332e-01 -5.74743700e-03 -1.24903501e+00] [-4.77706561e-02 9.78936927e-04 9.98857851e-01 -7.26343893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221052753999999 meters 0.022104999673630138 Centerline is valid? [True, True] Translation: X:11.55, Y:-1.25, Z:-0.72 [[ 9.93714355e-01 9.91730025e-02 5.19278061e-02 1.15483746e+01] [-9.89791262e-02 9.95069577e-01 -6.29834335e-03 -1.25367360e+00] [-5.22964057e-02 1.11898532e-03 9.98630980e-01 -7.22150893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.251052753999998 meters 0.023725012588517336 Centerline is valid? [True, True] Translation: X:11.58, Y:-1.26, Z:-0.72 [[ 9.93792400e-01 9.76636871e-02 5.32772988e-02 1.15783136e+01] [-9.74566692e-02 9.95218698e-01 -6.47612432e-03 -1.26218606e+00] [-5.36550461e-02 1.24369505e-03 9.98558756e-01 -7.24525646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281052754 meters 0.021838025957209992 Centerline is valid? [True, True] Translation: X:11.61, Y:-1.26, Z:-0.73 [[ 9.94055277e-01 9.42464105e-02 5.45134943e-02 1.16101230e+01] [-9.40241082e-02 9.95547817e-01 -6.63408857e-03 -1.26457086e+00] [-5.48960293e-02 1.46906807e-03 9.98490995e-01 -7.25952511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.311052753999999 meters 0.02331065130499368 Centerline is valid? [True, True] Translation: X:11.64, Y:-1.27, Z:-0.73 [[ 9.94116055e-01 9.35495458e-02 5.46054238e-02 1.16417962e+01] [-9.33253223e-02 9.95613477e-01 -6.64746094e-03 -1.26757272e+00] [-5.49877628e-02 1.51227887e-03 9.98485883e-01 -7.30431848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341052754 meters 0.0228957411617523 Centerline is valid? [True, True] Translation: X:11.67, Y:-1.27, Z:-0.73 [[ 9.94020998e-01 9.42729930e-02 5.50895459e-02 1.16730420e+01] [-9.40451428e-02 9.95545256e-01 -6.71968099e-03 -1.27121972e+00] [-5.54776206e-02 1.49859979e-03 9.98458806e-01 -7.33231609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371052753999999 meters 0.0224251285307211 Centerline is valid? [True, True] Translation: X:11.70, Y:-1.27, Z:-0.74 [[ 9.93879621e-01 9.56398580e-02 5.52839612e-02 1.17048241e+01] [-9.54117740e-02 9.95414960e-01 -6.75652791e-03 -1.27289085e+00] [-5.56766754e-02 1.44043458e-03 9.98447812e-01 -7.35439972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401052753999998 meters 0.02226256903841888 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.27, Z:-0.74 [[ 9.93812301e-01 9.62878420e-02 5.53693202e-02 1.17368740e+01] [-9.60593303e-02 9.95352519e-01 -6.77996460e-03 -1.27469424e+00] [-5.57648205e-02 1.41927240e-03 9.98442923e-01 -7.37278243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431052754 meters 0.02276359726065101 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.28, Z:-0.74 [[ 9.94087703e-01 9.36098513e-02 5.50166751e-02 1.17683179e+01] [-9.33793402e-02 9.95607713e-01 -6.75133828e-03 -1.27986828e+00] [-5.54070179e-02 1.57400154e-03 9.98462611e-01 -7.38884215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461052753999999 meters 0.02360374139849663 Centerline is valid? [True, True] Translation: X:11.80, Y:-1.29, Z:-0.74 [[ 9.94287910e-01 9.14509215e-02 5.50298189e-02 1.17986878e+01] [-9.12168140e-02 9.95808137e-01 -6.75627189e-03 -1.28716334e+00] [-5.54170088e-02 1.69803470e-03 9.98461853e-01 -7.42236726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491052753999998 meters 0.023584581582756454 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.29, Z:-0.75 [[ 9.94573775e-01 8.87193352e-02 5.43312584e-02 1.18305254e+01] [-8.84866897e-02 9.96054977e-01 -6.67745191e-03 -1.29160915e+00] [-5.47093394e-02 1.83362535e-03 9.98500639e-01 -7.45358365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521052754 meters 0.02497456503021714 Centerline is valid? [True, True] Translation: X:11.86, Y:-1.30, Z:-0.75 [[ 9.94952787e-01 8.50248249e-02 5.32891262e-02 1.18609659e+01] [-8.47955300e-02 9.96376823e-01 -6.55323191e-03 -1.29767761e+00] [-5.36532377e-02 2.00147665e-03 9.98557622e-01 -7.49650402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551052753999999 meters 0.025088494379250023 Centerline is valid? [True, True] Translation: X:11.89, Y:-1.30, Z:-0.75 [[ 9.94904410e-01 8.52834576e-02 5.37768274e-02 1.18933030e+01] [-8.50503474e-02 9.96354711e-01 -6.61268120e-03 -1.30318084e+00] [-5.41447476e-02 2.00524784e-03 9.98531084e-01 -7.51899740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581052753999998 meters 0.024370295912796595 Centerline is valid? [True, True] Translation: X:11.92, Y:-1.31, Z:-0.75 [[ 9.94479336e-01 8.90503680e-02 5.55056936e-02 1.19227211e+01] [-8.88068728e-02 9.96025358e-01 -6.84298641e-03 -1.30683854e+00] [-5.58944488e-02 1.87592150e-03 9.98434921e-01 -7.52428447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.611052754 meters 0.02219466414794655 Centerline is valid? [True, True] Translation: X:11.95, Y:-1.31, Z:-0.75 [[ 9.94186006e-01 9.20645301e-02 5.58418185e-02 1.19547422e+01] [-9.18228766e-02 9.95751565e-01 -6.88338951e-03 -1.30675380e+00] [-5.62382941e-02 1.71581311e-03 9.98415900e-01 -7.53902993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641052753999999 meters 0.023161136119980188 Centerline is valid? [True, True] Translation: X:11.99, Y:-1.31, Z:-0.76 [[ 9.93684729e-01 9.68895772e-02 5.65956643e-02 1.19853700e+01] [-9.66489156e-02 9.95294057e-01 -6.98054874e-03 -1.30977551e+00] [-5.70056707e-02 1.46655510e-03 9.98372777e-01 -7.58297259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.671052754 meters 0.020735714544722356 Centerline is valid? [True, True] Translation: X:12.02, Y:-1.31, Z:-0.76 [[ 9.93300333e-01 9.87779430e-02 5.99780465e-02 1.20180192e+01] [-9.85109358e-02 9.95108456e-01 -7.39972495e-03 -1.30956057e+00] [-6.04155909e-02 1.44165576e-03 9.98172269e-01 -7.61321578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701052754 meters 0.02050928327206819 Centerline is valid? [True, True] Translation: X:12.05, Y:-1.32, Z:-0.76 [[ 9.93128252e-01 9.92720934e-02 6.19784418e-02 1.20490376e+01] [-9.89875664e-02 9.95059248e-01 -7.65210996e-03 -1.31534419e+00] [-6.24318626e-02 1.46443147e-03 9.98048154e-01 -7.62086531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.731052753999998 meters 0.020361903697943263 Centerline is valid? [True, True] Translation: X:12.08, Y:-1.32, Z:-0.76 [[ 9.92565509e-01 1.01823432e-01 6.66760761e-02 1.20801983e+01] [-1.01499126e-01 9.94801483e-01 -8.24237737e-03 -1.32148155e+00] [-6.71687266e-02 1.41353604e-03 9.97740630e-01 -7.60388667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761052754 meters 0.02061894366407537 Centerline is valid? [True, True] Translation: X:12.11, Y:-1.33, Z:-0.76 [[ 9.92349050e-01 1.03429661e-01 6.74215679e-02 1.21113298e+01] [-1.03100643e-01 9.94635874e-01 -8.35083938e-03 -1.32591306e+00] [-6.79236346e-02 1.33574056e-03 9.97689629e-01 -7.60648142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791052753999999 meters 0.01966405488427102 Centerline is valid? [True, True] Translation: X:12.14, Y:-1.33, Z:-0.76 [[ 9.91889715e-01 1.06708805e-01 6.90508784e-02 1.21436014e+01] [-1.06370513e-01 9.94289646e-01 -8.56820451e-03 -1.32898626e+00] [-6.95708763e-02 1.15373659e-03 9.97576344e-01 -7.60485400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821052753999998 meters 0.019587916132049712 Centerline is valid? [True, True] Translation: X:12.18, Y:-1.33, Z:-0.76 [[ 9.91583761e-01 1.08998513e-01 6.98639340e-02 1.21753499e+01] [-1.08656688e-01 9.94041388e-01 -8.68581401e-03 -1.33309854e+00] [-7.03943827e-02 1.02152843e-03 9.97518715e-01 -7.62146611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851052754 meters 0.01804913256112124 Centerline is valid? [True, True] Translation: X:12.21, Y:-1.34, Z:-0.77 [[ 9.91205680e-01 1.12287012e-01 7.00209060e-02 1.22076359e+01] [-1.11950728e-01 9.93675489e-01 -8.72103568e-03 -1.33554080e+00] [-7.05573171e-02 8.05448725e-04 9.97507402e-01 -7.68063318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881052753999999 meters 0.019122799082431263 Centerline is valid? [True, True] Translation: X:12.24, Y:-1.34, Z:-0.77 [[ 9.90959329e-01 1.14515851e-01 6.98979871e-02 1.22397145e+01] [-1.14185798e-01 9.93421207e-01 -8.71260018e-03 -1.33801909e+00] [-7.04358735e-02 6.52474994e-04 9.97516096e-01 -7.73415598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.911052753999998 meters 0.01854382807497887 Centerline is valid? [True, True] Translation: X:12.27, Y:-1.34, Z:-0.78 [[ 9.90551005e-01 1.18057240e-01 6.97939407e-02 1.22706214e+01] [-1.17735781e-01 9.93006704e-01 -8.71614960e-03 -1.34126766e+00] [-7.03348556e-02 4.16546617e-04 9.97523350e-01 -7.78643848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941052754 meters 0.018003737720918067 Centerline is valid? [True, True] Translation: X:12.30, Y:-1.35, Z:-0.78 [[ 9.90358688e-01 1.19350484e-01 7.03216317e-02 1.23031728e+01] [-1.19026259e-01 9.92852126e-01 -8.79804195e-03 -1.34628232e+00] [-7.08690321e-02 3.43096563e-04 9.97485570e-01 -7.80786882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.971052753999999 meters 0.017070635644368132 Centerline is valid? [True, True] Translation: X:12.34, Y:-1.35, Z:-0.78 [[ 9.90110238e-01 1.20845955e-01 7.12598847e-02 1.23358840e+01] [-1.20515423e-01 9.92671239e-01 -8.93560363e-03 -1.35357222e+00] [-7.18174696e-02 2.59317491e-04 9.97417758e-01 -7.80317015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001052753999998 meters 0.016920196967415087 Centerline is valid? [True, True] Translation: X:12.37, Y:-1.36, Z:-0.78 [[ 9.90039327e-01 1.21382933e-01 7.13324303e-02 1.23670504e+01] [-1.21051674e-01 9.92605725e-01 -8.96473703e-03 -1.35896580e+00] [-7.18931448e-02 2.40532132e-04 9.97412311e-01 -7.81194752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.031052754 meters 0.01673878885945118 Centerline is valid? [True, True] Translation: X:12.40, Y:-1.36, Z:-0.78 [[ 9.89799145e-01 1.23275990e-01 7.14190691e-02 1.23995694e+01] [-1.22947485e-01 9.92372418e-01 -8.99447402e-03 -1.36315171e+00] [-7.19831169e-02 1.21927787e-04 9.97405843e-01 -7.83794452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061052753999999 meters 0.01722095898866654 Centerline is valid? [True, True] Translation: X:12.43, Y:-1.37, Z:-0.79 [[ 9.89621403e-01 1.24693159e-01 7.14219564e-02 1.24324390e+01] [-1.24366893e-01 9.92195351e-01 -9.01449773e-03 -1.36572080e+00] [-7.19885793e-02 3.84130760e-05 9.97405456e-01 -7.87202229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.091052754 meters 0.016901453295918946 Centerline is valid? [True, True] Translation: X:12.47, Y:-1.37, Z:-0.79 [[ 9.89615829e-01 1.24912060e-01 7.11160150e-02 1.24653662e+01] [-1.24587733e-01 9.92167816e-01 -8.99561825e-03 -1.36775050e+00] [-7.16826825e-02 4.20231008e-05 9.97427487e-01 -7.92360376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121052753999999 meters 0.01608804221269305 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.37, Z:-0.80 [[ 9.89864080e-01 1.22690633e-01 7.15269962e-02 1.24966234e+01] [-1.22355308e-01 9.92444940e-01 -9.06753630e-03 -1.37213981e+00] [-7.20991072e-02 2.23920861e-04 9.97397448e-01 -7.95109297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.151052753999998 meters 0.017591351790157472 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.38, Z:-0.80 [[ 9.90471371e-01 1.16699646e-01 7.31276692e-02 1.25267157e+01] [-1.16331469e-01 9.93167011e-01 -9.28853787e-03 -1.37952801e+00] [-7.37119577e-02 6.92981640e-04 9.97279333e-01 -7.96366280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181052754 meters 0.017716516132980763 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.39, Z:-0.80 [[ 9.90828939e-01 1.13369436e-01 7.35213201e-02 1.25586001e+01] [-1.12987357e-01 9.93552443e-01 -9.34880650e-03 -1.38551469e+00] [-7.41071561e-02 9.56088347e-04 9.97249826e-01 -7.97963428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.211052753999999 meters 0.01946600316146584 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.39, Z:-0.80 [[ 9.91725506e-01 1.05170846e-01 7.36180343e-02 1.25885758e+01] [-1.04764032e-01 9.94452903e-01 -9.37664546e-03 -1.39266007e+00] [-7.41958176e-02 1.58653637e-03 9.97242430e-01 -8.00134523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241052753999998 meters 0.01958707857790153 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.40, Z:-0.80 [[ 9.92115529e-01 1.01339332e-01 7.37368148e-02 1.26205855e+01] [-1.00920502e-01 9.94850146e-01 -9.39355895e-03 -1.39694254e+00] [-7.43090180e-02 1.87793931e-03 9.97233495e-01 -8.03374005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.271052754 meters 0.02126314787075851 Centerline is valid? [True, True] Translation: X:12.65, Y:-1.41, Z:-0.80 [[ 9.92730456e-01 9.46280214e-02 7.43759275e-02 1.26497744e+01] [-9.41827005e-02 9.95509793e-01 -9.48003851e-03 -1.40582576e+00] [-7.49390414e-02 2.40619725e-03 9.97185214e-01 -8.02082606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301052753999999 meters 0.02126314787075851 Centerline is valid? [True, True] Translation: X:12.68, Y:-1.41, Z:-0.80 [[ 9.92705498e-01 9.48901483e-02 7.43750902e-02 1.26818299e+01] [-9.44450702e-02 9.95484873e-01 -9.48660179e-03 -1.40998725e+00] [-7.49394623e-02 2.39304114e-03 9.97185214e-01 -8.04168332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331052753999998 meters 0.0224690676179961 Centerline is valid? [True, True] Translation: X:12.71, Y:-1.42, Z:-0.80 [[ 9.92962667e-01 9.16298488e-02 7.50274170e-02 1.27118605e+01] [-9.11663035e-02 9.95789531e-01 -9.58727300e-03 -1.41749316e+00] [-7.55899967e-02 2.67983190e-03 9.97135382e-01 -8.03106925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361052754 meters 0.023023774068808733 Centerline is valid? [True, True] Translation: X:12.74, Y:-1.42, Z:-0.80 [[ 9.93173228e-01 8.86765762e-02 7.57852547e-02 1.27425994e+01] [-8.81949110e-02 9.96056147e-01 -9.68558329e-03 -1.42289107e+00] [-7.63452531e-02 2.93558823e-03 9.97077121e-01 -8.03592861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.391052753999999 meters 0.02294974008353633 Centerline is valid? [True, True] Translation: X:12.77, Y:-1.42, Z:-0.81 [[ 9.93453426e-01 8.47704394e-02 7.65784746e-02 1.27734473e+01] [-8.42668614e-02 9.96395135e-01 -9.78932040e-03 -1.42274342e+00] [-7.71322645e-02 3.27220619e-03 9.97015500e-01 -8.09764588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421052753999998 meters 0.024880316684288004 Centerline is valid? [True, True] Translation: X:12.80, Y:-1.43, Z:-0.81 [[ 9.93638104e-01 8.37426388e-02 7.53026439e-02 1.28039445e+01] [-8.32525240e-02 9.96481954e-01 -9.62978386e-03 -1.42568258e+00] [-7.58441493e-02 3.29938501e-03 9.97114226e-01 -8.14965073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.451052754 meters 0.021767041914590318 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.43, Z:-0.82 [[ 9.93704189e-01 8.47802185e-02 7.32413762e-02 1.28363143e+01] [-8.43182664e-02 9.96394705e-01 -9.38194195e-03 -1.42598484e+00] [-7.37727225e-02 3.14728915e-03 9.97270114e-01 -8.18116725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481052753999998 meters 0.021177785874650763 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.42, Z:-0.82 [[ 9.93485063e-01 8.92798920e-02 7.08274711e-02 1.28671131e+01] [-8.88582832e-02 9.96002822e-01 -9.08753922e-03 -1.42438694e+00] [-7.13556956e-02 2.73472699e-03 9.97447185e-01 -8.20810508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.511052754 meters 0.020649078738246313 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.42, Z:-0.82 [[ 9.93220228e-01 9.19342812e-02 7.11453852e-02 1.28986325e+01] [-9.15156436e-02 9.95761797e-01 -9.12858310e-03 -1.42433117e+00] [-7.16830863e-02 2.55577767e-03 9.97424184e-01 -8.22567956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541052753999999 meters 0.019259090847388017 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.43, Z:-0.82 [[ 9.92973690e-01 9.44671768e-02 7.12685251e-02 1.29307355e+01] [-9.40533047e-02 9.95525129e-01 -9.14837716e-03 -1.42578164e+00] [-7.18138290e-02 2.38105752e-03 9.97415212e-01 -8.23344156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.571052753999998 meters 0.017904964783388277 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.42, Z:-0.82 [[ 9.92725980e-01 9.65369836e-02 7.19426108e-02 1.29630052e+01] [-9.61193876e-02 9.95326810e-01 -9.25230087e-03 -1.42368856e+00] [-7.24995985e-02 2.26991976e-03 9.97365858e-01 -8.23970910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601052754 meters 0.0180014370947024 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.43, Z:-0.83 [[ 9.92734461e-01 9.65959615e-02 7.17461496e-02 1.29961596e+01] [-9.61795072e-02 9.95321071e-01 -9.24488163e-03 -1.42614921e+00] [-7.23034727e-02 2.27720328e-03 9.97380079e-01 -8.25943578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631052753999999 meters 0.02037925896121962 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.43, Z:-0.83 [[ 9.92836442e-01 9.52680750e-02 7.21095898e-02 1.30270944e+01] [-9.48424351e-02 9.95448746e-01 -9.31165931e-03 -1.42982404e+00] [-7.26685046e-02 2.40590561e-03 9.97353247e-01 -8.27802979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661052753999998 meters 0.01787799251176031 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.43, Z:-0.83 [[ 9.93022018e-01 9.35229652e-02 7.18382052e-02 1.30595459e+01] [-9.30947791e-02 9.95613882e-01 -9.29306396e-03 -1.42830594e+00] [-7.23922292e-02 2.54045529e-03 9.97373005e-01 -8.30776847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.691052754 meters 0.018207444813538285 Centerline is valid? [True, True] Translation: X:13.09, Y:-1.43, Z:-0.83 [[ 9.93091111e-01 9.32004256e-02 7.13002518e-02 1.30906656e+01] [-9.27765306e-02 9.95644070e-01 -9.24124706e-03 -1.43356911e+00] [-7.18509611e-02 2.56241031e-03 9.97412088e-01 -8.32036538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721052753999999 meters 0.018584810264226113 Centerline is valid? [True, True] Translation: X:13.12, Y:-1.44, Z:-0.83 [[ 9.93074945e-01 9.38482901e-02 7.06728495e-02 1.31211743e+01] [-9.34323035e-02 9.95583347e-01 -9.17629805e-03 -1.43690453e+00] [-7.12218919e-02 2.50962457e-03 9.97457339e-01 -8.32214801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751052753999998 meters 0.020317820311605814 Centerline is valid? [True, True] Translation: X:13.15, Y:-1.44, Z:-0.83 [[ 9.92900564e-01 9.57241449e-02 7.06070733e-02 1.31522909e+01] [-9.53124878e-02 9.95405033e-01 -9.18424570e-03 -1.44237928e+00] [-7.11617902e-02 2.38930692e-03 9.97461925e-01 -8.33889060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781052754 meters 0.018057641759852423 Centerline is valid? [True, True] Translation: X:13.18, Y:-1.44, Z:-0.84 [[ 9.92665097e-01 9.78326584e-02 7.10265918e-02 1.31849657e+01] [-9.74202047e-02 9.95200292e-01 -9.25644016e-03 -1.44078796e+00] [-7.15912671e-02 2.26911995e-03 9.97431472e-01 -8.37057779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.811052753999999 meters 0.017556383479386005 Centerline is valid? [True, True] Translation: X:13.22, Y:-1.44, Z:-0.84 [[ 9.92321696e-01 1.00872928e-01 7.15702780e-02 1.32160896e+01] [-1.00460845e-01 9.94897140e-01 -9.34341350e-03 -1.44140942e+00] [-7.21475624e-02 2.08166128e-03 9.97391797e-01 -8.39765821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841052754 meters 0.01728082699908688 Centerline is valid? [True, True] Translation: X:13.25, Y:-1.44, Z:-0.84 [[ 9.92238090e-01 1.03144539e-01 6.94606072e-02 1.32467531e+01] [-1.02761743e-01 9.94664633e-01 -9.07146714e-03 -1.44378040e+00] [-7.00256817e-02 1.86316216e-03 9.97543449e-01 -8.44441653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871052753999999 meters 0.017520020452286445 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.45, Z:-0.85 [[ 9.92311465e-01 1.03718487e-01 6.75309669e-02 1.32775155e+01] [-1.03357030e-01 9.94605090e-01 -8.83401017e-03 -1.44871406e+00] [-6.80828936e-02 1.78628943e-03 9.97678069e-01 -8.47150025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901052753999998 meters 0.017691113293058797 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.45, Z:-0.85 [[ 9.92588987e-01 1.02595110e-01 6.51256127e-02 1.33086540e+01] [-1.02255984e-01 9.94721561e-01 -8.52820229e-03 -1.45361327e+00] [-6.56568030e-02 1.80551606e-03 9.97840631e-01 -8.51024031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931052754 meters 0.018096281817123517 Centerline is valid? [True, True] Translation: X:13.34, Y:-1.46, Z:-0.85 [[ 9.92751030e-01 1.01351266e-01 6.46011856e-02 1.33405764e+01] [-1.01013946e-01 9.94848911e-01 -8.47504215e-03 -1.45902715e+00] [-6.51273754e-02 1.88798614e-03 9.97875173e-01 -8.53757124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961052753999999 meters 0.01923895586200026 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.47, Z:-0.85 [[ 9.93057938e-01 9.80751090e-02 6.49400049e-02 1.33702467e+01] [-9.77262240e-02 9.95176737e-01 -8.53502291e-03 -1.46746674e+00] [-6.54638555e-02 2.12943078e-03 9.97852669e-01 -8.54324213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991052753999998 meters 0.01987027368195273 Centerline is valid? [True, True] Translation: X:13.40, Y:-1.47, Z:-0.86 [[ 9.93128368e-01 9.70152326e-02 6.54529486e-02 1.34003123e+01] [-9.66583380e-02 9.95280422e-01 -8.60502310e-03 -1.47394317e+00] [-6.59788566e-02 2.21931933e-03 9.97818553e-01 -8.55640611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021052754 meters 0.020951520692036214 Centerline is valid? [True, True] Translation: X:13.43, Y:-1.48, Z:-0.86 [[ 9.93467998e-01 9.46248513e-02 6.37767580e-02 1.34315980e+01] [-9.42802335e-02 9.95510274e-01 -8.39830930e-03 -1.48282382e+00] [-6.42851067e-02 2.33056389e-03 9.97928852e-01 -8.58443758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.051052753999999 meters 0.022951470078062922 Centerline is valid? [True, True] Translation: X:13.46, Y:-1.49, Z:-0.86 [[ 9.93942449e-01 9.16099732e-02 6.07126071e-02 1.34604665e+01] [-9.12918635e-02 9.95792054e-01 -7.99875096e-03 -1.49419145e+00] [-6.11898971e-02 2.40773108e-03 9.98123239e-01 -8.63410325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081052753999998 meters 0.02268197233196881 Centerline is valid? [True, True] Translation: X:13.49, Y:-1.50, Z:-0.87 [[ 9.94159475e-01 9.02748088e-02 5.91388021e-02 1.34913682e+01] [-8.99705244e-02 9.95913936e-01 -7.79337530e-03 -1.50029307e+00] [-5.96007027e-02 2.42710885e-03 9.98219347e-01 -8.66087832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111052754 meters 0.023115765646986735 Centerline is valid? [True, True] Translation: X:13.52, Y:-1.51, Z:-0.87 [[ 9.94299117e-01 8.92974831e-02 5.82685547e-02 1.35227142e+01] [-8.89996947e-02 9.96001958e-01 -7.69111538e-03 -1.50693993e+00] [-5.87223918e-02 2.46138566e-03 9.98271317e-01 -8.68624753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141052753999999 meters 0.024168788371721824 Centerline is valid? [True, True] Translation: X:13.55, Y:-1.51, Z:-0.87 [[ 9.94346488e-01 8.86764222e-02 5.84085141e-02 1.35526951e+01] [-8.83753128e-02 9.96057304e-01 -7.72346374e-03 -1.51457020e+00] [-5.88631162e-02 2.51792834e-03 9.98262888e-01 -8.70726792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171052753999998 meters 0.024232129778451964 Centerline is valid? [True, True] Translation: X:13.58, Y:-1.52, Z:-0.87 [[ 9.94309171e-01 8.92798285e-02 5.81238781e-02 1.35846923e+01] [-8.89819498e-02 9.96003489e-01 -7.69824571e-03 -1.52007699e+00] [-5.85788834e-02 2.48246030e-03 9.98279696e-01 -8.72554003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201052754 meters 0.0246436814847421 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.53, Z:-0.87 [[ 9.94201240e-01 9.00562496e-02 5.87687574e-02 1.36151870e+01] [-8.97522509e-02 9.95933599e-01 -7.79743587e-03 -1.52793308e+00] [-5.92319879e-02 2.47759215e-03 9.98241170e-01 -8.73122566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.231052753999998 meters 0.024392176999759794 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.53, Z:-0.87 [[ 9.94112619e-01 9.08024050e-02 5.91187300e-02 1.36471284e+01] [-9.04953376e-02 9.95865890e-01 -7.85640724e-03 -1.53425036e+00] [-5.95877074e-02 2.46018415e-03 9.98220042e-01 -8.73036344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261052754 meters 0.02170695643944817 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.54, Z:-0.87 [[ 9.93687572e-01 9.45157623e-02 6.04299544e-02 1.36786779e+01] [-9.42008503e-02 9.95520704e-01 -8.04541368e-03 -1.53652859e+00] [-6.09196891e-02 2.30207450e-03 9.98140016e-01 -8.70486859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.291052753999999 meters 0.01829179980240668 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.53, Z:-0.88 [[ 9.92861831e-01 1.03387219e-01 5.94681999e-02 1.37102054e+01] [-1.03098030e-01 9.94639676e-01 -7.91902532e-03 -1.53099514e+00] [-5.99681571e-02 1.73144370e-03 9.98198789e-01 -8.75275956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321052753999998 meters 0.01721240951865483 Centerline is valid? [True, True] Translation: X:13.74, Y:-1.53, Z:-0.88 [[ 9.92385163e-01 1.08787085e-01 5.77672708e-02 1.37408337e+01] [-1.08523316e-01 9.94064136e-01 -7.69313697e-03 -1.53046750e+00] [-5.82612861e-02 1.36545922e-03 9.98300435e-01 -8.80479693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351052754 meters 0.015482784441484904 Centerline is valid? [True, True] Translation: X:13.77, Y:-1.53, Z:-0.89 [[ 9.91451620e-01 1.18398962e-01 5.48212583e-02 1.37722888e+01] [-1.18175992e-01 9.92965813e-01 -7.30268786e-03 -1.52770331e+00] [-5.53002659e-02 7.61705112e-04 9.98469479e-01 -8.87212537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381052753999999 meters 0.014984304257864562 Centerline is valid? [True, True] Translation: X:13.80, Y:-1.53, Z:-0.89 [[ 9.91036872e-01 1.21705635e-01 5.50786420e-02 1.38027505e+01] [-1.21485690e-01 9.92566070e-01 -7.33651298e-03 -1.53089633e+00] [-5.55620862e-02 5.79488025e-04 9.98455066e-01 -8.88525848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.411052753999998 meters 0.014694775768910975 Centerline is valid? [True, True] Translation: X:13.83, Y:-1.54, Z:-0.89 [[ 9.90728344e-01 1.23666577e-01 5.62487803e-02 1.38349641e+01] [-1.23439627e-01 9.92323705e-01 -7.50484035e-03 -1.53547164e+00] [-5.67450960e-02 4.91929586e-04 9.98388578e-01 -8.88735038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441052754 meters 0.014893006552484794 Centerline is valid? [True, True] Translation: X:13.87, Y:-1.54, Z:-0.89 [[ 9.90791107e-01 1.22304802e-01 5.80906026e-02 1.38661211e+01] [-1.22059560e-01 9.92492404e-01 -7.76476572e-03 -1.54289792e+00] [-5.86041500e-02 6.02747411e-04 9.98281118e-01 -8.89265124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.471052753999999 meters 0.015709407027005014 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.55, Z:-0.89 [[ 9.91361032e-01 1.16614481e-01 6.00363812e-02 1.38967437e+01] [-1.16341127e-01 9.93176766e-01 -8.04069321e-03 -1.55315147e+00] [-6.05644003e-02 9.86529682e-04 9.98163804e-01 -8.89854378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501052753999998 meters 0.016621344114479276 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.56, Z:-0.89 [[ 9.91791954e-01 1.12756388e-01 6.02886172e-02 1.39279719e+01] [-1.12472751e-01 9.93621888e-01 -8.08852691e-03 -1.56297583e+00] [-6.08161227e-02 1.24130930e-03 9.98148215e-01 -8.90516177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.531052754 meters 0.01717423080341646 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.57, Z:-0.89 [[ 9.92038014e-01 1.10468416e-01 6.04756749e-02 1.39592134e+01] [-1.10178547e-01 9.93878664e-01 -8.11723171e-03 -1.57076137e+00] [-6.10021807e-02 1.38948046e-03 9.98136666e-01 -8.90989749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561052753999999 meters 0.01812758980596638 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.58, Z:-0.89 [[ 9.92310769e-01 1.08085746e-01 6.03059640e-02 1.39893505e+01] [-1.07792194e-01 9.94140372e-01 -8.10946721e-03 -1.57695995e+00] [-6.08291113e-02 1.54659948e-03 9.98146997e-01 -8.92248086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.591052754 meters 0.01971509694240388 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.58, Z:-0.90 [[ 9.92797248e-01 1.04148784e-01 5.92170121e-02 1.40184579e+01] [-1.03858628e-01 9.94560175e-01 -7.96515524e-03 -1.58323085e+00] [-5.97244432e-02 1.75758656e-03 9.98213355e-01 -8.96102452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621052753999999 meters 0.019242409351482068 Centerline is valid? [True, True] Translation: X:14.05, Y:-1.59, Z:-0.90 [[ 9.92915314e-01 1.03359251e-01 5.86177849e-02 1.40498782e+01] [-1.03073638e-01 9.94642487e-01 -7.88341808e-03 -1.58535736e+00] [-5.91185635e-02 1.78561820e-03 9.98249371e-01 -8.99675532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.651052753999998 meters 0.01881426552510133 Centerline is valid? [True, True] Translation: X:14.08, Y:-1.59, Z:-0.90 [[ 9.92995776e-01 1.03175545e-01 5.75690536e-02 1.40818991e+01] [-1.02899045e-01 9.94661576e-01 -7.75474343e-03 -1.58823387e+00] [-5.80618254e-02 1.77662682e-03 9.98311408e-01 -9.02204689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681052754 meters 0.01938557415352383 Centerline is valid? [True, True] Translation: X:14.11, Y:-1.59, Z:-0.90 [[ 9.93192193e-01 1.01536848e-01 5.70923524e-02 1.41135362e+01] [-1.01261422e-01 9.94830021e-01 -7.70419469e-03 -1.59401063e+00] [-5.75794457e-02 1.87049322e-03 9.98339175e-01 -9.03441260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711052753999999 meters 0.01989203886035567 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.60, Z:-0.90 [[ 9.93266695e-01 1.00837816e-01 5.70351456e-02 1.41454283e+01] [-1.00561003e-01 9.94901019e-01 -7.71017131e-03 -1.59749983e+00] [-5.75218013e-02 1.92274490e-03 9.98342399e-01 -9.04639787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741052753999998 meters 0.02005466135236431 Centerline is valid? [True, True] Translation: X:14.18, Y:-1.60, Z:-0.91 [[ 9.93220389e-01 1.01522900e-01 5.66247223e-02 1.41767718e+01] [-1.01250405e-01 9.94831421e-01 -7.66809346e-03 -1.60073684e+00] [-5.71105400e-02 1.88283069e-03 9.98366086e-01 -9.07648470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.771052754 meters 0.01941451965410547 Centerline is valid? [True, True] Translation: X:14.21, Y:-1.60, Z:-0.91 [[ 9.92792085e-01 1.06031646e-01 5.58673977e-02 1.42070608e+01] [-1.05772688e-01 9.94361442e-01 -7.58031575e-03 -1.60188835e+00] [-5.63561395e-02 1.61643264e-03 9.98409421e-01 -9.11470697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801052753999999 meters 0.017192335195107555 Centerline is valid? [True, True] Translation: X:14.24, Y:-1.60, Z:-0.91 [[ 9.92335350e-01 1.09954069e-01 5.63973111e-02 1.42392247e+01] [-1.09696461e-01 9.93935673e-01 -7.65276662e-03 -1.60115508e+00] [-5.68967521e-02 1.40752541e-03 9.98379076e-01 -9.12886712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.831052753999998 meters 0.01595306153994499 Centerline is valid? [True, True] Translation: X:14.27, Y:-1.60, Z:-0.91 [[ 9.91282381e-01 1.18399685e-01 5.77992778e-02 1.42692646e+01] [-1.18143135e-01 9.92965564e-01 -7.84786937e-03 -1.60194415e+00] [-5.83218777e-02 9.50866729e-04 9.98297378e-01 -9.13759262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861052754 meters 0.014735419980555938 Centerline is valid? [True, True] Translation: X:14.30, Y:-1.60, Z:-0.91 [[ 9.90740191e-01 1.22413750e-01 5.87260341e-02 1.43019041e+01] [-1.22155965e-01 9.92478890e-01 -7.97327542e-03 -1.60373785e+00] [-5.92603876e-02 7.25709044e-04 9.98242295e-01 -9.13748902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.891052753999999 meters 0.01373292306691123 Centerline is valid? [True, True] Translation: X:14.33, Y:-1.60, Z:-0.91 [[ 9.89795187e-01 1.29606402e-01 5.92255695e-02 1.43344343e+01] [-1.29356797e-01 9.91565474e-01 -8.04548768e-03 -1.60456915e+00] [-5.97687766e-02 3.02155031e-04 9.98212203e-01 -9.13799826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921052753999998 meters 0.013536106633383534 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.61, Z:-0.92 [[ 9.89526473e-01 1.31594292e-01 5.93321273e-02 1.43669660e+01] [-1.31346508e-01 9.91303639e-01 -8.07409609e-03 -1.60763362e+00] [-5.98786586e-02 1.96464103e-04 9.98205644e-01 -9.16378255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951052754 meters 0.013569489345350847 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.61, Z:-0.92 [[ 9.89575269e-01 1.31823143e-01 5.79952160e-02 1.43993278e+01] [-1.31585895e-01 9.91273232e-01 -7.90764145e-03 -1.61442006e+00] [-5.85315153e-02 1.93854017e-04 9.98285542e-01 -9.20104858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981052753999998 meters 0.013739927741163387 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.62, Z:-0.92 [[ 9.89889095e-01 1.29806723e-01 5.71821161e-02 1.44305175e+01] [-1.29571826e-01 9.91539263e-01 -7.81230885e-03 -1.62214394e+00] [-5.77124035e-02 3.24128114e-04 9.98333198e-01 -9.22746842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.011052754 meters 0.014958107929649566 Centerline is valid? [True, True] Translation: X:14.46, Y:-1.63, Z:-0.93 [[ 9.90834164e-01 1.22566259e-01 5.67905946e-02 1.44603733e+01] [-1.22321899e-01 9.92460046e-01 -7.77238631e-03 -1.63425969e+00] [-5.73150284e-02 7.54412540e-04 9.98355858e-01 -9.25018048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041052754 meters 0.01605376419104738 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.64, Z:-0.93 [[ 9.91315649e-01 1.18333393e-01 5.73628192e-02 1.44916806e+01] [-1.18076263e-01 9.92973395e-01 -7.86333535e-03 -1.64232093e+00] [-5.78902485e-02 1.02186003e-03 9.98322430e-01 -9.27111998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071052754 meters 0.01745985688622951 Centerline is valid? [True, True] Translation: X:14.52, Y:-1.65, Z:-0.93 [[ 9.91931510e-01 1.12546666e-01 5.83534778e-02 1.45221757e+01] [-1.12269676e-01 9.93645456e-01 -8.01415889e-03 -1.65221267e+00] [-5.88846349e-02 1.39817069e-03 9.98263815e-01 -9.25495410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101052753999998 meters 0.017540339945615786 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.66, Z:-0.93 [[ 9.92104942e-01 1.10690945e-01 5.89516677e-02 1.45536037e+01] [-1.10404908e-01 9.93853706e-01 -8.09733148e-03 -1.65729991e+00] [-5.94856347e-02 1.52484913e-03 9.98227997e-01 -9.25674793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131052754 meters 0.01902914754775581 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.66, Z:-0.93 [[ 9.92495272e-01 1.06023704e-01 6.09270743e-02 1.45826436e+01] [-1.05708419e-01 9.94361824e-01 -8.38407495e-03 -1.66362981e+00] [-6.14724674e-02 1.88065005e-03 9.98107008e-01 -9.26010717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161052754 meters 0.01995034651933575 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.67, Z:-0.93 [[ 9.92638125e-01 1.04348794e-01 6.14888766e-02 1.46141932e+01] [-1.04024154e-01 9.94538737e-01 -8.46618898e-03 -1.66895867e+00] [-6.20365063e-02 2.00753361e-03 9.98071862e-01 -9.28482445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191052753999998 meters 0.02057588551305708 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.67, Z:-0.93 [[ 9.92758162e-01 1.03458752e-01 6.10534149e-02 1.46443350e+01] [-1.03136142e-01 9.94631606e-01 -8.42045339e-03 -1.67395536e+00] [-6.15968257e-02 2.06266015e-03 9.98098981e-01 -9.31628800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221052754 meters 0.02057588551305708 Centerline is valid? [True, True] Translation: X:14.68, Y:-1.68, Z:-0.93 [[ 9.92731235e-01 1.03717843e-01 6.10516482e-02 1.46763461e+01] [-1.03394937e-01 9.94604629e-01 -8.43324272e-03 -1.67845634e+00] [-6.15969296e-02 2.05951218e-03 9.98098981e-01 -9.33720050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251052754 meters 0.021230085467750213 Centerline is valid? [True, True] Translation: X:14.71, Y:-1.68, Z:-0.94 [[ 9.92823828e-01 1.04531482e-01 5.80862837e-02 1.47070703e+01] [-1.04239733e-01 9.94519713e-01 -8.03852964e-03 -1.68104445e+00] [-5.86082336e-02 1.92594506e-03 9.98279202e-01 -9.40788399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281052753999997 meters 0.01989431758841346 Centerline is valid? [True, True] Translation: X:14.74, Y:-1.68, Z:-0.94 [[ 9.92389495e-01 1.08581496e-01 5.80788130e-02 1.47393250e+01] [-1.08295958e-01 9.94086097e-01 -8.05086085e-03 -1.67965196e+00] [-5.86095151e-02 1.69988906e-03 9.98279538e-01 -9.44305011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311052754 meters 0.019606823540002143 Centerline is valid? [True, True] Translation: X:14.77, Y:-1.68, Z:-0.94 [[ 9.92130101e-01 1.10397728e-01 5.90779573e-02 1.47706929e+01] [-1.10105357e-01 9.93886166e-01 -8.19147832e-03 -1.68281426e+00] [-5.96210851e-02 1.62221261e-03 9.98219763e-01 -9.44772189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341052754 meters 0.017623794836872143 Centerline is valid? [True, True] Translation: X:14.80, Y:-1.68, Z:-0.94 [[ 9.91727335e-01 1.13304617e-01 6.03237745e-02 1.48033030e+01] [-1.13004292e-01 9.93559177e-01 -8.37807265e-03 -1.68147072e+00] [-6.08845141e-02 1.49191824e-03 9.98143702e-01 -9.43997839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371052753999997 meters 0.017523155934747913 Centerline is valid? [True, True] Translation: X:14.83, Y:-1.68, Z:-0.95 [[ 9.91578200e-01 1.14397592e-01 6.07113245e-02 1.48341242e+01] [-1.14094561e-01 9.93433991e-01 -8.44614695e-03 -1.68441427e+00] [-6.12789122e-02 1.44818326e-03 9.98119631e-01 -9.45881390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401052754 meters 0.015603282178323264 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.69, Z:-0.95 [[ 9.91200796e-01 1.17519163e-01 6.09116377e-02 1.48660427e+01] [-1.17219209e-01 9.93069800e-01 -8.48703253e-03 -1.68567806e+00] [-6.14868968e-02 1.27233944e-03 9.98107080e-01 -9.46744757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431052754 meters 0.016623430443407278 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.69, Z:-0.95 [[ 9.91066308e-01 1.18694210e-01 6.08215257e-02 1.48961627e+01] [-1.18396429e-01 9.92930115e-01 -8.48949020e-03 -1.69259715e+00] [-6.13991778e-02 1.21259625e-03 9.98112554e-01 -9.48199025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461052753999997 meters 0.014929777916797107 Centerline is valid? [True, True] Translation: X:14.93, Y:-1.69, Z:-0.95 [[ 9.90667865e-01 1.20981078e-01 6.27754712e-02 1.49290233e+01] [-1.20667850e-01 9.92654188e-01 -8.77114883e-03 -1.69209337e+00] [-6.33754775e-02 1.11431415e-03 9.97989132e-01 -9.50225332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491052754 meters 0.016234284529652594 Centerline is valid? [True, True] Translation: X:14.96, Y:-1.70, Z:-0.95 [[ 9.90492812e-01 1.21928367e-01 6.36982194e-02 1.49596400e+01] [-1.21607260e-01 9.92538318e-01 -8.90855028e-03 -1.69832458e+00] [-6.43091285e-02 1.07768907e-03 9.97929444e-01 -9.52751181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521052754 meters 0.015668410532508944 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.70, Z:-0.96 [[ 9.90372782e-01 1.22900360e-01 6.36965858e-02 1.49919054e+01] [-1.22580364e-01 9.92418482e-01 -8.92251008e-03 -1.70268882e+00] [-6.43102487e-02 1.02866047e-03 9.97929423e-01 -9.55167610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.551052754 meters 0.014789870392149733 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.71, Z:-0.96 [[ 9.90315691e-01 1.23587277e-01 6.32535982e-02 1.50244461e+01] [-1.23272808e-01 9.92333221e-01 -8.86532900e-03 -1.70663517e+00] [-6.38642887e-02 9.82025717e-04 9.97958109e-01 -9.56379822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581052753999998 meters 0.014131370692282583 Centerline is valid? [True, True] Translation: X:15.06, Y:-1.71, Z:-0.96 [[ 9.90270110e-01 1.24568124e-01 6.20313764e-02 1.50563036e+01] [-1.24266601e-01 9.92210634e-01 -8.71037940e-03 -1.71194084e+00] [-6.26332269e-02 9.17200095e-04 9.98036191e-01 -9.58212177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611052754 meters 0.014619296940656253 Centerline is valid? [True, True] Translation: X:15.09, Y:-1.72, Z:-0.96 [[ 9.90249745e-01 1.25325493e-01 6.08190983e-02 1.50878236e+01] [-1.25036184e-01 9.92115301e-01 -8.55469741e-03 -1.71789545e+00] [-6.14116796e-02 8.66698946e-04 9.98112145e-01 -9.61901873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641052754 meters 0.013792099340840627 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.72, Z:-0.97 [[ 9.90126047e-01 1.27055784e-01 5.92219382e-02 1.51196706e+01] [-1.26783676e-01 9.91895286e-01 -8.34511256e-03 -1.72085896e+00] [-5.98022562e-02 7.54338307e-04 9.98209958e-01 -9.65742540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.671052753999998 meters 0.015020621489706348 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.73, Z:-0.97 [[ 9.90050734e-01 1.27630747e-01 5.92447251e-02 1.51509449e+01] [-1.27358562e-01 9.91821482e-01 -8.36326858e-03 -1.72945097e+00] [-5.98276013e-02 7.34737220e-04 9.98208454e-01 -9.68783957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701052754 meters 0.013690583852891644 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.73, Z:-0.97 [[ 9.90000306e-01 1.29012939e-01 5.70530939e-02 1.51837330e+01] [-1.28762315e-01 9.91642706e-01 -8.06281891e-03 -1.73111254e+00] [-5.76164924e-02 6.35904717e-04 9.98338588e-01 -9.71877121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.731052754 meters 0.013912567668473924 Centerline is valid? [True, True] Translation: X:15.22, Y:-1.74, Z:-0.98 [[ 9.90009179e-01 1.29761293e-01 5.51709344e-02 1.52151998e+01] [-1.29527270e-01 9.91545088e-01 -7.81183545e-03 -1.73623203e+00] [-5.57181428e-02 5.87648286e-04 9.98446365e-01 -9.76225850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761052753999998 meters 0.01405298748672654 Centerline is valid? [True, True] Translation: X:15.25, Y:-1.74, Z:-0.98 [[ 9.90156854e-01 1.29315133e-01 5.35443858e-02 1.52462406e+01] [-1.29093329e-01 9.91603361e-01 -7.59511919e-03 -1.74365463e+00] [-5.40769568e-02 6.08136286e-04 9.98536586e-01 -9.79784202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.791052754 meters 0.014458571270747123 Centerline is valid? [True, True] Translation: X:15.28, Y:-1.75, Z:-0.98 [[ 9.90322176e-01 1.27967624e-01 5.37240699e-02 1.52769644e+01] [-1.27741629e-01 9.91778101e-01 -7.63380027e-03 -1.75089801e+00] [-5.42592353e-02 6.97121489e-04 9.98526639e-01 -9.80798078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821052754 meters 0.015539857242379126 Centerline is valid? [True, True] Translation: X:15.31, Y:-1.76, Z:-0.98 [[ 9.91014315e-01 1.22581807e-01 5.35194161e-02 1.53082361e+01] [-1.22348954e-01 9.92457907e-01 -7.61815700e-03 -1.76106495e+00] [-5.40496151e-02 1.00165807e-03 9.98537749e-01 -9.80849661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.851052753999998 meters 0.01578400374220287 Centerline is valid? [True, True] Translation: X:15.34, Y:-1.77, Z:-0.98 [[ 9.91100911e-01 1.21599052e-01 5.41539924e-02 1.53400894e+01] [-1.21359057e-01 9.92578725e-01 -7.71058917e-03 -1.76525374e+00] [-5.46897011e-02 1.06989448e-03 9.98502825e-01 -9.82172662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881052754 meters 0.016451100036247345 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.77, Z:-0.98 [[ 9.91393682e-01 1.19092201e-01 5.43655691e-02 1.53715762e+01] [-1.18845856e-01 9.92882443e-01 -7.75352031e-03 -1.76885221e+00] [-5.49020029e-02 1.22566845e-03 9.98490995e-01 -9.84579297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.911052754 meters 0.017133543118105297 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.77, Z:-0.99 [[ 9.91600212e-01 1.17468747e-01 5.41305240e-02 1.54026115e+01] [-1.17221410e-01 9.93075699e-01 -7.73283632e-03 -1.77413375e+00] [-5.46640745e-02 1.32262578e-03 9.98503926e-01 -9.87470409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941052753999998 meters 0.017962164784764863 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.78, Z:-0.99 [[ 9.92100177e-01 1.13552590e-01 5.33202359e-02 1.54332223e+01] [-1.13306240e-01 9.93530811e-01 -7.63042810e-03 -1.77887701e+00] [-5.38417521e-02 1.52863363e-03 9.98548311e-01 -9.90679984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971052754 meters 0.019257001890049495 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.79, Z:-0.99 [[ 9.92355500e-01 1.11058095e-01 5.38206364e-02 1.54640127e+01] [-1.10803429e-01 9.93812497e-01 -7.70206230e-03 -1.78522955e+00] [-5.43429973e-02 1.67967280e-03 9.98520915e-01 -9.91879469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001052754 meters 0.01785187921497575 Centerline is valid? [True, True] Translation: X:15.50, Y:-1.79, Z:-0.99 [[ 9.92578447e-01 1.08363062e-01 5.51858059e-02 1.54964202e+01] [-1.08090374e-01 9.94109594e-01 -7.91117442e-03 -1.78715436e+00] [-5.57180182e-02 1.88740682e-03 9.98444761e-01 -9.91049693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031052753999997 meters 0.02216707587193403 Centerline is valid? [True, True] Translation: X:15.53, Y:-1.80, Z:-0.99 [[ 9.93105409e-01 1.02922603e-01 5.61122483e-02 1.55254170e+01] [-1.02631769e-01 9.94686859e-01 -8.04808443e-03 -1.79569612e+00] [-5.66424459e-02 2.23369687e-03 9.98392029e-01 -9.90406015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061052754 meters 0.020310618328865302 Centerline is valid? [True, True] Translation: X:15.56, Y:-1.79, Z:-0.99 [[ 9.93505972e-01 9.83552166e-02 5.72025704e-02 1.55570800e+01] [-9.80451641e-02 9.95148112e-01 -8.20858203e-03 -1.79216985e+00] [-5.77323868e-02 2.54683987e-03 9.98328846e-01 -9.91072601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091052754 meters 0.02185182139360651 Centerline is valid? [True, True] Translation: X:15.59, Y:-1.80, Z:-0.99 [[ 9.93570993e-01 9.73167577e-02 5.78457551e-02 1.55879888e+01] [-9.69979406e-02 9.95249968e-01 -8.30069220e-03 -1.79659218e+00] [-5.83787824e-02 2.63640787e-03 9.98291023e-01 -9.92589929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121052753999997 meters 0.020315097206245507 Centerline is valid? [True, True] Translation: X:15.62, Y:-1.80, Z:-0.99 [[ 9.93475261e-01 9.80622970e-02 5.82296526e-02 1.56202180e+01] [-9.77397328e-02 9.95176821e-01 -8.36890656e-03 -1.79683966e+00] [-5.87694748e-02 2.62295095e-03 9.98268135e-01 -9.94158031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151052754 meters 0.02029647492767249 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.80, Z:-1.00 [[ 9.93033190e-01 1.02406233e-01 5.82927636e-02 1.56501888e+01] [-1.02089506e-01 9.94739805e-01 -8.39363568e-03 -1.79649706e+00] [-5.88456929e-02 2.38407939e-03 9.98264244e-01 -9.95942606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181052754 meters 0.01793394660492933 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.79, Z:-1.00 [[ 9.92329374e-01 1.09274898e-01 5.78049322e-02 1.56818453e+01] [-1.08975080e-01 9.94009635e-01 -8.32329960e-03 -1.79151237e+00] [-5.83681873e-02 1.96015755e-03 9.98293200e-01 -9.97312034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211052753999997 meters 0.017716218339180693 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.79, Z:-1.00 [[ 9.91941142e-01 1.13229164e-01 5.68500458e-02 1.57119704e+01] [-1.12945611e-01 9.93567445e-01 -8.18667761e-03 -1.79312139e+00] [-5.74113254e-02 1.69973920e-03 9.98349163e-01 -1.00015602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241052754 meters 0.01563028927666703 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.79, Z:-1.00 [[ 9.91137042e-01 1.20659628e-01 5.55753438e-02 1.57435237e+01] [-1.20400261e-01 9.92693161e-01 -8.00406121e-03 -1.79019624e+00] [-5.61350307e-02 1.24183562e-03 9.98422414e-01 -1.00433818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.271052754 meters 0.014154218502335525 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.79, Z:-1.01 [[ 9.90667270e-01 1.24616014e-01 5.52196382e-02 1.57758766e+01] [-1.24366152e-01 9.92204530e-01 -7.95183028e-03 -1.79064725e+00] [-5.57801005e-02 1.01016406e-03 9.98442567e-01 -1.00715096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301052754 meters 0.0129691966446706 Centerline is valid? [True, True] Translation: X:15.81, Y:-1.79, Z:-1.01 [[ 9.89906707e-01 1.31552438e-01 5.27130694e-02 1.58081919e+01] [-1.31333931e-01 9.91309030e-01 -7.60306603e-03 -1.79201760e+00] [-5.32551435e-02 6.03311462e-04 9.98580756e-01 -1.01118619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.331052753999998 meters 0.013115812534867844 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.80, Z:-1.02 [[ 9.89538631e-01 1.35036643e-01 5.07779795e-02 1.58389117e+01] [-1.34837841e-01 9.90840519e-01 -7.33634896e-03 -1.79739659e+00] [-5.13035555e-02 4.12807593e-04 9.98683020e-01 -1.01587705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361052754 meters 0.0133293073201572 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.80, Z:-1.02 [[ 9.89044463e-01 1.39209222e-01 4.91105181e-02 1.58697329e+01] [-1.39027880e-01 9.90262971e-01 -7.10606780e-03 -1.80158978e+00] [-4.96215578e-02 2.00485802e-04 9.98768072e-01 -1.02232418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391052754 meters 0.012419538295162133 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.81, Z:-1.02 [[ 9.88920044e-01 1.40067390e-01 4.91759331e-02 1.59026777e+01] [-1.39886039e-01 9.90141958e-01 -7.12730334e-03 -1.80516141e+00] [-4.96894575e-02 1.69306626e-04 9.98764702e-01 -1.02035149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421052753999998 meters 0.01236965580333172 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.81, Z:-1.02 [[ 9.89000690e-01 1.39042674e-01 5.04457047e-02 1.59340260e+01] [-1.38849733e-01 9.90286361e-01 -7.32633935e-03 -1.81353680e+00] [-5.09743671e-02 2.41382068e-04 9.98699933e-01 -1.02099237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.451052754 meters 0.01244649777237333 Centerline is valid? [True, True] Translation: X:15.96, Y:-1.82, Z:-1.02 [[ 9.89175092e-01 1.37729089e-01 5.06294001e-02 1.59649548e+01] [-1.37532327e-01 9.90469885e-01 -7.36652179e-03 -1.82264533e+00] [-5.11614804e-02 3.23600661e-04 9.98690342e-01 -1.02272101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481052754 meters 0.013229385639246125 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.84, Z:-1.02 [[ 9.89881093e-01 1.32604667e-01 5.05116218e-02 1.59955339e+01] [-1.32401740e-01 9.91168829e-01 -7.35738936e-03 -1.83723162e+00] [-5.10411692e-02 5.95114015e-04 9.98696373e-01 -1.02294684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.511052753999998 meters 0.013933879575913499 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.85, Z:-1.02 [[ 9.90319720e-01 1.29204221e-01 5.07259539e-02 1.60261780e+01] [-1.28994479e-01 9.91617694e-01 -7.40085605e-03 -1.84696951e+00] [-5.12569753e-02 7.85845718e-04 9.98685188e-01 -1.02452912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541052754 meters 0.014923266192954617 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.86, Z:-1.03 [[ 9.90735039e-01 1.25672722e-01 5.14825110e-02 1.60572818e+01] [-1.25451257e-01 9.92071256e-01 -7.52370197e-03 -1.85644550e+00] [-5.20198434e-02 9.95449465e-04 9.98645555e-01 -1.02622121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.571052754 meters 0.014864981045614787 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.87, Z:-1.03 [[ 9.91313115e-01 1.20368805e-01 5.30062076e-02 1.60880049e+01] [-1.20125748e-01 9.92728360e-01 -7.75941313e-03 -1.86601090e+00] [-5.35547568e-02 1.32459769e-03 9.98564036e-01 -1.02633100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601052753999998 meters 0.015507207107407637 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.88, Z:-1.03 [[ 9.91571356e-01 1.18813997e-01 5.16670114e-02 1.61175922e+01] [-1.18580239e-01 9.92915561e-01 -7.57732929e-03 -1.87519557e+00] [-5.22012724e-02 1.38677611e-03 9.98635621e-01 -1.02779764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.631052754 meters 0.015811314923722605 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.88, Z:-1.03 [[ 9.91330778e-01 1.20843736e-01 5.15759675e-02 1.61478089e+01] [-1.20613570e-01 9.92670721e-01 -7.56349545e-03 -1.87996856e+00] [-5.21119539e-02 1.27716426e-03 9.98640432e-01 -1.03028092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661052754 meters 0.014661851379724894 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.88, Z:-1.03 [[ 9.90957980e-01 1.24392406e-01 5.02872806e-02 1.61802681e+01] [-1.24177618e-01 9.92232521e-01 -7.38533700e-03 -1.88026343e+00] [-5.08153550e-02 1.07400392e-03 9.98707488e-01 -1.03341180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.691052753999998 meters 0.014633081376332817 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.88, Z:-1.04 [[ 9.90820360e-01 1.25925002e-01 4.91722247e-02 1.62122027e+01] [-1.25720942e-01 9.92039275e-01 -7.23332384e-03 -1.88351852e+00] [-4.96916344e-02 9.84946109e-04 9.98764122e-01 -1.03672431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721052754 meters 0.014817936765989997 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.89, Z:-1.04 [[ 9.90676519e-01 1.27345681e-01 4.84057062e-02 1.62426337e+01] [-1.27149053e-01 9.91857977e-01 -7.13238966e-03 -1.88582532e+00] [-4.89198649e-02 9.11151254e-04 9.98802291e-01 -1.04102604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.751052754 meters 0.015255858380901158 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.89, Z:-1.04 [[ 9.90678409e-01 1.27561194e-01 4.77957372e-02 1.62740704e+01] [-1.27369259e-01 9.91830295e-01 -7.05254736e-03 -1.89079253e+00] [-4.83048915e-02 8.99098757e-04 9.98832233e-01 -1.04470799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781052753999997 meters 0.015195080213141154 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.90, Z:-1.05 [[ 9.90754232e-01 1.27126088e-01 4.73815310e-02 1.63056688e+01] [-1.26936372e-01 9.91886134e-01 -7.00391306e-03 -1.89500005e+00] [-4.78874636e-02 9.24716866e-04 9.98852309e-01 -1.04619613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.811052754 meters 0.014975835314413967 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.90, Z:-1.05 [[ 9.90725685e-01 1.27220543e-01 4.77236884e-02 1.63386709e+01] [-1.27027661e-01 9.91874011e-01 -7.06533544e-03 -1.89911202e+00] [-4.82347421e-02 9.37580792e-04 9.98835587e-01 -1.04762116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841052754 meters 0.014829087603592634 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.90, Z:-1.05 [[ 9.90488827e-01 1.29187144e-01 4.73557275e-02 1.63701038e+01] [-1.28998828e-01 9.91619867e-01 -7.02429915e-03 -1.90052535e+00] [-4.78663294e-02 8.48656456e-04 9.98853390e-01 -1.05189675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871052753999997 meters 0.014324016000435221 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.90, Z:-1.06 [[ 9.90232818e-01 1.31187758e-01 4.72095220e-02 1.64017228e+01] [-1.31002341e-01 9.91357248e-01 -7.01379552e-03 -1.90268421e+00] [-4.77216259e-02 7.60732607e-04 9.98860384e-01 -1.05506437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901052754 meters 0.013729112191837175 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.91, Z:-1.06 [[ 9.89749920e-01 1.34429877e-01 4.82048113e-02 1.64323759e+01] [-1.34239741e-01 9.90922909e-01 -7.17504312e-03 -1.90575398e+00] [-4.87317920e-02 6.30496962e-04 9.98811701e-01 -1.05618229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931052754 meters 0.013077862052798353 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.91, Z:-1.06 [[ 9.89456150e-01 1.36096693e-01 4.95400630e-02 1.64640007e+01] [-1.35897682e-01 9.90695395e-01 -7.37927583e-03 -1.91034722e+00] [-5.00834073e-02 5.69090149e-04 9.98744877e-01 -1.05625474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961052753999997 meters 0.013096728066595554 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.92, Z:-1.06 [[ 9.89283513e-01 1.37016757e-01 5.04434333e-02 1.64946325e+01] [-1.36810966e-01 9.90568580e-01 -7.52647867e-03 -1.91507230e+00] [-5.09989338e-02 5.44606416e-04 9.98698559e-01 -1.05876191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.991052754 meters 0.01291881608511527 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.92, Z:-1.06 [[ 9.89029204e-01 1.37736690e-01 5.33838776e-02 1.65250522e+01] [-1.37506552e-01 9.90468728e-01 -7.97785167e-03 -1.92037846e+00] [-5.39739043e-02 5.49695333e-04 9.98542195e-01 -1.05913575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021052754 meters 0.012850807025209639 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.93, Z:-1.06 [[ 9.88971137e-01 1.37566950e-01 5.48764481e-02 1.65564146e+01] [-1.37322807e-01 9.90492297e-01 -8.21319647e-03 -1.92581703e+00] [-5.54845635e-02 5.86826345e-04 9.98459373e-01 -1.05966623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051052753999997 meters 0.013302509246549042 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.93, Z:-1.06 [[ 9.88973116e-01 1.37171030e-01 5.58236826e-02 1.65870569e+01] [-1.36916990e-01 9.90547176e-01 -8.36838790e-03 -1.93313858e+00] [-5.64438915e-02 6.32900055e-04 9.98405572e-01 -1.06130426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081052753999998 meters 0.013437133381796593 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.94, Z:-1.06 [[ 9.89259827e-01 1.34891843e-01 5.62955228e-02 1.66187016e+01] [-1.34628973e-01 9.90860018e-01 -8.45360561e-03 -1.94012222e+00] [-5.69213052e-02 7.83804008e-04 9.98378360e-01 -1.06239119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111052754 meters 0.013437133381796593 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.95, Z:-1.06 [[ 9.89224344e-01 1.35152612e-01 5.62936025e-02 1.66506465e+01] [-1.34889437e-01 9.90824485e-01 -8.46637270e-03 -1.94500258e+00] [-5.69213321e-02 7.81729647e-04 9.98378361e-01 -1.06448215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141052754 meters 0.013823422665435906 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.95, Z:-1.07 [[ 9.89388213e-01 1.34152089e-01 5.58048392e-02 1.66822082e+01] [-1.33891022e-01 9.90960392e-01 -8.40801996e-03 -1.95060460e+00] [-5.64283388e-02 8.47028899e-04 9.98406293e-01 -1.06824014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171052753999998 meters 0.01468051585314094 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.96, Z:-1.07 [[ 9.89734300e-01 1.31787546e-01 5.52997160e-02 1.67138313e+01] [-1.31526782e-01 9.91277494e-01 -8.34472421e-03 -1.95635396e+00] [-5.59170947e-02 9.85666048e-04 9.98434929e-01 -1.07272598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201052754 meters 0.015300589331556822 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.96, Z:-1.08 [[ 9.89960531e-01 1.30169914e-01 5.50812159e-02 1.67450711e+01] [-1.29907997e-01 9.91491107e-01 -8.32449220e-03 -1.96191740e+00] [-5.56961341e-02 1.08542832e-03 9.98447176e-01 -1.07551235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231052754 meters 0.01708126011795087 Centerline is valid? [True, True] Translation: X:16.78, Y:-1.97, Z:-1.08 [[ 9.90537618e-01 1.26083014e-01 5.42060911e-02 1.67754940e+01] [-1.25822557e-01 9.92018833e-01 -8.20476271e-03 -1.96896808e+00] [-5.48079445e-02 1.30677711e-03 9.98496060e-01 -1.07951830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261052753999998 meters 0.017859075320946514 Centerline is valid? [True, True] Translation: X:16.81, Y:-1.97, Z:-1.08 [[ 9.90772491e-01 1.24351844e-01 5.39118754e-02 1.68064210e+01] [-1.24091025e-01 9.92237190e-01 -8.17168007e-03 -1.97443155e+00] [-5.45095312e-02 1.40629596e-03 9.98512260e-01 -1.08245703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291052754 meters 0.01929462547028491 Centerline is valid? [True, True] Translation: X:16.84, Y:-1.98, Z:-1.09 [[ 9.91155114e-01 1.20972648e-01 5.45633396e-02 1.68382972e+01] [-1.20699648e-01 9.92654512e-01 -8.28342810e-03 -1.97995521e+00] [-5.51646135e-02 1.62438627e-03 9.98475952e-01 -1.08509213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321052754 meters 0.020070993235760504 Centerline is valid? [True, True] Translation: X:16.87, Y:-1.99, Z:-1.09 [[ 9.91312974e-01 1.19608857e-01 5.47020093e-02 1.68698824e+01] [-1.19332275e-01 9.92819625e-01 -8.30661008e-03 -1.98520145e+00] [-5.53027725e-02 1.70673513e-03 9.98468172e-01 -1.08769550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.351052753999998 meters 0.02098986783060746 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.99, Z:-1.09 [[ 9.91436256e-01 1.18480017e-01 5.49239026e-02 1.69003342e+01] [-1.18198754e-01 9.92954824e-01 -8.35291641e-03 -1.98759423e+00] [-5.55266077e-02 1.78944735e-03 9.98455604e-01 -1.09314763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381052754 meters 0.01837080462497626 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.99, Z:-1.10 [[ 9.91384648e-01 1.18932022e-01 5.48785429e-02 1.69334362e+01] [-1.18651310e-01 9.92900815e-01 -8.35690198e-03 -1.98598147e+00] [-5.54828532e-02 1.77349330e-03 9.98458065e-01 -1.09600959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.411052754 meters 0.018800338114238976 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.99, Z:-1.10 [[ 9.91273528e-01 1.19615527e-01 5.53978208e-02 1.69638385e+01] [-1.19329659e-01 9.92818716e-01 -8.45162815e-03 -1.99047646e+00] [-5.60109393e-02 1.76727220e-03 9.98428591e-01 -1.09748927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441052753999998 meters 0.01668371257278748 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.99, Z:-1.10 [[ 9.90995816e-01 1.20733916e-01 5.78844956e-02 1.69965859e+01] [-1.20422912e-01 9.92683285e-01 -8.84413176e-03 -1.99036547e+00] [-5.85287579e-02 1.79387802e-03 9.98284111e-01 -1.09717143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471052754 meters 0.016324722272911703 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.99, Z:-1.10 [[ 9.90859062e-01 1.20869643e-01 5.99070023e-02 1.70290391e+01] [-1.20535781e-01 9.92666638e-01 -9.16907909e-03 -1.99461375e+00] [-6.05759459e-02 1.86432783e-03 9.98161850e-01 -1.09691280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501052754 meters 0.017016549530783832 Centerline is valid? [True, True] Translation: X:17.06, Y:-2.00, Z:-1.10 [[ 9.90746004e-01 1.20432029e-01 6.25977872e-02 1.70594383e+01] [-1.20066229e-01 9.92719597e-01 -9.58657666e-03 -1.99934831e+00] [-6.32965810e-02 1.98198228e-03 9.97992793e-01 -1.09718664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531052753999997 meters 0.01798432720847214 Centerline is valid? [True, True] Translation: X:17.09, Y:-2.00, Z:-1.10 [[ 9.90635477e-01 1.19645597e-01 6.57744883e-02 1.70900085e+01] [-1.19238909e-01 9.92814335e-01 -1.00885681e-02 -2.00157580e+00] [-6.65089076e-02 2.15121526e-03 9.97783512e-01 -1.09968166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561052754 meters 0.016786743153436975 Centerline is valid? [True, True] Translation: X:17.12, Y:-2.00, Z:-1.10 [[ 9.90472896e-01 1.20801376e-01 6.61095342e-02 1.71223546e+01] [-1.20392535e-01 9.92674493e-01 -1.01483414e-02 -2.00217125e+00] [-6.68511819e-02 2.09256269e-03 9.97760763e-01 -1.10328554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.591052754 meters 0.01773687122290904 Centerline is valid? [True, True] Translation: X:17.15, Y:-2.01, Z:-1.11 [[ 9.90447877e-01 1.21553813e-01 6.50974222e-02 1.71528957e+01] [-1.21158002e-01 9.92582775e-01 -1.00086177e-02 -2.00774567e+00] [-6.58311656e-02 2.02594049e-03 9.97828719e-01 -1.10587461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621052753999997 meters 0.01613095026415943 Centerline is valid? [True, True] Translation: X:17.18, Y:-2.01, Z:-1.11 [[ 9.90259145e-01 1.23896432e-01 6.35334583e-02 1.71848656e+01] [-1.23523690e-01 9.92293460e-01 -9.77683515e-03 -2.00845906e+00] [-6.42551502e-02 1.83371322e-03 9.97931818e-01 -1.10892911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.651052754 meters 0.01600658500417317 Centerline is valid? [True, True] Translation: X:17.22, Y:-2.01, Z:-1.11 [[ 9.90058666e-01 1.25593079e-01 6.33262680e-02 1.72168457e+01] [-1.25225225e-01 9.92080326e-01 -9.76061427e-03 -2.01268374e+00] [-6.40506102e-02 1.73353460e-03 9.97945146e-01 -1.11079472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681052754 meters 0.015815085009001088 Centerline is valid? [True, True] Translation: X:17.25, Y:-2.01, Z:-1.11 [[ 9.89624845e-01 1.29093396e-01 6.30679094e-02 1.72469304e+01] [-1.28734639e-01 9.91631280e-01 -9.73636202e-03 -2.01436834e+00] [-6.37970118e-02 1.51632119e-03 9.97961744e-01 -1.11397680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.711052753999997 meters 0.015421131185818275 Centerline is valid? [True, True] Translation: X:17.28, Y:-2.02, Z:-1.12 [[ 9.89325331e-01 1.31482123e-01 6.28318426e-02 1.72782819e+01] [-1.31130800e-01 9.91317611e-01 -9.70084578e-03 -2.01672117e+00] [-6.35617999e-02 1.35810265e-03 9.97976980e-01 -1.11762561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741052754 meters 0.014159820234703762 Centerline is valid? [True, True] Translation: X:17.31, Y:-2.02, Z:-1.12 [[ 9.88641648e-01 1.36724230e-01 6.24033432e-02 1.73101107e+01] [-1.36387150e-01 9.90608614e-01 -9.64985402e-03 -2.01615166e+00] [-6.31366581e-02 1.02923343e-03 9.98004360e-01 -1.12330810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771052754 meters 0.013646627096604708 Centerline is valid? [True, True] Translation: X:17.34, Y:-2.02, Z:-1.13 [[ 9.88340173e-01 1.38954585e-01 6.22521164e-02 1.73422354e+01] [-1.38623368e-01 9.90298357e-01 -9.62945077e-03 -2.01990747e+00] [-6.29862250e-02 8.87574999e-04 9.98014002e-01 -1.12541658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801052753999997 meters 0.013054294377800322 Centerline is valid? [True, True] Translation: X:17.37, Y:-2.03, Z:-1.12 [[ 9.87647059e-01 1.43211019e-01 6.35915983e-02 1.73736977e+01] [-1.42873154e-01 9.89691966e-01 -9.85263374e-03 -2.02522937e+00] [-6.43470997e-02 6.45392503e-04 9.97927369e-01 -1.12443634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831052753999998 meters 0.012842789096512201 Centerline is valid? [True, True] Translation: X:17.41, Y:-2.03, Z:-1.13 [[ 9.87386653e-01 1.44881487e-01 6.38510185e-02 1.74055472e+01] [-1.44543310e-01 9.89448860e-01 -9.90880325e-03 -2.03051814e+00] [-6.46129197e-02 5.54582494e-04 9.97910248e-01 -1.12573486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861052754 meters 0.01277129238759713 Centerline is valid? [True, True] Translation: X:17.44, Y:-2.03, Z:-1.13 [[ 9.87022304e-01 1.47165003e-01 6.42606624e-02 1.74367640e+01] [-1.46826256e-01 9.89111866e-01 -9.98839959e-03 -2.03488191e+00] [-6.50309265e-02 4.23620718e-04 9.97883159e-01 -1.12977571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891052754 meters 0.012750106045097222 Centerline is valid? [True, True] Translation: X:17.47, Y:-2.04, Z:-1.13 [[ 9.86831442e-01 1.48479573e-01 6.41679153e-02 1.74674206e+01] [-1.48143548e-01 9.88915412e-01 -9.98984493e-03 -2.04082664e+00] [-6.49399283e-02 3.52230463e-04 9.97889113e-01 -1.13298015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921052753999998 meters 0.01267369879646052 Centerline is valid? [True, True] Translation: X:17.50, Y:-2.05, Z:-1.13 [[ 9.86518325e-01 1.50007421e-01 6.54168752e-02 1.74992086e+01] [-1.49660894e-01 9.88684835e-01 -1.01938233e-02 -2.04901265e+00] [-6.62058216e-02 2.66045499e-04 9.97805952e-01 -1.13487980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951052754 meters 0.012609896603641362 Centerline is valid? [True, True] Translation: X:17.53, Y:-2.06, Z:-1.14 [[ 9.86350940e-01 1.50233161e-01 6.73930266e-02 1.75312169e+01] [-1.49864551e-01 9.88650555e-01 -1.05212241e-02 -2.05610099e+00] [-6.82087900e-02 2.77793661e-04 9.97671030e-01 -1.13594908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981052754 meters 0.012753225124051602 Centerline is valid? [True, True] Translation: X:17.56, Y:-2.07, Z:-1.14 [[ 9.86394144e-01 1.48515460e-01 7.04964591e-02 1.75622684e+01] [-1.48106234e-01 9.88909990e-01 -1.10260809e-02 -2.06603577e+00] [-7.13521962e-02 4.35096505e-04 9.97451089e-01 -1.13581611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011052753999998 meters 0.01308008304636459 Centerline is valid? [True, True] Translation: X:17.59, Y:-2.08, Z:-1.14 [[ 9.86771238e-01 1.45440234e-01 7.16216663e-02 1.75918753e+01] [-1.45008431e-01 9.89366802e-01 -1.12199299e-02 -2.07776042e+00] [-7.24919282e-02 6.85758696e-04 9.97368763e-01 -1.13591312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041052754 meters 0.013399315802437582 Centerline is valid? [True, True] Translation: X:17.62, Y:-2.09, Z:-1.14 [[ 9.86977250e-01 1.44004583e-01 7.16839492e-02 1.76234293e+01] [-1.43567043e-01 9.89576691e-01 -1.12462103e-02 -2.08574896e+00] [-7.25562710e-02 8.08301035e-04 9.97363993e-01 -1.13834005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071052754 meters 0.013868834345061731 Centerline is valid? [True, True] Translation: X:17.65, Y:-2.09, Z:-1.14 [[ 9.87302666e-01 1.41798124e-01 7.16012345e-02 1.76542266e+01] [-1.41354527e-01 9.89895105e-01 -1.12507518e-02 -2.09481432e+00] [-7.24730470e-02 9.86738599e-04 9.97369883e-01 -1.14282870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101052753999998 meters 0.014353654003456026 Centerline is valid? [True, True] Translation: X:17.68, Y:-2.10, Z:-1.14 [[ 9.87507812e-01 1.40473402e-01 7.13830814e-02 1.76845994e+01] [-1.40027837e-01 9.90083845e-01 -1.12332382e-02 -2.10312876e+00] [-7.22532069e-02 1.09729200e-03 9.97385718e-01 -1.14475657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131052754 meters 0.014589772496607442 Centerline is valid? [True, True] Translation: X:17.72, Y:-2.11, Z:-1.15 [[ 9.87729662e-01 1.38993746e-01 7.12099229e-02 1.77157740e+01] [-1.38545747e-01 9.90292516e-01 -1.12164460e-02 -2.11030387e+00] [-7.20776696e-02 1.21298449e-03 9.97398285e-01 -1.14702314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161052754 meters 0.014247150295061243 Centerline is valid? [True, True] Translation: X:17.75, Y:-2.11, Z:-1.15 [[ 9.87407501e-01 1.40765245e-01 7.21912295e-02 1.77477928e+01] [-1.40308211e-01 9.90042372e-01 -1.13888841e-02 -2.11286329e+00] [-7.30755352e-02 1.11644735e-03 9.97325784e-01 -1.14958678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191052753999998 meters 0.014402992849552251 Centerline is valid? [True, True] Translation: X:17.78, Y:-2.12, Z:-1.15 [[ 9.87242508e-01 1.41938707e-01 7.21500860e-02 1.77782544e+01] [-1.41484039e-01 9.89874895e-01 -1.13999095e-02 -2.11780940e+00] [-7.30376473e-02 1.04638961e-03 9.97328635e-01 -1.15095407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221052754 meters 0.014309631332468521 Centerline is valid? [True, True] Translation: X:17.81, Y:-2.12, Z:-1.15 [[ 9.87106743e-01 1.43005505e-01 7.19006573e-02 1.78096704e+01] [-1.42555617e-01 9.89721408e-01 -1.13767929e-02 -2.12147388e+00] [-7.27885638e-02 9.80266430e-04 9.97346913e-01 -1.15402783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251052754 meters 0.013850329048289771 Centerline is valid? [True, True] Translation: X:17.84, Y:-2.12, Z:-1.16 [[ 9.87031787e-01 1.43902671e-01 7.11355996e-02 1.78411240e+01] [-1.43463419e-01 9.89591417e-01 -1.12727413e-02 -2.12438219e+00] [-7.20173564e-02 9.21197693e-04 9.97402954e-01 -1.15755492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281052753999997 meters 0.013809953786555187 Centerline is valid? [True, True] Translation: X:17.87, Y:-2.13, Z:-1.16 [[ 9.87008102e-01 1.45506043e-01 6.81395511e-02 1.78714916e+01] [-1.45105750e-01 9.89357050e-01 -1.08142676e-02 -2.12875150e+00] [-6.89878866e-02 7.86329089e-04 9.97617188e-01 -1.16221905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311052754 meters 0.013869463675235758 Centerline is valid? [True, True] Translation: X:17.90, Y:-2.13, Z:-1.17 [[ 9.87021538e-01 1.46302142e-01 6.62130450e-02 1.79030843e+01] [-1.45924975e-01 9.89239687e-01 -1.05234699e-02 -2.13401700e+00] [-6.70401780e-02 7.24754508e-04 9.97750013e-01 -1.16578802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341052754 meters 0.014202362911130818 Centerline is valid? [True, True] Translation: X:17.93, Y:-2.14, Z:-1.17 [[ 9.87005722e-01 1.47344361e-01 6.41041608e-02 1.79334868e+01] [-1.46992063e-01 9.89085041e-01 -1.02036502e-02 -2.13974724e+00] [-6.49079169e-02 6.48258333e-04 9.97891047e-01 -1.17077933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371052753999997 meters 0.01387993025733947 Centerline is valid? [True, True] Translation: X:17.97, Y:-2.14, Z:-1.17 [[ 9.86838148e-01 1.48150519e-01 6.48220071e-02 1.79664759e+01] [-1.47791027e-01 9.88964632e-01 -1.03329159e-02 -2.14288878e+00] [-6.56374993e-02 6.16804609e-04 9.97843344e-01 -1.17364184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401052754 meters 0.013691460565601768 Centerline is valid? [True, True] Translation: X:18.00, Y:-2.15, Z:-1.17 [[ 9.86371138e-01 1.50512205e-01 6.64684507e-02 1.79979709e+01] [-1.50138294e-01 9.88608030e-01 -1.06139702e-02 -2.14592802e+00] [-6.73087761e-02 4.89854058e-04 9.97732073e-01 -1.17497075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431052754 meters 0.013453844499516067 Centerline is valid? [True, True] Translation: X:18.03, Y:-2.15, Z:-1.18 [[ 9.86146996e-01 1.51619201e-01 6.72734747e-02 1.80306429e+01] [-1.51238284e-01 9.88438889e-01 -1.07491886e-02 -2.14994502e+00] [-6.81255019e-02 4.25955149e-04 9.97676668e-01 -1.17596903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461052753999997 meters 0.013653154273099728 Centerline is valid? [True, True] Translation: X:18.06, Y:-2.16, Z:-1.17 [[ 9.86038191e-01 1.51431453e-01 6.92618267e-02 1.80614748e+01] [-1.51025774e-01 9.88467649e-01 -1.10870786e-02 -2.15629396e+00] [-7.01420074e-02 4.71961965e-04 9.97536905e-01 -1.17395684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491052754 meters 0.013767998701585979 Centerline is valid? [True, True] Translation: X:18.09, Y:-2.16, Z:-1.18 [[ 9.86095956e-01 1.50587231e-01 7.02726982e-02 1.80928849e+01] [-1.50166288e-01 9.88596569e-01 -1.12654042e-02 -2.16134008e+00] [-7.11677744e-02 5.56179319e-04 9.97464204e-01 -1.17516771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521052754 meters 0.01436154007448877 Centerline is valid? [True, True] Translation: X:18.12, Y:-2.17, Z:-1.18 [[ 9.86573303e-01 1.47767703e-01 6.95544624e-02 1.81238943e+01] [-1.47347171e-01 9.89021798e-01 -1.11667024e-02 -2.16925927e+00] [-7.04409574e-02 7.68117184e-04 9.97515655e-01 -1.17773287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551052753999997 meters 0.014274714103197842 Centerline is valid? [True, True] Translation: X:18.16, Y:-2.17, Z:-1.18 [[ 9.86689660e-01 1.47158795e-01 6.91939580e-02 1.81562193e+01] [-1.46739960e-01 9.89112537e-01 -1.11253618e-02 -2.17367660e+00] [-7.00778062e-02 8.23760805e-04 9.97541188e-01 -1.18047405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581052753999998 meters 0.014883502940733146 Centerline is valid? [True, True] Translation: X:18.19, Y:-2.18, Z:-1.18 [[ 9.86952886e-01 1.45489124e-01 6.89703982e-02 1.81866357e+01] [-1.45067637e-01 9.89359388e-01 -1.11077814e-02 -2.17801100e+00] [-6.98525723e-02 9.57484194e-04 9.97556866e-01 -1.18284150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611052754 meters 0.015500313730806377 Centerline is valid? [True, True] Translation: X:18.22, Y:-2.18, Z:-1.18 [[ 9.87115763e-01 1.44340915e-01 6.90519462e-02 1.82172457e+01] [-1.43914985e-01 9.89527463e-01 -1.11300256e-02 -2.18422555e+00] [-6.99353152e-02 1.04901393e-03 9.97550977e-01 -1.18429238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641052754 meters 0.015802363790033327 Centerline is valid? [True, True] Translation: X:18.25, Y:-2.19, Z:-1.19 [[ 9.87594091e-01 1.41088582e-01 6.89341939e-02 1.82490348e+01] [-1.40655521e-01 9.89996140e-01 -1.11206121e-02 -2.18727429e+00] [-6.98135772e-02 1.28667588e-03 9.97559226e-01 -1.18808769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671052753999998 meters 0.016538618632906177 Centerline is valid? [True, True] Translation: X:18.28, Y:-2.19, Z:-1.19 [[ 9.87900529e-01 1.39529605e-01 6.77054895e-02 1.82793065e+01] [-1.39107103e-01 9.90216927e-01 -1.09384812e-02 -2.19209152e+00] [-6.85693638e-02 1.38781685e-03 9.97645386e-01 -1.19193010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701052754 meters 0.01766906908151697 Centerline is valid? [True, True] Translation: X:18.31, Y:-2.20, Z:-1.19 [[ 9.88310449e-01 1.37480776e-01 6.58900035e-02 1.83095914e+01] [-1.37075152e-01 9.90503295e-01 -1.06595373e-02 -2.19972169e+00] [-6.67297470e-02 1.50304989e-03 9.97769954e-01 -1.19447125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.731052754 meters 0.016331973460255 Centerline is valid? [True, True] Translation: X:18.34, Y:-2.20, Z:-1.20 [[ 9.88426715e-01 1.37255241e-01 6.46036159e-02 1.83426938e+01] [-1.36863918e-01 9.90534574e-01 -1.04654979e-02 -2.20177562e+00] [-6.54285596e-02 1.50247373e-03 9.97856125e-01 -1.19662310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761052753999998 meters 0.017095241076241104 Centerline is valid? [True, True] Translation: X:18.37, Y:-2.21, Z:-1.20 [[ 9.88362722e-01 1.38558975e-01 6.27737222e-02 1.83738546e+01] [-1.38191029e-01 9.90353204e-01 -1.01867959e-02 -2.20575624e+00] [-6.35796289e-02 1.39348400e-03 9.97975796e-01 -1.20016311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.791052754 meters 0.016275283328632893 Centerline is valid? [True, True] Translation: X:18.41, Y:-2.21, Z:-1.20 [[ 9.88185729e-01 1.40228628e-01 6.18457441e-02 1.84062871e+01] [-1.39873798e-01 9.90118320e-01 -1.00514909e-02 -2.20805310e+00] [-6.26441110e-02 1.28214072e-03 9.98035105e-01 -1.20210828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821052754 meters 0.01630612091192888 Centerline is valid? [True, True] Translation: X:18.44, Y:-2.21, Z:-1.20 [[ 9.87637973e-01 1.44457087e-01 6.08554421e-02 1.84367708e+01] [-1.44120628e-01 9.89510548e-01 -9.90554312e-03 -2.21274424e+00] [-6.16480278e-02 1.01256599e-03 9.98097438e-01 -1.20312703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.851052753999998 meters 0.016051661734616477 Centerline is valid? [True, True] Translation: X:18.47, Y:-2.22, Z:-1.21 [[ 9.87263334e-01 1.47476673e-01 5.96803191e-02 1.84681030e+01] [-1.47157791e-01 9.89065193e-01 -9.72771693e-03 -2.21634308e+00] [-6.04623376e-02 8.21394355e-04 9.98170141e-01 -1.20600678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881052754 meters 0.014984230796480957 Centerline is valid? [True, True] Translation: X:18.50, Y:-2.22, Z:-1.21 [[ 9.86523177e-01 1.53234503e-01 5.73690610e-02 1.85005899e+01] [-1.52948825e-01 9.88189745e-01 -9.36399243e-03 -2.21662365e+00] [-5.81264045e-02 4.63265066e-04 9.98309124e-01 -1.21171664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911052754 meters 0.014898356711990132 Centerline is valid? [True, True] Translation: X:18.53, Y:-2.22, Z:-1.21 [[ 9.86319492e-01 1.54642703e-01 5.70919773e-02 1.85328182e+01] [-1.54361354e-01 9.87970385e-01 -9.33229591e-03 -2.22156600e+00] [-5.78483543e-02 3.91830447e-04 9.98325305e-01 -1.21403347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941052753999998 meters 0.015255341173787655 Centerline is valid? [True, True] Translation: X:18.56, Y:-2.23, Z:-1.21 [[ 9.86576143e-01 1.52373996e-01 5.87339721e-02 1.85624673e+01] [-1.52071137e-01 9.88322748e-01 -9.61845582e-03 -2.23234986e+00] [-5.95137233e-02 5.57597106e-04 9.98227332e-01 -1.21236893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.971052754 meters 0.015559442284841763 Centerline is valid? [True, True] Translation: X:18.59, Y:-2.24, Z:-1.21 [[ 9.87028179e-01 1.49200675e-01 5.92834986e-02 1.85931756e+01] [-1.48885932e-01 9.88806642e-01 -9.71615903e-03 -2.24088750e+00] [-6.00695747e-02 7.63643786e-04 9.98193901e-01 -1.21212432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001052754 meters 0.016970021480356926 Centerline is valid? [True, True] Translation: X:18.62, Y:-2.25, Z:-1.21 [[ 9.88121387e-01 1.41167900e-01 6.07268293e-02 1.86227324e+01] [-1.40821561e-01 9.89984819e-01 -9.96729830e-03 -2.25312568e+00] [-6.15257017e-02 1.29725375e-03 9.98104656e-01 -1.21105051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.031052753999997 meters 0.016970021480356926 Centerline is valid? [True, True] Translation: X:18.65, Y:-2.26, Z:-1.21 [[ 9.88082848e-01 1.41437552e-01 6.07264682e-02 1.86546094e+01] [-1.41091585e-01 9.89946349e-01 -9.96949875e-03 -2.25842828e+00] [-6.15260069e-02 1.28269707e-03 9.98104656e-01 -1.21313510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061052754 meters 0.018544695854684767 Centerline is valid? [True, True] Translation: X:18.68, Y:-2.27, Z:-1.21 [[ 9.88424092e-01 1.38453907e-01 6.20349088e-02 1.86845766e+01] [-1.38085857e-01 9.90367715e-01 -1.02021826e-02 -2.26821831e+00] [-6.28499030e-02 1.51793951e-03 9.98021836e-01 -1.21308755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091052754 meters 0.018312433891769037 Centerline is valid? [True, True] Translation: X:18.72, Y:-2.27, Z:-1.21 [[ 9.88869211e-01 1.34835842e-01 6.29045227e-02 1.87166720e+01] [-1.34449150e-01 9.90866339e-01 -1.03597112e-02 -2.27331632e+00] [-6.37268345e-02 1.78693985e-03 9.97965780e-01 -1.21067918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121052753999997 meters 0.01876905702801118 Centerline is valid? [True, True] Translation: X:18.75, Y:-2.28, Z:-1.21 [[ 9.89156963e-01 1.33228471e-01 6.17954410e-02 1.87477718e+01] [-1.32851918e-01 9.91083604e-01 -1.01812202e-02 -2.27867069e+00] [-6.26008768e-02 1.86118201e-03 9.98036906e-01 -1.21292187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.151052754 meters 0.019932323371838753 Centerline is valid? [True, True] Translation: X:18.78, Y:-2.28, Z:-1.22 [[ 9.89771706e-01 1.29696366e-01 5.94207170e-02 1.87788469e+01] [-1.29341414e-01 9.91551716e-01 -9.79763883e-03 -2.28270796e+00] [-6.01894320e-02 2.01186616e-03 9.98184945e-01 -1.21830961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181052754 meters 0.020072360380338085 Centerline is valid? [True, True] Translation: X:18.81, Y:-2.29, Z:-1.22 [[ 9.89976582e-01 1.28185802e-01 5.92854773e-02 1.88106144e+01] [-1.27829691e-01 9.91747947e-01 -9.77651184e-03 -2.28583968e+00] [-6.00494604e-02 2.10007355e-03 9.98193194e-01 -1.22161686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.211052753999997 meters 0.02120379133137589 Centerline is valid? [True, True] Translation: X:18.84, Y:-2.29, Z:-1.23 [[ 9.90139108e-01 1.27032480e-01 5.90533309e-02 1.88417745e+01] [-1.26676235e-01 9.91896171e-01 -9.75281590e-03 -2.28889839e+00] [-5.98136972e-02 2.17599080e-03 9.98207186e-01 -1.22534991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241052754 meters 0.019611872616858487 Centerline is valid? [True, True] Translation: X:18.88, Y:-2.29, Z:-1.23 [[ 9.90113880e-01 1.27468790e-01 5.85338476e-02 1.88750511e+01] [-1.27118788e-01 9.91840266e-01 -9.67991023e-03 -2.29031924e+00] [-5.92901135e-02 2.14346170e-03 9.98238493e-01 -1.22769812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.271052754 meters 0.020089643879986862 Centerline is valid? [True, True] Translation: X:18.91, Y:-2.29, Z:-1.23 [[ 9.90100690e-01 1.28606173e-01 5.62234468e-02 1.89059773e+01] [-1.28284212e-01 9.91693711e-01 -9.31365947e-03 -2.29294185e+00] [-5.69542327e-02 2.00888010e-03 9.98374769e-01 -1.23115376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301052753999997 meters 0.019916719131798693 Centerline is valid? [True, True] Translation: X:18.94, Y:-2.30, Z:-1.23 [[ 9.89972517e-01 1.30024008e-01 5.52102680e-02 1.89384729e+01] [-1.29714991e-01 9.91509014e-01 -9.15951280e-03 -2.29587420e+00] [-5.59324349e-02 1.90606650e-03 9.98432737e-01 -1.23344394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.331052753999998 meters 0.019335987617923208 Centerline is valid? [True, True] Translation: X:18.97, Y:-2.30, Z:-1.23 [[ 9.89353254e-01 1.34678937e-01 5.51518213e-02 1.89693528e+01] [-1.34377494e-01 9.90887922e-01 -9.15511139e-03 -2.29758128e+00] [-5.58822743e-02 1.64647569e-03 9.98436007e-01 -1.23351400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361052754 meters 0.01876216853059464 Centerline is valid? [True, True] Translation: X:19.00, Y:-2.30, Z:-1.23 [[ 9.89023931e-01 1.37308648e-01 5.45710506e-02 1.90015775e+01] [-1.37017519e-01 9.90527202e-01 -9.05875031e-03 -2.30084856e+00] [-5.52979548e-02 1.48213089e-03 9.98468797e-01 -1.23469194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.391052754 meters 0.017415013836199346 Centerline is valid? [True, True] Translation: X:19.03, Y:-2.30, Z:-1.24 [[ 9.88272143e-01 1.42659049e-01 5.44662088e-02 1.90332134e+01] [-1.42376313e-01 9.89771169e-01 -9.05642947e-03 -2.30162401e+00] [-5.52010648e-02 1.19551897e-03 9.98474543e-01 -1.23537636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421052753999998 meters 0.016773142507699394 Centerline is valid? [True, True] Translation: X:19.06, Y:-2.31, Z:-1.24 [[ 9.87891095e-01 1.45017320e-01 5.51467332e-02 1.90648758e+01] [-1.44731125e-01 9.89428530e-01 -9.16978192e-03 -2.30534635e+00] [-5.58935284e-02 1.07729713e-03 9.98436154e-01 -1.23637818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.451052754 meters 0.016702400000518397 Centerline is valid? [True, True] Translation: X:19.10, Y:-2.31, Z:-1.24 [[ 9.87798038e-01 1.45588425e-01 5.53086407e-02 1.90967542e+01] [-1.45300684e-01 9.89344674e-01 -9.21016688e-03 -2.31222164e+00] [-5.60602028e-02 1.06140143e-03 9.98426826e-01 -1.23729116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481052754 meters 0.017013289997125126 Centerline is valid? [True, True] Translation: X:19.13, Y:-2.32, Z:-1.24 [[ 9.87880736e-01 1.45289383e-01 5.46136169e-02 1.91279436e+01] [-1.45007515e-01 9.89388613e-01 -9.11000275e-03 -2.31889347e+00] [-5.53576774e-02 1.08021134e-03 9.98466004e-01 -1.23930095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.511052753999998 meters 0.017817578555282956 Centerline is valid? [True, True] Translation: X:19.16, Y:-2.33, Z:-1.24 [[ 9.88202191e-01 1.42951251e-01 5.49669906e-02 1.91578730e+01] [-1.42661292e-01 9.89728962e-01 -9.18354663e-03 -2.32803372e+00] [-5.57152220e-02 1.23353901e-03 9.98445939e-01 -1.23927980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541052754 meters 0.018257056678927183 Centerline is valid? [True, True] Translation: X:19.19, Y:-2.34, Z:-1.24 [[ 9.88369412e-01 1.41552142e-01 5.55778496e-02 1.91893789e+01] [-1.41253130e-01 9.89929903e-01 -9.29193441e-03 -2.33591958e+00] [-5.63334685e-02 1.33331853e-03 9.98411119e-01 -1.23957313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.571052754 meters 0.01894594582991274 Centerline is valid? [True, True] Translation: X:19.22, Y:-2.34, Z:-1.24 [[ 9.88673002e-01 1.39418336e-01 5.55717753e-02 1.92204117e+01] [-1.39115267e-01 9.90232484e-01 -9.30429607e-03 -2.34363051e+00] [-5.63261666e-02 1.46802396e-03 9.98411342e-01 -1.24016355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601052753999998 meters 0.019587245698976866 Centerline is valid? [True, True] Translation: X:19.25, Y:-2.35, Z:-1.24 [[ 9.89023630e-01 1.36822766e-01 5.57834133e-02 1.92510153e+01] [-1.36512491e-01 9.90594193e-01 -9.35327144e-03 -2.35171581e+00] [-5.65384658e-02 1.63547375e-03 9.98399082e-01 -1.24008895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.631052754 meters 0.020381938912811506 Centerline is valid? [True, True] Translation: X:19.28, Y:-2.36, Z:-1.24 [[ 9.89172173e-01 1.35952029e-01 5.52762009e-02 1.92813222e+01] [-1.35645332e-01 9.90713993e-01 -9.28048529e-03 -2.35861298e+00] [-5.60246066e-02 1.68203918e-03 9.98427971e-01 -1.24190373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661052754 meters 0.02121282031948571 Centerline is valid? [True, True] Translation: X:19.31, Y:-2.36, Z:-1.25 [[ 9.89163063e-01 1.36351163e-01 5.44499246e-02 1.93127236e+01] [-1.36053538e-01 9.90659200e-01 -9.15336773e-03 -2.36437774e+00] [-5.51893910e-02 1.64606839e-03 9.98474547e-01 -1.24619383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.691052753999998 meters 0.020147246205352014 Centerline is valid? [True, True] Translation: X:19.34, Y:-2.37, Z:-1.25 [[ 9.89067720e-01 1.38552801e-01 5.04793674e-02 1.93443246e+01] [-1.38299296e-01 9.90354025e-01 -8.49762934e-03 -2.36582723e+00] [-5.11698151e-02 1.42346992e-03 9.98688952e-01 -1.25322575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721052754 meters 0.01989984018627815 Centerline is valid? [True, True] Translation: X:19.38, Y:-2.37, Z:-1.26 [[ 9.88841299e-01 1.40745798e-01 4.88211504e-02 1.93757082e+01] [-1.40510802e-01 9.90044942e-01 -8.22965423e-03 -2.37081980e+00] [-4.94934223e-02 1.27792297e-03 9.98773632e-01 -1.25712023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751052754 meters 0.01914665181862158 Centerline is valid? [True, True] Translation: X:19.41, Y:-2.38, Z:-1.26 [[ 9.88393783e-01 1.44694140e-01 4.62745676e-02 1.94073531e+01] [-1.44486877e-01 9.89475890e-01 -7.81059908e-03 -2.37518420e+00] [-4.69177169e-02 1.03387980e-03 9.98898223e-01 -1.25889204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781052753999997 meters 0.018064849387375 Centerline is valid? [True, True] Translation: X:19.44, Y:-2.38, Z:-1.26 [[ 9.88142130e-01 1.46662366e-01 4.54453672e-02 1.94395357e+01] [-1.46464072e-01 9.89186170e-01 -7.68096473e-03 -2.37897156e+00] [-4.60804372e-02 9.33771328e-04 9.98937296e-01 -1.25864887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811052754 meters 0.017842446286990905 Centerline is valid? [True, True] Translation: X:19.47, Y:-2.38, Z:-1.26 [[ 9.87845948e-01 1.48896696e-01 4.46111867e-02 1.94703963e+01] [-1.48707395e-01 9.88852412e-01 -7.55099376e-03 -2.38441407e+00] [-4.52381976e-02 8.25205207e-04 9.98975888e-01 -1.25923643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841052754 meters 0.017605446005803996 Centerline is valid? [True, True] Translation: X:19.50, Y:-2.39, Z:-1.26 [[ 9.87455330e-01 1.51622425e-01 4.40750753e-02 1.95014856e+01] [-1.51439933e-01 9.88438237e-01 -7.46982453e-03 -2.38982310e+00] [-4.46980826e-02 7.01391595e-04 9.99000295e-01 -1.25971132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871052753999997 meters 0.017602433861724637 Centerline is valid? [True, True] Translation: X:19.53, Y:-2.40, Z:-1.26 [[ 9.87155212e-01 1.53149665e-01 4.54946890e-02 1.95324175e+01] [-1.52956310e-01 9.88202782e-01 -7.72193084e-03 -2.39502316e+00] [-4.61405894e-02 6.64044524e-04 9.98934735e-01 -1.26297979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901052754 meters 0.01745267433633753 Centerline is valid? [True, True] Translation: X:19.56, Y:-2.40, Z:-1.27 [[ 9.87064183e-01 1.53628026e-01 4.58555171e-02 1.95636794e+01] [-1.53431586e-01 9.88128533e-01 -7.79432975e-03 -2.40081114e+00] [-4.65085724e-02 6.57819021e-04 9.98917674e-01 -1.26541182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931052754 meters 0.01703223705690567 Centerline is valid? [True, True] Translation: X:19.59, Y:-2.41, Z:-1.26 [[ 9.86834077e-01 1.55088825e-01 4.58907509e-02 1.95945892e+01] [-1.54893159e-01 9.87900347e-01 -7.81108750e-03 -2.40942149e+00] [-4.65469011e-02 6.00083951e-04 9.98915925e-01 -1.26479043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961052753999997 meters 0.01714178062772722 Centerline is valid? [True, True] Translation: X:19.62, Y:-2.42, Z:-1.27 [[ 9.86611816e-01 1.56602901e-01 4.55264423e-02 1.96243652e+01] [-1.56411429e-01 9.87661503e-01 -7.76015241e-03 -2.41770870e+00] [-4.61799768e-02 5.35402154e-04 9.98932992e-01 -1.26547621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991052754 meters 0.01645788668590115 Centerline is valid? [True, True] Translation: X:19.66, Y:-2.42, Z:-1.26 [[ 9.86392905e-01 1.58045871e-01 4.52828818e-02 1.96556006e+01] [-1.57857528e-01 9.87431657e-01 -7.72811312e-03 -2.42420617e+00] [-4.59351474e-02 4.74712184e-04 9.98944311e-01 -1.26399379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021052754 meters 0.015933043098775777 Centerline is valid? [True, True] Translation: X:19.69, Y:-2.43, Z:-1.27 [[ 9.85614999e-01 1.62877515e-01 4.50997569e-02 1.96860313e+01] [-1.62695229e-01 9.86646263e-01 -7.70810645e-03 -2.43043343e+00] [-4.57529838e-02 2.59710070e-04 9.98952750e-01 -1.26526535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.051052753999997 meters 0.01588553216723318 Centerline is valid? [True, True] Translation: X:19.72, Y:-2.43, Z:-1.27 [[ 9.84651414e-01 1.68878002e-01 4.40660163e-02 1.97173781e+01] [-1.68709581e-01 9.85636962e-01 -7.54034302e-03 -2.43348451e+00] [-4.47064925e-02 -9.74974731e-06 9.99000165e-01 -1.27052444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081052753999998 meters 0.015955778647504214 Centerline is valid? [True, True] Translation: X:19.75, Y:-2.44, Z:-1.27 [[ 9.84195318e-01 1.71967555e-01 4.22697972e-02 1.97486123e+01] [-1.71814984e-01 9.85102605e-01 -7.24355895e-03 -2.43878273e+00] [-4.28857445e-02 -1.33507732e-04 9.99079974e-01 -1.27286966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.111052754 meters 0.016594868154355024 Centerline is valid? [True, True] Translation: X:19.78, Y:-2.45, Z:-1.28 [[ 9.83797274e-01 1.75163489e-01 3.82188003e-02 1.97788634e+01] [-1.75040701e-01 9.84539332e-01 -6.56170038e-03 -2.44656901e+00] [-3.87772824e-02 -2.34462637e-04 9.99247851e-01 -1.27596521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141052753999997 meters 0.01681947051541117 Centerline is valid? [True, True] Translation: X:19.81, Y:-2.45, Z:-1.28 [[ 9.83800913e-01 1.75408473e-01 3.69815076e-02 1.98087592e+01] [-1.75293668e-01 9.84495715e-01 -6.34964006e-03 -2.45283378e+00] [-3.75219164e-02 -2.35842435e-04 9.99295777e-01 -1.27907586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.171052753999998 meters 0.016799655174376166 Centerline is valid? [True, True] Translation: X:19.84, Y:-2.46, Z:-1.28 [[ 9.84098603e-01 1.73901881e-01 3.61673297e-02 1.98396809e+01] [-1.73791021e-01 9.84762969e-01 -6.21090612e-03 -2.46110972e+00] [-3.66963352e-02 -1.73413112e-04 9.99326448e-01 -1.28086396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201052754 meters 0.016954261206295385 Centerline is valid? [True, True] Translation: X:19.87, Y:-2.47, Z:-1.28 [[ 9.84316760e-01 1.72496997e-01 3.69500039e-02 1.98701620e+01] [-1.72379940e-01 9.85010037e-01 -6.35479775e-03 -2.46758832e+00] [-3.74923082e-02 -1.14305511e-04 9.99296910e-01 -1.28337942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.231052754 meters 0.016590969350197222 Centerline is valid? [True, True] Translation: X:19.90, Y:-2.48, Z:-1.28 [[ 9.84943426e-01 1.68778469e-01 3.74202642e-02 1.99013834e+01] [-1.68655436e-01 9.85654010e-01 -6.44334740e-03 -2.47569914e+00] [-3.79709317e-02 3.52017040e-05 9.99278844e-01 -1.28133058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261052753999998 meters 0.017316874352196126 Centerline is valid? [True, True] Translation: X:19.93, Y:-2.48, Z:-1.28 [[ 9.85400495e-01 1.66146027e-01 3.71666689e-02 1.99329510e+01] [-1.66022454e-01 9.86101149e-01 -6.40843726e-03 -2.48307690e+00] [-3.77148313e-02 1.44375677e-04 9.99288532e-01 -1.27958844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.291052754 meters 0.018169100598842258 Centerline is valid? [True, True] Translation: X:19.96, Y:-2.49, Z:-1.28 [[ 9.86555277e-01 1.59211399e-01 3.68838263e-02 1.99632970e+01] [-1.59084495e-01 9.87244426e-01 -6.36913405e-03 -2.49332046e+00] [-3.74273907e-02 4.15857902e-04 9.99299263e-01 -1.27805170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321052754 meters 0.01836892426576509 Centerline is valid? [True, True] Translation: X:19.99, Y:-2.50, Z:-1.28 [[ 9.87174007e-01 1.55326109e-01 3.68955325e-02 1.99946291e+01] [-1.55196116e-01 9.87863084e-01 -6.37902254e-03 -2.50049586e+00] [-3.74385632e-02 5.71161911e-04 9.99298768e-01 -1.27996021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.351052753999998 meters 0.02002430519760719 Centerline is valid? [True, True] Translation: X:20.02, Y:-2.51, Z:-1.29 [[ 9.88218964e-01 1.48605663e-01 3.66010496e-02 2.00240513e+01] [-1.48472575e-01 9.88896183e-01 -6.34295529e-03 -2.50787442e+00] [-3.71372374e-02 8.33976637e-04 9.99309827e-01 -1.28607950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381052754 meters 0.020860574865102167 Centerline is valid? [True, True] Translation: X:20.06, Y:-2.51, Z:-1.29 [[ 9.88607762e-01 1.46185944e-01 3.58380182e-02 2.00552055e+01] [-1.46056790e-01 9.89256717e-01 -6.20990655e-03 -2.51477192e+00] [-3.63608013e-02 9.04775929e-04 9.99338318e-01 -1.28876363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.411052754 meters 0.021454427703421777 Centerline is valid? [True, True] Translation: X:20.09, Y:-2.52, Z:-1.29 [[ 9.88932787e-01 1.44202511e-01 3.48938278e-02 2.00858373e+01] [-1.44078916e-01 9.89547742e-01 -6.04422277e-03 -2.52194209e+00] [-3.54007006e-02 9.49865200e-04 9.99372747e-01 -1.29017667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441052753999998 meters 0.019885243257221543 Centerline is valid? [True, True] Translation: X:20.12, Y:-2.52, Z:-1.29 [[ 9.88812530e-01 1.44898412e-01 3.54151285e-02 2.01181960e+01] [-1.44771278e-01 9.89446085e-01 -6.14180667e-03 -2.52427866e+00] [-3.59312983e-02 9.46001975e-04 9.99353815e-01 -1.28981548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.471052754 meters 0.01969184638553799 Centerline is valid? [True, True] Translation: X:20.15, Y:-2.52, Z:-1.29 [[ 9.87911212e-01 1.50723560e-01 3.62470128e-02 2.01484012e+01] [-1.50593787e-01 9.88575654e-01 -6.29984334e-03 -2.52462468e+00] [-3.67824492e-02 7.65110923e-04 9.99323004e-01 -1.29303736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501052754 meters 0.017274771259016754 Centerline is valid? [True, True] Translation: X:20.18, Y:-2.52, Z:-1.29 [[ 9.86453358e-01 1.59929525e-01 3.65009390e-02 2.01810880e+01] [-1.59804044e-01 9.87128341e-01 -6.34864844e-03 -2.52072798e+00] [-3.70464477e-02 4.29647931e-04 9.99313452e-01 -1.29382941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531052753999997 meters 0.01670864958092591 Centerline is valid? [True, True] Translation: X:20.21, Y:-2.52, Z:-1.30 [[ 9.85556040e-01 1.65426047e-01 3.62424336e-02 2.02133093e+01] [-1.65306219e-01 9.86222174e-01 -6.29906338e-03 -2.52161861e+00] [-3.67851208e-02 2.16980307e-04 9.99323175e-01 -1.29538249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561052754 meters 0.016616322126341246 Centerline is valid? [True, True] Translation: X:20.24, Y:-2.52, Z:-1.30 [[ 9.83937459e-01 1.75138764e-01 3.45469159e-02 2.02446072e+01] [-1.75035571e-01 9.84543750e-01 -6.01268786e-03 -2.51982270e+00] [-3.50660049e-02 -1.30830351e-04 9.99384990e-01 -1.30076559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.591052754 meters 0.016612586416329997 Centerline is valid? [True, True] Translation: X:20.28, Y:-2.52, Z:-1.30 [[ 9.83277489e-01 1.78773364e-01 3.47198034e-02 2.02765300e+01] [-1.78671141e-01 9.83890248e-01 -6.05010243e-03 -2.52266522e+00] [-3.52420731e-02 -2.54497372e-04 9.99378773e-01 -1.30314768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621052753999997 meters 0.016531193093562782 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.53, Z:-1.31 [[ 9.82663812e-01 1.81821903e-01 3.62302148e-02 2.03076548e+01] [-1.81712284e-01 9.83331408e-01 -6.32351444e-03 -2.52589246e+00] [-3.67760616e-02 -3.69586294e-04 9.99323464e-01 -1.30536431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.651052754 meters 0.01601382364396888 Centerline is valid? [True, True] Translation: X:20.34, Y:-2.53, Z:-1.30 [[ 9.82086622e-01 1.83949339e-01 4.08473590e-02 2.03383020e+01] [-1.83811186e-01 9.82935603e-01 -7.14485444e-03 -2.53177033e+00] [-4.14646147e-02 -4.91335527e-04 9.99139852e-01 -1.30313503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681052754 meters 0.016109893203789274 Centerline is valid? [True, True] Translation: X:20.37, Y:-2.54, Z:-1.30 [[ 9.82005627e-01 1.84057075e-01 4.22840498e-02 2.03696704e+01] [-1.83909249e-01 9.82915422e-01 -7.39333480e-03 -2.54028418e+00] [-4.29224403e-02 -5.16131475e-04 9.99078274e-01 -1.30297686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.711052753999997 meters 0.015791808920286993 Centerline is valid? [True, True] Translation: X:20.40, Y:-2.55, Z:-1.31 [[ 9.82109057e-01 1.83552680e-01 4.20739066e-02 2.04021042e+01] [-1.83405457e-01 9.83009756e-01 -7.36596425e-03 -2.54785099e+00] [-4.27111031e-02 -4.82403858e-04 9.99087348e-01 -1.30566309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741052754 meters 0.015556817161103123 Centerline is valid? [True, True] Translation: X:20.43, Y:-2.56, Z:-1.31 [[ 9.82914818e-01 1.79238714e-01 4.18562357e-02 2.04320742e+01] [-1.79088571e-01 9.83805573e-01 -7.34023518e-03 -2.55784679e+00] [-4.24940523e-02 -2.81147541e-04 9.99096680e-01 -1.31036509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771052754 meters 0.015323588653176937 Centerline is valid? [True, True] Translation: X:20.46, Y:-2.57, Z:-1.31 [[ 9.83433013e-01 1.76276687e-01 4.22615477e-02 2.04627687e+01] [-1.76120440e-01 9.84340647e-01 -7.42169705e-03 -2.56625390e+00] [-4.29080314e-02 -1.44380502e-04 9.99079016e-01 -1.31329262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801052753999997 meters 0.01541474671088139 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.58, Z:-1.32 [[ 9.84605131e-01 1.69363744e-01 4.32279894e-02 2.04921127e+01] [-1.69193034e-01 9.85553597e-01 -7.60429876e-03 -2.57871967e+00] [-4.38913930e-02 1.73356906e-04 9.99036293e-01 -1.31565976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.831052753999998 meters 0.01564757917928548 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.59, Z:-1.32 [[ 9.85246519e-01 1.65368997e-01 4.40725708e-02 2.05226354e+01] [-1.65187273e-01 9.86231698e-01 -7.75904417e-03 -2.58804547e+00] [-4.47488717e-02 3.64343470e-04 9.98998201e-01 -1.31533612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861052754 meters 0.015975832869296786 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.60, Z:-1.32 [[ 9.85908235e-01 1.61356406e-01 4.41481946e-02 2.05522711e+01] [-1.61169842e-01 9.86896046e-01 -7.77665482e-03 -2.59854170e+00] [-4.48244918e-02 5.51710479e-04 9.98994725e-01 -1.31639689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.891052753999997 meters 0.01700284549132865 Centerline is valid? [True, True] Translation: X:20.58, Y:-2.61, Z:-1.32 [[ 9.86655770e-01 1.56626489e-01 4.44807308e-02 2.05832698e+01] [-1.56431846e-01 9.87657598e-01 -7.84515203e-03 -2.60807906e+00] [-4.51604903e-02 7.82261672e-04 9.98979438e-01 -1.31562249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921052753999998 meters 0.01700284549132865 Centerline is valid? [True, True] Translation: X:20.62, Y:-2.61, Z:-1.32 [[ 9.86613424e-01 1.56893496e-01 4.44790164e-02 2.06150803e+01] [-1.56698687e-01 9.87615220e-01 -7.85485737e-03 -2.61376607e+00] [-4.51605296e-02 7.79904237e-04 9.98979438e-01 -1.31771369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.951052754 meters 0.016846528081844454 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.61, Z:-1.32 [[ 9.86600649e-01 1.56630786e-01 4.56722786e-02 2.06471717e+01] [-1.56424456e-01 9.87656880e-01 -8.07938625e-03 -2.61488093e+00] [-4.63740208e-02 8.26866384e-04 9.98923804e-01 -1.32276520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981052754 meters 0.018100898361325286 Centerline is valid? [True, True] Translation: X:20.68, Y:-2.62, Z:-1.33 [[ 9.86449969e-01 1.57679922e-01 4.53155660e-02 2.06776510e+01] [-1.57477387e-01 9.87489964e-01 -8.02763732e-03 -2.62046688e+00] [-4.60144639e-02 7.82685655e-04 9.98940467e-01 -1.32890122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.011052753999998 meters 0.017332416548549567 Centerline is valid? [True, True] Translation: X:20.71, Y:-2.62, Z:-1.33 [[ 9.86134141e-01 1.60159608e-01 4.34552151e-02 2.07107869e+01] [-1.59975401e-01 9.87090918e-01 -7.70656114e-03 -2.62127436e+00] [-4.41285280e-02 6.47937597e-04 9.99025652e-01 -1.33397710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041052754 meters 0.016856728839632556 Centerline is valid? [True, True] Translation: X:20.74, Y:-2.62, Z:-1.34 [[ 9.85850330e-01 1.62033038e-01 4.29467226e-02 2.07431485e+01] [-1.61854378e-01 9.86785169e-01 -7.62823043e-03 -2.62454032e+00] [-4.36152143e-02 5.69178435e-04 9.99048242e-01 -1.33629247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.071052754 meters 0.016327358783351384 Centerline is valid? [True, True] Translation: X:20.78, Y:-2.63, Z:-1.34 [[ 9.85431684e-01 1.64595521e-01 4.28101806e-02 2.07757333e+01] [-1.64419972e-01 9.86361039e-01 -7.61405910e-03 -2.62635134e+00] [-4.34795342e-02 4.64286401e-04 9.99054210e-01 -1.33881544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101052753999998 meters 0.016012223502176147 Centerline is valid? [True, True] Translation: X:20.81, Y:-2.63, Z:-1.34 [[ 9.85271564e-01 1.65211601e-01 4.41029696e-02 2.08073313e+01] [-1.65025414e-01 9.86258036e-01 -7.85483741e-03 -2.63011561e+00] [-4.47946185e-02 4.61037116e-04 9.98996111e-01 -1.33997460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.131052754 meters 0.015481905783784765 Centerline is valid? [True, True] Translation: X:20.84, Y:-2.63, Z:-1.34 [[ 9.85098668e-01 1.65126574e-01 4.81022682e-02 2.08392235e+01] [-1.64904332e-01 9.86272247e-01 -8.58002477e-03 -2.63370594e+00] [-4.88587222e-02 5.19898564e-04 9.98805564e-01 -1.33958172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161052754 meters 0.015618478474581952 Centerline is valid? [True, True] Translation: X:20.87, Y:-2.64, Z:-1.34 [[ 9.85071868e-01 1.64809272e-01 4.97123679e-02 2.08696828e+01] [-1.64570839e-01 9.86325293e-01 -8.88008924e-03 -2.63976923e+00] [-5.04960869e-02 5.66320008e-04 9.98724098e-01 -1.34088611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.191052753999998 meters 0.015096929415028847 Centerline is valid? [True, True] Translation: X:20.90, Y:-2.65, Z:-1.34 [[ 9.85153651e-01 1.63431037e-01 5.25602536e-02 2.09009436e+01] [-1.63161860e-01 9.86554523e-01 -9.40115082e-03 -2.64775192e+00] [-5.33899957e-02 6.85749328e-04 9.98573502e-01 -1.33672675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221052754 meters 0.015497268849756106 Centerline is valid? [True, True] Translation: X:20.93, Y:-2.66, Z:-1.34 [[ 9.85191295e-01 1.62612117e-01 5.43637022e-02 2.09318747e+01] [-1.62322121e-01 9.86689773e-01 -9.73761074e-03 -2.65671375e+00] [-5.52235625e-02 7.68977884e-04 9.98473719e-01 -1.33646328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251052754 meters 0.015974211548356817 Centerline is valid? [True, True] Translation: X:20.96, Y:-2.67, Z:-1.34 [[ 9.85411041e-01 1.60505063e-01 5.65968702e-02 2.09620876e+01] [-1.60186340e-01 9.87034570e-01 -1.01535331e-02 -2.66577567e+00] [-5.74927609e-02 9.39358125e-04 9.98345481e-01 -1.33542389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281052753999997 meters 0.015816988010477644 Centerline is valid? [True, True] Translation: X:20.99, Y:-2.67, Z:-1.34 [[ 9.85589095e-01 1.59006194e-01 5.77162566e-02 2.09940392e+01] [-1.58671403e-01 9.87277016e-01 -1.03671980e-02 -2.67126114e+00] [-5.86303823e-02 1.05987784e-03 9.98279197e-01 -1.33701302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311052754 meters 0.015892491273964037 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.68, Z:-1.34 [[ 9.85600363e-01 1.58774827e-01 5.81590763e-02 2.10264797e+01] [-1.58433643e-01 9.87314212e-01 -1.04607298e-02 -2.67687662e+00] [-5.90821831e-02 1.09574473e-03 9.98252521e-01 -1.33919069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341052754 meters 0.016241759590917608 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.68, Z:-1.34 [[ 9.85762560e-01 1.58001813e-01 5.75117630e-02 2.10579103e+01] [-1.57665943e-01 9.87438158e-01 -1.03602448e-02 -2.68313850e+00] [-5.84262468e-02 1.14509513e-03 9.98291071e-01 -1.34150922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.371052753999997 meters 0.017268394513581656 Centerline is valid? [True, True] Translation: X:21.09, Y:-2.69, Z:-1.34 [[ 9.86637976e-01 1.52902699e-01 5.62696152e-02 2.10879895e+01] [-1.52572071e-01 9.88240213e-01 -1.01510747e-02 -2.69157572e+00] [-5.71600233e-02 1.43026403e-03 9.98364005e-01 -1.34467017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401052754 meters 0.018275334052469772 Centerline is valid? [True, True] Translation: X:21.12, Y:-2.70, Z:-1.35 [[ 9.86963758e-01 1.51072127e-01 5.54955191e-02 2.11184836e+01] [-1.50747584e-01 9.88521580e-01 -1.00126147e-02 -2.69862288e+00] [-5.63711452e-02 1.51627238e-03 9.98408731e-01 -1.34838562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431052754 meters 0.01749259150886629 Centerline is valid? [True, True] Translation: X:21.15, Y:-2.70, Z:-1.35 [[ 9.87236161e-01 1.49527866e-01 5.48286337e-02 2.11498366e+01] [-1.49208383e-01 9.88756232e-01 -9.89808904e-03 -2.70232529e+00] [-5.56921934e-02 1.59085966e-03 9.98446718e-01 -1.35123774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461052753999997 meters 0.018795156457819075 Centerline is valid? [True, True] Translation: X:21.18, Y:-2.71, Z:-1.35 [[ 9.87461480e-01 1.48590175e-01 5.32990282e-02 2.11798155e+01] [-1.48286277e-01 9.88897553e-01 -9.63383219e-03 -2.70957213e+00] [-5.41387713e-02 1.60952374e-03 9.98532124e-01 -1.35477727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491052754 meters 0.01689901143644163 Centerline is valid? [True, True] Translation: X:21.21, Y:-2.71, Z:-1.36 [[ 9.87258459e-01 1.50757400e-01 5.09209241e-02 2.12118318e+01] [-1.50482365e-01 9.88569749e-01 -9.21464146e-03 -2.71037771e+00] [-5.17280605e-02 1.43453167e-03 9.98660177e-01 -1.35653016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521052754 meters 0.01814314378744815 Centerline is valid? [True, True] Translation: X:21.24, Y:-2.72, Z:-1.36 [[ 9.87033683e-01 1.52694765e-01 4.94855314e-02 2.12423555e+01] [-1.52436838e-01 9.88272533e-01 -8.96724116e-03 -2.71718468e+00] [-5.02744423e-02 1.30755113e-03 9.98734585e-01 -1.36129488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551052753999997 meters 0.01711421080303861 Centerline is valid? [True, True] Translation: X:21.27, Y:-2.72, Z:-1.36 [[ 9.86365153e-01 1.57360667e-01 4.81809627e-02 2.12737145e+01] [-1.57121045e-01 9.87540635e-01 -8.74474367e-03 -2.72001310e+00] [-4.89567372e-02 1.05526723e-03 9.98800343e-01 -1.36493679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581052753999998 meters 0.01598272960602041 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.72, Z:-1.36 [[ 9.85866474e-01 1.60436643e-01 4.82429200e-02 2.13060250e+01] [-1.60200157e-01 9.87045728e-01 -8.75443433e-03 -2.72375453e+00] [-4.90225001e-02 9.02179942e-04 9.98797267e-01 -1.36456285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611052754 meters 0.015210521969140174 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.73, Z:-1.36 [[ 9.84893355e-01 1.66137979e-01 4.88185511e-02 2.13372506e+01] [-1.65902037e-01 9.86102307e-01 -8.87430696e-03 -2.72777969e+00] [-4.96144453e-02 6.41148878e-04 9.98768239e-01 -1.36318416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641052753999997 meters 0.014779405624900873 Centerline is valid? [True, True] Translation: X:21.37, Y:-2.73, Z:-1.36 [[ 9.83874567e-01 1.72001621e-01 4.90538391e-02 2.13689614e+01] [-1.71770734e-01 9.85096606e-01 -8.91584259e-03 -2.73287730e+00] [-4.98563098e-02 3.46056801e-04 9.98756341e-01 -1.36229939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671052753999998 meters 0.014593188317051812 Centerline is valid? [True, True] Translation: X:21.40, Y:-2.74, Z:-1.36 [[ 9.83337323e-01 1.74946131e-01 4.94121463e-02 2.14002697e+01] [-1.74714952e-01 9.84577984e-01 -8.99325956e-03 -2.73818728e+00] [-5.02234474e-02 2.10367017e-04 9.98737984e-01 -1.36227202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701052754 meters 0.014651535538778973 Centerline is valid? [True, True] Translation: X:21.43, Y:-2.74, Z:-1.36 [[ 9.82952518e-01 1.77062231e-01 4.95309279e-02 2.14308152e+01] [-1.76831990e-01 9.84199651e-01 -9.02741304e-03 -2.74277121e+00] [-5.03467358e-02 1.14865837e-04 9.98731792e-01 -1.36419354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731052754 meters 0.014899888753018462 Centerline is valid? [True, True] Translation: X:21.46, Y:-2.75, Z:-1.37 [[ 9.83084544e-01 1.76608907e-01 4.85188031e-02 2.14622461e+01] [-1.76386914e-01 9.84281094e-01 -8.85345121e-03 -2.74893067e+00] [-4.93197390e-02 1.45609066e-04 9.98783031e-01 -1.36766923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761052753999998 meters 0.015075641896792051 Centerline is valid? [True, True] Translation: X:21.49, Y:-2.76, Z:-1.37 [[ 9.83373489e-01 1.75324433e-01 4.73067012e-02 2.14933427e+01] [-1.75111378e-01 9.84510689e-01 -8.64342592e-03 -2.75660023e+00] [-4.80893567e-02 2.15774277e-04 9.98843014e-01 -1.37122678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.791052754 meters 0.015540620561406832 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.77, Z:-1.37 [[ 9.84017830e-01 1.71888835e-01 4.65095605e-02 2.15240372e+01] [-1.71678545e-01 9.85116276e-01 -8.50879003e-03 -2.76853983e+00] [-4.72798910e-02 3.88107428e-04 9.98881605e-01 -1.37004595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821052754 meters 0.015762994592884043 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.78, Z:-1.37 [[ 9.84163846e-01 1.70656698e-01 4.79355422e-02 2.15541911e+01] [-1.70431246e-01 9.85330436e-01 -8.78195249e-03 -2.77638084e+00] [-4.87310477e-02 4.73165955e-04 9.98811825e-01 -1.36876437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.851052753999998 meters 0.016177957937885325 Centerline is valid? [True, True] Translation: X:21.59, Y:-2.78, Z:-1.37 [[ 9.84775798e-01 1.66713897e-01 4.92250443e-02 2.15853446e+01] [-1.66470664e-01 9.86005066e-01 -9.02925266e-03 -2.78378303e+00] [-5.00414449e-02 6.97263665e-04 9.98746899e-01 -1.36743256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881052754 meters 0.017252322890709826 Centerline is valid? [True, True] Translation: X:21.62, Y:-2.79, Z:-1.37 [[ 9.85413763e-01 1.63487328e-01 4.72399062e-02 2.16153202e+01] [-1.63259015e-01 9.86545077e-01 -8.67781064e-03 -2.78854117e+00] [-4.80230090e-02 8.38893508e-04 9.98845877e-01 -1.37375375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911052754 meters 0.017335105623800057 Centerline is valid? [True, True] Translation: X:21.65, Y:-2.79, Z:-1.38 [[ 9.85505422e-01 1.63273954e-01 4.60508393e-02 2.16468736e+01] [-1.63056612e-01 9.86580420e-01 -8.46261751e-03 -2.79315394e+00] [-4.68145814e-02 8.31061611e-04 9.98903251e-01 -1.37766926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941052753999998 meters 0.01778142105291572 Centerline is valid? [True, True] Translation: X:21.68, Y:-2.80, Z:-1.39 [[ 9.85442325e-01 1.64787746e-01 4.18141493e-02 2.16776800e+01] [-1.64609554e-01 9.86328805e-01 -7.69305884e-03 -2.79602146e+00] [-4.25102218e-02 6.98057296e-04 9.99095788e-01 -1.38526196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.971052754 meters 0.017900469797740914 Centerline is valid? [True, True] Translation: X:21.71, Y:-2.80, Z:-1.39 [[ 9.85293762e-01 1.66196240e-01 3.96864270e-02 2.17094003e+01] [-1.66036560e-01 9.86092508e-01 -7.30930925e-03 -2.80013646e+00] [-4.03492681e-02 6.12418991e-04 9.99185449e-01 -1.38971564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001052754 meters 0.017469714222242857 Centerline is valid? [True, True] Translation: X:21.74, Y:-2.80, Z:-1.39 [[ 9.84802116e-01 1.69524364e-01 3.77661496e-02 2.17425760e+01] [-1.69381932e-01 9.85525889e-01 -6.96296235e-03 -2.80195128e+00] [-3.83999099e-02 4.60236674e-04 9.99262345e-01 -1.39335563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.031052753999997 meters 0.017341621588410978 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.81, Z:-1.39 [[ 9.84458346e-01 1.71290314e-01 3.87478293e-02 2.17734253e+01] [-1.71141181e-01 9.85220511e-01 -7.15826571e-03 -2.80569232e+00] [-3.94012978e-02 4.15665168e-04 9.99223381e-01 -1.39482597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061052754 meters 0.016618754984202237 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.81, Z:-1.39 [[ 9.83712551e-01 1.74953139e-01 4.12433824e-02 2.18045926e+01] [-1.74787032e-01 9.84576717e-01 -7.62763725e-03 -2.80793899e+00] [-4.19417531e-02 2.94594083e-04 9.99120014e-01 -1.39342688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.091052754 meters 0.015950550971472684 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.81, Z:-1.39 [[ 9.83355004e-01 1.76864114e-01 4.16175607e-02 2.18366974e+01] [-1.76696823e-01 9.84235257e-01 -7.69366979e-03 -2.81201672e+00] [-4.23222046e-02 2.11917930e-04 9.99103992e-01 -1.39285967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121052753999997 meters 0.0161553400928358 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.82, Z:-1.40 [[ 9.82646099e-01 1.80623553e-01 4.22110803e-02 2.18669538e+01] [-1.80454370e-01 9.83552301e-01 -7.81614891e-03 -2.81662555e+00] [-4.29285857e-02 6.33343296e-05 9.99078141e-01 -1.39837141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.151052754 meters 0.015978375268487215 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.82, Z:-1.40 [[ 9.82250355e-01 1.82569228e-01 4.30432072e-02 2.18987225e+01] [-1.82394979e-01 9.83193001e-01 -7.97462991e-03 -2.82187757e+00] [-4.37757020e-02 -1.77818127e-05 9.99041384e-01 -1.40026030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181052754 meters 0.01589047949033777 Centerline is valid? [True, True] Translation: X:21.93, Y:-2.83, Z:-1.40 [[ 9.81627727e-01 1.85331716e-01 4.53779734e-02 2.19295717e+01] [-1.85140472e-01 9.82676008e-01 -8.41841211e-03 -2.82839924e+00] [-4.61520445e-02 -1.37552662e-04 9.98934417e-01 -1.40191084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.211052753999997 meters 0.015575002023517366 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.84, Z:-1.40 [[ 9.81507629e-01 1.85550402e-01 4.70512677e-02 2.19614368e+01] [-1.85344425e-01 9.82634738e-01 -8.74160462e-03 -2.83613677e+00] [-4.78562183e-02 -1.40738506e-04 9.98854225e-01 -1.40058776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241052754 meters 0.015303462222293689 Centerline is valid? [True, True] Translation: X:21.99, Y:-2.85, Z:-1.40 [[ 9.81612872e-01 1.84524811e-01 4.88545079e-02 2.19924740e+01] [-1.84301216e-01 9.82827852e-01 -9.08161382e-03 -2.84661513e+00] [-4.96913541e-02 -8.93161915e-05 9.98764618e-01 -1.39990092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.271052754 meters 0.015323337123503061 Centerline is valid? [True, True] Translation: X:22.02, Y:-2.86, Z:-1.40 [[ 9.81589979e-01 1.84503751e-01 4.93910800e-02 2.20220104e+01] [-1.84274580e-01 9.82831806e-01 -9.19343245e-03 -2.85623614e+00] [-5.02393471e-02 -7.73393677e-05 9.98737204e-01 -1.40040812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301052753999997 meters 0.015163083002169843 Centerline is valid? [True, True] Translation: X:22.05, Y:-2.86, Z:-1.40 [[ 9.81464157e-01 1.84919610e-01 5.03273959e-02 2.20534449e+01] [-1.84681578e-01 9.82753647e-01 -9.38001130e-03 -2.86236394e+00] [-5.11939799e-02 -8.83980176e-05 9.98688725e-01 -1.40137429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.331052753999998 meters 0.015181471753097508 Centerline is valid? [True, True] Translation: X:22.08, Y:-2.87, Z:-1.40 [[ 9.81414751e-01 1.85341328e-01 4.97360812e-02 2.20846281e+01] [-1.85108814e-01 9.82674200e-01 -9.28140268e-03 -2.86776277e+00] [-5.05945913e-02 -9.76814873e-05 9.98719269e-01 -1.40414772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361052754 meters 0.015173166040850578 Centerline is valid? [True, True] Translation: X:22.12, Y:-2.87, Z:-1.41 [[ 9.81450608e-01 1.85642075e-01 4.78719614e-02 2.21161848e+01] [-1.85426452e-01 9.82617428e-01 -8.94539998e-03 -2.86932202e+00] [-4.87004662e-02 -9.72597136e-05 9.98813424e-01 -1.41081026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.391052753999997 meters 0.015269060837509283 Centerline is valid? [True, True] Translation: X:22.15, Y:-2.87, Z:-1.42 [[ 9.81618769e-01 1.84882902e-01 4.73593184e-02 2.21485850e+01] [-1.84670461e-01 9.82760556e-01 -8.86062405e-03 -2.87441367e+00] [-4.81810480e-02 -4.81122856e-05 9.98838618e-01 -1.41561631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421052753999998 meters 0.01562714212858859 Centerline is valid? [True, True] Translation: X:22.18, Y:-2.88, Z:-1.42 [[ 9.82560934e-01 1.80161627e-01 4.59978281e-02 2.21784509e+01] [-1.79955431e-01 9.83637002e-01 -8.61923287e-03 -2.88462854e+00] [-4.67980208e-02 1.91362514e-04 9.98904354e-01 -1.41864895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.451052754 meters 0.015827687544484218 Centerline is valid? [True, True] Translation: X:22.21, Y:-2.89, Z:-1.42 [[ 9.83146575e-01 1.77073543e-01 4.54727718e-02 2.22089533e+01] [-1.76868260e-01 9.84197562e-01 -8.53094535e-03 -2.89356740e+00] [-4.62647958e-02 3.44479696e-04 9.98929152e-01 -1.41953701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481052754 meters 0.016496915729832938 Centerline is valid? [True, True] Translation: X:22.24, Y:-2.90, Z:-1.42 [[ 9.84163579e-01 1.71186867e-01 4.60120341e-02 2.22399530e+01] [-1.70969765e-01 9.85238371e-01 -8.64240039e-03 -2.90153374e+00] [-4.68122870e-02 6.38869030e-04 9.98903500e-01 -1.42287549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511052753999998 meters 0.01664674975570395 Centerline is valid? [True, True] Translation: X:22.27, Y:-2.91, Z:-1.43 [[ 9.84501148e-01 1.68940213e-01 4.70817872e-02 2.22717340e+01] [-1.68709761e-01 9.85625996e-01 -8.85507848e-03 -2.90789370e+00] [-4.79010123e-02 7.74677873e-04 9.98851787e-01 -1.42516665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541052754 meters 0.016876722448504987 Centerline is valid? [True, True] Translation: X:22.30, Y:-2.91, Z:-1.43 [[ 9.84556940e-01 1.68125374e-01 4.88005134e-02 2.23018996e+01] [-1.67876137e-01 9.85765248e-01 -9.19119360e-03 -2.91396513e+00] [-4.96511231e-02 8.56811766e-04 9.98766255e-01 -1.42658132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.571052754 meters 0.016674007914596733 Centerline is valid? [True, True] Translation: X:22.33, Y:-2.92, Z:-1.43 [[ 9.84273096e-01 1.69651952e-01 4.92411075e-02 2.23325988e+01] [-1.69399531e-01 9.85503718e-01 -9.28550236e-03 -2.91891273e+00] [-5.01025981e-02 7.98049627e-04 9.98743757e-01 -1.42862819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601052753999998 meters 0.016121364865519003 Centerline is valid? [True, True] Translation: X:22.36, Y:-2.92, Z:-1.43 [[ 9.83336926e-01 1.75120055e-01 4.88001757e-02 2.23630848e+01] [-1.74878322e-01 9.84546947e-01 -9.21316333e-03 -2.92194903e+00] [-4.96594737e-02 5.25550882e-04 9.98766069e-01 -1.43294530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.631052754 meters 0.015422366561682483 Centerline is valid? [True, True] Translation: X:22.40, Y:-2.93, Z:-1.44 [[ 9.82705052e-01 1.78863533e-01 4.79438876e-02 2.23951357e+01] [-1.78634166e-01 9.83873834e-01 -9.06168681e-03 -2.92530085e+00] [-4.87915418e-02 3.40549023e-04 9.98808925e-01 -1.43587572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661052754 meters 0.014989894119194679 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.93, Z:-1.44 [[ 9.81550046e-01 1.85446908e-01 4.65720092e-02 2.24281154e+01] [-1.85237414e-01 9.82654285e-01 -8.81229577e-03 -2.92668469e+00] [-4.73983974e-02 2.28307610e-05 9.98876064e-01 -1.44123570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.691052753999998 meters 0.014778636242568978 Centerline is valid? [True, True] Translation: X:22.46, Y:-2.93, Z:-1.45 [[ 9.80669288e-01 1.89627873e-01 4.82598983e-02 2.24589992e+01] [-1.89407174e-01 9.81856019e-01 -9.14775184e-03 -2.93039763e+00] [-4.91189403e-02 -1.69851665e-04 9.98792922e-01 -1.44598483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721052754 meters 0.014768809645953097 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.94, Z:-1.45 [[ 9.80400408e-01 1.90500045e-01 5.02471240e-02 2.24889683e+01] [-1.90261613e-01 9.81687163e-01 -9.53060333e-03 -2.93737342e+00] [-5.11425370e-02 -2.16291480e-04 9.98691341e-01 -1.44751618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.751052754 meters 0.014537571595948708 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.95, Z:-1.45 [[ 9.80455256e-01 1.89986405e-01 5.11141473e-02 2.25196083e+01] [-1.89738379e-01 9.81786704e-01 -9.70641847e-03 -2.94614357e+00] [-5.20272778e-02 -1.81606464e-04 9.98645648e-01 -1.44647130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781052753999997 meters 0.014203228425043797 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.96, Z:-1.45 [[ 9.80833380e-01 1.86901874e-01 5.50778617e-02 2.25503762e+01] [-1.86608211e-01 9.82378588e-01 -1.04731078e-02 -2.95688521e+00] [-5.60647554e-02 -5.60749240e-06 9.98427135e-01 -1.44606797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.811052754 meters 0.013999818900947775 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.96, Z:-1.45 [[ 9.80664300e-01 1.87010323e-01 5.76599536e-02 2.25814626e+01] [-1.86687767e-01 9.82357949e-01 -1.09790141e-02 -2.96133991e+00] [-5.86959027e-02 2.31922571e-06 9.98275909e-01 -1.44799121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841052754 meters 0.013999818900947775 Centerline is valid? [True, True] Translation: X:22.61, Y:-2.97, Z:-1.45 [[ 9.80615956e-01 1.87264052e-01 5.76586617e-02 2.26131902e+01] [-1.86941535e-01 9.82309613e-01 -1.09857949e-02 -2.96747382e+00] [-5.86959021e-02 -5.95298214e-06 9.98275909e-01 -1.45007865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.871052753999997 meters 0.013974818323998174 Centerline is valid? [True, True] Translation: X:22.64, Y:-2.97, Z:-1.45 [[ 9.80703615e-01 1.86812625e-01 5.76321395e-02 2.26449033e+01] [-1.86488721e-01 9.82395563e-01 -1.09961461e-02 -2.97450887e+00] [-5.86717771e-02 3.62162750e-05 9.98277327e-01 -1.45188374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901052754 meters 0.014060646837724533 Centerline is valid? [True, True] Translation: X:22.68, Y:-2.98, Z:-1.45 [[ 9.80915643e-01 1.85752766e-01 5.74492080e-02 2.26754357e+01] [-1.85428165e-01 9.82596508e-01 -1.09771999e-02 -2.98199648e+00] [-5.84884364e-02 1.15005888e-04 9.98288079e-01 -1.45448436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.931052754 meters 0.014297851510037516 Centerline is valid? [True, True] Translation: X:22.71, Y:-2.99, Z:-1.46 [[ 9.81462006e-01 1.82622574e-01 5.81491747e-02 2.27068772e+01] [-1.82283617e-01 9.83183041e-01 -1.11260895e-02 -2.98941785e+00] [-5.92031575e-02 3.20192250e-04 9.98245903e-01 -1.45755438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961052753999997 meters 0.014174779357800059 Centerline is valid? [True, True] Translation: X:22.74, Y:-2.99, Z:-1.46 [[ 9.81663217e-01 1.81346526e-01 5.87432151e-02 2.27387785e+01] [-1.80997378e-01 9.83419170e-01 -1.12554489e-02 -2.99485887e+00] [-5.98103404e-02 4.16692209e-04 9.98209672e-01 -1.45959812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.991052754 meters 0.015290397802169174 Centerline is valid? [True, True] Translation: X:22.77, Y:-3.00, Z:-1.46 [[ 9.82403104e-01 1.76975237e-01 5.96984729e-02 2.27686421e+01] [-1.76605509e-01 9.84215048e-01 -1.14557563e-02 -3.00327704e+00] [-6.07835205e-02 7.11091309e-04 9.98150719e-01 -1.46310316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021052754 meters 0.015670781214959708 Centerline is valid? [True, True] Translation: X:22.80, Y:-3.01, Z:-1.47 [[ 9.82762863e-01 1.74643607e-01 6.06363388e-02 2.27995204e+01] [-1.74256855e-01 9.84631318e-01 -1.16497567e-02 -3.00953723e+00] [-6.17389937e-02 8.82650571e-04 9.98091938e-01 -1.46543602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.051052753999997 meters 0.01602856985292864 Centerline is valid? [True, True] Translation: X:22.83, Y:-3.02, Z:-1.47 [[ 9.83480307e-01 1.70439715e-01 6.09654761e-02 2.28301457e+01] [-1.70039858e-01 9.85367416e-01 -1.17261329e-02 -3.01623593e+00] [-6.20719924e-02 1.16585992e-03 9.98070994e-01 -1.46848454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081052753999998 meters 0.016616248348877417 Centerline is valid? [True, True] Translation: X:22.86, Y:-3.03, Z:-1.47 [[ 9.84004471e-01 1.67696607e-01 6.01086389e-02 2.28604327e+01] [-1.67301979e-01 9.85837750e-01 -1.15748837e-02 -3.02559408e+00] [-6.11984341e-02 1.33344313e-03 9.98124728e-01 -1.47079433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.111052754 meters 0.01717202496124678 Centerline is valid? [True, True] Translation: X:22.89, Y:-3.03, Z:-1.47 [[ 9.84133730e-01 1.66903786e-01 6.01990748e-02 2.28907765e+01] [-1.66506047e-01 9.85972205e-01 -1.15994612e-02 -3.03262571e+00] [-6.12906085e-02 1.39191108e-03 9.98118993e-01 -1.47316406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141052753999997 meters 0.017460115366279595 Centerline is valid? [True, True] Translation: X:22.92, Y:-3.04, Z:-1.48 [[ 9.84152113e-01 1.66686748e-01 6.04991449e-02 2.29224093e+01] [-1.66283790e-01 9.86008872e-01 -1.16707151e-02 -3.03858927e+00] [-6.15980471e-02 1.42573181e-03 9.98100019e-01 -1.47650720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.171052753999998 meters 0.016256127197317817 Centerline is valid? [True, True] Translation: X:22.95, Y:-3.04, Z:-1.48 [[ 9.83759982e-01 1.68375375e-01 6.21774120e-02 2.29545379e+01] [-1.67952063e-01 9.85721994e-01 -1.20106531e-02 -3.04077661e+00] [-6.33119407e-02 1.37277526e-03 9.97992842e-01 -1.47964394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201052754 meters 0.015149821149908167 Centerline is valid? [True, True] Translation: X:22.99, Y:-3.04, Z:-1.48 [[ 9.83415363e-01 1.70071204e-01 6.30080126e-02 2.29866448e+01] [-1.69638975e-01 9.85430924e-01 -1.21865307e-02 -3.04427774e+00] [-6.41626221e-02 1.29580678e-03 9.97938615e-01 -1.48117661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231052754 meters 0.014711792489606452 Centerline is valid? [True, True] Translation: X:23.02, Y:-3.05, Z:-1.48 [[ 9.82662628e-01 1.74654280e-01 6.22096613e-02 2.30177809e+01] [-1.74241136e-01 9.84629313e-01 -1.20475130e-02 -3.04985846e+00] [-6.33576058e-02 9.99158777e-04 9.97990388e-01 -1.48262370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261052753999998 meters 0.013641339797745665 Centerline is valid? [True, True] Translation: X:23.05, Y:-3.05, Z:-1.48 [[ 9.82025462e-01 1.78049661e-01 6.26443162e-02 2.30494054e+01] [-1.77636608e-01 9.84021177e-01 -1.21473889e-02 -3.05397441e+00] [-6.38061723e-02 8.01121320e-04 9.97961989e-01 -1.48259532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.291052754 meters 0.01376237387268229 Centerline is valid? [True, True] Translation: X:23.08, Y:-3.06, Z:-1.48 [[ 9.81763530e-01 1.78966625e-01 6.41195662e-02 2.30802353e+01] [-1.78534730e-01 9.83854840e-01 -1.24500796e-02 -3.06037119e+00] [-6.53124943e-02 7.75464661e-04 9.97864558e-01 -1.48357619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321052754 meters 0.013521964953675778 Centerline is valid? [True, True] Translation: X:23.11, Y:-3.06, Z:-1.49 [[ 9.81646884e-01 1.78614265e-01 6.68306743e-02 2.31124504e+01] [-1.78143099e-01 9.83918810e-01 -1.29927861e-02 -3.06465483e+00] [-6.80766545e-02 8.48904615e-04 9.97679732e-01 -1.48558564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351052753999998 meters 0.013668392117553031 Centerline is valid? [True, True] Translation: X:23.14, Y:-3.07, Z:-1.49 [[ 9.81648960e-01 1.78280079e-01 6.76870277e-02 2.31436990e+01] [-1.77794763e-01 9.83979371e-01 -1.31764578e-02 -3.07146508e+00] [-6.89517389e-02 9.00257015e-04 9.97619590e-01 -1.48750529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381052754 meters 0.013849276973047862 Centerline is valid? [True, True] Translation: X:23.17, Y:-3.08, Z:-1.49 [[ 9.81690700e-01 1.77763749e-01 6.84355098e-02 2.31741218e+01] [-1.77265104e-01 9.84072720e-01 -1.33403159e-02 -3.07852784e+00] [-6.97169429e-02 9.64836253e-04 9.97566347e-01 -1.48846555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411052754 meters 0.013518827477031507 Centerline is valid? [True, True] Translation: X:23.21, Y:-3.08, Z:-1.49 [[ 9.81454207e-01 1.78797288e-01 6.91315351e-02 2.32064153e+01] [-1.78289930e-01 9.83885507e-01 -1.34910770e-02 -3.08321708e+00] [-7.04296835e-02 9.15417669e-04 9.97516327e-01 -1.48998498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441052753999998 meters 0.013314320094389544 Centerline is valid? [True, True] Translation: X:23.24, Y:-3.09, Z:-1.49 [[ 9.81194705e-01 1.80374211e-01 6.87175018e-02 2.32378609e+01] [-1.79876303e-01 9.83597731e-01 -1.34170919e-02 -3.08771100e+00] [-7.00104762e-02 8.04129420e-04 9.97545932e-01 -1.49288533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471052754 meters 0.012845016414519735 Centerline is valid? [True, True] Translation: X:23.27, Y:-3.09, Z:-1.50 [[ 9.80762180e-01 1.83024682e-01 6.78786616e-02 2.32692085e+01] [-1.82544112e-01 9.83108121e-01 -1.32691162e-02 -3.08995958e+00] [-6.91606392e-02 6.22997301e-04 9.97605342e-01 -1.49708017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501052754 meters 0.012311060481870216 Centerline is valid? [True, True] Translation: X:23.30, Y:-3.09, Z:-1.50 [[ 9.80082956e-01 1.86777288e-01 6.74658677e-02 2.33015244e+01] [-1.86310756e-01 9.82402214e-01 -1.31981510e-02 -3.09238918e+00] [-6.87437326e-02 3.65665979e-04 9.97634284e-01 -1.49952444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.531052753999997 meters 0.012160943465049373 Centerline is valid? [True, True] Translation: X:23.33, Y:-3.10, Z:-1.50 [[ 9.79737190e-01 1.88811154e-01 6.68235525e-02 2.33332897e+01] [-1.88357089e-01 9.82013387e-01 -1.30887382e-02 -3.09733950e+00] [-6.80929229e-02 2.36833740e-04 9.97678955e-01 -1.50242173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561052754 meters 0.011938045913530444 Centerline is valid? [True, True] Translation: X:23.36, Y:-3.10, Z:-1.51 [[ 9.79365846e-01 1.91442900e-01 6.47468596e-02 2.33638214e+01] [-1.91021368e-01 9.81503750e-01 -1.26974575e-02 -3.10198398e+00] [-6.59801236e-02 6.74224986e-05 9.97820935e-01 -1.50763758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.591052754 meters 0.011927004950615251 Centerline is valid? [True, True] Translation: X:23.40, Y:-3.11, Z:-1.51 [[ 9.79153195e-01 1.92510929e-01 6.47963192e-02 2.33951308e+01] [-1.92090107e-01 9.81294829e-01 -1.27219796e-02 -3.10774706e+00] [-6.60334131e-02 1.00350999e-05 9.97817412e-01 -1.51070461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621052753999997 meters 0.011879470658304088 Centerline is valid? [True, True] Translation: X:23.43, Y:-3.11, Z:-1.51 [[ 9.78765010e-01 1.94198971e-01 6.56187039e-02 2.34272901e+01] [-1.93770021e-01 9.80962156e-01 -1.29006606e-02 -3.11416931e+00] [-6.68747602e-02 -8.82223640e-05 9.97761374e-01 -1.51343814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651052754 meters 0.011904001361766559 Centerline is valid? [True, True] Translation: X:23.46, Y:-3.12, Z:-1.52 [[ 9.78607811e-01 1.94988079e-01 6.56231732e-02 2.34594085e+01] [-1.94559636e-01 9.80805604e-01 -1.29195433e-02 -3.12183315e+00] [-6.68827330e-02 -1.24454702e-04 9.97760835e-01 -1.51549145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681052754 meters 0.01181561565254162 Centerline is valid? [True, True] Translation: X:23.49, Y:-3.13, Z:-1.51 [[ 9.78552332e-01 1.94977886e-01 6.64752358e-02 2.34899779e+01] [-1.94536919e-01 9.80807633e-01 -1.31062762e-02 -3.13354377e+00] [-6.77548527e-02 -1.06710450e-04 9.97701994e-01 -1.51312923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711052753999997 meters 0.011740126324110747 Centerline is valid? [True, True] Translation: X:23.52, Y:-3.14, Z:-1.51 [[ 9.78675128e-01 1.94340931e-01 6.65326647e-02 2.35215010e+01] [-1.93896541e-01 9.80934045e-01 -1.31351106e-02 -3.14329655e+00] [-6.78168455e-02 -4.54474504e-05 9.97697787e-01 -1.51296978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741052754 meters 0.01186505592451231 Centerline is valid? [True, True] Translation: X:23.55, Y:-3.15, Z:-1.51 [[ 9.79068805e-01 1.92353374e-01 6.65165784e-02 2.35531022e+01] [-1.91903362e-01 9.81325719e-01 -1.31503669e-02 -3.15394509e+00] [-6.78039466e-02 1.10358951e-04 9.97698658e-01 -1.51485367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.771052754 meters 0.011863674760169729 Centerline is valid? [True, True] Translation: X:23.58, Y:-3.16, Z:-1.52 [[ 9.79271174e-01 1.91366541e-01 6.63838470e-02 2.35848808e+01] [-1.90914800e-01 9.81518624e-01 -1.31427167e-02 -3.16173645e+00] [-6.76720584e-02 1.96624757e-04 9.97707599e-01 -1.51889252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801052753999997 meters 0.01204784483011862 Centerline is valid? [True, True] Translation: X:23.62, Y:-3.17, Z:-1.52 [[ 9.79479161e-01 1.90399014e-01 6.60968184e-02 2.36158455e+01] [-1.89947731e-01 9.81706747e-01 -1.31043049e-02 -3.16967438e+00] [-6.73827393e-02 2.80452923e-04 9.97727161e-01 -1.52239868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831052753999998 meters 0.012406350634958586 Centerline is valid? [True, True] Translation: X:23.65, Y:-3.18, Z:-1.53 [[ 9.79999297e-01 1.88041911e-01 6.51277076e-02 2.36465668e+01] [-1.87597470e-01 9.82160901e-01 -1.29288127e-02 -3.17974961e+00] [-6.63970466e-02 4.52434183e-04 9.97793179e-01 -1.52556270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861052754 meters 0.012493751652107072 Centerline is valid? [True, True] Translation: X:23.68, Y:-3.19, Z:-1.52 [[ 9.80117047e-01 1.87028450e-01 6.62641246e-02 2.36782057e+01] [-1.86564926e-01 9.82354346e-01 -1.31707167e-02 -3.18778316e+00] [-6.75581495e-02 5.46282454e-04 9.97715189e-01 -1.52421951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891052753999997 meters 0.012537165455668277 Centerline is valid? [True, True] Translation: X:23.71, Y:-3.19, Z:-1.52 [[ 9.80028656e-01 1.87319961e-01 6.67462809e-02 2.37099473e+01] [-1.86849207e-01 9.82298801e-01 -1.32830718e-02 -3.19410520e+00] [-6.80529762e-02 5.46301331e-04 9.97681559e-01 -1.52446001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921052753999998 meters 0.012642039733586356 Centerline is valid? [True, True] Translation: X:23.74, Y:-3.20, Z:-1.53 [[ 9.79825895e-01 1.88315442e-01 6.69216649e-02 2.37424089e+01] [-1.87843335e-01 9.82108471e-01 -1.33354004e-02 -3.19625218e+00] [-6.82355958e-02 4.95581960e-04 9.97669112e-01 -1.52714407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951052754 meters 0.012437130587201995 Centerline is valid? [True, True] Translation: X:23.77, Y:-3.20, Z:-1.53 [[ 9.79678696e-01 1.89318264e-01 6.62438433e-02 2.37749608e+01] [-1.88856827e-01 9.81915680e-01 -1.32172592e-02 -3.19874186e+00] [-6.75481370e-02 4.38065233e-04 9.97715920e-01 -1.53121097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981052754 meters 0.012538760750079436 Centerline is valid? [True, True] Translation: X:23.81, Y:-3.20, Z:-1.54 [[ 9.79567318e-01 1.90834026e-01 6.34841999e-02 2.38057387e+01] [-1.90412347e-01 9.81622260e-01 -1.26837080e-02 -3.20163055e+00] [-6.47379868e-02 3.36370322e-04 9.97902240e-01 -1.53667692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011052753999998 meters 0.012568461317482644 Centerline is valid? [True, True] Translation: X:23.84, Y:-3.21, Z:-1.54 [[ 9.79641475e-01 1.91169013e-01 6.12942778e-02 2.38379447e+01] [-1.90776112e-01 9.81557085e-01 -1.22541102e-02 -3.20770177e+00] [-6.25064388e-02 3.11150534e-04 9.98044512e-01 -1.54006173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041052754 meters 0.012973484248396413 Centerline is valid? [True, True] Translation: X:23.87, Y:-3.21, Z:-1.54 [[ 9.80177155e-01 1.89679923e-01 5.72212449e-02 2.38685367e+01] [-1.89334121e-01 9.81845900e-01 -1.14550772e-02 -3.21478287e+00] [-5.83552429e-02 3.94070882e-04 9.98295803e-01 -1.54426478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071052754 meters 0.013277767363995238 Centerline is valid? [True, True] Translation: X:23.90, Y:-3.22, Z:-1.55 [[ 9.80655687e-01 1.87570728e-01 5.59611158e-02 2.39001746e+01] [-1.87236210e-01 9.82250965e-01 -1.12091000e-02 -3.22167720e+00] [-5.70703590e-02 5.14320411e-04 9.98370026e-01 -1.54742205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101052753999998 meters 0.014710617469245641 Centerline is valid? [True, True] Translation: X:23.93, Y:-3.23, Z:-1.55 [[ 9.81871541e-01 1.81436998e-01 5.48533727e-02 2.39296863e+01] [-1.81105285e-01 9.83402188e-01 -1.10005146e-02 -3.23066107e+00] [-5.59388271e-02 8.66856515e-04 9.98433822e-01 -1.55269741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.131052754 meters 0.015491184792091155 Centerline is valid? [True, True] Translation: X:23.96, Y:-3.24, Z:-1.55 [[ 9.82380679e-01 1.78770707e-01 5.44907015e-02 2.39604840e+01] [-1.78438596e-01 9.83890231e-01 -1.09399025e-02 -3.23913730e+00] [-5.55686030e-02 1.02390458e-03 9.98454346e-01 -1.55482395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161052754 meters 0.016918318899245346 Centerline is valid? [True, True] Translation: X:23.99, Y:-3.25, Z:-1.55 [[ 9.83255836e-01 1.73011371e-01 5.72278407e-02 2.39912241e+01] [-1.72634364e-01 9.84918785e-01 -1.15049436e-02 -3.25074799e+00] [-5.83552614e-02 1.43281102e-03 9.98294851e-01 -1.55185695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.191052753999998 meters 0.016892501395744563 Centerline is valid? [True, True] Translation: X:24.02, Y:-3.26, Z:-1.55 [[ 9.83579550e-01 1.70609251e-01 5.88536495e-02 2.40228432e+01] [-1.70205995e-01 9.85337428e-01 -1.18352083e-02 -3.25783344e+00] [-6.00098997e-02 1.62362489e-03 9.98196462e-01 -1.55083802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221052754 meters 0.01816309427397585 Centerline is valid? [True, True] Translation: X:24.05, Y:-3.27, Z:-1.55 [[ 9.84076580e-01 1.67128952e-01 6.05078286e-02 2.40532700e+01] [-1.66695150e-01 9.85933209e-01 -1.21833927e-02 -3.26677423e+00] [-6.16928753e-02 1.90302981e-03 9.98093366e-01 -1.54992076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.251052754 meters 0.018479733325397794 Centerline is valid? [True, True] Translation: X:24.08, Y:-3.27, Z:-1.55 [[ 9.84286127e-01 1.65211394e-01 6.23379073e-02 2.40844420e+01] [-1.64746145e-01 9.86255945e-01 -1.25665865e-02 -3.27137945e+00] [-6.35572749e-02 2.09918684e-03 9.97975985e-01 -1.55260664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281052753999997 meters 0.018404211597871506 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.28, Z:-1.56 [[ 9.84101886e-01 1.65972373e-01 6.32190636e-02 2.41156887e+01] [-1.65494471e-01 9.86128180e-01 -1.27590230e-02 -3.27580714e+00] [-6.44597454e-02 2.09377316e-03 9.97918112e-01 -1.55550463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311052754 meters 0.019371967219713616 Centerline is valid? [True, True] Translation: X:24.15, Y:-3.28, Z:-1.56 [[ 9.83748401e-01 1.67653033e-01 6.42770849e-02 2.41462131e+01] [-1.67161498e-01 9.85843967e-01 -1.29886733e-02 -3.28369970e+00] [-6.55447669e-02 2.03293277e-03 9.97847559e-01 -1.55665529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341052754 meters 0.01661392005801288 Centerline is valid? [True, True] Translation: X:24.18, Y:-3.28, Z:-1.56 [[ 9.82996766e-01 1.72296728e-01 6.34916959e-02 2.41783846e+01] [-1.71826235e-01 9.85043608e-01 -1.28388044e-02 -3.28479033e+00] [-6.47541732e-02 1.71096413e-03 9.97899779e-01 -1.55687369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371052753999997 meters 0.016577572058950458 Centerline is valid? [True, True] Translation: X:24.21, Y:-3.29, Z:-1.56 [[ 9.82691514e-01 1.74343896e-01 6.26226337e-02 2.42093290e+01] [-1.73890147e-01 9.84683594e-01 -1.26663841e-02 -3.28947567e+00] [-6.38717868e-02 1.55768926e-03 9.97956897e-01 -1.55947187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401052754 meters 0.016472695950930646 Centerline is valid? [True, True] Translation: X:24.24, Y:-3.29, Z:-1.57 [[ 9.81947565e-01 1.78812458e-01 6.16853750e-02 2.42400897e+01] [-1.78380442e-01 9.83882374e-01 -1.24857002e-02 -3.29049715e+00] [-6.29237520e-02 1.25683848e-03 9.98017546e-01 -1.56541355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431052754 meters 0.014759536503381123 Centerline is valid? [True, True] Translation: X:24.27, Y:-3.29, Z:-1.57 [[ 9.80794582e-01 1.85290559e-01 6.09048178e-02 2.42725176e+01] [-1.84881748e-01 9.82683426e-01 -1.23298114e-02 -3.28983197e+00] [-6.21347526e-02 8.32823038e-04 9.98067422e-01 -1.56923437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461052753999997 meters 0.014464442981865003 Centerline is valid? [True, True] Translation: X:24.30, Y:-3.29, Z:-1.57 [[ 9.80160805e-01 1.88905006e-01 5.99974550e-02 2.43033507e+01] [-1.88514879e-01 9.81995184e-01 -1.21490233e-02 -3.29409250e+00] [-6.12122231e-02 5.97583511e-04 9.98124595e-01 -1.57166452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491052754 meters 0.014107818407045147 Centerline is valid? [True, True] Translation: X:24.34, Y:-3.30, Z:-1.57 [[ 9.79604280e-01 1.92058030e-01 5.90691828e-02 2.43355928e+01] [-1.91685103e-01 9.81383488e-01 -1.19695520e-02 -3.29880313e+00] [-6.02683693e-02 4.02741983e-04 9.98182128e-01 -1.57356746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521052754 meters 0.014057598126280576 Centerline is valid? [True, True] Translation: X:24.37, Y:-3.30, Z:-1.58 [[ 9.78860905e-01 1.96313727e-01 5.73781313e-02 2.43666186e+01] [-1.95968919e-01 9.80541127e-01 -1.16310692e-02 -3.30328955e+00] [-5.85449560e-02 1.40868509e-04 9.98284763e-01 -1.57555246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551052753999997 meters 0.014056452174502932 Centerline is valid? [True, True] Translation: X:24.40, Y:-3.31, Z:-1.58 [[ 9.78504077e-01 1.98259292e-01 5.67716903e-02 2.43989948e+01] [-1.97924277e-01 9.80149607e-01 -1.15208061e-02 -3.30930972e+00] [-5.79288567e-02 3.66599799e-05 9.98320713e-01 -1.57822180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581052753999998 meters 0.014103105826451178 Centerline is valid? [True, True] Translation: X:24.43, Y:-3.32, Z:-1.58 [[ 9.78261161e-01 1.99478874e-01 5.66857943e-02 2.44307474e+01] [-1.99145975e-01 9.79902127e-01 -1.15196398e-02 -3.31557357e+00] [-5.78444551e-02 -1.95316114e-05 9.98325608e-01 -1.58265168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611052754 meters 0.013964882417550053 Centerline is valid? [True, True] Translation: X:24.46, Y:-3.32, Z:-1.58 [[ 9.78250512e-01 1.99520641e-01 5.67225735e-02 2.44627203e+01] [-1.99186427e-01 9.79893624e-01 -1.15435421e-02 -3.32366706e+00] [-5.78852631e-02 -5.89078027e-06 9.98323242e-01 -1.58482979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641052753999997 meters 0.014093834375345622 Centerline is valid? [True, True] Translation: X:24.49, Y:-3.34, Z:-1.58 [[ 9.78910215e-01 1.96148363e-01 5.71017580e-02 2.44929641e+01] [-1.95802918e-01 9.80574207e-01 -1.16379821e-02 -3.33731894e+00] [-5.82752822e-02 2.11848733e-04 9.98300529e-01 -1.58405941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671052753999998 meters 0.014826081265223653 Centerline is valid? [True, True] Translation: X:24.52, Y:-3.35, Z:-1.58 [[ 9.80125949e-01 1.89900750e-01 5.73657559e-02 2.45230091e+01] [-1.89540809e-01 9.81803112e-01 -1.17017893e-02 -3.35178444e+00] [-5.85440562e-02 5.96075566e-04 9.98284648e-01 -1.58424452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701052754 meters 0.015189106668802705 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.36, Z:-1.59 [[ 9.80645386e-01 1.86947913e-01 5.81816488e-02 2.45538545e+01] [-1.86571597e-01 9.82369504e-01 -1.18826656e-02 -3.36069620e+00] [-5.93773170e-02 7.97638090e-04 9.98235292e-01 -1.58593327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731052753999997 meters 0.015189106668802705 Centerline is valid? [True, True] Translation: X:24.59, Y:-3.37, Z:-1.59 [[ 9.80594752e-01 1.87214189e-01 5.81788577e-02 2.45854962e+01] [-1.86837531e-01 9.82318795e-01 -1.18963145e-02 -3.36723196e+00] [-5.93773443e-02 7.95469485e-04 9.98235292e-01 -1.58802411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761052753999998 meters 0.015592990383795045 Centerline is valid? [True, True] Translation: X:24.62, Y:-3.38, Z:-1.59 [[ 9.80969651e-01 1.84884331e-01 5.92986381e-02 2.46165316e+01] [-1.84487720e-01 9.82759808e-01 -1.21425175e-02 -3.37587113e+00] [-6.05212794e-02 9.71570564e-04 9.98166434e-01 -1.58973933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.791052754 meters 0.01617611873138057 Centerline is valid? [True, True] Translation: X:24.65, Y:-3.39, Z:-1.59 [[ 9.81358381e-01 1.82165861e-01 6.12480867e-02 2.46471481e+01] [-1.81736446e-01 9.83267094e-01 -1.25573290e-02 -3.38594056e+00] [-6.25107448e-02 1.19223046e-03 9.98043579e-01 -1.58892048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821052754 meters 0.01615820575304706 Centerline is valid? [True, True] Translation: X:24.68, Y:-3.39, Z:-1.59 [[ 9.81249280e-01 1.82488950e-01 6.20293034e-02 2.46797107e+01] [-1.82048162e-01 9.83207170e-01 -1.27329490e-02 -3.39328724e+00] [-6.33112783e-02 1.20187640e-03 9.97993105e-01 -1.58974276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.851052753999998 meters 0.01644555131234066 Centerline is valid? [True, True] Translation: X:24.71, Y:-3.40, Z:-1.59 [[ 9.81156519e-01 1.82995093e-01 6.20054894e-02 2.47106165e+01] [-1.82554547e-01 9.83113111e-01 -1.27455139e-02 -3.40019301e+00] [-6.32907761e-02 1.18596004e-03 9.97994424e-01 -1.59059895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881052754 meters 0.015791455976228795 Centerline is valid? [True, True] Translation: X:24.74, Y:-3.40, Z:-1.59 [[ 9.80868845e-01 1.84543283e-01 6.19684249e-02 2.47427269e+01] [-1.84105320e-01 9.82823770e-01 -1.27541174e-02 -3.40269907e+00] [-6.32577277e-02 1.10139972e-03 9.97996617e-01 -1.59390920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.911052754 meters 0.01602260679798059 Centerline is valid? [True, True] Translation: X:24.77, Y:-3.41, Z:-1.60 [[ 9.80797726e-01 1.85121229e-01 6.13673475e-02 2.47737779e+01] [-1.84691909e-01 9.82715111e-01 -1.26455639e-02 -3.40800834e+00] [-6.26475820e-02 1.06868776e-03 9.98035139e-01 -1.59762225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941052753999998 meters 0.01579968359429822 Centerline is valid? [True, True] Translation: X:24.81, Y:-3.41, Z:-1.60 [[ 9.80603053e-01 1.86197938e-01 6.12207439e-02 2.48058597e+01] [-1.85771745e-01 9.82511731e-01 -1.26316299e-02 -3.41237910e+00] [-6.25020825e-02 1.01353036e-03 9.98044319e-01 -1.60135371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.971052754 meters 0.015387018468089356 Centerline is valid? [True, True] Translation: X:24.84, Y:-3.42, Z:-1.60 [[ 9.80064505e-01 1.89122248e-01 6.08797290e-02 2.48375733e+01] [-1.88705491e-01 9.81953194e-01 -1.25763013e-02 -3.41517279e+00] [-6.21595027e-02 8.37247317e-04 9.98065877e-01 -1.60482349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001052754 meters 0.015090337414240393 Centerline is valid? [True, True] Translation: X:24.87, Y:-3.42, Z:-1.61 [[ 9.79679395e-01 1.91432299e-01 5.98494682e-02 2.48695540e+01] [-1.91032959e-01 9.81505575e-01 -1.23779720e-02 -3.42015292e+00] [-6.11121303e-02 6.93223107e-04 9.98130666e-01 -1.60687240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.031052753999997 meters 0.01447514885033353 Centerline is valid? [True, True] Translation: X:24.90, Y:-3.42, Z:-1.61 [[ 9.78523332e-01 1.97616073e-01 5.86513191e-02 2.49015942e+01] [-1.97242814e-01 9.80279444e-01 -1.21443004e-02 -3.42187930e+00] [-5.98945915e-02 3.14930108e-04 9.98204658e-01 -1.60805769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061052754 meters 0.014431701089059154 Centerline is valid? [True, True] Translation: X:24.93, Y:-3.42, Z:-1.61 [[ 9.77500954e-01 2.02675960e-01 5.84323526e-02 2.49326886e+01] [-2.02313641e-01 9.79245860e-01 -1.21134607e-02 -3.42330855e+00] [-5.96747467e-02 1.92573935e-05 9.98217874e-01 -1.61112993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091052754 meters 0.014465065949786297 Centerline is valid? [True, True] Translation: X:24.96, Y:-3.43, Z:-1.61 [[ 9.77315296e-01 2.03700671e-01 5.79728253e-02 2.49639470e+01] [-2.03345065e-01 9.79033215e-01 -1.20311656e-02 -3.42923879e+00] [-5.92080780e-02 -3.02457049e-05 9.98245662e-01 -1.61424545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121052753999997 meters 0.014487872827804251 Centerline is valid? [True, True] Translation: X:24.99, Y:-3.44, Z:-1.62 [[ 9.77714776e-01 2.01748296e-01 5.80641104e-02 2.49942904e+01] [-2.01387236e-01 9.79437397e-01 -1.20651083e-02 -3.43886487e+00] [-5.93042762e-02 1.02863935e-04 9.98239947e-01 -1.61669998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151052754 meters 0.01460467942734259 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.45, Z:-1.62 [[ 9.78158855e-01 1.99479197e-01 5.84234851e-02 2.50258305e+01] [-1.99108709e-01 9.79902028e-01 -1.21547516e-02 -3.44827791e+00] [-5.96739116e-02 2.56653248e-04 9.98217891e-01 -1.61775813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181052754 meters 0.015487965095250002 Centerline is valid? [True, True] Translation: X:25.05, Y:-3.46, Z:-1.62 [[ 9.79220611e-01 1.93575126e-01 6.04620950e-02 2.50548015e+01] [-1.93165947e-01 9.81085236e-01 -1.25966729e-02 -3.46041915e+00] [-6.17568713e-02 6.55703849e-04 9.98091007e-01 -1.61750152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.211052753999997 meters 0.015659401468902538 Centerline is valid? [True, True] Translation: X:25.09, Y:-3.47, Z:-1.62 [[ 9.79657478e-01 1.91044297e-01 6.14272187e-02 2.50861616e+01] [-1.90616475e-01 9.81581060e-01 -1.28055340e-02 -3.46916268e+00] [-6.27422187e-02 8.35997243e-04 9.98029416e-01 -1.61721088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241052754 meters 0.01657995386021682 Centerline is valid? [True, True] Translation: X:25.12, Y:-3.48, Z:-1.62 [[ 9.80293485e-01 1.86984763e-01 6.37289647e-02 2.51156141e+01] [-1.86514616e-01 9.82362137e-01 -1.33014661e-02 -3.47926279e+00] [-6.50920934e-02 1.15295720e-03 9.97878595e-01 -1.61622390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271052754 meters 0.016838375301533454 Centerline is valid? [True, True] Translation: X:25.15, Y:-3.49, Z:-1.62 [[ 9.80388105e-01 1.86467299e-01 6.37895785e-02 2.51467584e+01] [-1.85995005e-01 9.82460446e-01 -1.33165219e-02 -3.48539823e+00] [-6.51538337e-02 1.19081662e-03 9.97874521e-01 -1.61935073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301052753999997 meters 0.016671982164656925 Centerline is valid? [True, True] Translation: X:25.18, Y:-3.49, Z:-1.62 [[ 9.80154192e-01 1.87720765e-01 6.37077291e-02 2.51779773e+01] [-1.87251322e-01 9.82221796e-01 -1.33148481e-02 -3.49110408e+00] [-6.50745936e-02 1.12124770e-03 9.97879772e-01 -1.62264581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.331052753999998 meters 0.01642662636411333 Centerline is valid? [True, True] Translation: X:25.21, Y:-3.50, Z:-1.62 [[ 9.79911478e-01 1.89133535e-01 6.32613717e-02 2.52093031e+01] [-1.88672613e-01 9.81950831e-01 -1.32367033e-02 -3.49750708e+00] [-6.46230610e-02 1.03510920e-03 9.97909209e-01 -1.62436381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361052754 meters 0.016188259446037013 Centerline is valid? [True, True] Translation: X:25.24, Y:-3.50, Z:-1.63 [[ 9.79518406e-01 1.91441951e-01 6.23992948e-02 2.52396498e+01] [-1.90997247e-01 9.81503538e-01 -1.30711988e-02 -3.50308525e+00] [-6.37475044e-02 8.85386354e-04 9.97965667e-01 -1.62628499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.391052753999997 meters 0.01562059196513554 Centerline is valid? [True, True] Translation: X:25.27, Y:-3.50, Z:-1.63 [[ 9.78726272e-01 1.95880318e-01 6.10392146e-02 2.52717659e+01] [-1.95462596e-01 9.80627628e-01 -1.27995440e-02 -3.50422173e+00] [-6.23639190e-02 5.96366699e-04 9.98053298e-01 -1.63105066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421052753999998 meters 0.015151186536955484 Centerline is valid? [True, True] Translation: X:25.30, Y:-3.51, Z:-1.63 [[ 9.78157045e-01 1.98919688e-01 6.03303593e-02 2.53034798e+01] [-1.98516515e-01 9.80015708e-01 -1.26651194e-02 -3.50789551e+00] [-6.16440414e-02 4.11903137e-04 9.98098113e-01 -1.63420918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.451052754 meters 0.015040687493684476 Centerline is valid? [True, True] Translation: X:25.34, Y:-3.51, Z:-1.64 [[ 9.77582788e-01 2.02692662e-01 5.69875215e-02 2.53355253e+01] [-2.02338614e-01 9.79242387e-01 -1.19763157e-02 -3.51331496e+00] [-5.82321079e-02 1.77063976e-04 9.98303055e-01 -1.63715797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481052753999997 meters 0.015004825285331317 Centerline is valid? [True, True] Translation: X:25.37, Y:-3.52, Z:-1.64 [[ 9.77290428e-01 2.04606439e-01 5.51327873e-02 2.53672976e+01] [-2.04277282e-01 9.78844318e-01 -1.16014111e-02 -3.51942741e+00] [-5.63401390e-02 7.55720623e-05 9.98411630e-01 -1.63986587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.511052753999998 meters 0.015045825179483142 Centerline is valid? [True, True] Translation: X:25.40, Y:-3.53, Z:-1.64 [[ 9.77365150e-01 2.04146731e-01 5.55110395e-02 2.53995816e+01] [-2.03811405e-01 9.78940293e-01 -1.16967005e-02 -3.52616224e+00] [-5.67298365e-02 1.18164481e-04 9.98389559e-01 -1.64248077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541052754 meters 0.01548318849166001 Centerline is valid? [True, True] Translation: X:25.43, Y:-3.54, Z:-1.64 [[ 9.78145043e-01 2.00153326e-01 5.63109382e-02 2.54292968e+01] [-1.99800701e-01 9.79764517e-01 -1.18815590e-02 -3.53661662e+00] [-5.75495927e-02 3.70923051e-04 9.98342580e-01 -1.64401391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.571052754 meters 0.016014680710138767 Centerline is valid? [True, True] Translation: X:25.46, Y:-3.55, Z:-1.65 [[ 9.78823711e-01 1.96979639e-01 5.57060517e-02 2.54593868e+01] [-1.96628712e-01 9.80407417e-01 -1.17662893e-02 -3.54684305e+00] [-5.69323457e-02 5.63713741e-04 9.98377879e-01 -1.64521581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601052753999998 meters 0.017460716411623285 Centerline is valid? [True, True] Translation: X:25.49, Y:-3.56, Z:-1.65 [[ 9.80079746e-01 1.91038823e-01 5.42941979e-02 2.54899061e+01] [-1.90695629e-01 9.81582070e-01 -1.14811544e-02 -3.55909940e+00] [-5.54875573e-02 8.98780679e-04 9.98458974e-01 -1.64724998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.631052754 meters 0.017961271846162353 Centerline is valid? [True, True] Translation: X:25.52, Y:-3.57, Z:-1.65 [[ 9.80441077e-01 1.89234095e-01 5.40902265e-02 2.55206039e+01] [-1.88890610e-01 9.81931494e-01 -1.14402241e-02 -3.56751862e+00] [-5.52777773e-02 9.99329762e-04 9.98470515e-01 -1.64880863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661052754 meters 0.018090529574921188 Centerline is valid? [True, True] Translation: X:25.55, Y:-3.57, Z:-1.65 [[ 9.80397793e-01 1.89382343e-01 5.43552786e-02 2.55524634e+01] [-1.89035001e-01 9.81902903e-01 -1.15089847e-02 -3.57461763e+00] [-5.55512043e-02 1.00833306e-03 9.98455330e-01 -1.64901935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.691052753999998 meters 0.01781948679527981 Centerline is valid? [True, True] Translation: X:25.58, Y:-3.58, Z:-1.65 [[ 9.80211064e-01 1.90327026e-01 5.44232835e-02 2.55840917e+01] [-1.89979432e-01 9.81720266e-01 -1.15383917e-02 -3.57935728e+00] [-5.56245081e-02 9.70754759e-04 9.98451287e-01 -1.65104019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721052754 meters 0.01684178401920191 Centerline is valid? [True, True] Translation: X:25.62, Y:-3.58, Z:-1.66 [[ 9.79676917e-01 1.93418887e-01 5.31250733e-02 2.56167729e+01] [-1.93091564e-01 9.81115953e-01 -1.12754169e-02 -3.57863800e+00] [-5.43027355e-02 7.88262164e-04 9.98524207e-01 -1.65612621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.751052754 meters 0.017326640813275073 Centerline is valid? [True, True] Translation: X:25.65, Y:-3.58, Z:-1.66 [[ 9.79379172e-01 1.95101673e-01 5.24573668e-02 2.56474910e+01] [-1.94784248e-01 9.80782773e-01 -1.11466728e-02 -3.58418905e+00] [-5.36240162e-02 6.98950439e-04 9.98560953e-01 -1.66087896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781052753999997 meters 0.016370889199461055 Centerline is valid? [True, True] Translation: X:25.68, Y:-3.59, Z:-1.66 [[ 9.78838205e-01 1.97903934e-01 5.20557495e-02 2.56790895e+01] [-1.97594693e-01 9.80221265e-01 -1.10729326e-02 -3.58813821e+00] [-5.32175295e-02 5.52669687e-04 9.98582790e-01 -1.66065693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.811052754 meters 0.01616378362240539 Centerline is valid? [True, True] Translation: X:25.71, Y:-3.59, Z:-1.66 [[ 9.78642471e-01 1.98982349e-01 5.16230498e-02 2.57115972e+01] [-1.98679096e-01 9.80002945e-01 -1.09929049e-02 -3.59490276e+00] [-5.27781349e-02 5.01702812e-04 9.98606137e-01 -1.66179127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841052754 meters 0.015963246128154075 Centerline is valid? [True, True] Translation: X:25.74, Y:-3.60, Z:-1.66 [[ 9.78291811e-01 2.00543801e-01 5.22237183e-02 2.57439648e+01] [-2.00234863e-01 9.79684640e-01 -1.11358283e-02 -3.59801200e+00] [-5.33959960e-02 4.37080590e-04 9.98573321e-01 -1.66406411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.871052753999997 meters 0.01570543763760651 Centerline is valid? [True, True] Translation: X:25.78, Y:-3.60, Z:-1.67 [[ 9.78131910e-01 2.01042488e-01 5.32905604e-02 2.57757408e+01] [-2.00720799e-01 9.79582427e-01 -1.13766805e-02 -3.60244843e+00] [-5.44896927e-02 4.31370379e-04 9.98514240e-01 -1.66609210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901052754 meters 0.015729903776241158 Centerline is valid? [True, True] Translation: X:25.81, Y:-3.61, Z:-1.67 [[ 9.78001673e-01 2.01322997e-01 5.46056583e-02 2.58057393e+01] [-2.00984865e-01 9.79524812e-01 -1.16716300e-02 -3.60940604e+00] [-5.58373647e-02 4.39962859e-04 9.98439780e-01 -1.66636932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931052754 meters 0.01545337618510164 Centerline is valid? [True, True] Translation: X:25.84, Y:-3.62, Z:-1.67 [[ 9.77930261e-01 2.01761085e-01 5.42666521e-02 2.58377349e+01] [-2.01427154e-01 9.79434676e-01 -1.16110782e-02 -3.61588735e+00] [-5.54933046e-02 4.24047407e-04 9.98458969e-01 -1.66727699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961052753999997 meters 0.015862354298824464 Centerline is valid? [True, True] Translation: X:25.87, Y:-3.62, Z:-1.67 [[ 9.78244740e-01 2.00508694e-01 5.32305640e-02 2.58672812e+01] [-2.00184661e-01 9.79691794e-01 -1.14056820e-02 -3.62308138e+00] [-5.44364852e-02 5.01606041e-04 9.98517109e-01 -1.67122744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.991052754 meters 0.015989705941951583 Centerline is valid? [True, True] Translation: X:25.90, Y:-3.63, Z:-1.67 [[ 9.78552158e-01 1.99146185e-01 5.26922339e-02 2.58979401e+01] [-1.98826424e-01 9.79969624e-01 -1.12955038e-02 -3.63113481e+00] [-5.38862452e-02 5.76631169e-04 9.98546914e-01 -1.67356127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021052754 meters 0.01663788867330038 Centerline is valid? [True, True] Translation: X:25.93, Y:-3.64, Z:-1.68 [[ 9.79474695e-01 1.94677295e-01 5.22501019e-02 2.59284831e+01] [-1.94355849e-01 9.80866997e-01 -1.12133229e-02 -3.64136857e+00] [-5.34333799e-02 8.28053143e-04 9.98571073e-01 -1.67625908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.051052753999997 meters 0.01759240039668982 Centerline is valid? [True, True] Translation: X:25.96, Y:-3.65, Z:-1.68 [[ 9.79933992e-01 1.92224903e-01 5.27158178e-02 2.59583097e+01] [-1.91893436e-01 9.81350406e-01 -1.13265089e-02 -3.65088632e+00] [-5.39099262e-02 9.83411750e-04 9.98545318e-01 -1.67909378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081052753999998 meters 0.01847114499203423 Centerline is valid? [True, True] Translation: X:25.99, Y:-3.66, Z:-1.68 [[ 9.80800080e-01 1.87663172e-01 5.30446772e-02 2.59885192e+01] [-1.87320137e-01 9.82232639e-01 -1.14108926e-02 -3.66236221e+00] [-5.42436176e-02 1.25546811e-03 9.98526942e-01 -1.67901521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.111052754 meters 0.018535466190389347 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.67, Z:-1.68 [[ 9.81013936e-01 1.86515555e-01 5.31376077e-02 2.60192796e+01] [-1.86169527e-01 9.82451117e-01 -1.14328639e-02 -3.67044726e+00] [-5.43375089e-02 1.32319559e-03 9.98521750e-01 -1.67910868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141052753999997 meters 0.018468900783439032 Centerline is valid? [True, True] Translation: X:26.05, Y:-3.68, Z:-1.68 [[ 9.80836395e-01 1.87165560e-01 5.41204144e-02 2.60502017e+01] [-1.86806839e-01 9.82327491e-01 -1.16578680e-02 -3.67735297e+00] [-5.53459223e-02 1.32439775e-03 9.98466361e-01 -1.67892594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.171052753999998 meters 0.01807678398319795 Centerline is valid? [True, True] Translation: X:26.08, Y:-3.68, Z:-1.68 [[ 9.80425022e-01 1.89264723e-01 5.42737510e-02 2.60820178e+01] [-1.88906438e-01 9.81925338e-01 -1.17041709e-02 -3.68119674e+00] [-5.55079579e-02 1.22240106e-03 9.98457497e-01 -1.68180992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201052754 meters 0.017349502631512602 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.69, Z:-1.68 [[ 9.80126362e-01 1.90773871e-01 5.43842288e-02 2.61137476e+01] [-1.90415710e-01 9.81633334e-01 -1.17411569e-02 -3.68550055e+00] [-5.56252778e-02 1.15220591e-03 9.98451051e-01 -1.68424730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231052753999997 meters 0.017265880496962635 Centerline is valid? [True, True] Translation: X:26.15, Y:-3.69, Z:-1.69 [[ 9.79853275e-01 1.92246855e-01 5.41175279e-02 2.61452162e+01] [-1.91893710e-01 9.81346008e-01 -1.16968328e-02 -3.69138516e+00] [-5.53566993e-02 1.07636675e-03 9.98466062e-01 -1.68707655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261052753999998 meters 0.016742943679110795 Centerline is valid? [True, True] Translation: X:26.18, Y:-3.70, Z:-1.69 [[ 9.79394359e-01 1.94712682e-01 5.36065366e-02 2.61766815e+01] [-1.94369155e-01 9.80859871e-01 -1.15993729e-02 -3.69663717e+00] [-5.48390456e-02 9.40903148e-04 9.98494764e-01 -1.69014889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.291052754 meters 0.016626959890627558 Centerline is valid? [True, True] Translation: X:26.21, Y:-3.70, Z:-1.69 [[ 9.79062160e-01 1.96263645e-01 5.40173014e-02 2.62073212e+01] [-1.95916438e-01 9.80550773e-01 -1.17017652e-02 -3.70308770e+00] [-5.52633378e-02 8.73878252e-04 9.98471432e-01 -1.69144384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321052754 meters 0.015966910959014206 Centerline is valid? [True, True] Translation: X:26.24, Y:-3.71, Z:-1.69 [[ 9.78333288e-01 1.99649580e-01 5.48089688e-02 2.62401991e+01] [-1.99296650e-01 9.79867107e-01 -1.18869200e-02 -3.70580997e+00] [-5.60787243e-02 7.06125642e-04 9.98426100e-01 -1.69214177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351052753999998 meters 0.015267983727333095 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.71, Z:-1.70 [[ 9.77864329e-01 2.02213263e-01 5.37694221e-02 2.62725626e+01] [-2.01877309e-01 9.79341356e-01 -1.16644732e-02 -3.70699575e+00] [-5.50173300e-02 5.51445998e-04 9.98485247e-01 -1.69631835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381052754 meters 0.015290328758729184 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.71, Z:-1.70 [[ 9.77835962e-01 2.02422456e-01 5.34974792e-02 2.63050247e+01] [-2.02089488e-01 9.79298140e-01 -1.16186051e-02 -3.71402078e+00] [-5.47418484e-02 5.49811707e-04 9.98500389e-01 -1.69918581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411052754 meters 0.016565550695396804 Centerline is valid? [True, True] Translation: X:26.33, Y:-3.72, Z:-1.70 [[ 9.78500962e-01 1.99422679e-01 5.25971771e-02 2.63343966e+01] [-1.99095658e-01 9.79913300e-01 -1.14386953e-02 -3.72485855e+00] [-5.38218087e-02 7.20904816e-04 9.98550296e-01 -1.70327770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441052753999998 meters 0.01627997358457733 Centerline is valid? [True, True] Translation: X:26.37, Y:-3.73, Z:-1.70 [[ 9.78983702e-01 1.96993981e-01 5.27663004e-02 2.63657673e+01] [-1.96660660e-01 9.80404312e-01 -1.14877679e-02 -3.73072654e+00] [-5.39953296e-02 8.69282008e-04 9.98540810e-01 -1.70465183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471052754 meters 0.017449775556326184 Centerline is valid? [True, True] Translation: X:26.40, Y:-3.74, Z:-1.71 [[ 9.79998308e-01 1.91675847e-01 5.35134119e-02 2.63957585e+01] [-1.91324331e-01 9.81457563e-01 -1.16641666e-02 -3.73979563e+00] [-5.47568818e-02 1.19244582e-03 9.98499004e-01 -1.70686100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501052754 meters 0.018143019976407944 Centerline is valid? [True, True] Translation: X:26.43, Y:-3.75, Z:-1.71 [[ 9.80366169e-01 1.89636051e-01 5.40402048e-02 2.64263331e+01] [-1.89273788e-01 9.81853551e-01 -1.17914379e-02 -3.74853842e+00] [-5.52956486e-02 1.33153249e-03 9.98469137e-01 -1.70728178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531052753999997 meters 0.018527021416687987 Centerline is valid? [True, True] Translation: X:26.46, Y:-3.76, Z:-1.71 [[ 9.80658846e-01 1.87895387e-01 5.48046655e-02 2.64569978e+01] [-1.87519313e-01 9.82187957e-01 -1.19718557e-02 -3.75697094e+00] [-5.60779389e-02 1.46337300e-03 9.98425322e-01 -1.70746920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561052754 meters 0.01928115855058736 Centerline is valid? [True, True] Translation: X:26.49, Y:-3.77, Z:-1.71 [[ 9.80951219e-01 1.85920149e-01 5.62885850e-02 2.64872513e+01] [-1.85519335e-01 9.82563500e-01 -1.23103943e-02 -3.76554804e+00] [-5.75958594e-02 1.63327549e-03 9.98338645e-01 -1.70716949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591052754 meters 0.018711577002051925 Centerline is valid? [True, True] Translation: X:26.52, Y:-3.77, Z:-1.71 [[ 9.81028633e-01 1.85230715e-01 5.72049192e-02 2.65188967e+01] [-1.84814792e-01 9.82693566e-01 -1.25239061e-02 -3.76827822e+00] [-5.85347181e-02 1.71399523e-03 9.98283902e-01 -1.71051084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621052753999997 meters 0.018203221636174566 Centerline is valid? [True, True] Translation: X:26.55, Y:-3.77, Z:-1.71 [[ 9.80845199e-01 1.86175705e-01 5.72826562e-02 2.65501592e+01] [-1.85759418e-01 9.82515041e-01 -1.25552250e-02 -3.77303108e+00] [-5.86185491e-02 1.67393933e-03 9.98279051e-01 -1.71320302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651052754 meters 0.018203221636174566 Centerline is valid? [True, True] Translation: X:26.58, Y:-3.78, Z:-1.72 [[ 9.80794135e-01 1.86445440e-01 5.72796818e-02 2.65817181e+01] [-1.86028822e-01 9.82463894e-01 -1.25687798e-02 -3.78001431e+00] [-5.86186109e-02 1.67171378e-03 9.98279051e-01 -1.71529454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681052754 meters 0.01821508807765931 Centerline is valid? [True, True] Translation: X:26.61, Y:-3.79, Z:-1.72 [[ 9.80141220e-01 1.89848659e-01 5.72771847e-02 2.66110282e+01] [-1.89436819e-01 9.81812242e-01 -1.25862227e-02 -3.78737103e+00] [-5.86249187e-02 1.48586803e-03 9.98278975e-01 -1.71718861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711052753999997 meters 0.0177398082007835 Centerline is valid? [True, True] Translation: X:26.64, Y:-3.79, Z:-1.72 [[ 9.79577425e-01 1.92809999e-01 5.70295818e-02 2.66416534e+01] [-1.92406735e-01 9.81235245e-01 -1.25316239e-02 -3.79347609e+00] [-5.83756581e-02 1.30282026e-03 9.98293837e-01 -1.71891163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741052754 meters 0.01607042964071587 Centerline is valid? [True, True] Translation: X:26.67, Y:-3.80, Z:-1.72 [[ 9.78312903e-01 1.99150583e-01 5.69465504e-02 2.66739109e+01] [-1.98758401e-01 9.79968452e-01 -1.25271981e-02 -3.79535786e+00] [-5.83006217e-02 9.36914297e-04 9.98298633e-01 -1.72120521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771052754 meters 0.015190436571155156 Centerline is valid? [True, True] Translation: X:26.71, Y:-3.80, Z:-1.72 [[ 9.77630873e-01 2.02441098e-01 5.70567916e-02 2.67060949e+01] [-2.02052880e-01 9.79294158e-01 -1.25533108e-02 -3.79944863e+00] [-5.84166887e-02 7.44015169e-04 9.98292010e-01 -1.72353768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801052753999997 meters 0.01449496045475582 Centerline is valid? [True, True] Translation: X:26.74, Y:-3.80, Z:-1.72 [[ 9.76169551e-01 2.08974372e-01 5.85040136e-02 2.67368264e+01] [-2.08576983e-01 9.77921045e-01 -1.28869184e-02 -3.80324623e+00] [-5.99053418e-02 3.77226715e-04 9.98203991e-01 -1.72416027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831052753999998 meters 0.01419850856672959 Centerline is valid? [True, True] Translation: X:26.77, Y:-3.81, Z:-1.72 [[ 9.75355617e-01 2.12526572e-01 5.92779542e-02 2.67689275e+01] [-2.12124290e-01 9.77155272e-01 -1.30713367e-02 -3.80892662e+00] [-6.07017719e-02 1.74907716e-04 9.98155932e-01 -1.72431944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861052754 meters 0.013959150555860158 Centerline is valid? [True, True] Translation: X:26.80, Y:-3.82, Z:-1.73 [[ 9.74360370e-01 2.17178618e-01 5.87819419e-02 2.68008695e+01] [-2.16790641e-01 9.76131875e-01 -1.29761383e-02 -3.81564209e+00] [-6.01970670e-02 -9.99399234e-05 9.98186507e-01 -1.72610669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891052753999997 meters 0.013955571249952926 Centerline is valid? [True, True] Translation: X:26.83, Y:-3.82, Z:-1.73 [[ 9.74280877e-01 2.17752043e-01 5.79725785e-02 2.68328484e+01] [-2.17374723e-01 9.76004116e-01 -1.28138792e-02 -3.82317213e+00] [-5.93717236e-02 -1.17455782e-04 9.98235936e-01 -1.72954075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921052753999998 meters 0.014035275459647823 Centerline is valid? [True, True] Translation: X:26.86, Y:-3.83, Z:-1.74 [[ 9.74886698e-01 2.15385253e-01 5.66137779e-02 2.68631392e+01] [-2.15020492e-01 9.76529155e-01 -1.25298512e-02 -3.83205675e+00] [-5.79837499e-02 4.20629096e-05 9.98317526e-01 -1.73641285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.951052754 meters 0.014057793682333201 Centerline is valid? [True, True] Translation: X:26.89, Y:-3.84, Z:-1.74 [[ 9.75255374e-01 2.13595620e-01 5.70426780e-02 2.68946494e+01] [-2.13221332e-01 9.76922148e-01 -1.26404023e-02 -3.84170402e+00] [-5.84261901e-02 1.64904510e-04 9.98291717e-01 -1.73897194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981052753999997 meters 0.014419813260067334 Centerline is valid? [True, True] Translation: X:26.92, Y:-3.86, Z:-1.74 [[ 9.76232919e-01 2.08716464e-01 5.83671601e-02 2.69232192e+01] [-2.08314788e-01 9.77976075e-01 -1.29517156e-02 -3.85583560e+00] [-5.97849224e-02 4.85148560e-04 9.98211164e-01 -1.73716501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011052753999998 meters 0.014658286388635566 Centerline is valid? [True, True] Translation: X:26.95, Y:-3.87, Z:-1.74 [[ 9.76777981e-01 2.05892393e-01 5.92713929e-02 2.69538860e+01] [-2.05472492e-01 9.78574405e-01 -1.31601474e-02 -3.86558363e+00] [-6.07110423e-02 6.75901429e-04 9.98155155e-01 -1.73689004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041052754 meters 0.015497060803640347 Centerline is valid? [True, True] Translation: X:26.98, Y:-3.88, Z:-1.74 [[ 9.77900594e-01 1.99952952e-01 6.10675434e-02 2.69842759e+01] [-1.99494593e-01 9.79804891e-01 -1.35751092e-02 -3.87713632e+00] [-6.25486608e-02 1.09246260e-03 9.98041318e-01 -1.73817710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071052754 meters 0.016152120342238067 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.89, Z:-1.74 [[ 9.78725653e-01 1.95393931e-01 6.25883937e-02 2.70147865e+01] [-1.94902816e-01 9.80723807e-01 -1.39178287e-02 -3.88643008e+00] [-6.41013870e-02 1.42308184e-03 9.97942377e-01 -1.74078252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101052753999998 meters 0.016779949844554474 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.89, Z:-1.74 [[ 9.79040858e-01 1.93812554e-01 6.25754846e-02 2.70447636e+01] [-1.93318124e-01 9.81037385e-01 -1.39194962e-02 -3.89495740e+00] [-6.40866629e-02 1.53078017e-03 9.97943163e-01 -1.74330812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131052754 meters 0.017280015429898803 Centerline is valid? [True, True] Translation: X:27.08, Y:-3.90, Z:-1.75 [[ 9.79225945e-01 1.93002629e-01 6.21814645e-02 2.70758224e+01] [-1.92511855e-01 9.81196954e-01 -1.38463859e-02 -3.90369766e+00] [-6.36846525e-02 1.58807128e-03 9.97968809e-01 -1.74563585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161052754 meters 0.01700304246643294 Centerline is valid? [True, True] Translation: X:27.11, Y:-3.91, Z:-1.75 [[ 9.79605288e-01 1.91175146e-01 6.18509698e-02 2.71064282e+01] [-1.90684973e-01 9.81554446e-01 -1.37880777e-02 -3.91246012e+00] [-6.33460321e-02 1.71282328e-03 9.97990153e-01 -1.74623161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191052753999998 meters 0.018390561489123804 Centerline is valid? [True, True] Translation: X:27.14, Y:-3.92, Z:-1.75 [[ 9.79731955e-01 1.90471336e-01 6.20158563e-02 2.71358012e+01] [-1.89976126e-01 9.81691146e-01 -1.38407147e-02 -3.92201537e+00] [-6.35166764e-02 1.77865834e-03 9.97979192e-01 -1.74761608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221052754 meters 0.019160494388640644 Centerline is valid? [True, True] Translation: X:27.17, Y:-3.93, Z:-1.75 [[ 9.79834279e-01 1.89698000e-01 6.27650674e-02 2.71673753e+01] [-1.89188190e-01 9.81840714e-01 -1.40228555e-02 -3.92843905e+00] [-6.42854063e-02 1.86566497e-03 9.97929810e-01 -1.74998357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251052754 meters 0.01897765009398674 Centerline is valid? [True, True] Translation: X:27.20, Y:-3.93, Z:-1.75 [[ 9.79988014e-01 1.89076036e-01 6.22394104e-02 2.71993114e+01] [-1.88573150e-01 9.81960620e-01 -1.39107235e-02 -3.93412809e+00] [-6.37468345e-02 1.89566067e-03 9.97964302e-01 -1.75158203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281052753999997 meters 0.0183156825257852 Centerline is valid? [True, True] Translation: X:27.23, Y:-3.94, Z:-1.75 [[ 9.79949529e-01 1.89432529e-01 6.17595169e-02 2.72320831e+01] [-1.88937125e-01 9.81891954e-01 -1.38185963e-02 -3.93902575e+00] [-6.32588644e-02 1.87286144e-03 9.97995395e-01 -1.75409779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311052754 meters 0.019001390001162567 Centerline is valid? [True, True] Translation: X:27.26, Y:-3.94, Z:-1.76 [[ 9.79865356e-01 1.89837815e-01 6.18505244e-02 2.72626514e+01] [-1.89340625e-01 9.81813688e-01 -1.38567249e-02 -3.94187495e+00] [-6.33562218e-02 1.86690767e-03 9.97989230e-01 -1.75867559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341052754 meters 0.017358167518046985 Centerline is valid? [True, True] Translation: X:27.30, Y:-3.94, Z:-1.76 [[ 9.79832769e-01 1.90109720e-01 6.15307974e-02 2.72955400e+01] [-1.89617674e-01 9.81761111e-01 -1.37934183e-02 -3.94425458e+00] [-6.30308069e-02 1.84791661e-03 9.98009871e-01 -1.76200175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371052753999997 meters 0.01767185844092996 Centerline is valid? [True, True] Translation: X:27.33, Y:-3.95, Z:-1.76 [[ 9.79852008e-01 1.90669930e-01 5.94560433e-02 2.73265337e+01] [-1.90210552e-01 9.81652614e-01 -1.33450560e-02 -3.94967732e+00] [-6.09096812e-02 1.76701310e-03 9.98141718e-01 -1.76492796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401052754 meters 0.017330767655236536 Centerline is valid? [True, True] Translation: X:27.36, Y:-3.95, Z:-1.77 [[ 9.79674442e-01 1.91583892e-01 5.94440951e-02 2.73583400e+01] [-1.91125395e-01 9.81474724e-01 -1.33584881e-02 -3.95474292e+00] [-6.09021480e-02 1.72569323e-03 9.98142250e-01 -1.76666958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431052754 meters 0.01655969772993448 Centerline is valid? [True, True] Translation: X:27.39, Y:-3.96, Z:-1.77 [[ 9.78825647e-01 1.95559456e-01 6.04719056e-02 2.73894798e+01] [-1.95091522e-01 9.80690670e-01 -1.36054594e-02 -3.95764389e+00] [-6.19649099e-02 1.51981650e-03 9.98077171e-01 -1.76715118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461052753999997 meters 0.01725055165565605 Centerline is valid? [True, True] Translation: X:27.42, Y:-3.96, Z:-1.77 [[ 9.78193461e-01 1.98602001e-01 6.07848459e-02 2.74196866e+01] [-1.98134954e-01 9.80079314e-01 -1.36776799e-02 -3.96449875e+00] [-6.22903846e-02 1.33581434e-03 9.98057175e-01 -1.76861699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491052754 meters 0.014203811120559632 Centerline is valid? [True, True] Translation: X:27.45, Y:-3.96, Z:-1.77 [[ 9.76818961e-01 2.05133883e-01 6.11948262e-02 2.74526592e+01] [-2.04672383e-01 9.78733471e-01 -1.37843819e-02 -3.96115426e+00] [-6.27210684e-02 9.39954748e-04 9.98030653e-01 -1.77156270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521052754 meters 0.014199600707348907 Centerline is valid? [True, True] Translation: X:27.48, Y:-3.97, Z:-1.78 [[ 9.76077248e-01 2.08704070e-01 6.09575024e-02 2.74835806e+01] [-2.08252894e-01 9.77978581e-01 -1.37341228e-02 -3.96614951e+00] [-6.24814991e-02 7.10988504e-04 9.98045869e-01 -1.77503393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551052753999997 meters 0.013240577570247516 Centerline is valid? [True, True] Translation: X:27.52, Y:-3.97, Z:-1.78 [[ 9.74803619e-01 2.14335601e-01 6.17912087e-02 2.75159061e+01] [-2.13882697e-01 9.76760010e-01 -1.39310586e-02 -3.96705683e+00] [-6.33411035e-02 3.63975973e-04 9.97991870e-01 -1.77898442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581052753999998 meters 0.01308952107205347 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.97, Z:-1.78 [[ 9.74332425e-01 2.16429318e-01 6.19247615e-02 2.75470261e+01] [-2.15977666e-01 9.76298259e-01 -1.39770215e-02 -3.97244999e+00] [-6.34820740e-02 2.43899798e-04 9.97982949e-01 -1.78127843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.611052754 meters 0.01307258692012587 Centerline is valid? [True, True] Translation: X:27.58, Y:-3.98, Z:-1.78 [[ 9.74076947e-01 2.17612059e-01 6.17988090e-02 2.75782972e+01] [-2.17163618e-01 9.76035327e-01 -1.39643888e-02 -3.97841650e+00] [-6.33566401e-02 1.81936258e-04 9.97990933e-01 -1.78389651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641052753999997 meters 0.013037218189734598 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.99, Z:-1.79 [[ 9.74579548e-01 2.15575355e-01 6.10079668e-02 2.76076730e+01] [-2.15133294e-01 9.76487153e-01 -1.38023858e-02 -3.98712726e+00] [-6.25489501e-02 3.26678058e-04 9.98041844e-01 -1.78569483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671052753999998 meters 0.013398619077434774 Centerline is valid? [True, True] Translation: X:27.64, Y:-4.00, Z:-1.79 [[ 9.75040508e-01 2.13605928e-01 6.05682735e-02 2.76367718e+01] [-2.13165964e-01 9.76919802e-01 -1.37103233e-02 -3.99702830e+00] [-6.20989520e-02 4.57026173e-04 9.98069893e-01 -1.78715430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701052754 meters 0.01383890798902891 Centerline is valid? [True, True] Translation: X:27.67, Y:-4.01, Z:-1.79 [[ 9.76107942e-01 2.08473822e-01 6.12531655e-02 2.76674821e+01] [-2.08012979e-01 9.78027616e-01 -1.38773958e-02 -4.00754022e+00] [-6.28003612e-02 8.04382883e-04 9.98025785e-01 -1.78785308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.731052753999997 meters 0.014299325762720388 Centerline is valid? [True, True] Translation: X:27.70, Y:-4.02, Z:-1.79 [[ 9.76578623e-01 2.06351823e-01 6.09353695e-02 2.76979804e+01] [-2.05890684e-01 9.78477399e-01 -1.38204544e-02 -4.01586102e+00] [-6.24757578e-02 9.50735389e-04 9.98046029e-01 -1.79065967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761052753999998 meters 0.01563076703335551 Centerline is valid? [True, True] Translation: X:27.73, Y:-4.02, Z:-1.80 [[ 9.77359132e-01 2.02998698e-01 5.96712267e-02 2.77276671e+01] [-2.02549373e-01 9.79178326e-01 -1.35483317e-02 -4.02490791e+00] [-6.11790656e-02 1.15521620e-03 9.98126138e-01 -1.79604849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.791052754 meters 0.014947406728220992 Centerline is valid? [True, True] Translation: X:27.76, Y:-4.03, Z:-1.80 [[ 9.77654962e-01 2.01697296e-01 5.92366181e-02 2.77594834e+01] [-2.01251298e-01 9.79447120e-01 -1.34630461e-02 -4.03072202e+00] [-6.07345950e-02 1.24076756e-03 9.98153179e-01 -1.79866757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821052753999997 meters 0.016533737625074027 Centerline is valid? [True, True] Translation: X:27.79, Y:-4.04, Z:-1.80 [[ 9.78012062e-01 1.99679849e-01 6.01694708e-02 2.77882657e+01] [-1.99214874e-01 9.79860188e-01 -1.36910789e-02 -4.04286021e+00] [-6.16915016e-02 1.40338678e-03 9.98094279e-01 -1.79869438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.851052753999998 meters 0.01626309674628968 Centerline is valid? [True, True] Translation: X:27.82, Y:-4.05, Z:-1.80 [[ 9.77890401e-01 2.00053161e-01 6.09023546e-02 2.78204967e+01] [-1.99577027e-01 9.79784038e-01 -1.38653878e-02 -4.05173002e+00] [-6.24449696e-02 1.40411873e-03 9.98047421e-01 -1.79799190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881052754 meters 0.015492442503077339 Centerline is valid? [True, True] Translation: X:27.85, Y:-4.06, Z:-1.80 [[ 9.77495936e-01 2.01485047e-01 6.24937727e-02 2.78518423e+01] [-2.00985438e-01 9.79490640e-01 -1.42457191e-02 -4.05743648e+00] [-6.40823648e-02 1.36479424e-03 9.97943680e-01 -1.79686368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.911052754 meters 0.01533310131384383 Centerline is valid? [True, True] Translation: X:27.88, Y:-4.06, Z:-1.80 [[ 9.77096113e-01 2.03204251e-01 6.31760926e-02 2.78830806e+01] [-2.02696208e-01 9.79135532e-01 -1.44172488e-02 -4.06258683e+00] [-6.47876033e-02 1.28148328e-03 9.97898253e-01 -1.79915779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941052753999998 meters 0.014030016131830097 Centerline is valid? [True, True] Translation: X:27.91, Y:-4.06, Z:-1.80 [[ 9.75787796e-01 2.09717914e-01 6.21013242e-02 2.79147884e+01] [-2.09239206e-01 9.77761563e-01 -1.41873260e-02 -4.06467155e+00] [-6.36956243e-02 8.49787787e-04 9.97969010e-01 -1.80304541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.971052754 meters 0.013653545091072456 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.07, Z:-1.81 [[ 9.75106442e-01 2.13289255e-01 6.06227772e-02 2.79454342e+01] [-2.12839877e-01 9.76988910e-01 -1.38512580e-02 -4.07018941e+00] [-6.21821055e-02 6.03506470e-04 9.98064638e-01 -1.80555151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001052754 meters 0.013156911751423557 Centerline is valid? [True, True] Translation: X:27.98, Y:-4.07, Z:-1.81 [[ 9.73955755e-01 2.19032503e-01 5.86084388e-02 2.79774350e+01] [-2.18622120e-01 9.75717533e-01 -1.34038932e-02 -4.07441684e+00] [-6.01211696e-02 2.41697737e-04 9.98191057e-01 -1.80824092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031052753999997 meters 0.013179145509093581 Centerline is valid? [True, True] Translation: X:28.01, Y:-4.08, Z:-1.81 [[ 9.73554247e-01 2.21102155e-01 5.74975311e-02 2.80090812e+01] [-2.20709956e-01 9.75250645e-01 -1.31641220e-02 -4.08038301e+00] [-5.89851201e-02 1.25709369e-04 9.98258854e-01 -1.81220365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061052754 meters 0.01355711753676138 Centerline is valid? [True, True] Translation: X:28.04, Y:-4.09, Z:-1.82 [[ 9.73460979e-01 2.22322250e-01 5.42820400e-02 2.80397785e+01] [-2.21973836e-01 9.74973237e-01 -1.24419803e-02 -4.08690290e+00] [-5.56896654e-02 6.25896435e-05 9.98448124e-01 -1.81704992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.091052754 meters 0.01391226660704562 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.10, Z:-1.82 [[ 9.73899892e-01 2.20814655e-01 5.25346471e-02 2.80699867e+01] [-2.20485457e-01 9.75315776e-01 -1.20540337e-02 -4.09635735e+00] [-5.38995774e-02 1.56296486e-04 9.98546349e-01 -1.81967134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121052753999997 meters 0.014075828176147609 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.11, Z:-1.82 [[ 9.74328002e-01 2.19153927e-01 5.15412540e-02 2.81006078e+01] [-2.18834087e-01 9.75690264e-01 -1.18385622e-02 -4.10516245e+00] [-5.28827672e-02 2.55659422e-04 9.98600695e-01 -1.82111027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.151052754 meters 0.014452632245081578 Centerline is valid? [True, True] Translation: X:28.13, Y:-4.12, Z:-1.82 [[ 9.74862965e-01 2.16971436e-01 5.06516998e-02 2.81311370e+01] [-2.16658943e-01 9.76177879e-01 -1.16469367e-02 -4.11548277e+00] [-5.19721215e-02 3.80023536e-04 9.98648464e-01 -1.82247718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181052754 meters 0.015723658324479698 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.13, Z:-1.82 [[ 9.76483645e-01 2.09862655e-01 4.93695982e-02 2.81593017e+01] [-2.09555996e-01 9.77730586e-01 -1.13659923e-02 -4.13020404e+00] [-5.06554635e-02 7.53010257e-04 9.98715904e-01 -1.82334724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211052753999997 meters 0.017967382787612278 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.14, Z:-1.82 [[ 9.78173924e-01 2.01606283e-01 5.03058817e-02 2.81871949e+01] [-2.01276619e-01 9.79465897e-01 -1.15878910e-02 -4.14452431e+00] [-5.16090872e-02 1.20957508e-03 9.98666631e-01 -1.82467997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241052754 meters 0.01846490650007679 Centerline is valid? [True, True] Translation: X:28.22, Y:-4.15, Z:-1.82 [[ 9.78830977e-01 1.98145708e-01 5.12659373e-02 2.82180329e+01] [-1.97798157e-01 9.80171537e-01 -1.18171984e-02 -4.15433679e+00] [-5.25909397e-02 1.42673192e-03 9.98615120e-01 -1.82497822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271052754 meters 0.018204672336759268 Centerline is valid? [True, True] Translation: X:28.25, Y:-4.17, Z:-1.82 [[ 9.79707349e-01 1.93674460e-01 5.16111847e-02 2.82478507e+01] [-1.93315794e-01 9.81064409e-01 -1.19008325e-02 -4.16547859e+00] [-5.29387837e-02 1.68207588e-03 9.98596343e-01 -1.82340074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301052753999997 meters 0.018557352334896932 Centerline is valid? [True, True] Translation: X:28.28, Y:-4.17, Z:-1.82 [[ 9.79917742e-01 1.92813884e-01 5.08333154e-02 2.82784812e+01] [-1.92464839e-01 9.81233871e-01 -1.17207127e-02 -4.17497688e+00] [-5.21392870e-02 1.70170842e-03 9.98638372e-01 -1.82497111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.331052753999998 meters 0.018333499998731496 Centerline is valid? [True, True] Translation: X:28.31, Y:-4.18, Z:-1.83 [[ 9.79778600e-01 1.93405173e-01 5.12672802e-02 2.83092998e+01] [-1.93050247e-01 9.81117504e-01 -1.18340500e-02 -4.18289532e+00] [-5.25879925e-02 1.69758777e-03 9.98614851e-01 -1.82636988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361052754 meters 0.01830282737284479 Centerline is valid? [True, True] Translation: X:28.34, Y:-4.19, Z:-1.83 [[ 9.79555899e-01 1.94384403e-01 5.18164597e-02 2.83401186e+01] [-1.94022476e-01 9.80924001e-01 -1.19742847e-02 -4.18958625e+00] [-5.31556231e-02 1.67592340e-03 9.98584834e-01 -1.82895092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.391052753999997 meters 0.017938643931560243 Centerline is valid? [True, True] Translation: X:28.37, Y:-4.20, Z:-1.83 [[ 9.79264094e-01 1.95936062e-01 5.14868356e-02 2.83711076e+01] [-1.95580180e-01 9.80615377e-01 -1.19111513e-02 -4.19562503e+00] [-5.28226068e-02 1.59435817e-03 9.98602639e-01 -1.83167155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421052753999998 meters 0.017490333886517766 Centerline is valid? [True, True] Translation: X:28.40, Y:-4.20, Z:-1.83 [[ 9.78628412e-01 1.99370557e-01 5.03766955e-02 2.84026940e+01] [-1.99033762e-01 9.79923184e-01 -1.16668354e-02 -4.20128988e+00] [-5.16913153e-02 1.39083344e-03 9.98662142e-01 -1.83440197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.451052754 meters 0.016471479369366007 Centerline is valid? [True, True] Translation: X:28.43, Y:-4.21, Z:-1.84 [[ 9.77977124e-01 2.02922608e-01 4.88176289e-02 2.84343752e+01] [-2.02610173e-01 9.79194071e-01 -1.13176430e-02 -4.20513207e+00] [-5.00985384e-02 1.17744774e-03 9.98743586e-01 -1.83671479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481052753999997 meters 0.016448681881375254 Centerline is valid? [True, True] Translation: X:28.46, Y:-4.21, Z:-1.84 [[ 9.77671495e-01 2.04609909e-01 4.78877216e-02 2.84647803e+01] [-2.04310683e-01 9.78842998e-01 -1.11144417e-02 -4.21099415e+00] [-4.91486859e-02 1.08229967e-03 9.98790887e-01 -1.84025150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.511052753999998 meters 0.016531295825464268 Centerline is valid? [True, True] Translation: X:28.50, Y:-4.21, Z:-1.85 [[ 9.77174979e-01 2.07235895e-01 4.67155576e-02 2.84957998e+01] [-2.06953627e-01 9.78290552e-01 -1.08531634e-02 -4.21493068e+00] [-4.79505536e-02 9.37485593e-04 9.98849271e-01 -1.84627754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541052754 meters 0.016531295825464268 Centerline is valid? [True, True] Translation: X:28.53, Y:-4.22, Z:-1.85 [[ 9.77120146e-01 2.07494783e-01 4.67133260e-02 2.85272665e+01] [-2.07212353e-01 9.78235678e-01 -1.08627583e-02 -4.22232540e+00] [-4.79506078e-02 9.34641799e-04 9.98849271e-01 -1.84836850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.571052753999997 meters 0.015617564823718904 Centerline is valid? [True, True] Translation: X:28.56, Y:-4.23, Z:-1.85 [[ 9.76960462e-01 2.08340008e-01 4.62892667e-02 2.85598644e+01] [-2.08063033e-01 9.78056049e-01 -1.07767519e-02 -4.22679620e+00] [-4.75187259e-02 8.97375249e-04 9.98869944e-01 -1.85051318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601052753999998 meters 0.015505171870107498 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.23, Z:-1.85 [[ 9.76878314e-01 2.08840396e-01 4.57651531e-02 2.85915968e+01] [-2.08569598e-01 9.77949345e-01 -1.06677462e-02 -4.23337098e+00] [-4.69838579e-02 8.75870369e-04 9.98895265e-01 -1.85327947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.631052754 meters 0.015866094670840873 Centerline is valid? [True, True] Translation: X:28.62, Y:-4.24, Z:-1.86 [[ 9.76970302e-01 2.08608297e-01 4.48509426e-02 2.86218013e+01] [-2.08347345e-01 9.77998875e-01 -1.04682654e-02 -4.24140755e+00] [-4.60479384e-02 8.82609616e-04 9.98938841e-01 -1.85503795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661052754 meters 0.016213298853102298 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.25, Z:-1.86 [[ 9.76935853e-01 2.08703094e-01 4.51592411e-02 2.86524002e+01] [-2.08438102e-01 9.77978638e-01 -1.05518421e-02 -4.25012771e+00] [-4.63669752e-02 8.95566330e-04 9.98924072e-01 -1.85660848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.691052753999998 meters 0.016227232480033365 Centerline is valid? [True, True] Translation: X:28.68, Y:-4.26, Z:-1.86 [[ 9.76753038e-01 2.09608899e-01 4.49178331e-02 2.86822865e+01] [-2.09347367e-01 9.77784935e-01 -1.05024417e-02 -4.25805508e+00] [-4.61213857e-02 8.54861790e-04 9.98935477e-01 -1.85764687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721052754 meters 0.015112273156525627 Centerline is valid? [True, True] Translation: X:28.72, Y:-4.26, Z:-1.86 [[ 9.76332301e-01 2.11409193e-01 4.56222723e-02 2.87151749e+01] [-2.11140749e-01 9.77397320e-01 -1.06799760e-02 -4.25980091e+00] [-4.68489318e-02 7.94484729e-04 9.98901670e-01 -1.86113758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.751052754 meters 0.015088335279124898 Centerline is valid? [True, True] Translation: X:28.75, Y:-4.26, Z:-1.87 [[ 9.76030666e-01 2.12501745e-01 4.69802834e-02 2.87456421e+01] [-2.12218233e-01 9.77160387e-01 -1.10000103e-02 -4.26432913e+00] [-4.82447933e-02 7.66274661e-04 9.98835248e-01 -1.86555574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781052753999997 meters 0.014561193014316319 Centerline is valid? [True, True] Translation: X:28.78, Y:-4.27, Z:-1.87 [[ 9.75745132e-01 2.13679272e-01 4.75668633e-02 2.87775333e+01] [-2.13389504e-01 9.76903598e-01 -1.11481052e-02 -4.26948538e+00] [-4.88503589e-02 7.27440025e-04 9.98805844e-01 -1.86784191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.811052754 meters 0.0141557874079298 Centerline is valid? [True, True] Translation: X:28.81, Y:-4.28, Z:-1.87 [[ 9.75330795e-01 2.15823287e-01 4.63696997e-02 2.88093448e+01] [-2.15549852e-01 9.76432246e-01 -1.08779743e-02 -4.27909248e+00] [-4.76245902e-02 6.14641397e-04 9.98865116e-01 -1.86707795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841052754 meters 0.014167488028244687 Centerline is valid? [True, True] Translation: X:28.84, Y:-4.29, Z:-1.87 [[ 9.75170654e-01 2.16642281e-01 4.59164138e-02 2.88398831e+01] [-2.16374455e-01 9.76250882e-01 -1.07847819e-02 -4.28788180e+00] [-4.71623792e-02 5.81863828e-04 9.98887066e-01 -1.86730447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.871052753999997 meters 0.014186546973892497 Centerline is valid? [True, True] Translation: X:28.87, Y:-4.29, Z:-1.87 [[ 9.75352189e-01 2.15696327e-01 4.65102278e-02 2.88725305e+01] [-2.15419863e-01 9.76460278e-01 -1.09365132e-02 -4.29458774e+00] [-4.77743557e-02 6.47725180e-04 9.98857944e-01 -1.86830818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901052754 meters 0.013915019177495198 Centerline is valid? [True, True] Translation: X:28.90, Y:-4.30, Z:-1.87 [[ 9.75650930e-01 2.14142195e-01 4.74171245e-02 2.89042754e+01] [-2.13852314e-01 9.76802209e-01 -1.11638946e-02 -4.30035054e+00] [-4.87078128e-02 7.51802364e-04 9.98812787e-01 -1.87122510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.931052754 meters 0.015895295216483696 Centerline is valid? [True, True] Translation: X:28.93, Y:-4.31, Z:-1.88 [[ 9.75797319e-01 2.13685307e-01 4.64562304e-02 2.89338862e+01] [-2.13405983e-01 9.76902245e-01 -1.09494425e-02 -4.31044143e+00] [-4.77229307e-02 7.70399109e-04 9.98860315e-01 -1.87816730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961052753999997 meters 0.01436425737980051 Centerline is valid? [True, True] Translation: X:28.97, Y:-4.31, Z:-1.88 [[ 9.75889241e-01 2.13593850e-01 4.49205524e-02 2.89658295e+01] [-2.13332156e-01 9.76922255e-01 -1.05971467e-02 -4.31454282e+00] [-4.61473727e-02 7.58643214e-04 9.98934354e-01 -1.88001106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.991052754 meters 0.014750722199540997 Centerline is valid? [True, True] Translation: X:29.00, Y:-4.32, Z:-1.89 [[ 9.75904072e-01 2.14213063e-01 4.15211520e-02 2.89969948e+01] [-2.13989661e-01 9.76786720e-01 -9.80449171e-03 -4.32078432e+00] [-4.26575600e-02 6.83146160e-04 9.99089518e-01 -1.88695031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021052754 meters 0.014883801890380029 Centerline is valid? [True, True] Translation: X:29.03, Y:-4.33, Z:-1.89 [[ 9.75581199e-01 2.16008829e-01 3.97682012e-02 2.90266605e+01] [-2.15804962e-01 9.76391232e-01 -9.40106189e-03 -4.32783574e+00] [-4.08600354e-02 5.89324074e-04 9.99164706e-01 -1.88966539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.051052753999997 meters 0.014712251450893723 Centerline is valid? [True, True] Translation: X:29.06, Y:-4.34, Z:-1.89 [[ 9.75297506e-01 2.17362790e-01 3.93470852e-02 2.90585188e+01] [-2.17164094e-01 9.76090741e-01 -9.30710040e-03 -4.33531859e+00] [-4.04293429e-02 5.32417686e-04 9.99182258e-01 -1.89016054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081052753999998 meters 0.014712681525843894 Centerline is valid? [True, True] Translation: X:29.09, Y:-4.34, Z:-1.89 [[ 9.74969067e-01 2.18293587e-01 4.22282771e-02 2.90891613e+01] [-2.18064976e-01 9.75882992e-01 -1.00025925e-02 -4.34384446e+00] [-4.33933592e-02 5.43710035e-04 9.99057917e-01 -1.88886734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111052754 meters 0.014531001691248761 Centerline is valid? [True, True] Translation: X:29.12, Y:-4.35, Z:-1.89 [[ 9.74887262e-01 2.18321773e-01 4.39366643e-02 2.91198265e+01] [-2.18073792e-01 9.75876668e-01 -1.04186840e-02 -4.35181231e+00] [-4.51513911e-02 5.75607309e-04 9.98979990e-01 -1.88952891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141052753999997 meters 0.014345279177295596 Centerline is valid? [True, True] Translation: X:29.15, Y:-4.36, Z:-1.89 [[ 9.74799619e-01 2.18531719e-01 4.48284469e-02 2.91510843e+01] [-2.18273270e-01 9.75829668e-01 -1.06413268e-02 -4.35955242e+00] [-4.60703959e-02 5.88309595e-04 9.98938022e-01 -1.89137170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171052753999998 meters 0.014518167143434723 Centerline is valid? [True, True] Translation: X:29.18, Y:-4.37, Z:-1.89 [[ 9.74660594e-01 2.18948677e-01 4.58061574e-02 2.91819743e+01] [-2.18678736e-01 9.75736197e-01 -1.08850694e-02 -4.36882138e+00] [-4.70779974e-02 5.92415631e-04 9.98891041e-01 -1.89481168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201052754 meters 0.01449320005594971 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.38, Z:-1.90 [[ 9.74597071e-01 2.19101191e-01 4.64243274e-02 2.92129953e+01] [-2.18823526e-01 9.75701954e-01 -1.10436211e-02 -4.37654534e+00] [-4.77159775e-02 6.04345754e-04 9.98860761e-01 -1.89668352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231052753999997 meters 0.014379054885037832 Centerline is valid? [True, True] Translation: X:29.24, Y:-4.38, Z:-1.90 [[ 9.74026680e-01 2.21308270e-01 4.79027788e-02 2.92430098e+01] [-2.21014602e-01 9.75203760e-01 -1.14093235e-02 -4.38484884e+00] [-4.92399476e-02 5.25771862e-04 9.98786840e-01 -1.89789876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261052753999998 meters 0.013966845577520853 Centerline is valid? [True, True] Translation: X:29.27, Y:-4.39, Z:-1.90 [[ 9.73039522e-01 2.25439410e-01 4.86945758e-02 2.92742210e+01] [-2.25140832e-01 9.74257135e-01 -1.16034753e-02 -4.39250104e+00] [-5.00569185e-02 3.27502744e-04 9.98746313e-01 -1.89769526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.291052754 meters 0.014020728530896288 Centerline is valid? [True, True] Translation: X:29.30, Y:-4.40, Z:-1.90 [[ 9.72347517e-01 2.28489186e-01 4.83011159e-02 2.93042676e+01] [-2.28198571e-01 9.73546434e-01 -1.15218665e-02 -4.39985124e+00] [-4.96560010e-02 1.81012632e-04 9.98766363e-01 -1.89936369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321052753999997 meters 0.01420857599227242 Centerline is valid? [True, True] Translation: X:29.34, Y:-4.41, Z:-1.90 [[ 9.70813268e-01 2.35012118e-01 4.78633816e-02 2.93355195e+01] [-2.34734148e-01 9.71992430e-01 -1.14278177e-02 -4.40500984e+00] [-4.92085202e-02 -1.40893071e-04 9.98788517e-01 -1.90296079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351052753999998 meters 0.01445507458412428 Centerline is valid? [True, True] Translation: X:29.37, Y:-4.41, Z:-1.91 [[ 9.70012766e-01 2.38256896e-01 4.80508547e-02 2.93676754e+01] [-2.37980115e-01 9.71202124e-01 -1.14847804e-02 -4.41088024e+00] [-4.94034202e-02 -2.94764308e-04 9.98778862e-01 -1.90575604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381052754 meters 0.01481331811810177 Centerline is valid? [True, True] Translation: X:29.40, Y:-4.42, Z:-1.91 [[ 9.69445605e-01 2.40632654e-01 4.76565260e-02 2.93990334e+01] [-2.40362587e-01 9.70616179e-01 -1.14043928e-02 -4.41572044e+00] [-4.90004645e-02 -3.98907429e-04 9.98798676e-01 -1.90990052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.411052754 meters 0.015579217256230756 Centerline is valid? [True, True] Translation: X:29.43, Y:-4.42, Z:-1.91 [[ 9.68139190e-01 2.45643057e-01 4.86415266e-02 2.94311783e+01] [-2.45367389e-01 9.69360130e-01 -1.16525947e-02 -4.41977617e+00] [-5.00135356e-02 -6.53710781e-04 9.98748326e-01 -1.91440535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441052753999998 meters 0.015742629790082875 Centerline is valid? [True, True] Translation: X:29.46, Y:-4.43, Z:-1.92 [[ 9.68004862e-01 2.45796812e-01 5.05026133e-02 2.94605870e+01] [-2.45499128e-01 9.69321140e-01 -1.21121647e-02 -4.42869555e+00] [-5.19303822e-02 -6.73713206e-04 9.98650480e-01 -1.91555401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.471052754 meters 0.01547597038776129 Centerline is valid? [True, True] Translation: X:29.49, Y:-4.44, Z:-1.92 [[ 9.68577348e-01 2.43509919e-01 5.06047425e-02 2.94904487e+01] [-2.43207285e-01 9.69898256e-01 -1.21486389e-02 -4.43871127e+00] [-5.20397656e-02 -5.40545621e-04 9.98644867e-01 -1.91694699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501052754 meters 0.014783863024900406 Centerline is valid? [True, True] Translation: X:29.52, Y:-4.45, Z:-1.92 [[ 9.70100284e-01 2.37414129e-01 5.03981194e-02 2.95194410e+01] [-2.37105137e-01 9.71408509e-01 -1.21104571e-02 -4.45414193e+00] [-5.18323557e-02 -2.01295156e-04 9.98655780e-01 -1.91754684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.531052753999997 meters 0.014832417893013278 Centerline is valid? [True, True] Translation: X:29.55, Y:-4.47, Z:-1.92 [[ 9.71058980e-01 2.33649938e-01 4.95193290e-02 2.95493835e+01] [-2.33346132e-01 9.72320784e-01 -1.19111777e-02 -4.46529525e+00] [-5.09317187e-02 1.13122255e-05 9.98702138e-01 -1.92066976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561052754 meters 0.015106974490323406 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.48, Z:-1.92 [[ 9.72496982e-01 2.27872363e-01 4.82058778e-02 2.95787863e+01] [-2.27576743e-01 9.73690960e-01 -1.16078040e-02 -4.47803322e+00] [-4.95827252e-02 3.18017691e-04 9.98769970e-01 -1.92495855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.591052754 meters 0.015573209109361838 Centerline is valid? [True, True] Translation: X:29.61, Y:-4.49, Z:-1.93 [[ 9.73145408e-01 2.25253961e-01 4.74201150e-02 2.96084651e+01] [-2.24964156e-01 9.74299977e-01 -1.14317022e-02 -4.48731360e+00] [-4.87764531e-02 4.56882320e-04 9.98809616e-01 -1.92779360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621052753999997 meters 0.015517933061922371 Centerline is valid? [True, True] Translation: X:29.64, Y:-4.49, Z:-1.93 [[ 9.73208031e-01 2.24908783e-01 4.77720477e-02 2.96407408e+01] [-2.24614039e-01 9.74379704e-01 -1.15206883e-02 -4.49438671e+00] [-4.91392177e-02 4.81753805e-04 9.98791823e-01 -1.92958125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.651052754 meters 0.016144872943520298 Centerline is valid? [True, True] Translation: X:29.67, Y:-4.50, Z:-1.93 [[ 9.73825106e-01 2.22095603e-01 4.83550069e-02 2.96706578e+01] [-2.21789425e-01 9.75024680e-01 -1.16758269e-02 -4.50167536e+00] [-4.97404749e-02 6.45584217e-04 9.98761968e-01 -1.93228573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681052754 meters 0.016379782596540084 Centerline is valid? [True, True] Translation: X:29.70, Y:-4.51, Z:-1.93 [[ 9.74621983e-01 2.18223199e-01 4.99061768e-02 2.97017669e+01] [-2.17891379e-01 9.75898488e-01 -1.20618635e-02 -4.50931650e+00] [-5.13355409e-02 8.81631666e-04 9.98681073e-01 -1.93233203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.711052753999997 meters 0.017285558818653873 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.52, Z:-1.93 [[ 9.75061110e-01 2.16106039e-01 5.05372295e-02 2.97314857e+01] [-2.15762250e-01 9.76369368e-01 -1.22273813e-02 -4.51862041e+00] [-5.19854138e-02 1.01841765e-03 9.98647325e-01 -1.93334924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741052754 meters 0.017268457743903638 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.53, Z:-1.93 [[ 9.75859082e-01 2.12295371e-01 5.12808634e-02 2.97628720e+01] [-2.11935399e-01 9.77204741e-01 -1.24209831e-02 -4.52711997e+00] [-5.27488200e-02 1.25289891e-03 9.98607026e-01 -1.93149801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.771052754 meters 0.018884770467196835 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.54, Z:-1.93 [[ 9.76161507e-01 2.10793732e-01 5.17176506e-02 2.97920903e+01] [-2.10425383e-01 9.77529635e-01 -1.25288131e-02 -4.53639323e+00] [-5.31965314e-02 1.34743860e-03 9.98583153e-01 -1.93454287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801052753999997 meters 0.016808226039597647 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.54, Z:-1.94 [[ 9.76215166e-01 2.10572934e-01 5.16041656e-02 2.98248793e+01] [-2.10205278e-01 9.77577193e-01 -1.25128804e-02 -4.53703964e+00] [-5.30819293e-02 1.36779562e-03 9.98589224e-01 -1.93629163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.831052753999998 meters 0.01798748161401956 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.55, Z:-1.94 [[ 9.75332347e-01 2.14815385e-01 5.08051432e-02 2.98544701e+01] [-2.14463965e-01 9.76654014e-01 -1.23346905e-02 -4.54521141e+00] [-5.22687284e-02 1.13455016e-03 9.98632411e-01 -1.94100022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861052754 meters 0.015690462056526955 Centerline is valid? [True, True] Translation: X:29.89, Y:-4.55, Z:-1.94 [[ 9.74511810e-01 2.18649773e-01 5.01897338e-02 2.98867823e+01] [-2.18311942e-01 9.75802970e-01 -1.21844018e-02 -4.54726564e+00] [-5.16394079e-02 9.16825189e-04 9.98665375e-01 -1.94139663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891052753999997 meters 0.015132632585042077 Centerline is valid? [True, True] Translation: X:29.92, Y:-4.55, Z:-1.94 [[ 9.73509024e-01 2.23034676e-01 5.03558727e-02 2.99184750e+01] [-2.22699785e-01 9.74810261e-01 -1.22377022e-02 -4.55160784e+00] [-5.18168534e-02 6.99271479e-04 9.98656360e-01 -1.94418330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921052753999998 meters 0.01445523612230815 Centerline is valid? [True, True] Translation: X:29.95, Y:-4.55, Z:-1.95 [[ 9.71596840e-01 2.30783990e-01 5.23290587e-02 2.99496640e+01] [-2.30432647e-01 9.73004960e-01 -1.27335609e-02 -4.55256726e+00] [-5.38551356e-02 3.13563999e-04 9.98548710e-01 -1.94639545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.951052754 meters 0.014423692097791674 Centerline is valid? [True, True] Translation: X:29.98, Y:-4.56, Z:-1.95 [[ 9.70774805e-01 2.33962995e-01 5.34564711e-02 2.99808855e+01] [-2.33601092e-01 9.72245492e-01 -1.30089556e-02 -4.55709617e+00] [-5.50164272e-02 1.41276330e-04 9.98485439e-01 -1.94837193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981052753999997 meters 0.014512536283632966 Centerline is valid? [True, True] Translation: X:30.01, Y:-4.56, Z:-1.95 [[ 9.69784057e-01 2.37751286e-01 5.47102209e-02 3.00130315e+01] [-2.37377809e-01 9.71326063e-01 -1.33212067e-02 -4.56190907e+00] [-5.63085975e-02 -6.82985002e-05 9.98413410e-01 -1.94931693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.011052753999998 meters 0.014684056687804928 Centerline is valid? [True, True] Translation: X:30.04, Y:-4.57, Z:-1.95 [[ 9.69634961e-01 2.38263365e-01 5.51235959e-02 3.00448143e+01] [-2.37884271e-01 9.71200577e-01 -1.34354888e-02 -4.56996569e+00] [-5.67372530e-02 -8.55167052e-05 9.98389141e-01 -1.95073309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041052754 meters 0.014854612623688847 Centerline is valid? [True, True] Translation: X:30.08, Y:-4.58, Z:-1.95 [[ 9.70163905e-01 2.35845821e-01 5.62027158e-02 3.00757370e+01] [-2.35446705e-01 9.71790483e-01 -1.37151817e-02 -4.57943706e+00] [-5.78519327e-02 7.32300084e-05 9.98325172e-01 -1.95331605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.071052753999997 meters 0.015222742642879702 Centerline is valid? [True, True] Translation: X:30.11, Y:-4.59, Z:-1.96 [[ 9.71655340e-01 2.29073905e-01 5.84041685e-02 3.01057912e+01] [-2.28629568e-01 9.73408898e-01 -1.42701729e-02 -4.58916351e+00] [-6.01200615e-02 5.12769855e-04 9.98191021e-01 -1.95553809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101052753999998 meters 0.01581776877095123 Centerline is valid? [True, True] Translation: X:30.14, Y:-4.60, Z:-1.96 [[ 9.72573327e-01 2.24896040e-01 5.93539785e-02 3.01364324e+01] [-2.24428468e-01 9.74382438e-01 -1.45164526e-02 -4.59861254e+00] [-6.10981670e-02 7.97592105e-04 9.98131443e-01 -1.95766032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.131052754 meters 0.01626806444017764 Centerline is valid? [True, True] Translation: X:30.17, Y:-4.61, Z:-1.96 [[ 9.73453774e-01 2.20861118e-01 6.00675970e-02 3.01671574e+01] [-2.20373584e-01 9.75304672e-01 -1.47064853e-02 -4.60825380e+00] [-6.18322988e-02 1.07877199e-03 9.98085970e-01 -1.96010097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161052754 meters 0.017629719847087017 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.62, Z:-1.96 [[ 9.75010566e-01 2.13536496e-01 6.12907916e-02 3.01968138e+01] [-2.13013374e-01 9.76933792e-01 -1.50222965e-02 -4.62030126e+00] [-6.30848540e-02 1.59113949e-03 9.98006899e-01 -1.96090006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.191052753999998 meters 0.018186272517802943 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.63, Z:-1.96 [[ 9.75890608e-01 2.09357382e-01 6.17009591e-02 3.02271694e+01] [-2.08818680e-01 9.77837391e-01 -1.51259721e-02 -4.63015729e+00] [-6.35002388e-02 1.87698124e-03 9.97980058e-01 -1.96137592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221052754 meters 0.01934897499871412 Centerline is valid? [True, True] Translation: X:30.26, Y:-4.64, Z:-1.96 [[ 9.76061045e-01 2.08647610e-01 6.14085672e-02 3.02571144e+01] [-2.08112385e-01 9.77989007e-01 -1.50577872e-02 -4.63901871e+00] [-6.31986750e-02 1.91743613e-03 9.97999124e-01 -1.96392533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.251052754 meters 0.018403303345803434 Centerline is valid? [True, True] Translation: X:30.29, Y:-4.64, Z:-1.97 [[ 9.75934689e-01 2.09463651e-01 6.06338401e-02 3.02886803e+01] [-2.08942539e-01 9.77814675e-01 -1.48821200e-02 -4.64238435e+00] [-6.24059218e-02 1.85498861e-03 9.98049127e-01 -1.96856917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281052753999997 meters 0.019120136416616373 Centerline is valid? [True, True] Translation: X:30.32, Y:-4.65, Z:-1.97 [[ 9.75579643e-01 2.11378900e-01 5.96935546e-02 3.03190391e+01] [-2.10876486e-01 9.77402681e-01 -1.46665120e-02 -4.65024959e+00] [-6.14448314e-02 1.72038348e-03 9.98108999e-01 -1.97242751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.311052754 meters 0.017825733786753225 Centerline is valid? [True, True] Translation: X:30.35, Y:-4.65, Z:-1.98 [[ 9.75081008e-01 2.13926851e-01 5.87565387e-02 3.03516018e+01] [-2.13443784e-01 9.76848452e-01 -1.44517230e-02 -4.65374599e+00] [-6.04878455e-02 1.55038266e-03 9.98167730e-01 -1.97629918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341052754 meters 0.01804176069703444 Centerline is valid? [True, True] Translation: X:30.38, Y:-4.66, Z:-1.98 [[ 9.73963775e-01 2.19029992e-01 5.84844258e-02 3.03809120e+01] [-2.18560227e-01 9.75717347e-01 -1.43904760e-02 -4.66105074e+00] [-6.02162146e-02 1.23343297e-03 9.98184595e-01 -1.97902013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.371052753999997 meters 0.01692536459911568 Centerline is valid? [True, True] Translation: X:30.41, Y:-4.67, Z:-1.98 [[ 9.73336997e-01 2.21706697e-01 5.88322333e-02 3.04130047e+01] [-2.21236162e-01 9.75112806e-01 -1.44767277e-02 -4.66710950e+00] [-6.05776515e-02 1.07491715e-03 9.98162909e-01 -1.97859861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401052754 meters 0.016486827120467343 Centerline is valid? [True, True] Translation: X:30.44, Y:-4.67, Z:-1.98 [[ 9.72088378e-01 2.27062951e-01 5.90474485e-02 3.04438784e+01] [-2.26598351e-01 9.73879793e-01 -1.45374055e-02 -4.67425448e+00] [-6.08060232e-02 7.51588541e-04 9.98149319e-01 -1.97772826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.431052754 meters 0.015915347256162747 Centerline is valid? [True, True] Translation: X:30.48, Y:-4.68, Z:-1.98 [[ 9.71240221e-01 2.30640112e-01 5.91402757e-02 3.04752917e+01] [-2.30179765e-01 9.73038973e-01 -1.45750537e-02 -4.67888045e+00] [-6.09073852e-02 5.42983674e-04 9.98143274e-01 -1.98025123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461052753999997 meters 0.015915347256162747 Centerline is valid? [True, True] Translation: X:30.51, Y:-4.69, Z:-1.98 [[ 9.71179579e-01 2.30896183e-01 5.91369485e-02 3.05066522e+01] [-2.30435488e-01 9.72978242e-01 -1.45885406e-02 -4.68669441e+00] [-6.09074026e-02 5.40841119e-04 9.98143274e-01 -1.98234201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.491052754 meters 0.0157530275204822 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.69, Z:-1.99 [[ 9.70972682e-01 2.31783300e-01 5.90639684e-02 3.05391362e+01] [-2.31324379e-01 9.72767316e-01 -1.45869974e-02 -4.69347950e+00] [-6.08365204e-02 5.00640186e-04 9.98147618e-01 -1.98626319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521052754 meters 0.01576297167242776 Centerline is valid? [True, True] Translation: X:30.57, Y:-4.70, Z:-1.99 [[ 9.70965263e-01 2.32017087e-01 5.82625943e-02 3.05711814e+01] [-2.31569982e-01 9.72711584e-01 -1.44054544e-02 -4.70186856e+00] [-6.00150119e-02 4.95327876e-04 9.98197352e-01 -1.99033634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.551052753999997 meters 0.016250657584336473 Centerline is valid? [True, True] Translation: X:30.60, Y:-4.71, Z:-2.00 [[ 9.71496393e-01 2.30311190e-01 5.61383536e-02 3.06000846e+01] [-2.29892372e-01 9.73116849e-01 -1.38958541e-02 -4.71314726e+00] [-5.78295485e-02 5.93992900e-04 9.98326295e-01 -1.99547205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581052753999998 meters 0.016415329905326223 Centerline is valid? [True, True] Translation: X:30.63, Y:-4.72, Z:-2.00 [[ 9.72063194e-01 2.27931433e-01 5.60393582e-02 3.06310957e+01] [-2.27509408e-01 9.73676899e-01 -1.38839800e-02 -4.72307813e+00] [-5.77288240e-02 7.46624794e-04 9.98332022e-01 -1.99663060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.611052754 meters 0.01717346805566449 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.74, Z:-1.99 [[ 9.73336571e-01 2.21807748e-01 5.84571891e-02 3.06603158e+01] [-2.21336499e-01 9.75089712e-01 -1.44985483e-02 -4.73698587e+00] [-6.02168940e-02 1.17325766e-03 9.98184627e-01 -1.99479470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641052753999997 meters 0.018313437327117203 Centerline is valid? [True, True] Translation: X:30.69, Y:-4.75, Z:-1.99 [[ 9.74482497e-01 2.16160039e-01 6.04872018e-02 3.06898272e+01] [-2.15643616e-01 9.76356650e-01 -1.50174325e-02 -4.75120743e+00] [-6.23032505e-02 1.59054621e-03 9.98055998e-01 -1.99335870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.671052753999998 meters 0.018724477121534085 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.76, Z:-1.99 [[ 9.74764825e-01 2.14916708e-01 6.03684042e-02 3.07207523e+01] [-2.14399759e-01 9.76630955e-01 -1.49907207e-02 -4.76074338e+00] [-6.21794085e-02 1.66945593e-03 9.98063592e-01 -1.99458426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701052754 meters 0.018850706910818676 Centerline is valid? [True, True] Translation: X:30.75, Y:-4.77, Z:-2.00 [[ 9.74452611e-01 2.16739838e-01 5.88723305e-02 3.07508440e+01] [-2.16250653e-01 9.76228203e-01 -1.46338577e-02 -4.76660293e+00] [-6.06445693e-02 1.52882094e-03 9.98158253e-01 -1.99854181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.731052753999997 meters 0.01916931407434025 Centerline is valid? [True, True] Translation: X:30.78, Y:-4.77, Z:-2.00 [[ 9.74044847e-01 2.18950889e-01 5.74207584e-02 3.07813018e+01] [-2.18488611e-01 9.75734919e-01 -1.42861647e-02 -4.77342201e+00] [-5.91554075e-02 1.36958343e-03 9.98247846e-01 -2.00255972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761052753999998 meters 0.018070218882074385 Centerline is valid? [True, True] Translation: X:30.81, Y:-4.77, Z:-2.01 [[ 9.72956893e-01 2.23990662e-01 5.64186903e-02 3.08133273e+01] [-2.23552032e-01 9.74590716e-01 -1.40508173e-02 -4.77486866e+00] [-5.81323836e-02 1.05832667e-03 9.98308322e-01 -2.00604152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.791052754 meters 0.017591880601444055 Centerline is valid? [True, True] Translation: X:30.84, Y:-4.78, Z:-2.01 [[ 9.72260748e-01 2.26947590e-01 5.66023705e-02 3.08444049e+01] [-2.26510982e-01 9.73906569e-01 -1.40985672e-02 -4.78005892e+00] [-5.83250563e-02 8.86425004e-04 9.98297251e-01 -2.00760552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821052753999997 meters 0.016976052575023354 Centerline is valid? [True, True] Translation: X:30.88, Y:-4.79, Z:-2.01 [[ 9.71637340e-01 2.29653993e-01 5.63908035e-02 3.08766545e+01] [-2.29224407e-01 9.73272061e-01 -1.40594083e-02 -4.78525433e+00] [-5.81123927e-02 7.34497570e-04 9.98309777e-01 -2.00880439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.851052753999998 meters 0.016378717626209478 Centerline is valid? [True, True] Translation: X:30.91, Y:-4.79, Z:-2.01 [[ 9.70425928e-01 2.34831910e-01 5.59239871e-02 3.09090934e+01] [-2.34417712e-01 9.72035901e-01 -1.39478866e-02 -4.79007493e+00] [-5.76355320e-02 4.25817734e-04 9.98337600e-01 -2.00935920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881052754 meters 0.016164667022257148 Centerline is valid? [True, True] Translation: X:30.94, Y:-4.79, Z:-2.01 [[ 9.69617247e-01 2.38448900e-01 5.46307305e-02 3.09405857e+01] [-2.38059191e-01 9.71155023e-01 -1.36287771e-02 -4.79373897e+00] [-5.63046752e-02 2.09349819e-04 9.98413612e-01 -2.01274060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.911052754 meters 0.016186694642340006 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.80, Z:-2.02 [[ 9.69444245e-01 2.39256204e-01 5.41694159e-02 3.09727472e+01] [-2.38873591e-01 9.70956456e-01 -1.35265989e-02 -4.80069416e+00] [-5.58324668e-02 1.73640597e-04 9.98440136e-01 -2.01599303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941052753999998 meters 0.01629077793796149 Centerline is valid? [True, True] Translation: X:31.00, Y:-4.81, Z:-2.02 [[ 9.69942504e-01 2.37403482e-01 5.33959252e-02 3.10029357e+01] [-2.37028085e-01 9.71411088e-01 -1.33486036e-02 -4.81020482e+00] [-5.50383988e-02 2.91044149e-04 9.98484196e-01 -2.01843526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.971052754 meters 0.016386706583105856 Centerline is valid? [True, True] Translation: X:31.03, Y:-4.82, Z:-2.02 [[ 9.70239849e-01 2.35931586e-01 5.45061668e-02 3.10347286e+01] [-2.35537323e-01 9.71769587e-01 -1.36396137e-02 -4.82019510e+00] [-5.61854509e-02 3.95460151e-04 9.98420272e-01 -2.01904354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001052754 meters 0.01685434117797422 Centerline is valid? [True, True] Translation: X:31.06, Y:-4.83, Z:-2.02 [[ 9.71086358e-01 2.31931635e-01 5.65597267e-02 3.10633074e+01] [-2.31499241e-01 9.72731859e-01 -1.41714956e-02 -4.83260087e+00] [-5.83042662e-02 6.68212190e-04 9.98298636e-01 -2.01860587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.031052754 meters 0.017567444718536312 Centerline is valid? [True, True] Translation: X:31.09, Y:-4.85, Z:-2.02 [[ 9.71995171e-01 2.27822956e-01 5.76375629e-02 3.10932067e+01] [-2.27366281e-01 9.73702120e-01 -1.44483428e-02 -4.84557310e+00] [-5.94134814e-02 9.38881060e-04 9.98233017e-01 -2.01898534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061052754 meters 0.017651726290786252 Centerline is valid? [True, True] Translation: X:31.12, Y:-4.85, Z:-2.02 [[ 9.72269733e-01 2.26630850e-01 5.77063544e-02 3.11238839e+01] [-2.26170141e-01 9.73980187e-01 -1.44797653e-02 -4.85465656e+00] [-5.94864073e-02 1.02678322e-03 9.98228588e-01 -2.02030406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.091052754 meters 0.01897637546032323 Centerline is valid? [True, True] Translation: X:31.15, Y:-4.87, Z:-2.02 [[ 9.72477813e-01 2.25883112e-01 5.71290110e-02 3.11532562e+01] [-2.25429450e-01 9.74153819e-01 -1.43492225e-02 -4.86633131e+00] [-5.88936913e-02 1.07573897e-03 9.98263681e-01 -2.02314576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121052754000004 meters 0.01764442981739935 Centerline is valid? [True, True] Translation: X:31.18, Y:-4.87, Z:-2.02 [[ 9.72660538e-01 2.25565479e-01 5.52421202e-02 3.11848907e+01] [-2.25140112e-01 9.74227421e-01 -1.38874627e-02 -4.87198125e+00] [-5.69509205e-02 1.07056984e-03 9.98376405e-01 -2.02472615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.151052754 meters 0.017726407528697315 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.88, Z:-2.03 [[ 9.72541218e-01 2.26472829e-01 5.36063101e-02 3.12165016e+01] [-2.26072964e-01 9.74016970e-01 -1.34891406e-02 -4.87882340e+00] [-5.52683796e-02 9.99807819e-04 9.98471034e-01 -2.02851088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.181052754 meters 0.01762825207794842 Centerline is valid? [True, True] Translation: X:31.25, Y:-4.89, Z:-2.03 [[ 9.72382488e-01 2.27251430e-01 5.31891443e-02 3.12486726e+01] [-2.26858090e-01 9.73835643e-01 -1.33995016e-02 -4.88593985e+00] [-5.48425405e-02 9.63053055e-04 9.98494551e-01 -2.03120283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.211052754 meters 0.017878778518701385 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.89, Z:-2.03 [[ 9.72202926e-01 2.28125214e-01 5.27290880e-02 3.12799226e+01] [-2.27739107e-01 9.73631367e-01 -1.32988861e-02 -4.89382138e+00] [-5.43725053e-02 9.20740533e-04 9.98520297e-01 -2.03291064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.241052754 meters 0.01777665314000817 Centerline is valid? [True, True] Translation: X:31.31, Y:-4.90, Z:-2.03 [[ 9.71914954e-01 2.29568440e-01 5.17653626e-02 3.13105211e+01] [-2.29197571e-01 9.73292159e-01 -1.30708208e-02 -4.90019148e+00] [-5.33834695e-02 8.39230810e-04 9.98573733e-01 -2.03426157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.271052754 meters 0.017391771307342357 Centerline is valid? [True, True] Translation: X:31.34, Y:-4.90, Z:-2.04 [[ 9.71298153e-01 2.32356334e-01 5.08962928e-02 3.13427855e+01] [-2.32001246e-01 9.72630490e-01 -1.28589551e-02 -4.90497284e+00] [-5.24911458e-02 6.81876042e-04 9.98621157e-01 -2.03808161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301052754000004 meters 0.017203171756114313 Centerline is valid? [True, True] Translation: X:31.37, Y:-4.91, Z:-2.04 [[ 9.70839102e-01 2.34381617e-01 5.03656142e-02 3.13746897e+01] [-2.34036493e-01 9.72144503e-01 -1.27273644e-02 -4.91052644e+00] [-5.19457152e-02 5.68831345e-04 9.98649748e-01 -2.04169916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.331052754000005 meters 0.016343462687646696 Centerline is valid? [True, True] Translation: X:31.41, Y:-4.91, Z:-2.05 [[ 9.69389104e-01 2.40647861e-01 4.87172658e-02 3.14072825e+01] [-2.40332303e-01 9.70612462e-01 -1.23220619e-02 -4.91159174e+00] [-5.02508632e-02 2.36539798e-04 9.98736599e-01 -2.04590465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361052754 meters 0.016365272473044753 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.92, Z:-2.05 [[ 9.68466769e-01 2.44671582e-01 4.69886647e-02 3.14378900e+01] [-2.44382194e-01 9.69606011e-01 -1.18965411e-02 -4.91711065e+00] [-4.84712372e-02 3.82118059e-05 9.98824578e-01 -2.04954469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.391052754 meters 0.01652609593939881 Centerline is valid? [True, True] Translation: X:31.47, Y:-4.92, Z:-2.05 [[ 9.66862881e-01 2.51617298e-01 4.31845433e-02 3.14698595e+01] [-2.51379266e-01 9.67826772e-01 -1.09454927e-02 -4.92262642e+00] [-4.45492325e-02 -2.72908228e-04 9.99007153e-01 -2.05181630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.421052754 meters 0.016688570844367964 Centerline is valid? [True, True] Translation: X:31.50, Y:-4.93, Z:-2.05 [[ 9.66140734e-01 2.54514906e-01 4.23585206e-02 3.15013355e+01] [-2.54288707e-01 9.67068768e-01 -1.07354814e-02 -4.93029813e+00] [-4.36959424e-02 -3.99307577e-04 9.99044796e-01 -2.05348348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.451052754 meters 0.01687229137489599 Centerline is valid? [True, True] Translation: X:31.53, Y:-4.94, Z:-2.05 [[ 9.65318983e-01 2.57150105e-01 4.50897391e-02 3.15310046e+01] [-2.56895983e-01 9.66371323e-01 -1.14420239e-02 -4.93890823e+00] [-4.65157485e-02 -5.38170012e-04 9.98917412e-01 -2.05271608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481052754000004 meters 0.016703284400266794 Centerline is valid? [True, True] Translation: X:31.56, Y:-4.95, Z:-2.05 [[ 9.65295227e-01 2.57061059e-01 4.60948708e-02 3.15618922e+01] [-2.56795130e-01 9.66395012e-01 -1.17022214e-02 -4.94883964e+00] [-4.75540386e-02 -5.40839846e-04 9.98868520e-01 -2.05304769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.511052754000005 meters 0.01653954457053474 Centerline is valid? [True, True] Translation: X:31.59, Y:-4.96, Z:-2.06 [[ 9.65934519e-01 2.54636809e-01 4.61584283e-02 3.15921764e+01] [-2.54366700e-01 9.67036674e-01 -1.17325678e-02 -4.96162086e+00] [-4.76244366e-02 -4.08274847e-04 9.98865229e-01 -2.05521595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541052754 meters 0.016180163352079273 Centerline is valid? [True, True] Translation: X:31.62, Y:-4.98, Z:-2.06 [[ 9.67283843e-01 2.49161596e-01 4.77542282e-02 3.16200591e+01] [-2.48865680e-01 9.68461914e-01 -1.21405922e-02 -4.97710723e+00] [-4.92731206e-02 -1.40989778e-04 9.98785332e-01 -2.05517347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.571052754 meters 0.01598093561304377 Centerline is valid? [True, True] Translation: X:31.65, Y:-4.99, Z:-2.06 [[ 9.68003583e-01 2.46185908e-01 4.85958960e-02 3.16499909e+01] [-2.45875142e-01 9.69222626e-01 -1.23659378e-02 -4.98872416e+00] [-5.01445615e-02 2.17493455e-05 9.98741970e-01 -2.05546377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601052754 meters 0.016312577037879545 Centerline is valid? [True, True] Translation: X:31.68, Y:-5.00, Z:-2.05 [[ 9.69203075e-01 2.40858065e-01 5.13107419e-02 3.16800764e+01] [-2.40503391e-01 9.70560294e-01 -1.30703422e-02 -5.00134277e+00] [-5.29482661e-02 3.27408462e-04 9.98597203e-01 -2.05418670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.631052754 meters 0.016165410319135484 Centerline is valid? [True, True] Translation: X:31.71, Y:-5.01, Z:-2.05 [[ 9.69435488e-01 2.39412647e-01 5.36322552e-02 3.17111523e+01] [-2.39022129e-01 9.70917809e-01 -1.36758880e-02 -5.00966953e+00] [-5.53466923e-02 4.38595409e-04 9.98467101e-01 -2.05436189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661052754 meters 0.016628090887701903 Centerline is valid? [True, True] Translation: X:31.74, Y:-5.02, Z:-2.05 [[ 9.70231627e-01 2.36041741e-01 5.41745985e-02 3.17407273e+01] [-2.35637241e-01 9.71742699e-01 -1.38281623e-02 -5.02063023e+00] [-5.59077940e-02 6.50967550e-04 9.98435724e-01 -2.05285063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.691052754000005 meters 0.01693646575991797 Centerline is valid? [True, True] Translation: X:31.77, Y:-5.03, Z:-2.06 [[ 9.70669502e-01 2.34350212e-01 5.36721093e-02 3.17712747e+01] [-2.33949926e-01 9.72151948e-01 -1.37120993e-02 -5.02919571e+00] [-5.53908790e-02 7.53330602e-04 9.98464463e-01 -2.05568033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.721052754 meters 0.017453603364610427 Centerline is valid? [True, True] Translation: X:31.80, Y:-5.04, Z:-2.06 [[ 9.71254570e-01 2.32099912e-01 5.28601127e-02 3.18024880e+01] [-2.31707623e-01 9.72691552e-01 -1.35174993e-02 -5.03533136e+00] [-5.45539954e-02 8.80841911e-04 9.98510433e-01 -2.06134020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.751052754 meters 0.01764023099668354 Centerline is valid? [True, True] Translation: X:31.83, Y:-5.04, Z:-2.06 [[ 9.71320559e-01 2.32002254e-01 5.20704007e-02 3.18341083e+01] [-2.31620787e-01 9.72714845e-01 -1.33281878e-02 -5.04226746e+00] [-5.37418214e-02 8.85355579e-04 9.98554472e-01 -2.06491467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.781052754 meters 0.01706915171359451 Centerline is valid? [True, True] Translation: X:31.87, Y:-5.05, Z:-2.07 [[ 9.71190488e-01 2.32905414e-01 5.04391173e-02 3.18665896e+01] [-2.32548118e-01 9.72499046e-01 -1.29219687e-02 -5.04546323e+00] [-5.20615900e-02 8.20171283e-04 9.98643539e-01 -2.07057901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.811052754 meters 0.017049144783440218 Centerline is valid? [True, True] Translation: X:31.90, Y:-5.05, Z:-2.07 [[ 9.71139036e-01 2.33628290e-01 4.80290967e-02 3.18978427e+01] [-2.33304555e-01 9.72325691e-01 -1.23181213e-02 -5.05086305e+00] [-4.95777862e-02 7.57201478e-04 9.98769978e-01 -2.07457456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841052754 meters 0.01706524179016414 Centerline is valid? [True, True] Translation: X:31.93, Y:-5.06, Z:-2.08 [[ 9.70779785e-01 2.35601573e-01 4.55906543e-02 3.19283502e+01] [-2.35311464e-01 9.71849523e-01 -1.17055551e-02 -5.05829882e+00] [-4.70651028e-02 6.35512667e-04 9.98891622e-01 -2.07788502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.871052754000004 meters 0.01692756760301467 Centerline is valid? [True, True] Translation: X:31.96, Y:-5.07, Z:-2.08 [[ 9.70484053e-01 2.36675705e-01 4.63175232e-02 3.19583603e+01] [-2.36377237e-01 9.71588521e-01 -1.18974025e-02 -5.06646412e+00] [-4.78173999e-02 5.97831258e-04 9.98855915e-01 -2.07813207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901052754 meters 0.016193310793552098 Centerline is valid? [True, True] Translation: X:31.99, Y:-5.07, Z:-2.08 [[ 9.69507592e-01 2.40264842e-01 4.82476300e-02 3.19901865e+01] [-2.39944829e-01 9.70707270e-01 -1.24046663e-02 -5.07213937e+00] [-4.98147304e-02 4.49648887e-04 9.98758374e-01 -2.07776843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.931052754 meters 0.015549423328781415 Centerline is valid? [True, True] Translation: X:32.02, Y:-5.08, Z:-2.08 [[ 9.68471044e-01 2.44211002e-01 4.92424912e-02 3.20215305e+01] [-2.43882099e-01 9.69722082e-01 -1.26729979e-02 -5.07723093e+00] [-5.08464166e-02 2.64069417e-04 9.98706449e-01 -2.08003952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961052754 meters 0.015360541826351614 Centerline is valid? [True, True] Translation: X:32.05, Y:-5.09, Z:-2.08 [[ 9.68080662e-01 2.45658295e-01 4.97175431e-02 3.20525581e+01] [-2.45324265e-01 9.69356468e-01 -1.28079624e-02 -5.08589670e+00] [-5.13404041e-02 2.02220986e-04 9.98681191e-01 -2.08124773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.991052754 meters 0.015019339563028948 Centerline is valid? [True, True] Translation: X:32.08, Y:-5.10, Z:-2.08 [[ 9.67650826e-01 2.46911551e-01 5.18320875e-02 3.20832686e+01] [-2.46549547e-01 9.69038008e-01 -1.33663444e-02 -5.09552942e+00] [-5.35275677e-02 1.54776518e-04 9.98566360e-01 -2.08070536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021052754 meters 0.014924031088036532 Centerline is valid? [True, True] Translation: X:32.11, Y:-5.10, Z:-2.08 [[ 9.67538934e-01 2.47075625e-01 5.31229406e-02 3.21140364e+01] [-2.46694846e-01 9.68996186e-01 -1.37129039e-02 -5.10416967e+00] [-5.48640511e-02 1.62612718e-04 9.98493820e-01 -2.08148491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.051052754000004 meters 0.014766399556196763 Centerline is valid? [True, True] Translation: X:32.14, Y:-5.11, Z:-2.08 [[ 9.67560919e-01 2.46485197e-01 5.54158370e-02 3.21438887e+01] [-2.46068994e-01 9.69146532e-01 -1.43195848e-02 -5.11308686e+00] [-5.72356319e-02 2.18951364e-04 9.98360674e-01 -2.08181093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081052754000005 meters 0.01471288351180883 Centerline is valid? [True, True] Translation: X:32.18, Y:-5.12, Z:-2.08 [[ 9.67518201e-01 2.46528574e-01 5.59659947e-02 3.21757583e+01] [-2.46103389e-01 9.69135496e-01 -1.44745693e-02 -5.12157323e+00] [-5.78070270e-02 2.30988244e-04 9.98327749e-01 -2.08299584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.111052754 meters 0.014511626812381355 Centerline is valid? [True, True] Translation: X:32.21, Y:-5.13, Z:-2.08 [[ 9.67466062e-01 2.46591040e-01 5.65886630e-02 3.22075840e+01] [-2.46155475e-01 9.69119600e-01 -1.46520840e-02 -5.13004512e+00] [-5.84542550e-02 2.45784807e-04 9.98290058e-01 -2.08447449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141052754 meters 0.014604116459439594 Centerline is valid? [True, True] Translation: X:32.24, Y:-5.14, Z:-2.09 [[ 9.67667402e-01 2.45829856e-01 5.64577820e-02 3.22380327e+01] [-2.45394041e-01 9.69312946e-01 -1.46347915e-02 -5.14144803e+00] [-5.83229277e-02 3.07207381e-04 9.98297722e-01 -2.08563731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171052754 meters 0.014902129926963631 Centerline is valid? [True, True] Translation: X:32.27, Y:-5.15, Z:-2.09 [[ 9.68198589e-01 2.44042221e-01 5.50897978e-02 3.22669348e+01] [-2.43623545e-01 9.69764517e-01 -1.42950990e-02 -5.15223965e+00] [-5.69127389e-02 4.19322829e-04 9.98379068e-01 -2.08825858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201052754 meters 0.015005719038814017 Centerline is valid? [True, True] Translation: X:32.30, Y:-5.16, Z:-2.09 [[ 9.68374937e-01 2.43433130e-01 5.46835636e-02 3.22987910e+01] [-2.43018968e-01 9.69917572e-01 -1.42015811e-02 -5.16060979e+00] [-5.64956846e-02 4.63312017e-04 9.98402736e-01 -2.09192304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.231052754000004 meters 0.014845273078543025 Centerline is valid? [True, True] Translation: X:32.33, Y:-5.17, Z:-2.10 [[ 9.68811000e-01 2.42064572e-01 5.30093306e-02 3.23302081e+01] [-2.41672563e-01 9.70259991e-01 -1.37812039e-02 -5.16740557e+00] [-5.47687739e-02 5.40481177e-04 9.98498918e-01 -2.09694974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261052754000005 meters 0.015108530108269638 Centerline is valid? [True, True] Translation: X:32.36, Y:-5.18, Z:-2.10 [[ 9.69065705e-01 2.41337823e-01 5.16499240e-02 3.23611109e+01] [-2.40963963e-01 9.70440993e-01 -1.34405481e-02 -5.17639081e+00] [-5.33669161e-02 5.79003808e-04 9.98574803e-01 -2.10076691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.291052754 meters 0.015915484344997077 Centerline is valid? [True, True] Translation: X:32.39, Y:-5.19, Z:-2.11 [[ 9.69858212e-01 2.38800323e-01 4.84711719e-02 3.23902499e+01] [-2.38467346e-01 9.71068450e-01 -1.26249583e-02 -5.18633885e+00] [-5.00836699e-02 6.85627760e-04 9.98744790e-01 -2.10651357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321052754 meters 0.01595553478753094 Centerline is valid? [True, True] Translation: X:32.42, Y:-5.19, Z:-2.11 [[ 9.70149262e-01 2.37763724e-01 4.77369905e-02 3.24213966e+01] [-2.37438983e-01 9.71322741e-01 -1.24443854e-02 -5.19494952e+00] [-4.93268479e-02 7.38288880e-04 9.98782417e-01 -2.10978751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.351052754 meters 0.01656588434327631 Centerline is valid? [True, True] Translation: X:32.45, Y:-5.21, Z:-2.11 [[ 9.70689431e-01 2.35272847e-01 4.90786720e-02 3.24506688e+01] [-2.34925738e-01 9.71928945e-01 -1.28071723e-02 -5.20594395e+00] [-5.07141618e-02 9.01943532e-04 9.98712802e-01 -2.10988414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381052754 meters 0.01656588434327631 Centerline is valid? [True, True] Translation: X:32.48, Y:-5.21, Z:-2.11 [[ 9.70627033e-01 2.35530685e-01 4.90760592e-02 3.24819202e+01] [-2.35183400e-01 9.71866497e-01 -1.28171756e-02 -5.21418125e+00] [-5.07142159e-02 8.98822638e-04 9.98712802e-01 -2.11197477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.411052754 meters 0.016965402141159335 Centerline is valid? [True, True] Translation: X:32.51, Y:-5.23, Z:-2.11 [[ 9.70840090e-01 2.34503649e-01 4.97750767e-02 3.25114394e+01] [-2.34144268e-01 9.72114745e-01 -1.30147943e-02 -5.22533245e+00] [-5.14391027e-02 9.80735205e-04 9.98675651e-01 -2.11189250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441052754000005 meters 0.01784379398611575 Centerline is valid? [True, True] Translation: X:32.54, Y:-5.24, Z:-2.11 [[ 9.71662402e-01 2.31018785e-01 5.00249664e-02 3.25415488e+01] [-2.30650472e-01 9.72948569e-01 -1.30935696e-02 -5.23906609e+00] [-5.16965800e-02 1.18424721e-03 9.98662136e-01 -2.11040975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.471052754 meters 0.01740642951366795 Centerline is valid? [True, True] Translation: X:32.57, Y:-5.25, Z:-2.11 [[ 9.71830046e-01 2.30056750e-01 5.11884004e-02 3.25726770e+01] [-2.29669669e-01 9.73176392e-01 -1.33997830e-02 -5.24692294e+00] [-5.28980533e-02 1.26588882e-03 9.98599116e-01 -2.11186815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501052754 meters 0.017847225000178327 Centerline is valid? [True, True] Translation: X:32.60, Y:-5.25, Z:-2.12 [[ 9.71743094e-01 2.29903153e-01 5.34780310e-02 3.26029414e+01] [-2.29479614e-01 9.73212582e-01 -1.40134382e-02 -5.25326022e+00] [-5.52672262e-02 1.34534387e-03 9.98470692e-01 -2.11779802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531052754 meters 0.017437068983993748 Centerline is valid? [True, True] Translation: X:32.63, Y:-5.26, Z:-2.12 [[ 9.71326722e-01 2.31368948e-01 5.47065797e-02 3.26345024e+01] [-2.30927299e-01 9.72865207e-01 -1.43482323e-02 -5.26012214e+00] [-5.65418634e-02 1.30357877e-03 9.98399378e-01 -2.12108354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561052754 meters 0.016426927274596874 Centerline is valid? [True, True] Translation: X:32.66, Y:-5.27, Z:-2.12 [[ 9.70376443e-01 2.34662913e-01 5.74706565e-02 3.26645946e+01] [-2.34180282e-01 9.72076086e-01 -1.50890507e-02 -5.26843934e+00] [-5.94066914e-02 1.18356483e-03 9.98233161e-01 -2.11919027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591052754 meters 0.015487046372610967 Centerline is valid? [True, True] Translation: X:32.70, Y:-5.27, Z:-2.12 [[ 9.69377134e-01 2.38179697e-01 5.98197627e-02 3.26966205e+01] [-2.37663313e-01 9.71220578e-01 -1.57078838e-02 -5.27481001e+00] [-6.18394836e-02 1.00990043e-03 9.98085597e-01 -2.11837653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621052754000004 meters 0.015027554797282705 Centerline is valid? [True, True] Translation: X:32.73, Y:-5.28, Z:-2.12 [[ 9.68746939e-01 2.40697527e-01 5.99505577e-02 3.27274039e+01] [-2.40183385e-01 9.70599798e-01 -1.57471786e-02 -5.28001255e+00] [-6.19783062e-02 8.55903215e-04 9.98077130e-01 -2.12118963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.651052754 meters 0.013996061379835284 Centerline is valid? [True, True] Translation: X:32.76, Y:-5.28, Z:-2.12 [[ 9.67524435e-01 2.45651304e-01 5.95978520e-02 3.27595356e+01] [-2.45151751e-01 9.69358105e-01 -1.56678955e-02 -5.28191690e+00] [-6.16204999e-02 5.48553960e-04 9.98099501e-01 -2.12494521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.681052754 meters 0.013533398844315543 Centerline is valid? [True, True] Translation: X:32.79, Y:-5.29, Z:-2.13 [[ 9.66819580e-01 2.48503440e-01 5.92109827e-02 3.27915243e+01] [-2.48014828e-01 9.68630940e-01 -1.55803648e-02 -5.28687252e+00] [-6.12253641e-02 3.78200037e-04 9.98123896e-01 -2.12802213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.711052754 meters 0.013281380643042727 Centerline is valid? [True, True] Translation: X:32.82, Y:-5.29, Z:-2.13 [[ 9.65909024e-01 2.52827116e-01 5.56615341e-02 3.28227319e+01] [-2.52401801e-01 9.67511466e-01 -1.46592658e-02 -5.29154479e+00] [-5.75594324e-02 1.10445714e-04 9.98342075e-01 -2.13260972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741052754 meters 0.013159897415202293 Centerline is valid? [True, True] Translation: X:32.85, Y:-5.30, Z:-2.14 [[ 9.65661926e-01 2.54112162e-01 5.40745257e-02 3.28545034e+01] [-2.53712016e-01 9.67174755e-01 -1.42550317e-02 -5.29939420e+00] [-5.59218931e-02 4.61844186e-05 9.98435145e-01 -2.13520672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.771052754 meters 0.013303579886268676 Centerline is valid? [True, True] Translation: X:32.89, Y:-5.31, Z:-2.14 [[ 9.65822105e-01 2.53765149e-01 5.28290764e-02 3.28861924e+01] [-2.53381883e-01 9.67265860e-01 -1.39419693e-02 -5.30545991e+00] [-5.46377479e-02 7.95312454e-05 9.98506239e-01 -2.14055828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801052754000004 meters 0.013307660818718788 Centerline is valid? [True, True] Translation: X:32.92, Y:-5.31, Z:-2.15 [[ 9.66092705e-01 2.52811089e-01 5.24541660e-02 3.29178448e+01] [-2.52431146e-01 9.67515650e-01 -1.38558415e-02 -5.31276949e+00] [-5.42531369e-02 1.44962150e-04 9.98527204e-01 -2.14529094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.831052754000005 meters 0.013680050876602599 Centerline is valid? [True, True] Translation: X:32.95, Y:-5.32, Z:-2.15 [[ 9.67040654e-01 2.49040717e-01 5.30197610e-02 3.29485061e+01] [-2.48645990e-01 9.68492943e-01 -1.40211121e-02 -5.32370505e+00] [-5.48410922e-02 3.75834438e-04 9.98495024e-01 -2.14752737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861052754 meters 0.013802987727302377 Centerline is valid? [True, True] Translation: X:32.98, Y:-5.34, Z:-2.15 [[ 9.67518579e-01 2.46903118e-01 5.42830519e-02 3.29793581e+01] [-2.46485202e-01 9.69040029e-01 -1.43689896e-02 -5.33554803e+00] [-5.61501985e-02 5.22295427e-04 9.98422196e-01 -2.14678955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.891052754 meters 0.014690088629739816 Centerline is valid? [True, True] Translation: X:33.01, Y:-5.35, Z:-2.14 [[ 9.68504504e-01 2.42659621e-01 5.58151840e-02 3.30075996e+01] [-2.42209680e-01 9.70111157e-01 -1.47923854e-02 -5.34933503e+00] [-5.77364473e-02 8.07514049e-04 9.98331533e-01 -2.14362747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.921052754 meters 0.014722992250043197 Centerline is valid? [True, True] Translation: X:33.04, Y:-5.36, Z:-2.15 [[ 9.68760591e-01 2.41358102e-01 5.70016079e-02 3.30384154e+01] [-2.40886313e-01 9.70435697e-01 -1.51109819e-02 -5.35675171e+00] [-5.89635530e-02 9.08016520e-04 9.98259723e-01 -2.14514252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.951052754 meters 0.014678280025013087 Centerline is valid? [True, True] Translation: X:33.07, Y:-5.36, Z:-2.15 [[ 9.68802467e-01 2.40675366e-01 5.91366845e-02 3.30710426e+01] [-2.40165334e-01 9.70605156e-01 -1.56921561e-02 -5.36233718e+00] [-6.11750862e-02 1.00001799e-03 9.98126549e-01 -2.14774126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981052754000004 meters 0.014398364057167152 Centerline is valid? [True, True] Translation: X:33.10, Y:-5.37, Z:-2.15 [[ 9.68452733e-01 2.41766729e-01 6.03999405e-02 3.31019758e+01] [-2.41235652e-01 9.70333917e-01 -1.60452279e-02 -5.37002400e+00] [-6.24873131e-02 9.68425737e-04 9.98045288e-01 -2.14729575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.011052754000005 meters 0.014342085523543638 Centerline is valid? [True, True] Translation: X:33.13, Y:-5.38, Z:-2.15 [[ 9.68261951e-01 2.42508471e-01 6.04850062e-02 3.31338793e+01] [-2.41976389e-01 9.70148836e-01 -1.60830046e-02 -5.37878792e+00] [-6.25797232e-02 9.36617993e-04 9.98039529e-01 -2.14834272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041052754 meters 0.014088725643298904 Centerline is valid? [True, True] Translation: X:33.17, Y:-5.39, Z:-2.15 [[ 9.68285601e-01 2.42421876e-01 6.04535256e-02 3.31663240e+01] [-2.41889090e-01 9.70170457e-01 -1.60920218e-02 -5.38592347e+00] [-6.25512827e-02 9.58624677e-04 9.98041291e-01 -2.15198202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.071052754 meters 0.01436962979491299 Centerline is valid? [True, True] Translation: X:33.20, Y:-5.39, Z:-2.16 [[ 9.68590454e-01 2.41330039e-01 5.99361737e-02 3.31974918e+01] [-2.40803163e-01 9.70442547e-01 -1.59718585e-02 -5.39424496e+00] [-6.20191023e-02 1.03736949e-03 9.98074423e-01 -2.15591237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.101052754 meters 0.01444871225242454 Centerline is valid? [True, True] Translation: X:33.23, Y:-5.40, Z:-2.16 [[ 9.69072217e-01 2.39560357e-01 5.92441830e-02 3.32279063e+01] [-2.39041364e-01 9.70880790e-01 -1.58024480e-02 -5.40333041e+00] [-6.13046793e-02 1.15190301e-03 9.98118435e-01 -2.16033033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.131052754 meters 0.015168813536117712 Centerline is valid? [True, True] Translation: X:33.26, Y:-5.41, Z:-2.16 [[ 9.69221039e-01 2.38997209e-01 5.90839377e-02 3.32576088e+01] [-2.38479021e-01 9.71019513e-01 -1.57753337e-02 -5.41379021e+00] [-6.11419172e-02 1.19950570e-03 9.98128362e-01 -2.16270254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161052754 meters 0.015474752240535992 Centerline is valid? [True, True] Translation: X:33.29, Y:-5.42, Z:-2.17 [[ 9.69451731e-01 2.38533077e-01 5.71429214e-02 3.32871791e+01] [-2.38047142e-01 9.71133637e-01 -1.52649031e-02 -5.42270181e+00] [-5.91345974e-02 1.19587761e-03 9.98249302e-01 -2.16539404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191052754000005 meters 0.015578410408512587 Centerline is valid? [True, True] Translation: X:33.32, Y:-5.43, Z:-2.17 [[ 9.69299075e-01 2.39349169e-01 5.63141060e-02 3.33187478e+01] [-2.38878228e-01 9.70932894e-01 -1.50501650e-02 -5.43097239e+00] [-5.82794624e-02 1.13589721e-03 9.98299661e-01 -2.16868341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221052754 meters 0.014653368317987393 Centerline is valid? [True, True] Translation: X:33.35, Y:-5.44, Z:-2.17 [[ 9.68456058e-01 2.42719617e-01 5.63919388e-02 3.33509672e+01] [-2.42252089e-01 9.70096018e-01 -1.50877935e-02 -5.43601182e+00] [-5.83676987e-02 9.50800005e-04 9.98294700e-01 -2.17226454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.251052754 meters 0.013928354483992223 Centerline is valid? [True, True] Translation: X:33.38, Y:-5.44, Z:-2.17 [[ 9.67818276e-01 2.45435919e-01 5.55787264e-02 3.33818651e+01] [-2.44985881e-01 9.69412501e-01 -1.48768240e-02 -5.44276815e+00] [-5.75300192e-02 7.82058888e-04 9.98343471e-01 -2.17498184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281052754 meters 0.013916262952952684 Centerline is valid? [True, True] Translation: X:33.41, Y:-5.45, Z:-2.18 [[ 9.67589035e-01 2.46369445e-01 5.54396611e-02 3.34115112e+01] [-2.45922385e-01 9.69175707e-01 -1.48535891e-02 -5.45065415e+00] [-5.73902433e-02 7.38316290e-04 9.98351549e-01 -2.17730746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.311052754 meters 0.013833841391242179 Centerline is valid? [True, True] Translation: X:33.44, Y:-5.46, Z:-2.18 [[ 9.67529663e-01 2.46491756e-01 5.59300009e-02 3.34433420e+01] [-2.46036211e-01 9.69144598e-01 -1.49977009e-02 -5.45892269e+00] [-5.79010679e-02 7.49914993e-04 9.98322044e-01 -2.17930891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341052754 meters 0.01452399108229915 Centerline is valid? [True, True] Translation: X:33.47, Y:-5.47, Z:-2.18 [[ 9.68095751e-01 2.44292946e-01 5.57814851e-02 3.34731560e+01] [-2.43835204e-01 9.69701065e-01 -1.49745908e-02 -5.46781292e+00] [-5.77495524e-02 8.95347974e-04 9.98330700e-01 -2.18315709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.371052754000004 meters 0.015118155470687171 Centerline is valid? [True, True] Translation: X:33.50, Y:-5.48, Z:-2.19 [[ 9.68531121e-01 2.42718099e-01 5.50943944e-02 3.35038169e+01] [-2.42268664e-01 9.70096365e-01 -1.47965200e-02 -5.47800001e+00] [-5.70382550e-02 9.83244773e-04 9.98371509e-01 -2.18534276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401052754 meters 0.015113109875307507 Centerline is valid? [True, True] Translation: X:33.53, Y:-5.49, Z:-2.18 [[ 9.69374718e-01 2.39197285e-01 5.56535220e-02 3.35337098e+01] [-2.38732080e-01 9.70970226e-01 -1.49604045e-02 -5.48947059e+00] [-5.76164010e-02 1.21595685e-03 9.98338055e-01 -2.18431777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.431052754 meters 0.015558247360423718 Centerline is valid? [True, True] Translation: X:33.56, Y:-5.50, Z:-2.18 [[ 9.69549659e-01 2.38172364e-01 5.69858250e-02 3.35630739e+01] [-2.37682010e-01 9.71222003e-01 -1.53323932e-02 -5.49916228e+00] [-5.89976395e-02 1.32101114e-03 9.98257248e-01 -2.18468488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461052754 meters 0.01543867093466001 Centerline is valid? [True, True] Translation: X:33.60, Y:-5.51, Z:-2.18 [[ 9.69384867e-01 2.38189879e-01 5.96536760e-02 3.35950333e+01] [-2.37651618e-01 9.71217603e-01 -1.60647380e-02 -5.50770666e+00] [-6.17631583e-02 1.39612130e-03 9.98089857e-01 -2.18469445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.491052754 meters 0.01494511784528125 Centerline is valid? [True, True] Translation: X:33.63, Y:-5.51, Z:-2.19 [[ 9.68978488e-01 2.39856862e-01 5.95766324e-02 3.36263304e+01] [-2.39322074e-01 9.70807387e-01 -1.60611960e-02 -5.51403715e+00] [-6.16898229e-02 1.30495020e-03 9.98094516e-01 -2.18757906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521052754 meters 0.014733258416991803 Centerline is valid? [True, True] Translation: X:33.66, Y:-5.52, Z:-2.19 [[ 9.68687122e-01 2.40902212e-01 6.00947863e-02 3.36579472e+01] [-2.40359124e-01 9.70548570e-01 -1.62162106e-02 -5.52099694e+00] [-6.22314299e-02 1.26410420e-03 9.98060946e-01 -2.19095573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.551052754000004 meters 0.014702001193005118 Centerline is valid? [True, True] Translation: X:33.69, Y:-5.53, Z:-2.19 [[ 9.68424356e-01 2.41750725e-01 6.09167760e-02 3.36888446e+01] [-2.41193352e-01 9.70337594e-01 -1.64536007e-02 -5.52867797e+00] [-6.30875078e-02 1.24134625e-03 9.98007227e-01 -2.19390546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581052754000005 meters 0.014456784612696148 Centerline is valid? [True, True] Translation: X:33.72, Y:-5.54, Z:-2.20 [[ 9.68183939e-01 2.42710575e-01 6.09215664e-02 3.37201130e+01] [-2.42154045e-01 9.70098011e-01 -1.64701874e-02 -5.53718562e+00] [-6.30973790e-02 1.19376720e-03 9.98006661e-01 -2.19622958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.611052754 meters 0.014609076075221298 Centerline is valid? [True, True] Translation: X:33.75, Y:-5.55, Z:-2.20 [[ 9.67914130e-01 2.43967913e-01 6.01821738e-02 3.37503007e+01] [-2.43426320e-01 9.69782666e-01 -1.62851806e-02 -5.54594439e+00] [-6.23366905e-02 1.11273124e-03 9.98054557e-01 -2.19749738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641052754 meters 0.01429953446288708 Centerline is valid? [True, True] Translation: X:33.78, Y:-5.55, Z:-2.20 [[ 9.67564258e-01 2.45394745e-01 6.00068863e-02 3.37813000e+01] [-2.44858189e-01 9.69422692e-01 -1.62515056e-02 -5.55286197e+00] [-6.21600713e-02 1.03119847e-03 9.98065660e-01 -2.19957884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.671052754 meters 0.01322981442552677 Centerline is valid? [True, True] Translation: X:33.81, Y:-5.56, Z:-2.20 [[ 9.66674270e-01 2.49071979e-01 5.91946313e-02 3.38131594e+01] [-2.48555871e-01 9.68484648e-01 -1.60457562e-02 -5.55664473e+00] [-6.13256399e-02 7.97846574e-04 9.98117493e-01 -2.20331953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701052754 meters 0.01293454317405895 Centerline is valid? [True, True] Translation: X:33.84, Y:-5.56, Z:-2.21 [[ 9.66437796e-01 2.50032787e-01 5.90050119e-02 3.38440990e+01] [-2.49520882e-01 9.68237081e-01 -1.60088798e-02 -5.56326069e+00] [-6.11335854e-02 7.48603923e-04 9.98129312e-01 -2.20615012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.731052754000004 meters 0.013727107459969702 Centerline is valid? [True, True] Translation: X:33.87, Y:-5.57, Z:-2.21 [[ 9.66859570e-01 2.48415030e-01 5.89282973e-02 3.38739352e+01] [-2.47900555e-01 9.68653305e-01 -1.60027793e-02 -5.57286622e+00] [-6.10564209e-02 8.64082700e-04 9.98133942e-01 -2.20968902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761052754000005 meters 0.01445145596940487 Centerline is valid? [True, True] Translation: X:33.90, Y:-5.58, Z:-2.21 [[ 9.67512402e-01 2.46055277e-01 5.81081066e-02 3.39036457e+01] [-2.45549991e-01 9.69255269e-01 -1.57931987e-02 -5.58393003e+00] [-6.02075884e-02 1.01167059e-03 9.98185365e-01 -2.21225308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.791052754 meters 0.01724125214076464 Centerline is valid? [True, True] Translation: X:33.93, Y:-5.60, Z:-2.21 [[ 9.69367467e-01 2.38902696e-01 5.70282103e-02 3.39303794e+01] [-2.38402874e-01 9.71042441e-01 -1.55127982e-02 -5.60042209e+00] [-5.90828618e-02 1.44191265e-03 9.98252040e-01 -2.21379728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.821052754 meters 0.01988263941912905 Centerline is valid? [True, True] Translation: X:33.96, Y:-5.61, Z:-2.21 [[ 9.70686966e-01 2.33237569e-01 5.80262933e-02 3.39576695e+01] [-2.32709597e-01 9.72418073e-01 -1.57903522e-02 -5.61460292e+00] [-6.01087197e-02 1.82421379e-03 9.98190169e-01 -2.21299469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.851052754 meters 0.019943085977305434 Centerline is valid? [True, True] Translation: X:33.99, Y:-5.62, Z:-2.21 [[ 9.70841910e-01 2.32192863e-01 5.96025256e-02 3.39885812e+01] [-2.31633797e-01 9.72667830e-01 -1.62196298e-02 -5.62385258e+00] [-6.17395415e-02 1.94073711e-03 9.98090408e-01 -2.21266013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881052754 meters 0.021250869323964038 Centerline is valid? [True, True] Translation: X:34.02, Y:-5.63, Z:-2.21 [[ 9.70851848e-01 2.31742711e-01 6.11719372e-02 3.40183605e+01] [-2.31151944e-01 9.72774985e-01 -1.66615765e-02 -5.63476531e+00] [-6.33677292e-02 2.03591017e-03 9.97988169e-01 -2.21240631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.911052754 meters 0.018319424471704832 Centerline is valid? [True, True] Translation: X:34.05, Y:-5.64, Z:-2.21 [[ 9.70648192e-01 2.32216478e-01 6.25906954e-02 3.40500189e+01] [-2.31598029e-01 9.72661936e-01 -1.70619795e-02 -5.64013004e+00] [-6.48416597e-02 2.06529788e-03 9.97893428e-01 -2.21177678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941052754000005 meters 0.016643242943941945 Centerline is valid? [True, True] Translation: X:34.08, Y:-5.65, Z:-2.22 [[ 9.70535161e-01 2.32808374e-01 6.21430809e-02 3.40820182e+01] [-2.32198979e-01 9.72520517e-01 -1.69551704e-02 -5.64541479e+00] [-6.43827268e-02 2.02602904e-03 9.97923223e-01 -2.21543317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.971052754 meters 0.02134326261433708 Centerline is valid? [True, True] Translation: X:34.11, Y:-5.66, Z:-2.23 [[ 9.70369376e-01 2.34219515e-01 5.93674454e-02 3.41099975e+01] [-2.33665138e-01 9.72181958e-01 -1.62124765e-02 -5.65803694e+00] [-6.15132377e-02 1.85998838e-03 9.98104535e-01 -2.22533894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001052754 meters 0.015743705998411052 Centerline is valid? [True, True] Translation: X:34.14, Y:-5.66, Z:-2.23 [[ 9.69978964e-01 2.36009618e-01 5.86538152e-02 3.41429845e+01] [-2.35470938e-01 9.71749164e-01 -1.60312313e-02 -5.65717068e+00] [-6.07803206e-02 1.73868829e-03 9.98149653e-01 -2.22844151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.031052754 meters 0.014942305753201351 Centerline is valid? [True, True] Translation: X:34.17, Y:-5.66, Z:-2.23 [[ 9.68614759e-01 2.41554121e-01 5.86263972e-02 3.41724314e+01] [-2.41025090e-01 9.70386330e-01 -1.60398301e-02 -5.66478340e+00] [-6.07647414e-02 1.40598349e-03 9.98151126e-01 -2.22837494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.061052754 meters 0.013479379884393631 Centerline is valid? [True, True] Translation: X:34.20, Y:-5.67, Z:-2.23 [[ 9.66794805e-01 2.49317729e-01 5.61112739e-02 3.42028159e+01] [-2.48846141e-01 9.68421342e-01 -1.53525984e-02 -5.67006342e+00] [-5.81670301e-02 8.79738446e-04 9.98306477e-01 -2.22998244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091052754 meters 0.01235621473080217 Centerline is valid? [True, True] Translation: X:34.23, Y:-5.68, Z:-2.23 [[ 9.65789971e-01 2.53441989e-01 5.49262249e-02 3.42345831e+01] [-2.52996761e-01 9.67350389e-01 -1.50287558e-02 -5.67514101e+00] [-5.69418228e-02 6.18464631e-04 9.98377307e-01 -2.23292977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121052754000004 meters 0.01173775234366413 Centerline is valid? [True, True] Translation: X:34.27, Y:-5.68, Z:-2.24 [[ 9.63998709e-01 2.60441771e-01 5.36337009e-02 3.42651795e+01] [-2.60027321e-01 9.65489533e-01 -1.46885560e-02 -5.67940606e+00] [-5.56082904e-02 2.13521420e-04 9.98452639e-01 -2.23773838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.151052754 meters 0.011677428414751587 Centerline is valid? [True, True] Translation: X:34.30, Y:-5.69, Z:-2.24 [[ 9.63466634e-01 2.62604042e-01 5.26418320e-02 3.42959918e+01] [-2.62207371e-01 9.64903678e-01 -1.44286839e-02 -5.68641735e+00] [-5.45833281e-02 9.84791476e-05 9.98509214e-01 -2.24280481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.181052754 meters 0.011895744077817284 Centerline is valid? [True, True] Translation: X:34.33, Y:-5.70, Z:-2.25 [[ 9.63834678e-01 2.61218800e-01 5.27963344e-02 3.43271790e+01] [-2.60816942e-01 9.65279598e-01 -1.44851997e-02 -5.69607165e+00] [-5.47470309e-02 1.91159277e-04 9.98500238e-01 -2.24916780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.211052754 meters 0.011936967522529643 Centerline is valid? [True, True] Translation: X:34.36, Y:-5.71, Z:-2.25 [[ 9.64486602e-01 2.58527702e-01 5.41204403e-02 3.43578555e+01] [-2.58100291e-01 9.66003774e-01 -1.48643145e-02 -5.70776631e+00] [-5.61233867e-02 3.67930856e-04 9.98423773e-01 -2.24995096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241052754 meters 0.013636906592053306 Centerline is valid? [True, True] Translation: X:34.38, Y:-5.73, Z:-2.25 [[ 9.66470541e-01 2.50355442e-01 5.70687826e-02 3.43848708e+01] [-2.49864779e-01 9.68153567e-01 -1.56927365e-02 -5.72631701e+00] [-5.91801074e-02 9.07088789e-04 9.98246909e-01 -2.24714327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.271052754 meters 0.013736881593777525 Centerline is valid? [True, True] Translation: X:34.41, Y:-5.74, Z:-2.25 [[ 9.67451595e-01 2.46242180e-01 5.83283753e-02 3.44148696e+01] [-2.45721688e-01 9.69207599e-01 -1.60462820e-02 -5.73730158e+00] [-6.04835760e-02 1.19145435e-03 9.98168482e-01 -2.24693886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301052754000004 meters 0.013736881593777525 Centerline is valid? [True, True] Translation: X:34.45, Y:-5.75, Z:-2.25 [[ 9.67383957e-01 2.46508645e-01 5.83246684e-02 3.44460069e+01] [-2.45987824e-01 9.69139863e-01 -1.60597440e-02 -5.74593429e+00] [-6.04836269e-02 1.18878041e-03 9.98168482e-01 -2.24902963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.331052754 meters 0.015621815494772337 Centerline is valid? [True, True] Translation: X:34.47, Y:-5.76, Z:-2.25 [[ 9.69103198e-01 2.39353472e-01 5.95727006e-02 3.44734801e+01] [-2.38795433e-01 9.70931029e-01 -1.64218677e-02 -5.76158586e+00] [-6.17716146e-02 1.68879566e-03 9.98088882e-01 -2.24705548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361052754 meters 0.01826836276585078 Centerline is valid? [True, True] Translation: X:34.50, Y:-5.78, Z:-2.25 [[ 9.69732988e-01 2.36607437e-01 6.02897336e-02 3.45015747e+01] [-2.36030143e-01 9.71603488e-01 -1.66263136e-02 -5.77556293e+00] [-6.25116249e-02 1.89289037e-03 9.98042441e-01 -2.24772290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.391052754 meters 0.017680092309713846 Centerline is valid? [True, True] Translation: X:34.53, Y:-5.78, Z:-2.25 [[ 9.70257018e-01 2.33839874e-01 6.26117512e-02 3.45326424e+01] [-2.33210900e-01 9.72272724e-01 -1.72750156e-02 -5.78151930e+00] [-6.49152854e-02 2.15946233e-03 9.97888442e-01 -2.25011851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421052754 meters 0.01775204941503504 Centerline is valid? [True, True] Translation: X:34.57, Y:-5.79, Z:-2.25 [[ 9.70118276e-01 2.34217976e-01 6.33440567e-02 3.45650262e+01] [-2.33573993e-01 9.72181677e-01 -1.74921831e-02 -5.78817404e+00] [-6.56789150e-02 2.17396225e-03 9.97838441e-01 -2.25408326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.451052754 meters 0.017583247323803654 Centerline is valid? [True, True] Translation: X:34.60, Y:-5.79, Z:-2.26 [[ 9.69753919e-01 2.35779233e-01 6.31307302e-02 3.45970102e+01] [-2.35141703e-01 9.71804421e-01 -1.74512817e-02 -5.79397270e+00] [-6.54653725e-02 2.07878143e-03 9.97852676e-01 -2.25791870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481052754000004 meters 0.015975656231787518 Centerline is valid? [True, True] Translation: X:34.63, Y:-5.80, Z:-2.26 [[ 9.68749725e-01 2.39964614e-01 6.27770198e-02 3.46286919e+01] [-2.39342427e-01 9.70779978e-01 -1.73619687e-02 -5.79766969e+00] [-6.51089320e-02 1.79419816e-03 9.97876549e-01 -2.25905663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511052754000005 meters 0.01516292928762507 Centerline is valid? [True, True] Translation: X:34.66, Y:-5.80, Z:-2.26 [[ 9.67875892e-01 2.43468630e-01 6.27637107e-02 3.46602886e+01] [-2.42853732e-01 9.69907513e-01 -1.73632372e-02 -5.80305884e+00] [-6.51023982e-02 1.56305735e-03 9.97877365e-01 -2.26082890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541052754 meters 0.014111848876523331 Centerline is valid? [True, True] Translation: X:34.69, Y:-5.81, Z:-2.26 [[ 9.66059367e-01 2.50698709e-01 6.22852892e-02 3.46915304e+01] [-2.50107918e-01 9.68064569e-01 -1.72342599e-02 -5.80569565e+00] [-6.46167884e-02 1.07127418e-03 9.97909577e-01 -2.26328251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571052754 meters 0.013565178623172374 Centerline is valid? [True, True] Translation: X:34.72, Y:-5.81, Z:-2.27 [[ 9.65261388e-01 2.53811960e-01 6.20479011e-02 3.47220715e+01] [-2.53231945e-01 9.67253197e-01 -1.71707734e-02 -5.80976406e+00] [-6.43741783e-02 8.61773872e-04 9.97925459e-01 -2.26696733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601052754 meters 0.012652431340528767 Centerline is valid? [True, True] Translation: X:34.75, Y:-5.81, Z:-2.27 [[ 9.64605729e-01 2.56210064e-01 6.23874284e-02 3.47548722e+01] [-2.55627772e-01 9.66620859e-01 -1.72787821e-02 -5.81251823e+00] [-6.47319875e-02 7.19252865e-04 9.97902426e-01 -2.27112208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631052754 meters 0.012351710371476506 Centerline is valid? [True, True] Translation: X:34.79, Y:-5.82, Z:-2.27 [[ 9.63688210e-01 2.59112018e-01 6.45445315e-02 3.47856299e+01] [-2.58494566e-01 9.65847119e-01 -1.78858050e-02 -5.81577691e+00] [-6.69745768e-02 5.51928799e-04 9.97754530e-01 -2.27425225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661052754 meters 0.012506970785332201 Centerline is valid? [True, True] Translation: X:34.82, Y:-5.82, Z:-2.27 [[ 9.63300995e-01 2.60376799e-01 6.52312467e-02 3.48165683e+01] [-2.59747941e-01 9.65506959e-01 -1.80919690e-02 -5.82429757e+00] [-6.76919517e-02 4.84329713e-04 9.97706152e-01 -2.27428086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691052754000005 meters 0.012559544672540068 Centerline is valid? [True, True] Translation: X:34.85, Y:-5.83, Z:-2.28 [[ 9.63448679e-01 2.59806845e-01 6.53226350e-02 3.48479876e+01] [-2.59173696e-01 9.65660452e-01 -1.81352217e-02 -5.83412002e+00] [-6.77911400e-02 5.42446630e-04 9.97699387e-01 -2.27569385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721052754 meters 0.013508575484693705 Centerline is valid? [True, True] Translation: X:34.88, Y:-5.85, Z:-2.28 [[ 9.64565617e-01 2.55741990e-01 6.48783817e-02 3.48765288e+01] [-2.55107012e-01 9.66744707e-01 -1.80300809e-02 -5.84522885e+00] [-6.73318809e-02 8.40266012e-04 9.97730280e-01 -2.27882739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.751052754 meters 0.014139629579622816 Centerline is valid? [True, True] Translation: X:34.91, Y:-5.86, Z:-2.28 [[ 9.65333403e-01 2.52644933e-01 6.55893214e-02 3.49064423e+01] [-2.51988230e-01 9.67558463e-01 -1.82360138e-02 -5.85502401e+00] [-6.80687395e-02 1.07609627e-03 9.97680053e-01 -2.28160153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781052754 meters 0.01593249299059439 Centerline is valid? [True, True] Translation: X:34.93, Y:-5.87, Z:-2.28 [[ 9.66770504e-01 2.46576823e-01 6.74882440e-02 3.49345549e+01] [-2.45866041e-01 9.69121998e-01 -1.87734523e-02 -5.86824153e+00] [-7.00334402e-02 1.55655264e-03 9.97543430e-01 -2.28290146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.811052754 meters 0.015418346697545384 Centerline is valid? [True, True] Translation: X:34.96, Y:-5.88, Z:-2.29 [[ 9.67198431e-01 2.44792555e-01 6.78513115e-02 3.49647944e+01] [-2.44068731e-01 9.69573972e-01 -1.88883144e-02 -5.87677598e+00] [-7.04105843e-02 1.70836454e-03 9.97516632e-01 -2.28525127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841052754 meters 0.017164378320395586 Centerline is valid? [True, True] Translation: X:34.99, Y:-5.89, Z:-2.29 [[ 9.67808058e-01 2.42135798e-01 6.86863722e-02 3.49935893e+01] [-2.41386139e-01 9.70240427e-01 -1.91375708e-02 -5.88972872e+00] [-7.12761860e-02 1.94155712e-03 9.97454729e-01 -2.28667480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.871052754000004 meters 0.016423173940854817 Centerline is valid? [True, True] Translation: X:35.02, Y:-5.90, Z:-2.29 [[ 9.67904642e-01 2.41430462e-01 6.97992546e-02 3.50242561e+01] [-2.40653199e-01 9.70415972e-01 -1.94648044e-02 -5.89744599e+00] [-7.24337082e-02 2.04266061e-03 9.97371137e-01 -2.28882332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901052754 meters 0.01674541072162907 Centerline is valid? [True, True] Translation: X:35.05, Y:-5.91, Z:-2.29 [[ 9.67240402e-01 2.43343273e-01 7.23191308e-02 3.50536947e+01] [-2.42512683e-01 9.69938196e-01 -2.01865099e-02 -5.90578592e+00] [-7.50573386e-02 1.98690150e-03 9.97177240e-01 -2.29037970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931052754 meters 0.01625852637680759 Centerline is valid? [True, True] Translation: X:35.09, Y:-5.91, Z:-2.29 [[ 9.66673473e-01 2.45230831e-01 7.35135149e-02 3.50854334e+01] [-2.44376752e-01 9.69462883e-01 -2.05358725e-02 -5.91336002e+00] [-7.63046531e-02 1.88648919e-03 9.97082765e-01 -2.29215394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961052754 meters 0.014962614969592683 Centerline is valid? [True, True] Translation: X:35.12, Y:-5.92, Z:-2.29 [[ 9.65250679e-01 2.50627033e-01 7.40082178e-02 3.51160296e+01] [-2.49776741e-01 9.68082596e-01 -2.06801226e-02 -5.92038206e+00] [-7.68290653e-02 1.47597095e-03 9.97043187e-01 -2.29375138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991052754 meters 0.014664724618426299 Centerline is valid? [True, True] Translation: X:35.15, Y:-5.93, Z:-2.30 [[ 9.64399353e-01 2.53945488e-01 7.37941477e-02 3.51463386e+01] [-2.53109405e-01 9.67217771e-01 -2.06255219e-02 -5.92879408e+00] [-7.66127693e-02 1.21324719e-03 9.97060185e-01 -2.29525763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021052754 meters 0.013505808872079951 Centerline is valid? [True, True] Translation: X:35.18, Y:-5.93, Z:-2.30 [[ 9.62653939e-01 2.60862627e-01 7.24436574e-02 3.51772772e+01] [-2.60075246e-01 9.65375702e-01 -2.02637729e-02 -5.93268184e+00] [-7.52214077e-02 6.66198821e-04 9.97166634e-01 -2.30045849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051052754000004 meters 0.012954077055239951 Centerline is valid? [True, True] Translation: X:35.21, Y:-5.94, Z:-2.31 [[ 9.61436015e-01 2.65607853e-01 7.13670646e-02 3.52087499e+01] [-2.64856393e-01 9.64081107e-01 -1.99677159e-02 -5.93821556e+00] [-7.41072208e-02 2.95657859e-04 9.97250236e-01 -2.30584364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081052754 meters 0.013010631001915431 Centerline is valid? [True, True] Translation: X:35.24, Y:-5.94, Z:-2.31 [[ 9.59346096e-01 2.73711828e-01 6.88251631e-02 3.52395680e+01] [-2.73032562e-01 9.61811699e-01 -1.92737021e-02 -5.94152759e+00] [-7.14722873e-02 -3.01359796e-04 9.97442540e-01 -2.31052127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111052754 meters 0.01346191176297414 Centerline is valid? [True, True] Translation: X:35.27, Y:-5.95, Z:-2.31 [[ 9.57977382e-01 2.78726881e-01 6.77544167e-02 3.52708423e+01] [-2.78079986e-01 9.60370191e-01 -1.89899188e-02 -5.94897205e+00] [-7.03623229e-02 -6.49234513e-04 9.97521289e-01 -2.31462188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141052754 meters 0.013573816510478755 Centerline is valid? [True, True] Translation: X:35.30, Y:-5.96, Z:-2.32 [[ 9.57851140e-01 2.79312272e-01 6.71256123e-02 3.53020295e+01] [-2.78677586e-01 9.60200087e-01 -1.88307316e-02 -5.95912515e+00] [-6.97136732e-02 -6.69365880e-04 9.97566818e-01 -2.31725935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171052754 meters 0.013243786150094828 Centerline is valid? [True, True] Translation: X:35.33, Y:-5.97, Z:-2.32 [[ 9.57952470e-01 2.79112437e-01 6.65079862e-02 3.53330572e+01] [-2.78487586e-01 9.60258221e-01 -1.86765769e-02 -5.97067002e+00] [-6.90777053e-02 -6.30375549e-04 9.97611083e-01 -2.31954784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201052754 meters 0.012846482171050288 Centerline is valid? [True, True] Translation: X:35.36, Y:-5.99, Z:-2.32 [[ 9.59841062e-01 2.72631712e-01 6.61595411e-02 3.53614828e+01] [-2.71996665e-01 9.62118459e-01 -1.85979968e-02 -5.98511086e+00] [-6.87237195e-02 -1.44053511e-04 9.97635720e-01 -2.32339835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231052754000004 meters 0.012912931637166378 Centerline is valid? [True, True] Translation: X:35.39, Y:-6.00, Z:-2.32 [[ 9.60750602e-01 2.69151478e-01 6.71994256e-02 3.53905679e+01] [-2.68486629e-01 9.63097849e-01 -1.89067014e-02 -5.99778987e+00] [-6.98083889e-02 1.22477521e-04 9.97560411e-01 -2.32416954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261052754000005 meters 0.01331491431241891 Centerline is valid? [True, True] Translation: X:35.42, Y:-6.01, Z:-2.33 [[ 9.61914426e-01 2.64635957e-01 6.84722360e-02 3.54207127e+01] [-2.63932875e-01 9.64348268e-01 -1.92835414e-02 -6.00949625e+00] [-7.11342007e-02 4.77042561e-04 9.97466640e-01 -2.32536577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291052754 meters 0.013490708916319415 Centerline is valid? [True, True] Translation: X:35.45, Y:-6.02, Z:-2.33 [[ 9.62165853e-01 2.63410949e-01 6.96530193e-02 3.54507263e+01] [-2.62678837e-01 9.64683532e-01 -1.96344321e-02 -6.01719112e+00] [-7.23650451e-02 5.95206035e-04 9.97378036e-01 -2.32720261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321052754 meters 0.01379276572499337 Centerline is valid? [True, True] Translation: X:35.48, Y:-6.02, Z:-2.33 [[ 9.62701028e-01 2.60896528e-01 7.16919312e-02 3.54813906e+01] [-2.60112573e-01 9.65366418e-01 -2.02269095e-02 -6.02477062e+00] [-7.44861133e-02 8.24493921e-04 9.97221710e-01 -2.32770175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351052754 meters 0.014234556274787874 Centerline is valid? [True, True] Translation: X:35.51, Y:-6.03, Z:-2.32 [[ 9.62923363e-01 2.59696208e-01 7.30511950e-02 3.55109771e+01] [-2.58877349e-01 9.65689894e-01 -2.06287601e-02 -6.03408869e+00] [-7.59020115e-02 9.52615347e-04 9.97114826e-01 -2.32411775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381052754 meters 0.01428859131005468 Centerline is valid? [True, True] Translation: X:35.54, Y:-6.04, Z:-2.33 [[ 9.62930745e-01 2.59650037e-01 7.31179735e-02 3.55427976e+01] [-2.58828132e-01 9.65702287e-01 -2.06661768e-02 -6.04224946e+00] [-7.59761678e-02 9.75108533e-04 9.97109157e-01 -2.32570872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.411052754 meters 0.014175438696820062 Centerline is valid? [True, True] Translation: X:35.57, Y:-6.05, Z:-2.33 [[ 9.62682229e-01 2.61154173e-01 7.10029873e-02 3.55746559e+01] [-2.60381860e-01 9.65296729e-01 -2.00876010e-02 -6.04849325e+00] [-7.37849122e-02 8.50086562e-04 9.97273816e-01 -2.32980146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441052754000005 meters 0.014156077062855979 Centerline is valid? [True, True] Translation: X:35.60, Y:-6.06, Z:-2.33 [[ 9.62445635e-01 2.62487907e-01 6.92711894e-02 3.56043857e+01] [-2.61755608e-01 9.64934999e-01 -1.96073663e-02 -6.05698288e+00] [-7.19888916e-02 7.38901800e-04 9.97405160e-01 -2.33216755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.471052754 meters 0.01381909562205581 Centerline is valid? [True, True] Translation: X:35.64, Y:-6.06, Z:-2.34 [[ 9.61724515e-01 2.66011879e-01 6.57543697e-02 3.56359448e+01] [-2.65359684e-01 9.63969641e-01 -1.86217573e-02 -6.06260058e+00] [-6.83388248e-02 4.60441709e-04 9.97662064e-01 -2.33755675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501052754 meters 0.013775291061017911 Centerline is valid? [True, True] Translation: X:35.67, Y:-6.07, Z:-2.34 [[ 9.61306736e-01 2.67883925e-01 6.42461078e-02 3.56669326e+01] [-2.67264413e-01 9.63451135e-01 -1.82110885e-02 -6.06969324e+00] [-6.67764434e-02 3.35743780e-04 9.97767906e-01 -2.34169150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.531052754 meters 0.01362158513915973 Centerline is valid? [True, True] Translation: X:35.70, Y:-6.07, Z:-2.35 [[ 9.60420355e-01 2.71236608e-01 6.34306321e-02 3.56977341e+01] [-2.70638958e-01 9.62512695e-01 -1.79962623e-02 -6.07482751e+00] [-6.59340338e-02 1.17176450e-04 9.97823977e-01 -2.34665615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561052754 meters 0.013542106283722688 Centerline is valid? [True, True] Translation: X:35.73, Y:-6.08, Z:-2.35 [[ 9.59689777e-01 2.73837965e-01 6.33111367e-02 3.57295723e+01] [-2.73247211e-01 9.61775840e-01 -1.79776303e-02 -6.08369842e+00] [-6.58140794e-02 -4.66434533e-05 9.97831902e-01 -2.34778632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.591052754 meters 0.013686976314591455 Centerline is valid? [True, True] Translation: X:35.76, Y:-6.09, Z:-2.34 [[ 9.58262593e-01 2.78630587e-01 6.40140560e-02 3.57594271e+01] [-2.78036040e-01 9.60398285e-01 -1.81960233e-02 -6.09267156e+00] [-6.65489583e-02 -3.61646187e-04 9.97783095e-01 -2.34464142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621052754000004 meters 0.013967726872748453 Centerline is valid? [True, True] Translation: X:35.79, Y:-6.10, Z:-2.34 [[ 9.57634951e-01 2.80585527e-01 6.48618666e-02 3.57904223e+01] [-2.79978536e-01 9.59828903e-01 -1.84525492e-02 -6.10173308e+00] [-6.74338125e-02 -4.89124404e-04 9.97723630e-01 -2.34405272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.651052754 meters 0.013963241318079035 Centerline is valid? [True, True] Translation: X:35.82, Y:-6.11, Z:-2.35 [[ 9.57845420e-01 2.79868956e-01 6.48499718e-02 3.58212253e+01] [-2.79259420e-01 9.60038118e-01 -1.84658533e-02 -6.11089092e+00] [-6.74264640e-02 -4.22532493e-04 9.97724157e-01 -2.34598832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.681052754 meters 0.013853218417884679 Centerline is valid? [True, True] Translation: X:35.85, Y:-6.13, Z:-2.35 [[ 9.59147865e-01 2.74915898e-01 6.67579285e-02 3.58505928e+01] [-2.74256623e-01 9.61468276e-01 -1.90278599e-02 -6.12516526e+00] [-6.94166916e-02 -5.82728267e-05 9.97587750e-01 -2.34683410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711052754 meters 0.014011745421449817 Centerline is valid? [True, True] Translation: X:35.88, Y:-6.14, Z:-2.35 [[ 9.60110897e-01 2.71371406e-01 6.74138356e-02 3.58799890e+01] [-2.70689193e-01 9.62474682e-01 -1.92314292e-02 -6.13733268e+00] [-7.01029700e-02 2.16108020e-04 9.97539737e-01 -2.34807510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741052754 meters 0.014345953206655949 Centerline is valid? [True, True] Translation: X:35.91, Y:-6.15, Z:-2.35 [[ 9.61035207e-01 2.67954010e-01 6.79115566e-02 3.59099993e+01] [-2.67252411e-01 9.63431585e-01 -1.93837581e-02 -6.15022705e+00] [-7.06220944e-02 4.78946745e-04 9.97503028e-01 -2.34954328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771052754 meters 0.015100921174474716 Centerline is valid? [True, True] Translation: X:35.94, Y:-6.17, Z:-2.35 [[ 9.62560184e-01 2.63014205e-01 6.55852102e-02 3.59387231e+01] [-2.62347341e-01 9.64791605e-01 -1.87358269e-02 -6.16561953e+00] [-6.82038489e-02 8.28255483e-04 9.97671063e-01 -2.35174574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801052754000004 meters 0.015209446641681189 Centerline is valid? [True, True] Translation: X:35.97, Y:-6.17, Z:-2.36 [[ 9.62869840e-01 2.62407001e-01 6.34368700e-02 3.59703808e+01] [-2.61780817e-01 9.64956906e-01 -1.81376298e-02 -6.17417201e+00] [-6.59732868e-02 8.57621018e-04 9.97821021e-01 -2.35573832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831052754 meters 0.015270810560498982 Centerline is valid? [True, True] Translation: X:36.00, Y:-6.18, Z:-2.36 [[ 9.62694298e-01 2.63104364e-01 6.32122032e-02 3.60013299e+01] [-2.62482904e-01 9.64767025e-01 -1.80917583e-02 -6.18173748e+00] [-6.57450699e-02 8.24709888e-04 9.97836112e-01 -2.35789300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861052754 meters 0.015168237181678897 Centerline is valid? [True, True] Translation: X:36.03, Y:-6.19, Z:-2.36 [[ 9.62168617e-01 2.64905740e-01 6.36906725e-02 3.60322573e+01] [-2.64277613e-01 9.64274040e-01 -1.82460457e-02 -6.18670018e+00] [-6.62487444e-02 7.23753681e-04 9.97802876e-01 -2.35955852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.891052754 meters 0.015075524075333871 Centerline is valid? [True, True] Translation: X:36.06, Y:-6.19, Z:-2.36 [[ 9.61951689e-01 2.65980595e-01 6.24761637e-02 3.60631581e+01] [-2.65377564e-01 9.63978163e-01 -1.79122565e-02 -6.19375280e+00] [-6.49899702e-02 6.50953248e-04 9.97885705e-01 -2.36226438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921052754 meters 0.015118678978654349 Centerline is valid? [True, True] Translation: X:36.10, Y:-6.20, Z:-2.37 [[ 9.61777757e-01 2.66980022e-01 6.08704685e-02 3.60953017e+01] [-2.66408696e-01 9.63701888e-01 -1.74664980e-02 -6.20072872e+00] [-6.33241914e-02 5.82467127e-04 9.97992839e-01 -2.36551167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.951052754 meters 0.015214567831709888 Centerline is valid? [True, True] Translation: X:36.13, Y:-6.21, Z:-2.37 [[ 9.61577354e-01 2.67850462e-01 6.02089875e-02 3.61261770e+01] [-2.67292145e-01 9.63460348e-01 -1.72935361e-02 -6.20885097e+00] [-6.26410537e-02 5.35683258e-04 9.98035977e-01 -2.36735020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981052754000004 meters 0.015219068411767482 Centerline is valid? [True, True] Translation: X:36.16, Y:-6.22, Z:-2.37 [[ 9.61248242e-01 2.69034409e-01 6.01855742e-02 3.61564874e+01] [-2.68477835e-01 9.63130449e-01 -1.73028897e-02 -6.21520031e+00] [-6.26216318e-02 4.73879642e-04 9.98037227e-01 -2.36807699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011052754000005 meters 0.015030818585174532 Centerline is valid? [True, True] Translation: X:36.19, Y:-6.22, Z:-2.37 [[ 9.61226117e-01 2.69150893e-01 6.00178968e-02 3.61886060e+01] [-2.68597147e-01 9.63097904e-01 -1.72626686e-02 -6.22200644e+00] [-6.24493733e-02 4.72692106e-04 9.98048021e-01 -2.36992278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041052754 meters 0.0150605890152557 Centerline is valid? [True, True] Translation: X:36.22, Y:-6.23, Z:-2.37 [[ 9.60979117e-01 2.70028072e-01 6.00331299e-02 3.62202683e+01] [-2.69474638e-01 9.62852353e-01 -1.72848679e-02 -6.22770378e+00] [-6.24704400e-02 4.32991137e-04 9.98046721e-01 -2.37296764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071052754 meters 0.015211344731160746 Centerline is valid? [True, True] Translation: X:36.25, Y:-6.24, Z:-2.38 [[ 9.60593829e-01 2.71547698e-01 5.93409114e-02 3.62509445e+01] [-2.71008860e-01 9.62424921e-01 -1.71017416e-02 -6.23543090e+00] [-6.17551105e-02 3.45914741e-04 9.98091272e-01 -2.37563719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101052754 meters 0.014998313045596774 Centerline is valid? [True, True] Translation: X:36.28, Y:-6.24, Z:-2.38 [[ 9.60019273e-01 2.73887232e-01 5.78686362e-02 3.62830826e+01] [-2.73378144e-01 9.61761791e-01 -1.66927601e-02 -6.24092622e+00] [-6.02277771e-02 2.05351085e-04 9.98184639e-01 -2.37865406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.131052754 meters 0.015092701272059935 Centerline is valid? [True, True] Translation: X:36.31, Y:-6.25, Z:-2.38 [[ 9.59800802e-01 2.74899473e-01 5.66806939e-02 3.63145317e+01] [-2.74411910e-01 9.61472962e-01 -1.63660577e-02 -6.24940824e+00] [-5.89959753e-02 1.54297812e-04 9.98258209e-01 -2.38081875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161052754 meters 0.01543454571202687 Centerline is valid? [True, True] Translation: X:36.34, Y:-6.26, Z:-2.38 [[ 9.60668037e-01 2.71854872e-01 5.66731904e-02 3.63440046e+01] [-2.71361135e-01 9.62338194e-01 -1.63809023e-02 -6.26027374e+00] [-5.89920038e-02 3.57708033e-04 9.98258391e-01 -2.38187970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191052754000005 meters 0.01543454571202687 Centerline is valid? [True, True] Translation: X:36.38, Y:-6.27, Z:-2.38 [[ 9.60596935e-01 2.72106742e-01 5.66696477e-02 3.63750289e+01] [-2.71612720e-01 9.62267008e-01 -1.63931489e-02 -6.26932934e+00] [-5.89920186e-02 3.55011496e-04 9.98258391e-01 -2.38397014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221052754 meters 0.015833082115162066 Centerline is valid? [True, True] Translation: X:36.41, Y:-6.28, Z:-2.38 [[ 9.61340978e-01 2.69257717e-01 5.76524527e-02 3.64057156e+01] [-2.68740262e-01 9.63068001e-01 -1.66942509e-02 -6.28027021e+00] [-6.00182882e-02 5.55332282e-04 9.98197123e-01 -2.38459989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251052754 meters 0.01679933791480982 Centerline is valid? [True, True] Translation: X:36.44, Y:-6.29, Z:-2.38 [[ 9.63458317e-01 2.61454028e-01 5.82225246e-02 3.64357219e+01] [-2.60911074e-01 9.65215340e-01 -1.68748052e-02 -6.29361465e+00] [-6.06092596e-02 1.06726997e-03 9.98160998e-01 -2.38394811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281052754 meters 0.01739672469238813 Centerline is valid? [True, True] Translation: X:36.47, Y:-6.30, Z:-2.39 [[ 9.64486319e-01 2.57616941e-01 5.83065313e-02 3.64657695e+01] [-2.57065144e-01 9.66246233e-01 -1.69034992e-02 -6.30431393e+00] [-6.06930940e-02 1.31461691e-03 9.98155609e-01 -2.38503975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311052754 meters 0.018236876259203175 Centerline is valid? [True, True] Translation: X:36.50, Y:-6.31, Z:-2.39 [[ 9.65948654e-01 2.52016098e-01 5.85754601e-02 3.64956442e+01] [-2.51448621e-01 9.67721586e-01 -1.69859650e-02 -6.31425303e+00] [-6.09654737e-02 1.67885137e-03 9.98138464e-01 -2.38702252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341052754 meters 0.018416228449199854 Centerline is valid? [True, True] Translation: X:36.53, Y:-6.32, Z:-2.39 [[ 9.66143754e-01 2.51411521e-01 5.79525152e-02 3.65258317e+01] [-2.50854850e-01 9.67878791e-01 -1.68074384e-02 -6.32352878e+00] [-6.03165940e-02 1.70073219e-03 9.98177848e-01 -2.38870848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371052754000004 meters 0.018636282394903936 Centerline is valid? [True, True] Translation: X:36.56, Y:-6.33, Z:-2.39 [[ 9.65758755e-01 2.52977715e-01 5.75526141e-02 3.65557831e+01] [-2.52430609e-01 9.67470773e-01 -1.67060067e-02 -6.33225381e+00] [-5.99067194e-02 1.60593082e-03 9.98202688e-01 -2.38958322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401052754 meters 0.018115285589542503 Centerline is valid? [True, True] Translation: X:36.59, Y:-6.34, Z:-2.39 [[ 9.65123262e-01 2.55526881e-01 5.69482427e-02 3.65876466e+01] [-2.54995120e-01 9.66800877e-01 -1.65394119e-02 -6.33951307e+00] [-5.92838753e-02 1.44104716e-03 9.98240124e-01 -2.39156141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431052754 meters 0.016883569652054262 Centerline is valid? [True, True] Translation: X:36.62, Y:-6.34, Z:-2.40 [[ 9.63207247e-01 2.63145046e-01 5.46487308e-02 3.66193858e+01] [-2.62667322e-01 9.64755826e-01 -1.58768215e-02 -6.34155015e+00] [-5.69005884e-02 9.38233803e-04 9.98379408e-01 -2.39598219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461052754 meters 0.01657906731922711 Centerline is valid? [True, True] Translation: X:36.65, Y:-6.35, Z:-2.40 [[ 9.61901119e-01 2.68165083e-01 5.32327576e-02 3.66505760e+01] [-2.67719481e-01 9.63372772e-01 -1.54654890e-02 -6.34638389e+00] [-5.54302934e-02 6.24824909e-04 9.98462364e-01 -2.40065826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491052754 meters 0.015706737148530103 Centerline is valid? [True, True] Translation: X:36.68, Y:-6.35, Z:-2.41 [[ 9.59022614e-01 2.78722069e-01 5.08884580e-02 3.66837682e+01] [-2.78329021e-01 9.60371807e-01 -1.47968946e-02 -6.34700708e+00] [-5.29960615e-02 2.68218565e-05 9.98594721e-01 -2.40615191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521052754 meters 0.016219952629102606 Centerline is valid? [True, True] Translation: X:36.72, Y:-6.35, Z:-2.41 [[ 9.56029477e-01 2.89336760e-01 4.78735674e-02 3.67162805e+01] [-2.89001498e-01 9.57227233e-01 -1.39340962e-02 -6.35024149e+00] [-4.98575287e-02 -5.14125958e-04 9.98756208e-01 -2.40854509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551052754000004 meters 0.017126597965364667 Centerline is valid? [True, True] Translation: X:36.75, Y:-6.36, Z:-2.41 [[ 9.54565889e-01 2.94194373e-01 4.74724661e-02 3.67472670e+01] [-2.93870644e-01 9.55745308e-01 -1.38185056e-02 -6.35529212e+00] [-4.94369133e-02 -7.60090068e-04 9.98776959e-01 -2.41219814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581052754 meters 0.018300428181470697 Centerline is valid? [True, True] Translation: X:36.78, Y:-6.36, Z:-2.41 [[ 9.52671210e-01 3.00336443e-01 4.70700110e-02 3.67784700e+01] [-3.00025088e-01 9.53832743e-01 -1.37129848e-02 -6.36024656e+00] [-4.90154268e-02 -1.05821833e-03 9.98797461e-01 -2.41428300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611052754 meters 0.01842203618482054 Centerline is valid? [True, True] Translation: X:36.81, Y:-6.37, Z:-2.42 [[ 9.52282942e-01 3.01600483e-01 4.68438641e-02 3.68092926e+01] [-3.01293156e-01 9.53433752e-01 -1.36570140e-02 -6.36983652e+00] [-4.87814831e-02 -1.10839424e-03 9.98808860e-01 -2.41617291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641052754 meters 0.018825117106570942 Centerline is valid? [True, True] Translation: X:36.84, Y:-6.38, Z:-2.42 [[ 9.52172553e-01 3.01832082e-01 4.75901630e-02 3.68391957e+01] [-3.01514532e-01 9.53360439e-01 -1.38874234e-02 -6.37885232e+00] [-4.95622486e-02 -1.12590235e-03 9.98770402e-01 -2.41914215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671052754 meters 0.01806771581162819 Centerline is valid? [True, True] Translation: X:36.87, Y:-6.40, Z:-2.42 [[ 9.52765630e-01 2.99706526e-01 4.91289349e-02 3.68678211e+01] [-2.99364660e-01 9.54030882e-01 -1.43484144e-02 -6.39503419e+00] [-5.11708345e-02 -1.03679080e-03 9.98689377e-01 -2.41870866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701052754 meters 0.01748519292416608 Centerline is valid? [True, True] Translation: X:36.90, Y:-6.41, Z:-2.42 [[ 9.53418713e-01 2.97539727e-01 4.96272941e-02 3.68975565e+01] [-2.97187289e-01 9.54708997e-01 -1.45067701e-02 -6.40809538e+00] [-5.16959646e-02 -9.17574945e-04 9.98662448e-01 -2.41948208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731052754000004 meters 0.016700387451350537 Centerline is valid? [True, True] Translation: X:36.93, Y:-6.42, Z:-2.42 [[ 9.54968977e-01 2.92357290e-01 5.06109467e-02 3.69261014e+01] [-2.91982638e-01 9.56308952e-01 -1.48096999e-02 -6.42425393e+00] [-5.27294251e-02 -6.34713700e-04 9.98608634e-01 -2.41971804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761052754000005 meters 0.01607270595507713 Centerline is valid? [True, True] Translation: X:36.95, Y:-6.44, Z:-2.42 [[ 9.56536022e-01 2.86924346e-01 5.20889568e-02 3.69541471e+01] [-2.86519303e-01 9.57953184e-01 -1.52442391e-02 -6.43978984e+00] [-5.42727254e-02 -3.42827759e-04 9.98526091e-01 -2.41941439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791052754 meters 0.015948381324881782 Centerline is valid? [True, True] Translation: X:36.98, Y:-6.45, Z:-2.42 [[ 9.57317794e-01 2.84221535e-01 5.25429404e-02 3.69840973e+01] [-2.83804957e-01 9.58758617e-01 -1.53837985e-02 -6.45192004e+00] [-5.47484037e-02 -1.84762925e-04 9.98500164e-01 -2.42138533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821052754 meters 0.016268096436176434 Centerline is valid? [True, True] Translation: X:37.01, Y:-6.47, Z:-2.43 [[ 9.59134918e-01 2.78106112e-01 5.21267753e-02 3.70138598e+01] [-2.77686392e-01 9.60550342e-01 -1.52744063e-02 -6.46807758e+00] [-5.43182976e-02 1.75320288e-04 9.98523656e-01 -2.42550517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.851052754 meters 0.016333119481827627 Centerline is valid? [True, True] Translation: X:37.04, Y:-6.48, Z:-2.43 [[ 9.59939944e-01 2.75478925e-01 5.12510054e-02 3.70442192e+01] [-2.75068692e-01 9.61307054e-01 -1.50320667e-02 -6.47983450e+00] [-5.34089706e-02 3.32334212e-04 9.98572667e-01 -2.42653844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881052754 meters 0.017945172157088372 Centerline is valid? [True, True] Translation: X:37.07, Y:-6.50, Z:-2.43 [[ 9.61576282e-01 2.70147577e-01 4.89013436e-02 3.70712444e+01] [-2.69766589e-01 9.62818733e-01 -1.43553170e-02 -6.49621584e+00] [-5.09611838e-02 6.11783716e-04 9.98700447e-01 -2.43204633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.911052754 meters 0.01751239588383986 Centerline is valid? [True, True] Translation: X:37.10, Y:-6.50, Z:-2.43 [[ 9.61878512e-01 2.69097717e-01 4.87457313e-02 3.71025191e+01] [-2.68717210e-01 9.63112642e-01 -1.43213032e-02 -6.50456120e+00] [-5.08014600e-02 6.76536904e-04 9.98708543e-01 -2.43259996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941052754000005 meters 0.017801384792291115 Centerline is valid? [True, True] Translation: X:37.13, Y:-6.51, Z:-2.43 [[ 9.62281237e-01 2.67534165e-01 4.93993088e-02 3.71330422e+01] [-2.67140652e-01 9.63548057e-01 -1.45262938e-02 -6.51386112e+00] [-5.14848879e-02 7.81816381e-04 9.98673468e-01 -2.43301715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.971052754 meters 0.018003253315564308 Centerline is valid? [True, True] Translation: X:37.16, Y:-6.52, Z:-2.44 [[ 9.62467532e-01 2.66808996e-01 4.96911372e-02 3.71640030e+01] [-2.66409175e-01 9.63749063e-01 -1.46251211e-02 -6.52266288e+00] [-5.17919008e-02 8.38029321e-04 9.98657547e-01 -2.43525757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001052754 meters 0.018851675982711914 Centerline is valid? [True, True] Translation: X:37.19, Y:-6.53, Z:-2.44 [[ 9.62980747e-01 2.65311768e-01 4.77257501e-02 3.71937565e+01] [-2.64940537e-01 9.64162262e-01 -1.40586141e-02 -6.52948732e+00] [-4.97452829e-02 8.93688824e-04 9.98761537e-01 -2.44152533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.031052754 meters 0.019057557234730252 Centerline is valid? [True, True] Translation: X:37.22, Y:-6.54, Z:-2.45 [[ 9.63184642e-01 2.64711902e-01 4.69356371e-02 3.72247992e+01] [-2.64351636e-01 9.64327104e-01 -1.38365130e-02 -6.53729935e+00] [-4.89239967e-02 9.19604417e-04 9.98802081e-01 -2.44525446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061052754 meters 0.01967958985537899 Centerline is valid? [True, True] Translation: X:37.25, Y:-6.54, Z:-2.45 [[ 9.63427280e-01 2.63966963e-01 4.61445454e-02 3.72549094e+01] [-2.63617324e-01 9.64531251e-01 -1.36151123e-02 -6.54341420e+00] [-4.81017960e-02 9.52668968e-04 9.98841984e-01 -2.44990497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091052754 meters 0.019552951781500905 Centerline is valid? [True, True] Translation: X:37.29, Y:-6.55, Z:-2.45 [[ 9.63390569e-01 2.64180686e-01 4.56856379e-02 3.72864719e+01] [-2.63837749e-01 9.64472746e-01 -1.34894159e-02 -6.55168875e+00] [-4.76261958e-02 9.41980223e-04 9.98864785e-01 -2.45019451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121052754000004 meters 0.020131843548451385 Centerline is valid? [True, True] Translation: X:37.32, Y:-6.56, Z:-2.45 [[ 9.63483772e-01 2.63924973e-01 4.51954681e-02 3.73164293e+01] [-2.63588424e-01 9.64542737e-01 -1.33585799e-02 -6.56123719e+00] [-4.71186233e-02 9.57772721e-04 9.98888842e-01 -2.44987345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151052754 meters 0.019983973509273275 Centerline is valid? [True, True] Translation: X:37.35, Y:-6.57, Z:-2.45 [[ 9.63596606e-01 2.63421487e-01 4.57241792e-02 3.73479548e+01] [-2.63075968e-01 9.64680316e-01 -1.35248754e-02 -6.56982864e+00] [-4.76719584e-02 1.00359136e-03 9.98862542e-01 -2.45071132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181052754 meters 0.020010769756239263 Centerline is valid? [True, True] Translation: X:37.38, Y:-6.58, Z:-2.45 [[ 9.63803043e-01 2.62312299e-01 4.77069457e-02 3.73798528e+01] [-2.61934059e-01 9.64982387e-01 -1.41259290e-02 -6.57897496e+00] [-4.97417672e-02 1.11853942e-03 9.98761486e-01 -2.45062881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211052754 meters 0.02033041739797548 Centerline is valid? [True, True] Translation: X:37.41, Y:-6.59, Z:-2.45 [[ 9.63515743e-01 2.63179869e-01 4.87213490e-02 3.74088742e+01] [-2.62785682e-01 9.64746143e-01 -1.44417606e-02 -6.58873820e+00] [-5.08045142e-02 1.11159081e-03 9.98707998e-01 -2.45289521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241052754 meters 0.01955289477130121 Centerline is valid? [True, True] Translation: X:37.44, Y:-6.59, Z:-2.45 [[ 9.62513922e-01 2.66574936e-01 5.00475198e-02 3.74394767e+01] [-2.66162888e-01 9.63813707e-01 -1.48477355e-02 -6.59468917e+00] [-5.21945197e-02 9.70359771e-04 9.98636466e-01 -2.45499637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271052754 meters 0.018902700084102744 Centerline is valid? [True, True] Translation: X:37.47, Y:-6.60, Z:-2.46 [[ 9.61742378e-01 2.69228151e-01 5.06734774e-02 3.74703075e+01] [-2.68808940e-01 9.63076055e-01 -1.50421250e-02 -6.60205268e+00] [-5.28521762e-02 8.45165301e-04 9.98601989e-01 -2.45617868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301052754000004 meters 0.018199936234672785 Centerline is valid? [True, True] Translation: X:37.50, Y:-6.61, Z:-2.46 [[ 9.60247544e-01 2.74585709e-01 5.02726857e-02 3.75021709e+01] [-2.74179669e-01 9.61562465e-01 -1.49376850e-02 -6.60957632e+00] [-5.24420024e-02 5.60126991e-04 9.98623814e-01 -2.45674573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331052754 meters 0.018079983545320397 Centerline is valid? [True, True] Translation: X:37.53, Y:-6.62, Z:-2.46 [[ 9.59451301e-01 2.77376085e-01 5.01568315e-02 3.75317100e+01] [-2.76975571e-01 9.60761333e-01 -1.49061526e-02 -6.61761574e+00] [-5.23233546e-02 4.09510414e-04 9.98630111e-01 -2.45908617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361052754 meters 0.01766892773825657 Centerline is valid? [True, True] Translation: X:37.56, Y:-6.62, Z:-2.46 [[ 9.57811680e-01 2.82849528e-01 5.09208242e-02 3.75625055e+01] [-2.82443772e-01 9.59164287e-01 -1.51455125e-02 -6.62261850e+00] [-5.31253371e-02 1.24279128e-04 9.98587844e-01 -2.46069022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391052754 meters 0.017542504059207764 Centerline is valid? [True, True] Translation: X:37.59, Y:-6.63, Z:-2.46 [[ 9.56076568e-01 2.88626280e-01 5.11122913e-02 3.75949892e+01] [-2.88225103e-01 9.57441818e-01 -1.52136182e-02 -6.62826362e+00] [-5.33280952e-02 -1.86461510e-04 9.98577027e-01 -2.46235291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421052754 meters 0.01767395250183387 Centerline is valid? [True, True] Translation: X:37.63, Y:-6.64, Z:-2.47 [[ 9.55605466e-01 2.90337063e-01 5.02253144e-02 3.76260518e+01] [-2.89951290e-01 9.56924407e-01 -1.49642486e-02 -6.63701166e+00] [-5.24065052e-02 -2.62976940e-04 9.98625800e-01 -2.46505440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451052754 meters 0.017646785985346292 Centerline is valid? [True, True] Translation: X:37.66, Y:-6.65, Z:-2.47 [[ 9.55350252e-01 2.91220836e-01 4.99632047e-02 3.76569148e+01] [-2.90839656e-01 9.56655809e-01 -1.48982637e-02 -6.64771710e+00] [-5.21362748e-02 -2.98221328e-04 9.98639935e-01 -2.46660764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481052754000004 meters 0.01766612660875943 Centerline is valid? [True, True] Translation: X:37.69, Y:-6.66, Z:-2.47 [[ 9.56281369e-01 2.88277586e-01 4.92135753e-02 3.76865027e+01] [-2.87903050e-01 9.57546876e-01 -1.46906313e-02 -6.66114291e+00] [-5.13592850e-02 -1.20361445e-04 9.98680234e-01 -2.46858546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511052754000005 meters 0.017666536829363314 Centerline is valid? [True, True] Translation: X:37.72, Y:-6.67, Z:-2.47 [[ 9.56844124e-01 2.86250291e-01 5.01008322e-02 3.77151291e+01] [-2.85858873e-01 9.58154878e-01 -1.49644167e-02 -6.67232247e+00] [-5.22879254e-02 -3.15321382e-06 9.98632051e-01 -2.47224284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541052754 meters 0.01786664375060295 Centerline is valid? [True, True] Translation: X:37.74, Y:-6.69, Z:-2.48 [[ 9.58151394e-01 2.82021395e-01 4.90901034e-02 3.77439418e+01] [-2.81639491e-01 9.59408087e-01 -1.46737604e-02 -6.68649622e+00] [-5.12357566e-02 2.33972262e-04 9.98686559e-01 -2.47606143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571052754 meters 0.018509454290394297 Centerline is valid? [True, True] Translation: X:37.77, Y:-6.70, Z:-2.48 [[ 9.59277858e-01 2.78471670e-01 4.73235751e-02 3.77712844e+01] [-2.78111783e-01 9.60444351e-01 -1.41592479e-02 -6.70178284e+00] [-4.93946098e-02 4.21409174e-04 9.98779252e-01 -2.47752621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601052754 meters 0.018216638293299465 Centerline is valid? [True, True] Translation: X:37.80, Y:-6.71, Z:-2.48 [[ 9.59236436e-01 2.78714052e-01 4.67326104e-02 3.78025139e+01] [-2.78363256e-01 9.60374048e-01 -1.39851995e-02 -6.71084020e+00] [-4.87786579e-02 4.06471363e-04 9.98809530e-01 -2.47725235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631052754 meters 0.01849118604774136 Centerline is valid? [True, True] Translation: X:37.83, Y:-6.72, Z:-2.48 [[ 9.59470141e-01 2.78143841e-01 4.53106130e-02 3.78322482e+01] [-2.77812747e-01 9.60539335e-01 -1.35743850e-02 -6.71784595e+00] [-4.72982576e-02 4.36351209e-04 9.98880716e-01 -2.48056793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661052754 meters 0.018625521177948752 Centerline is valid? [True, True] Translation: X:37.86, Y:-6.73, Z:-2.48 [[ 9.59708677e-01 2.77544977e-01 4.39094668e-02 3.78632502e+01] [-2.77233075e-01 9.60712535e-01 -1.31623174e-02 -6.72530604e+00] [-4.58375102e-02 4.58833712e-04 9.98948804e-01 -2.48428470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691052754000005 meters 0.01936850644061201 Centerline is valid? [True, True] Translation: X:37.89, Y:-6.73, Z:-2.49 [[ 9.60358858e-01 2.75386431e-01 4.32802268e-02 3.78929232e+01] [-2.75080611e-01 9.61333445e-01 -1.29871188e-02 -6.73189419e+00] [-4.51832058e-02 5.66743344e-04 9.98978557e-01 -2.48942615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721052754 meters 0.01957142198966416 Centerline is valid? [True, True] Translation: X:37.92, Y:-6.74, Z:-2.49 [[ 9.60657372e-01 2.74302945e-01 4.35351334e-02 3.79232044e+01] [-2.73992251e-01 9.61643127e-01 -1.30668232e-02 -6.74170196e+00] [-4.54495299e-02 6.24450816e-04 9.98966441e-01 -2.49055555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751052754 meters 0.020141713437054027 Centerline is valid? [True, True] Translation: X:37.95, Y:-6.75, Z:-2.49 [[ 9.61505913e-01 2.71089790e-01 4.49077366e-02 3.79534436e+01] [-2.70755119e-01 9.62553721e-01 -1.34907257e-02 -6.75400964e+00] [-4.68833069e-02 8.12412941e-04 9.98900043e-01 -2.48774757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781052754 meters 0.02054803128487186 Centerline is valid? [True, True] Translation: X:37.98, Y:-6.76, Z:-2.49 [[ 9.61784558e-01 2.69895519e-01 4.61180306e-02 3.79847432e+01] [-2.69540623e-01 9.62889188e-01 -1.38659019e-02 -6.76362586e+00] [-4.81488979e-02 9.05327602e-04 9.98839759e-01 -2.48913293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.811052754 meters 0.021044310913318015 Centerline is valid? [True, True] Translation: X:38.02, Y:-6.77, Z:-2.49 [[ 9.62125189e-01 2.68524916e-01 4.70052219e-02 3.80158745e+01] [-2.68153883e-01 9.63272213e-01 -1.41470368e-02 -6.76949524e+00] [-4.90776560e-02 1.00658764e-03 9.98794459e-01 -2.49297456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841052754 meters 0.021080555582762242 Centerline is valid? [True, True] Translation: X:38.05, Y:-6.78, Z:-2.50 [[ 9.61794084e-01 2.69791732e-01 4.65248564e-02 3.80458471e+01] [-2.69429157e-01 9.62918237e-01 -1.40142131e-02 -6.77620199e+00] [-4.85805515e-02 9.43634377e-04 9.98818822e-01 -2.49635456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.871052754000004 meters 0.019772618475872694 Centerline is valid? [True, True] Translation: X:38.08, Y:-6.78, Z:-2.50 [[ 9.59824390e-01 2.76808382e-01 4.59810710e-02 3.80778397e+01] [-2.76461634e-01 9.60924953e-01 -1.38635873e-02 -6.77965058e+00] [-4.80219157e-02 5.94607254e-04 9.98846105e-01 -2.49806329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901052754 meters 0.01886703486869953 Centerline is valid? [True, True] Translation: X:38.11, Y:-6.79, Z:-2.50 [[ 9.58294516e-01 2.82171846e-01 4.52843252e-02 3.81097966e+01] [-2.81841554e-01 9.59363824e-01 -1.36525380e-02 -6.78505861e+00] [-4.72965052e-02 3.20147687e-04 9.98880843e-01 -2.49907653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.931052754 meters 0.018426170219012033 Centerline is valid? [True, True] Translation: X:38.14, Y:-6.79, Z:-2.50 [[ 9.55482367e-01 2.91647732e-01 4.46659375e-02 3.81421742e+01] [-2.91336194e-01 9.56525787e-01 -1.34774010e-02 -6.78628146e+00] [-4.66547744e-02 -1.35385209e-04 9.98911064e-01 -2.50221784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961052754 meters 0.018624966670218342 Centerline is valid? [True, True] Translation: X:38.18, Y:-6.79, Z:-2.50 [[ 9.53028304e-01 2.99218367e-01 4.69618985e-02 3.81751762e+01] [-2.98882517e-01 9.54184520e-01 -1.41824603e-02 -6.78986207e+00] [-4.90539692e-02 -5.19804359e-04 9.98795994e-01 -2.50378246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.991052754 meters 0.018940253603572366 Centerline is valid? [True, True] Translation: X:38.21, Y:-6.80, Z:-2.50 [[ 9.52238080e-01 3.01580881e-01 4.78707749e-02 3.82062750e+01] [-3.01234134e-01 9.53440383e-01 -1.44718232e-02 -6.79786789e+00] [-5.00063552e-02 -6.39690231e-04 9.98748695e-01 -2.50490972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021052754 meters 0.018945411718430758 Centerline is valid? [True, True] Translation: X:38.24, Y:-6.81, Z:-2.50 [[ 9.51530961e-01 3.03346408e-01 5.06930681e-02 3.82356533e+01] [-3.02959178e-01 9.52880044e-01 -1.53413665e-02 -6.80837057e+00] [-5.29581614e-02 -7.60145047e-04 9.98596443e-01 -2.50246443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.051052754000004 meters 0.01880771067483465 Centerline is valid? [True, True] Translation: X:38.27, Y:-6.82, Z:-2.50 [[ 9.51670195e-01 3.02764544e-01 5.15506726e-02 3.82654562e+01] [-3.02362888e-01 9.53065104e-01 -1.56074239e-02 -6.81987957e+00] [-5.38565218e-02 -7.33890106e-04 9.98548415e-01 -2.50308335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081052754 meters 0.01880771067483465 Centerline is valid? [True, True] Translation: X:38.30, Y:-6.83, Z:-2.51 [[ 9.51590581e-01 3.03015270e-01 5.15471847e-02 3.82963679e+01] [-3.02613359e-01 9.52985417e-01 -1.56189342e-02 -6.82933250e+00] [-5.38564909e-02 -7.36036023e-04 9.98548415e-01 -2.50517431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111052754 meters 0.018256498147024208 Centerline is valid? [True, True] Translation: X:38.33, Y:-6.84, Z:-2.51 [[ 9.53274642e-01 2.97929505e-01 5.00546324e-02 3.83258615e+01] [-2.97542683e-01 9.54587782e-01 -1.51828167e-02 -6.84429472e+00] [-5.23049496e-02 -4.19995483e-04 9.98631071e-01 -2.50793249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141052754 meters 0.017993266515032684 Centerline is valid? [True, True] Translation: X:38.36, Y:-6.86, Z:-2.51 [[ 9.54337645e-01 2.94576985e-01 4.96392929e-02 3.83558020e+01] [-2.94191894e-01 9.55627724e-01 -1.50593259e-02 -6.85681329e+00] [-5.18728153e-02 -2.31795973e-04 9.98653672e-01 -2.51054536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171052754 meters 0.018459935730516918 Centerline is valid? [True, True] Translation: X:38.38, Y:-6.87, Z:-2.51 [[ 9.56904919e-01 2.86064899e-01 4.99984860e-02 3.83835887e+01] [-2.85661894e-01 9.58210214e-01 -1.51811841e-02 -6.87366558e+00] [-5.22518638e-02 2.44287503e-04 9.98633908e-01 -2.51224541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201052754 meters 0.018795904060248465 Centerline is valid? [True, True] Translation: X:38.41, Y:-6.89, Z:-2.51 [[ 9.58376894e-01 2.81257438e-01 4.90711906e-02 3.84127221e+01] [-2.80862248e-01 9.59632218e-01 -1.49132401e-02 -6.88650471e+00] [-5.12847552e-02 5.10259780e-04 9.98683941e-01 -2.51374424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231052754000004 meters 0.02090247562666869 Centerline is valid? [True, True] Translation: X:38.44, Y:-6.90, Z:-2.52 [[ 9.61197188e-01 2.71721867e-01 4.76150559e-02 3.84387380e+01] [-2.71337433e-01 9.62375303e-01 -1.44835770e-02 -6.90429427e+00] [-4.97590584e-02 1.00182643e-03 9.98760748e-01 -2.51666854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261052754000005 meters 0.021070415281476653 Centerline is valid? [True, True] Translation: X:38.47, Y:-6.91, Z:-2.52 [[ 9.62256713e-01 2.67950648e-01 4.75864399e-02 3.84692660e+01] [-2.67561764e-01 9.63431889e-01 -1.44809115e-02 -6.91493977e+00] [-4.97264634e-02 1.20204251e-03 9.98762151e-01 -2.51772715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291052754 meters 0.02227398451970539 Centerline is valid? [True, True] Translation: X:38.50, Y:-6.92, Z:-2.52 [[ 9.63603567e-01 2.63090730e-01 4.74492641e-02 3.84998926e+01] [-2.62698011e-01 9.64770003e-01 -1.44428845e-02 -6.92355936e+00] [-4.95774156e-02 1.45238773e-03 9.98769228e-01 -2.52198722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321052754 meters 0.022678689565915254 Centerline is valid? [True, True] Translation: X:38.53, Y:-6.93, Z:-2.53 [[ 9.64277242e-01 2.60645247e-01 4.72594540e-02 3.85300211e+01] [-2.60252719e-01 9.65433366e-01 -1.43853590e-02 -6.93206548e+00] [-4.93753292e-02 1.57207286e-03 9.98779057e-01 -2.52523274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351052754 meters 0.02310125639998399 Centerline is valid? [True, True] Translation: X:38.56, Y:-6.94, Z:-2.53 [[ 9.65265204e-01 2.57008428e-01 4.70080125e-02 3.85597420e+01] [-2.56615182e-01 9.66407559e-01 -1.43205757e-02 -6.94077150e+00] [-4.91094073e-02 1.76018378e-03 9.98791854e-01 -2.52669866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381052754 meters 0.02362719265937667 Centerline is valid? [True, True] Translation: X:38.59, Y:-6.95, Z:-2.53 [[ 9.65400183e-01 2.56499553e-01 4.70155950e-02 3.85893842e+01] [-2.56105112e-01 9.66542682e-01 -1.43323485e-02 -6.95043135e+00] [-4.91188202e-02 1.79551766e-03 9.98791328e-01 -2.52710516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411052754 meters 0.023113041413298372 Centerline is valid? [True, True] Translation: X:38.62, Y:-6.96, Z:-2.53 [[ 9.65059398e-01 2.57780110e-01 4.70082219e-02 3.86206967e+01] [-2.57386761e-01 9.66202041e-01 -1.43412439e-02 -6.95656330e+00] [-4.91163274e-02 1.74085827e-03 9.98791548e-01 -2.52711113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441052754000005 meters 0.0238757341375063 Centerline is valid? [True, True] Translation: X:38.65, Y:-6.96, Z:-2.53 [[ 9.64144903e-01 2.60959481e-01 4.82157123e-02 3.86509430e+01] [-2.60548798e-01 9.65348370e-01 -1.47257763e-02 -6.96180061e+00] [-5.03877902e-02 1.63523622e-03 9.98728390e-01 -2.52976211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471052754 meters 0.022389743381716575 Centerline is valid? [True, True] Translation: X:38.68, Y:-6.97, Z:-2.53 [[ 9.63453782e-01 2.63323581e-01 4.91681053e-02 3.86833895e+01] [-2.62899613e-01 9.64706338e-01 -1.50158398e-02 -6.96549925e+00] [-5.13868075e-02 1.54079177e-03 9.98677637e-01 -2.53152655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501052754 meters 0.02181168909777927 Centerline is valid? [True, True] Translation: X:38.71, Y:-6.97, Z:-2.53 [[ 9.62765699e-01 2.65696453e-01 4.98758751e-02 3.87147321e+01] [-2.65262678e-01 9.64055652e-01 -1.52450301e-02 -6.97122648e+00] [-5.21336697e-02 1.44718392e-03 9.98639067e-01 -2.53399873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531052754 meters 0.02080209630500073 Centerline is valid? [True, True] Translation: X:38.75, Y:-6.98, Z:-2.53 [[ 9.61650211e-01 2.69542958e-01 5.07490520e-02 3.87461534e+01] [-2.69098379e-01 9.62987522e-01 -1.55272362e-02 -6.97734278e+00] [-5.30559610e-02 1.27528233e-03 9.98590726e-01 -2.53398049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561052754 meters 0.02035540797685441 Centerline is valid? [True, True] Translation: X:38.78, Y:-6.99, Z:-2.53 [[ 9.61158895e-01 2.71244799e-01 5.09886037e-02 3.87776114e+01] [-2.70798284e-01 9.62509660e-01 -1.56026985e-02 -6.98533951e+00] [-5.33091744e-02 1.18904610e-03 9.98577347e-01 -2.53474114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591052754 meters 0.020138425381778253 Centerline is valid? [True, True] Translation: X:38.81, Y:-6.99, Z:-2.54 [[ 9.60255187e-01 2.74646332e-01 4.97932496e-02 3.88083818e+01] [-2.74224362e-01 9.61544805e-01 -1.52508166e-02 -6.99045507e+00] [-5.20670213e-02 9.90153663e-04 9.98643102e-01 -2.53966328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621052754000004 meters 0.01941946237615607 Centerline is valid? [True, True] Translation: X:38.84, Y:-6.99, Z:-2.54 [[ 9.59005274e-01 2.79068485e-01 4.92916246e-02 3.88395062e+01] [-2.78660490e-01 9.60270910e-01 -1.51033573e-02 -6.99323055e+00] [-5.15481842e-02 7.48571045e-04 9.98670228e-01 -2.54474273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651052754 meters 0.018876919400535316 Centerline is valid? [True, True] Translation: X:38.87, Y:-7.00, Z:-2.55 [[ 9.58241047e-01 2.81597109e-01 4.97711221e-02 3.88706855e+01] [-2.81183936e-01 9.59532528e-01 -1.52617995e-02 -7.00059042e+00] [-5.20546892e-02 6.29642734e-04 9.98644037e-01 -2.54526924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681052754 meters 0.018019300220839488 Centerline is valid? [True, True] Translation: X:38.90, Y:-7.01, Z:-2.54 [[ 9.57024555e-01 2.85714103e-01 4.97137054e-02 3.89019637e+01] [-2.85306774e-01 9.58314811e-01 -1.52567363e-02 -7.00898035e+00] [-5.20004449e-02 4.17414366e-04 9.98646974e-01 -2.54329150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711052754 meters 0.018068646332103065 Centerline is valid? [True, True] Translation: X:38.93, Y:-7.02, Z:-2.55 [[ 9.56490558e-01 2.87608076e-01 4.90653281e-02 3.89327713e+01] [-2.87213160e-01 9.57748135e-01 -1.50701742e-02 -7.01781318e+00] [-5.13265303e-02 3.22271431e-04 9.98681873e-01 -2.54701328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741052754 meters 0.017712104279726044 Centerline is valid? [True, True] Translation: X:38.96, Y:-7.02, Z:-2.55 [[ 9.55540650e-01 2.91044539e-01 4.72772992e-02 3.89647161e+01] [-2.90681474e-01 9.56709494e-01 -1.45335986e-02 -7.02280825e+00] [-4.94605655e-02 1.44809270e-04 9.98776067e-01 -2.55420290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771052754 meters 0.017643978566079296 Centerline is valid? [True, True] Translation: X:39.00, Y:-7.03, Z:-2.56 [[ 9.54996271e-01 2.92744022e-01 4.77813727e-02 3.89959407e+01] [-2.92374616e-01 9.56190845e-01 -1.47020799e-02 -7.02927063e+00] [-4.99920572e-02 7.03710138e-05 9.98749613e-01 -2.55721301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801052754000004 meters 0.017316488468209375 Centerline is valid? [True, True] Translation: X:39.03, Y:-7.04, Z:-2.56 [[ 9.54005320e-01 2.95670937e-01 4.95231978e-02 3.90272019e+01] [-2.95277304e-01 9.55289847e-01 -1.52519355e-02 -7.03702024e+00] [-5.18185621e-02 -7.26487114e-05 9.98656513e-01 -2.55956072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831052754 meters 0.01726907113985253 Centerline is valid? [True, True] Translation: X:39.06, Y:-7.05, Z:-2.56 [[ 9.53629290e-01 2.96836896e-01 4.97899061e-02 3.90576279e+01] [-2.96439911e-01 9.54928187e-01 -1.53472334e-02 -7.04722187e+00] [-5.21014099e-02 -1.24143997e-04 9.98641791e-01 -2.56055033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861052754 meters 0.01712892096486462 Centerline is valid? [True, True] Translation: X:39.09, Y:-7.06, Z:-2.56 [[ 9.53371157e-01 2.97667563e-01 4.97740675e-02 3.90889192e+01] [-2.97271231e-01 9.54669575e-01 -1.53563551e-02 -7.05876659e+00] [-5.20888767e-02 -1.56092310e-04 9.98642441e-01 -2.55921773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891052754 meters 0.01703904025332546 Centerline is valid? [True, True] Translation: X:39.12, Y:-7.07, Z:-2.56 [[ 9.53785681e-01 2.96213801e-01 5.05000958e-02 3.91198723e+01] [-2.95802948e-01 9.55121657e-01 -1.55960079e-02 -7.06766965e+00] [-5.28534880e-02 -6.28281836e-05 9.98602276e-01 -2.56027666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921052754 meters 0.01713345325371214 Centerline is valid? [True, True] Translation: X:39.15, Y:-7.08, Z:-2.56 [[ 9.54303179e-01 2.94446687e-01 5.10547840e-02 3.91498553e+01] [-2.94023491e-01 9.55667906e-01 -1.57810231e-02 -7.07684749e+00] [-5.34380885e-02 4.85746666e-05 9.98571163e-01 -2.56446069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951052754 meters 0.01712718437561431 Centerline is valid? [True, True] Translation: X:39.18, Y:-7.09, Z:-2.57 [[ 9.55099552e-01 2.91944618e-01 5.05290523e-02 3.91798785e+01] [-2.91525828e-01 9.56435204e-01 -1.56330356e-02 -7.08698186e+00] [-5.28917450e-02 2.00581485e-04 9.98600232e-01 -2.56745326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981052754000004 meters 0.01805465367017719 Centerline is valid? [True, True] Translation: X:39.21, Y:-7.10, Z:-2.57 [[ 9.57687371e-01 2.83542105e-01 4.93839385e-02 3.92068275e+01] [-2.83130163e-01 9.58959558e-01 -1.52930263e-02 -7.10253135e+00] [-5.16934167e-02 6.63855589e-04 9.98662781e-01 -2.57097990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011052754000005 meters 0.019804595675245798 Centerline is valid? [True, True] Translation: X:39.23, Y:-7.12, Z:-2.57 [[ 9.60224049e-01 2.74883942e-01 4.90774402e-02 3.92335030e+01] [-2.74465432e-01 9.61476751e-01 -1.52047681e-02 -7.11876839e+00] [-5.13663643e-02 1.12992315e-03 9.98679238e-01 -2.57051022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041052754 meters 0.020222136331561873 Centerline is valid? [True, True] Translation: X:39.26, Y:-7.13, Z:-2.57 [[ 9.61292930e-01 2.70971432e-01 4.99037608e-02 3.92639022e+01] [-2.70533109e-01 9.62586418e-01 -1.54668671e-02 -7.12952742e+00] [-5.22277615e-02 1.36757048e-03 9.98634263e-01 -2.57142171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071052754 meters 0.02033033684815454 Centerline is valid? [True, True] Translation: X:39.29, Y:-7.14, Z:-2.57 [[ 9.62021143e-01 2.68089435e-01 5.14137642e-02 3.92942375e+01] [-2.67619930e-01 9.63392746e-01 -1.59370911e-02 -7.13891401e+00] [-5.38042132e-02 1.57247057e-03 9.98550266e-01 -2.57207203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101052754 meters 0.022461060230088266 Centerline is valid? [True, True] Translation: X:39.32, Y:-7.15, Z:-2.57 [[ 9.62475281e-01 2.66027243e-01 5.35802162e-02 3.93225291e+01] [-2.65513291e-01 9.63963880e-01 -1.66231975e-02 -7.15156734e+00] [-5.60716165e-02 1.77315716e-03 9.98425175e-01 -2.57213167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131052754 meters 0.02135033599702451 Centerline is valid? [True, True] Translation: X:39.35, Y:-7.16, Z:-2.57 [[ 9.61786882e-01 2.68400344e-01 5.41040615e-02 3.93542383e+01] [-2.67879675e-01 9.63306031e-01 -1.67919557e-02 -7.15818379e+00] [-5.66257355e-02 1.65690431e-03 9.98394101e-01 -2.57244338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161052754 meters 0.019913121385707735 Centerline is valid? [True, True] Translation: X:39.39, Y:-7.16, Z:-2.57 [[ 9.61206434e-01 2.70622517e-01 5.33445807e-02 3.93862488e+01] [-2.70119060e-01 9.62684347e-01 -1.65692992e-02 -7.16364268e+00] [-5.58380183e-02 1.51712897e-03 9.98438688e-01 -2.57401704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191052754000005 meters 0.019436615759036116 Centerline is valid? [True, True] Translation: X:39.42, Y:-7.17, Z:-2.58 [[ 9.60366020e-01 2.73611550e-01 5.32337025e-02 3.94176833e+01] [-2.73113999e-01 9.61839325e-01 -1.65486127e-02 -7.17076317e+00] [-5.57301601e-02 1.35385595e-03 9.98444949e-01 -2.57696962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221052754 meters 0.017578319091647105 Centerline is valid? [True, True] Translation: X:39.45, Y:-7.17, Z:-2.58 [[ 9.58595287e-01 2.79847895e-01 5.27278998e-02 3.94498469e+01] [-2.79368322e-01 9.60043833e-01 -1.64066683e-02 -7.17134518e+00] [-5.52124666e-02 9.96849959e-04 9.98474131e-01 -2.58068384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251052754 meters 0.016604400418853374 Centerline is valid? [True, True] Translation: X:39.48, Y:-7.17, Z:-2.59 [[ 9.56914033e-01 2.85572887e-01 5.25705123e-02 3.94822159e+01] [-2.85104689e-01 9.58356761e-01 -1.63595339e-02 -7.17325413e+00] [-5.50531453e-02 6.66567961e-04 9.98483203e-01 -2.58518021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281052754 meters 0.016607150644642577 Centerline is valid? [True, True] Translation: X:39.51, Y:-7.18, Z:-2.59 [[ 9.56117248e-01 2.88333766e-01 5.19946885e-02 3.95127384e+01] [-2.87879798e-01 9.57529836e-01 -1.61813362e-02 -7.18099986e+00] [-5.44520912e-02 5.03034262e-04 9.98516258e-01 -2.58863806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311052754 meters 0.01613752810995603 Centerline is valid? [True, True] Translation: X:39.55, Y:-7.19, Z:-2.59 [[ 9.54898193e-01 2.92758514e-01 4.96174768e-02 3.95455469e+01] [-2.92350472e-01 9.56186378e-01 -1.54535398e-02 -7.18755686e+00] [-5.19677108e-02 2.50864493e-04 9.98648734e-01 -2.59127275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341052754 meters 0.01631288973799476 Centerline is valid? [True, True] Translation: X:39.58, Y:-7.20, Z:-2.59 [[ 9.54739409e-01 2.93438203e-01 4.86485624e-02 3.95758462e+01] [-2.93046012e-01 9.55978018e-01 -1.51678772e-02 -7.19622356e+00] [-5.09577909e-02 2.25102933e-04 9.98700782e-01 -2.59388771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371052754000004 meters 0.016436692270959213 Centerline is valid? [True, True] Translation: X:39.61, Y:-7.21, Z:-2.60 [[ 9.55557429e-01 2.90829133e-01 4.82536511e-02 3.96051503e+01] [-2.90439606e-01 9.56774937e-01 -1.50517553e-02 -7.20627546e+00] [-5.05453729e-02 3.68045243e-04 9.98721698e-01 -2.59757062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401052754 meters 0.01662523791667233 Centerline is valid? [True, True] Translation: X:39.63, Y:-7.22, Z:-2.60 [[ 9.56549871e-01 2.87471745e-01 4.87066758e-02 3.96349366e+01] [-2.87070230e-01 9.57788957e-01 -1.51985675e-02 -7.21718661e+00] [-5.10198749e-02 5.55951171e-04 9.98697483e-01 -2.59853302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431052754 meters 0.018076200707630358 Centerline is valid? [True, True] Translation: X:39.66, Y:-7.23, Z:-2.60 [[ 9.59426236e-01 2.77820399e-01 4.81365084e-02 3.96624611e+01] [-2.77415397e-01 9.60632438e-01 -1.50338593e-02 -7.23287271e+00] [-5.04182042e-02 1.07007042e-03 9.98727620e-01 -2.60071016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461052754 meters 0.020375484004395764 Centerline is valid? [True, True] Translation: X:39.69, Y:-7.25, Z:-2.60 [[ 9.60811887e-01 2.73147523e-01 4.72329155e-02 3.96892506e+01] [-2.72751319e-01 9.61971275e-01 -1.47643145e-02 -7.24766482e+00] [-4.94695438e-02 1.30288890e-03 9.98774783e-01 -2.60352734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491052754 meters 0.021380771619832407 Centerline is valid? [True, True] Translation: X:39.72, Y:-7.26, Z:-2.60 [[ 9.63034752e-01 2.65217088e-01 4.71589050e-02 3.97177757e+01] [-2.64812672e-01 9.64187214e-01 -1.47399199e-02 -7.26048031e+00] [-4.93792918e-02 1.70677941e-03 9.98778640e-01 -2.60348859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521052754 meters 0.02199661796453561 Centerline is valid? [True, True] Translation: X:39.75, Y:-7.27, Z:-2.60 [[ 9.63652627e-01 2.62685479e-01 4.86821779e-02 3.97481066e+01] [-2.62250598e-01 9.64879628e-01 -1.52291744e-02 -7.27097931e+00] [-5.09729247e-02 1.90870368e-03 9.98698212e-01 -2.60416114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551052754000004 meters 0.021345888789646817 Centerline is valid? [True, True] Translation: X:39.78, Y:-7.28, Z:-2.60 [[ 9.64330790e-01 2.59644550e-01 5.14862544e-02 3.97790109e+01] [-2.59153563e-01 9.65701766e-01 -1.61099323e-02 -7.27806789e+00] [-5.39032229e-02 2.19245746e-03 9.98543758e-01 -2.60334744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581052754 meters 0.022593924803826947 Centerline is valid? [True, True] Translation: X:39.81, Y:-7.29, Z:-2.61 [[ 9.64327693e-01 2.59498200e-01 5.22760387e-02 3.98091179e+01] [-2.58991507e-01 9.65740994e-01 -1.63625018e-02 -7.28934158e+00] [-5.47311534e-02 2.23976357e-03 9.98498615e-01 -2.60512246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611052754 meters 0.021337439480362333 Centerline is valid? [True, True] Translation: X:39.84, Y:-7.30, Z:-2.60 [[ 9.64005913e-01 2.60563568e-01 5.29077132e-02 3.98404399e+01] [-2.60045288e-01 9.65454140e-01 -1.65756578e-02 -7.29543954e+00] [-5.53989832e-02 2.22063061e-03 9.98461828e-01 -2.60490573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641052754 meters 0.021867021180970315 Centerline is valid? [True, True] Translation: X:39.87, Y:-7.30, Z:-2.61 [[ 9.63534078e-01 2.62277704e-01 5.30328745e-02 3.98704284e+01] [-2.61758755e-01 9.64990063e-01 -1.66292521e-02 -7.30379093e+00] [-5.55376789e-02 2.14103187e-03 9.98454297e-01 -2.60773678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671052754 meters 0.019976595094026574 Centerline is valid? [True, True] Translation: X:39.90, Y:-7.31, Z:-2.61 [[ 9.62122446e-01 2.67635162e-01 5.18827489e-02 3.99022891e+01] [-2.67145489e-01 9.63518635e-01 -1.62827693e-02 -7.30593475e+00] [-5.43478370e-02 1.80577546e-03 9.98520431e-01 -2.61211712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701052754 meters 0.01939179190268424 Centerline is valid? [True, True] Translation: X:39.93, Y:-7.31, Z:-2.61 [[ 9.61196996e-01 2.71017732e-01 5.14754605e-02 3.99329873e+01] [-2.70540374e-01 9.62573016e-01 -1.61584040e-02 -7.31253322e+00] [-5.39281033e-02 1.60521902e-03 9.98543531e-01 -2.61482456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731052754000004 meters 0.01766446873194809 Centerline is valid? [True, True] Translation: X:39.96, Y:-7.32, Z:-2.62 [[ 9.58796570e-01 2.79459562e-01 5.11027509e-02 3.99648162e+01] [-2.79000937e-01 9.60156804e-01 -1.60433380e-02 -7.31632375e+00] [-5.35501182e-02 1.12458208e-03 9.98564530e-01 -2.61830143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761052754000005 meters 0.017184892050485366 Centerline is valid? [True, True] Translation: X:39.99, Y:-7.32, Z:-2.62 [[ 9.57459930e-01 2.84017725e-01 5.10334702e-02 3.99946096e+01] [-2.83566782e-01 9.58818636e-01 -1.60219585e-02 -7.32304879e+00] [-5.34823625e-02 8.68986322e-04 9.98568416e-01 -2.62188476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791052754 meters 0.015656091618108006 Centerline is valid? [True, True] Translation: X:40.03, Y:-7.32, Z:-2.63 [[ 9.55138548e-01 2.91974813e-01 4.96091074e-02 4.00273061e+01] [-2.91558977e-01 9.56425916e-01 -1.55830121e-02 -7.32471992e+00] [-5.19972830e-02 4.19954958e-04 9.98647138e-01 -2.62627652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821052754 meters 0.015500325487619324 Centerline is valid? [True, True] Translation: X:40.06, Y:-7.33, Z:-2.63 [[ 9.54228021e-01 2.95103018e-01 4.86116568e-02 4.00579791e+01] [-2.94707165e-01 9.55465407e-01 -1.52821313e-02 -7.33230346e+00] [-5.09565595e-02 2.56434313e-04 9.98700838e-01 -2.63050241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851052754 meters 0.015284971897472866 Centerline is valid? [True, True] Translation: X:40.09, Y:-7.34, Z:-2.63 [[ 9.53593692e-01 2.97387321e-01 4.71153016e-02 4.00882142e+01] [-2.97017609e-01 9.54756912e-01 -1.48249347e-02 -7.34141923e+00] [-4.93924075e-02 1.42889927e-04 9.98779440e-01 -2.63289468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881052754 meters 0.015246979086478514 Centerline is valid? [True, True] Translation: X:40.12, Y:-7.35, Z:-2.63 [[ 9.53973227e-01 2.96120911e-01 4.74076800e-02 4.01188456e+01] [-2.95744438e-01 9.55150437e-01 -1.49288483e-02 -7.35236547e+00] [-4.97022104e-02 2.21163949e-04 9.98764057e-01 -2.63490088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911052754 meters 0.015521404066465225 Centerline is valid? [True, True] Translation: X:40.15, Y:-7.36, Z:-2.64 [[ 9.54332445e-01 2.94927801e-01 4.76148800e-02 4.01490170e+01] [-2.94545803e-01 9.55519494e-01 -1.50089023e-02 -7.36361787e+00] [-4.99234886e-02 2.98719359e-04 9.98753001e-01 -2.63758182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941052754000005 meters 0.015388899572333317 Centerline is valid? [True, True] Translation: X:40.18, Y:-7.38, Z:-2.64 [[ 9.55096900e-01 2.92301895e-01 4.84717870e-02 4.01792903e+01] [-2.91901937e-01 9.56325987e-01 -1.52926717e-02 -7.37737293e+00] [-5.08249065e-02 4.56974860e-04 9.98707475e-01 -2.63742948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971052754 meters 0.015388899572333317 Centerline is valid? [True, True] Translation: X:40.21, Y:-7.39, Z:-2.64 [[ 9.55015726e-01 2.92567703e-01 4.84675365e-02 4.02100996e+01] [-2.92167404e-01 9.56244702e-01 -1.53061293e-02 -7.38716309e+00] [-5.08249041e-02 4.56959877e-04 9.98707475e-01 -2.63952151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001052754 meters 0.015363104270286025 Centerline is valid? [True, True] Translation: X:40.24, Y:-7.40, Z:-2.64 [[ 9.55179893e-01 2.91895288e-01 4.92799470e-02 4.02408979e+01] [-2.91479758e-01 9.56450142e-01 -1.55780563e-02 -7.39800884e+00] [-5.16809735e-02 5.15739070e-04 9.98663512e-01 -2.64058646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031052754 meters 0.015691455827041845 Centerline is valid? [True, True] Translation: X:40.27, Y:-7.41, Z:-2.64 [[ 9.55132530e-01 2.91912070e-01 5.00918531e-02 4.02705713e+01] [-2.91481910e-01 9.56445008e-01 -1.58506458e-02 -7.40873057e+00] [-5.25370977e-02 5.38598389e-04 9.98618828e-01 -2.64322474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061052754 meters 0.015206100123486435 Centerline is valid? [True, True] Translation: X:40.30, Y:-7.42, Z:-2.65 [[ 9.54162109e-01 2.94906901e-01 5.10351776e-02 4.03012795e+01] [-2.94463837e-01 9.55525909e-01 -1.61643220e-02 -7.41865686e+00] [-5.35324046e-02 3.95369330e-04 9.98566035e-01 -2.64587327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091052754 meters 0.014577567807442944 Centerline is valid? [True, True] Translation: X:40.33, Y:-7.43, Z:-2.65 [[ 9.52309531e-01 3.00902296e-01 5.06395574e-02 4.03314769e+01] [-3.00473850e-01 9.53654971e-01 -1.60518441e-02 -7.42774384e+00] [-5.31227024e-02 7.04613161e-05 9.98587990e-01 -2.64818494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121052754000004 meters 0.014608677074015171 Centerline is valid? [True, True] Translation: X:40.36, Y:-7.44, Z:-2.65 [[ 9.50967707e-01 3.05159887e-01 5.03772148e-02 4.03627122e+01] [-3.04741166e-01 9.52301118e-01 -1.59812979e-02 -7.43593688e+00] [-5.28511291e-02 -1.54312957e-04 9.98602391e-01 -2.65190220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151052754 meters 0.015140819259152062 Centerline is valid? [True, True] Translation: X:40.39, Y:-7.44, Z:-2.66 [[ 9.47992458e-01 3.14284460e-01 5.03545273e-02 4.03945078e+01] [-3.13878132e-01 9.49328636e-01 -1.59893359e-02 -7.44217820e+00] [-5.28281945e-02 -6.47415097e-04 9.98603406e-01 -2.65636040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181052754 meters 0.015751488277476716 Centerline is valid? [True, True] Translation: X:40.43, Y:-7.45, Z:-2.66 [[ 9.46553950e-01 3.18597148e-01 5.03137908e-02 4.04251236e+01] [-3.18196848e-01 9.47889810e-01 -1.59897828e-02 -7.45153211e+00] [-5.27862289e-02 -8.74497618e-04 9.98605452e-01 -2.65852955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.211052754 meters 0.017781748637155967 Centerline is valid? [True, True] Translation: X:40.45, Y:-7.46, Z:-2.66 [[ 9.43954770e-01 3.26227662e-01 5.02484259e-02 4.04542059e+01] [-3.25838322e-01 9.45290360e-01 -1.59851016e-02 -7.45984214e+00] [-5.27141349e-02 -1.28364984e-03 9.98608818e-01 -2.66169358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241052754 meters 0.0188480861576762 Centerline is valid? [True, True] Translation: X:40.48, Y:-7.47, Z:-2.67 [[ 9.42873204e-01 3.29349956e-01 5.01869194e-02 4.04847312e+01] [-3.28965971e-01 9.44206803e-01 -1.59657138e-02 -7.46968677e+00] [-5.26451378e-02 -1.45614499e-03 9.98612222e-01 -2.66544923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.271052754 meters 0.019604812607884298 Centerline is valid? [True, True] Translation: X:40.51, Y:-7.48, Z:-2.67 [[ 9.41065739e-01 3.34692303e-01 4.87476833e-02 4.05130499e+01] [-3.34337004e-01 9.42325935e-01 -1.55112650e-02 -7.48295749e+00] [-5.11277073e-02 -1.70103436e-03 9.98690675e-01 -2.66992538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301052754000004 meters 0.02131034836257666 Centerline is valid? [True, True] Translation: X:40.54, Y:-7.50, Z:-2.68 [[ 9.40172342e-01 3.37354375e-01 4.76234433e-02 4.05416895e+01] [-3.37018523e-01 9.41376007e-01 -1.51568224e-02 -7.49563091e+00] [-4.99447873e-02 -1.79995730e-03 9.98750358e-01 -2.67577792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331052754 meters 0.020090296257987025 Centerline is valid? [True, True] Translation: X:40.57, Y:-7.51, Z:-2.68 [[ 9.40367703e-01 3.36836102e-01 4.74344176e-02 4.05703219e+01] [-3.36502062e-01 9.41561648e-01 -1.51005286e-02 -7.51137069e+00] [-4.97488316e-02 -1.76172995e-03 9.98760206e-01 -2.67724914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361052754 meters 0.019206085047684337 Centerline is valid? [True, True] Translation: X:40.60, Y:-7.53, Z:-2.68 [[ 9.42162643e-01 3.31434607e-01 4.98061781e-02 4.05963279e+01] [-3.31057950e-01 9.43476944e-01 -1.58710589e-02 -7.53098291e+00] [-5.22511989e-02 -1.53561248e-03 9.98632792e-01 -2.67701989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.391052754 meters 0.016922838404303038 Centerline is valid? [True, True] Translation: X:40.62, Y:-7.55, Z:-2.68 [[ 9.43532511e-01 3.27316247e-01 5.10928066e-02 4.06239046e+01] [-3.26913264e-01 9.44913913e-01 -1.62915879e-02 -7.54943987e+00] [-5.36108052e-02 -1.33127330e-03 9.98561019e-01 -2.67695644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421052754 meters 0.01511552115853322 Centerline is valid? [True, True] Translation: X:40.65, Y:-7.57, Z:-2.68 [[ 9.47313984e-01 3.16034172e-01 5.21403650e-02 4.06486090e+01] [-3.15597242e-01 9.48747546e-01 -1.66275144e-02 -7.57357297e+00] [-5.47229061e-02 -7.03878490e-04 9.98501331e-01 -2.67851462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451052754 meters 0.01395579611915192 Centerline is valid? [True, True] Translation: X:40.68, Y:-7.59, Z:-2.68 [[ 9.49227151e-01 3.10037406e-01 5.33349952e-02 4.06761577e+01] [-3.09570183e-01 9.50724292e-01 -1.70182849e-02 -7.59183901e+00] [-5.59831805e-02 -3.56706162e-04 9.98431648e-01 -2.68038272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481052754000004 meters 0.013825725795736536 Centerline is valid? [True, True] Translation: X:40.70, Y:-7.61, Z:-2.68 [[ 9.52696181e-01 2.98611763e-01 5.65774019e-02 4.07017364e+01] [-2.98064788e-01 9.54374608e-01 -1.80690251e-02 -7.61426745e+00] [-5.93916592e-02 3.50559873e-04 9.98234696e-01 -2.68047510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511052754000005 meters 0.013730181927348477 Centerline is valid? [True, True] Translation: X:40.73, Y:-7.63, Z:-2.68 [[ 9.53180074e-01 2.96407097e-01 5.99214476e-02 4.07325955e+01] [-2.95788152e-01 9.55061543e-01 -1.91525175e-02 -7.62550770e+00] [-6.29056123e-02 5.31743841e-04 9.98019339e-01 -2.67990940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541052754 meters 0.013928169019895634 Centerline is valid? [True, True] Translation: X:40.76, Y:-7.64, Z:-2.68 [[ 9.53765191e-01 2.93773116e-01 6.34768943e-02 4.07625610e+01] [-2.93071245e-01 9.55874870e-01 -2.03095492e-02 -7.63765016e+00] [-6.66423677e-02 7.67288656e-04 9.97776631e-01 -2.67946186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571052754 meters 0.01519949653677347 Centerline is valid? [True, True] Translation: X:40.79, Y:-7.65, Z:-2.68 [[ 9.55891850e-01 2.85336903e-01 6.96679542e-02 4.07905763e+01] [-2.84467370e-01 9.58426095e-01 -2.23100058e-02 -7.65095376e+00] [-7.31374532e-02 1.50769295e-03 9.97320731e-01 -2.67663381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601052754 meters 0.017480266487928307 Centerline is valid? [True, True] Translation: X:40.82, Y:-7.67, Z:-2.68 [[ 9.59459341e-01 2.72190818e-01 7.31432345e-02 4.08191829e+01] [-2.71192856e-01 9.62239643e-01 -2.34372516e-02 -7.66527239e+00] [-7.67607245e-02 2.65116735e-03 9.97046018e-01 -2.67606467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631052754 meters 0.020906422119010053 Centerline is valid? [True, True] Translation: X:40.85, Y:-7.68, Z:-2.68 [[ 9.61248064e-01 2.65772354e-01 7.32612770e-02 4.08459501e+01] [-2.64751315e-01 9.64030556e-01 -2.34910144e-02 -7.68019224e+00] [-7.68693718e-02 3.18467275e-03 9.97036086e-01 -2.67686113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661052754 meters 0.021700320818780528 Centerline is valid? [True, True] Translation: X:40.88, Y:-7.69, Z:-2.68 [[ 9.64224285e-01 2.55002241e-01 7.24250371e-02 4.08758083e+01] [-2.53973499e-01 9.66932167e-01 -2.32302839e-02 -7.68777776e+00] [-7.59538725e-02 4.00516375e-03 9.97103288e-01 -2.68326194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.691052754000005 meters 0.023622314488616653 Centerline is valid? [True, True] Translation: X:40.91, Y:-7.70, Z:-2.69 [[ 9.65730350e-01 2.49550231e-01 7.13412465e-02 4.09057736e+01] [-2.48536810e-01 9.68351979e-01 -2.28888495e-02 -7.69664439e+00] [-7.47953549e-02 4.37353079e-03 9.97189314e-01 -2.68767407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721052754 meters 0.025964607019347056 Centerline is valid? [True, True] Translation: X:40.94, Y:-7.70, Z:-2.70 [[ 9.68009183e-01 2.41381835e-01 6.85057014e-02 4.09368407e+01] [-2.40426429e-01 9.70418275e-01 -2.19887145e-02 -7.70265069e+00] [-7.17868608e-02 4.81469635e-03 9.97408374e-01 -2.69506630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751052754 meters 0.0288282053904204 Centerline is valid? [True, True] Translation: X:40.97, Y:-7.71, Z:-2.70 [[ 9.68871311e-01 2.38372122e-01 6.68364790e-02 4.09653510e+01] [-2.37455372e-01 9.71161439e-01 -2.14570732e-02 -7.71250958e+00] [-7.00237792e-02 4.91846166e-03 9.97533197e-01 -2.69868269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781052754 meters 0.029029553146435322 Centerline is valid? [True, True] Translation: X:41.00, Y:-7.72, Z:-2.70 [[ 9.69674158e-01 2.35620361e-01 6.49235915e-02 4.09968025e+01] [-2.34748818e-01 9.71832432e-01 -2.08498320e-02 -7.71571250e+00] [-6.80074968e-02 4.97680695e-03 9.97672397e-01 -2.70493471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.811052754 meters 0.02847025080776057 Centerline is valid? [True, True] Translation: X:41.03, Y:-7.72, Z:-2.71 [[ 9.69663209e-01 2.35828639e-01 6.43281735e-02 4.10290049e+01] [-2.34973161e-01 9.71782195e-01 -2.06634725e-02 -7.72181213e+00] [-6.73860122e-02 4.92121481e-03 9.97714843e-01 -2.70802403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841052754 meters 0.026498243463703382 Centerline is valid? [True, True] Translation: X:41.06, Y:-7.72, Z:-2.71 [[ 9.69048544e-01 2.38133838e-01 6.50937394e-02 4.10619051e+01] [-2.37261717e-01 9.71220308e-01 -2.09282591e-02 -7.72168346e+00] [-6.82040883e-02 4.83624666e-03 9.97659668e-01 -2.71042876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871052754000004 meters 0.029286992220871506 Centerline is valid? [True, True] Translation: X:41.09, Y:-7.73, Z:-2.71 [[ 9.68466472e-01 2.40112092e-01 6.64746293e-02 4.10910383e+01] [-2.39206906e-01 9.70733300e-01 -2.13755978e-02 -7.73122166e+00] [-6.96616757e-02 4.80035932e-03 9.97559125e-01 -2.71144630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901052754 meters 0.026944228834759557 Centerline is valid? [True, True] Translation: X:41.12, Y:-7.73, Z:-2.71 [[ 9.67023676e-01 2.44952351e-01 6.97391932e-02 4.11239362e+01] [-2.43968114e-01 9.69523844e-01 -2.24293257e-02 -7.73017954e+00] [-7.31079268e-02 4.67554954e-03 9.97313075e-01 -2.71286782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931052754 meters 0.024873738822049907 Centerline is valid? [True, True] Translation: X:41.16, Y:-7.73, Z:-2.71 [[ 9.66265252e-01 2.47713567e-01 7.04943327e-02 4.11558788e+01] [-2.46714293e-01 9.68822738e-01 -2.26839224e-02 -7.73412351e+00] [-7.39156278e-02 4.52672658e-03 9.97254225e-01 -2.71494254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961052754 meters 0.02272072057272368 Centerline is valid? [True, True] Translation: X:41.19, Y:-7.74, Z:-2.72 [[ 9.64409949e-01 2.54758530e-01 7.07922471e-02 4.11878775e+01] [-2.53769278e-01 9.66996392e-01 -2.27844567e-02 -7.73763772e+00] [-7.42603823e-02 4.00865928e-03 9.97230829e-01 -2.71571224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.991052754 meters 0.02246788270673175 Centerline is valid? [True, True] Translation: X:41.22, Y:-7.74, Z:-2.72 [[ 9.63414339e-01 2.58543382e-01 7.06267034e-02 4.12173371e+01] [-2.57568590e-01 9.65992516e-01 -2.27350077e-02 -7.74395474e+00] [-7.41028527e-02 3.71201195e-03 9.97243695e-01 -2.71781605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021052754 meters 0.020766279405829403 Centerline is valid? [True, True] Translation: X:41.25, Y:-7.74, Z:-2.72 [[ 9.61993980e-01 2.63554695e-01 7.14598140e-02 4.12499585e+01] [-2.62569963e-01 9.64638559e-01 -2.30100919e-02 -7.74277542e+00] [-7.49973098e-02 3.37236915e-03 9.97178034e-01 -2.72221604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.051052754000004 meters 0.020807698676511336 Centerline is valid? [True, True] Translation: X:41.28, Y:-7.75, Z:-2.73 [[ 9.61483907e-01 2.65147596e-01 7.24254767e-02 4.12813441e+01] [-2.64140040e-01 9.64202195e-01 -2.33273797e-02 -7.74868237e+00] [-7.60180023e-02 3.29843188e-03 9.97100990e-01 -2.72508652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081052754 meters 0.02069172900570464 Centerline is valid? [True, True] Translation: X:41.31, Y:-7.76, Z:-2.73 [[ 9.61373938e-01 2.65422812e-01 7.28758067e-02 4.13133651e+01] [-2.64401943e-01 9.64126410e-01 -2.34920953e-02 -7.75511100e+00] [-7.64968279e-02 3.31618328e-03 9.97064310e-01 -2.72819498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.111052754 meters 0.01999971052228229 Centerline is valid? [True, True] Translation: X:41.34, Y:-7.76, Z:-2.73 [[ 9.62318248e-01 2.61829922e-01 7.34076427e-02 4.13449955e+01] [-2.60782162e-01 9.65107140e-01 -2.36827464e-02 -7.75965583e+00] [-7.70470918e-02 3.64693530e-03 9.97020785e-01 -2.73044777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141052754 meters 0.022939376036492848 Centerline is valid? [True, True] Translation: X:41.37, Y:-7.77, Z:-2.73 [[ 9.64232903e-01 2.54393071e-01 7.44249565e-02 4.13740850e+01] [-2.53293471e-01 9.67091321e-01 -2.40165655e-02 -7.76940067e+00] [-7.80853773e-02 4.30620709e-03 9.96937375e-01 -2.73044569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.171052754 meters 0.02444699428949949 Centerline is valid? [True, True] Translation: X:41.40, Y:-7.78, Z:-2.73 [[ 9.65328440e-01 2.50058492e-01 7.49116317e-02 4.14040050e+01] [-2.48930525e-01 9.68219330e-01 -2.41851684e-02 -7.77791771e+00] [-7.85785966e-02 4.69883904e-03 9.96896848e-01 -2.73263425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201052754 meters 0.024673788576644512 Centerline is valid? [True, True] Translation: X:41.43, Y:-7.78, Z:-2.74 [[ 9.66432674e-01 2.45644202e-01 7.52782395e-02 4.14349223e+01] [-2.44491479e-01 9.69346713e-01 -2.43077707e-02 -7.78375177e+00] [-7.89417769e-02 5.08693572e-03 9.96866249e-01 -2.73567525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231052754000004 meters 0.02963755606284596 Centerline is valid? [True, True] Translation: X:41.46, Y:-7.79, Z:-2.74 [[ 9.68396730e-01 2.38077754e-01 7.43421531e-02 4.14641028e+01] [-2.36931189e-01 9.71229749e-01 -2.40080277e-02 -7.79035420e+00] [-7.79190881e-02 5.63532074e-03 9.96943759e-01 -2.73965359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261052754 meters 0.028559944095562097 Centerline is valid? [True, True] Translation: X:41.50, Y:-7.79, Z:-2.74 [[ 9.69585732e-01 2.33484253e-01 7.34071662e-02 4.14968620e+01] [-2.32353211e-01 9.72342500e-01 -2.37075563e-02 -7.79032114e+00] [-7.69122486e-02 5.93011763e-03 9.97020230e-01 -2.74497569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291052754 meters 0.0286744478558741 Centerline is valid? [True, True] Translation: X:41.53, Y:-7.80, Z:-2.75 [[ 9.69890975e-01 2.32067866e-01 7.38647542e-02 4.15279735e+01] [-2.30918352e-01 9.72680575e-01 -2.38581961e-02 -7.79685228e+00] [-7.73835323e-02 6.08312178e-03 9.96982841e-01 -2.74670523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321052754 meters 0.027588834445078026 Centerline is valid? [True, True] Translation: X:41.56, Y:-7.80, Z:-2.75 [[ 9.69688284e-01 2.32644135e-01 7.47083593e-02 4.15620610e+01] [-2.31469355e-01 9.72542720e-01 -2.41370350e-02 -7.79674153e+00] [-7.82724105e-02 6.11270433e-03 9.96913268e-01 -2.74800781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351052754 meters 0.02855492223660998 Centerline is valid? [True, True] Translation: X:41.59, Y:-7.80, Z:-2.75 [[ 9.69481550e-01 2.33661567e-01 7.42145235e-02 4.15922305e+01] [-2.32503959e-01 9.72299435e-01 -2.39941090e-02 -7.80094493e+00] [-7.77652404e-02 6.00667544e-03 9.96953603e-01 -2.75065000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381052754 meters 0.027882478245953253 Centerline is valid? [True, True] Translation: X:41.63, Y:-7.80, Z:-2.75 [[ 9.69285546e-01 2.34620913e-01 7.37465683e-02 4.16257502e+01] [-2.33480458e-01 9.72069073e-01 -2.38451904e-02 -7.80258460e+00] [-7.72813386e-02 5.89441593e-03 9.96991901e-01 -2.75463983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411052754 meters 0.028898413354139844 Centerline is valid? [True, True] Translation: X:41.66, Y:-7.80, Z:-2.76 [[ 9.68836173e-01 2.36521590e-01 7.35799350e-02 4.16583983e+01] [-2.35391259e-01 9.71609304e-01 -2.37973924e-02 -7.79983311e+00] [-7.71195465e-02 5.73570107e-03 9.97005355e-01 -2.75756531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441052754000005 meters 0.0282140357100403 Centerline is valid? [True, True] Translation: X:41.69, Y:-7.80, Z:-2.76 [[ 9.68508504e-01 2.37825465e-01 7.36907423e-02 4.16904857e+01] [-2.36695117e-01 9.71291503e-01 -2.38377177e-02 -7.80360491e+00] [-7.72444082e-02 5.64479345e-03 9.96996207e-01 -2.75912512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471052754 meters 0.029322500353959554 Centerline is valid? [True, True] Translation: X:41.72, Y:-7.80, Z:-2.76 [[ 9.67959899e-01 2.39797794e-01 7.45026936e-02 4.17220976e+01] [-2.38646841e-01 9.70806909e-01 -2.41170171e-02 -7.80388819e+00] [-7.81109372e-02 5.56447294e-03 9.96929144e-01 -2.75979187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501052754 meters 0.026928570864086288 Centerline is valid? [True, True] Translation: X:41.76, Y:-7.80, Z:-2.76 [[ 9.67348529e-01 2.42061903e-01 7.51189569e-02 4.17563676e+01] [-2.40898432e-01 9.70245624e-01 -2.43182110e-02 -7.79860222e+00] [-7.87703516e-02 5.42814675e-03 9.96878010e-01 -2.76245068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531052754 meters 0.027282130046989272 Centerline is valid? [True, True] Translation: X:41.79, Y:-7.80, Z:-2.76 [[ 9.66911631e-01 2.43557074e-01 7.59068451e-02 4.17887110e+01] [-2.42373091e-01 9.69871709e-01 -2.45795234e-02 -7.80238351e+00] [-7.96064184e-02 5.36845038e-03 9.96811917e-01 -2.76491726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561052754 meters 0.028870420126488903 Centerline is valid? [True, True] Translation: X:41.82, Y:-7.80, Z:-2.77 [[ 9.66249386e-01 2.46044217e-01 7.63175474e-02 4.18209067e+01] [-2.44853721e-01 9.69244613e-01 -2.47292266e-02 -7.80092645e+00] [-8.00548549e-02 5.20796451e-03 9.96776854e-01 -2.76839786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591052754 meters 0.02475236594750796 Centerline is valid? [True, True] Translation: X:41.85, Y:-7.80, Z:-2.77 [[ 9.66011123e-01 2.47211783e-01 7.55568952e-02 4.18547542e+01] [-2.46048050e-01 9.68948232e-01 -2.44883970e-02 -7.79965178e+00] [-7.92645403e-02 5.06543714e-03 9.96840747e-01 -2.77277686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621052754000004 meters 0.024958637553776798 Centerline is valid? [True, True] Translation: X:41.89, Y:-7.80, Z:-2.78 [[ 9.66044428e-01 2.47495136e-01 7.41911151e-02 4.18880068e+01] [-2.46372469e-01 9.68876391e-01 -2.40654629e-02 -7.80069007e+00] [-7.78381048e-02 4.96965816e-03 9.96953626e-01 -2.77503389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.651052754 meters 0.026574773749791825 Centerline is valid? [True, True] Translation: X:41.92, Y:-7.81, Z:-2.78 [[ 9.66162732e-01 2.47305388e-01 7.32776891e-02 4.19187257e+01] [-2.46208217e-01 9.68924983e-01 -2.37884840e-02 -7.80717697e+00] [-7.68836039e-02 4.94197749e-03 9.97027827e-01 -2.77677611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.681052754 meters 0.02568412869208261 Centerline is valid? [True, True] Translation: X:41.95, Y:-7.80, Z:-2.78 [[ 9.66285534e-01 2.47059982e-01 7.24819409e-02 4.19531253e+01] [-2.45984490e-01 9.68987673e-01 -2.35482467e-02 -7.80362317e+00] [-7.60519366e-02 4.92489686e-03 9.97091695e-01 -2.77929502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.711052754 meters 0.0261456986363643 Centerline is valid? [True, True] Translation: X:41.99, Y:-7.81, Z:-2.78 [[ 9.66247293e-01 2.47323394e-01 7.20923585e-02 4.19857925e+01] [-2.46258692e-01 9.68920616e-01 -2.34413357e-02 -7.80839055e+00] [-7.56493632e-02 4.89675723e-03 9.97122458e-01 -2.78176515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741052754 meters 0.02697426543378122 Centerline is valid? [True, True] Translation: X:42.02, Y:-7.81, Z:-2.78 [[ 9.66113518e-01 2.47625818e-01 7.28431536e-02 4.20193231e+01] [-2.46538018e-01 9.68843127e-01 -2.37065527e-02 -7.80830887e+00] [-7.64439432e-02 4.94461429e-03 9.97061620e-01 -2.78324343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.771052754 meters 0.02472754928222576 Centerline is valid? [True, True] Translation: X:42.05, Y:-7.81, Z:-2.79 [[ 9.65758368e-01 2.48785372e-01 7.35976496e-02 4.20521092e+01] [-2.47677051e-01 9.68546153e-01 -2.39672030e-02 -7.81002248e+00] [-7.72454099e-02 4.91807801e-03 9.96999980e-01 -2.78559428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801052754000004 meters 0.025209984155445158 Centerline is valid? [True, True] Translation: X:42.08, Y:-7.81, Z:-2.79 [[ 9.65015469e-01 2.51486587e-01 7.41595714e-02 4.20835198e+01] [-2.50367842e-01 9.67849105e-01 -2.41671835e-02 -7.81171297e+00] [-7.78529974e-02 4.75453403e-03 9.96953512e-01 -2.78605203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831052754 meters 0.02382818961448562 Centerline is valid? [True, True] Translation: X:42.12, Y:-7.82, Z:-2.79 [[ 9.64472812e-01 2.53606767e-01 7.39986620e-02 4.21157077e+01] [-2.52498908e-01 9.67296579e-01 -2.41169984e-02 -7.81526700e+00] [-7.76948866e-02 4.57560785e-03 9.96966684e-01 -2.78789962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861052754 meters 0.023741600247616387 Centerline is valid? [True, True] Translation: X:42.15, Y:-7.81, Z:-2.79 [[ 9.63051258e-01 2.59492414e-01 7.20830179e-02 4.21478525e+01] [-2.58457367e-01 9.65736871e-01 -2.34965159e-02 -7.81378970e+00] [-7.57103958e-02 3.99796222e-03 9.97121834e-01 -2.78969048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891052754 meters 0.023741600247616387 Centerline is valid? [True, True] Translation: X:42.18, Y:-7.82, Z:-2.79 [[ 9.62980383e-01 2.59755760e-01 7.20813930e-02 4.21786631e+01] [-2.58721075e-01 9.65666135e-01 -2.35014989e-02 -7.82389115e+00] [-7.57112099e-02 3.98250693e-03 9.97121834e-01 -2.79178106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921052754 meters 0.02190944606324254 Centerline is valid? [True, True] Translation: X:42.21, Y:-7.83, Z:-2.80 [[ 9.62099242e-01 2.63279870e-01 7.10546147e-02 4.22109470e+01] [-2.62282686e-01 9.64712517e-01 -2.31851697e-02 -7.82500705e+00] [-7.46514647e-02 3.67003900e-03 9.97202933e-01 -2.79572730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951052754 meters 0.020855519527650378 Centerline is valid? [True, True] Translation: X:42.24, Y:-7.82, Z:-2.80 [[ 9.60191758e-01 2.70788051e-01 6.85975146e-02 4.22429551e+01] [-2.69877713e-01 9.62634379e-01 -2.23846520e-02 -7.82330936e+00] [-7.20958221e-02 2.98061797e-03 9.97393257e-01 -2.80059262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981052754000004 meters 0.018877157284170016 Centerline is valid? [True, True] Translation: X:42.28, Y:-7.83, Z:-2.80 [[ 9.59226144e-01 2.74264125e-01 6.82963757e-02 4.22750571e+01] [-2.73370460e-01 9.61650588e-01 -2.22876418e-02 -7.82726429e+00] [-7.17899504e-02 2.70867706e-03 9.97416095e-01 -2.80292573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011052754 meters 0.01764697316808962 Centerline is valid? [True, True] Translation: X:42.31, Y:-7.83, Z:-2.80 [[ 9.57372375e-01 2.80617004e-01 6.84998743e-02 4.23058376e+01] [-2.79733928e-01 9.59817205e-01 -2.23576048e-02 -7.82967713e+00] [-7.20212820e-02 2.24281431e-03 9.97400574e-01 -2.80261513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041052754 meters 0.016896395848128822 Centerline is valid? [True, True] Translation: X:42.34, Y:-7.84, Z:-2.80 [[ 9.56461094e-01 2.83397996e-01 6.97692693e-02 4.23383173e+01] [-2.82489151e-01 9.59000147e-01 -2.27727490e-02 -7.83544173e+00] [-7.33624909e-02 2.07218678e-03 9.97303189e-01 -2.80382400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071052754 meters 0.016573190464620812 Centerline is valid? [True, True] Translation: X:42.37, Y:-7.84, Z:-2.80 [[ 9.55280934e-01 2.87325238e-01 6.98752108e-02 4.23692107e+01] [-2.86423651e-01 9.57831427e-01 -2.28133752e-02 -7.83802806e+00] [-7.34835313e-02 1.77926932e-03 9.97294843e-01 -2.80474160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101052754 meters 0.015713577388340498 Centerline is valid? [True, True] Translation: X:42.40, Y:-7.84, Z:-2.81 [[ 9.54662875e-01 2.89646085e-01 6.87309255e-02 4.24013259e+01] [-2.88779665e-01 9.57132520e-01 -2.24420401e-02 -7.84433396e+00] [-7.22848530e-02 1.57648890e-03 9.97382782e-01 -2.80816394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131052754 meters 0.01548360536269265 Centerline is valid? [True, True] Translation: X:42.43, Y:-7.85, Z:-2.81 [[ 9.53945110e-01 2.92230629e-01 6.77494414e-02 4.24323437e+01] [-2.91394572e-01 9.56346893e-01 -2.21319428e-02 -7.85001382e+00] [-7.12595993e-02 1.37083910e-03 9.97456861e-01 -2.81111596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161052754 meters 0.015362599906284455 Centerline is valid? [True, True] Translation: X:42.46, Y:-7.86, Z:-2.81 [[ 9.53629776e-01 2.93221292e-01 6.79082054e-02 4.24631163e+01] [-2.92382605e-01 9.56043692e-01 -2.22006860e-02 -7.85923995e+00] [-7.14329253e-02 1.31605724e-03 9.97444537e-01 -2.81319517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191052754000005 meters 0.015915116875104628 Centerline is valid? [True, True] Translation: X:42.49, Y:-7.87, Z:-2.81 [[ 9.53911582e-01 2.92353510e-01 6.76913454e-02 4.24927394e+01] [-2.91516729e-01 9.56309303e-01 -2.21475445e-02 -7.86932269e+00] [-7.12087757e-02 1.39363961e-03 9.97460459e-01 -2.81470308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221052754 meters 0.016167983397744834 Centerline is valid? [True, True] Translation: X:42.52, Y:-7.88, Z:-2.82 [[ 9.54199492e-01 2.91505310e-01 6.72903022e-02 4.25235895e+01] [-2.90675154e-01 9.56568090e-01 -2.20327965e-02 -7.87927562e+00] [-7.07904330e-02 1.46406427e-03 9.97490136e-01 -2.81692995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251052754 meters 0.01626265231650844 Centerline is valid? [True, True] Translation: X:42.56, Y:-7.89, Z:-2.82 [[ 9.54323669e-01 2.91212457e-01 6.67955122e-02 4.25554385e+01] [-2.90392525e-01 9.56657243e-01 -2.18883941e-02 -7.88840236e+00] [-7.02745836e-02 1.49169514e-03 9.97526570e-01 -2.81960221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281052754 meters 0.01577494043964872 Centerline is valid? [True, True] Translation: X:42.59, Y:-7.90, Z:-2.82 [[ 9.54302000e-01 2.91527161e-01 6.57237216e-02 4.25866988e+01] [-2.90732758e-01 9.56561431e-01 -2.15566962e-02 -7.89803699e+00] [-6.91531397e-02 1.46355944e-03 9.97604983e-01 -2.82243270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311052754 meters 0.016470939916070324 Centerline is valid? [True, True] Translation: X:42.62, Y:-7.91, Z:-2.82 [[ 9.54174347e-01 2.91951335e-01 6.56942446e-02 4.26158083e+01] [-2.91157244e-01 9.56432073e-01 -2.15673055e-02 -7.91065606e+00] [-6.91286863e-02 1.45161446e-03 9.97606695e-01 -2.82331469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341052754 meters 0.015714547777977185 Centerline is valid? [True, True] Translation: X:42.65, Y:-7.92, Z:-2.83 [[ 9.53965522e-01 2.92558562e-01 6.60247697e-02 4.26472230e+01] [-2.91756558e-01 9.56246534e-01 -2.16950977e-02 -7.91988882e+00] [-6.94830438e-02 1.43321568e-03 9.97582103e-01 -2.82535071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371052754000004 meters 0.01579103960436546 Centerline is valid? [True, True] Translation: X:42.68, Y:-7.93, Z:-2.83 [[ 9.53530359e-01 2.94080950e-01 6.55457741e-02 4.26768346e+01] [-2.93292796e-01 9.55779589e-01 -2.15572129e-02 -7.92985796e+00] [-6.89868787e-02 1.33135365e-03 9.97616679e-01 -2.82732328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401052754 meters 0.01527505735802445 Centerline is valid? [True, True] Translation: X:42.71, Y:-7.94, Z:-2.83 [[ 9.53155504e-01 2.95603471e-01 6.41340266e-02 4.27077843e+01] [-2.94851705e-01 9.55309969e-01 -2.11029597e-02 -7.93868608e+00] [-6.75059831e-02 1.20437517e-03 9.97718142e-01 -2.83071069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431052754 meters 0.014839281305421337 Centerline is valid? [True, True] Translation: X:42.74, Y:-7.95, Z:-2.83 [[ 9.51904212e-01 3.00336642e-01 6.06322719e-02 4.27377935e+01] [-2.99673389e-01 9.53832901e-01 -1.99664241e-02 -7.94931038e+00] [-6.38297046e-02 8.36244867e-04 9.97960455e-01 -2.83477640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461052754 meters 0.014623449567105658 Centerline is valid? [True, True] Translation: X:42.77, Y:-7.96, Z:-2.84 [[ 9.51089489e-01 3.03103719e-01 5.96399150e-02 4.27673383e+01] [-3.02466447e-01 9.52957348e-01 -1.96555826e-02 -7.96029136e+00] [-6.27919754e-02 6.55144858e-04 9.98026422e-01 -2.83700618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491052754 meters 0.01442645569441452 Centerline is valid? [True, True] Translation: X:42.80, Y:-7.97, Z:-2.84 [[ 9.49534166e-01 3.08352039e-01 5.74794501e-02 4.27962431e+01] [-3.07768825e-01 9.51272265e-01 -1.89585741e-02 -7.97276489e+00] [-6.05245217e-02 3.11431012e-04 9.98166662e-01 -2.83944291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521052754 meters 0.014223521796363443 Centerline is valid? [True, True] Translation: X:42.83, Y:-7.98, Z:-2.84 [[ 9.48217144e-01 3.12431292e-01 5.71920963e-02 4.28268407e+01] [-3.11860459e-01 9.49940358e-01 -1.88777697e-02 -7.98329090e+00] [-6.02270864e-02 6.42714292e-05 9.98184699e-01 -2.84160434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551052754000004 meters 0.014363747149901105 Centerline is valid? [True, True] Translation: X:42.86, Y:-7.99, Z:-2.84 [[ 9.47772904e-01 3.13826224e-01 5.69176987e-02 4.28563228e+01] [-3.13262455e-01 9.49480438e-01 -1.88024701e-02 -7.99423707e+00] [-5.99429497e-02 -9.70631027e-06 9.98201805e-01 -2.84405032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581052754 meters 0.014462829719951536 Centerline is valid? [True, True] Translation: X:42.89, Y:-8.01, Z:-2.85 [[ 9.47546053e-01 3.14450989e-01 5.72455484e-02 4.28860492e+01] [-3.13880811e-01 9.49273709e-01 -1.89278131e-02 -8.00684437e+00] [-6.02935636e-02 -3.33046080e-05 9.98180688e-01 -2.84574489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611052754 meters 0.014461991011793076 Centerline is valid? [True, True] Translation: X:42.91, Y:-8.03, Z:-2.84 [[ 9.48021960e-01 3.12671401e-01 5.90843289e-02 4.29147584e+01] [-3.12059821e-01 9.49861351e-01 -1.95469112e-02 -8.02577521e+00] [-6.22336806e-02 9.30559159e-05 9.98061601e-01 -2.84334146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641052754 meters 0.015122968437749629 Centerline is valid? [True, True] Translation: X:42.94, Y:-8.05, Z:-2.84 [[ 9.49481487e-01 3.08114447e-01 5.95851827e-02 4.29413994e+01] [-3.07482261e-01 9.51349209e-01 -1.97317623e-02 -8.04575493e+00] [-6.27659574e-02 4.13556295e-04 9.98028188e-01 -2.84139766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671052754 meters 0.015421064245540711 Centerline is valid? [True, True] Translation: X:42.97, Y:-8.06, Z:-2.84 [[ 9.50491611e-01 3.05149875e-01 5.87303218e-02 4.29707555e+01] [-3.04529144e-01 9.52304141e-01 -1.94634116e-02 -8.05946393e+00] [-6.18683862e-02 6.14714809e-04 9.98084127e-01 -2.84364299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701052754 meters 0.016325053944098063 Centerline is valid? [True, True] Translation: X:43.00, Y:-8.08, Z:-2.85 [[ 9.52051299e-01 3.00108360e-01 5.94415450e-02 4.29995140e+01] [-2.99461651e-01 9.53904624e-01 -1.97151449e-02 -8.07550097e+00] [-6.26182444e-02 9.69366074e-04 9.98037081e-01 -2.84534792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731052754000004 meters 0.016965108228967143 Centerline is valid? [True, True] Translation: X:43.03, Y:-8.09, Z:-2.85 [[ 9.52534440e-01 2.98435242e-01 6.01211062e-02 4.30277295e+01] [-2.97769302e-01 9.54429243e-01 -1.99565129e-02 -8.08869226e+00] [-6.33370687e-02 1.10704603e-03 9.97991578e-01 -2.84685578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761052754 meters 0.017136815956726024 Centerline is valid? [True, True] Translation: X:43.06, Y:-8.10, Z:-2.85 [[ 9.53045098e-01 2.96970713e-01 5.92742532e-02 4.30576214e+01] [-2.96319702e-01 9.54885833e-01 -1.96896124e-02 -8.10146898e+00] [-6.24473828e-02 1.20095954e-03 9.98047535e-01 -2.84849114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.791052754 meters 0.01698251614270511 Centerline is valid? [True, True] Translation: X:43.09, Y:-8.12, Z:-2.85 [[ 9.53290314e-01 2.96530026e-01 5.75110452e-02 4.30864998e+01] [-2.95915510e-01 9.55022767e-01 -1.91187040e-02 -8.11711690e+00] [-6.05936273e-02 1.20726507e-03 9.98161788e-01 -2.85021873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821052754 meters 0.016702477971534707 Centerline is valid? [True, True] Translation: X:43.12, Y:-8.13, Z:-2.85 [[ 9.52177377e-01 3.00218040e-01 5.68099562e-02 4.31162936e+01] [-2.99624066e-01 9.53870105e-01 -1.89008403e-02 -8.12983599e+00] [-5.98636922e-02 9.75322527e-04 9.98206084e-01 -2.85002106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.851052754 meters 0.016220713600867825 Centerline is valid? [True, True] Translation: X:43.15, Y:-8.14, Z:-2.85 [[ 9.51106062e-01 3.03654810e-01 5.64890655e-02 4.31472418e+01] [-3.03072680e-01 9.52781803e-01 -1.88092068e-02 -8.13888810e+00] [-5.95332598e-02 7.69258119e-04 9.98226026e-01 -2.85171125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.881052754 meters 0.01609310098000318 Centerline is valid? [True, True] Translation: X:43.18, Y:-8.15, Z:-2.85 [[ 9.49812909e-01 3.07766366e-01 5.59937666e-02 4.31771532e+01] [-3.07200637e-01 9.51461818e-01 -1.86595040e-02 -8.14785169e+00] [-5.90186987e-02 5.21716968e-04 9.98256741e-01 -2.85399236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.911052754 meters 0.01590815450419951 Centerline is valid? [True, True] Translation: X:43.21, Y:-8.16, Z:-2.86 [[ 9.48053361e-01 3.13579026e-01 5.35071872e-02 4.32074402e+01] [-3.13070986e-01 9.49562092e-01 -1.78435041e-02 -8.15845387e+00] [-5.64037453e-02 1.65046240e-04 9.98408028e-01 -2.85747347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941052754000005 meters 0.015870298594088433 Centerline is valid? [True, True] Translation: X:43.24, Y:-8.17, Z:-2.86 [[ 9.47334074e-01 3.15969144e-01 5.21694601e-02 4.32375084e+01] [-3.15489086e-01 9.48769466e-01 -1.74108596e-02 -8.17056845e+00] [-5.49980852e-02 3.50052661e-05 9.98486459e-01 -2.86004635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.971052754 meters 0.016054533482893634 Centerline is valid? [True, True] Translation: X:43.27, Y:-8.18, Z:-2.86 [[ 9.46433230e-01 3.18977626e-01 5.01738566e-02 4.32652209e+01] [-3.18537076e-01 9.47762238e-01 -1.67592380e-02 -8.18497675e+00] [-5.28987086e-02 -1.20733825e-04 9.98599876e-01 -2.86337942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.001052754 meters 0.01614278363108985 Centerline is valid? [True, True] Translation: X:43.30, Y:-8.20, Z:-2.86 [[ 9.46176598e-01 3.19621591e-01 5.09105396e-02 4.32955616e+01] [-3.19168263e-01 9.47545258e-01 -1.70177309e-02 -8.19903133e+00] [-5.36792746e-02 -1.47249747e-04 9.98558218e-01 -2.86487686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031052754 meters 0.01613881253510229 Centerline is valid? [True, True] Translation: X:43.32, Y:-8.22, Z:-2.86 [[ 9.45706507e-01 3.20769379e-01 5.24042693e-02 4.33232974e+01] [-3.20289866e-01 9.47157307e-01 -1.75338954e-02 -8.21742226e+00] [-5.52594234e-02 -2.02637406e-04 9.98472010e-01 -2.86274635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061052754 meters 0.016190591105148075 Centerline is valid? [True, True] Translation: X:43.35, Y:-8.23, Z:-2.86 [[ 9.45290732e-01 3.22052637e-01 5.20339400e-02 4.33531021e+01] [-3.21581076e-01 9.46721728e-01 -1.74236042e-02 -8.23155182e+00] [-5.48729793e-02 -2.62758863e-04 9.98493309e-01 -2.86452274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091052754 meters 0.01657064004132181 Centerline is valid? [True, True] Translation: X:43.38, Y:-8.25, Z:-2.87 [[ 9.43980193e-01 3.26059297e-01 5.08599114e-02 4.33812316e+01] [-3.25613686e-01 9.45349203e-01 -1.70473542e-02 -8.24686693e+00] [-5.36388250e-02 -4.68318546e-04 9.98560292e-01 -2.86748505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121052754000004 meters 0.016943044293385584 Centerline is valid? [True, True] Translation: X:43.41, Y:-8.26, Z:-2.87 [[ 9.43399978e-01 3.27857327e-01 5.00605056e-02 4.34100460e+01] [-3.27427837e-01 9.44727084e-01 -1.67853434e-02 -8.25904225e+00] [-5.27967133e-02 -5.55910466e-04 9.98605126e-01 -2.87067919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151052754 meters 0.01705949271578106 Centerline is valid? [True, True] Translation: X:43.44, Y:-8.28, Z:-2.87 [[ 9.42918283e-01 3.29364294e-01 4.92369058e-02 4.34379157e+01] [-3.28950267e-01 9.44202721e-01 -1.65209855e-02 -8.27579775e+00] [-5.19310432e-02 -6.18553994e-04 9.98650481e-01 -2.87289755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.181052754 meters 0.01701852242367619 Centerline is valid? [True, True] Translation: X:43.47, Y:-8.29, Z:-2.88 [[ 9.43517365e-01 3.27758849e-01 4.84676998e-02 4.34668329e+01] [-3.27354899e-01 9.44761280e-01 -1.62755480e-02 -8.29041369e+00] [-5.11248610e-02 -5.09876802e-04 9.98692139e-01 -2.87547794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.211052754 meters 0.01674137527471796 Centerline is valid? [True, True] Translation: X:43.49, Y:-8.31, Z:-2.88 [[ 9.45894828e-01 3.20693888e-01 4.93802104e-02 4.34933852e+01] [-3.20264157e-01 9.47182885e-01 -1.65967812e-02 -8.31372875e+00] [-5.20945764e-02 -1.15901971e-04 9.98642149e-01 -2.87617907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.241052754 meters 0.0170850840019027 Centerline is valid? [True, True] Translation: X:43.52, Y:-8.34, Z:-2.88 [[ 9.49054621e-01 3.11075653e-01 5.02719026e-02 4.35187024e+01] [-3.10616330e-01 9.50385057e-01 -1.69038412e-02 -8.33820746e+00] [-5.30360384e-02 4.27394740e-04 9.98592507e-01 -2.87523716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.271052754 meters 0.017875890803173054 Centerline is valid? [True, True] Translation: X:43.55, Y:-8.35, Z:-2.88 [[ 9.50370202e-01 3.06850373e-01 5.13743941e-02 4.35472523e+01] [-3.06364142e-01 9.51757522e-01 -1.72809783e-02 -8.35496303e+00] [-5.41986406e-02 6.84054653e-04 9.98529939e-01 -2.87673612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301052754000004 meters 0.019368141563758438 Centerline is valid? [True, True] Translation: X:43.57, Y:-8.38, Z:-2.88 [[ 9.52451555e-01 3.00359027e-01 5.11907277e-02 4.35726229e+01] [-2.99866140e-01 9.53825626e-01 -1.72329134e-02 -8.37543994e+00] [-5.40030890e-02 1.06314920e-03 9.98540203e-01 -2.87886969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.331052754 meters 0.019856470108153768 Centerline is valid? [True, True] Translation: X:43.60, Y:-8.39, Z:-2.88 [[ 9.52961417e-01 2.98804931e-01 5.07951942e-02 4.36017607e+01] [-2.98316895e-01 9.54313516e-01 -1.71097610e-02 -8.38975514e+00] [-5.35870213e-02 1.15187749e-03 9.98562519e-01 -2.88084198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361052754 meters 0.020107603324699977 Centerline is valid? [True, True] Translation: X:43.63, Y:-8.40, Z:-2.88 [[ 9.52998453e-01 2.98646025e-01 5.10343011e-02 4.36315785e+01] [-2.98152469e-01 9.54363224e-01 -1.72029660e-02 -8.40302686e+00] [-5.38428575e-02 1.17839715e-03 9.98548726e-01 -2.88227954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.391052754 meters 0.020268515457794296 Centerline is valid? [True, True] Translation: X:43.66, Y:-8.42, Z:-2.88 [[ 9.53049926e-01 2.98536314e-01 5.07139736e-02 4.36608485e+01] [-2.98047983e-01 9.54397532e-01 -1.71099459e-02 -8.41722888e+00] [-5.35092314e-02 1.19143512e-03 9.98566644e-01 -2.88478576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421052754 meters 0.019744186975769296 Centerline is valid? [True, True] Translation: X:43.69, Y:-8.43, Z:-2.89 [[ 9.52918709e-01 2.99239019e-01 4.90096203e-02 4.36904697e+01] [-2.98783326e-01 9.54177523e-01 -1.65462273e-02 -8.43143372e+00] [-5.17151550e-02 1.12395216e-03 9.98661244e-01 -2.88584773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451052754 meters 0.01997340069044711 Centerline is valid? [True, True] Translation: X:43.72, Y:-8.44, Z:-2.89 [[ 9.52227223e-01 3.01382782e-01 4.93126174e-02 4.37188278e+01] [-3.00923503e-01 9.53502680e-01 -1.66638705e-02 -8.44420477e+00] [-5.20419165e-02 1.02846554e-03 9.98644372e-01 -2.88777298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481052754000004 meters 0.017900522082106754 Centerline is valid? [True, True] Translation: X:43.75, Y:-8.45, Z:-2.89 [[ 9.50535746e-01 3.06590450e-01 4.98406525e-02 4.37504116e+01] [-3.06127675e-01 9.51841221e-01 -1.68563189e-02 -8.45081661e+00] [-5.26083739e-02 7.64930590e-04 9.98614928e-01 -2.88718454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511052754 meters 0.017591305409018498 Centerline is valid? [True, True] Translation: X:43.78, Y:-8.46, Z:-2.89 [[ 9.49533952e-01 3.09644123e-01 5.00578718e-02 4.37816236e+01] [-3.09181405e-01 9.50852331e-01 -1.69322984e-02 -8.46024389e+00] [-5.28406308e-02 6.00829032e-04 9.98602777e-01 -2.88972585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541052754 meters 0.017243992248152012 Centerline is valid? [True, True] Translation: X:43.81, Y:-8.47, Z:-2.89 [[ 9.47491173e-01 3.15795691e-01 5.03344564e-02 4.38114525e+01] [-3.15336323e-01 9.48827177e-01 -1.70291325e-02 -8.46939719e+00] [-5.31364269e-02 2.62670391e-04 9.98587228e-01 -2.89250986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.571052754 meters 0.017236631708572574 Centerline is valid? [True, True] Translation: X:43.84, Y:-8.48, Z:-2.90 [[ 9.46507738e-01 3.18987585e-01 4.86828817e-02 4.38413705e+01] [-3.18561526e-01 9.47758889e-01 -1.64815559e-02 -8.48129574e+00] [-5.13970456e-02 9.14270911e-05 9.98678294e-01 -2.89510222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601052754 meters 0.01724857568979465 Centerline is valid? [True, True] Translation: X:43.87, Y:-8.50, Z:-2.90 [[ 9.44190327e-01 3.26087380e-01 4.66009406e-02 4.38705960e+01] [-3.25704993e-01 9.45339594e-01 -1.57895568e-02 -8.49551636e+00] [-4.92024895e-02 -2.69812238e-04 9.98788788e-01 -2.89619701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.631052754 meters 0.01738849704244217 Centerline is valid? [True, True] Translation: X:43.90, Y:-8.51, Z:-2.90 [[ 9.42865295e-01 3.30028018e-01 4.56786923e-02 4.39009599e+01] [-3.29664676e-01 9.43971027e-01 -1.54887425e-02 -8.50649936e+00] [-4.82310810e-02 -4.54853480e-04 9.98836101e-01 -2.89762766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661052754 meters 0.01890011338667172 Centerline is valid? [True, True] Translation: X:43.93, Y:-8.51, Z:-2.90 [[ 9.40213626e-01 3.37477189e-01 4.59073377e-02 4.39306053e+01] [-3.37118267e-01 9.41333344e-01 -1.55823108e-02 -8.51345320e+00] [-4.84727822e-02 -8.25501222e-04 9.98824163e-01 -2.90219470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.691052754000005 meters 0.019167673256422196 Centerline is valid? [True, True] Translation: X:43.96, Y:-8.52, Z:-2.90 [[ 9.38868280e-01 3.41223449e-01 4.57483355e-02 4.39610305e+01] [-3.40871390e-01 9.39981664e-01 -1.55295256e-02 -8.52394290e+00] [-4.83016348e-02 -1.01411972e-03 9.98832280e-01 -2.90439410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721052754 meters 0.02123495011014613 Centerline is valid? [True, True] Translation: X:43.99, Y:-8.53, Z:-2.91 [[ 9.36294056e-01 3.48337944e-01 4.48789245e-02 4.39890194e+01] [-3.48007070e-01 9.37368046e-01 -1.52389357e-02 -8.53335453e+00] [-4.73763693e-02 -1.35005811e-03 9.98876197e-01 -2.90715067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.751052754 meters 0.022084140411988765 Centerline is valid? [True, True] Translation: X:44.02, Y:-8.55, Z:-2.91 [[ 9.35119168e-01 3.51599250e-01 4.39330001e-02 4.40181623e+01] [-3.51285794e-01 9.36149436e-01 -1.49172669e-02 -8.54602546e+00] [-4.63727531e-02 -1.48361660e-03 9.98923103e-01 -2.90828877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781052754 meters 0.02292656030896662 Centerline is valid? [True, True] Translation: X:44.05, Y:-8.56, Z:-2.91 [[ 9.33433029e-01 3.56177732e-01 4.28975873e-02 4.40455945e+01] [-3.55883615e-01 9.34416737e-01 -1.45675568e-02 -8.56396537e+00] [-4.52728629e-02 -1.66870973e-03 9.98973265e-01 -2.90764599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811052754 meters 0.02292656030896662 Centerline is valid? [True, True] Translation: X:44.08, Y:-8.57, Z:-2.91 [[ 9.33333729e-01 3.56437771e-01 4.28983133e-02 4.40762251e+01] [-3.56144027e-01 9.34317548e-01 -1.45654215e-02 -8.57444065e+00] [-4.52723133e-02 -1.68357885e-03 9.98973265e-01 -2.90973382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841052754 meters 0.023961747413474642 Centerline is valid? [True, True] Translation: X:44.10, Y:-8.59, Z:-2.91 [[ 9.32748057e-01 3.58110378e-01 4.16895644e-02 4.41049240e+01] [-3.57834026e-01 9.33677707e-01 -1.41686297e-02 -8.58644483e+00] [-4.39985502e-02 -1.70218287e-03 9.99030145e-01 -2.91276849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871052754000004 meters 0.0249369815486283 Centerline is valid? [True, True] Translation: X:44.13, Y:-8.60, Z:-2.92 [[ 9.31702290e-01 3.60953569e-01 4.05384243e-02 4.41326784e+01] [-3.60694506e-01 9.32582097e-01 -1.37878862e-02 -8.60125527e+00] [-4.27821955e-02 -1.77578177e-03 9.99082845e-01 -2.91789809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901052754 meters 0.02624591407848308 Centerline is valid? [True, True] Translation: X:44.16, Y:-8.61, Z:-2.92 [[ 9.31196554e-01 3.62269801e-01 4.04174388e-02 4.41607574e+01] [-3.62013178e-01 9.32071492e-01 -1.37547107e-02 -8.61372860e+00] [-4.26548589e-02 -1.82330624e-03 9.99088204e-01 -2.92137828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931052754 meters 0.025881817865866855 Centerline is valid? [True, True] Translation: X:44.19, Y:-8.63, Z:-2.92 [[ 9.30773615e-01 3.63406156e-01 3.99555051e-02 4.41875453e+01] [-3.63156019e-01 9.31628982e-01 -1.36068069e-02 -8.63450829e+00] [-4.21685039e-02 -1.84522533e-03 9.99108809e-01 -2.92221212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961052754 meters 0.02673149629528934 Centerline is valid? [True, True] Translation: X:44.22, Y:-8.65, Z:-2.93 [[ 9.30766368e-01 3.63493250e-01 3.93271674e-02 4.42163770e+01] [-3.63250586e-01 9.31595072e-01 -1.34027384e-02 -8.64861402e+00] [-4.15088003e-02 -1.81079845e-03 9.99136497e-01 -2.92536145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.991052754 meters 0.02472917999622097 Centerline is valid? [True, True] Translation: X:44.24, Y:-8.67, Z:-2.92 [[ 9.31205346e-01 3.62399476e-01 3.90285015e-02 4.42415588e+01] [-3.62159059e-01 9.32021244e-01 -1.33122905e-02 -8.67412491e+00] [-4.11997596e-02 -1.73804932e-03 9.99149418e-01 -2.92303693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021052754 meters 0.02520904209593706 Centerline is valid? [True, True] Translation: X:44.27, Y:-8.69, Z:-2.92 [[ 9.32126800e-01 3.60004152e-01 3.91999776e-02 4.42673390e+01] [-3.59758861e-01 9.32949286e-01 -1.33862586e-02 -8.69433445e+00] [-4.13906998e-02 -1.62484889e-03 9.99141717e-01 -2.92292431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051052754000004 meters 0.025251471875427575 Centerline is valid? [True, True] Translation: X:44.30, Y:-8.71, Z:-2.92 [[ 9.32377871e-01 3.59283517e-01 3.98354153e-02 4.42952375e+01] [-3.59029635e-01 9.33227051e-01 -1.36012098e-02 -8.70956196e+00] [-4.20621776e-02 -1.62062761e-03 9.99113681e-01 -2.92439240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081052754 meters 0.02365607979141852 Centerline is valid? [True, True] Translation: X:44.32, Y:-8.73, Z:-2.92 [[ 9.32786576e-01 3.58071206e-01 4.11608424e-02 4.43224556e+01] [-3.57798486e-01 9.33692897e-01 -1.40647553e-02 -8.72705093e+00] [-4.34677701e-02 -1.60787208e-03 9.99053536e-01 -2.92444021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111052754 meters 0.023282262673014514 Centerline is valid? [True, True] Translation: X:44.35, Y:-8.75, Z:-2.92 [[ 9.33329360e-01 3.56293823e-01 4.41703153e-02 4.43476720e+01] [-3.55977141e-01 9.34372556e-01 -1.51063500e-02 -8.74753877e+00] [-4.66538296e-02 -1.62442262e-03 9.98909796e-01 -2.92459232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141052754 meters 0.02328293069335705 Centerline is valid? [True, True] Translation: X:44.37, Y:-8.76, Z:-2.93 [[ 9.33715696e-01 3.55234131e-01 4.45388645e-02 4.43749797e+01] [-3.54911025e-01 9.34776014e-01 -1.52305242e-02 -8.76264879e+00] [-4.70442642e-02 -1.58635456e-03 9.98891546e-01 -2.92695099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171052754 meters 0.02075992362898015 Centerline is valid? [True, True] Translation: X:44.40, Y:-8.79, Z:-2.93 [[ 9.34671803e-01 3.52726587e-01 4.44136864e-02 4.43992215e+01] [-3.52401957e-01 9.35725315e-01 -1.51985617e-02 -8.78845175e+00] [-4.69199474e-02 -1.44580287e-03 9.98897606e-01 -2.92544144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201052754 meters 0.021053602039758673 Centerline is valid? [True, True] Translation: X:44.43, Y:-8.80, Z:-2.93 [[ 9.34908779e-01 3.52098668e-01 4.44083598e-02 4.44273618e+01] [-3.51772946e-01 9.35961834e-01 -1.52065940e-02 -8.80383071e+00] [-4.69187514e-02 -1.40488129e-03 9.98897721e-01 -2.92648233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231052754000004 meters 0.019620773799723174 Centerline is valid? [True, True] Translation: X:44.45, Y:-8.83, Z:-2.93 [[ 9.36969618e-01 3.46826450e-01 4.24187348e-02 4.44525358e+01] [-3.46523321e-01 9.37928703e-01 -1.45374220e-02 -8.82632309e+00] [-4.48277114e-02 -1.07795815e-03 9.98994151e-01 -2.92786604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261052754 meters 0.019122043852841556 Centerline is valid? [True, True] Translation: X:44.48, Y:-8.84, Z:-2.93 [[ 9.38142267e-01 3.43666547e-01 4.22183679e-02 4.44806492e+01] [-3.43362749e-01 9.39091298e-01 -1.44760567e-02 -8.84120895e+00] [-4.46218384e-02 -9.15614218e-04 9.99003530e-01 -2.93131665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291052754 meters 0.018246946194610182 Centerline is valid? [True, True] Translation: X:44.51, Y:-8.86, Z:-2.94 [[ 9.40617488e-01 3.36893832e-01 4.17287405e-02 4.45059656e+01] [-3.36589741e-01 9.41542467e-01 -1.43223371e-02 -8.85990264e+00] [-4.41144883e-02 -5.73625250e-04 9.99026317e-01 -2.93546414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321052754 meters 0.018128075009306337 Centerline is valid? [True, True] Translation: X:44.53, Y:-8.87, Z:-2.94 [[ 9.41395084e-01 3.34738583e-01 4.15376643e-02 4.45347575e+01] [-3.34435092e-01 9.42310915e-01 -1.42586068e-02 -8.87369609e+00] [-4.39143003e-02 -4.68670253e-04 9.99035192e-01 -2.93691481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351052754 meters 0.018220165045497477 Centerline is valid? [True, True] Translation: X:44.57, Y:-8.88, Z:-2.94 [[ 9.41166811e-01 3.35182548e-01 4.31009718e-02 4.45653164e+01] [-3.34855684e-01 9.42153073e-01 -1.48073478e-02 -8.88276438e+00] [-4.55708776e-02 -4.96421098e-04 9.98960985e-01 -2.93824547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381052754 meters 0.018486560085845243 Centerline is valid? [True, True] Translation: X:44.59, Y:-8.89, Z:-2.94 [[ 9.40834261e-01 3.36146457e-01 4.28538473e-02 4.45947290e+01] [-3.35823806e-01 9.41809577e-01 -1.47340416e-02 -8.89148176e+00] [-4.53129597e-02 -5.29050979e-04 9.98972700e-01 -2.94007676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411052754 meters 0.018790107323447238 Centerline is valid? [True, True] Translation: X:44.63, Y:-8.90, Z:-2.94 [[ 9.39691694e-01 3.39193843e-01 4.38982556e-02 4.46269452e+01] [-3.38858082e-01 9.40716254e-01 -1.51039313e-02 -8.89695219e+00] [-4.64189631e-02 -6.82239947e-04 9.98921826e-01 -2.94213368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441052754000005 meters 0.018821685213736568 Centerline is valid? [True, True] Translation: X:44.66, Y:-8.91, Z:-2.94 [[ 9.39121965e-01 3.40697344e-01 4.44438342e-02 4.46583880e+01] [-3.40354339e-01 9.40172723e-01 -1.53027747e-02 -8.90632355e+00] [-4.69984953e-02 -7.55479946e-04 9.98894674e-01 -2.94267451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471052754 meters 0.01895296835548796 Centerline is valid? [True, True] Translation: X:44.69, Y:-8.92, Z:-2.94 [[ 9.38549389e-01 3.42291980e-01 4.42859417e-02 4.46892139e+01] [-3.41952527e-01 9.39593279e-01 -1.52623726e-02 -8.91574499e+00] [-4.68349609e-02 -8.19199160e-04 9.98902305e-01 -2.94363199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501052754 meters 0.01989345674114022 Centerline is valid? [True, True] Translation: X:44.72, Y:-8.92, Z:-2.95 [[ 9.38331523e-01 3.43013903e-01 4.33060746e-02 4.47197065e+01] [-3.42689566e-01 9.39329964e-01 -1.49358874e-02 -8.92289268e+00] [-4.58019106e-02 -8.25725909e-04 9.98950201e-01 -2.94909272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531052754 meters 0.01950844596432968 Centerline is valid? [True, True] Translation: X:44.75, Y:-8.93, Z:-2.95 [[ 9.38063717e-01 3.43866307e-01 4.23370426e-02 4.47498635e+01] [-3.43556717e-01 9.39018243e-01 -1.46123700e-02 -8.93296073e+00] [-4.47799571e-02 -8.37841279e-04 9.98996523e-01 -2.95284852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561052754 meters 0.01958088881614863 Centerline is valid? [True, True] Translation: X:44.78, Y:-8.94, Z:-2.96 [[ 9.38442556e-01 3.42774318e-01 4.27941173e-02 4.47788220e+01] [-3.42456319e-01 9.39417455e-01 -1.47822718e-02 -8.94398672e+00] [-4.52685239e-02 -7.82802981e-04 9.98974548e-01 -2.95557459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.591052754 meters 0.018874589213206425 Centerline is valid? [True, True] Translation: X:44.81, Y:-8.96, Z:-2.96 [[ 9.38676825e-01 3.41880390e-01 4.47617790e-02 4.48090364e+01] [-3.41530758e-01 9.39743168e-01 -1.54764350e-02 -8.95680952e+00] [-4.73556656e-02 -7.60153467e-04 9.98877802e-01 -2.95507560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621052754000004 meters 0.018501623913354408 Centerline is valid? [True, True] Translation: X:44.84, Y:-8.97, Z:-2.95 [[ 9.38888065e-01 3.40902178e-01 4.76959836e-02 4.48380298e+01] [-3.40503767e-01 9.40098471e-01 -1.64939162e-02 -8.96781652e+00] [-5.04617333e-02 -7.54721063e-04 9.98725710e-01 -2.95382463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651052754 meters 0.018542386913508117 Centerline is valid? [True, True] Translation: X:44.87, Y:-8.98, Z:-2.95 [[ 9.38617694e-01 3.41491234e-01 4.87910014e-02 4.48687992e+01] [-3.41074479e-01 9.39884625e-01 -1.68846424e-02 -8.97813895e+00] [-5.16238694e-02 -7.93141329e-04 9.98666284e-01 -2.95426928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681052754 meters 0.018288839412195845 Centerline is valid? [True, True] Translation: X:44.90, Y:-8.99, Z:-2.96 [[ 9.37886634e-01 3.43415005e-01 4.93436510e-02 4.48984840e+01] [-3.42990732e-01 9.39183331e-01 -1.70888233e-02 -8.98879119e+00] [-5.22112928e-02 -8.97036024e-04 9.98635657e-01 -2.95539822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711052754 meters 0.018571239004749576 Centerline is valid? [True, True] Translation: X:44.93, Y:-9.00, Z:-2.96 [[ 9.37671815e-01 3.44188074e-01 4.80222567e-02 4.49289939e+01] [-3.43786664e-01 9.38900289e-01 -1.66426335e-02 -8.99768460e+00] [-5.08163066e-02 -9.04083018e-04 9.98707608e-01 -2.96012233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741052754 meters 0.018699012394176893 Centerline is valid? [True, True] Translation: X:44.96, Y:-9.01, Z:-2.97 [[ 9.37328126e-01 3.45222765e-01 4.72993354e-02 4.49595340e+01] [-3.44834043e-01 9.38520309e-01 -1.64046553e-02 -9.00691635e+00] [-5.00546473e-02 -9.33876214e-04 9.98746044e-01 -2.96536664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771052754 meters 0.018606746766506168 Centerline is valid? [True, True] Translation: X:44.99, Y:-9.02, Z:-2.97 [[ 9.37564557e-01 3.44746776e-01 4.60690941e-02 4.49901432e+01] [-3.44376889e-01 9.38695316e-01 -1.59894177e-02 -9.01935130e+00] [-4.87571430e-02 -8.74020020e-04 9.98810281e-01 -2.96875488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801052754000004 meters 0.018388511760893594 Centerline is valid? [True, True] Translation: X:45.02, Y:-9.03, Z:-2.97 [[ 9.38588906e-01 3.41974225e-01 4.58747749e-02 4.50183734e+01] [-3.41603410e-01 9.39709062e-01 -1.59370393e-02 -9.03409124e+00] [-4.85589984e-02 -7.12651246e-04 9.98820062e-01 -2.96857946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831052754 meters 0.01821436558637635 Centerline is valid? [True, True] Translation: X:45.05, Y:-9.05, Z:-2.97 [[ 9.38857745e-01 3.41266691e-01 4.56418684e-02 4.50476925e+01] [-3.40898260e-01 9.39966280e-01 -1.58672483e-02 -9.04606984e+00] [-4.83167805e-02 -6.62144549e-04 9.98831843e-01 -2.96981506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861052754 meters 0.01814104561665869 Centerline is valid? [True, True] Translation: X:45.08, Y:-9.06, Z:-2.97 [[ 9.38877091e-01 3.41413556e-01 4.41202024e-02 4.50781657e+01] [-3.41068808e-01 9.39912965e-01 -1.53520884e-02 -9.05680402e+00] [-4.67105613e-02 -6.34300806e-04 9.98908265e-01 -2.97300875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891052754 meters 0.018139032706805735 Centerline is valid? [True, True] Translation: X:45.11, Y:-9.07, Z:-2.98 [[ 9.38732020e-01 3.41894832e-01 4.34754927e-02 4.51085813e+01] [-3.41560556e-01 9.39737998e-01 -1.51288428e-02 -9.06715299e+00] [-4.60280456e-02 -6.47584276e-04 9.98939938e-01 -2.97609453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921052754 meters 0.018560857202135943 Centerline is valid? [True, True] Translation: X:45.14, Y:-9.08, Z:-2.98 [[ 9.38335604e-01 3.42933697e-01 4.38494441e-02 4.51388202e+01] [-3.42594226e-01 9.39359356e-01 -1.52708010e-02 -9.07692030e+00] [-4.64272578e-02 -6.93430123e-04 9.98921433e-01 -2.97836604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951052754 meters 0.01802115920435482 Centerline is valid? [True, True] Translation: X:45.17, Y:-9.09, Z:-2.98 [[ 9.38310467e-01 3.42925342e-01 4.44485970e-02 4.51682043e+01] [-3.42575892e-01 9.39362408e-01 -1.54927297e-02 -9.08902983e+00] [-4.70661908e-02 -6.90027302e-04 9.98891534e-01 -2.97760792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981052754000004 meters 0.017977203964293618 Centerline is valid? [True, True] Translation: X:45.20, Y:-9.10, Z:-2.98 [[ 9.38519875e-01 3.41967474e-01 4.73147999e-02 4.51984891e+01] [-3.41569567e-01 9.39711550e-01 -1.65055811e-02 -9.09799105e+00] [-5.01066358e-02 -6.70479806e-04 9.98743649e-01 -2.97933993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011052754 meters 0.01766332150331358 Centerline is valid? [True, True] Translation: X:45.23, Y:-9.11, Z:-2.98 [[ 9.38435437e-01 3.42041709e-01 4.84396447e-02 4.52293049e+01] [-3.41624059e-01 9.39684527e-01 -1.69113151e-02 -9.10813215e+00] [-5.13023597e-02 -6.77970697e-04 9.98682937e-01 -2.98084733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041052754 meters 0.01753578482909871 Centerline is valid? [True, True] Translation: X:45.26, Y:-9.12, Z:-2.98 [[ 9.38262314e-01 3.42271854e-01 5.01378935e-02 4.52597355e+01] [-3.41823967e-01 9.39600705e-01 -1.75182664e-02 -9.11833226e+00] [-5.31056096e-02 -7.01604513e-04 9.98588655e-01 -2.98138929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071052754 meters 0.017717189866357907 Centerline is valid? [True, True] Translation: X:45.29, Y:-9.13, Z:-2.98 [[ 9.38007632e-01 3.42865199e-01 5.08442436e-02 4.52908667e+01] [-3.42404743e-01 9.39384329e-01 -1.77784759e-02 -9.12948351e+00] [-5.38579063e-02 -7.32964104e-04 9.98548341e-01 -2.98236716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101052754 meters 0.017688283032441184 Centerline is valid? [True, True] Translation: X:45.32, Y:-9.14, Z:-2.98 [[ 9.37980439e-01 3.42935501e-01 5.08717823e-02 4.53208659e+01] [-3.42473758e-01 9.39358675e-01 -1.78046180e-02 -9.14033703e+00] [-5.38926856e-02 -7.21867020e-04 9.98546472e-01 -2.98441644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131052754 meters 0.017862974773964365 Centerline is valid? [True, True] Translation: X:45.35, Y:-9.15, Z:-2.99 [[ 9.37773631e-01 3.43623516e-01 5.00349518e-02 4.53507913e+01] [-3.43177376e-01 9.39107199e-01 -1.75202235e-02 -9.15005009e+00] [-5.30085442e-02 -7.40859895e-04 9.98593784e-01 -2.98774590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161052754 meters 0.01805675706675367 Centerline is valid? [True, True] Translation: X:45.38, Y:-9.16, Z:-2.99 [[ 9.37091602e-01 3.45720563e-01 4.83386074e-02 4.53816779e+01] [-3.45306347e-01 9.38337158e-01 -1.69382731e-02 -9.15805750e+00] [-5.12138208e-02 -8.18914421e-04 9.98687375e-01 -2.99448034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191052754000005 meters 0.018998895292110497 Centerline is valid? [True, True] Translation: X:45.41, Y:-9.16, Z:-3.00 [[ 9.35827673e-01 3.49426814e-01 4.61244852e-02 4.54136318e+01] [-3.49053469e-01 9.36963168e-01 -1.61770547e-02 -9.16398099e+00] [-4.88696404e-02 -9.60976141e-04 9.98804703e-01 -3.00052360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221052754 meters 0.020195767135759234 Centerline is valid? [True, True] Translation: X:45.44, Y:-9.17, Z:-3.01 [[ 9.35143230e-01 3.51478541e-01 4.43843878e-02 4.54440217e+01] [-3.51135134e-01 9.36195375e-01 -1.55672099e-02 -9.17097316e+00] [-4.70239988e-02 -1.02734701e-03 9.98893232e-01 -3.00585805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.251052754 meters 0.02064252936588746 Centerline is valid? [True, True] Translation: X:45.47, Y:-9.18, Z:-3.01 [[ 9.33974097e-01 3.55045609e-01 4.04351444e-02 4.54739068e+01] [-3.54763567e-01 9.34848344e-01 -1.41910498e-02 -9.18023513e+00] [-4.28391977e-02 -1.09084320e-03 9.99081385e-01 -3.01027488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281052754 meters 0.0211410355292078 Centerline is valid? [True, True] Translation: X:45.50, Y:-9.19, Z:-3.01 [[ 9.33533175e-01 3.56282557e-01 3.97309869e-02 4.55049696e+01] [-3.56011014e-01 9.34377593e-01 -1.39524720e-02 -9.18925269e+00] [-4.20947663e-02 -1.11957347e-03 9.99112995e-01 -3.01381991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.311052754 meters 0.0213614740381821 Centerline is valid? [True, True] Translation: X:45.54, Y:-9.20, Z:-3.02 [[ 9.33241255e-01 3.56997540e-01 4.01686071e-02 4.55362150e+01] [-3.56720208e-01 9.34104610e-01 -1.41163265e-02 -9.19909697e+00] [-4.25611750e-02 -1.15501563e-03 9.99093195e-01 -3.01644750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341052754 meters 0.02106009390648035 Centerline is valid? [True, True] Translation: X:45.57, Y:-9.21, Z:-3.02 [[ 9.33461392e-01 3.56320287e-01 4.10570643e-02 4.55668521e+01] [-3.56029144e-01 9.34363189e-01 -1.44457152e-02 -9.21037691e+00] [-4.35095109e-02 -1.13299409e-03 9.99052370e-01 -3.01812354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.371052754000004 meters 0.02048002039558684 Centerline is valid? [True, True] Translation: X:45.60, Y:-9.22, Z:-3.02 [[ 9.33893656e-01 3.55059408e-01 4.21361574e-02 4.55961215e+01] [-3.54751426e-01 9.34843090e-01 -1.48263920e-02 -9.22340843e+00] [-4.46549456e-02 -1.10158850e-03 9.99001863e-01 -3.01878062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401052754 meters 0.02040179896157675 Centerline is valid? [True, True] Translation: X:45.63, Y:-9.24, Z:-3.02 [[ 9.34169519e-01 3.54276209e-01 4.26107619e-02 4.56264230e+01] [-3.53959767e-01 9.35140224e-01 -1.50081194e-02 -9.23555430e+00] [-4.51640571e-02 -1.06236772e-03 9.98979018e-01 -3.02024783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431052754 meters 0.01904079064671128 Centerline is valid? [True, True] Translation: X:45.65, Y:-9.25, Z:-3.02 [[ 9.35297638e-01 3.50911358e-01 4.56020503e-02 4.56544157e+01] [-3.50544753e-01 9.36408189e-01 -1.60648361e-02 -9.25014550e+00] [-4.83394669e-02 -9.60156181e-04 9.98830503e-01 -3.01898169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461052754 meters 0.01860410495734652 Centerline is valid? [True, True] Translation: X:45.68, Y:-9.26, Z:-3.02 [[ 9.36031049e-01 3.48740776e-01 4.71778269e-02 4.56831161e+01] [-3.48345096e-01 9.37218821e-01 -1.66305436e-02 -9.26256613e+00] [-5.00156959e-02 -8.67459517e-04 9.98748055e-01 -3.01998473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491052754 meters 0.017543234816920737 Centerline is valid? [True, True] Translation: X:45.71, Y:-9.28, Z:-3.02 [[ 9.37149394e-01 3.45347016e-01 4.98643384e-02 4.57109739e+01] [-3.44899771e-01 9.38474785e-01 -1.75848046e-02 -9.27719712e+00] [-5.28692841e-02 -7.18609916e-04 9.98601183e-01 -3.01874623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521052754 meters 0.017457312123432055 Centerline is valid? [True, True] Translation: X:45.74, Y:-9.29, Z:-3.02 [[ 9.37444333e-01 3.44388513e-01 5.09379444e-02 4.57396141e+01] [-3.43919738e-01 9.38826984e-01 -1.79751871e-02 -9.28837613e+00] [-5.40123646e-02 -6.67827215e-04 9.98540044e-01 -3.01930685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551052754000004 meters 0.01752373785235567 Centerline is valid? [True, True] Translation: X:45.77, Y:-9.30, Z:-3.02 [[ 9.37583777e-01 3.44025544e-01 5.08240708e-02 4.57693835e+01] [-3.43557677e-01 9.38960075e-01 -1.79471401e-02 -9.29939201e+00] [-5.38960480e-02 -6.34052266e-04 9.98546350e-01 -3.02179607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581052754 meters 0.01742212916760855 Centerline is valid? [True, True] Translation: X:45.80, Y:-9.31, Z:-3.03 [[ 9.37484600e-01 3.44461798e-01 4.96859578e-02 4.58000533e+01] [-3.44014558e-01 9.38800123e-01 -1.75588431e-02 -9.30961663e+00] [-5.26935340e-02 -6.31547810e-04 9.98610531e-01 -3.02575448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611052754 meters 0.018263283889354033 Centerline is valid? [True, True] Translation: X:45.83, Y:-9.31, Z:-3.04 [[ 9.36823567e-01 3.46583994e-01 4.73406812e-02 4.58299702e+01] [-3.46180023e-01 9.38018679e-01 -1.67436576e-02 -9.31492970e+00] [-5.02095269e-02 -7.02545090e-04 9.98738459e-01 -3.03564072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641052754 meters 0.01836088947403364 Centerline is valid? [True, True] Translation: X:45.86, Y:-9.33, Z:-3.04 [[ 9.36381061e-01 3.47964079e-01 4.59511598e-02 4.58605021e+01] [-3.47584954e-01 9.37507566e-01 -1.62561463e-02 -9.32510343e+00] [-4.87361150e-02 -7.49984313e-04 9.98811408e-01 -3.03890309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671052754 meters 0.018696310465716813 Centerline is valid? [True, True] Translation: X:45.89, Y:-9.33, Z:-3.04 [[ 9.35580915e-01 3.50167395e-01 4.55098629e-02 4.58916844e+01] [-3.49797552e-01 9.36686757e-01 -1.61118609e-02 -9.33265980e+00] [-4.82703343e-02 -8.45289069e-04 9.98833950e-01 -3.04292070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701052754 meters 0.01903107657268361 Centerline is valid? [True, True] Translation: X:45.92, Y:-9.34, Z:-3.05 [[ 9.35168062e-01 3.51339258e-01 4.49602333e-02 4.59217681e+01] [-3.50979080e-01 9.36247801e-01 -1.59292178e-02 -9.34103311e+00] [-4.76904791e-02 -8.83605643e-04 9.98861771e-01 -3.04577945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731052754000004 meters 0.01903107657268361 Centerline is valid? [True, True] Translation: X:45.95, Y:-9.35, Z:-3.05 [[ 9.35075379e-01 3.51586259e-01 4.49570697e-02 4.59522118e+01] [-3.51225938e-01 9.36155071e-01 -1.59381405e-02 -9.35191311e+00] [-4.76904200e-02 -8.86726173e-04 9.98861771e-01 -3.04787027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761052754 meters 0.01998457616824523 Centerline is valid? [True, True] Translation: X:45.98, Y:-9.36, Z:-3.05 [[ 9.34123751e-01 3.54142079e-01 4.46789240e-02 4.59830016e+01] [-3.53788453e-01 9.35191100e-01 -1.58536242e-02 -9.35790088e+00] [-4.73977675e-02 -9.97640580e-04 9.98875596e-01 -3.05233348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791052754 meters 0.02027040747429262 Centerline is valid? [True, True] Translation: X:46.01, Y:-9.37, Z:-3.06 [[ 9.33625179e-01 3.55513254e-01 4.42080518e-02 4.60130860e+01] [-3.55168107e-01 9.34670654e-01 -1.56966450e-02 -9.36750243e+00] [-4.69003341e-02 -1.04650711e-03 9.98899026e-01 -3.05516364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821052754 meters 0.018806898462276057 Centerline is valid? [True, True] Translation: X:46.04, Y:-9.38, Z:-3.06 [[ 9.33937726e-01 3.54957630e-01 4.20167222e-02 4.60415575e+01] [-3.54644866e-01 9.34881897e-01 -1.49284070e-02 -9.38263282e+00] [-4.45796250e-02 -9.58812314e-04 9.99005374e-01 -3.05685799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851052754 meters 0.018582467835866163 Centerline is valid? [True, True] Translation: X:46.07, Y:-9.39, Z:-3.06 [[ 9.34366206e-01 3.53768070e-01 4.25199422e-02 4.60705315e+01] [-3.53445974e-01 9.35332743e-01 -1.51196186e-02 -9.39402549e+00] [-4.51191325e-02 -9.01241711e-04 9.98981207e-01 -3.05951631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881052754 meters 0.01890461380699276 Centerline is valid? [True, True] Translation: X:46.10, Y:-9.40, Z:-3.06 [[ 9.35327655e-01 3.50929670e-01 4.48391058e-02 4.60992596e+01] [-3.50567585e-01 9.36401482e-01 -1.59572028e-02 -9.40359077e+00] [-4.75872611e-02 -7.93923901e-04 9.98866769e-01 -3.06474389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911052754 meters 0.017884816731863283 Centerline is valid? [True, True] Translation: X:46.13, Y:-9.42, Z:-3.06 [[ 9.35480982e-01 3.50435760e-01 4.54984666e-02 4.61281706e+01] [-3.50061926e-01 9.36586452e-01 -1.62007672e-02 -9.41706893e+00] [-4.82905755e-02 -7.71771289e-04 9.98833031e-01 -3.06458746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941052754000005 meters 0.01758746468470556 Centerline is valid? [True, True] Translation: X:46.16, Y:-9.43, Z:-3.07 [[ 9.35771586e-01 3.49446291e-01 4.71044486e-02 4.61567054e+01] [-3.49043665e-01 9.36956110e-01 -1.67859629e-02 -9.42890983e+00] [-5.00005934e-02 -7.33682275e-04 9.98748919e-01 -3.06594248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971052754 meters 0.017450542375433566 Centerline is valid? [True, True] Translation: X:46.19, Y:-9.44, Z:-3.07 [[ 9.35627392e-01 3.49663450e-01 4.83410290e-02 4.61869658e+01] [-3.49239069e-01 9.36875074e-01 -1.72385866e-02 -9.44056674e+00] [-5.13172088e-02 -7.53682098e-04 9.98682120e-01 -3.06656866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001052754 meters 0.017231414653407183 Centerline is valid? [True, True] Translation: X:46.22, Y:-9.45, Z:-3.07 [[ 9.35522342e-01 3.49741652e-01 4.97867796e-02 4.62171170e+01] [-3.49290881e-01 9.36845871e-01 -1.77677679e-02 -9.45296883e+00] [-5.28566674e-02 -7.67924220e-04 9.98601814e-01 -3.06632736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031052754 meters 0.017630921425358416 Centerline is valid? [True, True] Translation: X:46.25, Y:-9.46, Z:-3.07 [[ 9.35374120e-01 3.50161156e-01 4.96227915e-02 4.62472686e+01] [-3.49713208e-01 9.36689150e-01 -1.77231271e-02 -9.46329080e+00] [-5.26870811e-02 -7.75991250e-04 9.98610770e-01 -3.06877519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061052754 meters 0.017271983260161848 Centerline is valid? [True, True] Translation: X:46.28, Y:-9.47, Z:-3.07 [[ 9.35170272e-01 3.50525467e-01 5.08768993e-02 4.62779100e+01] [-3.50054617e-01 9.36552852e-01 -1.81802252e-02 -9.47372966e+00] [-5.40215371e-02 -8.08087320e-04 9.98539444e-01 -3.07147678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091052754 meters 0.01694276385890781 Centerline is valid? [True, True] Translation: X:46.31, Y:-9.49, Z:-3.07 [[ 9.35193409e-01 3.50338342e-01 5.17332905e-02 4.63081824e+01] [-3.49850454e-01 9.36622875e-01 -1.85000001e-02 -9.48510071e+00] [-5.49358427e-02 -7.97837026e-04 9.98489568e-01 -3.07390102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121052754000004 meters 0.016857764184992716 Centerline is valid? [True, True] Translation: X:46.34, Y:-9.50, Z:-3.08 [[ 9.35569504e-01 3.49281326e-01 5.20793413e-02 4.63367484e+01] [-3.48784463e-01 9.37017623e-01 -1.86379276e-02 -9.49669467e+00] [-5.53091407e-02 -7.27388376e-04 9.98469013e-01 -3.07808797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151052754 meters 0.016506949968039406 Centerline is valid? [True, True] Translation: X:46.37, Y:-9.51, Z:-3.08 [[ 9.35871826e-01 3.48441116e-01 5.22753731e-02 4.63662163e+01] [-3.47938476e-01 9.37330434e-01 -1.87209775e-02 -9.50934097e+00] [-5.55224565e-02 -6.68178248e-04 9.98457215e-01 -3.07993393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181052754 meters 0.016282497269382887 Centerline is valid? [True, True] Translation: X:46.39, Y:-9.52, Z:-3.08 [[ 9.36375893e-01 3.47173473e-01 5.16794553e-02 4.63940617e+01] [-3.46679555e-01 9.37800752e-01 -1.85212213e-02 -9.52228765e+00] [-5.48951088e-02 -5.73385412e-04 9.98491962e-01 -3.08251515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211052754 meters 0.016240689655354107 Centerline is valid? [True, True] Translation: X:46.42, Y:-9.53, Z:-3.08 [[ 9.36328252e-01 3.47385735e-01 5.11131571e-02 4.64244503e+01] [-3.46902271e-01 9.37722148e-01 -1.83299438e-02 -9.53437439e+00] [-5.42975005e-02 -5.68426045e-04 9.98524641e-01 -3.08443567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241052754 meters 0.016101175175315414 Centerline is valid? [True, True] Translation: X:46.46, Y:-9.54, Z:-3.09 [[ 9.36259602e-01 3.47589646e-01 5.09842798e-02 4.64550670e+01] [-3.47108090e-01 9.37646586e-01 -1.82990189e-02 -9.54458400e+00] [-5.41657854e-02 -5.64423879e-04 9.98531797e-01 -3.08791541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271052754 meters 0.01627299638042713 Centerline is valid? [True, True] Translation: X:46.49, Y:-9.55, Z:-3.09 [[ 9.36194665e-01 3.47809327e-01 5.06776144e-02 4.64853607e+01] [-3.47333034e-01 9.37565123e-01 -1.82045088e-02 -9.55334729e+00] [-5.38452617e-02 -5.59045504e-04 9.98549135e-01 -3.09178938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301052754000004 meters 0.016160307660043782 Centerline is valid? [True, True] Translation: X:46.52, Y:-9.56, Z:-3.09 [[ 9.35761405e-01 3.48693057e-01 5.25713218e-02 4.65158926e+01] [-3.48180992e-01 9.37236774e-01 -1.89004463e-02 -9.56156064e+00] [-5.58622304e-02 -6.18026826e-04 9.98438295e-01 -3.09424015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331052754 meters 0.016345107575234063 Centerline is valid? [True, True] Translation: X:46.55, Y:-9.57, Z:-3.10 [[ 9.35302288e-01 3.49780588e-01 5.35085956e-02 4.65468853e+01] [-3.49251061e-01 9.36831402e-01 -1.92515185e-02 -9.57082553e+00] [-5.68623401e-02 -6.81944445e-04 9.98381795e-01 -3.09663841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361052754 meters 0.015837499308694172 Centerline is valid? [True, True] Translation: X:46.58, Y:-9.58, Z:-3.10 [[ 9.35133249e-01 3.50153582e-01 5.40210761e-02 4.65770011e+01] [-3.49613618e-01 9.36692043e-01 -1.94508387e-02 -9.58419964e+00] [-5.74118930e-02 -6.97377877e-04 9.98350333e-01 -3.09692547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391052754 meters 0.0161914892980946 Centerline is valid? [True, True] Translation: X:46.61, Y:-9.59, Z:-3.10 [[ 9.35148155e-01 3.50083959e-01 5.42139209e-02 4.66069572e+01] [-3.49539036e-01 9.36718079e-01 -1.95372008e-02 -9.59461014e+00] [-5.76228205e-02 -6.79704367e-04 9.98338193e-01 -3.09949547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421052754 meters 0.015647734741365677 Centerline is valid? [True, True] Translation: X:46.64, Y:-9.61, Z:-3.10 [[ 9.35009285e-01 3.50359537e-01 5.48254701e-02 4.66375072e+01] [-3.49801791e-01 9.36615033e-01 -1.97734129e-02 -9.60716798e+00] [-5.82781633e-02 -6.89723025e-04 9.98300145e-01 -3.10169536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451052754 meters 0.015746716038575467 Centerline is valid? [True, True] Translation: X:46.67, Y:-9.62, Z:-3.11 [[ 9.34410958e-01 3.51722478e-01 5.62801905e-02 4.66678225e+01] [-3.51136116e-01 9.36103997e-01 -2.03158863e-02 -9.61597947e+00] [-5.98296651e-02 -7.78620740e-04 9.98208297e-01 -3.10527280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481052754000004 meters 0.015883102531583426 Centerline is valid? [True, True] Translation: X:46.70, Y:-9.63, Z:-3.11 [[ 9.33883623e-01 3.53049324e-01 5.67234765e-02 4.66974295e+01] [-3.52455138e-01 9.35604320e-01 -2.04922539e-02 -9.62725428e+00] [-6.03055061e-02 -8.55100424e-04 9.98179600e-01 -3.10726805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511052754 meters 0.01602960342206141 Centerline is valid? [True, True] Translation: X:46.73, Y:-9.64, Z:-3.11 [[ 9.32668345e-01 3.56216925e-01 5.69145038e-02 4.67270587e+01] [-3.55623692e-01 9.34402698e-01 -2.05763998e-02 -9.63940583e+00] [-6.05107278e-02 -1.04918929e-03 9.98166996e-01 -3.10758668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541052754 meters 0.016941625281581225 Centerline is valid? [True, True] Translation: X:46.76, Y:-9.65, Z:-3.11 [[ 9.31938714e-01 3.58037552e-01 5.74399255e-02 4.67569533e+01] [-3.57435772e-01 9.33706463e-01 -2.07824601e-02 -9.64716649e+00] [-6.10729308e-02 -1.16310498e-03 9.98132629e-01 -3.10932914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.571052754 meters 0.017636833342503582 Centerline is valid? [True, True] Translation: X:46.79, Y:-9.66, Z:-3.11 [[ 9.31486641e-01 3.59033073e-01 5.85481900e-02 4.67871637e+01] [-3.58408838e-01 9.33324017e-01 -2.11987110e-02 -9.65506672e+00] [-6.22554702e-02 -1.23787264e-03 9.98059479e-01 -3.11162033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601052754 meters 0.01682855979422666 Centerline is valid? [True, True] Translation: X:46.82, Y:-9.67, Z:-3.12 [[ 9.31131601e-01 3.59830675e-01 5.92944048e-02 4.68183433e+01] [-3.59191104e-01 9.33016726e-01 -2.14834977e-02 -9.66604709e+00] [-6.30530929e-02 -1.29405910e-03 9.98009335e-01 -3.11521573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.631052754 meters 0.017322764320849053 Centerline is valid? [True, True] Translation: X:46.85, Y:-9.68, Z:-3.12 [[ 9.31057546e-01 3.60265786e-01 5.77962827e-02 4.68488571e+01] [-3.59657909e-01 9.32848831e-01 -2.09582093e-02 -9.67578945e+00] [-6.14657205e-02 -1.27359130e-03 9.98108382e-01 -3.11993672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661052754 meters 0.017469097144364794 Centerline is valid? [True, True] Translation: X:46.88, Y:-9.69, Z:-3.12 [[ 9.31008085e-01 3.60558647e-01 5.67574512e-02 4.68790181e+01] [-3.59972019e-01 9.32735701e-01 -2.05975139e-02 -9.68734933e+00] [-6.03663128e-02 -1.25464234e-03 9.98175503e-01 -3.12258002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.691052754000005 meters 0.016390726838690247 Centerline is valid? [True, True] Translation: X:46.91, Y:-9.70, Z:-3.13 [[ 9.31196488e-01 3.60240648e-01 5.56756373e-02 4.69085883e+01] [-3.59674655e-01 9.32858642e-01 -2.02211702e-02 -9.70233787e+00] [-5.92219869e-02 -1.19523300e-03 9.98244122e-01 -3.12557743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721052754 meters 0.01625879944368273 Centerline is valid? [True, True] Translation: X:46.94, Y:-9.71, Z:-3.13 [[ 9.31336371e-01 3.59976415e-01 5.50413086e-02 4.69392652e+01] [-3.59421784e-01 9.32960696e-01 -2.00079953e-02 -9.71356993e+00] [-5.85537840e-02 -1.14887158e-03 9.98283594e-01 -3.12939163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751052754 meters 0.016395069685865574 Centerline is valid? [True, True] Translation: X:46.97, Y:-9.72, Z:-3.13 [[ 9.31362480e-01 3.60098406e-01 5.37872567e-02 4.69694843e+01] [-3.59568022e-01 9.32913659e-01 -1.95688980e-02 -9.72340489e+00] [-5.72255955e-02 -1.11444009e-03 9.98360651e-01 -3.13492149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781052754 meters 0.016840092897904155 Centerline is valid? [True, True] Translation: X:47.00, Y:-9.73, Z:-3.14 [[ 9.31337713e-01 3.60286301e-01 5.29513557e-02 4.70003411e+01] [-3.59771722e-01 9.32841136e-01 -1.92801466e-02 -9.73242013e+00] [-5.63415755e-02 -1.09407277e-03 9.98410952e-01 -3.13915909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.811052754 meters 0.016621491019208227 Centerline is valid? [True, True] Translation: X:47.03, Y:-9.74, Z:-3.14 [[ 9.31030744e-01 3.61228063e-01 5.19234141e-02 4.70305874e+01] [-3.60733914e-01 9.32476833e-01 -1.89208560e-02 -9.74289751e+00] [-5.52521249e-02 -1.11463774e-03 9.98471812e-01 -3.14292912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841052754 meters 0.017432951873469486 Centerline is valid? [True, True] Translation: X:47.06, Y:-9.75, Z:-3.15 [[ 9.30888524e-01 3.61731424e-01 5.09601083e-02 4.70596262e+01] [-3.61255458e-01 9.32281687e-01 -1.85836015e-02 -9.75240083e+00] [-5.42314484e-02 -1.11035585e-03 9.98527775e-01 -3.14535198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.871052754000004 meters 0.017024316293129702 Centerline is valid? [True, True] Translation: X:47.09, Y:-9.77, Z:-3.15 [[ 9.30463619e-01 3.63081316e-01 4.90857638e-02 4.70886444e+01] [-3.62640934e-01 9.31756768e-01 -1.79130846e-02 -9.76508070e+00] [-5.22398990e-02 -1.13303373e-03 9.98633922e-01 -3.14588879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901052754 meters 0.017362821926075037 Centerline is valid? [True, True] Translation: X:47.12, Y:-9.77, Z:-3.15 [[ 9.30094017e-01 3.64072716e-01 4.87460398e-02 4.71187447e+01] [-3.63639495e-01 9.31369785e-01 -1.77944418e-02 -9.77472726e+00] [-5.18790593e-02 -1.17548143e-03 9.98652683e-01 -3.14865983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.931052754 meters 0.017449033411688415 Centerline is valid? [True, True] Translation: X:47.15, Y:-9.78, Z:-3.15 [[ 9.29596923e-01 3.65291786e-01 4.91067369e-02 4.71490239e+01] [-3.64853127e-01 9.30892245e-01 -1.79394254e-02 -9.78443744e+00] [-5.22662053e-02 -1.24031184e-03 9.98632418e-01 -3.15134446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961052754 meters 0.018330988878610316 Centerline is valid? [True, True] Translation: X:47.18, Y:-9.79, Z:-3.16 [[ 9.28635492e-01 3.67781387e-01 4.87131838e-02 4.71800000e+01] [-3.67352462e-01 9.29911292e-01 -1.78089309e-02 -9.79073568e+00] [-5.18487330e-02 -1.35690270e-03 9.98654028e-01 -3.15639203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.991052754 meters 0.019123359546735906 Centerline is valid? [True, True] Translation: X:47.21, Y:-9.80, Z:-3.16 [[ 9.28350161e-01 3.68498283e-01 4.87339018e-02 4.72094533e+01] [-3.68069348e-01 9.29627395e-01 -1.78286657e-02 -9.79906937e+00] [-5.18742028e-02 -1.38621080e-03 9.98652665e-01 -3.16025116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021052754 meters 0.018016065632120666 Centerline is valid? [True, True] Translation: X:47.24, Y:-9.81, Z:-3.16 [[ 9.28539951e-01 3.67910709e-01 4.95506832e-02 4.72386875e+01] [-3.67465785e-01 9.29860123e-01 -1.81397168e-02 -9.81214671e+00] [-5.27490005e-02 -1.36472892e-03 9.98606870e-01 -3.16221277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051052754000004 meters 0.01752366777732413 Centerline is valid? [True, True] Translation: X:47.27, Y:-9.83, Z:-3.16 [[ 9.29273479e-01 3.65996293e-01 4.99751504e-02 4.72668831e+01] [-3.65540144e-01 9.30615465e-01 -1.83100763e-02 -9.82582500e+00] [-5.32090679e-02 -1.25285539e-03 9.98582608e-01 -3.16296573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081052754 meters 0.017257102057200956 Centerline is valid? [True, True] Translation: X:47.30, Y:-9.84, Z:-3.16 [[ 9.29625154e-01 3.65044473e-01 5.03945120e-02 4.72962770e+01] [-3.64578870e-01 9.30989306e-01 -1.84705145e-02 -9.83806678e+00] [-5.36593110e-02 -1.20211934e-03 9.98558578e-01 -3.16412979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.111052754 meters 0.016310003739943766 Centerline is valid? [True, True] Translation: X:47.32, Y:-9.85, Z:-3.17 [[ 9.29952673e-01 3.64213729e-01 5.03625482e-02 4.73249097e+01] [-3.63746776e-01 9.31314693e-01 -1.84722811e-02 -9.85220673e+00] [-5.36312395e-02 -1.14086741e-03 9.98560158e-01 -3.16508401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141052754 meters 0.0170256466065095 Centerline is valid? [True, True] Translation: X:47.35, Y:-9.86, Z:-3.17 [[ 9.29976818e-01 3.64116655e-01 5.06179710e-02 4.73541308e+01] [-3.63644022e-01 9.31352667e-01 -1.85804888e-02 -9.86116812e+00] [-5.39086478e-02 -1.12749875e-03 9.98545235e-01 -3.16792769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.171052754 meters 0.0164332230833141 Centerline is valid? [True, True] Translation: X:47.38, Y:-9.87, Z:-3.17 [[ 9.30183899e-01 3.63396067e-01 5.19731829e-02 4.73834519e+01] [-3.62895892e-01 9.31634093e-01 -1.90915766e-02 -9.87314198e+00] [-5.53577930e-02 -1.10217744e-03 9.98465973e-01 -3.16889402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201052754 meters 0.016347307031202858 Centerline is valid? [True, True] Translation: X:47.41, Y:-9.88, Z:-3.17 [[ 9.30631978e-01 3.62153329e-01 5.26221233e-02 4.74119105e+01] [-3.61637723e-01 9.32117971e-01 -1.93454236e-02 -9.88441980e+00] [-5.60560364e-02 -1.02667505e-03 9.98427096e-01 -3.17117645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.231052754000004 meters 0.01591128424577113 Centerline is valid? [True, True] Translation: X:47.44, Y:-9.90, Z:-3.17 [[ 9.31002288e-01 3.61162819e-01 5.28787117e-02 4.74418903e+01] [-3.60640083e-01 9.32502273e-01 -1.94484066e-02 -9.89727793e+00] [-5.63335603e-02 -9.63671951e-04 9.98411539e-01 -3.17314670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261052754 meters 0.015915094606437353 Centerline is valid? [True, True] Translation: X:47.47, Y:-9.91, Z:-3.17 [[ 9.30884622e-01 3.61531966e-01 5.24257354e-02 4.74723981e+01] [-3.61018551e-01 9.32359205e-01 -1.92851689e-02 -9.90908758e+00] [-5.58518220e-02 -9.74395861e-04 9.98438593e-01 -3.17499791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.291052754 meters 0.016662353562687127 Centerline is valid? [True, True] Translation: X:47.50, Y:-9.92, Z:-3.18 [[ 9.30564188e-01 3.62343513e-01 5.25116171e-02 4.75035978e+01] [-3.61828775e-01 9.32044076e-01 -1.93333327e-02 -9.91769411e+00] [-5.59484493e-02 -1.00930709e-03 9.98433149e-01 -3.17720104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321052754 meters 0.016318732020648277 Centerline is valid? [True, True] Translation: X:47.53, Y:-9.93, Z:-3.18 [[ 9.30498182e-01 3.62495252e-01 5.26338883e-02 4.75338367e+01] [-3.61977432e-01 9.31985076e-01 -1.93947714e-02 -9.93045166e+00] [-5.60845109e-02 -1.00548020e-03 9.98425519e-01 -3.17835404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351052754 meters 0.01643780121023116 Centerline is valid? [True, True] Translation: X:47.56, Y:-9.94, Z:-3.18 [[ 9.30548930e-01 3.62409271e-01 5.23278931e-02 4.75641207e+01] [-3.61896407e-01 9.32018541e-01 -1.92984254e-02 -9.94184737e+00] [-5.57644949e-02 -9.79147351e-04 9.98443470e-01 -3.17971297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381052754 meters 0.016255163445946873 Centerline is valid? [True, True] Translation: X:47.59, Y:-9.95, Z:-3.18 [[ 9.30427932e-01 3.62720754e-01 5.23212924e-02 4.75942633e+01] [-3.62207606e-01 9.31897360e-01 -1.93122053e-02 -9.95383927e+00] [-5.57630119e-02 -9.82554813e-04 9.98443549e-01 -3.18050490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411052754 meters 0.01668765150478333 Centerline is valid? [True, True] Translation: X:47.63, Y:-9.96, Z:-3.18 [[ 9.30133320e-01 3.63493269e-01 5.21981863e-02 4.76251252e+01] [-3.62982823e-01 9.31596276e-01 -1.92833788e-02 -9.96281773e+00] [-5.56370144e-02 -1.01093190e-03 9.98450550e-01 -3.18346592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441052754000005 meters 0.016529950325622843 Centerline is valid? [True, True] Translation: X:47.66, Y:-9.97, Z:-3.19 [[ 9.29928261e-01 3.63985420e-01 5.24217877e-02 4.76564457e+01] [-3.63470511e-01 9.31404076e-01 -1.93813197e-02 -9.97391460e+00] [-5.58803845e-02 -1.03053698e-03 9.98436939e-01 -3.18571878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471052754 meters 0.017014603138821142 Centerline is valid? [True, True] Translation: X:47.69, Y:-9.98, Z:-3.19 [[ 9.29325405e-01 3.65632325e-01 5.16458583e-02 4.76863282e+01] [-3.65134180e-01 9.30758722e-01 -1.91110278e-02 -9.98235874e+00] [-5.50574426e-02 -1.09730445e-03 9.98482586e-01 -3.18892507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501052754 meters 0.017099517223989707 Centerline is valid? [True, True] Translation: X:47.72, Y:-9.99, Z:-3.19 [[ 9.29148775e-01 3.66184821e-01 5.09041363e-02 4.77167417e+01] [-3.65701030e-01 9.30541489e-01 -1.88492506e-02 -9.99304049e+00] [-5.42707203e-02 -1.10193692e-03 9.98525650e-01 -3.19202877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.531052754 meters 0.017166698645768294 Centerline is valid? [True, True] Translation: X:47.75, Y:-10.00, Z:-3.19 [[ 9.29074373e-01 3.66353101e-01 5.10510946e-02 4.77480034e+01] [-3.65866020e-01 9.30475250e-01 -1.89173249e-02 -1.00042935e+01] [-5.44322006e-02 -1.10225895e-03 9.98516860e-01 -3.19453131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.561052754 meters 0.017013310326291577 Centerline is valid? [True, True] Translation: X:47.78, Y:-10.02, Z:-3.19 [[ 9.29337517e-01 3.65652179e-01 5.12860938e-02 4.77770974e+01] [-3.65158635e-01 9.30750976e-01 -1.90208188e-02 -1.00179667e+01] [-5.46895857e-02 -1.05079950e-03 9.98502852e-01 -3.19342343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591052754 meters 0.017124305908872883 Centerline is valid? [True, True] Translation: X:47.81, Y:-10.03, Z:-3.19 [[ 9.29582995e-01 3.64987441e-01 5.15715384e-02 4.78060997e+01] [-3.64486577e-01 9.31011901e-01 -1.91409280e-02 -1.00297398e+01] [-5.49999144e-02 -1.00405234e-03 9.98485854e-01 -3.19478422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621052754000004 meters 0.017124305908872883 Centerline is valid? [True, True] Translation: X:47.84, Y:-10.04, Z:-3.20 [[ 9.29484565e-01 3.65238604e-01 5.15674882e-02 4.78363736e+01] [-3.64737522e-01 9.30913394e-01 -1.91518330e-02 -1.00410643e+01] [-5.49998542e-02 -1.00726463e-03 9.98485854e-01 -3.19687476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651052754 meters 0.016858492911990288 Centerline is valid? [True, True] Translation: X:47.87, Y:-10.05, Z:-3.20 [[ 9.29861069e-01 3.64141390e-01 5.25303702e-02 4.78655403e+01] [-3.63618665e-01 9.31343201e-01 -1.95271280e-02 -1.00521414e+01] [-5.60344387e-02 -9.43506964e-04 9.98428391e-01 -3.19932773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681052754 meters 0.016629025259068543 Centerline is valid? [True, True] Translation: X:47.90, Y:-10.06, Z:-3.20 [[ 9.30409602e-01 3.62784191e-01 5.22073065e-02 4.78950406e+01] [-3.62265353e-01 9.31872796e-01 -1.94140563e-02 -1.00649670e+01] [-5.56936815e-02 -8.49873872e-04 9.98447541e-01 -3.20287326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711052754 meters 0.016255565557138148 Centerline is valid? [True, True] Translation: X:47.92, Y:-10.08, Z:-3.20 [[ 9.30546602e-01 3.62498299e-01 5.17494465e-02 4.79246710e+01] [-3.61987358e-01 9.31984078e-01 -1.92569725e-02 -1.00783344e+01] [-5.52102800e-02 -8.13135119e-04 9.98474418e-01 -3.20457475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741052754 meters 0.01609986142405949 Centerline is valid? [True, True] Translation: X:47.96, Y:-10.09, Z:-3.21 [[ 9.30524944e-01 3.62709488e-01 5.06473628e-02 4.79554176e+01] [-3.62219566e-01 9.31901925e-01 -1.88623573e-02 -1.00909294e+01] [-5.40399308e-02 -7.93571761e-04 9.98538460e-01 -3.20655830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771052754 meters 0.01669035801022586 Centerline is valid? [True, True] Translation: X:47.98, Y:-10.10, Z:-3.21 [[ 9.30288311e-01 3.63496620e-01 4.93342282e-02 4.79846756e+01] [-3.63032059e-01 9.31595171e-01 -1.83891591e-02 -1.01001760e+01] [-5.26439259e-02 -8.02686711e-04 9.98613025e-01 -3.20936611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801052754000004 meters 0.017093552406512516 Centerline is valid? [True, True] Translation: X:48.02, Y:-10.11, Z:-3.21 [[ 9.29558797e-01 3.65523860e-01 4.80910771e-02 4.80155117e+01] [-3.65084534e-01 9.30801551e-01 -1.79375356e-02 -1.01077587e+01] [-5.13198465e-02 -8.83314459e-04 9.98681878e-01 -3.21240052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831052754 meters 0.01713501479670792 Centerline is valid? [True, True] Translation: X:48.05, Y:-10.12, Z:-3.21 [[ 9.29268602e-01 3.66348846e-01 4.74171786e-02 4.80464187e+01] [-3.65922187e-01 9.30477139e-01 -1.76987884e-02 -1.01175279e+01] [-5.06045314e-02 -9.04069355e-04 9.98718361e-01 -3.21435597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861052754 meters 0.01745398735467666 Centerline is valid? [True, True] Translation: X:48.08, Y:-10.12, Z:-3.22 [[ 9.28975276e-01 3.67289458e-01 4.58627334e-02 4.80771741e+01] [-3.66890795e-01 9.30106243e-01 -1.71324450e-02 -1.01249932e+01] [-4.89497811e-02 -9.10996910e-04 9.98800826e-01 -3.21770039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891052754 meters 0.017423177060217766 Centerline is valid? [True, True] Translation: X:48.11, Y:-10.14, Z:-3.22 [[ 9.29029964e-01 3.67169496e-01 4.57152790e-02 4.81085378e+01] [-3.66773044e-01 9.30153619e-01 -1.70815407e-02 -1.01360723e+01] [-4.87940529e-02 -8.97868949e-04 9.98808457e-01 -3.22025430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921052754 meters 0.017425830945935812 Centerline is valid? [True, True] Translation: X:48.14, Y:-10.15, Z:-3.22 [[ 9.29157412e-01 3.66799666e-01 4.60923887e-02 4.81372579e+01] [-3.66395433e-01 9.30299546e-01 -1.72377750e-02 -1.01470770e+01] [-4.92025384e-02 -8.71434328e-04 9.98788441e-01 -3.22178120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951052754 meters 0.016915200926238456 Centerline is valid? [True, True] Translation: X:48.17, Y:-10.16, Z:-3.22 [[ 9.29113568e-01 3.66857800e-01 4.65116449e-02 4.81663706e+01] [-3.66445684e-01 9.30276623e-01 -1.74059133e-02 -1.01605648e+01] [-4.96541910e-02 -8.71921384e-04 9.98766089e-01 -3.22127698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981052754000004 meters 0.01713608676544074 Centerline is valid? [True, True] Translation: X:48.20, Y:-10.17, Z:-3.22 [[ 9.29349899e-01 3.66107939e-01 4.76837709e-02 4.81952440e+01] [-3.65673081e-01 9.30572013e-01 -1.78585048e-02 -1.01725195e+01] [-5.09113231e-02 -8.39871747e-04 9.98702825e-01 -3.22114497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011052754 meters 0.01680119750004303 Centerline is valid? [True, True] Translation: X:48.23, Y:-10.19, Z:-3.22 [[ 9.30066276e-01 3.64359230e-01 4.71070428e-02 4.82250462e+01] [-3.63932006e-01 9.31258196e-01 -1.76541243e-02 -1.01853243e+01] [-5.03012628e-02 -7.24254902e-04 9.98733828e-01 -3.22283654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041052754 meters 0.016555186200064197 Centerline is valid? [True, True] Translation: X:48.25, Y:-10.20, Z:-3.23 [[ 9.30652143e-01 3.62958767e-01 4.63413756e-02 4.82545005e+01] [-3.62542980e-01 9.31804991e-01 -1.73794930e-02 -1.01965389e+01] [-4.94891644e-02 -6.26478008e-04 9.98774464e-01 -3.22544425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071052754 meters 0.01623180504779249 Centerline is valid? [True, True] Translation: X:48.28, Y:-10.21, Z:-3.23 [[ 9.30912511e-01 3.62284933e-01 4.63845258e-02 4.82839836e+01] [-3.61866919e-01 9.32067214e-01 -1.74081025e-02 -1.02086742e+01] [-4.95401890e-02 -5.79605052e-04 9.98771963e-01 -3.22709935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101052754 meters 0.01622196085143493 Centerline is valid? [True, True] Translation: X:48.31, Y:-10.22, Z:-3.23 [[ 9.31324966e-01 3.61193074e-01 4.66194386e-02 4.83129356e+01] [-3.60768784e-01 9.32490912e-01 -1.75094986e-02 -1.02206624e+01] [-4.97965124e-02 -5.11804969e-04 9.98759253e-01 -3.22991524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131052754 meters 0.016146438112828013 Centerline is valid? [True, True] Translation: X:48.34, Y:-10.23, Z:-3.23 [[ 9.31455081e-01 3.60882202e-01 4.64270137e-02 4.83435909e+01] [-3.60460479e-01 9.32611282e-01 -1.74482121e-02 -1.02332028e+01] [-4.95951060e-02 -4.82877748e-04 9.98769289e-01 -3.23146839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161052754 meters 0.01618743608541738 Centerline is valid? [True, True] Translation: X:48.37, Y:-10.25, Z:-3.23 [[ 9.31406695e-01 3.61110503e-01 4.56154957e-02 4.83735040e+01] [-3.60702973e-01 9.32522912e-01 -1.71576368e-02 -1.02453608e+01] [-4.87332977e-02 -4.72907059e-04 9.98811715e-01 -3.23239430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191052754000005 meters 0.016299281632370453 Centerline is valid? [True, True] Translation: X:48.40, Y:-10.26, Z:-3.23 [[ 9.31110037e-01 3.61952871e-01 4.49912999e-02 4.84037583e+01] [-3.61556827e-01 9.32196262e-01 -1.69348965e-02 -1.02563721e+01] [-4.80703560e-02 -4.98659529e-04 9.98843828e-01 -3.23462330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221052754 meters 0.01660485988903509 Centerline is valid? [True, True] Translation: X:48.43, Y:-10.27, Z:-3.24 [[ 9.30665917e-01 3.63204884e-01 4.40813158e-02 4.84334728e+01] [-3.62825550e-01 9.31709139e-01 -1.66042364e-02 -1.02652929e+01] [-4.71017046e-02 -5.40830769e-04 9.98889952e-01 -3.23738487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251052754 meters 0.016656518606918146 Centerline is valid? [True, True] Translation: X:48.46, Y:-10.28, Z:-3.24 [[ 9.30304660e-01 3.64078806e-01 4.44956431e-02 4.84643511e+01] [-3.63692812e-01 9.31367965e-01 -1.67706013e-02 -1.02758668e+01] [-4.75476371e-02 -5.80976968e-04 9.98868803e-01 -3.24017648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281052754 meters 0.016400547660691264 Centerline is valid? [True, True] Translation: X:48.50, Y:-10.29, Z:-3.24 [[ 9.30208409e-01 3.64397630e-01 4.38940001e-02 4.84952128e+01] [-3.64021754e-01 9.31243273e-01 -1.65568313e-02 -1.02875690e+01] [-4.69092625e-02 -5.77067211e-04 9.98898988e-01 -3.24209391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311052754 meters 0.016602056366261615 Centerline is valid? [True, True] Translation: X:48.52, Y:-10.30, Z:-3.24 [[ 9.30185673e-01 3.64470611e-01 4.37697191e-02 4.85246911e+01] [-3.64096274e-01 9.31214719e-01 -1.65242065e-02 -1.02982531e+01] [-4.67815943e-02 -5.65811499e-04 9.98904982e-01 -3.24481820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341052754 meters 0.016416825552729334 Centerline is valid? [True, True] Translation: X:48.55, Y:-10.31, Z:-3.24 [[ 9.30036640e-01 3.64891207e-01 4.34310345e-02 4.85546690e+01] [-3.64522527e-01 9.31049989e-01 -1.64087133e-02 -1.03108997e+01] [-4.64238593e-02 -5.70885847e-04 9.98921668e-01 -3.24488189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371052754000004 meters 0.01642073958253561 Centerline is valid? [True, True] Translation: X:48.59, Y:-10.32, Z:-3.24 [[ 9.29624328e-01 3.65874177e-01 4.39851818e-02 4.85857498e+01] [-3.65496454e-01 9.30664122e-01 -1.66322991e-02 -1.03221000e+01] [-4.70207594e-02 -6.14638111e-04 9.98893723e-01 -3.24458608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401052754 meters 0.016655669208090324 Centerline is valid? [True, True] Translation: X:48.62, Y:-10.33, Z:-3.25 [[ 9.29250736e-01 3.66802224e-01 4.41497165e-02 4.86158808e+01] [-3.66422046e-01 9.30298718e-01 -1.67086662e-02 -1.03326452e+01] [-4.72012005e-02 -6.50889066e-04 9.98885190e-01 -3.24587050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431052754 meters 0.016437681685909925 Centerline is valid? [True, True] Translation: X:48.65, Y:-10.34, Z:-3.25 [[ 9.28933888e-01 3.67606469e-01 4.41283917e-02 4.86463062e+01] [-3.67226976e-01 9.29981194e-01 -1.67130563e-02 -1.03444514e+01] [-4.71824021e-02 -6.79811494e-04 9.98886059e-01 -3.24617910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461052754 meters 0.01669690862134295 Centerline is valid? [True, True] Translation: X:48.68, Y:-10.36, Z:-3.25 [[ 9.28831512e-01 3.67750461e-01 4.50735039e-02 4.86752225e+01] [-3.67353952e-01 9.29924258e-01 -1.70864943e-02 -1.03550577e+01] [-4.81985108e-02 -6.87455463e-04 9.98837540e-01 -3.24833689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491052754 meters 0.01650344437089675 Centerline is valid? [True, True] Translation: X:48.71, Y:-10.37, Z:-3.25 [[ 9.28872287e-01 3.67677651e-01 4.48265394e-02 4.87059993e+01] [-3.67284894e-01 9.29953061e-01 -1.70032590e-02 -1.03675354e+01] [-4.79382958e-02 -6.70254696e-04 9.98850074e-01 -3.24996953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521052754 meters 0.016444590732460462 Centerline is valid? [True, True] Translation: X:48.73, Y:-10.38, Z:-3.25 [[ 9.29435143e-01 3.66179133e-01 4.54220004e-02 4.87343655e+01] [-3.65773335e-01 9.30544195e-01 -1.72443932e-02 -1.03796280e+01] [-4.85817157e-02 -5.86611448e-04 9.98819039e-01 -3.25230050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.551052754000004 meters 0.016001115629745717 Centerline is valid? [True, True] Translation: X:48.76, Y:-10.39, Z:-3.25 [[ 9.30461555e-01 3.63388428e-01 4.67989776e-02 4.87623058e+01] [-3.62953495e-01 9.31637620e-01 -1.77793827e-02 -1.03943363e+01] [-5.00605101e-02 -4.42820416e-04 9.98746088e-01 -3.25196107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581052754 meters 0.015695382452413986 Centerline is valid? [True, True] Translation: X:48.79, Y:-10.41, Z:-3.25 [[ 9.31016685e-01 3.61922867e-01 4.71144504e-02 4.87917880e+01] [-3.61479603e-01 9.32207977e-01 -1.79104745e-02 -1.04068916e+01] [-5.04026768e-02 -3.55962214e-04 9.98728914e-01 -3.25270304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.611052754 meters 0.015648754873569096 Centerline is valid? [True, True] Translation: X:48.82, Y:-10.42, Z:-3.26 [[ 9.31524933e-01 3.60621275e-01 4.70488534e-02 4.88211725e+01] [-3.60176938e-01 9.32712293e-01 -1.78983888e-02 -1.04179903e+01] [-5.03375837e-02 -2.73116466e-04 9.98732223e-01 -3.25533974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641052754 meters 0.01565959794974443 Centerline is valid? [True, True] Translation: X:48.85, Y:-10.43, Z:-3.26 [[ 9.32446626e-01 3.58375214e-01 4.59401426e-02 4.88513200e+01] [-3.57948356e-01 9.33577628e-01 -1.74867883e-02 -1.04299986e+01] [-4.91555208e-02 -1.38701780e-04 9.98791127e-01 -3.25927925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671052754 meters 0.01573192792746806 Centerline is valid? [True, True] Translation: X:48.88, Y:-10.44, Z:-3.26 [[ 9.32705153e-01 3.57854369e-01 4.47364273e-02 4.88808492e+01] [-3.57448348e-01 9.33777405e-01 -1.70422111e-02 -1.04423069e+01] [-4.78724947e-02 -9.56039153e-05 9.98853450e-01 -3.26141953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701052754 meters 0.016059949485661796 Centerline is valid? [True, True] Translation: X:48.91, Y:-10.45, Z:-3.26 [[ 9.33464610e-01 3.56179855e-01 4.21868823e-02 4.89105434e+01] [-3.55816646e-01 9.34417418e-01 -1.60811584e-02 -1.04549861e+01] [-4.51479422e-02 3.97281423e-07 9.98980312e-01 -3.26452138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731052754000004 meters 0.016165341053503143 Centerline is valid? [True, True] Translation: X:48.94, Y:-10.47, Z:-3.27 [[ 9.33731458e-01 3.55539342e-01 4.16814208e-02 4.89413750e+01] [-3.55183704e-01 9.34661316e-01 -1.58984760e-02 -1.04668715e+01] [-4.46105453e-02 4.03457571e-05 9.99004453e-01 -3.26720326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761052754 meters 0.01594619780513557 Centerline is valid? [True, True] Translation: X:48.97, Y:-10.48, Z:-3.27 [[ 9.33983334e-01 3.54824059e-01 4.21309701e-02 4.89719357e+01] [-3.54459411e-01 9.34933088e-01 -1.60824835e-02 -1.04785360e+01] [-4.50960901e-02 8.70527273e-05 9.98982650e-01 -3.26677091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791052754 meters 0.015953167425696274 Centerline is valid? [True, True] Translation: X:49.00, Y:-10.49, Z:-3.27 [[ 9.33942303e-01 3.54645133e-01 4.44815003e-02 4.90014099e+01] [-3.54237623e-01 9.35000971e-01 -1.69967751e-02 -1.04895688e+01] [-4.76180695e-02 1.16986406e-04 9.98865609e-01 -3.26649433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821052754 meters 0.01583558430718784 Centerline is valid? [True, True] Translation: X:49.03, Y:-10.50, Z:-3.27 [[ 9.33647634e-01 3.55265310e-01 4.57018104e-02 4.90308975e+01] [-3.54835503e-01 9.34765506e-01 -1.74703956e-02 -1.05000526e+01] [-4.89271014e-02 9.45685821e-05 9.98802348e-01 -3.26708150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851052754 meters 0.015145534780829547 Centerline is valid? [True, True] Translation: X:49.06, Y:-10.51, Z:-3.26 [[ 9.32917483e-01 3.57034958e-01 4.68082175e-02 4.90617294e+01] [-3.56586040e-01 9.34091023e-01 -1.78985271e-02 -1.05111154e+01] [-5.01135356e-02 6.69198186e-06 9.98743527e-01 -3.26355262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881052754 meters 0.015187009835477164 Centerline is valid? [True, True] Translation: X:49.09, Y:-10.52, Z:-3.27 [[ 9.32346199e-01 3.58425658e-01 4.75564084e-02 4.90906873e+01] [-3.57963374e-01 9.33558270e-01 -1.81983192e-02 -1.05218328e+01] [-5.09194229e-02 -5.63186756e-05 9.98702763e-01 -3.26545500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911052754 meters 0.015007553183831821 Centerline is valid? [True, True] Translation: X:49.12, Y:-10.53, Z:-3.27 [[ 9.31695274e-01 3.59939402e-01 4.88625008e-02 4.91209451e+01] [-3.59452768e-01 9.32975675e-01 -1.87108849e-02 -1.05321771e+01] [-5.23223093e-02 -1.30918161e-04 9.98630241e-01 -3.26648128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941052754000005 meters 0.015073046412526377 Centerline is valid? [True, True] Translation: X:49.15, Y:-10.54, Z:-3.27 [[ 9.30186178e-01 3.63500897e-01 5.11934751e-02 4.91519207e+01] [-3.62971278e-01 9.31593788e-01 -1.96179682e-02 -1.05403790e+01] [-5.48226725e-02 -3.33398253e-04 9.98496051e-01 -3.26828352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971052754 meters 0.015327587514860404 Centerline is valid? [True, True] Translation: X:49.18, Y:-10.55, Z:-3.27 [[ 9.28340316e-01 3.68216122e-01 5.10014279e-02 4.91824592e+01] [-3.67696825e-01 9.29740034e-01 -1.95579479e-02 -1.05495102e+01] [-5.46196211e-02 -5.96631612e-04 9.98507056e-01 -3.26910836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001052754 meters 0.015611289084907422 Centerline is valid? [True, True] Translation: X:49.21, Y:-10.56, Z:-3.27 [[ 9.27296363e-01 3.70838809e-01 5.09905122e-02 4.92119881e+01] [-3.70322916e-01 9.28696955e-01 -1.95679354e-02 -1.05598152e+01] [-5.46112833e-02 -7.37679843e-04 9.98507418e-01 -3.27023989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031052754 meters 0.016212171269587183 Centerline is valid? [True, True] Translation: X:49.24, Y:-10.57, Z:-3.27 [[ 9.25743448e-01 3.74661094e-01 5.12653309e-02 4.92420878e+01] [-3.74144755e-01 9.27161340e-01 -1.96863331e-02 -1.05704326e+01] [-5.49069360e-02 -9.56160826e-04 9.98491019e-01 -3.27184231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061052754 meters 0.016793778350094334 Centerline is valid? [True, True] Translation: X:49.27, Y:-10.58, Z:-3.28 [[ 9.25251864e-01 3.75967391e-01 5.05718164e-02 4.92713388e+01] [-3.75466148e-01 9.26632347e-01 -1.94335987e-02 -1.05802489e+01] [-5.41678803e-02 -1.00703165e-03 9.98531335e-01 -3.27578097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091052754 meters 0.017753040751333736 Centerline is valid? [True, True] Translation: X:49.30, Y:-10.59, Z:-3.28 [[ 9.24438652e-01 3.78312676e-01 4.78821148e-02 4.93000412e+01] [-3.77865861e-01 9.25677250e-01 -1.84125090e-02 -1.05909425e+01] [-5.12890699e-02 -1.07178159e-03 9.98683274e-01 -3.28117847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121052754000004 meters 0.01783525200207488 Centerline is valid? [True, True] Translation: X:49.33, Y:-10.60, Z:-3.28 [[ 9.24392578e-01 3.78679649e-01 4.58266888e-02 4.93288912e+01] [-3.78270301e-01 9.25527229e-01 -1.76331265e-02 -1.06034904e+01] [-4.90911545e-02 -1.03494412e-03 9.98793766e-01 -3.28484948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151052754 meters 0.017813017656567832 Centerline is valid? [True, True] Translation: X:49.36, Y:-10.62, Z:-3.29 [[ 9.24517791e-01 3.78598893e-01 4.39287072e-02 4.93582334e+01] [-3.78222197e-01 9.25560328e-01 -1.69129784e-02 -1.06165722e+01] [-4.70619036e-02 -9.78462778e-04 9.98891496e-01 -3.28808336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181052754 meters 0.017426183436082016 Centerline is valid? [True, True] Translation: X:49.39, Y:-10.63, Z:-3.29 [[ 9.25294921e-01 3.76873618e-01 4.23743380e-02 4.93865679e+01] [-3.76520817e-01 9.26264301e-01 -1.63254096e-02 -1.06304838e+01] [-4.54024528e-02 -8.49001792e-04 9.98968416e-01 -3.29253917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.211052754 meters 0.016987854162094137 Centerline is valid? [True, True] Translation: X:49.42, Y:-10.64, Z:-3.30 [[ 9.26017629e-01 3.75081552e-01 4.24874191e-02 4.94163624e+01] [-3.74724459e-01 9.26991512e-01 -1.63803721e-02 -1.06427046e+01] [-4.55294523e-02 -7.52561844e-04 9.98962713e-01 -3.29650822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241052754 meters 0.016636091168634706 Centerline is valid? [True, True] Translation: X:49.45, Y:-10.65, Z:-3.30 [[ 9.25947687e-01 3.75317687e-01 4.19227154e-02 4.94459808e+01] [-3.74969778e-01 9.26895938e-01 -1.61735818e-02 -1.06549863e+01] [-4.49282260e-02 -7.43860623e-04 9.98989940e-01 -3.29789835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.271052754 meters 0.016888026613844684 Centerline is valid? [True, True] Translation: X:49.48, Y:-10.67, Z:-3.30 [[ 9.25695202e-01 3.75982362e-01 4.15410206e-02 4.94751226e+01] [-3.75640913e-01 9.26626510e-01 -1.60379395e-02 -1.06652411e+01] [-4.45229933e-02 -7.58263253e-04 9.99008072e-01 -3.30098385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301052754000004 meters 0.016657434628280583 Centerline is valid? [True, True] Translation: X:49.50, Y:-10.68, Z:-3.30 [[ 9.25376843e-01 3.76880743e-01 4.04796712e-02 4.95044862e+01] [-3.76556985e-01 9.26261469e-01 -1.56373840e-02 -1.06775361e+01] [-4.33881886e-02 -7.72429898e-04 9.99057991e-01 -3.30082591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.331052754 meters 0.018012943380665277 Centerline is valid? [True, True] Translation: X:49.53, Y:-10.69, Z:-3.31 [[ 9.25173758e-01 3.77424829e-01 4.00501765e-02 4.95342967e+01] [-3.77107934e-01 9.26039897e-01 -1.54827225e-02 -1.06862084e+01] [-4.29316253e-02 -7.79030741e-04 9.99077709e-01 -3.30501125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361052754 meters 0.01741569277571803 Centerline is valid? [True, True] Translation: X:49.56, Y:-10.70, Z:-3.30 [[ 9.24224576e-01 3.79800291e-01 3.95053444e-02 4.95642905e+01] [-3.79493711e-01 9.25068098e-01 -1.52819538e-02 -1.06966439e+01] [-4.23492243e-02 -8.68072490e-04 9.99102492e-01 -3.30398417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.391052754 meters 0.01778576441454086 Centerline is valid? [True, True] Translation: X:49.60, Y:-10.71, Z:-3.31 [[ 9.23749063e-01 3.80967718e-01 3.93861288e-02 4.95952030e+01] [-3.80663645e-01 9.24587892e-01 -1.52453283e-02 -1.07063626e+01] [-4.22239157e-02 -9.10009575e-04 9.99107758e-01 -3.30655183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421052754 meters 0.01778693873231507 Centerline is valid? [True, True] Translation: X:49.63, Y:-10.72, Z:-3.31 [[ 9.23190061e-01 3.82403300e-01 3.85723607e-02 4.96257039e+01] [-3.82112500e-01 9.23995033e-01 -1.49404275e-02 -1.07151541e+01] [-4.13539385e-02 -9.46127022e-04 9.99144112e-01 -3.31050984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451052754 meters 0.017596882179125216 Centerline is valid? [True, True] Translation: X:49.66, Y:-10.73, Z:-3.31 [[ 9.23129086e-01 3.82613461e-01 3.79424418e-02 4.96556985e+01] [-3.82331845e-01 9.23908044e-01 -1.47066938e-02 -1.07259050e+01] [-4.06823062e-02 -9.30426996e-04 9.99171699e-01 -3.31396792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481052754000004 meters 0.018161277840653873 Centerline is valid? [True, True] Translation: X:49.69, Y:-10.74, Z:-3.32 [[ 9.23042299e-01 3.82778888e-01 3.83827700e-02 4.96851631e+01] [-3.82490367e-01 9.23839511e-01 -1.48888117e-02 -1.07362782e+01] [-4.11586423e-02 -9.38036771e-04 9.99152184e-01 -3.31661473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511052754 meters 0.018161277840653873 Centerline is valid? [True, True] Translation: X:49.72, Y:-10.75, Z:-3.32 [[ 9.22939095e-01 3.83027961e-01 3.83797821e-02 4.97152789e+01] [-3.82739335e-01 9.23736270e-01 -1.48965088e-02 -1.07480528e+01] [-4.11585761e-02 -9.40881882e-04 9.99152184e-01 -3.31870615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541052754 meters 0.017629317745445804 Centerline is valid? [True, True] Translation: X:49.74, Y:-10.76, Z:-3.32 [[ 9.22804316e-01 3.83291158e-01 3.89882412e-02 4.97443879e+01] [-3.82992991e-01 9.23627076e-01 -1.51457735e-02 -1.07626010e+01] [-4.18158363e-02 -9.55637984e-04 9.99124878e-01 -3.31643624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571052754 meters 0.017854459012567336 Centerline is valid? [True, True] Translation: X:49.77, Y:-10.77, Z:-3.32 [[ 9.22623293e-01 3.83764323e-01 3.86161084e-02 4.97729571e+01] [-3.83471780e-01 9.23430575e-01 -1.50122105e-02 -1.07741042e+01] [-4.14204460e-02 -9.57572742e-04 9.99141346e-01 -3.31757973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601052754 meters 0.0179474055010161 Centerline is valid? [True, True] Translation: X:49.80, Y:-10.79, Z:-3.32 [[ 9.22297412e-01 3.84584293e-01 3.82414193e-02 4.98026840e+01] [-3.84297727e-01 9.23089361e-01 -1.48757497e-02 -1.07859222e+01] [-4.10212270e-02 -9.76225130e-04 9.99157798e-01 -3.31912212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.631052754 meters 0.019323443821560097 Centerline is valid? [True, True] Translation: X:49.83, Y:-10.79, Z:-3.32 [[ 9.21961867e-01 3.85452634e-01 3.75843323e-02 4.98320826e+01] [-3.85176023e-01 9.22727097e-01 -1.46333457e-02 -1.07945145e+01] [-4.03205435e-02 -9.85196915e-04 9.99186311e-01 -3.32289396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661052754 meters 0.01767067268677607 Centerline is valid? [True, True] Translation: X:49.86, Y:-10.81, Z:-3.32 [[ 9.21773436e-01 3.85878423e-01 3.78361686e-02 4.98619657e+01] [-3.85598404e-01 9.22549090e-01 -1.47325383e-02 -1.08089726e+01] [-4.05906915e-02 -1.00950381e-03 9.99175348e-01 -3.32194732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691052754 meters 0.01827183973224852 Centerline is valid? [True, True] Translation: X:49.89, Y:-10.82, Z:-3.33 [[ 9.22103458e-01 3.85034692e-01 3.83861893e-02 4.98909880e+01] [-3.84745151e-01 9.22901587e-01 -1.49609579e-02 -1.08188018e+01] [-4.11871629e-02 -9.73349175e-04 9.99150975e-01 -3.32503719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721052754 meters 0.017066565841088628 Centerline is valid? [True, True] Translation: X:49.92, Y:-10.83, Z:-3.32 [[ 9.22807091e-01 3.83247159e-01 3.93533706e-02 4.99196406e+01] [-3.82940779e-01 9.23645383e-01 -1.53481762e-02 -1.08335082e+01] [-4.22307039e-02 -9.06604556e-04 9.99107475e-01 -3.32494358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751052754 meters 0.01723198036105233 Centerline is valid? [True, True] Translation: X:49.95, Y:-10.85, Z:-3.33 [[ 9.23220893e-01 3.82261549e-01 3.92337935e-02 4.99477978e+01] [-3.81955681e-01 9.24053779e-01 -1.53124361e-02 -1.08455704e+01] [-4.21074907e-02 -8.48809423e-04 9.99112726e-01 -3.32756053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781052754 meters 0.016618369035107525 Centerline is valid? [True, True] Translation: X:49.98, Y:-10.86, Z:-3.33 [[ 9.24129102e-01 3.80228037e-01 3.75771498e-02 4.99763298e+01] [-3.79945434e-01 9.24892495e-01 -1.46744664e-02 -1.08617423e+01] [-4.03344674e-02 -7.16164981e-04 9.99185978e-01 -3.32908096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811052754 meters 0.015868761214900846 Centerline is valid? [True, True] Translation: X:50.01, Y:-10.88, Z:-3.33 [[ 9.24478112e-01 3.79360678e-01 3.77584037e-02 5.00053004e+01] [-3.79074099e-01 9.25248630e-01 -1.47580516e-02 -1.08760926e+01] [-4.05345358e-02 -6.69737174e-04 9.99177914e-01 -3.32850413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841052754 meters 0.01551856365760512 Centerline is valid? [True, True] Translation: X:50.03, Y:-10.89, Z:-3.33 [[ 9.25121500e-01 3.77491622e-01 4.06237154e-02 5.00337647e+01] [-3.77157376e-01 9.26012794e-01 -1.58940336e-02 -1.08863140e+01] [-4.36179447e-02 -6.17621683e-04 9.99048094e-01 -3.33032100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871052754000004 meters 0.015367562967825453 Centerline is valid? [True, True] Translation: X:50.06, Y:-10.90, Z:-3.33 [[ 9.25302453e-01 3.76864318e-01 4.22925061e-02 5.00628845e+01] [-3.76501243e-01 9.26268273e-01 -1.65499240e-02 -1.08966352e+01] [-4.54112824e-02 -6.09495842e-04 9.98968190e-01 -3.33194942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901052754 meters 0.014790846868241453 Centerline is valid? [True, True] Translation: X:50.09, Y:-10.91, Z:-3.33 [[ 9.25974762e-01 3.74893805e-01 4.50041555e-02 5.00930049e+01] [-3.74479601e-01 9.27067609e-01 -1.76260307e-02 -1.09093505e+01] [-4.83297845e-02 -5.31878594e-04 9.98831292e-01 -3.32976503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931052754 meters 0.014654013756824739 Centerline is valid? [True, True] Translation: X:50.12, Y:-10.92, Z:-3.33 [[ 9.26458958e-01 3.73626233e-01 4.55767155e-02 5.01219147e+01] [-3.73199768e-01 9.27579225e-01 -1.78525954e-02 -1.09210819e+01] [-4.89462124e-02 -4.69522682e-04 9.98801305e-01 -3.33068997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961052754 meters 0.014269612461490173 Centerline is valid? [True, True] Translation: X:50.15, Y:-10.94, Z:-3.33 [[ 9.27603784e-01 3.70693833e-01 4.62309744e-02 5.01507845e+01] [-3.70250806e-01 9.28755074e-01 -1.81205181e-02 -1.09350918e+01] [-4.96544163e-02 -3.08394385e-04 9.98766411e-01 -3.33146025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991052754 meters 0.014030779757575756 Centerline is valid? [True, True] Translation: X:50.18, Y:-10.95, Z:-3.33 [[ 9.28127143e-01 3.69413395e-01 4.59755373e-02 5.01808431e+01] [-3.68973091e-01 9.29265135e-01 -1.80323835e-02 -1.09480504e+01] [-4.93848679e-02 -2.27391478e-04 9.98779797e-01 -3.33402764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021052754 meters 0.014119514970814066 Centerline is valid? [True, True] Translation: X:50.21, Y:-10.96, Z:-3.34 [[ 9.29746076e-01 3.65434726e-01 4.50521368e-02 5.02092552e+01] [-3.65006585e-01 9.30836968e-01 -1.76842433e-02 -1.09610273e+01] [-4.83986310e-02 -2.47075985e-06 9.98828100e-01 -3.33970648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051052754000004 meters 0.014376012065250573 Centerline is valid? [True, True] Translation: X:50.24, Y:-10.97, Z:-3.34 [[ 9.30802328e-01 3.62802145e-01 4.45155004e-02 5.02377110e+01] [-3.62380495e-01 9.31866183e-01 -1.74869712e-02 -1.09741829e+01] [-4.78268001e-02 1.45364428e-04 9.98855633e-01 -3.34360035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081052754 meters 0.015384715848245823 Centerline is valid? [True, True] Translation: X:50.27, Y:-10.99, Z:-3.35 [[ 9.33191800e-01 3.56766164e-01 4.32546971e-02 5.02654163e+01] [-3.56361108e-01 9.34193610e-01 -1.70017676e-02 -1.09902603e+01] [-4.64739170e-02 4.51618242e-04 9.98919402e-01 -3.34718040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111052754 meters 0.01594325554700348 Centerline is valid? [True, True] Translation: X:50.29, Y:-11.00, Z:-3.35 [[ 9.34089354e-01 3.54431176e-01 4.30769077e-02 5.02946221e+01] [-3.54026433e-01 9.35081927e-01 -1.69432883e-02 -1.10028773e+01] [-4.62856675e-02 5.76181228e-04 9.98928078e-01 -3.34971478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141052754 meters 0.01642380973807607 Centerline is valid? [True, True] Translation: X:50.32, Y:-11.01, Z:-3.35 [[ 9.34625357e-01 3.52930658e-01 4.37652018e-02 5.03232588e+01] [-3.52510656e-01 9.35649239e-01 -1.72261109e-02 -1.10139179e+01] [-4.70285004e-02 6.72260037e-04 9.98893322e-01 -3.35142247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.171052754 meters 0.01659704548308402 Centerline is valid? [True, True] Translation: X:50.35, Y:-11.03, Z:-3.35 [[ 9.34622722e-01 3.52968094e-01 4.35188744e-02 5.03529076e+01] [-3.52552316e-01 9.35635114e-01 -1.71405594e-02 -1.10258710e+01] [-4.67678576e-02 6.77276353e-04 9.98905556e-01 -3.35311456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201052754 meters 0.016001900779994003 Centerline is valid? [True, True] Translation: X:50.38, Y:-11.03, Z:-3.35 [[ 9.34052534e-01 3.54523954e-01 4.31118281e-02 5.03844533e+01] [-3.54117271e-01 9.35046740e-01 -1.69868400e-02 -1.10333743e+01] [-4.63338160e-02 5.99958081e-04 9.98925832e-01 -3.35417406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231052754000004 meters 0.015312637380973526 Centerline is valid? [True, True] Translation: X:50.42, Y:-11.04, Z:-3.36 [[ 9.33656101e-01 3.55535839e-01 4.33653376e-02 5.04160114e+01] [-3.55124914e-01 9.34662479e-01 -1.70981381e-02 -1.10413732e+01] [-4.66109548e-02 5.63669183e-04 9.98912960e-01 -3.35634512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261052754 meters 0.015192478836520577 Centerline is valid? [True, True] Translation: X:50.45, Y:-11.05, Z:-3.36 [[ 9.33170785e-01 3.56828827e-01 4.31911362e-02 5.04466824e+01] [-3.56422034e-01 9.34169647e-01 -1.70412488e-02 -1.10511748e+01] [-4.64286573e-02 5.08122895e-04 9.98921479e-01 -3.36097729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291052754 meters 0.015204469446380332 Centerline is valid? [True, True] Translation: X:50.48, Y:-11.06, Z:-3.36 [[ 9.32919982e-01 3.57445055e-01 4.35125319e-02 5.04753573e+01] [-3.57032275e-01 9.33934039e-01 -1.71803594e-02 -1.10627014e+01] [-4.67788692e-02 4.92522360e-04 9.98905148e-01 -3.36254839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321052754 meters 0.014705170294058396 Centerline is valid? [True, True] Translation: X:50.51, Y:-11.07, Z:-3.36 [[ 9.32209701e-01 3.59007605e-01 4.58106276e-02 5.05053479e+01] [-3.58551331e-01 9.33334527e-01 -1.80998242e-02 -1.10737497e+01] [-4.92546150e-02 4.47370149e-04 9.98786155e-01 -3.36224077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351052754 meters 0.014344693547047021 Centerline is valid? [True, True] Translation: X:50.53, Y:-11.08, Z:-3.36 [[ 9.31515373e-01 3.60568196e-01 4.76412116e-02 5.05349924e+01] [-3.60076055e-01 9.32732771e-01 -1.88364677e-02 -1.10848951e+01] [-5.12283505e-02 3.91999760e-04 9.98686889e-01 -3.36176659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381052754 meters 0.014196537457605516 Centerline is valid? [True, True] Translation: X:50.56, Y:-11.10, Z:-3.36 [[ 9.31066796e-01 3.61646262e-01 4.82348754e-02 5.05638253e+01] [-3.61142528e-01 9.32315322e-01 -1.90844187e-02 -1.10965049e+01] [-5.18719220e-02 3.49203791e-04 9.98653685e-01 -3.36342728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411052754 meters 0.013961866347186633 Centerline is valid? [True, True] Translation: X:50.59, Y:-11.11, Z:-3.36 [[ 9.30492911e-01 3.63072636e-01 4.85922244e-02 5.05935513e+01] [-3.62562733e-01 9.31760796e-01 -1.92375657e-02 -1.11081045e+01] [-5.22609633e-02 2.82688802e-04 9.98633422e-01 -3.36487387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441052754 meters 0.013443659659559409 Centerline is valid? [True, True] Translation: X:50.62, Y:-11.12, Z:-3.37 [[ 9.28914936e-01 3.67048094e-01 4.89156231e-02 5.06232967e+01] [-3.66536195e-01 9.30201963e-01 -1.93785161e-02 -1.11187099e+01] [-5.26142561e-02 7.16466782e-05 9.98614908e-01 -3.36683761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471052754 meters 0.013401604923323956 Centerline is valid? [True, True] Translation: X:50.65, Y:-11.13, Z:-3.37 [[ 9.27898967e-01 3.69705490e-01 4.81804717e-02 5.06541710e+01] [-3.69211809e-01 9.29148990e-01 -1.90995722e-02 -1.11298604e+01] [-5.18280533e-02 -6.63257587e-05 9.98656021e-01 -3.37026547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501052754 meters 0.01363115295268165 Centerline is valid? [True, True] Translation: X:50.68, Y:-11.14, Z:-3.38 [[ 9.26035352e-01 3.74551200e-01 4.65824470e-02 5.06842090e+01] [-3.74095138e-01 9.27206180e-01 -1.84804499e-02 -1.11398707e+01] [-5.01134074e-02 -3.12716984e-04 9.98743485e-01 -3.37567757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.531052754 meters 0.013949129312848712 Centerline is valid? [True, True] Translation: X:50.71, Y:-11.15, Z:-3.38 [[ 9.25076413e-01 3.76968534e-01 4.61340942e-02 5.07138516e+01] [-3.76523600e-01 9.26225966e-01 -1.83149620e-02 -1.11511353e+01] [-4.96347604e-02 -4.27835848e-04 9.98767344e-01 -3.37897890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561052754 meters 0.014156392615308528 Centerline is valid? [True, True] Translation: X:50.74, Y:-11.16, Z:-3.38 [[ 9.23370806e-01 3.81190181e-01 4.56114084e-02 5.07426725e+01] [-3.80759826e-01 9.24496426e-01 -1.81194232e-02 -1.11644594e+01] [-4.90745302e-02 -6.36045535e-04 9.98794917e-01 -3.37996005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.591052754 meters 0.015673020489520285 Centerline is valid? [True, True] Translation: X:50.77, Y:-11.17, Z:-3.39 [[ 9.23149303e-01 3.81964988e-01 4.35673219e-02 5.07716570e+01] [-3.81572583e-01 9.24176577e-01 -1.73210356e-02 -1.11734664e+01] [-4.68799276e-02 -6.34193561e-04 9.98900330e-01 -3.38810734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621052754000004 meters 0.016182925275901643 Centerline is valid? [True, True] Translation: X:50.80, Y:-11.18, Z:-3.39 [[ 9.22848336e-01 3.82854286e-01 4.21134699e-02 5.08004440e+01] [-3.82488372e-01 9.23808513e-01 -1.67474171e-02 -1.11835171e+01] [-4.53166024e-02 -6.52586487e-04 9.98972462e-01 -3.39294036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651052754 meters 0.015160738632558398 Centerline is valid? [True, True] Translation: X:50.83, Y:-11.20, Z:-3.39 [[ 9.22541415e-01 3.83869405e-01 3.95172959e-02 5.08288732e+01] [-3.83547830e-01 9.23387164e-01 -1.57228198e-02 -1.11972560e+01] [-4.25252733e-02 -6.51820699e-04 9.99095179e-01 -3.39449744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681052754 meters 0.015309022045521023 Centerline is valid? [True, True] Translation: X:50.86, Y:-11.21, Z:-3.40 [[ 9.22441433e-01 3.84211253e-01 3.85164416e-02 5.08575893e+01] [-3.83905581e-01 9.23244986e-01 -1.53362690e-02 -1.12090702e+01] [-4.14524787e-02 -6.39866981e-04 9.99140272e-01 -3.39749336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711052754 meters 0.015452185627487947 Centerline is valid? [True, True] Translation: X:50.89, Y:-11.22, Z:-3.40 [[ 9.22236082e-01 3.84705680e-01 3.84986819e-02 5.08885054e+01] [-3.84400627e-01 9.23039059e-01 -1.53314393e-02 -1.12210449e+01] [-4.14338790e-02 -6.59710938e-04 9.99141030e-01 -3.39986637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741052754 meters 0.015756311130762927 Centerline is valid? [True, True] Translation: X:50.92, Y:-11.23, Z:-3.40 [[ 9.22147978e-01 3.84884774e-01 3.88177529e-02 5.09188368e+01] [-3.84574106e-01 9.22964397e-01 -1.54751196e-02 -1.12314788e+01] [-4.17835418e-02 -6.57952395e-04 9.99126470e-01 -3.40321797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771052754 meters 0.017714870456656158 Centerline is valid? [True, True] Translation: X:50.95, Y:-11.24, Z:-3.41 [[ 9.22074836e-01 3.85071400e-01 3.87041951e-02 5.09493576e+01] [-3.84762726e-01 9.22886545e-01 -1.54295054e-02 -1.12394154e+01] [-4.16610421e-02 -6.64772961e-04 9.99131581e-01 -3.41092465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801052754000004 meters 0.015417519069294826 Centerline is valid? [True, True] Translation: X:50.98, Y:-11.26, Z:-3.41 [[ 9.22080294e-01 3.85087858e-01 3.84092797e-02 5.09785175e+01] [-3.84783447e-01 9.22879688e-01 -1.53225482e-02 -1.12550739e+01] [-4.13476713e-02 -6.50635256e-04 9.99144608e-01 -3.40752333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.831052754 meters 0.01774356073466717 Centerline is valid? [True, True] Translation: X:51.01, Y:-11.26, Z:-3.42 [[ 9.21900695e-01 3.85471756e-01 3.88668733e-02 5.10090619e+01] [-3.85159814e-01 9.22719397e-01 -1.55187709e-02 -1.12617342e+01] [-4.18452658e-02 -6.63192014e-04 9.99123883e-01 -3.41612920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861052754 meters 0.015220167208414554 Centerline is valid? [True, True] Translation: X:51.04, Y:-11.28, Z:-3.41 [[ 9.21704424e-01 3.85949332e-01 3.87823067e-02 5.10384593e+01] [-3.85638826e-01 9.22519732e-01 -1.54932118e-02 -1.12777502e+01] [-4.17570380e-02 -6.75801378e-04 9.99127566e-01 -3.41239192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.891052754 meters 0.015243484193971124 Centerline is valid? [True, True] Translation: X:51.07, Y:-11.29, Z:-3.42 [[ 9.21131995e-01 3.87509966e-01 3.67678426e-02 5.10678162e+01] [-3.87231560e-01 9.21865252e-01 -1.47028978e-02 -1.12896480e+01] [-3.95925159e-02 -6.94359528e-04 9.99215668e-01 -3.41509365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921052754 meters 0.015417955883085163 Centerline is valid? [True, True] Translation: X:51.10, Y:-11.30, Z:-3.42 [[ 9.20721978e-01 3.88592257e-01 3.55962988e-02 5.10976577e+01] [-3.88332051e-01 9.21409543e-01 -1.42362890e-02 -1.13014926e+01] [-3.83308811e-02 -7.15519589e-04 9.99264846e-01 -3.41789626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951052754 meters 0.016735640600423905 Centerline is valid? [True, True] Translation: X:51.13, Y:-11.31, Z:-3.42 [[ 9.19937135e-01 3.90510609e-01 3.48874195e-02 5.11269609e+01] [-3.90261661e-01 9.20598105e-01 -1.39629844e-02 -1.13112735e+01] [-3.75699858e-02 -7.70154436e-04 9.99293702e-01 -3.42266856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981052754000004 meters 0.01666445316413814 Centerline is valid? [True, True] Translation: X:51.16, Y:-11.32, Z:-3.42 [[ 9.19641631e-01 3.91243723e-01 3.44618666e-02 5.11567974e+01] [-3.91001010e-01 9.20286769e-01 -1.38011967e-02 -1.13241399e+01] [-3.71144314e-02 -7.82469569e-04 9.99310716e-01 -3.42393946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011052754 meters 0.01647739901663053 Centerline is valid? [True, True] Translation: X:51.19, Y:-11.34, Z:-3.42 [[ 9.19163267e-01 3.92383347e-01 3.42665605e-02 5.11866745e+01] [-3.92143831e-01 9.19801416e-01 -1.37321210e-02 -1.13363433e+01] [-3.69066864e-02 -8.15359087e-04 9.99318384e-01 -3.42419107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041052754 meters 0.016802312781083153 Centerline is valid? [True, True] Translation: X:51.22, Y:-11.35, Z:-3.43 [[ 9.18711797e-01 3.93353303e-01 3.52393751e-02 5.12170738e+01] [-3.93100312e-01 9.19386982e-01 -1.41322845e-02 -1.13465276e+01] [-3.79576035e-02 -8.69112872e-04 9.99278973e-01 -3.42702342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071052754 meters 0.016710913691495848 Centerline is valid? [True, True] Translation: X:51.25, Y:-11.36, Z:-3.43 [[ 9.18221112e-01 3.94350401e-01 3.68476640e-02 5.12473211e+01] [-3.94074150e-01 9.18959669e-01 -1.47881786e-02 -1.13570775e+01] [-3.96932413e-02 -9.41894117e-04 9.99211469e-01 -3.42747604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101052754 meters 0.015861854560029164 Centerline is valid? [True, True] Translation: X:51.28, Y:-11.37, Z:-3.43 [[ 9.18012346e-01 3.94781812e-01 3.74253079e-02 5.12760391e+01] [-3.94496767e-01 9.18774394e-01 -1.50304172e-02 -1.13708223e+01] [-4.03191499e-02 -9.66054421e-04 9.99186385e-01 -3.42623430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131052754 meters 0.016673116555043777 Centerline is valid? [True, True] Translation: X:51.31, Y:-11.38, Z:-3.43 [[ 9.17955125e-01 3.94794400e-01 3.86751859e-02 5.13055486e+01] [-3.94489410e-01 9.18768964e-01 -1.55465644e-02 -1.13812949e+01] [-4.16712571e-02 -9.85902779e-04 9.99130889e-01 -3.42953675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161052754 meters 0.016209846458396206 Centerline is valid? [True, True] Translation: X:51.33, Y:-11.39, Z:-3.43 [[ 9.18325332e-01 3.93933626e-01 3.86637138e-02 5.13348569e+01] [-3.93627892e-01 9.19138406e-01 -1.55458393e-02 -1.13944946e+01] [-4.16613331e-02 -9.42978172e-04 9.99131345e-01 -3.43316419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191052754 meters 0.015780885857535048 Centerline is valid? [True, True] Translation: X:51.36, Y:-11.41, Z:-3.44 [[ 9.18707791e-01 3.93041616e-01 3.86559411e-02 5.13642347e+01] [-3.92734769e-01 9.19520251e-01 -1.55534556e-02 -1.14077046e+01] [-4.16580760e-02 -8.92451287e-04 9.99131527e-01 -3.43572315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221052754 meters 0.015812004597752692 Centerline is valid? [True, True] Translation: X:51.39, Y:-11.42, Z:-3.44 [[ 9.18913962e-01 3.92506832e-01 3.91856817e-02 5.13926336e+01] [-3.92190537e-01 9.19748678e-01 -1.57781943e-02 -1.14199059e+01] [-4.22340280e-02 -8.69450529e-04 9.99107367e-01 -3.43874631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251052754 meters 0.015429436519677032 Centerline is valid? [True, True] Translation: X:51.42, Y:-11.43, Z:-3.44 [[ 9.19576882e-01 3.90823088e-01 4.04434463e-02 5.14204511e+01] [-3.90484054e-01 9.20465459e-01 -1.62954607e-02 -1.14341947e+01] [-4.35954377e-02 -8.07591917e-04 9.99048941e-01 -3.43939575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281052754 meters 0.014693702518266896 Centerline is valid? [True, True] Translation: X:51.45, Y:-11.45, Z:-3.44 [[ 9.20099460e-01 3.89365654e-01 4.25601982e-02 5.14498020e+01] [-3.88987971e-01 9.21082951e-01 -1.71626025e-02 -1.14490345e+01] [-4.58840009e-02 -7.64103862e-04 9.98946482e-01 -3.43805567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311052754 meters 0.014743678120639534 Centerline is valid? [True, True] Translation: X:51.48, Y:-11.46, Z:-3.44 [[ 9.20194809e-01 3.88942492e-01 4.43311586e-02 5.14789100e+01] [-3.88532112e-01 9.21261712e-01 -1.78789305e-02 -1.14601439e+01] [-4.77944749e-02 -7.71979638e-04 9.98856893e-01 -3.44000540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341052754 meters 0.013915784704896496 Centerline is valid? [True, True] Translation: X:51.51, Y:-11.47, Z:-3.44 [[ 9.20758880e-01 3.87397833e-01 4.61086209e-02 5.15083545e+01] [-3.86951336e-01 9.21912370e-01 -1.86076952e-02 -1.14732311e+01] [-4.97166887e-02 -7.08591872e-04 9.98763109e-01 -3.44174079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371052754000004 meters 0.013838677293972364 Centerline is valid? [True, True] Translation: X:51.54, Y:-11.49, Z:-3.44 [[ 9.21052497e-01 3.86667839e-01 4.63711024e-02 5.15372006e+01] [-3.86214660e-01 9.22218816e-01 -1.87267441e-02 -1.14852553e+01] [-5.00053328e-02 -6.60885147e-04 9.98748732e-01 -3.44389924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401052754 meters 0.013838677293972364 Centerline is valid? [True, True] Translation: X:51.57, Y:-11.50, Z:-3.45 [[ 9.20950077e-01 3.86912170e-01 4.63673273e-02 5.15671408e+01] [-3.86458830e-01 9.22116333e-01 -1.87360860e-02 -1.14974387e+01] [-5.00052895e-02 -6.64063237e-04 9.98748732e-01 -3.44598976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431052754 meters 0.013482005586958229 Centerline is valid? [True, True] Translation: X:51.59, Y:-11.51, Z:-3.45 [[ 9.21771713e-01 3.84729237e-01 4.81697350e-02 5.15949642e+01] [-3.84236117e-01 9.23029312e-01 -1.94806658e-02 -1.15104988e+01] [-5.19568590e-02 -5.51825241e-04 9.98649178e-01 -3.44743165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461052754 meters 0.01326213861278243 Centerline is valid? [True, True] Translation: X:51.62, Y:-11.52, Z:-3.45 [[ 9.22221378e-01 3.83504282e-01 4.93172914e-02 5.16237197e+01] [-3.82984958e-01 9.23538972e-01 -1.99571960e-02 -1.15232927e+01] [-5.32001107e-02 -4.82828006e-04 9.98583755e-01 -3.44945437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491052754 meters 0.013086607033765353 Centerline is valid? [True, True] Translation: X:51.65, Y:-11.54, Z:-3.45 [[ 9.22530225e-01 3.82703761e-01 4.97575604e-02 5.16528425e+01] [-3.82173234e-01 9.23871013e-01 -2.01487265e-02 -1.15362995e+01] [-5.36805611e-02 -4.28198544e-04 9.98558067e-01 -3.45145502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521052754 meters 0.012899046607622047 Centerline is valid? [True, True] Translation: X:51.68, Y:-11.55, Z:-3.45 [[ 9.23018376e-01 3.81391168e-01 5.07725785e-02 5.16812456e+01] [-3.80836011e-01 9.24413683e-01 -2.05736714e-02 -1.15497850e+01] [-5.47814829e-02 -3.46149529e-04 9.98498307e-01 -3.45321565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551052754000004 meters 0.012786667081005251 Centerline is valid? [True, True] Translation: X:51.71, Y:-11.56, Z:-3.46 [[ 9.23105599e-01 3.81055969e-01 5.16952690e-02 5.17107015e+01] [-3.80479201e-01 9.24551916e-01 -2.09602370e-02 -1.15621420e+01] [-5.57819834e-02 -3.20462535e-04 9.98442922e-01 -3.45525741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581052754 meters 0.012531999409370859 Centerline is valid? [True, True] Translation: X:51.74, Y:-11.58, Z:-3.46 [[ 9.23344113e-01 3.80452006e-01 5.18837178e-02 5.17402011e+01] [-3.79869338e-01 9.24800625e-01 -2.10496855e-02 -1.15755191e+01] [-5.59904897e-02 -2.72930381e-04 9.98431265e-01 -3.45745048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611052754 meters 0.01253553714365127 Centerline is valid? [True, True] Translation: X:51.77, Y:-11.59, Z:-3.46 [[ 9.23671926e-01 3.79754817e-01 5.11512742e-02 5.17698080e+01] [-3.79186507e-01 9.25087150e-01 -2.07691785e-02 -1.15870826e+01] [-5.52065820e-02 -2.11965917e-04 9.98474931e-01 -3.46340274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641052754 meters 0.012605388056840841 Centerline is valid? [True, True] Translation: X:51.80, Y:-11.60, Z:-3.47 [[ 9.23993692e-01 3.78954232e-01 5.12771653e-02 5.17989255e+01] [-3.78381008e-01 9.25415403e-01 -2.08361554e-02 -1.15988692e+01] [-5.53486278e-02 -1.49829347e-04 9.98467079e-01 -3.46702487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671052754 meters 0.012563968466214949 Centerline is valid? [True, True] Translation: X:51.83, Y:-11.61, Z:-3.47 [[ 9.24529318e-01 3.77701696e-01 5.08622620e-02 5.18289960e+01] [-3.77135023e-01 9.25927333e-01 -2.06820980e-02 -1.16116859e+01] [-5.49064220e-02 -6.07343712e-05 9.98491503e-01 -3.47016282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701052754 meters 0.012732466752159092 Centerline is valid? [True, True] Translation: X:51.86, Y:-11.63, Z:-3.47 [[ 9.25467515e-01 3.75636246e-01 4.90641419e-02 5.18569603e+01] [-3.75105230e-01 9.26767180e-01 -1.99665033e-02 -1.16252664e+01] [-5.29711787e-02 7.41339646e-05 9.98596039e-01 -3.47491616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731052754000004 meters 0.012800575819492647 Centerline is valid? [True, True] Translation: X:51.89, Y:-11.64, Z:-3.48 [[ 9.25233492e-01 3.76286577e-01 4.84912021e-02 5.18868062e+01] [-3.75768171e-01 9.26503324e-01 -1.97451774e-02 -1.16363565e+01] [-5.23571051e-02 4.74491346e-05 9.98628425e-01 -3.47899498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761052754 meters 0.01265315863974587 Centerline is valid? [True, True] Translation: X:51.92, Y:-11.65, Z:-3.48 [[ 9.24756126e-01 3.77449455e-01 4.85594201e-02 5.19176314e+01] [-3.76930459e-01 9.26030188e-01 -1.97868584e-02 -1.16472541e+01] [-5.24360278e-02 -5.50600040e-06 9.98624285e-01 -3.48072888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791052754 meters 0.01271505926910404 Centerline is valid? [True, True] Translation: X:51.95, Y:-11.65, Z:-3.49 [[ 9.24160645e-01 3.79122554e-01 4.68315153e-02 5.19478162e+01] [-3.78641250e-01 9.25346466e-01 -1.90976907e-02 -1.16545961e+01] [-5.05757425e-02 -8.30092740e-05 9.98720225e-01 -3.48711064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821052754 meters 0.012726345866750564 Centerline is valid? [True, True] Translation: X:51.98, Y:-11.66, Z:-3.49 [[ 9.23774368e-01 3.80241435e-01 4.53582256e-02 5.19785165e+01] [-3.79790778e-01 9.24887255e-01 -1.85075838e-02 -1.16646505e+01] [-4.89885950e-02 -1.29804260e-04 9.98799330e-01 -3.49112941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851052754 meters 0.012871797290401167 Centerline is valid? [True, True] Translation: X:52.01, Y:-11.68, Z:-3.49 [[ 9.23470592e-01 3.81071925e-01 4.45674091e-02 5.20088177e+01] [-3.80637231e-01 9.24545382e-01 -1.81971448e-02 -1.16758500e+01] [-4.81390133e-02 -1.59487102e-04 9.98840633e-01 -3.49489541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881052754 meters 0.012871180464932512 Centerline is valid? [True, True] Translation: X:52.04, Y:-11.69, Z:-3.50 [[ 9.23517992e-01 3.80898517e-01 4.50648278e-02 5.20368456e+01] [-3.80453210e-01 9.24616840e-01 -1.84134466e-02 -1.16889507e+01] [-4.86813532e-02 -1.39909135e-04 9.98814350e-01 -3.49700663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.911052754 meters 0.012734542347631567 Centerline is valid? [True, True] Translation: X:52.07, Y:-11.70, Z:-3.50 [[ 9.23457317e-01 3.80945159e-01 4.59060914e-02 5.20654579e+01] [-3.80482509e-01 9.24597625e-01 -1.87694371e-02 -1.17019962e+01] [-4.95947893e-02 -1.33690860e-04 9.98769412e-01 -3.49775341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941052754 meters 0.01251281074397713 Centerline is valid? [True, True] Translation: X:52.09, Y:-11.71, Z:-3.50 [[ 9.23179436e-01 3.81405871e-01 4.76370714e-02 5.20949238e+01] [-3.80907626e-01 9.24407669e-01 -1.94895365e-02 -1.17139429e+01] [-5.14694978e-02 -1.52984485e-04 9.98674555e-01 -3.49732821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.971052754 meters 0.012473296099659562 Centerline is valid? [True, True] Translation: X:52.13, Y:-11.72, Z:-3.50 [[ 9.22510166e-01 3.82937933e-01 4.83066520e-02 5.21263784e+01] [-3.82426982e-01 9.23774045e-01 -1.97766725e-02 -1.17246331e+01] [-5.21976694e-02 -2.29585700e-04 9.98636746e-01 -3.50069673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001052754 meters 0.01233094711414647 Centerline is valid? [True, True] Translation: X:52.16, Y:-11.74, Z:-3.50 [[ 9.22187705e-01 3.83570944e-01 4.94284183e-02 5.21559633e+01] [-3.83036004e-01 9.23511378e-01 -2.02522773e-02 -1.17367487e+01] [-5.34158918e-02 -2.56462740e-04 9.98572319e-01 -3.50196552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.031052754 meters 0.012309643335441415 Centerline is valid? [True, True] Translation: X:52.18, Y:-11.75, Z:-3.50 [[ 9.21778797e-01 3.84406911e-01 5.05487506e-02 5.21844805e+01] [-3.83847872e-01 9.23163711e-01 -2.07261484e-02 -1.17491744e+01] [-5.46320469e-02 -2.98106184e-04 9.98506510e-01 -3.50432720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061052754 meters 0.012347870431353625 Centerline is valid? [True, True] Translation: X:52.21, Y:-11.76, Z:-3.51 [[ 9.21659096e-01 3.84752363e-01 5.01011964e-02 5.22139036e+01] [-3.84203032e-01 9.23019787e-01 -2.05548927e-02 -1.17626667e+01] [-5.41529392e-02 -3.04427698e-04 9.98532607e-01 -3.50679235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.091052754 meters 0.012463849306372708 Centerline is valid? [True, True] Translation: X:52.24, Y:-11.78, Z:-3.51 [[ 9.21017783e-01 3.86425363e-01 4.90069642e-02 5.22422905e+01] [-3.85901303e-01 9.22320603e-01 -2.01218507e-02 -1.17754494e+01] [-5.29757262e-02 -3.79269074e-04 9.98595728e-01 -3.50998589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121052754000004 meters 0.012512719388134677 Centerline is valid? [True, True] Translation: X:52.27, Y:-11.79, Z:-3.51 [[ 9.20209568e-01 3.88338758e-01 4.90648453e-02 5.22721615e+01] [-3.87815516e-01 9.21516565e-01 -2.01580148e-02 -1.17868408e+01] [-5.30422061e-02 -4.78510148e-04 9.98592157e-01 -3.51213281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.151052754 meters 0.0132591481418884 Centerline is valid? [True, True] Translation: X:52.30, Y:-11.80, Z:-3.52 [[ 9.18275825e-01 3.93011344e-01 4.80790301e-02 5.23024710e+01] [-3.92514632e-01 9.19533340e-01 -1.97661311e-02 -1.17957246e+01] [-5.19785849e-02 -7.20962536e-04 9.98647939e-01 -3.51582681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181052754 meters 0.013586030502505347 Centerline is valid? [True, True] Translation: X:52.33, Y:-11.81, Z:-3.52 [[ 9.17302986e-01 3.95449576e-01 4.66354421e-02 5.23325296e+01] [-3.94984768e-01 9.18487321e-01 -1.91852885e-02 -1.18064955e+01] [-5.04208765e-02 -8.21566808e-04 9.98727721e-01 -3.51863145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211052754 meters 0.015025880554332426 Centerline is valid? [True, True] Translation: X:52.36, Y:-11.81, Z:-3.52 [[ 9.15582099e-01 3.99471480e-01 4.61731298e-02 5.23630683e+01] [-3.99020271e-01 9.16745055e-01 -1.90085983e-02 -1.18134184e+01] [-4.99223813e-02 -1.02008242e-03 9.98752580e-01 -3.52288383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241052754 meters 0.014975243794036919 Centerline is valid? [True, True] Translation: X:52.39, Y:-11.83, Z:-3.52 [[ 9.14980397e-01 4.00781719e-01 4.67427681e-02 5.23925767e+01] [-4.00320383e-01 9.16172919e-01 -1.92554726e-02 -1.18254314e+01] [-5.05416997e-02 -1.09370286e-03 9.98721353e-01 -3.52447871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271052754 meters 0.015285030869578279 Centerline is valid? [True, True] Translation: X:52.42, Y:-11.84, Z:-3.52 [[ 9.14392890e-01 4.02115218e-01 4.67866886e-02 5.24217456e+01] [-4.01654086e-01 9.15588343e-01 -1.92868018e-02 -1.18382561e+01] [-5.05928633e-02 -1.15635018e-03 9.98718692e-01 -3.52493838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301052754000004 meters 0.014866994231184323 Centerline is valid? [True, True] Translation: X:52.45, Y:-11.85, Z:-3.53 [[ 9.14299930e-01 4.02227134e-01 4.76337155e-02 5.24508819e+01] [-4.01748591e-01 9.15539164e-01 -1.96496568e-02 -1.18517296e+01] [-5.15141572e-02 -1.17109819e-03 9.98671578e-01 -3.52559384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331052754 meters 0.014818358915758854 Centerline is valid? [True, True] Translation: X:52.48, Y:-11.86, Z:-3.53 [[ 9.14513205e-01 4.01582535e-01 4.89598438e-02 5.24798533e+01] [-4.01075253e-01 9.15822111e-01 -2.02114499e-02 -1.18631522e+01] [-5.29550728e-02 -1.15294394e-03 9.98596230e-01 -3.52754663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361052754 meters 0.015223218653684579 Centerline is valid? [True, True] Translation: X:52.51, Y:-11.87, Z:-3.53 [[ 9.14624719e-01 4.01266616e-01 4.94644022e-02 5.25091295e+01] [-4.00747646e-01 9.15960598e-01 -2.04330077e-02 -1.18743307e+01] [-5.35065273e-02 -1.13420884e-03 9.98566856e-01 -3.53102886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391052754 meters 0.014436794309505362 Centerline is valid? [True, True] Translation: X:52.54, Y:-11.89, Z:-3.53 [[ 9.14979948e-01 4.00383532e-01 5.00471999e-02 5.25378200e+01] [-3.99850226e-01 9.16347016e-01 -2.06867820e-02 -1.18879987e+01] [-5.41432491e-02 -1.08339351e-03 9.98532591e-01 -3.53252921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.421052754 meters 0.014382264362297564 Centerline is valid? [True, True] Translation: X:52.57, Y:-11.90, Z:-3.53 [[ 9.15280344e-01 3.99544075e-01 5.12486433e-02 5.25665658e+01] [-3.98982696e-01 9.16713391e-01 -2.11983093e-02 -1.19008879e+01] [-5.54499764e-02 -1.04492603e-03 9.98460920e-01 -3.53383207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451052754 meters 0.013731374955318001 Centerline is valid? [True, True] Translation: X:52.59, Y:-11.92, Z:-3.53 [[ 9.16217658e-01 3.97255496e-01 5.22807255e-02 5.25946124e+01] [-3.96666687e-01 9.17707601e-01 -2.16402064e-02 -1.19159506e+01] [-5.65751101e-02 -9.10882957e-04 9.98397930e-01 -3.53332180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481052754000004 meters 0.012422716388874853 Centerline is valid? [True, True] Translation: X:52.62, Y:-11.93, Z:-3.53 [[ 9.17223225e-01 3.94889187e-01 5.25745715e-02 5.26227999e+01] [-3.94289028e-01 9.18728447e-01 -2.17762194e-02 -1.19309416e+01] [-5.69009479e-02 -7.55922448e-04 9.98379542e-01 -3.53423023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.511052754 meters 0.012488174762280115 Centerline is valid? [True, True] Translation: X:52.65, Y:-11.94, Z:-3.54 [[ 9.17909560e-01 3.93266541e-01 5.27585732e-02 5.26520596e+01] [-3.92658620e-01 9.19424284e-01 -2.18676632e-02 -1.19421700e+01] [-5.71073336e-02 -6.43571407e-04 9.98367837e-01 -3.53779913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541052754 meters 0.011958418888020551 Centerline is valid? [True, True] Translation: X:52.68, Y:-11.96, Z:-3.54 [[ 9.18584652e-01 3.91630091e-01 5.31799649e-02 5.26815229e+01] [-3.91008864e-01 9.20122594e-01 -2.20562969e-02 -1.19554749e+01] [-5.75699968e-02 -5.33261900e-04 9.98341330e-01 -3.54012196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.571052754 meters 0.01121363857435041 Centerline is valid? [True, True] Translation: X:52.71, Y:-11.97, Z:-3.54 [[ 9.20904822e-01 3.86027885e-01 5.40072273e-02 5.27093419e+01] [-3.85376625e-01 9.22487096e-01 -2.24145957e-02 -1.19717502e+01] [-5.84736293e-02 -1.71413793e-04 9.98288939e-01 -3.54276474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601052754 meters 0.011011934349120163 Centerline is valid? [True, True] Translation: X:52.74, Y:-11.99, Z:-3.54 [[ 9.22446596e-01 3.82285885e-01 5.43118667e-02 5.27379300e+01] [-3.81619874e-01 9.24044098e-01 -2.25560782e-02 -1.19884214e+01] [-5.88094302e-02 8.02898591e-05 9.98269224e-01 -3.54341394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.631052754 meters 0.01202118279948832 Centerline is valid? [True, True] Translation: X:52.76, Y:-12.01, Z:-3.54 [[ 9.25795951e-01 3.74013212e-01 5.49178898e-02 5.27635701e+01] [-3.73316567e-01 9.27423161e-01 -2.28258957e-02 -1.20079465e+01] [-5.94693095e-02 6.30363727e-04 9.98229935e-01 -3.54348736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661052754 meters 0.012634668864037354 Centerline is valid? [True, True] Translation: X:52.79, Y:-12.02, Z:-3.55 [[ 9.26896347e-01 3.71280569e-01 5.48990080e-02 5.27928271e+01] [-3.70578766e-01 9.28520366e-01 -2.28321835e-02 -1.20198997e+01] [-5.94519931e-02 8.18660779e-04 9.98230830e-01 -3.54568616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.691052754 meters 0.013483173567780579 Centerline is valid? [True, True] Translation: X:52.82, Y:-12.03, Z:-3.55 [[ 9.29545850e-01 3.64732627e-01 5.39872565e-02 5.28225895e+01] [-3.64041996e-01 9.31111483e-01 -2.24684600e-02 -1.20313127e+01] [-5.84631349e-02 1.23183515e-03 9.98288808e-01 -3.54897206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721052754 meters 0.014331723126657548 Centerline is valid? [True, True] Translation: X:52.85, Y:-12.04, Z:-3.55 [[ 9.30957723e-01 3.61218866e-01 5.32789723e-02 5.28515483e+01] [-3.60540273e-01 9.32479954e-01 -2.21776142e-02 -1.20444300e+01] [-5.76925463e-02 1.43720601e-03 9.98333363e-01 -3.55115670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.751052754 meters 0.019177994714988187 Centerline is valid? [True, True] Translation: X:52.88, Y:-12.06, Z:-3.55 [[ 9.34333794e-01 3.52612434e-01 5.18153649e-02 5.28773914e+01] [-3.51957223e-01 9.35767488e-01 -2.15712917e-02 -1.20626073e+01] [-5.60934396e-02 1.91799487e-03 9.98423681e-01 -3.55498870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781052754 meters 0.020399483096121357 Centerline is valid? [True, True] Translation: X:52.91, Y:-12.08, Z:-3.56 [[ 9.37652706e-01 3.43727169e-01 5.15658470e-02 5.29064072e+01] [-3.43064054e-01 9.39066358e-01 -2.14809418e-02 -1.20759727e+01] [-5.58073355e-02 2.45127473e-03 9.98438547e-01 -3.55568099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811052754 meters 0.019299854087284893 Centerline is valid? [True, True] Translation: X:52.94, Y:-12.09, Z:-3.56 [[ 9.38566683e-01 3.41203020e-01 5.17018405e-02 5.29367992e+01] [-3.40532388e-01 9.39986000e-01 -2.15409708e-02 -1.20858642e+01] [-5.59488505e-02 2.61148630e-03 9.98430221e-01 -3.55703437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841052754 meters 0.02149925284309946 Centerline is valid? [True, True] Translation: X:52.97, Y:-12.10, Z:-3.56 [[ 9.38780118e-01 3.40740832e-01 5.08682200e-02 5.29658496e+01] [-3.40090865e-01 9.40153675e-01 -2.11959972e-02 -1.20960315e+01] [-5.50462857e-02 2.59856383e-03 9.98480422e-01 -3.56049537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871052754000004 meters 0.021539223449341532 Centerline is valid? [True, True] Translation: X:52.99, Y:-12.11, Z:-3.56 [[ 9.38216300e-01 3.42311454e-01 5.07251597e-02 5.29949421e+01] [-3.41666692e-01 9.39583183e-01 -2.11497884e-02 -1.21060339e+01] [-5.49003219e-02 2.51197876e-03 9.98488680e-01 -3.56258833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901052754 meters 0.018266481721865076 Centerline is valid? [True, True] Translation: X:53.03, Y:-12.11, Z:-3.56 [[ 9.36409431e-01 3.47231911e-01 5.06693012e-02 5.30265108e+01] [-3.46595005e-01 9.37776631e-01 -2.11398242e-02 -1.21109330e+01] [-5.48569081e-02 2.23380400e-03 9.98491727e-01 -3.56345448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931052754 meters 0.02000996306413217 Centerline is valid? [True, True] Translation: X:53.05, Y:-12.12, Z:-3.57 [[ 9.35408879e-01 3.49901239e-01 5.07873306e-02 5.30540424e+01] [-3.49264635e-01 9.36784256e-01 -2.12007883e-02 -1.21231416e+01] [-5.49949537e-02 2.09318713e-03 9.98484438e-01 -3.56586523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961052754 meters 0.01571594329396982 Centerline is valid? [True, True] Translation: X:53.09, Y:-12.13, Z:-3.57 [[ 9.32822015e-01 3.56688827e-01 5.11484923e-02 5.30874533e+01] [-3.56052957e-01 9.34221683e-01 -2.13574226e-02 -1.21254115e+01] [-5.54019846e-02 1.71110211e-03 9.98462664e-01 -3.56604657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991052754 meters 0.01531886388156323 Centerline is valid? [True, True] Translation: X:53.12, Y:-12.13, Z:-3.57 [[ 9.31238665e-01 3.60729563e-01 5.16597592e-02 5.31167007e+01] [-3.60086329e-01 9.32669254e-01 -2.15846973e-02 -1.21344515e+01] [-5.59677075e-02 1.49853166e-03 9.98431455e-01 -3.56839694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021052754 meters 0.013043874897318697 Centerline is valid? [True, True] Translation: X:53.15, Y:-12.14, Z:-3.57 [[ 9.27690642e-01 3.69507330e-01 5.34266428e-02 5.31481935e+01] [-3.68833103e-01 9.29227262e-01 -2.23346639e-02 -1.21403426e+01] [-5.78983151e-02 1.01414421e-03 9.98321970e-01 -3.56794842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051052754000004 meters 0.011778913851029882 Centerline is valid? [True, True] Translation: X:53.18, Y:-12.15, Z:-3.57 [[ 9.25846955e-01 3.74006720e-01 5.40961131e-02 5.31795915e+01] [-3.73322443e-01 9.27425688e-01 -2.26262561e-02 -1.21484230e+01] [-5.86324967e-02 7.53157232e-04 9.98279351e-01 -3.56857144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081052754 meters 0.010950183616631064 Centerline is valid? [True, True] Translation: X:53.21, Y:-12.15, Z:-3.57 [[ 9.22541371e-01 3.81956737e-01 5.50133655e-02 5.32115341e+01] [-3.81262145e-01 9.24180166e-01 -2.30260191e-02 -1.21533147e+01] [-5.96372044e-02 2.67941501e-04 9.98220082e-01 -3.57199582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111052754 meters 0.010855098708440966 Centerline is valid? [True, True] Translation: X:53.24, Y:-12.16, Z:-3.58 [[ 9.21417265e-01 3.84618359e-01 5.53077046e-02 5.32410610e+01] [-3.83920105e-01 9.23075677e-01 -2.31656438e-02 -1.21620983e+01] [-5.99631287e-02 1.11484356e-04 9.98200586e-01 -3.57523421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141052754 meters 0.010919128506038432 Centerline is valid? [True, True] Translation: X:53.27, Y:-12.17, Z:-3.58 [[ 9.19846028e-01 3.88437419e-01 5.47691214e-02 5.32724085e+01] [-3.87759010e-01 9.21475097e-01 -2.29476633e-02 -1.21710360e+01] [-5.93821126e-02 -1.28903366e-04 9.98235317e-01 -3.57701814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171052754 meters 0.010923923870805494 Centerline is valid? [True, True] Translation: X:53.30, Y:-12.18, Z:-3.58 [[ 9.18813030e-01 3.90931143e-01 5.43641125e-02 5.33028014e+01] [-3.90266057e-01 9.20419886e-01 -2.27955564e-02 -1.21814562e+01] [-5.89493032e-02 -2.71613629e-04 9.98260941e-01 -3.57958433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201052754 meters 0.011125390369396295 Centerline is valid? [True, True] Translation: X:53.33, Y:-12.19, Z:-3.58 [[ 9.18426389e-01 3.91920027e-01 5.37741593e-02 5.33328433e+01] [-3.91270034e-01 9.19999235e-01 -2.25647502e-02 -1.21934589e+01] [-5.83157629e-02 -3.16155070e-04 9.98298138e-01 -3.58217025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231052754000004 meters 0.01121975877968441 Centerline is valid? [True, True] Translation: X:53.36, Y:-12.21, Z:-3.58 [[ 9.18106671e-01 3.92799249e-01 5.28099429e-02 5.33633470e+01] [-3.92173271e-01 9.19624175e-01 -2.21698455e-02 -1.22061935e+01] [-5.72735988e-02 -3.56364967e-04 9.98358457e-01 -3.58465686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261052754 meters 0.011697463981899178 Centerline is valid? [True, True] Translation: X:53.39, Y:-12.22, Z:-3.59 [[ 9.17188310e-01 3.95050695e-01 5.19668330e-02 5.33927870e+01] [-3.94447161e-01 9.18659200e-01 -2.18337407e-02 -1.22170574e+01] [-5.63652436e-02 -4.72517965e-04 9.98410104e-01 -3.58700495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291052754 meters 0.011835587549397052 Centerline is valid? [True, True] Translation: X:53.42, Y:-12.23, Z:-3.59 [[ 9.16483795e-01 3.96604440e-01 5.25582681e-02 5.34231225e+01] [-3.95989226e-01 9.17989431e-01 -2.20892960e-02 -1.22289193e+01] [-5.70086476e-02 -5.68026063e-04 9.98373523e-01 -3.58887074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321052754 meters 0.011835587549397052 Centerline is valid? [True, True] Translation: X:53.45, Y:-12.24, Z:-3.59 [[ 9.16376432e-01 3.96853238e-01 5.25522904e-02 5.34528938e+01] [-3.96237618e-01 9.17881902e-01 -2.21035078e-02 -1.22415164e+01] [-5.70086449e-02 -5.68060791e-04 9.98373523e-01 -3.59096259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351052754 meters 0.01239910371695625 Centerline is valid? [True, True] Translation: X:53.48, Y:-12.25, Z:-3.59 [[ 9.14940011e-01 4.00229812e-01 5.19699287e-02 5.34825624e+01] [-3.99632266e-01 9.16414496e-01 -2.18751869e-02 -1.22533385e+01] [-5.63810979e-02 -7.54376566e-04 9.98409036e-01 -3.59239216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381052754 meters 0.01256313912923367 Centerline is valid? [True, True] Translation: X:53.51, Y:-12.27, Z:-3.59 [[ 9.14176644e-01 4.02034583e-01 5.14709305e-02 5.35122170e+01] [-4.01450509e-01 9.15624094e-01 -2.16796458e-02 -1.22658362e+01] [-5.58439915e-02 -8.44005395e-04 9.98439150e-01 -3.59492969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411052754 meters 0.013417830161694207 Centerline is valid? [True, True] Translation: X:53.54, Y:-12.28, Z:-3.60 [[ 9.12757585e-01 4.05368537e-01 5.04969379e-02 5.35407742e+01] [-4.04810673e-01 9.14152788e-01 -2.12837877e-02 -1.22787686e+01] [-5.47896945e-02 -1.01476077e-03 9.98497401e-01 -3.59865688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441052754 meters 0.013862894735486518 Centerline is valid? [True, True] Translation: X:53.57, Y:-12.29, Z:-3.60 [[ 9.12144412e-01 4.06779121e-01 5.02326411e-02 5.35695741e+01] [-4.06228501e-01 9.13525904e-01 -2.11855662e-02 -1.22923827e+01] [-5.45066649e-02 -1.08163471e-03 9.98512821e-01 -3.60088369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471052754 meters 0.014388671874331195 Centerline is valid? [True, True] Translation: X:53.60, Y:-12.31, Z:-3.60 [[ 9.11407633e-01 4.08498048e-01 4.96535075e-02 5.35963626e+01] [-4.07961837e-01 9.12758459e-01 -2.09555515e-02 -1.23095538e+01] [-5.38819609e-02 -1.15768658e-03 9.98546641e-01 -3.60120225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501052754 meters 0.014738055352304009 Centerline is valid? [True, True] Translation: X:53.62, Y:-12.32, Z:-3.60 [[ 9.11005655e-01 4.09460172e-01 4.91025829e-02 5.36246555e+01] [-4.08936524e-01 9.12327218e-01 -2.07356427e-02 -1.23245201e+01] [-5.32880427e-02 -1.18955177e-03 9.98578474e-01 -3.60246249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531052754 meters 0.015529028462463458 Centerline is valid? [True, True] Translation: X:53.65, Y:-12.34, Z:-3.61 [[ 9.10648841e-01 4.10370654e-01 4.81104513e-02 5.36522130e+01] [-4.09868462e-01 9.11918021e-01 -2.03314329e-02 -1.23400229e+01] [-5.22162110e-02 -1.20416089e-03 9.98635077e-01 -3.60537219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561052754 meters 0.0157676014532265 Centerline is valid? [True, True] Translation: X:53.68, Y:-12.35, Z:-3.61 [[ 9.10284829e-01 4.11173072e-01 4.81480449e-02 5.36811420e+01] [-4.10670907e-01 9.11556445e-01 -2.03532210e-02 -1.23537574e+01] [-5.22583570e-02 -1.24577298e-03 9.98632822e-01 -3.60801996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591052754 meters 0.016340897937245143 Centerline is valid? [True, True] Translation: X:53.71, Y:-12.37, Z:-3.61 [[ 9.09850896e-01 4.12173605e-01 4.77939967e-02 5.37084780e+01] [-4.11679493e-01 9.11104427e-01 -2.02167674e-02 -1.23716962e+01] [-5.18781398e-02 -1.28156438e-03 9.98652600e-01 -3.61001981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621052754000004 meters 0.016668136580594864 Centerline is valid? [True, True] Translation: X:53.74, Y:-12.39, Z:-3.61 [[ 9.09716891e-01 4.12598603e-01 4.66644498e-02 5.37365824e+01] [-4.12127501e-01 9.10912068e-01 -1.97516174e-02 -1.23879018e+01] [-5.06567003e-02 -1.26332307e-03 9.98715326e-01 -3.61231566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651052754 meters 0.01857707693403584 Centerline is valid? [True, True] Translation: X:53.76, Y:-12.40, Z:-3.62 [[ 9.10081525e-01 4.12025024e-01 4.45757399e-02 5.37629086e+01] [-4.11593905e-01 9.11171785e-01 -1.88794957e-02 -1.24034889e+01] [-4.83949811e-02 -1.16522266e-03 9.98827597e-01 -3.61901348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681052754 meters 0.01654138831291357 Centerline is valid? [True, True] Translation: X:53.79, Y:-12.42, Z:-3.62 [[ 9.10701133e-01 4.10710668e-01 4.40476300e-02 5.37898082e+01] [-4.10287656e-01 9.11765100e-01 -1.86666071e-02 -1.24211052e+01] [-4.78276664e-02 -1.07249860e-03 9.98855027e-01 -3.62051296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711052754 meters 0.01610237096912797 Centerline is valid? [True, True] Translation: X:53.82, Y:-12.43, Z:-3.62 [[ 9.11124605e-01 4.09712899e-01 4.45790692e-02 5.38190087e+01] [-4.09277691e-01 9.12213956e-01 -1.89068664e-02 -1.24346957e+01] [-4.84120361e-02 -1.01870728e-03 9.98826930e-01 -3.62123800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741052754 meters 0.015799991692511287 Centerline is valid? [True, True] Translation: X:53.85, Y:-12.45, Z:-3.62 [[ 9.11270594e-01 4.09349932e-01 4.49281410e-02 5.38489483e+01] [-4.08907215e-01 9.12376911e-01 -1.90594571e-02 -1.24476383e+01] [-4.87933860e-02 -1.00311824e-03 9.98808390e-01 -3.62195742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771052754 meters 0.01649523319686337 Centerline is valid? [True, True] Translation: X:53.88, Y:-12.46, Z:-3.62 [[ 9.10849750e-01 4.10383423e-01 4.40247471e-02 5.38784472e+01] [-4.09959451e-01 9.11912482e-01 -1.86781709e-02 -1.24576665e+01] [-4.78119281e-02 -1.03535384e-03 9.98855819e-01 -3.62415890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801052754000004 meters 0.01681061008051433 Centerline is valid? [True, True] Translation: X:53.91, Y:-12.47, Z:-3.63 [[ 9.10610810e-01 4.11017970e-01 4.30369794e-02 5.39080584e+01] [-4.10613046e-01 9.11626654e-01 -1.82693653e-02 -1.24687021e+01] [-4.67426949e-02 -1.03526368e-03 9.98906426e-01 -3.62667586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831052754 meters 0.016083446882153976 Centerline is valid? [True, True] Translation: X:53.94, Y:-12.48, Z:-3.63 [[ 9.10533143e-01 4.11350669e-01 4.14731588e-02 5.39364686e+01] [-4.10974502e-01 9.11476615e-01 -1.76164619e-02 -1.24825798e+01] [-4.50483578e-02 -1.00403834e-03 9.98984303e-01 -3.62833805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861052754 meters 0.01597307681793315 Centerline is valid? [True, True] Translation: X:53.97, Y:-12.50, Z:-3.63 [[ 9.10663771e-01 4.11137402e-01 4.07128008e-02 5.39662235e+01] [-4.10774281e-01 9.11572873e-01 -1.73028427e-02 -1.24961979e+01] [-4.42265306e-02 -9.66699515e-04 9.99021061e-01 -3.63114999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891052754 meters 0.016028684973881994 Centerline is valid? [True, True] Translation: X:54.00, Y:-12.51, Z:-3.63 [[ 9.11113951e-01 4.10157172e-01 4.05273128e-02 5.39950950e+01] [-4.09795777e-01 9.12014408e-01 -1.72377770e-02 -1.25085994e+01] [-4.40316911e-02 -9.02342578e-04 9.99029727e-01 -3.63478823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921052754 meters 0.015391191184225803 Centerline is valid? [True, True] Translation: X:54.02, Y:-12.52, Z:-3.64 [[ 9.12224114e-01 4.07617552e-01 4.11715544e-02 5.40226443e+01] [-4.07241440e-01 9.13152409e-01 -1.75239361e-02 -1.25227063e+01] [-4.47389680e-02 -7.81006032e-04 9.98998406e-01 -3.63623023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951052754 meters 0.014987844296811421 Centerline is valid? [True, True] Translation: X:54.05, Y:-12.54, Z:-3.63 [[ 9.13312392e-01 4.05048695e-01 4.23795767e-02 5.40503880e+01] [-4.04646901e-01 9.14294872e-01 -1.80491595e-02 -1.25387130e+01] [-4.60582182e-02 -6.64243315e-04 9.98938536e-01 -3.63422563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981052754000004 meters 0.014723454354627756 Centerline is valid? [True, True] Translation: X:54.08, Y:-12.55, Z:-3.63 [[ 9.13791329e-01 4.03902435e-01 4.29910459e-02 5.40791985e+01] [-4.03487127e-01 9.14801868e-01 -1.83215875e-02 -1.25524110e+01] [-4.67284229e-02 -6.04225827e-04 9.98907448e-01 -3.63374347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011052754 meters 0.01476784377935385 Centerline is valid? [True, True] Translation: X:54.11, Y:-12.56, Z:-3.63 [[ 9.13919714e-01 4.03316222e-01 4.56812950e-02 5.41082066e+01] [-4.02845865e-01 9.15060472e-01 -1.94818117e-02 -1.25648970e+01] [-4.96584780e-02 -5.97709052e-04 9.98766078e-01 -3.63221785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041052754 meters 0.014453438434098236 Centerline is valid? [True, True] Translation: X:54.14, Y:-12.58, Z:-3.63 [[ 9.13929831e-01 4.03051483e-01 4.77678409e-02 5.41378304e+01] [-4.02536149e-01 9.15177110e-01 -2.03839513e-02 -1.25780299e+01] [-5.19318165e-02 -5.98781548e-04 9.98650453e-01 -3.63169989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071052754 meters 0.014309249111108029 Centerline is valid? [True, True] Translation: X:54.17, Y:-12.59, Z:-3.63 [[ 9.14069280e-01 4.02595661e-01 4.89293878e-02 5.41671334e+01] [-4.02053539e-01 9.15377739e-01 -2.08937211e-02 -1.25911018e+01] [-5.32005938e-02 -5.73924928e-04 9.98583681e-01 -3.63291094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101052754 meters 0.014229706688370857 Centerline is valid? [True, True] Translation: X:54.20, Y:-12.61, Z:-3.63 [[ 9.14675251e-01 4.01235927e-01 4.87741434e-02 5.41960802e+01] [-4.00694586e-01 9.15974618e-01 -2.08410426e-02 -1.26056209e+01] [-5.30380524e-02 -4.80749318e-04 9.98592376e-01 -3.63472511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131052754 meters 0.01433961223563877 Centerline is valid? [True, True] Translation: X:54.22, Y:-12.62, Z:-3.64 [[ 9.14827352e-01 4.01042671e-01 4.74941199e-02 5.42249461e+01] [-4.00528455e-01 9.16059266e-01 -2.03071131e-02 -1.26192033e+01] [-5.16514475e-02 -4.45243922e-04 9.98665074e-01 -3.63712202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161052754 meters 0.014479264789850675 Centerline is valid? [True, True] Translation: X:54.25, Y:-12.63, Z:-3.64 [[ 9.14751140e-01 4.01412189e-01 4.58105416e-02 5.42529595e+01] [-4.00933642e-01 9.15897408e-01 -1.95998057e-02 -1.26324791e+01] [-4.98253573e-02 -4.38042664e-04 9.98757849e-01 -3.63975083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191052754 meters 0.01511235815135347 Centerline is valid? [True, True] Translation: X:54.28, Y:-12.65, Z:-3.64 [[ 9.14244257e-01 4.02937040e-01 4.24167473e-02 5.42808289e+01] [-4.02527890e-01 9.15227578e-01 -1.81597961e-02 -1.26456558e+01] [-4.61382314e-02 -4.71434475e-04 9.98934954e-01 -3.64308368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221052754 meters 0.015245461678782178 Centerline is valid? [True, True] Translation: X:54.31, Y:-12.66, Z:-3.65 [[ 9.13865526e-01 4.03902681e-01 4.13814526e-02 5.43107021e+01] [-4.03514134e-01 9.14801820e-01 -1.77193317e-02 -1.26581605e+01] [-4.50127137e-02 -5.04914583e-04 9.98986287e-01 -3.64584556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251052754 meters 0.015477959071581605 Centerline is valid? [True, True] Translation: X:54.34, Y:-12.67, Z:-3.65 [[ 9.13584664e-01 4.04398456e-01 4.27194345e-02 5.43399611e+01] [-4.03984235e-01 9.14582749e-01 -1.83066525e-02 -1.26673757e+01] [-4.64736398e-02 -5.33301091e-04 9.98919374e-01 -3.65032020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281052754 meters 0.015434781826429092 Centerline is valid? [True, True] Translation: X:54.37, Y:-12.68, Z:-3.65 [[ 9.13511715e-01 4.04457579e-01 4.37082766e-02 5.43694477e+01] [-4.04023763e-01 9.14556598e-01 -1.87357289e-02 -1.26791757e+01] [-4.75515004e-02 -5.43874554e-04 9.98868640e-01 -3.65200930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311052754 meters 0.015463739433874047 Centerline is valid? [True, True] Translation: X:54.40, Y:-12.69, Z:-3.65 [[ 9.13631040e-01 4.04081841e-01 4.46787198e-02 5.43976188e+01] [-4.03627382e-01 9.14722686e-01 -1.91662114e-02 -1.26915536e+01] [-4.86133565e-02 -5.22709079e-04 9.98817535e-01 -3.65174009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341052754 meters 0.015175110784809789 Centerline is valid? [True, True] Translation: X:54.43, Y:-12.71, Z:-3.65 [[ 9.13397747e-01 4.04492080e-01 4.57243037e-02 5.44272689e+01] [-4.04016232e-01 9.14541335e-01 -1.96221975e-02 -1.27057340e+01] [-4.97537893e-02 -5.50489855e-04 9.98761362e-01 -3.64880675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.371052754000004 meters 0.015518250058842754 Centerline is valid? [True, True] Translation: X:54.46, Y:-12.72, Z:-3.65 [[ 9.13104820e-01 4.05167299e-01 4.55965655e-02 5.44571998e+01] [-4.04694711e-01 9.14242376e-01 -1.95721451e-02 -1.27169378e+01] [-4.96163056e-02 -5.81268859e-04 9.98768183e-01 -3.65172256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401052754 meters 0.015467847474991045 Centerline is valid? [True, True] Translation: X:54.49, Y:-12.73, Z:-3.65 [[ 9.12893078e-01 4.05719967e-01 4.49169887e-02 5.44868315e+01] [-4.05261300e-01 9.13997244e-01 -1.92955029e-02 -1.27294737e+01] [-4.88825747e-02 -5.88386213e-04 9.98804359e-01 -3.65411478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.431052754 meters 0.015585695451627324 Centerline is valid? [True, True] Translation: X:54.52, Y:-12.74, Z:-3.66 [[ 9.13139262e-01 4.05239292e-01 4.42470845e-02 5.45155700e+01] [-4.04793051e-01 9.14210491e-01 -1.90201063e-02 -1.27417981e+01] [-4.81588432e-02 -5.42906522e-04 9.98839542e-01 -3.65812668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461052754 meters 0.015742275665768364 Centerline is valid? [True, True] Translation: X:54.55, Y:-12.76, Z:-3.66 [[ 9.12969015e-01 4.05613196e-01 4.43341052e-02 5.45451186e+01] [-4.05164987e-01 9.14044655e-01 -1.90709761e-02 -1.27551929e+01] [-4.82587915e-02 -5.51416877e-04 9.98834714e-01 -3.65975795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.491052754 meters 0.015681680248159517 Centerline is valid? [True, True] Translation: X:54.57, Y:-12.77, Z:-3.66 [[ 9.13087039e-01 4.05312907e-01 4.46486890e-02 5.45743658e+01] [-4.04857227e-01 9.14177866e-01 -1.92212096e-02 -1.27684633e+01] [-4.86074476e-02 -5.25707096e-04 9.98817821e-01 -3.66140345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521052754 meters 0.015549879635579685 Centerline is valid? [True, True] Translation: X:54.60, Y:-12.78, Z:-3.66 [[ 9.13462760e-01 4.04499846e-01 4.43357701e-02 5.46038038e+01] [-4.04049020e-01 9.14537946e-01 -1.90980304e-02 -1.27832375e+01] [-4.82718945e-02 -4.68484862e-04 9.98834123e-01 -3.66249651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.551052754000004 meters 0.015426176556645162 Centerline is valid? [True, True] Translation: X:54.63, Y:-12.80, Z:-3.66 [[ 9.13648100e-01 4.04021969e-01 4.48708934e-02 5.46325876e+01] [-4.03558861e-01 9.14749179e-01 -1.93438878e-02 -1.27966325e+01] [-4.88609685e-02 -4.34540288e-04 9.98805495e-01 -3.66385702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581052754 meters 0.015429994020897024 Centerline is valid? [True, True] Translation: X:54.66, Y:-12.81, Z:-3.66 [[ 9.14405545e-01 4.02232601e-01 4.55130068e-02 5.46603637e+01] [-4.01753169e-01 9.15537452e-01 -1.96358172e-02 -1.28098609e+01] [-4.95670281e-02 -3.29894626e-04 9.98770745e-01 -3.66466541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611052754 meters 0.015435684725346815 Centerline is valid? [True, True] Translation: X:54.69, Y:-12.82, Z:-3.66 [[ 9.14833548e-01 4.01114703e-01 4.67608246e-02 5.46890054e+01] [-4.00606808e-01 9.16027795e-01 -2.01807597e-02 -1.28236597e+01] [-5.09290145e-02 -2.70668698e-04 9.98702239e-01 -3.66336983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641052754 meters 0.015459155780493833 Centerline is valid? [True, True] Translation: X:54.72, Y:-12.84, Z:-3.67 [[ 9.14912534e-01 4.00890575e-01 4.71359945e-02 5.47185027e+01] [-4.00373518e-01 9.16125911e-01 -2.03558590e-02 -1.28353534e+01] [-5.13429779e-02 -2.48173453e-04 9.98681049e-01 -3.66551238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671052754 meters 0.015414015334133615 Centerline is valid? [True, True] Translation: X:54.75, Y:-12.85, Z:-3.67 [[ 9.14969465e-01 4.00753017e-01 4.72006176e-02 5.47486411e+01] [-4.00233638e-01 9.16186099e-01 -2.03977358e-02 -1.28474534e+01] [-5.14190039e-02 -2.27969521e-04 9.98677142e-01 -3.66782664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701052754 meters 0.015616534805198723 Centerline is valid? [True, True] Translation: X:54.78, Y:-12.86, Z:-3.67 [[ 9.15018710e-01 4.00778794e-01 4.60121502e-02 5.47776198e+01] [-4.00284440e-01 9.16174828e-01 -1.99010593e-02 -1.28583580e+01] [-5.01310963e-02 -2.08106136e-04 9.98742624e-01 -3.67325548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731052754000004 meters 0.01577149105131813 Centerline is valid? [True, True] Translation: X:54.81, Y:-12.87, Z:-3.68 [[ 9.14453914e-01 4.02274654e-01 4.41490942e-02 5.48072883e+01] [-4.01821057e-01 9.15518994e-01 -1.91000119e-02 -1.28702090e+01] [-4.81027850e-02 -2.73955038e-04 9.98842353e-01 -3.67589521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761052754 meters 0.016019727195945053 Centerline is valid? [True, True] Translation: X:54.84, Y:-12.88, Z:-3.68 [[ 9.14064922e-01 4.03207774e-01 4.36899251e-02 5.48361507e+01] [-4.02764047e-01 9.15108407e-01 -1.89136526e-02 -1.28819438e+01] [-4.76071495e-02 -3.08424689e-04 9.98866089e-01 -3.67887277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791052754 meters 0.016133370306305538 Centerline is valid? [True, True] Translation: X:54.87, Y:-12.90, Z:-3.68 [[ 9.13431155e-01 4.04669906e-01 4.34257167e-02 5.48656782e+01] [-4.04232673e-01 9.14462754e-01 -1.88100407e-02 -1.28956315e+01] [-4.73230579e-02 -3.72416359e-04 9.98879567e-01 -3.67895243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821052754 meters 0.016071532762380263 Centerline is valid? [True, True] Translation: X:54.90, Y:-12.91, Z:-3.68 [[ 9.13317782e-01 4.04884665e-01 4.38068137e-02 5.48953437e+01] [-4.04439405e-01 9.14367687e-01 -1.89868732e-02 -1.29093504e+01] [-4.77430287e-02 -3.76152694e-04 9.98859581e-01 -3.68004510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851052754 meters 0.01624440852967124 Centerline is valid? [True, True] Translation: X:54.92, Y:-12.92, Z:-3.68 [[ 9.13044495e-01 4.05461199e-01 4.41697450e-02 5.49249367e+01] [-4.05008504e-01 9.14112170e-01 -1.91586154e-02 -1.29222176e+01] [-4.81441766e-02 -3.96454009e-04 9.98840318e-01 -3.68151198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881052754 meters 0.016364682531431567 Centerline is valid? [True, True] Translation: X:54.95, Y:-12.93, Z:-3.68 [[ 9.12692235e-01 4.06170535e-01 4.49263880e-02 5.49545808e+01] [-4.05702370e-01 9.13797194e-01 -1.95006357e-02 -1.29347260e+01] [-4.89741909e-02 -4.28663314e-04 9.98799952e-01 -3.68360284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.911052754 meters 0.01640397727165148 Centerline is valid? [True, True] Translation: X:54.98, Y:-12.95, Z:-3.69 [[ 9.12314379e-01 4.06967939e-01 4.53824900e-02 5.49844903e+01] [-4.06490602e-01 9.13442324e-01 -1.97106662e-02 -1.29478044e+01] [-4.94758963e-02 -4.65231509e-04 9.98775210e-01 -3.68548458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941052754 meters 0.016636649252521295 Centerline is valid? [True, True] Translation: X:55.01, Y:-12.96, Z:-3.69 [[ 9.11775178e-01 4.08191260e-01 4.52318486e-02 5.50138997e+01] [-4.07717878e-01 9.12896286e-01 -1.96597057e-02 -1.29608720e+01] [-4.93169066e-02 -5.16601625e-04 9.98783047e-01 -3.68622987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.971052754 meters 0.016721602894653166 Centerline is valid? [True, True] Translation: X:55.04, Y:-12.97, Z:-3.69 [[ 9.11667674e-01 4.08414720e-01 4.53813711e-02 5.50428776e+01] [-4.07937875e-01 9.12796334e-01 -1.97368575e-02 -1.29731653e+01] [-4.94847723e-02 -5.19325112e-04 9.98774743e-01 -3.68815857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001052754 meters 0.016947433053339536 Centerline is valid? [True, True] Translation: X:55.07, Y:-12.99, Z:-3.69 [[ 9.11396985e-01 4.09017963e-01 4.53854916e-02 5.50718573e+01] [-4.08541125e-01 9.12526172e-01 -1.97518214e-02 -1.29874869e+01] [-4.94942987e-02 -5.40089380e-04 9.98774260e-01 -3.68787330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.031052754 meters 0.017153893917199632 Centerline is valid? [True, True] Translation: X:55.10, Y:-13.00, Z:-3.69 [[ 9.11112354e-01 4.09720226e-01 4.47617558e-02 5.51001232e+01] [-4.09256587e-01 9.12211064e-01 -1.94941170e-02 -1.29991338e+01] [-4.88193029e-02 -5.57712616e-04 9.98807471e-01 -3.68933153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061052754 meters 0.01694205765329711 Centerline is valid? [True, True] Translation: X:55.13, Y:-13.01, Z:-3.69 [[ 9.10355857e-01 4.11412326e-01 4.46330802e-02 5.51308361e+01] [-4.10952976e-01 9.11449115e-01 -1.94463774e-02 -1.30095642e+01] [-4.86812608e-02 -6.38973626e-04 9.98814160e-01 -3.69210192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.091052754 meters 0.017741069214678058 Centerline is valid? [True, True] Translation: X:55.16, Y:-13.02, Z:-3.70 [[ 9.10016035e-01 4.12258021e-01 4.37508845e-02 5.51603948e+01] [-4.11817048e-01 9.11066896e-01 -1.90743299e-02 -1.30183776e+01] [-4.77235281e-02 -6.59413977e-04 9.98860366e-01 -3.69838562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121052754000004 meters 0.01833664423614223 Centerline is valid? [True, True] Translation: X:55.19, Y:-13.03, Z:-3.70 [[ 9.09656559e-01 4.13341826e-01 4.09081934e-02 5.51898151e+01] [-4.12956976e-01 9.10575696e-01 -1.78448259e-02 -1.30287548e+01] [-4.46260196e-02 -6.60660887e-04 9.99003544e-01 -3.70481248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.151052754 meters 0.01853904109051531 Centerline is valid? [True, True] Translation: X:55.22, Y:-13.04, Z:-3.71 [[ 9.09403227e-01 4.13900264e-01 4.08942937e-02 5.52198614e+01] [-4.13515842e-01 9.10321981e-01 -1.78476424e-02 -1.30416400e+01] [-4.46141183e-02 -6.79734707e-04 9.99004063e-01 -3.70716447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181052754 meters 0.0175787421444715 Centerline is valid? [True, True] Translation: X:55.25, Y:-13.06, Z:-3.70 [[ 9.09470825e-01 4.13762679e-01 4.07831346e-02 5.52488206e+01] [-4.13379547e-01 9.10384541e-01 -1.78139658e-02 -1.30586150e+01] [-4.44990895e-02 -6.57631490e-04 9.99009208e-01 -3.70441238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211052754 meters 0.017518380680385713 Centerline is valid? [True, True] Translation: X:55.28, Y:-13.07, Z:-3.70 [[ 9.09459619e-01 4.13735238e-01 4.13080476e-02 5.52761788e+01] [-4.13341975e-01 9.10397010e-01 -1.80470570e-02 -1.30740941e+01] [-4.50734265e-02 -6.61280360e-04 9.98983458e-01 -3.70288566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241052754 meters 0.017518380680385713 Centerline is valid? [True, True] Translation: X:55.31, Y:-13.09, Z:-3.70 [[ 9.09349201e-01 4.13978226e-01 4.13044781e-02 5.53057639e+01] [-4.13584842e-01 9.10286541e-01 -1.80552221e-02 -1.30871166e+01] [-4.50733793e-02 -6.64404312e-04 9.98983458e-01 -3.70497639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271052754 meters 0.017330945247383198 Centerline is valid? [True, True] Translation: X:55.34, Y:-13.10, Z:-3.71 [[ 9.09119481e-01 4.14377931e-01 4.23402769e-02 5.53352313e+01] [-4.13964320e-01 9.10104641e-01 -1.85225535e-02 -1.31009305e+01] [-4.62094199e-02 -6.88149665e-04 9.98931537e-01 -3.70520457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301052754000004 meters 0.017865908565206066 Centerline is valid? [True, True] Translation: X:55.36, Y:-13.11, Z:-3.71 [[ 9.07997942e-01 4.16766190e-01 4.29613869e-02 5.53647745e+01] [-4.16342332e-01 9.09013360e-01 -1.88088647e-02 -1.31095192e+01] [-4.68913735e-02 -8.08233553e-04 9.98899668e-01 -3.70859564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331052754 meters 0.018143185651165076 Centerline is valid? [True, True] Translation: X:55.39, Y:-13.12, Z:-3.71 [[ 9.07687410e-01 4.17535830e-01 4.20404219e-02 5.53936489e+01] [-4.17130612e-01 9.08660084e-01 -1.84093595e-02 -1.31208432e+01] [-4.58870205e-02 -8.26403114e-04 9.98946294e-01 -3.71252794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361052754 meters 0.018342066279833733 Centerline is valid? [True, True] Translation: X:55.42, Y:-13.13, Z:-3.72 [[ 9.07647314e-01 4.17749336e-01 4.07657424e-02 5.54234378e+01] [-4.17368111e-01 9.08561967e-01 -1.78609062e-02 -1.31325600e+01] [-4.44995848e-02 -8.02917352e-04 9.99009080e-01 -3.71747967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391052754 meters 0.01806825101569986 Centerline is valid? [True, True] Translation: X:55.45, Y:-13.15, Z:-3.72 [[ 9.07514186e-01 4.18036248e-01 4.07884423e-02 5.54533686e+01] [-4.17654427e-01 9.08429988e-01 -1.78811911e-02 -1.31465714e+01] [-4.45284301e-02 -8.08038890e-04 9.99007791e-01 -3.71885089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421052754 meters 0.01761638882184783 Centerline is valid? [True, True] Translation: X:55.48, Y:-13.16, Z:-3.72 [[ 9.07604088e-01 4.17816393e-01 4.10400099e-02 5.54824094e+01] [-4.17429004e-01 9.08531143e-01 -1.80052325e-02 -1.31615502e+01] [-4.48090084e-02 -7.89667830e-04 9.98995260e-01 -3.71842286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451052754 meters 0.017437991050532974 Centerline is valid? [True, True] Translation: X:55.51, Y:-13.18, Z:-3.72 [[ 9.07578638e-01 4.17795591e-01 4.18074231e-02 5.55114793e+01] [-4.17392986e-01 9.08540707e-01 -1.83542584e-02 -1.31762901e+01] [-4.56520739e-02 -7.92192326e-04 9.98957086e-01 -3.71709617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481052754000004 meters 0.017363124106144892 Centerline is valid? [True, True] Translation: X:55.54, Y:-13.19, Z:-3.72 [[ 9.07688016e-01 4.17554374e-01 4.18426762e-02 5.55409948e+01] [-4.17150282e-01 9.08651612e-01 -1.83817993e-02 -1.31897179e+01] [-4.56958159e-02 -7.69745227e-04 9.98955104e-01 -3.71891793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511052754 meters 0.017643394313610457 Centerline is valid? [True, True] Translation: X:55.57, Y:-13.20, Z:-3.72 [[ 9.07776788e-01 4.17425420e-01 4.11985572e-02 5.55702614e+01] [-4.17033040e-01 9.08710883e-01 -1.81100615e-02 -1.32010021e+01] [-4.49971774e-02 -7.41266110e-04 9.98986839e-01 -3.72345351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541052754 meters 0.017460804857045403 Centerline is valid? [True, True] Translation: X:55.60, Y:-13.21, Z:-3.73 [[ 9.08079208e-01 4.16681152e-01 4.20591150e-02 5.55987875e+01] [-4.16270757e-01 9.09052429e-01 -1.85023845e-02 -1.32134904e+01] [-4.59435355e-02 -7.06348988e-04 9.98943789e-01 -3.72641360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571052754 meters 0.01708859422342859 Centerline is valid? [True, True] Translation: X:55.63, Y:-13.23, Z:-3.73 [[ 9.08297791e-01 4.16139488e-01 4.26971766e-02 5.56282436e+01] [-4.15715298e-01 9.09300538e-01 -1.87968659e-02 -1.32276183e+01] [-4.66466838e-02 -6.76717748e-04 9.98911222e-01 -3.72722689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601052754 meters 0.017111383771928793 Centerline is valid? [True, True] Translation: X:55.66, Y:-13.24, Z:-3.73 [[ 9.08220362e-01 4.16238343e-01 4.33752926e-02 5.56574905e+01] [-4.15800599e-01 9.09255280e-01 -1.90970767e-02 -1.32420105e+01] [-4.73881494e-02 -6.91118734e-04 9.98876311e-01 -3.72602316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631052754 meters 0.017262600291288687 Centerline is valid? [True, True] Translation: X:55.69, Y:-13.25, Z:-3.73 [[ 9.08107801e-01 4.16518504e-01 4.30413568e-02 5.56855589e+01] [-4.16087141e-01 9.09126979e-01 -1.89638559e-02 -1.32545311e+01] [-4.70288556e-02 -6.87729603e-04 9.98893294e-01 -3.72730583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661052754 meters 0.01758754304914431 Centerline is valid? [True, True] Translation: X:55.72, Y:-13.27, Z:-3.73 [[ 9.07662577e-01 4.17517870e-01 4.27489681e-02 5.57158658e+01] [-4.17093245e-01 9.08668418e-01 -1.88396021e-02 -1.32657552e+01] [-4.67105078e-02 -7.30303992e-04 9.98908202e-01 -3.73074047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691052754 meters 0.0171185876998395 Centerline is valid? [True, True] Translation: X:55.74, Y:-13.28, Z:-3.73 [[ 9.07132848e-01 4.18783515e-01 4.15976416e-02 5.57449793e+01] [-4.18382312e-01 9.08085780e-01 -1.83427883e-02 -1.32780897e+01] [-4.54558842e-02 -7.64371613e-04 9.98966055e-01 -3.73306610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721052754 meters 0.017841719681443567 Centerline is valid? [True, True] Translation: X:55.77, Y:-13.29, Z:-3.74 [[ 9.06451483e-01 4.20493864e-01 3.91231264e-02 5.57741503e+01] [-4.20140022e-01 9.07295040e-01 -1.72647504e-02 -1.32864456e+01] [-4.27559401e-02 -7.87532624e-04 9.99085236e-01 -3.74104579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751052754 meters 0.01760569993665956 Centerline is valid? [True, True] Translation: X:55.80, Y:-13.30, Z:-3.74 [[ 9.06852488e-01 4.19688744e-01 3.84697685e-02 5.58034571e+01] [-4.19345835e-01 9.07667790e-01 -1.69780333e-02 -1.33003439e+01] [-4.20432592e-02 -7.35565419e-04 9.99115521e-01 -3.74289073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781052754 meters 0.017592948572497828 Centerline is valid? [True, True] Translation: X:55.83, Y:-13.31, Z:-3.75 [[ 9.08178241e-01 4.16958853e-01 3.68456003e-02 5.58318600e+01] [-4.16641448e-01 9.08925184e-01 -1.62761714e-02 -1.33134736e+01] [-4.02763878e-02 -5.69739555e-04 9.99188415e-01 -3.74623115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811052754 meters 0.01733401481996855 Centerline is valid? [True, True] Translation: X:55.86, Y:-13.33, Z:-3.75 [[ 9.08422527e-01 4.16476047e-01 3.62796813e-02 5.58618498e+01] [-4.16167858e-01 9.09146530e-01 -1.60281269e-02 -1.33273461e+01] [-3.96588773e-02 -5.38125712e-04 9.99213132e-01 -3.74832086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841052754 meters 0.01750958428563021 Centerline is valid? [True, True] Translation: X:55.89, Y:-13.34, Z:-3.75 [[ 9.08407655e-01 4.16487869e-01 3.65155707e-02 5.58903610e+01] [-4.16175131e-01 9.09141119e-01 -1.61457802e-02 -1.33394663e+01] [-3.99223284e-02 -5.29922125e-04 9.99202646e-01 -3.75040293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871052754000004 meters 0.01743968609152414 Centerline is valid? [True, True] Translation: X:55.92, Y:-13.35, Z:-3.75 [[ 9.08168460e-01 4.17012175e-01 3.64814297e-02 5.59202998e+01] [-4.16700117e-01 9.08900736e-01 -1.61388957e-02 -1.33524924e+01] [-3.98881143e-02 -5.44979974e-04 9.99204004e-01 -3.75156604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901052754 meters 0.017458497341088727 Centerline is valid? [True, True] Translation: X:55.95, Y:-13.36, Z:-3.75 [[ 9.07814206e-01 4.17812895e-01 3.61351896e-02 5.59494564e+01] [-4.17506863e-01 9.08532921e-01 -1.59984780e-02 -1.33646257e+01] [-3.95143797e-02 -5.63044069e-04 9.99218843e-01 -3.75269698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931052754 meters 0.01706309590919608 Centerline is valid? [True, True] Translation: X:55.98, Y:-13.38, Z:-3.75 [[ 9.07415056e-01 4.18609916e-01 3.69276929e-02 5.59796946e+01] [-4.18290586e-01 9.08165940e-01 -1.63588057e-02 -1.33766377e+01] [-4.03844312e-02 -6.02279702e-04 9.99184035e-01 -3.75325620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961052754 meters 0.016983783438256864 Centerline is valid? [True, True] Translation: X:56.01, Y:-13.39, Z:-3.75 [[ 9.07874465e-01 4.17407951e-01 3.91734272e-02 5.60070907e+01] [-4.17046910e-01 9.08719031e-01 -1.73665832e-02 -1.33908918e+01] [-4.28465887e-02 -5.70479339e-04 9.99081500e-01 -3.75326311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991052754 meters 0.0166900177407415 Centerline is valid? [True, True] Translation: X:56.04, Y:-13.41, Z:-3.75 [[ 9.08471993e-01 4.16030615e-01 3.99645470e-02 5.60358956e+01] [-4.15652886e-01 9.09350468e-01 -1.77314512e-02 -1.34067491e+01] [-4.37186060e-02 -5.02852475e-04 9.99043758e-01 -3.75256900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021052754 meters 0.016614643027735347 Centerline is valid? [True, True] Translation: X:56.06, Y:-13.42, Z:-3.75 [[ 9.08846872e-01 4.15082315e-01 4.12799608e-02 5.60636118e+01] [-4.14678266e-01 9.09783738e-01 -1.83162901e-02 -1.34214465e+01] [-4.51586051e-02 -4.71199576e-04 9.98979719e-01 -3.75261889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051052754000004 meters 0.015878410830885974 Centerline is valid? [True, True] Translation: X:56.09, Y:-13.44, Z:-3.75 [[ 9.09464950e-01 4.13417852e-01 4.42626730e-02 5.60916741e+01] [-4.12950644e-01 9.10541331e-01 -1.96532254e-02 -1.34375406e+01] [-4.84279875e-02 -4.04379666e-04 9.98826595e-01 -3.75026353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081052754 meters 0.01594824807554296 Centerline is valid? [True, True] Translation: X:56.12, Y:-13.45, Z:-3.75 [[ 9.09639326e-01 4.12915764e-01 4.53527101e-02 5.61198780e+01] [-4.12423928e-01 9.10769143e-01 -2.01512167e-02 -1.34499813e+01] [-4.96266040e-02 -3.74203721e-04 9.98767771e-01 -3.75291224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111052754 meters 0.015773238284407208 Centerline is valid? [True, True] Translation: X:56.15, Y:-13.46, Z:-3.75 [[ 9.09667887e-01 4.12812236e-01 4.57208161e-02 5.61492389e+01] [-4.12311668e-01 9.10816078e-01 -2.03263536e-02 -1.34639987e+01] [-5.00342219e-02 -3.60994846e-04 9.98747439e-01 -3.75371451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141052754 meters 0.015806038211700398 Centerline is valid? [True, True] Translation: X:56.18, Y:-13.48, Z:-3.76 [[ 9.09989453e-01 4.12087423e-01 4.58601336e-02 5.61774152e+01] [-4.11582080e-01 9.11144259e-01 -2.04041723e-02 -1.34780569e+01] [-5.01935003e-02 -3.07627585e-04 9.98739464e-01 -3.75604020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171052754 meters 0.01575315593859074 Centerline is valid? [True, True] Translation: X:56.21, Y:-13.49, Z:-3.76 [[ 9.10004365e-01 4.12091417e-01 4.55271253e-02 5.62071269e+01] [-4.11592837e-01 9.11142457e-01 -2.02672012e-02 -1.34921777e+01] [-4.98336364e-02 -2.95397071e-04 9.98757489e-01 -3.75854178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201052754 meters 0.015712878819545126 Centerline is valid? [True, True] Translation: X:56.24, Y:-13.51, Z:-3.76 [[ 9.10006648e-01 4.12187947e-01 4.45981672e-02 5.62359219e+01] [-4.11708916e-01 9.11098797e-01 -1.98683476e-02 -1.35055020e+01] [-4.88228299e-02 -2.81134685e-04 9.98807415e-01 -3.76164079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231052754000004 meters 0.016195305891664607 Centerline is valid? [True, True] Translation: X:56.27, Y:-13.52, Z:-3.77 [[ 9.09599680e-01 4.13439935e-01 4.11806044e-02 5.62655285e+01] [-4.13032277e-01 9.10531342e-01 -1.83579525e-02 -1.35176487e+01] [-4.50861417e-02 -3.10531064e-04 9.98983055e-01 -3.76772196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261052754 meters 0.016401896142734892 Centerline is valid? [True, True] Translation: X:56.29, Y:-13.53, Z:-3.77 [[ 9.09106548e-01 4.14679792e-01 3.95721356e-02 5.62946881e+01] [-4.14304316e-01 9.09967332e-01 -1.76461997e-02 -1.35294559e+01] [-4.33268731e-02 -3.52630811e-04 9.99060888e-01 -3.77163711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291052754 meters 0.017020005325761364 Centerline is valid? [True, True] Translation: X:56.33, Y:-13.54, Z:-3.78 [[ 9.07652274e-01 4.18026516e-01 3.76985528e-02 5.63253194e+01] [-4.17688111e-01 9.08434701e-01 -1.68237013e-02 -1.35386913e+01] [-4.12794268e-02 -4.76166579e-04 9.99147528e-01 -3.77596186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321052754 meters 0.01746110449517233 Centerline is valid? [True, True] Translation: X:56.36, Y:-13.55, Z:-3.78 [[ 9.05841817e-01 4.21905846e-01 3.80270843e-02 5.63562289e+01] [-4.21564968e-01 9.06639411e-01 -1.69692483e-02 -1.35476628e+01] [-4.16362783e-02 -6.59431864e-04 9.99132617e-01 -3.77781235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351052754 meters 0.017819524849228583 Centerline is valid? [True, True] Translation: X:56.39, Y:-13.56, Z:-3.78 [[ 9.05185503e-01 4.23350207e-01 3.76006344e-02 5.63864501e+01] [-4.23017743e-01 9.05965839e-01 -1.67895084e-02 -1.35584813e+01] [-4.11727321e-02 -7.08115877e-04 9.99151793e-01 -3.78060941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381052754 meters 0.018182247180867066 Centerline is valid? [True, True] Translation: X:56.42, Y:-13.57, Z:-3.78 [[ 9.04412493e-01 4.24992012e-01 3.76806503e-02 5.64165280e+01] [-4.24659114e-01 9.05196768e-01 -1.68359220e-02 -1.35698742e+01] [-4.12635352e-02 -7.74813361e-04 9.99147997e-01 -3.78282750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411052754 meters 0.018453760607084976 Centerline is valid? [True, True] Translation: X:56.45, Y:-13.58, Z:-3.78 [[ 9.03517421e-01 4.26727615e-01 3.94944607e-02 5.64460308e+01] [-4.26363018e-01 9.04379766e-01 -1.76583254e-02 -1.35815633e+01] [-4.32532862e-02 -8.84372819e-04 9.99063747e-01 -3.78236516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441052754 meters 0.018395010581447407 Centerline is valid? [True, True] Translation: X:56.48, Y:-13.59, Z:-3.78 [[ 9.03477490e-01 4.26745298e-01 4.02103860e-02 5.64750398e+01] [-4.26366864e-01 9.04371416e-01 -1.79900025e-02 -1.35949211e+01] [-4.40422727e-02 -8.90813880e-04 9.99029271e-01 -3.78288857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471052754 meters 0.01773072913751898 Centerline is valid? [True, True] Translation: X:56.50, Y:-13.61, Z:-3.78 [[ 9.04416432e-01 4.24688555e-01 4.08723429e-02 5.65031799e+01] [-4.24294927e-01 9.05339164e-01 -1.82978747e-02 -1.36102767e+01] [-4.47742307e-02 -7.93029205e-04 9.98996817e-01 -3.78448037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501052754 meters 0.017226181072173174 Centerline is valid? [True, True] Translation: X:56.53, Y:-13.63, Z:-3.79 [[ 9.05676309e-01 4.21959123e-01 4.12422278e-02 5.65300243e+01] [-4.21554961e-01 9.06614621e-01 -1.84754614e-02 -1.36252398e+01] [-4.51866962e-02 -6.53078073e-04 9.98978346e-01 -3.78740679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531052754 meters 0.017015450101254697 Centerline is valid? [True, True] Translation: X:56.56, Y:-13.64, Z:-3.79 [[ 9.06011249e-01 4.21185716e-01 4.17876683e-02 5.65587837e+01] [-4.20769480e-01 9.06974210e-01 -1.87303974e-02 -1.36393854e+01] [-4.57893132e-02 -6.13024744e-04 9.98950931e-01 -3.78897094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561052754 meters 0.016505211529202393 Centerline is valid? [True, True] Translation: X:56.59, Y:-13.65, Z:-3.79 [[ 9.06971647e-01 4.19111963e-01 4.18042367e-02 5.65876723e+01] [-4.18692534e-01 9.07934423e-01 -1.87522118e-02 -1.36546503e+01] [-4.58147818e-02 -4.95397365e-04 9.98949829e-01 -3.79069401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591052754 meters 0.016036132188103912 Centerline is valid? [True, True] Translation: X:56.62, Y:-13.67, Z:-3.79 [[ 9.07198403e-01 4.18627782e-01 4.17353273e-02 5.66168114e+01] [-4.18209215e-01 9.08157783e-01 -1.87214856e-02 -1.36692129e+01] [-4.57395964e-02 -4.69996623e-04 9.98953286e-01 -3.79210439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621052754 meters 0.015752317825067284 Centerline is valid? [True, True] Translation: X:56.65, Y:-13.68, Z:-3.79 [[ 9.07794758e-01 4.17460340e-01 4.04418408e-02 5.66455818e+01] [-4.17065583e-01 9.08695062e-01 -1.81544706e-02 -1.36840454e+01] [-4.43280725e-02 -3.86366676e-04 9.99016953e-01 -3.79393904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.651052754 meters 0.015826556648701775 Centerline is valid? [True, True] Translation: X:56.68, Y:-13.70, Z:-3.80 [[ 9.07473427e-01 4.18181192e-01 4.02053536e-02 5.66755819e+01] [-4.17791264e-01 9.08363541e-01 -1.80592485e-02 -1.36975506e+01] [-4.40731155e-02 -4.09157366e-04 9.99028224e-01 -3.79585585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.681052754 meters 0.01574918588249187 Centerline is valid? [True, True] Translation: X:56.71, Y:-13.71, Z:-3.80 [[ 9.07179006e-01 4.18796038e-01 4.04491026e-02 5.67053240e+01] [-4.18401375e-01 9.08080225e-01 -1.81822732e-02 -1.37102455e+01] [-4.43456942e-02 -4.29383615e-04 9.99016154e-01 -3.79766106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711052754 meters 0.01612436497259598 Centerline is valid? [True, True] Translation: X:56.74, Y:-13.72, Z:-3.80 [[ 9.06172580e-01 4.20922423e-01 4.09337209e-02 5.67362667e+01] [-4.20519778e-01 9.07096487e-01 -1.84141143e-02 -1.37188003e+01] [-4.48817480e-02 -5.27073771e-04 9.98992168e-01 -3.80223841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741052754 meters 0.016062305505045376 Centerline is valid? [True, True] Translation: X:56.77, Y:-13.73, Z:-3.80 [[ 9.05506617e-01 4.22388826e-01 4.05640944e-02 5.67657272e+01] [-4.21994265e-01 9.06414553e-01 -1.82619553e-02 -1.37306588e+01] [-4.44815314e-02 -5.81493821e-04 9.99010038e-01 -3.80366207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771052754 meters 0.016826479120863772 Centerline is valid? [True, True] Translation: X:56.80, Y:-13.74, Z:-3.81 [[ 9.04288395e-01 4.25046269e-01 3.99771009e-02 5.67956244e+01] [-4.24665112e-01 9.05171361e-01 -1.80097450e-02 -1.37394098e+01] [-4.38411017e-02 -6.90876648e-04 9.99038278e-01 -3.80823638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801052754000004 meters 0.016951242477571397 Centerline is valid? [True, True] Translation: X:56.83, Y:-13.75, Z:-3.81 [[ 9.03680236e-01 4.26382984e-01 3.94915548e-02 5.68255703e+01] [-4.26011873e-01 9.04542430e-01 -1.78010361e-02 -1.37514504e+01] [-4.33118458e-02 -7.37426709e-04 9.99061330e-01 -3.81127104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.831052754 meters 0.016845385266932487 Centerline is valid? [True, True] Translation: X:56.85, Y:-13.76, Z:-3.81 [[ 9.03208807e-01 4.27464645e-01 3.85723879e-02 5.68548451e+01] [-4.27111161e-01 9.04031746e-01 -1.73970844e-02 -1.37641898e+01] [-4.23073017e-02 -7.61497563e-04 9.99104355e-01 -3.81478151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861052754 meters 0.01676802457265689 Centerline is valid? [True, True] Translation: X:56.88, Y:-13.78, Z:-3.82 [[ 9.03253524e-01 4.27396463e-01 3.82797068e-02 5.68847267e+01] [-4.27047843e-01 9.04063997e-01 -1.72750844e-02 -1.37787770e+01] [-4.19906147e-02 -7.43485398e-04 9.99117729e-01 -3.81739178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.891052754 meters 0.016377025394947793 Centerline is valid? [True, True] Translation: X:56.91, Y:-13.80, Z:-3.82 [[ 9.03844857e-01 4.26088893e-01 3.88938248e-02 5.69125837e+01] [-4.25727183e-01 9.04681044e-01 -1.75662791e-02 -1.37954145e+01] [-4.26713025e-02 -6.80967451e-04 9.99088933e-01 -3.81794779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921052754 meters 0.016107968005753006 Centerline is valid? [True, True] Translation: X:56.94, Y:-13.81, Z:-3.82 [[ 9.04373077e-01 4.24863948e-01 3.99995291e-02 5.69411171e+01] [-4.24479642e-01 9.05256996e-01 -1.80777356e-02 -1.38108673e+01] [-4.38904317e-02 -6.29968434e-04 9.99036152e-01 -3.81875574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951052754 meters 0.01563637335246559 Centerline is valid? [True, True] Translation: X:56.97, Y:-13.83, Z:-3.82 [[ 9.05365350e-01 4.22542552e-01 4.20877096e-02 5.69689277e+01] [-4.22113936e-01 9.06342931e-01 -1.90346185e-02 -1.38272040e+01] [-4.61888344e-02 -5.32524706e-04 9.98932584e-01 -3.81898417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981052754000004 meters 0.015623238898103223 Centerline is valid? [True, True] Translation: X:57.00, Y:-13.84, Z:-3.82 [[ 9.05487790e-01 4.22187028e-01 4.30113324e-02 5.69973346e+01] [-4.21738377e-01 9.06508604e-01 -1.94651502e-02 -1.38410447e+01] [-4.72080768e-02 -5.14073701e-04 9.98884945e-01 -3.82097903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.011052754 meters 0.015438819099936397 Centerline is valid? [True, True] Translation: X:57.02, Y:-13.85, Z:-3.82 [[ 9.05763772e-01 4.21468775e-01 4.42273743e-02 5.70249349e+01] [-4.20992798e-01 9.06842789e-01 -2.00304700e-02 -1.38549010e+01] [-4.85494931e-02 -4.76532033e-04 9.98820664e-01 -3.82324578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041052754 meters 0.015498585392888661 Centerline is valid? [True, True] Translation: X:57.05, Y:-13.87, Z:-3.83 [[ 9.06089277e-01 4.20726636e-01 4.46242088e-02 5.70528847e+01] [-4.20240875e-01 9.07187361e-01 -2.02162932e-02 -1.38682166e+01] [-4.89880512e-02 -4.35150106e-04 9.98799270e-01 -3.82629127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.071052754 meters 0.015219999241654797 Centerline is valid? [True, True] Translation: X:57.08, Y:-13.88, Z:-3.83 [[ 9.06605186e-01 4.19501108e-01 4.56711835e-02 5.70804111e+01] [-4.18990111e-01 9.07754750e-01 -2.07026830e-02 -1.38845683e+01] [-5.01430323e-02 -3.66614479e-04 9.98741980e-01 -3.82678334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101052754 meters 0.015208326880506714 Centerline is valid? [True, True] Translation: X:57.11, Y:-13.90, Z:-3.83 [[ 9.06753482e-01 4.19125068e-01 4.61768362e-02 5.71086573e+01] [-4.18601513e-01 9.07928446e-01 -2.09454083e-02 -1.38973700e+01] [-5.07040088e-02 -3.37371601e-04 9.98713668e-01 -3.82985872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.131052754 meters 0.015114994688972249 Centerline is valid? [True, True] Translation: X:57.14, Y:-13.91, Z:-3.83 [[ 9.06346838e-01 4.19972926e-01 4.64558920e-02 5.71389539e+01] [-4.19443476e-01 9.07536556e-01 -2.10848289e-02 -1.39106736e+01] [-5.10154775e-02 -3.75452797e-04 9.98697792e-01 -3.83199935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161052754 meters 0.015114994688972249 Centerline is valid? [True, True] Translation: X:57.17, Y:-13.92, Z:-3.83 [[ 9.06232904e-01 4.20219362e-01 4.64501042e-02 5.71683480e+01] [-4.19689583e-01 9.07422474e-01 -2.10975706e-02 -1.39241005e+01] [-5.10154761e-02 -3.75312195e-04 9.98697792e-01 -3.83409138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.191052754 meters 0.015187167552441226 Centerline is valid? [True, True] Translation: X:57.20, Y:-13.94, Z:-3.84 [[ 9.05817087e-01 4.21127599e-01 4.63352012e-02 5.71980514e+01] [-4.20600856e-01 9.07001310e-01 -2.10604949e-02 -1.39374198e+01] [-5.08952439e-02 -4.11669133e-04 9.98703912e-01 -3.83603972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221052754 meters 0.01554471227067342 Centerline is valid? [True, True] Translation: X:57.23, Y:-13.95, Z:-3.84 [[ 9.04898875e-01 4.23123524e-01 4.60923936e-02 5.72266113e+01] [-4.22603992e-01 9.06071867e-01 -2.09675417e-02 -1.39481967e+01] [-5.06348813e-02 -5.05324700e-04 9.98717104e-01 -3.83949533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.251052754 meters 0.015446580862301596 Centerline is valid? [True, True] Translation: X:57.26, Y:-13.96, Z:-3.84 [[ 9.04279983e-01 4.24450034e-01 4.60421773e-02 5.72557149e+01] [-4.23933107e-01 9.05451180e-01 -2.09495040e-02 -1.39606335e+01] [-5.05809614e-02 -5.74586174e-04 9.98719799e-01 -3.84136585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281052754 meters 0.015534724375423734 Centerline is valid? [True, True] Translation: X:57.29, Y:-13.97, Z:-3.84 [[ 9.03158771e-01 4.26806221e-01 4.62675346e-02 5.72860130e+01] [-4.26286631e-01 9.04342835e-01 -2.10652555e-02 -1.39719929e+01] [-5.08324955e-02 -6.97961177e-04 9.98706949e-01 -3.84463466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.311052754 meters 0.016311464133674354 Centerline is valid? [True, True] Translation: X:57.32, Y:-13.98, Z:-3.85 [[ 9.02505107e-01 4.28136490e-01 4.67298324e-02 5.73160831e+01] [-4.27607542e-01 9.03713757e-01 -2.12893111e-02 -1.39827962e+01] [-5.13451234e-02 -7.68316823e-04 9.98680674e-01 -3.84953678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341052754 meters 0.015631988461645843 Centerline is valid? [True, True] Translation: X:57.35, Y:-14.00, Z:-3.85 [[ 9.02431357e-01 4.28285288e-01 4.67905629e-02 5.73452996e+01] [-4.27754430e-01 9.03643252e-01 -2.13312222e-02 -1.39978056e+01] [-5.14178250e-02 -7.64906756e-04 9.98676936e-01 -3.85031289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.371052754 meters 0.015466486406471924 Centerline is valid? [True, True] Translation: X:57.37, Y:-14.01, Z:-3.85 [[ 9.02518270e-01 4.27990742e-01 4.77985170e-02 5.73738308e+01] [-4.27435436e-01 9.03782808e-01 -2.18078816e-02 -1.40110394e+01] [-5.25330493e-02 -7.48768402e-04 9.98618905e-01 -3.85172571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401052754 meters 0.015266946788662387 Centerline is valid? [True, True] Translation: X:57.40, Y:-14.02, Z:-3.85 [[ 9.02604543e-01 4.27733667e-01 4.84659504e-02 5.74025428e+01] [-4.27161662e-01 9.03904516e-01 -2.21255543e-02 -1.40248201e+01] [-5.32724359e-02 -7.32170143e-04 9.98579747e-01 -3.85249301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431052754 meters 0.015605872445006599 Centerline is valid? [True, True] Translation: X:57.43, Y:-14.04, Z:-3.85 [[ 9.02639797e-01 4.27594448e-01 4.90345357e-02 5.74309872e+01] [-4.27007950e-01 9.03970393e-01 -2.23995469e-02 -1.40374084e+01] [-5.39036904e-02 -7.19414085e-04 9.98545880e-01 -3.85479688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461052754 meters 0.014959818189701572 Centerline is valid? [True, True] Translation: X:57.46, Y:-14.05, Z:-3.86 [[ 9.02369379e-01 4.28096715e-01 4.96256611e-02 5.74614713e+01] [-4.27496051e-01 9.03732618e-01 -2.26821904e-02 -1.40504725e+01] [-5.45584998e-02 -7.47060065e-04 9.98510296e-01 -3.85837825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491052754 meters 0.014919545148502904 Centerline is valid? [True, True] Translation: X:57.49, Y:-14.06, Z:-3.86 [[ 9.02085825e-01 4.28719796e-01 4.94014236e-02 5.74915552e+01] [-4.28124604e-01 9.03437186e-01 -2.25959010e-02 -1.40631607e+01] [-5.43183932e-02 -7.66522923e-04 9.98523372e-01 -3.86223549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521052754 meters 0.014881750536486549 Centerline is valid? [True, True] Translation: X:57.52, Y:-14.08, Z:-3.87 [[ 9.01961176e-01 4.28962234e-01 4.95725553e-02 5.75209684e+01] [-4.28362315e-01 9.03322098e-01 -2.26917352e-02 -1.40766181e+01] [-5.45138821e-02 -7.67950401e-04 9.98512717e-01 -3.86540068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551052754000004 meters 0.01458297298737893 Centerline is valid? [True, True] Translation: X:57.55, Y:-14.09, Z:-3.87 [[ 9.01932143e-01 4.28980548e-01 4.99409631e-02 5.75506721e+01] [-4.28371111e-01 9.03313403e-01 -2.28710838e-02 -1.40917015e+01] [-5.49235914e-02 -7.65100263e-04 9.98490267e-01 -3.86611817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581052754 meters 0.014563473655735508 Centerline is valid? [True, True] Translation: X:57.58, Y:-14.10, Z:-3.87 [[ 9.01959648e-01 4.28901975e-01 5.01187487e-02 5.75798644e+01] [-4.28287107e-01 9.03350728e-01 -2.29699051e-02 -1.41049982e+01] [-5.51266458e-02 -7.47286408e-04 9.98479091e-01 -3.86770308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.611052754 meters 0.014487413991971142 Centerline is valid? [True, True] Translation: X:57.61, Y:-14.12, Z:-3.87 [[ 9.02028886e-01 4.28797009e-01 4.97696141e-02 5.76086866e+01] [-4.28189674e-01 9.03400578e-01 -2.28254022e-02 -1.41186159e+01] [-5.47493623e-02 -7.21662756e-04 9.98499868e-01 -3.87023552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.641052754 meters 0.014412551393141158 Centerline is valid? [True, True] Translation: X:57.64, Y:-14.13, Z:-3.87 [[ 9.02049187e-01 4.28759926e-01 4.97211278e-02 5.76385971e+01] [-4.28152879e-01 9.03418192e-01 -2.28184765e-02 -1.41326730e+01] [-5.47026197e-02 -7.04855880e-04 9.98502442e-01 -3.87255075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.671052754 meters 0.014406513577735624 Centerline is valid? [True, True] Translation: X:57.67, Y:-14.15, Z:-3.88 [[ 9.02034090e-01 4.28829213e-01 4.93964353e-02 5.76692591e+01] [-4.28229308e-01 9.03385317e-01 -2.26854359e-02 -1.41451640e+01] [-5.43521919e-02 -6.89964767e-04 9.98521589e-01 -3.87691019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.701052754 meters 0.014378704673724525 Centerline is valid? [True, True] Translation: X:57.70, Y:-14.16, Z:-3.88 [[ 9.01955058e-01 4.28959422e-01 4.97080135e-02 5.76999194e+01] [-4.28351226e-01 9.03323498e-01 -2.28448166e-02 -1.41577635e+01] [-5.47019160e-02 -6.87490602e-04 9.98502493e-01 -3.88138155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.731052754000004 meters 0.014474079895763098 Centerline is valid? [True, True] Translation: X:57.73, Y:-14.17, Z:-3.89 [[ 9.01664149e-01 4.29684771e-01 4.87109814e-02 5.77287332e+01] [-4.29100942e-01 9.02978685e-01 -2.24026164e-02 -1.41692355e+01] [-5.36110410e-02 -7.02291943e-04 9.98561647e-01 -3.88532703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761052754 meters 0.014163139916141022 Centerline is valid? [True, True] Translation: X:57.76, Y:-14.18, Z:-3.89 [[ 9.01377602e-01 4.30288448e-01 4.86854128e-02 5.77585940e+01] [-4.29705468e-01 9.02691156e-01 -2.24028498e-02 -1.41837651e+01] [-5.35875790e-02 -7.26961093e-04 9.98562889e-01 -3.88614834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.791052754 meters 0.013845562471009699 Centerline is valid? [True, True] Translation: X:57.79, Y:-14.20, Z:-3.89 [[ 9.02047630e-01 4.28967141e-01 4.79297955e-02 5.77865471e+01] [-4.28399414e-01 9.03319879e-01 -2.20712193e-02 -1.41987838e+01] [-5.27637649e-02 -6.23805294e-04 9.98606828e-01 -3.88671622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.821052754 meters 0.01356187925665039 Centerline is valid? [True, True] Translation: X:57.81, Y:-14.21, Z:-3.89 [[ 9.02800027e-01 4.27405695e-01 4.77124924e-02 5.78149770e+01] [-4.26840203e-01 9.04059790e-01 -2.19849409e-02 -1.42131335e+01] [-5.25314348e-02 -5.17604670e-04 9.98619137e-01 -3.88874176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.851052754 meters 0.013165958428034778 Centerline is valid? [True, True] Translation: X:57.84, Y:-14.23, Z:-3.89 [[ 9.04664593e-01 4.23439647e-01 4.77581430e-02 5.78434280e+01] [-4.22866703e-01 9.05924275e-01 -2.20218098e-02 -1.42291949e+01] [-5.25901684e-02 -2.72976857e-04 9.98616142e-01 -3.89142187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.881052754 meters 0.013148822053480542 Centerline is valid? [True, True] Translation: X:57.87, Y:-14.24, Z:-3.89 [[ 9.06086415e-01 4.20316288e-01 4.83903459e-02 5.78703396e+01] [-4.19723419e-01 9.07377655e-01 -2.23168490e-02 -1.42444771e+01] [-5.32884537e-02 -8.95677217e-05 9.98579157e-01 -3.89318826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.911052754 meters 0.013000386177070744 Centerline is valid? [True, True] Translation: X:57.90, Y:-14.26, Z:-3.89 [[ 9.06423116e-01 4.19517501e-01 4.90122584e-02 5.79000410e+01] [-4.18907427e-01 9.07747248e-01 -2.26164044e-02 -1.42597997e+01] [-5.39787202e-02 -3.15673131e-05 9.98542086e-01 -3.89315256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941052754 meters 0.013055429199670291 Centerline is valid? [True, True] Translation: X:57.93, Y:-14.27, Z:-3.89 [[ 9.06772208e-01 4.18590918e-01 5.04559832e-02 5.79278898e+01] [-4.17941906e-01 9.08174896e-01 -2.33006636e-02 -1.42742177e+01] [-5.55763034e-02 4.07243606e-05 9.98454442e-01 -3.89252646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.971052754 meters 0.013092732287757994 Centerline is valid? [True, True] Translation: X:57.96, Y:-14.29, Z:-3.89 [[ 9.06981056e-01 4.18031455e-01 5.13329094e-02 5.79579895e+01] [-4.17357986e-01 9.08432548e-01 -2.37195463e-02 -1.42886482e+01] [-5.65480022e-02 8.89794960e-05 9.98399878e-01 -3.89268649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.001052754 meters 0.013020760805566124 Centerline is valid? [True, True] Translation: X:57.99, Y:-14.30, Z:-3.89 [[ 9.06960106e-01 4.17935215e-01 5.24740184e-02 5.79877670e+01] [-4.17230283e-01 9.08476826e-01 -2.42641328e-02 -1.43020779e+01] [-5.78122653e-02 1.12850882e-04 9.98327466e-01 -3.89325322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.031052754 meters 0.012951822585507207 Centerline is valid? [True, True] Translation: X:58.02, Y:-14.31, Z:-3.89 [[ 9.05997674e-01 4.19805948e-01 5.41403840e-02 5.80179355e+01] [-4.19057730e-01 9.07613886e-01 -2.50530050e-02 -1.43128310e+01] [-5.96559649e-02 1.00178955e-05 9.98218997e-01 -3.89437090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.061052754 meters 0.012967829945770889 Centerline is valid? [True, True] Translation: X:58.05, Y:-14.32, Z:-3.90 [[ 9.04842438e-01 4.22239701e-01 5.45325373e-02 5.80481366e+01] [-4.21484069e-01 9.06484206e-01 -2.52500183e-02 -1.43249732e+01] [-6.00944440e-02 -1.37307614e-04 9.98192686e-01 -3.89552705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091052754 meters 0.01307125018138023 Centerline is valid? [True, True] Translation: X:58.08, Y:-14.34, Z:-3.90 [[ 9.04180221e-01 4.23739226e-01 5.38813237e-02 5.80770368e+01] [-4.23003172e-01 9.05784202e-01 -2.49658887e-02 -1.43385101e+01] [-5.93838781e-02 -2.18308091e-04 9.98235196e-01 -3.89740505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121052754 meters 0.013280110050361603 Centerline is valid? [True, True] Translation: X:58.11, Y:-14.35, Z:-3.90 [[ 9.03342445e-01 4.25748959e-01 5.20600687e-02 5.81066448e+01] [-4.25064317e-01 9.04841267e-01 -2.41372714e-02 -1.43515171e+01] [-5.73825167e-02 -3.24655789e-04 9.98352213e-01 -3.90059924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.151052754 meters 0.013334222144648616 Centerline is valid? [True, True] Translation: X:58.14, Y:-14.36, Z:-3.90 [[ 9.02751528e-01 4.27047620e-01 5.16721333e-02 5.81368887e+01] [-4.26374465e-01 9.04229051e-01 -2.39716179e-02 -1.43641197e+01] [-5.69604665e-02 -3.91263549e-04 9.98376358e-01 -3.90373635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.181052754 meters 0.013786526534816539 Centerline is valid? [True, True] Translation: X:58.17, Y:-14.37, Z:-3.91 [[ 9.01505732e-01 4.29837452e-01 5.02710702e-02 5.81665709e+01] [-4.29203719e-01 9.02906128e-01 -2.33386136e-02 -1.43733487e+01] [-5.54218676e-02 -5.36636377e-04 9.98462883e-01 -3.90935199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.211052754 meters 0.013955504756276285 Centerline is valid? [True, True] Translation: X:58.20, Y:-14.39, Z:-3.91 [[ 9.00699994e-01 4.31682839e-01 4.88819755e-02 5.81960330e+01] [-4.31085695e-01 9.02025244e-01 -2.27064367e-02 -1.43854737e+01] [-5.38947549e-02 -6.20633007e-04 9.98546429e-01 -3.91254306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.241052754 meters 0.01483076053777504 Centerline is valid? [True, True] Translation: X:58.23, Y:-14.40, Z:-3.92 [[ 8.99555110e-01 4.34436642e-01 4.54467662e-02 5.82252194e+01] [-4.33923419e-01 9.00702108e-01 -2.11229518e-02 -1.43964841e+01] [-5.01105824e-02 -7.19156970e-04 9.98743417e-01 -3.91752110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.271052754 meters 0.015210751978722249 Centerline is valid? [True, True] Translation: X:58.25, Y:-14.41, Z:-3.92 [[ 8.99142248e-01 4.35393484e-01 4.44492109e-02 5.82537234e+01] [-4.34903157e-01 9.00239945e-01 -2.06708707e-02 -1.44094758e+01] [-4.90149176e-02 -7.45049008e-04 9.98797769e-01 -3.92017024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301052754000004 meters 0.014964417785614173 Centerline is valid? [True, True] Translation: X:58.28, Y:-14.42, Z:-3.92 [[ 8.99144451e-01 4.35500295e-01 4.33445396e-02 5.82821083e+01] [-4.35033658e-01 9.00188298e-01 -2.01679202e-02 -1.44240194e+01] [-4.78013825e-02 -7.22460082e-04 9.98856599e-01 -3.92233749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.331052754 meters 0.014980807038535824 Centerline is valid? [True, True] Translation: X:58.31, Y:-14.44, Z:-3.93 [[ 8.99281933e-01 4.35251890e-01 4.29860066e-02 5.83118402e+01] [-4.34792113e-01 9.00308454e-01 -2.00126660e-02 -1.44380927e+01] [-4.74112159e-02 -6.92947704e-04 9.98875216e-01 -3.92539457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361052754 meters 0.014540768640450863 Centerline is valid? [True, True] Translation: X:58.34, Y:-14.45, Z:-3.93 [[ 8.99979442e-01 4.33823452e-01 4.28277414e-02 5.83401191e+01] [-4.33364750e-01 9.00997697e-01 -1.99535371e-02 -1.44527298e+01] [-4.72440088e-02 -6.02260263e-04 9.98883197e-01 -3.92822707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.391052754 meters 0.014203720795707078 Centerline is valid? [True, True] Translation: X:58.37, Y:-14.47, Z:-3.93 [[ 9.00226329e-01 4.33323473e-01 4.27003940e-02 5.83693308e+01] [-4.32866397e-01 9.01238287e-01 -1.99055831e-02 -1.44678847e+01] [-4.71087863e-02 -5.64035690e-04 9.98889606e-01 -3.92909497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421052754 meters 0.014258220625750499 Centerline is valid? [True, True] Translation: X:58.40, Y:-14.48, Z:-3.93 [[ 9.00271265e-01 4.33235676e-01 4.26438518e-02 5.83983798e+01] [-4.32779020e-01 9.01280507e-01 -1.98939175e-02 -1.44817339e+01] [-4.70528272e-02 -5.45442083e-04 9.98892253e-01 -3.93144974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.451052754 meters 0.01458925522904321 Centerline is valid? [True, True] Translation: X:58.43, Y:-14.50, Z:-3.93 [[ 9.00348602e-01 4.33126363e-01 4.21182666e-02 5.84273169e+01] [-4.32680099e-01 9.01333059e-01 -1.96633702e-02 -1.44951018e+01] [-4.64793101e-02 -5.19847936e-04 9.98919118e-01 -3.93263321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.481052754000004 meters 0.013799462599089988 Centerline is valid? [True, True] Translation: X:58.46, Y:-14.51, Z:-3.93 [[ 9.00719986e-01 4.32207132e-01 4.35947417e-02 5.84557507e+01] [-4.31727549e-01 9.01774231e-01 -2.03607534e-02 -1.45097627e+01] [-4.81126775e-02 -4.81713438e-04 9.98841798e-01 -3.93047882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.511052754 meters 0.013661908942141202 Centerline is valid? [True, True] Translation: X:58.49, Y:-14.52, Z:-3.93 [[ 9.00861878e-01 4.31861991e-01 4.40805740e-02 5.84852401e+01] [-4.31370603e-01 9.01939583e-01 -2.06007427e-02 -1.45225878e+01] [-4.86546924e-02 -4.56640022e-04 9.98815555e-01 -3.93213803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541052754 meters 0.013745238529496948 Centerline is valid? [True, True] Translation: X:58.51, Y:-14.53, Z:-3.94 [[ 9.01216369e-01 4.31109838e-01 4.41968730e-02 5.85142759e+01] [-4.30614294e-01 9.02299365e-01 -2.06684845e-02 -1.45331381e+01] [-4.87891974e-02 -4.05028729e-04 9.98809016e-01 -3.93695560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.571052754 meters 0.013616738815725461 Centerline is valid? [True, True] Translation: X:58.54, Y:-14.55, Z:-3.94 [[ 9.01435860e-01 4.30743953e-01 4.32785994e-02 5.85440925e+01] [-4.30267868e-01 9.02474106e-01 -2.02496899e-02 -1.45478770e+01] [-4.77802467e-02 -3.67594022e-04 9.98857804e-01 -3.93916403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601052754 meters 0.013666387647086347 Centerline is valid? [True, True] Translation: X:58.57, Y:-14.56, Z:-3.94 [[ 9.01545342e-01 4.30615621e-01 4.22632674e-02 5.85723658e+01] [-4.30160822e-01 9.02535357e-01 -1.97887849e-02 -1.45626631e+01] [-4.66654530e-02 -3.39514994e-04 9.98910517e-01 -3.94142973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.631052754 meters 0.013868439815448384 Centerline is valid? [True, True] Translation: X:58.60, Y:-14.58, Z:-3.94 [[ 9.01729355e-01 4.30370510e-01 4.08092543e-02 5.85994927e+01] [-4.29945707e-01 9.02652276e-01 -1.91195722e-02 -1.45772216e+01] [-4.50650663e-02 -3.05084155e-04 9.98984007e-01 -3.94334572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.661052754 meters 0.013840833314844564 Centerline is valid? [True, True] Translation: X:58.63, Y:-14.59, Z:-3.95 [[ 9.01642825e-01 4.30683333e-01 3.93964737e-02 5.86289718e+01] [-4.30287334e-01 9.02503062e-01 -1.84671195e-02 -1.45906016e+01] [-4.35089186e-02 -3.01057820e-04 9.99052993e-01 -3.94581885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.691052754 meters 0.014333576595794633 Centerline is valid? [True, True] Translation: X:58.66, Y:-14.60, Z:-3.95 [[ 9.01430336e-01 4.31243145e-01 3.81143005e-02 5.86572629e+01] [-4.30872569e-01 9.02235698e-01 -1.78766447e-02 -1.46026932e+01] [-4.20972630e-02 -3.07856770e-04 9.99113470e-01 -3.95046629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721052754 meters 0.014203307564165714 Centerline is valid? [True, True] Translation: X:58.69, Y:-14.62, Z:-3.95 [[ 9.01277291e-01 4.31663259e-01 3.69604734e-02 5.86861143e+01] [-4.31314731e-01 9.02034775e-01 -1.73455179e-02 -1.46165163e+01] [-4.08270551e-02 -3.08475227e-04 9.99166181e-01 -3.95319826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.751052754 meters 0.014173331812062775 Centerline is valid? [True, True] Translation: X:58.71, Y:-14.63, Z:-3.95 [[ 9.01344888e-01 4.31530689e-01 3.68599578e-02 5.87149859e+01] [-4.31183542e-01 9.02098209e-01 -1.73082273e-02 -1.46313722e+01] [-4.07203332e-02 -2.92724932e-04 9.99170540e-01 -3.95478541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.781052754 meters 0.014100459952150831 Centerline is valid? [True, True] Translation: X:58.74, Y:-14.65, Z:-3.95 [[ 9.01216496e-01 4.31615037e-01 3.89523795e-02 5.87422057e+01] [-4.31226680e-01 9.02057854e-01 -1.83079105e-02 -1.46460067e+01] [-4.30392694e-02 -2.97914341e-04 9.99073337e-01 -3.95410141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.811052754 meters 0.01396548318962043 Centerline is valid? [True, True] Translation: X:58.77, Y:-14.66, Z:-3.95 [[ 9.00980379e-01 4.32024225e-01 3.98675950e-02 5.87715164e+01] [-4.31617488e-01 9.01861945e-01 -1.87450292e-02 -1.46604369e+01] [-4.40533735e-02 -3.18647660e-04 9.99029128e-01 -3.95382872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.841052754 meters 0.013778358001655777 Centerline is valid? [True, True] Translation: X:58.80, Y:-14.67, Z:-3.95 [[ 9.00207813e-01 4.33469644e-01 4.15927977e-02 5.87992953e+01] [-4.33028236e-01 9.01168079e-01 -1.95611913e-02 -1.46739118e+01] [-4.59612842e-02 -4.01718521e-04 9.98943141e-01 -3.95185142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871052754 meters 0.01399093559633394 Centerline is valid? [True, True] Translation: X:58.83, Y:-14.69, Z:-3.95 [[ 8.99561080e-01 4.34779108e-01 4.19164686e-02 5.88296346e+01] [-4.34331744e-01 9.00537014e-01 -1.97236673e-02 -1.46872726e+01] [-4.63227699e-02 -4.63009489e-04 9.98926417e-01 -3.95296666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901052754 meters 0.014420050793665661 Centerline is valid? [True, True] Translation: X:58.86, Y:-14.70, Z:-3.96 [[ 8.98779322e-01 4.36511694e-01 4.06604409e-02 5.88580599e+01] [-4.36091807e-01 8.99698432e-01 -1.91485340e-02 -1.46985230e+01] [-4.49406940e-02 -5.21378727e-04 9.98989521e-01 -3.95581431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.931052754 meters 0.014450974653172317 Centerline is valid? [True, True] Translation: X:58.89, Y:-14.71, Z:-3.96 [[ 8.98684486e-01 4.36786489e-01 3.97964487e-02 5.88873232e+01] [-4.36384407e-01 8.99565057e-01 -1.87445437e-02 -1.47113218e+01] [-4.39868581e-02 -5.21118994e-04 9.99031974e-01 -3.95986148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.961052754 meters 0.01435730447255081 Centerline is valid? [True, True] Translation: X:58.92, Y:-14.72, Z:-3.97 [[ 8.99723745e-01 4.34720137e-01 3.89305135e-02 5.89154344e+01] [-4.34332995e-01 9.00565512e-01 -1.83468664e-02 -1.47248894e+01] [-4.30352301e-02 -4.01695161e-04 9.99073475e-01 -3.96507541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.991052754 meters 0.01412303954661514 Centerline is valid? [True, True] Translation: X:58.94, Y:-14.74, Z:-3.97 [[ 9.00512637e-01 4.33125008e-01 3.84670945e-02 5.89437940e+01] [-4.32745114e-01 9.01333806e-01 -1.81393493e-02 -1.47411187e+01] [-4.25282985e-02 -3.11733926e-04 9.99095214e-01 -3.96621490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021052754 meters 0.013403399789011186 Centerline is valid? [True, True] Translation: X:58.97, Y:-14.76, Z:-3.96 [[ 9.02301285e-01 4.29272172e-01 3.97214538e-02 5.89710817e+01] [-4.28862745e-01 9.03175170e-01 -1.87445413e-02 -1.47597652e+01] [-4.39219408e-02 -1.21828043e-04 9.99034958e-01 -3.96365593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.051052754000004 meters 0.013403399789011186 Centerline is valid? [True, True] Translation: X:59.00, Y:-14.77, Z:-3.97 [[ 9.02186007e-01 4.29514774e-01 3.97173504e-02 5.90002752e+01] [-4.29105200e-01 9.03059823e-01 -1.87532308e-02 -1.47736358e+01] [-4.39219331e-02 -1.24019168e-04 9.99034959e-01 -3.96574697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081052754 meters 0.013607710053319132 Centerline is valid? [True, True] Translation: X:59.03, Y:-14.79, Z:-3.97 [[ 9.03669977e-01 4.26267412e-01 4.09471116e-02 5.90272431e+01] [-4.25828045e-01 9.04597198e-01 -1.93490382e-02 -1.47900575e+01] [-4.52885068e-02 4.87164138e-05 9.98973948e-01 -3.96717778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.111052754 meters 0.013332548465339924 Centerline is valid? [True, True] Translation: X:59.06, Y:-14.80, Z:-3.97 [[ 9.04042550e-01 4.25514913e-01 4.05478330e-02 5.90565351e+01] [-4.25082893e-01 9.04951408e-01 -1.91698735e-02 -1.48042525e+01] [-4.48508856e-02 9.41911861e-05 9.98993688e-01 -3.96720440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141052754 meters 0.013278043497799081 Centerline is valid? [True, True] Translation: X:59.09, Y:-14.82, Z:-3.97 [[ 9.03933371e-01 4.25788358e-01 4.01090407e-02 5.90866616e+01] [-4.25365345e-01 9.04822782e-01 -1.89751621e-02 -1.48161699e+01] [-4.43709769e-02 9.12863210e-05 9.99015119e-01 -3.97060314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.171052754 meters 0.013390920315273686 Centerline is valid? [True, True] Translation: X:59.12, Y:-14.83, Z:-3.98 [[ 9.03353383e-01 4.27051578e-01 3.97443603e-02 5.91162863e+01] [-4.26636768e-01 9.04227265e-01 -1.88181032e-02 -1.48287008e+01] [-4.39742349e-02 4.29917532e-05 9.99032665e-01 -3.97509797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201052754 meters 0.013553771985853315 Centerline is valid? [True, True] Translation: X:59.15, Y:-14.84, Z:-3.98 [[ 9.02088866e-01 4.29809779e-01 3.87199142e-02 5.91452229e+01] [-4.29418336e-01 9.02919458e-01 -1.83397324e-02 -1.48412734e+01] [-4.28435602e-02 -8.29727304e-05 9.99081790e-01 -3.97734146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.231052754000004 meters 0.013514982047344857 Centerline is valid? [True, True] Translation: X:59.18, Y:-14.86, Z:-3.98 [[ 9.00872398e-01 4.32357559e-01 3.86763956e-02 5.91752001e+01] [-4.31968955e-01 9.01702225e-01 -1.83281003e-02 -1.48556847e+01] [-4.27988847e-02 -1.95722537e-04 9.99083689e-01 -3.97752253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261052754 meters 0.013567814378259024 Centerline is valid? [True, True] Translation: X:59.20, Y:-14.87, Z:-3.98 [[ 9.00000374e-01 4.34170614e-01 3.86678844e-02 5.92047499e+01] [-4.33783310e-01 9.00830619e-01 -1.83367253e-02 -1.48690277e+01] [-4.27944815e-02 -2.70423194e-04 9.99083860e-01 -3.97862367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291052754 meters 0.013429904163398414 Centerline is valid? [True, True] Translation: X:59.24, Y:-14.88, Z:-3.98 [[ 8.99132698e-01 4.35917024e-01 3.92012657e-02 5.92352075e+01] [-4.35520046e-01 8.99986793e-01 -1.86027133e-02 -1.48820977e+01] [-4.33898608e-02 -3.46629286e-04 9.99058156e-01 -3.97957369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321052754 meters 0.013930398956645674 Centerline is valid? [True, True] Translation: X:59.27, Y:-14.89, Z:-3.98 [[ 8.97281592e-01 4.39664169e-01 3.97638475e-02 5.92652962e+01] [-4.39258633e-01 8.98162095e-01 -1.88866282e-02 -1.48912348e+01] [-4.40181543e-02 -5.19989496e-04 9.99030596e-01 -3.98349921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.351052754 meters 0.014026856330820061 Centerline is valid? [True, True] Translation: X:59.29, Y:-14.90, Z:-3.99 [[ 8.96519027e-01 4.41224186e-01 3.96843949e-02 5.92948081e+01] [-4.40821627e-01 8.97396717e-01 -1.88527399e-02 -1.49043691e+01] [-4.39309305e-02 -5.91899470e-04 9.99034395e-01 -3.98577355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381052754 meters 0.014786919585910602 Centerline is valid? [True, True] Translation: X:59.32, Y:-14.92, Z:-3.99 [[ 8.95625463e-01 4.43147921e-01 3.84050845e-02 5.93228348e+01] [-4.42772222e-01 8.96448265e-01 -1.82556392e-02 -1.49175199e+01] [-4.25181200e-02 -6.54489274e-04 9.99095481e-01 -3.99003899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.411052754 meters 0.01404832824086165 Centerline is valid? [True, True] Translation: X:59.35, Y:-14.93, Z:-3.99 [[ 8.95606006e-01 4.43210954e-01 3.81304726e-02 5.93510613e+01] [-4.42840244e-01 8.96417111e-01 -1.81351046e-02 -1.49343433e+01] [-4.22184851e-02 -6.43799182e-04 9.99108195e-01 -3.99018410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441052754 meters 0.013929219548531517 Centerline is valid? [True, True] Translation: X:59.38, Y:-14.95, Z:-3.99 [[ 8.95813207e-01 4.42796469e-01 3.80786694e-02 5.93795413e+01] [-4.42425791e-01 8.96621946e-01 -1.81247133e-02 -1.49500081e+01] [-4.21677298e-02 -6.10627865e-04 9.99110359e-01 -3.99121534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.471052754 meters 0.013742463185249562 Centerline is valid? [True, True] Translation: X:59.41, Y:-14.96, Z:-3.99 [[ 8.96451897e-01 4.41410311e-01 3.91271598e-02 5.94071992e+01] [-4.41017061e-01 8.97305208e-01 -1.86364195e-02 -1.49644947e+01] [-4.33353119e-02 -5.49091423e-04 9.99060433e-01 -3.99302771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501052754 meters 0.014458412975419225 Centerline is valid? [True, True] Translation: X:59.44, Y:-14.98, Z:-4.00 [[ 8.96013420e-01 4.42260322e-01 3.95696621e-02 5.94369389e+01] [-4.41858494e-01 8.96886538e-01 -1.88576110e-02 -1.49752299e+01] [-4.38294704e-02 -5.87518723e-04 9.99038854e-01 -3.99747678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.531052754 meters 0.014035798168619624 Centerline is valid? [True, True] Translation: X:59.47, Y:-14.99, Z:-4.00 [[ 8.95428168e-01 4.43411443e-01 3.99335398e-02 5.94672265e+01] [-4.43002784e-01 8.96317959e-01 -1.90433473e-02 -1.49892423e+01] [-4.42371870e-02 -6.38719748e-04 9.99020852e-01 -3.99781195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561052754 meters 0.014329947149283604 Centerline is valid? [True, True] Translation: X:59.50, Y:-15.00, Z:-4.00 [[ 8.94956426e-01 4.44320445e-01 4.04022051e-02 5.94967644e+01] [-4.43902418e-01 8.95867669e-01 -1.92811392e-02 -1.50013025e+01] [-4.47620337e-02 -6.78857112e-04 9.98997447e-01 -3.99979086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.591052754 meters 0.01408097067520195 Centerline is valid? [True, True] Translation: X:59.53, Y:-15.02, Z:-4.00 [[ 8.94745261e-01 4.44732409e-01 4.05462939e-02 5.95256909e+01] [-4.44311256e-01 8.95663222e-01 -1.93623580e-02 -1.50161067e+01] [-4.49268924e-02 -6.90796680e-04 9.98990039e-01 -4.00002455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621052754 meters 0.013939331169424899 Centerline is valid? [True, True] Translation: X:59.56, Y:-15.03, Z:-4.00 [[ 8.94808840e-01 4.44607516e-01 4.05129178e-02 5.95551164e+01] [-4.44186319e-01 8.95725240e-01 -1.93599825e-02 -1.50312444e+01] [-4.48960368e-02 -6.71800335e-04 9.98991439e-01 -4.00203634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.651052754 meters 0.013657292105348448 Centerline is valid? [True, True] Translation: X:59.58, Y:-15.04, Z:-4.01 [[ 8.95370015e-01 4.43517798e-01 4.00561921e-02 5.95827305e+01] [-4.43104311e-01 8.96265366e-01 -1.91562980e-02 -1.50447950e+01] [-4.43971368e-02 -5.97096527e-04 9.99013783e-01 -4.00632719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.681052754 meters 0.01380831807251972 Centerline is valid? [True, True] Translation: X:59.61, Y:-15.06, Z:-4.01 [[ 8.95830430e-01 4.42666047e-01 3.91741182e-02 5.96115093e+01] [-4.42269258e-01 8.96686393e-01 -1.87461054e-02 -1.50577934e+01] [-4.34251631e-02 -5.32176549e-04 9.99056541e-01 -4.01226765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.711052754 meters 0.0138990223681604 Centerline is valid? [True, True] Translation: X:59.64, Y:-15.07, Z:-4.02 [[ 8.95966050e-01 4.42453085e-01 3.84721324e-02 5.96404051e+01] [-4.42069966e-01 8.96791509e-01 -1.84156216e-02 -1.50722060e+01] [-4.26495302e-02 -5.07602504e-04 9.99089966e-01 -4.01566988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741052754 meters 0.01401271024642861 Centerline is valid? [True, True] Translation: X:59.67, Y:-15.09, Z:-4.02 [[ 8.95821334e-01 4.42806151e-01 3.77736745e-02 5.96694789e+01] [-4.42436444e-01 8.96617233e-01 -1.80977880e-02 -1.50863907e+01] [-4.18823393e-02 -5.00065652e-04 9.99122425e-01 -4.01801081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.771052754 meters 0.013837159780096961 Centerline is valid? [True, True] Translation: X:59.70, Y:-15.10, Z:-4.02 [[ 8.95646859e-01 4.43120060e-01 3.82271674e-02 5.96984025e+01] [-4.42741694e-01 8.96462125e-01 -1.83153249e-02 -1.51008388e+01] [-4.23850955e-02 -5.20697603e-04 9.99101212e-01 -4.01824918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801052754000004 meters 0.013584261216959196 Centerline is valid? [True, True] Translation: X:59.73, Y:-15.12, Z:-4.02 [[ 8.95368371e-01 4.43599051e-01 3.91837031e-02 5.97268001e+01] [-4.43201447e-01 8.96225185e-01 -1.87854747e-02 -1.51154239e+01] [-4.34506404e-02 -5.46354023e-04 9.99055426e-01 -4.01658568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.831052754 meters 0.013547652700545594 Centerline is valid? [True, True] Translation: X:59.76, Y:-15.13, Z:-4.02 [[ 8.95198992e-01 4.43851746e-01 4.01795102e-02 5.97561244e+01] [-4.43433377e-01 8.96100057e-01 -1.92750583e-02 -1.51285057e+01] [-4.45601297e-02 -5.61923160e-04 9.99006546e-01 -4.01806186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861052754 meters 0.013428568605073627 Centerline is valid? [True, True] Translation: X:59.78, Y:-15.14, Z:-4.02 [[ 8.95207283e-01 4.43668304e-01 4.19804327e-02 5.97840598e+01] [-4.43210679e-01 8.96190893e-01 -2.01538155e-02 -1.51414494e+01] [-4.65640907e-02 -5.64333656e-04 9.98915145e-01 -4.01942990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.891052754 meters 0.013237897261940057 Centerline is valid? [True, True] Translation: X:59.81, Y:-15.16, Z:-4.02 [[ 8.95400873e-01 4.43237444e-01 4.24009968e-02 5.98125561e+01] [-4.42769873e-01 8.96404079e-01 -2.03608954e-02 -1.51567210e+01] [-4.70331377e-02 -5.42720384e-04 9.98893182e-01 -4.02021257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921052754 meters 0.012773119376856618 Centerline is valid? [True, True] Translation: X:59.84, Y:-15.17, Z:-4.02 [[ 8.96289109e-01 4.41230741e-01 4.45114170e-02 5.98392326e+01] [-4.40712279e-01 8.97393578e-01 -2.13881640e-02 -1.51726057e+01] [-4.93813752e-02 -4.46749567e-04 9.98779896e-01 -4.02026783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.951052754 meters 0.012565082232421332 Centerline is valid? [True, True] Translation: X:59.87, Y:-15.19, Z:-4.02 [[ 8.96557732e-01 4.40553184e-01 4.57943848e-02 5.98667991e+01] [-4.40002868e-01 8.97726419e-01 -2.20170920e-02 -1.51870002e+01] [-5.08105291e-02 -4.10066581e-04 9.98708227e-01 -4.02094094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981052754000004 meters 0.01231991915072614 Centerline is valid? [True, True] Translation: X:59.90, Y:-15.20, Z:-4.02 [[ 8.96741895e-01 4.40005394e-01 4.74260196e-02 5.98950085e+01] [-4.39413692e-01 8.97995049e-01 -2.28144615e-02 -1.52008874e+01] [-5.26268169e-02 -3.80958937e-04 9.98614176e-01 -4.02201931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.011052754 meters 0.012389866831180502 Centerline is valid? [True, True] Translation: X:59.92, Y:-15.22, Z:-4.02 [[ 8.96629891e-01 4.40290443e-01 4.68952492e-02 5.99241547e+01] [-4.39711720e-01 8.97855322e-01 -2.25704393e-02 -1.52152167e+01] [-5.20426977e-02 -3.83060152e-04 9.98644787e-01 -4.02457233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041052754 meters 0.01223991441380767 Centerline is valid? [True, True] Translation: X:59.95, Y:-15.23, Z:-4.03 [[ 8.97085612e-01 4.39429317e-01 4.62523473e-02 5.99530858e+01] [-4.38864480e-01 8.98277115e-01 -2.22753699e-02 -1.52312329e+01] [-5.13358757e-02 -3.15598467e-04 9.98681395e-01 -4.02690475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.071052754 meters 0.012261937698573644 Centerline is valid? [True, True] Translation: X:59.98, Y:-15.25, Z:-4.03 [[ 8.97125730e-01 4.39333584e-01 4.63834805e-02 5.99825844e+01] [-4.38764634e-01 8.98323947e-01 -2.23535741e-02 -1.52464371e+01] [-5.14880671e-02 -2.97464400e-04 9.98673566e-01 -4.02885407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101052754 meters 0.01213090293853046 Centerline is valid? [True, True] Translation: X:60.01, Y:-15.26, Z:-4.03 [[ 8.96669425e-01 4.40274821e-01 4.62820057e-02 6.00127295e+01] [-4.39708794e-01 8.97863001e-01 -2.23205662e-02 -1.52604134e+01] [-5.13820838e-02 -3.36435678e-04 9.98679012e-01 -4.02962535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131052754 meters 0.012099839121237127 Centerline is valid? [True, True] Translation: X:60.04, Y:-15.27, Z:-4.03 [[ 8.96651232e-01 4.40293388e-01 4.64575133e-02 6.00416128e+01] [-4.39722518e-01 8.97853899e-01 -2.24161292e-02 -1.52739777e+01] [-5.15817329e-02 -3.28964851e-04 9.98668722e-01 -4.03203882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161052754 meters 0.011975975788745019 Centerline is valid? [True, True] Translation: X:60.07, Y:-15.29, Z:-4.03 [[ 8.96983300e-01 4.39565614e-01 4.69364618e-02 6.00700949e+01] [-4.38981439e-01 8.98210438e-01 -2.26562152e-02 -1.52876044e+01] [-5.21177131e-02 -2.81988925e-04 9.98640909e-01 -4.03389797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.191052754 meters 0.011902273382694466 Centerline is valid? [True, True] Translation: X:60.10, Y:-15.30, Z:-4.04 [[ 8.97098094e-01 4.39280617e-01 4.74083301e-02 6.00990128e+01] [-4.38683503e-01 8.98349862e-01 -2.28978260e-02 -1.53011042e+01] [-5.26478379e-02 -2.55656211e-04 9.98613108e-01 -4.03685719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221052754 meters 0.011814646966232325 Centerline is valid? [True, True] Translation: X:60.13, Y:-15.32, Z:-4.04 [[ 8.97162756e-01 4.39323993e-01 4.57538846e-02 6.01276607e+01] [-4.38767278e-01 8.98328655e-01 -2.21111501e-02 -1.53162214e+01] [-5.08159843e-02 -2.38007039e-04 9.98708005e-01 -4.03943614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.251052754 meters 0.011955416748354646 Centerline is valid? [True, True] Translation: X:60.16, Y:-15.33, Z:-4.04 [[ 8.96998888e-01 4.39784560e-01 4.45256696e-02 6.01558733e+01] [-4.39257286e-01 8.98103268e-01 -2.15303621e-02 -1.53303805e+01] [-4.94573702e-02 -2.45513893e-04 9.98776205e-01 -4.04237584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281052754 meters 0.012318767724928478 Centerline is valid? [True, True] Translation: X:60.18, Y:-15.34, Z:-4.05 [[ 8.96504124e-01 4.40941075e-01 4.30270122e-02 6.01841235e+01] [-4.40449441e-01 8.97536008e-01 -2.08183596e-02 -1.53421716e+01] [-4.77979626e-02 -2.87478255e-04 9.98856983e-01 -4.04800690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.311052754 meters 0.012279352499780478 Centerline is valid? [True, True] Translation: X:60.21, Y:-15.36, Z:-4.05 [[ 8.95995927e-01 4.41982530e-01 4.29271656e-02 6.02137216e+01] [-4.41493839e-01 8.97023597e-01 -2.07811620e-02 -1.53554514e+01] [-4.76915910e-02 -3.32242614e-04 9.98862053e-01 -4.05072979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341052754 meters 0.01239518084898984 Centerline is valid? [True, True] Translation: X:60.24, Y:-15.37, Z:-4.05 [[ 8.95575877e-01 4.42839594e-01 4.28595615e-02 6.02433810e+01] [-4.42352746e-01 8.96600781e-01 -2.07626543e-02 -1.53688092e+01] [-4.76224417e-02 -3.64512413e-04 9.98865341e-01 -4.05256674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.371052754 meters 0.012407239370119463 Centerline is valid? [True, True] Translation: X:60.27, Y:-15.38, Z:-4.05 [[ 8.94380929e-01 4.45162890e-01 4.37350643e-02 6.02740916e+01] [-4.44657986e-01 8.95449477e-01 -2.12016298e-02 -1.53813958e+01] [-4.86007192e-02 -4.84812308e-04 9.98818169e-01 -4.05155440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401052754 meters 0.012632370529559272 Centerline is valid? [True, True] Translation: X:60.30, Y:-15.39, Z:-4.05 [[ 8.93749497e-01 4.46373163e-01 4.43039028e-02 6.03039947e+01] [-4.45855740e-01 8.94846749e-01 -2.14931453e-02 -1.53936009e+01] [-4.92391667e-02 -5.43661528e-04 9.98786869e-01 -4.05416119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.431052754 meters 0.01287798527765538 Centerline is valid? [True, True] Translation: X:60.33, Y:-15.41, Z:-4.06 [[ 8.93597149e-01 4.46666782e-01 4.44175764e-02 6.03323501e+01] [-4.46146356e-01 8.94700221e-01 -2.15625502e-02 -1.54069803e+01] [-4.93716903e-02 -5.48506477e-04 9.98780324e-01 -4.05726818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461052754 meters 0.012622130209424001 Centerline is valid? [True, True] Translation: X:60.36, Y:-15.42, Z:-4.06 [[ 8.93538768e-01 4.46770848e-01 4.45452564e-02 6.03614401e+01] [-4.46246872e-01 8.94648262e-01 -2.16382841e-02 -1.54221985e+01] [-4.95196908e-02 -5.43535650e-04 9.98773000e-01 -4.05935808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.491052754 meters 0.012583494023925045 Centerline is valid? [True, True] Translation: X:60.39, Y:-15.44, Z:-4.06 [[ 8.93928639e-01 4.45851500e-01 4.59132678e-02 6.03885526e+01] [-4.45292759e-01 8.95106808e-01 -2.23195428e-02 -1.54371897e+01] [-5.10484802e-02 -4.92767180e-04 9.98696055e-01 -4.06022352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521052754 meters 0.012323630716882432 Centerline is valid? [True, True] Translation: X:60.42, Y:-15.45, Z:-4.06 [[ 8.93864728e-01 4.45878488e-01 4.68851950e-02 6.04173274e+01] [-4.45295195e-01 8.95093364e-01 -2.28047915e-02 -1.54524775e+01] [-5.21347928e-02 -4.93353291e-04 9.98639935e-01 -4.06028485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.551052754000004 meters 0.012480386923356008 Centerline is valid? [True, True] Translation: X:60.45, Y:-15.47, Z:-4.06 [[ 8.93275517e-01 4.47010232e-01 4.73360674e-02 6.04464601e+01] [-4.46416520e-01 8.94528673e-01 -2.30378820e-02 -1.54667577e+01] [-5.26416385e-02 -5.52426515e-04 9.98613315e-01 -4.06047575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581052754 meters 0.012685070766718891 Centerline is valid? [True, True] Translation: X:60.47, Y:-15.48, Z:-4.06 [[ 8.92449343e-01 4.48698735e-01 4.69426786e-02 6.04748294e+01] [-4.48116418e-01 8.93682854e-01 -2.28611360e-02 -1.54808008e+01] [-5.22096298e-02 -6.33379172e-04 9.98635946e-01 -4.06184043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.611052754 meters 0.012569193930849274 Centerline is valid? [True, True] Translation: X:60.50, Y:-15.50, Z:-4.06 [[ 8.92548374e-01 4.48491805e-01 4.70372379e-02 6.05041727e+01] [-4.47906148e-01 8.93786735e-01 -2.29205994e-02 -1.54961418e+01] [-5.23209603e-02 -6.10524366e-04 9.98630134e-01 -4.06408771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641052754 meters 0.012417995881047332 Centerline is valid? [True, True] Translation: X:60.53, Y:-15.51, Z:-4.07 [[ 8.93291959e-01 4.47156673e-01 4.56112528e-02 6.05322744e+01] [-4.46603521e-01 8.94455509e-01 -2.22404707e-02 -1.55138523e+01] [-5.07422112e-02 -5.02912440e-04 9.98711658e-01 -4.06727321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.671052754 meters 0.012502187432880646 Centerline is valid? [True, True] Translation: X:60.56, Y:-15.53, Z:-4.07 [[ 8.93567858e-01 4.46714294e-01 4.45289082e-02 6.05597494e+01] [-4.46185811e-01 8.94676553e-01 -2.17275648e-02 -1.55290995e+01] [-4.95449838e-02 -4.53113528e-04 9.98771790e-01 -4.07015881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701052754 meters 0.012546135488914924 Centerline is valid? [True, True] Translation: X:60.59, Y:-15.54, Z:-4.07 [[ 8.93929255e-01 4.46082511e-01 4.35990796e-02 6.05873958e+01] [-4.45574484e-01 8.94991752e-01 -2.12871811e-02 -1.55447354e+01] [-4.85166558e-02 -3.97403408e-04 9.98822295e-01 -4.07314934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.731052754000004 meters 0.012459862843020643 Centerline is valid? [True, True] Translation: X:60.62, Y:-15.56, Z:-4.07 [[ 8.93701547e-01 4.46614959e-01 4.28091600e-02 6.06163604e+01] [-4.46125164e-01 8.94726166e-01 -2.09147190e-02 -1.55592927e+01] [-4.76433020e-02 -4.06726815e-04 9.98864330e-01 -4.07417024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761052754 meters 0.012604846764532704 Centerline is valid? [True, True] Translation: X:60.65, Y:-15.57, Z:-4.08 [[ 8.93308425e-01 4.47427401e-01 4.25297480e-02 6.06459791e+01] [-4.46944345e-01 8.94320150e-01 -2.07899572e-02 -1.55727593e+01] [-4.73372071e-02 -4.36586419e-04 9.98878871e-01 -4.07663439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.791052754 meters 0.012907470029693039 Centerline is valid? [True, True] Translation: X:60.68, Y:-15.58, Z:-4.08 [[ 8.92333134e-01 4.49338505e-01 4.28542327e-02 6.06763196e+01] [-4.48849528e-01 8.93361421e-01 -2.09636005e-02 -1.55828850e+01] [-4.77040711e-02 -5.28586775e-04 9.98861373e-01 -4.07939338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821052754 meters 0.012657177106445944 Centerline is valid? [True, True] Translation: X:60.71, Y:-15.60, Z:-4.08 [[ 8.91755629e-01 4.50371687e-01 4.40141130e-02 6.07054900e+01] [-4.49856474e-01 8.92840970e-01 -2.15442471e-02 -1.55962353e+01] [-4.90005223e-02 -5.87830104e-04 9.98798580e-01 -4.07922696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.851052754 meters 0.012892017805782642 Centerline is valid? [True, True] Translation: X:60.73, Y:-15.61, Z:-4.08 [[ 8.91823524e-01 4.50194171e-01 4.44523385e-02 6.07334349e+01] [-4.49667745e-01 8.92930502e-01 -2.17723863e-02 -1.56102500e+01] [-4.94946503e-02 -5.71656574e-04 9.98774225e-01 -4.08082376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881052754 meters 0.012946456204248087 Centerline is valid? [True, True] Translation: X:60.76, Y:-15.62, Z:-4.08 [[ 8.92362445e-01 4.49092579e-01 4.47785784e-02 6.07613704e+01] [-4.48556316e-01 8.93485088e-01 -2.19460327e-02 -1.56245626e+01] [-4.98647925e-02 -5.01898788e-04 9.98755851e-01 -4.08286693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.911052754 meters 0.01262114524263175 Centerline is valid? [True, True] Translation: X:60.79, Y:-15.64, Z:-4.08 [[ 8.92493533e-01 4.48839547e-01 4.47029660e-02 6.07900048e+01] [-4.48304203e-01 8.93612239e-01 -2.19205009e-02 -1.56399130e+01] [-4.97859052e-02 -4.76622260e-04 9.98759799e-01 -4.08395475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941052754 meters 0.01262114524263175 Centerline is valid? [True, True] Translation: X:60.82, Y:-15.65, Z:-4.09 [[ 8.92372701e-01 4.49080323e-01 4.46970600e-02 6.08189846e+01] [-4.48544677e-01 8.93491263e-01 -2.19325357e-02 -1.56542189e+01] [-4.97859028e-02 -4.76632233e-04 9.98759799e-01 -4.08604677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.971052754 meters 0.01279106589851324 Centerline is valid? [True, True] Translation: X:60.85, Y:-15.67, Z:-4.09 [[ 8.92269312e-01 4.49232082e-01 4.52328597e-02 6.08468770e+01] [-4.48682902e-01 8.93414970e-01 -2.22113622e-02 -1.56682418e+01] [-5.03897705e-02 -4.76693877e-04 9.98729515e-01 -4.08729870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001052754 meters 0.012327265436270498 Centerline is valid? [True, True] Translation: X:60.88, Y:-15.68, Z:-4.08 [[ 8.91758588e-01 4.50082454e-01 4.68231287e-02 6.08752551e+01] [-4.49494394e-01 8.92986844e-01 -2.30062403e-02 -1.56834863e+01] [-5.21671430e-02 -5.30721515e-04 9.98638227e-01 -4.08471230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.031052754 meters 0.012461709119780767 Centerline is valid? [True, True] Translation: X:60.91, Y:-15.70, Z:-4.09 [[ 8.90971685e-01 4.51548343e-01 4.76817654e-02 6.09054657e+01] [-4.50939821e-01 8.92246443e-01 -2.34427470e-02 -1.56965340e+01] [-5.31294191e-02 -6.14782941e-04 9.98587446e-01 -4.08763717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061052754 meters 0.013131420219974075 Centerline is valid? [True, True] Translation: X:60.93, Y:-15.71, Z:-4.09 [[ 8.90470885e-01 4.52567256e-01 4.73759677e-02 6.09343034e+01] [-4.51967064e-01 8.91730031e-01 -2.33093379e-02 -1.57085258e+01] [-5.27956163e-02 -6.56090264e-04 9.98605123e-01 -4.09168050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.091052754 meters 0.012883202154991027 Centerline is valid? [True, True] Translation: X:60.96, Y:-15.72, Z:-4.09 [[ 8.90078684e-01 4.53370366e-01 4.70664262e-02 6.09629420e+01] [-4.52778445e-01 8.91321961e-01 -2.31698333e-02 -1.57234640e+01] [-5.24558551e-02 -6.87688548e-04 9.98623007e-01 -4.09416882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121052754 meters 0.01317867674562521 Centerline is valid? [True, True] Translation: X:60.99, Y:-15.74, Z:-4.10 [[ 8.89485658e-01 4.54669749e-01 4.57239964e-02 6.09908328e+01] [-4.54112178e-01 8.90659803e-01 -2.25220979e-02 -1.57384930e+01] [-5.09646422e-02 -7.30740505e-04 9.98700191e-01 -4.09743913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.151052754 meters 0.013379646398747815 Centerline is valid? [True, True] Translation: X:61.02, Y:-15.75, Z:-4.10 [[ 8.88288238e-01 4.57128948e-01 4.44649498e-02 6.10191784e+01] [-4.56604128e-01 8.89400037e-01 -2.19145004e-02 -1.57540826e+01] [-4.95648804e-02 -8.36486679e-04 9.98770556e-01 -4.10005623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.181052754 meters 0.013795792037436106 Centerline is valid? [True, True] Translation: X:61.05, Y:-15.77, Z:-4.10 [[ 8.87545808e-01 4.58682731e-01 4.32734312e-02 6.10480446e+01] [-4.58186902e-01 8.88599665e-01 -2.13400506e-02 -1.57676303e+01] [-4.82410692e-02 -8.87046864e-04 9.98835328e-01 -4.10245699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.211052754 meters 0.014964481481860649 Centerline is valid? [True, True] Translation: X:61.08, Y:-15.78, Z:-4.11 [[ 8.86944812e-01 4.59916961e-01 4.24886972e-02 6.10766299e+01] [-4.59439760e-01 8.87961448e-01 -2.09660242e-02 -1.57787910e+01] [-4.73709552e-02 -9.25290447e-04 9.98876938e-01 -4.10716071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241052754 meters 0.014817418156589109 Centerline is valid? [True, True] Translation: X:61.11, Y:-15.79, Z:-4.11 [[ 8.85720221e-01 4.62449272e-01 4.05013687e-02 6.11064987e+01] [-4.62017832e-01 8.86645176e-01 -1.99963674e-02 -1.57906623e+01] [-4.51576487e-02 -1.00116762e-03 9.98979371e-01 -4.11026894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.271052754 meters 0.015029003850817922 Centerline is valid? [True, True] Translation: X:61.14, Y:-15.80, Z:-4.11 [[ 8.85158171e-01 4.63583942e-01 3.98113065e-02 6.11359806e+01] [-4.63167831e-01 8.86052403e-01 -1.96646672e-02 -1.58021837e+01] [-4.43911277e-02 -1.03297557e-03 9.99013694e-01 -4.11389749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301052754000004 meters 0.015607605439057072 Centerline is valid? [True, True] Translation: X:61.17, Y:-15.81, Z:-4.12 [[ 8.84292169e-01 4.65245776e-01 3.96702385e-02 6.11662366e+01] [-4.64833743e-01 8.85180860e-01 -1.96070747e-02 -1.58131884e+01] [-4.42374445e-02 -1.10168279e-03 9.99020438e-01 -4.11759619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.331052754 meters 0.015743729029393628 Centerline is valid? [True, True] Translation: X:61.20, Y:-15.83, Z:-4.12 [[ 8.84347463e-01 4.65197137e-01 3.90024148e-02 6.11958171e+01] [-4.64798348e-01 8.85206460e-01 -1.92877984e-02 -1.58283464e+01] [-4.34978181e-02 -1.07114236e-03 9.99052948e-01 -4.11894938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361052754 meters 0.015619324554466688 Centerline is valid? [True, True] Translation: X:61.22, Y:-15.84, Z:-4.12 [[ 8.84421632e-01 4.65108990e-01 3.83667050e-02 6.12244622e+01] [-4.64722460e-01 8.85252817e-01 -1.89864462e-02 -1.58448242e+01] [-4.27950005e-02 -1.03784582e-03 9.99083335e-01 -4.11954121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.391052754 meters 0.01595188268322643 Centerline is valid? [True, True] Translation: X:61.25, Y:-15.86, Z:-4.12 [[ 8.84402307e-01 4.65172123e-01 3.80454420e-02 6.12524105e+01] [-4.64791434e-01 8.85219667e-01 -1.88431314e-02 -1.58590014e+01] [-4.24438729e-02 -1.01828667e-03 9.99098334e-01 -4.12230242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421052754 meters 0.015596612980118286 Centerline is valid? [True, True] Translation: X:61.28, Y:-15.87, Z:-4.12 [[ 8.84247689e-01 4.65494442e-01 3.76954673e-02 6.12810662e+01] [-4.65120794e-01 8.85050216e-01 -1.86751613e-02 -1.58745002e+01] [-4.20555652e-02 -1.01947745e-03 9.99114753e-01 -4.12408542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.451052754 meters 0.016000523872515514 Centerline is valid? [True, True] Translation: X:61.31, Y:-15.89, Z:-4.13 [[ 8.84470016e-01 4.65052782e-01 3.79302168e-02 6.13086822e+01] [-4.64673431e-01 8.85282400e-01 -1.88062632e-02 -1.58874715e+01] [-4.23248583e-02 -9.91588060e-04 9.99103410e-01 -4.12761307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481052754000004 meters 0.015321880991245315 Centerline is valid? [True, True] Translation: X:61.34, Y:-15.90, Z:-4.13 [[ 8.85249039e-01 4.63544659e-01 3.82163388e-02 6.13373079e+01] [-4.63157593e-01 8.86073085e-01 -1.89613195e-02 -1.59030369e+01] [-4.26518876e-02 -9.14697671e-04 9.99089575e-01 -4.12925337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.511052754 meters 0.015003333606544215 Centerline is valid? [True, True] Translation: X:61.36, Y:-15.92, Z:-4.13 [[ 8.86190756e-01 4.61729563e-01 3.83634607e-02 6.13644370e+01] [-4.61337633e-01 8.87020364e-01 -1.90384388e-02 -1.59190646e+01] [-4.28197809e-02 -8.26819713e-04 9.99082470e-01 -4.13058815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541052754 meters 0.014542527617613312 Centerline is valid? [True, True] Translation: X:61.39, Y:-15.93, Z:-4.13 [[ 8.86505631e-01 4.61098390e-01 3.86786829e-02 6.13922467e+01] [-4.60698933e-01 8.87348661e-01 -1.92054053e-02 -1.59341925e+01] [-4.31770589e-02 -7.93527994e-04 9.99067121e-01 -4.13165267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571052754 meters 0.014640283292129139 Centerline is valid? [True, True] Translation: X:61.42, Y:-15.95, Z:-4.13 [[ 8.86743362e-01 4.60580863e-01 3.93888161e-02 6.14197607e+01] [-4.60165542e-01 8.87617414e-01 -1.95704013e-02 -1.59487255e+01] [-4.39759514e-02 -7.71452455e-04 9.99032292e-01 -4.13311009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601052754 meters 0.0146587486441601 Centerline is valid? [True, True] Translation: X:61.45, Y:-15.96, Z:-4.13 [[ 8.86689900e-01 4.60668834e-01 3.95631925e-02 6.14487742e+01] [-4.60249484e-01 8.87571761e-01 -1.96667543e-02 -1.59634087e+01] [-4.41750332e-02 -7.70626527e-04 9.99023510e-01 -4.13436173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631052754 meters 0.014510822769480696 Centerline is valid? [True, True] Translation: X:61.48, Y:-15.98, Z:-4.13 [[ 8.86671549e-01 4.60512473e-01 4.17351946e-02 6.14772607e+01] [-4.60044887e-01 8.87652881e-01 -2.07621155e-02 -1.59771239e+01] [-4.66075789e-02 -7.90885754e-04 9.98912963e-01 -4.13427008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661052754 meters 0.013517784718499614 Centerline is valid? [True, True] Translation: X:61.51, Y:-15.99, Z:-4.13 [[ 8.86679981e-01 4.60434212e-01 4.24139953e-02 6.15056227e+01] [-4.59950608e-01 8.87693480e-01 -2.11121716e-02 -1.59924319e+01] [-4.73713932e-02 -7.88603012e-04 9.98877034e-01 -4.13423506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691052754 meters 0.014111088310256377 Centerline is valid? [True, True] Translation: X:61.53, Y:-16.00, Z:-4.14 [[ 8.86858977e-01 4.60062565e-01 4.27035334e-02 6.15338656e+01] [-4.59571259e-01 8.87886173e-01 -2.12697589e-02 -1.60047267e+01] [-4.77012966e-02 -7.62039996e-04 9.98861355e-01 -4.13785591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721052754 meters 0.01347941590787276 Centerline is valid? [True, True] Translation: X:61.56, Y:-16.02, Z:-4.14 [[ 8.87168430e-01 4.59498209e-01 4.23505983e-02 6.15626582e+01] [-4.59013843e-01 8.88178407e-01 -2.11047180e-02 -1.60216839e+01] [-4.73124670e-02 -7.16071296e-04 9.98879882e-01 -4.13938147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.751052754 meters 0.013593541282409463 Centerline is valid? [True, True] Translation: X:61.59, Y:-16.04, Z:-4.14 [[ 8.87636326e-01 4.58631709e-01 4.19369485e-02 6.15900828e+01] [-4.58155083e-01 8.88626206e-01 -2.09137830e-02 -1.60355252e+01] [-4.68579954e-02 -6.49792635e-04 9.98901350e-01 -4.14368183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781052754 meters 0.013031275637413589 Centerline is valid? [True, True] Translation: X:61.62, Y:-16.05, Z:-4.14 [[ 8.87761330e-01 4.58379699e-01 4.20460694e-02 6.16178083e+01] [-4.57899776e-01 8.88756242e-01 -2.09794635e-02 -1.60516030e+01] [-4.69852668e-02 -6.28129339e-04 9.98895385e-01 -4.14417949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.811052754 meters 0.013094406478174952 Centerline is valid? [True, True] Translation: X:61.65, Y:-16.07, Z:-4.15 [[ 8.87799721e-01 4.58285239e-01 4.22645704e-02 6.16457157e+01] [-4.57799596e-01 8.88804962e-01 -2.11013821e-02 -1.60662981e+01] [-4.72354119e-02 -6.14902116e-04 9.98883596e-01 -4.14579439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841052754 meters 0.01324278975195449 Centerline is valid? [True, True] Translation: X:61.67, Y:-16.08, Z:-4.15 [[ 8.87949378e-01 4.57894084e-01 4.33464013e-02 6.16737644e+01] [-4.57382124e-01 8.89006553e-01 -2.16550631e-02 -1.60808565e+01] [-4.84509601e-02 -5.97269275e-04 9.98825384e-01 -4.14592685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.871052754 meters 0.012665488562834453 Centerline is valid? [True, True] Translation: X:61.70, Y:-16.10, Z:-4.15 [[ 8.88104973e-01 4.57488746e-01 4.44252779e-02 6.17024748e+01] [-4.56949783e-01 8.89215224e-01 -2.22076903e-02 -1.60959734e+01] [-4.96634017e-02 -5.77360925e-04 9.98765845e-01 -4.14599706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901052754 meters 0.012543212585862825 Centerline is valid? [True, True] Translation: X:61.73, Y:-16.11, Z:-4.15 [[ 8.88533266e-01 4.56455983e-01 4.64388849e-02 6.17305439e+01] [-4.55864782e-01 8.89745838e-01 -2.32302557e-02 -1.61094114e+01] [-5.19223937e-02 -5.28997194e-04 9.98650983e-01 -4.14751670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.931052754 meters 0.012359024883865938 Centerline is valid? [True, True] Translation: X:61.76, Y:-16.12, Z:-4.15 [[ 8.88839664e-01 4.55748993e-01 4.75069169e-02 6.17579757e+01] [-4.55128874e-01 8.90108203e-01 -2.37717237e-02 -1.61233830e+01] [-5.31202356e-02 -4.92518653e-04 9.98588002e-01 -4.14968351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961052754 meters 0.01196378885959673 Centerline is valid? [True, True] Translation: X:61.79, Y:-16.14, Z:-4.15 [[ 8.89437114e-01 4.54631080e-01 4.70340431e-02 6.17862537e+01] [-4.54021066e-01 8.90679747e-01 -2.35469670e-02 -1.61395213e+01] [-5.25974526e-02 -4.10900015e-04 9.98615711e-01 -4.15220592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.991052754 meters 0.01198429374490025 Centerline is valid? [True, True] Translation: X:61.82, Y:-16.15, Z:-4.16 [[ 8.89476725e-01 4.54615050e-01 4.64361148e-02 6.18152723e+01] [-4.54019612e-01 8.90687939e-01 -2.32634464e-02 -1.61544780e+01] [-5.19360002e-02 -3.90612678e-04 9.98650339e-01 -4.15568199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021052754 meters 0.012047960941123334 Centerline is valid? [True, True] Translation: X:61.84, Y:-16.17, Z:-4.16 [[ 8.89258729e-01 4.55121838e-01 4.56401804e-02 6.18437412e+01] [-4.54546505e-01 8.90429084e-01 -2.28805801e-02 -1.61690333e+01] [-5.10527957e-02 -3.98828906e-04 9.98695876e-01 -4.15929710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051052754000004 meters 0.012013528247530112 Centerline is valid? [True, True] Translation: X:61.87, Y:-16.18, Z:-4.16 [[ 8.88803079e-01 4.56012419e-01 4.56263093e-02 6.18729144e+01] [-4.55437937e-01 8.89973304e-01 -2.28867563e-02 -1.61841570e+01] [-5.10428423e-02 -4.38132750e-04 9.98696368e-01 -4.16089894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081052754 meters 0.012140056850278686 Centerline is valid? [True, True] Translation: X:61.90, Y:-16.20, Z:-4.16 [[ 8.88301093e-01 4.56940369e-01 4.61157964e-02 6.19018829e+01] [-4.56353902e-01 8.89497199e-01 -2.31484240e-02 -1.61976452e+01] [-5.15973211e-02 -4.82353290e-04 9.98667855e-01 -4.16275762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111052754 meters 0.012061084605871018 Centerline is valid? [True, True] Translation: X:61.93, Y:-16.21, Z:-4.16 [[ 8.87612658e-01 4.58244897e-01 4.64261108e-02 6.19319647e+01] [-4.57651530e-01 8.88825806e-01 -2.33187555e-02 -1.62113423e+01] [-5.19504261e-02 -5.48958077e-04 9.98649514e-01 -4.16421488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141052754 meters 0.01278149586824271 Centerline is valid? [True, True] Translation: X:61.96, Y:-16.22, Z:-4.17 [[ 8.85884477e-01 4.61552015e-01 4.66736615e-02 6.19629151e+01] [-4.60956006e-01 8.87112846e-01 -2.34597214e-02 -1.62204280e+01] [-5.22326864e-02 -7.31901612e-04 9.98634673e-01 -4.16699177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171052754 meters 0.013321885736013894 Centerline is valid? [True, True] Translation: X:61.99, Y:-16.23, Z:-4.17 [[ 8.84514646e-01 4.64140837e-01 4.69800355e-02 6.19930278e+01] [-4.63539867e-01 8.85760979e-01 -2.36279307e-02 -1.62306995e+01] [-5.25797698e-02 -8.77868682e-04 9.98616341e-01 -4.17059027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201052754 meters 0.013559870238040056 Centerline is valid? [True, True] Translation: X:62.02, Y:-16.24, Z:-4.17 [[ 8.84294192e-01 4.64568585e-01 4.69021562e-02 6.20211083e+01] [-4.63969478e-01 8.85536695e-01 -2.36026388e-02 -1.62446103e+01] [-5.24986249e-02 -8.89492580e-04 9.98620600e-01 -4.17277175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.231052754000004 meters 0.013186610206434928 Centerline is valid? [True, True] Translation: X:62.05, Y:-16.26, Z:-4.17 [[ 8.84807562e-01 4.63547620e-01 4.73199985e-02 6.20488871e+01] [-4.62935495e-01 8.86071627e-01 -2.38285458e-02 -1.62615120e+01] [-5.29745737e-02 -8.22429454e-04 9.98595523e-01 -4.17470671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261052754 meters 0.013163519457250443 Centerline is valid? [True, True] Translation: X:62.08, Y:-16.28, Z:-4.18 [[ 8.85189314e-01 4.62832504e-01 4.71799946e-02 6.20763786e+01] [-4.62222177e-01 8.86445424e-01 -2.37732935e-02 -1.62767122e+01] [-5.28255433e-02 -7.63774407e-04 9.98603464e-01 -4.17679524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.291052754 meters 0.013185161134326584 Centerline is valid? [True, True] Translation: X:62.10, Y:-16.29, Z:-4.18 [[ 8.85613955e-01 4.62105911e-01 4.63254793e-02 6.21037598e+01] [-4.61516144e-01 8.86824467e-01 -2.33498055e-02 -1.62926814e+01] [-5.18726516e-02 -7.01042971e-04 9.98653462e-01 -4.18033740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321052754 meters 0.01321453069618614 Centerline is valid? [True, True] Translation: X:62.13, Y:-16.31, Z:-4.18 [[ 8.85811023e-01 4.61883974e-01 4.47440002e-02 6.21317620e+01] [-4.61333134e-01 8.86940112e-01 -2.25605402e-02 -1.63090118e+01] [-5.01056005e-02 -6.57514649e-04 9.98743709e-01 -4.18391236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.351052754 meters 0.013217104639727126 Centerline is valid? [True, True] Translation: X:62.16, Y:-16.32, Z:-4.19 [[ 8.85593862e-01 4.62313339e-01 4.46081683e-02 6.21610155e+01] [-4.61765769e-01 8.86716375e-01 -2.25043368e-02 -1.63245040e+01] [-4.99588484e-02 -6.68822664e-04 9.98751053e-01 -4.18543427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381052754 meters 0.01310276920349602 Centerline is valid? [True, True] Translation: X:62.19, Y:-16.34, Z:-4.19 [[ 8.85425727e-01 4.62606885e-01 4.49015733e-02 6.21901087e+01] [-4.62051706e-01 8.86563259e-01 -2.26673577e-02 -1.63398795e+01] [-5.02941609e-02 -6.76586884e-04 9.98734219e-01 -4.18654369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411052754 meters 0.012921202761009165 Centerline is valid? [True, True] Translation: X:62.22, Y:-16.35, Z:-4.19 [[ 8.85080614e-01 4.63278980e-01 4.47760361e-02 6.22200155e+01] [-4.62727011e-01 8.86212219e-01 -2.26189368e-02 -1.63532944e+01] [-5.01599483e-02 -6.99498892e-04 9.98740953e-01 -4.18937440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441052754 meters 0.014041681590123216 Centerline is valid? [True, True] Translation: X:62.25, Y:-16.36, Z:-4.20 [[ 8.84681317e-01 4.64115133e-01 4.40012643e-02 6.22494458e+01] [-4.63582356e-01 8.85774591e-01 -2.22435057e-02 -1.63638603e+01] [-4.92987495e-02 -7.19795840e-04 9.98783818e-01 -4.19596994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.471052754 meters 0.013935150127219544 Centerline is valid? [True, True] Translation: X:62.28, Y:-16.38, Z:-4.20 [[ 8.84341475e-01 4.64906271e-01 4.24536796e-02 6.22775431e+01] [-4.64410704e-01 8.85359605e-01 -2.14724788e-02 -1.63781140e+01] [-4.75694631e-02 -7.26939624e-04 9.98867668e-01 -4.20069863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501052754 meters 0.013824156620538324 Centerline is valid? [True, True] Translation: X:62.31, Y:-16.39, Z:-4.20 [[ 8.84471500e-01 4.64737748e-01 4.15811340e-02 6.23054910e+01] [-4.64261652e-01 8.85448104e-01 -2.10421847e-02 -1.63946701e+01] [-4.65970338e-02 -6.93313346e-04 9.98913528e-01 -4.20144776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.531052754 meters 0.013009062545656513 Centerline is valid? [True, True] Translation: X:62.33, Y:-16.41, Z:-4.20 [[ 8.84784990e-01 4.64055381e-01 4.25220492e-02 6.23317420e+01] [-4.63555966e-01 8.85805943e-01 -2.15336300e-02 -1.64135875e+01] [-4.76590808e-02 -6.58716941e-04 9.98863443e-01 -4.19848327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561052754 meters 0.012884964858204298 Centerline is valid? [True, True] Translation: X:62.36, Y:-16.43, Z:-4.20 [[ 8.84886274e-01 4.63792280e-01 4.32782059e-02 6.23601944e+01] [-4.63273955e-01 8.85943738e-01 -2.19302561e-02 -1.64276518e+01] [-4.85131389e-02 -6.43883016e-04 9.98822337e-01 -4.20019287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.591052754 meters 0.012880677329358619 Centerline is valid? [True, True] Translation: X:62.39, Y:-16.44, Z:-4.20 [[ 8.84699574e-01 4.64031629e-01 4.45119242e-02 6.23891023e+01] [-4.63482913e-01 8.85818383e-01 -2.25695006e-02 -1.64409362e+01] [-4.99024428e-02 -6.63288719e-04 9.98753877e-01 -4.20332455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.621052754 meters 0.013011375060778561 Centerline is valid? [True, True] Translation: X:62.42, Y:-16.45, Z:-4.21 [[ 8.84267042e-01 4.64685823e-01 4.62480716e-02 6.24177949e+01] [-4.64093557e-01 8.85475339e-01 -2.34647559e-02 -1.64527414e+01] [-5.18552663e-02 -7.14321766e-04 9.98654355e-01 -4.20609455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.651052754 meters 0.013077610138102614 Centerline is valid? [True, True] Translation: X:62.45, Y:-16.47, Z:-4.21 [[ 8.84028296e-01 4.65121881e-01 4.64285310e-02 6.24470465e+01] [-4.64524940e-01 8.85246350e-01 -2.35686108e-02 -1.64665848e+01] [-5.20629642e-02 -7.31891745e-04 9.98643536e-01 -4.20847064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681052754 meters 0.013273968296900597 Centerline is valid? [True, True] Translation: X:62.48, Y:-16.48, Z:-4.21 [[ 8.83966975e-01 4.65283619e-01 4.59732735e-02 6.24752292e+01] [-4.64697748e-01 8.85161361e-01 -2.33531050e-02 -1.64800847e+01] [-5.15595825e-02 -7.20303134e-04 9.98669660e-01 -4.21190583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711052754 meters 0.012373040255584455 Centerline is valid? [True, True] Translation: X:62.50, Y:-16.50, Z:-4.21 [[ 8.84685759e-01 4.63925208e-01 4.58749387e-02 6.25018547e+01] [-4.63339189e-01 8.85874151e-01 -2.33191962e-02 -1.64984040e+01] [-5.14577853e-02 -6.25496092e-04 9.98674975e-01 -4.21124692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741052754 meters 0.012367930752191263 Centerline is valid? [True, True] Translation: X:62.53, Y:-16.51, Z:-4.21 [[ 8.84910661e-01 4.63473696e-01 4.61004949e-02 6.25295785e+01] [-4.62880520e-01 8.86110482e-01 -2.34486246e-02 -1.65130392e+01] [-5.17179524e-02 -5.89083150e-04 9.98661557e-01 -4.21322361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.771052754 meters 0.011981002843249959 Centerline is valid? [True, True] Translation: X:62.56, Y:-16.53, Z:-4.22 [[ 8.85430275e-01 4.62312548e-01 4.77528651e-02 6.25578726e+01] [-4.61673607e-01 8.86716882e-01 -2.43033054e-02 -1.65261145e+01] [-5.35789947e-02 -5.27355139e-04 9.98563475e-01 -4.21699811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801052754000004 meters 0.011710163704903276 Centerline is valid? [True, True] Translation: X:62.59, Y:-16.54, Z:-4.22 [[ 8.85798382e-01 4.61567250e-01 4.81341889e-02 6.25863764e+01] [-4.60916231e-01 8.87105095e-01 -2.45107918e-02 -1.65413072e+01] [-5.40134629e-02 -4.74209157e-04 9.98540095e-01 -4.21903224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.831052754 meters 0.011710163704903276 Centerline is valid? [True, True] Translation: X:62.62, Y:-16.56, Z:-4.22 [[ 8.85673109e-01 4.61808180e-01 4.81284701e-02 6.26151387e+01] [-4.61156906e-01 8.86979694e-01 -2.45220153e-02 -1.65560384e+01] [-5.40134429e-02 -4.76286812e-04 9.98540095e-01 -4.22112305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861052754 meters 0.011349968628618907 Centerline is valid? [True, True] Translation: X:62.64, Y:-16.57, Z:-4.22 [[ 8.87237802e-01 4.58754290e-01 4.85137443e-02 6.26425285e+01] [-4.58087035e-01 8.88563123e-01 -2.47354819e-02 -1.65736115e+01] [-5.44550326e-02 -2.77262648e-04 9.98516185e-01 -4.22287800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.891052754 meters 0.01112499399107387 Centerline is valid? [True, True] Translation: X:62.67, Y:-16.59, Z:-4.22 [[ 8.87934523e-01 4.57342783e-01 4.90903427e-02 6.26702567e+01] [-4.56656591e-01 8.89290474e-01 -2.50441851e-02 -1.65901133e+01] [-5.51093514e-02 -1.79832008e-04 9.98480309e-01 -4.22334585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921052754 meters 0.010924980718988326 Centerline is valid? [True, True] Translation: X:62.70, Y:-16.61, Z:-4.23 [[ 8.88917954e-01 4.55362391e-01 4.96987299e-02 6.26971288e+01] [-4.54655100e-01 8.90306178e-01 -2.53702394e-02 -1.66061642e+01] [-5.57997391e-02 -4.37197781e-05 9.98441980e-01 -4.22545050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.951052754 meters 0.010839896847956255 Centerline is valid? [True, True] Translation: X:62.72, Y:-16.62, Z:-4.23 [[ 8.89143062e-01 4.54819687e-01 5.06326723e-02 6.27247120e+01] [-4.54083829e-01 8.90583546e-01 -2.58616312e-02 -1.66208104e+01] [-5.68550038e-02 3.21222028e-06 9.98382446e-01 -4.22691396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981052754000004 meters 0.010735674246888087 Centerline is valid? [True, True] Translation: X:62.75, Y:-16.64, Z:-4.23 [[ 8.89414392e-01 4.54234117e-01 5.11214891e-02 6.27534318e+01] [-4.53482202e-01 8.90882352e-01 -2.61252366e-02 -1.66359980e+01] [-5.74102062e-02 5.34759415e-05 9.98350673e-01 -4.22868582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01105275399999 meters 0.010695581922992352 Centerline is valid? [True, True] Translation: X:62.78, Y:-16.65, Z:-4.23 [[ 8.90058667e-01 4.52907852e-01 5.16724885e-02 6.27823336e+01] [-4.52136340e-01 8.91557319e-01 -2.64249332e-02 -1.66508842e+01] [-5.80370450e-02 1.56730962e-04 9.98314418e-01 -4.23151295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04105275399999 meters 0.010706794955017218 Centerline is valid? [True, True] Translation: X:62.81, Y:-16.67, Z:-4.23 [[ 8.90052567e-01 4.52859859e-01 5.21955497e-02 6.28105854e+01] [-4.52071482e-01 8.91581694e-01 -2.67106569e-02 -1.66661245e+01] [-5.86327810e-02 1.77769249e-04 9.98279603e-01 -4.23333950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.071052754 meters 0.010703915150560479 Centerline is valid? [True, True] Translation: X:62.84, Y:-16.68, Z:-4.23 [[ 8.89982437e-01 4.52936325e-01 5.27252003e-02 6.28396428e+01] [-4.52130982e-01 8.91542848e-01 -2.69986313e-02 -1.66819640e+01] [-5.92354361e-02 1.89611074e-04 9.98244022e-01 -4.23436984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101052754 meters 0.010576548023496106 Centerline is valid? [True, True] Translation: X:62.87, Y:-16.70, Z:-4.23 [[ 8.89982085e-01 4.52740579e-01 5.43861861e-02 6.28668406e+01] [-4.51882087e-01 8.91642258e-01 -2.78686575e-02 -1.66969382e+01] [-6.11102940e-02 2.26462600e-04 9.98130994e-01 -4.23461722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131052754 meters 0.010462003176469128 Centerline is valid? [True, True] Translation: X:62.90, Y:-16.71, Z:-4.24 [[ 8.89512361e-01 4.53518140e-01 5.55792799e-02 6.28957064e+01] [-4.52622477e-01 8.91247026e-01 -2.84891495e-02 -1.67118665e+01] [-6.24552140e-02 1.85019322e-04 9.98047750e-01 -4.23521582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161052754 meters 0.010421947945935102 Centerline is valid? [True, True] Translation: X:62.92, Y:-16.73, Z:-4.24 [[ 8.89164732e-01 4.54312247e-01 5.46485357e-02 6.29247622e+01] [-4.53446731e-01 8.90842501e-01 -2.80303497e-02 -1.67265231e+01] [-6.14177694e-02 1.43398476e-04 9.98112137e-01 -4.23768099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191052754 meters 0.010314190628357041 Centerline is valid? [True, True] Translation: X:62.95, Y:-16.74, Z:-4.24 [[ 8.87807442e-01 4.57153369e-01 5.29975889e-02 6.29543456e+01] [-4.56343392e-01 8.89387877e-01 -2.72013336e-02 -1.67379420e+01] [-5.95705944e-02 -3.55530783e-05 9.98224095e-01 -4.24348363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221052754 meters 0.010443047403434238 Centerline is valid? [True, True] Translation: X:62.98, Y:-16.75, Z:-4.25 [[ 8.86999302e-01 4.58810695e-01 5.22013892e-02 6.29833754e+01] [-4.58026784e-01 8.88534034e-01 -2.68092400e-02 -1.67502551e+01] [-5.86830770e-02 -1.29857260e-04 9.98276655e-01 -4.24798122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251052754 meters 0.010538681129142335 Centerline is valid? [True, True] Translation: X:63.01, Y:-16.76, Z:-4.25 [[ 8.86021189e-01 4.60807652e-01 5.12128946e-02 6.30126128e+01] [-4.60055588e-01 8.87499999e-01 -2.63174292e-02 -1.67640673e+01] [-5.75787167e-02 -2.42978394e-04 9.98340940e-01 -4.25032195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28105275399999 meters 0.010952896922205356 Centerline is valid? [True, True] Translation: X:63.04, Y:-16.78, Z:-4.25 [[ 8.84209626e-01 4.64540027e-01 4.87432155e-02 6.30411821e+01] [-4.63863681e-01 8.85552009e-01 -2.50624240e-02 -1.67767600e+01] [-5.48071515e-02 -4.49770812e-04 9.98496857e-01 -4.25361374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31105275399999 meters 0.011091661507700638 Centerline is valid? [True, True] Translation: X:63.07, Y:-16.79, Z:-4.26 [[ 8.83243988e-01 4.66482679e-01 4.76861438e-02 6.30701429e+01] [-4.65837509e-01 8.84530164e-01 -2.45316908e-02 -1.67910504e+01] [-5.36234415e-02 -5.46526046e-04 9.98561079e-01 -4.25587754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34105275399999 meters 0.01193866017380184 Centerline is valid? [True, True] Translation: X:63.10, Y:-16.80, Z:-4.26 [[ 8.81763121e-01 4.69430985e-01 4.61340271e-02 6.30989468e+01] [-4.68830463e-01 8.82968898e-01 -2.37470564e-02 -1.68028079e+01] [-5.18825152e-02 -6.89758711e-04 9.98652957e-01 -4.26142641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37105275399999 meters 0.012548428765731215 Centerline is valid? [True, True] Translation: X:63.13, Y:-16.82, Z:-4.27 [[ 8.80903822e-01 4.71073994e-01 4.58011870e-02 6.31272607e+01] [-4.70483663e-01 8.82093363e-01 -2.35886029e-02 -1.68156194e+01] [-5.15129004e-02 -7.69419769e-04 9.98672033e-01 -4.26501904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40105275399999 meters 0.01305757853849311 Centerline is valid? [True, True] Translation: X:63.16, Y:-16.83, Z:-4.27 [[ 8.79490288e-01 4.73708378e-01 4.57952518e-02 6.31569904e+01] [-4.73121128e-01 8.80681293e-01 -2.35978509e-02 -1.68279785e+01] [-5.15095213e-02 -9.12620514e-04 9.98672087e-01 -4.26803828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43105275399999 meters 0.013074071372624424 Centerline is valid? [True, True] Translation: X:63.19, Y:-16.84, Z:-4.27 [[ 8.78840065e-01 4.74880799e-01 4.61342255e-02 6.31859119e+01] [-4.74285706e-01 8.80049586e-01 -2.37864524e-02 -1.68420144e+01] [-5.18961356e-02 -9.76316329e-04 9.98652010e-01 -4.27026060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.461052754 meters 0.013250472801852702 Centerline is valid? [True, True] Translation: X:63.21, Y:-16.86, Z:-4.27 [[ 8.78738944e-01 4.74985689e-01 4.69730043e-02 6.32133509e+01] [-4.74368051e-01 8.79992967e-01 -2.42349004e-02 -1.68566962e+01] [-5.28471443e-02 -9.86341658e-04 9.98602126e-01 -4.27132489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491052754 meters 0.012802557233627818 Centerline is valid? [True, True] Translation: X:63.24, Y:-16.87, Z:-4.27 [[ 8.79843335e-01 4.72868798e-01 4.76529640e-02 6.32396791e+01] [-4.72229583e-01 8.81132427e-01 -2.45940645e-02 -1.68738481e+01] [-5.36183375e-02 -8.64215580e-04 9.98561128e-01 -4.27018445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521052754 meters 0.012128353299024333 Centerline is valid? [True, True] Translation: X:63.27, Y:-16.89, Z:-4.27 [[ 8.80402867e-01 4.71775052e-01 4.81569536e-02 6.32676016e+01] [-4.71120109e-01 8.81718585e-01 -2.48632102e-02 -1.68908017e+01] [-5.41907233e-02 -7.98067681e-04 9.98530284e-01 -4.27115358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.551052754 meters 0.011801044578362849 Centerline is valid? [True, True] Translation: X:63.30, Y:-16.91, Z:-4.27 [[ 8.81021528e-01 4.70536924e-01 4.89496761e-02 6.32960372e+01] [-4.69858042e-01 8.82380004e-01 -2.52774469e-02 -1.69066527e+01] [-5.50861875e-02 -7.29424054e-04 9.98481337e-01 -4.27284570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581052754 meters 0.01172283194754942 Centerline is valid? [True, True] Translation: X:63.32, Y:-16.92, Z:-4.28 [[ 8.81605741e-01 4.69480822e-01 4.85703080e-02 6.33228440e+01] [-4.68810447e-01 8.82942429e-01 -2.50884824e-02 -1.69215301e+01] [-5.46633471e-02 -6.52117712e-04 9.98504629e-01 -4.27570155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611052754 meters 0.011771026827145722 Centerline is valid? [True, True] Translation: X:63.35, Y:-16.94, Z:-4.28 [[ 8.81527555e-01 4.69697848e-01 4.78863501e-02 6.33523011e+01] [-4.69045866e-01 8.82827002e-01 -2.47479254e-02 -1.69369476e+01] [-5.38994102e-02 -6.44916404e-04 9.98546162e-01 -4.27858496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641052754 meters 0.011818637407306116 Centerline is valid? [True, True] Translation: X:63.38, Y:-16.95, Z:-4.28 [[ 8.81202403e-01 4.70295252e-01 4.80073024e-02 6.33814809e+01] [-4.69639966e-01 8.82508883e-01 -2.48268629e-02 -1.69508951e+01] [-5.40428266e-02 -6.68656671e-04 9.98538395e-01 -4.28116598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67105275399999 meters 0.013840908711967005 Centerline is valid? [True, True] Translation: X:63.41, Y:-16.96, Z:-4.29 [[ 8.81132215e-01 4.70551388e-01 4.67697635e-02 6.34107243e+01] [-4.69928904e-01 8.82372352e-01 -2.42044914e-02 -1.69604862e+01] [-5.26578033e-02 -6.51106629e-04 9.98612403e-01 -4.28812603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70105275399999 meters 0.011928157081625607 Centerline is valid? [True, True] Translation: X:63.44, Y:-16.98, Z:-4.29 [[ 8.81143289e-01 4.70609226e-01 4.59723823e-02 6.34386881e+01] [-4.70007600e-01 8.82341515e-01 -2.37972033e-02 -1.69787072e+01] [-5.17625249e-02 -6.38623043e-04 9.98659218e-01 -4.28689676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73105275399999 meters 0.01174250111785984 Centerline is valid? [True, True] Translation: X:63.47, Y:-16.99, Z:-4.29 [[ 8.81632968e-01 4.69670340e-01 4.61852925e-02 6.34674138e+01] [-4.69060973e-01 8.82841687e-01 -2.39240227e-02 -1.69926929e+01] [-5.20107054e-02 -5.71511124e-04 9.98646364e-01 -4.28878224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76105275399999 meters 0.011818329479812964 Centerline is valid? [True, True] Translation: X:63.49, Y:-17.01, Z:-4.29 [[ 8.81967248e-01 4.69095673e-01 4.56401371e-02 6.34949954e+01] [-4.68499154e-01 8.83147202e-01 -2.36550838e-02 -1.70077675e+01] [-5.14034568e-02 -5.19356518e-04 9.98677833e-01 -4.29046025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79105275399999 meters 0.011638908017338684 Centerline is valid? [True, True] Translation: X:63.52, Y:-17.02, Z:-4.29 [[ 8.82431632e-01 4.68227511e-01 4.55786508e-02 6.35228991e+01] [-4.67630672e-01 8.83607827e-01 -2.36381803e-02 -1.70245644e+01] [-5.13416989e-02 -4.54897147e-04 9.98681042e-01 -4.29152929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.821052754 meters 0.011286598147569648 Centerline is valid? [True, True] Translation: X:63.55, Y:-17.04, Z:-4.29 [[ 8.83700206e-01 4.65688623e-01 4.69899131e-02 6.35505081e+01] [-4.65049850e-01 8.84948594e-01 -2.43848989e-02 -1.70417218e+01] [-5.29394275e-02 -3.03711883e-04 9.98597679e-01 -4.29093053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.851052754 meters 0.011189424937626567 Centerline is valid? [True, True] Translation: X:63.58, Y:-17.06, Z:-4.29 [[ 8.84294765e-01 4.64392809e-01 4.86013068e-02 6.35787266e+01] [-4.63706635e-01 8.85629308e-01 -2.52366044e-02 -1.70574996e+01] [-5.47624393e-02 -2.20151234e-04 9.98499387e-01 -4.29132413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881052754 meters 0.011140231014963576 Centerline is valid? [True, True] Translation: X:63.61, Y:-17.07, Z:-4.29 [[ 8.85617437e-01 4.61621170e-01 5.08689590e-02 6.36054763e+01] [-4.60863906e-01 8.87077164e-01 -2.64303950e-02 -1.70743424e+01] [-5.73255217e-02 -3.64485194e-05 9.98355540e-01 -4.28960272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.911052754 meters 0.011448549867848717 Centerline is valid? [True, True] Translation: X:63.63, Y:-17.09, Z:-4.29 [[ 8.87166975e-01 4.58551845e-01 5.16232888e-02 6.36332176e+01] [-4.57765902e-01 8.88667640e-01 -2.68366376e-02 -1.70924718e+01] [-5.81819359e-02 1.77197191e-04 9.98305981e-01 -4.29021636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941052754 meters 0.01175160632773839 Centerline is valid? [True, True] Translation: X:63.66, Y:-17.11, Z:-4.29 [[ 8.87971123e-01 4.57022799e-01 5.13560634e-02 6.36615002e+01] [-4.56241408e-01 8.89454932e-01 -2.67151992e-02 -1.71090109e+01] [-5.78883590e-02 2.91562750e-04 9.98323020e-01 -4.29294212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.971052754 meters 0.011957070001027612 Centerline is valid? [True, True] Translation: X:63.69, Y:-17.12, Z:-4.29 [[ 8.88732283e-01 4.55573047e-01 5.10698293e-02 6.36897083e+01] [-4.54796955e-01 8.90198315e-01 -2.65836373e-02 -1.71241685e+01] [-5.75730646e-02 3.99333794e-04 9.98341216e-01 -4.29451013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001052754 meters 0.012700779276760171 Centerline is valid? [True, True] Translation: X:63.72, Y:-17.14, Z:-4.30 [[ 8.90256076e-01 4.52569043e-01 5.12384694e-02 6.37157296e+01] [-4.51781896e-01 8.91729157e-01 -2.66876300e-02 -1.71418700e+01] [-5.77688323e-02 6.10211866e-04 9.98329800e-01 -4.29614520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03105275399999 meters 0.013359039083146554 Centerline is valid? [True, True] Translation: X:63.74, Y:-17.16, Z:-4.30 [[ 8.91170246e-01 4.50680297e-01 5.19890664e-02 6.37417006e+01] [-4.49865790e-01 8.92685105e-01 -2.70938096e-02 -1.71584611e+01] [-5.86205114e-02 7.57094469e-04 9.98280052e-01 -4.29707448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06105275399999 meters 0.014200852107924768 Centerline is valid? [True, True] Translation: X:63.77, Y:-17.18, Z:-4.30 [[ 8.93423374e-01 4.45943343e-01 5.41221738e-02 6.37686630e+01] [-4.45050914e-01 8.95060482e-01 -2.82208623e-02 -1.71752941e+01] [-6.10275246e-02 1.12605513e-03 9.98135448e-01 -4.29509866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09105275399999 meters 0.015912450737349794 Centerline is valid? [True, True] Translation: X:63.80, Y:-17.19, Z:-4.30 [[ 8.94861799e-01 4.42970548e-01 5.47672639e-02 6.37954515e+01] [-4.42050169e-01 8.96535134e-01 -2.85727252e-02 -1.71911828e+01] [-6.17576520e-02 1.35876196e-03 9.98090250e-01 -4.29767494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12105275399999 meters 0.015168364126748934 Centerline is valid? [True, True] Translation: X:63.82, Y:-17.20, Z:-4.30 [[ 8.95061164e-01 4.42678115e-01 5.38664951e-02 6.38248358e+01] [-4.41786377e-01 8.96679548e-01 -2.81173533e-02 -1.72034136e+01] [-6.07479214e-02 1.36926724e-03 9.98152200e-01 -4.30092852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15105275399999 meters 0.015091442618953569 Centerline is valid? [True, True] Translation: X:63.85, Y:-17.22, Z:-4.31 [[ 8.95183317e-01 4.42817044e-01 5.05953995e-02 6.38536831e+01] [-4.42029809e-01 8.96611065e-01 -2.64243647e-02 -1.72157536e+01] [-5.70655541e-02 1.28997570e-03 9.98369600e-01 -4.30681694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18105275399999 meters 0.014806118169960162 Centerline is valid? [True, True] Translation: X:63.88, Y:-17.23, Z:-4.31 [[ 8.95221746e-01 4.42920025e-01 4.89885342e-02 6.38827701e+01] [-4.42181459e-01 8.96560248e-01 -2.55984356e-02 -1.72296748e+01] [-5.52592321e-02 1.25445474e-03 9.98471253e-01 -4.30954610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.211052754 meters 0.01655339489946331 Centerline is valid? [True, True] Translation: X:63.91, Y:-17.25, Z:-4.31 [[ 8.95726146e-01 4.42126164e-01 4.68948379e-02 6.39087166e+01] [-4.41447516e-01 8.96951985e-01 -2.45199301e-02 -1.72456991e+01] [-5.29033206e-02 1.26153279e-03 9.98598842e-01 -4.31377606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241052754 meters 0.016635737814855306 Centerline is valid? [True, True] Translation: X:63.94, Y:-17.26, Z:-4.32 [[ 8.95850342e-01 4.41914299e-01 4.65179196e-02 6.39373622e+01] [-4.41245940e-01 8.97056376e-01 -2.43285491e-02 -1.72594011e+01] [-5.24803301e-02 1.26889593e-03 9.98621152e-01 -4.31589001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271052754 meters 0.01674755038973108 Centerline is valid? [True, True] Translation: X:63.97, Y:-17.27, Z:-4.32 [[ 8.95689087e-01 4.42206633e-01 4.68439176e-02 6.39669719e+01] [-4.41528544e-01 8.96912300e-01 -2.45126713e-02 -1.72740940e+01] [-5.28545517e-02 1.27280548e-03 9.98601410e-01 -4.31808898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301052754 meters 0.016121304271170946 Centerline is valid? [True, True] Translation: X:64.00, Y:-17.29, Z:-4.32 [[ 8.95115019e-01 4.43355051e-01 4.69616979e-02 6.39966814e+01] [-4.42674254e-01 8.96345248e-01 -2.45906735e-02 -1.72860514e+01] [-5.29962940e-02 1.22274667e-03 9.98593960e-01 -4.31870663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331052754 meters 0.015797079351495123 Centerline is valid? [True, True] Translation: X:64.03, Y:-17.30, Z:-4.32 [[ 8.93993666e-01 4.45540445e-01 4.76344105e-02 6.40253479e+01] [-4.44842285e-01 8.95261109e-01 -2.49577414e-02 -1.72984539e+01] [-5.37649184e-02 1.12226274e-03 9.98552990e-01 -4.32016950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361052754 meters 0.014939740714988664 Centerline is valid? [True, True] Translation: X:64.06, Y:-17.31, Z:-4.32 [[ 8.93597607e-01 4.46315238e-01 4.78123816e-02 6.40550239e+01] [-4.45612253e-01 8.94875140e-01 -2.50639875e-02 -1.73111532e+01] [-5.39725513e-02 1.09133621e-03 9.98541823e-01 -4.32096835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391052754 meters 0.014897182658068485 Centerline is valid? [True, True] Translation: X:64.08, Y:-17.32, Z:-4.32 [[ 8.92765324e-01 4.47905291e-01 4.84863604e-02 6.40835208e+01] [-4.47183827e-01 8.94080423e-01 -2.54326910e-02 -1.73243861e+01] [-5.47421425e-02 1.02310840e-03 9.98500001e-01 -4.32228500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42105275399999 meters 0.014817529949977457 Centerline is valid? [True, True] Translation: X:64.11, Y:-17.34, Z:-4.32 [[ 8.92290689e-01 4.48753996e-01 4.93677684e-02 6.41124660e+01] [-4.48006547e-01 8.93654770e-01 -2.59091963e-02 -1.73387690e+01] [-5.57445971e-02 1.00145116e-03 9.98444559e-01 -4.32313105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45105275399999 meters 0.014346020432084048 Centerline is valid? [True, True] Translation: X:64.14, Y:-17.35, Z:-4.32 [[ 8.91864086e-01 4.49340240e-01 5.16894606e-02 6.41415986e+01] [-4.48520798e-01 8.93360117e-01 -2.71439847e-02 -1.73525800e+01] [-5.83741872e-02 1.02494696e-03 9.98294247e-01 -4.32175928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48105275399999 meters 0.015142008181636744 Centerline is valid? [True, True] Translation: X:64.17, Y:-17.37, Z:-4.32 [[ 8.92119883e-01 4.48812832e-01 5.18570807e-02 6.41680346e+01] [-4.47986226e-01 8.93625135e-01 -2.72481116e-02 -1.73683138e+01] [-5.85700929e-02 1.07732424e-03 9.98282717e-01 -4.32309043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51105275399999 meters 0.015343638298846867 Centerline is valid? [True, True] Translation: X:64.20, Y:-17.38, Z:-4.33 [[ 8.92273374e-01 4.48566490e-01 5.13451996e-02 6.41963696e+01] [-4.47754897e-01 8.93748792e-01 -2.69934838e-02 -1.73834271e+01] [-5.79980825e-02 1.09550232e-03 9.98316093e-01 -4.32540460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54105275399999 meters 0.015303669601350002 Centerline is valid? [True, True] Translation: X:64.23, Y:-17.40, Z:-4.33 [[ 8.92215822e-01 4.48717027e-01 5.10289896e-02 6.42253163e+01] [-4.47914804e-01 8.93673227e-01 -2.68419746e-02 -1.73981694e+01] [-5.76476928e-02 1.09219461e-03 9.98336392e-01 -4.32812256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.571052754 meters 0.01558215630561582 Centerline is valid? [True, True] Translation: X:64.25, Y:-17.41, Z:-4.33 [[ 8.92147348e-01 4.48929335e-01 5.03543620e-02 6.42536227e+01] [-4.48147570e-01 8.93566610e-01 -2.65041245e-02 -1.74115140e+01] [-5.68934555e-02 1.07939940e-03 9.98379672e-01 -4.33163544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601052754 meters 0.015086910268755584 Centerline is valid? [True, True] Translation: X:64.28, Y:-17.43, Z:-4.33 [[ 8.91994412e-01 4.49233713e-01 5.03491798e-02 6.42834184e+01] [-4.48451698e-01 8.93413632e-01 -2.65171096e-02 -1.74252460e+01] [-5.68950232e-02 1.07393840e-03 9.98379589e-01 -4.33365776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631052754 meters 0.015347184120030517 Centerline is valid? [True, True] Translation: X:64.31, Y:-17.44, Z:-4.33 [[ 8.91539187e-01 4.50155662e-01 5.01772644e-02 6.43107082e+01] [-4.49379432e-01 8.92949508e-01 -2.64443092e-02 -1.74408006e+01] [-5.67098191e-02 1.02750735e-03 9.98390175e-01 -4.33460976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661052754 meters 0.01465197305130798 Centerline is valid? [True, True] Translation: X:64.34, Y:-17.45, Z:-4.33 [[ 8.90617739e-01 4.51921296e-01 5.06673863e-02 6.43392887e+01] [-4.51131855e-01 8.92057321e-01 -2.67167517e-02 -1.74549291e+01] [-5.72720820e-02 9.36740976e-04 9.98358168e-01 -4.33485461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691052754 meters 0.014576743630049793 Centerline is valid? [True, True] Translation: X:64.37, Y:-17.47, Z:-4.34 [[ 8.90180861e-01 4.52651139e-01 5.18167949e-02 6.43667256e+01] [-4.51825735e-01 8.91687216e-01 -2.73388635e-02 -1.74697901e+01] [-5.85793413e-02 9.24371643e-04 9.98282328e-01 -4.33571681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721052754 meters 0.01420792776831375 Centerline is valid? [True, True] Translation: X:64.40, Y:-17.48, Z:-4.34 [[ 8.89953850e-01 4.53011558e-01 5.25611412e-02 6.43961625e+01] [-4.52162016e-01 8.91504161e-01 -2.77460175e-02 -1.74846742e+01] [-5.94277427e-02 9.26523573e-04 9.98232180e-01 -4.33665323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751052754 meters 0.01420792776831375 Centerline is valid? [True, True] Translation: X:64.42, Y:-17.50, Z:-4.34 [[ 8.89831349e-01 4.53253007e-01 5.25536164e-02 6.44247084e+01] [-4.52403044e-01 8.91381430e-01 -2.77602626e-02 -1.74998246e+01] [-5.94277402e-02 9.26535877e-04 9.98232180e-01 -4.33874523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78105275399999 meters 0.014513665412448674 Centerline is valid? [True, True] Translation: X:64.45, Y:-17.52, Z:-4.34 [[ 8.90332249e-01 4.52282220e-01 5.24335671e-02 6.44524782e+01] [-4.51433370e-01 8.91874309e-01 -2.77151671e-02 -1.75153593e+01] [-5.92992288e-02 1.00544519e-03 9.98239746e-01 -4.34120015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81105275399999 meters 0.015058279167821577 Centerline is valid? [True, True] Translation: X:64.48, Y:-17.53, Z:-4.34 [[ 8.90942030e-01 4.51151863e-01 5.18101958e-02 6.44789408e+01] [-4.50320267e-01 8.92446540e-01 -2.74012838e-02 -1.75309617e+01] [-5.85999702e-02 1.08177423e-03 9.98280959e-01 -4.34351240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84105275399999 meters 0.01589059081914777 Centerline is valid? [True, True] Translation: X:64.51, Y:-17.55, Z:-4.34 [[ 8.92885147e-01 4.47315357e-01 5.16244719e-02 6.45054811e+01] [-4.46482452e-01 8.94375296e-01 -2.73175779e-02 -1.75492570e+01] [-5.83912245e-02 1.34203873e-03 9.98292875e-01 -4.34433256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87105275399999 meters 0.018107986001499016 Centerline is valid? [True, True] Translation: X:64.53, Y:-17.57, Z:-4.35 [[ 8.94410600e-01 4.44253370e-01 5.16587064e-02 6.45303988e+01] [-4.43413507e-01 8.95899842e-01 -2.73483929e-02 -1.75688398e+01] [-5.84306426e-02 1.55452430e-03 9.98290260e-01 -4.34574082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90105275399999 meters 0.019452191411750606 Centerline is valid? [True, True] Translation: X:64.56, Y:-17.59, Z:-4.35 [[ 8.98422163e-01 4.36077884e-01 5.17077937e-02 6.45567881e+01] [-4.35222004e-01 8.99906473e-01 -2.73888237e-02 -1.75874533e+01] [-5.84758385e-02 2.10235658e-03 9.98286610e-01 -4.34575933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93105275399999 meters 0.02031035648614546 Centerline is valid? [True, True] Translation: X:64.58, Y:-17.60, Z:-4.35 [[ 9.00601618e-01 4.31604159e-01 5.13281144e-02 6.45842334e+01] [-4.30752614e-01 9.02059941e-01 -2.72038300e-02 -1.76042366e+01] [-5.80423220e-02 2.39009386e-03 9.98311262e-01 -4.34789235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.961052754 meters 0.022561551138229687 Centerline is valid? [True, True] Translation: X:64.61, Y:-17.62, Z:-4.35 [[ 9.05143250e-01 4.22128410e-01 5.02324834e-02 6.46094788e+01] [-4.21298023e-01 9.06531285e-01 -2.66271522e-02 -1.76236524e+01] [-5.67773951e-02 2.93854118e-03 9.98382538e-01 -4.34911284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.991052754 meters 0.025171592907354146 Centerline is valid? [True, True] Translation: X:64.63, Y:-17.64, Z:-4.35 [[ 9.07214473e-01 4.17722109e-01 4.97005038e-02 6.46340780e+01] [-4.16902328e-01 9.08569256e-01 -2.63506355e-02 -1.76420674e+01] [-5.61635928e-02 3.18542213e-03 9.98416498e-01 -4.35074116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021052754 meters 0.028709654969029667 Centerline is valid? [True, True] Translation: X:64.66, Y:-17.66, Z:-4.35 [[ 9.11261210e-01 4.08755080e-01 5.02224129e-02 6.46588549e+01] [-4.07903538e-01 9.12636239e-01 -2.66420433e-02 -1.76604802e+01] [-5.67248645e-02 3.79196069e-03 9.98382647e-01 -4.35210510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.051052754 meters 0.031095593591760347 Centerline is valid? [True, True] Translation: X:64.69, Y:-17.68, Z:-4.35 [[ 9.12854270e-01 4.05154664e-01 5.04656275e-02 6.46854559e+01] [-4.04288952e-01 9.14239224e-01 -2.67784230e-02 -1.76763364e+01] [-5.69870591e-02 4.04210210e-03 9.98366734e-01 -4.35403050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081052754 meters 0.03314429439944468 Centerline is valid? [True, True] Translation: X:64.71, Y:-17.69, Z:-4.36 [[ 9.14791506e-01 4.00561239e-01 5.20307038e-02 6.47149241e+01] [-3.99633083e-01 9.16259084e-01 -2.76168478e-02 -1.76888996e+01] [-5.87358437e-02 4.47046718e-03 9.98263550e-01 -4.35518459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111052754 meters 0.031975572774984445 Centerline is valid? [True, True] Translation: X:64.75, Y:-17.70, Z:-4.35 [[ 9.14933737e-01 3.99780579e-01 5.54233328e-02 6.47469618e+01] [-3.98725398e-01 9.16598181e-01 -2.94250169e-02 -1.76975137e+01] [-6.25644763e-02 4.82325021e-03 9.98029269e-01 -4.35312521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141052754 meters 0.031992037603825005 Centerline is valid? [True, True] Translation: X:64.78, Y:-17.71, Z:-4.35 [[ 9.14339579e-01 4.00912957e-01 5.70257435e-02 6.47768903e+01] [-3.99796883e-01 9.16103050e-01 -3.02927978e-02 -1.77092439e+01] [-6.43862327e-02 4.89918954e-03 9.97913028e-01 -4.35355902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17105275399999 meters 0.03040114728287832 Centerline is valid? [True, True] Translation: X:64.81, Y:-17.71, Z:-4.36 [[ 9.11963735e-01 4.06079978e-01 5.84910017e-02 6.48105182e+01] [-4.04915949e-01 9.13825680e-01 -3.10757289e-02 -1.77139141e+01] [-6.60698107e-02 4.65599834e-03 9.97804140e-01 -4.35551187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20105275399999 meters 0.027724861597816616 Centerline is valid? [True, True] Translation: X:64.84, Y:-17.72, Z:-4.36 [[ 9.10331450e-01 4.09775770e-01 5.81417965e-02 6.48428895e+01] [-4.08632650e-01 9.12175828e-01 -3.08968675e-02 -1.77209485e+01] [-6.56963290e-02 4.36775378e-03 9.97830103e-01 -4.35911699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23105275399999 meters 0.026399729177912872 Centerline is valid? [True, True] Translation: X:64.87, Y:-17.73, Z:-4.36 [[ 9.06271081e-01 4.18974783e-01 5.59719408e-02 6.48741665e+01] [-4.17931899e-01 9.07990823e-01 -2.97589135e-02 -1.77260611e+01] [-6.32902430e-02 3.57718319e-03 9.97988752e-01 -4.36413869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26105275399999 meters 0.02062357064843656 Centerline is valid? [True, True] Translation: X:64.91, Y:-17.73, Z:-4.37 [[ 9.01663378e-01 4.28966947e-01 5.46855685e-02 6.49092732e+01] [-4.27988995e-01 9.03315780e-01 -2.90864494e-02 -1.77271457e+01] [-6.18754624e-02 2.82136469e-03 9.98079890e-01 -4.36632023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29105275399999 meters 0.02006507273971734 Centerline is valid? [True, True] Translation: X:64.94, Y:-17.74, Z:-4.37 [[ 8.99427714e-01 4.33670907e-01 5.43997400e-02 6.49388439e+01] [-4.32710772e-01 9.01067866e-01 -2.89497420e-02 -1.77373121e+01] [-6.15725186e-02 2.49884676e-03 9.98099484e-01 -4.36934969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.321052754 meters 0.01931441081251576 Centerline is valid? [True, True] Translation: X:64.97, Y:-17.75, Z:-4.37 [[ 8.97559055e-01 4.37676994e-01 5.31657043e-02 6.49684929e+01] [-4.36766157e-01 8.99129619e-01 -2.83063930e-02 -1.77467334e+01] [-6.01919164e-02 2.18567900e-03 9.98184430e-01 -4.37358762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351052754 meters 0.017172141966494674 Centerline is valid? [True, True] Translation: X:65.00, Y:-17.75, Z:-4.38 [[ 8.93724934e-01 4.45797942e-01 5.01989822e-02 6.50012035e+01] [-4.44997980e-01 8.95132259e-01 -2.67401743e-02 -1.77520574e+01] [-5.68554430e-02 1.55991488e-03 9.98381202e-01 -4.38018760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381052754 meters 0.01572655743987376 Centerline is valid? [True, True] Translation: X:65.03, Y:-17.76, Z:-4.39 [[ 8.90511443e-01 4.52281311e-01 4.93050382e-02 6.50317738e+01] [-4.51519292e-01 8.91874622e-01 -2.62676307e-02 -1.77600071e+01] [-5.58542708e-02 1.12944979e-03 9.98438293e-01 -4.38532762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411052754 meters 0.015318656309466274 Centerline is valid? [True, True] Translation: X:65.06, Y:-17.77, Z:-4.39 [[ 8.89404381e-01 4.54518282e-01 4.87132349e-02 6.50610939e+01] [-4.53777234e-01 8.90736863e-01 -2.59627259e-02 -1.77728792e+01] [-5.51912076e-02 9.86405170e-04 9.98475316e-01 -4.38875566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441052754 meters 0.01453262499796484 Centerline is valid? [True, True] Translation: X:65.09, Y:-17.79, Z:-4.39 [[ 8.87652721e-01 4.57950955e-01 4.85136085e-02 6.50902235e+01] [-4.57220286e-01 8.88977114e-01 -2.58708367e-02 -1.77870758e+01] [-5.49750621e-02 7.82912622e-04 9.98487421e-01 -4.39060442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471052754 meters 0.014218369674317362 Centerline is valid? [True, True] Translation: X:65.12, Y:-17.80, Z:-4.39 [[ 8.86837192e-01 4.59421242e-01 4.95168413e-02 6.51177567e+01] [-4.58661444e-01 8.88218219e-01 -2.64211070e-02 -1.78017895e+01] [-5.61201783e-02 7.19754347e-04 9.98423762e-01 -4.39121902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501052754 meters 0.013752397986257459 Centerline is valid? [True, True] Translation: X:65.15, Y:-17.82, Z:-4.39 [[ 8.85928358e-01 4.61050718e-01 5.06278563e-02 6.51463152e+01] [-4.60258256e-01 8.87373553e-01 -2.70280507e-02 -1.78160752e+01] [-5.73871229e-02 6.43027725e-04 9.98351794e-01 -4.39178706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53105275399999 meters 0.012903844176597637 Centerline is valid? [True, True] Translation: X:65.18, Y:-17.83, Z:-4.39 [[ 8.83579514e-01 4.65342332e-01 5.23808829e-02 6.51754692e+01] [-4.64500540e-01 8.85130702e-01 -2.79801395e-02 -1.78293183e+01] [-5.93842710e-02 3.91729624e-04 9.98235120e-01 -4.39222353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56105275399999 meters 0.01258109196235304 Centerline is valid? [True, True] Translation: X:65.20, Y:-17.84, Z:-4.39 [[ 8.81246761e-01 4.69776282e-01 5.20998230e-02 6.52042309e+01] [-4.68950312e-01 8.82785497e-01 -2.78454964e-02 -1.78422508e+01] [-5.90741220e-02 1.06525248e-04 9.98253593e-01 -4.39470114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59105275399999 meters 0.012593602807320064 Centerline is valid? [True, True] Translation: X:65.23, Y:-17.86, Z:-4.40 [[ 8.80345979e-01 4.71570127e-01 5.11133347e-02 6.52336865e+01] [-4.70777334e-01 8.81828564e-01 -2.73328857e-02 -1.78575218e+01] [-5.79625708e-02 -6.03392020e-07 9.98318757e-01 -4.39826069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62105275399999 meters 0.012522478452382541 Centerline is valid? [True, True] Translation: X:65.26, Y:-17.87, Z:-4.40 [[ 8.79693898e-01 4.72906069e-01 4.99849582e-02 6.52619912e+01] [-4.72149145e-01 8.81112845e-01 -2.67458337e-02 -1.78731595e+01] [-5.66906558e-02 -7.22086146e-05 9.98391789e-01 -4.40154455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65105275399999 meters 0.012628300052223145 Centerline is valid? [True, True] Translation: X:65.29, Y:-17.89, Z:-4.40 [[ 8.79499376e-01 4.73295358e-01 4.97227575e-02 6.52891160e+01] [-4.72546044e-01 8.80903796e-01 -2.66221472e-02 -1.78923454e+01] [-5.64011045e-02 -8.21305425e-05 9.98408187e-01 -4.40338967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68105275399999 meters 0.012705160153681654 Centerline is valid? [True, True] Translation: X:65.31, Y:-17.92, Z:-4.40 [[ 8.81257235e-01 4.69933157e-01 5.04827959e-02 6.53133813e+01] [-4.69154189e-01 8.82701991e-01 -2.70470340e-02 -1.79156404e+01] [-5.72715626e-02 1.51179201e-04 9.98358626e-01 -4.40345002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.711052754 meters 0.013008089080630232 Centerline is valid? [True, True] Translation: X:65.34, Y:-17.94, Z:-4.41 [[ 8.82377394e-01 4.67804663e-01 5.06846288e-02 6.53404850e+01] [-4.67015369e-01 8.83831832e-01 -2.71650123e-02 -1.79353594e+01] [-5.75046077e-02 2.99292168e-04 9.98345196e-01 -4.40549313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741052754 meters 0.013845863210625349 Centerline is valid? [True, True] Translation: X:65.36, Y:-17.96, Z:-4.41 [[ 8.85742405e-01 4.61263881e-01 5.19232543e-02 6.53637562e+01] [-4.60423188e-01 8.87262677e-01 -2.78465543e-02 -1.79588289e+01] [-5.89141753e-02 7.58203701e-04 9.98262764e-01 -4.40521950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771052754 meters 0.014804646760510092 Centerline is valid? [True, True] Translation: X:65.39, Y:-17.98, Z:-4.41 [[ 8.87860729e-01 4.57115604e-01 5.24275791e-02 6.53890407e+01] [-4.56250335e-01 8.89406660e-01 -2.81322803e-02 -1.79800666e+01] [-5.94891423e-02 1.05744637e-03 9.98228393e-01 -4.40577207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801052754 meters 0.016339446672700285 Centerline is valid? [True, True] Translation: X:65.41, Y:-18.00, Z:-4.41 [[ 8.90100150e-01 4.52648106e-01 5.32110398e-02 6.54122521e+01] [-4.51748116e-01 8.91688158e-01 -2.85634173e-02 -1.80013077e+01] [-6.03768308e-02 1.38631500e-03 9.98174692e-01 -4.40660187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831052754 meters 0.017269393813755446 Centerline is valid? [True, True] Translation: X:65.44, Y:-18.03, Z:-4.40 [[ 8.93967683e-01 4.44779159e-01 5.47108947e-02 6.54357560e+01] [-4.43812387e-01 8.95638084e-01 -2.93766546e-02 -1.80255587e+01] [-6.20672846e-02 1.98040707e-03 9.98070003e-01 -4.40495326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861052754 meters 0.018338049369526505 Centerline is valid? [True, True] Translation: X:65.46, Y:-18.05, Z:-4.41 [[ 8.96313970e-01 4.39863305e-01 5.60494425e-02 6.54594913e+01] [-4.38837917e-01 8.98061549e-01 -3.01120826e-02 -1.80480118e+01] [-6.35810493e-02 2.39325972e-03 9.97973809e-01 -4.40543596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891052754 meters 0.01977953532107715 Centerline is valid? [True, True] Translation: X:65.48, Y:-18.07, Z:-4.41 [[ 8.96819888e-01 4.38773839e-01 5.64943086e-02 6.54840754e+01] [-4.37728868e-01 8.98594037e-01 -3.03676765e-02 -1.80674634e+01] [-6.40899908e-02 2.50514652e-03 9.97940979e-01 -4.40704696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92105275399999 meters 0.01875333356428079 Centerline is valid? [True, True] Translation: X:65.51, Y:-18.09, Z:-4.41 [[ 8.97309684e-01 4.37834894e-01 5.59994314e-02 6.55110110e+01] [-4.36805328e-01 8.99051740e-01 -3.01176677e-02 -1.80851350e+01] [-6.35329521e-02 2.56402493e-03 9.97976448e-01 -4.41026992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95105275399999 meters 0.020975482997531842 Centerline is valid? [True, True] Translation: X:65.54, Y:-18.10, Z:-4.41 [[ 8.97458413e-01 4.37516755e-01 5.61024573e-02 6.55352495e+01] [-4.36481640e-01 8.99206479e-01 -3.01908283e-02 -1.81044316e+01] [-6.36566863e-02 2.60732025e-03 9.97968451e-01 -4.41296706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98105275399999 meters 0.019495255960415975 Centerline is valid? [True, True] Translation: X:65.56, Y:-18.12, Z:-4.41 [[ 8.98111547e-01 4.36157851e-01 5.62314679e-02 6.55621522e+01] [-4.35114750e-01 8.99866069e-01 -3.02689881e-02 -1.81220241e+01] [-6.38028467e-02 2.71778660e-03 9.97958822e-01 -4.41430680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01105275399999 meters 0.019485753003391493 Centerline is valid? [True, True] Translation: X:65.59, Y:-18.14, Z:-4.42 [[ 8.98530624e-01 4.35450812e-01 5.50028046e-02 6.55889371e+01] [-4.34450504e-01 9.00208410e-01 -2.96239615e-02 -1.81393422e+01] [-6.24137654e-02 2.72204043e-03 9.98046648e-01 -4.41589831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04105275399999 meters 0.023704215185692767 Centerline is valid? [True, True] Translation: X:65.61, Y:-18.16, Z:-4.42 [[ 8.99031259e-01 4.34531670e-01 5.40834821e-02 6.56119003e+01] [-4.33561843e-01 9.00652341e-01 -2.91459808e-02 -1.81613054e+01] [-6.13752665e-02 2.75461365e-03 9.98110960e-01 -4.41900601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.071052754 meters 0.020843531075525716 Centerline is valid? [True, True] Translation: X:65.64, Y:-18.17, Z:-4.42 [[ 8.99986688e-01 4.32591243e-01 5.37473570e-02 6.56405378e+01] [-4.31629459e-01 9.01585570e-01 -2.89736225e-02 -1.81743353e+01] [-6.09915769e-02 2.87693190e-03 9.98134135e-01 -4.42254884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101052754 meters 0.02228422496331984 Centerline is valid? [True, True] Translation: X:65.66, Y:-18.20, Z:-4.42 [[ 9.00886489e-01 4.30801053e-01 5.30470231e-02 6.56642263e+01] [-4.29860656e-01 9.02442052e-01 -2.86034743e-02 -1.81950514e+01] [-6.01942712e-02 2.96565533e-03 9.98182275e-01 -4.42352515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131052754 meters 0.021945536262919004 Centerline is valid? [True, True] Translation: X:65.69, Y:-18.21, Z:-4.43 [[ 9.01448126e-01 4.29739656e-01 5.21066675e-02 6.56913737e+01] [-4.28829845e-01 9.02947876e-01 -2.81086820e-02 -1.82114173e+01] [-5.91290200e-02 2.99362460e-03 9.98245860e-01 -4.42522901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161052754 meters 0.02319217603983743 Centerline is valid? [True, True] Translation: X:65.72, Y:-18.23, Z:-4.43 [[ 9.02436103e-01 4.27806746e-01 5.08966368e-02 6.57166974e+01] [-4.26934842e-01 9.03865045e-01 -2.74703481e-02 -1.82293267e+01] [-5.77556912e-02 3.06068628e-03 9.98326055e-01 -4.42919013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191052754 meters 0.023959835916713152 Centerline is valid? [True, True] Translation: X:65.74, Y:-18.25, Z:-4.43 [[ 9.02432257e-01 4.27870556e-01 5.04262659e-02 6.57440410e+01] [-4.27014003e-01 9.03834907e-01 -2.72305345e-02 -1.82459591e+01] [-5.72281632e-02 3.04099104e-03 9.98356494e-01 -4.43222717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221052754 meters 0.021955532425737397 Centerline is valid? [True, True] Translation: X:65.77, Y:-18.26, Z:-4.43 [[ 9.02035099e-01 4.28694307e-01 5.05358397e-02 6.57736269e+01] [-4.27834419e-01 9.03444595e-01 -2.73052047e-02 -1.82592621e+01] [-5.73619170e-02 3.00928140e-03 9.98348914e-01 -4.43468962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251052754 meters 0.024428689985488566 Centerline is valid? [True, True] Translation: X:65.80, Y:-18.28, Z:-4.44 [[ 9.01893385e-01 4.28888454e-01 5.14102631e-02 6.57996678e+01] [-4.27997873e-01 9.03352260e-01 -2.77941380e-02 -1.82769961e+01] [-5.83621622e-02 3.06386594e-03 9.98290775e-01 -4.43696470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28105275399999 meters 0.025038475529741238 Centerline is valid? [True, True] Translation: X:65.83, Y:-18.29, Z:-4.44 [[ 9.01797163e-01 4.29015758e-01 5.20322551e-02 6.58277855e+01] [-4.28102638e-01 9.03291656e-01 -2.81481037e-02 -1.82931588e+01] [-5.90762819e-02 3.10873435e-03 9.98248631e-01 -4.43817522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31105275399999 meters 0.02345745335086346 Centerline is valid? [True, True] Translation: X:65.86, Y:-18.31, Z:-4.44 [[ 9.01962781e-01 4.28612361e-01 5.24841429e-02 6.58572567e+01] [-4.27681515e-01 9.03482892e-01 -2.84109924e-02 -1.83062035e+01] [-5.95958278e-02 3.17915991e-03 9.98217527e-01 -4.43942879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34105275399999 meters 0.024910101790663552 Centerline is valid? [True, True] Translation: X:65.88, Y:-18.32, Z:-4.44 [[ 9.03167650e-01 4.25866823e-01 5.40892286e-02 6.58832404e+01] [-4.24872115e-01 9.04779167e-01 -2.92975206e-02 -1.83228741e+01] [-6.14156492e-02 3.47956790e-03 9.98106212e-01 -4.43890046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37105275399999 meters 0.023872127120804713 Centerline is valid? [True, True] Translation: X:65.91, Y:-18.34, Z:-4.44 [[ 9.04004303e-01 4.23884973e-01 5.56574266e-02 6.59120898e+01] [-4.22827381e-01 9.05708361e-01 -3.01557674e-02 -1.83369734e+01] [-6.31919733e-02 3.72745956e-03 9.97994429e-01 -4.43894505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40105275399999 meters 0.02433691668889617 Centerline is valid? [True, True] Translation: X:65.94, Y:-18.35, Z:-4.44 [[ 9.05842064e-01 4.19644378e-01 5.78683911e-02 6.59412121e+01] [-4.18491805e-01 9.07678922e-01 -3.13621334e-02 -1.83508862e+01] [-6.56868618e-02 4.19169226e-03 9.97831482e-01 -4.43908305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43105275399999 meters 0.02771440971940069 Centerline is valid? [True, True] Translation: X:65.97, Y:-18.37, Z:-4.44 [[ 9.06541802e-01 4.18045006e-01 5.84836180e-02 6.59664712e+01] [-4.16863241e-01 9.08415805e-01 -3.17137860e-02 -1.83684421e+01] [-6.63852327e-02 4.37020215e-03 9.97784497e-01 -4.44110234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.461052754 meters 0.026811795862981703 Centerline is valid? [True, True] Translation: X:66.00, Y:-18.38, Z:-4.44 [[ 9.07504954e-01 4.15956605e-01 5.84368185e-02 6.59960347e+01] [-4.14771500e-01 9.09373170e-01 -3.17023743e-02 -1.83812124e+01] [-6.63276868e-02 4.53213484e-03 9.97787602e-01 -4.44233803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491052754 meters 0.02693154971123456 Centerline is valid? [True, True] Translation: X:66.02, Y:-18.40, Z:-4.44 [[ 9.07627284e-01 4.15668191e-01 5.85889890e-02 6.60246463e+01] [-4.14475924e-01 9.09504848e-01 -3.17905709e-02 -1.83956954e+01] [-6.65012986e-02 4.57026413e-03 9.97775872e-01 -4.44367643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521052754 meters 0.026487210490088012 Centerline is valid? [True, True] Translation: X:66.05, Y:-18.41, Z:-4.45 [[ 9.07249344e-01 4.16422114e-01 5.90867992e-02 6.60545738e+01] [-4.15209816e-01 9.09159906e-01 -3.20791909e-02 -1.84068326e+01] [-6.70778333e-02 4.57040587e-03 9.97737278e-01 -4.44559037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551052754 meters 0.030537382191322467 Centerline is valid? [True, True] Translation: X:66.08, Y:-18.42, Z:-4.45 [[ 9.06525268e-01 4.17963424e-01 5.93170681e-02 6.60807662e+01] [-4.16743672e-01 9.08452756e-01 -3.22226877e-02 -1.84235078e+01] [-6.73546588e-02 4.49066784e-03 9.97718990e-01 -4.44671751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581052754 meters 0.02711075521976185 Centerline is valid? [True, True] Translation: X:66.11, Y:-18.43, Z:-4.45 [[ 9.06339295e-01 4.18270180e-01 5.99928263e-02 6.61126824e+01] [-4.17021980e-01 9.08311345e-01 -3.26062814e-02 -1.84330734e+01] [-6.81303999e-02 4.53402693e-03 9.97666122e-01 -4.44856139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611052754 meters 0.026805837007259158 Centerline is valid? [True, True] Translation: X:66.14, Y:-18.45, Z:-4.45 [[ 9.06074010e-01 4.18778352e-01 6.04531296e-02 6.61415508e+01] [-4.17510548e-01 9.08077084e-01 -3.28778397e-02 -1.84462644e+01] [-6.86646292e-02 4.54993679e-03 9.97629424e-01 -4.45047427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641052754 meters 0.026805837007259158 Centerline is valid? [True, True] Translation: X:66.17, Y:-18.46, Z:-4.45 [[ 9.05959794e-01 4.19026525e-01 6.04452020e-02 6.61699655e+01] [-4.17758303e-01 9.07962604e-01 -3.28924082e-02 -1.84617856e+01] [-6.86647745e-02 4.54771435e-03 9.97629424e-01 -4.45256942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67105275399999 meters 0.026542785755928305 Centerline is valid? [True, True] Translation: X:66.20, Y:-18.47, Z:-4.46 [[ 9.05890671e-01 4.19097160e-01 6.09890294e-02 6.62007387e+01] [-4.17804641e-01 9.07929723e-01 -3.32099472e-02 -1.84727987e+01] [-6.92919472e-02 4.60308188e-03 9.97585805e-01 -4.45647077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70105275399999 meters 0.024876646733703996 Centerline is valid? [True, True] Translation: X:66.23, Y:-18.48, Z:-4.46 [[ 9.04903366e-01 4.21245614e-01 6.08443168e-02 6.62314793e+01] [-4.19962753e-01 9.06935706e-01 -3.31498333e-02 -1.84816334e+01] [-6.91461052e-02 4.44504895e-03 9.97596641e-01 -4.46035655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73105275399999 meters 0.02561491555441663 Centerline is valid? [True, True] Translation: X:66.26, Y:-18.50, Z:-4.46 [[ 9.03815087e-01 4.23684005e-01 6.00845500e-02 6.62582456e+01] [-4.22437294e-01 9.05800232e-01 -3.27516839e-02 -1.84956541e+01] [-6.83009639e-02 4.21951127e-03 9.97655839e-01 -4.46283111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76105275399999 meters 0.025047613474033094 Centerline is valid? [True, True] Translation: X:66.29, Y:-18.51, Z:-4.47 [[ 9.00965348e-01 4.29982350e-01 5.81086962e-02 6.62865620e+01] [-4.28828621e-01 9.02829999e-01 -3.16860698e-02 -1.85066688e+01] [-6.60867249e-02 3.62937884e-03 9.97807282e-01 -4.46572714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79105275399999 meters 0.02639624540600894 Centerline is valid? [True, True] Translation: X:66.31, Y:-18.52, Z:-4.47 [[ 8.99153444e-01 4.33756422e-01 5.81244300e-02 6.63129795e+01] [-4.32609023e-01 9.01023885e-01 -3.17079033e-02 -1.85211853e+01] [-6.61250065e-02 3.36511760e-03 9.97805672e-01 -4.46783232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.821052754 meters 0.023329766327118414 Centerline is valid? [True, True] Translation: X:66.34, Y:-18.53, Z:-4.47 [[ 8.94900371e-01 4.42672113e-01 5.65219196e-02 6.63449148e+01] [-4.41604347e-01 8.96679672e-01 -3.08409783e-02 -1.85285300e+01] [-6.43344974e-02 2.63927753e-03 9.97924900e-01 -4.47220453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851052754 meters 0.01920211892448766 Centerline is valid? [True, True] Translation: X:66.38, Y:-18.54, Z:-4.48 [[ 8.92680259e-01 4.47250601e-01 5.55774613e-02 6.63762913e+01] [-4.46226741e-01 8.94405792e-01 -3.03311005e-02 -1.85359014e+01] [-6.32744063e-02 2.27582525e-03 9.97993572e-01 -4.47576286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881052754 meters 0.017704536356434968 Centerline is valid? [True, True] Translation: X:66.40, Y:-18.55, Z:-4.48 [[ 8.88501684e-01 4.55679104e-01 5.40491582e-02 6.64049922e+01] [-4.54725464e-01 8.90142603e-01 -2.95109752e-02 -1.85464329e+01] [-6.15589931e-02 1.64302255e-03 9.98102094e-01 -4.48036253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911052754 meters 0.016546302262089523 Centerline is valid? [True, True] Translation: X:66.43, Y:-18.56, Z:-4.48 [[ 8.86633747e-01 4.59326226e-01 5.38518042e-02 6.64340239e+01] [-4.58385384e-01 8.88266551e-01 -2.94172569e-02 -1.85593774e+01] [-6.13468740e-02 1.39745276e-03 9.98115528e-01 -4.48316980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941052754 meters 0.01502284726163645 Centerline is valid? [True, True] Translation: X:66.46, Y:-18.57, Z:-4.48 [[ 8.82903574e-01 4.66486246e-01 5.35897486e-02 6.64620651e+01] [-4.65567474e-01 8.84527995e-01 -2.92771881e-02 -1.85715895e+01] [-6.10590384e-02 8.99290103e-04 9.98133751e-01 -4.48471236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971052754 meters 0.014109613624929046 Centerline is valid? [True, True] Translation: X:66.49, Y:-18.58, Z:-4.49 [[ 8.79677799e-01 4.72572391e-01 5.33132774e-02 6.64918983e+01] [-4.71673379e-01 8.81291721e-01 -2.91397604e-02 -1.85839969e+01] [-6.07551962e-02 4.87146636e-04 9.98152578e-01 -4.48788626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001052754 meters 0.01375928251649877 Centerline is valid? [True, True] Translation: X:66.52, Y:-18.60, Z:-4.49 [[ 8.77990598e-01 4.75750357e-01 5.28593163e-02 6.65199737e+01] [-4.74871399e-01 8.79580309e-01 -2.89073487e-02 -1.85981194e+01] [-6.02466952e-02 2.79002859e-04 9.98183479e-01 -4.49115605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03105275399999 meters 0.013693560961193242 Centerline is valid? [True, True] Translation: X:66.55, Y:-18.61, Z:-4.49 [[ 8.76744227e-01 4.78076313e-01 5.25604371e-02 6.65485875e+01] [-4.77210521e-01 8.78318292e-01 -2.87592947e-02 -1.86135541e+01] [-5.99139309e-02 1.32152019e-04 9.98203538e-01 -4.49462436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06105275399999 meters 0.01373606118213088 Centerline is valid? [True, True] Translation: X:66.58, Y:-18.63, Z:-4.50 [[ 8.75672192e-01 4.80270884e-01 5.03794548e-02 6.65755199e+01] [-4.79478205e-01 8.77120218e-01 -2.75821213e-02 -1.86316541e+01] [-5.74357282e-02 -2.95388295e-06 9.98349206e-01 -4.49819758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09105275399999 meters 0.01380057774059737 Centerline is valid? [True, True] Translation: X:66.60, Y:-18.65, Z:-4.50 [[ 8.75515879e-01 4.80582731e-01 5.01216927e-02 6.66017670e+01] [-4.79797643e-01 8.76949394e-01 -2.74587463e-02 -1.86492040e+01] [-5.71503873e-02 -7.70159736e-06 9.98365581e-01 -4.50058592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12105275399999 meters 0.013848686066184526 Centerline is valid? [True, True] Translation: X:66.63, Y:-18.67, Z:-4.50 [[ 8.75313492e-01 4.81010221e-01 4.95525753e-02 6.66281114e+01] [-4.80242659e-01 8.76714986e-01 -2.71628706e-02 -1.86692273e+01] [-5.65091037e-02 -2.12333424e-05 9.98402084e-01 -4.50129603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15105275399999 meters 0.013835671975510135 Centerline is valid? [True, True] Translation: X:66.65, Y:-18.69, Z:-4.50 [[ 8.75145884e-01 4.81388195e-01 4.88373593e-02 6.66543497e+01] [-4.80642276e-01 8.76507504e-01 -2.67880027e-02 -1.86872453e+01] [-5.57017402e-02 -2.98892741e-05 9.98447452e-01 -4.50480345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18105275399999 meters 0.013789479310932032 Centerline is valid? [True, True] Translation: X:66.68, Y:-18.71, Z:-4.51 [[ 8.75187980e-01 4.81358763e-01 4.83708630e-02 6.66817306e+01] [-4.80626129e-01 8.76523668e-01 -2.65477568e-02 -1.87055273e+01] [-5.51772017e-02 -1.40229887e-05 9.98476578e-01 -4.50807229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.211052754 meters 0.013925190196662258 Centerline is valid? [True, True] Translation: X:66.71, Y:-18.73, Z:-4.51 [[ 8.76238424e-01 4.79630609e-01 4.64833716e-02 6.67055740e+01] [-4.78950798e-01 8.77470494e-01 -2.55277352e-02 -1.87276499e+01] [-5.30316702e-02 1.05134529e-04 9.98592825e-01 -4.51139693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241052754 meters 0.014010286309243678 Centerline is valid? [True, True] Translation: X:66.73, Y:-18.75, Z:-4.51 [[ 8.77237517e-01 4.77896752e-01 4.54866245e-02 6.67316280e+01] [-4.77242766e-01 8.78415988e-01 -2.49938866e-02 -1.87469707e+01] [-5.19006754e-02 2.17412482e-04 9.98652228e-01 -4.51425319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271052754 meters 0.014482614370251416 Centerline is valid? [True, True] Translation: X:66.75, Y:-18.77, Z:-4.52 [[ 8.79114677e-01 4.74622953e-01 4.34791631e-02 6.67547695e+01] [-4.74020786e-01 8.80189121e-01 -2.39040937e-02 -1.87685573e+01] [-4.96153179e-02 4.04412578e-04 9.98768320e-01 -4.51778008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301052754 meters 0.014687922415562807 Centerline is valid? [True, True] Translation: X:66.78, Y:-18.79, Z:-4.52 [[ 8.79688094e-01 4.73641728e-01 4.25719534e-02 6.67821900e+01] [-4.73062724e-01 8.80717492e-01 -2.34170322e-02 -1.87859821e+01] [-4.85851477e-02 4.60480140e-04 9.98818938e-01 -4.51915797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331052754 meters 0.014771800281420949 Centerline is valid? [True, True] Translation: X:66.81, Y:-18.80, Z:-4.52 [[ 8.80012137e-01 4.73094801e-01 4.19517463e-02 6.68083521e+01] [-4.72531220e-01 8.81011386e-01 -2.30907673e-02 -1.88027447e+01] [-4.78840881e-02 4.96645582e-04 9.98852776e-01 -4.52011791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361052754 meters 0.014445814964980094 Centerline is valid? [True, True] Translation: X:66.84, Y:-18.82, Z:-4.52 [[ 8.79606826e-01 4.73834653e-01 4.21017014e-02 6.68366987e+01] [-4.73267633e-01 8.80613711e-01 -2.31784176e-02 -1.88171500e+01] [-4.80580730e-02 4.62521812e-04 9.98844436e-01 -4.52079914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391052754 meters 0.014253553697698656 Centerline is valid? [True, True] Translation: X:66.87, Y:-18.83, Z:-4.52 [[ 8.78454643e-01 4.76005955e-01 4.16625931e-02 6.68664032e+01] [-4.75452531e-01 8.79441986e-01 -2.29495943e-02 -1.88294370e+01] [-4.75639771e-02 3.51592307e-04 9.98868132e-01 -4.52450301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42105275399999 meters 0.014264535214195217 Centerline is valid? [True, True] Translation: X:66.90, Y:-18.84, Z:-4.53 [[ 8.77861278e-01 4.77170204e-01 4.08432649e-02 6.68958077e+01] [-4.76639053e-01 8.78810850e-01 -2.25100639e-02 -1.88438457e+01] [-4.66346361e-02 2.93218352e-04 9.98911970e-01 -4.52814279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45105275399999 meters 0.014518932283565647 Centerline is valid? [True, True] Translation: X:66.92, Y:-18.86, Z:-4.53 [[ 8.76914632e-01 4.79142867e-01 3.79847427e-02 6.69245256e+01] [-4.78684757e-01 8.77736907e-01 -2.09481597e-02 -1.88553090e+01] [-4.33777718e-02 1.87030417e-04 9.99058724e-01 -4.53470328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48105275399999 meters 0.01444916605274479 Centerline is valid? [True, True] Translation: X:66.95, Y:-18.87, Z:-4.54 [[ 8.76353733e-01 4.80203952e-01 3.75273211e-02 6.69537375e+01] [-4.79757376e-01 8.77156853e-01 -2.07054415e-02 -1.88689662e+01] [-4.28601817e-02 1.41281807e-04 9.99081070e-01 -4.53955776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51105275399999 meters 0.014481298892156134 Centerline is valid? [True, True] Translation: X:66.98, Y:-18.88, Z:-4.54 [[ 8.75941648e-01 4.80961375e-01 3.74484292e-02 6.69823740e+01] [-4.80516786e-01 8.76741776e-01 -2.06754818e-02 -1.88836877e+01] [-4.27767105e-02 1.15916760e-04 9.99084651e-01 -4.54354258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54105275399999 meters 0.014598645925175928 Centerline is valid? [True, True] Translation: X:67.01, Y:-18.90, Z:-4.54 [[ 8.75804285e-01 4.81286079e-01 3.64769022e-02 6.70097103e+01] [-4.80864053e-01 8.76563574e-01 -2.01510276e-02 -1.89004881e+01] [-4.16727328e-02 1.07925323e-04 9.99131309e-01 -4.54395096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.571052754 meters 0.014566837137024485 Centerline is valid? [True, True] Translation: X:67.04, Y:-18.92, Z:-4.54 [[ 8.74683886e-01 4.83307484e-01 3.66329861e-02 6.70366868e+01] [-4.82883119e-01 8.75450670e-01 -2.02488892e-02 -1.89154885e+01] [-4.18568119e-02 2.19265071e-05 9.99123619e-01 -4.54356734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601052754 meters 0.014393053292877954 Centerline is valid? [True, True] Translation: X:67.07, Y:-18.93, Z:-4.54 [[ 8.73690772e-01 4.85084234e-01 3.68472538e-02 6.70662901e+01] [-4.84656082e-01 8.74467428e-01 -2.03764414e-02 -1.89302552e+01] [-4.21060137e-02 -5.55368645e-05 9.99113147e-01 -4.54425402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631052754 meters 0.014838684006274687 Centerline is valid? [True, True] Translation: X:67.10, Y:-18.94, Z:-4.55 [[ 8.71023338e-01 4.89879483e-01 3.65573198e-02 6.70953311e+01] [-4.89461674e-01 8.71790123e-01 -2.02299746e-02 -1.89422497e+01] [-4.17805598e-02 -2.72626955e-04 9.99126774e-01 -4.54756901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661052754 meters 0.014534655120549796 Centerline is valid? [True, True] Translation: X:67.12, Y:-18.96, Z:-4.55 [[ 8.69544659e-01 4.92515223e-01 3.63433742e-02 6.71242492e+01] [-4.92104199e-01 8.70303742e-01 -2.01209603e-02 -1.89570493e+01] [-4.15396539e-02 -3.88653528e-04 9.99136780e-01 -4.54755456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691052754 meters 0.01557512426712229 Centerline is valid? [True, True] Translation: X:67.15, Y:-18.97, Z:-4.55 [[ 8.66830141e-01 4.97288522e-01 3.61888478e-02 6.71533283e+01] [-4.96884642e-01 8.67585016e-01 -2.00472503e-02 -1.89684840e+01] [-4.13661696e-02 -6.04121864e-04 9.99143871e-01 -4.55185826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721052754 meters 0.01574352307004822 Centerline is valid? [True, True] Translation: X:67.18, Y:-18.98, Z:-4.55 [[ 8.65353721e-01 4.99860393e-01 3.60905167e-02 6.71817528e+01] [-4.99460524e-01 8.66105695e-01 -2.00027659e-02 -1.89839342e+01] [-4.12567924e-02 -7.16320469e-04 9.99148319e-01 -4.55342562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751052754 meters 0.01589191750681309 Centerline is valid? [True, True] Translation: X:67.21, Y:-19.00, Z:-4.55 [[ 8.64851480e-01 5.00723163e-01 3.61694858e-02 6.72106377e+01] [-5.00321857e-01 8.65607158e-01 -2.00571145e-02 -1.90006734e+01] [-4.13516276e-02 -7.49959189e-04 9.99144374e-01 -4.55402125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78105275399999 meters 0.015896849430164017 Centerline is valid? [True, True] Translation: X:67.24, Y:-19.02, Z:-4.55 [[ 8.63792190e-01 5.02502130e-01 3.68057406e-02 6.72383731e+01] [-5.02087580e-01 8.64575566e-01 -2.04243426e-02 -1.90165059e+01] [-4.20846196e-02 -8.37317566e-04 9.99113699e-01 -4.55306427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81105275399999 meters 0.01700722903964811 Centerline is valid? [True, True] Translation: X:67.27, Y:-19.03, Z:-4.56 [[ 8.63406185e-01 5.03182316e-01 3.65693481e-02 6.72661573e+01] [-5.02773081e-01 8.64179860e-01 -2.03075907e-02 -1.90296074e+01] [-4.18209146e-02 -8.52384404e-04 9.99124759e-01 -4.55724740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84105275399999 meters 0.01634609835912745 Centerline is valid? [True, True] Translation: X:67.29, Y:-19.05, Z:-4.56 [[ 8.63226754e-01 5.03515071e-01 3.62235321e-02 6.72939926e+01] [-5.03113693e-01 8.63986017e-01 -2.01189787e-02 -1.90463069e+01] [-4.14268343e-02 -8.57314324e-04 9.99141172e-01 -4.55868405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87105275399999 meters 0.016194367002597448 Centerline is valid? [True, True] Translation: X:67.32, Y:-19.06, Z:-4.56 [[ 8.63395475e-01 5.03241884e-01 3.59980601e-02 6.73222289e+01] [-5.02844828e-01 8.64145195e-01 -2.00040305e-02 -1.90630876e+01] [-4.11744166e-02 -8.30048944e-04 9.99151629e-01 -4.56127402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90105275399999 meters 0.016400131985396117 Centerline is valid? [True, True] Translation: X:67.35, Y:-19.08, Z:-4.56 [[ 8.64306185e-01 5.01748016e-01 3.49820940e-02 6.73479635e+01] [-5.01371299e-01 8.65013527e-01 -1.94529992e-02 -1.90807706e+01] [-4.00204883e-02 -7.25670396e-04 9.99198596e-01 -4.56483744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93105275399999 meters 0.01581948450204747 Centerline is valid? [True, True] Translation: X:67.38, Y:-19.10, Z:-4.57 [[ 8.64457842e-01 5.01496858e-01 3.48359050e-02 6.73752880e+01] [-5.01122735e-01 8.65159180e-01 -1.93803467e-02 -1.90994597e+01] [-3.98577859e-02 -7.03571331e-04 9.99205115e-01 -4.56564681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.961052754 meters 0.01592414146323795 Centerline is valid? [True, True] Translation: X:67.40, Y:-19.12, Z:-4.57 [[ 8.64483739e-01 5.01452290e-01 3.48348220e-02 6.74029990e+01] [-5.01077653e-01 8.65185023e-01 -1.93923143e-02 -1.91170112e+01] [-3.98628867e-02 -6.90610477e-04 9.99204921e-01 -4.56745965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991052754 meters 0.01640364497184923 Centerline is valid? [True, True] Translation: X:67.43, Y:-19.13, Z:-4.57 [[ 8.64198522e-01 5.01928264e-01 3.50561287e-02 6.74310467e+01] [-5.01548707e-01 8.64908966e-01 -1.95288105e-02 -1.91320537e+01] [-4.01224220e-02 -7.05586870e-04 9.99194522e-01 -4.57044815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021052754 meters 0.016121510090940948 Centerline is valid? [True, True] Translation: X:67.46, Y:-19.15, Z:-4.57 [[ 8.64079393e-01 5.02128454e-01 3.51257425e-02 6.74583602e+01] [-5.01747094e-01 8.64792760e-01 -1.95789949e-02 -1.91499587e+01] [-4.02076582e-02 -7.06433188e-04 9.99191095e-01 -4.57052722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051052754 meters 0.01630477580646294 Centerline is valid? [True, True] Translation: X:67.49, Y:-19.17, Z:-4.57 [[ 8.63996292e-01 5.02241764e-01 3.55474060e-02 6.74856659e+01] [-5.01850606e-01 8.64726958e-01 -1.98307024e-02 -1.91656668e+01] [-4.06986072e-02 -7.05833891e-04 9.99171219e-01 -4.57197365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081052754 meters 0.015851300095011744 Centerline is valid? [True, True] Translation: X:67.51, Y:-19.18, Z:-4.57 [[ 8.63747784e-01 5.02665107e-01 3.56027545e-02 6.75140525e+01] [-5.02272988e-01 8.64480923e-01 -1.98640526e-02 -1.91824426e+01] [-4.07628682e-02 -7.24770481e-04 9.99168586e-01 -4.57307366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111052754 meters 0.016156051405888997 Centerline is valid? [True, True] Translation: X:67.54, Y:-19.20, Z:-4.58 [[ 8.63359708e-01 5.03325713e-01 3.56825039e-02 6.75427998e+01] [-5.02931846e-01 8.64096447e-01 -1.99220561e-02 -1.91967380e+01] [-4.08604080e-02 -7.45967015e-04 9.99164586e-01 -4.57777153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141052754 meters 0.016481466366481637 Centerline is valid? [True, True] Translation: X:67.57, Y:-19.21, Z:-4.58 [[ 8.63038709e-01 5.03902164e-01 3.53099945e-02 6.75709289e+01] [-5.03516441e-01 8.63760407e-01 -1.97269519e-02 -1.92100060e+01] [-4.04398290e-02 -7.54039640e-04 9.99181691e-01 -4.58336448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17105275399999 meters 0.015794323032501466 Centerline is valid? [True, True] Translation: X:67.60, Y:-19.23, Z:-4.58 [[ 8.62789667e-01 5.04324218e-01 3.53705216e-02 6.75996606e+01] [-5.03937176e-01 8.63514038e-01 -1.97693888e-02 -1.92269615e+01] [-4.05131235e-02 -7.67696369e-04 9.99178711e-01 -4.58459064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20105275399999 meters 0.016483797388667662 Centerline is valid? [True, True] Translation: X:67.63, Y:-19.24, Z:-4.59 [[ 8.62436659e-01 5.04875175e-01 3.61118686e-02 6.76268060e+01] [-5.04471599e-01 8.63191996e-01 -2.01986195e-02 -1.92414889e+01] [-4.13692575e-02 -7.97382147e-04 9.99143608e-01 -4.58680770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23105275399999 meters 0.016442996422512568 Centerline is valid? [True, True] Translation: X:67.65, Y:-19.26, Z:-4.59 [[ 8.62240310e-01 5.05156991e-01 3.68518937e-02 6.76546878e+01] [-5.04736500e-01 8.63027082e-01 -2.06233011e-02 -1.92578075e+01] [-4.22221870e-02 -8.18254359e-04 9.99107911e-01 -4.58697030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26105275399999 meters 0.016770674952004953 Centerline is valid? [True, True] Translation: X:67.68, Y:-19.27, Z:-4.59 [[ 8.61833827e-01 5.05769683e-01 3.79405074e-02 6.76822917e+01] [-5.05324018e-01 8.62668119e-01 -2.12450826e-02 -1.92723706e+01] [-4.34751849e-02 -8.62518806e-04 9.99054135e-01 -4.58741582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29105275399999 meters 0.015922990351352185 Centerline is valid? [True, True] Translation: X:67.71, Y:-19.29, Z:-4.59 [[ 8.61513945e-01 5.06299532e-01 3.81379862e-02 6.77106360e+01] [-5.05849319e-01 8.62357234e-01 -2.13650919e-02 -1.92893636e+01] [-4.37057044e-02 -8.85749738e-04 9.99044057e-01 -4.58778763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.321052754 meters 0.016344417100626403 Centerline is valid? [True, True] Translation: X:67.74, Y:-19.30, Z:-4.59 [[ 8.60949444e-01 5.07306672e-01 3.74965994e-02 6.77390675e+01] [-5.06871661e-01 8.61765119e-01 -2.10237533e-02 -1.93039574e+01] [-4.29787518e-02 -9.05574936e-04 9.99075576e-01 -4.59109972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.351052754 meters 0.016954463492031353 Centerline is valid? [True, True] Translation: X:67.77, Y:-19.32, Z:-4.60 [[ 8.60718041e-01 5.07790882e-01 3.62335934e-02 6.77655858e+01] [-5.07385130e-01 8.61479897e-01 -2.03154489e-02 -1.93191514e+01] [-4.15305120e-02 -8.98513059e-04 9.99136832e-01 -4.59525828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381052754 meters 0.01632474974812845 Centerline is valid? [True, True] Translation: X:67.79, Y:-19.34, Z:-4.60 [[ 8.60767001e-01 5.07712790e-01 3.61648027e-02 6.77934641e+01] [-5.07308080e-01 8.61525938e-01 -2.02872169e-02 -1.93368997e+01] [-4.14569950e-02 -8.84129749e-04 9.99139898e-01 -4.59784138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411052754 meters 0.015790640522435954 Centerline is valid? [True, True] Translation: X:67.82, Y:-19.35, Z:-4.60 [[ 8.61874902e-01 5.05738723e-01 3.74165436e-02 6.78192115e+01] [-5.05302955e-01 8.62686328e-01 -2.10053187e-02 -1.93543496e+01] [-4.29019436e-02 -8.02733061e-04 9.99078965e-01 -4.60065214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441052754 meters 0.014763688277747853 Centerline is valid? [True, True] Translation: X:67.85, Y:-19.37, Z:-4.60 [[ 8.62647895e-01 5.04346584e-01 3.83813997e-02 6.78453965e+01] [-5.03886157e-01 8.63500997e-01 -2.15584954e-02 -1.93730784e+01] [-4.40153304e-02 -7.42465332e-04 9.99030580e-01 -4.60048878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471052754 meters 0.01417608623048519 Centerline is valid? [True, True] Translation: X:67.87, Y:-19.39, Z:-4.60 [[ 8.63712602e-01 5.02427031e-01 3.95931759e-02 6.78704269e+01] [-5.01934431e-01 8.64619368e-01 -2.22525515e-02 -1.93930591e+01] [-4.54133101e-02 -6.53369081e-04 9.98968070e-01 -4.59810274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501052754 meters 0.014459106051232039 Centerline is valid? [True, True] Translation: X:67.90, Y:-19.41, Z:-4.60 [[ 8.63968976e-01 5.01911796e-01 4.05235461e-02 6.78974908e+01] [-5.01394644e-01 8.64918580e-01 -2.27872875e-02 -1.94073635e+01] [-4.64867763e-02 -6.30779553e-04 9.98918706e-01 -4.60084825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53105275399999 meters 0.014022095141043559 Centerline is valid? [True, True] Translation: X:67.93, Y:-19.42, Z:-4.60 [[ 8.63799641e-01 5.02182897e-01 4.07739827e-02 6.79262977e+01] [-5.01659065e-01 8.64761198e-01 -2.29401859e-02 -1.94235850e+01] [-4.67799272e-02 -6.38913683e-04 9.98905016e-01 -4.60272552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56105275399999 meters 0.014022095141043559 Centerline is valid? [True, True] Translation: X:67.95, Y:-19.44, Z:-4.60 [[ 8.63664541e-01 5.02415720e-01 4.07676944e-02 6.79544195e+01] [-5.01891620e-01 8.64625952e-01 -2.29513544e-02 -1.94395120e+01] [-4.67799278e-02 -6.38693230e-04 9.98905016e-01 -4.60481782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59105275399999 meters 0.01421084383469885 Centerline is valid? [True, True] Translation: X:67.98, Y:-19.45, Z:-4.61 [[ 8.62922354e-01 5.03672443e-01 4.09765921e-02 6.79843259e+01] [-5.03143651e-01 8.63894429e-01 -2.30842553e-02 -1.94517568e+01] [-4.70263529e-02 -6.97192182e-04 9.98893406e-01 -4.60987977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62105275399999 meters 0.01427330657200348 Centerline is valid? [True, True] Translation: X:68.01, Y:-19.47, Z:-4.61 [[ 8.62070657e-01 5.05162230e-01 4.05623400e-02 6.80128783e+01] [-5.04645149e-01 8.63024069e-01 -2.28632948e-02 -1.94655739e+01] [-4.65559488e-02 -7.59812540e-04 9.98915395e-01 -4.61324076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65105275399999 meters 0.014051796600606545 Centerline is valid? [True, True] Translation: X:68.04, Y:-19.48, Z:-4.62 [[ 8.61993832e-01 5.05247941e-01 4.11236083e-02 6.80404114e+01] [-5.04715922e-01 8.62973890e-01 -2.31927305e-02 -1.94811449e+01] [-4.72066795e-02 -7.63749220e-04 9.98884851e-01 -4.61532881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68105275399999 meters 0.013285895472235304 Centerline is valid? [True, True] Translation: X:68.07, Y:-19.50, Z:-4.62 [[ 8.62659336e-01 5.03979363e-01 4.27044706e-02 6.80674404e+01] [-5.03403388e-01 8.63715404e-01 -2.40983450e-02 -1.94983415e+01] [-4.90295776e-02 -7.08912910e-04 9.98797075e-01 -4.61607560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.711052754 meters 0.0132257043526296 Centerline is valid? [True, True] Translation: X:68.09, Y:-19.51, Z:-4.62 [[ 8.62969107e-01 5.03409770e-01 4.31615992e-02 6.80948678e+01] [-5.02819885e-01 8.64047542e-01 -2.43722950e-02 -1.95137789e+01] [-4.95629251e-02 -6.69972677e-04 9.98770778e-01 -4.61764791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741052754 meters 0.012965120308131774 Centerline is valid? [True, True] Translation: X:68.12, Y:-19.53, Z:-4.62 [[ 8.62970404e-01 5.03380401e-01 4.34770627e-02 6.81226144e+01] [-5.02781500e-01 8.64064654e-01 -2.45568095e-02 -1.95296700e+01] [-4.99284098e-02 -6.67663007e-04 9.98752576e-01 -4.61943195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771052754 meters 0.012989376915657392 Centerline is valid? [True, True] Translation: X:68.15, Y:-19.54, Z:-4.62 [[ 8.63731194e-01 5.02023279e-01 4.40573689e-02 6.81496850e+01] [-5.01405761e-01 8.64853910e-01 -2.48993436e-02 -1.95448946e+01] [-5.06032378e-02 -5.84278806e-04 9.98718665e-01 -4.62341255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801052754 meters 0.012359886969353934 Centerline is valid? [True, True] Translation: X:68.18, Y:-19.56, Z:-4.62 [[ 8.64637983e-01 5.00407628e-01 4.46471120e-02 6.81761899e+01] [-4.99770625e-01 8.65789796e-01 -2.52458117e-02 -1.95634298e+01] [-5.12882107e-02 -4.84827378e-04 9.98683776e-01 -4.62456633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831052754 meters 0.012389556895989477 Centerline is valid? [True, True] Translation: X:68.20, Y:-19.58, Z:-4.63 [[ 8.64816707e-01 5.00072403e-01 4.49405640e-02 6.82032861e+01] [-4.99425789e-01 8.65983478e-01 -2.54263066e-02 -1.95788077e+01] [-5.16327802e-02 -4.55381887e-04 9.98666035e-01 -4.62704616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861052754 meters 0.012264418050869056 Centerline is valid? [True, True] Translation: X:68.23, Y:-19.59, Z:-4.63 [[ 8.64313815e-01 5.00768959e-01 4.68196355e-02 6.82323008e+01] [-5.00067363e-01 8.65580842e-01 -2.65035624e-02 -1.95914888e+01] [-5.37983408e-02 -5.05576512e-04 9.98551693e-01 -4.63011368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89105275399999 meters 0.012355251515102928 Centerline is valid? [True, True] Translation: X:68.26, Y:-19.61, Z:-4.63 [[ 8.63940559e-01 5.01382056e-01 4.71459916e-02 6.82606243e+01] [-5.00670754e-01 8.65225836e-01 -2.67029640e-02 -1.96058206e+01] [-5.41803170e-02 -5.34845476e-04 9.98531025e-01 -4.63295193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92105275399999 meters 0.012347408628918899 Centerline is valid? [True, True] Translation: X:68.29, Y:-19.62, Z:-4.64 [[ 8.63335535e-01 5.02434904e-01 4.70204368e-02 6.82901207e+01] [-5.01728113e-01 8.64614841e-01 -2.66472600e-02 -1.96201385e+01] [-5.40430811e-02 -5.85948558e-04 9.98538433e-01 -4.63622152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95105275399999 meters 0.012686762860539026 Centerline is valid? [True, True] Translation: X:68.32, Y:-19.63, Z:-4.64 [[ 8.62955520e-01 5.03141586e-01 4.64361467e-02 6.83178427e+01] [-5.02452371e-01 8.64203781e-01 -2.63332342e-02 -1.96337328e+01] [-5.33796388e-02 -6.07542184e-04 9.98574106e-01 -4.63975178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98105275399999 meters 0.012548484185163541 Centerline is valid? [True, True] Translation: X:68.35, Y:-19.65, Z:-4.64 [[ 8.62246756e-01 5.04374026e-01 4.62317315e-02 6.83454052e+01] [-5.03691947e-01 8.63485028e-01 -2.62303148e-02 -1.96491813e+01] [-5.31502974e-02 -6.69547038e-04 9.98586300e-01 -4.64153932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01105275399999 meters 0.012669917622895802 Centerline is valid? [True, True] Translation: X:68.37, Y:-19.66, Z:-4.64 [[ 8.61416656e-01 5.05795611e-01 4.61751560e-02 6.83739269e+01] [-5.05116443e-01 8.62653029e-01 -2.62131841e-02 -1.96627226e+01] [-5.30916517e-02 -7.43357157e-04 9.98589367e-01 -4.64375618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04105275399999 meters 0.012978049843305226 Centerline is valid? [True, True] Translation: X:68.40, Y:-19.68, Z:-4.64 [[ 8.60362778e-01 5.07584824e-01 4.61902191e-02 6.84030560e+01] [-5.06907071e-01 8.61601379e-01 -2.62351780e-02 -1.96763095e+01] [-5.31141347e-02 -8.42378050e-04 9.98588093e-01 -4.64485337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.071052754 meters 0.013631254236097743 Centerline is valid? [True, True] Translation: X:68.43, Y:-19.69, Z:-4.65 [[ 8.59951539e-01 5.08276091e-01 4.62467870e-02 6.84320449e+01] [-5.07596894e-01 8.61193737e-01 -2.62819570e-02 -1.96896557e+01] [-5.31859337e-02 -8.73516060e-04 9.98584245e-01 -4.64766537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.101052754 meters 0.013165581452336612 Centerline is valid? [True, True] Translation: X:68.46, Y:-19.71, Z:-4.65 [[ 8.59465423e-01 5.09035569e-01 4.69252188e-02 6.84611550e+01] [-5.08336540e-01 8.60744993e-01 -2.66837036e-02 -1.97055155e+01] [-5.39736014e-02 -9.20082740e-04 9.98541939e-01 -4.64999159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131052754 meters 0.013118628680485954 Centerline is valid? [True, True] Translation: X:68.49, Y:-19.72, Z:-4.65 [[ 8.59594404e-01 5.08873447e-01 4.63171249e-02 6.84900528e+01] [-5.08191299e-01 8.60840888e-01 -2.63546783e-02 -1.97218301e+01] [-5.32828710e-02 -8.83625898e-04 9.98579068e-01 -4.65245632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161052754 meters 0.012857071589842532 Centerline is valid? [True, True] Translation: X:68.52, Y:-19.74, Z:-4.65 [[ 8.59839626e-01 5.08454472e-01 4.63666682e-02 6.85175730e+01] [-5.07769317e-01 8.61088462e-01 -2.64004160e-02 -1.97381464e+01] [-5.33492126e-02 -8.43447658e-04 9.98575561e-01 -4.65495630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191052754 meters 0.012743091567528928 Centerline is valid? [True, True] Translation: X:68.54, Y:-19.75, Z:-4.66 [[ 8.60416916e-01 5.07481235e-01 4.63198244e-02 6.85445145e+01] [-5.06795242e-01 8.61662466e-01 -2.63889856e-02 -1.97529360e+01] [-5.33039691e-02 -7.69136951e-04 9.98578037e-01 -4.65825659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221052754 meters 0.012499554329942255 Centerline is valid? [True, True] Translation: X:68.57, Y:-19.77, Z:-4.66 [[ 8.60603511e-01 5.07180071e-01 4.61516155e-02 6.85729108e+01] [-5.06497931e-01 8.61839795e-01 -2.63061461e-02 -1.97696076e+01] [-5.31172519e-02 -7.36536028e-04 9.98588011e-01 -4.66054277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251052754 meters 0.012464261749648731 Centerline is valid? [True, True] Translation: X:68.60, Y:-19.79, Z:-4.66 [[ 8.60805829e-01 5.06848854e-01 4.60169920e-02 6.85999395e+01] [-5.06169309e-01 8.62034657e-01 -2.62465191e-02 -1.97860284e+01] [-5.29712601e-02 -6.99232461e-04 9.98595792e-01 -4.66201259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28105275399999 meters 0.012788806729437142 Centerline is valid? [True, True] Translation: X:68.63, Y:-19.80, Z:-4.66 [[ 8.60721155e-01 5.07068847e-01 4.51694384e-02 6.86269808e+01] [-5.06413633e-01 8.61905281e-01 -2.57782689e-02 -1.98027691e+01] [-5.20031346e-02 -6.86518022e-04 9.98646686e-01 -4.66437110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31105275399999 meters 0.012478488539453545 Centerline is valid? [True, True] Translation: X:68.65, Y:-19.82, Z:-4.67 [[ 8.60846878e-01 5.06860490e-01 4.51120407e-02 6.86549540e+01] [-5.06205757e-01 8.62027848e-01 -2.57627735e-02 -1.98208657e+01] [-5.19459673e-02 -6.58171591e-04 9.98649680e-01 -4.66586324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34105275399999 meters 0.01248885726406988 Centerline is valid? [True, True] Translation: X:68.68, Y:-19.84, Z:-4.67 [[ 8.60832681e-01 5.06805050e-01 4.59971432e-02 6.86818610e+01] [-5.06123965e-01 8.62060440e-01 -2.62741300e-02 -1.98368562e+01] [-5.29681792e-02 -6.62626691e-04 9.98595981e-01 -4.66781854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37105275399999 meters 0.012250660605860306 Centerline is valid? [True, True] Translation: X:68.71, Y:-19.85, Z:-4.67 [[ 8.60915286e-01 5.06407659e-01 4.87457959e-02 6.87088721e+01] [-5.05641193e-01 8.62293942e-01 -2.78593218e-02 -1.98547782e+01] [-5.61413784e-02 -6.63366367e-04 9.98422609e-01 -4.66764240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40105275399999 meters 0.011998743049989262 Centerline is valid? [True, True] Translation: X:68.74, Y:-19.87, Z:-4.67 [[ 8.61031568e-01 5.06160280e-01 4.92585954e-02 6.87358423e+01] [-5.05376300e-01 8.62439192e-01 -2.81679764e-02 -1.98720103e+01] [-5.67400540e-02 -6.40609834e-04 9.98388780e-01 -4.66902614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43105275399999 meters 0.011694266625114351 Centerline is valid? [True, True] Translation: X:68.76, Y:-19.89, Z:-4.67 [[ 8.61432542e-01 5.05469579e-01 4.93404545e-02 6.87624058e+01] [-5.04680973e-01 8.62844230e-01 -2.82303099e-02 -1.98894620e+01] [-5.68426893e-02 -5.82680988e-04 9.98382977e-01 -4.67055697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.461052754 meters 0.011861173434449175 Centerline is valid? [True, True] Translation: X:68.79, Y:-19.90, Z:-4.67 [[ 8.61190544e-01 5.05898334e-01 4.91703457e-02 6.87898966e+01] [-5.05114978e-01 8.62592906e-01 -2.81484948e-02 -1.99049469e+01] [-5.66542680e-02 -5.95460493e-04 9.98393680e-01 -4.67240546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491052754 meters 0.012085961096897822 Centerline is valid? [True, True] Translation: X:68.82, Y:-19.92, Z:-4.68 [[ 8.60701994e-01 5.06762677e-01 4.88228116e-02 6.88189637e+01] [-5.05990828e-01 8.62085372e-01 -2.79659448e-02 -1.99203688e+01] [-5.62615287e-02 -6.33550368e-04 9.98415865e-01 -4.67514988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521052754 meters 0.012317281601016304 Centerline is valid? [True, True] Translation: X:68.85, Y:-19.93, Z:-4.68 [[ 8.60339674e-01 5.07375987e-01 4.88390580e-02 6.88488599e+01] [-5.06603626e-01 8.61724535e-01 -2.79927235e-02 -1.99347593e+01] [-5.62886503e-02 -6.58793267e-04 9.98414320e-01 -4.67886710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551052754 meters 0.01264147627448253 Centerline is valid? [True, True] Translation: X:68.88, Y:-19.95, Z:-4.68 [[ 8.59314961e-01 5.09176721e-01 4.81338242e-02 6.88783897e+01] [-5.08428383e-01 8.60661666e-01 -2.76057300e-02 -1.99464045e+01] [-5.54831324e-02 -7.50585643e-04 9.98459343e-01 -4.68371912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581052754 meters 0.013181283135139086 Centerline is valid? [True, True] Translation: X:68.91, Y:-19.96, Z:-4.69 [[ 8.58589247e-01 5.10449410e-01 4.76015252e-02 6.89061023e+01] [-5.09718672e-01 8.59907403e-01 -2.73154393e-02 -1.99609536e+01] [-5.48760538e-02 -8.10643770e-04 9.98492845e-01 -4.68598563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611052754 meters 0.013696509287469566 Centerline is valid? [True, True] Translation: X:68.93, Y:-19.98, Z:-4.69 [[ 8.57436303e-01 5.12483640e-01 4.65134875e-02 6.89344390e+01] [-5.11788243e-01 8.58696509e-01 -2.67039472e-02 -1.99762931e+01] [-5.36263054e-02 -9.08122198e-04 9.98560662e-01 -4.68739365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64105275399999 meters 0.014025816205537119 Centerline is valid? [True, True] Translation: X:68.96, Y:-19.99, Z:-4.69 [[ 8.57418464e-01 5.12569488e-01 4.58922415e-02 6.89624953e+01] [-5.11891941e-01 8.58645287e-01 -2.63611812e-02 -1.99921133e+01] [-5.29170941e-02 -8.89305094e-04 9.98598513e-01 -4.69070248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67105275399999 meters 0.013552253865816606 Centerline is valid? [True, True] Translation: X:68.99, Y:-20.01, Z:-4.69 [[ 8.57788038e-01 5.11926503e-01 4.61620748e-02 6.89890787e+01] [-5.11239190e-01 8.59028840e-01 -2.65319043e-02 -2.00097177e+01] [-5.32369386e-02 -8.41111662e-04 9.98581554e-01 -4.69168477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70105275399999 meters 0.012606109827837038 Centerline is valid? [True, True] Translation: X:69.02, Y:-20.03, Z:-4.69 [[ 8.58687808e-01 5.10245406e-01 4.80091166e-02 6.90151514e+01] [-5.09498461e-01 8.60028522e-01 -2.76090352e-02 -2.00289064e+01] [-5.53765929e-02 -7.53029149e-04 9.98465255e-01 -4.69063471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73105275399999 meters 0.012686717263792223 Centerline is valid? [True, True] Translation: X:69.04, Y:-20.04, Z:-4.69 [[ 8.58916540e-01 5.09794656e-01 4.87009765e-02 6.90423607e+01] [-5.09024328e-01 8.60295816e-01 -2.80239750e-02 -2.00445642e+01] [-5.61837190e-02 -7.19726201e-04 9.98420188e-01 -4.69272161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76105275399999 meters 0.012495274992640113 Centerline is valid? [True, True] Translation: X:69.07, Y:-20.06, Z:-4.69 [[ 8.59082447e-01 5.09468910e-01 4.91810875e-02 6.90694328e+01] [-5.08682304e-01 8.60488781e-01 -2.83084870e-02 -2.00611666e+01] [-5.67420680e-02 -6.98224603e-04 9.98388627e-01 -4.69394985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79105275399999 meters 0.012375509784882171 Centerline is valid? [True, True] Translation: X:69.10, Y:-20.08, Z:-4.69 [[ 8.59295248e-01 5.09057586e-01 4.97197216e-02 6.90960185e+01] [-5.08252036e-01 8.60732207e-01 -2.86345199e-02 -2.00788662e+01] [-5.73719853e-02 -6.64642865e-04 9.98352650e-01 -4.69385699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.821052754 meters 0.012603704886888497 Centerline is valid? [True, True] Translation: X:69.12, Y:-20.09, Z:-4.70 [[ 8.59128292e-01 5.09289034e-01 5.02320429e-02 6.91246625e+01] [-5.08466231e-01 8.60595275e-01 -2.89458991e-02 -2.00932792e+01] [-5.79712878e-02 -6.73056673e-04 9.98318024e-01 -4.69654578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.851052754 meters 0.012805298801688778 Centerline is valid? [True, True] Translation: X:69.15, Y:-20.11, Z:-4.70 [[ 8.58838709e-01 5.09784399e-01 5.01591418e-02 6.91533924e+01] [-5.08963832e-01 8.60301918e-01 -2.89210588e-02 -2.01082683e+01] [-5.78955105e-02 -6.90664213e-04 9.98322409e-01 -4.69965564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881052754 meters 0.012645945069372562 Centerline is valid? [True, True] Translation: X:69.18, Y:-20.12, Z:-4.70 [[ 8.58498549e-01 5.10511962e-01 4.85569524e-02 6.91820577e+01] [-5.09743236e-01 8.59870365e-01 -2.80140935e-02 -2.01226457e+01] [-5.60542143e-02 -7.01519406e-04 9.98427480e-01 -4.70395744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911052754 meters 0.012990870623682852 Centerline is valid? [True, True] Translation: X:69.21, Y:-20.14, Z:-4.71 [[ 8.58075014e-01 5.11248207e-01 4.82963870e-02 6.92099497e+01] [-5.10488020e-01 8.59432798e-01 -2.78791471e-02 -2.01376552e+01] [-5.57606630e-02 -7.32327491e-04 9.98443895e-01 -4.70569750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941052754 meters 0.012868248930713743 Centerline is valid? [True, True] Translation: X:69.24, Y:-20.15, Z:-4.71 [[ 8.57805500e-01 5.11721740e-01 4.80685425e-02 6.92384479e+01] [-5.10968555e-01 8.59150921e-01 -2.77638310e-02 -2.01548701e+01] [-5.55054885e-02 -7.45546748e-04 9.98458104e-01 -4.70710811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971052754 meters 0.01293619921256826 Centerline is valid? [True, True] Translation: X:69.27, Y:-20.17, Z:-4.71 [[ 8.58082458e-01 5.11329592e-01 4.72921130e-02 6.92669786e+01] [-5.10599015e-01 8.59384412e-01 -2.73327398e-02 -2.01711360e+01] [-5.46181434e-02 -6.93561822e-04 9.98507074e-01 -4.70967848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001052754 meters 0.012853205063971366 Centerline is valid? [True, True] Translation: X:69.30, Y:-20.19, Z:-4.71 [[ 8.58341541e-01 5.10917077e-01 4.70482716e-02 6.92950245e+01] [-5.10192463e-01 8.59629757e-01 -2.72090355e-02 -2.01879064e+01] [-5.43456552e-02 -6.49028070e-04 9.98521972e-01 -4.71184284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03105275399999 meters 0.01282168633832893 Centerline is valid? [True, True] Translation: X:69.32, Y:-20.21, Z:-4.71 [[ 8.58815862e-01 5.10166808e-01 4.65310943e-02 6.93219518e+01] [-5.09456035e-01 8.60075282e-01 -2.69268884e-02 -2.02060797e+01] [-5.37574488e-02 -5.80307902e-04 9.98553854e-01 -4.71238493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06105275399999 meters 0.012787506587868362 Centerline is valid? [True, True] Translation: X:69.35, Y:-20.22, Z:-4.71 [[ 8.58858017e-01 5.10134167e-01 4.61089897e-02 6.93495493e+01] [-5.09435301e-01 8.60094657e-01 -2.66993351e-02 -2.02230989e+01] [-5.32783388e-02 -5.58609079e-04 9.98579544e-01 -4.71469424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09105275399999 meters 0.012879167920538203 Centerline is valid? [True, True] Translation: X:69.38, Y:-20.24, Z:-4.72 [[ 8.58614700e-01 5.10530336e-01 4.62555171e-02 6.93775065e+01] [-5.09826696e-01 8.59859553e-01 -2.68009138e-02 -2.02397576e+01] [-5.34559278e-02 -5.70638891e-04 9.98570047e-01 -4.71731557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12105275399999 meters 0.0129440535739167 Centerline is valid? [True, True] Translation: X:69.41, Y:-20.26, Z:-4.72 [[ 8.58258739e-01 5.11146517e-01 4.60562193e-02 6.94061993e+01] [-5.10448918e-01 8.59493390e-01 -2.67023361e-02 -2.02556876e+01] [-5.32338222e-02 -5.91833972e-04 9.98581899e-01 -4.72025456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15105275399999 meters 0.013106826728422302 Centerline is valid? [True, True] Translation: X:69.43, Y:-20.27, Z:-4.72 [[ 8.57927752e-01 5.11705260e-01 4.60184748e-02 6.94348950e+01] [-5.11008707e-01 8.59160842e-01 -2.66973412e-02 -2.02709121e+01] [-5.31984415e-02 -6.11451439e-04 9.98583773e-01 -4.72370506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18105275399999 meters 0.013499140960888358 Centerline is valid? [True, True] Translation: X:69.46, Y:-20.29, Z:-4.73 [[ 8.57680618e-01 5.12121410e-01 4.59958583e-02 6.94623467e+01] [-5.11425233e-01 8.58912844e-01 -2.67012417e-02 -2.02861227e+01] [-5.31807110e-02 -6.22305048e-04 9.98584711e-01 -4.72543208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.211052754 meters 0.013028986707800543 Centerline is valid? [True, True] Translation: X:69.49, Y:-20.30, Z:-4.72 [[ 8.57491316e-01 5.12276554e-01 4.77637462e-02 6.94891474e+01] [-5.11525077e-01 8.58820308e-01 -2.77448190e-02 -2.03034730e+01] [-5.52334955e-02 -6.41412644e-04 9.98473259e-01 -4.72318302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241052754 meters 0.013218864697105925 Centerline is valid? [True, True] Translation: X:69.52, Y:-20.32, Z:-4.72 [[ 8.57213511e-01 5.12666710e-01 4.85576052e-02 6.95169110e+01] [-5.11889770e-01 8.58587446e-01 -2.82216346e-02 -2.03187612e+01] [-5.61592428e-02 -6.64174831e-04 9.98421604e-01 -4.72423622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.271052754 meters 0.013820554582606165 Centerline is valid? [True, True] Translation: X:69.55, Y:-20.33, Z:-4.73 [[ 8.56683008e-01 5.13545217e-01 4.86367535e-02 6.95455513e+01] [-5.12766214e-01 8.58062240e-01 -2.82843086e-02 -2.03325818e+01] [-5.62586331e-02 -7.08597374e-04 9.98415977e-01 -4.72638574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301052754 meters 0.013401477406384275 Centerline is valid? [True, True] Translation: X:69.57, Y:-20.35, Z:-4.73 [[ 8.56346041e-01 5.14130390e-01 4.83880214e-02 6.95735083e+01] [-5.13359393e-01 8.57711729e-01 -2.81553608e-02 -2.03493724e+01] [-5.59785002e-02 -7.29713511e-04 9.98431708e-01 -4.72900828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.331052754 meters 0.013474243549718809 Centerline is valid? [True, True] Translation: X:69.60, Y:-20.36, Z:-4.73 [[ 8.56237740e-01 5.14344533e-01 4.80274315e-02 6.96019807e+01] [-5.13584359e-01 8.57583336e-01 -2.79629642e-02 -2.03647005e+01] [-5.55701227e-02 -7.23192361e-04 9.98454525e-01 -4.73493852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361052754 meters 0.013372077595154328 Centerline is valid? [True, True] Translation: X:69.63, Y:-20.38, Z:-4.74 [[ 8.56362506e-01 5.14228372e-01 4.70365848e-02 6.96298020e+01] [-5.13498179e-01 8.57653024e-01 -2.74027328e-02 -2.03824941e+01] [-5.44323319e-02 -6.86527709e-04 9.98517226e-01 -4.73680441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39105275399999 meters 0.013313801562354956 Centerline is valid? [True, True] Translation: X:69.66, Y:-20.40, Z:-4.74 [[ 8.56676532e-01 5.13738884e-01 4.66655991e-02 6.96566129e+01] [-5.13018522e-01 8.57946359e-01 -2.72036971e-02 -2.04010163e+01] [-5.40121778e-02 -6.35547805e-04 9.98540075e-01 -4.73720898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42105275399999 meters 0.013287087451955447 Centerline is valid? [True, True] Translation: X:69.69, Y:-20.42, Z:-4.74 [[ 8.56434969e-01 5.14140239e-01 4.66793173e-02 6.96853262e+01] [-5.13419119e-01 8.57705892e-01 -2.72288702e-02 -2.04176738e+01] [-5.40365833e-02 -6.46297343e-04 9.98538747e-01 -4.73822038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45105275399999 meters 0.013287087451955447 Centerline is valid? [True, True] Translation: X:69.71, Y:-20.43, Z:-4.74 [[ 8.56292276e-01 5.14378544e-01 4.66717356e-02 6.97132036e+01] [-5.13657070e-01 8.57562998e-01 -2.72418588e-02 -2.04340164e+01] [-5.40365811e-02 -6.46273669e-04 9.98538747e-01 -4.74031233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48105275399999 meters 0.013750967778952673 Centerline is valid? [True, True] Translation: X:69.74, Y:-20.45, Z:-4.74 [[ 8.55593804e-01 5.15606508e-01 4.59257218e-02 6.97418552e+01] [-5.14908700e-01 8.56825212e-01 -2.68250917e-02 -2.04470499e+01] [-5.31815082e-02 -6.96171437e-04 9.98584620e-01 -4.74365363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51105275399999 meters 0.014017721046116788 Centerline is valid? [True, True] Translation: X:69.77, Y:-20.46, Z:-4.75 [[ 8.54866436e-01 5.16881278e-01 4.51344888e-02 6.97694179e+01] [-5.16208758e-01 8.56056758e-01 -2.63694183e-02 -2.04622147e+01] [-5.22675428e-02 -7.56487763e-04 9.98632831e-01 -4.74638643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54105275399999 meters 0.01445372083272545 Centerline is valid? [True, True] Translation: X:69.80, Y:-20.48, Z:-4.75 [[ 8.54141952e-01 5.18221244e-01 4.34541989e-02 6.97965847e+01] [-5.17598920e-01 8.55246227e-01 -2.54017477e-02 -2.04772339e+01] [-5.03277650e-02 -7.95148021e-04 9.98732439e-01 -4.75012094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.571052754 meters 0.01447219541655651 Centerline is valid? [True, True] Translation: X:69.82, Y:-20.49, Z:-4.75 [[ 8.53944731e-01 5.18524617e-01 4.37106248e-02 6.98245401e+01] [-5.17895057e-01 8.55062313e-01 -2.55568054e-02 -2.04937527e+01] [-5.06271407e-02 -8.13417277e-04 9.98717293e-01 -4.75195296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.601052754 meters 0.014574019172261294 Centerline is valid? [True, True] Translation: X:69.85, Y:-20.51, Z:-4.75 [[ 8.53917258e-01 5.18564623e-01 4.37726976e-02 6.98523072e+01] [-5.17932489e-01 8.55038062e-01 -2.56095479e-02 -2.05099978e+01] [-5.07075281e-02 -8.02867307e-04 9.98713223e-01 -4.75398804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631052754 meters 0.014580396454050884 Centerline is valid? [True, True] Translation: X:69.88, Y:-20.53, Z:-4.75 [[ 8.53774647e-01 5.18739466e-01 4.44771626e-02 6.98798774e+01] [-5.18086233e-01 8.54931989e-01 -2.60374540e-02 -2.05267432e+01] [-5.15316041e-02 -8.12887517e-04 9.98671033e-01 -4.75463296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661052754 meters 0.014488859403021227 Centerline is valid? [True, True] Translation: X:69.91, Y:-20.54, Z:-4.76 [[ 8.53529135e-01 5.19147353e-01 4.44301787e-02 6.99079235e+01] [-5.18495354e-01 8.54684354e-01 -2.60235182e-02 -2.05443293e+01] [-5.14838192e-02 -8.25010219e-04 9.98673488e-01 -4.75587029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691052754 meters 0.014935898177089329 Centerline is valid? [True, True] Translation: X:69.94, Y:-20.56, Z:-4.76 [[ 8.53294597e-01 5.19570890e-01 4.39820603e-02 6.99355303e+01] [-5.18931709e-01 8.54426945e-01 -2.57774378e-02 -2.05601672e+01] [-5.09726637e-02 -8.27937294e-04 9.98699706e-01 -4.75764342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721052754 meters 0.014979056775147838 Centerline is valid? [True, True] Translation: X:69.96, Y:-20.58, Z:-4.76 [[ 8.53382069e-01 5.19413776e-01 4.41403903e-02 6.99628375e+01] [-5.18768980e-01 8.54522484e-01 -2.58857018e-02 -2.05764128e+01] [-5.11643461e-02 -8.08271482e-04 9.98689920e-01 -4.75914788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751052754 meters 0.014837049330108173 Centerline is valid? [True, True] Translation: X:69.99, Y:-20.59, Z:-4.76 [[ 8.53429884e-01 5.19309703e-01 4.44394716e-02 6.99893407e+01] [-5.18655248e-01 8.54585748e-01 -2.60755187e-02 -2.05917611e+01] [-5.15186090e-02 -7.95138257e-04 9.98671718e-01 -4.76189471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78105275399999 meters 0.014436140945890122 Centerline is valid? [True, True] Translation: X:70.02, Y:-20.61, Z:-4.76 [[ 8.53365277e-01 5.19463947e-01 4.38738140e-02 7.00173289e+01] [-5.18825669e-01 8.54492009e-01 -2.57552423e-02 -2.06096553e+01] [-5.08687433e-02 -7.84231421e-04 9.98705040e-01 -4.76352255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81105275399999 meters 0.01519225422245123 Centerline is valid? [True, True] Translation: X:70.05, Y:-20.62, Z:-4.77 [[ 8.53132398e-01 5.19900769e-01 4.32238554e-02 7.00450911e+01] [-5.19281004e-01 8.54226303e-01 -2.53902147e-02 -2.06235480e+01] [-5.01233463e-02 -7.84112249e-04 9.98742727e-01 -4.76821076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84105275399999 meters 0.01519702600252669 Centerline is valid? [True, True] Translation: X:70.07, Y:-20.64, Z:-4.77 [[ 8.52629414e-01 5.20776078e-01 4.26070292e-02 7.00731395e+01] [-5.20174375e-01 8.53692928e-01 -2.50400538e-02 -2.06398833e+01] [-4.94135806e-02 -8.13198355e-04 9.98778072e-01 -4.77033266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87105275399999 meters 0.015332903230780147 Centerline is valid? [True, True] Translation: X:70.10, Y:-20.66, Z:-4.77 [[ 8.52285955e-01 5.21406503e-01 4.17601381e-02 7.01008665e+01] [-5.20828630e-01 8.53308023e-01 -2.45551385e-02 -2.06561307e+01] [-4.84374698e-02 -8.21875889e-04 9.98825879e-01 -4.77238819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90105275399999 meters 0.015293036046317182 Centerline is valid? [True, True] Translation: X:70.13, Y:-20.67, Z:-4.77 [[ 8.51671888e-01 5.22410544e-01 4.17399000e-02 7.01284042e+01] [-5.21833793e-01 8.52693656e-01 -2.45564824e-02 -2.06721228e+01] [-4.84199133e-02 -8.67224650e-04 9.98826692e-01 -4.77341629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93105275399999 meters 0.015414673933806813 Centerline is valid? [True, True] Translation: X:70.16, Y:-20.69, Z:-4.78 [[ 8.51343521e-01 5.22794788e-01 4.35869209e-02 7.01565272e+01] [-5.22165558e-01 8.52458076e-01 -2.56584857e-02 -2.06855780e+01] [-5.05701453e-02 -9.15403326e-04 9.98720092e-01 -4.77505511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.961052754 meters 0.015317324631604777 Centerline is valid? [True, True] Translation: X:70.18, Y:-20.70, Z:-4.78 [[ 8.51282580e-01 5.22836543e-01 4.42709652e-02 7.01840092e+01] [-5.22186687e-01 8.52432463e-01 -2.60760630e-02 -2.07016965e+01] [-5.13715265e-02 -9.19610413e-04 9.98679188e-01 -4.77655079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991052754 meters 0.01522551883060856 Centerline is valid? [True, True] Translation: X:70.21, Y:-20.72, Z:-4.78 [[ 8.51056450e-01 5.23190728e-01 4.44340091e-02 7.02125241e+01] [-5.22536262e-01 8.52215102e-01 -2.61777719e-02 -2.07184494e+01] [-5.15633012e-02 -9.39619384e-04 9.98669286e-01 -4.77822289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021052754 meters 0.015439535368362333 Centerline is valid? [True, True] Translation: X:70.24, Y:-20.73, Z:-4.78 [[ 8.50892681e-01 5.23421263e-01 4.48533870e-02 7.02400824e+01] [-5.22753729e-01 8.52073521e-01 -2.64433990e-02 -2.07336486e+01] [-5.20594207e-02 -9.46780597e-04 9.98643540e-01 -4.78077125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051052754 meters 0.016225179275601864 Centerline is valid? [True, True] Translation: X:70.27, Y:-20.75, Z:-4.78 [[ 8.50353348e-01 5.24333029e-01 4.44303808e-02 7.02676650e+01] [-5.23678801e-01 8.51512715e-01 -2.62032396e-02 -2.07477400e+01] [-5.15722582e-02 -9.85235988e-04 9.98668780e-01 -4.78347993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081052754 meters 0.015617823416865186 Centerline is valid? [True, True] Translation: X:70.29, Y:-20.77, Z:-4.78 [[ 8.49620918e-01 5.25591641e-01 4.35628672e-02 7.02943580e+01] [-5.24963703e-01 8.50736368e-01 -2.57049265e-02 -2.07656020e+01] [-5.05708099e-02 -1.02948080e-03 9.98719947e-01 -4.78332585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111052754 meters 0.01570846312591476 Centerline is valid? [True, True] Translation: X:70.32, Y:-20.78, Z:-4.79 [[ 8.49553062e-01 5.25783997e-01 4.25532915e-02 7.03221640e+01] [-5.25184407e-01 8.50617528e-01 -2.51229111e-02 -2.07818905e+01] [-4.94058002e-02 -1.00507909e-03 9.98778282e-01 -4.78606450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14105275399999 meters 0.01577546352257583 Centerline is valid? [True, True] Translation: X:70.35, Y:-20.80, Z:-4.79 [[ 8.49521505e-01 5.25921906e-01 4.14651890e-02 7.03491571e+01] [-5.25352132e-01 8.50532302e-01 -2.44937028e-02 -2.07981442e+01] [-4.81492576e-02 -9.75898155e-04 9.98839675e-01 -4.78902218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17105275399999 meters 0.015628044002754398 Centerline is valid? [True, True] Translation: X:70.37, Y:-20.82, Z:-4.79 [[ 8.50496992e-01 5.24452796e-01 4.00516021e-02 7.03748684e+01] [-5.23918911e-01 8.51439101e-01 -2.36734319e-02 -2.08153295e+01] [-4.65170976e-02 -8.49609084e-04 9.98917133e-01 -4.79382607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20105275399999 meters 0.015355599930048794 Centerline is valid? [True, True] Translation: X:70.40, Y:-20.83, Z:-4.80 [[ 8.51166473e-01 5.23372358e-01 3.99625969e-02 7.04014189e+01] [-5.22839415e-01 8.52103726e-01 -2.36259867e-02 -2.08333539e+01] [-4.64174661e-02 -7.84373022e-04 9.98921821e-01 -4.79606295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23105275399999 meters 0.014977057774066901 Centerline is valid? [True, True] Translation: X:70.43, Y:-20.85, Z:-4.80 [[ 8.51957862e-01 5.22043313e-01 4.04793901e-02 7.04275543e+01] [-5.21494365e-01 8.52918680e-01 -2.39447777e-02 -2.08518773e+01] [-4.70258391e-02 -7.09832208e-04 9.98893421e-01 -4.79715642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26105275399999 meters 0.014560227859795473 Centerline is valid? [True, True] Translation: X:70.45, Y:-20.87, Z:-4.80 [[ 8.53551102e-01 5.19413568e-01 4.07438584e-02 7.04522124e+01] [-5.18853772e-01 8.54522811e-01 -2.41149012e-02 -2.08717041e+01] [-4.73421633e-02 -5.56804110e-04 9.98878576e-01 -4.79765084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29105275399999 meters 0.014503994179020908 Centerline is valid? [True, True] Translation: X:70.48, Y:-20.89, Z:-4.80 [[ 8.53879536e-01 5.18821240e-01 4.14036158e-02 7.04776989e+01] [-5.18241853e-01 8.54882593e-01 -2.45180216e-02 -2.08890126e+01] [-4.81157008e-02 -5.21649687e-04 9.98841633e-01 -4.79683550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.321052754 meters 0.014523291072750383 Centerline is valid? [True, True] Translation: X:70.50, Y:-20.90, Z:-4.80 [[ 8.53829903e-01 5.18822103e-01 4.24042577e-02 7.05048663e+01] [-5.18213643e-01 8.54882069e-01 -2.51250445e-02 -2.09045742e+01] [-4.92860680e-02 -5.21950478e-04 9.98784567e-01 -4.79819200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.351052754 meters 0.014737937588056709 Centerline is valid? [True, True] Translation: X:70.53, Y:-20.92, Z:-4.80 [[ 8.53204984e-01 5.19729798e-01 4.38428188e-02 7.05338887e+01] [-5.19080177e-01 8.54330493e-01 -2.59842005e-02 -2.09174449e+01] [-5.09610203e-02 -5.88088757e-04 9.98700470e-01 -4.79934192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381052754 meters 0.014424696846386798 Centerline is valid? [True, True] Translation: X:70.56, Y:-20.93, Z:-4.80 [[ 8.52687884e-01 5.20544838e-01 4.42317079e-02 7.05626535e+01] [-5.19884052e-01 8.53834101e-01 -2.62278506e-02 -2.09330486e+01] [-5.14193128e-02 -6.31189044e-04 9.98676953e-01 -4.80127819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411052754 meters 0.014760962686008768 Centerline is valid? [True, True] Translation: X:70.59, Y:-20.95, Z:-4.81 [[ 8.51786452e-01 5.22166448e-01 4.24504616e-02 7.05917071e+01] [-5.21559090e-01 8.52843321e-01 -2.51870081e-02 -2.09459955e+01] [-4.93554031e-02 -6.86471894e-04 9.98781044e-01 -4.80693926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441052754 meters 0.014731671766018913 Centerline is valid? [True, True] Translation: X:70.62, Y:-20.96, Z:-4.81 [[ 8.51375350e-01 5.22892701e-01 4.17520867e-02 7.06194325e+01] [-5.22305404e-01 8.52398220e-01 -2.47858831e-02 -2.09613400e+01] [-4.85497618e-02 -7.05250590e-04 9.98820516e-01 -4.80991485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471052754 meters 0.015124065390158384 Centerline is valid? [True, True] Translation: X:70.65, Y:-20.98, Z:-4.81 [[ 8.50234191e-01 5.24773315e-01 4.14100113e-02 7.06470824e+01] [-5.24197182e-01 8.51241644e-01 -2.45962788e-02 -2.09784672e+01] [-4.81573969e-02 -7.94414024e-04 9.98839444e-01 -4.80994991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501052754 meters 0.015724663051559604 Centerline is valid? [True, True] Translation: X:70.67, Y:-21.00, Z:-4.81 [[ 8.49168792e-01 5.26517319e-01 4.11324148e-02 7.06734021e+01] [-5.25950273e-01 8.50163953e-01 -2.44451197e-02 -2.09952201e+01] [-4.78400752e-02 -8.75572049e-04 9.98854624e-01 -4.80876400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53105275399999 meters 0.016495853268114702 Centerline is valid? [True, True] Translation: X:70.70, Y:-21.01, Z:-4.81 [[ 8.48662855e-01 5.27296527e-01 4.15900400e-02 7.07022808e+01] [-5.26717132e-01 8.49680838e-01 -2.47292431e-02 -2.10093925e+01] [-4.83779040e-02 -9.19396545e-04 9.98828681e-01 -4.81212159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56105275399999 meters 0.016023863531779346 Centerline is valid? [True, True] Translation: X:70.73, Y:-21.03, Z:-4.81 [[ 8.48397863e-01 5.27696759e-01 4.19189319e-02 7.07307005e+01] [-5.27107941e-01 8.49432312e-01 -2.49392513e-02 -2.10260134e+01] [-4.87676573e-02 -9.37394412e-04 9.98809710e-01 -4.81366238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59105275399999 meters 0.015450614884424606 Centerline is valid? [True, True] Translation: X:70.76, Y:-21.04, Z:-4.82 [[ 8.48461457e-01 5.27567734e-01 4.22545071e-02 7.07585580e+01] [-5.26968482e-01 8.49512468e-01 -2.51552209e-02 -2.10418437e+01] [-4.91668135e-02 -9.23558090e-04 9.98790154e-01 -4.81764558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62105275399999 meters 0.015455619325301925 Centerline is valid? [True, True] Translation: X:70.79, Y:-21.06, Z:-4.82 [[ 8.48559668e-01 5.27473617e-01 4.14496497e-02 7.07861793e+01] [-5.26896259e-01 8.49570946e-01 -2.46888743e-02 -2.10594908e+01] [-4.82371479e-02 -8.89682452e-04 9.98835515e-01 -4.82055777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65105275399999 meters 0.015646972872483914 Centerline is valid? [True, True] Translation: X:70.81, Y:-21.08, Z:-4.82 [[ 8.49686297e-01 5.25717614e-01 4.06717046e-02 7.08116560e+01] [-5.25158959e-01 8.50658810e-01 -2.42416445e-02 -2.10778999e+01] [-4.73420034e-02 -7.61316883e-04 9.98878449e-01 -4.82443526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68105275399999 meters 0.014780256662601961 Centerline is valid? [True, True] Translation: X:70.84, Y:-21.10, Z:-4.82 [[ 8.50831291e-01 5.23805834e-01 4.13952011e-02 7.08376156e+01] [-5.23224096e-01 8.51837439e-01 -2.46885265e-02 -2.10981741e+01] [-4.81939763e-02 -6.53195793e-04 9.98837782e-01 -4.82486492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.711052754 meters 0.01480294415927337 Centerline is valid? [True, True] Translation: X:70.87, Y:-21.12, Z:-4.83 [[ 8.50788102e-01 5.23888063e-01 4.12420047e-02 7.08659104e+01] [-5.23310664e-01 8.51786868e-01 -2.45983716e-02 -2.11154045e+01] [-4.80161913e-02 -6.54378992e-04 9.98846343e-01 -4.82673346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741052754 meters 0.015015129882693747 Centerline is valid? [True, True] Translation: X:70.89, Y:-21.13, Z:-4.83 [[ 8.50409567e-01 5.24519161e-01 4.10270333e-02 7.08944347e+01] [-5.23947784e-01 8.51398377e-01 -2.44851750e-02 -2.11312146e+01] [-4.77732930e-02 -6.73596121e-04 9.98857977e-01 -4.82911978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.771052754 meters 0.015435056381207766 Centerline is valid? [True, True] Translation: X:70.92, Y:-21.14, Z:-4.83 [[ 8.49278513e-01 5.26263282e-01 4.21065930e-02 7.09234012e+01] [-5.25662765e-01 8.50321323e-01 -2.51456654e-02 -2.11440929e+01] [-4.90373743e-02 -7.78194778e-04 9.98796641e-01 -4.83063198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801052754 meters 0.015098041628900457 Centerline is valid? [True, True] Translation: X:70.95, Y:-21.16, Z:-4.83 [[ 8.48631125e-01 5.27243613e-01 4.28880736e-02 7.09516903e+01] [-5.26621111e-01 8.49713758e-01 -2.56268474e-02 -2.11603769e+01] [-4.99541778e-02 -8.38024634e-04 9.98751159e-01 -4.83067722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.831052754 meters 0.01592676815030629 Centerline is valid? [True, True] Translation: X:70.98, Y:-21.17, Z:-4.83 [[ 8.47692929e-01 5.28631741e-01 4.43303557e-02 7.09809776e+01] [-5.27967623e-01 8.48850756e-01 -2.65062833e-02 -2.11725632e+01] [-5.16419187e-02 -9.35803556e-04 9.98665227e-01 -4.83320127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861052754 meters 0.015505450775394624 Centerline is valid? [True, True] Translation: X:71.01, Y:-21.19, Z:-4.83 [[ 8.47324300e-01 5.29184664e-01 4.47785803e-02 7.10089355e+01] [-5.28506989e-01 8.48506133e-01 -2.67900010e-02 -2.11897181e+01] [-5.21717577e-02 -9.65973812e-04 9.98637659e-01 -4.83388102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89105275399999 meters 0.01603892505116131 Centerline is valid? [True, True] Translation: X:71.04, Y:-21.20, Z:-4.84 [[ 8.46781688e-01 5.30048848e-01 4.48217753e-02 7.10364112e+01] [-5.29370166e-01 8.47966513e-01 -2.68331791e-02 -2.12049497e+01] [-5.22302602e-02 -1.00546596e-03 9.98634562e-01 -4.83567542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92105275399999 meters 0.015640646847721 Centerline is valid? [True, True] Translation: X:71.06, Y:-21.22, Z:-4.84 [[ 8.46765574e-01 5.30101145e-01 4.45066212e-02 7.10637574e+01] [-5.29431407e-01 8.47933838e-01 -2.66569145e-02 -2.12227010e+01] [-5.18695311e-02 -9.91045599e-04 9.98653378e-01 -4.83679505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95105275399999 meters 0.015076511313516375 Centerline is valid? [True, True] Translation: X:71.09, Y:-21.24, Z:-4.84 [[ 8.47096154e-01 5.29658292e-01 4.34764272e-02 7.10916414e+01] [-5.29017838e-01 8.48210606e-01 -2.60556077e-02 -2.12399065e+01] [-5.06777353e-02 -9.28200434e-04 9.98714627e-01 -4.84023755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98105275399999 meters 0.015046635843807731 Centerline is valid? [True, True] Translation: X:71.12, Y:-21.26, Z:-4.84 [[ 8.47558158e-01 5.28982892e-01 4.26880396e-02 7.11202010e+01] [-5.28363805e-01 8.48632054e-01 -2.55993425e-02 -2.12565071e+01] [-4.97680529e-02 -8.57883471e-04 9.98760434e-01 -4.84430794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01105275399999 meters 0.015062308292908963 Centerline is valid? [True, True] Translation: X:71.15, Y:-21.27, Z:-4.85 [[ 8.49302625e-01 5.26287529e-01 4.13096667e-02 7.11454005e+01] [-5.25703834e-01 8.50306414e-01 -2.47887523e-02 -2.12734318e+01] [-4.81718857e-02 -6.63497705e-04 9.98838840e-01 -4.85087354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04105275399999 meters 0.014578045242240401 Centerline is valid? [True, True] Translation: X:71.17, Y:-21.29, Z:-4.85 [[ 8.50150235e-01 5.24971940e-01 4.06083835e-02 7.11713683e+01] [-5.24405834e-01 8.51119345e-01 -2.43799477e-02 -2.12931875e+01] [-4.73613692e-02 -5.68655006e-04 9.98877659e-01 -4.85213042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.071052754 meters 0.014075230863013374 Centerline is valid? [True, True] Translation: X:71.20, Y:-21.32, Z:-4.85 [[ 8.52525641e-01 5.21195387e-01 3.94385590e-02 7.11961491e+01] [-5.20656685e-01 8.53437319e-01 -2.36930211e-02 -2.13152673e+01] [-4.60070313e-02 -3.35041346e-04 9.98941060e-01 -4.85352640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.101052754 meters 0.014045753177636717 Centerline is valid? [True, True] Translation: X:71.22, Y:-21.33, Z:-4.86 [[ 8.53306504e-01 5.19924479e-01 3.93261439e-02 7.12233338e+01] [-5.19387287e-01 8.54212191e-01 -2.36300284e-02 -2.13332258e+01] [-4.58787017e-02 -2.61842279e-04 9.98946984e-01 -4.85584481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131052754 meters 0.01400522606487106 Centerline is valid? [True, True] Translation: X:71.25, Y:-21.35, Z:-4.86 [[ 8.52860848e-01 5.20687881e-01 3.88909362e-02 7.12514008e+01] [-5.20163261e-01 8.53747060e-01 -2.33696361e-02 -2.13488111e+01] [-4.53713087e-02 -2.98588512e-04 9.98970147e-01 -4.85847962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161052754 meters 0.014077487923124746 Centerline is valid? [True, True] Translation: X:71.28, Y:-21.36, Z:-4.86 [[ 8.52045254e-01 5.22033204e-01 3.87326744e-02 7.12797294e+01] [-5.21513674e-01 8.52925088e-01 -2.32869505e-02 -2.13642218e+01] [-4.51926311e-02 -3.58083686e-04 9.98978227e-01 -4.86029580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191052754 meters 0.014403679963961252 Centerline is valid? [True, True] Translation: X:71.31, Y:-21.38, Z:-4.86 [[ 8.50075675e-01 5.25259188e-01 3.83944465e-02 7.13087356e+01] [-5.24751432e-01 8.50942137e-01 -2.30957496e-02 -2.13783038e+01] [-4.48027071e-02 -5.14405863e-04 9.98995722e-01 -4.86138826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221052754 meters 0.014805631537900384 Centerline is valid? [True, True] Translation: X:71.34, Y:-21.39, Z:-4.86 [[ 8.48590250e-01 5.27700629e-01 3.77708081e-02 7.13377431e+01] [-5.27210971e-01 8.49430199e-01 -2.27360761e-02 -2.13922713e+01] [-4.40815067e-02 -6.19571938e-04 9.99027746e-01 -4.86284764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251052754 meters 0.014787301232854592 Centerline is valid? [True, True] Translation: X:71.37, Y:-21.41, Z:-4.86 [[ 8.47978944e-01 5.28674118e-01 3.78865095e-02 7.13659333e+01] [-5.28182428e-01 8.48824614e-01 -2.28056562e-02 -2.14088394e+01] [-4.42157620e-02 -6.72272255e-04 9.99021779e-01 -4.86424948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28105275399999 meters 0.014838343215765234 Centerline is valid? [True, True] Translation: X:71.39, Y:-21.43, Z:-4.87 [[ 8.47717952e-01 5.29063130e-01 3.82946258e-02 7.13942996e+01] [-5.28560525e-01 8.48582189e-01 -2.30659803e-02 -2.14262723e+01] [-4.46994971e-02 -6.87581890e-04 9.99000241e-01 -4.86597732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31105275399999 meters 0.014774627083757114 Centerline is valid? [True, True] Translation: X:71.42, Y:-21.44, Z:-4.87 [[ 8.47756766e-01 5.28920407e-01 3.93912291e-02 7.14213734e+01] [-5.28387703e-01 8.48671157e-01 -2.37424230e-02 -2.14443504e+01] [-4.59880520e-02 -6.86041337e-04 9.98941754e-01 -4.86564324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34105275399999 meters 0.014337883137409618 Centerline is valid? [True, True] Translation: X:71.45, Y:-21.46, Z:-4.87 [[ 8.48202451e-01 5.28058358e-01 4.13155201e-02 7.14491733e+01] [-5.27470456e-01 8.49207831e-01 -2.49194193e-02 -2.14613813e+01] [-4.82443708e-02 -6.56003736e-04 9.98835347e-01 -4.86739230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37105275399999 meters 0.014337883137409618 Centerline is valid? [True, True] Translation: X:71.48, Y:-21.48, Z:-4.87 [[ 8.48059663e-01 5.28287689e-01 4.13149534e-02 7.14768132e+01] [-5.27700013e-01 8.49065175e-01 -2.49203597e-02 -2.14781401e+01] [-4.82442074e-02 -6.67949607e-04 9.98835347e-01 -4.86947849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40105275399999 meters 0.014311323759951648 Centerline is valid? [True, True] Translation: X:71.50, Y:-21.49, Z:-4.87 [[ 8.47957031e-01 5.28351105e-01 4.25908754e-02 7.15041205e+01] [-5.27725784e-01 8.49025706e-01 -2.57069461e-02 -2.14947452e+01] [-4.97430415e-02 -6.77917443e-04 9.98761819e-01 -4.87079527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43105275399999 meters 0.014163675676958977 Centerline is valid? [True, True] Translation: X:71.53, Y:-21.51, Z:-4.87 [[ 8.47595860e-01 5.28765854e-01 4.45862099e-02 7.15310559e+01] [-5.28080203e-01 8.48767431e-01 -2.69285523e-02 -2.15120175e+01] [-5.20822218e-02 -7.20565404e-04 9.98642540e-01 -4.86970943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.461052754 meters 0.014014299688496958 Centerline is valid? [True, True] Translation: X:71.56, Y:-21.53, Z:-4.87 [[ 8.47310967e-01 5.29140569e-01 4.55453954e-02 7.15570764e+01] [-5.28425423e-01 8.48533845e-01 -2.75115647e-02 -2.15284371e+01] [-5.32042944e-02 -7.56494328e-04 9.98583362e-01 -4.87032124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491052754 meters 0.014038409796382134 Centerline is valid? [True, True] Translation: X:71.58, Y:-21.55, Z:-4.87 [[ 8.46702232e-01 5.30022069e-01 4.66040450e-02 7.15839485e+01] [-5.29273840e-01 8.47983453e-01 -2.81649774e-02 -2.15470096e+01] [-5.44475186e-02 -8.18952640e-04 9.98516298e-01 -4.87054252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521052754 meters 0.013992509836098043 Centerline is valid? [True, True] Translation: X:71.61, Y:-21.56, Z:-4.87 [[ 8.46843080e-01 5.29812473e-01 4.64278164e-02 7.16120063e+01] [-5.29068631e-01 8.48114452e-01 -2.80759781e-02 -2.15645104e+01] [-5.42511054e-02 -7.87553492e-04 9.98527014e-01 -4.87360636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551052754 meters 0.014125647599604024 Centerline is valid? [True, True] Translation: X:71.64, Y:-21.58, Z:-4.88 [[ 8.47060262e-01 5.29508041e-01 4.59363353e-02 7.16388186e+01] [-5.28778490e-01 8.48304591e-01 -2.77962052e-02 -2.15804346e+01] [-5.36863183e-02 -7.45085163e-04 9.98557572e-01 -4.87942413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581052754 meters 0.013775828111733756 Centerline is valid? [True, True] Translation: X:71.67, Y:-21.60, Z:-4.88 [[ 8.46971046e-01 5.29686155e-01 4.55260848e-02 7.16658437e+01] [-5.28969016e-01 8.48193395e-01 -2.75634755e-02 -2.15983240e+01] [-5.32149158e-02 -7.36422588e-04 9.98582811e-01 -4.88223846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.611052754 meters 0.01425307356001207 Centerline is valid? [True, True] Translation: X:71.69, Y:-21.61, Z:-4.89 [[ 8.46329233e-01 5.30915954e-01 4.30706424e-02 7.16926515e+01] [-5.30274906e-01 8.47424143e-01 -2.60930135e-02 -2.16139437e+01] [-5.03522994e-02 -7.56000804e-04 9.98731232e-01 -4.88667764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64105275399999 meters 0.014567053408502758 Centerline is valid? [True, True] Translation: X:71.72, Y:-21.63, Z:-4.89 [[ 8.45518693e-01 5.32310936e-01 4.17517330e-02 7.17198835e+01] [-5.31709579e-01 8.46548537e-01 -2.53080590e-02 -2.16298235e+01] [-4.88166251e-02 -8.01359363e-04 9.98807436e-01 -4.88970133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67105275399999 meters 0.015729263721556034 Centerline is valid? [True, True] Translation: X:71.75, Y:-21.64, Z:-4.89 [[ 8.43725127e-01 5.35307332e-01 3.96732975e-02 7.17480761e+01] [-5.34767482e-01 8.44656860e-01 -2.40526568e-02 -2.16423499e+01] [-4.63858864e-02 -9.22158495e-04 9.98923170e-01 -4.89468309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70105275399999 meters 0.016039479857753863 Centerline is valid? [True, True] Translation: X:71.78, Y:-21.66, Z:-4.90 [[ 8.43000066e-01 5.36538651e-01 3.84338923e-02 7.17761798e+01] [-5.36032804e-01 8.43875212e-01 -2.33121935e-02 -2.16577594e+01] [-4.49413019e-02 -9.49646416e-04 9.98989178e-01 -4.89803832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73105275399999 meters 0.017507740242856704 Centerline is valid? [True, True] Translation: X:71.80, Y:-21.67, Z:-4.90 [[ 8.41709056e-01 5.38647125e-01 3.72174836e-02 7.18044402e+01] [-5.38174330e-01 8.42530853e-01 -2.25865434e-02 -2.16709169e+01] [-4.35230549e-02 -1.01819620e-03 9.99051904e-01 -4.90300361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76105275399999 meters 0.01655194025278285 Centerline is valid? [True, True] Translation: X:71.83, Y:-21.69, Z:-4.90 [[ 8.41255818e-01 5.39320381e-01 3.77117526e-02 7.18322457e+01] [-5.38835171e-01 8.42099998e-01 -2.28965572e-02 -2.16887985e+01] [-4.41056468e-02 -1.05855667e-03 9.99026312e-01 -4.90429347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79105275399999 meters 0.016281532128624196 Centerline is valid? [True, True] Translation: X:71.86, Y:-21.70, Z:-4.91 [[ 8.41343211e-01 5.39052382e-01 3.95490959e-02 7.18595341e+01] [-5.38517635e-01 8.42271548e-01 -2.40290589e-02 -2.17045465e+01] [-4.62639996e-02 -1.08119998e-03 9.98928663e-01 -4.90779399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.821052754 meters 0.015665843670488542 Centerline is valid? [True, True] Translation: X:71.88, Y:-21.73, Z:-4.90 [[ 8.42716800e-01 5.36814733e-01 4.07227027e-02 7.18830077e+01] [-5.36244458e-01 8.43699587e-01 -2.47565736e-02 -2.17256116e+01] [-4.76474209e-02 -9.74543186e-04 9.98863741e-01 -4.90480445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.851052754 meters 0.015241734203974424 Centerline is valid? [True, True] Translation: X:71.91, Y:-21.75, Z:-4.90 [[ 8.43450608e-01 5.35582788e-01 4.17390641e-02 7.19091216e+01] [-5.34981547e-01 8.44482230e-01 -2.53871499e-02 -2.17453566e+01] [-4.88448184e-02 -9.16822076e-04 9.98805959e-01 -4.90338156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881052754 meters 0.015521993079295466 Centerline is valid? [True, True] Translation: X:71.94, Y:-21.76, Z:-4.90 [[ 8.44101930e-01 5.34443241e-01 4.31550054e-02 7.19358302e+01] [-5.33798253e-01 8.45203922e-01 -2.62631811e-02 -2.17620545e+01] [-5.05109595e-02 -8.67264610e-04 9.98723130e-01 -4.90396148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911052754 meters 0.013973331471315619 Centerline is valid? [True, True] Translation: X:71.96, Y:-21.78, Z:-4.90 [[ 8.45023772e-01 5.32757076e-01 4.58772629e-02 7.19624829e+01] [-5.32024745e-01 8.46267839e-01 -2.79359058e-02 -2.17807714e+01] [-5.37075036e-02 -8.01334601e-04 9.98556389e-01 -4.90341118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941052754 meters 0.01407570760944235 Centerline is valid? [True, True] Translation: X:71.99, Y:-21.80, Z:-4.91 [[ 8.45361186e-01 5.32173039e-01 4.64361995e-02 7.19893596e+01] [-5.31420990e-01 8.46635269e-01 -2.82922711e-02 -2.17955109e+01] [-5.43709082e-02 -7.59983283e-04 9.98520519e-01 -4.90790517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.971052754 meters 0.01397106318525982 Centerline is valid? [True, True] Translation: X:72.02, Y:-21.81, Z:-4.91 [[ 8.45620493e-01 5.31822218e-01 4.57286719e-02 7.20166104e+01] [-5.31091708e-01 8.46855724e-01 -2.78743539e-02 -2.18129511e+01] [-5.35497883e-02 -7.14993575e-04 9.98564925e-01 -4.91055119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001052754 meters 0.013874997132200625 Centerline is valid? [True, True] Translation: X:72.04, Y:-21.83, Z:-4.91 [[ 8.46427381e-01 5.30680198e-01 4.40365299e-02 7.20431157e+01] [-5.30000429e-01 8.47571920e-01 -2.68586059e-02 -2.18326114e+01] [-5.15774565e-02 -6.05520259e-04 9.98668814e-01 -4.91312615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03105275399999 meters 0.013582296907609565 Centerline is valid? [True, True] Translation: X:72.07, Y:-21.85, Z:-4.92 [[ 8.47678610e-01 5.28730428e-01 4.34178313e-02 7.20698263e+01] [-5.28066129e-01 8.48789679e-01 -2.64999056e-02 -2.18510677e+01] [-5.08639135e-02 -4.64083002e-04 9.98705486e-01 -4.91560153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06105275399999 meters 0.013545892233608019 Centerline is valid? [True, True] Translation: X:72.10, Y:-21.87, Z:-4.92 [[ 8.48009749e-01 5.28202515e-01 4.33770462e-02 7.20977175e+01] [-5.27538668e-01 8.49118318e-01 -2.64770768e-02 -2.18682924e+01] [-5.08175031e-02 -4.30249980e-04 9.98707863e-01 -4.91811895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09105275399999 meters 0.013361538582716881 Centerline is valid? [True, True] Translation: X:72.12, Y:-21.88, Z:-4.92 [[ 8.48303605e-01 5.27611652e-01 4.47988607e-02 7.21247858e+01] [-5.26901763e-01 8.49485604e-01 -2.73631340e-02 -2.18841390e+01] [-5.24930955e-02 -3.92353416e-04 9.98621210e-01 -4.91956169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12105275399999 meters 0.013404816528227878 Centerline is valid? [True, True] Translation: X:72.15, Y:-21.90, Z:-4.92 [[ 8.48074581e-01 5.27925974e-01 4.54276497e-02 7.21535153e+01] [-5.27195746e-01 8.49290293e-01 -2.77604834e-02 -2.19005943e+01] [-5.32367421e-02 -4.06303303e-04 9.98581837e-01 -4.92132187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15105275399999 meters 0.013295507627464717 Centerline is valid? [True, True] Translation: X:72.18, Y:-21.92, Z:-4.92 [[ 8.47952966e-01 5.28099221e-01 4.56834772e-02 7.21817266e+01] [-5.27360091e-01 8.49182577e-01 -2.79335999e-02 -2.19169122e+01] [-5.35453252e-02 -4.05263768e-04 9.98565338e-01 -4.92318306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18105275399999 meters 0.01322749296856443 Centerline is valid? [True, True] Translation: X:72.21, Y:-21.93, Z:-4.92 [[ 8.47793697e-01 5.28356466e-01 4.56650010e-02 7.22098817e+01] [-5.27617410e-01 8.49022543e-01 -2.79390292e-02 -2.19346142e+01] [-5.35323820e-02 -4.07116680e-04 9.98566031e-01 -4.92372750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.211052754 meters 0.013070454245588956 Centerline is valid? [True, True] Translation: X:72.24, Y:-21.95, Z:-4.92 [[ 8.47889202e-01 5.28173095e-01 4.60117663e-02 7.22376520e+01] [-5.27421567e-01 8.49136640e-01 -2.81683594e-02 -2.19528268e+01] [-5.39480462e-02 -3.83950173e-04 9.98543670e-01 -4.92459825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241052754 meters 0.012889228392347024 Centerline is valid? [True, True] Translation: X:72.26, Y:-21.97, Z:-4.92 [[ 8.48647017e-01 5.26789605e-01 4.78639068e-02 7.22637162e+01] [-5.25973044e-01 8.49995663e-01 -2.93211444e-02 -2.19711981e+01] [-5.61301873e-02 -2.91823027e-04 9.98423416e-01 -4.92398379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.271052754 meters 0.012791651719354546 Centerline is valid? [True, True] Translation: X:72.29, Y:-21.99, Z:-4.93 [[ 8.48761976e-01 5.26552475e-01 4.84313946e-02 7.22914686e+01] [-5.25715148e-01 8.50142588e-01 -2.96843754e-02 -2.19891448e+01] [-5.68039725e-02 -2.66148731e-04 9.98385315e-01 -4.92541984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301052754 meters 0.012778141294675988 Centerline is valid? [True, True] Translation: X:72.32, Y:-22.01, Z:-4.93 [[ 8.48726432e-01 5.26502283e-01 4.95861827e-02 7.23193452e+01] [-5.25623322e-01 8.50173678e-01 -3.04112047e-02 -2.20055211e+01] [-5.81684360e-02 -2.52860814e-04 9.98306751e-01 -4.92899357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.331052754 meters 0.012727264767905179 Centerline is valid? [True, True] Translation: X:72.35, Y:-22.02, Z:-4.93 [[ 8.48305875e-01 5.27135198e-01 5.00562292e-02 7.23476266e+01] [-5.26239633e-01 8.49781385e-01 -3.07155815e-02 -2.20220606e+01] [-5.87281159e-02 -2.85363456e-04 9.98273974e-01 -4.93196915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361052754 meters 0.013012888259049131 Centerline is valid? [True, True] Translation: X:72.37, Y:-22.04, Z:-4.93 [[ 8.46809947e-01 5.29518385e-01 5.02313941e-02 7.23742269e+01] [-5.28619611e-01 8.48298349e-01 -3.08418184e-02 -2.20371798e+01] [-5.89425185e-02 -4.36141391e-04 9.98261283e-01 -4.93411974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39105275399999 meters 0.013222852603898168 Centerline is valid? [True, True] Translation: X:72.40, Y:-22.05, Z:-4.94 [[ 8.45910162e-01 5.30980346e-01 4.99586857e-02 7.24012506e+01] [-5.30092927e-01 8.47383974e-01 -3.06902053e-02 -2.20540961e+01] [-5.86300854e-02 -5.21589376e-04 9.98279641e-01 -4.93549290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42105275399999 meters 0.013338393407631158 Centerline is valid? [True, True] Translation: X:72.43, Y:-22.07, Z:-4.94 [[ 8.44846601e-01 5.32809878e-01 4.84546632e-02 7.24280246e+01] [-5.31977288e-01 8.46234751e-01 -2.97810504e-02 -2.20720661e+01] [-5.68716577e-02 -6.16361123e-04 9.98381307e-01 -4.93707212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45105275399999 meters 0.013448880740970748 Centerline is valid? [True, True] Translation: X:72.46, Y:-22.09, Z:-4.94 [[ 8.44387314e-01 5.33678135e-01 4.68797633e-02 7.24556491e+01] [-5.32899338e-01 8.45687435e-01 -2.88280581e-02 -2.20883655e+01] [-5.50305311e-02 -6.40148275e-04 9.98484467e-01 -4.94091110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48105275399999 meters 0.014048527746191263 Centerline is valid? [True, True] Translation: X:72.48, Y:-22.10, Z:-4.95 [[ 8.43299614e-01 5.35610545e-01 4.43520575e-02 7.24837652e+01] [-5.34915452e-01 8.44464822e-01 -2.72877876e-02 -2.21011985e+01] [-5.20693792e-02 -7.12820159e-04 9.98643215e-01 -4.94839299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51105275399999 meters 0.014218927927037668 Centerline is valid? [True, True] Translation: X:72.51, Y:-22.12, Z:-4.95 [[ 8.42547497e-01 5.36911657e-01 4.28904123e-02 7.25117036e+01] [-5.36262709e-01 8.43638134e-01 -2.64008759e-02 -2.21171734e+01] [-5.03589254e-02 -7.56536823e-04 9.98730898e-01 -4.95223794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54105275399999 meters 0.014734433526592594 Centerline is valid? [True, True] Translation: X:72.54, Y:-22.13, Z:-4.96 [[ 8.41535665e-01 5.38637970e-01 4.10714211e-02 7.25393190e+01] [-5.38044340e-01 8.42536930e-01 -2.52944609e-02 -2.21321665e+01] [-4.82287461e-02 -8.12054678e-04 9.98835987e-01 -4.95689884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.571052754 meters 0.014439054312112927 Centerline is valid? [True, True] Translation: X:72.57, Y:-22.15, Z:-4.96 [[ 8.41470935e-01 5.38686500e-01 4.17554814e-02 7.25663214e+01] [-5.38072352e-01 8.42505897e-01 -2.57285572e-02 -2.21487255e+01] [-4.90388657e-02 -8.17636961e-04 9.98796536e-01 -4.95829646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.601052754 meters 0.014744003139601143 Centerline is valid? [True, True] Translation: X:72.59, Y:-22.16, Z:-4.96 [[ 8.41562355e-01 5.38506551e-01 4.22314691e-02 7.25935217e+01] [-5.37877271e-01 8.42620941e-01 -2.60382543e-02 -2.21642377e+01] [-4.96068907e-02 -8.02532763e-04 9.98768498e-01 -4.96083619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.631052754 meters 0.014297162230687803 Centerline is valid? [True, True] Translation: X:72.62, Y:-22.18, Z:-4.96 [[ 8.42235796e-01 5.37389449e-01 4.30284042e-02 7.26200794e+01] [-5.36734380e-01 8.43333875e-01 -2.65363955e-02 -2.21822989e+01] [-5.05476898e-02 -7.44921655e-04 9.98721371e-01 -4.96177679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661052754 meters 0.014751725238618105 Centerline is valid? [True, True] Translation: X:72.65, Y:-22.20, Z:-4.97 [[ 8.42427628e-01 5.37071867e-01 4.32377201e-02 7.26470013e+01] [-5.36409156e-01 8.43536186e-01 -2.66818404e-02 -2.21977861e+01] [-5.08026474e-02 -7.15589435e-04 9.98708455e-01 -4.96506071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.691052754 meters 0.014403442926305897 Centerline is valid? [True, True] Translation: X:72.67, Y:-22.22, Z:-4.97 [[ 8.42245456e-01 5.37373521e-01 4.30382594e-02 7.26730264e+01] [-5.36717020e-01 8.43344042e-01 -2.65644024e-02 -2.22174542e+01] [-5.05710661e-02 -7.25619195e-04 9.98720201e-01 -4.96601019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721052754 meters 0.01454374859595854 Centerline is valid? [True, True] Translation: X:72.70, Y:-22.23, Z:-4.97 [[ 8.41985076e-01 5.37758522e-01 4.33232451e-02 7.26995528e+01] [-5.37092922e-01 8.43098586e-01 -2.67575703e-02 -2.22342860e+01] [-5.09148782e-02 -7.39133393e-04 9.98702723e-01 -4.96748670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.751052754 meters 0.014335832364427122 Centerline is valid? [True, True] Translation: X:72.73, Y:-22.25, Z:-4.97 [[ 8.42245372e-01 5.37168856e-01 4.55231060e-02 7.27260536e+01] [-5.36431980e-01 8.43474420e-01 -2.81359638e-02 -2.22537318e+01] [-5.35113389e-02 -7.22664623e-04 9.98566980e-01 -4.96547218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78105275399999 meters 0.01437960260325247 Centerline is valid? [True, True] Translation: X:72.75, Y:-22.27, Z:-4.97 [[ 8.42399162e-01 5.36831251e-01 4.66461113e-02 7.27525686e+01] [-5.36056795e-01 8.43689337e-01 -2.88342693e-02 -2.22703463e+01] [-5.48339636e-02 -7.15000603e-04 9.98495230e-01 -4.96553886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81105275399999 meters 0.014403913591090996 Centerline is valid? [True, True] Translation: X:72.78, Y:-22.29, Z:-4.97 [[ 8.42815735e-01 5.36122368e-01 4.72699019e-02 7.27801780e+01] [-5.35325118e-01 8.44140014e-01 -2.92344741e-02 -2.22864117e+01] [-5.55756712e-02 -6.65491003e-04 9.98454256e-01 -4.97032353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84105275399999 meters 0.014389165870794796 Centerline is valid? [True, True] Translation: X:72.81, Y:-22.30, Z:-4.97 [[ 8.43122598e-01 5.35701525e-01 4.65635198e-02 7.28076997e+01] [-5.34926500e-01 8.44407186e-01 -2.88121952e-02 -2.23048543e+01] [-5.47533077e-02 -6.15847857e-04 9.98499723e-01 -4.97366846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87105275399999 meters 0.014341532064223207 Centerline is valid? [True, True] Translation: X:72.83, Y:-22.32, Z:-4.98 [[ 8.43283213e-01 5.35578916e-01 4.50405045e-02 7.28340496e+01] [-5.34852732e-01 8.44484988e-01 -2.78865456e-02 -2.23233161e+01] [-5.29714757e-02 -5.73781124e-04 9.98595861e-01 -4.97560994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90105275399999 meters 0.014606938652651877 Centerline is valid? [True, True] Translation: X:72.86, Y:-22.34, Z:-4.98 [[ 8.43336796e-01 5.35514191e-01 4.48062521e-02 7.28607562e+01] [-5.34794685e-01 8.44526047e-01 -2.77560937e-02 -2.23401176e+01] [-5.27038290e-02 -5.54410363e-04 9.98610034e-01 -4.97876302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93105275399999 meters 0.014448118251668007 Centerline is valid? [True, True] Translation: X:72.89, Y:-22.36, Z:-4.98 [[ 8.42656709e-01 5.36525203e-01 4.55014023e-02 7.28888839e+01] [-5.35783790e-01 8.43884074e-01 -2.82028360e-02 -2.23576073e+01] [-5.35294410e-02 -6.13604814e-04 9.98566083e-01 -4.97807776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.961052754 meters 0.015084753328630822 Centerline is valid? [True, True] Translation: X:72.92, Y:-22.37, Z:-4.98 [[ 8.40976469e-01 5.39111176e-01 4.60186701e-02 7.29174049e+01] [-5.38355628e-01 8.42234258e-01 -2.85424558e-02 -2.23695797e+01] [-5.41460574e-02 -7.70876382e-04 9.98532729e-01 -4.97948638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.991052754 meters 0.015267665094040303 Centerline is valid? [True, True] Translation: X:72.95, Y:-22.38, Z:-4.98 [[ 8.39928128e-01 5.40774362e-01 4.56489742e-02 7.29458111e+01] [-5.40032753e-01 8.41167253e-01 -2.83245089e-02 -2.23849053e+01] [-5.37155905e-02 -8.61389427e-04 9.98555904e-01 -4.98087605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021052754 meters 0.015605387886326764 Centerline is valid? [True, True] Translation: X:72.97, Y:-22.40, Z:-4.98 [[ 8.38533742e-01 5.42944102e-01 4.55287374e-02 7.29744628e+01] [-5.42208776e-01 8.39768261e-01 -2.82650177e-02 -2.23988826e+01] [-5.35799133e-02 -9.84909889e-04 9.98563079e-01 -4.98291093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.051052754 meters 0.016164167445605133 Centerline is valid? [True, True] Translation: X:73.00, Y:-22.41, Z:-4.99 [[ 8.38295723e-01 5.43375577e-01 4.47578289e-02 7.30011107e+01] [-5.42664776e-01 8.39489140e-01 -2.78015042e-02 -2.24145255e+01] [-5.26803697e-02 -9.82615089e-04 9.98610942e-01 -4.98598483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081052754 meters 0.015807519074626845 Centerline is valid? [True, True] Translation: X:73.03, Y:-22.43, Z:-4.99 [[ 8.38308317e-01 5.43381611e-01 4.44476160e-02 7.30277548e+01] [-5.42679960e-01 8.39485255e-01 -2.76218645e-02 -2.24340403e+01] [-5.23223315e-02 -9.65191743e-04 9.98629782e-01 -4.98708632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.111052754 meters 0.015794856153809492 Centerline is valid? [True, True] Translation: X:73.05, Y:-22.45, Z:-4.99 [[ 8.39002980e-01 5.42210820e-01 4.56226470e-02 7.30533015e+01] [-5.41468818e-01 8.40241999e-01 -2.83708103e-02 -2.24527501e+01] [-5.37170244e-02 -9.00046391e-04 9.98555793e-01 -4.98791579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14105275399999 meters 0.015585265767463623 Centerline is valid? [True, True] Translation: X:73.08, Y:-22.47, Z:-4.99 [[ 8.39443396e-01 5.41433227e-01 4.67423194e-02 7.30792001e+01] [-5.40652225e-01 8.40743317e-01 -2.90834415e-02 -2.24697251e+01] [-5.50450343e-02 -8.57436048e-04 9.98483505e-01 -4.98910418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17105275399999 meters 0.015588396796890738 Centerline is valid? [True, True] Translation: X:73.11, Y:-22.49, Z:-4.99 [[ 8.39285517e-01 5.41554665e-01 4.81494038e-02 7.31060964e+01] [-5.40725229e-01 8.40665078e-01 -2.99742135e-02 -2.24875471e+01] [-5.67101974e-02 -8.78674128e-04 9.98390295e-01 -4.98967689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20105275399999 meters 0.01589487569535969 Centerline is valid? [True, True] Translation: X:73.13, Y:-22.50, Z:-4.99 [[ 8.38820041e-01 5.42296775e-01 4.79076833e-02 7.31322138e+01] [-5.41475953e-01 8.40186514e-01 -2.98398034e-02 -2.25037897e+01] [-5.64334186e-02 -9.10633386e-04 9.98405950e-01 -4.99086580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23105275399999 meters 0.016114233539533625 Centerline is valid? [True, True] Translation: X:73.16, Y:-22.52, Z:-4.99 [[ 8.38464304e-01 5.42951325e-01 4.67062115e-02 7.31586047e+01] [-5.42171444e-01 8.39763666e-01 -2.91051645e-02 -2.25217535e+01] [-5.50248669e-02 -9.19132651e-04 9.98484561e-01 -4.99194195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26105275399999 meters 0.016114233539533625 Centerline is valid? [True, True] Translation: X:73.19, Y:-22.54, Z:-4.99 [[ 8.38315092e-01 5.43182264e-01 4.66993998e-02 7.31859901e+01] [-5.42402134e-01 8.39614304e-01 -2.91160893e-02 -2.25389138e+01] [-5.50248273e-02 -9.21396989e-04 9.98484561e-01 -4.99403286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29105275399999 meters 0.016551559529831908 Centerline is valid? [True, True] Translation: X:73.21, Y:-22.55, Z:-5.00 [[ 8.38248824e-01 5.43398310e-01 4.53562129e-02 7.32126361e+01] [-5.42661824e-01 8.39474525e-01 -2.82960657e-02 -2.25544910e+01] [-5.34514195e-02 -8.93941382e-04 9.98570051e-01 -4.99831001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.321052754 meters 0.01668221236838553 Centerline is valid? [True, True] Translation: X:73.24, Y:-22.57, Z:-5.00 [[ 8.37971409e-01 5.43833566e-01 4.52655535e-02 7.32407621e+01] [-5.43099949e-01 8.39192604e-01 -2.82527598e-02 -2.25708486e+01] [-5.33513168e-02 -9.08714889e-04 9.98575391e-01 -5.00197039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.351052754 meters 0.017039320878331377 Centerline is valid? [True, True] Translation: X:73.27, Y:-22.59, Z:-5.01 [[ 8.37670079e-01 5.44330884e-01 4.48634294e-02 7.32683913e+01] [-5.43610061e-01 8.38870101e-01 -2.80188216e-02 -2.25855697e+01] [-5.28860995e-02 -9.17683105e-04 9.98600129e-01 -5.00601978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381052754 meters 0.01704351646437266 Centerline is valid? [True, True] Translation: X:73.30, Y:-22.60, Z:-5.01 [[ 8.36624397e-01 5.45969886e-01 4.44578757e-02 7.32959367e+01] [-5.45263534e-01 8.37804205e-01 -2.77811637e-02 -2.26019394e+01] [-5.24146740e-02 -9.98859099e-04 9.98624907e-01 -5.00852382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.411052754 meters 0.016996440868751756 Centerline is valid? [True, True] Translation: X:73.32, Y:-22.62, Z:-5.01 [[ 8.36691274e-01 5.45865124e-01 4.44857009e-02 7.33234326e+01] [-5.45156978e-01 8.37872487e-01 -2.78130383e-02 -2.26192738e+01] [-5.24555124e-02 -9.80763810e-04 9.98622780e-01 -5.00922887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441052754 meters 0.016792533718113876 Centerline is valid? [True, True] Translation: X:73.35, Y:-22.64, Z:-5.01 [[ 8.36956297e-01 5.45394743e-01 4.52629151e-02 7.33505401e+01] [-5.44659957e-01 8.38178780e-01 -2.83172037e-02 -2.26366055e+01] [-5.33824690e-02 -9.52635448e-04 9.98573685e-01 -5.01080426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.471052754 meters 0.016962536779320882 Centerline is valid? [True, True] Translation: X:73.38, Y:-22.65, Z:-5.01 [[ 8.37406874e-01 5.44594022e-01 4.65518811e-02 7.33770615e+01] [-5.43814613e-01 8.38699300e-01 -2.91401856e-02 -2.26532318e+01] [-5.49126010e-02 -9.13401461e-04 9.98490747e-01 -5.01266001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501052754 meters 0.017057774621593826 Centerline is valid? [True, True] Translation: X:73.40, Y:-22.67, Z:-5.02 [[ 8.37557302e-01 5.44302325e-01 4.72519298e-02 7.34045139e+01] [-5.43497983e-01 8.38888656e-01 -2.95933223e-02 -2.26702346e+01] [-5.57468220e-02 -8.95225384e-04 9.98444535e-01 -5.01514876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53105275399999 meters 0.01733180973381675 Centerline is valid? [True, True] Translation: X:73.43, Y:-22.69, Z:-5.02 [[ 8.37624763e-01 5.44121306e-01 4.81327384e-02 7.34320384e+01] [-5.43285427e-01 8.39006090e-01 -3.01616560e-02 -2.26851422e+01] [-5.67952604e-02 -8.85665354e-04 9.98385454e-01 -5.01961243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56105275399999 meters 0.017323193440080722 Centerline is valid? [True, True] Translation: X:73.46, Y:-22.70, Z:-5.02 [[ 8.37680886e-01 5.44067499e-01 4.77628445e-02 7.34586819e+01] [-5.43243536e-01 8.39041007e-01 -2.99441127e-02 -2.27039497e+01] [-5.63666036e-02 -8.63245722e-04 9.98409766e-01 -5.02054095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59105275399999 meters 0.017332401203486007 Centerline is valid? [True, True] Translation: X:73.49, Y:-22.72, Z:-5.02 [[ 8.37698512e-01 5.44074793e-01 4.73690028e-02 7.34862401e+01] [-5.43263404e-01 8.39036299e-01 -2.97146888e-02 -2.27227605e+01] [-5.59113260e-02 -8.41895114e-04 9.98435383e-01 -5.02105104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62105275399999 meters 0.017418116264102026 Centerline is valid? [True, True] Translation: X:73.51, Y:-22.74, Z:-5.02 [[ 8.37120278e-01 5.44944497e-01 4.75934344e-02 7.35147225e+01] [-5.44125798e-01 8.38471648e-01 -2.98732644e-02 -2.27398477e+01] [-5.61850164e-02 -8.89300041e-04 9.98419978e-01 -5.02221727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65105275399999 meters 0.017450558037428288 Centerline is valid? [True, True] Translation: X:73.54, Y:-22.76, Z:-5.03 [[ 8.36732628e-01 5.45518632e-01 4.78323278e-02 7.35428518e+01] [-5.44691592e-01 8.38098193e-01 -3.00414492e-02 -2.27557323e+01] [-5.64763577e-02 -9.17206050e-04 9.98403516e-01 -5.02564048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68105275399999 meters 0.01773817658775089 Centerline is valid? [True, True] Translation: X:73.57, Y:-22.77, Z:-5.03 [[ 8.36577327e-01 5.45804321e-01 4.72865642e-02 7.35703730e+01] [-5.44995433e-01 8.37912177e-01 -2.97180494e-02 -2.27703973e+01] [-5.58422278e-02 -9.09515196e-04 9.98439191e-01 -5.03016236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.711052754 meters 0.017731964792446882 Centerline is valid? [True, True] Translation: X:73.60, Y:-22.79, Z:-5.03 [[ 8.37174725e-01 5.44879346e-01 4.73812051e-02 7.35965947e+01] [-5.44065276e-01 8.38514036e-01 -2.97856957e-02 -2.27872520e+01] [-5.59594159e-02 -8.42636838e-04 9.98432689e-01 -5.03422898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741052754 meters 0.01712326655275816 Centerline is valid? [True, True] Translation: X:73.62, Y:-22.81, Z:-5.03 [[ 8.37797978e-01 5.43863819e-01 4.80280636e-02 7.36220345e+01] [-5.43024798e-01 8.39173135e-01 -3.02079238e-02 -2.28073526e+01] [-5.67328575e-02 -7.72292081e-04 9.98389096e-01 -5.03407208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.771052754 meters 0.016575940776110614 Centerline is valid? [True, True] Translation: X:73.65, Y:-22.83, Z:-5.03 [[ 8.39266592e-01 5.41463989e-01 4.94806651e-02 7.36460785e+01] [-5.40568226e-01 8.40723719e-01 -3.11387463e-02 -2.28304466e+01] [-5.84600786e-02 -6.13965940e-04 9.98289558e-01 -5.02973500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801052754 meters 0.01654333412921596 Centerline is valid? [True, True] Translation: X:73.67, Y:-22.85, Z:-5.03 [[ 8.39766347e-01 5.40657683e-01 4.98171926e-02 7.36718968e+01] [-5.39747217e-01 8.41242516e-01 -3.13683148e-02 -2.28491113e+01] [-5.88678608e-02 -5.46635932e-04 9.98265634e-01 -5.02900242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.831052754 meters 0.016365216318529854 Centerline is valid? [True, True] Translation: X:73.70, Y:-22.87, Z:-5.03 [[ 8.40276891e-01 5.39752539e-01 5.10092417e-02 7.36992484e+01] [-5.38795928e-01 8.41823590e-01 -3.21246212e-02 -2.28650146e+01] [-6.02801289e-02 -4.89994906e-04 9.98181379e-01 -5.02996632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861052754 meters 0.016494586158573927 Centerline is valid? [True, True] Translation: X:73.73, Y:-22.88, Z:-5.03 [[ 8.40209978e-01 5.39801229e-01 5.15928899e-02 7.37274922e+01] [-5.38821568e-01 8.41792373e-01 -3.25102914e-02 -2.28802503e+01] [-6.09795965e-02 -4.83890637e-04 9.98138895e-01 -5.03359142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89105275399999 meters 0.016400288205059756 Centerline is valid? [True, True] Translation: X:73.75, Y:-22.90, Z:-5.04 [[ 8.41219773e-01 5.38244467e-01 5.14022052e-02 7.37547942e+01] [-5.37268002e-01 8.42788685e-01 -3.24087352e-02 -2.28958637e+01] [-6.07650194e-02 -3.53891202e-04 9.98152036e-01 -5.03785220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92105275399999 meters 0.01634685706531902 Centerline is valid? [True, True] Translation: X:73.78, Y:-22.91, Z:-5.04 [[ 8.42021604e-01 5.36964443e-01 5.16604804e-02 7.37811621e+01] [-5.35974653e-01 8.43604839e-01 -3.25890529e-02 -2.29128449e+01] [-6.10801940e-02 -2.48021463e-04 9.98132831e-01 -5.04003282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95105275399999 meters 0.016315519197437067 Centerline is valid? [True, True] Translation: X:73.81, Y:-22.93, Z:-5.04 [[ 8.44335056e-01 5.33342127e-01 5.14246027e-02 7.38068151e+01] [-5.32353681e-01 8.45899625e-01 -3.24558565e-02 -2.29340222e+01] [-6.08101277e-02 2.75408780e-05 9.98149351e-01 -5.04139141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98105275399999 meters 0.0168205831016877 Centerline is valid? [True, True] Translation: X:73.83, Y:-22.96, Z:-5.04 [[ 8.47589351e-01 5.28279747e-01 5.01278380e-02 7.38306434e+01] [-5.27330529e-01 8.49070286e-01 -3.16569592e-02 -2.29554023e+01] [-5.92857882e-02 3.98162166e-04 9.98240971e-01 -5.04176536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01105275399999 meters 0.016976786615167768 Centerline is valid? [True, True] Translation: X:73.86, Y:-22.97, Z:-5.04 [[ 8.48637937e-01 5.26652341e-01 4.95072131e-02 7.38572452e+01] [-5.25723262e-01 8.50080614e-01 -3.12730235e-02 -2.29724521e+01] [-5.85551331e-02 5.12380594e-04 9.98284045e-01 -5.04376710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04105275399999 meters 0.0173217016422101 Centerline is valid? [True, True] Translation: X:73.89, Y:-22.99, Z:-5.05 [[ 8.49571552e-01 5.25136182e-01 4.96000778e-02 7.38850955e+01] [-5.24200046e-01 8.51017973e-01 -3.13483840e-02 -2.29888105e+01] [-5.86727284e-02 6.32332164e-04 9.98277071e-01 -5.04707408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.071052754 meters 0.017619759581393456 Centerline is valid? [True, True] Translation: X:73.91, Y:-23.00, Z:-5.05 [[ 8.50197548e-01 5.24086647e-01 4.99731426e-02 7.39134300e+01] [-5.23133549e-01 8.51664641e-01 -3.16010858e-02 -2.30037829e+01] [-5.91220656e-02 7.24538210e-04 9.98250498e-01 -5.05088011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.101052754 meters 0.017330342001446588 Centerline is valid? [True, True] Translation: X:73.94, Y:-23.02, Z:-5.05 [[ 8.49868902e-01 5.24582368e-01 5.03605933e-02 7.39417558e+01] [-5.23614287e-01 8.51359404e-01 -3.18628798e-02 -2.30202667e+01] [-5.95896696e-02 7.09744515e-04 9.98222704e-01 -5.05208727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.131052754 meters 0.01741732560230176 Centerline is valid? [True, True] Translation: X:73.97, Y:-23.04, Z:-5.05 [[ 8.48501058e-01 5.26864186e-01 4.95992343e-02 7.39689995e+01] [-5.25927927e-01 8.49949304e-01 -3.14005945e-02 -2.30359206e+01] [-5.87006833e-02 5.57815203e-04 9.98275472e-01 -5.05358903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161052754 meters 0.01703842647578417 Centerline is valid? [True, True] Translation: X:74.00, Y:-23.05, Z:-5.06 [[ 8.46237605e-01 5.30436748e-01 5.01873766e-02 7.39983146e+01] [-5.29483448e-01 8.47724454e-01 -3.17888235e-02 -2.30492887e+01] [-5.94070266e-02 3.27512627e-04 9.98233789e-01 -5.05690215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.191052754 meters 0.0169368991723591 Centerline is valid? [True, True] Translation: X:74.03, Y:-23.06, Z:-5.06 [[ 8.44491486e-01 5.33179631e-01 5.05332689e-02 7.40271023e+01] [-5.32217023e-01 8.46002044e-01 -3.20247008e-02 -2.30645044e+01] [-5.98261669e-02 1.49921290e-04 9.98208799e-01 -5.05848231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221052754 meters 0.016797021945035292 Centerline is valid? [True, True] Translation: X:74.06, Y:-23.08, Z:-5.06 [[ 8.40250079e-01 5.39666501e-01 5.23437925e-02 7.40573601e+01] [-5.38645013e-01 8.41878835e-01 -3.31899983e-02 -2.30782759e+01] [-6.19786613e-02 -3.06824079e-04 9.98077428e-01 -5.05785505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.251052754 meters 0.01715771059488443 Centerline is valid? [True, True] Translation: X:74.09, Y:-23.09, Z:-5.06 [[ 8.38004336e-01 5.43104232e-01 5.27875519e-02 7.40855989e+01] [-5.42070813e-01 8.39665108e-01 -3.34923939e-02 -2.30923537e+01] [-6.25137264e-02 -5.47819831e-04 9.98043954e-01 -5.05960057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28105275399999 meters 0.018053968540169676 Centerline is valid? [True, True] Translation: X:74.11, Y:-23.10, Z:-5.06 [[ 8.34210953e-01 5.48865123e-01 5.32837985e-02 7.41142525e+01] [-5.47822769e-01 8.35910360e-01 -3.38243078e-02 -2.31044430e+01] [-6.31054620e-02 -9.73469990e-04 9.98006389e-01 -5.06256101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31105275399999 meters 0.01857191384883205 Centerline is valid? [True, True] Translation: X:74.14, Y:-23.12, Z:-5.06 [[ 8.32531685e-01 5.51448152e-01 5.28765403e-02 7.41422552e+01] [-5.50425846e-01 8.34208380e-01 -3.35822363e-02 -2.31207416e+01] [-6.26289152e-02 -1.14633867e-03 9.98036224e-01 -5.06474660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34105275399999 meters 0.01947885346873136 Centerline is valid? [True, True] Translation: X:74.17, Y:-23.14, Z:-5.07 [[ 8.30208919e-01 5.55060086e-01 5.15892606e-02 7.41695446e+01] [-5.54092892e-01 8.31809128e-01 -3.27817298e-02 -2.31364989e+01] [-6.11082476e-02 -1.36955814e-03 9.98130205e-01 -5.06828059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37105275399999 meters 0.019555648153525996 Centerline is valid? [True, True] Translation: X:74.20, Y:-23.15, Z:-5.07 [[ 8.30240334e-01 5.55122998e-01 5.03929134e-02 7.41970506e+01] [-5.54199394e-01 8.31767209e-01 -3.20365836e-02 -2.31540340e+01] [-5.96994172e-02 -1.32965822e-03 9.98215514e-01 -5.07186740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40105275399999 meters 0.019524909646689178 Centerline is valid? [True, True] Translation: X:74.22, Y:-23.17, Z:-5.08 [[ 8.30648074e-01 5.54592997e-01 4.95013584e-02 7.42243331e+01] [-5.53699756e-01 8.32120807e-01 -3.14887673e-02 -2.31713134e+01] [-5.86545601e-02 -1.25280616e-03 9.98277553e-01 -5.07555164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43105275399999 meters 0.01900092598873633 Centerline is valid? [True, True] Translation: X:74.25, Y:-23.19, Z:-5.08 [[ 8.31720382e-01 5.52946958e-01 4.99086046e-02 7.42498471e+01] [-5.52034979e-01 8.33215687e-01 -3.17647795e-02 -2.31906208e+01] [-5.91488704e-02 -1.13188093e-03 9.98248531e-01 -5.07703673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.461052754 meters 0.018765543746920185 Centerline is valid? [True, True] Translation: X:74.27, Y:-23.21, Z:-5.08 [[ 8.32747786e-01 5.51391755e-01 4.99825619e-02 7.42740599e+01] [-5.50473248e-01 8.34245836e-01 -3.18290500e-02 -2.32110431e+01] [-5.92480199e-02 -1.00849226e-03 9.98242784e-01 -5.07638998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.491052754 meters 0.018605270403435542 Centerline is valid? [True, True] Translation: X:74.30, Y:-23.23, Z:-5.08 [[ 8.33188773e-01 5.50704319e-01 5.02117647e-02 7.43002587e+01] [-5.49775166e-01 8.34699856e-01 -3.19908992e-02 -2.32290774e+01] [-5.95292791e-02 -9.50723236e-04 9.98226107e-01 -5.07884246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521052754 meters 0.018442289302194763 Centerline is valid? [True, True] Translation: X:74.33, Y:-23.25, Z:-5.08 [[ 8.33699931e-01 5.49898127e-01 5.05615965e-02 7.43263774e+01] [-5.48953463e-01 8.35231265e-01 -3.22308731e-02 -2.32469402e+01] [-5.99543230e-02 -8.85086852e-04 9.98200729e-01 -5.08086552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.551052754 meters 0.018099015511079904 Centerline is valid? [True, True] Translation: X:74.35, Y:-23.27, Z:-5.08 [[ 8.34731978e-01 5.48352056e-01 5.03244179e-02 7.43518248e+01] [-5.47412431e-01 8.36247243e-01 -3.20964132e-02 -2.32669406e+01] [-5.96837899e-02 -7.56309495e-04 9.98217047e-01 -5.08287392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581052754 meters 0.018356354938516294 Centerline is valid? [True, True] Translation: X:74.38, Y:-23.28, Z:-5.09 [[ 8.35092362e-01 5.48037849e-01 4.76997242e-02 7.43768646e+01] [-5.47192368e-01 8.36453256e-01 -3.04378472e-02 -2.32844971e+01] [-5.65796819e-02 -6.82511304e-04 9.98397853e-01 -5.08687955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.611052754 meters 0.018360970746007874 Centerline is valid? [True, True] Translation: X:74.40, Y:-23.30, Z:-5.09 [[ 8.34812127e-01 5.48564669e-01 4.65351099e-02 7.44034697e+01] [-5.47760046e-01 8.36107845e-01 -2.97086443e-02 -2.33016048e+01] [-5.52054831e-02 -6.88937364e-04 9.98474777e-01 -5.09086681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64105275399999 meters 0.018744376946060935 Centerline is valid? [True, True] Translation: X:74.43, Y:-23.32, Z:-5.10 [[ 8.34244577e-01 5.49587756e-01 4.46014006e-02 7.44305597e+01] [-5.48849358e-01 8.35435689e-01 -2.84884515e-02 -2.33170276e+01] [-5.29185060e-02 -7.13113944e-04 9.98598580e-01 -5.09693095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67105275399999 meters 0.018573490566620974 Centerline is valid? [True, True] Translation: X:74.46, Y:-23.34, Z:-5.10 [[ 8.34206465e-01 5.49694510e-01 4.39945406e-02 7.44578431e+01] [-5.48975580e-01 8.35365463e-01 -2.81132665e-02 -2.33352949e+01] [-5.22052280e-02 -6.99659791e-04 9.98636132e-01 -5.09881307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70105275399999 meters 0.018548815261650167 Centerline is valid? [True, True] Translation: X:74.48, Y:-23.35, Z:-5.10 [[ 8.34157524e-01 5.49832974e-01 4.31847954e-02 7.44842983e+01] [-5.49139522e-01 8.35274349e-01 -2.76142585e-02 -2.33525359e+01] [-5.12543818e-02 -6.79836393e-04 9.98685399e-01 -5.10015475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73105275399999 meters 0.01848241526680708 Centerline is valid? [True, True] Translation: X:74.51, Y:-23.37, Z:-5.10 [[ 8.34044981e-01 5.50010670e-01 4.30956291e-02 7.45124193e+01] [-5.49320020e-01 8.35157347e-01 -2.75630465e-02 -2.33694121e+01] [-5.11516010e-02 -6.84471212e-04 9.98690665e-01 -5.10078750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76105275399999 meters 0.0184898317820539 Centerline is valid? [True, True] Translation: X:74.54, Y:-23.39, Z:-5.10 [[ 8.33805197e-01 5.50331820e-01 4.36323483e-02 7.45399072e+01] [-5.49623394e-01 8.34945747e-01 -2.79235560e-02 -2.33864793e+01] [-5.17978650e-02 -6.98553262e-04 9.98657345e-01 -5.10204845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79105275399999 meters 0.018477707984978057 Centerline is valid? [True, True] Translation: X:74.57, Y:-23.40, Z:-5.10 [[ 8.33435398e-01 5.50856286e-01 4.40770955e-02 7.45672453e+01] [-5.50133228e-01 8.34599800e-01 -2.82241915e-02 -2.34033520e+01] [-5.23342084e-02 -7.25234507e-04 9.98629363e-01 -5.10315455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.821052754 meters 0.018424754588172672 Centerline is valid? [True, True] Translation: X:74.59, Y:-23.42, Z:-5.11 [[ 8.33348415e-01 5.51033018e-01 4.35089967e-02 7.45939784e+01] [-5.50327848e-01 8.34483137e-01 -2.78774966e-02 -2.34200289e+01] [-5.16689451e-02 -7.12544898e-04 9.98664014e-01 -5.10560746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.851052754 meters 0.018639788067180932 Centerline is valid? [True, True] Translation: X:74.62, Y:-23.44, Z:-5.11 [[ 8.33016023e-01 5.51592148e-01 4.27832696e-02 7.46213452e+01] [-5.50910750e-01 8.34113643e-01 -2.74185336e-02 -2.34367008e+01] [-5.08099568e-02 -7.29685296e-04 9.98708073e-01 -5.10907805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881052754 meters 0.018257949187394443 Centerline is valid? [True, True] Translation: X:74.65, Y:-23.46, Z:-5.11 [[ 8.32600211e-01 5.52240678e-01 4.25102579e-02 7.46478682e+01] [-5.51568105e-01 8.33684393e-01 -2.72572725e-02 -2.34551690e+01] [-5.04927132e-02 -7.52891533e-04 9.98724146e-01 -5.11148087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.911052754 meters 0.018189000771336367 Centerline is valid? [True, True] Translation: X:74.67, Y:-23.47, Z:-5.11 [[ 8.32718205e-01 5.52040851e-01 4.27935725e-02 7.46740901e+01] [-5.51358264e-01 8.33816743e-01 -2.74536782e-02 -2.34734710e+01] [-5.08375491e-02 -7.33412194e-04 9.98706667e-01 -5.11251888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941052754 meters 0.0174630162320632 Centerline is valid? [True, True] Translation: X:74.70, Y:-23.49, Z:-5.11 [[ 8.34463392e-01 5.49321154e-01 4.37849010e-02 7.46989893e+01] [-5.48602008e-01 8.35611122e-01 -2.81049872e-02 -2.34946787e+01] [-5.20258143e-02 -5.67901593e-04 9.98645579e-01 -5.11101812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.971052754 meters 0.01734339125649595 Centerline is valid? [True, True] Translation: X:74.72, Y:-23.51, Z:-5.11 [[ 8.35059997e-01 5.48336506e-01 4.47423524e-02 7.47245542e+01] [-5.47583267e-01 8.36257629e-01 -2.87357583e-02 -2.35120266e+01] [-5.31729989e-02 -5.04081295e-04 9.98585188e-01 -5.11108444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001052754 meters 0.01709032972242197 Centerline is valid? [True, True] Translation: X:74.75, Y:-23.53, Z:-5.11 [[ 8.34952773e-01 5.48313272e-01 4.69725774e-02 7.47505591e+01] [-5.47482032e-01 8.36272858e-01 -3.01849669e-02 -2.35292802e+01] [-5.58327095e-02 -5.13620284e-04 9.98440006e-01 -5.10853668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03105275399999 meters 0.016987888636406382 Centerline is valid? [True, True] Translation: X:74.78, Y:-23.55, Z:-5.11 [[ 8.34385502e-01 5.49194771e-01 4.67540114e-02 7.47782379e+01] [-5.48372214e-01 8.35694194e-01 -3.00521091e-02 -2.35464409e+01] [-5.55765171e-02 -5.63556657e-04 9.98454272e-01 -5.10998709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06105275399999 meters 0.017268824237031192 Centerline is valid? [True, True] Translation: X:74.81, Y:-23.56, Z:-5.12 [[ 8.33508570e-01 5.50660002e-01 4.51334216e-02 7.48064893e+01] [-5.49894715e-01 8.34729401e-01 -2.90280734e-02 -2.35593609e+01] [-5.36587929e-02 -6.23482063e-04 9.98559135e-01 -5.11701845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09105275399999 meters 0.017315693902712866 Centerline is valid? [True, True] Translation: X:74.83, Y:-23.58, Z:-5.12 [[ 8.33575590e-01 5.50631181e-01 4.42384195e-02 7.48343889e+01] [-5.49895253e-01 8.34748432e-01 -2.84651814e-02 -2.35761925e+01] [-5.26017677e-02 -5.98616491e-04 9.98615389e-01 -5.12187946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12105275399999 meters 0.01715382068435072 Centerline is valid? [True, True] Translation: X:74.86, Y:-23.59, Z:-5.12 [[ 8.34365084e-01 5.49473345e-01 4.37487005e-02 7.48593935e+01] [-5.48751073e-01 8.35511094e-01 -2.81686126e-02 -2.35944401e+01] [-5.20304264e-02 -5.04239562e-04 9.98645373e-01 -5.12464826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15105275399999 meters 0.01701343811504227 Centerline is valid? [True, True] Translation: X:74.88, Y:-23.61, Z:-5.13 [[ 8.35020221e-01 5.48442743e-01 4.41790447e-02 7.48842994e+01] [-5.47704297e-01 8.36187997e-01 -2.84541218e-02 -2.36131528e+01] [-5.25474435e-02 -4.37285542e-04 9.98618333e-01 -5.12555171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18105275399999 meters 0.01701343811504227 Centerline is valid? [True, True] Translation: X:74.91, Y:-23.63, Z:-5.13 [[ 8.34874620e-01 5.48664598e-01 4.41761051e-02 7.49114283e+01] [-5.47926220e-01 8.36042439e-01 -2.84586852e-02 -2.36307225e+01] [-5.25473717e-02 -4.45812333e-04 9.98618333e-01 -5.12763932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.211052754 meters 0.01692185338165539 Centerline is valid? [True, True] Translation: X:74.94, Y:-23.65, Z:-5.13 [[ 8.34944318e-01 5.48531165e-01 4.45145585e-02 7.49386777e+01] [-5.47780336e-01 8.36130001e-01 -2.86936367e-02 -2.36482538e+01] [-5.29593118e-02 -4.26610861e-04 9.98596580e-01 -5.12921210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.241052754 meters 0.016929354801887023 Centerline is valid? [True, True] Translation: X:74.97, Y:-23.67, Z:-5.13 [[ 8.34651983e-01 5.48957584e-01 4.47396651e-02 7.49663153e+01] [-5.48198850e-01 8.35850091e-01 -2.88555999e-02 -2.36650637e+01] [-5.32361536e-02 -4.41849268e-04 9.98581853e-01 -5.13113113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.271052754 meters 0.01686089213727333 Centerline is valid? [True, True] Translation: X:75.00, Y:-23.68, Z:-5.13 [[ 8.34035813e-01 5.49887748e-01 4.48076606e-02 7.49955217e+01] [-5.49127130e-01 8.35238425e-01 -2.89165770e-02 -2.36810330e+01] [-5.33259513e-02 -4.87641218e-04 9.98577040e-01 -5.13464710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301052754 meters 0.01699438047194956 Centerline is valid? [True, True] Translation: X:75.02, Y:-23.70, Z:-5.14 [[ 8.33472277e-01 5.50723307e-01 4.50311262e-02 7.50237111e+01] [-5.49955357e-01 8.34687702e-01 -2.90782705e-02 -2.36983890e+01] [-5.36010086e-02 -5.29176753e-04 9.98562292e-01 -5.13720202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.331052754 meters 0.016985069350370998 Centerline is valid? [True, True] Translation: X:75.05, Y:-23.72, Z:-5.14 [[ 8.33093566e-01 5.51314830e-01 4.48003238e-02 7.50521545e+01] [-5.50554680e-01 8.34297103e-01 -2.89463110e-02 -2.37152603e+01] [-5.33353109e-02 -5.50042460e-04 9.98576508e-01 -5.13965103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361052754 meters 0.017071925796775272 Centerline is valid? [True, True] Translation: X:75.08, Y:-23.73, Z:-5.14 [[ 8.32754811e-01 5.51880273e-01 4.41315034e-02 7.50783507e+01] [-5.51142545e-01 8.33923166e-01 -2.85315271e-02 -2.37314159e+01] [-5.25482700e-02 -5.62982618e-04 9.98618227e-01 -5.14262397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39105275399999 meters 0.017328987152152794 Centerline is valid? [True, True] Translation: X:75.11, Y:-23.75, Z:-5.15 [[ 8.32336212e-01 5.52620962e-01 4.27376093e-02 7.51051419e+01] [-5.51929451e-01 8.33432503e-01 -2.76431779e-02 -2.37468272e+01] [-5.08951123e-02 -5.79727293e-04 9.98703836e-01 -5.14791342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42105275399999 meters 0.017403845083267627 Centerline is valid? [True, True] Translation: X:75.13, Y:-23.76, Z:-5.15 [[ 8.31931256e-01 5.53231919e-01 4.27180237e-02 7.51331768e+01] [-5.52541215e-01 8.33027056e-01 -2.76428995e-02 -2.37638750e+01] [-5.08782039e-02 -6.06476667e-04 9.98704681e-01 -5.15142142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45105275399999 meters 0.01756125212942884 Centerline is valid? [True, True] Translation: X:75.16, Y:-23.78, Z:-5.15 [[ 8.31677354e-01 5.53643297e-01 4.23305833e-02 7.51607180e+01] [-5.52964808e-01 8.32753700e-01 -2.74079713e-02 -2.37813902e+01] [-5.04251895e-02 -6.12733838e-04 9.98727653e-01 -5.15400425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48105275399999 meters 0.01726669731686511 Centerline is valid? [True, True] Translation: X:75.19, Y:-23.80, Z:-5.15 [[ 8.31734297e-01 5.53603267e-01 4.17310541e-02 7.51877236e+01] [-5.52943059e-01 8.32780329e-01 -2.70351208e-02 -2.38007483e+01] [-4.97195322e-02 -5.88859503e-04 9.98763046e-01 -5.15484283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51105275399999 meters 0.01741637570429618 Centerline is valid? [True, True] Translation: X:75.22, Y:-23.82, Z:-5.16 [[ 8.31759086e-01 5.53558115e-01 4.18358261e-02 7.52152162e+01] [-5.52893726e-01 8.32810353e-01 -2.71190716e-02 -2.38171574e+01] [-4.98532912e-02 -5.74231594e-04 9.98756387e-01 -5.15917195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54105275399999 meters 0.017316972381265835 Centerline is valid? [True, True] Translation: X:75.24, Y:-23.83, Z:-5.16 [[ 8.31501277e-01 5.53961578e-01 4.16196784e-02 7.52427556e+01] [-5.53303777e-01 8.32542030e-01 -2.69944213e-02 -2.38345460e+01] [-4.96040038e-02 -5.82429491e-04 9.98768794e-01 -5.16284778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.571052754 meters 0.017717366699462632 Centerline is valid? [True, True] Translation: X:75.27, Y:-23.85, Z:-5.17 [[ 8.31011447e-01 5.54847449e-01 3.95510261e-02 7.52700992e+01] [-5.54253622e-01 8.31951898e-01 -2.56702453e-02 -2.38508706e+01] [-4.71476214e-02 -5.89031797e-04 9.98887759e-01 -5.16796472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.601052754 meters 0.017832208941660013 Centerline is valid? [True, True] Translation: X:75.30, Y:-23.87, Z:-5.17 [[ 8.30357745e-01 5.55848082e-01 3.92291293e-02 7.52967210e+01] [-5.55264935e-01 8.31283646e-01 -2.54627550e-02 -2.38679743e+01] [-4.67639572e-02 -6.39364042e-04 9.98905763e-01 -5.17023160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631052754 meters 0.01810141148107664 Centerline is valid? [True, True] Translation: X:75.32, Y:-23.88, Z:-5.17 [[ 8.29419558e-01 5.57273633e-01 3.88496448e-02 7.53226480e+01] [-5.56702674e-01 8.30328613e-01 -2.52294843e-02 -2.38848051e+01] [-4.63176980e-02 -7.01873457e-04 9.98926513e-01 -5.17035066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661052754 meters 0.018257684016765488 Centerline is valid? [True, True] Translation: X:75.35, Y:-23.90, Z:-5.17 [[ 8.28886489e-01 5.58060191e-01 3.89360001e-02 7.53508543e+01] [-5.57487048e-01 8.29800144e-01 -2.52964956e-02 -2.39020521e+01] [-4.64260656e-02 -7.38392297e-04 9.98921456e-01 -5.17248570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.691052754 meters 0.018634344626232226 Centerline is valid? [True, True] Translation: X:75.38, Y:-23.92, Z:-5.18 [[ 8.28103829e-01 5.59184486e-01 3.94557912e-02 7.53786729e+01] [-5.58596491e-01 8.29042865e-01 -2.56493423e-02 -2.39170929e+01] [-4.70532565e-02 -7.99547979e-04 9.98892062e-01 -5.17685930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721052754 meters 0.01867474643548984 Centerline is valid? [True, True] Translation: X:75.41, Y:-23.94, Z:-5.18 [[ 8.27839039e-01 5.59587052e-01 3.93046718e-02 7.54061414e+01] [-5.59003396e-01 8.28771186e-01 -2.55641329e-02 -2.39350042e+01] [-4.68799372e-02 -8.08457804e-04 9.98900204e-01 -5.17971073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751052754 meters 0.019093841827215366 Centerline is valid? [True, True] Translation: X:75.43, Y:-23.95, Z:-5.18 [[ 8.27667272e-01 5.59882868e-01 3.87047973e-02 7.54322576e+01] [-5.59316450e-01 8.28571383e-01 -2.51907088e-02 -2.39524501e+01] [-4.61735337e-02 -7.98704630e-04 9.98933114e-01 -5.18265846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78105275399999 meters 0.01911910441696139 Centerline is valid? [True, True] Translation: X:75.46, Y:-23.97, Z:-5.18 [[ 8.27567068e-01 5.60026686e-01 3.87667089e-02 7.54594139e+01] [-5.59458433e-01 8.28474178e-01 -2.52348751e-02 -2.39718625e+01] [-4.62494208e-02 -8.04810647e-04 9.98929599e-01 -5.18369259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81105275399999 meters 0.017758229972574657 Centerline is valid? [True, True] Translation: X:75.48, Y:-23.99, Z:-5.18 [[ 8.28035390e-01 5.59239627e-01 4.01052743e-02 7.54835648e+01] [-5.58629769e-01 8.29005693e-01 -2.61216763e-02 -2.39937224e+01] [-4.78557772e-02 -7.74327713e-04 9.98853956e-01 -5.18037941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84105275399999 meters 0.018584434664862624 Centerline is valid? [True, True] Translation: X:75.51, Y:-24.01, Z:-5.18 [[ 8.28225711e-01 5.58913329e-01 4.07193247e-02 7.55106104e+01] [-5.58283570e-01 8.29225735e-01 -2.65355515e-02 -2.40097580e+01] [-4.85965854e-02 -7.55504008e-04 9.98818202e-01 -5.18434891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87105275399999 meters 0.017240461854311277 Centerline is valid? [True, True] Translation: X:75.53, Y:-24.03, Z:-5.18 [[ 8.28190133e-01 5.58918738e-01 4.13635975e-02 7.55349850e+01] [-5.58268207e-01 8.29222088e-01 -2.69691892e-02 -2.40306965e+01] [-4.93731940e-02 -7.56365005e-04 9.98780114e-01 -5.18234785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90105275399999 meters 0.017441685959193938 Centerline is valid? [True, True] Translation: X:75.56, Y:-24.05, Z:-5.18 [[ 8.27934059e-01 5.59340371e-01 4.07865541e-02 7.55607374e+01] [-5.58707697e-01 8.28937738e-01 -2.66070791e-02 -2.40482140e+01] [-4.86919274e-02 -7.58854711e-04 9.98813556e-01 -5.18486939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93105275399999 meters 0.01757769661133133 Centerline is valid? [True, True] Translation: X:75.59, Y:-24.07, Z:-5.19 [[ 8.27282316e-01 5.60411409e-01 3.92813338e-02 7.55876778e+01] [-5.59825257e-01 8.28214007e-01 -2.56366933e-02 -2.40654122e+01] [-4.69004463e-02 -7.81899829e-04 9.98899263e-01 -5.18916744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.961052754 meters 0.017640717964646523 Centerline is valid? [True, True] Translation: X:75.61, Y:-24.08, Z:-5.19 [[ 8.27911599e-01 5.59589110e-01 3.77148768e-02 7.56143286e+01] [-5.59047400e-01 8.28769898e-01 -2.46264140e-02 -2.40832014e+01] [-4.50376277e-02 -6.95910037e-04 9.98985049e-01 -5.19406303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.991052754 meters 0.017750160414193326 Centerline is valid? [True, True] Translation: X:75.64, Y:-24.10, Z:-5.20 [[ 8.28068161e-01 5.59484841e-01 3.57747647e-02 7.56406708e+01] [-5.58996881e-01 8.28840332e-01 -2.33707266e-02 -2.41013451e+01] [-4.27271351e-02 -6.45427257e-04 9.99086571e-01 -5.19818100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021052754 meters 0.017870127800541376 Centerline is valid? [True, True] Translation: X:75.67, Y:-24.12, Z:-5.20 [[ 8.28116677e-01 5.59390943e-01 3.61184539e-02 7.56666785e+01] [-5.58892822e-01 8.28903716e-01 -2.36102326e-02 -2.41189212e+01] [-4.31460709e-02 -6.34317272e-04 9.99068573e-01 -5.20048999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.051052754 meters 0.017786503182526826 Centerline is valid? [True, True] Translation: X:75.69, Y:-24.14, Z:-5.20 [[ 8.27821741e-01 5.59804771e-01 3.64662046e-02 7.56939062e+01] [-5.59297247e-01 8.28624272e-01 -2.38412487e-02 -2.41380939e+01] [-4.35632270e-02 -6.59143790e-04 9.99050455e-01 -5.19911936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081052754 meters 0.018115077998653424 Centerline is valid? [True, True] Translation: X:75.72, Y:-24.15, Z:-5.20 [[ 8.26823202e-01 5.61205389e-01 3.75753198e-02 7.57215904e+01] [-5.60667262e-01 8.27676241e-01 -2.45817199e-02 -2.41537138e+01] [-4.48955931e-02 -7.42515320e-04 9.98991409e-01 -5.20108220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.111052754 meters 0.01827934916351902 Centerline is valid? [True, True] Translation: X:75.75, Y:-24.17, Z:-5.20 [[ 8.26328527e-01 5.61906668e-01 3.79744804e-02 7.57498239e+01] [-5.61357178e-01 8.27200273e-01 -2.48561531e-02 -2.41702138e+01] [-4.53793387e-02 -7.77898749e-04 9.98969524e-01 -5.20435401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14105275399999 meters 0.017368198819338522 Centerline is valid? [True, True] Translation: X:75.78, Y:-24.19, Z:-5.20 [[ 8.26004889e-01 5.62351227e-01 3.84320298e-02 7.57767003e+01] [-5.61788233e-01 8.26898093e-01 -2.51699208e-02 -2.41897447e+01] [-4.59337080e-02 -8.00184482e-04 9.98944170e-01 -5.20476989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17105275399999 meters 0.017847267272212246 Centerline is valid? [True, True] Translation: X:75.80, Y:-24.21, Z:-5.21 [[ 8.26259256e-01 5.61909168e-01 3.94173793e-02 7.58022559e+01] [-5.61315589e-01 8.27198572e-01 -2.58327693e-02 -2.42069797e+01] [-4.71216698e-02 -7.81024743e-04 9.98888852e-01 -5.20764841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20105275399999 meters 0.017484433406856785 Centerline is valid? [True, True] Translation: X:75.83, Y:-24.23, Z:-5.21 [[ 8.26256660e-01 5.61895476e-01 3.96661726e-02 7.58275815e+01] [-5.61293612e-01 8.27207881e-01 -2.60116005e-02 -2.42266171e+01] [-4.74279712e-02 -7.72111148e-04 9.98874362e-01 -5.20748314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23105275399999 meters 0.017290574768024935 Centerline is valid? [True, True] Translation: X:75.85, Y:-24.25, Z:-5.21 [[ 8.25712941e-01 5.62692355e-01 3.96919760e-02 7.58539685e+01] [-5.62090577e-01 8.26665982e-01 -2.60295732e-02 -2.42457760e+01] [-4.74586482e-02 -8.17530226e-04 9.98872869e-01 -5.20772719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26105275399999 meters 0.017563828985884093 Centerline is valid? [True, True] Translation: X:75.88, Y:-24.26, Z:-5.21 [[ 8.24941133e-01 5.63878598e-01 3.88979903e-02 7.58815420e+01] [-5.63301236e-01 8.25857250e-01 -2.55249136e-02 -2.42626820e+01] [-4.65171398e-02 -8.54734864e-04 9.98917126e-01 -5.21128274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29105275399999 meters 0.017982170539190243 Centerline is valid? [True, True] Translation: X:75.91, Y:-24.28, Z:-5.22 [[ 8.23912020e-01 5.65529430e-01 3.66803407e-02 7.59091983e+01] [-5.65017183e-01 8.24727641e-01 -2.40811209e-02 -2.42786200e+01] [-4.38698735e-02 -8.84297802e-04 9.99036862e-01 -5.21825155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.321052754 meters 0.01855942533732649 Centerline is valid? [True, True] Translation: X:75.94, Y:-24.29, Z:-5.22 [[ 8.23618892e-01 5.66013745e-01 3.57821421e-02 7.59358557e+01] [-5.65526216e-01 8.24395337e-01 -2.35037846e-02 -2.42940845e+01] [-4.28020962e-02 -8.77578377e-04 9.99083185e-01 -5.22364966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.351052754 meters 0.018125496099487024 Centerline is valid? [True, True] Translation: X:75.96, Y:-24.31, Z:-5.23 [[ 8.23205649e-01 5.66621100e-01 3.56789602e-02 7.59615426e+01] [-5.66136486e-01 8.23977987e-01 -2.34468754e-02 -2.43127075e+01] [-4.26841721e-02 -8.97560827e-04 9.99088212e-01 -5.22545336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381052754 meters 0.01851087392864599 Centerline is valid? [True, True] Translation: X:75.99, Y:-24.33, Z:-5.23 [[ 8.23059118e-01 5.66792542e-01 3.63304656e-02 7.59879321e+01] [-5.66289649e-01 8.23860050e-01 -2.38883088e-02 -2.43298540e+01] [-4.34709345e-02 -9.12076306e-04 9.99054276e-01 -5.22670294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.411052754 meters 0.017437451525927367 Centerline is valid? [True, True] Translation: X:76.01, Y:-24.35, Z:-5.22 [[ 8.22991594e-01 5.66750225e-01 3.84580059e-02 7.60127652e+01] [-5.66186045e-01 8.23889116e-01 -2.52999430e-02 -2.43504960e+01] [-4.60238808e-02 -9.52745840e-04 9.98939885e-01 -5.22303387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441052754 meters 0.017476997130791205 Centerline is valid? [True, True] Translation: X:76.04, Y:-24.37, Z:-5.22 [[ 8.22866456e-01 5.66888431e-01 3.90935120e-02 7.60388989e+01] [-5.66304924e-01 8.23794013e-01 -2.57324117e-02 -2.43680548e+01] [-4.67924076e-02 -9.64509894e-04 9.98904170e-01 -5.22479941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.471052754 meters 0.017406251445623484 Centerline is valid? [True, True] Translation: X:76.07, Y:-24.39, Z:-5.23 [[ 8.22999735e-01 5.66667888e-01 3.94834237e-02 7.60653517e+01] [-5.66071825e-01 8.23945751e-01 -2.60017113e-02 -2.43855348e+01] [-4.72665340e-02 -9.51052183e-04 9.98881860e-01 -5.22799924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501052754 meters 0.018077069817241314 Centerline is valid? [True, True] Translation: X:76.09, Y:-24.40, Z:-5.23 [[ 8.23017117e-01 5.66611035e-01 3.99344554e-02 7.60924591e+01] [-5.66000433e-01 8.23984855e-01 -2.63147938e-02 -2.44008569e+01] [-4.78156390e-02 -9.45393336e-04 9.98855731e-01 -5.23412251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53105275399999 meters 0.01759705109894737 Centerline is valid? [True, True] Translation: X:76.12, Y:-24.42, Z:-5.24 [[ 8.22780684e-01 5.66932440e-01 4.02436880e-02 7.61192914e+01] [-5.66312468e-01 8.23763724e-01 -2.65238643e-02 -2.44193500e+01] [-4.81885294e-02 -9.67179101e-04 9.98837790e-01 -5.23619346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56105275399999 meters 0.01692990029213886 Centerline is valid? [True, True] Translation: X:76.15, Y:-24.44, Z:-5.24 [[ 8.22345470e-01 5.67533000e-01 4.06721236e-02 7.61460821e+01] [-5.66899719e-01 8.23350043e-01 -2.68219141e-02 -2.44391597e+01] [-4.87097161e-02 -1.00013584e-03 9.98812477e-01 -5.23742070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59105275399999 meters 0.01734503605986129 Centerline is valid? [True, True] Translation: X:76.17, Y:-24.46, Z:-5.24 [[ 8.22011531e-01 5.68013219e-01 4.07188549e-02 7.61730228e+01] [-5.67378248e-01 8.23018803e-01 -2.68695557e-02 -2.44568179e+01] [-4.87746461e-02 -1.01590791e-03 9.98809292e-01 -5.23946295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62105275399999 meters 0.018663664248564974 Centerline is valid? [True, True] Translation: X:76.20, Y:-24.47, Z:-5.24 [[ 8.21578095e-01 5.68636539e-01 4.07666424e-02 7.62011453e+01] [-5.68000081e-01 8.22588233e-01 -2.69166497e-02 -2.44720270e+01] [-4.88399509e-02 -1.04132641e-03 9.98806075e-01 -5.24321569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65105275399999 meters 0.017204642973685815 Centerline is valid? [True, True] Translation: X:76.23, Y:-24.49, Z:-5.24 [[ 8.20645619e-01 5.69977002e-01 4.08287354e-02 7.62270171e+01] [-5.69339517e-01 8.21659896e-01 -2.69727518e-02 -2.44908297e+01] [-4.89211827e-02 -1.11034186e-03 9.98802025e-01 -5.24335974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68105275399999 meters 0.019470363747469417 Centerline is valid? [True, True] Translation: X:76.26, Y:-24.50, Z:-5.25 [[ 8.20069608e-01 5.70816036e-01 4.06803436e-02 7.62552436e+01] [-5.70183506e-01 8.21077185e-01 -2.68891474e-02 -2.45034527e+01] [-4.87504586e-02 -1.14428835e-03 9.98810334e-01 -5.24884512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.711052754 meters 0.017162607639776242 Centerline is valid? [True, True] Translation: X:76.28, Y:-24.53, Z:-5.25 [[ 8.19736254e-01 5.71284818e-01 4.08182629e-02 7.62807730e+01] [-5.70647978e-01 8.20751056e-01 -2.69923941e-02 -2.45254537e+01] [-4.89219773e-02 -1.16621510e-03 9.98801922e-01 -5.24716023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.741052754 meters 0.0167285031274663 Centerline is valid? [True, True] Translation: X:76.31, Y:-24.54, Z:-5.25 [[ 8.19998879e-01 5.70905482e-01 4.08505734e-02 7.63068474e+01] [-5.70266334e-01 8.21015013e-01 -2.70306577e-02 -2.45444132e+01] [-4.89708847e-02 -1.13059775e-03 9.98799567e-01 -5.24892982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.771052754 meters 0.016371892658355404 Centerline is valid? [True, True] Translation: X:76.33, Y:-24.56, Z:-5.25 [[ 8.20199473e-01 5.70580391e-01 4.13623267e-02 7.63334946e+01] [-5.69923977e-01 8.21240999e-01 -2.73839833e-02 -2.45628797e+01] [-4.95932024e-02 -1.11305308e-03 9.98768880e-01 -5.25118421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801052754 meters 0.016336289309679602 Centerline is valid? [True, True] Translation: X:76.36, Y:-24.58, Z:-5.25 [[ 8.20672372e-01 5.69868668e-01 4.17918517e-02 7.63590247e+01] [-5.69196777e-01 8.21735092e-01 -2.76851427e-02 -2.45806012e+01] [-5.01187265e-02 -1.06735560e-03 9.98742697e-01 -5.25309417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.831052754 meters 0.016268145828397824 Centerline is valid? [True, True] Translation: X:76.38, Y:-24.60, Z:-5.26 [[ 8.21334313e-01 5.68905869e-01 4.19053435e-02 7.63845895e+01] [-5.68228638e-01 8.22402033e-01 -2.77688920e-02 -2.45981514e+01] [-5.02609254e-02 -1.00427243e-03 9.98735616e-01 -5.25577740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861052754 meters 0.015605497555390698 Centerline is valid? [True, True] Translation: X:76.41, Y:-24.62, Z:-5.26 [[ 8.21931552e-01 5.67968522e-01 4.28985072e-02 7.64109012e+01] [-5.67257142e-01 8.23049713e-01 -2.84342224e-02 -2.46157196e+01] [-5.14573473e-02 -9.63500031e-04 9.98674728e-01 -5.25744472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89105275399999 meters 0.015372513864055224 Centerline is valid? [True, True] Translation: X:76.44, Y:-24.63, Z:-5.26 [[ 8.22118340e-01 5.67648403e-01 4.35514076e-02 7.64375360e+01] [-5.66913932e-01 8.23270549e-01 -2.88824594e-02 -2.46334624e+01] [-5.22496732e-02 -9.45100104e-04 9.98633606e-01 -5.25965655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92105275399999 meters 0.015097604440794657 Centerline is valid? [True, True] Translation: X:76.46, Y:-24.65, Z:-5.26 [[ 8.22368386e-01 5.67259329e-01 4.38986512e-02 7.64637080e+01] [-5.66511723e-01 8.23538716e-01 -2.91281735e-02 -2.46514914e+01] [-5.26754670e-02 -9.15011509e-04 9.98611265e-01 -5.26129831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95105275399999 meters 0.015104871594509132 Centerline is valid? [True, True] Translation: X:76.49, Y:-24.67, Z:-5.26 [[ 8.22502383e-01 5.67046891e-01 4.41322217e-02 7.64905012e+01] [-5.66290061e-01 8.23685030e-01 -2.93008324e-02 -2.46683065e+01] [-5.29659963e-02 -8.91634043e-04 9.98595918e-01 -5.26355138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98105275399999 meters 0.015238605459196072 Centerline is valid? [True, True] Translation: X:76.52, Y:-24.69, Z:-5.27 [[ 8.22258913e-01 5.67430606e-01 4.37354182e-02 7.65171429e+01] [-5.66687719e-01 8.23420723e-01 -2.90403433e-02 -2.46852474e+01] [-5.24910293e-02 -9.05643236e-04 9.98620985e-01 -5.26567686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01105275399999 meters 0.01503256009016888 Centerline is valid? [True, True] Translation: X:76.54, Y:-24.70, Z:-5.27 [[ 8.22845258e-01 5.66565578e-01 4.39218426e-02 7.65443075e+01] [-5.65814223e-01 8.24016226e-01 -2.91808945e-02 -2.47017388e+01] [-5.27252013e-02 -8.40242617e-04 9.98608706e-01 -5.26908976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04105275399999 meters 0.014670416271950431 Centerline is valid? [True, True] Translation: X:76.57, Y:-24.72, Z:-5.27 [[ 8.23737935e-01 5.65278495e-01 4.37725640e-02 7.65712396e+01] [-5.64529640e-01 8.24899794e-01 -2.90966392e-02 -2.47195791e+01] [-5.25556835e-02 -7.42904290e-04 9.98617719e-01 -5.27144350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.071052754 meters 0.014670416271950431 Centerline is valid? [True, True] Translation: X:76.60, Y:-24.74, Z:-5.27 [[ 8.23585178e-01 5.65501549e-01 4.37658801e-02 7.65981123e+01] [-5.64752475e-01 8.24746896e-01 -2.91066888e-02 -2.47375385e+01] [-5.25556514e-02 -7.45051632e-04 9.98617719e-01 -5.27353444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.101052754 meters 0.013889249220621966 Centerline is valid? [True, True] Translation: X:76.62, Y:-24.76, Z:-5.28 [[ 8.26460124e-01 5.61278988e-01 4.39267723e-02 7.66244968e+01] [-5.60517478e-01 8.27626536e-01 -2.92313729e-02 -2.47552972e+01] [-5.27619178e-02 -4.63159537e-04 9.98607013e-01 -5.27602079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131052754 meters 0.013611645227496916 Centerline is valid? [True, True] Translation: X:76.65, Y:-24.77, Z:-5.28 [[ 8.27207021e-01 5.60115095e-01 4.47171525e-02 7.66505568e+01] [-5.59323371e-01 8.28414711e-01 -2.97730335e-02 -2.47733008e+01] [-5.37206725e-02 -3.82886091e-04 9.98555929e-01 -5.27744360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161052754 meters 0.013402960566224236 Centerline is valid? [True, True] Translation: X:76.68, Y:-24.79, Z:-5.28 [[ 8.29164669e-01 5.57224084e-01 4.45788372e-02 7.66760720e+01] [-5.56432257e-01 8.30362142e-01 -2.96960664e-02 -2.47928557e+01] [-5.35639421e-02 -1.82173957e-04 9.98564405e-01 -5.27951538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191052754 meters 0.01351683131540281 Centerline is valid? [True, True] Translation: X:76.70, Y:-24.81, Z:-5.28 [[ 8.30271131e-01 5.55638768e-01 4.37653812e-02 7.67021440e+01] [-5.54872642e-01 8.31423812e-01 -2.91684226e-02 -2.48118193e+01] [-5.25946865e-02 -6.65134925e-05 9.98615939e-01 -5.28257335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221052754 meters 0.013542677306989926 Centerline is valid? [True, True] Translation: X:76.73, Y:-24.83, Z:-5.29 [[ 8.31112824e-01 5.54455631e-01 4.27834960e-02 7.67281770e+01] [-5.53721157e-01 8.32213286e-01 -2.85294062e-02 -2.48298201e+01] [-5.14232837e-02 2.10284526e-05 9.98676948e-01 -5.28591249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.251052754 meters 0.013431620094429208 Centerline is valid? [True, True] Translation: X:76.76, Y:-24.85, Z:-5.29 [[ 8.32110958e-01 5.52949970e-01 4.28682272e-02 7.67554236e+01] [-5.52209869e-01 8.33214447e-01 -2.85997416e-02 -2.48487474e+01] [-5.15326525e-02 1.25900214e-04 9.98671302e-01 -5.28865783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28105275399999 meters 0.013251715133071206 Centerline is valid? [True, True] Translation: X:76.78, Y:-24.87, Z:-5.29 [[ 8.32013933e-01 5.53002784e-01 4.40537849e-02 7.67806121e+01] [-5.52220265e-01 8.33179393e-01 -2.94088143e-02 -2.48683785e+01] [-5.29678620e-02 1.41150506e-04 9.98596208e-01 -5.28662639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31105275399999 meters 0.013095709819735193 Centerline is valid? [True, True] Translation: X:76.81, Y:-24.89, Z:-5.29 [[ 8.31292167e-01 5.54033053e-01 4.47292872e-02 7.68066979e+01] [-5.53226980e-01 8.32494665e-01 -2.98754254e-02 -2.48863275e+01] [-5.37888661e-02 8.97586446e-05 9.98552327e-01 -5.28680138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34105275399999 meters 0.01297282046540218 Centerline is valid? [True, True] Translation: X:76.83, Y:-24.90, Z:-5.29 [[ 8.29231942e-01 5.56925927e-01 4.69882859e-02 7.68340039e+01] [-5.56039951e-01 8.30562162e-01 -3.14017247e-02 -2.49007072e+01] [-5.65151270e-02 -8.80510178e-05 9.98401739e-01 -5.28892010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37105275399999 meters 0.012992340189633368 Centerline is valid? [True, True] Translation: X:76.86, Y:-24.92, Z:-5.29 [[ 8.27730808e-01 5.59049063e-01 4.82271153e-02 7.68625465e+01] [-5.58118404e-01 8.29134545e-01 -3.22451992e-02 -2.49175822e+01] [-5.80134157e-02 -2.26095779e-04 9.98315778e-01 -5.29121364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40105275399999 meters 0.013081677254098652 Centerline is valid? [True, True] Translation: X:76.89, Y:-24.93, Z:-5.29 [[ 8.26195542e-01 5.61264148e-01 4.88209294e-02 7.68899863e+01] [-5.60313086e-01 8.27636647e-01 -3.26622975e-02 -2.49334693e+01] [-5.87381669e-02 -3.69561008e-04 9.98273355e-01 -5.29279156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43105275399999 meters 0.013105529238186338 Centerline is valid? [True, True] Translation: X:76.92, Y:-24.95, Z:-5.29 [[ 8.25279065e-01 5.62505883e-01 5.00159517e-02 7.69177249e+01] [-5.61508769e-01 8.26793158e-01 -3.34809937e-02 -2.49512904e+01] [-6.01861026e-02 -4.53232245e-04 9.98187070e-01 -5.29203698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.461052754 meters 0.013472815192137328 Centerline is valid? [True, True] Translation: X:76.95, Y:-24.97, Z:-5.29 [[ 8.23169424e-01 5.65652641e-01 4.92867936e-02 7.69459312e+01] [-5.64688863e-01 8.24643352e-01 -3.30125804e-02 -2.49668825e+01] [-5.93176800e-02 -6.56756627e-04 9.98238940e-01 -5.29446907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.491052754 meters 0.013939060266575327 Centerline is valid? [True, True] Translation: X:76.97, Y:-24.98, Z:-5.30 [[ 8.22285697e-01 5.67005410e-01 4.84881265e-02 7.69728501e+01] [-5.66074004e-01 8.23713746e-01 -3.24944149e-02 -2.49824970e+01] [-5.83648454e-02 -7.28175336e-04 9.98295054e-01 -5.29811078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521052754 meters 0.013859336143917279 Centerline is valid? [True, True] Translation: X:77.00, Y:-25.00, Z:-5.30 [[ 8.21802258e-01 5.67841085e-01 4.68780463e-02 7.69995330e+01] [-5.66971101e-01 8.23137862e-01 -3.14297628e-02 -2.49994126e+01] [-5.64342054e-02 -7.49447446e-04 9.98406039e-01 -5.30367264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.551052754 meters 0.013848772306703594 Centerline is valid? [True, True] Translation: X:77.03, Y:-25.02, Z:-5.31 [[ 8.21804007e-01 5.67840896e-01 4.68496683e-02 7.70258808e+01] [-5.66970985e-01 8.23138006e-01 -3.14281007e-02 -2.50165603e+01] [-5.64099035e-02 -7.34663481e-04 9.98407423e-01 -5.30706959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581052754 meters 0.014347315909395886 Centerline is valid? [True, True] Translation: X:77.05, Y:-25.03, Z:-5.31 [[ 8.21504004e-01 5.68288816e-01 4.66796790e-02 7.70532307e+01] [-5.67425267e-01 8.22828812e-01 -3.13258918e-02 -2.50325572e+01] [-5.62115388e-02 -7.52883813e-04 9.98418598e-01 -5.31016995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611052754 meters 0.01396466049032638 Centerline is valid? [True, True] Translation: X:77.08, Y:-25.05, Z:-5.31 [[ 8.21042425e-01 5.68894053e-01 4.74224916e-02 7.70802363e+01] [-5.68003152e-01 8.22410433e-01 -3.18355039e-02 -2.50520625e+01] [-5.71117807e-02 -7.97825353e-04 9.98367471e-01 -5.31011092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64105275399999 meters 0.01419608740243384 Centerline is valid? [True, True] Translation: X:77.11, Y:-25.07, Z:-5.31 [[ 8.20303161e-01 5.69939229e-01 4.76654916e-02 7.71069967e+01] [-5.69039799e-01 8.21686399e-01 -3.20182684e-02 -2.50701557e+01] [-5.74145533e-02 -8.58875004e-04 9.98350055e-01 -5.30849304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67105275399999 meters 0.015373990865467178 Centerline is valid? [True, True] Translation: X:77.13, Y:-25.09, Z:-5.31 [[ 8.19709315e-01 5.70793751e-01 4.76563989e-02 7.71344540e+01] [-5.69895136e-01 8.21092976e-01 -3.20290204e-02 -2.50851101e+01] [-5.74122991e-02 -9.04663583e-04 9.98350144e-01 -5.31105909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70105275399999 meters 0.014828443965714415 Centerline is valid? [True, True] Translation: X:77.16, Y:-25.10, Z:-5.31 [[ 8.19337641e-01 5.71366290e-01 4.71846686e-02 7.71610135e+01] [-5.70485509e-01 8.20694651e-01 -3.17265534e-02 -2.51049297e+01] [-5.68516882e-02 -9.23410319e-04 9.98382208e-01 -5.31368767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73105275399999 meters 0.0144908673414916 Centerline is valid? [True, True] Translation: X:77.19, Y:-25.12, Z:-5.32 [[ 8.19742574e-01 5.70756935e-01 4.75250809e-02 7.71869997e+01] [-5.69861272e-01 8.21118604e-01 -3.19745131e-02 -2.51232880e+01] [-5.72734032e-02 -8.71833346e-04 9.98358151e-01 -5.31685745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76105275399999 meters 0.014376240258121117 Centerline is valid? [True, True] Translation: X:77.21, Y:-25.14, Z:-5.32 [[ 8.20884416e-01 5.69124999e-01 4.73868339e-02 7.72126720e+01] [-5.68230808e-01 8.22250684e-01 -3.18992513e-02 -2.51433516e+01] [-5.71185179e-02 -7.41060652e-04 9.98367130e-01 -5.31961964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79105275399999 meters 0.01436565845579774 Centerline is valid? [True, True] Translation: X:77.24, Y:-25.16, Z:-5.32 [[ 8.21231789e-01 5.68648139e-01 4.70918537e-02 7.72375559e+01] [-5.67764028e-01 8.22580576e-01 -3.17049516e-02 -2.51625468e+01] [-5.67658058e-02 -6.99946383e-04 9.98387276e-01 -5.32176848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.821052754 meters 0.014483284572324479 Centerline is valid? [True, True] Translation: X:77.26, Y:-25.18, Z:-5.32 [[ 8.21598985e-01 5.68308042e-01 4.47334025e-02 7.72616069e+01] [-5.67508966e-01 8.22815637e-01 -3.01330338e-02 -2.51839812e+01] [-5.39321885e-02 -6.29337018e-04 9.98544402e-01 -5.32379964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.851052754 meters 0.014876086802275278 Centerline is valid? [True, True] Translation: X:77.29, Y:-25.20, Z:-5.33 [[ 8.21356984e-01 5.68830328e-01 4.24824990e-02 7.72868763e+01] [-5.68109671e-01 8.22454665e-01 -2.86308509e-02 -2.52029256e+01] [-5.12260258e-02 -6.18569144e-04 9.98686894e-01 -5.32741000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881052754 meters 0.015304282616295272 Centerline is valid? [True, True] Translation: X:77.31, Y:-25.22, Z:-5.33 [[ 8.20660984e-01 5.69892741e-01 4.16871013e-02 7.73129978e+01] [-5.69199457e-01 8.21718826e-01 -2.81095966e-02 -2.52195215e+01] [-5.02745310e-02 -6.59826235e-04 9.98735218e-01 -5.33130634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911052754 meters 0.01603686447733819 Centerline is valid? [True, True] Translation: X:77.34, Y:-25.23, Z:-5.34 [[ 8.19944546e-01 5.70949254e-01 4.13266253e-02 7.73397137e+01] [-5.70268587e-01 8.20985048e-01 -2.78799137e-02 -2.52344198e+01] [-4.98465574e-02 -7.07293040e-04 9.98756637e-01 -5.33569668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941052754 meters 0.01616331425397479 Centerline is valid? [True, True] Translation: X:77.37, Y:-25.25, Z:-5.34 [[ 8.18375136e-01 5.73181502e-01 4.15343454e-02 7.73671627e+01] [-5.72496172e-01 8.19428011e-01 -2.80333155e-02 -2.52515376e+01] [-5.01025839e-02 -8.36485369e-04 9.98743727e-01 -5.33663831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971052754 meters 0.016532364543239277 Centerline is valid? [True, True] Translation: X:77.39, Y:-25.27, Z:-5.34 [[ 8.17845205e-01 5.73924867e-01 4.17069110e-02 7.73931443e+01] [-5.73234070e-01 8.18907493e-01 -2.81641395e-02 -2.52694682e+01] [-5.03182020e-02 -8.73915853e-04 9.98732855e-01 -5.33679458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001052754 meters 0.01654934753234866 Centerline is valid? [True, True] Translation: X:77.42, Y:-25.29, Z:-5.34 [[ 8.17318311e-01 5.74678151e-01 4.16629458e-02 7.74193293e+01] [-5.73988993e-01 8.18379008e-01 -2.81502277e-02 -2.52886319e+01] [-5.02734010e-02 -9.06375732e-04 9.98735082e-01 -5.33735221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03105275399999 meters 0.016881734172152066 Centerline is valid? [True, True] Translation: X:77.45, Y:-25.31, Z:-5.34 [[ 8.17055448e-01 5.75066827e-01 4.14552817e-02 7.74454030e+01] [-5.74384311e-01 8.18105928e-01 -2.80241625e-02 -2.53061361e+01] [-5.00305779e-02 -9.13968737e-04 9.98747268e-01 -5.33973403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06105275399999 meters 0.017019940508025633 Centerline is valid? [True, True] Translation: X:77.47, Y:-25.32, Z:-5.34 [[ 8.16430165e-01 5.75996580e-01 4.08622706e-02 7.74721748e+01] [-5.75333862e-01 8.17451557e-01 -2.76387364e-02 -2.53241333e+01] [-4.93227444e-02 -9.44349853e-04 9.98782446e-01 -5.34270716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09105275399999 meters 0.017286944307937747 Centerline is valid? [True, True] Translation: X:77.50, Y:-25.34, Z:-5.35 [[ 8.15554903e-01 5.77275034e-01 4.02956038e-02 7.74989734e+01] [-5.76631466e-01 8.16549168e-01 -2.72692066e-02 -2.53414402e+01] [-4.86451739e-02 -9.96177905e-04 9.98815626e-01 -5.34570179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12105275399999 meters 0.01743534722833427 Centerline is valid? [True, True] Translation: X:77.53, Y:-25.36, Z:-5.35 [[ 8.15156161e-01 5.77868134e-01 3.98604223e-02 7.75254496e+01] [-5.77238446e-01 8.16129525e-01 -2.69884385e-02 -2.53589093e+01] [-4.81270261e-02 -1.00917634e-03 9.98840714e-01 -5.34774946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15105275399999 meters 0.017506956692281684 Centerline is valid? [True, True] Translation: X:77.55, Y:-25.38, Z:-5.35 [[ 8.14339184e-01 5.78969446e-01 4.05718356e-02 7.75526462e+01] [-5.78317752e-01 8.15348521e-01 -2.74839560e-02 -2.53779058e+01] [-4.89925569e-02 -1.08215048e-03 9.98798557e-01 -5.34787457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18105275399999 meters 0.017980236012817206 Centerline is valid? [True, True] Translation: X:77.58, Y:-25.39, Z:-5.35 [[ 8.14038811e-01 5.79396428e-01 4.05042356e-02 7.75791603e+01] [-5.78746600e-01 8.15045144e-01 -2.74551703e-02 -2.53946253e+01] [-4.89202081e-02 -1.09211438e-03 9.98802093e-01 -5.35009076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.211052754 meters 0.0181471223963058 Centerline is valid? [True, True] Translation: X:77.61, Y:-25.41, Z:-5.35 [[ 8.13480994e-01 5.80172723e-01 4.05990591e-02 7.76061700e+01] [-5.79520105e-01 8.14492686e-01 -2.75338614e-02 -2.54124601e+01] [-4.90420320e-02 -1.12969809e-03 9.98796077e-01 -5.35241340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.241052754 meters 0.018051508115140356 Centerline is valid? [True, True] Translation: X:77.63, Y:-25.43, Z:-5.36 [[ 8.13007150e-01 5.80933301e-01 3.91902231e-02 7.76324773e+01] [-5.80325489e-01 8.13950389e-01 -2.65912002e-02 -2.54310050e+01] [-4.73466110e-02 -1.12424945e-03 9.98877888e-01 -5.35599834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271052754 meters 0.01846666974986047 Centerline is valid? [True, True] Translation: X:77.66, Y:-25.45, Z:-5.36 [[ 8.12905617e-01 5.81111503e-01 3.86507275e-02 7.76579415e+01] [-5.80519786e-01 8.13823198e-01 -2.62408278e-02 -2.54479839e+01] [-4.67037056e-02 -1.10619572e-03 9.98908174e-01 -5.35981564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301052754 meters 0.01845261792999613 Centerline is valid? [True, True] Translation: X:77.68, Y:-25.47, Z:-5.36 [[ 8.12904044e-01 5.81101623e-01 3.88319324e-02 7.76840346e+01] [-5.80504081e-01 8.13830252e-01 -2.63691524e-02 -2.54665439e+01] [-4.69257586e-02 -1.10650464e-03 9.98897767e-01 -5.36224300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331052754 meters 0.01787390931254146 Centerline is valid? [True, True] Translation: X:77.71, Y:-25.49, Z:-5.36 [[ 8.12550853e-01 5.81527279e-01 3.98388669e-02 7.77100582e+01] [-5.80898158e-01 8.13526093e-01 -2.70670611e-02 -2.54856786e+01] [-4.81501922e-02 -1.14896083e-03 9.98839446e-01 -5.36249048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361052754 meters 0.018048340307976557 Centerline is valid? [True, True] Translation: X:77.74, Y:-25.50, Z:-5.36 [[ 8.11903238e-01 5.82258890e-01 4.22814084e-02 7.77360418e+01] [-5.81550350e-01 8.13002471e-01 -2.87432171e-02 -2.55026484e+01] [-5.11108832e-02 -1.25205686e-03 9.98692200e-01 -5.36201052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39105275399999 meters 0.018039966131071714 Centerline is valid? [True, True] Translation: X:77.76, Y:-25.52, Z:-5.36 [[ 8.11531679e-01 5.82743669e-01 4.27334917e-02 7.77618914e+01] [-5.82019860e-01 8.12655010e-01 -2.90640292e-02 -2.55230730e+01] [-5.16644651e-02 -1.28536044e-03 9.98663673e-01 -5.36057359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42105275399999 meters 0.018274343606146316 Centerline is valid? [True, True] Translation: X:77.79, Y:-25.54, Z:-5.36 [[ 8.11416560e-01 5.82962967e-01 4.19207089e-02 7.77871405e+01] [-5.82265842e-01 8.12497748e-01 -2.85288933e-02 -2.55408327e+01] [-5.06917699e-02 -1.26018040e-03 9.98713551e-01 -5.36237093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45105275399999 meters 0.01836646233900995 Centerline is valid? [True, True] Translation: X:77.81, Y:-25.56, Z:-5.37 [[ 8.11313571e-01 5.83152182e-01 4.12773825e-02 7.78141821e+01] [-5.82475921e-01 8.12361982e-01 -2.81035903e-02 -2.55584341e+01] [-4.99208462e-02 -1.24225722e-03 9.98752405e-01 -5.36649359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48105275399999 meters 0.01878702526301468 Centerline is valid? [True, True] Translation: X:77.84, Y:-25.57, Z:-5.37 [[ 8.11276078e-01 5.83319671e-01 3.96142274e-02 7.78403745e+01] [-5.82696262e-01 8.12241804e-01 -2.69873694e-02 -2.55738171e+01] [-4.79185949e-02 -1.18885505e-03 9.98850537e-01 -5.37447321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51105275399999 meters 0.018386646519062116 Centerline is valid? [True, True] Translation: X:77.87, Y:-25.59, Z:-5.38 [[ 8.11135687e-01 5.83568056e-01 3.88229569e-02 7.78658485e+01] [-5.82969025e-01 8.12063394e-01 -2.64605324e-02 -2.55923357e+01] [-4.69682236e-02 -1.16949916e-03 9.98895699e-01 -5.37689163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54105275399999 meters 0.018241735447039466 Centerline is valid? [True, True] Translation: X:77.89, Y:-25.61, Z:-5.38 [[ 8.11597207e-01 5.82925261e-01 3.88344465e-02 7.78901727e+01] [-5.82324453e-01 8.12525005e-01 -2.64829563e-02 -2.56116335e+01] [-4.69915431e-02 -1.12075443e-03 9.98894659e-01 -5.37778266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.571052754 meters 0.0178481476009327 Centerline is valid? [True, True] Translation: X:77.91, Y:-25.63, Z:-5.38 [[ 8.12977964e-01 5.80961325e-01 3.93797995e-02 7.79145732e+01] [-5.80340906e-01 8.13930529e-01 -2.68612451e-02 -2.56317835e+01] [-4.76577656e-02 -1.01610816e-03 9.98863206e-01 -5.37710103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.601052754 meters 0.017253202615853606 Centerline is valid? [True, True] Translation: X:77.94, Y:-25.65, Z:-5.38 [[ 8.13903128e-01 5.79593868e-01 4.04060330e-02 7.79407248e+01] [-5.78938204e-01 8.14904934e-01 -2.75772627e-02 -2.56515359e+01] [-4.89106880e-02 -9.47375826e-04 9.98802707e-01 -5.37725492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.631052754 meters 0.01649926078814548 Centerline is valid? [True, True] Translation: X:77.97, Y:-25.67, Z:-5.38 [[ 8.15842073e-01 5.76647218e-01 4.33554902e-02 7.79662503e+01] [-5.75887901e-01 8.16992844e-01 -2.95942160e-02 -2.56695502e+01] [-5.24865476e-02 -8.23695696e-04 9.98621292e-01 -5.37854815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661052754 meters 0.015823712438614405 Centerline is valid? [True, True] Translation: X:77.99, Y:-25.69, Z:-5.38 [[ 8.16969350e-01 5.74999668e-01 4.40052533e-02 7.79922598e+01] [-5.74214271e-01 8.18153328e-01 -3.00516751e-02 -2.56888020e+01] [-5.32827476e-02 -7.17147004e-04 9.98579208e-01 -5.38143110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.691052754 meters 0.015178363860159874 Centerline is valid? [True, True] Translation: X:78.02, Y:-25.71, Z:-5.38 [[ 8.18876433e-01 5.72285202e-01 4.39435448e-02 7.80154313e+01] [-5.71497273e-01 8.20054492e-01 -3.00249352e-02 -2.57096603e+01] [-5.32189274e-02 -5.26904155e-04 9.98582730e-01 -5.38229832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721052754 meters 0.015015334497020796 Centerline is valid? [True, True] Translation: X:78.04, Y:-25.73, Z:-5.38 [[ 8.19563478e-01 5.71290520e-01 4.40777344e-02 7.80407257e+01] [-5.70495588e-01 8.20747791e-01 -3.01305069e-02 -2.57294493e+01] [-5.33899761e-02 -4.52289949e-04 9.98573636e-01 -5.38385501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.751052754 meters 0.014779816263898234 Centerline is valid? [True, True] Translation: X:78.06, Y:-25.75, Z:-5.38 [[ 8.20191229e-01 5.70371871e-01 4.42975886e-02 7.80646442e+01] [-5.69566814e-01 8.21386500e-01 -3.02962443e-02 -2.57488161e+01] [-5.36655669e-02 -3.81722542e-04 9.98558892e-01 -5.38416687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78105275399999 meters 0.014814003508931561 Centerline is valid? [True, True] Translation: X:78.09, Y:-25.77, Z:-5.39 [[ 8.20049590e-01 5.70591063e-01 4.40965838e-02 7.80917069e+01] [-5.69792913e-01 8.21234249e-01 -3.01719217e-02 -2.57677726e+01] [-5.34294537e-02 -3.83448926e-04 9.98571553e-01 -5.38637731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81105275399999 meters 0.014993938647794702 Centerline is valid? [True, True] Translation: X:78.12, Y:-25.78, Z:-5.39 [[ 8.18876763e-01 5.72273130e-01 4.40943452e-02 7.81186199e+01] [-5.71476551e-01 8.20062946e-01 -3.01880119e-02 -2.57839162e+01] [-5.34359267e-02 -4.78622773e-04 9.98571166e-01 -5.39033968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84105275399999 meters 0.015261217160951131 Centerline is valid? [True, True] Translation: X:78.15, Y:-25.80, Z:-5.39 [[ 8.17610391e-01 5.74099580e-01 4.38511177e-02 7.81462758e+01] [-5.73313682e-01 8.18785278e-01 -3.00348347e-02 -2.58002910e+01] [-5.31476356e-02 -5.83652799e-04 9.98586495e-01 -5.39371301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87105275399999 meters 0.01590694183372367 Centerline is valid? [True, True] Translation: X:78.17, Y:-25.82, Z:-5.40 [[ 8.15784791e-01 5.76760767e-01 4.29207654e-02 7.81743543e+01] [-5.76010834e-01 8.16912777e-01 -2.94114611e-02 -2.58164280e+01] [-5.20258985e-02 -7.29403242e-04 9.98645470e-01 -5.39716080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90105275399999 meters 0.018117751162788742 Centerline is valid? [True, True] Translation: X:78.20, Y:-25.83, Z:-5.40 [[ 8.11778239e-01 5.82504298e-01 4.12896335e-02 7.82024390e+01] [-5.81816947e-01 8.12826953e-01 -2.83087335e-02 -2.58295414e+01] [-5.00512859e-02 -1.04259467e-03 9.98746105e-01 -5.40133377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93105275399999 meters 0.01930048330681839 Centerline is valid? [True, True] Translation: X:78.23, Y:-25.85, Z:-5.40 [[ 8.09858131e-01 5.85176661e-01 4.12077941e-02 7.82299832e+01] [-5.84495234e-01 8.10904947e-01 -2.82575524e-02 -2.58456710e+01] [-4.99512642e-02 -1.20115065e-03 9.98750934e-01 -5.40333733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.961052754 meters 0.020670524698958474 Centerline is valid? [True, True] Translation: X:78.26, Y:-25.86, Z:-5.41 [[ 8.08209898e-01 5.87479136e-01 4.08047142e-02 7.82573415e+01] [-5.86813289e-01 8.09238236e-01 -2.79936012e-02 -2.58609183e+01] [-4.94663916e-02 -1.32004301e-03 9.98774916e-01 -5.40556375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.991052754 meters 0.020670524698958474 Centerline is valid? [True, True] Translation: X:78.28, Y:-25.88, Z:-5.41 [[ 8.08062466e-01 5.87682280e-01 4.07993704e-02 7.82839488e+01] [-5.87016299e-01 8.09090717e-01 -2.80013870e-02 -2.58793030e+01] [-4.94663108e-02 -1.32302553e-03 9.98774916e-01 -5.40765489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021052754 meters 0.020794162899983305 Centerline is valid? [True, True] Translation: X:78.31, Y:-25.90, Z:-5.41 [[ 8.07924829e-01 5.87835049e-01 4.13210219e-02 7.83109402e+01] [-5.87151310e-01 8.08979709e-01 -2.83755013e-02 -2.58964646e+01] [-5.01079824e-02 -1.33642011e-03 9.98742912e-01 -5.40975684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.051052754 meters 0.02135148587565645 Centerline is valid? [True, True] Translation: X:78.34, Y:-25.91, Z:-5.41 [[ 8.07728834e-01 5.88033786e-01 4.23130922e-02 7.83373418e+01] [-5.87316353e-01 8.08835206e-01 -2.90708016e-02 -2.59131073e+01] [-5.13189321e-02 -1.36984628e-03 9.98681376e-01 -5.41103835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081052754 meters 0.020840979512913513 Centerline is valid? [True, True] Translation: X:78.36, Y:-25.93, Z:-5.41 [[ 8.07995221e-01 5.87620506e-01 4.29635070e-02 7.83635590e+01] [-5.86879521e-01 8.09135533e-01 -2.95316365e-02 -2.59319252e+01] [-5.21166953e-02 -1.35298126e-03 9.98640085e-01 -5.41280906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.111052754 meters 0.019531045718374145 Centerline is valid? [True, True] Translation: X:78.39, Y:-25.95, Z:-5.42 [[ 8.10334232e-01 5.84359966e-01 4.33804284e-02 7.83881530e+01] [-5.83598999e-01 8.11493763e-01 -2.98342104e-02 -2.59520978e+01] [-5.26368653e-02 -1.14109263e-03 9.98613067e-01 -5.41592266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14105275399999 meters 0.015839345173266867 Centerline is valid? [True, True] Translation: X:78.41, Y:-25.98, Z:-5.42 [[ 8.12436052e-01 5.81445518e-01 4.32292832e-02 7.84101996e+01] [-5.80685602e-01 8.13584792e-01 -2.97324412e-02 -2.59761142e+01] [-5.24584821e-02 -9.46915192e-04 9.98622657e-01 -5.41614052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17105275399999 meters 0.01678898673373092 Centerline is valid? [True, True] Translation: X:78.44, Y:-25.99, Z:-5.42 [[ 8.14617968e-01 5.78367714e-01 4.34551915e-02 7.84373271e+01] [-5.77594599e-01 8.15775852e-01 -2.99038182e-02 -2.59912205e+01] [-5.27450989e-02 -7.39296320e-04 9.98607735e-01 -5.42265927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20105275399999 meters 0.016688186272993077 Centerline is valid? [True, True] Translation: X:78.46, Y:-26.01, Z:-5.42 [[ 8.14827143e-01 5.78099804e-01 4.30969000e-02 7.84639275e+01] [-5.77338281e-01 8.15965759e-01 -2.96713443e-02 -2.60091777e+01] [-5.23185931e-02 -7.04473504e-04 9.98630196e-01 -5.42483757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23105275399999 meters 0.016985898642322042 Centerline is valid? [True, True] Translation: X:78.49, Y:-26.03, Z:-5.43 [[ 8.14491176e-01 5.78639317e-01 4.21979163e-02 7.84900316e+01] [-5.77909267e-01 8.15583247e-01 -2.90662298e-02 -2.60271650e+01] [-5.12347770e-02 -7.12379193e-04 9.98686382e-01 -5.42626276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26105275399999 meters 0.017201073543945577 Centerline is valid? [True, True] Translation: X:78.52, Y:-26.04, Z:-5.43 [[ 8.14475994e-01 5.78764748e-01 4.07458075e-02 7.85172798e+01] [-5.78083675e-01 8.15494265e-01 -2.80779184e-02 -2.60438286e+01] [-4.94784817e-02 -6.85695662e-04 9.98774954e-01 -5.43052781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29105275399999 meters 0.018202603390628465 Centerline is valid? [True, True] Translation: X:78.55, Y:-26.06, Z:-5.44 [[ 8.13986815e-01 5.79665587e-01 3.75935128e-02 7.85456312e+01] [-5.79086294e-01 8.14854192e-01 -2.59173680e-02 -2.60555656e+01] [-4.56566379e-02 -6.73492147e-04 9.98956965e-01 -5.44171094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.321052754 meters 0.016037462046434678 Centerline is valid? [True, True] Translation: X:78.57, Y:-26.08, Z:-5.44 [[ 8.13807995e-01 5.80064885e-01 3.52317564e-02 7.85696669e+01] [-5.79556320e-01 8.14570014e-01 -2.42932804e-02 -2.60782410e+01] [-4.27904112e-02 -6.48721275e-04 9.99083860e-01 -5.43911895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.351052754 meters 0.016279560930191377 Centerline is valid? [True, True] Translation: X:78.59, Y:-26.10, Z:-5.44 [[ 8.13926035e-01 5.79958385e-01 3.42444202e-02 7.85944880e+01] [-5.79477338e-01 8.14645870e-01 -2.36246123e-02 -2.60966496e+01] [-4.15983675e-02 -6.15178407e-04 9.99134224e-01 -5.44098819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381052754 meters 0.01615402809799264 Centerline is valid? [True, True] Translation: X:78.62, Y:-26.12, Z:-5.44 [[ 8.14122337e-01 5.79698658e-01 3.39748036e-02 7.86209131e+01] [-5.79224535e-01 8.14830730e-01 -2.34482198e-02 -2.61164932e+01] [-4.12766155e-02 -5.89320273e-04 9.99147584e-01 -5.44193738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.411052754 meters 0.015880173133289745 Centerline is valid? [True, True] Translation: X:78.65, Y:-26.14, Z:-5.44 [[ 8.14883737e-01 5.78663004e-01 3.33709854e-02 7.86472999e+01] [-5.78204199e-01 8.15566589e-01 -2.30443764e-02 -2.61363061e+01] [-4.05511888e-02 -5.16756388e-04 9.99177329e-01 -5.44404083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441052754 meters 0.016559384190500397 Centerline is valid? [True, True] Translation: X:78.67, Y:-26.15, Z:-5.45 [[ 8.14664597e-01 5.79040055e-01 3.21591181e-02 7.86731849e+01] [-5.78613627e-01 8.15298940e-01 -2.22240513e-02 -2.61526292e+01] [-3.90879108e-02 -5.02556180e-04 9.99235649e-01 -5.45018406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.471052754 meters 0.016498838650297568 Centerline is valid? [True, True] Translation: X:78.70, Y:-26.17, Z:-5.45 [[ 8.13965795e-01 5.80034337e-01 3.19351117e-02 7.86999729e+01] [-5.79614503e-01 8.14591843e-01 -2.20716308e-02 -2.61707756e+01] [-3.88163853e-02 -5.44501374e-04 9.99246212e-01 -5.45228166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501052754 meters 0.01637169444299196 Centerline is valid? [True, True] Translation: X:78.73, Y:-26.19, Z:-5.45 [[ 8.13290650e-01 5.80993150e-01 3.17061099e-02 7.87265956e+01] [-5.80579630e-01 8.13908242e-01 -2.19241316e-02 -2.61884413e+01] [-3.85436345e-02 -5.77230294e-04 9.99256751e-01 -5.45473575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53105275399999 meters 0.017457472913659518 Centerline is valid? [True, True] Translation: X:78.75, Y:-26.20, Z:-5.46 [[ 8.11994977e-01 5.82853949e-01 3.07478686e-02 7.87531644e+01] [-5.82465849e-01 8.12576687e-01 -2.12758618e-02 -2.62036169e+01] [-3.73857213e-02 -6.33690534e-04 9.99300709e-01 -5.45892062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56105275399999 meters 0.01767038094074981 Centerline is valid? [True, True] Translation: X:78.78, Y:-26.22, Z:-5.46 [[ 8.11422143e-01 5.83643981e-01 3.08837910e-02 7.87794305e+01] [-5.83252962e-01 8.12009391e-01 -2.13712644e-02 -2.62216953e+01] [-3.75511382e-02 -6.71945440e-04 9.99294481e-01 -5.45820555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59105275399999 meters 0.017617386117896535 Centerline is valid? [True, True] Translation: X:78.81, Y:-26.24, Z:-5.46 [[ 8.11253955e-01 5.83841619e-01 3.15592146e-02 7.88058286e+01] [-5.83432974e-01 8.11867288e-01 -2.18511177e-02 -2.62401684e+01] [-3.83794859e-02 -6.85880719e-04 9.99263001e-01 -5.45761852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62105275399999 meters 0.01735541412113303 Centerline is valid? [True, True] Translation: X:78.83, Y:-26.26, Z:-5.46 [[ 8.11291977e-01 5.83695885e-01 3.32331385e-02 7.88326922e+01] [-5.83241934e-01 8.11972057e-01 -2.30266208e-02 -2.62587238e+01] [-4.04249237e-02 -7.01647298e-04 9.99182332e-01 -5.45800504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65105275399999 meters 0.016732956520978098 Centerline is valid? [True, True] Translation: X:78.86, Y:-26.28, Z:-5.46 [[ 8.11737348e-01 5.82913507e-01 3.59766771e-02 7.88588434e+01] [-5.82380524e-01 8.12533897e-01 -2.49317339e-02 -2.62784474e+01] [-4.37653141e-02 -7.14096498e-04 9.99041584e-01 -5.45509459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68105275399999 meters 0.01659684898978769 Centerline is valid? [True, True] Translation: X:78.88, Y:-26.30, Z:-5.46 [[ 8.11920383e-01 5.82605560e-01 3.68246342e-02 7.88846788e+01] [-5.82046679e-01 8.12754733e-01 -2.55226896e-02 -2.62974176e+01] [-4.47990565e-02 -7.11264149e-04 9.98995765e-01 -5.45579597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.711052754 meters 0.016382135999009576 Centerline is valid? [True, True] Translation: X:78.91, Y:-26.32, Z:-5.46 [[ 8.12624975e-01 5.81511667e-01 3.85335065e-02 7.89104878e+01] [-5.80897769e-01 8.13537789e-01 -2.67216970e-02 -2.63151739e+01] [-4.68874422e-02 -6.69309561e-04 9.98899955e-01 -5.45696798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.741052754 meters 0.01627119679581187 Centerline is valid? [True, True] Translation: X:78.94, Y:-26.33, Z:-5.46 [[ 8.12343901e-01 5.81808659e-01 3.99508589e-02 7.89375818e+01] [-5.81148465e-01 8.13325392e-01 -2.77176646e-02 -2.63319465e+01] [-4.86194252e-02 -7.01104612e-04 9.98817130e-01 -5.45737296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.771052754 meters 0.01642498129260818 Centerline is valid? [True, True] Translation: X:78.96, Y:-26.35, Z:-5.46 [[ 8.11463329e-01 5.83013315e-01 4.02832561e-02 7.89641246e+01] [-5.82342879e-01 8.12462236e-01 -2.79622347e-02 -2.63494264e+01] [-4.90309795e-02 -7.68339331e-04 9.98796963e-01 -5.45761499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801052754 meters 0.01683173511440024 Centerline is valid? [True, True] Translation: X:78.99, Y:-26.37, Z:-5.46 [[ 8.10293831e-01 5.84623161e-01 4.04928069e-02 7.89913700e+01] [-5.83947036e-01 8.11304519e-01 -2.81218329e-02 -2.63664896e+01] [-4.92926720e-02 -8.58706826e-04 9.98784008e-01 -5.45850515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.831052754 meters 0.017321824403284863 Centerline is valid? [True, True] Translation: X:79.02, Y:-26.38, Z:-5.46 [[ 8.07748850e-01 5.88108148e-01 4.08730015e-02 7.90205561e+01] [-5.87422995e-01 8.08781591e-01 -2.84000492e-02 -2.63810398e+01] [-4.97596315e-02 -1.06963385e-03 9.98760649e-01 -5.45969945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861052754 meters 0.018730311153357885 Centerline is valid? [True, True] Translation: X:79.05, Y:-26.39, Z:-5.46 [[ 8.06316237e-01 5.90075420e-01 4.08059384e-02 7.90487853e+01] [-5.89394209e-01 8.07347271e-01 -2.83698920e-02 -2.63942291e+01] [-4.96849390e-02 -1.17567923e-03 9.98764249e-01 -5.46417257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89105275399999 meters 0.018982030693511235 Centerline is valid? [True, True] Translation: X:79.08, Y:-26.41, Z:-5.47 [[ 8.04144174e-01 5.93081564e-01 4.00799850e-02 7.90771295e+01] [-5.92427816e-01 8.05141282e-01 -2.78711271e-02 -2.64095791e+01] [-4.87999021e-02 -1.33209346e-03 9.98807687e-01 -5.46840653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92105275399999 meters 0.01923572914731531 Centerline is valid? [True, True] Translation: X:79.10, Y:-26.43, Z:-5.47 [[ 8.03169015e-01 5.94398261e-01 4.01278075e-02 7.91046551e+01] [-5.93744088e-01 8.04169591e-01 -2.79146296e-02 -2.64266780e+01] [-4.88619698e-02 -1.40548292e-03 9.98804552e-01 -5.46935805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95105275399999 meters 0.019835067332135418 Centerline is valid? [True, True] Translation: X:79.13, Y:-26.44, Z:-5.47 [[ 8.03091994e-01 5.94454327e-01 4.08326236e-02 7.91315687e+01] [-5.93776193e-01 8.04128122e-01 -2.84217577e-02 -2.64430362e+01] [-4.97300977e-02 -1.42015375e-03 9.98761684e-01 -5.47123984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98105275399999 meters 0.018669796441222877 Centerline is valid? [True, True] Translation: X:79.16, Y:-26.46, Z:-5.47 [[ 8.03924089e-01 5.93269648e-01 4.16795431e-02 7.91566637e+01] [-5.92561131e-01 8.05002640e-01 -2.90181970e-02 -2.64632186e+01] [-5.07677577e-02 -1.36924965e-03 9.98709547e-01 -5.47125660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01105275399999 meters 0.017642316819803727 Centerline is valid? [True, True] Translation: X:79.18, Y:-26.48, Z:-5.47 [[ 8.04766844e-01 5.92127923e-01 4.16515301e-02 7.91814915e+01] [-5.91418084e-01 8.05842958e-01 -2.90133804e-02 -2.64836110e+01] [-5.07442249e-02 -1.28446155e-03 9.98710856e-01 -5.47208152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04105275399999 meters 0.018191166148444248 Centerline is valid? [True, True] Translation: X:79.21, Y:-26.50, Z:-5.48 [[ 8.05602625e-01 5.90956510e-01 4.21285438e-02 7.92074741e+01] [-5.90227818e-01 8.06702509e-01 -2.93629850e-02 -2.65002605e+01] [-5.13374492e-02 -1.21054070e-03 9.98680630e-01 -5.47534580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.071052754 meters 0.01722839823534528 Centerline is valid? [True, True] Translation: X:79.23, Y:-26.52, Z:-5.48 [[ 8.06989418e-01 5.89095891e-01 4.16426640e-02 7.92326992e+01] [-5.88381090e-01 8.08062422e-01 -2.90312620e-02 -2.65204375e+01] [-5.07520691e-02 -1.07383478e-03 9.98710706e-01 -5.47896924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.101052754 meters 0.01672455514320711 Centerline is valid? [True, True] Translation: X:79.26, Y:-26.54, Z:-5.48 [[ 8.08108955e-01 5.87694207e-01 3.96917582e-02 7.92572183e+01] [-5.87042551e-01 8.09082601e-01 -2.76837029e-02 -2.65419917e+01] [-4.83834628e-02 -9.29302780e-04 9.98828402e-01 -5.48163377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.131052754 meters 0.016435070876134092 Centerline is valid? [True, True] Translation: X:79.28, Y:-26.56, Z:-5.48 [[ 8.08280123e-01 5.87400389e-01 4.05465834e-02 7.92827781e+01] [-5.86719103e-01 8.09295955e-01 -2.82975571e-02 -2.65614767e+01] [-4.94361820e-02 -9.17102153e-04 9.98776863e-01 -5.48227582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161052754 meters 0.016471854540412355 Centerline is valid? [True, True] Translation: X:79.31, Y:-26.58, Z:-5.48 [[ 8.08474465e-01 5.87044915e-01 4.18008163e-02 7.93078220e+01] [-5.86319515e-01 8.09553852e-01 -2.91888053e-02 -2.65797605e+01] [-5.09751516e-02 -9.10230614e-04 9.98699507e-01 -5.48277575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.191052754 meters 0.01676540325702574 Centerline is valid? [True, True] Translation: X:79.33, Y:-26.60, Z:-5.48 [[ 8.07768442e-01 5.87926482e-01 4.30417982e-02 7.93338907e+01] [-5.87157843e-01 8.08913769e-01 -3.00696080e-02 -2.65976726e+01] [-5.24958221e-02 -9.83049003e-04 9.98620660e-01 -5.48332322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221052754 meters 0.017109329899317415 Centerline is valid? [True, True] Translation: X:79.36, Y:-26.61, Z:-5.49 [[ 8.06802347e-01 5.89313225e-01 4.21888072e-02 7.93607310e+01] [-5.88575846e-01 8.07903982e-01 -2.94894949e-02 -2.66144422e+01] [-5.14630547e-02 -1.03911916e-03 9.98674358e-01 -5.48691664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.251052754 meters 0.018184642600888604 Centerline is valid? [True, True] Translation: X:79.39, Y:-26.63, Z:-5.49 [[ 8.04465172e-01 5.92577685e-01 4.10788738e-02 7.93886436e+01] [-5.91882133e-01 8.05512408e-01 -2.87280502e-02 -2.66285574e+01] [-5.01131440e-02 -1.20313560e-03 9.98742822e-01 -5.49346302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28105275399999 meters 0.017617565337935126 Centerline is valid? [True, True] Translation: X:79.41, Y:-26.65, Z:-5.50 [[ 8.03841271e-01 5.93505218e-01 3.98844384e-02 7.94145950e+01] [-5.92850100e-01 8.04829225e-01 -2.79047927e-02 -2.66477413e+01] [-4.86618017e-02 -1.21446928e-03 9.98814574e-01 -5.49619180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31105275399999 meters 0.018639581977493044 Centerline is valid? [True, True] Translation: X:79.44, Y:-26.66, Z:-5.50 [[ 8.03046461e-01 5.94717521e-01 3.77816244e-02 7.94405290e+01] [-5.94130320e-01 8.03933836e-01 -2.64490227e-02 -2.66641351e+01] [-4.61036235e-02 -1.20741448e-03 9.98935933e-01 -5.50028670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34105275399999 meters 0.018764205420638277 Centerline is valid? [True, True] Translation: X:79.47, Y:-26.68, Z:-5.50 [[ 8.03058716e-01 5.94691550e-01 3.79296452e-02 7.94657488e+01] [-5.94099477e-01 8.03953048e-01 -2.65576309e-02 -2.66821527e+01] [-4.62872526e-02 -1.20664541e-03 9.98927442e-01 -5.50203457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37105275399999 meters 0.01928384508462285 Centerline is valid? [True, True] Translation: X:79.49, Y:-26.70, Z:-5.50 [[ 8.03031515e-01 5.94743043e-01 3.76974575e-02 7.94922542e+01] [-5.94157723e-01 8.03914977e-01 -2.64066304e-02 -2.67000115e+01] [-4.60107104e-02 -1.19287906e-03 9.98940234e-01 -5.50423713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40105275399999 meters 0.018368945988547228 Centerline is valid? [True, True] Translation: X:79.52, Y:-26.72, Z:-5.51 [[ 8.02907536e-01 5.94930286e-01 3.73823942e-02 7.95182529e+01] [-5.94354308e-01 8.03776434e-01 -2.61992420e-02 -2.67206023e+01] [-4.56338101e-02 -1.18281825e-03 9.98957535e-01 -5.50500500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43105275399999 meters 0.018037146157061958 Centerline is valid? [True, True] Translation: X:79.54, Y:-26.74, Z:-5.51 [[ 8.03944999e-01 5.93493820e-01 3.79146826e-02 7.95441650e+01] [-5.92898788e-01 8.04837793e-01 -2.65923701e-02 -2.67403107e+01] [-4.62975768e-02 -1.10076640e-03 9.98927086e-01 -5.50700365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.461052754 meters 0.01777668955649303 Centerline is valid? [True, True] Translation: X:79.57, Y:-26.76, Z:-5.51 [[ 8.04945706e-01 5.92124521e-01 3.80914948e-02 7.95684912e+01] [-5.91522300e-01 8.05845829e-01 -2.67183153e-02 -2.67594956e+01] [-4.65164418e-02 -1.02517544e-03 9.98916998e-01 -5.50938208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.491052754 meters 0.017035385485406417 Centerline is valid? [True, True] Translation: X:79.59, Y:-26.78, Z:-5.51 [[ 8.06140992e-01 5.90415658e-01 3.93198752e-02 7.95939927e+01] [-5.89771181e-01 8.07098792e-01 -2.75951752e-02 -2.67801214e+01] [-4.80276473e-02 -9.44127293e-04 9.98845561e-01 -5.50994342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521052754 meters 0.016664877350224715 Centerline is valid? [True, True] Translation: X:79.62, Y:-26.80, Z:-5.51 [[ 8.07163753e-01 5.88986221e-01 3.97732081e-02 7.96182612e+01] [-5.88324778e-01 8.08142614e-01 -2.79190102e-02 -2.68005404e+01] [-4.85863367e-02 -8.64350811e-04 9.98818613e-01 -5.51108672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551052754 meters 0.01546843854192885 Centerline is valid? [True, True] Translation: X:79.64, Y:-26.82, Z:-5.51 [[ 8.09900573e-01 5.85050345e-01 4.21563302e-02 7.96401153e+01] [-5.84301038e-01 8.10996713e-01 -2.96079120e-02 -2.68233965e+01] [-5.15107643e-02 -6.52522579e-04 9.98672226e-01 -5.51058945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581052754 meters 0.015130224727801844 Centerline is valid? [True, True] Translation: X:79.67, Y:-26.84, Z:-5.51 [[ 8.10399117e-01 5.84227973e-01 4.39425451e-02 7.96661651e+01] [-5.83411793e-01 8.11589366e-01 -3.08768570e-02 -2.68426954e+01] [-5.37024259e-02 -6.14021424e-04 9.98556795e-01 -5.51076752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611052754 meters 0.01481478403384376 Centerline is valid? [True, True] Translation: X:79.69, Y:-26.86, Z:-5.51 [[ 8.11132084e-01 5.83078848e-01 4.56486481e-02 7.96897446e+01] [-5.82195271e-01 8.12415386e-01 -3.20921633e-02 -2.68632421e+01] [-5.57979257e-02 -5.45443800e-04 9.98441933e-01 -5.51112394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64105275399999 meters 0.014782470374943351 Centerline is valid? [True, True] Translation: X:79.71, Y:-26.88, Z:-5.51 [[ 8.11367928e-01 5.82757343e-01 4.55627462e-02 7.97147225e+01] [-5.81875805e-01 8.12646059e-01 -3.20457357e-02 -2.68827292e+01] [-5.57012740e-02 -5.10977425e-04 9.98447348e-01 -5.51277526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67105275399999 meters 0.014909514635140276 Centerline is valid? [True, True] Translation: X:79.74, Y:-26.90, Z:-5.52 [[ 8.10904717e-01 5.83430464e-01 4.51932816e-02 7.97408389e+01] [-5.82563334e-01 8.12162916e-01 -3.18018811e-02 -2.69028321e+01] [-5.52584936e-02 -5.39653383e-04 9.98471936e-01 -5.51509942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70105275399999 meters 0.015026513486438535 Centerline is valid? [True, True] Translation: X:79.77, Y:-26.92, Z:-5.52 [[ 8.10689323e-01 5.83791250e-01 4.43914181e-02 7.97653986e+01] [-5.82954239e-01 8.11903618e-01 -3.12549162e-02 -2.69219907e+01] [-5.42878995e-02 -5.40138504e-04 9.98525179e-01 -5.51885277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73105275399999 meters 0.014915066976514891 Centerline is valid? [True, True] Translation: X:79.79, Y:-26.94, Z:-5.52 [[ 8.10782346e-01 5.83692738e-01 4.39860773e-02 7.97911910e+01] [-5.82870121e-01 8.11974457e-01 -3.09823075e-02 -2.69420763e+01] [-5.37997191e-02 -5.18262217e-04 9.98551612e-01 -5.52134111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76105275399999 meters 0.014924256635094443 Centerline is valid? [True, True] Translation: X:79.82, Y:-26.96, Z:-5.52 [[ 8.11110859e-01 5.83292120e-01 4.32374518e-02 7.98162762e+01] [-5.82495837e-01 8.12262324e-01 -3.04715921e-02 -2.69615109e+01] [-5.28939926e-02 -4.69796375e-04 9.98600022e-01 -5.52429416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79105275399999 meters 0.015039206371003106 Centerline is valid? [True, True] Translation: X:79.84, Y:-26.98, Z:-5.53 [[ 8.11777445e-01 5.82562489e-01 4.04762478e-02 7.98396492e+01] [-5.81863119e-01 8.12785826e-01 -2.85396385e-02 -2.69815088e+01] [-4.95246433e-02 -3.83801011e-04 9.98772828e-01 -5.52831230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.821052754 meters 0.015066873210122348 Centerline is valid? [True, True] Translation: X:79.87, Y:-27.00, Z:-5.53 [[ 8.11856819e-01 5.82512670e-01 3.95915920e-02 7.98656417e+01] [-5.81842945e-01 8.12821541e-01 -2.79272290e-02 -2.70008285e+01] [-4.84488636e-02 -3.63177180e-04 9.98825598e-01 -5.53148009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.851052754 meters 0.01533721485790889 Centerline is valid? [True, True] Translation: X:79.89, Y:-27.02, Z:-5.54 [[ 8.11433404e-01 5.83158703e-01 3.87525319e-02 7.98925076e+01] [-5.82517217e-01 8.12358160e-01 -2.73479570e-02 -2.70172065e+01] [-4.74291346e-02 -3.82971237e-04 9.98874532e-01 -5.53554909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881052754 meters 0.01533721485790889 Centerline is valid? [True, True] Translation: X:79.92, Y:-27.04, Z:-5.54 [[ 8.11289219e-01 5.83359612e-01 3.87474708e-02 7.99188604e+01] [-5.82718013e-01 8.12213897e-01 -2.73551253e-02 -2.70359369e+01] [-4.74291096e-02 -3.85930981e-04 9.98874532e-01 -5.53763961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911052754 meters 0.01568144253989649 Centerline is valid? [True, True] Translation: X:79.95, Y:-27.05, Z:-5.54 [[ 8.10396831e-01 5.84661975e-01 3.77803065e-02 7.99483149e+01] [-5.84052777e-01 8.11276884e-01 -2.66865364e-02 -2.70492765e+01] [-4.62528925e-02 -4.39008376e-04 9.98929666e-01 -5.54232874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941052754 meters 0.01598695360030146 Centerline is valid? [True, True] Translation: X:79.98, Y:-27.07, Z:-5.55 [[ 8.09764853e-01 5.85588708e-01 3.69695504e-02 7.99763577e+01] [-5.85005825e-01 8.10608193e-01 -2.61255098e-02 -2.70653002e+01] [-4.52666239e-02 -4.71882717e-04 9.98974830e-01 -5.54599705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971052754 meters 0.016539492250189223 Centerline is valid? [True, True] Translation: X:80.00, Y:-27.08, Z:-5.55 [[ 8.08948110e-01 5.86775917e-01 3.60135856e-02 8.00038483e+01] [-5.86223370e-01 8.09749196e-01 -2.54637106e-02 -2.70806880e+01] [-4.41034641e-02 -5.13184934e-04 9.99026837e-01 -5.55027086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001052754 meters 0.015487918569319822 Centerline is valid? [True, True] Translation: X:80.03, Y:-27.10, Z:-5.55 [[ 8.08556836e-01 5.87311645e-01 3.60676277e-02 8.00295157e+01] [-5.86757866e-01 8.09360697e-01 -2.55042905e-02 -2.71012492e+01] [-4.41706871e-02 -5.41295803e-04 9.99023852e-01 -5.54790643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03105275399999 meters 0.015259290645615767 Centerline is valid? [True, True] Translation: X:80.06, Y:-27.12, Z:-5.55 [[ 8.08054745e-01 5.87953703e-01 3.68506749e-02 8.00557081e+01] [-5.87375545e-01 8.08894376e-01 -2.60740601e-02 -2.71193037e+01] [-4.51386438e-02 -5.75917256e-04 9.98980566e-01 -5.54801289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06105275399999 meters 0.016598537152406573 Centerline is valid? [True, True] Translation: X:80.08, Y:-27.13, Z:-5.55 [[ 8.07545705e-01 5.88569061e-01 3.81627461e-02 8.00829714e+01] [-5.87948979e-01 8.08446705e-01 -2.70170872e-02 -2.71343651e+01] [-4.67539680e-02 -6.20214875e-04 9.98906243e-01 -5.55323848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09105275399999 meters 0.015159480361087994 Centerline is valid? [True, True] Translation: X:80.11, Y:-27.15, Z:-5.55 [[ 8.06189446e-01 5.90201584e-01 4.14809261e-02 8.01090876e+01] [-5.89470316e-01 8.07255539e-01 -2.93809846e-02 -2.71543191e+01] [-5.08264110e-02 -7.65134912e-04 9.98707210e-01 -5.54691645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12105275399999 meters 0.015364442302541569 Centerline is valid? [True, True] Translation: X:80.14, Y:-27.17, Z:-5.55 [[ 8.05130832e-01 5.91519605e-01 4.32307875e-02 8.01358914e+01] [-5.90726281e-01 8.06290146e-01 -3.06375783e-02 -2.71721167e+01] [-5.29792862e-02 -8.70303487e-04 9.98595232e-01 -5.54634121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15105275399999 meters 0.015222450376161838 Centerline is valid? [True, True] Translation: X:80.16, Y:-27.19, Z:-5.55 [[ 8.03873473e-01 5.93019593e-01 4.59913202e-02 8.01625267e+01] [-5.92123442e-01 8.05187381e-01 -3.26053847e-02 -2.71919510e+01] [-5.63672626e-02 -1.02193497e-03 9.98409579e-01 -5.54591726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18105275399999 meters 0.014869360457411869 Centerline is valid? [True, True] Translation: X:80.19, Y:-27.21, Z:-5.55 [[ 8.04339640e-01 5.92362855e-01 4.63032538e-02 8.01875538e+01] [-5.91452293e-01 8.05670723e-01 -3.28461835e-02 -2.72118285e+01] [-5.67620350e-02 -9.66678211e-04 9.98387268e-01 -5.54791779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.211052754 meters 0.014967263943997151 Centerline is valid? [True, True] Translation: X:80.21, Y:-27.23, Z:-5.55 [[ 8.05044422e-01 5.91360523e-01 4.68637473e-02 8.02123712e+01] [-5.90425054e-01 8.06406805e-01 -3.32614032e-02 -2.72301440e+01] [-5.74607255e-02 -8.92623354e-04 9.98347369e-01 -5.55036846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.241052754 meters 0.014406818074191358 Centerline is valid? [True, True] Translation: X:80.24, Y:-27.25, Z:-5.55 [[ 8.06295468e-01 5.89626135e-01 4.72084653e-02 8.02360130e+01] [-5.88672943e-01 8.07675950e-01 -3.35220165e-02 -2.72521193e+01] [-5.78945991e-02 -7.61696223e-04 9.98322410e-01 -5.55178780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.271052754 meters 0.014342011136354802 Centerline is valid? [True, True] Translation: X:80.26, Y:-27.27, Z:-5.55 [[ 8.06632249e-01 5.89267746e-01 4.59122791e-02 8.02608089e+01] [-5.88364776e-01 8.07937515e-01 -3.26169031e-02 -2.72735448e+01] [-5.63143417e-02 -7.03321897e-04 9.98412841e-01 -5.55347462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301052754 meters 0.014542973778785795 Centerline is valid? [True, True] Translation: X:80.29, Y:-27.29, Z:-5.56 [[ 8.06351598e-01 5.89708683e-01 4.51748839e-02 8.02868957e+01] [-5.88834181e-01 8.07615731e-01 -3.21113397e-02 -2.72916686e+01] [-5.54202827e-02 -7.07485686e-04 9.98462864e-01 -5.55619279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.331052754 meters 0.014964323971125147 Centerline is valid? [True, True] Translation: X:80.31, Y:-27.31, Z:-5.56 [[ 8.05112148e-01 5.91494935e-01 4.39109484e-02 8.03145344e+01] [-5.90670480e-01 8.06308323e-01 -3.12293501e-02 -2.73082523e+01] [-5.38777656e-02 -7.93771864e-04 9.98547223e-01 -5.56149890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361052754 meters 0.015326730738052666 Centerline is valid? [True, True] Translation: X:80.34, Y:-27.33, Z:-5.57 [[ 8.04530028e-01 5.92340502e-01 4.31759578e-02 8.03415386e+01] [-5.91543852e-01 8.05687316e-01 -3.07216642e-02 -2.73254551e+01] [-5.29840075e-02 -8.23971039e-04 9.98595021e-01 -5.56554741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39105275399999 meters 0.015564440351638318 Centerline is valid? [True, True] Translation: X:80.37, Y:-27.34, Z:-5.57 [[ 8.03830048e-01 5.93293740e-01 4.31252997e-02 8.03689621e+01] [-5.92499527e-01 8.04985574e-01 -3.07007570e-02 -2.73423821e+01] [-5.29298111e-02 -8.73528683e-04 9.98597853e-01 -5.56992776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42105275399999 meters 0.015636900565069684 Centerline is valid? [True, True] Translation: X:80.40, Y:-27.36, Z:-5.57 [[ 8.03578522e-01 5.93623332e-01 4.32770022e-02 8.03954511e+01] [-5.92823213e-01 8.04742539e-01 -3.08234441e-02 -2.73611633e+01] [-5.31243602e-02 -8.86553801e-04 9.98587511e-01 -5.57144965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45105275399999 meters 0.01566159205024708 Centerline is valid? [True, True] Translation: X:80.42, Y:-27.38, Z:-5.57 [[ 8.03490270e-01 5.93756427e-01 4.30893462e-02 8.04221639e+01] [-5.92962422e-01 8.04644355e-01 -3.07087767e-02 -2.73807302e+01] [-5.29051327e-02 -8.76159809e-04 9.98599158e-01 -5.57288648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48105275399999 meters 0.01619654080472994 Centerline is valid? [True, True] Translation: X:80.45, Y:-27.40, Z:-5.58 [[ 8.02645780e-01 5.95000974e-01 4.16364425e-02 8.04481344e+01] [-5.94261040e-01 8.03724450e-01 -2.96786897e-02 -2.73971855e+01] [-5.11230762e-02 -9.21440637e-04 9.98691936e-01 -5.57577225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51105275399999 meters 0.01709894671527247 Centerline is valid? [True, True] Translation: X:80.48, Y:-27.41, Z:-5.58 [[ 8.01662276e-01 5.96453832e-01 3.97545292e-02 8.04751451e+01] [-5.95780499e-01 8.02646814e-01 -2.83494083e-02 -2.74123857e+01] [-4.88179594e-02 -9.58322085e-04 9.98807233e-01 -5.58171030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54105275399999 meters 0.01736985016673786 Centerline is valid? [True, True] Translation: X:80.50, Y:-27.43, Z:-5.59 [[ 8.01370172e-01 5.96890520e-01 3.90839501e-02 8.05016409e+01] [-5.96239675e-01 8.02322122e-01 -2.78830004e-02 -2.74302673e+01] [-4.80010164e-02 -9.58796923e-04 9.98846827e-01 -5.58550015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.571052754 meters 0.017574194092755308 Centerline is valid? [True, True] Translation: X:80.53, Y:-27.45, Z:-5.59 [[ 8.01370996e-01 5.96950841e-01 3.81342354e-02 8.05259627e+01] [-5.96330724e-01 8.02277278e-01 -2.72182994e-02 -2.74502515e+01] [-4.68422173e-02 -9.28660486e-04 9.98901869e-01 -5.58739912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.601052754 meters 0.016952026958261316 Centerline is valid? [True, True] Translation: X:80.55, Y:-27.47, Z:-5.59 [[ 8.01720593e-01 5.96459348e-01 3.84751450e-02 8.05508141e+01] [-5.95826966e-01 8.02642784e-01 -2.74733923e-02 -2.74712138e+01] [-4.72685592e-02 -8.98544567e-04 9.98881813e-01 -5.58752685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.631052754 meters 0.0171196751749627 Centerline is valid? [True, True] Translation: X:80.58, Y:-27.49, Z:-5.59 [[ 8.02131967e-01 5.95862562e-01 3.91422371e-02 8.05762325e+01] [-5.95206591e-01 8.03085959e-01 -2.79652903e-02 -2.74897941e+01] [-4.80980505e-02 -8.65864182e-04 9.98842244e-01 -5.58905291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661052754 meters 0.0167186045684656 Centerline is valid? [True, True] Translation: X:80.60, Y:-27.51, Z:-5.59 [[ 8.02807984e-01 5.94867634e-01 4.03960359e-02 8.06011841e+01] [-5.94167341e-01 8.03823249e-01 -2.88678986e-02 -2.75080219e+01] [-4.96438513e-02 -8.26625808e-04 9.98766642e-01 -5.59024375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.691052754 meters 0.01647601446788884 Centerline is valid? [True, True] Translation: X:80.63, Y:-27.53, Z:-5.59 [[ 8.02974066e-01 5.94613066e-01 4.08405605e-02 8.06268598e+01] [-5.93896312e-01 8.04011596e-01 -2.91980127e-02 -2.75279907e+01] [-5.01978041e-02 -8.09811298e-04 9.98738967e-01 -5.59170440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721052754 meters 0.016613492895734765 Centerline is valid? [True, True] Translation: X:80.65, Y:-27.55, Z:-5.59 [[ 8.02673908e-01 5.95051637e-01 4.03503018e-02 8.06519534e+01] [-5.94351881e-01 8.03687056e-01 -2.88610075e-02 -2.75460987e+01] [-4.96028050e-02 -8.16300114e-04 9.98768690e-01 -5.59326451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.751052754 meters 0.017324465242087493 Centerline is valid? [True, True] Translation: X:80.68, Y:-27.56, Z:-5.60 [[ 8.01710126e-01 5.96364559e-01 4.01271393e-02 8.06791546e+01] [-5.95673578e-01 8.02713233e-01 -2.87133109e-02 -2.75637295e+01] [-4.93341867e-02 -8.82924538e-04 9.98781937e-01 -5.59639386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78105275399999 meters 0.01621944618957663 Centerline is valid? [True, True] Translation: X:80.70, Y:-27.58, Z:-5.60 [[ 8.01189339e-01 5.97060962e-01 4.01727592e-02 8.07046015e+01] [-5.96368681e-01 8.02195342e-01 -2.87581243e-02 -2.75845778e+01] [-4.93967537e-02 -9.17072770e-04 9.98778814e-01 -5.59600611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81105275399999 meters 0.016300123912685472 Centerline is valid? [True, True] Translation: X:80.73, Y:-27.60, Z:-5.60 [[ 8.00736563e-01 5.97683357e-01 3.99444778e-02 8.07304356e+01] [-5.96998888e-01 8.01731705e-01 -2.86112046e-02 -2.76039037e+01] [-4.91251951e-02 -9.36771224e-04 9.98792189e-01 -5.59729613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84105275399999 meters 0.016273106376082213 Centerline is valid? [True, True] Translation: X:80.76, Y:-27.62, Z:-5.60 [[ 8.00413317e-01 5.98109571e-01 4.00432818e-02 8.07573409e+01] [-5.97421574e-01 8.01413770e-01 -2.86955092e-02 -2.76228456e+01] [-4.92542961e-02 -9.54452762e-04 9.98785815e-01 -5.59959186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87105275399999 meters 0.01571989384524874 Centerline is valid? [True, True] Translation: X:80.78, Y:-27.64, Z:-5.60 [[ 8.00093634e-01 5.98515593e-01 4.03641197e-02 8.07839680e+01] [-5.97816229e-01 8.01110564e-01 -2.89416736e-02 -2.76426381e+01] [-4.96581656e-02 -9.74277032e-04 9.98765797e-01 -5.60139725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90105275399999 meters 0.015988015675594536 Centerline is valid? [True, True] Translation: X:80.81, Y:-27.66, Z:-5.60 [[ 7.99942476e-01 5.98672590e-01 4.10264010e-02 8.08100391e+01] [-5.97949348e-01 8.00993233e-01 -2.94349963e-02 -2.76599285e+01] [-5.04837951e-02 -9.85405884e-04 9.98724394e-01 -5.60426739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93105275399999 meters 0.015935829935071526 Centerline is valid? [True, True] Translation: X:80.84, Y:-27.68, Z:-5.61 [[ 7.99628210e-01 5.99064096e-01 4.14359162e-02 8.08364585e+01] [-5.98326175e-01 8.00700437e-01 -2.97421909e-02 -2.76795868e+01] [-5.09952349e-02 -1.00949841e-03 9.98698386e-01 -5.60605959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.961052754 meters 0.016046247218010075 Centerline is valid? [True, True] Translation: X:80.86, Y:-27.70, Z:-5.61 [[ 7.99552660e-01 5.99147923e-01 4.16810599e-02 8.08616960e+01] [-5.98400445e-01 8.00637717e-01 -2.99358301e-02 -2.76983570e+01] [-5.13074190e-02 -1.00669225e-03 9.98682400e-01 -5.60787032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.991052754 meters 0.01618894052990399 Centerline is valid? [True, True] Translation: X:80.89, Y:-27.72, Z:-5.61 [[ 7.99540329e-01 5.99171012e-01 4.15855813e-02 8.08872823e+01] [-5.98426162e-01 8.00620455e-01 -2.98833823e-02 -2.77180573e+01] [-5.11995235e-02 -9.92930479e-04 9.98687951e-01 -5.60917835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021052754 meters 0.016624567482638884 Centerline is valid? [True, True] Translation: X:80.91, Y:-27.74, Z:-5.61 [[ 7.99491011e-01 5.99205840e-01 4.20295681e-02 8.09123111e+01] [-5.98444176e-01 8.00594389e-01 -3.02190718e-02 -2.77356638e+01] [-5.17560807e-02 -9.92473937e-04 9.98659263e-01 -5.61049712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.051052754 meters 0.016150272422581984 Centerline is valid? [True, True] Translation: X:80.94, Y:-27.75, Z:-5.61 [[ 7.98938320e-01 5.99841228e-01 4.34518396e-02 8.09381551e+01] [-5.99027183e-01 8.00118358e-01 -3.12577641e-02 -2.77546954e+01] [-5.35163102e-02 -1.05580755e-03 9.98566417e-01 -5.60937265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081052754 meters 0.015575858073952394 Centerline is valid? [True, True] Translation: X:80.96, Y:-27.77, Z:-5.61 [[ 7.98371079e-01 6.00540642e-01 4.42103662e-02 8.09643824e+01] [-5.99698117e-01 7.99593463e-01 -3.18192168e-02 -2.77740314e+01] [-5.44590528e-02 -1.10933086e-03 9.98515388e-01 -5.61005874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.111052754 meters 0.01583794750295585 Centerline is valid? [True, True] Translation: X:80.99, Y:-27.79, Z:-5.61 [[ 7.97927852e-01 6.01100463e-01 4.46024148e-02 8.09919307e+01] [-6.00242738e-01 7.99172652e-01 -3.21205111e-02 -2.77916249e+01] [-5.49526843e-02 -1.14242514e-03 9.98488306e-01 -5.61259339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14105275399999 meters 0.017106764487655034 Centerline is valid? [True, True] Translation: X:81.02, Y:-27.81, Z:-5.62 [[ 7.97382614e-01 6.01847560e-01 4.42773197e-02 8.10192789e+01] [-6.01002402e-01 7.98610134e-01 -3.19056064e-02 -2.78057978e+01] [-5.45626276e-02 -1.16979963e-03 9.98509665e-01 -5.61797282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17105275399999 meters 0.016410414367615866 Centerline is valid? [True, True] Translation: X:81.05, Y:-27.83, Z:-5.62 [[ 7.97071660e-01 6.02269272e-01 4.41417330e-02 8.10450719e+01] [-6.01429147e-01 7.98292129e-01 -3.18222979e-02 -2.78264059e+01] [-5.44035902e-02 -1.18347296e-03 9.98518327e-01 -5.62022572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20105275399999 meters 0.01654148623674119 Centerline is valid? [True, True] Translation: X:81.07, Y:-27.85, Z:-5.62 [[ 7.97847920e-01 6.01322761e-01 4.30073716e-02 8.10702015e+01] [-6.00522836e-01 7.99005497e-01 -3.10248168e-02 -2.78462332e+01] [-5.30190548e-02 -1.07382325e-03 9.98592923e-01 -5.62388631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23105275399999 meters 0.015823135711557867 Centerline is valid? [True, True] Translation: X:81.09, Y:-27.87, Z:-5.63 [[ 7.98426059e-01 6.00613572e-01 4.21801650e-02 8.10934686e+01] [-5.99842999e-01 7.99538822e-01 -3.04310400e-02 -2.78679439e+01] [-5.20019750e-02 -1.00454137e-03 9.98646477e-01 -5.62576511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26105275399999 meters 0.015857570716168046 Centerline is valid? [True, True] Translation: X:81.12, Y:-27.89, Z:-5.63 [[ 7.98285315e-01 6.00861723e-01 4.13006721e-02 8.11194178e+01] [-6.00122526e-01 7.99352372e-01 -2.98117256e-02 -2.78872041e+01] [-5.09265151e-02 -9.87200880e-04 9.98701915e-01 -5.62791026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29105275399999 meters 0.016363453426495235 Centerline is valid? [True, True] Translation: X:81.15, Y:-27.90, Z:-5.63 [[ 7.97779168e-01 6.01621726e-01 3.99962254e-02 8.11456709e+01] [-6.00928660e-01 7.98780520e-01 -2.88864439e-02 -2.79040919e+01] [-4.93269180e-02 -9.89874964e-04 9.98782196e-01 -5.63213520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.321052754 meters 0.016494570655274706 Centerline is valid? [True, True] Translation: X:81.17, Y:-27.92, Z:-5.64 [[ 7.97324441e-01 6.02302201e-01 3.88045706e-02 8.11720086e+01] [-6.01650404e-01 7.98267539e-01 -2.80308217e-02 -2.79223849e+01] [-4.78594547e-02 -9.97126341e-04 9.98853582e-01 -5.63546953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.351052754 meters 0.017061337428586558 Centerline is valid? [True, True] Translation: X:81.20, Y:-27.94, Z:-5.64 [[ 7.96590998e-01 6.03294123e-01 3.84575546e-02 8.11982542e+01] [-6.02654409e-01 7.97518105e-01 -2.77945053e-02 -2.79393582e+01] [-4.74388578e-02 -1.03576213e-03 9.98873607e-01 -5.63955457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.381052754 meters 0.01744279707051716 Centerline is valid? [True, True] Translation: X:81.23, Y:-27.96, Z:-5.64 [[ 7.95850452e-01 6.04264231e-01 3.85590099e-02 8.12250965e+01] [-6.03621653e-01 7.96783257e-01 -2.78808432e-02 -2.79558992e+01] [-4.75705698e-02 -1.08607160e-03 9.98867289e-01 -5.64313822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411052754 meters 0.017044465342478596 Centerline is valid? [True, True] Translation: X:81.25, Y:-27.98, Z:-5.64 [[ 7.96256755e-01 6.03615659e-01 4.02904159e-02 8.12502722e+01] [-6.02912511e-01 7.97274710e-01 -2.91468774e-02 -2.79757679e+01] [-4.97160413e-02 -1.08319783e-03 9.98762806e-01 -5.64259971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441052754 meters 0.016720100627770126 Centerline is valid? [True, True] Translation: X:81.28, Y:-28.00, Z:-5.64 [[ 7.96348272e-01 6.03431314e-01 4.12320034e-02 8.12750078e+01] [-6.02693865e-01 7.97414242e-01 -2.98434563e-02 -2.79968919e+01] [-5.08874627e-02 -1.08449064e-03 9.98703805e-01 -5.64184434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471052754 meters 0.01666968859363132 Centerline is valid? [True, True] Translation: X:81.30, Y:-28.02, Z:-5.64 [[ 7.97403960e-01 6.01914023e-01 4.29701596e-02 8.12989526e+01] [-6.01109952e-01 7.98560253e-01 -3.11182883e-02 -2.80169611e+01] [-5.30447955e-02 -1.01594429e-03 9.98591617e-01 -5.63969151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50105275399999 meters 0.015566052710236434 Centerline is valid? [True, True] Translation: X:81.32, Y:-28.04, Z:-5.64 [[ 7.97599358e-01 6.01589131e-01 4.38837306e-02 8.13237022e+01] [-6.00749190e-01 7.98805052e-01 -3.17946505e-02 -2.80375128e+01] [-5.41818618e-02 -1.00372279e-03 9.98530580e-01 -5.64030738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53105275399999 meters 0.015407944993215463 Centerline is valid? [True, True] Translation: X:81.35, Y:-28.06, Z:-5.64 [[ 7.98258657e-01 6.00660526e-01 4.46099692e-02 8.13495687e+01] [-5.99790153e-01 7.99503623e-01 -3.23377290e-02 -2.80562098e+01] [-5.50898293e-02 -9.42748120e-04 9.98480957e-01 -5.64400329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56105275399999 meters 0.015219574816042105 Centerline is valid? [True, True] Translation: X:81.37, Y:-28.08, Z:-5.65 [[ 7.98921706e-01 5.99783976e-01 4.45341502e-02 8.13738568e+01] [-5.98914235e-01 8.00161503e-01 -3.23002691e-02 -2.80754186e+01] [-5.50076964e-02 -8.66750490e-04 9.98485554e-01 -5.64646672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59105275399999 meters 0.015036655361627606 Centerline is valid? [True, True] Translation: X:81.40, Y:-28.10, Z:-5.65 [[ 8.01020342e-01 5.96986570e-01 4.44234958e-02 8.13975135e+01] [-5.96116396e-01 8.02250953e-01 -3.22280969e-02 -2.80963182e+01] [-5.48785329e-02 -6.66213007e-04 9.98492816e-01 -5.64890522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62105275399999 meters 0.015000624107705102 Centerline is valid? [True, True] Translation: X:81.42, Y:-28.11, Z:-5.65 [[ 8.01299721e-01 5.96570756e-01 4.49676484e-02 8.14227263e+01] [-5.95677525e-01 8.02560236e-01 -3.26397416e-02 -2.81147855e+01] [-5.55611619e-02 -6.32001638e-04 9.98455086e-01 -5.65053445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65105275399999 meters 0.014666970758832405 Centerline is valid? [True, True] Translation: X:81.45, Y:-28.13, Z:-5.65 [[ 8.02320512e-01 5.95120782e-01 4.59679247e-02 8.14476305e+01] [-5.94184115e-01 8.03636094e-01 -3.33806132e-02 -2.81327554e+01] [-5.68069801e-02 -5.31459963e-04 9.98385038e-01 -5.65198710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68105275399999 meters 0.014070757305773783 Centerline is valid? [True, True] Translation: X:81.47, Y:-28.15, Z:-5.65 [[ 8.03221232e-01 5.93875864e-01 4.63369176e-02 8.14728389e+01] [-5.92921199e-01 8.04556566e-01 -3.36627937e-02 -2.81526617e+01] [-5.72721920e-02 -4.35470126e-04 9.98358506e-01 -5.65276830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.711052754 meters 0.013844862345552428 Centerline is valid? [True, True] Translation: X:81.50, Y:-28.17, Z:-5.65 [[ 8.04987780e-01 5.91340053e-01 4.80792633e-02 8.14992271e+01] [-5.90306574e-01 8.06422271e-01 -3.49466656e-02 -2.81706885e+01] [-5.94375518e-02 -2.49866398e-04 9.98231995e-01 -5.65412290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.741052754 meters 0.013821726891180056 Centerline is valid? [True, True] Translation: X:81.52, Y:-28.19, Z:-5.66 [[ 8.05839574e-01 5.90101161e-01 4.90224620e-02 8.15242133e+01] [-5.89023273e-01 8.07329300e-01 -3.56508817e-02 -2.81889654e+01] [-6.06148966e-02 -1.46479672e-04 9.98161216e-01 -5.65591114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771052754 meters 0.013716520343407286 Centerline is valid? [True, True] Translation: X:81.55, Y:-28.21, Z:-5.66 [[ 8.06773298e-01 5.88837906e-01 4.88545350e-02 8.15499762e+01] [-5.87764090e-01 8.08251148e-01 -3.55451304e-02 -2.82089176e+01] [-6.04170542e-02 -3.80792373e-05 9.98173221e-01 -5.65721759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801052754 meters 0.013716520343407286 Centerline is valid? [True, True] Translation: X:81.58, Y:-28.23, Z:-5.66 [[ 8.06607617e-01 5.89065673e-01 4.88445043e-02 8.15760660e+01] [-5.87991439e-01 8.08085164e-01 -3.55589086e-02 -2.82279740e+01] [-6.04170516e-02 -3.80638291e-05 9.98173221e-01 -5.65930928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831052754 meters 0.013951683010562094 Centerline is valid? [True, True] Translation: X:81.60, Y:-28.25, Z:-5.66 [[ 8.07725720e-01 5.87611481e-01 4.78738901e-02 8.16008409e+01] [-5.86575792e-01 8.09143214e-01 -3.48726286e-02 -2.82475431e+01] [-5.92283902e-02 8.58540856e-05 9.98244454e-01 -5.66068991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861052754 meters 0.013854267355479137 Centerline is valid? [True, True] Translation: X:81.63, Y:-28.26, Z:-5.66 [[ 8.06853585e-01 5.88857347e-01 4.72685724e-02 8.16288657e+01] [-5.87848749e-01 8.08236986e-01 -3.44503094e-02 -2.82644602e+01] [-5.84905262e-02 9.58447840e-06 9.98287964e-01 -5.66491873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89105275399999 meters 0.013916155768715265 Centerline is valid? [True, True] Translation: X:81.66, Y:-28.28, Z:-5.67 [[ 8.05893424e-01 5.90199907e-01 4.69026548e-02 8.16560350e+01] [-5.89207998e-01 8.07257125e-01 -3.42033562e-02 -2.82829662e+01] [-5.80493199e-02 -7.11595590e-05 9.98313714e-01 -5.66721427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92105275399999 meters 0.014140740755803662 Centerline is valid? [True, True] Translation: X:81.68, Y:-28.30, Z:-5.67 [[ 8.03244649e-01 5.93841941e-01 4.63657567e-02 8.16827629e+01] [-5.92877518e-01 8.04581662e-01 -3.38319016e-02 -2.82993599e+01] [-5.73958397e-02 -3.13920875e-04 9.98351451e-01 -5.66912758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95105275399999 meters 0.014352768541277715 Centerline is valid? [True, True] Translation: X:81.71, Y:-28.32, Z:-5.67 [[ 8.01346586e-01 5.96419594e-01 4.61228409e-02 8.17101353e+01] [-5.95468621e-01 8.02672682e-01 -3.36702836e-02 -2.83167792e+01] [-5.71031613e-02 -4.83137608e-04 9.98368166e-01 -5.67120706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98105275399999 meters 0.015378067066836537 Centerline is valid? [True, True] Translation: X:81.74, Y:-28.33, Z:-5.68 [[ 7.96719913e-01 6.02587126e-01 4.61100500e-02 8.17391853e+01] [-6.01645976e-01 7.98052584e-01 -3.36777717e-02 -2.83306864e+01] [-5.70920362e-02 -9.10174675e-04 9.98368505e-01 -5.67511259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01105275399999 meters 0.017164672917910826 Centerline is valid? [True, True] Translation: X:81.77, Y:-28.34, Z:-5.68 [[ 7.91522432e-01 6.09434361e-01 4.56289198e-02 8.17686357e+01] [-6.08523085e-01 7.92835337e-01 -3.33434261e-02 -2.83439733e+01] [-5.64968496e-02 -1.37418131e-03 9.98401832e-01 -5.68005183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04105275399999 meters 0.017746978528363058 Centerline is valid? [True, True] Translation: X:81.79, Y:-28.36, Z:-5.68 [[ 7.90040706e-01 6.11407877e-01 4.49008949e-02 8.17949738e+01] [-6.10527782e-01 7.91314237e-01 -3.28269150e-02 -2.83610815e+01] [-5.56013518e-02 -1.47864470e-03 9.98451953e-01 -5.68383366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.071052754 meters 0.0179937778092313 Centerline is valid? [True, True] Translation: X:81.82, Y:-28.38, Z:-5.69 [[ 7.89907053e-01 6.11627626e-01 4.42548839e-02 8.18203416e+01] [-6.10772226e-01 7.91144433e-01 -3.23693395e-02 -2.83794091e+01] [-5.48099872e-02 -1.46088437e-03 9.98495734e-01 -5.68724534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.101052754 meters 0.018020402987061455 Centerline is valid? [True, True] Translation: X:81.84, Y:-28.40, Z:-5.69 [[ 7.90906445e-01 6.10247243e-01 4.54455371e-02 8.18437382e+01] [-6.09341803e-01 7.92209807e-01 -3.32594029e-02 -2.84006048e+01] [-5.62988591e-02 -1.38678944e-03 9.98412998e-01 -5.68529324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.131052754 meters 0.016472755430774522 Centerline is valid? [True, True] Translation: X:81.87, Y:-28.42, Z:-5.68 [[ 7.91738652e-01 6.09102700e-01 4.63012731e-02 8.18666539e+01] [-6.08159947e-01 7.93090263e-01 -3.39015398e-02 -2.84241612e+01] [-5.73706083e-02 -1.31742036e-03 9.98352081e-01 -5.68339916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161052754 meters 0.01639085876303038 Centerline is valid? [True, True] Translation: X:81.89, Y:-28.44, Z:-5.68 [[ 7.92657116e-01 6.07738283e-01 4.84651968e-02 8.18909308e+01] [-6.06701553e-01 7.94136381e-01 -3.55054146e-02 -2.84434681e+01] [-6.00659757e-02 -1.26029057e-03 9.98193614e-01 -5.68265445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.191052754 meters 0.01645467158053029 Centerline is valid? [True, True] Translation: X:81.92, Y:-28.46, Z:-5.69 [[ 7.92642427e-01 6.07740610e-01 4.86758054e-02 8.19174697e+01] [-6.06693825e-01 7.94134612e-01 -3.56766160e-02 -2.84627855e+01] [-6.03372702e-02 -1.25251112e-03 9.98177261e-01 -5.68533238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221052754 meters 0.01677408935491662 Centerline is valid? [True, True] Translation: X:81.94, Y:-28.48, Z:-5.69 [[ 7.92654854e-01 6.07879203e-01 4.67028601e-02 8.19433317e+01] [-6.06914757e-01 7.94028616e-01 -3.42495946e-02 -2.84815290e+01] [-5.79030236e-02 -1.19654760e-03 9.98321495e-01 -5.69048269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25105275399999 meters 0.016636427922876982 Centerline is valid? [True, True] Translation: X:81.97, Y:-28.50, Z:-5.70 [[ 7.93189790e-01 6.07353220e-01 4.44074663e-02 8.19684857e+01] [-6.06479594e-01 7.94431169e-01 -3.25825231e-02 -2.85023100e+01] [-5.50677756e-02 -1.08809746e-03 9.98482026e-01 -5.69644966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28105275399999 meters 0.01689033045037018 Centerline is valid? [True, True] Translation: X:81.99, Y:-28.52, Z:-5.70 [[ 7.93498509e-01 6.07010404e-01 4.35716055e-02 8.19942137e+01] [-6.06167884e-01 7.94693217e-01 -3.19873046e-02 -2.85215439e+01] [-5.40426861e-02 -1.02982938e-03 9.98538095e-01 -5.70000423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31105275399999 meters 0.016147298959482664 Centerline is valid? [True, True] Translation: X:82.02, Y:-28.54, Z:-5.70 [[ 7.93801528e-01 6.06644234e-01 4.31498264e-02 8.20192919e+01] [-6.05816543e-01 7.94972835e-01 -3.16939681e-02 -2.85433217e+01] [-5.35299028e-02 -9.82158327e-04 9.98565764e-01 -5.70159456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34105275399999 meters 0.01615659102744269 Centerline is valid? [True, True] Translation: X:82.04, Y:-28.56, Z:-5.70 [[ 7.94241621e-01 6.06098094e-01 4.27240876e-02 8.20431356e+01] [-6.05284862e-01 7.95389372e-01 -3.14003712e-02 -2.85631942e+01] [-5.30139903e-02 -9.20761698e-04 9.98593345e-01 -5.70252734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37105275399999 meters 0.016406037817830437 Centerline is valid? [True, True] Translation: X:82.07, Y:-28.58, Z:-5.70 [[ 7.93981325e-01 6.06472285e-01 4.22495302e-02 8.20686883e+01] [-6.05676813e-01 7.95104090e-01 -3.10658179e-02 -2.85820590e+01] [-5.24333318e-02 -9.23881591e-04 9.98623999e-01 -5.70383461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40105275399999 meters 0.016908404440182625 Centerline is valid? [True, True] Translation: X:82.10, Y:-28.60, Z:-5.71 [[ 7.92943655e-01 6.07884281e-01 4.14374366e-02 8.20958409e+01] [-6.07120099e-01 7.94025022e-01 -3.04868980e-02 -2.85993980e+01] [-5.14348676e-02 -9.83108225e-04 9.98675867e-01 -5.70553763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43105275399999 meters 0.01696701399710293 Centerline is valid? [True, True] Translation: X:82.12, Y:-28.62, Z:-5.71 [[ 7.91891091e-01 6.09269570e-01 4.12200473e-02 8.21236076e+01] [-6.08514946e-01 7.92962460e-01 -3.03331172e-02 -2.86159423e+01] [-5.11669954e-02 -1.06248963e-03 9.98689546e-01 -5.71121001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.461052754 meters 0.017732125013039092 Centerline is valid? [True, True] Translation: X:82.15, Y:-28.63, Z:-5.72 [[ 7.91762787e-01 6.09459071e-01 4.08819143e-02 8.21501583e+01] [-6.08716262e-01 7.92816833e-01 -3.00995374e-02 -2.86324969e+01] [-5.07563059e-02 -1.05379246e-03 9.98710512e-01 -5.71565555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.491052754 meters 0.016922415432333755 Centerline is valid? [True, True] Translation: X:82.17, Y:-28.66, Z:-5.71 [[ 7.92406687e-01 6.08598572e-01 4.12240290e-02 8.21741109e+01] [-6.07841099e-01 7.93477659e-01 -3.03710889e-02 -2.86552687e+01] [-5.11941474e-02 -9.91405202e-04 9.98688228e-01 -5.71443976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521052754 meters 0.016470206439064734 Centerline is valid? [True, True] Translation: X:82.20, Y:-28.68, Z:-5.71 [[ 7.92960905e-01 6.07854597e-01 4.15426607e-02 8.21985309e+01] [-6.07084185e-01 7.94047788e-01 -3.06088691e-02 -2.86768720e+01] [-5.15925996e-02 -9.48255813e-04 9.98667765e-01 -5.71360794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.551052754 meters 0.016310961163145097 Centerline is valid? [True, True] Translation: X:82.22, Y:-28.70, Z:-5.71 [[ 7.94202430e-01 6.06211872e-01 4.18290036e-02 8.22217691e+01] [-6.05427675e-01 7.95302754e-01 -3.08360208e-02 -2.86980415e+01] [-5.19598837e-02 -8.34393790e-04 9.98648824e-01 -5.71278699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581052754 meters 0.01599880504584983 Centerline is valid? [True, True] Translation: X:82.25, Y:-28.72, Z:-5.71 [[ 7.94780047e-01 6.05466763e-01 4.16494526e-02 8.22464787e+01] [-6.04687531e-01 7.95870219e-01 -3.07178311e-02 -2.87180863e+01] [-5.17461847e-02 -7.70985405e-04 9.98659971e-01 -5.71432173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.611052754 meters 0.01621549307517157 Centerline is valid? [True, True] Translation: X:82.27, Y:-28.74, Z:-5.72 [[ 7.94921935e-01 6.05317926e-01 4.11014085e-02 8.22726905e+01] [-6.04558038e-01 7.95983457e-01 -3.03301133e-02 -2.87361729e+01] [-5.10754025e-02 -7.38114526e-04 9.98694527e-01 -5.71810096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64105275399999 meters 0.016510363112426277 Centerline is valid? [True, True] Translation: X:82.30, Y:-28.75, Z:-5.72 [[ 7.94452974e-01 6.05981897e-01 4.03783614e-02 8.22983794e+01] [-6.05248888e-01 7.95478072e-01 -2.98063824e-02 -2.87531484e+01] [-5.01822292e-02 -7.59189120e-04 9.98739790e-01 -5.72200164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67105275399999 meters 0.01683155838845457 Centerline is valid? [True, True] Translation: X:82.32, Y:-28.77, Z:-5.73 [[ 7.93657064e-01 6.07085953e-01 3.94348884e-02 8.23248922e+01] [-6.06387558e-01 7.94635769e-01 -2.91225587e-02 -2.87709631e+01] [-4.90162693e-02 -7.99501243e-04 9.98797660e-01 -5.72528108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70105275399999 meters 0.01665480448698703 Centerline is valid? [True, True] Translation: X:82.35, Y:-28.79, Z:-5.73 [[ 7.93234064e-01 6.07631316e-01 3.95462086e-02 8.23503843e+01] [-6.06928963e-01 7.94218801e-01 -2.92186699e-02 -2.87910421e+01] [-4.91625212e-02 -8.24495064e-04 9.98790452e-01 -5.72558635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73105275399999 meters 0.01678883271840828 Centerline is valid? [True, True] Translation: X:82.38, Y:-28.81, Z:-5.72 [[ 7.92222848e-01 6.08893972e-01 4.03867516e-02 8.23766088e+01] [-6.08162251e-01 7.93251098e-01 -2.98558533e-02 -2.88103949e+01] [-5.02158842e-02 -9.09208668e-04 9.98737973e-01 -5.72392840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76105275399999 meters 0.01723512100358719 Centerline is valid? [True, True] Translation: X:82.40, Y:-28.83, Z:-5.73 [[ 7.91723569e-01 6.09485117e-01 4.12514471e-02 8.24042816e+01] [-6.08721465e-01 7.92796940e-01 -3.05154173e-02 -2.88289478e+01] [-5.13027137e-02 -9.50866195e-04 9.98682696e-01 -5.72564348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79105275399999 meters 0.01746724495482055 Centerline is valid? [True, True] Translation: X:82.43, Y:-28.85, Z:-5.73 [[ 7.90343355e-01 6.11199743e-01 4.23350446e-02 8.24309870e+01] [-6.10397527e-01 7.91475646e-01 -3.13234964e-02 -2.88452804e+01] [-5.26520697e-02 -1.08488932e-03 9.98612328e-01 -5.72674560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.821052754 meters 0.01782680725074867 Centerline is valid? [True, True] Translation: X:82.46, Y:-28.86, Z:-5.73 [[ 7.89609065e-01 6.12121954e-01 4.27110939e-02 8.24574313e+01] [-6.11305967e-01 7.90762545e-01 -3.16166296e-02 -2.88624355e+01] [-5.31275664e-02 -1.14476918e-03 9.98587077e-01 -5.72968961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.851052754 meters 0.017850314903715424 Centerline is valid? [True, True] Translation: X:82.48, Y:-28.88, Z:-5.73 [[ 7.88549446e-01 6.13538184e-01 4.19603210e-02 8.24836592e+01] [-6.12751945e-01 7.89664131e-01 -3.10743393e-02 -2.88812846e+01] [-5.21998541e-02 -1.20761526e-03 9.98635928e-01 -5.73298249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.881052754 meters 0.017178302732836624 Centerline is valid? [True, True] Translation: X:82.51, Y:-28.90, Z:-5.73 [[ 7.89024362e-01 6.13002965e-01 4.08401929e-02 8.25075791e+01] [-6.12256744e-01 7.90079799e-01 -3.02587251e-02 -2.89036657e+01] [-5.08156996e-02 -1.12981229e-03 9.98707409e-01 -5.73426740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.911052754 meters 0.01727614692807778 Centerline is valid? [True, True] Translation: X:82.53, Y:-28.92, Z:-5.74 [[ 7.89741432e-01 6.12134968e-01 3.99906505e-02 8.25316131e+01] [-6.11417477e-01 7.90752619e-01 -2.96473175e-02 -2.89237210e+01] [-4.97708714e-02 -1.03726767e-03 9.98760124e-01 -5.73659600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941052754 meters 0.016525284720602343 Centerline is valid? [True, True] Translation: X:82.56, Y:-28.95, Z:-5.74 [[ 7.91278293e-01 6.10145730e-01 4.00106511e-02 8.25552148e+01] [-6.09424286e-01 7.92288695e-01 -2.96759794e-02 -2.89458886e+01] [-4.98066587e-02 -9.01504165e-04 9.98758471e-01 -5.73748447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.971052754 meters 0.01626592763522775 Centerline is valid? [True, True] Translation: X:82.58, Y:-28.97, Z:-5.74 [[ 7.91763154e-01 6.09495776e-01 4.03237854e-02 8.25807297e+01] [-6.08761371e-01 7.92788855e-01 -2.99236546e-02 -2.89657608e+01] [-5.02065887e-02 -8.55115789e-04 9.98738488e-01 -5.73940804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00105275399999 meters 0.016286408091751324 Centerline is valid? [True, True] Translation: X:82.61, Y:-28.98, Z:-5.74 [[ 7.91952974e-01 6.09213304e-01 4.08612076e-02 8.26058751e+01] [-6.08457980e-01 7.93005960e-01 -3.03386521e-02 -2.89838054e+01] [-5.08858916e-02 -8.35542160e-04 9.98704124e-01 -5.74219682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03105275399999 meters 0.01618342226577189 Centerline is valid? [True, True] Translation: X:82.63, Y:-29.00, Z:-5.74 [[ 7.92037955e-01 6.09089393e-01 4.10607851e-02 8.26307766e+01] [-6.08325773e-01 7.93101152e-01 -3.05010805e-02 -2.90031447e+01] [-5.11432406e-02 -8.20320441e-04 9.98690991e-01 -5.74460314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06105275399999 meters 0.01630830122106161 Centerline is valid? [True, True] Translation: X:82.66, Y:-29.02, Z:-5.75 [[ 7.91808283e-01 6.09328308e-01 4.19363300e-02 8.26566154e+01] [-6.08531238e-01 7.92917591e-01 -3.11677009e-02 -2.90212339e+01] [-5.22434162e-02 -8.40723093e-04 9.98634026e-01 -5.74567819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09105275399999 meters 0.016187542102425883 Centerline is valid? [True, True] Translation: X:82.68, Y:-29.04, Z:-5.75 [[ 7.91403966e-01 6.09833534e-01 4.22234989e-02 8.26833693e+01] [-6.09025413e-01 7.92529058e-01 -3.13964871e-02 -2.90410328e+01] [-5.26099805e-02 -8.67879445e-04 9.98614759e-01 -5.74717194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12105275399999 meters 0.016532936233576313 Centerline is valid? [True, True] Translation: X:82.71, Y:-29.06, Z:-5.75 [[ 7.90898538e-01 6.10504139e-01 4.20023732e-02 8.27085984e+01] [-6.09704349e-01 7.92012564e-01 -3.12523005e-02 -2.90598173e+01] [-5.23460661e-02 -8.91630806e-04 9.98628607e-01 -5.74888312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15105275399999 meters 0.016471096511119943 Centerline is valid? [True, True] Translation: X:82.73, Y:-29.08, Z:-5.75 [[ 7.91183334e-01 6.10203736e-01 4.09918588e-02 8.27334812e+01] [-6.09441273e-01 7.92244082e-01 -3.05065612e-02 -2.90797663e+01] [-5.10907752e-02 -8.45847860e-04 9.98693655e-01 -5.75130803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18105275399999 meters 0.01610374188374799 Centerline is valid? [True, True] Translation: X:82.76, Y:-29.10, Z:-5.75 [[ 7.92282666e-01 6.08837534e-01 4.00628797e-02 8.27579137e+01] [-6.08106719e-01 7.93294603e-01 -2.98310300e-02 -2.91001272e+01] [-4.99439170e-02 -7.27898317e-04 9.98751759e-01 -5.75498096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.211052754 meters 0.016162661113494414 Centerline is valid? [True, True] Translation: X:82.78, Y:-29.12, Z:-5.76 [[ 7.92711819e-01 6.08309710e-01 3.95887472e-02 8.27837197e+01] [-6.07594669e-01 7.93699466e-01 -2.94936492e-02 -2.91192387e+01] [-4.93628407e-02 -6.73947453e-04 9.98780685e-01 -5.75878770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.241052754 meters 0.015739572559730502 Centerline is valid? [True, True] Translation: X:82.81, Y:-29.14, Z:-5.76 [[ 7.93136110e-01 6.07802223e-01 3.88789051e-02 8.28093554e+01] [-6.07111622e-01 7.94088199e-01 -2.89725709e-02 -2.91391745e+01] [-4.84828728e-02 -6.24643012e-04 9.98823819e-01 -5.76246398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.271052754 meters 0.01607210263232745 Centerline is valid? [True, True] Translation: X:82.83, Y:-29.16, Z:-5.77 [[ 7.93436447e-01 6.07482718e-01 3.77273323e-02 8.28346438e+01] [-6.06831287e-01 7.94332687e-01 -2.81313104e-02 -2.91567475e+01] [-4.70573382e-02 -5.73718680e-04 9.98892025e-01 -5.76677882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301052754 meters 0.015961634739895304 Centerline is valid? [True, True] Translation: X:82.86, Y:-29.18, Z:-5.77 [[ 7.92980188e-01 6.08072133e-01 3.78246188e-02 8.28607309e+01] [-6.07417425e-01 7.93881553e-01 -2.82161628e-02 -2.91763238e+01] [-4.71857294e-02 -6.00474406e-04 9.98885953e-01 -5.76799981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.331052754 meters 0.01578160124399609 Centerline is valid? [True, True] Translation: X:82.89, Y:-29.20, Z:-5.77 [[ 7.91722610e-01 6.09754166e-01 3.70832384e-02 8.28868665e+01] [-6.09125986e-01 7.92590312e-01 -2.76790766e-02 -2.91956010e+01] [-4.62692477e-02 -6.74213328e-04 9.98928777e-01 -5.76649440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361052754 meters 0.015708340423157642 Centerline is valid? [True, True] Translation: X:82.91, Y:-29.21, Z:-5.77 [[ 7.91078286e-01 6.10568329e-01 3.74360874e-02 8.29133206e+01] [-6.09928396e-01 7.91963257e-01 -2.79562361e-02 -2.92149546e+01] [-4.67171981e-02 -7.17761396e-04 9.98907898e-01 -5.76740827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39105275399999 meters 0.015607388567021922 Centerline is valid? [True, True] Translation: X:82.94, Y:-29.23, Z:-5.77 [[ 7.90734123e-01 6.10948751e-01 3.84859771e-02 8.29390609e+01] [-6.10271976e-01 7.91669796e-01 -2.87584531e-02 -2.92343398e+01] [-4.80381267e-02 -7.46623125e-04 9.98845224e-01 -5.76833979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42105275399999 meters 0.016197636992851396 Centerline is valid? [True, True] Translation: X:82.97, Y:-29.25, Z:-5.77 [[ 7.90340382e-01 6.11438889e-01 3.87887269e-02 8.29653906e+01] [-6.10751288e-01 7.91291281e-01 -2.89995340e-02 -2.92525369e+01] [-4.84246242e-02 -7.70762164e-04 9.98826542e-01 -5.77220879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45105275399999 meters 0.015819366901151714 Centerline is valid? [True, True] Translation: X:82.99, Y:-29.27, Z:-5.78 [[ 7.90069267e-01 6.11760314e-01 3.92412004e-02 8.29908215e+01] [-6.11056169e-01 7.91042792e-01 -2.93540274e-02 -2.92727760e+01] [-4.89990978e-02 -7.86862649e-04 9.98798513e-01 -5.77529873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48105275399999 meters 0.015856107413692956 Centerline is valid? [True, True] Translation: X:83.02, Y:-29.29, Z:-5.78 [[ 7.90437655e-01 6.11291921e-01 3.91216102e-02 8.30156869e+01] [-6.10590621e-01 7.91404850e-01 -2.92823526e-02 -2.92912029e+01] [-4.88610976e-02 -7.41414131e-04 9.98805308e-01 -5.77912389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51105275399999 meters 0.015097863737757851 Centerline is valid? [True, True] Translation: X:83.04, Y:-29.31, Z:-5.78 [[ 7.91963803e-01 6.09350918e-01 3.85330221e-02 8.30379354e+01] [-6.08667666e-01 7.92900433e-01 -2.88544010e-02 -2.93144832e+01] [-4.81353056e-02 -6.02163515e-04 9.98840643e-01 -5.78054843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54105275399999 meters 0.01509008999512423 Centerline is valid? [True, True] Translation: X:83.06, Y:-29.33, Z:-5.78 [[ 7.92840145e-01 6.08180845e-01 3.89944117e-02 8.30615939e+01] [-6.07478867e-01 7.93798328e-01 -2.92171191e-02 -2.93342067e+01] [-4.87229910e-02 -5.23776056e-04 9.98812192e-01 -5.78246765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.571052754 meters 0.014828569157958438 Centerline is valid? [True, True] Translation: X:83.09, Y:-29.35, Z:-5.78 [[ 7.93752834e-01 6.06918657e-01 4.00772040e-02 8.30854464e+01] [-6.06175139e-01 7.94763826e-01 -3.00360089e-02 -2.93535657e+01] [-5.00813262e-02 -4.52637479e-04 9.98745040e-01 -5.78307346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.601052754 meters 0.014719916075909091 Centerline is valid? [True, True] Translation: X:83.11, Y:-29.37, Z:-5.78 [[ 7.93665912e-01 6.06989663e-01 4.07181737e-02 8.31103677e+01] [-6.06221549e-01 7.94709597e-01 -3.05301352e-02 -2.93738804e+01] [-5.08905999e-02 -4.53506763e-04 9.98704131e-01 -5.78284857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.631052754 meters 0.01482873238198701 Centerline is valid? [True, True] Translation: X:83.14, Y:-29.39, Z:-5.78 [[ 7.93515240e-01 6.07163274e-01 4.10648648e-02 8.31362791e+01] [-6.06381371e-01 7.94576964e-01 -3.08071545e-02 -2.93928366e+01] [-5.13341684e-02 -4.55022445e-04 9.98681429e-01 -5.78430521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661052754 meters 0.01505670921364583 Centerline is valid? [True, True] Translation: X:83.16, Y:-29.41, Z:-5.79 [[ 7.92673538e-01 6.08245821e-01 4.12999156e-02 8.31642125e+01] [-6.07455768e-01 7.93748545e-01 -3.09957690e-02 -2.94102465e+01] [-5.16347949e-02 -5.18346099e-04 9.98665900e-01 -5.78636393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691052754 meters 0.01505670921364583 Centerline is valid? [True, True] Translation: X:83.19, Y:-29.43, Z:-5.79 [[ 7.92505290e-01 6.08465185e-01 4.12975114e-02 8.31900072e+01] [-6.07675263e-01 7.93580392e-01 -3.09989723e-02 -2.94297100e+01] [-5.16346907e-02 -5.28626590e-04 9.98665900e-01 -5.78845060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721052754 meters 0.015018220407645926 Centerline is valid? [True, True] Translation: X:83.22, Y:-29.45, Z:-5.79 [[ 7.91574485e-01 6.09588719e-01 4.25608821e-02 8.32193881e+01] [-6.08750294e-01 7.92717621e-01 -3.19664160e-02 -2.94456904e+01] [-5.32251278e-02 -6.05150279e-04 9.98582355e-01 -5.79296042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75105275399999 meters 0.015146599309664676 Centerline is valid? [True, True] Translation: X:83.25, Y:-29.46, Z:-5.80 [[ 7.90940011e-01 6.10337623e-01 4.36106045e-02 8.32468120e+01] [-6.09457371e-01 7.92141121e-01 -3.27743517e-02 -2.94645872e+01] [-5.45491730e-02 -6.56258250e-04 9.98510870e-01 -5.79536880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78105275399999 meters 0.015078894928525313 Centerline is valid? [True, True] Translation: X:83.27, Y:-29.48, Z:-5.80 [[ 7.90626114e-01 6.10670692e-01 4.46279427e-02 8.32725528e+01] [-6.09748277e-01 7.91884363e-01 -3.35588229e-02 -2.94836849e+01] [-5.58335596e-02 -6.79329380e-04 9.98439859e-01 -5.79631742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81105275399999 meters 0.015222610697038296 Centerline is valid? [True, True] Translation: X:83.30, Y:-29.50, Z:-5.80 [[ 7.90089100e-01 6.11314314e-01 4.53213415e-02 8.32988367e+01] [-6.10363082e-01 7.91387571e-01 -3.40972271e-02 -2.95035126e+01] [-5.67108693e-02 -7.22626219e-04 9.98390382e-01 -5.79644524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84105275399999 meters 0.015623290555151145 Centerline is valid? [True, True] Translation: X:83.33, Y:-29.52, Z:-5.80 [[ 7.88970059e-01 6.12800254e-01 4.47447804e-02 8.33253787e+01] [-6.11874395e-01 7.90237435e-01 -3.36826537e-02 -2.95217761e+01] [-5.59997392e-02 -8.03580166e-04 9.98430460e-01 -5.79909971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87105275399999 meters 0.016059369353502446 Centerline is valid? [True, True] Translation: X:83.35, Y:-29.54, Z:-5.80 [[ 7.88036040e-01 6.14024943e-01 4.44136224e-02 8.33512824e+01] [-6.13113765e-01 7.89286140e-01 -3.34499495e-02 -2.95386474e+01] [-5.55941599e-02 -8.70837509e-04 9.98453069e-01 -5.80212488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90105275399999 meters 0.01715211245043819 Centerline is valid? [True, True] Translation: X:83.38, Y:-29.55, Z:-5.81 [[ 7.85978093e-01 6.16670108e-01 4.42313841e-02 8.33791912e+01] [-6.15769732e-01 7.87220994e-01 -3.33278147e-02 -2.95532787e+01] [-5.53721412e-02 -1.04141532e-03 9.98465243e-01 -5.80628947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93105275399999 meters 0.016638521393165837 Centerline is valid? [True, True] Translation: X:83.40, Y:-29.57, Z:-5.81 [[ 7.84736777e-01 6.18263516e-01 4.40274431e-02 8.34047142e+01] [-6.17373134e-01 7.85970058e-01 -3.31885871e-02 -2.95729733e+01] [-5.51235446e-02 -1.13705569e-03 9.98478894e-01 -5.80824136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.961052754 meters 0.018029059293502944 Centerline is valid? [True, True] Translation: X:83.43, Y:-29.59, Z:-5.81 [[ 7.83600195e-01 6.19755606e-01 4.32865291e-02 8.34320389e+01] [-6.18896327e-01 7.84793941e-01 -3.26466984e-02 -2.95881938e+01] [-5.42039801e-02 -1.20791462e-03 9.98529153e-01 -5.81306512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.991052754 meters 0.01808770357483051 Centerline is valid? [True, True] Translation: X:83.46, Y:-29.61, Z:-5.82 [[ 7.81921726e-01 6.21994136e-01 4.14934811e-02 8.34581804e+01] [-6.21206910e-01 7.83020831e-01 -3.13105851e-02 -2.96067019e+01] [-5.19652604e-02 -1.29361049e-03 9.98648055e-01 -5.81775554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021052754 meters 0.01779834619224358 Centerline is valid? [True, True] Translation: X:83.48, Y:-29.63, Z:-5.82 [[ 7.81645526e-01 6.22363884e-01 4.11517586e-02 8.34833816e+01] [-6.21589960e-01 7.82726959e-01 -3.10552584e-02 -2.96270093e+01] [-5.15382621e-02 -1.30531617e-03 9.98670168e-01 -5.81990406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051052754 meters 0.018447558980502123 Centerline is valid? [True, True] Translation: X:83.51, Y:-29.65, Z:-5.82 [[ 7.82726766e-01 6.20951635e-01 4.19270421e-02 8.35079860e+01] [-6.20145190e-01 7.83847931e-01 -3.16601450e-02 -2.96469615e+01] [-5.25238440e-02 -1.21961058e-03 9.98618926e-01 -5.81998808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081052754 meters 0.016947546177374317 Centerline is valid? [True, True] Translation: X:83.53, Y:-29.67, Z:-5.82 [[ 7.83876602e-01 6.19431893e-01 4.29139022e-02 8.35305789e+01] [-6.18583829e-01 7.85049585e-01 -3.24221420e-02 -2.96708980e+01] [-5.37728499e-02 -1.13088743e-03 9.98552553e-01 -5.81773470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111052754 meters 0.01729174881021684 Centerline is valid? [True, True] Translation: X:83.56, Y:-29.69, Z:-5.82 [[ 7.83980863e-01 6.19269379e-01 4.33525482e-02 8.35554311e+01] [-6.18402698e-01 7.85177806e-01 -3.27706597e-02 -2.96888749e+01] [-5.43333247e-02 -1.11776273e-03 9.98522228e-01 -5.82010663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14105275399999 meters 0.016918220437368597 Centerline is valid? [True, True] Translation: X:83.58, Y:-29.71, Z:-5.82 [[ 7.83760340e-01 6.19507427e-01 4.39349155e-02 8.35812554e+01] [-6.18616825e-01 7.84989970e-01 -3.32260516e-02 -2.97088501e+01] [-5.50722538e-02 -1.13761648e-03 9.98481724e-01 -5.82302159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17105275399999 meters 0.01751255521227034 Centerline is valid? [True, True] Translation: X:83.61, Y:-29.73, Z:-5.83 [[ 7.83338675e-01 6.20039267e-01 4.39525558e-02 8.36073548e+01] [-6.19147704e-01 7.84569921e-01 -3.32589773e-02 -2.97271800e+01] [-5.51057252e-02 -1.16008080e-03 9.98479851e-01 -5.82606789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20105275399999 meters 0.01737161373918132 Centerline is valid? [True, True] Translation: X:83.63, Y:-29.75, Z:-5.83 [[ 7.83313929e-01 6.20077241e-01 4.38577603e-02 8.36330959e+01] [-6.19188604e-01 7.84539930e-01 -3.32049996e-02 -2.97480617e+01] [-5.49978287e-02 -1.14628667e-03 9.98485816e-01 -5.82848611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23105275399999 meters 0.016792224451486478 Centerline is valid? [True, True] Translation: X:83.66, Y:-29.77, Z:-5.83 [[ 7.85452472e-01 6.17357712e-01 4.39757885e-02 8.36559541e+01] [-6.16458872e-01 7.86681999e-01 -3.33150238e-02 -2.97695743e+01] [-5.51622481e-02 -9.41897211e-04 9.98476960e-01 -5.82989532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26105275399999 meters 0.016039163332217884 Centerline is valid? [True, True] Translation: X:83.68, Y:-29.79, Z:-5.83 [[ 7.87696672e-01 6.14364526e-01 4.57185130e-02 8.36792201e+01] [-6.13387310e-01 7.89021966e-01 -3.46459884e-02 -2.97930694e+01] [-5.73581773e-02 -7.52625934e-04 9.98353381e-01 -5.82836871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29105275399999 meters 0.015917260372753924 Centerline is valid? [True, True] Translation: X:83.70, Y:-29.81, Z:-5.83 [[ 7.88658401e-01 6.13063045e-01 4.66007520e-02 8.37031343e+01] [-6.12045096e-01 7.90033708e-01 -3.53205331e-02 -2.98130884e+01] [-5.84698785e-02 -6.65926650e-04 9.98288951e-01 -5.82865615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.321052754 meters 0.015647886920993632 Centerline is valid? [True, True] Translation: X:83.73, Y:-29.83, Z:-5.83 [[ 7.90128302e-01 6.11112373e-01 4.73173841e-02 8.37269661e+01] [-6.10058336e-01 7.91543683e-01 -3.58807062e-02 -2.98329217e+01] [-5.93809200e-02 -5.16003179e-04 9.98235263e-01 -5.83039278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.351052754 meters 0.015554511990198548 Centerline is valid? [True, True] Translation: X:83.75, Y:-29.85, Z:-5.83 [[ 7.90457556e-01 6.10733050e-01 4.67118196e-02 8.37525168e+01] [-6.09704280e-01 7.91836424e-01 -3.54368238e-02 -2.98535323e+01] [-5.86305596e-02 -4.69091228e-04 9.98279639e-01 -5.83253072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.381052754 meters 0.01563148917794976 Centerline is valid? [True, True] Translation: X:83.78, Y:-29.87, Z:-5.84 [[ 7.91391987e-01 6.09572401e-01 4.60457453e-02 8.37775430e+01] [-6.08569683e-01 7.92730318e-01 -3.49511614e-02 -2.98725715e+01] [-5.78071217e-02 -3.61975562e-04 9.98327705e-01 -5.83522711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411052754 meters 0.015627468730628088 Centerline is valid? [True, True] Translation: X:83.80, Y:-29.89, Z:-5.84 [[ 7.91774175e-01 6.09106592e-01 4.56378650e-02 8.38037370e+01] [-6.08119778e-01 7.93088307e-01 -3.46593914e-02 -2.98924787e+01] [-5.73061209e-02 -3.10877314e-04 9.98356606e-01 -5.83732665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441052754 meters 0.01561231370929588 Centerline is valid? [True, True] Translation: X:83.83, Y:-29.91, Z:-5.84 [[ 7.93068693e-01 6.07365112e-01 4.63645206e-02 8.38284867e+01] [-6.06342412e-01 7.94422804e-01 -3.52319153e-02 -2.99119590e+01] [-5.82316687e-02 -1.71446204e-04 9.98303082e-01 -5.83894926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471052754 meters 0.01563421916543606 Centerline is valid? [True, True] Translation: X:83.85, Y:-29.93, Z:-5.84 [[ 7.93784638e-01 6.06392073e-01 4.68465718e-02 8.38542333e+01] [-6.05345336e-01 7.95165798e-01 -3.56142951e-02 -2.99325437e+01] [-5.88470179e-02 -8.82734353e-05 9.98267009e-01 -5.84052478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50105275399999 meters 0.015688104388012408 Centerline is valid? [True, True] Translation: X:83.88, Y:-29.95, Z:-5.84 [[ 7.95144194e-01 6.04552365e-01 4.75620503e-02 8.38791894e+01] [-6.03468846e-01 7.96565398e-01 -3.61789690e-02 -2.99530315e+01] [-5.97583648e-02 6.52815195e-05 9.98212870e-01 -5.84185355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53105275399999 meters 0.015711038853652617 Centerline is valid? [True, True] Translation: X:83.90, Y:-29.97, Z:-5.84 [[ 7.95686163e-01 6.03816684e-01 4.78428869e-02 8.39043278e+01] [-6.02717846e-01 7.97123199e-01 -3.64115917e-02 -2.99736031e+01] [-6.01226016e-02 1.36437994e-04 9.98190991e-01 -5.84263373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56105275399999 meters 0.01588091074734759 Centerline is valid? [True, True] Translation: X:83.93, Y:-29.99, Z:-5.84 [[ 7.96468939e-01 6.02735738e-01 4.84443822e-02 8.39293202e+01] [-6.01605819e-01 7.97940833e-01 -3.68899028e-02 -2.99949937e+01] [-6.08906135e-02 2.37239570e-04 9.98144417e-01 -5.84311019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59105275399999 meters 0.015845139528985735 Centerline is valid? [True, True] Translation: X:83.96, Y:-30.01, Z:-5.85 [[ 7.96582577e-01 6.02582342e-01 4.84842263e-02 8.39554675e+01] [-6.01449045e-01 7.98056672e-01 -3.69404259e-02 -3.00144201e+01] [-6.09528086e-02 2.65307978e-04 9.98140614e-01 -5.84561132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62105275399999 meters 0.015898946663557612 Centerline is valid? [True, True] Translation: X:83.98, Y:-30.03, Z:-5.85 [[ 7.96620627e-01 6.02488470e-01 4.90226594e-02 8.39819710e+01] [-6.01328355e-01 7.98127533e-01 -3.73717907e-02 -3.00337945e+01] [-6.16424072e-02 2.92424142e-04 9.98098256e-01 -5.84854222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65105275399999 meters 0.016074704227341495 Centerline is valid? [True, True] Translation: X:84.01, Y:-30.05, Z:-5.85 [[ 7.96386397e-01 6.02747886e-01 4.96355940e-02 8.40062290e+01] [-6.01557650e-01 7.97931638e-01 -3.78615091e-02 -3.00546427e+01] [-6.24267555e-02 2.93719551e-04 9.98049505e-01 -5.84958342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68105275399999 meters 0.01602128001149842 Centerline is valid? [True, True] Translation: X:84.03, Y:-30.07, Z:-5.85 [[ 7.95562348e-01 6.03866035e-01 4.92581185e-02 8.40326034e+01] [-6.02695177e-01 7.97085795e-01 -3.75866813e-02 -3.00743280e+01] [-6.19602668e-02 2.14917992e-04 9.98078594e-01 -5.85193968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.711052754 meters 0.016139549859170765 Centerline is valid? [True, True] Translation: X:84.06, Y:-30.09, Z:-5.86 [[ 7.94849487e-01 6.04836927e-01 4.88526884e-02 8.40581468e+01] [-6.03685760e-01 7.96349337e-01 -3.72992812e-02 -3.00928776e+01] [-6.14637887e-02 1.55642211e-04 9.98109302e-01 -5.85514622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.741052754 meters 0.01618311112737314 Centerline is valid? [True, True] Translation: X:84.09, Y:-30.11, Z:-5.86 [[ 7.92909472e-01 6.07498811e-01 4.73261481e-02 8.40866033e+01] [-6.06422113e-01 7.94320586e-01 -3.61528347e-02 -3.01096120e+01] [-5.95549378e-02 -3.36976020e-05 9.98225029e-01 -5.86037874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771052754 meters 0.016371214354114608 Centerline is valid? [True, True] Translation: X:84.11, Y:-30.13, Z:-5.86 [[ 7.90827030e-01 6.10310322e-01 4.59773853e-02 8.41126751e+01] [-6.09297704e-01 7.92162396e-01 -3.51432245e-02 -3.01264529e+01] [-5.78698283e-02 -2.21703418e-04 9.98324113e-01 -5.86246807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801052754 meters 0.016505505023304192 Centerline is valid? [True, True] Translation: X:84.14, Y:-30.15, Z:-5.86 [[ 7.89694810e-01 6.11838570e-01 4.51184134e-02 8.41388174e+01] [-6.10865489e-01 7.90982592e-01 -3.44948257e-02 -3.01455295e+01] [-5.67931445e-02 -3.20896816e-04 9.98385915e-01 -5.86368937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831052754 meters 0.0167434532789156 Centerline is valid? [True, True] Translation: X:84.17, Y:-30.16, Z:-5.87 [[ 7.88193911e-01 6.13859283e-01 4.38991970e-02 8.41666206e+01] [-6.12940355e-01 7.89415345e-01 -3.35787894e-02 -3.01622741e+01] [-5.52673513e-02 -4.40992046e-04 9.98471495e-01 -5.86728462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861052754 meters 0.016898909904474575 Centerline is valid? [True, True] Translation: X:84.19, Y:-30.18, Z:-5.87 [[ 7.87496911e-01 6.14758483e-01 4.38249118e-02 8.41924946e+01] [-6.13843070e-01 7.88715264e-01 -3.35397847e-02 -3.01787232e+01] [-5.51842440e-02 -4.89141540e-04 9.98476069e-01 -5.87112883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89105275399999 meters 0.016866338994627222 Centerline is valid? [True, True] Translation: X:84.22, Y:-30.20, Z:-5.87 [[ 7.86679632e-01 6.15750632e-01 4.45680999e-02 8.42194507e+01] [-6.14805020e-01 7.87940888e-01 -3.41166249e-02 -3.01969966e+01] [-5.61243616e-02 -5.61837631e-04 9.98423628e-01 -5.87294848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92105275399999 meters 0.01686527342561722 Centerline is valid? [True, True] Translation: X:84.24, Y:-30.22, Z:-5.87 [[ 7.86809346e-01 6.15564240e-01 4.48521875e-02 8.42449005e+01] [-6.14605098e-01 7.88086530e-01 -3.43539689e-02 -3.02163349e+01] [-5.64944796e-02 -5.36359282e-04 9.98402767e-01 -5.87484291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95105275399999 meters 0.01674924935783402 Centerline is valid? [True, True] Translation: X:84.27, Y:-30.24, Z:-5.88 [[ 7.87456905e-01 6.14731650e-01 4.49068107e-02 8.42695863e+01] [-6.13767774e-01 7.88736195e-01 -3.44141721e-02 -3.02368965e+01] [-5.65751077e-02 -4.62675800e-04 9.98398239e-01 -5.87507225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98105275399999 meters 0.016695789736515865 Centerline is valid? [True, True] Translation: X:84.29, Y:-30.26, Z:-5.88 [[ 7.88051540e-01 6.13966877e-01 4.49382242e-02 8.42938640e+01] [-6.12999357e-01 7.89331691e-01 -3.44567731e-02 -3.02562342e+01] [-5.66264819e-02 -3.93389405e-04 9.98395356e-01 -5.87666756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01105275399999 meters 0.016636810802793476 Centerline is valid? [True, True] Translation: X:84.32, Y:-30.28, Z:-5.88 [[ 7.87995849e-01 6.14001661e-01 4.54367955e-02 8.43197976e+01] [-6.13012083e-01 7.89304634e-01 -3.48479597e-02 -3.02768715e+01] [-5.72601784e-02 -3.93257089e-04 9.98359213e-01 -5.87725737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04105275399999 meters 0.01656749106059938 Centerline is valid? [True, True] Translation: X:84.35, Y:-30.30, Z:-5.88 [[ 7.87713904e-01 6.14333653e-01 4.58363147e-02 8.43463479e+01] [-6.13326015e-01 7.89046259e-01 -3.51738618e-02 -3.02966807e+01] [-5.77754597e-02 -4.05664234e-04 9.98329521e-01 -5.87889663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.071052754 meters 0.01672428746025174 Centerline is valid? [True, True] Translation: X:84.37, Y:-30.31, Z:-5.89 [[ 7.87452881e-01 6.14755109e-01 4.46555324e-02 8.43724674e+01] [-6.13798290e-01 7.88717940e-01 -3.42880628e-02 -3.03132012e+01] [-5.62993813e-02 -4.09255598e-04 9.98413848e-01 -5.88524272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.101052754 meters 0.016993390236724644 Centerline is valid? [True, True] Translation: X:84.40, Y:-30.33, Z:-5.89 [[ 7.87476948e-01 6.14843682e-01 4.29802725e-02 8.43983929e+01] [-6.13957097e-01 7.88648903e-01 -3.30089536e-02 -3.03323885e+01] [-5.41916913e-02 -3.94253346e-04 9.98530473e-01 -5.89050616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.131052754 meters 0.017166564190490105 Centerline is valid? [True, True] Translation: X:84.42, Y:-30.35, Z:-5.89 [[ 7.87878376e-01 6.14578729e-01 3.92511136e-02 8.44225152e+01] [-6.13838435e-01 7.88855421e-01 -3.01579451e-02 -3.03538734e+01] [-4.94978854e-02 -3.33049334e-04 9.98774173e-01 -5.89436913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161052754 meters 0.017252658846503153 Centerline is valid? [True, True] Translation: X:84.45, Y:-30.37, Z:-5.89 [[ 7.88467348e-01 6.13853622e-01 3.87681793e-02 8.44466522e+01] [-6.13129798e-01 7.89419823e-01 -2.98025942e-02 -3.03748014e+01] [-4.88987997e-02 -2.71553501e-04 9.98803701e-01 -5.89498321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191052754 meters 0.017007269613676382 Centerline is valid? [True, True] Translation: X:84.47, Y:-30.40, Z:-5.89 [[ 7.89946531e-01 6.11906246e-01 3.94363356e-02 8.44708571e+01] [-6.11154335e-01 7.90930291e-01 -3.03257942e-02 -3.03959746e+01] [-4.97479353e-02 -1.45931537e-04 9.98761794e-01 -5.89446558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221052754 meters 0.016968513036704894 Centerline is valid? [True, True] Translation: X:84.50, Y:-30.42, Z:-5.90 [[ 7.91075598e-01 6.10430499e-01 3.96737065e-02 8.44969298e+01] [-6.09666934e-01 7.92069822e-01 -3.05225576e-02 -3.04165239e+01] [-5.00562457e-02 -4.20964578e-05 9.98746400e-01 -5.89586936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25105275399999 meters 0.01710812359931522 Centerline is valid? [True, True] Translation: X:84.52, Y:-30.44, Z:-5.90 [[ 7.92997990e-01 6.07942512e-01 3.94979751e-02 8.45211569e+01] [-6.07181744e-01 7.93981036e-01 -3.04046728e-02 -3.04367053e+01] [-4.98449364e-02 1.28395030e-04 9.98756960e-01 -5.90015320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28105275399999 meters 0.017188547494180865 Centerline is valid? [True, True] Translation: X:84.55, Y:-30.46, Z:-5.90 [[ 7.94286854e-01 6.06212208e-01 4.01889671e-02 8.45461940e+01] [-6.05421520e-01 7.95302895e-01 -3.09530157e-02 -3.04586128e+01] [-5.07264978e-02 2.54307913e-04 9.98712550e-01 -5.90113365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31105275399999 meters 0.01701742725379399 Centerline is valid? [True, True] Translation: X:84.57, Y:-30.48, Z:-5.90 [[ 7.94146966e-01 6.06350103e-01 4.08674536e-02 8.45711820e+01] [-6.05531712e-01 7.95197764e-01 -3.14938554e-02 -3.04795102e+01] [-5.15940102e-02 2.64210546e-04 9.98668107e-01 -5.90076631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34105275399999 meters 0.017002700185849002 Centerline is valid? [True, True] Translation: X:84.60, Y:-30.50, Z:-5.90 [[ 7.93881940e-01 6.06590507e-01 4.24195867e-02 8.45961026e+01] [-6.05708168e-01 7.95014392e-01 -3.27067693e-02 -3.04997533e+01] [-5.35637977e-02 2.71423343e-04 9.98564392e-01 -5.89785843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37105275399999 meters 0.016938065133464634 Centerline is valid? [True, True] Translation: X:84.62, Y:-30.52, Z:-5.90 [[ 7.93167925e-01 6.07464375e-01 4.32628648e-02 8.46212811e+01] [-6.06546956e-01 7.94346889e-01 -3.33737887e-02 -3.05175508e+01] [-5.46391098e-02 2.30059739e-04 9.98506142e-01 -5.89889002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40105275399999 meters 0.016709519575503703 Centerline is valid? [True, True] Translation: X:84.65, Y:-30.54, Z:-5.90 [[ 7.92396873e-01 6.08439777e-01 4.36833403e-02 8.46483048e+01] [-6.07504973e-01 7.93600029e-01 -3.37149915e-02 -3.05358562e+01] [-5.51806420e-02 1.77807379e-04 9.98476372e-01 -5.90052867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43105275399999 meters 0.016882453748637068 Centerline is valid? [True, True] Translation: X:84.67, Y:-30.55, Z:-5.91 [[ 7.90535342e-01 6.10942039e-01 4.24699674e-02 8.46748433e+01] [-6.10061819e-01 7.91675328e-01 -3.27834061e-02 -3.05523293e+01] [-5.36511863e-02 7.13554144e-06 9.98559738e-01 -5.90556354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.461052754 meters 0.016942409087511837 Centerline is valid? [True, True] Translation: X:84.70, Y:-30.57, Z:-5.91 [[ 7.89529287e-01 6.12297649e-01 4.16544589e-02 8.47007660e+01] [-6.11452455e-01 7.90627335e-01 -3.21607356e-02 -3.05710277e+01] [-5.26250966e-02 -7.78785329e-05 9.98614337e-01 -5.90960084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.491052754 meters 0.01694151852490832 Centerline is valid? [True, True] Translation: X:84.73, Y:-30.59, Z:-5.91 [[ 7.89669404e-01 6.12114352e-01 4.16923576e-02 8.47269765e+01] [-6.11266567e-01 7.90769256e-01 -3.22050834e-02 -3.05914807e+01] [-5.26822284e-02 -5.37753179e-05 9.98611326e-01 -5.91117469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521052754 meters 0.016760432272928744 Centerline is valid? [True, True] Translation: X:84.75, Y:-30.61, Z:-5.91 [[ 7.90741520e-01 6.10705730e-01 4.20280771e-02 8.47528025e+01] [-6.09841269e-01 7.91857631e-01 -3.24825931e-02 -3.06120352e+01] [-5.31175593e-02 5.48792152e-05 9.98588264e-01 -5.91239668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.551052754 meters 0.016955229885340154 Centerline is valid? [True, True] Translation: X:84.78, Y:-30.63, Z:-5.91 [[ 7.91630238e-01 6.09565738e-01 4.18470694e-02 8.47772924e+01] [-6.08706119e-01 7.92735511e-01 -3.23615769e-02 -3.06319182e+01] [-5.29001664e-02 1.45835696e-04 9.98599795e-01 -5.91416598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581052754 meters 0.017094490446049136 Centerline is valid? [True, True] Translation: X:84.80, Y:-30.65, Z:-5.91 [[ 7.93871979e-01 6.06605273e-01 4.23948555e-02 8.48024415e+01] [-6.05717788e-01 7.95003089e-01 -3.28031955e-02 -3.06527132e+01] [-5.36026325e-02 3.62219610e-04 9.98562280e-01 -5.91317778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.611052754 meters 0.017094490446049136 Centerline is valid? [True, True] Translation: X:84.83, Y:-30.67, Z:-5.92 [[ 7.93704264e-01 6.06825242e-01 4.23871178e-02 8.48279585e+01] [-6.05937537e-01 7.94835201e-01 -3.28131904e-02 -3.06725409e+01] [-5.36026455e-02 3.60023401e-04 9.98562280e-01 -5.91526852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64105275399999 meters 0.017154100158060397 Centerline is valid? [True, True] Translation: X:84.85, Y:-30.69, Z:-5.92 [[ 7.94802604e-01 6.05306652e-01 4.35049147e-02 8.48536457e+01] [-6.04368102e-01 7.95992221e-01 -3.36983831e-02 -3.06926506e+01] [-5.50274291e-02 4.90579976e-04 9.98484723e-01 -5.91599847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67105275399999 meters 0.017471142826629985 Centerline is valid? [True, True] Translation: X:84.88, Y:-30.71, Z:-5.92 [[ 7.96153413e-01 6.03454869e-01 4.45192592e-02 8.48785864e+01] [-6.02467939e-01 7.97396889e-01 -3.45048435e-02 -3.07119246e+01] [-5.63216346e-02 6.49722605e-04 9.98412466e-01 -5.91761802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70105275399999 meters 0.018227194400988266 Centerline is valid? [True, True] Translation: X:84.90, Y:-30.73, Z:-5.92 [[ 7.99586723e-01 5.98819446e-01 4.55669157e-02 8.49044297e+01] [-5.97776971e-01 8.00883415e-01 -3.53333952e-02 -3.07314892e+01] [-5.76521112e-02 1.01326081e-03 9.98336220e-01 -5.91848418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73105275399999 meters 0.019924132648559707 Centerline is valid? [True, True] Translation: X:84.93, Y:-30.75, Z:-5.92 [[ 8.03131928e-01 5.93993564e-01 4.63762007e-02 8.49303160e+01] [-5.92904547e-01 8.04468574e-01 -3.59793247e-02 -3.07475921e+01] [-5.86796834e-02 1.39948414e-03 9.98275882e-01 -5.92133985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76105275399999 meters 0.020392005785183395 Centerline is valid? [True, True] Translation: X:84.96, Y:-30.77, Z:-5.92 [[ 8.04755647e-01 5.91779318e-01 4.65358675e-02 8.49572179e+01] [-5.90678193e-01 8.06098472e-01 -3.61182249e-02 -3.07653264e+01] [-5.88865102e-02 1.57862340e-03 9.98263436e-01 -5.92338682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79105275399999 meters 0.022114893561443163 Centerline is valid? [True, True] Translation: X:84.98, Y:-30.78, Z:-5.92 [[ 8.08619747e-01 5.86483139e-01 4.66007706e-02 8.49839391e+01] [-5.85369010e-01 8.09959008e-01 -3.61874047e-02 -3.07835225e+01] [-5.89680166e-02 1.98320315e-03 9.98257903e-01 -5.92487652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.821052754 meters 0.02355307517759136 Centerline is valid? [True, True] Translation: X:85.01, Y:-30.80, Z:-5.93 [[ 8.10768640e-01 5.83499597e-01 4.67165167e-02 8.50088450e+01] [-5.82374697e-01 8.12110422e-01 -3.62818908e-02 -3.08018977e+01] [-5.91094387e-02 2.20970197e-03 9.98249063e-01 -5.92697273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.851052754 meters 0.02379117667822018 Centerline is valid? [True, True] Translation: X:85.04, Y:-30.81, Z:-5.93 [[ 8.14185989e-01 5.78589156e-01 4.83297533e-02 8.50401386e+01] [-5.77375388e-01 8.15614773e-01 -3.75526776e-02 -3.08140415e+01] [-6.11460328e-02 2.67045388e-03 9.98125258e-01 -5.93150007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.881052754 meters 0.026779804250876012 Centerline is valid? [True, True] Translation: X:85.06, Y:-30.83, Z:-5.93 [[ 8.15006712e-01 5.77390996e-01 4.88231264e-02 8.50648775e+01] [-5.76149634e-01 8.16462995e-01 -3.79443824e-02 -3.08332323e+01] [-6.17710208e-02 2.79549996e-03 9.98086432e-01 -5.93480522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911052754 meters 0.02664865356999227 Centerline is valid? [True, True] Translation: X:85.10, Y:-30.85, Z:-5.94 [[ 8.15404178e-01 5.76817298e-01 4.89676533e-02 8.50962083e+01] [-5.75566450e-01 8.16868175e-01 -3.80742175e-02 -3.08453896e+01] [-6.19619848e-02 2.86173768e-03 9.98074408e-01 -5.93753740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941052754 meters 0.025643081416279172 Centerline is valid? [True, True] Translation: X:85.13, Y:-30.86, Z:-5.94 [[ 8.14856126e-01 5.77586406e-01 4.90248620e-02 8.51254901e+01] [-5.76332882e-01 8.16324679e-01 -3.81369460e-02 -3.08601196e+01] [-6.20475863e-02 2.82148402e-03 9.98069204e-01 -5.93938127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971052754 meters 0.0256423019147341 Centerline is valid? [True, True] Translation: X:85.16, Y:-30.87, Z:-5.94 [[ 8.12679894e-01 5.80659930e-01 4.88409174e-02 8.51566850e+01] [-5.79420163e-01 8.14142078e-01 -3.80125082e-02 -3.08691497e+01] [-6.18357863e-02 2.59258881e-03 9.98082970e-01 -5.94113007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00105275399999 meters 0.024512926690958378 Centerline is valid? [True, True] Translation: X:85.19, Y:-30.88, Z:-5.94 [[ 8.11547407e-01 5.82260871e-01 4.86115723e-02 8.51874539e+01] [-5.81034887e-01 8.12998269e-01 -3.78453983e-02 -3.08818453e+01] [-6.15570187e-02 2.46831544e-03 9.98100516e-01 -5.94400134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03105275399999 meters 0.024183893987329008 Centerline is valid? [True, True] Translation: X:85.22, Y:-30.89, Z:-5.95 [[ 8.09672870e-01 5.84993512e-01 4.70365229e-02 8.52206731e+01] [-5.83849309e-01 8.11034984e-01 -3.66365866e-02 -3.08897905e+01] [-5.95804310e-02 2.20140883e-03 9.98221081e-01 -5.94964986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06105275399999 meters 0.026634511689366824 Centerline is valid? [True, True] Translation: X:85.25, Y:-30.91, Z:-5.95 [[ 8.08846787e-01 5.86230017e-01 4.58393135e-02 8.52460869e+01] [-5.85144483e-01 8.10142017e-01 -3.57189818e-02 -3.09071363e+01] [-5.80758932e-02 2.06856229e-03 9.98310028e-01 -5.95441339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09105275399999 meters 0.023330693863777025 Centerline is valid? [True, True] Translation: X:85.28, Y:-30.91, Z:-5.96 [[ 8.07871589e-01 5.87633171e-01 4.50638665e-02 8.52815787e+01] [-5.86585693e-01 8.09125134e-01 -3.51246576e-02 -3.09144934e+01] [-5.71027210e-02 1.94239355e-03 9.98366419e-01 -5.95625173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12105275399999 meters 0.02319807511920543 Centerline is valid? [True, True] Translation: X:85.31, Y:-30.93, Z:-5.96 [[ 8.07445078e-01 5.88173939e-01 4.56493525e-02 8.53099396e+01] [-5.87099610e-01 8.08732144e-01 -3.55860631e-02 -3.09298521e+01] [-5.78488936e-02 1.93307445e-03 9.98323479e-01 -5.95751196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15105275399999 meters 0.02302056268823803 Centerline is valid? [True, True] Translation: X:85.34, Y:-30.94, Z:-5.96 [[ 8.07060794e-01 5.88657665e-01 4.62063655e-02 8.53448378e+01] [-5.87556676e-01 8.08380111e-01 -3.60381484e-02 -3.09371680e+01] [-5.85664392e-02 1.93611810e-03 9.98281635e-01 -5.96093774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18105275399999 meters 0.023295280043817913 Centerline is valid? [True, True] Translation: X:85.38, Y:-30.95, Z:-5.97 [[ 8.06424197e-01 5.89635493e-01 4.48330189e-02 8.53750041e+01] [-5.88599580e-01 8.07667420e-01 -3.49838972e-02 -3.09487164e+01] [-5.68379162e-02 1.82316512e-03 9.98381754e-01 -5.96604013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.211052754 meters 0.02267740382237942 Centerline is valid? [True, True] Translation: X:85.41, Y:-30.95, Z:-5.97 [[ 8.04201647e-01 5.92824548e-01 4.26470074e-02 8.54102911e+01] [-5.91890839e-01 8.05330184e-01 -3.32945882e-02 -3.09547156e+01] [-5.40827715e-02 1.53318965e-03 9.98535279e-01 -5.97241709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.241052754 meters 0.022477867140505436 Centerline is valid? [True, True] Translation: X:85.44, Y:-30.97, Z:-5.97 [[ 8.02923444e-01 5.94551499e-01 4.26902667e-02 8.54392458e+01] [-5.93618265e-01 8.04056280e-01 -3.33294845e-02 -3.09691049e+01] [-5.41414720e-02 1.41930242e-03 9.98532266e-01 -5.97407304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271052754 meters 0.022281171363426732 Centerline is valid? [True, True] Translation: X:85.47, Y:-30.98, Z:-5.97 [[ 8.01270501e-01 5.96657505e-01 4.43328975e-02 8.54709843e+01] [-5.95653124e-01 8.02494873e-01 -3.46314223e-02 -3.09772904e+01] [-5.62400209e-02 1.34210821e-03 9.98416375e-01 -5.97369808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301052754 meters 0.0222536547465998 Centerline is valid? [True, True] Translation: X:85.50, Y:-30.99, Z:-5.97 [[ 8.00347128e-01 5.97830928e-01 4.51957569e-02 8.55005836e+01] [-5.96788743e-01 8.01621186e-01 -3.53082124e-02 -3.09907537e+01] [-5.73382176e-02 1.28650737e-03 9.98353982e-01 -5.97488580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331052754 meters 0.02241887263420047 Centerline is valid? [True, True] Translation: X:85.54, Y:-31.00, Z:-5.98 [[ 8.00246631e-01 5.97973928e-01 4.50833798e-02 8.55371152e+01] [-5.96936207e-01 8.01514521e-01 -3.52368818e-02 -3.09975608e+01] [-5.72057202e-02 1.28629422e-03 9.98361583e-01 -5.97814105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361052754 meters 0.022481220559904546 Centerline is valid? [True, True] Translation: X:85.57, Y:-31.01, Z:-5.98 [[ 8.00215759e-01 5.98027938e-01 4.49146424e-02 8.55720424e+01] [-5.96996978e-01 8.01474213e-01 -3.51239865e-02 -3.10052980e+01] [-5.70030528e-02 1.29286172e-03 9.98373167e-01 -5.98103047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39105275399999 meters 0.022553553913052138 Centerline is valid? [True, True] Translation: X:85.60, Y:-31.02, Z:-5.98 [[ 7.99545323e-01 5.98924067e-01 4.49136687e-02 8.56012746e+01] [-5.97893548e-01 8.00804855e-01 -3.51410006e-02 -3.10199539e+01] [-5.70138750e-02 1.24323000e-03 9.98372612e-01 -5.98289483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42105275399999 meters 0.021727717630835558 Centerline is valid? [True, True] Translation: X:85.64, Y:-31.03, Z:-5.98 [[ 7.97342724e-01 6.01981341e-01 4.31630067e-02 8.56353067e+01] [-6.01033296e-01 7.98509531e-01 -3.37861773e-02 -3.10289216e+01] [-5.48047206e-02 9.96758486e-04 9.98496594e-01 -5.98325857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45105275399999 meters 0.021621992999566256 Centerline is valid? [True, True] Translation: X:85.66, Y:-31.04, Z:-5.99 [[ 7.95422854e-01 6.04613168e-01 4.17779848e-02 8.56642480e+01] [-6.03727786e-01 7.96518847e-01 -3.27183094e-02 -3.10419848e+01] [-5.30588730e-02 8.02360796e-04 9.98591064e-01 -5.98630971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48105275399999 meters 0.020962840779450504 Centerline is valid? [True, True] Translation: X:85.70, Y:-31.05, Z:-5.99 [[ 7.93227504e-01 6.07609304e-01 4.00132480e-02 8.56963569e+01] [-6.06800665e-01 7.94235856e-01 -3.13425893e-02 -3.10527477e+01] [-5.08240052e-02 5.81738382e-04 9.98707456e-01 -5.98948421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51105275399999 meters 0.02015609996782461 Centerline is valid? [True, True] Translation: X:85.74, Y:-31.05, Z:-5.99 [[ 7.88446797e-01 6.13897640e-01 3.84881298e-02 8.57357613e+01] [-6.13156196e-01 7.89385618e-01 -3.01633020e-02 -3.10526083e+01] [-4.88991560e-02 1.82923610e-04 9.98803704e-01 -5.99456817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54105275399999 meters 0.019856142821897484 Centerline is valid? [True, True] Translation: X:85.77, Y:-31.06, Z:-5.99 [[ 7.84084307e-01 6.19454312e-01 3.85766226e-02 8.57735199e+01] [-6.18715882e-01 7.85032694e-01 -3.02378336e-02 -3.10580818e+01] [-4.90148664e-02 -1.58958332e-04 9.98798036e-01 -5.99414004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.571052754 meters 0.020102575903379882 Centerline is valid? [True, True] Translation: X:85.80, Y:-31.07, Z:-6.00 [[ 7.82977775e-01 6.20875430e-01 3.82034477e-02 8.58018991e+01] [-6.20152032e-01 7.83909208e-01 -2.99634832e-02 -3.10722368e+01] [-4.85516250e-02 -2.31204316e-04 9.98820648e-01 -5.99573677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.601052754 meters 0.020277856651788186 Centerline is valid? [True, True] Translation: X:85.83, Y:-31.09, Z:-6.00 [[ 7.82197633e-01 6.21848824e-01 3.83523502e-02 8.58307732e+01] [-6.21120302e-01 7.83137255e-01 -3.00933546e-02 -3.10882485e+01] [-4.87486714e-02 -2.82472610e-04 9.98811037e-01 -5.99700636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.631052754 meters 0.020362973982992316 Centerline is valid? [True, True] Translation: X:85.86, Y:-31.10, Z:-6.00 [[ 7.82537456e-01 6.21369336e-01 3.91826322e-02 8.58631533e+01] [-6.20607385e-01 7.83517766e-01 -3.07633731e-02 -3.10997590e+01] [-4.98157051e-02 -2.43539179e-04 9.98758397e-01 -5.99636092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661052754 meters 0.020594993848859832 Centerline is valid? [True, True] Translation: X:85.90, Y:-31.11, Z:-6.00 [[ 7.82779035e-01 6.20970285e-01 4.06557308e-02 8.58981387e+01] [-6.20148527e-01 7.83834077e-01 -3.19365644e-02 -3.11071596e+01] [-5.16990047e-02 -2.13318533e-04 9.98662690e-01 -5.99635715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691052754 meters 0.020585260015238496 Centerline is valid? [True, True] Translation: X:85.93, Y:-31.12, Z:-6.00 [[ 7.82486398e-01 6.21341952e-01 4.06105297e-02 8.59292839e+01] [-6.20521728e-01 7.83539487e-01 -3.19164151e-02 -3.11204884e+01] [-5.16509613e-02 -2.25555372e-04 9.98665173e-01 -5.99830421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721052754 meters 0.021156158562643735 Centerline is valid? [True, True] Translation: X:85.96, Y:-31.13, Z:-6.00 [[ 7.81239213e-01 6.23076863e-01 3.79541092e-02 8.59640504e+01] [-6.22361753e-01 7.82160552e-01 -2.98449200e-02 -3.11284388e+01] [-4.82818862e-02 -3.05164127e-04 9.98833703e-01 -6.00317209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75105275399999 meters 0.021538395575366253 Centerline is valid? [True, True] Translation: X:85.99, Y:-31.14, Z:-6.01 [[ 7.80082986e-01 6.24634092e-01 3.60941315e-02 8.59939473e+01] [-6.23988449e-01 7.80917482e-01 -2.83954647e-02 -3.11427502e+01] [-4.59233136e-02 -3.71502266e-04 9.98944899e-01 -6.00678520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78105275399999 meters 0.021870572718285942 Centerline is valid? [True, True] Translation: X:86.02, Y:-31.16, Z:-6.01 [[ 7.78582356e-01 6.26568837e-01 3.49429243e-02 8.60220881e+01] [-6.25964800e-01 7.79365951e-01 -2.75097005e-02 -3.11550696e+01] [-4.44700465e-02 -4.54473180e-04 9.99010615e-01 -6.01023926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81105275399999 meters 0.022549186424156528 Centerline is valid? [True, True] Translation: X:86.05, Y:-31.16, Z:-6.01 [[ 7.74952236e-01 6.31048353e-01 3.50286735e-02 8.60537334e+01] [-6.30445908e-01 7.75743171e-01 -2.75769613e-02 -3.11587416e+01] [-4.45756502e-02 -7.12856053e-04 9.99005757e-01 -6.01347361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84105275399999 meters 0.022405176664085272 Centerline is valid? [True, True] Translation: X:86.08, Y:-31.17, Z:-6.01 [[ 7.73687179e-01 6.32580300e-01 3.53597749e-02 8.60809007e+01] [-6.31968305e-01 7.74494352e-01 -2.78309176e-02 -3.11704713e+01] [-4.49912362e-02 -8.13832882e-04 9.98987050e-01 -6.01360656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87105275399999 meters 0.022659243839949054 Centerline is valid? [True, True] Translation: X:86.11, Y:-31.17, Z:-6.01 [[ 7.72403457e-01 6.34052003e-01 3.70264358e-02 8.61114176e+01] [-6.33382767e-01 7.73289833e-01 -2.91393973e-02 -3.11749849e+01] [-4.71080595e-02 -9.44535169e-04 9.98889353e-01 -6.01325363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90105275399999 meters 0.022148838919820456 Centerline is valid? [True, True] Translation: X:86.14, Y:-31.19, Z:-6.01 [[ 7.72455461e-01 6.33928964e-01 3.80345892e-02 8.61397958e+01] [-6.33222871e-01 7.73390674e-01 -2.99275971e-02 -3.11863935e+01] [-4.83875672e-02 -9.66635944e-04 9.98828168e-01 -6.01220163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93105275399999 meters 0.022486660779165304 Centerline is valid? [True, True] Translation: X:86.16, Y:-31.20, Z:-6.01 [[ 7.72983355e-01 6.33279924e-01 3.81217862e-02 8.61649215e+01] [-6.32570688e-01 7.73922250e-01 -2.99779083e-02 -3.11994942e+01] [-4.84877061e-02 -9.42300378e-04 9.98823335e-01 -6.01466073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.961052754 meters 0.022170925494611984 Centerline is valid? [True, True] Translation: X:86.19, Y:-31.22, Z:-6.02 [[ 7.72664829e-01 6.33685359e-01 3.78408285e-02 8.61897762e+01] [-6.32987128e-01 7.73590292e-01 -2.97549301e-02 -3.12151790e+01] [-4.81285612e-02 -9.62169325e-04 9.98840686e-01 -6.01574489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.991052754 meters 0.021976183246191272 Centerline is valid? [True, True] Translation: X:86.22, Y:-31.23, Z:-6.02 [[ 7.71902471e-01 6.34677856e-01 3.67504307e-02 8.62178388e+01] [-6.34021071e-01 7.72776170e-01 -2.88837815e-02 -3.12254863e+01] [-4.67317536e-02 -1.00508512e-03 9.98906969e-01 -6.01775996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021052754 meters 0.022563563965714968 Centerline is valid? [True, True] Translation: X:86.24, Y:-31.24, Z:-6.02 [[ 7.71355806e-01 6.35409798e-01 3.55613279e-02 8.62441086e+01] [-6.34796361e-01 7.72174418e-01 -2.79329308e-02 -3.12370984e+01] [-4.52084056e-02 -1.02797320e-03 9.98977048e-01 -6.02158342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051052754 meters 0.02335072784435695 Centerline is valid? [True, True] Translation: X:86.27, Y:-31.25, Z:-6.03 [[ 7.69744480e-01 6.37485770e-01 3.32464753e-02 8.62731647e+01] [-6.36951921e-01 7.70461370e-01 -2.61060857e-02 -3.12459605e+01] [-4.22573830e-02 -1.08139094e-03 9.99106173e-01 -6.02867463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081052754 meters 0.022605132411287816 Centerline is valid? [True, True] Translation: X:86.30, Y:-31.26, Z:-6.03 [[ 7.69542174e-01 6.37696932e-01 3.38742566e-02 8.62965945e+01] [-6.37142785e-01 7.70286563e-01 -2.66023126e-02 -3.12608501e+01] [-4.30570978e-02 -1.11113665e-03 9.99071995e-01 -6.03037528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111052754 meters 0.023031437864811235 Centerline is valid? [True, True] Translation: X:86.32, Y:-31.28, Z:-6.03 [[ 7.69495915e-01 6.37672156e-01 3.53589997e-02 8.63205319e+01] [-6.37069292e-01 7.70306978e-01 -2.77466499e-02 -3.12756538e+01] [-4.49305502e-02 -1.17519916e-03 9.98989422e-01 -6.03162054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14105275399999 meters 0.022861654860824806 Centerline is valid? [True, True] Translation: X:86.35, Y:-31.29, Z:-6.03 [[ 7.69621384e-01 6.37450576e-01 3.66017535e-02 8.63457923e+01] [-6.36804409e-01 7.70490306e-01 -2.87199088e-02 -3.12905766e+01] [-4.65088186e-02 -1.20470203e-03 9.98917153e-01 -6.03227241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17105275399999 meters 0.023143293875179233 Centerline is valid? [True, True] Translation: X:86.37, Y:-31.30, Z:-6.03 [[ 7.68676194e-01 6.38489767e-01 3.83109086e-02 8.63725762e+01] [-6.37783908e-01 7.69629146e-01 -3.00443796e-02 -3.13005474e+01] [-4.86682208e-02 -1.33968162e-03 9.98814102e-01 -6.03335765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20105275399999 meters 0.022243606007491975 Centerline is valid? [True, True] Translation: X:86.40, Y:-31.32, Z:-6.03 [[ 7.67822570e-01 6.39458176e-01 3.92650224e-02 8.63953480e+01] [-6.38718509e-01 7.68824528e-01 -3.07816822e-02 -3.13180784e+01] [-4.98715107e-02 -1.44442623e-03 9.98754598e-01 -6.03440588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23105275399999 meters 0.02497061401359668 Centerline is valid? [True, True] Translation: X:86.42, Y:-31.33, Z:-6.04 [[ 7.65228223e-01 6.42502834e-01 4.01979552e-02 8.64233408e+01] [-6.41732765e-01 7.66281430e-01 -3.14933252e-02 -3.13286609e+01] [-5.10374973e-02 -1.69676368e-03 9.98695296e-01 -6.03793314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26105275399999 meters 0.024554643946237013 Centerline is valid? [True, True] Translation: X:86.45, Y:-31.34, Z:-6.04 [[ 7.60789887e-01 6.47616673e-01 4.23248590e-02 8.64497395e+01] [-6.46770978e-01 7.61963268e-01 -3.31554001e-02 -3.13437303e+01] [-5.37219777e-02 -2.15019730e-03 9.98553617e-01 -6.03761861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29105275399999 meters 0.02547196581723293 Centerline is valid? [True, True] Translation: X:86.48, Y:-31.36, Z:-6.04 [[ 7.58602247e-01 6.50086911e-01 4.36994225e-02 8.64750921e+01] [-6.49189488e-01 7.59856066e-01 -3.42310864e-02 -3.13593960e+01] [-5.54584525e-02 -2.40142674e-03 9.98458108e-01 -6.03877205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.321052754 meters 0.02841007417482898 Centerline is valid? [True, True] Translation: X:86.50, Y:-31.37, Z:-6.04 [[ 7.55632626e-01 6.53470701e-01 4.46696519e-02 8.65022453e+01] [-6.52538970e-01 7.56946958e-01 -3.49885080e-02 -3.13720752e+01] [-5.66765220e-02 -2.71023048e-03 9.98388915e-01 -6.04147410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.351052754 meters 0.0296025462525784 Centerline is valid? [True, True] Translation: X:86.53, Y:-31.39, Z:-6.04 [[ 7.55032251e-01 6.54195902e-01 4.42043214e-02 8.65261964e+01] [-6.53284840e-01 7.56320189e-01 -3.46220956e-02 -3.13865593e+01] [-5.60822538e-02 -2.73721429e-03 9.98422400e-01 -6.04428316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.381052754 meters 0.029483257168051762 Centerline is valid? [True, True] Translation: X:86.55, Y:-31.40, Z:-6.05 [[ 7.54269092e-01 6.55106786e-01 4.37405514e-02 8.65516713e+01] [-6.54216508e-01 7.55531190e-01 -3.42546585e-02 -3.14009036e+01] [-5.54878101e-02 -2.77856068e-03 9.98455499e-01 -6.04852068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411052754 meters 0.029668068616224463 Centerline is valid? [True, True] Translation: X:86.58, Y:-31.42, Z:-6.05 [[ 7.54043884e-01 6.55342893e-01 4.40853069e-02 8.65757307e+01] [-6.54439872e-01 7.55326207e-01 -3.45076187e-02 -3.14170928e+01] [-5.59131103e-02 -2.83092374e-03 9.98431625e-01 -6.05054103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441052754 meters 0.029929308442575974 Centerline is valid? [True, True] Translation: X:86.60, Y:-31.43, Z:-6.05 [[ 7.54126530e-01 6.55169430e-01 4.52348849e-02 8.65997109e+01] [-6.54219379e-01 7.55476391e-01 -3.53896439e-02 -3.14339339e+01] [-5.73601004e-02 -2.90526892e-03 9.98349327e-01 -6.05144175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471052754 meters 0.0300478790103002 Centerline is valid? [True, True] Translation: X:86.62, Y:-31.45, Z:-6.05 [[ 7.54372214e-01 6.54830582e-01 4.60377192e-02 8.66235520e+01] [-6.53846897e-01 7.55769965e-01 -3.59999306e-02 -3.14509249e+01] [-5.83677809e-02 -2.94427253e-03 9.98290806e-01 -6.05252894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50105275399999 meters 0.0300478790103002 Centerline is valid? [True, True] Translation: X:86.65, Y:-31.47, Z:-6.05 [[ 7.54547308e-01 6.54628233e-01 4.60460321e-02 8.66452431e+01] [-6.53644820e-01 7.55945250e-01 -3.59892945e-02 -3.14677712e+01] [-5.83678875e-02 -2.94212508e-03 9.98290806e-01 -6.05429905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53105275399999 meters 0.029262999793210908 Centerline is valid? [True, True] Translation: X:86.67, Y:-31.48, Z:-6.06 [[ 7.55301137e-01 6.53793888e-01 4.55383852e-02 8.66689313e+01] [-6.52831681e-01 7.56667277e-01 -3.55728508e-02 -3.14834449e+01] [-5.77147184e-02 -2.86068597e-03 9.98329018e-01 -6.05643939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56105275399999 meters 0.026342282814059807 Centerline is valid? [True, True] Translation: X:86.69, Y:-31.50, Z:-6.06 [[ 7.55395447e-01 6.53748707e-01 4.46132879e-02 8.66899030e+01] [-6.52826074e-01 7.56706498e-01 -3.48338046e-02 -3.15031642e+01] [-5.65317196e-02 -2.81142018e-03 9.98396845e-01 -6.05954888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59105275399999 meters 0.02707549339437526 Centerline is valid? [True, True] Translation: X:86.71, Y:-31.52, Z:-6.06 [[ 7.55959015e-01 6.53216064e-01 4.28338793e-02 8.67147002e+01] [-6.52365742e-01 7.57166839e-01 -3.34262923e-02 -3.15167018e+01] [-5.42669840e-02 -2.67444842e-03 9.98522880e-01 -6.06427790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62105275399999 meters 0.026574172061281747 Centerline is valid? [True, True] Translation: X:86.74, Y:-31.53, Z:-6.07 [[ 7.56117818e-01 6.53053788e-01 4.25040588e-02 8.67376043e+01] [-6.52216445e-01 7.57306910e-01 -3.31655427e-02 -3.15328570e+01] [-5.38475007e-02 -2.64478835e-03 9.98545668e-01 -6.06640560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65105275399999 meters 0.028314634192774493 Centerline is valid? [True, True] Translation: X:86.76, Y:-31.55, Z:-6.07 [[ 7.56321812e-01 6.52825163e-01 4.23865927e-02 8.67623761e+01] [-6.51993246e-01 7.57504026e-01 -3.30523458e-02 -3.15465469e+01] [-5.36854177e-02 -2.63756211e-03 9.98554415e-01 -6.06927079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68105275399999 meters 0.029039282820890498 Centerline is valid? [True, True] Translation: X:86.79, Y:-31.56, Z:-6.07 [[ 7.55687459e-01 6.53552707e-01 4.24891060e-02 8.67862512e+01] [-6.52718222e-01 7.56876191e-01 -3.31263467e-02 -3.15606293e+01] [-5.38088062e-02 -2.70024898e-03 9.98547606e-01 -6.07096662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.711052754 meters 0.027174609198579752 Centerline is valid? [True, True] Translation: X:86.81, Y:-31.58, Z:-6.07 [[ 7.55932175e-01 6.53171906e-01 4.39659898e-02 8.68083992e+01] [-6.52277969e-01 7.57204589e-01 -3.42733330e-02 -3.15791456e+01] [-5.56776275e-02 -2.76973134e-03 9.98444956e-01 -6.07103652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.741052754 meters 0.02609331166905656 Centerline is valid? [True, True] Translation: X:86.83, Y:-31.60, Z:-6.07 [[ 7.56637292e-01 6.52269348e-01 4.52184201e-02 8.68318001e+01] [-6.51323151e-01 7.57982117e-01 -3.52315786e-02 -3.15966103e+01] [-5.72552326e-02 -2.79427757e-03 9.98355663e-01 -6.07097646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.771052754 meters 0.025435854218596822 Centerline is valid? [True, True] Translation: X:86.86, Y:-31.61, Z:-6.07 [[ 7.59038354e-01 6.49323121e-01 4.73314049e-02 8.68577598e+01] [-6.48281875e-01 7.60507825e-01 -3.68572850e-02 -3.16104673e+01] [-5.99281911e-02 -2.70799901e-03 9.98199018e-01 -6.07056493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801052754 meters 0.02461894978423214 Centerline is valid? [True, True] Translation: X:86.88, Y:-31.63, Z:-6.07 [[ 7.60123194e-01 6.48021842e-01 4.77537597e-02 8.68814692e+01] [-6.46959507e-01 7.61617208e-01 -3.71836691e-02 -3.16269167e+01] [-6.04659149e-02 -2.63057950e-03 9.98166796e-01 -6.07214180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831052754 meters 0.02273477571884681 Centerline is valid? [True, True] Translation: X:86.91, Y:-31.64, Z:-6.08 [[ 7.63231405e-01 6.44446667e-01 4.65437049e-02 8.69056982e+01] [-6.43431192e-01 7.64645829e-01 -3.62361316e-02 -3.16446928e+01] [-5.89417041e-02 -2.29111793e-03 9.98258797e-01 -6.07669561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861052754 meters 0.022425619286165963 Centerline is valid? [True, True] Translation: X:86.93, Y:-31.66, Z:-6.08 [[ 7.64856879e-01 6.42604678e-01 4.53120638e-02 8.69292176e+01] [-6.41639089e-01 7.66195047e-01 -3.52764841e-02 -3.16605368e+01] [-5.73867126e-02 -2.09252979e-03 9.98349832e-01 -6.07931554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89105275399999 meters 0.02068726558145483 Centerline is valid? [True, True] Translation: X:86.96, Y:-31.67, Z:-6.08 [[ 7.67447771e-01 6.39677003e-01 4.28631658e-02 8.69550441e+01] [-6.38808701e-01 7.68641777e-01 -3.33655713e-02 -3.16743321e+01] [-5.42896086e-02 -1.77502993e-03 9.98523654e-01 -6.08332718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92105275399999 meters 0.02025550169938476 Centerline is valid? [True, True] Translation: X:86.98, Y:-31.69, Z:-6.09 [[ 7.68480325e-01 6.38473034e-01 4.23104476e-02 8.69791922e+01] [-6.37625295e-01 7.69642382e-01 -3.29330685e-02 -3.16902324e+01] [-5.35907899e-02 -1.66979640e-03 9.98561585e-01 -6.08547857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95105275399999 meters 0.019701446335125054 Centerline is valid? [True, True] Translation: X:87.01, Y:-31.70, Z:-6.08 [[ 7.68700387e-01 6.38098387e-01 4.39336247e-02 8.70053553e+01] [-6.37184678e-01 7.69952913e-01 -3.41789094e-02 -3.17035810e+01] [-5.56363293e-02 -1.72049168e-03 9.98449618e-01 -6.08340917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98105275399999 meters 0.02059611652484979 Centerline is valid? [True, True] Translation: X:87.03, Y:-31.71, Z:-6.08 [[ 7.68377095e-01 6.38371422e-01 4.55913097e-02 8.70313986e+01] [-6.37389007e-01 7.69726322e-01 -3.54491557e-02 -3.17140112e+01] [-5.77225591e-02 -1.82108030e-03 9.98331002e-01 -6.08290318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01105275399999 meters 0.019562233835834733 Centerline is valid? [True, True] Translation: X:87.06, Y:-31.72, Z:-6.08 [[ 7.68255454e-01 6.38342346e-01 4.79854845e-02 8.70623079e+01] [-6.37254483e-01 7.69750190e-01 -3.73010642e-02 -3.17223889e+01] [-6.07476846e-02 -1.92221907e-03 9.98151303e-01 -6.08042253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04105275399999 meters 0.020418341615957777 Centerline is valid? [True, True] Translation: X:87.09, Y:-31.73, Z:-6.08 [[ 7.68422702e-01 6.38069826e-01 4.89228762e-02 8.70890505e+01] [-6.36939126e-01 7.69976044e-01 -3.80189537e-02 -3.17330404e+01] [-6.19281898e-02 -1.94626685e-03 9.98078710e-01 -6.08140134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.071052754 meters 0.01893525893713976 Centerline is valid? [True, True] Translation: X:87.12, Y:-31.74, Z:-6.08 [[ 7.69426524e-01 6.36727285e-01 5.06081777e-02 8.71175677e+01] [-6.35514826e-01 7.71086718e-01 -3.93214885e-02 -3.17440763e+01] [-6.40603583e-02 -1.90725101e-03 9.97944203e-01 -6.08276591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.101052754 meters 0.018823259886177852 Centerline is valid? [True, True] Translation: X:87.14, Y:-31.75, Z:-6.09 [[ 7.70897458e-01 6.34989677e-01 5.00521654e-02 8.71442389e+01] [-6.33801218e-01 7.72518623e-01 -3.88715016e-02 -3.17542949e+01] [-6.33492321e-02 -1.75718156e-03 9.97989873e-01 -6.08725411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.131052754 meters 0.01841378079503974 Centerline is valid? [True, True] Translation: X:87.17, Y:-31.77, Z:-6.09 [[ 7.71889436e-01 6.33802464e-01 4.98109976e-02 8.71696635e+01] [-6.32623385e-01 7.73493175e-01 -3.86776541e-02 -3.17685331e+01] [-6.30424592e-02 -1.65672938e-03 9.98009471e-01 -6.09004129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161052754 meters 0.018145723820252938 Centerline is valid? [True, True] Translation: X:87.20, Y:-31.78, Z:-6.09 [[ 7.72596545e-01 6.32950185e-01 4.96854309e-02 8.71967602e+01] [-6.31776474e-01 7.74190875e-01 -3.85613274e-02 -3.17804221e+01] [-6.28734065e-02 -1.59773800e-03 9.98020231e-01 -6.09128095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191052754 meters 0.01868861390146366 Centerline is valid? [True, True] Translation: X:87.23, Y:-31.78, Z:-6.09 [[ 7.71569296e-01 6.34123548e-01 5.06768873e-02 8.72322089e+01] [-6.32906267e-01 7.73229778e-01 -3.93111599e-02 -3.17811325e+01] [-6.41130105e-02 -1.74243554e-03 9.97941123e-01 -6.09149857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221052754 meters 0.019040683207284272 Centerline is valid? [True, True] Translation: X:87.26, Y:-31.79, Z:-6.09 [[ 7.70401359e-01 6.35491036e-01 5.13116848e-02 8.72612079e+01] [-6.34247343e-01 7.72105921e-01 -3.97838471e-02 -3.17907048e+01] [-6.49003338e-02 -1.89476982e-03 9.97889952e-01 -6.09321337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25105275399999 meters 0.020859532155539724 Centerline is valid? [True, True] Translation: X:87.29, Y:-31.79, Z:-6.09 [[ 7.67521998e-01 6.38751173e-01 5.39158803e-02 8.72941144e+01] [-6.37387322e-01 7.69409946e-01 -4.17820250e-02 -3.17944987e+01] [-6.81717320e-02 -2.29667528e-03 9.97670958e-01 -6.09301204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28105275399999 meters 0.021627666310297562 Centerline is valid? [True, True] Translation: X:87.33, Y:-31.80, Z:-6.10 [[ 7.66324017e-01 6.40100255e-01 5.49469239e-02 8.73252794e+01] [-6.38687654e-01 7.68287426e-01 -4.25736060e-02 -3.17985957e+01] [-6.94664068e-02 -2.46874512e-03 9.97581237e-01 -6.09521154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31105275399999 meters 0.02027021497998637 Centerline is valid? [True, True] Translation: X:87.35, Y:-31.81, Z:-6.10 [[ 7.66054655e-01 6.40477713e-01 5.43006906e-02 8.73517403e+01] [-6.39099776e-01 7.67972751e-01 -4.20634122e-02 -3.18107689e+01] [-6.86421287e-02 -2.48068650e-03 9.97638263e-01 -6.09869443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34105275399999 meters 0.021563099909759374 Centerline is valid? [True, True] Translation: X:87.38, Y:-31.82, Z:-6.10 [[ 7.65720915e-01 6.40992681e-01 5.29137348e-02 8.73805491e+01] [-6.39686822e-01 7.67542994e-01 -4.09697588e-02 -3.18193537e+01] [-6.68748820e-02 -2.47681766e-03 9.97758295e-01 -6.10215959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37105275399999 meters 0.022432417700410493 Centerline is valid? [True, True] Translation: X:87.41, Y:-31.82, Z:-6.11 [[ 7.65281609e-01 6.41623267e-01 5.16104829e-02 8.74133927e+01] [-6.40382888e-01 7.67015944e-01 -3.99536863e-02 -3.18240781e+01] [-6.52212780e-02 -2.47464877e-03 9.97867757e-01 -6.10663191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40105275399999 meters 0.02319349893817204 Centerline is valid? [True, True] Translation: X:87.44, Y:-31.83, Z:-6.11 [[ 7.65000896e-01 6.41934829e-01 5.18970556e-02 8.74405926e+01] [-6.40682598e-01 7.66755030e-01 -4.01563579e-02 -3.18342564e+01] [-6.55700931e-02 -2.52989058e-03 9.97844759e-01 -6.10867296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43105275399999 meters 0.02272359204388011 Centerline is valid? [True, True] Translation: X:87.47, Y:-31.84, Z:-6.11 [[ 7.65169740e-01 6.41677145e-01 5.25900152e-02 8.74736923e+01] [-6.40391112e-01 7.66970633e-01 -4.06850259e-02 -3.18377153e+01] [-6.64416485e-02 -2.54722759e-03 9.97787061e-01 -6.10827228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.461052754 meters 0.02201425540909073 Centerline is valid? [True, True] Translation: X:87.51, Y:-31.84, Z:-6.11 [[ 7.65580301e-01 6.41209267e-01 5.23209121e-02 8.75081976e+01] [-6.39936749e-01 7.67361956e-01 -4.04547343e-02 -3.18406458e+01] [-6.60890280e-02 -2.51072671e-03 9.97810572e-01 -6.11000590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.491052754 meters 0.022778165483899115 Centerline is valid? [True, True] Translation: X:87.54, Y:-31.85, Z:-6.11 [[ 7.65828876e-01 6.40982959e-01 5.14488073e-02 8.75352671e+01] [-6.39753280e-01 7.67551154e-01 -3.97613686e-02 -3.18500867e+01] [-6.49759511e-02 -2.46413897e-03 9.97883788e-01 -6.11312911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.521052754 meters 0.02461481859358789 Centerline is valid? [True, True] Translation: X:87.56, Y:-31.86, Z:-6.12 [[ 7.66419742e-01 6.40328516e-01 5.07953786e-02 8.75630964e+01] [-6.39128904e-01 7.68097463e-01 -3.92496147e-02 -3.18596967e+01] [-6.41484490e-02 -2.38311505e-03 9.97937522e-01 -6.11682525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551052754 meters 0.022513353731197186 Centerline is valid? [True, True] Translation: X:87.59, Y:-31.87, Z:-6.12 [[ 7.68049991e-01 6.38444168e-01 4.98824171e-02 8.75911952e+01] [-6.37283974e-01 7.69665015e-01 -3.85344132e-02 -3.18702247e+01] [-6.29948227e-02 -2.19290931e-03 9.98011445e-01 -6.12144257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581052754 meters 0.021369273037635368 Centerline is valid? [True, True] Translation: X:87.62, Y:-31.88, Z:-6.12 [[ 7.71287306e-01 6.34351874e-01 5.20921395e-02 8.76246517e+01] [-6.33077559e-01 7.73041988e-01 -4.02354109e-02 -3.18755414e+01] [-6.57928194e-02 -1.94530284e-03 9.97831409e-01 -6.11993803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611052754 meters 0.02029980005831253 Centerline is valid? [True, True] Translation: X:87.65, Y:-31.89, Z:-6.12 [[ 7.73450035e-01 6.31652311e-01 5.28242429e-02 8.76529579e+01] [-6.30336797e-01 7.75249819e-01 -4.07828339e-02 -3.18865924e+01] [-6.67125560e-02 -1.75357976e-03 9.97770695e-01 -6.11938225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64105275399999 meters 0.019185705294923604 Centerline is valid? [True, True] Translation: X:87.69, Y:-31.89, Z:-6.12 [[ 7.78313055e-01 6.25664491e-01 5.26567565e-02 8.76858486e+01] [-6.24344755e-01 7.80091267e-01 -4.06354704e-02 -3.18905849e+01] [-6.65012468e-02 -1.24885264e-03 9.97785560e-01 -6.12037981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67105275399999 meters 0.018484233694188903 Centerline is valid? [True, True] Translation: X:87.71, Y:-31.90, Z:-6.12 [[ 7.80904096e-01 6.22521734e-01 5.15313923e-02 8.77118279e+01] [-6.21251342e-01 7.82601918e-01 -3.97618978e-02 -3.19037658e+01] [-6.50812121e-02 -9.63717757e-04 9.97879505e-01 -6.12447355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70105275399999 meters 0.01795135480399314 Centerline is valid? [True, True] Translation: X:87.74, Y:-31.92, Z:-6.13 [[ 7.83445382e-01 6.19387803e-01 5.07157155e-02 8.77387595e+01] [-6.18152002e-01 7.85084868e-01 -3.91133266e-02 -3.19165117e+01] [-6.40424583e-02 -7.06865980e-04 9.97946924e-01 -6.12854146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73105275399999 meters 0.01730801705445513 Centerline is valid? [True, True] Translation: X:87.77, Y:-31.92, Z:-6.13 [[ 7.87212690e-01 6.14671243e-01 4.97538323e-02 8.77712961e+01] [-6.13473551e-01 7.88783338e-01 -3.83542426e-02 -3.19208694e+01] [-6.28202439e-02 -3.29713717e-04 9.98024803e-01 -6.13219245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76105275399999 meters 0.01691772918834156 Centerline is valid? [True, True] Translation: X:87.80, Y:-31.93, Z:-6.13 [[ 7.88461810e-01 6.13115010e-01 4.91727543e-02 8.77996676e+01] [-6.11943297e-01 7.89993631e-01 -3.78875151e-02 -3.19284494e+01] [-6.20755669e-02 -2.18078617e-04 9.98071429e-01 -6.13326487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79105275399999 meters 0.01642253827179076 Centerline is valid? [True, True] Translation: X:87.84, Y:-31.93, Z:-6.13 [[ 7.90027257e-01 6.11219433e-01 4.76207824e-02 8.78356038e+01] [-6.10117983e-01 7.91461180e-01 -3.66776153e-02 -3.19259130e+01] [-6.01080718e-02 -7.79799513e-05 9.98191872e-01 -6.13280597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.821052754 meters 0.016655640024807804 Centerline is valid? [True, True] Translation: X:87.86, Y:-31.93, Z:-6.13 [[ 7.90784709e-01 6.10294234e-01 4.69093997e-02 8.78644476e+01] [-6.09224296e-01 7.92174821e-01 -3.61221439e-02 -3.19336620e+01] [-5.92055815e-02 -1.35069926e-05 9.98245811e-01 -6.13339564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.851052754 meters 0.016269175861247587 Centerline is valid? [True, True] Translation: X:87.90, Y:-31.93, Z:-6.13 [[ 7.91862443e-01 6.08960745e-01 4.60508756e-02 8.79004884e+01] [-6.07928540e-01 7.93200357e-01 -3.54412757e-02 -3.19329747e+01] [-5.81099166e-02 6.89736309e-05 9.98310189e-01 -6.13270098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.881052754 meters 0.01596120128729682 Centerline is valid? [True, True] Translation: X:87.94, Y:-31.93, Z:-6.13 [[ 7.89518902e-01 6.11996151e-01 4.60501267e-02 8.79391238e+01] [-6.10970309e-01 7.90860722e-01 -3.54203397e-02 -3.19287021e+01] [-5.80963480e-02 -1.70232445e-04 9.98310966e-01 -6.13158264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911052754 meters 0.0160378010688598 Centerline is valid? [True, True] Translation: X:87.97, Y:-31.93, Z:-6.13 [[ 7.86580884e-01 6.15767475e-01 4.60535624e-02 8.79714724e+01] [-6.14749105e-01 7.87927789e-01 -3.54024982e-02 -3.19335140e+01] [-5.80865886e-02 -4.64457904e-04 9.98311441e-01 -6.13142583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941052754 meters 0.017784098037862437 Centerline is valid? [True, True] Translation: X:88.02, Y:-31.92, Z:-6.13 [[ 7.77283228e-01 6.27541126e-01 4.49768775e-02 8.80163854e+01] [-6.26590268e-01 7.78582295e-01 -3.45578595e-02 -3.19224859e+01] [-5.67046786e-02 -1.32082913e-03 9.98390122e-01 -6.13014648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971052754 meters 0.020953008567027424 Centerline is valid? [True, True] Translation: X:88.05, Y:-31.92, Z:-6.13 [[ 7.71336634e-01 6.34932149e-01 4.36000448e-02 8.80519758e+01] [-6.34051307e-01 7.72565764e-01 -3.34825457e-02 -3.19227249e+01] [-5.49430466e-02 -1.81835127e-03 9.98487834e-01 -6.13306309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00105275399999 meters 0.027618537791171998 Centerline is valid? [True, True] Translation: X:88.10, Y:-31.91, Z:-6.14 [[ 7.60721473e-01 6.47794422e-01 4.08071872e-02 8.80971235e+01] [-6.47041288e-01 7.61810864e-01 -3.13333692e-02 -3.19091948e+01] [-5.13849403e-02 -2.56796818e-03 9.98675620e-01 -6.14041493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03105275399999 meters 0.029109365162463707 Centerline is valid? [True, True] Translation: X:88.13, Y:-31.92, Z:-6.15 [[ 7.58802865e-01 6.50081797e-01 4.01480847e-02 8.81261886e+01] [-6.49356110e-01 7.59859508e-01 -3.08248419e-02 -3.19176400e+01] [-5.05455725e-02 -2.68042571e-03 9.98718159e-01 -6.14823813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06105275399999 meters 0.020942268176772583 Centerline is valid? [True, True] Translation: X:88.14, Y:-31.95, Z:-6.14 [[ 7.71787415e-01 6.34440292e-01 4.27750120e-02 8.81410256e+01] [-6.33593128e-01 7.72969847e-01 -3.28232061e-02 -3.19464479e+01] [-5.38881589e-02 -1.76941627e-03 9.98545410e-01 -6.14366840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09105275399999 meters 0.019197427454963174 Centerline is valid? [True, True] Translation: X:88.16, Y:-31.97, Z:-6.14 [[ 7.77565572e-01 6.27436512e-01 4.14150280e-02 8.81621205e+01] [-6.26632821e-01 7.78666724e-01 -3.17716926e-02 -3.19656271e+01] [-5.21832242e-02 -1.24744148e-03 9.98636748e-01 -6.14493272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12105275399999 meters 0.017440510038580593 Centerline is valid? [True, True] Translation: X:88.18, Y:-31.99, Z:-6.15 [[ 7.85188160e-01 6.18020435e-01 3.91189768e-02 8.81797324e+01] [-6.17291849e-01 7.86161813e-01 -3.00062787e-02 -3.19888111e+01] [-4.92983392e-02 -5.87250715e-04 9.98783925e-01 -6.15232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15105275399999 meters 0.01724327907575636 Centerline is valid? [True, True] Translation: X:88.20, Y:-32.01, Z:-6.16 [[ 7.87306168e-01 6.15348309e-01 3.86711375e-02 8.81992263e+01] [-6.14633373e-01 7.88255214e-01 -2.96569449e-02 -3.20079924e+01] [-4.87320767e-02 -4.19476009e-04 9.98811798e-01 -6.15707514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18105275399999 meters 0.017379704154067033 Centerline is valid? [True, True] Translation: X:88.22, Y:-32.03, Z:-6.16 [[ 7.86849443e-01 6.15943532e-01 3.84904962e-02 8.82215893e+01] [-6.15236231e-01 7.87790172e-01 -2.95131284e-02 -3.20262705e+01] [-4.85008552e-02 -4.58359137e-04 9.98823036e-01 -6.15964729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.211052754 meters 0.017882631951592887 Centerline is valid? [True, True] Translation: X:88.25, Y:-32.04, Z:-6.16 [[ 7.84656799e-01 6.18749716e-01 3.82425876e-02 8.82457822e+01] [-6.18055512e-01 7.85587920e-01 -2.93087677e-02 -3.20419166e+01] [-4.81777065e-02 -6.38718200e-04 9.98838576e-01 -6.16090404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.241052754 meters 0.020770483926523337 Centerline is valid? [True, True] Translation: X:88.27, Y:-32.05, Z:-6.16 [[ 7.77182906e-01 6.28102213e-01 3.83971369e-02 8.82744846e+01] [-6.27414533e-01 7.78129864e-01 -2.94094851e-02 -3.20500490e+01] [-4.83501216e-02 -1.23437265e-03 9.98829686e-01 -6.15975855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.271052754 meters 0.02406247030019354 Centerline is valid? [True, True] Translation: X:88.30, Y:-32.06, Z:-6.16 [[ 7.71864767e-01 6.34534847e-01 3.98786965e-02 8.83030695e+01] [-6.33801778e-01 7.72892379e-01 -3.05397491e-02 -3.20586615e+01] [-5.02004756e-02 -1.70263250e-03 9.98737710e-01 -6.15868496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301052754 meters 0.02458274677494699 Centerline is valid? [True, True] Translation: X:88.33, Y:-32.08, Z:-6.16 [[ 7.70870871e-01 6.35797168e-01 3.89879731e-02 8.83265377e+01] [-6.35098375e-01 7.71854198e-01 -2.98521678e-02 -3.20753436e+01] [-4.90729544e-02 -1.74903175e-03 9.98793665e-01 -6.16319455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331052754 meters 0.022671342602551388 Centerline is valid? [True, True] Translation: X:88.34, Y:-32.10, Z:-6.17 [[ 7.72976894e-01 6.33427417e-01 3.57271411e-02 8.83444626e+01] [-6.32838637e-01 7.73800710e-01 -2.73444996e-02 -3.20980841e+01] [-4.49664428e-02 -1.47284889e-03 9.98987412e-01 -6.17072048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361052754 meters 0.023452558370701128 Centerline is valid? [True, True] Translation: X:88.37, Y:-32.11, Z:-6.17 [[ 7.73548794e-01 6.32733259e-01 3.56495040e-02 8.83682007e+01] [-6.32147059e-01 7.74368480e-01 -2.72681661e-02 -3.21130588e+01] [-4.48593278e-02 -1.44247211e-03 9.98992272e-01 -6.17258199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39105275399999 meters 0.02269247723677538 Centerline is valid? [True, True] Translation: X:88.39, Y:-32.13, Z:-6.17 [[ 7.74050807e-01 6.32017019e-01 3.74143841e-02 8.83922776e+01] [-6.31370572e-01 7.74953109e-01 -2.86160785e-02 -3.21287167e+01] [-4.70802419e-02 -1.47204242e-03 9.98890026e-01 -6.17018683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42105275399999 meters 0.02269247723677538 Centerline is valid? [True, True] Translation: X:88.41, Y:-32.15, Z:-6.17 [[ 7.74218370e-01 6.31811371e-01 3.74206685e-02 8.84140113e+01] [-6.31165081e-01 7.75120784e-01 -2.86078575e-02 -3.21452416e+01] [-4.70803076e-02 -1.46989042e-03 9.98890026e-01 -6.17195462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45105275399999 meters 0.02335724546932554 Centerline is valid? [True, True] Translation: X:88.44, Y:-32.16, Z:-6.17 [[ 7.74151794e-01 6.31650848e-01 4.13062468e-02 8.84403250e+01] [-6.30864227e-01 7.75251282e-01 -3.15559161e-02 -3.21574398e+01] [-5.19550420e-02 -1.62956436e-03 9.98648095e-01 -6.16855902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48105275399999 meters 0.022335151343502835 Centerline is valid? [True, True] Translation: X:88.46, Y:-32.17, Z:-6.17 [[ 7.72354404e-01 6.33682313e-01 4.37652969e-02 8.84625973e+01] [-6.32802760e-01 7.73591111e-01 -3.34284401e-02 -3.21749627e+01] [-5.50394559e-02 -1.87619771e-03 9.98482418e-01 -6.16815489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51105275399999 meters 0.02335976129464267 Centerline is valid? [True, True] Translation: X:88.49, Y:-32.19, Z:-6.17 [[ 7.72606258e-01 6.33325465e-01 4.44794873e-02 8.84867431e+01] [-6.32416700e-01 7.73883259e-01 -3.39679031e-02 -3.21889450e+01] [-5.59346686e-02 -1.88575608e-03 9.98432650e-01 -6.16839954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54105275399999 meters 0.02283432779103687 Centerline is valid? [True, True] Translation: X:88.51, Y:-32.20, Z:-6.17 [[ 7.72774174e-01 6.33040388e-01 4.56063978e-02 8.85109706e+01] [-6.32084744e-01 7.74116396e-01 -3.48235834e-02 -3.22041302e+01] [-5.73493951e-02 -1.91634237e-03 9.98352330e-01 -6.16661596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.571052754 meters 0.02274598245241139 Centerline is valid? [True, True] Translation: X:88.53, Y:-32.22, Z:-6.17 [[ 7.73555367e-01 6.32089913e-01 4.55459764e-02 8.85337578e+01] [-6.31136108e-01 7.74892829e-01 -3.47608690e-02 -3.22214174e+01] [-5.72652452e-02 -1.85625346e-03 9.98357274e-01 -6.16848400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.601052754 meters 0.02174567645127993 Centerline is valid? [True, True] Translation: X:88.55, Y:-32.24, Z:-6.17 [[ 7.73746571e-01 6.31881063e-01 4.51947529e-02 8.85542589e+01] [-6.30942466e-01 7.75063185e-01 -3.44770131e-02 -3.22401356e+01] [-5.68141608e-02 -1.83881814e-03 9.98383078e-01 -6.17070413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.631052754 meters 0.02213761829759614 Centerline is valid? [True, True] Translation: X:88.58, Y:-32.26, Z:-6.17 [[ 7.72852606e-01 6.33010166e-01 4.46875694e-02 8.85765657e+01] [-6.32095488e-01 7.74141113e-01 -3.40709806e-02 -3.22577589e+01] [-5.61617618e-02 -1.91496481e-03 9.98419846e-01 -6.17435478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661052754 meters 0.023382499575490653 Centerline is valid? [True, True] Translation: X:88.60, Y:-32.27, Z:-6.18 [[ 7.71972749e-01 6.34259042e-01 4.21134521e-02 8.85991199e+01] [-6.33449517e-01 7.73118261e-01 -3.20914901e-02 -3.22741349e+01] [-5.29129966e-02 -1.90299011e-03 9.98597313e-01 -6.17997982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691052754 meters 0.023934035097659772 Centerline is valid? [True, True] Translation: X:88.62, Y:-32.29, Z:-6.18 [[ 7.71145226e-01 6.35367829e-01 4.05310011e-02 8.86221774e+01] [-6.34619660e-01 7.72207284e-01 -3.08836323e-02 -3.22911406e+01] [-5.09208006e-02 -1.90600455e-03 9.98700876e-01 -6.18303467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721052754 meters 0.0255729167461289 Centerline is valid? [True, True] Translation: X:88.65, Y:-32.31, Z:-6.18 [[ 7.67330288e-01 6.39970708e-01 4.05181833e-02 8.86472835e+01] [-6.39230108e-01 7.68396096e-01 -3.08594891e-02 -3.23059855e+01] [-5.08831829e-02 -2.22102204e-03 9.98702142e-01 -6.18366541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75105275399999 meters 0.02719306893389029 Centerline is valid? [True, True] Translation: X:88.67, Y:-32.32, Z:-6.18 [[ 7.64994596e-01 6.42693306e-01 4.15762181e-02 8.86711297e+01] [-6.41918304e-01 7.66119560e-01 -3.16498162e-02 -3.23206056e+01] [-5.21934789e-02 -2.47659703e-03 9.98633921e-01 -6.18483873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78105275399999 meters 0.03190970703637051 Centerline is valid? [True, True] Translation: X:88.70, Y:-32.33, Z:-6.19 [[ 7.57709400e-01 6.51092384e-01 4.42173360e-02 8.86970434e+01] [-6.50230874e-01 7.58991484e-01 -3.36413081e-02 -3.23320908e+01] [-5.54641810e-02 -3.26114168e-03 9.98455352e-01 -6.18558962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81105275399999 meters 0.03332366098899781 Centerline is valid? [True, True] Translation: X:88.72, Y:-32.35, Z:-6.19 [[ 7.53623628e-01 6.55742520e-01 4.53119700e-02 8.87214919e+01] [-6.54846620e-01 7.54975540e-01 -3.44650236e-02 -3.23468834e+01] [-5.68096104e-02 -3.69873426e-03 9.98378179e-01 -6.18619255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84105275399999 meters 0.03470247285966318 Centerline is valid? [True, True] Translation: X:88.75, Y:-32.36, Z:-6.19 [[ 7.49929835e-01 6.59866394e-01 4.67074376e-02 8.87462003e+01] [-6.58922827e-01 7.51371543e-01 -3.55177753e-02 -3.23619980e+01] [-5.85316258e-02 -4.14075742e-03 9.98276967e-01 -6.18623038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87105275399999 meters 0.03893071371184991 Centerline is valid? [True, True] Translation: X:88.77, Y:-32.37, Z:-6.18 [[ 7.43811202e-01 6.66600379e-01 4.88756573e-02 8.87735581e+01] [-6.65582519e-01 7.45399174e-01 -3.71481130e-02 -3.23727210e+01] [-6.11948208e-02 -4.89960052e-03 9.98113815e-01 -6.18386009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90105275399999 meters 0.0453735451998405 Centerline is valid? [True, True] Translation: X:88.80, Y:-32.38, Z:-6.18 [[ 7.39181039e-01 6.71628424e-01 5.02658095e-02 8.88013882e+01] [-6.70563818e-01 7.40867938e-01 -3.81950738e-02 -3.23821368e+01] [-6.28932239e-02 -5.47335885e-03 9.98005253e-01 -6.18302078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93105275399999 meters 0.0446009384235388 Centerline is valid? [True, True] Translation: X:88.82, Y:-32.40, Z:-6.18 [[ 7.36744574e-01 6.74228919e-01 5.12132575e-02 8.88228905e+01] [-6.73130613e-01 7.38499562e-01 -3.89046865e-02 -3.24003837e+01] [-6.40516330e-02 -5.81039474e-03 9.97929671e-01 -6.18381580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.961052754 meters 0.042247570967592595 Centerline is valid? [True, True] Translation: X:88.84, Y:-32.42, Z:-6.19 [[ 7.33104126e-01 6.78164538e-01 5.14898013e-02 8.88440319e+01] [-6.77064505e-01 7.34883998e-01 -3.91045469e-02 -3.24203144e+01] [-6.43583481e-02 -6.19421218e-03 9.97907628e-01 -6.18569304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.991052754 meters 0.04031267372330201 Centerline is valid? [True, True] Translation: X:88.87, Y:-32.44, Z:-6.19 [[ 7.31662212e-01 6.79733371e-01 5.13122941e-02 8.88654564e+01] [-6.78645894e-01 7.33432038e-01 -3.89512038e-02 -3.24394970e+01] [-6.41105136e-02 -6.32375378e-03 9.97922769e-01 -6.18781652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.021052754 meters 0.04499909974469982 Centerline is valid? [True, True] Translation: X:88.89, Y:-32.45, Z:-6.19 [[ 7.30400197e-01 6.81120199e-01 5.09001632e-02 8.88911338e+01] [-6.80054638e-01 7.32143580e-01 -3.86195132e-02 -3.24509903e+01] [-6.35707582e-02 -6.40719206e-03 9.97956766e-01 -6.18977022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051052754 meters 0.039324437152969835 Centerline is valid? [True, True] Translation: X:88.91, Y:-32.47, Z:-6.19 [[ 7.29599961e-01 6.81999419e-01 5.06032462e-02 8.89082614e+01] [-6.80948778e-01 7.31324264e-01 -3.83872765e-02 -3.24748808e+01] [-6.31874820e-02 -6.45086325e-03 9.97980826e-01 -6.19327341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081052754 meters 0.041219837084654515 Centerline is valid? [True, True] Translation: X:88.93, Y:-32.49, Z:-6.20 [[ 7.29789012e-01 6.81848306e-01 4.99087698e-02 8.89312536e+01] [-6.80827158e-01 7.31465926e-01 -3.78415160e-02 -3.24895707e+01] [-6.23087381e-02 -6.36292336e-03 9.98036640e-01 -6.19612639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111052754 meters 0.0389090970802511 Centerline is valid? [True, True] Translation: X:88.95, Y:-32.51, Z:-6.20 [[ 7.29779333e-01 6.81892890e-01 4.94389798e-02 8.89524352e+01] [-6.80891628e-01 7.31424787e-01 -3.74749591e-02 -3.25094929e+01] [-6.17148034e-02 -6.31413679e-03 9.98073852e-01 -6.19823534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14105275399999 meters 0.043822808257621276 Centerline is valid? [True, True] Translation: X:88.98, Y:-32.52, Z:-6.20 [[ 7.28461738e-01 6.83413125e-01 4.78539054e-02 8.89792642e+01] [-6.82479358e-01 7.30005107e-01 -3.62556085e-02 -3.25197502e+01] [-5.97111540e-02 -6.24847905e-03 9.98196140e-01 -6.19916217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17105275399999 meters 0.04084273318093931 Centerline is valid? [True, True] Translation: X:89.00, Y:-32.54, Z:-6.20 [[ 7.27824931e-01 6.84176299e-01 4.66225421e-02 8.89995795e+01] [-6.83291835e-01 7.29290714e-01 -3.53174573e-02 -3.25402865e+01] [-5.81647542e-02 -6.15187637e-03 9.98288043e-01 -6.20091921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20105275399999 meters 0.04354113138107367 Centerline is valid? [True, True] Translation: X:89.02, Y:-32.55, Z:-6.20 [[ 7.26636299e-01 6.85557478e-01 4.48400787e-02 8.90237123e+01] [-6.84742931e-01 7.27993493e-01 -3.39498551e-02 -3.25539994e+01] [-5.59178625e-02 -6.03472984e-03 9.98417135e-01 -6.20376401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23105275399999 meters 0.041840815195189465 Centerline is valid? [True, True] Translation: X:89.05, Y:-32.57, Z:-6.21 [[ 7.26505457e-01 6.85708648e-01 4.46483092e-02 8.90450186e+01] [-6.84901604e-01 7.27851195e-01 -3.37998561e-02 -3.25730906e+01] [-5.56741789e-02 -6.02391873e-03 9.98430818e-01 -6.20599863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26105275399999 meters 0.04276984734318824 Centerline is valid? [True, True] Translation: X:89.07, Y:-32.59, Z:-6.21 [[ 7.27706023e-01 6.84482575e-01 4.39038619e-02 8.90666823e+01] [-6.83700893e-01 7.29005811e-01 -3.32207216e-02 -3.25896700e+01] [-5.47451755e-02 -5.84219041e-03 9.98483267e-01 -6.21075220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29105275399999 meters 0.0426361551344936 Centerline is valid? [True, True] Translation: X:89.09, Y:-32.61, Z:-6.21 [[ 7.29323090e-01 6.82724666e-01 4.44394062e-02 8.90888165e+01] [-6.81921556e-01 7.30652772e-01 -3.36083122e-02 -3.26079296e+01] [-5.54149990e-02 -5.79287088e-03 9.98446604e-01 -6.21321359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.321052754 meters 0.03627288504968719 Centerline is valid? [True, True] Translation: X:89.11, Y:-32.63, Z:-6.21 [[ 7.30151564e-01 6.81807755e-01 4.49096745e-02 8.91068329e+01] [-6.80986774e-01 7.31508434e-01 -3.39473778e-02 -3.26321467e+01] [-5.59973911e-02 -5.79616334e-03 9.98414091e-01 -6.21333776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.351052754 meters 0.037477282401227135 Centerline is valid? [True, True] Translation: X:89.13, Y:-32.65, Z:-6.21 [[ 7.31609287e-01 6.80162629e-01 4.61156052e-02 8.91306482e+01] [-6.79294823e-01 7.33038013e-01 -3.48398594e-02 -3.26462738e+01] [-5.75012619e-02 -5.83692717e-03 9.98328370e-01 -6.21173459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.381052754 meters 0.04238166513223131 Centerline is valid? [True, True] Translation: X:89.16, Y:-32.66, Z:-6.21 [[ 7.32870412e-01 6.78728398e-01 4.72093301e-02 8.91571235e+01] [-6.77816355e-01 7.34365959e-01 -3.56598851e-02 -3.26566703e+01] [-5.88723017e-02 -5.86518138e-03 9.98248292e-01 -6.21176430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411052754 meters 0.036061433770533606 Centerline is valid? [True, True] Translation: X:89.18, Y:-32.68, Z:-6.21 [[ 7.36407584e-01 6.74750100e-01 4.91545803e-02 8.91758802e+01] [-6.73753502e-01 7.38023582e-01 -3.71134786e-02 -3.26800913e+01] [-6.13195629e-02 -5.78742353e-03 9.98101406e-01 -6.21072760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441052754 meters 0.03288342910573201 Centerline is valid? [True, True] Translation: X:89.20, Y:-32.70, Z:-6.21 [[ 7.39322688e-01 6.71516366e-01 4.96762854e-02 8.91959762e+01] [-6.70492435e-01 7.40968626e-01 -3.74885254e-02 -3.27009559e+01] [-6.19827273e-02 -5.59145616e-03 9.98061560e-01 -6.21308554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471052754 meters 0.03154344657260561 Centerline is valid? [True, True] Translation: X:89.22, Y:-32.72, Z:-6.22 [[ 7.45712407e-01 6.64377838e-01 5.01507224e-02 8.92168929e+01] [-6.63319365e-01 7.47379762e-01 -3.78273857e-02 -3.27185464e+01] [-6.26133117e-02 -5.05759455e-03 9.98025047e-01 -6.21628023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50105275399999 meters 0.03299502329468901 Centerline is valid? [True, True] Translation: X:89.24, Y:-32.73, Z:-6.22 [[ 7.50123314e-01 6.59399818e-01 5.00688861e-02 8.92407090e+01] [-6.58334186e-01 7.51778137e-01 -3.77588846e-02 -3.27332285e+01] [-6.25388955e-02 -4.63823964e-03 9.98031750e-01 -6.21879909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53105275399999 meters 0.026849672881976153 Centerline is valid? [True, True] Translation: X:89.26, Y:-32.76, Z:-6.22 [[ 7.59448561e-01 6.48730775e-01 4.88494049e-02 8.92586734e+01] [-6.47694769e-01 7.61009151e-01 -3.68314843e-02 -3.27571191e+01] [-6.10685615e-02 -3.66788629e-03 9.98126834e-01 -6.22136033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56105275399999 meters 0.02682819204834052 Centerline is valid? [True, True] Translation: X:89.28, Y:-32.77, Z:-6.22 [[ 7.63618873e-01 6.43872590e-01 4.81072198e-02 8.92810140e+01] [-6.42858745e-01 7.65125887e-01 -3.62630800e-02 -3.27733815e+01] [-6.01568825e-02 -3.23497469e-03 9.98183693e-01 -6.22421836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59105275399999 meters 0.022831880667332882 Centerline is valid? [True, True] Translation: X:89.30, Y:-32.80, Z:-6.23 [[ 7.72381548e-01 6.33374353e-01 4.75780719e-02 8.93001763e+01] [-6.32363032e-01 7.73841853e-01 -3.58578155e-02 -3.27951216e+01] [-5.95293240e-02 -2.39069878e-03 9.98223694e-01 -6.22627618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62105275399999 meters 0.021291795914604415 Centerline is valid? [True, True] Translation: X:89.32, Y:-32.81, Z:-6.23 [[ 7.76383960e-01 6.28451118e-01 4.77193704e-02 8.93227009e+01] [-6.27424866e-01 7.77846448e-01 -3.59574827e-02 -3.28138438e+01] [-5.97158630e-02 -2.02350678e-03 9.98213365e-01 -6.22766109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65105275399999 meters 0.018047107930850348 Centerline is valid? [True, True] Translation: X:89.34, Y:-32.83, Z:-6.23 [[ 7.82340935e-01 6.21059068e-01 4.72048285e-02 8.93440280e+01] [-6.20042290e-01 7.83762413e-01 -3.55533221e-02 -3.28341490e+01] [-5.90780834e-02 -1.45417079e-03 9.98252306e-01 -6.22828287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68105275399999 meters 0.017072820411222014 Centerline is valid? [True, True] Translation: X:89.37, Y:-32.85, Z:-6.23 [[ 7.85557912e-01 6.16981485e-01 4.72505424e-02 8.93659695e+01] [-6.15956389e-01 7.86976809e-01 -3.55700575e-02 -3.28518208e+01] [-5.91311479e-02 -1.16193334e-03 9.98249547e-01 -6.23020437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.711052754 meters 0.017599164570685354 Centerline is valid? [True, True] Translation: X:89.39, Y:-32.87, Z:-6.23 [[ 7.83819380e-01 6.19188944e-01 4.72464879e-02 8.93892038e+01] [-6.18168771e-01 7.85240894e-01 -3.55543143e-02 -3.28682165e+01] [-5.91147127e-02 -1.33814275e-03 9.98250299e-01 -6.23159942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.741052754 meters 0.019720442305896414 Centerline is valid? [True, True] Translation: X:89.42, Y:-32.88, Z:-6.23 [[ 7.79450518e-01 6.24453587e-01 5.01458600e-02 8.94150771e+01] [-6.23316309e-01 7.81059705e-01 -3.77162687e-02 -3.28801142e+01] [-6.27189699e-02 -1.85876720e-03 9.98029496e-01 -6.22933836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.771052754 meters 0.02097771944873556 Centerline is valid? [True, True] Translation: X:89.44, Y:-32.90, Z:-6.23 [[ 7.77070526e-01 6.27294866e-01 5.15998948e-02 8.94398334e+01] [-6.26097263e-01 7.78778860e-01 -3.88034071e-02 -3.28955522e+01] [-6.45260853e-02 -2.15356899e-03 9.97913697e-01 -6.22988811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801052754 meters 0.02147578741924675 Centerline is valid? [True, True] Translation: X:89.46, Y:-32.91, Z:-6.23 [[ 7.73796540e-01 6.31220431e-01 5.29120227e-02 8.94632318e+01] [-6.29971372e-01 7.75599270e-01 -3.97723938e-02 -3.29124789e+01] [-6.61436738e-02 -2.55731879e-03 9.97806832e-01 -6.23126722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831052754 meters 0.02407529673110783 Centerline is valid? [True, True] Translation: X:89.49, Y:-32.93, Z:-6.23 [[ 7.73291106e-01 6.31902578e-01 5.21536018e-02 8.94873174e+01] [-6.30691184e-01 7.75043517e-01 -3.91940881e-02 -3.29266025e+01] [-6.51881563e-02 -2.58437710e-03 9.97869643e-01 -6.23492201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861052754 meters 0.025106602849176343 Centerline is valid? [True, True] Translation: X:89.51, Y:-32.95, Z:-6.24 [[ 7.71231379e-01 6.34646373e-01 4.92558716e-02 8.95080751e+01] [-6.33572055e-01 7.72798082e-01 -3.70077765e-02 -3.29452711e+01] [-6.15516943e-02 -2.66558527e-03 9.98100337e-01 -6.24307618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89105275399999 meters 0.02492498280434749 Centerline is valid? [True, True] Translation: X:89.53, Y:-32.96, Z:-6.25 [[ 7.70606088e-01 6.35484043e-01 4.82316225e-02 8.95300851e+01] [-6.34456647e-01 7.72109320e-01 -3.62209936e-02 -3.29640227e+01] [-6.02579487e-02 -2.68875535e-03 9.98179217e-01 -6.24660865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92105275399999 meters 0.02593707101489968 Centerline is valid? [True, True] Translation: X:89.55, Y:-32.98, Z:-6.25 [[ 7.69253928e-01 6.37082084e-01 4.87320587e-02 8.95523992e+01] [-6.36037507e-01 7.70790670e-01 -3.65791162e-02 -3.29812950e+01] [-6.08661157e-02 -2.85678834e-03 9.98141851e-01 -6.24771633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95105275399999 meters 0.025281751310977423 Centerline is valid? [True, True] Translation: X:89.57, Y:-33.00, Z:-6.25 [[ 7.69113800e-01 6.37264628e-01 4.85567428e-02 8.95735111e+01] [-6.36228815e-01 7.70639698e-01 -3.64328210e-02 -3.30003315e+01] [-6.06371017e-02 -2.87221357e-03 9.98155746e-01 -6.24792859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98105275399999 meters 0.025218233770758977 Centerline is valid? [True, True] Translation: X:89.60, Y:-33.02, Z:-6.25 [[ 7.69821054e-01 6.36432447e-01 4.82626644e-02 8.95958820e+01] [-6.35408563e-01 7.71327352e-01 -3.61949447e-02 -3.30183105e+01] [-6.02619504e-02 -2.80287969e-03 9.98178662e-01 -6.24984841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01105275399999 meters 0.025186395662800464 Centerline is valid? [True, True] Translation: X:89.62, Y:-33.04, Z:-6.25 [[ 7.72255357e-01 6.33565524e-01 4.70785515e-02 8.96158943e+01] [-6.32586978e-01 7.73684906e-01 -3.52899648e-02 -3.30382728e+01] [-5.87824697e-02 -2.52841428e-03 9.98267614e-01 -6.25409992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04105275399999 meters 0.02308685659455093 Centerline is valid? [True, True] Translation: X:89.64, Y:-33.06, Z:-6.26 [[ 7.74140879e-01 6.31320025e-01 4.62701396e-02 8.96352795e+01] [-6.30371383e-01 7.75518937e-01 -3.46741641e-02 -3.30599656e+01] [-5.77738637e-02 -2.32468402e-03 9.98326989e-01 -6.25792470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.071052754 meters 0.02073952640946251 Centerline is valid? [True, True] Translation: X:89.65, Y:-33.08, Z:-6.26 [[ 7.76156189e-01 6.28909140e-01 4.53306093e-02 8.96546159e+01] [-6.27995459e-01 7.77475933e-01 -3.39540441e-02 -3.30826089e+01] [-5.65974664e-02 -2.11377538e-03 9.98394841e-01 -6.26101322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.101052754 meters 0.021690642151800693 Centerline is valid? [True, True] Translation: X:89.68, Y:-33.10, Z:-6.26 [[ 7.79674292e-01 6.24509583e-01 4.57796720e-02 8.96756368e+01] [-6.23571087e-01 7.81015012e-01 -3.42731659e-02 -3.31005741e+01] [-5.71585317e-02 -1.82497348e-03 9.98363447e-01 -6.26355390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.131052754 meters 0.019386434277094772 Centerline is valid? [True, True] Translation: X:89.70, Y:-33.12, Z:-6.26 [[ 7.81646973e-01 6.22001620e-01 4.62816908e-02 8.96956975e+01] [-6.21038348e-01 7.83014186e-01 -3.46432457e-02 -3.31219735e+01] [-5.77873754e-02 -1.66391673e-03 9.98327527e-01 -6.26408011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161052754 meters 0.017519839552136297 Centerline is valid? [True, True] Translation: X:89.71, Y:-33.14, Z:-6.27 [[ 7.86792183e-01 6.15573855e-01 4.50210042e-02 8.97142212e+01] [-6.14652515e-01 7.88078338e-01 -3.36870806e-02 -3.31447298e+01] [-5.62169642e-02 -1.16754175e-03 9.98417893e-01 -6.26804634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191052754 meters 0.015897048450153023 Centerline is valid? [True, True] Translation: X:89.73, Y:-33.17, Z:-6.27 [[ 7.92622165e-01 6.08141557e-01 4.37487220e-02 8.97320865e+01] [-6.07261007e-01 7.93828349e-01 -3.27203657e-02 -3.31683544e+01] [-5.46275898e-02 -6.32005905e-04 9.98506598e-01 -6.27213054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221052754 meters 0.015459565521415185 Centerline is valid? [True, True] Translation: X:89.75, Y:-33.19, Z:-6.27 [[ 7.95525954e-01 6.04376399e-01 4.32160310e-02 8.97525211e+01] [-6.03512439e-01 7.96698829e-01 -3.23065357e-02 -3.31873076e+01] [-5.39554690e-02 -3.80724626e-04 9.98543270e-01 -6.27430401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25105275399999 meters 0.0148470205457631 Centerline is valid? [True, True] Translation: X:89.77, Y:-33.21, Z:-6.27 [[ 8.00123001e-01 5.98258954e-01 4.34673177e-02 8.97723605e+01] [-5.97376040e-01 8.01302828e-01 -3.24906791e-02 -3.32085907e+01] [-5.42683243e-02 3.02055121e-05 9.98526388e-01 -6.27335413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28105275399999 meters 0.014845403180761111 Centerline is valid? [True, True] Translation: X:89.79, Y:-33.23, Z:-6.27 [[ 8.00971709e-01 5.97071954e-01 4.41520368e-02 8.97943595e+01] [-5.96160062e-01 8.02187679e-01 -3.29864901e-02 -3.32262554e+01] [-5.51135280e-02 9.95643288e-05 9.98480090e-01 -6.27395727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31105275399999 meters 0.014845403180761111 Centerline is valid? [True, True] Translation: X:89.82, Y:-33.24, Z:-6.28 [[ 8.01132090e-01 5.96856088e-01 4.41608982e-02 8.98162711e+01] [-5.95944523e-01 8.02348304e-01 -3.29746220e-02 -3.32425281e+01] [-5.51135256e-02 9.95823908e-05 9.98480090e-01 -6.27572515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34105275399999 meters 0.014728707096352297 Centerline is valid? [True, True] Translation: X:89.84, Y:-33.26, Z:-6.28 [[ 8.00599533e-01 5.97395044e-01 4.64709608e-02 8.98382621e+01] [-5.96387721e-01 8.01947105e-01 -3.46774644e-02 -3.32592536e+01] [-5.79833979e-02 4.80513892e-05 9.98317546e-01 -6.27570209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37105275399999 meters 0.014571942153011328 Centerline is valid? [True, True] Translation: X:89.86, Y:-33.27, Z:-6.28 [[ 7.99913823e-01 5.98231957e-01 4.75015830e-02 8.98613785e+01] [-5.97181197e-01 8.01322984e-01 -3.54414062e-02 -3.32749576e+01] [-5.92662920e-02 -1.69814354e-05 9.98242208e-01 -6.27529894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40105275399999 meters 0.0146322818934242 Centerline is valid? [True, True] Translation: X:89.88, Y:-33.29, Z:-6.27 [[ 7.99441834e-01 5.98752090e-01 4.88742115e-02 8.98841691e+01] [-5.97641935e-01 8.00934410e-01 -3.64443114e-02 -3.32908639e+01] [-6.09661454e-02 -7.41712105e-05 9.98139832e-01 -6.27412845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43105275399999 meters 0.014681764904702221 Centerline is valid? [True, True] Translation: X:89.91, Y:-33.31, Z:-6.28 [[ 7.99204548e-01 5.99090307e-01 4.86096111e-02 8.99056707e+01] [-5.97994051e-01 8.00681454e-01 -3.62260214e-02 -3.33065345e+01] [-6.06234724e-02 -1.16257166e-04 9.98160699e-01 -6.27606492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.461052754 meters 0.014834575532954123 Centerline is valid? [True, True] Translation: X:89.93, Y:-33.32, Z:-6.28 [[ 7.97277460e-01 6.01725432e-01 4.76985919e-02 8.99288230e+01] [-6.00675083e-01 7.98702951e-01 -3.55392914e-02 -3.33232034e+01] [-5.94819016e-02 -3.16679661e-04 9.98229334e-01 -6.28001478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.491052754 meters 0.014959014158814335 Centerline is valid? [True, True] Translation: X:89.95, Y:-33.34, Z:-6.28 [[ 7.96539913e-01 6.02691527e-01 4.78235279e-02 8.99516795e+01] [-6.01638435e-01 7.97974160e-01 -3.56150818e-02 -3.33403063e+01] [-5.96268476e-02 -4.03638271e-04 9.98220655e-01 -6.28211234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.521052754 meters 0.015192135431485268 Centerline is valid? [True, True] Translation: X:89.98, Y:-33.36, Z:-6.28 [[ 7.94056403e-01 6.05835686e-01 4.93715504e-02 8.99753245e+01] [-6.04720430e-01 7.95589509e-01 -3.67496251e-02 -3.33564734e+01] [-6.15437219e-02 -6.74710080e-04 9.98104160e-01 -6.28233920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551052754 meters 0.016018584356537125 Centerline is valid? [True, True] Translation: X:90.00, Y:-33.37, Z:-6.28 [[ 7.91889095e-01 6.08629509e-01 4.98174909e-02 9.00004206e+01] [-6.07500699e-01 7.93454021e-01 -3.70623423e-02 -3.33696102e+01] [-6.20851237e-02 -9.14895873e-04 9.98070439e-01 -6.28371891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581052754 meters 0.018015566561901796 Centerline is valid? [True, True] Translation: X:90.03, Y:-33.38, Z:-6.29 [[ 7.85197301e-01 6.17196131e-01 5.03401981e-02 9.00297026e+01] [-6.16061537e-01 7.86807684e-01 -3.74412934e-02 -3.33785262e+01] [-6.27166761e-02 -1.61385733e-03 9.98030067e-01 -6.28549022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.611052754 meters 0.01995784591334824 Centerline is valid? [True, True] Translation: X:90.06, Y:-33.39, Z:-6.29 [[ 7.80981458e-01 6.22459663e-01 5.11070427e-02 9.00573711e+01] [-6.21302599e-01 7.82649114e-01 -3.79926917e-02 -3.33882971e+01] [-6.36477998e-02 -2.08135063e-03 9.97970253e-01 -6.28677789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64105275399999 meters 0.02348859854781811 Centerline is valid? [True, True] Translation: X:90.09, Y:-33.39, Z:-6.29 [[ 7.74113724e-01 6.30776521e-01 5.35623193e-02 9.00911206e+01] [-6.29525664e-01 7.75959125e-01 -3.98104826e-02 -3.33900020e+01] [-6.66736881e-02 -2.90101364e-03 9.97770617e-01 -6.28577243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67105275399999 meters 0.023253480307517213 Centerline is valid? [True, True] Translation: X:90.12, Y:-33.40, Z:-6.29 [[ 7.72939109e-01 6.32137563e-01 5.44723301e-02 9.01168590e+01] [-6.30848498e-01 7.74850039e-01 -4.04671500e-02 -3.34029855e+01] [-6.77886927e-02 -3.08514469e-03 9.97694931e-01 -6.28812986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70105275399999 meters 0.019742855755203497 Centerline is valid? [True, True] Translation: X:90.14, Y:-33.42, Z:-6.29 [[ 7.80908797e-01 6.21977174e-01 5.76701519e-02 9.01367637e+01] [-6.20504793e-01 7.83031894e-01 -4.28352051e-02 -3.34244159e+01] [-7.18000880e-02 -2.33421720e-03 9.97416312e-01 -6.28906835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73105275399999 meters 0.0169707801495991 Centerline is valid? [True, True] Translation: X:90.16, Y:-33.45, Z:-6.29 [[ 7.86485288e-01 6.14919219e-01 5.75781701e-02 9.01561374e+01] [-6.13433203e-01 7.88588290e-01 -4.27576324e-02 -3.34457907e+01] [-7.16979606e-02 -1.69211244e-03 9.97424954e-01 -6.29244981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76105275399999 meters 0.014316998907770481 Centerline is valid? [True, True] Translation: X:90.17, Y:-33.47, Z:-6.30 [[ 7.97870790e-01 6.00132181e-01 5.69523344e-02 9.01735580e+01] [-5.98640685e-01 7.99900768e-01 -4.22858277e-02 -3.34707554e+01] [-7.09333021e-02 -3.55357723e-04 9.97480998e-01 -6.29880482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79105275399999 meters 0.015072372093259328 Centerline is valid? [True, True] Translation: X:90.19, Y:-33.50, Z:-6.31 [[ 8.07673952e-01 5.87015673e-01 5.54561735e-02 9.01894190e+01] [-5.85570932e-01 8.09575196e-01 -4.11665558e-02 -3.34956949e+01] [-6.90613560e-02 7.75631567e-04 9.97612113e-01 -6.30576541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.821052754 meters 0.016133123460043426 Centerline is valid? [True, True] Translation: X:90.21, Y:-33.52, Z:-6.31 [[ 8.11380719e-01 5.81984158e-01 5.43669785e-02 9.02101823e+01] [-5.80584874e-01 8.13199274e-01 -4.03502773e-02 -3.35159583e+01] [-6.76944096e-02 1.17479166e-03 9.97705411e-01 -6.30971812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.851052754 meters 0.01625156297626339 Centerline is valid? [True, True] Translation: X:90.23, Y:-33.53, Z:-6.31 [[ 8.11549073e-01 5.82039736e-01 5.11649061e-02 9.02329410e+01] [-5.80801847e-01 8.13159619e-01 -3.79558875e-02 -3.35328152e+01] [-6.36970703e-02 1.08639333e-03 9.97968688e-01 -6.31478895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.881052754 meters 0.016114060624236044 Centerline is valid? [True, True] Translation: X:90.25, Y:-33.55, Z:-6.32 [[ 8.11518981e-01 5.82082545e-01 5.11551933e-02 9.02547694e+01] [-5.80846418e-01 8.13129000e-01 -3.79297697e-02 -3.35492921e+01] [-6.36740281e-02 1.06741728e-03 9.97970179e-01 -6.31622152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911052754 meters 0.015978359571643928 Centerline is valid? [True, True] Translation: X:90.28, Y:-33.57, Z:-6.32 [[ 8.11159010e-01 5.82527011e-01 5.18009759e-02 9.02779986e+01] [-5.81261773e-01 8.12810695e-01 -3.83865393e-02 -3.35655036e+01] [-6.44655832e-02 1.02766012e-03 9.97919402e-01 -6.31712324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941052754 meters 0.015527763462043761 Centerline is valid? [True, True] Translation: X:90.30, Y:-33.58, Z:-6.32 [[ 8.09711031e-01 5.84380582e-01 5.35479300e-02 9.03024161e+01] [-5.83033836e-01 8.11479227e-01 -3.96611889e-02 -3.35798653e+01] [-6.66302615e-02 8.93847097e-04 9.97777335e-01 -6.31566482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971052754 meters 0.015312538160169085 Centerline is valid? [True, True] Translation: X:90.33, Y:-33.60, Z:-6.32 [[ 8.08907613e-01 5.85385636e-01 5.47003729e-02 9.03258820e+01] [-5.83983239e-01 8.10754577e-01 -4.05042250e-02 -3.35956405e+01] [-6.80591692e-02 8.20075026e-04 9.97680950e-01 -6.31628321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00105275399999 meters 0.014724008577346334 Centerline is valid? [True, True] Translation: X:90.35, Y:-33.61, Z:-6.32 [[ 8.06722685e-01 5.88277606e-01 5.59282296e-02 9.03501949e+01] [-5.86818965e-01 8.08658839e-01 -4.14051258e-02 -3.36111967e+01] [-6.95845655e-02 5.82708535e-04 9.97575886e-01 -6.31804528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03105275399999 meters 0.014264459180574606 Centerline is valid? [True, True] Translation: X:90.37, Y:-33.63, Z:-6.32 [[ 8.04246613e-01 5.91484074e-01 5.77405946e-02 9.03749929e+01] [-5.89938990e-01 8.06316626e-01 -4.27257125e-02 -3.36260215e+01] [-7.18287799e-02 2.98581516e-04 9.97416933e-01 -6.31889586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06105275399999 meters 0.014171940560487544 Centerline is valid? [True, True] Translation: X:90.40, Y:-33.64, Z:-6.32 [[ 8.03053911e-01 5.93046642e-01 5.83103436e-02 9.03984076e+01] [-5.91476542e-01 8.05168094e-01 -4.31258712e-02 -3.36414944e+01] [-7.25252813e-02 1.43199152e-04 9.97366564e-01 -6.32008701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09105275399999 meters 0.013911796369415672 Centerline is valid? [True, True] Translation: X:90.42, Y:-33.66, Z:-6.32 [[ 8.01881593e-01 5.94698687e-01 5.76140810e-02 9.04201515e+01] [-5.93171733e-01 8.03948674e-01 -4.25890173e-02 -3.36569957e+01] [-7.16463967e-02 -2.36952509e-05 9.97430094e-01 -6.32339342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12105275399999 meters 0.01389641838085536 Centerline is valid? [True, True] Translation: X:90.44, Y:-33.67, Z:-6.33 [[ 8.01972783e-01 5.94611020e-01 5.72485071e-02 9.04426554e+01] [-5.93103953e-01 8.04013517e-01 -4.23079876e-02 -3.36737364e+01] [-7.11853692e-02 -2.44613255e-05 9.97463103e-01 -6.32551671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15105275399999 meters 0.013754488236418524 Centerline is valid? [True, True] Translation: X:90.46, Y:-33.69, Z:-6.33 [[ 8.02415073e-01 5.93967509e-01 5.77290980e-02 9.04645319e+01] [-5.92434965e-01 8.04489029e-01 -4.26405192e-02 -3.36898841e+01] [-7.17695090e-02 1.46591121e-05 9.97421244e-01 -6.32636918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18105275399999 meters 0.013756764235383545 Centerline is valid? [True, True] Translation: X:90.49, Y:-33.71, Z:-6.33 [[ 8.03026695e-01 5.93121486e-01 5.79226233e-02 9.04866624e+01] [-5.91577641e-01 8.05112972e-01 -4.27667831e-02 -3.37070995e+01] [-7.20001534e-02 7.71396618e-05 9.97404618e-01 -6.32886396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.211052754 meters 0.013888363274044763 Centerline is valid? [True, True] Translation: X:90.51, Y:-33.72, Z:-6.33 [[ 8.03602664e-01 5.92218471e-01 5.91611457e-02 9.05078816e+01] [-5.90607020e-01 8.05777427e-01 -4.36587484e-02 -3.37247179e+01] [-7.35262330e-02 1.43298563e-04 9.97293273e-01 -6.33057058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.241052754 meters 0.014057109171438126 Centerline is valid? [True, True] Translation: X:90.53, Y:-33.74, Z:-6.33 [[ 8.04895673e-01 5.90382715e-01 5.99266671e-02 9.05300811e+01] [-5.88724851e-01 8.07123383e-01 -4.42141971e-02 -3.37422090e+01] [-7.44715120e-02 3.07497830e-04 9.97223094e-01 -6.33246990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.271052754 meters 0.014371444117821229 Centerline is valid? [True, True] Translation: X:90.55, Y:-33.76, Z:-6.33 [[ 8.06162657e-01 5.88720374e-01 5.92460255e-02 9.05511019e+01] [-5.87096936e-01 8.08336643e-01 -4.36927895e-02 -3.37590497e+01] [-7.36135687e-02 4.40335221e-04 9.97286743e-01 -6.33412208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301052754 meters 0.01433477554117771 Centerline is valid? [True, True] Translation: X:90.57, Y:-33.78, Z:-6.34 [[ 8.08647505e-01 5.85555887e-01 5.66878880e-02 9.05721396e+01] [-5.84062758e-01 8.10631747e-01 -4.17955206e-02 -3.37762436e+01] [-7.04266148e-02 6.88559239e-04 9.97516726e-01 -6.34019154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331052754 meters 0.014684523776706314 Centerline is valid? [True, True] Translation: X:90.59, Y:-33.79, Z:-6.35 [[ 8.09456529e-01 5.84647378e-01 5.44754142e-02 9.05929490e+01] [-5.83268083e-01 8.11287202e-01 -4.01424865e-02 -3.37933818e+01] [-6.76644059e-02 7.19827360e-04 9.97707878e-01 -6.34502624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361052754 meters 0.015430035709741014 Centerline is valid? [True, True] Translation: X:90.61, Y:-33.81, Z:-6.35 [[ 8.10235363e-01 5.83840148e-01 5.14717290e-02 9.06127329e+01] [-5.82608187e-01 8.11868305e-01 -3.79151109e-02 -3.38121818e+01] [-6.39246293e-02 7.32312950e-04 9.97954461e-01 -6.35119471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39105275399999 meters 0.014956792074591012 Centerline is valid? [True, True] Translation: X:90.64, Y:-33.83, Z:-6.35 [[ 8.10438223e-01 5.83623710e-01 5.07272246e-02 9.06363276e+01] [-5.82427296e-01 8.12023910e-01 -3.73579389e-02 -3.38269557e+01] [-6.29946981e-02 7.31381433e-04 9.98013594e-01 -6.35278874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42105275399999 meters 0.015756111667519057 Centerline is valid? [True, True] Translation: X:90.66, Y:-33.84, Z:-6.36 [[ 8.10679578e-01 5.83342400e-01 5.01025530e-02 9.06570282e+01] [-5.82176070e-01 8.12226025e-01 -3.68769187e-02 -3.38447842e+01] [-6.22064677e-02 7.26857512e-04 9.98063038e-01 -6.35564330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45105275399999 meters 0.015296411124384415 Centerline is valid? [True, True] Translation: X:90.68, Y:-33.86, Z:-6.36 [[ 8.10981530e-01 5.82898017e-01 5.03871073e-02 9.06803523e+01] [-5.81718426e-01 8.12544974e-01 -3.70720786e-02 -3.38597335e+01] [-6.25510318e-02 7.53662338e-04 9.98041482e-01 -6.35658315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48105275399999 meters 0.015252473245119575 Centerline is valid? [True, True] Translation: X:90.70, Y:-33.88, Z:-6.36 [[ 8.11006990e-01 5.82680953e-01 5.24458768e-02 9.07033989e+01] [-5.81403911e-01 8.12700617e-01 -3.85642189e-02 -3.38754176e+01] [-6.50934323e-02 7.83613197e-04 9.97878866e-01 -6.35515876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51105275399999 meters 0.015419335596614459 Centerline is valid? [True, True] Translation: X:90.73, Y:-33.89, Z:-6.35 [[ 8.11245854e-01 5.82090962e-01 5.52292980e-02 9.07260014e+01] [-5.80674847e-01 8.13123225e-01 -4.05874810e-02 -3.38917299e+01] [-6.85338308e-02 8.56161578e-04 9.97648426e-01 -6.35270113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54105275399999 meters 0.015578378564911066 Centerline is valid? [True, True] Translation: X:90.75, Y:-33.91, Z:-6.35 [[ 8.11605153e-01 5.81511938e-01 5.60440962e-02 9.07488057e+01] [-5.80052884e-01 8.13537359e-01 -4.11778785e-02 -3.39084405e+01] [-6.95393939e-02 9.11638783e-04 9.97578790e-01 -6.35321929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.571052754 meters 0.015362720929824825 Centerline is valid? [True, True] Translation: X:90.77, Y:-33.92, Z:-6.36 [[ 8.11467385e-01 5.81670894e-01 5.63884232e-02 9.07716071e+01] [-5.80195684e-01 8.13423743e-01 -4.14099371e-02 -3.39243389e+01] [-6.99546373e-02 8.86493648e-04 9.97549780e-01 -6.35511939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.601052754 meters 0.01550177086108537 Centerline is valid? [True, True] Translation: X:90.79, Y:-33.94, Z:-6.36 [[ 8.11267106e-01 5.81978318e-01 5.60974222e-02 9.07930976e+01] [-5.80520640e-01 8.13203872e-01 -4.11734143e-02 -3.39415104e+01] [-6.95806753e-02 8.36925271e-04 9.97575977e-01 -6.35893401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.631052754 meters 0.015599175238618389 Centerline is valid? [True, True] Translation: X:90.81, Y:-33.96, Z:-6.36 [[ 8.11567542e-01 5.81677732e-01 5.48556352e-02 9.08135329e+01] [-5.80283951e-01 8.13418907e-01 -4.02519365e-02 -3.39586521e+01] [-6.80342660e-02 8.35320501e-04 9.97682635e-01 -6.36223204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661052754 meters 0.01562662885506881 Centerline is valid? [True, True] Translation: X:90.84, Y:-33.98, Z:-6.36 [[ 8.11534871e-01 5.81718293e-01 5.49088382e-02 9.08358118e+01] [-5.80322633e-01 8.13389912e-01 -4.02801927e-02 -3.39752817e+01] [-6.80940200e-02 8.23939483e-04 9.97678568e-01 -6.36426799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691052754 meters 0.01564979783642352 Centerline is valid? [True, True] Translation: X:90.86, Y:-33.99, Z:-6.37 [[ 8.10860468e-01 5.82711812e-01 5.43345743e-02 9.08581163e+01] [-5.81348924e-01 8.12678554e-01 -3.98371183e-02 -3.39917795e+01] [-6.73701027e-02 7.14998101e-04 9.97727798e-01 -6.36647914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721052754 meters 0.01571483353378385 Centerline is valid? [True, True] Translation: X:90.88, Y:-34.01, Z:-6.37 [[ 8.10744829e-01 5.82932487e-01 5.36892693e-02 9.08797769e+01] [-5.81602978e-01 8.12520309e-01 -3.93538145e-02 -3.40078682e+01] [-6.65642387e-02 6.80062612e-04 9.97781910e-01 -6.36836384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75105275399999 meters 0.015940114672300776 Centerline is valid? [True, True] Translation: X:90.90, Y:-34.02, Z:-6.37 [[ 8.10808788e-01 5.82958767e-01 5.24231364e-02 9.09010497e+01] [-5.81691928e-01 8.12501476e-01 -3.84168425e-02 -3.40241571e+01] [-6.49893109e-02 6.54598278e-04 9.97885745e-01 -6.37134729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78105275399999 meters 0.01605628609654279 Centerline is valid? [True, True] Translation: X:90.92, Y:-34.04, Z:-6.37 [[ 8.10908552e-01 5.82926639e-01 5.12235629e-02 9.09227063e+01] [-5.81717663e-01 8.12524541e-01 -3.75290662e-02 -3.40410421e+01] [-6.34970944e-02 6.34989511e-04 9.97981821e-01 -6.37454182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81105275399999 meters 0.01637395926644175 Centerline is valid? [True, True] Translation: X:90.94, Y:-34.06, Z:-6.38 [[ 8.10738953e-01 5.83333434e-01 4.92387577e-02 9.09440430e+01] [-5.82218366e-01 8.12232594e-01 -3.60553470e-02 -3.40579386e+01] [-6.10256133e-02 5.63765243e-04 9.98136041e-01 -6.37858704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84105275399999 meters 0.016371838729088897 Centerline is valid? [True, True] Translation: X:90.97, Y:-34.07, Z:-6.38 [[ 8.10571550e-01 5.83608932e-01 4.87275807e-02 9.09668900e+01] [-5.82517879e-01 8.12034686e-01 -3.56733620e-02 -3.40745246e+01] [-6.03877785e-02 5.31125362e-04 9.98174851e-01 -6.38045752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87105275399999 meters 0.016320817064209757 Centerline is valid? [True, True] Translation: X:90.99, Y:-34.09, Z:-6.38 [[ 8.09232496e-01 5.85521653e-01 4.80329110e-02 9.09898561e+01] [-5.84466038e-01 8.10656684e-01 -3.51452834e-02 -3.40905587e+01] [-5.95165248e-02 3.67100226e-04 9.98227253e-01 -6.38243022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90105275399999 meters 0.016453526979054247 Centerline is valid? [True, True] Translation: X:91.01, Y:-34.11, Z:-6.39 [[ 8.07225796e-01 5.88333277e-01 4.74391105e-02 9.10127634e+01] [-5.87308926e-01 8.08618533e-01 -3.47029325e-02 -3.41069243e+01] [-5.87770339e-02 1.51689262e-04 9.98271124e-01 -6.38624209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93105275399999 meters 0.016486100812619926 Centerline is valid? [True, True] Translation: X:91.04, Y:-34.12, Z:-6.39 [[ 8.06250146e-01 5.89683435e-01 4.72667822e-02 9.10359790e+01] [-5.88669756e-01 8.07634475e-01 -3.45611623e-02 -3.41229925e+01] [-5.85544277e-02 4.04169994e-05 9.98284217e-01 -6.38804260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.961052754 meters 0.01668959174378699 Centerline is valid? [True, True] Translation: X:91.06, Y:-34.14, Z:-6.39 [[ 8.05530301e-01 5.90657807e-01 4.73739275e-02 9.10593807e+01] [-5.89642304e-01 8.06922148e-01 -3.46208026e-02 -3.41390672e+01] [-5.86761187e-02 -4.55661991e-05 9.98277071e-01 -6.38864003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.991052754 meters 0.016938807842636957 Centerline is valid? [True, True] Translation: X:91.08, Y:-34.16, Z:-6.39 [[ 8.05935433e-01 5.90142220e-01 4.69066850e-02 9.10820545e+01] [-5.89146807e-01 8.07299300e-01 -3.42619444e-02 -3.41551587e+01] [-5.80871539e-02 -2.20086702e-05 9.98311516e-01 -6.38834765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.021052754 meters 0.016950532430394478 Centerline is valid? [True, True] Translation: X:91.10, Y:-34.17, Z:-6.39 [[ 8.06310764e-01 5.89658412e-01 4.65393306e-02 9.11040750e+01] [-5.88678816e-01 8.07652745e-01 -3.39749106e-02 -3.41719048e+01] [-5.76212099e-02 -2.38190789e-06 9.98338518e-01 -6.39030326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.051052754 meters 0.017396139250975905 Centerline is valid? [True, True] Translation: X:91.12, Y:-34.19, Z:-6.39 [[ 8.06629523e-01 5.89259925e-01 4.60603346e-02 9.11246653e+01] [-5.88300886e-01 8.07943526e-01 -3.36054580e-02 -3.41888487e+01] [-5.70164987e-02 9.81887517e-06 9.98373236e-01 -6.39445650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081052754 meters 0.017640744468282076 Centerline is valid? [True, True] Translation: X:91.15, Y:-34.21, Z:-6.40 [[ 8.07118003e-01 5.88574840e-01 4.62621593e-02 9.11467704e+01] [-5.87606626e-01 8.08442735e-01 -3.37460800e-02 -3.42062488e+01] [-5.72624002e-02 5.31172987e-05 9.98359161e-01 -6.39610789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.111052754 meters 0.01773061353602985 Centerline is valid? [True, True] Translation: X:91.17, Y:-34.22, Z:-6.40 [[ 8.07576912e-01 5.87929413e-01 4.64600564e-02 9.11691643e+01] [-5.86952948e-01 8.08912231e-01 -3.38709131e-02 -3.42223219e+01] [-5.74958139e-02 8.35003680e-05 9.98345744e-01 -6.39657170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14105275399999 meters 0.017823389437867303 Centerline is valid? [True, True] Translation: X:91.19, Y:-34.24, Z:-6.40 [[ 8.08626730e-01 5.86537064e-01 4.57939198e-02 9.11915403e+01] [-5.85587387e-01 8.09922370e-01 -3.33641535e-02 -3.42380766e+01] [-5.66588327e-02 1.62804580e-04 9.98393585e-01 -6.39751857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17105275399999 meters 0.018023379728690028 Centerline is valid? [True, True] Translation: X:91.22, Y:-34.25, Z:-6.40 [[ 8.08824010e-01 5.86342028e-01 4.47967282e-02 9.12155774e+01] [-5.85433220e-01 8.10063576e-01 -3.26335423e-02 -3.42543454e+01] [-5.54226152e-02 1.69299694e-04 9.98462971e-01 -6.39984926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20105275399999 meters 0.01830499982117058 Centerline is valid? [True, True] Translation: X:91.24, Y:-34.27, Z:-6.40 [[ 8.09619547e-01 5.85402690e-01 4.26600527e-02 9.12376307e+01] [-5.84578134e-01 8.10742651e-01 -3.10605710e-02 -3.42705423e+01] [-5.27692661e-02 2.09111409e-04 9.98606710e-01 -6.40369677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23105275399999 meters 0.01830499982117058 Centerline is valid? [True, True] Translation: X:91.26, Y:-34.29, Z:-6.41 [[ 8.09778472e-01 5.85182614e-01 4.26630486e-02 9.12597340e+01] [-5.84357969e-01 8.10901511e-01 -3.10564557e-02 -3.42865468e+01] [-5.27692285e-02 2.18356859e-04 9.98606710e-01 -6.40545994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26105275399999 meters 0.018445291672660506 Centerline is valid? [True, True] Translation: X:91.28, Y:-34.30, Z:-6.41 [[ 8.10244838e-01 5.84581201e-01 4.20490475e-02 9.12821181e+01] [-5.83780338e-01 8.11335173e-01 -3.05901011e-02 -3.43036363e+01] [-5.19982693e-02 2.38064318e-04 9.98647147e-01 -6.40814763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29105275399999 meters 0.01856023082659827 Centerline is valid? [True, True] Translation: X:91.30, Y:-34.32, Z:-6.41 [[ 8.11312170e-01 5.83092268e-01 4.21422575e-02 9.13036898e+01] [-5.82286151e-01 8.12405871e-01 -3.06519043e-02 -3.43213374e+01] [-5.21095058e-02 3.29410072e-04 9.98641322e-01 -6.40997872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.321052754 meters 0.018773813793201324 Centerline is valid? [True, True] Translation: X:91.33, Y:-34.34, Z:-6.41 [[ 8.11767828e-01 5.82482636e-01 4.17967960e-02 9.13262729e+01] [-5.81689921e-01 8.12843070e-01 -3.03805773e-02 -3.43376701e+01] [-5.16703948e-02 3.49200253e-04 9.98664132e-01 -6.41006454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.351052754 meters 0.018616592467153713 Centerline is valid? [True, True] Translation: X:91.35, Y:-34.35, Z:-6.41 [[ 8.10472453e-01 5.84130974e-01 4.38794719e-02 9.13528968e+01] [-5.83259863e-01 8.11659375e-01 -3.18903027e-02 -3.43507994e+01] [-5.42432983e-02 2.53077072e-04 9.98527716e-01 -6.40667835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.381052754 meters 0.018668428866764657 Centerline is valid? [True, True] Translation: X:91.38, Y:-34.37, Z:-6.41 [[ 8.10410241e-01 5.84068417e-01 4.58183921e-02 9.13768462e+01] [-5.83119429e-01 8.11704392e-01 -3.32823190e-02 -3.43664331e+01] [-5.66301414e-02 2.54737552e-04 9.98395193e-01 -6.40630568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411052754 meters 0.01855032688838882 Centerline is valid? [True, True] Translation: X:91.40, Y:-34.38, Z:-6.41 [[ 8.11173637e-01 5.82830431e-01 4.80210244e-02 9.14010693e+01] [-5.81786815e-01 8.12593731e-01 -3.48644702e-02 -3.43817414e+01] [-5.93416576e-02 3.43140341e-04 9.98237672e-01 -6.40514446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441052754 meters 0.018691829555766426 Centerline is valid? [True, True] Translation: X:91.43, Y:-34.40, Z:-6.41 [[ 8.12038827e-01 5.81645755e-01 4.77614905e-02 9.14252433e+01] [-5.80612338e-01 8.13442097e-01 -3.46593152e-02 -3.43977998e+01] [-5.90106505e-02 4.13798936e-04 9.98257267e-01 -6.40714061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471052754 meters 0.01959191879938623 Centerline is valid? [True, True] Translation: X:91.45, Y:-34.42, Z:-6.41 [[ 8.16684252e-01 5.75175247e-01 4.69070044e-02 9.14472272e+01] [-5.74168726e-01 8.18029771e-01 -3.40230413e-02 -3.44168326e+01] [-5.79405373e-02 8.53547046e-04 9.98319671e-01 -6.41147798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50105275399999 meters 0.022002839068965094 Centerline is valid? [True, True] Translation: X:91.47, Y:-34.44, Z:-6.42 [[ 8.22584394e-01 5.66713892e-01 4.68004102e-02 9.14672198e+01] [-5.65699106e-01 8.23913409e-01 -3.39295884e-02 -3.44389368e+01] [-5.77878546e-02 1.43499974e-03 9.98327854e-01 -6.41589777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53105275399999 meters 0.023554934307654266 Centerline is valid? [True, True] Translation: X:91.49, Y:-34.46, Z:-6.42 [[ 8.25745915e-01 5.62139957e-01 4.62855659e-02 9.14889654e+01] [-5.61141025e-01 8.27040323e-01 -3.35418258e-02 -3.44582905e+01] [-5.71352299e-02 1.72429573e-03 9.98364959e-01 -6.41879580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56105275399999 meters 0.025796981908106562 Centerline is valid? [True, True] Translation: X:91.51, Y:-34.48, Z:-6.42 [[ 8.31629177e-01 5.53466592e-01 4.54713494e-02 9.15103537e+01] [-5.52490333e-01 8.32868287e-01 -3.29370349e-02 -3.44780748e+01] [-5.61011934e-02 2.26891827e-03 9.98422510e-01 -6.42077734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59105275399999 meters 0.02848799465896587 Centerline is valid? [True, True] Translation: X:91.53, Y:-34.50, Z:-6.42 [[ 8.34078660e-01 5.49788955e-01 4.52205023e-02 9.15310540e+01] [-5.48818422e-01 8.35299868e-01 -3.27485736e-02 -3.44967353e+01] [-5.57774837e-02 2.49704167e-03 9.98440102e-01 -6.42364397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62105275399999 meters 0.028937921027038262 Centerline is valid? [True, True] Translation: X:91.55, Y:-34.51, Z:-6.43 [[ 8.35636888e-01 5.47498859e-01 4.42265840e-02 9.15546833e+01] [-5.46567510e-01 8.36802423e-01 -3.20259440e-02 -3.45141198e+01] [-5.45430805e-02 2.58924629e-03 9.98508061e-01 -6.42698220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65105275399999 meters 0.030014065313601356 Centerline is valid? [True, True] Translation: X:91.58, Y:-34.53, Z:-6.43 [[ 8.38269045e-01 5.43453263e-01 4.43120648e-02 9.15760255e+01] [-5.42513401e-01 8.39434598e-01 -3.20743575e-02 -3.45334596e+01] [-5.46279946e-02 2.84705201e-03 9.98502717e-01 -6.43147617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68105275399999 meters 0.03010388515139258 Centerline is valid? [True, True] Translation: X:91.60, Y:-34.55, Z:-6.43 [[ 8.38891782e-01 5.42501663e-01 4.41873729e-02 9.15991500e+01] [-5.41566581e-01 8.40049762e-01 -3.19692760e-02 -3.45503960e+01] [-5.44629775e-02 2.88835843e-03 9.98511613e-01 -6.43320292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.711052754 meters 0.03265015338929257 Centerline is valid? [True, True] Translation: X:91.62, Y:-34.57, Z:-6.43 [[ 8.40242531e-01 5.40468242e-01 4.34346362e-02 9.16200948e+01] [-5.39563009e-01 8.41359230e-01 -3.14070893e-02 -3.45698208e+01] [-5.35186664e-02 2.95384921e-03 9.98562480e-01 -6.43482609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.741052754 meters 0.03154638323881839 Centerline is valid? [True, True] Translation: X:91.64, Y:-34.58, Z:-6.44 [[ 8.39918743e-01 5.41124876e-01 4.14773840e-02 9.16442043e+01] [-5.40300410e-01 8.40937663e-01 -2.99885658e-02 -3.45846452e+01] [-5.11074533e-02 2.77771094e-03 9.98689297e-01 -6.43739718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.771052754 meters 0.03207599882316381 Centerline is valid? [True, True] Translation: X:91.67, Y:-34.60, Z:-6.44 [[ 8.38595708e-01 5.43201850e-01 4.10973174e-02 9.16670554e+01] [-5.42395776e-01 8.39598074e-01 -2.96967539e-02 -3.46007780e+01] [-5.06365602e-02 2.61255901e-03 9.98713729e-01 -6.44033820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801052754 meters 0.026896356502486805 Centerline is valid? [True, True] Translation: X:91.70, Y:-34.61, Z:-6.44 [[ 8.33877886e-01 5.50471762e-01 4.03548100e-02 9.16966382e+01] [-5.49703205e-01 8.34851067e-01 -2.91561807e-02 -3.46097251e+01] [-4.97399103e-02 2.12952591e-03 9.98759934e-01 -6.44278177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831052754 meters 0.02586217296958992 Centerline is valid? [True, True] Translation: X:91.72, Y:-34.63, Z:-6.44 [[ 8.31978743e-01 5.53311428e-01 4.07165169e-02 9.17217356e+01] [-5.52533092e-01 8.32972147e-01 -2.94038214e-02 -3.46250980e+01] [-5.01851949e-02 1.96613137e-03 9.98737994e-01 -6.44345399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861052754 meters 0.02324139047417047 Centerline is valid? [True, True] Translation: X:91.75, Y:-34.64, Z:-6.44 [[ 8.26261908e-01 5.61758039e-01 4.14628173e-02 9.17483957e+01] [-5.60962175e-01 8.27300276e-01 -2.99281115e-02 -3.46366470e+01] [-5.11145574e-02 1.46938629e-03 9.98691716e-01 -6.44176781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89105275399999 meters 0.021254325973356313 Centerline is valid? [True, True] Translation: X:91.77, Y:-34.65, Z:-6.44 [[ 8.22854287e-01 5.66722894e-01 4.16651357e-02 9.17748384e+01] [-5.65926171e-01 8.23907654e-01 -3.00623862e-02 -3.46494344e+01] [-5.13652667e-02 1.15757262e-03 9.98679263e-01 -6.44223584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92105275399999 meters 0.019043130687732907 Centerline is valid? [True, True] Translation: X:91.80, Y:-34.66, Z:-6.44 [[ 8.16175470e-01 5.76252413e-01 4.23173451e-02 9.18018785e+01] [-5.75444092e-01 8.17271587e-01 -3.05163772e-02 -3.46606905e+01] [-5.21698998e-02 5.55452295e-04 9.98638069e-01 -6.44305312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95105275399999 meters 0.018494215610581177 Centerline is valid? [True, True] Translation: X:91.83, Y:-34.67, Z:-6.45 [[ 8.12957912e-01 5.80763709e-01 4.25787310e-02 9.18255860e+01] [-5.79951734e-01 8.14072137e-01 -3.07008390e-02 -3.46749394e+01] [-5.24920917e-02 2.64881123e-04 9.98621305e-01 -6.44544599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98105275399999 meters 0.018386961734868056 Centerline is valid? [True, True] Translation: X:91.85, Y:-34.69, Z:-6.45 [[ 8.08100455e-01 5.87489854e-01 4.27706169e-02 9.18494910e+01] [-5.86680332e-01 8.09231512e-01 -3.08309728e-02 -3.46877544e+01] [-5.27242147e-02 -1.78156551e-04 9.98609095e-01 -6.44690710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01105275399999 meters 0.018651861041497176 Centerline is valid? [True, True] Translation: X:91.87, Y:-34.70, Z:-6.45 [[ 8.05775311e-01 5.90661522e-01 4.29548009e-02 9.18738965e+01] [-5.89849776e-01 8.06919335e-01 -3.09584975e-02 -3.47024882e+01] [-5.29470526e-02 -3.91286776e-04 9.98597244e-01 -6.44817308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04105275399999 meters 0.01974465512015019 Centerline is valid? [True, True] Translation: X:91.90, Y:-34.71, Z:-6.45 [[ 8.00321604e-01 5.97996315e-01 4.34250789e-02 9.19006474e+01] [-5.97178338e-01 8.01498347e-01 -3.12799103e-02 -3.47146134e+01] [-5.35104000e-02 -8.98528484e-04 9.98566888e-01 -6.44844835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.071052754 meters 0.020509416040456696 Centerline is valid? [True, True] Translation: X:91.93, Y:-34.73, Z:-6.45 [[ 7.97060290e-01 6.02228043e-01 4.49029882e-02 9.19250387e+01] [-6.01360243e-01 7.98323170e-01 -3.23415087e-02 -3.47304351e+01] [-5.53240594e-02 -1.22473955e-03 9.98467700e-01 -6.44886617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.101052754 meters 0.021405690814737956 Centerline is valid? [True, True] Translation: X:91.95, Y:-34.75, Z:-6.45 [[ 7.95322167e-01 6.04456450e-01 4.57717146e-02 9.19489192e+01] [-6.03559366e-01 7.96636921e-01 -3.29500925e-02 -3.47453390e+01] [-5.63803337e-02 -1.42000808e-03 9.98408354e-01 -6.45059844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.131052754 meters 0.02180303978437605 Centerline is valid? [True, True] Translation: X:91.97, Y:-34.76, Z:-6.45 [[ 7.92738579e-01 6.07800760e-01 4.63009820e-02 9.19734260e+01] [-6.06888734e-01 7.94087786e-01 -3.33264601e-02 -3.47611529e+01] [-5.70228921e-02 -1.68037369e-03 9.98371457e-01 -6.45083081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161052754 meters 0.022271401732708383 Centerline is valid? [True, True] Translation: X:92.00, Y:-34.78, Z:-6.45 [[ 7.92036675e-01 6.08682683e-01 4.67257606e-02 9.19975096e+01] [-6.07756302e-01 7.93411777e-01 -3.36159022e-02 -3.47759104e+01] [-5.75341863e-02 -1.77284806e-03 9.98341963e-01 -6.45155836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191052754 meters 0.02187638967384641 Centerline is valid? [True, True] Translation: X:92.02, Y:-34.79, Z:-6.45 [[ 7.91187905e-01 6.09680245e-01 4.80801096e-02 9.20209815e+01] [-6.08701483e-01 7.92645177e-01 -3.45850782e-02 -3.47918774e+01] [-5.91963059e-02 -1.90313849e-03 9.98244547e-01 -6.45226854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221052754 meters 0.021937835170587474 Centerline is valid? [True, True] Translation: X:92.04, Y:-34.81, Z:-6.45 [[ 7.91114554e-01 6.09724217e-01 4.87251717e-02 9.20430342e+01] [-6.08720114e-01 7.92611250e-01 -3.50318288e-02 -3.48080840e+01] [-5.99798736e-02 -1.94580247e-03 9.98197690e-01 -6.45495141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25105275399999 meters 0.021959257031336093 Centerline is valid? [True, True] Translation: X:92.07, Y:-34.82, Z:-6.46 [[ 7.91490922e-01 6.09092207e-01 5.04856889e-02 9.20654910e+01] [-6.08014221e-01 7.93096935e-01 -3.62761537e-02 -3.48248406e+01] [-6.21355676e-02 -1.98377052e-03 9.98065747e-01 -6.45734895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28105275399999 meters 0.020534022465352415 Centerline is valid? [True, True] Translation: X:92.09, Y:-34.84, Z:-6.46 [[ 7.93073025e-01 6.06937352e-01 5.15967770e-02 9.20880431e+01] [-6.05807404e-01 7.94747496e-01 -3.70649132e-02 -3.48430879e+01] [-6.35024896e-02 -1.86252667e-03 9.97979942e-01 -6.45873732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31105275399999 meters 0.01948334732490355 Centerline is valid? [True, True] Translation: X:92.11, Y:-34.86, Z:-6.46 [[ 7.94813271e-01 6.04617259e-01 5.20560709e-02 9.21106415e+01] [-6.03463199e-01 7.96514320e-01 -3.73778825e-02 -3.48607877e+01] [-6.40627188e-02 -1.70548604e-03 9.97944417e-01 -6.45933092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34105275399999 meters 0.017384521536500972 Centerline is valid? [True, True] Translation: X:92.13, Y:-34.88, Z:-6.46 [[ 8.00287922e-01 5.97288290e-01 5.27820074e-02 9.21328615e+01] [-5.96086926e-01 8.02025800e-01 -3.78812945e-02 -3.48797031e+01] [-6.49585853e-02 -1.14672205e-03 9.97887302e-01 -6.45931194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37105275399999 meters 0.015900597129958043 Centerline is valid? [True, True] Translation: X:92.15, Y:-34.90, Z:-6.46 [[ 8.05804267e-01 5.89672790e-01 5.44562589e-02 9.21539554e+01] [-5.88377681e-01 8.07642052e-01 -3.90643067e-02 -3.48990570e+01] [-6.70163234e-02 -5.62662361e-04 9.97751721e-01 -6.45996390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40105275399999 meters 0.015538712183475313 Centerline is valid? [True, True] Translation: X:92.18, Y:-34.92, Z:-6.46 [[ 8.07966267e-01 5.86695293e-01 5.45815352e-02 9.21767580e+01] [-5.85388149e-01 8.09807710e-01 -3.91431693e-02 -3.49171083e+01] [-6.71656612e-02 -3.25023488e-04 9.97741784e-01 -6.46232274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43105275399999 meters 0.01577368596564671 Centerline is valid? [True, True] Translation: X:92.19, Y:-34.94, Z:-6.47 [[ 8.14267084e-01 5.77946762e-01 5.42831045e-02 9.21934909e+01] [-5.76635552e-01 8.16074380e-01 -3.89107471e-02 -3.49388807e+01] [-6.67873912e-02 3.82172609e-04 9.97767156e-01 -6.46862017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.461052754 meters 0.016484598833435265 Centerline is valid? [True, True] Translation: X:92.21, Y:-34.96, Z:-6.47 [[ 8.17814988e-01 5.72967535e-01 5.37294067e-02 9.22140617e+01] [-5.71672810e-01 8.19577699e-01 -3.85044510e-02 -3.49591565e+01] [-6.60972240e-02 7.73876223e-04 9.97812887e-01 -6.47112277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.491052754 meters 0.019190604362971077 Centerline is valid? [True, True] Translation: X:92.23, Y:-34.98, Z:-6.47 [[ 8.23873179e-01 5.64414071e-01 5.16695382e-02 9.22329587e+01] [-5.63200990e-01 8.25490653e-01 -3.70111752e-02 -3.49804163e+01] [-6.35423489e-02 1.39217953e-03 9.97978172e-01 -6.47343986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.521052754 meters 0.02015150425847296 Centerline is valid? [True, True] Translation: X:92.26, Y:-35.00, Z:-6.48 [[ 8.25458215e-01 5.62264170e-01 4.97768837e-02 9.22550857e+01] [-5.61134988e-01 8.26956330e-01 -3.56476414e-02 -3.49982527e+01] [-6.12067006e-02 1.49408744e-03 9.98123994e-01 -6.47629276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551052754 meters 0.019396348537465715 Centerline is valid? [True, True] Translation: X:92.28, Y:-35.01, Z:-6.48 [[ 8.24258771e-01 5.64061043e-01 4.93215770e-02 9.22787951e+01] [-5.62956649e-01 8.25732014e-01 -3.53051393e-02 -3.50133867e+01] [-6.06406588e-02 1.33466101e-03 9.98158770e-01 -6.47831601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581052754 meters 0.017952754120477192 Centerline is valid? [True, True] Translation: X:92.30, Y:-35.03, Z:-6.48 [[ 8.23496943e-01 5.65117057e-01 4.99549462e-02 9.23033892e+01] [-5.63987064e-01 8.25009774e-01 -3.57416510e-02 -3.50280911e+01] [-6.14115355e-02 1.25919690e-03 9.98111736e-01 -6.48026577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611052754 meters 0.018054120181202494 Centerline is valid? [True, True] Translation: X:92.32, Y:-35.05, Z:-6.48 [[ 8.21888681e-01 5.67348350e-01 5.11355564e-02 9.23247963e+01] [-5.66169725e-01 8.23477159e-01 -3.65678861e-02 -3.50451043e+01] [-6.28556926e-02 1.10332778e-03 9.98022016e-01 -6.48307241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64105275399999 meters 0.017683880129928036 Centerline is valid? [True, True] Translation: X:92.35, Y:-35.06, Z:-6.48 [[ 8.21387699e-01 5.68025241e-01 5.16679188e-02 9.23487487e+01] [-5.66823853e-01 8.23010458e-01 -3.69392248e-02 -3.50609361e+01] [-6.35056496e-02 1.05481607e-03 9.97980922e-01 -6.48370472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67105275399999 meters 0.016560088819212077 Centerline is valid? [True, True] Translation: X:92.37, Y:-35.08, Z:-6.48 [[ 8.20302321e-01 5.69544391e-01 5.21851420e-02 9.23746649e+01] [-5.68322992e-01 8.21960046e-01 -3.72915397e-02 -3.50750471e+01] [-6.41332890e-02 9.32320506e-04 9.97940906e-01 -6.48191795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70105275399999 meters 0.016075545600227 Centerline is valid? [True, True] Translation: X:92.40, Y:-35.09, Z:-6.48 [[ 8.19694639e-01 5.70432478e-01 5.20335099e-02 9.23989470e+01] [-5.69221099e-01 8.21344065e-01 -3.71654160e-02 -3.50904495e+01] [-6.39377749e-02 8.45720659e-04 9.97953529e-01 -6.48265237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73105275399999 meters 0.01532422562257515 Centerline is valid? [True, True] Translation: X:92.42, Y:-35.10, Z:-6.48 [[ 8.17642783e-01 5.73289042e-01 5.29145945e-02 9.24242801e+01] [-5.72043417e-01 8.19352972e-01 -3.77761319e-02 -3.51044393e+01] [-6.50123728e-02 6.17936140e-04 9.97884267e-01 -6.48251619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76105275399999 meters 0.014966702799047587 Centerline is valid? [True, True] Translation: X:92.45, Y:-35.12, Z:-6.48 [[ 8.16328344e-01 5.74996619e-01 5.46527461e-02 9.24482319e+01] [-5.73672847e-01 8.18155643e-01 -3.89975494e-02 -3.51200158e+01] [-6.71379117e-02 4.82008451e-04 9.97743589e-01 -6.48291497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79105275399999 meters 0.014860754311782545 Centerline is valid? [True, True] Translation: X:92.47, Y:-35.14, Z:-6.48 [[ 8.16015394e-01 5.75416845e-01 5.49029313e-02 9.24710716e+01] [-5.74083156e-01 8.17860175e-01 -3.91569094e-02 -3.51358684e+01] [-6.74344663e-02 4.33792717e-04 9.97723611e-01 -6.48459714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.821052754 meters 0.014730136847613226 Centerline is valid? [True, True] Translation: X:92.49, Y:-35.15, Z:-6.49 [[ 8.15951399e-01 5.75600910e-01 5.39157348e-02 9.24935071e+01] [-5.74316593e-01 8.17730663e-01 -3.84319439e-02 -3.51520005e+01] [-6.62100115e-02 3.93897213e-04 9.97805632e-01 -6.48698111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.851052754 meters 0.014811920634204855 Centerline is valid? [True, True] Translation: X:92.52, Y:-35.17, Z:-6.49 [[ 8.15777528e-01 5.76074192e-01 5.14349228e-02 9.25158104e+01] [-5.74907629e-01 8.17397346e-01 -3.66441830e-02 -3.51686960e+01] [-6.31525375e-02 3.23171491e-04 9.98003834e-01 -6.49288611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.881052754 meters 0.014878646446252346 Centerline is valid? [True, True] Translation: X:92.54, Y:-35.19, Z:-6.50 [[ 8.16355660e-01 5.75356625e-01 5.02811166e-02 9.25378015e+01] [-5.74241703e-01 8.17902579e-01 -3.58027737e-02 -3.51856183e+01] [-6.17244180e-02 3.54282952e-04 9.98093167e-01 -6.49614218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.911052754 meters 0.014977823689568657 Centerline is valid? [True, True] Translation: X:92.56, Y:-35.20, Z:-6.50 [[ 8.16695996e-01 5.75080948e-01 4.78492814e-02 9.25617586e+01] [-5.74071934e-01 8.18096441e-01 -3.40533234e-02 -3.52014248e+01] [-5.87287443e-02 3.42283385e-04 9.98273919e-01 -6.49856114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941052754 meters 0.014995753018283896 Centerline is valid? [True, True] Translation: X:92.58, Y:-35.22, Z:-6.50 [[ 8.16696955e-01 5.75224716e-01 4.60717995e-02 9.25849670e+01] [-5.74290511e-01 8.17995375e-01 -3.27715764e-02 -3.52165931e+01] [-5.65375396e-02 3.05849328e-04 9.98400427e-01 -6.50167742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971052754 meters 0.015095672706944206 Centerline is valid? [True, True] Translation: X:92.61, Y:-35.23, Z:-6.50 [[ 8.17304753e-01 5.74376916e-01 4.58704647e-02 9.26069533e+01] [-5.73449935e-01 8.18590881e-01 -3.26211896e-02 -3.52330165e+01] [-5.62860024e-02 3.57038279e-04 9.98414623e-01 -6.50341195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00105275399999 meters 0.0160983344765237 Centerline is valid? [True, True] Translation: X:92.63, Y:-35.25, Z:-6.51 [[ 8.19674196e-01 5.70965708e-01 4.61776267e-02 9.26272598e+01] [-5.70021990e-01 8.20973705e-01 -3.28192975e-02 -3.52527160e+01] [-5.66493107e-02 5.78868623e-04 9.98393971e-01 -6.50589263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03105275399999 meters 0.01613723242037338 Centerline is valid? [True, True] Translation: X:92.65, Y:-35.27, Z:-6.51 [[ 8.21049566e-01 5.68992921e-01 4.60940968e-02 9.26502191e+01] [-5.68049749e-01 8.22342113e-01 -3.27556403e-02 -3.52694723e+01] [-5.65428444e-02 7.10264214e-04 9.98399921e-01 -6.50655541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06105275399999 meters 0.016726701151341585 Centerline is valid? [True, True] Translation: X:92.67, Y:-35.29, Z:-6.51 [[ 8.22451951e-01 5.66938134e-01 4.64105784e-02 9.26719876e+01] [-5.65979684e-01 8.23759942e-01 -3.29629278e-02 -3.52875273e+01] [-5.69191162e-02 8.42979758e-04 9.98378437e-01 -6.50787735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09105275399999 meters 0.017322388006958917 Centerline is valid? [True, True] Translation: X:92.69, Y:-35.30, Z:-6.51 [[ 8.23973637e-01 5.64650572e-01 4.72988049e-02 9.26949966e+01] [-5.63651561e-01 8.25329449e-01 -3.35889792e-02 -3.53045472e+01] [-5.80031329e-02 1.01638821e-03 9.98315884e-01 -6.50723593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12105275399999 meters 0.017322388006958917 Centerline is valid? [True, True] Translation: X:92.72, Y:-35.32, Z:-6.51 [[ 8.24120772e-01 5.64435171e-01 4.73063504e-02 9.27173031e+01] [-5.63436416e-01 8.25476771e-01 -3.35783486e-02 -3.53202782e+01] [-5.80030943e-02 1.01849405e-03 9.98315884e-01 -6.50900294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15105275399999 meters 0.017153364334378002 Centerline is valid? [True, True] Translation: X:92.74, Y:-35.34, Z:-6.51 [[ 8.23254812e-01 5.65590597e-01 4.85673942e-02 9.27409399e+01] [-5.64541059e-01 8.24685627e-01 -3.44530067e-02 -3.53358049e+01] [-5.95391285e-02 9.45315424e-04 9.98225525e-01 -6.50767317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18105275399999 meters 0.01673612935685786 Centerline is valid? [True, True] Translation: X:92.77, Y:-35.35, Z:-6.51 [[ 8.22638828e-01 5.66473075e-01 4.87197399e-02 9.27658472e+01] [-5.65418970e-01 8.24079781e-01 -3.45529062e-02 -3.53509029e+01] [-5.97222436e-02 8.77497081e-04 9.98214648e-01 -6.50757424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.211052754 meters 0.01635205844194762 Centerline is valid? [True, True] Translation: X:92.79, Y:-35.36, Z:-6.51 [[ 8.20918041e-01 5.68948930e-01 4.88946339e-02 9.27910570e+01] [-5.67892630e-01 8.22372571e-01 -3.46600057e-02 -3.53643974e+01] [-5.99293789e-02 6.86121784e-04 9.98202384e-01 -6.50773205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.241052754 meters 0.016084074469111496 Centerline is valid? [True, True] Translation: X:92.82, Y:-35.38, Z:-6.51 [[ 8.20029559e-01 5.70277148e-01 4.83269883e-02 9.28153819e+01] [-5.69248529e-01 8.21452160e-01 -3.42412210e-02 -3.53796522e+01] [-5.92252947e-02 5.68746312e-04 9.98244480e-01 -6.50955765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.271052754 meters 0.015965339043625758 Centerline is valid? [True, True] Translation: X:92.84, Y:-35.39, Z:-6.51 [[ 8.18692586e-01 5.72263075e-01 4.75123483e-02 9.28383146e+01] [-5.71273203e-01 8.20070003e-01 -3.36469610e-02 -3.53945791e+01] [-5.82183650e-02 4.03986141e-04 9.98303791e-01 -6.51323018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301052754 meters 0.01598601000566116 Centerline is valid? [True, True] Translation: X:92.86, Y:-35.41, Z:-6.52 [[ 8.18010475e-01 5.73255037e-01 4.73024833e-02 9.28606853e+01] [-5.72275871e-01 8.19376931e-01 -3.34928589e-02 -3.54099650e+01] [-5.79585136e-02 3.27439580e-04 9.98318939e-01 -6.51577020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331052754 meters 0.01587799567253746 Centerline is valid? [True, True] Translation: X:92.89, Y:-35.43, Z:-6.51 [[ 8.16442443e-01 5.75342880e-01 4.90133432e-02 9.28852803e+01] [-5.74295750e-01 8.17912304e-01 -3.46966002e-02 -3.54251152e+01] [-6.00510584e-02 1.79622277e-04 9.98195291e-01 -6.51444648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361052754 meters 0.015772421023401203 Centerline is valid? [True, True] Translation: X:92.91, Y:-35.44, Z:-6.51 [[ 8.15658212e-01 5.76382818e-01 4.98450462e-02 9.29090891e+01] [-5.75302774e-01 8.17179808e-01 -3.52686746e-02 -3.54399248e+01] [-6.10606233e-02 9.11907076e-05 9.98134055e-01 -6.51409272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39105275399999 meters 0.015994709530611127 Centerline is valid? [True, True] Translation: X:92.93, Y:-35.45, Z:-6.51 [[ 8.13411737e-01 5.79450255e-01 5.09779288e-02 9.29327377e+01] [-5.78327779e-01 8.15007593e-01 -3.60500113e-02 -3.54538012e+01] [-6.24365872e-02 -1.58450027e-04 9.98048920e-01 -6.51377233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42105275399999 meters 0.016265347733566377 Centerline is valid? [True, True] Translation: X:92.96, Y:-35.47, Z:-6.52 [[ 8.12885306e-01 5.80182575e-01 5.10456478e-02 9.29550339e+01] [-5.79059061e-01 8.14486421e-01 -3.60897965e-02 -3.54702983e+01] [-6.25146580e-02 -2.21579600e-04 9.98044021e-01 -6.51550282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45105275399999 meters 0.01652427251785811 Centerline is valid? [True, True] Translation: X:92.98, Y:-35.49, Z:-6.52 [[ 8.13095763e-01 5.79982721e-01 4.99532087e-02 9.29756511e+01] [-5.78907711e-01 8.14628747e-01 -3.52968362e-02 -3.54867566e+01] [-6.11648749e-02 -2.18589785e-04 9.98127652e-01 -6.51900934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48105275399999 meters 0.0165977641146489 Centerline is valid? [True, True] Translation: X:93.00, Y:-35.50, Z:-6.52 [[ 8.13825391e-01 5.79076765e-01 4.85626744e-02 9.29973625e+01] [-5.78059653e-01 8.15273008e-01 -3.43068473e-02 -3.55038811e+01] [-5.94581357e-02 -1.52339337e-04 9.98230788e-01 -6.52225888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51105275399999 meters 0.01688329553120687 Centerline is valid? [True, True] Translation: X:93.02, Y:-35.52, Z:-6.53 [[ 8.15226870e-01 5.77294429e-01 4.62200444e-02 9.30176393e+01] [-5.76371401e-01 8.16536062e-01 -3.26322936e-02 -3.55222156e+01] [-5.65787744e-02 -3.71891804e-05 9.98398137e-01 -6.52741608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54105275399999 meters 0.017292023421070134 Centerline is valid? [True, True] Translation: X:93.04, Y:-35.54, Z:-6.53 [[ 8.16852783e-01 5.75092204e-01 4.49498376e-02 9.30377089e+01] [-5.74216217e-01 8.18088593e-01 -3.17299663e-02 -3.55415802e+01] [-5.50206057e-02 1.07785592e-04 9.98485213e-01 -6.53235642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.571052754 meters 0.01750103039297807 Centerline is valid? [True, True] Translation: X:93.06, Y:-35.56, Z:-6.53 [[ 8.17506420e-01 5.74183440e-01 4.46836625e-02 9.30598540e+01] [-5.73316624e-01 8.18726663e-01 -3.15388624e-02 -3.55584569e+01] [-5.46927984e-02 1.65335925e-04 9.98503215e-01 -6.53431142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.601052754 meters 0.01790993704367711 Centerline is valid? [True, True] Translation: X:93.08, Y:-35.58, Z:-6.54 [[ 8.19722273e-01 5.71003170e-01 4.48416636e-02 9.30802300e+01] [-5.70126573e-01 8.20947774e-01 -3.16297757e-02 -3.55771031e+01] [-5.48733661e-02 3.62207685e-04 9.98493256e-01 -6.53606813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.631052754 meters 0.01822281972225298 Centerline is valid? [True, True] Translation: X:93.10, Y:-35.59, Z:-6.54 [[ 8.21037364e-01 5.69096356e-01 4.50220494e-02 9.31026697e+01] [-5.68210039e-01 8.22270697e-01 -3.17529935e-02 -3.55948022e+01] [-5.50908248e-02 4.88413681e-04 9.98481228e-01 -6.53771972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.661052754 meters 0.018640338691926106 Centerline is valid? [True, True] Translation: X:93.12, Y:-35.61, Z:-6.54 [[ 8.22383756e-01 5.67163479e-01 4.48391223e-02 9.31244785e+01] [-5.66282443e-01 8.23605019e-01 -3.16064567e-02 -3.56127178e+01] [-5.48557540e-02 6.01028852e-04 9.98494109e-01 -6.54004443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691052754 meters 0.01959663578163432 Centerline is valid? [True, True] Translation: X:93.15, Y:-35.63, Z:-6.54 [[ 8.24686090e-01 5.63790704e-01 4.50876357e-02 9.31456699e+01] [-5.62895131e-01 8.25917284e-01 -3.17759483e-02 -3.56311417e+01] [-5.51536419e-02 8.25571975e-04 9.98477538e-01 -6.54156519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721052754 meters 0.019782596478637837 Centerline is valid? [True, True] Translation: X:93.17, Y:-35.65, Z:-6.54 [[ 8.25880966e-01 5.61992206e-01 4.56660726e-02 9.31686633e+01] [-5.61070966e-01 8.27141977e-01 -3.21795094e-02 -3.56479741e+01] [-5.58569590e-02 9.54536840e-04 9.98438325e-01 -6.54181013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75105275399999 meters 0.020659844495321857 Centerline is valid? [True, True] Translation: X:93.19, Y:-35.67, Z:-6.54 [[ 8.26633966e-01 5.60877640e-01 4.57445035e-02 9.31910301e+01] [-5.59952528e-01 8.27898085e-01 -3.22168809e-02 -3.56650564e+01] [-5.59415150e-02 1.01681763e-03 9.98433530e-01 -6.54381569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78105275399999 meters 0.02066327217902136 Centerline is valid? [True, True] Translation: X:93.21, Y:-35.68, Z:-6.55 [[ 8.26767204e-01 5.60706347e-01 4.54354902e-02 9.32139444e+01] [-5.59793651e-01 8.28014104e-01 -3.19955075e-02 -3.56801923e+01] [-5.55613108e-02 1.01833728e-03 9.98454758e-01 -6.54532633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81105275399999 meters 0.020637232093920842 Centerline is valid? [True, True] Translation: X:93.24, Y:-35.69, Z:-6.55 [[ 8.25489263e-01 5.62525559e-01 4.61787060e-02 9.32386067e+01] [-5.61586732e-01 8.26779412e-01 -3.24984002e-02 -3.56938861e+01] [-5.64607842e-02 8.93731840e-04 9.98404418e-01 -6.54633915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84105275399999 meters 0.02001335520113003 Centerline is valid? [True, True] Translation: X:93.27, Y:-35.71, Z:-6.55 [[ 8.23298037e-01 5.65768242e-01 4.56797355e-02 9.32657231e+01] [-5.64854803e-01 8.24564042e-01 -3.21433083e-02 -3.57053155e+01] [-5.58515304e-02 6.61104633e-04 9.98438866e-01 -6.54836046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87105275399999 meters 0.020173585975403068 Centerline is valid? [True, True] Translation: X:93.29, Y:-35.72, Z:-6.55 [[ 8.22008731e-01 5.67646926e-01 4.55918101e-02 9.32892397e+01] [-5.66740881e-01 8.23271947e-01 -3.20635966e-02 -3.57200121e+01] [-5.57352603e-02 5.17813701e-04 9.98445448e-01 -6.55269260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90105275399999 meters 0.020461013601161884 Centerline is valid? [True, True] Translation: X:93.31, Y:-35.74, Z:-6.56 [[ 8.22496455e-01 5.66920664e-01 4.58316601e-02 9.33109176e+01] [-5.66004149e-01 8.23772201e-01 -3.22283191e-02 -3.57378002e+01] [-5.60257476e-02 5.66768456e-04 9.98429163e-01 -6.55536744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93105275399999 meters 0.0206574513672696 Centerline is valid? [True, True] Translation: X:93.33, Y:-35.75, Z:-6.56 [[ 8.23021936e-01 5.66204171e-01 4.52518516e-02 9.33346645e+01] [-5.65310732e-01 8.24264816e-01 -3.18007658e-02 -3.57531705e+01] [-5.53052354e-02 5.91370461e-04 9.98469319e-01 -6.55625297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.961052754 meters 0.02100083666821302 Centerline is valid? [True, True] Translation: X:93.36, Y:-35.77, Z:-6.56 [[ 8.24842124e-01 5.63557770e-01 4.51454332e-02 9.33588539e+01] [-5.62664787e-01 8.26076302e-01 -3.17219463e-02 -3.57687177e+01] [-5.51707218e-02 7.63852048e-04 9.98476644e-01 -6.55625589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.991052754 meters 0.021486246386960353 Centerline is valid? [True, True] Translation: X:93.38, Y:-35.78, Z:-6.56 [[ 8.25318355e-01 5.62919918e-01 4.43934464e-02 9.33822376e+01] [-5.62056451e-01 8.26511076e-01 -3.11767138e-02 -3.57838776e+01] [-5.42416683e-02 7.79091251e-04 9.98527533e-01 -6.55888215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.021052754 meters 0.021452777499845997 Centerline is valid? [True, True] Translation: X:93.41, Y:-35.80, Z:-6.56 [[ 8.25932975e-01 5.62064013e-01 4.38037270e-02 9.34077318e+01] [-5.61222507e-01 8.27093329e-01 -3.07558557e-02 -3.57975263e+01] [-5.35165301e-02 8.18637913e-04 9.98566628e-01 -6.56281895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051052754 meters 0.021418584134283283 Centerline is valid? [True, True] Translation: X:93.43, Y:-35.81, Z:-6.57 [[ 8.26810283e-01 5.60797541e-01 4.34841699e-02 9.34314452e+01] [-5.59967318e-01 8.27952499e-01 -3.05166057e-02 -3.58131696e+01] [-5.31164646e-02 8.81729401e-04 9.98587935e-01 -6.56644029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081052754 meters 0.02300522021045358 Centerline is valid? [True, True] Translation: X:93.45, Y:-35.83, Z:-6.57 [[ 8.31421133e-01 5.53910115e-01 4.38461420e-02 9.34523959e+01] [-5.53057369e-01 8.32575430e-01 -3.07522493e-02 -3.58326287e+01] [-5.35392025e-02 1.31863807e-03 9.98564878e-01 -6.56895573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111052754 meters 0.024018198787858686 Centerline is valid? [True, True] Translation: X:93.48, Y:-35.85, Z:-6.57 [[ 8.33850171e-01 5.50202918e-01 4.43919165e-02 9.34761254e+01] [-5.49323798e-01 8.35029507e-01 -3.11301794e-02 -3.58494560e+01] [-5.41964757e-02 1.57236926e-03 9.98529053e-01 -6.56945687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14105275399999 meters 0.027993955055480246 Centerline is valid? [True, True] Translation: X:93.50, Y:-35.87, Z:-6.57 [[ 8.39406208e-01 5.41650904e-01 4.48499380e-02 9.34961599e+01] [-5.40741425e-01 8.40600793e-01 -3.14486620e-02 -3.58692967e+01] [-5.47350896e-02 2.14598273e-03 9.98498605e-01 -6.56936154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17105275399999 meters 0.027204643963901747 Centerline is valid? [True, True] Translation: X:93.52, Y:-35.88, Z:-6.57 [[ 8.41417108e-01 5.38553374e-01 4.44692318e-02 9.35218761e+01] [-5.37655413e-01 8.42588201e-01 -3.11733815e-02 -3.58837289e+01] [-5.42577798e-02 2.32069335e-03 9.98524265e-01 -6.57063429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20105275399999 meters 0.0325561026623638 Centerline is valid? [True, True] Translation: X:93.54, Y:-35.91, Z:-6.58 [[ 8.44613749e-01 5.33521794e-01 4.45208891e-02 9.35398900e+01] [-5.32614929e-01 8.45782182e-01 -3.12063665e-02 -3.59061591e+01] [-5.43042514e-02 2.64483605e-03 9.98520933e-01 -6.57537544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23105275399999 meters 0.03364393804208188 Centerline is valid? [True, True] Translation: X:93.56, Y:-35.92, Z:-6.58 [[ 8.45673151e-01 5.31757508e-01 4.55068590e-02 9.35622153e+01] [-5.30807633e-01 8.46891976e-01 -3.18941738e-02 -3.59242179e+01] [-5.54993601e-02 2.81665829e-03 9.98454750e-01 -6.57702566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26105275399999 meters 0.03182893068793296 Centerline is valid? [True, True] Translation: X:93.59, Y:-35.94, Z:-6.58 [[ 8.46080876e-01 5.30980236e-01 4.69802220e-02 9.35890104e+01] [-5.29967498e-01 8.47379078e-01 -3.29112517e-02 -3.59368248e+01] [-5.72852814e-02 2.94759002e-03 9.98353499e-01 -6.57624027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29105275399999 meters 0.03193999043810325 Centerline is valid? [True, True] Translation: X:93.61, Y:-35.95, Z:-6.58 [[ 8.45872475e-01 5.31233860e-01 4.78575166e-02 9.36135415e+01] [-5.30184321e-01 8.47220019e-01 -3.35085858e-02 -3.59527309e+01] [-5.83467415e-02 2.97068551e-03 9.98291958e-01 -6.57585207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.321052754 meters 0.03034158287077284 Centerline is valid? [True, True] Translation: X:93.64, Y:-35.97, Z:-6.58 [[ 8.44100679e-01 5.34010753e-01 4.82344242e-02 9.36390867e+01] [-5.32950032e-01 8.45473090e-01 -3.37567526e-02 -3.59668038e+01] [-5.88073766e-02 2.78755991e-03 9.98265457e-01 -6.57796520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.351052754 meters 0.02893116090193564 Centerline is valid? [True, True] Translation: X:93.66, Y:-35.98, Z:-6.58 [[ 8.42433229e-01 5.36647898e-01 4.81174472e-02 9.36635711e+01] [-5.35597576e-01 8.43802323e-01 -3.36582158e-02 -3.59817924e+01] [-5.86642245e-02 2.58321133e-03 9.98274429e-01 -6.58140185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.381052754 meters 0.0251206104322698 Centerline is valid? [True, True] Translation: X:93.69, Y:-35.99, Z:-6.58 [[ 8.37119942e-01 5.44886932e-01 4.82538619e-02 9.36905835e+01] [-5.43844472e-01 8.38507122e-01 -3.37490185e-02 -3.59930897e+01] [-5.88506060e-02 2.00938035e-03 9.98264779e-01 -6.58354581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.411052754 meters 0.02300525537906557 Centerline is valid? [True, True] Translation: X:93.72, Y:-36.01, Z:-6.58 [[ 8.31866198e-01 5.52789560e-01 4.92171819e-02 9.37157149e+01] [-5.51719129e-01 8.33319582e-01 -3.44162481e-02 -3.60057970e+01] [-6.00385841e-02 1.47565270e-03 9.98194966e-01 -6.58419075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441052754 meters 0.0215094318873606 Centerline is valid? [True, True] Translation: X:93.74, Y:-36.02, Z:-6.59 [[ 8.29671638e-01 5.56087038e-01 4.91139363e-02 9.37407619e+01] [-5.55027134e-01 8.31123150e-01 -3.43393218e-02 -3.60194693e+01] [-5.99153812e-02 1.23079403e-03 9.98202701e-01 -6.58525914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471052754 meters 0.020133110413500077 Centerline is valid? [True, True] Translation: X:93.77, Y:-36.03, Z:-6.59 [[ 8.24909215e-01 5.63238935e-01 4.78193386e-02 9.37665023e+01] [-5.62246986e-01 8.26293796e-01 -3.34198929e-02 -3.60317405e+01] [-5.83362077e-02 6.82098659e-04 9.98296760e-01 -6.58670345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50105275399999 meters 0.01961120866162435 Centerline is valid? [True, True] Translation: X:93.79, Y:-36.05, Z:-6.59 [[ 8.22737262e-01 5.66461250e-01 4.71704339e-02 9.37906484e+01] [-5.65501664e-01 8.24088257e-01 -3.29607632e-02 -3.60465224e+01] [-5.75435957e-02 4.43089163e-04 9.98342896e-01 -6.58949763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53105275399999 meters 0.019417852925261637 Centerline is valid? [True, True] Translation: X:93.81, Y:-36.06, Z:-6.59 [[ 8.20258304e-01 5.70142002e-01 4.59827292e-02 9.38140820e+01] [-5.69236801e-01 8.21546145e-01 -3.21153426e-02 -3.60635566e+01] [-5.60872397e-02 1.67814764e-04 9.98425858e-01 -6.59249329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56105275399999 meters 0.019360120298925712 Centerline is valid? [True, True] Translation: X:93.84, Y:-36.08, Z:-6.59 [[ 8.18770018e-01 5.72299770e-01 4.57015376e-02 9.38369730e+01] [-5.71409836e-01 8.20044494e-01 -3.19034003e-02 -3.60786572e+01] [-5.57356029e-02 7.23954322e-06 9.98445563e-01 -6.59460023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59105275399999 meters 0.01950974043325301 Centerline is valid? [True, True] Translation: X:93.86, Y:-36.09, Z:-6.60 [[ 8.15304699e-01 5.77354682e-01 4.40433749e-02 9.38636920e+01] [-5.76536466e-01 8.16493390e-01 -3.07286132e-02 -3.60903394e+01] [-5.37024332e-02 -3.39428974e-04 9.98556926e-01 -6.59535245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62105275399999 meters 0.019702450041393624 Centerline is valid? [True, True] Translation: X:93.89, Y:-36.10, Z:-6.59 [[ 8.12384045e-01 5.81378584e-01 4.50677879e-02 9.38892652e+01] [-5.80528951e-01 8.13632928e-01 -3.14260259e-02 -3.61019086e+01] [-5.49390547e-02 -6.33153567e-04 9.98489509e-01 -6.59376500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65105275399999 meters 0.01951260688854922 Centerline is valid? [True, True] Translation: X:93.91, Y:-36.12, Z:-6.59 [[ 8.12498298e-01 5.81157634e-01 4.58510637e-02 9.39120308e+01] [-5.80278236e-01 8.13790760e-01 -3.19650912e-02 -3.61186474e+01] [-5.58899287e-02 -6.34792175e-04 9.98436735e-01 -6.59385531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68105275399999 meters 0.019801919569417296 Centerline is valid? [True, True] Translation: X:93.94, Y:-36.13, Z:-6.60 [[ 8.11297171e-01 5.82848566e-01 4.56557792e-02 9.39356560e+01] [-5.81980398e-01 8.12580437e-01 -3.18095926e-02 -3.61322058e+01] [-5.56391684e-02 -7.63736041e-04 9.98450650e-01 -6.59572979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.711052754 meters 0.01953210957833505 Centerline is valid? [True, True] Translation: X:93.96, Y:-36.15, Z:-6.60 [[ 8.11686750e-01 5.82170328e-01 4.73532439e-02 9.39583609e+01] [-5.81235841e-01 8.13066505e-01 -3.29811205e-02 -3.61480904e+01] [-5.77019663e-02 -7.53064007e-04 9.98333570e-01 -6.59706747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.741052754 meters 0.019252732931734136 Centerline is valid? [True, True] Translation: X:93.98, Y:-36.16, Z:-6.60 [[ 8.12443698e-01 5.81007520e-01 4.86364076e-02 9.39817750e+01] [-5.80019884e-01 8.13897894e-01 -3.38696370e-02 -3.61641890e+01] [-5.92635835e-02 -6.92910376e-04 9.98242129e-01 -6.59738814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.771052754 meters 0.018383115897246588 Centerline is valid? [True, True] Translation: X:94.01, Y:-36.18, Z:-6.60 [[ 8.14970408e-01 5.77299153e-01 5.04868504e-02 9.40051193e+01] [-5.76228860e-01 8.16532597e-01 -3.51399931e-02 -3.61802222e+01] [-6.15104473e-02 -4.53925735e-04 9.98106336e-01 -6.59510984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801052754 meters 0.017910004623142763 Centerline is valid? [True, True] Translation: X:94.03, Y:-36.20, Z:-6.60 [[ 8.16041873e-01 5.75698844e-01 5.14441643e-02 9.40275185e+01] [-5.74584733e-01 8.17661741e-01 -3.58003188e-02 -3.61979971e+01] [-6.26741271e-02 -3.44472136e-04 9.98033985e-01 -6.59632224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831052754 meters 0.01768562646819607 Centerline is valid? [True, True] Translation: X:94.05, Y:-36.22, Z:-6.60 [[ 8.19811570e-01 5.70218610e-01 5.25331068e-02 9.40469213e+01] [-5.69046686e-01 8.21492990e-01 -3.65395104e-02 -3.62179230e+01] [-6.39910878e-02 6.17230336e-05 9.97950468e-01 -6.59922685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861052754 meters 0.017759695638406924 Centerline is valid? [True, True] Translation: X:94.07, Y:-36.24, Z:-6.60 [[ 8.22784880e-01 5.65863876e-01 5.31329937e-02 9.40656569e+01] [-5.64656329e-01 8.24498583e-01 -3.69501856e-02 -3.62392075e+01] [-6.47168532e-02 4.00172834e-04 9.97903587e-01 -6.60343837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89105275399999 meters 0.017935902671344484 Centerline is valid? [True, True] Translation: X:94.09, Y:-36.26, Z:-6.61 [[ 8.24111626e-01 5.63880549e-01 5.36540194e-02 9.40877479e+01] [-5.62645399e-01 8.25856172e-01 -3.73060072e-02 -3.62574274e+01] [-6.53466349e-02 5.56127148e-04 9.97862470e-01 -6.60514810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92105275399999 meters 0.01762162618603296 Centerline is valid? [True, True] Translation: X:94.11, Y:-36.27, Z:-6.60 [[ 8.25333767e-01 5.62100299e-01 5.35483649e-02 9.41118795e+01] [-5.60867390e-01 8.27068794e-01 -3.72153388e-02 -3.62725842e+01] [-6.52069347e-02 6.81544119e-04 9.97871530e-01 -6.60304072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95105275399999 meters 0.017657990039908988 Centerline is valid? [True, True] Translation: X:94.14, Y:-36.29, Z:-6.60 [[ 8.25686399e-01 5.61595055e-01 5.34131473e-02 9.41357273e+01] [-5.60367738e-01 8.27411919e-01 -3.71148727e-02 -3.62867825e+01] [-6.50382037e-02 7.14241020e-04 9.97882519e-01 -6.60345640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98105275399999 meters 0.01726413934114726 Centerline is valid? [True, True] Translation: X:94.16, Y:-36.30, Z:-6.61 [[ 8.24866152e-01 5.62773655e-01 5.36809462e-02 9.41582165e+01] [-5.61537825e-01 8.26610818e-01 -3.72803823e-02 -3.63026223e+01] [-6.53536678e-02 6.07443698e-04 9.97861979e-01 -6.60712383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01105275399999 meters 0.017418447152572222 Centerline is valid? [True, True] Translation: X:94.18, Y:-36.32, Z:-6.61 [[ 8.25034433e-01 5.62501981e-01 5.39416893e-02 9.41785869e+01] [-5.61253956e-01 8.26795700e-01 -3.74548713e-02 -3.63198582e+01] [-6.56671960e-02 6.26571981e-04 9.97841384e-01 -6.61196969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04105275399999 meters 0.017418447152572222 Centerline is valid? [True, True] Translation: X:94.20, Y:-36.34, Z:-6.61 [[ 8.25175452e-01 5.62294464e-01 5.39482153e-02 9.42010637e+01] [-5.61046611e-01 8.26936840e-01 -3.74454693e-02 -3.63353401e+01] [-6.56671467e-02 6.31618727e-04 9.97841384e-01 -6.61373484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.071052754 meters 0.016903605218633395 Centerline is valid? [True, True] Translation: X:94.22, Y:-36.35, Z:-6.62 [[ 8.23766657e-01 5.64403504e-01 5.34525857e-02 9.42241893e+01] [-5.63184211e-01 8.25498933e-01 -3.70817579e-02 -3.63524368e+01] [-6.50541266e-02 4.43063438e-04 9.97881638e-01 -6.61919549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.101052754 meters 0.016677621639861452 Centerline is valid? [True, True] Translation: X:94.25, Y:-36.37, Z:-6.62 [[ 8.23032897e-01 5.65517600e-01 5.29782525e-02 9.42475506e+01] [-5.64323321e-01 8.24736158e-01 -3.67349852e-02 -3.63676095e+01] [-6.44673610e-02 3.37237912e-04 9.97919759e-01 -6.62177889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.131052754 meters 0.016405885019998893 Centerline is valid? [True, True] Translation: X:94.27, Y:-36.38, Z:-6.62 [[ 8.22397827e-01 5.66488690e-01 5.24631157e-02 9.42704197e+01] [-5.65320813e-01 8.24069479e-01 -3.63575618e-02 -3.63825649e+01] [-6.38293999e-02 2.41888547e-04 9.97960795e-01 -6.62198773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.161052754 meters 0.01612626747377421 Centerline is valid? [True, True] Translation: X:94.29, Y:-36.40, Z:-6.62 [[ 8.21461122e-01 5.67861128e-01 5.23007082e-02 9.42940434e+01] [-5.66704125e-01 8.23124368e-01 -3.62313385e-02 -3.63974724e+01] [-6.36243561e-02 1.23608879e-04 9.97973911e-01 -6.62294474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.191052754 meters 0.016212298037357107 Centerline is valid? [True, True] Translation: X:94.32, Y:-36.41, Z:-6.63 [[ 8.19159976e-01 5.71303898e-01 5.08801434e-02 9.43178800e+01] [-5.70216740e-01 8.20738589e-01 -3.52283566e-02 -3.64118775e+01] [-6.18853946e-02 -1.55049744e-04 9.98083250e-01 -6.62690458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221052754 meters 0.016491547636173165 Centerline is valid? [True, True] Translation: X:94.34, Y:-36.43, Z:-6.63 [[ 8.17808582e-01 5.73333019e-01 4.97832509e-02 9.43410692e+01] [-5.72297201e-01 8.19322372e-01 -3.44494486e-02 -3.64266745e+01] [-6.05395376e-02 -3.17760468e-04 9.98165749e-01 -6.63052067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25105275399999 meters 0.01695669356761805 Centerline is valid? [True, True] Translation: X:94.36, Y:-36.44, Z:-6.64 [[ 8.15987414e-01 5.76069518e-01 4.80463365e-02 9.43640810e+01] [-5.75109826e-01 8.17400547e-01 -3.32420517e-02 -3.64414951e+01] [-5.84228344e-02 -5.06824390e-04 9.98291799e-01 -6.63677872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28105275399999 meters 0.017339256755730854 Centerline is valid? [True, True] Translation: X:94.39, Y:-36.46, Z:-6.64 [[ 8.14776690e-01 5.77802594e-01 4.77818685e-02 9.43877927e+01] [-5.76856744e-01 8.16176306e-01 -3.30535066e-02 -3.64558350e+01] [-5.80968308e-02 -6.32066383e-04 9.98310753e-01 -6.63869039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31105275399999 meters 0.017164024739729146 Centerline is valid? [True, True] Translation: X:94.41, Y:-36.47, Z:-6.64 [[ 8.14559619e-01 5.78118537e-01 4.76611302e-02 9.44116076e+01] [-5.77178259e-01 8.15952527e-01 -3.29656087e-02 -3.64726515e+01] [-5.79472491e-02 -6.56514471e-04 9.98319431e-01 -6.63971209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34105275399999 meters 0.017061227015207233 Centerline is valid? [True, True] Translation: X:94.43, Y:-36.49, Z:-6.64 [[ 8.14483704e-01 5.78193113e-01 4.80522641e-02 9.44344440e+01] [-5.77238448e-01 8.15899663e-01 -3.32191777e-02 -3.64876541e+01] [-5.84129259e-02 -6.81135386e-04 9.98292275e-01 -6.63907924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37105275399999 meters 0.016912285867094673 Centerline is valid? [True, True] Translation: X:94.46, Y:-36.50, Z:-6.64 [[ 8.15106883e-01 5.77305550e-01 4.81567465e-02 9.44580978e+01] [-5.76345600e-01 8.16527961e-01 -3.32841907e-02 -3.65036966e+01] [-5.85364781e-02 -6.24756061e-04 9.98285075e-01 -6.63973731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40105275399999 meters 0.016825575966491247 Centerline is valid? [True, True] Translation: X:94.48, Y:-36.52, Z:-6.64 [[ 8.15662825e-01 5.76471810e-01 4.87279084e-02 9.44818561e+01] [-5.75488406e-01 8.17116828e-01 -3.36628094e-02 -3.65203704e+01] [-5.92220546e-02 -5.84844141e-04 9.98244663e-01 -6.64033045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43105275399999 meters 0.01660913764245581 Centerline is valid? [True, True] Translation: X:94.50, Y:-36.54, Z:-6.64 [[ 8.16488868e-01 5.75134969e-01 5.06526963e-02 9.45035178e+01] [-5.74070783e-01 8.18058369e-01 -3.49748565e-02 -3.65383030e+01] [-6.15521251e-02 -5.21652050e-04 9.98103734e-01 -6.64064927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.461052754 meters 0.0165074900633175 Centerline is valid? [True, True] Translation: X:94.53, Y:-36.55, Z:-6.64 [[ 8.16755009e-01 5.74632583e-01 5.20446919e-02 9.45252479e+01] [-5.73508414e-01 8.18411353e-01 -3.59298873e-02 -3.65549014e+01] [-6.32404507e-02 -5.02153321e-04 9.97998193e-01 -6.64116739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.491052754 meters 0.01649601814963692 Centerline is valid? [True, True] Translation: X:94.55, Y:-36.57, Z:-6.64 [[ 8.17203402e-01 5.73941834e-01 5.26248170e-02 9.45478141e+01] [-5.72791599e-01 8.18895939e-01 -3.63211524e-02 -3.65714139e+01] [-6.39404777e-02 -4.61283774e-04 9.97953607e-01 -6.64197825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.521052754 meters 0.01629040153438396 Centerline is valid? [True, True] Translation: X:94.57, Y:-36.59, Z:-6.64 [[ 8.18059820e-01 5.72641218e-01 5.34805253e-02 9.45695010e+01] [-5.71451738e-01 8.19806008e-01 -3.68920117e-02 -3.65885088e+01] [-6.49695425e-02 -3.81666677e-04 9.97887174e-01 -6.64166208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551052754 meters 0.016321931108441982 Centerline is valid? [True, True] Translation: X:94.59, Y:-36.61, Z:-6.64 [[ 8.18547965e-01 5.71968634e-01 5.32081736e-02 9.45923774e+01] [-5.70791073e-01 8.20275420e-01 -3.66849697e-02 -3.66050823e+01] [-6.46280090e-02 -3.42343192e-04 9.97909366e-01 -6.64349911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581052754 meters 0.016366345836260565 Centerline is valid? [True, True] Translation: X:94.61, Y:-36.62, Z:-6.65 [[ 8.19569134e-01 5.70716410e-01 5.08843122e-02 9.46129891e+01] [-5.69638263e-01 8.21147196e-01 -3.50646794e-02 -3.66223682e+01] [-6.17954983e-02 -2.47722302e-04 9.98088801e-01 -6.64907328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61105275399999 meters 0.01646963852342938 Centerline is valid? [True, True] Translation: X:94.63, Y:-36.64, Z:-6.65 [[ 8.20328475e-01 5.69719279e-01 4.98109966e-02 9.46346625e+01] [-5.68684765e-01 8.21839347e-01 -3.43180178e-02 -3.66392595e+01] [-6.04882733e-02 -1.74707639e-04 9.98168893e-01 -6.65270180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64105275399999 meters 0.01659881942874338 Centerline is valid? [True, True] Translation: X:94.65, Y:-36.66, Z:-6.66 [[ 8.22672616e-01 5.66437177e-01 4.85663569e-02 9.46531551e+01] [-5.65449061e-01 8.24104922e-01 -3.34430494e-02 -3.66585547e+01] [-5.89671603e-02 5.08800521e-05 9.98259922e-01 -6.65746115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67105275399999 meters 0.0167966891926347 Centerline is valid? [True, True] Translation: X:94.67, Y:-36.68, Z:-6.66 [[ 8.23860739e-01 5.64815911e-01 4.72913206e-02 9.46747882e+01] [-5.63876990e-01 8.25216919e-01 -3.25542186e-02 -3.66766151e+01] [-5.74127385e-02 1.53655045e-04 9.98350517e-01 -6.66147159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70105275399999 meters 0.017323419078600952 Centerline is valid? [True, True] Translation: X:94.70, Y:-36.70, Z:-6.67 [[ 8.25821548e-01 5.62074630e-01 4.57261460e-02 9.46959877e+01] [-5.61193421e-01 8.27086456e-01 -3.14632805e-02 -3.66955189e+01] [-5.55041879e-02 3.21842703e-04 9.98458403e-01 -6.66606406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73105275399999 meters 0.017280704703252416 Centerline is valid? [True, True] Translation: X:94.72, Y:-36.71, Z:-6.67 [[ 8.26435738e-01 5.61225720e-01 4.50517644e-02 9.47204048e+01] [-5.60369792e-01 8.27662709e-01 -3.09860686e-02 -3.67105769e+01] [-5.46778440e-02 3.62346618e-04 9.98503982e-01 -6.66552035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76105275399999 meters 0.017481181252319303 Centerline is valid? [True, True] Translation: X:94.74, Y:-36.73, Z:-6.67 [[ 8.26658207e-01 5.60852464e-01 4.56149358e-02 9.47419537e+01] [-5.59975383e-01 8.27915679e-01 -3.13560067e-02 -3.67269371e+01] [-5.53514142e-02 3.77459116e-04 9.98466864e-01 -6.66852644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79105275399999 meters 0.017498937232379146 Centerline is valid? [True, True] Translation: X:94.77, Y:-36.74, Z:-6.67 [[ 8.26217631e-01 5.61443671e-01 4.63187870e-02 9.47662512e+01] [-5.60540615e-01 8.27514889e-01 -3.18328230e-02 -3.67424425e+01] [-5.62018229e-02 3.37278284e-04 9.98419371e-01 -6.66864484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.821052754 meters 0.017370797984285244 Centerline is valid? [True, True] Translation: X:94.79, Y:-36.76, Z:-6.67 [[ 8.25563172e-01 5.62347648e-01 4.70167121e-02 9.47906684e+01] [-5.61419538e-01 8.26900872e-01 -3.22962917e-02 -3.67569921e+01] [-5.70399039e-02 2.66528249e-04 9.98371864e-01 -6.66923226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.851052754 meters 0.017541289351938754 Centerline is valid? [True, True] Translation: X:94.82, Y:-36.77, Z:-6.67 [[ 8.23645081e-01 5.65041044e-01 4.83466563e-02 9.48168585e+01] [-5.64065255e-01 8.25062794e-01 -3.31929734e-02 -3.67700493e+01] [-5.86444197e-02 6.85602470e-05 9.98278933e-01 -6.66893576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.881052754 meters 0.01761764967438653 Centerline is valid? [True, True] Translation: X:94.84, Y:-36.78, Z:-6.67 [[ 8.22791154e-01 5.66258550e-01 4.86412469e-02 9.48400632e+01] [-5.65273958e-01 8.24227671e-01 -3.33781200e-02 -3.67839133e+01] [-5.89921075e-02 -3.24083101e-05 9.98258449e-01 -6.67086215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.911052754 meters 0.018123745187882383 Centerline is valid? [True, True] Translation: X:94.86, Y:-36.80, Z:-6.67 [[ 8.21383566e-01 5.68256704e-01 4.91259218e-02 9.48641090e+01] [-5.67256753e-01 8.22851313e-01 -3.36970829e-02 -3.67959827e+01] [-5.95719225e-02 -1.88780794e-04 9.98223998e-01 -6.67290562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941052754 meters 0.018394760574497872 Centerline is valid? [True, True] Translation: X:94.89, Y:-36.81, Z:-6.67 [[ 8.19852005e-01 5.70401867e-01 4.98437437e-02 9.48887874e+01] [-5.69376924e-01 8.21365681e-01 -3.41809342e-02 -3.68088092e+01] [-6.04368092e-02 -3.56569991e-04 9.98171962e-01 -6.67422016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971052754 meters 0.018615346310265287 Centerline is valid? [True, True] Translation: X:94.91, Y:-36.82, Z:-6.67 [[ 8.19348468e-01 5.70968087e-01 5.16094038e-02 9.49124591e+01] [-5.69870835e-01 8.20972148e-01 -3.53831029e-02 -3.68243983e+01] [-6.25725057e-02 -4.19602861e-04 9.98040333e-01 -6.67371964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00105275399999 meters 0.018682907441123282 Centerline is valid? [True, True] Translation: X:94.94, Y:-36.84, Z:-6.67 [[ 8.18924601e-01 5.71487635e-01 5.25773737e-02 9.49358714e+01] [-5.70351164e-01 8.20610534e-01 -3.60263983e-02 -3.68396163e+01] [-6.37341879e-02 -4.84662414e-04 9.97966792e-01 -6.67414114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03105275399999 meters 0.019389779962020955 Centerline is valid? [True, True] Translation: X:94.96, Y:-36.85, Z:-6.68 [[ 8.16956731e-01 5.74194283e-01 5.36900836e-02 9.49607388e+01] [-5.73016351e-01 8.18718753e-01 -3.67677230e-02 -3.68526208e+01] [-6.50688946e-02 -7.27657009e-04 9.97880509e-01 -6.67537926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06105275399999 meters 0.01997134945191596 Centerline is valid? [True, True] Translation: X:94.99, Y:-36.87, Z:-6.68 [[ 8.15620513e-01 5.76134624e-01 5.32172411e-02 9.49852023e+01] [-5.74981897e-01 8.17354343e-01 -3.64375654e-02 -3.68651020e+01] [-6.44902862e-02 -8.79724478e-04 9.97917947e-01 -6.67711041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09105275399999 meters 0.02110955201072247 Centerline is valid? [True, True] Translation: X:95.01, Y:-36.88, Z:-6.68 [[ 8.11878872e-01 5.81311036e-01 5.41311089e-02 9.50120639e+01] [-5.80130521e-01 8.13680363e-01 -3.70519262e-02 -3.68770785e+01] [-6.55841139e-02 -1.32143234e-03 9.97846169e-01 -6.67806902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12105275399999 meters 0.021572595496120766 Centerline is valid? [True, True] Translation: X:95.04, Y:-36.89, Z:-6.68 [[ 8.09684434e-01 5.84339100e-01 5.43960847e-02 9.50363990e+01] [-5.83154142e-01 8.11508056e-01 -3.72279749e-02 -3.68918055e+01] [-6.58966223e-02 -1.57839036e-03 9.97825207e-01 -6.68023436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15105275399999 meters 0.021910333259717748 Centerline is valid? [True, True] Translation: X:95.06, Y:-36.91, Z:-6.68 [[ 8.09601854e-01 5.84451849e-01 5.44139061e-02 9.50596421e+01] [-5.83266965e-01 8.11426824e-01 -3.72311301e-02 -3.69064228e+01] [-6.59127058e-02 -1.59544186e-03 9.97824118e-01 -6.68188738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18105275399999 meters 0.022036052337487965 Centerline is valid? [True, True] Translation: X:95.08, Y:-36.92, Z:-6.69 [[ 8.10727168e-01 5.83052377e-01 5.26439386e-02 9.50833681e+01] [-5.81940964e-01 8.12433291e-01 -3.60119755e-02 -3.69213695e+01] [-6.37665562e-02 -1.43977747e-03 9.97963804e-01 -6.68566527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.211052754 meters 0.021857414688043062 Centerline is valid? [True, True] Translation: X:95.11, Y:-36.94, Z:-6.69 [[ 8.12127285e-01 5.81227806e-01 5.12202173e-02 9.51060977e+01] [-5.80173169e-01 8.13739892e-01 -3.50211743e-02 -3.69383305e+01] [-6.20352145e-02 -1.27494458e-03 9.98073147e-01 -6.68927770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.241052754 meters 0.0216578071191301 Centerline is valid? [True, True] Translation: X:95.13, Y:-36.96, Z:-6.69 [[ 8.13629105e-01 5.79256417e-01 4.96959030e-02 9.51293052e+01] [-5.78260970e-01 8.15144640e-01 -3.39627204e-02 -3.69556355e+01] [-6.01824727e-02 -1.10414331e-03 9.98186782e-01 -6.69393203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.271052754 meters 0.020828871022287743 Centerline is valid? [True, True] Translation: X:95.15, Y:-36.97, Z:-6.70 [[ 8.17245888e-01 5.74319947e-01 4.75999654e-02 9.51512194e+01] [-5.73399170e-01 8.18630613e-01 -3.25163297e-02 -3.69749155e+01] [-5.76415656e-02 -7.19943833e-04 9.98337083e-01 -6.69810599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301052754 meters 0.02037907802460919 Centerline is valid? [True, True] Translation: X:95.17, Y:-36.99, Z:-6.70 [[ 8.19750712e-01 5.70643869e-01 4.87272458e-02 9.51746605e+01] [-5.69673337e-01 8.21197504e-01 -3.32708474e-02 -3.69925804e+01] [-5.90004977e-02 -4.84811833e-04 9.98257836e-01 -6.69845730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331052754 meters 0.02018540040496162 Centerline is valid? [True, True] Translation: X:95.20, Y:-37.01, Z:-6.70 [[ 8.21242696e-01 5.68341566e-01 5.04806757e-02 9.51984532e+01] [-5.67296537e-01 8.22792650e-01 -3.44513170e-02 -3.70090741e+01] [-6.11152444e-02 -3.44620032e-04 9.98130657e-01 -6.69789793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36105275399999 meters 0.019940652769276198 Centerline is valid? [True, True] Translation: X:95.22, Y:-37.02, Z:-6.69 [[ 8.23628127e-01 5.64478978e-01 5.47740059e-02 9.52225858e+01] [-5.63241213e-01 8.25447441e-01 -3.73611927e-02 -3.70237888e+01] [-6.63026708e-02 -7.92483516e-05 9.97799554e-01 -6.69428379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39105275399999 meters 0.019915333057791914 Centerline is valid? [True, True] Translation: X:95.24, Y:-37.04, Z:-6.69 [[ 8.25283566e-01 5.61883961e-01 5.65106199e-02 9.52448742e+01] [-5.60560772e-01 8.27216053e-01 -3.85385938e-02 -3.70401037e+01] [-6.84007097e-02 1.27631350e-04 9.97657921e-01 -6.69453220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42105275399999 meters 0.020501599822622254 Centerline is valid? [True, True] Translation: X:95.27, Y:-37.06, Z:-6.70 [[ 8.28877532e-01 5.56385598e-01 5.82846686e-02 9.52661403e+01] [-5.54964880e-01 8.30924012e-01 -3.97400082e-02 -3.70593646e+01] [-7.05408989e-02 5.93655784e-04 9.97508711e-01 -6.69780792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45105275399999 meters 0.020840752543557665 Centerline is valid? [True, True] Translation: X:95.29, Y:-37.08, Z:-6.70 [[ 8.30894393e-01 5.53340353e-01 5.85573241e-02 9.52885485e+01] [-5.51900150e-01 8.32954830e-01 -3.99058383e-02 -3.70772557e+01] [-7.08571166e-02 8.39741270e-04 9.97486122e-01 -6.69975232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48105275399999 meters 0.021216069570227387 Centerline is valid? [True, True] Translation: X:95.31, Y:-37.09, Z:-6.70 [[ 8.32217411e-01 5.51309949e-01 5.89196138e-02 9.53108908e+01] [-5.49848110e-01 8.34299906e-01 -4.01338009e-02 -3.70930555e+01] [-7.12827920e-02 1.00320959e-03 9.97455642e-01 -6.70114652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51105275399999 meters 0.021915929158103583 Centerline is valid? [True, True] Translation: X:95.33, Y:-37.11, Z:-6.70 [[ 8.34706081e-01 5.47444210e-01 5.97544556e-02 9.53348562e+01] [-5.45931309e-01 8.36841100e-01 -4.06937141e-02 -3.71097231e+01] [-7.22825225e-02 1.34546249e-03 9.97383290e-01 -6.70011444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54105275399999 meters 0.022495152245170225 Centerline is valid? [True, True] Translation: X:95.36, Y:-37.13, Z:-6.70 [[ 8.36381567e-01 5.44935337e-01 5.92566710e-02 9.53569315e+01] [-5.43442706e-01 8.38476672e-01 -4.03348005e-02 -3.71276212e+01] [-7.16651944e-02 1.53267799e-03 9.97427567e-01 -6.70309554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.571052754 meters 0.022052223953391473 Centerline is valid? [True, True] Translation: X:95.38, Y:-37.14, Z:-6.71 [[ 8.36261280e-01 5.45241979e-01 5.81227630e-02 9.53809527e+01] [-5.43808114e-01 8.38277430e-01 -3.95434753e-02 -3.71423036e+01] [-7.02837631e-02 1.46104717e-03 9.97525969e-01 -6.70802529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.601052754 meters 0.02250695861213798 Centerline is valid? [True, True] Translation: X:95.40, Y:-37.16, Z:-6.71 [[ 8.36491847e-01 5.45164729e-01 5.54689804e-02 9.54025574e+01] [-5.43860007e-01 8.38327800e-01 -3.77199331e-02 -3.71587743e+01] [-6.70647654e-02 1.38505644e-03 9.97747663e-01 -6.71319180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.631052754 meters 0.022240261797076236 Centerline is valid? [True, True] Translation: X:95.43, Y:-37.17, Z:-6.72 [[ 8.36244788e-01 5.45621023e-01 5.47024103e-02 9.54264856e+01] [-5.44353594e-01 8.38030994e-01 -3.71916396e-02 -3.71741552e+01] [-6.61348557e-02 1.32386116e-03 9.97809816e-01 -6.71576466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.661052754 meters 0.021430414927281354 Centerline is valid? [True, True] Translation: X:95.45, Y:-37.19, Z:-6.72 [[ 8.33681433e-01 5.49561812e-01 5.43790634e-02 9.54513471e+01] [-5.48318898e-01 8.35452473e-01 -3.69533721e-02 -3.71865524e+01] [-6.57392851e-02 9.90272040e-04 9.97836342e-01 -6.71690840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691052754 meters 0.02088514969933215 Centerline is valid? [True, True] Translation: X:95.48, Y:-37.20, Z:-6.72 [[ 8.32243182e-01 5.51763672e-01 5.41122593e-02 9.54767451e+01] [-5.50538190e-01 8.34000122e-01 -3.67627294e-02 -3.72008172e+01] [-6.54139694e-02 8.04665547e-04 9.97857888e-01 -6.71818691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721052754 meters 0.020408509561357927 Centerline is valid? [True, True] Translation: X:95.50, Y:-37.21, Z:-6.72 [[ 8.28138605e-01 5.57917626e-01 5.39849359e-02 9.55023496e+01] [-5.56712105e-01 8.29896277e-01 -3.66579061e-02 -3.72120511e+01] [-6.52539893e-02 3.03759931e-04 9.97868641e-01 -6.71887540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75105275399999 meters 0.020447514683751868 Centerline is valid? [True, True] Translation: X:95.53, Y:-37.23, Z:-6.72 [[ 8.26622093e-01 5.60145364e-01 5.41579850e-02 9.55264956e+01] [-5.58937297e-01 8.28394324e-01 -3.67687535e-02 -3.72265195e+01] [-6.54600141e-02 1.22946207e-04 9.97855186e-01 -6.72158405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78105275399999 meters 0.0206288245027424 Centerline is valid? [True, True] Translation: X:95.55, Y:-37.24, Z:-6.73 [[ 8.23949026e-01 5.64211186e-01 5.26663011e-02 9.55502241e+01] [-5.63077668e-01 8.25630484e-01 -3.57469331e-02 -3.72400152e+01] [-6.36517233e-02 -2.01567283e-04 9.97972153e-01 -6.72578148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81105275399999 meters 0.020802970167793162 Centerline is valid? [True, True] Translation: X:95.57, Y:-37.26, Z:-6.73 [[ 8.23484124e-01 5.64987005e-01 5.16098963e-02 9.55732026e+01] [-5.63901276e-01 8.25099757e-01 -3.50105928e-02 -3.72554818e+01] [-6.23638429e-02 -2.72219051e-04 9.98053444e-01 -6.72957470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84105275399999 meters 0.021093851188194946 Centerline is valid? [True, True] Translation: X:95.60, Y:-37.27, Z:-6.73 [[ 8.22377454e-01 5.66767853e-01 4.96943040e-02 9.55962532e+01] [-5.65765693e-01 8.23877439e-01 -3.36919222e-02 -3.72701100e+01] [-6.00375143e-02 -4.07855170e-04 9.98196038e-01 -6.73383292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87105275399999 meters 0.02123432042564684 Centerline is valid? [True, True] Translation: X:95.62, Y:-37.29, Z:-6.74 [[ 8.22024867e-01 5.67300295e-01 4.94519320e-02 9.56205544e+01] [-5.66309158e-01 8.23510883e-01 -3.35225811e-02 -3.72856251e+01] [-5.97415743e-02 -4.48686767e-04 9.98213776e-01 -6.73546401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90105275399999 meters 0.021642924412176454 Centerline is valid? [True, True] Translation: X:95.65, Y:-37.30, Z:-6.73 [[ 8.19410105e-01 5.70960520e-01 5.07066488e-02 9.56464883e+01] [-5.69926438e-01 8.20977178e-01 -3.43559156e-02 -3.72985855e+01] [-6.12448729e-02 -7.47475303e-04 9.98122491e-01 -6.73417479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93105275399999 meters 0.021642924412176454 Centerline is valid? [True, True] Translation: X:95.67, Y:-37.31, Z:-6.74 [[ 8.19558293e-01 5.70747099e-01 5.07144378e-02 9.56691254e+01] [-5.69713321e-01 8.21125565e-01 -3.43444139e-02 -3.73138165e+01] [-6.12448960e-02 -7.45441505e-04 9.98122491e-01 -6.73594159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.961052754 meters 0.021853655334561083 Centerline is valid? [True, True] Translation: X:95.69, Y:-37.33, Z:-6.74 [[ 8.18546430e-01 5.72089244e-01 5.19195453e-02 9.56933070e+01] [-5.71009669e-01 8.20190903e-01 -3.51402944e-02 -3.73293749e+01] [-6.26873232e-02 -8.82599889e-04 9.98032825e-01 -6.73615640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.991052754 meters 0.022961287791142756 Centerline is valid? [True, True] Translation: X:95.72, Y:-37.34, Z:-6.74 [[ 8.14642296e-01 5.77484243e-01 5.35712493e-02 9.57205635e+01] [-5.76347595e-01 8.16400710e-01 -3.62399125e-02 -3.73408936e+01] [-6.46635843e-02 -1.35309516e-03 9.97906203e-01 -6.73605051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.021052754 meters 0.022883747011872384 Centerline is valid? [True, True] Translation: X:95.74, Y:-37.36, Z:-6.74 [[ 8.12659067e-01 5.80169430e-01 5.46687640e-02 9.57442068e+01] [-5.78992844e-01 8.14494219e-01 -3.69655696e-02 -3.73564931e+01] [-6.59736857e-02 -1.61241785e-03 9.97820060e-01 -6.73685205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051052754 meters 0.02413114554950449 Centerline is valid? [True, True] Translation: X:95.77, Y:-37.37, Z:-6.74 [[ 8.09906215e-01 5.83848623e-01 5.63267989e-02 9.57698625e+01] [-5.82608847e-01 8.11860137e-01 -3.80795011e-02 -3.73682959e+01] [-6.79621470e-02 -1.97566675e-03 9.97685944e-01 -6.73564702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081052754 meters 0.024179339452044757 Centerline is valid? [True, True] Translation: X:95.79, Y:-37.38, Z:-6.74 [[ 8.09629740e-01 5.84116686e-01 5.75098381e-02 9.57937109e+01] [-5.82825645e-01 8.11667110e-01 -3.88686138e-02 -3.73844379e+01] [-6.93826500e-02 -2.04902279e-03 9.97588016e-01 -6.73598677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11105275399999 meters 0.02647681082064292 Centerline is valid? [True, True] Translation: X:95.82, Y:-37.40, Z:-6.74 [[ 8.08091657e-01 5.86100298e-01 5.89433092e-02 9.58191940e+01] [-5.84750637e-01 8.10235271e-01 -3.98183119e-02 -3.73961090e+01] [-7.10954726e-02 -2.29029193e-03 9.97466886e-01 -6.73556004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14105275399999 meters 0.025430550577185823 Centerline is valid? [True, True] Translation: X:95.84, Y:-37.41, Z:-6.74 [[ 8.07750683e-01 5.86511614e-01 5.95227810e-02 9.58420646e+01] [-5.85137007e-01 8.09937388e-01 -4.02008645e-02 -3.74138666e+01] [-7.17879997e-02 -2.35670620e-03 9.97417129e-01 -6.73769764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17105275399999 meters 0.02417901551439893 Centerline is valid? [True, True] Translation: X:95.86, Y:-37.43, Z:-6.74 [[ 8.09341990e-01 5.84198405e-01 6.06445966e-02 9.58642475e+01] [-5.82766426e-01 8.11607877e-01 -4.09383228e-02 -3.74328590e+01] [-7.31357352e-02 -2.20853112e-03 9.97319551e-01 -6.73923384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20105275399999 meters 0.02381796329039644 Centerline is valid? [True, True] Translation: X:95.89, Y:-37.45, Z:-6.74 [[ 8.12126945e-01 5.80316392e-01 6.06853343e-02 9.58870274e+01] [-5.78872922e-01 8.14388957e-01 -4.09483358e-02 -3.74483559e+01] [-7.31844566e-02 -1.87384989e-03 9.97316662e-01 -6.74006784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23105275399999 meters 0.02227924036378513 Centerline is valid? [True, True] Translation: X:95.91, Y:-37.47, Z:-6.74 [[ 8.14925079e-01 5.76412831e-01 6.03768446e-02 9.59088206e+01] [-5.74973877e-01 8.17157227e-01 -4.07321426e-02 -3.74674614e+01] [-7.28159046e-02 -1.52146384e-03 9.97344238e-01 -6.74231537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26105275399999 meters 0.021044096857051258 Centerline is valid? [True, True] Translation: X:95.93, Y:-37.49, Z:-6.75 [[ 8.20056001e-01 5.69164218e-01 5.96678162e-02 9.59299164e+01] [-5.67740685e-01 8.22223402e-01 -4.02391814e-02 -3.74878253e+01] [-7.19629770e-02 -8.77464629e-04 9.97406918e-01 -6.74516797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29105275399999 meters 0.020304963273284352 Centerline is valid? [True, True] Translation: X:95.95, Y:-37.51, Z:-6.75 [[ 8.22655407e-01 5.65433947e-01 5.93509224e-02 9.59518707e+01] [-5.64017028e-01 8.24793390e-01 -4.00082081e-02 -3.75069672e+01] [-7.15742475e-02 -5.61962095e-04 9.97435116e-01 -6.74880870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.321052754 meters 0.02019751695715063 Centerline is valid? [True, True] Translation: X:95.97, Y:-37.53, Z:-6.75 [[ 8.28713504e-01 5.56685394e-01 5.77520610e-02 9.59715171e+01] [-5.55323796e-01 8.30723384e-01 -3.89119561e-02 -3.75274923e+01] [-6.96377052e-02 1.75769705e-04 9.97572333e-01 -6.75266756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.351052754 meters 0.020607575773276876 Centerline is valid? [True, True] Translation: X:95.99, Y:-37.55, Z:-6.76 [[ 8.31850425e-01 5.52102319e-01 5.66383263e-02 9.59921001e+01] [-5.50782815e-01 8.33776191e-01 -3.81517186e-02 -3.75460717e+01] [-6.82873403e-02 5.41106535e-04 9.97665548e-01 -6.75602810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.381052754 meters 0.02182074507161387 Centerline is valid? [True, True] Translation: X:96.01, Y:-37.57, Z:-6.76 [[ 8.36830091e-01 5.44637479e-01 5.55465165e-02 9.60126534e+01] [-5.43352529e-01 8.38670828e-01 -3.74068444e-02 -3.75664795e+01] [-6.69584124e-02 1.12183280e-03 9.97755137e-01 -6.75984082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.411052754 meters 0.021901880204568798 Centerline is valid? [True, True] Translation: X:96.04, Y:-37.58, Z:-6.76 [[ 8.38392816e-01 5.42219521e-01 5.56370118e-02 9.60363773e+01] [-5.40925453e-01 8.40235841e-01 -3.74617781e-02 -3.75827592e+01] [-6.70607188e-02 1.31220984e-03 9.97748033e-01 -6.76107293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441052754 meters 0.02123063042768824 Centerline is valid? [True, True] Translation: X:96.06, Y:-37.60, Z:-6.76 [[ 8.36915841e-01 5.44548011e-01 5.51301978e-02 9.60616150e+01] [-5.43283724e-01 8.38728952e-01 -3.71017655e-02 -3.75973987e+01] [-6.64429856e-02 1.09971615e-03 9.97789617e-01 -6.76294483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471052754 meters 0.02171449600636665 Centerline is valid? [True, True] Translation: X:96.08, Y:-37.61, Z:-6.76 [[ 8.36513394e-01 5.45020748e-01 5.65484391e-02 9.60839311e+01] [-5.43692805e-01 8.38421868e-01 -3.80381992e-02 -3.76142964e+01] [-6.81430558e-02 1.07448364e-03 9.97674982e-01 -6.76248339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50105275399999 meters 0.02086405271030142 Centerline is valid? [True, True] Translation: X:96.11, Y:-37.63, Z:-6.76 [[ 8.34486880e-01 5.47960340e-01 5.80612801e-02 9.61100718e+01] [-5.46568014e-01 8.36503882e-01 -3.90469221e-02 -3.76272770e+01] [-6.99646508e-02 8.49705635e-04 9.97549109e-01 -6.76237592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53105275399999 meters 0.020376247174923992 Centerline is valid? [True, True] Translation: X:96.13, Y:-37.64, Z:-6.76 [[ 8.33806203e-01 5.48984538e-01 5.81652277e-02 9.61342664e+01] [-5.47591052e-01 8.35832170e-01 -3.90976121e-02 -3.76421059e+01] [-7.00803530e-02 7.49073304e-04 9.97541068e-01 -6.76484921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56105275399999 meters 0.02021283646269454 Centerline is valid? [True, True] Translation: X:96.16, Y:-37.66, Z:-6.77 [[ 8.32486586e-01 5.51086515e-01 5.71816152e-02 9.61587088e+01] [-5.49746073e-01 8.34447934e-01 -3.84174528e-02 -3.76576465e+01] [-6.88864209e-02 5.46645671e-04 9.97624359e-01 -6.76769026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59105275399999 meters 0.019924501487472344 Centerline is valid? [True, True] Translation: X:96.18, Y:-37.67, Z:-6.77 [[ 8.30629177e-01 5.53876830e-01 5.72330950e-02 9.61820414e+01] [-5.52541841e-01 8.32598563e-01 -3.84336590e-02 -3.76731352e+01] [-6.89397059e-02 3.00438813e-04 9.97620783e-01 -6.77093366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62105275399999 meters 0.019674376498731293 Centerline is valid? [True, True] Translation: X:96.21, Y:-37.69, Z:-6.77 [[ 8.29224860e-01 5.55940175e-01 5.75903941e-02 9.62057347e+01] [-5.54593964e-01 8.31222297e-01 -3.86655969e-02 -3.76876087e+01] [-6.93661784e-02 1.23189238e-04 9.97591258e-01 -6.77189816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65105275399999 meters 0.019546670276591228 Centerline is valid? [True, True] Translation: X:96.23, Y:-37.70, Z:-6.77 [[ 8.26669534e-01 5.59631872e-01 5.85632120e-02 9.62300269e+01] [-5.58250453e-01 8.28741290e-01 -3.92976702e-02 -3.77008607e+01] [-7.05259805e-02 -2.06752924e-04 9.97509921e-01 -6.77137503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68105275399999 meters 0.019635891349590515 Centerline is valid? [True, True] Translation: X:96.26, Y:-37.71, Z:-6.77 [[ 8.24865198e-01 5.62360488e-01 5.78626571e-02 9.62551004e+01] [-5.61019182e-01 8.26892065e-01 -3.88199685e-02 -3.77141080e+01] [-6.96769885e-02 -4.40819577e-04 9.97569508e-01 -6.77362568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.711052754 meters 0.020102865786496504 Centerline is valid? [True, True] Translation: X:96.28, Y:-37.73, Z:-6.78 [[ 8.22566063e-01 5.65944214e-01 5.56077157e-02 9.62793132e+01] [-5.64714824e-01 8.24443215e-01 -3.72901074e-02 -3.77284729e+01] [-6.69495244e-02 -7.28924584e-04 9.97756097e-01 -6.77604661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.741052754 meters 0.020635834894888117 Centerline is valid? [True, True] Translation: X:96.30, Y:-37.74, Z:-6.78 [[ 8.21045933e-01 5.68368707e-01 5.32971840e-02 9.63025710e+01] [-5.67245113e-01 8.22773488e-01 -3.57319072e-02 -3.77440460e+01] [-6.41604079e-02 -8.95030110e-04 9.97939197e-01 -6.77975883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.771052754 meters 0.021168239666707635 Centerline is valid? [True, True] Translation: X:96.33, Y:-37.76, Z:-6.78 [[ 8.20459047e-01 5.69323791e-01 5.21284379e-02 9.63262453e+01] [-5.68251252e-01 8.22112835e-01 -3.49428234e-02 -3.77604105e+01] [-6.27492385e-02 -9.52894579e-04 9.98028870e-01 -6.78292653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801052754 meters 0.021651865405604556 Centerline is valid? [True, True] Translation: X:96.35, Y:-37.78, Z:-6.79 [[ 8.19130360e-01 5.71324771e-01 5.11220068e-02 9.63495967e+01] [-5.70298172e-01 8.20723340e-01 -3.42519247e-02 -3.77760311e+01] [-6.15259972e-02 -1.09799561e-03 9.98104877e-01 -6.78583030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831052754 meters 0.023932772377858097 Centerline is valid? [True, True] Translation: X:96.37, Y:-37.79, Z:-6.79 [[ 8.15623560e-01 5.76437780e-01 4.97764374e-02 9.63742816e+01] [-5.75474338e-01 8.17139761e-01 -3.33451188e-02 -3.77885500e+01] [-5.98956924e-02 -1.44799784e-03 9.98203591e-01 -6.79061241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86105275399999 meters 0.02348641718301414 Centerline is valid? [True, True] Translation: X:96.40, Y:-37.81, Z:-6.79 [[ 8.13841293e-01 5.78963643e-01 4.96331596e-02 9.63977189e+01] [-5.78010841e-01 8.15351720e-01 -3.32421293e-02 -3.78051517e+01] [-5.97144663e-02 -1.63468691e-03 9.98214161e-01 -6.79141122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89105275399999 meters 0.026487874517163022 Centerline is valid? [True, True] Translation: X:96.43, Y:-37.81, Z:-6.79 [[ 8.11343857e-01 5.82385588e-01 5.04794268e-02 9.64255071e+01] [-5.81407594e-01 8.12910385e-01 -3.37922450e-02 -3.78142812e+01] [-6.07153668e-02 -1.93199169e-03 9.98153251e-01 -6.78798499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92105275399999 meters 0.02710102338013913 Centerline is valid? [True, True] Translation: X:96.45, Y:-37.83, Z:-6.79 [[ 8.10946747e-01 5.82941253e-01 5.04466991e-02 9.64505159e+01] [-5.81966108e-01 8.12511895e-01 -3.37619681e-02 -3.78277870e+01] [-6.06697871e-02 -1.97911092e-03 9.98155930e-01 -6.78707966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95105275399999 meters 0.027509341741691618 Centerline is valid? [True, True] Translation: X:96.47, Y:-37.84, Z:-6.79 [[ 8.10564670e-01 5.83393617e-01 5.13498142e-02 9.64738036e+01] [-5.82384471e-01 8.12186967e-01 -3.43607014e-02 -3.78425638e+01] [-6.17514638e-02 -2.05376380e-03 9.98089444e-01 -6.78697338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98105275399999 meters 0.024279585660706218 Centerline is valid? [True, True] Translation: X:96.49, Y:-37.86, Z:-6.79 [[ 8.11256257e-01 5.82235149e-01 5.35305264e-02 9.64941129e+01] [-5.81136261e-01 8.13017842e-01 -3.58138825e-02 -3.78639936e+01] [-6.43733742e-02 -2.05429368e-03 9.97923769e-01 -6.78768434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01105275399999 meters 0.023642893054578017 Centerline is valid? [True, True] Translation: X:96.52, Y:-37.88, Z:-6.79 [[ 8.12637690e-01 5.80194492e-01 5.47205287e-02 9.65169164e+01] [-5.79042723e-01 8.14475629e-01 -3.65919933e-02 -3.78819075e+01] [-6.57990101e-02 -1.94949105e-03 9.97830993e-01 -6.78912956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04105275399999 meters 0.0226599084634765 Centerline is valid? [True, True] Translation: X:96.54, Y:-37.90, Z:-6.79 [[ 8.15998511e-01 5.75409140e-01 5.52336136e-02 9.65380978e+01] [-5.74225794e-01 8.17864163e-01 -3.69181280e-02 -3.79007559e+01] [-6.64166214e-02 -1.59142814e-03 9.97790709e-01 -6.79139043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.071052754 meters 0.021971793783606086 Centerline is valid? [True, True] Translation: X:96.56, Y:-37.92, Z:-6.79 [[ 8.18052449e-01 5.72490925e-01 5.51754648e-02 9.65604380e+01] [-5.71304122e-01 8.19909926e-01 -3.68688542e-02 -3.79181641e+01] [-6.63459958e-02 -1.36131403e-03 9.97795748e-01 -6.79347736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.101052754 meters 0.02094452033521524 Centerline is valid? [True, True] Translation: X:96.58, Y:-37.94, Z:-6.79 [[ 8.20371544e-01 5.69181842e-01 5.49778133e-02 9.65816361e+01] [-5.67997096e-01 8.22210932e-01 -3.67216832e-02 -3.79366317e+01] [-6.61046744e-02 -1.10181438e-03 9.97812086e-01 -6.79467636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.131052754 meters 0.021012516986054174 Centerline is valid? [True, True] Translation: X:96.61, Y:-37.95, Z:-6.80 [[ 8.20793365e-01 5.68619114e-01 5.45028000e-02 9.66050172e+01] [-5.67453942e-01 8.22600265e-01 -3.63981910e-02 -3.79516925e+01] [-6.55307248e-02 -1.05243500e-03 9.97849997e-01 -6.79591879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.161052754 meters 0.020157744536577538 Centerline is valid? [True, True] Translation: X:96.63, Y:-37.97, Z:-6.80 [[ 8.22420601e-01 5.66308239e-01 5.40308556e-02 9.66273844e+01] [-5.65159410e-01 8.24193067e-01 -3.60642492e-02 -3.79699123e+01] [-6.49553380e-02 -8.76064924e-04 9.97887788e-01 -6.79824705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191052754 meters 0.020156406613775654 Centerline is valid? [True, True] Translation: X:96.65, Y:-37.99, Z:-6.80 [[ 8.23523268e-01 5.64755857e-01 5.34812950e-02 9.66494123e+01] [-5.63628091e-01 8.25257684e-01 -3.56809360e-02 -3.79862617e+01] [-6.42868672e-02 -7.59479167e-04 9.97931171e-01 -6.80115469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221052754 meters 0.019484380142131167 Centerline is valid? [True, True] Translation: X:96.67, Y:-38.01, Z:-6.81 [[ 8.25410935e-01 5.62128540e-01 5.20412711e-02 9.66694987e+01] [-5.61055847e-01 8.27049702e-01 -3.47149491e-02 -3.80075302e+01] [-6.25549814e-02 -5.43960898e-04 9.98041371e-01 -6.80579606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25105275399999 meters 0.019477534081882294 Centerline is valid? [True, True] Translation: X:96.69, Y:-38.03, Z:-6.81 [[ 8.28703105e-01 5.57477001e-01 4.97046999e-02 9.66894296e+01] [-5.56491166e-01 8.30192360e-01 -3.31395237e-02 -3.80274801e+01] [-5.97389844e-02 -1.97400167e-04 9.98214013e-01 -6.81173056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28105275399999 meters 0.019666522629443395 Centerline is valid? [True, True] Translation: X:96.71, Y:-38.05, Z:-6.82 [[ 8.30302872e-01 5.55215843e-01 4.82960521e-02 9.67110257e+01] [-5.54281557e-01 8.31706298e-01 -3.21961204e-02 -3.80454559e+01] [-5.80439268e-02 -3.70796954e-05 9.98314029e-01 -6.81616366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31105275399999 meters 0.020214613808274263 Centerline is valid? [True, True] Translation: X:96.73, Y:-38.07, Z:-6.82 [[ 8.32959539e-01 5.51550576e-01 4.43888342e-02 9.67318362e+01] [-5.50757073e-01 8.34141431e-01 -2.95756669e-02 -3.80657424e+01] [-5.33390418e-02 1.87869474e-04 9.98576442e-01 -6.82448902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34105275399999 meters 0.0203300883233394 Centerline is valid? [True, True] Translation: X:96.75, Y:-38.08, Z:-6.83 [[ 8.33780911e-01 5.50420108e-01 4.29778605e-02 9.67541899e+01] [-5.49675611e-01 8.34887806e-01 -2.86194878e-02 -3.80818789e+01] [-5.16344332e-02 2.38500908e-04 9.98666024e-01 -6.82902843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37105275399999 meters 0.020886540955735146 Centerline is valid? [True, True] Translation: X:96.78, Y:-38.10, Z:-6.83 [[ 8.35770559e-01 5.47476003e-01 4.19237361e-02 9.67767820e+01] [-5.46764135e-01 8.36821284e-01 -2.79127068e-02 -3.80986808e+01] [-5.03642119e-02 4.06223238e-04 9.98730835e-01 -6.83135125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40105275399999 meters 0.02076602569857613 Centerline is valid? [True, True] Translation: X:96.80, Y:-38.11, Z:-6.83 [[ 8.36607553e-01 5.46194233e-01 4.19483246e-02 9.68011701e+01] [-5.45480041e-01 8.37658420e-01 -2.79266189e-02 -3.81133809e+01] [-5.03917255e-02 4.81646441e-04 9.98729414e-01 -6.83055162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43105275399999 meters 0.021133718099249573 Centerline is valid? [True, True] Translation: X:96.82, Y:-38.13, Z:-6.83 [[ 8.37914427e-01 5.44069188e-01 4.34526371e-02 9.68229365e+01] [-5.43300821e-01 8.39040129e-01 -2.89116041e-02 -3.81284370e+01] [-5.21884192e-02 6.17596808e-04 9.98637065e-01 -6.83112180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.461052754 meters 0.021426113652088085 Centerline is valid? [True, True] Translation: X:96.85, Y:-38.14, Z:-6.83 [[ 8.38686536e-01 5.42815111e-01 4.42340343e-02 9.68459911e+01] [-5.42017384e-01 8.39851928e-01 -2.94260863e-02 -3.81445640e+01] [-5.31229633e-02 7.03646791e-04 9.98587731e-01 -6.83349153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.491052754 meters 0.022374016681214418 Centerline is valid? [True, True] Translation: X:96.87, Y:-38.16, Z:-6.84 [[ 8.40922701e-01 5.39245432e-01 4.54243799e-02 9.68679319e+01] [-5.38399905e-01 8.42148135e-01 -3.02003601e-02 -3.81631248e+01] [-5.45394631e-02 9.39686606e-04 9.98511174e-01 -6.83582206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.521052754 meters 0.021978726902367966 Centerline is valid? [True, True] Translation: X:96.89, Y:-38.18, Z:-6.84 [[ 8.42199794e-01 5.37262536e-01 4.52600793e-02 9.68930431e+01] [-5.36421026e-01 8.43414406e-01 -3.00769581e-02 -3.81774146e+01] [-5.43322257e-02 1.05234974e-03 9.98522359e-01 -6.83600336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551052754 meters 0.022188787026277693 Centerline is valid? [True, True] Translation: X:96.92, Y:-38.19, Z:-6.84 [[ 8.42614932e-01 5.36692715e-01 4.42832514e-02 9.69178124e+01] [-5.35887163e-01 8.43777116e-01 -2.94130625e-02 -3.81910988e+01] [-5.31509705e-02 1.05305973e-03 9.98585933e-01 -6.83787219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581052754 meters 0.022988299028582345 Centerline is valid? [True, True] Translation: X:96.94, Y:-38.21, Z:-6.84 [[ 8.42238363e-01 5.37193576e-01 4.53608044e-02 9.69396135e+01] [-5.36349975e-01 8.43458355e-01 -3.01115692e-02 -3.82077799e+01] [-5.44356910e-02 1.03185236e-03 9.98516745e-01 -6.84043555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61105275399999 meters 0.02216286907162339 Centerline is valid? [True, True] Translation: X:96.97, Y:-38.22, Z:-6.84 [[ 8.39619580e-01 5.41178923e-01 4.65224107e-02 9.69655342e+01] [-5.40298106e-01 8.40907103e-01 -3.08739555e-02 -3.82191954e+01] [-5.58293596e-02 7.86407118e-04 9.98440015e-01 -6.84247620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64105275399999 meters 0.02119230362308932 Centerline is valid? [True, True] Translation: X:96.99, Y:-38.23, Z:-6.84 [[ 8.37398015e-01 5.44536683e-01 4.73747350e-02 9.69923397e+01] [-5.43628995e-01 8.38736835e-01 -3.14330592e-02 -3.82302609e+01] [-5.68513891e-02 5.67701783e-04 9.98382490e-01 -6.84404929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67105275399999 meters 0.02117926233397669 Centerline is valid? [True, True] Translation: X:97.02, Y:-38.24, Z:-6.85 [[ 8.36441348e-01 5.46000347e-01 4.74288104e-02 9.70159149e+01] [-5.45093921e-01 8.37784826e-01 -3.14515865e-02 -3.82443155e+01] [-5.69077148e-02 4.54251159e-04 9.98379340e-01 -6.84686782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70105275399999 meters 0.020814700453849307 Centerline is valid? [True, True] Translation: X:97.04, Y:-38.26, Z:-6.85 [[ 8.34709937e-01 5.48678571e-01 4.70228231e-02 9.70406763e+01] [-5.47792139e-01 8.36033346e-01 -3.11771878e-02 -3.82571901e+01] [-5.64189030e-02 2.65175638e-04 9.98407150e-01 -6.84906199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73105275399999 meters 0.020758264868648336 Centerline is valid? [True, True] Translation: X:97.06, Y:-38.27, Z:-6.85 [[ 8.33495391e-01 5.50547875e-01 4.67169188e-02 9.70649200e+01] [-5.49676259e-01 8.34803581e-01 -3.09675849e-02 -3.82706646e+01] [-5.60485892e-02 1.32158148e-04 9.98428034e-01 -6.85075469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76105275399999 meters 0.020781365828782913 Centerline is valid? [True, True] Translation: X:97.09, Y:-38.28, Z:-6.85 [[ 8.31783782e-01 5.53141764e-01 4.65824925e-02 9.70892301e+01] [-5.52280204e-01 8.33087141e-01 -3.08608410e-02 -3.82839636e+01] [-5.58776956e-02 -5.70414311e-05 9.98437619e-01 -6.85322631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79105275399999 meters 0.02119247707887987 Centerline is valid? [True, True] Translation: X:97.11, Y:-38.30, Z:-6.86 [[ 8.28218762e-01 5.58458010e-01 4.66726204e-02 9.71146169e+01] [-5.57602614e-01 8.29532679e-01 -3.09008113e-02 -3.82951670e+01] [-5.59732694e-02 -4.32143462e-04 9.98432174e-01 -6.85603737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.821052754 meters 0.021070713891887104 Centerline is valid? [True, True] Translation: X:97.14, Y:-38.31, Z:-6.86 [[ 8.26412910e-01 5.61113110e-01 4.68378136e-02 9.71394228e+01] [-5.60256122e-01 8.27738906e-01 -3.10061442e-02 -3.83101481e+01] [-5.61674346e-02 -6.17293934e-04 9.98421173e-01 -6.85628404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.851052754 meters 0.021070713891887104 Centerline is valid? [True, True] Translation: X:97.16, Y:-38.33, Z:-6.86 [[ 8.26565935e-01 5.60887060e-01 4.68450723e-02 9.71622083e+01] [-5.60030331e-01 8.27892099e-01 -3.09951732e-02 -3.83251501e+01] [-5.61674568e-02 -6.15106973e-04 9.98421173e-01 -6.85805081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.881052754 meters 0.021738493332683077 Centerline is valid? [True, True] Translation: X:97.19, Y:-38.34, Z:-6.86 [[ 8.22779347e-01 5.66359851e-01 4.76515022e-02 9.71875923e+01] [-5.65483655e-01 8.24157434e-01 -3.15081027e-02 -3.83370646e+01] [-5.71172642e-02 -1.02192946e-03 9.98366953e-01 -6.85858954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.911052754 meters 0.02221717867684168 Centerline is valid? [True, True] Translation: X:97.21, Y:-38.35, Z:-6.86 [[ 8.19592199e-01 5.70844389e-01 4.90439647e-02 9.72130110e+01] [-5.69924577e-01 8.21057114e-01 -3.24221036e-02 -3.83509909e+01] [-5.87758720e-02 -1.37845765e-03 9.98270252e-01 -6.85876978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941052754 meters 0.022674408479748758 Centerline is valid? [True, True] Translation: X:97.24, Y:-38.36, Z:-6.86 [[ 8.17339717e-01 5.74046286e-01 4.92610187e-02 9.72378216e+01] [-5.73124399e-01 8.18821249e-01 -3.25604888e-02 -3.83649627e+01] [-5.90271965e-02 -1.61971100e-03 9.98255061e-01 -6.86063385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971052754 meters 0.024075559391614865 Centerline is valid? [True, True] Translation: X:97.26, Y:-38.38, Z:-6.86 [[ 8.13429916e-01 5.79445995e-01 5.07356980e-02 9.72641170e+01] [-5.78478765e-01 8.15007996e-01 -3.35303563e-02 -3.83782659e+01] [-6.07790302e-02 -2.07492905e-03 9.98149089e-01 -6.86329155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00105275399999 meters 0.02668498449444801 Centerline is valid? [True, True] Translation: X:97.29, Y:-38.39, Z:-6.86 [[ 8.11202573e-01 5.82458946e-01 5.18841298e-02 9.72905186e+01] [-5.81454571e-01 8.12856677e-01 -3.42725077e-02 -3.83887495e+01] [-6.21366901e-02 -2.36631799e-03 9.98064844e-01 -6.86423213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03105275399999 meters 0.02681881653621901 Centerline is valid? [True, True] Translation: X:97.31, Y:-38.40, Z:-6.86 [[ 8.08632277e-01 5.85778971e-01 5.45604066e-02 9.73143408e+01] [-5.84676155e-01 8.10466142e-01 -3.60336860e-02 -3.84044643e+01] [-6.53271378e-02 -2.76216717e-03 9.97860078e-01 -6.86495334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06105275399999 meters 0.02686288147136549 Centerline is valid? [True, True] Translation: X:97.34, Y:-38.42, Z:-6.87 [[ 8.07619388e-01 5.87130727e-01 5.50312074e-02 9.73388089e+01] [-5.86013089e-01 8.09486897e-01 -3.63266189e-02 -3.84202750e+01] [-6.58755155e-02 -2.91092612e-03 9.97823603e-01 -6.86564088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09105275399999 meters 0.026765190770304294 Centerline is valid? [True, True] Translation: X:97.36, Y:-38.43, Z:-6.87 [[ 8.05208818e-01 5.90388076e-01 5.55038587e-02 9.73644228e+01] [-5.89260040e-01 8.07113100e-01 -3.66203368e-02 -3.84337122e+01] [-6.64181017e-02 -3.21918792e-03 9.97786687e-01 -6.86593375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12105275399999 meters 0.03033828660758664 Centerline is valid? [True, True] Translation: X:97.39, Y:-38.44, Z:-6.87 [[ 8.04279098e-01 5.91652064e-01 5.55244845e-02 9.73917450e+01] [-5.90527387e-01 8.06186507e-01 -3.66158525e-02 -3.84430423e+01] [-6.64269349e-02 -3.33936395e-03 9.97785704e-01 -6.86721049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15105275399999 meters 0.030392711553350157 Centerline is valid? [True, True] Translation: X:97.42, Y:-38.46, Z:-6.87 [[ 8.02883616e-01 5.93508139e-01 5.59105421e-02 9.74159995e+01] [-5.92372659e-01 8.04820279e-01 -3.68639536e-02 -3.84586387e+01] [-6.68769946e-02 -3.52241213e-03 9.97755010e-01 -6.86930653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18105275399999 meters 0.02826827819906176 Centerline is valid? [True, True] Translation: X:97.44, Y:-38.48, Z:-6.87 [[ 8.02990078e-01 5.93416147e-01 5.53553177e-02 9.74371268e+01] [-5.92303397e-01 8.04888270e-01 -3.64905325e-02 -3.84771818e+01] [-6.62089171e-02 -3.48560716e-03 9.97799694e-01 -6.87299702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.211052754 meters 0.027991486089104196 Centerline is valid? [True, True] Translation: X:97.46, Y:-38.49, Z:-6.88 [[ 8.04016723e-01 5.92070512e-01 5.48599869e-02 9.74604567e+01] [-5.90975844e-01 8.05879155e-01 -3.61433226e-02 -3.84932152e+01] [-6.56099154e-02 -3.36109126e-03 9.97839688e-01 -6.87541622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.241052754 meters 0.027464834071012988 Centerline is valid? [True, True] Translation: X:97.48, Y:-38.51, Z:-6.88 [[ 8.06335422e-01 5.88997236e-01 5.39021622e-02 9.74840912e+01] [-5.87934688e-01 8.08129220e-01 -3.54960102e-02 -3.85077382e+01] [-6.44669642e-02 -3.06926059e-03 9.97915122e-01 -6.87720589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.271052754 meters 0.02636092905718617 Centerline is valid? [True, True] Translation: X:97.51, Y:-38.52, Z:-6.88 [[ 8.08611299e-01 5.85857617e-01 5.40242508e-02 9.75072042e+01] [-5.84783609e-01 8.10409061e-01 -3.55708283e-02 -3.85249983e+01] [-6.46211831e-02 -2.82952271e-03 9.97905856e-01 -6.87950944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301052754 meters 0.024194081089152587 Centerline is valid? [True, True] Translation: X:97.53, Y:-38.54, Z:-6.88 [[ 8.13018141e-01 5.79795295e-01 5.32814968e-02 9.75288238e+01] [-5.78738642e-01 8.14758860e-01 -3.50654270e-02 -3.85448967e+01] [-6.37423412e-02 -2.32723281e-03 9.97963676e-01 -6.88344790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331052754 meters 0.023881211924707917 Centerline is valid? [True, True] Translation: X:97.55, Y:-38.56, Z:-6.89 [[ 8.14324709e-01 5.77985468e-01 5.29911969e-02 9.75527886e+01] [-5.76937492e-01 8.16044127e-01 -3.48584706e-02 -3.85607402e+01] [-6.33908444e-02 -2.18649430e-03 9.97986383e-01 -6.88544612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36105275399999 meters 0.022371631303474505 Centerline is valid? [True, True] Translation: X:97.57, Y:-38.58, Z:-6.89 [[ 8.17967926e-01 5.72777143e-01 5.34304881e-02 9.75749841e+01] [-5.71701668e-01 8.19709135e-01 -3.51302923e-02 -3.85773475e+01] [-6.39192876e-02 -1.81084688e-03 9.97953429e-01 -6.88629286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39105275399999 meters 0.02171020944442222 Centerline is valid? [True, True] Translation: X:97.60, Y:-38.59, Z:-6.89 [[ 8.19505745e-01 5.70567956e-01 5.35027242e-02 9.75990984e+01] [-5.69485285e-01 8.21248743e-01 -3.51711776e-02 -3.85932802e+01] [-6.40065919e-02 -1.64603201e-03 9.97948118e-01 -6.88751766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42105275399999 meters 0.019909788298303442 Centerline is valid? [True, True] Translation: X:97.62, Y:-38.61, Z:-6.89 [[ 8.22946196e-01 5.65468742e-01 5.48147773e-02 9.76216551e+01] [-5.64322113e-01 8.24768711e-01 -3.60156368e-02 -3.86121174e+01] [-6.55752300e-02 -1.29425963e-03 9.97846789e-01 -6.88784257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45105275399999 meters 0.02025302738208267 Centerline is valid? [True, True] Translation: X:97.65, Y:-38.63, Z:-6.89 [[ 8.23522711e-01 5.64647894e-01 5.46177727e-02 9.76455036e+01] [-5.63508784e-01 8.25330978e-01 -3.58695881e-02 -3.86255113e+01] [-6.53314271e-02 -1.23817425e-03 9.97862852e-01 -6.88946182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48105275399999 meters 0.018915693108303277 Centerline is valid? [True, True] Translation: X:97.67, Y:-38.64, Z:-6.89 [[ 8.25447903e-01 5.61841390e-01 5.44978110e-02 9.76677190e+01] [-5.60701590e-01 8.27244350e-01 -3.57842657e-02 -3.86438349e+01] [-6.51880878e-02 -1.01896215e-03 9.97872474e-01 -6.89311223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51105275399999 meters 0.018559495729468627 Centerline is valid? [True, True] Translation: X:97.69, Y:-38.66, Z:-6.90 [[ 8.28737940e-01 5.57017192e-01 5.40858076e-02 9.76891692e+01] [-5.55885451e-01 8.30500709e-01 -3.54956088e-02 -3.86609390e+01] [-6.46899659e-02 -6.48955812e-04 9.97905200e-01 -6.89553590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54105275399999 meters 0.018207104364230373 Centerline is valid? [True, True] Translation: X:97.71, Y:-38.68, Z:-6.90 [[ 8.29816891e-01 5.55433183e-01 5.38322065e-02 9.77120795e+01] [-5.54309124e-01 8.31561002e-01 -3.53227217e-02 -3.86779261e+01] [-6.43841753e-02 -5.28292160e-04 9.97925047e-01 -6.89778632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.571052754 meters 0.01810620817175898 Centerline is valid? [True, True] Translation: X:97.73, Y:-38.69, Z:-6.90 [[ 8.31075154e-01 5.53618520e-01 5.31095409e-02 9.77346220e+01] [-5.52521890e-01 8.32770303e-01 -3.48307927e-02 -3.86940604e+01] [-6.35110203e-02 -3.97177534e-04 9.97981058e-01 -6.90024428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.601052754 meters 0.017997165818145897 Centerline is valid? [True, True] Translation: X:97.76, Y:-38.71, Z:-6.90 [[ 8.30751354e-01 5.54095824e-01 5.31978016e-02 9.77581367e+01] [-5.52996914e-01 8.32452776e-01 -3.48824970e-02 -3.87082617e+01] [-6.36129035e-02 -4.39538505e-04 9.97974551e-01 -6.90196089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.631052754 meters 0.018270771786193362 Centerline is valid? [True, True] Translation: X:97.78, Y:-38.72, Z:-6.90 [[ 8.28875592e-01 5.56883624e-01 5.33468192e-02 9.77839928e+01] [-5.55785594e-01 8.30590259e-01 -3.49599115e-02 -3.87212705e+01] [-6.37779505e-02 -6.71976276e-04 9.97963888e-01 -6.90251960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.661052754 meters 0.018375472571801676 Centerline is valid? [True, True] Translation: X:97.81, Y:-38.74, Z:-6.90 [[ 8.28221280e-01 5.57814100e-01 5.37860698e-02 9.78078322e+01] [-5.56701008e-01 8.29965569e-01 -3.52298599e-02 -3.87353713e+01] [-6.42922986e-02 -7.64639624e-04 9.97930817e-01 -6.90344255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691052754 meters 0.018719214055819867 Centerline is valid? [True, True] Translation: X:97.83, Y:-38.75, Z:-6.90 [[ 8.27002737e-01 5.59601994e-01 5.39637058e-02 9.78323181e+01] [-5.58485734e-01 8.28760989e-01 -3.53398832e-02 -3.87491349e+01] [-6.44992833e-02 -9.11779751e-04 9.97917337e-01 -6.90451309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721052754 meters 0.018559099371090217 Centerline is valid? [True, True] Translation: X:97.86, Y:-38.76, Z:-6.91 [[ 8.26306773e-01 5.60637788e-01 5.38738086e-02 9.78562770e+01] [-5.59527848e-01 8.28060552e-01 -3.52747738e-02 -3.87648543e+01] [-6.43871469e-02 -9.96111714e-04 9.97924498e-01 -6.90703316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75105275399999 meters 0.018445792551513424 Centerline is valid? [True, True] Translation: X:97.88, Y:-38.78, Z:-6.91 [[ 8.26767078e-01 5.59902449e-01 5.44559132e-02 9.78779471e+01] [-5.58767982e-01 8.28557975e-01 -3.56374052e-02 -3.87819032e+01] [-6.50733516e-02 -9.64387367e-04 9.97880017e-01 -6.90868833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78105275399999 meters 0.01834480971180622 Centerline is valid? [True, True] Translation: X:97.90, Y:-38.80, Z:-6.91 [[ 8.27313990e-01 5.59045181e-01 5.49549575e-02 9.79003953e+01] [-5.57889295e-01 8.29136680e-01 -3.59430089e-02 -3.87977235e+01] [-6.56589370e-02 -9.22628397e-04 9.97841697e-01 -6.91065735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81105275399999 meters 0.018391234941656214 Centerline is valid? [True, True] Translation: X:97.92, Y:-38.81, Z:-6.91 [[ 8.28555495e-01 5.57257045e-01 5.44093486e-02 9.79233311e+01] [-5.56120784e-01 8.30339675e-01 -3.55766460e-02 -3.88131946e+01] [-6.50035775e-02 -7.80944122e-04 9.97884725e-01 -6.91234608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84105275399999 meters 0.017931826337321665 Centerline is valid? [True, True] Translation: X:97.95, Y:-38.83, Z:-6.92 [[ 8.28899054e-01 5.56917826e-01 5.26202750e-02 9.79476559e+01] [-5.55854802e-01 8.30567274e-01 -3.44012008e-02 -3.88275177e+01] [-6.28633203e-02 -7.34109747e-04 9.98021876e-01 -6.91517409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87105275399999 meters 0.01792494191766028 Centerline is valid? [True, True] Translation: X:97.97, Y:-38.84, Z:-6.92 [[ 8.29176019e-01 5.56532195e-01 5.23358876e-02 9.79714584e+01] [-5.55481102e-01 8.30825735e-01 -3.41956719e-02 -3.88418376e+01] [-6.25129946e-02 -7.17365417e-04 9.98043892e-01 -6.91701673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90105275399999 meters 0.017518010922983888 Centerline is valid? [True, True] Translation: X:98.00, Y:-38.86, Z:-6.92 [[ 8.30096162e-01 5.55074220e-01 5.32256698e-02 9.79960158e+01] [-5.53985347e-01 8.31800582e-01 -3.47566946e-02 -3.88568300e+01] [-6.35656882e-02 -6.34842371e-04 9.97977455e-01 -6.91706463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93105275399999 meters 0.017502244330014273 Centerline is valid? [True, True] Translation: X:98.02, Y:-38.87, Z:-6.92 [[ 8.30142267e-01 5.54941359e-01 5.38878936e-02 9.80192407e+01] [-5.53826077e-01 8.31889217e-01 -3.51711117e-02 -3.88714066e+01] [-6.43466621e-02 -6.47494307e-04 9.97927396e-01 -6.91911873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.961052754 meters 0.017261191291320817 Centerline is valid? [True, True] Translation: X:98.04, Y:-38.89, Z:-6.92 [[ 8.31462314e-01 5.52772129e-01 5.57977902e-02 9.80427260e+01] [-5.51572864e-01 8.33332292e-01 -3.63959785e-02 -3.88886873e+01] [-6.66167829e-02 -5.14662420e-04 9.97778502e-01 -6.92021860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.991052754 meters 0.01702522689069725 Centerline is valid? [True, True] Translation: X:98.07, Y:-38.90, Z:-6.92 [[ 8.31638566e-01 5.52443588e-01 5.64214246e-02 9.80661702e+01] [-5.51217857e-01 8.33550132e-01 -3.67838591e-02 -3.89032843e+01] [-6.73510930e-02 -5.09620953e-04 9.97729207e-01 -6.92043483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.021052754 meters 0.016852347877718644 Centerline is valid? [True, True] Translation: X:98.09, Y:-38.92, Z:-6.92 [[ 8.31571735e-01 5.52502934e-01 5.68239118e-02 9.80898618e+01] [-5.51261218e-01 8.33510780e-01 -3.70249843e-02 -3.89164684e+01] [-6.78197555e-02 -5.35888419e-04 9.97697446e-01 -6.92012956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.051052754 meters 0.017173497745503967 Centerline is valid? [True, True] Translation: X:98.11, Y:-38.93, Z:-6.92 [[ 8.30048035e-01 5.54753345e-01 5.71750433e-02 9.81137440e+01] [-5.53502228e-01 8.32014537e-01 -3.72437082e-02 -3.89317640e+01] [-6.82315389e-02 -7.32447048e-04 9.97669244e-01 -6.92237970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081052754 meters 0.017453068010856877 Centerline is valid? [True, True] Translation: X:98.14, Y:-38.95, Z:-6.92 [[ 8.28549752e-01 5.56948865e-01 5.75610177e-02 9.81379282e+01] [-5.55687372e-01 8.30546258e-01 -3.74760874e-02 -3.89474319e+01] [-6.86793523e-02 -9.35127777e-04 9.97638347e-01 -6.92433156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11105275399999 meters 0.018501723427001085 Centerline is valid? [True, True] Translation: X:98.16, Y:-38.96, Z:-6.92 [[ 8.25785881e-01 5.60807791e-01 5.97687223e-02 9.81620564e+01] [-5.59459038e-01 8.27944973e-01 -3.88935194e-02 -3.89610567e+01] [-7.12970019e-02 -1.32043276e-03 9.97454257e-01 -6.92479598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14105275399999 meters 0.018610748745398 Centerline is valid? [True, True] Translation: X:98.19, Y:-38.98, Z:-6.93 [[ 8.24793604e-01 5.62250253e-01 5.99179816e-02 9.81861581e+01] [-5.60899381e-01 8.26965856e-01 -3.89789516e-02 -3.89767456e+01] [-7.14660503e-02 -1.45836885e-03 9.97441967e-01 -6.92603116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17105275399999 meters 0.019106943983888125 Centerline is valid? [True, True] Translation: X:98.21, Y:-38.99, Z:-6.93 [[ 8.23925674e-01 5.63563254e-01 5.95226254e-02 9.82105390e+01] [-5.62234894e-01 8.26071408e-01 -3.87033847e-02 -3.89906924e+01] [-7.09817444e-02 -1.57698469e-03 9.97476368e-01 -6.92668963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20105275399999 meters 0.020878134881841766 Centerline is valid? [True, True] Translation: X:98.24, Y:-39.00, Z:-6.93 [[ 8.20273889e-01 5.68990735e-01 5.83120196e-02 9.82383166e+01] [-5.67730072e-01 8.22341476e-01 -3.79085931e-02 -3.90009485e+01] [-6.95220305e-02 -2.01005805e-03 9.97578391e-01 -6.92945641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23105275399999 meters 0.020446445563296303 Centerline is valid? [True, True] Translation: X:98.26, Y:-39.02, Z:-6.93 [[ 8.19389021e-01 5.70100894e-01 5.98882537e-02 9.82600137e+01] [-5.68775455e-01 8.21571803e-01 -3.89134188e-02 -3.90204070e+01] [-7.13870754e-02 -2.17774064e-03 9.97446311e-01 -6.93395869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26105275399999 meters 0.022181018581600497 Centerline is valid? [True, True] Translation: X:98.28, Y:-39.03, Z:-6.94 [[ 8.18914235e-01 5.70785680e-01 5.98596964e-02 9.82844578e+01] [-5.69464684e-01 8.21095997e-01 -3.88759225e-02 -3.90330055e+01] [-7.13403770e-02 -2.25193675e-03 9.97449487e-01 -6.93575900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29105275399999 meters 0.022497806810605866 Centerline is valid? [True, True] Translation: X:98.31, Y:-39.05, Z:-6.94 [[ 8.18608509e-01 5.71268014e-01 5.94387508e-02 9.83091565e+01] [-5.69967317e-01 8.20760404e-01 -3.85955417e-02 -3.90455078e+01] [-7.08333716e-02 -2.28350646e-03 9.97485548e-01 -6.93798300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.321052754 meters 0.020295773048223654 Centerline is valid? [True, True] Translation: X:98.33, Y:-39.07, Z:-6.94 [[ 8.20200753e-01 5.69061364e-01 5.86505640e-02 9.83310563e+01] [-5.67789863e-01 8.22292451e-01 -3.80762057e-02 -3.90651741e+01] [-6.98956135e-02 -2.07106311e-03 9.97552161e-01 -6.94053749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.351052754 meters 0.01887447220414291 Centerline is valid? [True, True] Translation: X:98.35, Y:-39.08, Z:-6.94 [[ 8.24962772e-01 5.62270840e-01 5.73404458e-02 9.83520168e+01] [-5.61040255e-01 8.26951830e-01 -3.72089223e-02 -3.90845686e+01] [-6.83392786e-02 -1.47432260e-03 9.97661049e-01 -6.94253178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.381052754 meters 0.018230411544217208 Centerline is valid? [True, True] Translation: X:98.38, Y:-39.10, Z:-6.94 [[ 8.27149844e-01 5.59176193e-01 5.60813832e-02 9.83753911e+01] [-5.57992406e-01 8.29047981e-01 -3.63857233e-02 -3.91010885e+01] [-6.68401877e-02 -1.19654062e-03 9.97762977e-01 -6.94482663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.411052754 meters 0.017942952204354073 Centerline is valid? [True, True] Translation: X:98.40, Y:-39.12, Z:-6.95 [[ 8.29392176e-01 5.56080033e-01 5.36993091e-02 9.83983493e+01] [-5.54989295e-01 8.31128240e-01 -3.48242937e-02 -3.91165755e+01] [-6.39961067e-02 -9.19544997e-04 9.97949725e-01 -6.95182676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441052754 meters 0.01725219349211274 Centerline is valid? [True, True] Translation: X:98.42, Y:-39.14, Z:-6.95 [[ 8.31902359e-01 5.52158358e-01 5.53137685e-02 9.84203136e+01] [-5.50993530e-01 8.33739001e-01 -3.58525814e-02 -3.91357204e+01] [-6.59135486e-02 -6.51681467e-04 9.97825125e-01 -6.95332903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471052754 meters 0.017185285707415468 Centerline is valid? [True, True] Translation: X:98.44, Y:-39.15, Z:-6.95 [[ 8.32337192e-01 5.51405520e-01 5.62738881e-02 9.84446788e+01] [-5.50199388e-01 8.34237119e-01 -3.64563179e-02 -3.91494752e+01] [-6.70479812e-02 -6.17909470e-04 9.97749561e-01 -6.95154106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50105275399999 meters 0.01684124145137886 Centerline is valid? [True, True] Translation: X:98.47, Y:-39.16, Z:-6.95 [[ 8.33006224e-01 5.50252944e-01 5.76396446e-02 9.84685283e+01] [-5.48985273e-01 8.34997845e-01 -3.73332062e-02 -3.91645476e+01] [-6.86716856e-02 -5.44522876e-04 9.97639165e-01 -6.94970722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53105275399999 meters 0.016776382198390307 Centerline is valid? [True, True] Translation: X:98.49, Y:-39.18, Z:-6.95 [[ 8.33379290e-01 5.49617502e-01 5.83057521e-02 9.84918789e+01] [-5.48320328e-01 8.35416264e-01 -3.77423231e-02 -3.91801262e+01] [-6.94534150e-02 -5.16558657e-04 9.97585062e-01 -6.95001537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56105275399999 meters 0.01667106837125811 Centerline is valid? [True, True] Translation: X:98.52, Y:-39.19, Z:-6.95 [[ 8.33468391e-01 5.49378620e-01 5.92754045e-02 9.85154557e+01] [-5.48038835e-01 8.35573371e-01 -3.83481087e-02 -3.91945234e+01] [-7.05965806e-02 -5.23287177e-04 9.97504812e-01 -6.94953329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59105275399999 meters 0.016708702334981722 Centerline is valid? [True, True] Translation: X:98.54, Y:-39.21, Z:-6.95 [[ 8.32875044e-01 5.50166196e-01 6.03018844e-02 9.85398480e+01] [-5.48782449e-01 8.35054959e-01 -3.90005048e-02 -3.92100972e+01] [-7.18121470e-02 -6.10068594e-04 9.97417988e-01 -6.94935510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62105275399999 meters 0.017164908935059474 Centerline is valid? [True, True] Translation: X:98.56, Y:-39.23, Z:-6.95 [[ 8.30984808e-01 5.52982268e-01 6.06206237e-02 9.85634994e+01] [-5.51592773e-01 8.33192563e-01 -3.91862947e-02 -3.92260902e+01] [-7.21779789e-02 -8.74682304e-04 9.97391385e-01 -6.95373123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65105275399999 meters 0.01721799756112835 Centerline is valid? [True, True] Translation: X:98.59, Y:-39.24, Z:-6.96 [[ 8.30394638e-01 5.53898071e-01 6.03462758e-02 9.85869182e+01] [-5.52525008e-01 8.32583925e-01 -3.89887566e-02 -3.92422352e+01] [-7.18391362e-02 -9.66772112e-04 9.97415763e-01 -6.95570176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68105275399999 meters 0.017526562830794252 Centerline is valid? [True, True] Translation: X:98.61, Y:-39.26, Z:-6.96 [[ 8.29638783e-01 5.55070551e-01 5.99680953e-02 9.86109725e+01] [-5.53719175e-01 8.31802573e-01 -3.87240963e-02 -3.92569844e+01] [-7.13762215e-02 -1.07847207e-03 9.97448882e-01 -6.95774069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.711052754 meters 0.017828587010810693 Centerline is valid? [True, True] Translation: X:98.63, Y:-39.27, Z:-6.96 [[ 8.28894047e-01 5.56337737e-01 5.85062442e-02 9.86343245e+01] [-5.55055949e-01 8.30955441e-01 -3.77617296e-02 -3.92712531e+01] [-6.96243572e-02 -1.17376604e-03 9.97572589e-01 -6.95833531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.741052754 meters 0.017828587010810693 Centerline is valid? [True, True] Translation: X:98.66, Y:-39.29, Z:-6.96 [[ 8.29044974e-01 5.56112411e-01 5.85099761e-02 9.86572840e+01] [-5.54830472e-01 8.31106273e-01 -3.77559463e-02 -3.92859875e+01] [-6.96245585e-02 -1.16174016e-03 9.97572589e-01 -6.96009672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.771052754 meters 0.018072070231253075 Centerline is valid? [True, True] Translation: X:98.68, Y:-39.30, Z:-6.96 [[ 8.28038217e-01 5.57793498e-01 5.67373260e-02 9.86825145e+01] [-5.56593474e-01 8.29978779e-01 -3.65914111e-02 -3.92987041e+01] [-6.75012278e-02 -1.28053858e-03 9.97718369e-01 -6.96024974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.801052754 meters 0.017696096444202482 Centerline is valid? [True, True] Translation: X:98.71, Y:-39.32, Z:-6.96 [[ 8.28940246e-01 5.56559341e-01 5.56755760e-02 9.87058841e+01] [-5.55401738e-01 8.30807042e-01 -3.58966485e-02 -3.93158365e+01] [-6.62342756e-02 -1.16613505e-03 9.97803418e-01 -6.96376113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831052754 meters 0.017652879894907374 Centerline is valid? [True, True] Translation: X:98.73, Y:-39.33, Z:-6.97 [[ 8.31520071e-01 5.53001774e-01 5.25681429e-02 9.87276479e+01] [-5.51963853e-01 8.33179645e-01 -3.38760138e-02 -3.93332011e+01] [-6.25322023e-02 -8.47129330e-04 9.98042587e-01 -6.96999688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86105275399999 meters 0.017107889120066052 Centerline is valid? [True, True] Translation: X:98.75, Y:-39.35, Z:-6.97 [[ 8.34108129e-01 5.49118105e-01 5.22774885e-02 9.87497684e+01] [-5.48084364e-01 8.35744576e-01 -3.36828410e-02 -3.93522323e+01] [-6.21864853e-02 -5.57342546e-04 9.98064392e-01 -6.97294698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89105275399999 meters 0.0169126372080805 Centerline is valid? [True, True] Translation: X:98.77, Y:-39.37, Z:-6.98 [[ 8.39099860e-01 5.41531145e-01 5.15310037e-02 9.87702636e+01] [-5.40513434e-01 8.40680688e-01 -3.31844759e-02 -3.93717559e+01] [-6.12915469e-02 -8.11068988e-06 9.98119906e-01 -6.97574887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92105275399999 meters 0.017363728050340324 Centerline is valid? [True, True] Translation: X:98.79, Y:-39.39, Z:-6.98 [[ 8.43916084e-01 5.33930401e-01 5.21916635e-02 9.87922895e+01] [-5.32872353e-01 8.45528255e-01 -3.36009729e-02 -3.93906753e+01] [-6.20701071e-02 5.44906923e-04 9.98071643e-01 -6.97559431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95105275399999 meters 0.01769707943913602 Centerline is valid? [True, True] Translation: X:98.81, Y:-39.41, Z:-6.98 [[ 8.44959189e-01 5.32244578e-01 5.25326475e-02 9.88142267e+01] [-5.31170515e-01 8.46590383e-01 -3.38024783e-02 -3.94075965e+01] [-6.24648200e-02 6.57921271e-04 9.98046950e-01 -6.97623412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98105275399999 meters 0.017420496935213265 Centerline is valid? [True, True] Translation: X:98.84, Y:-39.42, Z:-6.98 [[ 8.44295317e-01 5.33287155e-01 5.26329508e-02 9.88393342e+01] [-5.32211378e-01 8.45934086e-01 -3.38610755e-02 -3.94220656e+01] [-6.25816837e-02 5.76892238e-04 9.98039679e-01 -6.97726659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01105275399999 meters 0.017196696288981177 Centerline is valid? [True, True] Translation: X:98.86, Y:-39.43, Z:-6.98 [[ 8.41865992e-01 5.37071805e-01 5.30615516e-02 9.88643239e+01] [-5.35987045e-01 8.43536482e-01 -3.41187921e-02 -3.94343339e+01] [-6.30835958e-02 2.83146557e-04 9.98008206e-01 -6.97679837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04105275399999 meters 0.017085786147857225 Centerline is valid? [True, True] Translation: X:98.89, Y:-39.45, Z:-6.98 [[ 8.40496802e-01 5.39142408e-01 5.37642030e-02 9.88888008e+01] [-5.38033529e-01 8.42214610e-01 -3.45611476e-02 -3.94480539e+01] [-6.39143776e-02 1.21590175e-04 9.97955379e-01 -6.97773448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.071052754 meters 0.01721112107692601 Centerline is valid? [True, True] Translation: X:98.91, Y:-39.46, Z:-6.98 [[ 8.38181881e-01 5.42834836e-01 5.27397012e-02 9.89137102e+01] [-5.41776365e-01 8.39839456e-01 -3.38830149e-02 -3.94609673e+01] [-6.26857628e-02 -1.72994443e-04 9.98033299e-01 -6.97898604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.101052754 meters 0.017337548987370686 Centerline is valid? [True, True] Translation: X:98.94, Y:-39.48, Z:-6.98 [[ 8.37334313e-01 5.44262706e-01 5.14718889e-02 9.89379298e+01] [-5.43258424e-01 8.38914789e-01 -3.30493726e-02 -3.94763405e+01] [-6.11680698e-02 -2.89163551e-04 9.98127439e-01 -6.98169930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.131052754 meters 0.017692594092058995 Centerline is valid? [True, True] Translation: X:98.96, Y:-39.49, Z:-6.99 [[ 8.37142259e-01 5.44782541e-01 4.90389791e-02 9.89603410e+01] [-5.43872914e-01 8.38577294e-01 -3.14702365e-02 -3.94929330e+01] [-5.82674097e-02 -3.25907590e-04 9.98300958e-01 -6.98699254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.161052754 meters 0.01780599367777419 Centerline is valid? [True, True] Translation: X:98.98, Y:-39.51, Z:-6.99 [[ 8.39443895e-01 5.41311707e-01 4.81205090e-02 9.89817928e+01] [-5.40430476e-01 8.40821995e-01 -3.08751085e-02 -3.95110891e+01] [-5.71738401e-02 -8.78682839e-05 9.98364234e-01 -6.98919617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191052754 meters 0.01790808093936428 Centerline is valid? [True, True] Translation: X:99.00, Y:-39.53, Z:-6.99 [[ 8.41218398e-01 5.38648388e-01 4.70055435e-02 9.90039622e+01] [-5.37803694e-01 8.42530656e-01 -3.01542699e-02 -3.95282002e+01] [-5.58461603e-02 8.65716774e-05 9.98439382e-01 -6.99204330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221052754 meters 0.01844250538080422 Centerline is valid? [True, True] Translation: X:99.03, Y:-39.55, Z:-6.99 [[ 8.45388397e-01 5.32228668e-01 4.52891046e-02 9.90252084e+01] [-5.31435502e-01 8.46600499e-01 -2.90499955e-02 -3.95476720e+01] [-5.38030189e-02 4.90291123e-04 9.98551448e-01 -6.99391247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25105275399999 meters 0.01875728017831304 Centerline is valid? [True, True] Translation: X:99.05, Y:-39.56, Z:-6.99 [[ 8.47504673e-01 5.28861158e-01 4.51852257e-02 9.90482615e+01] [-5.28067646e-01 8.48708077e-01 -2.89682855e-02 -3.95649593e+01] [-5.36692670e-02 6.89901510e-04 9.98558528e-01 -6.99492118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28105275399999 meters 0.020384549098654205 Centerline is valid? [True, True] Translation: X:99.07, Y:-39.59, Z:-7.00 [[ 8.51552194e-01 5.22296590e-01 4.54437372e-02 9.90694668e+01] [-5.21485533e-01 8.52763198e-01 -2.91164547e-02 -3.95851249e+01] [-5.39601717e-02 1.09592936e-03 9.98542487e-01 -6.99633157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31105275399999 meters 0.020317756712248152 Centerline is valid? [True, True] Translation: X:99.09, Y:-39.60, Z:-7.00 [[ 8.53464771e-01 5.19211750e-01 4.49115100e-02 9.90938357e+01] [-5.18415352e-01 8.54644682e-01 -2.87748223e-02 -3.96005425e+01] [-5.33236090e-02 1.27548087e-03 9.98576470e-01 -6.99781575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34105275399999 meters 0.022379836327455938 Centerline is valid? [True, True] Translation: X:99.11, Y:-39.62, Z:-7.00 [[ 8.57080054e-01 5.13370692e-01 4.31777065e-02 9.91139760e+01] [-5.12628073e-01 8.58165540e-01 -2.76471476e-02 -3.96211250e+01] [-5.12468551e-02 1.56171434e-03 9.98684796e-01 -7.00344023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37105275399999 meters 0.024884354289078318 Centerline is valid? [True, True] Translation: X:99.14, Y:-39.64, Z:-7.01 [[ 8.58583342e-01 5.10949162e-01 4.20190300e-02 9.91352894e+01] [-5.10243206e-01 8.59609335e-01 -2.69009786e-02 -3.96409768e+01] [-4.98649829e-02 1.65680751e-03 9.98754594e-01 -7.00728546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40105275399999 meters 0.024383499864141706 Centerline is valid? [True, True] Translation: X:99.16, Y:-39.66, Z:-7.01 [[ 8.60646367e-01 5.07567172e-01 4.07847646e-02 9.91606995e+01] [-5.06898418e-01 8.61610317e-01 -2.61085425e-02 -3.96555020e+01] [-4.83924131e-02 1.79648960e-03 9.98826785e-01 -7.00660573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43105275399999 meters 0.027258707695360155 Centerline is valid? [True, True] Translation: X:99.18, Y:-39.67, Z:-7.01 [[ 8.61323568e-01 5.06415737e-01 4.08021159e-02 9.91814079e+01] [-5.05745311e-01 8.62287450e-01 -2.61157695e-02 -3.96737887e+01] [-4.84085892e-02 1.85864891e-03 9.98825888e-01 -7.00874161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.461052754 meters 0.02616945843000018 Centerline is valid? [True, True] Translation: X:99.21, Y:-39.69, Z:-7.01 [[ 8.62314616e-01 5.04764921e-01 4.03221621e-02 9.92067534e+01] [-5.04108624e-01 8.63254697e-01 -2.58035500e-02 -3.96877506e+01] [-4.78330228e-02 1.92402868e-03 9.98853493e-01 -7.01027186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.491052754 meters 0.026477826654422446 Centerline is valid? [True, True] Translation: X:99.23, Y:-39.70, Z:-7.01 [[ 8.62623074e-01 5.04229811e-01 4.04194161e-02 9.92293354e+01] [-5.03570409e-01 8.63567315e-01 -2.58521740e-02 -3.97046142e+01] [-4.79403234e-02 1.94665990e-03 9.98848305e-01 -7.01348255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.521052754 meters 0.029079943475422407 Centerline is valid? [True, True] Translation: X:99.25, Y:-39.72, Z:-7.02 [[ 8.62590210e-01 5.04214882e-01 4.12974863e-02 9.92507594e+01] [-5.03527181e-01 8.63575962e-01 -2.63995589e-02 -3.97232398e+01] [-4.89745670e-02 1.97759418e-03 9.98798068e-01 -7.01640710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.551052754 meters 0.02626487623740951 Centerline is valid? [True, True] Translation: X:99.28, Y:-39.73, Z:-7.01 [[ 8.61246338e-01 5.06429555e-01 4.22356531e-02 9.92784846e+01] [-5.05713748e-01 8.62279290e-01 -2.69820362e-02 -3.97335252e+01] [-5.00834295e-02 1.87902946e-03 9.98743270e-01 -7.01314499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581052754 meters 0.024596552911459204 Centerline is valid? [True, True] Translation: X:99.30, Y:-39.75, Z:-7.01 [[ 8.59973079e-01 5.08560603e-01 4.25724759e-02 9.93049505e+01] [-5.07836117e-01 8.61024387e-01 -2.71934374e-02 -3.97458060e+01] [-5.04854509e-02 1.76578324e-03 9.98723236e-01 -7.01362684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61105275399999 meters 0.024619680548530237 Centerline is valid? [True, True] Translation: X:99.33, Y:-39.76, Z:-7.01 [[ 8.59506730e-01 5.09290396e-01 4.32605391e-02 9.93285531e+01] [-5.08543291e-01 8.60592954e-01 -2.76313186e-02 -3.97611653e+01] [-5.13020803e-02 1.74944735e-03 9.98681649e-01 -7.01347487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64105275399999 meters 0.023510032798554827 Centerline is valid? [True, True] Translation: X:99.35, Y:-39.77, Z:-7.01 [[ 8.57424764e-01 5.12762439e-01 4.35597870e-02 9.93542224e+01] [-5.12010300e-01 8.58529159e-01 -2.78053380e-02 -3.97745234e+01] [-5.16548802e-02 1.53792581e-03 9.98663811e-01 -7.01436371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67105275399999 meters 0.023089577254192552 Centerline is valid? [True, True] Translation: X:99.38, Y:-39.79, Z:-7.02 [[ 8.56142501e-01 5.14944966e-01 4.30313731e-02 9.93785353e+01] [-5.14213792e-01 8.57222115e-01 -2.74667281e-02 -3.97885799e+01] [-5.10312980e-02 1.38810778e-03 9.98696090e-01 -7.01750411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70105275399999 meters 0.022201361739806934 Centerline is valid? [True, True] Translation: X:99.40, Y:-39.80, Z:-7.02 [[ 8.54065923e-01 5.18420023e-01 4.25685141e-02 9.94032658e+01] [-5.17709511e-01 8.55125338e-01 -2.71573092e-02 -3.98039197e+01] [-5.04803079e-02 1.15600776e-03 9.98724388e-01 -7.02122237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73105275399999 meters 0.021566932815466656 Centerline is valid? [True, True] Translation: X:99.43, Y:-39.82, Z:-7.02 [[ 8.52370827e-01 5.21243020e-01 4.20676460e-02 9.94289469e+01] [-5.20553176e-01 8.53407745e-01 -2.68255749e-02 -3.98170689e+01] [-4.98834986e-02 9.66890714e-04 9.98754575e-01 -7.02353560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76105275399999 meters 0.02065917376300339 Centerline is valid? [True, True] Translation: X:99.46, Y:-39.83, Z:-7.03 [[ 8.48445480e-01 5.27654891e-01 4.14799292e-02 9.94556657e+01] [-5.26992599e-01 8.49458647e-01 -2.64349823e-02 -3.98267637e+01] [-4.91840322e-02 5.69025530e-04 9.98789571e-01 -7.02814054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79105275399999 meters 0.02035048940244222 Centerline is valid? [True, True] Translation: X:99.48, Y:-39.84, Z:-7.03 [[ 8.46009194e-01 5.31506160e-01 4.20671474e-02 9.94814031e+01] [-5.30829835e-01 8.47054355e-01 -2.68068322e-02 -3.98392081e+01] [-4.98811568e-02 3.48329554e-04 9.98755100e-01 -7.03007089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.821052754 meters 0.020297939031477388 Centerline is valid? [True, True] Translation: X:99.51, Y:-39.85, Z:-7.03 [[ 8.45530521e-01 5.32249168e-01 4.22961043e-02 9.95058275e+01] [-5.31567151e-01 8.46587702e-01 -2.69374556e-02 -3.98532946e+01] [-5.01448001e-02 2.93221171e-04 9.98741915e-01 -7.03087104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.851052754 meters 0.020398385178713337 Centerline is valid? [True, True] Translation: X:99.53, Y:-39.87, Z:-7.03 [[ 8.45769042e-01 5.31954988e-01 4.12143014e-02 9.95319769e+01] [-5.31307322e-01 8.46772580e-01 -2.62436236e-02 -3.98658736e+01] [-4.88595668e-02 2.98584254e-04 9.98805614e-01 -7.03102414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.881052754 meters 0.020519944206603233 Centerline is valid? [True, True] Translation: X:99.56, Y:-39.88, Z:-7.03 [[ 8.45980989e-01 5.31629670e-01 4.10616672e-02 9.95566479e+01] [-5.30987165e-01 8.46976861e-01 -2.61309865e-02 -3.98795220e+01] [-4.86702897e-02 3.03099581e-04 9.98814853e-01 -7.03280761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.911052754 meters 0.021418006801225464 Centerline is valid? [True, True] Translation: X:99.58, Y:-39.90, Z:-7.04 [[ 8.48572935e-01 5.27408682e-01 4.20006765e-02 9.95780607e+01] [-5.26731494e-01 8.49611544e-01 -2.67237347e-02 -3.98968586e+01] [-4.97785893e-02 5.53958916e-04 9.98760124e-01 -7.03637679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941052754 meters 0.021737300587519517 Centerline is valid? [True, True] Translation: X:99.60, Y:-39.91, Z:-7.04 [[ 8.49491662e-01 5.25874912e-01 4.26555190e-02 9.96025068e+01] [-5.25174620e-01 8.50561669e-01 -2.71379191e-02 -3.99125796e+01] [-5.05523003e-02 6.51840022e-04 9.98721202e-01 -7.03920197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971052754 meters 0.023693117513079568 Centerline is valid? [True, True] Translation: X:99.62, Y:-39.93, Z:-7.04 [[ 8.53397599e-01 5.19313363e-01 4.50129883e-02 9.96239595e+01] [-5.18525096e-01 8.54583203e-01 -2.86229708e-02 -3.99332667e+01] [-5.33316350e-02 1.08641052e-03 9.98576265e-01 -7.03951795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00105275399999 meters 0.024149675850814213 Centerline is valid? [True, True] Translation: X:99.65, Y:-39.95, Z:-7.04 [[ 8.54205852e-01 5.17923591e-01 4.56893515e-02 9.96476771e+01] [-5.17110265e-01 8.55426073e-01 -2.90380420e-02 -3.99479004e+01] [-5.41233495e-02 1.17803276e-03 9.98533562e-01 -7.03955330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03105275399999 meters 0.025899619224847636 Centerline is valid? [True, True] Translation: X:99.67, Y:-39.96, Z:-7.04 [[ 8.56222485e-01 5.14494837e-01 4.66703295e-02 9.96722444e+01] [-5.13641374e-01 8.57492300e-01 -2.96562668e-02 -3.99624830e+01] [-5.52774443e-02 1.42055029e-03 9.98470023e-01 -7.03575776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06105275399999 meters 0.026813781995399702 Centerline is valid? [True, True] Translation: X:99.70, Y:-39.98, Z:-7.04 [[ 8.57258822e-01 5.12661346e-01 4.78085396e-02 9.96959362e+01] [-5.11763054e-01 8.58589464e-01 -3.03761222e-02 -3.99788396e+01] [-5.66205721e-02 1.57355450e-03 9.98394529e-01 -7.03592501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09105275399999 meters 0.02875455558806454 Centerline is valid? [True, True] Translation: X:99.72, Y:-40.00, Z:-7.04 [[ 8.59342242e-01 5.09058565e-01 4.88905826e-02 9.97184278e+01] [-5.08114143e-01 8.60729919e-01 -3.10487377e-02 -3.99973106e+01] [-5.78872131e-02 1.83949543e-03 9.98321435e-01 -7.03809412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12105275399999 meters 0.029604371703428164 Centerline is valid? [True, True] Translation: X:99.74, Y:-40.01, Z:-7.04 [[ 8.60142071e-01 5.07756924e-01 4.83582763e-02 9.97417950e+01] [-5.06831653e-01 8.61498296e-01 -3.06979030e-02 -4.00144549e+01] [-5.72476455e-02 1.89505273e-03 9.98358210e-01 -7.04128930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15105275399999 meters 0.030303498190838354 Centerline is valid? [True, True] Translation: X:99.77, Y:-40.03, Z:-7.05 [[ 8.60739386e-01 5.06875137e-01 4.69606711e-02 9.97651660e+01] [-5.06002128e-01 8.62017427e-01 -2.97960218e-02 -4.00301037e+01] [-5.55837795e-02 1.88441000e-03 9.98452248e-01 -7.04634584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18105275399999 meters 0.025696323238695036 Centerline is valid? [True, True] Translation: X:99.79, Y:-40.04, Z:-7.05 [[ 8.59980137e-01 5.08115132e-01 4.74676382e-02 9.97940695e+01] [-5.07225235e-01 8.61287233e-01 -3.01141818e-02 -4.00382099e+01] [-5.61847422e-02 1.82081428e-03 9.98418729e-01 -7.04690278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.211052754 meters 0.024433211540595152 Centerline is valid? [True, True] Translation: X:99.82, Y:-40.05, Z:-7.05 [[ 8.59257593e-01 5.09307636e-01 4.77715412e-02 9.98202423e+01] [-5.08409027e-01 8.60582769e-01 -3.02912404e-02 -4.00513285e+01] [-5.65389252e-02 1.74049556e-03 9.98398879e-01 -7.04777548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.241052754 meters 0.02633781312350097 Centerline is valid? [True, True] Translation: X:99.84, Y:-40.07, Z:-7.05 [[ 8.56359326e-01 5.14163375e-01 4.77988367e-02 9.98420845e+01] [-5.13272183e-01 8.57691112e-01 -3.02923004e-02 -4.00689350e+01] [-5.65718289e-02 1.40728072e-03 9.98397540e-01 -7.05243338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.271052754 meters 0.022861383619683005 Centerline is valid? [True, True] Translation: X:99.87, Y:-40.08, Z:-7.05 [[ 8.55126052e-01 5.16119054e-01 4.87909627e-02 9.98704975e+01] [-5.15193817e-01 8.56515865e-01 -3.09176874e-02 -4.00778552e+01] [-5.77474412e-02 1.30171760e-03 9.98330375e-01 -7.05119280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.301052754 meters 0.02314730406597768 Centerline is valid? [True, True] Translation: X:99.89, Y:-40.09, Z:-7.05 [[ 8.51932807e-01 5.21391963e-01 4.85892238e-02 9.98942970e+01] [-5.20483893e-01 8.53316801e-01 -3.07726353e-02 -4.00926514e+01] [-5.75066057e-02 9.26309220e-04 9.98344696e-01 -7.05386981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331052754 meters 0.02098236494660487 Centerline is valid? [True, True] Translation: X:99.92, Y:-40.10, Z:-7.05 [[ 8.50325421e-01 5.24075513e-01 4.78699893e-02 9.99224839e+01] [-5.23198535e-01 8.51671487e-01 -3.03145438e-02 -4.01016795e+01] [-5.66566150e-02 7.31718924e-04 9.98393456e-01 -7.05377812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36105275399999 meters 0.02061305935579348 Centerline is valid? [True, True] Translation: X:99.95, Y:-40.12, Z:-7.06 [[ 8.47245919e-01 5.29122209e-01 4.69472163e-02 9.99461068e+01] [-5.28287370e-01 8.48545549e-01 -2.97137468e-02 -4.01151469e+01] [-5.55590548e-02 3.73229316e-04 9.98455333e-01 -7.05773864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39105275399999 meters 0.02048942688933717 Centerline is valid? [True, True] Translation: X:99.97, Y:-40.13, Z:-7.06 [[ 8.45434832e-01 5.32062434e-01 4.63628310e-02 9.99709471e+01] [-5.31253131e-01 8.46705107e-01 -2.93355316e-02 -4.01283159e+01] [-5.48639801e-02 1.70881113e-04 9.98493823e-01 -7.06020835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42105275399999 meters 0.020619879462342325 Centerline is valid? [True, True] Translation: X:100.00, Y:-40.14, Z:-7.06 [[ 8.41333018e-01 5.38629969e-01 4.51276873e-02 9.99964858e+01] [-5.37872802e-01 8.42542398e-01 -2.85509416e-02 -4.01409297e+01] [-5.34003827e-02 -2.52105725e-04 9.98573150e-01 -7.06243377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45105275399999 meters 0.020827809885266228 Centerline is valid? [True, True] Translation: X:100.02, Y:-40.15, Z:-7.06 [[ 8.39135666e-01 5.42036714e-01 4.52496836e-02 1.00021813e+02] [-5.41281200e-01 8.40354668e-01 -2.86128502e-02 -4.01543719e+01] [-5.35349982e-02 -4.82739901e-04 9.98565857e-01 -7.06390998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48105275399999 meters 0.021492944357267837 Centerline is valid? [True, True] Translation: X:100.05, Y:-40.17, Z:-7.06 [[ 8.35407197e-01 5.47665103e-01 4.64515936e-02 1.00047834e+02] [-5.46878486e-01 8.36697174e-01 -2.93557477e-02 -4.01656787e+01] [-5.49430357e-02 -8.79374262e-04 9.98489103e-01 -7.06233718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51105275399999 meters 0.02173221424489046 Centerline is valid? [True, True] Translation: X:100.07, Y:-40.18, Z:-7.06 [[ 8.34567381e-01 5.48866614e-01 4.73574315e-02 1.00072396e+02] [-5.48051349e-01 8.35909369e-01 -2.99206533e-02 -4.01806264e+01] [-5.60089683e-02 -9.83502977e-04 9.98429781e-01 -7.06393886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54105275399999 meters 0.02248698980798221 Centerline is valid? [True, True] Translation: X:100.10, Y:-40.19, Z:-7.07 [[ 8.32922446e-01 5.51311264e-01 4.79175218e-02 1.00095855e+02] [-5.50481567e-01 8.34298813e-01 -3.02578236e-02 -4.01949654e+01] [-5.66590105e-02 -1.17529201e-03 9.98392896e-01 -7.06654538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.571052754 meters 0.022501991405486158 Centerline is valid? [True, True] Translation: X:100.12, Y:-40.21, Z:-7.07 [[ 8.32667997e-01 5.51673359e-01 4.81716932e-02 1.00120417e+02] [-5.50835859e-01 8.34059371e-01 -3.04108966e-02 -4.02104711e+01] [-5.69549337e-02 -1.21251564e-03 9.98376014e-01 -7.06731915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.601052754 meters 0.022353370907812888 Centerline is valid? [True, True] Translation: X:100.15, Y:-40.22, Z:-7.06 [[ 8.32335722e-01 5.52069779e-01 4.93579299e-02 1.00145321e+02] [-5.51192118e-01 8.33796925e-01 -3.11438263e-02 -4.02235021e+01] [-5.83480555e-02 -1.28358280e-03 9.98295476e-01 -7.06467861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.631052754 meters 0.02171170658801788 Centerline is valid? [True, True] Translation: X:100.17, Y:-40.24, Z:-7.06 [[ 8.31450549e-01 5.53231041e-01 5.12386626e-02 1.00170612e+02] [-5.52288598e-01 8.33026625e-01 -3.23101471e-02 -4.02368193e+01] [-6.05581465e-02 -1.43423965e-03 9.98163641e-01 -7.06287250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.661052754 meters 0.02171170658801788 Centerline is valid? [True, True] Translation: X:100.19, Y:-40.25, Z:-7.06 [[ 8.31599850e-01 5.53006372e-01 5.12410163e-02 1.00193727e+02] [-5.52063734e-01 8.33175809e-01 -3.23064141e-02 -4.02513125e+01] [-6.05584281e-02 -1.42229771e-03 9.98163641e-01 -7.06463407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691052754 meters 0.021676718227662584 Centerline is valid? [True, True] Translation: X:100.22, Y:-40.27, Z:-7.07 [[ 8.33087284e-01 5.50687604e-01 5.20455627e-02 1.00216787e+02] [-5.49711850e-01 8.34710427e-01 -3.27930577e-02 -4.02664550e+01] [-6.15017042e-02 -1.29058323e-03 9.98106144e-01 -7.06603293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721052754 meters 0.02060872642603773 Centerline is valid? [True, True] Translation: X:100.24, Y:-40.29, Z:-7.07 [[ 8.35881644e-01 5.46441982e-01 5.19907410e-02 1.00239487e+02] [-5.45460403e-01 8.37496386e-01 -3.27528908e-02 -4.02851286e+01] [-6.14396123e-02 -9.81350266e-04 9.98110320e-01 -7.06955753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75105275399999 meters 0.020332230643967202 Centerline is valid? [True, True] Translation: X:100.26, Y:-40.30, Z:-7.07 [[ 8.37466041e-01 5.44007921e-01 5.20193453e-02 1.00262327e+02] [-5.43021558e-01 8.39079683e-01 -3.27547255e-02 -4.03009646e+01] [-6.14672059e-02 -8.16655625e-04 9.98108769e-01 -7.07199120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78105275399999 meters 0.01992469553817833 Centerline is valid? [True, True] Translation: X:100.29, Y:-40.32, Z:-7.07 [[ 8.38677567e-01 5.42155272e-01 5.18420714e-02 1.00286230e+02] [-5.41172420e-01 8.40278046e-01 -3.26376698e-02 -4.03165868e+01] [-6.12564392e-02 -6.83017715e-04 9.98121827e-01 -7.07451786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81105275399999 meters 0.019266972492320844 Centerline is valid? [True, True] Translation: X:100.31, Y:-40.33, Z:-7.08 [[ 8.42716599e-01 5.35880531e-01 5.15828391e-02 1.00308599e+02] [-5.34896706e-01 8.44293787e-01 -3.24578957e-02 -4.03346492e+01] [-6.09446250e-02 -2.38683198e-04 9.98141120e-01 -7.07530281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84105275399999 meters 0.01902822760410991 Centerline is valid? [True, True] Translation: X:100.33, Y:-40.35, Z:-7.08 [[ 8.45345956e-01 5.31752946e-01 5.12739627e-02 1.00331019e+02] [-5.30774248e-01 8.46899523e-01 -3.22474010e-02 -4.03507617e+01] [-6.05715450e-02 4.53110305e-05 9.98163857e-01 -7.07693874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87105275399999 meters 0.018987205753741517 Centerline is valid? [True, True] Translation: X:100.35, Y:-40.37, Z:-7.08 [[ 8.46565171e-01 5.29772866e-01 5.16538636e-02 1.00353897e+02] [-5.28777091e-01 8.48139541e-01 -3.24670047e-02 -4.03667408e+01] [-6.10098223e-02 1.72055666e-04 9.98137151e-01 -7.07871263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90105275399999 meters 0.01909804883916767 Centerline is valid? [True, True] Translation: X:100.38, Y:-40.38, Z:-7.08 [[ 8.48571794e-01 5.26453455e-01 5.26561532e-02 1.00376059e+02] [-5.25413493e-01 8.50203857e-01 -3.30766194e-02 -4.03845847e+01] [-6.21817651e-02 4.01632855e-04 9.98064761e-01 -7.08014937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93105275399999 meters 0.019175121299094225 Centerline is valid? [True, True] Translation: X:100.40, Y:-40.40, Z:-7.08 [[ 8.49350128e-01 5.25176825e-01 5.28551179e-02 1.00398845e+02] [-5.24127616e-01 8.50992991e-01 -3.31839114e-02 -4.04006550e+01] [-6.24067561e-02 4.81932514e-04 9.98050682e-01 -7.08136324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.961052754 meters 0.01935478081269242 Centerline is valid? [True, True] Translation: X:100.42, Y:-40.42, Z:-7.08 [[ 8.49665198e-01 5.24700338e-01 5.25224279e-02 1.00421330e+02] [-5.23663973e-01 8.51286849e-01 -3.29658095e-02 -4.04164394e+01] [-6.20088235e-02 5.05797801e-04 9.98075473e-01 -7.08429103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.991052754 meters 0.01924791724355765 Centerline is valid? [True, True] Translation: X:100.44, Y:-40.43, Z:-7.09 [[ 8.50143275e-01 5.23834632e-01 5.34199472e-02 1.00444534e+02] [-5.22761173e-01 8.51819787e-01 -3.35232249e-02 -4.04314578e+01] [-6.30647942e-02 5.73669875e-04 9.98009270e-01 -7.08508364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.021052754 meters 0.018864671778021678 Centerline is valid? [True, True] Translation: X:100.47, Y:-40.44, Z:-7.08 [[ 8.48451498e-01 5.26389790e-01 5.51710527e-02 1.00470817e+02] [-5.25251485e-01 8.50243286e-01 -3.46010361e-02 -4.04449628e+01] [-6.51224493e-02 3.78623539e-04 9.97877209e-01 -7.08337047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.051052754 meters 0.018640444100121258 Centerline is valid? [True, True] Translation: X:100.50, Y:-40.46, Z:-7.08 [[ 8.46692321e-01 5.29176026e-01 5.55414044e-02 1.00496304e+02] [-5.28029008e-01 8.48512056e-01 -3.48232434e-02 -4.04585522e+01] [-6.55551768e-02 1.57100109e-04 9.97848934e-01 -7.08485472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081052754 meters 0.018712356786284808 Centerline is valid? [True, True] Translation: X:100.52, Y:-40.47, Z:-7.09 [[ 8.43008956e-01 5.35017867e-01 5.56037936e-02 1.00521304e+02] [-5.33882117e-01 8.44840686e-01 -3.48439435e-02 -4.04712573e+01] [-6.56184795e-02 -3.12114533e-04 9.97844736e-01 -7.08787605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11105275399999 meters 0.018825914603340946 Centerline is valid? [True, True] Translation: X:100.55, Y:-40.49, Z:-7.09 [[ 8.41640820e-01 5.37176683e-01 5.55152277e-02 1.00545998e+02] [-5.36049895e-01 8.43469604e-01 -3.47783974e-02 -4.04856161e+01] [-6.55075513e-02 -4.88013070e-04 9.97851954e-01 -7.08954453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14105275399999 meters 0.019709331384875635 Centerline is valid? [True, True] Translation: X:100.57, Y:-40.50, Z:-7.09 [[ 8.38472846e-01 5.42157363e-01 5.50334420e-02 1.00571945e+02] [-5.41061903e-01 8.40276510e-01 -3.44587326e-02 -4.04969278e+01] [-6.49253642e-02 -8.83787280e-04 9.97889731e-01 -7.08983707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17105275399999 meters 0.020041831072347343 Centerline is valid? [True, True] Translation: X:100.60, Y:-40.51, Z:-7.09 [[ 8.36393076e-01 5.45427660e-01 5.43625734e-02 1.00596968e+02] [-5.44366052e-01 8.38157141e-01 -3.40324498e-02 -4.05110275e+01] [-6.41266186e-02 -1.12863408e-03 9.97941132e-01 -7.09161245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20105275399999 meters 0.020913584855820982 Centerline is valid? [True, True] Translation: X:100.62, Y:-40.52, Z:-7.09 [[ 8.34130018e-01 5.48941837e-01 5.37584587e-02 1.00621924e+02] [-5.47912099e-01 8.35859382e-01 -3.36366722e-02 -4.05239465e+01] [-6.33990887e-02 -1.39755195e-03 9.97987276e-01 -7.09406009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23105275399999 meters 0.021574917500934314 Centerline is valid? [True, True] Translation: X:100.65, Y:-40.54, Z:-7.10 [[ 8.32651001e-01 5.51269504e-01 5.28606120e-02 1.00645848e+02] [-5.50278922e-01 8.34325790e-01 -3.30694019e-02 -4.05390076e+01] [-6.23331246e-02 -1.55280993e-03 9.98054192e-01 -7.09764431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26105275399999 meters 0.022012581720724244 Centerline is valid? [True, True] Translation: X:100.67, Y:-40.55, Z:-7.10 [[ 8.32172392e-01 5.51981911e-01 5.29630120e-02 1.00669416e+02] [-5.50989299e-01 8.33854522e-01 -3.31274602e-02 -4.05531207e+01] [-6.24492059e-02 -1.61429506e-03 9.98046838e-01 -7.09961398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29105275399999 meters 0.022234261419814185 Centerline is valid? [True, True] Translation: X:100.69, Y:-40.57, Z:-7.10 [[ 8.32149980e-01 5.52030092e-01 5.28127677e-02 1.00694293e+02] [-5.51043748e-01 8.33822614e-01 -3.30247761e-02 -4.05678348e+01] [-6.22671502e-02 -1.62057870e-03 9.98058203e-01 -7.10100270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.321052754 meters 0.021306532119499327 Centerline is valid? [True, True] Translation: X:100.72, Y:-40.58, Z:-7.10 [[ 8.34005188e-01 5.49253904e-01 5.24928035e-02 1.00718486e+02] [-5.48275015e-01 8.35654317e-01 -3.28081031e-02 -4.05839228e+01] [-6.18858166e-02 -1.41836436e-03 9.98082228e-01 -7.10116215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.351052754 meters 0.02068402164116521 Centerline is valid? [True, True] Translation: X:100.74, Y:-40.60, Z:-7.10 [[ 8.35314258e-01 5.47279967e-01 5.22946295e-02 1.00742355e+02] [-5.46305538e-01 8.36948624e-01 -3.26689528e-02 -4.06006910e+01] [-6.16469816e-02 -1.28000363e-03 9.98097195e-01 -7.10322060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.381052754 meters 0.019866230276568586 Centerline is valid? [True, True] Translation: X:100.76, Y:-40.62, Z:-7.11 [[ 8.39160894e-01 5.41384370e-01 5.20764628e-02 1.00764474e+02] [-5.40407630e-01 8.40774781e-01 -3.25170998e-02 -4.06198221e+01] [-6.13888262e-02 -8.55439340e-04 9.98113561e-01 -7.10722793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.411052754 meters 0.019323635821999887 Centerline is valid? [True, True] Translation: X:100.79, Y:-40.64, Z:-7.11 [[ 8.42799780e-01 5.35881842e-01 5.01914545e-02 1.00788213e+02] [-5.34965641e-01 8.44292870e-01 -3.13259242e-02 -4.06350164e+01] [-5.91632811e-02 -4.49221630e-04 9.98248218e-01 -7.10979672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441052754 meters 0.018971874327636234 Centerline is valid? [True, True] Translation: X:100.81, Y:-40.65, Z:-7.11 [[ 8.45761217e-01 5.31240529e-01 4.97138332e-02 1.00811375e+02] [-5.30334576e-01 8.47221035e-01 -3.10121756e-02 -4.06517484e+01] [-5.85935298e-02 -1.36069288e-04 9.98281914e-01 -7.11179683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471052754 meters 0.019466418857871096 Centerline is valid? [True, True] Translation: X:100.83, Y:-40.67, Z:-7.11 [[ 8.52244891e-01 5.20761682e-01 4.98589709e-02 1.00831644e+02] [-5.19833333e-01 8.53701904e-01 -3.10864294e-02 -4.06729971e+01] [-5.87533197e-02 5.74895594e-04 9.98272366e-01 -7.11342156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50105275399999 meters 0.019662107006080207 Centerline is valid? [True, True] Translation: X:100.85, Y:-40.69, Z:-7.12 [[ 8.52913998e-01 5.19795356e-01 4.84819533e-02 1.00853416e+02] [-5.18917010e-01 8.54290592e-01 -3.02112585e-02 -4.06895444e+01] [-5.71213485e-02 6.09494958e-04 9.98367057e-01 -7.11719642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53105275399999 meters 0.0194347647530815 Centerline is valid? [True, True] Translation: X:100.88, Y:-40.70, Z:-7.12 [[ 8.51572049e-01 5.22076524e-01 4.75515380e-02 1.00878700e+02] [-5.21235361e-01 8.52898532e-01 -2.96275612e-02 -4.07035202e+01] [-5.60244911e-02 4.44459874e-04 9.98429296e-01 -7.11947456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56105275399999 meters 0.01883111091932331 Centerline is valid? [True, True] Translation: X:100.91, Y:-40.71, Z:-7.12 [[ 8.48733286e-01 5.26355811e-01 5.10036210e-02 1.00905219e+02] [-5.25396784e-01 8.50264391e-01 -3.17597914e-02 -4.07147913e+01] [-6.00835135e-02 1.58453683e-04 9.98193341e-01 -7.11512250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59105275399999 meters 0.01841994653135502 Centerline is valid? [True, True] Translation: X:100.93, Y:-40.73, Z:-7.11 [[ 8.45269862e-01 5.31489888e-01 5.51122455e-02 1.00931792e+02] [-5.30381271e-01 8.47064606e-01 -3.43112368e-02 -4.07260314e+01] [-6.49197080e-02 -2.28248428e-04 9.97890465e-01 -7.11062664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62105275399999 meters 0.018449226741439485 Centerline is valid? [True, True] Translation: X:100.96, Y:-40.74, Z:-7.11 [[ 8.43642854e-01 5.33880036e-01 5.69108270e-02 1.00957385e+02] [-5.32704651e-01 8.45560117e-01 -3.54096601e-02 -4.07397444e+01] [-6.70260361e-02 -4.43555582e-04 9.97751128e-01 -7.10958056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65105275399999 meters 0.019582623740337875 Centerline is valid? [True, True] Translation: X:100.98, Y:-40.75, Z:-7.12 [[ 8.40771497e-01 5.38411371e-01 5.67140778e-02 1.00981092e+02] [-5.37255563e-01 8.42681749e-01 -3.52694090e-02 -4.07526509e+01] [-6.67813691e-02 -8.16439983e-04 9.97767299e-01 -7.11544934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68105275399999 meters 0.019780777789900953 Centerline is valid? [True, True] Translation: X:101.00, Y:-40.77, Z:-7.12 [[ 8.40035174e-01 5.39617891e-01 5.61554860e-02 1.01003862e+02] [-5.38487974e-01 8.41909558e-01 -3.49141462e-02 -4.07697352e+01] [-6.61181384e-02 -9.09942980e-04 9.97811387e-01 -7.12073683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.711052754 meters 0.020448163278376823 Centerline is valid? [True, True] Translation: X:101.03, Y:-40.78, Z:-7.12 [[ 8.38535089e-01 5.41952620e-01 5.60915472e-02 1.01027762e+02] [-5.40831643e-01 8.40408312e-01 -3.48568880e-02 -4.07830348e+01] [-6.60305843e-02 -1.10735992e-03 9.97816985e-01 -7.12208891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.741052754 meters 0.02041390550215452 Centerline is valid? [True, True] Translation: X:101.05, Y:-40.80, Z:-7.12 [[ 8.38346668e-01 5.42271863e-01 5.58219555e-02 1.01052404e+02] [-5.41163079e-01 8.40202318e-01 -3.46783183e-02 -4.07974552e+01] [-6.57068127e-02 -1.13632868e-03 9.97838325e-01 -7.12258405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.771052754 meters 0.02068923753511782 Centerline is valid? [True, True] Translation: X:101.08, Y:-40.81, Z:-7.12 [[ 8.37957389e-01 5.42942786e-01 5.51411368e-02 1.01075839e+02] [-5.41863452e-01 8.39768848e-01 -3.42385876e-02 -4.08113440e+01] [-6.48954031e-02 -1.18848932e-03 9.97891364e-01 -7.12398316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.801052754 meters 0.020869053403431485 Centerline is valid? [True, True] Translation: X:101.10, Y:-40.83, Z:-7.13 [[ 8.37959906e-01 5.43003286e-01 5.45034682e-02 1.01099358e+02] [-5.41949376e-01 8.39729734e-01 -3.38355889e-02 -4.08258973e+01] [-6.41410188e-02 -1.18525371e-03 9.97940141e-01 -7.12647543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831052754 meters 0.020822797516083076 Centerline is valid? [True, True] Translation: X:101.12, Y:-40.84, Z:-7.13 [[ 8.38977200e-01 5.41730143e-01 5.14364732e-02 1.01120831e+02] [-5.40790242e-01 8.40551824e-01 -3.19146414e-02 -4.08444457e+01] [-6.05241447e-02 -1.04068629e-03 9.98166191e-01 -7.13494323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86105275399999 meters 0.021241877202585698 Centerline is valid? [True, True] Translation: X:101.14, Y:-40.86, Z:-7.14 [[ 8.39626347e-01 5.40908042e-01 4.94579444e-02 1.01141616e+02] [-5.40038585e-01 8.41081194e-01 -3.06716747e-02 -4.08606982e+01] [-5.81887025e-02 -9.56452114e-04 9.98305144e-01 -7.14101927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89105275399999 meters 0.021013106274833597 Centerline is valid? [True, True] Translation: X:101.16, Y:-40.88, Z:-7.15 [[ 8.41506516e-01 5.38137725e-01 4.76924828e-02 1.01162530e+02] [-5.37325233e-01 8.42856593e-01 -2.95695244e-02 -4.08793926e+01] [-5.61104001e-02 -7.43427020e-04 9.98424294e-01 -7.14607533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92105275399999 meters 0.02065912289290115 Centerline is valid? [True, True] Translation: X:101.19, Y:-40.90, Z:-7.15 [[ 8.42880207e-01 5.36022949e-01 4.72478046e-02 1.01185849e+02] [-5.35222435e-01 8.44203197e-01 -2.92900474e-02 -4.08969944e+01] [-5.55868853e-02 -6.00083816e-04 9.98453673e-01 -7.14817590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95105275399999 meters 0.01962958560743569 Centerline is valid? [True, True] Translation: X:101.21, Y:-40.92, Z:-7.15 [[ 8.45769074e-01 5.31545607e-01 4.61946069e-02 1.01206693e+02] [-5.30774367e-01 8.47029617e-01 -2.86251349e-02 -4.09173012e+01] [-5.43437649e-02 -3.08659395e-04 9.98522238e-01 -7.14823915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98105275399999 meters 0.019661119912764237 Centerline is valid? [True, True] Translation: X:101.23, Y:-40.94, Z:-7.15 [[ 8.49880687e-01 5.24892888e-01 4.68003581e-02 1.01227471e+02] [-5.24091994e-01 8.51168282e-01 -2.89851209e-02 -4.09371967e+01] [-5.50490643e-02 1.06201419e-04 9.98483645e-01 -7.14977005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01105275399999 meters 0.0199176161815386 Centerline is valid? [True, True] Translation: X:101.25, Y:-40.96, Z:-7.15 [[ 8.52660429e-01 5.20367471e-01 4.67748580e-02 1.01249499e+02] [-5.19561542e-01 8.53942356e-01 -2.89526704e-02 -4.09552906e+01] [-5.50090603e-02 3.84379023e-04 9.98485781e-01 -7.15187373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04105275399999 meters 0.021183757816195296 Centerline is valid? [True, True] Translation: X:101.27, Y:-40.98, Z:-7.16 [[ 8.58218423e-01 5.11153804e-01 4.67217970e-02 1.01270151e+02] [-5.10336287e-01 8.59488712e-01 -2.89141490e-02 -4.09765928e+01] [-5.49364344e-02 9.70826968e-04 9.98489382e-01 -7.15536598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.071052754 meters 0.022442204908846353 Centerline is valid? [True, True] Translation: X:101.29, Y:-41.00, Z:-7.16 [[ 8.61193968e-01 5.06066202e-01 4.73492226e-02 1.01292981e+02] [-5.05218959e-01 8.62493639e-01 -2.93006106e-02 -4.09959356e+01] [-5.56664520e-02 1.31178413e-03 9.98448559e-01 -7.15699923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.101052754 meters 0.023112994724513447 Centerline is valid? [True, True] Translation: X:101.32, Y:-41.01, Z:-7.16 [[ 8.63467901e-01 5.02127624e-01 4.78647322e-02 1.01317006e+02] [-5.01256518e-01 8.64792102e-01 -2.96061327e-02 -4.10131324e+01] [-5.62590994e-02 1.57143628e-03 9.98414966e-01 -7.15830686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.131052754 meters 0.029678582146017075 Centerline is valid? [True, True] Translation: X:101.33, Y:-41.04, Z:-7.16 [[ 8.66829115e-01 4.96179530e-01 4.91239257e-02 1.01334762e+02] [-4.95253255e-01 8.68217650e-01 -3.03698130e-02 -4.10382096e+01] [-5.77191388e-02 1.99665399e-03 9.98330864e-01 -7.15967655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.161052754 meters 0.024677289186199804 Centerline is valid? [True, True] Translation: X:101.36, Y:-41.05, Z:-7.16 [[ 8.67260281e-01 4.95307005e-01 5.03048377e-02 1.01364676e+02] [-4.94334502e-01 8.68715468e-01 -3.10939816e-02 -4.10450711e+01] [-5.91016576e-02 2.09915833e-03 9.98249762e-01 -7.15726242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191052754 meters 0.024758785844429615 Centerline is valid? [True, True] Translation: X:101.39, Y:-41.06, Z:-7.15 [[ 8.68003916e-01 4.93768489e-01 5.25535982e-02 1.01390473e+02] [-4.92705318e-01 8.69590392e-01 -3.24656835e-02 -4.10588922e+01] [-6.17306356e-02 2.28690316e-03 9.98090226e-01 -7.15460889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221052754 meters 0.02403210722301145 Centerline is valid? [True, True] Translation: X:101.42, Y:-41.07, Z:-7.16 [[ 8.67169330e-01 4.95105231e-01 5.37416438e-02 1.01416300e+02] [-4.93997116e-01 8.68830166e-01 -3.31811989e-02 -4.10725432e+01] [-6.31205464e-02 2.22550093e-03 9.98003429e-01 -7.15774463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25105275399999 meters 0.024092772999593722 Centerline is valid? [True, True] Translation: X:101.44, Y:-41.09, Z:-7.16 [[ 8.66228354e-01 4.96741950e-01 5.38133238e-02 1.01439398e+02] [-4.95635103e-01 8.67895759e-01 -3.32083777e-02 -4.10871548e+01] [-6.32003499e-02 2.09426611e-03 9.97998662e-01 -7.16107397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28105275399999 meters 0.023505307432552164 Centerline is valid? [True, True] Translation: X:101.46, Y:-41.10, Z:-7.16 [[ 8.63835151e-01 5.00828207e-01 5.44053243e-02 1.01464250e+02] [-4.99705329e-01 8.65544818e-01 -3.35671230e-02 -4.11008876e+01] [-6.39016086e-02 1.80983029e-03 9.97954563e-01 -7.16483691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.31105275399999 meters 0.02178908762005695 Centerline is valid? [True, True] Translation: X:101.49, Y:-41.11, Z:-7.17 [[ 8.62197859e-01 5.03655140e-01 5.42803191e-02 1.01491192e+02] [-5.02543307e-01 8.63903330e-01 -3.34852385e-02 -4.11125697e+01] [-6.37579609e-02 1.59268986e-03 9.97964120e-01 -7.16675421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.34105275399999 meters 0.02127874192806001 Centerline is valid? [True, True] Translation: X:101.52, Y:-41.13, Z:-7.17 [[ 8.60446751e-01 5.06676224e-01 5.39499087e-02 1.01517070e+02] [-5.05584897e-01 8.62135368e-01 -3.32643930e-02 -4.11253484e+01] [-6.33664014e-02 1.34597988e-03 9.97989423e-01 -7.16876486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.37105275399999 meters 0.020013811827151506 Centerline is valid? [True, True] Translation: X:101.54, Y:-41.14, Z:-7.17 [[ 8.56205600e-01 5.13918744e-01 5.29102510e-02 1.01543055e+02] [-5.12883185e-01 8.57838504e-01 -3.26180811e-02 -4.11359966e+01] [-6.21514938e-02 7.91005699e-04 9.98066414e-01 -7.17128745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.40105275399999 meters 0.019429142322514137 Centerline is valid? [True, True] Translation: X:101.57, Y:-41.15, Z:-7.18 [[ 8.52222156e-01 5.20706116e-01 5.08186726e-02 1.01569943e+02] [-5.19763163e-01 8.53735944e-01 -3.13239849e-02 -4.11459789e+01] [-5.96963179e-02 2.81319910e-04 9.98216545e-01 -7.17554979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43105275399999 meters 0.019426661266152168 Centerline is valid? [True, True] Translation: X:101.59, Y:-41.16, Z:-7.18 [[ 8.50385055e-01 5.23796324e-01 4.98263864e-02 1.01594151e+02] [-5.22896138e-01 8.51843535e-01 -3.06956128e-02 -4.11577597e+01] [-5.85225343e-02 4.90653233e-05 9.98286087e-01 -7.17903413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.461052754 meters 0.019733766478047483 Centerline is valid? [True, True] Translation: X:101.62, Y:-41.17, Z:-7.18 [[ 8.46738510e-01 5.29843141e-01 4.79597986e-02 1.01621014e+02] [-5.29019275e-01 8.48095582e-01 -2.95379619e-02 -4.11677453e+01] [-5.63249798e-02 -3.60728045e-04 9.98412423e-01 -7.18196283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.491052754 meters 0.019848860715798097 Centerline is valid? [True, True] Translation: X:101.65, Y:-41.18, Z:-7.18 [[ 8.44951412e-01 5.32693541e-01 4.79030610e-02 1.01646367e+02] [-5.31876421e-01 8.46308032e-01 -2.94989474e-02 -4.11816071e+01] [-5.62546441e-02 -5.53331362e-04 9.98416300e-01 -7.18303927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.521052754 meters 0.020597265264338797 Centerline is valid? [True, True] Translation: X:101.67, Y:-41.19, Z:-7.19 [[ 8.42063358e-01 5.37214825e-01 4.82652373e-02 1.01671819e+02] [-5.36393672e-01 8.43444998e-01 -2.97046252e-02 -4.11919345e+01] [-5.66668380e-02 -8.75991421e-04 9.98392759e-01 -7.18591757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.551052754 meters 0.020597265264338797 Centerline is valid? [True, True] Translation: X:101.70, Y:-41.21, Z:-7.19 [[ 8.42207686e-01 5.36988316e-01 4.82675990e-02 1.01695095e+02] [-5.36167011e-01 8.43589236e-01 -2.97007872e-02 -4.12061713e+01] [-5.66670027e-02 -8.65262978e-04 9.98392759e-01 -7.18767977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581052754 meters 0.02060826530168917 Centerline is valid? [True, True] Translation: X:101.72, Y:-41.22, Z:-7.19 [[ 8.41133501e-01 5.38614025e-01 4.88811473e-02 1.01719703e+02] [-5.37775499e-01 8.42552032e-01 -3.00597075e-02 -4.12214488e+01] [-5.73754900e-02 -1.00285637e-03 9.98352166e-01 -7.19004272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61105275399999 meters 0.021609347701176052 Centerline is valid? [True, True] Translation: X:101.74, Y:-41.23, Z:-7.19 [[ 8.39597888e-01 5.40960943e-01 4.93623785e-02 1.01744382e+02] [-5.40110861e-01 8.41046874e-01 -3.03383294e-02 -4.12331213e+01] [-5.79279254e-02 -1.18915939e-03 9.98320060e-01 -7.19253144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64105275399999 meters 0.022569078384144774 Centerline is valid? [True, True] Translation: X:101.77, Y:-41.24, Z:-7.19 [[ 8.36564242e-01 5.45373165e-01 5.22339018e-02 1.01771249e+02] [-5.44430484e-01 8.38191851e-01 -3.20915676e-02 -4.12442585e+01] [-6.12839106e-02 -1.59107058e-03 9.98119107e-01 -7.19141736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67105275399999 meters 0.022838842447679555 Centerline is valid? [True, True] Translation: X:101.80, Y:-41.26, Z:-7.19 [[ 8.34715746e-01 5.47914370e-01 5.51313591e-02 1.01796982e+02] [-5.46870151e-01 8.36532304e-01 -3.38635735e-02 -4.12577062e+01] [-6.46735014e-02 -1.88323672e-03 9.97904701e-01 -7.18954138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.70105275399999 meters 0.02296389852124087 Centerline is valid? [True, True] Translation: X:101.82, Y:-41.27, Z:-7.19 [[ 8.32988500e-01 5.50456519e-01 5.59265491e-02 1.01822053e+02] [-5.49388804e-01 8.34861128e-01 -3.43342339e-02 -4.12718234e+01] [-6.55904047e-02 -2.12539791e-03 9.97844367e-01 -7.19092501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.73105275399999 meters 0.02390462607399219 Centerline is valid? [True, True] Translation: X:101.85, Y:-41.28, Z:-7.19 [[ 8.31890730e-01 5.51999692e-01 5.70451856e-02 1.01846865e+02] [-5.50893579e-01 8.33841124e-01 -3.50035122e-02 -4.12843609e+01] [-6.68885496e-02 -2.30672909e-03 9.97757787e-01 -7.19222314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.76105275399999 meters 0.02302983329028666 Centerline is valid? [True, True] Translation: X:101.87, Y:-41.30, Z:-7.20 [[ 8.31740910e-01 5.52254753e-01 5.67604231e-02 1.01869834e+02] [-5.51160720e-01 8.33672177e-01 -3.48218587e-02 -4.13010409e+01] [-6.65501224e-02 -2.32135122e-03 9.97780383e-01 -7.19514382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79105275399999 meters 0.024588513397651585 Centerline is valid? [True, True] Translation: X:101.90, Y:-41.31, Z:-7.20 [[ 8.31044519e-01 5.53339383e-01 5.63962322e-02 1.01895093e+02] [-5.52263060e-01 8.32952417e-01 -3.45801024e-02 -4.13117390e+01] [-6.61099104e-02 -2.40795123e-03 9.97809442e-01 -7.19860304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.821052754 meters 0.024634842123992452 Centerline is valid? [True, True] Translation: X:101.92, Y:-41.33, Z:-7.20 [[ 8.30798042e-01 5.53700014e-01 5.64881141e-02 1.01918942e+02] [-5.52621791e-01 8.32712609e-01 -3.46246617e-02 -4.13267501e+01] [-6.62100405e-02 -2.45046155e-03 9.97802699e-01 -7.20195823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.851052754 meters 0.024403956839725655 Centerline is valid? [True, True] Translation: X:101.94, Y:-41.34, Z:-7.20 [[ 8.30564702e-01 5.54004229e-01 5.69349639e-02 1.01943396e+02] [-5.52910794e-01 8.32510070e-01 -3.48803332e-02 -4.13422709e+01] [-6.67227829e-02 -2.50958253e-03 9.97768396e-01 -7.20492937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.881052754 meters 0.02466165560575898 Centerline is valid? [True, True] Translation: X:101.97, Y:-41.36, Z:-7.21 [[ 8.30330563e-01 5.54373001e-01 5.67602953e-02 1.01968644e+02] [-5.53288335e-01 8.32264436e-01 -3.47552543e-02 -4.13558504e+01] [-6.65069498e-02 -2.54645943e-03 9.97782712e-01 -7.20700106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.911052754 meters 0.024184636293789055 Centerline is valid? [True, True] Translation: X:101.99, Y:-41.37, Z:-7.21 [[ 8.30731646e-01 5.53716600e-01 5.72962388e-02 1.01992711e+02] [-5.52611012e-01 8.32701334e-01 -3.50650447e-02 -4.13704151e+01] [-6.71267518e-02 -2.53289017e-03 9.97741241e-01 -7.20978065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941052754 meters 0.022717041999716196 Centerline is valid? [True, True] Translation: X:102.02, Y:-41.39, Z:-7.21 [[ 8.31452691e-01 5.52629753e-01 5.73304335e-02 1.02015687e+02] [-5.51521505e-01 8.33423239e-01 -3.50675725e-02 -4.13871666e+01] [-6.71598995e-02 -2.46193949e-03 9.97739188e-01 -7.21198886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971052754 meters 0.023603340806071606 Centerline is valid? [True, True] Translation: X:102.04, Y:-41.40, Z:-7.21 [[ 8.33535137e-01 5.49521380e-01 5.69686569e-02 1.02040439e+02] [-5.48421057e-01 8.35476725e-01 -3.48279594e-02 -4.13993318e+01] [-6.67346952e-02 -2.21248307e-03 9.97768302e-01 -7.21441761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00105275399999 meters 0.02210884450759081 Centerline is valid? [True, True] Translation: X:102.06, Y:-41.42, Z:-7.22 [[ 8.34479902e-01 5.48144020e-01 5.64041349e-02 1.02063464e+02] [-5.47062884e-01 8.36381354e-01 -3.44736501e-02 -4.14161207e+01] [-6.60718918e-02 -2.08904052e-03 9.97812678e-01 -7.21728460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03105275399999 meters 0.02248362397283492 Centerline is valid? [True, True] Translation: X:102.09, Y:-41.43, Z:-7.22 [[ 8.36239755e-01 5.45451476e-01 5.64425365e-02 1.02088217e+02] [-5.44363918e-01 8.38140266e-01 -3.44792448e-02 -4.14285710e+01] [-6.61135175e-02 -1.89236512e-03 9.97810314e-01 -7.21907230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06105275399999 meters 0.020415940022782603 Centerline is valid? [True, True] Translation: X:102.11, Y:-41.45, Z:-7.22 [[ 8.38356309e-01 5.42010130e-01 5.81697324e-02 1.02110368e+02] [-5.40847134e-01 8.40370280e-01 -3.55270388e-02 -4.14467251e+01] [-6.81401293e-02 -1.67661591e-03 9.97674352e-01 -7.22112679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09105275399999 meters 0.020058342488076756 Centerline is valid? [True, True] Translation: X:102.13, Y:-41.46, Z:-7.22 [[ 8.38762808e-01 5.41276555e-01 5.91324214e-02 1.02134744e+02] [-5.40073979e-01 8.40842996e-01 -3.60992007e-02 -4.14613033e+01] [-6.92607334e-02 -1.65721521e-03 9.97597216e-01 -7.22274793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12105275399999 meters 0.020072522114145272 Centerline is valid? [True, True] Translation: X:102.16, Y:-41.47, Z:-7.22 [[ 8.39502265e-01 5.39989360e-01 6.03940280e-02 1.02159496e+02] [-5.38732862e-01 8.41670322e-01 -3.68506836e-02 -4.14742946e+01] [-7.07308380e-02 -1.60001516e-03 9.97494155e-01 -7.22380555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15105275399999 meters 0.01972504078072971 Centerline is valid? [True, True] Translation: X:102.18, Y:-41.49, Z:-7.22 [[ 8.40190945e-01 5.38871879e-01 6.07969808e-02 1.02184506e+02] [-5.37596198e-01 8.42386359e-01 -3.70884033e-02 -4.14887899e+01] [-7.12004449e-02 -1.52288504e-03 9.97460865e-01 -7.22463729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18105275399999 meters 0.018490070008585928 Centerline is valid? [True, True] Translation: X:102.21, Y:-41.50, Z:-7.22 [[ 8.42261606e-01 5.35459215e-01 6.22801410e-02 1.02209155e+02] [-5.34112568e-01 8.44560115e-01 -3.79733631e-02 -4.15046264e+01] [-7.29325102e-02 -1.28110026e-03 9.97336056e-01 -7.22339665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.211052754 meters 0.017963406505513736 Centerline is valid? [True, True] Translation: X:102.23, Y:-41.52, Z:-7.23 [[ 8.43505018e-01 5.33443635e-01 6.27469041e-02 1.02232970e+02] [-5.32072522e-01 8.45834859e-01 -3.82390055e-02 -4.15207635e+01] [-7.34718729e-02 -1.13111058e-03 9.97296648e-01 -7.22531702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.241052754 meters 0.017966760000122213 Centerline is valid? [True, True] Translation: X:102.26, Y:-41.53, Z:-7.23 [[ 8.44061750e-01 5.32594979e-01 6.24688015e-02 1.02256458e+02] [-5.31235057e-01 8.46369569e-01 -3.80508515e-02 -4.15346042e+01] [-7.31373850e-02 -1.06834898e-03 9.97321303e-01 -7.22811918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.271052754 meters 0.017461972684570233 Centerline is valid? [True, True] Translation: X:102.28, Y:-41.55, Z:-7.23 [[ 8.45224387e-01 5.30691326e-01 6.29480064e-02 1.02279870e+02] [-5.29305822e-01 8.47564672e-01 -3.83337192e-02 -4.15510176e+01] [-7.36958787e-02 -9.18151910e-04 9.97280339e-01 -7.23206314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.301052754 meters 0.017261908198890896 Centerline is valid? [True, True] Translation: X:102.30, Y:-41.56, Z:-7.23 [[ 8.45677028e-01 5.29901687e-01 6.35182343e-02 1.02303998e+02] [-5.28490227e-01 8.48058629e-01 -3.86606096e-02 -4.15632909e+01] [-7.43535089e-02 -8.74376649e-04 9.97231563e-01 -7.23139399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331052754 meters 0.017070163547268223 Centerline is valid? [True, True] Translation: X:102.33, Y:-41.58, Z:-7.23 [[ 8.46488104e-01 5.28643516e-01 6.31974837e-02 1.02328833e+02] [-5.27244005e-01 8.48843586e-01 -3.84490006e-02 -4.15786540e+01] [-7.39705936e-02 -7.73872847e-04 9.97260123e-01 -7.23266962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36105275399999 meters 0.016980465315889197 Centerline is valid? [True, True] Translation: X:102.35, Y:-41.59, Z:-7.24 [[ 8.46705848e-01 5.28523817e-01 6.12517873e-02 1.02352636e+02] [-5.27210228e-01 8.48918138e-01 -3.72474244e-02 -4.15940880e+01] [-7.16839042e-02 -7.54956695e-04 9.97427114e-01 -7.23786308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39105275399999 meters 0.017036254459535605 Centerline is valid? [True, True] Translation: X:102.38, Y:-41.61, Z:-7.24 [[ 8.46662489e-01 5.28705502e-01 6.02753864e-02 1.02376301e+02] [-5.27435334e-01 8.48804979e-01 -3.66343621e-02 -4.16089278e+01] [-7.05308369e-02 -7.74428300e-04 9.97509299e-01 -7.24212022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42105275399999 meters 0.016938246080725763 Centerline is valid? [True, True] Translation: X:102.40, Y:-41.62, Z:-7.25 [[ 8.47803973e-01 5.27066610e-01 5.85594733e-02 1.02399111e+02] [-5.25865285e-01 8.49823736e-01 -3.55713261e-02 -4.16243448e+01] [-6.85136887e-02 -6.36882552e-04 9.97649973e-01 -7.24620050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45105275399999 meters 0.016695040573143968 Centerline is valid? [True, True] Translation: X:102.42, Y:-41.64, Z:-7.25 [[ 8.48414776e-01 5.26176961e-01 5.77076542e-02 1.02423268e+02] [-5.25008789e-01 8.50374911e-01 -3.50468475e-02 -4.16398091e+01] [-6.75139850e-02 -5.62762390e-04 9.97718169e-01 -7.24791291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48105275399999 meters 0.016658867953365318 Centerline is valid? [True, True] Translation: X:102.45, Y:-41.65, Z:-7.25 [[ 8.48148359e-01 5.26603325e-01 5.77347343e-02 1.02447512e+02] [-5.25436290e-01 8.50110912e-01 -3.50448683e-02 -4.16539049e+01] [-6.75356718e-02 -6.12677058e-04 9.97716672e-01 -7.24933466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51105275399999 meters 0.01674997734148513 Centerline is valid? [True, True] Translation: X:102.47, Y:-41.67, Z:-7.25 [[ 8.47602350e-01 5.27450658e-01 5.80177531e-02 1.02472406e+02] [-5.26275546e-01 8.49585376e-01 -3.51957157e-02 -4.16682348e+01] [-6.78550380e-02 -7.01353368e-04 9.97694944e-01 -7.25130732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54105275399999 meters 0.017061920655548058 Centerline is valid? [True, True] Translation: X:102.50, Y:-41.68, Z:-7.25 [[ 8.46646039e-01 5.28775881e-01 5.98878389e-02 1.02496656e+02] [-5.27528390e-01 8.48761065e-01 -3.63105065e-02 -4.16840683e+01] [-7.00305860e-02 -8.50388711e-04 9.97544482e-01 -7.25319989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.571052754 meters 0.017318471398746045 Centerline is valid? [True, True] Translation: X:102.52, Y:-41.70, Z:-7.25 [[ 8.45682736e-01 5.30173600e-01 6.11282533e-02 1.02520828e+02] [-5.28878800e-01 8.47888525e-01 -3.70440948e-02 -4.16986312e+01] [-7.14697456e-02 -1.00188582e-03 9.97442265e-01 -7.25464502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.601052754 meters 0.01781998027506346 Centerline is valid? [True, True] Translation: X:102.55, Y:-41.71, Z:-7.25 [[ 8.43714187e-01 5.33240163e-01 6.16546768e-02 1.02547727e+02] [-5.31931702e-01 8.45962938e-01 -3.73546945e-02 -4.17102744e+01] [-7.20765949e-02 -1.27939140e-03 9.97398279e-01 -7.25301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.631052754 meters 0.017804776242430556 Centerline is valid? [True, True] Translation: X:102.57, Y:-41.72, Z:-7.25 [[ 8.43171097e-01 5.34156669e-01 6.11486230e-02 1.02572943e+02] [-5.32873414e-01 8.45384407e-01 -3.70287652e-02 -4.17234442e+01] [-7.14732543e-02 -1.36289089e-03 9.97441586e-01 -7.25345895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.661052754 meters 0.01915847660002066 Centerline is valid? [True, True] Translation: X:102.60, Y:-41.73, Z:-7.25 [[ 8.40104571e-01 5.38912015e-01 6.16291342e-02 1.02599907e+02] [-5.37622556e-01 8.42360145e-01 -3.73011245e-02 -4.17335678e+01] [-7.20159505e-02 -1.79636742e-03 9.97401863e-01 -7.25397310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691052754 meters 0.021099830212376207 Centerline is valid? [True, True] Translation: X:102.63, Y:-41.74, Z:-7.26 [[ 8.35783777e-01 5.45440251e-01 6.29317928e-02 1.02626431e+02] [-5.44114697e-01 8.38146227e-01 -3.80801564e-02 -4.17449622e+01] [-7.35164948e-02 -2.41533641e-03 9.97291076e-01 -7.25623300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721052754 meters 0.020623812354683413 Centerline is valid? [True, True] Translation: X:102.65, Y:-41.76, Z:-7.26 [[ 8.34154680e-01 5.47894360e-01 6.32276858e-02 1.02651294e+02] [-5.46564724e-01 8.36543302e-01 -3.82401284e-02 -4.17611985e+01] [-7.38442477e-02 -2.65984049e-03 9.97266239e-01 -7.25854448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75105275399999 meters 0.022662261998948274 Centerline is valid? [True, True] Translation: X:102.68, Y:-41.77, Z:-7.26 [[ 8.32154377e-01 5.50941733e-01 6.31054614e-02 1.02677067e+02] [-5.49627191e-01 8.34538539e-01 -3.81494132e-02 -4.17724612e+01] [-7.36820434e-02 -2.93827631e-03 9.97277455e-01 -7.26010353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78105275399999 meters 0.023407658030208386 Centerline is valid? [True, True] Translation: X:102.70, Y:-41.79, Z:-7.26 [[ 8.31474555e-01 5.51989122e-01 6.29132215e-02 1.02701403e+02] [-5.50686293e-01 8.33845806e-01 -3.80233995e-02 -4.17857394e+01] [-7.34484288e-02 -3.02995955e-03 9.97294414e-01 -7.26194192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81105275399999 meters 0.02389207368194156 Centerline is valid? [True, True] Translation: X:102.72, Y:-41.80, Z:-7.26 [[ 8.31512565e-01 5.51955706e-01 6.27036897e-02 1.02724843e+02] [-5.50661999e-01 8.33867951e-01 -3.78893613e-02 -4.17985083e+01] [-7.31998464e-02 -3.02305911e-03 9.97312711e-01 -7.26322187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84105275399999 meters 0.02268807599802786 Centerline is valid? [True, True] Translation: X:102.75, Y:-41.82, Z:-7.27 [[ 8.32036696e-01 5.51155256e-01 6.27918751e-02 1.02747834e+02] [-5.49856448e-01 8.34397439e-01 -3.79315276e-02 -4.18161958e+01] [-7.32995406e-02 -2.96609455e-03 9.97305560e-01 -7.26602217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87105275399999 meters 0.023067357989280324 Centerline is valid? [True, True] Translation: X:102.77, Y:-41.83, Z:-7.27 [[ 8.32755915e-01 5.49938655e-01 6.39144855e-02 1.02771984e+02] [-5.48590914e-01 8.35199919e-01 -3.85889268e-02 -4.18304805e+01] [-7.46029156e-02 -2.92774898e-03 9.97209022e-01 -7.26810537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90105275399999 meters 0.022224381617045062 Centerline is valid? [True, True] Translation: X:102.80, Y:-41.85, Z:-7.27 [[ 8.33865145e-01 5.48155776e-01 6.47623731e-02 1.02795353e+02] [-5.46768206e-01 8.36371496e-01 -3.90800497e-02 -4.18466772e+01] [-7.55873578e-02 -2.82251521e-03 9.97135189e-01 -7.26945003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93105275399999 meters 0.01990621222519788 Centerline is valid? [True, True] Translation: X:102.82, Y:-41.86, Z:-7.27 [[ 8.37639472e-01 5.42469518e-01 6.39291561e-02 1.02818366e+02] [-5.41102371e-01 8.40072351e-01 -3.85573537e-02 -4.18644320e+01] [-7.46213055e-02 -2.29505647e-03 9.97209303e-01 -7.27102079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.961052754 meters 0.019025093505475665 Centerline is valid? [True, True] Translation: X:102.84, Y:-41.88, Z:-7.28 [[ 8.40557583e-01 5.38076286e-01 6.27444051e-02 1.02840940e+02] [-5.36748408e-01 8.42894041e-01 -3.78256798e-02 -4.18801173e+01] [-7.32399864e-02 -1.88329756e-03 9.97312568e-01 -7.27501104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.991052754 meters 0.017375198713595705 Centerline is valid? [True, True] Translation: X:102.86, Y:-41.90, Z:-7.28 [[ 8.46915349e-01 5.28344760e-01 5.98849463e-02 1.02861738e+02] [-5.27111269e-01 8.49029341e-01 -3.60955327e-02 -4.18999704e+01] [-6.99149621e-02 -9.96169425e-04 9.97552458e-01 -7.28173532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.021052754 meters 0.016422646408062777 Centerline is valid? [True, True] Translation: X:102.88, Y:-41.92, Z:-7.29 [[ 8.50206808e-01 5.23158547e-01 5.87666464e-02 1.02884149e+02] [-5.21958733e-01 8.52235189e-01 -3.54155721e-02 -4.19175030e+01] [-6.86109633e-02 -5.63203831e-04 9.97643332e-01 -7.28522727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.051052754 meters 0.01605019265410841 Centerline is valid? [True, True] Translation: X:102.90, Y:-41.94, Z:-7.29 [[ 8.56319227e-01 5.13141385e-01 5.83378209e-02 1.02904320e+02] [-5.11936412e-01 8.58304064e-01 -3.51460433e-02 -4.19370025e+01] [-6.81064781e-02 2.30977949e-04 9.97678031e-01 -7.28743721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081052754 meters 0.016506083295902356 Centerline is valid? [True, True] Translation: X:102.93, Y:-41.95, Z:-7.29 [[ 8.58937900e-01 5.08716925e-01 5.85898744e-02 1.02927863e+02] [-5.07491905e-01 8.60933655e-01 -3.52875019e-02 -4.19541205e+01] [-6.83933442e-02 5.75885735e-04 9.97658268e-01 -7.28921083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11105275399999 meters 0.01728191171591932 Centerline is valid? [True, True] Translation: X:102.95, Y:-41.97, Z:-7.29 [[ 8.61664032e-01 5.03903588e-01 6.01354239e-02 1.02951225e+02] [-5.02602629e-01 8.63759364e-01 -3.61988710e-02 -4.19714373e+01] [-7.01832765e-02 9.67042985e-04 9.97533645e-01 -7.28932080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14105275399999 meters 0.01782252852678148 Centerline is valid? [True, True] Translation: X:102.97, Y:-41.99, Z:-7.29 [[ 8.62538531e-01 5.02231929e-01 6.15659918e-02 1.02974006e+02] [-5.00865325e-01 8.64732242e-01 -3.70415478e-02 -4.19869054e+01] [-7.18415461e-02 1.11349168e-03 9.97415436e-01 -7.28916533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17105275399999 meters 0.017586512251201798 Centerline is valid? [True, True] Translation: X:103.00, Y:-42.00, Z:-7.29 [[ 8.62697359e-01 5.01647880e-01 6.40521048e-02 1.02999516e+02] [-5.00167598e-01 8.65071073e-01 -3.85280714e-02 -4.20000252e+01] [-7.47371483e-02 1.20127805e-03 9.97202545e-01 -7.28764405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.20105275399999 meters 0.017464118262126137 Centerline is valid? [True, True] Translation: X:103.02, Y:-42.01, Z:-7.29 [[ 8.62279788e-01 5.02200119e-01 6.53345859e-02 1.03023704e+02] [-5.00663119e-01 8.64750658e-01 -3.92777359e-02 -4.20130389e+01] [-7.62234098e-02 1.15778018e-03 9.97090092e-01 -7.28798110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23105275399999 meters 0.016989419071073188 Centerline is valid? [True, True] Translation: X:103.05, Y:-42.03, Z:-7.29 [[ 8.60536114e-01 5.04979259e-01 6.68845616e-02 1.03050010e+02] [-5.03378596e-01 8.63130995e-01 -4.01854956e-02 -4.20259062e+01] [-7.80229800e-02 9.12813516e-04 9.96951143e-01 -7.28931418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26105275399999 meters 0.016687249722300627 Centerline is valid? [True, True] Translation: X:103.08, Y:-42.04, Z:-7.29 [[ 8.59623116e-01 5.06559360e-01 6.66761841e-02 1.03075133e+02] [-5.04974961e-01 8.62204763e-01 -4.00404324e-02 -4.20399473e+01] [-7.77713793e-02 7.49877862e-04 9.96970938e-01 -7.29215790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29105275399999 meters 0.016189788818655258 Centerline is valid? [True, True] Translation: X:103.10, Y:-42.05, Z:-7.30 [[ 8.57980149e-01 5.09397955e-01 6.62101800e-02 1.03100652e+02] [-5.07845693e-01 8.60530942e-01 -3.97397874e-02 -4.20536414e+01] [-7.72192750e-02 4.71393913e-04 9.97014023e-01 -7.29644350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.321052754 meters 0.01612051053486006 Centerline is valid? [True, True] Translation: X:103.13, Y:-42.07, Z:-7.30 [[ 8.57314025e-01 5.10592078e-01 6.56383530e-02 1.03125919e+02] [-5.09071574e-01 8.59823012e-01 -3.93766408e-02 -4.20678638e+01] [-7.65427672e-02 3.43526661e-04 9.97066240e-01 -7.29946008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.351052754 meters 0.016023528653993993 Centerline is valid? [True, True] Translation: X:103.15, Y:-42.08, Z:-7.30 [[ 8.56530455e-01 5.12162817e-01 6.35989682e-02 1.03149606e+02] [-5.10741140e-01 8.58888360e-01 -3.81349238e-02 -4.20823287e+01] [-7.41557035e-02 1.81114116e-04 9.97246659e-01 -7.30250013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.381052754 meters 0.01599477132028746 Centerline is valid? [True, True] Translation: X:103.17, Y:-42.10, Z:-7.30 [[ 8.56082409e-01 5.13096281e-01 6.20895698e-02 1.03174524e+02] [-5.11744432e-01 8.58331054e-01 -3.72214786e-02 -4.20962023e+01] [-7.23916081e-02 9.06614100e-05 9.97376281e-01 -7.30462010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.411052754 meters 0.015911953638578617 Centerline is valid? [True, True] Translation: X:103.20, Y:-42.11, Z:-7.31 [[ 8.54587624e-01 5.15862757e-01 5.97127264e-02 1.03199404e+02] [-5.14620500e-01 8.56671228e-01 -3.57791578e-02 -4.21088356e+01] [-6.96113096e-02 -1.52967716e-04 9.97574179e-01 -7.30761286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441052754 meters 0.01605919559445956 Centerline is valid? [True, True] Translation: X:103.22, Y:-42.12, Z:-7.31 [[ 8.53492662e-01 5.17756177e-01 5.89814938e-02 1.03223708e+02] [-5.16549224e-01 8.55528167e-01 -3.53334617e-02 -4.21228792e+01] [-6.87544473e-02 -3.09994537e-04 9.97633565e-01 -7.31106167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471052754 meters 0.01605919559445956 Centerline is valid? [True, True] Translation: X:103.25, Y:-42.14, Z:-7.31 [[ 8.53630416e-01 5.17527955e-01 5.89909125e-02 1.03247152e+02] [-5.16321546e-01 8.55666243e-01 -3.53177300e-02 -4.21368294e+01] [-6.87544451e-02 -3.09990539e-04 9.97633565e-01 -7.31282950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50105275399999 meters 0.016355767259648615 Centerline is valid? [True, True] Translation: X:103.27, Y:-42.15, Z:-7.31 [[ 8.52010137e-01 5.20260976e-01 5.83715974e-02 1.03271990e+02] [-5.19087603e-01 8.54007156e-01 -3.49261635e-02 -4.21505953e+01] [-6.80204818e-02 -5.42527283e-04 9.97683777e-01 -7.31485549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53105275399999 meters 0.016693145114762907 Centerline is valid? [True, True] Translation: X:103.30, Y:-42.16, Z:-7.32 [[ 8.50400606e-01 5.22760643e-01 5.94989026e-02 1.03297691e+02] [-5.21548882e-01 8.52479157e-01 -3.55816092e-02 -4.21643077e+01] [-6.93222393e-02 -7.72964095e-04 9.97594020e-01 -7.31513411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.56105275399999 meters 0.01655416429764518 Centerline is valid? [True, True] Translation: X:103.32, Y:-42.18, Z:-7.32 [[ 8.49631331e-01 5.23977981e-01 5.97802447e-02 1.03321424e+02] [-5.22758987e-01 8.51731343e-01 -3.57318032e-02 -4.21796872e+01] [-6.96393862e-02 -8.91800631e-04 9.97571832e-01 -7.31678551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.59105275399999 meters 0.017399364922899934 Centerline is valid? [True, True] Translation: X:103.35, Y:-42.19, Z:-7.32 [[ 8.47820251e-01 5.26986928e-01 5.90389709e-02 1.03346844e+02] [-5.25805756e-01 8.49872637e-01 -3.52818326e-02 -4.21906932e+01] [-6.87686705e-02 -1.13037850e-03 9.97631992e-01 -7.31795622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.62105275399999 meters 0.017361033908528247 Centerline is valid? [True, True] Translation: X:103.37, Y:-42.20, Z:-7.32 [[ 8.46180044e-01 5.29722608e-01 5.80800451e-02 1.03371874e+02] [-5.28586453e-01 8.48169896e-01 -3.47014384e-02 -4.22041691e+01] [-6.76438822e-02 -1.33666037e-03 9.97708634e-01 -7.32118284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.65105275399999 meters 0.017497979321512525 Centerline is valid? [True, True] Translation: X:103.40, Y:-42.22, Z:-7.32 [[ 8.45486879e-01 5.30664734e-01 5.95556676e-02 1.03395984e+02] [-5.29473801e-01 8.47580552e-01 -3.55626397e-02 -4.22194453e+01] [-6.93500643e-02 -1.46542049e-03 9.97591310e-01 -7.32267088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68105275399999 meters 0.018352537830439806 Centerline is valid? [True, True] Translation: X:103.42, Y:-42.23, Z:-7.32 [[ 8.44992177e-01 5.31387195e-01 6.01321005e-02 1.03421058e+02] [-5.30176254e-01 8.47127634e-01 -3.58874852e-02 -4.22315738e+01] [-7.00097141e-02 -1.55596756e-03 9.97545096e-01 -7.32235144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.711052754 meters 0.018223818021972905 Centerline is valid? [True, True] Translation: X:103.45, Y:-42.24, Z:-7.32 [[ 8.44085019e-01 5.32852811e-01 5.99029361e-02 1.03445995e+02] [-5.31655287e-01 8.46206280e-01 -3.57433575e-02 -4.22448157e+01] [-6.97361892e-02 -1.67728012e-03 9.97564058e-01 -7.32321882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.741052754 meters 0.018039094370347817 Centerline is valid? [True, True] Translation: X:103.47, Y:-42.26, Z:-7.33 [[ 8.44368724e-01 5.32390700e-01 6.00133399e-02 1.03468689e+02] [-5.31188393e-01 8.46497144e-01 -3.57977203e-02 -4.22601487e+01] [-6.98594941e-02 -1.65191420e-03 9.97555473e-01 -7.32614210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.771052754 meters 0.01744347434144711 Centerline is valid? [True, True] Translation: X:103.49, Y:-42.28, Z:-7.33 [[ 8.46885337e-01 5.28321242e-01 6.05135609e-02 1.03490997e+02] [-5.27089912e-01 8.49043495e-01 -3.60744920e-02 -4.22775742e+01] [-7.04375656e-02 -1.34512914e-03 9.97515283e-01 -7.32827974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.801052754 meters 0.017154280221756826 Centerline is valid? [True, True] Translation: X:103.52, Y:-42.29, Z:-7.33 [[ 8.48010909e-01 5.26591155e-01 5.98268671e-02 1.03515217e+02] [-5.25383803e-01 8.50117834e-01 -3.56584982e-02 -4.22932600e+01] [-6.96373364e-02 -1.19327151e-03 9.97571660e-01 -7.33096976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831052754 meters 0.01725668196887512 Centerline is valid? [True, True] Translation: X:103.54, Y:-42.31, Z:-7.33 [[ 8.49524042e-01 5.24243508e-01 5.89715738e-02 1.03539548e+02] [-5.23066085e-01 8.51567813e-01 -3.51301942e-02 -4.23070087e+01] [-6.86350704e-02 -1.00208574e-03 9.97641330e-01 -7.33387902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86105275399999 meters 0.016750105251695402 Centerline is valid? [True, True] Translation: X:103.56, Y:-42.32, Z:-7.33 [[ 8.50926568e-01 5.21873491e-01 5.97665085e-02 1.03563507e+02] [-5.20658996e-01 8.53022490e-01 -3.55927101e-02 -4.23231296e+01] [-6.95570678e-02 -8.31187648e-04 9.97577628e-01 -7.33483873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89105275399999 meters 0.016442536888232835 Centerline is valid? [True, True] Translation: X:103.59, Y:-42.34, Z:-7.34 [[ 8.53747353e-01 5.17148482e-01 6.06044921e-02 1.03586201e+02] [-5.15889107e-01 8.55895571e-01 -3.60721670e-02 -4.23416548e+01] [-7.05257828e-02 -4.68680181e-04 9.97509847e-01 -7.33690642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92105275399999 meters 0.01639279260261358 Centerline is valid? [True, True] Translation: X:103.61, Y:-42.36, Z:-7.34 [[ 8.54864453e-01 5.15370766e-01 5.99978414e-02 1.03609898e+02] [-5.14133449e-01 8.56967246e-01 -3.56922246e-02 -4.23581107e+01] [-6.98109141e-02 -3.34883097e-04 9.97560186e-01 -7.33988304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95105275399999 meters 0.01628437298189777 Centerline is valid? [True, True] Translation: X:103.63, Y:-42.38, Z:-7.34 [[ 8.57405231e-01 5.11072875e-01 6.05044291e-02 1.03632306e+02] [-5.09805217e-01 8.59537385e-01 -3.59739377e-02 -4.23757089e+01] [-7.03911226e-02 -1.23121180e-06 9.97519468e-01 -7.34065287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98105275399999 meters 0.016376016519576292 Centerline is valid? [True, True] Translation: X:103.66, Y:-42.39, Z:-7.34 [[ 8.58771611e-01 5.08758845e-01 6.06280216e-02 1.03655258e+02] [-5.07481788e-01 8.60909059e-01 -3.60253637e-02 -4.23912052e+01] [-7.05234355e-02 1.69942841e-04 9.97510108e-01 -7.34196854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01105275399999 meters 0.01680328516070643 Centerline is valid? [True, True] Translation: X:103.68, Y:-42.41, Z:-7.35 [[ 8.60998181e-01 5.05091735e-01 5.97031951e-02 1.03677875e+02] [-5.03846042e-01 8.63065549e-01 -3.54545488e-02 -4.24092325e+01] [-6.94355704e-02 4.45083465e-04 9.97586339e-01 -7.34606497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04105275399999 meters 0.01702823572543112 Centerline is valid? [True, True] Translation: X:103.70, Y:-42.43, Z:-7.35 [[ 8.62028558e-01 5.03389562e-01 5.92090752e-02 1.03700129e+02] [-5.02161674e-01 8.64059392e-01 -3.51428463e-02 -4.24250005e+01] [-6.88506995e-02 5.61608776e-04 9.97626817e-01 -7.34882372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.071052754 meters 0.017353685894069812 Centerline is valid? [True, True] Translation: X:103.72, Y:-42.44, Z:-7.35 [[ 8.62952396e-01 5.01937064e-01 5.80719094e-02 1.03723705e+02] [-5.00753342e-01 8.64903899e-01 -3.44577581e-02 -4.24418473e+01] [-6.75222468e-02 6.55702211e-04 9.97717553e-01 -7.35266617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.101052754 meters 0.017436186170430704 Centerline is valid? [True, True] Translation: X:103.75, Y:-42.46, Z:-7.35 [[ 8.62732235e-01 5.02363530e-01 5.76539187e-02 1.03747534e+02] [-5.01198977e-01 8.64656303e-01 -3.41915802e-02 -4.24563319e+01] [-6.70274271e-02 6.02093377e-04 9.97750952e-01 -7.35475104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.131052754 meters 0.017115013276389014 Centerline is valid? [True, True] Translation: X:103.77, Y:-42.47, Z:-7.35 [[ 8.61463288e-01 5.04469902e-01 5.82333274e-02 1.03772133e+02] [-5.03287988e-01 8.63429173e-01 -3.45146881e-02 -4.24696593e+01] [-6.76919750e-02 4.25002486e-04 9.97706177e-01 -7.35429004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.161052754 meters 0.016836002054300175 Centerline is valid? [True, True] Translation: X:103.80, Y:-42.48, Z:-7.35 [[ 8.60229609e-01 5.06408631e-01 5.96264909e-02 1.03797543e+02] [-5.05174821e-01 8.62293584e-01 -3.53295065e-02 -4.24824336e+01] [-6.93067076e-02 2.69685712e-04 9.97595363e-01 -7.35473555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.191052754 meters 0.016946283378306948 Centerline is valid? [True, True] Translation: X:103.82, Y:-42.50, Z:-7.36 [[ 8.59355782e-01 5.07916535e-01 5.94006246e-02 1.03821877e+02] [-5.06697113e-01 8.61406279e-01 -3.51746850e-02 -4.24963431e+01] [-6.90338751e-02 1.29443923e-04 9.97614308e-01 -7.35716662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221052754 meters 0.016967503156499423 Centerline is valid? [True, True] Translation: X:103.85, Y:-42.51, Z:-7.36 [[ 8.58222738e-01 5.09926820e-01 5.85522901e-02 1.03845239e+02] [-5.08748131e-01 8.60217784e-01 -3.46511622e-02 -4.25091606e+01] [-6.80372782e-02 -4.99528680e-05 9.97682778e-01 -7.35939690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25105275399999 meters 0.0172071379238399 Centerline is valid? [True, True] Translation: X:103.87, Y:-42.52, Z:-7.36 [[ 8.57069423e-01 5.11974717e-01 5.75664292e-02 1.03868578e+02] [-5.10840687e-01 8.59000490e-01 -3.40580453e-02 -4.25246207e+01] [-6.68864490e-02 -2.17165008e-04 9.97760570e-01 -7.36423926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28105275399999 meters 0.01728835768364268 Centerline is valid? [True, True] Translation: X:103.89, Y:-42.54, Z:-7.37 [[ 8.56744065e-01 5.12747865e-01 5.54908379e-02 1.03891823e+02] [-5.11697044e-01 8.58539193e-01 -3.28114077e-02 -4.25397617e+01] [-6.44650385e-02 -2.83518934e-04 9.97919926e-01 -7.36789316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31105275399999 meters 0.017347046251337633 Centerline is valid? [True, True] Translation: X:103.92, Y:-42.55, Z:-7.37 [[ 8.56915998e-01 5.12585407e-01 5.43246959e-02 1.03915179e+02] [-5.11579247e-01 8.58636198e-01 -3.21022339e-02 -4.25539951e+01] [-6.31002870e-02 -2.82469211e-04 9.98007151e-01 -7.37052185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34105275399999 meters 0.017450987104160487 Centerline is valid? [True, True] Translation: X:103.94, Y:-42.57, Z:-7.38 [[ 8.56903985e-01 5.12908602e-01 5.13841161e-02 1.03938683e+02] [-5.12010214e-01 8.58443168e-01 -3.03458145e-02 -4.25686449e+01] [-5.96749727e-02 -3.05742893e-04 9.98217814e-01 -7.37599641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37105275399999 meters 0.01761583095786443 Centerline is valid? [True, True] Translation: X:103.96, Y:-42.58, Z:-7.38 [[ 8.56814990e-01 5.13139725e-01 5.05538774e-02 1.03962333e+02] [-5.12270875e-01 8.58305027e-01 -2.98501436e-02 -4.25833669e+01] [-5.87079416e-02 -3.21228510e-04 9.98275150e-01 -7.37909507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40105275399999 meters 0.01764433219419981 Centerline is valid? [True, True] Translation: X:103.99, Y:-42.60, Z:-7.38 [[ 8.57222931e-01 5.12414301e-01 5.09944179e-02 1.03985714e+02] [-5.11529415e-01 8.58738322e-01 -3.01023649e-02 -4.25985531e+01] [-5.92157431e-02 -2.80707309e-04 9.98245169e-01 -7.38115769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43105275399999 meters 0.01764485685829136 Centerline is valid? [True, True] Translation: X:104.01, Y:-42.61, Z:-7.38 [[ 8.57824043e-01 5.11429230e-01 5.07745289e-02 1.04009237e+02] [-5.10551366e-01 8.59325369e-01 -2.99535070e-02 -4.26119811e+01] [-5.89509399e-02 -2.28166640e-04 9.98260855e-01 -7.38250203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.461052754 meters 0.01785359377606601 Centerline is valid? [True, True] Translation: X:104.03, Y:-42.63, Z:-7.39 [[ 8.59158150e-01 5.09317937e-01 4.94217712e-02 1.04031800e+02] [-5.08483198e-01 8.60578428e-01 -2.91480038e-02 -4.26260444e+01] [-5.73769114e-02 -8.73952925e-05 9.98352584e-01 -7.38682336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.491052754 meters 0.017904262778754655 Centerline is valid? [True, True] Translation: X:104.06, Y:-42.64, Z:-7.39 [[ 8.59893904e-01 5.08138794e-01 4.87590045e-02 1.04055490e+02] [-5.07324845e-01 8.61275197e-01 -2.87495402e-02 -4.26397945e+01] [-5.66036779e-02 -1.51000699e-05 9.98396726e-01 -7.39019691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.521052754 meters 0.01811192633845213 Centerline is valid? [True, True] Translation: X:104.08, Y:-42.65, Z:-7.39 [[ 8.61521590e-01 5.05355186e-01 4.89559677e-02 1.04078730e+02] [-5.04530360e-01 8.62911414e-01 -2.88618699e-02 -4.26542251e+01] [-5.68301590e-02 1.65352048e-04 9.98383847e-01 -7.39179350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.551052754 meters 0.01819153290789941 Centerline is valid? [True, True] Translation: X:104.10, Y:-42.67, Z:-7.39 [[ 8.62351047e-01 5.03893333e-01 4.94184231e-02 1.04101969e+02] [-5.03051475e-01 8.63765852e-01 -2.91164293e-02 -4.26682811e+01] [-5.73575209e-02 2.48572705e-04 9.98353671e-01 -7.39299411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581052754 meters 0.018674791991483787 Centerline is valid? [True, True] Translation: X:104.13, Y:-42.68, Z:-7.39 [[ 8.63966167e-01 5.00968595e-01 5.09208142e-02 1.04126053e+02] [-5.00070413e-01 8.65465348e-01 -2.99885581e-02 -4.26825094e+01] [-5.90935260e-02 4.45106979e-04 9.98252351e-01 -7.39188975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61105275399999 meters 0.01857125115674001 Centerline is valid? [True, True] Translation: X:104.15, Y:-42.69, Z:-7.39 [[ 8.64311307e-01 5.00309693e-01 5.15381055e-02 1.04151011e+02] [-4.99388686e-01 8.65846389e-01 -3.03475034e-02 -4.26949998e+01] [-5.98072326e-02 4.92143574e-04 9.98209824e-01 -7.39216458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64105275399999 meters 0.018790935408460815 Centerline is valid? [True, True] Translation: X:104.18, Y:-42.71, Z:-7.39 [[ 8.64263869e-01 5.00340647e-01 5.20307839e-02 1.04175173e+02] [-4.99403141e-01 8.65828510e-01 -3.06185376e-02 -4.27065813e+01] [-6.03694350e-02 4.78158865e-04 9.98175988e-01 -7.39336192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67105275399999 meters 0.018650774929598286 Centerline is valid? [True, True] Translation: X:104.20, Y:-42.72, Z:-7.39 [[ 8.63704500e-01 5.01273354e-01 5.23408201e-02 1.04199792e+02] [-5.00326836e-01 8.65288887e-01 -3.07928378e-02 -4.27203638e+01] [-6.07255591e-02 4.08395589e-04 9.98154417e-01 -7.39483957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70105275399999 meters 0.018470094108867328 Centerline is valid? [True, True] Translation: X:104.23, Y:-42.73, Z:-7.40 [[ 8.62944799e-01 5.02495234e-01 5.31489823e-02 1.04225319e+02] [-5.01521873e-01 8.64579919e-01 -3.12629918e-02 -4.27331222e+01] [-6.16610472e-02 3.22859020e-04 9.98097095e-01 -7.39551239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73105275399999 meters 0.018293763058793718 Centerline is valid? [True, True] Translation: X:104.25, Y:-42.74, Z:-7.39 [[ 8.60937953e-01 5.05742122e-01 5.48702784e-02 1.04251750e+02] [-5.04712327e-01 8.62684705e-01 -3.22578221e-02 -4.27434689e+01] [-6.36498893e-02 7.82773765e-05 9.97972287e-01 -7.39373566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76105275399999 meters 0.018336566654409043 Centerline is valid? [True, True] Translation: X:104.28, Y:-42.76, Z:-7.39 [[ 8.60280079e-01 5.06795018e-01 5.54706697e-02 1.04276439e+02] [-5.05745122e-01 8.62066593e-01 -3.26046215e-02 -4.27559277e+01] [-6.43432710e-02 -4.91428846e-06 9.97927825e-01 -7.39447460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79105275399999 meters 0.018293803516755434 Centerline is valid? [True, True] Translation: X:104.30, Y:-42.77, Z:-7.40 [[ 8.59809182e-01 5.07584932e-01 5.55491398e-02 1.04301301e+02] [-5.06534967e-01 8.61601724e-01 -3.26312219e-02 -4.27691516e+01] [-6.44243511e-02 -8.09574950e-05 9.97922590e-01 -7.39618753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.821052754 meters 0.0185119985292604 Centerline is valid? [True, True] Translation: X:104.33, Y:-42.78, Z:-7.40 [[ 8.58489616e-01 5.09785446e-01 5.58066114e-02 1.04325702e+02] [-5.08731623e-01 8.60301534e-01 -3.27628759e-02 -4.27813864e+01] [-6.47125507e-02 -2.63999296e-04 9.97903911e-01 -7.39996471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.851052754 meters 0.018582215065581806 Centerline is valid? [True, True] Translation: X:104.35, Y:-42.80, Z:-7.40 [[ 8.58559176e-01 5.09683872e-01 5.56641077e-02 1.04349218e+02] [-5.08635610e-01 8.60361716e-01 -3.26731357e-02 -4.27956473e+01] [-6.45442376e-02 -2.60926886e-04 9.97914813e-01 -7.40287929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.881052754 meters 0.018725017619754033 Centerline is valid? [True, True] Translation: X:104.37, Y:-42.81, Z:-7.41 [[ 8.58943725e-01 5.09084192e-01 5.52174168e-02 1.04373079e+02] [-5.08052674e-01 8.60716697e-01 -3.23920947e-02 -4.28101068e+01] [-6.40168560e-02 -2.30369779e-04 9.97948791e-01 -7.40600596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.911052754 meters 0.018819711921661073 Centerline is valid? [True, True] Translation: X:104.40, Y:-42.82, Z:-7.41 [[ 8.59976616e-01 5.07439019e-01 5.42757978e-02 1.04396099e+02] [-5.06440312e-01 8.61687662e-01 -3.18211142e-02 -4.28241354e+01] [-6.29160603e-02 -1.22037888e-04 9.98018815e-01 -7.40914914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.941052754 meters 0.018941910710347506 Centerline is valid? [True, True] Translation: X:104.42, Y:-42.84, Z:-7.41 [[ 8.62294475e-01 5.03606767e-01 5.31832944e-02 1.04418810e+02] [-5.02641050e-01 8.63932985e-01 -3.11732694e-02 -4.28408094e+01] [-6.16458717e-02 1.48431072e-04 9.98098074e-01 -7.41142925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971052754 meters 0.019213031550095995 Centerline is valid? [True, True] Translation: X:104.44, Y:-42.86, Z:-7.41 [[ 8.64600989e-01 4.99585103e-01 5.36642792e-02 1.04442337e+02] [-4.98595221e-01 8.66264709e-01 -3.14366047e-02 -4.28557992e+01] [-6.21927306e-02 4.23366424e-04 9.98064069e-01 -7.41169801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00105275399999 meters 0.01998302453832577 Centerline is valid? [True, True] Translation: X:104.47, Y:-42.87, Z:-7.41 [[ 8.66576500e-01 4.96087524e-01 5.42433182e-02 1.04465994e+02] [-4.95069811e-01 8.68272257e-01 -3.17674181e-02 -4.28719007e+01] [-6.28573881e-02 6.74668661e-04 9.98022291e-01 -7.41269506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03105275399999 meters 0.02085398839032589 Centerline is valid? [True, True] Translation: X:104.49, Y:-42.89, Z:-7.41 [[ 8.68690250e-01 4.92311386e-01 5.48338297e-02 1.04489579e+02] [-4.91264868e-01 8.70418639e-01 -3.20970700e-02 -4.28874858e+01] [-6.35301405e-02 9.44477662e-04 9.97979473e-01 -7.41465650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06105275399999 meters 0.021414012995212183 Centerline is valid? [True, True] Translation: X:104.51, Y:-42.90, Z:-7.42 [[ 8.69211294e-01 4.91417970e-01 5.45903406e-02 1.04513213e+02] [-4.90379517e-01 8.70923294e-01 -3.19459911e-02 -4.29015043e+01] [-6.32428334e-02 9.97831463e-04 9.97997670e-01 -7.41716820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09105275399999 meters 0.022964183724298662 Centerline is valid? [True, True] Translation: X:104.54, Y:-42.92, Z:-7.42 [[ 8.71662778e-01 4.86916497e-01 5.58240579e-02 1.04535973e+02] [-4.85821666e-01 8.73447481e-01 -3.26619969e-02 -4.29204239e+01] [-6.46630479e-02 1.34971017e-03 9.97906242e-01 -7.41853777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.12105275399999 meters 0.023493527081933457 Centerline is valid? [True, True] Translation: X:104.56, Y:-42.94, Z:-7.42 [[ 8.72136436e-01 4.86024633e-01 5.61969082e-02 1.04560970e+02] [-4.84914195e-01 8.73943968e-01 -3.28658384e-02 -4.29351362e+01] [-6.50865560e-02 1.41281668e-03 9.97878622e-01 -7.41884392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.15105275399999 meters 0.023535387459968755 Centerline is valid? [True, True] Translation: X:104.59, Y:-42.95, Z:-7.42 [[ 8.71750126e-01 4.86447666e-01 5.84840696e-02 1.04585647e+02] [-4.85246993e-01 8.73708558e-01 -3.41864344e-02 -4.29484105e+01] [-6.77279433e-02 1.42280960e-03 9.97702812e-01 -7.41742604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18105275399999 meters 0.023667068776721117 Centerline is valid? [True, True] Translation: X:104.61, Y:-42.96, Z:-7.42 [[ 8.71470337e-01 4.86793333e-01 5.97637281e-02 1.04608703e+02] [-4.85540930e-01 8.73516021e-01 -3.49251607e-02 -4.29623588e+01] [-6.92059093e-02 1.41850545e-03 9.97601388e-01 -7.41747309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.211052754 meters 0.02011321715434291 Centerline is valid? [True, True] Translation: X:104.64, Y:-42.97, Z:-7.42 [[ 8.68463169e-01 4.91871878e-01 6.19175188e-02 1.04638038e+02] [-4.90541243e-01 8.70666971e-01 -3.61706249e-02 -4.29688231e+01] [-7.17008517e-02 1.03975893e-03 9.97425640e-01 -7.41927541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.241052754 meters 0.021224085096223137 Centerline is valid? [True, True] Translation: X:104.66, Y:-42.99, Z:-7.42 [[ 8.67646035e-01 4.93198734e-01 6.28121578e-02 1.04660129e+02] [-4.91833251e-01 8.69916162e-01 -3.66868513e-02 -4.29862771e+01] [-7.27352199e-02 9.38093339e-04 9.97350845e-01 -7.41841459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.271052754 meters 0.0201470904665492 Centerline is valid? [True, True] Translation: X:104.69, Y:-43.00, Z:-7.42 [[ 8.65430282e-01 4.96996408e-01 6.34428660e-02 1.04685439e+02] [-4.95614352e-01 8.67752379e-01 -3.70435219e-02 -4.29991811e+01] [-7.34631953e-02 6.15390683e-04 9.97297739e-01 -7.42021915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.301052754 meters 0.019048962708341412 Centerline is valid? [True, True] Translation: X:104.71, Y:-43.01, Z:-7.42 [[ 8.63345853e-01 5.00772933e-01 6.21321874e-02 1.04712726e+02] [-4.99458430e-01 8.65578648e-01 -3.62612947e-02 -4.30083326e+01] [-7.19389696e-02 2.73593637e-04 9.97408998e-01 -7.42245651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331052754 meters 0.01883302446924773 Centerline is valid? [True, True] Translation: X:104.74, Y:-43.02, Z:-7.43 [[ 8.62353333e-01 5.02615937e-01 6.10241685e-02 1.04738461e+02] [-5.01353827e-01 8.64509809e-01 -3.55967832e-02 -4.30220587e+01] [-7.06475028e-02 1.02304217e-04 9.97501338e-01 -7.42503544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36105275399999 meters 0.01883302446924773 Centerline is valid? [True, True] Translation: X:104.76, Y:-43.04, Z:-7.43 [[ 8.62486893e-01 5.02386109e-01 6.10291515e-02 1.04762067e+02] [-5.01124029e-01 8.64643386e-01 -3.55882380e-02 -4.30357385e+01] [-7.06474887e-02 1.11214523e-04 9.97501338e-01 -7.42679844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39105275399999 meters 0.01881756522998124 Centerline is valid? [True, True] Translation: X:104.79, Y:-43.05, Z:-7.43 [[ 8.61385497e-01 5.04514298e-01 5.89944797e-02 1.04786631e+02] [-5.03341430e-01 8.63403334e-01 -3.43815008e-02 -4.30506410e+01] [-6.82819892e-02 -7.86396131e-05 9.97666058e-01 -7.43124528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42105275399999 meters 0.018872101732150898 Centerline is valid? [True, True] Translation: X:104.81, Y:-43.06, Z:-7.43 [[ 8.60854141e-01 5.05501885e-01 5.82923012e-02 1.04810562e+02] [-5.04360297e-01 8.62825484e-01 -3.39540184e-02 -4.30643678e+01] [-6.74599033e-02 -1.70865023e-04 9.97721971e-01 -7.43393164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.45105275399999 meters 0.01912278969939534 Centerline is valid? [True, True] Translation: X:104.84, Y:-43.08, Z:-7.44 [[ 8.59235563e-01 5.08412016e-01 5.68460085e-02 1.04835435e+02] [-5.07334080e-01 8.61113846e-01 -3.30919191e-02 -4.30770080e+01] [-6.57752143e-02 -4.06163651e-04 9.97834383e-01 -7.43720282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.48105275399999 meters 0.019229461298377035 Centerline is valid? [True, True] Translation: X:104.86, Y:-43.09, Z:-7.44 [[ 8.58871333e-01 5.09129790e-01 5.59186138e-02 1.04859176e+02] [-5.08088690e-01 8.60689634e-01 -3.25459158e-02 -4.30908988e+01] [-6.46986665e-02 -4.58861116e-04 9.97904741e-01 -7.44055336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.51105275399999 meters 0.01922896013588716 Centerline is valid? [True, True] Translation: X:104.88, Y:-43.10, Z:-7.44 [[ 8.58687254e-01 5.09480329e-01 5.55517218e-02 1.04882673e+02] [-5.08453982e-01 8.60482166e-01 -3.23263160e-02 -4.31049115e+01] [-6.42708880e-02 -4.87298660e-04 9.97932370e-01 -7.44275939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54105275399999 meters 0.019305393155039253 Centerline is valid? [True, True] Translation: X:104.91, Y:-43.12, Z:-7.44 [[ 8.58283300e-01 5.10210834e-01 5.50879421e-02 1.04908242e+02] [-5.09204311e-01 8.60049183e-01 -3.20370389e-02 -4.31186722e+01] [-6.37239840e-02 -5.54162115e-04 9.97967408e-01 -7.44303590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.571052754 meters 0.019457126160766964 Centerline is valid? [True, True] Translation: X:104.93, Y:-43.13, Z:-7.44 [[ 8.58102123e-01 5.10539719e-01 5.48629340e-02 1.04932465e+02] [-5.09543173e-01 8.59853968e-01 -3.18890147e-02 -4.31316297e+01] [-6.34547201e-02 -5.91002262e-04 9.97984544e-01 -7.44411833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.601052754 meters 0.019870520462088634 Centerline is valid? [True, True] Translation: X:104.96, Y:-43.14, Z:-7.45 [[ 8.56223054e-01 5.13576213e-01 5.58708722e-02 1.04958129e+02] [-5.12549529e-01 8.58043573e-01 -3.24685478e-02 -4.31447320e+01] [-6.46147166e-02 -8.36270032e-04 9.97909935e-01 -7.44545205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.631052754 meters 0.020083300907233766 Centerline is valid? [True, True] Translation: X:104.98, Y:-43.16, Z:-7.45 [[ 8.54490493e-01 5.16207301e-01 5.81035242e-02 1.04982912e+02] [-5.15104131e-01 8.56462976e-01 -3.37476790e-02 -4.31585947e+01] [-6.71843155e-02 -1.09229444e-03 9.97739984e-01 -7.44503193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.661052754 meters 0.020134072679104918 Centerline is valid? [True, True] Translation: X:105.01, Y:-43.17, Z:-7.45 [[ 8.53930081e-01 5.17072436e-01 5.86473597e-02 1.05008097e+02] [-5.15951246e-01 8.55940829e-01 -3.40530191e-02 -4.31729553e+01] [-6.78065472e-02 -1.18028100e-03 9.97697789e-01 -7.44587566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.691052754 meters 0.021209776263366457 Centerline is valid? [True, True] Translation: X:105.03, Y:-43.18, Z:-7.45 [[ 8.53103279e-01 5.18419820e-01 5.87850822e-02 1.05033584e+02] [-5.17297789e-01 8.55125245e-01 -3.41147051e-02 -4.31838309e+01] [-6.79543471e-02 -1.30602629e-03 9.97687577e-01 -7.44701409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721052754 meters 0.02046062036677621 Centerline is valid? [True, True] Translation: X:105.06, Y:-43.20, Z:-7.45 [[ 8.53225901e-01 5.18212370e-01 5.88345330e-02 1.05055795e+02] [-5.17088467e-01 8.55250991e-01 -3.41359044e-02 -4.32004338e+01] [-6.80079406e-02 -1.29702066e-03 9.97683937e-01 -7.44911249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75105275399999 meters 0.02106409295510818 Centerline is valid? [True, True] Translation: X:105.08, Y:-43.21, Z:-7.45 [[ 8.54742194e-01 5.15632462e-01 5.94890397e-02 1.05080041e+02] [-5.14478591e-01 8.56809142e-01 -3.44945439e-02 -4.32141330e+01] [-6.87572597e-02 -1.12189517e-03 9.97632788e-01 -7.44823122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78105275399999 meters 0.01997807686082446 Centerline is valid? [True, True] Translation: X:105.10, Y:-43.23, Z:-7.45 [[ 8.55673689e-01 5.13936310e-01 6.07618881e-02 1.05104057e+02] [-5.12728766e-01 8.57827746e-01 -3.52245861e-02 -4.32308534e+01] [-7.02264273e-02 -1.01361640e-03 9.97530562e-01 -7.44748955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.81105275399999 meters 0.019991618674832175 Centerline is valid? [True, True] Translation: X:105.13, Y:-43.25, Z:-7.45 [[ 8.56295250e-01 5.12860325e-01 6.10960853e-02 1.05127877e+02] [-5.11637975e-01 8.58471544e-01 -3.54004301e-02 -4.32454435e+01] [-7.06047268e-02 -9.45857237e-04 9.97503924e-01 -7.44941874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.84105275399999 meters 0.019525465964755222 Centerline is valid? [True, True] Translation: X:105.15, Y:-43.26, Z:-7.45 [[ 8.58064627e-01 5.09903052e-01 6.10243636e-02 1.05150594e+02] [-5.08676845e-01 8.60231581e-01 -3.53481949e-02 -4.32636319e+01] [-7.05192372e-02 -7.10645144e-04 9.97510166e-01 -7.45399498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.87105275399999 meters 0.01938123182615474 Centerline is valid? [True, True] Translation: X:105.17, Y:-43.28, Z:-7.46 [[ 8.58805999e-01 5.08676854e-01 6.08285755e-02 1.05174101e+02] [-5.07456704e-01 8.60957299e-01 -3.52168159e-02 -4.32783585e+01] [-7.02847851e-02 -6.23455651e-04 9.97526772e-01 -7.45609362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.90105275399999 meters 0.019091601499414478 Centerline is valid? [True, True] Translation: X:105.20, Y:-43.29, Z:-7.46 [[ 8.61238472e-01 5.04622069e-01 6.02068297e-02 1.05196794e+02] [-5.03417302e-01 8.63340304e-01 -3.48502340e-02 -4.32947463e+01] [-6.95651798e-02 -2.94797523e-04 9.97577365e-01 -7.45832449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93105275399999 meters 0.01913252176667713 Centerline is valid? [True, True] Translation: X:105.22, Y:-43.31, Z:-7.46 [[ 8.63028820e-01 5.01716111e-01 5.88404579e-02 1.05220003e+02] [-5.00559184e-01 8.65032334e-01 -3.40523680e-02 -4.33118716e+01] [-6.79835203e-02 -6.49566410e-05 9.97686442e-01 -7.46239208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.961052754 meters 0.019224069160116916 Centerline is valid? [True, True] Translation: X:105.24, Y:-43.33, Z:-7.47 [[ 8.64211736e-01 4.99920693e-01 5.67219159e-02 1.05242909e+02] [-4.98842900e-01 8.66071185e-01 -3.28095010e-02 -4.33278348e+01] [-6.55273654e-02 5.90308383e-05 9.97850771e-01 -7.46672683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.991052754 meters 0.019423089886730704 Centerline is valid? [True, True] Translation: X:105.26, Y:-43.34, Z:-7.47 [[ 8.65552922e-01 4.97959677e-01 5.34256447e-02 1.05264942e+02] [-4.97001003e-01 8.67200166e-01 -3.08848734e-02 -4.33445135e+01] [-6.17101496e-02 1.79893410e-04 9.98094096e-01 -7.47180706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.021052754 meters 0.019305470709031963 Centerline is valid? [True, True] Translation: X:105.29, Y:-43.36, Z:-7.48 [[ 8.64487062e-01 4.99936754e-01 5.22050063e-02 1.05288751e+02] [-4.99025490e-01 8.66061915e-01 -3.01714995e-02 -4.33591461e+01] [-6.02966093e-02 3.12421028e-05 9.98180504e-01 -7.47506544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.051052754 meters 0.019411514366374463 Centerline is valid? [True, True] Translation: X:105.31, Y:-43.37, Z:-7.48 [[ 8.63946433e-01 5.00891126e-01 5.20061633e-02 1.05312386e+02] [-4.99989638e-01 8.65510299e-01 -3.00380412e-02 -4.33726770e+01] [-6.00576582e-02 -5.12842375e-05 9.98194908e-01 -7.47719035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081052754 meters 0.019596805866809078 Centerline is valid? [True, True] Translation: X:105.34, Y:-43.39, Z:-7.48 [[ 8.61430985e-01 5.05195527e-01 5.20973839e-02 1.05338375e+02] [-5.04299151e-01 8.63004839e-01 -3.00834709e-02 -4.33853021e+01] [-6.01583293e-02 -3.57832461e-04 9.98188783e-01 -7.47820280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11105275399999 meters 0.01996674805917597 Centerline is valid? [True, True] Translation: X:105.36, Y:-43.40, Z:-7.48 [[ 8.59994616e-01 5.07595840e-01 5.24949911e-02 1.05363825e+02] [-5.06691124e-01 8.61595130e-01 -3.02974676e-02 -4.33990992e+01] [-6.06082972e-02 -5.43086998e-04 9.98161480e-01 -7.48067922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14105275399999 meters 0.02137033837835739 Centerline is valid? [True, True] Translation: X:105.39, Y:-43.41, Z:-7.48 [[ 8.55315756e-01 5.15354191e-01 5.33386830e-02 1.05391249e+02] [-5.14436105e-01 8.56976544e-01 -3.07684341e-02 -4.34109549e+01] [-6.15666417e-02 -1.12261786e-03 9.98102344e-01 -7.48121070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17105275399999 meters 0.02302211853344397 Centerline is valid? [True, True] Translation: X:105.42, Y:-43.42, Z:-7.48 [[ 8.52088140e-01 5.20690919e-01 5.31673590e-02 1.05419049e+02] [-5.19789915e-01 8.53743915e-01 -3.06556942e-02 -4.34194466e+01] [-6.13534508e-02 -1.51450350e-03 9.98114953e-01 -7.48100168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.20105275399999 meters 0.027891416299861225 Centerline is valid? [True, True] Translation: X:105.45, Y:-43.42, Z:-7.48 [[ 8.46238283e-01 5.30136269e-01 5.32569570e-02 1.05448481e+02] [-5.29251026e-01 8.47909593e-01 -3.07029977e-02 -4.34247304e+01] [-6.14338573e-02 -2.20424709e-03 9.98108723e-01 -7.48304769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.23105275399999 meters 0.0295097648966303 Centerline is valid? [True, True] Translation: X:105.47, Y:-43.44, Z:-7.49 [[ 8.43592447e-01 5.34343625e-01 5.31852745e-02 1.05472670e+02] [-5.33469487e-01 8.45263615e-01 -3.06549773e-02 -4.34409344e+01] [-6.13358691e-02 -2.51241375e-03 9.98114021e-01 -7.48632220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.26105275399999 meters 0.02975390587156046 Centerline is valid? [True, True] Translation: X:105.50, Y:-43.46, Z:-7.49 [[ 8.43710600e-01 5.34147560e-01 5.32804496e-02 1.05496577e+02] [-5.33270802e-01 8.45387519e-01 -3.06951710e-02 -4.34559450e+01] [-6.14383778e-02 -2.51506699e-03 9.98107710e-01 -7.48841341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29105275399999 meters 0.028044010622317577 Centerline is valid? [True, True] Translation: X:105.52, Y:-43.47, Z:-7.49 [[ 8.44507929e-01 5.33026253e-01 5.18591598e-02 1.05518975e+02] [-5.32194564e-01 8.46095348e-01 -2.98598010e-02 -4.34747424e+01] [-5.97938517e-02 -2.38232419e-03 9.98207904e-01 -7.49122577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.321052754 meters 0.02833703239924042 Centerline is valid? [True, True] Translation: X:105.54, Y:-43.49, Z:-7.49 [[ 8.45141682e-01 5.32077263e-01 5.12769271e-02 1.05543128e+02] [-5.31263342e-01 8.46692675e-01 -2.95089154e-02 -4.34887748e+01] [-5.91168215e-02 -2.30233729e-03 9.98248416e-01 -7.49370795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.351052754 meters 0.028445676028537106 Centerline is valid? [True, True] Translation: X:105.57, Y:-43.50, Z:-7.50 [[ 8.45486742e-01 5.31664939e-01 4.98453752e-02 1.05567631e+02] [-5.30895358e-01 8.46951885e-01 -2.86814158e-02 -4.35022649e+01] [-5.74655376e-02 -2.21292151e-03 9.98345038e-01 -7.49609691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.381052754 meters 0.029183749717767764 Centerline is valid? [True, True] Translation: X:105.59, Y:-43.52, Z:-7.50 [[ 8.46201842e-01 5.30752562e-01 4.73725681e-02 1.05591319e+02] [-5.30056971e-01 8.47524326e-01 -2.72419638e-02 -4.35155641e+01] [-5.46081460e-02 -2.05795997e-03 9.98505741e-01 -7.50299289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.411052754 meters 0.026670130412899593 Centerline is valid? [True, True] Translation: X:105.61, Y:-43.53, Z:-7.51 [[ 8.47847111e-01 5.28184961e-01 4.66467985e-02 1.05613180e+02] [-5.27506837e-01 8.49127295e-01 -2.68211270e-02 -4.35343236e+01] [-5.37755858e-02 -1.86629015e-03 9.98551302e-01 -7.50559094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.441052754 meters 0.027690326485978013 Centerline is valid? [True, True] Translation: X:105.64, Y:-43.55, Z:-7.51 [[ 8.48869391e-01 5.26569302e-01 4.63198400e-02 1.05638522e+02] [-5.25898892e-01 8.50130382e-01 -2.66212010e-02 -4.35457869e+01] [-5.33958105e-02 -1.76162982e-03 9.98571872e-01 -7.50745357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471052754 meters 0.024550383353853483 Centerline is valid? [True, True] Translation: X:105.66, Y:-43.56, Z:-7.51 [[ 8.50825488e-01 5.23497616e-01 4.52353209e-02 1.05662215e+02] [-5.22854158e-01 8.52025755e-01 -2.59931235e-02 -4.35626044e+01] [-5.21489967e-02 -1.53586364e-03 9.98638134e-01 -7.50804423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50105275399999 meters 0.02569132165796374 Centerline is valid? [True, True] Translation: X:105.69, Y:-43.58, Z:-7.51 [[ 8.53100562e-01 5.19757233e-01 4.55175748e-02 1.05686647e+02] [-5.19100584e-01 8.54312987e-01 -2.61515494e-02 -4.35750317e+01] [-5.24787123e-02 -1.31829815e-03 9.98621173e-01 -7.51387122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53105275399999 meters 0.02232782560871594 Centerline is valid? [True, True] Translation: X:105.71, Y:-43.60, Z:-7.51 [[ 8.56132722e-01 5.14813443e-01 4.47647243e-02 1.05707200e+02] [-5.14171708e-01 8.57301650e-01 -2.57164605e-02 -4.35979209e+01] [-5.16160516e-02 -1.00005139e-03 9.98666502e-01 -7.51492254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.56105275399999 meters 0.022646449244447395 Centerline is valid? [True, True] Translation: X:105.73, Y:-43.61, Z:-7.52 [[ 8.56760365e-01 5.13757751e-01 4.48848452e-02 1.05731296e+02] [-5.13111883e-01 8.57934769e-01 -2.57706933e-02 -4.36113659e+01] [-5.17481628e-02 -9.51638826e-04 9.98659713e-01 -7.51830442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.59105275399999 meters 0.022239981966575315 Centerline is valid? [True, True] Translation: X:105.76, Y:-43.62, Z:-7.52 [[ 8.57424825e-01 5.12559569e-01 4.58841741e-02 1.05757723e+02] [-5.11883056e-01 8.58651196e-01 -2.63412515e-02 -4.36239642e+01] [-5.28999614e-02 -9.01688310e-04 9.98599410e-01 -7.51645920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.62105275399999 meters 0.02221297621013409 Centerline is valid? [True, True] Translation: X:105.79, Y:-43.63, Z:-7.51 [[ 8.57034509e-01 5.12959520e-01 4.86249043e-02 1.05785220e+02] [-5.12201246e-01 8.58412220e-01 -2.78988112e-02 -4.36346845e+01] [-5.60511729e-02 -9.95492628e-04 9.98427401e-01 -7.51308141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.65105275399999 meters 0.022259271389361297 Centerline is valid? [True, True] Translation: X:105.81, Y:-43.65, Z:-7.52 [[ 8.56331566e-01 5.14091134e-01 4.90566554e-02 1.05810565e+02] [-5.13322028e-01 8.57734874e-01 -2.81315043e-02 -4.36487749e+01] [-5.65397611e-02 -1.09196668e-03 9.98399751e-01 -7.51561993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68105275399999 meters 0.02273327114147918 Centerline is valid? [True, True] Translation: X:105.84, Y:-43.66, Z:-7.52 [[ 8.55363725e-01 5.15687911e-01 4.91820783e-02 1.05835319e+02] [-5.14918365e-01 8.56775645e-01 -2.81881525e-02 -4.36631612e+01] [-5.66742963e-02 -1.21363225e-03 9.98391983e-01 -7.51884647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.711052754 meters 0.024840436578792664 Centerline is valid? [True, True] Translation: X:105.86, Y:-43.67, Z:-7.52 [[ 8.52682458e-01 5.20188079e-01 4.83423940e-02 1.05862179e+02] [-5.19452703e-01 8.54050415e-01 -2.76907455e-02 -4.36721888e+01] [-5.56912374e-02 -1.50017436e-03 9.98446912e-01 -7.52253584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.741052754 meters 0.02476669536139967 Centerline is valid? [True, True] Translation: X:105.89, Y:-43.69, Z:-7.52 [[ 8.51939303e-01 5.21388427e-01 4.85132137e-02 1.05886292e+02] [-5.20650011e-01 8.53317987e-01 -2.77845108e-02 -4.36869142e+01] [-5.58837203e-02 -1.58768845e-03 9.98436022e-01 -7.52382056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.771052754 meters 0.025691143573678483 Centerline is valid? [True, True] Translation: X:105.91, Y:-43.70, Z:-7.52 [[ 8.48405906e-01 5.27205571e-01 4.75573753e-02 1.05912578e+02] [-5.26505255e-01 8.49735574e-01 -2.72336383e-02 -4.36998925e+01] [-5.47689195e-02 -1.93402846e-03 9.98497183e-01 -7.52490229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.801052754 meters 0.026872946807466935 Centerline is valid? [True, True] Translation: X:105.94, Y:-43.71, Z:-7.53 [[ 8.46021414e-01 5.31082704e-01 4.68927450e-02 1.05939536e+02] [-5.30408488e-01 8.47317221e-01 -2.68395791e-02 -4.37114370e+01] [-5.39870666e-02 -2.16545137e-03 9.98539287e-01 -7.52698020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831052754 meters 0.029565888742673626 Centerline is valid? [True, True] Translation: X:105.97, Y:-43.72, Z:-7.53 [[ 8.42445931e-01 5.36843797e-01 4.56463562e-02 1.05966109e+02] [-5.36214101e-01 8.43678017e-01 -2.61121037e-02 -4.37217257e+01] [-5.25289481e-02 -2.47818436e-03 9.98616327e-01 -7.52847594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86105275399999 meters 0.031402276543140845 Centerline is valid? [True, True] Translation: X:105.99, Y:-43.74, Z:-7.53 [[ 8.40219750e-01 5.40368957e-01 4.50795064e-02 1.05992214e+02] [-5.39759964e-01 8.41423960e-01 -2.57856866e-02 -4.37350201e+01] [-5.18647614e-02 -2.66646958e-03 9.98650558e-01 -7.53221425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89105275399999 meters 0.03272070413795754 Centerline is valid? [True, True] Translation: X:106.02, Y:-43.75, Z:-7.54 [[ 8.36491501e-01 5.46181424e-01 4.43601255e-02 1.06016901e+02] [-5.45600491e-01 8.37661579e-01 -2.53610763e-02 -4.37492983e+01] [-5.10105215e-02 -2.98858140e-03 9.98693644e-01 -7.53687544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92105275399999 meters 0.03251969645713872 Centerline is valid? [True, True] Translation: X:106.04, Y:-43.76, Z:-7.54 [[ 8.34822416e-01 5.48612837e-01 4.57765055e-02 1.06042191e+02] [-5.47998063e-01 8.36070242e-01 -2.61662794e-02 -4.37633925e+01] [-5.26275308e-02 -3.24123974e-03 9.98608951e-01 -7.53577658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.95105275399999 meters 0.03240596725019081 Centerline is valid? [True, True] Translation: X:106.07, Y:-43.78, Z:-7.54 [[ 8.33625820e-01 5.50388530e-01 4.62650846e-02 1.06068095e+02] [-5.49764087e-01 8.34901726e-01 -2.64302051e-02 -4.37764513e+01] [-5.31736807e-02 -3.40198061e-03 9.98579484e-01 -7.53540519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98105275399999 meters 0.03400759628521377 Centerline is valid? [True, True] Translation: X:106.09, Y:-43.79, Z:-7.54 [[ 8.33028900e-01 5.51154791e-01 4.78669755e-02 1.06094184e+02] [-5.50488074e-01 8.34395346e-01 -2.73365396e-02 -4.37866795e+01] [-5.50066464e-02 -3.57807164e-03 9.98479577e-01 -7.53520270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01105275399999 meters 0.03571356014175674 Centerline is valid? [True, True] Translation: X:106.12, Y:-43.80, Z:-7.54 [[ 8.33159859e-01 5.50925937e-01 4.82209596e-02 1.06120007e+02] [-5.50249402e-01 8.34546391e-01 -2.75303091e-02 -4.37978525e+01] [-5.54097891e-02 -3.59640574e-03 9.98457221e-01 -7.53748940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04105275399999 meters 0.03260783557390618 Centerline is valid? [True, True] Translation: X:106.14, Y:-43.82, Z:-7.54 [[ 8.34288133e-01 5.49204512e-01 4.83499313e-02 1.06142334e+02] [-5.48521762e-01 8.35680671e-01 -2.75987772e-02 -4.38162717e+01] [-5.55624760e-02 -3.49565718e-03 9.98449093e-01 -7.53970280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.071052754 meters 0.034240278940579356 Centerline is valid? [True, True] Translation: X:106.17, Y:-43.83, Z:-7.54 [[ 8.35282985e-01 5.47716979e-01 4.80462847e-02 1.06168121e+02] [-5.47040566e-01 8.36656856e-01 -2.74212368e-02 -4.38279645e+01] [-5.52173305e-02 -3.37877426e-03 9.98468643e-01 -7.54238755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.101052754 meters 0.032853843286275684 Centerline is valid? [True, True] Translation: X:106.19, Y:-43.84, Z:-7.55 [[ 8.36712537e-01 5.45685044e-01 4.62597387e-02 1.06192755e+02] [-5.45055482e-01 8.37984500e-01 -2.63912714e-02 -4.38435745e+01] [-5.31662661e-02 -3.13221653e-03 9.98580762e-01 -7.54639564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.131052754 meters 0.03419994340808989 Centerline is valid? [True, True] Translation: X:106.22, Y:-43.85, Z:-7.55 [[ 8.36934800e-01 5.45398105e-01 4.56185107e-02 1.06216934e+02] [-5.44786180e-01 8.38171467e-01 -2.60117427e-02 -4.38545082e+01] [-5.24228891e-02 -3.08220151e-03 9.98620218e-01 -7.54879204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.161052754 meters 0.03676476043782896 Centerline is valid? [True, True] Translation: X:106.24, Y:-43.87, Z:-7.55 [[ 8.35932284e-01 5.47078133e-01 4.38489731e-02 1.06243112e+02] [-5.46515388e-01 8.37075922e-01 -2.49966110e-02 -4.38650998e+01] [-5.03800189e-02 -3.06866442e-03 9.98725406e-01 -7.55225896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.191052754 meters 0.038340442454853345 Centerline is valid? [True, True] Translation: X:106.27, Y:-43.88, Z:-7.55 [[ 8.34500249e-01 5.49300891e-01 4.33343433e-02 1.06269971e+02] [-5.48754490e-01 8.35618626e-01 -2.46985906e-02 -4.38770038e+01] [-4.97779422e-02 -3.16893547e-03 9.98755283e-01 -7.55466315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22105275399998 meters 0.03853473193143014 Centerline is valid? [True, True] Translation: X:106.29, Y:-43.89, Z:-7.56 [[ 8.33584205e-01 5.50706968e-01 4.31185465e-02 1.06293677e+02] [-5.50168534e-01 8.34692331e-01 -2.45621117e-02 -4.38933650e+01] [-4.95172462e-02 -3.24787912e-03 9.98767988e-01 -7.55811042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25105275399999 meters 0.03477310281885444 Centerline is valid? [True, True] Translation: X:106.32, Y:-43.91, Z:-7.56 [[ 8.33409386e-01 5.50937029e-01 4.35566958e-02 1.06315932e+02] [-5.50387987e-01 8.34540308e-01 -2.48100426e-02 -4.39127905e+01] [-5.00185895e-02 -3.29615970e-03 9.98742848e-01 -7.55738753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28105275399999 meters 0.03477310281885444 Centerline is valid? [True, True] Translation: X:106.34, Y:-43.93, Z:-7.56 [[ 8.33551944e-01 5.50720892e-01 4.35620870e-02 1.06339734e+02] [-5.50172049e-01 8.34682962e-01 -2.48005723e-02 -4.39262534e+01] [-5.00187251e-02 -3.29407740e-03 9.98742848e-01 -7.55915820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.31105275399999 meters 0.0385212874403772 Centerline is valid? [True, True] Translation: X:106.37, Y:-43.93, Z:-7.56 [[ 8.32056152e-01 5.53008763e-01 4.31725436e-02 1.06367711e+02] [-5.52473508e-01 8.33168444e-01 -2.45635216e-02 -4.39345030e+01] [-4.95538437e-02 -3.41345728e-03 9.98765621e-01 -7.55846889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.34105275399999 meters 0.041002052359657655 Centerline is valid? [True, True] Translation: X:106.39, Y:-43.95, Z:-7.56 [[ 8.29922229e-01 5.56269769e-01 4.23442776e-02 1.06393370e+02] [-5.55759773e-01 8.30994186e-01 -2.40777256e-02 -4.39452030e+01] [-4.85815594e-02 -3.55060645e-03 9.98812908e-01 -7.56079954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.37105275399999 meters 0.04279501731159958 Centerline is valid? [True, True] Translation: X:106.42, Y:-43.96, Z:-7.56 [[ 8.28586852e-01 5.58282882e-01 4.20006262e-02 1.06419607e+02] [-5.57783801e-01 8.29642676e-01 -2.38801305e-02 -4.39569759e+01] [-4.81773800e-02 -3.64050673e-03 9.98832161e-01 -7.56326910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.40105275399999 meters 0.04435722488990357 Centerline is valid? [True, True] Translation: X:106.44, Y:-43.97, Z:-7.57 [[ 8.27688008e-01 5.59605027e-01 4.21280745e-02 1.06444888e+02] [-5.59105276e-01 8.28751003e-01 -2.39387759e-02 -4.39682356e+01] [-4.83099433e-02 -3.74019102e-03 9.98825390e-01 -7.56601021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43105275399999 meters 0.0450223453317499 Centerline is valid? [True, True] Translation: X:106.47, Y:-43.98, Z:-7.57 [[ 8.27797260e-01 5.59425507e-01 4.23650691e-02 1.06469166e+02] [-5.58920056e-01 8.28872133e-01 -2.40698758e-02 -4.39808592e+01] [-4.85805276e-02 -3.75370957e-03 9.98812216e-01 -7.56717924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.461052754 meters 0.045581378993320903 Centerline is valid? [True, True] Translation: X:106.49, Y:-43.99, Z:-7.57 [[ 8.28322857e-01 5.58596375e-01 4.30271341e-02 1.06494274e+02] [-5.58074728e-01 8.29431023e-01 -2.44289977e-02 -4.39933937e+01] [-4.93339895e-02 -3.77725901e-03 9.98775195e-01 -7.56818654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.491052754 meters 0.040806518431397654 Centerline is valid? [True, True] Translation: X:106.52, Y:-44.01, Z:-7.57 [[ 8.31033113e-01 5.54540959e-01 4.32237168e-02 1.06516398e+02] [-5.54009187e-01 8.32148840e-01 -2.45383053e-02 -4.40121071e+01] [-4.95760611e-02 -3.55419191e-03 9.98764027e-01 -7.56763894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.521052754 meters 0.0317428907521187 Centerline is valid? [True, True] Translation: X:106.53, Y:-44.04, Z:-7.57 [[ 8.34706180e-01 5.49047762e-01 4.25693328e-02 1.06534993e+02] [-5.48525366e-01 8.35784899e-01 -2.41562559e-02 -4.40378497e+01] [-4.88417438e-02 -3.18698286e-03 9.98801445e-01 -7.56852711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.551052754 meters 0.03108909159626856 Centerline is valid? [True, True] Translation: X:106.56, Y:-44.05, Z:-7.57 [[ 8.36783351e-01 5.45919684e-01 4.20157366e-02 1.06559580e+02] [-5.45407427e-01 8.37832232e-01 -2.38304302e-02 -4.40531866e+01] [-4.82116393e-02 -2.97478759e-03 9.98832713e-01 -7.57131277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581052754 meters 0.03038742988509693 Centerline is valid? [True, True] Translation: X:106.58, Y:-44.07, Z:-7.57 [[ 8.39367969e-01 5.41970909e-01 4.15805978e-02 1.06583581e+02] [-5.41465074e-01 8.40392809e-01 -2.35690504e-02 -4.40667394e+01] [-4.77177751e-02 -2.73133546e-03 9.98857124e-01 -7.57322159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61105275399999 meters 0.027077001019297022 Centerline is valid? [True, True] Translation: X:106.61, Y:-44.09, Z:-7.57 [[ 8.41015472e-01 5.39398523e-01 4.17397871e-02 1.06606191e+02] [-5.38885842e-01 8.42046602e-01 -2.36551995e-02 -4.40852661e+01] [-4.79064256e-02 -2.59859153e-03 9.98848448e-01 -7.57337725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64105275399999 meters 0.029048695821400353 Centerline is valid? [True, True] Translation: X:106.63, Y:-44.10, Z:-7.58 [[ 8.43538208e-01 5.35513012e-01 4.08546814e-02 1.06632247e+02] [-5.35017467e-01 8.44523762e-01 -2.31500646e-02 -4.40963757e+01] [-4.68999100e-02 -2.33000415e-03 9.98896876e-01 -7.57599686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67105275399999 meters 0.02898200381435778 Centerline is valid? [True, True] Translation: X:106.65, Y:-44.11, Z:-7.58 [[ 8.44797879e-01 5.33715353e-01 3.82683305e-02 1.06654771e+02] [-5.33278831e-01 8.45661606e-01 -2.16826278e-02 -4.41113675e+01] [-4.39344092e-02 -2.09025259e-03 9.99032231e-01 -7.58292025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.70105275399999 meters 0.029466088554416636 Centerline is valid? [True, True] Translation: X:106.68, Y:-44.13, Z:-7.59 [[ 8.44507512e-01 5.34254551e-01 3.71367393e-02 1.06679877e+02] [-5.33844114e-01 8.45321146e-01 -2.10385951e-02 -4.41254036e+01] [-4.26324362e-02 -2.05797814e-03 9.99088705e-01 -7.58659665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.73105275399999 meters 0.02905552322989893 Centerline is valid? [True, True] Translation: X:106.71, Y:-44.14, Z:-7.59 [[ 8.41494649e-01 5.39012316e-01 3.67760673e-02 1.06705359e+02] [-5.38614919e-01 8.42294775e-01 -2.08202081e-02 -4.41394549e+01] [-4.21986379e-02 -2.28804483e-03 9.99106621e-01 -7.58777225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.76105275399999 meters 0.030519535396916764 Centerline is valid? [True, True] Translation: X:106.73, Y:-44.15, Z:-7.59 [[ 8.39881670e-01 5.41492874e-01 3.72054801e-02 1.06731363e+02] [-5.41088609e-01 8.40701793e-01 -2.10620911e-02 -4.41522286e+01] [-4.26836860e-02 -2.44179723e-03 9.99085652e-01 -7.58930212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79105275399999 meters 0.031795843076331376 Centerline is valid? [True, True] Translation: X:106.76, Y:-44.17, Z:-7.59 [[ 8.37656262e-01 5.44847233e-01 3.83859229e-02 1.06756883e+02] [-5.44420925e-01 8.38530961e-01 -2.17183069e-02 -4.41652613e+01] [-4.40209442e-02 -2.70562385e-03 9.99026945e-01 -7.59003287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.821052754 meters 0.033836316241217496 Centerline is valid? [True, True] Translation: X:106.78, Y:-44.18, Z:-7.59 [[ 8.31954782e-01 5.53369984e-01 4.04091874e-02 1.06783707e+02] [-5.52908055e-01 8.32928903e-01 -2.28500787e-02 -4.41764288e+01] [-4.63025278e-02 -3.33233292e-03 9.98921905e-01 -7.58726140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.851052754 meters 0.037760744914679074 Centerline is valid? [True, True] Translation: X:106.81, Y:-44.18, Z:-7.59 [[ 8.29030873e-01 5.57658779e-01 4.15270851e-02 1.06811221e+02] [-5.57176925e-01 8.30062123e-01 -2.34679978e-02 -4.41844484e+01] [-4.75571954e-02 -3.68223885e-03 9.98861729e-01 -7.58741393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.881052754 meters 0.03996941720860292 Centerline is valid? [True, True] Translation: X:106.84, Y:-44.20, Z:-7.59 [[ 8.22896341e-01 5.66554425e-01 4.31009997e-02 1.06837143e+02] [-5.66047475e-01 8.24012809e-01 -2.43545840e-02 -4.41965622e+01] [-4.93139732e-02 -4.35591403e-03 9.98773827e-01 -7.58647521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.911052754 meters 0.042565703231165 Centerline is valid? [True, True] Translation: X:106.86, Y:-44.21, Z:-7.59 [[ 8.15741199e-01 5.76847142e-01 4.25872182e-02 1.06863562e+02] [-5.76366598e-01 8.16837256e-01 -2.40508092e-02 -4.42092530e+01] [-4.86604670e-02 -4.92661413e-03 9.98803228e-01 -7.58912876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.941052754 meters 0.041624783800519705 Centerline is valid? [True, True] Translation: X:106.89, Y:-44.22, Z:-7.59 [[ 8.11594265e-01 5.82716313e-01 4.19100029e-02 1.06887854e+02] [-5.82258801e-01 8.12659026e-01 -2.36642300e-02 -4.42241145e+01] [-4.78480750e-02 -5.19671469e-03 9.98841106e-01 -7.59116760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97105275399998 meters 0.04462473085537737 Centerline is valid? [True, True] Translation: X:106.91, Y:-44.23, Z:-7.59 [[ 8.05183259e-01 5.91484073e-01 4.27376986e-02 1.06914834e+02] [-5.91020675e-01 8.06295576e-01 -2.41247999e-02 -4.42349222e+01] [-4.87286522e-02 -5.83397849e-03 9.98795016e-01 -7.59117915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00105275399999 meters 0.047579529961330254 Centerline is valid? [True, True] Translation: X:106.94, Y:-44.25, Z:-7.59 [[ 8.02624026e-01 5.94916364e-01 4.32341477e-02 1.06941890e+02] [-5.94447191e-01 8.03764344e-01 -2.44011511e-02 -4.42461705e+01] [-4.92667105e-02 -6.11546753e-03 9.98766936e-01 -7.59398656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03105275399999 meters 0.04598437121387318 Centerline is valid? [True, True] Translation: X:106.97, Y:-44.26, Z:-7.60 [[ 7.97037514e-01 6.02432819e-01 4.24958852e-02 1.06965742e+02] [-6.01990607e-01 7.98143312e-01 -2.39700326e-02 -4.42633565e+01] [-4.83581409e-02 -6.47710859e-03 9.98809059e-01 -7.59524209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.06105275399999 meters 0.052837162004724665 Centerline is valid? [True, True] Translation: X:106.99, Y:-44.27, Z:-7.60 [[ 7.95163803e-01 6.04905635e-01 4.24699821e-02 1.06993880e+02] [-6.04467574e-01 7.96269594e-01 -2.39517453e-02 -4.42705426e+01] [-4.83061011e-02 -6.62616621e-03 9.98810600e-01 -7.59935588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.09105275399999 meters 0.0571674975946113 Centerline is valid? [True, True] Translation: X:107.02, Y:-44.28, Z:-7.60 [[ 7.92659788e-01 6.08201313e-01 4.22092859e-02 1.07020598e+02] [-6.07773854e-01 7.93753724e-01 -2.37900934e-02 -4.42790691e+01] [-4.79729439e-02 -6.79625000e-03 9.98825514e-01 -7.60112348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.12105275399999 meters 0.05028930994459236 Centerline is valid? [True, True] Translation: X:107.04, Y:-44.30, Z:-7.60 [[ 7.92140826e-01 6.08829467e-01 4.28904709e-02 1.07040998e+02] [-6.08389420e-01 7.93270668e-01 -2.41652769e-02 -4.43010388e+01] [-4.87362852e-02 -6.95180637e-03 9.98787488e-01 -7.60236501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.15105275399999 meters 0.050237177655983734 Centerline is valid? [True, True] Translation: X:107.06, Y:-44.32, Z:-7.60 [[ 7.93281450e-01 6.07197071e-01 4.49027716e-02 1.07064835e+02] [-6.06712299e-01 7.94518869e-01 -2.52972901e-02 -4.43166498e+01] [-5.10365398e-02 -7.17519283e-03 9.98671011e-01 -7.60413994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18105275399999 meters 0.04846626483638017 Centerline is valid? [True, True] Translation: X:107.09, Y:-44.33, Z:-7.61 [[ 7.93725674e-01 6.06604841e-01 4.50568765e-02 1.07088680e+02] [-6.06116516e-01 7.94971144e-01 -2.53702378e-02 -4.43326226e+01] [-5.12086257e-02 -7.17270792e-03 9.98662220e-01 -7.60607221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.211052754 meters 0.05126847922796921 Centerline is valid? [True, True] Translation: X:107.12, Y:-44.34, Z:-7.61 [[ 7.95323934e-01 6.04516250e-01 4.49437915e-02 1.07115304e+02] [-6.04027880e-01 7.96561769e-01 -2.52916609e-02 -4.43417707e+01] [-5.10897260e-02 -7.03223988e-03 9.98669308e-01 -7.61034603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.241052754 meters 0.0513222712817894 Centerline is valid? [True, True] Translation: X:107.14, Y:-44.36, Z:-7.61 [[ 7.97126276e-01 6.02112412e-01 4.52807113e-02 1.07140307e+02] [-6.01613145e-01 7.98381219e-01 -2.54765274e-02 -4.43561683e+01] [-5.14910029e-02 -6.93346174e-03 9.98649390e-01 -7.61421213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.271052754 meters 0.04293887613868753 Centerline is valid? [True, True] Translation: X:107.16, Y:-44.38, Z:-7.61 [[ 8.04882665e-01 5.91568367e-01 4.70187510e-02 1.07159819e+02] [-5.91012640e-01 8.06228625e-01 -2.64473618e-02 -4.43813247e+01] [-5.35532856e-02 -6.50165309e-03 9.98543827e-01 -7.61470538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.301052754 meters 0.0455825386777993 Centerline is valid? [True, True] Translation: X:107.19, Y:-44.39, Z:-7.62 [[ 8.08947240e-01 5.86001037e-01 4.69802811e-02 1.07186252e+02] [-5.85437339e-01 8.10287094e-01 -2.64186827e-02 -4.43910044e+01] [-5.35488910e-02 -6.13269030e-03 9.98546397e-01 -7.61657029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331052754 meters 0.04031905864808552 Centerline is valid? [True, True] Translation: X:107.21, Y:-44.41, Z:-7.62 [[ 8.15751577e-01 5.76502671e-01 4.68405362e-02 1.07207688e+02] [-5.75927036e-01 8.17076797e-01 -2.63354800e-02 -4.44108572e+01] [-5.34547898e-02 -5.49352184e-03 9.98555160e-01 -7.62045935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36105275399999 meters 0.035673519611044306 Centerline is valid? [True, True] Translation: X:107.23, Y:-44.43, Z:-7.62 [[ 8.20702320e-01 5.69266878e-01 4.88151992e-02 1.07230471e+02] [-5.68629272e-01 8.22136114e-01 -2.74401406e-02 -4.44289565e+01] [-5.57535014e-02 -5.23756415e-03 9.98430826e-01 -7.62284027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39105275399999 meters 0.031069607124489446 Centerline is valid? [True, True] Translation: X:107.25, Y:-44.45, Z:-7.62 [[ 8.23198601e-01 5.65496550e-01 5.05738664e-02 1.07253131e+02] [-5.64806008e-01 8.24734426e-01 -2.84130318e-02 -4.44477811e+01] [-5.77774801e-02 -5.17485562e-03 9.98316074e-01 -7.62298127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42105275399999 meters 0.031440928870317165 Centerline is valid? [True, True] Translation: X:107.28, Y:-44.46, Z:-7.62 [[ 8.27158782e-01 5.59413872e-01 5.35207347e-02 1.07279398e+02] [-5.58628110e-01 8.28873218e-01 -3.00636485e-02 -4.44583835e+01] [-6.11799256e-02 -5.03077602e-03 9.98114076e-01 -7.62225661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.45105275399999 meters 0.03782385033874915 Centerline is valid? [True, True] Translation: X:107.31, Y:-44.46, Z:-7.62 [[ 8.29482829e-01 5.55945386e-01 5.36932436e-02 1.07309244e+02] [-5.55147682e-01 8.31204992e-01 -3.01548165e-02 -4.44635361e+01] [-6.13945231e-02 -4.79477721e-03 9.98102060e-01 -7.62287308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.48105275399999 meters 0.029936119358411777 Centerline is valid? [True, True] Translation: X:107.33, Y:-44.49, Z:-7.62 [[ 8.31773596e-01 5.52552294e-01 5.32789615e-02 1.07328813e+02] [-5.51760293e-01 8.33466010e-01 -2.99163603e-02 -4.44875877e+01] [-6.09365570e-02 -4.51357684e-03 9.98131436e-01 -7.62450571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.51105275399999 meters 0.031789014604853165 Centerline is valid? [True, True] Translation: X:107.35, Y:-44.50, Z:-7.63 [[ 8.33838705e-01 5.49538512e-01 5.21578186e-02 1.07353887e+02] [-5.48774614e-01 8.35457749e-01 -2.92706768e-02 -4.44995006e+01] [-5.96610179e-02 -4.21586351e-03 9.98209792e-01 -7.62908817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54105275399999 meters 0.03003940559227595 Centerline is valid? [True, True] Translation: X:107.38, Y:-44.52, Z:-7.63 [[ 8.34201141e-01 5.49039389e-01 5.16159461e-02 1.07376150e+02] [-5.48290569e-01 8.35786223e-01 -2.89627446e-02 -4.45173016e+01] [-5.90415842e-02 -4.13978186e-03 9.98246940e-01 -7.63196161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.571052754 meters 0.028832557139226226 Centerline is valid? [True, True] Translation: X:107.40, Y:-44.53, Z:-7.63 [[ 8.33012325e-01 5.50862593e-01 5.13893878e-02 1.07400696e+02] [-5.50124755e-01 8.34585059e-01 -2.88189577e-02 -4.45328919e+01] [-5.87641010e-02 -4.26402741e-03 9.98262790e-01 -7.63386099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.601052754 meters 0.031999753634415325 Centerline is valid? [True, True] Translation: X:107.43, Y:-44.54, Z:-7.64 [[ 8.30040663e-01 5.55266169e-01 5.20766722e-02 1.07427048e+02] [-5.54517414e-01 8.31659745e-01 -2.91976997e-02 -4.45439536e+01] [-5.95225669e-02 -4.64214360e-03 9.98216166e-01 -7.63531307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.631052754 meters 0.03199635497664397 Centerline is valid? [True, True] Translation: X:107.45, Y:-44.56, Z:-7.64 [[ 8.27974882e-01 5.58321427e-01 5.22951219e-02 1.07451242e+02] [-5.57573064e-01 8.29610306e-01 -2.93090013e-02 -4.45593164e+01] [-5.97484155e-02 -4.89123449e-03 9.98201484e-01 -7.63705459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.661052754 meters 0.03743860504888773 Centerline is valid? [True, True] Translation: X:107.48, Y:-44.57, Z:-7.64 [[ 8.21783020e-01 5.67422671e-01 5.20017348e-02 1.07480537e+02] [-5.66701524e-01 8.23408106e-01 -2.91285865e-02 -4.45650680e+01] [-5.93468703e-02 -5.53208451e-03 9.98222092e-01 -7.63811570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.691052754 meters 0.034540743743500336 Centerline is valid? [True, True] Translation: X:107.50, Y:-44.58, Z:-7.64 [[ 8.19302798e-01 5.71022121e-01 5.17364771e-02 1.07503869e+02] [-5.70315722e-01 8.20914413e-01 -2.89741894e-02 -4.45827928e+01] [-5.90161228e-02 -5.76749183e-03 9.98240369e-01 -7.63959136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72105275399998 meters 0.039170785220382726 Centerline is valid? [True, True] Translation: X:107.53, Y:-44.59, Z:-7.64 [[ 8.13037181e-01 5.80033244e-01 5.03187661e-02 1.07530965e+02] [-5.79382834e-01 8.14568786e-01 -2.81642470e-02 -4.45915130e+01] [-5.73242958e-02 -6.25524931e-03 9.98336014e-01 -7.64326451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75105275399999 meters 0.04114559928188462 Centerline is valid? [True, True] Translation: X:107.56, Y:-44.60, Z:-7.65 [[ 8.10346607e-01 5.83873007e-01 4.93020187e-02 1.07557608e+02] [-5.83255903e-01 8.11819789e-01 -2.75895242e-02 -4.46032968e+01] [-5.61331329e-02 -6.39861609e-03 9.98402789e-01 -7.64592254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78105275399999 meters 0.05059265291338373 Centerline is valid? [True, True] Translation: X:107.59, Y:-44.61, Z:-7.65 [[ 8.05171144e-01 5.91026053e-01 4.88634103e-02 1.07588335e+02] [-5.90433571e-01 8.06623415e-01 -2.73288247e-02 -4.46051104e+01] [-5.55664183e-02 -6.84621683e-03 9.98431521e-01 -7.64846190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.81105275399999 meters 0.03971652209040037 Centerline is valid? [True, True] Translation: X:107.61, Y:-44.63, Z:-7.65 [[ 8.04448992e-01 5.91959481e-01 4.94549500e-02 1.07605656e+02] [-5.91354713e-01 8.05937320e-01 -2.76521367e-02 -4.46330233e+01] [-5.62265343e-02 -7.00068425e-03 9.98393493e-01 -7.64874879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.84105275399999 meters 0.0555062069069696 Centerline is valid? [True, True] Translation: X:107.64, Y:-44.63, Z:-7.65 [[ 8.01677705e-01 5.95796259e-01 4.83701858e-02 1.07640558e+02] [-5.95224838e-01 8.03104113e-01 -2.70402813e-02 -4.46278094e+01] [-5.49567936e-02 -7.11354536e-03 9.98463394e-01 -7.65246327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.87105275399999 meters 0.04783885782271186 Centerline is valid? [True, True] Translation: X:107.66, Y:-44.65, Z:-7.65 [[ 8.00609445e-01 5.97238925e-01 4.82719769e-02 1.07660880e+02] [-5.96673018e-01 8.02030999e-01 -2.69737924e-02 -4.46507382e+01] [-5.48254207e-02 -7.20711321e-03 9.98469945e-01 -7.65479830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.90105275399999 meters 0.04292628585459554 Centerline is valid? [True, True] Translation: X:107.68, Y:-44.67, Z:-7.66 [[ 7.99631432e-01 5.98434069e-01 4.96612210e-02 1.07682688e+02] [-5.97838217e-01 8.01136842e-01 -2.77349425e-02 -4.46706141e+01] [-5.63829683e-02 -7.51164401e-03 9.98380957e-01 -7.65521456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93105275399999 meters 0.037852948504055704 Centerline is valid? [True, True] Translation: X:107.70, Y:-44.69, Z:-7.65 [[ 7.99461012e-01 5.98439152e-01 5.22749674e-02 1.07704221e+02] [-5.97779927e-01 8.01129089e-01 -2.91777784e-02 -4.46902763e+01] [-5.93401220e-02 -7.92242988e-03 9.98206384e-01 -7.65346459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.961052754 meters 0.044230674325987554 Centerline is valid? [True, True] Translation: X:107.73, Y:-44.70, Z:-7.65 [[ 7.99675602e-01 5.98072908e-01 5.31763831e-02 1.07732936e+02] [-5.97391040e-01 8.01401306e-01 -2.96629782e-02 -4.46959834e+01] [-6.03562465e-02 -8.04633483e-03 9.98144469e-01 -7.65462625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.991052754 meters 0.05095104182115291 Centerline is valid? [True, True] Translation: X:107.76, Y:-44.70, Z:-7.65 [[ 8.00274267e-01 5.97234192e-01 5.35949394e-02 1.07763050e+02] [-5.96540077e-01 8.02026496e-01 -2.98903935e-02 -4.47005567e+01] [-6.08361265e-02 -8.05101650e-03 9.98115297e-01 -7.65428357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.021052754 meters 0.04279472081405266 Centerline is valid? [True, True] Translation: X:107.78, Y:-44.72, Z:-7.65 [[ 8.00886616e-01 5.96353893e-01 5.42463129e-02 1.07783348e+02] [-5.95641281e-01 8.02680900e-01 -3.02462773e-02 -4.47231764e+01] [-6.15799645e-02 -8.08750462e-03 9.98069387e-01 -7.65484252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.051052754 meters 0.03649505403443877 Centerline is valid? [True, True] Translation: X:107.80, Y:-44.74, Z:-7.66 [[ 8.02010081e-01 5.94802261e-01 5.46818124e-02 1.07804216e+02] [-5.94075006e-01 8.03831867e-01 -3.04830503e-02 -4.47448905e+01] [-6.20863707e-02 -8.03738440e-03 9.98038418e-01 -7.65711005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081052754 meters 0.04202847560861662 Centerline is valid? [True, True] Translation: X:107.83, Y:-44.76, Z:-7.66 [[ 8.04777337e-01 5.91108396e-01 5.40768163e-02 1.07830050e+02] [-5.90389997e-01 8.06555574e-01 -3.01290238e-02 -4.47555012e+01] [-6.14254766e-02 -7.67925588e-03 9.98082131e-01 -7.66277219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11105275399999 meters 0.043824459158736395 Centerline is valid? [True, True] Translation: X:107.86, Y:-44.77, Z:-7.67 [[ 8.07034422e-01 5.88041569e-01 5.38753639e-02 1.07855124e+02] [-5.87322150e-01 8.08796652e-01 -3.00111315e-02 -4.47687716e+01] [-6.12220068e-02 -7.42217840e-03 9.98096577e-01 -7.66520608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14105275399999 meters 0.03924629843248829 Centerline is valid? [True, True] Translation: X:107.88, Y:-44.79, Z:-7.67 [[ 8.07530652e-01 5.87365031e-01 5.38197628e-02 1.07877859e+02] [-5.86645909e-01 8.09288606e-01 -2.99754886e-02 -4.47876702e+01] [-6.11622746e-02 -7.36701789e-03 9.98100648e-01 -7.66580441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17105275399999 meters 0.03924629843248829 Centerline is valid? [True, True] Translation: X:107.90, Y:-44.80, Z:-7.67 [[ 8.07690835e-01 5.87144140e-01 5.38263420e-02 1.07901887e+02] [-5.86425310e-01 8.09448908e-01 -2.99636698e-02 -4.48009932e+01] [-6.11626669e-02 -7.36374775e-03 9.98100648e-01 -7.66758319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.20105275399999 meters 0.041888167264639245 Centerline is valid? [True, True] Translation: X:107.93, Y:-44.81, Z:-7.67 [[ 8.06895422e-01 5.88393271e-01 5.20877699e-02 1.07928256e+02] [-5.87723818e-01 8.08542551e-01 -2.89768303e-02 -4.48112767e+01] [-5.91649503e-02 -7.23195130e-03 9.98222023e-01 -7.67076516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.23105275399999 meters 0.04344873061760289 Centerline is valid? [True, True] Translation: X:107.95, Y:-44.82, Z:-7.67 [[ 8.05850822e-01 5.89921160e-01 5.09654548e-02 1.07954266e+02] [-5.89283486e-01 8.07428850e-01 -2.83482702e-02 -4.48236700e+01] [-5.78742230e-02 -7.18862402e-03 9.98298001e-01 -7.67385624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.26105275399999 meters 0.04521414576536893 Centerline is valid? [True, True] Translation: X:107.98, Y:-44.83, Z:-7.67 [[ 8.02945472e-01 5.93824218e-01 5.14914221e-02 1.07980963e+02] [-5.93182080e-01 8.04559288e-01 -2.86246727e-02 -4.48344284e+01] [-5.84259258e-02 -7.55973748e-03 9.98263122e-01 -7.67427668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29105275399999 meters 0.04687634605492025 Centerline is valid? [True, True] Translation: X:108.01, Y:-44.85, Z:-7.67 [[ 8.02133645e-01 5.94775867e-01 5.31345836e-02 1.08006836e+02] [-5.94094597e-01 8.03852957e-01 -2.95301923e-02 -4.48456884e+01] [-6.02762379e-02 -7.87980827e-03 9.98150632e-01 -7.67432410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.321052754 meters 0.04945950446233005 Centerline is valid? [True, True] Translation: X:108.03, Y:-44.86, Z:-7.67 [[ 8.01252407e-01 5.95843098e-01 5.44571676e-02 1.08033010e+02] [-5.95130212e-01 8.03059378e-01 -3.02599870e-02 -4.48569901e+01] [-6.17625435e-02 -8.16321828e-03 9.98057488e-01 -7.67391669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.351052754 meters 0.0485368976311116 Centerline is valid? [True, True] Translation: X:108.06, Y:-44.87, Z:-7.68 [[ 8.01103993e-01 5.96071742e-01 5.41375191e-02 1.08057382e+02] [-5.95368690e-01 8.02889862e-01 -3.00664597e-02 -4.48725934e+01] [-6.13882322e-02 -8.14542294e-03 9.98080727e-01 -7.67513824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.381052754 meters 0.051648844414198015 Centerline is valid? [True, True] Translation: X:108.08, Y:-44.88, Z:-7.68 [[ 8.01376742e-01 5.95737847e-01 5.37748461e-02 1.08082843e+02] [-5.95044466e-01 8.03138315e-01 -2.98484420e-02 -4.48833407e+01] [-6.09704859e-02 -8.07857739e-03 9.98106876e-01 -7.67610834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.411052754 meters 0.05053560321123854 Centerline is valid? [True, True] Translation: X:108.11, Y:-44.90, Z:-7.68 [[ 8.01947497e-01 5.94950994e-01 5.39771005e-02 1.08106882e+02] [-5.94250984e-01 8.03721629e-01 -2.99551694e-02 -4.48990517e+01] [-6.12044209e-02 -8.05347193e-03 9.98092761e-01 -7.67723652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.441052754 meters 0.03854354287717065 Centerline is valid? [True, True] Translation: X:108.12, Y:-44.93, Z:-7.68 [[ 8.03503418e-01 5.92826499e-01 5.42125382e-02 1.08123823e+02] [-5.92116378e-01 8.05291106e-01 -3.00737286e-02 -4.49290010e+01] [-6.14853781e-02 -7.93578806e-03 9.98076436e-01 -7.67745795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47105275399998 meters 0.046053118404650165 Centerline is valid? [True, True] Translation: X:108.15, Y:-44.93, Z:-7.68 [[ 8.04613859e-01 5.91280200e-01 5.46284151e-02 1.08152486e+02] [-5.90556648e-01 8.06427592e-01 -3.02883452e-02 -4.49346429e+01] [-6.19627600e-02 -7.89075142e-03 9.98047270e-01 -7.67955680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50105275399999 meters 0.04925153977160229 Centerline is valid? [True, True] Translation: X:108.18, Y:-44.95, Z:-7.68 [[ 8.06443889e-01 5.88715537e-01 5.53377811e-02 1.08178687e+02] [-5.87967484e-01 8.08302670e-01 -3.06762478e-02 -4.49456134e+01] [-6.27892599e-02 -7.79814334e-03 9.97996342e-01 -7.67987071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53105275399999 meters 0.03772324395281441 Centerline is valid? [True, True] Translation: X:108.20, Y:-44.97, Z:-7.68 [[ 8.08201310e-01 5.86301939e-01 5.53234069e-02 1.08196261e+02] [-5.85549659e-01 8.10056766e-01 -3.06534187e-02 -4.49730649e+01] [-6.27872590e-02 -7.62046892e-03 9.97997840e-01 -7.68141048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.56105275399999 meters 0.040607796546359855 Centerline is valid? [True, True] Translation: X:108.22, Y:-44.98, Z:-7.68 [[ 8.08700898e-01 5.85621690e-01 5.52276533e-02 1.08222035e+02] [-5.84871539e-01 8.10549168e-01 -3.05831454e-02 -4.49835380e+01] [-6.26748818e-02 -7.56846546e-03 9.98005299e-01 -7.68468122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.59105275399999 meters 0.039716573187802515 Centerline is valid? [True, True] Translation: X:108.25, Y:-45.00, Z:-7.69 [[ 8.09219140e-01 5.85034958e-01 5.38375442e-02 1.08246421e+02] [-5.84321162e-01 8.10974885e-01 -2.98079971e-02 -4.49988882e+01] [-6.10996165e-02 -7.33721460e-03 9.98104705e-01 -7.68820631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62105275399999 meters 0.042374909215538076 Centerline is valid? [True, True] Translation: X:108.27, Y:-45.01, Z:-7.69 [[ 8.08940731e-01 5.85697848e-01 5.07240131e-02 1.08272997e+02] [-5.85066450e-01 8.10499494e-01 -2.80681198e-02 -4.50091940e+01] [-5.75512244e-02 -6.97147292e-03 9.98318213e-01 -7.69242544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65105275399999 meters 0.043121503584489886 Centerline is valid? [True, True] Translation: X:108.30, Y:-45.02, Z:-7.69 [[ 8.09017334e-01 5.85673745e-01 4.97716634e-02 1.08298669e+02] [-5.85065953e-01 8.10518025e-01 -2.75383579e-02 -4.50213777e+01] [-5.64693235e-02 -6.84069677e-03 9.98380899e-01 -7.69444209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68105275399999 meters 0.04191412342883347 Centerline is valid? [True, True] Translation: X:108.32, Y:-45.04, Z:-7.70 [[ 8.09595296e-01 5.84931479e-01 4.90980851e-02 1.08323440e+02] [-5.84339527e-01 8.11054965e-01 -2.71507198e-02 -4.50357252e+01] [-5.57025563e-02 -6.70885681e-03 9.98424868e-01 -7.69616362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.711052754 meters 0.04210989054003347 Centerline is valid? [True, True] Translation: X:108.35, Y:-45.05, Z:-7.70 [[ 8.10385429e-01 5.83874168e-01 4.86457882e-02 1.08349052e+02] [-5.83291951e-01 8.11817457e-01 -2.68871014e-02 -4.50495597e+01] [-5.51901840e-02 -6.58578152e-03 9.98454141e-01 -7.69871359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.741052754 meters 0.03891936890589325 Centerline is valid? [True, True] Translation: X:108.37, Y:-45.07, Z:-7.70 [[ 8.12436123e-01 5.81095080e-01 4.77080074e-02 1.08372262e+02] [-5.80531113e-01 8.13811416e-01 -2.63553771e-02 -4.50669817e+01] [-5.41403010e-02 -6.28392230e-03 9.98513565e-01 -7.70177780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.771052754 meters 0.036095864581266165 Centerline is valid? [True, True] Translation: X:108.40, Y:-45.08, Z:-7.70 [[ 8.14833845e-01 5.77758392e-01 4.73396844e-02 1.08396109e+02] [-5.77198246e-01 8.16185601e-01 -2.61390604e-02 -4.50839183e+01] [-5.37400303e-02 -6.02539170e-03 9.98536781e-01 -7.70474703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.801052754 meters 0.035514181924166804 Centerline is valid? [True, True] Translation: X:108.42, Y:-45.10, Z:-7.71 [[ 8.16603791e-01 5.75299954e-01 4.67783257e-02 1.08421702e+02] [-5.74749277e-01 8.17921973e-01 -2.58246848e-02 -4.50981952e+01] [-5.31179604e-02 -5.79727340e-03 9.98571417e-01 -7.70624411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831052754 meters 0.04001564380766378 Centerline is valid? [True, True] Translation: X:108.45, Y:-45.10, Z:-7.71 [[ 8.20221629e-01 5.70162322e-01 4.63832423e-02 1.08450421e+02] [-5.69613526e-01 8.21514122e-01 -2.55925429e-02 -4.51047822e+01] [-5.26963923e-02 -5.42896492e-03 9.98595822e-01 -7.70735297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86105275399999 meters 0.034072206899826894 Centerline is valid? [True, True] Translation: X:108.47, Y:-45.13, Z:-7.71 [[ 8.22122893e-01 5.67351384e-01 4.71842775e-02 1.08472293e+02] [-5.66779348e-01 8.23458452e-01 -2.60259393e-02 -4.51256395e+01] [-5.36201448e-02 -5.34655353e-03 9.98547092e-01 -7.70773481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89105275399999 meters 0.03794220845652513 Centerline is valid? [True, True] Translation: X:108.50, Y:-45.14, Z:-7.71 [[ 8.23994610e-01 5.64553854e-01 4.80814707e-02 1.08499332e+02] [-5.63955375e-01 8.25379435e-01 -2.65164798e-02 -4.51350810e+01] [-5.46554380e-02 -5.26636738e-03 9.98491386e-01 -7.70961557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92105275399999 meters 0.0294599008878832 Centerline is valid? [True, True] Translation: X:108.52, Y:-45.16, Z:-7.71 [[ 8.27204727e-01 5.59689461e-01 4.98000725e-02 1.08519612e+02] [-5.59039562e-01 8.28686517e-01 -2.74485993e-02 -4.51591824e+01] [-5.66313403e-02 -5.13459964e-03 9.98381955e-01 -7.70886168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.95105275399999 meters 0.03102790453833377 Centerline is valid? [True, True] Translation: X:108.55, Y:-45.17, Z:-7.71 [[ 8.30285624e-01 5.55023160e-01 5.07451828e-02 1.08545715e+02] [-5.54340666e-01 8.31820336e-01 -2.79527186e-02 -4.51692724e+01] [-5.77252812e-02 -4.92137799e-03 9.98320375e-01 -7.70893248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.98105275399999 meters 0.03156361845681009 Centerline is valid? [True, True] Translation: X:108.57, Y:-45.18, Z:-7.71 [[ 8.32020658e-01 5.52452956e-01 5.03721641e-02 1.08570795e+02] [-5.51776123e-01 8.33530756e-01 -2.77414597e-02 -4.51818143e+01] [-5.73125994e-02 -4.71268981e-03 9.98345159e-01 -7.71061197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.01105275399999 meters 0.028489130265123123 Centerline is valid? [True, True] Translation: X:108.59, Y:-45.20, Z:-7.71 [[ 8.34576672e-01 5.48619850e-01 4.99803876e-02 1.08594932e+02] [-5.47946921e-01 8.36060251e-01 -2.75214375e-02 -4.51986780e+01] [-5.68854223e-02 -4.41784974e-03 9.98370939e-01 -7.71339179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04105275399999 meters 0.029081585346295086 Centerline is valid? [True, True] Translation: X:108.62, Y:-45.21, Z:-7.72 [[ 8.34830917e-01 5.48261616e-01 4.96642783e-02 1.08619783e+02] [-5.47596953e-01 8.36295456e-01 -2.73402087e-02 -4.52108834e+01] [-5.65235973e-02 -4.37155600e-03 9.98391693e-01 -7.71600086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.071052754 meters 0.033358845696570785 Centerline is valid? [True, True] Translation: X:108.65, Y:-45.22, Z:-7.72 [[ 8.33176517e-01 5.50881243e-01 4.84432321e-02 1.08648861e+02] [-5.50253554e-01 8.34571824e-01 -2.66626332e-02 -4.52168219e+01] [-5.51173012e-02 -4.44138075e-03 9.98470008e-01 -7.71823605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.101052754 meters 0.028789887925437234 Centerline is valid? [True, True] Translation: X:108.67, Y:-45.23, Z:-7.72 [[ 8.31457029e-01 5.53497674e-01 4.81615429e-02 1.08672559e+02] [-5.52881760e-01 8.32838073e-01 -2.65047897e-02 -4.52332299e+01] [-5.47811061e-02 -4.59004488e-03 9.98487838e-01 -7.71838119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.131052754 meters 0.031220484432151543 Centerline is valid? [True, True] Translation: X:108.70, Y:-45.24, Z:-7.72 [[ 8.29276909e-01 5.56760705e-01 4.81386067e-02 1.08700097e+02] [-5.56151679e-01 8.30658968e-01 -2.64762078e-02 -4.52403738e+01] [-5.47276775e-02 -4.81625913e-03 9.98489702e-01 -7.71926267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.161052754 meters 0.03364217433086376 Centerline is valid? [True, True] Translation: X:108.73, Y:-45.25, Z:-7.72 [[ 8.25348207e-01 5.62577078e-01 4.80350792e-02 1.08729511e+02] [-5.61980575e-01 8.26728531e-01 -2.64153229e-02 -4.52470108e+01] [-5.45726257e-02 -5.19294204e-03 9.98496300e-01 -7.72051860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.191052754 meters 0.03498823083843361 Centerline is valid? [True, True] Translation: X:108.76, Y:-45.26, Z:-7.72 [[ 8.24169244e-01 5.64178486e-01 4.94741574e-02 1.08755607e+02] [-5.63549355e-01 8.25634733e-01 -2.71921416e-02 -4.52593710e+01] [-5.61888041e-02 -5.47020267e-03 9.98405176e-01 -7.72225195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22105275399998 meters 0.03364854303534726 Centerline is valid? [True, True] Translation: X:108.78, Y:-45.28, Z:-7.72 [[ 8.24883813e-01 5.63035950e-01 5.05689047e-02 1.08779616e+02] [-5.62377495e-01 8.26413930e-01 -2.77771459e-02 -4.52759348e+01] [-5.74303790e-02 -5.52589596e-03 9.98334221e-01 -7.72292479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25105275399999 meters 0.034055416343584465 Centerline is valid? [True, True] Translation: X:108.80, Y:-45.29, Z:-7.72 [[ 8.25036472e-01 5.62760919e-01 5.11367585e-02 1.08804346e+02] [-5.62087280e-01 8.26600933e-01 -2.80853692e-02 -4.52893330e+01] [-5.80750405e-02 -5.57186757e-03 9.98296671e-01 -7.72383037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28105275399999 meters 0.034195505288358664 Centerline is valid? [True, True] Translation: X:108.83, Y:-45.30, Z:-7.73 [[ 8.24927062e-01 5.62922606e-01 5.11222346e-02 1.08829215e+02] [-5.62250725e-01 8.26490662e-01 -2.80589959e-02 -4.53036157e+01] [-5.80470926e-02 -5.59688842e-03 9.98298157e-01 -7.72582526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31105275399999 meters 0.038796012375338945 Centerline is valid? [True, True] Translation: X:108.86, Y:-45.31, Z:-7.73 [[ 8.23296891e-01 5.65249903e-01 5.17182465e-02 1.08855403e+02] [-5.64567774e-01 8.24899034e-01 -2.83692117e-02 -4.53131509e+01] [-5.86980257e-02 -5.84217144e-03 9.98258689e-01 -7.72709379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34105275399999 meters 0.032075862077315616 Centerline is valid? [True, True] Translation: X:108.88, Y:-45.34, Z:-7.73 [[ 8.22046473e-01 5.66945575e-01 5.30312285e-02 1.08876020e+02] [-5.66232361e-01 8.23732500e-01 -2.90806143e-02 -4.53361782e+01] [-6.01706720e-02 -6.12238131e-03 9.98169328e-01 -7.72767125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37105275399999 meters 0.04024775561194083 Centerline is valid? [True, True] Translation: X:108.90, Y:-45.34, Z:-7.73 [[ 8.18206544e-01 5.72163722e-01 5.62736713e-02 1.08904366e+02] [-5.71373821e-01 8.20110237e-01 -3.08408247e-02 -4.53426058e+01] [-6.37966150e-02 -6.91913801e-03 9.97938935e-01 -7.72717631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40105275399999 meters 0.03906013461147778 Centerline is valid? [True, True] Translation: X:108.93, Y:-45.36, Z:-7.73 [[ 8.14329711e-01 5.77634389e-01 5.66183190e-02 1.08927600e+02] [-5.76848301e-01 8.16262068e-01 -3.10205402e-02 -4.53602407e+01] [-6.41339169e-02 -7.39923361e-03 9.97913870e-01 -7.72854777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43105275399999 meters 0.03572788686730017 Centerline is valid? [True, True] Translation: X:108.95, Y:-45.38, Z:-7.73 [[ 8.13195800e-01 5.79286705e-01 5.60312789e-02 1.08949647e+02] [-5.78521728e-01 8.15089686e-01 -3.06824783e-02 -4.53799627e+01] [-6.34444692e-02 -7.46444979e-03 9.97957455e-01 -7.73230442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.461052754 meters 0.04202971691361661 Centerline is valid? [True, True] Translation: X:108.98, Y:-45.39, Z:-7.74 [[ 8.12431484e-01 5.80524545e-01 5.42801721e-02 1.08976650e+02] [-5.79810361e-01 8.14209691e-01 -2.97073208e-02 -4.53888146e+01] [-6.14412710e-02 -7.33704343e-03 9.98083733e-01 -7.73628638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.491052754 meters 0.041428697848922696 Centerline is valid? [True, True] Translation: X:109.00, Y:-45.41, Z:-7.74 [[ 8.11923533e-01 5.81510200e-01 5.12451383e-02 1.08997945e+02] [-5.80875818e-01 8.13509008e-01 -2.80424413e-02 -4.54092426e+01] [-5.79953473e-02 -6.99874360e-03 9.98292321e-01 -7.74170059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.521052754 meters 0.042343074966141474 Centerline is valid? [True, True] Translation: X:109.02, Y:-45.42, Z:-7.74 [[ 8.12165194e-01 5.81215276e-01 5.07592517e-02 1.09020989e+02] [-5.80593161e-01 8.13720388e-01 -2.77616975e-02 -4.54241996e+01] [-5.74393606e-02 -6.92338989e-03 9.98324990e-01 -7.74461655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.551052754 meters 0.044343709025171416 Centerline is valid? [True, True] Translation: X:109.04, Y:-45.44, Z:-7.75 [[ 8.12857364e-01 5.80239391e-01 5.08444271e-02 1.09042200e+02] [-5.79614412e-01 8.14416904e-01 -2.77892050e-02 -4.54425769e+01] [-5.75329523e-02 -6.88150276e-03 9.98319891e-01 -7.74798595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581052754 meters 0.03878861315441481 Centerline is valid? [True, True] Translation: X:109.06, Y:-45.47, Z:-7.75 [[ 8.14033148e-01 5.78615206e-01 5.05418373e-02 1.09060734e+02] [-5.77994818e-01 8.15572899e-01 -2.76194815e-02 -4.54695235e+01] [-5.72016048e-02 -6.72974652e-03 9.98339966e-01 -7.74980325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61105275399999 meters 0.0408241443190181 Centerline is valid? [True, True] Translation: X:109.08, Y:-45.48, Z:-7.75 [[ 8.14767275e-01 5.77600644e-01 5.03168331e-02 1.09084813e+02] [-5.76984756e-01 8.16292465e-01 -2.74809742e-02 -4.54832926e+01] [-5.69462801e-02 -6.64144723e-03 9.98355153e-01 -7.75124753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64105275399999 meters 0.03621394254162584 Centerline is valid? [True, True] Translation: X:109.10, Y:-45.51, Z:-7.75 [[ 8.16306212e-01 5.75415492e-01 5.04101125e-02 1.09103522e+02] [-5.74793458e-01 8.17835378e-01 -2.75277321e-02 -4.55091201e+01] [-5.70670569e-02 -6.50434408e-03 9.98349160e-01 -7.75289874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67105275399999 meters 0.03842244154599532 Centerline is valid? [True, True] Translation: X:109.13, Y:-45.52, Z:-7.75 [[ 8.17051593e-01 5.74381044e-01 5.01309275e-02 1.09127429e+02] [-5.73764874e-01 8.18562970e-01 -2.73593374e-02 -4.55240014e+01] [-5.67500057e-02 -6.40937508e-03 9.98367846e-01 -7.75491759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70105275399999 meters 0.03716737304902909 Centerline is valid? [True, True] Translation: X:109.15, Y:-45.55, Z:-7.76 [[ 8.18428222e-01 5.72348076e-01 5.09207803e-02 1.09148140e+02] [-5.71708800e-01 8.19986020e-01 -2.77844347e-02 -4.55461858e+01] [-5.76566958e-02 -6.37229272e-03 9.98316132e-01 -7.75634251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.73105275399999 meters 0.03714379464114765 Centerline is valid? [True, True] Translation: X:109.17, Y:-45.56, Z:-7.76 [[ 8.19034807e-01 5.71463709e-01 5.11000366e-02 1.09171642e+02] [-5.70819162e-01 8.20602805e-01 -2.78661387e-02 -4.55628036e+01] [-5.78573203e-02 -6.34554251e-03 9.98304695e-01 -7.75691290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.76105275399999 meters 0.03942871964572591 Centerline is valid? [True, True] Translation: X:109.19, Y:-45.58, Z:-7.76 [[ 8.19248520e-01 5.71056149e-01 5.22181666e-02 1.09194488e+02] [-5.70382534e-01 8.20885590e-01 -2.84712688e-02 -4.55788374e+01] [-5.91238336e-02 -6.45928535e-03 9.98229758e-01 -7.75715632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79105275399999 meters 0.04094759682771518 Centerline is valid? [True, True] Translation: X:109.22, Y:-45.59, Z:-7.76 [[ 8.19396811e-01 5.70781899e-01 5.28856199e-02 1.09218191e+02] [-5.70090737e-01 8.21075771e-01 -2.88293149e-02 -4.55931611e+01] [-5.98783523e-02 -6.52695332e-03 9.98184343e-01 -7.75782812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.821052754 meters 0.04297532502944382 Centerline is valid? [True, True] Translation: X:109.24, Y:-45.61, Z:-7.76 [[ 8.18897392e-01 5.71286073e-01 5.51297004e-02 1.09240136e+02] [-5.70536492e-01 8.20722438e-01 -3.00464830e-02 -4.56106859e+01] [-6.24113194e-02 -6.84851929e-03 9.98027016e-01 -7.75762364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.851052754 meters 0.03457254302557984 Centerline is valid? [True, True] Translation: X:109.26, Y:-45.64, Z:-7.76 [[ 8.18384755e-01 5.71997501e-01 5.53647134e-02 1.09258481e+02] [-5.71243681e-01 8.20226005e-01 -3.01655118e-02 -4.56376668e+01] [-6.26661750e-02 -6.93974772e-03 9.98010416e-01 -7.75891658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.881052754 meters 0.036287728369185084 Centerline is valid? [True, True] Translation: X:109.28, Y:-45.66, Z:-7.76 [[ 8.16024451e-01 5.75375498e-01 5.52008236e-02 1.09282174e+02] [-5.74633949e-01 8.17857859e-01 -3.00723786e-02 -4.56552609e+01] [-6.24493372e-02 -7.18047094e-03 9.98022305e-01 -7.76044489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.911052754 meters 0.036954556922756336 Centerline is valid? [True, True] Translation: X:109.31, Y:-45.67, Z:-7.76 [[ 8.14239283e-01 5.77831151e-01 5.59066268e-02 1.09306998e+02] [-5.77076581e-01 8.16122162e-01 -3.04505436e-02 -4.56711715e+01] [-6.32219098e-02 -7.46837634e-03 9.97971549e-01 -7.76189008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.941052754 meters 0.04178340844606552 Centerline is valid? [True, True] Translation: X:109.33, Y:-45.69, Z:-7.76 [[ 8.10124039e-01 5.83482282e-01 5.69865628e-02 1.09331213e+02] [-5.82712940e-01 8.12085726e-01 -3.10226213e-02 -4.56859834e+01] [-6.43791241e-02 -8.07463630e-03 9.97892844e-01 -7.76303306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97105275399998 meters 0.04282041075164963 Centerline is valid? [True, True] Translation: X:109.35, Y:-45.71, Z:-7.77 [[ 8.07143377e-01 5.87559895e-01 5.73841392e-02 1.09353110e+02] [-5.86790127e-01 8.09136432e-01 -3.12342783e-02 -4.57065887e+01] [-6.47836070e-02 -8.46190552e-03 9.97863458e-01 -7.76599620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00105275399999 meters 0.03875837932074449 Centerline is valid? [True, True] Translation: X:109.37, Y:-45.73, Z:-7.77 [[ 8.06530237e-01 5.88376136e-01 5.76411260e-02 1.09373938e+02] [-5.87601933e-01 8.08541932e-01 -3.13673962e-02 -4.57292450e+01] [-6.50610948e-02 -8.57128358e-03 9.97844470e-01 -7.76883380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03105275399999 meters 0.045960925445943226 Centerline is valid? [True, True] Translation: X:109.40, Y:-45.74, Z:-7.77 [[ 8.06814821e-01 5.88031328e-01 5.71751867e-02 1.09400748e+02] [-5.87268997e-01 8.08793728e-01 -3.11099921e-02 -4.57374876e+01] [-6.45365823e-02 -8.47721183e-03 9.97879335e-01 -7.77109035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06105275399999 meters 0.03652620967621289 Centerline is valid? [True, True] Translation: X:109.42, Y:-45.77, Z:-7.77 [[ 8.09492133e-01 5.84385164e-01 5.67139126e-02 1.09416766e+02] [-5.83626714e-01 8.11435746e-01 -3.08527032e-02 -4.57689383e+01] [-6.40495580e-02 -8.12473395e-03 9.97913645e-01 -7.77264664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09105275399999 meters 0.03652620967621289 Centerline is valid? [True, True] Translation: X:109.44, Y:-45.78, Z:-7.77 [[ 8.09655653e-01 5.84157911e-01 5.67208778e-02 1.09440964e+02] [-5.83399795e-01 8.11599396e-01 -3.08398928e-02 -4.57820575e+01] [-6.40499976e-02 -8.12125489e-03 9.97913645e-01 -7.77442712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12105275399999 meters 0.03813451147098053 Centerline is valid? [True, True] Translation: X:109.46, Y:-45.80, Z:-7.78 [[ 8.11117422e-01 5.82092738e-01 5.70663856e-02 1.09464292e+02] [-5.81321680e-01 8.13082817e-01 -3.10070584e-02 -4.57973449e+01] [-6.44486810e-02 -8.02356189e-03 9.97888766e-01 -7.77630754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15105275399999 meters 0.041150070453163747 Centerline is valid? [True, True] Translation: X:109.49, Y:-45.82, Z:-7.78 [[ 8.13980840e-01 5.77869889e-01 5.91741865e-02 1.09486352e+02] [-5.77030197e-01 8.16089907e-01 -3.21467746e-02 -4.58166224e+01] [-6.68681094e-02 -7.97843396e-03 9.97729924e-01 -7.77990129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18105275399999 meters 0.036102997814058874 Centerline is valid? [True, True] Translation: X:109.51, Y:-45.84, Z:-7.78 [[ 8.15154953e-01 5.76205494e-01 5.92421511e-02 1.09505968e+02] [-5.75359987e-01 8.17267099e-01 -3.21772364e-02 -4.58412119e+01] [-6.69573614e-02 -7.85612969e-03 9.97724908e-01 -7.78292751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.211052754 meters 0.03730407381409157 Centerline is valid? [True, True] Translation: X:109.53, Y:-45.86, Z:-7.78 [[ 8.16789393e-01 5.73824024e-01 5.98421020e-02 1.09529131e+02] [-5.72956130e-01 8.18941935e-01 -3.24866086e-02 -4.58585979e+01] [-6.76488033e-02 -7.75218188e-03 9.97679078e-01 -7.78378898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.241052754 meters 0.03606785657339997 Centerline is valid? [True, True] Translation: X:109.55, Y:-45.87, Z:-7.78 [[ 8.17554399e-01 5.72758212e-01 5.96056639e-02 1.09553469e+02] [-5.71894781e-01 8.19688774e-01 -3.23523357e-02 -4.58747125e+01] [-6.73881595e-02 -7.63837366e-03 9.97697595e-01 -7.78321563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.271052754 meters 0.03618774137879027 Centerline is valid? [True, True] Translation: X:109.58, Y:-45.89, Z:-7.79 [[ 8.18356159e-01 5.71640208e-01 5.93352311e-02 1.09578655e+02] [-5.70782036e-01 8.20469978e-01 -3.22006662e-02 -4.58897270e+01] [-6.70899712e-02 -7.51587048e-03 9.97718621e-01 -7.78503679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.301052754 meters 0.037730733031382094 Centerline is valid? [True, True] Translation: X:109.60, Y:-45.91, Z:-7.79 [[ 8.21667310e-01 5.67075513e-01 5.73427765e-02 1.09600954e+02] [-5.66263474e-01 8.23636850e-01 -3.11129791e-02 -4.59072150e+01] [-6.48730324e-02 -6.90660198e-03 9.97869625e-01 -7.79110453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.331052754 meters 0.03021045284869784 Centerline is valid? [True, True] Translation: X:109.62, Y:-45.93, Z:-7.79 [[ 8.24383385e-01 5.63175452e-01 5.67929942e-02 1.09620209e+02] [-5.62370119e-01 8.26311466e-01 -3.08092682e-02 -4.59333173e+01] [-6.42797258e-02 -6.54003411e-03 9.97910489e-01 -7.79460356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36105275399999 meters 0.03770193041644924 Centerline is valid? [True, True] Translation: X:109.65, Y:-45.94, Z:-7.80 [[ 8.27196179e-01 5.59090824e-01 5.62488493e-02 1.09648906e+02] [-5.58292527e-01 8.29083419e-01 -3.04981610e-02 -4.59394563e+01] [-6.36862302e-02 -6.17535002e-03 9.97950865e-01 -7.79659373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39105275399999 meters 0.03107108293642095 Centerline is valid? [True, True] Translation: X:109.67, Y:-45.96, Z:-7.80 [[ 8.32311866e-01 5.51478840e-01 5.59289397e-02 1.09670653e+02] [-5.50672796e-01 8.34170335e-01 -3.03203612e-02 -4.59608086e+01] [-6.33753000e-02 -5.56254917e-03 9.97974263e-01 -7.79659868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42105275399999 meters 0.03453672621407505 Centerline is valid? [True, True] Translation: X:109.70, Y:-45.97, Z:-7.80 [[ 8.36139952e-01 5.45597606e-01 5.65086968e-02 1.09697918e+02] [-5.44761735e-01 8.38031318e-01 -3.06294402e-02 -4.59705682e+01] [-6.40674069e-02 -5.17327703e-03 9.97932164e-01 -7.79669791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.45105275399999 meters 0.027033995036012507 Centerline is valid? [True, True] Translation: X:109.72, Y:-45.99, Z:-7.80 [[ 8.37923144e-01 5.42778155e-01 5.72422785e-02 1.09718047e+02] [-5.41914220e-01 8.39861066e-01 -3.10220535e-02 -4.59942699e+01] [-6.49136540e-02 -5.02630812e-03 9.97878226e-01 -7.79889180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.48105275399999 meters 0.024333777566013192 Centerline is valid? [True, True] Translation: X:109.74, Y:-46.01, Z:-7.80 [[ 8.42061416e-01 5.36454364e-01 5.61185021e-02 1.09741220e+02] [-5.35611039e-01 8.43917539e-01 -3.03974032e-02 -4.60127703e+01] [-6.36662078e-02 -4.46120880e-03 9.97961278e-01 -7.80262284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.51105275399999 meters 0.03048912724315273 Centerline is valid? [True, True] Translation: X:109.77, Y:-46.02, Z:-7.81 [[ 8.44206543e-01 5.33165064e-01 5.52297637e-02 1.09770894e+02] [-5.32342236e-01 8.46001014e-01 -2.99002930e-02 -4.60184759e+01] [-6.26662277e-02 -4.15911288e-03 9.98025874e-01 -7.80530475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54105275399999 meters 0.02254689140004768 Centerline is valid? [True, True] Translation: X:109.79, Y:-46.04, Z:-7.81 [[ 8.46507919e-01 5.29511785e-01 5.51508218e-02 1.09792038e+02] [-5.28683847e-01 8.48293680e-01 -2.98533577e-02 -4.60410800e+01] [-6.25917983e-02 -3.88624490e-03 9.98031645e-01 -7.80655647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.571052754 meters 0.020588470791947137 Centerline is valid? [True, True] Translation: X:109.82, Y:-46.05, Z:-7.81 [[ 8.49980181e-01 5.23847988e-01 5.58298946e-02 1.09819553e+02] [-5.22987628e-01 8.51804513e-01 -3.02161088e-02 -4.60530802e+01] [-6.33848039e-02 -3.51525049e-03 9.97982971e-01 -7.80570088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.601052754 meters 0.02460747979751263 Centerline is valid? [True, True] Translation: X:109.85, Y:-46.06, Z:-7.81 [[ 8.50884918e-01 5.22264145e-01 5.68772383e-02 1.09847998e+02] [-5.21368611e-01 8.52776697e-01 -3.07681064e-02 -4.60586455e+01] [-6.45726622e-02 -3.47388908e-03 9.97906961e-01 -7.80626897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.631052754 meters 0.021320198761453475 Centerline is valid? [True, True] Translation: X:109.87, Y:-46.07, Z:-7.81 [[ 8.51120823e-01 5.21668966e-01 5.87778467e-02 1.09873605e+02] [-5.20711614e-01 8.53140602e-01 -3.17888277e-02 -4.60726576e+01] [-6.67290123e-02 -3.55017423e-03 9.97764820e-01 -7.80696337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.661052754 meters 0.023042619102792313 Centerline is valid? [True, True] Translation: X:109.90, Y:-46.08, Z:-7.81 [[ 8.49335898e-01 5.24650505e-01 5.80549721e-02 1.09903414e+02] [-5.23724674e-01 8.51309441e-01 -3.13799518e-02 -4.60775888e+01] [-6.58862534e-02 -3.75270180e-03 9.97820083e-01 -7.80937789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.691052754 meters 0.023525147184591783 Centerline is valid? [True, True] Translation: X:109.93, Y:-46.09, Z:-7.81 [[ 8.47915761e-01 5.26991901e-01 5.76055391e-02 1.09932161e+02] [-5.26086041e-01 8.49861320e-01 -3.11322043e-02 -4.60859386e+01] [-6.53631391e-02 -3.90798325e-03 9.97853891e-01 -7.81091297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72105275399998 meters 0.027481747132117578 Centerline is valid? [True, True] Translation: X:109.97, Y:-46.08, Z:-7.81 [[ 8.43218508e-01 5.34397192e-01 5.83282847e-02 1.09965901e+02] [-5.33486203e-01 8.45221290e-01 -3.15189053e-02 -4.60829611e+01] [-6.61439226e-02 -4.54001090e-03 9.97799764e-01 -7.80995037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75105275399999 meters 0.02929350055424246 Centerline is valid? [True, True] Translation: X:110.00, Y:-46.09, Z:-7.81 [[ 8.40017168e-01 5.39347278e-01 5.89548189e-02 1.09996032e+02] [-5.38428975e-01 8.42068674e-01 -3.18525944e-02 -4.60895043e+01] [-6.68236162e-02 -4.98625656e-03 9.97752345e-01 -7.81048162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78105275399999 meters 0.03451727334662875 Centerline is valid? [True, True] Translation: X:110.03, Y:-46.09, Z:-7.81 [[ 8.32720323e-01 5.50611986e-01 5.83378523e-02 1.10028264e+02] [-5.49740911e-01 8.34740907e-01 -3.15047595e-02 -4.60880455e+01] [-6.60438899e-02 -5.83605057e-03 9.97799652e-01 -7.81401545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.81105275399999 meters 0.03644893600944319 Centerline is valid? [True, True] Translation: X:110.06, Y:-46.10, Z:-7.82 [[ 8.29721682e-01 5.55261055e-01 5.69832524e-02 1.10057408e+02] [-5.54441255e-01 8.31653988e-01 -3.07658725e-02 -4.60962147e+01] [-6.44734399e-02 -6.06675447e-03 9.97900982e-01 -7.81726853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.84105275399999 meters 0.04072812077383425 Centerline is valid? [True, True] Translation: X:110.09, Y:-46.10, Z:-7.82 [[ 8.24884267e-01 5.62678945e-01 5.43907260e-02 1.10089251e+02] [-5.61948794e-01 8.26651101e-01 -2.93515135e-02 -4.60960328e+01] [-6.14776322e-02 -6.35320113e-03 9.98088241e-01 -7.82028552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.87105275399999 meters 0.042130186303085584 Centerline is valid? [True, True] Translation: X:110.12, Y:-46.10, Z:-7.82 [[ 8.23163645e-01 5.65253821e-01 5.37562222e-02 1.10118387e+02] [-5.64546416e-01 8.24891631e-01 -2.90024352e-02 -4.61033824e+01] [-6.07367952e-02 -6.47413231e-03 9.98132821e-01 -7.82140378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.90105275399999 meters 0.045106178392944084 Centerline is valid? [True, True] Translation: X:110.15, Y:-46.11, Z:-7.82 [[ 8.20801605e-01 5.68635161e-01 5.42105034e-02 1.10149132e+02] [-5.67923902e-01 8.22561793e-01 -2.92324808e-02 -4.61062707e+01] [-6.12141053e-02 -6.79337350e-03 9.98101540e-01 -7.82166513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93105275399999 meters 0.036854814327786874 Centerline is valid? [True, True] Translation: X:110.17, Y:-46.13, Z:-7.82 [[ 8.20362406e-01 5.69257859e-01 5.43232135e-02 1.10170947e+02] [-5.68545254e-01 8.22130440e-01 -2.92887961e-02 -4.61284311e+01] [-6.13336448e-02 -6.85777798e-03 9.98093761e-01 -7.82353061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.961052754 meters 0.047190126779837104 Centerline is valid? [True, True] Translation: X:110.20, Y:-46.13, Z:-7.83 [[ 8.20888304e-01 5.68621549e-01 5.30275928e-02 1.10201616e+02] [-5.67942093e-01 8.22572302e-01 -2.85759828e-02 -4.61297323e+01] [-5.98679487e-02 -6.65891193e-03 9.98184095e-01 -7.82951940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.991052754 meters 0.047602371772672236 Centerline is valid? [True, True] Translation: X:110.23, Y:-46.14, Z:-7.83 [[ 8.21740148e-01 5.67462131e-01 5.22480585e-02 1.10227241e+02] [-5.66800497e-01 8.23373986e-01 -2.81509517e-02 -4.61434520e+01] [-5.89942912e-02 -6.48145825e-03 9.98237279e-01 -7.83287145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.021052754 meters 0.03540824197224511 Centerline is valid? [True, True] Translation: X:110.25, Y:-46.17, Z:-7.83 [[ 8.24464288e-01 5.63455371e-01 5.26942361e-02 1.10245683e+02] [-5.62775180e-01 8.26122790e-01 -2.83766325e-02 -4.61713166e+01] [-5.95208753e-02 -6.25948807e-03 9.98207435e-01 -7.83258079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.051052754 meters 0.03382881773897354 Centerline is valid? [True, True] Translation: X:110.27, Y:-46.19, Z:-7.83 [[ 8.29390415e-01 5.56003632e-01 5.45114688e-02 1.10270055e+02] [-5.55260118e-01 8.31158734e-01 -2.93489538e-02 -4.61878396e+01] [-6.16258083e-02 -5.92630364e-03 9.98081729e-01 -7.83176642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.081052754 meters 0.04390016155622993 Centerline is valid? [True, True] Translation: X:110.30, Y:-46.19, Z:-7.83 [[ 8.32745058e-01 5.50995611e-01 5.42172064e-02 1.10300186e+02] [-5.50249836e-01 8.34489829e-01 -2.91863317e-02 -4.61914269e+01] [-6.13252480e-02 -5.52823547e-03 9.98102526e-01 -7.83392098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11105275399999 meters 0.04244892924740067 Centerline is valid? [True, True] Translation: X:110.32, Y:-46.21, Z:-7.84 [[ 8.36097438e-01 5.45908290e-01 5.40852469e-02 1.10322509e+02] [-5.45155875e-01 8.37829135e-01 -2.91103471e-02 -4.62094549e+01] [-6.12057754e-02 -5.14580350e-03 9.98111904e-01 -7.83702242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14105275399999 meters 0.026530138190174732 Centerline is valid? [True, True] Translation: X:110.33, Y:-46.25, Z:-7.84 [[ 8.43183306e-01 5.34859595e-01 5.44713366e-02 1.10334833e+02] [-5.34073621e-01 8.44929627e-01 -2.93136939e-02 -4.62476569e+01] [-6.17031566e-02 -4.37488664e-03 9.98084957e-01 -7.83953656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17105275399999 meters 0.02374023274832269 Centerline is valid? [True, True] Translation: X:110.36, Y:-46.27, Z:-7.84 [[ 8.46526435e-01 5.29474584e-01 5.52237157e-02 1.10357967e+02] [-5.28656291e-01 8.48316133e-01 -2.97029314e-02 -4.62665225e+01] [-6.25741162e-02 -4.05004808e-03 9.98032102e-01 -7.84034069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.20105275399999 meters 0.020728025689963146 Centerline is valid? [True, True] Translation: X:110.38, Y:-46.29, Z:-7.84 [[ 8.52217146e-01 5.20078085e-01 5.69624656e-02 1.10381900e+02] [-5.19187457e-01 8.54111638e-01 -3.06217858e-02 -4.62850230e+01] [-6.45780245e-02 -3.47778677e-03 9.97906601e-01 -7.83878202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.23105275399999 meters 0.022326234999459262 Centerline is valid? [True, True] Translation: X:110.41, Y:-46.30, Z:-7.84 [[ 8.54211320e-01 5.16752126e-01 5.73608053e-02 1.10408063e+02] [-5.15842531e-01 8.56128845e-01 -3.08201894e-02 -4.62968660e+01] [-6.50346383e-02 -3.26218830e-03 9.97877675e-01 -7.83956546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.26105275399999 meters 0.0211519345599319 Centerline is valid? [True, True] Translation: X:110.43, Y:-46.31, Z:-7.84 [[ 8.56735526e-01 5.12636532e-01 5.66394320e-02 1.10432424e+02] [-5.11740998e-01 8.58600771e-01 -3.04280696e-02 -4.63133825e+01] [-6.42292000e-02 -2.91591123e-03 9.97930913e-01 -7.84295475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29105275399999 meters 0.01839358344170828 Centerline is valid? [True, True] Translation: X:110.46, Y:-46.33, Z:-7.85 [[ 8.57853985e-01 5.10986835e-01 5.45801726e-02 1.10456522e+02] [-5.10152840e-01 8.59584289e-01 -2.93075012e-02 -4.63298903e+01] [-6.18920062e-02 -2.70267332e-03 9.98079193e-01 -7.84752807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.321052754 meters 0.018218440920466095 Centerline is valid? [True, True] Translation: X:110.48, Y:-46.34, Z:-7.85 [[ 8.57934448e-01 5.10939395e-01 5.37532972e-02 1.10482513e+02] [-5.10131353e-01 8.59612586e-01 -2.88479766e-02 -4.63418511e+01] [-6.09465785e-02 -2.67156934e-03 9.98137454e-01 -7.84944957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.351052754 meters 0.018654427638711293 Centerline is valid? [True, True] Translation: X:110.51, Y:-46.35, Z:-7.85 [[ 8.57900872e-01 5.11035687e-01 5.33724690e-02 1.10509189e+02] [-5.10240272e-01 8.59555337e-01 -2.86267027e-02 -4.63520245e+01] [-6.05058572e-02 -2.67390988e-03 9.98164261e-01 -7.85092558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.381052754 meters 0.022977698874542946 Centerline is valid? [True, True] Translation: X:110.54, Y:-46.35, Z:-7.85 [[ 8.58372015e-01 5.10259417e-01 5.32241622e-02 1.10539878e+02] [-5.09467990e-01 8.60016527e-01 -2.85296413e-02 -4.63537473e+01] [-6.03311773e-02 -2.62696130e-03 9.98174959e-01 -7.85295171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.411052754 meters 0.019155813221095688 Centerline is valid? [True, True] Translation: X:110.56, Y:-46.37, Z:-7.86 [[ 8.58946899e-01 5.09189150e-01 5.41907186e-02 1.10564368e+02] [-5.08366921e-01 8.60650703e-01 -2.90420503e-02 -4.63678564e+01] [-6.14271770e-02 -2.60318973e-03 9.98108173e-01 -7.85555362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.441052754 meters 0.018958051845996745 Centerline is valid? [True, True] Translation: X:110.59, Y:-46.38, Z:-7.86 [[ 8.59435431e-01 5.08401529e-01 5.38388831e-02 1.10590333e+02] [-5.07589426e-01 8.61116375e-01 -2.88368548e-02 -4.63791700e+01] [-6.10222449e-02 -2.54463309e-03 9.98133163e-01 -7.85832344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47105275399998 meters 0.01920564856058497 Centerline is valid? [True, True] Translation: X:110.62, Y:-46.39, Z:-7.86 [[ 8.60218124e-01 5.07127451e-01 5.33528548e-02 1.10618735e+02] [-5.06328538e-01 8.61867601e-01 -2.85595840e-02 -4.63850673e+01] [-6.04664460e-02 -2.44660111e-03 9.98167232e-01 -7.86035894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50105275399999 meters 0.017504235241793824 Centerline is valid? [True, True] Translation: X:110.65, Y:-46.40, Z:-7.86 [[ 8.60470529e-01 5.06621149e-01 5.40877130e-02 1.10645209e+02] [-5.05799582e-01 8.62165298e-01 -2.89444749e-02 -4.63960540e+01] [-6.12964323e-02 -2.45167503e-03 9.98116595e-01 -7.86016997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53105275399999 meters 0.018152756237915155 Centerline is valid? [True, True] Translation: X:110.68, Y:-46.40, Z:-7.86 [[ 8.59717844e-01 5.07761293e-01 5.53506905e-02 1.10675146e+02] [-5.06904373e-01 8.61493858e-01 -2.96021692e-02 -4.63993250e+01] [-6.27151157e-02 -2.60799399e-03 9.98028062e-01 -7.85912076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.56105275399999 meters 0.017884026756277354 Centerline is valid? [True, True] Translation: X:110.70, Y:-46.41, Z:-7.86 [[ 8.58834751e-01 5.09252474e-01 5.53605327e-02 1.10701841e+02] [-5.08398925e-01 8.60612857e-01 -2.95980197e-02 -4.64091259e+01] [-6.27168510e-02 -2.72542742e-03 9.98027639e-01 -7.86112604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.59105275399999 meters 0.020866010648484895 Centerline is valid? [True, True] Translation: X:110.73, Y:-46.41, Z:-7.86 [[ 8.55330233e-01 5.15097435e-01 5.55411994e-02 1.10731882e+02] [-5.14250928e-01 8.57125773e-01 -2.96882424e-02 -4.64119819e+01] [-6.28981309e-02 -3.16886206e-03 9.98014921e-01 -7.86443089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.62105275399999 meters 0.02219987262546391 Centerline is valid? [True, True] Translation: X:110.76, Y:-46.42, Z:-7.87 [[ 8.53277920e-01 5.18497618e-01 5.54708192e-02 1.10760846e+02] [-5.17660736e-01 8.55072235e-01 -2.96451680e-02 -4.64204654e+01] [-6.28025063e-02 -3.41949777e-03 9.98020116e-01 -7.86620434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.65105275399999 meters 0.02299140792446523 Centerline is valid? [True, True] Translation: X:110.79, Y:-46.42, Z:-7.87 [[ 8.48554983e-01 5.26235567e-01 5.50505931e-02 1.10791497e+02] [-5.25428312e-01 8.50329554e-01 -2.94064534e-02 -4.64243628e+01] [-6.22858679e-02 -3.97214765e-03 9.98050446e-01 -7.86662990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68105275399999 meters 0.027376296105887012 Centerline is valid? [True, True] Translation: X:110.82, Y:-46.43, Z:-7.87 [[ 8.46357972e-01 5.29760175e-01 5.50666953e-02 1.10821596e+02] [-5.28960853e-01 8.48136856e-01 -2.93987928e-02 -4.64278578e+01] [-6.22784034e-02 -4.24622343e-03 9.98049783e-01 -7.86789502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.711052754 meters 0.027835332397317423 Centerline is valid? [True, True] Translation: X:110.85, Y:-46.44, Z:-7.87 [[ 8.42275524e-01 5.36310020e-01 5.42540749e-02 1.10850074e+02] [-5.35547824e-01 8.44008187e-01 -2.89604762e-02 -4.64353039e+01] [-6.13226770e-02 -4.66295151e-03 9.98107102e-01 -7.87099053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.741052754 meters 0.02844304514310559 Centerline is valid? [True, True] Translation: X:110.88, Y:-46.45, Z:-7.87 [[ 8.40477007e-01 5.39227788e-01 5.32145981e-02 1.10877314e+02] [-5.38500681e-01 8.42146352e-01 -2.83996276e-02 -4.64467831e+01] [-6.01283480e-02 -4.78686330e-03 9.98179176e-01 -7.87387524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.771052754 meters 0.030671245622179856 Centerline is valid? [True, True] Translation: X:110.91, Y:-46.45, Z:-7.88 [[ 8.37867404e-01 5.43452906e-01 5.13532147e-02 1.10906287e+02] [-5.42784472e-01 8.39425222e-01 -2.73918639e-02 -4.64544746e+01] [-5.79933717e-02 -4.92297762e-03 9.98304830e-01 -7.87731483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.801052754 meters 0.031954885937481504 Centerline is valid? [True, True] Translation: X:110.93, Y:-46.46, Z:-7.88 [[ 8.36804670e-01 5.45092262e-01 5.13066274e-02 1.10933467e+02] [-5.44428901e-01 8.38360893e-01 -2.73529611e-02 -4.64645346e+01] [-5.79233574e-02 -5.04372514e-03 9.98308292e-01 -7.87927331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.831052754 meters 0.03434439106205265 Centerline is valid? [True, True] Translation: X:110.96, Y:-46.47, Z:-7.88 [[ 8.35243081e-01 5.47564537e-01 5.04189799e-02 1.10961495e+02] [-5.46929158e-01 8.36747693e-01 -2.68662224e-02 -4.64719148e+01] [-5.68989557e-02 -5.13578385e-03 9.98366733e-01 -7.88065570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86105275399999 meters 0.03523237743760807 Centerline is valid? [True, True] Translation: X:110.99, Y:-46.48, Z:-7.88 [[ 8.35324218e-01 5.47372126e-01 5.11586425e-02 1.10986927e+02] [-5.46717796e-01 8.36873172e-01 -2.72570182e-02 -4.64835541e+01] [-5.77330275e-02 -5.20089291e-03 9.98318510e-01 -7.88403593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89105275399999 meters 0.032931596708389584 Centerline is valid? [True, True] Translation: X:111.01, Y:-46.50, Z:-7.89 [[ 8.35827370e-01 5.46571278e-01 5.15018940e-02 1.11010545e+02] [-5.45907686e-01 8.37396469e-01 -2.74217554e-02 -4.65008545e+01] [-5.81154481e-02 -5.19542607e-03 9.98296350e-01 -7.88699761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92105275399999 meters 0.03174282556033954 Centerline is valid? [True, True] Translation: X:111.03, Y:-46.52, Z:-7.89 [[ 8.36536843e-01 5.45467385e-01 5.16860086e-02 1.11034503e+02] [-5.44797868e-01 8.38116226e-01 -2.75041033e-02 -4.65164377e+01] [-5.83214738e-02 -5.15023155e-03 9.98284569e-01 -7.88954101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.95105275399999 meters 0.03551433397601248 Centerline is valid? [True, True] Translation: X:111.06, Y:-46.52, Z:-7.89 [[ 8.38681083e-01 5.42108510e-01 5.22724064e-02 1.11062135e+02] [-5.41417452e-01 8.40293764e-01 -2.78124734e-02 -4.65247027e+01] [-5.90015557e-02 -4.97539775e-03 9.98245492e-01 -7.89145909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.98105275399999 meters 0.03551433397601248 Centerline is valid? [True, True] Translation: X:111.09, Y:-46.54, Z:-7.89 [[ 8.38823513e-01 5.41887486e-01 5.22787390e-02 1.11086341e+02] [-5.41196738e-01 8.40436327e-01 -2.78005648e-02 -4.65375000e+01] [-5.90017295e-02 -4.97331560e-03 9.98245492e-01 -7.89323204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.01105275399999 meters 0.028884307168271423 Centerline is valid? [True, True] Translation: X:111.11, Y:-46.56, Z:-7.89 [[ 8.40081316e-01 5.39861840e-01 5.30337328e-02 1.11108007e+02] [-5.39148085e-01 8.41739284e-01 -2.81836914e-02 -4.65586268e+01] [-5.98558758e-02 -4.91644290e-03 9.98194922e-01 -7.89305371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04105275399999 meters 0.029365537868985863 Centerline is valid? [True, True] Translation: X:111.13, Y:-46.57, Z:-7.89 [[ 8.42315352e-01 5.36246856e-01 5.42600858e-02 1.11133230e+02] [-5.35493249e-01 8.44047658e-01 -2.88189430e-02 -4.65705509e+01] [-6.12521659e-02 -4.78127143e-03 9.98110871e-01 -7.89205076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.071052754 meters 0.03170642803765938 Centerline is valid? [True, True] Translation: X:111.16, Y:-46.58, Z:-7.89 [[ 8.43157300e-01 5.34978750e-01 5.36982637e-02 1.11159643e+02] [-5.34238449e-01 8.44852746e-01 -2.85152133e-02 -4.65811035e+01] [-6.06221587e-02 -4.64486686e-03 9.98149978e-01 -7.89359529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.101052754 meters 0.028493646983039203 Centerline is valid? [True, True] Translation: X:111.18, Y:-46.60, Z:-7.90 [[ 8.44830030e-01 5.32419796e-01 5.28335239e-02 1.11182312e+02] [-5.31698408e-01 8.46469061e-01 -2.80523033e-02 -4.65999975e+01] [-5.96575450e-02 -4.39207232e-03 9.98209240e-01 -7.89837862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.131052754 meters 0.02598107331453408 Centerline is valid? [True, True] Translation: X:111.21, Y:-46.62, Z:-7.90 [[ 8.46991740e-01 5.29110580e-01 5.14488801e-02 1.11206081e+02] [-5.28421277e-01 8.48543163e-01 -2.73030030e-02 -4.66162439e+01] [-5.81029032e-02 -4.06126492e-03 9.98302338e-01 -7.90210623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.161052754 meters 0.025122664012753718 Centerline is valid? [True, True] Translation: X:111.23, Y:-46.63, Z:-7.90 [[ 8.47944719e-01 5.27571900e-01 5.15523326e-02 1.11231640e+02] [-5.26877862e-01 8.49501076e-01 -2.73430140e-02 -4.66301445e+01] [-5.82191678e-02 -3.97641845e-03 9.98295906e-01 -7.90390873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.191052754 meters 0.03348224586900841 Centerline is valid? [True, True] Translation: X:111.26, Y:-46.63, Z:-7.91 [[ 8.49504836e-01 5.25042152e-01 5.16940275e-02 1.11262017e+02] [-5.24340568e-01 8.51067619e-01 -2.74021287e-02 -4.66331391e+01] [-5.83823856e-02 -3.82703494e-03 9.98286958e-01 -7.90611332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22105275399998 meters 0.02374161750373882 Centerline is valid? [True, True] Translation: X:111.28, Y:-46.66, Z:-7.91 [[ 8.50534207e-01 5.23347291e-01 5.19535979e-02 1.11281210e+02] [-5.22635704e-01 8.52111309e-01 -2.75361229e-02 -4.66592313e+01] [-5.86812036e-02 -3.73239077e-03 9.98269796e-01 -7.90680385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25105275399999 meters 0.020867956300589827 Centerline is valid? [True, True] Translation: X:111.30, Y:-46.68, Z:-7.91 [[ 8.52559801e-01 5.20003919e-01 5.23231266e-02 1.11304405e+02] [-5.19276797e-01 8.54156538e-01 -2.77167060e-02 -4.66772381e+01] [-5.91049364e-02 -3.54003624e-03 9.98245498e-01 -7.90803255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28105275399999 meters 0.03277641326654081 Centerline is valid? [True, True] Translation: X:111.34, Y:-46.68, Z:-7.91 [[ 8.53864659e-01 5.17894663e-01 5.19640562e-02 1.11337486e+02] [-5.17174567e-01 8.55437702e-01 -2.75100817e-02 -4.66753421e+01] [-5.86993373e-02 -3.38460177e-03 9.98269970e-01 -7.91071470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.31105275399999 meters 0.0263025071715864 Centerline is valid? [True, True] Translation: X:111.36, Y:-46.70, Z:-7.91 [[ 8.57530189e-01 5.11958082e-01 5.04073155e-02 1.11359754e+02] [-5.11270473e-01 8.59005567e-01 -2.66821892e-02 -4.66953944e+01] [-5.69603270e-02 -2.89098931e-03 9.98372257e-01 -7.91104290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.34105275399999 meters 0.01844638829247689 Centerline is valid? [True, True] Translation: X:111.38, Y:-46.72, Z:-7.91 [[ 8.59682563e-01 5.08347507e-01 5.02862196e-02 1.11380799e+02] [-5.07657380e-01 8.61147948e-01 -2.66119530e-02 -4.67189446e+01] [-5.68319948e-02 -2.65033851e-03 9.98380238e-01 -7.91099115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.37105275399999 meters 0.017454675783746217 Centerline is valid? [True, True] Translation: X:111.40, Y:-46.74, Z:-7.91 [[ 8.63821059e-01 5.01197367e-01 5.11309851e-02 1.11403553e+02] [-5.00471670e-01 8.65330149e-01 -2.70525632e-02 -4.67355562e+01] [-5.78038564e-02 -2.22103563e-03 9.98325489e-01 -7.91424428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.40105275399999 meters 0.01618018742913765 Centerline is valid? [True, True] Translation: X:111.43, Y:-46.75, Z:-7.92 [[ 8.65923222e-01 4.97501852e-01 5.16612069e-02 1.11427742e+02] [-4.96754722e-01 8.67460611e-01 -2.73282742e-02 -4.67522131e+01] [-5.84099291e-02 -1.99876122e-03 9.98290682e-01 -7.91667763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43105275399999 meters 0.013750976112973308 Centerline is valid? [True, True] Translation: X:111.45, Y:-46.77, Z:-7.92 [[ 8.70233085e-01 4.89946673e-01 5.14454579e-02 1.11451851e+02] [-4.89192826e-01 8.71751136e-01 -2.72091347e-02 -4.67685935e+01] [-5.81786614e-02 -1.48845971e-03 9.98305078e-01 -7.91781943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.461052754 meters 0.012818549225851461 Centerline is valid? [True, True] Translation: X:111.48, Y:-46.78, Z:-7.92 [[ 8.74060545e-01 4.83220536e-01 5.01605131e-02 1.11477732e+02] [-4.82493673e-01 8.75498063e-01 -2.65140888e-02 -4.67803985e+01] [-5.67275842e-02 -1.02721130e-03 9.98389166e-01 -7.91902252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.491052754 meters 0.01238488672041123 Centerline is valid? [True, True] Translation: X:111.50, Y:-46.79, Z:-7.92 [[ 8.75798460e-01 4.80143061e-01 4.93933075e-02 1.11502784e+02] [-4.79433596e-01 8.77189815e-01 -2.61047201e-02 -4.67927440e+01] [-5.58613065e-02 -8.18337418e-04 9.98438203e-01 -7.92083679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.521052754 meters 0.01164700822589543 Centerline is valid? [True, True] Translation: X:111.53, Y:-46.81, Z:-7.92 [[ 8.77294038e-01 4.77415342e-01 4.92926132e-02 1.11527643e+02] [-4.76704677e-01 8.78677514e-01 -2.60476065e-02 -4.68065507e+01] [-5.57478378e-02 -6.46609405e-04 9.98444671e-01 -7.92160290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.551052754 meters 0.011145054387330114 Centerline is valid? [True, True] Translation: X:111.55, Y:-46.82, Z:-7.92 [[ 8.79717120e-01 4.72864119e-01 4.99731369e-02 1.11553141e+02] [-4.72127325e-01 8.81135280e-01 -2.63895342e-02 -4.68176994e+01] [-5.65117578e-02 -3.78358396e-04 9.98401862e-01 -7.92368816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.581052754 meters 0.010977822766243107 Centerline is valid? [True, True] Translation: X:111.58, Y:-46.83, Z:-7.93 [[ 8.80551163e-01 4.71303853e-01 5.00232630e-02 1.11578720e+02] [-4.70563286e-01 8.81970861e-01 -2.64120335e-02 -4.68296183e+01] [-5.65671535e-02 -2.81964139e-04 9.98398757e-01 -7.92521627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61105275399999 meters 0.010871097198980278 Centerline is valid? [True, True] Translation: X:111.61, Y:-46.84, Z:-7.93 [[ 8.81013370e-01 4.70417407e-01 5.02285278e-02 1.11606292e+02] [-4.69670442e-01 8.82443995e-01 -2.65004248e-02 -4.68367342e+01] [-5.67901239e-02 -2.43626285e-04 9.98386109e-01 -7.92742847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64105275399999 meters 0.010568202303584526 Centerline is valid? [True, True] Translation: X:111.63, Y:-46.85, Z:-7.93 [[ 8.83187100e-01 4.66147740e-01 5.18346549e-02 1.11631360e+02] [-4.65345128e-01 8.84706891e-01 -2.73427863e-02 -4.68499708e+01] [-5.86042545e-02 2.77920262e-05 9.98281293e-01 -7.92811287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67105275399999 meters 0.010691956694545451 Centerline is valid? [True, True] Translation: X:111.66, Y:-46.86, Z:-7.93 [[ 8.83318476e-01 4.65840040e-01 5.23595934e-02 1.11656051e+02] [-4.65021563e-01 8.84868948e-01 -2.76023519e-02 -4.68610469e+01] [-5.91896591e-02 3.33274094e-05 9.98246755e-01 -7.92997971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.70105275399999 meters 0.010618911657173092 Centerline is valid? [True, True] Translation: X:111.68, Y:-46.87, Z:-7.93 [[ 8.83057198e-01 4.66293321e-01 5.27306707e-02 1.11681817e+02] [-4.65464442e-01 8.84630170e-01 -2.77905588e-02 -4.68724534e+01] [-5.96056942e-02 -3.59927107e-06 9.98222000e-01 -7.93125415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.73105275399999 meters 0.010559382449514442 Centerline is valid? [True, True] Translation: X:111.71, Y:-46.88, Z:-7.93 [[ 8.82266059e-01 4.67605995e-01 5.43252682e-02 1.11707545e+02] [-4.66729900e-01 8.83937001e-01 -2.86108252e-02 -4.68843464e+01] [-6.13987080e-02 -1.12867036e-04 9.98113313e-01 -7.93014245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.76105275399999 meters 0.010724358331705054 Centerline is valid? [True, True] Translation: X:111.73, Y:-46.90, Z:-7.93 [[ 8.81201332e-01 4.69589680e-01 5.44953702e-02 1.11733441e+02] [-4.68713081e-01 8.82884738e-01 -2.86807885e-02 -4.68958305e+01] [-6.15813329e-02 -2.69143783e-04 9.98102032e-01 -7.93106355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79105275399999 meters 0.011507693092779452 Centerline is valid? [True, True] Translation: X:111.76, Y:-46.91, Z:-7.93 [[ 8.77911634e-01 4.75585585e-01 5.55834093e-02 1.11758955e+02] [-4.74686686e-01 8.79669162e-01 -2.92355092e-02 -4.69064406e+01] [-6.27989979e-02 -7.18510678e-04 9.98025936e-01 -7.93165536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.821052754 meters 0.0127540033563156 Centerline is valid? [True, True] Translation: X:111.79, Y:-46.92, Z:-7.93 [[ 8.75110745e-01 4.80702422e-01 5.57347811e-02 1.11785878e+02] [-4.79809322e-01 8.76883108e-01 -2.93091862e-02 -4.69180652e+01] [-6.29618849e-02 -1.09328382e-03 9.98015333e-01 -7.93302950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.851052754 meters 0.0173027139321088 Centerline is valid? [True, True] Translation: X:111.81, Y:-46.92, Z:-7.94 [[ 8.67437342e-01 4.94428122e-01 5.56173508e-02 1.11813678e+02] [-4.93567699e-01 8.69215995e-01 -2.92315211e-02 -4.69247521e+01] [-6.27963769e-02 -2.09441484e-03 9.98024162e-01 -7.93508356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.881052754 meters 0.020527280157942324 Centerline is valid? [True, True] Translation: X:111.84, Y:-46.94, Z:-7.94 [[ 8.59515704e-01 5.08158941e-01 5.48383518e-02 1.11840049e+02] [-5.07350514e-01 8.61257891e-01 -2.88149421e-02 -4.69361110e+01] [-6.18725337e-02 -3.05537075e-03 9.98079383e-01 -7.93833674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.911052754 meters 0.02181454513766867 Centerline is valid? [True, True] Translation: X:111.87, Y:-46.95, Z:-7.94 [[ 8.56231776e-01 5.13709188e-01 5.44978496e-02 1.11865283e+02] [-5.12922173e-01 8.57957490e-01 -2.86319891e-02 -4.69500999e+01] [-6.14653541e-02 -3.43753658e-03 9.98103298e-01 -7.94153834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.941052754 meters 0.02439237485824607 Centerline is valid? [True, True] Translation: X:111.89, Y:-46.96, Z:-7.94 [[ 8.50291548e-01 5.23589613e-01 5.34621517e-02 1.11891401e+02] [-5.22851764e-01 8.51960871e-01 -2.80839169e-02 -4.69627822e+01] [-6.02521085e-02 -4.07326322e-03 9.98174880e-01 -7.94314074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97105275399998 meters 0.024657035683644465 Centerline is valid? [True, True] Translation: X:111.92, Y:-46.98, Z:-7.94 [[ 8.48113572e-01 5.27106408e-01 5.34995706e-02 1.11916521e+02] [-5.26374834e-01 8.49788253e-01 -2.80973112e-02 -4.69768287e+01] [-6.02735795e-02 -4.33111664e-03 9.98172499e-01 -7.94395544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00105275399999 meters 0.025868193437336852 Centerline is valid? [True, True] Translation: X:111.94, Y:-46.99, Z:-7.95 [[ 8.46130032e-01 5.30321954e-01 5.31280881e-02 1.11940799e+02] [-5.29607054e-01 8.47784222e-01 -2.78976928e-02 -4.69931960e+01] [-5.98359138e-02 -4.53193450e-03 9.98197939e-01 -7.94627540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03105275399999 meters 0.02713297503297312 Centerline is valid? [True, True] Translation: X:111.96, Y:-47.01, Z:-7.95 [[ 8.45920796e-01 5.30735699e-01 5.23223188e-02 1.11963880e+02] [-5.30043448e-01 8.47525456e-01 -2.74689818e-02 -4.70075145e+01] [-5.89232663e-02 -4.49651933e-03 9.98252388e-01 -7.94906668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.06105275399999 meters 0.027418536715003546 Centerline is valid? [True, True] Translation: X:111.99, Y:-47.03, Z:-7.95 [[ 8.46384026e-01 5.30192475e-01 5.02993009e-02 1.11985761e+02] [-5.29552091e-01 8.47866460e-01 -2.64016863e-02 -4.70263638e+01] [-5.66450656e-02 -4.29013442e-03 9.98385162e-01 -7.95311590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.09105275399999 meters 0.027951332312794296 Centerline is valid? [True, True] Translation: X:112.01, Y:-47.04, Z:-7.96 [[ 8.46982622e-01 5.29352566e-01 4.90540423e-02 1.12010233e+02] [-5.28742926e-01 8.48391838e-01 -2.57333745e-02 -4.70412599e+01] [-5.52390770e-02 -4.14125685e-03 9.98464568e-01 -7.95601538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.12105275399999 meters 0.02648303522981249 Centerline is valid? [True, True] Translation: X:112.03, Y:-47.06, Z:-7.96 [[ 8.48700159e-01 5.26691135e-01 4.80050887e-02 1.12032184e+02] [-5.26103950e-01 8.50047801e-01 -2.51668186e-02 -4.70610516e+01] [-5.40617604e-02 -3.89658392e-03 9.98529991e-01 -7.95797309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.15105275399999 meters 0.026886515123494405 Centerline is valid? [True, True] Translation: X:112.06, Y:-47.08, Z:-7.96 [[ 8.49827492e-01 5.24889895e-01 4.77894481e-02 1.12055822e+02] [-5.24305371e-01 8.51161792e-01 -2.50495779e-02 -4.70766747e+01] [-5.38248226e-02 -3.76844429e-03 9.98543283e-01 -7.95997754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18105275399999 meters 0.02404318213397605 Centerline is valid? [True, True] Translation: X:112.08, Y:-47.10, Z:-7.96 [[ 8.51310764e-01 5.22349425e-01 4.92042756e-02 1.12076462e+02] [-5.21725757e-01 8.52723433e-01 -2.57872438e-02 -4.70998317e+01] [-5.54275908e-02 -3.71817973e-03 9.98455786e-01 -7.96022445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.211052754 meters 0.02368797802143721 Centerline is valid? [True, True] Translation: X:112.10, Y:-47.12, Z:-7.96 [[ 8.51788449e-01 5.21480477e-01 5.01452942e-02 1.12100040e+02] [-5.20831489e-01 8.53255034e-01 -2.62755829e-02 -4.71159346e+01] [-5.64889283e-02 -3.73601028e-03 9.98396236e-01 -7.96072054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.241052754 meters 0.024178494479575506 Centerline is valid? [True, True] Translation: X:112.12, Y:-47.13, Z:-7.96 [[ 8.51478294e-01 5.21894419e-01 5.10972567e-02 1.12122975e+02] [-5.21222290e-01 8.53001402e-01 -2.67569131e-02 -4.71331792e+01] [-5.75503152e-02 -3.85009842e-03 9.98335183e-01 -7.96041241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.271052754 meters 0.023499953754636156 Centerline is valid? [True, True] Translation: X:112.15, Y:-47.15, Z:-7.96 [[ 8.51276711e-01 5.22196077e-01 5.13733206e-02 1.12146531e+02] [-5.21517474e-01 8.52816559e-01 -2.68968750e-02 -4.71493716e+01] [-5.78574611e-02 -3.89540101e-03 9.98317254e-01 -7.96164119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.301052754 meters 0.025373315913486245 Centerline is valid? [True, True] Translation: X:112.17, Y:-47.17, Z:-7.96 [[ 8.49554922e-01 5.24956137e-01 5.17444618e-02 1.12170376e+02] [-5.24273780e-01 8.51119273e-01 -2.70737374e-02 -4.71657065e+01] [-5.82532333e-02 -4.12763778e-03 9.98293305e-01 -7.96281072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.331052754 meters 0.025612541076140784 Centerline is valid? [True, True] Translation: X:112.19, Y:-47.18, Z:-7.96 [[ 8.48723498e-01 5.26314826e-01 5.15861243e-02 1.12194874e+02] [-5.25639406e-01 8.50279344e-01 -2.69861230e-02 -4.71823059e+01] [-5.80658126e-02 -4.21194309e-03 9.98303872e-01 -7.96459038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36105275399999 meters 0.028957453764582582 Centerline is valid? [True, True] Translation: X:112.22, Y:-47.20, Z:-7.97 [[ 8.47007399e-01 5.28974388e-01 5.25791034e-02 1.12218372e+02] [-5.28278659e-01 8.48625902e-01 -2.74906651e-02 -4.71986574e+01] [-5.91618468e-02 -4.49162150e-03 9.98238299e-01 -7.96700436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39105275399999 meters 0.02963400142216444 Centerline is valid? [True, True] Translation: X:112.24, Y:-47.22, Z:-7.97 [[ 8.46134711e-01 5.30332102e-01 5.29519890e-02 1.12243299e+02] [-5.29629465e-01 8.47777375e-01 -2.76794646e-02 -4.72153002e+01] [-5.95708068e-02 -4.62437786e-03 9.98213371e-01 -7.96820580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42105275399999 meters 0.03208846886234584 Centerline is valid? [True, True] Translation: X:112.27, Y:-47.23, Z:-7.97 [[ 8.44695503e-01 5.32523309e-01 5.39298795e-02 1.12266434e+02] [-5.31799778e-01 8.46401272e-01 -2.81759428e-02 -4.72318643e+01] [-6.06506649e-02 -4.87980575e-03 9.98147126e-01 -7.96794041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.45105275399999 meters 0.034274120294439735 Centerline is valid? [True, True] Translation: X:112.29, Y:-47.25, Z:-7.97 [[ 8.43012707e-01 5.35024464e-01 5.54833110e-02 1.12288247e+02] [-5.34264413e-01 8.44820490e-01 -2.89806234e-02 -4.72517545e+01] [-6.23787805e-02 -5.21172481e-03 9.98038940e-01 -7.96893536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.48105275399999 meters 0.028597771897708006 Centerline is valid? [True, True] Translation: X:112.31, Y:-47.28, Z:-7.97 [[ 8.41967271e-01 5.36609107e-01 5.60515932e-02 1.12307547e+02] [-5.35837304e-01 8.43813734e-01 -2.92705680e-02 -4.72776350e+01] [-6.30039575e-02 -5.38967432e-03 9.97998724e-01 -7.97062137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.51105275399999 meters 0.028778321148619817 Centerline is valid? [True, True] Translation: X:112.33, Y:-47.30, Z:-7.97 [[ 8.39915062e-01 5.39765579e-01 5.65314827e-02 1.12328106e+02] [-5.38987893e-01 8.41796215e-01 -2.95158085e-02 -4.73016800e+01] [-6.35196057e-02 -5.67901263e-03 9.97964433e-01 -7.97227810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54105275399999 meters 0.02878077151978875 Centerline is valid? [True, True] Translation: X:112.35, Y:-47.32, Z:-7.97 [[ 8.38795716e-01 5.41540855e-01 5.61716081e-02 1.12351672e+02] [-5.40777952e-01 8.40654499e-01 -2.93124463e-02 -4.73202952e+01] [-6.30948023e-02 -5.78921283e-03 9.97990747e-01 -7.97410411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.571052754 meters 0.03178470931836188 Centerline is valid? [True, True] Translation: X:112.38, Y:-47.34, Z:-7.98 [[ 8.37964753e-01 5.42838232e-01 5.60511114e-02 1.12376134e+02] [-5.42081684e-01 8.39816714e-01 -2.92460980e-02 -4.73350370e+01] [-6.29485604e-02 -5.87708158e-03 9.97999468e-01 -7.97607397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.601052754 meters 0.03442359156695428 Centerline is valid? [True, True] Translation: X:112.40, Y:-47.36, Z:-7.98 [[ 8.37132209e-01 5.44192736e-01 5.53527951e-02 1.12396092e+02] [-5.43458076e-01 8.38939433e-01 -2.88781333e-02 -4.73568240e+01] [-6.21529128e-02 -5.90710806e-03 9.98049158e-01 -7.97946157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.631052754 meters 0.031876571982433974 Centerline is valid? [True, True] Translation: X:112.41, Y:-47.39, Z:-7.98 [[ 8.37789310e-01 5.43266240e-01 5.45056350e-02 1.12413297e+02] [-5.42552219e-01 8.39540771e-01 -2.84320844e-02 -4.73866438e+01] [-6.12058944e-02 -5.75205687e-03 9.98108587e-01 -7.98307690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.661052754 meters 0.031518441957656705 Centerline is valid? [True, True] Translation: X:112.44, Y:-47.41, Z:-7.99 [[ 8.38428196e-01 5.42284864e-01 5.44544483e-02 1.12435123e+02] [-5.41571120e-01 8.40175438e-01 -2.83893438e-02 -4.74067602e+01] [-6.11464014e-02 -5.68853026e-03 9.98112598e-01 -7.98570191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.691052754 meters 0.032121026253556395 Centerline is valid? [True, True] Translation: X:112.45, Y:-47.43, Z:-7.99 [[ 8.39597887e-01 5.40534509e-01 5.38315280e-02 1.12454539e+02] [-5.39833695e-01 8.41303862e-01 -2.80605247e-02 -4.74322718e+01] [-6.04563544e-02 -5.50051548e-03 9.98155686e-01 -7.98936893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72105275399998 meters 0.03322148907295361 Centerline is valid? [True, True] Translation: X:112.48, Y:-47.45, Z:-7.99 [[ 8.40214690e-01 5.39609465e-01 5.34873720e-02 1.12476872e+02] [-5.38916655e-01 8.41898055e-01 -2.78658059e-02 -4.74495380e+01] [-6.00675671e-02 -5.41197619e-03 9.98179642e-01 -7.99141085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75105275399999 meters 0.028789281488293236 Centerline is valid? [True, True] Translation: X:112.49, Y:-47.48, Z:-7.99 [[ 8.41301191e-01 5.37961006e-01 5.30118987e-02 1.12494754e+02] [-5.37277522e-01 8.42953368e-01 -2.76130921e-02 -4.74791876e+01] [-5.95413254e-02 -5.25117431e-03 9.98212029e-01 -7.99298237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78105275399999 meters 0.02995448840598522 Centerline is valid? [True, True] Translation: X:112.52, Y:-47.50, Z:-7.99 [[ 8.42186665e-01 5.36597697e-01 5.27686794e-02 1.12517666e+02] [-5.35918723e-01 8.43822524e-01 -2.74712470e-02 -4.74954469e+01] [-5.92684082e-02 -5.14380543e-03 9.98228830e-01 -7.99432627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.81105275399999 meters 0.029470935468248027 Centerline is valid? [True, True] Translation: X:112.54, Y:-47.52, Z:-8.00 [[ 8.44418787e-01 5.33236834e-01 5.11408891e-02 1.12537734e+02] [-5.32593299e-01 8.45952612e-01 -2.66187242e-02 -4.75199096e+01] [-5.74568529e-02 -4.75994406e-03 9.98336643e-01 -7.99711451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.84105275399999 meters 0.030461910086739003 Centerline is valid? [True, True] Translation: X:112.56, Y:-47.54, Z:-8.00 [[ 8.45800898e-01 5.31081503e-01 5.07274912e-02 1.12560933e+02] [-5.30445107e-01 8.47308334e-01 -2.63927002e-02 -4.75372071e+01] [-5.69985010e-02 -4.58518001e-03 9.98363735e-01 -8.00022943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.87105275399999 meters 0.02677539519078527 Centerline is valid? [True, True] Translation: X:112.58, Y:-47.56, Z:-8.00 [[ 8.48351170e-01 5.27014315e-01 5.05589238e-02 1.12579697e+02] [-5.26375165e-01 8.49845528e-01 -2.63014264e-02 -4.75649098e+01] [-5.68285035e-02 -4.30011602e-03 9.98374694e-01 -8.00206690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.90105275399999 meters 0.02677539519078527 Centerline is valid? [True, True] Translation: X:112.60, Y:-47.58, Z:-8.00 [[ 8.48499233e-01 5.26775863e-01 5.05592935e-02 1.12604035e+02] [-5.26136335e-01 8.49993429e-01 -2.63007162e-02 -4.75775241e+01] [-5.68296498e-02 -4.28494383e-03 9.98374694e-01 -8.00383473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93105275399999 meters 0.025800761196965324 Centerline is valid? [True, True] Translation: X:112.63, Y:-47.60, Z:-8.01 [[ 8.49577478e-01 5.25024811e-01 5.06661381e-02 1.12626868e+02] [-5.24380624e-01 8.51076590e-01 -2.63362747e-02 -4.75964058e+01] [-5.69479617e-02 -4.19363527e-03 9.98368340e-01 -8.00552966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.961052754 meters 0.02514576773363535 Centerline is valid? [True, True] Translation: X:112.65, Y:-47.62, Z:-8.01 [[ 8.51589226e-01 5.21698303e-01 5.12510514e-02 1.12649321e+02] [-5.21033289e-01 8.53120583e-01 -2.66379910e-02 -4.76182854e+01] [-5.76203216e-02 -4.01887777e-03 9.98330480e-01 -8.00695487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.991052754 meters 0.02401938711717591 Centerline is valid? [True, True] Translation: X:112.67, Y:-47.64, Z:-8.01 [[ 8.52159597e-01 5.20709254e-01 5.18256103e-02 1.12673266e+02] [-5.20028243e-01 8.53724666e-01 -2.69225147e-02 -4.76359202e+01] [-5.82636044e-02 -4.00850175e-03 9.98293186e-01 -8.00702736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.021052754 meters 0.028359232814155113 Centerline is valid? [True, True] Translation: X:112.70, Y:-47.65, Z:-8.01 [[ 8.51900172e-01 5.21056426e-01 5.25956112e-02 1.12698328e+02] [-5.20356656e-01 8.53512353e-01 -2.73059157e-02 -4.76486168e+01] [-5.91189267e-02 -4.10656206e-03 9.98242500e-01 -8.00759002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.051052754 meters 0.029570779361169443 Centerline is valid? [True, True] Translation: X:112.72, Y:-47.66, Z:-8.01 [[ 8.51317286e-01 5.22048587e-01 5.21934123e-02 1.12722969e+02] [-5.21361691e-01 8.52905659e-01 -2.70910501e-02 -4.76632742e+01] [-5.86589011e-02 -4.14856647e-03 9.98269464e-01 -8.00966281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.081052754 meters 0.02790013083614378 Centerline is valid? [True, True] Translation: X:112.74, Y:-47.69, Z:-8.01 [[ 8.49470923e-01 5.25033689e-01 5.23333216e-02 1.12744595e+02] [-5.24348910e-01 8.51070230e-01 -2.71603370e-02 -4.76853597e+01] [-5.87994240e-02 -4.36900364e-03 9.98260256e-01 -8.01200339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11105275399999 meters 0.028007914722561682 Centerline is valid? [True, True] Translation: X:112.77, Y:-47.70, Z:-8.01 [[ 8.48271991e-01 5.26930266e-01 5.27173973e-02 1.12769632e+02] [-5.26239241e-01 8.49896413e-01 -2.73559478e-02 -4.77019491e+01] [-5.92190038e-02 -4.53667885e-03 9.98234706e-01 -8.01363260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14105275399999 meters 0.03341497300517208 Centerline is valid? [True, True] Translation: X:112.80, Y:-47.71, Z:-8.01 [[ 8.45403532e-01 5.31535333e-01 5.25648026e-02 1.12795435e+02] [-5.30857519e-01 8.47022232e-01 -2.72696352e-02 -4.77135681e+01] [-5.90183311e-02 -4.85057479e-03 9.98245114e-01 -8.01439592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17105275399999 meters 0.028185074134256083 Centerline is valid? [True, True] Translation: X:112.82, Y:-47.74, Z:-8.02 [[ 8.44170693e-01 5.33517947e-01 5.22918887e-02 1.12816660e+02] [-5.32851198e-01 8.45774159e-01 -2.71232756e-02 -4.77362261e+01] [-5.86978824e-02 -4.96712123e-03 9.98263435e-01 -8.01510178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.20105275399999 meters 0.03028664539710771 Centerline is valid? [True, True] Translation: X:112.84, Y:-47.75, Z:-8.02 [[ 8.42567277e-01 5.36028856e-01 5.24733095e-02 1.12840764e+02] [-5.35362427e-01 8.44183878e-01 -2.72149054e-02 -4.77525028e+01] [-5.88850966e-02 -5.16184957e-03 9.98251422e-01 -8.01589946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.23105275399999 meters 0.02884957087637503 Centerline is valid? [True, True] Translation: X:112.86, Y:-47.77, Z:-8.02 [[ 8.42152295e-01 5.36608229e-01 5.32082794e-02 1.12863441e+02] [-5.35924288e-01 8.43815001e-01 -2.75935225e-02 -4.77710988e+01] [-5.97048556e-02 -5.27766098e-03 9.98202122e-01 -8.01613669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.26105275399999 meters 0.028862300874749485 Centerline is valid? [True, True] Translation: X:112.88, Y:-47.79, Z:-8.02 [[ 8.41985292e-01 5.36645334e-01 5.54306110e-02 1.12884753e+02] [-5.35904253e-01 8.43789871e-01 -2.87277809e-02 -4.77916225e+01] [-6.21884177e-02 -5.51713116e-03 9.98049178e-01 -8.01633459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29105275399999 meters 0.0274090313627286 Centerline is valid? [True, True] Translation: X:112.91, Y:-47.81, Z:-8.02 [[ 8.42164549e-01 5.36342236e-01 5.56406064e-02 1.12906721e+02] [-5.35595971e-01 8.43982475e-01 -2.88190359e-02 -4.78101333e+01] [-6.24165629e-02 -5.53051424e-03 9.98034862e-01 -8.01753555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.321052754 meters 0.027577062867197865 Centerline is valid? [True, True] Translation: X:112.93, Y:-47.83, Z:-8.02 [[ 8.42271292e-01 5.36170175e-01 5.56831630e-02 1.12928346e+02] [-5.35423675e-01 8.44091737e-01 -2.88206262e-02 -4.78280003e+01] [-6.24544579e-02 -5.53929768e-03 9.98032443e-01 -8.01864258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.351052754 meters 0.034896530016754294 Centerline is valid? [True, True] Translation: X:112.96, Y:-47.83, Z:-8.02 [[ 8.42300535e-01 5.36179720e-01 5.51463109e-02 1.12956562e+02] [-5.35448830e-01 8.44085907e-01 -2.85224723e-02 -4.78344932e+01] [-6.18413951e-02 -5.50353399e-03 9.98070816e-01 -8.02047671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.381052754 meters 0.03665787226810526 Centerline is valid? [True, True] Translation: X:112.98, Y:-47.85, Z:-8.02 [[ 8.42121006e-01 5.36523473e-01 5.45414867e-02 1.12978953e+02] [-5.35809807e-01 8.43867632e-01 -2.82005231e-02 -4.78523144e+01] [-6.11560378e-02 -5.47561055e-03 9.98113198e-01 -8.02227598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.411052754 meters 0.028858152999746287 Centerline is valid? [True, True] Translation: X:113.00, Y:-47.88, Z:-8.02 [[ 8.42388669e-01 5.36121855e-01 5.43570361e-02 1.12997723e+02] [-5.35412683e-01 8.44123107e-01 -2.80969744e-02 -4.78791950e+01] [-6.09474322e-02 -5.43487368e-03 9.98126181e-01 -8.02403499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.441052754 meters 0.02762978381496997 Centerline is valid? [True, True] Translation: X:113.02, Y:-47.90, Z:-8.03 [[ 8.43397894e-01 5.34520402e-01 5.44787351e-02 1.13019743e+02] [-5.33805819e-01 8.45138664e-01 -2.81422715e-02 -4.79017903e+01] [-6.10847036e-02 -5.34593329e-03 9.98118270e-01 -8.02568799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47105275399998 meters 0.029078627681080948 Centerline is valid? [True, True] Translation: X:113.04, Y:-47.92, Z:-8.03 [[ 8.44010558e-01 5.33538727e-01 5.46132371e-02 1.13043739e+02] [-5.32819098e-01 8.45759060e-01 -2.82032058e-02 -4.79164271e+01] [-6.12371426e-02 -5.29517232e-03 9.98109199e-01 -8.02716853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50105275399999 meters 0.028672674983759965 Centerline is valid? [True, True] Translation: X:113.07, Y:-47.94, Z:-8.03 [[ 8.45247872e-01 5.31586568e-01 5.45138157e-02 1.13066673e+02] [-5.30865908e-01 8.46988314e-01 -2.81457438e-02 -4.79376019e+01] [-6.11344642e-02 -5.14939623e-03 9.98116256e-01 -8.02852611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53105275399999 meters 0.02648631000201525 Centerline is valid? [True, True] Translation: X:113.09, Y:-47.96, Z:-8.03 [[ 8.46536653e-01 5.29495962e-01 5.48609193e-02 1.13088900e+02] [-5.28762164e-01 8.48297509e-01 -2.83180274e-02 -4.79604675e+01] [-6.15326624e-02 -5.03613030e-03 9.98092365e-01 -8.03016259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.56105275399999 meters 0.02667246037760779 Centerline is valid? [True, True] Translation: X:113.11, Y:-47.98, Z:-8.03 [[ 8.47374195e-01 5.28100132e-01 5.53825371e-02 1.13113514e+02] [-5.27349692e-01 8.49167466e-01 -2.85817558e-02 -4.79763807e+01] [-6.21230777e-02 -4.98652160e-03 9.98056039e-01 -8.03146724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.59105275399999 meters 0.027919095120931527 Centerline is valid? [True, True] Translation: X:113.14, Y:-47.99, Z:-8.03 [[ 8.48421745e-01 5.26376554e-01 5.57518271e-02 1.13138032e+02] [-5.25612533e-01 8.50237474e-01 -2.87698237e-02 -4.79909400e+01] [-6.25460533e-02 -4.89491503e-03 9.98030075e-01 -8.03245241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.62105275399999 meters 0.025771021133659092 Centerline is valid? [True, True] Translation: X:113.16, Y:-48.01, Z:-8.03 [[ 8.51296527e-01 5.21707219e-01 5.58193599e-02 1.13159913e+02] [-5.20931595e-01 8.53112410e-01 -2.88008550e-02 -4.80140198e+01] [-6.26458026e-02 -4.56000036e-03 9.98025405e-01 -8.03342811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.65105275399999 meters 0.025502332888553518 Centerline is valid? [True, True] Translation: X:113.18, Y:-48.03, Z:-8.04 [[ 8.55071077e-01 5.15621509e-01 5.46618100e-02 1.13181967e+02] [-5.14865408e-01 8.56806998e-01 -2.82024678e-02 -4.80343025e+01] [-6.13764204e-02 -4.02836063e-03 9.98106561e-01 -8.03611212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68105275399999 meters 0.02455588395365462 Centerline is valid? [True, True] Translation: X:113.21, Y:-48.05, Z:-8.04 [[ 8.57053760e-01 5.12389880e-01 5.39950258e-02 1.13206261e+02] [-5.11645898e-01 8.58744741e-01 -2.78557881e-02 -4.80516197e+01] [-6.06409684e-02 -3.75242552e-03 9.98152590e-01 -8.03852674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.711052754 meters 0.024274177906801274 Centerline is valid? [True, True] Translation: X:113.23, Y:-48.07, Z:-8.04 [[ 8.59951920e-01 5.07645966e-01 5.27092806e-02 1.13230120e+02] [-5.06928209e-01 8.61559307e-01 -2.71910242e-02 -4.80690535e+01] [-5.92155850e-02 -3.33684776e-03 9.98239641e-01 -8.03991819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.741052754 meters 0.024625404157037036 Centerline is valid? [True, True] Translation: X:113.25, Y:-48.08, Z:-8.04 [[ 8.60381671e-01 5.06878132e-01 5.30842670e-02 1.13254710e+02] [-5.06148761e-01 8.62011375e-01 -2.73828592e-02 -4.80829848e+01] [-5.96390145e-02 -3.30882580e-03 9.98214526e-01 -8.04030978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.771052754 meters 0.02468802115483924 Centerline is valid? [True, True] Translation: X:113.28, Y:-48.10, Z:-8.04 [[ 8.58876787e-01 5.09384289e-01 5.34631676e-02 1.13280331e+02] [-5.08650336e-01 8.60531950e-01 -2.75608309e-02 -4.80986561e+01] [-6.00458181e-02 -3.52270029e-03 9.98189406e-01 -8.03998683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.801052754 meters 0.02770038843588138 Centerline is valid? [True, True] Translation: X:113.31, Y:-48.11, Z:-8.04 [[ 8.57224672e-01 5.12259443e-01 5.24988068e-02 1.13307282e+02] [-5.11557189e-01 8.58822964e-01 -2.70621281e-02 -4.81087313e+01] [-5.89500116e-02 -3.65781814e-03 9.98254234e-01 -8.04195538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.831052754 meters 0.029804750694135098 Centerline is valid? [True, True] Translation: X:113.33, Y:-48.12, Z:-8.04 [[ 8.55162178e-01 5.15774519e-01 5.17135811e-02 1.13334904e+02] [-5.15099675e-01 8.56715747e-01 -2.66543425e-02 -4.81207629e+01] [-5.80514699e-02 -3.84386325e-03 9.98306191e-01 -8.04433085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86105275399999 meters 0.03312897144101747 Centerline is valid? [True, True] Translation: X:113.36, Y:-48.13, Z:-8.05 [[ 8.51141524e-01 5.22360982e-01 5.19337070e-02 1.13362333e+02] [-5.21692589e-01 8.52713559e-01 -2.67661788e-02 -4.81301617e+01] [-5.82661836e-02 -4.31162380e-03 9.98291772e-01 -8.04531444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89105275399999 meters 0.029394943954302692 Centerline is valid? [True, True] Translation: X:113.39, Y:-48.15, Z:-8.05 [[ 8.48762831e-01 5.26134444e-01 5.27655463e-02 1.13386429e+02] [-5.25451831e-01 8.50388712e-01 -2.71921382e-02 -4.81480642e+01] [-5.91779455e-02 -4.64607675e-03 9.98236638e-01 -8.04627440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92105275399999 meters 0.030640339560718564 Centerline is valid? [True, True] Translation: X:113.41, Y:-48.16, Z:-8.05 [[ 8.48469532e-01 5.26514385e-01 5.36847910e-02 1.13411142e+02] [-5.25808687e-01 8.50152914e-01 -2.76631017e-02 -4.81596832e+01] [-6.02053025e-02 -4.75663050e-03 9.98174682e-01 -8.04781122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.95105275399999 meters 0.02670838851726261 Centerline is valid? [True, True] Translation: X:113.43, Y:-48.18, Z:-8.05 [[ 8.49283930e-01 5.25010792e-01 5.55020244e-02 1.13433640e+02] [-5.24253773e-01 8.51081952e-01 -2.85918357e-02 -4.81808103e+01] [-6.22477936e-02 -4.81455913e-03 9.98049113e-01 -8.04914832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.98105275399999 meters 0.028661011134260866 Centerline is valid? [True, True] Translation: X:113.46, Y:-48.19, Z:-8.05 [[ 8.50529380e-01 5.22942981e-01 5.59500975e-02 1.13460029e+02] [-5.22169398e-01 8.52354692e-01 -2.88201189e-02 -4.81922209e+01] [-6.27606070e-02 -4.70307093e-03 9.98017529e-01 -8.05011110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.01105275399999 meters 0.02592484645489744 Centerline is valid? [True, True] Translation: X:113.48, Y:-48.21, Z:-8.05 [[ 8.52684523e-01 5.19458249e-01 5.56078461e-02 1.13483712e+02] [-5.18686873e-01 8.54484397e-01 -2.86416403e-02 -4.82111851e+01] [-6.23941732e-02 -4.42077638e-03 9.98041795e-01 -8.05116460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04105275399999 meters 0.027917424564666702 Centerline is valid? [True, True] Translation: X:113.51, Y:-48.22, Z:-8.05 [[ 8.53567534e-01 5.18005086e-01 5.56164987e-02 1.13509505e+02] [-5.17230513e-01 8.55366645e-01 -2.86443683e-02 -4.82220378e+01] [-6.24104264e-02 -4.31664732e-03 9.98041234e-01 -8.05326685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.071052754 meters 0.025743825313813338 Centerline is valid? [True, True] Translation: X:113.53, Y:-48.24, Z:-8.05 [[ 8.55002231e-01 5.15558181e-01 5.63111692e-02 1.13534740e+02] [-5.14759251e-01 8.56844304e-01 -2.89957171e-02 -4.82380156e+01] [-6.31988837e-02 -4.19529251e-03 9.97992135e-01 -8.05471757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.101052754 meters 0.02434774372379234 Centerline is valid? [True, True] Translation: X:113.56, Y:-48.25, Z:-8.06 [[ 8.55873421e-01 5.14041499e-01 5.69387716e-02 1.13560438e+02] [-5.13221389e-01 8.57755373e-01 -2.93176694e-02 -4.82523580e+01] [-6.39100360e-02 -4.12998139e-03 9.97947118e-01 -8.05558346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.131052754 meters 0.025770538275768994 Centerline is valid? [True, True] Translation: X:113.59, Y:-48.26, Z:-8.06 [[ 8.57310728e-01 5.11612617e-01 5.71913058e-02 1.13588259e+02] [-5.10780918e-01 8.59207008e-01 -2.94307886e-02 -4.82617836e+01] [-6.41963335e-02 -3.98089679e-03 9.97929348e-01 -8.05603645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.161052754 meters 0.024637501921205653 Centerline is valid? [True, True] Translation: X:113.61, Y:-48.28, Z:-8.06 [[ 8.58030815e-01 5.10371203e-01 5.74835298e-02 1.13613131e+02] [-5.09528377e-01 8.59945316e-01 -2.95784889e-02 -4.82757981e+01] [-6.45287011e-02 -3.91023475e-03 9.97908191e-01 -8.05768714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.191052754 meters 0.022506182036313587 Centerline is valid? [True, True] Translation: X:113.64, Y:-48.29, Z:-8.06 [[ 8.58713356e-01 5.09198558e-01 5.76905651e-02 1.13637677e+02] [-5.08348166e-01 8.60640457e-01 -2.96672454e-02 -4.82906026e+01] [-6.47573529e-02 -3.85123309e-03 9.97893608e-01 -8.05909562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22105275399998 meters 0.023695127868172704 Centerline is valid? [True, True] Translation: X:113.66, Y:-48.30, Z:-8.06 [[ 8.58972850e-01 5.08769154e-01 5.76158901e-02 1.13664590e+02] [-5.07921190e-01 8.60894466e-01 -2.96105324e-02 -4.82999499e+01] [-6.46661264e-02 -3.82968806e-03 9.97899607e-01 -8.06105058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25105275399999 meters 0.025774296176698526 Centerline is valid? [True, True] Translation: X:113.69, Y:-48.31, Z:-8.06 [[ 8.58479531e-01 5.09871014e-01 5.51764766e-02 1.13693604e+02] [-5.09096706e-01 8.60242642e-01 -2.83397349e-02 -4.83061049e+01] [-6.19147674e-02 -3.76108016e-03 9.98074354e-01 -8.06473082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28105275399999 meters 0.02461565343385021 Centerline is valid? [True, True] Translation: X:113.72, Y:-48.32, Z:-8.07 [[ 8.58048485e-01 5.10712465e-01 5.40885908e-02 1.13719780e+02] [-5.09970237e-01 8.59743408e-01 -2.77782366e-02 -4.83186203e+01] [-6.06890010e-02 -3.74849760e-03 9.98149685e-01 -8.06755608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.31105275399999 meters 0.02658227722922748 Centerline is valid? [True, True] Translation: X:113.75, Y:-48.33, Z:-8.07 [[ 8.55361460e-01 5.15070110e-01 5.53132428e-02 1.13748317e+02] [-5.14304019e-01 8.57137933e-01 -2.83890905e-02 -4.83280219e+01] [-6.20334506e-02 -4.16488917e-03 9.98065381e-01 -8.07066656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.34105275399999 meters 0.030679796050391735 Centerline is valid? [True, True] Translation: X:113.78, Y:-48.33, Z:-8.07 [[ 8.53353809e-01 5.18374875e-01 5.54505740e-02 1.13778697e+02] [-5.17611990e-01 8.55142080e-01 -2.84578890e-02 -4.83328034e+01] [-6.21699738e-02 -4.41723399e-03 9.98055801e-01 -8.07278333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.37105275399999 meters 0.028416636992553375 Centerline is valid? [True, True] Translation: X:113.80, Y:-48.35, Z:-8.07 [[ 8.52519757e-01 5.19739573e-01 5.55053207e-02 1.13804776e+02] [-5.18978252e-01 8.54312770e-01 -2.84826992e-02 -4.83474167e+01] [-6.22224902e-02 -4.52399055e-03 9.98052050e-01 -8.07496623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.40105275399999 meters 0.029830545436805148 Centerline is valid? [True, True] Translation: X:113.83, Y:-48.36, Z:-8.08 [[ 8.51079512e-01 5.22124210e-01 5.52265580e-02 1.13833344e+02] [-5.21375645e-01 8.52856634e-01 -2.83372224e-02 -4.83565655e+01] [-6.18958863e-02 -4.67655288e-03 9.98071655e-01 -8.07759010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43105275399999 meters 0.03040169629028826 Centerline is valid? [True, True] Translation: X:113.86, Y:-48.37, Z:-8.08 [[ 8.50945193e-01 5.22306900e-01 5.55677987e-02 1.13860463e+02] [-5.21549542e-01 8.52744522e-01 -2.85106250e-02 -4.83675946e+01] [-6.22764322e-02 -4.72038063e-03 9.98047776e-01 -8.07903554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.461052754 meters 0.029599067289825566 Centerline is valid? [True, True] Translation: X:113.89, Y:-48.38, Z:-8.08 [[ 8.51022575e-01 5.22136720e-01 5.59805480e-02 1.13885632e+02] [-5.21368772e-01 8.52848527e-01 -2.87052825e-02 -4.83801370e+01] [-6.27310099e-02 -4.75766617e-03 9.98019131e-01 -8.08055675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.491052754 meters 0.03120033939562561 Centerline is valid? [True, True] Translation: X:113.91, Y:-48.39, Z:-8.08 [[ 8.51830981e-01 5.20760444e-01 5.65025651e-02 1.13913307e+02] [-5.19976374e-01 8.53689820e-01 -2.89527547e-02 -4.83880725e+01] [-6.33131140e-02 -4.71714547e-03 9.97982564e-01 -8.08212877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.521052754 meters 0.03070551625294795 Centerline is valid? [True, True] Translation: X:113.94, Y:-48.40, Z:-8.08 [[ 8.52670394e-01 5.19258910e-01 5.76488043e-02 1.13940123e+02] [-5.18439550e-01 8.54604040e-01 -2.95358551e-02 -4.83999626e+01] [-6.46036570e-02 -4.70307095e-03 9.97899919e-01 -8.08340196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.551052754 meters 0.03202418521574468 Centerline is valid? [True, True] Translation: X:113.97, Y:-48.41, Z:-8.08 [[ 8.52420702e-01 5.19588859e-01 5.83640782e-02 1.13965847e+02] [-5.18750860e-01 8.54402931e-01 -2.98860508e-02 -4.84106674e+01] [-6.53948985e-02 -4.80092741e-03 9.97847913e-01 -8.08496209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.581052754 meters 0.028236268267894306 Centerline is valid? [True, True] Translation: X:113.99, Y:-48.43, Z:-8.09 [[ 8.51631698e-01 5.20797094e-01 5.91086925e-02 1.13990862e+02] [-5.19940860e-01 8.53666075e-01 -3.02610893e-02 -4.84273048e+01] [-6.62189730e-02 -4.96172155e-03 9.97792779e-01 -8.08624637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61105275399999 meters 0.02803199433992201 Centerline is valid? [True, True] Translation: X:114.02, Y:-48.44, Z:-8.09 [[ 8.51528469e-01 5.20948291e-01 5.92633602e-02 1.14017041e+02] [-5.20088141e-01 8.53573656e-01 -3.03371024e-02 -4.84395770e+01] [-6.63897047e-02 -4.98926453e-03 9.97781296e-01 -8.08817824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64105275399999 meters 0.0290535304396387 Centerline is valid? [True, True] Translation: X:114.05, Y:-48.45, Z:-8.09 [[ 8.50774150e-01 5.22183722e-01 5.92242097e-02 1.14045350e+02] [-5.21328871e-01 8.52817785e-01 -3.02990599e-02 -4.84473617e+01] [-6.63291352e-02 -5.09763351e-03 9.97784776e-01 -8.08951259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67105275399999 meters 0.03074973051448606 Centerline is valid? [True, True] Translation: X:114.07, Y:-48.46, Z:-8.09 [[ 8.49672547e-01 5.23959857e-01 5.93517600e-02 1.14072229e+02] [-5.23105871e-01 8.51726773e-01 -3.03603689e-02 -4.84577959e+01] [-6.64590976e-02 -5.25088213e-03 9.97775334e-01 -8.09156581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.70105275399999 meters 0.028490705966425188 Centerline is valid? [True, True] Translation: X:114.10, Y:-48.47, Z:-8.09 [[ 8.47121102e-01 5.27895267e-01 6.09296813e-02 1.14097308e+02] [-5.27005580e-01 8.49290274e-01 -3.11632719e-02 -4.84746511e+01] [-6.81979294e-02 -5.71121682e-03 9.97655464e-01 -8.09323616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.73105275399999 meters 0.02861020486588527 Centerline is valid? [True, True] Translation: X:114.12, Y:-48.49, Z:-8.09 [[ 8.45614223e-01 5.30219847e-01 6.16725112e-02 1.14123768e+02] [-5.29314564e-01 8.47839161e-01 -3.15412232e-02 -4.84886515e+01] [-6.90121527e-02 -5.97245146e-03 9.97597941e-01 -8.09480235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.76105275399999 meters 0.031391951999806274 Centerline is valid? [True, True] Translation: X:114.15, Y:-48.50, Z:-8.10 [[ 8.42446641e-01 5.35152650e-01 6.24123256e-02 1.14150897e+02] [-5.34239007e-01 8.44730714e-01 -3.19171510e-02 -4.84983949e+01] [-6.98021563e-02 -6.45460221e-03 9.97539973e-01 -8.09635153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79105275399999 meters 0.031391951999806274 Centerline is valid? [True, True] Translation: X:114.18, Y:-48.51, Z:-8.10 [[ 8.42598664e-01 5.34913013e-01 6.24144149e-02 1.14175380e+02] [-5.33999020e-01 8.44882597e-01 -3.19130646e-02 -4.85108792e+01] [-6.98035665e-02 -6.43933082e-03 9.97539973e-01 -8.09812350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.821052754 meters 0.03431058926576107 Centerline is valid? [True, True] Translation: X:114.20, Y:-48.52, Z:-8.10 [[ 8.41428846e-01 5.36821225e-01 6.18099467e-02 1.14203108e+02] [-5.35931363e-01 8.43670588e-01 -3.15834241e-02 -4.85204758e+01] [-6.91018865e-02 -6.55068494e-03 9.97588100e-01 -8.09934239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.851052754 meters 0.032553576086044436 Centerline is valid? [True, True] Translation: X:114.23, Y:-48.54, Z:-8.10 [[ 8.39272369e-01 5.40313768e-01 6.06870878e-02 1.14227581e+02] [-5.39465131e-01 8.41436829e-01 -3.10070163e-02 -4.85386907e+01] [-6.78178685e-02 -6.71523573e-03 9.97675119e-01 -8.10221349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.881052754 meters 0.0324310898851904 Centerline is valid? [True, True] Translation: X:114.25, Y:-48.55, Z:-8.10 [[ 8.39265714e-01 5.40379245e-01 6.01941199e-02 1.14251823e+02] [-5.39544693e-01 8.41395157e-01 -3.07524672e-02 -4.85545493e+01] [-6.72650359e-02 -6.66792657e-03 9.97712861e-01 -8.10456127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.911052754 meters 0.03482767517325334 Centerline is valid? [True, True] Translation: X:114.28, Y:-48.57, Z:-8.11 [[ 8.41742336e-01 5.36644517e-01 5.90127376e-02 1.14275573e+02] [-5.35834518e-01 8.43785217e-01 -3.01309745e-02 -4.85704183e+01] [-6.59636979e-02 -6.25854502e-03 9.97802396e-01 -8.10734596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.941052754 meters 0.03458311144507894 Centerline is valid? [True, True] Translation: X:114.30, Y:-48.59, Z:-8.11 [[ 8.44424850e-01 5.32513196e-01 5.81065319e-02 1.14299581e+02] [-5.31718453e-01 8.46401506e-01 -2.96644110e-02 -4.85878761e+01] [-6.49781464e-02 -5.84694947e-03 9.97869557e-01 -8.10991898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1941.18 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%| | 0/4165 [00:00