+ python -m lidar_slam --no-model /working/f469127b-5551-49af-ad62-21dba0c8af42 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/f469127b-5551-49af-ad62-21dba0c8af42 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 0.018241008 Adjusted end_distance from 9.223372036854776e+18 to 181.988241008 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.018241008 meters 0.06620904563356522 Centerline is valid? [0, True] SLAMing on 0.048241008 meters 0.06621286353995817 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:-0.00 [[ 9.99993969e-01 -3.35214595e-03 9.08176441e-04 3.00139535e-02] [ 3.35213612e-03 9.99994381e-01 1.23516602e-05 -1.03266938e-03] [-9.08212743e-04 -9.30725465e-06 9.99999588e-01 -1.18055403e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.078241008 meters 0.06633814749971784 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.00 [[ 9.99974483e-01 -6.80154228e-03 2.18466614e-03 6.05456112e-02] [ 6.80149360e-03 9.99976869e-01 2.97125675e-05 -2.66361162e-03] [-2.18481770e-03 -1.48528166e-05 9.99997613e-01 -2.12686253e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.10824100800000001 meters 0.06770803311895845 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99878604e-01 -1.44962157e-02 5.71284968e-03 9.07807307e-02] [ 1.44960105e-02 9.99894924e-01 7.73313611e-05 -4.85103367e-03] [-5.71337041e-03 5.49155563e-06 9.99983679e-01 -3.27754148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.138241008 meters 0.06882146651635318 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 9.99822646e-01 -1.72693897e-02 7.51294237e-03 1.19594467e-01] [ 1.72691159e-02 9.99850873e-01 1.01313085e-04 -4.59675466e-03] [-7.51357160e-03 2.84467560e-05 9.99971772e-01 -6.07112690e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16824100800000003 meters 0.07099127528852632 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.00, Z:-0.01 [[ 9.99754748e-01 -1.96784514e-02 1.01588304e-02 1.48074765e-01] [ 1.96780646e-02 9.99806359e-01 1.38035991e-04 -3.86212689e-03] [-1.01595795e-02 6.19039833e-05 9.99948388e-01 -9.40232478e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.19824100800000002 meters 0.07286646617107134 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.00, Z:-0.01 [[ 9.99712576e-01 -2.08482953e-02 1.18369633e-02 1.77781351e-01] [ 2.08478397e-02 9.99782647e-01 1.61895636e-04 -1.89165165e-03] [-1.18377658e-02 8.49260110e-05 9.99929928e-01 -1.10395230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22824100800000002 meters 0.08152389384012886 Centerline is valid? [True, True] Translation: X:0.21, Y:0.00, Z:-0.02 [[ 9.99508965e-01 -2.41662519e-02 1.99454538e-02 2.07728867e-01] [ 2.41655913e-02 9.99707932e-01 2.74174472e-04 1.61132158e-03] [-1.99462541e-02 2.07953840e-04 9.99801032e-01 -1.66649589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.258241008 meters 0.0867536972008055 Centerline is valid? [True, True] Translation: X:0.24, Y:0.00, Z:-0.02 [[ 9.99430847e-01 -2.51029316e-02 2.25349778e-02 2.38401393e-01] [ 2.51023104e-02 9.99684839e-01 3.10489327e-04 7.53616538e-04] [-2.25356698e-02 2.55367396e-04 9.99746007e-01 -2.11369681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.288241008 meters 0.09145517493173666 Centerline is valid? [True, True] Translation: X:0.27, Y:0.00, Z:-0.02 [[ 9.99297923e-01 -2.59157965e-02 2.70561133e-02 2.70238072e-01] [ 2.59152428e-02 9.99664075e-01 3.71169043e-04 2.33333498e-03] [-2.70566437e-02 3.30257294e-04 9.99633847e-01 -2.47618970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.31824100800000005 meters 0.09848195910909098 Centerline is valid? [True, True] Translation: X:0.30, Y:0.00, Z:-0.03 [[ 9.99089934e-01 -2.66431077e-02 3.33083854e-02 3.01685700e-01] [ 2.66427568e-02 9.99644915e-01 4.54448732e-04 2.88820571e-03] [-3.33086660e-02 4.33392059e-04 9.99445018e-01 -2.93390943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.348241008 meters 0.11341309452232781 Centerline is valid? [True, False] Translation: X:0.32, Y:-0.00, Z:-0.02 [[ 0.99973549 -0.02098774 0.009406 0.31972112] [ 0.02094851 0.99977152 0.00424975 -0.00101126] [-0.00949305 -0.00405159 0.99994673 -0.0192126 ] [ 0. 0. 0. 1. ]] SLAMing on 0.37824100800000005 meters 0.12081937776636062 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.01, Z:-0.01 [[ 0.99986388 -0.01640783 0.00173285 0.33169672] [ 0.01640255 0.99986092 0.00301468 -0.00500645] [-0.00178208 -0.00298585 0.99999395 -0.01429581] [ 0. 0. 0. 1. ]] SLAMing on 0.408241008 meters 0.12677771775949928 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.01, Z:-0.01 [[ 0.99991582 -0.0116961 -0.00561729 0.34347639] [ 0.01170501 0.99993028 0.00155576 -0.0107608 ] [ 0.0055987 -0.00162138 0.99998301 -0.00959698] [ 0. 0. 0. 1. ]] SLAMing on 0.43824100800000004 meters 0.13352773531653386 Centerline is valid? [False, False] Translation: X:0.36, Y:-0.02, Z:-0.01 [[ 9.99888074e-01 -7.26108476e-03 -1.30811439e-02 3.56404884e-01] [ 7.26109022e-03 9.99973637e-01 -4.70767093e-05 -1.63089140e-02] [ 1.30811408e-02 -4.79119256e-05 9.99914437e-01 -6.10599210e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.468241008 meters 0.14997172092836683 Centerline is valid? [False, False] Translation: X:0.37, Y:-0.02, Z:-0.01 [[ 0.9999239 -0.01154163 -0.00435699 0.36775168] [ 0.01155761 0.99992651 0.00365976 -0.02262924] [ 0.00431443 -0.00370984 0.99998381 -0.01243263] [ 0. 0. 0. 1. ]] SLAMing on 0.49824100800000004 meters 0.157704280869873 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.01 [[ 9.99879678e-01 -9.48004135e-03 -1.22783984e-02 3.81419843e-01] [ 9.49167363e-03 9.99954557e-01 8.89449354e-04 -2.84058747e-02] [ 1.22694084e-02 -1.00588488e-03 9.99924222e-01 -8.10061489e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.528241008 meters 0.1622933129540441 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.03, Z:-0.01 [[ 0.99988268 -0.00874924 -0.01257321 0.38173101] [ 0.00878598 0.99995728 0.00286984 -0.03426002] [ 0.01254756 -0.00297997 0.99991684 -0.00771766] [ 0. 0. 0. 1. ]] SLAMing on 0.558241008 meters 0.16973602924459916 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.01 [[ 0.99989017 -0.01468407 -0.00200427 0.38940039] [ 0.01469121 0.99988561 0.00359556 -0.03841151] [ 0.00195125 -0.00362462 0.99999153 -0.01254416] [ 0. 0. 0. 1. ]] SLAMing on 0.588241008 meters 0.18154445993906987 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.01 [[ 9.99716198e-01 -2.34939025e-02 -3.94465817e-03 4.18417355e-01] [ 2.34917660e-02 9.99723858e-01 -5.87089368e-04 -4.94193067e-02] [ 3.95736190e-03 4.94255764e-04 9.99992047e-01 -1.16179240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.618241008 meters 0.18600787292575038 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.05, Z:-0.01 [[ 0.99961797 -0.02733912 -0.00406052 0.41967091] [ 0.02732519 0.99962065 -0.00344794 -0.05448771] [ 0.00415324 0.00333567 0.99998581 -0.01269779] [ 0. 0. 0. 1. ]] SLAMing on 0.648241008 meters 0.19073357327842178 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.06, Z:-0.01 [[ 0.999494 -0.03152592 -0.00422618 0.42152661] [ 0.03149705 0.99948116 -0.00673386 -0.05877109] [ 0.00443628 0.00659734 0.9999684 -0.01436783] [ 0. 0. 0. 1. ]] SLAMing on 0.678241008 meters 0.19073357327842178 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.06, Z:-0.01 [[ 0.999494 -0.03152592 -0.00422618 0.42152661] [ 0.03149705 0.99948116 -0.00673386 -0.05877109] [ 0.00443628 0.00659734 0.9999684 -0.01436783] [ 0. 0. 0. 1. ]] SLAMing on 0.708241008 meters 0.20029428777949718 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.07, Z:-0.01 [[ 0.99945177 -0.03002541 -0.01395112 0.4419529 ] [ 0.0299707 0.99954231 -0.00411408 -0.07454683] [ 0.01406827 0.0036937 0.99989421 -0.00962587] [ 0. 0. 0. 1. ]] SLAMing on 0.738241008 meters 0.2049709223215547 Centerline is valid? [False, False] Translation: X:0.44, Y:-0.08, Z:-0.01 [[ 0.99944248 -0.03007216 -0.01450469 0.44440834] [ 0.03002968 0.99954408 -0.00313735 -0.07884431] [ 0.01459242 0.00270003 0.99988988 -0.01117092] [ 0. 0. 0. 1. ]] SLAMing on 0.7682410080000001 meters 0.21125527991272344 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.09, Z:-0.01 [[ 0.99944282 -0.02497854 -0.02213888 0.45763108] [ 0.02493156 0.99968629 -0.00239565 -0.08711195] [ 0.02219177 0.00184236 0.99975203 -0.00647209] [ 0. 0. 0. 1. ]] SLAMing on 0.798241008 meters 0.21155963129505329 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.09, Z:-0.01 [[ 0.99959974 -0.0259661 -0.0112308 0.46609653] [ 0.02599079 0.99966006 0.00205831 -0.09328816] [ 0.01117354 -0.00234938 0.99993481 -0.01253982] [ 0. 0. 0. 1. ]] SLAMing on 0.828241008 meters 0.22644960709343287 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.11, Z:-0.01 [[ 0.99966693 -0.0192409 -0.01719944 0.4760748 ] [ 0.0192934 0.99980968 0.00289163 -0.10790245] [ 0.01714053 -0.0032225 0.9998479 -0.00822302] [ 0. 0. 0. 1. ]] SLAMing on 0.858241008 meters 0.23302553288668593 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.01 [[ 0.99979595 -0.01656185 -0.01156605 0.49140907] [ 0.01653653 0.99986066 -0.00228095 -0.10944269] [ 0.01160222 0.00208922 0.99993051 -0.01283747] [ 0. 0. 0. 1. ]] SLAMing on 0.888241008 meters 0.23608766587690155 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.11, Z:-0.01 [[ 0.99985708 -0.01189365 -0.01201472 0.49296442] [ 0.01193444 0.99992324 0.00332904 -0.11450121] [ 0.0119742 -0.00347196 0.99992228 -0.01357319] [ 0. 0. 0. 1. ]] SLAMing on 0.918241008 meters 0.23535062906589146 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.12, Z:-0.01 [[ 0.99986998 -0.01121728 -0.01158411 0.49253994] [ 0.0112645 0.99992848 0.00401924 -0.11694369] [ 0.01153819 -0.00414921 0.99992482 -0.0143771 ] [ 0. 0. 0. 1. ]] SLAMing on 0.948241008 meters 0.24924946051726796 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.12, Z:-0.02 [[ 0.99998165 -0.00465311 -0.00387897 0.49998067] [ 0.00464785 0.99998827 -0.00136573 -0.12224492] [ 0.00388527 0.00134767 0.99999154 -0.0193408 ] [ 0. 0. 0. 1. ]] SLAMing on 0.978241008 meters 0.24662368263641885 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.02 [[ 9.99991198e-01 -2.95632879e-03 -2.97713316e-03 4.97330790e-01] [ 2.95745109e-03 9.99995557e-01 3.72638808e-04 -1.27122571e-01] [ 2.97601829e-03 -3.81440254e-04 9.99995499e-01 -1.87873784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0082410080000002 meters 0.2560030228183662 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.13, Z:-0.02 [[ 0.99999393 -0.00210577 -0.00277529 0.49691393] [ 0.00211089 0.99999608 0.00184113 -0.13189232] [ 0.0027714 -0.00184698 0.99999445 -0.01864035] [ 0. 0. 0. 1. ]] SLAMing on 1.038241008 meters 0.25700709742073097 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.14, Z:-0.02 [[ 9.99998722e-01 7.52417571e-04 -1.41082093e-03 4.92865667e-01] [-7.45586689e-04 9.99988028e-01 4.83606877e-03 -1.41835096e-01] [ 1.41444278e-03 -4.83501070e-03 9.99987311e-01 -1.80566311e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.068241008 meters 0.261316290447647 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.02 [[ 0.99999833 0.00132052 -0.00126697 0.49254228] [-0.00131292 0.99998127 0.00597814 -0.14507017] [ 0.00127484 -0.00597647 0.99998133 -0.01774469] [ 0. 0. 0. 1. ]] SLAMing on 1.098241008 meters 0.26969935553741164 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.02 [[ 0.99999776 0.00162184 -0.00135881 0.49282636] [-0.00161239 0.99997474 0.00692288 -0.14770356] [ 0.00137 -0.00692067 0.99997511 -0.01744459] [ 0. 0. 0. 1. ]] SLAMing on 1.128241008 meters 0.25573656205444084 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.15, Z:-0.02 [[ 0.99999768 -0.00190191 -0.00100844 0.49189309] [ 0.00190531 0.99999247 0.00338134 -0.14898018] [ 0.00100201 -0.00338325 0.99999377 -0.01722848] [ 0. 0. 0. 1. ]] SLAMing on 1.158241008 meters 0.23460752009848002 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.02 [[ 9.99991592e-01 -4.08868929e-03 -3.14344945e-04 4.89284514e-01] [ 4.08931262e-03 9.99989622e-01 2.00854153e-03 -1.55997509e-01] [ 3.06129380e-04 -2.00981010e-03 9.99997933e-01 -1.57250377e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.188241008 meters 0.2325599769617298 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.02 [[ 0.99998906 -0.00452623 -0.0011776 0.49197044] [ 0.00452973 0.99998528 0.00298681 -0.15950347] [ 0.00116407 -0.00299212 0.99999485 -0.01584603] [ 0. 0. 0. 1. ]] SLAMing on 1.2182410080000001 meters 0.2285244244155303 Centerline is valid? [False, False] Translation: X:0.49, Y:-0.16, Z:-0.02 [[ 0.99998745 -0.00459271 -0.00200191 0.49394451] [ 0.00460188 0.99997884 0.00459767 -0.16407215] [ 0.00198075 -0.00460683 0.99998743 -0.01511673] [ 0. 0. 0. 1. ]] SLAMing on 1.2482410080000002 meters 0.226769147263703 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 0.99998332 -0.00495891 -0.00296172 0.49644109] [ 0.00497624 0.99997038 0.0058715 -0.16792568] [ 0.00293252 -0.00588614 0.99997838 -0.01464485] [ 0. 0. 0. 1. ]] SLAMing on 1.278241008 meters 0.2193984890593011 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 0.99994842 -0.00949657 -0.00360068 0.49835768] [ 0.00950845 0.99994936 0.00329797 -0.17220967] [ 0.00356918 -0.00333204 0.99998808 -0.01365003] [ 0. 0. 0. 1. ]] SLAMing on 1.308241008 meters 0.215175700253626 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 0.99994278 -0.00975565 -0.00439021 0.50016069] [ 0.00977437 0.99994315 0.00426217 -0.17467855] [ 0.00434838 -0.00430484 0.99998128 -0.01294549] [ 0. 0. 0. 1. ]] SLAMing on 1.338241008 meters 0.21039028089223696 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.01 [[ 0.99993682 -0.01005906 -0.005017 0.50185164] [ 0.01008344 0.99993736 0.00485768 -0.17655333] [ 0.00496783 -0.00490796 0.99997562 -0.01280179] [ 0. 0. 0. 1. ]] SLAMing on 1.368241008 meters 0.20233231139201016 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.01 [[ 9.99887093e-01 -1.42346502e-02 -4.81415748e-03 5.01550832e-01] [ 1.42382275e-02 9.99898379e-01 7.09620448e-04 -1.76288908e-01] [ 4.80356706e-03 -7.78085396e-04 9.99988160e-01 -1.27752872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.398241008 meters 0.19582051671702413 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.18, Z:-0.01 [[ 9.99882843e-01 -1.44695847e-02 -4.99306780e-03 5.02150484e-01] [ 1.44722547e-02 9.99895147e-01 4.99025487e-04 -1.75923416e-01] [ 4.98532357e-03 -5.71227972e-04 9.99987410e-01 -1.30330735e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.428241008 meters 0.19259437301878976 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 9.99874034e-01 -1.50211211e-02 -5.12668622e-03 5.03165544e-01] [ 1.50194378e-02 9.99887135e-01 -3.66674568e-04 -1.74431189e-01] [ 5.13161546e-03 2.89628435e-04 9.99986791e-01 -1.41983202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4582410080000001 meters 0.19043502945221386 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.01 [[ 0.99992085 -0.01118542 -0.00575983 0.50478647] [ 0.01120727 0.99993007 0.00377622 -0.17460491] [ 0.00571719 -0.00384047 0.99997628 -0.01458787] [ 0. 0. 0. 1. ]] SLAMing on 1.4882410080000001 meters 0.17952973740063752 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.17, Z:-0.02 [[ 0.99992359 -0.01120642 -0.00521846 0.5036867 ] [ 0.01122111 0.99993314 0.00279437 -0.17156611] [ 0.0051868 -0.00285272 0.99998248 -0.01525965] [ 0. 0. 0. 1. ]] SLAMing on 1.5182410080000002 meters 0.17828533700066926 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.01 [[ 0.99995894 -0.00262429 -0.00867395 0.51494112] [ 0.00260683 0.99999455 -0.00202393 -0.17118377] [ 0.00867921 0.00200124 0.99996033 -0.01469969] [ 0. 0. 0. 1. ]] SLAMing on 1.548241008 meters 0.17275435301150768 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99996042 -0.00271334 -0.00847297 0.51475389] [ 0.0026931 0.99999349 -0.00239988 -0.17029856] [ 0.00847942 0.00237697 0.99996122 -0.01521744] [ 0. 0. 0. 1. ]] SLAMing on 1.578241008 meters 0.1684852376621513 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99996133 -0.00293419 -0.00829038 0.51478461] [ 0.00290919 0.99999119 -0.00302621 -0.16890392] [ 0.00829919 0.00300198 0.99996106 -0.01607797] [ 0. 0. 0. 1. ]] SLAMing on 1.608241008 meters 0.16190260188229694 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99996401 -0.00316905 -0.00787022 0.51449219] [ 0.00313631 0.99998639 -0.00416814 -0.16581327] [ 0.00788332 0.00414331 0.99996034 -0.01766543] [ 0. 0. 0. 1. ]] SLAMing on 1.638241008 meters 0.15725933783385618 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.99996451 -0.00330922 -0.00774785 0.51463721] [ 0.00327484 0.99998476 -0.00444548 -0.16534812] [ 0.00776244 0.00441995 0.9999601 -0.01836556] [ 0. 0. 0. 1. ]] SLAMing on 1.668241008 meters 0.15553536820503125 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.17, Z:-0.02 [[ 0.9999641 -0.00326965 -0.0078168 0.51491878] [ 0.00323634 0.99998564 -0.00427077 -0.16608074] [ 0.00783065 0.00424532 0.99996033 -0.01856093] [ 0. 0. 0. 1. ]] SLAMing on 1.698241008 meters 0.15491004377791526 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99963804e-01 9.81570927e-04 -8.45143066e-03 5.16530250e-01] [-9.75716234e-04 9.99999281e-01 6.96841134e-04 -1.69022957e-01] [ 8.45210858e-03 -6.88569714e-04 9.99964043e-01 -1.89220264e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7282410080000001 meters 0.15073679239636822 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99963816e-01 1.00315294e-03 -8.44749847e-03 5.16704962e-01] [-9.96592286e-04 9.99999199e-01 7.80812443e-04 -1.69471782e-01] [ 8.44827498e-03 -7.72365478e-04 9.99964014e-01 -1.92249998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7582410080000002 meters 0.14561599274363715 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99964807e-01 7.55356346e-04 -8.35544743e-03 5.17090014e-01] [-7.53073663e-04 9.99999678e-01 2.76339849e-04 -1.68575443e-01] [ 8.35565348e-03 -2.70037857e-04 9.99965054e-01 -2.03526722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7882410080000002 meters 0.1380517170082388 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99964576e-01 5.74242362e-04 -8.39748982e-03 5.17475945e-01] [-5.74729013e-04 9.99999833e-01 -5.55388438e-05 -1.68004464e-01] [ 8.39745653e-03 6.03631574e-05 9.99964739e-01 -2.09591795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.818241008 meters 0.13881892336644402 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99963205e-01 1.26316158e-04 -8.57746608e-03 5.18554697e-01] [-1.32344194e-04 9.99999745e-01 -7.02211930e-04 -1.67412990e-01] [ 8.57737519e-03 7.03321269e-04 9.99962966e-01 -2.21712780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.848241008 meters 0.133957244646488 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99963157e-01 1.99347721e-04 -8.58161378e-03 5.18533339e-01] [-2.04236108e-04 9.99999817e-01 -5.68762360e-04 -1.67701569e-01] [ 8.58149883e-03 5.70494081e-04 9.99963016e-01 -2.21478565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.878241008 meters 0.128213092532381 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99963806e-01 4.09976928e-04 -8.49810534e-03 5.18172091e-01] [-4.11278164e-04 9.99999904e-01 -1.51373760e-04 -1.68369397e-01] [ 8.49804246e-03 1.54863366e-04 9.99963879e-01 -2.17183526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.908241008 meters 0.12590816832698534 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99963672e-01 5.12697792e-04 -8.50836467e-03 5.18064104e-01] [-5.12814256e-04 9.99999868e-01 -1.15065628e-05 -1.68606725e-01] [ 8.50835765e-03 1.58693555e-05 9.99963803e-01 -2.15237524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.938241008 meters 0.1218458005191407 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99962804e-01 4.33863148e-04 -8.61405934e-03 5.18278606e-01] [-4.35393379e-04 9.99999890e-01 -1.75768978e-04 -1.68170682e-01] [ 8.61398213e-03 1.79512945e-04 9.99962883e-01 -2.16301040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9682410080000001 meters 0.11417557655585533 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.17, Z:-0.02 [[ 9.99960611e-01 -8.83885333e-05 -8.87517496e-03 5.19155592e-01] [ 7.79824510e-05 9.99999309e-01 -1.17283242e-03 -1.65922147e-01] [ 8.87527249e-03 1.17209411e-03 9.99959927e-01 -2.25651579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9982410080000002 meters 0.11443487535279635 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 9.99992103e-01 -2.00190293e-03 3.43301639e-03 5.22667518e-01] [ 1.99917479e-03 9.99997683e-01 7.97922488e-04 -1.64963890e-01] [-3.43460580e-03 -7.91052988e-04 9.99993789e-01 -2.85178964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.028241008 meters 0.1098000017816492 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 9.99992430e-01 -2.22378666e-03 3.19288114e-03 5.23320937e-01] [ 2.22239843e-03 9.99997434e-01 4.38271029e-04 -1.64259735e-01] [-3.19384757e-03 -4.31171857e-04 9.99994807e-01 -2.89502831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.058241008 meters 0.10801308495393601 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.16, Z:-0.03 [[ 9.99992691e-01 -2.51265916e-03 2.88172930e-03 5.24196781e-01] [ 2.51274639e-03 9.99996843e-01 -2.66495079e-05 -1.63463174e-01] [-2.88165324e-03 3.38903681e-05 9.99995847e-01 -2.95745702e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0882410080000002 meters 0.10211933204870881 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 0.99999177 -0.00343131 0.00216415 0.52641145] [ 0.00343461 0.99999294 -0.00152692 -0.16090334] [-0.0021589 0.00153434 0.99999649 -0.03146728] [ 0. 0. 0. 1. ]] SLAMing on 2.118241008 meters 0.10033012127758763 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 9.99998762e-01 5.33639168e-04 1.48030888e-03 5.27842071e-01] [-5.37365126e-04 9.99996686e-01 2.51775901e-03 -1.61064842e-01] [-1.47896040e-03 -2.51855136e-03 9.99995735e-01 -3.19089331e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1482410080000003 meters 0.09809209016721697 Centerline is valid? [False, True] Translation: X:0.53, Y:-0.16, Z:-0.03 [[ 9.99999185e-01 1.11593598e-04 1.27184790e-03 5.28416212e-01] [-1.13629726e-04 9.99998712e-01 1.60096072e-03 -1.58719869e-01] [-1.27166760e-03 -1.60110393e-03 9.99997910e-01 -3.23862714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.178241008 meters 0.09853341440203765 Centerline is valid? [True, True] Translation: X:0.56, Y:-0.16, Z:-0.04 [[ 9.99997062e-01 -2.37873835e-03 4.67155064e-04 5.59642423e-01] [ 2.37873214e-03 9.99997171e-01 1.38402235e-05 -1.55791546e-01] [-4.67186665e-04 -1.27289460e-05 9.99999891e-01 -3.67039938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2082410080000003 meters 0.09447410453903055 Centerline is valid? [True, True] Translation: X:0.59, Y:-0.15, Z:-0.04 [[ 9.99931311e-01 -7.62836998e-03 8.89833086e-03 5.88872828e-01] [ 7.62701568e-03 9.99970897e-01 1.86122522e-04 -1.50399481e-01] [-8.89949169e-03 -1.18242028e-04 9.99960392e-01 -3.81484085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.238241008 meters 0.08902439045874402 Centerline is valid? [True, True] Translation: X:0.62, Y:-0.15, Z:-0.03 [[ 9.99800176e-01 -9.73706248e-03 1.74584436e-02 6.19959963e-01] [ 9.73216203e-03 9.99952575e-01 3.65632876e-04 -1.47293101e-01] [-1.74611758e-02 -1.95651411e-04 9.99847523e-01 -3.24425382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.268241008 meters 0.09008274193820509 Centerline is valid? [True, True] Translation: X:0.65, Y:-0.14, Z:-0.03 [[ 9.99859424e-01 -8.38251847e-03 1.45211828e-02 6.51114136e-01] [ 8.37894891e-03 9.99964849e-01 3.06640241e-04 -1.42162736e-01] [-1.45232427e-02 -1.84924886e-04 9.99894515e-01 -3.40420040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.298241008 meters 0.08088855396100117 Centerline is valid? [True, True] Translation: X:0.68, Y:-0.14, Z:-0.04 [[ 9.99268860e-01 -1.23087660e-02 3.61972317e-02 6.82075757e-01] [ 1.22894045e-02 9.99924196e-01 7.57342500e-04 -1.35694642e-01] [-3.62038097e-02 -3.11946355e-04 9.99344379e-01 -3.51269286e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.328241008 meters 0.08425579134988079 Centerline is valid? [True, True] Translation: X:0.71, Y:-0.13, Z:-0.04 [[ 9.99526575e-01 -1.05340887e-02 2.89077557e-02 7.11232857e-01] [ 1.05210066e-02 9.99944470e-01 6.04613981e-04 -1.30070116e-01] [-2.89125195e-02 -3.00189053e-04 9.99581901e-01 -4.23969111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3582410080000002 meters 0.07726015586228656 Centerline is valid? [True, True] Translation: X:0.74, Y:-0.13, Z:-0.04 [[ 9.98993239e-01 -1.18372507e-02 4.32711083e-02 7.42462347e-01] [ 1.18091835e-02 9.99929860e-01 9.04203923e-04 -1.25091754e-01] [-4.32787766e-02 -3.92297146e-04 9.99062958e-01 -4.02100996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.388241008 meters 0.07683601489474981 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.12, Z:-0.05 [[ 9.98708726e-01 -1.20315568e-02 4.93570962e-02 7.70670978e-01] [ 1.19953442e-02 9.99927523e-01 1.02983879e-03 -1.17844770e-01] [-4.93659095e-02 -4.36453630e-04 9.98780665e-01 -5.22267327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4182410080000003 meters 0.0748335421460579 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.11, Z:-0.05 [[ 9.98468544e-01 -1.17530587e-02 5.40595303e-02 8.01116784e-01] [ 1.17091432e-02 9.99930808e-01 1.12902176e-03 -1.12121424e-01] [-5.40690592e-02 -4.94301931e-04 9.98537076e-01 -5.36817124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.448241008 meters 0.07319191811341492 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.10, Z:-0.05 [[ 9.98383120e-01 -1.13712988e-02 5.56941531e-02 8.33019559e-01] [ 1.13238859e-02 9.99935202e-01 1.16682675e-03 -1.02806904e-01] [-5.57038125e-02 -5.34265896e-04 9.98447194e-01 -5.38245991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4782410080000004 meters 0.07323662537287669 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.10, Z:-0.06 [[ 9.98370070e-01 -1.19376267e-02 5.58094624e-02 8.63480754e-01] [ 1.18904132e-02 9.99928613e-01 1.17796917e-03 -9.76105022e-02] [-5.58195405e-02 -5.12451589e-04 9.98440743e-01 -6.15983104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.508241008 meters 0.07420824184655771 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.09, Z:-0.07 [[ 9.98521023e-01 -1.08837762e-02 5.32664106e-02 8.92729774e-01] [ 1.08404354e-02 9.99940633e-01 1.10252119e-03 -9.20650321e-02] [-5.32752479e-02 -5.23459503e-04 9.98579728e-01 -6.64886426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.538241008 meters 0.07031239908948003 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.09, Z:-0.07 [[ 9.97888534e-01 -1.34533127e-02 6.35411792e-02 9.23429024e-01] [ 1.33973355e-02 9.99909398e-01 1.30696914e-03 -8.83868358e-02] [-6.35530053e-02 -4.52927021e-04 9.97978362e-01 -6.69858970e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.568241008 meters 0.07075060598187581 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.08, Z:-0.07 [[ 9.98260994e-01 -1.48628117e-02 5.70445845e-02 9.54523000e-01] [ 1.48199933e-02 9.99889489e-01 1.17360622e-03 -8.30972688e-02] [-5.70557236e-02 -3.26164953e-04 9.98370942e-01 -6.86144249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.598241008 meters 0.07075060598187581 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.08, Z:-0.07 [[ 9.98265057e-01 -1.45885461e-02 5.70442784e-02 9.86752601e-01] [ 1.45444202e-02 9.99893518e-01 1.18866043e-03 -8.25280241e-02] [-5.70555450e-02 -3.56922220e-04 9.98370942e-01 -7.26734518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6282410080000003 meters 0.07192421015106959 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.08, Z:-0.08 [[ 9.98377117e-01 -1.43529639e-02 5.51101097e-02 1.01614765e+00] [ 1.43132070e-02 9.99896938e-01 1.11606227e-03 -7.78747915e-02] [-5.51204487e-02 -3.25448625e-04 9.98479659e-01 -8.34725893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.658241008 meters 0.0687731561763361 Centerline is valid? [True, True] Translation: X:1.05, Y:-0.07, Z:-0.08 [[ 9.97799793e-01 -1.71975734e-02 6.40298042e-02 1.04721450e+00] [ 1.71498990e-02 9.99852092e-01 1.29414946e-03 -7.39200488e-02] [-6.40425899e-02 -1.93197385e-04 9.97947148e-01 -8.00275346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6882410080000003 meters 0.06931430417415764 Centerline is valid? [True, True] Translation: X:1.08, Y:-0.07, Z:-0.09 [[ 9.97864637e-01 -1.72045988e-02 6.30092636e-02 1.07739421e+00] [ 1.71583063e-02 9.99851972e-01 1.27576476e-03 -6.83666779e-02] [-6.30218855e-02 -1.91908298e-04 9.98012127e-01 -8.54958999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.718241008 meters 0.06892485462512411 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.06, Z:-0.09 [[ 9.97654672e-01 -1.91871448e-02 6.57039516e-02 1.10824026e+00] [ 1.91413272e-02 9.99815908e-01 1.32683096e-03 -5.77730717e-02] [-6.57173141e-02 -6.60582703e-05 9.97838279e-01 -8.91095077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7482410080000004 meters 0.06743564825912043 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.05, Z:-0.09 [[ 9.97177071e-01 -2.13799826e-02 7.19776777e-02 1.13893082e+00] [ 2.13308268e-02 9.99771418e-01 1.45161870e-03 -5.26341553e-02] [-7.19922605e-02 8.78224940e-05 9.97405187e-01 -9.24879025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.778241008 meters 0.0676882184971853 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.05, Z:-0.10 [[ 9.97207776e-01 -2.20910528e-02 7.13346802e-02 1.16921187e+00] [ 2.20441755e-02 9.99755954e-01 1.44443525e-03 -4.75758191e-02] [-7.13491803e-02 1.32112145e-04 9.97451391e-01 -9.78500683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.808241008 meters 0.06714672924470982 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.04, Z:-0.10 [[ 9.97118594e-01 -2.25855708e-02 7.24182385e-02 1.20143431e+00] [ 2.25388321e-02 9.99744898e-01 1.46262368e-03 -3.96069780e-02] [-7.24327987e-02 1.73813248e-04 9.97373280e-01 -9.98557301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8382410080000002 meters 0.06618467860868307 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.04, Z:-0.10 [[ 9.96799191e-01 -2.34853472e-02 7.64186594e-02 1.23215545e+00] [ 2.34382314e-02 9.99724141e-01 1.51348513e-03 -3.55988768e-02] [-7.64331234e-02 2.82477467e-04 9.97074670e-01 -1.02880591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.868241008 meters 0.06612106678808097 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.03, Z:-0.11 [[ 9.96764227e-01 -2.24145819e-02 7.71923658e-02 1.26386349e+00] [ 2.23626088e-02 9.99748743e-01 1.53773813e-03 -2.98520043e-02] [-7.72074385e-02 1.93460324e-04 9.97015032e-01 -1.06755058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8982410080000003 meters 0.06540902498895099 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.02, Z:-0.11 [[ 9.96595131e-01 -2.15716786e-02 7.95789356e-02 1.29479941e+00] [ 2.15160168e-02 9.99767291e-01 1.55695833e-03 -2.28951052e-02] [-7.95940031e-02 1.60564629e-04 9.96827352e-01 -1.10861211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.928241008 meters 0.06418188615023421 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.01, Z:-0.12 [[ 9.96213485e-01 -1.90638958e-02 8.48248778e-02 1.32411639e+00] [ 1.89919652e-02 9.99818267e-01 1.65493266e-03 -8.07075462e-03] [-8.48410117e-02 -3.76751031e-05 9.96394501e-01 -1.16291729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9582410080000003 meters 0.06414864906468257 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.00, Z:-0.12 [[ 9.96291620e-01 -1.61317214e-02 8.45149453e-02 1.35621174e+00] [ 1.60489428e-02 9.99869831e-01 1.65881138e-03 -7.16286864e-04] [-8.45307036e-02 -2.96284351e-04 9.96420831e-01 -1.21038082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.988241008 meters 0.063897062524376 Centerline is valid? [True, True] Translation: X:1.39, Y:0.01, Z:-0.13 [[ 9.96269542e-01 -1.18014616e-02 8.54852290e-02 1.38835383e+00] [ 1.17025564e-02 9.99930148e-01 1.65802610e-03 6.82347841e-03] [-8.54988248e-02 -6.51445188e-04 9.96338058e-01 -1.25063252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0182410080000004 meters 0.06556199991559708 Centerline is valid? [True, True] Translation: X:1.42, Y:0.02, Z:-0.13 [[ 9.96875436e-01 -4.47745721e-03 7.88626534e-02 1.41809169e+00] [ 4.37237717e-03 9.99989308e-01 1.50507172e-03 1.58853597e-02] [-7.88685491e-02 -1.15555176e-03 9.96884355e-01 -1.31604092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.048241008 meters 0.06457720552925847 Centerline is valid? [True, True] Translation: X:1.45, Y:0.03, Z:-0.13 [[ 0.99637857 0.00385043 0.08494062 1.44894286] [-0.0040023 0.99999068 0.00161775 0.02913801] [-0.0849336 -0.00195185 0.9963847 -0.13444734] [ 0. 0. 0. 1. ]] SLAMing on 3.078241008 meters 0.06504528653104445 Centerline is valid? [True, True] Translation: X:1.48, Y:0.04, Z:-0.14 [[ 0.99631373 0.00833686 0.08537826 1.48086939] [-0.00850661 0.9999625 0.00162457 0.03628752] [-0.08536151 -0.00234486 0.99634729 -0.13931172] [ 0. 0. 0. 1. ]] SLAMing on 3.1082410080000002 meters 0.06497667507330171 Centerline is valid? [True, True] Translation: X:1.51, Y:0.04, Z:-0.14 [[ 0.99609206 0.01108589 0.08762253 1.51228391] [-0.01127533 0.99993504 0.00166734 0.04178615] [-0.08759835 -0.0026488 0.99615235 -0.14377559] [ 0. 0. 0. 1. ]] SLAMing on 3.138241008 meters 0.06619973311880888 Centerline is valid? [True, True] Translation: X:1.54, Y:0.05, Z:-0.15 [[ 0.99618899 0.01507219 0.08590877 1.54150282] [-0.0152669 0.99988216 0.0016098 0.04936555] [-0.08587438 -0.00291523 0.99630171 -0.14919645] [ 0. 0. 0. 1. ]] SLAMing on 3.1682410080000003 meters 0.06546297368872031 Centerline is valid? [True, True] Translation: X:1.57, Y:0.05, Z:-0.15 [[ 0.99604176 0.0133089 0.08788453 1.57324674] [-0.01350539 0.99990745 0.00164157 0.04874343] [-0.08785455 -0.00282199 0.99612932 -0.15360846] [ 0. 0. 0. 1. ]] SLAMing on 3.198241008 meters 0.06550466214529985 Centerline is valid? [True, True] Translation: X:1.60, Y:0.05, Z:-0.16 [[ 0.99620085 0.01185506 0.08627468 1.60477935] [-0.01203924 0.99992622 0.0016147 0.04603027] [-0.08624917 -0.00264725 0.99627008 -0.15857614] [ 0. 0. 0. 1. ]] SLAMing on 3.2282410080000004 meters 0.06361850216006619 Centerline is valid? [True, True] Translation: X:1.63, Y:0.03, Z:-0.16 [[ 9.96136636e-01 3.93928340e-03 8.77284754e-02 1.63456702e+00] [-4.09649042e-03 9.99990310e-01 1.61200745e-03 3.42995629e-02] [-8.77212751e-02 -1.96515854e-03 9.96143120e-01 -1.60538711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.258241008 meters 0.06256660029130663 Centerline is valid? [True, True] Translation: X:1.67, Y:0.03, Z:-0.16 [[ 9.96057245e-01 -1.33697885e-03 8.87027436e-02 1.66541143e+00] [ 1.19695092e-03 9.99997952e-01 1.63179263e-03 2.81254078e-02] [-8.87047436e-02 -1.51918604e-03 9.96056806e-01 -1.63693548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2882410080000004 meters 0.062107665042552454 Centerline is valid? [True, True] Translation: X:1.70, Y:0.02, Z:-0.17 [[ 9.95962976e-01 -5.17077798e-03 8.96159199e-02 1.69698530e+00] [ 5.04335345e-03 9.99985924e-01 1.64827726e-03 2.25829100e-02] [-8.96231813e-02 -1.18965836e-03 9.95975035e-01 -1.67023239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.318241008 meters 0.061910744958045716 Centerline is valid? [True, True] Translation: X:1.73, Y:0.02, Z:-0.17 [[ 9.95996137e-01 -8.85373438e-03 8.89567659e-02 1.72955014e+00] [ 8.74310435e-03 9.99960445e-01 1.63322041e-03 1.63448901e-02] [-8.89677073e-02 -8.48922933e-04 9.96034149e-01 -1.70578578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.348241008 meters 0.06163716355862442 Centerline is valid? [True, True] Translation: X:1.76, Y:0.01, Z:-0.17 [[ 9.95895849e-01 -1.36637442e-02 8.94693291e-02 1.76053961e+00] [ 1.35714345e-02 9.99906559e-01 1.64002796e-03 5.60752543e-03] [-8.94833779e-02 -4.19069894e-04 9.95988228e-01 -1.72517903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3782410080000003 meters 0.0611406799820801 Centerline is valid? [True, True] Translation: X:1.79, Y:0.00, Z:-0.18 [[ 9.95608583e-01 -1.66540599e-02 9.21205246e-02 1.79115929e+00] [ 1.65711726e-02 9.99861303e-01 1.66464947e-03 1.29532311e-03] [-9.21354709e-02 -1.30794187e-04 9.95746473e-01 -1.75024697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.408241008 meters 0.060933266054014015 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.00, Z:-0.18 [[ 9.95513547e-01 -1.71766187e-02 9.30469858e-02 1.82279787e+00] [ 1.70940665e-02 9.99852467e-01 1.68420108e-03 -3.82539134e-04] [-9.30621872e-02 -8.60936299e-05 9.95660294e-01 -1.78243372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4382410080000003 meters 0.060757942282416856 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.00, Z:-0.18 [[ 9.95469495e-01 -1.64440765e-02 9.36486847e-02 1.85435490e+00] [ 1.63590539e-02 9.99864778e-01 1.67555730e-03 -6.60900670e-04] [-9.36635743e-02 -1.35962304e-04 9.95603895e-01 -1.81510123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.468241008 meters 0.06077346923969354 Centerline is valid? [True, True] Translation: X:1.89, Y:0.00, Z:-0.19 [[ 9.95642339e-01 -1.13891314e-02 9.25560435e-02 1.88542722e+00] [ 1.12863344e-02 9.99934972e-01 1.63402041e-03 1.59944097e-03] [-9.25686348e-02 -5.82281451e-04 9.95706136e-01 -1.86932825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4982410080000004 meters 0.061133169909136 Centerline is valid? [True, True] Translation: X:1.92, Y:0.00, Z:-0.19 [[ 9.95741839e-01 -7.41114812e-03 9.18872409e-02 1.91628217e+00] [ 7.29355886e-03 9.99972097e-01 1.61545406e-03 3.88406457e-03] [-9.18966493e-02 -9.38390198e-04 9.95768108e-01 -1.90996109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.528241008 meters 0.06158777723472959 Centerline is valid? [True, True] Translation: X:1.95, Y:0.01, Z:-0.20 [[ 9.95806500e-01 -2.69368148e-03 9.14448342e-02 1.94719681e+00] [ 2.55895573e-03 9.99995461e-01 1.59051632e-03 7.26804457e-03] [-9.14487034e-02 -1.34984321e-03 9.95808874e-01 -1.95585080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5582410080000004 meters 0.06204888628978899 Centerline is valid? [True, True] Translation: X:1.98, Y:0.01, Z:-0.20 [[ 9.95880261e-01 1.08109694e-03 9.06715903e-02 1.97830001e+00] [-1.22762484e-03 9.99998029e-01 1.56027413e-03 1.07886163e-02] [-9.06697248e-02 -1.66515691e-03 9.95879625e-01 -2.00642283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5882410080000002 meters 0.06335716618362808 Centerline is valid? [True, True] Translation: X:2.01, Y:0.02, Z:-0.21 [[ 9.95804548e-01 7.63590261e-03 9.11865989e-02 2.00802768e+00] [-7.80941557e-03 9.99968311e-01 1.54618016e-03 1.89090272e-02] [-9.11719028e-02 -2.25180728e-03 9.95832623e-01 -2.05551566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.618241008 meters 0.06396169237020322 Centerline is valid? [True, True] Translation: X:2.04, Y:0.02, Z:-0.21 [[ 9.95733269e-01 9.96188024e-03 9.17388566e-02 2.03936851e+00] [-1.01477522e-02 9.99947294e-01 1.55985489e-03 2.03734596e-02] [-9.17184822e-02 -2.48414260e-03 9.95781878e-01 -2.09385231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6482410080000003 meters 0.06428490121391953 Centerline is valid? [True, True] Translation: X:2.07, Y:0.02, Z:-0.21 [[ 9.95710955e-01 1.10762635e-02 9.18531992e-02 2.06998312e+00] [-1.12657595e-02 9.99935346e-01 1.54477709e-03 1.92244200e-02] [-9.18301502e-02 -2.57294752e-03 9.95771361e-01 -2.13331744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.678241008 meters 0.06453497853490639 Centerline is valid? [True, True] Translation: X:2.10, Y:0.02, Z:-0.22 [[ 9.95710185e-01 1.18354186e-02 9.17668241e-02 2.10117461e+00] [-1.20262192e-02 9.99926517e-01 1.52647861e-03 1.64776736e-02] [-9.17420143e-02 -2.62353824e-03 9.95779353e-01 -2.16478946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7082410080000003 meters 0.06423173203664101 Centerline is valid? [True, True] Translation: X:2.13, Y:0.01, Z:-0.22 [[ 9.95806364e-01 1.03887638e-02 9.08942235e-02 2.13227372e+00] [-1.05682146e-02 9.99943040e-01 1.49320057e-03 7.56477470e-03] [-9.08735337e-02 -2.44752829e-03 9.95859433e-01 -2.20878127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.738241008 meters 0.06383906373472792 Centerline is valid? [True, True] Translation: X:2.16, Y:0.00, Z:-0.23 [[ 9.95918720e-01 8.51863557e-03 8.98517422e-02 2.16255512e+00] [-8.68571318e-03 9.99961200e-01 1.46863381e-03 2.52292927e-03] [-8.98357452e-02 -2.24306637e-03 9.95954069e-01 -2.26617751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7682410080000004 meters 0.06339091413782642 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.00, Z:-0.23 [[ 9.96007806e-01 6.83964080e-03 8.90037630e-02 2.19429501e+00] [-6.99551709e-03 9.99974495e-01 1.43952651e-03 -2.67697733e-03] [-8.89916471e-02 -2.05640698e-03 9.96030250e-01 -2.31736653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.798241008 meters 0.061179359888757806 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.01, Z:-0.23 [[ 9.96211356e-01 6.07301800e-03 8.67528273e-02 2.22715676e+00] [-6.21685354e-03 9.99979712e-01 1.38791208e-03 -1.28636593e-02] [-8.67426385e-02 -1.92198339e-03 9.96228900e-01 -2.27440980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8282410080000004 meters 0.061222028314679565 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.02, Z:-0.23 [[ 9.96444688e-01 3.63582991e-03 8.41710385e-02 2.25800185e+00] [-3.76067591e-03 9.99992051e-01 1.32473738e-03 -2.21403796e-02] [-8.41655529e-02 -1.63656752e-03 9.96450441e-01 -2.33523251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8582410080000002 meters 0.06096525763730108 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.03, Z:-0.24 [[ 9.96464953e-01 2.05303493e-03 8.39844160e-02 2.29024958e+00] [-2.17127379e-03 9.99996776e-01 1.31655290e-03 -2.80360716e-02] [-8.39814424e-02 -1.49425199e-03 9.96466198e-01 -2.37160085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.888241008 meters 0.061032993091294084 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.03, Z:-0.24 [[ 9.96499911e-01 1.39485621e-03 8.35821809e-02 2.32197323e+00] [-1.50820083e-03 9.99998027e-01 1.29296139e-03 -3.33798705e-02] [-8.35802125e-02 -1.41449462e-03 9.96500049e-01 -2.41432624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9182410080000003 meters 0.06095834645935618 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.04, Z:-0.24 [[ 9.96516423e-01 2.72864422e-04 8.33963037e-02 2.35270236e+00] [-3.80074586e-04 9.99999122e-01 1.26967718e-03 -3.84128249e-02] [-8.33958841e-02 -1.29695098e-03 9.96515652e-01 -2.44932429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.948241008 meters 0.06058172820884086 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.04, Z:-0.25 [[ 9.96475461e-01 -4.89755317e-04 8.38833462e-02 2.38477687e+00] [ 3.85331488e-04 9.99999131e-01 1.26105507e-03 -4.33115883e-02] [-8.38838908e-02 -1.22428753e-03 9.96474783e-01 -2.47355787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9782410080000004 meters 0.06045428002953172 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.05, Z:-0.25 [[ 9.96478476e-01 -2.65224706e-03 8.38069996e-02 2.41579177e+00] [ 2.55719621e-03 9.99995960e-01 1.24148765e-03 -5.13412281e-02] [-8.38099538e-02 -1.02280477e-03 9.96481232e-01 -2.51803384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.008241008000001 meters 0.060299341769677724 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.06, Z:-0.26 [[ 9.96460773e-01 -4.69804873e-03 8.39276881e-02 2.44790631e+00] [ 4.61130561e-03 9.99988615e-01 1.22736714e-03 -5.60973540e-02] [-8.39324988e-02 -8.36006992e-04 9.96471092e-01 -2.55914822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.038241008000001 meters 0.060417657279491485 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.07, Z:-0.26 [[ 9.96419167e-01 -9.62097069e-03 8.40016643e-02 2.47913756e+00] [ 9.55306936e-03 9.99953636e-01 1.21025225e-03 -6.61736966e-02] [-8.40094134e-02 -4.03444816e-04 9.96464879e-01 -2.59680577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.068241008000001 meters 0.06032959556060069 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.07, Z:-0.26 [[ 9.96369894e-01 -1.17999394e-02 8.43077415e-02 2.51017482e+00] [ 1.17409603e-02 9.99930358e-01 1.19536210e-03 -7.11624123e-02] [-8.43159753e-02 -2.01168965e-04 9.96439048e-01 -2.63546108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0982410080000005 meters 0.06046430407341278 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.08, Z:-0.27 [[ 9.96353791e-01 -1.48928361e-02 8.40079005e-02 2.54176260e+00] [ 1.48457788e-02 9.99889093e-01 1.18484563e-03 -7.63132902e-02] [-8.40162291e-02 6.66372767e-05 9.96464384e-01 -2.66985336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.128241008000001 meters 0.06081009479771164 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.08, Z:-0.27 [[ 9.96387490e-01 -1.75852869e-02 8.30826545e-02 2.57360736e+00] [ 1.75499959e-02 9.99845320e-01 1.15511990e-03 -8.07730248e-02] [-8.30901164e-02 3.07153231e-04 9.96541990e-01 -2.71544490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.158241008000001 meters 0.06173281980324907 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.09, Z:-0.28 [[ 9.96276318e-01 -2.34705610e-02 8.29616191e-02 2.60478287e+00] [ 2.34571953e-02 9.99724197e-01 1.13594140e-03 -8.88132448e-02] [-8.29653992e-02 8.14335392e-04 9.96552096e-01 -2.76280762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.188241008 meters 0.06240059943350939 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.09, Z:-0.28 [[ 9.96216529e-01 -2.59454348e-02 8.29425180e-02 2.63671667e+00] [ 2.59418895e-02 9.99662824e-01 1.12062478e-03 -9.29577800e-02] [-8.29436269e-02 1.03530071e-03 9.96553703e-01 -2.80128859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.218241008000001 meters 0.06339856347648613 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.10, Z:-0.28 [[ 9.96124587e-01 -2.93200046e-02 8.29225159e-02 2.66825568e+00] [ 2.93295627e-02 9.99569187e-01 1.10313324e-03 -9.79289516e-02] [-8.29191357e-02 1.33322298e-03 9.96555387e-01 -2.83314593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.248241008000001 meters 0.06446302091914066 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.10, Z:-0.29 [[ 9.96083474e-01 -3.25270701e-02 8.22174134e-02 2.70032100e+00] [ 3.25490567e-02 9.99469563e-01 1.07324047e-03 -1.02886747e-01] [-8.22087116e-02 1.60706216e-03 9.96613840e-01 -2.86835904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.278241008000001 meters 0.0660690250861191 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.11, Z:-0.29 [[ 9.95958182e-01 -3.72526606e-02 8.17284526e-02 2.73010984e+00] [ 3.72906033e-02 9.99303899e-01 1.06263518e-03 -1.09012457e-01] [-8.17111473e-02 1.98936309e-03 9.96654068e-01 -2.90509245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.308241008 meters 0.06808364697424488 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.11, Z:-0.30 [[ 9.95994141e-01 -4.01454772e-02 7.99000137e-02 2.75951060e+00] [ 4.01916496e-02 9.99191457e-01 1.03091860e-03 -1.10879378e-01] [-7.98767979e-02 2.18452447e-03 9.96802350e-01 -2.97208466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.338241008000001 meters 0.06863228607192264 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.11, Z:-0.30 [[ 9.95922967e-01 -4.20249565e-02 7.98207222e-02 2.79127220e+00] [ 4.20768580e-02 9.99113843e-01 1.03239470e-03 -1.13118432e-01] [-7.97933749e-02 2.33041960e-03 9.96808701e-01 -3.01902188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.368241008000001 meters 0.07051206889017247 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.12, Z:-0.31 [[ 9.95788699e-01 -4.58735660e-02 7.93755818e-02 2.82193235e+00] [ 4.59375790e-02 9.98943791e-01 1.02036301e-03 -1.17452719e-01] [-7.93385523e-02 2.63025610e-03 9.96844259e-01 -3.06365123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.398241008000001 meters 0.06630142269038025 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.11, Z:-0.29 [[ 9.95344490e-01 -5.48259639e-02 7.92682822e-02 2.85507187e+00] [ 5.49181282e-02 9.98490341e-01 1.01855503e-03 -1.13073632e-01] [-7.92044574e-02 3.33945255e-03 9.96852799e-01 -2.93479262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4282410080000005 meters 0.0685241458612335 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.12, Z:-0.30 [[ 9.95224005e-01 -5.95770102e-02 7.73289110e-02 2.88458574e+00] [ 5.96792973e-02 9.98217112e-01 9.89561896e-04 -1.16171510e-01] [-7.72499974e-02 3.63009932e-03 9.97005146e-01 -2.97309600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.458241008000001 meters 0.06932168604148563 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.12, Z:-0.30 [[ 9.94801330e-01 -6.48240448e-02 7.85376121e-02 2.91526225e+00] [ 6.49456989e-02 9.97888291e-01 1.00700331e-03 -1.18263001e-01] [-7.84370416e-02 4.09891188e-03 9.96910643e-01 -2.98969792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.488241008000001 meters 0.07167883192673427 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.12, Z:-0.30 [[ 9.94366040e-01 -7.03818060e-02 7.92627263e-02 2.94508774e+00] [ 7.05234140e-02 9.97509608e-01 1.01485037e-03 -1.20751220e-01] [-7.91367581e-02 4.58074532e-03 9.96853244e-01 -3.02120890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.518241008 meters 0.07167883192673427 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.12, Z:-0.31 [[ 9.94368189e-01 -7.03514829e-02 7.92626871e-02 2.97574948e+00] [ 7.04927519e-02 9.97511772e-01 1.01791135e-03 -1.20394463e-01] [-7.91370751e-02 4.57526627e-03 9.96853244e-01 -3.05980009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.548241008000001 meters 0.07431900212495272 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.12, Z:-0.31 [[ 9.94089635e-01 -7.52194676e-02 7.82804483e-02 3.00496640e+00] [ 7.53725947e-02 9.97154938e-01 1.00086758e-03 -1.20564510e-01] [-7.81330203e-02 4.90524841e-03 9.96930875e-01 -3.09265486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.578241008000001 meters 0.07150156000236146 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.11, Z:-0.31 [[ 9.93452748e-01 -8.08326839e-02 8.07323659e-02 3.03570349e+00] [ 8.10138990e-02 9.96712436e-01 1.03379454e-03 -1.07721201e-01] [-8.05505174e-02 5.51341771e-03 9.96735279e-01 -3.05209559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.608241008000001 meters 0.0713728853137932 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.10, Z:-0.31 [[ 9.93205802e-01 -8.16251795e-02 8.29431442e-02 3.06419945e+00] [ 8.18200282e-02 9.96646564e-01 1.05286620e-03 -1.04323990e-01] [-8.27509401e-02 5.74069758e-03 9.96553725e-01 -3.07404545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6382410080000005 meters 0.07246879789453538 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.10, Z:-0.31 [[ 9.93073256e-01 -8.31869368e-02 8.29785661e-02 3.09353430e+00] [ 8.33851321e-02 9.96516810e-01 1.08023445e-03 -1.00578849e-01] [-8.27793974e-02 5.84642675e-03 9.96550747e-01 -3.09763156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.668241008000001 meters 0.0671195483660963 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.08, Z:-0.31 [[ 9.92916047e-01 -8.46385454e-02 8.33908832e-02 3.12366180e+00] [ 8.48435945e-02 9.96393687e-01 1.08819889e-03 -8.47221450e-02] [-8.31822532e-02 5.99469214e-03 9.96516320e-01 -3.06315022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.698241008000001 meters 0.07528665064414919 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.09, Z:-0.32 [[ 9.92777481e-01 -8.61234337e-02 8.35202233e-02 3.15150453e+00] [ 8.63340970e-02 9.96265642e-01 1.09279624e-03 -8.57711488e-02] [-8.33024443e-02 6.12573957e-03 9.96505483e-01 -3.18785740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.728241008 meters 0.06856187105971799 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.07, Z:-0.32 [[ 9.92766954e-01 -8.65268818e-02 8.32278420e-02 3.18116409e+00] [ 8.67372337e-02 9.96230626e-01 1.09182616e-03 -6.61629429e-02] [-8.30085975e-02 6.13502385e-03 9.96529946e-01 -3.16859720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.758241008000001 meters 0.06984557810499119 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.06, Z:-0.32 [[ 9.92868622e-01 -8.75696940e-02 8.08915875e-02 3.21045341e+00] [ 8.77714976e-02 9.96140066e-01 1.06457102e-03 -5.89787113e-02] [-8.06725755e-02 6.04299662e-03 9.96722337e-01 -3.21655480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.788241008000001 meters 0.07017058204492704 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.04, Z:-0.33 [[ 9.93020014e-01 -8.60099176e-02 8.07065429e-02 3.23919852e+00] [ 8.62055680e-02 9.96276803e-01 1.06350044e-03 -4.38009536e-02] [-8.04975282e-02 5.90127615e-03 9.96737339e-01 -3.28090630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.818241008000001 meters 0.07042015256428974 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.04, Z:-0.33 [[ 9.93188276e-01 -8.44809913e-02 8.02496702e-02 3.26830908e+00] [ 8.46692283e-02 9.96408549e-01 1.06040462e-03 -3.55400598e-02] [-8.00510415e-02 5.74149621e-03 9.96774230e-01 -3.33648863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8482410080000005 meters 0.07028764354335404 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.03, Z:-0.34 [[ 9.93307759e-01 -8.38247295e-02 7.94550881e-02 3.29905471e+00] [ 8.40072187e-02 9.96464594e-01 1.04905735e-03 -2.57077314e-02] [-7.92621191e-02 5.63276416e-03 9.96837895e-01 -3.38059680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.878241008000001 meters 0.08938290675839485 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.05, Z:-0.36 [[ 9.93477880e-01 -8.34699226e-02 7.76818800e-02 3.32445183e+00] [ 8.36445992e-02 9.96495140e-01 1.00812724e-03 -4.60902121e-02] [-7.74937642e-02 5.49611760e-03 9.96977687e-01 -3.62598742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.908241008000001 meters 0.08428860562645162 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.02, Z:-0.36 [[ 9.93626112e-01 -8.17685316e-02 7.75954709e-02 3.35462276e+00] [ 8.19351487e-02 9.96637121e-01 1.03937396e-03 -2.32373816e-02] [-7.74195148e-02 5.32504735e-03 9.96984384e-01 -3.62362033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.938241008000001 meters 0.08501146327908576 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.02, Z:-0.37 [[ 9.93717257e-01 -8.03780775e-02 7.78805352e-02 3.38412747e+00] [ 8.05409948e-02 9.96750742e-01 1.05202071e-03 -1.68225733e-02] [-7.77120407e-02 5.22716465e-03 9.96962143e-01 -3.68229010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.968241008000001 meters 0.08739088471598196 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.01, Z:-0.38 [[ 9.93871750e-01 -7.83755794e-02 7.79500735e-02 3.41308655e+00] [ 7.85327419e-02 9.96910980e-01 1.05198223e-03 -1.23257861e-02] [-7.77917339e-02 5.07609759e-03 9.96956709e-01 -3.75664078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.998241008000001 meters 0.081610871160522 Centerline is valid? [True, True] Translation: X:3.44, Y:0.01, Z:-0.38 [[ 9.94505183e-01 -7.34244416e-02 7.46209890e-02 3.44433542e+00] [ 7.35541851e-02 9.97290709e-01 1.01171502e-03 1.49459660e-02] [-7.44931036e-02 4.48253021e-03 9.97211454e-01 -3.77049935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.028241008000001 meters 0.08151764034484738 Centerline is valid? [True, True] Translation: X:3.47, Y:0.02, Z:-0.38 [[ 9.94705317e-01 -6.90410524e-02 7.61226958e-02 3.47346268e+00] [ 6.91638075e-02 9.97604789e-01 1.02567938e-03 2.33619015e-02] [-7.60111799e-02 4.24468674e-03 9.97097931e-01 -3.83814159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.058241008 meters 0.07732933300432987 Centerline is valid? [True, True] Translation: X:3.50, Y:0.04, Z:-0.39 [[ 9.95071850e-01 -6.42791391e-02 7.54997105e-02 3.50375554e+00] [ 6.43860577e-02 9.97924544e-01 1.01956806e-03 3.96326869e-02] [-7.54085511e-02 3.84658523e-03 9.97145302e-01 -3.85242674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.088241008000001 meters 0.07400692639316757 Centerline is valid? [True, True] Translation: X:3.53, Y:0.05, Z:-0.39 [[ 9.95235988e-01 -5.93514155e-02 7.73481584e-02 3.53367469e+00] [ 5.94488200e-02 9.98230808e-01 1.04470893e-03 5.23241189e-02] [-7.72733196e-02 3.55852482e-03 9.97003596e-01 -3.87988042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.118241008000001 meters 0.07197489328944227 Centerline is valid? [True, True] Translation: X:3.56, Y:0.07, Z:-0.40 [[ 9.95955265e-01 -4.98555495e-02 7.47498147e-02 3.56201853e+00] [ 4.99199230e-02 9.98752715e-01 1.00810016e-03 7.23019289e-02] [-7.47068397e-02 2.72748233e-03 9.97201810e-01 -3.96189899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.148241008000001 meters 0.07033573192926112 Centerline is valid? [True, True] Translation: X:3.59, Y:0.08, Z:-0.40 [[ 9.96196545e-01 -4.58090860e-02 7.41213279e-02 3.59338670e+00] [ 4.58607696e-02 9.98947335e-01 1.00543496e-03 8.19207754e-02] [-7.40893611e-02 2.39765031e-03 9.97248724e-01 -4.00811550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1782410080000005 meters 0.0704395830294882 Centerline is valid? [True, True] Translation: X:3.62, Y:0.09, Z:-0.41 [[ 9.96344431e-01 -4.19989486e-02 7.43899435e-02 3.62267359e+00] [ 4.20405362e-02 9.99115398e-01 1.00742298e-03 8.73691787e-02] [-7.43664487e-02 2.12365284e-03 9.97228721e-01 -4.09626283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.208241008000001 meters 0.0701543199663661 Centerline is valid? [True, True] Translation: X:3.65, Y:0.09, Z:-0.42 [[ 9.96271376e-01 -3.89225036e-02 7.69960034e-02 3.65192207e+00] [ 3.89591440e-02 9.99240277e-01 1.02671920e-03 9.16114558e-02] [-7.69774703e-02 1.97680744e-03 9.97030873e-01 -4.18019029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.238241008000001 meters 0.06984437958854614 Centerline is valid? [True, True] Translation: X:3.68, Y:0.10, Z:-0.42 [[ 9.96796227e-01 -3.76646695e-02 7.05595870e-02 3.68228359e+00] [ 3.76922327e-02 9.99288952e-01 9.41229212e-04 1.01616917e-01] [-7.05448668e-02 1.72133465e-03 9.97507122e-01 -4.18055889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.268241008 meters 0.06808980827996548 Centerline is valid? [True, True] Translation: X:3.71, Y:0.11, Z:-0.42 [[ 9.96766526e-01 -3.45372008e-02 7.25511781e-02 3.71326692e+00] [ 3.45579905e-02 9.99402224e-01 9.69069395e-04 1.11387235e-01] [-7.25412777e-02 1.54128699e-03 9.97364220e-01 -4.21636117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.298241008000001 meters 0.06640007197418006 Centerline is valid? [True, True] Translation: X:3.75, Y:0.12, Z:-0.42 [[ 9.96759905e-01 -3.42577202e-02 7.27743109e-02 3.74578925e+00] [ 3.42771204e-02 9.99411884e-01 9.82674012e-04 1.17296974e-01] [-7.27651753e-02 1.51500376e-03 9.97347950e-01 -4.19597655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.328241008000001 meters 0.0666948907907178 Centerline is valid? [True, True] Translation: X:3.78, Y:0.12, Z:-0.42 [[ 9.96724199e-01 -3.47724042e-02 7.30188433e-02 3.77848692e+00] [ 3.47947715e-02 9.99394012e-01 9.66077556e-04 1.19888174e-01] [-7.30081876e-02 1.57776109e-03 9.97330093e-01 -4.22906289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.358241008000001 meters 0.06679748387841382 Centerline is valid? [True, True] Translation: X:3.81, Y:0.12, Z:-0.43 [[ 9.96579112e-01 -3.48460286e-02 7.49388253e-02 3.81091204e+00] [ 3.48726992e-02 9.99391308e-01 9.52970155e-04 1.21662474e-01] [-7.49264178e-02 1.66360896e-03 9.97187678e-01 -4.25833965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3882410080000005 meters 0.06680985863442472 Centerline is valid? [True, True] Translation: X:3.84, Y:0.12, Z:-0.43 [[ 9.96426457e-01 -3.45616899e-02 7.70701280e-02 3.84149156e+00] [ 3.45896531e-02 9.99401126e-01 9.72443325e-04 1.23640356e-01] [-7.70575820e-02 1.69686073e-03 9.97025200e-01 -4.26813323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.418241008000001 meters 0.06724238183662054 Centerline is valid? [True, True] Translation: X:3.87, Y:0.13, Z:-0.43 [[ 9.96434928e-01 -3.45234224e-02 7.69777082e-02 3.87390796e+00] [ 3.45511840e-02 9.99402457e-01 9.71535949e-04 1.25438490e-01] [-7.69652515e-02 1.69159861e-03 9.97032341e-01 -4.30783312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.448241008000001 meters 0.06653161905322647 Centerline is valid? [True, True] Translation: X:3.90, Y:0.13, Z:-0.43 [[ 9.96253299e-01 -3.44488352e-02 7.93261699e-02 3.90451484e+00] [ 3.44813234e-02 9.99404881e-01 9.60614041e-04 1.27482065e-01] [-7.93120534e-02 1.77825641e-03 9.96848251e-01 -4.34571445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.478241008000001 meters 0.06627330966934768 Centerline is valid? [True, True] Translation: X:3.94, Y:0.13, Z:-0.44 [[ 9.96423120e-01 -3.59065398e-02 7.64963169e-02 3.93579988e+00] [ 3.59412428e-02 9.99353478e-01 9.23445251e-04 1.30835139e-01] [-7.64800181e-02 1.82923050e-03 9.97069436e-01 -4.35734968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.508241008000001 meters 0.06854682103285223 Centerline is valid? [True, True] Translation: X:3.97, Y:0.13, Z:-0.44 [[ 9.96296535e-01 -4.05032006e-02 7.58465957e-02 3.96558601e+00] [ 4.05509255e-02 9.99177057e-01 9.11342501e-04 1.28740264e-01] [-7.58210906e-02 2.16768227e-03 9.97119082e-01 -4.41946116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.538241008000001 meters 0.0683874788689479 Centerline is valid? [True, True] Translation: X:4.00, Y:0.13, Z:-0.44 [[ 9.96032488e-01 -4.33127578e-02 7.77385892e-02 3.99913304e+00] [ 4.33703924e-02 9.99058612e-01 9.47584098e-04 1.27932255e-01] [-7.77064495e-02 2.42772857e-03 9.96973327e-01 -4.43089128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.568241008000001 meters 0.07216075425786354 Centerline is valid? [True, True] Translation: X:4.03, Y:0.12, Z:-0.45 [[ 9.95952471e-01 -4.73943225e-02 7.63705017e-02 4.02881343e+00] [ 4.74649427e-02 9.98872507e-01 8.91165387e-04 1.23808813e-01] [-7.63266307e-02 2.73736311e-03 9.97079110e-01 -4.50623902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5982410080000005 meters 0.07323106032489783 Centerline is valid? [True, True] Translation: X:4.06, Y:0.12, Z:-0.45 [[ 9.95751080e-01 -5.30836521e-02 7.52456767e-02 4.06021784e+00] [ 5.31687605e-02 9.98585159e-01 8.73093299e-04 1.24607882e-01] [-7.51855630e-02 3.13133577e-03 9.97164643e-01 -4.51040341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.628241008000001 meters 0.0739361387367647 Centerline is valid? [True, True] Translation: X:4.09, Y:0.12, Z:-0.46 [[ 9.95516407e-01 -5.53039410e-02 7.67369364e-02 4.09190862e+00] [ 5.53990360e-02 9.98463897e-01 8.90563894e-04 1.23320697e-01] [-7.66683123e-02 3.36458134e-03 9.97050976e-01 -4.55045910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.658241008000001 meters 0.07470415191804733 Centerline is valid? [True, True] Translation: X:4.12, Y:0.12, Z:-0.46 [[ 9.95408093e-01 -5.69214924e-02 7.69588999e-02 4.12372902e+00] [ 5.70224730e-02 9.98372501e-01 8.86467831e-04 1.22303357e-01] [-7.68841084e-02 3.50598954e-03 9.97033872e-01 -4.59831401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.688241008000001 meters 0.07810294827976418 Centerline is valid? [True, True] Translation: X:4.15, Y:0.12, Z:-0.47 [[ 9.95581254e-01 -5.86821715e-02 7.33100909e-02 4.15279581e+00] [ 5.87792668e-02 9.98270656e-01 8.34178449e-04 1.19649329e-01] [-7.32322639e-02 3.47862097e-03 9.97308846e-01 -4.68194820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.718241008000001 meters 0.07932306771104863 Centerline is valid? [True, True] Translation: X:4.18, Y:0.12, Z:-0.48 [[ 9.95699416e-01 -5.90526816e-02 7.13824476e-02 4.18347860e+00] [ 5.91454196e-02 9.98249044e-01 8.15652002e-04 1.21601473e-01] [-7.13056265e-02 3.40980059e-03 9.97448686e-01 -4.76479931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.748241008000001 meters 0.07920648843430819 Centerline is valid? [True, True] Translation: X:4.22, Y:0.12, Z:-0.48 [[ 9.95707954e-01 -5.87634770e-02 7.15019204e-02 4.21523316e+00] [ 5.88560317e-02 9.98266150e-01 8.13559035e-04 1.24344502e-01] [-7.14257543e-02 3.39825209e-03 9.97440130e-01 -4.81579405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.778241008000001 meters 0.0806383412276703 Centerline is valid? [True, True] Translation: X:4.25, Y:0.13, Z:-0.49 [[ 9.95788690e-01 -5.89476439e-02 7.02143913e-02 4.24608596e+00] [ 5.90374928e-02 9.98255448e-01 7.96689766e-04 1.25354673e-01] [-7.01388617e-02 3.35194696e-03 9.97531606e-01 -4.88435564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.808241008 meters 0.07715740531129922 Centerline is valid? [True, True] Translation: X:4.28, Y:0.13, Z:-0.49 [[ 9.95812097e-01 -5.91283963e-02 6.97287571e-02 4.27863423e+00] [ 5.92183607e-02 9.98244750e-01 7.78031731e-04 1.32258588e-01] [-6.96523694e-02 3.35444928e-03 9.97565685e-01 -4.86482999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.838241008000001 meters 0.078948104271756 Centerline is valid? [True, True] Translation: X:4.31, Y:0.13, Z:-0.49 [[ 9.95654942e-01 -6.07685909e-02 7.05578892e-02 4.30908735e+00] [ 6.08653534e-02 9.98145681e-01 7.79738342e-04 1.31230162e-01] [-7.04744359e-02 3.51818052e-03 9.97507382e-01 -4.91088351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.868241008000001 meters 0.0783408515773125 Centerline is valid? [True, True] Translation: X:4.34, Y:0.13, Z:-0.49 [[ 9.95366969e-01 -6.16310573e-02 7.37984462e-02 4.34088255e+00] [ 6.17397071e-02 9.98091956e-01 8.10279082e-04 1.31896795e-01] [-7.37075739e-02 3.74976942e-03 9.97272848e-01 -4.93235659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.898241008000001 meters 0.07999365398284586 Centerline is valid? [True, True] Translation: X:4.37, Y:0.13, Z:-0.50 [[ 9.95669234e-01 -6.29688900e-02 6.83936805e-02 4.37071680e+00] [ 6.30657770e-02 9.98009095e-01 7.43798285e-04 1.34994826e-01] [-6.83043513e-02 3.57272353e-03 9.97658133e-01 -4.97460547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9282410080000005 meters 0.08107011329081489 Centerline is valid? [True, True] Translation: X:4.40, Y:0.14, Z:-0.50 [[ 9.95708279e-01 -6.23194915e-02 6.84200539e-02 4.40114033e+00] [ 6.24147108e-02 9.98050022e-01 7.47229647e-04 1.36506917e-01] [-6.83332032e-02 3.52639513e-03 9.97656323e-01 -5.02924566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.958241008000001 meters 0.08559823097229861 Centerline is valid? [True, True] Translation: X:4.43, Y:0.14, Z:-0.51 [[ 9.95813367e-01 -6.18719784e-02 6.72874176e-02 4.43119814e+00] [ 6.19633298e-02 9.98078159e-01 7.30571175e-04 1.35000675e-01] [-6.72033037e-02 3.44183990e-03 9.97733366e-01 -5.13934774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.988241008000001 meters 0.08146943958964874 Centerline is valid? [True, True] Translation: X:4.46, Y:0.15, Z:-0.51 [[ 9.95935722e-01 -5.89739910e-02 6.80742627e-02 4.46193088e+00] [ 5.90612883e-02 9.98254091e-01 7.31274753e-04 1.50295261e-01] [-6.79985374e-02 3.29225100e-03 9.97679989e-01 -5.12842844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.018241008000001 meters 0.07720866814194416 Centerline is valid? [True, True] Translation: X:4.49, Y:0.16, Z:-0.51 [[ 9.96045705e-01 -5.66477653e-02 6.84396429e-02 4.49394332e+00] [ 5.67303656e-02 9.98389264e-01 7.37638800e-04 1.61124234e-01] [-6.83711903e-02 3.14788400e-03 9.97654986e-01 -5.10637908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.048241008000001 meters 0.07632840440544912 Centerline is valid? [True, True] Translation: X:4.53, Y:0.17, Z:-0.51 [[ 9.96246793e-01 -5.36488620e-02 6.79273599e-02 4.52523978e+00] [ 5.37234731e-02 9.98555585e-01 7.29204886e-04 1.67819793e-01] [-6.78683656e-02 2.92282566e-03 9.97690003e-01 -5.13939789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.078241008000001 meters 0.07718411774470359 Centerline is valid? [True, True] Translation: X:4.55, Y:0.17, Z:-0.52 [[ 9.96318690e-01 -5.09904386e-02 6.89132975e-02 4.55474400e+00] [ 5.10607860e-02 9.98695272e-01 7.41430939e-04 1.72022597e-01] [-6.88611902e-02 2.78006563e-03 9.97622377e-01 -5.20799533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.108241008000001 meters 0.07160071063642186 Centerline is valid? [True, True] Translation: X:4.59, Y:0.19, Z:-0.52 [[ 9.96372542e-01 -4.38742461e-02 7.29164474e-02 4.58582591e+00] [ 4.39352714e-02 9.99034085e-01 7.67579872e-04 1.90060580e-01] [-7.28796932e-02 2.43880840e-03 9.97337757e-01 -5.17602975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1382410080000005 meters 0.06983485410530199 Centerline is valid? [True, True] Translation: X:4.62, Y:0.20, Z:-0.52 [[ 9.96457605e-01 -4.03567707e-02 7.37805644e-02 4.61713106e+00] [ 4.04094561e-02 9.99182901e-01 7.79138351e-04 1.97330599e-01] [-7.37517219e-02 2.20505415e-03 9.97274196e-01 -5.19915746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.168241008000001 meters 0.07089226395221518 Centerline is valid? [True, True] Translation: X:4.65, Y:0.20, Z:-0.53 [[ 9.96766429e-01 -3.70716768e-02 7.12907972e-02 4.64693170e+00] [ 3.71119334e-02 9.99310826e-01 7.60247942e-04 2.01885753e-01] [-7.12698491e-02 1.88794969e-03 9.97455284e-01 -5.27823929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.198241008000001 meters 0.07078270500287603 Centerline is valid? [True, True] Translation: X:4.68, Y:0.21, Z:-0.54 [[ 9.97147170e-01 -3.18795674e-02 6.84194074e-02 4.67703853e+00] [ 3.19053349e-02 9.99490638e-01 7.16386865e-04 2.11128396e-01] [-6.84073953e-02 1.46860098e-03 9.97656389e-01 -5.35450874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.228241008000001 meters 0.07050721635326644 Centerline is valid? [True, True] Translation: X:4.71, Y:0.21, Z:-0.54 [[ 9.97149989e-01 -3.04678256e-02 6.90189183e-02 4.70863547e+00] [ 3.04919129e-02 9.99534765e-01 7.04737466e-04 2.14456389e-01] [-6.90082801e-02 1.40178989e-03 9.97615102e-01 -5.40443247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.258241008000001 meters 0.07033636750012857 Centerline is valid? [True, True] Translation: X:4.74, Y:0.22, Z:-0.54 [[ 9.97129962e-01 -2.96266598e-02 6.96713673e-02 4.74017373e+00] [ 2.96505756e-02 9.99560086e-01 6.91091141e-04 2.17161626e-01] [-6.96611926e-02 1.37668846e-03 9.97569758e-01 -5.44372621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.288241008000001 meters 0.06927307877802236 Centerline is valid? [True, True] Translation: X:4.77, Y:0.22, Z:-0.55 [[ 9.96978008e-01 -2.88788486e-02 7.21170078e-02 4.77175860e+00] [ 2.89049379e-02 9.99581932e-01 6.82055482e-04 2.19762360e-01] [-7.21065550e-02 1.40454332e-03 9.97395945e-01 -5.46985707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.318241008000001 meters 0.06903141487004344 Centerline is valid? [True, True] Translation: X:4.80, Y:0.22, Z:-0.55 [[ 9.96889724e-01 -2.83589096e-02 7.35299283e-02 4.80236634e+00] [ 2.83842143e-02 9.99596841e-01 7.01005715e-04 2.21349865e-01] [-7.35201638e-02 1.38826385e-03 9.97292765e-01 -5.50392848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3482410080000005 meters 0.06911771787791991 Centerline is valid? [True, True] Translation: X:4.83, Y:0.22, Z:-0.55 [[ 9.96856529e-01 -2.77810765e-02 7.41975178e-02 4.83328924e+00] [ 2.78067134e-02 9.99613082e-01 6.87674500e-04 2.21637917e-01] [-7.41879138e-02 1.37767630e-03 9.97243328e-01 -5.53046643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.378241008000001 meters 0.06841950444297056 Centerline is valid? [True, True] Translation: X:4.87, Y:0.22, Z:-0.55 [[ 9.96893996e-01 -2.71744147e-02 7.39182822e-02 4.86603264e+00] [ 2.71993124e-02 9.99629806e-01 6.69978825e-04 2.22421954e-01] [-7.39091244e-02 1.34262858e-03 9.97264077e-01 -5.53228997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.408241008000001 meters 0.06841950444297056 Centerline is valid? [True, True] Translation: X:4.90, Y:0.22, Z:-0.56 [[ 9.96902854e-01 -2.68469266e-02 7.39184901e-02 4.89830428e+00] [ 2.68727113e-02 9.99638655e-01 6.45887803e-04 2.22442700e-01] [-7.39091201e-02 1.34250285e-03 9.97264077e-01 -5.57296274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.438241008000001 meters 0.06735966496883435 Centerline is valid? [True, True] Translation: X:4.93, Y:0.22, Z:-0.56 [[ 9.96754235e-01 -2.68669235e-02 7.58891487e-02 4.93054733e+00] [ 2.68962633e-02 9.99638028e-01 6.35585648e-04 2.23107083e-01] [-7.58787551e-02 1.40761184e-03 9.97116058e-01 -5.58118708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.468241008000001 meters 0.06868691230121585 Centerline is valid? [True, True] Translation: X:4.96, Y:0.22, Z:-0.57 [[ 9.96747685e-01 -2.75584397e-02 7.57270359e-02 4.96098691e+00] [ 2.75914223e-02 9.99619098e-01 6.10829297e-04 2.21357206e-01] [-7.57150248e-02 1.48057394e-03 9.97128398e-01 -5.65450835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.498241008000001 meters 0.07063449607751279 Centerline is valid? [True, True] Translation: X:4.99, Y:0.22, Z:-0.57 [[ 9.96726340e-01 -2.90355294e-02 7.54555596e-02 4.99097255e+00] [ 2.90741023e-02 9.99577086e-01 5.87448755e-04 2.17140644e-01] [-7.54407053e-02 1.60827701e-03 9.97148993e-01 -5.74195019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.528241008000001 meters 0.07101713618471084 Centerline is valid? [True, True] Translation: X:5.02, Y:0.21, Z:-0.57 [[ 9.96691038e-01 -3.55132965e-02 7.31148441e-02 5.02167474e+00] [ 3.55691383e-02 9.99367073e-01 5.38573488e-04 2.10820564e-01] [-7.30876943e-02 2.06384064e-03 9.97323383e-01 -5.73465193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.558241008000001 meters 0.07199520074610516 Centerline is valid? [True, True] Translation: X:5.05, Y:0.20, Z:-0.58 [[ 9.96399607e-01 -3.99480465e-02 7.47795183e-02 5.05386718e+00] [ 4.00179474e-02 9.99198802e-01 5.63966815e-04 2.04366708e-01] [-7.47421345e-02 2.43058652e-03 9.97199933e-01 -5.77872738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.588241008000001 meters 0.07838790347875668 Centerline is valid? [True, True] Translation: X:5.08, Y:0.19, Z:-0.59 [[ 9.96401295e-01 -4.37819094e-02 7.25782597e-02 5.08231145e+00] [ 4.38601771e-02 9.99037546e-01 5.15775579e-04 1.92691546e-01] [-7.25309882e-02 2.66937587e-03 9.97362587e-01 -5.92721852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.618241008000001 meters 0.08494292693865006 Centerline is valid? [True, True] Translation: X:5.11, Y:0.18, Z:-0.60 [[ 9.96081602e-01 -5.34169770e-02 7.04845248e-02 5.11181143e+00] [ 5.35154181e-02 9.98566902e-01 4.92332776e-04 1.77979167e-01] [-7.04098125e-02 3.28160519e-03 9.97512751e-01 -6.00629196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.648241008000001 meters 0.08180024363252351 Centerline is valid? [True, True] Translation: X:5.14, Y:0.18, Z:-0.60 [[ 9.95941399e-01 -5.76684873e-02 6.91019158e-02 5.14365059e+00] [ 5.77733014e-02 9.98329611e-01 4.82415584e-04 1.80796614e-01] [-6.90143089e-02 3.51178816e-03 9.97609489e-01 -5.96246506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6782410080000005 meters 0.08313924962483786 Centerline is valid? [True, True] Translation: X:5.17, Y:0.18, Z:-0.60 [[ 9.95746603e-01 -6.07409281e-02 6.92765576e-02 5.17424361e+00] [ 6.08536565e-02 9.98146582e-01 4.83974010e-04 1.77944617e-01] [-6.91775562e-02 3.73381636e-03 9.97597376e-01 -5.99885704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.708241008000001 meters 0.08540493836921326 Centerline is valid? [True, True] Translation: X:5.20, Y:0.18, Z:-0.61 [[ 9.95646018e-01 -6.32052568e-02 6.85135234e-02 5.20442868e+00] [ 6.33212913e-02 9.97993078e-01 4.78989751e-04 1.76434910e-01] [-6.84062968e-02 3.86146054e-03 9.97650073e-01 -6.05205998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.738241008000001 meters 0.08656515189299327 Centerline is valid? [True, True] Translation: X:5.24, Y:0.18, Z:-0.61 [[ 9.95609146e-01 -6.37833148e-02 6.85136290e-02 5.23503407e+00] [ 6.39009129e-02 9.97956135e-01 4.76066198e-04 1.75981800e-01] [-6.84039615e-02 3.90410758e-03 9.97650067e-01 -6.10515740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.768241008000001 meters 0.08709303430517021 Centerline is valid? [True, True] Translation: X:5.27, Y:0.18, Z:-0.62 [[ 9.95728400e-01 -6.28266547e-02 6.76591839e-02 5.26655070e+00] [ 6.29392480e-02 9.98017250e-01 4.68355238e-04 1.80287817e-01] [-6.75544578e-02 3.79206354e-03 9.97708382e-01 -6.15394846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.798241008000001 meters 0.08218047187891009 Centerline is valid? [True, True] Translation: X:5.30, Y:0.19, Z:-0.61 [[ 9.95872417e-01 -6.03293254e-02 6.78122493e-02 5.29790894e+00] [ 6.04373354e-02 9.98171888e-01 4.59522418e-04 1.91168858e-01] [-6.77160036e-02 3.64076596e-03 9.97697994e-01 -6.14222236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.828241008000001 meters 0.08566688962188415 Centerline is valid? [True, True] Translation: X:5.33, Y:0.19, Z:-0.63 [[ 9.96016876e-01 -5.76379929e-02 6.80311970e-02 5.32676817e+00] [ 5.77407228e-02 9.98331508e-01 4.56995991e-04 1.90131052e-01] [-6.79440278e-02 3.47299476e-03 9.97683090e-01 -6.25651983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.858241008000001 meters 0.08418603909730704 Centerline is valid? [True, True] Translation: X:5.36, Y:0.20, Z:-0.63 [[ 9.96045816e-01 -5.51196633e-02 6.96746324e-02 5.35768287e+00] [ 5.52214095e-02 9.98474025e-01 4.66427039e-04 1.95223387e-01] [-6.95940200e-02 3.38294871e-03 9.97569661e-01 -6.29702426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8882410080000005 meters 0.0827724397708963 Centerline is valid? [True, True] Translation: X:5.39, Y:0.20, Z:-0.63 [[ 9.96051889e-01 -5.21475349e-02 7.18419759e-02 5.38841251e+00] [ 5.22481607e-02 9.98634017e-01 4.79150841e-04 2.02994184e-01] [-7.17688275e-02 3.27635200e-03 9.97415912e-01 -6.31588353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.918241008000001 meters 0.07960127358189323 Centerline is valid? [True, True] Translation: X:5.42, Y:0.21, Z:-0.63 [[ 9.95834751e-01 -5.30899447e-02 7.41256130e-02 5.42157638e+00] [ 5.31995167e-02 9.98583779e-01 4.96861952e-04 2.10121650e-01] [-7.40470131e-02 3.44865438e-03 9.97248789e-01 -6.27642299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.948241008000001 meters 0.08398141068739322 Centerline is valid? [True, True] Translation: X:5.45, Y:0.21, Z:-0.64 [[ 9.95601874e-01 -5.49545951e-02 7.58742485e-02 5.45174991e+00] [ 5.50746410e-02 9.98482109e-01 5.10901485e-04 2.05360855e-01] [-7.57871561e-02 3.67009252e-03 9.97117264e-01 -6.35783068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.978241008000001 meters 0.07760735111905696 Centerline is valid? [True, True] Translation: X:5.49, Y:0.22, Z:-0.63 [[ 9.95240035e-01 -5.72033075e-02 7.88990191e-02 5.48505761e+00] [ 5.73417597e-02 9.98354477e-01 5.11580652e-04 2.16455414e-01] [-7.87984530e-02 4.01506305e-03 9.96882482e-01 -6.27204087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.008241008000001 meters 0.08087323620659422 Centerline is valid? [True, True] Translation: X:5.52, Y:0.21, Z:-0.63 [[ 9.94711488e-01 -6.41013254e-02 8.02500782e-02 5.51586308e+00] [ 6.42699161e-02 9.97932435e-01 4.83088504e-04 2.14034696e-01] [-8.01151226e-02 4.67713211e-03 9.96774644e-01 -6.30149368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.038241008000001 meters 0.08238993842728576 Centerline is valid? [True, True] Translation: X:5.55, Y:0.21, Z:-0.63 [[ 9.94436510e-01 -6.73066652e-02 8.10298781e-02 5.54575525e+00] [ 6.74892062e-02 9.97719885e-01 4.87074656e-04 2.12647968e-01] [-8.08779041e-02 4.98427734e-03 9.96711554e-01 -6.33895404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.068241008000001 meters 0.08480388805239977 Centerline is valid? [True, True] Translation: X:5.58, Y:0.21, Z:-0.64 [[ 9.94292380e-01 -7.03422078e-02 8.02161884e-02 5.57622711e+00] [ 7.05308307e-02 9.97509483e-01 4.83092092e-04 2.11569610e-01] [-8.00503903e-02 5.17737962e-03 9.96777372e-01 -6.38878138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.098241008000001 meters 0.09103493654717015 Centerline is valid? [True, True] Translation: X:5.61, Y:0.20, Z:-0.65 [[ 9.94046490e-01 -7.25819437e-02 8.12615352e-02 5.60648413e+00] [ 7.27822570e-02 9.97347730e-01 4.98264871e-04 2.04170385e-01] [-8.10821727e-02 5.41909949e-03 9.96692688e-01 -6.47424378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.128241008000001 meters 0.08747499846583959 Centerline is valid? [True, True] Translation: X:5.64, Y:0.22, Z:-0.65 [[ 9.93901081e-01 -7.49787095e-02 8.08630626e-02 5.63809304e+00] [ 7.51874359e-02 9.97169310e-01 4.64912571e-04 2.17662654e-01] [-8.06690229e-02 5.61780923e-03 9.96725112e-01 -6.46083101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.158241008000001 meters 0.08949727459695186 Centerline is valid? [True, True] Translation: X:5.67, Y:0.22, Z:-0.65 [[ 9.93940843e-01 -7.46143602e-02 8.07111971e-02 5.66959321e+00] [ 7.48207987e-02 9.97196886e-01 4.67839717e-04 2.18370738e-01] [-8.05198620e-02 5.57387123e-03 9.96737420e-01 -6.52253499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.188241008000001 meters 0.08456110659095195 Centerline is valid? [True, True] Translation: X:5.70, Y:0.23, Z:-0.65 [[ 9.94018422e-01 -7.32696657e-02 8.09872440e-02 5.70198324e+00] [ 7.34740918e-02 9.97297021e-01 4.57091916e-04 2.30403657e-01] [-8.08018282e-02 5.49610641e-03 9.96715033e-01 -6.51569455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.218241008000001 meters 0.08436307814082858 Centerline is valid? [True, True] Translation: X:5.73, Y:0.24, Z:-0.65 [[ 9.93978576e-01 -7.19970676e-02 8.26015300e-02 5.73205302e+00] [ 7.22084065e-02 9.97389473e-01 4.29874603e-04 2.35036407e-01] [-8.24168462e-02 5.53723871e-03 9.96582562e-01 -6.54761978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.248241008000001 meters 0.08333777284961759 Centerline is valid? [True, True] Translation: X:5.76, Y:0.24, Z:-0.66 [[ 9.94102272e-01 -6.93534225e-02 8.33713089e-02 5.76292167e+00] [ 6.95596369e-02 9.97577701e-01 4.32219672e-04 2.41376690e-01] [-8.31993346e-02 5.36960742e-03 9.96518458e-01 -6.58435933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.278241008000001 meters 0.0837260098004953 Centerline is valid? [True, True] Translation: X:5.79, Y:0.25, Z:-0.67 [[ 9.94715661e-01 -6.28580129e-02 8.11764933e-02 5.79125018e+00] [ 6.30322198e-02 9.98011405e-01 4.17331932e-04 2.52347469e-01] [-8.10412988e-02 4.70160796e-03 9.96699655e-01 -6.68800126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.308241008000001 meters 0.0823160366190266 Centerline is valid? [True, True] Translation: X:5.82, Y:0.26, Z:-0.67 [[ 9.95011289e-01 -5.91781879e-02 8.03148564e-02 5.82150596e+00] [ 5.93364791e-02 9.98237952e-01 4.16441909e-04 2.60558242e-01] [-8.01979820e-02 4.35123640e-03 9.96769457e-01 -6.74607477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.338241008000001 meters 0.08082667677910933 Centerline is valid? [True, True] Translation: X:5.85, Y:0.27, Z:-0.68 [[ 9.95144693e-01 -5.56644766e-02 8.11696165e-02 5.85165854e+00] [ 5.58148457e-02 9.98441049e-01 4.17040468e-04 2.68266257e-01] [-8.10662914e-02 4.11545401e-03 9.96700215e-01 -6.79529437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.368241008000001 meters 0.07588380046243536 Centerline is valid? [True, True] Translation: X:5.88, Y:0.28, Z:-0.68 [[ 9.95119251e-01 -5.30419317e-02 8.32119605e-02 5.88282161e+00] [ 5.31910708e-02 9.98584262e-01 4.25176214e-04 2.80213472e-01] [-8.31167064e-02 4.00303225e-03 9.96531780e-01 -6.77854491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.398241008000001 meters 0.07489003936861865 Centerline is valid? [True, True] Translation: X:5.91, Y:0.29, Z:-0.68 [[ 9.95359346e-01 -4.93844303e-02 8.25890474e-02 5.91289529e+00] [ 4.95189267e-02 9.98773097e-01 4.20320810e-04 2.89743248e-01] [-8.25084760e-02 3.67135074e-03 9.96583600e-01 -6.82957541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4282410080000005 meters 0.07443028259034866 Centerline is valid? [True, True] Translation: X:5.94, Y:0.30, Z:-0.69 [[ 9.95456165e-01 -4.70099081e-02 8.28075580e-02 5.94330836e+00] [ 4.71370064e-02 9.98888345e-01 4.20561249e-04 2.95170367e-01] [-8.27352751e-02 3.48465010e-03 9.96565468e-01 -6.88248188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.458241008000001 meters 0.07413879857772017 Centerline is valid? [True, True] Translation: X:5.98, Y:0.30, Z:-0.69 [[ 9.95725942e-01 -4.47149689e-02 8.08110168e-02 5.97561456e+00] [ 4.48277107e-02 9.98994645e-01 4.19497604e-04 3.01160352e-01] [-8.07485308e-02 3.20486823e-03 9.96729353e-01 -6.94181350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.488241008000001 meters 0.07174804375728933 Centerline is valid? [True, True] Translation: X:6.01, Y:0.31, Z:-0.70 [[ 9.95802202e-01 -3.89756922e-02 8.28182969e-02 6.00515484e+00] [ 3.90777715e-02 9.99236097e-01 3.88653838e-04 3.12486880e-01] [-8.27701798e-02 2.84933213e-03 9.96564588e-01 -6.98796481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.518241008000001 meters 0.07153660091344921 Centerline is valid? [True, True] Translation: X:6.04, Y:0.32, Z:-0.70 [[ 9.96079536e-01 -3.64684377e-02 8.05953507e-02 6.03688959e+00] [ 3.65557813e-02 9.99331537e-01 3.92009721e-04 3.17614733e-01] [-8.05557717e-02 2.55575315e-03 9.96746826e-01 -7.03557670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.548241008000001 meters 0.06962249882279156 Centerline is valid? [True, True] Translation: X:6.07, Y:0.32, Z:-0.70 [[ 9.96216765e-01 -3.32206263e-02 8.03028511e-02 6.06916357e+00] [ 3.32985339e-02 9.99445382e-01 3.69150365e-04 3.24537897e-01] [-8.02705771e-02 2.30621343e-03 9.96770443e-01 -7.04910543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.578241008000001 meters 0.07029513066038373 Centerline is valid? [True, True] Translation: X:6.10, Y:0.33, Z:-0.71 [[ 9.96266749e-01 -3.04515066e-02 8.07791467e-02 6.09924989e+00] [ 3.05232552e-02 9.99533997e-01 3.46770798e-04 3.25302804e-01] [-8.07520630e-02 2.12016629e-03 9.96731965e-01 -7.13700244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.608241008000001 meters 0.06860728950262637 Centerline is valid? [True, True] Translation: X:6.13, Y:0.34, Z:-0.71 [[ 9.96410706e-01 -2.64034439e-02 8.04273833e-02 6.13173353e+00] [ 2.64630698e-02 9.99649739e-01 3.24637579e-04 3.35763483e-01] [-8.04077843e-02 1.80488310e-03 9.96760418e-01 -7.14739628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.638241008000001 meters 0.06794664465810721 Centerline is valid? [True, True] Translation: X:6.16, Y:0.34, Z:-0.72 [[ 9.96344272e-01 -2.46665702e-02 8.17902899e-02 6.16349815e+00] [ 2.47243422e-02 9.99694260e-01 3.06538713e-04 3.39333274e-01] [-8.17728446e-02 1.71679303e-03 9.96649514e-01 -7.18260104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.668241008000001 meters 0.06784841785450595 Centerline is valid? [True, True] Translation: X:6.20, Y:0.34, Z:-0.72 [[ 9.96229352e-01 -2.35661660e-02 8.34967850e-02 6.19526876e+00] [ 2.36245509e-02 9.99720860e-01 2.88832871e-04 3.41495937e-01] [-8.34802843e-02 1.68483027e-03 9.96508005e-01 -7.20754234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.698241008000001 meters 0.06791515241906478 Centerline is valid? [True, True] Translation: X:6.23, Y:0.34, Z:-0.72 [[ 9.96119842e-01 -2.29047358e-02 8.49743082e-02 6.22652779e+00] [ 2.29649637e-02 9.99736234e-01 2.68767059e-04 3.42904237e-01] [-8.49580509e-02 1.68370770e-03 9.96383106e-01 -7.23958476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.728241008000001 meters 0.06690138885470437 Centerline is valid? [True, True] Translation: X:6.26, Y:0.34, Z:-0.73 [[ 9.95832530e-01 -2.25293271e-02 8.83742153e-02 6.25671618e+00] [ 2.25959223e-02 9.99744649e-01 2.46901645e-04 3.43671455e-01] [-8.83572114e-02 1.75102421e-03 9.96087314e-01 -7.25300477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.758241008000001 meters 0.06751872452029224 Centerline is valid? [True, True] Translation: X:6.29, Y:0.34, Z:-0.73 [[ 9.95855797e-01 -2.31081051e-02 8.79616195e-02 6.28829807e+00] [ 2.31756648e-02 9.99731376e-01 2.53264180e-04 3.42362041e-01] [-8.79438434e-02 1.78635441e-03 9.96123832e-01 -7.30465714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.788241008000001 meters 0.06662132945364586 Centerline is valid? [True, True] Translation: X:6.32, Y:0.34, Z:-0.73 [[ 9.95919042e-01 -2.53096992e-02 8.66295607e-02 6.32015968e+00] [ 2.53854979e-02 9.99677711e-01 2.26728183e-04 3.42449449e-01] [-8.66073794e-02 1.97333162e-03 9.96240567e-01 -7.30498792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.818241008000001 meters 0.06754235759457214 Centerline is valid? [True, True] Translation: X:6.35, Y:0.34, Z:-0.74 [[ 9.95926465e-01 -2.66279619e-02 8.61477055e-02 6.35056776e+00] [ 2.67098993e-02 9.99643207e-01 2.01580362e-04 3.39827252e-01] [-8.61223362e-02 2.10023732e-03 9.96282356e-01 -7.37607647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.848241008000001 meters 0.0683363627840383 Centerline is valid? [True, True] Translation: X:6.38, Y:0.34, Z:-0.74 [[ 9.95980919e-01 -2.84853267e-02 8.49152188e-02 6.38227151e+00] [ 2.85742444e-02 9.99591659e-01 1.68317582e-04 3.39091817e-01] [-8.48853390e-02 2.25874712e-03 9.96388166e-01 -7.42392293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.878241008000001 meters 0.06892019494190421 Centerline is valid? [True, True] Translation: X:6.41, Y:0.34, Z:-0.75 [[ 9.95989928e-01 -2.98919501e-02 8.43239890e-02 6.41409312e+00] [ 2.99845345e-02 9.99550349e-01 1.68573496e-04 3.37907981e-01] [-8.42911116e-02 2.36051806e-03 9.96438376e-01 -7.47429447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.908241008000001 meters 0.0694199634079268 Centerline is valid? [True, True] Translation: X:6.45, Y:0.34, Z:-0.75 [[ 9.96015763e-01 -3.10499470e-02 8.35972569e-02 6.44622911e+00] [ 3.11470361e-02 9.99514803e-01 1.42860188e-04 3.35774779e-01] [-8.35611316e-02 2.46151578e-03 9.96499613e-01 -7.52842975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.938241008000001 meters 0.06985859024386075 Centerline is valid? [True, True] Translation: X:6.48, Y:0.34, Z:-0.76 [[ 9.96077933e-01 -3.13617210e-02 8.27356889e-02 6.47798633e+00] [ 3.14598279e-02 9.99505010e-01 1.17927950e-04 3.35281462e-01] [-8.26984340e-02 2.48538511e-03 9.96571519e-01 -7.57306756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9682410080000015 meters 0.07071615048894324 Centerline is valid? [True, True] Translation: X:6.51, Y:0.33, Z:-0.76 [[ 9.96087188e-01 -3.04744790e-02 8.29555257e-02 6.50848630e+00] [ 3.05721308e-02 9.99532559e-01 9.31364930e-05 3.34010122e-01] [-8.29195871e-02 2.44335511e-03 9.96553246e-01 -7.63822666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.998241008000001 meters 0.06978799058229807 Centerline is valid? [True, True] Translation: X:6.54, Y:0.34, Z:-0.77 [[ 9.96092171e-01 -2.98678405e-02 8.31161735e-02 6.54042646e+00] [ 2.99655698e-02 9.99550929e-01 7.16846784e-05 3.36211057e-01] [-8.30809895e-02 2.41921896e-03 9.96539862e-01 -7.66172467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.028241008 meters 0.0690286272589864 Centerline is valid? [True, True] Translation: X:6.57, Y:0.34, Z:-0.77 [[ 9.96043149e-01 -2.98465092e-02 8.37092082e-02 6.57303715e+00] [ 2.99482339e-02 9.99551450e-01 4.04785432e-05 3.37101567e-01] [-8.36728686e-02 2.46662457e-03 9.96490224e-01 -7.68629319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.058241008000001 meters 0.06924648978077043 Centerline is valid? [True, True] Translation: X:6.60, Y:0.34, Z:-0.77 [[ 9.95944939e-01 -2.99782174e-02 8.48232521e-02 6.60377969e+00] [ 3.00833636e-02 9.99547392e-01 3.86137203e-05 3.35859941e-01] [-8.47860180e-02 2.51331159e-03 9.96396013e-01 -7.72426686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.088241008 meters 0.07102891910496492 Centerline is valid? [True, True] Translation: X:6.63, Y:0.33, Z:-0.78 [[ 9.96074675e-01 -3.09447902e-02 8.29316726e-02 6.63372798e+00] [ 3.10508627e-02 9.99517806e-01 1.07411260e-05 3.33295234e-01] [-8.28920158e-02 2.56440102e-03 9.96555236e-01 -7.79100903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.118241008000002 meters 0.07089843131326315 Centerline is valid? [True, True] Translation: X:6.67, Y:0.33, Z:-0.78 [[ 9.96068788e-01 -3.17336629e-02 8.27039544e-02 6.66601380e+00] [ 3.18423427e-02 9.99492904e-01 4.92326765e-06 3.32862253e-01] [-8.26621718e-02 2.62858374e-03 9.96574160e-01 -7.81913006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.148241008000001 meters 0.0714527976408123 Centerline is valid? [True, True] Translation: X:6.70, Y:0.33, Z:-0.79 [[ 9.95960573e-01 -3.21535687e-02 8.38372500e-02 6.69690555e+00] [ 3.22688683e-02 9.99479224e-01 -2.02366873e-05 3.30276805e-01] [-8.37929389e-02 2.72548812e-03 9.96479460e-01 -7.86400546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.178241008 meters 0.06891367512233565 Centerline is valid? [True, True] Translation: X:6.73, Y:0.33, Z:-0.79 [[ 9.96018998e-01 -3.02649150e-02 8.38462296e-02 6.72934639e+00] [ 3.03752774e-02 9.99538564e-01 -4.05951808e-05 3.34423037e-01] [-8.38063114e-02 2.58728606e-03 9.96478704e-01 -7.85262402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.208241008000002 meters 0.07092961011527513 Centerline is valid? [True, True] Translation: X:6.76, Y:0.33, Z:-0.80 [[ 9.96149860e-01 -2.80637604e-02 8.30534843e-02 6.75994351e+00] [ 2.81664478e-02 9.99603245e-01 -6.47432704e-05 3.31168812e-01] [-8.30187155e-02 2.40381563e-03 9.96545089e-01 -7.95486881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.238241008000001 meters 0.06836802058196845 Centerline is valid? [True, True] Translation: X:6.79, Y:0.34, Z:-0.79 [[ 9.96040900e-01 -2.68150290e-02 8.47554136e-02 6.79185047e+00] [ 2.69205264e-02 9.99637572e-01 -1.01879428e-04 3.35758280e-01] [-8.47219640e-02 2.38313643e-03 9.96401781e-01 -7.93450221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.268241008 meters 0.06813679801800583 Centerline is valid? [True, True] Translation: X:6.82, Y:0.34, Z:-0.80 [[ 9.95976926e-01 -2.50199813e-02 8.60462873e-02 6.82269382e+00] [ 2.51219595e-02 9.99684389e-01 -1.02355833e-04 3.37931990e-01] [-8.60165692e-02 2.26359540e-03 9.96291135e-01 -7.96648185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.298241008000002 meters 0.0676857429768196 Centerline is valid? [True, True] Translation: X:6.85, Y:0.34, Z:-0.80 [[ 9.95823922e-01 -2.19567197e-02 8.86150016e-02 6.85337318e+00] [ 2.20545630e-02 9.99756761e-01 -1.25063337e-04 3.39509664e-01] [-8.85907010e-02 2.07890620e-03 9.96065945e-01 -8.00445348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.328241008000001 meters 0.0676857429768196 Centerline is valid? [True, True] Translation: X:6.89, Y:0.34, Z:-0.80 [[ 9.95830729e-01 -2.16457752e-02 8.86150126e-02 6.88566409e+00] [ 2.17418292e-02 9.99763611e-01 -1.18752558e-04 3.39198473e-01] [-8.85914946e-02 2.04490991e-03 9.96065944e-01 -8.04510124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.358241008 meters 0.06567304589748474 Centerline is valid? [True, True] Translation: X:6.92, Y:0.34, Z:-0.80 [[ 9.95727709e-01 -1.98350875e-02 9.01825816e-02 6.91866257e+00] [ 1.99304859e-02 9.99801356e-01 -1.57344130e-04 3.42108631e-01] [-9.01615465e-02 1.95405458e-03 9.95925237e-01 -8.04082607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.388241008000001 meters 0.06585940736814973 Centerline is valid? [True, True] Translation: X:6.95, Y:0.34, Z:-0.81 [[ 9.95824102e-01 -1.80915238e-02 8.94821526e-02 6.95134531e+00] [ 1.81785196e-02 9.99834745e-01 -1.57281036e-04 3.42809776e-01] [-8.94645197e-02 1.78327731e-03 9.95988413e-01 -8.09097035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.418241008 meters 0.06508883040154523 Centerline is valid? [True, True] Translation: X:6.98, Y:0.35, Z:-0.82 [[ 9.96077739e-01 -1.31749609e-02 8.74960480e-02 6.98416078e+00] [ 1.32416128e-02 9.99912310e-01 -1.81382379e-04 3.47222606e-01] [-8.74859857e-02 1.33925974e-03 9.96164850e-01 -8.15951434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.448241008000002 meters 0.06550458930588489 Centerline is valid? [True, True] Translation: X:7.02, Y:0.35, Z:-0.82 [[ 9.96184232e-01 -1.05337616e-02 8.66372683e-02 7.01518496e+00] [ 1.05916717e-02 9.99943885e-01 -2.08754139e-04 3.47837381e-01] [-8.66302076e-02 1.12559109e-03 9.96239901e-01 -8.23401476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.478241008000001 meters 0.06400500184537303 Centerline is valid? [True, True] Translation: X:7.05, Y:0.35, Z:-0.83 [[ 9.96128454e-01 -8.25490974e-03 8.75211997e-02 7.04706119e+00] [ 8.30769105e-03 9.99965462e-01 -2.38831282e-04 3.49188491e-01] [-8.75162053e-02 9.65005723e-04 9.96162629e-01 -8.25048371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.508241008 meters 0.06368843803441152 Centerline is valid? [True, True] Translation: X:7.08, Y:0.35, Z:-0.83 [[ 9.96168303e-01 -6.41109415e-03 8.72216143e-02 7.08014714e+00] [ 6.45887085e-03 9.99979106e-01 -2.65555991e-04 3.50066634e-01] [-8.72180894e-02 8.27891604e-04 9.96188897e-01 -8.30498218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.538241008000002 meters 0.06461236273110108 Centerline is valid? [True, True] Translation: X:7.11, Y:0.35, Z:-0.84 [[ 9.96359287e-01 -4.21695434e-03 8.51492091e-02 7.11127840e+00] [ 4.25597349e-03 9.99990905e-01 -2.76722834e-04 3.50765872e-01] [-8.51472677e-02 6.38108142e-04 9.96368173e-01 -8.36445812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.568241008000001 meters 0.0639763213073123 Centerline is valid? [True, True] Translation: X:7.14, Y:0.35, Z:-0.84 [[ 9.96251998e-01 -1.84216611e-03 8.64786891e-02 7.14370439e+00] [ 1.87545528e-03 9.99998195e-01 -3.03696563e-04 3.49990933e-01] [-8.64779736e-02 4.64745221e-04 9.96253654e-01 -8.39335714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.598241008 meters 0.06221247919495898 Centerline is valid? [True, True] Translation: X:7.18, Y:0.35, Z:-0.84 [[ 9.95859498e-01 -7.86323149e-04 9.09023771e-02 7.17556274e+00] [ 8.22060015e-04 9.99999599e-01 -3.55694116e-04 3.48716285e-01] [-9.09020609e-02 4.28948573e-04 9.95859745e-01 -8.39583717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.628241008000002 meters 0.06378525784647829 Centerline is valid? [True, True] Translation: X:7.21, Y:0.35, Z:-0.85 [[ 9.96111556e-01 2.20377251e-03 8.80733241e-02 7.20597469e+00] [-2.18167734e-03 9.99997560e-01 -3.47132604e-04 3.47518500e-01] [-8.80738742e-02 1.53635223e-04 9.96113934e-01 -8.47237683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.658241008000001 meters 0.0637750138341793 Centerline is valid? [True, True] Translation: X:7.24, Y:0.35, Z:-0.85 [[ 9.96106312e-01 5.50328367e-03 8.79882353e-02 7.23832346e+00] [-5.49360470e-03 9.99984848e-01 -3.52160290e-04 3.46490878e-01] [-8.79888401e-02 -1.32583496e-04 9.96121452e-01 -8.50995190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.688241008 meters 0.06433252155549052 Centerline is valid? [True, True] Translation: X:7.27, Y:0.34, Z:-0.86 [[ 9.95956647e-01 1.24931255e-02 8.89622395e-02 7.27006569e+00] [-1.25082313e-02 9.99921694e-01 -3.87704692e-04 3.44027656e-01] [-8.89601169e-02 -7.26623208e-04 9.96034924e-01 -8.55666592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.718241008000001 meters 0.06330481769777982 Centerline is valid? [True, True] Translation: X:7.30, Y:0.34, Z:-0.86 [[ 9.95623876e-01 1.53027384e-02 9.21896090e-02 7.30214439e+00] [-1.53281028e-02 9.99882424e-01 -4.32956211e-04 3.40961460e-01] [-9.21853951e-02 -9.82030261e-04 9.95741376e-01 -8.55907486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.748241008 meters 0.06422636623852686 Centerline is valid? [True, True] Translation: X:7.33, Y:0.34, Z:-0.86 [[ 9.95628019e-01 1.73756653e-02 9.17765387e-02 7.33331268e+00] [-1.74069842e-02 9.99848381e-01 -4.59264606e-04 3.37382211e-01] [-9.17706037e-02 -1.14029604e-03 9.95779522e-01 -8.60623785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.778241008000002 meters 0.06379808362380733 Centerline is valid? [True, True] Translation: X:7.36, Y:0.33, Z:-0.86 [[ 9.95060068e-01 1.80902671e-02 9.76125210e-02 7.36431236e+00] [-1.81256773e-02 9.99835579e-01 -5.24061889e-04 3.26051757e-01] [-9.76059518e-02 -1.24781999e-03 9.95224357e-01 -8.61920392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.808241008000001 meters 0.0635504465631549 Centerline is valid? [True, True] Translation: X:7.40, Y:0.32, Z:-0.86 [[ 9.95109634e-01 1.74752924e-02 9.72184679e-02 7.39710672e+00] [-1.75078924e-02 9.99846591e-01 -5.17793324e-04 3.17286990e-01] [-9.72126023e-02 -1.18682935e-03 9.95262931e-01 -8.64741058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.838241008 meters 0.061511908477087464 Centerline is valid? [True, True] Translation: X:7.43, Y:0.31, Z:-0.87 [[ 9.94802033e-01 1.51916061e-02 1.00688281e-01 7.42722685e+00] [-1.52105370e-02 9.99884145e-01 -5.79740097e-04 3.09449823e-01] [-1.00685422e-01 -9.54796184e-04 9.94917853e-01 -8.68430802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.868241008000002 meters 0.06359985216003367 Centerline is valid? [True, True] Translation: X:7.46, Y:0.30, Z:-0.88 [[ 9.95478121e-01 1.33275883e-02 9.40515100e-02 7.45755411e+00] [-1.33356615e-02 9.99910929e-01 -5.42701976e-04 3.01378609e-01] [-9.40503656e-02 -7.13991158e-04 9.95567185e-01 -8.78089894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.898241008000001 meters 0.06406256322810343 Centerline is valid? [True, True] Translation: X:7.49, Y:0.28, Z:-0.89 [[ 9.95945133e-01 8.07120921e-03 8.95999284e-02 7.48841180e+00] [-8.05772453e-03 9.99967405e-01 -5.12216969e-04 2.81285943e-01] [-8.96011421e-02 -2.11831544e-04 9.95977706e-01 -8.86781943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.928241008 meters 0.06285038151800855 Centerline is valid? [True, True] Translation: X:7.52, Y:0.27, Z:-0.89 [[ 9.95819416e-01 5.72680216e-03 9.11641042e-02 7.51940628e+00] [-5.70067162e-03 9.99983601e-01 -5.47021998e-04 2.70772870e-01] [-9.11657420e-02 2.50385048e-05 9.95835733e-01 -8.90599270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.958241008000002 meters 0.0643601034116627 Centerline is valid? [True, True] Translation: X:7.55, Y:0.26, Z:-0.90 [[ 9.96162562e-01 4.22430136e-03 8.74202815e-02 7.55089819e+00] [-4.19187589e-03 9.99991060e-01 -5.54491159e-04 2.62123682e-01] [-8.74218423e-02 1.85908363e-04 9.96171364e-01 -8.98387629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.988241008000001 meters 0.06465673205332202 Centerline is valid? [True, True] Translation: X:7.58, Y:0.25, Z:-0.90 [[ 9.96242295e-01 2.96115690e-03 8.65593473e-02 7.58297983e+00] [-2.92469726e-03 9.99995573e-01 -5.48024938e-04 2.54844544e-01] [-8.65605869e-02 2.92805736e-04 9.96246545e-01 -9.02618178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.018241008 meters 0.06488433802729544 Centerline is valid? [True, True] Translation: X:7.61, Y:0.25, Z:-0.91 [[ 9.96359753e-01 2.77723952e-03 8.52028690e-02 7.61497215e+00] [-2.73915127e-03 9.99996090e-01 -5.63931379e-04 2.48547284e-01] [-8.52041020e-02 3.28494983e-04 9.96363464e-01 -9.06840413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.048241008000002 meters 0.06508848938694542 Centerline is valid? [True, True] Translation: X:7.65, Y:0.24, Z:-0.91 [[ 9.96464201e-01 4.07819783e-03 8.39193947e-02 7.64514881e+00] [-4.04358472e-03 9.99991655e-01 -5.82420601e-04 2.36437951e-01] [-8.39210697e-02 2.41026097e-04 9.96472376e-01 -9.12531265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.078241008000001 meters 0.06455580095670423 Centerline is valid? [True, True] Translation: X:7.68, Y:0.23, Z:-0.92 [[ 9.96463785e-01 5.92521394e-03 8.38141854e-02 7.67774194e+00] [-5.89592823e-03 9.99982441e-01 -5.96926774e-04 2.32053536e-01] [-8.38162506e-02 1.00653490e-04 9.96481222e-01 -9.16016755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.108241008 meters 0.0656959542832072 Centerline is valid? [True, True] Translation: X:7.71, Y:0.23, Z:-0.92 [[ 9.96566890e-01 8.87482989e-03 8.23144631e-02 7.70813519e+00] [-8.85415877e-03 9.99960611e-01 -6.16159658e-04 2.29786538e-01] [-8.23166892e-02 -1.14781012e-04 9.96606216e-01 -9.22203384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.138241008000001 meters 0.06532505308668038 Centerline is valid? [True, True] Translation: X:7.74, Y:0.23, Z:-0.93 [[ 9.96479404e-01 1.10963578e-02 8.31003499e-02 7.73915162e+00] [-1.10810731e-02 9.99938395e-01 -6.45160627e-04 2.27335230e-01] [-8.31023894e-02 -2.77951772e-04 9.96540975e-01 -9.26064517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.168241008 meters 0.06450069307904929 Centerline is valid? [True, True] Translation: X:7.77, Y:0.22, Z:-0.93 [[ 9.96297262e-01 1.37609641e-02 8.48669606e-02 7.77186981e+00] [-1.37521486e-02 9.99905198e-01 -6.88506513e-04 2.24633971e-01] [-8.48683895e-02 -4.81145902e-04 9.96392054e-01 -9.28041417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.198241008000002 meters 0.06562864822143133 Centerline is valid? [True, True] Translation: X:7.80, Y:0.22, Z:-0.93 [[ 9.96208828e-01 1.78962562e-02 8.51334005e-02 7.80223269e+00] [-1.79018839e-02 9.99839505e-01 -6.97366624e-04 2.16909675e-01] [-8.51322173e-02 -8.29325462e-04 9.96369318e-01 -9.33891231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.228241008000001 meters 0.06526783123945014 Centerline is valid? [True, True] Translation: X:7.83, Y:0.21, Z:-0.94 [[ 9.96210264e-01 1.82859210e-02 8.50337228e-02 7.83477548e+00] [-1.82924041e-02 9.99832433e-01 -7.02969699e-04 2.09036898e-01] [-8.50323283e-02 -8.55165588e-04 9.96377826e-01 -9.35779050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.258241008 meters 0.06532607249998763 Centerline is valid? [True, True] Translation: X:7.87, Y:0.20, Z:-0.94 [[ 9.96098265e-01 1.83016241e-02 8.63324744e-02 7.86580741e+00] [-1.83056473e-02 9.99832160e-01 -7.45129340e-04 2.02095818e-01] [-8.63316215e-02 -8.38149786e-04 9.96266103e-01 -9.41327086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.288241008000002 meters 0.06438353719480704 Centerline is valid? [True, True] Translation: X:7.90, Y:0.19, Z:-0.94 [[ 9.95743905e-01 1.99123844e-02 8.99865157e-02 7.89631268e+00] [-1.99202758e-02 9.99801243e-01 -8.10492742e-04 1.90620981e-01] [-8.99847691e-02 -9.85513008e-04 9.95942654e-01 -9.42634434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.318241008000001 meters 0.06456969394481463 Centerline is valid? [True, True] Translation: X:7.93, Y:0.18, Z:-0.94 [[ 9.95820257e-01 2.13930809e-02 8.87938780e-02 7.92873619e+00] [-2.14073287e-02 9.99770523e-01 -7.91948290e-04 1.84330557e-01] [-8.87904440e-02 -1.11220158e-03 9.96049708e-01 -9.44114967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.348241008 meters 0.06467540433989778 Centerline is valid? [True, True] Translation: X:7.96, Y:0.18, Z:-0.95 [[ 9.95732559e-01 2.32309696e-02 8.93140187e-02 7.96173155e+00] [-2.32505908e-02 9.99729332e-01 -8.20827777e-04 1.80096510e-01] [-8.93089129e-02 -1.25927876e-03 9.96003179e-01 -9.48593158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.378241008000002 meters 0.06293231739281806 Centerline is valid? [True, True] Translation: X:8.00, Y:0.17, Z:-0.94 [[ 9.95607216e-01 2.58979067e-02 8.99753825e-02 7.99562164e+00] [-2.59260358e-02 9.99663497e-01 -8.56274426e-04 1.71228378e-01] [-8.99672812e-02 -1.48019199e-03 9.95943622e-01 -9.41292339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.408241008000001 meters 0.0634445011064949 Centerline is valid? [True, True] Translation: X:8.03, Y:0.17, Z:-0.94 [[ 9.95546391e-01 2.85356885e-02 8.98504224e-02 8.02785935e+00] [-2.85715833e-02 9.99591355e-01 -8.86928900e-04 1.66657161e-01] [-8.98390147e-02 -1.68418996e-03 9.95954876e-01 -9.44549276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.438241008 meters 0.06342074417836212 Centerline is valid? [True, True] Translation: X:8.06, Y:0.16, Z:-0.94 [[ 9.95216133e-01 3.46856864e-02 9.13331887e-02 8.05977261e+00] [-3.47462693e-02 9.99395736e-01 -9.27147151e-04 1.56782171e-01] [-9.13101580e-02 -2.25077576e-03 9.95819958e-01 -9.44030296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.468241008000001 meters 0.06417103199101082 Centerline is valid? [True, True] Translation: X:8.09, Y:0.16, Z:-0.95 [[ 9.95025770e-01 3.73911806e-02 9.23342624e-02 8.09024639e+00] [-3.74637354e-02 9.99297538e-01 -9.47995807e-04 1.56727714e-01] [-9.23048478e-02 -2.51590612e-03 9.95727616e-01 -9.51911673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.498241008 meters 0.06348856247235268 Centerline is valid? [True, True] Translation: X:8.12, Y:0.15, Z:-0.95 [[ 9.94841977e-01 4.09213830e-02 9.28163804e-02 8.12274467e+00] [-4.10086939e-02 9.99158322e-01 -9.67181428e-04 1.50676561e-01] [-9.27778372e-02 -2.84408585e-03 9.95682773e-01 -9.53240207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.528241008000002 meters 0.06452293673643814 Centerline is valid? [True, True] Translation: X:8.15, Y:0.15, Z:-0.96 [[ 9.94828290e-01 4.38844705e-02 9.16014597e-02 8.15260604e+00] [-4.39812809e-02 9.99031892e-01 -9.62464184e-04 1.48367538e-01] [-9.15550168e-02 -3.07126293e-03 9.95795283e-01 -9.59496179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.558241008000001 meters 0.06535914832943242 Centerline is valid? [True, True] Translation: X:8.18, Y:0.14, Z:-0.96 [[ 9.94818957e-01 4.62994938e-02 9.05074576e-02 8.18353092e+00] [-4.64038628e-02 9.98922307e-01 -9.51907817e-04 1.42966244e-01] [-9.04539912e-02 -3.25291971e-03 9.95895323e-01 -9.62525799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.588241008 meters 0.06571700231704515 Centerline is valid? [True, True] Translation: X:8.21, Y:0.13, Z:-0.97 [[ 9.94604369e-01 4.71965083e-02 9.23831131e-02 8.21388325e+00] [-4.73093988e-02 9.98879814e-01 -9.68841732e-04 1.31309207e-01] [-9.23253528e-02 -3.40697533e-03 9.95723065e-01 -9.66842088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.618241008000002 meters 0.0637923324293872 Centerline is valid? [True, True] Translation: X:8.24, Y:0.12, Z:-0.97 [[ 9.94331388e-01 4.57157239e-02 9.59956428e-02 8.24483998e+00] [-4.58281188e-02 9.98948804e-01 -1.03474229e-03 1.21977017e-01] [-9.59420366e-02 -3.37042298e-03 9.95381216e-01 -9.68827656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.648241008000001 meters 0.06367371044135015 Centerline is valid? [True, True] Translation: X:8.28, Y:0.11, Z:-0.97 [[ 9.94684727e-01 4.48605859e-02 9.26812905e-02 8.27702184e+00] [-4.49621259e-02 9.98988198e-01 -9.93253011e-04 1.11701488e-01] [-9.26320733e-02 -3.17917425e-03 9.95695331e-01 -9.72517730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.678241008 meters 0.06314836322017085 Centerline is valid? [True, True] Translation: X:8.31, Y:0.10, Z:-0.98 [[ 9.94806539e-01 4.24452733e-02 9.25113412e-02 8.30798159e+00] [-4.25339435e-02 9.99094508e-01 -1.01386824e-03 1.03777922e-01] [-9.24706069e-02 -2.92626940e-03 9.95711115e-01 -9.78628011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.708241008000002 meters 0.06390834613346846 Centerline is valid? [True, True] Translation: X:8.34, Y:0.09, Z:-0.99 [[ 9.95480906e-01 3.80158300e-02 8.70204723e-02 8.33802639e+00] [-3.80755869e-02 9.99274388e-01 -9.73627224e-04 8.78219686e-02] [-8.69943424e-02 -2.34412825e-03 9.96206048e-01 -9.88261940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.738241008000001 meters 0.06301513433928403 Centerline is valid? [True, True] Translation: X:8.37, Y:0.08, Z:-0.99 [[ 9.95522011e-01 3.64884313e-02 8.72038954e-02 8.37010410e+00] [-3.65409771e-02 9.99331661e-01 -9.94194957e-04 7.74977291e-02] [-8.71818902e-02 -2.19677258e-03 9.96189988e-01 -9.91538499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.768241008 meters 0.06317133190021634 Centerline is valid? [True, True] Translation: X:8.40, Y:0.07, Z:-1.00 [[ 9.95718685e-01 3.45563485e-02 8.57330670e-02 8.40138491e+00] [-3.45983163e-02 9.99400802e-01 -9.96726251e-04 6.80775297e-02] [-8.57161391e-02 -1.97376082e-03 9.96317644e-01 -9.97290961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.798241008000002 meters 0.0632867895450155 Centerline is valid? [True, True] Translation: X:8.43, Y:0.06, Z:-1.00 [[ 9.95849382e-01 3.32520302e-02 8.47249137e-02 8.43360370e+00] [-3.32865572e-02 9.99445343e-01 -1.00548212e-03 5.81799284e-02] [-8.47113548e-02 -1.81889193e-03 9.96403873e-01 -1.00175415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.828241008000001 meters 0.06299823445875356 Centerline is valid? [True, True] Translation: X:8.47, Y:0.04, Z:-1.00 [[ 9.95926975e-01 2.93705587e-02 8.52457097e-02 8.46530964e+00] [-2.93886232e-02 9.99567517e-01 -1.04326531e-03 4.05774741e-02] [-8.52394836e-02 -1.46623798e-03 9.96359413e-01 -1.00331843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.858241008000002 meters 0.060983716945201306 Centerline is valid? [True, True] Translation: X:8.50, Y:0.03, Z:-1.00 [[ 9.95555379e-01 2.93896045e-02 8.94747930e-02 8.49600047e+00] [-2.94090385e-02 9.99566854e-01 -1.10140532e-03 3.25112286e-02] [-8.94684072e-02 -1.53485764e-03 9.95988478e-01 -1.00297615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.888241008000001 meters 0.06245190721136752 Centerline is valid? [True, True] Translation: X:8.53, Y:0.03, Z:-1.01 [[ 9.95752591e-01 2.84248549e-02 8.75717132e-02 8.52630265e+00] [-2.84403812e-02 9.99594917e-01 -1.07063349e-03 2.78899363e-02] [-8.75666720e-02 -1.42448683e-03 9.96157643e-01 -1.00974095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.918241008 meters 0.06210611188942519 Centerline is valid? [True, True] Translation: X:8.56, Y:0.02, Z:-1.01 [[ 9.95622957e-01 2.86565569e-02 8.89591385e-02 8.55822591e+00] [-2.86717266e-02 9.99588268e-01 -1.10757498e-03 2.21811737e-02] [-8.89542505e-02 -1.44788502e-03 9.96034661e-01 -1.01141546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.948241008000002 meters 0.0623048973090877 Centerline is valid? [True, True] Translation: X:8.59, Y:0.01, Z:-1.02 [[ 9.95378118e-01 2.76733716e-02 9.19597036e-02 8.58872307e+00] [-2.76826303e-02 9.99616072e-01 -1.17510715e-03 1.40384239e-02] [-9.19569169e-02 -1.37601053e-03 9.95762036e-01 -1.01597803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.978241008000001 meters 0.06146528571871 Centerline is valid? [True, True] Translation: X:8.62, Y:0.01, Z:-1.02 [[ 9.95255351e-01 2.64425203e-02 9.36353525e-02 8.62108535e+00] [-2.64469930e-02 9.99649505e-01 -1.19336377e-03 7.41846379e-03] [-9.36340893e-02 -1.28867183e-03 9.95605844e-01 -1.01637215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.008241008 meters 0.062038918049287885 Centerline is valid? [True, True] Translation: X:8.65, Y:0.00, Z:-1.02 [[ 9.95337609e-01 2.50747112e-02 9.31359394e-02 8.65348216e+00] [-2.50711633e-02 9.99684939e-01 -1.20833435e-03 1.48916950e-03] [-9.31368946e-02 -1.13232572e-03 9.95652669e-01 -1.02037487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.038241008000002 meters 0.06098181060423842 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.01, Z:-1.02 [[ 9.95146316e-01 2.29858156e-02 9.56841756e-02 8.68513054e+00] [-2.29691965e-02 9.99735360e-01 -1.27525063e-03 -5.55011994e-03] [-9.56881664e-02 -9.28727662e-04 9.95410926e-01 -1.02338412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.068241008000001 meters 0.061404561481550275 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.02, Z:-1.03 [[ 9.95363285e-01 1.77733433e-02 9.45306268e-02 8.71651323e+00] [-1.77335485e-02 9.99841953e-01 -1.26108502e-03 -1.80518264e-02] [-9.45381003e-02 -4.21125735e-04 9.95521155e-01 -1.02730642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.098241008 meters 0.06096784812748603 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.02, Z:-1.03 [[ 9.95303509e-01 1.57608720e-02 9.55118885e-02 8.74874880e+00] [-1.57092892e-02 9.99875767e-01 -1.29202115e-03 -2.40778699e-02] [-9.55203861e-02 -2.14470695e-04 9.95427451e-01 -1.03141467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.128241008000002 meters 0.06138504062234268 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.03, Z:-1.04 [[ 9.95511741e-01 1.42164378e-02 9.35642413e-02 8.78070395e+00] [-1.41593586e-02 9.99898940e-01 -1.27392019e-03 -3.01661345e-02] [-9.35728963e-02 -5.66071423e-05 9.95612430e-01 -1.03519325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.158241008000001 meters 0.06059730545079085 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.03, Z:-1.04 [[ 9.95311161e-01 1.32299044e-02 9.58157699e-02 8.81270518e+00] [-1.31632329e-02 9.99912479e-01 -1.32790112e-03 -3.43161081e-02] [-9.58249520e-02 6.04295089e-05 9.95398199e-01 -1.03949341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.188241008 meters 0.06059730545079085 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.03, Z:-1.04 [[ 9.95307564e-01 1.35000247e-02 9.58154638e-02 8.84488138e+00] [-1.34325148e-02 9.99908869e-01 -1.34958265e-03 -3.48560796e-02] [-9.58249515e-02 5.62071812e-05 9.95398199e-01 -1.04355489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.218241008000001 meters 0.060914117106018593 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.04, Z:-1.05 [[ 9.95392998e-01 1.17247563e-02 9.51593950e-02 8.87484243e+00] [-1.16474857e-02 9.99931231e-01 -1.36743535e-03 -4.08204102e-02] [-9.51688838e-02 2.52767886e-04 9.95461109e-01 -1.05055079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.248241008 meters 0.061493010926429496 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.05, Z:-1.05 [[ 9.95617964e-01 1.06693668e-02 9.29033560e-02 8.90633403e+00] [-1.05890047e-02 9.99943013e-01 -1.35792172e-03 -4.53075500e-02] [-9.29125499e-02 3.68217181e-04 9.95674205e-01 -1.05372505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.278241008000002 meters 0.06125933863160638 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.05, Z:-1.06 [[ 9.95572336e-01 9.81428774e-03 9.34847718e-02 8.93734351e+00] [-9.72844181e-03 9.99951734e-01 -1.37398304e-03 -5.09235780e-02] [-9.34937443e-02 4.58438338e-04 9.95619762e-01 -1.05822714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.308241008000001 meters 0.06190754234160812 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.06, Z:-1.06 [[ 9.95813415e-01 7.45890693e-03 9.11043802e-02 8.96951803e+00] [-7.36531475e-03 9.99971946e-01 -1.36347395e-03 -6.02786744e-02] [-9.11119944e-02 6.86753214e-04 9.95840415e-01 -1.06115805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.338241008 meters 0.06110623717081151 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.06, Z:-1.06 [[ 9.95721664e-01 8.50141594e-03 9.20113753e-02 9.00189413e+00] [-8.41032443e-03 9.99963684e-01 -1.37770958e-03 -6.32027319e-02] [-9.20197462e-02 5.97969761e-04 9.95757003e-01 -1.06390350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.368241008000002 meters 0.061325723372137986 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.07, Z:-1.07 [[ 9.95788376e-01 8.50707785e-03 9.12860292e-02 9.03333290e+00] [-8.41548867e-03 9.99963626e-01 -1.38819278e-03 -6.56257073e-02] [-9.12945182e-02 6.14129686e-04 9.95823746e-01 -1.06777771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.398241008000001 meters 0.06113505716012595 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.07, Z:-1.07 [[ 9.95724593e-01 1.06333766e-02 9.17576467e-02 9.06386098e+00] [-1.05477346e-02 9.99943365e-01 -1.41825411e-03 -6.89490693e-02] [-9.17675309e-02 4.44355195e-04 9.95780359e-01 -1.07190003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.428241008 meters 0.060942533262202954 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.07, Z:-1.08 [[ 9.95489846e-01 1.32523344e-02 9.39379665e-02 9.09494896e+00] [-1.31721513e-02 9.99912158e-01 -1.47360513e-03 -6.93683017e-02] [-9.39492435e-02 2.29593842e-04 9.95576962e-01 -1.07545753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.458241008000002 meters 0.06044587638025261 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.07, Z:-1.08 [[ 9.95290817e-01 1.61856499e-02 9.55730802e-02 9.12737317e+00] [-1.61141532e-02 9.99869003e-01 -1.51989362e-03 -6.93853579e-02] [-9.55851609e-02 -2.73430921e-05 9.95421256e-01 -1.07630946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.488241008000001 meters 0.06094811662576842 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.07, Z:-1.08 [[ 9.95186579e-01 1.76658446e-02 9.63928999e-02 9.15742029e+00] [-1.75976794e-02 9.99843936e-01 -1.55730614e-03 -7.02288566e-02] [-9.64053675e-02 -1.46481172e-04 9.95342144e-01 -1.08295395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.518241008 meters 0.06052431453185265 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.07, Z:-1.09 [[ 9.94996552e-01 1.90326613e-02 9.80796618e-02 9.18987670e+00] [-1.89662150e-02 9.99818829e-01 -1.60986035e-03 -7.21186369e-02] [-9.80925325e-02 -2.58394464e-04 9.95177265e-01 -1.08603111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.548241008000002 meters 0.060271836764495906 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.08, Z:-1.09 [[ 9.94854017e-01 1.93093268e-02 9.94617230e-02 9.22209397e+00] [-1.92413925e-02 9.99813518e-01 -1.64233339e-03 -7.66828600e-02] [-9.94748876e-02 -2.79900084e-04 9.95040034e-01 -1.08791809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.578241008000001 meters 0.06062869805043957 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.08, Z:-1.09 [[ 9.94887940e-01 1.77929911e-02 9.94052109e-02 9.25328188e+00] [-1.77152724e-02 9.99841687e-01 -1.66453412e-03 -7.99733533e-02] [-9.94190908e-02 -1.04965469e-04 9.95045644e-01 -1.09414578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.608241008000002 meters 0.060366250623702475 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.08, Z:-1.10 [[ 9.94876491e-01 1.64200345e-02 9.97554515e-02 9.28561630e+00] [-1.63323000e-02 9.99865180e-01 -1.69614235e-03 -8.38000926e-02] [-9.97698532e-02 5.82161959e-05 9.95010539e-01 -1.09701926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.638241008000001 meters 0.06047813258070821 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.09, Z:-1.10 [[ 9.95032211e-01 1.42383730e-02 9.85300335e-02 9.31761601e+00] [-1.41398723e-02 9.99898585e-01 -1.69796621e-03 -8.81437094e-02] [-9.85442174e-02 2.96328982e-04 9.95132629e-01 -1.10142435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.668241008 meters 0.06084900504691973 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.10, Z:-1.11 [[ 9.95401423e-01 8.86155403e-03 9.53807126e-02 9.34802901e+00] [-8.74193822e-03 9.99960391e-01 -1.67188192e-03 -9.60257940e-02] [-9.53917501e-02 8.30381345e-04 9.95439463e-01 -1.10644794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.698241008000002 meters 0.061277253992259376 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.10, Z:-1.11 [[ 9.95596964e-01 6.90273624e-03 9.34828194e-02 9.37800722e+00] [-6.77913928e-03 9.99975677e-01 -1.63963666e-03 -9.86741978e-02] [-9.34918636e-02 9.98684226e-04 9.95619543e-01 -1.11295353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.728241008000001 meters 0.06166548248845708 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.10, Z:-1.12 [[ 9.95730497e-01 5.55758234e-03 9.21405972e-02 9.40864516e+00] [-5.43204770e-03 9.99983945e-01 -1.61316032e-03 -1.01187550e-01] [-9.21480832e-02 1.10576081e-03 9.95744700e-01 -1.11869968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.758241008 meters 0.061973395554978876 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.10, Z:-1.12 [[ 9.95913182e-01 5.30173460e-03 9.01600047e-02 9.43943418e+00] [-5.17877191e-03 9.99985314e-01 -1.59770979e-03 -1.04430209e-01] [-9.01671512e-02 1.12426214e-03 9.95926012e-01 -1.12329043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.788241008000002 meters 0.061858506481617566 Centerline is valid? [True, True] Translation: X:9.47, Y:-0.11, Z:-1.13 [[ 9.95965388e-01 5.45008924e-03 8.95725590e-02 9.47091536e+00] [-5.32761689e-03 9.99984518e-01 -1.60632720e-03 -1.07078599e-01] [-8.95799268e-02 1.12263802e-03 9.95979004e-01 -1.12594255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.818241008000001 meters 0.06158488120836013 Centerline is valid? [True, True] Translation: X:9.50, Y:-0.11, Z:-1.13 [[ 9.95931705e-01 7.12782492e-03 8.98289120e-02 9.50326965e+00] [-7.00974573e-03 9.99974103e-01 -1.62990190e-03 -1.10121876e-01] [-8.98382034e-02 9.93593140e-04 9.95955878e-01 -1.12795464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.848241008 meters 0.06137909808330545 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.11, Z:-1.13 [[ 9.95727282e-01 7.62774761e-03 9.20271590e-02 9.53504456e+00] [-7.50331648e-03 9.99970408e-01 -1.69803100e-03 -1.11515033e-01] [-9.20373879e-02 1.00026689e-03 9.95755050e-01 -1.13105176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.878241008000002 meters 0.06114494432376329 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.11, Z:-1.13 [[ 9.95639685e-01 7.47853423e-03 9.29822010e-02 9.56669385e+00] [-7.35095304e-03 9.99971512e-01 -1.71452827e-03 -1.13807753e-01] [-9.29923742e-02 1.02354460e-03 9.95666295e-01 -1.13350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.908241008000001 meters 0.061687920123668756 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.12, Z:-1.14 [[ 9.95490555e-01 4.47243810e-03 9.47552189e-02 9.59874061e+00] [-4.32416714e-03 9.99989084e-01 -1.77005274e-03 -1.18119400e-01] [-9.47621010e-02 1.35233338e-03 9.95499028e-01 -1.13662878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.938241008000002 meters 0.06111878897056711 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.12, Z:-1.14 [[ 9.95338474e-01 3.55159408e-03 9.63779455e-02 9.63047026e+00] [-3.39163584e-03 9.99992586e-01 -1.82346811e-03 -1.19727209e-01] [-9.63837071e-02 1.48808908e-03 9.95343140e-01 -1.13936630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.968241008000001 meters 0.061876306422859295 Centerline is valid? [True, True] Translation: X:9.66, Y:-0.12, Z:-1.14 [[ 9.95391856e-01 2.88936928e-03 9.58473009e-02 9.66096744e+00] [-2.72588727e-03 9.99994598e-01 -1.83654297e-03 -1.22373350e-01] [-9.58520897e-02 1.56681098e-03 9.95394355e-01 -1.14422300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.998241008 meters 0.06117617920499639 Centerline is valid? [True, True] Translation: X:9.69, Y:-0.12, Z:-1.15 [[ 9.95261221e-01 3.17464949e-03 9.71855148e-02 9.69349512e+00] [-3.00543146e-03 9.99993702e-01 -1.88752528e-03 -1.24014627e-01] [-9.71908949e-02 1.58649632e-03 9.95264494e-01 -1.14670863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.028241008000002 meters 0.06152570545043626 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.13, Z:-1.15 [[ 9.95231015e-01 2.75968647e-03 9.75069832e-02 9.72514589e+00] [-2.58699181e-03 9.99994854e-01 -1.89748245e-03 -1.27707995e-01] [-9.75117178e-02 1.63618362e-03 9.95233032e-01 -1.15179693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.058241008000001 meters 0.061386141418598585 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.13, Z:-1.15 [[ 9.95313603e-01 2.98775613e-03 9.66535335e-02 9.75714833e+00] [-2.81677974e-03 9.99994218e-01 -1.90535873e-03 -1.27506633e-01] [-9.66586673e-02 1.62417775e-03 9.95316263e-01 -1.15471208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.088241008 meters 0.06136805418446577 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.13, Z:-1.16 [[ 9.95393120e-01 3.82400596e-03 9.58014277e-02 9.78892311e+00] [-3.65776261e-03 9.99991485e-01 -1.91084476e-03 -1.28162686e-01] [-9.58079190e-02 1.55162285e-03 9.95398631e-01 -1.15957026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.118241008000002 meters 0.061553865783175406 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.13, Z:-1.16 [[ 9.95623301e-01 4.20458280e-03 9.33625402e-02 9.82059463e+00] [-4.04640143e-03 9.99990039e-01 -1.88351100e-03 -1.26369201e-01] [-9.33695296e-02 1.49748513e-03 9.95630398e-01 -1.16035404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.148241008000001 meters 0.06098717560816065 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.13, Z:-1.17 [[ 9.95494031e-01 6.77291526e-03 9.45820397e-02 9.85148947e+00] [-6.61999969e-03 9.99976224e-01 -1.93043047e-03 -1.27263054e-01] [-9.45928656e-02 1.29559894e-03 9.95515199e-01 -1.16593755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.178241008 meters 0.06126032210197048 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.12, Z:-1.17 [[ 9.95647709e-01 1.15624817e-02 9.24767479e-02 9.88284601e+00] [-1.14350515e-02 9.99932798e-01 -1.90774355e-03 -1.23925402e-01] [-9.24925915e-02 8.41964125e-04 9.95713017e-01 -1.17147414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.208241008000002 meters 0.06078262247393989 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.12, Z:-1.18 [[ 9.95515660e-01 1.49486345e-02 9.34082947e-02 9.91403568e+00] [-1.48313471e-02 9.99888109e-01 -1.94975815e-03 -1.22125648e-01] [-9.34269893e-02 5.55643927e-04 9.95625978e-01 -1.17713975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.238241008000001 meters 0.06061298913155688 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.12, Z:-1.18 [[ 9.95478310e-01 1.76641635e-02 9.33322631e-02 9.94628063e+00] [-1.75568901e-02 9.99843924e-01 -1.97041471e-03 -1.20429592e-01] [-9.33525019e-02 3.22880816e-04 9.95633068e-01 -1.18088431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.268241008 meters 0.06130392679327165 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.12, Z:-1.19 [[ 9.95636291e-01 2.05088611e-02 9.10371445e-02 9.97676610e+00] [-2.04166923e-02 9.99789668e-01 -1.94368671e-03 -1.19278968e-01] [-9.10578593e-02 7.65276628e-05 9.95845601e-01 -1.18804956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.298241008000002 meters 0.06107981865209581 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.12, Z:-1.19 [[ 9.95635495e-01 2.32018609e-02 9.03970918e-02 1.00078348e+01] [-2.31202406e-02 9.99730790e-01 -1.95008984e-03 -1.17756638e-01] [-9.04180017e-02 -1.48423853e-04 9.95903892e-01 -1.19427231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.328241008000001 meters 0.060973494770072266 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.12, Z:-1.20 [[ 9.95652286e-01 2.58611916e-02 8.94858827e-02 1.00401050e+01] [-2.57903198e-02 9.99665476e-01 -1.94834646e-03 -1.16957802e-01] [-8.95063340e-02 -3.67993929e-04 9.95986185e-01 -1.19678479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.358241008000002 meters 0.061474092814282386 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.12, Z:-1.20 [[ 9.95641153e-01 2.56830449e-02 8.96608977e-02 1.00709514e+01] [-2.56088924e-02 9.99670083e-01 -1.97750108e-03 -1.18904941e-01] [-8.96821052e-02 -3.27234821e-04 9.95970388e-01 -1.20335373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.388241008000001 meters 0.06085007784956819 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.12, Z:-1.20 [[ 9.95649509e-01 2.44348200e-02 8.99165981e-02 1.01030613e+01] [-2.43543895e-02 9.99701404e-01 -1.99171108e-03 -1.23959974e-01] [-8.99384165e-02 -2.06817692e-04 9.95947307e-01 -1.20452146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.418241008 meters 0.060781060248856086 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.13, Z:-1.21 [[ 9.95679802e-01 2.38291337e-02 8.97435496e-02 1.01357834e+01] [-2.37447609e-02 9.99716037e-01 -2.00781296e-03 -1.26185146e-01] [-8.97659102e-02 -1.31800316e-04 9.95962883e-01 -1.20696602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.448241008000002 meters 0.06073503967729963 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.13, Z:-1.21 [[ 9.95635866e-01 2.29762466e-02 9.04506237e-02 1.01681046e+01] [-2.28841331e-02 9.99736011e-01 -2.05545892e-03 -1.28461685e-01] [-9.04739725e-02 -2.33954903e-05 9.95898820e-01 -1.21076936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.478241008000001 meters 0.060714904371184035 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.13, Z:-1.21 [[ 9.95623944e-01 2.25707247e-02 9.06836460e-02 1.02006301e+01] [-2.24763245e-02 9.99745249e-01 -2.06220086e-03 -1.30758467e-01] [-9.07070896e-02 1.49415010e-05 9.95877615e-01 -1.21470718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.508241008 meters 0.06065624653194141 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.14, Z:-1.22 [[ 9.95443190e-01 2.01944312e-02 9.31935674e-02 1.02318184e+01] [-2.00816919e-02 9.99796036e-01 -2.14745302e-03 -1.36062333e-01] [-9.32179259e-02 2.66182969e-04 9.95645694e-01 -1.21679398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.538241008000002 meters 0.060665450841463235 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.14, Z:-1.22 [[ 9.95299421e-01 1.88432564e-02 9.49947063e-02 1.02637040e+01] [-1.87179515e-02 9.99822361e-01 -2.21004682e-03 -1.39986279e-01] [-9.50194761e-02 4.21552009e-04 9.95475324e-01 -1.22016092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.568241008000001 meters 0.060545864150818446 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.14, Z:-1.22 [[ 9.95171797e-01 1.63506485e-02 9.67768098e-02 1.02957286e+01] [-1.62065622e-02 9.99866077e-01 -2.27477144e-03 -1.43816047e-01] [-9.68010432e-02 6.95368989e-04 9.95303509e-01 -1.22338140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.598241008 meters 0.06093400753436935 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.15, Z:-1.23 [[ 9.95128340e-01 1.45871056e-02 9.75028355e-02 1.03284555e+01] [-1.44302231e-02 9.99893201e-01 -2.31402241e-03 -1.48435021e-01] [-9.75261772e-02 8.95761605e-04 9.95232557e-01 -1.22750723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.628241008000002 meters 0.06139813923462459 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.16, Z:-1.23 [[ 9.95399942e-01 1.26675873e-02 9.49657158e-02 1.03584624e+01] [-1.25073156e-02 9.99919175e-01 -2.28274129e-03 -1.56795262e-01] [-9.49869570e-02 1.08447437e-03 9.95477926e-01 -1.23280282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.658241008000001 meters 0.06148920940984279 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.16, Z:-1.24 [[ 9.95488637e-01 1.28452307e-02 9.40073070e-02 1.03896215e+01] [-1.26882953e-02 9.99916931e-01 -2.26695043e-03 -1.59847838e-01] [-9.40286174e-02 1.06393092e-03 9.95568926e-01 -1.23932697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.688241008000002 meters 0.061852203295890626 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.16, Z:-1.25 [[ 9.95794815e-01 1.33757055e-02 9.06298907e-02 1.04212864e+01] [-1.32297696e-02 9.99910039e-01 -2.21081868e-03 -1.61738676e-01] [-9.06513088e-02 1.00250921e-03 9.95882189e-01 -1.24694941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.718241008000001 meters 0.06221062862469442 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.16, Z:-1.25 [[ 9.95966310e-01 1.40341410e-02 8.86236590e-02 1.04513824e+01] [-1.38971904e-02 9.99901092e-01 -2.16217063e-03 -1.63165632e-01] [-8.86452376e-02 9.21829236e-04 9.96062835e-01 -1.25401868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.748241008 meters 0.061812438973136284 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.16, Z:-1.26 [[ 9.95992851e-01 1.68513281e-02 8.78309316e-02 1.04841005e+01] [-1.67263131e-02 9.99857774e-01 -2.15918316e-03 -1.64735255e-01] [-8.78548249e-02 6.81443329e-04 9.96133056e-01 -1.25878906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.778241008000002 meters 0.061551327801251915 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.17, Z:-1.26 [[ 9.95831427e-01 1.88280663e-02 8.92483809e-02 1.05147514e+01] [-1.87046055e-02 9.99822590e-01 -2.21955926e-03 -1.66423550e-01] [-8.92743373e-02 5.40951108e-04 9.96006928e-01 -1.26424965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.808241008000001 meters 0.06053509705628106 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.17, Z:-1.26 [[ 9.95752946e-01 2.04595954e-02 8.97634392e-02 1.05478110e+01] [-2.03393510e-02 9.99790593e-01 -2.25417300e-03 -1.66362717e-01] [-8.97907616e-02 4.18869307e-04 9.95960563e-01 -1.26258240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.838241008 meters 0.06061459987378508 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.17, Z:-1.27 [[ 9.95750353e-01 2.21151655e-02 8.93988455e-02 1.05791100e+01] [-2.20019292e-02 9.99755392e-01 -2.25201082e-03 -1.67397057e-01] [-8.94267814e-02 2.75493500e-04 9.95993361e-01 -1.26727508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.868241008000002 meters 0.06047824285445325 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.17, Z:-1.27 [[ 9.95666958e-01 2.42660628e-02 8.97689635e-02 1.06107883e+01] [-2.41584910e-02 9.99705530e-01 -2.28482008e-03 -1.68487384e-01] [-8.97979728e-02 1.06237161e-04 9.95959996e-01 -1.27071833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.898241008000001 meters 0.06008308735692558 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.17, Z:-1.27 [[ 9.95404554e-01 2.94414678e-02 9.11206575e-02 1.06429232e+01] [-2.93502478e-02 9.99566447e-01 -2.34121442e-03 -1.69785836e-01] [-9.11500806e-02 -3.43958385e-04 9.95837107e-01 -1.27241966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.928241008 meters 0.06042961399887684 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.17, Z:-1.28 [[ 9.95383725e-01 3.12488017e-02 9.07455373e-02 1.06739632e+01] [-3.11635089e-02 9.99511521e-01 -2.35700498e-03 -1.70628432e-01] [-9.07748636e-02 -4.81824967e-04 9.95871323e-01 -1.27761947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.958241008000002 meters 0.06014518868086243 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.17, Z:-1.28 [[ 9.95272004e-01 3.34407557e-02 9.11885576e-02 1.07065276e+01] [-3.33631480e-02 9.99440472e-01 -2.37570903e-03 -1.72083327e-01] [-9.12169806e-02 -6.77860660e-04 9.95830810e-01 -1.28252737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.988241008000001 meters 0.059988737557749444 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.17, Z:-1.29 [[ 9.95207665e-01 3.44143766e-02 9.15278828e-02 1.07391162e+01] [-3.43379816e-02 9.99407372e-01 -2.40974835e-03 -1.73692038e-01] [-9.15565708e-02 -7.44682721e-04 9.95799598e-01 -1.28889970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.018241008000002 meters 0.060070629994961496 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.18, Z:-1.30 [[ 9.95256511e-01 3.43324684e-02 9.10261395e-02 1.07702256e+01] [-3.42542146e-02 9.99410217e-01 -2.42226690e-03 -1.79853013e-01] [-9.10556163e-02 -7.07252009e-04 9.95845558e-01 -1.29503454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.048241008000002 meters 0.05994574094772396 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.19, Z:-1.30 [[ 9.95246454e-01 3.38652363e-02 9.13106817e-02 1.08021297e+01] [-3.37825441e-02 9.99426200e-01 -2.45148948e-03 -1.85135973e-01] [-9.13413080e-02 -6.44870913e-04 9.95819436e-01 -1.29873977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.078241008000001 meters 0.05981459783888343 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.19, Z:-1.30 [[ 9.95163644e-01 3.34393608e-02 9.23641175e-02 1.08335597e+01] [-3.33508530e-02 9.99440574e-01 -2.50202716e-03 -1.90019808e-01] [-9.23961127e-02 -5.90495631e-04 9.95722155e-01 -1.30162388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.108241008000002 meters 0.059558060141798035 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.19, Z:-1.30 [[ 9.94951717e-01 3.34440688e-02 9.46180532e-02 1.08654434e+01] [-3.33490026e-02 9.99440421e-01 -2.58626025e-03 -1.93778581e-01] [-9.46516020e-02 -5.82213624e-04 9.95510289e-01 -1.30409271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.138241008000001 meters 0.059558060141798035 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.19, Z:-1.31 [[ 9.94942625e-01 3.37150979e-02 9.46174629e-02 1.08975799e+01] [-3.36192197e-02 9.99431312e-01 -2.60765685e-03 -1.94752120e-01] [-9.46515725e-02 -5.86496322e-04 9.95510289e-01 -1.30815389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.168241008 meters 0.0591520816209622 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.20, Z:-1.31 [[ 9.94503882e-01 3.49144739e-02 9.87066731e-02 1.09277199e+01] [-3.48125446e-02 9.99390061e-01 -2.75530969e-03 -2.00324665e-01] [-9.87426682e-02 -6.96064281e-04 9.95112758e-01 -1.30913797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.198241008000002 meters 0.05895982396305576 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.20, Z:-1.31 [[ 9.94333788e-01 3.71665366e-02 9.95940126e-02 1.09605780e+01] [-3.70745145e-02 9.99308650e-01 -2.77525814e-03 -2.03446024e-01] [-9.96283050e-02 -9.32866724e-04 9.95024286e-01 -1.31112841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.228241008000001 meters 0.0591123554630676 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.20, Z:-1.32 [[ 9.94143214e-01 3.93851303e-02 1.00638372e-01 1.09919031e+01] [-3.92996055e-02 9.99223456e-01 -2.83301357e-03 -2.04191186e-01] [-1.00671800e-01 -1.13862708e-03 9.94919038e-01 -1.31746790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.258241008 meters 0.05924706208002981 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.20, Z:-1.32 [[ 9.94016764e-01 4.49831353e-02 9.95348665e-02 1.10235410e+01] [-4.49244521e-02 9.98986373e-01 -2.83197842e-03 -2.04295752e-01] [-9.95613665e-02 -1.65651532e-03 9.95030045e-01 -1.32260113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.288241008000002 meters 0.05960446313939125 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.21, Z:-1.33 [[ 9.93948568e-01 4.82797565e-02 9.86676700e-02 1.10548151e+01] [-4.82377457e-02 9.98831922e-01 -2.81271161e-03 -2.05221931e-01] [-9.86882155e-02 -1.96381530e-03 9.95116465e-01 -1.32779010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.318241008000001 meters 0.060177765773990984 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.21, Z:-1.33 [[ 9.93965978e-01 5.08261126e-02 9.72025780e-02 1.10852063e+01] [-5.07966766e-02 9.98705149e-01 -2.77906219e-03 -2.06686548e-01] [-9.72179640e-02 -2.17527465e-03 9.95260738e-01 -1.33324568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.348241008000002 meters 0.060120686481937566 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.21, Z:-1.34 [[ 9.93944189e-01 5.27166402e-02 9.64152783e-02 1.11166848e+01] [-5.26945577e-02 9.98606815e-01 -2.77701660e-03 -2.08515364e-01] [-9.64273490e-02 -2.32036094e-03 9.95337321e-01 -1.33813426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.378241008000002 meters 0.06031760260456415 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.21, Z:-1.34 [[ 9.93918970e-01 5.49638711e-02 9.54151674e-02 1.11477420e+01] [-5.49503792e-02 9.98485242e-01 -2.77094146e-03 -2.10749316e-01] [-9.54229381e-02 -2.48900835e-03 9.95433708e-01 -1.34284890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.408241008000001 meters 0.061048434874936004 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.21, Z:-1.35 [[ 9.94003707e-01 5.65974286e-02 9.35593995e-02 1.11778074e+01] [-5.65897305e-02 9.98393764e-01 -2.73748956e-03 -2.13271313e-01] [-9.35640559e-02 -2.57342643e-03 9.95609936e-01 -1.35172872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.438241008000002 meters 0.06087593385492431 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.22, Z:-1.36 [[ 9.94015957e-01 5.67401635e-02 9.33425423e-02 1.12106289e+01] [-5.67313338e-02 9.98385693e-01 -2.75026142e-03 -2.18553793e-01] [-9.33479090e-02 -2.56164319e-03 9.95630256e-01 -1.35543822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.468241008000001 meters 0.06082931238919711 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.22, Z:-1.36 [[ 9.93883729e-01 5.73893279e-02 9.43482838e-02 1.12427371e+01] [-5.73806830e-02 9.98348426e-01 -2.80681270e-03 -2.23436725e-01] [-9.43535417e-02 -2.62412350e-03 9.95535295e-01 -1.35900603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.498241008 meters 0.06078400859803992 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.23, Z:-1.36 [[ 9.93855043e-01 5.80134735e-02 9.42687160e-02 1.12741128e+01] [-5.80055245e-02 9.98312260e-01 -2.82679956e-03 -2.28431798e-01] [-9.42736074e-02 -2.65867732e-03 9.95542776e-01 -1.36299683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.528241008000002 meters 0.06083509431110776 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.24, Z:-1.37 [[ 9.93804473e-01 5.75687561e-02 9.50710669e-02 1.13054864e+01] [-5.75564798e-02 9.98338116e-01 -2.87360243e-03 -2.37655269e-01] [-9.50784996e-02 -2.61615700e-03 9.95466340e-01 -1.36835484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.558241008000001 meters 0.061141882961413395 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.24, Z:-1.37 [[ 9.93826732e-01 5.73437586e-02 9.49743113e-02 1.13359422e+01] [-5.73283081e-02 9.98351187e-01 -2.89346021e-03 -2.40971026e-01] [-9.49836383e-02 -2.56911848e-03 9.95475519e-01 -1.37447230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.588241008 meters 0.060611358397422016 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.25, Z:-1.38 [[ 9.93853607e-01 5.60383207e-02 9.54710118e-02 1.13676027e+01] [-5.60147688e-02 9.98425645e-01 -2.92880975e-03 -2.47273089e-01] [-9.54848320e-02 -2.43697852e-03 9.95427902e-01 -1.37716088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.618241008000002 meters 0.06017274558643535 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.26, Z:-1.38 [[ 9.93953338e-01 5.22716010e-02 9.65631470e-02 1.13981242e+01] [-5.22270186e-02 9.98630759e-01 -2.99088355e-03 -2.58725193e-01] [-9.65872670e-02 -2.07040659e-03 9.95322367e-01 -1.38029308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.648241008000001 meters 0.059864304393309926 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.27, Z:-1.38 [[ 9.94042915e-01 5.03257951e-02 9.66746949e-02 1.14300816e+01] [-5.02721648e-02 9.98731074e-01 -2.99195187e-03 -2.66660830e-01] [-9.67025942e-02 -1.88591764e-03 9.95311535e-01 -1.38286375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.678241008 meters 0.059493388750781105 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.27, Z:-1.39 [[ 9.94021082e-01 4.65285857e-02 9.87784383e-02 1.14610493e+01] [-4.64510447e-02 9.98915801e-01 -3.08591411e-03 -2.74459169e-01] [-9.88149260e-02 -1.52089797e-03 9.95104666e-01 -1.38539998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.708241008000002 meters 0.05922761008351576 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.28, Z:-1.39 [[ 9.94114228e-01 4.39105412e-02 9.90392119e-02 1.14932706e+01] [-4.38194283e-02 9.99034670e-01 -3.09610603e-03 -2.81874407e-01] [-9.90795580e-02 -1.26195859e-03 9.95078715e-01 -1.38819682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.738241008000001 meters 0.059217393297767394 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.29, Z:-1.39 [[ 9.94215563e-01 4.08964495e-02 9.93121096e-02 1.15234599e+01] [-4.07893463e-02 9.99162930e-01 -3.10952373e-03 -2.87844970e-01] [-9.93561469e-02 -9.59339145e-04 9.95051474e-01 -1.39313272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.768241008000002 meters 0.05906633911892558 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.30, Z:-1.40 [[ 9.94501782e-01 3.51849503e-02 9.86317669e-02 1.15550631e+01] [-3.50492706e-02 9.99380751e-01 -3.10853201e-03 -2.98793092e-01] [-9.86800628e-02 -3.65530870e-04 9.95119144e-01 -1.39697110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.798241008000002 meters 0.05911918088841412 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.30, Z:-1.40 [[ 9.94589783e-01 3.36149452e-02 9.82913939e-02 1.15870745e+01] [-3.34704389e-02 9.99434840e-01 -3.11920318e-03 -3.04698681e-01] [-9.83406954e-02 -1.87528485e-04 9.95152788e-01 -1.40229565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.828241008000001 meters 0.0592075223060346 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.31, Z:-1.41 [[ 9.94720027e-01 3.14260599e-02 9.76958107e-02 1.16182943e+01] [-3.12702381e-02 9.99506078e-01 -3.12608950e-03 -3.10143408e-01] [-9.77457973e-02 5.46125733e-05 9.95211413e-01 -1.40675298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.858241008000002 meters 0.0595234177698729 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.32, Z:-1.41 [[ 9.94851794e-01 2.76992883e-02 9.74815709e-02 1.16488769e+01] [-2.75241062e-02 9.99616203e-01 -3.14162962e-03 -3.18885136e-01] [-9.75311787e-02 4.42362752e-04 9.95232372e-01 -1.41222867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.888241008000001 meters 0.05939793309251354 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.32, Z:-1.42 [[ 9.95009236e-01 2.70958884e-02 9.60335023e-02 1.16808308e+01] [-2.69212471e-02 9.99632707e-01 -3.11398384e-03 -3.22448313e-01] [-9.60826061e-02 5.13101039e-04 9.95373231e-01 -1.41528830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.918241008 meters 0.05974540114158572 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.33, Z:-1.42 [[ 9.95063408e-01 2.66136241e-02 9.56061150e-02 1.17109159e+01] [-2.64361768e-02 9.99645627e-01 -3.12240196e-03 -3.26070786e-01] [-9.56553332e-02 5.79527774e-04 9.95414347e-01 -1.42181204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.948241008000002 meters 0.059488021286606615 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.33, Z:-1.42 [[ 9.94985127e-01 2.74558024e-02 9.61809566e-02 1.17430318e+01] [-2.72782109e-02 9.99622882e-01 -3.16106400e-03 -3.28169666e-01] [-9.62314746e-02 5.21567245e-04 9.95358845e-01 -1.42342711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.978241008000001 meters 0.06014003141642245 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.33, Z:-1.43 [[ 9.94947966e-01 2.92330533e-02 9.60415172e-02 1.17740229e+01] [-2.90619255e-02 9.99572553e-01 -3.18043791e-03 -3.29412823e-01] [-9.60934385e-02 3.73218812e-04 9.95372248e-01 -1.42961561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.008241008 meters 0.05990977417529754 Centerline is valid? [True, True] Translation: X:11.81, Y:-0.33, Z:-1.43 [[ 9.94843352e-01 3.27886959e-02 9.59771133e-02 1.18068149e+01] [-3.26330472e-02 9.99462305e-01 -3.19133863e-03 -3.29576854e-01] [-9.60301467e-02 4.28563540e-05 9.95378425e-01 -1.43397652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.038241008000002 meters 0.059682499159973236 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.33, Z:-1.44 [[ 9.94750947e-01 3.65518935e-02 9.55746474e-02 1.18389027e+01] [-3.64124384e-02 9.99331713e-01 -3.20334776e-03 -3.29344596e-01] [-9.56278645e-02 -2.93572738e-04 9.95417111e-01 -1.43832142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.068241008000001 meters 0.05991626351841929 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.33, Z:-1.44 [[ 9.94621053e-01 4.04840544e-02 9.53415085e-02 1.18703595e+01] [-4.03612531e-02 9.99179974e-01 -3.21690305e-03 -3.29036079e-01] [-9.53935593e-02 -6.48503256e-04 9.95439425e-01 -1.44344066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.098241008000002 meters 0.06002665134939214 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.33, Z:-1.45 [[ 9.94523568e-01 4.49135247e-02 9.43697383e-02 1.19018543e+01] [-4.48111013e-02 9.98990336e-01 -3.20527303e-03 -3.29389000e-01] [-9.44184166e-02 -1.04109233e-03 9.95532058e-01 -1.44626385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.128241008000002 meters 0.06056720361094681 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.33, Z:-1.45 [[ 9.94040879e-01 5.28251708e-02 9.53532009e-02 1.19332852e+01] [-5.27548951e-02 9.98602171e-01 -3.25954429e-03 -3.28567870e-01] [-9.53920994e-02 -1.79022784e-03 9.95438166e-01 -1.44967291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.158241008000001 meters 0.06155439328452907 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.33, Z:-1.46 [[ 9.93733580e-01 5.65079646e-02 9.64386926e-02 1.19634463e+01] [-5.64512772e-02 9.98399841e-01 -3.31830638e-03 -3.26596525e-01] [-9.64718861e-02 -2.14657489e-03 9.95333395e-01 -1.45615100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.188241008000002 meters 0.061153004991651896 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.33, Z:-1.46 [[ 9.93456390e-01 5.91946293e-02 9.76749565e-02 1.19959765e+01] [-5.91473532e-02 9.98243534e-01 -3.38203249e-03 -3.31230919e-01] [-9.77035919e-02 -2.41731337e-03 9.95212623e-01 -1.45587870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.218241008000001 meters 0.06199278307828872 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.33, Z:-1.46 [[ 9.93088810e-01 6.21188588e-02 9.95784259e-02 1.20264268e+01] [-6.20819437e-02 9.98065015e-01 -3.47240138e-03 -3.31704179e-01] [-9.96014448e-02 -2.73361927e-03 9.95023658e-01 -1.46020502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.248241008 meters 0.06290471383270256 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.33, Z:-1.46 [[ 9.92579790e-01 6.70347909e-02 1.01447998e-01 1.20571859e+01] [-6.70195262e-02 9.97745304e-01 -3.56261829e-03 -3.34595048e-01] [-1.01458083e-01 -3.26281385e-03 9.94834464e-01 -1.46295171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.278241008000002 meters 0.0630971446400835 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.34, Z:-1.47 [[ 9.92408022e-01 6.88042183e-02 1.01942616e-01 1.20884352e+01] [-6.87972280e-02 9.97624209e-01 -3.58861601e-03 -3.37593763e-01] [-1.01947334e-01 -3.45199811e-03 9.94783808e-01 -1.46714982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.308241008000001 meters 0.06385065240057378 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.34, Z:-1.47 [[ 9.92295592e-01 7.02365403e-02 1.02060207e-01 1.21193452e+01] [-7.02348039e-02 9.97523937e-01 -3.61496240e-03 -3.38348679e-01] [-1.02061401e-01 -3.58106734e-03 9.94771655e-01 -1.47260009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.338241008 meters 0.06354877155689885 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.35, Z:-1.48 [[ 9.92201301e-01 7.08707451e-02 1.02537387e-01 1.21512333e+01] [-7.08701957e-02 9.97478857e-01 -3.65300324e-03 -3.45636911e-01] [-1.02537766e-01 -3.64233009e-03 9.94722444e-01 -1.47768733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.368241008000002 meters 0.0639043503015395 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.35, Z:-1.48 [[ 9.92291150e-01 7.01343113e-02 1.02173637e-01 1.21813106e+01] [-7.01269054e-02 9.97531331e-01 -3.66890413e-03 -3.49259872e-01] [-1.02178720e-01 -3.52449987e-03 9.94759814e-01 -1.48303242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.398241008000001 meters 0.06326652060903713 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.36, Z:-1.49 [[ 9.92501128e-01 6.78692266e-02 1.01662573e-01 1.22133748e+01] [-6.78474532e-02 9.97688935e-01 -3.67591023e-03 -3.57302276e-01] [-1.01677105e-01 -3.24920159e-03 9.94812148e-01 -1.48643975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.428241008000002 meters 0.06263966312379507 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.36, Z:-1.49 [[ 9.92724175e-01 6.48277996e-02 1.01469546e-01 1.22438767e+01] [-6.47892886e-02 9.97892187e-01 -3.67855891e-03 -3.64829755e-01] [-1.01494141e-01 -2.92234537e-03 9.94831845e-01 -1.49101047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.458241008000002 meters 0.06149943921986515 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.38, Z:-1.50 [[ 9.93492572e-01 5.59354857e-02 9.92155811e-02 1.22729250e+01] [-5.58540297e-02 9.98432453e-01 -3.60064973e-03 -3.79676368e-01] [-9.92614601e-02 -1.96437126e-03 9.95059447e-01 -1.49736803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.488241008000001 meters 0.061223085383941424 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.39, Z:-1.50 [[ 9.93781124e-01 5.11083213e-02 9.89293498e-02 1.23028894e+01] [-5.10038721e-02 9.98692016e-01 -3.58626738e-03 -3.87907201e-01] [-9.89832400e-02 -1.48181507e-03 9.95087997e-01 -1.50338484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.518241008000002 meters 0.06075404192811305 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.40, Z:-1.51 [[ 9.94048542e-01 4.61175587e-02 9.86948150e-02 1.23330371e+01] [-4.59869864e-02 9.98935557e-01 -3.59869301e-03 -3.97254497e-01] [-9.87557229e-02 -9.61401575e-04 9.95111241e-01 -1.50830045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.548241008000002 meters 0.06030122401614724 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.41, Z:-1.51 [[ 9.94301744e-01 4.14539517e-02 9.82120704e-02 1.23648695e+01] [-4.13000137e-02 9.99140302e-01 -3.60076097e-03 -4.06398788e-01] [-9.82769035e-02 -4.75916937e-04 9.95158994e-01 -1.51095167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.578241008000001 meters 0.06026398765646967 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.42, Z:-1.52 [[ 9.94550421e-01 3.37042223e-02 9.86584251e-02 1.23946153e+01] [-3.35085589e-02 9.99431802e-01 -3.64003626e-03 -4.20765265e-01] [-9.87250522e-02 3.14297948e-04 9.95114700e-01 -1.51557926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.608241008000002 meters 0.0600990047090342 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.43, Z:-1.52 [[ 9.94524832e-01 3.16693603e-02 9.95861952e-02 1.24264580e+01] [-3.14577460e-02 9.99498253e-01 -3.69489641e-03 -4.27806200e-01] [-9.96532431e-02 5.41908989e-04 9.95022079e-01 -1.51770096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.638241008000001 meters 0.06032326809560757 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.44, Z:-1.52 [[ 9.94693680e-01 2.87008542e-02 9.87964815e-02 1.24574877e+01] [-2.84757923e-02 9.99587680e-01 -3.68767773e-03 -4.36598207e-01] [-9.88615852e-02 8.54801642e-04 9.95100827e-01 -1.52186935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.668241008 meters 0.06043280081554975 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.44, Z:-1.53 [[ 9.94679101e-01 2.92265734e-02 9.87891388e-02 1.24882567e+01] [-2.90021363e-02 9.99572474e-01 -3.70748749e-03 -4.40106128e-01] [-9.88552611e-02 8.22664258e-04 9.95101483e-01 -1.52837270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.698241008000002 meters 0.060493530829680855 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.44, Z:-1.53 [[ 9.94614003e-01 3.09258082e-02 9.89271415e-02 1.25191554e+01] [-3.07064220e-02 9.99521450e-01 -3.73983679e-03 -4.41588370e-01] [-9.89954574e-02 6.81995488e-04 9.95087652e-01 -1.53416650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.728241008000001 meters 0.06017427882491026 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.44, Z:-1.54 [[ 9.94525361e-01 3.38437894e-02 9.88630592e-02 1.25517763e+01] [-3.36378326e-02 9.99427053e-01 -3.74984417e-03 -4.41626663e-01] [-9.89333249e-02 4.03776085e-04 9.95093983e-01 -1.53614308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.758241008 meters 0.06026756666737839 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.44, Z:-1.54 [[ 9.94349583e-01 3.70729084e-02 9.94711317e-02 1.25822536e+01] [-3.68795422e-02 9.99312559e-01 -3.78266105e-03 -4.42348172e-01] [-9.95429854e-02 9.28376385e-05 9.95033258e-01 -1.54139746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.788241008000002 meters 0.06045940943163648 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.44, Z:-1.54 [[ 9.93952771e-01 4.40169123e-02 1.00600197e-01 1.26130603e+01] [-4.38521803e-02 9.99030614e-01 -3.84936396e-03 -4.41142828e-01] [-1.00672114e-01 -5.85452008e-04 9.94919486e-01 -1.54426589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.818241008000001 meters 0.06046939918379125 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.44, Z:-1.55 [[ 9.93735420e-01 4.75684369e-02 1.01129419e-01 1.26460024e+01] [-4.74182640e-02 9.98867548e-01 -3.88966311e-03 -4.41879440e-01] [-1.01199920e-01 -9.30085507e-04 9.94865675e-01 -1.54669231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.848241008000002 meters 0.060863858375719095 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.44, Z:-1.55 [[ 9.93561883e-01 5.13008304e-02 1.01009949e-01 1.26771735e+01] [-5.11675013e-02 9.98682423e-01 -3.91207677e-03 -4.41885523e-01] [-1.01077553e-01 -1.28153633e-03 9.94877724e-01 -1.55165710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.878241008000002 meters 0.06162405609281072 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.44, Z:-1.56 [[ 9.93306417e-01 5.71266707e-02 1.00393751e-01 1.27087030e+01] [-5.70219793e-02 9.98365249e-01 -3.91443541e-03 -4.41500485e-01] [-1.00453251e-01 -1.83641658e-03 9.94940085e-01 -1.55705150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.908241008000001 meters 0.062333825862906415 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.44, Z:-1.56 [[ 9.93153596e-01 6.03967362e-02 9.99908403e-02 1.27398415e+01] [-6.03089014e-02 9.98172128e-01 -3.90372201e-03 -4.40861863e-01] [-1.00043842e-01 -2.15334217e-03 9.94980700e-01 -1.56283208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.938241008000002 meters 0.06279399235529139 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.44, Z:-1.57 [[ 9.92967435e-01 6.25929820e-02 1.00487773e-01 1.27704812e+01] [-6.25132459e-02 9.98036336e-01 -3.94528654e-03 -4.41215326e-01] [-1.00537396e-01 -2.36427581e-03 9.94930471e-01 -1.56778763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.968241008000001 meters 0.06322612868414755 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.44, Z:-1.57 [[ 9.92866032e-01 6.33147357e-02 1.01036070e-01 1.28017360e+01] [-6.32357144e-02 9.97990652e-01 -3.98789786e-03 -4.42312869e-01] [-1.01085546e-01 -2.42963972e-03 9.94874771e-01 -1.57274857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.998241008 meters 0.06313623902444612 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.45, Z:-1.58 [[ 9.92767957e-01 6.45683894e-02 1.01206262e-01 1.28329961e+01] [-6.44928244e-02 9.97910066e-01 -4.02184892e-03 -4.47883503e-01] [-1.01254432e-01 -2.53431495e-03 9.94857335e-01 -1.57609840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.028241008000002 meters 0.06313623902444612 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.45, Z:-1.58 [[ 9.92750932e-01 6.48310280e-02 1.01205357e-01 1.28650745e+01] [-6.47545178e-02 9.97893028e-01 -4.04447876e-03 -4.49314351e-01] [-1.01254328e-01 -2.53834405e-03 9.94857335e-01 -1.58015937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.058241008000001 meters 0.0635141352122876 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.45, Z:-1.59 [[ 9.92785357e-01 6.46179189e-02 1.01003764e-01 1.28963119e+01] [-6.45379052e-02 9.97906985e-01 -4.06307016e-03 -4.52717292e-01] [-1.01054909e-01 -2.48481478e-03 9.94877747e-01 -1.58578152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.088241008 meters 0.06304893126563704 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.46, Z:-1.59 [[ 9.92817341e-01 6.32644670e-02 1.01544741e-01 1.29275969e+01] [-6.31737134e-02 9.97994073e-01 -4.11252089e-03 -4.58803815e-01] [-1.01601226e-01 -2.33197632e-03 9.94822473e-01 -1.58899331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.118241008000002 meters 0.06262390846332404 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.47, Z:-1.59 [[ 9.92946424e-01 6.14419236e-02 1.01401624e-01 1.29591374e+01] [-6.13396119e-02 9.98108410e-01 -4.12964195e-03 -4.65389309e-01] [-1.01463547e-01 -2.11942305e-03 9.94837000e-01 -1.59272698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.148241008000001 meters 0.0618192620028303 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.47, Z:-1.60 [[ 9.93031635e-01 5.89112033e-02 1.02066850e-01 1.29915347e+01] [-5.87915007e-02 9.98261519e-01 -4.18321145e-03 -4.72597784e-01] [-1.02135847e-01 -1.84660198e-03 9.94768746e-01 -1.59524445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.178241008000002 meters 0.060897377549122056 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.49, Z:-1.60 [[ 9.93352695e-01 5.22281146e-02 1.02579959e-01 1.30212997e+01] [-5.20706730e-02 9.98634512e-01 -4.21382919e-03 -4.85130167e-01] [-1.02659968e-01 -1.15558892e-03 9.94715837e-01 -1.60035105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.208241008000002 meters 0.0601308573894128 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.49, Z:-1.60 [[ 9.93545892e-01 4.85497713e-02 1.02515760e-01 1.30528393e+01] [-4.83731305e-02 9.98820463e-01 -4.20988915e-03 -4.94483149e-01] [-1.02599228e-01 -7.76290161e-04 9.94722472e-01 -1.60158642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.238241008000001 meters 0.06000085195935928 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.50, Z:-1.61 [[ 9.93774244e-01 4.47340031e-02 1.02037347e-01 1.30829637e+01] [-4.45361773e-02 9.98998871e-01 -4.21720763e-03 -5.02589688e-01] [-1.02123847e-01 -3.53401031e-04 9.94771630e-01 -1.60667747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.268241008000002 meters 0.05979175056285098 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.51, Z:-1.61 [[ 9.93948508e-01 4.15873539e-02 1.01670327e-01 1.31152954e+01] [-4.13734563e-02 9.99134872e-01 -4.21253961e-03 -5.10575921e-01] [-1.01757558e-01 -1.94053820e-05 9.94809227e-01 -1.60975583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.298241008000002 meters 0.06002881069530529 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.52, Z:-1.62 [[ 9.94302535e-01 3.57765563e-02 1.00411689e-01 1.31448028e+01] [-3.55352771e-02 9.99359635e-01 -4.19104771e-03 -5.23213654e-01] [-1.00497330e-01 5.99012184e-04 9.94937148e-01 -1.61616506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.328241008000001 meters 0.060306340620470474 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.53, Z:-1.62 [[ 9.94439822e-01 3.43627852e-02 9.95421459e-02 1.31753597e+01] [-3.41176871e-02 9.99409148e-01 -4.16401683e-03 -5.28816761e-01] [-9.96264184e-02 7.44716367e-04 9.95024634e-01 -1.62231805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.358241008000002 meters 0.06046971790826103 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.53, Z:-1.63 [[ 9.94516318e-01 3.38937029e-02 9.89369018e-02 1.32063351e+01] [-3.36471705e-02 9.99425117e-01 -4.15980054e-03 -5.32618928e-01] [-9.90210156e-02 8.08042711e-04 9.95085014e-01 -1.62769186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.388241008000001 meters 0.06034766178286385 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.54, Z:-1.63 [[ 9.94456514e-01 3.42585238e-02 9.94112449e-02 1.32374966e+01] [-3.40093517e-02 9.99412687e-01 -4.20055114e-03 -5.38115285e-01] [-9.94967641e-02 7.96353456e-04 9.95037567e-01 -1.63221556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.418241008 meters 0.060237180568584486 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.54, Z:-1.64 [[ 9.94366805e-01 3.46397331e-02 1.00173577e-01 1.32690408e+01] [-3.43862970e-02 9.99399554e-01 -4.25602757e-03 -5.41652275e-01] [-1.00260856e-01 7.87454166e-04 9.94960874e-01 -1.63585262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.448241008000002 meters 0.0602247100849177 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.54, Z:-1.64 [[ 9.94300278e-01 3.61503497e-02 1.00300094e-01 1.33005034e+01] [-3.59016039e-02 9.99346145e-01 -4.28452127e-03 -5.43871674e-01] [-1.00389400e-01 6.59166435e-04 9.94948006e-01 -1.64000610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.478241008000001 meters 0.06010415139082244 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.55, Z:-1.64 [[ 9.94190143e-01 3.76580422e-02 1.00835666e-01 1.33324003e+01] [-3.74120069e-02 9.99290542e-01 -4.33057993e-03 -5.45192090e-01] [-1.00927209e-01 5.32955246e-04 9.94893670e-01 -1.64434904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.508241008000002 meters 0.060121759533945315 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.54, Z:-1.65 [[ 9.93958908e-01 4.24199828e-02 1.01223689e-01 1.33628729e+01] [-4.21940592e-02 9.99099865e-01 -4.37287013e-03 -5.44007756e-01] [-1.01318071e-01 7.54148904e-05 9.94854081e-01 -1.64891525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.538241008000002 meters 0.06021076283294293 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.54, Z:-1.65 [[ 9.93916149e-01 4.50585031e-02 1.00500844e-01 1.33947077e+01] [-4.48481744e-02 9.98984333e-01 -4.35234042e-03 -5.43735352e-01] [-1.00594878e-01 -1.81417929e-04 9.94927453e-01 -1.65327955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.568241008000001 meters 0.06026491963331953 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.54, Z:-1.66 [[ 9.93813501e-01 4.72597566e-02 1.00504928e-01 1.34269015e+01] [-4.70583953e-02 9.98882560e-01 -4.37469139e-03 -5.44002130e-01] [-1.00599367e-01 -3.81973272e-04 9.94926943e-01 -1.65762688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.598241008000002 meters 0.060284022399487124 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.54, Z:-1.66 [[ 9.93687627e-01 5.04629931e-02 1.00191752e-01 1.34591729e+01] [-5.02764483e-02 9.98725702e-01 -4.38762313e-03 -5.43780202e-01] [-1.00285490e-01 -6.77358609e-04 9.94958472e-01 -1.66021144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.628241008000002 meters 0.060655337805744974 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.54, Z:-1.67 [[ 9.93565384e-01 5.32076406e-02 9.99838750e-02 1.34896867e+01] [-5.30333129e-02 9.98583039e-01 -4.40254489e-03 -5.43536935e-01] [-1.00076451e-01 -9.28259929e-04 9.94979318e-01 -1.66547603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.658241008000001 meters 0.06064301318456507 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.55, Z:-1.67 [[ 9.93699736e-01 5.19764916e-02 9.92938974e-02 1.35211810e+01] [-5.17961486e-02 9.98648007e-01 -4.39503964e-03 -5.47843296e-01] [-9.93880915e-02 -7.75691735e-04 9.95048444e-01 -1.66987148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.688241008000002 meters 0.06031747270969093 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.55, Z:-1.67 [[ 9.93805565e-01 5.02316190e-02 9.91326590e-02 1.35530335e+01] [-5.00417350e-02 9.98737424e-01 -4.40261629e-03 -5.53384745e-01] [-9.92286470e-02 -5.85425676e-04 9.95064487e-01 -1.67279562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.718241008000001 meters 0.06010019590906148 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.56, Z:-1.68 [[ 9.93916719e-01 4.83649561e-02 9.89463801e-02 1.35858197e+01] [-4.81643597e-02 9.98829660e-01 -4.41643478e-03 -5.58874748e-01] [-9.90441798e-02 -3.76120678e-04 9.95082966e-01 -1.67697610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.748241008 meters 0.06005612263926324 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.57, Z:-1.68 [[ 9.94190244e-01 4.38740556e-02 9.82895002e-02 1.36173791e+01] [-4.36515777e-02 9.99037065e-01 -4.41384903e-03 -5.68833320e-01] [-9.83885073e-02 9.77138832e-05 9.95148075e-01 -1.68232975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.778241008000002 meters 0.06026117908828071 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.57, Z:-1.69 [[ 9.94241163e-01 4.32375724e-02 9.80562229e-02 1.36487625e+01] [-4.30108723e-02 9.99064802e-01 -4.42559451e-03 -5.72094238e-01] [-9.81558729e-02 1.82624550e-04 9.95171036e-01 -1.68937694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.808241008000001 meters 0.05990182433386197 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.57, Z:-1.69 [[ 9.94121137e-01 4.42823414e-02 9.88040458e-02 1.36808715e+01] [-4.40548324e-02 9.99019050e-01 -4.48425594e-03 -5.71889281e-01] [-9.89056973e-02 1.05097937e-04 9.95096805e-01 -1.68884855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.838241008 meters 0.05978919037066735 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.57, Z:-1.69 [[ 9.94026415e-01 4.57367557e-02 9.90940778e-02 1.37130952e+01] [-4.55127782e-02 9.98953527e-01 -4.52085246e-03 -5.72418312e-01] [-9.91971476e-02 -1.62000210e-05 9.95067800e-01 -1.69215070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.868241008000002 meters 0.059743357188589134 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.57, Z:-1.70 [[ 9.93924979e-01 4.66726763e-02 9.96734549e-02 1.37434015e+01] [-4.64483159e-02 9.98910233e-01 -4.57165375e-03 -5.73195204e-01] [-9.97782054e-02 -8.57832594e-05 9.95009700e-01 -1.69606802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.898241008000001 meters 0.05990965914473224 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.57, Z:-1.70 [[ 9.93769210e-01 4.71342496e-02 1.01000590e-01 1.37739316e+01] [-4.69039659e-02 9.98888557e-01 -4.65487804e-03 -5.73391426e-01] [-1.01107738e-01 -1.11453744e-04 9.94875476e-01 -1.70237887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.928241008000002 meters 0.05975617895912918 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.57, Z:-1.70 [[ 9.93745083e-01 4.81244791e-02 1.00770757e-01 1.38068869e+01] [-4.78982216e-02 9.98841328e-01 -4.66500838e-03 -5.73613699e-01] [-1.00878498e-01 -1.90910906e-04 9.94898735e-01 -1.70468650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.958241008000002 meters 0.05987843601420944 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.57, Z:-1.71 [[ 9.93659359e-01 4.86268450e-02 1.01373113e-01 1.38374386e+01] [-4.83976152e-02 9.98816992e-01 -4.72093398e-03 -5.73845055e-01] [-1.01482752e-01 -2.15216692e-04 9.94837276e-01 -1.70953595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.988241008000001 meters 0.05986238841062666 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.57, Z:-1.71 [[ 9.93646721e-01 4.94557429e-02 1.01095611e-01 1.38696460e+01] [-4.92299986e-02 9.98776277e-01 -4.72815850e-03 -5.74922603e-01] [-1.01205732e-01 -2.78817581e-04 9.94865479e-01 -1.71381435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.018241008000002 meters 0.05980568825138544 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.58, Z:-1.72 [[ 9.93726936e-01 5.03076846e-02 9.98794990e-02 1.39015481e+01] [-5.00889978e-02 9.98733711e-01 -4.69760243e-03 -5.75626007e-01] [-9.99893481e-02 -3.34729934e-04 9.94988451e-01 -1.71625820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.048241008000002 meters 0.05986807321276151 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.58, Z:-1.72 [[ 9.93660262e-01 5.10324687e-02 1.00174704e-01 1.39331396e+01] [-5.08135544e-02 9.98696921e-01 -4.73731933e-03 -5.76500787e-01] [-1.00285926e-01 -3.82946826e-04 9.94958585e-01 -1.72124748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.078241008000001 meters 0.060146786710096545 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.58, Z:-1.73 [[ 9.93610280e-01 5.16419849e-02 1.00357941e-01 1.39643398e+01] [-5.14238228e-02 9.98665570e-01 -4.76129063e-03 -5.77359326e-01] [-1.00469903e-01 -4.29921670e-04 9.94940005e-01 -1.72715620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.108241008000002 meters 0.05982031144569143 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.58, Z:-1.73 [[ 9.93557481e-01 5.17805174e-02 1.00808282e-01 1.39961458e+01] [-5.15585197e-02 9.98658401e-01 -4.80809397e-03 -5.80048429e-01] [-1.00922003e-01 -4.20408049e-04 9.94894252e-01 -1.72703988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.138241008000001 meters 0.05979930149910761 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.58, Z:-1.73 [[ 9.93542319e-01 5.14545225e-02 1.01124149e-01 1.40268514e+01] [-5.12267494e-02 9.98675273e-01 -4.84964241e-03 -5.81149533e-01] [-1.01239723e-01 -3.61936465e-04 9.94861994e-01 -1.73157596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.168241008 meters 0.059753647057471215 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.58, Z:-1.74 [[ 9.93486589e-01 5.17260548e-02 1.01532322e-01 1.40589242e+01] [-5.14967005e-02 9.98661239e-01 -4.88046170e-03 -5.82543149e-01] [-1.01648842e-01 -3.79906355e-04 9.94820269e-01 -1.73588307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.198241008000002 meters 0.059812770568520315 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.58, Z:-1.74 [[ 9.93492541e-01 5.12515673e-02 1.01714538e-01 1.40892395e+01] [-5.10162385e-02 9.98685728e-01 -4.91528900e-03 -5.84400785e-01] [-1.01832773e-01 -3.05790151e-04 9.94801484e-01 -1.74062683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.228241008000001 meters 0.05984607262742747 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.59, Z:-1.74 [[ 9.93482359e-01 5.10349544e-02 1.01922693e-01 1.41212823e+01] [-5.07964724e-02 9.98696830e-01 -4.93558317e-03 -5.88012226e-01] [-1.02041757e-01 -2.73898432e-04 9.94780079e-01 -1.74414131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.258241008000002 meters 0.05995017628208425 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.59, Z:-1.75 [[ 9.93549095e-01 5.10684684e-02 1.01253188e-01 1.41531722e+01] [-5.08305098e-02 9.98695124e-01 -4.93044581e-03 -5.90570604e-01] [-1.01372856e-01 -2.48111218e-04 9.94848472e-01 -1.74831573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.288241008000002 meters 0.06005799809148826 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.59, Z:-1.75 [[ 9.93607211e-01 5.16480979e-02 1.00385179e-01 1.41840572e+01] [-5.14148105e-02 9.98665307e-01 -4.91145285e-03 -5.92039231e-01] [-1.00504863e-01 -2.81229989e-04 9.94936527e-01 -1.75302183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.318241008000001 meters 0.06013348446236161 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.59, Z:-1.76 [[ 9.93662076e-01 5.12928610e-02 1.00023605e-01 1.42160913e+01] [-5.10574641e-02 9.98683630e-01 -4.91358853e-03 -5.94404757e-01] [-1.00143969e-01 -2.24505042e-04 9.94972932e-01 -1.75898898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.348241008000002 meters 0.06013298941149636 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.60, Z:-1.76 [[ 9.93703994e-01 5.01109084e-02 1.00206132e-01 1.42487418e+01] [-4.98660441e-02 9.98743656e-01 -4.94844725e-03 -5.96753170e-01] [-1.00328210e-01 -7.95916214e-05 9.94954393e-01 -1.76351749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.378241008000002 meters 0.06041472341955851 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.60, Z:-1.77 [[ 9.93796309e-01 4.91777275e-02 9.97519300e-02 1.42792166e+01] [-4.89275530e-02 9.98790043e-01 -4.95431960e-03 -5.98518557e-01] [-9.98748766e-02 4.29666833e-05 9.95000004e-01 -1.76896479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.408241008000001 meters 0.06036350722895576 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.60, Z:-1.77 [[ 9.93846270e-01 4.91874435e-02 9.92481111e-02 1.43109214e+01] [-4.89377245e-02 9.98789563e-01 -4.95052462e-03 -6.00849940e-01] [-9.93714812e-02 6.30837085e-05 9.95050403e-01 -1.77328405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.438241008000002 meters 0.06033989820458967 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.60, Z:-1.78 [[ 9.93777055e-01 4.97897937e-02 9.96400626e-02 1.43427707e+01] [-4.95387802e-02 9.98759719e-01 -4.99334487e-03 -6.03915260e-01] [-9.97650985e-02 2.62243976e-05 9.95011017e-01 -1.77523751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.468241008000001 meters 0.060244185827671215 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.61, Z:-1.78 [[ 9.93651180e-01 5.06763147e-02 1.00445230e-01 1.43742645e+01] [-5.04233318e-02 9.98715129e-01 -5.05747372e-03 -6.05865254e-01] [-1.00572465e-01 -3.94184195e-05 9.94929735e-01 -1.77763379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.498241008 meters 0.06037779784243241 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.61, Z:-1.78 [[ 9.93546719e-01 5.17242156e-02 1.00943163e-01 1.44046409e+01] [-5.14716203e-02 9.98661399e-01 -5.10701332e-03 -6.06759261e-01] [-1.01072196e-01 -1.21651806e-04 9.94879086e-01 -1.78241347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.528241008000002 meters 0.060380804224590065 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.61, Z:-1.79 [[ 9.93555544e-01 5.19671720e-02 1.00731296e-01 1.44368894e+01] [-5.17147916e-02 9.98648786e-01 -5.11693364e-03 -6.08040493e-01] [-1.00861099e-01 -1.25340200e-04 9.94900509e-01 -1.78718765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.558241008000001 meters 0.06049347873993111 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.61, Z:-1.79 [[ 9.93555722e-01 5.11162441e-02 1.01164009e-01 1.44683909e+01] [-5.08544210e-02 9.98692710e-01 -5.16704913e-03 -6.10498603e-01] [-1.01295879e-01 -1.08858844e-05 9.94856344e-01 -1.79177864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.588241008000002 meters 0.060583450904946747 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.61, Z:-1.80 [[ 9.93543942e-01 5.05996313e-02 1.01538727e-01 1.44992233e+01] [-5.03306895e-02 9.98719016e-01 -5.21044961e-03 -6.12621379e-01] [-1.01672304e-01 6.62965164e-05 9.94817942e-01 -1.79629418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.618241008000002 meters 0.06069389690569275 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.61, Z:-1.80 [[ 9.93527391e-01 4.99777076e-02 1.02007612e-01 1.45309158e+01] [-4.97007716e-02 9.98750322e-01 -5.25621188e-03 -6.14734744e-01] [-1.02142829e-01 1.52333426e-04 9.94769732e-01 -1.80046695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.648241008000001 meters 0.06089384742285469 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.62, Z:-1.81 [[ 9.93702571e-01 4.92657464e-02 1.00638394e-01 1.45613944e+01] [-4.89899971e-02 9.98785675e-01 -5.21108941e-03 -6.17912634e-01] [-1.00772915e-01 2.47998294e-04 9.94909422e-01 -1.80671647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.678241008000002 meters 0.06113080729105697 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.62, Z:-1.81 [[ 9.93804625e-01 4.69341247e-02 1.00745000e-01 1.45939334e+01] [-4.66449151e-02 9.98897865e-01 -5.22571399e-03 -6.23816945e-01] [-1.00879230e-01 4.94096754e-04 9.94898556e-01 -1.81046507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.708241008000002 meters 0.06115366420437937 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.63, Z:-1.81 [[ 9.93905474e-01 4.37438041e-02 1.01184924e-01 1.46260967e+01] [-4.34327942e-02 9.99042421e-01 -5.27572788e-03 -6.30656207e-01] [-1.01318811e-01 8.48830864e-04 9.94853646e-01 -1.81192835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.738241008000001 meters 0.06133115479018784 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.64, Z:-1.82 [[ 9.93974343e-01 4.11815537e-02 1.01582895e-01 1.46577945e+01] [-4.08523449e-02 9.99151032e-01 -5.31988373e-03 -6.36292439e-01] [-1.01715736e-01 1.13792847e-03 9.94812854e-01 -1.81536744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.768241008000002 meters 0.061803891753723875 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.64, Z:-1.82 [[ 9.94211111e-01 3.91218424e-02 1.00068716e-01 1.46890240e+01] [-3.87897471e-02 9.99233535e-01 -5.26297609e-03 -6.40132548e-01] [-1.00197914e-01 1.35086914e-03 9.94966609e-01 -1.82108704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.798241008000002 meters 0.0625249612322656 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.64, Z:-1.83 [[ 9.94187963e-01 3.64566239e-02 1.01297626e-01 1.47197230e+01] [-3.61000878e-02 9.99333852e-01 -5.35121722e-03 -6.43170493e-01] [-1.01425234e-01 1.66326255e-03 9.94841774e-01 -1.82697924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.828241008000001 meters 0.0626389610515308 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.65, Z:-1.83 [[ 9.94039596e-01 3.54328121e-02 1.03100905e-01 1.47514683e+01] [-3.50556517e-02 9.99370401e-01 -5.46840748e-03 -6.46013769e-01] [-1.03229754e-01 1.82154415e-03 9.94655870e-01 -1.82975231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.858241008000002 meters 0.06274129953699405 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.65, Z:-1.83 [[ 9.93891532e-01 3.46572343e-02 1.04778329e-01 1.47821137e+01] [-3.42606503e-02 9.99397337e-01 -5.58300033e-03 -6.49057432e-01] [-1.04908674e-01 1.95912307e-03 9.94479930e-01 -1.83196796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.888241008000001 meters 0.06219029534406926 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.65, Z:-1.83 [[ 9.93756004e-01 3.36422888e-02 1.06382334e-01 1.48154307e+01] [-3.32264258e-02 9.99431712e-01 -5.67960930e-03 -6.50647663e-01] [-1.06512953e-01 2.10944110e-03 9.94309077e-01 -1.83142950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.918241008000003 meters 0.06294810283218966 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.66, Z:-1.83 [[ 9.93571966e-01 2.80734649e-02 1.09665991e-01 1.48475897e+01] [-2.75939302e-02 9.99601873e-01 -5.88817518e-03 -6.57676501e-01] [-1.09787632e-01 2.82421008e-03 9.93951055e-01 -1.83192949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.948241008000002 meters 0.06294810283218966 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.66, Z:-1.84 [[ 9.93564647e-01 2.83321912e-02 1.09665761e-01 1.48796153e+01] [-2.78537540e-02 9.99594641e-01 -5.89246133e-03 -6.59567988e-01] [-1.09788254e-01 2.79993812e-03 9.93951055e-01 -1.83597404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.978241008000001 meters 0.06463184389232184 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.67, Z:-1.84 [[ 9.93692647e-01 2.55876036e-02 1.09179661e-01 1.49097336e+01] [-2.50936894e-02 9.99667719e-01 -5.89566474e-03 -6.66822741e-01] [-1.09294239e-01 3.11875820e-03 9.94004549e-01 -1.84172568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.008241008000002 meters 0.0640801843385681 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.67, Z:-1.84 [[ 9.93849958e-01 2.32576750e-02 1.08265147e-01 1.49417531e+01] [-2.27555365e-02 9.99723818e-01 -5.87135066e-03 -6.65640097e-01] [-1.08371800e-01 3.37161011e-03 9.94104715e-01 -1.84451369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.038241008 meters 0.0649189437343246 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.67, Z:-1.85 [[ 9.93983676e-01 2.11326867e-02 1.07470278e-01 1.49721591e+01] [-2.06248693e-02 9.99770260e-01 -5.83461985e-03 -6.69311785e-01] [-1.07568889e-01 3.58295646e-03 9.94191177e-01 -1.84993151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.068241008 meters 0.06578012113052113 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.67, Z:-1.86 [[ 9.94407274e-01 1.71139406e-02 1.04217495e-01 1.50025166e+01] [-1.66131857e-02 9.99845908e-01 -5.67112795e-03 -6.70387221e-01] [-1.04298491e-01 3.90802630e-03 9.94538361e-01 -1.85641604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.098241008000002 meters 0.06651510253830333 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.67, Z:-1.86 [[ 9.94634979e-01 1.55005799e-02 1.02278979e-01 1.50329122e+01] [-1.50101584e-02 9.99871867e-01 -5.56287488e-03 -6.72108907e-01] [-1.02352102e-01 3.99780626e-03 9.94740200e-01 -1.86185301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.128241008000003 meters 0.06770197103073683 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.67, Z:-1.87 [[ 9.94819811e-01 1.37812158e-02 1.00715551e-01 1.50621314e+01] [-1.32943257e-02 9.99896479e-01 -5.50392225e-03 -6.73304799e-01] [-1.00780975e-01 4.13646556e-03 9.94900038e-01 -1.86893393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.158241008 meters 0.06696619347274044 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.67, Z:-1.87 [[ 9.94875425e-01 1.39230094e-02 1.00145088e-01 1.50938391e+01] [-1.34429227e-02 9.99894693e-01 -5.46716553e-03 -6.71242030e-01] [-1.00210661e-01 4.09290595e-03 9.94957824e-01 -1.87152963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.188241008000002 meters 0.06697200880753586 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.67, Z:-1.88 [[ 9.94872118e-01 1.48725200e-02 1.00041379e-01 1.51252646e+01] [-1.43959199e-02 9.99881333e-01 -5.48428902e-03 -6.70916488e-01] [-1.00111072e-01 4.01597856e-03 9.94968163e-01 -1.87556024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.218241008000003 meters 0.06821736020884592 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.67, Z:-1.88 [[ 9.94808327e-01 1.64884371e-02 1.00421728e-01 1.51556849e+01] [-1.60140454e-02 9.99856484e-01 -5.52833519e-03 -6.73944583e-01] [-1.00498469e-01 3.89147577e-03 9.94929603e-01 -1.88069516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.248241008 meters 0.06711921174247985 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.67, Z:-1.88 [[ 9.94724261e-01 1.95060662e-02 1.00713250e-01 1.51867351e+01] [-1.90417280e-02 9.99803175e-01 -5.56985385e-03 -6.70864442e-01] [-1.00802073e-01 3.62271443e-03 9.94899903e-01 -1.88282068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.278241008000002 meters 0.06411056467755115 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.66, Z:-1.88 [[ 9.94455941e-01 2.68592130e-02 1.01665942e-01 1.52187755e+01] [-2.64239121e-02 9.99634995e-01 -5.62619967e-03 -6.56673258e-01] [-1.01779949e-01 2.90859576e-03 9.94802685e-01 -1.88341327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.308241008000003 meters 0.06346453287745796 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.65, Z:-1.89 [[ 9.94152715e-01 3.11735630e-02 1.03385633e-01 1.52499918e+01] [-3.07465205e-02 9.99510835e-01 -5.72204403e-03 -6.51541221e-01] [-1.03513437e-01 2.50983711e-03 9.94624889e-01 -1.88733799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.338241008 meters 0.06269774028820675 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.65, Z:-1.89 [[ 9.93834119e-01 3.49206586e-02 1.05234462e-01 1.52818323e+01] [-3.44986920e-02 9.99387750e-01 -5.82795048e-03 -6.45993264e-01] [-1.05373548e-01 2.16156475e-03 9.94430361e-01 -1.89061797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.368241008000002 meters 0.06164481066504082 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.64, Z:-1.89 [[ 9.93322045e-01 4.15004419e-02 1.07652345e-01 1.53123754e+01] [-4.10966313e-02 9.99137354e-01 -5.96783802e-03 -6.37329974e-01] [-1.07807148e-01 1.50383631e-03 9.94170688e-01 -1.89228708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.398241008000003 meters 0.061371778395307414 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.64, Z:-1.90 [[ 9.93142640e-01 4.40324598e-02 1.08299769e-01 1.53435725e+01] [-4.36389169e-02 9.99029337e-01 -6.00232101e-03 -6.35308792e-01] [-1.08458944e-01 1.23507630e-03 9.94100162e-01 -1.89551570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.428241008 meters 0.061153023189895385 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.63, Z:-1.90 [[ 9.93052036e-01 4.58142556e-02 1.08391459e-01 1.53755353e+01] [-4.54281738e-02 9.98949409e-01 -6.02983997e-03 -6.33960174e-01] [-1.08553836e-01 1.06391884e-03 9.94090002e-01 -1.89967160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.458241008 meters 0.06095630933099066 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.63, Z:-1.90 [[ 9.93028263e-01 4.75896411e-02 1.07842922e-01 1.54085549e+01] [-4.72153510e-02 9.98866576e-01 -6.02287002e-03 -6.32953858e-01] [-1.08007317e-01 8.89038722e-04 9.94149702e-01 -1.90304224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.488241008000003 meters 0.06101508877957675 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.63, Z:-1.91 [[ 9.93090385e-01 4.96341277e-02 1.06338800e-01 1.54393571e+01] [-4.92788916e-02 9.98767232e-01 -5.96721887e-03 -6.30760037e-01] [-1.06503886e-01 6.85729510e-04 9.94312050e-01 -1.90995227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.518241008 meters 0.061195852561787 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.63, Z:-1.92 [[ 9.93244893e-01 4.99661798e-02 1.04728041e-01 1.54709883e+01] [-4.96212509e-02 9.98750691e-01 -5.89815792e-03 -6.30278962e-01] [-1.04891912e-01 6.61578820e-04 9.94483408e-01 -1.91579449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.548241008 meters 0.061218843416368865 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.63, Z:-1.92 [[ 9.93221486e-01 5.06615404e-02 1.04615904e-01 1.55037781e+01] [-5.03187962e-02 9.98715693e-01 -5.91464477e-03 -6.29911311e-01] [-1.04781190e-01 6.10405900e-04 9.94495113e-01 -1.92122800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.578241008000003 meters 0.0612227991682984 Centerline is valid? [True, True] Translation: X:15.54, Y:-0.63, Z:-1.93 [[ 9.93218811e-01 5.11873617e-02 1.04385090e-01 1.55367847e+01] [-5.08461887e-02 9.98688899e-01 -5.92861243e-03 -6.30668631e-01] [-1.04551701e-01 5.80825391e-04 9.94519283e-01 -1.92504364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.608241008 meters 0.06122951478740657 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.63, Z:-1.93 [[ 9.93167367e-01 5.08785065e-02 1.05023608e-01 1.55675099e+01] [-5.05283850e-02 9.98704641e-01 -5.99348557e-03 -6.33662927e-01] [-1.05192504e-01 6.45860984e-04 9.94451668e-01 -1.92841708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.638241008 meters 0.061216566961209584 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.64, Z:-1.93 [[ 9.93117431e-01 5.03273147e-02 1.05758824e-01 1.55980953e+01] [-4.99667441e-02 9.98732510e-01 -6.05794157e-03 -6.36200932e-01] [-1.05929656e-01 7.31823248e-04 9.94373357e-01 -1.93224311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.668241008000003 meters 0.06115351422406379 Centerline is valid? [True, True] Translation: X:15.63, Y:-0.64, Z:-1.94 [[ 9.93097326e-01 4.96766580e-02 1.06254083e-01 1.56309716e+01] [-4.93067332e-02 9.98765011e-01 -6.10727549e-03 -6.38754824e-01] [-1.06426249e-01 8.26077249e-04 9.94320256e-01 -1.93694252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.698241008 meters 0.061207343041777613 Centerline is valid? [True, True] Translation: X:15.66, Y:-0.64, Z:-1.94 [[ 9.93209044e-01 4.78338067e-02 1.06055275e-01 1.56624274e+01] [-4.74519010e-02 9.98854758e-01 -6.12292254e-03 -6.41263084e-01] [-1.06226699e-01 1.04881764e-03 9.94341384e-01 -1.94081649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.728241008 meters 0.06133028038583338 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.64, Z:-1.95 [[ 9.93225235e-01 4.79464649e-02 1.05852582e-01 1.56941241e+01] [-4.75641629e-02 9.98849346e-01 -6.13464730e-03 -6.44415473e-01] [-1.06024917e-01 1.05829706e-03 9.94362910e-01 -1.94658350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.758241008000002 meters 0.06143505263868439 Centerline is valid? [True, True] Translation: X:15.73, Y:-0.65, Z:-1.95 [[ 9.93285973e-01 4.82778782e-02 1.05129548e-01 1.57260933e+01] [-4.78999918e-02 9.98833401e-01 -6.11785400e-03 -6.46599674e-01] [-1.05302261e-01 1.04107408e-03 9.94439717e-01 -1.95058332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.788241008 meters 0.06127470441114305 Centerline is valid? [True, True] Translation: X:15.76, Y:-0.65, Z:-1.95 [[ 9.93225693e-01 4.94077398e-02 1.05174131e-01 1.57577450e+01] [-4.90334570e-02 9.98778245e-01 -6.14301643e-03 -6.47949864e-01] [-1.05349146e-01 9.44350545e-04 9.94434847e-01 -1.95459850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.818241008 meters 0.06114558170180836 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.65, Z:-1.96 [[ 9.93066531e-01 5.11707605e-02 1.05832024e-01 1.57883372e+01] [-5.07992860e-02 9.98689610e-01 -6.20451144e-03 -6.46547164e-01] [-1.06010833e-01 7.85301378e-04 9.94364665e-01 -1.95917441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.848241008000002 meters 0.06095912615755201 Centerline is valid? [True, True] Translation: X:15.82, Y:-0.65, Z:-1.96 [[ 9.93087393e-01 5.19140721e-02 1.05272779e-01 1.58214533e+01] [-5.15486401e-02 9.98651295e-01 -6.19106520e-03 -6.46218103e-01] [-1.05452201e-01 7.21600192e-04 9.94424111e-01 -1.96053252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.878241008000003 meters 0.06101798810487576 Centerline is valid? [True, True] Translation: X:15.85, Y:-0.65, Z:-1.96 [[ 9.93002250e-01 5.20437820e-02 1.06009317e-01 1.58537384e+01] [-5.16706215e-02 9.98644527e-01 -6.26543681e-03 -6.47694694e-01] [-1.06191702e-01 7.44025538e-04 9.94345397e-01 -1.96469543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.908241008 meters 0.061103858145773425 Centerline is valid? [True, True] Translation: X:15.89, Y:-0.65, Z:-1.97 [[ 9.93005330e-01 5.15639614e-02 1.06214744e-01 1.58856620e+01] [-5.11858477e-02 9.98669370e-01 -6.28471425e-03 -6.50361808e-01] [-1.06397476e-01 8.04063058e-04 9.94323353e-01 -1.96848255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.938241008000002 meters 0.06119472869989898 Centerline is valid? [True, True] Translation: X:15.92, Y:-0.65, Z:-1.97 [[ 9.93088015e-01 5.05326804e-02 1.05936972e-01 1.59171462e+01] [-5.01490043e-02 9.98721977e-01 -6.28414516e-03 -6.53892623e-01] [-1.06119137e-01 9.28075562e-04 9.94352989e-01 -1.97235249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.968241008000003 meters 0.06140094332028104 Centerline is valid? [True, True] Translation: X:15.95, Y:-0.66, Z:-1.98 [[ 9.93254241e-01 4.93032162e-02 1.04953354e-01 1.59489017e+01] [-4.89173761e-02 9.98783281e-01 -6.24884149e-03 -6.57983369e-01] [-1.05133743e-01 1.07264563e-03 9.94457513e-01 -1.97578020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.998241008 meters 0.06151873580332988 Centerline is valid? [True, True] Translation: X:15.98, Y:-0.66, Z:-1.98 [[ 9.93519755e-01 4.75101222e-02 1.03253499e-01 1.59789576e+01] [-4.71242645e-02 9.98869951e-01 -6.17456746e-03 -6.61818812e-01] [-1.03430172e-01 1.26880955e-03 9.94635908e-01 -1.98138199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.028241008000002 meters 0.061440332505565604 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.66, Z:-1.99 [[ 9.93575197e-01 4.72782928e-02 1.02825540e-01 1.60105831e+01] [-4.68944982e-02 9.98880928e-01 -6.14803172e-03 -6.62686994e-01] [-1.03001139e-01 1.28657972e-03 9.94680406e-01 -1.98624251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.058241008000003 meters 0.06167892579595871 Centerline is valid? [True, True] Translation: X:16.04, Y:-0.66, Z:-1.99 [[ 9.93641385e-01 4.70604148e-02 1.02284487e-01 1.60412451e+01] [-4.66771103e-02 9.98891165e-01 -6.13899627e-03 -6.63763099e-01] [-1.02459974e-01 1.32561649e-03 9.94736245e-01 -1.99222396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.088241008 meters 0.061536664335575364 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.66, Z:-2.00 [[ 9.93598158e-01 4.75231110e-02 1.02490263e-01 1.60740646e+01] [-4.71386230e-02 9.98869292e-01 -6.17158432e-03 -6.64345380e-01] [-1.02667669e-01 1.30082496e-03 9.94714862e-01 -1.99598412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.118241008000002 meters 0.061448016401894345 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.67, Z:-2.00 [[ 9.93521553e-01 4.86006011e-02 1.02727334e-01 1.61056857e+01] [-4.82172329e-02 9.98817548e-01 -6.21327388e-03 -6.65328808e-01] [-1.02907832e-01 1.21979373e-03 9.94690148e-01 -1.99942850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.148241008000003 meters 0.06123885387282839 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.67, Z:-2.00 [[ 9.93289574e-01 5.15957980e-02 1.03506985e-01 1.61381520e+01] [-5.12199677e-02 9.98667604e-01 -6.28742198e-03 -6.66807644e-01] [-1.03693478e-01 9.43606257e-04 9.94608854e-01 -2.00197638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.178241008 meters 0.06111012983544598 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.67, Z:-2.01 [[ 9.93091712e-01 5.30140529e-02 1.04682190e-01 1.61688357e+01] [-5.26368307e-02 9.98593437e-01 -6.36483570e-03 -6.68238681e-01] [-1.04872373e-01 8.10726881e-04 9.94485358e-01 -2.00556357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.208241008 meters 0.061064585403355146 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.67, Z:-2.01 [[ 9.92961217e-01 5.53387066e-02 1.04716997e-01 1.62006440e+01] [-5.49718293e-02 9.98467467e-01 -6.38868343e-03 -6.67820429e-01] [-1.04910056e-01 5.87230005e-04 9.94481541e-01 -2.01001675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.238241008000003 meters 0.06124483503738185 Centerline is valid? [True, True] Translation: X:16.23, Y:-0.66, Z:-2.02 [[ 9.92676888e-01 6.16384891e-02 1.03890776e-01 1.62338174e+01] [-6.13094411e-02 9.98098539e-01 -6.36072542e-03 -6.62612366e-01] [-1.04085297e-01 -5.53402868e-05 9.94568373e-01 -2.01543404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.268241008 meters 0.06146221182852392 Centerline is valid? [True, True] Translation: X:16.26, Y:-0.66, Z:-2.02 [[ 9.92479559e-01 6.55686660e-02 1.03368640e-01 1.62642813e+01] [-6.52613122e-02 9.97847964e-01 -6.35629429e-03 -6.60808090e-01] [-1.03562961e-01 -4.37480956e-04 9.94622804e-01 -2.02055660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.298241008 meters 0.0616953956261343 Centerline is valid? [True, True] Translation: X:16.30, Y:-0.66, Z:-2.02 [[ 9.92209405e-01 7.01845684e-02 1.02930187e-01 1.62954449e+01] [-6.99019362e-02 9.97533626e-01 -6.35487446e-03 -6.58969478e-01] [-1.03122337e-01 -8.89653160e-04 9.94668282e-01 -2.02464402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.328241008000003 meters 0.06208173094384335 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.66, Z:-2.03 [[ 9.91888162e-01 7.42809004e-02 1.03151449e-01 1.63278551e+01] [-7.40180893e-02 9.97236500e-01 -6.37856801e-03 -6.57491892e-01] [-1.03340196e-01 -1.30824709e-03 9.94645209e-01 -2.02817208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.358241008 meters 0.06266210749942515 Centerline is valid? [True, True] Translation: X:16.36, Y:-0.66, Z:-2.03 [[ 9.91621827e-01 7.78044358e-02 1.03114609e-01 1.63598730e+01] [-7.75583610e-02 9.96967273e-01 -6.39979767e-03 -6.55211525e-01] [-1.03299823e-01 -1.65122099e-03 9.94648893e-01 -2.03375967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.388241008 meters 0.06377351725828863 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.65, Z:-2.04 [[ 9.91126987e-01 8.29736253e-02 1.03839653e-01 1.63912694e+01] [-8.27498337e-02 9.96549356e-01 -6.46881497e-03 -6.50060822e-01] [-1.04018080e-01 -2.18129689e-03 9.94573014e-01 -2.04021768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.418241008000003 meters 0.0637184278083085 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.65, Z:-2.04 [[ 9.90865306e-01 8.46102684e-02 1.05009751e-01 1.64235254e+01] [-8.43882831e-02 9.96411331e-01 -6.56327848e-03 -6.52390464e-01] [-1.05188227e-01 -2.35826766e-03 9.94449534e-01 -2.04341676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.448241008 meters 0.06421110026503249 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.65, Z:-2.05 [[ 9.90662489e-01 8.55458701e-02 1.06159020e-01 1.64546558e+01] [-8.53212140e-02 9.96331208e-01 -6.66447294e-03 -6.53890211e-01] [-1.06339662e-01 -2.45537308e-03 9.94326831e-01 -2.04749846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.478241008 meters 0.06399050671029421 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.66, Z:-2.05 [[ 9.90550669e-01 8.61646571e-02 1.06700631e-01 1.64877368e+01] [-8.59384129e-02 9.96277753e-01 -6.72515788e-03 -6.58666036e-01] [-1.06882935e-01 -2.50807322e-03 9.94268448e-01 -2.04940350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.508241008000002 meters 0.06364016584323716 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.67, Z:-2.05 [[ 9.90512783e-01 8.53616202e-02 1.07693178e-01 1.65192404e+01] [-8.51232185e-02 9.96347110e-01 -6.81721521e-03 -6.65923917e-01] [-1.07881715e-01 -2.41465110e-03 9.94160804e-01 -2.05139711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.538241008000004 meters 0.06344346067079933 Centerline is valid? [True, True] Translation: X:16.55, Y:-0.67, Z:-2.05 [[ 9.90574376e-01 8.44205671e-02 1.07868316e-01 1.65500662e+01] [-8.41729528e-02 9.96427582e-01 -6.85475929e-03 -6.70175586e-01] [-1.08061648e-01 -2.28944579e-03 9.94141559e-01 -2.05466138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.568241008 meters 0.06309362885711324 Centerline is valid? [True, True] Translation: X:16.58, Y:-0.68, Z:-2.06 [[ 9.90496464e-01 8.34534333e-02 1.09326483e-01 1.65813946e+01] [-8.31917757e-02 9.96509248e-01 -6.96042166e-03 -6.75380046e-01] [-1.09525723e-01 -2.20079125e-03 9.93981525e-01 -2.05746906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.598241008000002 meters 0.06264195853759465 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.68, Z:-2.06 [[ 9.90847917e-01 8.07532315e-02 1.08163401e-01 1.66126907e+01] [-8.04783935e-02 9.96732395e-01 -6.91096298e-03 -6.83515071e-01] [-1.08368048e-01 -1.85710344e-03 9.94109107e-01 -2.06284227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.628241008000003 meters 0.06252022521621252 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.69, Z:-2.07 [[ 9.90984900e-01 7.97255784e-02 1.07669677e-01 1.66439351e+01] [-7.94444812e-02 9.96815380e-01 -6.90446378e-03 -6.88331979e-01] [-1.07877253e-01 -1.71154232e-03 9.94162748e-01 -2.06838230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.658241008 meters 0.06239658501505599 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.69, Z:-2.07 [[ 9.91110567e-01 7.88986720e-02 1.07120699e-01 1.66762274e+01] [-7.86130109e-02 9.96881375e-01 -6.89344684e-03 -6.93697655e-01] [-1.07330513e-01 -1.58891264e-03 9.94222126e-01 -2.07435852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.688241008000002 meters 0.06232532898102705 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.70, Z:-2.08 [[ 9.91487370e-01 7.72877038e-02 1.04782663e-01 1.67066922e+01] [-7.70024768e-02 9.97007911e-01 -6.77086206e-03 -7.01295956e-01] [-1.04992448e-01 -1.35530034e-03 9.94472096e-01 -2.08087002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.718241008000003 meters 0.06239818135915509 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.71, Z:-2.09 [[ 9.91510074e-01 7.69358769e-02 1.04826729e-01 1.67369278e+01] [-7.66460926e-02 9.97035200e-01 -6.79601872e-03 -7.05305525e-01] [-1.05038796e-01 -1.29623813e-03 9.94467280e-01 -2.08564308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.748241008 meters 0.06212686476055981 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.71, Z:-2.09 [[ 9.91602676e-01 7.65740785e-02 1.04213927e-01 1.67691384e+01] [-7.62834988e-02 9.97063137e-01 -6.77711131e-03 -7.09908714e-01] [-1.04426816e-01 -1.22960127e-03 9.94531814e-01 -2.08984605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.778241008000002 meters 0.061843036557420156 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.72, Z:-2.09 [[ 9.91749420e-01 7.61953689e-02 1.03089061e-01 1.68008580e+01] [-7.59061789e-02 9.97092245e-01 -6.73109779e-03 -7.15373505e-01] [-1.03302182e-01 -1.14953438e-03 9.94649354e-01 -2.09370849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.808241008000003 meters 0.06185164890326727 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.72, Z:-2.10 [[ 9.91942026e-01 7.48372987e-02 1.02227181e-01 1.68330852e+01] [-7.45434016e-02 9.97195279e-01 -6.69751613e-03 -7.22273435e-01] [-1.02441687e-01 -9.76814121e-04 9.94738532e-01 -2.09892511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.838241008 meters 0.06185164890326727 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.72, Z:-2.10 [[ 9.91922393e-01 7.50994648e-02 1.02225421e-01 1.68650934e+01] [-7.48041990e-02 9.97175569e-01 -6.72427137e-03 -7.24546974e-01] [-1.02441681e-01 -9.76935365e-04 9.94738532e-01 -2.10298747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.868241008000002 meters 0.06175247139560314 Centerline is valid? [True, True] Translation: X:16.90, Y:-0.73, Z:-2.11 [[ 9.91892071e-01 7.46215418e-02 1.02867613e-01 1.68956024e+01] [-7.43170327e-02 9.97211516e-01 -6.79499867e-03 -7.29294415e-01] [-1.03087821e-01 -9.04910456e-04 9.94671846e-01 -2.10715246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.898241008000003 meters 0.06158162990672856 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.73, Z:-2.11 [[ 9.91932481e-01 7.33607452e-02 1.03383527e-01 1.69275423e+01] [-7.30440666e-02 9.97305184e-01 -6.85089123e-03 -7.34495804e-01] [-1.03607514e-01 -7.55931721e-04 9.94617973e-01 -2.11073164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.928241008 meters 0.061036646866119044 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.74, Z:-2.11 [[ 9.91964464e-01 7.03471700e-02 1.05155968e-01 1.69597197e+01] [-6.99997426e-02 9.97522480e-01 -6.99557340e-03 -7.43000632e-01] [-1.05387561e-01 -4.21530470e-04 9.94431136e-01 -2.11208038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.958241008 meters 0.06096798546723931 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.75, Z:-2.12 [[ 9.92062275e-01 6.84311657e-02 1.05497005e-01 1.69916504e+01] [-6.80697256e-02 9.97655818e-01 -7.02715506e-03 -7.48995585e-01] [-1.05730577e-01 -2.09776724e-04 9.94394791e-01 -2.11672771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.988241008000003 meters 0.060771042883690854 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.76, Z:-2.12 [[ 9.92126343e-01 6.64861760e-02 1.06136272e-01 1.70220172e+01] [-6.61085377e-02 9.97787346e-01 -7.07621773e-03 -7.57185891e-01] [-1.06371899e-01 3.98830827e-06 9.94326415e-01 -2.12048918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.018241008 meters 0.060729729923661206 Centerline is valid? [True, True] Translation: X:17.05, Y:-0.76, Z:-2.12 [[ 9.92074643e-01 6.62143852e-02 1.06787442e-01 1.70533826e+01] [-6.58280567e-02 9.97805418e-01 -7.14247289e-03 -7.61115203e-01] [-1.07026023e-01 5.62564415e-05 9.94256218e-01 -2.12499921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.048241008 meters 0.06080152074455521 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.76, Z:-2.13 [[ 9.92030399e-01 6.68473198e-02 1.06804138e-01 1.70856882e+01] [-6.64619818e-02 9.97763216e-01 -7.16723663e-03 -7.63939688e-01] [-1.07044351e-01 1.17019395e-05 9.94254247e-01 -2.12884782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.078241008000003 meters 0.06074965689451544 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.77, Z:-2.13 [[ 9.91881268e-01 6.79289464e-02 1.07504460e-01 1.71174884e+01] [-6.75417583e-02 9.97690158e-01 -7.24282953e-03 -7.66557630e-01] [-1.07748139e-01 -7.70132902e-05 9.94178220e-01 -2.13219092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.108241008 meters 0.060755213697643966 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.77, Z:-2.14 [[ 9.91744217e-01 6.96225031e-02 1.07685259e-01 1.71486503e+01] [-6.92411275e-02 9.97573382e-01 -7.28110895e-03 -7.68544115e-01] [-1.07930877e-01 -2.35251025e-04 9.94158373e-01 -2.13659676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.138241008 meters 0.060809339151938875 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.77, Z:-2.14 [[ 9.91579361e-01 7.27701162e-02 1.07120872e-01 1.71803696e+01] [-7.24092637e-02 9.97348584e-01 -7.25947195e-03 -7.70672645e-01] [-1.07365123e-01 -5.58200939e-04 9.94219502e-01 -2.14104234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.168241008000003 meters 0.06095561526683456 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.77, Z:-2.15 [[ 9.91434966e-01 7.44230845e-02 1.07321541e-01 1.72125543e+01] [-7.40679023e-02 9.97226501e-01 -7.29736102e-03 -7.72642144e-01] [-1.07566977e-01 -7.14222527e-04 9.94197584e-01 -2.14602377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.198241008 meters 0.06094971251875116 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.78, Z:-2.15 [[ 9.91339820e-01 7.51447299e-02 1.07696937e-01 1.72449892e+01] [-7.47881802e-02 9.97172343e-01 -7.35160410e-03 -7.75568086e-01] [-1.07944841e-01 -7.66520011e-04 9.94156589e-01 -2.15053800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.228241008 meters 0.06072971901310408 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.78, Z:-2.15 [[ 9.91451394e-01 7.39372425e-02 1.07505428e-01 1.72769190e+01] [-7.35717803e-02 9.97262713e-01 -7.36717079e-03 -7.80999121e-01] [-1.07755863e-01 -6.05174008e-04 9.94177201e-01 -2.15353105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.258241008000002 meters 0.06091336154526144 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.78, Z:-2.16 [[ 9.91633321e-01 7.34814139e-02 1.06131231e-01 1.73070434e+01] [-7.31193267e-02 9.97296453e-01 -7.30409579e-03 -7.84231495e-01] [-1.06381015e-01 -5.17259351e-04 9.94325305e-01 -2.16102476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.288241008000004 meters 0.060761082464941454 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.79, Z:-2.16 [[ 9.91676572e-01 7.30206447e-02 1.06045092e-01 1.73393923e+01] [-7.26553338e-02 9.97330325e-01 -7.30925818e-03 -7.87562240e-01] [-1.06295713e-01 -4.56321485e-04 9.94334457e-01 -2.16345540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.318241008 meters 0.060765083720471964 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.79, Z:-2.17 [[ 9.91719368e-01 7.33689320e-02 1.05402540e-01 1.73711847e+01] [-7.30069309e-02 9.97304761e-01 -7.29392140e-03 -7.89905450e-01] [-1.05653602e-01 -4.61592818e-04 9.94402888e-01 -2.16802547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.348241008000002 meters 0.06082358955057378 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.79, Z:-2.17 [[ 9.91827039e-01 7.37506671e-02 1.04115150e-01 1.74030447e+01] [-7.33970344e-02 9.97276600e-01 -7.22902739e-03 -7.91518719e-01] [-1.04364749e-01 -4.71798441e-04 9.94538977e-01 -2.17330946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.378241008000003 meters 0.0609685399446601 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.79, Z:-2.18 [[ 9.91788674e-01 7.37114604e-02 1.04507644e-01 1.74339049e+01] [-7.33522980e-02 9.97279511e-01 -7.28129377e-03 -7.92548322e-01] [-1.04760047e-01 -4.44371177e-04 9.94497428e-01 -2.17951528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.408241008 meters 0.06101784408168668 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.79, Z:-2.18 [[ 9.91783744e-01 7.40930427e-02 1.04284349e-01 1.74662883e+01] [-7.37352652e-02 9.97251226e-01 -7.28719408e-03 -7.93839470e-01] [-1.04537625e-01 -4.62113464e-04 9.94520825e-01 -2.18436472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.438241008000002 meters 0.060913389134320366 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.80, Z:-2.19 [[ 9.91750025e-01 7.40892180e-02 1.04607248e-01 1.74988488e+01] [-7.37262530e-02 9.97251522e-01 -7.33765762e-03 -7.97239359e-01] [-1.04863378e-01 -4.35178289e-04 9.94486542e-01 -2.18765489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.468241008000003 meters 0.0605255049430462 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.80, Z:-2.19 [[ 9.91825332e-01 7.22480448e-02 1.05179516e-01 1.75304122e+01] [-7.18677620e-02 9.97386672e-01 -7.40610049e-03 -8.02961988e-01] [-1.05439724e-01 -2.13458368e-04 9.94425673e-01 -2.18941010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.498241008 meters 0.06036597636787736 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.81, Z:-2.19 [[ 9.91888566e-01 7.08877790e-02 1.05508269e-01 1.75626443e+01] [-7.04948491e-02 9.97484296e-01 -7.45355403e-03 -8.08315455e-01] [-1.05771207e-01 -4.46944505e-05 9.94390492e-01 -2.19121226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.528241008000002 meters 0.06005882007368983 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.82, Z:-2.19 [[ 9.91943515e-01 6.65178887e-02 1.07812031e-01 1.75929859e+01] [-6.60783288e-02 9.97785125e-01 -7.64840637e-03 -8.16783565e-01] [-1.08081997e-01 4.62748261e-04 9.94141875e-01 -2.19182299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.558241008000003 meters 0.060060768156993655 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.82, Z:-2.20 [[ 9.92060581e-01 6.58709738e-02 1.07129916e-01 1.76241758e+01] [-6.54318594e-02 9.97828002e-01 -7.61256787e-03 -8.19905607e-01] [-1.07398677e-01 5.42418919e-04 9.94215887e-01 -2.19638120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.588241008 meters 0.060130157973537594 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.82, Z:-2.20 [[ 9.92108842e-01 6.60143259e-02 1.06593410e-01 1.76565535e+01] [-6.55778599e-02 9.97818525e-01 -7.59843109e-03 -8.21368638e-01] [-1.06862485e-01 5.48302936e-04 9.94273659e-01 -2.20163866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.618241008000002 meters 0.06040860927766153 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.82, Z:-2.21 [[ 9.92269932e-01 6.75038876e-02 1.04132642e-01 1.76870970e+01] [-6.70926235e-02 9.97718928e-01 -7.45120293e-03 -8.20541193e-01] [-1.04398093e-01 4.07072460e-04 9.94535506e-01 -2.21062828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.648241008000003 meters 0.0604357805076838 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.82, Z:-2.21 [[ 9.92332083e-01 6.69771404e-02 1.03880217e-01 1.77199382e+01] [-6.65627636e-02 9.97754393e-01 -7.45445372e-03 -8.23860728e-01] [-1.04146221e-01 4.82739275e-04 9.94561879e-01 -2.21436739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.678241008 meters 0.060395413702928245 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.83, Z:-2.22 [[ 9.92349042e-01 6.69670220e-02 1.03724621e-01 1.77520642e+01] [-6.65510115e-02 9.97755059e-01 -7.47028497e-03 -8.27285511e-01] [-1.03992028e-01 5.10151686e-04 9.94578000e-01 -2.21805319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.708241008 meters 0.060415298331609225 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.83, Z:-2.22 [[ 9.92384251e-01 6.69920335e-02 1.03371014e-01 1.77848834e+01] [-6.65761399e-02 9.97753368e-01 -7.47225197e-03 -8.30671822e-01] [-1.03639359e-01 5.33302073e-04 9.94614799e-01 -2.22187398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.738241008000003 meters 0.060325561023121234 Centerline is valid? [True, True] Translation: X:17.82, Y:-0.83, Z:-2.23 [[ 9.92428110e-01 6.77821864e-02 1.02430575e-01 1.78163390e+01] [-6.73751966e-02 9.97700030e-01 -7.43186688e-03 -8.33495725e-01] [-1.02698736e-01 4.74313499e-04 9.94712393e-01 -2.22600476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.768241008 meters 0.06034926057538716 Centerline is valid? [True, True] Translation: X:17.85, Y:-0.84, Z:-2.23 [[ 9.92431596e-01 6.80494909e-02 1.02219340e-01 1.78473298e+01] [-6.76431270e-02 9.97681836e-01 -7.44051500e-03 -8.36100991e-01] [-1.02488702e-01 4.69766400e-04 9.94734058e-01 -2.22999075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.798241008 meters 0.0604827926470134 Centerline is valid? [True, True] Translation: X:17.88, Y:-0.84, Z:-2.24 [[ 9.92429418e-01 6.87296265e-02 1.01784518e-01 1.78780298e+01] [-6.83278557e-02 9.97635234e-01 -7.43259399e-03 -8.38794821e-01] [-1.02054661e-01 4.21607052e-04 9.94778703e-01 -2.23633140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.828241008000003 meters 0.060378854958989085 Centerline is valid? [True, True] Translation: X:17.91, Y:-0.84, Z:-2.24 [[ 9.92381598e-01 7.00632153e-02 1.01340564e-01 1.79110845e+01] [-6.96695742e-02 9.97542507e-01 -7.42281265e-03 -8.39965210e-01] [-1.01611586e-01 3.05908741e-04 9.94824101e-01 -2.24016571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.858241008 meters 0.06032218326959526 Centerline is valid? [True, True] Translation: X:17.94, Y:-0.84, Z:-2.24 [[ 9.92339364e-01 7.07177778e-02 1.01299472e-01 1.79433907e+01] [-7.03251592e-02 9.97496329e-01 -7.44623899e-03 -8.39316054e-01] [-1.01572433e-01 2.65294585e-04 9.94828111e-01 -2.24432917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.888241008 meters 0.06043836304513539 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.84, Z:-2.25 [[ 9.92253861e-01 7.17747556e-02 1.01393593e-01 1.79745872e+01] [-7.13838976e-02 9.97420849e-01 -7.48261918e-03 -8.40294963e-01] [-1.01669147e-01 1.86787909e-04 9.94818250e-01 -2.24931615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.918241008000003 meters 0.0606127548790853 Centerline is valid? [True, True] Translation: X:18.01, Y:-0.84, Z:-2.25 [[ 9.92281260e-01 7.20276354e-02 1.00945135e-01 1.80072725e+01] [-7.16400821e-02 9.97402621e-01 -7.46387055e-03 -8.41620747e-01] [-1.01220547e-01 1.74541137e-04 9.94863996e-01 -2.25331120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.948241008 meters 0.060558500259099875 Centerline is valid? [True, True] Translation: X:18.04, Y:-0.84, Z:-2.26 [[ 9.92237378e-01 7.26473017e-02 1.00932428e-01 1.80390178e+01] [-7.22602843e-02 9.97357684e-01 -7.49005663e-03 -8.43241572e-01] [-1.01209865e-01 1.38508203e-04 9.94865088e-01 -2.25807623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.978241008 meters 0.060444938197681854 Centerline is valid? [True, True] Translation: X:18.07, Y:-0.85, Z:-2.26 [[ 9.92237287e-01 7.19066257e-02 1.01462328e-01 1.80707960e+01] [-7.15090492e-02 9.97411339e-01 -7.55491144e-03 -8.46647583e-01] [-1.01742924e-01 2.40790244e-04 9.94810695e-01 -2.25907081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.008241008000002 meters 0.060442016682742856 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.85, Z:-2.26 [[ 9.92185245e-01 7.10505886e-02 1.02568283e-01 1.81010106e+01] [-7.06369238e-02 9.97472649e-01 -7.66421422e-03 -8.51124831e-01] [-1.02853604e-01 3.59212261e-04 9.94696440e-01 -2.26307292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.038241008000004 meters 0.060246516765093086 Centerline is valid? [True, True] Translation: X:18.13, Y:-0.86, Z:-2.27 [[ 9.92172120e-01 7.05021290e-02 1.03072468e-01 1.81340149e+01] [-7.00802586e-02 9.97511536e-01 -7.71310022e-03 -8.55339578e-01] [-1.03359766e-01 4.29377774e-04 9.94643944e-01 -2.26523036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.068241008 meters 0.06000820830196239 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.86, Z:-2.27 [[ 9.92084535e-01 6.84002025e-02 1.05307582e-01 1.81652652e+01] [-6.79448637e-02 9.97657724e-01 -7.90960961e-03 -8.60117234e-01] [-1.05601942e-01 6.91892046e-04 9.94408242e-01 -2.26800520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.098241008000002 meters 0.06006937104915187 Centerline is valid? [True, True] Translation: X:18.20, Y:-0.86, Z:-2.27 [[ 9.92126542e-01 6.79501157e-02 1.05203169e-01 1.81973681e+01] [-6.74906684e-02 9.97688428e-01 -7.92524298e-03 -8.63121345e-01] [-1.05498506e-01 7.62611697e-04 9.94419169e-01 -2.27156442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.128241008000003 meters 0.059982098199721404 Centerline is valid? [True, True] Translation: X:18.23, Y:-0.87, Z:-2.28 [[ 9.92149302e-01 6.77452456e-02 1.05120619e-01 1.82299519e+01] [-6.72824150e-02 9.97702322e-01 -7.94694455e-03 -8.66791113e-01] [-1.05417454e-01 8.11786348e-04 9.94427726e-01 -2.27595265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.158241008 meters 0.06009237470868319 Centerline is valid? [True, True] Translation: X:18.26, Y:-0.87, Z:-2.28 [[ 9.92184208e-01 6.81304847e-02 1.04540584e-01 1.82613965e+01] [-6.76719492e-02 9.97676103e-01 -7.93105419e-03 -8.70763472e-01] [-1.04837989e-01 7.94601611e-04 9.94488997e-01 -2.28017435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.188241008000002 meters 0.06000800561700664 Centerline is valid? [True, True] Translation: X:18.29, Y:-0.87, Z:-2.28 [[ 9.92319852e-01 6.78358260e-02 1.03438933e-01 1.82926748e+01] [-6.73826461e-02 9.97696141e-01 -7.87328804e-03 -8.74806818e-01] [-1.03734715e-01 8.42831003e-04 9.94604644e-01 -2.28266529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.218241008000003 meters 0.05999125580505269 Centerline is valid? [True, True] Translation: X:18.32, Y:-0.88, Z:-2.29 [[ 9.92363778e-01 6.87212806e-02 1.02428112e-01 1.83236156e+01] [-6.82793610e-02 9.97635605e-01 -7.81847522e-03 -8.77037878e-01] [-1.02723227e-01 7.65045587e-04 9.94709683e-01 -2.28813612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.248241008 meters 0.06046584401280416 Centerline is valid? [True, True] Translation: X:18.35, Y:-0.88, Z:-2.30 [[ 9.92624887e-01 6.83822842e-02 1.00098441e-01 1.83534995e+01] [-6.79559876e-02 9.97658865e-01 -7.66632937e-03 -8.77595886e-01] [-1.00388338e-01 8.07500937e-04 9.94948003e-01 -2.29600689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.278241008000002 meters 0.06039296251441819 Centerline is valid? [True, True] Translation: X:18.39, Y:-0.88, Z:-2.30 [[ 9.92664875e-01 6.82176216e-02 9.98138390e-02 1.83864872e+01] [-6.77931781e-02 9.97670128e-01 -7.64199289e-03 -8.79501736e-01] [-1.00102604e-01 8.19240548e-04 9.94976782e-01 -2.30015937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.308241008000003 meters 0.060773780178999294 Centerline is valid? [True, True] Translation: X:18.42, Y:-0.88, Z:-2.31 [[ 9.92792362e-01 6.84633593e-02 9.83671403e-02 1.84164016e+01] [-6.80496686e-02 9.97653303e-01 -7.55847177e-03 -8.82508546e-01] [-9.86537808e-02 8.10141743e-04 9.95121488e-01 -2.30749481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.338241008 meters 0.060372695314589477 Centerline is valid? [True, True] Translation: X:18.45, Y:-0.88, Z:-2.31 [[ 9.92762265e-01 6.92518606e-02 9.81186294e-02 1.84492787e+01] [-6.88421514e-02 9.97598926e-01 -7.55913121e-03 -8.84720714e-01] [-9.84065232e-02 7.49722681e-04 9.95146016e-01 -2.30797882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.368241008000002 meters 0.06007416366013278 Centerline is valid? [True, True] Translation: X:18.48, Y:-0.89, Z:-2.31 [[ 9.92634396e-01 7.14587675e-02 9.78294428e-02 1.84824547e+01] [-7.10595943e-02 9.97443400e-01 -7.56294336e-03 -8.87867112e-01] [-9.81197707e-02 5.55517196e-04 9.95174458e-01 -2.30855844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.398241008000003 meters 0.05992062203587956 Centerline is valid? [True, True] Translation: X:18.51, Y:-0.89, Z:-2.31 [[ 9.92411639e-01 7.32701359e-02 9.87452620e-02 1.85141232e+01] [-7.28696711e-02 9.97312048e-01 -7.66092059e-03 -8.88836864e-01] [-9.90411561e-02 4.07252000e-04 9.95083255e-01 -2.30989630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.428241008 meters 0.05977357634944772 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.89, Z:-2.31 [[ 9.92147189e-01 7.58077302e-02 9.94843856e-02 1.85464433e+01] [-7.54116037e-02 9.97122438e-01 -7.74169794e-03 -8.88238860e-01] [-9.97849937e-02 1.78626782e-04 9.95009007e-01 -2.31206670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.458241008 meters 0.05978873472679196 Centerline is valid? [True, True] Translation: X:18.58, Y:-0.89, Z:-2.32 [[ 9.91808828e-01 7.88399755e-02 1.00496306e-01 1.85776182e+01] [-7.84485819e-02 9.96887279e-01 -7.84678271e-03 -8.86322027e-01] [-1.00802129e-01 -1.01284321e-04 9.94906488e-01 -2.31708648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.488241008000003 meters 0.06021411603214443 Centerline is valid? [True, True] Translation: X:18.61, Y:-0.88, Z:-2.32 [[ 9.91647861e-01 8.16128125e-02 9.98692560e-02 1.86086258e+01] [-8.12391888e-02 9.96664042e-01 -7.80908663e-03 -8.81935786e-01] [-1.00173418e-01 -3.69433291e-04 9.94969924e-01 -2.32269959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.518241008 meters 0.06017108454656827 Centerline is valid? [True, True] Translation: X:18.64, Y:-0.88, Z:-2.33 [[ 9.91472290e-01 8.28936475e-02 1.00555164e-01 1.86397535e+01] [-8.25190175e-02 9.96558284e-01 -7.88653628e-03 -8.82123473e-01] [-1.00862826e-01 -4.78431161e-04 9.94900227e-01 -2.32643183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.548241008 meters 0.06018172847673141 Centerline is valid? [True, True] Translation: X:18.67, Y:-0.88, Z:-2.33 [[ 9.91334098e-01 8.45674979e-02 1.00523847e-01 1.86721224e+01] [-8.42006627e-02 9.96417548e-01 -7.89415603e-03 -8.82548271e-01] [-1.00831314e-01 -6.38428490e-04 9.94903331e-01 -2.32890327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.578241008000003 meters 0.060396119042486957 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.88, Z:-2.33 [[ 9.91014126e-01 8.78640818e-02 1.00850902e-01 1.87043559e+01] [-8.75092500e-02 9.96132019e-01 -7.94561309e-03 -8.80096758e-01] [-1.01158947e-01 -9.51172004e-04 9.94869822e-01 -2.33162611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.608241008 meters 0.060397139324425246 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.88, Z:-2.33 [[ 9.90859425e-01 8.98391689e-02 1.00630630e-01 1.87365553e+01] [-8.94936570e-02 9.95955649e-01 -7.95179628e-03 -8.81253159e-01] [-1.00938028e-01 -1.12669083e-03 9.94892077e-01 -2.33480022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.638241008 meters 0.060694133131400235 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.88, Z:-2.34 [[ 9.90705388e-01 9.09897404e-02 1.01112324e-01 1.87686522e+01] [-9.06442800e-02 9.95851077e-01 -8.01538691e-03 -8.83036705e-01] [-1.01422135e-01 -1.22436685e-03 9.94842727e-01 -2.33841663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.668241008000003 meters 0.060706953846835755 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.89, Z:-2.34 [[ 9.90700746e-01 9.20033265e-02 1.00236819e-01 1.88002433e+01] [-9.16674985e-02 9.95757849e-01 -7.96090006e-03 -8.85910255e-01] [-1.00544028e-01 -1.30158880e-03 9.94931759e-01 -2.34097572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.698241008000004 meters 0.06093343009011337 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.89, Z:-2.35 [[ 9.90819078e-01 9.22918271e-02 9.87915623e-02 1.88308830e+01] [-9.19647544e-02 9.95731168e-01 -7.86925137e-03 -8.87452123e-01] [-9.90961053e-02 -1.28833737e-03 9.95077033e-01 -2.34688636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.728241008 meters 0.06093343009011337 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.89, Z:-2.35 [[ 9.90794815e-01 9.25536537e-02 9.87899566e-02 1.88628562e+01] [-9.22258751e-02 9.95706858e-01 -7.88935199e-03 -8.90184389e-01] [-9.90960256e-02 -1.29426115e-03 9.95077034e-01 -2.35094503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.758241008000002 meters 0.06118343766270941 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.89, Z:-2.36 [[ 9.90990492e-01 9.21605767e-02 9.71816441e-02 1.88939833e+01] [-9.18389477e-02 9.95743425e-01 -7.78711110e-03 -8.91326632e-01] [-9.74856478e-02 -1.20810687e-03 9.95236198e-01 -2.35877814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.788241008000004 meters 0.06136826151533577 Centerline is valid? [True, True] Translation: X:18.93, Y:-0.89, Z:-2.37 [[ 9.91123358e-01 9.17150171e-02 9.62436758e-02 1.89254781e+01] [-9.13953541e-02 9.95784654e-01 -7.73387280e-03 -8.93488418e-01] [-9.65472876e-02 -1.13100284e-03 9.95327756e-01 -2.36590406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.818241008 meters 0.06157261220981291 Centerline is valid? [True, True] Translation: X:18.96, Y:-0.90, Z:-2.37 [[ 9.91356684e-01 9.07159940e-02 9.47762291e-02 1.89564396e+01] [-9.03994143e-02 9.95876305e-01 -7.63741490e-03 -8.97567573e-01] [-9.50782366e-02 -9.96313296e-04 9.95469305e-01 -2.37277056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.848241008000002 meters 0.0617232607062347 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.91, Z:-2.38 [[ 9.91770858e-01 8.90620686e-02 9.19701774e-02 1.89861730e+01] [-8.87549336e-02 9.96025763e-01 -7.43238930e-03 -9.06049692e-01] [-9.22666101e-02 -7.91579880e-04 9.95734024e-01 -2.37788631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.878241008000003 meters 0.06150178368369259 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.91, Z:-2.38 [[ 9.91895934e-01 8.81471013e-02 9.15016080e-02 1.90182598e+01] [-8.78375596e-02 9.96107233e-01 -7.41240485e-03 -9.12977549e-01] [-9.17987956e-02 -6.84943716e-04 9.95777341e-01 -2.38009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.908241008 meters 0.06144075613662991 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.92, Z:-2.38 [[ 9.91895297e-01 8.75725207e-02 9.20585326e-02 1.90487582e+01] [-8.72543255e-02 9.96157960e-01 -7.48337489e-03 -9.18286031e-01] [-9.23601780e-02 -6.09780799e-04 9.95725477e-01 -2.38330194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.938241008000002 meters 0.06103399845868124 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.93, Z:-2.39 [[ 9.91947682e-01 8.58293304e-02 9.31295971e-02 1.90795217e+01] [-8.54941503e-02 9.96309760e-01 -7.59023260e-03 -9.25066141e-01] [-9.34373912e-02 -4.32922147e-04 9.95625063e-01 -2.38644053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.968241008000003 meters 0.06076705269851913 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.93, Z:-2.39 [[ 9.91906749e-01 8.56752748e-02 9.37056502e-02 1.91111611e+01] [-8.53334600e-02 9.96323033e-01 -7.65604621e-03 -9.28380404e-01] [-9.40170314e-02 -4.02143446e-04 9.95570508e-01 -2.38797180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.998241008 meters 0.06077353652344625 Centerline is valid? [True, True] Translation: X:19.14, Y:-0.93, Z:-2.39 [[ 9.91801867e-01 8.64448720e-02 9.41081356e-02 1.91431821e+01] [-8.61015056e-02 9.96256532e-01 -7.71064439e-03 -9.30775658e-01] [-9.44223905e-02 -4.55420664e-04 9.95532121e-01 -2.39119935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.028241008000002 meters 0.06105446253250934 Centerline is valid? [True, True] Translation: X:19.17, Y:-0.93, Z:-2.40 [[ 9.91702650e-01 8.72360008e-02 9.44231605e-02 1.91746367e+01] [-8.68918806e-02 9.96187542e-01 -7.75772489e-03 -9.32260288e-01] [-9.47399290e-02 -5.11249653e-04 9.95501926e-01 -2.39781672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.058241008000003 meters 0.06068978948812772 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.93, Z:-2.40 [[ 9.91531857e-01 8.88660218e-02 9.46963913e-02 1.92079469e+01] [-8.85251699e-02 9.96043379e-01 -7.80268905e-03 -9.34721060e-01] [-9.50151075e-02 -6.46399367e-04 9.95475621e-01 -2.39777496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.088241008 meters 0.06067641500470078 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.94, Z:-2.40 [[ 9.91383271e-01 8.96993561e-02 9.54632631e-02 1.92399496e+01] [-8.93542371e-02 9.95968638e-01 -7.89256081e-03 -9.37022531e-01] [-9.57863738e-02 -7.05494286e-04 9.95401664e-01 -2.40041717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.118241008000002 meters 0.060709888119943003 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.94, Z:-2.40 [[ 9.91270215e-01 9.08329020e-02 9.55653904e-02 1.92723686e+01] [-9.04902387e-02 9.95865831e-01 -7.92237699e-03 -9.38983507e-01] [-9.58899194e-02 -7.94518639e-04 9.95391628e-01 -2.40346503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.148241008000003 meters 0.06079193636416958 Centerline is valid? [True, True] Translation: X:19.30, Y:-0.94, Z:-2.41 [[ 9.91219273e-01 9.13188338e-02 9.56306635e-02 1.93034029e+01] [-9.09754070e-02 9.95821372e-01 -7.95424428e-03 -9.41003587e-01] [-9.59574308e-02 -8.15638305e-04 9.95385104e-01 -2.40816911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.178241008 meters 0.06054342109432245 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.95, Z:-2.41 [[ 9.91443266e-01 8.93089462e-02 9.52058916e-02 1.93358244e+01] [-8.89570901e-02 9.96003794e-01 -7.94216988e-03 -9.46572390e-01] [-9.55347361e-02 -5.95028227e-04 9.95425919e-01 -2.41263465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.208241008 meters 0.060270543426474706 Centerline is valid? [True, True] Translation: X:19.37, Y:-0.95, Z:-2.42 [[ 9.91666757e-01 8.70557714e-02 9.49649182e-02 1.93676870e+01] [-8.66929470e-02 9.96203377e-01 -7.94756486e-03 -9.52424844e-01] [-9.52962536e-02 -3.51452745e-04 9.95448894e-01 -2.41562164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.238241008000003 meters 0.060105878488882124 Centerline is valid? [True, True] Translation: X:19.40, Y:-0.96, Z:-2.42 [[ 9.91779407e-01 8.53507803e-02 9.53354711e-02 1.93992360e+01] [-8.49746727e-02 9.96350951e-01 -8.00542192e-03 -9.57379717e-01] [-9.56708564e-02 -1.61487854e-04 9.95413010e-01 -2.41976480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.268241008 meters 0.06035541448515697 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.96, Z:-2.42 [[ 9.91911960e-01 8.46522334e-02 9.45762281e-02 1.94293756e+01] [-8.42767963e-02 9.96410555e-01 -7.96412238e-03 -9.60483867e-01] [-9.49109327e-02 -7.08732702e-05 9.95485766e-01 -2.42495921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.298241008 meters 0.06060602234026414 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.96, Z:-2.43 [[ 9.91888174e-01 8.53613732e-02 9.41875052e-02 1.94605472e+01] [-8.49903298e-02 9.96350050e-01 -7.95121797e-03 -9.62876475e-01] [-9.45224524e-02 -1.18308053e-04 9.95522723e-01 -2.43030129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.328241008000003 meters 0.06066932280129468 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.97, Z:-2.43 [[ 9.91795312e-01 8.68886845e-02 9.37678832e-02 1.94922763e+01] [-8.65257301e-02 9.96217997e-01 -7.93723639e-03 -9.65303522e-01] [-9.41029089e-02 -2.41220709e-04 9.95562446e-01 -2.43362056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.358241008 meters 0.06083965614260161 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.97, Z:-2.44 [[ 9.91924165e-01 8.68172886e-02 9.24619361e-02 1.95240286e+01] [-8.64621139e-02 9.96224229e-01 -7.84783755e-03 -9.69246195e-01] [-9.27941490e-02 -2.09994742e-04 9.95685293e-01 -2.43796765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.388241008 meters 0.060994455294761954 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.97, Z:-2.44 [[ 9.92002033e-01 8.68470307e-02 9.15945368e-02 1.95543249e+01] [-8.64966227e-02 9.96221641e-01 -7.79594374e-03 -9.72973782e-01] [-9.19255143e-02 -1.89026051e-04 9.95765868e-01 -2.44265544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.418241008000003 meters 0.06121658379934994 Centerline is valid? [True, True] Translation: X:19.59, Y:-0.98, Z:-2.45 [[ 9.92206120e-01 8.73668477e-02 8.88484588e-02 1.95861320e+01] [-8.70371484e-02 9.96176185e-01 -7.58574421e-03 -9.76316391e-01] [-8.91714613e-02 -2.06494652e-04 9.96016269e-01 -2.44725797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.448241008000004 meters 0.0616177776226558 Centerline is valid? [True, True] Translation: X:19.62, Y:-0.98, Z:-2.45 [[ 9.92252130e-01 8.74951365e-02 8.82060745e-02 1.96168185e+01] [-8.71706622e-02 9.96164923e-01 -7.53134954e-03 -9.79465964e-01] [-8.85267538e-02 -2.15984297e-04 9.96073776e-01 -2.45364302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.478241008 meters 0.061164018567760256 Centerline is valid? [True, True] Translation: X:19.65, Y:-0.98, Z:-2.45 [[ 9.92283968e-01 8.77394257e-02 8.76031946e-02 1.96483760e+01] [-8.74187098e-02 9.96143436e-01 -7.49822790e-03 -9.82783359e-01] [-8.79232375e-02 -2.17786910e-04 9.96127229e-01 -2.45478057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.508241008000002 meters 0.06107412051694091 Centerline is valid? [True, True] Translation: X:19.68, Y:-0.99, Z:-2.46 [[ 9.92265192e-01 8.60383643e-02 8.94828920e-02 1.96796041e+01] [-8.56948452e-02 9.96291824e-01 -7.68087296e-03 -9.86146860e-01] [-8.98119233e-02 -4.67596908e-05 9.95958742e-01 -2.45771943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.538241008000004 meters 0.06124893728329432 Centerline is valid? [True, True] Translation: X:19.71, Y:-0.99, Z:-2.46 [[ 9.92269795e-01 8.51155498e-02 9.03105580e-02 1.97097064e+01] [-8.47598227e-02 9.96371085e-01 -7.77385058e-03 -9.89685737e-01] [-9.06445043e-02 5.90502278e-05 9.95883312e-01 -2.46379738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.568241008 meters 0.06085139257438383 Centerline is valid? [True, True] Translation: X:19.74, Y:-0.99, Z:-2.46 [[ 9.92254529e-01 8.41085619e-02 9.14149820e-02 1.97422374e+01] [-8.37377220e-02 9.96456582e-01 -7.89144368e-03 -9.94224869e-01] [-9.17547984e-02 1.75438393e-04 9.95781616e-01 -2.46390373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.598241008000002 meters 0.06025115526201752 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.00, Z:-2.46 [[ 9.92173864e-01 8.34682804e-02 9.28658648e-02 1.97744065e+01] [-8.30820131e-02 9.96510404e-01 -8.02456115e-03 -9.97710929e-01] [-9.32115968e-02 2.46276849e-04 9.95646291e-01 -2.46155573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.628241008000003 meters 0.0602498250762439 Centerline is valid? [True, True] Translation: X:19.80, Y:-1.00, Z:-2.46 [[ 9.92147566e-01 7.96596477e-02 9.64237916e-02 1.98048861e+01] [-7.92222466e-02 9.96821904e-01 -8.36227771e-03 -1.00459691e+00] [-9.67834836e-02 6.57704082e-04 9.95305242e-01 -2.46325957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.658241008 meters 0.06003537224828156 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.01, Z:-2.46 [[ 9.92160773e-01 7.80241776e-02 9.76177661e-02 1.98374725e+01] [-7.75677448e-02 9.96951122e-01 -8.46790294e-03 -1.00906220e+00] [-9.79808426e-02 8.29531155e-04 9.95187955e-01 -2.46349036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.688241008000002 meters 0.0598560900975801 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.01, Z:-2.47 [[ 9.92154673e-01 7.71642266e-02 9.83604939e-02 1.98693452e+01] [-7.66961456e-02 9.97017966e-01 -8.53677128e-03 -1.01282190e+00] [-9.87259129e-02 9.25926769e-04 9.95114233e-01 -2.46607800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.718241008000003 meters 0.060219837355664114 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.02, Z:-2.47 [[ 9.92316835e-01 7.55080539e-02 9.80093548e-02 1.98993489e+01] [-7.50329082e-02 9.97144573e-01 -8.53008578e-03 -1.01583167e+00] [-9.83735865e-02 1.11062079e-03 9.95148936e-01 -2.47240998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.748241008 meters 0.060345379296784275 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.02, Z:-2.48 [[ 9.92412046e-01 7.50454019e-02 9.73987584e-02 1.99309090e+01] [-7.45719341e-02 9.97179432e-01 -8.49749532e-03 -1.01740980e+00] [-9.77617365e-02 1.16980293e-03 9.95209161e-01 -2.47760858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.778241008000002 meters 0.06082940408623618 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.02, Z:-2.48 [[ 9.92488712e-01 7.43763794e-02 9.71303768e-02 1.99612930e+01] [-7.39000201e-02 9.97229451e-01 -8.49765202e-03 -1.02066909e+00] [-9.74932968e-02 1.25588691e-03 9.95235389e-01 -2.48419212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.808241008000003 meters 0.060652571277856275 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.02, Z:-2.49 [[ 9.92498498e-01 7.44922650e-02 9.69413957e-02 1.99943693e+01] [-7.40163816e-02 9.97220793e-01 -8.50088882e-03 -1.02220373e+00] [-9.73052259e-02 1.26186805e-03 9.95253787e-01 -2.48662270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.838241008 meters 0.061134423132618264 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.03, Z:-2.49 [[ 9.92432910e-01 7.46469323e-02 9.74923283e-02 2.00250413e+01] [-7.41635778e-02 9.97209202e-01 -8.57741842e-03 -1.02613790e+00] [-9.78605249e-02 1.28213245e-03 9.95199314e-01 -2.49090879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.868241008000002 meters 0.06085262282716168 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.03, Z:-2.49 [[ 9.92387379e-01 7.57511310e-02 9.71033248e-02 2.00577663e+01] [-7.52749830e-02 9.97126047e-01 -8.56286559e-03 -1.02692688e+00] [-9.74729012e-02 1.18822861e-03 9.95237470e-01 -2.49350244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.898241008000003 meters 0.06106592349347801 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.03, Z:-2.50 [[ 9.92277559e-01 7.65913228e-02 9.75654397e-02 2.00883922e+01] [-7.61118790e-02 9.97061919e-01 -8.63196830e-03 -1.02828095e+00] [-9.79399184e-02 1.13941950e-03 9.95191677e-01 -2.49918344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.928241008 meters 0.061312746076355194 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.03, Z:-2.51 [[ 9.92217460e-01 7.96009256e-02 9.57507448e-02 2.01200411e+01] [-7.91512108e-02 9.96826452e-01 -8.49178662e-03 -1.02630549e+00] [-9.61228293e-02 8.46911562e-04 9.95369120e-01 -2.50634281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.958241008 meters 0.06126572569748783 Centerline is valid? [True, True] Translation: X:20.15, Y:-1.03, Z:-2.51 [[ 9.92097473e-01 8.14269970e-02 9.54580986e-02 2.01528809e+01] [-8.09864580e-02 9.96679071e-01 -8.48669087e-03 -1.02735433e+00] [-9.58321347e-02 6.88811281e-04 9.95397271e-01 -2.50924328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.988241008000003 meters 0.06126329755452338 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.03, Z:-2.51 [[ 9.91809519e-01 8.38334221e-02 9.63630434e-02 2.01838393e+01] [-8.33930791e-02 9.96479663e-01 -8.59510630e-03 -1.02765961e+00] [-9.67443702e-02 4.88697340e-04 9.95309142e-01 -2.51380401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.018241008 meters 0.06118265446356504 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.03, Z:-2.52 [[ 9.91535511e-01 8.64132954e-02 9.69023830e-02 2.02161525e+01] [-8.59782457e-02 9.96259341e-01 -8.66406975e-03 -1.02694908e+00] [-9.72885950e-02 2.59235940e-04 9.95256179e-01 -2.51664665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.048241008 meters 0.06121254412919823 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.03, Z:-2.52 [[ 9.91134807e-01 8.95815823e-02 9.81169396e-02 2.02479071e+01] [-8.91486908e-02 9.95979487e-01 -8.79611559e-03 -1.02614995e+00] [-9.85104292e-02 -2.88603848e-05 9.95136018e-01 -2.52128612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.078241008000003 meters 0.06141861685931712 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.03, Z:-2.53 [[ 9.90871251e-01 9.18888057e-02 9.86438601e-02 2.02784735e+01] [-9.14602920e-02 9.95769246e-01 -8.86697640e-03 -1.02625132e+00] [-9.90412981e-02 -2.35964260e-04 9.95083296e-01 -2.52548123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.108241008000004 meters 0.06137118721919532 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.03, Z:-2.53 [[ 9.90506259e-01 9.46402203e-02 9.97024536e-02 2.03103486e+01] [-9.42141968e-02 9.95511418e-01 -8.98341304e-03 -1.02630579e+00] [-1.00105123e-01 -4.95259736e-04 9.94976743e-01 -2.52648040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.138241008 meters 0.0613848906587993 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.03, Z:-2.53 [[ 9.90416146e-01 9.61241851e-02 9.91766047e-02 2.03417013e+01] [-9.57077342e-02 9.95369157e-01 -8.95940986e-03 -1.02779206e+00] [-9.95785494e-02 -6.18423943e-04 9.95029512e-01 -2.53022651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.168241008000003 meters 0.06192171017559755 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.03, Z:-2.54 [[ 9.90024861e-01 9.89022215e-02 1.00345035e-01 2.03726660e+01] [-9.84875615e-02 9.95096764e-01 -9.09009862e-03 -1.02589906e+00] [-1.00752050e-01 -8.83314145e-04 9.94911174e-01 -2.53628113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.198241008000004 meters 0.06206319209728197 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.03, Z:-2.54 [[ 9.89812722e-01 1.00462247e-01 1.00886635e-01 2.04055942e+01] [-1.00048978e-01 9.94940342e-01 -9.16069450e-03 -1.02674201e+00] [-1.01296488e-01 -1.02623278e-03 9.94855753e-01 -2.54053209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.228241008 meters 0.06240643634137288 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.03, Z:-2.55 [[ 9.89644393e-01 1.01858398e-01 1.01137739e-01 2.04366670e+01] [-1.01447521e-01 9.94798249e-01 -9.21105562e-03 -1.02680137e+00] [-1.01549870e-01 -1.14450342e-03 9.94829792e-01 -2.54579137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.258241008000002 meters 0.06277770990117873 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.03, Z:-2.55 [[ 9.89614650e-01 1.03426101e-01 9.98292819e-02 2.04681387e+01] [-1.03031270e-01 9.94636338e-01 -9.11660311e-03 -1.02793863e+00] [-1.00236726e-01 -1.26361372e-03 9.94962814e-01 -2.55186528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.288241008000004 meters 0.06284648923335698 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.03, Z:-2.56 [[ 9.89476729e-01 1.04293503e-01 1.00292906e-01 2.05009640e+01] [-1.03897149e-01 9.94545666e-01 -9.18151487e-03 -1.03052834e+00] [-1.00703448e-01 -1.33525172e-03 9.94915591e-01 -2.55559326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.318241008 meters 0.06283615892685118 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.03, Z:-2.56 [[ 9.89382258e-01 1.05067452e-01 1.00417022e-01 2.05337126e+01] [-1.04671362e-01 9.94464128e-01 -9.21978843e-03 -1.03312160e+00] [-1.00829825e-01 -1.38889132e-03 9.94902718e-01 -2.55928378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.348241008000002 meters 0.06284376650412954 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.03, Z:-2.56 [[ 9.89265565e-01 1.05215677e-01 1.01406625e-01 2.05644378e+01] [-1.04809518e-01 9.94448456e-01 -9.33983110e-03 -1.03443382e+00] [-1.01826358e-01 -1.38880614e-03 9.94801218e-01 -2.56383760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.378241008000003 meters 0.06279762095322522 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.04, Z:-2.57 [[ 9.89357081e-01 1.04245280e-01 1.01515949e-01 2.05952031e+01] [-1.03830869e-01 9.94550810e-01 -9.37214065e-03 -1.03841816e+00] [-1.01939771e-01 -1.26809554e-03 9.94789764e-01 -2.56850458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.408241008 meters 0.06257992201743007 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.04, Z:-2.57 [[ 9.89483077e-01 1.02912308e-01 1.01647911e-01 2.06264320e+01] [-1.02487587e-01 9.94689813e-01 -9.40591210e-03 -1.04404399e+00] [-1.02076125e-01 -1.11065823e-03 9.94775970e-01 -2.57236480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.438241008000002 meters 0.06244471988641559 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.05, Z:-2.58 [[ 9.89723844e-01 1.01569165e-01 1.00649973e-01 2.06584768e+01] [-1.01143566e-01 9.94828036e-01 -9.33585536e-03 -1.04970896e+00] [-1.01077650e-01 -9.40178512e-04 9.94878095e-01 -2.57625797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.468241008000003 meters 0.062347601713297174 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.06, Z:-2.58 [[ 9.89939106e-01 9.99993212e-02 1.00103453e-01 2.06900706e+01] [-9.95676475e-02 9.94987223e-01 -9.31175647e-03 -1.05510934e+00] [-1.00532826e-01 -7.48993397e-04 9.94933460e-01 -2.58167458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.498241008 meters 0.062189595597051776 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.06, Z:-2.59 [[ 9.90203914e-01 9.68635553e-02 1.00566695e-01 2.07203053e+01] [-9.64086885e-02 9.95297588e-01 -9.38483964e-03 -1.06172739e+00] [-1.01002838e-01 -4.02598250e-04 9.94886056e-01 -2.58548518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.528241008000002 meters 0.06206241282031387 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.07, Z:-2.59 [[ 9.90294687e-01 9.54588895e-02 1.01015013e-01 2.07515931e+01] [-9.49915164e-02 9.95433342e-01 -9.43787797e-03 -1.06715915e+00] [-1.01454642e-01 -2.49288883e-04 9.94840135e-01 -2.58902293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.558241008000003 meters 0.06199114520693445 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.07, Z:-2.59 [[ 9.90538036e-01 9.31356128e-02 1.00797604e-01 2.07837976e+01] [-9.26559826e-02 9.95653432e-01 -9.43988322e-03 -1.07495190e+00] [-1.01238670e-01 1.10623349e-05 9.94862167e-01 -2.59335287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.588241008 meters 0.06199114520693445 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.08, Z:-2.60 [[ 9.90514124e-01 9.33922027e-02 1.00795173e-01 2.08157269e+01] [-9.29112645e-02 9.95629397e-01 -9.46575801e-03 -1.07812880e+00] [-1.01238666e-01 1.09599760e-05 9.94862168e-01 -2.59741517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.618241008000002 meters 0.06190273348294085 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.08, Z:-2.60 [[ 9.90534793e-01 9.15232834e-02 1.02295223e-01 2.08470140e+01] [-9.10150861e-02 9.95802909e-01 -9.63429555e-03 -1.08389408e+00] [-1.02747643e-01 2.32696428e-04 9.94707428e-01 -2.59911792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.648241008000003 meters 0.06190273348294085 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.09, Z:-2.60 [[ 9.90510670e-01 9.17863998e-02 1.02293059e-01 2.08789353e+01] [-9.12772355e-02 9.95778693e-01 -9.65720960e-03 -1.08708141e+00] [-1.02747649e-01 2.28541503e-04 9.94707429e-01 -2.60317710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.678241008 meters 0.06182506687966924 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.09, Z:-2.61 [[ 9.90463835e-01 9.13210534e-02 1.03159374e-01 2.09092771e+01] [-9.07974896e-02 9.95821454e-01 -9.76968341e-03 -1.09113243e+00] [-1.03620495e-01 3.09905929e-04 9.94616859e-01 -2.60735545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.708241008 meters 0.06181010996324183 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.10, Z:-2.61 [[ 9.90449608e-01 9.08317471e-02 1.03726407e-01 2.09407414e+01] [-9.02984899e-02 9.95866182e-01 -9.83511598e-03 -1.09531975e+00] [-1.04190962e-01 3.74848854e-04 9.94557240e-01 -2.61030489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.738241008000003 meters 0.061895741780705255 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.10, Z:-2.61 [[ 9.90426392e-01 9.14545566e-02 1.03400319e-01 2.09730786e+01] [-9.09255989e-02 9.95809196e-01 -9.82758676e-03 -1.09952008e+00] [-1.03865766e-01 3.31765331e-04 9.94591269e-01 -2.61480757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.768241008 meters 0.0619177260636294 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.10, Z:-2.62 [[ 9.90298829e-01 9.26535398e-02 1.03554583e-01 2.10040687e+01] [-9.21266025e-02 9.95698381e-01 -9.87028381e-03 -1.10187423e+00] [-1.04023648e-01 2.34398559e-04 9.94574796e-01 -2.61981903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.798241008 meters 0.06186481805812136 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.10, Z:-2.62 [[ 9.90099768e-01 9.40066714e-02 1.04236247e-01 2.10356058e+01] [-9.34774692e-02 9.95571560e-01 -9.96148608e-03 -1.10400379e+00] [-1.04711089e-01 1.19124489e-04 9.94502677e-01 -2.62211194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.828241008000003 meters 0.06198798858421685 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.11, Z:-2.63 [[ 9.90045085e-01 9.47795671e-02 1.04055581e-01 2.10672188e+01] [-9.42537489e-02 9.95498282e-01 -9.97001259e-03 -1.10684833e+00] [-1.04532106e-01 6.31333070e-05 9.94521510e-01 -2.62785237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.858241008000004 meters 0.061882614571466925 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.11, Z:-2.63 [[ 9.89788318e-01 9.73371530e-02 1.04137233e-01 2.11001618e+01] [-9.68229950e-02 9.95251447e-01 -9.99328406e-03 -1.10965558e+00] [-1.04615449e-01 -1.91642956e-04 9.94512730e-01 -2.62992766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.888241008 meters 0.06208882895190935 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.11, Z:-2.64 [[ 9.89716665e-01 9.87847082e-02 1.03452908e-01 2.11309148e+01] [-9.82822215e-02 9.95108779e-01 -9.95600732e-03 -1.11222845e+00] [-1.03930398e-01 -3.13955273e-04 9.94584523e-01 -2.63549449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.918241008000003 meters 0.062084605792486806 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.11, Z:-2.64 [[ 9.89637626e-01 9.95935241e-02 1.03433546e-01 2.11632619e+01] [-9.90934209e-02 9.95028134e-01 -9.97529991e-03 -1.11457390e+00] [-1.03912763e-01 -3.77651750e-04 9.94586344e-01 -2.63948485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.948241008000004 meters 0.06211238924795047 Centerline is valid? [True, True] Translation: X:21.19, Y:-1.12, Z:-2.64 [[ 9.89546798e-01 1.00052885e-01 1.03858339e-01 2.11942124e+01] [-9.95481562e-02 9.94982041e-01 -1.00450745e-02 -1.11681068e+00] [-1.04342220e-01 -3.98834843e-04 9.94541373e-01 -2.64440559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.978241008 meters 0.062041394896014464 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.12, Z:-2.65 [[ 9.89506804e-01 1.00419055e-01 1.03885989e-01 2.12265166e+01] [-9.99138535e-02 9.94945144e-01 -1.00688595e-02 -1.11980676e+00] [-1.04371966e-01 -4.16444473e-04 9.94538244e-01 -2.64862788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.008241008000002 meters 0.062072363151174884 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.12, Z:-2.65 [[ 9.89480729e-01 1.00145931e-01 1.04396736e-01 2.12568328e+01] [-9.96310196e-02 9.94972695e-01 -1.01487161e-02 -1.12304540e+00] [-1.04888255e-01 -3.59194318e-04 9.94483949e-01 -2.65298692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.038241008000004 meters 0.06191720724790981 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.13, Z:-2.66 [[ 9.89591821e-01 9.83528349e-02 1.05046403e-01 2.12886900e+01] [-9.78201583e-02 9.95151594e-01 -1.02235938e-02 -1.12948825e+00] [-1.05542615e-01 -1.58470960e-04 9.94414768e-01 -2.65552639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.068241008 meters 0.06194064980154397 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.13, Z:-2.66 [[ 9.89678614e-01 9.80223414e-02 1.04536408e-01 2.13194963e+01] [-9.74904319e-02 9.95184210e-01 -1.01982719e-02 -1.13389411e+00] [-1.05032641e-01 -9.82879436e-05 9.94468770e-01 -2.66152312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.098241008000002 meters 0.061812936088365245 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.14, Z:-2.67 [[ 9.89703606e-01 9.77470133e-02 1.04557606e-01 2.13516544e+01] [-9.72105914e-02 9.95211294e-01 -1.02265034e-02 -1.13802122e+00] [-1.05056520e-01 -4.28994290e-05 9.94466252e-01 -2.66565541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.128241008000003 meters 0.061870807057086974 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.14, Z:-2.67 [[ 9.89825697e-01 9.67222804e-02 1.04354637e-01 2.13834449e+01] [-9.61794590e-02 9.95311405e-01 -1.02332658e-02 -1.14309522e+00] [-1.04855145e-01 9.23768812e-05 9.94487501e-01 -2.67035806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.158241008 meters 0.06183782595280041 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.15, Z:-2.67 [[ 9.89828864e-01 9.66231055e-02 1.04416454e-01 2.14158385e+01] [-9.60762217e-02 9.95321033e-01 -1.02665029e-02 -1.14803987e+00] [-1.04919874e-01 1.30142519e-04 9.94480670e-01 -2.67358130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.188241008000002 meters 0.06182040868583921 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.15, Z:-2.68 [[ 9.89869715e-01 9.64636666e-02 1.04176332e-01 2.14484187e+01] [-9.59154602e-02 9.95336491e-01 -1.02710287e-02 -1.15274753e+00] [-1.04681286e-01 1.74859456e-04 9.94505806e-01 -2.67783194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.218241008000003 meters 0.061926637749672206 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.16, Z:-2.68 [[ 9.89814247e-01 9.72470971e-02 1.03974796e-01 2.14791919e+01] [-9.67023206e-02 9.95260261e-01 -1.02797666e-02 -1.15702295e+00] [-1.04481660e-01 1.20455409e-04 9.94526806e-01 -2.68310864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.248241008 meters 0.0617040122322852 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.16, Z:-2.69 [[ 9.89732187e-01 9.80271205e-02 1.04023462e-01 2.15117798e+01] [-9.74833910e-02 9.95183742e-01 -1.03106235e-02 -1.16079737e+00] [-1.04533179e-01 6.41961091e-05 9.94521398e-01 -2.68552964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.278241008000002 meters 0.061777303476985 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.16, Z:-2.69 [[ 9.89315842e-01 1.00967468e-01 1.05165274e-01 2.15425921e+01] [-1.00425161e-01 9.94889703e-01 -1.04529988e-02 -1.16064047e+00] [-1.05683261e-01 -2.19922208e-04 9.94399819e-01 -2.68867023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.308241008000003 meters 0.061831265222696774 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.16, Z:-2.69 [[ 9.89098772e-01 1.02869582e-01 1.05363502e-01 2.15758228e+01] [-1.02333687e-01 9.94694771e-01 -1.04942490e-02 -1.16097089e+00] [-1.05884064e-01 -4.02386838e-04 9.94378400e-01 -2.69250889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.338241008 meters 0.06203360018745447 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.16, Z:-2.70 [[ 9.88824896e-01 1.04861775e-01 1.05968546e-01 2.16088816e+01] [-1.04328018e-01 9.94486631e-01 -1.05832461e-02 -1.16090950e+00] [-1.06494080e-01 -5.90511216e-04 9.94313161e-01 -2.69729940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.368241008000002 meters 0.06212132636116741 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.16, Z:-2.70 [[ 9.88773973e-01 1.05794566e-01 1.05515593e-01 2.16404688e+01] [-1.05267570e-01 9.94387789e-01 -1.05670727e-02 -1.16218030e+00] [-1.06041356e-01 -6.58923637e-04 9.94361502e-01 -2.70253525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.398241008000003 meters 0.06226563376778998 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.16, Z:-2.71 [[ 9.88637263e-01 1.06271076e-01 1.06314725e-01 2.16710086e+01] [-1.05736020e-01 9.94336956e-01 -1.06729253e-02 -1.16312206e+00] [-1.06846883e-01 -6.89644205e-04 9.94275248e-01 -2.70647783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.428241008 meters 0.06233844591273612 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.17, Z:-2.71 [[ 9.88655003e-01 1.06351574e-01 1.06068973e-01 2.17024329e+01] [-1.05817036e-01 9.94328360e-01 -1.06708259e-02 -1.16592686e+00] [-1.06602247e-01 -6.74138921e-04 9.94301517e-01 -2.71166894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.458241008 meters 0.062355734851239346 Centerline is valid? [True, True] Translation: X:21.74, Y:-1.17, Z:-2.72 [[ 9.88617970e-01 1.06810017e-01 1.05953436e-01 2.17352064e+01] [-1.06276460e-01 9.94279204e-01 -1.06854549e-02 -1.16976976e+00] [-1.06488612e-01 -6.96523378e-04 9.94313678e-01 -2.71620684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.488241008000003 meters 0.06245618231894787 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.17, Z:-2.72 [[ 9.88610778e-01 1.07105325e-01 1.05722176e-01 2.17660533e+01] [-1.06572748e-01 9.94247435e-01 -1.06905461e-02 -1.17412736e+00] [-1.06259016e-01 -6.98313580e-04 9.94338239e-01 -2.72062440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.518241008 meters 0.06232813621876289 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.18, Z:-2.72 [[ 9.88689635e-01 1.06161661e-01 1.05936337e-01 2.17979183e+01] [-1.05618372e-01 9.94348721e-01 -1.07415690e-02 -1.18057191e+00] [-1.06478004e-01 -5.68745457e-04 9.94314895e-01 -2.72469239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.548241008 meters 0.06235358998491516 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.19, Z:-2.73 [[ 9.88866490e-01 1.05580200e-01 1.04861267e-01 2.18289305e+01] [-1.05044035e-01 9.94410668e-01 -1.06383522e-02 -1.18526531e+00] [-1.05398362e-01 -4.95140662e-04 9.94429957e-01 -2.73034618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.578241008000003 meters 0.06238713719535645 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.19, Z:-2.74 [[ 9.88888396e-01 1.05716212e-01 1.04517094e-01 2.18607437e+01] [-1.05181851e-01 9.94396223e-01 -1.06268753e-02 -1.19038565e+00] [-1.05054837e-01 -4.84507680e-04 9.94466312e-01 -2.73624063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.608241008000004 meters 0.06257247965238948 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.20, Z:-2.74 [[ 9.89272674e-01 1.04509547e-01 1.02065323e-01 2.18917302e+01] [-1.03990826e-01 9.94523832e-01 -1.04046359e-02 -1.19716022e+00] [-1.02593780e-01 -3.20835303e-04 9.94723285e-01 -2.74267462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.638241008 meters 0.06270205752279574 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.20, Z:-2.75 [[ 9.89246636e-01 1.04525893e-01 1.02300689e-01 2.19226778e+01] [-1.04002451e-01 9.94522120e-01 -1.04519170e-02 -1.20106794e+00] [-1.02832795e-01 -2.99998714e-04 9.94698611e-01 -2.74805416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.668241008000003 meters 0.06270791883984546 Centerline is valid? [True, True] Translation: X:21.95, Y:-1.20, Z:-2.75 [[ 9.89321372e-01 1.04532815e-01 1.01568273e-01 2.19538616e+01] [-1.04014317e-01 9.94521400e-01 -1.04022040e-02 -1.20457690e+00] [-1.02099193e-01 -2.73431895e-04 9.94774185e-01 -2.75200873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.698241008000004 meters 0.06270535926535792 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.21, Z:-2.76 [[ 9.89263275e-01 1.04528790e-01 1.02136700e-01 2.19850844e+01] [-1.04002037e-01 9.94521829e-01 -1.04836684e-02 -1.20841559e+00] [-1.02673023e-01 -2.51316786e-04 9.94715129e-01 -2.75518320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.728241008 meters 0.06261840311787827 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.21, Z:-2.76 [[ 9.89105141e-01 1.04297503e-01 1.03889611e-01 2.20153854e+01] [-1.03748593e-01 9.94546122e-01 -1.06883689e-02 -1.21290067e+00] [-1.04437780e-01 -2.06480308e-04 9.94531401e-01 -2.75790610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.758241008000002 meters 0.06252079904648372 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.22, Z:-2.76 [[ 9.89071518e-01 1.04478850e-01 1.04027413e-01 2.20484093e+01] [-1.03927281e-01 9.94527088e-01 -1.07234460e-02 -1.21669844e+00] [-1.04578453e-01 -2.05031142e-04 9.94516619e-01 -2.76050053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.788241008000004 meters 0.06245691272970739 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.22, Z:-2.76 [[ 9.89101497e-01 1.04842072e-01 1.03374894e-01 2.20803106e+01] [-1.04296468e-01 9.94488861e-01 -1.06842206e-02 -1.21959361e+00] [-1.03925337e-01 -2.13857797e-04 9.94585079e-01 -2.76406459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.818241008 meters 0.06272585219843665 Centerline is valid? [True, True] Translation: X:22.11, Y:-1.22, Z:-2.77 [[ 9.89007872e-01 1.05452023e-01 1.03649888e-01 2.21119805e+01] [-1.04904273e-01 9.94424359e-01 -1.07371864e-02 -1.22211337e+00] [-1.04204231e-01 -2.54154241e-04 9.94555888e-01 -2.77045402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.848241008000002 meters 0.06264473384171057 Centerline is valid? [True, True] Translation: X:22.14, Y:-1.23, Z:-2.77 [[ 9.89054810e-01 1.04593918e-01 1.04070624e-01 2.21439717e+01] [-1.04034120e-01 9.94515004e-01 -1.08077982e-02 -1.22762734e+00] [-1.04630227e-01 -1.37390960e-04 9.94511185e-01 -2.77197900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.878241008000003 meters 0.06260571948092351 Centerline is valid? [True, True] Translation: X:22.17, Y:-1.23, Z:-2.78 [[ 9.89149060e-01 1.04308132e-01 1.03459898e-01 2.21745425e+01] [-1.03750576e-01 9.94545025e-01 -1.07708273e-02 -1.23155544e+00] [-1.04019011e-01 -8.00703050e-05 9.94575306e-01 -2.77667482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.908241008 meters 0.06276283886920182 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.23, Z:-2.78 [[ 9.89088345e-01 1.04841486e-01 1.03501254e-01 2.22060400e+01] [-1.04285079e-01 9.94488938e-01 -1.07877142e-02 -1.23384784e+00] [-1.04061852e-01 -1.23634038e-04 9.94570820e-01 -2.78203102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.938241008000002 meters 0.06287422728843932 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.24, Z:-2.79 [[ 9.89061323e-01 1.05862139e-01 1.02717605e-01 2.22379135e+01] [-1.05318029e-01 9.94380793e-01 -1.07215220e-02 -1.23556993e+00] [-1.03275417e-01 -2.13773002e-04 9.94652775e-01 -2.78802802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.968241008000003 meters 0.06301947200133984 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.24, Z:-2.79 [[ 9.89195180e-01 1.05976837e-01 1.01300574e-01 2.22695078e+01] [-1.05445945e-01 9.94368579e-01 -1.05963484e-02 -1.23915896e+00] [-1.01853075e-01 -1.99878015e-04 9.94799433e-01 -2.79341367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.998241008 meters 0.06300676381077971 Centerline is valid? [True, True] Translation: X:22.30, Y:-1.25, Z:-2.80 [[ 9.89544287e-01 1.03212992e-01 1.00743147e-01 2.23008688e+01] [-1.02671289e-01 9.94659272e-01 -1.05612387e-02 -1.24630663e+00] [-1.01295162e-01 1.07384704e-04 9.94856411e-01 -2.79729039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.028241008000002 meters 0.06314133321567288 Centerline is valid? [True, True] Translation: X:22.33, Y:-1.25, Z:-2.80 [[ 9.89655337e-01 1.01714752e-01 1.01175212e-01 2.23318228e+01] [-1.01158196e-01 9.94813564e-01 -1.06297400e-02 -1.25228572e+00] [-1.01731675e-01 2.85077003e-04 9.94811834e-01 -2.80229086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.058241008000003 meters 0.06302485352585545 Centerline is valid? [True, True] Translation: X:22.36, Y:-1.26, Z:-2.80 [[ 9.89820682e-01 1.00726137e-01 1.00544832e-01 2.23632291e+01] [-1.00168904e-01 9.94914106e-01 -1.05883373e-02 -1.25669151e+00] [-1.01099994e-01 4.09089699e-04 9.94876185e-01 -2.80481018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.088241008 meters 0.06320817669476297 Centerline is valid? [True, True] Translation: X:22.39, Y:-1.26, Z:-2.81 [[ 9.89925020e-01 9.97297325e-02 1.00510876e-01 2.23943321e+01] [-9.91653814e-02 9.95014420e-01 -1.06081038e-02 -1.26232398e+00] [-1.01067714e-01 5.34027981e-04 9.94879406e-01 -2.81062286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.118241008000002 meters 0.06308963161210153 Centerline is valid? [True, True] Translation: X:22.43, Y:-1.27, Z:-2.81 [[ 9.89922729e-01 1.00085365e-01 1.00179388e-01 2.24271681e+01] [-9.95240831e-02 9.94978718e-01 -1.05975509e-02 -1.26588966e+00] [-1.00737019e-01 5.20494802e-04 9.94912952e-01 -2.81455756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.148241008000003 meters 0.06299130741313876 Centerline is valid? [True, True] Translation: X:22.46, Y:-1.27, Z:-2.82 [[ 9.89766255e-01 1.00626645e-01 1.01178252e-01 2.24587859e+01] [-1.00054086e-01 9.94924133e-01 -1.07307597e-02 -1.26919510e+00] [-1.01744485e-01 4.97646315e-04 9.94810440e-01 -2.81789435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.178241008 meters 0.06286663303020122 Centerline is valid? [True, True] Translation: X:22.49, Y:-1.27, Z:-2.82 [[ 9.89625218e-01 1.00441809e-01 1.02729597e-01 2.24909413e+01] [-9.98479919e-02 9.94942783e-01 -1.09195637e-02 -1.27260225e+00] [-1.03306852e-01 5.48931678e-04 9.94649382e-01 -2.82022534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.208241008 meters 0.06262754354526862 Centerline is valid? [True, True] Translation: X:22.52, Y:-1.28, Z:-2.82 [[ 9.89318381e-01 1.01078563e-01 1.05034594e-01 2.25215938e+01] [-1.00458365e-01 9.94878310e-01 -1.11921527e-02 -1.27694058e+00] [-1.05627926e-01 5.20998818e-04 9.94405586e-01 -2.82214805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.238241008000003 meters 0.062420318598893416 Centerline is valid? [True, True] Translation: X:22.55, Y:-1.28, Z:-2.82 [[ 9.89192863e-01 1.01522150e-01 1.05786257e-01 2.25525194e+01] [-1.00894148e-01 9.94833158e-01 -1.12853037e-02 -1.28092808e+00] [-1.06385385e-01 4.90127660e-04 9.94324851e-01 -2.82466625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.268241008000004 meters 0.062481819632039214 Centerline is valid? [True, True] Translation: X:22.58, Y:-1.28, Z:-2.83 [[ 9.89037086e-01 1.02293819e-01 1.06497029e-01 2.25827370e+01] [-1.01659294e-01 9.94754134e-01 -1.13842433e-02 -1.28381248e+00] [-1.07102897e-01 4.33026132e-04 9.94247847e-01 -2.83007610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.298241008 meters 0.06214712648861966 Centerline is valid? [True, True] Translation: X:22.62, Y:-1.29, Z:-2.83 [[ 9.88737302e-01 1.03465392e-01 1.08136302e-01 2.26155241e+01] [-1.02815312e-01 9.94632997e-01 -1.15849939e-02 -1.28543643e+00] [-1.08754580e-01 3.36447901e-04 9.94068573e-01 -2.83044308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.328241008000003 meters 0.06225724893228578 Centerline is valid? [True, True] Translation: X:22.65, Y:-1.29, Z:-2.84 [[ 9.88716330e-01 1.04608659e-01 1.07224284e-01 2.26468554e+01] [-1.03975545e-01 9.94513440e-01 -1.14936426e-02 -1.28840867e+00] [-1.07838326e-01 2.15248740e-04 9.94168421e-01 -2.83526514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.358241008000004 meters 0.06221966269788564 Centerline is valid? [True, True] Translation: X:22.68, Y:-1.29, Z:-2.84 [[ 9.88727860e-01 1.04865701e-01 1.06866289e-01 2.26787936e+01] [-1.04235718e-01 9.94486370e-01 -1.14793155e-02 -1.29211846e+00] [-1.07480855e-01 2.10634599e-04 9.94207132e-01 -2.83978461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.388241008 meters 0.06217938387034 Centerline is valid? [True, True] Translation: X:22.71, Y:-1.30, Z:-2.84 [[ 9.88822707e-01 1.04608917e-01 1.06238541e-01 2.27098325e+01] [-1.03981821e-01 9.94513401e-01 -1.14401424e-02 -1.29559400e+00] [-1.06852394e-01 2.65395560e-04 9.94274859e-01 -2.84437262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.418241008000003 meters 0.06236479930464515 Centerline is valid? [True, True] Translation: X:22.74, Y:-1.30, Z:-2.85 [[ 9.88995268e-01 1.04448131e-01 1.04780474e-01 2.27402024e+01] [-1.03834699e-01 9.94530289e-01 -1.13074879e-02 -1.29905900e+00] [-1.05388401e-01 3.03203111e-04 9.94431090e-01 -2.85088460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.448241008000004 meters 0.06274306432511563 Centerline is valid? [True, True] Translation: X:22.77, Y:-1.30, Z:-2.86 [[ 9.89343286e-01 1.03156197e-01 1.02755348e-01 2.27698120e+01] [-1.02556894e-01 9.94665065e-01 -1.11127199e-02 -1.30268259e+00] [-1.03353501e-01 4.56025491e-04 9.94644583e-01 -2.85902802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.478241008 meters 0.06269825090856408 Centerline is valid? [True, True] Translation: X:22.80, Y:-1.31, Z:-2.86 [[ 9.89598651e-01 1.03251892e-01 1.00167645e-01 2.28010712e+01] [-1.02682122e-01 9.94655142e-01 -1.08411866e-02 -1.30678552e+00] [-1.00751636e-01 4.42997281e-04 9.94911509e-01 -2.86445074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.508241008000002 meters 0.06298402576817398 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.31, Z:-2.87 [[ 9.89693001e-01 1.03365698e-01 9.91125463e-02 2.28312816e+01] [-1.02806216e-01 9.94643318e-01 -1.07494844e-02 -1.31059384e+00] [-9.96927598e-02 4.49303610e-04 9.95018167e-01 -2.87059419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.538241008000004 meters 0.06274051003991221 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.31, Z:-2.87 [[ 9.89716523e-01 1.04060015e-01 9.81464060e-02 2.28629342e+01] [-1.03512894e-01 9.94570941e-01 -1.06641220e-02 -1.31200237e+00] [-9.87232721e-02 3.95039184e-04 9.95114847e-01 -2.87382408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.568241008 meters 0.06274051003991221 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.32, Z:-2.88 [[ 9.89689015e-01 1.04323548e-01 9.81440283e-02 2.28948066e+01] [-1.03775555e-01 9.94543335e-01 -1.06859544e-02 -1.31564255e+00] [-9.87232858e-02 3.90820687e-04 9.95114848e-01 -2.87788363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.598241008000002 meters 0.06282175654245761 Centerline is valid? [True, True] Translation: X:22.93, Y:-1.32, Z:-2.88 [[ 9.89632033e-01 1.04975842e-01 9.80230145e-02 2.29259727e+01] [-1.04429741e-01 9.94474710e-01 -1.06995566e-02 -1.31914727e+00] [-9.86046039e-02 3.52105914e-04 9.95126629e-01 -2.88259294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.628241008000003 meters 0.0627041985651221 Centerline is valid? [True, True] Translation: X:22.96, Y:-1.32, Z:-2.89 [[ 9.89469833e-01 1.05987646e-01 9.85701229e-02 2.29576309e+01] [-1.05437902e-01 9.94367408e-01 -1.07845863e-02 -1.32196986e+00] [-9.91579505e-02 2.77995844e-04 9.95071668e-01 -2.88569807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.658241008 meters 0.062404010403275055 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.32, Z:-2.89 [[ 9.89124690e-01 1.09238282e-01 9.84852536e-02 2.29894791e+01] [-1.08703330e-01 9.94015592e-01 -1.07976366e-02 -1.32207634e+00] [-9.90753930e-02 -2.54659966e-05 9.95079929e-01 -2.88938930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.688241008000002 meters 0.062410637374022575 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.32, Z:-2.89 [[ 9.88894284e-01 1.10693259e-01 9.91720551e-02 2.30200996e+01] [-1.10155517e-01 9.93854608e-01 -1.08986821e-02 -1.32339693e+00] [-9.97690146e-02 -1.46704542e-04 9.95010614e-01 -2.89344344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.718241008000003 meters 0.06238000231033663 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.33, Z:-2.90 [[ 9.88799290e-01 1.11784289e-01 9.88950806e-02 2.30529921e+01] [-1.11253036e-01 9.93732467e-01 -1.08878386e-02 -1.32583952e+00] [-9.94923418e-02 -2.36490932e-04 9.95038300e-01 -2.89818776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.748241008 meters 0.06224909313825869 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.33, Z:-2.90 [[ 9.88665392e-01 1.12125083e-01 9.98434158e-02 2.30847020e+01] [-1.11582583e-01 9.93694070e-01 -1.10191752e-02 -1.32921078e+00] [-1.00449336e-01 -2.46509115e-04 9.94942144e-01 -2.90138392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.778241008000002 meters 0.062206128139960945 Centerline is valid? [True, True] Translation: X:23.12, Y:-1.33, Z:-2.91 [[ 9.88663401e-01 1.11985490e-01 1.00019645e-01 2.31163057e+01] [-1.11438104e-01 9.93709820e-01 -1.10608919e-02 -1.33348153e+00] [-1.00629163e-01 -2.10500623e-04 9.94923981e-01 -2.90602606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.808241008000003 meters 0.0621312774466372 Centerline is valid? [True, True] Translation: X:23.15, Y:-1.34, Z:-2.91 [[ 9.88726359e-01 1.10712051e-01 1.00811853e-01 2.31476745e+01] [-1.10146770e-01 9.93852524e-01 -1.11736485e-02 -1.33984738e+00] [-1.01429172e-01 -5.64192657e-05 9.94842761e-01 -2.90962538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.838241008 meters 0.06199694137180904 Centerline is valid? [True, True] Translation: X:23.18, Y:-1.35, Z:-2.91 [[ 9.88930661e-01 1.09051375e-01 1.00617822e-01 2.31791024e+01] [-1.08477274e-01 9.94036105e-01 -1.11759707e-02 -1.34752942e+00] [-1.01236503e-01 1.37512897e-04 9.94862378e-01 -2.91278639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.868241008000002 meters 0.062030970148336945 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.36, Z:-2.92 [[ 9.89100261e-01 1.06789376e-01 1.01374077e-01 2.32107146e+01] [-1.06193218e-01 9.94281590e-01 -1.12747842e-02 -1.35610417e+00] [-1.01998406e-01 3.86652474e-04 9.94784487e-01 -2.91509187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.898241008000003 meters 0.06207661031863341 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.37, Z:-2.92 [[ 9.89537374e-01 1.02503068e-01 1.01532788e-01 2.32407151e+01] [-1.01880184e-01 9.94732323e-01 -1.13152111e-02 -1.36812177e+00] [-1.02157790e-01 8.52645208e-04 9.94767842e-01 -2.91694420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.928241008 meters 0.06233847261015886 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.37, Z:-2.92 [[ 9.89608729e-01 1.01410113e-01 1.01934062e-01 2.32732216e+01] [-1.00774453e-01 9.94844214e-01 -1.13797642e-02 -1.37225922e+00] [-1.02562535e-01 9.89164641e-04 9.94726067e-01 -2.92164899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.958241008 meters 0.06244555643638068 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.38, Z:-2.93 [[ 9.89633178e-01 1.00610431e-01 1.02487630e-01 2.33041274e+01] [-9.99608648e-02 9.94925285e-01 -1.14674624e-02 -1.37540984e+00] [-1.03121281e-01 1.10382913e-03 9.94668177e-01 -2.92639779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.988241008000003 meters 0.06302863547065621 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.38, Z:-2.93 [[ 9.89903940e-01 9.79819210e-02 1.02419401e-01 2.33341605e+01] [-9.73164913e-02 9.95187206e-01 -1.14858720e-02 -1.37974073e+00] [-1.03051885e-01 1.40281325e-03 9.94674993e-01 -2.93135789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.018241008000004 meters 0.06298139158063627 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.38, Z:-2.93 [[ 9.90060325e-01 9.63641018e-02 1.02442727e-01 2.33657140e+01] [-9.56887733e-02 9.95344895e-01 -1.14977298e-02 -1.38332894e+00] [-1.03073814e-01 1.58082719e-03 9.94672454e-01 -2.93418317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.048241008 meters 0.06390321857919291 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.39, Z:-2.94 [[ 9.90206038e-01 9.47367944e-02 1.02552143e-01 2.33951944e+01] [-9.40489330e-02 9.95500773e-01 -1.15329693e-02 -1.38979934e+00] [-1.03183334e-01 1.77509622e-03 9.94660771e-01 -2.94092675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.078241008000003 meters 0.06466776941307163 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.40, Z:-2.95 [[ 9.90522128e-01 9.25678532e-02 1.01474664e-01 2.34255749e+01] [-9.18809449e-02 9.95704369e-01 -1.14324785e-02 -1.39547456e+00] [-1.02097046e-01 2.00053498e-03 9.94772432e-01 -2.94627619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.108241008000004 meters 0.06535439398001262 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.40, Z:-2.95 [[ 9.90808645e-01 9.07016978e-02 1.00356524e-01 2.34567571e+01] [-9.00180915e-02 9.95875696e-01 -1.13287426e-02 -1.40123055e+00] [-1.00970159e-01 2.19071338e-03 9.94887043e-01 -2.95157783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.138241008 meters 0.06623494842295538 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.41, Z:-2.96 [[ 9.91082336e-01 8.88661504e-02 9.92905314e-02 2.34865550e+01] [-8.81872087e-02 9.96040784e-01 -1.12148179e-02 -1.40728577e+00] [-9.98940365e-02 2.35865313e-03 9.94995286e-01 -2.95701666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.168241008000003 meters 0.06769832388097335 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.41, Z:-2.96 [[ 9.91466496e-01 8.57310347e-02 9.82057868e-02 2.35153391e+01] [-8.50511441e-02 9.96314795e-01 -1.10964790e-02 -1.41342018e+00] [-9.87951910e-02 2.64927260e-03 9.95104262e-01 -2.96231949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.198241008000004 meters 0.06815066989923084 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.42, Z:-2.97 [[ 9.91591983e-01 8.49714157e-02 9.75971181e-02 2.35467192e+01] [-8.42968097e-02 9.96379724e-01 -1.10224062e-02 -1.41703641e+00] [-9.81803791e-02 2.70260393e-03 9.95164966e-01 -2.96657086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.228241008 meters 0.06850663733388122 Centerline is valid? [True, True] Translation: X:23.58, Y:-1.42, Z:-2.97 [[ 9.91700312e-01 8.43064724e-02 9.70716730e-02 2.35777106e+01] [-8.36340156e-02 9.96436013e-01 -1.09828725e-02 -1.42074320e+00] [-9.76516381e-02 2.77322425e-03 9.95216794e-01 -2.97101509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.258241008000002 meters 0.06494874113685165 Centerline is valid? [True, True] Translation: X:23.61, Y:-1.41, Z:-2.97 [[ 9.91693370e-01 8.44934930e-02 9.69799426e-02 2.36124857e+01] [-8.38216571e-02 9.96420186e-01 -1.09882560e-02 -1.41367104e+00] [-9.75612086e-02 2.76796110e-03 9.95225677e-01 -2.96590178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.288241008000004 meters 0.06847845834381 Centerline is valid? [True, True] Translation: X:23.64, Y:-1.42, Z:-2.98 [[ 9.91501451e-01 8.61849767e-02 9.74526668e-02 2.36415730e+01] [-8.55117886e-02 9.96275644e-01 -1.10713312e-02 -1.42255784e+00] [-9.80439008e-02 2.64388910e-03 9.95178579e-01 -2.97985684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.318241008 meters 0.06805309688065844 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.42, Z:-2.98 [[ 9.91346299e-01 8.75242568e-02 9.78367054e-02 2.36734024e+01] [-8.68511127e-02 9.96159169e-01 -1.11263128e-02 -1.42326998e+00] [-9.84347534e-02 2.53280227e-03 9.95140284e-01 -2.98371657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.348241008000002 meters 0.06472177674942874 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.42, Z:-2.98 [[ 9.91046285e-01 9.00452752e-02 9.85855398e-02 2.37066850e+01] [-8.93718453e-02 9.95934962e-01 -1.12349385e-02 -1.41646642e+00] [-9.91964391e-02 2.32357245e-03 9.95065157e-01 -2.97942541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.378241008000003 meters 0.0644576075228352 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.42, Z:-2.98 [[ 9.90532702e-01 9.43145576e-02 9.97483332e-02 2.37375420e+01] [-9.36463846e-02 9.95540593e-01 -1.13702570e-02 -1.41539253e+00] [-1.00375896e-01 1.92154061e-03 9.94947731e-01 -2.98425043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.408241008 meters 0.06312135030048836 Centerline is valid? [True, True] Translation: X:23.77, Y:-1.41, Z:-2.98 [[ 9.90315511e-01 9.69157590e-02 9.94108861e-02 2.37701646e+01] [-9.62651689e-02 9.95291216e-01 -1.13318950e-02 -1.41224172e+00] [-1.00041021e-01 1.65234567e-03 9.94981941e-01 -2.98377521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.438241008000002 meters 0.06296653933750564 Centerline is valid? [True, True] Translation: X:23.80, Y:-1.41, Z:-2.99 [[ 9.90045247e-01 9.91847070e-02 9.98639195e-02 2.38008356e+01] [-9.85372977e-02 9.95067979e-01 -1.14069499e-02 -1.41330993e+00] [-1.00502783e-01 1.45307582e-03 9.94935716e-01 -2.98829018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.468241008000003 meters 0.0625845308653431 Centerline is valid? [True, True] Translation: X:23.83, Y:-1.41, Z:-2.99 [[ 9.89819690e-01 1.02019336e-01 9.92423092e-02 2.38330619e+01] [-1.01392131e-01 9.94781718e-01 -1.13564723e-02 -1.41388458e+00] [-9.98830146e-02 1.17847063e-03 9.94998490e-01 -2.99228028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.498241008 meters 0.06292204977114214 Centerline is valid? [True, True] Translation: X:23.86, Y:-1.41, Z:-3.00 [[ 9.89409538e-01 1.05423569e-01 9.97729328e-02 2.38630351e+01] [-1.04804527e-01 9.94427035e-01 -1.14404603e-02 -1.41432859e+00] [-1.00422996e-01 8.62645526e-04 9.94944460e-01 -3.00223029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.528241008000002 meters 0.062411786671767264 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.41, Z:-3.00 [[ 9.89230097e-01 1.07339839e-01 9.95086636e-02 2.38965494e+01] [-1.06731776e-01 9.94222152e-01 -1.14297638e-02 -1.41465677e+00] [-1.00160587e-01 6.85929938e-04 9.94971048e-01 -3.00272847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.558241008000003 meters 0.06226106038502393 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.42, Z:-3.01 [[ 9.89061270e-01 1.07946351e-01 1.00525563e-01 2.39277647e+01] [-1.07326172e-01 9.94156503e-01 -1.15732379e-02 -1.41763561e+00] [-1.01187431e-01 6.57617498e-04 9.94867163e-01 -3.00655827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.588241008 meters 0.062479291196716684 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.42, Z:-3.02 [[ 9.88905879e-01 1.08505892e-01 1.01447691e-01 2.39580301e+01] [-1.07874815e-01 9.94095607e-01 -1.17024989e-02 -1.42174066e+00] [-1.02118494e-01 6.29019016e-04 9.94772043e-01 -3.01524604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.618241008000002 meters 0.06178931383339416 Centerline is valid? [True, True] Translation: X:23.99, Y:-1.42, Z:-3.01 [[ 9.88659818e-01 1.09636677e-01 1.02623405e-01 2.39908618e+01] [-1.08994772e-01 9.93971583e-01 -1.18587982e-02 -1.42248563e+00] [-1.03304908e-01 5.38902699e-04 9.94649589e-01 -3.01034043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.648241008000003 meters 0.0619106159284637 Centerline is valid? [True, True] Translation: X:24.02, Y:-1.43, Z:-3.02 [[ 9.88689244e-01 1.09347303e-01 1.02648657e-01 2.40218953e+01] [-1.08700857e-01 9.94003427e-01 -1.18874062e-02 -1.42781933e+00] [-1.03332972e-01 5.94953678e-04 9.94646642e-01 -3.01610122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.678241008000004 meters 0.06159229559480799 Centerline is valid? [True, True] Translation: X:24.05, Y:-1.43, Z:-3.02 [[ 9.88689659e-01 1.09687479e-01 1.02281064e-01 2.40545664e+01] [-1.09045960e-01 9.93965960e-01 -1.18595519e-02 -1.43247154e+00] [-1.02964740e-01 5.72079513e-04 9.94684842e-01 -3.01678277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.708241008 meters 0.061677799432217725 Centerline is valid? [True, True] Translation: X:24.09, Y:-1.44, Z:-3.02 [[ 9.88757127e-01 1.09362559e-01 1.01976339e-01 2.40853851e+01] [-1.08720197e-01 9.94001726e-01 -1.18527835e-02 -1.43756484e+00] [-1.02660908e-01 6.32636599e-04 9.94716210e-01 -3.02322516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.738241008000003 meters 0.06172411646169299 Centerline is valid? [True, True] Translation: X:24.12, Y:-1.44, Z:-3.03 [[ 9.88847998e-01 1.09120198e-01 1.01352944e-01 2.41171340e+01] [-1.08481702e-01 9.94028329e-01 -1.18067983e-02 -1.44146673e+00] [-1.02036058e-01 6.80188900e-04 9.94780468e-01 -3.02695295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.768241008000004 meters 0.061848077595175174 Centerline is valid? [True, True] Translation: X:24.15, Y:-1.45, Z:-3.03 [[ 9.89209000e-01 1.06802828e-01 1.00293119e-01 2.41485693e+01] [-1.06163414e-01 9.94279782e-01 -1.17065686e-02 -1.44808157e+00] [-1.00969715e-01 9.32783096e-04 9.94889062e-01 -3.03105815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.798241008 meters 0.06202585899583252 Centerline is valid? [True, True] Translation: X:24.18, Y:-1.46, Z:-3.04 [[ 9.89418241e-01 1.05211417e-01 9.99104659e-02 2.41789596e+01] [-1.04566334e-01 9.94449251e-01 -1.16862279e-02 -1.45547332e+00] [-1.00585413e-01 1.11529589e-03 9.94927802e-01 -3.03563619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.828241008000003 meters 0.061998910302843734 Centerline is valid? [True, True] Translation: X:24.21, Y:-1.46, Z:-3.04 [[ 9.89593938e-01 1.03579922e-01 9.98751068e-02 2.42101535e+01] [-1.02924841e-01 9.94620281e-01 -1.17035479e-02 -1.46223771e+00] [-1.00550059e-01 1.30213058e-03 9.94931148e-01 -3.03857083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.858241008000004 meters 0.061971398780914524 Centerline is valid? [True, True] Translation: X:24.24, Y:-1.47, Z:-3.04 [[ 9.89757533e-01 1.01199879e-01 1.00690665e-01 2.42414842e+01] [-1.00519329e-01 9.94864859e-01 -1.18227472e-02 -1.46822483e+00] [-1.01370065e-01 1.58029498e-03 9.94847532e-01 -3.04143900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.888241008 meters 0.06297821715689371 Centerline is valid? [True, True] Translation: X:24.27, Y:-1.48, Z:-3.05 [[ 9.90245502e-01 9.57109202e-02 1.01258410e-01 2.42709863e+01] [-9.49914693e-02 9.95406786e-01 -1.19143119e-02 -1.47883308e+00] [-1.01933639e-01 2.17940854e-03 9.94788814e-01 -3.04763392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.918241008000003 meters 0.06353730931510344 Centerline is valid? [True, True] Translation: X:24.30, Y:-1.49, Z:-3.05 [[ 9.90355023e-01 9.42304641e-02 1.01575333e-01 2.43006996e+01] [-9.34964123e-02 9.95547609e-01 -1.19740852e-02 -1.48640974e+00] [-1.02251403e-01 2.36166626e-03 9.94755786e-01 -3.05294779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.948241008000004 meters 0.06375804044833235 Centerline is valid? [True, True] Translation: X:24.33, Y:-1.49, Z:-3.06 [[ 9.90433162e-01 9.35710808e-02 1.01422903e-01 2.43319540e+01] [-9.28335879e-02 9.95609593e-01 -1.19775886e-02 -1.49284092e+00] [-1.02098371e-01 2.44754902e-03 9.94771296e-01 -3.05635502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.978241008 meters 0.0636449893531394 Centerline is valid? [True, True] Translation: X:24.36, Y:-1.50, Z:-3.06 [[ 9.90405065e-01 9.40917647e-02 1.01215348e-01 2.43644122e+01] [-9.33577361e-02 9.95560609e-01 -1.19752571e-02 -1.49740331e+00] [-1.01892787e-01 2.41111949e-03 9.94792464e-01 -3.05947539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.008241008000002 meters 0.0630664149936875 Centerline is valid? [True, True] Translation: X:24.40, Y:-1.50, Z:-3.06 [[ 9.89948254e-01 9.79246206e-02 1.02045205e-01 2.43950375e+01] [-9.71954686e-02 9.95191692e-01 -1.21052669e-02 -1.49778811e+00] [-1.02739944e-01 2.06525626e-03 9.94706107e-01 -3.06367232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.038241008000004 meters 0.06269048705332429 Centerline is valid? [True, True] Translation: X:24.43, Y:-1.50, Z:-3.07 [[ 9.89742162e-01 1.00454651e-01 1.01584029e-01 2.44268553e+01] [-9.97454995e-02 9.94940022e-01 -1.20493928e-02 -1.49736752e+00] [-1.02280434e-01 1.79324232e-03 9.94753988e-01 -3.06834481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.068241008 meters 0.062497590242191564 Centerline is valid? [True, True] Translation: X:24.46, Y:-1.49, Z:-3.08 [[ 9.89131551e-01 1.07789074e-01 1.00001450e-01 2.44579992e+01] [-1.07136967e-01 9.94173240e-01 -1.18844117e-02 -1.49483481e+00] [-1.00699776e-01 1.04139450e-03 9.94916313e-01 -3.07729096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.098241008000002 meters 0.06230643108371148 Centerline is valid? [True, True] Translation: X:24.49, Y:-1.49, Z:-3.08 [[ 9.88753136e-01 1.11416367e-01 9.97678797e-02 2.44896970e+01] [-1.10783388e-01 9.93773572e-01 -1.18797617e-02 -1.49417335e+00] [-1.00470282e-01 6.93527963e-04 9.94939818e-01 -3.08333884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.128241008000003 meters 0.062347174504380605 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.49, Z:-3.09 [[ 9.88362931e-01 1.14981039e-01 9.95895422e-02 2.45214949e+01] [-1.14366155e-01 9.93367624e-01 -1.18805022e-02 -1.49441933e+00] [-1.00295059e-01 3.52574998e-04 9.94957676e-01 -3.08875147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.158241008 meters 0.0620680325363823 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.50, Z:-3.09 [[ 9.88030820e-01 1.18141631e-01 9.91849477e-02 2.45546860e+01] [-1.17545543e-01 9.92996753e-01 -1.18529729e-02 -1.49615151e+00] [-9.98906606e-02 5.23539627e-05 9.94998419e-01 -3.09016681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.188241008000002 meters 0.06217327536450982 Centerline is valid? [True, True] Translation: X:24.59, Y:-1.50, Z:-3.09 [[ 9.87725442e-01 1.21333195e-01 9.83702599e-02 2.45862167e+01] [-1.20759989e-01 9.92611806e-01 -1.17825044e-02 -1.49845170e+00] [-9.90730902e-02 -2.41312192e-04 9.95080130e-01 -3.09302134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.218241008000003 meters 0.06252678552102642 Centerline is valid? [True, True] Translation: X:24.62, Y:-1.50, Z:-3.10 [[ 9.86806225e-01 1.27491527e-01 9.97967181e-02 2.46179766e+01] [-1.26930581e-01 9.91839297e-01 -1.19765424e-02 -1.49635626e+00] [-1.00509214e-01 -8.48728804e-04 9.94935766e-01 -3.09819375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.248241008 meters 0.0629518208358216 Centerline is valid? [True, True] Translation: X:24.65, Y:-1.50, Z:-3.10 [[ 9.86435308e-01 1.30247693e-01 9.99045608e-02 2.46490390e+01] [-1.29696778e-01 9.91480874e-01 -1.20176217e-02 -1.49623428e+00] [-1.00618729e-01 -1.10269324e-03 9.94924447e-01 -3.10344032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.278241008000002 meters 0.0633261398278826 Centerline is valid? [True, True] Translation: X:24.68, Y:-1.50, Z:-3.11 [[ 9.86190249e-01 1.32706825e-01 9.90842623e-02 2.46805941e+01] [-1.32175235e-01 9.91154454e-01 -1.19396561e-02 -1.49773794e+00] [-9.97922817e-02 -1.32171330e-03 9.95007414e-01 -3.10927196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.308241008000003 meters 0.06321073681475357 Centerline is valid? [True, True] Translation: X:24.71, Y:-1.51, Z:-3.11 [[ 9.86309080e-01 1.31956389e-01 9.89035376e-02 2.47120969e+01] [-1.31420774e-01 9.91254770e-01 -1.19398816e-02 -1.50609091e+00] [-9.96141471e-02 -1.22156589e-03 9.95025391e-01 -3.11211620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.338241008 meters 0.06303105623237033 Centerline is valid? [True, True] Translation: X:24.74, Y:-1.51, Z:-3.12 [[ 9.86506265e-01 1.30332046e-01 9.90906030e-02 2.47424264e+01] [-1.29783181e-01 9.91469868e-01 -1.19928092e-02 -1.51358756e+00] [-9.98083944e-02 -1.02931227e-03 9.95006143e-01 -3.11594776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.368241008000002 meters 0.06271757153982223 Centerline is valid? [True, True] Translation: X:24.77, Y:-1.52, Z:-3.12 [[ 9.86764811e-01 1.28473809e-01 9.89428556e-02 2.47735891e+01] [-1.27916151e-01 9.91712556e-01 -1.19860428e-02 -1.52219108e+00] [-9.96627648e-02 -8.28983931e-04 9.95020927e-01 -3.11897912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.398241008000003 meters 0.06250488829373496 Centerline is valid? [True, True] Translation: X:24.81, Y:-1.53, Z:-3.12 [[ 9.87008649e-01 1.27236424e-01 9.81061666e-02 2.48055516e+01] [-1.26679995e-01 9.91872186e-01 -1.19056660e-02 -1.52994983e+00] [-9.88236123e-02 -6.77093393e-04 9.95104736e-01 -3.12180285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.428241008000004 meters 0.06261729964695148 Centerline is valid? [True, True] Translation: X:24.84, Y:-1.54, Z:-3.13 [[ 9.87597031e-01 1.23842117e-01 9.65154625e-02 2.48352170e+01] [-1.23284615e-01 9.92301889e-01 -1.17416071e-02 -1.53792800e+00] [-9.72265812e-02 -3.02895415e-04 9.95262227e-01 -3.13163282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.458241008 meters 0.06261729964695148 Centerline is valid? [True, True] Translation: X:24.87, Y:-1.54, Z:-3.14 [[ 9.87566104e-01 1.24089294e-01 9.65144421e-02 2.48670522e+01] [-1.23532150e-01 9.92271004e-01 -1.17499911e-02 -1.54200178e+00] [-9.72265304e-02 -3.18743664e-04 9.95262227e-01 -3.13568401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.488241008000003 meters 0.06239276569612226 Centerline is valid? [True, True] Translation: X:24.90, Y:-1.55, Z:-3.14 [[ 9.87735644e-01 1.22148193e-01 9.72528520e-02 2.48986404e+01] [-1.21570549e-01 9.92511868e-01 -1.18656311e-02 -1.54869473e+00] [-9.79739753e-02 -1.02975840e-04 9.95188972e-01 -3.13921028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.518241008000004 meters 0.06228919101624454 Centerline is valid? [True, True] Translation: X:24.93, Y:-1.56, Z:-3.14 [[ 9.87921085e-01 1.20402564e-01 9.75456483e-02 2.49306829e+01] [-1.19810818e-01 9.92725145e-01 -1.19228146e-02 -1.55564475e+00] [-9.82715554e-02 9.17759818e-05 9.95159632e-01 -3.14437733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.548241008 meters 0.062015590949088185 Centerline is valid? [True, True] Translation: X:24.96, Y:-1.56, Z:-3.15 [[ 9.87915503e-01 1.18894197e-01 9.94340444e-02 2.49621280e+01] [-1.18268886e-01 9.92906891e-01 -1.21809571e-02 -1.56462608e+00] [-1.00176993e-01 2.73802735e-04 9.94969595e-01 -3.14557774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.578241008000003 meters 0.06172922936890437 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.57, Z:-3.15 [[ 9.87775815e-01 1.18932088e-01 1.00767538e-01 2.49925328e+01] [-1.18287635e-01 9.92902347e-01 -1.23679209e-02 -1.57024371e+00] [-1.01523268e-01 2.97179370e-04 9.94833121e-01 -3.14647244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.608241008000004 meters 0.06158829049680265 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.58, Z:-3.15 [[ 9.87622338e-01 1.18874052e-01 1.02328286e-01 2.50234866e+01] [-1.18206855e-01 9.92909286e-01 -1.25812702e-02 -1.57622949e+00] [-1.03098292e-01 3.29638592e-04 9.94671118e-01 -3.14767031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.638241008 meters 0.061417134536553605 Centerline is valid? [True, True] Translation: X:25.06, Y:-1.58, Z:-3.15 [[ 9.87702707e-01 1.17503577e-01 1.03132305e-01 2.50556722e+01] [-1.16815853e-01 9.93072333e-01 -1.27042393e-02 -1.58234186e+00] [-1.03910632e-01 5.00523372e-04 9.94586512e-01 -3.14887247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.668241008000003 meters 0.061235099341969246 Centerline is valid? [True, True] Translation: X:25.09, Y:-1.59, Z:-3.15 [[ 9.87773949e-01 1.16334368e-01 1.03773505e-01 2.50880493e+01] [-1.15630729e-01 9.93209903e-01 -1.27915584e-02 -1.58686458e+00] [-1.04556971e-01 6.35762109e-04 9.94518695e-01 -3.15031052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.698241008000004 meters 0.06130009510291417 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.59, Z:-3.16 [[ 9.87968058e-01 1.15285300e-01 1.03094211e-01 2.51180586e+01] [-1.14584563e-01 9.93332140e-01 -1.27136700e-02 -1.59160979e+00] [-1.03872492e-01 7.47694775e-04 9.94590341e-01 -3.15599756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.728241008 meters 0.06174938792661032 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.59, Z:-3.16 [[ 9.88356345e-01 1.12962186e-01 1.01937628e-01 2.51489222e+01] [-1.12262554e-01 9.93598782e-01 -1.25928263e-02 -1.59436766e+00] [-1.02707617e-01 1.00242129e-03 9.94711084e-01 -3.16233912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.758241008000002 meters 0.06214898465443085 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.60, Z:-3.17 [[ 9.88702921e-01 1.10855634e-01 1.00883903e-01 2.51793380e+01] [-1.10157062e-01 9.93835756e-01 -1.24864653e-02 -1.60013766e+00] [-1.01646225e-01 1.23233042e-03 9.94819846e-01 -3.16874156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.788241008000004 meters 0.06249277879605945 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.61, Z:-3.17 [[ 9.89094275e-01 1.07948930e-01 1.00197522e-01 2.52106538e+01] [-1.07244028e-01 9.94155263e-01 -1.24109077e-02 -1.60755036e+00] [-1.00951638e-01 1.52997191e-03 9.94890158e-01 -3.17307608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.818241008 meters 0.06277853526296771 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.61, Z:-3.18 [[ 9.89361702e-01 1.05333099e-01 1.00341221e-01 2.52418472e+01] [-1.04610421e-01 9.94435326e-01 -1.24516147e-02 -1.61395673e+00] [-1.01094422e-01 1.82241329e-03 9.94875166e-01 -3.17655440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.848241008000002 meters 0.06356843695154628 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.62, Z:-3.18 [[ 9.89730108e-01 1.02006861e-01 1.00144461e-01 2.52716824e+01] [-1.01267689e-01 9.94781304e-01 -1.24503884e-02 -1.62121461e+00] [-1.00891863e-01 2.18112609e-03 9.94895007e-01 -3.18064370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.878241008000003 meters 0.06330407413942545 Centerline is valid? [True, True] Translation: X:25.30, Y:-1.62, Z:-3.18 [[ 9.89809846e-01 1.01948342e-01 9.94132959e-02 2.53037041e+01] [-1.01217650e-01 9.94787281e-01 -1.23795126e-02 -1.62328258e+00] [-1.00157153e-01 2.19098332e-03 9.94969218e-01 -3.18326140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.908241008 meters 0.0631469443233464 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.63, Z:-3.19 [[ 9.89797357e-01 1.02234995e-01 9.92431258e-02 2.53361206e+01] [-1.01506048e-01 9.94757887e-01 -1.23802023e-02 -1.62591398e+00] [-9.99885720e-02 2.18011408e-03 9.94986197e-01 -3.18607239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.938241008000002 meters 0.06362662923879349 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.63, Z:-3.19 [[ 9.89822865e-01 1.02508534e-01 9.87050995e-02 2.53665523e+01] [-1.01785868e-01 9.94729757e-01 -1.23429247e-02 -1.62780585e+00] [-9.94501547e-02 2.17052490e-03 9.95040178e-01 -3.19392708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.968241008000003 meters 0.0631491658015929 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.63, Z:-3.20 [[ 9.89715550e-01 1.03699320e-01 9.85372063e-02 2.53992923e+01] [-1.02983611e-01 9.94606556e-01 -1.23358653e-02 -1.62917046e+00] [-9.92849723e-02 2.06128030e-03 9.95056906e-01 -3.19571755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.998241008 meters 0.0629378581652449 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.63, Z:-3.20 [[ 9.89639543e-01 1.04255171e-01 9.87139059e-02 2.54315864e+01] [-1.03539209e-01 9.94548543e-01 -1.23623210e-02 -1.63074752e+00] [-9.94646072e-02 2.01348195e-03 9.95039063e-01 -3.19846553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.028241008000002 meters 0.06289180462465391 Centerline is valid? [True, True] Translation: X:25.46, Y:-1.63, Z:-3.20 [[ 9.89542104e-01 1.05970111e-01 9.78609192e-02 2.54623951e+01] [-1.05272363e-01 9.94367594e-01 -1.22807830e-02 -1.63342362e+00] [-9.86111228e-02 1.85030168e-03 9.95124325e-01 -3.20363452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.058241008000003 meters 0.06307995325269174 Centerline is valid? [True, True] Translation: X:25.49, Y:-1.64, Z:-3.21 [[ 9.89337400e-01 1.07962800e-01 9.77524599e-02 2.54928708e+01] [-1.07275241e-01 9.94153548e-01 -1.22778802e-02 -1.63547556e+00] [-9.85065091e-02 1.66054742e-03 9.95135021e-01 -3.20938644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.088241008 meters 0.06231149002516868 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.64, Z:-3.21 [[ 9.89173886e-01 1.08668271e-01 9.86216546e-02 2.55256151e+01] [-1.07969851e-01 9.94076741e-01 -1.24074525e-02 -1.63630144e+00] [-9.93857894e-02 1.62496262e-03 9.95047649e-01 -3.20886528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.118241008000002 meters 0.062188654463285045 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.64, Z:-3.21 [[ 9.89074743e-01 1.09357668e-01 9.88536918e-02 2.55574422e+01] [-1.08657049e-01 9.94001205e-01 -1.24599332e-02 -1.63931698e+00] [-9.96232780e-02 1.58265474e-03 9.95023968e-01 -3.21287601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.148241008000003 meters 0.062197379424766164 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.64, Z:-3.22 [[ 9.89107572e-01 1.08103295e-01 9.98993880e-02 2.55886655e+01] [-1.07378974e-01 9.94138125e-01 -1.26152062e-02 -1.64315475e+00] [-1.00677536e-01 1.75070223e-03 9.94917569e-01 -3.21629162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.178241008000004 meters 0.062190571004680104 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.65, Z:-3.22 [[ 9.89092106e-01 1.07186992e-01 1.01033437e-01 2.56199317e+01] [-1.06438265e-01 9.94237074e-01 -1.27881726e-02 -1.64713976e+00] [-1.01821915e-01 1.89485680e-03 9.94800838e-01 -3.21996078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.208241008 meters 0.06227637006869845 Centerline is valid? [True, True] Translation: X:25.65, Y:-1.65, Z:-3.22 [[ 9.89210091e-01 1.06135311e-01 1.00988576e-01 2.56512517e+01] [-1.05381281e-01 9.94349670e-01 -1.27874279e-02 -1.65127740e+00] [-1.01775155e-01 2.00714709e-03 9.94805403e-01 -3.22302868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.238241008000003 meters 0.06239019745794058 Centerline is valid? [True, True] Translation: X:25.68, Y:-1.66, Z:-3.23 [[ 9.89212217e-01 1.05842386e-01 1.01274771e-01 2.56837530e+01] [-1.05080138e-01 9.94380772e-01 -1.28470057e-02 -1.65648467e+00] [-1.02065443e-01 2.06644812e-03 9.94775540e-01 -3.22615269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.268241008000004 meters 0.06247711867910099 Centerline is valid? [True, True] Translation: X:25.71, Y:-1.66, Z:-3.23 [[ 9.89421450e-01 1.04363308e-01 1.00764551e-01 2.57141848e+01] [-1.03598237e-01 9.94536727e-01 -1.28103092e-02 -1.66175191e+00] [-1.01550973e-01 2.23576486e-03 9.94827825e-01 -3.22853927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.298241008 meters 0.06253206441437165 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.67, Z:-3.23 [[ 9.89435684e-01 1.03953469e-01 1.01048025e-01 2.57464266e+01] [-1.03179811e-01 9.94579490e-01 -1.28671617e-02 -1.66591222e+00] [-1.01837880e-01 2.30511272e-03 9.94798338e-01 -3.23229892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.328241008000003 meters 0.06266622746429562 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.67, Z:-3.24 [[ 9.89578202e-01 1.03391778e-01 1.00225358e-01 2.57777299e+01] [-1.02624723e-01 9.94637876e-01 -1.27930610e-02 -1.66960450e+00] [-1.01010635e-01 2.37413466e-03 9.94882513e-01 -3.23646846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.358241008000004 meters 0.06262128834594247 Centerline is valid? [True, True] Translation: X:25.81, Y:-1.67, Z:-3.24 [[ 9.89534739e-01 1.03311644e-01 1.00735812e-01 2.58103570e+01] [-1.02535890e-01 9.94646143e-01 -1.28623927e-02 -1.67236756e+00] [-1.01525322e-01 2.39874832e-03 9.94830063e-01 -3.24102451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.388241008 meters 0.06230016836724299 Centerline is valid? [True, True] Translation: X:25.84, Y:-1.67, Z:-3.25 [[ 9.89427099e-01 1.05145746e-01 9.98918786e-02 2.58428129e+01] [-1.04389151e-01 9.94454338e-01 -1.27857070e-02 -1.67259643e+00] [-1.00682275e-01 2.22289658e-03 9.94916146e-01 -3.24629279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.418241008000003 meters 0.06231961479505726 Centerline is valid? [True, True] Translation: X:25.87, Y:-1.67, Z:-3.25 [[ 9.89260602e-01 1.06586807e-01 1.00013565e-01 2.58743086e+01] [-1.05835221e-01 9.94301218e-01 -1.28060344e-02 -1.67374171e+00] [-1.00808563e-01 2.08354757e-03 9.94903660e-01 -3.25131579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.448241008000004 meters 0.062048775000535045 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.67, Z:-3.26 [[ 9.89018350e-01 1.08883300e-01 9.99356303e-02 2.59050693e+01] [-1.08141990e-01 9.94052774e-01 -1.28215847e-02 -1.67392490e+00] [-1.00737347e-01 1.87354458e-03 9.94911291e-01 -3.25540049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.478241008 meters 0.06207921772543014 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.68, Z:-3.26 [[ 9.88704704e-01 1.11036387e-01 1.00667416e-01 2.59361749e+01] [-1.10293770e-01 9.93814920e-01 -1.29301902e-02 -1.67608547e+00] [-1.01480502e-01 1.68115099e-03 9.94836108e-01 -3.26154164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.508241008000002 meters 0.06171494012336088 Centerline is valid? [True, True] Translation: X:25.97, Y:-1.68, Z:-3.26 [[ 9.88272752e-01 1.15115509e-01 1.00326399e-01 2.59673122e+01] [-1.14398166e-01 9.93351307e-01 -1.28934199e-02 -1.67781417e+00] [-1.01143592e-01 1.26505944e-03 9.94871034e-01 -3.26433000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.538241008000004 meters 0.061485815685759754 Centerline is valid? [True, True] Translation: X:26.00, Y:-1.68, Z:-3.27 [[ 9.87998861e-01 1.17318710e-01 1.00471742e-01 2.59994704e+01] [-1.16609547e-01 9.93093759e-01 -1.29228312e-02 -1.67962072e+00] [-1.01293949e-01 1.05177818e-03 9.94855984e-01 -3.26871949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.568241008 meters 0.06116446867743991 Centerline is valid? [True, True] Translation: X:26.03, Y:-1.68, Z:-3.27 [[ 9.87741720e-01 1.19130573e-01 1.00867245e-01 2.60318625e+01] [-1.18422919e-01 9.92878196e-01 -1.29961996e-02 -1.67960881e+00] [-1.01697133e-01 8.91894940e-04 9.94815007e-01 -3.27067634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.598241008000002 meters 0.061119696112050155 Centerline is valid? [True, True] Translation: X:26.06, Y:-1.68, Z:-3.28 [[ 9.87464565e-01 1.21022393e-01 1.01327755e-01 2.60636597e+01] [-1.20315707e-01 9.92649513e-01 -1.30795509e-02 -1.68057932e+00] [-1.02165865e-01 7.24272523e-04 9.94767114e-01 -3.27603086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.628241008000003 meters 0.061054676642534896 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.68, Z:-3.28 [[ 9.86907776e-01 1.25215630e-01 1.01656719e-01 2.60955727e+01] [-1.24524061e-01 9.92129501e-01 -1.31457699e-02 -1.68124224e+00] [-1.02502686e-01 3.14955032e-04 9.94732678e-01 -3.27988123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.658241008 meters 0.06111321077108547 Centerline is valid? [True, True] Translation: X:26.13, Y:-1.69, Z:-3.29 [[ 9.86661184e-01 1.26874510e-01 1.01992970e-01 2.61254558e+01] [-1.26184687e-01 9.91918762e-01 -1.32133962e-02 -1.68524781e+00] [-1.02845183e-01 1.67194124e-04 9.94697361e-01 -3.28511217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.688241008000002 meters 0.061023347287121464 Centerline is valid? [True, True] Translation: X:26.16, Y:-1.69, Z:-3.29 [[ 9.86554449e-01 1.28140187e-01 1.01441667e-01 2.61577474e+01] [-1.27462139e-01 9.91756063e-01 -1.31648773e-02 -1.68945562e+00] [-1.02292338e-01 5.78963399e-05 9.94754379e-01 -3.28813126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.718241008000003 meters 0.06110419131774988 Centerline is valid? [True, True] Translation: X:26.19, Y:-1.69, Z:-3.29 [[ 9.86357040e-01 1.29527617e-01 1.01599142e-01 2.61905390e+01] [-1.28851941e-01 9.91575813e-01 -1.32130367e-02 -1.69365685e+00] [-1.02454705e-01 -5.84748891e-05 9.94737669e-01 -3.29217701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.748241008 meters 0.0614006241194923 Centerline is valid? [True, True] Translation: X:26.22, Y:-1.70, Z:-3.30 [[ 9.86171401e-01 1.31443226e-01 1.00938825e-01 2.62214280e+01] [-1.30783468e-01 9.91323674e-01 -1.31551492e-02 -1.69688495e+00] [-1.01792202e-01 -2.27897597e-04 9.94805657e-01 -3.29731706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.778241008000002 meters 0.06170792635451288 Centerline is valid? [True, True] Translation: X:26.25, Y:-1.70, Z:-3.30 [[ 9.85920623e-01 1.34927657e-01 9.87676696e-02 2.62529877e+01] [-1.34311431e-01 9.90855297e-01 -1.28926126e-02 -1.69845438e+00] [-9.96040386e-02 -5.54534480e-04 9.95026999e-01 -3.30425111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.808241008000003 meters 0.06193201991748481 Centerline is valid? [True, True] Translation: X:26.28, Y:-1.70, Z:-3.31 [[ 9.85871084e-01 1.36024107e-01 9.77529924e-02 2.62833816e+01] [-1.35423621e-01 9.90705324e-01 -1.27829824e-02 -1.70146250e+00] [-9.85832038e-02 -6.35691428e-04 9.95128609e-01 -3.31032895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.838241008000004 meters 0.06251587567248314 Centerline is valid? [True, True] Translation: X:26.31, Y:-1.70, Z:-3.32 [[ 9.85577464e-01 1.38657746e-01 9.70107801e-02 2.63134752e+01] [-1.38077051e-01 9.90339977e-01 -1.27066169e-02 -1.70444545e+00] [-9.78355246e-02 -8.71607140e-04 9.95202216e-01 -3.31693284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.868241008000002 meters 0.06256442343540608 Centerline is valid? [True, True] Translation: X:26.34, Y:-1.71, Z:-3.32 [[ 9.85526355e-01 1.39380617e-01 9.64927356e-02 2.63444256e+01] [-1.38807576e-01 9.90238457e-01 -1.26592232e-02 -1.70895642e+00] [-9.73152679e-02 -9.17924649e-04 9.95253182e-01 -3.32079521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.898241008000003 meters 0.06291185613010426 Centerline is valid? [True, True] Translation: X:26.38, Y:-1.71, Z:-3.33 [[ 9.85477318e-01 1.40400784e-01 9.55095561e-02 2.63756324e+01] [-1.39842260e-01 9.90094259e-01 -1.25498972e-02 -1.71278841e+00] [-9.63254786e-02 -9.88633189e-04 9.95349398e-01 -3.32670502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.928241008000004 meters 0.06284634376671884 Centerline is valid? [True, True] Translation: X:26.41, Y:-1.72, Z:-3.33 [[ 9.85353629e-01 1.41022192e-01 9.58695347e-02 2.64076859e+01] [-1.40460325e-01 9.90005897e-01 -1.26183049e-02 -1.71758132e+00] [-9.66908657e-02 -1.03237347e-03 9.95313926e-01 -3.33079590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.958241008 meters 0.06256331899431496 Centerline is valid? [True, True] Translation: X:26.44, Y:-1.73, Z:-3.33 [[ 9.85373084e-01 1.39500607e-01 9.78747458e-02 2.64386954e+01] [-1.38904773e-01 9.90221599e-01 -1.29092547e-02 -1.72679631e+00] [-9.87185362e-02 -8.74837281e-04 9.95115011e-01 -3.33291510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.988241008000003 meters 0.062221289051937266 Centerline is valid? [True, True] Translation: X:26.47, Y:-1.74, Z:-3.34 [[ 9.85708626e-01 1.37420942e-01 9.74370992e-02 2.64701850e+01] [-1.36818197e-01 9.90512530e-01 -1.28728026e-02 -1.73554942e+00] [-9.82816603e-02 -6.42335596e-04 9.95158431e-01 -3.33620885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.018241008000004 meters 0.06205007156368152 Centerline is valid? [True, True] Translation: X:26.50, Y:-1.74, Z:-3.34 [[ 9.85912494e-01 1.35722663e-01 9.77543515e-02 2.65011875e+01] [-1.35105007e-01 9.90746768e-01 -1.29413712e-02 -1.74404274e+00] [-9.86062452e-02 -4.48042837e-04 9.95126428e-01 -3.33993406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.048241008 meters 0.06188643480360511 Centerline is valid? [True, True] Translation: X:26.53, Y:-1.75, Z:-3.35 [[ 9.86369366e-01 1.32430642e-01 9.76606303e-02 2.65312265e+01] [-1.31795866e-01 9.91192270e-01 -1.29512126e-02 -1.75371867e+00] [-9.85155992e-02 -9.65880173e-05 9.95135502e-01 -3.34587503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.078241008000003 meters 0.061926073322838934 Centerline is valid? [True, True] Translation: X:26.56, Y:-1.76, Z:-3.35 [[ 9.86993243e-01 1.28485688e-01 9.66217681e-02 2.65604035e+01] [-1.27843088e-01 9.91711312e-01 -1.28381654e-02 -1.76486802e+00] [-9.74704210e-02 3.18757307e-04 9.95238371e-01 -3.35076169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.108241008000004 meters 0.06229962454097177 Centerline is valid? [True, True] Translation: X:26.59, Y:-1.78, Z:-3.36 [[ 9.87980853e-01 1.20804989e-01 9.64364489e-02 2.65901650e+01] [-1.20126388e-01 9.92675655e-01 -1.28333228e-02 -1.78263834e+00] [-9.72804445e-02 1.09451496e-03 9.95256408e-01 -3.35518629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.138241008 meters 0.062108730616029215 Centerline is valid? [True, True] Translation: X:26.62, Y:-1.79, Z:-3.35 [[ 9.88406680e-01 1.17430375e-01 9.62410608e-02 2.66216771e+01] [-1.16736610e-01 9.93080069e-01 -1.28273692e-02 -1.79046580e+00] [-9.70814021e-02 1.44380223e-03 9.95275397e-01 -3.35392065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.168241008000003 meters 0.06282524233063418 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.80, Z:-3.36 [[ 9.88670255e-01 1.15033113e-01 9.64287801e-02 2.66510008e+01] [-1.14322936e-01 9.93360192e-01 -1.28761194e-02 -1.80008341e+00] [-9.72696917e-02 1.70621491e-03 9.95256598e-01 -3.36041477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.198241008000004 meters 0.06293902188910262 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.81, Z:-3.36 [[ 9.88847902e-01 1.13755959e-01 9.61218422e-02 2.66815816e+01] [-1.13042269e-01 9.93507006e-01 -1.28558840e-02 -1.80771809e+00] [-9.69601571e-02 1.84668281e-03 9.95286551e-01 -3.36481853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.228241008 meters 0.06301883736293407 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.81, Z:-3.37 [[ 9.88750789e-01 1.13735799e-01 9.71393104e-02 2.67116054e+01] [-1.13004501e-01 9.93509230e-01 -1.30150863e-02 -1.81389155e+00] [-9.79890827e-02 1.89149755e-03 9.95185692e-01 -3.36785918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.258241008000002 meters 0.06182073035933225 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.81, Z:-3.37 [[ 9.88049055e-01 1.17705034e-01 9.95218066e-02 2.67440839e+01] [-1.16954789e-01 9.93047375e-01 -1.33599472e-02 -1.81470065e+00] [-1.00402402e-01 1.56073128e-03 9.94945688e-01 -3.36754954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.288241008000004 meters 0.06148888630003148 Centerline is valid? [True, True] Translation: X:26.78, Y:-1.82, Z:-3.37 [[ 9.87614636e-01 1.20372722e-01 1.00636670e-01 2.67760971e+01] [-1.19619237e-01 9.92727911e-01 -1.35104981e-02 -1.81623172e+00] [-1.01531127e-01 1.30508397e-03 9.94831507e-01 -3.36993078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.318241008 meters 0.06135659650023754 Centerline is valid? [True, True] Translation: X:26.81, Y:-1.82, Z:-3.37 [[ 9.87321224e-01 1.22731676e-01 1.00666466e-01 2.68076058e+01] [-1.21987588e-01 9.92439296e-01 -1.35378033e-02 -1.81725760e+00] [-1.01566874e-01 1.08610113e-03 9.94828121e-01 -3.37450844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.348241008000002 meters 0.06105654542941494 Centerline is valid? [True, True] Translation: X:26.84, Y:-1.81, Z:-3.38 [[ 9.86752622e-01 1.27543058e-01 1.00259817e-01 2.68391522e+01] [-1.26827356e-01 9.91832846e-01 -1.35065844e-02 -1.81475240e+00] [-1.01163651e-01 6.11970098e-04 9.94869610e-01 -3.37995976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.378241008000003 meters 0.06105654542941494 Centerline is valid? [True, True] Translation: X:26.87, Y:-1.82, Z:-3.38 [[ 9.86720055e-01 1.27796871e-01 1.00257135e-01 2.68709233e+01] [-1.27080457e-01 9.91800178e-01 -1.35264618e-02 -1.81922079e+00] [-1.01163684e-01 6.06108659e-04 9.94869610e-01 -3.38401781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.408241008 meters 0.06104274199890239 Centerline is valid? [True, True] Translation: X:26.90, Y:-1.82, Z:-3.39 [[ 9.86531318e-01 1.29849225e-01 9.94743023e-02 2.69028328e+01] [-1.29151788e-01 9.91533663e-01 -1.34466252e-02 -1.82124311e+00] [-1.00378153e-01 4.18232838e-04 9.94949271e-01 -3.38971657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.438241008000002 meters 0.06116160854277578 Centerline is valid? [True, True] Translation: X:26.93, Y:-1.82, Z:-3.39 [[ 9.86343702e-01 1.31801561e-01 9.87646216e-02 2.69345545e+01] [-1.31121196e-01 9.91276091e-01 -1.33769551e-02 -1.82405999e+00] [-9.96661116e-02 2.44140070e-04 9.95020908e-01 -3.39389919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.468241008000003 meters 0.061078949597631056 Centerline is valid? [True, True] Translation: X:26.97, Y:-1.83, Z:-3.40 [[ 9.86081060e-01 1.33991347e-01 9.84401471e-02 2.69665173e+01] [-1.33323954e-01 9.90982501e-01 -1.33568855e-02 -1.82640964e+00] [-9.93421702e-02 4.65420868e-05 9.95053331e-01 -3.39866905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.498241008 meters 0.06113572617703257 Centerline is valid? [True, True] Translation: X:27.00, Y:-1.83, Z:-3.40 [[ 9.85913693e-01 1.35654368e-01 9.78370238e-02 2.69984307e+01] [-1.35001925e-01 9.90756217e-01 -1.32890592e-02 -1.82991767e+00] [-9.87353585e-02 -1.06321109e-04 9.95113721e-01 -3.40268296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.528241008000002 meters 0.061104152573918144 Centerline is valid? [True, True] Translation: X:27.03, Y:-1.83, Z:-3.41 [[ 9.85928485e-01 1.36130312e-01 9.70235080e-02 2.70295972e+01] [-1.35488892e-01 9.90690931e-01 -1.31999735e-02 -1.83440614e+00] [-9.79172260e-02 -1.31377672e-04 9.95194554e-01 -3.40604736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.558241008000003 meters 0.06097551246579654 Centerline is valid? [True, True] Translation: X:27.06, Y:-1.84, Z:-3.41 [[ 9.85823782e-01 1.36896414e-01 9.70094995e-02 2.70613134e+01] [-1.36256768e-01 9.90585351e-01 -1.32195252e-02 -1.83857502e+00] [-9.79058947e-02 -1.86078512e-04 9.95195660e-01 -3.41024604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.588241008000004 meters 0.06091034759147915 Centerline is valid? [True, True] Translation: X:27.09, Y:-1.84, Z:-3.42 [[ 9.85805724e-01 1.37077631e-01 9.69370786e-02 2.70928578e+01] [-1.36437527e-01 9.90560291e-01 -1.32329497e-02 -1.84175219e+00] [-9.78359622e-02 -1.80737726e-04 9.95202538e-01 -3.41562477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.618241008000002 meters 0.06102187014226045 Centerline is valid? [True, True] Translation: X:27.12, Y:-1.84, Z:-3.42 [[ 9.85923234e-01 1.36720393e-01 9.62440202e-02 2.71228815e+01] [-1.36085364e-01 9.90609671e-01 -1.31625907e-02 -1.84433455e+00] [-9.71398517e-02 -1.20098543e-04 9.95270734e-01 -3.42109605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.648241008000003 meters 0.06110233134663892 Centerline is valid? [True, True] Translation: X:27.15, Y:-1.85, Z:-3.43 [[ 9.85845706e-01 1.37671202e-01 9.56811612e-02 2.71541852e+01] [-1.37046595e-01 9.90477966e-01 -1.31007454e-02 -1.84777563e+00] [-9.65736773e-02 -1.97463783e-04 9.95325819e-01 -3.42547072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.678241008000004 meters 0.061261867735260676 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.85, Z:-3.43 [[ 9.85906546e-01 1.37916777e-01 9.46955430e-02 2.71841367e+01] [-1.37304139e-01 9.90443801e-01 -1.29865384e-02 -1.85211601e+00] [-9.55816751e-02 -1.98576730e-04 9.95421571e-01 -3.43039377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.708241008 meters 0.06103071051533896 Centerline is valid? [True, True] Translation: X:27.22, Y:-1.86, Z:-3.43 [[ 9.86133829e-01 1.37098316e-01 9.35100131e-02 2.72157236e+01] [-1.36495601e-01 9.90557440e-01 -1.28417016e-02 -1.85756051e+00] [-9.43876148e-02 -1.00069053e-04 9.95535518e-01 -3.43151963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.738241008000003 meters 0.061553974099717884 Centerline is valid? [True, True] Translation: X:27.25, Y:-1.86, Z:-3.44 [[ 9.86222314e-01 1.37291108e-01 9.22859589e-02 2.72454090e+01] [-1.36703011e-01 9.90530738e-01 -1.26942670e-02 -1.86164573e+00] [-9.31548890e-02 -9.63991349e-05 9.95651625e-01 -3.43916030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.768241008000004 meters 0.06144567577902449 Centerline is valid? [True, True] Translation: X:27.28, Y:-1.87, Z:-3.44 [[ 9.86383151e-01 1.37266845e-01 9.05874881e-02 2.72765834e+01] [-1.36698481e-01 9.90534102e-01 -1.24786798e-02 -1.86639814e+00] [-9.14429052e-02 -7.44125226e-05 9.95810318e-01 -3.44132945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.798241008 meters 0.061977747621360796 Centerline is valid? [True, True] Translation: X:27.31, Y:-1.87, Z:-3.45 [[ 9.86541515e-01 1.36588009e-01 8.98863480e-02 2.73066912e+01] [-1.36023712e-01 9.90627940e-01 -1.24029885e-02 -1.87213491e+00] [-9.07380272e-02 9.38840230e-06 9.95874797e-01 -3.44997071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.828241008000003 meters 0.061142535891402956 Centerline is valid? [True, True] Translation: X:27.34, Y:-1.88, Z:-3.44 [[ 9.86897419e-01 1.34328054e-01 8.93837653e-02 2.73393089e+01] [-1.33760217e-01 9.90936892e-01 -1.23401838e-02 -1.87993418e+00] [-9.02313035e-02 2.22503720e-04 9.95920811e-01 -3.44482337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.858241008000004 meters 0.06187159571100901 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.89, Z:-3.45 [[ 9.87059903e-01 1.33019845e-01 8.95458999e-02 2.73698373e+01] [-1.32442729e-01 9.91113308e-01 -1.23828323e-02 -1.88700483e+00] [-9.03972955e-02 3.62893916e-04 9.95905717e-01 -3.45425734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.888241008 meters 0.06122126617504815 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.89, Z:-3.45 [[ 9.87299183e-01 1.30776048e-01 9.02105821e-02 2.74023448e+01] [-1.30178850e-01 9.91411756e-01 -1.24978514e-02 -1.89334607e+00] [-9.10702513e-02 5.95608605e-04 9.95844292e-01 -3.45154703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.918241008000003 meters 0.061835601115786294 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.90, Z:-3.46 [[ 9.87366046e-01 1.30114090e-01 9.04356906e-02 2.74330399e+01] [-1.29509015e-01 9.91498794e-01 -1.25521167e-02 -1.90034331e+00] [-9.13000855e-02 6.81296689e-04 9.95823192e-01 -3.46072177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.948241008000004 meters 0.0608055926777054 Centerline is valid? [True, True] Translation: X:27.47, Y:-1.90, Z:-3.46 [[ 9.87449962e-01 1.29071492e-01 9.10116650e-02 2.74654219e+01] [-1.28453087e-01 9.91634972e-01 -1.26446369e-02 -1.90457403e+00] [-9.18824120e-02 7.95216855e-04 9.95769547e-01 -3.45614425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.978241008 meters 0.061175425336410356 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.91, Z:-3.46 [[ 9.87663682e-01 1.27005269e-01 9.15975634e-02 2.74960564e+01] [-1.26368011e-01 9.91901523e-01 -1.27473275e-02 -1.91262114e+00] [-9.24747404e-02 1.01507049e-03 9.95714513e-01 -3.46026297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.008241008000002 meters 0.06091171966297915 Centerline is valid? [True, True] Translation: X:27.53, Y:-1.92, Z:-3.46 [[ 9.87830239e-01 1.25614309e-01 9.17194866e-02 2.75283312e+01] [-1.24967178e-01 9.92078462e-01 -1.27878309e-02 -1.91734866e+00] [-9.25992618e-02 1.17028056e-03 9.95702770e-01 -3.46088756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.038241008000004 meters 0.06136961770221177 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.92, Z:-3.47 [[ 9.88105152e-01 1.23989975e-01 9.09653491e-02 2.75586561e+01] [-1.23344600e-01 9.92282575e-01 -1.27043614e-02 -1.92166421e+00] [-9.18385443e-02 1.33316037e-03 9.95773019e-01 -3.46582032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.068241008 meters 0.061537676214796985 Centerline is valid? [True, True] Translation: X:27.59, Y:-1.93, Z:-3.47 [[ 9.88186039e-01 1.23001404e-01 9.14276094e-02 2.75906479e+01] [-1.22343505e-01 9.92405436e-01 -1.27873730e-02 -1.92650765e+00] [-9.23061215e-02 1.45072932e-03 9.95729620e-01 -3.46975752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.098241008000002 meters 0.061576024245577815 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.93, Z:-3.47 [[ 9.88305605e-01 1.22250036e-01 9.11425287e-02 2.76217176e+01] [-1.21590708e-01 9.92498137e-01 -1.27729098e-02 -1.93102164e+00] [-9.20202787e-02 1.54145379e-03 9.95755940e-01 -3.47310553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.128241008000003 meters 0.06182350763769788 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.94, Z:-3.48 [[ 9.88514483e-01 1.20889010e-01 9.06915884e-02 2.76533232e+01] [-1.20228769e-01 9.92664611e-01 -1.27284415e-02 -1.93620364e+00] [-9.15650590e-02 1.67851076e-03 9.95797682e-01 -3.47601565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.158241008 meters 0.06217773872065203 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.94, Z:-3.48 [[ 9.88623250e-01 1.20158613e-01 9.04763923e-02 2.76848129e+01] [-1.19496527e-01 9.92753141e-01 -1.27192863e-02 -1.94185592e+00] [-9.13490545e-02 1.76296749e-03 9.95817374e-01 -3.48116142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.188241008000002 meters 0.06201646464739044 Centerline is valid? [True, True] Translation: X:27.72, Y:-1.95, Z:-3.48 [[ 9.88799598e-01 1.19084591e-01 8.99678576e-02 2.77164402e+01] [-1.18423657e-01 9.92882348e-01 -1.26681172e-02 -1.94556245e+00] [-9.08360752e-02 1.87190645e-03 9.95864099e-01 -3.48262198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.218241008000003 meters 0.06258918041315932 Centerline is valid? [True, True] Translation: X:27.75, Y:-1.95, Z:-3.49 [[ 9.89044598e-01 1.17348267e-01 8.95553829e-02 2.77468884e+01] [-1.16684323e-01 9.93088721e-01 -1.26317511e-02 -1.95179179e+00] [-9.04187547e-02 2.04365598e-03 9.95901738e-01 -3.48753298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.248241008000004 meters 0.0635349771908514 Centerline is valid? [True, True] Translation: X:27.78, Y:-1.96, Z:-3.49 [[ 9.89172867e-01 1.15807223e-01 9.01428077e-02 2.77770635e+01] [-1.15126046e-01 9.93269224e-01 -1.27374540e-02 -1.95992919e+00] [-9.10111658e-02 2.22175891e-03 9.95847394e-01 -3.49284706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.278241008000002 meters 0.06393046012168581 Centerline is valid? [True, True] Translation: X:27.81, Y:-1.97, Z:-3.49 [[ 9.89610205e-01 1.13226845e-01 8.86077010e-02 2.78080487e+01] [-1.12557170e-01 9.93566190e-01 -1.25343641e-02 -1.96697405e+00] [-8.94568423e-02 2.43070252e-03 9.95987733e-01 -3.49464247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.308241008000003 meters 0.06327065065452331 Centerline is valid? [True, True] Translation: X:27.84, Y:-1.97, Z:-3.49 [[ 9.89813149e-01 1.12025083e-01 8.78652965e-02 2.78398298e+01] [-1.11362132e-01 9.93702196e-01 -1.24266197e-02 -1.96900980e+00] [-8.87040312e-02 2.51516488e-03 9.96054852e-01 -3.49473090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.338241008000004 meters 0.06366809804761546 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.97, Z:-3.50 [[ 9.90000380e-01 1.10378352e-01 8.78400060e-02 2.78713059e+01] [-1.09707643e-01 9.93886026e-01 -1.24418626e-02 -1.97385878e+00] [-8.86762668e-02 2.68072862e-03 9.96056893e-01 -3.49826817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.368241008000002 meters 0.06540308436368611 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.98, Z:-3.51 [[ 9.90197669e-01 1.08453630e-01 8.80135618e-02 2.79008695e+01] [-1.07770766e-01 9.94097337e-01 -1.24878849e-02 -1.98230404e+00] [-8.88484038e-02 2.88018552e-03 9.96040996e-01 -3.50613885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.398241008000003 meters 0.06793381236845387 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.99, Z:-3.51 [[ 9.90529448e-01 1.05619456e-01 8.77265225e-02 2.79289675e+01] [-1.04927647e-01 9.94401633e-01 -1.24732563e-02 -1.99305651e+00] [-8.85528157e-02 3.15019007e-03 9.96066501e-01 -3.51294367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.428241008000004 meters 0.06574684158427854 Centerline is valid? [True, True] Translation: X:27.96, Y:-1.99, Z:-3.51 [[ 9.90615618e-01 1.05459537e-01 8.69424109e-02 2.79616385e+01] [-1.04780095e-01 9.94418673e-01 -1.23545459e-02 -1.99268347e+00] [-8.77600615e-02 3.12877205e-03 9.96136729e-01 -3.51027654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.458241008 meters 0.0657081863723105 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.00, Z:-3.51 [[ 9.90656645e-01 1.05307792e-01 8.66584147e-02 2.79930914e+01] [-1.04630515e-01 9.94434683e-01 -1.23335490e-02 -1.99595040e+00] [-8.74749520e-02 3.15119765e-03 9.96161735e-01 -3.51292361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.488241008000003 meters 0.06607923659235788 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.00, Z:-3.52 [[ 9.90586022e-01 1.05878365e-01 8.67704150e-02 2.80233939e+01] [-1.05199727e-01 9.94374178e-01 -1.23697997e-02 -1.99937967e+00] [-8.75919543e-02 3.12512667e-03 9.96151536e-01 -3.51799571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.518241008000004 meters 0.0657731054330083 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.00, Z:-3.52 [[ 9.90218708e-01 1.08584000e-01 8.76152151e-02 2.80539170e+01] [-1.07900591e-01 9.94082939e-01 -1.25128824e-02 -1.99963134e+00] [-8.84554894e-02 2.93675678e-03 9.96075801e-01 -3.52127395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.548241008 meters 0.0653245641279295 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.00, Z:-3.53 [[ 9.89880608e-01 1.11540351e-01 8.77218974e-02 2.80845430e+01] [-1.10865886e-01 9.93756274e-01 -1.25388655e-02 -2.00107855e+00] [-8.85727754e-02 2.68661389e-03 9.96066085e-01 -3.52523123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.578241008000003 meters 0.0646576211621968 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.00, Z:-3.53 [[ 9.89552877e-01 1.13960042e-01 8.83074927e-02 2.81162970e+01] [-1.13285918e-01 9.93482216e-01 -1.26248517e-02 -2.00160227e+00] [-8.91706522e-02 2.48896296e-03 9.96013253e-01 -3.52817663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.608241008000004 meters 0.06359771419812643 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.00, Z:-3.53 [[ 9.88650446e-01 1.19881575e-01 9.05466941e-02 2.81467285e+01] [-1.19196968e-01 9.92786163e-01 -1.29505914e-02 -1.99730976e+00] [-9.14460422e-02 2.01071653e-03 9.95808003e-01 -3.53182739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.638241008 meters 0.06299569428312295 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.00, Z:-3.53 [[ 9.88323243e-01 1.22576705e-01 9.05103266e-02 2.81795890e+01] [-1.21904224e-01 9.92457487e-01 -1.29420597e-02 -1.99722471e+00] [-9.14140463e-02 1.75734724e-03 9.95811420e-01 -3.53475222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.668241008000003 meters 0.0629045975985061 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.00, Z:-3.54 [[ 9.87870693e-01 1.25584769e-01 9.13233778e-02 2.82100951e+01] [-1.24911415e-01 9.92081745e-01 -1.30747554e-02 -1.99792354e+00] [-9.22422462e-02 1.50883535e-03 9.95735453e-01 -3.54017522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.698241008000004 meters 0.06237059015522806 Centerline is valid? [True, True] Translation: X:28.24, Y:-2.00, Z:-3.54 [[ 9.87528984e-01 1.28436902e-01 9.10520045e-02 2.82424735e+01] [-1.27779943e-01 9.91716913e-01 -1.30326658e-02 -1.99781667e+00] [-9.19716881e-02 1.23551527e-03 9.95760856e-01 -3.54404592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.728241008 meters 0.06157043334249241 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.99, Z:-3.54 [[ 9.86884504e-01 1.33067331e-01 9.13896121e-02 2.82751775e+01] [-1.32423439e-01 9.91106655e-01 -1.31008102e-02 -1.99480560e+00] [-9.23201426e-02 8.26859832e-04 9.95729033e-01 -3.54385376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.758241008000002 meters 0.06156413680881679 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.00, Z:-3.55 [[ 9.86667875e-01 1.34393490e-01 9.17872269e-02 2.83069209e+01] [-1.33747371e-01 9.90927775e-01 -1.31827372e-02 -1.99764745e+00] [-9.27261866e-02 7.30683015e-04 9.95691378e-01 -3.54838515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.788241008000004 meters 0.06183578130596361 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.00, Z:-3.55 [[ 9.86441695e-01 1.36135450e-01 9.16510891e-02 2.83380862e+01] [-1.35498105e-01 9.90690068e-01 -1.31701373e-02 -2.00164937e+00] [-9.25907463e-02 5.73023651e-04 9.95704085e-01 -3.55348689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.818241008 meters 0.062060250397760766 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.01, Z:-3.56 [[ 9.86202517e-01 1.37565372e-01 9.20888880e-02 2.83680276e+01] [-1.36925660e-01 9.90492580e-01 -1.32594666e-02 -2.00601510e+00] [-9.30374036e-02 4.67187593e-04 9.95662505e-01 -3.56041722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.848241008000002 meters 0.06151277891662465 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.01, Z:-3.56 [[ 9.85910648e-01 1.38339716e-01 9.40335956e-02 2.84006213e+01] [-1.37674226e-01 9.90384746e-01 -1.35596133e-02 -2.00896838e+00] [-9.50052717e-02 4.22564648e-04 9.95476680e-01 -3.55871935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.878241008000003 meters 0.0615036087311898 Centerline is valid? [True, True] Translation: X:28.43, Y:-2.01, Z:-3.56 [[ 9.85918259e-01 1.37956278e-01 9.45158841e-02 2.84314796e+01] [-1.37280081e-01 9.90438202e-01 -1.36509233e-02 -2.01442051e+00] [-9.54953729e-02 4.83546275e-04 9.95429756e-01 -3.56271476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.908241008 meters 0.06164965041740567 Centerline is valid? [True, True] Translation: X:28.46, Y:-2.02, Z:-3.57 [[ 9.85960282e-01 1.37304095e-01 9.50258262e-02 2.84621701e+01] [-1.36615421e-01 9.90528777e-01 -1.37465641e-02 -2.02047860e+00] [-9.60132750e-02 5.71573008e-04 9.95379889e-01 -3.56714312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.938241008000002 meters 0.061547201285650735 Centerline is valid? [True, True] Translation: X:28.49, Y:-2.03, Z:-3.57 [[ 9.86116852e-01 1.36178643e-01 9.50206886e-02 2.84940871e+01] [-1.35482870e-01 9.90684049e-01 -1.37661420e-02 -2.02731093e+00] [-9.60101350e-02 7.01349094e-04 9.95380109e-01 -3.56813501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.968241008000003 meters 0.062024911700064446 Centerline is valid? [True, True] Translation: X:28.52, Y:-2.04, Z:-3.58 [[ 9.86293663e-01 1.35115406e-01 9.47028884e-02 2.85231462e+01] [-1.34416763e-01 9.90829521e-01 -1.37475359e-02 -2.03523443e+00] [-9.56919214e-02 8.29451829e-04 9.95410653e-01 -3.57674859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.998241008000004 meters 0.06246474157784429 Centerline is valid? [True, True] Translation: X:28.55, Y:-2.05, Z:-3.58 [[ 9.86914185e-01 1.30201368e-01 9.51209534e-02 2.85537098e+01] [-1.29471732e-01 9.91486676e-01 -1.38290598e-02 -2.04797380e+00] [-9.61117203e-02 1.33262075e-03 9.95369661e-01 -3.57845999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.028241008000002 meters 0.06350093084701403 Centerline is valid? [True, True] Translation: X:28.58, Y:-2.06, Z:-3.59 [[ 9.87271118e-01 1.27616952e-01 9.49191937e-02 2.85823910e+01] [-1.26876053e-01 9.91822229e-01 -1.38250991e-02 -2.05936131e+00] [-9.59072833e-02 1.60614842e-03 9.95388976e-01 -3.58545094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.058241008000003 meters 0.0637884196120053 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.07, Z:-3.59 [[ 9.87742830e-01 1.24367015e-01 9.43236356e-02 2.86137039e+01] [-1.23619449e-01 9.92234424e-01 -1.37506241e-02 -2.06857220e+00] [-9.53012823e-02 1.92184449e-03 9.95446619e-01 -3.58691261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.088241008000004 meters 0.06488156085643251 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.08, Z:-3.59 [[ 9.88555196e-01 1.20109623e-01 9.12814495e-02 2.86420539e+01] [-1.19390820e-01 9.92758053e-01 -1.33146348e-02 -2.08054136e+00] [-9.22196099e-02 2.26408423e-03 9.95736118e-01 -3.59188004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.118241008000002 meters 0.0655608889149967 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.09, Z:-3.60 [[ 9.88830004e-01 1.18436046e-01 9.04882614e-02 2.86729194e+01] [-1.17722776e-01 9.92958786e-01 -1.31983956e-02 -2.08735430e+00] [-9.14142799e-02 2.39844022e-03 9.95810061e-01 -3.59777044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.148241008000003 meters 0.06524420842724674 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.09, Z:-3.60 [[ 9.88861324e-01 1.18674597e-01 8.98310703e-02 2.87040572e+01] [-1.17972666e-01 9.92930398e-01 -1.31024696e-02 -2.09063066e+00] [-9.07509307e-02 2.35891457e-03 9.95870827e-01 -3.60140561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.178241008000004 meters 0.06609754474083145 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.10, Z:-3.61 [[ 9.88805811e-01 1.19771614e-01 8.89821849e-02 2.87343453e+01] [-1.19085527e-01 9.92798906e-01 -1.29988475e-02 -2.09692259e+00] [-8.98983088e-02 2.25684560e-03 9.95948393e-01 -3.60987907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.208241008 meters 0.06577194688674583 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.10, Z:-3.61 [[ 9.88352325e-01 1.22792833e-01 8.98977251e-02 2.87658013e+01] [-1.22102236e-01 9.92430244e-01 -1.31626591e-02 -2.10037464e+00] [-9.08335015e-02 2.03263156e-03 9.95864019e-01 -3.61397461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.238241008000003 meters 0.0655217760786449 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.11, Z:-3.62 [[ 9.88055932e-01 1.24028026e-01 9.14468418e-02 2.87973165e+01] [-1.23318743e-01 9.92276797e-01 -1.33882959e-02 -2.10544463e+00] [-9.24011031e-02 1.95127563e-03 9.95719955e-01 -3.61524027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.268241008000004 meters 0.0655217760786449 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.11, Z:-3.62 [[ 9.88024047e-01 1.24283872e-01 9.14439774e-02 2.88290476e+01] [-1.23573874e-01 9.92244792e-01 -1.34078268e-02 -2.11026806e+00] [-9.24011870e-02 1.94716870e-03 9.95719955e-01 -3.61930150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.298241008 meters 0.06517393380134287 Centerline is valid? [True, True] Translation: X:28.86, Y:-2.12, Z:-3.62 [[ 9.87797502e-01 1.24961595e-01 9.29553370e-02 2.88603153e+01] [-1.24228402e-01 9.92159681e-01 -1.36554946e-02 -2.11548337e+00] [-9.39329499e-02 1.94117052e-03 9.95576633e-01 -3.62099456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.328241008000003 meters 0.06490765333452164 Centerline is valid? [True, True] Translation: X:28.89, Y:-2.12, Z:-3.62 [[ 9.87568707e-01 1.24688065e-01 9.57127769e-02 2.88927151e+01] [-1.23906682e-01 9.92193868e-01 -1.40876859e-02 -2.12089082e+00] [-9.67221967e-02 2.05310513e-03 9.95309299e-01 -3.62150718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.358241008000004 meters 0.06498781375438245 Centerline is valid? [True, True] Translation: X:28.92, Y:-2.13, Z:-3.62 [[ 9.87332636e-01 1.23447925e-01 9.96738425e-02 2.89242989e+01] [-1.22593498e-01 9.92348454e-01 -1.46758223e-02 -2.12814183e+00] [-1.00722883e-01 2.27055328e-03 9.94911928e-01 -3.62254951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.388241008 meters 0.06502268017864236 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.13, Z:-3.63 [[ 9.87218447e-01 1.23325087e-01 1.00948804e-01 2.89560260e+01] [-1.22445503e-01 9.92363575e-01 -1.48874001e-02 -2.13360776e+00] [-1.02013906e-01 2.33638896e-03 9.94780229e-01 -3.62554026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.418241008000003 meters 0.06487439463567052 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.14, Z:-3.63 [[ 9.87175632e-01 1.22582745e-01 1.02263103e-01 2.89883405e+01] [-1.21673626e-01 9.92455228e-01 -1.51046424e-02 -2.13843749e+00] [-1.03343120e-01 2.46821234e-03 9.94642703e-01 -3.62685125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.448241008000004 meters 0.06528411250842961 Centerline is valid? [True, True] Translation: X:29.02, Y:-2.15, Z:-3.63 [[ 9.87212249e-01 1.22135553e-01 1.02444532e-01 2.90184857e+01] [-1.21217713e-01 9.92510156e-01 -1.51610426e-02 -2.14568879e+00] [-1.03528940e-01 2.54907512e-03 9.94623175e-01 -3.63173492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.478241008 meters 0.06552117512599168 Centerline is valid? [True, True] Translation: X:29.05, Y:-2.15, Z:-3.64 [[ 9.87372963e-01 1.22610662e-01 1.00305815e-01 2.90494319e+01] [-1.21731139e-01 9.92451780e-01 -1.48658841e-02 -2.14987885e+00] [-1.01371401e-01 2.46783087e-03 9.94845590e-01 -3.63689733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.508241008000002 meters 0.0655728801958742 Centerline is valid? [True, True] Translation: X:29.08, Y:-2.15, Z:-3.64 [[ 9.87319674e-01 1.23522227e-01 9.97101801e-02 2.90818567e+01] [-1.22655484e-01 9.92338945e-01 -1.48003399e-02 -2.15357442e+00] [-1.00774466e-01 2.38266643e-03 9.94906443e-01 -3.64246809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.538241008000004 meters 0.0655797589171017 Centerline is valid? [True, True] Translation: X:29.11, Y:-2.16, Z:-3.65 [[ 9.87319397e-01 1.24579991e-01 9.83881806e-02 2.91128132e+01] [-1.23738276e-01 9.92206959e-01 -1.46352363e-02 -2.15761468e+00] [-9.94446950e-02 2.27526887e-03 9.95040490e-01 -3.64916830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.568241008 meters 0.0660894704379578 Centerline is valid? [True, True] Translation: X:29.14, Y:-2.16, Z:-3.65 [[ 9.87486998e-01 1.24554597e-01 9.67242494e-02 2.91423816e+01] [-1.23740635e-01 9.92210219e-01 -1.43922133e-02 -2.16437481e+00] [-9.77634051e-02 2.24340347e-03 9.95207156e-01 -3.65441545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.598241008000002 meters 0.06659932372357745 Centerline is valid? [True, True] Translation: X:29.17, Y:-2.17, Z:-3.66 [[ 9.87592747e-01 1.24110278e-01 9.62143729e-02 2.91722459e+01] [-1.23300691e-01 9.92265773e-01 -1.43379077e-02 -2.17096079e+00] [-9.72497108e-02 2.29671497e-03 9.95257363e-01 -3.65978786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.628241008000003 meters 0.06683095903670674 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.18, Z:-3.66 [[ 9.87677562e-01 1.23694835e-01 9.58781615e-02 2.92032619e+01] [-1.22886953e-01 9.92317523e-01 -1.43084376e-02 -2.17671831e+00] [-9.69114595e-02 2.34994772e-03 9.95290232e-01 -3.66442115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.658241008 meters 0.06779965585150842 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.18, Z:-3.67 [[ 9.87786805e-01 1.22426221e-01 9.63797138e-02 2.92325810e+01] [-1.21601558e-01 9.92474442e-01 -1.44063619e-02 -2.18472686e+00] [-9.74181191e-02 2.51049081e-03 9.95240377e-01 -3.67110843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.688241008000002 meters 0.067224610128241 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.19, Z:-3.67 [[ 9.87388713e-01 1.24129729e-01 9.82615927e-02 2.92643246e+01] [-1.23278269e-01 9.92263060e-01 -1.47135128e-02 -2.18894335e+00] [-9.93277330e-02 2.41443736e-03 9.95051844e-01 -3.67173573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.718241008000003 meters 0.06680299573196727 Centerline is valid? [True, True] Translation: X:29.30, Y:-2.19, Z:-3.68 [[ 9.86975765e-01 1.26935519e-01 9.88241567e-02 2.92962217e+01] [-1.26088221e-01 9.91908652e-01 -1.47982165e-02 -2.19103414e+00] [-9.99029553e-02 2.14491889e-03 9.94994874e-01 -3.67506939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.748241008000004 meters 0.06676170671908264 Centerline is valid? [True, True] Translation: X:29.33, Y:-2.19, Z:-3.68 [[ 9.86506001e-01 1.30208098e-01 9.92560420e-02 2.93270753e+01] [-1.29367568e-01 9.91484972e-01 -1.48856477e-02 -2.19273600e+00] [-1.00349106e-01 1.84426807e-03 9.94950579e-01 -3.68168379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.778241008000002 meters 0.06615991637637897 Centerline is valid? [True, True] Translation: X:29.36, Y:-2.19, Z:-3.69 [[ 9.85963302e-01 1.34098366e-01 9.94685675e-02 2.93592745e+01] [-1.33271651e-01 9.90966929e-01 -1.49402873e-02 -2.19182961e+00] [-1.00573529e-01 1.47423483e-03 9.94928536e-01 -3.68594970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.808241008000003 meters 0.06549731218416065 Centerline is valid? [True, True] Translation: X:29.39, Y:-2.19, Z:-3.69 [[ 9.85291349e-01 1.38583842e-01 9.99773780e-02 2.93922346e+01] [-1.37769187e-01 9.90350153e-01 -1.50408090e-02 -2.19090924e+00] [-1.01097025e-01 1.04577691e-03 9.94876021e-01 -3.68833015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.838241008000004 meters 0.065374267153244 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.19, Z:-3.69 [[ 9.84067042e-01 1.46517536e-01 1.00720742e-01 2.94243177e+01] [-1.45730751e-01 9.89208042e-01 -1.51656525e-02 -2.18715950e+00] [-1.01855803e-01 2.45909370e-04 9.94799143e-01 -3.69270932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.868241008000002 meters 0.06564598688805298 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.19, Z:-3.70 [[ 9.83480734e-01 1.50688954e-01 1.00291995e-01 2.94564495e+01] [-1.49928171e-01 9.88581212e-01 -1.51238515e-02 -2.18789830e+00] [-1.01425780e-01 -1.62578831e-04 9.94843096e-01 -3.69800879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.898241008000003 meters 0.06580103311454599 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.19, Z:-3.70 [[ 9.82952141e-01 1.54071104e-01 1.00335351e-01 2.94888951e+01] [-1.53324743e-01 9.88059643e-01 -1.51547362e-02 -2.18912844e+00] [-1.01472218e-01 -4.87511492e-04 9.94838254e-01 -3.70220033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.928241008000004 meters 0.06578452937957494 Centerline is valid? [True, True] Translation: X:29.52, Y:-2.19, Z:-3.71 [[ 9.82839874e-01 1.54399707e-01 1.00928251e-01 2.95198850e+01] [-1.53643347e-01 9.88008342e-01 -1.52721344e-02 -2.19411866e+00] [-1.02075967e-01 -4.96891575e-04 9.94776483e-01 -3.70642466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.958241008 meters 0.06592776499850829 Centerline is valid? [True, True] Translation: X:29.55, Y:-2.20, Z:-3.71 [[ 9.82899734e-01 1.53709808e-01 1.01397278e-01 2.95504410e+01] [-1.52940053e-01 9.88115952e-01 -1.53690082e-02 -2.20020951e+00] [-1.02554635e-01 -4.01511079e-04 9.94727292e-01 -3.71122793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.988241008000003 meters 0.06614476520697342 Centerline is valid? [True, True] Translation: X:29.58, Y:-2.21, Z:-3.72 [[ 9.83004056e-01 1.53202063e-01 1.01154109e-01 2.95815653e+01] [-1.52432215e-01 9.88194826e-01 -1.53429310e-02 -2.20867618e+00] [-1.02310536e-01 -3.36981476e-04 9.94752452e-01 -3.71530469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.018241008000004 meters 0.06621171119563012 Centerline is valid? [True, True] Translation: X:29.61, Y:-2.22, Z:-3.72 [[ 9.83171269e-01 1.52065400e-01 1.01244110e-01 2.96131729e+01] [-1.51285684e-01 9.88370414e-01 -1.53806910e-02 -2.21683553e+00] [-1.02405554e-01 -1.94930939e-04 9.94742713e-01 -3.71957222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.048241008 meters 0.06640332919056126 Centerline is valid? [True, True] Translation: X:29.64, Y:-2.23, Z:-3.72 [[ 9.83618910e-01 1.49194016e-01 1.01168108e-01 2.96445232e+01] [-1.48397667e-01 9.88807933e-01 -1.53949275e-02 -2.22864174e+00] [-1.02332659e-01 1.29630636e-04 9.94750225e-01 -3.72394420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.078241008000003 meters 0.06673880368243705 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.24, Z:-3.73 [[ 9.83861823e-01 1.47951042e-01 1.00630027e-01 2.96752282e+01] [-1.47153969e-01 9.88994645e-01 -1.53395216e-02 -2.23583847e+00] [-1.01792056e-01 2.83861837e-04 9.94805658e-01 -3.72915655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.108241008000004 meters 0.06665580917497493 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.24, Z:-3.73 [[ 9.83964857e-01 1.47737046e-01 9.99346060e-02 2.97065088e+01] [-1.46947661e-01 9.89026622e-01 -1.52553447e-02 -2.24054037e+00] [-1.01091765e-01 3.25566460e-04 9.94877052e-01 -3.73160955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.138241008 meters 0.06730429810395326 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.24, Z:-3.74 [[ 9.84052948e-01 1.47727329e-01 9.90779029e-02 2.97364491e+01] [-1.46948805e-01 9.89028065e-01 -1.51503994e-02 -2.24466968e+00] [-1.00228955e-01 3.49415746e-04 9.94964338e-01 -3.74192595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.168241008000003 meters 0.06763099813810206 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.25, Z:-3.75 [[ 9.84188606e-01 1.47185569e-01 9.85352578e-02 2.97676234e+01] [-1.46411838e-01 9.89108810e-01 -1.50776502e-02 -2.25123918e+00] [-9.96813041e-02 4.12523339e-04 9.95019330e-01 -3.74696119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.198241008000004 meters 0.06797970966485169 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.26, Z:-3.75 [[ 9.84376726e-01 1.45738337e-01 9.88068733e-02 2.97979982e+01] [-1.44950901e-01 9.89323000e-01 -1.51406013e-02 -2.25999123e+00] [-9.99584784e-02 5.81910198e-04 9.94991439e-01 -3.75062465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.228241008 meters 0.0680973706837568 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.27, Z:-3.75 [[ 9.84640353e-01 1.43382490e-01 9.96234720e-02 2.98302707e+01] [-1.42567580e-01 9.89666983e-01 -1.52888075e-02 -2.26915808e+00] [-1.00786208e-01 8.50899510e-04 9.94907743e-01 -3.75200064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.258241008000002 meters 0.06857138961200189 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.28, Z:-3.76 [[ 9.84822887e-01 1.41270918e-01 1.00828616e-01 2.98625782e+01] [-1.40422493e-01 9.89970356e-01 -1.54989400e-02 -2.27636175e+00] [-1.02006890e-01 1.10510529e-03 9.94783078e-01 -3.75505425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.288241008000004 meters 0.06881530518870409 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.28, Z:-3.76 [[ 9.84884101e-01 1.40402036e-01 1.01442472e-01 2.98933809e+01] [-1.39535997e-01 9.90093814e-01 -1.56187266e-02 -2.28152142e+00] [-1.02630465e-01 1.22775911e-03 9.94718795e-01 -3.75939666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.318241008 meters 0.06874015109929245 Centerline is valid? [True, True] Translation: X:29.93, Y:-2.28, Z:-3.76 [[ 9.85493702e-01 1.37178298e-01 9.99213618e-02 2.99258594e+01] [-1.36318942e-01 9.90545134e-01 -1.54104913e-02 -2.28360166e+00] [-1.01090604e-01 1.56576783e-03 9.94875991e-01 -3.76073111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.348241008000002 meters 0.07074952112609025 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.29, Z:-3.77 [[ 9.85762056e-01 1.35593159e-01 9.94367341e-02 2.99546797e+01] [-1.34733783e-01 9.90763103e-01 -1.53388823e-02 -2.29455884e+00] [-1.00598095e-01 1.72300080e-03 9.94925653e-01 -3.77242862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.378241008000003 meters 0.07146976800878356 Centerline is valid? [True, True] Translation: X:29.99, Y:-2.30, Z:-3.78 [[ 9.86035126e-01 1.33800806e-01 9.91568172e-02 2.99858494e+01] [-1.32935029e-01 9.91006382e-01 -1.53176048e-02 -2.30215238e+00] [-1.00314547e-01 1.92228199e-03 9.94953917e-01 -3.77679566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.408241008000005 meters 0.07202727586165045 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.31, Z:-3.78 [[ 9.86263850e-01 1.32283058e-01 9.89182036e-02 3.00160279e+01] [-1.31411746e-01 9.91209773e-01 -1.53015836e-02 -2.30935542e+00] [-1.00072830e-01 2.09238494e-03 9.94977915e-01 -3.78097437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.438241008000002 meters 0.07271403269437854 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.32, Z:-3.79 [[ 9.86501292e-01 1.30644169e-01 9.87284235e-02 3.00474719e+01] [-1.29766175e-01 9.91426718e-01 -1.52906379e-02 -2.31611573e+00] [-9.98796295e-02 2.27262424e-03 9.94996932e-01 -3.78547771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.468241008000003 meters 0.07442045156351297 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.32, Z:-3.79 [[ 9.86995567e-01 1.27913621e-01 9.73542796e-02 3.00763504e+01] [-1.27044344e-01 9.91782067e-01 -1.51018694e-02 -2.32481287e+00] [-9.84859635e-02 2.53716758e-03 9.95135206e-01 -3.79137304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.498241008000004 meters 0.0729851826399658 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.33, Z:-3.79 [[ 9.87174457e-01 1.27626353e-01 9.59067539e-02 3.01086404e+01] [-1.26781687e-01 9.91819106e-01 -1.48749895e-02 -2.32506191e+00] [-9.70205916e-02 2.52498956e-03 9.95279172e-01 -3.79193015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.528241008000002 meters 0.07219132931047992 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.33, Z:-3.79 [[ 9.87282017e-01 1.28092036e-01 9.41628863e-02 3.01403996e+01] [-1.27278062e-01 9.91759249e-01 -1.46248621e-02 -2.32530186e+00] [-9.52602418e-02 2.45399364e-03 9.95449378e-01 -3.79492373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.558241008000003 meters 0.07249935554848598 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.33, Z:-3.80 [[ 9.87180197e-01 1.28311178e-01 9.49289184e-02 3.01702310e+01] [-1.27482871e-01 9.91730872e-01 -1.47646370e-02 -2.33068595e+00] [-9.60384070e-02 2.47354627e-03 9.95374556e-01 -3.79985495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.588241008000004 meters 0.07255170126340946 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.34, Z:-3.80 [[ 9.87071432e-01 1.28682274e-01 9.55555376e-02 3.02022979e+01] [-1.27842469e-01 9.91682781e-01 -1.48850310e-02 -2.33581475e+00] [-9.66762210e-02 2.47653306e-03 9.95312803e-01 -3.80282787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.618241008000002 meters 0.07259088689350285 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.34, Z:-3.81 [[ 9.86814666e-01 1.28960325e-01 9.78061822e-02 3.02332595e+01] [-1.28080765e-01 9.91646559e-01 -1.52453052e-02 -2.34073331e+00] [-9.89552035e-02 2.51720013e-03 9.95088705e-01 -3.80640565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.648241008000003 meters 0.07193478594108281 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.34, Z:-3.81 [[ 9.86581962e-01 1.30076954e-01 9.86712661e-02 3.02651659e+01] [-1.29185042e-01 9.91500877e-01 -1.54024830e-02 -2.34355469e+00] [-9.98361550e-02 2.44896028e-03 9.95000877e-01 -3.80818998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.678241008000004 meters 0.07113256328313916 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.34, Z:-3.81 [[ 9.86067403e-01 1.33087050e-01 9.97943620e-02 3.02967323e+01] [-1.32187207e-01 9.91101918e-01 -1.56054424e-02 -2.34464398e+00] [-1.00983266e-01 2.19648011e-03 9.94885700e-01 -3.80906643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.708241008 meters 0.07079105446857546 Centerline is valid? [True, True] Translation: X:30.33, Y:-2.35, Z:-3.81 [[ 9.85813744e-01 1.34975179e-01 9.97645348e-02 3.03280204e+01] [-1.34085651e-01 9.90846959e-01 -1.55994150e-02 -2.34807830e+00] [-1.00956920e-01 2.00112516e-03 9.94888786e-01 -3.81320915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.738241008000003 meters 0.07054941628996325 Centerline is valid? [True, True] Translation: X:30.36, Y:-2.35, Z:-3.82 [[ 9.85532284e-01 1.36789614e-01 1.00073566e-01 3.03594955e+01] [-1.35901513e-01 9.90598406e-01 -1.56709140e-02 -2.35121989e+00] [-1.01276333e-01 1.84404265e-03 9.94856625e-01 -3.81692810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.768241008000004 meters 0.07051048544312073 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.35, Z:-3.82 [[ 9.85342623e-01 1.38385201e-01 9.97469376e-02 3.03903797e+01] [-1.37508497e-01 9.90377023e-01 -1.56450023e-02 -2.35428932e+00] [-1.00952112e-01 1.69963618e-03 9.94889834e-01 -3.82265536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.798241008 meters 0.0703718570270616 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.36, Z:-3.83 [[ 9.84915000e-01 1.41612274e-01 9.94404706e-02 3.04212905e+01] [-1.40756247e-01 9.89921245e-01 -1.56079248e-02 -2.35581399e+00] [-1.00648508e-01 1.37561186e-03 9.94921095e-01 -3.82889137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.828241008000003 meters 0.07026923167088205 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.36, Z:-3.83 [[ 9.84655350e-01 1.42918662e-01 1.00140387e-01 3.04512784e+01] [-1.42055081e-01 9.89733620e-01 -1.57389935e-02 -2.36030264e+00] [-1.01361704e-01 1.27203329e-03 9.94848826e-01 -3.83313115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.858241008000004 meters 0.07018487408273064 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.37, Z:-3.84 [[ 9.84474726e-01 1.43769888e-01 1.00696240e-01 3.04827906e+01] [-1.42898996e-01 9.89610404e-01 -1.58469384e-02 -2.36508154e+00] [-1.01928359e-01 1.21151880e-03 9.94791004e-01 -3.83702810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.888241008 meters 0.06999520500148057 Centerline is valid? [True, True] Translation: X:30.51, Y:-2.37, Z:-3.84 [[ 9.84359986e-01 1.44350923e-01 1.00986282e-01 3.05144635e+01] [-1.43475743e-01 9.89525859e-01 -1.59149431e-02 -2.37008216e+00] [-1.02225874e-01 1.17695141e-03 9.94760517e-01 -3.84059594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.918241008000003 meters 0.06985278003158943 Centerline is valid? [True, True] Translation: X:30.55, Y:-2.38, Z:-3.84 [[ 9.84267237e-01 1.45044984e-01 1.00895778e-01 3.05465164e+01] [-1.44172580e-01 9.89424419e-01 -1.59243719e-02 -2.37632112e+00] [-1.02138497e-01 1.12743291e-03 9.94769549e-01 -3.84340092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.948241008000004 meters 0.07000910179235298 Centerline is valid? [True, True] Translation: X:30.58, Y:-2.38, Z:-3.85 [[ 9.84276082e-01 1.44474968e-01 1.01624687e-01 3.05767390e+01] [-1.43584805e-01 9.89507710e-01 -1.60591455e-02 -2.38294014e+00] [-1.02878556e-01 1.21487192e-03 9.94693182e-01 -3.84779564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.978241008 meters 0.06980977260824742 Centerline is valid? [True, True] Translation: X:30.61, Y:-2.39, Z:-3.85 [[ 9.84080178e-01 1.45933968e-01 1.01437072e-01 3.06081600e+01] [-1.45053689e-01 9.89293753e-01 -1.60405130e-02 -2.38705592e+00] [-1.02691917e-01 1.07132946e-03 9.94712633e-01 -3.85078445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.008241008000002 meters 0.06969698440663448 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.39, Z:-3.86 [[ 9.83781585e-01 1.48536878e-01 1.00551421e-01 3.06391736e+01] [-1.47683223e-01 9.88906534e-01 -1.59227412e-02 -2.39018053e+00] [-1.01801071e-01 8.14741688e-04 9.94804442e-01 -3.85709490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.038241008000004 meters 0.06958231931011286 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.39, Z:-3.86 [[ 9.83440656e-01 1.50561677e-01 1.00874459e-01 3.06712119e+01] [-1.49710551e-01 9.88600416e-01 -1.59990344e-02 -2.39172169e+00] [-1.02133374e-01 6.32130036e-04 9.94770513e-01 -3.86240933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.068241008 meters 0.06953811260834485 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.40, Z:-3.87 [[ 9.83355321e-01 1.51094764e-01 1.00909293e-01 3.07031009e+01] [-1.50243629e-01 9.88519102e-01 -1.60261632e-02 -2.39627784e+00] [-1.02172233e-01 5.98434520e-04 9.94766544e-01 -3.86806549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.098241008000002 meters 0.0696029509914221 Centerline is valid? [True, True] Translation: X:30.74, Y:-2.40, Z:-3.87 [[ 9.83348753e-01 1.51455642e-01 1.00431167e-01 3.07352182e+01] [-1.50611843e-01 9.88463883e-01 -1.59757600e-02 -2.40208840e+00] [-1.01692200e-01 5.83620600e-04 9.94815740e-01 -3.87359422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.128241008000003 meters 0.06956803997418597 Centerline is valid? [True, True] Translation: X:30.77, Y:-2.41, Z:-3.88 [[ 9.83221498e-01 1.52277132e-01 1.00434859e-01 3.07673910e+01] [-1.51434931e-01 9.88337695e-01 -1.60019220e-02 -2.40665275e+00] [-1.01700284e-01 5.24087894e-04 9.94814946e-01 -3.87844162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.158241008000005 meters 0.06952856882307386 Centerline is valid? [True, True] Translation: X:30.80, Y:-2.41, Z:-3.88 [[ 9.83115559e-01 1.53389200e-01 9.97775104e-02 3.07976904e+01] [-1.52560873e-01 9.88165758e-01 -1.59253037e-02 -2.41114337e+00] [-1.01039489e-01 4.34269753e-04 9.94882321e-01 -3.88328343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.188241008000002 meters 0.06952856882307386 Centerline is valid? [True, True] Translation: X:30.83, Y:-2.42, Z:-3.89 [[ 9.83078278e-01 1.53628862e-01 9.97761080e-02 3.08293510e+01] [-1.52800875e-01 9.88128533e-01 -1.59340866e-02 -2.41639951e+00] [-1.01039555e-01 4.18577904e-04 9.94882321e-01 -3.88733416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.218241008000003 meters 0.06950933063569303 Centerline is valid? [True, True] Translation: X:30.86, Y:-2.42, Z:-3.89 [[ 9.83116880e-01 1.53705968e-01 9.92757555e-02 3.08591016e+01] [-1.52883835e-01 9.88116534e-01 -1.58823253e-02 -2.42215735e+00] [-1.00537224e-01 4.36523906e-04 9.94933202e-01 -3.89175807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.248241008000004 meters 0.06956993746668347 Centerline is valid? [True, True] Translation: X:30.89, Y:-2.43, Z:-3.90 [[ 9.83204491e-01 1.53690653e-01 9.84282081e-02 3.08903514e+01] [-1.52881661e-01 9.88118914e-01 -1.57546878e-02 -2.42756707e+00] [-9.96801223e-02 4.42211882e-04 9.95019436e-01 -3.89681110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.278241008000002 meters 0.06943205977259784 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.43, Z:-3.90 [[ 9.83219043e-01 1.53653475e-01 9.83408539e-02 3.09231229e+01] [-1.52843741e-01 9.88124685e-01 -1.57606415e-02 -2.43069709e+00] [-9.95947026e-02 4.65378784e-04 9.95027979e-01 -3.89821777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.308241008000003 meters 0.06984713259130422 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.44, Z:-3.91 [[ 9.83319874e-01 1.52862030e-01 9.85658378e-02 3.09535730e+01] [-1.52041702e-01 9.88247372e-01 -1.58256874e-02 -2.43745237e+00] [-9.98265769e-02 5.75595258e-04 9.95004685e-01 -3.90841610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.338241008000004 meters 0.06975195787339615 Centerline is valid? [True, True] Translation: X:30.99, Y:-2.44, Z:-3.91 [[ 9.83378341e-01 1.52535070e-01 9.84890389e-02 3.09863999e+01] [-1.51712977e-01 9.88297863e-01 -1.58274310e-02 -2.44276926e+00] [-9.97507449e-02 6.22287567e-04 9.95012262e-01 -3.91034279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.368241008000002 meters 0.06964972997239137 Centerline is valid? [True, True] Translation: X:31.02, Y:-2.45, Z:-3.91 [[ 9.83492653e-01 1.51622122e-01 9.87569408e-02 3.10189306e+01] [-1.50788418e-01 9.88438254e-01 -1.58956361e-02 -2.44926223e+00] [-1.00025268e-01 7.41838461e-04 9.94984621e-01 -3.91362286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.398241008000003 meters 0.06969141290313871 Centerline is valid? [True, True] Translation: X:31.05, Y:-2.46, Z:-3.92 [[ 9.83889124e-01 1.49167910e-01 9.85450442e-02 3.10499405e+01] [-1.48322835e-01 9.88811359e-01 -1.58881607e-02 -2.45660612e+00] [-9.98124627e-02 1.01570823e-03 9.95005749e-01 -3.91846826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.428241008000004 meters 0.06979162599307559 Centerline is valid? [True, True] Translation: X:31.08, Y:-2.46, Z:-3.92 [[ 9.84047462e-01 1.47795096e-01 9.90313162e-02 3.10808809e+01] [-1.46932396e-01 9.89017295e-01 -1.59894353e-02 -2.46409447e+00] [-1.00306845e-01 1.18345466e-03 9.94955846e-01 -3.92306889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.458241008 meters 0.07006162475866361 Centerline is valid? [True, True] Translation: X:31.11, Y:-2.47, Z:-3.93 [[ 9.84273714e-01 1.46227084e-01 9.91105213e-02 3.11115924e+01] [-1.45352539e-01 9.89250102e-01 -1.60272989e-02 -2.47296960e+00] [-1.00388719e-01 1.36928309e-03 9.94947350e-01 -3.92709484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.488241008000003 meters 0.07019991914429673 Centerline is valid? [True, True] Translation: X:31.14, Y:-2.48, Z:-3.93 [[ 9.84638125e-01 1.44105928e-01 9.85963747e-02 3.11424791e+01] [-1.43227595e-01 9.89560975e-01 -1.59666398e-02 -2.47999826e+00] [-9.98680121e-02 1.59964069e-03 9.94999408e-01 -3.93182272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.518241008000004 meters 0.07042675509859371 Centerline is valid? [True, True] Translation: X:31.17, Y:-2.49, Z:-3.94 [[ 9.84753466e-01 1.43401233e-01 9.84718118e-02 3.11730043e+01] [-1.42519088e-01 9.89663183e-01 -1.59716332e-02 -2.48500764e+00] [-9.97442786e-02 1.69400838e-03 9.95011663e-01 -3.93756201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.548241008 meters 0.0707812203281807 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.49, Z:-3.94 [[ 9.84934324e-01 1.42208851e-01 9.83921714e-02 3.12031986e+01] [-1.41321194e-01 9.89834995e-01 -1.59687758e-02 -2.49053261e+00] [-9.96629158e-02 1.82329622e-03 9.95019587e-01 -3.94341084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.578241008000003 meters 0.07047156806191032 Centerline is valid? [True, True] Translation: X:31.24, Y:-2.49, Z:-3.95 [[ 9.85101290e-01 1.40960104e-01 9.85174968e-02 3.12354317e+01] [-1.40061966e-01 9.90013314e-01 -1.60088885e-02 -2.49451133e+00] [-9.97902480e-02 1.97182241e-03 9.95006542e-01 -3.94514012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.608241008000004 meters 0.07144674148791465 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.50, Z:-3.95 [[ 9.85300856e-01 1.39494581e-01 9.86077343e-02 3.12646075e+01] [-1.38585094e-01 9.90220509e-01 -1.60472498e-02 -2.50448101e+00] [-9.98819053e-02 2.14580680e-03 9.94996985e-01 -3.95219586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.638241008 meters 0.07219228248448788 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.52, Z:-3.95 [[ 9.85683904e-01 1.36163911e-01 9.94315429e-02 3.12937254e+01] [-1.35219746e-01 9.90683095e-01 -1.62056998e-02 -2.51518384e+00] [-1.00711780e-01 2.52858946e-03 9.94912430e-01 -3.95448486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.668241008000003 meters 0.0722384662860288 Centerline is valid? [True, True] Translation: X:31.33, Y:-2.52, Z:-3.96 [[ 9.85781812e-01 1.35208757e-01 9.97637783e-02 3.13251300e+01] [-1.34252520e-01 9.90813607e-01 -1.62682643e-02 -2.52129209e+00] [-1.01046921e-01 2.64342046e-03 9.94878149e-01 -3.95719364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.698241008000004 meters 0.0727922619848381 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.53, Z:-3.96 [[ 9.85856078e-01 1.34148636e-01 1.00458632e-01 3.13554302e+01] [-1.33171026e-01 9.90957279e-01 -1.64057763e-02 -2.52860308e+00] [-1.01751025e-01 2.79555511e-03 9.94805968e-01 -3.96210342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.728241008 meters 0.07272468110309697 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.53, Z:-3.96 [[ 9.85778692e-01 1.34010479e-01 1.01398037e-01 3.13869620e+01] [-1.33012666e-01 9.90975827e-01 -1.65692928e-02 -2.53391082e+00] [-1.02703463e-01 2.84643255e-03 9.94707945e-01 -3.96473513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.758241008000002 meters 0.07144693710597584 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.53, Z:-3.97 [[ 9.85633542e-01 1.34656582e-01 1.01951582e-01 3.14197608e+01] [-1.33649005e-01 9.90888326e-01 -1.66813698e-02 -2.53467215e+00] [-1.03268888e-01 2.81599016e-03 9.94649489e-01 -3.96557343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.788241008000004 meters 0.07126304127471146 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.54, Z:-3.97 [[ 9.85236440e-01 1.36370190e-01 1.03500383e-01 3.14502206e+01] [-1.35338549e-01 9.90654267e-01 -1.69587811e-02 -2.53747328e+00] [-1.04845769e-01 2.70081737e-03 9.94484827e-01 -3.97141223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.818241008000005 meters 0.07069075499797971 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.54, Z:-3.98 [[ 9.84846663e-01 1.39002165e-01 1.03708478e-01 3.14818249e+01] [-1.37978398e-01 9.90289049e-01 -1.70165149e-02 -2.53922344e+00] [-1.05066702e-01 2.44912835e-03 9.94462161e-01 -3.97566996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.848241008000002 meters 0.07012834147192176 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.54, Z:-3.98 [[ 9.84276889e-01 1.41780651e-01 1.05343496e-01 3.15132664e+01] [-1.40737237e-01 9.89895625e-01 -1.73113302e-02 -2.54062064e+00] [-1.06733478e-01 2.21338965e-03 9.94285203e-01 -3.97918782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.878241008000003 meters 0.06899288186265046 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.54, Z:-3.98 [[ 9.83025659e-01 1.49645017e-01 1.06145765e-01 3.15446768e+01] [-1.48630069e-01 9.88738823e-01 -1.74539866e-02 -2.53942442e+00] [-1.07562341e-01 1.38126434e-03 9.94197382e-01 -3.98104104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.908241008000005 meters 0.06852946220713835 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.54, Z:-3.99 [[ 9.82360718e-01 1.53929159e-01 1.06175487e-01 3.15771107e+01] [-1.52937485e-01 9.88081456e-01 -1.74689035e-02 -2.54074869e+00] [-1.07599004e-01 9.22552548e-04 9.94193947e-01 -3.98588651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.938241008000002 meters 0.06835773097615007 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.54, Z:-3.99 [[ 9.81817404e-01 1.57725684e-01 1.05627615e-01 3.16095121e+01] [-1.56765529e-01 9.87482835e-01 -1.73844763e-02 -2.54204516e+00] [-1.07047435e-01 5.09612433e-04 9.94253784e-01 -3.99015455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.968241008000003 meters 0.06849105768457746 Centerline is valid? [True, True] Translation: X:31.64, Y:-2.54, Z:-4.00 [[ 9.81499608e-01 1.60409410e-01 1.04533918e-01 3.16396992e+01] [-1.59481579e-01 9.87050538e-01 -1.72296884e-02 -2.54401586e+00] [-1.05944064e-01 2.39698110e-04 9.94372062e-01 -3.99596234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.998241008000004 meters 0.06856778261242712 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.55, Z:-4.00 [[ 9.80964916e-01 1.63549134e-01 1.04687703e-01 3.16714118e+01] [-1.62635273e-01 9.86535186e-01 -1.72654328e-02 -2.54585868e+00] [-1.06101849e-01 -8.91292964e-05 9.94355263e-01 -4.00267209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.028241008 meters 0.06848276558990382 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.55, Z:-4.01 [[ 9.80871745e-01 1.64158890e-01 1.04606300e-01 3.17031701e+01] [-1.63247332e-01 9.86433901e-01 -1.72761981e-02 -2.55160192e+00] [-1.06023242e-01 -1.30964764e-04 9.94363643e-01 -4.00536797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.058241007999996 meters 0.06874841465204758 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.56, Z:-4.01 [[ 9.81039993e-01 1.63740695e-01 1.03679874e-01 3.17328438e+01] [-1.62839926e-01 9.86503412e-01 -1.71515892e-02 -2.55830220e+00] [-1.05088962e-01 -5.68280312e-05 9.94462823e-01 -4.01312475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.088241008 meters 0.0686458544511178 Centerline is valid? [True, True] Translation: X:31.76, Y:-2.57, Z:-4.01 [[ 9.81267631e-01 1.62934135e-01 1.02792525e-01 3.17640078e+01] [-1.62042078e-01 9.86636947e-01 -1.70264494e-02 -2.56636298e+00] [-1.04193092e-01 5.07893993e-05 9.94557086e-01 -4.01495101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.118241008 meters 0.06862370490804062 Centerline is valid? [True, True] Translation: X:31.79, Y:-2.58, Z:-4.02 [[ 9.81844809e-01 1.59087243e-01 1.03305471e-01 3.17937057e+01] [-1.58162481e-01 9.87264409e-01 -1.71352153e-02 -2.57966106e+00] [-1.04715809e-01 4.85072585e-04 9.94502068e-01 -4.01884401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.148241008 meters 0.0685910417806505 Centerline is valid? [True, True] Translation: X:31.83, Y:-2.59, Z:-4.02 [[ 9.82155838e-01 1.56991452e-01 1.03554783e-01 3.18251388e+01] [-1.56047904e-01 9.87599688e-01 -1.72019947e-02 -2.58930471e+00] [-1.04971237e-01 7.35532700e-04 9.94474986e-01 -4.02294855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.178241008 meters 0.06872200627414252 Centerline is valid? [True, True] Translation: X:31.86, Y:-2.60, Z:-4.03 [[ 9.82515152e-01 1.54038706e-01 1.04575588e-01 3.18561740e+01] [-1.53056795e-01 9.88064214e-01 -1.73990244e-02 -2.59901277e+00] [-1.06007519e-01 1.08880085e-03 9.94364732e-01 -4.02635369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.208241008 meters 0.06880477426643608 Centerline is valid? [True, True] Translation: X:31.89, Y:-2.61, Z:-4.03 [[ 9.82755255e-01 1.52418126e-01 1.04693953e-01 3.18869691e+01] [-1.51421795e-01 9.88315255e-01 -1.74469887e-02 -2.60640037e+00] [-1.06129868e-01 1.29317348e-03 9.94351436e-01 -4.02884445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.238241008 meters 0.06909301357449199 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.61, Z:-4.03 [[ 9.82988192e-01 1.50604589e-01 1.05130737e-01 3.19166669e+01] [-1.49586873e-01 9.88592913e-01 -1.75448139e-02 -2.61389412e+00] [-1.06573831e-01 1.52016672e-03 9.94303630e-01 -4.03323753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.268241008 meters 0.06929998422992334 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.62, Z:-4.04 [[ 9.83170445e-01 1.49589147e-01 1.04875939e-01 3.19478387e+01] [-1.48568228e-01 9.88746868e-01 -1.75246064e-02 -2.62018065e+00] [-1.06317247e-01 1.64844265e-03 9.94330893e-01 -4.03713611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.298241008 meters 0.06935300331637015 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.63, Z:-4.04 [[ 9.83188238e-01 1.49103063e-01 1.05400021e-01 3.19795072e+01] [-1.48066586e-01 9.88820142e-01 -1.76355422e-02 -2.62595858e+00] [-1.06851177e-01 1.73283645e-03 9.94273515e-01 -4.04161764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.328241008 meters 0.06966567620047996 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.63, Z:-4.05 [[ 9.83331743e-01 1.47689205e-01 1.06049905e-01 3.20110601e+01] [-1.46628642e-01 9.89031945e-01 -1.77722360e-02 -2.63180761e+00] [-1.07511511e-01 1.92605028e-03 9.94201974e-01 -4.04670287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.358241008 meters 0.07035736244502788 Centerline is valid? [True, True] Translation: X:32.04, Y:-2.64, Z:-4.05 [[ 9.83794062e-01 1.44540981e-01 1.06099713e-01 3.20405045e+01] [-1.43458558e-01 9.89496153e-01 -1.78046426e-02 -2.63973645e+00] [-1.07558758e-01 2.29518992e-03 9.94196080e-01 -4.05146988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.388241008 meters 0.070707542119911 Centerline is valid? [True, True] Translation: X:32.07, Y:-2.65, Z:-4.06 [[ 9.84059003e-01 1.42935885e-01 1.05816874e-01 3.20717205e+01] [-1.41847663e-01 9.89728829e-01 -1.77787940e-02 -2.64770934e+00] [-1.07271238e-01 2.48550607e-03 9.94226686e-01 -4.05580878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.418241008 meters 0.07075838185048762 Centerline is valid? [True, True] Translation: X:32.10, Y:-2.65, Z:-4.06 [[ 9.84300652e-01 1.41459633e-01 1.05552822e-01 3.21032523e+01] [-1.40365932e-01 9.89940444e-01 -1.77573009e-02 -2.65236329e+00] [-1.07002949e-01 2.66250253e-03 9.94255138e-01 -4.05823262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.448241008 meters 0.07193229938648935 Centerline is valid? [True, True] Translation: X:32.13, Y:-2.66, Z:-4.07 [[ 9.84694954e-01 1.39507584e-01 1.04467608e-01 3.21328523e+01] [-1.38422837e-01 9.90216847e-01 -1.75986728e-02 -2.66060799e+00] [-1.05900734e-01 2.86862162e-03 9.94372569e-01 -4.06550334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.478241008 meters 0.0730971241124097 Centerline is valid? [True, True] Translation: X:32.16, Y:-2.67, Z:-4.07 [[ 9.85331289e-01 1.36366045e-01 1.02598992e-01 3.21624092e+01] [-1.35300657e-01 9.90653448e-01 -1.73054525e-02 -2.66826128e+00] [-1.03999921e-01 3.16989283e-03 9.94572254e-01 -4.07186312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.508241008 meters 0.07256340155343212 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.67, Z:-4.07 [[ 9.85544475e-01 1.34984484e-01 1.02378105e-01 3.21936849e+01] [-1.33914262e-01 9.90842125e-01 -1.72874103e-02 -2.67251845e+00] [-1.03774071e-01 3.32762334e-03 9.94595329e-01 -4.07295132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.538241008 meters 0.0724287254825255 Centerline is valid? [True, True] Translation: X:32.23, Y:-2.68, Z:-4.07 [[ 9.85722227e-01 1.33224376e-01 1.02970658e-01 3.22250682e+01] [-1.32129919e-01 9.91079529e-01 -1.74083889e-02 -2.67733088e+00] [-1.04371333e-01 3.55433110e-03 9.94532046e-01 -4.07428327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.568241008 meters 0.07129647379915285 Centerline is valid? [True, True] Translation: X:32.26, Y:-2.68, Z:-4.07 [[ 9.85791694e-01 1.31555013e-01 1.04441443e-01 3.22576732e+01] [-1.30417063e-01 9.91301554e-01 -1.76810279e-02 -2.67740943e+00] [-1.05858992e-01 3.80886423e-03 9.94373856e-01 -4.07385218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.598241008 meters 0.07179191596046201 Centerline is valid? [True, True] Translation: X:32.29, Y:-2.68, Z:-4.08 [[ 9.85754953e-01 1.31550267e-01 1.04793610e-01 3.22886724e+01] [-1.30401910e-01 9.91302036e-01 -1.77655708e-02 -2.68335655e+00] [-1.06219185e-01 3.84721242e-03 9.94335297e-01 -4.07810089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.628241007999996 meters 0.07163901926871612 Centerline is valid? [True, True] Translation: X:32.32, Y:-2.69, Z:-4.08 [[ 9.85568534e-01 1.32407831e-01 1.05464836e-01 3.23201866e+01] [-1.31246613e-01 9.91188013e-01 -1.79066622e-02 -2.68800791e+00] [-1.06906464e-01 3.80634025e-03 9.94261796e-01 -4.08171291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.658241008 meters 0.07219802131543414 Centerline is valid? [True, True] Translation: X:32.35, Y:-2.69, Z:-4.09 [[ 9.85436839e-01 1.33655729e-01 1.05120799e-01 3.23506061e+01] [-1.32506579e-01 9.91020979e-01 -1.78724628e-02 -2.69413179e+00] [-1.06565674e-01 3.68298581e-03 9.94298845e-01 -4.08686116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.688241008 meters 0.07006572691187456 Centerline is valid? [True, True] Translation: X:32.38, Y:-2.69, Z:-4.09 [[ 9.84869094e-01 1.37858198e-01 1.05014210e-01 3.23838901e+01] [-1.36732476e-01 9.90446644e-01 -1.78794839e-02 -2.68968207e+00] [-1.06475805e-01 3.25009829e-03 9.94309982e-01 -4.08740915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.718241008 meters 0.06926831329864996 Centerline is valid? [True, True] Translation: X:32.42, Y:-2.69, Z:-4.09 [[ 9.84484760e-01 1.40656727e-01 1.04906828e-01 3.24155740e+01] [-1.39548581e-01 9.90054031e-01 -1.78664065e-02 -2.69054439e+00] [-1.06376458e-01 2.94960595e-03 9.94321552e-01 -4.09173516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.748241008 meters 0.07027365823973084 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.70, Z:-4.10 [[ 9.84149878e-01 1.42950977e-01 1.04947776e-01 3.24448651e+01] [-1.41854714e-01 9.89726074e-01 -1.78756572e-02 -2.69755498e+00] [-1.06424893e-01 2.70498917e-03 9.94317065e-01 -4.09991383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.778241008 meters 0.06879904587081 Centerline is valid? [True, True] Translation: X:32.48, Y:-2.69, Z:-4.10 [[ 9.83759754e-01 1.46159600e-01 1.04183097e-01 3.24775579e+01] [-1.45094869e-01 9.89258201e-01 -1.77676654e-02 -2.69476848e+00] [-1.05660898e-01 2.36268120e-03 9.94399413e-01 -4.10179684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.808241007999996 meters 0.06800705274649045 Centerline is valid? [True, True] Translation: X:32.51, Y:-2.69, Z:-4.11 [[ 9.83002778e-01 1.51263879e-01 1.04042188e-01 3.25085262e+01] [-1.50227560e-01 9.88491707e-01 -1.77714626e-02 -2.69484266e+00] [-1.05533021e-01 1.83939304e-03 9.94414098e-01 -4.10668501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.838241008 meters 0.06766084684069935 Centerline is valid? [True, True] Translation: X:32.54, Y:-2.70, Z:-4.11 [[ 9.82679997e-01 1.53966159e-01 1.03123446e-01 3.25397478e+01] [-1.52962791e-01 9.88074926e-01 -1.76160273e-02 -2.69792533e+00] [-1.04605963e-01 1.53686751e-03 9.94512559e-01 -4.11033635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.868241008 meters 0.06742680913125725 Centerline is valid? [True, True] Translation: X:32.57, Y:-2.70, Z:-4.11 [[ 9.82380530e-01 1.55366119e-01 1.03874266e-01 3.25710057e+01] [-1.54353253e-01 9.87855934e-01 -1.77687149e-02 -2.70200178e+00] [-1.05373466e-01 1.42230870e-03 9.94431702e-01 -4.11395551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.898241008 meters 0.06758340904315399 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.71, Z:-4.12 [[ 9.82040561e-01 1.57020046e-01 1.04599439e-01 3.26007242e+01] [-1.55999639e-01 9.87594588e-01 -1.79176384e-02 -2.70845041e+00] [-1.06115268e-01 1.27837297e-03 9.94353014e-01 -4.12099403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.928241008 meters 0.06675715654923624 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.71, Z:-4.12 [[ 9.81510651e-01 1.59571347e-01 1.05706322e-01 3.26335347e+01] [-1.58541464e-01 9.87185855e-01 -1.81298639e-02 -2.70877892e+00] [-1.07244792e-01 1.03581962e-03 9.94232107e-01 -4.12149703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.958241008 meters 0.06643889594114999 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.71, Z:-4.13 [[ 9.81147860e-01 1.61198392e-01 1.06601853e-01 3.26649469e+01] [-1.60157830e-01 9.86921621e-01 -1.83079992e-02 -2.71271618e+00] [-1.08158894e-01 8.89732715e-04 9.94133221e-01 -4.12531923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.988241008 meters 0.06596325646322841 Centerline is valid? [True, True] Translation: X:32.70, Y:-2.71, Z:-4.13 [[ 9.80410054e-01 1.65161803e-01 1.07320571e-01 3.26973579e+01] [-1.64128102e-01 9.86266368e-01 -1.84558334e-02 -2.71328195e+00] [-1.08894868e-01 4.79963030e-04 9.94053156e-01 -4.12948507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.018241008 meters 0.06582563753719445 Centerline is valid? [True, True] Translation: X:32.73, Y:-2.72, Z:-4.13 [[ 9.79802101e-01 1.67943381e-01 1.08548900e-01 3.27290418e+01] [-1.66899963e-01 9.85796623e-01 -1.86928090e-02 -2.71598208e+00] [-1.10146473e-01 1.98446046e-04 9.93915346e-01 -4.13340553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.048241008 meters 0.06582563753719445 Centerline is valid? [True, True] Translation: X:32.76, Y:-2.72, Z:-4.14 [[ 9.79757854e-01 1.68204054e-01 1.08544659e-01 3.27606253e+01] [-1.67159505e-01 9.85752179e-01 -1.87174051e-02 -2.72159241e+00] [-1.10146477e-01 1.94253175e-04 9.93915346e-01 -4.13746415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.078241008 meters 0.06570772163185153 Centerline is valid? [True, True] Translation: X:32.79, Y:-2.73, Z:-4.14 [[ 9.79326946e-01 1.70950367e-01 1.08142062e-01 3.27922221e+01] [-1.69926987e-01 9.85279638e-01 -1.86776461e-02 -2.72513580e+00] [-1.09743122e-01 -8.47326559e-05 9.93959979e-01 -4.14264408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.108241008 meters 0.06582233220893681 Centerline is valid? [True, True] Translation: X:32.82, Y:-2.73, Z:-4.15 [[ 9.78891861e-01 1.73339818e-01 1.08277569e-01 3.28243527e+01] [-1.72325408e-01 9.84862022e-01 -1.87283857e-02 -2.72956771e+00] [-1.09884841e-01 -3.25912012e-04 9.93944272e-01 -4.14607021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.138241008 meters 0.065776335513412 Centerline is valid? [True, True] Translation: X:32.86, Y:-2.73, Z:-4.15 [[ 9.78446901e-01 1.75817098e-01 1.08305168e-01 3.28569813e+01] [-1.74814081e-01 9.84422682e-01 -1.87621940e-02 -2.73470024e+00] [-1.09916778e-01 -5.75457737e-04 9.93940627e-01 -4.14977775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.168241008 meters 0.06603413381097394 Centerline is valid? [True, True] Translation: X:32.89, Y:-2.74, Z:-4.16 [[ 9.77969193e-01 1.78808744e-01 1.07720429e-01 3.28876982e+01] [-1.77831339e-01 9.83883461e-01 -1.86909256e-02 -2.73905911e+00] [-1.09326450e-01 -8.76918740e-04 9.94005512e-01 -4.15513932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.198241008 meters 0.06604971701490872 Centerline is valid? [True, True] Translation: X:32.92, Y:-2.75, Z:-4.16 [[ 9.77760957e-01 1.79972234e-01 1.07673145e-01 3.29198474e+01] [-1.79000201e-01 9.83671199e-01 -1.87056435e-02 -2.74500579e+00] [-1.09281468e-01 -9.83866549e-04 9.94010359e-01 -4.16027624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.228241008 meters 0.06614123776368025 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.75, Z:-4.17 [[ 9.77652567e-01 1.80732365e-01 1.07383754e-01 3.29507878e+01] [-1.79766925e-01 9.83531767e-01 -1.86846349e-02 -2.75066660e+00] [-1.08992252e-01 -1.03696602e-03 9.94042058e-01 -4.16693185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.258241008 meters 0.06582515425660641 Centerline is valid? [True, True] Translation: X:32.98, Y:-2.76, Z:-4.17 [[ 9.77773225e-01 1.80327434e-01 1.06965121e-01 3.29820442e+01] [-1.79364222e-01 9.83606167e-01 -1.86382451e-02 -2.76250229e+00] [-1.08572539e-01 -9.61738724e-04 9.94088064e-01 -4.16971019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.288241008 meters 0.0655594802264162 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.77, Z:-4.17 [[ 9.78063752e-01 1.78763107e-01 1.06934785e-01 3.30117242e+01] [-1.77787836e-01 9.83891852e-01 -1.86630210e-02 -2.77196234e+00] [-1.08548523e-01 -7.58079641e-04 9.94090863e-01 -4.17408736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.318241008 meters 0.06525920863743077 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.78, Z:-4.18 [[ 9.78476471e-01 1.76422161e-01 1.07046794e-01 3.30423366e+01] [-1.75428303e-01 9.84314480e-01 -1.87060316e-02 -2.78190645e+00] [-1.08667868e-01 -4.75625581e-04 9.94077999e-01 -4.17841758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.348241008 meters 0.06497876469632716 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.79, Z:-4.18 [[ 9.78832482e-01 1.74501674e-01 1.06939876e-01 3.30739129e+01] [-1.73495668e-01 9.84656849e-01 -1.87121303e-02 -2.79099899e+00] [-1.08564380e-01 -2.37564380e-04 9.94089392e-01 -4.18190437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.378241007999996 meters 0.06476599219369293 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.80, Z:-4.19 [[ 9.79127628e-01 1.72435701e-01 1.07587255e-01 3.31035260e+01] [-1.71401532e-01 9.85020776e-01 -1.88570002e-02 -2.79972337e+00] [-1.09227301e-01 2.27896474e-05 9.94016799e-01 -4.18667188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.408241008 meters 0.06479908341113198 Centerline is valid? [True, True] Translation: X:33.14, Y:-2.81, Z:-4.19 [[ 9.79147082e-01 1.71914792e-01 1.08241840e-01 3.31351346e+01] [-1.70863351e-01 9.85111819e-01 -1.89847303e-02 -2.80637845e+00] [-1.09894072e-01 9.42797143e-05 9.93943300e-01 -4.19029805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.438241008 meters 0.06469547567235347 Centerline is valid? [True, True] Translation: X:33.17, Y:-2.81, Z:-4.19 [[ 9.79084782e-01 1.71516427e-01 1.09430825e-01 3.31662962e+01] [-1.70436322e-01 9.85181246e-01 -1.92190663e-02 -2.81277430e+00] [-1.11105582e-01 1.66107965e-04 9.93808594e-01 -4.19310875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.468241008 meters 0.06462515016067172 Centerline is valid? [True, True] Translation: X:33.20, Y:-2.82, Z:-4.20 [[ 9.79013883e-01 1.71692757e-01 1.09788038e-01 3.31971217e+01] [-1.70603758e-01 9.85150530e-01 -1.93077810e-02 -2.81842120e+00] [-1.11472750e-01 1.72333865e-04 9.93767476e-01 -4.19683484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.498241008 meters 0.06450063359582987 Centerline is valid? [True, True] Translation: X:33.23, Y:-2.82, Z:-4.20 [[ 9.78648085e-01 1.73697927e-01 1.09895208e-01 3.32298799e+01] [-1.72616300e-01 9.84798979e-01 -1.93541591e-02 -2.82214694e+00] [-1.11586466e-01 -2.87935946e-05 9.93754728e-01 -4.19972953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.528241008 meters 0.06460517474190576 Centerline is valid? [True, True] Translation: X:33.26, Y:-2.83, Z:-4.20 [[ 9.78501767e-01 1.74480747e-01 1.09957995e-01 3.32608095e+01] [-1.73399393e-01 9.84660582e-01 -1.93956034e-02 -2.82647018e+00] [-1.11655463e-01 -8.80173588e-05 9.93746975e-01 -4.20439625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.558241007999996 meters 0.0645367120757457 Centerline is valid? [True, True] Translation: X:33.29, Y:-2.83, Z:-4.21 [[ 9.78213497e-01 1.76145915e-01 1.09867967e-01 3.32927809e+01] [-1.75073684e-01 9.84364035e-01 -1.94075044e-02 -2.83021844e+00] [-1.11568628e-01 -2.50307009e-04 9.93756700e-01 -4.20798338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.588241008 meters 0.06475553699077662 Centerline is valid? [True, True] Translation: X:33.32, Y:-2.83, Z:-4.21 [[ 9.78102472e-01 1.77662684e-01 1.08404452e-01 3.33239087e+01] [-1.76624843e-01 9.84091368e-01 -1.91792747e-02 -2.83401651e+00] [-1.10087327e-01 -3.87623247e-04 9.93921843e-01 -4.21354367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.618241008 meters 0.06499138044062074 Centerline is valid? [True, True] Translation: X:33.35, Y:-2.84, Z:-4.22 [[ 9.78087749e-01 1.78974504e-01 1.06360156e-01 3.33536158e+01] [-1.77980459e-01 9.83853585e-01 -1.88435341e-02 -2.83790489e+00] [-1.08015333e-01 -4.99399606e-04 9.94149103e-01 -4.22140223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.648241008 meters 0.0650995862595022 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.85, Z:-4.23 [[ 9.78497508e-01 1.78796129e-01 1.02832730e-01 3.33840693e+01] [-1.77863775e-01 9.83886045e-01 -1.82408436e-02 -2.84610004e+00] [-1.04437080e-01 -4.41597519e-04 9.94531398e-01 -4.22782904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.678241008 meters 0.06503150269067591 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.85, Z:-4.23 [[ 9.78758769e-01 1.78144694e-01 1.01467928e-01 3.34146869e+01] [-1.77231058e-01 9.84004243e-01 -1.80222767e-02 -2.85330930e+00] [-1.03055445e-01 -3.43806918e-04 9.94675554e-01 -4.23176377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.708241008 meters 0.06512508361212153 Centerline is valid? [True, True] Translation: X:33.45, Y:-2.86, Z:-4.24 [[ 9.79026793e-01 1.77858548e-01 9.93623419e-02 3.34460103e+01] [-1.76978709e-01 9.84056023e-01 -1.76714595e-02 -2.85972801e+00] [-1.00921131e-01 -2.84186727e-04 9.94894389e-01 -4.23702807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.738241008 meters 0.06501921409894755 Centerline is valid? [True, True] Translation: X:33.48, Y:-2.87, Z:-4.24 [[ 9.79024081e-01 1.77578349e-01 9.98888356e-02 3.34771943e+01] [-1.76685240e-01 9.84106638e-01 -1.77890406e-02 -2.86583656e+00] [-1.01460215e-01 -2.32983848e-04 9.94839570e-01 -4.24065017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.768241008 meters 0.06507896606358034 Centerline is valid? [True, True] Translation: X:33.51, Y:-2.87, Z:-4.25 [[ 9.79311613e-01 1.76311048e-01 9.93135393e-02 3.35073971e+01] [-1.75419288e-01 9.84334500e-01 -1.77105888e-02 -2.87322523e+00] [-1.00880316e-01 -7.73250775e-05 9.94898566e-01 -4.24570109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.798241008 meters 0.06474901441007357 Centerline is valid? [True, True] Translation: X:33.54, Y:-2.88, Z:-4.25 [[ 9.79295225e-01 1.75600343e-01 1.00724292e-01 3.35387977e+01] [-1.74676976e-01 9.84461538e-01 -1.79842880e-02 -2.88050404e+00] [-1.02317238e-01 1.77127223e-05 9.94751820e-01 -4.24821462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.828241008 meters 0.06451053687018031 Centerline is valid? [True, True] Translation: X:33.57, Y:-2.89, Z:-4.25 [[ 9.79221575e-01 1.75406791e-01 1.01772126e-01 3.35699291e+01] [-1.74460518e-01 9.84496041e-01 -1.81954307e-02 -2.88713196e+00] [-1.03385857e-01 6.21405732e-05 9.94641323e-01 -4.24978524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.858241008 meters 0.06421657892656028 Centerline is valid? [True, True] Translation: X:33.60, Y:-2.89, Z:-4.25 [[ 9.79047709e-01 1.75424378e-01 1.03401501e-01 3.36013488e+01] [-1.74445006e-01 9.84492905e-01 -1.85110637e-02 -2.89378993e+00] [-1.05045336e-01 8.53390422e-05 9.94467430e-01 -4.25144430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.888241008 meters 0.06385668320272538 Centerline is valid? [True, True] Translation: X:33.63, Y:-2.90, Z:-4.25 [[ 9.78743131e-01 1.76585715e-01 1.04304209e-01 3.36328539e+01] [-1.75593120e-01 9.84285266e-01 -1.86968245e-02 -2.89999773e+00] [-1.05966688e-01 -1.57129396e-05 9.94369680e-01 -4.25177681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.918241008 meters 0.06386408110632698 Centerline is valid? [True, True] Translation: X:33.66, Y:-2.90, Z:-4.26 [[ 9.78569390e-01 1.77321149e-01 1.04685999e-01 3.36636149e+01] [-1.76322768e-01 9.84153039e-01 -1.87903267e-02 -2.90440331e+00] [-1.06358966e-01 -7.08865042e-05 9.94327796e-01 -4.25634663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.948241008 meters 0.06381928334036233 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.91, Z:-4.26 [[ 9.77999858e-01 1.79711768e-01 1.05924308e-01 3.36959046e+01] [-1.78700507e-01 9.83719262e-01 -1.90405487e-02 -2.90699951e+00] [-1.07621593e-01 -3.07073592e-04 9.94191882e-01 -4.26009422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.978241008 meters 0.06371634892839377 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.91, Z:-4.26 [[ 9.77956799e-01 1.79682028e-01 1.06371372e-01 3.37259084e+01] [-1.78659219e-01 9.83724703e-01 -1.91466139e-02 -2.91223165e+00] [-1.08080449e-01 -2.79665025e-04 9.94142112e-01 -4.26341400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.008241008 meters 0.06370951349292694 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.92, Z:-4.27 [[ 9.77943455e-01 1.80221161e-01 1.05579036e-01 3.37570490e+01] [-1.79214272e-01 9.83626064e-01 -1.90265705e-02 -2.91809496e+00] [-1.07279283e-01 -3.14359989e-04 9.94228875e-01 -4.26742060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.038241008 meters 0.06374138402278577 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.92, Z:-4.27 [[ 9.77817613e-01 1.80787052e-01 1.05776924e-01 3.37891491e+01] [-1.79777032e-01 9.83522200e-01 -1.90866832e-02 -2.92383099e+00] [-1.07484578e-01 -3.52966400e-04 9.94206689e-01 -4.27198271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.068241008 meters 0.06350342624359138 Centerline is valid? [True, True] Translation: X:33.82, Y:-2.93, Z:-4.28 [[ 9.78311532e-01 1.78773071e-01 1.04626647e-01 3.38182965e+01] [-1.77770411e-01 9.83890329e-01 -1.89077299e-02 -2.93329747e+00] [-1.06321339e-01 -1.01871831e-04 9.94331817e-01 -4.27597426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.098241008 meters 0.06343743317566232 Centerline is valid? [True, True] Translation: X:33.85, Y:-2.94, Z:-4.28 [[ 9.78414266e-01 1.78589453e-01 1.03977549e-01 3.38491061e+01] [-1.77595881e-01 9.83923678e-01 -1.88122161e-02 -2.93996752e+00] [-1.05665636e-01 -5.98438193e-05 9.94401714e-01 -4.27864354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.128241007999996 meters 0.06358210527626611 Centerline is valid? [True, True] Translation: X:33.88, Y:-2.95, Z:-4.28 [[ 9.78416525e-01 1.78987605e-01 1.03269261e-01 3.38790664e+01] [-1.78007155e-01 9.83851326e-01 -1.87088681e-02 -2.94566952e+00] [-1.04950255e-01 -7.76016287e-05 9.94477470e-01 -4.28432916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.158241008 meters 0.06360723007415342 Centerline is valid? [True, True] Translation: X:33.91, Y:-2.95, Z:-4.29 [[ 9.78392049e-01 1.80030038e-01 1.01676864e-01 3.39105173e+01] [-1.79083042e-01 9.83661099e-01 -1.84419597e-02 -2.95088315e+00] [-1.03335682e-01 -1.65135259e-04 9.94646525e-01 -4.28703741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.188241008 meters 0.06427142125538214 Centerline is valid? [True, True] Translation: X:33.94, Y:-2.95, Z:-4.30 [[ 9.78181944e-01 1.82146199e-01 9.99142004e-02 3.39403446e+01] [-1.81240186e-01 9.83271395e-01 -1.81482692e-02 -2.95275971e+00] [-1.01548413e-01 -3.56158985e-04 9.94830535e-01 -4.29551983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.218241008 meters 0.06438885440776294 Centerline is valid? [True, True] Translation: X:33.97, Y:-2.96, Z:-4.30 [[ 9.78077946e-01 1.83001280e-01 9.93683161e-02 3.39706190e+01] [-1.82108266e-01 9.83112581e-01 -1.80619154e-02 -2.95708587e+00] [-1.00995595e-01 -4.29830597e-04 9.94886780e-01 -4.30215679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.248241008 meters 0.06426280838059888 Centerline is valid? [True, True] Translation: X:34.00, Y:-2.96, Z:-4.30 [[ 9.77918222e-01 1.84344473e-01 9.84533757e-02 3.40019759e+01] [-1.83472570e-01 9.82861547e-01 -1.79163439e-02 -2.96327303e+00] [-1.00068816e-01 -5.42774692e-04 9.94980370e-01 -4.30340020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.278241008 meters 0.06412196197287635 Centerline is valid? [True, True] Translation: X:34.03, Y:-2.97, Z:-4.31 [[ 9.77792963e-01 1.85173232e-01 9.81417145e-02 3.40338809e+01] [-1.84308783e-01 9.82705709e-01 -1.78819125e-02 -2.96969822e+00] [-9.97556746e-02 -6.03571704e-04 9.95011779e-01 -4.30530324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.308241007999996 meters 0.06403765972182517 Centerline is valid? [True, True] Translation: X:34.06, Y:-2.98, Z:-4.31 [[ 9.77598228e-01 1.86091330e-01 9.83449125e-02 3.40644733e+01] [-1.85225195e-01 9.82532221e-01 -1.79460796e-02 -2.97598310e+00] [-9.99666551e-02 -6.71899973e-04 9.94990561e-01 -4.30910513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.338241008 meters 0.06404250427142663 Centerline is valid? [True, True] Translation: X:34.10, Y:-2.98, Z:-4.31 [[ 9.77845572e-01 1.85334334e-01 9.73099287e-02 3.40950193e+01] [-1.84480150e-01 9.82675362e-01 -1.77822098e-02 -2.98297663e+00] [-9.89197235e-02 -5.63495109e-04 9.95095257e-01 -4.31272344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.368241008 meters 0.06403117325860472 Centerline is valid? [True, True] Translation: X:34.13, Y:-2.99, Z:-4.32 [[ 9.78005534e-01 1.84001693e-01 9.82270425e-02 3.41253800e+01] [-1.83122462e-01 9.82925840e-01 -1.79709883e-02 -2.98976717e+00] [-9.98565905e-02 -4.11851808e-04 9.95001755e-01 -4.31758570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.398241008 meters 0.06397236689841398 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.00, Z:-4.32 [[ 9.78068274e-01 1.83390573e-01 9.87438585e-02 3.41563537e+01] [-1.82496622e-01 9.83040075e-01 -1.80884777e-02 -2.99644825e+00] [-1.00386426e-01 -3.28654449e-04 9.94948470e-01 -4.32075297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.428241008 meters 0.06371847056345839 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.00, Z:-4.32 [[ 9.78050098e-01 1.82537821e-01 1.00488552e-01 3.41876344e+01] [-1.81604972e-01 9.83198807e-01 -1.84320238e-02 -3.00381200e+00] [-1.02164766e-01 -2.21778009e-04 9.94767466e-01 -4.32272794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.458241008 meters 0.06347423328282556 Centerline is valid? [True, True] Translation: X:34.22, Y:-3.01, Z:-4.32 [[ 9.78059442e-01 1.81318129e-01 1.02583933e-01 3.42181560e+01] [-1.80336337e-01 9.83424492e-01 -1.88434195e-02 -3.01181004e+00] [-1.04300206e-01 -6.96263907e-05 9.94545857e-01 -4.32419676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.488241008 meters 0.06329296534249365 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.02, Z:-4.33 [[ 9.77963454e-01 1.81434975e-01 1.03290041e-01 3.42502324e+01] [-1.80438648e-01 9.83402941e-01 -1.89881376e-02 -3.01835270e+00] [-1.05020842e-01 -6.78106741e-05 9.94470019e-01 -4.32531837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.518241008 meters 0.06332906425599936 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.02, Z:-4.33 [[ 9.77906215e-01 1.81670268e-01 1.03418321e-01 3.42807819e+01] [-1.80672160e-01 9.83359500e-01 -1.90174798e-02 -3.02463170e+00] [-1.05152299e-01 -8.74998036e-05 9.94456126e-01 -4.33104779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.548241008 meters 0.0631735153227243 Centerline is valid? [True, True] Translation: X:34.31, Y:-3.03, Z:-4.33 [[ 9.77816691e-01 1.82320421e-01 1.03120237e-01 3.43128665e+01] [-1.81328857e-01 9.83239161e-01 -1.89894313e-02 -3.03086475e+00] [-1.04854016e-01 -1.30491785e-04 9.94487616e-01 -4.33226268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.578241008 meters 0.06344274076664175 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.03, Z:-4.34 [[ 9.77811450e-01 1.82688832e-01 1.02516137e-01 3.43427427e+01] [-1.81707760e-01 9.83170774e-01 -1.89081639e-02 -3.03448029e+00] [-1.04245180e-01 -1.39358507e-04 9.94551619e-01 -4.34148310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.608241008 meters 0.06345208323859085 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.04, Z:-4.35 [[ 9.77719693e-01 1.83845396e-01 1.01316697e-01 3.43737215e+01] [-1.82890813e-01 9.82955144e-01 -1.87119037e-02 -3.03941389e+00] [-1.03029866e-01 -2.34896259e-04 9.94678235e-01 -4.34568885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.638241008 meters 0.06378341347249568 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.04, Z:-4.35 [[ 9.77737534e-01 1.84736487e-01 9.95075112e-02 3.44030880e+01] [-1.83819112e-01 9.82788041e-01 -1.83902133e-02 -3.04391115e+00] [-1.01192135e-01 -3.10580605e-04 9.94866853e-01 -4.35403348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.668241008 meters 0.06380595597307752 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.05, Z:-4.36 [[ 9.77573743e-01 1.85712140e-01 9.93004395e-02 3.44348560e+01] [-1.84802425e-01 9.82604112e-01 -1.83636065e-02 -3.04941320e+00] [-1.00983365e-01 -3.99182444e-04 9.94888034e-01 -4.35729910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.698241008 meters 0.06397453133858651 Centerline is valid? [True, True] Translation: X:34.47, Y:-3.05, Z:-4.36 [[ 9.77095175e-01 1.88506286e-01 9.87441068e-02 3.44669262e+01] [-1.87618294e-01 9.82071763e-01 -1.82873835e-02 -3.05337680e+00] [-1.00421086e-01 -6.57686630e-04 9.94944809e-01 -4.36053449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.728241008 meters 0.06437108136346865 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.06, Z:-4.37 [[ 9.77041701e-01 1.89441346e-01 9.74755965e-02 3.44970667e+01] [-1.88578364e-01 9.81891775e-01 -1.80760462e-02 -3.05662528e+00] [-9.91348369e-02 -7.20737580e-04 9.95073748e-01 -4.36750108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.758241008 meters 0.064706384445909 Centerline is valid? [True, True] Translation: X:34.53, Y:-3.06, Z:-4.37 [[ 9.76646028e-01 1.91460282e-01 9.74961325e-02 3.45286756e+01] [-1.90604813e-01 9.81499945e-01 -1.81014590e-02 -3.05907073e+00] [-9.91581592e-02 -9.04514025e-04 9.95071274e-01 -4.37279082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.788241008 meters 0.06465526880596045 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.06, Z:-4.38 [[ 9.76523210e-01 1.91711224e-01 9.82304779e-02 3.45592856e+01] [-1.90841736e-01 9.81450952e-01 -1.82609088e-02 -3.06404290e+00] [-9.99092172e-02 -9.14273668e-04 9.94996137e-01 -4.37791267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.818241008 meters 0.06430346323777128 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.07, Z:-4.38 [[ 9.76440904e-01 1.91672472e-01 9.91202541e-02 3.45913227e+01] [-1.90784483e-01 9.81458538e-01 -1.84504265e-02 -3.07171285e+00] [-1.00818859e-01 -8.94855313e-04 9.94904396e-01 -4.37749004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.848241008 meters 0.06425720759389382 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.08, Z:-4.38 [[ 9.76364295e-01 1.91828478e-01 9.95720736e-02 3.46212956e+01] [-1.90932604e-01 9.81428045e-01 -1.85400473e-02 -3.07885387e+00] [-1.01279335e-01 -9.09715109e-04 9.94857612e-01 -4.38234012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.878241007999996 meters 0.06358925807939814 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.09, Z:-4.38 [[ 9.76598056e-01 1.89814224e-01 1.01127626e-01 3.46519576e+01] [-1.88876977e-01 9.81819782e-01 -1.88521366e-02 -3.08939052e+00] [-1.02867508e-01 -6.89720349e-04 9.94694828e-01 -4.38142952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.908241008 meters 0.06357208557967324 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.09, Z:-4.39 [[ 9.76577243e-01 1.89796951e-01 1.01360768e-01 3.46825424e+01] [-1.88852782e-01 9.81823138e-01 -1.89196346e-02 -3.09473294e+00] [-1.03109236e-01 -6.65778366e-04 9.94669816e-01 -4.38654520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.938241008 meters 0.06327165470627626 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.10, Z:-4.39 [[ 9.76557222e-01 1.88896329e-01 1.03219037e-01 3.47140503e+01] [-1.87909259e-01 9.81996878e-01 -1.92935472e-02 -3.10228773e+00] [-1.05005252e-01 -5.54559862e-04 9.94471513e-01 -4.38782259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.968241008 meters 0.06327165470627626 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.11, Z:-4.39 [[ 9.76506859e-01 1.89158913e-01 1.03214630e-01 3.47455444e+01] [-1.88170817e-01 9.81946329e-01 -1.93170922e-02 -3.10835902e+00] [-1.05005227e-01 -5.58708131e-04 9.94471513e-01 -4.39188157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.998241008 meters 0.06316271789361749 Centerline is valid? [True, True] Translation: X:34.78, Y:-3.12, Z:-4.40 [[ 9.76651016e-01 1.88278473e-01 1.03460184e-01 3.47771838e+01] [-1.87277296e-01 9.82115588e-01 -1.93954975e-02 -3.11574174e+00] [-1.05261614e-01 -4.33111210e-04 9.94444471e-01 -4.39516676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.028241008 meters 0.06309213084107705 Centerline is valid? [True, True] Translation: X:34.81, Y:-3.12, Z:-4.40 [[ 9.76725773e-01 1.87664947e-01 1.03868342e-01 3.48071272e+01] [-1.86651512e-01 9.82233036e-01 -1.94801292e-02 -3.12208589e+00] [-1.05678655e-01 -3.60438890e-04 9.94400268e-01 -4.39888262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.058241008 meters 0.06314674764216859 Centerline is valid? [True, True] Translation: X:34.84, Y:-3.13, Z:-4.40 [[ 9.76689889e-01 1.87856735e-01 1.03859077e-01 3.48386701e+01] [-1.86843339e-01 9.82196371e-01 -1.94899055e-02 -3.12728261e+00] [-1.05671318e-01 -3.69782982e-04 9.94401044e-01 -4.40382280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.088241008 meters 0.06318282774404851 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.13, Z:-4.41 [[ 9.76590056e-01 1.88258071e-01 1.04070940e-01 3.48707663e+01] [-1.87239756e-01 9.82119519e-01 -1.95582179e-02 -3.13260538e+00] [-1.05892093e-01 -3.85856224e-04 9.94377552e-01 -4.40799570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.118241008 meters 0.06318923435738605 Centerline is valid? [True, True] Translation: X:34.90, Y:-3.14, Z:-4.41 [[ 9.76549863e-01 1.88425765e-01 1.04144590e-01 3.49022573e+01] [-1.87403911e-01 9.82087363e-01 -1.96006321e-02 -3.13866951e+00] [-1.05972349e-01 -3.76108710e-04 9.94369006e-01 -4.41266998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.148241008 meters 0.06314017299990195 Centerline is valid? [True, True] Translation: X:34.93, Y:-3.15, Z:-4.42 [[ 9.76914665e-01 1.86586959e-01 1.04033859e-01 3.49326048e+01] [-1.85553849e-01 9.82438438e-01 -1.96082672e-02 -3.14631157e+00] [-1.05865509e-01 -1.48279181e-04 9.94380446e-01 -4.41750979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.178241008 meters 0.06323869383713651 Centerline is valid? [True, True] Translation: X:34.96, Y:-3.15, Z:-4.42 [[ 9.76992472e-01 1.86122028e-01 1.04135971e-01 3.49643280e+01] [-1.85081480e-01 9.82526633e-01 -1.96535094e-02 -3.15280914e+00] [-1.05974316e-01 -7.23087931e-05 9.94368865e-01 -4.42254731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.208241008 meters 0.06309225838208604 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.16, Z:-4.43 [[ 9.77029068e-01 1.86323562e-01 1.03429833e-01 3.49960557e+01] [-1.85295315e-01 9.82488436e-01 -1.95479001e-02 -3.15886424e+00] [-1.05260849e-01 -6.61967474e-05 9.94444644e-01 -4.42605107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.238241008 meters 0.06318303129010379 Centerline is valid? [True, True] Translation: X:35.03, Y:-3.16, Z:-4.43 [[ 9.77095732e-01 1.86587762e-01 1.02317829e-01 3.50266271e+01] [-1.85580448e-01 9.82438294e-01 -1.93622114e-02 -3.16474737e+00] [-1.04133705e-01 -6.94543941e-05 9.94563305e-01 -4.43130726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.268241008 meters 0.06321362194679922 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.17, Z:-4.44 [[ 9.77127354e-01 1.86314472e-01 1.02513661e-01 3.50587043e+01] [-1.85299524e-01 9.82490161e-01 -1.94208478e-02 -3.17099879e+00] [-1.04337049e-01 -1.90909609e-05 9.94541995e-01 -4.43748877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.298241008 meters 0.0631513829709317 Centerline is valid? [True, True] Translation: X:35.09, Y:-3.18, Z:-4.44 [[ 9.77207236e-01 1.86091510e-01 1.02156588e-01 3.50906393e+01] [-1.85079594e-01 9.82532416e-01 -1.93802746e-02 -3.17790061e+00] [-1.03978663e-01 3.14448132e-05 9.94579528e-01 -4.44045383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.328241008 meters 0.06308722904663719 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.19, Z:-4.44 [[ 9.77408505e-01 1.85421645e-01 1.01446677e-01 3.51218192e+01] [-1.84417205e-01 9.82659044e-01 -1.92742823e-02 -3.18565483e+00] [-1.03261363e-01 1.30334943e-04 9.94654248e-01 -4.44458005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.358241008 meters 0.06322693790179723 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.19, Z:-4.45 [[ 9.77859388e-01 1.83629409e-01 1.00355658e-01 3.51522667e+01] [-1.82634613e-01 9.82995486e-01 -1.90911913e-02 -3.19441973e+00] [-1.02154863e-01 3.40083971e-04 9.94768450e-01 -4.44984140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.388241008 meters 0.06342349968058202 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.20, Z:-4.45 [[ 9.78200352e-01 1.82202559e-01 9.96308170e-02 3.51831747e+01] [-1.81212297e-01 9.83260885e-01 -1.89772271e-02 -3.20237329e+00] [-1.01420785e-01 5.09200982e-04 9.94843488e-01 -4.45481330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.418241008 meters 0.06358781038657388 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.21, Z:-4.46 [[ 9.78463787e-01 1.80472221e-01 1.00191792e-01 3.52140716e+01] [-1.79459067e-01 9.83579820e-01 -1.91097145e-02 -3.21135277e+00] [-1.01995398e-01 7.17838099e-04 9.94784612e-01 -4.45942204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.448241008 meters 0.06355204444993204 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.22, Z:-4.46 [[ 9.78880851e-01 1.78160152e-01 1.00255874e-01 3.52450633e+01] [-1.77132027e-01 9.84001022e-01 -1.91372534e-02 -3.22086810e+00] [-1.02061378e-01 9.74564743e-04 9.94777626e-01 -4.46082776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.478241008 meters 0.06385065438562569 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.23, Z:-4.47 [[ 9.78883617e-01 1.77175681e-01 1.01959025e-01 3.52743371e+01] [-1.76104167e-01 9.84178602e-01 -1.94885198e-02 -3.22918044e+00] [-1.03798782e-01 1.12158360e-03 9.94597685e-01 -4.46641184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.508241008 meters 0.06382460471526052 Centerline is valid? [True, True] Translation: X:35.31, Y:-3.24, Z:-4.47 [[ 9.78897581e-01 1.76807168e-01 1.02463415e-01 3.53058206e+01] [-1.75720614e-01 9.84244793e-01 -1.96074920e-02 -3.23631470e+00] [-1.04315827e-01 1.18879232e-03 9.94543511e-01 -4.46947631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.538241008 meters 0.0637264485413135 Centerline is valid? [True, True] Translation: X:35.34, Y:-3.24, Z:-4.47 [[ 9.78816918e-01 1.77191965e-01 1.02569236e-01 3.53371006e+01] [-1.76102200e-01 9.84175604e-01 -1.96569321e-02 -3.24279481e+00] [-1.04429190e-01 1.17786955e-03 9.94531627e-01 -4.47274947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.568241008 meters 0.06342921214985915 Centerline is valid? [True, True] Translation: X:35.37, Y:-3.25, Z:-4.47 [[ 9.78671156e-01 1.77719125e-01 1.03046980e-01 3.53686687e+01] [-1.76620420e-01 9.84080590e-01 -1.97641037e-02 -3.24769657e+00] [-1.04918992e-01 1.14235744e-03 9.94480116e-01 -4.47388116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.598241008 meters 0.06375835718753207 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.26, Z:-4.48 [[ 9.78637601e-01 1.78100302e-01 1.02707005e-01 3.53993622e+01] [-1.77008225e-01 9.84011697e-01 -1.97248116e-02 -3.25504631e+00] [-1.04577889e-01 1.12345773e-03 9.94516065e-01 -4.48044603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.628241007999996 meters 0.06340120579973534 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.26, Z:-4.48 [[ 9.78369077e-01 1.78297856e-01 1.04899116e-01 3.54314825e+01] [-1.77157807e-01 9.83975898e-01 -2.01629258e-02 -3.25864968e+00] [-1.06813209e-01 1.14308568e-03 9.94278448e-01 -4.48096634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.658241008 meters 0.06362086409567784 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.27, Z:-4.49 [[ 9.78126868e-01 1.79185314e-01 1.05643048e-01 3.54615956e+01] [-1.78031366e-01 9.83814748e-01 -2.03316010e-02 -3.26557134e+00] [-1.07576313e-01 1.07910894e-03 9.94196244e-01 -4.48623032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.688241008 meters 0.06329861005046028 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.27, Z:-4.49 [[ 9.78025587e-01 1.79683136e-01 1.05735145e-01 3.54944724e+01] [-1.78527634e-01 9.83723982e-01 -2.03718123e-02 -3.27027647e+00] [-1.07674669e-01 1.04750857e-03 9.94185631e-01 -4.48744176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.718241008 meters 0.06301245008510718 Centerline is valid? [True, True] Translation: X:35.53, Y:-3.27, Z:-4.49 [[ 9.77610488e-01 1.81776104e-01 1.05996144e-01 3.55260539e+01] [-1.80623971e-01 9.83339580e-01 -2.04512058e-02 -3.27361089e+00] [-1.07947744e-01 8.47868866e-04 9.94156208e-01 -4.49021619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.748241008 meters 0.06307425309426042 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.28, Z:-4.49 [[ 9.77382066e-01 1.82984616e-01 1.06023237e-01 3.55565910e+01] [-1.81836213e-01 9.83115498e-01 -2.04819095e-02 -3.27860216e+00] [-1.07980962e-01 7.39787055e-04 9.94152687e-01 -4.49442444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.778241008 meters 0.06297538155398359 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.28, Z:-4.50 [[ 9.77197803e-01 1.84029236e-01 1.05913614e-01 3.55880823e+01] [-1.82886884e-01 9.82920558e-01 -2.04832737e-02 -3.28406381e+00] [-1.07874190e-01 6.45999151e-04 9.94164343e-01 -4.49832449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.808241008 meters 0.06266480217225243 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.29, Z:-4.50 [[ 9.76928243e-01 1.85572316e-01 1.05707725e-01 3.56198316e+01] [-1.84440591e-01 9.82630483e-01 -2.04695684e-02 -3.28990132e+00] [-1.07670218e-01 5.00504217e-04 9.94186539e-01 -4.50089029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.838241008 meters 0.062405575673927564 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.29, Z:-4.50 [[ 9.76405043e-01 1.88072134e-01 1.06122878e-01 3.56515682e+01] [-1.86943053e-01 9.82155185e-01 -2.05788028e-02 -3.29296177e+00] [-1.08099434e-01 2.54312070e-04 9.94140054e-01 -4.50415991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.868241008 meters 0.0625263413464572 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.30, Z:-4.51 [[ 9.76269602e-01 1.89402002e-01 1.04997836e-01 3.56829346e+01] [-1.88301894e-01 9.81899620e-01 -2.03846014e-02 -3.29640622e+00] [-1.06958219e-01 1.29575367e-04 9.94263508e-01 -4.51023521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.898241008 meters 0.06256770456214485 Centerline is valid? [True, True] Translation: X:35.72, Y:-3.30, Z:-4.51 [[ 9.76108877e-01 1.90584354e-01 1.04350681e-01 3.57151833e+01] [-1.89502067e-01 9.81670822e-01 -2.02820896e-02 -3.30073999e+00] [-1.06303467e-01 2.28579929e-05 9.94333733e-01 -4.51463866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.928241008 meters 0.0627581016351406 Centerline is valid? [True, True] Translation: X:35.75, Y:-3.31, Z:-4.52 [[ 9.76272086e-01 1.90945764e-01 1.02139757e-01 3.57451667e+01] [-1.89907985e-01 9.81600588e-01 -1.98807035e-02 -3.30562961e+00] [-1.04056582e-01 1.18203977e-05 9.94571379e-01 -4.52120174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.958241008 meters 0.06289502251956451 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.31, Z:-4.53 [[ 9.76402890e-01 1.91515630e-01 9.97955936e-02 3.57759304e+01] [-1.90525892e-01 9.81489563e-01 -1.94453520e-02 -3.31201507e+00] [-1.01672422e-01 -2.71466397e-05 9.94817932e-01 -4.52602238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.988241008 meters 0.06276202578479786 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.32, Z:-4.53 [[ 9.76331772e-01 1.91981577e-01 9.95959089e-02 3.58066211e+01] [-1.90995819e-01 9.81398528e-01 -1.94300268e-02 -3.32000267e+00] [-1.01473486e-01 -5.22496836e-05 9.94838243e-01 -4.53018486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.018241008 meters 0.0626601974197894 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.33, Z:-4.53 [[ 9.76439663e-01 1.91835049e-01 9.88174983e-02 3.58371593e+01] [-1.90861315e-01 9.81427182e-01 -1.93040038e-02 -3.32800225e+00] [-1.00685363e-01 -1.12426669e-05 9.94918317e-01 -4.53222131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.048241008 meters 0.0626036304931926 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.34, Z:-4.54 [[ 9.76523997e-01 1.92107560e-01 9.74452127e-02 3.58664572e+01] [-1.91159978e-01 9.81373876e-01 -1.90572257e-02 -3.33514143e+00] [-9.92912233e-02 -1.77865089e-05 9.95058417e-01 -4.53863106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.078241008 meters 0.06271962214973567 Centerline is valid? [True, True] Translation: X:35.90, Y:-3.35, Z:-4.54 [[ 9.77117529e-01 1.88773704e-01 9.80093007e-02 3.58972554e+01] [-1.87796281e-01 9.82020555e-01 -1.91881800e-02 -3.34606448e+00] [-9.98693717e-02 3.43324846e-04 9.95000498e-01 -4.54219574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.108241008 meters 0.06284504109989664 Centerline is valid? [True, True] Translation: X:35.93, Y:-3.36, Z:-4.55 [[ 9.77635645e-01 1.86051123e-01 9.80485903e-02 3.59278642e+01] [-1.85056563e-01 9.82539851e-01 -1.92226108e-02 -3.35521983e+00] [-9.99130357e-02 6.48174359e-04 9.94995962e-01 -4.54694863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.138241008 meters 0.0628512905238009 Centerline is valid? [True, True] Translation: X:35.96, Y:-3.36, Z:-4.55 [[ 9.77563178e-01 1.86475440e-01 9.79650156e-02 3.59592741e+01] [-1.85482542e-01 9.82459424e-01 -1.92277869e-02 -3.36173713e+00] [-9.98321627e-02 6.25576415e-04 9.95004094e-01 -4.55171826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.168241008 meters 0.06269897867460604 Centerline is valid? [True, True] Translation: X:35.99, Y:-3.37, Z:-4.56 [[ 9.77327996e-01 1.87299331e-01 9.87367600e-02 3.59904832e+01] [-1.86292165e-01 9.82302720e-01 -1.94060827e-02 -3.36690998e+00] [-1.00624134e-01 5.72223077e-04 9.94924347e-01 -4.55558843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.198241008 meters 0.06253667090654712 Centerline is valid? [True, True] Translation: X:36.02, Y:-3.37, Z:-4.56 [[ 9.77226357e-01 1.87224975e-01 9.98772070e-02 3.60214717e+01] [-1.86191596e-01 9.82316872e-01 -1.96533086e-02 -3.37342380e+00] [-1.01790656e-01 6.09434663e-04 9.94805655e-01 -4.55844322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.228241008 meters 0.06227599922792357 Centerline is valid? [True, True] Translation: X:36.05, Y:-3.38, Z:-4.56 [[ 9.77136815e-01 1.87323206e-01 1.00566697e-01 3.60535811e+01] [-1.86273288e-01 9.82298132e-01 -1.98151853e-02 -3.37961045e+00] [-1.02498323e-01 6.29257717e-04 9.94732978e-01 -4.55971926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.258241008 meters 0.062347493716321714 Centerline is valid? [True, True] Translation: X:36.08, Y:-3.39, Z:-4.56 [[ 9.76968454e-01 1.88076775e-01 1.00795665e-01 3.60840419e+01] [-1.87025270e-01 9.82154170e-01 -1.98679134e-02 -3.38603400e+00] [-1.02733576e-01 5.58988160e-04 9.94708751e-01 -4.56461610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.288241008 meters 0.06212271535662624 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.39, Z:-4.57 [[ 9.76843865e-01 1.88487949e-01 1.01234168e-01 3.61158347e+01] [-1.87428255e-01 9.82075360e-01 -1.99658835e-02 -3.39207066e+00] [-1.03182911e-01 5.29407303e-04 9.94662258e-01 -4.56637975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.318241008 meters 0.06216991145272609 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.40, Z:-4.57 [[ 9.76759694e-01 1.89401969e-01 1.00336405e-01 3.61466022e+01] [-1.88363373e-01 9.81899531e-01 -1.98128889e-02 -3.39626706e+00] [-1.02272869e-01 4.52727687e-04 9.94756279e-01 -4.57268100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.348241008 meters 0.06223472093309948 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.40, Z:-4.58 [[ 9.76711944e-01 1.89714325e-01 1.00211047e-01 3.61769421e+01] [-1.88677579e-01 9.81839233e-01 -1.98114163e-02 -3.40257064e+00] [-1.02149647e-01 4.42469208e-04 9.94768945e-01 -4.57837541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.378241007999996 meters 0.062131208024909346 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.41, Z:-4.58 [[ 9.76714868e-01 1.89767924e-01 1.00080974e-01 3.62089096e+01] [-1.88732680e-01 9.81828871e-01 -1.98000906e-02 -3.40871928e+00] [-1.02019812e-01 4.50492415e-04 9.94782265e-01 -4.58143642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.408241008 meters 0.062149781574568734 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.42, Z:-4.59 [[ 9.76758910e-01 1.89663484e-01 9.98488534e-02 3.62396413e+01] [-1.88629644e-01 9.81849034e-01 -1.97821364e-02 -3.41566214e+00] [-1.01788449e-01 4.87924340e-04 9.94805948e-01 -4.58554508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.438241008 meters 0.06223632916015011 Centerline is valid? [True, True] Translation: X:36.27, Y:-3.42, Z:-4.59 [[ 9.77044067e-01 1.88670913e-01 9.89352151e-02 3.62696950e+01] [-1.87648240e-01 9.82040179e-01 -1.96271601e-02 -3.42360173e+00] [-1.00861431e-01 6.11581299e-04 9.94900295e-01 -4.58937498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.468241008 meters 0.06225953711992385 Centerline is valid? [True, True] Translation: X:36.30, Y:-3.43, Z:-4.59 [[ 9.77566658e-01 1.86132184e-01 9.85811321e-02 3.63004057e+01] [-1.85101813e-01 9.82524308e-01 -1.95781376e-02 -3.43320991e+00] [-1.00502480e-01 8.91388342e-04 9.94936408e-01 -4.59227763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.498241008 meters 0.06243881229823284 Centerline is valid? [True, True] Translation: X:36.33, Y:-3.44, Z:-4.60 [[ 9.77617173e-01 1.85906869e-01 9.85053293e-02 3.63328819e+01] [-1.84874655e-01 9.82566924e-01 -1.95857777e-02 -3.43893934e+00] [-1.00429209e-01 9.36253866e-04 9.94943766e-01 -4.59664428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.528241008 meters 0.06257914169056851 Centerline is valid? [True, True] Translation: X:36.36, Y:-3.44, Z:-4.60 [[ 9.77750691e-01 1.85752016e-01 9.74667856e-02 3.63631049e+01] [-1.84737789e-01 9.82596176e-01 -1.94088662e-02 -3.44167793e+00] [-9.93757268e-02 9.71233846e-04 9.95049507e-01 -4.60323371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.558241008 meters 0.06282352982241436 Centerline is valid? [True, True] Translation: X:36.39, Y:-3.45, Z:-4.61 [[ 9.78045959e-01 1.84105913e-01 9.76274256e-02 3.63943372e+01] [-1.83079168e-01 9.82905738e-01 -1.94506534e-02 -3.44947284e+00] [-9.95395372e-02 1.15008507e-03 9.95032943e-01 -4.60761857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.588241008 meters 0.06285430200425529 Centerline is valid? [True, True] Translation: X:36.42, Y:-3.46, Z:-4.61 [[ 9.78305433e-01 1.83371006e-01 9.64030802e-02 3.64248736e+01] [-1.82364185e-01 9.83043009e-01 -1.92287758e-02 -3.45704143e+00] [-9.82943741e-02 1.23114670e-03 9.95156621e-01 -4.61190053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.618241008 meters 0.06324240474475144 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.47, Z:-4.62 [[ 9.78525921e-01 1.81848282e-01 9.70475331e-02 3.64555778e+01] [-1.80818229e-01 9.83325581e-01 -1.93796086e-02 -3.46614480e+00] [-9.89534704e-02 1.41548631e-03 9.95091055e-01 -4.61528770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.648241008 meters 0.06362814348758083 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.48, Z:-4.62 [[ 9.79093765e-01 1.78575300e-01 9.73974366e-02 3.64861541e+01] [-1.77519181e-01 9.83924644e-01 -1.94739797e-02 -3.47742991e+00] [-9.93093099e-02 1.77693896e-03 9.95055025e-01 -4.61698263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.678241008 meters 0.06335124066513577 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.48, Z:-4.62 [[ 9.79207038e-01 1.77790524e-01 9.76939402e-02 3.65172211e+01] [-1.76721828e-01 9.84066552e-01 -1.95554661e-02 -3.48422545e+00] [-9.96141155e-02 1.88419839e-03 9.95024360e-01 -4.61849485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.708241008 meters 0.06334105302156745 Centerline is valid? [True, True] Translation: X:36.55, Y:-3.49, Z:-4.62 [[ 9.79215453e-01 1.77527926e-01 9.80863557e-02 3.65489395e+01] [-1.76447064e-01 9.84113850e-01 -1.96561359e-02 -3.49010783e+00] [-1.00017654e-01 1.94054256e-03 9.94983770e-01 -4.62269174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.738241008 meters 0.06287853699689985 Centerline is valid? [True, True] Translation: X:36.58, Y:-3.49, Z:-4.63 [[ 9.79039060e-01 1.78423479e-01 9.82221043e-02 3.65808888e+01] [-1.77341385e-01 9.83951998e-01 -1.97103942e-02 -3.49330543e+00] [-1.00162633e-01 1.87840186e-03 9.94969305e-01 -4.62598096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.768241008 meters 0.0626152885809206 Centerline is valid? [True, True] Translation: X:36.61, Y:-3.49, Z:-4.63 [[ 9.78447355e-01 1.81621049e-01 9.82576617e-02 3.66130713e+01] [-1.80551836e-01 9.83367334e-01 -1.97413674e-02 -3.49406335e+00] [-1.00208823e-01 1.57528752e-03 9.94965180e-01 -4.63205394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.798241008 meters 0.06227333384151574 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.50, Z:-4.64 [[ 9.77861509e-01 1.84992260e-01 9.77994526e-02 3.66451221e+01] [-1.83947480e-01 9.82739186e-01 -1.96727336e-02 -3.49691812e+00] [-9.97506579e-02 1.24724611e-03 9.95011684e-01 -4.63615161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.828241008 meters 0.06222194394994305 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.50, Z:-4.64 [[ 9.77295634e-01 1.87817092e-01 9.80713190e-02 3.66758276e+01] [-1.86778232e-01 9.82203527e-01 -1.97515413e-02 -3.50093120e+00] [-1.00035672e-01 9.85507519e-04 9.94983363e-01 -4.64228005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.858241008 meters 0.06222194394994305 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.51, Z:-4.65 [[ 9.77247500e-01 1.88069474e-01 9.80673024e-02 3.67072443e+01] [-1.87029883e-01 9.82155238e-01 -1.97714614e-02 -3.50744063e+00] [-1.00035723e-01 9.80095193e-04 9.94983363e-01 -4.64633863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.888241008 meters 0.06178129800856194 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.51, Z:-4.65 [[ 9.76279036e-01 1.93466507e-01 9.72108775e-02 3.67399908e+01] [-1.92469067e-01 9.81106777e-01 -1.96252391e-02 -3.50931171e+00] [-9.91710772e-02 4.49622618e-04 9.95070297e-01 -4.64784715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.918241008 meters 0.06172836846504705 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.51, Z:-4.65 [[ 9.75909745e-01 1.95302601e-01 9.72474326e-02 3.67708585e+01] [-1.94311190e-01 9.80742990e-01 -1.96557674e-02 -3.51490968e+00] [-9.92135603e-02 2.85990593e-04 9.95066122e-01 -4.65199868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.948241008 meters 0.061693533723805524 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.52, Z:-4.66 [[ 9.75655274e-01 1.96642229e-01 9.71010859e-02 3.68026022e+01] [-1.95657988e-01 9.80475295e-01 -1.96506492e-02 -3.52150692e+00] [-9.90693632e-02 1.73656415e-04 9.95080515e-01 -4.65579259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.978241008 meters 0.06160729784567631 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.53, Z:-4.66 [[ 9.75868317e-01 1.95936513e-01 9.63841857e-02 3.68319176e+01] [-1.94960616e-01 9.80616546e-01 -1.95332719e-02 -3.52937021e+00] [-9.83432084e-02 2.70780909e-04 9.95152521e-01 -4.66154828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.008241008 meters 0.06174914068566422 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.54, Z:-4.67 [[ 9.76414086e-01 1.93101039e-01 9.65790913e-02 3.68625988e+01] [-1.92105331e-01 9.81178707e-01 -1.95930268e-02 -3.53955111e+00] [-9.85447818e-02 5.77549035e-04 9.95132450e-01 -4.66651041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.038241008 meters 0.06215655195478514 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.55, Z:-4.67 [[ 9.76683986e-01 1.92101463e-01 9.58405917e-02 3.68920661e+01] [-1.91113454e-01 9.81374820e-01 -1.94707544e-02 -3.54822042e+00] [-9.77959039e-02 7.00347477e-04 9.95206245e-01 -4.67461912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.068241008 meters 0.061906615941440694 Centerline is valid? [True, True] Translation: X:36.92, Y:-3.55, Z:-4.68 [[ 9.76799778e-01 1.92038590e-01 9.47806583e-02 3.69232154e+01] [-1.91070117e-01 9.81387112e-01 -1.92755560e-02 -3.55477251e+00] [-9.67181671e-02 7.18607397e-04 9.95311549e-01 -4.67666657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.098241008 meters 0.061957247612095666 Centerline is valid? [True, True] Translation: X:36.95, Y:-3.56, Z:-4.68 [[ 9.76926327e-01 1.92181395e-01 9.31732959e-02 3.69531708e+01] [-1.91244118e-01 9.81359160e-01 -1.89706626e-02 -3.56183681e+00] [-9.50822758e-02 7.14094983e-04 9.95469161e-01 -4.68366229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.128241007999996 meters 0.06191663607514634 Centerline is valid? [True, True] Translation: X:36.98, Y:-3.57, Z:-4.69 [[ 9.76873331e-01 1.93033987e-01 9.19585498e-02 3.69842241e+01] [-1.92123019e-01 9.81191861e-01 -1.87423973e-02 -3.56757076e+00] [-9.38469003e-02 6.41593818e-04 9.95586434e-01 -4.68794049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.158241008 meters 0.06200904344984925 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.57, Z:-4.69 [[ 9.76939623e-01 1.93009298e-01 9.13037982e-02 3.70153669e+01] [-1.92109181e-01 9.81196706e-01 -1.86302884e-02 -3.57418083e+00] [-9.31828049e-02 6.60368984e-04 9.95648798e-01 -4.69270058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.188241008 meters 0.062109915380353244 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.58, Z:-4.70 [[ 9.77026487e-01 1.92319323e-01 9.18287601e-02 3.70450067e+01] [-1.91403420e-01 9.81332109e-01 -1.87622629e-02 -3.58261910e+00] [-9.37228565e-02 7.54889021e-04 9.95598040e-01 -4.69778932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.218241008 meters 0.06178008809748668 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.59, Z:-4.70 [[ 9.77452699e-01 1.89504503e-01 9.31357300e-02 3.70765613e+01] [-1.88548632e-01 9.81879292e-01 -1.90386470e-02 -3.59189662e+00] [-9.50559540e-02 1.04876245e-03 9.95471379e-01 -4.69609093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.248241008 meters 0.06182829647845742 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.60, Z:-4.70 [[ 9.77626689e-01 1.88152663e-01 9.40459060e-02 3.71064299e+01] [-1.87169471e-01 9.82139043e-01 -1.92481115e-02 -3.59968153e+00] [-9.59877396e-02 1.21494502e-03 9.95381775e-01 -4.69911887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.278241008 meters 0.06172335226400317 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.61, Z:-4.70 [[ 9.77914209e-01 1.86378918e-01 9.45869864e-02 3.71381648e+01] [-1.85374089e-01 9.82476916e-01 -1.93792969e-02 -3.60565515e+00] [-9.65414231e-02 1.41731344e-03 9.95327958e-01 -4.70111750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.308241008 meters 0.0621555791919399 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.61, Z:-4.71 [[ 9.78183360e-01 1.84821297e-01 9.48599095e-02 3.71678780e+01] [-1.83801005e-01 9.82770843e-01 -1.94591849e-02 -3.61296700e+00] [-9.68220251e-02 1.59930416e-03 9.95300426e-01 -4.70601270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.338241008 meters 0.0627425600260455 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.62, Z:-4.71 [[ 9.79067783e-01 1.79964441e-01 9.50740588e-02 3.71983527e+01] [-1.78914146e-01 9.83670853e-01 -1.95289779e-02 -3.62329138e+00] [-9.70361021e-02 2.11009907e-03 9.95278626e-01 -4.70959614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.368241008 meters 0.06364392942195433 Centerline is valid? [True, True] Translation: X:37.23, Y:-3.63, Z:-4.72 [[ 9.79392996e-01 1.78502551e-01 9.44785630e-02 3.72272131e+01] [-1.77458408e-01 9.83936893e-01 -1.94088845e-02 -3.63348821e+00] [-9.64254791e-02 2.24291020e-03 9.95337680e-01 -4.71509760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.398241008 meters 0.06306442949898848 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.64, Z:-4.71 [[ 9.79702370e-01 1.77210773e-01 9.36995672e-02 3.72594245e+01] [-1.76176009e-01 9.84170069e-01 -1.92688787e-02 -3.63894363e+00] [-9.56309624e-02 2.37015038e-03 9.95414035e-01 -4.71495127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.428241008 meters 0.06369892196174431 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.65, Z:-4.72 [[ 9.79951218e-01 1.76156157e-01 9.30839371e-02 3.72890761e+01] [-1.75128015e-01 9.84359111e-01 -1.91655628e-02 -3.64796660e+00] [-9.50041535e-02 2.47971144e-03 9.95473788e-01 -4.71975870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.458241008 meters 0.06321717660677055 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.65, Z:-4.72 [[ 9.79837996e-01 1.76507494e-01 9.36087956e-02 3.73217912e+01] [-1.75467291e-01 9.84296172e-01 -1.92944661e-02 -3.64974029e+00] [-9.55443970e-02 2.48016919e-03 9.95422080e-01 -4.72199607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.488241008 meters 0.06388326025522646 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.66, Z:-4.73 [[ 9.79679339e-01 1.77151946e-01 9.40509449e-02 3.73511969e+01] [-1.76102547e-01 9.84180458e-01 -1.94092301e-02 -3.65637231e+00] [-9.60014850e-02 2.45221071e-03 9.95378170e-01 -4.72901636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.518241008 meters 0.06345458832811915 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.66, Z:-4.73 [[ 9.79605296e-01 1.77626156e-01 9.39277019e-02 3.73841487e+01] [-1.76579797e-01 9.84095058e-01 -1.94034115e-02 -3.65965061e+00] [-9.58803406e-02 2.42195010e-03 9.95389921e-01 -4.73150983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.548241008 meters 0.06268081649885295 Centerline is valid? [True, True] Translation: X:37.42, Y:-3.66, Z:-4.73 [[ 9.79291686e-01 1.79359598e-01 9.39038286e-02 3.74163063e+01] [-1.78319207e-01 9.83780945e-01 -1.94245372e-02 -3.66101194e+00] [-9.58647744e-02 2.27743153e-03 9.95391761e-01 -4.73279132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.578241008 meters 0.0629587967941637 Centerline is valid? [True, True] Translation: X:37.45, Y:-3.67, Z:-4.74 [[ 9.79184706e-01 1.80502410e-01 9.28234450e-02 3.74471589e+01] [-1.79488934e-01 9.83572166e-01 -1.92228159e-02 -3.66751251e+00] [-9.47683215e-02 2.16190613e-03 9.95497007e-01 -4.73925808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.608241008 meters 0.06264935510119031 Centerline is valid? [True, True] Translation: X:37.48, Y:-3.67, Z:-4.74 [[ 9.78886632e-01 1.82580012e-01 9.18994012e-02 3.74783604e+01] [-1.81593523e-01 9.83189035e-01 -1.90555489e-02 -3.67217318e+00] [-9.38336460e-02 1.96488600e-03 9.95585951e-01 -4.74346267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.638241008 meters 0.061920298941957164 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.67, Z:-4.75 [[ 9.78335458e-01 1.85720276e-01 9.14751887e-02 3.75111870e+01] [-1.84754273e-01 9.82601219e-01 -1.89921760e-02 -3.67438364e+00] [-9.34108641e-02 1.68028724e-03 9.95626229e-01 -4.74548111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.668241008 meters 0.06131019436449084 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.67, Z:-4.75 [[ 9.77061564e-01 1.92362735e-01 9.13634400e-02 3.75436097e+01] [-1.91427128e-01 9.81323325e-01 -1.89785952e-02 -3.67133435e+00] [-9.33078492e-02 1.05381496e-03 9.95636748e-01 -4.74955811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.698241008 meters 0.06150985904037452 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.67, Z:-4.76 [[ 9.76225875e-01 1.96592208e-01 9.12937318e-02 3.75740570e+01] [-1.95674727e-01 9.80485114e-01 -1.89827026e-02 -3.67377460e+00] [-9.32439964e-02 6.67529422e-04 9.95643064e-01 -4.75912949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.728241008 meters 0.06094390094460132 Centerline is valid? [True, True] Translation: X:37.61, Y:-3.68, Z:-4.76 [[ 9.75477235e-01 1.99888656e-01 9.21340842e-02 3.76062497e+01] [-1.98966890e-01 9.79818546e-01 -1.91779264e-02 -3.67533737e+00] [-9.41081343e-02 3.75998359e-04 9.95561911e-01 -4.75935444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.758241008 meters 0.06122467154687764 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.68, Z:-4.77 [[ 9.74876356e-01 2.02547025e-01 9.26865342e-02 3.76369729e+01] [-2.01623972e-01 9.79272527e-01 -1.93155837e-02 -3.67876408e+00] [-9.46776906e-02 1.42478671e-04 9.95507968e-01 -4.76694480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.788241008 meters 0.06105522798778674 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.68, Z:-4.77 [[ 9.74370632e-01 2.04298084e-01 9.41496947e-02 3.76692507e+01] [-2.03351489e-01 9.78908726e-01 -1.96438032e-02 -3.68271881e+00] [-9.61771490e-02 -5.13559953e-06 9.95364233e-01 -4.76864063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.818241008 meters 0.06079267309725155 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.69, Z:-4.77 [[ 9.73858352e-01 2.05438673e-01 9.69270925e-02 3.77005848e+01] [-2.04438499e-01 9.78669986e-01 -2.02474153e-02 -3.68901580e+00] [-9.90192384e-02 -9.75148159e-05 9.95085514e-01 -4.77083106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.848241008 meters 0.06073638610034685 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.70, Z:-4.77 [[ 9.73646373e-01 2.05799941e-01 9.82808449e-02 3.77306255e+01] [-2.04770743e-01 9.78594079e-01 -2.05565228e-02 -3.69704037e+00] [-1.00407584e-01 -1.10257774e-04 9.94946383e-01 -4.77388583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.878241007999996 meters 0.06039307795537891 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.71, Z:-4.77 [[ 9.73593459e-01 2.05595244e-01 9.92288894e-02 3.77617848e+01] [-2.04543847e-01 9.78637108e-01 -2.07659695e-02 -3.70591892e+00] [-1.01378458e-01 -7.90467159e-05 9.94847929e-01 -4.77412132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.908241008 meters 0.060261037077184734 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.72, Z:-4.78 [[ 9.73748083e-01 2.04083285e-01 1.00820059e-01 3.77907761e+01] [-2.02987069e-01 9.78953524e-01 -2.11245797e-02 -3.71782842e+00] [-1.03009325e-01 1.04850804e-04 9.94680385e-01 -4.77661510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.938241008 meters 0.060176385742329114 Centerline is valid? [True, True] Translation: X:37.82, Y:-3.73, Z:-4.78 [[ 9.74131972e-01 2.02172567e-01 1.00961154e-01 3.78213902e+01] [-2.01060782e-01 9.79349858e-01 -2.11758559e-02 -3.72850791e+00] [-1.03157469e-01 3.28749763e-04 9.94664983e-01 -4.78096129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.968241008 meters 0.06026290065778662 Centerline is valid? [True, True] Translation: X:37.85, Y:-3.74, Z:-4.79 [[ 9.74516483e-01 2.00060613e-01 1.01456276e-01 3.78522133e+01] [-1.98923529e-01 9.79783349e-01 -2.13077025e-02 -3.73888687e+00] [-1.03668001e-01 5.82666944e-04 9.94611787e-01 -4.78563933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.998241008 meters 0.060388930064923116 Centerline is valid? [True, True] Translation: X:37.88, Y:-3.75, Z:-4.79 [[ 9.74907626e-01 1.98452132e-01 1.00855700e-01 3.78826857e+01] [-1.97317016e-01 9.80110273e-01 -2.12096129e-02 -3.74766093e+00] [-1.03058801e-01 7.76867630e-04 9.94674962e-01 -4.79028312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.028241008 meters 0.06065645254580727 Centerline is valid? [True, True] Translation: X:37.91, Y:-3.76, Z:-4.80 [[ 9.75266482e-01 1.96619092e-01 1.00976342e-01 3.79118001e+01] [-1.95468867e-01 9.80479444e-01 -2.12598629e-02 -3.75667147e+00] [-1.03185322e-01 9.96300624e-04 9.94661649e-01 -4.79666901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.058241008 meters 0.061759140227102424 Centerline is valid? [True, True] Translation: X:37.94, Y:-3.77, Z:-4.81 [[ 9.76065626e-01 1.93171824e-01 9.99026501e-02 3.79393060e+01] [-1.92025532e-01 9.81163987e-01 -2.10576610e-02 -3.77028669e+00] [-1.02088629e-01 1.36979955e-03 9.94774364e-01 -4.80619649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.088241008 meters 0.06158994720554643 Centerline is valid? [True, True] Translation: X:37.97, Y:-3.78, Z:-4.81 [[ 9.76276957e-01 1.92657839e-01 9.88243883e-02 3.79707669e+01] [-1.91532440e-01 9.81264971e-01 -2.08418218e-02 -3.77818532e+00] [-1.00988251e-01 1.41931411e-03 9.94886606e-01 -4.80773413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.118241008 meters 0.06143906021060746 Centerline is valid? [True, True] Translation: X:38.00, Y:-3.79, Z:-4.81 [[ 9.76093295e-01 1.92837187e-01 1.00278107e-01 3.80020386e+01] [-1.91676787e-01 9.81229703e-01 -2.11726067e-02 -3.78694298e+00] [-1.02478723e-01 1.44545405e-03 9.94734146e-01 -4.80969440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.148241008 meters 0.061412521223010316 Centerline is valid? [True, True] Translation: X:38.03, Y:-3.79, Z:-4.81 [[ 9.76174632e-01 1.92267492e-01 1.00579821e-01 3.80342276e+01] [-1.91094684e-01 9.81341359e-01 -2.12593221e-02 -3.79356436e+00] [-1.02790614e-01 1.53254187e-03 9.94701835e-01 -4.81271933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.178241008 meters 0.061844807093657785 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.80, Z:-4.82 [[ 9.76222925e-01 1.91451923e-01 1.01661016e-01 3.80634452e+01] [-1.90245981e-01 9.81500577e-01 -2.15194076e-02 -3.80244471e+00] [-1.03900278e-01 1.66713935e-03 9.94586323e-01 -4.81864663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.208241008 meters 0.06162938286125785 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.81, Z:-4.82 [[ 9.76205329e-01 1.90678068e-01 1.03271629e-01 3.80949590e+01] [-1.89427857e-01 9.81650993e-01 -2.18727189e-02 -3.80884346e+00] [-1.05547345e-01 1.78974134e-03 9.94412668e-01 -4.81938440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.238241008 meters 0.061982024142409636 Centerline is valid? [True, True] Translation: X:38.13, Y:-3.82, Z:-4.82 [[ 9.76553014e-01 1.87614192e-01 1.05570478e-01 3.81253004e+01] [-1.86286825e-01 9.82240347e-01 -2.23857002e-02 -3.81764556e+00] [-1.07895458e-01 2.19443380e-03 9.94159823e-01 -4.82198948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.268241008 meters 0.06204123899077029 Centerline is valid? [True, True] Translation: X:38.16, Y:-3.82, Z:-4.83 [[ 9.76622282e-01 1.86974222e-01 1.06063934e-01 3.81576820e+01] [-1.85627870e-01 9.82362126e-01 -2.25154799e-02 -3.82354226e+00] [-1.08403007e-01 2.30069716e-03 9.94104368e-01 -4.82562335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.298241008 meters 0.06228894618152605 Centerline is valid? [True, True] Translation: X:38.19, Y:-3.83, Z:-4.83 [[ 9.76722485e-01 1.86441486e-01 1.06079024e-01 3.81881460e+01] [-1.85088125e-01 9.82463155e-01 -2.25507088e-02 -3.83107804e+00] [-1.08423121e-01 2.39181668e-03 9.94101960e-01 -4.82895856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.328241008 meters 0.062454574644595785 Centerline is valid? [True, True] Translation: X:38.22, Y:-3.84, Z:-4.83 [[ 9.77069392e-01 1.84523221e-01 1.06238334e-01 3.82192932e+01] [-1.83153127e-01 9.82824660e-01 -2.25969082e-02 -3.83798643e+00] [-1.08583309e-01 2.62086427e-03 9.94083898e-01 -4.83183997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.358241008 meters 0.06389969297727713 Centerline is valid? [True, True] Translation: X:38.25, Y:-3.85, Z:-4.84 [[ 9.77709074e-01 1.81245857e-01 1.05994844e-01 3.82487479e+01] [-1.79859725e-01 9.83433221e-01 -2.25738525e-02 -3.84730211e+00] [-1.08330268e-01 3.00645701e-03 9.94110414e-01 -4.83836681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.388241008 meters 0.06392372121702906 Centerline is valid? [True, True] Translation: X:38.28, Y:-3.85, Z:-4.84 [[ 9.77972528e-01 1.80089912e-01 1.05533682e-01 3.82801933e+01] [-1.78708667e-01 9.83645189e-01 -2.24801060e-02 -3.85292085e+00] [-1.07856138e-01 3.12514252e-03 9.94161600e-01 -4.84229289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.418241008 meters 0.06442313023884132 Centerline is valid? [True, True] Translation: X:38.31, Y:-3.86, Z:-4.85 [[ 9.78405638e-01 1.78476835e-01 1.04251751e-01 3.83101375e+01] [-1.77117210e-01 9.83938622e-01 -2.22324644e-02 -3.86010185e+00] [-1.06545304e-01 3.28758923e-03 9.94302414e-01 -4.84713677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.448241008 meters 0.0648986966407008 Centerline is valid? [True, True] Translation: X:38.34, Y:-3.87, Z:-4.85 [[ 9.78897594e-01 1.76787971e-01 1.02496410e-01 3.83412197e+01] [-1.75462017e-01 9.84242957e-01 -2.18833939e-02 -3.86549863e+00] [-1.04750090e-01 3.43737486e-03 9.94492636e-01 -4.85260315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.478241008 meters 0.06476057356018915 Centerline is valid? [True, True] Translation: X:38.37, Y:-3.87, Z:-4.86 [[ 9.79032625e-01 1.76143964e-01 1.02315312e-01 3.83726922e+01] [-1.74818833e-01 9.84358182e-01 -2.18482481e-02 -3.86999975e+00] [-1.04563352e-01 3.50350411e-03 9.94512057e-01 -4.85676618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.508241008 meters 0.06489636149640528 Centerline is valid? [True, True] Translation: X:38.40, Y:-3.88, Z:-4.86 [[ 9.79150697e-01 1.76342326e-01 1.00833016e-01 3.84034906e+01] [-1.75054026e-01 9.84322837e-01 -2.15555168e-02 -3.87549749e+00] [-1.03053391e-01 3.45487388e-03 9.94669826e-01 -4.86110248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.538241008 meters 0.06517133369679519 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.88, Z:-4.87 [[ 9.79074513e-01 1.76628432e-01 1.01071733e-01 3.84333064e+01] [-1.75333211e-01 9.84271538e-01 -2.16288020e-02 -3.88136179e+00] [-1.03302292e-01 3.45497722e-03 9.94644006e-01 -4.86540284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.568241008 meters 0.06588531401392998 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.89, Z:-4.87 [[ 9.78675298e-01 1.78239771e-01 1.02104092e-01 3.84631774e+01] [-1.76924243e-01 9.83981413e-01 -2.18721417e-02 -3.88682062e+00] [-1.04367014e-01 3.34103565e-03 9.94533239e-01 -4.87100340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.598241008 meters 0.06569999368351638 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.89, Z:-4.87 [[ 9.78435213e-01 1.79249000e-01 1.02636883e-01 3.84941108e+01] [-1.77922820e-01 9.83798295e-01 -2.20087339e-02 -3.89101858e+00] [-1.04919034e-01 3.27267662e-03 9.94475382e-01 -4.87419405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.628241008 meters 0.06550959006024454 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.90, Z:-4.88 [[ 9.77962222e-01 1.80776412e-01 1.04449896e-01 3.85251694e+01] [-1.79409051e-01 9.83519056e-01 -2.24200419e-02 -3.89509613e+00] [-1.06781478e-01 3.18669723e-03 9.94277406e-01 -4.87763830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.658241008 meters 0.0646757851087185 Centerline is valid? [True, True] Translation: X:38.56, Y:-3.89, Z:-4.88 [[ 9.76968649e-01 1.84895415e-01 1.06517342e-01 3.85562464e+01] [-1.83495259e-01 9.82754179e-01 -2.28847895e-02 -3.89449563e+00] [-1.08911655e-01 2.81229473e-03 9.94047455e-01 -4.88020635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.688241008 meters 0.06325820541648579 Centerline is valid? [True, True] Translation: X:38.59, Y:-3.89, Z:-4.88 [[ 9.76185509e-01 1.88336760e-01 1.07662046e-01 3.85882255e+01] [-1.86925081e-01 9.82101395e-01 -2.31487305e-02 -3.89424685e+00] [-1.10094803e-01 2.47271861e-03 9.93918015e-01 -4.88118941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.718241008 meters 0.06274095889979696 Centerline is valid? [True, True] Translation: X:38.62, Y:-3.90, Z:-4.88 [[ 9.75439734e-01 1.91853492e-01 1.08210733e-01 3.86196938e+01] [-1.90446833e-01 9.81421320e-01 -2.32851109e-02 -3.89674921e+00] [-1.10667650e-01 2.10483105e-03 9.93855241e-01 -4.88472562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.748241008 meters 0.062498665979137766 Centerline is valid? [True, True] Translation: X:38.65, Y:-3.90, Z:-4.89 [[ 9.74852275e-01 1.94879376e-01 1.08097509e-01 3.86503410e+01] [-1.93491787e-01 9.80825600e-01 -2.32824264e-02 -3.89939059e+00] [-1.10562069e-01 1.78094618e-03 9.93867626e-01 -4.88921885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.778241008 meters 0.062139096686718076 Centerline is valid? [True, True] Translation: X:38.68, Y:-3.90, Z:-4.89 [[ 9.73899180e-01 1.99665962e-01 1.07953190e-01 3.86830874e+01] [-1.98308826e-01 9.79863215e-01 -2.32742347e-02 -3.89917418e+00] [-1.10426432e-01 1.25868771e-03 9.93883504e-01 -4.89430732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.808241008 meters 0.062139096686718076 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.91, Z:-4.90 [[ 9.73849421e-01 1.99911210e-01 1.07948193e-01 3.87144211e+01] [-1.98553011e-01 9.79813214e-01 -2.32973865e-02 -3.90610046e+00] [-1.10426475e-01 1.25470761e-03 9.93883504e-01 -4.89836632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.838241008 meters 0.06215139131740296 Centerline is valid? [True, True] Translation: X:38.75, Y:-3.91, Z:-4.90 [[ 9.73632505e-01 2.01216734e-01 1.07478236e-01 3.87452209e+01] [-1.99875167e-01 9.79546094e-01 -2.32242974e-02 -3.91101545e+00] [-1.09953003e-01 1.12970051e-03 9.93936145e-01 -4.90365347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.868241008 meters 0.062198394198397226 Centerline is valid? [True, True] Translation: X:38.78, Y:-3.92, Z:-4.91 [[ 9.73506146e-01 2.02116862e-01 1.06932490e-01 3.87762700e+01] [-2.00791478e-01 9.79360850e-01 -2.31323839e-02 -3.91628929e+00] [-1.09400939e-01 1.04838523e-03 9.93997151e-01 -4.90917115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.898241008 meters 0.062314883469898594 Centerline is valid? [True, True] Translation: X:38.81, Y:-3.92, Z:-4.91 [[ 9.73707026e-01 2.01327214e-01 1.06592589e-01 3.88077641e+01] [-2.00002702e-01 9.79523358e-01 -2.30848302e-02 -3.92178648e+00] [-1.09057535e-01 1.15905551e-03 9.94034763e-01 -4.91398232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.928241008 meters 0.0626772874930918 Centerline is valid? [True, True] Translation: X:38.84, Y:-3.93, Z:-4.92 [[ 9.73976144e-01 2.00807052e-01 1.05104701e-01 3.88367154e+01] [-1.99513509e-01 9.79630045e-01 -2.27889188e-02 -3.92980607e+00] [-1.07539899e-01 1.22605539e-03 9.94200014e-01 -4.92041914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.958241008 meters 0.06259853921076385 Centerline is valid? [True, True] Translation: X:38.87, Y:-3.94, Z:-4.92 [[ 9.74312091e-01 1.99737737e-01 1.04023007e-01 3.88673774e+01] [-1.98463619e-01 9.79848478e-01 -2.25643784e-02 -3.93725835e+00] [-1.06433743e-01 1.33996419e-03 9.94318894e-01 -4.92311723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.988241008 meters 0.062891349315397 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.95, Z:-4.93 [[ 9.74613469e-01 1.98798628e-01 1.02993654e-01 3.88977097e+01] [-1.97541930e-01 9.80039284e-01 -2.23648609e-02 -3.94635165e+00] [-1.05383930e-01 1.45152952e-03 9.94430551e-01 -4.92802276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.018241008 meters 0.06305829132301183 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.96, Z:-4.93 [[ 9.74859771e-01 1.97941186e-01 1.02311849e-01 3.89272100e+01] [-1.96693902e-01 9.80212661e-01 -2.22406734e-02 -3.95527083e+00] [-1.04689715e-01 1.55742108e-03 9.94503714e-01 -4.93451097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.048241008 meters 0.06280020044925999 Centerline is valid? [True, True] Translation: X:38.96, Y:-3.96, Z:-4.94 [[ 9.74789894e-01 1.98246915e-01 1.02385658e-01 3.89590980e+01] [-1.96997334e-01 9.80150892e-01 -2.22773429e-02 -3.96080609e+00] [-1.04769809e-01 1.54602704e-03 9.94495298e-01 -4.93745667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.078241008 meters 0.06300303338906157 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.97, Z:-4.94 [[ 9.74710205e-01 1.98736260e-01 1.02195480e-01 3.89893389e+01] [-1.97491046e-01 9.80051832e-01 -2.22641730e-02 -3.96738343e+00] [-1.04581565e-01 1.51842445e-03 9.94515154e-01 -4.94261854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.108241008 meters 0.06274200784124198 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.97, Z:-4.95 [[ 9.74361792e-01 2.00335272e-01 1.02395692e-01 3.90207199e+01] [-1.99091198e-01 9.79726435e-01 -2.23340025e-02 -3.97247632e+00] [-1.04794054e-01 1.37531779e-03 9.94492994e-01 -4.94559957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.138241008 meters 0.06268018151806763 Centerline is valid? [True, True] Translation: X:39.05, Y:-3.98, Z:-4.95 [[ 9.73720226e-01 2.02828605e-01 1.03583199e-01 3.90507878e+01] [-2.01566573e-01 9.79213583e-01 -2.26202315e-02 -3.97943244e+00] [-1.06018105e-01 1.14686654e-03 9.94363538e-01 -4.94961261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.168241008 meters 0.06247410907029954 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.99, Z:-4.95 [[ 9.73171424e-01 2.04711101e-01 1.05027355e-01 3.90822428e+01] [-2.03423055e-01 9.78821960e-01 -2.29484681e-02 -3.98640717e+00] [-1.07500888e-01 9.67807966e-04 9.94204517e-01 -4.95227573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.198241008 meters 0.0624113395687403 Centerline is valid? [True, True] Translation: X:39.11, Y:-3.99, Z:-4.96 [[ 9.72852657e-01 2.06001213e-01 1.05457141e-01 3.91134175e+01] [-2.04707383e-01 9.78551364e-01 -2.30676288e-02 -3.99322197e+00] [-1.07947189e-01 8.53548507e-04 9.94156263e-01 -4.95648449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.228241008 meters 0.06250462447318979 Centerline is valid? [True, True] Translation: X:39.14, Y:-4.00, Z:-4.96 [[ 9.72632359e-01 2.07113851e-01 1.05309769e-01 3.91442763e+01] [-2.05827448e-01 9.78316557e-01 -2.30602809e-02 -3.99952578e+00] [-1.07802394e-01 7.53534344e-04 9.94172056e-01 -4.96189826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.258241008 meters 0.06246721166724168 Centerline is valid? [True, True] Translation: X:39.18, Y:-4.01, Z:-4.97 [[ 9.72109483e-01 2.09194708e-01 1.06022296e-01 3.91752664e+01] [-2.07900106e-01 9.77873851e-01 -2.32438850e-02 -4.00541060e+00] [-1.08538928e-01 5.53554576e-04 9.94092045e-01 -4.96676221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.288241008 meters 0.06253415033059344 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.01, Z:-4.97 [[ 9.72134524e-01 2.09732393e-01 1.04722446e-01 3.92056477e+01] [-2.08469912e-01 9.77758693e-01 -2.29833433e-02 -4.01367114e+00] [-1.07213633e-01 5.11422493e-04 9.94235875e-01 -4.97223705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.318241008 meters 0.06267112244416713 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.02, Z:-4.98 [[ 9.72323484e-01 2.09272744e-01 1.03884363e-01 3.92356040e+01] [-2.08025199e-01 9.77857137e-01 -2.28240247e-02 -4.02292677e+00] [-1.06360512e-01 5.81769946e-04 9.94327463e-01 -4.97722482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.348241008 meters 0.06274232698967767 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.03, Z:-4.98 [[ 9.72439316e-01 2.08745973e-01 1.03859977e-01 3.92669905e+01] [-2.07493433e-01 9.77969672e-01 -2.28428594e-02 -4.03262402e+00] [-1.06340263e-01 6.63031360e-04 9.94329578e-01 -4.98185288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.378241008 meters 0.06296038634381594 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.04, Z:-4.99 [[ 9.73340379e-01 2.05849119e-01 1.01166436e-01 3.92961890e+01] [-2.04642420e-01 9.78583250e-01 -2.22778345e-02 -4.04452900e+00] [-1.03585653e-01 9.80971467e-04 9.94620053e-01 -4.98635842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.408241008 meters 0.06345185632186881 Centerline is valid? [True, True] Translation: X:39.32, Y:-4.06, Z:-4.99 [[ 9.73669369e-01 2.04253822e-01 1.01234067e-01 3.93246294e+01] [-2.03034283e-01 9.78917255e-01 -2.23178692e-02 -4.05550578e+00] [-1.03658285e-01 1.17623951e-03 9.94612274e-01 -4.99267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.438241008 meters 0.06332874597601967 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.07, Z:-4.99 [[ 9.74121609e-01 2.01978437e-01 1.01448520e-01 3.93553434e+01] [-2.00740205e-01 9.79388921e-01 -2.23765858e-02 -4.06567927e+00] [-1.03877144e-01 1.43271904e-03 9.94589104e-01 -4.99386759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.468241008 meters 0.06399920520971278 Centerline is valid? [True, True] Translation: X:39.38, Y:-4.08, Z:-5.00 [[ 9.74668951e-01 1.99853751e-01 1.00393795e-01 3.93838581e+01] [-1.98627401e-01 9.79824322e-01 -2.21687516e-02 -4.07690605e+00] [-1.02798790e-01 1.66623537e-03 9.94700775e-01 -4.99977717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.498241008 meters 0.0650788764809558 Centerline is valid? [True, True] Translation: X:39.41, Y:-4.09, Z:-5.01 [[ 9.75860906e-01 1.95298162e-01 9.77451774e-02 3.94129621e+01] [-1.94110495e-01 9.80741637e-01 -2.16091983e-02 -4.09004592e+00] [-1.00083002e-01 2.11420707e-03 9.94976845e-01 -5.00802842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.528241008 meters 0.06634783203183299 Centerline is valid? [True, True] Translation: X:39.44, Y:-4.10, Z:-5.02 [[ 9.76266454e-01 1.93737210e-01 9.67972338e-02 3.94408989e+01] [-1.92564474e-01 9.81050867e-01 -2.14037351e-02 -4.10237845e+00] [-9.91097100e-02 2.25604024e-03 9.95073955e-01 -5.01551225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.558241008 meters 0.0658786779351907 Centerline is valid? [True, True] Translation: X:39.47, Y:-4.11, Z:-5.02 [[ 9.76446055e-01 1.92910546e-01 9.66365538e-02 3.94721523e+01] [-1.91736579e-01 9.81213541e-01 -2.13792147e-02 -4.11107619e+00] [-9.89453711e-02 2.34688760e-03 9.95090099e-01 -5.01725622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.588241008 meters 0.06733914296357205 Centerline is valid? [True, True] Translation: X:39.50, Y:-4.12, Z:-5.02 [[ 9.76538427e-01 1.92439105e-01 9.66431181e-02 3.95004272e+01] [-1.91260341e-01 9.81305938e-01 -2.14041496e-02 -4.12361537e+00] [-9.89554610e-02 2.41797884e-03 9.95088926e-01 -5.02419154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.618241008 meters 0.0655503240669751 Centerline is valid? [True, True] Translation: X:39.53, Y:-4.13, Z:-5.02 [[ 9.76098332e-01 1.93943102e-01 9.80720154e-02 3.95329069e+01] [-1.92734516e-01 9.81010035e-01 -2.17420834e-02 -4.12665754e+00] [-1.00426358e-01 2.32054889e-03 9.94941788e-01 -5.02186082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.648241008 meters 0.06538150467565329 Centerline is valid? [True, True] Translation: X:39.56, Y:-4.13, Z:-5.03 [[ 9.75865526e-01 1.95018714e-01 9.82556652e-02 3.95644160e+01] [-1.93808556e-01 9.80796968e-01 -2.18071386e-02 -4.13337420e+00] [-1.00621659e-01 2.23804623e-03 9.94922245e-01 -5.02518259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.678241008 meters 0.06577609524348732 Centerline is valid? [True, True] Translation: X:39.59, Y:-4.14, Z:-5.03 [[ 9.75417566e-01 1.96546712e-01 9.96491939e-02 3.95935962e+01] [-1.95307212e-01 9.80492137e-01 -2.21418786e-02 -4.14287294e+00] [-1.02057165e-01 2.13537103e-03 9.94776244e-01 -5.02942751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.708241008 meters 0.06440170033777916 Centerline is valid? [True, True] Translation: X:39.63, Y:-4.14, Z:-5.03 [[ 9.74514521e-01 2.00777540e-01 1.00049126e-01 3.96259289e+01] [-1.99547911e-01 9.79635348e-01 -2.22534467e-02 -4.14342265e+00] [-1.02479653e-01 1.72171281e-03 9.94733611e-01 -5.02819411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.738241008 meters 0.06422956448490517 Centerline is valid? [True, True] Translation: X:39.66, Y:-4.15, Z:-5.03 [[ 9.73995837e-01 2.03167897e-01 1.00274196e-01 3.96561158e+01] [-2.01942982e-01 9.79142772e-01 -2.23263219e-02 -4.14692835e+00] [-1.02718746e-01 1.49607443e-03 9.94709315e-01 -5.03361576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.768241008 meters 0.06405869672419229 Centerline is valid? [True, True] Translation: X:39.69, Y:-4.15, Z:-5.04 [[ 9.73499945e-01 2.05689828e-01 9.99477489e-02 3.96880540e+01] [-2.04483849e-01 9.78616440e-01 -2.22759487e-02 -4.14905597e+00] [-1.02392446e-01 1.24793438e-03 9.94743298e-01 -5.03839432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.798241008 meters 0.06407288454810796 Centerline is valid? [True, True] Translation: X:39.72, Y:-4.15, Z:-5.04 [[ 9.72868479e-01 2.08707307e-01 9.98407846e-02 3.97205170e+01] [-2.07517239e-01 9.77977684e-01 -2.22765563e-02 -4.15089666e+00] [-1.02291339e-01 9.53475575e-04 9.94754026e-01 -5.04301879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.828241008 meters 0.06403762148342974 Centerline is valid? [True, True] Translation: X:39.75, Y:-4.15, Z:-5.05 [[ 9.71535981e-01 2.14763323e-01 9.99727605e-02 3.97522506e+01] [-2.13599443e-01 9.76666063e-01 -2.23311336e-02 -4.14902446e+00] [-1.02435911e-01 3.41373854e-04 9.94739548e-01 -5.04933568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.858241008 meters 0.06420975680966803 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.15, Z:-5.06 [[ 9.70997965e-01 2.17324422e-01 9.96646762e-02 3.97833318e+01] [-2.16178928e-01 9.76099425e-01 -2.22841617e-02 -4.15247135e+00] [-1.02125526e-01 9.24727716e-05 9.94771516e-01 -5.05522491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.888241008 meters 0.06430100949510621 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.16, Z:-5.06 [[ 9.70700556e-01 2.18900570e-01 9.91109041e-02 3.98146920e+01] [-2.17773347e-01 9.75747169e-01 -2.21862747e-02 -4.15668218e+00] [-1.01563772e-01 -4.74841713e-05 9.94829029e-01 -5.06017378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.918241008 meters 0.06457916654211888 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.16, Z:-5.07 [[ 9.70570755e-01 2.19773982e-01 9.84469763e-02 3.98442726e+01] [-2.18663868e-01 9.75550811e-01 -2.20619354e-02 -4.16225959e+00] [-1.00888667e-01 -1.14127270e-04 9.94897715e-01 -5.06565862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.948241008 meters 0.0645153891858239 Centerline is valid? [True, True] Translation: X:39.88, Y:-4.17, Z:-5.07 [[ 9.70640709e-01 2.19460458e-01 9.84567013e-02 3.98759313e+01] [-2.18346863e-01 9.75621393e-01 -2.20804035e-02 -4.17076087e+00] [-1.00902240e-01 -6.55733660e-05 9.94896343e-01 -5.06960802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.978241008 meters 0.0644678326100054 Centerline is valid? [True, True] Translation: X:39.91, Y:-4.18, Z:-5.07 [[ 9.70839192e-01 2.19063360e-01 9.73781704e-02 3.99062763e+01] [-2.17969417e-01 9.75710635e-01 -2.18652529e-02 -4.17894007e+00] [-9.98027923e-02 2.18149936e-06 9.95007237e-01 -5.07267822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.008241008 meters 0.06455063278452078 Centerline is valid? [True, True] Translation: X:39.94, Y:-4.19, Z:-5.08 [[ 9.71231440e-01 2.17567244e-01 9.68193426e-02 3.99365507e+01] [-2.16476354e-01 9.76045318e-01 -2.17606232e-02 -4.18830264e+00] [-9.92344649e-02 1.75503093e-04 9.95064063e-01 -5.07718534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.038241008 meters 0.06491243235629725 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.20, Z:-5.08 [[ 9.72268722e-01 2.13505009e-01 9.54418376e-02 3.99645055e+01] [-2.12423226e-01 9.76941782e-01 -2.14738686e-02 -4.20151527e+00] [-9.78258975e-02 6.04307729e-04 9.95203360e-01 -5.08363680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.068241008 meters 0.06518536558903532 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.21, Z:-5.09 [[ 9.72664848e-01 2.11432978e-01 9.60166098e-02 3.99939797e+01] [-2.10325969e-01 9.77392139e-01 -2.16239092e-02 -4.21270481e+00] [-9.84178871e-02 8.38029869e-04 9.95144822e-01 -5.08853483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.098241008 meters 0.06502980565434849 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.22, Z:-5.09 [[ 9.73259671e-01 2.08463679e-01 9.64806045e-02 4.00243181e+01] [-2.07328961e-01 9.78029412e-01 -2.17524877e-02 -4.22405389e+00] [-9.88954726e-02 1.16759557e-03 9.95097142e-01 -5.08749126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.128241008 meters 0.06551532224579697 Centerline is valid? [True, True] Translation: X:40.05, Y:-4.24, Z:-5.09 [[ 9.73631860e-01 2.06140807e-01 9.77085877e-02 4.00534174e+01] [-2.04962675e-01 9.78521269e-01 -2.20551010e-02 -4.23743877e+00] [-1.00156388e-01 1.44693546e-03 9.94970655e-01 -5.09182873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.158241008 meters 0.06531509952543273 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.25, Z:-5.09 [[ 9.74107416e-01 2.02427077e-01 1.00687735e-01 4.00847122e+01] [-2.01154369e-01 9.79295495e-01 -2.27432007e-02 -4.24818436e+00] [-1.03206885e-01 1.90054257e-03 9.94658095e-01 -5.09163403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.188241008 meters 0.0653752628913814 Centerline is valid? [True, True] Translation: X:40.12, Y:-4.25, Z:-5.10 [[ 9.74202585e-01 2.02003056e-01 1.00618530e-01 4.01155809e+01] [-2.00726898e-01 9.79382906e-01 -2.27560110e-02 -4.25494656e+00] [-1.03140852e-01 1.97211927e-03 9.94664806e-01 -5.09583484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.218241008 meters 0.06471273265308561 Centerline is valid? [True, True] Translation: X:40.15, Y:-4.26, Z:-5.10 [[ 9.73300814e-01 2.05766614e-01 1.01713446e-01 4.01471416e+01] [-2.04480243e-01 9.78599760e-01 -2.30291305e-02 -4.25887038e+00] [-1.04275380e-01 1.61588143e-03 9.94547150e-01 -5.09901361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.248241008 meters 0.06461809750168244 Centerline is valid? [True, True] Translation: X:40.18, Y:-4.26, Z:-5.10 [[ 9.72815750e-01 2.08355171e-01 1.01082342e-01 4.01772623e+01] [-2.07096311e-01 9.78052296e-01 -2.29090497e-02 -4.26315696e+00] [-1.03637035e-01 1.35250431e-03 9.94614265e-01 -5.10376104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.278241008 meters 0.06442948944270341 Centerline is valid? [True, True] Translation: X:40.21, Y:-4.27, Z:-5.11 [[ 9.72199755e-01 2.11454143e-01 1.00572274e-01 4.02089175e+01] [-2.10222215e-01 9.77387367e-01 -2.28156584e-02 -4.26611292e+00] [-1.03122535e-01 1.03885138e-03 9.94668117e-01 -5.10985069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.308241008 meters 0.06437921718637982 Centerline is valid? [True, True] Translation: X:40.24, Y:-4.27, Z:-5.12 [[ 9.71531053e-01 2.15047828e-01 9.94074639e-02 4.02403183e+01] [-2.13860694e-01 9.76603286e-01 -2.25748696e-02 -4.26900285e+00] [-1.01936333e-01 6.72837594e-04 9.94790697e-01 -5.11574680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.338241008 meters 0.06425751017397081 Centerline is valid? [True, True] Translation: X:40.27, Y:-4.27, Z:-5.12 [[ 9.70793786e-01 2.18656834e-01 9.87350752e-02 4.02726908e+01] [-2.17501798e-01 9.75801767e-01 -2.24472472e-02 -4.27291940e+00] [-1.01254105e-01 3.16591628e-04 9.94860546e-01 -5.12122061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.368241008 meters 0.06456092984103051 Centerline is valid? [True, True] Translation: X:40.30, Y:-4.28, Z:-5.13 [[ 9.70008190e-01 2.23141069e-01 9.63959291e-02 4.03043913e+01] [-2.22059643e-01 9.74786155e-01 -2.19423389e-02 -4.27705716e+00] [-9.88616541e-02 -1.21397220e-04 9.95101180e-01 -5.12657179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.398241008 meters 0.06462654766759886 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.28, Z:-5.13 [[ 9.69729873e-01 2.24527873e-01 9.59750334e-02 4.03349716e+01] [-2.23460358e-01 9.74467638e-01 -2.18698695e-02 -4.28348876e+00] [-9.84349593e-02 -2.38749599e-04 9.95143458e-01 -5.13143674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.428241008 meters 0.06481308330519078 Centerline is valid? [True, True] Translation: X:40.37, Y:-4.29, Z:-5.14 [[ 9.69337045e-01 2.26908914e-01 9.43294154e-02 4.03658086e+01] [-2.25886829e-01 9.73915880e-01 -2.15173909e-02 -4.28951242e+00] [-9.67514034e-02 -4.50168482e-04 9.95308476e-01 -5.13749214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.458241008 meters 0.0653404560126177 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.30, Z:-5.15 [[ 9.69162623e-01 2.28258767e-01 9.28533549e-02 4.03949222e+01] [-2.27272500e-01 9.73600344e-01 -2.12033420e-02 -4.29675191e+00] [-9.52419070e-02 -5.53527551e-04 9.95454003e-01 -5.14541689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.488241008 meters 0.06516128107761819 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.31, Z:-5.15 [[ 9.69246255e-01 2.28152961e-01 9.22384096e-02 4.04259034e+01] [-2.27177367e-01 9.73625162e-01 -2.10828847e-02 -4.30557370e+00] [-9.46157590e-02 -5.19972018e-04 9.95513731e-01 -5.14826020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.518241008 meters 0.06513977934804122 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.31, Z:-5.15 [[ 9.69031426e-01 2.29097813e-01 9.21536050e-02 4.04582971e+01] [-2.28126285e-01 9.73403227e-01 -2.10844861e-02 -4.31270367e+00] [-9.45330262e-02 -5.91129844e-04 9.95521551e-01 -5.15133042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.548241008 meters 0.06529027735308202 Centerline is valid? [True, True] Translation: X:40.49, Y:-4.32, Z:-5.16 [[ 9.68904493e-01 2.29175685e-01 9.32876641e-02 4.04879311e+01] [-2.28177705e-01 9.73384904e-01 -2.13720470e-02 -4.31893596e+00] [-9.57027574e-02 -5.78692792e-04 9.95409789e-01 -5.15752524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.578241008 meters 0.06473169902870123 Centerline is valid? [True, True] Translation: X:40.52, Y:-4.33, Z:-5.16 [[ 9.69268530e-01 2.27341524e-01 9.39912151e-02 4.05185807e+01] [-2.26317767e-01 9.73815017e-01 -2.15541450e-02 -4.32918860e+00] [-9.64302089e-02 -3.80127505e-04 9.95339676e-01 -5.15760142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.608241008 meters 0.06465023969716738 Centerline is valid? [True, True] Translation: X:40.55, Y:-4.34, Z:-5.16 [[ 9.69626277e-01 2.25353743e-01 9.50819282e-02 4.05478893e+01] [-2.24294149e-01 9.74276996e-01 -2.18281965e-02 -4.33887429e+00] [-9.75552012e-02 -1.61127236e-04 9.95230102e-01 -5.16350341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.638241008 meters 0.06422261469596988 Centerline is valid? [True, True] Translation: X:40.58, Y:-4.35, Z:-5.16 [[ 9.69968408e-01 2.23277137e-01 9.64811231e-02 4.05791560e+01] [-2.22173685e-01 9.74755003e-01 -2.21706641e-02 -4.34802624e+00] [-9.89956598e-02 6.92770707e-05 9.95087863e-01 -5.16356266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.668241008 meters 0.06422956821834173 Centerline is valid? [True, True] Translation: X:40.61, Y:-4.35, Z:-5.17 [[ 9.70151815e-01 2.22182565e-01 9.71615342e-02 4.06094297e+01] [-2.21055572e-01 9.75005059e-01 -2.23510230e-02 -4.35171474e+00] [-9.96989950e-02 2.05786941e-04 9.95017622e-01 -5.16782927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.698241008 meters 0.06422956821834173 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.36, Z:-5.17 [[ 9.70095162e-01 2.22431753e-01 9.71570442e-02 4.06406604e+01] [-2.21304055e-01 9.74948242e-01 -2.23705213e-02 -4.35907967e+00] [-9.96990037e-02 2.00286679e-04 9.95017622e-01 -5.17188770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.728241008 meters 0.06431180963794215 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.37, Z:-5.17 [[ 9.70439606e-01 2.20099511e-01 9.90109921e-02 4.06712095e+01] [-2.18913221e-01 9.75477308e-01 -2.28259298e-02 -4.36607719e+00] [-1.01606952e-01 4.76371088e-04 9.94824507e-01 -5.17438573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.758241008 meters 0.06425023687404414 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.37, Z:-5.18 [[ 9.70798668e-01 2.18876343e-01 9.81992478e-02 4.07022878e+01] [-2.17701128e-01 9.75752408e-01 -2.26595805e-02 -4.37442502e+00] [-1.00777799e-01 6.19803498e-04 9.94908765e-01 -5.17774055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.788241008 meters 0.06444581925755159 Centerline is valid? [True, True] Translation: X:40.73, Y:-4.38, Z:-5.18 [[ 9.71348511e-01 2.17141330e-01 9.66007938e-02 4.07332128e+01] [-2.15993406e-01 9.76139841e-01 -2.23127569e-02 -4.38273673e+00] [-9.91409052e-02 8.08328726e-04 9.95073076e-01 -5.18280647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.818241008 meters 0.06503678357635886 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.39, Z:-5.19 [[ 9.72645967e-01 2.12451630e-01 9.39368302e-02 4.07638791e+01] [-2.11341992e-01 9.77170751e-01 -2.17229330e-02 -4.39054791e+00] [-9.64073955e-02 1.27592637e-03 9.95341141e-01 -5.18832434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.848241008 meters 0.06532227325087883 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.40, Z:-5.19 [[ 9.73187827e-01 2.10634955e-01 9.24032941e-02 4.07937949e+01] [-2.09552970e-01 9.77563737e-01 -2.13703788e-02 -4.39963027e+00] [-9.48314582e-02 1.43400777e-03 9.95492309e-01 -5.19290305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.878241008 meters 0.06618985764086961 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.41, Z:-5.20 [[ 9.73823170e-01 2.08737483e-01 8.99838669e-02 4.08224951e+01] [-2.07701638e-01 9.77970407e-01 -2.08305544e-02 -4.40999871e+00] [-9.23496765e-02 1.59547999e-03 9.95725360e-01 -5.20019237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.908241008 meters 0.0667657594324599 Centerline is valid? [True, True] Translation: X:40.85, Y:-4.42, Z:-5.20 [[ 9.74968851e-01 2.04401546e-01 8.74971282e-02 4.08526297e+01] [-2.03402649e-01 9.78885136e-01 -2.02793880e-02 -4.42042949e+00] [-8.97947765e-02 1.97462401e-03 9.95958332e-01 -5.20480070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.938241008 meters 0.06867420070617536 Centerline is valid? [True, True] Translation: X:40.88, Y:-4.43, Z:-5.21 [[ 9.75607381e-01 2.01169341e-01 8.78699854e-02 4.08811303e+01] [-2.00148482e-01 9.79553813e-01 -2.03694012e-02 -4.43325847e+00] [-9.01710783e-02 2.28549395e-03 9.95923668e-01 -5.21288264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.968241008 meters 0.06853714088026953 Centerline is valid? [True, True] Translation: X:40.91, Y:-4.44, Z:-5.21 [[ 9.76216220e-01 1.98273646e-01 8.76895276e-02 4.09122092e+01] [-1.97244216e-01 9.80143361e-01 -2.03398860e-02 -4.44260072e+00] [-8.99811717e-02 2.55987446e-03 9.95940177e-01 -5.21349661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.998241008 meters 0.0683305905154583 Centerline is valid? [True, True] Translation: X:40.94, Y:-4.45, Z:-5.21 [[ 9.76647948e-01 1.95442814e-01 8.92238306e-02 4.09434511e+01] [-1.94365123e-01 9.80710897e-01 -2.06962551e-02 -4.45110777e+00] [-9.15477173e-02 2.87095426e-03 9.95796552e-01 -5.21482013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.028241008 meters 0.06833451446667992 Centerline is valid? [True, True] Translation: X:40.97, Y:-4.46, Z:-5.21 [[ 9.77025236e-01 1.92898379e-01 9.06195524e-02 4.09739760e+01] [-1.91773731e-01 9.81213589e-01 -2.10411170e-02 -4.46304029e+00] [-9.29759336e-02 3.17925265e-03 9.95663280e-01 -5.21290438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.058241008 meters 0.06742790081381621 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.47, Z:-5.21 [[ 9.76941312e-01 1.93100225e-01 9.10932237e-02 4.10060744e+01] [-1.91962675e-01 9.81173828e-01 -2.11719290e-02 -4.46911430e+00] [-9.34665913e-02 3.19723318e-03 9.95617283e-01 -5.21238733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.088241008 meters 0.06809786629725142 Centerline is valid? [True, True] Translation: X:41.03, Y:-4.48, Z:-5.22 [[ 9.76388838e-01 1.95868742e-01 9.11058326e-02 4.10346992e+01] [-1.94740562e-01 9.80625663e-01 -2.11995651e-02 -4.47651598e+00] [-9.34930497e-02 2.95701761e-03 9.95615541e-01 -5.21903688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.118241008 meters 0.06705660698816311 Centerline is valid? [True, True] Translation: X:41.07, Y:-4.48, Z:-5.22 [[ 9.75803660e-01 1.99238615e-01 9.00621513e-02 4.10675806e+01] [-1.98149365e-01 9.79947515e-01 -2.09689704e-02 -4.47778740e+00] [-9.24340100e-02 2.61583997e-03 9.95715377e-01 -5.22255713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.148241008 meters 0.06486507416577 Centerline is valid? [True, True] Translation: X:41.10, Y:-4.47, Z:-5.22 [[ 9.74281101e-01 2.06681985e-01 8.97713416e-02 4.11011250e+01] [-2.05630470e-01 9.78406307e-01 -2.09095414e-02 -4.47279232e+00] [-9.21544723e-02 1.91204789e-03 9.95742887e-01 -5.22425605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.178241008 meters 0.06507769064350068 Centerline is valid? [True, True] Translation: X:41.13, Y:-4.48, Z:-5.23 [[ 9.73623506e-01 2.09972050e-01 8.92692926e-02 4.11313966e+01] [-2.08946201e-01 9.77706095e-01 -2.07912442e-02 -4.47855682e+00] [-9.16447117e-02 1.59036451e-03 9.95790499e-01 -5.23063813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.208241008 meters 0.06516341924072375 Centerline is valid? [True, True] Translation: X:41.16, Y:-4.48, Z:-5.24 [[ 9.72999155e-01 2.13031658e-01 8.88265559e-02 4.11612675e+01] [-2.12026611e-01 9.77044408e-01 -2.07108890e-02 -4.48403782e+00] [-9.11995647e-02 1.31808389e-03 9.95831764e-01 -5.23855891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.238241008 meters 0.06391057444019978 Centerline is valid? [True, True] Translation: X:41.19, Y:-4.48, Z:-5.24 [[ 9.71908497e-01 2.17422423e-01 9.01186094e-02 4.11942020e+01] [-2.16405377e-01 9.76077158e-01 -2.10260152e-02 -4.48306776e+00] [-9.25342433e-02 9.33211150e-04 9.95709065e-01 -5.23874372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.268241008 meters 0.0638029944208321 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.49, Z:-5.24 [[ 9.71365928e-01 2.19473402e-01 9.09926298e-02 4.12253497e+01] [-2.18445226e-01 9.75618197e-01 -2.12324369e-02 -4.48791272e+00] [-9.34340207e-02 7.47560171e-04 9.95625193e-01 -5.24319512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.298241008 meters 0.0636039994117939 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.49, Z:-5.25 [[ 9.70976931e-01 2.21149327e-01 9.10866357e-02 4.12568190e+01] [-2.20124308e-01 9.75239768e-01 -2.12763778e-02 -4.49381270e+00] [-9.35365661e-02 6.08489427e-04 9.95615659e-01 -5.24695750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.328241008 meters 0.06326758583035245 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.50, Z:-5.25 [[ 9.70274916e-01 2.23712775e-01 9.22994127e-02 4.12868765e+01] [-2.22669564e-01 9.74655038e-01 -2.15829195e-02 -4.50029470e+00] [-9.47884624e-02 3.89095453e-04 9.95497361e-01 -5.24946488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.358241008 meters 0.06310248751519587 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.51, Z:-5.25 [[ 9.69706645e-01 2.26026428e-01 9.26341006e-02 4.13181537e+01] [-2.24984202e-01 9.74121153e-01 -2.16815329e-02 -4.50617575e+00] [-9.51374363e-02 1.83517398e-04 9.95464130e-01 -5.25263280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.388241008 meters 0.06283373277208863 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.51, Z:-5.26 [[ 9.69102153e-01 2.28250771e-01 9.35018876e-02 4.13500408e+01] [-2.27197048e-01 9.73602375e-01 -2.19069824e-02 -4.51138979e+00] [-9.60339455e-02 -1.32490766e-05 9.95378059e-01 -5.25545639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.418241008 meters 0.06291231629024423 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.52, Z:-5.26 [[ 9.68468753e-01 2.31014097e-01 9.32778716e-02 4.13828975e+01] [-2.29976180e-01 9.72950367e-01 -2.18755625e-02 -4.51553858e+00] [-9.58083028e-02 -2.65889864e-04 9.95399768e-01 -5.26012775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.448241008 meters 0.06332343394287271 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.52, Z:-5.27 [[ 9.67529377e-01 2.35584128e-01 9.15806963e-02 4.14146946e+01] [-2.34601260e-01 9.71853725e-01 -2.15078213e-02 -4.51651121e+00] [-9.40699421e-02 -6.75497820e-04 9.95565362e-01 -5.26744778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.478241008 meters 0.06413176206497691 Centerline is valid? [True, True] Translation: X:41.44, Y:-4.52, Z:-5.28 [[ 9.67134294e-01 2.37323958e-01 9.12611406e-02 4.14442682e+01] [-2.36355378e-01 9.71430201e-01 -2.14359459e-02 -4.52107714e+00] [-9.37410917e-02 -8.38622979e-04 9.95596256e-01 -5.27592744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.508241008 meters 0.06389404872062572 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.53, Z:-5.28 [[ 9.66858243e-01 2.39139571e-01 8.94282015e-02 4.14752712e+01] [-2.38215516e-01 9.70984714e-01 -2.10250619e-02 -4.52870081e+00] [-9.18613410e-02 -9.74930704e-04 9.95771331e-01 -5.27777672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.538241008 meters 0.06453013366644035 Centerline is valid? [True, True] Translation: X:41.50, Y:-4.53, Z:-5.29 [[ 9.66825703e-01 2.39786454e-01 8.80370145e-02 4.15044773e+01] [-2.38891634e-01 9.70825144e-01 -2.07202270e-02 -4.53479279e+00] [-9.04369770e-02 -9.98458215e-04 9.95901680e-01 -5.28587198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.568241008 meters 0.06457899969828905 Centerline is valid? [True, True] Translation: X:41.53, Y:-4.55, Z:-5.29 [[ 9.67299073e-01 2.38804807e-01 8.54679383e-02 4.15347311e+01] [-2.37957125e-01 9.71067197e-01 -2.01222580e-02 -4.54513671e+00] [-8.78004032e-02 -8.73463383e-04 9.96137704e-01 -5.29103917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.598241008 meters 0.06464790240487814 Centerline is valid? [True, True] Translation: X:41.56, Y:-4.56, Z:-5.30 [[ 9.67651519e-01 2.37496281e-01 8.51237575e-02 4.15649238e+01] [-2.36648993e-01 9.71388169e-01 -2.00569211e-02 -4.55540189e+00] [-8.74516551e-02 -7.36341278e-04 9.96168493e-01 -5.29744108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.628241008 meters 0.06437845273766049 Centerline is valid? [True, True] Translation: X:41.59, Y:-4.57, Z:-5.30 [[ 9.68311212e-01 2.35169014e-01 8.40769428e-02 4.15949968e+01] [-2.34331814e-01 9.71954364e-01 -1.98321592e-02 -4.56771047e+00] [-8.63828608e-02 -4.98200349e-04 9.96261890e-01 -5.30140482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.658241008 meters 0.06430022918979282 Centerline is valid? [True, True] Translation: X:41.62, Y:-4.58, Z:-5.31 [[ 9.69355685e-01 2.31147965e-01 8.31875859e-02 4.16226308e+01] [-2.30311604e-01 9.72918602e-01 -1.96458633e-02 -4.58431028e+00] [-8.54758510e-02 -1.15237088e-04 9.96340236e-01 -5.30570424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.688241008 meters 0.06429587366635518 Centerline is valid? [True, True] Translation: X:41.65, Y:-4.60, Z:-5.31 [[ 9.69784265e-01 2.29291404e-01 8.33302582e-02 4.16515802e+01] [-2.28444414e-01 9.73357821e-01 -1.96901316e-02 -4.59594735e+00] [-8.56249365e-02 5.88477837e-05 9.96327440e-01 -5.30858502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.718241008 meters 0.0640731961812716 Centerline is valid? [True, True] Translation: X:41.68, Y:-4.61, Z:-5.31 [[ 9.69826406e-01 2.28806408e-01 8.41687014e-02 4.16817689e+01] [-2.27939792e-01 9.73471939e-01 -1.98956185e-02 -4.60622496e+00] [-8.64881139e-02 1.09899828e-04 9.96252877e-01 -5.31142539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.748241008 meters 0.06413515417032808 Centerline is valid? [True, True] Translation: X:41.71, Y:-4.62, Z:-5.32 [[ 9.69896006e-01 2.28300042e-01 8.47397708e-02 4.17123336e+01] [-2.27417954e-01 9.73590807e-01 -2.00502900e-02 -4.61521867e+00] [-8.70793439e-02 1.75350842e-04 9.96201364e-01 -5.31550366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.778241008 meters 0.0640759163773799 Centerline is valid? [True, True] Translation: X:41.74, Y:-4.62, Z:-5.32 [[ 9.68837505e-01 2.31983339e-01 8.68194670e-02 4.17428485e+01] [-2.31070169e-01 9.72719750e-01 -2.05637004e-02 -4.61753320e+00] [-8.92214461e-02 -1.38504724e-04 9.96011804e-01 -5.31931949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.808241008 meters 0.0640088001848168 Centerline is valid? [True, True] Translation: X:41.77, Y:-4.62, Z:-5.32 [[ 9.68249937e-01 2.34144674e-01 8.75690108e-02 4.17739144e+01] [-2.33222809e-01 9.72201711e-01 -2.07594252e-02 -4.62279970e+00] [-8.99954510e-02 -3.22778505e-04 9.95942124e-01 -5.32278705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.838241008 meters 0.06427107724973788 Centerline is valid? [True, True] Translation: X:41.80, Y:-4.63, Z:-5.33 [[ 9.67793048e-01 2.36154071e-01 8.72231127e-02 4.18049623e+01] [-2.35245844e-01 9.71715502e-01 -2.06972585e-02 -4.62857863e+00] [-8.96437926e-02 -4.88211927e-04 9.95973771e-01 -5.32655593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.868241008 meters 0.06398906848201293 Centerline is valid? [True, True] Translation: X:41.84, Y:-4.63, Z:-5.33 [[ 9.67250874e-01 2.37835540e-01 8.86566593e-02 4.18363307e+01] [-2.36902322e-01 9.71305232e-01 -2.10579353e-02 -4.63486985e+00] [-9.11210025e-02 -6.34662119e-04 9.95839626e-01 -5.32774353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.898241008 meters 0.06410030399311552 Centerline is valid? [True, True] Translation: X:41.87, Y:-4.64, Z:-5.33 [[ 9.66709529e-01 2.39542498e-01 8.99559827e-02 4.18675435e+01] [-2.38587017e-01 9.70885562e-01 -2.13883408e-02 -4.64011584e+00] [-9.24603813e-02 -7.86016773e-04 9.95716054e-01 -5.33194012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.928241008 meters 0.06390318768229411 Centerline is valid? [True, True] Translation: X:41.90, Y:-4.65, Z:-5.33 [[ 9.66636677e-01 2.39787700e-01 9.00854790e-02 4.18988583e+01] [-2.38828680e-01 9.70825027e-01 -2.14389581e-02 -4.64857619e+00] [-9.25980360e-02 -7.91312764e-04 9.95703258e-01 -5.33346784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.958241008 meters 0.06367024542497919 Centerline is valid? [True, True] Translation: X:41.93, Y:-4.66, Z:-5.34 [[ 9.67229579e-01 2.37368850e-01 9.01275202e-02 4.19275224e+01] [-2.36395901e-01 9.71419448e-01 -2.14763495e-02 -4.66012683e+00] [-9.26494423e-02 -5.33215865e-04 9.95698647e-01 -5.33667748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.988241008 meters 0.0634926955816399 Centerline is valid? [True, True] Translation: X:41.96, Y:-4.67, Z:-5.34 [[ 9.67489314e-01 2.36022517e-01 9.08724357e-02 4.19563830e+01] [-2.35025473e-01 9.71747509e-01 -2.16749977e-02 -4.67052218e+00] [-9.34208506e-02 -3.87008483e-04 9.95626634e-01 -5.34049375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.018241008 meters 0.06322220815819797 Centerline is valid? [True, True] Translation: X:41.99, Y:-4.68, Z:-5.34 [[ 9.68073830e-01 2.33673257e-01 9.07186213e-02 4.19876620e+01] [-2.32667513e-01 9.72315170e-01 -2.16573208e-02 -4.68183446e+00] [-9.32678283e-02 -1.41390455e-04 9.95641046e-01 -5.34382111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.048241008 meters 0.06353368667147105 Centerline is valid? [True, True] Translation: X:42.02, Y:-4.69, Z:-5.35 [[ 9.68595209e-01 2.31239463e-01 9.13872612e-02 4.20169096e+01] [-2.30205470e-01 9.72896858e-01 -2.18436598e-02 -4.69318126e+00] [-9.39614955e-02 1.19816812e-04 9.95575825e-01 -5.34899900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.078241008 meters 0.0631341327151777 Centerline is valid? [True, True] Translation: X:42.05, Y:-4.70, Z:-5.35 [[ 9.68968031e-01 2.29661177e-01 9.14149852e-02 4.20485093e+01] [-2.28617576e-01 9.73270598e-01 -2.18711315e-02 -4.70417311e+00] [-9.39944671e-02 2.93354917e-04 9.95572676e-01 -5.34925455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.108241008 meters 0.0635056167250204 Centerline is valid? [True, True] Translation: X:42.08, Y:-4.72, Z:-5.36 [[ 9.70148231e-01 2.25384022e-01 8.95234751e-02 4.20784918e+01] [-2.24362594e-01 9.74269739e-01 -2.14453096e-02 -4.71513343e+00] [-9.20534429e-02 7.19410133e-04 9.95753808e-01 -5.35629892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.138241008 meters 0.063971010214316 Centerline is valid? [True, True] Translation: X:42.11, Y:-4.72, Z:-5.36 [[ 9.70682608e-01 2.23360080e-01 8.88006177e-02 4.21072237e+01] [-2.22345110e-01 9.74735568e-01 -2.12890785e-02 -4.72407832e+00] [-9.13122508e-02 9.20555060e-04 9.95821884e-01 -5.36382297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.168241008 meters 0.06403267819743402 Centerline is valid? [True, True] Translation: X:42.14, Y:-4.73, Z:-5.37 [[ 9.71064818e-01 2.21849263e-01 8.84082775e-02 4.21383284e+01] [-2.20835271e-01 9.75080379e-01 -2.12140923e-02 -4.73218874e+00] [-9.09115074e-02 1.07659271e-03 9.95858393e-01 -5.36713409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.198241008000004 meters 0.06500756407426563 Centerline is valid? [True, True] Translation: X:42.17, Y:-4.74, Z:-5.37 [[ 9.72089305e-01 2.18000961e-01 8.67061968e-02 4.21667376e+01] [-2.17008561e-01 9.75947508e-01 -2.08265794e-02 -4.74489018e+00] [-8.91609110e-02 1.42930801e-03 9.96016209e-01 -5.37264277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.228241008 meters 0.06478302242255077 Centerline is valid? [True, True] Translation: X:42.20, Y:-4.75, Z:-5.37 [[ 9.72355088e-01 2.16391785e-01 8.77506620e-02 4.21989097e+01] [-2.15367167e-01 9.76305277e-01 -2.10947791e-02 -4.75431481e+00] [-9.02361712e-02 1.61300431e-03 9.95919089e-01 -5.37243665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.258241008 meters 0.0646927404733484 Centerline is valid? [True, True] Translation: X:42.23, Y:-4.76, Z:-5.37 [[ 9.72308848e-01 2.16332905e-01 8.84057581e-02 4.22287725e+01] [-2.15290229e-01 9.76318252e-01 -2.12788101e-02 -4.76309679e+00] [-9.09154620e-02 1.65667951e-03 9.95857236e-01 -5.37444094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.288241008 meters 0.06473710957120826 Centerline is valid? [True, True] Translation: X:42.26, Y:-4.77, Z:-5.38 [[ 9.72247644e-01 2.15427819e-01 9.12434878e-02 4.22593107e+01] [-2.14311014e-01 9.76518074e-01 -2.19827272e-02 -4.77099917e+00] [-9.38366059e-02 1.81817032e-03 9.95585951e-01 -5.37628929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.318241008 meters 0.0645996126102773 Centerline is valid? [True, True] Translation: X:42.29, Y:-4.78, Z:-5.38 [[ 9.71419353e-01 2.16888928e-01 9.64553458e-02 4.22895658e+01] [-2.15645181e-01 9.76194631e-01 -2.32636609e-02 -4.77550493e+00] [-9.92048212e-02 1.79863991e-03 9.95065409e-01 -5.37810716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.348241008 meters 0.06374724708594455 Centerline is valid? [True, True] Translation: X:42.32, Y:-4.78, Z:-5.38 [[ 9.70803468e-01 2.18669883e-01 9.86108999e-02 4.23214363e+01] [-2.17376870e-01 9.75797460e-01 -2.38036292e-02 -4.77741864e+00] [-1.01429402e-01 1.67291702e-03 9.94841333e-01 -5.37831138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.378241008 meters 0.06299301360120113 Centerline is valid? [True, True] Translation: X:42.35, Y:-4.78, Z:-5.38 [[ 9.69929112e-01 2.21233704e-01 1.01455240e-01 4.23536763e+01] [-2.19876404e-01 9.75219715e-01 -2.45127262e-02 -4.77927753e+00] [-1.04364191e-01 1.46799348e-03 9.94538064e-01 -5.37759231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.408241008 meters 0.06253501789345099 Centerline is valid? [True, True] Translation: X:42.39, Y:-4.78, Z:-5.38 [[ 9.69020084e-01 2.24390395e-01 1.03194128e-01 4.23855206e+01] [-2.23001557e-01 9.74498632e-01 -2.49543816e-02 -4.78310143e+00] [-1.06162060e-01 1.16884590e-03 9.94348154e-01 -5.37942271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.438241008 meters 0.062249148728883215 Centerline is valid? [True, True] Translation: X:42.42, Y:-4.78, Z:-5.38 [[ 9.67061914e-01 2.31521158e-01 1.05779051e-01 4.24167607e+01] [-2.30101036e-01 9.72829776e-01 -2.56074095e-02 -4.78154789e+00] [-1.08833668e-01 4.24081182e-04 9.94059884e-01 -5.38079946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.468241008 meters 0.062209072243756616 Centerline is valid? [True, True] Translation: X:42.45, Y:-4.78, Z:-5.38 [[ 9.66117433e-01 2.35085472e-01 1.06545423e-01 4.24485426e+01] [-2.33664390e-01 9.71974701e-01 -2.58095606e-02 -4.78448977e+00] [-1.09626909e-01 3.91950547e-05 9.93972806e-01 -5.38419143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.498241008 meters 0.06230558960278077 Centerline is valid? [True, True] Translation: X:42.48, Y:-4.79, Z:-5.39 [[ 9.65210275e-01 2.38580507e-01 1.06997507e-01 4.24800507e+01] [-2.37165831e-01 9.71122665e-01 -2.59449092e-02 -4.78758693e+00] [-1.10097654e-01 -3.33859826e-04 9.93920719e-01 -5.38821271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.528241008 meters 0.06242632282343454 Centerline is valid? [True, True] Translation: X:42.51, Y:-4.79, Z:-5.39 [[ 9.64594913e-01 2.40834025e-01 1.07497102e-01 4.25126322e+01] [-2.39416934e-01 9.70566150e-01 -2.60936925e-02 -4.79306739e+00] [-1.10617297e-01 -5.66783471e-04 9.93862914e-01 -5.39161320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.558241008 meters 0.0629249699936411 Centerline is valid? [True, True] Translation: X:42.54, Y:-4.80, Z:-5.40 [[ 9.64369446e-01 2.43160419e-01 1.04233309e-01 4.25427614e+01] [-2.41838571e-01 9.69985776e-01 -2.53318156e-02 -4.79533055e+00] [-1.07264522e-01 -7.78405455e-04 9.94230213e-01 -5.40001284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.588241008 meters 0.0629249699936411 Centerline is valid? [True, True] Translation: X:42.57, Y:-4.80, Z:-5.40 [[ 9.64307705e-01 2.43406113e-01 1.04231058e-01 4.25738991e+01] [-2.42084695e-01 9.69924136e-01 -2.53410756e-02 -4.80308926e+00] [-1.07264391e-01 -7.96149375e-04 9.94230213e-01 -5.40406210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.618241008 meters 0.06331206752444324 Centerline is valid? [True, True] Translation: X:42.60, Y:-4.81, Z:-5.41 [[ 9.64442879e-01 2.43571673e-01 1.02580573e-01 4.26046694e+01] [-2.42289855e-01 9.69882591e-01 -2.49676956e-02 -4.80848172e+00] [-1.05572536e-01 -7.74316022e-04 9.94411303e-01 -5.41252465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.648241008 meters 0.06366776000914583 Centerline is valid? [True, True] Translation: X:42.63, Y:-4.81, Z:-5.42 [[ 9.64697305e-01 2.43476989e-01 1.00389574e-01 4.26340577e+01] [-2.42246415e-01 9.69906404e-01 -2.44589890e-02 -4.81426845e+00] [-1.03323691e-01 -7.23493524e-04 9.94647521e-01 -5.41972970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.678241008 meters 0.0639703975574377 Centerline is valid? [True, True] Translation: X:42.66, Y:-4.82, Z:-5.43 [[ 9.65725370e-01 2.40735741e-01 9.70608747e-02 4.26629177e+01] [-2.39570352e-01 9.70590615e-01 -2.36623074e-02 -4.82354186e+00] [-9.99027371e-02 -4.01617370e-04 9.94997127e-01 -5.42760401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.708241008 meters 0.06415738456474372 Centerline is valid? [True, True] Translation: X:42.69, Y:-4.83, Z:-5.43 [[ 9.66296105e-01 2.38719075e-01 9.63589206e-02 4.26925308e+01] [-2.37558506e-01 9.71088654e-01 -2.35113301e-02 -4.83419436e+00] [-9.91856575e-02 -1.71974456e-04 9.95068930e-01 -5.43206141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.738241008 meters 0.06383599932932094 Centerline is valid? [True, True] Translation: X:42.72, Y:-4.85, Z:-5.43 [[ 9.67166647e-01 2.35395135e-01 9.58008707e-02 4.27224715e+01] [-2.34229595e-01 9.71899735e-01 -2.33966181e-02 -4.84634840e+00] [-9.86162910e-02 1.89029510e-04 9.95125515e-01 -5.43275431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.768241008 meters 0.06393497986301651 Centerline is valid? [True, True] Translation: X:42.75, Y:-4.86, Z:-5.44 [[ 9.68058519e-01 2.31741512e-01 9.57004478e-02 4.27522374e+01] [-2.30558324e-01 9.72777226e-01 -2.33950319e-02 -4.85864827e+00] [-9.85168162e-02 5.83225071e-04 9.95135215e-01 -5.43513451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.798241008 meters 0.0642595431281253 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.87, Z:-5.44 [[ 9.68719601e-01 2.28599500e-01 9.65639817e-02 4.27811349e+01] [-2.27376901e-01 9.73520106e-01 -2.36293962e-02 -4.87157667e+00] [-9.94086458e-02 9.33840350e-04 9.95046255e-01 -5.43989378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.828241008 meters 0.0645415001738363 Centerline is valid? [True, True] Translation: X:42.81, Y:-4.88, Z:-5.44 [[ 9.70071767e-01 2.22026077e-01 9.83116847e-02 4.28110330e+01] [-2.20722043e-01 9.75039306e-01 -2.40859384e-02 -4.88381849e+00] [-1.01205463e-01 1.66553297e-03 9.94864152e-01 -5.43984573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.858241008 meters 0.0649903952133945 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.89, Z:-5.44 [[ 9.70537884e-01 2.19714919e-01 9.89018203e-02 4.28415098e+01] [-2.18382144e-01 9.75562216e-01 -2.42404932e-02 -4.89273820e+00] [-1.01810877e-01 1.92792533e-03 9.94801904e-01 -5.44445600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.888241008 meters 0.06506947092376093 Centerline is valid? [True, True] Translation: X:42.87, Y:-4.90, Z:-5.45 [[ 9.70647436e-01 2.18894973e-01 9.96420848e-02 4.28728734e+01] [-2.17535508e-01 9.75746270e-01 -2.44441940e-02 -4.90078060e+00] [-1.02576104e-01 2.05100271e-03 9.94723045e-01 -5.44740562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.918241008 meters 0.06457752978442367 Centerline is valid? [True, True] Translation: X:42.91, Y:-4.91, Z:-5.45 [[ 9.70599457e-01 2.19141291e-01 9.95680049e-02 4.29058176e+01] [-2.17782458e-01 9.75690984e-01 -2.44521001e-02 -4.90641123e+00] [-1.02506069e-01 2.04903027e-03 9.94730269e-01 -5.44893412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.948241008000004 meters 0.06479183795434366 Centerline is valid? [True, True] Translation: X:42.94, Y:-4.91, Z:-5.45 [[ 9.70140352e-01 2.21075688e-01 9.97659165e-02 4.29355380e+01] [-2.19718652e-01 9.75254848e-01 -2.45294856e-02 -4.91351627e+00] [-1.02720067e-01 1.87661109e-03 9.94708533e-01 -5.45462456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.978241008 meters 0.0650278696063238 Centerline is valid? [True, True] Translation: X:42.97, Y:-4.92, Z:-5.46 [[ 9.69726792e-01 2.22968135e-01 9.95748946e-02 4.29653084e+01] [-2.21623993e-01 9.74824261e-01 -2.45044089e-02 -4.92014307e+00] [-1.02531725e-01 1.69439617e-03 9.94728292e-01 -5.46135802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.008241008 meters 0.06434505119503914 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.92, Z:-5.46 [[ 9.69225677e-01 2.25363392e-01 9.90602259e-02 4.29978749e+01] [-2.24043312e-01 9.74273690e-01 -2.44002291e-02 -4.92317967e+00] [-1.02010690e-01 1.45554748e-03 9.94782238e-01 -5.46323490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.038241008 meters 0.06422240753667323 Centerline is valid? [True, True] Translation: X:43.03, Y:-4.92, Z:-5.47 [[ 9.68337257e-01 2.29755222e-01 9.76498611e-02 4.30296064e+01] [-2.28492488e-01 9.73247931e-01 -2.40758736e-02 -4.92486479e+00] [-1.00569083e-01 1.00130568e-03 9.94929574e-01 -5.46856270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.068241008 meters 0.06414853591419037 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.93, Z:-5.47 [[ 9.68000824e-01 2.31313721e-01 9.73055371e-02 4.30611749e+01] [-2.30065121e-01 9.72878831e-01 -2.40170881e-02 -4.93008713e+00] [-1.00221979e-01 8.61950895e-04 9.94964729e-01 -5.47392350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.098241008 meters 0.06418196000117242 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.94, Z:-5.48 [[ 9.67698516e-01 2.32896769e-01 9.65332955e-02 4.30916883e+01] [-2.31674629e-01 9.72501208e-01 -2.38383522e-02 -4.93563830e+00] [-9.94306217e-02 7.04022626e-04 9.95044248e-01 -5.47978223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.128241008 meters 0.06410934700466446 Centerline is valid? [True, True] Translation: X:43.12, Y:-4.94, Z:-5.48 [[ 9.67555015e-01 2.33951764e-01 9.54141706e-02 4.31224031e+01] [-2.32762023e-01 9.72248021e-01 -2.35717318e-02 -4.94202050e+00] [-9.82808868e-02 5.98151926e-04 9.95158535e-01 -5.48418322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.158241008 meters 0.06498430099922903 Centerline is valid? [True, True] Translation: X:43.15, Y:-4.95, Z:-5.49 [[ 9.67963040e-01 2.32920694e-01 9.37843492e-02 4.31508223e+01] [-2.31764341e-01 9.72495472e-01 -2.31915424e-02 -4.95156346e+00] [-9.66066451e-02 7.12687955e-04 9.95322384e-01 -5.49320430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.188241008 meters 0.06448931317694624 Centerline is valid? [True, True] Translation: X:43.18, Y:-4.96, Z:-5.49 [[ 9.68144424e-01 2.32065969e-01 9.40306321e-02 4.31831939e+01] [-2.30897614e-01 9.72699705e-01 -2.32718009e-02 -4.95994127e+00] [-9.68641610e-02 8.19015725e-04 9.95297274e-01 -5.49306874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.218241008 meters 0.06484190185440684 Centerline is valid? [True, True] Translation: X:43.21, Y:-4.97, Z:-5.50 [[ 9.68771143e-01 2.29662575e-01 9.34749916e-02 4.32125051e+01] [-2.28494070e-01 9.73269712e-01 -2.31630631e-02 -4.97061098e+00] [-9.62960669e-02 1.08122589e-03 9.95352148e-01 -5.49691649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.248241008 meters 0.06502750667203454 Centerline is valid? [True, True] Translation: X:43.24, Y:-4.98, Z:-5.50 [[ 9.69593413e-01 2.25690574e-01 9.46170035e-02 4.32427414e+01] [-2.24473527e-01 9.74197879e-01 -2.34548278e-02 -4.98415910e+00] [-9.74692177e-02 1.50263407e-03 9.95237406e-01 -5.49747465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.278241008 meters 0.06500910939363826 Centerline is valid? [True, True] Translation: X:43.27, Y:-4.99, Z:-5.50 [[ 9.70132160e-01 2.23627986e-01 9.39899770e-02 4.32731687e+01] [-2.22415289e-01 9.74673056e-01 -2.33210756e-02 -4.99306973e+00] [-9.68247433e-02 1.71971750e-03 9.95299961e-01 -5.49913300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.308241008 meters 0.06541236734784382 Centerline is valid? [True, True] Translation: X:43.30, Y:-5.00, Z:-5.50 [[ 9.70762202e-01 2.21166208e-01 9.33073158e-02 4.33029545e+01] [-2.19957816e-01 9.75234139e-01 -2.31718432e-02 -5.00301774e+00] [-9.61213085e-02 1.97067615e-03 9.95367676e-01 -5.50194187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.338241008 meters 0.06584202976328055 Centerline is valid? [True, True] Translation: X:43.33, Y:-5.01, Z:-5.50 [[ 9.71123613e-01 2.19252915e-01 9.40589531e-02 4.33321405e+01] [-2.18013959e-01 9.75665582e-01 -2.33791599e-02 -5.01381544e+00] [-9.68960322e-02 2.19788955e-03 9.95292082e-01 -5.50487374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.368241008 meters 0.06698346205407096 Centerline is valid? [True, True] Translation: X:43.36, Y:-5.03, Z:-5.51 [[ 9.71765839e-01 2.15355226e-01 9.64016663e-02 4.33608554e+01] [-2.14032112e-01 9.76532115e-01 -2.39850611e-02 -5.02729509e+00] [-9.93046314e-02 2.67481074e-03 9.95053484e-01 -5.50792314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.398241008 meters 0.06647067507377974 Centerline is valid? [True, True] Translation: X:43.39, Y:-5.03, Z:-5.51 [[ 9.71971791e-01 2.14001393e-01 9.73357091e-02 4.33927171e+01] [-2.12644731e-01 9.76829198e-01 -2.42267686e-02 -5.03371804e+00] [-1.00264925e-01 2.84980999e-03 9.94956694e-01 -5.50943636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.428241008 meters 0.06610865336365201 Centerline is valid? [True, True] Translation: X:43.42, Y:-5.04, Z:-5.51 [[ 9.72109346e-01 2.13729948e-01 9.65553140e-02 4.34240233e+01] [-2.12391235e-01 9.76888542e-01 -2.40570111e-02 -5.04056766e+00] [-9.94654836e-02 2.87854287e-03 9.95036849e-01 -5.51279467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.458241008 meters 0.06603563689484362 Centerline is valid? [True, True] Translation: X:43.45, Y:-5.05, Z:-5.52 [[ 9.71790226e-01 2.16008411e-01 9.46790583e-02 4.34541875e+01] [-2.14731022e-01 9.76388029e-01 -2.36009706e-02 -5.04726408e+00] [-9.75415073e-02 2.60466152e-03 9.95228049e-01 -5.51896483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.488241008 meters 0.06643244578138634 Centerline is valid? [True, True] Translation: X:43.48, Y:-5.05, Z:-5.53 [[ 9.71396939e-01 2.17970755e-01 9.42164415e-02 4.34840394e+01] [-2.16714032e-01 9.75952335e-01 -2.34961109e-02 -5.05413253e+00] [-9.70722211e-02 2.40602526e-03 9.95274432e-01 -5.52605461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.518241008 meters 0.06548481219382622 Centerline is valid? [True, True] Translation: X:43.52, Y:-5.06, Z:-5.53 [[ 9.70849539e-01 2.20570511e-01 9.38073638e-02 4.35165000e+01] [-2.19334527e-01 9.75368641e-01 -2.34175149e-02 -5.05800753e+00] [-9.66619742e-02 2.15968982e-03 9.95314924e-01 -5.52960197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.548241008 meters 0.06487246134378613 Centerline is valid? [True, True] Translation: X:43.55, Y:-5.06, Z:-5.54 [[ 9.69573505e-01 2.26759096e-01 9.22362730e-02 4.35479051e+01] [-2.25591859e-01 9.73949691e-01 -2.30284928e-02 -5.06034236e+00] [-9.50554098e-02 1.52006415e-03 9.95470823e-01 -5.53553639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.578241008 meters 0.06415493131663175 Centerline is valid? [True, True] Translation: X:43.58, Y:-5.06, Z:-5.54 [[ 9.68757644e-01 2.30046736e-01 9.26667510e-02 4.35800178e+01] [-2.28881110e-01 9.73178808e-01 -2.31613045e-02 -5.06407399e+00] [-9.55095007e-02 1.22802192e-03 9.95427761e-01 -5.53787418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.608241008 meters 0.0638051802933491 Centerline is valid? [True, True] Translation: X:43.61, Y:-5.07, Z:-5.54 [[ 9.67824276e-01 2.33718175e-01 9.32308184e-02 4.36123644e+01] [-2.32554488e-01 9.72303986e-01 -2.33102509e-02 -5.06817487e+00] [-9.60967257e-02 8.78981393e-04 9.95371612e-01 -5.54167708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.638241008 meters 0.06359335460817427 Centerline is valid? [True, True] Translation: X:43.65, Y:-5.07, Z:-5.55 [[ 9.66825911e-01 2.38240272e-01 9.21370205e-02 4.36450496e+01] [-2.37124068e-01 9.71206153e-01 -2.30387882e-02 -5.07123069e+00] [-9.49728083e-02 4.26592288e-04 9.95479776e-01 -5.54519131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.668241008 meters 0.06412335878578435 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.07, Z:-5.55 [[ 9.64898817e-01 2.46220491e-01 9.13550325e-02 4.36761132e+01] [-2.45156291e-01 9.69213785e-01 -2.28698816e-02 -5.06969795e+00] [-9.41735903e-02 -3.29139173e-04 9.95555738e-01 -5.55483506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.698241008000004 meters 0.06427790718664668 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.07, Z:-5.56 [[ 9.63860943e-01 2.50264403e-01 9.13225701e-02 4.37077306e+01] [-2.49216917e-01 9.68177275e-01 -2.28843152e-02 -5.07271769e+00] [-9.41435665e-02 -7.01831793e-04 9.95558384e-01 -5.55901057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.728241008 meters 0.06463119194605381 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.08, Z:-5.56 [[ 9.63099471e-01 2.53224374e-01 9.11966303e-02 4.37389772e+01] [-2.52190600e-01 9.67407094e-01 -2.28782750e-02 -5.07666463e+00] [-9.40176040e-02 -9.64878370e-04 9.95570067e-01 -5.56323420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.758241008 meters 0.06543332093368191 Centerline is valid? [True, True] Translation: X:43.77, Y:-5.08, Z:-5.57 [[ 9.61868567e-01 2.57839059e-01 9.12572171e-02 4.37696272e+01] [-2.56823437e-01 9.66186859e-01 -2.29057990e-02 -5.07843315e+00] [-9.40775336e-02 -1.40462405e-03 9.95563883e-01 -5.56965701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.788241008 meters 0.06558973742982598 Centerline is valid? [True, True] Translation: X:43.80, Y:-5.09, Z:-5.57 [[ 9.61564337e-01 2.59348230e-01 9.01804944e-02 4.38008628e+01] [-2.58362445e-01 9.65782669e-01 -2.26425101e-02 -5.08571442e+00] [-9.29670534e-02 -1.52702279e-03 9.95668015e-01 -5.57347065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.818241008 meters 0.06626004236875184 Centerline is valid? [True, True] Translation: X:43.83, Y:-5.09, Z:-5.58 [[ 9.61104523e-01 2.61081175e-01 9.00817182e-02 4.38303512e+01] [-2.60103055e-01 9.65315403e-01 -2.26400735e-02 -5.09208543e+00] [-9.28681671e-02 -1.67105309e-03 9.95677011e-01 -5.57923533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.848241008 meters 0.0657756314056142 Centerline is valid? [True, True] Translation: X:43.86, Y:-5.10, Z:-5.58 [[ 9.60966823e-01 2.62011484e-01 8.88411327e-02 4.38605064e+01] [-2.61062412e-01 9.65063226e-01 -2.23469731e-02 -5.10299984e+00] [-9.15924736e-02 -1.71838065e-03 9.95795092e-01 -5.57955582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.878241008 meters 0.06671527573369432 Centerline is valid? [True, True] Translation: X:43.89, Y:-5.11, Z:-5.59 [[ 9.60797405e-01 2.62724182e-01 8.85683414e-02 4.38897932e+01] [-2.61781624e-01 9.64869380e-01 -2.23038322e-02 -5.11007344e+00] [-9.13166367e-02 -1.75610015e-03 9.95820359e-01 -5.58782308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.908241008 meters 0.06596045671221577 Centerline is valid? [True, True] Translation: X:43.92, Y:-5.12, Z:-5.59 [[ 9.60856054e-01 2.62401937e-01 8.88868179e-02 4.39202378e+01] [-2.61450412e-01 9.64957125e-01 -2.23926047e-02 -5.11977624e+00] [-9.16478311e-02 -1.72342538e-03 9.95789990e-01 -5.58957183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.938241008 meters 0.0660509571457725 Centerline is valid? [True, True] Translation: X:43.95, Y:-5.13, Z:-5.59 [[ 9.60886738e-01 2.62211523e-01 8.91167480e-02 4.39500651e+01] [-2.61252178e-01 9.65008947e-01 -2.24729064e-02 -5.12792170e+00] [-9.18911142e-02 -1.68802676e-03 9.95767630e-01 -5.59472514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.968241008 meters 0.06578597830142684 Centerline is valid? [True, True] Translation: X:43.98, Y:-5.14, Z:-5.60 [[ 9.60873585e-01 2.61973190e-01 8.99555467e-02 4.39804524e+01] [-2.60992781e-01 9.65073720e-01 -2.27042376e-02 -5.13771772e+00] [-9.27616357e-02 -1.66184616e-03 9.95686957e-01 -5.59857226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.998241008 meters 0.06545948616855288 Centerline is valid? [True, True] Translation: X:44.01, Y:-5.15, Z:-5.60 [[ 9.60946308e-01 2.61631916e-01 9.01716853e-02 4.40103167e+01] [-2.60643253e-01 9.65166381e-01 -2.27805163e-02 -5.15197841e+00] [-9.29907893e-02 -1.61178838e-03 9.95665664e-01 -5.60062304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.028241008 meters 0.0652830549527858 Centerline is valid? [True, True] Translation: X:44.04, Y:-5.16, Z:-5.60 [[ 9.60946172e-01 2.61314660e-01 9.10884341e-02 4.40402596e+01] [-2.60302206e-01 9.65252385e-01 -2.30346563e-02 -5.16270105e+00] [-9.39426216e-02 -1.57545551e-03 9.95576367e-01 -5.60335376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.058241008 meters 0.06465763038945307 Centerline is valid? [True, True] Translation: X:44.07, Y:-5.17, Z:-5.61 [[ 9.61221041e-01 2.59897449e-01 9.22357121e-02 4.40705427e+01] [-2.58850569e-01 9.65635160e-01 -2.33478040e-02 -5.17372663e+00] [-9.51340813e-02 -1.43286610e-03 9.95463437e-01 -5.60578779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.088241008 meters 0.0645804490420619 Centerline is valid? [True, True] Translation: X:44.10, Y:-5.18, Z:-5.61 [[ 9.61243049e-01 2.59352584e-01 9.35309457e-02 4.41003732e+01] [-2.58271197e-01 9.65781727e-01 -2.36990438e-02 -5.18344786e+00] [-9.64768865e-02 -1.37580814e-03 9.95334274e-01 -5.60945070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.118241008 meters 0.06387814564928526 Centerline is valid? [True, True] Translation: X:44.13, Y:-5.20, Z:-5.61 [[ 9.61935172e-01 2.56606988e-01 9.39871202e-02 4.41294530e+01] [-2.55499691e-01 9.66515225e-01 -2.38375352e-02 -5.19911394e+00] [-9.69568607e-02 -1.08351664e-03 9.95287995e-01 -5.61173379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.148241008 meters 0.06369923591277639 Centerline is valid? [True, True] Translation: X:44.16, Y:-5.21, Z:-5.62 [[ 9.62429880e-01 2.54863395e-01 9.36663055e-02 4.41590824e+01] [-2.53753205e-01 9.66976665e-01 -2.37789746e-02 -5.21091835e+00] [-9.66335220e-02 -8.82529554e-04 9.95319639e-01 -5.61694196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.178241008 meters 0.0636498705963491 Centerline is valid? [True, True] Translation: X:44.19, Y:-5.22, Z:-5.62 [[ 9.63127968e-01 2.52306883e-01 9.34117462e-02 4.41878260e+01] [-2.51188471e-01 9.67647082e-01 -2.37376707e-02 -5.22226018e+00] [-9.63787813e-02 -6.01539171e-04 9.95344548e-01 -5.62206080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.208241008 meters 0.06334450349818753 Centerline is valid? [True, True] Translation: X:44.22, Y:-5.24, Z:-5.63 [[ 9.63753043e-01 2.50437996e-01 9.19830520e-02 4.42174850e+01] [-2.49343245e-01 9.68132563e-01 -2.33941789e-02 -5.23527795e+00] [-9.49105791e-02 -3.89141505e-04 9.95485726e-01 -5.62518559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.238241008 meters 0.06359901557200823 Centerline is valid? [True, True] Translation: X:44.25, Y:-5.24, Z:-5.63 [[ 9.63859047e-01 2.50209227e-01 9.14936126e-02 4.42468667e+01] [-2.49122918e-01 9.68191730e-01 -2.32926227e-02 -5.24480754e+00] [-9.44113881e-02 -3.42350656e-04 9.95533210e-01 -5.63052476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.268241008 meters 0.0636695580517002 Centerline is valid? [True, True] Translation: X:44.28, Y:-5.25, Z:-5.64 [[ 9.64076335e-01 2.49891367e-01 9.00617893e-02 4.42767711e+01] [-2.48835582e-01 9.68273837e-01 -2.29484295e-02 -5.25387868e+00] [-9.29390887e-02 -2.86539948e-04 9.95671755e-01 -5.63506555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.298241008 meters 0.06398489629366236 Centerline is valid? [True, True] Translation: X:44.30, Y:-5.26, Z:-5.64 [[ 9.65117485e-01 2.46765778e-01 8.74922279e-02 4.43049025e+01] [-2.45754849e-01 9.69075152e-01 -2.23137832e-02 -5.26461895e+00] [-9.02928221e-02 3.37831379e-05 9.95915260e-01 -5.64148404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.328241008 meters 0.06395441490503205 Centerline is valid? [True, True] Translation: X:44.34, Y:-5.28, Z:-5.65 [[ 9.65693306e-01 2.44413458e-01 8.77411029e-02 4.43351706e+01] [-2.43385795e-01 9.69671073e-01 -2.23911788e-02 -5.27572858e+00] [-9.05527148e-02 2.68073391e-04 9.95891628e-01 -5.64599557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.358241008 meters 0.06425138723791303 Centerline is valid? [True, True] Translation: X:44.36, Y:-5.29, Z:-5.65 [[ 9.66384313e-01 2.41763300e-01 8.74749442e-02 4.43649653e+01] [-2.40728753e-01 9.70335105e-01 -2.23484093e-02 -5.28615678e+00] [-9.02830344e-02 5.39417894e-04 9.95916002e-01 -5.65084936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.388241008 meters 0.06423901724139595 Centerline is valid? [True, True] Translation: X:44.40, Y:-5.30, Z:-5.65 [[ 9.66702238e-01 2.40366694e-01 8.78102195e-02 4.43962940e+01] [-2.39316621e-01 9.70681912e-01 -2.24539826e-02 -5.29595978e+00] [-9.06329813e-02 6.91870249e-04 9.95884122e-01 -5.65431516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.418241008 meters 0.06459972276857837 Centerline is valid? [True, True] Translation: X:44.43, Y:-5.30, Z:-5.66 [[ 9.66921763e-01 2.39234757e-01 8.84818318e-02 4.44254424e+01] [-2.38161159e-01 9.70961399e-01 -2.26544416e-02 -5.30442794e+00] [-9.13321730e-02 8.32136994e-04 9.95820135e-01 -5.65926499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.448241008000004 meters 0.06417638509712921 Centerline is valid? [True, True] Translation: X:44.46, Y:-5.32, Z:-5.66 [[ 9.67728558e-01 2.35023998e-01 9.09129173e-02 4.44566512e+01] [-2.33870581e-01 9.71988729e-01 -2.32908204e-02 -5.31635844e+00] [-9.38402326e-02 1.27733521e-03 9.95586450e-01 -5.65619070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.478241008 meters 0.06417638509712921 Centerline is valid? [True, True] Translation: X:44.49, Y:-5.32, Z:-5.66 [[ 9.67667449e-01 2.35275681e-01 9.09123823e-02 4.44876920e+01] [-2.34123176e-01 9.71927867e-01 -2.32929117e-02 -5.32449478e+00] [-9.38405335e-02 1.25509680e-03 9.95586450e-01 -5.66023757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.508241008 meters 0.0641520488689379 Centerline is valid? [True, True] Translation: X:44.52, Y:-5.34, Z:-5.66 [[ 9.68040210e-01 2.32921953e-01 9.29812662e-02 4.45179919e+01] [-2.31702753e-01 9.72494205e-01 -2.38507006e-02 -5.33625543e+00] [-9.59790943e-02 1.54442183e-03 9.95382152e-01 -5.66141599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.538241008 meters 0.0642357021017065 Centerline is valid? [True, True] Translation: X:44.55, Y:-5.35, Z:-5.66 [[ 9.68420927e-01 2.30571630e-01 9.48558482e-02 4.45490834e+01] [-2.29288665e-01 9.73053614e-01 -2.43592435e-02 -5.34676213e+00] [-9.79163764e-02 1.84063036e-03 9.95192944e-01 -5.66247003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.568241008 meters 0.06557577453091244 Centerline is valid? [True, True] Translation: X:44.58, Y:-5.36, Z:-5.67 [[ 9.69098408e-01 2.27042320e-01 9.64368194e-02 4.45778779e+01] [-2.25697918e-01 9.73882313e-01 -2.47727633e-02 -5.35963518e+00] [-9.95425784e-02 2.24165619e-03 9.95030778e-01 -5.66769473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.598241008 meters 0.06534344948215967 Centerline is valid? [True, True] Translation: X:44.61, Y:-5.37, Z:-5.67 [[ 9.69416960e-01 2.25349593e-01 9.72024602e-02 4.46090210e+01] [-2.23974206e-01 9.74274902e-01 -2.49793951e-02 -5.36594658e+00] [-1.00331014e-01 2.44460534e-03 9.94951110e-01 -5.66938929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.628241008 meters 0.06555042595823542 Centerline is valid? [True, True] Translation: X:44.64, Y:-5.37, Z:-5.67 [[ 9.69484960e-01 2.25064561e-01 9.71846484e-02 4.46397253e+01] [-2.23685910e-01 9.74340655e-01 -2.49980469e-02 -5.37422540e+00] [-1.00317128e-01 2.49639401e-03 9.94952382e-01 -5.67446277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.658241008 meters 0.06615559091072298 Centerline is valid? [True, True] Translation: X:44.67, Y:-5.38, Z:-5.68 [[ 9.69682224e-01 2.24452210e-01 9.66312030e-02 4.46695647e+01] [-2.23083685e-01 9.74481709e-01 -2.48810915e-02 -5.38194883e+00] [-9.97499558e-02 2.56990734e-03 9.95009217e-01 -5.68029763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.688241008 meters 0.06655587568124821 Centerline is valid? [True, True] Translation: X:44.70, Y:-5.39, Z:-5.68 [[ 9.69739202e-01 2.24024358e-01 9.70513656e-02 4.47007425e+01] [-2.22640818e-01 9.74579985e-01 -2.49983755e-02 -5.39064175e+00] [-1.00184563e-01 2.63430922e-03 9.94965383e-01 -5.68455881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.718241008 meters 0.06566607864596583 Centerline is valid? [True, True] Translation: X:44.73, Y:-5.40, Z:-5.69 [[ 9.69710716e-01 2.24131831e-01 9.70878426e-02 4.47331167e+01] [-2.22745219e-01 9.74555234e-01 -2.50332440e-02 -5.39606633e+00] [-1.00228212e-01 2.64915226e-03 9.94960948e-01 -5.68631783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.748241008 meters 0.06574586845180888 Centerline is valid? [True, True] Translation: X:44.77, Y:-5.40, Z:-5.69 [[ 9.69718502e-01 2.23924383e-01 9.74879349e-02 4.47650384e+01] [-2.22522482e-01 9.74602758e-01 -2.51636579e-02 -5.40381519e+00] [-1.00646767e-01 2.70840739e-03 9.94918536e-01 -5.69107974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.778241008 meters 0.06567126464049225 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.41, Z:-5.70 [[ 9.69528655e-01 2.24852560e-01 9.72394690e-02 4.47966931e+01] [-2.23459659e-01 9.74389242e-01 -2.51273744e-02 -5.40865293e+00] [-1.00399047e-01 2.63261090e-03 9.94943768e-01 -5.69603473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.808241008 meters 0.06511090123392708 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.41, Z:-5.70 [[ 9.69346561e-01 2.26083813e-01 9.61943579e-02 4.48292803e+01] [-2.24724622e-01 9.74104646e-01 -2.48793511e-02 -5.41288298e+00] [-9.93281895e-02 2.49947271e-03 9.95051588e-01 -5.69982384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.838241008 meters 0.06507722133472627 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.42, Z:-5.70 [[ 9.69058404e-01 2.27421539e-01 9.59440095e-02 4.48609696e+01] [-2.26072971e-01 9.73793485e-01 -2.48447067e-02 -5.41911162e+00] [-9.90798728e-02 2.38562449e-03 9.95076624e-01 -5.70414866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.868241008 meters 0.06527588503680797 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.43, Z:-5.71 [[ 9.68586474e-01 2.29083869e-01 9.67513436e-02 4.48907543e+01] [-2.27719145e-01 9.73404089e-01 -2.50693253e-02 -5.42616695e+00] [-9.99211315e-02 2.24967620e-03 9.94992817e-01 -5.70930891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.898241008 meters 0.06457130042072462 Centerline is valid? [True, True] Translation: X:44.92, Y:-5.43, Z:-5.71 [[ 9.67378525e-01 2.33557997e-01 9.81297665e-02 4.49218794e+01] [-2.32175341e-01 9.72341153e-01 -2.54419574e-02 -5.42816811e+00] [-1.01357783e-01 1.82869129e-03 9.94848358e-01 -5.71194044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.928241008 meters 0.06380098690930733 Centerline is valid? [True, True] Translation: X:44.95, Y:-5.43, Z:-5.72 [[ 9.66501635e-01 2.37062928e-01 9.83654320e-02 4.49543651e+01] [-2.35691250e-01 9.71493186e-01 -2.55073489e-02 -5.43009807e+00] [-1.01608194e-01 1.46902280e-03 9.94823410e-01 -5.71505640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.958241008 meters 0.06390592954870448 Centerline is valid? [True, True] Translation: X:44.98, Y:-5.43, Z:-5.72 [[ 9.65768435e-01 2.39672959e-01 9.92381066e-02 4.49846855e+01] [-2.38287963e-01 9.70852904e-01 -2.57582050e-02 -5.43400064e+00] [-1.02519149e-01 1.22921505e-03 9.94730272e-01 -5.72135745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.988241008 meters 0.06362900913817625 Centerline is valid? [True, True] Translation: X:45.02, Y:-5.43, Z:-5.73 [[ 9.64342321e-01 2.44905316e-01 1.00325843e-01 4.50176800e+01] [-2.43515313e-01 9.69546744e-01 -2.60653601e-02 -5.43429378e+00] [-1.03654139e-01 7.05050877e-04 9.94613152e-01 -5.72552987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.018241008 meters 0.06335660443859199 Centerline is valid? [True, True] Translation: X:45.05, Y:-5.44, Z:-5.73 [[ 9.63736603e-01 2.47248902e-01 1.00397915e-01 4.50499191e+01] [-2.45866731e-01 9.68951882e-01 -2.61113079e-02 -5.43934917e+00] [-1.03736741e-01 4.79916059e-04 9.94604674e-01 -5.72851100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.048241008 meters 0.06346283505090367 Centerline is valid? [True, True] Translation: X:45.08, Y:-5.45, Z:-5.73 [[ 9.63115999e-01 2.49711024e-01 1.00259543e-01 4.50808720e+01] [-2.48345426e-01 9.68320379e-01 -2.60805137e-02 -5.44509392e+00] [-1.03595950e-01 2.19561106e-04 9.94619440e-01 -5.73307302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.078241008 meters 0.06320311697647228 Centerline is valid? [True, True] Translation: X:45.11, Y:-5.45, Z:-5.73 [[ 9.62023561e-01 2.53074020e-01 1.02294718e-01 4.51138392e+01] [-2.51667957e-01 9.67446912e-01 -2.66404239e-02 -5.44864785e+00] [-1.05706708e-01 -1.15587273e-04 9.94397344e-01 -5.73416359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.108241008 meters 0.06307854244294424 Centerline is valid? [True, True] Translation: X:45.15, Y:-5.46, Z:-5.74 [[ 9.61390449e-01 2.55263362e-01 1.02805739e-01 4.51459341e+01] [-2.53855055e-01 9.66871497e-01 -2.67790823e-02 -5.45528851e+00] [-1.06235657e-01 -3.52602634e-04 9.94340918e-01 -5.73720558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.138241008 meters 0.06314672803397413 Centerline is valid? [True, True] Translation: X:45.18, Y:-5.46, Z:-5.74 [[ 9.61057261e-01 2.56580797e-01 1.02641294e-01 4.51777012e+01] [-2.55181457e-01 9.66522671e-01 -2.67647142e-02 -5.46224634e+00] [-1.06072449e-01 -4.69731908e-04 9.94358293e-01 -5.74109952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.168241008 meters 0.06306307883165517 Centerline is valid? [True, True] Translation: X:45.21, Y:-5.47, Z:-5.75 [[ 9.60749617e-01 2.57509247e-01 1.03194773e-01 4.52090331e+01] [-2.56097003e-01 9.66275679e-01 -2.69376520e-02 -5.46943833e+00] [-1.06651294e-01 -5.47533158e-04 9.94296335e-01 -5.74541293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.198241008000004 meters 0.063284888354207 Centerline is valid? [True, True] Translation: X:45.24, Y:-5.48, Z:-5.75 [[ 9.60538908e-01 2.58219662e-01 1.03380907e-01 4.52402485e+01] [-2.56803244e-01 9.66086046e-01 -2.70156711e-02 -5.47632033e+00] [-1.06850829e-01 -5.98949010e-04 9.94274882e-01 -5.75047479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.228241008 meters 0.06340229113544261 Centerline is valid? [True, True] Translation: X:45.27, Y:-5.48, Z:-5.76 [[ 9.60498827e-01 2.58427328e-01 1.03234291e-01 4.52716194e+01] [-2.57013277e-01 9.66030518e-01 -2.70039582e-02 -5.48366499e+00] [-1.06706036e-01 -5.95313143e-04 9.94290434e-01 -5.75530945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.258241008 meters 0.06337898831029494 Centerline is valid? [True, True] Translation: X:45.30, Y:-5.49, Z:-5.76 [[ 9.60532387e-01 2.57881085e-01 1.04282688e-01 4.53020179e+01] [-2.56431565e-01 9.66176529e-01 -2.73087364e-02 -5.49222398e+00] [-1.07797892e-01 -5.10447144e-04 9.94172698e-01 -5.76005373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.288241008 meters 0.06351969110622972 Centerline is valid? [True, True] Translation: X:45.33, Y:-5.50, Z:-5.77 [[ 9.60883433e-01 2.56654284e-01 1.04075010e-01 4.53315268e+01] [-2.55200465e-01 9.66503212e-01 -2.72811969e-02 -5.50208689e+00] [-1.07590667e-01 -3.45940750e-04 9.94195217e-01 -5.76508965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.318241008 meters 0.06333267337852325 Centerline is valid? [True, True] Translation: X:45.36, Y:-5.51, Z:-5.77 [[ 9.60858251e-01 2.56933780e-01 1.03616858e-01 4.53625846e+01] [-2.55492633e-01 9.66428944e-01 -2.71774051e-02 -5.51163361e+00] [-1.07121124e-01 -3.59709862e-04 9.94245913e-01 -5.76772080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.348241008 meters 0.06326931813900584 Centerline is valid? [True, True] Translation: X:45.39, Y:-5.52, Z:-5.77 [[ 9.60887940e-01 2.57300577e-01 1.02424508e-01 4.53929884e+01] [-2.55891463e-01 9.66331350e-01 -2.68938814e-02 -5.52127378e+00] [-1.05895824e-01 -3.67550982e-04 9.94377161e-01 -5.77076583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.378241008 meters 0.06348165179701526 Centerline is valid? [True, True] Translation: X:45.42, Y:-5.53, Z:-5.78 [[ 9.60893825e-01 2.57500134e-01 1.01866275e-01 4.54232737e+01] [-2.56104834e-01 9.66278194e-01 -2.67724663e-02 -5.52988390e+00] [-1.05325074e-01 -3.62947823e-04 9.94437779e-01 -5.77819112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.408241008 meters 0.0635243236719329 Centerline is valid? [True, True] Translation: X:45.45, Y:-5.54, Z:-5.78 [[ 9.60956841e-01 2.57455149e-01 1.01384402e-01 4.54543126e+01] [-2.56069724e-01 9.66290194e-01 -2.66750332e-02 -5.53876830e+00] [-1.04834378e-01 -3.27920182e-04 9.94489641e-01 -5.78117134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.438241008 meters 0.063637914455771 Centerline is valid? [True, True] Translation: X:45.48, Y:-5.55, Z:-5.79 [[ 9.60966177e-01 2.57853826e-01 1.00276678e-01 4.54838724e+01] [-2.56497713e-01 9.66183880e-01 -2.64127540e-02 -5.54666225e+00] [-1.03696340e-01 -3.38975378e-04 9.94608945e-01 -5.78712868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.468241008 meters 0.063698553327423 Centerline is valid? [True, True] Translation: X:45.51, Y:-5.56, Z:-5.79 [[ 9.60847901e-01 2.58469407e-01 9.98242328e-02 4.55149122e+01] [-2.57126552e-01 9.66019368e-01 -2.63157149e-02 -5.55502719e+00] [-1.03233950e-01 -3.82061330e-04 9.94657029e-01 -5.79169575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.498241008 meters 0.06374723041824974 Centerline is valid? [True, True] Translation: X:45.55, Y:-5.56, Z:-5.80 [[ 9.60720437e-01 2.59215742e-01 9.91132722e-02 4.55456888e+01] [-2.57893535e-01 9.65819346e-01 -2.61517877e-02 -5.56314916e+00] [-1.02504471e-01 -4.36115192e-04 9.94732448e-01 -5.79607849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.528241008 meters 0.06410259221228765 Centerline is valid? [True, True] Translation: X:45.58, Y:-5.57, Z:-5.80 [[ 9.60255858e-01 2.60995951e-01 9.89434168e-02 4.55760131e+01] [-2.59684942e-01 9.65339709e-01 -2.61338119e-02 -5.56917858e+00] [-1.02334828e-01 -5.98969483e-04 9.94749830e-01 -5.80304833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.558241008 meters 0.06434204634286822 Centerline is valid? [True, True] Translation: X:45.61, Y:-5.58, Z:-5.81 [[ 9.60051259e-01 2.61866321e-01 9.86286477e-02 4.56056703e+01] [-2.60567067e-01 9.65103917e-01 -2.60621146e-02 -5.57751012e+00] [-1.02011684e-01 -6.78411467e-04 9.94782969e-01 -5.80822109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.588241008 meters 0.0644124762693499 Centerline is valid? [True, True] Translation: X:45.64, Y:-5.59, Z:-5.81 [[ 9.59789258e-01 2.62582704e-01 9.92718669e-02 4.56354161e+01] [-2.61267748e-01 9.64909209e-01 -2.62560967e-02 -5.58655974e+00] [-1.02682735e-01 -7.36217563e-04 9.94713885e-01 -5.81329911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.618241008 meters 0.0642055392239774 Centerline is valid? [True, True] Translation: X:45.67, Y:-5.60, Z:-5.81 [[ 9.59160798e-01 2.64876615e-01 9.92519147e-02 4.56655588e+01] [-2.63573068e-01 9.64281826e-01 -2.62639951e-02 -5.59695967e+00] [-1.02663536e-01 -9.68737117e-04 9.94715668e-01 -5.81371692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.648241008 meters 0.06448713695008228 Centerline is valid? [True, True] Translation: X:45.70, Y:-5.60, Z:-5.82 [[ 9.58810782e-01 2.66073728e-01 9.94316612e-02 4.56965187e+01] [-2.64770730e-01 9.63952067e-01 -2.63224969e-02 -5.60358306e+00] [-1.02851080e-01 -1.08829960e-03 9.94696170e-01 -5.82042022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.678241008 meters 0.06459781027205122 Centerline is valid? [True, True] Translation: X:45.73, Y:-5.61, Z:-5.82 [[ 9.58370154e-01 2.67991925e-01 9.85239866e-02 4.57275437e+01] [-2.66720043e-01 9.63420339e-01 -2.61088030e-02 -5.61128974e+00] [-1.01916961e-01 -1.25642435e-03 9.94792116e-01 -5.82457151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.708241008 meters 0.06495740248614099 Centerline is valid? [True, True] Translation: X:45.76, Y:-5.62, Z:-5.83 [[ 9.57802939e-01 2.70036968e-01 9.84559047e-02 4.57577769e+01] [-2.68775099e-01 9.62848865e-01 -2.61153277e-02 -5.61964148e+00] [-1.01850260e-01 -1.44915791e-03 9.94798685e-01 -5.82919202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.738241008 meters 0.06508656441305395 Centerline is valid? [True, True] Translation: X:45.79, Y:-5.63, Z:-5.84 [[ 9.58819008e-01 2.66963369e-01 9.69364242e-02 4.57861306e+01] [-2.65721992e-01 9.63706072e-01 -2.57377183e-02 -5.63466313e+00] [-1.00289249e-01 -1.08032626e-03 9.94957738e-01 -5.83734696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.768241008000004 meters 0.06431505520484196 Centerline is valid? [True, True] Translation: X:45.82, Y:-5.65, Z:-5.84 [[ 9.59600873e-01 2.63842767e-01 9.77402639e-02 4.58159509e+01] [-2.62562628e-01 9.64565417e-01 -2.59696568e-02 -5.65086644e+00] [-1.01128785e-01 -7.42435234e-04 9.94873066e-01 -5.83663878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.798241008 meters 0.06410341615910678 Centerline is valid? [True, True] Translation: X:45.85, Y:-5.66, Z:-5.84 [[ 9.59933526e-01 2.62377732e-01 9.84152009e-02 4.58456760e+01] [-2.61071010e-01 9.64965071e-01 -2.61598986e-02 -5.66330486e+00] [-1.01831006e-01 -5.81592157e-04 9.94801542e-01 -5.83960269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.828241008 meters 0.06398985701936588 Centerline is valid? [True, True] Translation: X:45.88, Y:-5.67, Z:-5.84 [[ 9.60174496e-01 2.61486075e-01 9.84376445e-02 4.58759929e+01] [-2.60171696e-01 9.65207137e-01 -2.61891536e-02 -5.67486934e+00] [-1.01860816e-01 -4.64531573e-04 9.94798552e-01 -5.84314946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.858241008 meters 0.06414759506975967 Centerline is valid? [True, True] Translation: X:45.91, Y:-5.69, Z:-5.85 [[ 9.60460352e-01 2.60334086e-01 9.87019574e-02 4.59052110e+01] [-2.59003618e-01 9.65518547e-01 -2.62880521e-02 -5.68521868e+00] [-1.02142246e-01 -3.15532334e-04 9.94769753e-01 -5.85012020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.888241008 meters 0.06406803590244686 Centerline is valid? [True, True] Translation: X:45.93, Y:-5.70, Z:-5.86 [[ 9.61398943e-01 2.57137407e-01 9.79409309e-02 4.59333511e+01] [-2.55808403e-01 9.66374851e-01 -2.61095564e-02 -5.69874503e+00] [-1.01361396e-01 4.75868176e-05 9.94849670e-01 -5.85531795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.918241008 meters 0.06388945540750655 Centerline is valid? [True, True] Translation: X:45.96, Y:-5.71, Z:-5.86 [[ 9.61681875e-01 2.55987858e-01 9.81742732e-02 4.59627716e+01] [-2.54644346e-01 9.66679978e-01 -2.61930628e-02 -5.71137297e+00] [-1.01608210e-01 1.89870102e-04 9.94824475e-01 -5.85759547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.948241008000004 meters 0.06372403655659355 Centerline is valid? [True, True] Translation: X:45.99, Y:-5.72, Z:-5.86 [[ 9.61359701e-01 2.56941006e-01 9.88374627e-02 4.59934989e+01] [-2.55581595e-01 9.66427083e-01 -2.63958670e-02 -5.71890086e+00] [-1.02301381e-01 1.14886479e-04 9.94753444e-01 -5.86030809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.978241008 meters 0.06346212006285122 Centerline is valid? [True, True] Translation: X:46.03, Y:-5.73, Z:-5.86 [[ 9.61193491e-01 2.57729062e-01 9.84012411e-02 4.60256241e+01] [-2.56383486e-01 9.66217226e-01 -2.63017128e-02 -5.72676438e+00] [-1.01855690e-01 5.25818784e-05 9.94799184e-01 -5.86421111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.008241008 meters 0.06342450231023906 Centerline is valid? [True, True] Translation: X:46.06, Y:-5.73, Z:-5.87 [[ 9.61187224e-01 2.57724782e-01 9.84736377e-02 4.60577526e+01] [-2.56374502e-01 9.66218366e-01 -2.63473778e-02 -5.73444059e+00] [-1.01937409e-01 7.86331732e-05 9.94790811e-01 -5.86772876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.038241008 meters 0.06363317477133847 Centerline is valid? [True, True] Translation: X:46.09, Y:-5.74, Z:-5.88 [[ 9.61238623e-01 2.57724418e-01 9.79716006e-02 4.60869239e+01] [-2.56384962e-01 9.66218460e-01 -2.62419153e-02 -5.74201051e+00] [-1.01425151e-01 1.06297418e-04 9.94843167e-01 -5.87683999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.068241008 meters 0.06339348057365671 Centerline is valid? [True, True] Translation: X:46.12, Y:-5.75, Z:-5.88 [[ 9.61234592e-01 2.57897513e-01 9.75547655e-02 4.61186092e+01] [-2.56568225e-01 9.66172273e-01 -2.61511817e-02 -5.75104256e+00] [-1.00999034e-01 1.07967360e-04 9.94886518e-01 -5.87759598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.098241008 meters 0.06335936041884613 Centerline is valid? [True, True] Translation: X:46.15, Y:-5.76, Z:-5.88 [[ 9.61216664e-01 2.57637387e-01 9.84149503e-02 4.61479964e+01] [-2.56279904e-01 9.66241662e-01 -2.64132831e-02 -5.76057320e+00] [-1.01897674e-01 1.67113812e-04 9.94794871e-01 -5.88352709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.128241008 meters 0.0630619235076795 Centerline is valid? [True, True] Translation: X:46.18, Y:-5.77, Z:-5.89 [[ 9.61144721e-01 2.57934486e-01 9.83393422e-02 4.61799167e+01] [-2.56579529e-01 9.66162398e-01 -2.64038895e-02 -5.76955170e+00] [-1.01822248e-01 1.46096866e-04 9.94802598e-01 -5.88523791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.158241008 meters 0.06304560921572973 Centerline is valid? [True, True] Translation: X:46.21, Y:-5.78, Z:-5.89 [[ 9.61415938e-01 2.57044251e-01 9.80186055e-02 4.62110770e+01] [-2.55690806e-01 9.66399598e-01 -2.63444362e-02 -5.77900180e+00] [-1.01496827e-01 2.65504578e-04 9.94835827e-01 -5.88928741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.188241008 meters 0.06295926992880639 Centerline is valid? [True, True] Translation: X:46.24, Y:-5.79, Z:-5.89 [[ 9.62024164e-01 2.55052947e-01 9.72496858e-02 4.62407459e+01] [-2.53707767e-01 9.66926960e-01 -2.61653055e-02 -5.78962298e+00] [-1.00706881e-01 4.98655541e-04 9.94916014e-01 -5.89333827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.218241008 meters 0.06297071575954885 Centerline is valid? [True, True] Translation: X:46.27, Y:-5.80, Z:-5.90 [[ 9.62235625e-01 2.54156383e-01 9.75045405e-02 4.62717161e+01] [-2.52797209e-01 9.67162940e-01 -2.62567728e-02 -5.79964350e+00] [-1.00976104e-01 6.16326479e-04 9.94888660e-01 -5.89775282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.248241008 meters 0.06301487858217363 Centerline is valid? [True, True] Translation: X:46.30, Y:-5.81, Z:-5.90 [[ 9.62409119e-01 2.53684819e-01 9.70190706e-02 4.63007676e+01] [-2.52333953e-01 9.67286688e-01 -2.61541487e-02 -5.80805422e+00] [-1.00480166e-01 6.89785672e-04 9.94938822e-01 -5.90328576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.278241008 meters 0.06290639396057306 Centerline is valid? [True, True] Translation: X:46.33, Y:-5.81, Z:-5.91 [[ 9.62007363e-01 2.55220682e-01 9.69754494e-02 4.63306651e+01] [-2.53876633e-01 9.66882672e-01 -2.61639935e-02 -5.81457306e+00] [-1.00441474e-01 5.50153781e-04 9.94942816e-01 -5.90929959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.308241008 meters 0.06278909784517185 Centerline is valid? [True, True] Translation: X:46.36, Y:-5.82, Z:-5.91 [[ 9.61971153e-01 2.55472154e-01 9.66720161e-02 4.63624167e+01] [-2.54135791e-01 9.66816263e-01 -2.61019956e-02 -5.82358974e+00] [-1.00132410e-01 5.41547516e-04 9.94973973e-01 -5.91284599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.338241008 meters 0.06253904590138014 Centerline is valid? [True, True] Translation: X:46.39, Y:-5.83, Z:-5.92 [[ 9.62008395e-01 2.55241811e-01 9.69095748e-02 4.63936293e+01] [-2.53895065e-01 9.66877069e-01 -2.61921449e-02 -5.83288343e+00] [-1.00384976e-01 5.92200472e-04 9.94948494e-01 -5.91579966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.368241008 meters 0.062275006645843234 Centerline is valid? [True, True] Translation: X:46.43, Y:-5.84, Z:-5.92 [[ 9.62060496e-01 2.54922482e-01 9.72323544e-02 4.64250858e+01] [-2.53562424e-01 9.66961272e-01 -2.63058149e-02 -5.84098202e+00] [-1.00725865e-01 6.53313843e-04 9.94914003e-01 -5.91790786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.398241008 meters 0.062275006645843234 Centerline is valid? [True, True] Translation: X:46.46, Y:-5.85, Z:-5.92 [[ 9.61996094e-01 2.55167951e-01 9.72256730e-02 4.64560087e+01] [-2.53806651e-01 9.66896525e-01 -2.63304836e-02 -5.84954023e+00] [-1.00725861e-01 6.53299956e-04 9.94914003e-01 -5.92197026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.428241008 meters 0.06231694140443435 Centerline is valid? [True, True] Translation: X:46.49, Y:-5.86, Z:-5.93 [[ 9.61987212e-01 2.54957108e-01 9.78645898e-02 4.64861289e+01] [-2.53573857e-01 9.66952105e-01 -2.65315975e-02 -5.85680889e+00] [-1.01394790e-01 7.07156002e-04 9.94846016e-01 -5.92783328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.458241008 meters 0.06234886913028669 Centerline is valid? [True, True] Translation: X:46.52, Y:-5.86, Z:-5.93 [[ 9.61904347e-01 2.55237082e-01 9.79492699e-02 4.65181692e+01] [-2.53850781e-01 9.66878247e-01 -2.65751144e-02 -5.86450973e+00] [-1.01487973e-01 6.98219402e-04 9.94836521e-01 -5.93284786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.488241008 meters 0.062194129655689614 Centerline is valid? [True, True] Translation: X:46.55, Y:-5.87, Z:-5.94 [[ 9.62000366e-01 2.55755255e-01 9.56271160e-02 4.65494148e+01] [-2.54434147e-01 9.66741343e-01 -2.59699983e-02 -5.87202526e+00] [-9.90886500e-02 6.52344189e-04 9.95078396e-01 -5.93526463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.518241008000004 meters 0.0621600691033934 Centerline is valid? [True, True] Translation: X:46.58, Y:-5.88, Z:-5.94 [[ 9.62005466e-01 2.56104110e-01 9.46370374e-02 4.65800027e+01] [-2.54809744e-01 9.66648998e-01 -2.57237053e-02 -5.87955590e+00] [-9.80687440e-02 6.31905782e-04 9.95179442e-01 -5.93976175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.548241008 meters 0.06213731687808385 Centerline is valid? [True, True] Translation: X:46.61, Y:-5.89, Z:-5.94 [[ 9.61975344e-01 2.56158102e-01 9.47969695e-02 4.66116772e+01] [-2.54857406e-01 9.66634681e-01 -2.57894780e-02 -5.88756125e+00] [-9.82402221e-02 6.49132195e-04 9.95162518e-01 -5.94333688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.578241008 meters 0.06215772623541414 Centerline is valid? [True, True] Translation: X:46.64, Y:-5.90, Z:-5.95 [[ 9.61910223e-01 2.56335992e-01 9.49767420e-02 4.66417301e+01] [-2.55028157e-01 9.66587513e-01 -2.58692563e-02 -5.89579300e+00] [-9.84345544e-02 6.62158625e-04 9.95143306e-01 -5.94791748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.608241008 meters 0.06203982040690185 Centerline is valid? [True, True] Translation: X:46.67, Y:-5.90, Z:-5.95 [[ 9.62053569e-01 2.55892271e-01 9.47210396e-02 4.66722263e+01] [-2.54588306e-01 9.66705040e-01 -2.58100962e-02 -5.90478477e+00] [-9.81719104e-02 7.15826198e-04 9.95169214e-01 -5.95099306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.638241008 meters 0.061738445648322884 Centerline is valid? [True, True] Translation: X:46.70, Y:-5.91, Z:-5.95 [[ 9.62389175e-01 2.54604664e-01 9.47815393e-02 4.67035236e+01] [-2.53290542e-01 9.67044832e-01 -2.58494381e-02 -5.91329020e+00] [-9.82393853e-02 8.69951950e-04 9.95162432e-01 -5.95242567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.668241008 meters 0.06214046814410999 Centerline is valid? [True, True] Translation: X:46.73, Y:-5.92, Z:-5.96 [[ 9.62825385e-01 2.53000869e-01 9.46458533e-02 4.67324377e+01] [-2.51680172e-01 9.67465473e-01 -2.58389279e-02 -5.92240074e+00] [-9.81038664e-02 1.05789107e-03 9.95175619e-01 -5.96037107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.698241008000004 meters 0.061946483155058185 Centerline is valid? [True, True] Translation: X:46.76, Y:-5.93, Z:-5.96 [[ 9.63153651e-01 2.51666614e-01 9.48628457e-02 4.67631623e+01] [-2.50332397e-01 9.67813236e-01 -2.59081154e-02 -5.93031476e+00] [-9.83297254e-02 1.20625242e-03 9.95153159e-01 -5.96097537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.728241008 meters 0.062413534283861 Centerline is valid? [True, True] Translation: X:46.79, Y:-5.94, Z:-5.97 [[ 9.63947379e-01 2.48285656e-01 9.57062360e-02 4.67915785e+01] [-2.46908521e-01 9.68685558e-01 -2.61624211e-02 -5.94384874e+00] [-9.92050025e-02 1.58851205e-03 9.95065749e-01 -5.96628665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.758241008 meters 0.06259944210965322 Centerline is valid? [True, True] Translation: X:46.82, Y:-5.95, Z:-5.97 [[ 9.64153482e-01 2.47100149e-01 9.66932280e-02 4.68214417e+01] [-2.45686056e-01 9.68988364e-01 -2.64558627e-02 -5.95368466e+00] [-1.00231860e-01 1.75133434e-03 9.94962566e-01 -5.96982688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.788241008 meters 0.06260262965048968 Centerline is valid? [True, True] Translation: X:46.85, Y:-5.96, Z:-5.97 [[ 9.64358207e-01 2.46198060e-01 9.69523795e-02 4.68506647e+01] [-2.44769270e-01 9.69217726e-01 -2.65518996e-02 -5.96257440e+00] [-1.00504991e-01 1.87457911e-03 9.94934788e-01 -5.97328190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.818241008 meters 0.06219845136662234 Centerline is valid? [True, True] Translation: X:46.88, Y:-5.97, Z:-5.97 [[ 9.64616863e-01 2.45201018e-01 9.69059740e-02 4.68817580e+01] [-2.43766541e-01 9.69470202e-01 -2.65593908e-02 -5.96967816e+00] [-1.00459844e-01 1.99720213e-03 9.94939109e-01 -5.97473025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.848241008 meters 0.06244324203511803 Centerline is valid? [True, True] Translation: X:46.91, Y:-5.98, Z:-5.98 [[ 9.64664147e-01 2.45493279e-01 9.56876897e-02 4.69120272e+01] [-2.44093874e-01 9.69396303e-01 -2.62486040e-02 -5.97652605e+00] [-9.92031485e-02 1.96430835e-03 9.95065263e-01 -5.97993219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.878241008 meters 0.06210025068360673 Centerline is valid? [True, True] Translation: X:46.94, Y:-5.98, Z:-5.98 [[ 9.64619698e-01 2.46101965e-01 9.45656493e-02 4.69435458e+01] [-2.44736215e-01 9.69242084e-01 -2.59608809e-02 -5.98295522e+00] [-9.80460308e-02 1.89873803e-03 9.95180069e-01 -5.98398970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.908241008 meters 0.06218198580072458 Centerline is valid? [True, True] Translation: X:46.97, Y:-5.99, Z:-5.99 [[ 9.64584011e-01 2.46599017e-01 9.36301841e-02 4.69732345e+01] [-2.45260347e-01 9.69115832e-01 -2.57267725e-02 -5.99018918e+00] [-9.70826905e-02 1.85186196e-03 9.95274596e-01 -5.98964337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.938241008 meters 0.06179956490910366 Centerline is valid? [True, True] Translation: X:47.00, Y:-6.00, Z:-5.99 [[ 9.64643677e-01 2.46752738e-01 9.26048762e-02 4.70045131e+01] [-2.45442105e-01 9.69076735e-01 -2.54647840e-02 -5.99612771e+00] [-9.60247363e-02 1.83530712e-03 9.95377256e-01 -5.99203068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.968241008 meters 0.06202766949636413 Centerline is valid? [True, True] Translation: X:47.03, Y:-6.00, Z:-6.00 [[ 9.64268640e-01 2.48272971e-01 9.24473985e-02 4.70345457e+01] [-2.46971589e-01 9.68688614e-01 -2.54441145e-02 -6.00309234e+00] [-9.58698282e-02 1.70308081e-03 9.95392423e-01 -5.99856289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.998241008 meters 0.06170080510659606 Centerline is valid? [True, True] Translation: X:47.07, Y:-6.01, Z:-6.00 [[ 9.63812920e-01 2.50207541e-01 9.19828318e-02 4.70661027e+01] [-2.48925711e-01 9.68191023e-01 -2.53403629e-02 -6.00806476e+00] [-9.53973019e-02 1.52647737e-03 9.95438107e-01 -6.00233416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.028241008 meters 0.061287131924779206 Centerline is valid? [True, True] Translation: X:47.10, Y:-6.01, Z:-6.01 [[ 9.63358817e-01 2.51759838e-01 9.25028366e-02 4.70976478e+01] [-2.50470230e-01 9.67788752e-01 -2.54871574e-02 -6.01222930e+00] [-9.59398474e-02 1.38407098e-03 9.95386171e-01 -6.00504162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.058241008 meters 0.06100732424229072 Centerline is valid? [True, True] Translation: X:47.13, Y:-6.02, Z:-6.01 [[ 9.62653048e-01 2.53916107e-01 9.39453046e-02 4.71279467e+01] [-2.52593910e-01 9.67225490e-01 -2.59069188e-02 -6.01762931e+00] [-9.74444772e-02 1.20936252e-03 9.95240228e-01 -6.01016781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.088241008 meters 0.060027546020359104 Centerline is valid? [True, True] Translation: X:47.16, Y:-6.02, Z:-6.01 [[ 9.61441025e-01 2.58338146e-01 9.43003560e-02 4.71621838e+01] [-2.57024608e-01 9.66054232e-01 -2.60301894e-02 -6.01797731e+00] [-9.78238489e-02 7.88979962e-04 9.95203433e-01 -6.00836670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.118241008 meters 0.05987037192515507 Centerline is valid? [True, True] Translation: X:47.19, Y:-6.02, Z:-6.01 [[ 9.60627613e-01 2.61294488e-01 9.44445883e-02 4.71924712e+01] [-2.59990695e-01 9.65259005e-01 -2.60747195e-02 -6.02332219e+00] [-9.79766699e-02 4.93381365e-04 9.95188590e-01 -6.01306095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.148241008 meters 0.05957068240211261 Centerline is valid? [True, True] Translation: X:47.22, Y:-6.03, Z:-6.01 [[ 9.59784543e-01 2.64092050e-01 9.52314052e-02 4.72244893e+01] [-2.62778006e-01 9.64497453e-01 -2.63131814e-02 -6.02913105e+00] [-9.87995498e-02 2.30265986e-04 9.95107329e-01 -6.01378287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.178241008 meters 0.059397093587247596 Centerline is valid? [True, True] Translation: X:47.26, Y:-6.03, Z:-6.02 [[ 9.58449522e-01 2.68513922e-01 9.63057005e-02 4.72554321e+01] [-2.67189774e-01 9.63275782e-01 -2.66344337e-02 -6.03457203e+00] [-9.99206652e-02 -2.04138082e-04 9.94995386e-01 -6.01720433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.208241008 meters 0.05933239707397672 Centerline is valid? [True, True] Translation: X:47.29, Y:-6.04, Z:-6.02 [[ 9.57933257e-01 2.70630046e-01 9.55157251e-02 4.72867021e+01] [-2.69335949e-01 9.62683342e-01 -2.64372648e-02 -6.04148405e+00] [-9.91061156e-02 -4.00683349e-04 9.95076790e-01 -6.02106651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.238241008 meters 0.05938329727049377 Centerline is valid? [True, True] Translation: X:47.32, Y:-6.05, Z:-6.02 [[ 9.57659333e-01 2.71448600e-01 9.59388362e-02 4.73177654e+01] [-2.70144835e-01 9.62452825e-01 -2.65768221e-02 -6.04873483e+00] [-9.95508451e-02 -4.65839375e-04 9.95032367e-01 -6.02447202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.268241008000004 meters 0.059715388503481584 Centerline is valid? [True, True] Translation: X:47.35, Y:-6.06, Z:-6.03 [[ 9.57556666e-01 2.71857199e-01 9.58065505e-02 4.73476520e+01] [-2.70556757e-01 9.62337481e-01 -2.65633829e-02 -6.05520574e+00] [-9.94196814e-02 -4.85165241e-04 9.95045472e-01 -6.03308889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.298241008 meters 0.05983879965835077 Centerline is valid? [True, True] Translation: X:47.38, Y:-6.06, Z:-6.04 [[ 9.57524729e-01 2.72168886e-01 9.52391190e-02 4.73779470e+01] [-2.70883075e-01 9.62249373e-01 -2.64292389e-02 -6.06334145e+00] [-9.88369990e-02 -4.92015511e-04 9.95103515e-01 -6.03958417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.328241008 meters 0.05983763459951871 Centerline is valid? [True, True] Translation: X:47.41, Y:-6.08, Z:-6.04 [[ 9.57741661e-01 2.72196166e-01 9.29524531e-02 4.74072693e+01] [-2.70969589e-01 9.62241671e-01 -2.58156561e-02 -6.07544031e+00] [-9.64696464e-02 -4.62558722e-04 9.95335819e-01 -6.04311277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.358241008 meters 0.05974405879915386 Centerline is valid? [True, True] Translation: X:47.44, Y:-6.09, Z:-6.05 [[ 9.57814361e-01 2.72042685e-01 9.26521852e-02 4.74379547e+01] [-2.70821449e-01 9.62285091e-01 -2.57516455e-02 -6.08655248e+00] [-9.61633632e-02 -4.26903170e-04 9.95365473e-01 -6.04739470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.388241008 meters 0.06001397548851199 Centerline is valid? [True, True] Translation: X:47.47, Y:-6.10, Z:-6.06 [[ 9.57652306e-01 2.72632214e-01 9.25944725e-02 4.74670678e+01] [-2.71412688e-01 9.62118217e-01 -2.57621513e-02 -6.09626129e+00] [-9.61104212e-02 -4.60131087e-04 9.95370572e-01 -6.05567961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.418241008 meters 0.05926121877892307 Centerline is valid? [True, True] Translation: X:47.50, Y:-6.11, Z:-6.05 [[ 9.57661195e-01 2.72571395e-01 9.26815517e-02 4.74971626e+01] [-2.71346988e-01 9.62135463e-01 -2.58101479e-02 -6.11136000e+00] [-9.62073156e-02 -4.31482786e-04 9.95361224e-01 -6.05257793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.448241008000004 meters 0.05925126622132848 Centerline is valid? [True, True] Translation: X:47.53, Y:-6.12, Z:-6.06 [[ 9.57800903e-01 2.71743740e-01 9.36630621e-02 4.75263756e+01] [-2.70486459e-01 9.62369594e-01 -2.61120835e-02 -6.12205465e+00] [-9.72342782e-02 -3.24412893e-04 9.95261468e-01 -6.05768974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.478241008 meters 0.05918451301434073 Centerline is valid? [True, True] Translation: X:47.56, Y:-6.13, Z:-6.06 [[ 9.57854932e-01 2.71395875e-01 9.41180582e-02 4.75568350e+01] [-2.70122571e-01 9.62467769e-01 -2.62600630e-02 -6.13291311e+00] [-9.77124702e-02 -2.70080978e-04 9.95214650e-01 -6.06113514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.508241008 meters 0.059147990649178 Centerline is valid? [True, True] Translation: X:47.59, Y:-6.15, Z:-6.06 [[ 9.58205363e-01 2.69461915e-01 9.60872488e-02 4.75870757e+01] [-2.68122219e-01 9.63011046e-01 -2.68365671e-02 -6.14524851e+00] [-9.97645147e-02 -4.81839171e-05 9.95011075e-01 -6.06443277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.538241008 meters 0.059091203443217964 Centerline is valid? [True, True] Translation: X:47.62, Y:-6.16, Z:-6.07 [[ 9.58386812e-01 2.68412169e-01 9.72091841e-02 4.76163736e+01] [-2.67034190e-01 9.63304159e-01 -2.71631984e-02 -6.15623310e+00] [-1.00932944e-01 7.46753994e-05 9.94893228e-01 -6.06774332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.568241008 meters 0.059097378877475605 Centerline is valid? [True, True] Translation: X:47.65, Y:-6.17, Z:-6.07 [[ 9.58603194e-01 2.67848169e-01 9.66295779e-02 4.76463844e+01] [-2.66482617e-01 9.63461124e-01 -2.70125382e-02 -6.16725325e+00] [-1.00334101e-01 1.44202598e-04 9.94953792e-01 -6.07270491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.598241008 meters 0.05913992301457063 Centerline is valid? [True, True] Translation: X:47.68, Y:-6.18, Z:-6.08 [[ 9.58660706e-01 2.67463521e-01 9.71231994e-02 4.76757590e+01] [-2.66079277e-01 9.63567964e-01 -2.71771587e-02 -6.17747796e+00] [-1.00853702e-01 2.11203471e-04 9.94901244e-01 -6.07739624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.628241008 meters 0.05923616921389814 Centerline is valid? [True, True] Translation: X:47.71, Y:-6.18, Z:-6.08 [[ 9.58321378e-01 2.69391679e-01 9.51223421e-02 4.77063456e+01] [-2.68072472e-01 9.63030697e-01 -2.66275571e-02 -6.18497323e+00] [-9.87789777e-02 1.80758455e-05 9.95109398e-01 -6.08135819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.658241008 meters 0.05951522452928052 Centerline is valid? [True, True] Translation: X:47.74, Y:-6.19, Z:-6.09 [[ 9.57987929e-01 2.70714002e-01 9.47262208e-02 4.77357710e+01] [-2.69409655e-01 9.62659816e-01 -2.65427376e-02 -6.19317108e+00] [-9.83746170e-02 -9.25362484e-05 9.95149449e-01 -6.08660756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.688241008 meters 0.059379545492778185 Centerline is valid? [True, True] Translation: X:47.77, Y:-6.20, Z:-6.09 [[ 9.57831611e-01 2.71490064e-01 9.40837392e-02 4.77664302e+01] [-2.70206185e-01 9.62441229e-01 -2.63723035e-02 -6.20230211e+00] [-9.77098879e-02 -1.61782270e-04 9.95214927e-01 -6.08925086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.718241008 meters 0.059524548171694516 Centerline is valid? [True, True] Translation: X:47.80, Y:-6.21, Z:-6.09 [[ 9.57454963e-01 2.72398758e-01 9.52833162e-02 4.77964997e+01] [-2.71083859e-01 9.62184422e-01 -2.67334871e-02 -6.20920938e+00] [-9.89622912e-02 -2.33659085e-04 9.95091157e-01 -6.09443025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.748241008 meters 0.05962385828698428 Centerline is valid? [True, True] Translation: X:47.83, Y:-6.22, Z:-6.10 [[ 9.57144838e-01 2.73327283e-01 9.57389978e-02 4.78281329e+01] [-2.72002174e-01 9.61921047e-01 -2.68833951e-02 -6.21508974e+00] [-9.94413224e-02 -3.09912677e-04 9.95043380e-01 -6.09936974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.778241008 meters 0.05974529086826242 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.22, Z:-6.11 [[ 9.56977448e-01 2.73592904e-01 9.66493024e-02 4.78583718e+01] [-2.72241302e-01 9.61845529e-01 -2.71634100e-02 -6.22119133e+00] [-1.00393416e-01 -3.17161137e-04 9.94947768e-01 -6.10565790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.808241008 meters 0.05971424613986828 Centerline is valid? [True, True] Translation: X:47.89, Y:-6.23, Z:-6.11 [[ 9.56720128e-01 2.74471316e-01 9.67062228e-02 4.78902577e+01] [-2.73120504e-01 9.61595208e-01 -2.72001025e-02 -6.22939164e+00] [-1.00457888e-01 -3.89566746e-04 9.94941235e-01 -6.10901293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.838241008 meters 0.05972451968386077 Centerline is valid? [True, True] Translation: X:47.92, Y:-6.24, Z:-6.11 [[ 9.56338463e-01 2.75191798e-01 9.84185874e-02 4.79212137e+01] [-2.73793436e-01 9.61389242e-01 -2.77106271e-02 -6.23885482e+00] [-1.02244308e-01 -4.45624710e-04 9.94759219e-01 -6.10958491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.868241008 meters 0.05975347427382256 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.25, Z:-6.11 [[ 9.56014030e-01 2.76216382e-01 9.86999748e-02 4.79522844e+01] [-2.74812969e-01 9.61095326e-01 -2.78137873e-02 -6.24735422e+00] [-1.02542708e-01 -5.33662237e-04 9.94728460e-01 -6.11311421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.898241008 meters 0.05972390446669491 Centerline is valid? [True, True] Translation: X:47.98, Y:-6.26, Z:-6.12 [[ 9.55609820e-01 2.77333811e-01 9.94777837e-02 4.79834203e+01] [-2.75911096e-01 9.60773418e-01 -2.80625509e-02 -6.25566564e+00] [-1.03358304e-01 -6.30175119e-04 9.94643988e-01 -6.11597115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.928241008 meters 0.05985570780683428 Centerline is valid? [True, True] Translation: X:48.01, Y:-6.26, Z:-6.12 [[ 9.55296039e-01 2.78248704e-01 9.99356604e-02 4.80135555e+01] [-2.76815236e-01 9.60508801e-01 -2.82164550e-02 -6.26344004e+00] [-1.03840273e-01 -7.08645762e-04 9.94593734e-01 -6.12071870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.958241008 meters 0.05982461760616288 Centerline is valid? [True, True] Translation: X:48.04, Y:-6.27, Z:-6.12 [[ 9.55458371e-01 2.78017699e-01 9.90225278e-02 4.80437968e+01] [-2.76606394e-01 9.60575731e-01 -2.79851427e-02 -6.27293327e+00] [-1.02899002e-01 -6.51625486e-04 9.94691596e-01 -6.12409464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.988241008 meters 0.059849075895080525 Centerline is valid? [True, True] Translation: X:48.07, Y:-6.29, Z:-6.13 [[ 9.56512582e-01 2.74444606e-01 9.88121335e-02 4.80723457e+01] [-2.73017704e-01 9.61602880e-01 -2.79505586e-02 -6.28567559e+00] [-1.02688912e-01 -2.42400848e-04 9.94713491e-01 -6.12966212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.018241008000004 meters 0.05972455049266105 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.30, Z:-6.13 [[ 9.57248967e-01 2.72156600e-01 9.80061246e-02 4.81014775e+01] [-2.70738739e-01 9.62252973e-01 -2.77443832e-02 -6.29839991e+00] [-1.01857502e-01 2.42275200e-05 9.94798999e-01 -6.13296568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.048241008 meters 0.05965307908515815 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.31, Z:-6.14 [[ 9.58161000e-01 2.69203805e-01 9.72461252e-02 4.81307071e+01] [-2.67790354e-01 9.63083165e-01 -2.75525614e-02 -6.31020429e+00] [-1.01073360e-01 3.58215575e-04 9.94878911e-01 -6.13779027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.078241008 meters 0.06001393185418876 Centerline is valid? [True, True] Translation: X:48.16, Y:-6.32, Z:-6.14 [[ 9.58426115e-01 2.68389782e-01 9.68829608e-02 4.81595964e+01] [-2.66980036e-01 9.63310285e-01 -2.74764408e-02 -6.31900627e+00] [-1.00702749e-01 4.68322099e-04 9.94916447e-01 -6.14455587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.108241008 meters 0.06009447493077478 Centerline is valid? [True, True] Translation: X:48.19, Y:-6.33, Z:-6.15 [[ 9.58200376e-01 2.69362907e-01 9.64140218e-02 4.81916505e+01] [-2.67970755e-01 9.63038673e-01 -2.73530516e-02 -6.32633934e+00] [-1.00218329e-01 3.73566149e-04 9.94965400e-01 -6.14884641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.138241008 meters 0.06020378240910381 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.33, Z:-6.15 [[ 9.57877817e-01 2.70907218e-01 9.52857106e-02 4.82218833e+01] [-2.69552348e-01 9.62605435e-01 -2.70612006e-02 -6.33349150e+00] [-9.90536175e-02 2.36836731e-04 9.95082069e-01 -6.15422937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.168241008 meters 0.06004792385114953 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.34, Z:-6.16 [[ 9.57097979e-01 2.73368128e-01 9.60901888e-02 4.82535917e+01] [-2.72000390e-01 9.61909490e-01 -2.73115615e-02 -6.34055167e+00] [-9.98961750e-02 3.27157265e-06 9.94997866e-01 -6.15612636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.198241008000004 meters 0.0598792824995441 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.35, Z:-6.16 [[ 9.56758015e-01 2.74457474e-01 9.63700989e-02 4.82847236e+01] [-2.73084929e-01 9.61599234e-01 -2.74141273e-02 -6.34912876e+00] [-1.00193425e-01 -8.85355903e-05 9.94967974e-01 -6.15875867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.228241008 meters 0.05987900768539267 Centerline is valid? [True, True] Translation: X:48.32, Y:-6.36, Z:-6.16 [[ 9.56290943e-01 2.75610013e-01 9.77074845e-02 4.83157267e+01] [-2.74202058e-01 9.61269518e-01 -2.78234550e-02 -6.35747353e+00] [-1.01591649e-01 -1.84275360e-04 9.94826167e-01 -6.16086884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.258241008 meters 0.059628045615807236 Centerline is valid? [True, True] Translation: X:48.35, Y:-6.37, Z:-6.16 [[ 9.55952015e-01 2.76432362e-01 9.86959729e-02 4.83452635e+01] [-2.74997303e-01 9.61033344e-01 -2.81317576e-02 -6.36553594e+00] [-1.02626649e-01 -2.48515953e-04 9.94719915e-01 -6.16395329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.288241008 meters 0.059628045615807236 Centerline is valid? [True, True] Translation: X:48.38, Y:-6.37, Z:-6.17 [[ 9.55881626e-01 2.76676684e-01 9.86931089e-02 4.83760686e+01] [-2.75241887e-01 9.60963029e-01 -2.81418023e-02 -6.37451664e+00] [-1.02626609e-01 -2.64245755e-04 9.94719915e-01 -6.16800400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.318241008 meters 0.05945575051465385 Centerline is valid? [True, True] Translation: X:48.41, Y:-6.38, Z:-6.17 [[ 9.55382280e-01 2.77394515e-01 1.01474046e-01 4.84080251e+01] [-2.75878160e-01 9.60756046e-01 -2.89665444e-02 -6.38133188e+00] [-1.05526964e-01 -3.20349867e-04 9.94416390e-01 -6.17066160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.348241008 meters 0.059445321926919995 Centerline is valid? [True, True] Translation: X:48.44, Y:-6.39, Z:-6.17 [[ 9.55218620e-01 2.77674611e-01 1.02245773e-01 4.84388712e+01] [-2.76135425e-01 9.60675123e-01 -2.91981882e-02 -6.39000820e+00] [-1.06332566e-01 -3.43026986e-04 9.94330563e-01 -6.17282793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.378241008 meters 0.059500506060714047 Centerline is valid? [True, True] Translation: X:48.47, Y:-6.40, Z:-6.18 [[ 9.55198859e-01 2.77479527e-01 1.02957520e-01 4.84685120e+01] [-2.75914797e-01 9.60731504e-01 -2.94279066e-02 -6.39870659e+00] [-1.07080175e-01 -2.98000457e-04 9.94250344e-01 -6.17801883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.408241008 meters 0.059405632468518384 Centerline is valid? [True, True] Translation: X:48.50, Y:-6.41, Z:-6.18 [[ 9.55293988e-01 2.76984404e-01 1.03407140e-01 4.84984522e+01] [-2.75400491e-01 9.60874389e-01 -2.95800272e-02 -6.40931269e+00] [-1.07554479e-01 -2.20755027e-04 9.94199168e-01 -6.17995920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.438241008 meters 0.059349093110681816 Centerline is valid? [True, True] Translation: X:48.53, Y:-6.42, Z:-6.18 [[ 9.56238528e-01 2.73889034e-01 1.02920725e-01 4.85288995e+01] [-2.72299397e-01 9.61761288e-01 -2.94663266e-02 -6.42251238e+00] [-1.07055673e-01 1.51585406e-04 9.94253016e-01 -6.18422589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.468241008 meters 0.0593385927284103 Centerline is valid? [True, True] Translation: X:48.56, Y:-6.44, Z:-6.19 [[ 9.56981574e-01 2.71228942e-01 1.03058861e-01 4.85586226e+01] [-2.69616188e-01 9.62514743e-01 -2.95377969e-02 -6.43520095e+00] [-1.07207179e-01 4.80790094e-04 9.94236586e-01 -6.18826187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.498241008 meters 0.05940753536015243 Centerline is valid? [True, True] Translation: X:48.59, Y:-6.45, Z:-6.19 [[ 9.57709369e-01 2.68937119e-01 1.02301468e-01 4.85877470e+01] [-2.67332958e-01 9.63157444e-01 -2.93398512e-02 -6.44697772e+00] [-1.06422996e-01 7.50496295e-04 9.94320664e-01 -6.19259281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.528241008 meters 0.06006390857454277 Centerline is valid? [True, True] Translation: X:48.62, Y:-6.46, Z:-6.20 [[ 9.59106170e-01 2.64538674e-01 1.00670973e-01 4.86151162e+01] [-2.62959935e-01 9.64374292e-01 -2.88841982e-02 -6.46095565e+00] [-1.04725485e-01 1.23058022e-03 9.94500406e-01 -6.19792662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.558241008 meters 0.060278039590307184 Centerline is valid? [True, True] Translation: X:48.64, Y:-6.47, Z:-6.20 [[ 9.59555898e-01 2.63032744e-01 1.00330724e-01 4.86448023e+01] [-2.61454333e-01 9.64785876e-01 -2.88070221e-02 -6.47095032e+00] [-1.04374856e-01 1.41004541e-03 9.94537029e-01 -6.20328348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.588241008 meters 0.06061386821167644 Centerline is valid? [True, True] Translation: X:48.67, Y:-6.48, Z:-6.21 [[ 9.59737429e-01 2.62577664e-01 9.97849619e-02 4.86747321e+01] [-2.61011396e-01 9.64909733e-01 -2.86750371e-02 -6.47960426e+00] [-1.03812905e-01 1.47549421e-03 9.94595749e-01 -6.20852547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.618241008 meters 0.061074248348943504 Centerline is valid? [True, True] Translation: X:48.70, Y:-6.49, Z:-6.21 [[ 9.60108170e-01 2.61515776e-01 9.90040459e-02 4.87042133e+01] [-2.59966049e-01 9.65197876e-01 -2.84730116e-02 -6.48873665e+00] [-1.03004637e-01 1.59948039e-03 9.94679590e-01 -6.21415894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.648241008 meters 0.06119211571557788 Centerline is valid? [True, True] Translation: X:48.73, Y:-6.50, Z:-6.22 [[ 9.60192340e-01 2.61396811e-01 9.85006455e-02 4.87345025e+01] [-2.59859987e-01 9.65230059e-01 -2.83499670e-02 -6.49796822e+00] [-1.02486375e-01 1.62504469e-03 9.94733081e-01 -6.21822629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.678241008 meters 0.06124459128561607 Centerline is valid? [True, True] Translation: X:48.76, Y:-6.51, Z:-6.22 [[ 9.60345053e-01 2.60827647e-01 9.85206488e-02 4.87648482e+01] [-2.59284762e-01 9.65383871e-01 -2.83794741e-02 -6.50626357e+00] [-1.02512397e-01 1.70918459e-03 9.94730259e-01 -6.22164539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.708241008 meters 0.061135258110212656 Centerline is valid? [True, True] Translation: X:48.80, Y:-6.51, Z:-6.22 [[ 9.60346948e-01 2.60706729e-01 9.88217665e-02 4.87961870e+01] [-2.59151316e-01 9.65416459e-01 -2.84895900e-02 -6.51469649e+00] [-1.02831588e-01 1.75009992e-03 9.94697241e-01 -6.22483392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.738241008 meters 0.061334707975765575 Centerline is valid? [True, True] Translation: X:48.83, Y:-6.52, Z:-6.23 [[ 9.60255687e-01 2.61553879e-01 9.74606828e-02 4.88267081e+01] [-2.60042639e-01 9.65187444e-01 -2.81251572e-02 -6.52282614e+00] [-1.01424071e-01 1.66340905e-03 9.94841892e-01 -6.22995866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.768241008000004 meters 0.06174327663823324 Centerline is valid? [True, True] Translation: X:48.86, Y:-6.53, Z:-6.24 [[ 9.60228602e-01 2.61987834e-01 9.65577943e-02 4.88558099e+01] [-2.60504089e-01 9.65069803e-01 -2.78907573e-02 -6.53123349e+00] [-1.00492051e-01 1.62780264e-03 9.94936530e-01 -6.23645898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.798241008 meters 0.0619149299624523 Centerline is valid? [True, True] Translation: X:48.89, Y:-6.54, Z:-6.24 [[ 9.59990839e-01 2.63017290e-01 9.61222827e-02 4.88859053e+01] [-2.61551073e-01 9.64789918e-01 -2.77749926e-02 -6.53922124e+00] [-1.00043113e-01 1.52285226e-03 9.94981938e-01 -6.24164760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.828241008 meters 0.06134660073403523 Centerline is valid? [True, True] Translation: X:48.92, Y:-6.54, Z:-6.24 [[ 9.58990446e-01 2.67090539e-01 9.48681660e-02 4.89183332e+01] [-2.65679932e-01 9.63670804e-01 -2.74363795e-02 -6.54237505e+00] [-9.87496792e-02 1.10665795e-03 9.95111690e-01 -6.24377154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.858241008 meters 0.061202073070789904 Centerline is valid? [True, True] Translation: X:48.95, Y:-6.55, Z:-6.25 [[ 9.58217378e-01 2.69738217e-01 9.51879719e-02 4.89499157e+01] [-2.68328747e-01 9.62933308e-01 -2.75522687e-02 -6.54725715e+00] [-9.90915685e-02 8.59393368e-04 9.95077948e-01 -6.24724312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.888241008 meters 0.06108834364809094 Centerline is valid? [True, True] Translation: X:48.98, Y:-6.55, Z:-6.25 [[ 9.57232387e-01 2.72946102e-01 9.59509337e-02 4.89818945e+01] [-2.71527516e-01 9.62029166e-01 -2.77973206e-02 -6.55210092e+00] [-9.98947671e-02 5.55176903e-04 9.94997853e-01 -6.25205061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.918241008 meters 0.06108896462790213 Centerline is valid? [True, True] Translation: X:49.01, Y:-6.56, Z:-6.26 [[ 9.56409062e-01 2.75671951e-01 9.63674266e-02 4.90128119e+01] [-2.74252359e-01 9.61251730e-01 -2.79419956e-02 -6.55748050e+00] [-1.00336180e-01 2.94983690e-04 9.94953549e-01 -6.25686486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.948241008000004 meters 0.06118582118243085 Centerline is valid? [True, True] Translation: X:49.04, Y:-6.56, Z:-6.26 [[ 9.55068415e-01 2.80182530e-01 9.66543989e-02 4.90443058e+01] [-2.78775033e-01 9.59946731e-01 -2.80491574e-02 -6.56149481e+00] [-1.00641958e-01 -1.55968996e-04 9.94922696e-01 -6.26135408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.978241008 meters 0.06114141048630897 Centerline is valid? [True, True] Translation: X:49.07, Y:-6.57, Z:-6.26 [[ 9.54505355e-01 2.81684327e-01 9.78440916e-02 4.90749955e+01] [-2.80247262e-01 9.59507089e-01 -2.84186398e-02 -6.56932357e+00] [-1.01887185e-01 -2.94794881e-04 9.94795916e-01 -6.26388433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.008241008 meters 0.060959683727674054 Centerline is valid? [True, True] Translation: X:49.11, Y:-6.58, Z:-6.26 [[ 9.53909078e-01 2.83429511e-01 9.86163408e-02 4.91065992e+01] [-2.81976068e-01 9.58992962e-01 -2.86704578e-02 -6.57836570e+00] [-1.02698431e-01 -4.58438110e-04 9.94712432e-01 -6.26381801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.038241008 meters 0.06095783929466093 Centerline is valid? [True, True] Translation: X:49.14, Y:-6.59, Z:-6.27 [[ 9.53564607e-01 2.84240045e-01 9.96099213e-02 4.91362774e+01] [-2.82760855e-01 9.58752992e-01 -2.89654881e-02 -6.58716414e+00] [-1.03734462e-01 -5.45322294e-04 9.94604878e-01 -6.26682841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.068241008 meters 0.061061041718299354 Centerline is valid? [True, True] Translation: X:49.17, Y:-6.60, Z:-6.27 [[ 9.53006998e-01 2.85888505e-01 1.00226862e-01 4.91674375e+01] [-2.84397620e-01 9.58262627e-01 -2.91673067e-02 -6.59643057e+00] [-1.04382253e-01 -7.07633496e-04 9.94537000e-01 -6.26997962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.098241008 meters 0.061076973976385986 Centerline is valid? [True, True] Translation: X:49.20, Y:-6.61, Z:-6.28 [[ 9.53164839e-01 2.85356038e-01 1.00243313e-01 4.91972050e+01] [-2.83858717e-01 9.58421382e-01 -2.92007520e-02 -6.60565591e+00] [-1.04407945e-01 -6.21808043e-04 9.94534361e-01 -6.27532045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.128241008 meters 0.061267516441883434 Centerline is valid? [True, True] Translation: X:49.23, Y:-6.61, Z:-6.28 [[ 9.53298828e-01 2.84867105e-01 1.00359736e-01 4.92279817e+01] [-2.83360839e-01 9.58566866e-01 -2.92608622e-02 -6.61492459e+00] [-1.04536975e-01 -5.43673427e-04 9.94520852e-01 -6.28107749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.158241008 meters 0.06141039906300994 Centerline is valid? [True, True] Translation: X:49.26, Y:-6.63, Z:-6.29 [[ 9.53994708e-01 2.83008195e-01 9.89972683e-02 4.92561521e+01] [-2.81529728e-01 9.59117442e-01 -2.88919674e-02 -6.62663095e+00] [-1.03126670e-01 -3.07890035e-04 9.94668183e-01 -6.28831921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.188241008 meters 0.06146352661257388 Centerline is valid? [True, True] Translation: X:49.29, Y:-6.64, Z:-6.29 [[ 9.54482464e-01 2.81798909e-01 9.77374029e-02 4.92853322e+01] [-2.80349167e-01 9.59473476e-01 -2.85480840e-02 -6.63828539e+00] [-1.01821265e-01 -1.51953922e-04 9.94802698e-01 -6.29261529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.218241008 meters 0.06145242261111057 Centerline is valid? [True, True] Translation: X:49.32, Y:-6.65, Z:-6.30 [[ 9.54781376e-01 2.81029100e-01 9.70317942e-02 4.93150450e+01] [-2.79595279e-01 9.59699245e-01 -2.83520545e-02 -6.65051396e+00] [-1.01089092e-01 -5.96178816e-05 9.94877375e-01 -6.29687834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.248241008 meters 0.06144653810502356 Centerline is valid? [True, True] Translation: X:49.34, Y:-6.67, Z:-6.30 [[ 9.55724252e-01 2.77933156e-01 9.66660022e-02 4.93420628e+01] [-2.76491743e-01 9.60600373e-01 -2.82708392e-02 -6.66701398e+00] [-1.00714801e-01 2.91775206e-04 9.94915295e-01 -6.29900344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.278241008 meters 0.06159075832382236 Centerline is valid? [True, True] Translation: X:49.37, Y:-6.68, Z:-6.30 [[ 9.56169786e-01 2.76644992e-01 9.59525332e-02 4.93709437e+01] [-2.75217252e-01 9.60972091e-01 -2.80732067e-02 -6.67935294e+00] [-9.99740185e-02 4.34959524e-04 9.94989953e-01 -6.30311510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.308241008 meters 0.061366724854115755 Centerline is valid? [True, True] Translation: X:49.40, Y:-6.69, Z:-6.30 [[ 9.56526219e-01 2.75465648e-01 9.57928499e-02 4.94013027e+01] [-2.74035845e-01 9.61310749e-01 -2.80356826e-02 -6.68989910e+00] [-9.98095638e-02 5.66190866e-04 9.95006397e-01 -6.30400319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.338241008000004 meters 0.06185733436666669 Centerline is valid? [True, True] Translation: X:49.43, Y:-6.70, Z:-6.31 [[ 9.56632888e-01 2.75082152e-01 9.58296751e-02 4.94314743e+01] [-2.73646955e-01 9.61420519e-01 -2.80700938e-02 -6.69855558e+00] [-9.98541977e-02 6.29276121e-04 9.95001881e-01 -6.31352526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.368241008 meters 0.06214298992595203 Centerline is valid? [True, True] Translation: X:49.46, Y:-6.70, Z:-6.32 [[ 9.56436938e-01 2.75805400e-01 9.57066658e-02 4.94618887e+01] [-2.74374913e-01 9.61213320e-01 -2.80599365e-02 -6.70416247e+00] [-9.97336041e-02 5.78051605e-04 9.95014007e-01 -6.32138898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.398241008 meters 0.062382547449996675 Centerline is valid? [True, True] Translation: X:49.49, Y:-6.71, Z:-6.32 [[ 9.56500466e-01 2.75495367e-01 9.59643770e-02 4.94927095e+01] [-2.74053211e-01 9.61302189e-01 -2.81591572e-02 -6.71392695e+00] [-1.00008483e-01 6.34901332e-04 9.94986382e-01 -6.32490829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.428241008 meters 0.061874398620832036 Centerline is valid? [True, True] Translation: X:49.52, Y:-6.72, Z:-6.32 [[ 9.56657867e-01 2.74851019e-01 9.62426306e-02 4.95247876e+01] [-2.73394687e-01 9.61486551e-01 -2.82658553e-02 -6.72412115e+00] [-1.00304894e-01 7.28529035e-04 9.94956480e-01 -6.32418707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.458241008 meters 0.06267109174586992 Centerline is valid? [True, True] Translation: X:49.55, Y:-6.74, Z:-6.33 [[ 9.57281680e-01 2.73345941e-01 9.43068531e-02 4.95520403e+01] [-2.71937762e-01 9.61915379e-01 -2.77246744e-02 -6.73828342e+00] [-9.82936396e-02 8.94728331e-04 9.95157053e-01 -6.33115938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.488241008 meters 0.06238282904326917 Centerline is valid? [True, True] Translation: X:49.58, Y:-6.75, Z:-6.33 [[ 9.57627824e-01 2.72481803e-01 9.32878235e-02 4.95827727e+01] [-2.71097866e-01 9.62160424e-01 -2.74456831e-02 -6.74704908e+00] [-9.72363011e-02 9.92619930e-04 9.95260828e-01 -6.33088003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.518241008000004 meters 0.06306720505412801 Centerline is valid? [True, True] Translation: X:49.61, Y:-6.76, Z:-6.34 [[ 9.57647086e-01 2.72563853e-01 9.28493643e-02 4.96110254e+01] [-2.71191089e-01 9.62137174e-01 -2.73395400e-02 -6.75639431e+00] [-9.67855954e-02 1.00171061e-03 9.95304750e-01 -6.33985209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.548241008 meters 0.062392709436143494 Centerline is valid? [True, True] Translation: X:49.64, Y:-6.76, Z:-6.34 [[ 9.57712723e-01 2.72559137e-01 9.21838188e-02 4.96432077e+01] [-2.71204092e-01 9.62138498e-01 -2.71634302e-02 -6.76233260e+00] [-9.60972420e-02 1.01413383e-03 9.95371434e-01 -6.33930802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.578241008 meters 0.0632689901983789 Centerline is valid? [True, True] Translation: X:49.67, Y:-6.77, Z:-6.35 [[ 9.58330282e-01 2.71217227e-01 8.96899478e-02 4.96730078e+01] [-2.69926777e-01 9.62517491e-01 -2.64502370e-02 -6.77047200e+00] [-9.35019034e-02 1.13834454e-03 9.95618450e-01 -6.34737265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.608241008 meters 0.06344922391304905 Centerline is valid? [True, True] Translation: X:49.70, Y:-6.78, Z:-6.35 [[ 9.58616691e-01 2.70318529e-01 8.93416647e-02 4.97016808e+01] [-2.69032225e-01 9.62770144e-01 -2.63687533e-02 -6.77993924e+00] [-9.31434500e-02 1.24174024e-03 9.95651925e-01 -6.35269677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.638241008 meters 0.06376772802563417 Centerline is valid? [True, True] Translation: X:49.73, Y:-6.79, Z:-6.36 [[ 9.58888295e-01 2.69318053e-01 8.94484419e-02 4.97321637e+01] [-2.68022860e-01 9.63050336e-01 -2.64158588e-02 -6.79021057e+00] [-9.32576197e-02 1.35563050e-03 9.95641089e-01 -6.35698799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.668241008 meters 0.06409487600897781 Centerline is valid? [True, True] Translation: X:49.76, Y:-6.80, Z:-6.36 [[ 9.59192139e-01 2.67974730e-01 9.02218630e-02 4.97618310e+01] [-2.66649024e-01 9.63424742e-01 -2.66657852e-02 -6.80231230e+00] [-9.40677317e-02 1.52003978e-03 9.95564639e-01 -6.36012527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.698241008000004 meters 0.0640126748182699 Centerline is valid? [True, True] Translation: X:49.79, Y:-6.82, Z:-6.36 [[ 9.59884070e-01 2.65155827e-01 9.11864031e-02 4.97914682e+01] [-2.63786535e-01 9.64203819e-01 -2.69751638e-02 -6.81643652e+00] [-9.50749000e-02 1.83928472e-03 9.95468423e-01 -6.35937630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.728241008 meters 0.06429890829277017 Centerline is valid? [True, True] Translation: X:49.82, Y:-6.83, Z:-6.36 [[ 9.59956493e-01 2.64803601e-01 9.14471693e-02 4.98217563e+01] [-2.63422815e-01 9.64300494e-01 -2.70735724e-02 -6.82659880e+00] [-9.53517300e-02 1.90018092e-03 9.95441830e-01 -6.36319134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.758241008 meters 0.06426902090943876 Centerline is valid? [True, True] Translation: X:49.85, Y:-6.83, Z:-6.37 [[ 9.59778002e-01 2.65496236e-01 9.13123021e-02 4.98542748e+01] [-2.64120520e-01 9.64110121e-01 -2.70559768e-02 -6.82986830e+00] [-9.52183746e-02 1.85027868e-03 9.95454689e-01 -6.36956602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.788241008 meters 0.0645224555539474 Centerline is valid? [True, True] Translation: X:49.88, Y:-6.84, Z:-6.38 [[ 9.59440812e-01 2.66853049e-01 9.08998302e-02 4.98841034e+01] [-2.65493392e-01 9.63735673e-01 -2.69594245e-02 -6.83514924e+00] [-9.47976137e-02 1.73266783e-03 9.95495058e-01 -6.37618458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.818241008 meters 0.0642152183249786 Centerline is valid? [True, True] Translation: X:49.91, Y:-6.84, Z:-6.38 [[ 9.59084169e-01 2.68229755e-01 9.06110155e-02 4.99145578e+01] [-2.66883029e-01 9.63353624e-01 -2.68931758e-02 -6.84123456e+00] [-9.45040001e-02 1.61027685e-03 9.95523180e-01 -6.38073435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.848241008 meters 0.06426575958080469 Centerline is valid? [True, True] Translation: X:49.95, Y:-6.85, Z:-6.39 [[ 9.58855947e-01 2.69006945e-01 9.07223066e-02 4.99457113e+01] [-2.67658568e-01 9.63136983e-01 -2.69451755e-02 -6.84923958e+00] [-9.46264481e-02 1.55393912e-03 9.95511638e-01 -6.38517655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.878241008 meters 0.06419672073274468 Centerline is valid? [True, True] Translation: X:49.98, Y:-6.86, Z:-6.39 [[ 9.58592027e-01 2.69713443e-01 9.14110712e-02 4.99753985e+01] [-2.68345385e-01 9.62939434e-01 -2.71735506e-02 -6.85841426e+00] [-9.53523970e-02 1.51860988e-03 9.95442421e-01 -6.38842344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.908241008 meters 0.06378764311061724 Centerline is valid? [True, True] Translation: X:50.01, Y:-6.87, Z:-6.39 [[ 9.58222379e-01 2.70460654e-01 9.30639947e-02 5.00050895e+01] [-2.69045049e-01 9.62729891e-01 -2.76752478e-02 -6.86718787e+00] [-9.70805551e-02 1.48063475e-03 9.95275426e-01 -6.38806428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.938241008 meters 0.06379644994190295 Centerline is valid? [True, True] Translation: X:50.04, Y:-6.88, Z:-6.39 [[ 9.58168347e-01 2.70736499e-01 9.28179283e-02 5.00367389e+01] [-2.69327917e-01 9.62652377e-01 -2.76201867e-02 -6.87686447e+00] [-9.68291919e-02 1.46632934e-03 9.95299933e-01 -6.39155078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.968241008 meters 0.06377064413087728 Centerline is valid? [True, True] Translation: X:50.07, Y:-6.89, Z:-6.40 [[ 9.58167222e-01 2.70742442e-01 9.28122024e-02 5.00678470e+01] [-2.69331747e-01 9.62650671e-01 -2.76422928e-02 -6.88663895e+00] [-9.68296708e-02 1.48866635e-03 9.95299854e-01 -6.39614490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.998241008 meters 0.0636840458824613 Centerline is valid? [True, True] Translation: X:50.10, Y:-6.89, Z:-6.40 [[ 9.58170979e-01 2.70516848e-01 9.34291677e-02 5.00982140e+01] [-2.69083779e-01 9.62714000e-01 -2.78509249e-02 -6.89491552e+00] [-9.74797121e-02 1.54567445e-03 9.95236312e-01 -6.40009732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.028241008 meters 0.06291860621961974 Centerline is valid? [True, True] Translation: X:50.13, Y:-6.90, Z:-6.40 [[ 9.58674191e-01 2.69439946e-01 9.13559599e-02 5.01306671e+01] [-2.68063211e-01 9.63015803e-01 -2.72521226e-02 -6.89966391e+00] [-9.53200435e-02 1.63673460e-03 9.95445333e-01 -6.40079449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.058241008 meters 0.06305804922839077 Centerline is valid? [True, True] Translation: X:50.16, Y:-6.91, Z:-6.40 [[ 9.58914842e-01 2.68962692e-01 9.02296891e-02 5.01612073e+01] [-2.67615632e-01 9.63149123e-01 -2.69376987e-02 -6.90840468e+00] [-9.41498820e-02 1.68408381e-03 9.95556610e-01 -6.40472670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.088241008000004 meters 0.06385978713627385 Centerline is valid? [True, True] Translation: X:50.19, Y:-6.92, Z:-6.41 [[ 9.59856822e-01 2.66294489e-01 8.81029282e-02 5.01888644e+01] [-2.64997036e-01 9.63889803e-01 -2.63252328e-02 -6.92139447e+00] [-9.19317785e-02 1.92143948e-03 9.95763454e-01 -6.41040417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.118241008 meters 0.06421897761468483 Centerline is valid? [True, True] Translation: X:50.22, Y:-6.93, Z:-6.41 [[ 9.60221375e-01 2.65044333e-01 8.79000156e-02 5.02189221e+01] [-2.63746000e-01 9.64234040e-01 -2.62823720e-02 -6.93267991e+00] [-9.17221809e-02 2.05361784e-03 9.95782519e-01 -6.41499354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.148241008 meters 0.06440423779838167 Centerline is valid? [True, True] Translation: X:50.25, Y:-6.94, Z:-6.42 [[ 9.60605790e-01 2.63608918e-01 8.80162152e-02 5.02490966e+01] [-2.62299201e-01 9.64627097e-01 -2.63380343e-02 -6.94342315e+00] [-9.18457669e-02 2.21388532e-03 9.95770784e-01 -6.41752281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.178241008 meters 0.06450905347035632 Centerline is valid? [True, True] Translation: X:50.28, Y:-6.95, Z:-6.42 [[ 9.60896598e-01 2.62424459e-01 8.83806104e-02 5.02787801e+01] [-2.61096857e-01 9.64949659e-01 -2.64685896e-02 -6.95426798e+00] [-9.22288452e-02 2.35767807e-03 9.95735046e-01 -6.42033490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.208241008 meters 0.06522269718199405 Centerline is valid? [True, True] Translation: X:50.31, Y:-6.97, Z:-6.42 [[ 9.61234131e-01 2.60465270e-01 9.04808783e-02 5.03073812e+01] [-2.59062813e-01 9.65479638e-01 -2.71206067e-02 -6.96680277e+00] [-9.44214218e-02 2.62902195e-03 9.95528846e-01 -6.42253305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.238241008 meters 0.06522269718199405 Centerline is valid? [True, True] Translation: X:50.34, Y:-6.98, Z:-6.43 [[ 9.61170101e-01 2.60703230e-01 9.04757605e-02 5.03380928e+01] [-2.59300220e-01 9.65415425e-01 -2.71376678e-02 -6.97616980e+00] [-9.44215724e-02 2.62353029e-03 9.95528846e-01 -6.42659360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.268241008000004 meters 0.06446509178711053 Centerline is valid? [True, True] Translation: X:50.37, Y:-6.98, Z:-6.43 [[ 9.61261341e-01 2.60146718e-01 9.11060925e-02 5.03699457e+01] [-2.58719207e-01 9.65565266e-01 -2.73512232e-02 -6.98405572e+00] [-9.50842094e-02 2.72077750e-03 9.95465514e-01 -6.42811544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.298241008 meters 0.06454609352053749 Centerline is valid? [True, True] Translation: X:50.40, Y:-6.99, Z:-6.43 [[ 9.61188094e-01 2.60132595e-01 9.19156180e-02 5.04003446e+01] [-2.58676577e-01 9.65568914e-01 -2.76242714e-02 -6.99354541e+00] [-9.59368368e-02 2.77570332e-03 9.95383554e-01 -6.43254220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.328241008 meters 0.06438664208139115 Centerline is valid? [True, True] Translation: X:50.43, Y:-7.00, Z:-6.44 [[ 9.60820689e-01 2.61345556e-01 9.23152425e-02 5.04315431e+01] [-2.59881079e-01 9.65241587e-01 -2.77579399e-02 -7.00188221e+00] [-9.63609254e-02 2.67941811e-03 9.95342852e-01 -6.43645732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.358241008 meters 0.06461689259029399 Centerline is valid? [True, True] Translation: X:50.46, Y:-7.01, Z:-6.44 [[ 9.59642090e-01 2.65774959e-01 9.19278493e-02 5.04610676e+01] [-2.64342328e-01 9.64032514e-01 -2.76486116e-02 -7.00673792e+00] [-9.59697443e-02 2.23234978e-03 9.95381748e-01 -6.44495650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.388241008 meters 0.06313472765706656 Centerline is valid? [True, True] Translation: X:50.49, Y:-7.01, Z:-6.45 [[ 9.58835979e-01 2.68547005e-01 9.22825673e-02 5.04943732e+01] [-2.67115053e-01 9.63264561e-01 -2.77656973e-02 -7.00984761e+00] [-9.63489216e-02 1.97268671e-03 9.95345666e-01 -6.44531223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.418241008 meters 0.0629298229329947 Centerline is valid? [True, True] Translation: X:50.52, Y:-7.02, Z:-6.45 [[ 9.57774033e-01 2.72371968e-01 9.21000138e-02 5.05249502e+01] [-2.70962165e-01 9.62190710e-01 -2.77226060e-02 -7.01618014e+00] [-9.61686384e-02 1.59637305e-03 9.95363775e-01 -6.45054280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.448241008000004 meters 0.062384843973758417 Centerline is valid? [True, True] Translation: X:50.56, Y:-7.02, Z:-6.46 [[ 9.55471934e-01 2.80707655e-01 9.09757934e-02 5.05570487e+01] [-2.79367219e-01 9.59793005e-01 -2.74106600e-02 -7.01739321e+00] [-9.50123122e-02 7.74461923e-04 9.95475796e-01 -6.45615072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.478241008 meters 0.062199480864391456 Centerline is valid? [True, True] Translation: X:50.59, Y:-7.02, Z:-6.46 [[ 9.54315644e-01 2.84619089e-01 9.09594771e-02 5.05890202e+01] [-2.83296508e-01 9.58640612e-01 -2.74092192e-02 -7.02264927e+00] [-9.49986358e-02 3.88544430e-04 9.95477327e-01 -6.46059449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.508241008 meters 0.06227481871608666 Centerline is valid? [True, True] Translation: X:50.62, Y:-7.03, Z:-6.47 [[ 9.53052355e-01 2.88857983e-01 9.08420309e-02 5.06215035e+01] [-2.87555990e-01 9.57371958e-01 -2.73950295e-02 -7.02711690e+00] [-9.48828859e-02 -1.32727092e-05 9.95488442e-01 -6.46632547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.538241008 meters 0.0625550155741755 Centerline is valid? [True, True] Translation: X:50.65, Y:-7.03, Z:-6.47 [[ 9.52024342e-01 2.92125279e-01 9.11727660e-02 5.06531817e+01] [-2.90826197e-01 9.56380009e-01 -2.75209132e-02 -7.03137806e+00] [-9.52353652e-02 -3.14849459e-04 9.95454733e-01 -6.47195710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.568241008 meters 0.06319015503675841 Centerline is valid? [True, True] Translation: X:50.69, Y:-7.03, Z:-6.48 [[ 9.50298614e-01 2.97392689e-01 9.21419126e-02 5.06853816e+01] [-2.96088075e-01 9.54754892e-01 -2.78379022e-02 -7.03238379e+00] [-9.62517303e-02 -8.27801663e-04 9.95356679e-01 -6.47883043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.598241008 meters 0.06351930478794679 Centerline is valid? [True, True] Translation: X:50.72, Y:-7.04, Z:-6.48 [[ 9.49415098e-01 3.00104230e-01 9.24576791e-02 5.07164942e+01] [-2.98801065e-01 9.53905802e-01 -2.79579108e-02 -7.04029204e+00] [-9.65862038e-02 -1.08279037e-03 9.95324034e-01 -6.48262065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.628241008 meters 0.06368901734391567 Centerline is valid? [True, True] Translation: X:50.75, Y:-7.05, Z:-6.49 [[ 9.48958351e-01 3.01753447e-01 9.17763857e-02 5.07471550e+01] [-3.00475033e-01 9.53385215e-01 -2.77738514e-02 -7.04990869e+00] [-9.58791046e-02 -1.22028425e-03 9.95392238e-01 -6.48517092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.658241008 meters 0.06418419698311537 Centerline is valid? [True, True] Translation: X:50.78, Y:-7.06, Z:-6.49 [[ 9.48283991e-01 3.03971804e-01 9.14254656e-02 5.07771113e+01] [-3.02711268e-01 9.52679975e-01 -2.76903240e-02 -7.05863111e+00] [-9.55162880e-02 -1.41722767e-03 9.95426858e-01 -6.48861387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.688241008 meters 0.06503646322758717 Centerline is valid? [True, True] Translation: X:50.81, Y:-7.06, Z:-6.49 [[ 9.47320191e-01 3.07113444e-01 9.09163773e-02 5.08067444e+01] [-3.05879123e-01 9.51671391e-01 -2.75594926e-02 -7.06478205e+00] [-9.49864059e-02 -1.70175794e-03 9.95477115e-01 -6.49375551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.718241008 meters 0.0653241561326107 Centerline is valid? [True, True] Translation: X:50.84, Y:-7.07, Z:-6.50 [[ 9.47000369e-01 3.08030051e-01 9.11470677e-02 5.08383291e+01] [-3.06793037e-01 9.51374940e-01 -2.76361328e-02 -7.07393227e+00] [-9.52277955e-02 -1.79185770e-03 9.95453895e-01 -6.49889830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.748241008 meters 0.06495094152349597 Centerline is valid? [True, True] Translation: X:50.87, Y:-7.09, Z:-6.50 [[ 9.47449514e-01 3.06732415e-01 9.08550696e-02 5.08681918e+01] [-3.05494539e-01 9.51794398e-01 -2.75773454e-02 -7.08672608e+00] [-9.49342120e-02 -1.62758506e-03 9.95482218e-01 -6.50345339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.778241008 meters 0.06493722677690549 Centerline is valid? [True, True] Translation: X:50.90, Y:-7.10, Z:-6.51 [[ 9.47762252e-01 3.05891864e-01 9.04261112e-02 5.08970945e+01] [-3.04661597e-01 9.52065027e-01 -2.74498685e-02 -7.09928995e+00] [-9.44882295e-02 -1.53341426e-03 9.95524798e-01 -6.50876928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.808241008 meters 0.0638737438697706 Centerline is valid? [True, True] Translation: X:50.93, Y:-7.12, Z:-6.51 [[ 9.48735673e-01 3.02397945e-01 9.19570895e-02 5.09253696e+01] [-3.01106407e-01 9.53181040e-01 -2.79434493e-02 -7.11680547e+00] [-9.61017958e-02 -1.17792163e-03 9.95370814e-01 -6.50965752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.838241008000004 meters 0.06332814269362208 Centerline is valid? [True, True] Translation: X:50.96, Y:-7.13, Z:-6.51 [[ 9.49021457e-01 3.01479042e-01 9.20253299e-02 5.09550440e+01] [-3.00181119e-01 9.53472187e-01 -2.79657618e-02 -7.12965112e+00] [-9.61746836e-02 -1.08415851e-03 9.95363881e-01 -6.51166551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.868241008 meters 0.06308307609109723 Centerline is valid? [True, True] Translation: X:50.98, Y:-7.15, Z:-6.52 [[ 9.49791030e-01 2.98679416e-01 9.32073307e-02 5.09828830e+01] [-2.97332152e-01 9.54353176e-01 -2.83479638e-02 -7.14526788e+00] [-9.74196653e-02 -7.88894461e-04 9.95243079e-01 -6.51515849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.898241008 meters 0.06295485975422567 Centerline is valid? [True, True] Translation: X:51.01, Y:-7.16, Z:-6.52 [[ 9.50106055e-01 2.97425101e-01 9.40042222e-02 5.10113261e+01] [-2.96046218e-01 9.54744937e-01 -2.86136609e-02 -7.15815364e+00] [-9.82604762e-02 -6.43581998e-04 9.95160522e-01 -6.52013591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.928241008 meters 0.06219339950455436 Centerline is valid? [True, True] Translation: X:51.04, Y:-7.17, Z:-6.52 [[ 9.50494630e-01 2.96092758e-01 9.42816896e-02 5.10407917e+01] [-2.94697162e-01 9.55159065e-01 -2.87183313e-02 -7.17305077e+00] [-9.85573004e-02 -4.87926646e-04 9.95131258e-01 -6.51721396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.958241008 meters 0.062233451121624005 Centerline is valid? [True, True] Translation: X:51.07, Y:-7.18, Z:-6.52 [[ 9.50977051e-01 2.94461140e-01 9.45266377e-02 5.10691300e+01] [-2.93047783e-01 9.55663408e-01 -2.88174879e-02 -7.18465446e+00] [-9.88212791e-02 -2.96051871e-04 9.95105154e-01 -6.52397057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.988241008 meters 0.06219245846026144 Centerline is valid? [True, True] Translation: X:51.10, Y:-7.20, Z:-6.53 [[ 9.52127671e-01 2.90197265e-01 9.61168300e-02 5.10974735e+01] [-2.88711794e-01 9.56966832e-01 -2.93254566e-02 -7.19747637e+00] [-1.00490786e-01 1.71516304e-04 9.94937974e-01 -6.52940688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.018241008000004 meters 0.062142587251650526 Centerline is valid? [True, True] Translation: X:51.13, Y:-7.21, Z:-6.53 [[ 9.52657968e-01 2.88445916e-01 9.61340206e-02 5.11284888e+01] [-2.86949032e-01 9.57496116e-01 -2.93503037e-02 -7.20841159e+00] [-1.00513927e-01 3.75236559e-04 9.94935581e-01 -6.53199185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.048241008 meters 0.06250356324504767 Centerline is valid? [True, True] Translation: X:51.16, Y:-7.22, Z:-6.54 [[ 9.52680848e-01 2.88589894e-01 9.54729055e-02 5.11568964e+01] [-2.87111464e-01 9.57452727e-01 -2.91767415e-02 -7.21781945e+00] [-9.98309065e-02 3.84757198e-04 9.95004343e-01 -6.54018200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.078241008 meters 0.06249479554611849 Centerline is valid? [True, True] Translation: X:51.19, Y:-7.23, Z:-6.54 [[ 9.52467821e-01 2.89291765e-01 9.54742115e-02 5.11878642e+01] [-2.87814701e-01 9.57240913e-01 -2.91981709e-02 -7.22719363e+00] [-9.98386117e-02 3.31436634e-04 9.95003589e-01 -6.54365010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.108241008 meters 0.06268316760022165 Centerline is valid? [True, True] Translation: X:51.22, Y:-7.24, Z:-6.55 [[ 9.52260947e-01 2.90332322e-01 9.43728358e-02 5.12172728e+01] [-2.88891518e-01 9.56925850e-01 -2.88895985e-02 -7.23675653e+00] [-9.86953903e-02 2.46924680e-04 9.95117661e-01 -6.54745874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.138241008 meters 0.06290935041252377 Centerline is valid? [True, True] Translation: X:51.25, Y:-7.25, Z:-6.55 [[ 9.52365616e-01 2.90156508e-01 9.38559230e-02 5.12476186e+01] [-2.88729744e-01 9.56979167e-01 -2.87403634e-02 -7.24634951e+00] [-9.81573666e-02 2.72337287e-04 9.95170868e-01 -6.55207205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.168241008 meters 0.06282682413895153 Centerline is valid? [True, True] Translation: X:51.28, Y:-7.26, Z:-6.55 [[ 9.52563681e-01 2.89954331e-01 9.24603647e-02 5.12778910e+01] [-2.88566855e-01 9.57040433e-01 -2.83333617e-02 -7.25565964e+00] [-9.67036885e-02 3.08334603e-04 9.95313168e-01 -6.55460778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.198241008000004 meters 0.0638497213391581 Centerline is valid? [True, True] Translation: X:51.31, Y:-7.27, Z:-6.57 [[ 9.53132619e-01 2.88701255e-01 9.04974883e-02 5.13062409e+01] [-2.87364213e-01 9.57419126e-01 -2.77565526e-02 -7.26511871e+00] [-9.46573778e-02 4.49936214e-04 9.95509808e-01 -6.56708385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.228241008 meters 0.06356364328086155 Centerline is valid? [True, True] Translation: X:51.34, Y:-7.27, Z:-6.57 [[ 9.53238412e-01 2.88608527e-01 8.96752329e-02 5.13375656e+01] [-2.87294631e-01 9.57447077e-01 -2.75116416e-02 -7.27371720e+00] [-9.37993839e-02 4.61940667e-04 9.95591012e-01 -6.56832280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.258241008 meters 0.06339971910600754 Centerline is valid? [True, True] Translation: X:51.37, Y:-7.28, Z:-6.57 [[ 9.53484576e-01 2.87418537e-01 9.08721491e-02 5.13682283e+01] [-2.86061763e-01 9.57804894e-01 -2.79007705e-02 -7.28370406e+00] [-9.50569877e-02 6.07907194e-04 9.95471647e-01 -6.57138619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.288241008 meters 0.06356380977306153 Centerline is valid? [True, True] Translation: X:51.40, Y:-7.30, Z:-6.57 [[ 9.53796111e-01 2.85827027e-01 9.26060930e-02 5.13968331e+01] [-2.84408134e-01 9.58280891e-01 -2.84560750e-02 -7.29547060e+00] [-9.68761646e-02 8.03367640e-04 9.95296118e-01 -6.57448732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.318241008 meters 0.0631284457998547 Centerline is valid? [True, True] Translation: X:51.43, Y:-7.31, Z:-6.57 [[ 9.55230557e-01 2.79869949e-01 9.59551714e-02 5.14268592e+01] [-2.78314127e-01 9.60036782e-01 -2.95063542e-02 -7.31136803e+00] [-1.00378436e-01 1.47969146e-03 9.94948230e-01 -6.56862604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.348241008 meters 0.06355757190329127 Centerline is valid? [True, True] Translation: X:51.46, Y:-7.32, Z:-6.57 [[ 9.55984788e-01 2.76709594e-01 9.75955221e-02 5.14555185e+01] [-2.75080959e-01 9.60951775e-01 -3.00358399e-02 -7.32419740e+00] [-1.02095795e-01 1.86713619e-03 9.94772819e-01 -6.57119141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.378241008 meters 0.06473757318134049 Centerline is valid? [True, True] Translation: X:51.48, Y:-7.34, Z:-6.58 [[ 9.56604338e-01 2.73948857e-01 9.92983626e-02 5.14830580e+01] [-2.72245478e-01 9.61741694e-01 -3.05829093e-02 -7.33787467e+00] [-1.03877528e-01 2.22221353e-03 9.94587613e-01 -6.57661595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.408241008 meters 0.06401150444016585 Centerline is valid? [True, True] Translation: X:51.51, Y:-7.34, Z:-6.58 [[ 9.57348778e-01 2.70984252e-01 1.00253939e-01 5.15144785e+01] [-2.69229241e-01 9.62580295e-01 -3.08997016e-02 -7.34445550e+00] [-1.04875799e-01 2.59049970e-03 9.94481954e-01 -6.57551266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.438241008 meters 0.06658085210763787 Centerline is valid? [True, True] Translation: X:51.54, Y:-7.36, Z:-6.59 [[ 9.58162294e-01 2.68630122e-01 9.88072625e-02 5.15414470e+01] [-2.66910717e-01 9.63239252e-01 -3.04764310e-02 -7.35930287e+00] [-1.03361921e-01 2.82864979e-03 9.94639790e-01 -6.58617379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.468241008 meters 0.06479318615575329 Centerline is valid? [True, True] Translation: X:51.57, Y:-7.36, Z:-6.59 [[ 9.58253453e-01 2.68427197e-01 9.84741543e-02 5.15745847e+01] [-2.66716034e-01 9.63295722e-01 -3.03958852e-02 -7.36174940e+00] [-1.03018814e-01 2.86232606e-03 9.94675289e-01 -6.58684264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.498241008 meters 0.06694354565339843 Centerline is valid? [True, True] Translation: X:51.60, Y:-7.38, Z:-6.60 [[ 9.58094643e-01 2.68988617e-01 9.84874515e-02 5.16023215e+01] [-2.67277433e-01 9.63139210e-01 -3.04242602e-02 -7.37549059e+00] [-1.03040906e-01 2.82584748e-03 9.94673105e-01 -6.59625873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.528241008 meters 0.06487483142752502 Centerline is valid? [True, True] Translation: X:51.64, Y:-7.38, Z:-6.60 [[ 9.56906278e-01 2.73068817e-01 9.88119213e-02 5.16356167e+01] [-2.71365375e-01 9.61991461e-01 -3.05493378e-02 -7.37566768e+00] [-1.03398296e-01 2.41871905e-03 9.94637091e-01 -6.59714878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.558241008 meters 0.06378972497255113 Centerline is valid? [True, True] Translation: X:51.67, Y:-7.38, Z:-6.60 [[ 9.56075773e-01 2.75941404e-01 9.88709192e-02 5.16683806e+01] [-2.74248810e-01 9.61172095e-01 -3.05907385e-02 -7.37892735e+00] [-1.03473220e-01 2.13183205e-03 9.94629955e-01 -6.59851702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.588241008000004 meters 0.06357805660824291 Centerline is valid? [True, True] Translation: X:51.70, Y:-7.38, Z:-6.60 [[ 9.55290166e-01 2.78244482e-01 1.00003533e-01 5.16990547e+01] [-2.76524692e-01 9.60508386e-01 -3.09472961e-02 -7.38436546e+00] [-1.04665146e-01 1.91020150e-03 9.94505685e-01 -6.60273851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.618241008 meters 0.06300693958417158 Centerline is valid? [True, True] Translation: X:51.73, Y:-7.38, Z:-6.61 [[ 9.53708594e-01 2.83293144e-01 1.00920328e-01 5.17313878e+01] [-2.81567269e-01 9.59032355e-01 -3.12540310e-02 -7.38342976e+00] [-1.05639913e-01 1.39137687e-03 9.94403476e-01 -6.60861029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.648241008 meters 0.06285819549962962 Centerline is valid? [True, True] Translation: X:51.76, Y:-7.39, Z:-6.61 [[ 9.53013669e-01 2.86154978e-01 9.93995786e-02 5.17641351e+01] [-2.84494205e-01 9.58182742e-01 -3.08039009e-02 -7.38877029e+00] [-1.04057650e-01 1.07793450e-03 9.94570683e-01 -6.61418751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.678241008 meters 0.06261278832483 Centerline is valid? [True, True] Translation: X:51.80, Y:-7.40, Z:-6.62 [[ 9.52243352e-01 2.88518797e-01 9.99474989e-02 5.17956773e+01] [-2.86849642e-01 9.57473853e-01 -3.10016742e-02 -7.39544998e+00] [-1.04641683e-01 8.51233892e-04 9.94509625e-01 -6.61858178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.708241008 meters 0.06257252152008631 Centerline is valid? [True, True] Translation: X:51.83, Y:-7.40, Z:-6.62 [[ 9.51792864e-01 2.90330538e-01 9.89874883e-02 5.18276164e+01] [-2.88700815e-01 9.56926190e-01 -3.07263073e-02 -7.40269266e+00] [-1.03644505e-01 6.67311493e-04 9.94614182e-01 -6.62182455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.738241008 meters 0.06250962836659435 Centerline is valid? [True, True] Translation: X:51.86, Y:-7.41, Z:-6.63 [[ 9.50534986e-01 2.94477659e-01 9.88238248e-02 5.18589971e+01] [-2.92872758e-01 9.55658333e-01 -3.07033778e-02 -7.40515476e+00] [-1.03483271e-01 2.41828674e-04 9.94631165e-01 -6.62672542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.768241008000004 meters 0.06260933516889178 Centerline is valid? [True, True] Translation: X:51.89, Y:-7.41, Z:-6.63 [[ 9.50095247e-01 2.96108753e-01 9.81765133e-02 5.18905730e+01] [-2.94531387e-01 9.55154228e-01 -3.05231475e-02 -7.41225242e+00] [-1.02811883e-01 8.38327084e-05 9.94700814e-01 -6.63054043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.798241008 meters 0.06249774968315461 Centerline is valid? [True, True] Translation: X:51.92, Y:-7.42, Z:-6.63 [[ 9.49844790e-01 2.96924929e-01 9.81349153e-02 5.19226266e+01] [-2.95350990e-01 9.54900825e-01 -3.05320545e-02 -7.42082638e+00] [-1.02774840e-01 1.64685161e-05 9.94704646e-01 -6.63247449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.828241008 meters 0.06249045089719115 Centerline is valid? [True, True] Translation: X:51.95, Y:-7.43, Z:-6.64 [[ 9.49861518e-01 2.96351837e-01 9.96929586e-02 5.19534981e+01] [-2.94720964e-01 9.55078833e-01 -3.10479732e-02 -7.43081474e+00] [-1.04415758e-01 1.09670106e-04 9.94533729e-01 -6.63542142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.858241008 meters 0.062366371260525216 Centerline is valid? [True, True] Translation: X:51.98, Y:-7.44, Z:-6.64 [[ 9.50287730e-01 2.94757360e-01 1.00356009e-01 5.19838931e+01] [-2.93094603e-01 9.55572085e-01 -3.12656971e-02 -7.44146371e+00] [-1.05113195e-01 2.97603871e-04 9.94460219e-01 -6.63860858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.888241008 meters 0.06260856244448947 Centerline is valid? [True, True] Translation: X:52.01, Y:-7.45, Z:-6.64 [[ 9.50670165e-01 2.93399039e-01 1.00713654e-01 5.20130348e+01] [-2.91714128e-01 9.55989947e-01 -3.14020342e-02 -7.45218201e+00] [-1.05494568e-01 4.73381161e-04 9.94419767e-01 -6.64416549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.918241008 meters 0.06278544894259856 Centerline is valid? [True, True] Translation: X:52.04, Y:-7.46, Z:-6.65 [[ 9.51120911e-01 2.92039103e-01 1.00410038e-01 5.20418100e+01] [-2.90353899e-01 9.56406159e-01 -3.13348398e-02 -7.46359289e+00] [-1.05183778e-01 6.48775263e-04 9.94452589e-01 -6.64947284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.948241008000004 meters 0.06311364589344634 Centerline is valid? [True, True] Translation: X:52.07, Y:-7.48, Z:-6.65 [[ 9.51666770e-01 2.89968994e-01 1.01234091e-01 5.20703831e+01] [-2.88241858e-01 9.57035611e-01 -3.16144101e-02 -7.47694939e+00] [-1.06051829e-01 9.06480969e-04 9.94360190e-01 -6.65381966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.978241008 meters 0.06288112502191379 Centerline is valid? [True, True] Translation: X:52.10, Y:-7.49, Z:-6.66 [[ 9.51665756e-01 2.89816917e-01 1.01678139e-01 5.21011576e+01] [-2.88070696e-01 9.57081629e-01 -3.17809768e-02 -7.48816469e+00] [-1.06524944e-01 9.54374974e-04 9.94309572e-01 -6.65579955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.008241008 meters 0.06297832189474944 Centerline is valid? [True, True] Translation: X:52.13, Y:-7.50, Z:-6.66 [[ 9.51690703e-01 2.89652807e-01 1.01912011e-01 5.21300479e+01] [-2.87894312e-01 9.57131257e-01 -3.18845190e-02 -7.50053745e+00] [-1.06778611e-01 1.00431215e-03 9.94282314e-01 -6.65957148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.038241008 meters 0.0628574015641938 Centerline is valid? [True, True] Translation: X:52.16, Y:-7.51, Z:-6.66 [[ 9.51598016e-01 2.89833887e-01 1.02262086e-01 5.21609426e+01] [-2.88062578e-01 9.57076440e-01 -3.20099778e-02 -7.51067455e+00] [-1.07150209e-01 1.00275125e-03 9.94242338e-01 -6.66213444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.068241008 meters 0.06284121988237613 Centerline is valid? [True, True] Translation: X:52.19, Y:-7.52, Z:-6.67 [[ 9.51144407e-01 2.91519995e-01 1.01687806e-01 5.21931156e+01] [-2.89775189e-01 9.56564371e-01 -3.18581973e-02 -7.51785260e+00] [-1.06558233e-01 8.35143083e-04 9.94306113e-01 -6.66783720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.098241008 meters 0.06317142778947972 Centerline is valid? [True, True] Translation: X:52.22, Y:-7.53, Z:-6.68 [[ 9.50905145e-01 2.92359624e-01 1.01514806e-01 5.22226781e+01] [-2.90622445e-01 9.56308141e-01 -3.18328926e-02 -7.52804678e+00] [-1.06386088e-01 7.67580345e-04 9.94324601e-01 -6.67574260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.128241008 meters 0.06317142778947972 Centerline is valid? [True, True] Translation: X:52.25, Y:-7.54, Z:-6.68 [[ 9.50834171e-01 2.92593020e-01 1.01507160e-01 5.22532500e+01] [-2.90854567e-01 9.56236757e-01 -3.18572516e-02 -7.53782173e+00] [-1.06386087e-01 7.67142302e-04 9.94324601e-01 -6.67980421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.158241008 meters 0.06307158943244763 Centerline is valid? [True, True] Translation: X:52.28, Y:-7.55, Z:-6.68 [[ 9.50394262e-01 2.94111553e-01 1.01238040e-01 5.22844688e+01] [-2.92388048e-01 9.55770897e-01 -3.17997045e-02 -7.54727664e+00] [-1.06113033e-01 6.21463816e-04 9.94353880e-01 -6.68279632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.188241008 meters 0.062910142788799 Centerline is valid? [True, True] Translation: X:52.32, Y:-7.56, Z:-6.68 [[ 9.49876197e-01 2.95417298e-01 1.02292866e-01 5.23154017e+01] [-2.93661696e-01 9.55368180e-01 -3.21628558e-02 -7.55742951e+00] [-1.07228813e-01 5.11234720e-04 9.94234238e-01 -6.68490985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.218241008 meters 0.0628366269153456 Centerline is valid? [True, True] Translation: X:52.35, Y:-7.57, Z:-6.69 [[ 9.49476854e-01 2.96524881e-01 1.02794447e-01 5.23460380e+01] [-2.94757719e-01 9.55025046e-01 -3.23271996e-02 -7.56658726e+00] [-1.07757090e-01 3.94471018e-04 9.94177174e-01 -6.68943928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.248241008 meters 0.06295459082983931 Centerline is valid? [True, True] Translation: X:52.38, Y:-7.58, Z:-6.69 [[ 9.49260600e-01 2.97622655e-01 1.01612343e-01 5.23751389e+01] [-2.95899573e-01 9.54683545e-01 -3.19808170e-02 -7.57641956e+00] [-1.06525847e-01 2.91080725e-04 9.94309891e-01 -6.69438865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.278241008 meters 0.06312692165385357 Centerline is valid? [True, True] Translation: X:52.40, Y:-7.59, Z:-6.70 [[ 9.48907180e-01 2.99203528e-01 1.00261719e-01 5.24035035e+01] [-2.97532468e-01 9.54189306e-01 -3.15784684e-02 -7.58849612e+00] [-1.05117049e-01 1.33918759e-04 9.94459847e-01 -6.69920933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.308241008 meters 0.06314154956134635 Centerline is valid? [True, True] Translation: X:52.43, Y:-7.60, Z:-6.70 [[ 9.48829362e-01 2.99914460e-01 9.88643444e-02 5.24329312e+01] [-2.98291299e-01 9.53966095e-01 -3.11607153e-02 -7.59861122e+00] [-1.03658782e-01 7.58279394e-05 9.94612915e-01 -6.70422343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.338241008000004 meters 0.06345374592119611 Centerline is valid? [True, True] Translation: X:52.46, Y:-7.61, Z:-6.71 [[ 9.48896439e-01 3.00323540e-01 9.69604056e-02 5.24627737e+01] [-2.98762411e-01 9.53837391e-01 -3.05819020e-02 -7.60846405e+00] [-1.01668925e-01 5.09333369e-05 9.94818288e-01 -6.71051847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.368241008 meters 0.06368056235935755 Centerline is valid? [True, True] Translation: X:52.49, Y:-7.62, Z:-6.72 [[ 9.49140527e-01 3.00071036e-01 9.53395674e-02 5.24915628e+01] [-2.98558127e-01 9.53916854e-01 -3.00945393e-02 -7.61877474e+00] [-9.99765198e-02 9.95443097e-05 9.94989792e-01 -6.71791972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.398241008 meters 0.0638417086012948 Centerline is valid? [True, True] Translation: X:52.52, Y:-7.63, Z:-6.72 [[ 9.49467789e-01 2.99532154e-01 9.37625025e-02 5.25194802e+01] [-2.98064268e-01 9.54086190e-01 -2.96181334e-02 -7.63315066e+00] [-9.83290921e-02 1.74211989e-04 9.95153937e-01 -6.72422991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.428241008 meters 0.0638962919836077 Centerline is valid? [True, True] Translation: X:52.55, Y:-7.65, Z:-6.73 [[ 9.49795005e-01 2.98429562e-01 9.39640616e-02 5.25492856e+01] [-2.96947924e-01 9.54431612e-01 -2.97023472e-02 -7.64630029e+00] [-9.85463292e-02 3.08707975e-04 9.95132416e-01 -6.72808440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.458241008 meters 0.06398302815527851 Centerline is valid? [True, True] Translation: X:52.58, Y:-7.66, Z:-6.73 [[ 9.50047107e-01 2.97732623e-01 9.36257407e-02 5.25782732e+01] [-2.96255542e-01 9.54649213e-01 -2.96231930e-02 -7.65889196e+00] [-9.81995307e-02 4.06284244e-04 9.95166663e-01 -6.73278093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.488241008 meters 0.06391161964359554 Centerline is valid? [True, True] Translation: X:52.61, Y:-7.67, Z:-6.74 [[ 9.50003333e-01 2.97792930e-01 9.38777791e-02 5.26086786e+01] [-2.96305904e-01 9.54630396e-01 -2.97257362e-02 -7.67202253e+00] [-9.84706954e-02 4.23008350e-04 9.95139861e-01 -6.73676930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.518241008000004 meters 0.06352078303265453 Centerline is valid? [True, True] Translation: X:52.64, Y:-7.69, Z:-6.74 [[ 9.50069993e-01 2.96822636e-01 9.62462035e-02 5.26370216e+01] [-2.95251242e-01 9.54932459e-01 -3.05074248e-02 -7.68658516e+00] [-1.00963918e-01 5.67377717e-04 9.94889926e-01 -6.73544630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.548241008 meters 0.0634093637442602 Centerline is valid? [True, True] Translation: X:52.67, Y:-7.70, Z:-6.74 [[ 9.49985452e-01 2.96631915e-01 9.76583204e-02 5.26659294e+01] [-2.95011664e-01 9.54991695e-01 -3.09674145e-02 -7.69710615e+00] [-1.02448808e-01 6.08249650e-04 9.94738092e-01 -6.73786639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.578241008 meters 0.06332214195305878 Centerline is valid? [True, True] Translation: X:52.70, Y:-7.71, Z:-6.74 [[ 9.49989356e-01 2.96271149e-01 9.87098316e-02 5.26960940e+01] [-2.94611414e-01 9.55103633e-01 -3.13235566e-02 -7.70744504e+00] [-1.03558385e-01 6.76002310e-04 9.94623147e-01 -6.74093543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.608241008 meters 0.06355165699629342 Centerline is valid? [True, True] Translation: X:52.73, Y:-7.71, Z:-6.75 [[ 9.49993704e-01 2.96819900e-01 9.70046879e-02 5.27255852e+01] [-2.95217604e-01 9.54933271e-01 -3.08060769e-02 -7.71467223e+00] [-1.01776861e-01 6.28087600e-04 9.94807055e-01 -6.74892892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.638241008 meters 0.06374133178467652 Centerline is valid? [True, True] Translation: X:52.76, Y:-7.72, Z:-6.75 [[ 9.50081115e-01 2.96796815e-01 9.62160390e-02 5.27564929e+01] [-2.95218277e-01 9.54940435e-01 -3.05767043e-02 -7.72298768e+00] [-1.00955654e-01 6.45616033e-04 9.94890717e-01 -6.75422183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.668241008 meters 0.06377041252593917 Centerline is valid? [True, True] Translation: X:52.79, Y:-7.73, Z:-6.76 [[ 9.50074054e-01 2.97132731e-01 9.52440701e-02 5.27871391e+01] [-2.95585394e-01 9.54835980e-01 -3.02906897e-02 -7.73204052e+00] [-9.99428204e-02 6.25642351e-04 9.94992986e-01 -6.75867200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.698241008000004 meters 0.06405283178910261 Centerline is valid? [True, True] Translation: X:52.82, Y:-7.74, Z:-6.77 [[ 9.49877974e-01 2.97811482e-01 9.50797314e-02 5.28167591e+01] [-2.96270572e-01 9.54624528e-01 -3.02614921e-02 -7.74150118e+00] [-9.97776635e-02 5.75398420e-04 9.95009591e-01 -6.76537242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.728241008 meters 0.0637495103204372 Centerline is valid? [True, True] Translation: X:52.85, Y:-7.75, Z:-6.77 [[ 9.49958656e-01 2.97574021e-01 9.50171259e-02 5.28484230e+01] [-2.96031536e-01 9.54698546e-01 -3.02657520e-02 -7.75041310e+00] [-9.97190135e-02 6.23147307e-04 9.95015442e-01 -6.76573239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.758241008 meters 0.06371254636062608 Centerline is valid? [True, True] Translation: X:52.88, Y:-7.76, Z:-6.77 [[ 9.49709252e-01 2.98415085e-01 9.48724106e-02 5.28797403e+01] [-2.96878731e-01 9.54436024e-01 -3.02472526e-02 -7.75967508e+00] [-9.95758827e-02 5.60494803e-04 9.95029813e-01 -6.77045210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.788241008 meters 0.06370788511034087 Centerline is valid? [True, True] Translation: X:52.91, Y:-7.77, Z:-6.77 [[ 9.49551002e-01 2.98811077e-01 9.52094263e-02 5.29104580e+01] [-2.97262898e-01 9.54312129e-01 -3.03830424e-02 -7.76895924e+00] [-9.99383000e-02 5.48018387e-04 9.94993485e-01 -6.77418013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.818241008 meters 0.06364159860580797 Centerline is valid? [True, True] Translation: X:52.94, Y:-7.78, Z:-6.78 [[ 9.49190828e-01 2.99766631e-01 9.57952986e-02 5.29398221e+01] [-2.98201613e-01 9.54012444e-01 -3.05950294e-02 -7.77815513e+00] [-1.00561276e-01 4.74208750e-04 9.94930754e-01 -6.77789884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.848241008 meters 0.06335317212029717 Centerline is valid? [True, True] Translation: X:52.97, Y:-7.79, Z:-6.78 [[ 9.48561261e-01 3.01214165e-01 9.74759496e-02 5.29700641e+01] [-2.99598851e-01 9.53556451e-01 -3.11548254e-02 -7.78807750e+00] [-1.02333095e-01 3.48577915e-04 9.94750127e-01 -6.77961716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.878241008 meters 0.06342704043901079 Centerline is valid? [True, True] Translation: X:53.00, Y:-7.80, Z:-6.78 [[ 9.48063174e-01 3.02776773e-01 9.74804747e-02 5.30009058e+01] [-3.01167111e-01 9.53061480e-01 -3.11799027e-02 -7.79713555e+00] [-1.02345436e-01 2.02604521e-04 9.94748898e-01 -6.78374855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.908241008000005 meters 0.06342460013274816 Centerline is valid? [True, True] Translation: X:53.03, Y:-7.81, Z:-6.79 [[ 9.47758296e-01 3.03799057e-01 9.72643028e-02 5.30308270e+01] [-3.02199034e-01 9.52736122e-01 -3.11388071e-02 -7.80625688e+00] [-1.02127155e-01 1.18884408e-04 9.94771346e-01 -6.78903980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.938241008 meters 0.06333818116134529 Centerline is valid? [True, True] Translation: X:53.06, Y:-7.82, Z:-6.79 [[ 9.47205281e-01 3.05401233e-01 9.76332033e-02 5.30612216e+01] [-3.03794783e-01 9.52223758e-01 -3.12832783e-02 -7.81532829e+00] [-1.02522608e-01 -2.87714079e-05 9.94730674e-01 -6.79091222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.968241008 meters 0.063621613165314 Centerline is valid? [True, True] Translation: X:53.09, Y:-7.82, Z:-6.80 [[ 9.47079698e-01 3.06081910e-01 9.67156112e-02 5.30899092e+01] [-3.04506507e-01 9.52005178e-01 -3.10149772e-02 -7.82372819e+00] [-1.01566886e-01 -7.68776414e-05 9.94828710e-01 -6.79799142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.998241008 meters 0.06381057632215938 Centerline is valid? [True, True] Translation: X:53.12, Y:-7.83, Z:-6.80 [[ 9.46849591e-01 3.06873816e-01 9.64588639e-02 5.31207679e+01] [-3.05309113e-01 9.51750198e-01 -3.09500453e-02 -7.83248976e+00] [-1.01302501e-01 -1.44732385e-04 9.94855659e-01 -6.80280750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.028241008 meters 0.06392807708359696 Centerline is valid? [True, True] Translation: X:53.15, Y:-7.84, Z:-6.81 [[ 9.46436993e-01 3.08428114e-01 9.55464084e-02 5.31512232e+01] [-3.06898007e-01 9.51247612e-01 -3.06854067e-02 -7.84205598e+00] [-1.00352535e-01 -2.81198233e-04 9.94951903e-01 -6.80741914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.058241008 meters 0.06392225163001367 Centerline is valid? [True, True] Translation: X:53.18, Y:-7.86, Z:-6.81 [[ 9.46762296e-01 3.07765689e-01 9.44533545e-02 5.31803994e+01] [-3.06264822e-01 9.51462162e-01 -3.03580776e-02 -7.85509277e+00] [-9.92119676e-02 -1.85856570e-04 9.95066305e-01 -6.81030598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.088241008000004 meters 0.06377454275856424 Centerline is valid? [True, True] Translation: X:53.21, Y:-7.87, Z:-6.81 [[ 9.47238340e-01 3.06105531e-01 9.50732982e-02 5.32102567e+01] [-3.04573678e-01 9.51997586e-01 -3.05854706e-02 -7.86846986e+00] [-9.98719321e-02 1.49063661e-05 9.95000300e-01 -6.81319588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.118241008 meters 0.06364059364359631 Centerline is valid? [True, True] Translation: X:53.24, Y:-7.88, Z:-6.81 [[ 9.47994930e-01 3.03201231e-01 9.68226583e-02 5.32383547e+01] [-3.01596615e-01 9.52926494e-01 -3.11541098e-02 -7.88362895e+00] [-1.01710841e-01 3.32552128e-04 9.94813950e-01 -6.81466929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.148241008 meters 0.06340022475825165 Centerline is valid? [True, True] Translation: X:53.27, Y:-7.90, Z:-6.81 [[ 9.49098730e-01 2.98965377e-01 9.91529341e-02 5.32674494e+01] [-2.97256802e-01 9.54263599e-01 -3.19276797e-02 -7.89913519e+00] [-1.04163307e-01 8.28636091e-04 9.94559862e-01 -6.81468653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.178241008 meters 0.06407641094380624 Centerline is valid? [True, True] Translation: X:53.30, Y:-7.91, Z:-6.82 [[ 9.50709575e-01 2.94431326e-01 9.72702338e-02 5.32950104e+01] [-2.92760806e-01 9.55671720e-01 -3.13476147e-02 -7.91095278e+00] [-1.02188131e-01 1.32556542e-03 9.94764208e-01 -6.82274137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.208241008 meters 0.06410074914138442 Centerline is valid? [True, True] Translation: X:53.33, Y:-7.92, Z:-6.83 [[ 9.51065320e-01 2.93773923e-01 9.57686742e-02 5.33256656e+01] [-2.92150540e-01 9.55873930e-01 -3.08721797e-02 -7.91894224e+00] [-1.00612220e-01 1.38258967e-03 9.94924756e-01 -6.82713158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.238241008 meters 0.06459504203808902 Centerline is valid? [True, True] Translation: X:53.36, Y:-7.93, Z:-6.84 [[ 9.51648769e-01 2.92585385e-01 9.35863970e-02 5.33557834e+01] [-2.91027292e-01 9.56238231e-01 -3.01920665e-02 -7.92854810e+00] [-9.83246481e-02 1.49604721e-03 9.95153267e-01 -6.83521131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.268241008000004 meters 0.06489564939087504 Centerline is valid? [True, True] Translation: X:53.38, Y:-7.94, Z:-6.84 [[ 9.51757561e-01 2.92346071e-01 9.32272457e-02 5.33843233e+01] [-2.90796440e-01 9.56311356e-01 -3.01001784e-02 -7.93854794e+00] [-9.79539426e-02 1.53792121e-03 9.95189761e-01 -6.84186301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.298241008 meters 0.06544658110842981 Centerline is valid? [True, True] Translation: X:53.41, Y:-7.95, Z:-6.85 [[ 9.51692625e-01 2.92897070e-01 9.21545100e-02 5.34123565e+01] [-2.91383493e-01 9.56142825e-01 -2.97751126e-02 -7.94998279e+00] [-9.68339168e-02 1.48445204e-03 9.95299447e-01 -6.84922619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.328241008 meters 0.06476551992401673 Centerline is valid? [True, True] Translation: X:53.44, Y:-7.96, Z:-6.85 [[ 9.51705721e-01 2.92822789e-01 9.22552660e-02 5.34435378e+01] [-2.91303609e-01 9.56165533e-01 -2.98275366e-02 -7.95987014e+00] [-9.69454880e-02 1.51274536e-03 9.95288543e-01 -6.84847650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.358241008 meters 0.06464998449864685 Centerline is valid? [True, True] Translation: X:53.47, Y:-7.97, Z:-6.85 [[ 9.51414507e-01 2.94078532e-01 9.12592584e-02 5.34722872e+01] [-2.92595181e-01 9.55780240e-01 -2.95329009e-02 -7.97120847e+00] [-9.59087881e-02 1.39601118e-03 9.95389148e-01 -6.85078448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.388241008 meters 0.06443756966838772 Centerline is valid? [True, True] Translation: X:53.50, Y:-7.98, Z:-6.86 [[ 9.51053325e-01 2.95353542e-01 9.09057698e-02 5.35038206e+01] [-2.93885625e-01 9.55387170e-01 -2.94379920e-02 -7.98003188e+00] [-9.55448213e-02 1.28120115e-03 9.95424304e-01 -6.85510999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.418241008 meters 0.06444785931484244 Centerline is valid? [True, True] Translation: X:53.53, Y:-7.99, Z:-6.86 [[ 9.50774787e-01 2.96199055e-01 9.10682355e-02 5.35342964e+01] [-2.94727121e-01 9.55125447e-01 -2.95178594e-02 -7.98818959e+00] [-9.57247513e-02 1.22455770e-03 9.95407089e-01 -6.85967831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.448241008000004 meters 0.06399906891879109 Centerline is valid? [True, True] Translation: X:53.57, Y:-8.00, Z:-6.86 [[ 9.50421650e-01 2.96995895e-01 9.21527319e-02 5.35650225e+01] [-2.95490055e-01 9.54878026e-01 -2.98928515e-02 -7.99673683e+00] [-9.68726729e-02 1.18059742e-03 9.95296082e-01 -6.86184524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.478241008 meters 0.06384105599274682 Centerline is valid? [True, True] Translation: X:53.60, Y:-8.01, Z:-6.86 [[ 9.50078182e-01 2.97542612e-01 9.39140163e-02 5.35952784e+01] [-2.95978736e-01 9.54707822e-01 -3.04887378e-02 -8.00585160e+00] [-9.87321446e-02 1.17013272e-03 9.95113358e-01 -6.86451753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.508241008 meters 0.06378190809842997 Centerline is valid? [True, True] Translation: X:53.63, Y:-8.01, Z:-6.87 [[ 9.49651402e-01 2.98809844e-01 9.42066417e-02 5.36250705e+01] [-2.97239976e-01 9.54312078e-01 -3.06080666e-02 -8.01465618e+00] [-9.90485277e-02 1.06501341e-03 9.95082034e-01 -6.86895474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.538241008 meters 0.06370343880410151 Centerline is valid? [True, True] Translation: X:53.66, Y:-8.02, Z:-6.87 [[ 9.49164842e-01 3.00482647e-01 9.37884911e-02 5.36564573e+01] [-2.98932851e-01 9.53786851e-01 -3.04924993e-02 -8.02346279e+00] [-9.86166965e-02 9.05947267e-04 9.95125081e-01 -6.87341278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.568241008 meters 0.06372912291580113 Centerline is valid? [True, True] Translation: X:53.69, Y:-8.03, Z:-6.88 [[ 9.48201494e-01 3.03827373e-01 9.27515737e-02 5.36864520e+01] [-3.02325063e-01 9.52726925e-01 -3.01821559e-02 -8.03186547e+00] [-9.75370867e-02 5.77640012e-04 9.95231723e-01 -6.87980877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.598241008 meters 0.06370650847769592 Centerline is valid? [True, True] Translation: X:53.72, Y:-8.04, Z:-6.88 [[ 9.47697929e-01 3.05818228e-01 9.13446590e-02 5.37166655e+01] [-3.04368051e-01 9.52089837e-01 -2.97494696e-02 -8.03995668e+00] [-9.60662516e-02 3.91114880e-04 9.95374865e-01 -6.88384202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.628241008 meters 0.06375878996143856 Centerline is valid? [True, True] Translation: X:53.75, Y:-8.05, Z:-6.89 [[ 9.46838529e-01 3.08474433e-01 9.13253734e-02 5.37463098e+01] [-3.07035152e-01 9.51232623e-01 -2.97642682e-02 -8.04776852e+00] [-9.60531903e-02 1.41856075e-04 9.95376192e-01 -6.88823834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.658241008000005 meters 0.06369844931780445 Centerline is valid? [True, True] Translation: X:53.78, Y:-8.06, Z:-6.89 [[ 9.46076679e-01 3.10904181e-01 9.09808070e-02 5.37782779e+01] [-3.09485123e-01 9.50441257e-01 -2.96711280e-02 -8.05640871e+00] [-9.56967903e-02 -8.60439563e-05 9.95410527e-01 -6.89118019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.688241008 meters 0.06351885671510644 Centerline is valid? [True, True] Translation: X:53.81, Y:-8.06, Z:-6.89 [[ 9.45191732e-01 3.13350624e-01 9.17822226e-02 5.38090536e+01] [-3.11915268e-01 9.49637452e-01 -2.99595630e-02 -8.06478787e+00] [-9.65476838e-02 -3.10745302e-04 9.95328312e-01 -6.89323732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.718241008 meters 0.06327825930295879 Centerline is valid? [True, True] Translation: X:53.84, Y:-8.08, Z:-6.90 [[ 9.45791132e-01 3.11142072e-01 9.31114693e-02 5.38382390e+01] [-3.09651663e-01 9.50363408e-01 -3.04177664e-02 -8.07779965e+00] [-9.79539801e-02 -6.32675545e-05 9.95190943e-01 -6.89586980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.748241008 meters 0.06309601328389193 Centerline is valid? [True, True] Translation: X:53.87, Y:-8.09, Z:-6.90 [[ 9.46490917e-01 3.08696301e-01 9.41357418e-02 5.38674173e+01] [-3.07158325e-01 9.51160632e-01 -3.07768797e-02 -8.09074363e+00] [-9.90389205e-02 2.15460286e-04 9.95083537e-01 -6.89852359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.778241008 meters 0.06308217283990118 Centerline is valid? [True, True] Translation: X:53.90, Y:-8.11, Z:-6.90 [[ 9.47849593e-01 3.04261194e-01 9.49013905e-02 5.38957640e+01] [-3.02673421e-01 9.52588382e-01 -3.10511760e-02 -8.10569896e+00] [-9.98496299e-02 7.07716021e-04 9.95002287e-01 -6.90189898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.808241008 meters 0.06335364378797732 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.12, Z:-6.91 [[ 9.48522913e-01 3.02453814e-01 9.39466583e-02 5.39255884e+01] [-3.00886512e-01 9.53163604e-01 -3.07644404e-02 -8.11724648e+00] [-9.88513577e-02 9.13494201e-04 9.95101791e-01 -6.90771350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.838241008000004 meters 0.06351578342486515 Centerline is valid? [True, True] Translation: X:53.96, Y:-8.13, Z:-6.91 [[ 9.48796380e-01 3.01948382e-01 9.28041154e-02 5.39557931e+01] [-3.00414428e-01 9.53323776e-01 -3.04129796e-02 -8.12668588e+00] [-9.76555197e-02 9.76029754e-04 9.95219798e-01 -6.91264392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.868241008 meters 0.06343084831457856 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.14, Z:-6.92 [[ 9.48750001e-01 3.02349868e-01 9.19673456e-02 5.39867884e+01] [-3.00843188e-01 9.53196548e-01 -3.01615233e-02 -8.13522194e+00] [-9.67822889e-02 9.47995797e-04 9.95305124e-01 -6.91643596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.898241008 meters 0.06367230170959227 Centerline is valid? [True, True] Translation: X:54.02, Y:-8.14, Z:-6.92 [[ 9.48650432e-01 3.02174529e-01 9.35569941e-02 5.40155125e+01] [-3.00611842e-01 9.53252086e-01 -3.07079822e-02 -8.14481658e+00] [-9.84625698e-02 1.00680026e-03 9.95140246e-01 -6.92200929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.928241008 meters 0.06380849063202206 Centerline is valid? [True, True] Translation: X:54.04, Y:-8.16, Z:-6.93 [[ 9.48847985e-01 3.01680050e-01 9.31485295e-02 5.40445582e+01] [-3.00126441e-01 9.53408618e-01 -3.05962028e-02 -8.15577913e+00] [-9.80388748e-02 1.07480880e-03 9.95182005e-01 -6.92529031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.958241008 meters 0.06358525102225711 Centerline is valid? [True, True] Translation: X:54.07, Y:-8.17, Z:-6.93 [[ 9.49042879e-01 3.01147505e-01 9.28859211e-02 5.40746662e+01] [-2.99598137e-01 9.53576881e-01 -3.05301344e-02 -8.16593361e+00] [-9.77679407e-02 1.14595775e-03 9.95208579e-01 -6.92770884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.988241008 meters 0.06360811948579931 Centerline is valid? [True, True] Translation: X:54.10, Y:-8.18, Z:-6.93 [[ 9.49839160e-01 2.98944852e-01 9.18561101e-02 5.41048210e+01] [-2.97417305e-01 9.54269393e-01 -3.02137689e-02 -8.17546411e+00] [-9.66877252e-02 1.37862413e-03 9.95313811e-01 -6.93054673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.018241008000004 meters 0.06421106109359732 Centerline is valid? [True, True] Translation: X:54.13, Y:-8.19, Z:-6.94 [[ 9.50205210e-01 2.97676836e-01 9.21876370e-02 5.41333198e+01] [-2.96129880e-01 9.54665460e-01 -3.03472205e-02 -8.18650704e+00] [-9.70420174e-02 1.53657309e-03 9.95279099e-01 -6.93712139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.048241008 meters 0.06421106109359732 Centerline is valid? [True, True] Translation: X:54.16, Y:-8.20, Z:-6.94 [[ 9.50128675e-01 2.97922922e-01 9.21815231e-02 5.41637430e+01] [-2.96375322e-01 9.54588701e-01 -3.03657787e-02 -8.19671004e+00] [-9.70421019e-02 1.53106854e-03 9.95279100e-01 -6.94118051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.078241008 meters 0.0646062359494567 Centerline is valid? [True, True] Translation: X:54.19, Y:-8.21, Z:-6.95 [[ 9.50533836e-01 2.96993407e-01 9.09963861e-02 5.41923636e+01] [-2.95478579e-01 9.54878137e-01 -3.00025548e-02 -8.20751313e+00] [-9.58010206e-02 1.63096068e-03 9.95399168e-01 -6.94511951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.108241008 meters 0.06420863877703202 Centerline is valid? [True, True] Translation: X:54.22, Y:-8.22, Z:-6.95 [[ 9.50748669e-01 2.96658607e-01 8.98367359e-02 5.42225697e+01] [-2.95178872e-01 9.54982151e-01 -2.96399290e-02 -8.21715874e+00] [-9.45854193e-02 1.66221670e-03 9.95515362e-01 -6.94737280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.138241008 meters 0.06438444055744366 Centerline is valid? [True, True] Translation: X:54.25, Y:-8.23, Z:-6.95 [[ 9.51227230e-01 2.95233604e-01 8.94643809e-02 5.42525818e+01] [-2.93757710e-01 9.55423369e-01 -2.95397052e-02 -8.22889297e+00] [-9.41974738e-02 1.81812027e-03 9.95551872e-01 -6.95103510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.168241008 meters 0.06482987178356679 Centerline is valid? [True, True] Translation: X:54.28, Y:-8.24, Z:-6.96 [[ 9.51375015e-01 2.94671061e-01 8.97471313e-02 5.42817119e+01] [-2.93181164e-01 9.55596856e-01 -2.96555951e-02 -8.24015692e+00] [-9.45007222e-02 1.90142381e-03 9.95522977e-01 -6.95587773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.198241008000004 meters 0.06475676037048579 Centerline is valid? [True, True] Translation: X:54.31, Y:-8.25, Z:-6.96 [[ 9.51445380e-01 2.94295927e-01 9.02307985e-02 5.43127868e+01] [-2.92785886e-01 9.55712308e-01 -2.98397162e-02 -8.25101186e+00] [-9.50163917e-02 1.97255591e-03 9.95473754e-01 -6.95811569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.228241008 meters 0.06494175167713892 Centerline is valid? [True, True] Translation: X:54.34, Y:-8.26, Z:-6.96 [[ 9.51446342e-01 2.94188902e-01 9.05690244e-02 5.43422371e+01] [-2.92664439e-01 9.55745167e-01 -2.99783617e-02 -8.26267224e+00] [-9.53802086e-02 2.01646988e-03 9.95438873e-01 -6.96173611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.258241008 meters 0.0649792714625371 Centerline is valid? [True, True] Translation: X:54.37, Y:-8.27, Z:-6.97 [[ 9.50954917e-01 2.95329169e-01 9.20077554e-02 5.43720800e+01] [-2.93758560e-01 9.55393558e-01 -3.04804587e-02 -8.27191224e+00] [-9.69053853e-02 1.95747630e-03 9.95291673e-01 -6.96589432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.288241008 meters 0.0643401294656278 Centerline is valid? [True, True] Translation: X:54.40, Y:-8.28, Z:-6.97 [[ 9.50312016e-01 2.97320175e-01 9.22376543e-02 5.44034976e+01] [-2.95748835e-01 9.54776174e-01 -3.05791365e-02 -8.27831734e+00] [-9.71581090e-02 1.78054207e-03 9.95267367e-01 -6.96768311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.318241008 meters 0.06449767908565233 Centerline is valid? [True, True] Translation: X:54.43, Y:-8.29, Z:-6.97 [[ 9.49701470e-01 2.99113969e-01 9.27251410e-02 5.44332034e+01] [-2.97532140e-01 9.54216004e-01 -3.07643130e-02 -8.28667103e+00] [-9.76818493e-02 1.62820361e-03 9.95216361e-01 -6.97332756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.348241008 meters 0.0633864798348159 Centerline is valid? [True, True] Translation: X:54.47, Y:-8.29, Z:-6.97 [[ 9.47622627e-01 3.05252108e-01 9.39814160e-02 5.44662477e+01] [-3.03654588e-01 9.52271013e-01 -3.12059145e-02 -8.28915929e+00] [-9.90214494e-02 1.03354260e-03 9.95084762e-01 -6.97482042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.378241008 meters 0.06339089856405578 Centerline is valid? [True, True] Translation: X:54.50, Y:-8.30, Z:-6.98 [[ 9.46758198e-01 3.07728355e-01 9.46159249e-02 5.44960384e+01] [-3.06120745e-01 9.51473930e-01 -3.14237021e-02 -8.29624461e+00] [-9.96945501e-02 7.86750121e-04 9.95017778e-01 -6.98030641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.408241008000005 meters 0.06279244251505701 Centerline is valid? [True, True] Translation: X:54.53, Y:-8.30, Z:-6.98 [[ 9.45939915e-01 3.10282949e-01 9.44572329e-02 5.45290199e+01] [-3.08690990e-01 9.50644097e-01 -3.13954315e-02 -8.30129849e+00] [-9.95366779e-02 5.40095065e-04 9.95033747e-01 -6.97998195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.438241008 meters 0.06283619515079225 Centerline is valid? [True, True] Translation: X:54.56, Y:-8.30, Z:-6.99 [[ 9.44017819e-01 3.16006169e-01 9.47125015e-02 5.45605195e+01] [-3.14433699e-01 9.48757133e-01 -3.14857293e-02 -8.30401299e+00] [-9.98088461e-02 -5.77126926e-05 9.95006629e-01 -6.98593168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.468241008 meters 0.06303221819585528 Centerline is valid? [True, True] Translation: X:54.59, Y:-8.31, Z:-6.99 [[ 9.42937323e-01 3.19421231e-01 9.40174518e-02 5.45919462e+01] [-3.17886525e-01 9.47612749e-01 -3.12767588e-02 -8.31090253e+00] [-9.90825967e-02 -3.94857836e-04 9.95079134e-01 -6.99116656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.498241008 meters 0.06323258027089146 Centerline is valid? [True, True] Translation: X:54.62, Y:-8.32, Z:-7.00 [[ 9.42154730e-01 3.21850358e-01 9.35778337e-02 5.46220118e+01] [-3.20339495e-01 9.46790345e-01 -3.11552544e-02 -8.31822581e+00] [-9.86259193e-02 -6.23605697e-04 9.95124384e-01 -6.99619991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.528241008 meters 0.06354411932213178 Centerline is valid? [True, True] Translation: X:54.65, Y:-8.33, Z:-7.00 [[ 9.41326008e-01 3.24371468e-01 9.32121110e-02 5.46522792e+01] [-3.22882547e-01 9.45929387e-01 -3.10556723e-02 -8.32583372e+00] [-9.82456491e-02 -8.63051809e-04 9.95161820e-01 -7.00074420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.558241008 meters 0.0637653374902158 Centerline is valid? [True, True] Translation: X:54.68, Y:-8.33, Z:-7.01 [[ 9.40609835e-01 3.26395031e-01 9.33778492e-02 5.46820023e+01] [-3.24908538e-01 9.45232866e-01 -3.11331307e-02 -8.33409455e+00] [-9.84255111e-02 -1.05513147e-03 9.95143862e-01 -7.00511285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.588241008000004 meters 0.06429112600556179 Centerline is valid? [True, True] Translation: X:54.71, Y:-8.34, Z:-7.01 [[ 9.39296014e-01 3.30163380e-01 9.33549135e-02 5.47136008e+01] [-3.28694027e-01 9.43922720e-01 -3.11470100e-02 -8.34067011e+00] [-9.84034259e-02 -1.42894006e-03 9.95145579e-01 -7.00970698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.618241008 meters 0.06437113669394534 Centerline is valid? [True, True] Translation: X:54.74, Y:-8.35, Z:-7.01 [[ 9.39152880e-01 3.30797583e-01 9.25463536e-02 5.47438570e+01] [-3.29354432e-01 9.43700602e-01 -3.09003504e-02 -8.35016921e+00] [-9.75578108e-02 -1.46039866e-03 9.95228788e-01 -7.01447947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.648241008 meters 0.064381265538104 Centerline is valid? [True, True] Translation: X:54.77, Y:-8.36, Z:-7.02 [[ 9.39112981e-01 3.30874467e-01 9.26762953e-02 5.47749523e+01] [-3.29425388e-01 9.43673666e-01 -3.09665265e-02 -8.36064459e+00] [-9.77022123e-02 -1.44885753e-03 9.95214639e-01 -7.01925681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.678241008 meters 0.06467353308392929 Centerline is valid? [True, True] Translation: X:54.80, Y:-8.37, Z:-7.03 [[ 9.38935325e-01 3.31764052e-01 9.12856427e-02 5.48043672e+01] [-3.30359775e-01 9.43361218e-01 -3.05291961e-02 -8.37158527e+00] [-9.62438248e-02 -1.49216362e-03 9.95356670e-01 -7.02509484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.708241008 meters 0.0649548717466142 Centerline is valid? [True, True] Translation: X:54.83, Y:-8.38, Z:-7.03 [[ 9.39094748e-01 3.31303964e-01 9.13166842e-02 5.48330901e+01] [-3.29894249e-01 9.43523004e-01 -3.05634764e-02 -8.38277413e+00] [-9.62851930e-02 -1.42284874e-03 9.95352770e-01 -7.03103188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.738241008 meters 0.06433298161236084 Centerline is valid? [True, True] Translation: X:54.86, Y:-8.40, Z:-7.03 [[ 9.39044977e-01 3.31486086e-01 9.11674575e-02 5.48634051e+01] [-3.30079924e-01 9.43459039e-01 -3.05333615e-02 -8.39728594e+00] [-9.61341463e-02 -1.42034772e-03 9.95367374e-01 -7.03104389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.768241008000004 meters 0.06465444224798816 Centerline is valid? [True, True] Translation: X:54.89, Y:-8.41, Z:-7.04 [[ 9.39287592e-01 3.30939881e-01 9.06510594e-02 5.48929090e+01] [-3.29544422e-01 9.43650902e-01 -3.03882903e-02 -8.40906440e+00] [-9.55996512e-02 -1.33020696e-03 9.95418976e-01 -7.03705077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.798241008 meters 0.06408661166744063 Centerline is valid? [True, True] Translation: X:54.92, Y:-8.43, Z:-7.04 [[ 9.40594554e-01 3.27128319e-01 9.09337582e-02 5.49193090e+01] [-3.25703722e-01 9.44979480e-01 -3.05101333e-02 -8.42681106e+00] [-9.59112641e-02 -9.19798303e-04 9.95389463e-01 -7.04309419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.828241008 meters 0.06344402806039132 Centerline is valid? [True, True] Translation: X:54.95, Y:-8.44, Z:-7.05 [[ 9.41801523e-01 3.23877990e-01 9.00718576e-02 5.49487968e+01] [-3.22463648e-01 9.46098689e-01 -3.02401631e-02 -8.44307009e+00] [-9.50109896e-02 -5.64668106e-04 9.95476064e-01 -7.04546270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.858241008 meters 0.06324537737117672 Centerline is valid? [True, True] Translation: X:54.98, Y:-8.46, Z:-7.05 [[ 9.42924899e-01 3.20499364e-01 9.04034994e-02 5.49772504e+01] [-3.19056377e-01 9.47248710e-01 -3.03794342e-02 -8.45782289e+00] [-9.53711875e-02 -1.98288129e-04 9.95441760e-01 -7.04940699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.888241008 meters 0.06306628433503353 Centerline is valid? [True, True] Translation: X:55.00, Y:-8.48, Z:-7.05 [[ 9.44307056e-01 3.15827720e-01 9.23960733e-02 5.50036926e+01] [-3.14295198e-01 9.48816503e-01 -3.10768574e-02 -8.47504272e+00] [-9.74818523e-02 3.06453579e-04 9.95237255e-01 -7.05255328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.918241008 meters 0.06286367808238015 Centerline is valid? [True, True] Translation: X:55.03, Y:-8.49, Z:-7.05 [[ 9.44179930e-01 3.15955740e-01 9.32535803e-02 5.50331470e+01] [-3.14394067e-01 9.48773881e-01 -3.13766535e-02 -8.48724894e+00] [-9.83901950e-02 3.06834198e-04 9.95147866e-01 -7.05361426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.948241008000004 meters 0.06275053443862295 Centerline is valid? [True, True] Translation: X:55.06, Y:-8.50, Z:-7.06 [[ 9.43878069e-01 3.16198496e-01 9.54604688e-02 5.50616928e+01] [-3.14560441e-01 9.48693002e-01 -3.21452316e-02 -8.49956939e+00] [-1.00726953e-01 3.13092006e-04 9.94914058e-01 -7.05811407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.978241008 meters 0.061852916204417366 Centerline is valid? [True, True] Translation: X:55.09, Y:-8.51, Z:-7.05 [[ 9.43811443e-01 3.14818696e-01 1.00544261e-01 5.50923107e+01] [-3.12990437e-01 9.49151689e-01 -3.38830006e-02 -8.51344470e+00] [-1.06098757e-01 5.09771549e-04 9.94355467e-01 -7.05086987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.008241008 meters 0.06173039948560712 Centerline is valid? [True, True] Translation: X:55.12, Y:-8.52, Z:-7.06 [[ 9.43318230e-01 3.16390062e-01 1.00239943e-01 5.51240173e+01] [-3.14579480e-01 9.48629119e-01 -3.38015749e-02 -8.52105674e+00] [-1.05785011e-01 3.52212609e-04 9.94388962e-01 -7.05549288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.038241008 meters 0.06186152942789289 Centerline is valid? [True, True] Translation: X:55.15, Y:-8.53, Z:-7.06 [[ 9.43306140e-01 3.16816020e-01 9.90006820e-02 5.51549818e+01] [-3.15049326e-01 9.48486954e-01 -3.34128819e-02 -8.52853241e+00] [-1.04486592e-01 3.28478537e-04 9.94526241e-01 -7.06224752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.068241008 meters 0.062073150514307715 Centerline is valid? [True, True] Translation: X:55.19, Y:-8.54, Z:-7.07 [[ 9.43229658e-01 3.17049190e-01 9.89829437e-02 5.51861784e+01] [-3.15281845e-01 9.48409039e-01 -3.34313211e-02 -8.53605009e+00] [-1.04475692e-01 3.25888404e-04 9.94527387e-01 -7.06825769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.098241008 meters 0.062421020364152285 Centerline is valid? [True, True] Translation: X:55.22, Y:-8.54, Z:-7.08 [[ 9.43037971e-01 3.18166666e-01 9.72078128e-02 5.52158826e+01] [-3.16465188e-01 9.48034768e-01 -3.28612791e-02 -8.54317626e+00] [-1.02611750e-01 2.26545217e-04 9.94721457e-01 -7.07698667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.128241008 meters 0.06257519435690016 Centerline is valid? [True, True] Translation: X:55.24, Y:-8.55, Z:-7.08 [[ 9.43055532e-01 3.18695649e-01 9.52856038e-02 5.52442528e+01] [-3.17061403e-01 9.47857082e-01 -3.22338085e-02 -8.55306557e+00] [-1.00589909e-01 1.86884198e-04 9.94927955e-01 -7.08384115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.158241008000005 meters 0.06285790852284974 Centerline is valid? [True, True] Translation: X:55.27, Y:-8.56, Z:-7.09 [[ 9.42970894e-01 3.19490154e-01 9.34448250e-02 5.52736712e+01] [-3.17920423e-01 9.47589588e-01 -3.16319013e-02 -8.56360634e+00] [-9.86534242e-02 1.19943902e-04 9.95121846e-01 -7.08931146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.188241008 meters 0.06314773324709322 Centerline is valid? [True, True] Translation: X:55.30, Y:-8.57, Z:-7.09 [[ 9.42869291e-01 3.20615180e-01 9.05726642e-02 5.53031095e+01] [-3.19143793e-01 9.47209537e-01 -3.06811559e-02 -8.57316903e+00] [-9.56281356e-02 2.26160388e-05 9.95417128e-01 -7.09487738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.218241008 meters 0.06311152189380725 Centerline is valid? [True, True] Translation: X:55.33, Y:-8.58, Z:-7.10 [[ 9.42768788e-01 3.21146593e-01 8.97322569e-02 5.53328680e+01] [-3.19702976e-01 9.47029496e-01 -3.04161392e-02 -8.58289364e+00] [-9.47471335e-02 -1.22828817e-05 9.95501371e-01 -7.09851573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.248241008 meters 0.06335333928819603 Centerline is valid? [True, True] Translation: X:55.36, Y:-8.59, Z:-7.10 [[ 9.42778074e-01 3.21275677e-01 8.91708609e-02 5.53615242e+01] [-3.19848681e-01 9.46985712e-01 -3.02470120e-02 -8.59181962e+00] [-9.41611605e-02 -4.96257683e-06 9.95556968e-01 -7.10474400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.278241008 meters 0.06298852634981247 Centerline is valid? [True, True] Translation: X:55.39, Y:-8.60, Z:-7.11 [[ 9.42782411e-01 3.21187054e-01 8.94438472e-02 5.53919325e+01] [-3.19749423e-01 9.47015774e-01 -3.03550755e-02 -8.60162387e+00] [-9.44543914e-02 1.86127272e-05 9.95529190e-01 -7.10706137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.308241008 meters 0.06272727566232685 Centerline is valid? [True, True] Translation: X:55.42, Y:-8.61, Z:-7.11 [[ 9.43021552e-01 3.20037769e-01 9.10284457e-02 5.54215696e+01] [-3.18541007e-01 9.47404771e-01 -3.09164324e-02 -8.61316260e+00] [-9.61352099e-02 1.58569262e-04 9.95368272e-01 -7.10903379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.338241008000004 meters 0.06256810356970559 Centerline is valid? [True, True] Translation: X:55.45, Y:-8.62, Z:-7.11 [[ 9.43010520e-01 3.19647448e-01 9.25022562e-02 5.54512217e+01] [-3.18097490e-01 9.47536521e-01 -3.14408765e-02 -8.62474485e+00] [-9.76992620e-02 2.24341824e-04 9.95215958e-01 -7.11128120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.368241008 meters 0.06224034749964703 Centerline is valid? [True, True] Translation: X:55.48, Y:-8.64, Z:-7.11 [[ 9.42787101e-01 3.19846858e-01 9.40769308e-02 5.54814469e+01] [-3.18241850e-01 9.47469225e-01 -3.20029943e-02 -8.63705939e+00] [-9.93710539e-02 2.32793746e-04 9.95050421e-01 -7.11271976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.398241008 meters 0.061969696126268646 Centerline is valid? [True, True] Translation: X:55.51, Y:-8.65, Z:-7.11 [[ 9.42590617e-01 3.20060921e-01 9.53096778e-02 5.55109182e+01] [-3.18413244e-01 9.47396937e-01 -3.24353220e-02 -8.64821224e+00] [-1.00677376e-01 2.25366530e-04 9.94919100e-01 -7.11436412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.428241008 meters 0.06168459528888998 Centerline is valid? [True, True] Translation: X:55.54, Y:-8.66, Z:-7.12 [[ 9.41916143e-01 3.21884846e-01 9.58338393e-02 5.55414860e+01] [-3.20227197e-01 9.46778825e-01 -3.26251240e-02 -8.65646219e+00] [-1.01234983e-01 4.15293159e-05 9.94862542e-01 -7.11649486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.458241008 meters 0.06171095672330913 Centerline is valid? [True, True] Translation: X:55.57, Y:-8.66, Z:-7.12 [[ 9.41819590e-01 3.22231601e-01 9.56172291e-02 5.55735277e+01] [-3.20580963e-01 9.46660866e-01 -3.25737862e-02 -8.66479607e+00] [-1.01013392e-01 2.55666214e-05 9.94885066e-01 -7.12045228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.488241008 meters 0.06204833580103067 Centerline is valid? [True, True] Translation: X:55.60, Y:-8.67, Z:-7.13 [[ 9.41615723e-01 3.22890913e-01 9.54006787e-02 5.56031817e+01] [-3.21248253e-01 9.46436188e-01 -3.25284759e-02 -8.67305129e+00] [-1.00793804e-01 -1.79770198e-05 9.94907337e-01 -7.12900486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.518241008000004 meters 0.06192668035348771 Centerline is valid? [True, True] Translation: X:55.63, Y:-8.68, Z:-7.13 [[ 9.41442511e-01 3.23837764e-01 9.38887703e-02 5.56341167e+01] [-3.22249044e-01 9.46112622e-01 -3.20384119e-02 -8.68193731e+00] [-9.92045983e-02 -9.32435248e-05 9.95067053e-01 -7.13045611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.548241008 meters 0.06262024823794293 Centerline is valid? [True, True] Translation: X:55.66, Y:-8.69, Z:-7.14 [[ 9.41024195e-01 3.25660547e-01 9.17533230e-02 5.56633298e+01] [-3.24149750e-01 9.45486723e-01 -3.13336426e-02 -8.68897822e+00] [-9.69556798e-02 -2.56100881e-04 9.95288667e-01 -7.14030216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.578241008 meters 0.062085035406674066 Centerline is valid? [True, True] Translation: X:55.69, Y:-8.70, Z:-7.14 [[ 9.40495298e-01 3.27047054e-01 9.22432561e-02 5.56946834e+01] [-3.25524110e-01 9.45007981e-01 -3.15272961e-02 -8.69936854e+00] [-9.74815225e-02 -3.76130171e-04 9.95237264e-01 -7.13905132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.608241008 meters 0.06204530657285107 Centerline is valid? [True, True] Translation: X:55.72, Y:-8.71, Z:-7.14 [[ 9.39884938e-01 3.28604837e-01 9.29255834e-02 5.57249339e+01] [-3.27066372e-01 9.44467348e-01 -3.17650123e-02 -8.70872604e+00] [-9.82033160e-02 -5.37376799e-04 9.95166227e-01 -7.14171138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.638241008 meters 0.06199298709044825 Centerline is valid? [True, True] Translation: X:55.75, Y:-8.72, Z:-7.15 [[ 9.39763203e-01 3.28781493e-01 9.35299568e-02 5.57540633e+01] [-3.27221309e-01 9.44405868e-01 -3.19964419e-02 -8.71794660e+00] [-9.88500780e-02 -5.35916142e-04 9.95102193e-01 -7.14552127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.668241008 meters 0.06176535701944092 Centerline is valid? [True, True] Translation: X:55.78, Y:-8.73, Z:-7.15 [[ 9.40051110e-01 3.27794558e-01 9.40990882e-02 5.57835424e+01] [-3.26208145e-01 9.44748938e-01 -3.22131919e-02 -8.72906151e+00] [-9.94593227e-02 -4.13842242e-04 9.95041543e-01 -7.14923198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.698241008000004 meters 0.06162725178604208 Centerline is valid? [True, True] Translation: X:55.81, Y:-8.74, Z:-7.15 [[ 9.40728557e-01 3.25682361e-01 9.46614067e-02 5.58113626e+01] [-3.24063698e-01 9.45479228e-01 -3.24306707e-02 -8.74160057e+00] [-1.00062491e-01 -1.67867502e-04 9.94981140e-01 -7.15377210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.728241008 meters 0.06142517999872749 Centerline is valid? [True, True] Translation: X:55.84, Y:-8.76, Z:-7.16 [[ 9.41891716e-01 3.21992251e-01 9.57130329e-02 5.58405650e+01] [-3.20315626e-01 9.46742270e-01 -3.28172651e-02 -8.75706368e+00] [-1.01182479e-01 2.51930106e-04 9.94867852e-01 -7.15565087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.758241008 meters 0.06168626702258733 Centerline is valid? [True, True] Translation: X:55.87, Y:-8.78, Z:-7.16 [[ 9.44317144e-01 3.15026972e-01 9.49902026e-02 5.58658406e+01] [-3.13339880e-01 9.49082196e-01 -3.25746211e-02 -8.77836269e+00] [-1.00415394e-01 9.96554556e-04 9.94945102e-01 -7.15811982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.788241008 meters 0.06166713311427379 Centerline is valid? [True, True] Translation: X:55.89, Y:-8.79, Z:-7.16 [[ 9.45207787e-01 3.12612911e-01 9.41031702e-02 5.58949564e+01] [-3.10943170e-01 9.49879769e-01 -3.22919415e-02 -8.79138778e+00] [-9.94815754e-02 1.26185654e-03 9.95038604e-01 -7.16010723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.818241008 meters 0.06215943604229354 Centerline is valid? [True, True] Translation: X:55.92, Y:-8.80, Z:-7.17 [[ 9.46297934e-01 3.09608094e-01 9.30755034e-02 5.59237406e+01] [-3.07957875e-01 9.50862936e-01 -3.19628655e-02 -8.80467331e+00] [-9.83980083e-02 1.58305925e-03 9.95145882e-01 -7.16561143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.848241008 meters 0.06279354844388628 Centerline is valid? [True, True] Translation: X:55.95, Y:-8.82, Z:-7.17 [[ 9.47509693e-01 3.06233573e-01 9.19041888e-02 5.59522960e+01] [-3.04606636e-01 9.51954447e-01 -3.15836661e-02 -8.81799010e+00] [-9.71605801e-02 1.93120400e-03 9.95266845e-01 -7.17148704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.878241008 meters 0.06327273206590212 Centerline is valid? [True, True] Translation: X:55.98, Y:-8.83, Z:-7.18 [[ 9.47976458e-01 3.04880726e-01 9.15880868e-02 5.59810879e+01] [-3.03256383e-01 9.52388258e-01 -3.14987589e-02 -8.82980629e+00] [-9.68307830e-02 2.08540992e-03 9.95298674e-01 -7.17643649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.908241008000005 meters 0.06331024077933689 Centerline is valid? [True, True] Translation: X:56.01, Y:-8.84, Z:-7.18 [[ 9.48294127e-01 3.03980616e-01 9.12909313e-02 5.60107051e+01] [-3.02360651e-01 9.52675700e-01 -3.14173234e-02 -8.84153225e+00] [-9.65209092e-02 2.19007785e-03 9.95328548e-01 -7.17910668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.938241008 meters 0.06331024077933689 Centerline is valid? [True, True] Translation: X:56.04, Y:-8.85, Z:-7.18 [[ 9.48215001e-01 3.04229416e-01 9.12840355e-02 5.60409902e+01] [-3.02608674e-01 9.52596286e-01 -3.14373446e-02 -8.85213477e+00] [-9.65209982e-02 2.18602083e-03 9.95328548e-01 -7.18316742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.968241008 meters 0.0636003675095028 Centerline is valid? [True, True] Translation: X:56.07, Y:-8.86, Z:-7.19 [[ 9.48765664e-01 3.02629618e-01 9.08792027e-02 5.60693413e+01] [-3.01013232e-01 9.53105304e-01 -3.13259220e-02 -8.86390545e+00] [-9.60976019e-02 2.36511666e-03 9.95369106e-01 -7.18713043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.998241008 meters 0.064772332169321 Centerline is valid? [True, True] Translation: X:56.10, Y:-8.88, Z:-7.19 [[ 9.49240245e-01 3.01247694e-01 9.05139944e-02 5.60974565e+01] [-2.99635991e-01 9.53542605e-01 -3.12213592e-02 -8.87630505e+00] [-9.57143125e-02 2.51532031e-03 9.95405668e-01 -7.19284851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.028241008 meters 0.06382128020985783 Centerline is valid? [True, True] Translation: X:56.13, Y:-8.88, Z:-7.19 [[ 9.49443291e-01 3.00398785e-01 9.12031073e-02 5.61292941e+01] [-2.98756508e-01 9.53810043e-01 -3.14793675e-02 -8.88343738e+00] [-9.64468034e-02 2.64035243e-03 9.95334639e-01 -7.19407023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.058241008 meters 0.06387448037253887 Centerline is valid? [True, True] Translation: X:56.16, Y:-8.89, Z:-7.20 [[ 9.49774343e-01 2.99409952e-01 9.10075734e-02 5.61593907e+01] [-2.97767732e-01 9.54120573e-01 -3.14374157e-02 -8.89279980e+00] [-9.62448731e-02 2.75933220e-03 9.95353862e-01 -7.19791824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.088241008000004 meters 0.06461958398823804 Centerline is valid? [True, True] Translation: X:56.19, Y:-8.90, Z:-7.20 [[ 9.50727161e-01 2.96182348e-01 9.16181351e-02 5.61890084e+01] [-2.94500623e-01 9.55126283e-01 -3.16728116e-02 -8.90180902e+00] [-9.68878165e-02 3.13060438e-03 9.95290385e-01 -7.20178897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.118241008 meters 0.06397478331312736 Centerline is valid? [True, True] Translation: X:56.22, Y:-8.91, Z:-7.20 [[ 9.50846897e-01 2.95740055e-01 9.18041278e-02 5.62198706e+01] [-2.94047343e-01 9.55263086e-01 -3.17584199e-02 -8.91034147e+00] [-9.70893313e-02 3.20263521e-03 9.95270518e-01 -7.20320058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.148241008 meters 0.06366818412920984 Centerline is valid? [True, True] Translation: X:56.25, Y:-8.92, Z:-7.21 [[ 9.50805480e-01 2.95753042e-01 9.21904424e-02 5.62512076e+01] [-2.94043842e-01 9.55258950e-01 -3.19148516e-02 -8.92116421e+00] [-9.75046596e-02 3.23678390e-03 9.95229805e-01 -7.20525898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.178241008 meters 0.06566984265502177 Centerline is valid? [True, True] Translation: X:56.28, Y:-8.94, Z:-7.21 [[ 9.50765628e-01 2.95637568e-01 9.29685357e-02 5.62787724e+01] [-2.93895933e-01 9.55294464e-01 -3.22128434e-02 -8.93602913e+00] [-9.83356542e-02 3.30378979e-03 9.95147820e-01 -7.21181848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.208241008 meters 0.0635454645197461 Centerline is valid? [True, True] Translation: X:56.31, Y:-8.94, Z:-7.21 [[ 9.50277682e-01 2.96924619e-01 9.38514637e-02 5.63120708e+01] [-2.95153507e-01 9.54895479e-01 -3.25427659e-02 -8.93866685e+00] [-9.92810868e-02 3.22407557e-03 9.95054205e-01 -7.21038143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.238241008 meters 0.06477794136537152 Centerline is valid? [True, True] Translation: X:56.34, Y:-8.95, Z:-7.22 [[ 9.49792461e-01 2.98200369e-01 9.47144199e-02 5.63403647e+01] [-2.96400258e-01 9.54498119e-01 -3.28668123e-02 -8.94962152e+00] [-1.00205631e-01 3.14327203e-03 9.94961784e-01 -7.21837620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.268241008000004 meters 0.06348614748766356 Centerline is valid? [True, True] Translation: X:56.37, Y:-8.95, Z:-7.22 [[ 9.49296071e-01 2.99820693e-01 9.45754830e-02 5.63726492e+01] [-2.98031669e-01 9.53990890e-01 -3.28406129e-02 -8.95362765e+00] [-1.00070444e-01 2.98897568e-03 9.94975865e-01 -7.22158119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.298241008 meters 0.06291691367681808 Centerline is valid? [True, True] Translation: X:56.40, Y:-8.96, Z:-7.23 [[ 9.48544027e-01 3.02221305e-01 9.44802127e-02 5.64041058e+01] [-3.00445388e-01 9.53233806e-01 -3.28310695e-02 -8.95983794e+00] [-9.99839814e-02 2.75557070e-03 9.94985231e-01 -7.22571675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.328241008 meters 0.06265896037686013 Centerline is valid? [True, True] Translation: X:56.43, Y:-8.96, Z:-7.23 [[ 9.46544146e-01 3.08962468e-01 9.27166271e-02 5.64348240e+01] [-3.07282285e-01 9.51072069e-01 -3.22415315e-02 -8.96341210e+00] [-9.81416176e-02 2.02785589e-03 9.95170393e-01 -7.23338196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.358241008 meters 0.061980407867549686 Centerline is valid? [True, True] Translation: X:56.47, Y:-8.97, Z:-7.24 [[ 9.45526425e-01 3.12318775e-01 9.18518498e-02 5.64665382e+01] [-3.10683248e-01 9.49975861e-01 -3.19653513e-02 -8.96864807e+00] [-9.72404194e-02 1.68725334e-03 9.95259491e-01 -7.23751834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.388241008 meters 0.061589979982939115 Centerline is valid? [True, True] Translation: X:56.50, Y:-8.98, Z:-7.24 [[ 9.44279961e-01 3.16172074e-01 9.14908455e-02 5.64980632e+01] [-3.14567052e-01 9.48700984e-01 -3.18435500e-02 -8.97516077e+00] [-9.68654965e-02 1.28922056e-03 9.95296646e-01 -7.24107438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.418241008 meters 0.06146990627496504 Centerline is valid? [True, True] Translation: X:56.53, Y:-8.98, Z:-7.25 [[ 9.43142266e-01 3.19432273e-01 9.19004333e-02 5.65284849e+01] [-3.17825989e-01 9.47608601e-01 -3.20090532e-02 -8.98196558e+00] [-9.73103657e-02 9.80744858e-04 9.95253601e-01 -7.24599513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.448241008000004 meters 0.06142663399078944 Centerline is valid? [True, True] Translation: X:56.56, Y:-8.99, Z:-7.25 [[ 9.42295796e-01 3.21874923e-01 9.20606657e-02 5.65594299e+01] [-3.20272009e-01 9.46781898e-01 -3.20916964e-02 -8.98966410e+00] [-9.74908841e-02 7.55416202e-04 9.95236131e-01 -7.24942730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.478241008000005 meters 0.06092336362717911 Centerline is valid? [True, True] Translation: X:56.59, Y:-9.00, Z:-7.25 [[ 9.40977746e-01 3.25008175e-01 9.45016852e-02 5.65919421e+01] [-3.23333757e-01 9.45711099e-01 -3.29514570e-02 -8.99565504e+00] [-1.00080785e-01 4.51002778e-04 9.94979212e-01 -7.25039599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.508241008 meters 0.0608832886502788 Centerline is valid? [True, True] Translation: X:56.62, Y:-9.00, Z:-7.25 [[ 9.40664291e-01 3.25530598e-01 9.58150329e-02 5.66226454e+01] [-3.23811479e-01 9.45531420e-01 -3.34134789e-02 -9.00431993e+00] [-1.01473234e-01 4.04858944e-04 9.94838187e-01 -7.25380714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.538241008 meters 0.06101594790248293 Centerline is valid? [True, True] Translation: X:56.65, Y:-9.01, Z:-7.26 [[ 9.40422806e-01 3.26237571e-01 9.57809674e-02 5.66539843e+01] [-3.24520911e-01 9.45287747e-01 -3.34253624e-02 -9.01329905e+00] [-1.01445184e-01 3.51046333e-04 9.94841068e-01 -7.25847784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.568241008 meters 0.061040648336478855 Centerline is valid? [True, True] Translation: X:56.68, Y:-9.02, Z:-7.26 [[ 9.40099859e-01 3.26703449e-01 9.73504627e-02 5.66833477e+01] [-3.24929226e-01 9.45126840e-01 -3.40037256e-02 -9.02308763e+00] [-1.03117670e-01 3.34887068e-04 9.94669108e-01 -7.26209080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.598241008 meters 0.0609974688885895 Centerline is valid? [True, True] Translation: X:56.71, Y:-9.03, Z:-7.27 [[ 9.39830762e-01 3.27471878e-01 9.73668755e-02 5.67139568e+01] [-3.25698845e-01 9.44860887e-01 -3.40318597e-02 -9.03487318e+00] [-1.03142629e-01 2.71909756e-04 9.94666539e-01 -7.26568147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.628241008 meters 0.061175192514127834 Centerline is valid? [True, True] Translation: X:56.74, Y:-9.05, Z:-7.27 [[ 9.39810911e-01 3.27330091e-01 9.80329668e-02 5.67425336e+01] [-3.25528807e-01 9.44910002e-01 -3.42940903e-02 -9.04697771e+00] [-1.03857819e-01 3.17405542e-04 9.94592104e-01 -7.27015827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.658241008000005 meters 0.0611265142624958 Centerline is valid? [True, True] Translation: X:56.77, Y:-9.06, Z:-7.27 [[ 9.39910103e-01 3.27209294e-01 9.74837183e-02 5.67723180e+01] [-3.25425013e-01 9.44951826e-01 -3.41263422e-02 -9.05880066e+00] [-1.03283874e-01 3.52053594e-04 9.94651857e-01 -7.27195232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.688241008 meters 0.0612743675894041 Centerline is valid? [True, True] Translation: X:56.80, Y:-9.07, Z:-7.28 [[ 9.40402542e-01 3.25752363e-01 9.76138172e-02 5.68010647e+01] [-3.23952922e-01 9.45454976e-01 -3.41963909e-02 -9.07055990e+00] [-1.03429024e-01 5.36091518e-04 9.94636692e-01 -7.27841758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.718241008 meters 0.06133357058336248 Centerline is valid? [True, True] Translation: X:56.83, Y:-9.08, Z:-7.28 [[ 9.40783558e-01 3.24626063e-01 9.76945012e-02 5.68310539e+01] [-3.22814873e-01 9.45842191e-01 -3.42506693e-02 -9.08282080e+00] [-1.03522241e-01 6.85228544e-04 9.94626903e-01 -7.28192594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.748241008 meters 0.06164591711802115 Centerline is valid? [True, True] Translation: X:56.86, Y:-9.10, Z:-7.29 [[ 9.41513535e-01 3.22599653e-01 9.73741613e-02 5.68591324e+01] [-3.20786529e-01 9.46535046e-01 -3.41673655e-02 -9.09629512e+00] [-1.03190437e-01 9.32717904e-04 9.94661180e-01 -7.28622578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.778241008 meters 0.06218784773980692 Centerline is valid? [True, True] Translation: X:56.89, Y:-9.11, Z:-7.29 [[ 9.43054307e-01 3.18835962e-01 9.48272250e-02 5.68870488e+01] [-3.17095594e-01 9.47808980e-01 -3.32944638e-02 -9.11278465e+00] [-1.00493568e-01 1.32919225e-03 9.94936820e-01 -7.29239214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.808241008 meters 0.06291183981277348 Centerline is valid? [True, True] Translation: X:56.91, Y:-9.13, Z:-7.30 [[ 9.44026953e-01 3.16088959e-01 9.43444847e-02 5.69143771e+01] [-3.14350135e-01 9.48728143e-01 -3.31497047e-02 -9.12611611e+00] [-9.99855235e-02 1.63701326e-03 9.94987545e-01 -7.29818442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.838241008000004 meters 0.06384821106654745 Centerline is valid? [True, True] Translation: X:56.94, Y:-9.14, Z:-7.30 [[ 9.44980528e-01 3.13518521e-01 9.33699029e-02 5.69413899e+01] [-3.11801302e-01 9.49580173e-01 -3.28244231e-02 -9.14089670e+00] [-9.89532731e-02 1.90558337e-03 9.95090256e-01 -7.30460989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.868241008 meters 0.06420324083018247 Centerline is valid? [True, True] Translation: X:56.97, Y:-9.15, Z:-7.31 [[ 9.45488356e-01 3.12000061e-01 9.33152235e-02 5.69700385e+01] [-3.10275191e-01 9.50079793e-01 -3.28282254e-02 -9.15447466e+00] [-9.88993166e-02 2.08530612e-03 9.95095260e-01 -7.30772106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.898241008 meters 0.06489979640849923 Centerline is valid? [True, True] Translation: X:57.00, Y:-9.17, Z:-7.31 [[ 9.46092654e-01 3.09969945e-01 9.39538402e-02 5.69970891e+01] [-3.08208990e-01 9.50743487e-01 -3.30762956e-02 -9.17014289e+00] [-9.95786591e-02 2.33582208e-03 9.95026952e-01 -7.31060925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.928241008 meters 0.06353996897852092 Centerline is valid? [True, True] Translation: X:57.03, Y:-9.18, Z:-7.31 [[ 9.46199014e-01 3.09570901e-01 9.41981049e-02 5.70295658e+01] [-3.07796852e-01 9.50873328e-01 -3.31815020e-02 -9.17735311e+00] [-9.98424930e-02 2.40242432e-03 9.95000354e-01 -7.30901478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.958241008 meters 0.0640409112453709 Centerline is valid? [True, True] Translation: X:57.06, Y:-9.19, Z:-7.31 [[ 9.45979686e-01 3.10140490e-01 9.45267715e-02 5.70581896e+01] [-3.08353868e-01 9.50687760e-01 -3.33267763e-02 -9.18925029e+00] [-1.00201427e-01 2.37875772e-03 9.94964329e-01 -7.31438746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.988241008 meters 0.06389455557919255 Centerline is valid? [True, True] Translation: X:57.09, Y:-9.20, Z:-7.32 [[ 9.45602403e-01 3.11145635e-01 9.49973103e-02 5.70890110e+01] [-3.09343570e-01 9.50359440e-01 -3.35185106e-02 -9.19908647e+00] [-1.00710729e-01 2.30837702e-03 9.94913072e-01 -7.31824623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.018241008000004 meters 0.06256279772853275 Centerline is valid? [True, True] Translation: X:57.12, Y:-9.20, Z:-7.32 [[ 9.43397224e-01 3.17225277e-01 9.67977337e-02 5.71215179e+01] [-3.15385074e-01 9.48348689e-01 -3.41616699e-02 -9.20185268e+00] [-1.02634949e-01 1.69946415e-03 9.94717638e-01 -7.32067124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.048241008 meters 0.06232038882095408 Centerline is valid? [True, True] Translation: X:57.15, Y:-9.21, Z:-7.33 [[ 9.41979938e-01 3.21350717e-01 9.69923319e-02 5.71512533e+01] [-3.19522264e-01 9.46959390e-01 -3.42554580e-02 -9.20844695e+00] [-1.02855815e-01 1.27674475e-03 9.94695456e-01 -7.32646978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.078241008 meters 0.0621712541366764 Centerline is valid? [True, True] Translation: X:57.18, Y:-9.22, Z:-7.33 [[ 9.40660888e-01 3.25064398e-01 9.74178144e-02 5.71819421e+01] [-3.23238356e-01 9.45691467e-01 -3.44182214e-02 -9.21505397e+00] [-1.03315334e-01 8.86700515e-04 9.94648257e-01 -7.33164849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.108241008 meters 0.06201702533994428 Centerline is valid? [True, True] Translation: X:57.21, Y:-9.22, Z:-7.33 [[ 9.38660869e-01 3.30890079e-01 9.70954571e-02 5.72148297e+01] [-3.29104637e-01 9.43669266e-01 -3.43286242e-02 -9.21877747e+00] [-1.02985000e-01 2.68371125e-04 9.94682873e-01 -7.33417204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.138241008 meters 0.06216827147519551 Centerline is valid? [True, True] Translation: X:57.24, Y:-9.23, Z:-7.34 [[ 9.38288841e-01 3.31910353e-01 9.72088906e-02 5.72446123e+01] [-3.30123562e-01 9.43310916e-01 -3.43940212e-02 -9.22864016e+00] [-1.03113939e-01 1.80581079e-04 9.94669535e-01 -7.34070818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.168241008 meters 0.06219077027239172 Centerline is valid? [True, True] Translation: X:57.27, Y:-9.24, Z:-7.34 [[ 9.38105603e-01 3.32536043e-01 9.68383015e-02 5.72742806e+01] [-3.30763096e-01 9.43090537e-01 -3.42930582e-02 -9.23882317e+00] [-1.02730964e-01 1.39973619e-04 9.94709168e-01 -7.34457161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.198241008000004 meters 0.06210378376267697 Centerline is valid? [True, True] Translation: X:57.30, Y:-9.25, Z:-7.35 [[ 9.38277378e-01 3.32063333e-01 9.67962048e-02 5.73046275e+01] [-3.30288307e-01 9.43257071e-01 -3.42889573e-02 -9.24975957e+00] [-1.02689810e-01 2.01898381e-04 9.94713407e-01 -7.34815151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.228241008000005 meters 0.06223729288008849 Centerline is valid? [True, True] Translation: X:57.33, Y:-9.26, Z:-7.35 [[ 9.39749870e-01 3.28256691e-01 9.54867873e-02 5.73326208e+01] [-3.26506943e-01 9.44588344e-01 -3.38537570e-02 -9.26429053e+00] [-1.01308429e-01 6.36964642e-04 9.94854862e-01 -7.35198072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.258241008 meters 0.062462788355840675 Centerline is valid? [True, True] Translation: X:57.36, Y:-9.28, Z:-7.36 [[ 9.40439079e-01 3.26299760e-01 9.54086238e-02 5.73604941e+01] [-3.24540497e-01 9.45265947e-01 -3.38490009e-02 -9.27739497e+00] [-1.01231444e-01 8.68961042e-04 9.94862523e-01 -7.35645040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.288241008 meters 0.06281469707206602 Centerline is valid? [True, True] Translation: X:57.39, Y:-9.29, Z:-7.36 [[ 9.41386611e-01 3.23526390e-01 9.55087627e-02 5.73885104e+01] [-3.21746843e-01 9.46218399e-01 -3.39073900e-02 -9.29083574e+00] [-1.01342084e-01 1.19032007e-03 9.94850926e-01 -7.36157063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.318241008 meters 0.06281532007016895 Centerline is valid? [True, True] Translation: X:57.42, Y:-9.30, Z:-7.36 [[ 9.41956897e-01 3.21786929e-01 9.57620857e-02 5.74180573e+01] [-3.19986677e-01 9.46811072e-01 -3.40194153e-02 -9.30242527e+00] [-1.01615606e-01 1.40223125e-03 9.94822749e-01 -7.36387411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.348241008 meters 0.06310358235826 Centerline is valid? [True, True] Translation: X:57.45, Y:-9.32, Z:-7.37 [[ 9.43066493e-01 3.17919502e-01 9.77383280e-02 5.74469691e+01] [-3.16020553e-01 9.48115842e-01 -3.47470824e-02 -9.31614696e+00] [-1.03714032e-01 1.88148856e-03 9.94605379e-01 -7.36646518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.378241008 meters 0.06336010163196061 Centerline is valid? [True, True] Translation: X:57.48, Y:-9.33, Z:-7.37 [[ 9.43299438e-01 3.17031737e-01 9.83719826e-02 5.74763083e+01] [-3.15100616e-01 9.48412787e-01 -3.49969530e-02 -9.32790626e+00] [-1.04392391e-01 2.01553382e-03 9.94534145e-01 -7.37073585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.408241008000005 meters 0.06337655998918637 Centerline is valid? [True, True] Translation: X:57.51, Y:-9.34, Z:-7.37 [[ 9.43530811e-01 3.16333451e-01 9.84009943e-02 5.75063265e+01] [-3.14394584e-01 9.48645697e-01 -3.50341004e-02 -9.33826613e+00] [-1.04430138e-01 2.11901354e-03 9.94529967e-01 -7.37407619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.438241008 meters 0.06343351515268397 Centerline is valid? [True, True] Translation: X:57.54, Y:-9.35, Z:-7.38 [[ 9.43496110e-01 3.16598915e-01 9.78785889e-02 5.75355250e+01] [-3.14679309e-01 9.48557169e-01 -3.48744937e-02 -9.34911827e+00] [-1.03884664e-01 2.10358242e-03 9.94587126e-01 -7.37799835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.468241008 meters 0.06339916103459338 Centerline is valid? [True, True] Translation: X:57.57, Y:-9.36, Z:-7.38 [[ 9.43388707e-01 3.16873670e-01 9.80246112e-02 5.75659060e+01] [-3.14948685e-01 9.48465457e-01 -3.49371232e-02 -9.35973250e+00] [-1.04043612e-01 2.08656511e-03 9.94570547e-01 -7.38172651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.498241008 meters 0.06351504646977028 Centerline is valid? [True, True] Translation: X:57.60, Y:-9.37, Z:-7.39 [[ 9.43335241e-01 3.17354114e-01 9.69793220e-02 5.75952018e+01] [-3.15469564e-01 9.48304912e-01 -3.45940511e-02 -9.36934704e+00] [-1.02944532e-01 2.03976310e-03 9.94685007e-01 -7.38672368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.528241008 meters 0.06331920793925176 Centerline is valid? [True, True] Translation: X:57.63, Y:-9.38, Z:-7.39 [[ 9.42723274e-01 3.19099765e-01 9.72016928e-02 5.76261934e+01] [-3.17214668e-01 9.47719297e-01 -3.46841160e-02 -9.37605565e+00] [-1.03187613e-01 1.86372060e-03 9.94660165e-01 -7.39183341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.558241008 meters 0.06308666189383653 Centerline is valid? [True, True] Translation: X:57.66, Y:-9.38, Z:-7.40 [[ 9.42209107e-01 3.20722681e-01 9.68450299e-02 5.76569744e+01] [-3.18857598e-01 9.47171614e-01 -3.45798493e-02 -9.38372850e+00] [-1.02819405e-01 1.70167532e-03 9.94698585e-01 -7.39658038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.588241008000004 meters 0.06270072968093672 Centerline is valid? [True, True] Translation: X:57.69, Y:-9.39, Z:-7.40 [[ 9.41636625e-01 3.22660608e-01 9.59718649e-02 5.76895949e+01] [-3.20836921e-01 9.46513545e-01 -3.42896403e-02 -9.39076428e+00] [-1.01902586e-01 1.49706354e-03 9.94793256e-01 -7.39957397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.618241008 meters 0.06299251623700852 Centerline is valid? [True, True] Translation: X:57.72, Y:-9.40, Z:-7.41 [[ 9.40949650e-01 3.24789310e-01 9.55283239e-02 5.77184069e+01] [-3.22990542e-01 9.45785518e-01 -3.41593804e-02 -9.40057378e+00] [-1.01443907e-01 1.28751192e-03 9.94840427e-01 -7.40693106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.648241008 meters 0.06274953046809192 Centerline is valid? [True, True] Translation: X:57.75, Y:-9.41, Z:-7.41 [[ 9.40094910e-01 3.27526919e-01 9.45921630e-02 5.77481479e+01] [-3.25774973e-01 9.44841316e-01 -3.38460557e-02 -9.40776535e+00] [-1.00460078e-01 1.00274534e-03 9.94940585e-01 -7.41195019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.678241008 meters 0.06231518743186266 Centerline is valid? [True, True] Translation: X:57.78, Y:-9.42, Z:-7.41 [[ 9.39409683e-01 3.29307231e-01 9.52165725e-02 5.77790831e+01] [-3.27538883e-01 9.44222455e-01 -3.40915876e-02 -9.41581466e+00] [-1.01132232e-01 8.38837731e-04 9.94872639e-01 -7.41230822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.708241008 meters 0.062221014623133404 Centerline is valid? [True, True] Translation: X:57.81, Y:-9.43, Z:-7.42 [[ 9.39096845e-01 3.30076992e-01 9.56362668e-02 5.78096029e+01] [-3.28294177e-01 9.43953687e-01 -3.42690859e-02 -9.42626061e+00] [-1.01587643e-01 7.85160963e-04 9.94826283e-01 -7.41634159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.738241008 meters 0.062091160016265405 Centerline is valid? [True, True] Translation: X:57.84, Y:-9.44, Z:-7.42 [[ 9.38932811e-01 3.30787730e-01 9.47874155e-02 5.78403872e+01] [-3.29039687e-01 9.43704922e-01 -3.39691755e-02 -9.43530310e+00] [-1.00687937e-01 7.05951892e-04 9.94917806e-01 -7.41640515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.768241008000004 meters 0.06287803568537226 Centerline is valid? [True, True] Translation: X:57.87, Y:-9.45, Z:-7.43 [[ 9.39052450e-01 3.30551368e-01 9.44261029e-02 5.78676191e+01] [-3.28812911e-01 9.43787702e-01 -3.38650684e-02 -9.44787284e+00] [-1.00312339e-01 7.52553688e-04 9.94955712e-01 -7.42832613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.798241008 meters 0.06224979556888059 Centerline is valid? [True, True] Translation: X:57.90, Y:-9.46, Z:-7.43 [[ 9.39060632e-01 3.30195115e-01 9.55840815e-02 5.78981767e+01] [-3.28409467e-01 9.43912343e-01 -3.43032317e-02 -9.45776302e+00] [-1.01549754e-01 8.22097215e-04 9.94830122e-01 -7.42627437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.828241008 meters 0.06224979556888059 Centerline is valid? [True, True] Translation: X:57.93, Y:-9.47, Z:-7.43 [[ 9.38975640e-01 3.30438892e-01 9.55765962e-02 5.79283295e+01] [-3.28652382e-01 9.43827034e-01 -3.43240733e-02 -9.46874772e+00] [-1.01549784e-01 8.17992704e-04 9.94830122e-01 -7.43033382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.858241008 meters 0.06231784228434129 Centerline is valid? [True, True] Translation: X:57.96, Y:-9.48, Z:-7.43 [[ 9.39278601e-01 3.29564140e-01 9.56200200e-02 5.79585236e+01] [-3.27768637e-01 9.44132721e-01 -3.43674998e-02 -9.48172246e+00] [-1.01604285e-01 9.39413491e-04 9.94824450e-01 -7.43310838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.888241008 meters 0.06244005615701227 Centerline is valid? [True, True] Translation: X:57.99, Y:-9.50, Z:-7.44 [[ 9.39879169e-01 3.27768344e-01 9.58908808e-02 5.79858696e+01] [-3.25950273e-01 9.44757406e-01 -3.44944038e-02 -9.49569941e+00] [-1.01899793e-01 1.16491280e-03 9.94793986e-01 -7.43728057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.918241008 meters 0.06301082705747979 Centerline is valid? [True, True] Translation: X:58.01, Y:-9.51, Z:-7.44 [[ 9.41629786e-01 3.22606606e-01 9.62201860e-02 5.80121395e+01] [-3.20746230e-01 9.46531507e-01 -3.46404723e-02 -9.51381470e+00] [-1.02250683e-01 1.75623855e-03 9.94757113e-01 -7.44048840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.948241008000004 meters 0.06336119829222837 Centerline is valid? [True, True] Translation: X:58.04, Y:-9.53, Z:-7.44 [[ 9.42634806e-01 3.20090094e-01 9.47731671e-02 5.80408897e+01] [-3.18271770e-01 9.47384981e-01 -3.41288569e-02 -9.52754339e+00] [-1.00710984e-01 2.00742481e-03 9.94913699e-01 -7.44443267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.978241008000005 meters 0.06368686221648379 Centerline is valid? [True, True] Translation: X:58.07, Y:-9.54, Z:-7.45 [[ 9.43428451e-01 3.17738625e-01 9.47888419e-02 5.80697390e+01] [-3.15905405e-01 9.48175595e-01 -3.41586956e-02 -9.54166709e+00] [-1.00730004e-01 2.28197777e-03 9.94911181e-01 -7.44815559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.008241008 meters 0.0642755513991847 Centerline is valid? [True, True] Translation: X:58.10, Y:-9.56, Z:-7.45 [[ 9.44415514e-01 3.14745167e-01 9.49463906e-02 5.80987995e+01] [-3.12888317e-01 9.49172572e-01 -3.42393100e-02 -9.55583213e+00] [-1.00897167e-01 2.62851920e-03 9.94893388e-01 -7.45193789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.038241008 meters 0.06474104758212812 Centerline is valid? [True, True] Translation: X:58.13, Y:-9.57, Z:-7.46 [[ 9.45272519e-01 3.12056066e-01 9.52936303e-02 5.81278180e+01] [-3.10169452e-01 9.50059109e-01 -3.43889630e-02 -9.56726079e+00] [-1.01265866e-01 2.94976863e-03 9.94855026e-01 -7.45807741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.068241008 meters 0.06550943247077691 Centerline is valid? [True, True] Translation: X:58.16, Y:-9.58, Z:-7.46 [[ 9.45413195e-01 3.11787724e-01 9.47750268e-02 5.81557412e+01] [-3.09918086e-01 9.50147102e-01 -3.42237320e-02 -9.57894407e+00] [-1.00720757e-01 2.98307291e-03 9.94910263e-01 -7.46364995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.098241008 meters 0.06549375362428207 Centerline is valid? [True, True] Translation: X:58.19, Y:-9.59, Z:-7.47 [[ 9.45300438e-01 3.12004275e-01 9.51862098e-02 5.81857304e+01] [-3.10117215e-01 9.50075981e-01 -3.43939335e-02 -9.59015096e+00] [-1.01165186e-01 2.99371806e-03 9.94865138e-01 -7.46721960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.128241008 meters 0.06439789675705468 Centerline is valid? [True, True] Translation: X:58.22, Y:-9.60, Z:-7.47 [[ 9.45256867e-01 3.12170769e-01 9.50729542e-02 5.82177989e+01] [-3.10286829e-01 9.50021290e-01 -3.43748728e-02 -9.59797604e+00] [-1.01052161e-01 2.99319913e-03 9.94876626e-01 -7.46802537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.158241008000005 meters 0.06542251099061919 Centerline is valid? [True, True] Translation: X:58.25, Y:-9.61, Z:-7.47 [[ 9.44722900e-01 3.13594076e-01 9.56942884e-02 5.82454713e+01] [-3.11689614e-01 9.49552745e-01 -3.46290227e-02 -9.61076505e+00] [-1.01726231e-01 2.88791494e-03 9.94808240e-01 -7.47398559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.188241008 meters 0.06395899143034982 Centerline is valid? [True, True] Translation: X:58.28, Y:-9.62, Z:-7.47 [[ 9.44345913e-01 3.14530355e-01 9.63402918e-02 5.82777911e+01] [-3.12602541e-01 9.49243204e-01 -3.48854033e-02 -9.61620778e+00] [-1.02422886e-01 2.82766800e-03 9.94736928e-01 -7.47448363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.218241008 meters 0.06381214029218436 Centerline is valid? [True, True] Translation: X:58.31, Y:-9.62, Z:-7.48 [[ 9.44026534e-01 3.15332951e-01 9.68454094e-02 5.83083508e+01] [-3.13386448e-01 9.48977032e-01 -3.50931057e-02 -9.62442762e+00] [-1.02970082e-01 2.77878402e-03 9.94680572e-01 -7.47805117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.248241008 meters 0.06437897920463383 Centerline is valid? [True, True] Translation: X:58.34, Y:-9.64, Z:-7.48 [[ 9.43644607e-01 3.16580494e-01 9.64968746e-02 5.83369957e+01] [-3.14651929e-01 9.48561928e-01 -3.49918807e-02 -9.63525689e+00] [-1.02611008e-01 2.65697168e-03 9.94718011e-01 -7.48454638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.278241008 meters 0.06373116296456412 Centerline is valid? [True, True] Translation: X:58.37, Y:-9.64, Z:-7.49 [[ 9.42887041e-01 3.18899169e-01 9.62670719e-02 5.83692254e+01] [-3.16989173e-01 9.47785549e-01 -3.49344822e-02 -9.64125960e+00] [-1.02381117e-01 2.42365102e-03 9.94742295e-01 -7.48780137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.308241008 meters 0.06404438577357068 Centerline is valid? [True, True] Translation: X:58.40, Y:-9.65, Z:-7.49 [[ 9.42572644e-01 3.19946933e-01 9.58685132e-02 5.83981092e+01] [-3.18057595e-01 9.47432660e-01 -3.47954265e-02 -9.65222757e+00] [-1.01961650e-01 2.30550838e-03 9.94785659e-01 -7.49315792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.338241008000004 meters 0.06339682120788827 Centerline is valid? [True, True] Translation: X:58.43, Y:-9.66, Z:-7.50 [[ 9.42243272e-01 3.20842317e-01 9.61135950e-02 5.84289722e+01] [-3.18945661e-01 9.47129986e-01 -3.49063622e-02 -9.66012484e+00] [-1.02231506e-01 2.23527084e-03 9.94758123e-01 -7.49531784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.368241008 meters 0.06389677834391386 Centerline is valid? [True, True] Translation: X:58.46, Y:-9.67, Z:-7.50 [[ 9.42094568e-01 3.21685664e-01 9.47425908e-02 5.84583051e+01] [-3.19844716e-01 9.46844112e-01 -3.44323238e-02 -9.66923799e+00] [-1.00782849e-01 2.13558821e-03 9.94906155e-01 -7.50124115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.398241008 meters 0.06359979237994556 Centerline is valid? [True, True] Translation: X:58.49, Y:-9.68, Z:-7.50 [[ 9.42095786e-01 3.21703294e-01 9.46705881e-02 5.84900476e+01] [-3.19863141e-01 9.46838086e-01 -3.44268815e-02 -9.67826078e+00] [-1.00712960e-01 2.15178832e-03 9.94913197e-01 -7.50456304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.428241008 meters 0.06345680725796407 Centerline is valid? [True, True] Translation: X:58.52, Y:-9.69, Z:-7.51 [[ 9.41997856e-01 3.22014498e-01 9.45870159e-02 5.85212883e+01] [-3.20176454e-01 9.46732314e-01 -3.44233001e-02 -9.68770013e+00] [-1.00633386e-01 2.14213954e-03 9.94921270e-01 -7.50869657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.458241008 meters 0.06371571229583263 Centerline is valid? [True, True] Translation: X:58.55, Y:-9.70, Z:-7.51 [[ 9.42272031e-01 3.21307780e-01 9.42588424e-02 5.85499669e+01] [-3.19476113e-01 9.46972178e-01 -3.43322982e-02 -9.69863552e+00] [-1.00291736e-01 2.23691583e-03 9.94955559e-01 -7.51356047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.488241008 meters 0.06413999364128743 Centerline is valid? [True, True] Translation: X:58.58, Y:-9.71, Z:-7.52 [[ 9.42974810e-01 3.18915831e-01 9.53477843e-02 5.85788254e+01] [-3.17026980e-01 9.47779632e-01 -3.47514429e-02 -9.71069932e+00] [-1.01451473e-01 2.54191523e-03 9.94837242e-01 -7.51697561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.518241008000004 meters 0.06427065655776033 Centerline is valid? [True, True] Translation: X:58.61, Y:-9.72, Z:-7.52 [[ 9.43002924e-01 3.18639173e-01 9.59925155e-02 5.86083179e+01] [-3.16720970e-01 9.47872495e-01 -3.50080104e-02 -9.72168920e+00] [-1.02143589e-01 2.60981350e-03 9.94766242e-01 -7.52041954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.548241008 meters 0.06434320098547361 Centerline is valid? [True, True] Translation: X:58.64, Y:-9.73, Z:-7.52 [[ 9.42915420e-01 3.18719475e-01 9.65836779e-02 5.86379320e+01] [-3.16775201e-01 9.47845406e-01 -3.52499402e-02 -9.73190781e+00] [-1.02781238e-01 2.64239822e-03 9.94700475e-01 -7.52352726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.578241008 meters 0.06437764833316945 Centerline is valid? [True, True] Translation: X:58.67, Y:-9.74, Z:-7.53 [[ 9.42586207e-01 3.19479441e-01 9.72837546e-02 5.86673554e+01] [-3.17508335e-01 9.47589637e-01 -3.55293750e-02 -9.74239337e+00] [-1.03535983e-01 2.60109592e-03 9.94622308e-01 -7.52700626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.608241008 meters 0.06368950993534193 Centerline is valid? [True, True] Translation: X:58.70, Y:-9.75, Z:-7.53 [[ 9.41218057e-01 3.23854036e-01 9.60579631e-02 5.86991990e+01] [-3.21953994e-01 9.46104719e-01 -3.50925560e-02 -9.74748258e+00] [-1.02245758e-01 2.10350256e-03 9.94756945e-01 -7.53073464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.638241008 meters 0.06308377223227694 Centerline is valid? [True, True] Translation: X:58.73, Y:-9.75, Z:-7.53 [[ 9.39854839e-01 3.27731518e-01 9.62545252e-02 5.87314337e+01] [-3.25841526e-01 9.44769356e-01 -3.51875487e-02 -9.75189566e+00] [-1.02470395e-01 1.70746657e-03 9.94734589e-01 -7.53461281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.668241008 meters 0.06269552925593161 Centerline is valid? [True, True] Translation: X:58.76, Y:-9.75, Z:-7.54 [[ 9.36837674e-01 3.36623997e-01 9.49708252e-02 5.87645180e+01] [-3.34827013e-01 9.41638848e-01 -3.47440674e-02 -9.75087392e+00] [-1.01123905e-01 7.50753511e-04 9.94873556e-01 -7.54213094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.698241008000004 meters 0.062449266901668125 Centerline is valid? [True, True] Translation: X:58.80, Y:-9.76, Z:-7.54 [[ 9.35458330e-01 3.40627941e-01 9.42884833e-02 5.87967019e+01] [-3.38876773e-01 9.40198120e-01 -3.44967776e-02 -9.75700697e+00] [-1.00400421e-01 3.18121022e-04 9.94947061e-01 -7.54468395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.728241008000005 meters 0.06275042877430383 Centerline is valid? [True, True] Translation: X:58.83, Y:-9.76, Z:-7.55 [[ 9.34175069e-01 3.44368538e-01 9.34197542e-02 5.88264869e+01] [-3.42665396e-01 9.38834547e-01 -3.42070153e-02 -9.76341198e+00] [-9.94855125e-02 -5.63762073e-05 9.95039009e-01 -7.55242357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.758241008 meters 0.06282065014021346 Centerline is valid? [True, True] Translation: X:58.86, Y:-9.77, Z:-7.56 [[ 9.33275590e-01 3.46821976e-01 9.33337557e-02 5.88588534e+01] [-3.45132150e-01 9.37930929e-01 -3.41960652e-02 -9.77128507e+00] [-9.94005632e-02 -2.98126789e-04 9.95047456e-01 -7.55532784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.788241008 meters 0.06340716573893716 Centerline is valid? [True, True] Translation: X:58.89, Y:-9.78, Z:-7.56 [[ 9.32157968e-01 3.50069120e-01 9.23749614e-02 5.88897718e+01] [-3.48427065e-01 9.36723672e-01 -3.38724507e-02 -9.77577643e+00] [-9.83875121e-02 -6.11461843e-04 9.95147991e-01 -7.56382275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.818241008 meters 0.06369145268305149 Centerline is valid? [True, True] Translation: X:58.92, Y:-9.79, Z:-7.57 [[ 9.31898410e-01 3.50864662e-01 9.19746856e-02 5.89200041e+01] [-3.49238596e-01 9.36425938e-01 -3.37470871e-02 -9.78585902e+00] [-9.79681415e-02 -6.72253285e-04 9.95189324e-01 -7.56982000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.848241008 meters 0.06364451221134805 Centerline is valid? [True, True] Translation: X:58.95, Y:-9.80, Z:-7.57 [[ 9.31834598e-01 3.50884108e-01 9.25452532e-02 5.89493234e+01] [-3.49235433e-01 9.36418663e-01 -3.39808720e-02 -9.79660121e+00] [-9.85844503e-02 -6.55529332e-04 9.95128472e-01 -7.57385258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.878241008 meters 0.06344984307462986 Centerline is valid? [True, True] Translation: X:58.98, Y:-9.81, Z:-7.58 [[ 9.31737480e-01 3.51320940e-01 9.18633028e-02 5.89795367e+01] [-3.49697719e-01 9.36254839e-01 -3.37398996e-02 -9.80867391e+00] [-9.78609950e-02 -6.87658485e-04 9.95199856e-01 -7.57512245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.908241008000005 meters 0.0634208079709257 Centerline is valid? [True, True] Translation: X:59.01, Y:-9.82, Z:-7.58 [[ 9.31610862e-01 3.51686008e-01 9.17504975e-02 5.90095536e+01] [-3.50066433e-01 9.36117757e-01 -3.37199838e-02 -9.82121363e+00] [-9.77481164e-02 -7.04866228e-04 9.95210937e-01 -7.57900268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.938241008 meters 0.0632274197777297 Centerline is valid? [True, True] Translation: X:59.04, Y:-9.84, Z:-7.58 [[ 9.32196841e-01 3.50004096e-01 9.22289622e-02 5.90372967e+01] [-3.48356656e-01 9.36748033e-01 -3.39229047e-02 -9.83630591e+00] [-9.82684545e-02 -5.05748200e-04 9.95159814e-01 -7.58356289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.968241008 meters 0.06320572065600098 Centerline is valid? [True, True] Translation: X:59.07, Y:-9.85, Z:-7.59 [[ 9.32461063e-01 3.49341957e-01 9.20682518e-02 5.90674998e+01] [-3.47694919e-01 9.36995211e-01 -3.38853759e-02 -9.84957014e+00] [-9.81050945e-02 -4.14869699e-04 9.95175974e-01 -7.58728419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.998241008 meters 0.06293450056244007 Centerline is valid? [True, True] Translation: X:59.09, Y:-9.86, Z:-7.59 [[ 9.33496135e-01 3.46327096e-01 9.29650974e-02 5.90949450e+01] [-3.44630054e-01 9.38113819e-01 -3.42430828e-02 -9.86471518e+00] [-9.90711499e-02 -7.27810805e-05 9.95080350e-01 -7.59121464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.028241008 meters 0.06291141806317176 Centerline is valid? [True, True] Translation: X:59.12, Y:-9.88, Z:-7.59 [[ 9.33759736e-01 3.45626638e-01 9.29246070e-02 5.91241117e+01] [-3.43925656e-01 9.38372115e-01 -3.42478691e-02 -9.87948165e+00] [-9.90348359e-02 2.01248205e-05 9.95083967e-01 -7.59451851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.058241008 meters 0.06277751460143007 Centerline is valid? [True, True] Translation: X:59.15, Y:-9.89, Z:-7.60 [[ 9.34187390e-01 3.44424888e-01 9.30882237e-02 5.91539994e+01] [-3.42709426e-01 9.38813862e-01 -3.43333980e-02 -9.89426865e+00] [-9.92177915e-02 1.71615790e-04 9.95065727e-01 -7.59628939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.088241008000004 meters 0.06311035664520591 Centerline is valid? [True, True] Translation: X:59.18, Y:-9.91, Z:-7.60 [[ 9.34773745e-01 3.43203469e-01 9.17029113e-02 5.91807534e+01] [-3.41530187e-01 9.39261026e-01 -3.38505061e-02 -9.90779638e+00] [-9.77505816e-02 3.23251930e-04 9.95210892e-01 -7.60471453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.118241008 meters 0.06324908911156521 Centerline is valid? [True, True] Translation: X:59.21, Y:-9.92, Z:-7.61 [[ 9.35533399e-01 3.41358432e-01 9.08387602e-02 5.92093783e+01] [-3.39706312e-01 9.39933053e-01 -3.35481421e-02 -9.92192824e+00] [-9.68342943e-02 5.26907135e-04 9.95300378e-01 -7.61115237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.148241008 meters 0.06307604506054161 Centerline is valid? [True, True] Translation: X:59.24, Y:-9.93, Z:-7.61 [[ 9.35607816e-01 3.41189226e-01 9.07079202e-02 5.92401256e+01] [-3.39539136e-01 9.39994466e-01 -3.35198288e-02 -9.93468031e+00] [-9.67015475e-02 5.62524933e-04 9.95313264e-01 -7.61365424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.178241008 meters 0.0632913118161418 Centerline is valid? [True, True] Translation: X:59.27, Y:-9.95, Z:-7.62 [[ 9.35601745e-01 3.41266639e-01 9.04790385e-02 5.92681085e+01] [-3.39622754e-01 9.39966354e-01 -3.34609884e-02 -9.94813192e+00] [-9.64663710e-02 5.77418884e-04 9.95336077e-01 -7.62096246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.208241008 meters 0.06298135208248168 Centerline is valid? [True, True] Translation: X:59.30, Y:-9.96, Z:-7.62 [[ 9.35688963e-01 3.41001966e-01 9.05749639e-02 5.92984122e+01] [-3.39351110e-01 9.40062373e-01 -3.35195233e-02 -9.96154657e+00] [-9.65763389e-02 6.27133444e-04 9.95325383e-01 -7.61932029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.238241008 meters 0.06278545971447026 Centerline is valid? [True, True] Translation: X:59.33, Y:-9.98, Z:-7.62 [[ 9.36157917e-01 3.39669365e-01 9.07363085e-02 5.93276360e+01] [-3.38003863e-01 9.40544575e-01 -3.36049168e-02 -9.97800936e+00] [-9.67561035e-02 7.90286116e-04 9.95307808e-01 -7.62136474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.268241008000004 meters 0.06290044643302738 Centerline is valid? [True, True] Translation: X:59.36, Y:-9.99, Z:-7.63 [[ 9.36734483e-01 3.38052451e-01 9.08242751e-02 5.93562117e+01] [-3.36373457e-01 9.41126757e-01 -3.36649029e-02 -9.99158645e+00] [-9.68576583e-02 9.84200038e-04 9.95297757e-01 -7.62648847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.298241008 meters 0.06341497800220697 Centerline is valid? [True, True] Translation: X:59.38, Y:-10.01, Z:-7.63 [[ 9.37146528e-01 3.37029379e-01 9.03746821e-02 5.93834853e+01] [-3.35360007e-01 9.41493480e-01 -3.35215233e-02 -1.00061978e+01] [-9.63849122e-02 1.10652514e-03 9.95343521e-01 -7.63403689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.328241008 meters 0.06345017688657854 Centerline is valid? [True, True] Translation: X:59.41, Y:-10.02, Z:-7.64 [[ 9.38164098e-01 3.34338612e-01 8.98098997e-02 5.94116836e+01] [-3.32675803e-01 9.42451988e-01 -3.33325737e-02 -1.00226329e+01] [-9.57858850e-02 1.39384340e-03 9.95400985e-01 -7.63539956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.358241008 meters 0.06359066896268771 Centerline is valid? [True, True] Translation: X:59.44, Y:-10.04, Z:-7.64 [[ 9.38636284e-01 3.33083177e-01 8.95406297e-02 5.94404302e+01] [-3.31422527e-01 9.42896193e-01 -3.32547433e-02 -1.00359379e+01] [-9.55041144e-02 1.53832692e-03 9.95427847e-01 -7.63967036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.388241008 meters 0.06429941694268804 Centerline is valid? [True, True] Translation: X:59.47, Y:-10.05, Z:-7.65 [[ 9.39069886e-01 3.31913747e-01 8.93365200e-02 5.94676422e+01] [-3.30253210e-01 9.43308252e-01 -3.32017932e-02 -1.00508240e+01] [-9.52920081e-02 1.67513168e-03 9.95447953e-01 -7.64678896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.418241008 meters 0.0649472623337021 Centerline is valid? [True, True] Translation: X:59.49, Y:-10.07, Z:-7.65 [[ 9.39825307e-01 3.30177476e-01 8.78135883e-02 5.94934400e+01] [-3.28563712e-01 9.43917079e-01 -3.26563099e-02 -1.00687288e+01] [-9.36711237e-02 1.83886796e-03 9.95601496e-01 -7.65080359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.448241008000004 meters 0.06449153289881533 Centerline is valid? [True, True] Translation: X:59.52, Y:-10.08, Z:-7.65 [[ 9.39899855e-01 3.30048805e-01 8.74988534e-02 5.95224849e+01] [-3.28444469e-01 9.43962035e-01 -3.25562279e-02 -1.00822681e+01] [-9.33407398e-02 1.86107947e-03 9.95632484e-01 -7.65206570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.478241008000005 meters 0.06498803235789019 Centerline is valid? [True, True] Translation: X:59.55, Y:-10.10, Z:-7.66 [[ 9.39729954e-01 3.30344099e-01 8.82065197e-02 5.95500013e+01] [-3.28712800e-01 9.43858721e-01 -3.28421914e-02 -1.00966284e+01] [-9.41037171e-02 1.86817896e-03 9.95560646e-01 -7.65694560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.508241008 meters 0.0645206210356707 Centerline is valid? [True, True] Translation: X:59.58, Y:-10.11, Z:-7.66 [[ 9.39358258e-01 3.31053984e-01 8.94948191e-02 5.95800196e+01] [-3.29375807e-01 9.43610016e-01 -3.33423903e-02 -1.01075389e+01] [-9.54863388e-02 1.84302136e-03 9.95429034e-01 -7.65901042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.538241008 meters 0.06433419289808258 Centerline is valid? [True, True] Translation: X:59.61, Y:-10.12, Z:-7.66 [[ 9.38884510e-01 3.32143527e-01 9.04243072e-02 5.96097245e+01] [-3.30433077e-01 9.43227194e-01 -3.37111668e-02 -1.01186770e+01] [-9.64876113e-02 1.77171025e-03 9.95332609e-01 -7.66331363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.568241008 meters 0.06375782346451155 Centerline is valid? [True, True] Translation: X:59.64, Y:-10.13, Z:-7.67 [[ 9.37584887e-01 3.36013144e-01 8.96088550e-02 5.96405045e+01] [-3.34348603e-01 9.41856277e-01 -3.34329886e-02 -1.01276659e+01] [-9.56325862e-02 1.38566932e-03 9.95415736e-01 -7.66916852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.598241008 meters 0.06366743106732 Centerline is valid? [True, True] Translation: X:59.67, Y:-10.14, Z:-7.68 [[ 9.36860970e-01 3.37977885e-01 8.97912707e-02 5.96709488e+01] [-3.36314828e-01 9.41153294e-01 -3.35084210e-02 -1.01379799e+01] [-9.58324554e-02 1.19459610e-03 9.95396762e-01 -7.67500987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.628241008 meters 0.06331974903943483 Centerline is valid? [True, True] Translation: X:59.70, Y:-10.15, Z:-7.68 [[ 9.35701512e-01 3.40877990e-01 9.09113626e-02 5.97014983e+01] [-3.39186134e-01 9.40107100e-01 -3.39323927e-02 -1.01472387e+01] [-9.70332233e-02 9.14717506e-04 9.95280723e-01 -7.67827034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.658241008000005 meters 0.0624758792175554 Centerline is valid? [True, True] Translation: X:59.73, Y:-10.16, Z:-7.68 [[ 9.34430148e-01 3.43758116e-01 9.31163581e-02 5.97326746e+01] [-3.41994927e-01 9.39058002e-01 -3.47784161e-02 -1.01555844e+01] [-9.93970240e-02 6.52678369e-04 9.95047640e-01 -7.67642235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.688241008 meters 0.06264010320434137 Centerline is valid? [True, True] Translation: X:59.76, Y:-10.16, Z:-7.68 [[ 9.32488152e-01 3.48836871e-01 9.36946343e-02 5.97618391e+01] [-3.47074679e-01 9.37183450e-01 -3.50192557e-02 -1.01644524e+01] [-1.00025068e-01 1.36005905e-04 9.94984908e-01 -7.68282071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.718241008 meters 0.06264010320434137 Centerline is valid? [True, True] Translation: X:59.79, Y:-10.18, Z:-7.69 [[ 9.32404187e-01 3.49063156e-01 9.36874860e-02 5.97918390e+01] [-3.47300183e-01 9.37099192e-01 -3.50383680e-02 -1.01758718e+01] [-1.00025071e-01 1.32240088e-04 9.94984908e-01 -7.68688034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.748241008 meters 0.06235222946215001 Centerline is valid? [True, True] Translation: X:59.82, Y:-10.19, Z:-7.69 [[ 9.31380786e-01 3.51816712e-01 9.35672653e-02 5.98238882e+01] [-3.50069590e-01 9.36068898e-01 -3.50185640e-02 -1.01853730e+01] [-9.99055229e-02 -1.39436536e-04 9.94996918e-01 -7.68723660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.778241008 meters 0.06309477892972089 Centerline is valid? [True, True] Translation: X:59.85, Y:-10.19, Z:-7.70 [[ 9.30162879e-01 3.55014362e-01 9.36046030e-02 5.98543937e+01] [-3.53279083e-01 9.34860736e-01 -3.50612900e-02 -1.01926955e+01] [-9.99545295e-02 -4.55837907e-04 9.94991902e-01 -7.69788358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.808241008 meters 0.06327062350838283 Centerline is valid? [True, True] Translation: X:59.88, Y:-10.20, Z:-7.70 [[ 9.28613346e-01 3.59213445e-01 9.29674952e-02 5.98848158e+01] [-3.57520073e-01 9.33255020e-01 -3.48491659e-02 -1.02032840e+01] [-9.92806705e-02 -8.76345185e-04 9.95059084e-01 -7.69842130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.838241008000004 meters 0.06297339757224342 Centerline is valid? [True, True] Translation: X:59.91, Y:-10.22, Z:-7.70 [[ 9.28969827e-01 3.58412222e-01 9.24972389e-02 5.99140210e+01] [-3.56729734e-01 9.33563117e-01 -3.46958636e-02 -1.02186440e+01] [-9.87874322e-02 -7.65105048e-04 9.95108264e-01 -7.70154109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.868241008 meters 0.06293526455619201 Centerline is valid? [True, True] Translation: X:59.94, Y:-10.23, Z:-7.71 [[ 9.29246736e-01 3.57546558e-01 9.30642959e-02 5.99417337e+01] [-3.55836078e-01 9.33895089e-01 -3.49377908e-02 -1.02314883e+01] [-9.94041757e-02 -6.49806053e-04 9.95046927e-01 -7.70644111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.898241008 meters 0.06263506803475799 Centerline is valid? [True, True] Translation: X:59.97, Y:-10.24, Z:-7.71 [[ 9.29507698e-01 3.56745883e-01 9.35297479e-02 5.99709226e+01] [-3.55011940e-01 9.34201304e-01 -3.51346796e-02 -1.02445562e+01] [-9.99097648e-02 -5.46222086e-04 9.94996352e-01 -7.70857119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.928241008 meters 0.06292298530135171 Centerline is valid? [True, True] Translation: X:60.00, Y:-10.26, Z:-7.72 [[ 9.29946521e-01 3.55753190e-01 9.29469543e-02 5.99997503e+01] [-3.54033486e-01 9.34579850e-01 -3.49398702e-02 -1.02566110e+01] [-9.92963209e-02 -4.14123553e-04 9.95057822e-01 -7.71818856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.958241008 meters 0.06294693677791546 Centerline is valid? [True, True] Translation: X:60.03, Y:-10.27, Z:-7.72 [[ 9.31108964e-01 3.53321252e-01 9.05549019e-02 6.00276425e+01] [-3.51675196e-01 9.35502045e-01 -3.40658136e-02 -1.02718954e+01] [-9.67504719e-02 -1.26928492e-04 9.95308661e-01 -7.72295569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.988241008 meters 0.06343066872221216 Centerline is valid? [True, True] Translation: X:60.05, Y:-10.28, Z:-7.73 [[ 9.31825429e-01 3.51575047e-01 8.99797571e-02 6.00547134e+01] [-3.49939167e-01 9.36159698e-01 -3.38762407e-02 -1.02848719e+01] [-9.61454631e-02 7.93012446e-05 9.95367291e-01 -7.73179581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.018241008000004 meters 0.06353990803565066 Centerline is valid? [True, True] Translation: X:60.08, Y:-10.30, Z:-7.74 [[ 9.32124183e-01 3.50955810e-01 8.93002082e-02 6.00831535e+01] [-3.49340736e-01 9.36392010e-01 -3.36311446e-02 -1.02986279e+01] [-9.54230471e-02 1.52202721e-04 9.95436798e-01 -7.73712244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.048241008000005 meters 0.06341906131244669 Centerline is valid? [True, True] Translation: X:60.11, Y:-10.31, Z:-7.74 [[ 9.32639419e-01 3.49799731e-01 8.84525966e-02 6.01120249e+01] [-3.48208025e-01 9.36824458e-01 -3.33332555e-02 -1.03131155e+01] [-9.45245197e-02 2.88004136e-04 9.95522492e-01 -7.73707563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.078241008 meters 0.06368649775953412 Centerline is valid? [True, True] Translation: X:60.14, Y:-10.33, Z:-7.74 [[ 9.33728728e-01 3.47162054e-01 8.73451220e-02 6.01376527e+01] [-3.45596330e-01 9.37804981e-01 -3.29392407e-02 -1.03319334e+01] [-9.33479450e-02 5.70161725e-04 9.95633384e-01 -7.74153679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.108241008 meters 0.06367017668299162 Centerline is valid? [True, True] Translation: X:60.17, Y:-10.35, Z:-7.74 [[ 9.34330640e-01 3.45385424e-01 8.79497878e-02 6.01667358e+01] [-3.43788148e-01 9.38460608e-01 -3.31872816e-02 -1.03471102e+01] [-9.39998146e-02 7.71799382e-04 9.95571916e-01 -7.74297475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.138241008 meters 0.06371737979266079 Centerline is valid? [True, True] Translation: X:60.20, Y:-10.36, Z:-7.75 [[ 9.34864646e-01 3.43875640e-01 8.81909207e-02 6.01964162e+01] [-3.42260358e-01 9.39014717e-01 -3.33047670e-02 -1.03619291e+01] [-9.42652706e-02 9.51193053e-04 9.95546661e-01 -7.74693322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.168241008 meters 0.06389816023459498 Centerline is valid? [True, True] Translation: X:60.23, Y:-10.38, Z:-7.75 [[ 9.35371544e-01 3.42356672e-01 8.87241981e-02 6.02257491e+01] [-3.40712383e-01 9.39569379e-01 -3.35328828e-02 -1.03753992e+01] [-9.48427459e-02 1.13627139e-03 9.95491618e-01 -7.75102794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.198241008000004 meters 0.06434877762544562 Centerline is valid? [True, True] Translation: X:60.25, Y:-10.39, Z:-7.76 [[ 9.35806530e-01 3.40913972e-01 8.96872486e-02 6.02543021e+01] [-3.39224331e-01 9.40093565e-01 -3.39255266e-02 -1.03857415e+01] [-9.58800913e-02 1.32363239e-03 9.95392011e-01 -7.75667843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.228241008000005 meters 0.06462132767320068 Centerline is valid? [True, True] Translation: X:60.28, Y:-10.40, Z:-7.76 [[ 9.35648816e-01 3.41415086e-01 8.94261245e-02 6.02838390e+01] [-3.39735382e-01 9.39911738e-01 -3.38496000e-02 -1.03953790e+01] [-9.56094282e-02 1.29011955e-03 9.95418089e-01 -7.76186232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.258241008 meters 0.06455211110927063 Centerline is valid? [True, True] Translation: X:60.31, Y:-10.41, Z:-7.77 [[ 9.35352794e-01 3.42185131e-01 8.95794994e-02 6.03125944e+01] [-3.40501783e-01 9.39631753e-01 -3.39220449e-02 -1.04061111e+01] [-9.57793614e-02 1.22710023e-03 9.95401833e-01 -7.76504265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.288241008 meters 0.06423778011087693 Centerline is valid? [True, True] Translation: X:60.34, Y:-10.42, Z:-7.77 [[ 9.35193852e-01 3.42276787e-01 9.08793707e-02 6.03424342e+01] [-3.40542276e-01 9.39598329e-01 -3.44374515e-02 -1.04177982e+01] [-9.71772451e-02 1.25742518e-03 9.95266297e-01 -7.76501235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.318241008 meters 0.06429696065577643 Centerline is valid? [True, True] Translation: X:60.37, Y:-10.43, Z:-7.77 [[ 9.35216477e-01 3.42151412e-01 9.11183459e-02 6.03720601e+01] [-3.40404876e-01 9.39643939e-01 -3.45512384e-02 -1.04299984e+01] [-9.74405565e-02 1.29575820e-03 9.95240503e-01 -7.76762681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.348241008 meters 0.0639936711486264 Centerline is valid? [True, True] Translation: X:60.40, Y:-10.44, Z:-7.77 [[ 9.35243834e-01 3.42170768e-01 9.07641833e-02 6.04021043e+01] [-3.40435474e-01 9.39636868e-01 -3.44419005e-02 -1.04403974e+01] [-9.70703845e-02 1.31222728e-03 9.95276654e-01 -7.77003081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.378241008 meters 0.06532018089245942 Centerline is valid? [True, True] Translation: X:60.43, Y:-10.45, Z:-7.78 [[ 9.35686532e-01 3.41257005e-01 8.96346491e-02 6.04296422e+01] [-3.39558243e-01 9.39968969e-01 -3.40372788e-02 -1.04520851e+01] [-9.58692485e-02 1.41203941e-03 9.95392934e-01 -7.78220109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.408241008000005 meters 0.06459453511294003 Centerline is valid? [True, True] Translation: X:60.46, Y:-10.46, Z:-7.78 [[ 9.35681022e-01 3.41526131e-01 8.86618648e-02 6.04609894e+01] [-3.39863352e-01 9.39871253e-01 -3.36887168e-02 -1.04594244e+01] [-9.48363151e-02 1.38897441e-03 9.95491911e-01 -7.78315342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.438241008 meters 0.06552843521426262 Centerline is valid? [True, True] Translation: X:60.49, Y:-10.47, Z:-7.79 [[ 9.35775000e-01 3.41356623e-01 8.83221699e-02 6.04885841e+01] [-3.39703320e-01 9.39932776e-01 -3.35861869e-02 -1.04710479e+01] [-9.44817697e-02 1.42577973e-03 9.95525571e-01 -7.79224387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.468241008 meters 0.06508023973734861 Centerline is valid? [True, True] Translation: X:60.52, Y:-10.48, Z:-7.79 [[ 9.35700437e-01 3.41368167e-01 8.90643965e-02 6.05190856e+01] [-3.39685936e-01 9.39928551e-01 -3.38789475e-02 -1.04802340e+01] [-9.52793634e-02 1.44662306e-03 9.95449522e-01 -7.79309240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.498241008 meters 0.06506577056618477 Centerline is valid? [True, True] Translation: X:60.55, Y:-10.49, Z:-7.80 [[ 9.35641600e-01 3.41308014e-01 8.99090384e-02 6.05481515e+01] [-3.39591006e-01 9.39950329e-01 -3.42246806e-02 -1.04913646e+01] [-9.61911880e-02 1.48973416e-03 9.95361761e-01 -7.79593039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.528241008 meters 0.06505323606322724 Centerline is valid? [True, True] Translation: X:60.58, Y:-10.50, Z:-7.80 [[ 9.35115556e-01 3.42308778e-01 9.15619877e-02 6.05771724e+01] [-3.40530465e-01 9.39586422e-01 -3.48763223e-02 -1.05030133e+01] [-9.79688717e-02 1.43374528e-03 9.95188447e-01 -7.79894177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.558241008 meters 0.06455067210561577 Centerline is valid? [True, True] Translation: X:60.61, Y:-10.51, Z:-7.80 [[ 9.34913299e-01 3.42568856e-01 9.26482714e-02 6.06076167e+01] [-3.40746845e-01 9.39491611e-01 -3.53143034e-02 -1.05138645e+01] [-9.91398543e-02 1.44620566e-03 9.95072459e-01 -7.79699667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.588241008000004 meters 0.06430022990800972 Centerline is valid? [True, True] Translation: X:60.64, Y:-10.53, Z:-7.80 [[ 9.34665217e-01 3.42407784e-01 9.56966106e-02 6.06370693e+01] [-3.40459997e-01 9.39550183e-01 -3.65026464e-02 -1.05260023e+01] [-1.02410558e-01 1.53688613e-03 9.94741029e-01 -7.79722935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.618241008 meters 0.06427982782095658 Centerline is valid? [True, True] Translation: X:60.67, Y:-10.54, Z:-7.80 [[ 9.34815591e-01 3.41914890e-01 9.59896865e-02 6.06678954e+01] [-3.39949984e-01 9.39729529e-01 -3.66390689e-02 -1.05367428e+01] [-1.02731786e-01 1.61908043e-03 9.94707776e-01 -7.80102643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.648241008 meters 0.06450158744281347 Centerline is valid? [True, True] Translation: X:60.70, Y:-10.55, Z:-7.81 [[ 9.34874088e-01 3.41521047e-01 9.68184591e-02 6.06979490e+01] [-3.39516722e-01 9.39872580e-01 -3.69855238e-02 -1.05468791e+01] [-1.03628350e-01 1.70532197e-03 9.94614627e-01 -7.80544689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.678241008 meters 0.06521803987879976 Centerline is valid? [True, True] Translation: X:60.73, Y:-10.56, Z:-7.81 [[ 9.35167214e-01 3.40722872e-01 9.67998230e-02 6.07259939e+01] [-3.38712144e-01 9.40162014e-01 -3.70063636e-02 -1.05591748e+01] [-1.03616431e-01 1.81986236e-03 9.94615666e-01 -7.81310279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.708241008 meters 0.06507769951270405 Centerline is valid? [True, True] Translation: X:60.76, Y:-10.57, Z:-7.82 [[ 9.35526821e-01 3.39804282e-01 9.65537045e-02 6.07570734e+01] [-3.37797655e-01 9.40494196e-01 -3.69244067e-02 -1.05676246e+01] [-1.03355270e-01 1.92815784e-03 9.94642634e-01 -7.81627228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.738241008 meters 0.0654976723134266 Centerline is valid? [True, True] Translation: X:60.78, Y:-10.58, Z:-7.82 [[ 9.35802068e-01 3.38961374e-01 9.68487339e-02 6.07848674e+01] [-3.36935158e-01 9.40798052e-01 -3.70638055e-02 -1.05797290e+01] [-1.03678299e-01 2.05264244e-03 9.94608766e-01 -7.82131412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.768241008000004 meters 0.0656094737072386 Centerline is valid? [True, True] Translation: X:60.81, Y:-10.59, Z:-7.82 [[ 9.36035622e-01 3.38511286e-01 9.61635274e-02 6.08145152e+01] [-3.36508953e-01 9.40959967e-01 -3.68247836e-02 -1.05918881e+01] [-1.02951634e-01 2.10942129e-03 9.94684126e-01 -7.82452350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.798241008000005 meters 0.06589788179471116 Centerline is valid? [True, True] Translation: X:60.84, Y:-10.60, Z:-7.83 [[ 9.36157501e-01 3.38223033e-01 9.59912125e-02 6.08429207e+01] [-3.36223529e-01 9.41063494e-01 -3.67863949e-02 -1.06047813e+01] [-1.02775832e-01 2.16335530e-03 9.94702191e-01 -7.82808553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.828241008 meters 0.06613412199138194 Centerline is valid? [True, True] Translation: X:60.87, Y:-10.62, Z:-7.83 [[ 9.36442366e-01 3.37356713e-01 9.62608108e-02 6.08712088e+01] [-3.35340044e-01 9.41374136e-01 -3.69024490e-02 -1.06176481e+01] [-1.03066726e-01 2.27691211e-03 9.94671838e-01 -7.83161369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.858241008 meters 0.06655408904309887 Centerline is valid? [True, True] Translation: X:60.90, Y:-10.63, Z:-7.84 [[ 9.36929753e-01 3.35999250e-01 9.62659988e-02 6.09012100e+01] [-3.33972880e-01 9.41859073e-01 -3.69269885e-02 -1.06291273e+01] [-1.03076445e-01 2.44776129e-03 9.94670425e-01 -7.83500261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.888241008 meters 0.06654562172934042 Centerline is valid? [True, True] Translation: X:60.93, Y:-10.64, Z:-7.84 [[ 9.36748850e-01 3.36294062e-01 9.69943110e-02 6.09310074e+01] [-3.34235749e-01 9.41753823e-01 -3.72317180e-02 -1.06391654e+01] [-1.03865569e-01 2.45780282e-03 9.94588308e-01 -7.83982175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.918241008 meters 0.0667878107850213 Centerline is valid? [True, True] Translation: X:60.96, Y:-10.65, Z:-7.84 [[ 9.36622461e-01 3.36629312e-01 9.70519001e-02 6.09613398e+01] [-3.34567744e-01 9.41634072e-01 -3.72786740e-02 -1.06493482e+01] [-1.03936470e-01 2.44560820e-03 9.94580931e-01 -7.84460457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.948241008000004 meters 0.06670214659031753 Centerline is valid? [True, True] Translation: X:60.99, Y:-10.66, Z:-7.85 [[ 9.36348216e-01 3.37334593e-01 9.72491190e-02 6.09911828e+01] [-3.35265538e-01 9.41381762e-01 -3.73817790e-02 -1.06593009e+01] [-1.04158714e-01 2.39808388e-03 9.94557797e-01 -7.84915404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.978241008000005 meters 0.06616176347560652 Centerline is valid? [True, True] Translation: X:61.02, Y:-10.67, Z:-7.85 [[ 9.35308152e-01 3.40144826e-01 9.74687567e-02 6.10211680e+01] [-3.38078924e-01 9.40370687e-01 -3.74914964e-02 -1.06673102e+01] [-1.04409300e-01 2.11396978e-03 9.94532166e-01 -7.85331984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.008241008 meters 0.06598415347089723 Centerline is valid? [True, True] Translation: X:61.05, Y:-10.68, Z:-7.86 [[ 9.34798351e-01 3.41890906e-01 9.62426700e-02 6.10515487e+01] [-3.39883827e-01 9.39737699e-01 -3.70410748e-02 -1.06773024e+01] [-1.03106872e-01 1.91460864e-03 9.94668441e-01 -7.85890103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.038241008 meters 0.06573420775479756 Centerline is valid? [True, True] Translation: X:61.08, Y:-10.69, Z:-7.86 [[ 9.33947096e-01 3.44112688e-01 9.65881926e-02 6.10810837e+01] [-3.42099937e-01 9.38926812e-01 -3.72031646e-02 -1.06865931e+01] [-1.03491325e-01 1.70297298e-03 9.94628898e-01 -7.86310383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.068241008 meters 0.06560986953861292 Centerline is valid? [True, True] Translation: X:61.11, Y:-10.70, Z:-7.87 [[ 9.33468316e-01 3.45381170e-01 9.66889406e-02 6.11117673e+01] [-3.43368654e-01 9.38461152e-01 -3.72643602e-02 -1.06962841e+01] [-1.03609223e-01 1.58514815e-03 9.94616819e-01 -7.86784869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.098241008 meters 0.06514637855526467 Centerline is valid? [True, True] Translation: X:61.14, Y:-10.70, Z:-7.87 [[ 9.32282268e-01 3.48653894e-01 9.63858664e-02 6.11413623e+01] [-3.46668918e-01 9.37250726e-01 -3.71717366e-02 -1.07036579e+01] [-1.03297794e-01 1.24056683e-03 9.94649701e-01 -7.87255880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.128241008 meters 0.06476202954407448 Centerline is valid? [True, True] Translation: X:61.17, Y:-10.71, Z:-7.87 [[ 9.31751480e-01 3.50072004e-01 9.63782741e-02 6.11724249e+01] [-3.48092668e-01 9.36722143e-01 -3.71903239e-02 -1.07129521e+01] [-1.03298955e-01 1.10356875e-03 9.94649741e-01 -7.87384362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.158241008000005 meters 0.06447621776714028 Centerline is valid? [True, True] Translation: X:61.20, Y:-10.72, Z:-7.88 [[ 9.30929802e-01 3.52286937e-01 9.62476869e-02 6.12025025e+01] [-3.50322181e-01 9.35891628e-01 -3.71649022e-02 -1.07226692e+01] [-1.03170114e-01 8.80215423e-04 9.94663336e-01 -7.87824177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.188241008 meters 0.06426623372152664 Centerline is valid? [True, True] Translation: X:61.24, Y:-10.73, Z:-7.88 [[ 9.29547419e-01 3.55466781e-01 9.79028210e-02 6.12350143e+01] [-3.53448293e-01 9.34688745e-01 -3.78319191e-02 -1.07281647e+01] [-1.04956655e-01 5.62977824e-04 9.94476638e-01 -7.88243510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.218241008 meters 0.06429972675040135 Centerline is valid? [True, True] Translation: X:61.27, Y:-10.74, Z:-7.89 [[ 9.28320548e-01 3.58505116e-01 9.84634029e-02 6.12652011e+01] [-3.56479101e-01 9.33527733e-01 -3.80607730e-02 -1.07355905e+01] [-1.05563299e-01 2.32452323e-04 9.94412558e-01 -7.88779140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.248241008 meters 0.06445211929736012 Centerline is valid? [True, True] Translation: X:61.30, Y:-10.74, Z:-7.89 [[ 9.27189160e-01 3.61246156e-01 9.91033587e-02 6.12953976e+01] [-3.59206655e-01 9.32470488e-01 -3.83323233e-02 -1.07432156e+01] [-1.06258362e-01 -5.72713536e-05 9.94338553e-01 -7.89268048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.278241008 meters 0.06440712699691022 Centerline is valid? [True, True] Translation: X:61.33, Y:-10.75, Z:-7.90 [[ 9.26126960e-01 3.64120464e-01 9.85146770e-02 6.13261628e+01] [-3.62118982e-01 9.31351789e-01 -3.81272492e-02 -1.07516554e+01] [-1.05634732e-01 -3.63361167e-04 9.94404933e-01 -7.89595141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.308241008 meters 0.06494168142132997 Centerline is valid? [True, True] Translation: X:61.36, Y:-10.76, Z:-7.90 [[ 9.23953116e-01 3.69906574e-01 9.73640908e-02 6.13575609e+01] [-3.67981037e-01 9.29068431e-01 -3.77068661e-02 -1.07579096e+01] [-1.04405921e-01 -9.88762693e-04 9.94534276e-01 -7.90038331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.338241008000004 meters 0.06533460753664742 Centerline is valid? [True, True] Translation: X:61.39, Y:-10.77, Z:-7.90 [[ 9.22991795e-01 3.72461003e-01 9.67416546e-02 6.13876533e+01] [-3.70571413e-01 9.28047008e-01 -3.74910405e-02 -1.07671845e+01] [-1.03744754e-01 -1.24576894e-03 9.94603174e-01 -7.90487557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.368241008 meters 0.06598704542047057 Centerline is valid? [True, True] Translation: X:61.42, Y:-10.78, Z:-7.91 [[ 9.21924971e-01 3.75230947e-01 9.62085500e-02 6.14169173e+01] [-3.73374309e-01 9.26930104e-01 -3.73122940e-02 -1.07754101e+01] [-1.03179329e-01 -1.52266539e-03 9.94661605e-01 -7.90990595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.398241008 meters 0.06663178394385362 Centerline is valid? [True, True] Translation: X:61.45, Y:-10.78, Z:-7.92 [[ 9.20998165e-01 3.77353665e-01 9.67811485e-02 6.14465951e+01] [-3.75485364e-01 9.26067552e-01 -3.75450504e-02 -1.07827839e+01] [-1.03793644e-01 -1.76098228e-03 9.94597295e-01 -7.91528472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.428241008 meters 0.06720028972072564 Centerline is valid? [True, True] Translation: X:61.48, Y:-10.79, Z:-7.92 [[ 9.19819610e-01 3.80357887e-01 9.62276608e-02 6.14772066e+01] [-3.78524962e-01 9.24837071e-01 -3.73529958e-02 -1.07919661e+01] [-1.03202414e-01 -2.06655364e-03 9.94658228e-01 -7.91902854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.458241008 meters 0.06803167773266651 Centerline is valid? [True, True] Translation: X:61.51, Y:-10.80, Z:-7.93 [[ 9.19304725e-01 3.81532359e-01 9.64980914e-02 6.15068594e+01] [-3.79692818e-01 9.24352912e-01 -3.74841099e-02 -1.08004241e+01] [-1.03499693e-01 -2.18031291e-03 9.94627096e-01 -7.92533956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.488241008 meters 0.06795512359297735 Centerline is valid? [True, True] Translation: X:61.54, Y:-10.81, Z:-7.93 [[ 9.18804667e-01 3.82687394e-01 9.66868291e-02 6.15359764e+01] [-3.80844576e-01 9.23875045e-01 -3.75807141e-02 -1.08123571e+01] [-1.03708214e-01 -2.29331895e-03 9.94605121e-01 -7.92830023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.518241008000004 meters 0.06748238625138644 Centerline is valid? [True, True] Translation: X:61.56, Y:-10.83, Z:-7.93 [[ 9.19093909e-01 3.81693875e-01 9.78579146e-02 6.15639117e+01] [-3.79797699e-01 9.24286220e-01 -3.80616820e-02 -1.08263247e+01] [-1.04976633e-01 -2.18395071e-03 9.94472291e-01 -7.93128754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.548241008000005 meters 0.06766472840230348 Centerline is valid? [True, True] Translation: X:61.59, Y:-10.84, Z:-7.94 [[ 9.19288676e-01 3.81103993e-01 9.83263803e-02 6.15923562e+01] [-3.79183710e-01 9.24529781e-01 -3.82674585e-02 -1.08390523e+01] [-1.05489548e-01 -2.10492042e-03 9.94418184e-01 -7.93550749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.578241008 meters 0.06702620206588221 Centerline is valid? [True, True] Translation: X:61.62, Y:-10.86, Z:-7.94 [[ 9.19773692e-01 3.80118515e-01 9.76026157e-02 6.16203934e+01] [-3.78218596e-01 9.24935721e-01 -3.80079802e-02 -1.08551703e+01] [-1.04723683e-01 -1.95638394e-03 9.94499433e-01 -7.93806057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.608241008 meters 0.06605447958280661 Centerline is valid? [True, True] Translation: X:61.65, Y:-10.87, Z:-7.94 [[ 9.20699007e-01 3.77987572e-01 9.71531488e-02 6.16478139e+01] [-3.76090778e-01 9.25809139e-01 -3.78571585e-02 -1.08717414e+01] [-1.04254808e-01 -1.68335513e-03 9.94549195e-01 -7.94242228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.638241008 meters 0.06604322032053271 Centerline is valid? [True, True] Translation: X:61.68, Y:-10.88, Z:-7.95 [[ 9.21110720e-01 3.77097977e-01 9.67065547e-02 6.16763323e+01] [-3.75211129e-01 9.26172072e-01 -3.77081091e-02 -1.08840108e+01] [-1.03786562e-01 -1.55203204e-03 9.94598382e-01 -7.94844159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.668241008 meters 0.06604322032053271 Centerline is valid? [True, True] Translation: X:61.71, Y:-10.90, Z:-7.95 [[ 9.21016401e-01 3.77330365e-01 9.66984215e-02 6.17061650e+01] [-3.75442607e-01 9.26077413e-01 -3.77289531e-02 -1.08958570e+01] [-1.03786504e-01 -1.55572286e-03 9.94598382e-01 -7.95250143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.698241008000004 meters 0.06570577338322275 Centerline is valid? [True, True] Translation: X:61.74, Y:-10.91, Z:-7.96 [[ 9.21215140e-01 3.76938857e-01 9.63315349e-02 6.17353575e+01] [-3.75060429e-01 9.26236961e-01 -3.76133896e-02 -1.09104875e+01] [-1.03403776e-01 -1.48012287e-03 9.94638361e-01 -7.95562815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.728241008000005 meters 0.06572458688111145 Centerline is valid? [True, True] Translation: X:61.76, Y:-10.92, Z:-7.96 [[ 9.21437585e-01 3.76585313e-01 9.55838839e-02 6.17640387e+01] [-3.74731131e-01 9.26380880e-01 -3.73502901e-02 -1.09234001e+01] [-1.02612653e-01 -1.40229582e-03 9.94720401e-01 -7.96022595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.758241008 meters 0.06584723044149296 Centerline is valid? [True, True] Translation: X:61.79, Y:-10.93, Z:-7.97 [[ 9.21601268e-01 3.76258155e-01 9.52937774e-02 6.17936436e+01] [-3.74410773e-01 9.26513903e-01 -3.72633827e-02 -1.09349280e+01] [-1.02311661e-01 -1.33703613e-03 9.94751495e-01 -7.96627566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.788241008 meters 0.06511492957273851 Centerline is valid? [True, True] Translation: X:61.82, Y:-10.95, Z:-7.97 [[ 9.21887875e-01 3.75023213e-01 9.73670160e-02 6.18233927e+01] [-3.73084263e-01 9.27014647e-01 -3.81048271e-02 -1.09492084e+01] [-1.04550845e-01 -1.19772331e-03 9.94518822e-01 -7.96662633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.818241008 meters 0.06489568531012059 Centerline is valid? [True, True] Translation: X:61.85, Y:-10.96, Z:-7.97 [[ 9.21920412e-01 3.74626222e-01 9.85796475e-02 6.18523698e+01] [-3.72635596e-01 9.27175197e-01 -3.85858407e-02 -1.09612256e+01] [-1.05855872e-01 -1.16121153e-03 9.94380805e-01 -7.97022471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.848241008 meters 0.06483001227080311 Centerline is valid? [True, True] Translation: X:61.88, Y:-10.97, Z:-7.97 [[ 9.21824088e-01 3.74644609e-01 9.94070859e-02 6.18814939e+01] [-3.72617437e-01 9.27167785e-01 -3.89377023e-02 -1.09726642e+01] [-1.06754848e-01 -1.14710162e-03 9.94284711e-01 -7.97375193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.878241008 meters 0.06442238407698127 Centerline is valid? [True, True] Translation: X:61.91, Y:-10.99, Z:-7.98 [[ 9.22430824e-01 3.73290976e-01 9.88697262e-02 6.19116131e+01] [-3.71276717e-01 9.27713802e-01 -3.87388892e-02 -1.09866200e+01] [-1.06183687e-01 -9.74081823e-04 9.94346054e-01 -7.97594723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.908241008000005 meters 0.06450083931805811 Centerline is valid? [True, True] Translation: X:61.94, Y:-11.00, Z:-7.98 [[ 9.22699148e-01 3.72500355e-01 9.93467068e-02 6.19402734e+01] [-3.70458588e-01 9.28031653e-01 -3.89574711e-02 -1.09981027e+01] [-1.06708560e-01 -8.57815365e-04 9.94289971e-01 -7.98132340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.938241008 meters 0.06426401503774096 Centerline is valid? [True, True] Translation: X:61.97, Y:-11.01, Z:-7.99 [[ 9.23025358e-01 3.71698060e-01 9.93214051e-02 6.19698199e+01] [-3.69650191e-01 9.28353381e-01 -3.89709680e-02 -1.10114455e+01] [-1.06690795e-01 -7.42984618e-04 9.94291970e-01 -7.98625653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.968241008 meters 0.06395901230720112 Centerline is valid? [True, True] Translation: X:62.00, Y:-11.03, Z:-7.99 [[ 9.23784275e-01 3.70393080e-01 9.71163235e-02 6.19980981e+01] [-3.68425088e-01 9.28874944e-01 -3.81351818e-02 -1.10255970e+01] [-1.04333927e-01 -5.51408774e-04 9.94542170e-01 -7.99294741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.998241008 meters 0.06407460760707806 Centerline is valid? [True, True] Translation: X:62.03, Y:-11.04, Z:-8.00 [[ 9.23995590e-01 3.70203045e-01 9.58219991e-02 6.20263086e+01] [-3.68283651e-01 9.28950729e-01 -3.76523038e-02 -1.10378231e+01] [-1.02952913e-01 -4.99112998e-04 9.94686106e-01 -7.99897255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.028241008 meters 0.06411773338846062 Centerline is valid? [True, True] Translation: X:62.06, Y:-11.05, Z:-8.00 [[ 9.24107168e-01 3.70010458e-01 9.54892788e-02 6.20562642e+01] [-3.68101121e-01 9.29027477e-01 -3.75434610e-02 -1.10514697e+01] [-1.02603637e-01 -4.55529094e-04 9.94722216e-01 -8.00364856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.058241008 meters 0.06406713934765217 Centerline is valid? [True, True] Translation: X:62.08, Y:-11.06, Z:-8.01 [[ 9.24143423e-01 3.70106703e-01 9.47626611e-02 6.20841732e+01] [-3.68223837e-01 9.28989149e-01 -3.72876192e-02 -1.10634206e+01] [-1.01833882e-01 -4.34762601e-04 9.94801323e-01 -8.00957257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.088241008000004 meters 0.06394089038710038 Centerline is valid? [True, True] Translation: X:62.11, Y:-11.08, Z:-8.01 [[ 9.24857791e-01 3.68648275e-01 9.34693361e-02 6.21123031e+01] [-3.66806918e-01 9.29568925e-01 -3.68007833e-02 -1.10776191e+01] [-1.00452736e-01 -2.49707983e-04 9.94941800e-01 -8.01453634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.118241008 meters 0.06387430595512258 Centerline is valid? [True, True] Translation: X:62.14, Y:-11.09, Z:-8.02 [[ 9.25378291e-01 3.67252445e-01 9.38118289e-02 6.21405223e+01] [-3.65387878e-01 9.30121302e-01 -3.69602892e-02 -1.10916468e+01] [-1.00830137e-01 -7.54557658e-05 9.94903653e-01 -8.01774130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.148241008 meters 0.06409222905648242 Centerline is valid? [True, True] Translation: X:62.17, Y:-11.10, Z:-8.02 [[ 9.25153224e-01 3.67838347e-01 9.37361296e-02 6.21700122e+01] [-3.65977343e-01 9.29889744e-01 -3.69546760e-02 -1.11032061e+01] [-1.00757613e-01 -1.16562018e-04 9.94910996e-01 -8.02282769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.178241008 meters 0.06401690856332418 Centerline is valid? [True, True] Translation: X:62.20, Y:-11.12, Z:-8.02 [[ 9.24964676e-01 3.68111081e-01 9.45229066e-02 6.21989469e+01] [-3.66217280e-01 9.29781811e-01 -3.72919117e-02 -1.11169593e+01] [-1.01613245e-01 -1.22220810e-04 9.94823971e-01 -8.02370483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.208241008 meters 0.06391964023966452 Centerline is valid? [True, True] Translation: X:62.23, Y:-11.13, Z:-8.03 [[ 9.25072020e-01 3.67845860e-01 9.45049287e-02 6.22290159e+01] [-3.65948977e-01 9.29886777e-01 -3.73085533e-02 -1.11307697e+01] [-1.01602680e-01 -7.08832462e-05 9.94825055e-01 -8.02646328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.238241008 meters 0.06384405106280643 Centerline is valid? [True, True] Translation: X:62.26, Y:-11.14, Z:-8.03 [[ 9.24602169e-01 3.68668935e-01 9.58855879e-02 6.22581895e+01] [-3.66717433e-01 9.29560755e-01 -3.78830682e-02 -1.11421790e+01] [-1.03097790e-01 -1.36149580e-04 9.94671216e-01 -8.02994671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.268241008000004 meters 0.06385825657021849 Centerline is valid? [True, True] Translation: X:62.29, Y:-11.15, Z:-8.03 [[ 9.24304608e-01 3.69187571e-01 9.67549973e-02 6.22881865e+01] [-3.67200659e-01 9.29354888e-01 -3.82513817e-02 -1.11527949e+01] [-1.04041664e-01 -1.72570464e-04 9.94572925e-01 -8.03421839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.298241008000005 meters 0.06411930124981208 Centerline is valid? [True, True] Translation: X:62.32, Y:-11.16, Z:-8.04 [[ 9.24099032e-01 3.69818735e-01 9.63072270e-02 6.23194055e+01] [-3.67851203e-01 9.29103899e-01 -3.80977392e-02 -1.11636571e+01] [-1.03568678e-01 -2.20645339e-04 9.94622280e-01 -8.03819502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.328241008 meters 0.06410954470527377 Centerline is valid? [True, True] Translation: X:62.35, Y:-11.18, Z:-8.04 [[ 9.23924608e-01 3.70338889e-01 9.59813855e-02 6.23495937e+01] [-3.68384456e-01 9.28896681e-01 -3.79980005e-02 -1.11766338e+01] [-1.03228928e-01 -2.50762800e-04 9.94657592e-01 -8.04238319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.358241008 meters 0.06413667627376174 Centerline is valid? [True, True] Translation: X:62.38, Y:-11.19, Z:-8.05 [[ 9.23902469e-01 3.70683674e-01 9.48569575e-02 6.23790346e+01] [-3.68773683e-01 9.28759144e-01 -3.75822213e-02 -1.11897258e+01] [-1.02030383e-01 -2.58442576e-04 9.94781249e-01 -8.04575523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.388241008 meters 0.06413053891073439 Centerline is valid? [True, True] Translation: X:62.41, Y:-11.20, Z:-8.05 [[ 9.23803452e-01 3.70673049e-01 9.58575680e-02 6.24076935e+01] [-3.68719662e-01 9.28763390e-01 -3.80049462e-02 -1.12023042e+01] [-1.03116409e-01 -2.35469569e-04 9.94669267e-01 -8.04872072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.418241008 meters 0.0640379285742243 Centerline is valid? [True, True] Translation: X:62.44, Y:-11.21, Z:-8.05 [[ 9.23512312e-01 3.71206005e-01 9.65976779e-02 6.24374193e+01] [-3.69222704e-01 9.28550497e-01 -3.83219069e-02 -1.12141687e+01] [-1.03921144e-01 -2.75302987e-04 9.94585502e-01 -8.05190147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.448241008000004 meters 0.0641418270397095 Centerline is valid? [True, True] Translation: X:62.47, Y:-11.23, Z:-8.06 [[ 9.23513830e-01 3.71210905e-01 9.65643322e-02 6.24677700e+01] [-3.69226411e-01 9.28548545e-01 -3.83335020e-02 -1.12264539e+01] [-1.03894484e-01 -2.52582532e-04 9.94588293e-01 -8.05644702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.478241008000005 meters 0.06431799427336136 Centerline is valid? [True, True] Translation: X:62.50, Y:-11.24, Z:-8.06 [[ 9.23930535e-01 3.70187833e-01 9.65056245e-02 6.24963672e+01] [-3.68197094e-01 9.28956918e-01 -3.83398457e-02 -1.12392472e+01] [-1.03842512e-01 -1.09736373e-04 9.94593747e-01 -8.06189938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.508241008 meters 0.06447515150101953 Centerline is valid? [True, True] Translation: X:62.53, Y:-11.25, Z:-8.07 [[ 9.24342872e-01 3.69075561e-01 9.68167650e-02 6.25252500e+01] [-3.67062961e-01 9.29399391e-01 -3.84909551e-02 -1.12523168e+01] [-1.04187513e-01 4.09914512e-05 9.94557671e-01 -8.06847039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.538241008 meters 0.0643158995904171 Centerline is valid? [True, True] Translation: X:62.55, Y:-11.27, Z:-8.07 [[ 9.24388423e-01 3.68795226e-01 9.74480659e-02 6.25539754e+01] [-3.66751726e-01 9.29510662e-01 -3.87698304e-02 -1.12657099e+01] [-1.04877145e-01 9.91359820e-05 9.94485181e-01 -8.07142509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.568241008 meters 0.06412195583440185 Centerline is valid? [True, True] Translation: X:62.58, Y:-11.28, Z:-8.07 [[ 9.24255062e-01 3.69022744e-01 9.78508761e-02 6.25827391e+01] [-3.66960865e-01 9.29420360e-01 -3.89553479e-02 -1.12790446e+01] [-1.05320006e-01 9.72353904e-05 9.94438378e-01 -8.07301961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.598241008 meters 0.06407953959891548 Centerline is valid? [True, True] Translation: X:62.61, Y:-11.29, Z:-8.07 [[ 9.23936445e-01 3.69766731e-01 9.80510555e-02 6.26130274e+01] [-3.67697963e-01 9.29124622e-01 -3.90595000e-02 -1.12926662e+01] [-1.05544554e-01 3.53221818e-05 9.94414575e-01 -8.07463730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.628241008 meters 0.06408131560283574 Centerline is valid? [True, True] Translation: X:62.64, Y:-11.30, Z:-8.08 [[ 9.22829552e-01 3.72359718e-01 9.86603219e-02 6.26419587e+01] [-3.70276565e-01 9.28088458e-01 -3.93329330e-02 -1.13023629e+01] [-1.06211506e-01 -2.34012128e-04 9.94343533e-01 -8.07748537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.658241008000005 meters 0.06405329810120326 Centerline is valid? [True, True] Translation: X:62.67, Y:-11.31, Z:-8.08 [[ 9.22105846e-01 3.74195655e-01 9.84805614e-02 6.26734196e+01] [-3.72128116e-01 9.27349682e-01 -3.92839965e-02 -1.13122352e+01] [-1.06025818e-01 -4.23382993e-04 9.94363287e-01 -8.08016049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.688241008 meters 0.06436703801771666 Centerline is valid? [True, True] Translation: X:62.70, Y:-11.32, Z:-8.09 [[ 9.21406128e-01 3.76026716e-01 9.80543547e-02 6.27037511e+01] [-3.73984215e-01 9.26608626e-01 -3.91441213e-02 -1.13205323e+01] [-1.05577246e-01 -6.03147578e-04 9.94410922e-01 -8.08584772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.718241008 meters 0.06487583945809267 Centerline is valid? [True, True] Translation: X:62.73, Y:-11.33, Z:-8.09 [[ 9.20785200e-01 3.77913897e-01 9.66214340e-02 6.27339318e+01] [-3.75938516e-01 9.25840414e-01 -3.85974098e-02 -1.13276593e+01] [-1.04042526e-01 -7.83794771e-04 9.94572541e-01 -8.09367778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.748241008 meters 0.06504597171047997 Centerline is valid? [True, True] Translation: X:62.76, Y:-11.34, Z:-8.10 [[ 9.20776396e-01 3.78139073e-01 9.58210349e-02 6.27630597e+01] [-3.76195237e-01 9.25748471e-01 -3.83002963e-02 -1.13386737e+01] [-1.03189015e-01 -7.81408119e-04 9.94661458e-01 -8.09927101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.778241008 meters 0.0650974810609778 Centerline is valid? [True, True] Translation: X:62.79, Y:-11.35, Z:-8.10 [[ 9.20826409e-01 3.78222156e-01 9.50090810e-02 6.27912295e+01] [-3.76309093e-01 9.25714546e-01 -3.80005899e-02 -1.13500640e+01] [-1.02323953e-01 -7.60834401e-04 9.94750838e-01 -8.10409852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.808241008 meters 0.06497137264693138 Centerline is valid? [True, True] Translation: X:62.82, Y:-11.36, Z:-8.11 [[ 9.20900795e-01 3.78066831e-01 9.49062548e-02 6.28214357e+01] [-3.76154872e-01 9.25778024e-01 -3.79810933e-02 -1.13634720e+01] [-1.02221517e-01 -7.22631073e-04 9.94761398e-01 -8.10779525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.838241008000004 meters 0.06492398737442534 Centerline is valid? [True, True] Translation: X:62.85, Y:-11.38, Z:-8.11 [[ 9.21288781e-01 3.77280108e-01 9.42693074e-02 6.28510141e+01] [-3.75386861e-01 9.26098998e-01 -3.77538163e-02 -1.13773727e+01] [-1.01546475e-01 -6.05291956e-04 9.94830612e-01 -8.11287271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.868241008 meters 0.065020843565124 Centerline is valid? [True, True] Translation: X:62.88, Y:-11.39, Z:-8.12 [[ 9.21438835e-01 3.76859924e-01 9.44831818e-02 6.28791278e+01] [-3.74952866e-01 9.26270108e-01 -3.78686520e-02 -1.13902228e+01] [-1.01788124e-01 -5.33093201e-04 9.94805958e-01 -8.11683822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.898241008 meters 0.0648022258654649 Centerline is valid? [True, True] Translation: X:62.91, Y:-11.40, Z:-8.12 [[ 9.21734442e-01 3.75907152e-01 9.53909389e-02 6.29073948e+01] [-3.73955756e-01 9.26657242e-01 -3.82550382e-02 -1.14048019e+01] [-1.02775047e-01 -4.11004383e-04 9.94704539e-01 -8.12060186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.928241008 meters 0.06452100082126705 Centerline is valid? [True, True] Translation: X:62.94, Y:-11.42, Z:-8.12 [[ 9.22164547e-01 3.74626004e-01 9.62699560e-02 6.29357211e+01] [-3.72628891e-01 9.27175979e-01 -3.86317796e-02 -1.14199750e+01] [-1.03731660e-01 -2.48109342e-04 9.94605289e-01 -8.12015713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.958241008 meters 0.06439068031641108 Centerline is valid? [True, True] Translation: X:62.96, Y:-11.43, Z:-8.12 [[ 9.22167232e-01 3.74306000e-01 9.74813529e-02 6.29638260e+01] [-3.72253621e-01 9.27305226e-01 -3.91440802e-02 -1.14339386e+01] [-1.05046832e-01 -1.90398533e-04 9.94467258e-01 -8.12417701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.988241008 meters 0.06428064823243253 Centerline is valid? [True, True] Translation: X:62.99, Y:-11.45, Z:-8.13 [[ 9.21921318e-01 3.74994538e-01 9.71605902e-02 6.29948827e+01] [-3.72956930e-01 9.27026988e-01 -3.90396224e-02 -1.14459326e+01] [-1.04710134e-01 -2.45255364e-04 9.94502754e-01 -8.12552120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.018241008000004 meters 0.06433874171184481 Centerline is valid? [True, True] Translation: X:63.02, Y:-11.46, Z:-8.13 [[ 9.21628964e-01 3.75561157e-01 9.77439036e-02 6.30245098e+01] [-3.73498851e-01 9.26797571e-01 -3.93048475e-02 -1.14569354e+01] [-1.05350186e-01 -2.82749807e-04 9.94435145e-01 -8.13035897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.048241008000005 meters 0.06435668047460458 Centerline is valid? [True, True] Translation: X:63.05, Y:-11.47, Z:-8.14 [[ 9.21709553e-01 3.75632595e-01 9.67039466e-02 6.30540604e+01] [-3.73611751e-01 9.26768625e-01 -3.89124106e-02 -1.14692940e+01] [-1.04238953e-01 -2.63790278e-04 9.94552247e-01 -8.13588447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.078241008 meters 0.06456276090323887 Centerline is valid? [True, True] Translation: X:63.08, Y:-11.48, Z:-8.14 [[ 9.21995468e-01 3.75368221e-01 9.49897622e-02 6.30814868e+01] [-3.73414296e-01 9.26875751e-01 -3.82505713e-02 -1.14817277e+01] [-1.02401756e-01 -2.03681830e-04 9.94743102e-01 -8.14148956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.108241008 meters 0.06467267441751018 Centerline is valid? [True, True] Translation: X:63.11, Y:-11.50, Z:-8.15 [[ 9.22320786e-01 3.75239764e-01 9.23010665e-02 6.31101060e+01] [-3.73393636e-01 9.26927769e-01 -3.71766607e-02 -1.14958266e+01] [-9.95065830e-02 -1.75823889e-04 9.95036888e-01 -8.14689836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.138241008 meters 0.06467712576090712 Centerline is valid? [True, True] Translation: X:63.14, Y:-11.51, Z:-8.15 [[ 9.22444731e-01 3.75111753e-01 9.15799653e-02 6.31398007e+01] [-3.73291349e-01 9.26979586e-01 -3.69109065e-02 -1.15082906e+01] [-9.87384733e-02 -1.37737589e-04 9.95113408e-01 -8.15025923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.168241008 meters 0.06469909472563566 Centerline is valid? [True, True] Translation: X:63.17, Y:-11.52, Z:-8.16 [[ 9.22603783e-01 3.74821654e-01 9.11646193e-02 6.31679803e+01] [-3.73013588e-01 9.27096932e-01 -3.67714810e-02 -1.15201273e+01] [-9.83011862e-02 -8.01343378e-05 9.95156706e-01 -8.15554551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.198241008000004 meters 0.06439223850603616 Centerline is valid? [True, True] Translation: X:63.20, Y:-11.53, Z:-8.16 [[ 9.22714178e-01 3.74405665e-01 9.17548020e-02 6.31967976e+01] [-3.72570830e-01 9.27265009e-01 -3.70213383e-02 -1.15339285e+01] [-9.89420161e-02 -2.50489518e-05 9.95093200e-01 -8.15775635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.228241008000005 meters 0.06446702359386516 Centerline is valid? [True, True] Translation: X:63.23, Y:-11.55, Z:-8.16 [[ 9.23016504e-01 3.73717271e-01 9.15201360e-02 6.32267955e+01] [-3.71886074e-01 9.27542666e-01 -3.69506667e-02 -1.15468846e+01] [-9.86979333e-02 7.10111126e-05 9.95117437e-01 -8.16232202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.258241008 meters 0.06436805123922015 Centerline is valid? [True, True] Translation: X:63.26, Y:-11.56, Z:-8.17 [[ 9.23137176e-01 3.73342530e-01 9.18319678e-02 6.32555182e+01] [-3.71493967e-01 9.27693557e-01 -3.71065557e-02 -1.15586595e+01] [-9.90453802e-02 1.39419006e-04 9.95082908e-01 -8.16563653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.288241008 meters 0.06431925855174614 Centerline is valid? [True, True] Translation: X:63.28, Y:-11.57, Z:-8.17 [[ 9.22937478e-01 3.73507853e-01 9.31573653e-02 6.32846804e+01] [-3.71603887e-01 9.27627006e-01 -3.76654869e-02 -1.15698928e+01] [-1.00483643e-01 1.45250453e-04 9.94938700e-01 -8.16937345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.318241008 meters 0.06419987230755214 Centerline is valid? [True, True] Translation: X:63.31, Y:-11.58, Z:-8.17 [[ 9.22876513e-01 3.73293210e-01 9.46103620e-02 6.33147851e+01] [-3.71325481e-01 9.27713394e-01 -3.82785245e-02 -1.15815867e+01] [-1.02060413e-01 1.95113060e-04 9.94778183e-01 -8.17233157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.348241008 meters 0.06423126595704837 Centerline is valid? [True, True] Translation: X:63.34, Y:-11.59, Z:-8.18 [[ 9.23163189e-01 3.72132041e-01 9.63715195e-02 6.33430455e+01] [-3.70080876e-01 9.28179733e-01 -3.90195890e-02 -1.15935775e+01] [-1.03970531e-01 3.56191904e-04 9.94580314e-01 -8.17500618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.378241008 meters 0.0641938975933859 Centerline is valid? [True, True] Translation: X:63.37, Y:-11.61, Z:-8.18 [[ 9.23403559e-01 3.71348799e-01 9.70872596e-02 6.33720337e+01] [-3.69261301e-01 9.28493327e-01 -3.93221767e-02 -1.16070885e+01] [-1.04747116e-01 4.59670056e-04 9.94498784e-01 -8.17823732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.408241008000005 meters 0.06401148554131622 Centerline is valid? [True, True] Translation: X:63.40, Y:-11.62, Z:-8.18 [[ 9.23552826e-01 3.71018073e-01 9.69317700e-02 6.34006098e+01] [-3.68932811e-01 9.28625500e-01 -3.92843721e-02 -1.16206026e+01] [-1.04588525e-01 5.19882547e-04 9.94515445e-01 -8.18089624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.438241008 meters 0.0638863845283198 Centerline is valid? [True, True] Translation: X:63.43, Y:-11.63, Z:-8.19 [[ 9.23367663e-01 3.71673802e-01 9.61807896e-02 6.34288762e+01] [-3.69621476e-01 9.28363273e-01 -3.90076716e-02 -1.16326904e+01] [-1.03788842e-01 4.67937173e-04 9.94599245e-01 -8.18504685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.468241008 meters 0.06375336617431099 Centerline is valid? [True, True] Translation: X:63.46, Y:-11.64, Z:-8.19 [[ 9.23086257e-01 3.72382501e-01 9.61407047e-02 6.34597545e+01] [-3.70333454e-01 9.28079256e-01 -3.90131573e-02 -1.16437420e+01] [-1.03754011e-01 4.08390080e-04 9.94602905e-01 -8.18641492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.498241008 meters 0.0638585907546648 Centerline is valid? [True, True] Translation: X:63.49, Y:-11.65, Z:-8.20 [[ 9.22621214e-01 3.73741367e-01 9.53283099e-02 6.34882628e+01] [-3.71730933e-01 9.27532916e-01 -3.87143764e-02 -1.16539665e+01] [-1.02889309e-01 2.82223358e-04 9.94692772e-01 -8.19500319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.528241008 meters 0.06404991703003997 Centerline is valid? [True, True] Translation: X:63.52, Y:-11.66, Z:-8.20 [[ 9.21879475e-01 3.75794510e-01 9.44283872e-02 6.35193277e+01] [-3.73830265e-01 9.26703017e-01 -3.83725394e-02 -1.16612496e+01] [-1.01927261e-01 7.46674500e-05 9.94791852e-01 -8.20289388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.558241008 meters 0.06404991703003997 Centerline is valid? [True, True] Translation: X:63.55, Y:-11.67, Z:-8.21 [[ 9.21786059e-01 3.76025626e-01 9.44202854e-02 6.35489842e+01] [-3.74060550e-01 9.26609261e-01 -3.83924633e-02 -1.16735072e+01] [-1.01927261e-01 7.07335608e-05 9.94791852e-01 -8.20695315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.588241008000004 meters 0.06409345758924716 Centerline is valid? [True, True] Translation: X:63.58, Y:-11.68, Z:-8.21 [[ 9.21674400e-01 3.76552041e-01 9.34069608e-02 6.35787630e+01] [-3.74628941e-01 9.26395466e-01 -3.80078632e-02 -1.16845959e+01] [-1.00843723e-01 3.79237690e-05 9.94902278e-01 -8.21095344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.618241008000005 meters 0.0641409827965573 Centerline is valid? [True, True] Translation: X:63.61, Y:-11.70, Z:-8.22 [[ 9.21692390e-01 3.76611614e-01 9.29883354e-02 6.36080245e+01] [-3.74703679e-01 9.26371248e-01 -3.78611125e-02 -1.16978072e+01] [-1.00400655e-01 5.32279037e-05 9.94947087e-01 -8.21618190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.648241008 meters 0.0642027827892784 Centerline is valid? [True, True] Translation: X:63.64, Y:-11.71, Z:-8.22 [[ 9.21772425e-01 3.76452697e-01 9.28383691e-02 6.36362356e+01] [-3.74547216e-01 9.26435836e-01 -3.78288935e-02 -1.17105799e+01] [-1.00249581e-01 9.72781814e-05 9.94962317e-01 -8.22152647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.678241008 meters 0.064041214945762 Centerline is valid? [True, True] Translation: X:63.67, Y:-11.72, Z:-8.22 [[ 9.21128048e-01 3.77922068e-01 9.32632282e-02 6.36669208e+01] [-3.76003825e-01 9.25837410e-01 -3.80291253e-02 -1.17209082e+01] [-1.00718631e-01 -3.76365210e-05 9.94914949e-01 -8.22423264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.708241008 meters 0.06411702378413651 Centerline is valid? [True, True] Translation: X:63.70, Y:-11.73, Z:-8.23 [[ 9.21482078e-01 3.77109274e-01 9.30557657e-02 6.36953080e+01] [-3.75192959e-01 9.26168770e-01 -3.79691106e-02 -1.17346072e+01] [-1.00503848e-01 7.39867879e-05 9.94936667e-01 -8.22842245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.738241008 meters 0.06401152313316537 Centerline is valid? [True, True] Translation: X:63.72, Y:-11.75, Z:-8.23 [[ 9.22126613e-01 3.75630476e-01 9.26512516e-02 6.37234463e+01] [-3.73720688e-01 9.26769485e-01 -3.78307992e-02 -1.17491385e+01] [-1.00076754e-01 2.59097289e-04 9.94979686e-01 -8.23142401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.768241008000004 meters 0.06453095467558989 Centerline is valid? [True, True] Translation: X:63.75, Y:-11.77, Z:-8.24 [[ 9.23746969e-01 3.71438760e-01 9.34065598e-02 6.37504011e+01] [-3.69473662e-01 9.28457159e-01 -3.81643409e-02 -1.17657708e+01] [-1.00899705e-01 7.42930546e-04 9.94896325e-01 -8.23735675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.798241008000005 meters 0.06486278028762135 Centerline is valid? [True, True] Translation: X:63.78, Y:-11.78, Z:-8.24 [[ 9.24705545e-01 3.68968443e-01 9.37120218e-02 6.37785768e+01] [-3.66974943e-01 9.29441339e-01 -3.83169443e-02 -1.17809745e+01] [-1.01237570e-01 1.04192698e-03 9.94861733e-01 -8.24080680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.828241008 meters 0.06528347382717513 Centerline is valid? [True, True] Translation: X:63.81, Y:-11.80, Z:-8.24 [[ 9.25923624e-01 3.65693923e-01 9.45166474e-02 6.38068285e+01] [-3.63646379e-01 9.30734062e-01 -3.86706244e-02 -1.17970365e+01] [-1.02111476e-01 1.43540809e-03 9.94771927e-01 -8.24448176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.858241008 meters 0.06539818327875382 Centerline is valid? [True, True] Translation: X:63.84, Y:-11.81, Z:-8.25 [[ 9.26879311e-01 3.63312946e-01 9.43315723e-02 6.38352319e+01] [-3.61258642e-01 9.31665581e-01 -3.86191513e-02 -1.18107345e+01] [-1.01916317e-01 1.71719667e-03 9.94791494e-01 -8.24625709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.888241008 meters 0.06607662331985291 Centerline is valid? [True, True] Translation: X:63.86, Y:-11.82, Z:-8.25 [[ 9.28103386e-01 3.60190544e-01 9.42702339e-02 6.38627369e+01] [-3.58120459e-01 9.32876435e-01 -3.86172767e-02 -1.18247793e+01] [-1.01852058e-01 2.08072573e-03 9.94797381e-01 -8.25074251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.918241008 meters 0.06572686658815133 Centerline is valid? [True, True] Translation: X:63.89, Y:-11.84, Z:-8.25 [[ 9.27852872e-01 3.60913298e-01 9.39714812e-02 6.38938423e+01] [-3.58857766e-01 9.32597194e-01 -3.85172239e-02 -1.18356739e+01] [-1.01538918e-01 2.01592094e-03 9.94829525e-01 -8.25284425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.948241008000004 meters 0.06608301169246174 Centerline is valid? [True, True] Translation: X:63.92, Y:-11.85, Z:-8.26 [[ 9.27715356e-01 3.61096625e-01 9.46226514e-02 6.39214215e+01] [-3.59010186e-01 9.32526177e-01 -3.88151471e-02 -1.18479867e+01] [-1.02254118e-01 2.03891233e-03 9.94756220e-01 -8.25763583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.978241008000005 meters 0.06602346808230927 Centerline is valid? [True, True] Translation: X:63.95, Y:-11.86, Z:-8.26 [[ 9.27440101e-01 3.61786657e-01 9.46851257e-02 6.39521371e+01] [-3.59698610e-01 9.32258800e-01 -3.88643853e-02 -1.18573625e+01] [-1.02331658e-01 1.98628129e-03 9.94748353e-01 -8.26190186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.008241008 meters 0.06547858342606097 Centerline is valid? [True, True] Translation: X:63.98, Y:-11.87, Z:-8.27 [[ 9.27180868e-01 3.62557925e-01 9.42729546e-02 6.39841893e+01] [-3.60489639e-01 9.31959272e-01 -3.87186686e-02 -1.18662947e+01] [-1.01896314e-01 1.91478534e-03 9.94793182e-01 -8.26559768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03824100800001 meters 0.0655505225351749 Centerline is valid? [True, True] Translation: X:64.01, Y:-11.88, Z:-8.27 [[ 9.26809378e-01 3.63495802e-01 9.43142497e-02 6.40141754e+01] [-3.61427455e-01 9.31594018e-01 -3.87657222e-02 -1.18758669e+01] [-1.01953768e-01 1.84067566e-03 9.94787435e-01 -8.27084374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06824100800002 meters 0.06591019011538453 Centerline is valid? [True, True] Translation: X:64.04, Y:-11.89, Z:-8.28 [[ 9.26414673e-01 3.64568757e-01 9.40503816e-02 6.40422081e+01] [-3.62514891e-01 9.31174843e-01 -3.86828869e-02 -1.18867255e+01] [-1.01679921e-01 1.74173020e-03 9.94815641e-01 -8.27802758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.098241008 meters 0.06507653369381095 Centerline is valid? [True, True] Translation: X:64.07, Y:-11.89, Z:-8.28 [[ 9.25437959e-01 3.66962615e-01 9.43558321e-02 6.40740584e+01] [-3.64905371e-01 9.30234472e-01 -3.88316489e-02 -1.18926030e+01] [-1.02022811e-01 1.50533197e-03 9.94780921e-01 -8.27934249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.128241008 meters 0.06514540169499658 Centerline is valid? [True, True] Translation: X:64.10, Y:-11.90, Z:-8.28 [[ 9.25063524e-01 3.67962142e-01 9.41346903e-02 6.41032208e+01] [-3.65917138e-01 9.29839695e-01 -3.87658197e-02 -1.19040735e+01] [-1.01794526e-01 1.41534932e-03 9.94804439e-01 -8.28378025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.158241008 meters 0.06504040666354306 Centerline is valid? [True, True] Translation: X:64.13, Y:-11.92, Z:-8.29 [[ 9.24641915e-01 3.69159421e-01 9.35876636e-02 6.41338867e+01] [-3.67141572e-01 9.29365176e-01 -3.85672995e-02 -1.19153412e+01] [-1.01214597e-01 1.30101978e-03 9.94863766e-01 -8.28668740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.188241008 meters 0.06470148108510916 Centerline is valid? [True, True] Translation: X:64.16, Y:-11.93, Z:-8.29 [[ 9.24033760e-01 3.70484512e-01 9.43548421e-02 6.41637488e+01] [-3.68437176e-01 9.28837877e-01 -3.89133028e-02 -1.19264988e+01] [-1.02057127e-01 1.19337400e-03 9.94777824e-01 -8.28970496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.218241008 meters 0.06455322365156108 Centerline is valid? [True, True] Translation: X:64.19, Y:-11.94, Z:-8.29 [[ 9.23305513e-01 3.71845672e-01 9.61130913e-02 6.41945260e+01] [-3.69725703e-01 9.28293927e-01 -3.96647270e-02 -1.19363925e+01] [-1.03970356e-01 1.08718088e-03 9.94579802e-01 -8.29160891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.24824100800001 meters 0.06437276592621921 Centerline is valid? [True, True] Translation: X:64.22, Y:-11.95, Z:-8.30 [[ 9.22904993e-01 3.72658006e-01 9.68110724e-02 6.42249718e+01] [-3.70508465e-01 9.27968184e-01 -3.99815941e-02 -1.19471874e+01] [-1.04737056e-01 1.02989101e-03 9.94499416e-01 -8.29658133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.27824100800001 meters 0.06437543603254102 Centerline is valid? [True, True] Translation: X:64.26, Y:-11.96, Z:-8.30 [[ 9.22400317e-01 3.73923192e-01 9.67424514e-02 6.42555440e+01] [-3.71782530e-01 9.27459241e-01 -3.99638130e-02 -1.19577766e+01] [-1.04668077e-01 8.95480507e-04 9.94506808e-01 -8.30090271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.30824100800001 meters 0.06431661633134649 Centerline is valid? [True, True] Translation: X:64.28, Y:-11.97, Z:-8.31 [[ 9.21014779e-01 3.77762791e-01 9.50107920e-02 6.42848469e+01] [-3.75717535e-01 9.25902296e-01 -3.92590459e-02 -1.19655053e+01] [-1.02801317e-01 4.60940942e-04 9.94701803e-01 -8.30781395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.33824100800001 meters 0.06420775803159862 Centerline is valid? [True, True] Translation: X:64.32, Y:-11.98, Z:-8.31 [[ 9.20143879e-01 3.79935889e-01 9.47837705e-02 6.43157686e+01] [-3.77909467e-01 9.25012791e-01 -3.91889216e-02 -1.19772620e+01] [-1.02565478e-01 2.39762100e-04 9.94726226e-01 -8.31243480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.36824100800001 meters 0.06418140157980372 Centerline is valid? [True, True] Translation: X:64.34, Y:-11.99, Z:-8.32 [[ 9.19448260e-01 3.81767404e-01 9.41729561e-02 6.43449918e+01] [-3.79774834e-01 9.24258431e-01 -3.89541940e-02 -1.19894960e+01] [-1.01911590e-01 5.18472300e-05 9.94793459e-01 -8.31566421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39824100800001 meters 0.0640914490225933 Centerline is valid? [True, True] Translation: X:64.38, Y:-12.00, Z:-8.32 [[ 9.18585105e-01 3.83869138e-01 9.40525893e-02 6.43753866e+01] [-3.81890243e-01 9.23387492e-01 -3.89279136e-02 -1.20016430e+01] [-1.01790209e-01 -1.59164563e-04 9.94805875e-01 -8.31921473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42824100800001 meters 0.06414408315143037 Centerline is valid? [True, True] Translation: X:64.40, Y:-12.01, Z:-8.33 [[ 9.18232314e-01 3.84767815e-01 9.38250881e-02 6.44045216e+01] [-3.82800291e-01 9.23013367e-01 -3.88620951e-02 -1.20130953e+01] [-1.01554694e-01 -2.31839499e-04 9.94829930e-01 -8.32534967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45824100800002 meters 0.06433836484056171 Centerline is valid? [True, True] Translation: X:64.44, Y:-12.02, Z:-8.33 [[ 9.17087530e-01 3.87712400e-01 9.28954072e-02 6.44350722e+01] [-3.85796213e-01 9.21780243e-01 -3.85028099e-02 -1.20213258e+01] [-1.00557168e-01 -5.28249411e-04 9.94931142e-01 -8.33101790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.488241008 meters 0.06462083779780911 Centerline is valid? [True, True] Translation: X:64.46, Y:-12.03, Z:-8.34 [[ 9.16379229e-01 3.89570203e-01 9.21095305e-02 6.44649942e+01] [-3.87693291e-01 9.20996505e-01 -3.82014378e-02 -1.20325143e+01] [-9.97146975e-02 -7.03242935e-04 9.95015821e-01 -8.33657356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.518241008 meters 0.06499514273707879 Centerline is valid? [True, True] Translation: X:64.49, Y:-12.04, Z:-8.34 [[ 9.16326602e-01 3.89788898e-01 9.17069998e-02 6.44934516e+01] [-3.87926765e-01 9.20903973e-01 -3.80617705e-02 -1.20441802e+01] [-9.92893960e-02 -6.98586867e-04 9.95058354e-01 -8.34473149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.548241008 meters 0.0649324055952447 Centerline is valid? [True, True] Translation: X:64.52, Y:-12.06, Z:-8.35 [[ 9.15960803e-01 3.90897854e-01 9.06348456e-02 6.45228073e+01] [-3.89083452e-01 9.20433718e-01 -3.76276162e-02 -1.20580743e+01] [-9.81319223e-02 -7.99097100e-04 9.95173094e-01 -8.34652084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.578241008 meters 0.06517740842047011 Centerline is valid? [True, True] Translation: X:64.55, Y:-12.07, Z:-8.35 [[ 9.15653784e-01 3.91567774e-01 9.08450612e-02 6.45516015e+01] [-3.89745839e-01 9.20148876e-01 -3.77389274e-02 -1.20715666e+01] [-9.83683288e-02 -8.50692900e-04 9.95149711e-01 -8.35290996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.60824100800001 meters 0.06425168431274242 Centerline is valid? [True, True] Translation: X:64.58, Y:-12.09, Z:-8.35 [[ 9.17162767e-01 3.87829690e-01 9.16547320e-02 6.45790564e+01] [-3.85953729e-01 9.21730952e-01 -3.81021124e-02 -1.20911194e+01] [-9.92581338e-02 -4.28646701e-04 9.95061626e-01 -8.35054127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.63824100800001 meters 0.06406005209414356 Centerline is valid? [True, True] Translation: X:64.61, Y:-12.11, Z:-8.35 [[ 9.18835198e-01 3.83437562e-01 9.33676362e-02 6.46057663e+01] [-3.81465305e-01 9.23566798e-01 -3.88405790e-02 -1.21102055e+01] [-1.01124186e-01 7.15772634e-05 9.94873808e-01 -8.35261551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.66824100800001 meters 0.06380735493138942 Centerline is valid? [True, True] Translation: X:64.63, Y:-12.13, Z:-8.35 [[ 9.20186384e-01 3.79765844e-01 9.50522125e-02 6.46318787e+01] [-3.77699221e-01 9.25082507e-01 -3.95683458e-02 -1.21293571e+01] [-1.02957845e-01 5.09106398e-04 9.94685590e-01 -8.35399834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.69824100800001 meters 0.0643791923033146 Centerline is valid? [True, True] Translation: X:64.66, Y:-12.15, Z:-8.36 [[ 9.23269056e-01 3.71896357e-01 9.62670740e-02 6.46577149e+01] [-3.69731048e-01 9.28273159e-01 -4.00985519e-02 -1.21504060e+01] [-1.04274646e-01 1.42882598e-03 9.94547514e-01 -8.35684946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.72824100800001 meters 0.06456663959974415 Centerline is valid? [True, True] Translation: X:64.69, Y:-12.16, Z:-8.36 [[ 9.24084507e-01 3.69783871e-01 9.65800828e-02 6.46871903e+01] [-3.67590165e-01 9.29116251e-01 -4.02549667e-02 -1.21634417e+01] [-1.04619762e-01 1.69710252e-03 9.94510847e-01 -8.36016206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75824100800001 meters 0.06502414710817375 Centerline is valid? [True, True] Translation: X:64.72, Y:-12.18, Z:-8.37 [[ 9.24736007e-01 3.68096090e-01 9.67914571e-02 6.47161340e+01] [-3.65880692e-01 9.29785778e-01 -4.03698777e-02 -1.21771216e+01] [-1.04855314e-01 1.91735425e-03 9.94485639e-01 -8.36539161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.78824100800001 meters 0.0652883843392458 Centerline is valid? [True, True] Translation: X:64.74, Y:-12.19, Z:-8.37 [[ 9.25160627e-01 3.67129099e-01 9.64055969e-02 6.47433007e+01] [-3.64923347e-01 9.30167752e-01 -4.02355911e-02 -1.21918782e+01] [-1.04445034e-01 2.04373152e-03 9.94528561e-01 -8.36942903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.81824100800002 meters 0.06540203811460256 Centerline is valid? [True, True] Translation: X:64.77, Y:-12.20, Z:-8.37 [[ 9.25212396e-01 3.67355551e-01 9.50364243e-02 6.47708747e+01] [-3.65210934e-01 9.30078413e-01 -3.96877829e-02 -1.22049102e+01] [-1.02970854e-01 2.01128737e-03 9.94682340e-01 -8.37377046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.848241008 meters 0.06561422224107058 Centerline is valid? [True, True] Translation: X:64.80, Y:-12.22, Z:-8.38 [[ 9.25559349e-01 3.66608334e-01 9.45421671e-02 6.48001068e+01] [-3.64479777e-01 9.30372989e-01 -3.95043525e-02 -1.22177554e+01] [-1.02442103e-01 2.10491487e-03 9.94736741e-01 -8.37840800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.878241008 meters 0.06602044748135395 Centerline is valid? [True, True] Translation: X:64.83, Y:-12.23, Z:-8.38 [[ 9.25809263e-01 3.66100727e-01 9.40609701e-02 6.48275093e+01] [-3.63988595e-01 9.30572690e-01 -3.93290227e-02 -1.22309198e+01] [-1.01928954e-01 2.17405317e-03 9.94789305e-01 -8.38310392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.908241008 meters 0.06623302060025955 Centerline is valid? [True, True] Translation: X:64.86, Y:-12.24, Z:-8.39 [[ 9.26370975e-01 3.64946832e-01 9.30087384e-02 6.48565987e+01] [-3.62873759e-01 9.31025530e-01 -3.89113959e-02 -1.22443152e+01] [-1.00794101e-01 2.29595724e-03 9.94904658e-01 -8.38731644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.938241008 meters 0.0667243001889355 Centerline is valid? [True, True] Translation: X:64.88, Y:-12.26, Z:-8.39 [[ 9.27215644e-01 3.62865703e-01 9.27342004e-02 6.48835369e+01] [-3.60791906e-01 9.31837988e-01 -3.88222198e-02 -1.22582769e+01] [-1.00500503e-01 2.53882057e-03 9.94933768e-01 -8.39107716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.968241008 meters 0.06699759545613958 Centerline is valid? [True, True] Translation: X:64.91, Y:-12.27, Z:-8.39 [[ 9.27933881e-01 3.61054433e-01 9.26197002e-02 6.49123232e+01] [-3.58974455e-01 9.32540678e-01 -3.87972158e-02 -1.22708308e+01] [-1.00379545e-01 2.75314464e-03 9.94945409e-01 -8.39391097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.99824100800001 meters 0.06761519140755723 Centerline is valid? [True, True] Translation: X:64.94, Y:-12.28, Z:-8.40 [[ 9.28636650e-01 3.59059098e-01 9.33302589e-02 6.49395913e+01] [-3.56935730e-01 9.33309995e-01 -3.91067601e-02 -1.22847415e+01] [-1.01147701e-01 3.00306656e-03 9.94866888e-01 -8.39786961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.02824100800001 meters 0.06770935814849101 Centerline is valid? [True, True] Translation: X:64.97, Y:-12.30, Z:-8.40 [[ 9.28920772e-01 3.58479671e-01 9.27282290e-02 6.49684319e+01] [-3.56378525e-01 9.33532494e-01 -3.88771112e-02 -1.22969668e+01] [-1.00501469e-01 3.06740662e-03 9.94932182e-01 -8.40097732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.05824100800001 meters 0.06724154194902625 Centerline is valid? [True, True] Translation: X:65.00, Y:-12.31, Z:-8.40 [[ 9.28807398e-01 3.58455601e-01 9.39489236e-02 6.49985205e+01] [-3.56295881e-01 9.33541513e-01 -3.94143248e-02 -1.23077200e+01] [-1.01833506e-01 3.13470191e-03 9.94796517e-01 -8.40325810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.08824100800001 meters 0.067401317757924 Centerline is valid? [True, True] Translation: X:65.03, Y:-12.32, Z:-8.41 [[ 9.27839531e-01 3.61013734e-01 9.37170713e-02 6.50282928e+01] [-3.58876498e-01 9.32556120e-01 -3.93286397e-02 -1.23167150e+01] [-1.01594607e-01 2.85781218e-03 9.94821777e-01 -8.40889671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.11824100800001 meters 0.06724731986585977 Centerline is valid? [True, True] Translation: X:65.06, Y:-12.33, Z:-8.41 [[ 9.27145217e-01 3.62921007e-01 9.32206506e-02 6.50589731e+01] [-3.60813387e-01 9.31816115e-01 -3.91462354e-02 -1.23258053e+01] [-1.01071496e-01 2.65898621e-03 9.94875612e-01 -8.41460188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.14824100800001 meters 0.06602246598149256 Centerline is valid? [True, True] Translation: X:65.09, Y:-12.33, Z:-8.42 [[ 9.26124458e-01 3.65606804e-01 9.28716987e-02 6.50912769e+01] [-3.63526105e-01 9.30766355e-01 -3.90226057e-02 -1.23319322e+01] [-1.00708783e-01 2.37850274e-03 9.94913104e-01 -8.41674221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.17824100800001 meters 0.0662764395473989 Centerline is valid? [True, True] Translation: X:65.12, Y:-12.34, Z:-8.42 [[ 9.24907200e-01 3.68566437e-01 9.33030189e-02 6.51197892e+01] [-3.66478737e-01 9.29599061e-01 -3.92290788e-02 -1.23427362e+01] [-1.01192921e-01 2.08968482e-03 9.94864627e-01 -8.42433464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20824100800002 meters 0.06451578997518718 Centerline is valid? [True, True] Translation: X:65.15, Y:-12.34, Z:-8.42 [[ 9.21895075e-01 3.75691460e-01 9.46857850e-02 6.51541233e+01] [-3.73576183e-01 9.26743818e-01 -3.98338047e-02 -1.23441913e+01] [-1.02714686e-01 1.35023429e-03 9.94709943e-01 -8.42271317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.238241008 meters 0.06406966688945705 Centerline is valid? [True, True] Translation: X:65.18, Y:-12.35, Z:-8.43 [[ 9.20108301e-01 3.79920693e-01 9.51891872e-02 6.51846762e+01] [-3.77802763e-01 9.25018619e-01 -4.00702676e-02 -1.23518057e+01] [-1.03275294e-01 9.06247943e-04 9.94652398e-01 -8.42575809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.268241008 meters 0.06389356165204377 Centerline is valid? [True, True] Translation: X:65.22, Y:-12.36, Z:-8.43 [[ 9.18642585e-01 3.83357053e-01 9.55676220e-02 6.52166524e+01] [-3.81237960e-01 9.23600060e-01 -4.02560185e-02 -1.23595023e+01] [-1.03698690e-01 5.46887604e-04 9.94608608e-01 -8.42889487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.298241008 meters 0.06381280070723427 Centerline is valid? [True, True] Translation: X:65.25, Y:-12.36, Z:-8.43 [[ 9.16236438e-01 3.88988290e-01 9.59108990e-02 6.52494958e+01] [-3.86883966e-01 9.21242695e-01 -4.04066102e-02 -1.23639265e+01] [-1.04074913e-01 -8.43803356e-05 9.94569457e-01 -8.43376387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.328241008 meters 0.06391397350036483 Centerline is valid? [True, True] Translation: X:65.28, Y:-12.37, Z:-8.44 [[ 9.15161999e-01 3.91440666e-01 9.61910646e-02 6.52800127e+01] [-3.89334828e-01 9.20203287e-01 -4.05500007e-02 -1.23739625e+01] [-1.04388253e-01 -3.40711901e-04 9.94536564e-01 -8.43790275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.35824100800001 meters 0.06391019938088151 Centerline is valid? [True, True] Translation: X:65.31, Y:-12.39, Z:-8.44 [[ 9.14507406e-01 3.92982020e-01 9.61318687e-02 6.53108862e+01] [-3.90884426e-01 9.19546024e-01 -4.05521192e-02 -1.23855892e+01] [-1.04333931e-01 -4.91236984e-04 9.94542201e-01 -8.44211058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.38824100800001 meters 0.06407022954056152 Centerline is valid? [True, True] Translation: X:65.34, Y:-12.40, Z:-8.45 [[ 9.13439563e-01 3.95328557e-01 9.66617664e-02 6.53405481e+01] [-3.93217660e-01 9.18539488e-01 -4.08054075e-02 -1.23961006e+01] [-1.04919192e-01 -7.35839985e-04 9.94480478e-01 -8.44628968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.41824100800001 meters 0.06424522380486246 Centerline is valid? [True, True] Translation: X:65.37, Y:-12.41, Z:-8.45 [[ 9.12932375e-01 3.96617873e-01 9.61703780e-02 6.53701459e+01] [-3.94532696e-01 9.17983406e-01 -4.06253493e-02 -1.24079940e+01] [-1.04395551e-01 -8.54161847e-04 9.94535489e-01 -8.45186987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.44824100800001 meters 0.06441446604925373 Centerline is valid? [True, True] Translation: X:65.40, Y:-12.42, Z:-8.46 [[ 9.12692896e-01 3.97393160e-01 9.52384062e-02 6.53990947e+01] [-3.95349985e-01 9.17647997e-01 -4.02559746e-02 -1.24203193e+01] [-1.03392782e-01 -9.11160384e-04 9.94640187e-01 -8.45740112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.47824100800001 meters 0.06441446604925373 Centerline is valid? [True, True] Translation: X:65.43, Y:-12.43, Z:-8.46 [[ 9.12593614e-01 3.97623157e-01 9.52298341e-02 6.54285839e+01] [-3.95579116e-01 9.17548357e-01 -4.02762413e-02 -1.24329892e+01] [-1.03392744e-01 -9.15092979e-04 9.94640188e-01 -8.46146049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.50824100800001 meters 0.06435160255133285 Centerline is valid? [True, True] Translation: X:65.46, Y:-12.45, Z:-8.46 [[ 9.12404261e-01 3.98381966e-01 9.38630640e-02 6.54578249e+01] [-3.96397480e-01 9.17219105e-01 -3.97259598e-02 -1.24465620e+01] [-1.01919101e-01 -9.60947054e-04 9.94792226e-01 -8.46434724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.53824100800001 meters 0.06479988447603881 Centerline is valid? [True, True] Translation: X:65.49, Y:-12.46, Z:-8.47 [[ 9.12267635e-01 3.98985632e-01 9.26187269e-02 6.54857855e+01] [-3.97053850e-01 9.16956644e-01 -3.92269378e-02 -1.24577385e+01] [-1.00578342e-01 -9.89156383e-04 9.94928650e-01 -8.47333931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.56824100800002 meters 0.0648893334669869 Centerline is valid? [True, True] Translation: X:65.51, Y:-12.47, Z:-8.48 [[ 9.12033770e-01 3.99557732e-01 9.24555131e-02 6.55138457e+01] [-3.97634526e-01 9.16707444e-01 -3.91694515e-02 -1.24735730e+01] [-1.00405114e-01 -1.03964163e-03 9.94946095e-01 -8.47774602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.598241008 meters 0.06414121264277041 Centerline is valid? [True, True] Translation: X:65.54, Y:-12.49, Z:-8.48 [[ 9.12467713e-01 3.98330990e-01 9.34617337e-02 6.55421760e+01] [-3.96356304e-01 9.17241316e-01 -3.96238228e-02 -1.24914094e+01] [-1.01510360e-01 -8.88688401e-04 9.94834085e-01 -8.47590393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.628241008 meters 0.06447939643153888 Centerline is valid? [True, True] Translation: X:65.57, Y:-12.50, Z:-8.48 [[ 9.12613931e-01 3.98000222e-01 9.34432292e-02 6.55705854e+01] [-3.96023156e-01 9.17384935e-01 -3.96300438e-02 -1.25047198e+01] [-1.01496177e-01 -8.38752493e-04 9.94835576e-01 -8.48457935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.658241008 meters 0.06397352627392643 Centerline is valid? [True, True] Translation: X:65.60, Y:-12.52, Z:-8.48 [[ 9.12882506e-01 3.97216283e-01 9.41528270e-02 6.55990703e+01] [-3.95201898e-01 9.17724735e-01 -3.99596013e-02 -1.25210698e+01] [-1.02278983e-01 -7.30955018e-04 9.94755485e-01 -8.48438990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.688241008 meters 0.0637682362862659 Centerline is valid? [True, True] Translation: X:65.63, Y:-12.54, Z:-8.49 [[ 9.13462543e-01 3.95538732e-01 9.55787322e-02 6.56252063e+01] [-3.93450678e-01 9.18449147e-01 -4.05922326e-02 -1.25376352e+01] [-1.03840005e-01 -5.26032952e-04 9.94593875e-01 -8.48842587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.718241008 meters 0.06361186192110842 Centerline is valid? [True, True] Translation: X:65.65, Y:-12.55, Z:-8.49 [[ 9.13976990e-01 3.94217640e-01 9.61171918e-02 6.56526722e+01] [-3.92096070e-01 9.19017043e-01 -4.08453912e-02 -1.25533214e+01] [-1.04435311e-01 -3.55425470e-04 9.94531618e-01 -8.49232988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.74824100800001 meters 0.06355070632048106 Centerline is valid? [True, True] Translation: X:65.68, Y:-12.57, Z:-8.50 [[ 9.14854906e-01 3.92242974e-01 9.58433606e-02 6.56804391e+01] [-3.90120015e-01 9.19861641e-01 -4.07545841e-02 -1.25703398e+01] [-1.04148330e-01 -1.05882094e-04 9.94561770e-01 -8.49611184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.77824100800001 meters 0.063439692479097 Centerline is valid? [True, True] Translation: X:65.71, Y:-12.58, Z:-8.50 [[ 9.15080466e-01 3.91611780e-01 9.62702217e-02 6.57080767e+01] [-3.89463022e-01 9.20130542e-01 -4.09675536e-02 -1.25845198e+01] [-1.04624548e-01 -5.08342774e-06 9.94511792e-01 -8.49848434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.80824100800001 meters 0.06322534889010235 Centerline is valid? [True, True] Translation: X:65.74, Y:-12.60, Z:-8.50 [[ 9.15422191e-01 3.90838900e-01 9.61621926e-02 6.57358919e+01] [-3.88688254e-01 9.20459094e-01 -4.09450614e-02 -1.25992767e+01] [-1.04516287e-01 1.04903132e-04 9.94523170e-01 -8.50181744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.83824100800001 meters 0.06323410107339272 Centerline is valid? [True, True] Translation: X:65.77, Y:-12.61, Z:-8.51 [[ 9.15812633e-01 3.90007634e-01 9.58189244e-02 6.57652478e+01] [-3.87864971e-01 9.20811596e-01 -4.08260841e-02 -1.26120402e+01] [-1.04153661e-01 2.24239234e-04 9.94561192e-01 -8.50768821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.86824100800001 meters 0.06347768841366828 Centerline is valid? [True, True] Translation: X:65.79, Y:-12.62, Z:-8.51 [[ 9.16495249e-01 3.88836636e-01 9.40347176e-02 6.57933511e+01] [-3.86764089e-01 9.21306642e-01 -4.00950317e-02 -1.26249541e+01] [-1.02225227e-01 3.77654163e-04 9.94761208e-01 -8.51420300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89824100800001 meters 0.06361848396943937 Centerline is valid? [True, True] Translation: X:65.82, Y:-12.64, Z:-8.52 [[ 9.16896968e-01 3.88273686e-01 9.24310332e-02 6.58219639e+01] [-3.86266355e-01 9.21543998e-01 -3.94330190e-02 -1.26393849e+01] [-1.00490067e-01 4.53017209e-04 9.94937958e-01 -8.51967482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92824100800001 meters 0.06364972282364825 Centerline is valid? [True, True] Translation: X:65.85, Y:-12.65, Z:-8.52 [[ 9.17128625e-01 3.87829179e-01 9.19978984e-02 6.58496299e+01] [-3.85835874e-01 9.21731118e-01 -3.92737108e-02 -1.26532515e+01] [-1.00028817e-01 5.22954902e-04 9.94984403e-01 -8.52392983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.95824100800002 meters 0.06378674302003176 Centerline is valid? [True, True] Translation: X:65.88, Y:-12.67, Z:-8.53 [[ 9.17563415e-01 3.86812711e-01 9.19418599e-02 6.58771584e+01] [-3.84814496e-01 9.22158066e-01 -3.92721902e-02 -1.26682437e+01] [-9.99759101e-02 6.54164491e-04 9.94989643e-01 -8.52993002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.988241008 meters 0.06373537177667203 Centerline is valid? [True, True] Translation: X:65.91, Y:-12.68, Z:-8.53 [[ 9.17653867e-01 3.86650579e-01 9.17208287e-02 6.59072360e+01] [-3.84658580e-01 9.22226029e-01 -3.92036895e-02 -1.26821075e+01] [-9.97454649e-02 6.94213599e-04 9.95012744e-01 -8.53238908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.018241008 meters 0.06367805951672724 Centerline is valid? [True, True] Translation: X:65.94, Y:-12.69, Z:-8.54 [[ 9.17366142e-01 3.87298409e-01 9.18656837e-02 6.59358998e+01] [-3.85300144e-01 9.21954182e-01 -3.92973852e-02 -1.26937171e+01] [-9.99157660e-02 6.54229457e-04 9.94995684e-01 -8.53782424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.048241008 meters 0.06344164460453385 Centerline is valid? [True, True] Translation: X:65.97, Y:-12.71, Z:-8.54 [[ 9.17470029e-01 3.87026713e-01 9.19732027e-02 6.59664527e+01] [-3.85021314e-01 9.22068241e-01 -3.93541259e-02 -1.27052626e+01] [-1.00036667e-01 6.94587650e-04 9.94983509e-01 -8.53750660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.078241008 meters 0.06358187025295939 Centerline is valid? [True, True] Translation: X:65.99, Y:-12.72, Z:-8.54 [[ 9.17838848e-01 3.86064267e-01 9.23375889e-02 6.59945375e+01] [-3.84035271e-01 9.22471515e-01 -3.95375099e-02 -1.27186842e+01] [-1.00442815e-01 8.28171597e-04 9.94942488e-01 -8.54382595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10824100800001 meters 0.06366020129200657 Centerline is valid? [True, True] Translation: X:66.02, Y:-12.73, Z:-8.55 [[ 9.18154022e-01 3.85293569e-01 9.24232545e-02 6.60237244e+01] [-3.83253928e-01 9.22793575e-01 -3.96036059e-02 -1.27317692e+01] [-1.00546600e-01 9.40634753e-04 9.94931905e-01 -8.54832621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13824100800001 meters 0.06370403510211241 Centerline is valid? [True, True] Translation: X:66.05, Y:-12.74, Z:-8.55 [[ 9.18371272e-01 3.84572719e-01 9.32632311e-02 6.60531610e+01] [-3.82490398e-01 9.23094109e-01 -3.99795144e-02 -1.27445201e+01] [-1.01465770e-01 1.04374716e-03 9.94838483e-01 -8.55181084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16824100800001 meters 0.06380843084621216 Centerline is valid? [True, True] Translation: X:66.08, Y:-12.76, Z:-8.56 [[ 9.18953345e-01 3.83215271e-01 9.31171630e-02 6.60821079e+01] [-3.81130033e-01 9.23658260e-01 -3.99414269e-02 -1.27576075e+01] [-1.01314601e-01 1.21456048e-03 9.94853696e-01 -8.55553712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19824100800001 meters 0.06364109213518594 Centerline is valid? [True, True] Translation: X:66.11, Y:-12.77, Z:-8.56 [[ 9.19146882e-01 3.82647407e-01 9.35412786e-02 6.61120118e+01] [-3.80537719e-01 9.23893532e-01 -4.01470526e-02 -1.27714905e+01] [-1.01784348e-01 1.30505344e-03 9.94805631e-01 -8.55745409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22824100800001 meters 0.06357157452241836 Centerline is valid? [True, True] Translation: X:66.14, Y:-12.78, Z:-8.56 [[ 9.19318520e-01 3.82249492e-01 9.34814719e-02 6.61419028e+01] [-3.80137558e-01 9.24058135e-01 -4.01497264e-02 -1.27847259e+01] [-1.01729527e-01 1.37456861e-03 9.94811145e-01 -8.55999517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.25824100800001 meters 0.06412788839159876 Centerline is valid? [True, True] Translation: X:66.17, Y:-12.80, Z:-8.57 [[ 9.19585260e-01 3.81768309e-01 9.28219094e-02 6.61692059e+01] [-3.79680668e-01 9.24256928e-01 -3.98963851e-02 -1.28004059e+01] [-1.01022468e-01 1.44544314e-03 9.94883094e-01 -8.56647587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.28824100800001 meters 0.06420621378873992 Centerline is valid? [True, True] Translation: X:66.20, Y:-12.81, Z:-8.57 [[ 9.19521818e-01 3.81906410e-01 9.28822908e-02 6.61992939e+01] [-3.79814053e-01 9.24199856e-01 -3.99488509e-02 -1.28133491e+01] [-1.01098522e-01 1.45584067e-03 9.94875354e-01 -8.57109969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31824100800002 meters 0.06414079558900311 Centerline is valid? [True, True] Translation: X:66.23, Y:-12.82, Z:-8.58 [[ 9.19293778e-01 3.82686617e-01 9.19233557e-02 6.62286086e+01] [-3.80638488e-01 9.23877181e-01 -3.95638265e-02 -1.28245805e+01] [-1.00066438e-01 1.38121245e-03 9.94979799e-01 -8.57585432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.348241008 meters 0.06393959812005076 Centerline is valid? [True, True] Translation: X:66.26, Y:-12.83, Z:-8.58 [[ 9.19042422e-01 3.83475344e-01 9.11465089e-02 6.62588049e+01] [-3.81463378e-01 9.23550192e-01 -3.92521979e-02 -1.28341696e+01] [-9.92306258e-02 1.30537988e-03 9.95063605e-01 -8.57936167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.378241008 meters 0.06371258280674111 Centerline is valid? [True, True] Translation: X:66.29, Y:-12.84, Z:-8.58 [[ 9.18497799e-01 3.84779110e-01 9.11418068e-02 6.62895772e+01] [-3.82771334e-01 9.23007924e-01 -3.92744032e-02 -1.28439958e+01] [-9.92365798e-02 1.18698201e-03 9.95063160e-01 -8.58220903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.408241008 meters 0.06378304364925906 Centerline is valid? [True, True] Translation: X:66.32, Y:-12.85, Z:-8.59 [[ 9.17383350e-01 3.87700739e-01 8.99773631e-02 6.63204050e+01] [-3.85755457e-01 9.21784874e-01 -3.87991362e-02 -1.28525883e+01] [-9.79822261e-02 8.84422768e-04 9.95187772e-01 -8.58864907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.438241008 meters 0.06375194931231029 Centerline is valid? [True, True] Translation: X:66.35, Y:-12.86, Z:-8.59 [[ 9.16635896e-01 3.89520106e-01 8.97369530e-02 6.63501246e+01] [-3.87592405e-01 9.21017695e-01 -3.87109052e-02 -1.28641407e+01] [-9.77279974e-02 7.02443946e-04 9.95212914e-01 -8.59284973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.468241008 meters 0.06355407698819876 Centerline is valid? [True, True] Translation: X:66.38, Y:-12.88, Z:-8.60 [[ 9.15961290e-01 3.90969430e-01 9.03206503e-02 6.63792212e+01] [-3.89020867e-01 9.20403483e-01 -3.89896551e-02 -1.28755956e+01] [-9.83752044e-02 5.76397182e-04 9.95149228e-01 -8.59669918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49824100800001 meters 0.06322494125697155 Centerline is valid? [True, True] Translation: X:66.41, Y:-12.89, Z:-8.60 [[ 9.15160582e-01 3.92587637e-01 9.14114682e-02 6.64096766e+01] [-3.90597184e-01 9.19714500e-01 -3.94851596e-02 -1.28870837e+01] [-9.95738384e-02 4.30199546e-04 9.95030083e-01 -8.59692316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52824100800001 meters 0.06291326286513495 Centerline is valid? [True, True] Translation: X:66.44, Y:-12.90, Z:-8.60 [[ 9.14485132e-01 3.93550081e-01 9.39961489e-02 6.64399401e+01] [-3.91447233e-01 9.19303107e-01 -4.06307877e-02 -1.28992095e+01] [-1.02401202e-01 3.61718864e-04 9.94743114e-01 -8.59793681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55824100800001 meters 0.06298386976615532 Centerline is valid? [True, True] Translation: X:66.47, Y:-12.91, Z:-8.60 [[ 9.14145565e-01 3.94114020e-01 9.49316891e-02 6.64673711e+01] [-3.91970552e-01 9.19061500e-01 -4.10493145e-02 -1.29123303e+01] [-1.03426171e-01 3.14622193e-04 9.94637084e-01 -8.60338156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58824100800001 meters 0.06255987390817366 Centerline is valid? [True, True] Translation: X:66.50, Y:-12.93, Z:-8.60 [[ 9.13940098e-01 3.94254208e-01 9.63177847e-02 6.64971124e+01] [-3.92045729e-01 9.19001367e-01 -4.16729303e-02 -1.29259489e+01] [-1.04945904e-01 3.25585873e-04 9.94477879e-01 -8.60203542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61824100800001 meters 0.06255043936315696 Centerline is valid? [True, True] Translation: X:66.52, Y:-12.94, Z:-8.61 [[ 9.13847225e-01 3.94215934e-01 9.73501262e-02 6.65248739e+01] [-3.91956089e-01 9.19017772e-01 -4.21516154e-02 -1.29397823e+01] [-1.06083335e-01 3.63162053e-04 9.94357176e-01 -8.60622506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64824100800001 meters 0.06242099535801065 Centerline is valid? [True, True] Translation: X:66.55, Y:-12.95, Z:-8.61 [[ 9.13891988e-01 3.93847927e-01 9.84136388e-02 6.65525930e+01] [-3.91534323e-01 9.19175516e-01 -4.26291551e-02 -1.29543262e+01] [-1.07248812e-01 4.26125813e-04 9.94232121e-01 -8.60972385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67824100800001 meters 0.06260217221054334 Centerline is valid? [True, True] Translation: X:66.58, Y:-12.97, Z:-8.62 [[ 9.13904014e-01 3.93992980e-01 9.77189092e-02 6.65802734e+01] [-3.91710236e-01 9.19113349e-01 -4.23525983e-02 -1.29672809e+01] [-1.06501380e-01 4.28712559e-04 9.94312462e-01 -8.61511561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70824100800002 meters 0.0626362708652428 Centerline is valid? [True, True] Translation: X:66.61, Y:-12.98, Z:-8.62 [[ 9.13848384e-01 3.94387574e-01 9.66414653e-02 6.66091579e+01] [-3.92154793e-01 9.18944112e-01 -4.19086671e-02 -1.29803838e+01] [-1.05336363e-01 3.99753825e-04 9.94436570e-01 -8.62047493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.738241008 meters 0.06276337312247607 Centerline is valid? [True, True] Translation: X:66.64, Y:-12.99, Z:-8.63 [[ 9.14207335e-01 3.93787673e-01 9.56881258e-02 6.66374847e+01] [-3.91592760e-01 9.19201300e-01 -4.15220496e-02 -1.29949890e+01] [-1.04307521e-01 4.88985036e-04 9.94544972e-01 -8.62535804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.768241008 meters 0.06287400445076775 Centerline is valid? [True, True] Translation: X:66.66, Y:-13.01, Z:-8.63 [[ 9.14830971e-01 3.92596374e-01 9.46170262e-02 6.66643584e+01] [-3.90441289e-01 9.19710647e-01 -4.10843733e-02 -1.30102737e+01] [-1.03149862e-01 6.42863399e-04 9.94665619e-01 -8.63017773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.798241008 meters 0.06307174591265555 Centerline is valid? [True, True] Translation: X:66.69, Y:-13.02, Z:-8.64 [[ 9.14963437e-01 3.92898873e-01 9.20455549e-02 6.66928276e+01] [-3.90858846e-01 9.19581481e-01 -3.99907867e-02 -1.30237286e+01] [-1.00355723e-01 6.13288244e-04 9.94951432e-01 -8.63591563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.828241008 meters 0.06313795748144069 Centerline is valid? [True, True] Translation: X:66.72, Y:-13.04, Z:-8.64 [[ 9.14906270e-01 3.93311752e-01 9.08426270e-02 6.67210820e+01] [-3.91324403e-01 9.19404984e-01 -3.94928639e-02 -1.30352573e+01] [-9.90541716e-02 5.83332003e-04 9.95081871e-01 -8.64221603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85824100800001 meters 0.06337451277785248 Centerline is valid? [True, True] Translation: X:66.75, Y:-13.05, Z:-8.65 [[ 9.14731259e-01 3.93833758e-01 9.03421046e-02 6.67493926e+01] [-3.91868399e-01 9.19181523e-01 -3.92999388e-02 -1.30463759e+01] [-9.85184359e-02 5.46666546e-04 9.95135076e-01 -8.64824626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88824100800001 meters 0.06328209817917477 Centerline is valid? [True, True] Translation: X:66.78, Y:-13.06, Z:-8.65 [[ 9.14213746e-01 3.95156290e-01 8.98038613e-02 6.67799940e+01] [-3.93219741e-01 9.18613813e-01 -3.90755358e-02 -1.30576640e+01] [-9.79360113e-02 4.10740886e-04 9.95192629e-01 -8.65197638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91824100800001 meters 0.06341080770722489 Centerline is valid? [True, True] Translation: X:66.81, Y:-13.07, Z:-8.66 [[ 9.14030400e-01 3.95572095e-01 8.98395508e-02 6.68105411e+01] [-3.93633256e-01 9.18434845e-01 -3.91189967e-02 -1.30684187e+01] [-9.79861574e-02 3.92117323e-04 9.95187701e-01 -8.65732545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94824100800001 meters 0.06344857325470721 Centerline is valid? [True, True] Translation: X:66.84, Y:-13.08, Z:-8.66 [[ 9.13923141e-01 3.95761107e-01 9.00979414e-02 6.68404304e+01] [-3.93809211e-01 9.18353411e-01 -3.92596285e-02 -1.30812984e+01] [-9.82791859e-02 3.98883716e-04 9.95158803e-01 -8.66098841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97824100800001 meters 0.06350565790262933 Centerline is valid? [True, True] Translation: X:66.87, Y:-13.09, Z:-8.67 [[ 9.13777348e-01 3.96029547e-01 9.03966652e-02 6.68691168e+01] [-3.94063045e-01 9.18237681e-01 -3.94192513e-02 -1.30936339e+01] [-9.86168125e-02 3.98433822e-04 9.95125402e-01 -8.66516162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00824100800001 meters 0.06331893740465715 Centerline is valid? [True, True] Translation: X:66.90, Y:-13.11, Z:-8.67 [[ 9.13279610e-01 3.97208188e-01 9.02552476e-02 6.68993945e+01] [-3.95251509e-01 9.17728485e-01 -3.93785874e-02 -1.31063981e+01] [-9.84713090e-02 2.90138163e-04 9.95139848e-01 -8.66781271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03824100800001 meters 0.06329781397828708 Centerline is valid? [True, True] Translation: X:66.93, Y:-13.12, Z:-8.67 [[ 9.12961621e-01 3.97947584e-01 9.02152899e-02 6.69291023e+01] [-3.95993501e-01 9.17408123e-01 -3.93888607e-02 -1.31187581e+01] [-9.84389418e-02 2.35849610e-04 9.95143065e-01 -8.67266254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.06824100800002 meters 0.0632328132082052 Centerline is valid? [True, True] Translation: X:66.96, Y:-13.13, Z:-8.68 [[ 9.12822073e-01 3.98091351e-01 9.09897812e-02 6.69579144e+01] [-3.96101317e-01 9.17345744e-01 -3.97559074e-02 -1.31315286e+01] [-9.92955714e-02 2.48897602e-04 9.95057952e-01 -8.67529319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.098241008 meters 0.06297730347421325 Centerline is valid? [True, True] Translation: X:66.99, Y:-13.15, Z:-8.68 [[ 9.12539903e-01 3.98766692e-01 9.08628107e-02 6.69876618e+01] [-3.96783216e-01 9.17052390e-01 -3.97239614e-02 -1.31453366e+01] [-9.91665504e-02 1.96861603e-04 9.95070830e-01 -8.67812774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.128241008 meters 0.06312980479150385 Centerline is valid? [True, True] Translation: X:67.02, Y:-13.16, Z:-8.68 [[ 9.12389116e-01 3.99287972e-01 9.00845007e-02 6.70153883e+01] [-3.97338038e-01 9.16825549e-01 -3.94131377e-02 -1.31591963e+01] [-9.83289636e-02 1.66119062e-04 9.95153952e-01 -8.68390538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.158241008 meters 0.06298511455946372 Centerline is valid? [True, True] Translation: X:67.05, Y:-13.17, Z:-8.69 [[ 9.12136304e-01 3.99792914e-01 9.04045845e-02 6.70462768e+01] [-3.97828993e-01 9.16605481e-01 -3.95788360e-02 -1.31700681e+01] [-9.86886758e-02 1.35728298e-04 9.95118348e-01 -8.68540816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.188241008 meters 0.06304591479570694 Centerline is valid? [True, True] Translation: X:67.08, Y:-13.18, Z:-8.69 [[ 9.11685255e-01 4.00764598e-01 9.06517126e-02 6.70767177e+01] [-3.98793806e-01 9.16181060e-01 -3.96958990e-02 -1.31806470e+01] [-9.89620932e-02 3.88242777e-05 9.95091203e-01 -8.69110499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.218241008 meters 0.06300708498034087 Centerline is valid? [True, True] Translation: X:67.11, Y:-13.19, Z:-8.69 [[ 9.11435310e-01 4.01372786e-01 9.04740935e-02 6.71070139e+01] [-3.99409935e-01 9.15914781e-01 -3.96461495e-02 -1.31922962e+01] [-9.87794451e-02 -1.35121101e-06 9.95109351e-01 -8.69486092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.24824100800001 meters 0.06306029240286161 Centerline is valid? [True, True] Translation: X:67.13, Y:-13.21, Z:-8.70 [[ 9.12019142e-01 4.00283485e-01 8.94103836e-02 6.71339680e+01] [-3.98358325e-01 9.16391352e-01 -3.92113996e-02 -1.32083985e+01] [-9.76305780e-02 1.44176334e-04 9.95222714e-01 -8.69976396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.27824100800001 meters 0.06280022566055327 Centerline is valid? [True, True] Translation: X:67.16, Y:-13.22, Z:-8.70 [[ 9.12594860e-01 3.98981149e-01 8.93569479e-02 6.71625858e+01] [-3.97050772e-01 9.16959081e-01 -3.92011273e-02 -1.32244044e+01] [-9.75771756e-02 2.95502093e-04 9.95227917e-01 -8.70052617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.30824100800001 meters 0.06264761138879647 Centerline is valid? [True, True] Translation: X:67.19, Y:-13.24, Z:-8.70 [[ 9.13211829e-01 3.97271275e-01 9.06625058e-02 6.71910134e+01] [-3.95272240e-01 9.17701078e-01 -3.98068840e-02 -1.32404685e+01] [-9.90152108e-02 5.15745614e-04 9.95085786e-01 -8.70315558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.33824100800001 meters 0.0628509531362711 Centerline is valid? [True, True] Translation: X:67.22, Y:-13.26, Z:-8.71 [[ 9.13706243e-01 3.96001130e-01 9.12359949e-02 6.72180758e+01] [-3.93968886e-01 9.18249778e-01 -4.00732098e-02 -1.32552024e+01] [-9.96464684e-02 6.70998637e-04 9.95022679e-01 -8.70670227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.36824100800001 meters 0.0628509531362711 Centerline is valid? [True, True] Translation: X:67.25, Y:-13.27, Z:-8.71 [[ 9.13603676e-01 3.96238619e-01 9.12320104e-02 6.72473753e+01] [-3.94206650e-01 9.18147335e-01 -4.00822793e-02 -1.32682736e+01] [-9.96465742e-02 6.55052560e-04 9.95022679e-01 -8.71075288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.39824100800001 meters 0.0627294722906243 Centerline is valid? [True, True] Translation: X:67.28, Y:-13.28, Z:-8.71 [[ 9.13622797e-01 3.96130564e-01 9.15093537e-02 6.72759730e+01] [-3.94082730e-01 9.18193930e-01 -4.02331872e-02 -1.32818283e+01] [-9.99609282e-02 6.95701106e-04 9.94991120e-01 -8.71466097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.42824100800001 meters 0.06254770193354679 Centerline is valid? [True, True] Translation: X:67.31, Y:-13.29, Z:-8.72 [[ 9.13786631e-01 3.95673314e-01 9.18510862e-02 6.73060890e+01] [-3.93605172e-01 9.18391001e-01 -4.04096175e-02 -1.32946617e+01] [-1.00344218e-01 7.72705557e-04 9.94952482e-01 -8.71789423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.45824100800002 meters 0.06283095526265271 Centerline is valid? [True, True] Translation: X:67.33, Y:-13.31, Z:-8.72 [[ 9.14013021e-01 3.95190789e-01 9.16757181e-02 6.73337253e+01] [-3.93125163e-01 9.18598669e-01 -4.03619980e-02 -1.33076034e+01] [-1.00163883e-01 8.51360108e-04 9.94970588e-01 -8.72477709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.488241008 meters 0.06263847720752083 Centerline is valid? [True, True] Translation: X:67.36, Y:-13.32, Z:-8.73 [[ 9.14040060e-01 3.95189042e-01 9.14132885e-02 6.73637095e+01] [-3.93132740e-01 9.18599401e-01 -4.02714373e-02 -1.33196257e+01] [-9.98870229e-02 8.72150394e-04 9.94998403e-01 -8.72732966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.518241008 meters 0.06285827373778084 Centerline is valid? [True, True] Translation: X:67.39, Y:-13.33, Z:-8.73 [[ 9.14383544e-01 3.94476678e-01 9.10542910e-02 6.73908300e+01] [-3.92430289e-01 9.18905439e-01 -4.01405277e-02 -1.33348628e+01] [-9.95047853e-02 9.71376239e-04 9.95036609e-01 -8.73171578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.548241008 meters 0.06277112371323192 Centerline is valid? [True, True] Translation: X:67.42, Y:-13.35, Z:-8.74 [[ 9.14204075e-01 3.94859220e-01 9.11981721e-02 6.74206478e+01] [-3.92805655e-01 9.18741141e-01 -4.02297527e-02 -1.33493626e+01] [-9.96726015e-02 9.55046160e-04 9.95019829e-01 -8.73516108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.578241008 meters 0.06249276761049116 Centerline is valid? [True, True] Translation: X:67.45, Y:-13.36, Z:-8.74 [[ 9.13993291e-01 3.95262908e-01 9.15614447e-02 6.74495522e+01] [-3.93191941e-01 9.18567551e-01 -4.04196960e-02 -1.33623478e+01] [-1.00081779e-01 9.42108818e-04 9.94978769e-01 -8.73717523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60824100800001 meters 0.06254873251704716 Centerline is valid? [True, True] Translation: X:67.48, Y:-13.37, Z:-8.74 [[ 9.13637947e-01 3.96221400e-01 9.09631969e-02 6.74788545e+01] [-3.94179733e-01 9.18154601e-01 -4.01804162e-02 -1.33748936e+01] [-9.94386185e-02 8.54504262e-04 9.95043331e-01 -8.74259594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63824100800001 meters 0.06252282275440471 Centerline is valid? [True, True] Translation: X:67.51, Y:-13.39, Z:-8.75 [[ 9.13027879e-01 3.97688952e-01 9.06840084e-02 6.75093714e+01] [-3.95664424e-01 9.17520018e-01 -4.00834165e-02 -1.33861592e+01] [-9.91451250e-02 7.16840847e-04 9.95072726e-01 -8.74723128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66824100800001 meters 0.06290903774375883 Centerline is valid? [True, True] Translation: X:67.54, Y:-13.40, Z:-8.76 [[ 9.12359505e-01 3.99487209e-01 8.94991854e-02 6.75393079e+01] [-3.97521173e-01 9.16738609e-01 -3.95883841e-02 -1.33950354e+01] [-9.78624118e-02 5.41017300e-04 9.95199807e-01 -8.75597688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69824100800001 meters 0.06273084487190918 Centerline is valid? [True, True] Translation: X:67.57, Y:-13.41, Z:-8.76 [[ 9.12171822e-01 3.99897100e-01 8.95816796e-02 6.75693035e+01] [-3.97926929e-01 9.16559894e-01 -3.96499715e-02 -1.34072762e+01] [-9.79628834e-02 5.20624042e-04 9.95189933e-01 -8.75928794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72824100800001 meters 0.06261731798111515 Centerline is valid? [True, True] Translation: X:67.60, Y:-13.42, Z:-8.76 [[ 9.12116945e-01 3.99985987e-01 8.97434584e-02 6.75989457e+01] [-3.98006312e-01 9.16521096e-01 -3.97499089e-02 -1.34207530e+01] [-9.81511795e-02 5.38102535e-04 9.95171370e-01 -8.76269745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75824100800001 meters 0.06268406813446334 Centerline is valid? [True, True] Translation: X:67.63, Y:-13.43, Z:-8.77 [[ 9.11997645e-01 4.00295064e-01 8.95776642e-02 6.76280479e+01] [-3.98321435e-01 9.16386153e-01 -3.97045717e-02 -1.34344883e+01] [-9.79812751e-02 5.29772133e-04 9.95188117e-01 -8.76609609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78824100800001 meters 0.062399081282881595 Centerline is valid? [True, True] Translation: X:67.66, Y:-13.45, Z:-8.77 [[ 9.12016241e-01 4.00155412e-01 9.00112352e-02 6.76568705e+01] [-3.98159027e-01 9.16447116e-01 -3.99258376e-02 -1.34476452e+01] [-9.84670769e-02 5.74226514e-04 9.95140143e-01 -8.76892945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81824100800002 meters 0.062294302141815396 Centerline is valid? [True, True] Translation: X:67.69, Y:-13.46, Z:-8.77 [[ 9.12023455e-01 4.00136040e-01 9.00242586e-02 6.76863359e+01] [-3.98136604e-01 9.16455559e-01 -3.99556365e-02 -1.34610281e+01] [-9.84909224e-02 5.98525059e-04 9.95137769e-01 -8.77151106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.848241008 meters 0.062392071236717944 Centerline is valid? [True, True] Translation: X:67.71, Y:-13.48, Z:-8.78 [[ 9.12881255e-01 3.97859465e-01 9.14093007e-02 6.77138519e+01] [-3.95783419e-01 9.17445945e-01 -4.06007797e-02 -1.34761248e+01] [-1.00016497e-01 8.85405200e-04 9.94985385e-01 -8.77637326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.878241008 meters 0.06244230730481814 Centerline is valid? [True, True] Translation: X:67.74, Y:-13.49, Z:-8.78 [[ 9.13315083e-01 3.96762981e-01 9.18406021e-02 6.77427691e+01] [-3.94659140e-01 9.17920513e-01 -4.08178226e-02 -1.34904803e+01] [-1.00497374e-01 1.03379997e-03 9.94936787e-01 -8.78033616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.908241008 meters 0.0627892713038779 Centerline is valid? [True, True] Translation: X:67.77, Y:-13.51, Z:-8.79 [[ 9.14129655e-01 3.94908680e-01 9.17284513e-02 6.77693553e+01] [-3.92797705e-01 9.18719510e-01 -4.07973608e-02 -1.35053533e+01] [-1.00383950e-01 1.26335218e-03 9.94947972e-01 -8.78549055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.938241008 meters 0.062490305665652786 Centerline is valid? [True, True] Translation: X:67.80, Y:-13.52, Z:-8.79 [[ 9.14710727e-01 3.93392707e-01 9.24470884e-02 6.77992541e+01] [-3.91238524e-01 9.19369373e-01 -4.11384618e-02 -1.35187566e+01] [-1.01176593e-01 1.46092986e-03 9.94867410e-01 -8.78587189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.968241008 meters 0.06310958365916669 Centerline is valid? [True, True] Translation: X:67.83, Y:-13.53, Z:-8.79 [[ 9.15005919e-01 3.92585146e-01 9.29573588e-02 6.78263027e+01] [-3.90399792e-01 9.19714295e-01 -4.13958641e-02 -1.35344427e+01] [-1.01745613e-01 1.58692720e-03 9.94809184e-01 -8.79175726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99824100800001 meters 0.06353961673974245 Centerline is valid? [True, True] Translation: X:67.85, Y:-13.55, Z:-8.80 [[ 9.15821442e-01 3.90492242e-01 9.37384416e-02 6.78537206e+01] [-3.88255931e-01 9.20604335e-01 -4.17730869e-02 -1.35485878e+01] [-1.02608082e-01 1.86218278e-03 9.94720118e-01 -8.79568198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.02824100800001 meters 0.06372455808955856 Centerline is valid? [True, True] Translation: X:67.88, Y:-13.56, Z:-8.80 [[ 9.16155905e-01 3.89758109e-01 9.35252627e-02 6.78821680e+01] [-3.87525886e-01 9.20915182e-01 -4.17002948e-02 -1.35625854e+01] [-1.02381862e-01 1.96051097e-03 9.94743239e-01 -8.79923738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.05824100800001 meters 0.0633044522926015 Centerline is valid? [True, True] Translation: X:67.91, Y:-13.57, Z:-8.80 [[ 9.16382610e-01 3.89470665e-01 9.24960135e-02 6.79126112e+01] [-3.87283661e-01 9.21036717e-01 -4.12641639e-02 -1.35749326e+01] [-1.01263406e-01 1.99156745e-03 9.94857656e-01 -8.80119896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08824100800001 meters 0.06425105357804867 Centerline is valid? [True, True] Translation: X:67.94, Y:-13.59, Z:-8.81 [[ 9.16472114e-01 3.89418686e-01 9.18256548e-02 6.79396944e+01] [-3.87260269e-01 9.21058658e-01 -4.09930658e-02 -1.35904589e+01] [-1.00540280e-01 2.00857389e-03 9.94930961e-01 -8.80895611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11824100800001 meters 0.06368297345122594 Centerline is valid? [True, True] Translation: X:67.97, Y:-13.60, Z:-8.81 [[ 9.16885466e-01 3.88443645e-01 9.18290655e-02 6.79709645e+01] [-3.86277603e-01 9.21469998e-01 -4.10201829e-02 -1.36017010e+01] [-1.00551758e-01 2.13929819e-03 9.94929529e-01 -8.80899545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14824100800001 meters 0.06390843027562734 Centerline is valid? [True, True] Translation: X:68.00, Y:-13.61, Z:-8.82 [[ 9.16999493e-01 3.88341117e-01 9.11213796e-02 6.79996837e+01] [-3.86205052e-01 9.21513163e-01 -4.07326392e-02 -1.36125510e+01] [-9.97877093e-02 2.16027235e-03 9.95006405e-01 -8.81508457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17824100800001 meters 0.06383151589107175 Centerline is valid? [True, True] Translation: X:68.03, Y:-13.62, Z:-8.82 [[ 9.16819069e-01 3.89050147e-01 8.99042661e-02 6.80292255e+01] [-3.86972028e-01 9.21214238e-01 -4.02116639e-02 -1.36241597e+01] [-9.84654438e-02 2.07638413e-03 9.95138304e-01 -8.82022707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20824100800002 meters 0.06396426484506787 Centerline is valid? [True, True] Translation: X:68.06, Y:-13.64, Z:-8.82 [[ 9.17023731e-01 3.88617326e-01 8.96886347e-02 6.80595187e+01] [-3.86544796e-01 9.21396764e-01 -4.01388196e-02 -1.36366456e+01] [-9.82374585e-02 2.13957505e-03 9.95160703e-01 -8.82476543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.238241008 meters 0.06376705930819199 Centerline is valid? [True, True] Translation: X:68.09, Y:-13.65, Z:-8.83 [[ 9.16767195e-01 3.89284025e-01 8.94195568e-02 6.80898607e+01] [-3.87224436e-01 9.21115407e-01 -4.00455191e-02 -1.36494308e+01] [-9.79548123e-02 2.08698071e-03 9.95188675e-01 -8.82815816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.268241008 meters 0.06373026474817291 Centerline is valid? [True, True] Translation: X:68.12, Y:-13.66, Z:-8.83 [[ 9.16156253e-01 3.90850735e-01 8.88449413e-02 6.81181077e+01] [-3.88822055e-01 9.20452042e-01 -3.98176850e-02 -1.36619977e+01] [-9.73402791e-02 1.93434834e-03 9.95249280e-01 -8.83204965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.298241008 meters 0.06306137279074826 Centerline is valid? [True, True] Translation: X:68.15, Y:-13.67, Z:-8.83 [[ 9.15656899e-01 3.92053296e-01 8.86941762e-02 6.81497152e+01] [-3.90035087e-01 9.19940699e-01 -3.97711011e-02 -1.36721128e+01] [-9.71857738e-02 1.82284229e-03 9.95264589e-01 -8.83363159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.328241008 meters 0.06265187183472677 Centerline is valid? [True, True] Translation: X:68.18, Y:-13.68, Z:-8.84 [[ 9.13860385e-01 3.96330077e-01 8.82137558e-02 6.81807299e+01] [-3.94350820e-01 9.18107045e-01 -3.95838866e-02 -1.36799469e+01] [-9.66779555e-02 1.38697892e-03 9.95314749e-01 -8.83885726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35824100800001 meters 0.06295997518755347 Centerline is valid? [True, True] Translation: X:68.21, Y:-13.69, Z:-8.85 [[ 9.13018776e-01 3.98209578e-01 8.84638132e-02 6.82088288e+01] [-3.96225418e-01 9.17293659e-01 -3.97210358e-02 -1.36925759e+01] [-9.69645918e-02 1.21444014e-03 9.95287091e-01 -8.84648055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38824100800001 meters 0.06243317569763553 Centerline is valid? [True, True] Translation: X:68.24, Y:-13.70, Z:-8.85 [[ 9.12122153e-01 4.00155073e-01 8.89331003e-02 6.82390031e+01] [-3.98156513e-01 9.16446858e-01 -3.99568181e-02 -1.37027451e+01] [-9.74913838e-02 1.03620583e-03 9.95235830e-01 -8.84819986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41824100800001 meters 0.062199389296545095 Centerline is valid? [True, True] Translation: X:68.27, Y:-13.71, Z:-8.85 [[ 9.11195832e-01 4.02359025e-01 8.84837342e-02 6.82695343e+01] [-4.00388793e-01 9.15481593e-01 -3.97777279e-02 -1.37140698e+01] [-9.70101578e-02 8.17404346e-04 9.95283056e-01 -8.85209724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44824100800001 meters 0.06187880033806758 Centerline is valid? [True, True] Translation: X:68.30, Y:-13.72, Z:-8.86 [[ 9.09145348e-01 4.06942614e-01 8.86140275e-02 6.83014376e+01] [-4.04985205e-01 9.13453656e-01 -3.98673167e-02 -1.37216003e+01] [-9.71685174e-02 3.57815434e-04 9.95267879e-01 -8.85744387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47824100800001 meters 0.062148120930168284 Centerline is valid? [True, True] Translation: X:68.33, Y:-13.73, Z:-8.86 [[ 9.07955420e-01 4.09366919e-01 8.96419591e-02 6.83302686e+01] [-4.07373669e-01 9.12369833e-01 -4.03482524e-02 -1.37314162e+01] [-9.83038591e-02 1.16640668e-04 9.95156439e-01 -8.86488176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50824100800001 meters 0.062181034386168635 Centerline is valid? [True, True] Translation: X:68.36, Y:-13.74, Z:-8.87 [[ 9.06507526e-01 4.12551827e-01 8.96944520e-02 6.83613143e+01] [-4.10570716e-01 9.10934104e-01 -4.03824895e-02 -1.37415704e+01] [-9.83656051e-02 -2.18884707e-04 9.95150320e-01 -8.86854578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53824100800001 meters 0.06261956816279521 Centerline is valid? [True, True] Translation: X:68.39, Y:-13.75, Z:-8.87 [[ 9.04610567e-01 4.16594147e-01 9.01611801e-02 6.83917411e+01] [-4.14609469e-01 9.09092357e-01 -4.06211162e-02 -1.37509396e+01] [-9.88873590e-02 -6.35388085e-04 9.95098431e-01 -8.87390550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56824100800002 meters 0.0626897939816004 Centerline is valid? [True, True] Translation: X:68.42, Y:-13.76, Z:-8.87 [[ 9.03100871e-01 4.19821514e-01 9.03255992e-02 6.84218053e+01] [-4.17843036e-01 9.07606172e-01 -4.07214240e-02 -1.37617252e+01] [-9.90758011e-02 -9.66369108e-04 9.95079420e-01 -8.87445816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.598241008 meters 0.06368545221388959 Centerline is valid? [True, True] Translation: X:68.45, Y:-13.77, Z:-8.88 [[ 9.00583965e-01 4.25303304e-01 8.98088099e-02 6.84525296e+01] [-4.23371867e-01 9.05049581e-01 -4.05156513e-02 -1.37705068e+01] [-9.85128661e-02 -1.53477770e-03 9.95134594e-01 -8.88004182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.628241008 meters 0.06364372049620806 Centerline is valid? [True, True] Translation: X:68.48, Y:-13.78, Z:-8.88 [[ 9.00527409e-01 4.25409619e-01 8.98723673e-02 6.84816385e+01] [-4.23474745e-01 9.04999611e-01 -4.05566826e-02 -1.37842759e+01] [-9.85876603e-02 -1.53627354e-03 9.95127184e-01 -8.88348584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.658241008 meters 0.06372382668417884 Centerline is valid? [True, True] Translation: X:68.51, Y:-13.80, Z:-8.89 [[ 9.00814206e-01 4.24985045e-01 8.90026897e-02 6.85099121e+01] [-4.23082562e-01 9.05199212e-01 -4.01936823e-02 -1.37967982e+01] [-9.76468785e-02 -1.44844596e-03 9.95220071e-01 -8.88974394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.688241008 meters 0.06348143665019873 Centerline is valid? [True, True] Translation: X:68.54, Y:-13.81, Z:-8.89 [[ 9.01167537e-01 4.24269784e-01 8.88381676e-02 6.85380886e+01] [-4.22368698e-01 9.05534832e-01 -4.01416321e-02 -1.38106259e+01] [-9.74769368e-02 -1.34812545e-03 9.95236871e-01 -8.89407801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.718241008 meters 0.0636390059338342 Centerline is valid? [True, True] Translation: X:68.57, Y:-13.82, Z:-8.90 [[ 9.01651039e-01 4.23434979e-01 8.79103134e-02 6.85651973e+01] [-4.21567151e-01 9.05925673e-01 -3.97468633e-02 -1.38237969e+01] [-9.64704221e-02 -1.22229970e-03 9.95335101e-01 -8.90039838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74824100800001 meters 0.06351211400960066 Centerline is valid? [True, True] Translation: X:68.59, Y:-13.84, Z:-8.90 [[ 9.01976808e-01 4.22849923e-01 8.73829477e-02 6.85940169e+01] [-4.20999779e-01 9.06199016e-01 -3.95288472e-02 -1.38391846e+01] [-9.59011112e-02 -1.13409827e-03 9.95390220e-01 -8.90470434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77824100800001 meters 0.064026213115259 Centerline is valid? [True, True] Translation: X:68.62, Y:-13.85, Z:-8.91 [[ 9.02535046e-01 4.21897116e-01 8.62166736e-02 6.86201260e+01] [-4.20089120e-01 9.06643170e-01 -3.90293962e-02 -1.38542752e+01] [-9.46341479e-02 -9.93288681e-04 9.95511623e-01 -8.91254616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80824100800001 meters 0.06323858301541267 Centerline is valid? [True, True] Translation: X:68.65, Y:-13.87, Z:-8.91 [[ 9.02789436e-01 4.21424354e-01 8.58647108e-02 6.86491691e+01] [-4.19627124e-01 9.06863090e-01 -3.88897488e-02 -1.38711620e+01] [-9.42566242e-02 -9.21907370e-04 9.95547507e-01 -8.91234991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83824100800001 meters 0.06317928978250453 Centerline is valid? [True, True] Translation: X:68.68, Y:-13.89, Z:-8.92 [[ 9.02946405e-01 4.21051637e-01 8.60424810e-02 6.86770873e+01] [-4.19242564e-01 9.07036262e-01 -3.89986100e-02 -1.38863345e+01] [-9.44640789e-02 -8.59015722e-04 9.95527900e-01 -8.91613016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86824100800001 meters 0.06291139615349677 Centerline is valid? [True, True] Translation: X:68.70, Y:-13.90, Z:-8.92 [[ 9.03342528e-01 4.20205166e-01 8.60226421e-02 6.87048140e+01] [-4.18390824e-01 9.07428817e-01 -3.90135896e-02 -1.39017209e+01] [-9.44531362e-02 -7.48449437e-04 9.95529028e-01 -8.91971437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89824100800001 meters 0.06340176340965699 Centerline is valid? [True, True] Translation: X:68.73, Y:-13.92, Z:-8.93 [[ 9.03824059e-01 4.19271429e-01 8.55192345e-02 6.87321509e+01] [-4.17471599e-01 9.07860717e-01 -3.88121417e-02 -1.39154169e+01] [-9.39123756e-02 -6.22504143e-04 9.95580272e-01 -8.92791406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92824100800001 meters 0.06341210926339519 Centerline is valid? [True, True] Translation: X:68.76, Y:-13.93, Z:-8.93 [[ 9.04005449e-01 4.18837865e-01 8.57262556e-02 6.87592328e+01] [-4.17026085e-01 9.08060858e-01 -3.89194385e-02 -1.39294122e+01] [-9.41455917e-02 -5.66700287e-04 9.95558279e-01 -8.93255159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95824100800002 meters 0.06339440401000124 Centerline is valid? [True, True] Translation: X:68.79, Y:-13.95, Z:-8.94 [[ 9.04631190e-01 4.17218458e-01 8.70124635e-02 6.87866436e+01] [-4.15342257e-01 9.08806145e-01 -3.95246657e-02 -1.39453414e+01] [-9.55678816e-02 -3.84707690e-04 9.95422841e-01 -8.93651062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.988241008 meters 0.06296757790732663 Centerline is valid? [True, True] Translation: X:68.81, Y:-13.96, Z:-8.94 [[ 9.04924826e-01 4.16560835e-01 8.71098671e-02 6.88148777e+01] [-4.14675309e-01 9.09107795e-01 -3.95904676e-02 -1.39622372e+01] [-9.56840974e-02 -2.95914084e-04 9.95411707e-01 -8.93760981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.018241008 meters 0.06303578204033462 Centerline is valid? [True, True] Translation: X:68.84, Y:-13.98, Z:-8.94 [[ 9.05247829e-01 4.15817421e-01 8.73054392e-02 6.88416791e+01] [-4.13917135e-01 9.09448094e-01 -3.97085611e-02 -1.39783057e+01] [-9.59112767e-02 -1.91128479e-04 9.95389869e-01 -8.94089988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.048241008 meters 0.06255795200489386 Centerline is valid? [True, True] Translation: X:68.87, Y:-14.00, Z:-8.94 [[ 9.05268907e-01 4.15607926e-01 8.80809792e-02 6.88701950e+01] [-4.13670244e-01 9.09543858e-01 -4.00861506e-02 -1.39952263e+01] [-9.67736356e-02 -1.47734382e-04 9.95306406e-01 -8.93982136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.078241008 meters 0.06269838771321565 Centerline is valid? [True, True] Translation: X:68.90, Y:-14.01, Z:-8.95 [[ 9.05302093e-01 4.15581474e-01 8.78644408e-02 6.88987534e+01] [-4.13652123e-01 9.09555947e-01 -3.99987579e-02 -1.40085030e+01] [-9.65403674e-02 -1.34353249e-04 9.95329061e-01 -8.94561127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10824100800001 meters 0.06275346017711668 Centerline is valid? [True, True] Translation: X:68.93, Y:-14.02, Z:-8.95 [[ 9.05235815e-01 4.15725104e-01 8.78678383e-02 6.89287042e+01] [-4.13793759e-01 9.09490309e-01 -4.00262780e-02 -1.40224476e+01] [-9.65548760e-02 -1.25942668e-04 9.95327655e-01 -8.94924727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13824100800001 meters 0.06285858666075615 Centerline is valid? [True, True] Translation: X:68.96, Y:-14.04, Z:-8.95 [[ 9.05329419e-01 4.15627804e-01 8.73622994e-02 6.89582032e+01] [-4.13715504e-01 9.09534783e-01 -3.98241298e-02 -1.40354433e+01] [-9.60110656e-02 -8.91814386e-05 9.95380263e-01 -8.95472679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16824100800001 meters 0.06327537428292393 Centerline is valid? [True, True] Translation: X:68.99, Y:-14.05, Z:-8.96 [[ 9.05536847e-01 4.15599732e-01 8.53222257e-02 6.89860439e+01] [-4.13773188e-01 9.09547612e-01 -3.89215860e-02 -1.40473307e+01] [-9.37804274e-02 -5.91190715e-05 9.95592903e-01 -8.96340181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19824100800001 meters 0.06325908159931858 Centerline is valid? [True, True] Translation: X:69.02, Y:-14.06, Z:-8.97 [[ 9.05700224e-01 4.15422388e-01 8.44472864e-02 6.90150962e+01] [-4.13630112e-01 9.09628627e-01 -3.85472523e-02 -1.40603380e+01] [-9.28290608e-02 -1.76855350e-05 9.95682060e-01 -8.96811496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22824100800001 meters 0.06345815517758331 Centerline is valid? [True, True] Translation: X:69.04, Y:-14.07, Z:-8.97 [[ 9.06073276e-01 4.14718890e-01 8.39014939e-02 6.90425520e+01] [-4.12945526e-01 9.09949580e-01 -3.83112964e-02 -1.40745584e+01] [-9.22345474e-02 6.60953369e-05 9.95737307e-01 -8.97269665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25824100800001 meters 0.06336029989021381 Centerline is valid? [True, True] Translation: X:69.07, Y:-14.09, Z:-8.98 [[ 9.06688290e-01 4.13261245e-01 8.44481434e-02 6.90707482e+01] [-4.11456296e-01 9.10612480e-01 -3.85827461e-02 -1.40911067e+01] [-9.28442869e-02 2.35803730e-04 9.95680613e-01 -8.97596104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28824100800001 meters 0.06336029989021381 Centerline is valid? [True, True] Translation: X:69.10, Y:-14.10, Z:-8.98 [[ 9.06581028e-01 4.13498454e-01 8.44385416e-02 6.90998574e+01] [-4.11692576e-01 9.10504790e-01 -3.86037460e-02 -1.41046097e+01] [-9.28442859e-02 2.34703021e-04 9.95680613e-01 -8.98002342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31824100800002 meters 0.0633352848449289 Centerline is valid? [True, True] Translation: X:69.13, Y:-14.12, Z:-8.98 [[ 9.08081048e-01 4.09819066e-01 8.62388739e-02 6.91259276e+01] [-4.07915776e-01 9.12166602e-01 -3.94564391e-02 -1.41229897e+01] [-9.48342216e-02 6.51447399e-04 9.95492866e-01 -8.98172537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34824100800002 meters 0.06296180421076472 Centerline is valid? [True, True] Translation: X:69.15, Y:-14.14, Z:-8.98 [[ 9.08498495e-01 4.08523987e-01 8.79695226e-02 6.91547515e+01] [-4.06535104e-01 9.12747213e-01 -4.02707618e-02 -1.41368762e+01] [-9.67455087e-02 8.23227413e-04 9.95308811e-01 -8.98342364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.378241008 meters 0.0631071204148859 Centerline is valid? [True, True] Translation: X:69.18, Y:-14.15, Z:-8.99 [[ 9.08989776e-01 4.07356142e-01 8.83094638e-02 6.91832755e+01] [-4.05344019e-01 9.13268869e-01 -4.04499632e-02 -1.41507786e+01] [-9.71278251e-02 9.72890024e-04 9.95271440e-01 -8.98827470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.408241008 meters 0.06292948418119104 Centerline is valid? [True, True] Translation: X:69.21, Y:-14.16, Z:-8.99 [[ 9.09239801e-01 4.06625912e-01 8.90974341e-02 6.92125705e+01] [-4.04571551e-01 9.13594107e-01 -4.08370902e-02 -1.41641305e+01] [-9.80043098e-02 1.08442062e-03 9.95185399e-01 -8.98997098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.438241008 meters 0.06320470550426428 Centerline is valid? [True, True] Translation: X:69.24, Y:-14.18, Z:-8.99 [[ 9.09205608e-01 4.06609464e-01 8.95204188e-02 6.92399442e+01] [-4.04532921e-01 9.13601391e-01 -4.10562296e-02 -1.41774901e+01] [-9.84798307e-02 1.11459768e-03 9.95138423e-01 -8.99430920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.468241008 meters 0.06325040402024751 Centerline is valid? [True, True] Translation: X:69.27, Y:-14.19, Z:-9.00 [[ 9.09161883e-01 4.06797704e-01 8.91083485e-02 6.92690778e+01] [-4.04739001e-01 9.13517595e-01 -4.08894170e-02 -1.41901667e+01] [-9.80357652e-02 1.10947548e-03 9.95182274e-01 -8.99928699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49824100800001 meters 0.06287091152739106 Centerline is valid? [True, True] Translation: X:69.30, Y:-14.20, Z:-9.00 [[ 9.09172438e-01 4.06904892e-01 8.85092429e-02 6.92995424e+01] [-4.04872251e-01 9.13469855e-01 -4.06360025e-02 -1.42017821e+01] [-9.73855135e-02 1.11019707e-03 9.95246115e-01 -9.00086642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52824100800001 meters 0.06353992996774604 Centerline is valid? [True, True] Translation: X:69.33, Y:-14.22, Z:-9.01 [[ 9.09046824e-01 4.07252943e-01 8.81981431e-02 6.93274387e+01] [-4.05233561e-01 9.13314756e-01 -4.05205901e-02 -1.42154479e+01] [-9.70547951e-02 1.09426608e-03 9.95278438e-01 -9.00968604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55824100800001 meters 0.06359182821225236 Centerline is valid? [True, True] Translation: X:69.36, Y:-14.23, Z:-9.01 [[ 9.09263912e-01 4.06887229e-01 8.76465744e-02 6.93572546e+01] [-4.04888854e-01 9.13477674e-01 -4.02933679e-02 -1.42259691e+01] [-9.64580457e-02 1.15018420e-03 9.95336387e-01 -9.01405854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58824100800001 meters 0.06408287259926956 Centerline is valid? [True, True] Translation: X:69.39, Y:-14.24, Z:-9.02 [[ 9.09210852e-01 4.06975044e-01 8.77891742e-02 6.93854770e+01] [-4.04968313e-01 9.13438536e-01 -4.03820155e-02 -1.42388998e+01] [-9.66244873e-02 1.16393302e-03 9.95320227e-01 -9.02059604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61824100800001 meters 0.06367079659662266 Centerline is valid? [True, True] Translation: X:69.42, Y:-14.25, Z:-9.02 [[ 9.09158831e-01 4.07086627e-01 8.78105846e-02 6.94159128e+01] [-4.05077065e-01 9.13388799e-01 -4.04162509e-02 -1.42513680e+01] [-9.66581196e-02 1.17473756e-03 9.95316948e-01 -9.02195139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64824100800001 meters 0.06304801869631357 Centerline is valid? [True, True] Translation: X:69.45, Y:-14.26, Z:-9.02 [[ 9.08990777e-01 4.07355164e-01 8.83036718e-02 6.94466406e+01] [-4.05321548e-01 9.13269065e-01 -4.06701206e-02 -1.42628218e+01] [-9.72121953e-02 1.17738361e-03 9.95262982e-01 -9.02139184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67824100800001 meters 0.06320631880567242 Centerline is valid? [True, True] Translation: X:69.47, Y:-14.28, Z:-9.02 [[ 9.08599163e-01 4.07989033e-01 8.94008404e-02 6.94747309e+01] [-4.05904513e-01 9.12986103e-01 -4.12056069e-02 -1.42764627e+01] [-9.84331605e-02 1.15117531e-03 9.95142999e-01 -9.02452859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70824100800002 meters 0.06312381878632825 Centerline is valid? [True, True] Translation: X:69.50, Y:-14.29, Z:-9.03 [[ 9.08450307e-01 4.08179490e-01 9.00418963e-02 6.95032093e+01] [-4.06063444e-01 9.12900957e-01 -4.15249691e-02 -1.42904677e+01] [-9.91489740e-02 1.16064839e-03 9.95071924e-01 -9.02554897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.738241008 meters 0.06278985551107465 Centerline is valid? [True, True] Translation: X:69.53, Y:-14.30, Z:-9.03 [[ 9.07875981e-01 4.09168230e-01 9.13376309e-02 6.95330991e+01] [-4.06993111e-01 9.12458311e-01 -4.21478158e-02 -1.43029208e+01] [-1.00587328e-01 1.09120301e-03 9.94927635e-01 -9.02723273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.768241008 meters 0.0627982290275265 Centerline is valid? [True, True] Translation: X:69.56, Y:-14.31, Z:-9.03 [[ 9.07327222e-01 4.10449464e-01 9.10414756e-02 6.95619619e+01] [-4.08292364e-01 9.11882831e-01 -4.20362667e-02 -1.43144290e+01] [-1.00272922e-01 9.69109799e-04 9.94959498e-01 -9.03264667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.798241008 meters 0.06293002325403758 Centerline is valid? [True, True] Translation: X:69.59, Y:-14.32, Z:-9.04 [[ 9.06293809e-01 4.12587217e-01 9.16696233e-02 6.95924949e+01] [-4.10408188e-01 9.10917782e-01 -4.23546308e-02 -1.43234193e+01] [-1.00978469e-01 7.63775686e-04 9.94888318e-01 -9.03978457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.828241008 meters 0.06291652354640731 Centerline is valid? [True, True] Translation: X:69.62, Y:-14.34, Z:-9.04 [[ 9.05511675e-01 4.14261124e-01 9.18494832e-02 6.96220179e+01] [-4.12079522e-01 9.10157876e-01 -4.24630167e-02 -1.43352232e+01] [-1.01188308e-01 6.01466237e-04 9.94867109e-01 -9.04430476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85824100800001 meters 0.06325271718452276 Centerline is valid? [True, True] Translation: X:69.65, Y:-14.35, Z:-9.05 [[ 9.04630249e-01 4.16312960e-01 9.12558579e-02 6.96508274e+01] [-4.14167230e-01 9.09221295e-01 -4.22154187e-02 -1.43472649e+01] [-1.00546595e-01 3.94158874e-04 9.94932272e-01 -9.05100332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88824100800001 meters 0.06306799260909772 Centerline is valid? [True, True] Translation: X:69.68, Y:-14.36, Z:-9.05 [[ 9.03717195e-01 4.18230970e-01 9.15318890e-02 6.96809648e+01] [-4.16080327e-01 9.08340694e-01 -4.23597014e-02 -1.43587850e+01] [-1.00858279e-01 1.96572255e-04 9.94900784e-01 -9.05426173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91824100800001 meters 0.06317430737611941 Centerline is valid? [True, True] Translation: X:69.71, Y:-14.37, Z:-9.06 [[ 9.01947241e-01 4.21971846e-01 9.18201265e-02 6.97105852e+01] [-4.19824378e-01 9.06608913e-01 -4.25178780e-02 -1.43695190e+01] [-1.01186293e-01 -1.99444742e-04 9.94867476e-01 -9.05790589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94824100800001 meters 0.06324097551945293 Centerline is valid? [True, True] Translation: X:69.74, Y:-14.38, Z:-9.06 [[ 9.01376916e-01 4.23228075e-01 9.16387061e-02 6.97392993e+01] [-4.21093095e-01 9.06023121e-01 -4.24583279e-02 -1.43832929e+01] [-1.00996343e-01 -3.17469691e-04 9.94886746e-01 -9.06142645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97824100800001 meters 0.06313125331186775 Centerline is valid? [True, True] Translation: X:69.77, Y:-14.40, Z:-9.06 [[ 9.00801394e-01 4.24380430e-01 9.19679289e-02 6.97686619e+01] [-4.22233352e-01 9.05483888e-01 -4.26371379e-02 -1.43973255e+01] [-1.01369845e-01 -4.24333749e-04 9.94848719e-01 -9.06375594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00824100800001 meters 0.06322646667566066 Centerline is valid? [True, True] Translation: X:69.80, Y:-14.41, Z:-9.07 [[ 9.00375027e-01 4.25167151e-01 9.25078620e-02 6.97971465e+01] [-4.22995771e-01 9.05114719e-01 -4.29176235e-02 -1.44103109e+01] [-1.01977391e-01 -4.88478048e-04 9.94786597e-01 -9.06928243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03824100800001 meters 0.06339958222816419 Centerline is valid? [True, True] Translation: X:69.83, Y:-14.42, Z:-9.07 [[ 9.00294300e-01 4.25501843e-01 9.17515890e-02 6.98257519e+01] [-4.23364936e-01 9.04957421e-01 -4.25933941e-02 -1.44236492e+01] [-1.01154849e-01 -4.97815669e-04 9.94870569e-01 -9.07409391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06824100800002 meters 0.06336044320540754 Centerline is valid? [True, True] Translation: X:69.85, Y:-14.44, Z:-9.08 [[ 9.00258523e-01 4.25567414e-01 9.17985180e-02 6.98544811e+01] [-4.23426206e-01 9.04926595e-01 -4.26392597e-02 -1.44391684e+01] [-1.01216800e-01 -4.83541232e-04 9.94864275e-01 -9.07794837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09824100800002 meters 0.06332745998075338 Centerline is valid? [True, True] Translation: X:69.88, Y:-14.46, Z:-9.08 [[ 9.01537954e-01 4.22690718e-01 9.25303979e-02 6.98800391e+01] [-4.20496914e-01 9.06273986e-01 -4.30093759e-02 -1.44588526e+01] [-1.02037557e-01 -1.34162066e-04 9.94780538e-01 -9.08206549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.128241008 meters 0.06345829514419368 Centerline is valid? [True, True] Translation: X:69.91, Y:-14.48, Z:-9.09 [[ 9.02132801e-01 4.21468686e-01 9.23068613e-02 6.99080380e+01] [-4.19276576e-01 9.06842956e-01 -4.29302528e-02 -1.44755137e+01] [-1.01801584e-01 2.66844658e-05 9.94804723e-01 -9.08681355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.158241008 meters 0.06340058674174948 Centerline is valid? [True, True] Translation: X:69.93, Y:-14.49, Z:-9.09 [[ 9.02993615e-01 4.19510375e-01 9.28093572e-02 6.99344106e+01] [-4.17280853e-01 9.07750499e-01 -4.31939930e-02 -1.44921991e+01] [-1.02368069e-01 2.76332103e-04 9.94746552e-01 -9.09211508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.188241008 meters 0.06371531596024568 Centerline is valid? [True, True] Translation: X:69.96, Y:-14.51, Z:-9.10 [[ 9.03686882e-01 4.18118723e-01 9.23404186e-02 6.99605751e+01] [-4.15902123e-01 9.08392277e-01 -4.29987912e-02 -1.45078081e+01] [-1.01859923e-01 4.52867460e-04 9.94798649e-01 -9.09682328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.218241008 meters 0.06352687767363428 Centerline is valid? [True, True] Translation: X:69.99, Y:-14.52, Z:-9.10 [[ 9.04715538e-01 4.16064799e-01 9.15416726e-02 6.99894144e+01] [-4.13873927e-01 9.09334700e-01 -4.26470992e-02 -1.45247015e+01] [-1.00985976e-01 6.96781778e-04 9.94887605e-01 -9.09523575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24824100800001 meters 0.06436296239153363 Centerline is valid? [True, True] Translation: X:70.02, Y:-14.54, Z:-9.11 [[ 9.05381458e-01 4.14821805e-01 9.05940674e-02 7.00155234e+01] [-4.12667105e-01 9.09902271e-01 -4.22340875e-02 -1.45400644e+01] [-9.99513681e-02 8.52768197e-04 9.94991958e-01 -9.10647186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27824100800001 meters 0.06472141099078005 Centerline is valid? [True, True] Translation: X:70.04, Y:-14.55, Z:-9.11 [[ 9.06100754e-01 4.13423713e-01 8.97900772e-02 7.00430017e+01] [-4.11297443e-01 9.10538184e-01 -4.18883007e-02 -1.45536416e+01] [-9.90749106e-02 1.02459172e-03 9.95079450e-01 -9.11241968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30824100800001 meters 0.06453566022822652 Centerline is valid? [True, True] Translation: X:70.07, Y:-14.57, Z:-9.11 [[ 9.07034386e-01 4.11339849e-01 8.99341499e-02 7.00724370e+01] [-4.09195590e-01 9.11481176e-01 -4.19646930e-02 -1.45668986e+01] [-9.92350352e-02 1.26276205e-03 9.95063221e-01 -9.11419804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33824100800001 meters 0.06548097005951459 Centerline is valid? [True, True] Translation: X:70.10, Y:-14.58, Z:-9.12 [[ 9.08472957e-01 4.08247885e-01 8.95016786e-02 7.00989017e+01] [-4.06106615e-01 9.12869678e-01 -4.17895772e-02 -1.45848963e+01] [-9.87638750e-02 1.61747703e-03 9.95109582e-01 -9.11976515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36824100800001 meters 0.06518066279715176 Centerline is valid? [True, True] Translation: X:70.13, Y:-14.60, Z:-9.12 [[ 9.09250222e-01 4.06555046e-01 8.93142152e-02 7.01291772e+01] [-4.04412225e-01 9.13624476e-01 -4.17261192e-02 -1.45980424e+01] [-9.85636174e-02 1.81972264e-03 9.95129088e-01 -9.11863163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39824100800001 meters 0.0654834818063628 Centerline is valid? [True, True] Translation: X:70.16, Y:-14.61, Z:-9.12 [[ 9.10052521e-01 4.04746986e-01 8.93548362e-02 7.01578104e+01] [-4.02590816e-01 9.14426437e-01 -4.17723069e-02 -1.46124239e+01] [-9.86156398e-02 2.04155674e-03 9.95123504e-01 -9.12241562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42824100800001 meters 0.06604274266948332 Centerline is valid? [True, True] Translation: X:70.19, Y:-14.63, Z:-9.13 [[ 9.10511154e-01 4.03846239e-01 8.87561527e-02 7.01858830e+01] [-4.01711976e-01 9.14824351e-01 -4.15198120e-02 -1.46251668e+01] [-9.79639097e-02 2.14984242e-03 9.95187646e-01 -9.12735545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45824100800002 meters 0.06550128845927136 Centerline is valid? [True, True] Translation: X:70.22, Y:-14.64, Z:-9.13 [[ 9.10108471e-01 4.04758949e-01 8.87285951e-02 7.02165880e+01] [-4.02627936e-01 9.14421070e-01 -4.15313233e-02 -1.46357961e+01] [-9.79454717e-02 2.07339801e-03 9.95189623e-01 -9.12825829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.488241008 meters 0.06609813580784288 Centerline is valid? [True, True] Translation: X:70.24, Y:-14.65, Z:-9.14 [[ 9.09551445e-01 4.05682986e-01 9.02079977e-02 7.02445102e+01] [-4.03481739e-01 9.14011585e-01 -4.22529041e-02 -1.46489524e+01] [-9.95924393e-02 2.03391014e-03 9.95026235e-01 -9.13544112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.518241008 meters 0.0656544888743684 Centerline is valid? [True, True] Translation: X:70.28, Y:-14.66, Z:-9.14 [[ 9.08440115e-01 4.08165881e-01 9.02062695e-02 7.02757171e+01] [-4.05974216e-01 9.12906031e-01 -4.22789988e-02 -1.46584305e+01] [-9.96066923e-02 1.78651894e-03 9.95025284e-01 -9.13991951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.548241008 meters 0.06452153836722782 Centerline is valid? [True, True] Translation: X:70.31, Y:-14.66, Z:-9.14 [[ 9.06023642e-01 4.13283200e-01 9.12039288e-02 7.03100067e+01] [-4.11066529e-01 9.10601680e-01 -4.27655117e-02 -1.46624579e+01] [-1.00724718e-01 1.25568223e-03 9.94913541e-01 -9.14096737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.578241008 meters 0.06425805341277398 Centerline is valid? [True, True] Translation: X:70.34, Y:-14.67, Z:-9.14 [[ 9.04595100e-01 4.16362565e-01 9.13778973e-02 7.03394151e+01] [-4.14151654e-01 9.09198193e-01 -4.28608564e-02 -1.46730899e+01] [-1.00926275e-01 9.27413395e-04 9.94893475e-01 -9.14403962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60824100800001 meters 0.06406822255151999 Centerline is valid? [True, True] Translation: X:70.37, Y:-14.68, Z:-9.15 [[ 9.02952158e-01 4.19885621e-01 9.15066415e-02 7.03690893e+01] [-4.17684057e-01 9.07576859e-01 -4.29450000e-02 -1.46828182e+01] [-1.01081298e-01 5.56415172e-04 9.94878013e-01 -9.14823509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63824100800001 meters 0.06406134263248904 Centerline is valid? [True, True] Translation: X:70.40, Y:-14.69, Z:-9.15 [[ 9.01040579e-01 4.24027774e-01 9.12486855e-02 7.03994777e+01] [-4.21857177e-01 9.05649178e-01 -4.28495996e-02 -1.46914558e+01] [-1.00808717e-01 1.15315176e-04 9.94905819e-01 -9.15306478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66824100800001 meters 0.06435734162084994 Centerline is valid? [True, True] Translation: X:70.43, Y:-14.70, Z:-9.16 [[ 8.99022175e-01 4.28319280e-01 9.11137910e-02 7.04313597e+01] [-4.26174572e-01 9.03627400e-01 -4.28107127e-02 -1.47002893e+01] [-1.00669572e-01 -3.42600793e-04 9.94919856e-01 -9.15863220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69824100800001 meters 0.06509807949321447 Centerline is valid? [True, True] Translation: X:70.46, Y:-14.71, Z:-9.17 [[ 8.97151701e-01 4.32347290e-01 9.05242812e-02 7.04613686e+01] [-4.30247708e-01 9.01706848e-01 -4.25637086e-02 -1.47078336e+01] [-1.00028668e-01 -7.61760978e-04 9.94984264e-01 -9.16559733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72824100800001 meters 0.06613808563893096 Centerline is valid? [True, True] Translation: X:70.49, Y:-14.71, Z:-9.17 [[ 8.94071712e-01 4.38750346e-01 9.01881776e-02 7.04938901e+01] [-4.36696522e-01 8.98607827e-01 -4.24278181e-02 -1.47135948e+01] [-9.96590222e-02 -1.45135157e-03 9.95020589e-01 -9.17078016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75824100800001 meters 0.066786180190544 Centerline is valid? [True, True] Translation: X:70.52, Y:-14.72, Z:-9.18 [[ 8.92823508e-01 4.41311001e-01 9.00598912e-02 7.05233608e+01] [-4.39272972e-01 8.97352599e-01 -4.23977519e-02 -1.47243646e+01] [-9.95260717e-02 -1.70716648e-03 9.95033490e-01 -9.17541855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78824100800001 meters 0.06738405237488895 Centerline is valid? [True, True] Translation: X:70.55, Y:-14.74, Z:-9.18 [[ 8.92129023e-01 4.42968024e-01 8.87982937e-02 7.05520044e+01] [-4.40993895e-01 8.96535492e-01 -4.18150245e-02 -1.47359578e+01] [-9.81335407e-02 -1.85510845e-03 9.95171526e-01 -9.18093383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81824100800002 meters 0.0677919309079508 Centerline is valid? [True, True] Translation: X:70.58, Y:-14.75, Z:-9.19 [[ 8.91582179e-01 4.44190740e-01 8.81805256e-02 7.05791558e+01] [-4.42247818e-01 8.95930110e-01 -4.15464314e-02 -1.47494282e+01] [-9.74581281e-02 -1.95558713e-03 9.95237705e-01 -9.18569583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84824100800002 meters 0.06751627627199709 Centerline is valid? [True, True] Translation: X:70.61, Y:-14.77, Z:-9.19 [[ 8.91916107e-01 4.43525525e-01 8.81519507e-02 7.06067765e+01] [-4.41578466e-01 8.96259806e-01 -4.15550026e-02 -1.47656171e+01] [-9.74377546e-02 -1.86242707e-03 9.95239878e-01 -9.18902732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.878241008 meters 0.06715132152392986 Centerline is valid? [True, True] Translation: X:70.63, Y:-14.78, Z:-9.19 [[ 8.92652697e-01 4.42065065e-01 8.80320482e-02 7.06340782e+01] [-4.40113884e-01 8.96981415e-01 -4.15223994e-02 -1.47824666e+01] [-9.73187134e-02 -1.67904489e-03 9.95251852e-01 -9.19319308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.908241008 meters 0.06655387148612632 Centerline is valid? [True, True] Translation: X:70.66, Y:-14.80, Z:-9.20 [[ 8.93472720e-01 4.40160405e-01 8.92486241e-02 7.06607748e+01] [-4.38142872e-01 8.97917957e-01 -4.21208584e-02 -1.47997588e+01] [-9.86778763e-02 -1.46981059e-03 9.95118343e-01 -9.19694219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.938241008 meters 0.0651250493053876 Centerline is valid? [True, True] Translation: X:70.68, Y:-14.83, Z:-9.20 [[ 8.95770666e-01 4.35264555e-01 9.02201782e-02 7.06849147e+01] [-4.33175502e-01 9.00302129e-01 -4.26035260e-02 -1.48251411e+01] [-9.97692234e-02 -9.18182119e-04 9.95010180e-01 -9.19697974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.968241008 meters 0.06473253036090819 Centerline is valid? [True, True] Translation: X:70.71, Y:-14.84, Z:-9.20 [[ 8.96740850e-01 4.33210335e-01 9.04690781e-02 7.07117376e+01] [-4.31096632e-01 9.01292605e-01 -4.27473285e-02 -1.48444893e+01] [-1.00057696e-01 -6.67639161e-04 9.94981413e-01 -9.20052165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99824100800001 meters 0.0644078002906751 Centerline is valid? [True, True] Translation: X:70.74, Y:-14.86, Z:-9.20 [[ 8.97728189e-01 4.31100161e-01 9.07565385e-02 7.07386179e+01] [-4.28959406e-01 9.02303987e-01 -4.29108836e-02 -1.48627395e+01] [-1.00388875e-01 -4.08560973e-04 9.94948193e-01 -9.20396151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.02824100800001 meters 0.06420100758618617 Centerline is valid? [True, True] Translation: X:70.76, Y:-14.88, Z:-9.21 [[ 8.99360358e-01 4.27335716e-01 9.23857855e-02 7.07634582e+01] [-4.25094346e-01 9.04093018e-01 -4.37105548e-02 -1.48829212e+01] [-1.02204425e-01 3.88651223e-05 9.94763416e-01 -9.20964321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.05824100800001 meters 0.06417447927456954 Centerline is valid? [True, True] Translation: X:70.79, Y:-14.90, Z:-9.21 [[ 9.00124115e-01 4.25710874e-01 9.24490644e-02 7.07902856e+01] [-4.23455243e-01 9.04859211e-01 -4.37660361e-02 -1.48999806e+01] [-1.02285065e-01 2.46823464e-04 9.94755098e-01 -9.21361554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.08824100800001 meters 0.06392102772722273 Centerline is valid? [True, True] Translation: X:70.82, Y:-14.92, Z:-9.21 [[ 9.01302176e-01 4.23291628e-01 9.20792383e-02 7.08185871e+01] [-4.21038903e-01 9.05993325e-01 -4.36157970e-02 -1.49176832e+01] [-1.01885377e-01 5.42071247e-04 9.94795997e-01 -9.21444026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11824100800001 meters 0.06400525653981257 Centerline is valid? [True, True] Translation: X:70.85, Y:-14.93, Z:-9.22 [[ 9.02018046e-01 4.21788880e-01 9.19651314e-02 7.08459979e+01] [-4.19531058e-01 9.06693773e-01 -4.35900679e-02 -1.49336464e+01] [-1.01770018e-01 7.36798982e-04 9.94807680e-01 -9.21965287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14824100800001 meters 0.06403598050982397 Centerline is valid? [True, True] Translation: X:70.87, Y:-14.95, Z:-9.22 [[ 9.03799543e-01 4.18082480e-01 9.13970833e-02 7.08740727e+01] [-4.15830758e-01 9.08408314e-01 -4.33487765e-02 -1.49493899e+01] [-1.01149234e-01 1.17288603e-03 9.94870573e-01 -9.22217643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17824100800001 meters 0.06403598050982397 Centerline is valid? [True, True] Translation: X:70.90, Y:-14.96, Z:-9.23 [[ 9.03690328e-01 4.18319707e-01 9.13915398e-02 7.09029831e+01] [-4.16068014e-01 9.08299113e-01 -4.33604608e-02 -1.49632955e+01] [-1.01149390e-01 1.15933259e-03 9.94870573e-01 -9.22622883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20824100800002 meters 0.06464112403416059 Centerline is valid? [True, True] Translation: X:70.93, Y:-14.98, Z:-9.23 [[ 9.04488606e-01 4.16707862e-01 9.08565867e-02 7.09293386e+01] [-4.14471391e-01 9.09039444e-01 -4.31364641e-02 -1.49794209e+01] [-1.00567525e-01 1.35898436e-03 9.94929307e-01 -9.23442660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.238241008 meters 0.06467688644799524 Centerline is valid? [True, True] Translation: X:70.96, Y:-14.99, Z:-9.24 [[ 9.05460571e-01 4.14912339e-01 8.93806741e-02 7.09583249e+01] [-4.12736951e-01 9.09860061e-01 -4.24603111e-02 -1.49939544e+01] [-9.89412126e-02 1.55543060e-03 9.95092065e-01 -9.23709127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.268241008 meters 0.06508728642217847 Centerline is valid? [True, True] Translation: X:70.99, Y:-15.01, Z:-9.24 [[ 9.06416992e-01 4.13054818e-01 8.82833747e-02 7.09863481e+01] [-4.10921167e-01 9.10704460e-01 -4.19664222e-02 -1.50097363e+01] [-9.77344960e-02 1.76157078e-03 9.95210965e-01 -9.24234440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.298241008 meters 0.06535714781292151 Centerline is valid? [True, True] Translation: X:71.01, Y:-15.03, Z:-9.24 [[ 9.08192096e-01 4.09114501e-01 8.83880156e-02 7.10140464e+01] [-4.06954402e-01 9.12480368e-01 -4.20439328e-02 -1.50274787e+01] [-9.78531117e-02 2.21407545e-03 9.95198406e-01 -9.24369693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.328241008 meters 0.06645492013180196 Centerline is valid? [True, True] Translation: X:71.04, Y:-15.05, Z:-9.25 [[ 9.08914506e-01 4.07510889e-01 8.83702225e-02 7.10391600e+01] [-4.05341440e-01 9.13197165e-01 -4.20625146e-02 -1.50463996e+01] [-9.78403693e-02 2.41111641e-03 9.95199200e-01 -9.24980533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35824100800001 meters 0.0662738057565456 Centerline is valid? [True, True] Translation: X:71.07, Y:-15.06, Z:-9.25 [[ 9.09801066e-01 4.05310725e-01 8.93601509e-02 7.10685984e+01] [-4.03079138e-01 9.14174994e-01 -4.25592407e-02 -1.50601269e+01] [-9.89405321e-02 2.70122992e-03 9.95089682e-01 -9.25091046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38824100800001 meters 0.06623597754954738 Centerline is valid? [True, True] Translation: X:71.10, Y:-15.07, Z:-9.25 [[ 9.10263025e-01 4.04372599e-01 8.89045880e-02 7.10977442e+01] [-4.02156679e-01 9.14590010e-01 -4.23688397e-02 -1.50737622e+01] [-9.84440459e-02 2.81321427e-03 9.95138611e-01 -9.25366101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41824100800001 meters 0.06664231350150883 Centerline is valid? [True, True] Translation: X:71.13, Y:-15.09, Z:-9.26 [[ 9.10986402e-01 4.02627882e-01 8.94123295e-02 7.11272712e+01] [-4.00375422e-01 9.15358685e-01 -4.26380100e-02 -1.50876813e+01] [-9.90116040e-02 3.04414816e-03 9.95081623e-01 -9.25748685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44824100800001 meters 0.0670978028375531 Centerline is valid? [True, True] Translation: X:71.16, Y:-15.10, Z:-9.26 [[ 9.10943932e-01 4.02888068e-01 8.86699416e-02 7.11556206e+01] [-4.00671260e-01 9.15244283e-01 -4.23136331e-02 -1.51011026e+01] [-9.82023150e-02 3.01785007e-03 9.95161895e-01 -9.26341203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47824100800001 meters 0.06707837635818564 Centerline is valid? [True, True] Translation: X:71.18, Y:-15.11, Z:-9.27 [[ 9.10978293e-01 4.02887914e-01 8.83169141e-02 7.11845643e+01] [-4.00687395e-01 9.15244348e-01 -4.21591585e-02 -1.51125743e+01] [-9.78169719e-02 3.01860394e-03 9.95199843e-01 -9.26720931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50824100800001 meters 0.06716426699700982 Centerline is valid? [True, True] Translation: X:71.21, Y:-15.12, Z:-9.27 [[ 9.10477747e-01 4.04279686e-01 8.71103142e-02 7.12135090e+01] [-4.02143820e-01 9.14630988e-01 -4.15993237e-02 -1.51241537e+01] [-9.64915543e-02 2.84438405e-03 9.95329739e-01 -9.27183370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53824100800001 meters 0.06652429827411208 Centerline is valid? [True, True] Translation: X:71.24, Y:-15.14, Z:-9.27 [[ 9.09610646e-01 4.06181533e-01 8.73214487e-02 7.12441233e+01] [-4.04042213e-01 9.13788517e-01 -4.17185285e-02 -1.51359781e+01] [-9.67386330e-02 2.66606632e-03 9.95306249e-01 -9.27371272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56824100800002 meters 0.06609710155177706 Centerline is valid? [True, True] Translation: X:71.27, Y:-15.15, Z:-9.28 [[ 9.08866763e-01 4.07824112e-01 8.74111082e-02 7.12730335e+01] [-4.05687300e-01 9.13057087e-01 -4.17680559e-02 -1.51474181e+01] [-9.68453521e-02 2.50002124e-03 9.95296301e-01 -9.27705122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59824100800002 meters 0.06505790145037316 Centerline is valid? [True, True] Translation: X:71.30, Y:-15.16, Z:-9.28 [[ 9.07882956e-01 4.09923023e-01 8.78160177e-02 7.13047618e+01] [-4.07773970e-01 9.12117204e-01 -4.19832806e-02 -1.51561106e+01] [-9.73084138e-02 2.30681875e-03 9.95251602e-01 -9.27847846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.628241008 meters 0.06568759147179355 Centerline is valid? [True, True] Translation: X:71.33, Y:-15.17, Z:-9.29 [[ 9.06831627e-01 4.12273811e-01 8.76738528e-02 7.13321023e+01] [-4.10140582e-01 9.11057636e-01 -4.19367042e-02 -1.51690208e+01] [-9.71653379e-02 2.07092479e-03 9.95266099e-01 -9.28636784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.658241008 meters 0.06453561020260157 Centerline is valid? [True, True] Translation: X:71.36, Y:-15.17, Z:-9.29 [[ 9.04056211e-01 4.18113371e-01 8.86768101e-02 7.13649111e+01] [-4.15956051e-01 9.08393636e-01 -4.24448564e-02 -1.51743632e+01] [-9.83002120e-02 1.48688030e-03 9.95155695e-01 -9.29061662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.688241008 meters 0.06405231614241853 Centerline is valid? [True, True] Translation: X:71.40, Y:-15.18, Z:-9.29 [[ 9.02415902e-01 4.21634147e-01 8.87140665e-02 7.13964086e+01] [-4.19491040e-01 9.06765355e-01 -4.24718615e-02 -1.51832420e+01] [-9.83504291e-02 1.11252729e-03 9.95151222e-01 -9.29359441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.718241008 meters 0.06397600522495299 Centerline is valid? [True, True] Translation: X:71.43, Y:-15.19, Z:-9.30 [[ 9.00546408e-01 4.25512450e-01 8.91926086e-02 7.14258425e+01] [-4.23362587e-01 9.04952288e-01 -4.27256044e-02 -1.51925928e+01] [-9.88953318e-02 7.15576139e-04 9.95097584e-01 -9.29968688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74824100800001 meters 0.06351296365656148 Centerline is valid? [True, True] Translation: X:71.46, Y:-15.20, Z:-9.30 [[ 8.98462897e-01 4.29809485e-01 8.96003884e-02 7.14573137e+01] [-4.27658933e-01 9.02919563e-01 -4.29429813e-02 -1.52012977e+01] [-9.93592442e-02 2.64268842e-04 9.95051592e-01 -9.30089876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77824100800001 meters 0.06334741307486531 Centerline is valid? [True, True] Translation: X:71.49, Y:-15.21, Z:-9.30 [[ 8.95355421e-01 4.35935327e-01 9.10991780e-02 7.14888052e+01] [-4.33741054e-01 8.99977906e-01 -4.36860019e-02 -1.52098525e+01] [-1.01031519e-01 -3.98954779e-04 9.94883145e-01 -9.30086423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80824100800001 meters 0.06340410505873567 Centerline is valid? [True, True] Translation: X:71.52, Y:-15.22, Z:-9.30 [[ 8.94548808e-01 4.37394382e-01 9.20249119e-02 7.15173422e+01] [-4.35160190e-01 8.99269624e-01 -4.41560056e-02 -1.52222213e+01] [-1.02068797e-01 -5.45875887e-04 9.94777193e-01 -9.30479210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83824100800001 meters 0.06339451864608857 Centerline is valid? [True, True] Translation: X:71.55, Y:-15.24, Z:-9.31 [[ 8.93971299e-01 4.38406906e-01 9.28154214e-02 7.15467874e+01] [-4.36136700e-01 8.98776375e-01 -4.45623916e-02 -1.52357138e+01] [-1.02956768e-01 -6.42712546e-04 9.94685624e-01 -9.30755986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86824100800001 meters 0.06353358509628448 Centerline is valid? [True, True] Translation: X:71.57, Y:-15.25, Z:-9.31 [[ 8.93675980e-01 4.38930993e-01 9.31816880e-02 7.15747565e+01] [-4.36642944e-01 8.98520516e-01 -4.47640715e-02 -1.52487893e+01] [-1.03373997e-01 -6.82551140e-04 9.94642323e-01 -9.31366743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89824100800001 meters 0.06354528118820951 Centerline is valid? [True, True] Translation: X:71.60, Y:-15.26, Z:-9.32 [[ 8.93974510e-01 4.38426632e-01 9.26912317e-02 7.16031535e+01] [-4.36157148e-01 8.98766784e-01 -4.45556896e-02 -1.52643932e+01] [-1.02842201e-01 -5.96292499e-04 9.94697505e-01 -9.31773848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92824100800001 meters 0.06356422418135439 Centerline is valid? [True, True] Translation: X:71.63, Y:-15.28, Z:-9.32 [[ 8.94024228e-01 4.38465498e-01 9.20254661e-02 7.16297437e+01] [-4.36225721e-01 8.98747842e-01 -4.42655302e-02 -1.52793668e+01] [-1.02116597e-01 -5.69418821e-04 9.94772274e-01 -9.32238379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95824100800002 meters 0.06366735195786916 Centerline is valid? [True, True] Translation: X:71.66, Y:-15.29, Z:-9.33 [[ 8.94160670e-01 4.38385401e-01 9.10765440e-02 7.16573321e+01] [-4.36189004e-01 8.98786935e-01 -4.38314724e-02 -1.52948401e+01] [-1.01073485e-01 -5.34208311e-04 9.94878819e-01 -9.32684261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.988241008 meters 0.06341418978298383 Centerline is valid? [True, True] Translation: X:71.68, Y:-15.31, Z:-9.33 [[ 8.94703819e-01 4.37346700e-01 9.07355488e-02 7.16849460e+01] [-4.35159062e-01 8.99292894e-01 -4.36907558e-02 -1.53131005e+01] [-1.00705842e-01 -3.94110191e-04 9.94916166e-01 -9.33181135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.018241008 meters 0.06344047392868514 Centerline is valid? [True, True] Translation: X:71.71, Y:-15.33, Z:-9.34 [[ 8.94991461e-01 4.36745020e-01 9.07968750e-02 7.17123541e+01] [-4.34548185e-01 8.99585293e-01 -4.37512990e-02 -1.53288987e+01] [-1.00787695e-01 -2.98578230e-04 9.94907911e-01 -9.33750675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.048241008 meters 0.0631065270160507 Centerline is valid? [True, True] Translation: X:71.74, Y:-15.35, Z:-9.34 [[ 8.95436749e-01 4.35738350e-01 9.12420952e-02 7.17406317e+01] [-4.33513093e-01 9.00073364e-01 -4.39810984e-02 -1.53463181e+01] [-1.01288831e-01 -1.72351111e-04 9.94857047e-01 -9.33882463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.078241008 meters 0.06297702275748128 Centerline is valid? [True, True] Translation: X:71.77, Y:-15.36, Z:-9.34 [[ 8.95478107e-01 4.35417679e-01 9.23601906e-02 7.17673869e+01] [-4.33132624e-01 9.00228545e-01 -4.45499462e-02 -1.53622115e+01] [-1.02543114e-01 -1.10710136e-04 9.94728555e-01 -9.34331505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10824100800001 meters 0.06267924188294255 Centerline is valid? [True, True] Translation: X:71.80, Y:-15.38, Z:-9.34 [[ 8.95386813e-01 4.35492481e-01 9.28910933e-02 7.17959189e+01] [-4.33178622e-01 9.00192363e-01 -4.48329225e-02 -1.53767152e+01] [-1.03144253e-01 -9.56282699e-05 9.94666403e-01 -9.34347252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13824100800001 meters 0.06270089918527323 Centerline is valid? [True, True] Translation: X:71.83, Y:-15.39, Z:-9.35 [[ 8.95152065e-01 4.35864259e-01 9.34083959e-02 7.18253893e+01] [-4.33523806e-01 9.00012408e-01 -4.51084869e-02 -1.53894973e+01] [-1.03729893e-01 -1.15808062e-04 9.94605498e-01 -9.34839958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16824100800001 meters 0.06272082080615726 Centerline is valid? [True, True] Translation: X:71.85, Y:-15.40, Z:-9.35 [[ 8.94849087e-01 4.36456678e-01 9.35450644e-02 7.18544590e+01] [-4.34109719e-01 8.99725260e-01 -4.52018720e-02 -1.54016410e+01] [-1.03893516e-01 -1.59967760e-04 9.94588413e-01 -9.35404570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19824100800001 meters 0.0629367726456526 Centerline is valid? [True, True] Translation: X:71.88, Y:-15.41, Z:-9.36 [[ 8.94446630e-01 4.37533544e-01 9.23559623e-02 7.18836117e+01] [-4.35250121e-01 8.99202050e-01 -4.46430890e-02 -1.54147067e+01] [-1.02579520e-01 -2.67083242e-04 9.94724771e-01 -9.35752639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22824100800001 meters 0.06319136453121908 Centerline is valid? [True, True] Translation: X:71.91, Y:-15.43, Z:-9.37 [[ 8.94397609e-01 4.37833820e-01 9.14027494e-02 7.19115788e+01] [-4.35596217e-01 8.99055878e-01 -4.42093291e-02 -1.54280178e+01] [-1.01532518e-01 -2.73973581e-04 9.94832183e-01 -9.36666016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25824100800001 meters 0.06342442603755431 Centerline is valid? [True, True] Translation: X:71.94, Y:-15.44, Z:-9.37 [[ 8.94139888e-01 4.38658223e-01 8.99601269e-02 7.19406373e+01] [-4.36492324e-01 8.98653910e-01 -4.35385058e-02 -1.54409438e+01] [-9.99415433e-02 -3.37390131e-04 9.94993253e-01 -9.37223109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28824100800001 meters 0.06368028312064661 Centerline is valid? [True, True] Translation: X:71.97, Y:-15.45, Z:-9.38 [[ 8.93743616e-01 4.39656336e-01 8.90205334e-02 7.19693327e+01] [-4.37538113e-01 8.98165980e-01 -4.31076819e-02 -1.54532841e+01] [-9.89077801e-02 -4.22660693e-04 9.95096514e-01 -9.37686746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31824100800002 meters 0.06394777594364662 Centerline is valid? [True, True] Translation: X:72.00, Y:-15.47, Z:-9.38 [[ 8.93073090e-01 4.41337330e-01 8.74174896e-02 7.19986451e+01] [-4.39300863e-01 8.97341087e-01 -4.23523940e-02 -1.54658415e+01] [-9.71349976e-02 -5.78795310e-04 9.95271047e-01 -9.38232497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34824100800002 meters 0.06408860770861509 Centerline is valid? [True, True] Translation: X:72.03, Y:-15.48, Z:-9.39 [[ 8.92598898e-01 4.42383938e-01 8.69692924e-02 7.20281187e+01] [-4.40371069e-01 8.96825515e-01 -4.21582387e-02 -1.54788882e+01] [-9.66464081e-02 -6.68362796e-04 9.95318555e-01 -9.38650755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.378241008 meters 0.06423378368767621 Centerline is valid? [True, True] Translation: X:72.06, Y:-15.49, Z:-9.39 [[ 8.92225752e-01 4.43179226e-01 8.67489540e-02 7.20582627e+01] [-4.41177719e-01 8.96432732e-01 -4.20782297e-02 -1.54916259e+01] [-9.64127991e-02 -7.28425438e-04 9.95341168e-01 -9.39152815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.408241008 meters 0.06421886193791337 Centerline is valid? [True, True] Translation: X:72.09, Y:-15.50, Z:-9.39 [[ 8.91590933e-01 4.44268732e-01 8.76977894e-02 7.20870487e+01] [-4.42225488e-01 8.95893189e-01 -4.25677305e-02 -1.55043483e+01] [-9.74793639e-02 -8.29195124e-04 9.95237201e-01 -9.39459268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.438241008 meters 0.0637376173406334 Centerline is valid? [True, True] Translation: X:72.11, Y:-15.52, Z:-9.40 [[ 8.91992952e-01 4.43122165e-01 8.93941862e-02 7.21148756e+01] [-4.40990615e-01 8.96460967e-01 -4.34167278e-02 -1.55201895e+01] [-9.93773130e-02 -6.94581992e-04 9.95049580e-01 -9.39629013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.468241008 meters 0.0634270892024738 Centerline is valid? [True, True] Translation: X:72.14, Y:-15.54, Z:-9.40 [[ 8.92537521e-01 4.42010916e-01 8.94601802e-02 7.21428453e+01] [-4.39868168e-01 8.97009503e-01 -4.34735135e-02 -1.55360008e+01] [-9.94623993e-02 -5.48943582e-04 9.95041170e-01 -9.39992190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49824100800001 meters 0.0631843280636646 Centerline is valid? [True, True] Translation: X:72.17, Y:-15.55, Z:-9.40 [[ 8.93478853e-01 4.40135849e-01 8.93083116e-02 7.21699354e+01] [-4.37988628e-01 8.97931141e-01 -4.34238140e-02 -1.55526447e+01] [-9.93050913e-02 -3.17765410e-04 9.95056982e-01 -9.40484070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52824100800001 meters 0.06296602255478685 Centerline is valid? [True, True] Translation: X:72.20, Y:-15.57, Z:-9.41 [[ 8.94441360e-01 4.38318638e-01 8.86082666e-02 7.21968604e+01] [-4.36193547e-01 8.98819650e-01 -4.31094690e-02 -1.55693251e+01] [-9.85385350e-02 -9.14619870e-05 9.95133232e-01 -9.40942630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55824100800001 meters 0.06285698248709537 Centerline is valid? [True, True] Translation: X:72.22, Y:-15.59, Z:-9.41 [[ 8.96782115e-01 4.33665298e-01 8.78421692e-02 7.22227022e+01] [-4.31552338e-01 9.01073925e-01 -4.27593451e-02 -1.55906321e+01] [-9.76955323e-02 4.37322416e-04 9.95216254e-01 -9.41394490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58824100800001 meters 0.06317585846881225 Centerline is valid? [True, True] Translation: X:72.25, Y:-15.61, Z:-9.42 [[ 8.98121600e-01 4.31093202e-01 8.68115405e-02 7.22489859e+01] [-4.29015134e-01 9.02307107e-01 -4.22835664e-02 -1.56088998e+01] [-9.65588280e-02 7.32319617e-04 9.95327010e-01 -9.41850825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61824100800001 meters 0.06334053009580402 Centerline is valid? [True, True] Translation: X:72.28, Y:-15.63, Z:-9.42 [[ 8.99292734e-01 4.28403061e-01 8.79965717e-02 7.22755808e+01] [-4.26252616e-01 9.03587130e-01 -4.28836225e-02 -1.56278659e+01] [-9.78840448e-02 1.05616116e-03 9.95197266e-01 -9.42148453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64824100800001 meters 0.0631178972246509 Centerline is valid? [True, True] Translation: X:72.30, Y:-15.65, Z:-9.42 [[ 9.01496624e-01 4.23488477e-01 8.92263818e-02 7.23026581e+01] [-4.21250569e-01 9.05900010e-01 -4.35101155e-02 -1.56476896e+01] [-9.92562127e-02 1.63755815e-03 9.95060562e-01 -9.41762519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67824100800001 meters 0.06307452168824024 Centerline is valid? [True, True] Translation: X:72.33, Y:-15.66, Z:-9.42 [[ 9.02121959e-01 4.21751423e-01 9.11137119e-02 7.23310561e+01] [-4.19405763e-01 9.06709517e-01 -4.44596225e-02 -1.56641691e+01] [-1.01364579e-01 1.89438595e-03 9.94847543e-01 -9.41928208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70824100800002 meters 0.06329835312819206 Centerline is valid? [True, True] Translation: X:72.36, Y:-15.68, Z:-9.42 [[ 9.02267904e-01 4.21168427e-01 9.23568326e-02 7.23591018e+01] [-4.18751950e-01 9.06980208e-01 -4.50966497e-02 -1.56790732e+01] [-1.02759104e-01 2.01465588e-03 9.94704231e-01 -9.42264669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.738241008 meters 0.06312667131791874 Centerline is valid? [True, True] Translation: X:72.39, Y:-15.69, Z:-9.43 [[ 9.01769579e-01 4.22331150e-01 9.19131413e-02 7.23892777e+01] [-4.19941210e-01 9.06439629e-01 -4.49063443e-02 -1.56922516e+01] [-1.02279062e-01 1.89705952e-03 9.94753937e-01 -9.42662224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.768241008 meters 0.06321685071905993 Centerline is valid? [True, True] Translation: X:72.42, Y:-15.71, Z:-9.43 [[ 9.00973640e-01 4.23950225e-01 9.22643264e-02 7.24169263e+01] [-4.21547192e-01 9.05683803e-01 -4.51089119e-02 -1.57053954e+01] [-1.02686239e-01 1.74817280e-03 9.94712260e-01 -9.43234182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.798241008 meters 0.06279780602327172 Centerline is valid? [True, True] Translation: X:72.45, Y:-15.71, Z:-9.44 [[ 8.99658952e-01 4.26751464e-01 9.21789527e-02 7.24481264e+01] [-4.24364883e-01 9.04367781e-01 -4.50928120e-02 -1.57149324e+01] [-1.02607098e-01 1.45064145e-03 9.94720905e-01 -9.43702742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.828241008 meters 0.06270115967740138 Centerline is valid? [True, True] Translation: X:72.48, Y:-15.73, Z:-9.44 [[ 8.98697637e-01 4.28738031e-01 9.23377434e-02 7.24781218e+01] [-4.26352056e-01 9.03428007e-01 -4.51858487e-02 -1.57266750e+01] [-1.02793395e-01 1.24002869e-03 9.94701955e-01 -9.44129543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85824100800001 meters 0.06269293648811326 Centerline is valid? [True, True] Translation: X:72.51, Y:-15.74, Z:-9.45 [[ 8.97569608e-01 4.31294597e-01 9.13989575e-02 7.25070153e+01] [-4.28967449e-01 9.02210643e-01 -4.47535815e-02 -1.57381521e+01] [-1.01763090e-01 9.62276955e-04 9.94808196e-01 -9.44693400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88824100800001 meters 0.06235458572065552 Centerline is valid? [True, True] Translation: X:72.54, Y:-15.75, Z:-9.45 [[ 8.95592099e-01 4.35659034e-01 9.00888319e-02 7.25388685e+01] [-4.33417732e-01 9.00111645e-01 -4.41372516e-02 -1.57464882e+01] [-1.00318799e-01 4.82876630e-04 9.94955228e-01 -9.45059399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91824100800001 meters 0.0626423846426436 Centerline is valid? [True, True] Translation: X:72.57, Y:-15.76, Z:-9.46 [[ 8.94512683e-01 4.38009694e-01 8.94123419e-02 7.25676725e+01] [-4.35810752e-01 8.98970215e-01 -4.38353783e-02 -1.57578480e+01] [-9.95793528e-02 2.44441891e-04 9.95029594e-01 -9.45769640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94824100800001 meters 0.06282825597162435 Centerline is valid? [True, True] Translation: X:72.60, Y:-15.77, Z:-9.46 [[ 8.93656239e-01 4.39892387e-01 8.87311327e-02 7.25972565e+01] [-4.37733406e-01 8.98050491e-01 -4.35290872e-02 -1.57701567e+01] [-9.88331513e-02 5.94594806e-05 9.95104017e-01 -9.46309791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97824100800001 meters 0.06260965284918024 Centerline is valid? [True, True] Translation: X:72.63, Y:-15.78, Z:-9.46 [[ 8.92692526e-01 4.41904862e-01 8.84315961e-02 7.26275212e+01] [-4.39768034e-01 8.97061912e-01 -4.34051062e-02 -1.57834469e+01] [-9.85095441e-02 -1.41975282e-04 9.95136096e-01 -9.46482348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00824100800001 meters 0.06273387571856603 Centerline is valid? [True, True] Translation: X:72.66, Y:-15.80, Z:-9.47 [[ 8.90800708e-01 4.45560786e-01 8.91610003e-02 7.26575786e+01] [-4.43403668e-01 8.95251536e-01 -4.37935465e-02 -1.57956848e+01] [-9.93342095e-02 -5.22992420e-04 9.95053989e-01 -9.46701921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03824100800001 meters 0.0629246508923773 Centerline is valid? [True, True] Translation: X:72.69, Y:-15.81, Z:-9.47 [[ 8.90169484e-01 4.46970332e-01 8.84070862e-02 7.26866759e+01] [-4.44853872e-01 8.94548545e-01 -4.34503449e-02 -1.58088389e+01] [-9.85054455e-02 -6.50063525e-04 9.95136300e-01 -9.47137359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06824100800002 meters 0.0629731053864513 Centerline is valid? [True, True] Translation: X:72.71, Y:-15.82, Z:-9.48 [[ 8.90463078e-01 4.46439811e-01 8.81305984e-02 7.27141883e+01] [-4.44332611e-01 8.94813479e-01 -4.33286098e-02 -1.58243851e+01] [-9.82040637e-02 -5.76771718e-04 9.95166131e-01 -9.47694553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09824100800002 meters 0.0629731053864513 Centerline is valid? [True, True] Translation: X:72.74, Y:-15.84, Z:-9.48 [[ 8.90348195e-01 4.46670945e-01 8.81201329e-02 7.27429017e+01] [-4.44562769e-01 8.94698124e-01 -4.33498820e-02 -1.58387112e+01] [-9.82040503e-02 -5.78441073e-04 9.95166132e-01 -9.48100688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.128241008 meters 0.06286791182364386 Centerline is valid? [True, True] Translation: X:72.77, Y:-15.85, Z:-9.49 [[ 8.90883683e-01 4.45531207e-01 8.84771518e-02 7.27708007e+01] [-4.43397402e-01 8.95266307e-01 -4.35543793e-02 -1.58549641e+01] [-9.86154481e-02 -4.28653398e-04 9.95125525e-01 -9.48515337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.158241008 meters 0.0629270011802308 Centerline is valid? [True, True] Translation: X:72.80, Y:-15.87, Z:-9.49 [[ 8.91844825e-01 4.43732374e-01 8.78315920e-02 7.27978646e+01] [-4.41618341e-01 8.96159326e-01 -4.32631783e-02 -1.58723831e+01] [-9.79083732e-02 -2.04000301e-04 9.95195412e-01 -9.49159449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.188241008 meters 0.06296534871615948 Centerline is valid? [True, True] Translation: X:72.83, Y:-15.89, Z:-9.50 [[ 8.91885630e-01 4.43753100e-01 8.73109984e-02 7.28262954e+01] [-4.41661506e-01 8.96149069e-01 -4.30344028e-02 -1.58881953e+01] [-9.73403196e-02 -1.80141662e-04 9.95251139e-01 -9.49600876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.218241008 meters 0.06289183289852592 Centerline is valid? [True, True] Translation: X:72.86, Y:-15.90, Z:-9.50 [[ 8.91886153e-01 4.43759985e-01 8.72706401e-02 7.28550023e+01] [-4.41667681e-01 8.96145664e-01 -4.30419400e-02 -1.59041085e+01] [-9.73074964e-02 -1.56110883e-04 9.95254353e-01 -9.49854366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24824100800001 meters 0.06281277827843905 Centerline is valid? [True, True] Translation: X:72.88, Y:-15.92, Z:-9.50 [[ 8.91979079e-01 4.43444486e-01 8.79221897e-02 7.28835516e+01] [-4.41316272e-01 8.96301835e-01 -4.33931920e-02 -1.59195237e+01] [-9.80472916e-02 -9.56735005e-05 9.95181752e-01 -9.50103086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27824100800001 meters 0.0627189229360154 Centerline is valid? [True, True] Translation: X:72.91, Y:-15.93, Z:-9.51 [[ 8.91886712e-01 4.43542899e-01 8.83616985e-02 7.29118166e+01] [-4.41390960e-01 8.96253139e-01 -4.36386314e-02 -1.59340863e+01] [-9.85500548e-02 -8.13395068e-05 9.95132092e-01 -9.50528881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30824100800001 meters 0.06263285679329471 Centerline is valid? [True, True] Translation: X:72.94, Y:-15.95, Z:-9.51 [[ 8.92074542e-01 4.43143993e-01 8.84670142e-02 7.29408946e+01] [-4.40982440e-01 8.96450445e-01 -4.37159797e-02 -1.59493731e+01] [-9.86787681e-02 -1.44872154e-05 9.95119340e-01 -9.50835037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33824100800001 meters 0.06265757761354762 Centerline is valid? [True, True] Translation: X:72.97, Y:-15.96, Z:-9.51 [[ 8.91873984e-01 4.43391481e-01 8.92456857e-02 7.29690188e+01] [-4.41189540e-01 8.96328062e-01 -4.41338295e-02 -1.59624432e+01] [-9.95619765e-02 -1.24487253e-05 9.95031363e-01 -9.51238641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36824100800001 meters 0.06265162028894679 Centerline is valid? [True, True] Translation: X:73.00, Y:-15.98, Z:-9.52 [[ 8.91843415e-01 4.43498989e-01 8.90166822e-02 7.29972257e+01] [-4.41307508e-01 8.96274872e-01 -4.40344931e-02 -1.59763861e+01] [-9.93126686e-02 -1.18575168e-05 9.95056277e-01 -9.51800311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39824100800001 meters 0.06284154899550941 Centerline is valid? [True, True] Translation: X:73.03, Y:-15.99, Z:-9.52 [[ 8.91824639e-01 4.43660824e-01 8.83961909e-02 7.30257220e+01] [-4.41498008e-01 8.96194774e-01 -4.37542644e-02 -1.59908926e+01] [-9.86322573e-02 -5.61117231e-06 9.95123951e-01 -9.52230922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42824100800001 meters 0.06335054971960342 Centerline is valid? [True, True] Translation: X:73.05, Y:-16.01, Z:-9.53 [[ 8.92104762e-01 4.43171954e-01 8.80210966e-02 7.30530562e+01] [-4.41022350e-01 8.96436620e-01 -4.35967053e-02 -1.60057855e+01] [-9.82261714e-02 7.35574587e-05 9.95164114e-01 -9.53084906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45824100800002 meters 0.06314568437521373 Centerline is valid? [True, True] Translation: X:73.08, Y:-16.02, Z:-9.53 [[ 8.93022321e-01 4.41432824e-01 8.74539655e-02 7.30808008e+01] [-4.39300030e-01 8.97294255e-01 -4.33417095e-02 -1.60237249e+01] [-9.76043940e-02 2.86584388e-04 9.95225251e-01 -9.53201648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.488241008 meters 0.06330461416280779 Centerline is valid? [True, True] Translation: X:73.11, Y:-16.04, Z:-9.54 [[ 8.93879481e-01 4.39799165e-01 8.69262217e-02 7.31082200e+01] [-4.37681710e-01 8.98096018e-01 -4.31075796e-02 -1.60394275e+01] [-9.70267711e-02 4.86963591e-04 9.95281653e-01 -9.53725034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.518241008 meters 0.06323698944234198 Centerline is valid? [True, True] Translation: X:73.14, Y:-16.06, Z:-9.54 [[ 8.94413078e-01 4.38539560e-01 8.77969237e-02 7.31368212e+01] [-4.36370847e-01 8.98711649e-01 -4.35643821e-02 -1.60550578e+01] [-9.80088231e-02 6.52535104e-04 9.95185332e-01 -9.53984681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.548241008 meters 0.06325998749430593 Centerline is valid? [True, True] Translation: X:73.16, Y:-16.07, Z:-9.54 [[ 8.95450141e-01 4.36414015e-01 8.78171589e-02 7.31649119e+01] [-4.34231391e-01 8.99745508e-01 -4.36018308e-02 -1.60717288e+01] [-9.80415442e-02 9.10298402e-04 9.95181906e-01 -9.54308127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.578241008 meters 0.06352323330342785 Centerline is valid? [True, True] Translation: X:73.19, Y:-16.09, Z:-9.55 [[ 8.96995277e-01 4.33129010e-01 8.83104450e-02 7.31924305e+01] [-4.30903023e-01 9.01330996e-01 -4.38750472e-02 -1.60901474e+01] [-9.86004971e-02 1.30247232e-03 9.95126246e-01 -9.54527154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.60824100800001 meters 0.0642077386251993 Centerline is valid? [True, True] Translation: X:73.22, Y:-16.11, Z:-9.55 [[ 8.97729713e-01 4.31542506e-01 8.86139200e-02 7.32183006e+01] [-4.29290650e-01 9.02091344e-01 -4.40538844e-02 -1.61074348e+01] [-9.89489739e-02 1.50735368e-03 9.95091367e-01 -9.55153228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.63824100800001 meters 0.06359656896436185 Centerline is valid? [True, True] Translation: X:73.25, Y:-16.12, Z:-9.55 [[ 8.98469586e-01 4.29981779e-01 8.87021541e-02 7.32477729e+01] [-4.27715324e-01 9.02835958e-01 -4.41229541e-02 -1.61213925e+01] [-9.90555605e-02 1.70386175e-03 9.95080445e-01 -9.55035136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.66824100800001 meters 0.06466118856423142 Centerline is valid? [True, True] Translation: X:73.27, Y:-16.14, Z:-9.56 [[ 9.00035403e-01 4.26650048e-01 8.89157505e-02 7.32732547e+01] [-4.24353489e-01 9.04414350e-01 -4.42583246e-02 -1.61406395e+01] [-9.92994971e-02 2.10235003e-03 9.95055370e-01 -9.55553760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.69824100800001 meters 0.065165359384251 Centerline is valid? [True, True] Translation: X:73.30, Y:-16.16, Z:-9.56 [[ 9.00896323e-01 4.24868676e-01 8.87266769e-02 7.33008098e+01] [-4.22570625e-01 9.05252028e-01 -4.41908656e-02 -1.61569940e+01] [-9.90953188e-02 2.31810096e-03 9.95075246e-01 -9.55998545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.72824100800001 meters 0.06579586547976048 Centerline is valid? [True, True] Translation: X:73.33, Y:-16.17, Z:-9.56 [[ 9.01226597e-01 4.23943259e-01 8.97927248e-02 7.33282397e+01] [-4.21582165e-01 9.05685371e-01 -4.47491517e-02 -1.61720450e+01] [-1.00295059e-01 2.47411443e-03 9.94954662e-01 -9.56477444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.75824100800001 meters 0.06543151626522958 Centerline is valid? [True, True] Translation: X:73.36, Y:-16.18, Z:-9.57 [[ 9.00938688e-01 4.24377151e-01 9.06284369e-02 7.33582121e+01] [-4.21971266e-01 9.05482147e-01 -4.51921643e-02 -1.61838044e+01] [-1.01240954e-01 2.47277291e-03 9.94858862e-01 -9.56915589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.78824100800001 meters 0.06487207580145798 Centerline is valid? [True, True] Translation: X:73.39, Y:-16.19, Z:-9.57 [[ 9.00397130e-01 4.25574090e-01 9.03974705e-02 7.33894209e+01] [-4.23183813e-01 9.04920517e-01 -4.51034202e-02 -1.61942053e+01] [-1.00997373e-01 2.35624377e-03 9.94883902e-01 -9.57237845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.81824100800002 meters 0.06465428591234973 Centerline is valid? [True, True] Translation: X:73.42, Y:-16.21, Z:-9.58 [[ 8.99747926e-01 4.27004583e-01 9.01152398e-02 7.34173623e+01] [-4.24633787e-01 9.04246754e-01 -4.49883814e-02 -1.62071589e+01] [-1.00696658e-01 2.21222733e-03 9.94914714e-01 -9.57670868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.84824100800002 meters 0.06435716496291606 Centerline is valid? [True, True] Translation: X:73.45, Y:-16.22, Z:-9.58 [[ 8.99104388e-01 4.28096379e-01 9.13498183e-02 7.34462323e+01] [-4.25662896e-01 9.03730545e-01 -4.56311350e-02 -1.62203974e+01] [-1.02090145e-01 2.14292549e-03 9.94772844e-01 -9.57964348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.878241008 meters 0.06395184677229032 Centerline is valid? [True, True] Translation: X:73.47, Y:-16.23, Z:-9.58 [[ 8.97953600e-01 4.30503543e-01 9.13566162e-02 7.34742888e+01] [-4.28079265e-01 9.02586899e-01 -4.56621653e-02 -1.62325710e+01] [-1.02115009e-01 1.89463268e-03 9.94770795e-01 -9.58286358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.908241008 meters 0.06347773386324601 Centerline is valid? [True, True] Translation: X:73.50, Y:-16.24, Z:-9.59 [[ 8.96568523e-01 4.33332125e-01 9.15868649e-02 7.35041380e+01] [-4.30909023e-01 9.01232905e-01 -4.57893561e-02 -1.62437736e+01] [-1.02383095e-01 1.58768887e-03 9.94743777e-01 -9.58683914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.938241008 meters 0.06268002921762007 Centerline is valid? [True, True] Translation: X:73.54, Y:-16.25, Z:-9.59 [[ 8.93041449e-01 4.40544712e-01 9.16369360e-02 7.35365912e+01] [-4.38154099e-01 8.97730327e-01 -4.58393447e-02 -1.62484252e+01] [-1.02459537e-01 7.85335626e-04 9.94736863e-01 -9.59309456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.968241008 meters 0.0626285832075132 Centerline is valid? [True, True] Translation: X:73.57, Y:-16.26, Z:-9.60 [[ 8.91345194e-01 4.43959616e-01 9.16711714e-02 7.35671445e+01] [-4.41582633e-01 8.96046699e-01 -4.58812744e-02 -1.62579162e+01] [-1.02511084e-01 4.15656147e-04 9.94731775e-01 -9.59853531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.99824100800001 meters 0.0629988508638594 Centerline is valid? [True, True] Translation: X:73.60, Y:-16.26, Z:-9.61 [[ 8.87969673e-01 4.50771892e-01 9.11842103e-02 7.35991334e+01] [-4.48453429e-01 8.92639110e-01 -4.56611466e-02 -1.62636729e+01] [-1.01977354e-01 -3.46158414e-04 9.94786660e-01 -9.60519224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.02824100800001 meters 0.06299985574001403 Centerline is valid? [True, True] Translation: X:73.63, Y:-16.28, Z:-9.61 [[ 8.86965364e-01 4.52643894e-01 9.16839595e-02 7.36285874e+01] [-4.50306936e-01 8.91691210e-01 -4.59396229e-02 -1.62778946e+01] [-1.02548071e-01 -5.39068525e-04 9.94727904e-01 -9.60783395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.05824100800001 meters 0.06260240956318981 Centerline is valid? [True, True] Translation: X:73.66, Y:-16.30, Z:-9.61 [[ 8.87140276e-01 4.52135805e-01 9.24951029e-02 7.36565534e+01] [-4.49751406e-01 8.91948992e-01 -4.63753047e-02 -1.62960384e+01] [-1.03468849e-01 -4.58402013e-04 9.94632589e-01 -9.60814092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.08824100800001 meters 0.06236023251029782 Centerline is valid? [True, True] Translation: X:73.68, Y:-16.31, Z:-9.61 [[ 8.87418785e-01 4.51576493e-01 9.25557701e-02 7.36845184e+01] [-4.49182759e-01 8.92232334e-01 -4.64361035e-02 -1.63136796e+01] [-1.03550704e-01 -3.66185640e-04 9.94624109e-01 -9.61063010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.11824100800001 meters 0.062195951581843475 Centerline is valid? [True, True] Translation: X:73.71, Y:-16.33, Z:-9.61 [[ 8.87899060e-01 4.50495298e-01 9.32161211e-02 7.37123210e+01] [-4.48057981e-01 8.92778775e-01 -4.67985612e-02 -1.63308280e+01] [-1.04303906e-01 -2.13828472e-04 9.94545449e-01 -9.61346136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14824100800001 meters 0.062092099706678644 Centerline is valid? [True, True] Translation: X:73.74, Y:-16.35, Z:-9.62 [[ 8.89204321e-01 4.47867607e-01 9.34359809e-02 7.37381856e+01] [-4.45401172e-01 8.94099878e-01 -4.69383056e-02 -1.63493118e+01] [-1.04563246e-01 1.21248756e-04 9.94518232e-01 -9.61753304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17824100800001 meters 0.062126825677685515 Centerline is valid? [True, True] Translation: X:73.77, Y:-16.37, Z:-9.62 [[ 8.89297902e-01 4.47602248e-01 9.38161446e-02 7.37663625e+01] [-4.45111182e-01 8.94232741e-01 -4.71576075e-02 -1.63654807e+01] [-1.05001319e-01 1.78546423e-04 9.94472067e-01 -9.62277977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.20824100800002 meters 0.0621660266438384 Centerline is valid? [True, True] Translation: X:73.79, Y:-16.38, Z:-9.63 [[ 8.89253754e-01 4.47690111e-01 9.38153830e-02 7.37946418e+01] [-4.45196400e-01 8.94188753e-01 -4.71872752e-02 -1.63804966e+01] [-1.05013937e-01 1.95190800e-04 9.94470731e-01 -9.62751870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.238241008 meters 0.062203194180559716 Centerline is valid? [True, True] Translation: X:73.82, Y:-16.40, Z:-9.63 [[ 8.89833511e-01 4.46655626e-01 9.32473809e-02 7.38210719e+01] [-4.44183263e-01 8.94705892e-01 -4.69318084e-02 -1.63975464e+01] [-1.04391337e-01 3.42569862e-04 9.94536239e-01 -9.63333838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.268241008 meters 0.06223791286345393 Centerline is valid? [True, True] Translation: X:73.85, Y:-16.41, Z:-9.64 [[ 8.89631816e-01 4.47017244e-01 9.34388279e-02 7.38484525e+01] [-4.44533810e-01 8.94525280e-01 -4.70554368e-02 -1.64124145e+01] [-1.04617985e-01 3.25295486e-04 9.94512429e-01 -9.63710425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.298241008 meters 0.06220014195391093 Centerline is valid? [True, True] Translation: X:73.88, Y:-16.43, Z:-9.64 [[ 8.89523311e-01 4.47259760e-01 9.33112323e-02 7.38773419e+01] [-4.44781587e-01 8.94404049e-01 -4.70184694e-02 -1.64272741e+01] [-1.04487413e-01 3.20906593e-04 9.94526157e-01 -9.64092158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.328241008 meters 0.062118279296127454 Centerline is valid? [True, True] Translation: X:73.91, Y:-16.44, Z:-9.65 [[ 8.89413935e-01 4.47411671e-01 9.36250449e-02 7.39052336e+01] [-4.44914405e-01 8.94328065e-01 -4.72068329e-02 -1.64416535e+01] [-1.04852393e-01 3.31283938e-04 9.94487740e-01 -9.64605017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.35824100800001 meters 0.062230554721287294 Centerline is valid? [True, True] Translation: X:73.93, Y:-16.46, Z:-9.65 [[ 8.89550845e-01 4.47117316e-01 9.37304588e-02 7.39343539e+01] [-4.44610151e-01 8.94475240e-01 -4.72848747e-02 -1.64555935e+01] [-1.04981461e-01 3.88786840e-04 9.94474103e-01 -9.65103175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.38824100800001 meters 0.062230300588299876 Centerline is valid? [True, True] Translation: X:73.96, Y:-16.47, Z:-9.66 [[ 8.89605906e-01 4.46883580e-01 9.43207222e-02 7.39628115e+01] [-4.44340098e-01 8.94592011e-01 -4.76131355e-02 -1.64691005e+01] [-1.05656093e-01 4.46447639e-04 9.94402630e-01 -9.65585553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.41824100800001 meters 0.062448242549983796 Centerline is valid? [True, True] Translation: X:73.99, Y:-16.48, Z:-9.66 [[ 8.89344097e-01 4.47607106e-01 9.33539266e-02 7.39918980e+01] [-4.45117004e-01 8.94230247e-01 -4.71499468e-02 -1.64822223e+01] [-1.04584556e-01 3.79106741e-04 9.94515926e-01 -9.66139904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.44824100800001 meters 0.06239798243529412 Centerline is valid? [True, True] Translation: X:74.02, Y:-16.50, Z:-9.67 [[ 8.89158573e-01 4.48011288e-01 9.31821818e-02 7.40207197e+01] [-4.45529554e-01 8.94027829e-01 -4.70920174e-02 -1.64964888e+01] [-1.04405219e-01 3.56855148e-04 9.94534777e-01 -9.66519388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.47824100800001 meters 0.062442712367609295 Centerline is valid? [True, True] Translation: X:74.05, Y:-16.51, Z:-9.67 [[ 8.89354445e-01 4.47752120e-01 9.25565286e-02 7.40499133e+01] [-4.45299233e-01 8.94157632e-01 -4.68051596e-02 -1.65114264e+01] [-1.03717236e-01 4.11025466e-04 9.94606739e-01 -9.66870276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.50824100800001 meters 0.06256793051776695 Centerline is valid? [True, True] Translation: X:74.08, Y:-16.53, Z:-9.67 [[ 8.89721119e-01 4.47089847e-01 9.22333929e-02 7.40765347e+01] [-4.44647434e-01 8.94488907e-01 -4.66717719e-02 -1.65274108e+01] [-1.03368222e-01 5.13519588e-04 9.94643025e-01 -9.67350902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.53824100800001 meters 0.06278428958692256 Centerline is valid? [True, True] Translation: X:74.10, Y:-16.55, Z:-9.68 [[ 8.91386254e-01 4.43860575e-01 9.17514900e-02 7.41013697e+01] [-4.41423735e-01 8.96095399e-01 -4.64555819e-02 -1.65474248e+01] [-1.02837889e-01 9.08581735e-04 9.94697714e-01 -9.67746218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.56824100800002 meters 0.0629113318199146 Centerline is valid? [True, True] Translation: X:74.13, Y:-16.56, Z:-9.68 [[ 8.92514410e-01 4.41528192e-01 9.20374073e-02 7.41288194e+01] [-4.39060860e-01 8.97246567e-01 -4.66278912e-02 -1.65644759e+01] [-1.03167776e-01 1.20604156e-03 9.94663237e-01 -9.68089838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.59824100800002 meters 0.06346895383032476 Centerline is valid? [True, True] Translation: X:74.15, Y:-16.58, Z:-9.69 [[ 8.93618279e-01 4.39406464e-01 9.14785874e-02 7.41549147e+01] [-4.36954963e-01 8.98287149e-01 -4.63741043e-02 -1.65807861e+01] [-1.02551121e-01 1.46872445e-03 9.94726651e-01 -9.68664855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.628241008 meters 0.06404025879839091 Centerline is valid? [True, True] Translation: X:74.18, Y:-16.60, Z:-9.69 [[ 8.94695823e-01 4.37321886e-01 9.09337775e-02 7.41819971e+01] [-4.34886403e-01 8.99303404e-01 -4.61216159e-02 -1.65972801e+01] [-1.01947048e-01 1.71895373e-03 9.94788342e-01 -9.69312137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.658241008 meters 0.06487241182868911 Centerline is valid? [True, True] Translation: X:74.21, Y:-16.61, Z:-9.70 [[ 8.95931935e-01 4.34908603e-01 9.03353526e-02 7.42084360e+01] [-4.32490316e-01 9.00472372e-01 -4.58435754e-02 -1.66136414e+01] [-1.01282255e-01 2.00355801e-03 9.94855714e-01 -9.69807361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.688241008 meters 0.06521284934286094 Centerline is valid? [True, True] Translation: X:74.24, Y:-16.63, Z:-9.70 [[ 8.96361774e-01 4.34001804e-01 9.04323185e-02 7.42372269e+01] [-4.31571288e-01 9.00909484e-01 -4.59165038e-02 -1.66294257e+01] [-1.01399179e-01 2.12980661e-03 9.94843541e-01 -9.70204292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.718241008 meters 0.06551199444440473 Centerline is valid? [True, True] Translation: X:74.26, Y:-16.65, Z:-9.71 [[ 8.96600363e-01 4.33465483e-01 9.06391996e-02 7.42644367e+01] [-4.31018234e-01 9.01167434e-01 -4.60493042e-02 -1.66450683e+01] [-1.01641879e-01 2.22067515e-03 9.94818575e-01 -9.70595799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.74824100800001 meters 0.065721745015657 Centerline is valid? [True, True] Translation: X:74.29, Y:-16.66, Z:-9.71 [[ 8.96745442e-01 4.33099080e-01 9.09549280e-02 7.42929078e+01] [-4.30630190e-01 9.01343401e-01 -4.62353991e-02 -1.66615775e+01] [-1.02006133e-01 2.29344544e-03 9.94781126e-01 -9.70885239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.77824100800001 meters 0.06467242417732051 Centerline is valid? [True, True] Translation: X:74.32, Y:-16.67, Z:-9.71 [[ 8.96770996e-01 4.32944088e-01 9.14395863e-02 7.43245242e+01] [-4.30445096e-01 9.01417717e-01 -4.65093421e-02 -1.66734616e+01] [-1.02561208e-01 2.34850757e-03 9.94723923e-01 -9.70678558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.80824100800001 meters 0.06568412587767773 Centerline is valid? [True, True] Translation: X:74.35, Y:-16.69, Z:-9.71 [[ 8.96322665e-01 4.33333240e-01 9.39573444e-02 7.43510894e+01] [-4.30692947e-01 9.01230577e-01 -4.78229362e-02 -1.66907739e+01] [-1.05400500e-01 2.39801605e-03 9.94426963e-01 -9.71215572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.83824100800001 meters 0.06487229580306796 Centerline is valid? [True, True] Translation: X:74.38, Y:-16.70, Z:-9.71 [[ 8.96019704e-01 4.33976387e-01 9.38785693e-02 7.43828823e+01] [-4.31340997e-01 9.00921189e-01 -4.78116565e-02 -1.67012718e+01] [-1.05326322e-01 2.34651054e-03 9.94434945e-01 -9.71381001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.86824100800001 meters 0.06462618459009133 Centerline is valid? [True, True] Translation: X:74.41, Y:-16.71, Z:-9.72 [[ 8.95520687e-01 4.34747822e-01 9.50633022e-02 7.44129268e+01] [-4.32046018e-01 9.00549261e-01 -4.84485951e-02 -1.67135390e+01] [-1.06672108e-01 2.31499805e-03 9.94291558e-01 -9.71738620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.89824100800001 meters 0.06440962762074054 Centerline is valid? [True, True] Translation: X:74.44, Y:-16.72, Z:-9.72 [[ 8.94409819e-01 4.37148752e-01 9.45094950e-02 7.44429044e+01] [-4.34490063e-01 8.99386926e-01 -4.81823882e-02 -1.67227927e+01] [-1.06063475e-01 2.03136465e-03 9.94357286e-01 -9.72268103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.92824100800001 meters 0.0643932813676789 Centerline is valid? [True, True] Translation: X:74.47, Y:-16.74, Z:-9.73 [[ 8.93778219e-01 4.38550178e-01 9.39906168e-02 7.44710910e+01] [-4.35927029e-01 8.98704767e-01 -4.79308670e-02 -1.67351181e+01] [-1.05489906e-01 1.86651465e-03 9.94418622e-01 -9.72825339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.95824100800002 meters 0.06419773822022473 Centerline is valid? [True, True] Translation: X:74.50, Y:-16.75, Z:-9.73 [[ 8.92591432e-01 4.41480621e-01 9.15171931e-02 7.45023237e+01] [-4.39006861e-01 8.97269527e-01 -4.66944536e-02 -1.67454508e+01] [-1.02730285e-01 1.50239358e-03 9.94708114e-01 -9.73436514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.988241008 meters 0.06419773822022473 Centerline is valid? [True, True] Translation: X:74.53, Y:-16.76, Z:-9.74 [[ 8.92478897e-01 4.41710550e-01 9.15052408e-02 7.45308255e+01] [-4.39235595e-01 8.97156359e-01 -4.67178630e-02 -1.67601889e+01] [-1.02730282e-01 1.50234797e-03 9.94708114e-01 -9.73842760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.018241008 meters 0.06441596189824657 Centerline is valid? [True, True] Translation: X:74.56, Y:-16.77, Z:-9.74 [[ 8.92061124e-01 4.42552202e-01 9.15122901e-02 7.45585272e+01] [-4.40078164e-01 8.96741599e-01 -4.67516246e-02 -1.67737875e+01] [-1.02752912e-01 1.43274618e-03 9.94705879e-01 -9.74368953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.048241008 meters 0.06446468274010658 Centerline is valid? [True, True] Translation: X:74.59, Y:-16.79, Z:-9.75 [[ 8.91910629e-01 4.43025117e-01 9.06872424e-02 7.45874670e+01] [-4.40595382e-01 8.96508124e-01 -4.63561623e-02 -1.67883946e+01] [-1.01838794e-01 1.38917371e-03 9.94799945e-01 -9.74831678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.078241008 meters 0.06493561571005896 Centerline is valid? [True, True] Translation: X:74.61, Y:-16.81, Z:-9.75 [[ 8.92449956e-01 4.41925227e-01 9.07478416e-02 7.46140071e+01] [-4.39483652e-01 8.97050566e-01 -4.64155329e-02 -1.68051924e+01] [-1.01917598e-01 1.54134746e-03 9.94791650e-01 -9.75352650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.10824100800001 meters 0.06511618900094654 Centerline is valid? [True, True] Translation: X:74.64, Y:-16.82, Z:-9.76 [[ 8.93103149e-01 4.40533740e-01 9.10867132e-02 7.46414213e+01] [-4.38063916e-01 8.97734387e-01 -4.66151891e-02 -1.68207076e+01] [-1.02307238e-01 1.73036996e-03 9.94751343e-01 -9.75757417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.13824100800001 meters 0.06554550401135403 Centerline is valid? [True, True] Translation: X:74.67, Y:-16.84, Z:-9.76 [[ 8.93780983e-01 4.39140241e-01 9.11668949e-02 7.46686852e+01] [-4.36656291e-01 8.98416488e-01 -4.66808074e-02 -1.68368333e+01] [-1.02405263e-01 1.91381980e-03 9.94740921e-01 -9.76228697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.16824100800001 meters 0.0654542606971766 Centerline is valid? [True, True] Translation: X:74.70, Y:-16.85, Z:-9.76 [[ 8.94134237e-01 4.38341563e-01 9.15458346e-02 7.46972515e+01] [-4.35830182e-01 8.98806170e-01 -4.68990661e-02 -1.68516232e+01] [-1.02839771e-01 2.03562292e-03 9.94695852e-01 -9.76499195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.19824100800001 meters 0.06608171090868872 Centerline is valid? [True, True] Translation: X:74.72, Y:-16.87, Z:-9.77 [[ 8.94706559e-01 4.37282728e-01 9.10164241e-02 7.47238246e+01] [-4.34792395e-01 8.99321477e-01 -4.66524725e-02 -1.68688166e+01] [-1.02253345e-01 2.16702401e-03 9.94756029e-01 -9.76892416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.22824100800001 meters 0.06518607697154911 Centerline is valid? [True, True] Translation: X:74.75, Y:-16.88, Z:-9.77 [[ 8.94655291e-01 4.37484948e-01 9.05473940e-02 7.47546808e+01] [-4.35018874e-01 8.99223153e-01 -4.64359806e-02 -1.68820205e+01] [-1.01737356e-01 2.15437032e-03 9.94808961e-01 -9.76916151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.25824100800001 meters 0.06688602729541451 Centerline is valid? [True, True] Translation: X:74.78, Y:-16.90, Z:-9.78 [[ 8.94633360e-01 4.37551359e-01 9.04431305e-02 7.47799774e+01] [-4.35088005e-01 8.99190794e-01 -4.64149077e-02 -1.69004381e+01] [-1.01634536e-01 2.17360359e-03 9.94819429e-01 -9.77816123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.28824100800001 meters 0.06500337172819637 Centerline is valid? [True, True] Translation: X:74.81, Y:-16.91, Z:-9.78 [[ 8.94014163e-01 4.38738264e-01 9.08152612e-02 7.48124362e+01] [-4.36258944e-01 8.98612532e-01 -4.66224195e-02 -1.69088226e+01] [-1.02062771e-01 2.06213337e-03 9.94775823e-01 -9.77631743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31824100800002 meters 0.06592530328667694 Centerline is valid? [True, True] Translation: X:74.84, Y:-16.92, Z:-9.78 [[ 8.93614831e-01 4.39690359e-01 9.01383518e-02 7.48396166e+01] [-4.37249897e-01 8.98147276e-01 -4.63033330e-02 -1.69249171e+01] [-1.01316644e-01 1.96436010e-03 9.94852290e-01 -9.78462067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34824100800002 meters 0.0650914574180125 Centerline is valid? [True, True] Translation: X:74.87, Y:-16.94, Z:-9.79 [[ 8.93186027e-01 4.40559652e-01 9.01438490e-02 7.48700624e+01] [-4.38120443e-01 8.97721347e-01 -4.63342348e-02 -1.69369661e+01] [-1.01337052e-01 1.89122804e-03 9.94850353e-01 -9.78549157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.378241008 meters 0.0648477711344939 Centerline is valid? [True, True] Translation: X:74.90, Y:-16.95, Z:-9.79 [[ 8.92844201e-01 4.41284493e-01 8.99846051e-02 7.48997745e+01] [-4.38854706e-01 8.97365390e-01 -4.62807091e-02 -1.69508746e+01] [-1.01172030e-01 1.83129531e-03 9.94867261e-01 -9.78869781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.408241008 meters 0.064878017860181 Centerline is valid? [True, True] Translation: X:74.93, Y:-16.96, Z:-9.79 [[ 8.92435897e-01 4.42143010e-01 8.98205384e-02 7.49279367e+01] [-4.39723291e-01 8.96942844e-01 -4.62272785e-02 -1.69637872e+01] [-1.01002957e-01 1.75869995e-03 9.94884571e-01 -9.79348953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.438241008 meters 0.06519367944412117 Centerline is valid? [True, True] Translation: X:74.95, Y:-16.98, Z:-9.80 [[ 8.91794167e-01 4.43412587e-01 8.99357666e-02 7.49549353e+01] [-4.40990151e-01 8.96316115e-01 -4.63153116e-02 -1.69786760e+01] [-1.01147669e-01 1.64293741e-03 9.94870067e-01 -9.79958951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.468241008 meters 0.06480709274932135 Centerline is valid? [True, True] Translation: X:74.98, Y:-16.99, Z:-9.80 [[ 8.91392459e-01 4.44174611e-01 9.01576339e-02 7.49839048e+01] [-4.41741372e-01 8.95938841e-01 -4.64559443e-02 -1.69931776e+01] [-1.01410277e-01 1.58412157e-03 9.94843428e-01 -9.80316720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49824100800001 meters 0.06435350099672177 Centerline is valid? [True, True] Translation: X:75.01, Y:-17.01, Z:-9.80 [[ 8.90510250e-01 4.45910263e-01 9.03079837e-02 7.50137584e+01] [-4.43474952e-01 8.95076554e-01 -4.65610218e-02 -1.70066172e+01] [-1.01594596e-01 1.41373838e-03 9.94824879e-01 -9.80456245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.52824100800001 meters 0.06395146864365281 Centerline is valid? [True, True] Translation: X:75.04, Y:-17.02, Z:-9.81 [[ 8.89030643e-01 4.48925159e-01 8.99484129e-02 7.50440602e+01] [-4.46521433e-01 8.93568691e-01 -4.64069399e-02 -1.70180613e+01] [-1.01208328e-01 1.09329743e-03 9.94864654e-01 -9.80968960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55824100800001 meters 0.06382772886584766 Centerline is valid? [True, True] Translation: X:75.07, Y:-17.03, Z:-9.81 [[ 8.87843765e-01 4.51256815e-01 9.00040875e-02 7.50738568e+01] [-4.48860809e-01 8.92393738e-01 -4.64477189e-02 -1.70299975e+01] [-1.01278934e-01 8.39010076e-04 9.94857715e-01 -9.81433442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.58824100800001 meters 0.06375597313021278 Centerline is valid? [True, True] Translation: X:75.10, Y:-17.04, Z:-9.82 [[ 8.86583582e-01 4.53862853e-01 8.93200012e-02 7.51024551e+01] [-4.51513291e-01 8.91071373e-01 -4.61254424e-02 -1.70421256e+01] [-1.00525121e-01 5.64892276e-04 9.94934360e-01 -9.81999740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61824100800001 meters 0.06357877721242221 Centerline is valid? [True, True] Translation: X:75.13, Y:-17.05, Z:-9.82 [[ 8.84917868e-01 4.57226105e-01 8.86828897e-02 7.51327123e+01] [-4.54925276e-01 8.89350465e-01 -4.58120392e-02 -1.70539802e+01] [-9.98166294e-02 1.95803991e-04 9.95005830e-01 -9.82315914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.64824100800001 meters 0.06376793372978193 Centerline is valid? [True, True] Translation: X:75.16, Y:-17.06, Z:-9.83 [[ 8.82609030e-01 4.61814823e-01 8.79111446e-02 7.51623391e+01] [-4.59573609e-01 8.86976315e-01 -4.54435223e-02 -1.70643928e+01] [-9.89615953e-02 -2.92778928e-04 9.95091210e-01 -9.82881443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.67824100800001 meters 0.06398881743860435 Centerline is valid? [True, True] Translation: X:75.19, Y:-17.08, Z:-9.83 [[ 8.81595108e-01 4.63858297e-01 8.73243761e-02 7.51916756e+01] [-4.61654399e-01 8.85909270e-01 -4.51661472e-02 -1.70779334e+01] [-9.83121664e-02 -4.95427890e-04 9.95155502e-01 -9.83374516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.70824100800002 meters 0.06419378939334135 Centerline is valid? [True, True] Translation: X:75.22, Y:-17.09, Z:-9.84 [[ 8.80754419e-01 4.65480376e-01 8.71761082e-02 7.52209686e+01] [-4.63288991e-01 8.85057963e-01 -4.51188671e-02 -1.70917219e+01] [-9.81578559e-02 -6.49089702e-04 9.95170646e-01 -9.83872776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.738241008 meters 0.06435358141292558 Centerline is valid? [True, True] Translation: X:75.25, Y:-17.11, Z:-9.84 [[ 8.80134656e-01 4.66720652e-01 8.68033477e-02 7.52495392e+01] [-4.64551187e-01 8.84404465e-01 -4.49548284e-02 -1.71064234e+01] [-9.77506151e-02 -7.58295809e-04 9.95210652e-01 -9.84282166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.768241008 meters 0.06403274447846391 Centerline is valid? [True, True] Translation: X:75.28, Y:-17.13, Z:-9.85 [[ 8.80863081e-01 4.65354190e-01 8.67508564e-02 7.52796792e+01] [-4.63178414e-01 8.85124362e-01 -4.49513210e-02 -1.71287779e+01] [-9.77035819e-02 -5.85164954e-04 9.95215388e-01 -9.84580061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.798241008 meters 0.0638781635007719 Centerline is valid? [True, True] Translation: X:75.31, Y:-17.15, Z:-9.85 [[ 8.81395119e-01 4.64521681e-01 8.58035657e-02 7.53069374e+01] [-4.62384145e-01 8.85561638e-01 -4.45139072e-02 -1.71468512e+01] [-9.66620212e-02 -4.39867852e-04 9.95317166e-01 -9.85007764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.828241008 meters 0.0638265185326844 Centerline is valid? [True, True] Translation: X:75.33, Y:-17.16, Z:-9.85 [[ 8.81959921e-01 4.63504828e-01 8.54983741e-02 7.53338802e+01] [-4.61375014e-01 8.86094342e-01 -4.43837042e-02 -1.71649629e+01] [-9.63316867e-02 -3.02165258e-04 9.95349243e-01 -9.85464102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.85824100800001 meters 0.06396482482580713 Centerline is valid? [True, True] Translation: X:75.36, Y:-17.19, Z:-9.86 [[ 8.83946481e-01 4.59915309e-01 8.43595130e-02 7.53576739e+01] [-4.57822843e-01 8.87962778e-01 -4.38217896e-02 -1.71858352e+01] [-9.50624195e-02 1.14404632e-04 9.95471307e-01 -9.86280546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.88824100800001 meters 0.06405627874886458 Centerline is valid? [True, True] Translation: X:75.38, Y:-17.20, Z:-9.87 [[ 8.84928943e-01 4.58096770e-01 8.39530506e-02 7.53846011e+01] [-4.56013938e-01 8.88902267e-01 -4.36353970e-02 -1.72042189e+01] [-9.46152914e-02 3.30464492e-04 9.95513856e-01 -9.86740607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.91824100800001 meters 0.06385596287841343 Centerline is valid? [True, True] Translation: X:75.41, Y:-17.22, Z:-9.87 [[ 8.85278246e-01 4.57371025e-01 8.42269182e-02 7.54123176e+01] [-4.55268599e-01 8.89275861e-01 -4.38057732e-02 -1.72215325e+01] [-9.49364566e-02 4.34427000e-04 9.95483240e-01 -9.87005744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94824100800001 meters 0.06367086745882242 Centerline is valid? [True, True] Translation: X:75.44, Y:-17.24, Z:-9.87 [[ 8.84595688e-01 4.58597498e-01 8.47278194e-02 7.54399445e+01] [-4.56472413e-01 8.88644036e-01 -4.40989021e-02 -1.72373985e+01] [-9.55165177e-02 3.33786507e-04 9.95427789e-01 -9.87209421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97824100800001 meters 0.06354726980905255 Centerline is valid? [True, True] Translation: X:75.47, Y:-17.26, Z:-9.87 [[ 8.85135844e-01 4.57445926e-01 8.53098004e-02 7.54675411e+01] [-4.55284875e-01 8.89237314e-01 -4.44148799e-02 -1.72558198e+01] [-9.61780636e-02 4.72940342e-04 9.95364032e-01 -9.87363750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00824100800001 meters 0.06344426064790078 Centerline is valid? [True, True] Translation: X:75.50, Y:-17.27, Z:-9.88 [[ 8.86351077e-01 4.54798924e-01 8.68314818e-02 7.54951646e+01] [-4.52544405e-01 8.90593790e-01 -4.52356314e-02 -1.72736978e+01] [-9.79046950e-02 7.99549338e-04 9.95195474e-01 -9.87569343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03824100800001 meters 0.0637591916920534 Centerline is valid? [True, True] Translation: X:75.52, Y:-17.29, Z:-9.88 [[ 8.87779223e-01 4.51708898e-01 8.83579208e-02 7.55229520e+01] [-4.49356267e-01 8.92164597e-01 -4.60573255e-02 -1.72918160e+01] [-9.96343126e-02 1.18455126e-03 9.95023417e-01 -9.87861177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06824100800002 meters 0.06393069594471021 Centerline is valid? [True, True] Translation: X:75.55, Y:-17.30, Z:-9.88 [[ 8.88797959e-01 4.49603691e-01 8.88521726e-02 7.55526400e+01] [-4.47210443e-01 8.93226951e-01 -4.63512017e-02 -1.73041522e+01] [-1.00204827e-01 1.46123403e-03 9.94965757e-01 -9.88347079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09824100800002 meters 0.064436318592097 Centerline is valid? [True, True] Translation: X:75.58, Y:-17.32, Z:-9.89 [[ 8.88680718e-01 4.50060164e-01 8.77064975e-02 7.55798984e+01] [-4.47727864e-01 8.92997113e-01 -4.57811819e-02 -1.73172985e+01] [-9.89259352e-02 1.41621083e-03 9.95093791e-01 -9.89259821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.128241008 meters 0.06459024037364673 Centerline is valid? [True, True] Translation: X:75.61, Y:-17.33, Z:-9.90 [[ 8.88321555e-01 4.50863863e-01 8.72157781e-02 7.56088098e+01] [-4.48558986e-01 8.92591718e-01 -4.55506342e-02 -1.73296260e+01] [-9.83852162e-02 1.34218924e-03 9.95147501e-01 -9.89887418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.158241008 meters 0.06393090193834615 Centerline is valid? [True, True] Translation: X:75.64, Y:-17.34, Z:-9.90 [[ 8.87376123e-01 4.52800086e-01 8.68084008e-02 7.56398095e+01] [-4.50524607e-01 8.91611347e-01 -4.53517904e-02 -1.73410910e+01] [-9.79346498e-02 1.13477535e-03 9.95192201e-01 -9.89979783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.188241008 meters 0.06381117043805053 Centerline is valid? [True, True] Translation: X:75.67, Y:-17.35, Z:-9.90 [[ 8.86171076e-01 4.55247082e-01 8.63187045e-02 7.56693680e+01] [-4.53006121e-01 8.90364708e-01 -4.51236322e-02 -1.73545175e+01] [-9.73975299e-02 8.84356268e-04 9.95245165e-01 -9.90344406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.218241008 meters 0.06346423950715117 Centerline is valid? [True, True] Translation: X:75.70, Y:-17.37, Z:-9.90 [[ 8.84495075e-01 4.58513673e-01 8.62187544e-02 7.56989162e+01] [-4.56290629e-01 8.88687184e-01 -4.50993522e-02 -1.73672516e+01] [-9.73001716e-02 5.49345255e-04 9.95254930e-01 -9.90470023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24824100800001 meters 0.06332695959828928 Centerline is valid? [True, True] Translation: X:75.73, Y:-17.38, Z:-9.91 [[ 8.83725303e-01 4.59781420e-01 8.73535036e-02 7.57277483e+01] [-4.57502668e-01 8.88032010e-01 -4.57215218e-02 -1.73806142e+01] [-9.85946136e-02 4.40804715e-04 9.95127584e-01 -9.90812713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27824100800001 meters 0.06332087623128096 Centerline is valid? [True, True] Translation: X:75.76, Y:-17.39, Z:-9.91 [[ 8.82424024e-01 4.62221266e-01 8.76318680e-02 7.57566513e+01] [-4.59937424e-01 8.86764605e-01 -4.58922750e-02 -1.73922538e+01] [-9.89212243e-02 1.91270278e-04 9.95095249e-01 -9.91283064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30824100800001 meters 0.06332636274915726 Centerline is valid? [True, True] Translation: X:75.79, Y:-17.41, Z:-9.92 [[ 8.81538897e-01 4.63873630e-01 8.78090505e-02 7.57911212e+01] [-4.61587331e-01 8.85901380e-01 -4.59987039e-02 -1.74091418e+01] [-9.91277448e-02 1.81015098e-05 9.95074716e-01 -9.91761413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33824100800001 meters 0.06343001626847697 Centerline is valid? [True, True] Translation: X:75.82, Y:-17.42, Z:-9.92 [[ 8.80889462e-01 4.65125335e-01 8.77050673e-02 7.58209647e+01] [-4.62842391e-01 8.85244836e-01 -4.60271695e-02 -1.74226589e+01] [-9.90488606e-02 -4.87745083e-05 9.95082570e-01 -9.92159855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36824100800001 meters 0.06360071323787815 Centerline is valid? [True, True] Translation: X:75.85, Y:-17.44, Z:-9.93 [[ 8.80384261e-01 4.66079602e-01 8.77117866e-02 7.58493291e+01] [-4.63798123e-01 8.84742780e-01 -4.60598930e-02 -1.74352697e+01] [-9.90699465e-02 -1.30157128e-04 9.95080463e-01 -9.92736596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39824100800001 meters 0.06356787828763058 Centerline is valid? [True, True] Translation: X:75.88, Y:-17.45, Z:-9.93 [[ 8.80006024e-01 4.66959303e-01 8.68240013e-02 7.58790104e+01] [-4.64725641e-01 8.84278784e-01 -4.56191966e-02 -1.74493843e+01] [-9.80789305e-02 -2.04171817e-04 9.95178618e-01 -9.92947403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42824100800001 meters 0.06384047608495866 Centerline is valid? [True, True] Translation: X:75.91, Y:-17.46, Z:-9.94 [[ 8.79834272e-01 4.67518786e-01 8.55443614e-02 7.59062781e+01] [-4.65350519e-01 8.83983104e-01 -4.49751792e-02 -1.74646166e+01] [-9.66465113e-02 -2.37408920e-04 9.95318741e-01 -9.93640170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45824100800002 meters 0.0635509919056703 Centerline is valid? [True, True] Translation: X:75.93, Y:-17.48, Z:-9.94 [[ 8.80002002e-01 4.67264186e-01 8.52094909e-02 7.59346116e+01] [-4.65109284e-01 8.84117722e-01 -4.48241915e-02 -1.74804321e+01] [-9.62799603e-02 -1.86347025e-04 9.95354276e-01 -9.94007611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48824100800002 meters 0.06387347480642207 Centerline is valid? [True, True] Translation: X:75.96, Y:-17.50, Z:-9.95 [[ 8.80699605e-01 4.65980181e-01 8.50333854e-02 7.59614705e+01] [-4.63825398e-01 8.84795158e-01 -4.47607973e-02 -1.74957797e+01] [-9.60947720e-02 -1.98273109e-05 9.95372189e-01 -9.94619648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.518241008 meters 0.06364090873381795 Centerline is valid? [True, True] Translation: X:75.99, Y:-17.51, Z:-9.95 [[ 8.82068809e-01 4.63145443e-01 8.63186803e-02 7.59901053e+01] [-4.60908757e-01 8.86282234e-01 -4.54633816e-02 -1.75139346e+01] [-9.75588708e-02 3.16795249e-04 9.95229705e-01 -9.94881632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.548241008 meters 0.06366950451204129 Centerline is valid? [True, True] Translation: X:76.02, Y:-17.53, Z:-9.95 [[ 8.83280543e-01 4.60722225e-01 8.68936962e-02 7.60163563e+01] [-4.58440374e-01 8.87544166e-01 -4.58014855e-02 -1.75322685e+01] [-9.82237555e-02 6.19982319e-04 9.95164162e-01 -9.95318837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.578241008 meters 0.0637317525599498 Centerline is valid? [True, True] Translation: X:76.04, Y:-17.55, Z:-9.95 [[ 8.85858402e-01 4.55491849e-01 8.82160203e-02 7.60425722e+01] [-4.53111091e-01 8.90239084e-01 -4.65264710e-02 -1.75532077e+01] [-9.97257774e-02 1.24420808e-03 9.95014181e-01 -9.95368935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60824100800001 meters 0.064204199497495 Centerline is valid? [True, True] Translation: X:76.07, Y:-17.57, Z:-9.96 [[ 8.87443268e-01 4.52345102e-01 8.84779883e-02 7.60684377e+01] [-4.49931400e-01 8.91841494e-01 -4.66956675e-02 -1.75717345e+01] [-1.00030898e-01 1.63073061e-03 9.94982995e-01 -9.95814317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63824100800001 meters 0.06447300060787838 Centerline is valid? [True, True] Translation: X:76.10, Y:-17.59, Z:-9.96 [[ 8.88786630e-01 4.49405225e-01 8.99626092e-02 7.60958988e+01] [-4.46891620e-01 8.93325730e-01 -4.75081081e-02 -1.75903987e+01] [-1.01716306e-01 2.02103510e-03 9.94811393e-01 -9.95990962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66824100800001 meters 0.06500954393409336 Centerline is valid? [True, True] Translation: X:76.12, Y:-17.61, Z:-9.96 [[ 8.90556606e-01 4.46005204e-01 8.93772330e-02 7.61230367e+01] [-4.43504267e-01 8.95027096e-01 -4.72277742e-02 -1.76096329e+01] [-1.01058878e-01 2.41982202e-03 9.94877504e-01 -9.96259496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.69824100800001 meters 0.06666427205692342 Centerline is valid? [True, True] Translation: X:76.15, Y:-17.63, Z:-9.97 [[ 8.93561937e-01 4.39963549e-01 8.93260359e-02 7.61476788e+01] [-4.37431964e-01 8.98010170e-01 -4.72335807e-02 -1.76299561e+01] [-1.00996743e-01 3.13206655e-03 9.94881826e-01 -9.96694891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.72824100800001 meters 0.06793445450865569 Centerline is valid? [True, True] Translation: X:76.17, Y:-17.65, Z:-9.97 [[ 8.95015150e-01 4.37313279e-01 8.77779952e-02 7.61738402e+01] [-4.34854403e-01 8.99302852e-01 -4.64330528e-02 -1.76463325e+01] [-9.92447920e-02 3.38763804e-03 9.95057282e-01 -9.97252434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.75824100800001 meters 0.06813225629666701 Centerline is valid? [True, True] Translation: X:76.20, Y:-17.66, Z:-9.98 [[ 8.96238324e-01 4.34769898e-01 8.79317996e-02 7.62017807e+01] [-4.32288815e-01 9.00534027e-01 -4.65279240e-02 -1.76617974e+01] [-9.94145184e-02 3.68817522e-03 9.95039271e-01 -9.97740050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.78824100800001 meters 0.0689137188116738 Centerline is valid? [True, True] Translation: X:76.23, Y:-17.68, Z:-9.98 [[ 8.96873267e-01 4.33529775e-01 8.75801199e-02 7.62297576e+01] [-4.31060038e-01 9.01131086e-01 -4.63681979e-02 -1.76786113e+01] [-9.90231630e-02 3.83410731e-03 9.95077742e-01 -9.98166797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.81824100800002 meters 0.06814884444810672 Centerline is valid? [True, True] Translation: X:76.26, Y:-17.69, Z:-9.98 [[ 8.97273249e-01 4.32811832e-01 8.70323804e-02 7.62592968e+01] [-4.30366903e-01 9.01475792e-01 -4.61055889e-02 -1.76922274e+01] [-9.84126284e-02 3.91345549e-03 9.95138000e-01 -9.98184743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.84824100800002 meters 0.0680656207329699 Centerline is valid? [True, True] Translation: X:76.29, Y:-17.71, Z:-9.99 [[ 8.97225833e-01 4.32854826e-01 8.73069603e-02 7.62884464e+01] [-4.30391875e-01 9.01455006e-01 -4.62785723e-02 -1.77069658e+01] [-9.87351998e-02 3.94612427e-03 9.95105918e-01 -9.98525691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.878241008 meters 0.06843528456870471 Centerline is valid? [True, True] Translation: X:76.32, Y:-17.72, Z:-9.99 [[ 8.96654067e-01 4.34191776e-01 8.65389322e-02 7.63162584e+01] [-4.31775375e-01 9.00812479e-01 -4.59010081e-02 -1.77213795e+01] [-9.78851903e-02 3.79194569e-03 9.95190490e-01 -9.99025590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.908241008 meters 0.06843528456870471 Centerline is valid? [True, True] Translation: X:76.34, Y:-17.74, Z:-9.99 [[ 8.96545597e-01 4.34417759e-01 8.65286240e-02 7.63445572e+01] [-4.32000535e-01 9.00703532e-01 -4.59204307e-02 -1.77365540e+01] [-9.78852878e-02 3.78934812e-03 9.95190490e-01 -9.99431952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.938241008 meters 0.067118104412013 Centerline is valid? [True, True] Translation: X:76.38, Y:-17.74, Z:-10.00 [[ 8.93942183e-01 4.40055426e-01 8.49623158e-02 7.63759004e+01] [-4.37747774e-01 8.97965124e-01 -4.51167660e-02 -1.77447702e+01] [-9.61470741e-02 3.13971565e-03 9.95362187e-01 -9.99930250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.968241008 meters 0.0666632196468974 Centerline is valid? [True, True] Translation: X:76.41, Y:-17.76, Z:-10.01 [[ 8.92236026e-01 4.43770602e-01 8.35615216e-02 7.64054941e+01] [-4.41552523e-01 8.96136305e-01 -4.43969749e-02 -1.77554685e+01] [-9.45845855e-02 2.71577970e-03 9.95513124e-01 -1.00051202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99824100800001 meters 0.06575263664019124 Centerline is valid? [True, True] Translation: X:76.44, Y:-17.76, Z:-10.01 [[ 8.89546519e-01 4.49275997e-01 8.28134563e-02 7.64365604e+01] [-4.47119218e-01 8.93390472e-01 -4.40212394e-02 -1.77640369e+01] [-9.37624390e-02 2.13145252e-03 9.95592317e-01 -1.00095677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02824100800001 meters 0.06452285262317137 Centerline is valid? [True, True] Translation: X:76.47, Y:-17.77, Z:-10.01 [[ 8.86561577e-01 4.55028173e-01 8.34142199e-02 7.64679070e+01] [-4.52862988e-01 8.90475682e-01 -4.43641081e-02 -1.77724242e+01] [-9.44652534e-02 1.55630082e-03 9.95526943e-01 -1.00131182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05824100800001 meters 0.06400365588043232 Centerline is valid? [True, True] Translation: X:76.50, Y:-17.78, Z:-10.02 [[ 8.83980717e-01 4.59849942e-01 8.43571088e-02 7.64975362e+01] [-4.57654555e-01 8.87995984e-01 -4.48936664e-02 -1.77814212e+01] [-9.55531237e-02 1.07872034e-03 9.95423747e-01 -1.00178958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08824100800001 meters 0.06347345081632252 Centerline is valid? [True, True] Translation: X:76.53, Y:-17.78, Z:-10.02 [[ 8.78512015e-01 4.69863762e-01 8.62825865e-02 7.65319185e+01] [-4.67612308e-01 8.82738945e-01 -4.59421825e-02 -1.77830318e+01] [-9.77515661e-02 1.39599409e-05 9.95210848e-01 -1.00218975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11824100800001 meters 0.06354435335483334 Centerline is valid? [True, True] Translation: X:76.56, Y:-17.79, Z:-10.03 [[ 8.75820152e-01 4.74844671e-01 8.63805540e-02 7.65642808e+01] [-4.72609827e-01 8.80069467e-01 -4.60183006e-02 -1.77918269e+01] [-9.78724330e-02 -5.20543689e-04 9.95198832e-01 -1.00272345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14824100800001 meters 0.06417082119030594 Centerline is valid? [True, True] Translation: X:76.60, Y:-17.80, Z:-10.03 [[ 8.73294365e-01 4.79489967e-01 8.62920843e-02 7.65954996e+01] [-4.77279398e-01 8.77546776e-01 -4.60003466e-02 -1.78010938e+01] [-9.77820450e-02 -1.01359059e-03 9.95207337e-01 -1.00320858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17824100800001 meters 0.06450824988346598 Centerline is valid? [True, True] Translation: X:76.63, Y:-17.81, Z:-10.04 [[ 8.70916822e-01 4.83726662e-01 8.66741364e-02 7.66266633e+01] [-4.81514826e-01 8.75217885e-01 -4.62290548e-02 -1.78109658e+01] [-9.82209807e-02 -1.47322024e-03 9.95163539e-01 -1.00358833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20824100800002 meters 0.06499317336729366 Centerline is valid? [True, True] Translation: X:76.66, Y:-17.82, Z:-10.04 [[ 8.68888594e-01 4.87387316e-01 8.65229188e-02 7.66565329e+01] [-4.85198873e-01 8.73183908e-01 -4.61726742e-02 -1.78235626e+01] [-9.80543961e-02 -1.86191268e-03 9.95179315e-01 -1.00380140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23824100800002 meters 0.06591075188909387 Centerline is valid? [True, True] Translation: X:76.69, Y:-17.84, Z:-10.04 [[ 8.66088572e-01 4.92221125e-01 8.72292923e-02 7.66868654e+01] [-4.90018470e-01 8.70466875e-01 -4.65759517e-02 -1.78353593e+01] [-9.88558768e-02 -2.40506486e-03 9.95098855e-01 -1.00397806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.268241008 meters 0.06665257595574287 Centerline is valid? [True, True] Translation: X:76.72, Y:-17.85, Z:-10.05 [[ 8.65133188e-01 4.93829689e-01 8.76173810e-02 7.67158767e+01] [-4.91612661e-01 8.69554833e-01 -4.68122176e-02 -1.78476121e+01] [-9.93053800e-02 -2.57501081e-03 9.95053672e-01 -1.00451125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.298241008 meters 0.06674000605859164 Centerline is valid? [True, True] Translation: X:76.74, Y:-17.86, Z:-10.05 [[ 8.64769032e-01 4.94518147e-01 8.73288231e-02 7.67442826e+01] [-4.92316615e-01 8.69163348e-01 -4.66843031e-02 -1.78621965e+01] [-9.89892473e-02 -2.62229099e-03 9.95085048e-01 -1.00515004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.328241008 meters 0.0667963368394754 Centerline is valid? [True, True] Translation: X:76.77, Y:-17.88, Z:-10.06 [[ 8.65074971e-01 4.94206577e-01 8.60532019e-02 7.67711799e+01] [-4.92064687e-01 8.69340837e-01 -4.60309982e-02 -1.78778188e+01] [-9.75583846e-02 -2.52347738e-03 9.95226604e-01 -1.00579209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35824100800001 meters 0.06544757282658062 Centerline is valid? [True, True] Translation: X:76.80, Y:-17.90, Z:-10.06 [[ 8.66149773e-01 4.92437340e-01 8.53817123e-02 7.67969660e+01] [-4.90317420e-01 8.70344912e-01 -4.57007930e-02 -1.78985794e+01] [-9.68163158e-02 -2.28040939e-03 9.95299654e-01 -1.00603815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38824100800001 meters 0.06548053122214889 Centerline is valid? [True, True] Translation: X:76.82, Y:-17.92, Z:-10.07 [[ 8.67331696e-01 4.90460095e-01 8.47621597e-02 7.68229408e+01] [-4.88360334e-01 8.71461277e-01 -4.53809156e-02 -1.79166770e+01] [-9.61244681e-02 -2.03417004e-03 9.95367243e-01 -1.00669743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41824100800001 meters 0.0641422255356436 Centerline is valid? [True, True] Translation: X:76.85, Y:-17.94, Z:-10.07 [[ 8.70901767e-01 4.84141194e-01 8.44832361e-02 7.68458442e+01] [-4.82022789e-01 8.74988913e-01 -4.52596128e-02 -1.79423670e+01] [-9.58339379e-02 -1.30616832e-03 9.95396479e-01 -1.00705350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44824100800001 meters 0.06371758002875949 Centerline is valid? [True, True] Translation: X:76.87, Y:-17.96, Z:-10.07 [[ 8.73044603e-01 4.80222245e-01 8.47332087e-02 7.68705545e+01] [-4.78070052e-01 8.77146435e-01 -4.54219927e-02 -1.79637227e+01] [-9.61360832e-02 -8.52983930e-04 9.95367834e-01 -1.00737639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47824100800001 meters 0.06314492770593896 Centerline is valid? [True, True] Translation: X:76.89, Y:-17.99, Z:-10.08 [[ 8.76978717e-01 4.72717704e-01 8.62919579e-02 7.68918760e+01] [-4.70446421e-01 8.81213920e-01 -4.62838285e-02 -1.79915340e+01] [-9.79208597e-02 -5.81021304e-06 9.95194205e-01 -1.00754061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50824100800001 meters 0.06318370810168487 Centerline is valid? [True, True] Translation: X:76.92, Y:-18.01, Z:-10.08 [[ 8.78626434e-01 4.69449933e-01 8.73633264e-02 7.69164806e+01] [-4.67102491e-01 8.82959007e-01 -4.68898213e-02 -1.80123497e+01] [-9.91506594e-02 3.91009164e-04 9.95072356e-01 -1.00786196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.53824100800001 meters 0.06347169522421799 Centerline is valid? [True, True] Translation: X:76.94, Y:-18.03, Z:-10.08 [[ 8.80341796e-01 4.66100202e-01 8.80279707e-02 7.69419888e+01] [-4.63698676e-01 8.84731588e-01 -4.72605038e-02 -1.80327692e+01] [-9.99092567e-02 7.86943321e-04 9.94996242e-01 -1.00824417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.56824100800002 meters 0.06358272496291624 Centerline is valid? [True, True] Translation: X:76.97, Y:-18.05, Z:-10.09 [[ 8.81712232e-01 4.63464830e-01 8.82263581e-02 7.69694625e+01] [-4.61036347e-01 8.86114615e-01 -4.73959522e-02 -1.80527874e+01] [-1.00145022e-01 1.11403295e-03 9.94972227e-01 -1.00874024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.59824100800002 meters 0.06398034810193248 Centerline is valid? [True, True] Translation: X:77.00, Y:-18.07, Z:-10.09 [[ 8.82567964e-01 4.61784092e-01 8.84830034e-02 7.69963781e+01] [-4.59329502e-01 8.86991352e-01 -4.75683800e-02 -1.80710141e+01] [-1.00449980e-01 1.33947441e-03 9.94941208e-01 -1.00913608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.628241008 meters 0.06406463767109521 Centerline is valid? [True, True] Translation: X:77.02, Y:-18.09, Z:-10.10 [[ 8.83664693e-01 4.59595388e-01 8.89313784e-02 7.70242315e+01] [-4.57102123e-01 8.88126937e-01 -4.78350613e-02 -1.80934612e+01] [-1.00967126e-01 1.61943293e-03 9.94888444e-01 -1.00959212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.658241008 meters 0.06464357887815304 Centerline is valid? [True, True] Translation: X:77.05, Y:-18.11, Z:-10.10 [[ 8.84118679e-01 4.58706287e-01 8.90095776e-02 7.70506715e+01] [-4.56199261e-01 8.88586195e-01 -4.79250219e-02 -1.81118831e+01] [-1.01076191e-01 1.76530350e-03 9.94877122e-01 -1.00998150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.688241008 meters 0.06497433817870776 Centerline is valid? [True, True] Translation: X:77.08, Y:-18.13, Z:-10.10 [[ 8.84544121e-01 4.57844657e-01 8.92186546e-02 7.70776838e+01] [-4.55318681e-01 8.89030196e-01 -4.80646403e-02 -1.81296934e+01] [-1.01324217e-01 1.89237484e-03 9.94851658e-01 -1.01041192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.718241008 meters 0.0650268991537892 Centerline is valid? [True, True] Translation: X:77.11, Y:-18.15, Z:-10.11 [[ 8.85088823e-01 4.56863162e-01 8.88472061e-02 7.71052057e+01] [-4.54350358e-01 8.89534688e-01 -4.78935357e-02 -1.81462954e+01] [-1.00913464e-01 2.02227324e-03 9.94893152e-01 -1.01092176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74824100800001 meters 0.06532233332491673 Centerline is valid? [True, True] Translation: X:77.13, Y:-18.16, Z:-10.11 [[ 8.85980886e-01 4.55065077e-01 8.91832141e-02 7.71332367e+01] [-4.52521201e-01 8.90455312e-01 -4.81030017e-02 -1.81610864e+01] [-1.01303663e-01 2.26104482e-03 9.94852982e-01 -1.01147116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77824100800001 meters 0.06581425778931267 Centerline is valid? [True, True] Translation: X:77.16, Y:-18.18, Z:-10.12 [[ 8.85929650e-01 4.55148240e-01 8.92677729e-02 7.71606511e+01] [-4.52597303e-01 8.90412767e-01 -4.81745302e-02 -1.81760786e+01] [-1.01411717e-01 2.27689135e-03 9.94841937e-01 -1.01203330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80824100800001 meters 0.06588339247547577 Centerline is valid? [True, True] Translation: X:77.19, Y:-18.19, Z:-10.12 [[ 8.86040039e-01 4.54927829e-01 8.92956914e-02 7.71883088e+01] [-4.52371407e-01 8.90525269e-01 -4.82167502e-02 -1.81917523e+01] [-1.01455211e-01 2.32715363e-03 9.94837386e-01 -1.01249814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83824100800001 meters 0.06616982201558037 Centerline is valid? [True, True] Translation: X:77.22, Y:-18.21, Z:-10.13 [[ 8.86172645e-01 4.54677937e-01 8.92525414e-02 7.72161161e+01] [-4.52120095e-01 8.90652749e-01 -4.82192903e-02 -1.82086724e+01] [-1.01417269e-01 2.37774855e-03 9.94841135e-01 -1.01282159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86824100800001 meters 0.06647164002962792 Centerline is valid? [True, True] Translation: X:77.24, Y:-18.22, Z:-10.13 [[ 8.86972683e-01 4.53170507e-01 8.89716268e-02 7.72440669e+01] [-4.50618177e-01 8.91420155e-01 -4.80974699e-02 -1.82246126e+01] [-1.01107456e-01 2.56890967e-03 9.94872194e-01 -1.01293992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89824100800001 meters 0.06669067406584879 Centerline is valid? [True, True] Translation: X:77.27, Y:-18.24, Z:-10.13 [[ 8.87278638e-01 4.52460842e-01 8.95310318e-02 7.72730703e+01] [-4.49871197e-01 8.91780247e-01 -4.84138110e-02 -1.82398780e+01] [-1.01747359e-01 2.67910781e-03 9.94806663e-01 -1.01337959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92824100800001 meters 0.06693357384274906 Centerline is valid? [True, True] Translation: X:77.30, Y:-18.25, Z:-10.14 [[ 8.87440055e-01 4.52120759e-01 8.96491394e-02 7.73008059e+01] [-4.49519558e-01 8.91952504e-01 -4.85066677e-02 -1.82536361e+01] [-1.01893646e-01 2.74771830e-03 9.94791503e-01 -1.01390128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95824100800002 meters 0.0673531777391329 Centerline is valid? [True, True] Translation: X:77.33, Y:-18.27, Z:-10.14 [[ 8.87822755e-01 4.51159368e-01 9.06971933e-02 7.73300930e+01] [-4.48489526e-01 8.92438652e-01 -4.90958043e-02 -1.82690270e+01] [-1.03091713e-01 2.91163095e-03 9.94667593e-01 -1.01429643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98824100800002 meters 0.06746921692505203 Centerline is valid? [True, True] Translation: X:77.36, Y:-18.28, Z:-10.15 [[ 8.87930992e-01 4.50922447e-01 9.08157464e-02 7.73584726e+01] [-4.48241420e-01 8.92558197e-01 -4.91883560e-02 -1.82842642e+01] [-1.03238473e-01 2.96848665e-03 9.94652203e-01 -1.01463725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.018241008 meters 0.06750364736698826 Centerline is valid? [True, True] Translation: X:77.39, Y:-18.30, Z:-10.15 [[ 8.87567083e-01 4.51708486e-01 9.04661085e-02 7.73873251e+01] [-4.49049543e-01 8.92160915e-01 -4.90245778e-02 -1.82965118e+01] [-1.02855144e-01 2.88883686e-03 9.94692150e-01 -1.01506695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.048241008 meters 0.06753885782982376 Centerline is valid? [True, True] Translation: X:77.42, Y:-18.31, Z:-10.15 [[ 8.87164355e-01 4.52508305e-01 9.04192453e-02 7.74169726e+01] [-4.49853779e-01 8.91755741e-01 -4.90232115e-02 -1.83096500e+01] [-1.02815291e-01 2.81620665e-03 9.94696479e-01 -1.01549180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.078241008 meters 0.06659235041775731 Centerline is valid? [True, True] Translation: X:77.45, Y:-18.32, Z:-10.16 [[ 8.85924113e-01 4.54943320e-01 9.03606157e-02 7.74471599e+01] [-4.52303755e-01 8.90516769e-01 -4.90020173e-02 -1.83216233e+01] [-1.02760784e-01 2.54162298e-03 9.94702851e-01 -1.01588071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10824100800001 meters 0.06415842931026955 Centerline is valid? [True, True] Translation: X:77.48, Y:-18.33, Z:-10.16 [[ 8.83522121e-01 4.59157611e-01 9.25362127e-02 7.74824164e+01] [-4.56409476e-01 8.88352284e-01 -5.02056854e-02 -1.83262963e+01] [-1.05257078e-01 2.12342933e-03 9.94442778e-01 -1.01552984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13824100800001 meters 0.06393167223726709 Centerline is valid? [True, True] Translation: X:77.51, Y:-18.34, Z:-10.16 [[ 8.81639407e-01 4.62632417e-01 9.31837062e-02 7.75116948e+01] [-4.59862932e-01 8.86548492e-01 -5.05752543e-02 -1.83373173e+01] [-1.06009626e-01 1.73740484e-03 9.94363586e-01 -1.01611905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16824100800001 meters 0.06329970902951491 Centerline is valid? [True, True] Translation: X:77.54, Y:-18.35, Z:-10.17 [[ 8.79753518e-01 4.66216076e-01 9.31467614e-02 7.75435474e+01] [-4.63465809e-01 8.84669883e-01 -5.05830280e-02 -1.83461854e+01] [-1.05986755e-01 1.33025769e-03 9.94366652e-01 -1.01661000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19824100800001 meters 0.06270501933210708 Centerline is valid? [True, True] Translation: X:77.58, Y:-18.35, Z:-10.17 [[ 8.75286154e-01 4.74821924e-01 9.17512375e-02 7.75785268e+01] [-4.72198292e-01 8.80081841e-01 -4.98470282e-02 -1.83477886e+01] [-1.04417060e-01 3.05635910e-04 9.94533551e-01 -1.01704679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22824100800001 meters 0.06258190187894193 Centerline is valid? [True, True] Translation: X:77.61, Y:-18.36, Z:-10.17 [[ 8.72707038e-01 4.79529803e-01 9.18345981e-02 7.76091319e+01] [-4.76925678e-01 8.77525560e-01 -4.99078026e-02 -1.83583783e+01] [-1.04519486e-01 -2.43387368e-04 9.94522809e-01 -1.01749942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25824100800001 meters 0.06267862397791907 Centerline is valid? [True, True] Translation: X:77.64, Y:-18.37, Z:-10.18 [[ 8.70664204e-01 4.83140560e-01 9.22986599e-02 7.76405503e+01] [-4.80528305e-01 8.75542551e-01 -5.01775807e-02 -1.83696721e+01] [-1.05054229e-01 -6.64295244e-04 9.94466273e-01 -1.01777863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28824100800001 meters 0.062946623574821 Centerline is valid? [True, True] Translation: X:77.67, Y:-18.38, Z:-10.18 [[ 8.68664335e-01 4.86736092e-01 9.22510115e-02 7.76714440e+01] [-4.84143467e-01 8.73548413e-01 -5.01824070e-02 -1.83811324e+01] [-1.05011313e-01 -1.07105730e-03 9.94470451e-01 -1.01817006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31824100800002 meters 0.0633066990502675 Centerline is valid? [True, True] Translation: X:77.70, Y:-18.39, Z:-10.19 [[ 8.67221239e-01 4.89305678e-01 9.22348970e-02 7.77020257e+01] [-4.86725258e-01 8.72111298e-01 -5.02036501e-02 -1.83921215e+01] [-1.05004027e-01 -1.35538241e-03 9.94470873e-01 -1.01870261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34824100800002 meters 0.06432003645987411 Centerline is valid? [True, True] Translation: X:77.73, Y:-18.40, Z:-10.19 [[ 8.64596108e-01 4.93964625e-01 9.20462881e-02 7.77345808e+01] [-4.91417898e-01 8.69479945e-01 -5.01305782e-02 -1.83994689e+01] [-1.04795134e-01 -1.89049059e-03 9.94492034e-01 -1.01935046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.378241008 meters 0.06424984986241893 Centerline is valid? [True, True] Translation: X:77.76, Y:-18.42, Z:-10.20 [[ 8.63836552e-01 4.95005760e-01 9.35719486e-02 7.77630130e+01] [-4.92376022e-01 8.68887344e-01 -5.09964249e-02 -1.84152834e+01] [-1.06547006e-01 -2.02000802e-03 9.94305615e-01 -1.01957198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.408241008 meters 0.0644775483506598 Centerline is valid? [True, True] Translation: X:77.79, Y:-18.43, Z:-10.20 [[ 8.63404147e-01 4.95723633e-01 9.37622423e-02 7.77903260e+01] [-4.93084081e-01 8.68477822e-01 -5.11308246e-02 -1.84317212e+01] [-1.06777186e-01 -2.08610307e-03 9.94280786e-01 -1.01984354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.438241008 meters 0.06413898260828098 Centerline is valid? [True, True] Translation: X:77.82, Y:-18.45, Z:-10.20 [[ 8.63696558e-01 4.95155377e-01 9.40712934e-02 7.78171065e+01] [-4.92491757e-01 8.68802145e-01 -5.13293491e-02 -1.84494003e+01] [-1.07145345e-01 -1.99635451e-03 9.94241364e-01 -1.02013100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.468241008 meters 0.06336427914179196 Centerline is valid? [True, True] Translation: X:77.84, Y:-18.47, Z:-10.21 [[ 8.64812937e-01 4.93441875e-01 9.28100181e-02 7.78432761e+01] [-4.90836810e-01 8.69777039e-01 -5.06668388e-02 -1.84694233e+01] [-1.05725163e-01 -1.73723549e-03 9.94393872e-01 -1.02063434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49824100800001 meters 0.06395265346220189 Centerline is valid? [True, True] Translation: X:77.87, Y:-18.48, Z:-10.22 [[ 8.65169974e-01 4.92987955e-01 9.18901062e-02 7.78706724e+01] [-4.90428260e-01 8.70034599e-01 -5.01987913e-02 -1.84837142e+01] [-1.04694971e-01 -1.63501798e-03 9.94503037e-01 -1.02154331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52824100800001 meters 0.06400578675594568 Centerline is valid? [True, True] Translation: X:77.90, Y:-18.50, Z:-10.22 [[ 8.65266740e-01 4.92978043e-01 9.10281110e-02 7.78979625e+01] [-4.90464363e-01 8.70040275e-01 -4.97456449e-02 -1.85007554e+01] [-1.03721633e-01 -1.60279243e-03 9.94605074e-01 -1.02204363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55824100800001 meters 0.06351625947573791 Centerline is valid? [True, True] Translation: X:77.92, Y:-18.52, Z:-10.22 [[ 8.65922136e-01 4.92060911e-01 8.97491726e-02 7.79234373e+01] [-4.89610164e-01 8.70559564e-01 -4.90706884e-02 -1.85230308e+01] [-1.02277768e-01 -1.45071175e-03 9.94754821e-01 -1.02241285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58824100800001 meters 0.06401322495854886 Centerline is valid? [True, True] Translation: X:77.95, Y:-18.54, Z:-10.23 [[ 8.66200333e-01 4.91625296e-01 8.94513869e-02 7.79501282e+01] [-4.89185130e-01 8.70805778e-01 -4.89408385e-02 -1.85383877e+01] [-1.01955339e-01 -1.36571774e-03 9.94788040e-01 -1.02327792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61824100800001 meters 0.0639056291232019 Centerline is valid? [True, True] Translation: X:77.98, Y:-18.56, Z:-10.24 [[ 8.66281452e-01 4.91728461e-01 8.80884006e-02 7.79772307e+01] [-4.89361095e-01 8.70747564e-01 -4.82120109e-02 -1.85554602e+01] [-1.00409978e-01 -1.34186537e-03 9.94945243e-01 -1.02374482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64824100800001 meters 0.06385688779627893 Centerline is valid? [True, True] Translation: X:78.00, Y:-18.57, Z:-10.24 [[ 8.66312738e-01 4.91815425e-01 8.72916212e-02 7.80049313e+01] [-4.89488820e-01 8.70698484e-01 -4.78000607e-02 -1.85722859e+01] [-9.95134894e-02 -1.31847116e-03 9.95035340e-01 -1.02414380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67824100800001 meters 0.06406212554937388 Centerline is valid? [True, True] Translation: X:78.03, Y:-18.59, Z:-10.25 [[ 8.66314270e-01 4.91849455e-01 8.70844390e-02 7.80321811e+01] [-4.89531152e-01 8.70679298e-01 -4.77159397e-02 -1.85874903e+01] [-9.92916772e-02 -1.29354635e-03 9.95057531e-01 -1.02482497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70824100800002 meters 0.06384349358146199 Centerline is valid? [True, True] Translation: X:78.06, Y:-18.61, Z:-10.25 [[ 8.66596733e-01 4.91464218e-01 8.64466583e-02 7.80597297e+01] [-4.89175373e-01 8.70896917e-01 -4.73921413e-02 -1.86073115e+01] [-9.85776699e-02 -1.21770148e-03 9.95128615e-01 -1.02509056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73824100800002 meters 0.06373212442401222 Centerline is valid? [True, True] Translation: X:78.08, Y:-18.63, Z:-10.26 [[ 8.67803660e-01 4.89735141e-01 8.41207421e-02 7.80838058e+01] [-4.87556679e-01 8.71870726e-01 -4.61510821e-02 -1.86284407e+01] [-9.59442192e-02 -9.63551650e-04 9.95386246e-01 -1.02571607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.768241008 meters 0.06394395314061595 Centerline is valid? [True, True] Translation: X:78.11, Y:-18.65, Z:-10.26 [[ 8.68440337e-01 4.88672317e-01 8.37302046e-02 7.81102132e+01] [-4.86506419e-01 8.72467018e-01 -4.59652733e-02 -1.86457842e+01] [-9.55137985e-02 -8.17184550e-04 9.95427771e-01 -1.02639506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.798241008 meters 0.06394395314061595 Centerline is valid? [True, True] Translation: X:78.14, Y:-18.66, Z:-10.27 [[ 8.68319802e-01 4.88887534e-01 8.37239505e-02 7.81382632e+01] [-4.86721535e-01 8.72346430e-01 -4.59766618e-02 -1.86614026e+01] [-9.55137061e-02 -8.27803885e-04 9.95427771e-01 -1.02680060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.828241008 meters 0.06347115200286597 Centerline is valid? [True, True] Translation: X:78.17, Y:-18.68, Z:-10.27 [[ 8.69000857e-01 4.87710836e-01 8.35203620e-02 7.81665473e+01] [-4.85547647e-01 8.73004974e-01 -4.58889803e-02 -1.86817255e+01] [-9.52942443e-02 -6.75552069e-04 9.95448919e-01 -1.02695929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85824100800001 meters 0.0633240275712093 Centerline is valid? [True, True] Translation: X:78.19, Y:-18.70, Z:-10.27 [[ 8.70216857e-01 4.85480186e-01 8.38547035e-02 7.81906254e+01] [-4.83285459e-01 8.74247579e-01 -4.61122042e-02 -1.87016504e+01] [-9.56963330e-02 -3.98141490e-04 9.95410495e-01 -1.02746561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88824100800001 meters 0.06329644360534205 Centerline is valid? [True, True] Translation: X:78.22, Y:-18.72, Z:-10.28 [[ 8.70826479e-01 4.84294665e-01 8.43796182e-02 7.82176245e+01] [-4.82064323e-01 8.74904918e-01 -4.64259931e-02 -1.87201546e+01] [-9.63080038e-02 -2.47419312e-04 9.95351550e-01 -1.02787727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91824100800001 meters 0.06338958634992585 Centerline is valid? [True, True] Translation: X:78.25, Y:-18.74, Z:-10.28 [[ 8.71067634e-01 4.83877768e-01 8.42821642e-02 7.82454311e+01] [-4.81648048e-01 8.75135575e-01 -4.63991772e-02 -1.87373439e+01] [-9.62098505e-02 -1.77518347e-04 9.95361057e-01 -1.02836806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94824100800001 meters 0.06343670580815731 Centerline is valid? [True, True] Translation: X:78.27, Y:-18.75, Z:-10.29 [[ 8.70651892e-01 4.84644724e-01 8.41711057e-02 7.82725086e+01] [-4.82421427e-01 8.74711059e-01 -4.63694934e-02 -1.87526452e+01] [-9.60981273e-02 -2.34257759e-04 9.95371838e-01 -1.02896864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97824100800001 meters 0.06343820734745302 Centerline is valid? [True, True] Translation: X:78.30, Y:-18.77, Z:-10.29 [[ 8.70330095e-01 4.85251306e-01 8.40041417e-02 7.83014133e+01] [-4.83038272e-01 8.74374683e-01 -4.62919059e-02 -1.87687758e+01] [-9.59143026e-02 -2.87976696e-04 9.95389554e-01 -1.02931135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00824100800001 meters 0.06341232042005189 Centerline is valid? [True, True] Translation: X:78.33, Y:-18.78, Z:-10.30 [[ 8.69654883e-01 4.86285129e-01 8.50126921e-02 7.83290085e+01] [-4.84020540e-01 8.73800108e-01 -4.68773800e-02 -1.87840333e+01] [-9.70798724e-02 -3.80746673e-04 9.95276521e-01 -1.02958186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03824100800001 meters 0.0635467579327242 Centerline is valid? [True, True] Translation: X:78.36, Y:-18.80, Z:-10.30 [[ 8.68212474e-01 4.88893139e-01 8.47973991e-02 7.83568029e+01] [-4.86650040e-01 8.72343440e-01 -4.67831258e-02 -1.87995950e+01] [-9.68444041e-02 -6.48964307e-04 9.95299322e-01 -1.02999749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06824100800002 meters 0.06396374539857952 Centerline is valid? [True, True] Translation: X:78.38, Y:-18.81, Z:-10.31 [[ 8.67380041e-01 4.90448477e-01 8.43336022e-02 7.83847468e+01] [-4.88234536e-01 8.71469828e-01 -4.65550881e-02 -1.88127237e+01] [-9.63270619e-02 -7.93622892e-04 9.95349420e-01 -1.03058868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09824100800002 meters 0.06398437222786035 Centerline is valid? [True, True] Translation: X:78.41, Y:-18.83, Z:-10.31 [[ 8.67986279e-01 4.89591095e-01 8.30685239e-02 7.84117521e+01] [-4.87438102e-01 8.71951892e-01 -4.58693295e-02 -1.88301798e+01] [-9.48889718e-02 -6.76815013e-04 9.95487632e-01 -1.03103953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.128241008 meters 0.06336995758754552 Centerline is valid? [True, True] Translation: X:78.44, Y:-18.85, Z:-10.31 [[ 8.68720883e-01 4.88274540e-01 8.31384423e-02 7.84384514e+01] [-4.86109581e-01 8.72689929e-01 -4.59321654e-02 -1.88496415e+01] [-9.49815882e-02 -5.12162101e-04 9.95478898e-01 -1.03092076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.158241008 meters 0.06376765044181125 Centerline is valid? [True, True] Translation: X:78.47, Y:-18.87, Z:-10.32 [[ 8.69882639e-01 4.86142244e-01 8.34860007e-02 7.84657534e+01] [-4.83946643e-01 8.73879656e-01 -4.61518549e-02 -1.88687624e+01] [-9.53930839e-02 -2.56072467e-04 9.95439649e-01 -1.03163864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.188241008 meters 0.06369570150237577 Centerline is valid? [True, True] Translation: X:78.50, Y:-18.89, Z:-10.32 [[ 8.70037494e-01 4.85878770e-01 8.34061206e-02 7.84961659e+01] [-4.83683058e-01 8.74026191e-01 -4.61401930e-02 -1.88869342e+01] [-9.53176741e-02 -1.98429633e-04 9.95446885e-01 -1.03204017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.218241008 meters 0.06365358677031667 Centerline is valid? [True, True] Translation: X:78.52, Y:-18.90, Z:-10.32 [[ 8.70282376e-01 4.85382158e-01 8.37421390e-02 7.85225149e+01] [-4.83161918e-01 8.74302093e-01 -4.63725238e-02 -1.89017819e+01] [-9.57243230e-02 -1.03822348e-04 9.95407878e-01 -1.03249612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24824100800001 meters 0.06352867298527232 Centerline is valid? [True, True] Translation: X:78.55, Y:-18.92, Z:-10.33 [[ 8.71201935e-01 4.83470748e-01 8.52245543e-02 7.85494602e+01] [-4.81159819e-01 8.75360509e-01 -4.72144941e-02 -1.89195884e+01] [-9.74290359e-02 1.26727479e-04 9.95242466e-01 -1.03274212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27824100800001 meters 0.06345556192846262 Centerline is valid? [True, True] Translation: X:78.58, Y:-18.94, Z:-10.33 [[ 8.71603524e-01 4.82600061e-01 8.60492740e-02 7.85778504e+01] [-4.80237209e-01 8.75840807e-01 -4.76980542e-02 -1.89371031e+01] [-9.83845495e-02 2.49728974e-04 9.95148440e-01 -1.03313781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30824100800001 meters 0.06304287970388696 Centerline is valid? [True, True] Translation: X:78.61, Y:-18.95, Z:-10.33 [[ 8.71825501e-01 4.82311106e-01 8.54183366e-02 7.86060982e+01] [-4.79978433e-01 8.75999944e-01 -4.73793315e-02 -1.89531698e+01] [-9.76780359e-02 3.07550072e-04 9.95218020e-01 -1.03309363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33824100800001 meters 0.063437733587664 Centerline is valid? [True, True] Translation: X:78.63, Y:-18.97, Z:-10.34 [[ 8.72057804e-01 4.81724847e-01 8.63502110e-02 7.86328517e+01] [-4.79335130e-01 8.76322435e-01 -4.79251882e-02 -1.89700057e+01] [-9.87573810e-02 4.02844763e-04 9.95111460e-01 -1.03383949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36824100800001 meters 0.06268185862887969 Centerline is valid? [True, True] Translation: X:78.66, Y:-18.99, Z:-10.33 [[ 8.71958594e-01 4.81854948e-01 8.66257405e-02 7.86621711e+01] [-4.79449059e-01 8.76250904e-01 -4.80931667e-02 -1.89859950e+01] [-9.90798137e-02 4.02620215e-04 9.95079408e-01 -1.03348192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.39824100800001 meters 0.06334916512908162 Centerline is valid? [True, True] Translation: X:78.69, Y:-19.00, Z:-10.34 [[ 8.72309101e-01 4.81036831e-01 8.76378860e-02 7.86879363e+01] [-4.78566775e-01 8.76700226e-01 -4.86883579e-02 -1.90034211e+01] [-1.00253048e-01 5.30717325e-04 9.94961831e-01 -1.03436909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.42824100800001 meters 0.06270836844823274 Centerline is valid? [True, True] Translation: X:78.72, Y:-19.02, Z:-10.34 [[ 8.72379364e-01 4.80822021e-01 8.81159997e-02 7.87179029e+01] [-4.78322121e-01 8.76818029e-01 -4.89703310e-02 -1.90186478e+01] [-1.00807711e-01 5.72874413e-04 9.94905763e-01 -1.03405190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45824100800002 meters 0.06271463079827953 Centerline is valid? [True, True] Translation: X:78.75, Y:-19.03, Z:-10.35 [[ 8.72391616e-01 4.81039989e-01 8.67951452e-02 7.87460470e+01] [-4.78612818e-01 8.76698471e-01 -4.82655293e-02 -1.90336755e+01] [-9.93108208e-02 5.65174078e-04 9.95056301e-01 -1.03457051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48824100800002 meters 0.06314629093263202 Centerline is valid? [True, True] Translation: X:78.78, Y:-19.05, Z:-10.35 [[ 8.72486828e-01 4.81007360e-01 8.60154298e-02 7.87753510e+01] [-4.78620846e-01 8.76716359e-01 -4.78592902e-02 -1.90470235e+01] [-9.84318053e-02 5.87822527e-04 9.95143625e-01 -1.03522771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.518241008 meters 0.06304988006790573 Centerline is valid? [True, True] Translation: X:78.80, Y:-19.06, Z:-10.36 [[ 8.72313058e-01 4.81408464e-01 8.55325690e-02 7.88046744e+01] [-4.79047924e-01 8.76496191e-01 -4.76184144e-02 -1.90627370e+01] [-9.78928787e-02 5.63965050e-04 9.95196798e-01 -1.03566843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.548241008 meters 0.0630262008187271 Centerline is valid? [True, True] Translation: X:78.83, Y:-19.08, Z:-10.36 [[ 8.71854292e-01 4.82231620e-01 8.55731192e-02 7.88335121e+01] [-4.79869470e-01 8.76043614e-01 -4.76747201e-02 -1.90786058e+01] [-9.79560421e-02 5.01481978e-04 9.95190616e-01 -1.03599661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.578241008 meters 0.06277818602863042 Centerline is valid? [True, True] Translation: X:78.86, Y:-19.09, Z:-10.36 [[ 8.71128473e-01 4.83700339e-01 8.46709228e-02 7.88646305e+01] [-4.81392217e-01 8.75233601e-01 -4.71982816e-02 -1.90938778e+01] [-9.69366614e-02 3.55843760e-04 9.95290489e-01 -1.03621892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60824100800001 meters 0.06268107804067455 Centerline is valid? [True, True] Translation: X:78.89, Y:-19.11, Z:-10.37 [[ 8.70889315e-01 4.84009030e-01 8.53642825e-02 7.88928672e+01] [-4.81660339e-01 8.75062929e-01 -4.76255001e-02 -1.91080117e+01] [-9.77502912e-02 3.59949822e-04 9.95210908e-01 -1.03657647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63824100800001 meters 0.06279863958072805 Centerline is valid? [True, True] Translation: X:78.92, Y:-19.12, Z:-10.37 [[ 8.70767277e-01 4.84259649e-01 8.51876835e-02 7.89222740e+01] [-4.81919267e-01 8.74924263e-01 -4.75536854e-02 -1.91235731e+01] [-9.75611023e-02 3.54607102e-04 9.95229474e-01 -1.03711833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66824100800001 meters 0.06285148633558202 Centerline is valid? [True, True] Translation: X:78.95, Y:-19.14, Z:-10.38 [[ 8.70405937e-01 4.84863277e-01 8.54465122e-02 7.89523372e+01] [-4.82508330e-01 8.74589905e-01 -4.77305875e-02 -1.91394430e+01] [-9.78734661e-02 3.16332857e-04 9.95198817e-01 -1.03754855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69824100800001 meters 0.06286333511702694 Centerline is valid? [True, True] Translation: X:78.98, Y:-19.15, Z:-10.38 [[ 8.70334028e-01 4.84949733e-01 8.56880146e-02 7.89809577e+01] [-4.82577968e-01 8.74541960e-01 -4.79047504e-02 -1.91545436e+01] [-9.81691601e-02 3.41986450e-04 9.95169684e-01 -1.03788397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72824100800001 meters 0.06292565843246371 Centerline is valid? [True, True] Translation: X:79.01, Y:-19.17, Z:-10.38 [[ 8.70075308e-01 4.85357575e-01 8.60057183e-02 7.90090922e+01] [-4.82967077e-01 8.74315687e-01 -4.81132304e-02 -1.91689346e+01] [-9.85482694e-02 3.24203393e-04 9.95132219e-01 -1.03838170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75824100800001 meters 0.06294300093229262 Centerline is valid? [True, True] Translation: X:79.04, Y:-19.18, Z:-10.39 [[ 8.69485083e-01 4.86292212e-01 8.66924213e-02 7.90382543e+01] [-4.83865198e-01 8.73796215e-01 -4.85246814e-02 -1.91832544e+01] [-9.93486842e-02 2.44040967e-04 9.95052652e-01 -1.03866113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78824100800001 meters 0.06297909448688659 Centerline is valid? [True, True] Translation: X:79.07, Y:-19.20, Z:-10.39 [[ 8.69221433e-01 4.86784119e-01 8.65755307e-02 7.90660192e+01] [-4.84363259e-01 8.73522281e-01 -4.84876981e-02 -1.91991142e+01] [-9.92286965e-02 2.12540128e-04 9.95064631e-01 -1.03902033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81824100800002 meters 0.06291600122064178 Centerline is valid? [True, True] Translation: X:79.09, Y:-19.21, Z:-10.39 [[ 8.68937030e-01 4.87264448e-01 8.67282864e-02 7.90945644e+01] [-4.84834662e-01 8.73254444e-01 -4.86006810e-02 -1.92145579e+01] [-9.94172455e-02 1.82051944e-04 9.95045817e-01 -1.03921807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84824100800002 meters 0.06283543194783325 Centerline is valid? [True, True] Translation: X:79.12, Y:-19.23, Z:-10.40 [[ 8.68777719e-01 4.87513582e-01 8.69240098e-02 7.91236285e+01] [-4.85071044e-01 8.73115385e-01 -4.87401982e-02 -1.92296469e+01] [-9.96561988e-02 1.80078028e-04 9.95021914e-01 -1.03972426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.878241008 meters 0.06309110885053422 Centerline is valid? [True, True] Translation: X:79.15, Y:-19.24, Z:-10.40 [[ 8.68722147e-01 4.87793895e-01 8.59008007e-02 7.91522366e+01] [-4.85407122e-01 8.72958812e-01 -4.81958435e-02 -1.92433473e+01] [-9.84974991e-02 1.71936250e-04 9.95137284e-01 -1.04035281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.908241008 meters 0.06317313802295713 Centerline is valid? [True, True] Translation: X:79.18, Y:-19.26, Z:-10.41 [[ 8.68400853e-01 4.88373466e-01 8.58563714e-02 7.91804879e+01] [-4.85989211e-01 8.72634712e-01 -4.81990306e-02 -1.92583426e+01] [-9.84603776e-02 1.30809055e-04 9.95140963e-01 -1.04088894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.938241008 meters 0.06315001573934118 Centerline is valid? [True, True] Translation: X:79.21, Y:-19.27, Z:-10.41 [[ 8.67436393e-01 4.90145614e-01 8.55066149e-02 7.92104197e+01] [-4.87786520e-01 8.71640565e-01 -4.80316124e-02 -1.92713879e+01] [-9.80735183e-02 -4.46055794e-05 9.95179171e-01 -1.04130894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.968241008 meters 0.06314320448741338 Centerline is valid? [True, True] Translation: X:79.24, Y:-19.29, Z:-10.42 [[ 8.66612702e-01 4.91364424e-01 8.68529148e-02 7.92379179e+01] [-4.88933220e-01 8.70954062e-01 -4.88193383e-02 -1.92850168e+01] [-9.96329850e-02 -1.57816711e-04 9.95024243e-01 -1.04177848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99824100800001 meters 0.0629874492402159 Centerline is valid? [True, True] Translation: X:79.27, Y:-19.30, Z:-10.42 [[ 8.65903201e-01 4.92447355e-01 8.77909385e-02 7.92665503e+01] [-4.89966404e-01 8.70342193e-01 -4.93699389e-02 -1.93009008e+01] [-1.00720254e-01 -2.65022268e-04 9.94914750e-01 -1.04196582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02824100800001 meters 0.06296896555141543 Centerline is valid? [True, True] Translation: X:79.30, Y:-19.32, Z:-10.42 [[ 8.65166687e-01 4.93668397e-01 8.81936394e-02 7.92954266e+01] [-4.91168008e-01 8.69650140e-01 -4.96248006e-02 -1.93166791e+01] [-1.01195807e-01 -3.84169933e-04 9.94866454e-01 -1.04226338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05824100800001 meters 0.06281363688074405 Centerline is valid? [True, True] Translation: X:79.33, Y:-19.33, Z:-10.43 [[ 8.64358785e-01 4.94821894e-01 8.96391858e-02 7.93261836e+01] [-4.92241971e-01 8.68994269e-01 -5.04658492e-02 -1.93341444e+01] [-1.02867546e-01 -5.03569403e-04 9.94694935e-01 -1.04250278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08824100800001 meters 0.06318802520882673 Centerline is valid? [True, True] Translation: X:79.36, Y:-19.35, Z:-10.43 [[ 8.62997976e-01 4.97322704e-01 8.89079422e-02 7.93558002e+01] [-4.94793196e-01 8.67565306e-01 -5.01012304e-02 -1.93467990e+01] [-1.02049925e-01 -7.53784380e-04 9.94778993e-01 -1.04326833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11824100800001 meters 0.06310458128108265 Centerline is valid? [True, True] Translation: X:79.38, Y:-19.36, Z:-10.44 [[ 8.62313595e-01 4.98535170e-01 8.87578066e-02 7.93846066e+01] [-4.96017283e-01 8.66869040e-01 -5.00492035e-02 -1.93618305e+01] [-1.01892683e-01 -8.67297506e-04 9.94795019e-01 -1.04356046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14824100800001 meters 0.0633843853469247 Centerline is valid? [True, True] Translation: X:79.41, Y:-19.38, Z:-10.44 [[ 8.61440796e-01 5.00178592e-01 8.79836973e-02 7.94134063e+01] [-4.97709963e-01 8.65921662e-01 -4.96434158e-02 -1.93754592e+01] [-1.01017563e-01 -1.02549911e-03 9.94884114e-01 -1.04420276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17824100800001 meters 0.06406200926817922 Centerline is valid? [True, True] Translation: X:79.44, Y:-19.39, Z:-10.45 [[ 8.59587675e-01 5.03621811e-01 8.64528787e-02 7.94433628e+01] [-5.01253176e-01 8.63923124e-01 -4.88066557e-02 -1.93887314e+01] [-9.92687374e-02 -1.38118029e-03 9.95059702e-01 -1.04492083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20824100800002 meters 0.06406200926817922 Centerline is valid? [True, True] Translation: X:79.47, Y:-19.40, Z:-10.45 [[ 8.59455095e-01 5.03850300e-01 8.64396543e-02 7.94712209e+01] [-5.01480464e-01 8.63789887e-01 -4.88300640e-02 -1.94046644e+01] [-9.92687416e-02 -1.38055058e-03 9.95059702e-01 -1.04532715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23824100800002 meters 0.06430947100618968 Centerline is valid? [True, True] Translation: X:79.50, Y:-19.42, Z:-10.46 [[ 8.59149921e-01 5.04455173e-01 8.59441218e-02 7.94985521e+01] [-5.02112261e-01 8.63436726e-01 -4.85828902e-02 -1.94199461e+01] [-9.87152015e-02 -1.41361107e-03 9.95114722e-01 -1.04585409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.268241008 meters 0.0636294883562414 Centerline is valid? [True, True] Translation: X:79.52, Y:-19.44, Z:-10.46 [[ 8.59681941e-01 5.03159424e-01 8.81904426e-02 7.95247931e+01] [-5.00683535e-01 8.64192657e-01 -4.98703232e-02 -1.94391154e+01] [-1.01306256e-01 -1.28288629e-03 9.94854460e-01 -1.04598825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.298241008 meters 0.06361671019884377 Centerline is valid? [True, True] Translation: X:79.55, Y:-19.46, Z:-10.46 [[ 8.59864501e-01 5.02800857e-01 8.84552872e-02 7.95513341e+01] [-5.00305168e-01 8.64401418e-01 -5.00492397e-02 -1.94557361e+01] [-1.01625676e-01 -1.21907282e-03 9.94821962e-01 -1.04634249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.328241008 meters 0.06325165259591872 Centerline is valid? [True, True] Translation: X:79.58, Y:-19.48, Z:-10.47 [[ 8.60212411e-01 5.02121921e-01 8.89279717e-02 7.95803990e+01] [-4.99593294e-01 8.64796111e-01 -5.03410989e-02 -1.94759120e+01] [-1.02181933e-01 -1.12378027e-03 9.94765093e-01 -1.04659034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35824100800001 meters 0.06299864649400523 Centerline is valid? [True, True] Translation: X:79.61, Y:-19.50, Z:-10.47 [[ 8.61326733e-01 5.00172904e-01 8.91253312e-02 7.96050978e+01] [-4.97617774e-01 8.65925134e-01 -5.04996367e-02 -1.94951220e+01] [-1.02434414e-01 -8.53661856e-04 9.94739394e-01 -1.04704743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38824100800001 meters 0.0629243219349955 Centerline is valid? [True, True] Translation: X:79.63, Y:-19.51, Z:-10.47 [[ 8.61929495e-01 4.99087160e-01 8.93842978e-02 7.96336839e+01] [-4.96508711e-01 8.66551505e-01 -5.06713930e-02 -1.95137431e+01] [-1.02745539e-01 -7.04914352e-04 9.94707423e-01 -1.04740590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41824100800001 meters 0.06283784139123243 Centerline is valid? [True, True] Translation: X:79.66, Y:-19.53, Z:-10.48 [[ 8.62026897e-01 4.98840620e-01 8.98201748e-02 7.96616327e+01] [-4.96231326e-01 8.66693499e-01 -5.09592888e-02 -1.95308581e+01] [-1.03267125e-01 -6.43306823e-04 9.94653451e-01 -1.04789242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44824100800001 meters 0.06276006083954928 Centerline is valid? [True, True] Translation: X:79.69, Y:-19.55, Z:-10.48 [[ 8.62165038e-01 4.98374534e-01 9.10728857e-02 7.96881154e+01] [-4.95685846e-01 8.66961649e-01 -5.17014649e-02 -1.95499136e+01] [-1.04723393e-01 -5.68344984e-04 9.94501226e-01 -1.04815626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47824100800001 meters 0.06256919418165378 Centerline is valid? [True, True] Translation: X:79.72, Y:-19.57, Z:-10.48 [[ 8.62366024e-01 4.98113178e-01 9.05985794e-02 7.97154631e+01] [-4.95447597e-01 8.67111877e-01 -5.14652545e-02 -1.95687717e+01] [-1.04194626e-01 -5.04961549e-04 9.94556798e-01 -1.04841460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50824100800001 meters 0.06265787718568616 Centerline is valid? [True, True] Translation: X:79.74, Y:-19.59, Z:-10.49 [[ 8.62438469e-01 4.98050660e-01 9.02520169e-02 7.97413397e+01] [-4.95401879e-01 8.67147808e-01 -5.12996861e-02 -1.95862606e+01] [-1.03811681e-01 -4.68196057e-04 9.94596861e-01 -1.04888868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53824100800001 meters 0.06253586645619738 Centerline is valid? [True, True] Translation: X:79.77, Y:-19.60, Z:-10.49 [[ 8.62445782e-01 4.97955036e-01 9.07086304e-02 7.97690978e+01] [-4.95275727e-01 8.67202741e-01 -5.15883702e-02 -1.96039416e+01] [-1.04351462e-01 -4.33610647e-04 9.94540389e-01 -1.04925632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56824100800002 meters 0.06261479200450844 Centerline is valid? [True, True] Translation: X:79.80, Y:-19.62, Z:-10.50 [[ 8.63147891e-01 4.96668025e-01 9.10856314e-02 7.97954918e+01] [-4.93956032e-01 8.67940556e-01 -5.18327037e-02 -1.96218932e+01] [-1.04800560e-01 -2.53008245e-04 9.94493227e-01 -1.04976357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59824100800002 meters 0.06253766323581143 Centerline is valid? [True, True] Translation: X:79.82, Y:-19.64, Z:-10.50 [[ 8.63454116e-01 4.96216913e-01 9.06408556e-02 7.98233514e+01] [-4.93525888e-01 8.68198563e-01 -5.16086417e-02 -1.96392869e+01] [-1.04303341e-01 -1.71914689e-04 9.94545516e-01 -1.05010489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.628241008 meters 0.06261898181297279 Centerline is valid? [True, True] Translation: X:79.85, Y:-19.66, Z:-10.51 [[ 8.63319030e-01 4.96522903e-01 9.02510859e-02 7.98509492e+01] [-4.93853412e-01 8.68023602e-01 -5.14182269e-02 -1.96554496e+01] [-1.03870400e-01 -1.80472891e-04 9.94590824e-01 -1.05061677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.658241008 meters 0.06295338904617523 Centerline is valid? [True, True] Translation: X:79.88, Y:-19.67, Z:-10.51 [[ 8.63408617e-01 4.96675083e-01 8.85405082e-02 7.98778608e+01] [-4.94103724e-01 8.67936538e-01 -5.04745053e-02 -1.96713539e+01] [-1.01916971e-01 -1.68072043e-04 9.94792894e-01 -1.05120894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.688241008 meters 0.06289261009430148 Centerline is valid? [True, True] Translation: X:79.91, Y:-19.69, Z:-10.52 [[ 8.63117913e-01 4.97273259e-01 8.80157600e-02 7.99063041e+01] [-4.94732703e-01 8.67593949e-01 -5.02025122e-02 -1.96877322e+01] [-1.01326308e-01 -2.13587293e-04 9.94853222e-01 -1.05171435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.718241008 meters 0.06289261009430148 Centerline is valid? [True, True] Translation: X:79.93, Y:-19.70, Z:-10.52 [[ 8.62988695e-01 4.97500151e-01 8.80006325e-02 7.99340829e+01] [-4.94958070e-01 8.67463864e-01 -5.02290134e-02 -1.97037836e+01] [-1.01326310e-01 -2.09552451e-04 9.94853223e-01 -1.05212086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74824100800001 meters 0.06284279204322293 Centerline is valid? [True, True] Translation: X:79.96, Y:-19.72, Z:-10.52 [[ 8.62460404e-01 4.98422774e-01 8.79590233e-02 7.99630633e+01] [-4.95884787e-01 8.66934054e-01 -5.02356890e-02 -1.97195382e+01] [-1.01293284e-01 -2.91248916e-04 9.94856565e-01 -1.05247714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77824100800001 meters 0.0629847286479753 Centerline is valid? [True, True] Translation: X:79.99, Y:-19.74, Z:-10.53 [[ 8.62111519e-01 4.98943825e-01 8.84239121e-02 7.99913951e+01] [-4.96378489e-01 8.66634267e-01 -5.05316122e-02 -1.97352018e+01] [-1.01843628e-01 -3.27842916e-04 9.94800366e-01 -1.05316029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80824100800001 meters 0.06301576105688798 Centerline is valid? [True, True] Translation: X:80.02, Y:-19.75, Z:-10.54 [[ 8.62315155e-01 4.98462487e-01 8.91500020e-02 8.00204193e+01] [-4.95848684e-01 8.66911235e-01 -5.09803248e-02 -1.97506090e+01] [-1.02696918e-01 -2.43804497e-04 9.94712664e-01 -1.05357841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83824100800001 meters 0.06301275247228147 Centerline is valid? [True, True] Translation: X:80.05, Y:-19.77, Z:-10.54 [[ 8.62572932e-01 4.98034923e-01 8.90457861e-02 8.00488384e+01] [-4.95421875e-01 8.67156957e-01 -5.09507375e-02 -1.97669511e+01] [-1.02591920e-01 -1.66503303e-04 9.94723515e-01 -1.05402906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86824100800001 meters 0.06304384270492502 Centerline is valid? [True, True] Translation: X:80.08, Y:-19.78, Z:-10.55 [[ 8.62920101e-01 4.97326904e-01 8.96373258e-02 8.00762983e+01] [-4.94671952e-01 8.67563224e-01 -5.13197109e-02 -1.97842323e+01] [-1.03288720e-01 -5.62608259e-05 9.94651415e-01 -1.05450519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89824100800001 meters 0.0630156118445075 Centerline is valid? [True, True] Translation: X:80.10, Y:-19.80, Z:-10.55 [[ 8.63525250e-01 4.96349030e-01 8.92288256e-02 8.01032709e+01] [-4.93709726e-01 8.68123051e-01 -5.11182402e-02 -1.98021615e+01] [-1.02834089e-01 8.87520309e-05 9.94698518e-01 -1.05480312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92824100800001 meters 0.06277522021639541 Centerline is valid? [True, True] Translation: X:80.13, Y:-19.82, Z:-10.55 [[ 8.64152901e-01 4.95173257e-01 8.96839407e-02 8.01298416e+01] [-4.92497368e-01 8.68794210e-01 -5.14097579e-02 -1.98217671e+01] [-1.03373626e-01 2.56786636e-04 9.94642563e-01 -1.05506654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95824100800002 meters 0.06298000123589699 Centerline is valid? [True, True] Translation: X:80.16, Y:-19.84, Z:-10.55 [[ 8.64709114e-01 4.94149988e-01 8.99663092e-02 8.01563101e+01] [-4.91448461e-01 8.69376572e-01 -5.16021985e-02 -1.98387764e+01] [-1.03713827e-01 4.07087158e-04 9.94607096e-01 -1.05536580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98824100800002 meters 0.06303064626703958 Centerline is valid? [True, True] Translation: X:80.18, Y:-19.86, Z:-10.56 [[ 8.64958705e-01 4.93660038e-01 9.02563298e-02 8.01844561e+01] [-4.90935427e-01 8.69654831e-01 -5.17965425e-02 -1.98557984e+01] [-1.04061736e-01 4.91840595e-04 9.94570718e-01 -1.05586410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.018241008 meters 0.0631991995454314 Centerline is valid? [True, True] Translation: X:80.21, Y:-19.87, Z:-10.56 [[ 8.65429631e-01 4.92895353e-01 8.99206557e-02 8.02135185e+01] [-4.90183844e-01 8.70088387e-01 -5.16333017e-02 -1.98709261e+01] [-1.03688733e-01 6.07336568e-04 9.94609611e-01 -1.05625936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.048241008 meters 0.06363412580017686 Centerline is valid? [True, True] Translation: X:80.24, Y:-19.89, Z:-10.57 [[ 8.65291394e-01 4.93275611e-01 8.91626284e-02 8.02409337e+01] [-4.90608525e-01 8.69872882e-01 -5.12293372e-02 -1.98858960e+01] [-1.02830335e-01 5.84358989e-04 9.94698739e-01 -1.05707122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.078241008 meters 0.06356108491123061 Centerline is valid? [True, True] Translation: X:80.27, Y:-19.90, Z:-10.57 [[ 8.65203330e-01 4.93488653e-01 8.88377531e-02 8.02702820e+01] [-4.90839310e-01 8.69752040e-01 -5.10701471e-02 -1.99007012e+01] [-1.02469355e-01 5.80999943e-04 9.94735992e-01 -1.05740587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10824100800001 meters 0.06359403297310251 Centerline is valid? [True, True] Translation: X:80.30, Y:-19.92, Z:-10.58 [[ 8.64774246e-01 4.94345393e-01 8.82504218e-02 8.02985384e+01] [-4.91732413e-01 8.69265426e-01 -5.07627203e-02 -1.99159448e+01] [-1.01807357e-01 5.02700271e-04 9.94804005e-01 -1.05781061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13824100800001 meters 0.06365935694476887 Centerline is valid? [True, True] Translation: X:80.32, Y:-19.93, Z:-10.58 [[ 8.65271041e-01 4.93556885e-01 8.77930944e-02 8.03244627e+01] [-4.90964057e-01 8.69713298e-01 -5.05279592e-02 -1.99340634e+01] [-1.01293244e-01 6.17126056e-04 9.94856421e-01 -1.05805844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16824100800001 meters 0.06345232791342281 Centerline is valid? [True, True] Translation: X:80.35, Y:-19.95, Z:-10.58 [[ 8.65701335e-01 4.92737236e-01 8.81544905e-02 8.03526315e+01] [-4.90115949e-01 8.70177837e-01 -5.07630608e-02 -1.99515951e+01] [-1.01722934e-01 7.39727802e-04 9.94812494e-01 -1.05813903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19824100800001 meters 0.06395498413607642 Centerline is valid? [True, True] Translation: X:80.38, Y:-19.97, Z:-10.59 [[ 8.66408663e-01 4.91509489e-01 8.80593579e-02 8.03783837e+01] [-4.88884294e-01 8.70871743e-01 -5.07400587e-02 -1.99693174e+01] [-1.01627627e-01 9.10789360e-04 9.94822093e-01 -1.05884593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22824100800001 meters 0.06404493596031333 Centerline is valid? [True, True] Translation: X:80.41, Y:-19.99, Z:-10.59 [[ 8.66789882e-01 4.90790393e-01 8.83181225e-02 8.04075986e+01] [-4.88143328e-01 8.71277079e-01 -5.09150616e-02 -1.99876175e+01] [-1.01938179e-01 1.02075801e-03 9.94790212e-01 -1.05933863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25824100800001 meters 0.06438987950195778 Centerline is valid? [True, True] Translation: X:80.43, Y:-20.00, Z:-10.60 [[ 8.67455156e-01 4.89568207e-01 8.85693072e-02 8.04344237e+01] [-4.86895187e-01 8.71964171e-01 -5.11034354e-02 -2.00049940e+01] [-1.02247880e-01 1.20596916e-03 9.94758220e-01 -1.05978361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28824100800001 meters 0.06432029957516198 Centerline is valid? [True, True] Translation: X:80.46, Y:-20.02, Z:-10.60 [[ 8.68546741e-01 4.87359146e-01 9.00423335e-02 8.04614014e+01] [-4.84581495e-01 8.73200302e-01 -5.19808304e-02 -2.00237376e+01] [-1.03958326e-01 1.51493221e-03 9.94580500e-01 -1.05977807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31824100800002 meters 0.06653768035115833 Centerline is valid? [True, True] Translation: X:80.48, Y:-20.05, Z:-10.61 [[ 8.67651141e-01 4.88511794e-01 9.23998065e-02 8.04828772e+01] [-4.85589286e-01 8.72556099e-01 -5.33750808e-02 -2.00474241e+01] [-1.06698371e-01 1.44259370e-03 9.94290388e-01 -1.06120354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34824100800002 meters 0.06464862845029802 Centerline is valid? [True, True] Translation: X:80.52, Y:-20.06, Z:-10.61 [[ 8.68979366e-01 4.86598593e-01 8.99814993e-02 8.05170851e+01] [-4.83814616e-01 8.73624100e-01 -5.20033531e-02 -2.00608414e+01] [-1.03914765e-01 1.65547635e-03 9.94584828e-01 -1.06063232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.378241008 meters 0.06475720796924352 Centerline is valid? [True, True] Translation: X:80.54, Y:-20.08, Z:-10.61 [[ 8.68743884e-01 4.87189288e-01 8.90542679e-02 8.05441865e+01] [-4.84461200e-01 8.73294921e-01 -5.15104563e-02 -2.00776928e+01] [-1.02865982e-01 1.60605637e-03 9.94693928e-01 -1.06108760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.408241008 meters 0.06487781368788935 Centerline is valid? [True, True] Translation: X:80.57, Y:-20.09, Z:-10.62 [[ 8.68329764e-01 4.87984226e-01 8.87401597e-02 8.05729664e+01] [-4.85276246e-01 8.72851099e-01 -5.13607291e-02 -2.00931743e+01] [-1.02520172e-01 1.53455819e-03 9.94729742e-01 -1.06155167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.438241008 meters 0.0647004811706352 Centerline is valid? [True, True] Translation: X:80.60, Y:-20.11, Z:-10.62 [[ 8.67771849e-01 4.88997345e-01 8.86206165e-02 8.06003899e+01] [-4.86298842e-01 8.72284085e-01 -5.13216511e-02 -2.01077432e+01] [-1.02398505e-01 1.43938095e-03 9.94742416e-01 -1.06213957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.468241008 meters 0.06449734009914053 Centerline is valid? [True, True] Translation: X:80.63, Y:-20.12, Z:-10.62 [[ 8.67166652e-01 4.89972573e-01 8.91564612e-02 8.06295133e+01] [-4.87243616e-01 8.71736795e-01 -5.16586782e-02 -2.01229231e+01] [-1.03032303e-01 1.35576647e-03 9.94677087e-01 -1.06243766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.49824100800001 meters 0.06428650710614345 Centerline is valid? [True, True] Translation: X:80.66, Y:-20.14, Z:-10.63 [[ 8.65837891e-01 4.92530521e-01 8.79683536e-02 8.06564189e+01] [-4.89884280e-01 8.70294523e-01 -5.09983808e-02 -2.01387616e+01] [-1.01676635e-01 1.06201692e-03 9.94816935e-01 -1.06301797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.52824100800001 meters 0.06402985028081445 Centerline is valid? [True, True] Translation: X:80.69, Y:-20.15, Z:-10.63 [[ 8.64856798e-01 4.94410880e-01 8.70666451e-02 8.06851277e+01] [-4.91825513e-01 8.69227904e-01 -5.05026242e-02 -2.01539596e+01] [-1.00649804e-01 8.55940465e-04 9.94921547e-01 -1.06336250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.55824100800001 meters 0.06410202970758513 Centerline is valid? [True, True] Translation: X:80.71, Y:-20.17, Z:-10.64 [[ 8.64067317e-01 4.95637534e-01 8.79267058e-02 8.07124068e+01] [-4.93003880e-01 8.68529145e-01 -5.10323244e-02 -2.01683043e+01] [-1.01660442e-01 7.47156516e-04 9.94818876e-01 -1.06381643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58824100800001 meters 0.06374080047494003 Centerline is valid? [True, True] Translation: X:80.74, Y:-20.18, Z:-10.64 [[ 8.63024069e-01 4.97583807e-01 8.71768988e-02 8.07443398e+01] [-4.95003007e-01 8.67415745e-01 -5.06156974e-02 -2.01835893e+01] [-1.00804166e-01 5.29738056e-04 9.94906146e-01 -1.06403401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61824100800001 meters 0.0638009225110656 Centerline is valid? [True, True] Translation: X:80.78, Y:-20.20, Z:-10.65 [[ 8.61358949e-01 5.00356776e-01 8.77716292e-02 8.07762868e+01] [-4.97750604e-01 8.65819287e-01 -5.10029248e-02 -2.01995872e+01] [-1.01514028e-01 2.43444252e-04 9.94834078e-01 -1.06466180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64824100800001 meters 0.06370718784408883 Centerline is valid? [True, True] Translation: X:80.80, Y:-20.22, Z:-10.65 [[ 8.60873335e-01 5.01252494e-01 8.74244694e-02 8.08044889e+01] [-4.98666566e-01 8.65301049e-01 -5.08502828e-02 -2.02157965e+01] [-1.01137316e-01 1.79992593e-04 9.94872460e-01 -1.06503045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67824100800001 meters 0.06381513083239848 Centerline is valid? [True, True] Translation: X:80.83, Y:-20.23, Z:-10.66 [[ 8.60275131e-01 5.02213697e-01 8.77957963e-02 8.08318604e+01] [-4.99607406e-01 8.64743542e-01 -5.10984024e-02 -2.02316170e+01] [-1.01583165e-01 9.52548114e-05 9.94827046e-01 -1.06565178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70824100800002 meters 0.06400982137398505 Centerline is valid? [True, True] Translation: X:80.86, Y:-20.25, Z:-10.66 [[ 8.60518909e-01 5.02085161e-01 8.61260606e-02 8.08589159e+01] [-4.99573867e-01 8.64818174e-01 -5.01545377e-02 -2.02497731e+01] [-9.96652316e-02 1.32598898e-04 9.95021017e-01 -1.06600666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73824100800002 meters 0.06434537073169709 Centerline is valid? [True, True] Translation: X:80.89, Y:-20.27, Z:-10.67 [[ 8.60794308e-01 5.01778970e-01 8.51529531e-02 8.08859564e+01] [-4.99320075e-01 8.64995855e-01 -4.96148489e-02 -2.02676464e+01] [-9.85526392e-02 1.89600628e-04 9.95131821e-01 -1.06668142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.768241008 meters 0.06433279052808184 Centerline is valid? [True, True] Translation: X:80.92, Y:-20.29, Z:-10.67 [[ 8.61128877e-01 5.01302620e-01 8.45738763e-02 8.09152862e+01] [-4.98871697e-01 8.65271986e-01 -4.93094373e-02 -2.02859604e+01] [-9.78983561e-02 2.70267206e-04 9.95196382e-01 -1.06710909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.798241008 meters 0.06458001154499415 Centerline is valid? [True, True] Translation: X:80.94, Y:-20.30, Z:-10.68 [[ 8.61642502e-01 5.00450083e-01 8.43914314e-02 8.09422666e+01] [-4.98021755e-01 8.65765300e-01 -4.92420190e-02 -2.03030952e+01] [-9.77063454e-02 4.00247599e-04 9.95215208e-01 -1.06764705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.828241008 meters 0.06455411621015014 Centerline is valid? [True, True] Translation: X:80.97, Y:-20.32, Z:-10.68 [[ 8.62020635e-01 5.00028259e-01 8.30190615e-02 8.09695545e+01] [-4.97673773e-01 8.66008963e-01 -4.84694977e-02 -2.03205614e+01] [-9.61313699e-02 4.65297660e-04 9.95368546e-01 -1.06804733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85824100800001 meters 0.06498254054257867 Centerline is valid? [True, True] Translation: X:80.99, Y:-20.34, Z:-10.69 [[ 8.62914265e-01 4.98715891e-01 8.16175977e-02 8.09943726e+01] [-4.96431926e-01 8.66765291e-01 -4.76788558e-02 -2.03390680e+01] [-9.45215038e-02 6.25183568e-04 9.95522624e-01 -1.06865154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88824100800001 meters 0.06516051821782091 Centerline is valid? [True, True] Translation: X:81.02, Y:-20.36, Z:-10.69 [[ 8.63212443e-01 4.98128763e-01 8.20488492e-02 8.10219855e+01] [-4.95815599e-01 8.67102777e-01 -4.79548357e-02 -2.03554007e+01] [-9.50324679e-02 7.14111593e-04 9.95473917e-01 -1.06912391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91824100800001 meters 0.06528432230021582 Centerline is valid? [True, True] Translation: X:81.05, Y:-20.37, Z:-10.70 [[ 8.63128209e-01 4.98182407e-01 8.26074079e-02 8.10491952e+01] [-4.95834661e-01 8.67071935e-01 -4.83140642e-02 -2.03709629e+01] [-9.56957817e-02 7.41615591e-04 9.95410351e-01 -1.06958021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94824100800001 meters 0.06544155435640177 Centerline is valid? [True, True] Translation: X:81.08, Y:-20.39, Z:-10.70 [[ 8.63051525e-01 4.98071747e-01 8.40630712e-02 8.10752003e+01] [-4.95638330e-01 8.67135471e-01 -4.91804817e-02 -2.03865686e+01] [-9.73894793e-02 7.80409539e-04 9.95246040e-01 -1.07003671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97824100800001 meters 0.06512079115789088 Centerline is valid? [True, True] Translation: X:81.10, Y:-20.40, Z:-10.70 [[ 8.62713695e-01 4.98374992e-01 8.57172552e-02 8.11033157e+01] [-4.95843756e-01 8.66961220e-01 -5.01718300e-02 -2.04022710e+01] [-9.93179215e-02 7.81559070e-04 9.95055446e-01 -1.06993266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00824100800001 meters 0.06493234349276915 Centerline is valid? [True, True] Translation: X:81.13, Y:-20.42, Z:-10.70 [[ 8.62228408e-01 4.99218308e-01 8.56927862e-02 8.11321795e+01] [-4.96690230e-01 8.66475956e-01 -5.01819983e-02 -2.04180552e+01] [-9.93025111e-02 7.05574773e-04 9.95057040e-01 -1.07009184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03824100800001 meters 0.06500545302887294 Centerline is valid? [True, True] Translation: X:81.16, Y:-20.43, Z:-10.71 [[ 8.62088172e-01 4.99424918e-01 8.58995633e-02 8.11601559e+01] [-4.96882578e-01 8.66356882e-01 -5.03334460e-02 -2.04348129e+01] [-9.95574550e-02 7.09872031e-04 9.95031562e-01 -1.07068016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06824100800002 meters 0.0648985062772652 Centerline is valid? [True, True] Translation: X:81.19, Y:-20.45, Z:-10.71 [[ 8.62252007e-01 4.99122693e-01 8.60117054e-02 8.11886514e+01] [-4.96568883e-01 8.66530979e-01 -5.04322088e-02 -2.04518163e+01] [-9.97036671e-02 7.74536793e-04 9.95016874e-01 -1.07080873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09824100800002 meters 0.06499177947138184 Centerline is valid? [True, True] Translation: X:81.22, Y:-20.47, Z:-10.71 [[ 8.62251669e-01 4.99069327e-01 8.63241953e-02 8.12161404e+01] [-4.96493539e-01 8.66561683e-01 -5.06459719e-02 -2.04688626e+01] [-1.00081091e-01 8.10168493e-04 9.94978954e-01 -1.07123178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.128241008 meters 0.06527676857013695 Centerline is valid? [True, True] Translation: X:81.24, Y:-20.49, Z:-10.72 [[ 8.62691995e-01 4.98347799e-01 8.60929319e-02 8.12437231e+01] [-4.95779221e-01 8.66976718e-01 -5.05404367e-02 -2.04857030e+01] [-9.98272829e-02 9.17743541e-04 9.95004357e-01 -1.07177089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.158241008 meters 0.06544262835932896 Centerline is valid? [True, True] Translation: X:81.27, Y:-20.50, Z:-10.72 [[ 8.62700762e-01 4.98404621e-01 8.56751325e-02 8.12702195e+01] [-4.95858290e-01 8.66944037e-01 -5.03248701e-02 -2.05018410e+01] [-9.93576931e-02 9.32579122e-04 9.95051345e-01 -1.07230393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.188241008 meters 0.06556940543929056 Centerline is valid? [True, True] Translation: X:81.30, Y:-20.52, Z:-10.73 [[ 8.63208321e-01 4.97502486e-01 8.58060138e-02 8.12996650e+01] [-4.94941500e-01 8.67461904e-01 -5.04257512e-02 -2.05205016e+01] [-9.95203847e-02 1.05897084e-03 9.95034960e-01 -1.07266602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.218241008 meters 0.0657953002799023 Centerline is valid? [True, True] Translation: X:81.33, Y:-20.54, Z:-10.73 [[ 8.64394269e-01 4.95488981e-01 8.55173559e-02 8.13261320e+01] [-4.92931014e-01 8.68613213e-01 -5.03001161e-02 -2.05412161e+01] [-9.92046586e-02 1.32497512e-03 9.95066169e-01 -1.07308628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24824100800001 meters 0.06630740992914284 Centerline is valid? [True, True] Translation: X:81.35, Y:-20.56, Z:-10.74 [[ 8.65134214e-01 4.94096772e-01 8.60881589e-02 8.13511161e+01] [-4.91493961e-01 8.69405573e-01 -5.06718408e-02 -2.05606047e+01] [-9.98823181e-02 1.52613290e-03 9.94998087e-01 -1.07351483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27824100800001 meters 0.06617701201828219 Centerline is valid? [True, True] Translation: X:81.38, Y:-20.58, Z:-10.74 [[ 8.65255109e-01 4.93820158e-01 8.64595103e-02 8.13800156e+01] [-4.91190659e-01 8.69562607e-01 -5.09176682e-02 -2.05787600e+01] [-1.00326128e-01 1.58866872e-03 9.94953338e-01 -1.07366468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30824100800001 meters 0.06580417864048001 Centerline is valid? [True, True] Translation: X:81.41, Y:-20.60, Z:-10.74 [[ 8.65133238e-01 4.94045033e-01 8.63943617e-02 8.14089982e+01] [-4.91417145e-01 8.69434858e-01 -5.09138194e-02 -2.05950463e+01] [-1.00267989e-01 1.59156686e-03 9.94959194e-01 -1.07388802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33824100800001 meters 0.06581417280691852 Centerline is valid? [True, True] Translation: X:81.44, Y:-20.61, Z:-10.74 [[ 8.64796869e-01 4.94433563e-01 8.75318629e-02 8.14371695e+01] [-4.91734493e-01 8.69213959e-01 -5.16166830e-02 -2.06096603e+01] [-1.01604938e-01 1.59550960e-03 9.94823548e-01 -1.07418692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36824100800001 meters 0.06597037630584278 Centerline is valid? [True, True] Translation: X:81.46, Y:-20.62, Z:-10.75 [[ 8.64327726e-01 4.95177219e-01 8.79608071e-02 8.14648035e+01] [-4.92452552e-01 8.68790626e-01 -5.18973261e-02 -2.06242916e+01] [-1.02117898e-01 1.53977388e-03 9.94771111e-01 -1.07476143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39824100800001 meters 0.0661027785185249 Centerline is valid? [True, True] Translation: X:81.49, Y:-20.64, Z:-10.75 [[ 8.64267979e-01 4.95200171e-01 8.84174830e-02 8.14937474e+01] [-4.92444378e-01 8.68777491e-01 -5.21939190e-02 -2.06396768e+01] [-1.02661557e-01 1.56884053e-03 9.94715107e-01 -1.07520595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42824100800001 meters 0.06612149447446711 Centerline is valid? [True, True] Translation: X:81.52, Y:-20.66, Z:-10.76 [[ 8.63790977e-01 4.96018784e-01 8.84901961e-02 8.15234338e+01] [-4.93259737e-01 8.68310499e-01 -5.22657626e-02 -2.06560583e+01] [-1.02761766e-01 1.49804334e-03 9.94704868e-01 -1.07564856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45824100800002 meters 0.06625878835130374 Centerline is valid? [True, True] Translation: X:81.55, Y:-20.67, Z:-10.76 [[ 8.63615205e-01 4.96263660e-01 8.88321853e-02 8.15518021e+01] [-4.93480295e-01 8.68170548e-01 -5.25080779e-02 -2.06727221e+01] [-1.03179338e-01 1.50984147e-03 9.94661623e-01 -1.07607209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48824100800002 meters 0.06621764381342665 Centerline is valid? [True, True] Translation: X:81.58, Y:-20.69, Z:-10.76 [[ 8.64070406e-01 4.95642485e-01 8.78684336e-02 8.15788887e+01] [-4.92913127e-01 8.68525182e-01 -5.19678567e-02 -2.06907773e+01] [-1.02073425e-01 1.59238267e-03 9.94775593e-01 -1.07637556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.518241008 meters 0.06628055518716862 Centerline is valid? [True, True] Translation: X:81.61, Y:-20.71, Z:-10.77 [[ 8.64798678e-01 4.94359558e-01 8.79310718e-02 8.16068599e+01] [-4.91616563e-01 8.69255710e-01 -5.20352389e-02 -2.07083110e+01] [-1.02158704e-01 1.77163449e-03 9.94766536e-01 -1.07659629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.548241008 meters 0.06655442179659098 Centerline is valid? [True, True] Translation: X:81.63, Y:-20.73, Z:-10.77 [[ 8.65195583e-01 4.93704860e-01 8.77046964e-02 8.16335421e+01] [-4.90969429e-01 8.69627511e-01 -5.19327617e-02 -2.07256590e+01] [-1.01909874e-01 1.87167131e-03 9.94791875e-01 -1.07712774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.578241008 meters 0.06742233245869994 Centerline is valid? [True, True] Translation: X:81.66, Y:-20.74, Z:-10.78 [[ 8.65663044e-01 4.92813664e-01 8.81032758e-02 8.16590726e+01] [-4.90045414e-01 8.70132541e-01 -5.22001201e-02 -2.07437846e+01] [-1.02386460e-01 2.01310861e-03 9.94742660e-01 -1.07794295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60824100800001 meters 0.06742233245869994 Centerline is valid? [True, True] Translation: X:81.69, Y:-20.76, Z:-10.78 [[ 8.65545203e-01 4.93021946e-01 8.80957582e-02 8.16865918e+01] [-4.90253481e-01 8.70014568e-01 -5.22128040e-02 -2.07603095e+01] [-1.02386651e-01 2.00328992e-03 9.94742660e-01 -1.07834849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63824100800001 meters 0.06766506332508712 Centerline is valid? [True, True] Translation: X:81.72, Y:-20.78, Z:-10.79 [[ 8.66370710e-01 4.91559492e-01 8.81536070e-02 8.17175629e+01] [-4.88777078e-01 8.70841215e-01 -5.22737670e-02 -2.07764386e+01] [-1.02463461e-01 2.20099817e-03 9.94734334e-01 -1.07857954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66824100800001 meters 0.06772279605978361 Centerline is valid? [True, True] Translation: X:81.75, Y:-20.79, Z:-10.79 [[ 8.66543953e-01 4.91209828e-01 8.83995583e-02 8.17460423e+01] [-4.88405987e-01 8.71038285e-01 -5.24585346e-02 -2.07933033e+01] [-1.02767547e-01 2.28275245e-03 9.94702780e-01 -1.07897171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69824100800001 meters 0.06808341870529505 Centerline is valid? [True, True] Translation: X:81.77, Y:-20.81, Z:-10.79 [[ 8.66645704e-01 4.90950473e-01 8.88417526e-02 8.17721871e+01] [-4.88113321e-01 8.71184296e-01 -5.27570643e-02 -2.08104278e+01] [-1.03298645e-01 2.35684022e-03 9.94647593e-01 -1.07932117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72824100800001 meters 0.06825347131069963 Centerline is valid? [True, True] Translation: X:81.80, Y:-20.83, Z:-10.80 [[ 8.66618602e-01 4.90905376e-01 8.93538516e-02 8.18005848e+01] [-4.88032095e-01 8.71209589e-01 -5.30897975e-02 -2.08270026e+01] [-1.03907999e-01 2.40105864e-03 9.94584015e-01 -1.07965863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75824100800001 meters 0.06825581900187291 Centerline is valid? [True, True] Translation: X:81.83, Y:-20.84, Z:-10.80 [[ 8.66163679e-01 4.91593186e-01 8.99812228e-02 8.18285324e+01] [-4.88679510e-01 8.70821767e-01 -5.34956662e-02 -2.08406596e+01] [-1.04655712e-01 2.36402321e-03 9.94505703e-01 -1.07997816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78824100800001 meters 0.06840749909540363 Centerline is valid? [True, True] Translation: X:81.86, Y:-20.86, Z:-10.81 [[ 8.65989121e-01 4.91947064e-01 8.97269667e-02 8.18550395e+01] [-4.89050260e-01 8.70622002e-01 -5.33589005e-02 -2.08567499e+01] [-1.04368026e-01 2.32723096e-03 9.94536022e-01 -1.08050269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81824100800002 meters 0.06841299546011165 Centerline is valid? [True, True] Translation: X:81.88, Y:-20.87, Z:-10.81 [[ 8.65958195e-01 4.92148072e-01 8.89195130e-02 8.18833419e+01] [-4.89301332e-01 8.70508444e-01 -5.29079929e-02 -2.08728605e+01] [-1.03443754e-01 2.30767383e-03 9.94632628e-01 -1.08096136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84824100800002 meters 0.06803483890425356 Centerline is valid? [True, True] Translation: X:81.91, Y:-20.89, Z:-10.81 [[ 8.65567681e-01 4.92879721e-01 8.86688818e-02 8.19131651e+01] [-4.90049938e-01 8.70094575e-01 -5.27872082e-02 -2.08864400e+01] [-1.03168057e-01 2.23872129e-03 9.94661420e-01 -1.08119153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.878241008 meters 0.06846279148274659 Centerline is valid? [True, True] Translation: X:81.94, Y:-20.90, Z:-10.82 [[ 8.65258950e-01 4.93459163e-01 8.84590528e-02 8.19399161e+01] [-4.90642661e-01 8.69766206e-01 -5.26927499e-02 -2.09033347e+01] [-1.02940415e-01 2.19108837e-03 9.94685111e-01 -1.08184529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.908241008 meters 0.06791512334147877 Centerline is valid? [True, True] Translation: X:81.97, Y:-20.92, Z:-10.82 [[ 8.64764458e-01 4.94472622e-01 8.76313779e-02 8.19696269e+01] [-4.91711140e-01 8.69190728e-01 -5.22267438e-02 -2.09181231e+01] [-1.01993076e-01 2.07450706e-03 9.94782946e-01 -1.08218572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.938241008 meters 0.06757398703156113 Centerline is valid? [True, True] Translation: X:82.00, Y:-20.93, Z:-10.82 [[ 8.64406320e-01 4.95222480e-01 8.69276136e-02 8.19999531e+01] [-4.92506197e-01 8.68763902e-01 -5.18355965e-02 -2.09322601e+01] [-1.01189725e-01 1.99462882e-03 9.94865147e-01 -1.08237730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.968241008 meters 0.06773301922315707 Centerline is valid? [True, True] Translation: X:82.03, Y:-20.95, Z:-10.83 [[ 8.64138052e-01 4.95896163e-01 8.57462767e-02 8.20271013e+01] [-4.93253675e-01 8.68379713e-01 -5.11613806e-02 -2.09466108e+01] [-9.98310594e-02 1.91582967e-03 9.95002557e-01 -1.08304565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.99824100800001 meters 0.06827933964579652 Centerline is valid? [True, True] Translation: X:82.05, Y:-20.96, Z:-10.84 [[ 8.63747946e-01 4.96569192e-01 8.57818358e-02 8.20530832e+01] [-4.93925091e-01 8.67995143e-01 -5.12097245e-02 -2.09638329e+01] [-9.98873883e-02 1.86249329e-03 9.94997005e-01 -1.08376696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.02824100800001 meters 0.06763668407077911 Centerline is valid? [True, True] Translation: X:82.08, Y:-20.98, Z:-10.84 [[ 8.62961229e-01 4.98049778e-01 8.51136663e-02 8.20825842e+01] [-4.95451445e-01 8.67146775e-01 -5.08363797e-02 -2.09787266e+01] [-9.91250889e-02 1.70013578e-03 9.95073528e-01 -1.08393222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.05824100800001 meters 0.06756927217601973 Centerline is valid? [True, True] Translation: X:82.11, Y:-21.00, Z:-10.84 [[ 8.62252774e-01 4.99205396e-01 8.55226673e-02 8.21103526e+01] [-4.96584640e-01 8.66482204e-01 -5.11105292e-02 -2.09957592e+01] [-9.96185212e-02 1.60095262e-03 9.95024415e-01 -1.08431164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.08824100800001 meters 0.06709907440401236 Centerline is valid? [True, True] Translation: X:82.14, Y:-21.01, Z:-10.85 [[ 8.59886300e-01 5.03223365e-01 8.58009051e-02 8.21396687e+01] [-5.00602800e-01 8.64155596e-01 -5.13024642e-02 -2.10093689e+01] [-9.99619310e-02 1.16211283e-03 9.94990584e-01 -1.08475496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11824100800001 meters 0.06662479831506618 Centerline is valid? [True, True] Translation: X:82.17, Y:-21.02, Z:-10.85 [[ 8.58011630e-01 5.06317349e-01 8.63642638e-02 8.21699915e+01] [-5.03674283e-01 8.62346822e-01 -5.16737398e-02 -2.10230164e+01] [-1.00639259e-01 8.37211062e-04 9.94922629e-01 -1.08493106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14824100800001 meters 0.06660333269585385 Centerline is valid? [True, True] Translation: X:82.20, Y:-21.04, Z:-10.85 [[ 8.56271558e-01 5.09344759e-01 8.58308574e-02 8.21985575e+01] [-5.06747849e-01 8.60562417e-01 -5.13706504e-02 -2.10373801e+01] [-1.00028182e-01 4.92624421e-04 9.94984482e-01 -1.08548916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17824100800001 meters 0.0666353247543777 Centerline is valid? [True, True] Translation: X:82.23, Y:-21.05, Z:-10.86 [[ 8.54556377e-01 5.12102646e-01 8.65117192e-02 8.22282631e+01] [-5.09475183e-01 8.58924234e-01 -5.18092408e-02 -2.10518999e+01] [-1.00838662e-01 1.98343098e-04 9.94902772e-01 -1.08576589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20824100800002 meters 0.06691333268305648 Centerline is valid? [True, True] Translation: X:82.26, Y:-21.06, Z:-10.86 [[ 8.50960485e-01 5.17975455e-01 8.69924250e-02 8.22580356e+01] [-5.15346146e-01 8.55395349e-01 -5.21262525e-02 -2.10632664e+01] [-1.01413035e-01 -4.73829866e-04 9.94844295e-01 -1.08633331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23824100800002 meters 0.0671399258165686 Centerline is valid? [True, True] Translation: X:82.29, Y:-21.08, Z:-10.87 [[ 8.49413312e-01 5.20431210e-01 8.74550256e-02 8.22864176e+01] [-5.17783407e-01 8.53903276e-01 -5.24360506e-02 -2.10779190e+01] [-1.01967490e-01 -7.42881657e-04 9.94787454e-01 -1.08671141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.268241008 meters 0.06711619541713738 Centerline is valid? [True, True] Translation: X:82.32, Y:-21.10, Z:-10.87 [[ 8.48358571e-01 5.22241929e-01 8.68970740e-02 8.23152572e+01] [-5.19635898e-01 8.52796857e-01 -5.21157707e-02 -2.10960262e+01] [-1.01322592e-01 -9.41978278e-04 9.94853178e-01 -1.08696462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.298241008 meters 0.06726835449705998 Centerline is valid? [True, True] Translation: X:82.34, Y:-21.11, Z:-10.87 [[ 8.47583363e-01 5.23516161e-01 8.67944267e-02 8.23436977e+01] [-5.20918935e-01 8.52015087e-01 -5.20937195e-02 -2.11143257e+01] [-1.01222065e-01 -1.05909040e-03 9.94863293e-01 -1.08736047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.328241008 meters 0.06743552949860816 Centerline is valid? [True, True] Translation: X:82.37, Y:-21.13, Z:-10.88 [[ 8.47186900e-01 5.24247620e-01 8.62484236e-02 8.23701779e+01] [-5.21682503e-01 8.51565158e-01 -5.18087667e-02 -2.11337259e+01] [-1.00606775e-01 -1.10258509e-03 9.94925656e-01 -1.08784373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35824100800001 meters 0.06741065592144108 Centerline is valid? [True, True] Translation: X:82.40, Y:-21.15, Z:-10.88 [[ 8.47513843e-01 5.23762673e-01 8.59822553e-02 8.23998114e+01] [-5.21209080e-01 8.51863609e-01 -5.16670652e-02 -2.11547046e+01] [-1.00306435e-01 -1.02617923e-03 9.94956062e-01 -1.08832859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.38824100800001 meters 0.06739773625779967 Centerline is valid? [True, True] Translation: X:82.43, Y:-21.17, Z:-10.89 [[ 8.48008998e-01 5.23056257e-01 8.53984250e-02 8.24257224e+01] [-5.20528122e-01 8.52297696e-01 -5.13722765e-02 -2.11726166e+01] [-9.96554716e-02 -8.88129134e-04 9.95021607e-01 -1.08889928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41824100800001 meters 0.06713854420638998 Centerline is valid? [True, True] Translation: X:82.45, Y:-21.19, Z:-10.89 [[ 8.48418094e-01 5.22353342e-01 8.56371649e-02 8.24530944e+01] [-5.19804799e-01 8.52728779e-01 -5.15422304e-02 -2.11932051e+01] [-9.99485313e-02 -7.85248376e-04 9.94992299e-01 -1.08915956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44824100800001 meters 0.06715703198805101 Centerline is valid? [True, True] Translation: X:82.48, Y:-21.21, Z:-10.90 [[ 8.50512011e-01 5.19038457e-01 8.50199925e-02 8.24772277e+01] [-5.16505750e-01 8.54750814e-01 -5.12138292e-02 -2.12139123e+01] [-9.92528547e-02 -3.55338091e-04 9.95062181e-01 -1.08973414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47824100800001 meters 0.06721021222001437 Centerline is valid? [True, True] Translation: X:82.50, Y:-21.23, Z:-10.90 [[ 8.51192124e-01 5.17947807e-01 8.48648149e-02 8.25032806e+01] [-5.15417302e-01 8.55412195e-01 -5.11368857e-02 -2.12321379e+01] [-9.90806354e-02 -2.13479471e-04 9.95079385e-01 -1.09026539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50824100800001 meters 0.06735120257345277 Centerline is valid? [True, True] Translation: X:82.53, Y:-21.25, Z:-10.91 [[ 8.51958224e-01 5.16649955e-01 8.50882403e-02 8.25297493e+01] [-5.14096827e-01 8.56196720e-01 -5.12994067e-02 -2.12511016e+01] [-9.93561084e-02 -3.86429110e-05 9.95051939e-01 -1.09080889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53824100800001 meters 0.06736365717566857 Centerline is valid? [True, True] Translation: X:82.56, Y:-21.27, Z:-10.91 [[ 8.52497451e-01 5.15855685e-01 8.45044819e-02 8.25558998e+01] [-5.13330716e-01 8.56675496e-01 -5.09771587e-02 -2.12701320e+01] [-9.86897761e-02 7.91516508e-05 9.95118245e-01 -1.09124483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56824100800002 meters 0.06731863619261046 Centerline is valid? [True, True] Translation: X:82.58, Y:-21.29, Z:-10.92 [[ 8.53615862e-01 5.14002504e-01 8.45067250e-02 8.25819036e+01] [-5.11465568e-01 8.57788625e-01 -5.10063478e-02 -2.12915382e+01] [-9.87062979e-02 3.17547432e-04 9.95116559e-01 -1.09154342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59824100800002 meters 0.06730949765577222 Centerline is valid? [True, True] Translation: X:82.61, Y:-21.31, Z:-10.92 [[ 8.53831580e-01 5.13628953e-01 8.45986504e-02 8.26083573e+01] [-5.11081143e-01 8.58012322e-01 -5.10971682e-02 -2.13089806e+01] [-9.88316695e-02 3.91600909e-04 9.95104089e-01 -1.09207734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62824100800002 meters 0.06746659001419188 Centerline is valid? [True, True] Translation: X:82.63, Y:-21.33, Z:-10.93 [[ 8.53838927e-01 5.13540224e-01 8.50618903e-02 8.26349236e+01] [-5.10961086e-01 8.58065414e-01 -5.14053859e-02 -2.13255404e+01] [-9.93873995e-02 4.28603657e-04 9.95048723e-01 -1.09252448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.658241008 meters 0.06725791620736431 Centerline is valid? [True, True] Translation: X:82.66, Y:-21.34, Z:-10.93 [[ 8.53437814e-01 5.14272526e-01 8.46620693e-02 8.26633883e+01] [-5.11718636e-01 8.57626746e-01 -5.11898582e-02 -2.13410164e+01] [-9.89339927e-02 3.64202019e-04 9.95093931e-01 -1.09276141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.688241008 meters 0.06739942554105448 Centerline is valid? [True, True] Translation: X:82.69, Y:-21.36, Z:-10.93 [[ 8.52400651e-01 5.16011404e-01 8.45302322e-02 8.26906698e+01] [-5.13470713e-01 8.56581692e-01 -5.11432588e-02 -2.13556574e+01] [-9.87975541e-02 1.90748562e-04 9.95107535e-01 -1.09343815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.718241008 meters 0.06741232329970116 Centerline is valid? [True, True] Translation: X:82.72, Y:-21.37, Z:-10.94 [[ 8.51299228e-01 5.17959918e-01 8.37087128e-02 8.27196892e+01] [-5.15476348e-01 8.55404888e-01 -5.06617371e-02 -2.13702708e+01] [-9.78455913e-02 -2.15638869e-05 9.95201608e-01 -1.09363550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.74824100800001 meters 0.06768521379291705 Centerline is valid? [True, True] Translation: X:82.75, Y:-21.38, Z:-10.94 [[ 8.49167527e-01 5.21625946e-01 8.25886376e-02 8.27502158e+01] [-5.19223110e-01 8.53174192e-01 -5.00116092e-02 -2.13833726e+01] [-9.65498471e-02 -4.13694743e-04 9.95328064e-01 -1.09414891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77824100800001 meters 0.06774140976232634 Centerline is valid? [True, True] Translation: X:82.78, Y:-21.40, Z:-10.94 [[ 8.48107542e-01 5.23295265e-01 8.29196216e-02 8.27797233e+01] [-5.20878224e-01 8.52151235e-01 -5.02408979e-02 -2.13991731e+01] [-9.69508819e-02 -5.81340780e-04 9.95288998e-01 -1.09442351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.80824100800001 meters 0.06819012941520512 Centerline is valid? [True, True] Translation: X:82.81, Y:-21.41, Z:-10.95 [[ 8.47265523e-01 5.24728888e-01 8.24665238e-02 8.28080789e+01] [-5.22341693e-01 8.51269104e-01 -5.00006890e-02 -2.14140182e+01] [-9.64380098e-02 -7.11843730e-04 9.95338738e-01 -1.09524577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.83824100800001 meters 0.06807912692580102 Centerline is valid? [True, True] Translation: X:82.84, Y:-21.43, Z:-10.95 [[ 8.46706273e-01 5.25746548e-01 8.17254757e-02 8.28354349e+01] [-5.23403779e-01 8.50640899e-01 -4.95837167e-02 -2.14311552e+01] [-9.55875000e-02 -7.92578831e-04 9.95420716e-01 -1.09541718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86824100800001 meters 0.06836265214998749 Centerline is valid? [True, True] Translation: X:82.86, Y:-21.45, Z:-10.96 [[ 8.46497656e-01 5.26128678e-01 8.14268536e-02 8.28625482e+01] [-5.23801775e-01 8.50404589e-01 -4.94341521e-02 -2.14472909e+01] [-9.52544950e-02 -8.05636588e-04 9.95452627e-01 -1.09605144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.89824100800001 meters 0.06824101375757194 Centerline is valid? [True, True] Translation: X:82.89, Y:-21.47, Z:-10.96 [[ 8.46614078e-01 5.26019202e-01 8.09221924e-02 8.28903532e+01] [-5.23719417e-01 8.50472336e-01 -4.91403953e-02 -2.14668243e+01] [-9.46708775e-02 -7.77572931e-04 9.95508323e-01 -1.09630560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92824100800001 meters 0.0679784769701797 Centerline is valid? [True, True] Translation: X:82.92, Y:-21.49, Z:-10.97 [[ 8.46874828e-01 5.25567536e-01 8.11282381e-02 8.29168187e+01] [-5.23250668e-01 8.50751595e-01 -4.92997207e-02 -2.14860772e+01] [-9.49303106e-02 -6.99712285e-04 9.95483675e-01 -1.09653625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95824100800002 meters 0.06797256274120349 Centerline is valid? [True, True] Translation: X:82.94, Y:-21.50, Z:-10.97 [[ 8.47300003e-01 5.24898502e-01 8.10201736e-02 8.29438064e+01] [-5.22582074e-01 8.51164616e-01 -4.92622879e-02 -2.15041856e+01] [-9.48192061e-02 -5.99753652e-04 9.95494329e-01 -1.09683741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98824100800002 meters 0.06784849366409901 Centerline is valid? [True, True] Translation: X:82.97, Y:-21.52, Z:-10.97 [[ 8.47496516e-01 5.24368483e-01 8.23853701e-02 8.29702395e+01] [-5.21967607e-01 8.51491292e-01 -5.01238126e-02 -2.15214220e+01] [-9.64337728e-02 -5.22737938e-04 9.95339266e-01 -1.09720824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.018241008 meters 0.0676749995117653 Centerline is valid? [True, True] Translation: X:83.00, Y:-21.54, Z:-10.98 [[ 8.47905806e-01 5.23665805e-01 8.26430231e-02 8.29978598e+01] [-5.21244058e-01 8.51923674e-01 -5.03059228e-02 -2.15393741e+01] [-9.67490394e-02 -4.22500775e-04 9.95308718e-01 -1.09750183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.048241008 meters 0.06753421038313857 Centerline is valid? [True, True] Translation: X:83.02, Y:-21.56, Z:-10.98 [[ 8.48710939e-01 5.22142549e-01 8.40053613e-02 8.30245123e+01] [-5.19629698e-01 8.52858199e-01 -5.11651184e-02 -2.15574070e+01] [-9.83601464e-02 -2.27284805e-04 9.95150858e-01 -1.09766683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.078241008 meters 0.06755841916109899 Centerline is valid? [True, True] Translation: X:83.05, Y:-21.57, Z:-10.98 [[ 8.48839490e-01 5.21888584e-01 8.42841965e-02 8.30511198e+01] [-5.19354654e-01 8.53013643e-01 -5.13660091e-02 -2.15738993e+01] [-9.87029034e-02 -1.71892768e-04 9.95116931e-01 -1.09810830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10824100800001 meters 0.06761098690001997 Centerline is valid? [True, True] Translation: X:83.08, Y:-21.59, Z:-10.99 [[ 8.49077370e-01 5.21531864e-01 8.40959836e-02 8.30798066e+01] [-5.19006053e-01 8.53231798e-01 -5.12661299e-02 -2.15917240e+01] [-9.84902876e-02 -1.17413734e-04 9.95138005e-01 -1.09854136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13824100800001 meters 0.0675529529464622 Centerline is valid? [True, True] Translation: X:83.11, Y:-21.61, Z:-10.99 [[ 8.49120608e-01 5.21532823e-01 8.36523040e-02 8.31076953e+01] [-5.19030311e-01 8.53231216e-01 -5.10296884e-02 -2.16093991e+01] [-9.79884144e-02 -8.77213221e-05 9.95187552e-01 -1.09884609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16824100800001 meters 0.06751442829023101 Centerline is valid? [True, True] Translation: X:83.13, Y:-21.63, Z:-10.99 [[ 8.49995378e-01 5.20096789e-01 8.37089497e-02 8.31346831e+01] [-5.17581046e-01 8.54107323e-01 -5.10934523e-02 -2.16292229e+01] [-9.80699674e-02 1.03032526e-04 9.95179517e-01 -1.09914468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19824100800001 meters 0.06754542402348755 Centerline is valid? [True, True] Translation: X:83.16, Y:-21.65, Z:-11.00 [[ 8.50148390e-01 5.19860984e-01 8.36198125e-02 8.31617146e+01] [-5.17346006e-01 8.54250860e-01 -5.10742413e-02 -2.16467225e+01] [-9.79838021e-02 1.60307908e-04 9.95187997e-01 -1.09958215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22824100800001 meters 0.06757158690769978 Centerline is valid? [True, True] Translation: X:83.19, Y:-21.66, Z:-11.00 [[ 8.50665472e-01 5.19123584e-01 8.29394948e-02 8.31873646e+01] [-5.16642738e-01 8.54699146e-01 -5.06917242e-02 -2.16638282e+01] [-9.72035850e-02 2.71611805e-04 9.95264482e-01 -1.10010372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25824100800001 meters 0.06752435571490967 Centerline is valid? [True, True] Translation: X:83.21, Y:-21.68, Z:-11.00 [[ 8.50698399e-01 5.19182248e-01 8.22315477e-02 8.32147949e+01] [-5.16742654e-01 8.54663512e-01 -5.02723699e-02 -2.16809845e+01] [-9.63808253e-02 2.74076400e-04 9.95344494e-01 -1.10041617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28824100800001 meters 0.06771267016092558 Centerline is valid? [True, True] Translation: X:83.24, Y:-21.70, Z:-11.01 [[ 8.50414589e-01 5.19848154e-01 8.09501298e-02 8.32415113e+01] [-5.17484411e-01 8.54258654e-01 -4.95180313e-02 -2.16980662e+01] [-9.48942061e-02 2.20425964e-04 9.95487338e-01 -1.10105162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31824100800002 meters 0.06785372979618479 Centerline is valid? [True, True] Translation: X:83.27, Y:-21.72, Z:-11.02 [[ 8.50210580e-01 5.20274134e-01 8.03541864e-02 8.32690860e+01] [-5.17944262e-01 8.53999290e-01 -4.91828646e-02 -2.17154442e+01] [-9.42109904e-02 1.96802029e-04 9.95552234e-01 -1.10153923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34824100800002 meters 0.06780116065613707 Centerline is valid? [True, True] Translation: X:83.30, Y:-21.73, Z:-11.02 [[ 8.49736309e-01 5.21152906e-01 7.96734162e-02 8.32952896e+01] [-5.18863607e-01 8.53463317e-01 -4.87947160e-02 -2.17321157e+01] [-9.34278461e-02 1.23005747e-04 9.95626045e-01 -1.10207467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37824100800002 meters 0.06786105912751476 Centerline is valid? [True, True] Translation: X:83.32, Y:-21.75, Z:-11.02 [[ 8.49082842e-01 5.22318934e-01 7.90016381e-02 8.33226673e+01] [-5.20070871e-01 8.52750216e-01 -4.84082418e-02 -2.17493317e+01] [-9.26532052e-02 1.61567162e-05 9.95698440e-01 -1.10243045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.408241008 meters 0.06795907227983528 Centerline is valid? [True, True] Translation: X:83.35, Y:-21.77, Z:-11.03 [[ 8.47853878e-01 5.24299582e-01 7.90806499e-02 8.33496969e+01] [-5.22053090e-01 8.51533861e-01 -4.84835561e-02 -2.17657389e+01] [-9.27597594e-02 -1.77326545e-04 9.95688503e-01 -1.10309905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.438241008 meters 0.06767822889041704 Centerline is valid? [True, True] Translation: X:83.38, Y:-21.78, Z:-11.03 [[ 8.47505125e-01 5.24841925e-01 7.92213129e-02 8.33774713e+01] [-5.22586885e-01 8.51199688e-01 -4.86008079e-02 -2.17831614e+01] [-9.29408984e-02 -2.10585348e-04 9.95671605e-01 -1.10321877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.468241008 meters 0.06750934379097588 Centerline is valid? [True, True] Translation: X:83.41, Y:-21.80, Z:-11.04 [[ 8.47020869e-01 5.25671441e-01 7.88998326e-02 8.34057998e+01] [-5.23435700e-01 8.50687639e-01 -4.84314812e-02 -2.17995252e+01] [-9.25781588e-02 -2.76513824e-04 9.95705382e-01 -1.10365073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49824100800001 meters 0.06752016790099002 Centerline is valid? [True, True] Translation: X:83.44, Y:-21.81, Z:-11.04 [[ 8.46006577e-01 5.27309883e-01 7.88489650e-02 8.34354394e+01] [-5.25081542e-01 8.49672937e-01 -4.84280297e-02 -2.18143695e+01] [-9.25324104e-02 -4.31704530e-04 9.95709579e-01 -1.10406351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52824100800001 meters 0.06752016790099002 Centerline is valid? [True, True] Translation: X:83.46, Y:-21.83, Z:-11.04 [[ 8.45872310e-01 5.27527088e-01 7.88365856e-02 8.34626853e+01] [-5.25297810e-01 8.49538101e-01 -4.84481720e-02 -2.18313298e+01] [-9.25324063e-02 -4.31718568e-04 9.95709580e-01 -1.10446983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55824100800001 meters 0.06758219651520696 Centerline is valid? [True, True] Translation: X:83.49, Y:-21.85, Z:-11.05 [[ 8.45737484e-01 5.27733885e-01 7.88990140e-02 8.34911766e+01] [-5.25499375e-01 8.49409654e-01 -4.85143851e-02 -2.18474786e+01] [-9.26202691e-02 -4.30948539e-04 9.95701411e-01 -1.10496682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58824100800001 meters 0.0671241330426017 Centerline is valid? [True, True] Translation: X:83.52, Y:-21.87, Z:-11.05 [[ 8.45429821e-01 5.28152115e-01 7.93962233e-02 8.35205179e+01] [-5.25888798e-01 8.49149653e-01 -4.88450499e-02 -2.18653396e+01] [-9.32168919e-02 -4.58522660e-04 9.95645721e-01 -1.10488332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61824100800001 meters 0.06736625721225528 Centerline is valid? [True, True] Translation: X:83.55, Y:-21.88, Z:-11.06 [[ 8.45242638e-01 5.28313325e-01 8.03113531e-02 8.35480464e+01] [-5.25994312e-01 8.49049369e-01 -4.94484836e-02 -2.18815374e+01] [-9.43125965e-02 -4.47348270e-04 9.95542533e-01 -1.10576001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64824100800001 meters 0.06660698049478932 Centerline is valid? [True, True] Translation: X:83.58, Y:-21.90, Z:-11.05 [[ 8.45577884e-01 5.27612800e-01 8.13804430e-02 8.35760420e+01] [-5.25225204e-01 8.49484910e-01 -5.01385325e-02 -2.19021727e+01] [-9.55851899e-02 -3.47025575e-04 9.95421193e-01 -1.10548616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67824100800001 meters 0.06663602744558184 Centerline is valid? [True, True] Translation: X:83.60, Y:-21.92, Z:-11.06 [[ 8.45652489e-01 5.27334834e-01 8.24004909e-02 8.36025946e+01] [-5.24881844e-01 8.49657514e-01 -5.08051106e-02 -2.19197981e+01] [-9.68035008e-02 -2.87053352e-04 9.95303471e-01 -1.10608690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70824100800002 meters 0.06646793145262245 Centerline is valid? [True, True] Translation: X:83.63, Y:-21.94, Z:-11.06 [[ 8.45623238e-01 5.27329568e-01 8.27337094e-02 8.36290324e+01] [-5.24853482e-01 8.49660791e-01 -5.10427535e-02 -2.19361971e+01] [-9.72119421e-02 -2.60137008e-04 9.95263669e-01 -1.10644345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73824100800002 meters 0.0661235869921947 Centerline is valid? [True, True] Translation: X:83.66, Y:-21.95, Z:-11.06 [[ 8.45387376e-01 5.27656941e-01 8.30562247e-02 8.36572887e+01] [-5.25160974e-01 8.49457517e-01 -5.12628325e-02 -2.19535442e+01] [-9.76019238e-02 -2.80936445e-04 9.95225495e-01 -1.10639622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.768241008 meters 0.06592781647781958 Centerline is valid? [True, True] Translation: X:83.68, Y:-21.97, Z:-11.07 [[ 8.45515293e-01 5.27329904e-01 8.38275670e-02 8.36844660e+01] [-5.24782573e-01 8.49660593e-01 -5.17699411e-02 -2.19691441e+01] [-9.85248184e-02 -2.18969403e-04 9.95134570e-01 -1.10693228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.798241008 meters 0.06580153586953344 Centerline is valid? [True, True] Translation: X:83.71, Y:-21.99, Z:-11.07 [[ 8.45272996e-01 5.27716010e-01 8.38413652e-02 8.37125272e+01] [-5.25167165e-01 8.49420834e-01 -5.18043894e-02 -2.19858439e+01] [-9.85546081e-02 -2.41880618e-04 9.95131615e-01 -1.10723802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.828241008 meters 0.06560147123863956 Centerline is valid? [True, True] Translation: X:83.74, Y:-22.00, Z:-11.08 [[ 8.45209919e-01 5.27743685e-01 8.43018146e-02 8.37408714e+01] [-5.25163896e-01 8.49403646e-01 -5.21184020e-02 -2.20033801e+01] [-9.91114262e-02 -2.21279081e-04 9.95076317e-01 -1.10751743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85824100800001 meters 0.06535293961671777 Centerline is valid? [True, True] Translation: X:83.77, Y:-22.02, Z:-11.08 [[ 8.46613520e-01 5.25328835e-01 8.52945628e-02 8.37670757e+01] [-5.22671968e-01 8.50899293e-01 -5.27674896e-02 -2.20243657e+01] [-1.00297367e-01 9.25931199e-05 9.94957501e-01 -1.10771064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88824100800001 meters 0.06492493015629662 Centerline is valid? [True, True] Translation: X:83.79, Y:-22.05, Z:-11.08 [[ 8.50119989e-01 5.19621733e-01 8.53771573e-02 8.37922346e+01] [-5.16927414e-01 8.54396055e-01 -5.28529080e-02 -2.20497260e+01] [-1.00409426e-01 7.97520352e-04 9.94945884e-01 -1.10779616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91824100800001 meters 0.06522666145592758 Centerline is valid? [True, True] Translation: X:83.82, Y:-22.07, Z:-11.09 [[ 8.51196776e-01 5.18080246e-01 8.40053939e-02 8.38173967e+01] [-5.15460402e-01 8.55331433e-01 -5.20453112e-02 -2.20672861e+01] [-9.88161015e-02 9.99346987e-04 9.95105210e-01 -1.10854110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94824100800001 meters 0.06561858362779269 Centerline is valid? [True, True] Translation: X:83.84, Y:-22.08, Z:-11.09 [[ 8.52373507e-01 5.16346797e-01 8.27368771e-02 8.38447787e+01] [-5.13795043e-01 8.56378734e-01 -5.12846727e-02 -2.20848666e+01] [-9.73347785e-02 1.20389899e-03 9.95250969e-01 -1.10922164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97824100800001 meters 0.0660237460102779 Centerline is valid? [True, True] Translation: X:83.87, Y:-22.10, Z:-11.10 [[ 8.52852634e-01 5.15770187e-01 8.13848788e-02 8.38710652e+01] [-5.13295567e-01 8.56726026e-01 -5.04794757e-02 -2.21008868e+01] [-9.57603524e-02 1.27705629e-03 9.95403599e-01 -1.11000425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00824100800001 meters 0.0659596250095803 Centerline is valid? [True, True] Translation: X:83.90, Y:-22.12, Z:-11.11 [[ 8.53073798e-01 5.15533727e-01 8.05609833e-02 8.38985244e+01] [-5.13106785e-01 8.56868300e-01 -4.99814383e-02 -2.21166791e+01] [-9.47972699e-02 1.30146828e-03 9.95495748e-01 -1.11057258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03824100800001 meters 0.06578384755135094 Centerline is valid? [True, True] Translation: X:83.93, Y:-22.14, Z:-11.11 [[ 8.52841908e-01 5.15943483e-01 8.03928002e-02 8.39277744e+01] [-5.13526369e-01 8.56621680e-01 -4.98995530e-02 -2.21353635e+01] [-9.46115648e-02 1.27260719e-03 9.95513452e-01 -1.11093787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06824100800002 meters 0.06565983845262288 Centerline is valid? [True, True] Translation: X:83.96, Y:-22.15, Z:-11.11 [[ 8.52413143e-01 5.16702942e-01 8.00618666e-02 8.39551758e+01] [-5.14305435e-01 8.56163880e-01 -4.97325892e-02 -2.21526754e+01] [-9.42430535e-02 1.21645958e-03 9.95548476e-01 -1.11133846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09824100800002 meters 0.0655801793096225 Centerline is valid? [True, True] Translation: X:83.98, Y:-22.17, Z:-11.12 [[ 8.51968598e-01 5.17443915e-01 8.00081445e-02 8.39817647e+01] [-5.15049819e-01 8.55716335e-01 -4.97316649e-02 -2.21695753e+01] [-9.41976235e-02 1.16163648e-03 9.95552841e-01 -1.11168608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12824100800002 meters 0.06546855908380078 Centerline is valid? [True, True] Translation: X:84.01, Y:-22.19, Z:-11.12 [[ 8.51900857e-01 5.17492251e-01 8.04157918e-02 8.40079718e+01] [-5.15072481e-01 8.55687087e-01 -4.99994819e-02 -2.21867404e+01] [-9.46850990e-02 1.17464006e-03 9.95506581e-01 -1.11204630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.158241008 meters 0.06489105119809031 Centerline is valid? [True, True] Translation: X:84.04, Y:-22.20, Z:-11.12 [[ 8.51281069e-01 5.18516850e-01 8.03792135e-02 8.40367189e+01] [-5.16101402e-01 8.55066725e-01 -5.00023867e-02 -2.22031859e+01] [-9.46566709e-02 1.08226047e-03 9.95509389e-01 -1.11211370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.188241008 meters 0.06454168039584604 Centerline is valid? [True, True] Translation: X:84.06, Y:-22.22, Z:-11.13 [[ 8.50559204e-01 5.19567380e-01 8.12328643e-02 8.40644633e+01] [-5.17102116e-01 8.54428894e-01 -5.05634945e-02 -2.22194652e+01] [-9.56788487e-02 1.00155968e-03 9.95411751e-01 -1.11265338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.218241008 meters 0.06444038094370644 Centerline is valid? [True, True] Translation: X:84.09, Y:-22.24, Z:-11.13 [[ 8.50046181e-01 5.20336456e-01 8.16790259e-02 8.40920775e+01] [-5.17844273e-01 8.53960814e-01 -5.08747160e-02 -2.22354291e+01] [-9.62226568e-02 9.48842234e-04 9.95359382e-01 -1.11308403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24824100800001 meters 0.06434320917993595 Centerline is valid? [True, True] Translation: X:84.12, Y:-22.25, Z:-11.13 [[ 8.49674019e-01 5.20898369e-01 8.19692124e-02 8.41191845e+01] [-5.18388194e-01 8.53618214e-01 -5.10844823e-02 -2.22520897e+01] [-9.65802362e-02 9.13285364e-04 9.95324783e-01 -1.11339825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27824100800001 meters 0.06388609566161836 Centerline is valid? [True, True] Translation: X:84.15, Y:-22.27, Z:-11.14 [[ 8.48202370e-01 5.23220786e-01 8.24181349e-02 8.41475509e+01] [-5.20691252e-01 8.52196898e-01 -5.13913256e-02 -2.22682196e+01] [-9.71254886e-02 6.75842385e-04 9.95271914e-01 -1.11372605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.30824100800001 meters 0.06382391380641934 Centerline is valid? [True, True] Translation: X:84.17, Y:-22.28, Z:-11.14 [[ 8.47918071e-01 5.23507897e-01 8.35130267e-02 8.41736942e+01] [-5.20909091e-01 8.52020554e-01 -5.21027315e-02 -2.22846353e+01] [-9.84310067e-02 6.76152790e-04 9.95143648e-01 -1.11414668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33824100800001 meters 0.06341117458606214 Centerline is valid? [True, True] Translation: X:84.20, Y:-22.30, Z:-11.14 [[ 8.46935620e-01 5.24949489e-01 8.44280163e-02 8.42021536e+01] [-5.22297735e-01 8.51133212e-01 -5.27003845e-02 -2.23012088e+01] [-9.95245286e-02 5.37271137e-04 9.95034964e-01 -1.11430701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36824100800001 meters 0.06298362117230531 Centerline is valid? [True, True] Translation: X:84.23, Y:-22.32, Z:-11.14 [[ 8.46642707e-01 5.25277842e-01 8.53189045e-02 8.42302710e+01] [-5.22568413e-01 8.50930613e-01 -5.32855021e-02 -2.23188930e+01] [-1.00590161e-01 5.28817151e-04 9.94927806e-01 -1.11434616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39824100800001 meters 0.0626760883301054 Centerline is valid? [True, True] Translation: X:84.26, Y:-22.34, Z:-11.15 [[ 8.46318979e-01 5.25504086e-01 8.71185508e-02 8.42566236e+01] [-5.22676425e-01 8.50790903e-01 -5.44444037e-02 -2.23368440e+01] [-1.02730427e-01 5.42519399e-04 9.94709086e-01 -1.11453857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42824100800001 meters 0.06263546796868716 Centerline is valid? [True, True] Translation: X:84.28, Y:-22.35, Z:-11.15 [[ 8.46651390e-01 5.24760630e-01 8.83612183e-02 8.42830002e+01] [-5.21844077e-01 8.51249571e-01 -5.52532924e-02 -2.23545032e+01] [-1.04212202e-01 6.69498432e-04 9.94554860e-01 -1.11491820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45824100800002 meters 0.06267597654051946 Centerline is valid? [True, True] Translation: X:84.31, Y:-22.37, Z:-11.15 [[ 8.47075973e-01 5.23926324e-01 8.92384612e-02 8.43095584e+01] [-5.20943422e-01 8.51763204e-01 -5.58336459e-02 -2.23728200e+01] [-1.05262754e-01 8.07150559e-04 9.94444117e-01 -1.11535898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.48824100800002 meters 0.06264701251673753 Centerline is valid? [True, True] Translation: X:84.34, Y:-22.39, Z:-11.16 [[ 8.47425894e-01 5.23387744e-01 8.90764991e-02 8.43371321e+01] [-5.20409401e-01 8.52094162e-01 -5.57637392e-02 -2.23905824e+01] [-1.05087622e-01 8.99389012e-04 9.94462560e-01 -1.11579768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.518241008 meters 0.0627815639723178 Centerline is valid? [True, True] Translation: X:84.36, Y:-22.41, Z:-11.16 [[ 8.48154893e-01 5.22210929e-01 8.90450658e-02 8.43647953e+01] [-5.19224837e-01 8.52815687e-01 -5.57760895e-02 -2.24092037e+01] [-1.05065912e-01 1.07235338e-03 9.94464682e-01 -1.11638789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.548241008 meters 0.0629388946415461 Centerline is valid? [True, True] Translation: X:84.39, Y:-22.43, Z:-11.17 [[ 8.48360743e-01 5.22032239e-01 8.81271269e-02 8.43909478e+01] [-5.19102693e-01 8.52925025e-01 -5.52385353e-02 -2.24270893e+01] [-1.04002128e-01 1.11517598e-03 9.94576449e-01 -1.11698007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.578241008 meters 0.06323977262772063 Centerline is valid? [True, True] Translation: X:84.42, Y:-22.45, Z:-11.18 [[ 8.49238264e-01 5.20873689e-01 8.65157332e-02 8.44177806e+01] [-5.18041534e-01 8.53632833e-01 -5.42582242e-02 -2.24475778e+01] [-1.02114352e-01 1.25941698e-03 9.94771870e-01 -1.11757489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60824100800001 meters 0.06335980520063358 Centerline is valid? [True, True] Translation: X:84.45, Y:-22.47, Z:-11.18 [[ 8.49513968e-01 5.20659161e-01 8.50885197e-02 8.44450663e+01] [-5.17914813e-01 8.53763640e-01 -5.34031218e-02 -2.24655360e+01] [-1.00450309e-01 1.29809313e-03 9.94941230e-01 -1.11811567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63824100800001 meters 0.0634587021734323 Centerline is valid? [True, True] Translation: X:84.47, Y:-22.48, Z:-11.19 [[ 8.49537652e-01 5.20769307e-01 8.41730736e-02 8.44710716e+01] [-5.18081052e-01 8.53696457e-01 -5.28619311e-02 -2.24823343e+01] [-9.93871259e-02 1.29972638e-03 9.95047994e-01 -1.11870372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66824100800001 meters 0.06353761569991931 Centerline is valid? [True, True] Translation: X:84.50, Y:-22.50, Z:-11.19 [[ 8.49758446e-01 5.20403390e-01 8.42074465e-02 8.44982701e+01] [-5.17709676e-01 8.53919477e-01 -5.28981846e-02 -2.24995299e+01] [-9.94347733e-02 1.35566929e-03 9.95043159e-01 -1.11914686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.69824100800001 meters 0.06345244652197174 Centerline is valid? [True, True] Translation: X:84.53, Y:-22.52, Z:-11.19 [[ 8.49743601e-01 5.20188479e-01 8.56724001e-02 8.45257858e+01] [-5.17395650e-01 8.54050288e-01 -5.38502179e-02 -2.25166826e+01] [-1.01180801e-01 1.43235084e-03 9.94867023e-01 -1.11948421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.72824100800001 meters 0.06325292704058388 Centerline is valid? [True, True] Translation: X:84.55, Y:-22.53, Z:-11.20 [[ 8.50084223e-01 5.19441822e-01 8.68159447e-02 8.45528839e+01] [-5.16566539e-01 8.54504377e-01 -5.46010917e-02 -2.25344996e+01] [-1.02546695e-01 1.56931447e-03 9.94726954e-01 -1.11965444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.75824100800001 meters 0.06302227195254667 Centerline is valid? [True, True] Translation: X:84.58, Y:-22.55, Z:-11.20 [[ 8.49847137e-01 5.19753237e-01 8.72720853e-02 8.45813124e+01] [-5.16847420e-01 8.54315021e-01 -5.49052744e-02 -2.25519478e+01] [-1.03095048e-01 1.55473814e-03 9.94670294e-01 -1.11982327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.78824100800001 meters 0.06287749048663131 Centerline is valid? [True, True] Translation: X:84.61, Y:-22.57, Z:-11.20 [[ 8.49833109e-01 5.19658424e-01 8.79704977e-02 8.46085676e+01] [-5.16701698e-01 8.54372598e-01 -5.53788798e-02 -2.25701074e+01] [-1.03937684e-01 1.60830009e-03 9.94582511e-01 -1.12024362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.81824100800002 meters 0.062979695565135 Centerline is valid? [True, True] Translation: X:84.64, Y:-22.59, Z:-11.21 [[ 8.49595002e-01 5.20077277e-01 8.77949872e-02 8.46362789e+01] [-5.17130455e-01 8.54117735e-01 -5.53081211e-02 -2.25875516e+01] [-1.03751753e-01 1.58804158e-03 9.94601957e-01 -1.12075597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.84824100800002 meters 0.06283556558081357 Centerline is valid? [True, True] Translation: X:84.66, Y:-22.60, Z:-11.21 [[ 8.49809833e-01 5.19743965e-01 8.76895602e-02 8.46643853e+01] [-5.16799115e-01 8.54320475e-01 -5.52738650e-02 -2.26035496e+01] [-1.03643244e-01 1.65438680e-03 9.94613161e-01 -1.12112863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.87824100800002 meters 0.06287443253832843 Centerline is valid? [True, True] Translation: X:84.69, Y:-22.62, Z:-11.22 [[ 8.49749010e-01 5.19887799e-01 8.74259522e-02 8.46909732e+01] [-5.16958005e-01 8.54232943e-01 -5.51407330e-02 -2.26203224e+01] [-1.03349123e-01 1.66023740e-03 9.94643757e-01 -1.12159653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.908241008 meters 0.06286401590930216 Centerline is valid? [True, True] Translation: X:84.72, Y:-22.64, Z:-11.22 [[ 8.49932309e-01 5.19552729e-01 8.76357942e-02 8.47176221e+01] [-5.16603900e-01 8.54436637e-01 -5.53032044e-02 -2.26383735e+01] [-1.03612164e-01 1.73098711e-03 9.94616269e-01 -1.12199000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.938241008 meters 0.06308854699702468 Centerline is valid? [True, True] Translation: X:84.74, Y:-22.66, Z:-11.22 [[ 8.50228677e-01 5.19106228e-01 8.74066408e-02 8.47445592e+01] [-5.16167264e-01 8.54707820e-01 -5.51896590e-02 -2.26584229e+01] [-1.03356435e-01 1.80738411e-03 9.94642740e-01 -1.12237299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.968241008 meters 0.06311722785501243 Centerline is valid? [True, True] Translation: X:84.77, Y:-22.68, Z:-11.23 [[ 8.50153351e-01 5.19201022e-01 8.75761257e-02 8.47710660e+01] [-5.16247239e-01 8.54650188e-01 -5.53339282e-02 -2.26765370e+01] [-1.03576384e-01 1.83139143e-03 9.94619816e-01 -1.12270033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.99824100800001 meters 0.0630580339535871 Centerline is valid? [True, True] Translation: X:84.80, Y:-22.69, Z:-11.23 [[ 8.50089725e-01 5.19287568e-01 8.76805662e-02 8.47983604e+01] [-5.16324105e-01 8.54597569e-01 -5.54293563e-02 -2.26936493e+01] [-1.03715374e-01 1.84833645e-03 9.94605301e-01 -1.12314687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.02824100800001 meters 0.06293349950968281 Centerline is valid? [True, True] Translation: X:84.83, Y:-22.71, Z:-11.23 [[ 8.49867932e-01 5.19545382e-01 8.83011531e-02 8.48259174e+01] [-5.16537719e-01 8.54440838e-01 -5.58537293e-02 -2.27100593e+01] [-1.04466658e-01 1.85741722e-03 9.94526655e-01 -1.12346889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.05824100800001 meters 0.06314828516410376 Centerline is valid? [True, True] Translation: X:84.85, Y:-22.73, Z:-11.24 [[ 8.49182558e-01 5.20805720e-01 8.74664804e-02 8.48530819e+01] [-5.17858358e-01 8.53673516e-01 -5.53556670e-02 -2.27280157e+01] [-1.03497366e-01 1.71181896e-03 9.94628255e-01 -1.12412225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08824100800001 meters 0.06248068541032509 Centerline is valid? [True, True] Translation: X:84.88, Y:-22.74, Z:-11.24 [[ 8.48116633e-01 5.22657417e-01 8.67605980e-02 8.48825767e+01] [-5.19763741e-01 8.52541475e-01 -5.49425840e-02 -2.27422227e+01] [-1.02683157e-01 1.50270635e-03 9.94712979e-01 -1.12447442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11824100800001 meters 0.06224904912504332 Centerline is valid? [True, True] Translation: X:84.91, Y:-22.76, Z:-11.25 [[ 8.47167709e-01 5.24210787e-01 8.66598116e-02 8.49118642e+01] [-5.21328803e-01 8.51587492e-01 -5.49092131e-02 -2.27573492e+01] [-1.02582414e-01 1.33905638e-03 9.94723608e-01 -1.12498823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14824100800001 meters 0.06204046319939102 Centerline is valid? [True, True] Translation: X:84.94, Y:-22.77, Z:-11.25 [[ 8.45691895e-01 5.26705461e-01 8.59451904e-02 8.49409411e+01] [-5.23880020e-01 8.50047196e-01 -5.44930235e-02 -2.27724169e+01] [-1.01759241e-01 1.05934024e-03 9.94808491e-01 -1.12545302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17824100800001 meters 0.06239685486717113 Centerline is valid? [True, True] Translation: X:84.97, Y:-22.79, Z:-11.26 [[ 8.45188464e-01 5.27654769e-01 8.50700044e-02 8.49669548e+01] [-5.24888281e-01 8.49458368e-01 -5.39701204e-02 -2.27894450e+01] [-1.00741018e-01 9.62674781e-04 9.94912217e-01 -1.12618164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20824100800002 meters 0.062015039563174966 Centerline is valid? [True, True] Translation: X:85.00, Y:-22.81, Z:-11.26 [[ 8.44645587e-01 5.28528385e-01 8.50386901e-02 8.49961748e+01] [-5.25765415e-01 8.48915171e-01 -5.39792691e-02 -2.28055727e+01] [-1.00720210e-01 8.82949192e-04 9.94914398e-01 -1.12630493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23824100800002 meters 0.061874520290796875 Centerline is valid? [True, True] Translation: X:85.02, Y:-22.82, Z:-11.27 [[ 8.44287453e-01 5.29152206e-01 8.47150462e-02 8.50242789e+01] [-5.26410239e-01 8.48526517e-01 -5.38053015e-02 -2.28226823e+01] [-1.00354157e-01 8.32273251e-04 9.94951431e-01 -1.12670445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.268241008 meters 0.06182209338041765 Centerline is valid? [True, True] Translation: X:85.05, Y:-22.84, Z:-11.27 [[ 8.44154523e-01 5.29163128e-01 8.59623436e-02 8.50506671e+01] [-5.26336264e-01 8.48519666e-01 -5.46306989e-02 -2.28399078e+01] [-1.01849291e-01 8.71652838e-04 9.94799458e-01 -1.12701981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.298241008 meters 0.06179316741467714 Centerline is valid? [True, True] Translation: X:85.08, Y:-22.86, Z:-11.27 [[ 8.44047701e-01 5.29282216e-01 8.62775395e-02 8.50780471e+01] [-5.26432356e-01 8.48445376e-01 -5.48581737e-02 -2.28572411e+01] [-1.02237235e-01 8.83627001e-04 9.94759653e-01 -1.12735067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.328241008 meters 0.06184376598622016 Centerline is valid? [True, True] Translation: X:85.11, Y:-22.87, Z:-11.28 [[ 8.44262720e-01 5.28981091e-01 8.60201429e-02 8.51050169e+01] [-5.26143488e-01 8.48633085e-01 -5.47258262e-02 -2.28746809e+01] [-1.01948467e-01 9.44036871e-04 9.94789233e-01 -1.12781965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35824100800001 meters 0.06197213698482525 Centerline is valid? [True, True] Translation: X:85.13, Y:-22.89, Z:-11.28 [[ 8.44204757e-01 5.28971998e-01 8.66426765e-02 8.51316479e+01] [-5.26089743e-01 8.48638714e-01 -5.51535629e-02 -2.28917136e+01] [-1.02703020e-01 9.79076682e-04 9.94711582e-01 -1.12833168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38824100800001 meters 0.06200246693734213 Centerline is valid? [True, True] Translation: X:85.16, Y:-22.91, Z:-11.29 [[ 8.43868599e-01 5.29517609e-01 8.65845802e-02 8.51609628e+01] [-5.26639324e-01 8.48298431e-01 -5.51434042e-02 -2.29112688e+01] [-1.02648967e-01 9.34942472e-04 9.94717204e-01 -1.12877038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41824100800001 meters 0.06200246693734213 Centerline is valid? [True, True] Translation: X:85.19, Y:-22.93, Z:-11.29 [[ 8.43732852e-01 5.29737450e-01 8.65627452e-02 8.51879182e+01] [-5.26856805e-01 8.48161148e-01 -5.51776564e-02 -2.29286668e+01] [-1.02648828e-01 9.49030030e-04 9.94717205e-01 -1.12917764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44824100800001 meters 0.061535290093632955 Centerline is valid? [True, True] Translation: X:85.22, Y:-22.95, Z:-11.29 [[ 8.43574494e-01 5.29936193e-01 8.68890372e-02 8.52165626e+01] [-5.27031546e-01 8.48036980e-01 -5.54168764e-02 -2.29455383e+01] [-1.03052525e-01 9.54999786e-04 9.94675457e-01 -1.12925038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47824100800001 meters 0.06187168270210652 Centerline is valid? [True, True] Translation: X:85.24, Y:-22.96, Z:-11.30 [[ 8.43499679e-01 5.30097541e-01 8.66307624e-02 8.52438433e+01] [-5.27207850e-01 8.47936129e-01 -5.52829514e-02 -2.29648874e+01] [-1.02762710e-01 9.58733758e-04 9.94705437e-01 -1.12996966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50824100800001 meters 0.06201181683794898 Centerline is valid? [True, True] Translation: X:85.27, Y:-22.98, Z:-11.30 [[ 8.43335218e-01 5.30361853e-01 8.66141720e-02 8.52699803e+01] [-5.27469832e-01 8.47770825e-01 -5.53191190e-02 -2.29822943e+01] [-1.02768119e-01 9.66198494e-04 9.94704871e-01 -1.13043248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53824100800001 meters 0.061644916564353384 Centerline is valid? [True, True] Translation: X:85.30, Y:-23.00, Z:-11.31 [[ 8.42493728e-01 5.31751442e-01 8.62828051e-02 8.52985401e+01] [-5.28885947e-01 8.46900074e-01 -5.51354605e-02 -2.29977513e+01] [-1.02391275e-01 8.17516519e-04 9.94743866e-01 -1.13072690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56824100800002 meters 0.06146055837982927 Centerline is valid? [True, True] Translation: X:85.33, Y:-23.01, Z:-11.31 [[ 8.41698156e-01 5.33045199e-01 8.60641058e-02 8.53273944e+01] [-5.30197761e-01 8.46086489e-01 -5.50271564e-02 -2.30138331e+01] [-1.02149639e-01 6.85259891e-04 9.94768808e-01 -1.13098097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59824100800002 meters 0.06166238842929386 Centerline is valid? [True, True] Translation: X:85.35, Y:-23.03, Z:-11.32 [[ 8.40595847e-01 5.34877067e-01 8.54701465e-02 8.53539634e+01] [-5.32075046e-01 8.44929752e-01 -5.46796070e-02 -2.30294951e+01] [-1.01463138e-01 4.86918396e-04 9.94839180e-01 -1.13170032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62824100800002 meters 0.06144455107060113 Centerline is valid? [True, True] Translation: X:85.38, Y:-23.05, Z:-11.32 [[ 8.39110311e-01 5.37125489e-01 8.59656568e-02 8.53836880e+01] [-5.34299580e-01 8.43502312e-01 -5.50255182e-02 -2.30450495e+01] [-1.02067839e-01 2.41065389e-04 9.94777411e-01 -1.13185401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.658241008 meters 0.061483539819503254 Centerline is valid? [True, True] Translation: X:85.41, Y:-23.06, Z:-11.32 [[ 8.35999948e-01 5.41900398e-01 8.63020589e-02 8.54141204e+01] [-5.39073884e-01 8.40442658e-01 -5.52764513e-02 -2.30581924e+01] [-1.02486263e-01 -3.12075610e-04 9.94734371e-01 -1.13231223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.688241008 meters 0.061586284876431245 Centerline is valid? [True, True] Translation: X:85.44, Y:-23.07, Z:-11.33 [[ 8.34602769e-01 5.44133925e-01 8.57699785e-02 8.54427388e+01] [-5.41350030e-01 8.38998194e-01 -5.49743228e-02 -2.30742359e+01] [-1.01874251e-01 -5.49858395e-04 9.94797132e-01 -1.13264420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.718241008 meters 0.06194173217243207 Centerline is valid? [True, True] Translation: X:85.47, Y:-23.09, Z:-11.33 [[ 8.33030836e-01 5.46503614e-01 8.59850319e-02 8.54706344e+01] [-5.43715090e-01 8.37456348e-01 -5.51431392e-02 -2.30889270e+01] [-1.02144636e-01 -8.15423956e-04 9.94769224e-01 -1.13328271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74824100800001 meters 0.06182929615642606 Centerline is valid? [True, True] Translation: X:85.50, Y:-23.11, Z:-11.34 [[ 8.32462281e-01 5.47528519e-01 8.49651144e-02 8.54979191e+01] [-5.44808147e-01 8.36786534e-01 -5.45195381e-02 -2.31077024e+01] [-1.00948666e-01 -9.04227466e-04 9.94891225e-01 -1.13354869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77824100800001 meters 0.06149636401197856 Centerline is valid? [True, True] Translation: X:85.52, Y:-23.13, Z:-11.34 [[ 8.34630270e-01 5.44338928e-01 8.41869543e-02 8.55233371e+01] [-5.41648953e-01 8.38865242e-01 -5.40510648e-02 -2.31299891e+01] [-1.00043608e-01 -4.87120928e-04 9.94982934e-01 -1.13412282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80824100800001 meters 0.06151577666102151 Centerline is valid? [True, True] Translation: X:85.55, Y:-23.15, Z:-11.35 [[ 8.35462106e-01 5.43081206e-01 8.40587509e-02 8.55486600e+01] [-5.40389102e-01 8.39680125e-01 -5.40083986e-02 -2.31495446e+01] [-9.99134087e-02 -3.02462474e-04 9.94996090e-01 -1.13468196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83824100800001 meters 0.061839526948974696 Centerline is valid? [True, True] Translation: X:85.57, Y:-23.17, Z:-11.35 [[ 8.35903939e-01 5.42615251e-01 8.26637429e-02 8.55736108e+01] [-5.40006401e-01 8.39981335e-01 -5.31454969e-02 -2.31675867e+01] [-9.82735582e-02 -2.14420055e-04 9.95159415e-01 -1.13541890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86824100800001 meters 0.06174750548476601 Centerline is valid? [True, True] Translation: X:85.60, Y:-23.19, Z:-11.36 [[ 8.36338011e-01 5.42161788e-01 8.12362383e-02 8.55995246e+01] [-5.39637859e-01 8.40274108e-01 -5.22532705e-02 -2.31875990e+01] [-9.65904342e-02 -1.36753373e-04 9.95324203e-01 -1.13570519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89824100800001 meters 0.0618951152026481 Centerline is valid? [True, True] Translation: X:85.63, Y:-23.21, Z:-11.36 [[ 8.36477579e-01 5.42039863e-01 8.06104693e-02 8.56253319e+01] [-5.39551385e-01 8.40352770e-01 -5.18799073e-02 -2.32056462e+01] [-9.58622090e-02 -9.71110877e-05 9.95394609e-01 -1.13612297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92824100800001 meters 0.061692572402619036 Centerline is valid? [True, True] Translation: X:85.65, Y:-23.22, Z:-11.36 [[ 8.36244380e-01 5.42396148e-01 8.06334627e-02 8.56526149e+01] [-5.39905201e-01 8.40122851e-01 -5.19227201e-02 -2.32245705e+01] [-9.59046980e-02 -1.14343031e-04 9.95390514e-01 -1.13644133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95824100800002 meters 0.06162742017220644 Centerline is valid? [True, True] Translation: X:85.68, Y:-23.24, Z:-11.37 [[ 8.36862636e-01 5.41214896e-01 8.21423456e-02 8.56772405e+01] [-5.38620716e-01 8.40884316e-01 -5.29272187e-02 -2.32436233e+01] [-9.77172093e-02 4.92426957e-05 9.95214220e-01 -1.13677134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98824100800002 meters 0.061617217330880346 Centerline is valid? [True, True] Translation: X:85.70, Y:-23.27, Z:-11.37 [[ 8.38538148e-01 5.38439323e-01 8.32878748e-02 8.57003076e+01] [-5.35755453e-01 8.42664188e-01 -5.36950799e-02 -2.32655779e+01] [-9.90952518e-02 4.03439734e-04 9.95077870e-01 -1.13719842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.018241008 meters 0.061379155827129835 Centerline is valid? [True, True] Translation: X:85.73, Y:-23.28, Z:-11.38 [[ 8.38879403e-01 5.37810780e-01 8.39101469e-02 8.57265770e+01] [-5.35081654e-01 8.43065430e-01 -5.41138156e-02 -2.32848252e+01] [-9.98447374e-02 4.96185116e-04 9.95002906e-01 -1.13750230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.048241008 meters 0.06107306224768789 Centerline is valid? [True, True] Translation: X:85.76, Y:-23.30, Z:-11.37 [[ 8.38785771e-01 5.37895697e-01 8.43009472e-02 8.57551505e+01] [-5.35138700e-01 8.43011244e-01 -5.43931379e-02 -2.33035378e+01] [-1.00324481e-01 5.11490757e-04 9.94954641e-01 -1.13747854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.078241008 meters 0.06112141169118831 Centerline is valid? [True, True] Translation: X:85.78, Y:-23.32, Z:-11.38 [[ 8.38556054e-01 5.38275106e-01 8.41644470e-02 8.57831154e+01] [-5.35525354e-01 8.42769046e-01 -5.43408754e-02 -2.33207508e+01] [-1.00181531e-01 4.95674837e-04 9.94969052e-01 -1.13792746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10824100800001 meters 0.06114881863443442 Centerline is valid? [True, True] Translation: X:85.81, Y:-23.34, Z:-11.38 [[ 8.38146112e-01 5.38943311e-01 8.39714440e-02 8.58104084e+01] [-5.36206216e-01 8.42341921e-01 -5.42492615e-02 -2.33386402e+01] [-9.99699440e-02 4.42797350e-04 9.94990359e-01 -1.13842422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13824100800001 meters 0.06109187942587697 Centerline is valid? [True, True] Translation: X:85.84, Y:-23.36, Z:-11.39 [[ 8.38009937e-01 5.39115768e-01 8.42231254e-02 8.58365860e+01] [-5.36359416e-01 8.42231549e-01 -5.44480867e-02 -2.33560625e+01] [-1.00289195e-01 4.54171347e-04 9.94958226e-01 -1.13880929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16824100800001 meters 0.061464012062851195 Centerline is valid? [True, True] Translation: X:85.86, Y:-23.37, Z:-11.39 [[ 8.37839860e-01 5.39644276e-01 8.25131725e-02 8.58633835e+01] [-5.36999930e-01 8.41893044e-01 -5.33589492e-02 -2.33724576e+01] [-9.82621175e-02 3.96686664e-04 9.95160489e-01 -1.13938836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19824100800001 meters 0.06166069222000266 Centerline is valid? [True, True] Translation: X:85.89, Y:-23.39, Z:-11.40 [[ 8.38055101e-01 5.39434687e-01 8.16937406e-02 8.58909676e+01] [-5.36839382e-01 8.42027332e-01 -5.28530985e-02 -2.33909412e+01] [-9.72991570e-02 4.37391505e-04 9.95255084e-01 -1.14003116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22824100800001 meters 0.061839988807532185 Centerline is valid? [True, True] Translation: X:85.92, Y:-23.41, Z:-11.41 [[ 8.38514623e-01 5.38882216e-01 8.06175183e-02 8.59167092e+01] [-5.36349181e-01 8.42380961e-01 -5.21907325e-02 -2.34079349e+01] [-9.60353201e-02 5.23552422e-04 9.95377789e-01 -1.14057402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25824100800001 meters 0.06176567351633054 Centerline is valid? [True, True] Translation: X:85.94, Y:-23.43, Z:-11.41 [[ 8.38693362e-01 5.38684281e-01 8.00792712e-02 8.59433672e+01] [-5.36181765e-01 8.42507524e-01 -5.18670139e-02 -2.34262953e+01] [-9.54073335e-02 5.63475272e-04 9.95438156e-01 -1.14102413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28824100800001 meters 0.06184375532744711 Centerline is valid? [True, True] Translation: X:85.97, Y:-23.44, Z:-11.42 [[ 8.39373879e-01 5.37692244e-01 7.96149632e-02 8.59699812e+01] [-5.35211529e-01 8.43140893e-01 -5.15950890e-02 -2.34442587e+01] [-9.48689104e-02 6.96723739e-04 9.95489530e-01 -1.14154609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31824100800002 meters 0.06194751418274833 Centerline is valid? [True, True] Translation: X:86.00, Y:-23.46, Z:-11.42 [[ 8.39202672e-01 5.37994409e-01 7.93781492e-02 8.59990394e+01] [-5.35528223e-01 8.42948136e-01 -5.14583511e-02 -2.34629553e+01] [-9.45959681e-02 6.74746569e-04 9.95515518e-01 -1.14199637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34824100800002 meters 0.061211898408489736 Centerline is valid? [True, True] Translation: X:86.03, Y:-23.48, Z:-11.42 [[ 8.39118509e-01 5.38095090e-01 7.95851949e-02 8.60275381e+01] [-5.35612504e-01 8.42883850e-01 -5.16339111e-02 -2.34802176e+01] [-9.48650295e-02 7.00144882e-04 9.95489897e-01 -1.14183537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37824100800002 meters 0.06156038642625982 Centerline is valid? [True, True] Translation: X:86.05, Y:-23.50, Z:-11.42 [[ 8.38051813e-01 5.39796417e-01 7.93031289e-02 8.60544731e+01] [-5.37336115e-01 8.41795430e-01 -5.14815883e-02 -2.34969179e+01] [-9.45465884e-02 5.31803247e-04 9.95520296e-01 -1.14229653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.408241008 meters 0.061682597394937 Centerline is valid? [True, True] Translation: X:86.08, Y:-23.51, Z:-11.43 [[ 8.36872697e-01 5.41662660e-01 7.90294398e-02 8.60828541e+01] [-5.39225052e-01 8.40595887e-01 -5.13312599e-02 -2.35129086e+01] [-9.42360488e-02 3.43076102e-04 9.95549823e-01 -1.14270918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.438241008 meters 0.06197061230722551 Centerline is valid? [True, True] Translation: X:86.11, Y:-23.53, Z:-11.43 [[ 8.35904593e-01 5.43164601e-01 7.89666243e-02 8.61101025e+01] [-5.40734413e-01 8.39626212e-01 -5.13236727e-02 -2.35283648e+01] [-9.41796498e-02 2.01722504e-04 9.95555198e-01 -1.14329571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.468241008 meters 0.06206111987305612 Centerline is valid? [True, True] Translation: X:86.14, Y:-23.54, Z:-11.44 [[ 8.34826407e-01 5.44827999e-01 7.89133832e-02 8.61385063e+01] [-5.42407097e-01 8.38547823e-01 -5.13038956e-02 -2.35441950e+01] [-9.41244444e-02 2.66677193e-05 9.95560439e-01 -1.14369837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49824100800001 meters 0.06189674964111339 Centerline is valid? [True, True] Translation: X:86.17, Y:-23.56, Z:-11.44 [[ 8.33367448e-01 5.46869145e-01 8.02049540e-02 8.61684535e+01] [-5.44374796e-01 8.37218075e-01 -5.21725655e-02 -2.35594392e+01] [-9.56806035e-02 -1.82637694e-04 9.95412070e-01 -1.14383068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52824100800001 meters 0.062091101808446514 Centerline is valid? [True, True] Translation: X:86.20, Y:-23.58, Z:-11.44 [[ 8.32558122e-01 5.48027817e-01 8.06999744e-02 8.61953378e+01] [-5.45504431e-01 8.36460059e-01 -5.25308144e-02 -2.35762078e+01] [-9.62906529e-02 -2.87237409e-04 9.95353218e-01 -1.14434961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55824100800001 meters 0.06193718583985338 Centerline is valid? [True, True] Translation: X:86.22, Y:-23.59, Z:-11.45 [[ 8.32163346e-01 5.48468181e-01 8.17729832e-02 8.62210296e+01] [-5.45875818e-01 8.36171368e-01 -5.32638216e-02 -2.35929021e+01] [-9.75897385e-02 -3.13694126e-04 9.95226680e-01 -1.14464613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58824100800001 meters 0.06179159218339441 Centerline is valid? [True, True] Translation: X:86.25, Y:-23.61, Z:-11.45 [[ 8.31242396e-01 5.49761579e-01 8.24517192e-02 8.62488046e+01] [-5.47131144e-01 8.35321492e-01 -5.37170057e-02 -2.36105727e+01] [-9.84052390e-02 -4.60050900e-04 9.95146320e-01 -1.14470256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61824100800001 meters 0.061747985022837765 Centerline is valid? [True, True] Translation: X:86.28, Y:-23.63, Z:-11.45 [[ 8.30739413e-01 5.50457705e-01 8.28754644e-02 8.62752337e+01] [-5.47800514e-01 8.34862890e-01 -5.40236227e-02 -2.36275486e+01] [-9.89273690e-02 -5.19669389e-04 9.95094521e-01 -1.14491956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64824100800001 meters 0.06180022001194279 Centerline is valid? [True, True] Translation: X:86.30, Y:-23.64, Z:-11.45 [[ 8.30532705e-01 5.50829327e-01 8.24771432e-02 8.63016070e+01] [-5.48196379e-01 8.34617737e-01 -5.37955732e-02 -2.36448395e+01] [-9.84690659e-02 -5.34688290e-04 9.95139969e-01 -1.14543325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67824100800001 meters 0.06184865373382584 Centerline is valid? [True, True] Translation: X:86.33, Y:-23.66, Z:-11.46 [[ 8.30762627e-01 5.50710253e-01 8.09424170e-02 8.63278349e+01] [-5.48172473e-01 8.34696334e-01 -5.28106984e-02 -2.36626749e+01] [-9.66457318e-02 -4.97250368e-04 9.95318720e-01 -1.14600491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70824100800002 meters 0.061959408691916774 Centerline is valid? [True, True] Translation: X:86.36, Y:-23.68, Z:-11.47 [[ 8.31195901e-01 5.50127312e-01 8.04569154e-02 8.63572683e+01] [-5.47615173e-01 8.35080699e-01 -5.25152196e-02 -2.36824858e+01] [-9.60780737e-02 -4.08992341e-04 9.95373717e-01 -1.14671020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73824100800002 meters 0.06211648994085876 Centerline is valid? [True, True] Translation: X:86.38, Y:-23.70, Z:-11.48 [[ 8.32991380e-01 5.47628558e-01 7.89197197e-02 8.63829699e+01] [-5.45196231e-01 8.36721552e-01 -5.15569037e-02 -2.37042086e+01] [-9.42678632e-02 -8.02773605e-05 9.95546867e-01 -1.14754132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.768241008 meters 0.061918958116286525 Centerline is valid? [True, True] Translation: X:86.41, Y:-23.73, Z:-11.48 [[ 8.34274139e-01 5.45685375e-01 7.88297774e-02 8.64085625e+01] [-5.43246042e-01 8.37990120e-01 -5.15392699e-02 -2.37251722e+01] [-9.41828004e-02 1.73915425e-04 9.95554906e-01 -1.14775975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.798241008 meters 0.0621186596984722 Centerline is valid? [True, True] Translation: X:86.43, Y:-23.75, Z:-11.48 [[ 8.35933165e-01 5.43172445e-01 7.86094027e-02 8.64321030e+01] [-5.40732766e-01 8.39621023e-01 -5.14257991e-02 -2.37457762e+01] [-9.39351841e-02 4.81851269e-04 9.95578198e-01 -1.14822975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.828241008 meters 0.06225107585248959 Centerline is valid? [True, True] Translation: X:86.46, Y:-23.77, Z:-11.49 [[ 8.37568266e-01 5.40572366e-01 7.91259530e-02 8.64575216e+01] [-5.38086456e-01 8.41297140e-01 -5.17888900e-02 -2.37673782e+01] [-9.45640807e-02 8.00127264e-04 9.95518455e-01 -1.14857048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.85824100800001 meters 0.06302352239474349 Centerline is valid? [True, True] Translation: X:86.48, Y:-23.79, Z:-11.49 [[ 8.41235354e-01 5.34652262e-01 8.04365475e-02 8.64786542e+01] [-5.32052998e-01 8.45070799e-01 -5.26778225e-02 -2.37916051e+01] [-9.61388944e-02 1.51794043e-03 9.95366771e-01 -1.14887712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.88824100800001 meters 0.0635347491327305 Centerline is valid? [True, True] Translation: X:86.50, Y:-23.81, Z:-11.49 [[ 8.43142750e-01 5.31492189e-01 8.14024333e-02 8.65038409e+01] [-5.28812969e-01 8.47061014e-01 -5.33336856e-02 -2.38136619e+01] [-9.72992650e-02 1.92124792e-03 9.95253315e-01 -1.14909896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.91824100800001 meters 0.06271609556833335 Centerline is valid? [True, True] Translation: X:86.53, Y:-23.83, Z:-11.49 [[ 8.44317747e-01 5.29545596e-01 8.19085149e-02 8.65330875e+01] [-5.26821030e-01 8.48278668e-01 -5.36926769e-02 -2.38317526e+01] [-9.79139665e-02 2.18255183e-03 9.95192490e-01 -1.14894546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.94824100800001 meters 0.06451394312195709 Centerline is valid? [True, True] Translation: X:86.55, Y:-23.85, Z:-11.50 [[ 8.47226486e-01 5.24935775e-01 8.15457767e-02 8.65549905e+01] [-5.22210135e-01 8.51137437e-01 -5.34942801e-02 -2.38549743e+01] [-9.74877248e-02 2.73773989e-03 9.95232962e-01 -1.14959135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.97824100800001 meters 0.06547334231844079 Centerline is valid? [True, True] Translation: X:86.58, Y:-23.87, Z:-11.50 [[ 8.48111850e-01 5.23559115e-01 8.11920206e-02 8.65796580e+01] [-5.20849226e-01 8.51984423e-01 -5.32787541e-02 -2.38745196e+01] [-9.70689142e-02 2.89754156e-03 9.95273445e-01 -1.15012893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.00824100800001 meters 0.06504788101821726 Centerline is valid? [True, True] Translation: X:86.61, Y:-23.89, Z:-11.50 [[ 8.49395935e-01 5.21670929e-01 7.99123781e-02 8.66096053e+01] [-5.19035421e-01 8.53141214e-01 -5.24623740e-02 -2.38911468e+01] [-9.55446386e-02 3.08397241e-03 9.95420369e-01 -1.15049455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.03824100800001 meters 0.068552965906286 Centerline is valid? [True, True] Translation: X:86.63, Y:-23.91, Z:-11.52 [[ 8.50331801e-01 5.20370461e-01 7.84245595e-02 8.66318198e+01] [-5.17823222e-01 8.53934614e-01 -5.15246193e-02 -2.39137559e+01] [-9.37813358e-02 3.20296423e-03 9.95587667e-01 -1.15171186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.06824100800002 meters 0.06736405579512209 Centerline is valid? [True, True] Translation: X:86.66, Y:-23.93, Z:-11.52 [[ 8.51352729e-01 5.18805614e-01 7.77127128e-02 8.66634479e+01] [-5.16295431e-01 8.54885600e-01 -5.10846230e-02 -2.39265472e+01] [-9.29384683e-02 3.36831470e-03 9.95666157e-01 -1.15183273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.09824100800002 meters 0.0667163880816169 Centerline is valid? [True, True] Translation: X:86.69, Y:-23.94, Z:-11.52 [[ 8.51236555e-01 5.19032112e-01 7.74725383e-02 8.66922334e+01] [-5.16535711e-01 8.54748145e-01 -5.09555477e-02 -2.39426234e+01] [-9.26670739e-02 3.35789228e-03 9.95691487e-01 -1.15201498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.12824100800002 meters 0.06671523503212506 Centerline is valid? [True, True] Translation: X:86.72, Y:-23.96, Z:-11.52 [[ 8.51274831e-01 5.19013037e-01 7.71791973e-02 8.67205384e+01] [-5.16532956e-01 8.54759678e-01 -5.07897490e-02 -2.39611152e+01] [-9.23302077e-02 3.37043617e-03 9.95722739e-01 -1.15225735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.158241008 meters 0.06612245886789254 Centerline is valid? [True, True] Translation: X:86.75, Y:-23.98, Z:-11.53 [[ 8.50801894e-01 5.19705602e-01 7.77317515e-02 8.67493136e+01] [-5.17189579e-01 8.54338856e-01 -5.11865073e-02 -2.39766928e+01] [-9.30111703e-02 3.34752555e-03 9.95659438e-01 -1.15250063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.188241008 meters 0.06554764430625855 Centerline is valid? [True, True] Translation: X:86.78, Y:-23.99, Z:-11.53 [[ 8.49532254e-01 5.21501954e-01 7.95654569e-02 8.67809602e+01] [-5.18870551e-01 8.53243894e-01 -5.24233627e-02 -2.39891176e+01] [-9.52276263e-02 3.25116494e-03 9.95450214e-01 -1.15275883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.218241008 meters 0.06514493069475479 Centerline is valid? [True, True] Translation: X:86.81, Y:-24.00, Z:-11.53 [[ 8.48537293e-01 5.22940465e-01 8.07324734e-02 8.68100580e+01] [-5.20234324e-01 8.52363336e-01 -5.32258528e-02 -2.40041893e+01] [-9.66473525e-02 3.16431736e-03 9.95313657e-01 -1.15309637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.24824100800001 meters 0.06458698321062747 Centerline is valid? [True, True] Translation: X:86.84, Y:-24.02, Z:-11.53 [[ 8.47230461e-01 5.25080435e-01 8.05672570e-02 8.68393749e+01] [-5.22392115e-01 8.51047527e-01 -5.31468209e-02 -2.40189153e+01] [-9.64729207e-02 2.93990584e-03 9.95331268e-01 -1.15343564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.27824100800001 meters 0.06383870904405468 Centerline is valid? [True, True] Translation: X:86.87, Y:-24.03, Z:-11.54 [[ 8.44138762e-01 5.30021525e-01 8.06655622e-02 8.68700534e+01] [-5.27346154e-01 8.47980779e-01 -5.32412593e-02 -2.40301784e+01] [-9.66218597e-02 2.40433674e-03 9.95318258e-01 -1.15388791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.30824100800001 meters 0.06331214385713485 Centerline is valid? [True, True] Translation: X:86.90, Y:-24.04, Z:-11.54 [[ 8.42193669e-01 5.33123387e-01 8.05560623e-02 8.69003619e+01] [-5.30466496e-01 8.46034966e-01 -5.31989961e-02 -2.40434647e+01] [-9.65148743e-02 2.07156556e-03 9.95329387e-01 -1.15439643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.33824100800001 meters 0.06331214385713485 Centerline is valid? [True, True] Translation: X:86.93, Y:-24.06, Z:-11.55 [[ 8.42059592e-01 5.33337153e-01 8.05426934e-02 8.69270610e+01] [-5.30679304e-01 8.45900225e-01 -5.32192272e-02 -2.40612852e+01] [-9.65148735e-02 2.07142029e-03 9.95329387e-01 -1.15480278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.36824100800001 meters 0.06282292746523264 Centerline is valid? [True, True] Translation: X:86.96, Y:-24.07, Z:-11.55 [[ 8.39679314e-01 5.37054978e-01 8.06882886e-02 8.69572479e+01] [-5.34401717e-01 8.43545585e-01 -5.33446514e-02 -2.40734442e+01] [-9.67132602e-02 1.67244036e-03 9.95310880e-01 -1.15538072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.39824100800001 meters 0.06299154448365989 Centerline is valid? [True, True] Translation: X:86.98, Y:-24.09, Z:-11.56 [[ 8.37144422e-01 5.41115477e-01 7.98952951e-02 8.69848474e+01] [-5.38529712e-01 8.40947417e-01 -5.28506518e-02 -2.40871993e+01] [-9.57860477e-02 1.21763814e-03 9.95401201e-01 -1.15621900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.42824100800001 meters 0.062143998857385745 Centerline is valid? [True, True] Translation: X:87.02, Y:-24.10, Z:-11.56 [[ 8.34781734e-01 5.44824139e-01 7.94110448e-02 8.70164235e+01] [-5.42284060e-01 8.38549941e-01 -5.25546720e-02 -2.41000054e+01] [-9.52231809e-02 8.08336432e-04 9.95455621e-01 -1.15631289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.45824100800002 meters 0.06194463927119886 Centerline is valid? [True, True] Translation: X:87.05, Y:-24.11, Z:-11.57 [[ 8.30481097e-01 5.51518159e-01 7.82870864e-02 8.70490539e+01] [-5.49076470e-01 8.34162883e-01 -5.18393059e-02 -2.41094788e+01] [-9.38945003e-02 6.59665956e-05 9.95582151e-01 -1.15682281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.48824100800002 meters 0.06230493888403408 Centerline is valid? [True, True] Translation: X:87.08, Y:-24.12, Z:-11.58 [[ 8.28748661e-01 5.54108363e-01 7.83554619e-02 8.70777879e+01] [-5.51671030e-01 8.32444522e-01 -5.19152524e-02 -2.41231861e+01] [-9.39932505e-02 -2.01742429e-04 9.95572814e-01 -1.15758754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.518241008 meters 0.062421054029205225 Centerline is valid? [True, True] Translation: X:87.11, Y:-24.14, Z:-11.58 [[ 8.27061421e-01 5.56558673e-01 7.88152836e-02 8.71071951e+01] [-5.54101020e-01 8.30808180e-01 -5.22477487e-02 -2.41385066e+01] [-9.45593200e-02 -4.59531804e-04 9.95519123e-01 -1.15791353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.548241008 meters 0.06234048457067918 Centerline is valid? [True, True] Translation: X:87.14, Y:-24.15, Z:-11.58 [[ 8.24027993e-01 5.60725641e-01 8.10223538e-02 8.71370304e+01] [-5.58144975e-01 8.28001134e-01 -5.37429877e-02 -2.41520510e+01] [-9.72216721e-02 -9.36493311e-04 9.95262312e-01 -1.15805503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.578241008 meters 0.06256744778153647 Centerline is valid? [True, True] Translation: X:87.16, Y:-24.17, Z:-11.58 [[ 8.22412140e-01 5.62888234e-01 8.24324439e-02 8.71645347e+01] [-5.60224829e-01 8.26532165e-01 -5.47057729e-02 -2.41674646e+01] [-9.89263022e-02 -1.19001002e-03 9.95094051e-01 -1.15827073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.60824100800001 meters 0.06289950058584214 Centerline is valid? [True, True] Translation: X:87.19, Y:-24.18, Z:-11.59 [[ 8.20877751e-01 5.64989000e-01 8.33495443e-02 8.71930461e+01] [-5.62273868e-01 8.25097186e-01 -5.53419459e-02 -2.41836727e+01] [-1.00039065e-01 -1.43629852e-03 9.94982473e-01 -1.15855830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.63824100800001 meters 0.06314023579762729 Centerline is valid? [True, True] Translation: X:87.22, Y:-24.20, Z:-11.59 [[ 8.18437446e-01 5.68209618e-01 8.54281907e-02 8.72230425e+01] [-5.65371312e-01 8.22881770e-01 -5.67527343e-02 -2.42001965e+01] [-1.02544750e-01 -1.85008534e-03 9.94726672e-01 -1.15871567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.66824100800001 meters 0.063447400464811 Centerline is valid? [True, True] Translation: X:87.25, Y:-24.22, Z:-11.59 [[ 8.17652335e-01 5.69261848e-01 8.59395627e-02 8.72518831e+01] [-5.66390677e-01 8.22153948e-01 -5.71356929e-02 -2.42172085e+01] [-1.03180721e-01 -1.95823438e-03 9.94660698e-01 -1.15924051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.69824100800001 meters 0.06411607981010292 Centerline is valid? [True, True] Translation: X:87.28, Y:-24.23, Z:-11.60 [[ 8.16952327e-01 5.70174563e-01 8.65439953e-02 8.72794604e+01] [-5.67264215e-01 8.21520983e-01 -5.75724226e-02 -2.42323087e+01] [-1.03924039e-01 -2.05938695e-03 9.94583105e-01 -1.15984905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.72824100800001 meters 0.06375694177385773 Centerline is valid? [True, True] Translation: X:87.31, Y:-24.25, Z:-11.60 [[ 8.16712999e-01 5.70482224e-01 8.67750473e-02 8.73060766e+01] [-5.67554845e-01 8.21307317e-01 -5.77562918e-02 -2.42520174e+01] [-1.04217919e-01 -2.07928429e-03 9.94552312e-01 -1.16021323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.75824100800001 meters 0.06355895537604707 Centerline is valid? [True, True] Translation: X:87.33, Y:-24.27, Z:-11.61 [[ 8.16781056e-01 5.70351347e-01 8.69945268e-02 8.73313362e+01] [-5.67404837e-01 8.21398307e-01 -5.79359267e-02 -2.42720368e+01] [-1.04500991e-01 -2.04014792e-03 9.94522690e-01 -1.16065689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.78824100800001 meters 0.06323829637239703 Centerline is valid? [True, True] Translation: X:87.36, Y:-24.29, Z:-11.61 [[ 8.17491853e-01 5.69300140e-01 8.72033306e-02 8.73559513e+01] [-5.66330072e-01 8.22127607e-01 -5.81072004e-02 -2.42946191e+01] [-1.04772703e-01 -1.88370555e-03 9.94494410e-01 -1.16095637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.81824100800002 meters 0.06305112288472423 Centerline is valid? [True, True] Translation: X:87.38, Y:-24.32, Z:-11.61 [[ 8.18739365e-01 5.67628013e-01 8.63961355e-02 8.73802299e+01] [-5.64700094e-01 8.23283544e-01 -5.76021804e-02 -2.43171063e+01] [-1.03825128e-01 -1.62673319e-03 9.94594237e-01 -1.16137948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.84824100800002 meters 0.06249368788472407 Centerline is valid? [True, True] Translation: X:87.40, Y:-24.34, Z:-11.62 [[ 8.20239966e-01 5.65448504e-01 8.64545349e-02 8.74038196e+01] [-5.62500736e-01 8.24782543e-01 -5.76773743e-02 -2.43399316e+01] [-1.03919776e-01 -1.32145191e-03 9.94584805e-01 -1.16177469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.87824100800002 meters 0.06195184696090355 Centerline is valid? [True, True] Translation: X:87.43, Y:-24.36, Z:-11.62 [[ 8.23702813e-01 5.60391485e-01 8.64584259e-02 8.74263645e+01] [-5.57412372e-01 8.28227597e-01 -5.77104489e-02 -2.43643305e+01] [-1.03947698e-01 -6.56737090e-04 9.94582548e-01 -1.16239624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.908241008 meters 0.061779004070391566 Centerline is valid? [True, True] Translation: X:87.45, Y:-24.39, Z:-11.63 [[ 8.25418509e-01 5.57907008e-01 8.61629595e-02 8.74503047e+01] [-5.54931493e-01 8.29903410e-01 -5.75444902e-02 -2.43864205e+01] [-1.03611408e-01 -3.16252510e-04 9.94617804e-01 -1.16294080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.938241008 meters 0.061931014628106636 Centerline is valid? [True, True] Translation: X:87.47, Y:-24.41, Z:-11.63 [[ 8.27699814e-01 5.54555534e-01 8.59137821e-02 8.74738294e+01] [-5.51575837e-01 8.32146707e-01 -5.74103941e-02 -2.44098584e+01] [-1.03330123e-01 1.30606185e-04 9.94647108e-01 -1.16330778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.968241008 meters 0.06234581413753063 Centerline is valid? [True, True] Translation: X:87.49, Y:-24.44, Z:-11.64 [[ 8.32386798e-01 5.47652770e-01 8.49038409e-02 8.74926688e+01] [-5.44703575e-01 8.36705105e-01 -5.67677912e-02 -2.44381695e+01] [-1.02128515e-01 1.00533426e-03 9.94770705e-01 -1.16385861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.99824100800001 meters 0.06317403070892795 Centerline is valid? [True, True] Translation: X:87.51, Y:-24.46, Z:-11.64 [[ 8.34793475e-01 5.43933908e-01 8.51807377e-02 8.75146116e+01] [-5.40942832e-01 8.39126735e-01 -5.69839874e-02 -2.44614112e+01] [-1.02472957e-01 1.49195141e-03 9.94734672e-01 -1.16440350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.02824100800001 meters 0.06371225308503221 Centerline is valid? [True, True] Translation: X:87.54, Y:-24.48, Z:-11.65 [[ 8.36837178e-01 5.40885648e-01 8.45355136e-02 8.75388670e+01] [-5.37921519e-01 8.41094051e-01 -5.65794810e-02 -2.44839301e+01] [-1.01705347e-01 1.87434139e-03 9.94812801e-01 -1.16483235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.05824100800001 meters 0.06453512534268047 Centerline is valid? [True, True] Translation: X:87.56, Y:-24.51, Z:-11.65 [[ 8.38836407e-01 5.37689441e-01 8.51090324e-02 8.75611632e+01] [-5.34664798e-01 8.43139811e-01 -5.69983589e-02 -2.45064301e+01] [-1.02406229e-01 2.30749494e-03 9.94739986e-01 -1.16526752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.08824100800001 meters 0.06545240839503513 Centerline is valid? [True, True] Translation: X:87.58, Y:-24.53, Z:-11.66 [[ 8.40770894e-01 5.34595766e-01 8.55083054e-02 8.75831653e+01] [-5.31524947e-01 8.45103554e-01 -5.72818751e-02 -2.45311351e+01] [-1.02886021e-01 2.71113588e-03 9.94689457e-01 -1.16565304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.11824100800001 meters 0.06594815173544633 Centerline is valid? [True, True] Translation: X:87.61, Y:-24.55, Z:-11.66 [[ 8.41396628e-01 5.33794632e-01 8.43504866e-02 8.76082536e+01] [-5.30800949e-01 8.45609565e-01 -5.65227120e-02 -2.45508464e+01] [-1.01499099e-01 2.78470100e-03 9.94831734e-01 -1.16617144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.14824100800001 meters 0.06623431660157339 Centerline is valid? [True, True] Translation: X:87.63, Y:-24.57, Z:-11.67 [[ 8.41206508e-01 5.34236980e-01 8.34413531e-02 8.76333359e+01] [-5.31307088e-01 8.45330365e-01 -5.59406176e-02 -2.45698208e+01] [-1.00421056e-01 2.72462928e-03 9.94941299e-01 -1.16673309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.17824100800001 meters 0.06622607160861298 Centerline is valid? [True, True] Translation: X:87.66, Y:-24.59, Z:-11.67 [[ 8.40788124e-01 5.34879789e-01 8.35400621e-02 8.76605378e+01] [-5.31943435e-01 8.44923940e-01 -5.60331855e-02 -2.45881047e+01] [-1.00556017e-01 2.67344928e-03 9.94927807e-01 -1.16726496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.20824100800002 meters 0.06607234260829196 Centerline is valid? [True, True] Translation: X:87.69, Y:-24.60, Z:-11.68 [[ 8.39966327e-01 5.36160578e-01 8.35966731e-02 8.76875042e+01] [-5.33223225e-01 8.44112157e-01 -5.61039979e-02 -2.46036409e+01] [-1.00645720e-01 2.54978141e-03 9.94919061e-01 -1.16776617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.23824100800002 meters 0.06503224756960387 Centerline is valid? [True, True] Translation: X:87.72, Y:-24.62, Z:-11.68 [[ 8.38919207e-01 5.37652055e-01 8.45271058e-02 8.77191773e+01] [-5.34653980e-01 8.43163345e-01 -5.67511780e-02 -2.46196680e+01] [-1.01782545e-01 2.41689970e-03 9.94803736e-01 -1.16804714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.268241008 meters 0.06475800569403313 Centerline is valid? [True, True] Translation: X:87.75, Y:-24.64, Z:-11.68 [[ 8.38109453e-01 5.38788786e-01 8.53181635e-02 8.77469392e+01] [-5.35735229e-01 8.42437635e-01 -5.73288418e-02 -2.46362214e+01] [-1.02763369e-01 2.33989843e-03 9.94703079e-01 -1.16839104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.298241008 meters 0.0641800099059945 Centerline is valid? [True, True] Translation: X:87.77, Y:-24.65, Z:-11.69 [[ 8.36664073e-01 5.40746371e-01 8.71010407e-02 8.77742735e+01] [-5.37570817e-01 8.41182890e-01 -5.85573515e-02 -2.46528983e+01] [-1.04932580e-01 2.16985459e-03 9.94476971e-01 -1.16853543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.328241008 meters 0.06457935894031751 Centerline is valid? [True, True] Translation: X:87.80, Y:-24.67, Z:-11.69 [[ 8.35983947e-01 5.41676382e-01 8.78495152e-02 8.77991233e+01] [-5.38447682e-01 8.40584499e-01 -5.90914121e-02 -2.46709798e+01] [-1.05853363e-01 2.09710409e-03 9.94379539e-01 -1.16899297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.35824100800001 meters 0.06398173550844792 Centerline is valid? [True, True] Translation: X:87.83, Y:-24.69, Z:-11.69 [[ 8.35921357e-01 5.41760797e-01 8.79245363e-02 8.78284658e+01] [-5.38524157e-01 8.40530061e-01 -5.91688206e-02 -2.46872483e+01] [-1.05958563e-01 2.11099406e-03 9.94368305e-01 -1.16909496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.38824100800001 meters 0.06406701451698714 Centerline is valid? [True, True] Translation: X:87.86, Y:-24.70, Z:-11.69 [[ 8.35794558e-01 5.41665867e-01 8.96969595e-02 8.78563637e+01] [-5.38292787e-01 8.40591025e-01 -6.03954050e-02 -2.47045982e+01] [-1.08112589e-01 2.19492450e-03 9.94136233e-01 -1.16947745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.41824100800001 meters 0.0640674149324351 Centerline is valid? [True, True] Translation: X:87.88, Y:-24.72, Z:-11.70 [[ 8.35922427e-01 5.41437162e-01 8.98860183e-02 8.78835008e+01] [-5.38045758e-01 8.40738209e-01 -6.05477284e-02 -2.47221257e+01] [-1.08353400e-01 2.25041320e-03 9.94109891e-01 -1.16982922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.44824100800001 meters 0.06348086329040528 Centerline is valid? [True, True] Translation: X:87.91, Y:-24.74, Z:-11.70 [[ 8.36067974e-01 5.41222538e-01 8.98248706e-02 8.79136101e+01] [-5.37831198e-01 8.40876247e-01 -6.05370916e-02 -2.47377501e+01] [-1.08295638e-01 2.30250582e-03 9.94116066e-01 -1.17010355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.47824100800001 meters 0.06440340932661648 Centerline is valid? [True, True] Translation: X:87.94, Y:-24.76, Z:-11.71 [[ 8.35924353e-01 5.41412488e-01 9.00166272e-02 8.79376336e+01] [-5.38003432e-01 8.40753920e-01 -6.07054591e-02 -2.47580890e+01] [-1.08548526e-01 2.31591727e-03 9.94088454e-01 -1.17075146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.50824100800001 meters 0.06482464745189132 Centerline is valid? [True, True] Translation: X:87.96, Y:-24.78, Z:-11.71 [[ 8.36145037e-01 5.41077388e-01 8.99818706e-02 8.79629304e+01] [-5.37665594e-01 8.40969423e-01 -6.07135742e-02 -2.47767421e+01] [-1.08522744e-01 2.38519782e-03 9.94091105e-01 -1.17115061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.53824100800001 meters 0.064751139739182 Centerline is valid? [True, True] Translation: X:87.99, Y:-24.79, Z:-11.72 [[ 8.35497104e-01 5.42082653e-01 8.99499133e-02 8.79903847e+01] [-5.38675697e-01 8.40322080e-01 -6.07231090e-02 -2.47919901e+01] [-1.08503842e-01 2.28014949e-03 9.94093415e-01 -1.17150088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.56824100800002 meters 0.06326650882497095 Centerline is valid? [True, True] Translation: X:88.02, Y:-24.80, Z:-11.72 [[ 8.34471505e-01 5.43547611e-01 9.06272686e-02 8.80225716e+01] [-5.40094968e-01 8.39375646e-01 -6.12041698e-02 -2.48038771e+01] [-1.09337702e-01 2.12580400e-03 9.94002388e-01 -1.17162174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.59824100800002 meters 0.06286107568719804 Centerline is valid? [True, True] Translation: X:88.05, Y:-24.82, Z:-11.72 [[ 8.32142195e-01 5.47204889e-01 9.00343084e-02 8.80525297e+01] [-5.43814673e-01 8.36997034e-01 -6.08405048e-02 -2.48156793e+01] [-1.08650671e-01 1.66597326e-03 9.94078597e-01 -1.17221780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.62824100800002 meters 0.06253707797462629 Centerline is valid? [True, True] Translation: X:88.08, Y:-24.83, Z:-11.73 [[ 8.30680952e-01 5.49459707e-01 8.97952511e-02 8.80815196e+01] [-5.46097257e-01 8.35519053e-01 -6.07099496e-02 -2.48307434e+01] [-1.08383314e-01 1.39365839e-03 9.94108201e-01 -1.17264960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.658241008 meters 0.06229093540163852 Centerline is valid? [True, True] Translation: X:88.11, Y:-24.85, Z:-11.73 [[ 8.29049264e-01 5.51927352e-01 8.97413842e-02 8.81107054e+01] [-5.48579354e-01 8.33891471e-01 -6.07100186e-02 -2.48450871e+01] [-1.08342095e-01 1.10132562e-03 9.94113061e-01 -1.17314663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.688241008 meters 0.06225692231824613 Centerline is valid? [True, True] Translation: X:88.14, Y:-24.86, Z:-11.74 [[ 8.27241891e-01 5.54718825e-01 8.92069456e-02 8.81396236e+01] [-5.51422939e-01 8.32037526e-01 -6.03845844e-02 -2.48592755e+01] [-1.07719992e-01 7.61901675e-04 9.94180981e-01 -1.17369098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.718241008 meters 0.0622805662101884 Centerline is valid? [True, True] Translation: X:88.17, Y:-24.87, Z:-11.74 [[ 8.25415419e-01 5.57539702e-01 8.85373751e-02 8.81689717e+01] [-5.54307362e-01 8.30150176e-01 -5.99502575e-02 -2.48738128e+01] [-1.06923966e-01 4.06948091e-04 9.94267117e-01 -1.17422782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.74824100800001 meters 0.06258838010738617 Centerline is valid? [True, True] Translation: X:88.20, Y:-24.88, Z:-11.75 [[ 8.21590648e-01 5.63324859e-01 8.74866251e-02 8.82000541e+01] [-5.60198079e-01 8.26235442e-01 -5.92714751e-02 -2.48839649e+01] [-1.05673646e-01 -3.12949626e-04 9.94400816e-01 -1.17491361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.77824100800001 meters 0.06293862745942029 Centerline is valid? [True, True] Translation: X:88.23, Y:-24.90, Z:-11.75 [[ 8.19282367e-01 5.66741592e-01 8.70653246e-02 8.82288841e+01] [-5.63660963e-01 8.23895286e-01 -5.90158902e-02 -2.48974796e+01] [-1.05179470e-01 -7.24646474e-04 9.94452992e-01 -1.17539943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.80824100800001 meters 0.06336719785392797 Centerline is valid? [True, True] Translation: X:88.26, Y:-24.91, Z:-11.76 [[ 8.17647035e-01 5.69138563e-01 8.68021968e-02 8.82564127e+01] [-5.66087062e-01 8.22241013e-01 -5.88655705e-02 -2.49108004e+01] [-1.04874992e-01 -1.00634136e-03 9.94484903e-01 -1.17588703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.83824100800001 meters 0.06367283085770735 Centerline is valid? [True, True] Translation: X:88.28, Y:-24.93, Z:-11.76 [[ 8.16226820e-01 5.71145306e-01 8.69874596e-02 8.82846002e+01] [-5.68089419e-01 8.20848029e-01 -5.90163175e-02 -2.49257828e+01] [-1.05110378e-01 -1.24595424e-03 9.94459781e-01 -1.17637705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.86824100800001 meters 0.06477326886596271 Centerline is valid? [True, True] Translation: X:88.31, Y:-24.94, Z:-11.77 [[ 8.13761292e-01 5.74836488e-01 8.57646291e-02 8.83126320e+01] [-5.71883527e-01 8.18266588e-01 -5.82153117e-02 -2.49401355e+01] [-1.03642616e-01 -1.67401131e-03 9.94613194e-01 -1.17689420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.89824100800001 meters 0.06491913910872014 Centerline is valid? [True, True] Translation: X:88.34, Y:-24.96, Z:-11.77 [[ 8.12398708e-01 5.76800938e-01 8.54927932e-02 8.83394931e+01] [-5.73874625e-01 8.16882541e-01 -5.80588417e-02 -2.49585599e+01] [-1.03325965e-01 -1.89521664e-03 9.94645743e-01 -1.17708581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.92824100800001 meters 0.06514924921945456 Centerline is valid? [True, True] Translation: X:88.37, Y:-24.98, Z:-11.78 [[ 8.11667853e-01 5.77785447e-01 8.57862070e-02 8.83669152e+01] [-5.74841107e-01 8.16186236e-01 -5.82900461e-02 -2.49764360e+01] [-1.03696662e-01 -2.00128163e-03 9.94606956e-01 -1.17752135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.95824100800002 meters 0.06548388291146098 Centerline is valid? [True, True] Translation: X:88.39, Y:-24.99, Z:-11.78 [[ 8.11086444e-01 5.78552764e-01 8.61131756e-02 8.83940903e+01] [-5.75586843e-01 8.15642304e-01 -5.85441628e-02 -2.49945781e+01] [-1.04108436e-01 -2.08123403e-03 9.94563775e-01 -1.17787610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98824100800002 meters 0.0651792382098514 Centerline is valid? [True, True] Translation: X:88.42, Y:-25.01, Z:-11.78 [[ 8.12030087e-01 5.77156212e-01 8.65900911e-02 8.84178782e+01] [-5.74145627e-01 8.16631592e-01 -5.89036573e-02 -2.50139956e+01] [-1.04708816e-01 -1.88378026e-03 9.94501139e-01 -1.17837534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.018241008 meters 0.06433498711658639 Centerline is valid? [True, True] Translation: X:88.44, Y:-25.04, Z:-11.79 [[ 8.12453496e-01 5.76587906e-01 8.64042992e-02 8.84430535e+01] [-5.73585840e-01 8.17033143e-01 -5.87888311e-02 -2.50371857e+01] [-1.04492105e-01 -1.79709119e-03 9.94524092e-01 -1.17860565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.048241008 meters 0.06478110675418933 Centerline is valid? [True, True] Translation: X:88.47, Y:-25.05, Z:-11.79 [[ 8.13250158e-01 5.75518038e-01 8.60416695e-02 8.84690696e+01] [-5.72531128e-01 8.17787480e-01 -5.85810968e-02 -2.50548730e+01] [-1.04078278e-01 -1.62044789e-03 9.94567789e-01 -1.17943787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.078241008 meters 0.06436862624156081 Centerline is valid? [True, True] Translation: X:88.49, Y:-25.08, Z:-11.80 [[ 8.14663142e-01 5.73671603e-01 8.49991593e-02 8.84915458e+01] [-5.70743508e-01 8.19084301e-01 -5.79029865e-02 -2.50769262e+01] [-1.02838776e-01 -1.34128946e-03 9.94697133e-01 -1.17994718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10824100800001 meters 0.06418698267508798 Centerline is valid? [True, True] Translation: X:88.52, Y:-25.10, Z:-11.80 [[ 8.15477582e-01 5.72486808e-01 8.51772743e-02 8.85152717e+01] [-5.69537348e-01 8.19913091e-01 -5.80493951e-02 -2.50966235e+01] [-1.03070475e-01 -1.17365849e-03 9.94673363e-01 -1.18033962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13824100800001 meters 0.06369707687137695 Centerline is valid? [True, True] Translation: X:88.54, Y:-25.12, Z:-11.80 [[ 8.15723530e-01 5.72101709e-01 8.54093526e-02 8.85405712e+01] [-5.69131572e-01 8.20181934e-01 -5.82309982e-02 -2.51184877e+01] [-1.03365262e-01 -1.10876370e-03 9.94642847e-01 -1.18038339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16824100800001 meters 0.06336752768749193 Centerline is valid? [True, True] Translation: X:88.57, Y:-25.14, Z:-11.81 [[ 8.15959942e-01 5.71769228e-01 8.53775302e-02 8.85661891e+01] [-5.68796298e-01 8.20413838e-01 -5.82400633e-02 -2.51394809e+01] [-1.03344783e-01 -1.04086448e-03 9.94645048e-01 -1.18060510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19824100800001 meters 0.06318342555428047 Centerline is valid? [True, True] Translation: X:88.59, Y:-25.16, Z:-11.81 [[ 8.16383846e-01 5.70988070e-01 8.65450102e-02 8.85901379e+01] [-5.67924949e-01 8.20957835e-01 -5.90718720e-02 -2.51595042e+01] [-1.04779138e-01 -9.25748439e-04 9.94495086e-01 -1.18089976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22824100800001 meters 0.06318342555428047 Centerline is valid? [True, True] Translation: X:88.62, Y:-25.18, Z:-11.81 [[ 8.16236160e-01 5.71201005e-01 8.65329026e-02 8.86165378e+01] [-5.68137197e-01 8.20809688e-01 -5.90896022e-02 -2.51777459e+01] [-1.04779085e-01 -9.31490829e-04 9.94495086e-01 -1.18130554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25824100800001 meters 0.06291938179817826 Centerline is valid? [True, True] Translation: X:88.64, Y:-25.20, Z:-11.82 [[ 8.15985216e-01 5.71481800e-01 8.70441278e-02 8.86429179e+01] [-5.68379632e-01 8.20614196e-01 -5.94721401e-02 -2.51972616e+01] [-1.05416893e-01 -9.45722250e-04 9.94427667e-01 -1.18156681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28824100800001 meters 0.06303069471752622 Centerline is valid? [True, True] Translation: X:88.67, Y:-25.22, Z:-11.82 [[ 8.15760030e-01 5.71749254e-01 8.73977348e-02 8.86689575e+01] [-5.68619689e-01 8.20427862e-01 -5.97475805e-02 -2.52156766e+01] [-1.05864171e-01 -9.56384695e-04 9.94380140e-01 -1.18196018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31824100800002 meters 0.06305738726006457 Centerline is valid? [True, True] Translation: X:88.70, Y:-25.24, Z:-11.82 [[ 8.15663069e-01 5.71904709e-01 8.72855174e-02 8.86954272e+01] [-5.68780771e-01 8.20319512e-01 -5.97020279e-02 -2.52350612e+01] [-1.05745884e-01 -9.49584564e-04 9.94392732e-01 -1.18233724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34824100800002 meters 0.06324038988608381 Centerline is valid? [True, True] Translation: X:88.72, Y:-25.26, Z:-11.83 [[ 8.15768925e-01 5.71839421e-01 8.67221792e-02 8.87227186e+01] [-5.68752133e-01 8.20365071e-01 -5.93478075e-02 -2.52551376e+01] [-1.05081263e-01 -9.09327220e-04 9.94463223e-01 -1.18306906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.37824100800002 meters 0.06312281082551843 Centerline is valid? [True, True] Translation: X:88.75, Y:-25.27, Z:-11.83 [[ 8.16039266e-01 5.71477671e-01 8.65631984e-02 8.87489665e+01] [-5.68394893e-01 8.20617203e-01 -5.92845039e-02 -2.52748039e+01] [-1.04915020e-01 -8.23596823e-04 9.94480850e-01 -1.18348637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.408241008 meters 0.06305163613763388 Centerline is valid? [True, True] Translation: X:88.77, Y:-25.30, Z:-11.84 [[ 8.16084715e-01 5.71492262e-01 8.60368090e-02 8.87744691e+01] [-5.68443571e-01 8.20607072e-01 -5.89571069e-02 -2.52951541e+01] [-1.04295944e-01 -7.93077152e-04 9.94545990e-01 -1.18382915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.438241008 meters 0.06304038528096012 Centerline is valid? [True, True] Translation: X:88.80, Y:-25.32, Z:-11.84 [[ 8.17261460e-01 5.69900572e-01 8.54227382e-02 8.87982180e+01] [-5.66883213e-01 8.21713470e-01 -5.85695853e-02 -2.53185227e+01] [-1.03571855e-01 -5.58051483e-04 9.94621817e-01 -1.18438155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.468241008 meters 0.06294266637668873 Centerline is valid? [True, True] Translation: X:88.82, Y:-25.34, Z:-11.85 [[ 8.17830014e-01 5.69095514e-01 8.53484899e-02 8.88218930e+01] [-5.66075329e-01 8.22271315e-01 -5.85543133e-02 -2.53393139e+01] [-1.03502612e-01 -4.26199619e-04 9.94629091e-01 -1.18484212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49824100800001 meters 0.06290087369682976 Centerline is valid? [True, True] Translation: X:88.85, Y:-25.36, Z:-11.85 [[ 8.18168240e-01 5.68622200e-01 8.52615078e-02 8.88471400e+01] [-5.65602523e-01 8.22598734e-01 -5.85244290e-02 -2.53607906e+01] [-1.03414298e-01 -3.41294867e-04 9.94638309e-01 -1.18517934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52824100800001 meters 0.06304319546848815 Centerline is valid? [True, True] Translation: X:88.87, Y:-25.38, Z:-11.86 [[ 8.18451353e-01 5.68389237e-01 8.40895889e-02 8.88706408e+01] [-5.65447746e-01 8.22759744e-01 -5.77516279e-02 -2.53827829e+01] [-1.02010932e-01 -2.81370483e-04 9.94783238e-01 -1.18568331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55824100800001 meters 0.062805193859941 Centerline is valid? [True, True] Translation: X:88.90, Y:-25.40, Z:-11.86 [[ 8.18399463e-01 5.68399647e-01 8.45231360e-02 8.88969365e+01] [-5.65424519e-01 8.22752560e-01 -5.80804538e-02 -2.54024824e+01] [-1.02554536e-01 -2.58441250e-04 9.94727350e-01 -1.18595136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58824100800001 meters 0.06304034534028569 Centerline is valid? [True, True] Translation: X:88.92, Y:-25.42, Z:-11.86 [[ 8.17539162e-01 5.69541705e-01 8.51584667e-02 8.89232574e+01] [-5.66524288e-01 8.21962350e-01 -5.85502086e-02 -2.54202859e+01] [-1.03343839e-01 -3.77251234e-04 9.94645620e-01 -1.18642786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61824100800001 meters 0.06268334174409335 Centerline is valid? [True, True] Translation: X:88.95, Y:-25.44, Z:-11.87 [[ 8.17481238e-01 5.69409976e-01 8.65835130e-02 8.89497371e+01] [-5.66286203e-01 8.22053626e-01 -5.95631752e-02 -2.54406970e+01] [-1.05092157e-01 -3.39270604e-04 9.94462429e-01 -1.18651757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64824100800001 meters 0.06263036577833316 Centerline is valid? [True, True] Translation: X:88.98, Y:-25.46, Z:-11.87 [[ 8.17113129e-01 5.69787452e-01 8.75693670e-02 8.89757003e+01] [-5.66590345e-01 8.21792022e-01 -6.02764797e-02 -2.54591289e+01] [-1.06308589e-01 -3.63254955e-04 9.94333119e-01 -1.18682620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67824100800001 meters 0.06259627838292606 Centerline is valid? [True, True] Translation: X:89.00, Y:-25.48, Z:-11.87 [[ 8.17158126e-01 5.69569159e-01 8.85639298e-02 8.90017622e+01] [-5.66293983e-01 8.21943353e-01 -6.09938422e-02 -2.54776867e+01] [-1.07534745e-01 -3.11606765e-04 9.94201278e-01 -1.18714718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70824100800002 meters 0.06251876430367741 Centerline is valid? [True, True] Translation: X:89.03, Y:-25.50, Z:-11.88 [[ 8.17395369e-01 5.69233630e-01 8.85318312e-02 8.90277768e+01] [-5.65955411e-01 8.22175782e-01 -6.10037366e-02 -2.54966273e+01] [-1.07514106e-01 -2.40897108e-04 9.94203530e-01 -1.18761164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73824100800002 meters 0.062484707010998154 Centerline is valid? [True, True] Translation: X:89.05, Y:-25.52, Z:-11.88 [[ 8.18203539e-01 5.68033429e-01 8.87749523e-02 8.90529933e+01] [-5.64726381e-01 8.23005480e-01 -6.12053457e-02 -2.55171413e+01] [-1.07828955e-01 -5.51270047e-05 9.94169459e-01 -1.18799925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76824100800002 meters 0.06243482221721973 Centerline is valid? [True, True] Translation: X:89.08, Y:-25.54, Z:-11.88 [[ 8.18846310e-01 5.67059559e-01 8.90739994e-02 8.90789298e+01] [-5.63720586e-01 8.23676785e-01 -6.14463642e-02 -2.55371945e+01] [-1.08211934e-01 1.02281455e-04 9.94127842e-01 -1.18841869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.798241008 meters 0.06256449640590685 Centerline is valid? [True, True] Translation: X:89.10, Y:-25.56, Z:-11.89 [[ 8.20008505e-01 5.65418935e-01 8.88114890e-02 8.91039391e+01] [-5.62086255e-01 8.24803800e-01 -6.13003580e-02 -2.55566017e+01] [-1.07912437e-01 3.47097599e-04 9.94160342e-01 -1.18903305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.828241008 meters 0.06266894113454531 Centerline is valid? [True, True] Translation: X:89.13, Y:-25.58, Z:-11.89 [[ 8.21513249e-01 5.63471756e-01 8.72671833e-02 8.91281612e+01] [-5.60240020e-01 8.26135096e-01 -6.02654364e-02 -2.55788646e+01] [-1.06052354e-01 6.18286030e-04 9.94360355e-01 -1.18940500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85824100800001 meters 0.06302554910916919 Centerline is valid? [True, True] Translation: X:89.15, Y:-25.60, Z:-11.90 [[ 8.22660690e-01 5.61881814e-01 8.67076506e-02 8.91527091e+01] [-5.58678954e-01 8.27217087e-01 -5.99142444e-02 -2.55992571e+01] [-1.05390774e-01 8.47354070e-04 9.94430524e-01 -1.18996279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88824100800001 meters 0.06310641173612941 Centerline is valid? [True, True] Translation: X:89.18, Y:-25.62, Z:-11.90 [[ 8.23503419e-01 5.60658888e-01 8.66240772e-02 8.91801132e+01] [-5.57453119e-01 8.28046235e-01 -5.98786474e-02 -2.56211358e+01] [-1.05300237e-01 1.02140884e-03 9.94439951e-01 -1.19044505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91824100800001 meters 0.06316351491855936 Centerline is valid? [True, True] Translation: X:89.21, Y:-25.64, Z:-11.91 [[ 8.24356485e-01 5.59466272e-01 8.62199313e-02 8.92067679e+01] [-5.56279067e-01 8.28852239e-01 -5.96453336e-02 -2.56406692e+01] [-1.04833135e-01 1.20667462e-03 9.94489094e-01 -1.19079745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94824100800001 meters 0.06383983227975178 Centerline is valid? [True, True] Translation: X:89.23, Y:-25.66, Z:-11.91 [[ 8.26765098e-01 5.55816047e-01 8.67640191e-02 8.92302865e+01] [-5.52564172e-01 8.31303547e-01 -6.00603788e-02 -2.56623341e+01] [-1.05509759e-01 1.71313655e-03 9.94416792e-01 -1.19125759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97824100800001 meters 0.06422356672028749 Centerline is valid? [True, True] Translation: X:89.26, Y:-25.68, Z:-11.92 [[ 8.27481942e-01 5.54798274e-01 8.64436897e-02 8.92581300e+01] [-5.51563177e-01 8.31982845e-01 -5.98548866e-02 -2.56835037e+01] [-1.05127055e-01 1.84968159e-03 9.94457079e-01 -1.19176825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00824100800001 meters 0.06416895752917073 Centerline is valid? [True, True] Translation: X:89.29, Y:-25.70, Z:-11.92 [[ 8.28322809e-01 5.53619773e-01 8.59445780e-02 8.92854442e+01] [-5.50410817e-01 8.32767098e-01 -5.95558014e-02 -2.57021197e+01] [-1.04543086e-01 2.02660335e-03 9.94518293e-01 -1.19213227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03824100800001 meters 0.06472320840734473 Centerline is valid? [True, True] Translation: X:89.31, Y:-25.72, Z:-11.93 [[ 8.30128141e-01 5.51176358e-01 8.42133719e-02 8.93122152e+01] [-5.48080009e-01 8.34385566e-01 -5.83869041e-02 -2.57220031e+01] [-1.02447903e-01 2.31294655e-03 9.94735682e-01 -1.19257253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06824100800002 meters 0.06535547707537831 Centerline is valid? [True, True] Translation: X:89.34, Y:-25.74, Z:-11.93 [[ 8.30961670e-01 5.49896616e-01 8.43588519e-02 8.93372282e+01] [-5.46778685e-01 8.35228958e-01 -5.85291117e-02 -2.57405170e+01] [-1.02643916e-01 2.50982624e-03 9.94714998e-01 -1.19303000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09824100800002 meters 0.06577767176032956 Centerline is valid? [True, True] Translation: X:89.36, Y:-25.76, Z:-11.94 [[ 8.31701995e-01 5.48753135e-01 8.45090976e-02 8.93626831e+01] [-5.45616397e-01 8.35980183e-01 -5.86504900e-02 -2.57596810e+01] [-1.02832571e-01 2.67018020e-03 9.94695095e-01 -1.19357733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12824100800002 meters 0.06583928327597145 Centerline is valid? [True, True] Translation: X:89.39, Y:-25.78, Z:-11.94 [[ 8.32350113e-01 5.47845101e-01 8.40180668e-02 8.93920287e+01] [-5.44738104e-01 8.36575161e-01 -5.83300819e-02 -2.57795481e+01] [-1.02243277e-01 2.78320778e-03 9.94755531e-01 -1.19391093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.158241008 meters 0.0660576695776563 Centerline is valid? [True, True] Translation: X:89.42, Y:-25.80, Z:-11.94 [[ 8.33600385e-01 5.45794223e-01 8.49650840e-02 8.94192805e+01] [-5.42600911e-01 8.37913475e-01 -5.90360829e-02 -2.57983934e+01] [-1.03414942e-01 3.11036945e-03 9.94633438e-01 -1.19403124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.188241008 meters 0.06634958613011555 Centerline is valid? [True, True] Translation: X:89.45, Y:-25.82, Z:-11.94 [[ 8.33489177e-01 5.45867136e-01 8.55854060e-02 8.94461368e+01] [-5.42623797e-01 8.37865821e-01 -5.95002530e-02 -2.58163154e+01] [-1.04188319e-01 3.15213890e-03 9.94552592e-01 -1.19449519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.218241008 meters 0.06601469957079052 Centerline is valid? [True, True] Translation: X:89.48, Y:-25.83, Z:-11.95 [[ 8.33351485e-01 5.46046503e-01 8.57818060e-02 8.94755206e+01] [-5.42785541e-01 8.37748884e-01 -5.96712928e-02 -2.58324903e+01] [-1.04446913e-01 3.16603647e-03 9.94525424e-01 -1.19496260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24824100800001 meters 0.06614642199741214 Centerline is valid? [True, True] Translation: X:89.50, Y:-25.85, Z:-11.95 [[ 8.32788548e-01 5.46933409e-01 8.55983693e-02 8.95021732e+01] [-5.43686850e-01 8.37170440e-01 -5.95840880e-02 -2.58486733e+01] [-1.04248953e-01 3.08223836e-03 9.94546457e-01 -1.19545453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27824100800001 meters 0.0647841772541768 Centerline is valid? [True, True] Translation: X:89.53, Y:-25.86, Z:-11.96 [[ 8.30920653e-01 5.49788347e-01 8.54613526e-02 8.95339678e+01] [-5.46565292e-01 8.35299522e-01 -5.95070675e-02 -2.58596773e+01] [-1.04102119e-01 2.73544227e-03 9.94562852e-01 -1.19573609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30824100800001 meters 0.06436228209655981 Centerline is valid? [True, True] Translation: X:89.56, Y:-25.88, Z:-11.96 [[ 8.29325843e-01 5.52144376e-01 8.57626683e-02 8.95641206e+01] [-5.48907895e-01 8.33744847e-01 -5.97465676e-02 -2.58760903e+01] [-1.04492914e-01 2.47356676e-03 9.94522555e-01 -1.19612769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33824100800001 meters 0.06423773628762583 Centerline is valid? [True, True] Translation: X:89.59, Y:-25.89, Z:-11.97 [[ 8.27683478e-01 5.54635377e-01 8.55550052e-02 8.95939097e+01] [-5.51423448e-01 8.32090624e-01 -5.96437347e-02 -2.58930554e+01] [-1.04270043e-01 2.18909781e-03 9.94546613e-01 -1.19664441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36824100800001 meters 0.06363204033825914 Centerline is valid? [True, True] Translation: X:89.62, Y:-25.90, Z:-11.97 [[ 8.25172800e-01 5.58436034e-01 8.50825783e-02 8.96241213e+01] [-5.55274739e-01 8.29545761e-01 -5.93615503e-02 -2.59045024e+01] [-1.03729521e-01 1.73933023e-03 9.94604022e-01 -1.19704815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39824100800001 meters 0.06361193892176349 Centerline is valid? [True, True] Translation: X:89.65, Y:-25.92, Z:-11.98 [[ 8.23796462e-01 5.60615173e-01 8.40833957e-02 8.96536368e+01] [-5.57536493e-01 8.28075158e-01 -5.86906387e-02 -2.59204795e+01] [-1.02530234e-01 1.46957895e-03 9.94728803e-01 -1.19766029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42824100800001 meters 0.06349785651513037 Centerline is valid? [True, True] Translation: X:89.68, Y:-25.94, Z:-11.98 [[ 8.22763992e-01 5.62198358e-01 8.36206851e-02 8.96818091e+01] [-5.59157595e-01 8.27001402e-01 -5.84077452e-02 -2.59353258e+01] [-1.01991162e-01 1.29864849e-03 9.94784457e-01 -1.19820126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45824100800002 meters 0.06331880547358291 Centerline is valid? [True, True] Translation: X:89.71, Y:-25.95, Z:-11.99 [[ 8.21767434e-01 5.63672054e-01 8.34990991e-02 8.97102012e+01] [-5.60644741e-01 8.25997893e-01 -5.83519927e-02 -2.59515227e+01] [-1.01861467e-01 1.13843660e-03 9.94797942e-01 -1.19859287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48824100800002 meters 0.06323605963071043 Centerline is valid? [True, True] Translation: X:89.74, Y:-25.97, Z:-11.99 [[ 8.20416371e-01 5.65719992e-01 8.29329195e-02 8.97384248e+01] [-5.62741020e-01 8.24596916e-01 -5.79868035e-02 -2.59661989e+01] [-1.01190524e-01 9.03567111e-04 9.94866655e-01 -1.19902112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51824100800002 meters 0.06315202286008671 Centerline is valid? [True, True] Translation: X:89.77, Y:-25.98, Z:-11.99 [[ 8.20222058e-01 5.65948639e-01 8.32941400e-02 8.97658177e+01] [-5.62941818e-01 8.24440006e-01 -5.82682326e-02 -2.59842453e+01] [-1.01647848e-01 9.03135097e-04 9.94820034e-01 -1.19939096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.548241008 meters 0.06293596425417468 Centerline is valid? [True, True] Translation: X:89.79, Y:-26.00, Z:-12.00 [[ 8.19644954e-01 5.66807252e-01 8.31365671e-02 8.97939355e+01] [-5.63812664e-01 8.23850022e-01 -5.81929587e-02 -2.60015066e+01] [-1.01476254e-01 8.24115591e-04 9.94837620e-01 -1.19956565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.578241008 meters 0.0628774983409727 Centerline is valid? [True, True] Translation: X:89.82, Y:-26.02, Z:-12.00 [[ 8.19450294e-01 5.66987365e-01 8.38244839e-02 8.98211527e+01] [-5.63940043e-01 8.23726062e-01 -5.87111833e-02 -2.60195461e+01] [-1.02336911e-01 8.38913380e-04 9.94749442e-01 -1.20002420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60824100800001 meters 0.06279229424140859 Centerline is valid? [True, True] Translation: X:89.85, Y:-26.04, Z:-12.00 [[ 8.18927145e-01 5.67757539e-01 8.37240044e-02 8.98485640e+01] [-5.64719691e-01 8.23195484e-01 -5.86588970e-02 -2.60370120e+01] [-1.02225253e-01 7.56769177e-04 9.94760989e-01 -1.20014218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63824100800001 meters 0.06318684814927157 Centerline is valid? [True, True] Translation: X:89.87, Y:-26.06, Z:-12.01 [[ 8.18756973e-01 5.68079364e-01 8.32036974e-02 8.98741644e+01] [-5.65077415e-01 8.22973443e-01 -5.83286089e-02 -2.60552343e+01] [-1.01609712e-01 7.40425026e-04 9.94824064e-01 -1.20076793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66824100800001 meters 0.06328790738312241 Centerline is valid? [True, True] Translation: X:89.90, Y:-26.07, Z:-12.01 [[ 8.18688188e-01 5.68181238e-01 8.31849251e-02 8.99008025e+01] [-5.65177950e-01 8.22903100e-01 -5.83470057e-02 -2.60728586e+01] [-1.01604807e-01 7.53718892e-04 9.94824555e-01 -1.20130716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69824100800001 meters 0.06344720405563235 Centerline is valid? [True, True] Translation: X:89.93, Y:-26.09, Z:-12.02 [[ 8.18614819e-01 5.68236300e-01 8.35301414e-02 8.99278416e+01] [-5.65205019e-01 8.22865059e-01 -5.86206584e-02 -2.60902999e+01] [-1.02044421e-01 7.76084468e-04 9.94779540e-01 -1.20173397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72824100800001 meters 0.06326253494746215 Centerline is valid? [True, True] Translation: X:89.95, Y:-26.11, Z:-12.02 [[ 8.18567204e-01 5.68202568e-01 8.42233607e-02 8.99547803e+01] [-5.65118168e-01 8.22888324e-01 -5.91292109e-02 -2.61092963e+01] [-1.02903790e-01 8.05081559e-04 9.94690988e-01 -1.20191102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75824100800001 meters 0.06331078177815355 Centerline is valid? [True, True] Translation: X:89.98, Y:-26.13, Z:-12.02 [[ 8.18613036e-01 5.68188205e-01 8.38740859e-02 8.99812601e+01] [-5.65125893e-01 8.22898216e-01 -5.89173238e-02 -2.61280758e+01] [-1.02495964e-01 8.31071528e-04 9.94733073e-01 -1.20221928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78824100800001 meters 0.0632271047319542 Centerline is valid? [True, True] Translation: X:90.01, Y:-26.15, Z:-12.03 [[ 8.18673304e-01 5.68325734e-01 8.23400341e-02 9.00082972e+01] [-5.65372180e-01 8.22803245e-01 -5.78715720e-02 -2.61463525e+01] [-1.00639551e-01 8.25146470e-04 9.94922610e-01 -1.20266051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81824100800002 meters 0.0634782567910438 Centerline is valid? [True, True] Translation: X:90.03, Y:-26.16, Z:-12.03 [[ 8.18741292e-01 5.68279695e-01 8.19810036e-02 9.00331180e+01] [-5.65348378e-01 8.22835013e-01 -5.76520003e-02 -2.61649325e+01] [-1.00219301e-01 8.54245742e-04 9.94965005e-01 -1.20336628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84824100800002 meters 0.06361208131615156 Centerline is valid? [True, True] Translation: X:90.06, Y:-26.18, Z:-12.04 [[ 8.19006601e-01 5.67890220e-01 8.20297790e-02 9.00595283e+01] [-5.64950432e-01 8.23103783e-01 -5.77163029e-02 -2.61843868e+01] [-1.00295545e-01 9.27273967e-04 9.94957257e-01 -1.20370067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87824100800002 meters 0.06364710852997978 Centerline is valid? [True, True] Translation: X:90.09, Y:-26.20, Z:-12.04 [[ 8.19573291e-01 5.66984187e-01 8.26350501e-02 9.00857918e+01] [-5.63992952e-01 8.23727978e-01 -5.81736023e-02 -2.62043371e+01] [-1.01052315e-01 1.07194489e-03 9.94880536e-01 -1.20399721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.908241008 meters 0.06384749463138982 Centerline is valid? [True, True] Translation: X:90.11, Y:-26.22, Z:-12.04 [[ 8.21198877e-01 5.64654372e-01 8.24490405e-02 9.01115225e+01] [-5.61661695e-01 8.25326317e-01 -5.80741774e-02 -2.62236540e+01] [-1.00839201e-01 1.38198141e-03 9.94901777e-01 -1.20443290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.938241008 meters 0.06436515910005276 Centerline is valid? [True, True] Translation: X:90.14, Y:-26.24, Z:-12.05 [[ 8.22304017e-01 5.63055590e-01 8.23681074e-02 9.01374812e+01] [-5.60057737e-01 8.26417471e-01 -5.80473484e-02 -2.62436964e+01] [-1.00754327e-01 1.60167196e-03 9.94910046e-01 -1.20495173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.968241008 meters 0.06456906951954759 Centerline is valid? [True, True] Translation: X:90.17, Y:-26.27, Z:-12.05 [[ 8.23185256e-01 5.61898962e-01 8.14591389e-02 9.01654148e+01] [-5.58958741e-01 8.27204030e-01 -5.74336084e-02 -2.62666161e+01] [-9.96552129e-02 1.74620187e-03 9.95020497e-01 -1.20543752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99824100800001 meters 0.06497835180492648 Centerline is valid? [True, True] Translation: X:90.19, Y:-26.29, Z:-12.06 [[ 8.24472511e-01 5.60068114e-01 8.10480445e-02 9.01908103e+01] [-5.57143789e-01 8.28444151e-01 -5.71934210e-02 -2.62898516e+01] [-9.91759899e-02 1.99898887e-03 9.95067901e-01 -1.20580125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02824100800001 meters 0.06565546136666654 Centerline is valid? [True, True] Translation: X:90.21, Y:-26.31, Z:-12.06 [[ 8.26462278e-01 5.57228696e-01 8.03510033e-02 9.02131687e+01] [-5.54337195e-01 8.30355732e-01 -5.67418029e-02 -2.63134625e+01] [-9.83380771e-02 2.35340986e-03 9.95150282e-01 -1.20614191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05824100800001 meters 0.06582455160814193 Centerline is valid? [True, True] Translation: X:90.24, Y:-26.33, Z:-12.07 [[ 8.26718203e-01 5.56852710e-01 8.03247948e-02 9.02390125e+01] [-5.53959636e-01 8.30607756e-01 -5.67404397e-02 -2.63326391e+01] [-9.83144652e-02 2.41166023e-03 9.95152476e-01 -1.20656468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08824100800001 meters 0.06604496997820616 Centerline is valid? [True, True] Translation: X:90.27, Y:-26.35, Z:-12.07 [[ 8.26764566e-01 5.56800314e-01 8.02107442e-02 9.02671250e+01] [-5.53912489e-01 8.30642805e-01 -5.66876162e-02 -2.63524435e+01] [-9.81901600e-02 2.43757949e-03 9.95164685e-01 -1.20714174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11824100800001 meters 0.06605182233948856 Centerline is valid? [True, True] Translation: X:90.29, Y:-26.37, Z:-12.08 [[ 8.26355593e-01 5.57431488e-01 8.00410505e-02 9.02940226e+01] [-5.54555012e-01 8.30219503e-01 -5.66066774e-02 -2.63700129e+01] [-9.80059856e-02 2.39007882e-03 9.95182955e-01 -1.20764306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14824100800001 meters 0.06605182233948856 Centerline is valid? [True, True] Translation: X:90.32, Y:-26.39, Z:-12.08 [[ 8.26218646e-01 5.57636444e-01 8.00271564e-02 9.03201531e+01] [-5.54759025e-01 8.30081854e-01 -5.66263120e-02 -2.63886740e+01] [-9.80059856e-02 2.38992756e-03 9.95182956e-01 -1.20804943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17824100800001 meters 0.06589265056984235 Centerline is valid? [True, True] Translation: X:90.35, Y:-26.40, Z:-12.09 [[ 8.24453107e-01 5.60470099e-01 7.84241186e-02 9.03478738e+01] [-5.57717006e-01 8.28172157e-01 -5.55213409e-02 -2.64035553e+01] [-9.60667229e-02 2.03627742e-03 9.95372814e-01 -1.20874576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20824100800002 meters 0.06554226793811059 Centerline is valid? [True, True] Translation: X:90.38, Y:-26.42, Z:-12.09 [[ 8.22935388e-01 5.62705622e-01 7.83564283e-02 9.03761835e+01] [-5.59964705e-01 8.26655402e-01 -5.55011259e-02 -2.64193529e+01] [-9.60045603e-02 1.79700632e-03 9.95379272e-01 -1.20920115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23824100800002 meters 0.06539749683484275 Centerline is valid? [True, True] Translation: X:90.40, Y:-26.44, Z:-12.10 [[ 8.21442891e-01 5.64938772e-01 7.79471732e-02 9.04033893e+01] [-5.62234975e-01 8.25131389e-01 -5.52270247e-02 -2.64350668e+01] [-9.55165468e-02 1.54121982e-03 9.95426649e-01 -1.20976573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26824100800002 meters 0.06497336184581114 Centerline is valid? [True, True] Translation: X:90.43, Y:-26.45, Z:-12.10 [[ 8.19223532e-01 5.68167235e-01 7.78382741e-02 9.04309216e+01] [-5.65482642e-01 8.22912256e-01 -5.51797173e-02 -2.64500449e+01] [-9.54053771e-02 1.18833002e-03 9.95437794e-01 -1.21015073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.298241008 meters 0.06421280001968134 Centerline is valid? [True, True] Translation: X:90.46, Y:-26.47, Z:-12.10 [[ 8.15093563e-01 5.74104869e-01 7.76278426e-02 9.04634444e+01] [-5.71459838e-01 8.18781620e-01 -5.50482807e-02 -2.64650777e+01] [-9.51637367e-02 5.08304955e-04 9.95461503e-01 -1.21046988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.328241008 meters 0.06362666122349345 Centerline is valid? [True, True] Translation: X:90.49, Y:-26.48, Z:-12.10 [[ 8.13245441e-01 5.76546773e-01 7.89029187e-02 9.04925189e+01] [-5.73820904e-01 8.17064103e-01 -5.59984074e-02 -2.64814158e+01] [-9.67544435e-02 2.64305390e-04 9.95308248e-01 -1.21042138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35824100800001 meters 0.06371121356890821 Centerline is valid? [True, True] Translation: X:90.52, Y:-26.50, Z:-12.11 [[ 8.11662143e-01 5.78641725e-01 7.98643799e-02 9.05192351e+01] [-5.75856923e-01 8.15581849e-01 -5.67014182e-02 -2.64974995e+01] [-9.79457451e-02 3.19385912e-05 9.95191755e-01 -1.21084517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38824100800001 meters 0.06371814776579737 Centerline is valid? [True, True] Translation: X:90.55, Y:-26.52, Z:-12.11 [[ 8.10011012e-01 5.80918551e-01 8.00986768e-02 9.05466759e+01] [-5.78127317e-01 8.13961659e-01 -5.68790275e-02 -2.65150249e+01] [-9.82393340e-02 -2.34594500e-04 9.95162790e-01 -1.21115710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41824100800001 meters 0.06363835242233502 Centerline is valid? [True, True] Translation: X:90.57, Y:-26.53, Z:-12.11 [[ 8.07826214e-01 5.83876871e-01 8.06511479e-02 9.05742445e+01] [-5.81058468e-01 8.11842024e-01 -5.73025751e-02 -2.65320393e+01] [-9.89336394e-02 -5.72510165e-04 9.95093869e-01 -1.21144761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44824100800001 meters 0.06380320435889174 Centerline is valid? [True, True] Translation: X:90.60, Y:-26.55, Z:-12.12 [[ 8.07134410e-01 5.84700212e-01 8.16070202e-02 9.06011067e+01] [-5.81815555e-01 8.11249179e-01 -5.80123184e-02 -2.65515720e+01] [-1.00123443e-01 -6.56495404e-04 9.94974806e-01 -1.21190438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47824100800001 meters 0.06393377386906718 Centerline is valid? [True, True] Translation: X:90.63, Y:-26.57, Z:-12.12 [[ 8.06754350e-01 5.85229798e-01 8.15690028e-02 9.06273925e+01] [-5.82346360e-01 8.10867197e-01 -5.80267732e-02 -2.65711415e+01] [-1.00100625e-01 -6.88060135e-04 9.94977081e-01 -1.21240883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50824100800001 meters 0.0637541903044204 Centerline is valid? [True, True] Translation: X:90.65, Y:-26.59, Z:-12.13 [[ 8.06908840e-01 5.85068918e-01 8.11941202e-02 9.06531543e+01] [-5.82209304e-01 8.10983316e-01 -5.77787844e-02 -2.65919901e+01] [-9.96516477e-02 -6.49760366e-04 9.95022174e-01 -1.21279474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53824100800001 meters 0.06380159510109594 Centerline is valid? [True, True] Translation: X:90.68, Y:-26.61, Z:-12.13 [[ 8.07076147e-01 5.84855576e-01 8.10681641e-02 9.06773789e+01] [-5.82000598e-01 8.11137226e-01 -5.77209276e-02 -2.66142563e+01] [-9.95158122e-02 -5.96536072e-04 9.95035802e-01 -1.21318476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56824100800002 meters 0.06362677703060844 Centerline is valid? [True, True] Translation: X:90.70, Y:-26.64, Z:-12.13 [[ 8.07537871e-01 5.84152899e-01 8.15351318e-02 9.07012331e+01] [-5.81258025e-01 8.11643490e-01 -5.80857507e-02 -2.66361619e+01] [-1.00108419e-01 -4.86506211e-04 9.94976416e-01 -1.21342698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59824100800002 meters 0.06359344025769827 Centerline is valid? [True, True] Translation: X:90.72, Y:-26.66, Z:-12.14 [[ 8.09280739e-01 5.81779114e-01 8.12265179e-02 9.07228983e+01] [-5.78891085e-01 8.13346811e-01 -5.78971194e-02 -2.66597791e+01] [-9.97486641e-02 -1.66283462e-04 9.95012651e-01 -1.21399130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62824100800002 meters 0.06361059335351456 Centerline is valid? [True, True] Translation: X:90.75, Y:-26.68, Z:-12.14 [[ 8.10043401e-01 5.80733883e-01 8.11039173e-02 9.07481298e+01] [-5.77846386e-01 8.14093457e-01 -5.78394083e-02 -2.66809233e+01] [-9.96154725e-02 -1.31744630e-05 9.95026008e-01 -1.21446669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.658241008 meters 0.06387726823664458 Centerline is valid? [True, True] Translation: X:90.77, Y:-26.70, Z:-12.15 [[ 8.11513533e-01 5.78649122e-01 8.13079265e-02 9.07725867e+01] [-5.75733324e-01 8.15576557e-01 -5.80173985e-02 -2.67026681e+01] [-9.98845555e-02 2.70221185e-04 9.94998996e-01 -1.21504209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.688241008 meters 0.0640853346130213 Centerline is valid? [True, True] Translation: X:90.79, Y:-26.72, Z:-12.16 [[ 8.12935373e-01 5.76688412e-01 8.10342849e-02 9.07949994e+01] [-5.73779242e-01 8.16964006e-01 -5.78549426e-02 -2.67242472e+01] [-9.95663690e-02 5.36538820e-04 9.95030779e-01 -1.21561555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.718241008 meters 0.06431278540169512 Centerline is valid? [True, True] Translation: X:90.82, Y:-26.75, Z:-12.16 [[ 8.14471688e-01 5.74497936e-01 8.11664437e-02 9.08183919e+01] [-5.71565523e-01 8.18505610e-01 -5.79777405e-02 -2.67482230e+01] [-9.97432818e-02 8.29287295e-04 9.95012859e-01 -1.21597759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74824100800001 meters 0.06462559932504693 Centerline is valid? [True, True] Translation: X:90.84, Y:-26.78, Z:-12.16 [[ 8.17269100e-01 5.70444021e-01 8.16384593e-02 9.08388755e+01] [-5.67453793e-01 8.21335358e-01 -5.83474281e-02 -2.67762046e+01] [-1.00336495e-01 1.35949670e-03 9.94952632e-01 -1.21622325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77824100800001 meters 0.06450753442970804 Centerline is valid? [True, True] Translation: X:90.87, Y:-26.80, Z:-12.16 [[ 8.18058869e-01 5.69340580e-01 8.14308940e-02 9.08651586e+01] [-5.66357269e-01 8.22100365e-01 -5.82274326e-02 -2.67972513e+01] [-1.00095608e-01 1.51448897e-03 9.94976671e-01 -1.21628964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80824100800001 meters 0.0647653192179919 Centerline is valid? [True, True] Translation: X:90.89, Y:-26.82, Z:-12.17 [[ 8.18607743e-01 5.68601304e-01 8.10797168e-02 9.08891545e+01] [-5.65636204e-01 8.22611633e-01 -5.80153947e-02 -2.68183215e+01] [-9.96847474e-02 1.63022808e-03 9.95017735e-01 -1.21683339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83824100800001 meters 0.06530939807896578 Centerline is valid? [True, True] Translation: X:90.91, Y:-26.84, Z:-12.17 [[ 8.19409897e-01 5.67409970e-01 8.13224825e-02 9.09126063e+01] [-5.64418097e-01 8.23433461e-01 -5.82198227e-02 -2.68400734e+01] [-9.99981611e-02 1.80601808e-03 9.94985983e-01 -1.21739329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86824100800001 meters 0.06549444181243977 Centerline is valid? [True, True] Translation: X:90.94, Y:-26.86, Z:-12.18 [[ 8.20345016e-01 5.66162822e-01 8.05835789e-02 9.09375263e+01] [-5.63216107e-01 8.24291085e-01 -5.77219481e-02 -2.68630152e+01] [-9.91043467e-02 1.96594281e-03 9.95075104e-01 -1.21778773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89824100800001 meters 0.06573314559404234 Centerline is valid? [True, True] Translation: X:90.96, Y:-26.88, Z:-12.18 [[ 8.21129728e-01 5.65043878e-01 8.04449245e-02 9.09641656e+01] [-5.62098378e-01 8.25058114e-01 -5.76586770e-02 -2.68835728e+01] [-9.89514201e-02 2.12729221e-03 9.95089991e-01 -1.21817834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92824100800001 meters 0.06638688383474967 Centerline is valid? [True, True] Translation: X:90.99, Y:-26.90, Z:-12.19 [[ 8.22634674e-01 5.62905958e-01 8.00567047e-02 9.09903360e+01] [-5.59975246e-01 8.26517459e-01 -5.74161456e-02 -2.69044640e+01] [-9.84881545e-02 2.40273927e-03 9.95135323e-01 -1.21874644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95824100800002 meters 0.06663104271028353 Centerline is valid? [True, True] Translation: X:91.02, Y:-26.92, Z:-12.19 [[ 8.23188956e-01 5.62098871e-01 8.00300070e-02 9.10155853e+01] [-5.59162691e-01 8.27066179e-01 -5.74336191e-02 -2.69242308e+01] [-9.84734846e-02 2.52892689e-03 9.95136462e-01 -1.21906467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98824100800002 meters 0.06653346961548573 Centerline is valid? [True, True] Translation: X:91.04, Y:-26.95, Z:-12.19 [[ 8.23610727e-01 5.61461050e-01 8.01676915e-02 9.10439459e+01] [-5.58509017e-01 8.27498978e-01 -5.75596959e-02 -2.69461880e+01] [-9.86562102e-02 2.63240442e-03 9.95118095e-01 -1.21933357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01824100800002 meters 0.06659337333838927 Centerline is valid? [True, True] Translation: X:91.07, Y:-26.97, Z:-12.20 [[ 8.23826436e-01 5.61037503e-01 8.09130607e-02 9.10697281e+01] [-5.58022892e-01 8.27785810e-01 -5.81472668e-02 -2.69665520e+01] [-9.96014809e-02 2.75191544e-03 9.95023604e-01 -1.21962495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.048241008 meters 0.06686483515363827 Centerline is valid? [True, True] Translation: X:91.10, Y:-26.99, Z:-12.20 [[ 8.24665196e-01 5.59797263e-01 8.09588635e-02 9.10965896e+01] [-5.56770184e-01 8.28624429e-01 -5.82109824e-02 -2.69865008e+01] [-9.96708407e-02 2.92908996e-03 9.95016153e-01 -1.21986206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.078241008 meters 0.06850744797584565 Centerline is valid? [True, True] Translation: X:91.12, Y:-27.01, Z:-12.21 [[ 8.25033725e-01 5.59224822e-01 8.11600390e-02 9.11207478e+01] [-5.56176308e-01 8.29010485e-01 -5.83911763e-02 -2.70089260e+01] [-9.99363185e-02 3.03539884e-03 9.94989205e-01 -1.22067992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10824100800001 meters 0.06707602053493983 Centerline is valid? [True, True] Translation: X:91.15, Y:-27.02, Z:-12.21 [[ 8.25326805e-01 5.58784241e-01 8.12147610e-02 9.11519656e+01] [-5.55725664e-01 8.29307194e-01 -5.84684859e-02 -2.70237397e+01] [-1.00023254e-01 3.12248160e-03 9.94980200e-01 -1.22065704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13824100800001 meters 0.06721437357216148 Centerline is valid? [True, True] Translation: X:91.18, Y:-27.04, Z:-12.21 [[ 8.25403374e-01 5.58661894e-01 8.12782732e-02 9.11781766e+01] [-5.55594208e-01 8.29389435e-01 -5.85511805e-02 -2.70425141e+01] [-1.00121654e-01 3.17060414e-03 9.94970151e-01 -1.22103787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16824100800001 meters 0.06704685107999102 Centerline is valid? [True, True] Translation: X:91.21, Y:-27.06, Z:-12.21 [[ 8.24998997e-01 5.59268088e-01 8.12149056e-02 9.12077677e+01] [-5.56205050e-01 8.28980984e-01 -5.85360647e-02 -2.70591302e+01] [-1.00062965e-01 3.12005410e-03 9.94976215e-01 -1.22143128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19824100800001 meters 0.06660736809113979 Centerline is valid? [True, True] Translation: X:91.24, Y:-27.08, Z:-12.22 [[ 8.24357691e-01 5.60348382e-01 8.02750732e-02 9.12386183e+01] [-5.57357790e-01 8.28251652e-01 -5.78920979e-02 -2.70757170e+01] [-9.89277054e-02 2.98185883e-03 9.95090156e-01 -1.22176250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22824100800001 meters 0.06658353701246103 Centerline is valid? [True, True] Translation: X:91.27, Y:-27.09, Z:-12.22 [[ 8.23479775e-01 5.61778023e-01 7.92875312e-02 9.12664137e+01] [-5.58863358e-01 8.27283242e-01 -5.72204985e-02 -2.70925296e+01] [-9.77384644e-02 2.80902733e-03 9.95208170e-01 -1.22229695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25824100800001 meters 0.06752836308105294 Centerline is valid? [True, True] Translation: X:91.29, Y:-27.11, Z:-12.23 [[ 8.20937872e-01 5.65736697e-01 7.74790261e-02 9.12918906e+01] [-5.62968101e-01 8.24582708e-01 -5.59488566e-02 -2.71089463e+01] [-9.55401865e-02 2.31231507e-03 9.95422888e-01 -1.22330996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28824100800001 meters 0.0657205131290989 Centerline is valid? [True, True] Translation: X:91.32, Y:-27.12, Z:-12.23 [[ 8.18953705e-01 5.68658166e-01 7.70890400e-02 9.13244082e+01] [-5.65927924e-01 8.22571553e-01 -5.56922280e-02 -2.71205972e+01] [-9.50810916e-02 1.98251607e-03 9.95467556e-01 -1.22334312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31824100800002 meters 0.06540216100051605 Centerline is valid? [True, True] Translation: X:91.35, Y:-27.13, Z:-12.24 [[ 8.17025891e-01 5.71422273e-01 7.71056413e-02 9.13537643e+01] [-5.68700307e-01 8.20654461e-01 -5.57334349e-02 -2.71346641e+01] [-9.51244146e-02 1.68565743e-03 9.95463964e-01 -1.22390014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34824100800002 meters 0.06513530351339505 Centerline is valid? [True, True] Translation: X:91.38, Y:-27.15, Z:-12.24 [[ 8.15410293e-01 5.73767735e-01 7.67895791e-02 9.13833158e+01] [-5.71075647e-01 8.19016813e-01 -5.55343656e-02 -2.71496340e+01] [-9.47557835e-02 1.43063471e-03 9.95499520e-01 -1.22433507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37824100800002 meters 0.06493426350220126 Centerline is valid? [True, True] Translation: X:91.41, Y:-27.16, Z:-12.25 [[ 8.11785575e-01 5.78738445e-01 7.78844794e-02 9.14121401e+01] [-5.75988431e-01 8.15512734e-01 -5.63587477e-02 -2.71620081e+01] [-9.61327587e-02 8.90659315e-04 9.95368123e-01 -1.22491192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.408241008 meters 0.06441584113060408 Centerline is valid? [True, True] Translation: X:91.44, Y:-27.18, Z:-12.25 [[ 8.09948869e-01 5.81226541e-01 7.84763470e-02 9.14412153e+01] [-5.78443889e-01 8.13741559e-01 -5.68096982e-02 -2.71781424e+01] [-9.68787694e-02 6.18787446e-04 9.95295997e-01 -1.22502933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.438241008 meters 0.0643106986254328 Centerline is valid? [True, True] Translation: X:91.47, Y:-27.19, Z:-12.25 [[ 8.08317951e-01 5.83422986e-01 7.89918321e-02 9.14680958e+01] [-5.80610640e-01 8.12168376e-01 -5.72172534e-02 -2.71944296e+01] [-9.75365288e-02 3.86234802e-04 9.95231871e-01 -1.22535669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.468241008 meters 0.06414462386889724 Centerline is valid? [True, True] Translation: X:91.50, Y:-27.21, Z:-12.26 [[ 8.06934717e-01 5.85338572e-01 7.89627686e-02 9.14963185e+01] [-5.82534890e-01 8.10788952e-01 -5.72221636e-02 -2.72110975e+01] [-9.75164799e-02 1.75982678e-04 9.95233895e-01 -1.22566679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49824100800001 meters 0.06418851290689818 Centerline is valid? [True, True] Translation: X:91.53, Y:-27.23, Z:-12.26 [[ 8.04876672e-01 5.88057949e-01 7.97583336e-02 9.15261655e+01] [-5.85207467e-01 8.08818788e-01 -5.78306919e-02 -2.72258901e+01] [-9.85178368e-02 -1.28597537e-04 9.95135277e-01 -1.22602519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52824100800001 meters 0.06433122742866654 Centerline is valid? [True, True] Translation: X:91.55, Y:-27.24, Z:-12.27 [[ 8.03841265e-01 5.89508633e-01 7.94908325e-02 9.15526768e+01] [-5.86681544e-01 8.07762027e-01 -5.76651921e-02 -2.72433404e+01] [-9.82038046e-02 -2.82143384e-04 9.95166284e-01 -1.22664446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55824100800001 meters 0.06431686364343144 Centerline is valid? [True, True] Translation: X:91.58, Y:-27.26, Z:-12.27 [[ 8.03151399e-01 5.90437663e-01 7.95688120e-02 9.15786689e+01] [-5.87606678e-01 8.07083160e-01 -5.77508798e-02 -2.72628083e+01] [-9.83169427e-02 -3.72465432e-04 9.95155083e-01 -1.22700696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58824100800001 meters 0.06430405399761886 Centerline is valid? [True, True] Translation: X:91.61, Y:-27.28, Z:-12.27 [[ 8.02333158e-01 5.91531717e-01 7.96977509e-02 9.16050160e+01] [-5.88693817e-01 8.06281586e-01 -5.78756768e-02 -2.72829773e+01] [-9.84941275e-02 -4.81998679e-04 9.95137515e-01 -1.22732463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61824100800001 meters 0.06467265603764577 Centerline is valid? [True, True] Translation: X:91.63, Y:-27.30, Z:-12.28 [[ 8.01160866e-01 5.93428953e-01 7.73520831e-02 9.16311974e+01] [-5.90761977e-01 8.04886097e-01 -5.62019361e-02 -2.73020892e+01] [-9.56114724e-02 -6.69877809e-04 9.95418504e-01 -1.22798555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64824100800001 meters 0.06486959293354297 Centerline is valid? [True, True] Translation: X:91.66, Y:-27.32, Z:-12.29 [[ 8.00798608e-01 5.94059056e-01 7.62589507e-02 9.16582325e+01] [-5.91467228e-01 8.04421116e-01 -5.54363344e-02 -2.73215822e+01] [-9.42767667e-02 -7.11330734e-04 9.95545773e-01 -1.22863294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67824100800001 meters 0.06526105046051561 Centerline is valid? [True, True] Translation: X:91.68, Y:-27.34, Z:-12.29 [[ 8.00036647e-01 5.95099132e-01 7.61471411e-02 9.16836225e+01] [-5.92516084e-01 8.03651902e-01 -5.53923360e-02 -2.73391826e+01] [-9.41597258e-02 -8.02507070e-04 9.95556780e-01 -1.22924459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70824100800002 meters 0.06581350328325362 Centerline is valid? [True, True] Translation: X:91.71, Y:-27.36, Z:-12.30 [[ 7.98008424e-01 5.97905740e-01 7.54405778e-02 9.17098815e+01] [-5.95381149e-01 8.01565656e-01 -5.48979619e-02 -2.73599205e+01] [-9.32943828e-02 -1.10686190e-03 9.95637953e-01 -1.22982072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73824100800002 meters 0.06583304711347447 Centerline is valid? [True, True] Translation: X:91.74, Y:-27.38, Z:-12.30 [[ 7.97399358e-01 5.98770979e-01 7.50171935e-02 9.17353032e+01] [-5.96274474e-01 8.00919443e-01 -5.46332956e-02 -2.73793846e+01] [-9.27955608e-02 -1.16628283e-03 9.95684500e-01 -1.23013447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76824100800002 meters 0.06565489580962787 Centerline is valid? [True, True] Translation: X:91.76, Y:-27.40, Z:-12.30 [[ 7.96550037e-01 5.99880168e-01 7.51786090e-02 9.17611980e+01] [-5.97376592e-01 8.00088824e-01 -5.47638660e-02 -2.73995571e+01] [-9.30013220e-02 -1.28778182e-03 9.95665152e-01 -1.23037412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.798241008 meters 0.06601258750433307 Centerline is valid? [True, True] Translation: X:91.79, Y:-27.42, Z:-12.31 [[ 7.95140371e-01 6.01696933e-01 7.55816852e-02 9.17875231e+01] [-5.99171641e-01 7.98723106e-01 -5.50885161e-02 -2.74188123e+01] [-9.35154295e-02 -1.48329916e-03 9.95616726e-01 -1.23079753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.828241008 meters 0.06624494858001653 Centerline is valid? [True, True] Translation: X:91.81, Y:-27.44, Z:-12.31 [[ 7.94842017e-01 6.02058236e-01 7.58422600e-02 9.18135042e+01] [-5.99514153e-01 7.98450758e-01 -5.53097492e-02 -2.74392075e+01] [-9.38560000e-02 -1.50599561e-03 9.95584644e-01 -1.23123671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85824100800001 meters 0.0662871899517959 Centerline is valid? [True, True] Translation: X:91.84, Y:-27.46, Z:-12.32 [[ 7.94368968e-01 6.02587280e-01 7.65931634e-02 9.18384499e+01] [-5.99991867e-01 7.98051465e-01 -5.58893408e-02 -2.74598107e+01] [-9.48034921e-02 -1.55851706e-03 9.95494786e-01 -1.23158209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88824100800001 meters 0.066355552535687 Centerline is valid? [True, True] Translation: X:91.86, Y:-27.48, Z:-12.32 [[ 7.94355284e-01 6.02527872e-01 7.72000411e-02 9.18629905e+01] [-5.99887645e-01 7.98096360e-01 -5.63650064e-02 -2.74797004e+01] [-9.55745592e-02 -1.53751023e-03 9.95421087e-01 -1.23209292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91824100800001 meters 0.06606464621055393 Centerline is valid? [True, True] Translation: X:91.89, Y:-27.50, Z:-12.32 [[ 7.94699338e-01 6.01966531e-01 7.80336947e-02 9.18850782e+01] [-5.99263091e-01 7.98519982e-01 -5.70051464e-02 -2.75031102e+01] [-9.66266548e-02 -1.46076097e-03 9.95319625e-01 -1.23230378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.94824100800001 meters 0.06564129036506997 Centerline is valid? [True, True] Translation: X:91.91, Y:-27.53, Z:-12.32 [[ 7.96414547e-01 5.99579824e-01 7.89170716e-02 9.19077607e+01] [-5.96800247e-01 8.00314116e-01 -5.76782513e-02 -2.75271739e+01] [-9.77411622e-02 -1.16192948e-03 9.95211191e-01 -1.23249558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.97824100800001 meters 0.0651627676814578 Centerline is valid? [True, True] Translation: X:91.93, Y:-27.55, Z:-12.33 [[ 7.98201401e-01 5.97161890e-01 7.91972281e-02 9.19298779e+01] [-5.94347613e-01 8.02120293e-01 -5.79132940e-02 -2.75513471e+01] [-9.81093160e-02 -8.44211079e-04 9.95175286e-01 -1.23279093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00824100800001 meters 0.06488288024075924 Centerline is valid? [True, True] Translation: X:91.95, Y:-27.57, Z:-12.33 [[ 7.99779524e-01 5.95077657e-01 7.89638855e-02 9.19534147e+01] [-5.92266939e-01 8.03668007e-01 -5.77720313e-02 -2.75748011e+01] [-9.78395936e-02 -5.62811063e-04 9.95202038e-01 -1.23323152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03824100800001 meters 0.06488288024075924 Centerline is valid? [True, True] Translation: X:91.98, Y:-27.59, Z:-12.34 [[ 7.99623985e-01 5.95288651e-01 7.89487450e-02 9.19792038e+01] [-5.92476917e-01 8.03511733e-01 -5.77927129e-02 -2.75938980e+01] [-9.78395890e-02 -5.62869693e-04 9.95202039e-01 -1.23363778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06824100800002 meters 0.06505820696186769 Centerline is valid? [True, True] Translation: X:92.00, Y:-27.62, Z:-12.34 [[ 8.01712368e-01 5.92647707e-01 7.76271433e-02 9.20030432e+01] [-5.89914527e-01 8.05461761e-01 -5.68524573e-02 -2.76198713e+01] [-9.62191741e-02 -2.14061355e-04 9.95360148e-01 -1.23432685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09824100800002 meters 0.06516639221070449 Centerline is valid? [True, True] Translation: X:92.03, Y:-27.64, Z:-12.35 [[ 8.02090481e-01 5.92261404e-01 7.66634813e-02 9.20275553e+01] [-5.89589726e-01 8.05745873e-01 -5.61920138e-02 -2.76408969e+01] [-9.50516448e-02 -1.28921590e-04 9.95472334e-01 -1.23483235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12824100800002 meters 0.06519709256867103 Centerline is valid? [True, True] Translation: X:92.05, Y:-27.66, Z:-12.35 [[ 8.02303258e-01 5.91921406e-01 7.70618665e-02 9.20516245e+01] [-5.89216875e-01 8.05995686e-01 -5.65192830e-02 -2.76611972e+01] [-9.55665053e-02 -6.05472399e-05 9.95423045e-01 -1.23527270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.158241008 meters 0.06500896690541966 Centerline is valid? [True, True] Translation: X:92.08, Y:-27.68, Z:-12.35 [[ 8.02072178e-01 5.92170234e-01 7.75540749e-02 9.20766625e+01] [-5.89430734e-01 8.05812886e-01 -5.68946582e-02 -2.76817437e+01] [-9.61853960e-02 -7.91328321e-05 9.95363433e-01 -1.23541055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.188241008 meters 0.06499801228549355 Centerline is valid? [True, True] Translation: X:92.10, Y:-27.70, Z:-12.36 [[ 8.02471607e-01 5.91537151e-01 7.82503551e-02 9.21005981e+01] [-5.88741997e-01 8.06277743e-01 -5.74374633e-02 -2.77025138e+01] [-9.70679131e-02 2.26631690e-05 9.95277760e-01 -1.23575783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.218241008 meters 0.06489589269955184 Centerline is valid? [True, True] Translation: X:92.13, Y:-27.72, Z:-12.36 [[ 8.02688774e-01 5.91077515e-01 7.94864979e-02 9.21265035e+01] [-5.88188002e-01 8.06614754e-01 -5.83739123e-02 -2.77223812e+01] [-9.86184890e-02 1.03079735e-04 9.95125310e-01 -1.23590316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24824100800001 meters 0.06482760783459392 Centerline is valid? [True, True] Translation: X:92.15, Y:-27.74, Z:-12.36 [[ 8.02194260e-01 5.91633687e-01 8.03364794e-02 9.21543600e+01] [-5.88681887e-01 8.06206907e-01 -5.90259139e-02 -2.77427267e+01] [-9.96895436e-02 5.76190265e-05 9.95018589e-01 -1.23626102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27824100800001 meters 0.06481527038227393 Centerline is valid? [True, True] Translation: X:92.18, Y:-27.76, Z:-12.37 [[ 8.02003221e-01 5.91898262e-01 8.02949586e-02 9.21817385e+01] [-5.88946479e-01 8.06012682e-01 -5.90389861e-02 -2.77624602e+01] [-9.96638282e-02 6.00239271e-05 9.95021164e-01 -1.23653252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30824100800001 meters 0.06499353998263174 Centerline is valid? [True, True] Translation: X:92.21, Y:-27.78, Z:-12.37 [[ 8.02259570e-01 5.91371048e-01 8.16080061e-02 9.22070400e+01] [-5.88314791e-01 8.06399565e-01 -6.00453878e-02 -2.77802983e+01] [-1.01317764e-01 1.60789912e-04 9.94854102e-01 -1.23707190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33824100800001 meters 0.06499785696323207 Centerline is valid? [True, True] Translation: X:92.23, Y:-27.80, Z:-12.37 [[ 8.02518801e-01 5.90987775e-01 8.18353442e-02 9.22319432e+01] [-5.87909152e-01 8.06680478e-01 -6.02447914e-02 -2.77996870e+01] [-1.01618910e-01 2.35829968e-04 9.94823372e-01 -1.23743111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36824100800001 meters 0.06477146863985311 Centerline is valid? [True, True] Translation: X:92.26, Y:-27.82, Z:-12.38 [[ 8.02392644e-01 5.91160273e-01 8.18265020e-02 9.22580164e+01] [-5.88081487e-01 8.06554077e-01 -6.02551687e-02 -2.78199813e+01] [-1.01617961e-01 2.27653246e-04 9.94823471e-01 -1.23752976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39824100800001 meters 0.06483775975733844 Centerline is valid? [True, True] Translation: X:92.28, Y:-27.84, Z:-12.38 [[ 8.02763930e-01 5.90630526e-01 8.20100892e-02 9.22826828e+01] [-5.87531570e-01 8.06942053e-01 -6.04249709e-02 -2.78397514e+01] [-1.01866222e-01 3.23470729e-04 9.94798054e-01 -1.23792576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42824100800001 meters 0.0647876194032495 Centerline is valid? [True, True] Translation: X:92.31, Y:-27.86, Z:-12.38 [[ 8.03251860e-01 5.90066308e-01 8.12908459e-02 9.23082877e+01] [-5.87015613e-01 8.07354679e-01 -5.99257199e-02 -2.78595824e+01] [-1.00990693e-01 4.16450189e-04 9.94887283e-01 -1.23828902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45824100800002 meters 0.06508813810583589 Centerline is valid? [True, True] Translation: X:92.33, Y:-27.88, Z:-12.39 [[ 8.04629023e-01 5.88188801e-01 8.12777328e-02 9.23330300e+01] [-5.85125825e-01 8.08723358e-01 -5.99524730e-02 -2.78787634e+01] [-1.00994574e-01 6.81799345e-04 9.94886743e-01 -1.23898173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48824100800002 meters 0.06512447889609582 Centerline is valid? [True, True] Translation: X:92.36, Y:-27.90, Z:-12.39 [[ 8.05541793e-01 5.86908571e-01 8.14907955e-02 9.23590197e+01] [-5.83821200e-01 8.09652760e-01 -6.01266485e-02 -2.78987197e+01] [-1.01268093e-01 8.58474149e-04 9.94858802e-01 -1.23922854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51824100800002 meters 0.06523769544250713 Centerline is valid? [True, True] Translation: X:92.38, Y:-27.92, Z:-12.40 [[ 8.07140811e-01 5.84827923e-01 8.06226531e-02 9.23837894e+01] [-5.81792217e-01 8.11156587e-01 -5.95214867e-02 -2.79192951e+01] [-1.00207424e-01 1.13658893e-03 9.94965919e-01 -1.23963738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.548241008 meters 0.06569122303907533 Centerline is valid? [True, True] Translation: X:92.41, Y:-27.94, Z:-12.40 [[ 8.07987056e-01 5.83659970e-01 8.06098998e-02 9.24078216e+01] [-5.80617338e-01 8.11997139e-01 -5.95327871e-02 -2.79393538e+01] [-1.00201913e-01 1.29821594e-03 9.94966276e-01 -1.24015765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.578241008 meters 0.06573498301750764 Centerline is valid? [True, True] Translation: X:92.43, Y:-27.96, Z:-12.41 [[ 8.08567927e-01 5.82853726e-01 8.06191090e-02 9.24335957e+01] [-5.79804612e-01 8.12575866e-01 -5.95573163e-02 -2.79591018e+01] [-1.00222346e-01 1.41280458e-03 9.94964062e-01 -1.24055727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60824100800001 meters 0.06565572017256084 Centerline is valid? [True, True] Translation: X:92.46, Y:-27.98, Z:-12.41 [[ 8.08579181e-01 5.82928739e-01 7.99611978e-02 9.24605095e+01] [-5.79926634e-01 8.12522047e-01 -5.91017890e-02 -2.79777786e+01] [-9.94223676e-02 1.41684783e-03 9.95044313e-01 -1.24091811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63824100800001 meters 0.0655194614413782 Centerline is valid? [True, True] Translation: X:92.49, Y:-28.00, Z:-12.41 [[ 8.08463180e-01 5.83057493e-01 8.01950458e-02 9.24883669e+01] [-5.80035170e-01 8.12429634e-01 -5.93067553e-02 -2.79959550e+01] [-9.97320798e-02 1.43138102e-03 9.95013298e-01 -1.24114707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66824100800001 meters 0.06561831089703825 Centerline is valid? [True, True] Translation: X:92.52, Y:-28.02, Z:-12.42 [[ 8.08010097e-01 5.83719506e-01 7.99451194e-02 9.25152574e+01] [-5.80716131e-01 8.11954222e-01 -5.91533318e-02 -2.80155125e+01] [-9.94407309e-02 1.37106887e-03 9.95042542e-01 -1.24160948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69824100800001 meters 0.06543524008405092 Centerline is valid? [True, True] Translation: X:92.54, Y:-28.03, Z:-12.42 [[ 8.07000394e-01 5.85054982e-01 8.03805495e-02 9.25420004e+01] [-5.82020877e-01 8.10992668e-01 -5.95196714e-02 -2.80329826e+01] [-1.00010317e-01 1.24924041e-03 9.94985616e-01 -1.24196743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72824100800001 meters 0.06491219998394074 Centerline is valid? [True, True] Translation: X:92.57, Y:-28.05, Z:-12.42 [[ 8.05929197e-01 5.86478788e-01 8.07512329e-02 9.25701378e+01] [-5.83421953e-01 8.09963851e-01 -5.98112393e-02 -2.80499995e+01] [-1.00483603e-01 1.09158201e-03 9.94938116e-01 -1.24208384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75824100800001 meters 0.06454743716633293 Centerline is valid? [True, True] Translation: X:92.60, Y:-28.07, Z:-12.42 [[ 8.03684832e-01 5.89376304e-01 8.20138032e-02 9.26000508e+01] [-5.86234040e-01 8.07858265e-01 -6.07838202e-02 -2.80655574e+01] [-1.02080072e-01 7.71751141e-04 9.94775886e-01 -1.24239141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78824100800001 meters 0.06456400253306228 Centerline is valid? [True, True] Translation: X:92.63, Y:-28.08, Z:-12.43 [[ 8.02597027e-01 5.90733754e-01 8.28953791e-02 9.26266075e+01] [-5.87528023e-01 8.06866308e-01 -6.14620397e-02 -2.80817892e+01] [-1.03193190e-01 6.25892097e-04 9.94661135e-01 -1.24297785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81824100800002 meters 0.06439265960833211 Centerline is valid? [True, True] Translation: X:92.65, Y:-28.10, Z:-12.43 [[ 8.01369493e-01 5.92315266e-01 8.34838942e-02 9.26542804e+01] [-5.89068861e-01 8.05706163e-01 -6.19310574e-02 -2.80984380e+01] [-1.03946199e-01 4.51897607e-04 9.94582819e-01 -1.24341814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84824100800002 meters 0.06436100283366394 Centerline is valid? [True, True] Translation: X:92.68, Y:-28.11, Z:-12.44 [[ 8.00499667e-01 5.93678964e-01 8.21314230e-02 9.26827903e+01] [-5.90540713e-01 8.04701932e-01 -6.09628388e-02 -2.81140725e+01] [-1.02283670e-01 2.98783134e-04 9.94755227e-01 -1.24386003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87824100800002 meters 0.064336331689267 Centerline is valid? [True, True] Translation: X:92.71, Y:-28.13, Z:-12.44 [[ 8.00331768e-01 5.93930357e-01 8.19499350e-02 9.27095048e+01] [-5.90803988e-01 8.04516405e-01 -6.08605205e-02 -2.81327699e+01] [-1.02076978e-01 2.92259580e-04 9.94776460e-01 -1.24428623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.908241008 meters 0.06429441092639242 Centerline is valid? [True, True] Translation: X:92.74, Y:-28.15, Z:-12.45 [[ 8.00155982e-01 5.94215444e-01 8.15990923e-02 9.27366376e+01] [-5.91114032e-01 8.04305867e-01 -6.06322782e-02 -2.81524309e+01] [-1.01659265e-01 2.80911586e-04 9.94819237e-01 -1.24471342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.938241008 meters 0.06429633687122899 Centerline is valid? [True, True] Translation: X:92.76, Y:-28.17, Z:-12.45 [[ 8.00097179e-01 5.94387260e-01 8.09215060e-02 9.27634099e+01] [-5.91334281e-01 8.04178900e-01 -6.01669824e-02 -2.81708487e+01] [-1.00837855e-01 2.87772377e-04 9.94902831e-01 -1.24517328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.968241008 meters 0.06445412029971391 Centerline is valid? [True, True] Translation: X:92.79, Y:-28.19, Z:-12.46 [[ 7.99560711e-01 5.95288356e-01 7.95892035e-02 9.27907625e+01] [-5.92336601e-01 8.03512124e-01 -5.92082551e-02 -2.81868085e+01] [-9.91968749e-02 1.96996278e-04 9.95067807e-01 -1.24595939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99824100800001 meters 0.06445254694284175 Centerline is valid? [True, True] Translation: X:92.82, Y:-28.21, Z:-12.46 [[ 7.99194310e-01 5.95844367e-01 7.91071703e-02 9.28196549e+01] [-5.92928109e-01 8.03099911e-01 -5.88794573e-02 -2.82059055e+01] [-9.86139544e-02 1.51262401e-04 9.95125753e-01 -1.24641309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02824100800001 meters 0.06450882047758558 Centerline is valid? [True, True] Translation: X:92.85, Y:-28.22, Z:-12.47 [[ 7.98776998e-01 5.96378886e-01 7.92939584e-02 9.28456962e+01] [-5.93447127e-01 8.02703065e-01 -5.90618155e-02 -2.82234414e+01] [-9.88727231e-02 1.20447889e-04 9.95100080e-01 -1.24686723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05824100800001 meters 0.06420483636304268 Centerline is valid? [True, True] Translation: X:92.87, Y:-28.24, Z:-12.47 [[ 7.97860709e-01 5.97261586e-01 8.18345066e-02 9.28721785e+01] [-5.94139763e-01 8.02046505e-01 -6.09864463e-02 -2.82407524e+01] [-1.02059942e-01 3.75549239e-05 9.94778250e-01 -1.24702188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08824100800001 meters 0.06403073877572733 Centerline is valid? [True, True] Translation: X:92.90, Y:-28.26, Z:-12.47 [[ 7.97357695e-01 5.97964262e-01 8.16054380e-02 9.28985227e+01] [-5.94860811e-01 8.01522764e-01 -6.08430335e-02 -2.82595414e+01] [-1.01790576e-01 -3.02160352e-05 9.94805849e-01 -1.24728551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11824100800001 meters 0.06394396189939319 Centerline is valid? [True, True] Translation: X:92.92, Y:-28.28, Z:-12.48 [[ 7.96991701e-01 5.98294362e-01 8.27531538e-02 9.29240288e+01] [-5.95101003e-01 8.01276391e-01 -6.17328286e-02 -2.82777064e+01] [-1.03242552e-01 -4.59327081e-05 9.94656209e-01 -1.24757572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14824100800001 meters 0.06382095460574501 Centerline is valid? [True, True] Translation: X:92.95, Y:-28.30, Z:-12.48 [[ 7.96233810e-01 5.99309531e-01 8.27031224e-02 9.29512037e+01] [-5.96122617e-01 8.00517371e-01 -6.17232826e-02 -2.82959893e+01] [-1.03196638e-01 -1.55037345e-04 9.94660962e-01 -1.24779915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17824100800001 meters 0.06381953314005123 Centerline is valid? [True, True] Translation: X:92.98, Y:-28.31, Z:-12.48 [[ 7.94927564e-01 6.01054299e-01 8.26068844e-02 9.29787065e+01] [-5.97880692e-01 7.99208111e-01 -6.16852848e-02 -2.83121476e+01] [-1.03096298e-01 -3.53727974e-04 9.94671317e-01 -1.24841311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20824100800002 meters 0.06384047613910962 Centerline is valid? [True, True] Translation: X:93.01, Y:-28.33, Z:-12.49 [[ 7.94386770e-01 6.01798974e-01 8.23872186e-02 9.30057062e+01] [-5.98643131e-01 7.98647491e-01 -6.15515041e-02 -2.83307431e+01] [-1.02839977e-01 -4.24841928e-04 9.94697823e-01 -1.24875474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23824100800002 meters 0.06386697979010121 Centerline is valid? [True, True] Translation: X:93.03, Y:-28.35, Z:-12.49 [[ 7.93673442e-01 6.02751712e-01 8.22972700e-02 9.30329840e+01] [-5.99604495e-01 7.97928632e-01 -6.15170553e-02 -2.83489353e+01] [-1.02746859e-01 -5.21359985e-04 9.94707400e-01 -1.24912850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26824100800002 meters 0.06412170064923008 Centerline is valid? [True, True] Translation: X:93.06, Y:-28.37, Z:-12.50 [[ 7.92757283e-01 6.03963058e-01 8.22466712e-02 9.30599198e+01] [-6.00822693e-01 7.97012046e-01 -6.15133371e-02 -2.83651591e+01] [-1.02703371e-01 -6.50520511e-04 9.94711815e-01 -1.24978063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.298241008 meters 0.0642578824606139 Centerline is valid? [True, True] Translation: X:93.08, Y:-28.38, Z:-12.50 [[ 7.92707091e-01 6.04188552e-01 8.10657868e-02 9.30846474e+01] [-6.01135913e-01 7.96841125e-01 -6.06616519e-02 -2.83833115e+01] [-1.01247628e-01 -6.44634137e-04 9.94861047e-01 -1.25023842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.328241008 meters 0.06413028776820422 Centerline is valid? [True, True] Translation: X:93.11, Y:-28.40, Z:-12.51 [[ 7.92943928e-01 6.03917556e-01 8.07682577e-02 9.31105346e+01] [-6.00883523e-01 7.97046572e-01 -6.04628217e-02 -2.84035692e+01] [-1.00890622e-01 -5.88687867e-04 9.94897349e-01 -1.25068744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35824100800001 meters 0.06400009113042848 Centerline is valid? [True, True] Translation: X:93.14, Y:-28.42, Z:-12.51 [[ 7.93225995e-01 6.03696967e-01 7.96397700e-02 9.31364807e+01] [-6.00743223e-01 7.97213706e-01 -5.96480277e-02 -2.84237263e+01] [-9.94992496e-02 -5.28686013e-04 9.95037497e-01 -1.25093524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38824100800001 meters 0.06424637946367354 Centerline is valid? [True, True] Translation: X:93.16, Y:-28.44, Z:-12.52 [[ 7.93834005e-01 6.03053297e-01 7.84493016e-02 9.31622695e+01] [-6.00181191e-01 7.97700788e-01 -5.87876666e-02 -2.84410618e+01] [-9.80311659e-02 -4.16146439e-04 9.95183258e-01 -1.25171050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41824100800001 meters 0.06419956846522534 Centerline is valid? [True, True] Translation: X:93.19, Y:-28.46, Z:-12.52 [[ 7.93805109e-01 6.03097441e-01 7.84023312e-02 9.31887605e+01] [-6.00226222e-01 7.97667423e-01 -5.87806487e-02 -2.84605941e+01] [-9.79894443e-02 -3.98755825e-04 9.95187374e-01 -1.25201398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44824100800001 meters 0.06413556438573187 Centerline is valid? [True, True] Translation: X:93.21, Y:-28.48, Z:-12.52 [[ 7.93543541e-01 6.03586035e-01 7.72822584e-02 9.32146504e+01] [-6.00795771e-01 7.97297758e-01 -5.79717669e-02 -2.84798257e+01] [-9.66079204e-02 -4.27732903e-04 9.95322424e-01 -1.25234448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47824100800001 meters 0.06377135542084221 Centerline is valid? [True, True] Translation: X:93.24, Y:-28.50, Z:-12.52 [[ 7.93583184e-01 6.03482343e-01 7.76839170e-02 9.32406320e+01] [-6.00659502e-01 7.97376264e-01 -5.83031394e-02 -2.84998171e+01] [-9.71282267e-02 -3.93191810e-04 9.95271799e-01 -1.25244065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50824100800001 meters 0.06336187421998755 Centerline is valid? [True, True] Translation: X:93.27, Y:-28.52, Z:-12.53 [[ 7.93879824e-01 6.02808728e-01 7.98527561e-02 9.32665468e+01] [-5.99818641e-01 7.97885677e-01 -5.99670369e-02 -2.85182883e+01] [-9.98620235e-02 -2.90550968e-04 9.95001252e-01 -1.25256896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53824100800001 meters 0.06312008931614488 Centerline is valid? [True, True] Translation: X:93.29, Y:-28.54, Z:-12.53 [[ 7.94260817e-01 6.02141905e-01 8.10856387e-02 9.32916125e+01] [-5.99051964e-01 7.98389061e-01 -6.09233345e-02 -2.85366719e+01] [-1.01422380e-01 -1.85493646e-04 9.94843438e-01 -1.25286724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56824100800002 meters 0.06306236653140222 Centerline is valid? [True, True] Translation: X:93.32, Y:-28.56, Z:-12.53 [[ 7.94692581e-01 6.01445777e-01 8.20163357e-02 9.33179311e+01] [-5.98277644e-01 7.98913620e-01 -6.16513502e-02 -2.85562761e+01] [-1.02603912e-01 -7.46694703e-05 9.94722289e-01 -1.25321141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59824100800002 meters 0.06290570199294682 Centerline is valid? [True, True] Translation: X:93.34, Y:-28.57, Z:-12.54 [[ 7.96210578e-01 5.99411125e-01 8.21889196e-02 9.33433823e+01] [-5.96215292e-01 8.00441289e-01 -6.18147931e-02 -2.85749160e+01] [-1.02839879e-01 2.15301379e-04 9.94697900e-01 -1.25359618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62824100800002 meters 0.06288850989588274 Centerline is valid? [True, True] Translation: X:93.37, Y:-28.59, Z:-12.54 [[ 7.96640946e-01 5.98820694e-01 8.23224097e-02 9.33691408e+01] [-5.95608147e-01 8.00883060e-01 -6.19456187e-02 -2.85946124e+01] [-1.03024942e-01 3.16518401e-04 9.94678723e-01 -1.25396866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.658241008 meters 0.06272140107418976 Centerline is valid? [True, True] Translation: X:93.39, Y:-28.61, Z:-12.54 [[ 7.96895489e-01 5.98461617e-01 8.24698325e-02 9.33948524e+01] [-5.95232212e-01 8.01151385e-01 -6.20892326e-02 -2.86149840e+01] [-1.03228843e-01 3.89928543e-04 9.94657556e-01 -1.25420191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.688241008 meters 0.06254084535593495 Centerline is valid? [True, True] Translation: X:93.42, Y:-28.63, Z:-12.54 [[ 7.97579418e-01 5.97587457e-01 8.21967346e-02 9.34210411e+01] [-5.94371429e-01 8.01803563e-01 -6.19164901e-02 -2.86346616e+01] [-1.02906152e-01 5.27927569e-04 9.94690929e-01 -1.25446810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.718241008 meters 0.062367030169161994 Centerline is valid? [True, True] Translation: X:93.45, Y:-28.65, Z:-12.55 [[ 7.97530037e-01 5.97738118e-01 8.15780778e-02 9.34481376e+01] [-5.94567959e-01 8.01691250e-01 -6.14823646e-02 -2.86529506e+01] [-1.02150784e-01 5.30321304e-04 9.94768785e-01 -1.25474029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74824100800001 meters 0.062471757224736725 Centerline is valid? [True, True] Translation: X:93.48, Y:-28.67, Z:-12.55 [[ 7.97521378e-01 5.97776418e-01 8.13818509e-02 9.34753705e+01] [-5.94618375e-01 8.01662679e-01 -6.13672250e-02 -2.86715087e+01] [-1.01924673e-01 5.50529959e-04 9.94791967e-01 -1.25525070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77824100800001 meters 0.06261055512495022 Centerline is valid? [True, True] Translation: X:93.50, Y:-28.69, Z:-12.56 [[ 7.97840390e-01 5.97446360e-01 8.06756410e-02 9.35008543e+01] [-5.94337138e-01 8.01908637e-01 -6.08761412e-02 -2.86892591e+01] [-1.01064722e-01 6.20914633e-04 9.94879659e-01 -1.25597966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80824100800001 meters 0.06269288274140752 Centerline is valid? [True, True] Translation: X:93.53, Y:-28.71, Z:-12.57 [[ 7.98043758e-01 5.97287808e-01 7.98337905e-02 9.35290127e+01] [-5.94240768e-01 8.02026716e-01 -6.02582416e-02 -2.87064347e+01] [-1.00020346e-01 6.48220552e-04 9.94985181e-01 -1.25651298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83824100800001 meters 0.06308169700591174 Centerline is valid? [True, True] Translation: X:93.55, Y:-28.73, Z:-12.57 [[ 7.97834184e-01 5.97771432e-01 7.82938707e-02 9.35538909e+01] [-5.94840245e-01 8.01666360e-01 -5.91280886e-02 -2.87251334e+01] [-9.81106445e-02 6.02065101e-04 9.95175331e-01 -1.25735108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86824100800001 meters 0.06299213777778219 Centerline is valid? [True, True] Translation: X:93.58, Y:-28.74, Z:-12.58 [[ 7.97134757e-01 5.98793012e-01 7.76086864e-02 9.35802702e+01] [-5.95914952e-01 8.00903666e-01 -5.86403229e-02 -2.87435920e+01] [-9.72704970e-02 4.96062842e-04 9.95257858e-01 -1.25775964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89824100800001 meters 0.06273364405378642 Centerline is valid? [True, True] Translation: X:93.61, Y:-28.76, Z:-12.58 [[ 7.96436832e-01 5.99853264e-01 7.65795932e-02 9.36075180e+01] [-5.97053261e-01 8.00109938e-01 -5.78920580e-02 -2.87613839e+01] [-9.59988336e-02 3.85271353e-04 9.95381372e-01 -1.25790280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.92824100800001 meters 0.06273901606431664 Centerline is valid? [True, True] Translation: X:93.63, Y:-28.78, Z:-12.58 [[ 7.95937436e-01 6.00543554e-01 7.63612282e-02 9.36326870e+01] [-5.97759815e-01 7.99591979e-01 -5.77569899e-02 -2.87795672e+01] [-9.57434136e-02 3.25276818e-04 9.95405994e-01 -1.25842460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.95824100800002 meters 0.06273901606431664 Centerline is valid? [True, True] Translation: X:93.66, Y:-28.80, Z:-12.59 [[ 7.95786267e-01 6.00745588e-01 7.63475980e-02 9.36582112e+01] [-5.97961049e-01 7.99440200e-01 -5.77750004e-02 -2.87990486e+01] [-9.57434156e-02 3.23662141e-04 9.95405994e-01 -1.25883076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.98824100800002 meters 0.06260122888152023 Centerline is valid? [True, True] Translation: X:93.68, Y:-28.82, Z:-12.59 [[ 7.95231426e-01 6.01347782e-01 7.73810320e-02 9.36835933e+01] [-5.98486790e-01 7.98987338e-01 -5.85900715e-02 -2.88165334e+01] [-9.70594743e-02 2.81140701e-04 9.95278544e-01 -1.25920856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01824100800002 meters 0.0623900148519731 Centerline is valid? [True, True] Translation: X:93.71, Y:-28.83, Z:-12.60 [[ 7.94737686e-01 6.01832092e-01 7.86774661e-02 9.37100556e+01] [-5.98874117e-01 7.98622610e-01 -5.95962960e-02 -2.88349837e+01] [-9.87005668e-02 2.45524293e-04 9.95117148e-01 -1.25950548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.048241008 meters 0.062287774554269086 Centerline is valid? [True, True] Translation: X:93.74, Y:-28.85, Z:-12.60 [[ 7.93437388e-01 6.03423923e-01 7.96032741e-02 9.37366546e+01] [-6.00400685e-01 7.97420569e-01 -6.03278789e-02 -2.88532876e+01] [-9.98805735e-02 7.25343066e-05 9.94999430e-01 -1.25979869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.078241008 meters 0.062337667432293686 Centerline is valid? [True, True] Translation: X:93.76, Y:-28.87, Z:-12.60 [[ 7.92799350e-01 6.04320752e-01 7.91556616e-02 9.37632489e+01] [-6.01332993e-01 7.96741130e-01 -6.00183589e-02 -2.88724047e+01] [-9.93369110e-02 -1.63949589e-05 9.95053857e-01 -1.26035449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10824100800001 meters 0.06246417297649377 Centerline is valid? [True, True] Translation: X:93.79, Y:-28.89, Z:-12.61 [[ 7.91389135e-01 6.06226388e-01 7.86943645e-02 9.37904426e+01] [-6.03279875e-01 7.95292093e-01 -5.96982365e-02 -2.88911678e+01] [-9.87756522e-02 -2.30190608e-04 9.95109701e-01 -1.26099100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13824100800001 meters 0.062464326396894004 Centerline is valid? [True, True] Translation: X:93.82, Y:-28.91, Z:-12.61 [[ 7.89642630e-01 6.08489053e-01 7.87755646e-02 9.38180008e+01] [-6.05543738e-01 7.93562121e-01 -5.97991735e-02 -2.89095966e+01] [-9.89004466e-02 -4.82073171e-04 9.95097216e-01 -1.26137017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16824100800001 meters 0.06291075099942982 Centerline is valid? [True, True] Translation: X:93.84, Y:-28.93, Z:-12.62 [[ 7.85700006e-01 6.13558911e-01 7.88730900e-02 9.38448038e+01] [-6.10628382e-01 7.89648191e-01 -5.99058661e-02 -2.89257896e+01] [-9.90377708e-02 -1.09410804e-03 9.95083073e-01 -1.26181678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19824100800001 meters 0.06331522504710214 Centerline is valid? [True, True] Translation: X:93.87, Y:-28.94, Z:-12.62 [[ 7.83793507e-01 6.15965627e-01 7.90827755e-02 9.38701982e+01] [-6.13028608e-01 7.87771826e-01 -6.00955597e-02 -2.89435662e+01] [-9.93159815e-02 -1.37749433e-03 9.95054993e-01 -1.26222819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22824100800001 meters 0.06381053137509748 Centerline is valid? [True, True] Translation: X:93.90, Y:-28.96, Z:-12.63 [[ 7.82108039e-01 6.18162519e-01 7.86264251e-02 9.38956118e+01] [-6.15267501e-01 7.86048640e-01 -5.97782376e-02 -2.89615545e+01] [-9.87568605e-02 -1.62324382e-03 9.95110269e-01 -1.26266188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.25824100800001 meters 0.06480146219675596 Centerline is valid? [True, True] Translation: X:93.92, Y:-28.98, Z:-12.63 [[ 7.79217048e-01 6.21955883e-01 7.74058883e-02 9.39223483e+01] [-6.19166078e-01 7.83049606e-01 -5.88785399e-02 -2.89795223e+01] [-9.72325046e-02 -2.04793812e-03 9.95259587e-01 -1.26335747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.28824100800001 meters 0.06539543472246333 Centerline is valid? [True, True] Translation: X:93.95, Y:-29.00, Z:-12.64 [[ 7.78284775e-01 6.23204047e-01 7.67432328e-02 9.39479867e+01] [-6.20467299e-01 7.82056242e-01 -5.83812129e-02 -2.89983831e+01] [-9.64009324e-02 -2.17945716e-03 9.95340198e-01 -1.26399378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.31824100800002 meters 0.0656222853059745 Centerline is valid? [True, True] Translation: X:93.97, Y:-29.02, Z:-12.64 [[ 7.77434144e-01 6.24365318e-01 7.59216868e-02 9.39729330e+01] [-6.21689616e-01 7.81129167e-01 -5.77862068e-02 -2.90181086e+01] [-9.53843474e-02 -2.27475415e-03 9.95437920e-01 -1.26445219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.34824100800002 meters 0.06591792010001507 Centerline is valid? [True, True] Translation: X:94.00, Y:-29.04, Z:-12.65 [[ 7.76517864e-01 6.25461933e-01 7.62717282e-02 9.39983533e+01] [-6.22764010e-01 7.80250996e-01 -5.80807310e-02 -2.90374293e+01] [-9.58383782e-02 -2.39856206e-03 9.95394019e-01 -1.26487505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.37824100800002 meters 0.06699817876522328 Centerline is valid? [True, True] Translation: X:94.02, Y:-29.06, Z:-12.65 [[ 7.74966001e-01 6.27240701e-01 7.74390106e-02 9.40240502e+01] [-6.24465473e-01 7.78821000e-01 -5.89976535e-02 -2.90554982e+01] [-9.73168572e-02 -2.63681280e-03 9.95249957e-01 -1.26545938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.408241008 meters 0.06702344292793637 Centerline is valid? [True, True] Translation: X:94.05, Y:-29.08, Z:-12.66 [[ 7.73855100e-01 6.28631440e-01 7.72709308e-02 9.40485563e+01] [-6.25871909e-01 7.77698392e-01 -5.89030183e-02 -2.90764271e+01] [-9.71217678e-02 -2.77930384e-03 9.95268626e-01 -1.26565585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.438241008 meters 0.06713459883473304 Centerline is valid? [True, True] Translation: X:94.07, Y:-29.10, Z:-12.66 [[ 7.73099483e-01 6.29581267e-01 7.71013508e-02 9.40730513e+01] [-6.26835829e-01 7.76929334e-01 -5.88018155e-02 -2.90964460e+01] [-9.69228226e-02 -2.87023598e-03 9.95287762e-01 -1.26602439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.468241008 meters 0.06857117498218304 Centerline is valid? [True, True] Translation: X:94.10, Y:-29.11, Z:-12.67 [[ 7.70999095e-01 6.32117109e-01 7.73844719e-02 9.40992348e+01] [-6.29361391e-01 7.74866348e-01 -5.90456004e-02 -2.91139346e+01] [-9.72863573e-02 -3.17869443e-03 9.95251355e-01 -1.26650623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49824100800001 meters 0.0689552487577945 Centerline is valid? [True, True] Translation: X:94.13, Y:-29.13, Z:-12.67 [[ 7.70142327e-01 6.33069513e-01 7.81267455e-02 9.41257332e+01] [-6.30262536e-01 7.74087882e-01 -5.96413183e-02 -2.91348018e+01] [-9.82340673e-02 -3.30805706e-03 9.95157839e-01 -1.26681400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.52824100800001 meters 0.06751589605113571 Centerline is valid? [True, True] Translation: X:94.15, Y:-29.16, Z:-12.67 [[ 7.69964612e-01 6.33204626e-01 7.87806999e-02 9.41481215e+01] [-6.30347194e-01 7.73977298e-01 -6.01793671e-02 -2.91582286e+01] [-9.90803269e-02 -3.32321018e-03 9.95073889e-01 -1.26682156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.55824100800001 meters 0.06771901250248923 Centerline is valid? [True, True] Translation: X:94.17, Y:-29.18, Z:-12.67 [[ 7.70516949e-01 6.32310715e-01 8.05406157e-02 9.41724130e+01] [-6.29315526e-01 7.74708056e-01 -6.15580764e-02 -2.91778121e+01] [-1.01319295e-01 -3.25391867e-03 9.94848638e-01 -1.26715532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.58824100800001 meters 0.06657566396446757 Centerline is valid? [True, True] Translation: X:94.19, Y:-29.20, Z:-12.67 [[ 7.72443618e-01 6.29781776e-01 8.18887723e-02 9.41935185e+01] [-6.26669465e-01 7.76766475e-01 -6.26037123e-02 -2.92027242e+01] [-1.03035130e-01 -2.95935510e-03 9.94673315e-01 -1.26741206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.61824100800001 meters 0.06536950958668979 Centerline is valid? [True, True] Translation: X:94.22, Y:-29.23, Z:-12.68 [[ 7.74050034e-01 6.27740920e-01 8.23886074e-02 9.42153549e+01] [-6.24575683e-01 7.78417725e-01 -6.30163616e-02 -2.92268765e+01] [-1.03690701e-01 -2.68010387e-03 9.94605980e-01 -1.26768387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.64824100800001 meters 0.06524343258577177 Centerline is valid? [True, True] Translation: X:94.24, Y:-29.25, Z:-12.68 [[ 7.75665517e-01 6.25695990e-01 8.27498277e-02 9.42385915e+01] [-6.22487922e-01 7.80063334e-01 -6.33244150e-02 -2.92476275e+01] [-1.04171939e-01 -2.39220329e-03 9.94556426e-01 -1.26827542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.67824100800001 meters 0.064544569438125 Centerline is valid? [True, True] Translation: X:94.26, Y:-29.27, Z:-12.69 [[ 7.77286396e-01 6.23741338e-01 8.22958171e-02 9.42606408e+01] [-6.20554272e-01 7.81628019e-01 -6.30082110e-02 -2.92704944e+01] [-1.03625542e-01 -2.09359563e-03 9.94614178e-01 -1.26865395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70824100800002 meters 0.06384230249749609 Centerline is valid? [True, True] Translation: X:94.28, Y:-29.30, Z:-12.69 [[ 7.80722678e-01 6.19446423e-01 8.22084492e-02 9.42798764e+01] [-6.16239117e-01 7.85037509e-01 -6.29719012e-02 -2.92966109e+01] [-1.03544435e-01 -1.49647079e-03 9.94623703e-01 -1.26921165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73824100800002 meters 0.06351322450481796 Centerline is valid? [True, True] Translation: X:94.30, Y:-29.32, Z:-12.70 [[ 7.82119407e-01 6.17666678e-01 8.23231899e-02 9.43018761e+01] [-6.14437359e-01 7.86439026e-01 -6.30903399e-02 -2.93201032e+01] [-1.03710970e-01 -1.23826415e-03 9.94606707e-01 -1.26956877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76824100800002 meters 0.06285573311092892 Centerline is valid? [True, True] Translation: X:94.32, Y:-29.35, Z:-12.70 [[ 7.84852998e-01 6.14173448e-01 8.24423834e-02 9.43228708e+01] [-6.10912341e-01 7.89170709e-01 -6.32115733e-02 -2.93461964e+01] [-1.03883984e-01 -7.53276562e-04 9.94589137e-01 -1.26991835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.798241008 meters 0.06286837219716174 Centerline is valid? [True, True] Translation: X:94.35, Y:-29.37, Z:-12.70 [[ 7.85776408e-01 6.12895444e-01 8.31541419e-02 9.43463559e+01] [-6.09566748e-01 7.90163818e-01 -6.37927922e-02 -2.93677092e+01] [-1.04803706e-01 -5.61128742e-04 9.94492769e-01 -1.27040675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.828241008 meters 0.06296324603308624 Centerline is valid? [True, True] Translation: X:94.37, Y:-29.39, Z:-12.71 [[ 7.86729515e-01 6.11730127e-01 8.27219570e-02 9.43701622e+01] [-6.08427593e-01 7.91066433e-01 -6.34804166e-02 -2.93891675e+01] [-1.04271447e-01 -3.88403833e-04 9.94548799e-01 -1.27100581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85824100800001 meters 0.06300291962053374 Centerline is valid? [True, True] Translation: X:94.39, Y:-29.41, Z:-12.72 [[ 7.87224523e-01 6.11085614e-01 8.27763389e-02 9.43940196e+01] [-6.07771493e-01 7.91564461e-01 -6.35571855e-02 -2.94092160e+01] [-1.04361690e-01 -2.75324077e-04 9.94539372e-01 -1.27162418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88824100800001 meters 0.06300637118086647 Centerline is valid? [True, True] Translation: X:94.42, Y:-29.43, Z:-12.72 [[ 7.87301891e-01 6.10987262e-01 8.27665322e-02 9.44191260e+01] [-6.07670062e-01 7.91640392e-01 -6.35813320e-02 -2.94298550e+01] [-1.04368714e-01 -2.37040888e-04 9.94538644e-01 -1.27197445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91824100800001 meters 0.06288061736295672 Centerline is valid? [True, True] Translation: X:94.44, Y:-29.45, Z:-12.72 [[ 7.87184825e-01 6.10972477e-01 8.39802586e-02 9.44436067e+01] [-6.07552971e-01 7.91651810e-01 -6.45507457e-02 -2.94498152e+01] [-1.05921853e-01 -2.09088228e-04 9.94374435e-01 -1.27238785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94824100800001 meters 0.06260438370813168 Centerline is valid? [True, True] Translation: X:94.47, Y:-29.47, Z:-12.73 [[ 7.87087201e-01 6.10871391e-01 8.56147303e-02 9.44685715e+01] [-6.07313048e-01 7.91729824e-01 -6.58388067e-02 -2.94709977e+01] [-1.08002779e-01 -1.74060715e-04 9.94150577e-01 -1.27255370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97824100800001 meters 0.06236587071995801 Centerline is valid? [True, True] Translation: X:94.49, Y:-29.49, Z:-12.73 [[ 7.87147525e-01 6.10772065e-01 8.57686339e-02 9.44941902e+01] [-6.07196580e-01 7.91806458e-01 -6.59912653e-02 -2.94936626e+01] [-1.08217780e-01 -1.33560079e-04 9.94127202e-01 -1.27264376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00824100800001 meters 0.062165135020157435 Centerline is valid? [True, True] Translation: X:94.52, Y:-29.52, Z:-12.73 [[ 7.87835222e-01 6.09730356e-01 8.68594057e-02 9.45179607e+01] [-6.06052027e-01 7.92608915e-01 -6.68733770e-02 -2.95157633e+01] [-1.09620267e-01 4.38829002e-05 9.93973538e-01 -1.27286940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03824100800001 meters 0.062170866983308946 Centerline is valid? [True, True] Translation: X:94.55, Y:-29.54, Z:-12.73 [[ 7.87661040e-01 6.09909837e-01 8.71784186e-02 9.45452634e+01] [-6.06201697e-01 7.92470812e-01 -6.71529214e-02 -2.95365623e+01] [-1.10043580e-01 4.60346456e-05 9.93926762e-01 -1.27329310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06824100800002 meters 0.06222810336162635 Centerline is valid? [True, True] Translation: X:94.57, Y:-29.55, Z:-12.74 [[ 7.87345901e-01 6.10199190e-01 8.79964783e-02 9.45708528e+01] [-6.06417293e-01 7.92248033e-01 -6.78315584e-02 -2.95544016e+01] [-1.11105799e-01 4.43132731e-05 9.93808583e-01 -1.27375546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09824100800002 meters 0.06213170645428019 Centerline is valid? [True, True] Translation: X:94.60, Y:-29.57, Z:-12.74 [[ 7.86648799e-01 6.10967375e-01 8.88961987e-02 9.45975495e+01] [-6.07108611e-01 7.91655775e-01 -6.85585060e-02 -2.95726944e+01] [-1.12262199e-01 -3.81813354e-05 9.93678619e-01 -1.27412197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12824100800002 meters 0.06209035874967319 Centerline is valid? [True, True] Translation: X:94.62, Y:-29.59, Z:-12.75 [[ 7.86495424e-01 6.11077765e-01 8.94925348e-02 9.46235135e+01] [-6.07163310e-01 7.91570569e-01 -6.90561392e-02 -2.95926346e+01] [-1.13038328e-01 -2.42461898e-05 9.93590628e-01 -1.27454240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.158241008 meters 0.06206241005014175 Centerline is valid? [True, True] Translation: X:94.65, Y:-29.61, Z:-12.75 [[ 7.86258450e-01 6.11317081e-01 8.99392953e-02 9.46493444e+01] [-6.07360266e-01 7.91385763e-01 -6.94412136e-02 -2.96121748e+01] [-1.13627278e-01 -2.68133029e-05 9.93523448e-01 -1.27481125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.188241008 meters 0.062037447979860195 Centerline is valid? [True, True] Translation: X:94.68, Y:-29.63, Z:-12.75 [[ 7.86251148e-01 6.11234435e-01 9.05626745e-02 9.46754845e+01] [-6.07217499e-01 7.91449597e-01 -6.99603050e-02 -2.96312854e+01] [-1.14437940e-01 1.51294461e-05 9.93430399e-01 -1.27509606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.218241008 meters 0.06206409114973091 Centerline is valid? [True, True] Translation: X:94.70, Y:-29.65, Z:-12.76 [[ 7.86020255e-01 6.11538200e-01 9.05162337e-02 9.47014902e+01] [-6.07522957e-01 7.91214907e-01 -6.99630451e-02 -2.96499836e+01] [-1.14402868e-01 1.68060590e-06 9.93434439e-01 -1.27555990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24824100800001 meters 0.06209498560474127 Centerline is valid? [True, True] Translation: X:94.73, Y:-29.67, Z:-12.76 [[ 7.85422386e-01 6.12333657e-01 9.03281148e-02 9.47275439e+01] [-6.08336142e-01 7.90599447e-01 -6.98545102e-02 -2.96673282e+01] [-1.14187625e-01 -8.45608799e-05 9.93459199e-01 -1.27597775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27824100800001 meters 0.062163423736107636 Centerline is valid? [True, True] Translation: X:94.75, Y:-29.69, Z:-12.76 [[ 7.84823437e-01 6.13111799e-01 9.02557204e-02 9.47546521e+01] [-6.09123252e-01 7.89996133e-01 -6.98210149e-02 -2.96863169e+01] [-1.14109758e-01 -1.79689054e-04 9.93468133e-01 -1.27639050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30824100800001 meters 0.062219450048868453 Centerline is valid? [True, True] Translation: X:94.78, Y:-29.71, Z:-12.77 [[ 7.83974425e-01 6.14269981e-01 8.97579562e-02 9.47817147e+01] [-6.10328768e-01 7.89095869e-01 -6.94730502e-02 -2.97051689e+01] [-1.13502842e-01 -3.16768209e-04 9.93537621e-01 -1.27685568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33824100800001 meters 0.06238675856186768 Centerline is valid? [True, True] Translation: X:94.81, Y:-29.72, Z:-12.77 [[ 7.83303520e-01 6.15158687e-01 8.95286868e-02 9.48082431e+01] [-6.11239244e-01 7.88403207e-01 -6.93323119e-02 -2.97233539e+01] [-1.13235078e-01 -4.15202946e-04 9.93568138e-01 -1.27729879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36824100800001 meters 0.062489967518647875 Centerline is valid? [True, True] Translation: X:94.83, Y:-29.74, Z:-12.78 [[ 7.83781276e-01 6.14635298e-01 8.89402139e-02 9.48349598e+01] [-6.10759952e-01 7.88811356e-01 -6.89124532e-02 -2.97447258e+01] [-1.12513077e-01 -3.08830281e-04 9.93650196e-01 -1.27792335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39824100800001 meters 0.06254556001616345 Centerline is valid? [True, True] Translation: X:94.86, Y:-29.76, Z:-12.78 [[ 7.84018604e-01 6.14461896e-01 8.80420774e-02 9.48599747e+01] [-6.10657983e-01 7.88946462e-01 -6.82664440e-02 -2.97645505e+01] [-1.11407614e-01 -2.41435346e-04 9.93774766e-01 -1.27848506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.42824100800001 meters 0.06245382186969862 Centerline is valid? [True, True] Translation: X:94.89, Y:-29.79, Z:-12.79 [[ 7.84798549e-01 6.13462425e-01 8.80629919e-02 9.48854081e+01] [-6.09646477e-01 7.89723906e-01 -6.83178206e-02 -2.97857833e+01] [-1.11455866e-01 -7.15663127e-05 9.93769382e-01 -1.27904685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.45824100800002 meters 0.062485084296258785 Centerline is valid? [True, True] Translation: X:94.91, Y:-29.81, Z:-12.80 [[ 7.86461232e-01 6.11567799e-01 8.63918891e-02 9.49116572e+01] [-6.07880216e-01 7.91191998e-01 -6.70586739e-02 -2.98096646e+01] [-1.09363497e-01 2.23127085e-04 9.94001799e-01 -1.27966204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48824100800002 meters 0.06256570452817775 Centerline is valid? [True, True] Translation: X:94.94, Y:-29.83, Z:-12.80 [[ 7.87623708e-01 6.10168965e-01 8.56897265e-02 9.49359551e+01] [-6.06526948e-01 7.92271181e-01 -6.65690428e-02 -2.98316946e+01] [-1.08507865e-01 4.58228026e-04 9.94095485e-01 -1.28005875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51824100800002 meters 0.06256192601376592 Centerline is valid? [True, True] Translation: X:94.96, Y:-29.85, Z:-12.80 [[ 7.88274078e-01 6.09286310e-01 8.59893661e-02 9.49622015e+01] [-6.05609921e-01 7.92950076e-01 -6.68341194e-02 -2.98545218e+01] [-1.08906388e-01 6.07590602e-04 9.94051824e-01 -1.28038676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.548241008 meters 0.06258972955914452 Centerline is valid? [True, True] Translation: X:94.99, Y:-29.88, Z:-12.81 [[ 7.89099931e-01 6.08192505e-01 8.61578562e-02 9.49872754e+01] [-6.04489551e-01 7.93789163e-01 -6.70160245e-02 -2.98756745e+01] [-1.09149816e-01 8.00816540e-04 9.94024988e-01 -1.28077275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.578241008 meters 0.0627695593127642 Centerline is valid? [True, True] Translation: X:95.01, Y:-29.90, Z:-12.81 [[ 7.90289858e-01 6.06603776e-01 8.64511352e-02 9.50130895e+01] [-6.02862133e-01 7.95003618e-01 -6.72792421e-02 -2.98959608e+01] [-1.09540808e-01 1.05198694e-03 9.93981743e-01 -1.28125685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60824100800001 meters 0.06266027820211784 Centerline is valid? [True, True] Translation: X:95.04, Y:-29.92, Z:-12.82 [[ 7.90174145e-01 6.06727693e-01 8.66390589e-02 9.50398189e+01] [-6.02966588e-01 7.94909034e-01 -6.74605153e-02 -2.99152226e+01] [-1.09800333e-01 1.06509726e-03 9.93953094e-01 -1.28169383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63824100800001 meters 0.06289122511336478 Centerline is valid? [True, True] Translation: X:95.07, Y:-29.94, Z:-12.82 [[ 7.89849854e-01 6.07194666e-01 8.63240816e-02 9.50666887e+01] [-6.03459952e-01 7.94552446e-01 -6.72495090e-02 -2.99353059e+01] [-1.09422553e-01 1.02388868e-03 9.93994797e-01 -1.28230522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.66824100800001 meters 0.06267285915061699 Centerline is valid? [True, True] Translation: X:95.10, Y:-29.96, Z:-12.83 [[ 7.88198715e-01 6.09266710e-01 8.68151047e-02 9.51025198e+01] [-6.05497415e-01 7.92964993e-01 -6.76712655e-02 -2.99575254e+01] [-1.10071188e-01 7.72082999e-04 9.93923406e-01 -1.28276192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.69824100800001 meters 0.0625998584737698 Centerline is valid? [True, True] Translation: X:95.13, Y:-29.98, Z:-12.83 [[ 7.87341890e-01 6.10381957e-01 8.67560654e-02 9.51282607e+01] [-6.06611026e-01 7.92106911e-01 -6.77473591e-02 -2.99766862e+01] [-1.10071845e-01 7.13147842e-04 9.93923378e-01 -1.28313951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.72824100800001 meters 0.06230461393436096 Centerline is valid? [True, True] Translation: X:95.16, Y:-30.00, Z:-12.83 [[ 7.86061122e-01 6.12061331e-01 8.65380811e-02 9.51551333e+01] [-6.08315921e-01 7.90810138e-01 -6.76096587e-02 -2.99958950e+01] [-1.09816450e-01 5.02831633e-04 9.93951757e-01 -1.28345762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.75824100800001 meters 0.06224285203371305 Centerline is valid? [True, True] Translation: X:95.18, Y:-30.01, Z:-12.84 [[ 7.83556704e-01 6.15342120e-01 8.59823607e-02 9.51836902e+01] [-6.11660368e-01 7.88260154e-01 -6.72125304e-02 -3.00118216e+01] [-1.09135170e-01 7.28264170e-05 9.94026916e-01 -1.28393659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.78824100800001 meters 0.062358911453736975 Centerline is valid? [True, True] Translation: X:95.21, Y:-30.03, Z:-12.84 [[ 7.82383856e-01 6.16840820e-01 8.59238305e-02 9.52097918e+01] [-6.13171121e-01 7.87087917e-01 -6.71847288e-02 -3.00289019e+01] [-1.09071892e-01 -1.21764268e-04 9.94033856e-01 -1.28440586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.81824100800002 meters 0.062461560954009794 Centerline is valid? [True, True] Translation: X:95.24, Y:-30.05, Z:-12.85 [[ 7.81166400e-01 6.18383722e-01 8.59105761e-02 9.52365832e+01] [-6.14720753e-01 7.85876247e-01 -6.72080395e-02 -3.00461979e+01] [-1.09075439e-01 -3.10351744e-04 9.94033426e-01 -1.28495502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84824100800002 meters 0.062461560954009794 Centerline is valid? [True, True] Translation: X:95.26, Y:-30.07, Z:-12.85 [[ 7.81018274e-01 6.18572902e-01 8.58954026e-02 9.52617564e+01] [-6.14908941e-01 7.85727349e-01 -6.72274259e-02 -3.00661219e+01] [-1.09075431e-01 -3.12002910e-04 9.94033427e-01 -1.28536106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87824100800002 meters 0.06258568886374379 Centerline is valid? [True, True] Translation: X:95.29, Y:-30.08, Z:-12.86 [[ 7.80426240e-01 6.19359403e-01 8.56084845e-02 9.52879089e+01] [-6.15721003e-01 7.85107492e-01 -6.70363522e-02 -3.00844485e+01] [-1.08731458e-01 -3.94013602e-04 9.94071081e-01 -1.28591642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90824100800002 meters 0.0625413283419944 Centerline is valid? [True, True] Translation: X:95.31, Y:-30.10, Z:-12.86 [[ 7.79903900e-01 6.20009611e-01 8.56620614e-02 9.53136572e+01] [-6.16367242e-01 7.84594079e-01 -6.71085173e-02 -3.01044186e+01] [-1.08817872e-01 -4.61094201e-04 9.94061597e-01 -1.28610150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.938241008 meters 0.06266371570124459 Centerline is valid? [True, True] Translation: X:95.34, Y:-30.12, Z:-12.87 [[ 7.80092475e-01 6.19819215e-01 8.53221588e-02 9.53389161e+01] [-6.16200702e-01 7.84744530e-01 -6.68783820e-02 -3.01248359e+01] [-1.08408604e-01 -4.04251570e-04 9.94106338e-01 -1.28676033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.968241008 meters 0.06264184167222772 Centerline is valid? [True, True] Translation: X:95.36, Y:-30.15, Z:-12.87 [[ 7.79863566e-01 6.20110220e-01 8.53002569e-02 9.53642026e+01] [-6.16491052e-01 7.84514591e-01 -6.69002122e-02 -3.01452310e+01] [-1.08404801e-01 -4.13807050e-04 9.94106749e-01 -1.28706761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99824100800001 meters 0.06292893299379534 Centerline is valid? [True, True] Translation: X:95.39, Y:-30.16, Z:-12.88 [[ 7.80082456e-01 6.19926556e-01 8.46311225e-02 9.53887606e+01] [-6.16358899e-01 7.84659760e-01 -6.64136161e-02 -3.01649805e+01] [-1.07578201e-01 -3.55048740e-04 9.94196562e-01 -1.28762511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02824100800001 meters 0.06296054855772075 Centerline is valid? [True, True] Translation: X:95.41, Y:-30.19, Z:-12.88 [[ 7.79683784e-01 6.20563101e-01 8.36339338e-02 9.54135802e+01] [-6.17080900e-01 7.84156399e-01 -6.56498593e-02 -3.01856329e+01] [-1.06321965e-01 -4.22772453e-04 9.94331666e-01 -1.28788708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05824100800001 meters 0.06294222044644822 Centerline is valid? [True, True] Translation: X:95.44, Y:-30.21, Z:-12.88 [[ 7.79876978e-01 6.20371605e-01 8.32524574e-02 9.54382810e+01] [-6.16916534e-01 7.84307935e-01 -6.53838962e-02 -3.02058687e+01] [-1.05857876e-01 -3.68422158e-04 9.94381202e-01 -1.28830457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08824100800001 meters 0.06295559470303946 Centerline is valid? [True, True] Translation: X:95.46, Y:-30.23, Z:-12.89 [[ 7.79697345e-01 6.20591649e-01 8.32949942e-02 9.54634697e+01] [-6.17130508e-01 7.84133833e-01 -6.54527878e-02 -3.02253301e+01] [-1.05933877e-01 -3.70517220e-04 9.94373107e-01 -1.28866859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11824100800001 meters 0.06301906755850496 Centerline is valid? [True, True] Translation: X:95.49, Y:-30.25, Z:-12.89 [[ 7.80152947e-01 6.19928378e-01 8.39653799e-02 9.54886396e+01] [-6.16405166e-01 7.84658355e-01 -6.59995217e-02 -3.02455215e+01] [-1.06799113e-01 -2.66972572e-04 9.94280583e-01 -1.28909911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14824100800001 meters 0.06305913899313943 Centerline is valid? [True, True] Translation: X:95.51, Y:-30.27, Z:-12.90 [[ 7.80356513e-01 6.19677532e-01 8.39253820e-02 9.55135743e+01] [-6.16152109e-01 7.84856494e-01 -6.60065322e-02 -3.02650534e+01] [-1.06772146e-01 -2.02173859e-04 9.94283495e-01 -1.28967860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17824100800001 meters 0.0631263092294214 Centerline is valid? [True, True] Translation: X:95.54, Y:-30.29, Z:-12.90 [[ 7.80574352e-01 6.19358427e-01 8.42544972e-02 9.55398401e+01] [-6.15800040e-01 7.85108350e-01 -6.62962276e-02 -3.02860878e+01] [-1.07210037e-01 -1.34787846e-04 9.94236385e-01 -1.29014762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.20824100800002 meters 0.06298060189058169 Centerline is valid? [True, True] Translation: X:95.56, Y:-30.31, Z:-12.90 [[ 7.80604887e-01 6.19197808e-01 8.51474276e-02 9.55641762e+01] [-6.15557157e-01 7.85235040e-01 -6.70471342e-02 -3.03076400e+01] [-1.08376182e-01 -7.57878205e-05 9.94109952e-01 -1.29041944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.23824100800002 meters 0.0628191153153245 Centerline is valid? [True, True] Translation: X:95.59, Y:-30.33, Z:-12.91 [[ 7.80505807e-01 6.19215129e-01 8.59261849e-02 9.55914587e+01] [-6.15503781e-01 7.85221383e-01 -6.76939786e-02 -3.03303858e+01] [-1.09388213e-01 -5.23483559e-05 9.93999103e-01 -1.29071569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.26824100800002 meters 0.06280830722791013 Centerline is valid? [True, True] Translation: X:95.62, Y:-30.35, Z:-12.91 [[ 7.80438343e-01 6.19240628e-01 8.63541358e-02 9.56185666e+01] [-6.15486803e-01 7.85201276e-01 -6.80804785e-02 -3.03521316e+01] [-1.09963576e-01 -1.72150606e-05 9.93935617e-01 -1.29102668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.298241008 meters 0.06297629723605189 Centerline is valid? [True, True] Translation: X:95.64, Y:-30.37, Z:-12.92 [[ 7.80613404e-01 6.19060624e-01 8.60619413e-02 9.56442549e+01] [-6.15325428e-01 7.85343200e-01 -6.79019547e-02 -3.03727494e+01] [-1.09623587e-01 4.90750476e-05 9.93973172e-01 -1.29151579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.328241008 meters 0.06290864783619027 Centerline is valid? [True, True] Translation: X:95.67, Y:-30.39, Z:-12.92 [[ 7.81473015e-01 6.18075404e-01 8.53388638e-02 9.56699131e+01] [-6.14393261e-01 7.86118788e-01 -6.73659493e-02 -3.03946329e+01] [-1.08723721e-01 2.13048629e-04 9.94071983e-01 -1.29198244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.35824100800001 meters 0.06300255349463323 Centerline is valid? [True, True] Translation: X:95.69, Y:-30.41, Z:-12.93 [[ 7.82041081e-01 6.17363155e-01 8.52905766e-02 9.56942785e+01] [-6.13676131e-01 7.86678216e-01 -6.73720337e-02 -3.04142036e+01] [-1.08689250e-01 3.46906968e-04 9.94075715e-01 -1.29253802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.38824100800001 meters 0.06308027444635003 Centerline is valid? [True, True] Translation: X:95.72, Y:-30.43, Z:-12.93 [[ 7.82649058e-01 6.16645815e-01 8.49022451e-02 9.57196002e+01] [-6.12984605e-01 7.87240571e-01 -6.70981140e-02 -3.04347471e+01] [-1.08214263e-01 4.70506492e-04 9.94127483e-01 -1.29300777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.41824100800001 meters 0.06299527595975905 Centerline is valid? [True, True] Translation: X:95.75, Y:-30.45, Z:-12.93 [[ 7.83071425e-01 6.16193325e-01 8.42907410e-02 9.57454856e+01] [-6.12578509e-01 7.87594741e-01 -6.66490406e-02 -3.04549775e+01] [-1.07455638e-01 5.56262745e-04 9.94209725e-01 -1.29328469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.44824100800001 meters 0.06313264819717315 Centerline is valid? [True, True] Translation: X:95.77, Y:-30.48, Z:-12.94 [[ 7.85114487e-01 6.13696803e-01 8.34953752e-02 9.57685002e+01] [-6.10132038e-01 7.89541253e-01 -6.60568429e-02 -3.04767616e+01] [-1.06461916e-01 9.18980940e-04 9.94316356e-01 -1.29377278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.47824100800001 meters 0.06331323279181557 Centerline is valid? [True, True] Translation: X:95.79, Y:-30.50, Z:-12.94 [[ 7.86057573e-01 6.12558624e-01 8.29784535e-02 9.57918828e+01] [-6.09029729e-01 7.90424420e-01 -6.56660134e-02 -3.04977451e+01] [-1.05812479e-01 1.08092202e-03 9.94385514e-01 -1.29419024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.50824100800001 meters 0.0633995704350981 Centerline is valid? [True, True] Translation: X:95.82, Y:-30.52, Z:-12.95 [[ 7.87153725e-01 6.11146749e-01 8.29979815e-02 9.58185602e+01] [-6.07605291e-01 7.91516252e-01 -6.57102203e-02 -3.05195155e+01] [-1.05852839e-01 1.29403194e-03 9.94380964e-01 -1.29459744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.53824100800001 meters 0.06368445364386163 Centerline is valid? [True, True] Translation: X:95.84, Y:-30.54, Z:-12.95 [[ 7.88156212e-01 6.09853534e-01 8.29966972e-02 9.58439064e+01] [-6.06300272e-01 7.92512717e-01 -6.57538884e-02 -3.05398742e+01] [-1.05876179e-01 1.50341551e-03 9.94378185e-01 -1.29510580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56824100800002 meters 0.06416136881672471 Centerline is valid? [True, True] Translation: X:95.87, Y:-30.56, Z:-12.96 [[ 7.89484631e-01 6.08224374e-01 8.23233194e-02 9.58684771e+01] [-6.04716333e-01 7.93763253e-01 -6.52537638e-02 -3.05605920e+01] [-1.05034155e-01 1.73458774e-03 9.94467102e-01 -1.29564901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59824100800002 meters 0.0643790010842478 Centerline is valid? [True, True] Translation: X:95.89, Y:-30.58, Z:-12.96 [[ 7.89834889e-01 6.07795910e-01 8.21278278e-02 9.58935350e+01] [-6.04298733e-01 7.94091205e-01 -6.51321662e-02 -3.05810551e+01] [-1.04804050e-01 1.81391495e-03 9.94491237e-01 -1.29602269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62824100800002 meters 0.06393964101117715 Centerline is valid? [True, True] Translation: X:95.92, Y:-30.60, Z:-12.96 [[ 7.89235655e-01 6.08646719e-01 8.15858539e-02 9.59204986e+01] [-6.05196788e-01 7.93439492e-01 -6.47349985e-02 -3.05996053e+01] [-1.04134183e-01 1.71567219e-03 9.94561777e-01 -1.29623582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65824100800002 meters 0.06415144897847398 Centerline is valid? [True, True] Translation: X:95.95, Y:-30.62, Z:-12.97 [[ 7.88476856e-01 6.09641103e-01 8.14983065e-02 9.59453389e+01] [-6.06200235e-01 7.92675931e-01 -6.47004043e-02 -3.06191488e+01] [-1.04045772e-01 1.61047879e-03 9.94571206e-01 -1.29675113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.688241008 meters 0.0642402386203552 Centerline is valid? [True, True] Translation: X:95.97, Y:-30.64, Z:-12.97 [[ 7.86125275e-01 6.12578571e-01 8.21860505e-02 9.59718795e+01] [-6.09091653e-01 7.90408697e-01 -6.52797748e-02 -3.06356817e+01] [-1.04949560e-01 1.25924350e-03 9.94476749e-01 -1.29742880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.718241008 meters 0.06327387243112913 Centerline is valid? [True, True] Translation: X:96.00, Y:-30.65, Z:-12.97 [[ 7.84574877e-01 6.14539527e-01 8.23615972e-02 9.60020482e+01] [-6.11046792e-01 7.88885383e-01 -6.54344731e-02 -3.06505886e+01] [-1.05185930e-01 1.01145390e-03 9.94452059e-01 -1.29725279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74824100800001 meters 0.06311968477812337 Centerline is valid? [True, True] Translation: X:96.03, Y:-30.67, Z:-12.98 [[ 7.82956726e-01 6.16479447e-01 8.32577761e-02 9.60297163e+01] [-6.12917195e-01 7.87370606e-01 -6.61818768e-02 -3.06680087e+01] [-1.06354492e-01 7.87423011e-04 9.94327965e-01 -1.29770077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.77824100800001 meters 0.06304576656065844 Centerline is valid? [True, True] Translation: X:96.06, Y:-30.69, Z:-12.98 [[ 7.81187967e-01 6.18709517e-01 8.33300337e-02 9.60565343e+01] [-6.15150205e-01 7.85619675e-01 -6.62718039e-02 -3.06852576e+01] [-1.06468710e-01 5.10248450e-04 9.94315922e-01 -1.29816290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.80824100800001 meters 0.06298835770203255 Centerline is valid? [True, True] Translation: X:96.09, Y:-30.70, Z:-12.99 [[ 7.78100928e-01 6.22595306e-01 8.32708283e-02 9.60858103e+01] [-6.19059321e-01 7.82543983e-01 -6.62606363e-02 -3.07002643e+01] [-1.06416647e-01 7.88023740e-06 9.94321627e-01 -1.29855091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.83824100800001 meters 0.06298370426267219 Centerline is valid? [True, True] Translation: X:96.11, Y:-30.72, Z:-12.99 [[ 7.76881257e-01 6.24070065e-01 8.36185805e-02 9.61134017e+01] [-6.20511603e-01 7.81368363e-01 -6.65494672e-02 -3.07178187e+01] [-1.06868444e-01 -1.85265647e-04 9.94273152e-01 -1.29893932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.86824100800001 meters 0.06308016978024845 Centerline is valid? [True, True] Translation: X:96.14, Y:-30.74, Z:-12.99 [[ 7.75135800e-01 6.26169065e-01 8.41236796e-02 9.61409187e+01] [-6.22575817e-01 7.79687181e-01 -6.69869532e-02 -3.07357974e+01] [-1.07535312e-01 -4.49382992e-04 9.94201164e-01 -1.29935632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.89824100800001 meters 0.06313690980459524 Centerline is valid? [True, True] Translation: X:96.17, Y:-30.75, Z:-13.00 [[ 7.73567238e-01 6.28042671e-01 8.45939265e-02 9.61680479e+01] [-6.24416257e-01 7.78178600e-01 -6.73973598e-02 -3.07548429e+01] [-1.08157601e-01 -6.85433468e-04 9.94133524e-01 -1.29965891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.92824100800001 meters 0.06316998949152484 Centerline is valid? [True, True] Translation: X:96.20, Y:-30.77, Z:-13.00 [[ 7.71240523e-01 6.30834598e-01 8.50633050e-02 9.61952108e+01] [-6.27180638e-01 7.75916618e-01 -6.78074391e-02 -3.07736246e+01] [-1.08777311e-01 -1.05421316e-03 9.94065584e-01 -1.29986271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.95824100800002 meters 0.06334553166961387 Centerline is valid? [True, True] Translation: X:96.22, Y:-30.79, Z:-13.00 [[ 7.70197484e-01 6.32098404e-01 8.51319136e-02 9.62211557e+01] [-6.28442256e-01 7.74887188e-01 -6.78982816e-02 -3.07920971e+01] [-1.08886025e-01 -1.20540616e-03 9.94053510e-01 -1.30023796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.98824100800002 meters 0.06342714889879053 Centerline is valid? [True, True] Translation: X:96.25, Y:-30.81, Z:-13.01 [[ 7.69396498e-01 6.33048027e-01 8.53183664e-02 9.62479950e+01] [-6.29378224e-01 7.74111398e-01 -6.80778622e-02 -3.08110293e+01] [-1.09142476e-01 -1.31865307e-03 9.94025242e-01 -1.30066567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.01824100800002 meters 0.06363745317860117 Centerline is valid? [True, True] Translation: X:96.28, Y:-30.83, Z:-13.01 [[ 7.68473211e-01 6.34404664e-01 8.35442812e-02 9.62753955e+01] [-6.30890607e-01 7.72999749e-01 -6.66965513e-02 -3.08286385e+01] [-1.06892312e-01 -1.45278937e-03 9.94269543e-01 -1.30127907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.048241008 meters 0.06409839852458947 Centerline is valid? [True, True] Translation: X:96.30, Y:-30.85, Z:-13.02 [[ 7.67966216e-01 6.35100229e-01 8.29191781e-02 9.63011682e+01] [-6.31639051e-01 7.72428260e-01 -6.62321130e-02 -3.08472059e+01] [-1.06113147e-01 -1.51096575e-03 9.94352914e-01 -1.30190575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.078241008 meters 0.06420591262675722 Centerline is valid? [True, True] Translation: X:96.33, Y:-30.87, Z:-13.02 [[ 7.67761673e-01 6.35423612e-01 8.23337548e-02 9.63256648e+01] [-6.32010372e-01 7.72162230e-01 -6.57904292e-02 -3.08666200e+01] [-1.05379808e-01 -1.52441702e-03 9.94430879e-01 -1.30240914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.10824100800001 meters 0.06430174502639457 Centerline is valid? [True, True] Translation: X:96.35, Y:-30.89, Z:-13.03 [[ 7.68490161e-01 6.34702216e-01 8.10923483e-02 9.63479716e+01] [-6.31384394e-01 7.72755581e-01 -6.48271438e-02 -3.08891708e+01] [-1.03810497e-01 -1.38142098e-03 9.94596135e-01 -1.30298084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.13824100800001 meters 0.06424788927590233 Centerline is valid? [True, True] Translation: X:96.37, Y:-30.91, Z:-13.03 [[ 7.68711704e-01 6.34522198e-01 8.03983638e-02 9.63717613e+01] [-6.31257061e-01 7.72903507e-01 -6.43015686e-02 -3.09109019e+01] [-1.02940950e-01 -1.32266645e-03 9.94686590e-01 -1.30345368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.16824100800001 meters 0.06411903938871281 Centerline is valid? [True, True] Translation: X:96.40, Y:-30.93, Z:-13.04 [[ 7.69263704e-01 6.33858989e-01 8.03500764e-02 9.63954131e+01] [-6.30591117e-01 7.73447682e-01 -6.42924997e-02 -3.09325851e+01] [-1.02898959e-01 -1.21015795e-03 9.94691078e-01 -1.30389537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.19824100800001 meters 0.06406924960893655 Centerline is valid? [True, True] Translation: X:96.42, Y:-30.95, Z:-13.04 [[ 7.69467753e-01 6.33628763e-01 8.02120156e-02 9.64193391e+01] [-6.30367965e-01 7.73636385e-01 -6.42103826e-02 -3.09544860e+01] [-1.02740479e-01 -1.15526621e-03 9.94707525e-01 -1.30420051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.22824100800001 meters 0.06401206941247496 Centerline is valid? [True, True] Translation: X:96.44, Y:-30.98, Z:-13.05 [[ 7.69757197e-01 6.33226486e-01 8.06106414e-02 9.64431862e+01] [-6.29927349e-01 7.73965794e-01 -6.45638025e-02 -3.09762085e+01] [-1.03273389e-01 -1.08039606e-03 9.94652422e-01 -1.30468405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.25824100800001 meters 0.0639643611962875 Centerline is valid? [True, True] Translation: X:96.46, Y:-31.00, Z:-13.05 [[ 7.69841892e-01 6.33130085e-01 8.05590299e-02 9.64648572e+01] [-6.29830804e-01 7.74044713e-01 -6.45595892e-02 -3.10008666e+01] [-1.03230909e-01 -1.03788230e-03 9.94656877e-01 -1.30503681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.28824100800001 meters 0.06382292165613933 Centerline is valid? [True, True] Translation: X:96.49, Y:-31.02, Z:-13.05 [[ 7.69630456e-01 6.33418350e-01 8.03128580e-02 9.64887086e+01] [-6.30137307e-01 7.73808825e-01 -6.43962432e-02 -3.10239967e+01] [-1.02936560e-01 -1.04681811e-03 9.94687372e-01 -1.30526539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.31824100800002 meters 0.06380959629953367 Centerline is valid? [True, True] Translation: X:96.51, Y:-31.04, Z:-13.06 [[ 7.69343204e-01 6.33663038e-01 8.11306907e-02 9.65126157e+01] [-6.30312267e-01 7.73608444e-01 -6.50877906e-02 -3.10446763e+01] [-1.04007115e-01 -1.06282022e-03 9.94575985e-01 -1.30567156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.34824100800002 meters 0.06413569063344964 Centerline is valid? [True, True] Translation: X:96.54, Y:-31.06, Z:-13.06 [[ 7.68651796e-01 6.34397538e-01 8.19400972e-02 9.65380442e+01] [-6.30979923e-01 7.73006111e-01 -6.57714887e-02 -3.10625779e+01] [-1.05065466e-01 -1.14718329e-03 9.94464646e-01 -1.30623543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.37824100800002 meters 0.06419645902651246 Centerline is valid? [True, True] Translation: X:96.56, Y:-31.08, Z:-13.07 [[ 7.67638421e-01 6.35648667e-01 8.17436701e-02 9.65631458e+01] [-6.32251698e-01 7.71977394e-01 -6.56406392e-02 -3.10838084e+01] [-1.04828650e-01 -1.29429762e-03 9.94489456e-01 -1.30657712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.40824100800002 meters 0.0642886255233603 Centerline is valid? [True, True] Translation: X:96.59, Y:-31.10, Z:-13.07 [[ 7.66928396e-01 6.36527937e-01 8.15660484e-02 9.65866853e+01] [-6.33146988e-01 7.71252403e-01 -6.55333592e-02 -3.11045359e+01] [-1.04621825e-01 -1.38390385e-03 9.94511115e-01 -1.30696585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.438241008 meters 0.06427155351389967 Centerline is valid? [True, True] Translation: X:96.61, Y:-31.13, Z:-13.07 [[ 7.66086451e-01 6.37639991e-01 8.07885649e-02 9.66091447e+01] [-6.34326740e-01 7.70333039e-01 -6.49353227e-02 -3.11284098e+01] [-1.03639459e-01 -1.50027603e-03 9.94613800e-01 -1.30725516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.468241008 meters 0.06463781096912351 Centerline is valid? [True, True] Translation: X:96.63, Y:-31.15, Z:-13.08 [[ 7.65638673e-01 6.38339238e-01 7.95011901e-02 9.66345015e+01] [-6.35131511e-01 7.69753617e-01 -6.39322515e-02 -3.11488530e+01] [-1.02006793e-01 -1.54470684e-03 9.94782503e-01 -1.30790329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.49824100800001 meters 0.06453449228015642 Centerline is valid? [True, True] Translation: X:96.66, Y:-31.17, Z:-13.08 [[ 7.65938385e-01 6.38081766e-01 7.86768694e-02 9.66581827e+01] [-6.34934702e-01 7.69967222e-01 -6.33119348e-02 -3.11704920e+01] [-1.00976802e-01 -1.46163346e-03 9.94887707e-01 -1.30840299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.52824100800001 meters 0.06467421029332021 Centerline is valid? [True, True] Translation: X:96.68, Y:-31.19, Z:-13.09 [[ 7.66297859e-01 6.37772918e-01 7.76743005e-02 9.66810944e+01] [-6.34700726e-01 7.70223222e-01 -6.25394077e-02 -3.11907347e+01] [-9.97124905e-02 -1.37612071e-03 9.95015339e-01 -1.30908077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.55824100800001 meters 0.06451858275490686 Centerline is valid? [True, True] Translation: X:96.70, Y:-31.22, Z:-13.10 [[ 7.68394451e-01 6.35255867e-01 7.75883453e-02 9.67014960e+01] [-6.32174824e-01 7.72301062e-01 -6.24984879e-02 -3.12159928e+01] [-9.96240926e-02 -1.02590726e-03 9.95024617e-01 -1.30968424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.58824100800001 meters 0.06454978152044769 Centerline is valid? [True, True] Translation: X:96.72, Y:-31.24, Z:-13.10 [[ 7.69357517e-01 6.34160895e-01 7.69998042e-02 9.67236469e+01] [-6.31118302e-01 7.73200638e-01 -6.20520936e-02 -3.12399156e+01] [-9.88873089e-02 -8.55741041e-04 9.95098270e-01 -1.31019658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.61824100800001 meters 0.06441609133076563 Centerline is valid? [True, True] Translation: X:96.75, Y:-31.26, Z:-13.11 [[ 7.70666907e-01 6.32704810e-01 7.58758364e-02 9.67450495e+01] [-6.29740310e-01 7.74392809e-01 -6.11793976e-02 -3.12638360e+01] [-9.74662012e-02 -6.33135609e-04 9.95238634e-01 -1.31066074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.64824100800001 meters 0.06436464593292585 Centerline is valid? [True, True] Translation: X:96.77, Y:-31.29, Z:-13.11 [[ 7.72069610e-01 6.31005674e-01 7.57651500e-02 9.67669201e+01] [-6.28038841e-01 7.75778115e-01 -6.11189923e-02 -3.12878029e+01] [-9.73433762e-02 -3.95340452e-04 9.95250778e-01 -1.31114963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.67824100800001 meters 0.06414286586953769 Centerline is valid? [True, True] Translation: X:96.79, Y:-31.31, Z:-13.12 [[ 7.74490386e-01 6.27945419e-01 7.64800167e-02 9.67856224e+01] [-6.24903935e-01 7.78257381e-01 -6.17294210e-02 -3.13137796e+01] [-9.82838446e-02 1.61797399e-05 9.95158422e-01 -1.31156738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.70824100800002 meters 0.0641443355324089 Centerline is valid? [True, True] Translation: X:96.81, Y:-31.34, Z:-13.12 [[ 7.75140372e-01 6.27085771e-01 7.69469921e-02 9.68083967e+01] [-6.23999904e-01 7.78950200e-01 -6.21345880e-02 -3.13370077e+01] [-9.89015909e-02 1.48112006e-04 9.95097208e-01 -1.31194673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.73824100800002 meters 0.06444661235616174 Centerline is valid? [True, True] Translation: X:96.83, Y:-31.36, Z:-13.12 [[ 7.75679640e-01 6.26404534e-01 7.70613730e-02 9.68304215e+01] [-6.23303008e-01 7.79498103e-01 -6.22580763e-02 -3.13595727e+01] [-9.90679353e-02 2.59736669e-04 9.95080638e-01 -1.31248061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.76824100800002 meters 0.06444661235616174 Centerline is valid? [True, True] Translation: X:96.86, Y:-31.38, Z:-13.13 [[ 7.75520073e-01 6.26604031e-01 7.70454728e-02 9.68552628e+01] [-6.23501533e-01 7.79337745e-01 -6.22777456e-02 -3.13798926e+01] [-9.90679315e-02 2.59671359e-04 9.95080639e-01 -1.31288683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.798241008 meters 0.06447784950438439 Centerline is valid? [True, True] Translation: X:96.88, Y:-31.40, Z:-13.13 [[ 7.75531907e-01 6.26708012e-01 7.60745016e-02 9.68799262e+01] [-6.23681010e-01 7.79254129e-01 -6.15223593e-02 -3.14036847e+01] [-9.78379250e-02 2.66330602e-04 9.95202326e-01 -1.31340521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.828241008 meters 0.06462951873205756 Centerline is valid? [True, True] Translation: X:96.90, Y:-31.43, Z:-13.14 [[ 7.75115189e-01 6.27280293e-01 7.56034253e-02 9.69019245e+01] [-6.24289294e-01 7.78793543e-01 -6.11841065e-02 -3.14265324e+01] [-9.72590437e-02 2.26321327e-04 9.95259075e-01 -1.31385574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.85824100800001 meters 0.06451292206405525 Centerline is valid? [True, True] Translation: X:96.93, Y:-31.45, Z:-13.14 [[ 7.74457898e-01 6.28028865e-01 7.61229879e-02 9.69266880e+01] [-6.24997329e-01 7.78190028e-01 -6.16329291e-02 -3.14485918e+01] [-9.79454086e-02 1.55444538e-04 9.95191777e-01 -1.31417110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.88824100800001 meters 0.06439910680888968 Centerline is valid? [True, True] Translation: X:96.95, Y:-31.47, Z:-13.14 [[ 7.75396675e-01 6.26714217e-01 7.73904736e-02 9.69477051e+01] [-6.23569913e-01 7.79249100e-01 -6.27009059e-02 -3.14711768e+01] [-9.96020061e-02 3.59703118e-04 9.95027292e-01 -1.31446780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.91824100800001 meters 0.0642233828248578 Centerline is valid? [True, True] Translation: X:96.97, Y:-31.49, Z:-13.15 [[ 7.75880045e-01 6.26025170e-01 7.81194188e-02 9.69712870e+01] [-6.22816501e-01 7.79802715e-01 -6.33034960e-02 -3.14938302e+01] [-1.00547317e-01 4.61856268e-04 9.94932170e-01 -1.31450774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.94824100800001 meters 0.06436783141167234 Centerline is valid? [True, True] Translation: X:96.99, Y:-31.52, Z:-13.15 [[ 7.77081479e-01 6.24675230e-01 7.69755252e-02 9.69930313e+01] [-6.21550300e-01 7.80884391e-01 -6.24082785e-02 -3.15183247e+01] [-9.90938918e-02 6.52156611e-04 9.95077874e-01 -1.31500974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.97824100800001 meters 0.06451576317293867 Centerline is valid? [True, True] Translation: X:97.02, Y:-31.54, Z:-13.16 [[ 7.77369037e-01 6.24361907e-01 7.66132499e-02 9.70176181e+01] [-6.21261522e-01 7.81134878e-01 -6.21483933e-02 -3.15402549e+01] [-9.86483710e-02 7.15372383e-04 9.95122097e-01 -1.31553532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.00824100800001 meters 0.06505991789665994 Centerline is valid? [True, True] Translation: X:97.04, Y:-31.56, Z:-13.16 [[ 7.77838857e-01 6.23885611e-01 7.57195922e-02 9.70408710e+01] [-6.20851423e-01 7.81515266e-01 -6.14605602e-02 -3.15613177e+01] [-9.75203764e-02 7.95795414e-04 9.95233210e-01 -1.31639981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.03824100800001 meters 0.06497117996484707 Centerline is valid? [True, True] Translation: X:97.07, Y:-31.58, Z:-13.17 [[ 7.78062557e-01 6.23688276e-01 7.50439297e-02 9.70669022e+01] [-6.20704534e-01 7.81672717e-01 -6.09396784e-02 -3.15825036e+01] [-9.66671555e-02 8.34774542e-04 9.95316414e-01 -1.31670555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.06824100800002 meters 0.06556984142910616 Centerline is valid? [True, True] Translation: X:97.09, Y:-31.60, Z:-13.17 [[ 7.79377183e-01 6.22152760e-01 7.41427680e-02 9.70888148e+01] [-6.19229981e-01 7.82895177e-01 -6.02442640e-02 -3.16048118e+01] [-9.55271506e-02 1.04157991e-03 9.95426280e-01 -1.31742038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.09824100800002 meters 0.06554524098294962 Centerline is valid? [True, True] Translation: X:97.11, Y:-31.63, Z:-13.18 [[ 7.79783157e-01 6.21734569e-01 7.33781619e-02 9.71144948e+01] [-6.18867645e-01 7.83227242e-01 -5.96483476e-02 -3.16254711e+01] [-9.45572150e-02 1.10140656e-03 9.95518820e-01 -1.31768316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.12824100800002 meters 0.06571334412316536 Centerline is valid? [True, True] Translation: X:97.14, Y:-31.65, Z:-13.18 [[ 7.80312939e-01 6.21082019e-01 7.32723912e-02 9.71388855e+01] [-6.18217133e-01 7.83744646e-01 -5.95978730e-02 -3.16457200e+01] [-9.44420115e-02 1.20674382e-03 9.95529633e-01 -1.31823029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.15824100800002 meters 0.06578904881332602 Centerline is valid? [True, True] Translation: X:97.16, Y:-31.67, Z:-13.19 [[ 7.80123393e-01 6.21341705e-01 7.30888332e-02 9.71645401e+01] [-6.18490957e-01 7.83538821e-01 -5.94630295e-02 -3.16662885e+01] [-9.42147983e-02 1.18371797e-03 9.95551189e-01 -1.31868559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.188241008 meters 0.06596348675260837 Centerline is valid? [True, True] Translation: X:97.19, Y:-31.69, Z:-13.19 [[ 7.80205281e-01 6.21282449e-01 7.27175241e-02 9.71899206e+01] [-6.18457698e-01 7.83585771e-01 -5.91896533e-02 -3.16875463e+01] [-9.37539099e-02 1.20736760e-03 9.95594670e-01 -1.31917798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.218241008 meters 0.06600526249286913 Centerline is valid? [True, True] Translation: X:97.21, Y:-31.71, Z:-13.20 [[ 7.80016718e-01 6.21457657e-01 7.32413812e-02 9.72135084e+01] [-6.18588947e-01 7.83446793e-01 -5.96560014e-02 -3.17081091e+01] [-9.44544040e-02 1.22636953e-03 9.95528433e-01 -1.31951982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.24824100800001 meters 0.0658692138710799 Centerline is valid? [True, True] Translation: X:97.24, Y:-31.73, Z:-13.20 [[ 7.79813363e-01 6.21667150e-01 7.36279413e-02 9.72384432e+01] [-6.18766380e-01 7.83280567e-01 -5.99976721e-02 -3.17284838e+01] [-9.49699174e-02 1.22849174e-03 9.95479385e-01 -1.31976138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.27824100800001 meters 0.06614501324781975 Centerline is valid? [True, True] Translation: X:97.26, Y:-31.75, Z:-13.20 [[ 7.78579822e-01 6.23171945e-01 7.39607200e-02 9.72624861e+01] [-6.20248319e-01 7.82084118e-01 -6.03030250e-02 -3.17472275e+01] [-9.54226579e-02 1.07670621e-03 9.95436265e-01 -1.32043650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.30824100800001 meters 0.06560254098167194 Centerline is valid? [True, True] Translation: X:97.29, Y:-31.77, Z:-13.21 [[ 7.77894175e-01 6.24068957e-01 7.36110746e-02 9.72894098e+01] [-6.21175990e-01 7.81368668e-01 -6.00282756e-02 -3.17658692e+01] [-9.49791706e-02 9.70213824e-04 9.95478787e-01 -1.32050724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.33824100800001 meters 0.06559438845197668 Centerline is valid? [True, True] Translation: X:97.32, Y:-31.79, Z:-13.21 [[ 7.76880334e-01 6.25327567e-01 7.36368105e-02 9.73165403e+01] [-6.22435443e-01 7.80361922e-01 -6.00781963e-02 -3.17854016e+01] [-9.50319152e-02 8.39408421e-04 9.95473872e-01 -1.32101299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.36824100800001 meters 0.06541029523607467 Centerline is valid? [True, True] Translation: X:97.34, Y:-31.80, Z:-13.22 [[ 7.75948480e-01 6.26500802e-01 7.34894597e-02 9.73429437e+01] [-6.23622193e-01 7.79420441e-01 -5.99928032e-02 -3.18038948e+01] [-9.48647264e-02 7.21666429e-04 9.95489911e-01 -1.32153543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.39824100800001 meters 0.06554038016292946 Centerline is valid? [True, True] Translation: X:97.37, Y:-31.82, Z:-13.22 [[ 7.74919012e-01 6.27821134e-01 7.30831678e-02 9.73696018e+01] [-6.24977331e-01 7.78357429e-01 -5.96912718e-02 -3.18214358e+01] [-9.43602685e-02 5.80578151e-04 9.95537946e-01 -1.32208351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.42824100800001 meters 0.0655899145131221 Centerline is valid? [True, True] Translation: X:97.39, Y:-31.84, Z:-13.23 [[ 7.74038118e-01 6.29007039e-01 7.22159052e-02 9.73949874e+01] [-6.26232730e-01 7.77399471e-01 -5.90138146e-02 -3.18405319e+01] [-9.32607113e-02 4.54978512e-04 9.95641619e-01 -1.32260120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.45824100800002 meters 0.06504020035043981 Centerline is valid? [True, True] Translation: X:97.43, Y:-31.86, Z:-13.23 [[ 7.72572762e-01 6.30902520e-01 7.13676205e-02 9.74275164e+01] [-6.28202178e-01 7.75862077e-01 -5.83100371e-02 -3.18649878e+01] [-9.21593797e-02 2.15451750e-04 9.95744245e-01 -1.32269626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.48824100800002 meters 0.06500665340767141 Centerline is valid? [True, True] Translation: X:97.45, Y:-31.88, Z:-13.23 [[ 7.72315098e-01 6.31198110e-01 7.15425380e-02 9.74520940e+01] [-6.28475839e-01 7.75621606e-01 -5.85597464e-02 -3.18848032e+01] [-9.24527395e-02 2.63819713e-04 9.95717039e-01 -1.32303373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.51824100800002 meters 0.06550787832290819 Centerline is valid? [True, True] Translation: X:97.48, Y:-31.90, Z:-13.24 [[ 7.71788986e-01 6.31814876e-01 7.17755084e-02 9.74758621e+01] [-6.29074811e-01 7.75119293e-01 -5.87789466e-02 -3.19041093e+01] [-9.27719941e-02 2.12779280e-04 9.95687356e-01 -1.32393844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.548241008 meters 0.06478542691105582 Centerline is valid? [True, True] Translation: X:97.50, Y:-31.92, Z:-13.24 [[ 7.70695435e-01 6.33142698e-01 7.18252766e-02 9.75036205e+01] [-6.30402211e-01 7.74035089e-01 -5.88450007e-02 -3.19235820e+01] [-9.28525668e-02 7.27602288e-05 9.95679866e-01 -1.32384523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.578241008 meters 0.06471188840040272 Centerline is valid? [True, True] Translation: X:97.53, Y:-31.94, Z:-13.24 [[ 7.70134941e-01 6.33761435e-01 7.23782881e-02 9.75282775e+01] [-6.30977722e-01 7.73528566e-01 -5.93352490e-02 -3.19438923e+01] [-9.35910660e-02 2.70611462e-05 9.95610723e-01 -1.32412043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.60824100800001 meters 0.06450286208935181 Centerline is valid? [True, True] Translation: X:97.55, Y:-31.96, Z:-13.24 [[ 7.69776717e-01 6.34144139e-01 7.28355496e-02 9.75524984e+01] [-6.31324220e-01 7.73214854e-01 -5.97370762e-02 -3.19638244e+01] [-9.41994457e-02 1.36380684e-06 9.95553346e-01 -1.32442949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.63824100800001 meters 0.06457377162997231 Centerline is valid? [True, True] Translation: X:97.58, Y:-31.98, Z:-13.25 [[ 7.69213767e-01 6.34759550e-01 7.34199875e-02 9.75779240e+01] [-6.31894421e-01 7.72709720e-01 -6.02422567e-02 -3.19843119e+01] [-9.49716857e-02 -5.45072580e-05 9.95479973e-01 -1.32471178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.66824100800001 meters 0.06456488917694662 Centerline is valid? [True, True] Translation: X:97.60, Y:-32.00, Z:-13.25 [[ 7.68896486e-01 6.35071016e-01 7.40472713e-02 9.76032140e+01] [-6.32154991e-01 7.72453753e-01 -6.07887096e-02 -3.20037372e+01] [-9.58032401e-02 -6.91269794e-05 9.95400289e-01 -1.32503187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.69824100800001 meters 0.06450885918558756 Centerline is valid? [True, True] Translation: X:97.63, Y:-32.02, Z:-13.25 [[ 7.68727266e-01 6.35250390e-01 7.42652826e-02 9.76274770e+01] [-6.32315157e-01 7.72306246e-01 -6.09967622e-02 -3.20234673e+01] [-9.61037586e-02 -6.91895425e-05 9.95371319e-01 -1.32545589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.72824100800001 meters 0.06460773284486312 Centerline is valid? [True, True] Translation: X:97.65, Y:-32.04, Z:-13.26 [[ 7.68539340e-01 6.35543585e-01 7.36996219e-02 9.76518743e+01] [-6.32651661e-01 7.72064988e-01 -6.05601366e-02 -3.20434656e+01] [-9.53895040e-02 -8.33408205e-05 9.95440021e-01 -1.32591671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.75824100800001 meters 0.06473301675293851 Centerline is valid? [True, True] Translation: X:97.68, Y:-32.06, Z:-13.26 [[ 7.68704598e-01 6.35405809e-01 7.31621479e-02 9.76755087e+01] [-6.32552597e-01 7.72178384e-01 -6.01477794e-02 -3.20627642e+01] [-9.47124776e-02 -4.30321263e-05 9.95504668e-01 -1.32642973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.78824100800001 meters 0.0651177297098896 Centerline is valid? [True, True] Translation: X:97.70, Y:-32.08, Z:-13.27 [[ 7.68711060e-01 6.35602068e-01 7.13674796e-02 9.76992720e+01] [-6.32887359e-01 7.72016844e-01 -5.86820499e-02 -3.20827983e+01] [-9.23953287e-02 -5.80349727e-05 9.95722401e-01 -1.32709826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.81824100800002 meters 0.06509667497566406 Centerline is valid? [True, True] Translation: X:97.72, Y:-32.10, Z:-13.27 [[ 7.68671436e-01 6.35709942e-01 7.08314442e-02 9.77237585e+01] [-6.33034022e-01 7.71928019e-01 -5.82671404e-02 -3.21039548e+01] [-9.17177769e-02 -5.04275832e-05 9.95785041e-01 -1.32740467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.84824100800002 meters 0.06501720755731269 Centerline is valid? [True, True] Translation: X:97.75, Y:-32.13, Z:-13.28 [[ 7.69409679e-01 6.34695560e-01 7.19047424e-02 9.77458582e+01] [-6.31930478e-01 7.72762277e-01 -5.91805127e-02 -3.21253400e+01] [-9.31268811e-02 9.52610812e-05 9.95654245e-01 -1.32774062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.87824100800002 meters 0.06476301213754002 Centerline is valid? [True, True] Translation: X:97.77, Y:-32.15, Z:-13.28 [[ 7.70127531e-01 6.33897068e-01 7.12607364e-02 9.77687074e+01] [-6.31175915e-01 7.73417393e-01 -5.86728283e-02 -3.21480130e+01] [-9.23068268e-02 2.07499990e-04 9.95730589e-01 -1.32801973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.90824100800002 meters 0.06446491568237032 Centerline is valid? [True, True] Translation: X:97.79, Y:-32.17, Z:-13.28 [[ 7.70613897e-01 6.33269158e-01 7.15848825e-02 9.77927580e+01] [-6.30518138e-01 7.73931574e-01 -5.89643614e-02 -3.21689167e+01] [-9.27421123e-02 3.03189486e-04 9.95690117e-01 -1.32804425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.938241008 meters 0.0649514660548654 Centerline is valid? [True, True] Translation: X:97.82, Y:-32.19, Z:-13.29 [[ 7.70520950e-01 6.33471367e-01 7.07918974e-02 9.78158229e+01] [-6.30779550e-01 7.73766076e-01 -5.83371119e-02 -3.21888194e+01] [-9.17312587e-02 2.95885719e-04 9.95783756e-01 -1.32892466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.968241008 meters 0.06498164529711355 Centerline is valid? [True, True] Translation: X:97.84, Y:-32.21, Z:-13.29 [[ 7.70558759e-01 6.33438374e-01 7.06754962e-02 9.78409185e+01] [-6.30753252e-01 7.73793078e-01 -5.82632712e-02 -3.22099890e+01] [-9.15944015e-02 3.16474903e-04 9.95796347e-01 -1.32940580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.99824100800001 meters 0.06492850868523913 Centerline is valid? [True, True] Translation: X:97.87, Y:-32.23, Z:-13.30 [[ 7.71794732e-01 6.31969931e-01 7.03341854e-02 9.78667932e+01] [-6.29302399e-01 7.74992741e-01 -5.80063983e-02 -3.22326974e+01] [-9.11667826e-02 5.07561087e-04 9.95835509e-01 -1.32975487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.02824100800001 meters 0.06469763964702993 Centerline is valid? [True, True] Translation: X:97.89, Y:-32.25, Z:-13.30 [[ 7.72309009e-01 6.31455796e-01 6.92991478e-02 9.78917950e+01] [-6.28860977e-01 7.75411653e-01 -5.71895152e-02 -3.22541060e+01] [-8.98480176e-02 5.88448068e-04 9.95955314e-01 -1.32994531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.05824100800001 meters 0.06461838436581506 Centerline is valid? [True, True] Translation: X:97.92, Y:-32.28, Z:-13.30 [[ 7.72495154e-01 6.31183473e-01 6.97040919e-02 9.79163744e+01] [-6.28554474e-01 7.75633293e-01 -5.75522977e-02 -3.22770815e+01] [-9.03908735e-02 6.46052192e-04 9.95906157e-01 -1.33029865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.08824100800001 meters 0.0646632982653295 Centerline is valid? [True, True] Translation: X:97.94, Y:-32.30, Z:-13.31 [[ 7.72459657e-01 6.31203654e-01 6.99144254e-02 9.79395107e+01] [-6.28555523e-01 7.75616847e-01 -5.77621010e-02 -3.22987053e+01] [-9.06864553e-02 6.73794446e-04 9.95879266e-01 -1.33065141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.11824100800001 meters 0.06589039861863139 Centerline is valid? [True, True] Translation: X:97.96, Y:-32.32, Z:-13.32 [[ 7.73592990e-01 6.29688744e-01 7.10350026e-02 9.79588939e+01] [-6.26945778e-01 7.76847023e-01 -5.87170666e-02 -3.23231052e+01] [-9.21568063e-02 8.88016130e-04 9.95744111e-01 -1.33166159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.14824100800001 meters 0.06449703220531035 Centerline is valid? [True, True] Translation: X:97.99, Y:-32.34, Z:-13.31 [[ 7.74247074e-01 6.28793666e-01 7.18330988e-02 9.79850417e+01] [-6.25981785e-01 7.77571517e-01 -5.94082590e-02 -3.23441736e+01] [-9.32109085e-02 1.03045928e-03 9.95645853e-01 -1.33109281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.17824100800001 meters 0.06450532297886967 Centerline is valid? [True, True] Translation: X:98.01, Y:-32.37, Z:-13.31 [[ 7.74688163e-01 6.28214862e-01 7.21410961e-02 9.80084611e+01] [-6.25375366e-01 7.78039106e-01 -5.96724562e-02 -3.23660995e+01] [-9.36157177e-02 1.11228109e-03 9.95607784e-01 -1.33145354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.20824100800002 meters 0.06459715972470934 Centerline is valid? [True, True] Translation: X:98.03, Y:-32.39, Z:-13.32 [[ 7.75177608e-01 6.27542161e-01 7.27359110e-02 9.80309124e+01] [-6.24649748e-01 7.78581615e-01 -6.01943569e-02 -3.23875790e+01] [-9.44053399e-02 1.22684908e-03 9.95533087e-01 -1.33172894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.23824100800002 meters 0.06496037408169267 Centerline is valid? [True, True] Translation: X:98.05, Y:-32.41, Z:-13.32 [[ 7.76368179e-01 6.26154358e-01 7.19942399e-02 9.80544727e+01] [-6.23312712e-01 7.79697866e-01 -5.96028541e-02 -3.24097529e+01] [-9.34543421e-02 1.39883434e-03 9.95622584e-01 -1.33219404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.26824100800002 meters 0.06512479406094336 Centerline is valid? [True, True] Translation: X:98.08, Y:-32.43, Z:-13.33 [[ 7.76645623e-01 6.25846188e-01 7.16807226e-02 9.80792710e+01] [-6.23025374e-01 7.79945154e-01 -5.93712133e-02 -3.24305332e+01] [-9.30642797e-02 1.45148394e-03 9.95659045e-01 -1.33279834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.298241008 meters 0.06515703157890944 Centerline is valid? [True, True] Translation: X:98.10, Y:-32.45, Z:-13.33 [[ 7.77104064e-01 6.25325468e-01 7.12554092e-02 9.81048577e+01] [-6.22533344e-01 7.80362563e-01 -5.90466458e-02 -3.24508311e+01] [-9.25284252e-02 1.52652020e-03 9.95708873e-01 -1.33323587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.328241008 meters 0.06588610123057613 Centerline is valid? [True, True] Translation: X:98.13, Y:-32.47, Z:-13.34 [[ 7.76916203e-01 6.25712294e-01 6.98951930e-02 9.81278060e+01] [-6.23024714e-01 7.80052527e-01 -5.79504977e-02 -3.24716567e+01] [-9.07822608e-02 1.47624802e-03 9.95869671e-01 -1.33404212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.35824100800001 meters 0.06543172305090077 Centerline is valid? [True, True] Translation: X:98.15, Y:-32.49, Z:-13.34 [[ 7.77108098e-01 6.25475180e-01 6.98842097e-02 9.81534752e+01] [-6.22786327e-01 7.80242595e-01 -5.79541463e-02 -3.24928973e+01] [-9.07755172e-02 1.51370611e-03 9.95870230e-01 -1.33422496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.38824100800001 meters 0.0663498887635708 Centerline is valid? [True, True] Translation: X:98.18, Y:-32.52, Z:-13.35 [[ 7.77864028e-01 6.24470196e-01 7.04594054e-02 9.81761871e+01] [-6.21729416e-01 7.81046847e-01 -5.84667106e-02 -3.25152122e+01] [-9.15428147e-02 1.67246602e-03 9.95799737e-01 -1.33485785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.41824100800001 meters 0.06663637701703112 Centerline is valid? [True, True] Translation: X:98.20, Y:-32.54, Z:-13.35 [[ 7.78383189e-01 6.23741650e-01 7.11755920e-02 9.81990865e+01] [-6.20938939e-01 7.81628502e-01 -5.90907699e-02 -3.25355036e+01] [-9.24902457e-02 1.79956539e-03 9.95711964e-01 -1.33525917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.44824100800001 meters 0.06569395618127172 Centerline is valid? [True, True] Translation: X:98.23, Y:-32.56, Z:-13.35 [[ 7.78600290e-01 6.23355142e-01 7.21800181e-02 9.82262492e+01] [-6.20469043e-01 7.81936573e-01 -5.99446684e-02 -3.25564864e+01] [-9.38070132e-02 1.88746950e-03 9.95588611e-01 -1.33514848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.47824100800001 meters 0.06548835004094516 Centerline is valid? [True, True] Translation: X:98.25, Y:-32.58, Z:-13.35 [[ 7.78838346e-01 6.22852902e-01 7.39262694e-02 9.82507234e+01] [-6.19819309e-01 7.82336350e-01 -6.14317444e-02 -3.25793318e+01] [-9.60981480e-02 2.02446897e-03 9.95369804e-01 -1.33506241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.50824100800001 meters 0.06552225492321777 Centerline is valid? [True, True] Translation: X:98.28, Y:-32.60, Z:-13.35 [[ 7.78720970e-01 6.22960298e-01 7.42571068e-02 9.82760582e+01] [-6.19896821e-01 7.82250781e-01 -6.17385432e-02 -3.25993663e+01] [-9.65483410e-02 2.04535380e-03 9.95326195e-01 -1.33538241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.53824100800001 meters 0.0652346975479373 Centerline is valid? [True, True] Translation: X:98.30, Y:-32.62, Z:-13.36 [[ 7.78129550e-01 6.23637074e-01 7.47743495e-02 9.83021764e+01] [-6.20530631e-01 7.81711454e-01 -6.22007925e-02 -3.26174397e+01] [-9.72426857e-02 2.00050036e-03 9.95258689e-01 -1.33579526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.56824100800002 meters 0.06504334908052502 Centerline is valid? [True, True] Translation: X:98.33, Y:-32.64, Z:-13.36 [[ 7.77309366e-01 6.24637198e-01 7.49567917e-02 9.83277477e+01] [-6.21517464e-01 7.80912770e-01 -6.23801861e-02 -3.26360307e+01] [-9.74997005e-02 1.90174777e-03 9.95233737e-01 -1.33615769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.59824100800002 meters 0.06500760788596623 Centerline is valid? [True, True] Translation: X:98.36, Y:-32.66, Z:-13.37 [[ 7.76405579e-01 6.25705640e-01 7.54110664e-02 9.83569148e+01] [-6.22550790e-01 7.80057196e-01 -6.27796474e-02 -3.26585680e+01] [-9.81065245e-02 1.79524951e-03 9.95174300e-01 -1.33664005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.62824100800002 meters 0.06493299311719544 Centerline is valid? [True, True] Translation: X:98.38, Y:-32.68, Z:-13.37 [[ 7.74922792e-01 6.27477196e-01 7.59410040e-02 9.83836283e+01] [-6.24280482e-01 7.78633239e-01 -6.32784257e-02 -3.26750977e+01] [-9.88359590e-02 1.62740767e-03 9.95102409e-01 -1.33726955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.65824100800002 meters 0.06493299311719544 Centerline is valid? [True, True] Translation: X:98.41, Y:-32.70, Z:-13.38 [[ 7.74773305e-01 6.27663449e-01 7.59270748e-02 9.84081743e+01] [-6.24465991e-01 7.78483110e-01 -6.32951338e-02 -3.26957912e+01] [-9.88359873e-02 1.62550400e-03 9.95102409e-01 -1.33767569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.688241008 meters 0.06494417396300765 Centerline is valid? [True, True] Translation: X:98.43, Y:-32.71, Z:-13.38 [[ 7.74111635e-01 6.28500082e-01 7.57550203e-02 9.84341278e+01] [-6.25317983e-01 7.77807994e-01 -6.31834228e-02 -3.27132275e+01] [-9.86336468e-02 1.54004621e-03 9.95122622e-01 -1.33824605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.718241008 meters 0.06457578789796094 Centerline is valid? [True, True] Translation: X:98.46, Y:-32.73, Z:-13.39 [[ 7.72199326e-01 6.30937826e-01 7.50044033e-02 9.84619408e+01] [-6.27827152e-01 7.75832406e-01 -6.25870964e-02 -3.27291026e+01] [-9.76794133e-02 1.23991277e-03 9.95217160e-01 -1.33866270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.74824100800001 meters 0.06415283462945326 Centerline is valid? [True, True] Translation: X:98.49, Y:-32.75, Z:-13.39 [[ 7.70725174e-01 6.32725292e-01 7.51093268e-02 9.84882747e+01] [-6.29613324e-01 7.74375657e-01 -6.26849553e-02 -3.27475532e+01] [-9.78251910e-02 1.02304014e-03 9.95203088e-01 -1.33889941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.77824100800001 meters 0.06412928938554374 Centerline is valid? [True, True] Translation: X:98.51, Y:-32.77, Z:-13.39 [[ 7.69515096e-01 6.34209129e-01 7.50019825e-02 9.85132518e+01] [-6.31110065e-01 7.73161073e-01 -6.26261996e-02 -3.27660770e+01] [-9.77067208e-02 8.57299938e-04 9.95214882e-01 -1.33938339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.80824100800001 meters 0.0638817544117225 Centerline is valid? [True, True] Translation: X:98.54, Y:-32.78, Z:-13.40 [[ 7.68286841e-01 6.35584448e-01 7.59456386e-02 9.85396802e+01] [-6.32412156e-01 7.72031035e-01 -6.34267033e-02 -3.27845762e+01] [-9.89454162e-02 7.00956470e-04 9.95092615e-01 -1.33958191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.83824100800001 meters 0.06366178544084693 Centerline is valid? [True, True] Translation: X:98.57, Y:-32.80, Z:-13.40 [[ 7.65354032e-01 6.38971384e-01 7.71283082e-02 9.85678763e+01] [-6.35713301e-01 7.69230450e-01 -6.44446549e-02 -3.27994267e+01] [-1.00507734e-01 2.91485100e-04 9.94936234e-01 -1.33991856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.86824100800001 meters 0.06333842700522503 Centerline is valid? [True, True] Translation: X:98.59, Y:-32.82, Z:-13.40 [[ 7.63978002e-01 6.40509181e-01 7.80102637e-02 9.85944495e+01] [-6.37180863e-01 7.67950504e-01 -6.52117462e-02 -3.28178113e+01] [-1.01676743e-01 1.13692447e-04 9.94817484e-01 -1.34009432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.89824100800001 meters 0.06328254170737038 Centerline is valid? [True, True] Translation: X:98.62, Y:-32.84, Z:-13.40 [[ 7.62733176e-01 6.41866602e-01 7.90276394e-02 9.86211675e+01] [-6.38455017e-01 7.66816316e-01 -6.60903060e-02 -3.28373743e+01] [-1.03020844e-01 -4.63238768e-05 9.94679196e-01 -1.34040855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.92824100800001 meters 0.06322886065564787 Centerline is valid? [True, True] Translation: X:98.65, Y:-32.86, Z:-13.41 [[ 7.61614784e-01 6.43135267e-01 7.94981112e-02 9.86469588e+01] [-6.39686194e-01 7.65752565e-01 -6.65175258e-02 -3.28553811e+01] [-1.03655649e-01 -1.93113184e-04 9.94613226e-01 -1.34084231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.95824100800002 meters 0.0632561189041221 Centerline is valid? [True, True] Translation: X:98.68, Y:-32.87, Z:-13.41 [[ 7.58980630e-01 6.46142901e-01 8.02979098e-02 9.86757701e+01] [-6.42637538e-01 7.63216226e-01 -6.72159758e-02 -3.28718774e+01] [-1.04715793e-01 -5.86827370e-04 9.94502015e-01 -1.34098857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.98824100800002 meters 0.06343800514278522 Centerline is valid? [True, True] Translation: X:98.70, Y:-32.89, Z:-13.41 [[ 7.57600317e-01 6.47812899e-01 7.98762039e-02 9.87016564e+01] [-6.44350021e-01 7.61799074e-01 -6.68971019e-02 -3.28907831e+01] [-1.04186424e-01 -7.86968043e-04 9.94557474e-01 -1.34139162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.01824100800002 meters 0.06411502920294598 Centerline is valid? [True, True] Translation: X:98.73, Y:-32.91, Z:-13.42 [[ 7.56320948e-01 6.49329809e-01 7.96832574e-02 9.87274170e+01] [-6.45888549e-01 7.60506320e-01 -6.67691510e-02 -3.29084319e+01] [-1.03954821e-01 -9.67595919e-04 9.94581550e-01 -1.34208365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.048241008 meters 0.06440545463367872 Centerline is valid? [True, True] Translation: X:98.75, Y:-32.93, Z:-13.43 [[ 7.55018235e-01 6.50801012e-01 8.00344135e-02 9.87538934e+01] [-6.47334203e-01 7.59247468e-01 -6.70948040e-02 -3.29281189e+01] [-1.04431292e-01 -1.15121274e-03 9.94531437e-01 -1.34251938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.078241008 meters 0.06447138156500502 Centerline is valid? [True, True] Translation: X:98.78, Y:-32.95, Z:-13.43 [[ 7.54769639e-01 6.51113048e-01 7.98410312e-02 9.87777788e+01] [-6.47661081e-01 7.58979869e-01 -6.69677676e-02 -3.29474903e+01] [-1.04201323e-01 -1.16469081e-03 9.94555543e-01 -1.34297164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10824100800001 meters 0.06400382548590267 Centerline is valid? [True, True] Translation: X:98.80, Y:-32.97, Z:-13.43 [[ 7.55019577e-01 6.50790988e-01 8.01032345e-02 9.88004796e+01] [-6.47313105e-01 7.59256115e-01 -6.72004157e-02 -3.29704313e+01] [-1.04552296e-01 -1.11424395e-03 9.94518766e-01 -1.34317910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.13824100800001 meters 0.06384699208928335 Centerline is valid? [True, True] Translation: X:98.82, Y:-32.99, Z:-13.43 [[ 7.55403800e-01 6.50266806e-01 8.07352434e-02 9.88237676e+01] [-6.46727522e-01 7.59705223e-01 -6.77605063e-02 -3.29923542e+01] [-1.05397394e-01 -1.02715992e-03 9.94429653e-01 -1.34344518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.16824100800001 meters 0.06370653580972864 Centerline is valid? [True, True] Translation: X:98.85, Y:-33.01, Z:-13.44 [[ 7.56000605e-01 6.49485467e-01 8.14353335e-02 9.88465436e+01] [-6.45876626e-01 7.60373469e-01 -6.83781480e-02 -3.30144214e+01] [-1.06331880e-01 -9.03257155e-04 9.94330285e-01 -1.34384618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.19824100800001 meters 0.06339323916273391 Centerline is valid? [True, True] Translation: X:98.87, Y:-33.04, Z:-13.44 [[ 7.56790937e-01 6.48565495e-01 8.14265142e-02 9.88690277e+01] [-6.44949051e-01 7.61158481e-01 -6.83994688e-02 -3.30378235e+01] [-1.06340017e-01 -7.51855025e-04 9.94329541e-01 -1.34417235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.22824100800001 meters 0.06325798084926625 Centerline is valid? [True, True] Translation: X:98.89, Y:-33.06, Z:-13.45 [[ 7.58310375e-01 6.46917212e-01 8.03958652e-02 9.88888981e+01] [-6.43378904e-01 7.62560086e-01 -6.75699738e-02 -3.30621778e+01] [-1.05018857e-01 -4.85991491e-04 9.94470112e-01 -1.34469336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.25824100800001 meters 0.06307468588898592 Centerline is valid? [True, True] Translation: X:98.91, Y:-33.09, Z:-13.45 [[ 7.59365669e-01 6.45669654e-01 8.04641431e-02 9.89107976e+01] [-6.42116889e-01 7.63616793e-01 -6.76409187e-02 -3.30852103e+01] [-1.05117459e-01 -3.03193766e-04 9.94459767e-01 -1.34513520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.28824100800001 meters 0.06300330595461173 Centerline is valid? [True, True] Translation: X:98.93, Y:-33.11, Z:-13.46 [[ 7.60255625e-01 6.44615621e-01 8.05114075e-02 9.89336845e+01] [-6.41049802e-01 7.64506824e-01 -6.77086984e-02 -3.31082417e+01] [-1.05197605e-01 -1.35903032e-04 9.94451329e-01 -1.34558686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31824100800002 meters 0.06305431649693284 Centerline is valid? [True, True] Translation: X:98.96, Y:-33.13, Z:-13.46 [[ 7.61908003e-01 6.42721144e-01 8.00357785e-02 9.89554813e+01] [-6.39183525e-01 7.66100195e-01 -6.73417691e-02 -3.31319834e+01] [-1.04597404e-01 1.50681839e-04 9.94514636e-01 -1.34612990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34824100800002 meters 0.06327974938387991 Centerline is valid? [True, True] Translation: X:98.97, Y:-33.16, Z:-13.46 [[ 7.65215623e-01 6.38755952e-01 8.02239604e-02 9.89727349e+01] [-6.35176862e-01 7.69409072e-01 -6.75280276e-02 -3.31613060e+01] [-1.04858972e-01 7.17098303e-04 9.94486843e-01 -1.34643281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37824100800002 meters 0.06357423491688845 Centerline is valid? [True, True] Translation: X:98.99, Y:-33.19, Z:-13.47 [[ 7.66859938e-01 6.36828509e-01 7.98453867e-02 9.89923859e+01] [-6.33269549e-01 7.71004832e-01 -6.72400764e-02 -3.31859992e+01] [-1.04381577e-01 1.00006877e-03 9.94536820e-01 -1.34679986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40824100800002 meters 0.06408442762150744 Centerline is valid? [True, True] Translation: X:99.01, Y:-33.21, Z:-13.47 [[ 7.69077201e-01 6.34166319e-01 7.97078350e-02 9.90124818e+01] [-6.30602727e-01 7.73195434e-01 -6.71492495e-02 -3.32113210e+01] [-1.04213526e-01 1.37897872e-03 9.94553990e-01 -1.34717333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.438241008 meters 0.06530481872872379 Centerline is valid? [True, True] Translation: X:99.03, Y:-33.24, Z:-13.48 [[ 7.72546625e-01 6.29799542e-01 8.07728233e-02 9.90311755e+01] [-6.26112963e-01 7.76755088e-01 -6.80741574e-02 -3.32388600e+01] [-1.05613775e-01 2.01754891e-03 9.94405179e-01 -1.34761216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.468241008 meters 0.06603245518349325 Centerline is valid? [True, True] Translation: X:99.05, Y:-33.26, Z:-13.48 [[ 7.74244707e-01 6.27645942e-01 8.12754874e-02 9.90532536e+01] [-6.23898214e-01 7.78495377e-01 -6.85271209e-02 -3.32633713e+01] [-1.06283361e-01 2.34912920e-03 9.94333108e-01 -1.34799351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.49824100800001 meters 0.06712709125380079 Centerline is valid? [True, True] Translation: X:99.07, Y:-33.29, Z:-13.48 [[ 7.76021738e-01 6.25418150e-01 8.15009141e-02 9.90730345e+01] [-6.21633579e-01 7.80285144e-01 -6.87516306e-02 -3.32873726e+01] [-1.06592470e-01 2.68905487e-03 9.94299157e-01 -1.34841400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.52824100800001 meters 0.06782867306419112 Centerline is valid? [True, True] Translation: X:99.10, Y:-33.31, Z:-13.49 [[ 7.77740274e-01 6.23172353e-01 8.23181925e-02 9.90953799e+01] [-6.19297327e-01 7.82078635e-01 -6.94537903e-02 -3.33114706e+01] [-1.07660982e-01 3.03757339e-03 9.94183025e-01 -1.34861302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.55824100800001 meters 0.06606108974671349 Centerline is valid? [True, True] Translation: X:99.12, Y:-33.33, Z:-13.48 [[ 7.80059273e-01 6.20242455e-01 8.25035067e-02 9.91245124e+01] [-6.16330611e-01 7.84402476e-01 -6.96371526e-02 -3.33312431e+01] [-1.07907873e-01 3.47166991e-03 9.94154836e-01 -1.34841425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.58824100800001 meters 0.06649401152822722 Centerline is valid? [True, True] Translation: X:99.15, Y:-33.35, Z:-13.49 [[ 7.80271393e-01 6.19947666e-01 8.27130294e-02 9.91492594e+01] [-6.16009208e-01 7.84635096e-01 -6.98600158e-02 -3.33526804e+01] [-1.08209099e-01 3.55778401e-03 9.94121790e-01 -1.34885457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.61824100800001 meters 0.06636781907242356 Centerline is valid? [True, True] Translation: X:99.17, Y:-33.37, Z:-13.49 [[ 7.80067688e-01 6.20285777e-01 8.20972427e-02 9.91740876e+01] [-6.16404128e-01 7.84368042e-01 -6.93738094e-02 -3.33725563e+01] [-1.07426041e-01 3.51118778e-03 9.94206879e-01 -1.34925116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.64824100800001 meters 0.06533735855863411 Centerline is valid? [True, True] Translation: X:99.20, Y:-33.39, Z:-13.50 [[ 7.79792279e-01 6.20677133e-01 8.17551103e-02 9.92017399e+01] [-6.16826635e-01 7.84058591e-01 -6.91160530e-02 -3.33905635e+01] [-1.06999550e-01 3.46743493e-03 9.94253023e-01 -1.34953680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.67824100800001 meters 0.06533718945878643 Centerline is valid? [True, True] Translation: X:99.23, Y:-33.41, Z:-13.50 [[ 7.78299888e-01 6.22659963e-01 8.08940962e-02 9.92286555e+01] [-6.18897264e-01 7.82486039e-01 -6.84235005e-02 -3.34070921e+01] [-1.05903075e-01 3.18886802e-03 9.94371344e-01 -1.35026363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.70824100800002 meters 0.06595953570002819 Centerline is valid? [True, True] Translation: X:99.25, Y:-33.43, Z:-13.51 [[ 7.77034995e-01 6.24294192e-01 8.04573111e-02 9.92525556e+01] [-6.20577390e-01 7.81183658e-01 -6.80866833e-02 -3.34266682e+01] [-1.05358058e-01 2.97574746e-03 9.94429899e-01 -1.35101853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.73824100800002 meters 0.0657063485656986 Centerline is valid? [True, True] Translation: X:99.28, Y:-33.44, Z:-13.52 [[ 7.75992119e-01 6.25615305e-01 8.02603374e-02 9.92789612e+01] [-6.21920266e-01 7.80126633e-01 -6.79530647e-02 -3.34447071e+01] [-1.05125704e-01 2.81551222e-03 9.94454956e-01 -1.35156798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.76824100800002 meters 0.06557709082334935 Centerline is valid? [True, True] Translation: X:99.31, Y:-33.46, Z:-13.52 [[ 7.74920428e-01 6.27057459e-01 7.93553654e-02 9.93057870e+01] [-6.23450194e-01 7.78968628e-01 -6.72140747e-02 -3.34633782e+01] [-1.03962427e-01 2.61144159e-03 9.94577797e-01 -1.35216627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.798241008 meters 0.06445855903996964 Centerline is valid? [True, True] Translation: X:99.34, Y:-33.48, Z:-13.53 [[ 7.72413098e-01 6.30262120e-01 7.84070538e-02 9.93362681e+01] [-6.26753569e-01 7.76379353e-01 -6.64459552e-02 -3.34789710e+01] [-1.02751986e-01 2.18182529e-03 9.94704614e-01 -1.35254726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.828241008 meters 0.06454716523150734 Centerline is valid? [True, True] Translation: X:99.36, Y:-33.50, Z:-13.53 [[ 7.71266278e-01 6.31773363e-01 7.75290023e-02 9.93611415e+01] [-6.28347947e-01 7.75150630e-01 -6.57294363e-02 -3.34972735e+01] [-1.01622762e-01 1.97970831e-03 9.94821037e-01 -1.35318601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.85824100800001 meters 0.06433284842575197 Centerline is valid? [True, True] Translation: X:99.39, Y:-33.51, Z:-13.54 [[ 7.69635719e-01 6.33834748e-01 7.69049614e-02 9.93874543e+01] [-6.30471361e-01 7.73466585e-01 -6.52326998e-02 -3.35148482e+01] [-1.00830170e-01 1.71904007e-03 9.94902167e-01 -1.35363222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.88824100800001 meters 0.06463151023041777 Centerline is valid? [True, True] Translation: X:99.41, Y:-33.53, Z:-13.54 [[ 7.67704734e-01 6.36146611e-01 7.71163443e-02 9.94117714e+01] [-6.32773005e-01 7.71566849e-01 -6.54440355e-02 -3.35328172e+01] [-1.01132416e-01 1.44455500e-03 9.94871925e-01 -1.35447271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.91824100800001 meters 0.06381581753878503 Centerline is valid? [True, True] Translation: X:99.44, Y:-33.55, Z:-13.55 [[ 7.63942747e-01 6.40622068e-01 7.74263893e-02 9.94422727e+01] [-6.37241369e-01 7.67855844e-01 -6.57331074e-02 -3.35462137e+01] [-1.01562385e-01 8.77032325e-04 9.94828786e-01 -1.35469398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.94824100800001 meters 0.06369678591600932 Centerline is valid? [True, True] Translation: X:99.47, Y:-33.56, Z:-13.55 [[ 7.61424409e-01 6.43538568e-01 7.80447373e-02 9.94688281e+01] [-6.40115770e-01 7.65413514e-01 -6.62869056e-02 -3.35639206e+01] [-1.02394677e-01 5.14800813e-04 9.94743718e-01 -1.35506554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.97824100800001 meters 0.06363234858851421 Centerline is valid? [True, True] Translation: X:99.50, Y:-33.58, Z:-13.55 [[ 7.58947077e-01 6.46459150e-01 7.80378266e-02 9.94961205e+01] [-6.43049473e-01 7.62948588e-01 -6.63085769e-02 -3.35825828e+01] [-1.02404636e-01 1.42517338e-04 9.94742816e-01 -1.35548244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.00824100800001 meters 0.06341284987519294 Centerline is valid? [True, True] Translation: X:99.52, Y:-33.60, Z:-13.55 [[ 7.56519050e-01 6.49288664e-01 7.81227089e-02 9.95241563e+01] [-6.45883235e-01 7.60542033e-01 -6.64128213e-02 -3.36013860e+01] [-1.02536696e-01 -2.15583474e-04 9.94729199e-01 -1.35542546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.03824100800001 meters 0.06433104241953325 Centerline is valid? [True, True] Translation: X:99.55, Y:-33.61, Z:-13.56 [[ 7.52053860e-01 6.54443387e-01 7.82230428e-02 9.95530856e+01] [-6.51053068e-01 7.56110482e-01 -6.65345063e-02 -3.36149144e+01] [-1.02688330e-01 -8.89819723e-04 9.94713182e-01 -1.35603384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.06824100800002 meters 0.06464614607115117 Centerline is valid? [True, True] Translation: X:99.58, Y:-33.63, Z:-13.57 [[ 7.50194121e-01 6.56634486e-01 7.77170095e-02 9.95798986e+01] [-6.53296641e-01 7.54208067e-01 -6.61338831e-02 -3.36346201e+01] [-1.02040584e-01 -1.15901095e-03 9.94779561e-01 -1.35662801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.09824100800002 meters 0.06511435439734348 Centerline is valid? [True, True] Translation: X:99.61, Y:-33.66, Z:-13.57 [[ 7.49056512e-01 6.57904090e-01 7.79522311e-02 9.96051023e+01] [-6.54548610e-01 7.53100594e-01 -6.63747867e-02 -3.36557422e+01] [-1.02374115e-01 -1.30505828e-03 9.94745112e-01 -1.35702881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.12824100800002 meters 0.0650944289199912 Centerline is valid? [True, True] Translation: X:99.63, Y:-33.68, Z:-13.57 [[ 7.48602336e-01 6.58334427e-01 7.86786152e-02 9.96291166e+01] [-6.54914546e-01 7.52724359e-01 -6.70296616e-02 -3.36778697e+01] [-1.03351244e-01 -1.34920837e-03 9.94644007e-01 -1.35742589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.15824100800002 meters 0.06511645167301625 Centerline is valid? [True, True] Translation: X:99.65, Y:-33.70, Z:-13.58 [[ 7.49210011e-01 6.57720928e-01 7.80226949e-02 9.96504733e+01] [-6.54351133e-01 7.53260694e-01 -6.65050459e-02 -3.37014527e+01] [-1.02513190e-01 -1.22799269e-03 9.94730887e-01 -1.35796825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.188241008 meters 0.0651267161529946 Centerline is valid? [True, True] Translation: X:99.67, Y:-33.72, Z:-13.58 [[ 7.49808136e-01 6.57054222e-01 7.78942067e-02 9.96729382e+01] [-6.53688464e-01 7.53842502e-01 -6.64294660e-02 -3.37242824e+01] [-1.02367725e-01 -1.10919021e-03 9.94746007e-01 -1.35840967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.218241008 meters 0.06487503014216014 Centerline is valid? [True, True] Translation: X:99.70, Y:-33.75, Z:-13.59 [[ 7.50496952e-01 6.56220757e-01 7.82856516e-02 9.96950557e+01] [-6.52813332e-01 7.54568329e-01 -6.67936419e-02 -3.37487541e+01] [-1.02903248e-01 -9.77492436e-04 9.94690890e-01 -1.35877513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.24824100800001 meters 0.0648940972061352 Centerline is valid? [True, True] Translation: X:99.71, Y:-33.78, Z:-13.59 [[ 7.52804768e-01 6.53657885e-01 7.75651429e-02 9.97138130e+01] [-6.50296029e-01 7.56789941e-01 -6.62122304e-02 -3.37758490e+01] [-1.01980666e-01 -5.95421755e-04 9.94786203e-01 -1.35933878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.27824100800001 meters 0.06488219925555913 Centerline is valid? [True, True] Translation: X:99.73, Y:-33.80, Z:-13.60 [[ 7.53686469e-01 6.52778275e-01 7.64017689e-02 9.97347064e+01] [-6.49509011e-01 7.57548893e-01 -6.52511937e-02 -3.37998836e+01] [-1.00472637e-01 -4.44695562e-04 9.94939723e-01 -1.35985394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.30824100800001 meters 0.06507743320410207 Centerline is valid? [True, True] Translation: X:99.76, Y:-33.82, Z:-13.60 [[ 7.54886404e-01 6.51458152e-01 7.58207931e-02 9.97556033e+01] [-6.48228879e-01 7.58684530e-01 -6.47850574e-02 -3.38241286e+01] [-9.97288165e-02 -2.43868692e-04 9.95014625e-01 -1.36048947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.33824100800001 meters 0.06501542326623168 Centerline is valid? [True, True] Translation: X:99.78, Y:-33.85, Z:-13.61 [[ 7.55380553e-01 6.50970698e-01 7.50824260e-02 9.97779222e+01] [-6.47798819e-01 7.59102843e-01 -6.41838306e-02 -3.38476664e+01] [-9.87770760e-02 -1.55089442e-04 9.95109574e-01 -1.36087214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.36824100800001 meters 0.0651958127099707 Centerline is valid? [True, True] Translation: X:99.80, Y:-33.87, Z:-13.61 [[ 7.57093442e-01 6.49004849e-01 7.48480222e-02 9.97982896e+01] [-6.45839949e-01 7.60784260e-01 -6.40161666e-02 -3.38733899e+01] [-9.84899998e-02 1.26377076e-04 9.95138033e-01 -1.36129520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.39824100800001 meters 0.0651540952224383 Centerline is valid? [True, True] Translation: X:99.82, Y:-33.90, Z:-13.62 [[ 7.57548720e-01 6.48490625e-01 7.46983622e-02 9.98214143e+01] [-6.45332531e-01 7.61222609e-01 -6.39223223e-02 -3.38964252e+01] [-9.83151090e-02 2.18990300e-04 9.95155310e-01 -1.36167934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.42824100800001 meters 0.06537763720816853 Centerline is valid? [True, True] Translation: X:99.84, Y:-33.92, Z:-13.62 [[ 7.58322447e-01 6.47573104e-01 7.48073599e-02 9.98434564e+01] [-6.44397864e-01 7.62003242e-01 -6.40503849e-02 -3.39186146e+01] [-9.84807573e-02 3.65141658e-04 9.95138888e-01 -1.36225328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.45824100800002 meters 0.06536567693050627 Centerline is valid? [True, True] Translation: X:99.87, Y:-33.94, Z:-13.62 [[ 7.60073722e-01 6.45530570e-01 7.46874866e-02 9.98653607e+01] [-6.42352557e-01 7.63734153e-01 -6.39791834e-02 -3.39438669e+01] [-9.83419031e-02 6.53198099e-04 9.95152472e-01 -1.36243601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.48824100800002 meters 0.06548199823062822 Centerline is valid? [True, True] Translation: X:99.89, Y:-33.97, Z:-13.63 [[ 7.60634910e-01 6.44807116e-01 7.52217874e-02 9.98887571e+01] [-6.41576435e-01 7.64344933e-01 -6.44709270e-02 -3.39673177e+01] [-9.90667046e-02 7.78311542e-04 9.95080490e-01 -1.36280692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.51824100800002 meters 0.06552238917897198 Centerline is valid? [True, True] Translation: X:99.91, Y:-33.99, Z:-13.63 [[ 7.60919034e-01 6.44482397e-01 7.51309768e-02 9.99119881e+01] [-6.41254948e-01 7.64618683e-01 -6.44232947e-02 -3.39884094e+01] [-9.89662279e-02 8.42800527e-04 9.95090436e-01 -1.36320305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.548241008 meters 0.06566357077468842 Centerline is valid? [True, True] Translation: X:99.94, Y:-34.01, Z:-13.64 [[ 7.61047097e-01 6.44308008e-01 7.53293243e-02 9.99368058e+01] [-6.41059437e-01 7.64765581e-01 -6.46250978e-02 -3.40082535e+01] [-9.92477426e-02 8.92168815e-04 9.95062355e-01 -1.36371608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.578241008 meters 0.06566357077468842 Centerline is valid? [True, True] Translation: X:99.96, Y:-34.03, Z:-13.64 [[ 7.60886343e-01 6.44499586e-01 7.53143938e-02 9.99610419e+01] [-6.41250229e-01 7.64604141e-01 -6.46424923e-02 -3.40292902e+01] [-9.92477568e-02 8.90217212e-04 9.95062355e-01 -1.36412219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.60824100800001 meters 0.06593091264302453 Centerline is valid? [True, True] Translation: X:99.99, Y:-34.05, Z:-13.65 [[ 7.61606741e-01 6.43831582e-01 7.37296834e-02 9.99868189e+01] [-6.40711686e-01 7.65166605e-01 -6.33135249e-02 -3.40485664e+01] [-9.71787384e-02 9.80537529e-04 9.95266463e-01 -1.36472039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.63824100800001 meters 0.06622746581590652 Centerline is valid? [True, True] Translation: X:100.01, Y:-34.07, Z:-13.65 [[ 7.62244208e-01 6.43185418e-01 7.27755750e-02 1.00010482e+02] [-6.40139952e-01 7.65709714e-01 -6.25258042e-02 -3.40702574e+01] [-9.59406503e-02 1.07337903e-03 9.95386477e-01 -1.36525313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.66824100800001 meters 0.06659664773918221 Centerline is valid? [True, True] Translation: X:100.04, Y:-34.09, Z:-13.66 [[ 7.62616001e-01 6.42844745e-01 7.18851068e-02 1.00035886e+02] [-6.39869388e-01 7.65995673e-01 -6.17883058e-02 -3.40932435e+01] [-9.47839685e-02 1.12367144e-03 9.95497231e-01 -1.36583170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.69824100800001 meters 0.06717078770055318 Centerline is valid? [True, True] Translation: X:100.06, Y:-34.11, Z:-13.67 [[ 7.62830213e-01 6.42621666e-01 7.16062856e-02 1.00058195e+02] [-6.39664314e-01 7.66182747e-01 -6.15919193e-02 -3.41148427e+01] [-9.44438024e-02 1.18019137e-03 9.95529495e-01 -1.36657561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.72824100800001 meters 0.06711771012639375 Centerline is valid? [True, True] Translation: X:100.08, Y:-34.14, Z:-13.67 [[ 7.63819014e-01 6.41639610e-01 6.98507356e-02 1.00082146e+02] [-6.38819158e-01 7.67005180e-01 -6.01093827e-02 -3.41377751e+01] [-9.21444368e-02 1.29070128e-03 9.95744815e-01 -1.36684495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.75824100800001 meters 0.06683966451843194 Centerline is valid? [True, True] Translation: X:100.11, Y:-34.16, Z:-13.67 [[ 7.64384694e-01 6.40972382e-01 6.97885756e-02 1.00106646e+02] [-6.38151308e-01 7.67562677e-01 -6.00869812e-02 -3.41591832e+01] [-9.20812013e-02 1.39389791e-03 9.95750526e-01 -1.36699678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.78824100800001 meters 0.0677018472454171 Centerline is valid? [True, True] Translation: X:100.13, Y:-34.18, Z:-13.68 [[ 7.64908941e-01 6.40409060e-01 6.92137879e-02 1.00128287e+02] [-6.37629140e-01 7.68032592e-01 -5.96239673e-02 -3.41819014e+01] [-9.13421738e-02 1.47417763e-03 9.95818474e-01 -1.36788506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.81824100800002 meters 0.06725424260086797 Centerline is valid? [True, True] Translation: X:100.16, Y:-34.20, Z:-13.68 [[ 7.65458834e-01 6.39751293e-01 6.92174556e-02 1.00155961e+02] [-6.36966049e-01 7.68580386e-01 -5.96526857e-02 -3.42032962e+01] [-9.13620616e-02 1.57250609e-03 9.95816500e-01 -1.36801256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.84824100800002 meters 0.0673761561631078 Centerline is valid? [True, True] Translation: X:100.18, Y:-34.22, Z:-13.69 [[ 7.65780262e-01 6.39303500e-01 6.97970292e-02 1.00180475e+02] [-6.36465068e-01 7.68952681e-01 -6.01995996e-02 -3.42230365e+01] [-9.21564274e-02 1.67629428e-03 9.95743131e-01 -1.36850524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.87824100800002 meters 0.06691095280810774 Centerline is valid? [True, True] Translation: X:100.21, Y:-34.24, Z:-13.69 [[ 7.65092977e-01 6.40065261e-01 7.03505415e-02 1.00206074e+02] [-6.37183263e-01 7.68318861e-01 -6.06928096e-02 -3.42435893e+01] [-9.28990068e-02 1.60945476e-03 9.95674236e-01 -1.36868078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.90824100800002 meters 0.06684905290728708 Centerline is valid? [True, True] Translation: X:100.23, Y:-34.26, Z:-13.69 [[ 7.64028792e-01 6.41250603e-01 7.11172919e-02 1.00229572e+02] [-6.38307203e-01 7.67330041e-01 -6.13883055e-02 -3.42641913e+01] [-9.39357224e-02 1.50775330e-03 9.95577122e-01 -1.36894134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.938241008 meters 0.06639028644587446 Centerline is valid? [True, True] Translation: X:100.25, Y:-34.28, Z:-13.69 [[ 7.62050262e-01 6.43504142e-01 7.19848450e-02 1.00254438e+02] [-6.40495576e-01 7.65441580e-01 -6.21659418e-02 -3.42830429e+01] [-9.51042346e-02 1.26759737e-03 9.95466513e-01 -1.36928060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.968241008 meters 0.0656555477942661 Centerline is valid? [True, True] Translation: X:100.29, Y:-34.30, Z:-13.70 [[ 7.57909788e-01 6.48245519e-01 7.31471197e-02 1.00289342e+02] [-6.45159438e-01 7.61431064e-01 -6.31825506e-02 -3.43020739e+01] [-9.66542945e-02 6.95118885e-04 9.95317770e-01 -1.36956529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.99824100800001 meters 0.06552938768029323 Centerline is valid? [True, True] Translation: X:100.32, Y:-34.32, Z:-13.70 [[ 7.54699527e-01 6.51952664e-01 7.33917419e-02 1.00315763e+02] [-6.48853659e-01 7.58259610e-01 -6.34924621e-02 -3.43177331e+01] [-9.70440734e-02 2.97230825e-04 9.95280041e-01 -1.37015336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.02824100800001 meters 0.06567085387685918 Centerline is valid? [True, True] Translation: X:100.34, Y:-34.34, Z:-13.71 [[ 7.51823619e-01 6.55252368e-01 7.35226484e-02 1.00343362e+02] [-6.52155520e-01 7.55410036e-01 -6.36306208e-02 -3.43354473e+01] [-9.72338614e-02 -1.09197413e-04 9.95261556e-01 -1.37059579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.05824100800001 meters 0.06592226672402274 Centerline is valid? [True, True] Translation: X:100.37, Y:-34.35, Z:-13.71 [[ 7.49514432e-01 6.57949904e-01 7.30071304e-02 1.00369586e+02] [-6.54906021e-01 7.53061577e-01 -6.32168126e-02 -3.43541473e+01] [-9.65723605e-02 -4.30895887e-04 9.95325873e-01 -1.37100499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.08824100800001 meters 0.0661632005376247 Centerline is valid? [True, True] Translation: X:100.40, Y:-34.37, Z:-13.71 [[ 7.47267272e-01 6.60484007e-01 7.31607919e-02 1.00395509e+02] [-6.57436651e-01 7.50839751e-01 -6.33775855e-02 -3.43732323e+01] [-9.67919124e-02 -7.38590615e-04 9.95304366e-01 -1.37143058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.11824100800001 meters 0.06634794386087009 Centerline is valid? [True, True] Translation: X:100.42, Y:-34.40, Z:-13.72 [[ 7.46458084e-01 6.61458359e-01 7.26165822e-02 1.00423022e+02] [-6.58458547e-01 7.49981422e-01 -6.29301843e-02 -3.43953436e+01] [-9.60867840e-02 -8.40264401e-04 9.95372606e-01 -1.37199723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14824100800001 meters 0.0662351855404032 Centerline is valid? [True, True] Translation: X:100.45, Y:-34.42, Z:-13.72 [[ 7.46257501e-01 6.61562192e-01 7.37238673e-02 1.00446777e+02] [-6.58465003e-01 7.49889850e-01 -6.39457077e-02 -3.44166412e+01] [-9.75888423e-02 -8.24622442e-04 9.95226476e-01 -1.37235166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17824100800001 meters 0.06564416171322361 Centerline is valid? [True, True] Translation: X:100.47, Y:-34.44, Z:-13.72 [[ 7.47424027e-01 6.60021907e-01 7.56862308e-02 1.00467064e+02] [-6.56746237e-01 7.51246099e-01 -6.56786045e-02 -3.44409014e+01] [-1.00208303e-01 -6.16880230e-04 9.94966289e-01 -1.37242250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.20824100800002 meters 0.06482383483827506 Centerline is valid? [True, True] Translation: X:100.49, Y:-34.47, Z:-13.72 [[ 7.48426353e-01 6.58616816e-01 7.79864356e-02 1.00489661e+02] [-6.55128127e-01 7.52478380e-01 -6.77009961e-02 -3.44663406e+01] [-1.03272121e-01 -4.21897948e-04 9.94653051e-01 -1.37197543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.23824100800002 meters 0.06462379501015415 Centerline is valid? [True, True] Translation: X:100.51, Y:-34.49, Z:-13.72 [[ 7.48957176e-01 6.58059579e-01 7.75934238e-02 1.00513119e+02] [-6.54599329e-01 7.52965796e-01 -6.73960511e-02 -3.44880472e+01] [-1.02775811e-01 -3.15847111e-04 9.94704495e-01 -1.37234122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.26824100800002 meters 0.06487799671786615 Centerline is valid? [True, True] Translation: X:100.54, Y:-34.51, Z:-13.73 [[ 7.49034634e-01 6.57994537e-01 7.73970706e-02 1.00538688e+02] [-6.54548031e-01 7.53022649e-01 -6.72589388e-02 -3.45081173e+01] [-1.02537761e-01 -2.80825563e-04 9.94729073e-01 -1.37288039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.298241008 meters 0.06529547522011118 Centerline is valid? [True, True] Translation: X:100.57, Y:-34.52, Z:-13.74 [[ 7.48346292e-01 6.58929786e-01 7.60878689e-02 1.00565571e+02] [-6.55600747e-01 7.52204357e-01 -6.61533521e-02 -3.45246063e+01] [-1.00824041e-01 -3.77647913e-04 9.94904202e-01 -1.37391655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.328241008 meters 0.06565032010391728 Centerline is valid? [True, True] Translation: X:100.59, Y:-34.54, Z:-13.75 [[ 7.48264602e-01 6.59095288e-01 7.54551983e-02 1.00590690e+02] [-6.55819874e-01 7.52059345e-01 -6.56280041e-02 -3.45444484e+01] [-1.00001895e-01 -3.77906256e-04 9.94987175e-01 -1.37456787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35824100800001 meters 0.06585842330106996 Centerline is valid? [True, True] Translation: X:100.61, Y:-34.56, Z:-13.75 [[ 7.48190166e-01 6.59236405e-01 7.49589052e-02 1.00614810e+02] [-6.56001245e-01 7.51935654e-01 -6.52314325e-02 -3.45643780e+01] [-9.93672085e-02 -3.67618761e-04 9.95050764e-01 -1.37522946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38824100800001 meters 0.06588342393509954 Centerline is valid? [True, True] Translation: X:100.64, Y:-34.59, Z:-13.76 [[ 7.48110946e-01 6.59244030e-01 7.56790740e-02 1.00638211e+02] [-6.55943067e-01 7.51928978e-01 -6.58901006e-02 -3.45861182e+01] [-1.00342944e-01 -3.48058378e-04 9.94952849e-01 -1.37565796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41824100800001 meters 0.06544648834450216 Centerline is valid? [True, True] Translation: X:100.66, Y:-34.61, Z:-13.76 [[ 7.48169896e-01 6.59069892e-01 7.66073424e-02 1.00658681e+02] [-6.55682591e-01 7.52081636e-01 -6.67349426e-02 -3.46109950e+01] [-1.01597967e-01 -3.01025657e-04 9.94825494e-01 -1.37564615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44824100800001 meters 0.06535432490938005 Centerline is valid? [True, True] Translation: X:100.68, Y:-34.63, Z:-13.76 [[ 7.48099221e-01 6.59220442e-01 7.59997657e-02 1.00682469e+02] [-6.55885683e-01 7.51949677e-01 -6.62242701e-02 -3.46338511e+01] [-1.00804392e-01 -3.04833356e-04 9.94906218e-01 -1.37595593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47824100800001 meters 0.06535605904297899 Centerline is valid? [True, True] Translation: X:100.71, Y:-34.66, Z:-13.76 [[ 7.47769917e-01 6.59571672e-01 7.61929155e-02 1.00707740e+02] [-6.56218275e-01 7.51641605e-01 -6.64264451e-02 -3.46563416e+01] [-1.01082767e-01 -3.27486277e-04 9.94877966e-01 -1.37639989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.50824100800001 meters 0.0657333429655064 Centerline is valid? [True, True] Translation: X:100.73, Y:-34.68, Z:-13.77 [[ 7.47263992e-01 6.60319927e-01 7.46600292e-02 1.00731979e+02] [-6.57100217e-01 7.50984315e-01 -6.51295887e-02 -3.46751307e+01] [-9.90748762e-02 -3.90124964e-04 9.95079905e-01 -1.37717602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.53824100800001 meters 0.06610665181174899 Centerline is valid? [True, True] Translation: X:100.76, Y:-34.70, Z:-13.78 [[ 7.46931045e-01 6.60819693e-01 7.35618592e-02 1.00757322e+02] [-6.57693947e-01 7.50544569e-01 -6.41990879e-02 -3.46954667e+01] [-9.76354754e-02 -4.28897745e-04 9.95222151e-01 -1.37792200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.56824100800002 meters 0.06636478448752024 Centerline is valid? [True, True] Translation: X:100.78, Y:-34.72, Z:-13.79 [[ 7.46627560e-01 6.61199781e-01 7.32266133e-02 1.00781520e+02] [-6.58101068e-01 7.50209735e-01 -6.39401143e-02 -3.47150023e+01] [-9.72125078e-02 -4.51060860e-04 9.95263545e-01 -1.37856778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.59824100800002 meters 0.06677122902688118 Centerline is valid? [True, True] Translation: X:100.81, Y:-34.73, Z:-13.79 [[ 7.46078462e-01 6.61991181e-01 7.16561586e-02 1.00805980e+02] [-6.59025299e-01 7.49511444e-01 -6.25959339e-02 -3.47348981e+01] [-9.51450671e-02 -5.21743186e-04 9.95463281e-01 -1.37927563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.62824100800002 meters 0.0669912255166868 Centerline is valid? [True, True] Translation: X:100.83, Y:-34.76, Z:-13.80 [[ 7.45636240e-01 6.62544453e-01 7.11438353e-02 1.00828973e+02] [-6.59620868e-01 7.49022380e-01 -6.21754375e-02 -3.47561651e+01] [-9.44823161e-02 -5.67698953e-04 9.95526378e-01 -1.37978563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.65824100800002 meters 0.06645285386516919 Centerline is valid? [True, True] Translation: X:100.85, Y:-34.78, Z:-13.80 [[ 7.45409365e-01 6.62822928e-01 7.09270389e-02 1.00852397e+02] [-6.59915897e-01 7.48775954e-01 -6.20127401e-02 -3.47801035e+01] [-9.42119272e-02 -5.81003326e-04 9.95551995e-01 -1.37955246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.688241008 meters 0.06672202730358844 Centerline is valid? [True, True] Translation: X:100.88, Y:-34.80, Z:-13.80 [[ 7.44842984e-01 6.63360883e-01 7.18419614e-02 1.00875942e+02] [-6.60377338e-01 7.48299365e-01 -6.28476795e-02 -3.48006122e+01] [-9.54499863e-02 -6.31150042e-04 9.95434027e-01 -1.38025864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.718241008 meters 0.06605950611060733 Centerline is valid? [True, True] Translation: X:100.90, Y:-34.82, Z:-13.80 [[ 7.44307931e-01 6.63838709e-01 7.29648783e-02 1.00900625e+02] [-6.60760141e-01 7.47875462e-01 -6.38617969e-02 -3.48235684e+01] [-9.69625749e-02 -6.79441321e-04 9.95287796e-01 -1.38000035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74824100800001 meters 0.06600633288613009 Centerline is valid? [True, True] Translation: X:100.93, Y:-34.84, Z:-13.80 [[ 7.42943411e-01 6.65169710e-01 7.47284753e-02 1.00925228e+02] [-6.61943114e-01 7.46691731e-01 -6.54428996e-02 -3.48432552e+01] [-9.93297691e-02 -8.45628541e-04 9.95054211e-01 -1.38028674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77824100800001 meters 0.0661688314277041 Centerline is valid? [True, True] Translation: X:100.95, Y:-34.86, Z:-13.81 [[ 7.42477182e-01 6.65603335e-01 7.54972520e-02 1.00949277e+02] [-6.62308926e-01 7.46305172e-01 -6.61473909e-02 -3.48629464e+01] [-1.00371914e-01 -8.89575442e-04 9.94949591e-01 -1.38092626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80824100800001 meters 0.06619363201158349 Centerline is valid? [True, True] Translation: X:100.97, Y:-34.89, Z:-13.81 [[ 7.41822699e-01 6.66343655e-01 7.54003695e-02 1.00974940e+02] [-6.63058658e-01 7.45644149e-01 -6.60909812e-02 -3.48853255e+01] [-1.00261150e-01 -9.67077805e-04 9.94960686e-01 -1.38112758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83824100800001 meters 0.06622370493110079 Centerline is valid? [True, True] Translation: X:101.00, Y:-34.91, Z:-13.82 [[ 7.41338461e-01 6.66880381e-01 7.54177922e-02 1.00998988e+02] [-6.63592572e-01 7.45164101e-01 -6.61465108e-02 -3.49064881e+01] [-1.00310442e-01 -1.00973414e-03 9.94955675e-01 -1.38158618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86824100800001 meters 0.06611024297457473 Centerline is valid? [True, True] Translation: X:101.02, Y:-34.93, Z:-13.82 [[ 7.42216795e-01 6.65837738e-01 7.59890472e-02 1.01020977e+02] [-6.62490761e-01 7.46096097e-01 -6.66828785e-02 -3.49308251e+01] [-1.01095109e-01 -8.48889284e-04 9.94876404e-01 -1.38190230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89824100800001 meters 0.06583033173865292 Centerline is valid? [True, True] Translation: X:101.04, Y:-34.95, Z:-13.82 [[ 7.43004726e-01 6.64980023e-01 7.57993878e-02 1.01043431e+02] [-6.61641777e-01 7.46860813e-01 -6.65513756e-02 -3.49544619e+01] [-1.00866928e-01 -7.04055058e-04 9.94899677e-01 -1.38224073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92824100800001 meters 0.06603309149982142 Centerline is valid? [True, True] Translation: X:101.07, Y:-34.98, Z:-13.83 [[ 7.43864977e-01 6.64024462e-01 7.57390892e-02 1.01065478e+02] [-6.60682980e-01 7.47710649e-01 -6.65340960e-02 -3.49767726e+01] [-1.00811191e-01 -5.47143327e-04 9.94905425e-01 -1.38291093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95824100800002 meters 0.06548924348205767 Centerline is valid? [True, True] Translation: X:101.09, Y:-35.00, Z:-13.83 [[ 7.45802057e-01 6.61717889e-01 7.68682383e-02 1.01086143e+02] [-6.58260066e-01 7.49752886e-01 -6.75595741e-02 -3.50027247e+01] [-1.02337562e-01 -2.13222275e-04 9.94749706e-01 -1.38281673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98824100800002 meters 0.06537289497979538 Centerline is valid? [True, True] Translation: X:101.11, Y:-35.03, Z:-13.83 [[ 7.46550968e-01 6.60848636e-01 7.70761440e-02 1.01108424e+02] [-6.57363871e-01 7.50519204e-01 -6.77765897e-02 -3.50257930e+01] [-1.02637193e-01 -6.83937443e-05 9.94718856e-01 -1.38326283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01824100800002 meters 0.06536245485038271 Centerline is valid? [True, True] Translation: X:101.13, Y:-35.05, Z:-13.84 [[ 7.47125159e-01 6.60176728e-01 7.72702041e-02 1.01132110e+02] [-6.56667321e-01 7.51110302e-01 -6.79804696e-02 -3.50485012e+01] [-1.02917570e-01 4.91013258e-05 9.94689887e-01 -1.38374038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04824100800002 meters 0.0653452566192989 Centerline is valid? [True, True] Translation: X:101.16, Y:-35.07, Z:-13.84 [[ 7.47091992e-01 6.60223324e-01 7.71927307e-02 1.01156127e+02] [-6.56717550e-01 7.51069343e-01 -6.79477875e-02 -3.50699338e+01] [-1.02837808e-01 6.94269110e-05 9.94698135e-01 -1.38423293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.078241008 meters 0.06541172119095505 Centerline is valid? [True, True] Translation: X:101.18, Y:-35.09, Z:-13.85 [[ 7.47656550e-01 6.59569564e-01 7.73154216e-02 1.01179663e+02] [-6.56045439e-01 7.51643503e-01 -6.80913057e-02 -3.50913921e+01] [-1.03024587e-01 1.86480967e-04 9.94678792e-01 -1.38482477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10824100800001 meters 0.06551777811816481 Centerline is valid? [True, True] Translation: X:101.20, Y:-35.11, Z:-13.85 [[ 7.47558146e-01 6.59646661e-01 7.76086377e-02 1.01202873e+02] [-6.56092356e-01 7.51575838e-01 -6.83855257e-02 -3.51129965e+01] [-1.03439061e-01 2.03722907e-04 9.94635772e-01 -1.38532468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13824100800001 meters 0.06544434458833487 Centerline is valid? [True, True] Translation: X:101.23, Y:-35.14, Z:-13.86 [[ 7.47399962e-01 6.59909339e-01 7.68957746e-02 1.01226528e+02] [-6.56418547e-01 7.51345213e-01 -6.77868881e-02 -3.51373543e+01] [-1.02508473e-01 1.88104959e-04 9.94732114e-01 -1.38566319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16824100800001 meters 0.06536676462976738 Centerline is valid? [True, True] Translation: X:101.25, Y:-35.16, Z:-13.86 [[ 7.47084115e-01 6.60244212e-01 7.70902434e-02 1.01252124e+02] [-6.56733148e-01 7.51050964e-01 -6.80001615e-02 -3.51603091e+01] [-1.02795415e-01 1.74122252e-04 9.94702504e-01 -1.38593109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19824100800001 meters 0.06548424095597412 Centerline is valid? [True, True] Translation: X:101.28, Y:-35.18, Z:-13.86 [[ 7.46016685e-01 6.61545761e-01 7.62647538e-02 1.01277085e+02] [-6.58111755e-01 7.49904798e-01 -6.73179997e-02 -3.51815468e+01] [-1.01725242e-01 2.96199953e-05 9.94812532e-01 -1.38632933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22824100800001 meters 0.06582222057337662 Centerline is valid? [True, True] Translation: X:101.30, Y:-35.20, Z:-13.87 [[ 7.44158991e-01 6.63762091e-01 7.51484058e-02 1.01301627e+02] [-6.60435799e-01 7.47943733e-01 -6.63681280e-02 -3.52010184e+01] [-1.00259427e-01 -2.42258194e-04 9.94961300e-01 -1.38701227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25824100800001 meters 0.06600689888198379 Centerline is valid? [True, True] Translation: X:101.33, Y:-35.22, Z:-13.88 [[ 7.42994676e-01 6.65144263e-01 7.44447586e-02 1.01325881e+02] [-6.61883926e-01 7.46714771e-01 -6.57778052e-02 -3.52200214e+01] [-9.93407306e-02 -4.01230042e-04 9.95053395e-01 -1.38758276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28824100800001 meters 0.06629074204964922 Centerline is valid? [True, True] Translation: X:101.35, Y:-35.24, Z:-13.88 [[ 7.42046137e-01 6.66283160e-01 7.37175781e-02 1.01350699e+02] [-6.63088951e-01 7.45698649e-01 -6.51656940e-02 -3.52398495e+01] [-9.83899029e-02 -5.25359988e-04 9.95147804e-01 -1.38813326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31824100800002 meters 0.06625352299004313 Centerline is valid? [True, True] Translation: X:101.37, Y:-35.26, Z:-13.89 [[ 7.42103692e-01 6.66198548e-01 7.39026686e-02 1.01374584e+02] [-6.62984844e-01 7.45774263e-01 -6.53593589e-02 -3.52623567e+01] [-9.86570182e-02 -4.92927676e-04 9.95121374e-01 -1.38856093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34824100800002 meters 0.06608034037664068 Centerline is valid? [True, True] Translation: X:101.40, Y:-35.28, Z:-13.89 [[ 7.42149808e-01 6.66085380e-01 7.44575625e-02 1.01396061e+02] [-6.62819022e-01 7.45875364e-01 -6.58853934e-02 -3.52847114e+01] [-9.94213588e-02 -4.55056730e-04 9.95045319e-01 -1.38892826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37824100800002 meters 0.06602543100977419 Centerline is valid? [True, True] Translation: X:101.42, Y:-35.31, Z:-13.89 [[ 7.41894682e-01 6.66363424e-01 7.45122041e-02 1.01421009e+02] [-6.63090822e-01 7.45626961e-01 -6.59620843e-02 -3.53078544e+01] [-9.95130286e-02 -4.71439091e-04 9.95036148e-01 -1.38920257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40824100800002 meters 0.06583084162264975 Centerline is valid? [True, True] Translation: X:101.45, Y:-35.33, Z:-13.90 [[ 7.42255578e-01 6.65866180e-01 7.53583963e-02 1.01445091e+02] [-6.62511984e-01 7.46071101e-01 -6.67516547e-02 -3.53298265e+01] [-1.00670391e-01 -3.79052631e-04 9.94919760e-01 -1.38965566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.438241008 meters 0.06590422264733722 Centerline is valid? [True, True] Translation: X:101.47, Y:-35.35, Z:-13.90 [[ 7.44747025e-01 6.63086213e-01 7.52897302e-02 1.01466989e+02] [-6.59720109e-01 7.48543034e-01 -6.67285878e-02 -3.53544285e+01] [-1.00604410e-01 2.57683059e-05 9.94926506e-01 -1.39007366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.468241008 meters 0.06590422264733722 Centerline is valid? [True, True] Translation: X:101.49, Y:-35.38, Z:-13.90 [[ 7.44578745e-01 6.63277111e-01 7.52726085e-02 1.01490881e+02] [-6.59910028e-01 7.48373886e-01 -6.67478950e-02 -3.53758472e+01] [-1.00604406e-01 2.59147071e-05 9.94926506e-01 -1.39047988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49824100800001 meters 0.06584807693487521 Centerline is valid? [True, True] Translation: X:101.51, Y:-35.40, Z:-13.91 [[ 7.44714001e-01 6.63173745e-01 7.48441056e-02 1.01513658e+02] [-6.59841049e-01 7.48465483e-01 -6.64018899e-02 -3.53986772e+01] [-1.00054220e-01 6.52040032e-05 9.94981984e-01 -1.39086162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52824100800001 meters 0.06564221068901972 Centerline is valid? [True, True] Translation: X:101.54, Y:-35.42, Z:-13.91 [[ 7.45019303e-01 6.62776682e-01 7.53213641e-02 1.01537857e+02] [-6.59395799e-01 7.48817100e-01 -6.68590364e-02 -3.54214896e+01] [-1.00714536e-01 1.44681600e-04 9.94915354e-01 -1.39101657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55824100800001 meters 0.06560474058721665 Centerline is valid? [True, True] Translation: X:101.56, Y:-35.44, Z:-13.91 [[ 7.45551575e-01 6.62170449e-01 7.53866460e-02 1.01561218e+02] [-6.58776929e-01 7.49353209e-01 -6.69531568e-02 -3.54435340e+01] [-1.00825627e-01 2.54048377e-04 9.94904080e-01 -1.39143440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58824100800001 meters 0.06569446908476903 Centerline is valid? [True, True] Translation: X:101.58, Y:-35.47, Z:-13.92 [[ 7.46431285e-01 6.61066616e-01 7.63627340e-02 1.01583841e+02] [-6.57574746e-01 7.50327088e-01 -6.78580463e-02 -3.54651168e+01] [-1.02155717e-01 4.37163215e-04 9.94768324e-01 -1.39185824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61824100800001 meters 0.06579557025848848 Centerline is valid? [True, True] Translation: X:101.61, Y:-35.49, Z:-13.92 [[ 7.46387657e-01 6.61060569e-01 7.68400237e-02 1.01606570e+02] [-6.57521442e-01 7.50332398e-01 -6.83143148e-02 -3.54861165e+01] [-1.02815459e-01 4.64998204e-04 9.94700339e-01 -1.39240265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64824100800001 meters 0.06589261365179319 Centerline is valid? [True, True] Translation: X:101.63, Y:-35.51, Z:-13.93 [[ 7.46297302e-01 6.61207681e-01 7.64508949e-02 1.01630884e+02] [-6.57701753e-01 7.50202762e-01 -6.80016180e-02 -3.55077846e+01] [-1.02316865e-01 4.67536557e-04 9.94751748e-01 -1.39291340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67824100800001 meters 0.06591731661914463 Centerline is valid? [True, True] Translation: X:101.66, Y:-35.53, Z:-13.93 [[ 7.46121617e-01 6.61452561e-01 7.60463192e-02 1.01655358e+02] [-6.57981560e-01 7.49986867e-01 -6.76754442e-02 -3.55286764e+01] [-1.01797837e-01 4.57036076e-04 9.94805002e-01 -1.39327447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.70824100800002 meters 0.06588517774144086 Centerline is valid? [True, True] Translation: X:101.68, Y:-35.55, Z:-13.94 [[ 7.44777647e-01 6.63068800e-01 7.51400204e-02 1.01680463e+02] [-6.59685012e-01 7.48558414e-01 -6.69028066e-02 -3.55485186e+01] [-1.00607858e-01 2.58969642e-04 9.94926124e-01 -1.39389863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.73824100800002 meters 0.06594834808948626 Centerline is valid? [True, True] Translation: X:101.71, Y:-35.57, Z:-13.94 [[ 7.44047096e-01 6.63919058e-01 7.48692499e-02 1.01705606e+02] [-6.60560177e-01 7.47804423e-01 -6.66993009e-02 -3.55688073e+01] [-1.00270493e-01 1.71776127e-04 9.94960200e-01 -1.39440081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.76824100800002 meters 0.06607692035283498 Centerline is valid? [True, True] Translation: X:101.73, Y:-35.59, Z:-13.95 [[ 7.43235117e-01 6.64875765e-01 7.44431150e-02 1.01730622e+02] [-6.61556493e-01 7.46953956e-01 -6.63535585e-02 -3.55888273e+01] [-9.97224522e-02 6.79687303e-05 9.95015290e-01 -1.39491455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79824100800002 meters 0.06585168308243868 Centerline is valid? [True, True] Translation: X:101.76, Y:-35.61, Z:-13.95 [[ 7.42679530e-01 6.65523644e-01 7.41983468e-02 1.01756122e+02] [-6.62226292e-01 7.46376768e-01 -6.61668996e-02 -3.56103332e+01] [-9.94155584e-02 4.70578644e-06 9.95046002e-01 -1.39506382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.828241008 meters 0.06592730283060887 Centerline is valid? [True, True] Translation: X:101.78, Y:-35.63, Z:-13.95 [[ 7.42410518e-01 6.65816943e-01 7.42591491e-02 1.01779257e+02] [-6.62511423e-01 7.46115138e-01 -6.62632257e-02 -3.56314655e+01] [-9.95250536e-02 -3.01883897e-06 9.95035057e-01 -1.39545392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85824100800001 meters 0.06599687672933903 Centerline is valid? [True, True] Translation: X:101.80, Y:-35.65, Z:-13.96 [[ 7.42273942e-01 6.65979967e-01 7.41625188e-02 1.01802802e+02] [-6.62680539e-01 7.45969626e-01 -6.62104220e-02 -3.56532091e+01] [-9.94178011e-02 2.12982343e-07 9.95045778e-01 -1.39587507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88824100800001 meters 0.06601853585233032 Centerline is valid? [True, True] Translation: X:101.83, Y:-35.67, Z:-13.96 [[ 7.42145172e-01 6.66124061e-01 7.41571298e-02 1.01826694e+02] [-6.62822633e-01 7.45840959e-01 -6.62376179e-02 -3.56745806e+01] [-9.94318958e-02 4.90430804e-06 9.95044370e-01 -1.39631460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91824100800001 meters 0.06591366466390416 Centerline is valid? [True, True] Translation: X:101.85, Y:-35.70, Z:-13.97 [[ 7.42104120e-01 6.66187681e-01 7.39962823e-02 1.01850388e+02] [-6.62897474e-01 7.45784133e-01 -6.61284011e-02 -3.56963766e+01] [-9.92391794e-02 2.22102248e-05 9.95063608e-01 -1.39672921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94824100800001 meters 0.06628528596259256 Centerline is valid? [True, True] Translation: X:101.87, Y:-35.72, Z:-13.97 [[ 7.42682050e-01 6.65558435e-01 7.38602844e-02 1.01873076e+02] [-6.62273810e-01 7.46345732e-01 -6.60412607e-02 -3.57194904e+01] [-9.90796262e-02 1.31926971e-04 9.95079499e-01 -1.39738461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97824100800001 meters 0.06629290482131467 Centerline is valid? [True, True] Translation: X:101.90, Y:-35.74, Z:-13.98 [[ 7.42785667e-01 6.65418144e-01 7.40820330e-02 1.01896692e+02] [-6.62109216e-01 7.46470804e-01 -6.62776335e-02 -3.57418698e+01] [-9.94024146e-02 1.79679433e-04 9.95047299e-01 -1.39772160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00824100800001 meters 0.06608117121203012 Centerline is valid? [True, True] Translation: X:101.92, Y:-35.76, Z:-13.98 [[ 7.42897120e-01 6.65252576e-01 7.44505131e-02 1.01919821e+02] [-6.61906271e-01 7.46618348e-01 -6.66418142e-02 -3.57641760e+01] [-9.99197577e-02 2.28750446e-04 9.94995472e-01 -1.39805260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03824100800001 meters 0.06586962570103051 Centerline is valid? [True, True] Translation: X:101.94, Y:-35.79, Z:-13.98 [[ 7.42709346e-01 6.65369042e-01 7.52785833e-02 1.01943448e+02] [-6.61944877e-01 7.46514554e-01 -6.74166151e-02 -3.57865582e+01] [-1.01053487e-01 2.40677514e-04 9.94880965e-01 -1.39814034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06824100800002 meters 0.06543115781797129 Centerline is valid? [True, True] Translation: X:101.97, Y:-35.81, Z:-13.98 [[ 7.43044819e-01 6.64832810e-01 7.66924489e-02 1.01965484e+02] [-6.61271806e-01 7.46992112e-01 -6.87196051e-02 -3.58109913e+01] [-1.02975703e-01 3.47192375e-04 9.94683811e-01 -1.39816612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09824100800002 meters 0.06524594771811766 Centerline is valid? [True, True] Translation: X:101.99, Y:-35.83, Z:-13.98 [[ 7.43009504e-01 6.64775955e-01 7.75229439e-02 1.01989233e+02] [-6.61132916e-01 7.47042689e-01 -6.95017120e-02 -3.58338643e+01] [-1.04116015e-01 3.87462644e-04 9.94565083e-01 -1.39839836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12824100800002 meters 0.06510366838975759 Centerline is valid? [True, True] Translation: X:102.01, Y:-35.86, Z:-13.99 [[ 7.42909491e-01 6.64879138e-01 7.75965211e-02 1.02013650e+02] [-6.61226359e-01 7.46950851e-01 -6.95997738e-02 -3.58552303e+01] [-1.04236225e-01 3.97467408e-04 9.94552488e-01 -1.39860375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15824100800002 meters 0.06510847280669634 Centerline is valid? [True, True] Translation: X:102.04, Y:-35.87, Z:-13.99 [[ 7.42276672e-01 6.65588112e-01 7.75745260e-02 1.02037556e+02] [-6.61937211e-01 7.46319207e-01 -6.96187538e-02 -3.58748368e+01] [-1.04232774e-01 3.26911524e-04 9.94552875e-01 -1.39921951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.188241008 meters 0.06506550951747266 Centerline is valid? [True, True] Translation: X:102.06, Y:-35.89, Z:-14.00 [[ 7.40617086e-01 6.67417233e-01 7.77210967e-02 1.02064778e+02] [-6.63758754e-01 7.44683978e-01 -6.97860258e-02 -3.58934026e+01] [-1.04454052e-01 9.66647657e-05 9.94529709e-01 -1.39969597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.218241008 meters 0.06490765847720918 Centerline is valid? [True, True] Translation: X:102.09, Y:-35.91, Z:-14.00 [[ 7.39095670e-01 6.69070390e-01 7.79897673e-02 1.02091977e+02] [-6.65392047e-01 7.43199032e-01 -7.00615620e-02 -3.59140533e+01] [-1.04838036e-01 -1.11573813e-04 9.94489303e-01 -1.39996146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24824100800001 meters 0.06527450232811575 Centerline is valid? [True, True] Translation: X:102.12, Y:-35.93, Z:-14.01 [[ 7.36027557e-01 6.72496573e-01 7.75357689e-02 1.02121552e+02] [-6.68875453e-01 7.40100022e-01 -6.96963846e-02 -3.59305063e+01] [-1.04254804e-01 -5.63312843e-04 9.94550461e-01 -1.40053581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27824100800001 meters 0.06536246615452074 Centerline is valid? [True, True] Translation: X:102.15, Y:-35.95, Z:-14.01 [[ 7.34690198e-01 6.73894224e-01 7.80825673e-02 1.02147655e+02] [-6.70225432e-01 7.38827470e-01 -7.02270649e-02 -3.59504445e+01] [-1.05015159e-01 -7.37786143e-04 9.94470348e-01 -1.40083511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30824100800001 meters 0.06525384573541322 Centerline is valid? [True, True] Translation: X:102.17, Y:-35.97, Z:-14.01 [[ 7.34197371e-01 6.74479520e-01 7.76633611e-02 1.02171659e+02] [-6.70849541e-01 7.38293135e-01 -6.98866211e-02 -3.59726787e+01] [-1.04475421e-01 -7.89856750e-04 9.94527155e-01 -1.40102145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33824100800001 meters 0.06538983300365946 Centerline is valid? [True, True] Translation: X:102.20, Y:-35.99, Z:-14.01 [[ 7.34215173e-01 6.74462215e-01 7.76453536e-02 1.02195016e+02] [-6.70829533e-01 7.38308979e-01 -6.99113012e-02 -3.59936149e+01] [-1.04478793e-01 -7.56858161e-04 9.94526827e-01 -1.40148443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36824100800001 meters 0.06541307691395516 Centerline is valid? [True, True] Translation: X:102.22, Y:-36.02, Z:-14.02 [[ 7.34207496e-01 6.74552643e-01 7.69290903e-02 1.02219326e+02] [-6.70985185e-01 7.38226370e-01 -6.92871362e-02 -3.60150220e+01] [-1.03528904e-01 -7.47145116e-04 9.94626165e-01 -1.40193027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39824100800001 meters 0.06546875570351973 Centerline is valid? [True, True] Translation: X:102.24, Y:-36.04, Z:-14.02 [[ 7.34777295e-01 6.73974761e-01 7.65529123e-02 1.02242996e+02] [-6.70435449e-01 7.38754098e-01 -6.89832705e-02 -3.60362049e+01] [-1.03046761e-01 -6.36445283e-04 9.94676309e-01 -1.40243767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.42824100800001 meters 0.0654205873560254 Centerline is valid? [True, True] Translation: X:102.27, Y:-36.06, Z:-14.03 [[ 7.36318982e-01 6.72429275e-01 7.53208306e-02 1.02265348e+02] [-6.68991655e-01 7.40161280e-01 -6.79076227e-02 -3.60579264e+01] [-1.01412636e-01 -3.87335509e-04 9.94844373e-01 -1.40310327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.45824100800002 meters 0.06521094480906954 Centerline is valid? [True, True] Translation: X:102.29, Y:-36.08, Z:-14.03 [[ 7.37428025e-01 6.71256982e-01 7.49264498e-02 1.02287805e+02] [-6.67847486e-01 7.41224676e-01 -6.75700822e-02 -3.60824367e+01] [-1.00894223e-01 -2.11368927e-04 9.94897136e-01 -1.40332912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48824100800002 meters 0.06524238020432248 Centerline is valid? [True, True] Translation: X:102.31, Y:-36.11, Z:-14.04 [[ 7.38248937e-01 6.70266231e-01 7.57079030e-02 1.02309503e+02] [-6.66775730e-01 7.42120730e-01 -6.83150656e-02 -3.61050763e+01] [-1.01973686e-01 -4.66677440e-05 9.94787095e-01 -1.40383841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51824100800002 meters 0.06490651922297042 Centerline is valid? [True, True] Translation: X:102.33, Y:-36.13, Z:-14.04 [[ 7.39121369e-01 6.69276657e-01 7.59497122e-02 1.02332718e+02] [-6.65756801e-01 7.43013288e-01 -6.85502415e-02 -3.61280257e+01] [-1.02310722e-01 1.02910827e-04 9.94752485e-01 -1.40393822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54824100800002 meters 0.06484138291122273 Centerline is valid? [True, True] Translation: X:102.36, Y:-36.15, Z:-14.04 [[ 7.39263951e-01 6.69078014e-01 7.63113513e-02 1.02356344e+02] [-6.65519671e-01 7.43192160e-01 -6.89128515e-02 -3.61502890e+01] [-1.02822072e-01 1.58081490e-04 9.94699752e-01 -1.40436842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.578241008 meters 0.06473319975764362 Centerline is valid? [True, True] Translation: X:102.38, Y:-36.17, Z:-14.04 [[ 7.39817558e-01 6.68528383e-01 7.57613508e-02 1.02380325e+02] [-6.65014513e-01 7.43686583e-01 -6.84541035e-02 -3.61734347e+01] [-1.02106211e-01 2.61149930e-04 9.94773468e-01 -1.40449441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60824100800001 meters 0.0647655086302693 Centerline is valid? [True, True] Translation: X:102.40, Y:-36.20, Z:-14.05 [[ 7.40248345e-01 6.68044859e-01 7.58185625e-02 1.02402605e+02] [-6.64518861e-01 7.44120916e-01 -6.85474022e-02 -3.61961796e+01] [-1.02210918e-01 3.59236308e-04 9.94762685e-01 -1.40502662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63824100800001 meters 0.06488788426505548 Centerline is valid? [True, True] Translation: X:102.42, Y:-36.22, Z:-14.05 [[ 7.40517139e-01 6.67805995e-01 7.52962202e-02 1.02424967e+02] [-6.64325196e-01 7.44335267e-01 -6.80958450e-02 -3.62197998e+01] [-1.01520446e-01 4.04963975e-04 9.94833371e-01 -1.40540996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66824100800001 meters 0.06487083484144936 Centerline is valid? [True, True] Translation: X:102.45, Y:-36.24, Z:-14.06 [[ 7.40466203e-01 6.67879696e-01 7.51432923e-02 1.02449577e+02] [-6.64410054e-01 7.44269129e-01 -6.79907624e-02 -3.62431091e+01] [-1.01336482e-01 4.18902744e-04 9.94852121e-01 -1.40590476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69824100800001 meters 0.06501807958213447 Centerline is valid? [True, True] Translation: X:102.47, Y:-36.27, Z:-14.06 [[ 7.40246125e-01 6.68108366e-01 7.52787227e-02 1.02473734e+02] [-6.64622586e-01 7.44063863e-01 -6.81600020e-02 -3.62654728e+01] [-1.01550445e-01 4.23237986e-04 9.94830301e-01 -1.40643312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72824100800001 meters 0.06502425975274162 Centerline is valid? [True, True] Translation: X:102.50, Y:-36.29, Z:-14.07 [[ 7.39996235e-01 6.68442034e-01 7.47717792e-02 1.02497720e+02] [-6.65000822e-01 7.43764131e-01 -6.77408524e-02 -3.62879498e+01] [-1.00893401e-01 4.04681118e-04 9.94897159e-01 -1.40695276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75824100800001 meters 0.06500126035398326 Centerline is valid? [True, True] Translation: X:102.52, Y:-36.31, Z:-14.07 [[ 7.39501816e-01 6.68911438e-01 7.54622512e-02 1.02520523e+02] [-6.65403678e-01 7.43342010e-01 -6.84149254e-02 -3.63097764e+01] [-1.01857788e-01 3.80102085e-04 9.94798898e-01 -1.40740306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78824100800001 meters 0.0650052913358483 Centerline is valid? [True, True] Translation: X:102.54, Y:-36.33, Z:-14.08 [[ 7.38748961e-01 6.69702190e-01 7.58218281e-02 1.02544645e+02] [-6.66162896e-01 7.42629715e-01 -6.87611924e-02 -3.63315225e+01] [-1.02357064e-01 2.87570880e-04 9.94747681e-01 -1.40780465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81824100800002 meters 0.06499292658352118 Centerline is valid? [True, True] Translation: X:102.57, Y:-36.35, Z:-14.08 [[ 7.38121963e-01 6.70401089e-01 7.57518817e-02 1.02568493e+02] [-6.66868447e-01 7.41998877e-01 -6.87323892e-02 -3.63526139e+01] [-1.02286080e-01 2.16346320e-04 9.94755001e-01 -1.40825248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84824100800002 meters 0.06487999007227442 Centerline is valid? [True, True] Translation: X:102.59, Y:-36.37, Z:-14.08 [[ 7.35925488e-01 6.72849423e-01 7.54143827e-02 1.02594171e+02] [-6.69357749e-01 7.39779456e-01 -6.84584553e-02 -3.63737897e+01] [-1.01852243e-01 -9.88793209e-05 9.94799533e-01 -1.40845265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87824100800002 meters 0.0648675433734689 Centerline is valid? [True, True] Translation: X:102.62, Y:-36.40, Z:-14.09 [[ 7.35680154e-01 6.73026288e-01 7.62254980e-02 1.02617680e+02] [-6.69456007e-01 7.39618555e-01 -6.92318418e-02 -3.63960573e+01] [-1.02972642e-01 -9.71254330e-05 9.94684184e-01 -1.40876531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90824100800002 meters 0.06460636790425545 Centerline is valid? [True, True] Translation: X:102.64, Y:-36.42, Z:-14.09 [[ 7.35285412e-01 6.73300875e-01 7.75969976e-02 1.02641583e+02] [-6.69598340e-01 7.39368595e-01 -7.05134307e-02 -3.64192896e+01] [-1.04849538e-01 -1.11323896e-04 9.94488090e-01 -1.40890093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.938241008 meters 0.06474712896978903 Centerline is valid? [True, True] Translation: X:102.67, Y:-36.44, Z:-14.09 [[ 7.35306677e-01 6.73292726e-01 7.74660901e-02 1.02665967e+02] [-6.69598525e-01 7.39376020e-01 -7.04337773e-02 -3.64419368e+01] [-1.04699119e-01 -8.07529293e-05 9.94503941e-01 -1.40942297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.968241008 meters 0.06467008735039258 Centerline is valid? [True, True] Translation: X:102.69, Y:-36.46, Z:-14.10 [[ 7.35726579e-01 6.72776192e-01 7.79653589e-02 1.02689923e+02] [-6.69026270e-01 7.39846062e-01 -7.09341576e-02 -3.64641425e+01] [-1.05405176e-01 2.72717958e-05 9.94429358e-01 -1.40984199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99824100800001 meters 0.06482294542533357 Centerline is valid? [True, True] Translation: X:102.71, Y:-36.49, Z:-14.10 [[ 7.36038258e-01 6.72446722e-01 7.78658397e-02 1.02713921e+02] [-6.68700515e-01 7.40145524e-01 -7.08817652e-02 -3.64862956e+01] [-1.05296263e-01 1.02763866e-04 9.94440891e-01 -1.41039918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02824100800001 meters 0.06479993330758682 Centerline is valid? [True, True] Translation: X:102.74, Y:-36.51, Z:-14.11 [[ 7.36096436e-01 6.72430970e-01 7.74508070e-02 1.02737684e+02] [-6.68720643e-01 7.40159829e-01 -7.05416776e-02 -3.65086747e+01] [-1.04760385e-01 1.32523960e-04 9.94497483e-01 -1.41087677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05824100800001 meters 0.06498211015101149 Centerline is valid? [True, True] Translation: X:102.76, Y:-36.53, Z:-14.11 [[ 7.36314980e-01 6.72271778e-01 7.67522459e-02 1.02761415e+02] [-6.68623663e-01 7.40304413e-01 -6.99412141e-02 -3.65314227e+01] [-1.03839531e-01 1.80395903e-04 9.94594048e-01 -1.41149936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08824100800001 meters 0.06544014807598139 Centerline is valid? [True, True] Translation: X:102.78, Y:-36.55, Z:-14.12 [[ 7.36729121e-01 6.72132892e-01 7.39430687e-02 1.02784937e+02] [-6.68742809e-01 7.40430500e-01 -6.74220320e-02 -3.65548947e+01] [-1.00066269e-01 2.22878956e-04 9.94980750e-01 -1.41221427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11824100800001 meters 0.06554238117070972 Centerline is valid? [True, True] Translation: X:102.81, Y:-36.58, Z:-14.13 [[ 7.36328434e-01 6.72713033e-01 7.26471825e-02 1.02808624e+02] [-6.69439594e-01 7.39903470e-01 -6.62833672e-02 -3.65772716e+01] [-9.83415875e-02 1.73427547e-04 9.95152703e-01 -1.41275648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14824100800001 meters 0.06564718229702367 Centerline is valid? [True, True] Translation: X:102.83, Y:-36.60, Z:-14.13 [[ 7.35855929e-01 6.73301715e-01 7.19781385e-02 1.02832545e+02] [-6.70087890e-01 7.39367829e-01 -6.57071747e-02 -3.65990103e+01] [-9.74590734e-02 1.19335106e-04 9.95239526e-01 -1.41327386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17824100800001 meters 0.06581320459996984 Centerline is valid? [True, True] Translation: X:102.86, Y:-36.62, Z:-14.14 [[ 7.35312437e-01 6.73934898e-01 7.16056782e-02 1.02857043e+02] [-6.70754051e-01 7.38790734e-01 -6.54007209e-02 -3.66203464e+01] [-9.69774398e-02 6.01647773e-05 9.95286578e-01 -1.41372021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20824100800002 meters 0.06531362221219733 Centerline is valid? [True, True] Translation: X:102.88, Y:-36.65, Z:-14.14 [[ 7.36773787e-01 6.72184272e-01 7.30252738e-02 1.02879465e+02] [-6.68863619e-01 7.40383820e-01 -6.67327422e-02 -3.66479482e+01] [-9.89234308e-02 3.22986321e-04 9.95094996e-01 -1.41369000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23824100800002 meters 0.06502035890545962 Centerline is valid? [True, True] Translation: X:102.90, Y:-36.67, Z:-14.14 [[ 7.38072166e-01 6.70632340e-01 7.41737328e-02 1.02902405e+02] [-6.67192984e-01 7.41789680e-01 -6.78350423e-02 -3.66725358e+01] [-1.00513683e-01 5.78962457e-04 9.94935508e-01 -1.41365850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26824100800002 meters 0.06501589663551573 Centerline is valid? [True, True] Translation: X:102.93, Y:-36.69, Z:-14.14 [[ 7.38315591e-01 6.70369696e-01 7.41252970e-02 1.02925685e+02] [-6.66929719e-01 7.42026993e-01 -6.78283976e-02 -3.66942593e+01] [-1.00473073e-01 6.42399926e-04 9.94939570e-01 -1.41420250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29824100800002 meters 0.06538127593143235 Centerline is valid? [True, True] Translation: X:102.95, Y:-36.71, Z:-14.15 [[ 7.37993574e-01 6.70797473e-01 7.34590684e-02 1.02949609e+02] [-6.67417910e-01 7.41640334e-01 -6.72528745e-02 -3.67132824e+01] [-9.95932663e-02 6.04291295e-04 9.95028048e-01 -1.41501677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.328241008 meters 0.06520728292383121 Centerline is valid? [True, True] Translation: X:102.98, Y:-36.73, Z:-14.15 [[ 7.36785431e-01 6.72028960e-01 7.43256740e-02 1.02975996e+02] [-6.68571743e-01 7.40524717e-01 -6.80806006e-02 -3.67319238e+01] [-1.00792134e-01 4.68749246e-04 9.94907396e-01 -1.41539992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35824100800001 meters 0.06538499569768756 Centerline is valid? [True, True] Translation: X:103.00, Y:-36.75, Z:-14.16 [[ 7.35294069e-01 6.73658631e-01 7.43416514e-02 1.03001017e+02] [-6.70205139e-01 7.39042608e-01 -6.81255890e-02 -3.67510679e+01] [-1.00835039e-01 2.68184765e-04 9.94903122e-01 -1.41596864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38824100800001 meters 0.06538499569768756 Centerline is valid? [True, True] Translation: X:103.02, Y:-36.77, Z:-14.16 [[ 7.35121769e-01 6.73848430e-01 7.43254952e-02 1.03024545e+02] [-6.70394123e-01 7.38869558e-01 -6.81432100e-02 -3.67728841e+01] [-1.00835041e-01 2.66181845e-04 9.94903123e-01 -1.41637471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41824100800001 meters 0.06518051195561278 Centerline is valid? [True, True] Translation: X:103.05, Y:-36.79, Z:-14.17 [[ 7.33653131e-01 6.75397138e-01 7.47782681e-02 1.03049415e+02] [-6.71904852e-01 7.37454202e-01 -6.85942426e-02 -3.67934150e+01] [-1.01473903e-01 8.04996822e-05 9.94838198e-01 -1.41662149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44824100800001 meters 0.06505945201285503 Centerline is valid? [True, True] Translation: X:103.08, Y:-36.81, Z:-14.17 [[ 7.31095168e-01 6.78186827e-01 7.45820568e-02 1.03075369e+02] [-6.74723915e-01 7.34889481e-01 -6.84477124e-02 -3.68131618e+01] [-1.01229906e-01 -2.80505545e-04 9.94863019e-01 -1.41676182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47824100800001 meters 0.06503784112513294 Centerline is valid? [True, True] Translation: X:103.10, Y:-36.83, Z:-14.17 [[ 7.30358529e-01 6.78984926e-01 7.45378338e-02 1.03099899e+02] [-6.75526278e-01 7.34152122e-01 -6.84463955e-02 -3.68338271e+01] [-1.01196180e-01 -3.61856663e-04 9.94866424e-01 -1.41728930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50824100800001 meters 0.06515049988241635 Centerline is valid? [True, True] Translation: X:103.12, Y:-36.85, Z:-14.18 [[ 7.30021904e-01 6.79321802e-01 7.47656903e-02 1.03124692e+02] [-6.75841059e-01 7.33840403e-01 -6.86813355e-02 -3.68545074e+01] [-1.01522813e-01 -3.90843968e-04 9.94833135e-01 -1.41770291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53824100800001 meters 0.06524579448608053 Centerline is valid? [True, True] Translation: X:103.15, Y:-36.87, Z:-14.18 [[ 7.29908361e-01 6.79398131e-01 7.51795476e-02 1.03148143e+02] [-6.75875034e-01 7.33769745e-01 -6.91006453e-02 -3.68745778e+01] [-1.02111327e-01 -3.74840510e-04 9.94772907e-01 -1.41825181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56824100800002 meters 0.06516734577562396 Centerline is valid? [True, True] Translation: X:103.17, Y:-36.90, Z:-14.19 [[ 7.30126952e-01 6.79196738e-01 7.48760581e-02 1.03172190e+02] [-6.75697763e-01 7.33956189e-01 -6.88537981e-02 -3.68968794e+01] [-1.01721021e-01 -3.21571205e-04 9.94812912e-01 -1.41864791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.59824100800002 meters 0.0653951728851698 Centerline is valid? [True, True] Translation: X:103.20, Y:-36.92, Z:-14.19 [[ 7.30222199e-01 6.79121947e-01 7.46252085e-02 1.03196024e+02] [-6.75642157e-01 7.34025410e-01 -6.86612964e-02 -3.69180630e+01] [-1.01406192e-01 -2.81933987e-04 9.94845066e-01 -1.41920856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.62824100800002 meters 0.06538195487921594 Centerline is valid? [True, True] Translation: X:103.22, Y:-36.94, Z:-14.20 [[ 7.29888441e-01 6.79559620e-01 7.39025503e-02 1.03219677e+02] [-6.76146623e-01 7.33620216e-01 -6.80229587e-02 -3.69397951e+01] [-1.00442061e-01 -3.19788559e-04 9.94942858e-01 -1.41967267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.65824100800002 meters 0.0654997163655754 Centerline is valid? [True, True] Translation: X:103.24, Y:-36.96, Z:-14.20 [[ 7.29939378e-01 6.79581096e-01 7.31986239e-02 1.03243172e+02] [-6.76229688e-01 7.33600332e-01 -6.74089094e-02 -3.69633705e+01] [-9.95083553e-02 -2.94665222e-04 9.95036683e-01 -1.42014379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.688241008 meters 0.06566242523904818 Centerline is valid? [True, True] Translation: X:103.26, Y:-36.99, Z:-14.21 [[ 7.30438004e-01 6.79230756e-01 7.14556005e-02 1.03264504e+02] [-6.76031474e-01 7.33924748e-01 -6.58476300e-02 -3.69859099e+01] [-9.71687692e-02 -2.08623474e-04 9.95267897e-01 -1.42074026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.718241008 meters 0.0658758036211463 Centerline is valid? [True, True] Translation: X:103.29, Y:-37.01, Z:-14.21 [[ 7.31229524e-01 6.78487117e-01 7.04174308e-02 1.03286501e+02] [-6.75375005e-01 7.34612294e-01 -6.49105523e-02 -3.70072146e+01] [-9.57704840e-02 -9.36604072e-05 9.95403439e-01 -1.42136406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74824100800001 meters 0.06579536783916597 Centerline is valid? [True, True] Translation: X:103.31, Y:-37.03, Z:-14.22 [[ 7.31491793e-01 6.78299760e-01 6.94923892e-02 1.03310392e+02] [-6.75267094e-01 7.34785297e-01 -6.40696465e-02 -3.70291181e+01] [-9.45204117e-02 -5.95030706e-05 9.95522922e-01 -1.42169972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77824100800001 meters 0.06578895598096783 Centerline is valid? [True, True] Translation: X:103.33, Y:-37.06, Z:-14.22 [[ 7.33767694e-01 6.75886200e-01 6.90131591e-02 1.03332063e+02] [-6.72882062e-01 7.37005951e-01 -6.36549961e-02 -3.70565042e+01] [-9.38866424e-02 2.70262892e-04 9.95582857e-01 -1.42209522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80824100800001 meters 0.06583147652167068 Centerline is valid? [True, True] Translation: X:103.35, Y:-37.08, Z:-14.22 [[ 7.35098451e-01 6.74491740e-01 6.84920420e-02 1.03353297e+02] [-6.71521761e-01 7.38282234e-01 -6.32286957e-02 -3.70815264e+01] [-9.32136908e-02 4.85419679e-04 9.95646007e-01 -1.42248568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83824100800001 meters 0.06596316796421808 Centerline is valid? [True, True] Translation: X:103.37, Y:-37.11, Z:-14.23 [[ 7.36592698e-01 6.72898555e-01 6.81082351e-02 1.03374164e+02] [-6.69952000e-01 7.39734435e-01 -6.29069434e-02 -3.71052563e+01] [-9.27119981e-02 7.07546908e-04 9.95692716e-01 -1.42284280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86824100800001 meters 0.06600819670172714 Centerline is valid? [True, True] Translation: X:103.40, Y:-37.13, Z:-14.23 [[ 7.37364524e-01 6.72007414e-01 6.85535847e-02 1.03397600e+02] [-6.69015680e-01 7.40543936e-01 -6.33458669e-02 -3.71297138e+01] [-9.33358337e-02 8.45571888e-04 9.95634324e-01 -1.42325022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89824100800001 meters 0.06612310497879306 Centerline is valid? [True, True] Translation: X:103.42, Y:-37.15, Z:-14.24 [[ 7.37744723e-01 6.71591914e-01 6.85348489e-02 1.03420511e+02] [-6.68596401e-01 7.40920672e-01 -6.33672677e-02 -3.71529048e+01] [-9.33358309e-02 9.26714053e-04 9.95634252e-01 -1.42365506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92824100800001 meters 0.06595443794197618 Centerline is valid? [True, True] Translation: X:103.44, Y:-37.18, Z:-14.24 [[ 7.38195642e-01 6.70930802e-01 7.01359593e-02 1.03441937e+02] [-6.67786899e-01 7.41519206e-01 -6.48839273e-02 -3.71763768e+01] [-9.55397863e-02 1.06115762e-03 9.95425047e-01 -1.42388009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95824100800002 meters 0.06580467640042269 Centerline is valid? [True, True] Translation: X:103.47, Y:-37.20, Z:-14.24 [[ 7.37509473e-01 6.71696777e-01 7.00229766e-02 1.03465874e+02] [-6.68563581e-01 7.40825536e-01 -6.48094371e-02 -3.71979505e+01] [-9.54070992e-02 9.82761806e-04 9.95437853e-01 -1.42431518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98824100800002 meters 0.06581005430098263 Centerline is valid? [True, True] Translation: X:103.49, Y:-37.22, Z:-14.25 [[ 7.36764472e-01 6.72537017e-01 6.98002454e-02 1.03489560e+02] [-6.69425123e-01 7.40062950e-01 -6.46284417e-02 -3.72183463e+01] [-9.51215948e-02 8.89901904e-04 9.95465263e-01 -1.42481280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.01824100800002 meters 0.06515194769652607 Centerline is valid? [True, True] Translation: X:103.52, Y:-37.24, Z:-14.25 [[ 7.34941827e-01 6.74434438e-01 7.07014878e-02 1.03516025e+02] [-6.71247191e-01 7.38334431e-01 -6.54940946e-02 -3.72380358e+01] [-9.63728156e-02 6.76174478e-04 9.95345077e-01 -1.42481020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.04824100800002 meters 0.06542183944402653 Centerline is valid? [True, True] Translation: X:103.54, Y:-37.26, Z:-14.26 [[ 7.33788455e-01 6.75627317e-01 7.12897765e-02 1.03538923e+02] [-6.72389049e-01 7.37243127e-01 -6.60722215e-02 -3.72595011e+01] [-9.71980955e-02 5.48568310e-04 9.95264904e-01 -1.42550088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.078241008 meters 0.06493854083181863 Centerline is valid? [True, True] Translation: X:103.56, Y:-37.28, Z:-14.26 [[ 7.32785043e-01 6.76664436e-01 7.17727121e-02 1.03564647e+02] [-6.73383521e-01 7.36291415e-01 -6.65551441e-02 -3.72812128e+01] [-9.78811307e-02 4.40052551e-04 9.95198016e-01 -1.42553225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.10824100800001 meters 0.06449376012771502 Centerline is valid? [True, True] Translation: X:103.59, Y:-37.30, Z:-14.26 [[ 7.31375590e-01 6.78179619e-01 7.18481037e-02 1.03590442e+02] [-6.74896829e-01 7.34896142e-01 -6.66478108e-02 -3.73026492e+01] [-9.80000811e-02 2.54524599e-04 9.95186374e-01 -1.42553592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.13824100800001 meters 0.06460387552948861 Centerline is valid? [True, True] Translation: X:103.62, Y:-37.32, Z:-14.26 [[ 7.29839018e-01 6.79799897e-01 7.21602890e-02 1.03615724e+02] [-6.76492942e-01 7.33397638e-01 -6.69716624e-02 -3.73248057e+01] [-9.84495147e-02 6.26061073e-05 9.95142045e-01 -1.42619424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.16824100800001 meters 0.06462950273808973 Centerline is valid? [True, True] Translation: X:103.64, Y:-37.35, Z:-14.27 [[ 7.29656280e-01 6.80063500e-01 7.15216721e-02 1.03640192e+02] [-6.76811218e-01 7.33153212e-01 -6.64299844e-02 -3.73459223e+01] [-9.76129513e-02 6.43852360e-05 9.95224451e-01 -1.42662933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.19824100800001 meters 0.06479716363549543 Centerline is valid? [True, True] Translation: X:103.66, Y:-37.37, Z:-14.27 [[ 7.29028742e-01 6.80776444e-01 7.11373718e-02 1.03664263e+02] [-6.77559155e-01 7.32491251e-01 -6.61071775e-02 -3.73669093e+01] [-9.71117117e-02 -5.74507866e-06 9.95273488e-01 -1.42721928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.22824100800001 meters 0.06474585462983007 Centerline is valid? [True, True] Translation: X:103.69, Y:-37.39, Z:-14.28 [[ 7.28856693e-01 6.81027238e-01 7.04969661e-02 1.03687754e+02] [-6.77865613e-01 7.32258083e-01 -6.55462499e-02 -3.73893162e+01] [-9.62607548e-02 -1.36461769e-05 9.95356151e-01 -1.42769251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.25824100800001 meters 0.06475155849890753 Centerline is valid? [True, True] Translation: X:103.71, Y:-37.41, Z:-14.28 [[ 7.29345035e-01 6.80641746e-01 6.91565845e-02 1.03708797e+02] [-6.77594588e-01 7.32616414e-01 -6.43332269e-02 -3.74135128e+01] [-9.44531288e-02 6.09922849e-05 9.95529308e-01 -1.42803502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.28824100800001 meters 0.06470323584109788 Centerline is valid? [True, True] Translation: X:103.73, Y:-37.44, Z:-14.28 [[ 7.30606600e-01 6.79339229e-01 6.86455293e-02 1.03729415e+02] [-6.76328425e-01 7.33824331e-01 -6.38882799e-02 -3.74373084e+01] [-9.37755745e-02 2.50276193e-04 9.95593330e-01 -1.42835089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.31824100800002 meters 0.06474572900785179 Centerline is valid? [True, True] Translation: X:103.75, Y:-37.46, Z:-14.29 [[ 7.31686993e-01 6.78063306e-01 6.97445117e-02 1.03750762e+02] [-6.74946245e-01 7.35003371e-01 -6.49431389e-02 -3.74604183e+01] [-9.52980107e-02 4.44253753e-04 9.95448689e-01 -1.42881784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.34824100800002 meters 0.06459922134789835 Centerline is valid? [True, True] Translation: X:103.77, Y:-37.48, Z:-14.29 [[ 7.33059411e-01 6.76539687e-01 7.01281100e-02 1.03773216e+02] [-6.73378132e-01 7.36405869e-01 -6.53321337e-02 -3.74847008e+01] [-9.58425330e-02 6.69599781e-04 9.95396283e-01 -1.42923214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.37824100800002 meters 0.06460459970098863 Centerline is valid? [True, True] Translation: X:103.80, Y:-37.51, Z:-14.30 [[ 7.32226651e-01 6.77366650e-01 7.08417510e-02 1.03796566e+02] [-6.74140575e-01 7.35645342e-01 -6.60334433e-02 -3.75054007e+01] [-9.68432564e-02 5.94148248e-04 9.95299468e-01 -1.42971086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.40824100800002 meters 0.06456507571087311 Centerline is valid? [True, True] Translation: X:103.82, Y:-37.53, Z:-14.30 [[ 7.31317539e-01 6.78360089e-01 7.07265650e-02 1.03820286e+02] [-6.75146244e-01 7.34729443e-01 -6.59559972e-02 -3.75258141e+01] [-9.67068059e-02 4.84002858e-04 9.95312795e-01 -1.43017238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.438241008 meters 0.06437938802948562 Centerline is valid? [True, True] Translation: X:103.84, Y:-37.55, Z:-14.30 [[ 7.31008833e-01 6.78602926e-01 7.15832100e-02 1.03843387e+02] [-6.75308497e-01 7.34505165e-01 -6.67877019e-02 -3.75481057e+01] [-9.79005674e-02 4.81650051e-04 9.95196085e-01 -1.43033542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.468241008 meters 0.06401861117423893 Centerline is valid? [True, True] Translation: X:103.87, Y:-37.57, Z:-14.30 [[ 7.30417423e-01 6.79035325e-01 7.34943297e-02 1.03867636e+02] [-6.75560924e-01 7.34105453e-01 -6.86048222e-02 -3.75703849e+01] [-1.00537686e-01 4.60260085e-04 9.94933144e-01 -1.43048349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.49824100800001 meters 0.06392781774902774 Centerline is valid? [True, True] Translation: X:103.89, Y:-37.59, Z:-14.31 [[ 7.29486112e-01 6.80040022e-01 7.34546159e-02 1.03893097e+02] [-6.76570975e-01 7.33174909e-01 -6.86022465e-02 -3.75918044e+01] [-1.00507355e-01 3.47124971e-04 9.94936255e-01 -1.43083916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.52824100800001 meters 0.06412323311782472 Centerline is valid? [True, True] Translation: X:103.92, Y:-37.61, Z:-14.31 [[ 7.28493820e-01 6.81117247e-01 7.33215559e-02 1.03917728e+02] [-6.77661960e-01 7.32174326e-01 -6.85202524e-02 -3.76115403e+01] [-1.00354486e-01 2.29351163e-04 9.94951720e-01 -1.43148885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.55824100800001 meters 0.06396130567412761 Centerline is valid? [True, True] Translation: X:103.94, Y:-37.63, Z:-14.32 [[ 7.26213466e-01 6.83553202e-01 7.32736107e-02 1.03944616e+02] [-6.80111466e-01 7.29900687e-01 -6.85082550e-02 -3.76309752e+01] [-1.00311496e-01 -8.26054486e-05 9.94956078e-01 -1.43164726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.58824100800001 meters 0.06414202481246166 Centerline is valid? [True, True] Translation: X:103.97, Y:-37.65, Z:-14.32 [[ 7.21989674e-01 6.88032155e-01 7.30935374e-02 1.03974470e+02] [-6.84626487e-01 7.25679887e-01 -6.83759867e-02 -3.76461027e+01] [-1.00087387e-01 -6.75015386e-04 9.94978422e-01 -1.43208133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.61824100800001 meters 0.06433645704612449 Centerline is valid? [True, True] Translation: X:104.00, Y:-37.67, Z:-14.33 [[ 7.20424643e-01 6.89720892e-01 7.26183521e-02 1.03999952e+02] [-6.86364433e-01 7.24074804e-01 -6.79672188e-02 -3.76655566e+01] [-9.94595298e-02 -8.77394717e-04 9.95041221e-01 -1.43257792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64824100800001 meters 0.06456058581346374 Centerline is valid? [True, True] Translation: X:104.02, Y:-37.68, Z:-14.33 [[ 7.19881066e-01 6.90375949e-01 7.17795230e-02 1.04024447e+02] [-6.87096595e-01 7.23450193e-01 -6.72167285e-02 -3.76846050e+01] [-9.83337225e-02 -9.31415705e-04 9.95153059e-01 -1.43318739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67824100800001 meters 0.06493049170498914 Centerline is valid? [True, True] Translation: X:104.05, Y:-37.70, Z:-14.34 [[ 7.19199661e-01 6.91215826e-01 7.05161600e-02 1.04048592e+02] [-6.88052128e-01 7.22647682e-01 -6.60650951e-02 -3.77035312e+01] [-9.66235788e-02 -1.00479989e-03 9.95320488e-01 -1.43389745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70824100800002 meters 0.0646817929792883 Centerline is valid? [True, True] Translation: X:104.07, Y:-37.73, Z:-14.34 [[ 7.19800186e-01 6.90589049e-01 7.05298311e-02 1.04070304e+02] [-6.87418488e-01 7.23246813e-01 -6.61049856e-02 -3.77263747e+01] [-9.66618548e-02 -9.01128957e-04 9.95316871e-01 -1.43429544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73824100800002 meters 0.06431698809365279 Centerline is valid? [True, True] Translation: X:104.09, Y:-37.75, Z:-14.35 [[ 7.20927803e-01 6.89391321e-01 7.07298416e-02 1.04091403e+02] [-6.86193953e-01 7.24388769e-01 -6.63232296e-02 -3.77507381e+01] [-9.69585617e-02 -7.20129396e-04 9.95288159e-01 -1.43455375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76824100800002 meters 0.06398147047353812 Centerline is valid? [True, True] Translation: X:104.11, Y:-37.78, Z:-14.35 [[ 7.22253334e-01 6.87963757e-01 7.11054942e-02 1.04112774e+02] [-6.84722124e-01 7.25744867e-01 -6.67083266e-02 -3.77758246e+01] [-9.74973584e-02 -5.07193747e-04 9.95235654e-01 -1.43487505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79824100800002 meters 0.0634122012996721 Centerline is valid? [True, True] Translation: X:104.13, Y:-37.81, Z:-14.35 [[ 7.26155377e-01 6.83709400e-01 7.23866398e-02 1.04132838e+02] [-6.80325020e-01 7.29754375e-01 -6.79442365e-02 -3.78051321e+01] [-9.92785803e-02 9.16305036e-05 9.95059674e-01 -1.43516197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.828241008 meters 0.06345126066151305 Centerline is valid? [True, True] Translation: X:104.15, Y:-37.83, Z:-14.36 [[ 7.27924122e-01 6.81802089e-01 7.26111812e-02 1.04153035e+02] [-6.78382394e-01 7.31536575e-01 -6.82024009e-02 -3.78293112e+01] [-9.96182742e-02 3.88025926e-04 9.95025652e-01 -1.43560283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85824100800001 meters 0.06350334078818722 Centerline is valid? [True, True] Translation: X:104.17, Y:-37.85, Z:-14.36 [[ 7.29870039e-01 6.79728706e-01 7.25162934e-02 1.04173507e+02] [-6.76304472e-01 7.33463294e-01 -6.81458561e-02 -3.78542941e+01] [-9.95087340e-02 6.94525126e-04 9.95036446e-01 -1.43602790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88824100800001 meters 0.0640274783732706 Centerline is valid? [True, True] Translation: X:104.19, Y:-37.88, Z:-14.36 [[ 7.33274932e-01 6.75957868e-01 7.34086854e-02 1.04191168e+02] [-6.72426122e-01 7.36939212e-01 -6.90196284e-02 -3.78809897e+01] [-1.00752100e-01 1.24844567e-03 9.94910778e-01 -1.43643093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91824100800001 meters 0.06415555701766629 Centerline is valid? [True, True] Translation: X:104.21, Y:-37.91, Z:-14.37 [[ 7.34539161e-01 6.74562658e-01 7.36032747e-02 1.04212349e+02] [-6.71001805e-01 7.38216137e-01 -6.92351997e-02 -3.79055598e+01] [-1.01038606e-01 1.46803532e-03 9.94881423e-01 -1.43678861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94824100800001 meters 0.06459596916673244 Centerline is valid? [True, True] Translation: X:104.23, Y:-37.93, Z:-14.37 [[ 7.35861703e-01 6.73062483e-01 7.41245445e-02 1.04232683e+02] [-6.69439716e-01 7.39583641e-01 -6.97603308e-02 -3.79299510e+01] [-1.01774362e-01 1.71204178e-03 9.94806035e-01 -1.43715314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97824100800001 meters 0.0647445912539336 Centerline is valid? [True, True] Translation: X:104.25, Y:-37.95, Z:-14.37 [[ 7.36460359e-01 6.72397561e-01 7.42136033e-02 1.04254184e+02] [-6.68759176e-01 7.40187925e-01 -6.98784590e-02 -3.79538491e+01] [-1.01918118e-01 1.83168682e-03 9.94791105e-01 -1.43742447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00824100800001 meters 0.06390526033056129 Centerline is valid? [True, True] Translation: X:104.28, Y:-37.98, Z:-14.37 [[ 7.36693997e-01 6.72006196e-01 7.54296131e-02 1.04278722e+02] [-6.68243364e-01 7.40543007e-01 -7.10412628e-02 -3.79760645e+01] [-1.03599041e-01 1.93033350e-03 9.94617269e-01 -1.43729368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03824100800001 meters 0.0636703300969425 Centerline is valid? [True, True] Translation: X:104.30, Y:-38.00, Z:-14.38 [[ 7.35775438e-01 6.72954518e-01 7.59389333e-02 1.04303278e+02] [-6.69141590e-01 7.39681581e-01 -7.15590113e-02 -3.79972452e+01] [-1.04326590e-01 1.83746437e-03 9.94541395e-01 -1.43760561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06824100800002 meters 0.06395110889033809 Centerline is valid? [True, True] Translation: X:104.33, Y:-38.02, Z:-14.38 [[ 7.34426416e-01 6.74499523e-01 7.52876657e-02 1.04327313e+02] [-6.70755795e-01 7.38273474e-01 -7.09854986e-02 -3.80180555e+01] [-1.03462572e-01 1.63398729e-03 9.94632006e-01 -1.43827734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09824100800002 meters 0.0635869013957431 Centerline is valid? [True, True] Translation: X:104.35, Y:-38.03, Z:-14.39 [[ 7.30940059e-01 6.78385044e-01 7.42991430e-02 1.04353471e+02] [-6.74756700e-01 7.34705756e-01 -7.00774500e-02 -3.80341936e+01] [-1.02127502e-01 1.08857086e-03 9.94770722e-01 -1.43894226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12824100800002 meters 0.06340333588599883 Centerline is valid? [True, True] Translation: X:104.38, Y:-38.05, Z:-14.39 [[ 7.29273812e-01 6.80195871e-01 7.41166960e-02 1.04378598e+02] [-6.76592823e-01 7.33029918e-01 -6.99234742e-02 -3.80545969e+01] [-1.01891414e-01 8.46534007e-04 9.94795166e-01 -1.43938730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15824100800002 meters 0.0631548310449497 Centerline is valid? [True, True] Translation: X:104.41, Y:-38.08, Z:-14.40 [[ 7.27618492e-01 6.81956700e-01 7.42050447e-02 1.04405370e+02] [-6.78353073e-01 7.31392295e-01 -7.00172839e-02 -3.80752475e+01] [-1.02021754e-01 6.08650499e-04 9.94781982e-01 -1.43978585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.188241008 meters 0.06317837624947638 Centerline is valid? [True, True] Translation: X:104.43, Y:-38.10, Z:-14.40 [[ 7.26086404e-01 6.83592086e-01 7.41646394e-02 1.04430826e+02] [-6.79996615e-01 7.29864160e-01 -7.00207942e-02 -3.80957090e+01] [-1.01995773e-01 4.09442915e-04 9.94784748e-01 -1.44018683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.218241008 meters 0.06321640830849562 Centerline is valid? [True, True] Translation: X:104.46, Y:-38.11, Z:-14.41 [[ 7.24059514e-01 6.85645054e-01 7.50245242e-02 1.04455892e+02] [-6.81972478e-01 7.27936011e-01 -7.08710260e-02 -3.81141558e+01] [-1.03205421e-01 1.50179981e-04 9.94660052e-01 -1.44071139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24824100800001 meters 0.06314849553879422 Centerline is valid? [True, True] Translation: X:104.48, Y:-38.13, Z:-14.41 [[ 7.22804898e-01 6.86967039e-01 7.50291116e-02 1.04479578e+02] [-6.83297713e-01 7.26688577e-01 -7.09080278e-02 -3.81342868e+01] [-1.03234276e-01 -1.45505751e-05 9.94657069e-01 -1.44125981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27824100800001 meters 0.06314849553879422 Centerline is valid? [True, True] Translation: X:104.50, Y:-38.16, Z:-14.42 [[ 7.22630631e-01 6.87152212e-01 7.50120590e-02 1.04502769e+02] [-6.83482009e-01 7.26513480e-01 -7.09260618e-02 -3.81564625e+01] [-1.03234272e-01 -1.60480290e-05 9.94657069e-01 -1.44166589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30824100800001 meters 0.06332125687895337 Centerline is valid? [True, True] Translation: X:104.53, Y:-38.18, Z:-14.42 [[ 7.21993712e-01 6.87765056e-01 7.55268725e-02 1.04527070e+02] [-6.84043684e-01 7.25933346e-01 -7.14493922e-02 -3.81790767e+01] [-1.03967870e-01 -7.76682317e-05 9.94580653e-01 -1.44188674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33824100800001 meters 0.06324758427003906 Centerline is valid? [True, True] Translation: X:104.55, Y:-38.20, Z:-14.42 [[ 7.21501986e-01 6.88200674e-01 7.62542890e-02 1.04550075e+02] [-6.84405148e-01 7.25520379e-01 -7.21787571e-02 -3.82011891e+01] [-1.04997510e-01 -1.11711405e-04 9.94472478e-01 -1.44216414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36824100800001 meters 0.06290690710915593 Centerline is valid? [True, True] Translation: X:104.57, Y:-38.23, Z:-14.42 [[ 7.22052419e-01 6.87387436e-01 7.83506047e-02 1.04571899e+02] [-6.83372471e-01 7.26290929e-01 -7.41859397e-02 -3.82265635e+01] [-1.07899816e-01 2.34909519e-05 9.94161772e-01 -1.44197550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39824100800001 meters 0.06294001018332215 Centerline is valid? [True, True] Translation: X:104.59, Y:-38.25, Z:-14.42 [[ 7.22187132e-01 6.87172139e-01 7.89949248e-02 1.04593788e+02] [-6.83084863e-01 7.26494628e-01 -7.48373297e-02 -3.82493557e+01] [-1.08815516e-01 8.63190547e-05 9.94061958e-01 -1.44240973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42824100800001 meters 0.0628870209919336 Centerline is valid? [True, True] Translation: X:104.62, Y:-38.27, Z:-14.43 [[ 7.22271982e-01 6.87039869e-01 7.93687736e-02 1.04616994e+02] [-6.82908907e-01 7.26619709e-01 -7.52278106e-02 -3.82714053e+01] [-1.09355420e-01 1.33297446e-04 9.94002703e-01 -1.44278500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45824100800002 meters 0.06278049487640568 Centerline is valid? [True, True] Translation: X:104.64, Y:-38.29, Z:-14.43 [[ 7.22639543e-01 6.86602942e-01 7.98028208e-02 1.04640842e+02] [-6.82419986e-01 7.27032563e-01 -7.56744011e-02 -3.82932575e+01] [-1.09977516e-01 2.26274753e-04 9.93934050e-01 -1.44328716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48824100800002 meters 0.06292658450100773 Centerline is valid? [True, True] Translation: X:104.67, Y:-38.31, Z:-14.44 [[ 7.22648814e-01 6.86614714e-01 7.96173670e-02 1.04665038e+02] [-6.82447131e-01 7.27021438e-01 -7.55363645e-02 -3.83147367e+01] [-1.09747912e-01 2.51620564e-04 9.93959422e-01 -1.44377541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51824100800002 meters 0.06320100248307915 Centerline is valid? [True, True] Translation: X:104.69, Y:-38.34, Z:-14.45 [[ 7.22444063e-01 6.86934396e-01 7.87128464e-02 1.04688015e+02] [-6.82858964e-01 7.26719398e-01 -7.47164773e-02 -3.83371370e+01] [-1.08527470e-01 2.28702720e-04 9.94093424e-01 -1.44462322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54824100800002 meters 0.06333551070654975 Centerline is valid? [True, True] Translation: X:104.71, Y:-38.36, Z:-14.45 [[ 7.22409394e-01 6.87059904e-01 7.79317363e-02 1.04710493e+02] [-6.83061482e-01 7.26600737e-01 -7.40160865e-02 -3.83606670e+01] [-1.07478742e-01 2.37748929e-04 9.94207354e-01 -1.44502646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.578241008 meters 0.06331770313060024 Centerline is valid? [True, True] Translation: X:104.73, Y:-38.38, Z:-14.45 [[ 7.22505241e-01 6.87023479e-01 7.73622393e-02 1.04732759e+02] [-6.83079213e-01 7.26635168e-01 -7.35127315e-02 -3.83842518e+01] [-1.06719096e-01 2.68796330e-04 9.94289174e-01 -1.44533432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60824100800001 meters 0.06335389744227247 Centerline is valid? [True, True] Translation: X:104.75, Y:-38.41, Z:-14.46 [[ 7.23121859e-01 6.86382267e-01 7.72926918e-02 1.04754411e+02] [-6.82438212e-01 7.27240837e-01 -7.34768822e-02 -3.84092498e+01] [-1.06643631e-01 3.85253293e-04 9.94297233e-01 -1.44591355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63824100800001 meters 0.06338268809078682 Centerline is valid? [True, True] Translation: X:104.78, Y:-38.43, Z:-14.46 [[ 7.23396724e-01 6.86064711e-01 7.75396099e-02 1.04777283e+02] [-6.82088277e-01 7.27540371e-01 -7.37603626e-02 -3.84323514e+01] [-1.07017578e-01 4.69145840e-04 9.94257018e-01 -1.44634327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66824100800001 meters 0.06335525142794521 Centerline is valid? [True, True] Translation: X:104.80, Y:-38.46, Z:-14.47 [[ 7.23839550e-01 6.85540663e-01 7.80404073e-02 1.04801147e+02] [-6.81505534e-01 7.28034111e-01 -7.42734156e-02 -3.84559277e+01] [-1.07733525e-01 5.77066271e-04 9.94179639e-01 -1.44656233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69824100800001 meters 0.06348881352975695 Centerline is valid? [True, True] Translation: X:104.82, Y:-38.48, Z:-14.47 [[ 7.24402032e-01 6.84918107e-01 7.82871811e-02 1.04822994e+02] [-6.80848742e-01 7.28619715e-01 -7.45540130e-02 -3.84798788e+01] [-1.08104977e-01 7.05349760e-04 9.94139234e-01 -1.44725428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72824100800001 meters 0.06347251188105829 Centerline is valid? [True, True] Translation: X:104.85, Y:-38.50, Z:-14.47 [[ 7.24749826e-01 6.84518944e-01 7.85589253e-02 1.04847134e+02] [-6.80414278e-01 7.28994635e-01 -7.48547401e-02 -3.85038656e+01] [-1.08508523e-01 7.98345409e-04 9.94095198e-01 -1.44747125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75824100800001 meters 0.06387344456005431 Centerline is valid? [True, True] Translation: X:104.87, Y:-38.53, Z:-14.48 [[ 7.25826494e-01 6.83412743e-01 7.82491087e-02 1.04867035e+02] [-6.79328955e-01 7.30031529e-01 -7.46065511e-02 -3.85280897e+01] [-1.08111384e-01 9.94526135e-04 9.94138290e-01 -1.44805847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78824100800001 meters 0.0640410396447487 Centerline is valid? [True, True] Translation: X:104.89, Y:-38.55, Z:-14.49 [[ 7.26137493e-01 6.83151758e-01 7.76402998e-02 1.04890279e+02] [-6.79127835e-01 7.30275697e-01 -7.40458658e-02 -3.85518126e+01] [-1.07283387e-01 1.03979069e-03 9.94227938e-01 -1.44852871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81824100800002 meters 0.06396379415178811 Centerline is valid? [True, True] Translation: X:104.92, Y:-38.57, Z:-14.49 [[ 7.25842673e-01 6.83520348e-01 7.71514640e-02 1.04915540e+02] [-6.79544823e-01 7.29930761e-01 -7.36200905e-02 -3.85733231e+01] [-1.06636057e-01 1.00872534e-03 9.94297608e-01 -1.44887757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84824100800002 meters 0.06397281651876509 Centerline is valid? [True, True] Translation: X:104.94, Y:-38.60, Z:-14.49 [[ 7.25727316e-01 6.83596446e-01 7.75613412e-02 1.04940124e+02] [-6.79574802e-01 7.29859463e-01 -7.40489805e-02 -3.85956506e+01] [-1.07228499e-01 1.03063477e-03 9.94233869e-01 -1.44939381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87824100800002 meters 0.06400560853422851 Centerline is valid? [True, True] Translation: X:104.96, Y:-38.62, Z:-14.50 [[ 7.24918360e-01 6.84614127e-01 7.61371720e-02 1.04963742e+02] [-6.80740277e-01 7.28905135e-01 -7.27322495e-02 -3.86169005e+01] [-1.05290301e-01 8.95303446e-04 9.94441125e-01 -1.44992274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90824100800002 meters 0.06408621106768166 Centerline is valid? [True, True] Translation: X:104.99, Y:-38.64, Z:-14.50 [[ 7.24805217e-01 6.84744081e-01 7.60456507e-02 1.04986809e+02] [-6.80876645e-01 7.28783049e-01 -7.26791750e-02 -3.86395856e+01] [-1.05187416e-01 9.00537699e-04 9.94452008e-01 -1.45028672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.938241008 meters 0.06417662220177488 Centerline is valid? [True, True] Translation: X:105.01, Y:-38.66, Z:-14.51 [[ 7.24252773e-01 6.85381667e-01 7.55638222e-02 1.05011230e+02] [-6.81562894e-01 7.28183551e-01 -7.22546721e-02 -3.86606234e+01] [-1.04546360e-01 8.29149253e-04 9.94519669e-01 -1.45062648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.968241008 meters 0.0642722188575491 Centerline is valid? [True, True] Translation: X:105.03, Y:-38.68, Z:-14.51 [[ 7.23782121e-01 6.85815174e-01 7.61379568e-02 1.05034337e+02] [-6.81936279e-01 7.27775313e-01 -7.28423277e-02 -3.86835144e+01] [-1.05367699e-01 8.00739534e-04 9.94433008e-01 -1.45132961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99824100800001 meters 0.06438827228259242 Centerline is valid? [True, True] Translation: X:105.06, Y:-38.71, Z:-14.52 [[ 7.23541594e-01 6.86142448e-01 7.54725301e-02 1.05057727e+02] [-6.82328308e-01 7.27466793e-01 -7.22505751e-02 -3.87051550e+01] [-1.04477946e-01 7.79252515e-04 9.94526898e-01 -1.45183660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02824100800001 meters 0.06441054503299506 Centerline is valid? [True, True] Translation: X:105.08, Y:-38.73, Z:-14.52 [[ 7.22960596e-01 6.86777284e-01 7.52657918e-02 1.05081296e+02] [-6.82984129e-01 7.26867567e-01 -7.20848071e-02 -3.87270464e+01] [-1.04214471e-01 7.09133854e-04 9.94554594e-01 -1.45226239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05824100800001 meters 0.06421319156789156 Centerline is valid? [True, True] Translation: X:105.11, Y:-38.75, Z:-14.52 [[ 7.21903686e-01 6.87842662e-01 7.56805132e-02 1.05106537e+02] [-6.84009508e-01 7.25859580e-01 -7.25180241e-02 -3.87482225e+01] [-1.04814416e-01 5.84838389e-04 9.94491627e-01 -1.45243244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08824100800001 meters 0.06417238084390865 Centerline is valid? [True, True] Translation: X:105.13, Y:-38.77, Z:-14.53 [[ 7.21313538e-01 6.88473269e-01 7.55733892e-02 1.05129616e+02] [-6.84650417e-01 7.25261530e-01 -7.24535665e-02 -3.87709226e+01] [-1.04692816e-01 5.20386037e-04 9.94504471e-01 -1.45275439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11824100800001 meters 0.06393428873194315 Centerline is valid? [True, True] Translation: X:105.15, Y:-38.79, Z:-14.53 [[ 7.21114656e-01 6.88578136e-01 7.65101488e-02 1.05152221e+02] [-6.84656030e-01 7.25161953e-01 -7.33911630e-02 -3.87934340e+01] [-1.06017799e-01 5.40308553e-04 9.94364085e-01 -1.45305210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14824100800001 meters 0.06391401900751627 Centerline is valid? [True, True] Translation: X:105.17, Y:-38.81, Z:-14.53 [[ 7.20535154e-01 6.89094283e-01 7.73185736e-02 1.05174929e+02] [-6.85087529e-01 7.24671528e-01 -7.42041401e-02 -3.88149858e+01] [-1.07164217e-01 4.96700959e-04 9.94241210e-01 -1.45341692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17824100800001 meters 0.06410969586683075 Centerline is valid? [True, True] Translation: X:105.20, Y:-38.84, Z:-14.54 [[ 7.20394155e-01 6.89239537e-01 7.73377079e-02 1.05198385e+02] [-6.85227742e-01 7.24533373e-01 -7.42585539e-02 -3.88352965e+01] [-1.07215682e-01 5.01485201e-04 9.94235659e-01 -1.45392406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20824100800002 meters 0.06435025183569065 Centerline is valid? [True, True] Translation: X:105.22, Y:-38.86, Z:-14.54 [[ 7.20334005e-01 6.89294017e-01 7.74123974e-02 1.05222308e+02] [-6.85270982e-01 7.24481531e-01 -7.43652715e-02 -3.88576075e+01] [-1.07343389e-01 5.19364293e-04 9.94221870e-01 -1.45433956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23824100800002 meters 0.06442187358221091 Centerline is valid? [True, True] Translation: X:105.24, Y:-38.88, Z:-14.55 [[ 7.19998947e-01 6.89700133e-01 7.69106108e-02 1.05244337e+02] [-6.85727351e-01 7.24094947e-01 -7.39223164e-02 -3.88794257e+01] [-1.06674816e-01 4.84280613e-04 9.94293844e-01 -1.45481202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26824100800002 meters 0.06441059877767868 Centerline is valid? [True, True] Translation: X:105.27, Y:-38.90, Z:-14.55 [[ 7.20071028e-01 6.89576258e-01 7.73453207e-02 1.05267158e+02] [-6.85554040e-01 7.24212886e-01 -7.43730763e-02 -3.89028482e+01] [-1.07300386e-01 5.29500405e-04 9.94226507e-01 -1.45510726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29824100800002 meters 0.06441416665308375 Centerline is valid? [True, True] Translation: X:105.29, Y:-38.93, Z:-14.55 [[ 7.20409056e-01 6.89295592e-01 7.66966689e-02 1.05288255e+02] [-6.85335013e-01 7.24479975e-01 -7.37881183e-02 -3.89268605e+01] [-1.06427025e-01 5.94716084e-04 9.94320338e-01 -1.45545670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.328241008 meters 0.06435372297957276 Centerline is valid? [True, True] Translation: X:105.31, Y:-38.95, Z:-14.56 [[ 7.20326999e-01 6.89383176e-01 7.66801859e-02 1.05312554e+02] [-6.85421218e-01 7.24396624e-01 -7.38057229e-02 -3.89503021e+01] [-1.06427291e-01 6.06028482e-04 9.94320303e-01 -1.45594164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35824100800001 meters 0.0644779777687616 Centerline is valid? [True, True] Translation: X:105.33, Y:-38.97, Z:-14.56 [[ 7.20543024e-01 6.89241971e-01 7.59161119e-02 1.05334741e+02] [-6.85353434e-01 7.24530938e-01 -7.31135475e-02 -3.89727664e+01] [-1.05396497e-01 6.52088660e-04 9.94430064e-01 -1.45649505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38824100800001 meters 0.06474865724909194 Centerline is valid? [True, True] Translation: X:105.36, Y:-39.00, Z:-14.57 [[ 7.21206804e-01 6.88657909e-01 7.49068032e-02 1.05357031e+02] [-6.84865631e-01 7.25086007e-01 -7.21758247e-02 -3.89954157e+01] [-1.04018327e-01 7.52600864e-04 9.94575096e-01 -1.45702676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41824100800001 meters 0.06503149787690643 Centerline is valid? [True, True] Translation: X:105.38, Y:-39.02, Z:-14.58 [[ 7.22198267e-01 6.87678060e-01 7.43542149e-02 1.05378322e+02] [-6.83932847e-01 7.26015188e-01 -7.16785008e-02 -3.90175744e+01] [-1.03274022e-01 9.12799136e-04 9.94652524e-01 -1.45770249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44824100800001 meters 0.0655494509597957 Centerline is valid? [True, True] Translation: X:105.40, Y:-39.04, Z:-14.59 [[ 7.24245660e-01 6.85610871e-01 7.35252206e-02 1.05398192e+02] [-6.81936394e-01 7.27967221e-01 -7.08976654e-02 -3.90408148e+01] [-1.02132161e-01 1.20780267e-03 9.94770106e-01 -1.45854501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47824100800001 meters 0.0656909208371683 Centerline is valid? [True, True] Translation: X:105.42, Y:-39.07, Z:-14.59 [[ 7.25461635e-01 6.84354552e-01 7.32411271e-02 1.05422237e+02] [-6.80699339e-01 7.29148057e-01 -7.06506941e-02 -3.90666268e+01] [-1.01753750e-01 1.39918126e-03 9.94808633e-01 -1.45879248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50824100800001 meters 0.06635412950009455 Centerline is valid? [True, True] Translation: X:105.44, Y:-39.09, Z:-14.59 [[ 7.26099562e-01 6.83676832e-01 7.32489904e-02 1.05441653e+02] [-6.80011872e-01 7.29783280e-01 -7.07122150e-02 -3.90918959e+01] [-1.01800192e-01 1.53392526e-03 9.94803683e-01 -1.45931072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53824100800001 meters 0.06700511364741249 Centerline is valid? [True, True] Translation: X:105.46, Y:-39.12, Z:-14.59 [[ 7.28587147e-01 6.81049472e-01 7.30231939e-02 1.05461118e+02] [-6.77390514e-01 7.32234887e-01 -7.05277425e-02 -3.91193929e+01] [-1.01503012e-01 1.92038781e-03 9.94833378e-01 -1.45937153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56824100800002 meters 0.06716189998017409 Centerline is valid? [True, True] Translation: X:105.48, Y:-39.14, Z:-14.60 [[ 7.30230615e-01 6.79184514e-01 7.39705633e-02 1.05482772e+02] [-6.75416550e-01 7.33964170e-01 -7.14778394e-02 -3.91435531e+01] [-1.02838385e-01 2.23436401e-03 9.94695569e-01 -1.45955301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59824100800002 meters 0.06854296561453826 Centerline is valid? [True, True] Translation: X:105.50, Y:-39.17, Z:-14.60 [[ 7.31778809e-01 6.77522621e-01 7.39112497e-02 1.05501976e+02] [-6.73748526e-01 7.35497712e-01 -7.14565594e-02 -3.91680405e+01] [-1.02774990e-01 2.49280039e-03 9.94701507e-01 -1.46015758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62824100800002 meters 0.067180391802292 Centerline is valid? [True, True] Translation: X:105.53, Y:-39.19, Z:-14.60 [[ 7.33754965e-01 6.75228606e-01 7.52992800e-02 1.05528790e+02] [-6.71295318e-01 7.37602845e-01 -7.28329503e-02 -3.91877507e+01] [-1.04719855e-01 2.89348477e-03 9.94497551e-01 -1.45992660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65824100800002 meters 0.06750008092623148 Centerline is valid? [True, True] Translation: X:105.55, Y:-39.21, Z:-14.60 [[ 7.34485792e-01 6.74469753e-01 7.49744914e-02 1.05553804e+02] [-6.70562938e-01 7.38296330e-01 -7.25525789e-02 -3.92115036e+01] [-1.04287912e-01 3.01372317e-03 9.94542583e-01 -1.46044088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.688241008 meters 0.0673874869411867 Centerline is valid? [True, True] Translation: X:105.58, Y:-39.23, Z:-14.61 [[ 7.34053141e-01 6.74888737e-01 7.54399103e-02 1.05578624e+02] [-6.70930174e-01 7.37913369e-01 -7.30517767e-02 -3.92336490e+01] [-1.04969940e-01 3.00897394e-03 9.94470843e-01 -1.46084904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.718241008 meters 0.06755418238020998 Centerline is valid? [True, True] Translation: X:105.60, Y:-39.26, Z:-14.61 [[ 7.33650282e-01 6.75378433e-01 7.49749063e-02 1.05603232e+02] [-6.71466699e-01 7.37465427e-01 -7.26444494e-02 -3.92553866e+01] [-1.04353896e-01 2.95246791e-03 9.94535845e-01 -1.46132674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74824100800001 meters 0.06835831264318445 Centerline is valid? [True, True] Translation: X:105.63, Y:-39.28, Z:-14.62 [[ 7.32559634e-01 6.76625518e-01 7.43928156e-02 1.05625589e+02] [-6.72776964e-01 7.36322059e-01 -7.21178330e-02 -3.92774561e+01] [-1.03573837e-01 2.78084070e-03 9.94617880e-01 -1.46209081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77824100800001 meters 0.06784179610830654 Centerline is valid? [True, True] Translation: X:105.65, Y:-39.30, Z:-14.63 [[ 7.29664924e-01 6.79792601e-01 7.39670137e-02 1.05652734e+02] [-6.76000977e-01 7.33400665e-01 -7.17366230e-02 -3.92981030e+01] [-1.03013483e-01 2.34192400e-03 9.94677203e-01 -1.46267996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80824100800001 meters 0.06692520632504843 Centerline is valid? [True, True] Translation: X:105.68, Y:-39.32, Z:-14.63 [[ 7.28277391e-01 6.81349515e-01 7.33135769e-02 1.05678863e+02] [-6.77627478e-01 7.31955094e-01 -7.11529467e-02 -3.93173655e+01] [-1.02142272e-01 2.13978817e-03 9.94767499e-01 -1.46284908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83824100800001 meters 0.06614348963161376 Centerline is valid? [True, True] Translation: X:105.71, Y:-39.34, Z:-14.63 [[ 7.26846120e-01 6.82963951e-01 7.24911076e-02 1.05705542e+02] [-6.79329944e-01 7.30449571e-01 -7.03864450e-02 -3.93378581e+01] [-1.01022503e-01 1.91473437e-03 9.94882298e-01 -1.46310192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.86824100800001 meters 0.06587099744298493 Centerline is valid? [True, True] Translation: X:105.73, Y:-39.36, Z:-14.64 [[ 7.24023835e-01 6.86020358e-01 7.18717990e-02 1.05731220e+02] [-6.82458882e-01 7.27580782e-01 -6.98289358e-02 -3.93563814e+01] [-1.00196611e-01 1.50826633e-03 9.94966514e-01 -1.46360130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.89824100800001 meters 0.0657837751039781 Centerline is valid? [True, True] Translation: X:105.75, Y:-39.38, Z:-14.64 [[ 7.22855171e-01 6.87236540e-01 7.20162432e-02 1.05754857e+02] [-6.83663447e-01 7.26432427e-01 -7.00015710e-02 -3.93766033e+01] [-1.00422572e-01 1.36612456e-03 9.94943939e-01 -1.46417454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92824100800001 meters 0.06584746297313618 Centerline is valid? [True, True] Translation: X:105.78, Y:-39.40, Z:-14.65 [[ 7.21774993e-01 6.88455113e-01 7.12068600e-02 1.05780299e+02] [-6.84964927e-01 7.25277949e-01 -6.92455393e-02 -3.93965558e+01] [-9.93172110e-02 1.20549692e-03 9.95055093e-01 -1.46473944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95824100800002 meters 0.0657401103552413 Centerline is valid? [True, True] Translation: X:105.81, Y:-39.42, Z:-14.66 [[ 7.19097204e-01 6.91296256e-01 7.07721525e-02 1.05805888e+02] [-6.87858864e-01 7.22570959e-01 -6.88577729e-02 -3.94155652e+01] [-9.87390227e-02 8.34179592e-04 9.95113013e-01 -1.46560835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98824100800002 meters 0.06565710123577 Centerline is valid? [True, True] Translation: X:105.83, Y:-39.44, Z:-14.66 [[ 7.18143963e-01 6.92296994e-01 7.06690981e-02 1.05829750e+02] [-6.88870641e-01 7.21612326e-01 -6.87960102e-02 -3.94373644e+01] [-9.86229633e-02 7.23572508e-04 9.95124609e-01 -1.46591966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01824100800002 meters 0.06553503836332995 Centerline is valid? [True, True] Translation: X:105.85, Y:-39.46, Z:-14.66 [[ 7.17037465e-01 6.93385537e-01 7.12304081e-02 1.05853139e+02] [-6.89906121e-01 7.20566535e-01 -6.93787592e-02 -3.94596485e+01] [-9.94324766e-02 6.04875083e-04 9.95044128e-01 -1.46626094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04824100800002 meters 0.0655925015741524 Centerline is valid? [True, True] Translation: X:105.88, Y:-39.48, Z:-14.67 [[ 7.16156388e-01 6.94277123e-01 7.14094086e-02 1.05875571e+02] [-6.90780830e-01 7.19707591e-01 -6.95904309e-02 -3.94817443e+01] [-9.97089376e-02 5.09381032e-04 9.95016517e-01 -1.46665623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.078241008 meters 0.06537504297624182 Centerline is valid? [True, True] Translation: X:105.90, Y:-39.50, Z:-14.67 [[ 7.15216210e-01 6.95190902e-01 7.19401367e-02 1.05898141e+02] [-6.91644801e-01 7.18825048e-01 -7.01285881e-02 -3.95037619e+01] [-1.00465129e-01 4.00081434e-04 9.94940500e-01 -1.46697119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10824100800001 meters 0.06537257229602955 Centerline is valid? [True, True] Translation: X:105.92, Y:-39.53, Z:-14.67 [[ 7.14740647e-01 6.95566895e-01 7.30239825e-02 1.05919286e+02] [-6.91911429e-01 7.18461240e-01 -7.12181263e-02 -3.95266034e+01] [-1.02001872e-01 3.76361636e-04 9.94784136e-01 -1.46718605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13824100800001 meters 0.06525516120223537 Centerline is valid? [True, True] Translation: X:105.94, Y:-39.55, Z:-14.67 [[ 7.14937285e-01 6.95234691e-01 7.42522951e-02 1.05940333e+02] [-6.91449917e-01 7.18782665e-01 -7.24464782e-02 -3.95494154e+01] [-1.03738567e-01 4.52945089e-04 9.94604497e-01 -1.46747535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16824100800001 meters 0.06498889645809022 Centerline is valid? [True, True] Translation: X:105.96, Y:-39.57, Z:-14.68 [[ 7.14928324e-01 6.95174353e-01 7.49006718e-02 1.05962886e+02] [-6.91319410e-01 7.18840998e-01 -7.31101429e-02 -3.95732934e+01] [-1.04665970e-01 4.88223728e-04 9.94507313e-01 -1.46784943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19824100800001 meters 0.06498889645809022 Centerline is valid? [True, True] Translation: X:105.99, Y:-39.60, Z:-14.68 [[ 7.14756747e-01 6.95351872e-01 7.48903664e-02 1.05985717e+02] [-6.91496794e-01 7.18669289e-01 -7.31206976e-02 -3.95958463e+01] [-1.04666020e-01 4.77063739e-04 9.94507314e-01 -1.46825480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22824100800001 meters 0.0650703163475098 Centerline is valid? [True, True] Translation: X:106.01, Y:-39.62, Z:-14.69 [[ 7.14440750e-01 6.95735187e-01 7.43435533e-02 1.06008741e+02] [-6.91934633e-01 7.18298233e-01 -7.26230757e-02 -3.96177885e+01] [-1.03927272e-01 4.44005370e-04 9.94584800e-01 -1.46878554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25824100800001 meters 0.06520653254081493 Centerline is valid? [True, True] Translation: X:106.03, Y:-39.64, Z:-14.69 [[ 7.14144583e-01 6.96015408e-01 7.45658513e-02 1.06031466e+02] [-6.92189646e-01 7.18026716e-01 -7.28774923e-02 -3.96405432e+01] [-1.04264131e-01 4.31356120e-04 9.94549549e-01 -1.46933446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28824100800001 meters 0.0653802943868607 Centerline is valid? [True, True] Translation: X:106.05, Y:-39.66, Z:-14.70 [[ 7.13376169e-01 6.96919179e-01 7.34717511e-02 1.06053205e+02] [-6.93208274e-01 7.17149610e-01 -7.18242681e-02 -3.96614919e+01] [-1.02745948e-01 3.06495443e-04 9.94707583e-01 -1.46989241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31824100800002 meters 0.06547147565392245 Centerline is valid? [True, True] Translation: X:106.07, Y:-39.69, Z:-14.70 [[ 7.13090564e-01 6.97304848e-01 7.25795789e-02 1.06073865e+02] [-6.93684578e-01 7.16774639e-01 -7.09635329e-02 -3.96850624e+01] [-1.01506417e-01 2.56091081e-04 9.94834851e-01 -1.47041802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34824100800002 meters 0.06568123000491605 Centerline is valid? [True, True] Translation: X:106.09, Y:-39.71, Z:-14.71 [[ 7.13615227e-01 6.96833899e-01 7.19432150e-02 1.06093680e+02] [-6.93271513e-01 7.17232459e-01 -7.03719266e-02 -3.97085369e+01] [-1.00637553e-01 3.42296815e-04 9.94923095e-01 -1.47102906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.37824100800002 meters 0.06579555902436583 Centerline is valid? [True, True] Translation: X:106.11, Y:-39.73, Z:-14.71 [[ 7.14450618e-01 6.95989294e-01 7.18276825e-02 1.06114966e+02] [-6.92431424e-01 7.18051998e-01 -7.02855004e-02 -3.97339422e+01] [-1.00493967e-01 4.79774764e-04 9.94937552e-01 -1.47142227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.40824100800002 meters 0.06555295650765479 Centerline is valid? [True, True] Translation: X:106.14, Y:-39.76, Z:-14.71 [[ 7.15140551e-01 6.95274578e-01 7.18836091e-02 1.06136697e+02] [-6.91704128e-01 7.18743971e-01 -7.03740298e-02 -3.97583546e+01] [-1.00595184e-01 6.05133351e-04 9.94927255e-01 -1.47141636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.438241008 meters 0.0665722869352295 Centerline is valid? [True, True] Translation: X:106.15, Y:-39.79, Z:-14.72 [[ 7.17429843e-01 6.93011584e-01 7.09180204e-02 1.06154143e+02] [-6.89521962e-01 7.20925840e-01 -6.94650754e-02 -3.97852821e+01] [-9.92667353e-02 9.36785529e-04 9.95060419e-01 -1.47240979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.468241008 meters 0.06616691694755486 Centerline is valid? [True, True] Translation: X:106.18, Y:-39.81, Z:-14.72 [[ 7.18154590e-01 6.92260527e-01 7.09179002e-02 1.06177597e+02] [-6.88763585e-01 7.21646883e-01 -6.95017957e-02 -3.98080456e+01] [-9.92910314e-02 1.06736638e-03 9.95057864e-01 -1.47245124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49824100800001 meters 0.06649041668773462 Centerline is valid? [True, True] Translation: X:106.20, Y:-39.83, Z:-14.73 [[ 7.18687138e-01 6.91593283e-01 7.20245039e-02 1.06198366e+02] [-6.87978893e-01 7.22286147e-01 -7.06241058e-02 -3.98318342e+01] [-1.00865459e-01 1.20529798e-03 9.94899345e-01 -1.47301415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.52824100800001 meters 0.06602459294477762 Centerline is valid? [True, True] Translation: X:106.22, Y:-39.85, Z:-14.73 [[ 7.18536522e-01 6.91710258e-01 7.24029376e-02 1.06223463e+02] [-6.88054726e-01 7.22174099e-01 -7.10300251e-02 -3.98537193e+01] [-1.01419723e-01 1.22048382e-03 9.94842978e-01 -1.47290736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.55824100800001 meters 0.06634779209412278 Centerline is valid? [True, True] Translation: X:106.24, Y:-39.88, Z:-14.74 [[ 7.18700807e-01 6.91408727e-01 7.36418592e-02 1.06244305e+02] [-6.87621044e-01 7.22462628e-01 -7.22845212e-02 -3.98761841e+01] [-1.03181640e-01 1.31325161e-03 9.94661663e-01 -1.47354281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.58824100800001 meters 0.06580264947601229 Centerline is valid? [True, True] Translation: X:106.27, Y:-39.90, Z:-14.74 [[ 7.17649025e-01 6.92460507e-01 7.40156973e-02 1.06269869e+02] [-6.88636388e-01 7.21454799e-01 -7.26835529e-02 -3.98989017e+01] [-1.03729470e-01 1.19137840e-03 9.94604835e-01 -1.47355669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.61824100800001 meters 0.06557943874283466 Centerline is valid? [True, True] Translation: X:106.30, Y:-39.92, Z:-14.74 [[ 7.16725159e-01 6.93392294e-01 7.42440112e-02 1.06297483e+02] [-6.89546006e-01 7.20559472e-01 -7.29407541e-02 -3.99241493e+01] [-1.04073782e-01 1.08381216e-03 9.94568989e-01 -1.47403518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.64824100800001 meters 0.06584766632020028 Centerline is valid? [True, True] Translation: X:106.32, Y:-39.94, Z:-14.75 [[ 7.15906114e-01 6.94297057e-01 7.36887532e-02 1.06320677e+02] [-6.90502357e-01 7.19687820e-01 -7.24978428e-02 -3.99447626e+01] [-1.03367937e-01 1.01939117e-03 9.94642665e-01 -1.47467153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.67824100800001 meters 0.06586744841107452 Centerline is valid? [True, True] Translation: X:106.35, Y:-39.96, Z:-14.75 [[ 7.13966592e-01 6.96401909e-01 7.26366770e-02 1.06347262e+02] [-6.92722553e-01 7.17651622e-01 -7.14955473e-02 -3.99646483e+01] [-1.01917465e-01 7.28367881e-04 9.94792591e-01 -1.47524657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.70824100800002 meters 0.06605371492783314 Centerline is valid? [True, True] Translation: X:106.37, Y:-39.99, Z:-14.76 [[ 7.13313399e-01 6.97118451e-01 7.21793635e-02 1.06370318e+02] [-6.93484601e-01 7.16955674e-01 -7.10891665e-02 -3.99863964e+01] [-1.01306974e-01 6.53577896e-04 9.94854999e-01 -1.47575804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.73824100800002 meters 0.06623224736982503 Centerline is valid? [True, True] Translation: X:106.39, Y:-40.01, Z:-14.76 [[ 7.12796833e-01 6.97764548e-01 7.10303515e-02 1.06392780e+02] [-6.94245510e-01 7.16326952e-01 -6.99919270e-02 -4.00076298e+01] [-9.97188405e-02 5.77521378e-04 9.95015487e-01 -1.47642135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.76824100800002 meters 0.0663016963076687 Centerline is valid? [True, True] Translation: X:106.42, Y:-40.03, Z:-14.77 [[ 7.12161722e-01 6.98513497e-01 7.00326823e-02 1.06416932e+02] [-6.95093382e-01 7.15596713e-01 -6.90400931e-02 -4.00287475e+01] [-9.83405942e-02 4.88457568e-04 9.95152696e-01 -1.47680675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.79824100800002 meters 0.06661292045945742 Centerline is valid? [True, True] Translation: X:106.44, Y:-40.05, Z:-14.78 [[ 7.11742006e-01 6.99117413e-01 6.82507105e-02 1.06441377e+02] [-6.95869146e-01 7.15006761e-01 -6.73161533e-02 -4.00501570e+01] [-9.58616144e-02 4.18170347e-04 9.95394583e-01 -1.47755257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.828241008 meters 0.0665845992224044 Centerline is valid? [True, True] Translation: X:106.46, Y:-40.07, Z:-14.78 [[ 7.11187614e-01 6.99680878e-01 6.82557450e-02 1.06464124e+02] [-6.96431094e-01 7.14455410e-01 -6.73587233e-02 -4.00733244e+01] [-9.58952969e-02 3.69266523e-04 9.95391358e-01 -1.47797579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.85824100800001 meters 0.06672632181124212 Centerline is valid? [True, True] Translation: X:106.49, Y:-40.10, Z:-14.79 [[ 7.11198563e-01 6.99650461e-01 6.84531726e-02 1.06485283e+02] [-6.96378164e-01 7.14485180e-01 -6.75897919e-02 -4.00960695e+01] [-9.61980064e-02 4.00468213e-04 9.95362137e-01 -1.47857064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.88824100800001 meters 0.06643190709305194 Centerline is valid? [True, True] Translation: X:106.51, Y:-40.12, Z:-14.79 [[ 7.11155826e-01 6.99676240e-01 6.86334504e-02 1.06508237e+02] [-6.96383628e-01 7.14459923e-01 -6.78001514e-02 -4.01196327e+01] [-9.64740047e-02 4.21261402e-04 9.95335415e-01 -1.47877234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.91824100800001 meters 0.06623718633799225 Centerline is valid? [True, True] Translation: X:106.53, Y:-40.14, Z:-14.79 [[ 7.11230919e-01 6.99444177e-01 7.02027302e-02 1.06531241e+02] [-6.95994082e-01 7.14687067e-01 -6.93875626e-02 -4.01426354e+01] [-9.87057099e-02 4.89895145e-04 9.95116547e-01 -1.47897421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.94824100800001 meters 0.06619800169569559 Centerline is valid? [True, True] Translation: X:106.55, Y:-40.17, Z:-14.79 [[ 7.11562599e-01 6.99085190e-01 7.04170792e-02 1.06554268e+02] [-6.95608595e-01 7.15038164e-01 -6.96355291e-02 -4.01662240e+01] [-9.90320661e-02 5.67312524e-04 9.95084081e-01 -1.47937666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.97824100800001 meters 0.06636429602746878 Centerline is valid? [True, True] Translation: X:106.58, Y:-40.19, Z:-14.80 [[ 7.11921593e-01 6.98629339e-01 7.13070252e-02 1.06575895e+02] [-6.95058099e-01 7.15483476e-01 -7.05523616e-02 -4.01899290e+01] [-1.00308948e-01 6.65224286e-04 9.94956116e-01 -1.47979370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.00824100800001 meters 0.06604402673012753 Centerline is valid? [True, True] Translation: X:106.60, Y:-40.21, Z:-14.80 [[ 7.11996834e-01 6.98462673e-01 7.21831193e-02 1.06598687e+02] [-6.94798245e-01 7.15646121e-01 -7.14564788e-02 -4.02135984e+01] [-1.01567252e-01 7.24082046e-04 9.94828412e-01 -1.48003015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.03824100800001 meters 0.06614070670718625 Centerline is valid? [True, True] Translation: X:106.62, Y:-40.24, Z:-14.80 [[ 7.12304830e-01 6.98056740e-01 7.30658357e-02 1.06620153e+02] [-6.94296124e-01 7.16041982e-01 -7.23655496e-02 -4.02368751e+01] [-1.02833466e-01 8.17004013e-04 9.94698251e-01 -1.48036635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.06824100800002 meters 0.06630392385282845 Centerline is valid? [True, True] Translation: X:106.64, Y:-40.26, Z:-14.81 [[ 7.12623708e-01 6.97621515e-01 7.41058182e-02 1.06641792e+02] [-6.93746485e-01 7.16465893e-01 -7.34332322e-02 -4.02600716e+01] [-1.04322894e-01 9.19611326e-04 9.94543055e-01 -1.48074506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.09824100800002 meters 0.06600685015553671 Centerline is valid? [True, True] Translation: X:106.67, Y:-40.28, Z:-14.81 [[ 7.12835433e-01 6.97490978e-01 7.32938021e-02 1.06666016e+02] [-6.93697998e-01 7.16592945e-01 -7.26473589e-02 -4.02824575e+01] [-1.03192699e-01 9.41847747e-04 9.94660937e-01 -1.48083786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.12824100800002 meters 0.06649167681231141 Centerline is valid? [True, True] Translation: X:106.69, Y:-40.31, Z:-14.82 [[ 7.12958076e-01 6.97375212e-01 7.32024334e-02 1.06686486e+02] [-6.93587051e-01 7.16705548e-01 -7.25958618e-02 -4.03058683e+01] [-1.03091145e-01 9.85546013e-04 9.94671425e-01 -1.48165067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.15824100800002 meters 0.06655032628966907 Centerline is valid? [True, True] Translation: X:106.71, Y:-40.33, Z:-14.82 [[ 7.12678338e-01 6.97751078e-01 7.23396188e-02 1.06710227e+02] [-6.94050292e-01 7.16339682e-01 -7.17750075e-02 -4.03283386e+01] [-1.01900828e-01 9.45159458e-04 9.94794113e-01 -1.48200751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.18824100800002 meters 0.06661865539335284 Centerline is valid? [True, True] Translation: X:106.73, Y:-40.35, Z:-14.82 [[ 7.12396021e-01 6.98096790e-01 7.17828731e-02 1.06733153e+02] [-6.94451004e-01 7.16002818e-01 -7.12584607e-02 -4.03508317e+01] [-1.01142042e-01 9.14555494e-04 9.94871575e-01 -1.48237572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.218241008 meters 0.06693214878110802 Centerline is valid? [True, True] Translation: X:106.75, Y:-40.37, Z:-14.83 [[ 7.12157527e-01 6.98509527e-01 7.01148839e-02 1.06754534e+02] [-6.95030091e-01 7.15600236e-01 -6.96381696e-02 -4.03729464e+01] [-9.88171524e-02 8.61392526e-04 9.95105235e-01 -1.48301202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.24824100800001 meters 0.06727511658362205 Centerline is valid? [True, True] Translation: X:106.78, Y:-40.40, Z:-14.84 [[ 7.12200493e-01 6.98579390e-01 6.89731380e-02 1.06775827e+02] [-6.95209918e-01 7.15532037e-01 -6.85352010e-02 -4.03950831e+01] [-9.72297688e-02 8.59994368e-04 9.95261590e-01 -1.48376874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.27824100800001 meters 0.06747331640461761 Centerline is valid? [True, True] Translation: X:106.80, Y:-40.42, Z:-14.84 [[ 7.12453325e-01 6.98377681e-01 6.84022910e-02 1.06797963e+02] [-6.95059888e-01 7.15728859e-01 -6.79996587e-02 -4.04170654e+01] [-9.64469376e-02 9.02894321e-04 9.95337718e-01 -1.48423582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.30824100800001 meters 0.06744689136499557 Centerline is valid? [True, True] Translation: X:106.82, Y:-40.44, Z:-14.85 [[ 7.12556759e-01 6.98258304e-01 6.85434612e-02 1.06820095e+02] [-6.94923294e-01 7.15845271e-01 -6.81700997e-02 -4.04393117e+01] [-9.66668507e-02 9.42617449e-04 9.95316347e-01 -1.48467698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.33824100800001 meters 0.06768676348524513 Centerline is valid? [True, True] Translation: X:106.84, Y:-40.46, Z:-14.85 [[ 7.12450509e-01 6.98396934e-01 6.82348477e-02 1.06842625e+02] [-6.95090774e-01 7.15710033e-01 -6.78819877e-02 -4.04610718e+01] [-9.62449372e-02 9.33143609e-04 9.95357243e-01 -1.48519721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.36824100800001 meters 0.06793970166906955 Centerline is valid? [True, True] Translation: X:106.86, Y:-40.48, Z:-14.86 [[ 7.13394850e-01 6.97383287e-01 6.87338217e-02 1.06863465e+02] [-6.94020902e-01 7.16697525e-01 -6.84079338e-02 -4.04848971e+01] [-9.69679097e-02 1.09915879e-03 9.95286902e-01 -1.48556394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.39824100800001 meters 0.06787061872152923 Centerline is valid? [True, True] Translation: X:106.89, Y:-40.51, Z:-14.86 [[ 7.13505388e-01 6.97269806e-01 6.87377557e-02 1.06885122e+02] [-6.93903410e-01 7.16807871e-01 -6.84436530e-02 -4.05081943e+01] [-9.69954569e-02 1.13755205e-03 9.95284174e-01 -1.48585580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.42824100800001 meters 0.06746479008837711 Centerline is valid? [True, True] Translation: X:106.91, Y:-40.53, Z:-14.86 [[ 7.14124895e-01 6.96565269e-01 6.94439292e-02 1.06907826e+02] [-6.93122234e-01 7.17492304e-01 -6.91835474e-02 -4.05318575e+01] [-9.80163411e-02 1.27256219e-03 9.95183992e-01 -1.48591840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.45824100800002 meters 0.06732399095647527 Centerline is valid? [True, True] Translation: X:106.93, Y:-40.56, Z:-14.86 [[ 7.14650703e-01 6.95732287e-01 7.23253616e-02 1.06928274e+02] [-6.91991103e-01 7.18299706e-01 -7.20683394e-02 -4.05553524e+01] [-1.02091557e-01 1.45518269e-03 9.94773942e-01 -1.48587999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.48824100800002 meters 0.06714110936931376 Centerline is valid? [True, True] Translation: X:106.95, Y:-40.58, Z:-14.86 [[ 7.14818578e-01 6.95399861e-01 7.38473735e-02 1.06951096e+02] [-6.91494198e-01 7.18621327e-01 -7.36149657e-02 -4.05777802e+01] [-1.04260134e-01 1.55631481e-03 9.94548844e-01 -1.48608327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.51824100800002 meters 0.06669861609029289 Centerline is valid? [True, True] Translation: X:106.98, Y:-40.60, Z:-14.86 [[ 7.15153891e-01 6.95012057e-01 7.42505998e-02 1.06975927e+02] [-6.91058201e-01 7.18996202e-01 -7.40474498e-02 -4.05992256e+01] [-1.04849770e-01 1.64383598e-03 9.94486714e-01 -1.48622343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.54824100800002 meters 0.06730320655399641 Centerline is valid? [True, True] Translation: X:107.00, Y:-40.62, Z:-14.87 [[ 7.16280396e-01 6.93798450e-01 7.47402501e-02 1.06999691e+02] [-6.89781659e-01 7.20166822e-01 -7.45721897e-02 -4.06233812e+01] [-1.05563518e-01 1.86014385e-03 9.94410822e-01 -1.48685732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.578241008 meters 0.06799940610654095 Centerline is valid? [True, True] Translation: X:107.02, Y:-40.65, Z:-14.88 [[ 7.16750265e-01 6.93407679e-01 7.38569380e-02 1.07019358e+02] [-6.89478002e-01 7.20542889e-01 -7.37429992e-02 -4.06472875e+01] [-1.04351053e-01 1.93258021e-03 9.94538648e-01 -1.48761816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.60824100800001 meters 0.06784956531302444 Centerline is valid? [True, True] Translation: X:107.04, Y:-40.67, Z:-14.88 [[ 7.17891826e-01 6.92306236e-01 7.30985820e-02 1.07042466e+02] [-6.88447992e-01 7.21600782e-01 -7.30183111e-02 -4.06708468e+01] [-1.03299026e-01 2.09467662e-03 9.94648141e-01 -1.48774926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.63824100800001 meters 0.06869723110519878 Centerline is valid? [True, True] Translation: X:107.06, Y:-40.69, Z:-14.88 [[ 7.19737806e-01 6.90464605e-01 7.23610392e-02 1.07062128e+02] [-6.86671152e-01 7.23362327e-01 -7.23164747e-02 -4.06949414e+01] [-1.02275216e-01 2.36066270e-03 9.94753340e-01 -1.48824492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.66824100800001 meters 0.06911743735210492 Centerline is valid? [True, True] Translation: X:107.08, Y:-40.72, Z:-14.89 [[ 7.20524841e-01 6.89642985e-01 7.23637181e-02 1.07084149e+02] [-6.85841936e-01 7.24145223e-01 -7.23500881e-02 -4.07179378e+01] [-1.02297572e-01 2.49996318e-03 9.94750701e-01 -1.48870548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.69824100800001 meters 0.0692010105820475 Centerline is valid? [True, True] Translation: X:108.26, Y:-39.82, Z:-13.82 [[ 7.36273685e-01 -6.68316264e-01 -1.06086909e-01 1.08261531e+02] [-6.60283800e-01 -7.43851850e-01 1.03487816e-01 -3.98241942e+01] [-1.48075534e-01 -6.14788874e-03 -9.88956945e-01 -1.38199599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.72824100800001 meters 0.06958062029925885 Centerline is valid? [True, True] Translation: X:107.22, Y:-40.88, Z:-14.91 [[ 7.73375921e-01 6.29350019e-01 7.62118022e-02 1.07223083e+02] [-6.25994562e-01 7.77117872e-01 -6.49509239e-02 -4.08820526e+01] [-1.00102419e-01 2.52330686e-03 9.94973939e-01 -1.49081160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.75824100800001 meters 0.06973066022593537 Centerline is valid? [True, True] Translation: X:107.25, Y:-40.90, Z:-14.91 [[ 7.72478486e-01 6.30559930e-01 7.53071256e-02 1.07249076e+02] [-6.27286196e-01 7.76136961e-01 -6.42140654e-02 -4.08999103e+01] [-9.89394602e-02 2.36486369e-03 9.95090644e-01 -1.49138034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.78824100800001 meters 0.06945472986661091 Centerline is valid? [True, True] Translation: X:107.27, Y:-40.92, Z:-14.92 [[ 7.71425912e-01 6.31880426e-01 7.50279168e-02 1.07274587e+02] [-6.28634354e-01 7.75062735e-01 -6.40047269e-02 -4.09197311e+01] [-9.85946765e-02 2.20977888e-03 9.95125222e-01 -1.49181962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.81824100800002 meters 0.06917035560068062 Centerline is valid? [True, True] Translation: X:107.30, Y:-40.94, Z:-14.92 [[ 7.70301133e-01 6.33245894e-01 7.50719861e-02 1.07300355e+02] [-6.29999325e-01 7.73947925e-01 -6.40738572e-02 -4.09392781e+01] [-9.86763148e-02 2.06086418e-03 9.95117449e-01 -1.49217357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.84824100800002 meters 0.06732301978646485 Centerline is valid? [True, True] Translation: X:107.33, Y:-40.95, Z:-14.92 [[ 7.66666485e-01 6.37658178e-01 7.49302889e-02 1.07331991e+02] [-6.34441999e-01 7.70317959e-01 -6.39811843e-02 -4.09523113e+01] [-9.85182726e-02 1.51330736e-03 9.95134091e-01 -1.49220865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.87824100800002 meters 0.06744420427555929 Centerline is valid? [True, True] Translation: X:107.36, Y:-40.97, Z:-14.93 [[ 7.64131080e-01 6.40683381e-01 7.50233196e-02 1.07356633e+02] [-6.37470446e-01 7.67804325e-01 -6.40932882e-02 -4.09694464e+01] [-9.86667338e-02 1.15052457e-03 9.95119868e-01 -1.49316715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.90824100800002 meters 0.06663464720621755 Centerline is valid? [True, True] Translation: X:107.39, Y:-40.98, Z:-14.93 [[ 7.61682917e-01 6.43594546e-01 7.50012963e-02 1.07385680e+02] [-6.40394933e-01 7.65366206e-01 -6.41006979e-02 -4.09849461e+01] [-9.86583172e-02 7.93956460e-04 9.95121051e-01 -1.49312668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.93824100800002 meters 0.06633921558527946 Centerline is valid? [True, True] Translation: X:107.42, Y:-41.01, Z:-14.94 [[ 7.59069066e-01 6.46540718e-01 7.61528268e-02 1.07416760e+02] [-6.43254278e-01 7.62879355e-01 -6.51077912e-02 -4.10059026e+01] [-1.00190257e-01 4.35678616e-04 9.94968202e-01 -1.49357538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.968241008 meters 0.06620672728933263 Centerline is valid? [True, True] Translation: X:107.45, Y:-41.02, Z:-14.94 [[ 7.54585355e-01 6.51711932e-01 7.66322378e-02 1.07446029e+02] [-6.48403919e-01 7.58466556e-01 -6.55807947e-02 -4.10202174e+01] [-1.00862776e-01 -2.02336033e-04 9.94900326e-01 -1.49396679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.99824100800001 meters 0.06629463777058184 Centerline is valid? [True, True] Translation: X:107.47, Y:-41.04, Z:-14.94 [[ 7.53021105e-01 6.53523202e-01 7.65939923e-02 1.07472344e+02] [-6.50224703e-01 7.56906366e-01 -6.55788714e-02 -4.10392225e+01] [-1.00831794e-01 -4.21031677e-04 9.94903398e-01 -1.49441339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.02824100800001 meters 0.06631155090067968 Centerline is valid? [True, True] Translation: X:107.50, Y:-41.06, Z:-14.95 [[ 7.51773409e-01 6.54914867e-01 7.69627084e-02 1.07498285e+02] [-6.51588319e-01 7.55702438e-01 -6.59279005e-02 -4.10585420e+01] [-1.01338069e-01 -5.85159241e-04 9.94851875e-01 -1.49478268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.05824100800001 meters 0.06646182566469404 Centerline is valid? [True, True] Translation: X:107.52, Y:-41.08, Z:-14.95 [[ 7.51080310e-01 6.55748829e-01 7.66279364e-02 1.07523717e+02] [-6.52452247e-01 7.54978824e-01 -6.56737432e-02 -4.10791700e+01] [-1.00917949e-01 -6.69813900e-04 9.94894526e-01 -1.49533890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.08824100800001 meters 0.06646182566469404 Centerline is valid? [True, True] Translation: X:107.55, Y:-41.10, Z:-14.96 [[ 7.50920146e-01 6.55934175e-01 7.66113021e-02 1.07547970e+02] [-6.52636577e-01 7.54817799e-01 -6.56931410e-02 -4.11002069e+01] [-1.00917951e-01 -6.69034955e-04 9.94894527e-01 -1.49574389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.11824100800001 meters 0.06630434722099539 Centerline is valid? [True, True] Translation: X:107.57, Y:-41.12, Z:-14.96 [[ 7.51100380e-01 6.55711322e-01 7.67520769e-02 1.07571115e+02] [-6.52397052e-01 7.55011446e-01 -6.58468229e-02 -4.11228706e+01] [-1.01125204e-01 -6.15254972e-04 9.94873517e-01 -1.49595992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.14824100800001 meters 0.06608820097340146 Centerline is valid? [True, True] Translation: X:107.59, Y:-41.15, Z:-14.96 [[ 7.52801720e-01 6.53679549e-01 7.74119942e-02 1.07591581e+02] [-6.50293482e-01 7.56771396e-01 -6.64487928e-02 -4.11464627e+01] [-1.02019400e-01 -3.17749731e-04 9.94782359e-01 -1.49640254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.17824100800001 meters 0.06581482442795059 Centerline is valid? [True, True] Translation: X:107.61, Y:-41.17, Z:-14.97 [[ 7.54654873e-01 6.51482510e-01 7.78881302e-02 1.07612800e+02] [-6.48041316e-01 7.58663653e-01 -6.68723688e-02 -4.11709634e+01] [-1.02657072e-01 -9.16743892e-06 9.94716807e-01 -1.49661093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.20824100800002 meters 0.06585144215668509 Centerline is valid? [True, True] Translation: X:107.63, Y:-41.20, Z:-14.97 [[ 7.57714876e-01 6.48166760e-01 7.58156847e-02 1.07634754e+02] [-6.44887557e-01 7.61498293e-01 -6.51182634e-02 -4.11952516e+01] [-9.99410083e-02 4.48485187e-04 9.94993263e-01 -1.49706368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.23824100800002 meters 0.06612030303194372 Centerline is valid? [True, True] Translation: X:107.66, Y:-41.22, Z:-14.98 [[ 7.58392804e-01 6.47606047e-01 7.38021875e-02 1.07658270e+02] [-6.44493253e-01 7.61975146e-01 -6.34217988e-02 -4.12159085e+01] [-9.73077731e-02 5.33623957e-04 9.95254195e-01 -1.49789516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.26824100800002 meters 0.06664366849116207 Centerline is valid? [True, True] Translation: X:107.68, Y:-41.24, Z:-14.99 [[ 7.59013875e-01 6.47072439e-01 7.20777122e-02 1.07682411e+02] [-6.44098604e-01 7.62428283e-01 -6.19685538e-02 -4.12362813e+01] [-9.50522296e-02 6.09838316e-04 9.95472100e-01 -1.49880591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.29824100800002 meters 0.0672687110101003 Centerline is valid? [True, True] Translation: X:107.71, Y:-41.26, Z:-15.00 [[ 7.58820372e-01 6.47514374e-01 7.01197429e-02 1.07706281e+02] [-6.44699598e-01 7.62053030e-01 -6.03125749e-02 -4.12551706e+01] [-9.24882218e-02 5.60240484e-04 9.95713621e-01 -1.49982694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.328241008 meters 0.06706936263113447 Centerline is valid? [True, True] Translation: X:107.73, Y:-41.28, Z:-15.00 [[ 7.59205876e-01 6.47140678e-01 6.93929422e-02 1.07730788e+02] [-6.44380255e-01 7.62370356e-01 -5.97120372e-02 -4.12765346e+01] [-9.15452103e-02 6.18287780e-04 9.95800729e-01 -1.49979399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.35824100800001 meters 0.06739029890788217 Centerline is valid? [True, True] Translation: X:107.75, Y:-41.30, Z:-15.01 [[ 7.58987189e-01 6.47439476e-01 6.89969030e-02 1.07752847e+02] [-6.44708971e-01 7.62116633e-01 -5.94018517e-02 -4.12984205e+01] [-9.10427912e-02 6.02322059e-04 9.95846799e-01 -1.50057268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.38824100800001 meters 0.06698456520984998 Centerline is valid? [True, True] Translation: X:107.78, Y:-41.32, Z:-15.01 [[ 7.59020412e-01 6.47413553e-01 6.88745617e-02 1.07777837e+02] [-6.44690151e-01 7.62138636e-01 -5.93237624e-02 -4.13206918e+01] [-9.08989723e-02 6.25195015e-04 9.95859923e-01 -1.50060744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.41824100800001 meters 0.06675830188671335 Centerline is valid? [True, True] Translation: X:107.80, Y:-41.34, Z:-15.01 [[ 7.58947533e-01 6.47353649e-01 7.02274534e-02 1.07800917e+02] [-6.44518553e-01 7.62189479e-01 -6.05229888e-02 -4.13434836e+01] [-9.27064038e-02 6.70876409e-04 9.95693262e-01 -1.50074759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.44824100800001 meters 0.06668706789963265 Centerline is valid? [True, True] Translation: X:107.83, Y:-41.37, Z:-15.01 [[ 7.58537139e-01 6.47761236e-01 7.08998638e-02 1.07825384e+02] [-6.44870719e-01 7.61843135e-01 -6.11293183e-02 -4.13656595e+01] [-9.36117773e-02 6.47612090e-04 9.95608566e-01 -1.50107873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.47824100800001 meters 0.06647853923394301 Centerline is valid? [True, True] Translation: X:107.85, Y:-41.39, Z:-15.02 [[ 7.57789648e-01 6.48621117e-01 7.10316497e-02 1.07850207e+02] [-6.45720666e-01 7.61111244e-01 -6.12739374e-02 -4.13874307e+01] [-9.38065570e-02 5.66151295e-04 9.95590282e-01 -1.50152104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.50824100800001 meters 0.0670427313016197 Centerline is valid? [True, True] Translation: X:107.87, Y:-41.41, Z:-15.02 [[ 7.58080239e-01 6.48227997e-01 7.15179399e-02 1.07872337e+02] [-6.45282260e-01 7.61446022e-01 -6.17313577e-02 -4.14097737e+01] [-9.44730451e-02 6.48064499e-04 9.95527209e-01 -1.50234553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.53824100800001 meters 0.06711103854798699 Centerline is valid? [True, True] Translation: X:107.90, Y:-41.43, Z:-15.03 [[ 7.57603603e-01 6.48559586e-01 7.35339646e-02 1.07895347e+02] [-6.45443230e-01 7.61163610e-01 -6.35058752e-02 -4.14305229e+01] [-9.71587221e-02 6.50280277e-04 9.95268687e-01 -1.50283289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.56824100800002 meters 0.06670268797300226 Centerline is valid? [True, True] Translation: X:107.92, Y:-41.45, Z:-15.03 [[ 7.57340720e-01 6.48868154e-01 7.35197420e-02 1.07920789e+02] [-6.45752032e-01 7.60900600e-01 -6.35184286e-02 -4.14521549e+01] [-9.71563013e-02 6.29569681e-04 9.95268937e-01 -1.50294404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.59824100800002 meters 0.06662175952243371 Centerline is valid? [True, True] Translation: X:107.95, Y:-41.47, Z:-15.03 [[ 7.56837617e-01 6.49617560e-01 7.20683495e-02 1.07946100e+02] [-6.46624223e-01 7.60260961e-01 -6.22927390e-02 -4.14729675e+01] [-9.52572098e-02 5.44347628e-04 9.95452544e-01 -1.50312578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.62824100800002 meters 0.06726205970357202 Centerline is valid? [True, True] Translation: X:107.97, Y:-41.49, Z:-15.04 [[ 7.56255014e-01 6.50396690e-01 7.11512461e-02 1.07970079e+02] [-6.47479851e-01 7.59594583e-01 -6.15297612e-02 -4.14924969e+01] [-9.40648541e-02 4.63192129e-04 9.95565964e-01 -1.50420955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.65824100800002 meters 0.06684534843904712 Centerline is valid? [True, True] Translation: X:108.00, Y:-41.51, Z:-15.04 [[ 7.55134762e-01 6.51757164e-01 7.05980893e-02 1.07997308e+02] [-6.48889054e-01 7.58427651e-01 -6.10777612e-02 -4.15117105e+01] [-9.33514115e-02 3.11613303e-04 9.95633174e-01 -1.50420530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.68824100800002 meters 0.06677466957702427 Centerline is valid? [True, True] Translation: X:108.02, Y:-41.53, Z:-15.04 [[ 7.53748284e-01 6.53313237e-01 7.10305508e-02 1.08023122e+02] [-6.50413664e-01 7.57087706e-01 -6.14839135e-02 -4.15307027e+01] [-9.39446113e-02 1.44153454e-04 9.95577415e-01 -1.50446562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.718241008 meters 0.06692300114453477 Centerline is valid? [True, True] Translation: X:108.05, Y:-41.55, Z:-15.05 [[ 7.52381853e-01 6.54901940e-01 7.08872140e-02 1.08048562e+02] [-6.52018645e-01 7.55713867e-01 -6.13859730e-02 -4.15488633e+01] [-9.37722433e-02 -3.40931041e-05 9.95593675e-01 -1.50496367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.74824100800001 meters 0.06675520552359245 Centerline is valid? [True, True] Translation: X:108.08, Y:-41.57, Z:-15.05 [[ 7.51325775e-01 6.56131230e-01 7.07205014e-02 1.08075059e+02] [-6.53264342e-01 7.54646792e-01 -6.12692317e-02 -4.15681700e+01] [-9.35696559e-02 -1.66028778e-04 9.95612722e-01 -1.50530603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.77824100800001 meters 0.06665929300668458 Centerline is valid? [True, True] Translation: X:108.10, Y:-41.59, Z:-15.06 [[ 7.50806440e-01 6.56661221e-01 7.13143151e-02 1.08101426e+02] [-6.53745270e-01 7.54185652e-01 -6.18152450e-02 -4.15882397e+01] [-9.43759074e-02 -2.10112210e-04 9.95536611e-01 -1.50550828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.80824100800001 meters 0.06650759102464468 Centerline is valid? [True, True] Translation: X:108.13, Y:-41.61, Z:-15.06 [[ 7.50751515e-01 6.56595130e-01 7.24913646e-02 1.08126363e+02] [-6.53578008e-01 7.54243199e-01 -6.28727594e-02 -4.16089161e+01] [-9.59580664e-02 -1.76942290e-04 9.95385362e-01 -1.50592825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.83824100800001 meters 0.06650617787421215 Centerline is valid? [True, True] Translation: X:108.15, Y:-41.63, Z:-15.06 [[ 7.51225476e-01 6.55981250e-01 7.31360663e-02 1.08149858e+02] [-6.52905032e-01 7.54777181e-01 -6.34541268e-02 -4.16289997e+01] [-9.68261514e-02 -8.25490599e-05 9.95301306e-01 -1.50622983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.86824100800001 meters 0.06632934234880425 Centerline is valid? [True, True] Translation: X:108.17, Y:-41.65, Z:-15.07 [[ 7.51841760e-01 6.55113608e-01 7.45662663e-02 1.08173744e+02] [-6.51909987e-01 7.55530383e-01 -6.47086574e-02 -4.16510017e+01] [-9.87286017e-02 4.01772674e-05 9.95114396e-01 -1.50660611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.89824100800001 meters 0.06613261797270255 Centerline is valid? [True, True] Translation: X:108.19, Y:-41.67, Z:-15.07 [[ 7.52738958e-01 6.54008698e-01 7.52109333e-02 1.08194907e+02] [-6.50740567e-01 7.56486998e-01 -6.53003512e-02 -4.16746398e+01] [-9.96030908e-02 2.11312844e-04 9.95027226e-01 -1.50680899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.92824100800001 meters 0.06619346771025937 Centerline is valid? [True, True] Translation: X:108.22, Y:-41.70, Z:-15.07 [[ 7.54023462e-01 6.52519766e-01 7.52766465e-02 1.08219404e+02] [-6.49236085e-01 7.57771583e-01 -6.53814447e-02 -4.17007992e+01] [-9.97051886e-02 4.26827990e-04 9.95016931e-01 -1.50716268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.95824100800002 meters 0.06645794826324532 Centerline is valid? [True, True] Translation: X:108.24, Y:-41.72, Z:-15.07 [[ 7.55696652e-01 6.50596536e-01 7.51446415e-02 1.08241034e+02] [-6.47309413e-01 7.59423220e-01 -6.53214874e-02 -4.17242545e+01] [-9.95645190e-02 7.21395585e-04 9.95030847e-01 -1.50743122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.98824100800002 meters 0.06643402050396714 Centerline is valid? [True, True] Translation: X:108.26, Y:-41.75, Z:-15.08 [[ 7.56590181e-01 6.49494543e-01 7.56844490e-02 1.08264694e+02] [-6.46151417e-01 7.60365726e-01 -6.58202818e-02 -4.17471958e+01] [-1.00297775e-01 8.95364966e-04 9.94957062e-01 -1.50783044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.01824100800002 meters 0.06679921308504239 Centerline is valid? [True, True] Translation: X:108.29, Y:-41.77, Z:-15.08 [[ 7.57811405e-01 6.48137261e-01 7.50997048e-02 1.08287026e+02] [-6.44835511e-01 7.61522747e-01 -6.53472974e-02 -4.17696144e+01] [-9.95441519e-02 1.09397067e-03 9.95032545e-01 -1.50829237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.04824100800002 meters 0.06733288299709259 Centerline is valid? [True, True] Translation: X:108.31, Y:-41.79, Z:-15.09 [[ 7.59017151e-01 6.46799066e-01 7.44575915e-02 1.08309262e+02] [-6.43545606e-01 7.62659394e-01 -6.48051044e-02 -4.17914314e+01] [-9.87016626e-02 1.27132986e-03 9.95116257e-01 -1.50885072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.078241008 meters 0.06746484307531146 Centerline is valid? [True, True] Translation: X:108.33, Y:-41.81, Z:-15.09 [[ 7.61689080e-01 6.43827560e-01 7.29096661e-02 1.08333120e+02] [-6.40692526e-01 7.65168861e-01 -6.34799259e-02 -4.18135422e+01] [-9.66583320e-02 1.63928816e-03 9.95316271e-01 -1.50921000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.10824100800001 meters 0.06890353870506058 Centerline is valid? [True, True] Translation: X:108.35, Y:-41.84, Z:-15.10 [[ 7.63271597e-01 6.41987108e-01 7.25880253e-02 1.08352840e+02] [-6.38868154e-01 7.66713101e-01 -6.32337085e-02 -4.18368412e+01] [-9.62494157e-02 1.89031593e-03 9.95355452e-01 -1.51013636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.13824100800001 meters 0.06962454766172635 Centerline is valid? [True, True] Translation: X:108.37, Y:-41.86, Z:-15.11 [[ 7.64491950e-01 6.40522507e-01 7.26840890e-02 1.08374689e+02] [-6.37386067e-01 7.67936531e-01 -6.33441917e-02 -4.18595287e+01] [-9.63901476e-02 2.09829896e-03 9.95341417e-01 -1.51061286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.16824100800001 meters 0.07039328548421162 Centerline is valid? [True, True] Translation: X:108.40, Y:-41.88, Z:-15.11 [[ 7.66348098e-01 6.38341305e-01 7.23254512e-02 1.08395631e+02] [-6.35223599e-01 7.69749769e-01 -6.30576811e-02 -4.18846453e+01] [-9.59248218e-02 2.38130053e-03 9.95385733e-01 -1.51085866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.19824100800001 meters 0.06953367661977529 Centerline is valid? [True, True] Translation: X:108.42, Y:-41.90, Z:-15.11 [[ 7.66599698e-01 6.38009252e-01 7.25885505e-02 1.08421709e+02] [-6.34864583e-01 7.70024789e-01 -6.33149807e-02 -4.19046912e+01] [-9.62905268e-02 2.45334527e-03 9.95350248e-01 -1.51077596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.22824100800001 meters 0.0706297652702966 Centerline is valid? [True, True] Translation: X:108.44, Y:-41.93, Z:-15.11 [[ 7.66675191e-01 6.37885141e-01 7.28814002e-02 1.08443702e+02] [-6.34711360e-01 7.70127444e-01 -6.36019586e-02 -4.19277346e+01] [-9.66987108e-02 2.50339108e-03 9.95310551e-01 -1.51142518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.25824100800001 meters 0.07042564242365326 Centerline is valid? [True, True] Translation: X:108.47, Y:-41.95, Z:-15.12 [[ 7.65716838e-01 6.38777913e-01 7.51032734e-02 1.08469112e+02] [-6.35408281e-01 7.69387149e-01 -6.55723406e-02 -4.19463352e+01] [-9.96696562e-02 2.48860349e-03 9.95017470e-01 -1.51164851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.28824100800001 meters 0.06793893538285399 Centerline is valid? [True, True] Translation: X:108.50, Y:-41.96, Z:-15.11 [[ 7.64654011e-01 6.40015989e-01 7.53908359e-02 1.08500579e+02] [-6.36623846e-01 7.68357978e-01 -6.58490366e-02 -4.19611184e+01] [-1.00071587e-01 2.35612605e-03 9.94977450e-01 -1.51127810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.31824100800002 meters 0.06758112237217959 Centerline is valid? [True, True] Translation: X:108.53, Y:-41.98, Z:-15.12 [[ 7.62801231e-01 6.42182509e-01 7.57357757e-02 1.08526797e+02] [-6.38766546e-01 7.66548881e-01 -6.61824191e-02 -4.19800882e+01] [-1.00556366e-01 2.10655096e-03 9.94929133e-01 -1.51160441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.34824100800002 meters 0.06665812227003416 Centerline is valid? [True, True] Translation: X:108.56, Y:-41.99, Z:-15.12 [[ 7.58417148e-01 6.47301838e-01 7.61824068e-02 1.08557313e+02] [-6.43867705e-01 7.62232373e-01 -6.66047210e-02 -4.19940713e+01] [-1.01182055e-01 1.46277122e-03 9.94866851e-01 -1.51205475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.37824100800002 meters 0.06730094167714168 Centerline is valid? [True, True] Translation: X:108.58, Y:-42.01, Z:-15.13 [[ 7.56093812e-01 6.50000087e-01 7.63022576e-02 1.08580750e+02] [-6.46565477e-01 7.59933295e-01 -6.67418305e-02 -4.20131965e+01] [-1.01366822e-01 1.12867942e-03 9.94848478e-01 -1.51327411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.40824100800002 meters 0.06610496224783338 Centerline is valid? [True, True] Translation: X:108.61, Y:-42.03, Z:-15.13 [[ 7.53727830e-01 6.52713803e-01 7.65444346e-02 1.08610867e+02] [-6.49268218e-01 7.57604164e-01 -6.69829284e-02 -4.20285712e+01] [-1.01711064e-01 7.89028671e-04 9.94813669e-01 -1.51297917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.43824100800002 meters 0.06597729744474609 Centerline is valid? [True, True] Translation: X:108.64, Y:-42.05, Z:-15.13 [[ 7.51598493e-01 6.55197254e-01 7.62644338e-02 1.08637700e+02] [-6.51786378e-01 7.55457697e-01 -6.67696431e-02 -4.20470635e+01] [-1.01361840e-01 4.75843982e-04 9.94849512e-01 -1.51339893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.468241008 meters 0.06610120896728894 Centerline is valid? [True, True] Translation: X:108.67, Y:-42.06, Z:-15.14 [[ 7.48205318e-01 6.59130195e-01 7.57376298e-02 1.08668316e+02] [-6.55783524e-01 7.52028846e-01 -6.63369013e-02 -4.20648662e+01] [-1.00681537e-01 -3.38674573e-05 9.94918704e-01 -1.51405734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.49824100800001 meters 0.06630882939641639 Centerline is valid? [True, True] Translation: X:108.69, Y:-42.08, Z:-15.15 [[ 7.47491011e-01 6.60035427e-01 7.49027600e-02 1.08693416e+02] [-6.56761211e-01 7.51234466e-01 -6.56619225e-02 -4.20841169e+01] [-9.96087300e-02 -1.11530469e-04 9.95026677e-01 -1.51460015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.52824100800001 meters 0.06642049764736664 Centerline is valid? [True, True] Translation: X:108.72, Y:-42.10, Z:-15.15 [[ 7.46947815e-01 6.60763155e-01 7.38986753e-02 1.08718197e+02] [-6.57577178e-01 7.50594443e-01 -6.48092320e-02 -4.21042971e+01] [-9.82914877e-02 -1.84968103e-04 9.95157650e-01 -1.51514449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.55824100800001 meters 0.06676487782271996 Centerline is valid? [True, True] Translation: X:108.74, Y:-42.13, Z:-15.16 [[ 7.47476901e-01 6.60161614e-01 7.39251380e-02 1.08741177e+02] [-6.56967263e-01 7.51123583e-01 -6.48643113e-02 -4.21250715e+01] [-9.83478430e-02 -8.18211792e-05 9.95152096e-01 -1.51581743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.58824100800001 meters 0.0667388210658282 Centerline is valid? [True, True] Translation: X:108.76, Y:-42.15, Z:-15.16 [[ 7.47715879e-01 6.59825037e-01 7.45109786e-02 1.08764600e+02] [-6.56574518e-01 7.51419271e-01 -6.54139235e-02 -4.21476725e+01] [-9.91507297e-02 -1.09805612e-05 9.95072426e-01 -1.51612783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.61824100800001 meters 0.06660677667376169 Centerline is valid? [True, True] Translation: X:108.79, Y:-42.17, Z:-15.16 [[ 7.47592299e-01 6.59908727e-01 7.50081777e-02 1.08787032e+02] [-6.56614211e-01 7.51345774e-01 -6.58582247e-02 -4.21698445e+01] [-9.98174945e-02 -1.63338227e-05 9.95005763e-01 -1.51637701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.64824100800001 meters 0.06671563191698687 Centerline is valid? [True, True] Translation: X:108.81, Y:-42.19, Z:-15.17 [[ 7.47269657e-01 6.60241577e-01 7.52935621e-02 1.08808911e+02] [-6.56920368e-01 7.51053300e-01 -6.61405449e-02 -4.21907530e+01] [-1.00218216e-01 -3.70522061e-05 9.94965481e-01 -1.51685879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.67824100800001 meters 0.0666537908557783 Centerline is valid? [True, True] Translation: X:108.83, Y:-42.21, Z:-15.17 [[ 7.46432617e-01 6.61124435e-01 7.58474093e-02 1.08833809e+02] [-6.57755776e-01 7.50276258e-01 -6.66549031e-02 -4.22120746e+01] [-1.00973696e-01 -1.35677803e-04 9.94889086e-01 -1.51721027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.70824100800002 meters 0.06663129045153514 Centerline is valid? [True, True] Translation: X:108.86, Y:-42.23, Z:-15.18 [[ 7.45673254e-01 6.61952239e-01 7.60962019e-02 1.08859643e+02] [-6.58563929e-01 7.49545981e-01 -6.68907612e-02 -4.22340946e+01] [-1.01316091e-01 -2.35562152e-04 9.94854258e-01 -1.51757182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.73824100800002 meters 0.066595396313957 Centerline is valid? [True, True] Translation: X:108.89, Y:-42.26, Z:-15.18 [[ 7.44591853e-01 6.63109456e-01 7.66082408e-02 1.08885255e+02] [-6.59677663e-01 7.48522354e-01 -6.73770526e-02 -4.22565654e+01] [-1.02021341e-01 -3.68340747e-04 9.94782142e-01 -1.51775460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.76824100800002 meters 0.06686560190248221 Centerline is valid? [True, True] Translation: X:108.91, Y:-42.27, Z:-15.18 [[ 7.42198740e-01 6.65800150e-01 7.64930801e-02 1.08911005e+02] [-6.62388317e-01 7.46129792e-01 -6.73205100e-02 -4.22741868e+01] [-1.01895772e-01 -7.02924952e-04 9.94794832e-01 -1.51835508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.79824100800002 meters 0.06708338742057282 Centerline is valid? [True, True] Translation: X:108.94, Y:-42.29, Z:-15.19 [[ 7.40625944e-01 6.67488640e-01 7.70203042e-02 1.08937096e+02] [-6.64035116e-01 7.44619417e-01 -6.78180597e-02 -4.22943219e+01] [-1.02618598e-01 -9.16372149e-04 9.94720354e-01 -1.51882231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.828241008 meters 0.06731035554191514 Centerline is valid? [True, True] Translation: X:108.96, Y:-42.31, Z:-15.19 [[ 7.39328483e-01 6.68950327e-01 7.68040007e-02 1.08960886e+02] [-6.65520437e-01 7.43306312e-01 -6.76629472e-02 -4.23139347e+01] [-1.02352049e-01 -1.08948803e-03 9.94747642e-01 -1.51924159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.85824100800001 meters 0.06786783279450329 Centerline is valid? [True, True] Translation: X:108.99, Y:-42.33, Z:-15.20 [[ 7.37352686e-01 6.71186579e-01 7.62862579e-02 1.08985553e+02] [-6.67811885e-01 7.41287193e-01 -6.72352817e-02 -4.23343248e+01] [-1.01677445e-01 -1.36875412e-03 9.94816477e-01 -1.51969532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.88824100800001 meters 0.06795884336190744 Centerline is valid? [True, True] Translation: X:109.01, Y:-42.36, Z:-15.20 [[ 7.36498215e-01 6.72095679e-01 7.65361183e-02 1.09010306e+02] [-6.68701807e-01 7.40462823e-01 -6.74737067e-02 -4.23553853e+01] [-1.02020937e-01 -1.48557604e-03 9.94781143e-01 -1.52014548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.91824100800001 meters 0.0681932990614177 Centerline is valid? [True, True] Translation: X:109.03, Y:-42.38, Z:-15.21 [[ 7.35870431e-01 6.72797902e-01 7.64047961e-02 1.09034299e+02] [-6.69415943e-01 7.39824687e-01 -6.73923427e-02 -4.23759963e+01] [-1.01867581e-01 -1.55455640e-03 9.94796753e-01 -1.52058269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.94824100800001 meters 0.06778651552822738 Centerline is valid? [True, True] Translation: X:109.06, Y:-42.40, Z:-15.21 [[ 7.35927970e-01 6.72699018e-01 7.67206277e-02 1.09056587e+02] [-6.69285528e-01 7.39914659e-01 -6.76991876e-02 -4.24002090e+01] [-1.02307894e-01 -1.52628013e-03 9.94751610e-01 -1.52074649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.97824100800001 meters 0.06749012877187356 Centerline is valid? [True, True] Translation: X:109.08, Y:-42.43, Z:-15.21 [[ 7.37152108e-01 6.71434978e-01 7.60384062e-02 1.09077556e+02] [-6.68072050e-01 7.41062307e-01 -6.71296767e-02 -4.24256496e+01] [-1.01422410e-01 -1.31435120e-03 9.94842584e-01 -1.52136912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.00824100800001 meters 0.06749012877187356 Centerline is valid? [True, True] Translation: X:109.10, Y:-42.45, Z:-15.22 [[ 7.36982657e-01 6.71622904e-01 7.60213025e-02 1.09101502e+02] [-6.68258976e-01 7.40891995e-01 -6.71490392e-02 -4.24470332e+01] [-1.01422407e-01 -1.31424041e-03 9.94842585e-01 -1.52177408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.03824100800001 meters 0.06710827045592113 Centerline is valid? [True, True] Translation: X:109.12, Y:-42.47, Z:-15.22 [[ 7.38694111e-01 6.69740486e-01 7.60177051e-02 1.09122702e+02] [-6.66363320e-01 7.42594521e-01 -6.71811219e-02 -4.24702171e+01] [-1.01444249e-01 -1.02911121e-03 9.94840693e-01 -1.52230795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.06824100800002 meters 0.06702733768502785 Centerline is valid? [True, True] Translation: X:109.14, Y:-42.49, Z:-15.23 [[ 7.40718858e-01 6.67522742e-01 7.58219166e-02 1.09144107e+02] [-6.64148375e-01 7.44589080e-01 -6.70375856e-02 -4.24934709e+01] [-1.01205284e-01 -7.00998899e-04 9.94865317e-01 -1.52300449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.09824100800002 meters 0.06693829143073009 Centerline is valid? [True, True] Translation: X:109.16, Y:-42.52, Z:-15.24 [[ 7.42686342e-01 6.65417505e-01 7.50769083e-02 1.09164997e+02] [-6.62095260e-01 7.46471296e-01 -6.64113757e-02 -4.25176882e+01] [-1.00234049e-01 -3.85243447e-04 9.94963812e-01 -1.52365566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.12824100800002 meters 0.06700574351387455 Centerline is valid? [True, True] Translation: X:109.18, Y:-42.55, Z:-15.24 [[ 7.47065350e-01 6.60637644e-01 7.38326907e-02 1.09181218e+02] [-6.57397974e-01 7.50704885e-01 -6.53458398e-02 -4.25472810e+01] [-9.85964833e-02 2.80151392e-04 9.95127457e-01 -1.52420632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.15824100800002 meters 0.06699864944385597 Centerline is valid? [True, True] Translation: X:109.20, Y:-42.57, Z:-15.24 [[ 7.49042603e-01 6.58470869e-01 7.31525369e-02 1.09201620e+02] [-6.55280017e-01 7.52606004e-01 -6.47479910e-02 -4.25728665e+01] [-9.76897044e-02 5.63608098e-04 9.95216762e-01 -1.52446371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.18824100800002 meters 0.06706319045060795 Centerline is valid? [True, True] Translation: X:109.22, Y:-42.60, Z:-15.25 [[ 7.52117778e-01 6.54952101e-01 7.31887473e-02 1.09220919e+02] [-6.51738376e-01 7.55669671e-01 -6.48107842e-02 -4.26005836e+01] [-9.77544759e-02 1.04542774e-03 9.95210013e-01 -1.52479841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.218241008 meters 0.06728057252647951 Centerline is valid? [True, True] Translation: X:109.24, Y:-42.62, Z:-15.25 [[ 7.53651808e-01 6.53116650e-01 7.38078229e-02 1.09241770e+02] [-6.49835379e-01 7.57256155e-01 -6.53995040e-02 -4.26248570e+01] [-9.86049332e-02 1.32551983e-03 9.95125776e-01 -1.52516997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.24824100800001 meters 0.0674745348598436 Centerline is valid? [True, True] Translation: X:109.27, Y:-42.65, Z:-15.26 [[ 7.54716567e-01 6.51849001e-01 7.41335458e-02 1.09265218e+02] [-6.48529815e-01 7.58347264e-01 -6.57153342e-02 -4.26497970e+01] [-9.90554466e-02 1.51863665e-03 9.95080757e-01 -1.52550685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.27824100800001 meters 0.06769673927288547 Centerline is valid? [True, True] Translation: X:109.29, Y:-42.67, Z:-15.26 [[ 7.55305282e-01 6.51143221e-01 7.43400093e-02 1.09287975e+02] [-6.47797649e-01 7.58953085e-01 -6.59425547e-02 -4.26721727e+01] [-9.93586268e-02 1.64947663e-03 9.95050322e-01 -1.52589854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.30824100800001 meters 0.06774643326734828 Centerline is valid? [True, True] Translation: X:109.31, Y:-42.69, Z:-15.26 [[ 7.55224517e-01 6.51269424e-01 7.40544790e-02 1.09311727e+02] [-6.47947269e-01 7.58844792e-01 -6.57184704e-02 -4.26938789e+01] [-9.89962861e-02 1.64880268e-03 9.95086437e-01 -1.52635520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.33824100800001 meters 0.06742030334387274 Centerline is valid? [True, True] Translation: X:109.34, Y:-42.71, Z:-15.27 [[ 7.54727976e-01 6.51819639e-01 7.42754300e-02 1.09337759e+02] [-6.48477149e-01 7.58372324e-01 -6.59454687e-02 -4.27131741e+01] [-9.93129821e-02 1.60497105e-03 9.95054951e-01 -1.52674851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.36824100800001 meters 0.06781148808979226 Centerline is valid? [True, True] Translation: X:109.36, Y:-42.73, Z:-15.28 [[ 7.53618068e-01 6.53200908e-01 7.34055944e-02 1.09361484e+02] [-6.49939895e-01 7.57183287e-01 -6.52043222e-02 -4.27340427e+01] [-9.81730117e-02 1.42993098e-03 9.95168335e-01 -1.52753313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.39824100800001 meters 0.06781067756862746 Centerline is valid? [True, True] Translation: X:109.39, Y:-42.76, Z:-15.28 [[ 7.53096365e-01 6.53822649e-01 7.32243745e-02 1.09385600e+02] [-6.50577740e-01 7.56646596e-01 -6.50732902e-02 -4.27551901e+01] [-9.79513647e-02 1.36831023e-03 9.95190262e-01 -1.52798604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.42824100800001 meters 0.0676977905107794 Centerline is valid? [True, True] Translation: X:109.41, Y:-42.78, Z:-15.28 [[ 7.52218072e-01 6.54839453e-01 7.31659944e-02 1.09409264e+02] [-6.51601347e-01 7.55766964e-01 -6.50536704e-02 -4.27761788e+01] [-9.78961514e-02 1.25948603e-03 9.95195839e-01 -1.52835907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.45824100800002 meters 0.06677726648308982 Centerline is valid? [True, True] Translation: X:109.44, Y:-42.80, Z:-15.28 [[ 7.50920349e-01 6.56268384e-01 7.36915045e-02 1.09435470e+02] [-6.52987710e-01 7.54526736e-01 -6.55473548e-02 -4.27964330e+01] [-9.86188670e-02 1.10119581e-03 9.95124669e-01 -1.52815291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.48824100800002 meters 0.06655511570264284 Centerline is valid? [True, True] Translation: X:109.46, Y:-42.82, Z:-15.28 [[ 7.50570735e-01 6.56661242e-01 7.37535483e-02 1.09460914e+02] [-6.53373841e-01 7.54184898e-01 -6.56335557e-02 -4.28176543e+01] [-9.87228245e-02 1.07398703e-03 9.95114391e-01 -1.52834067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.51824100800002 meters 0.06743935073311645 Centerline is valid? [True, True] Translation: X:109.48, Y:-42.84, Z:-15.29 [[ 7.49911748e-01 6.57418482e-01 7.37109903e-02 1.09484628e+02] [-6.54135238e-01 7.53525011e-01 -6.56288718e-02 -4.28391991e+01] [-9.86887080e-02 9.98905834e-04 9.95117853e-01 -1.52949274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.54824100800002 meters 0.06669756884223312 Centerline is valid? [True, True] Translation: X:109.51, Y:-42.86, Z:-15.29 [[ 7.49433213e-01 6.57998077e-01 7.34056538e-02 1.09511735e+02] [-6.54740589e-01 7.53019007e-01 -6.53998151e-02 -4.28586264e+01] [-9.83088052e-02 9.51132608e-04 9.95155503e-01 -1.52931172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.578241008 meters 0.06686356710336067 Centerline is valid? [True, True] Translation: X:109.54, Y:-42.88, Z:-15.30 [[ 7.49336045e-01 6.58077179e-01 7.36879828e-02 1.09538105e+02] [-6.54792498e-01 7.52949866e-01 -6.56755965e-02 -4.28833017e+01] [-9.87029679e-02 9.62753376e-04 9.95116474e-01 -1.52980920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.60824100800001 meters 0.0669402324265224 Centerline is valid? [True, True] Translation: X:109.56, Y:-42.91, Z:-15.30 [[ 7.48913247e-01 6.58635839e-01 7.29916417e-02 1.09562823e+02] [-6.55407337e-01 7.52461253e-01 -6.51405029e-02 -4.29056295e+01] [-9.78272520e-02 9.45328010e-04 9.95202962e-01 -1.53026917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.63824100800001 meters 0.06682557908026117 Centerline is valid? [True, True] Translation: X:109.59, Y:-42.93, Z:-15.30 [[ 7.48176087e-01 6.59453951e-01 7.31644014e-02 1.09586609e+02] [-6.56210065e-01 7.51744457e-01 -6.53346938e-02 -4.29286545e+01] [-9.80861552e-02 8.70638913e-04 9.95177546e-01 -1.53044214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.66824100800001 meters 0.06680561190721394 Centerline is valid? [True, True] Translation: X:109.61, Y:-42.95, Z:-15.31 [[ 7.47640668e-01 6.60009632e-01 7.36255169e-02 1.09613358e+02] [-6.56724519e-01 7.51256685e-01 -6.57746151e-02 -4.29521011e+01] [-9.87235412e-02 8.24094983e-04 9.95114558e-01 -1.53090212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.69824100800001 meters 0.06740427801745119 Centerline is valid? [True, True] Translation: X:109.64, Y:-42.97, Z:-15.32 [[ 7.46958618e-01 6.60736049e-01 7.40317203e-02 1.09635870e+02] [-6.57411224e-01 7.50617918e-01 -6.62059229e-02 -4.29741027e+01] [-9.93141757e-02 7.83800871e-04 9.95055818e-01 -1.53183975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.72824100800001 meters 0.06691357938715004 Centerline is valid? [True, True] Translation: X:109.66, Y:-42.99, Z:-15.32 [[ 7.45246493e-01 6.62576081e-01 7.48371611e-02 1.09660702e+02] [-6.59183778e-01 7.48994398e-01 -6.69637090e-02 -4.29928141e+01] [-1.00421166e-01 5.73026735e-04 9.94944853e-01 -1.53210445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.75824100800001 meters 0.06634947193258159 Centerline is valid? [True, True] Translation: X:109.69, Y:-43.01, Z:-15.32 [[ 7.44259215e-01 6.63625929e-01 7.53581235e-02 1.09687868e+02] [-6.60188996e-01 7.48064450e-01 -6.74541965e-02 -4.30125278e+01] [-1.01137087e-01 4.52803464e-04 9.94872396e-01 -1.53204672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.78824100800001 meters 0.06636488414447234 Centerline is valid? [True, True] Translation: X:109.71, Y:-43.03, Z:-15.33 [[ 7.43027935e-01 6.65010306e-01 7.53045922e-02 1.09714608e+02] [-6.61582278e-01 7.46834125e-01 -6.74364820e-02 -4.30315260e+01] [-1.01085995e-01 2.87006274e-04 9.94877650e-01 -1.53251835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.81824100800002 meters 0.06639297175532831 Centerline is valid? [True, True] Translation: X:109.74, Y:-43.05, Z:-15.33 [[ 7.41525318e-01 6.66675418e-01 7.53929070e-02 1.09741514e+02] [-6.63244386e-01 7.45348160e-01 -6.75500142e-02 -4.30508195e+01] [-1.01227898e-01 8.61233607e-05 9.94863260e-01 -1.53299552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.84824100800002 meters 0.06625598831951678 Centerline is valid? [True, True] Translation: X:109.77, Y:-43.07, Z:-15.33 [[ 7.39057614e-01 6.69360415e-01 7.58319067e-02 1.09766999e+02] [-6.65899637e-01 7.42937796e-01 -6.79787043e-02 -4.30697288e+01] [-1.01840643e-01 -2.56260115e-04 9.94800692e-01 -1.53314406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.87824100800002 meters 0.06629827347286152 Centerline is valid? [True, True] Translation: X:109.79, Y:-43.09, Z:-15.34 [[ 7.38035080e-01 6.70494733e-01 7.57696128e-02 1.09791250e+02] [-6.67042225e-01 7.41914188e-01 -6.79559210e-02 -4.30898791e+01] [-1.01778638e-01 -3.87677533e-04 9.94806996e-01 -1.53351272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.90824100800002 meters 0.06626389523932162 Centerline is valid? [True, True] Translation: X:109.82, Y:-43.11, Z:-15.34 [[ 7.36591665e-01 6.72065317e-01 7.59007840e-02 1.09817252e+02] [-6.68607226e-01 7.40491634e-01 -6.80919767e-02 -4.31098918e+01] [-1.01966151e-01 -5.91830176e-04 9.94787693e-01 -1.53388169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.93824100800002 meters 0.06607812012249328 Centerline is valid? [True, True] Translation: X:109.84, Y:-43.13, Z:-15.34 [[ 7.36067037e-01 6.72644764e-01 7.58573588e-02 1.09842380e+02] [-6.69190358e-01 7.39965271e-01 -6.80857029e-02 -4.31310200e+01] [-1.01929303e-01 -6.47371446e-04 9.94791435e-01 -1.53398766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.968241008 meters 0.06648693364451734 Centerline is valid? [True, True] Translation: X:109.87, Y:-43.15, Z:-15.35 [[ 7.36349111e-01 6.72616216e-01 7.33308473e-02 1.09867683e+02] [-6.69385174e-01 7.39991263e-01 -6.58514902e-02 -4.31506861e+01] [-9.85569665e-02 -5.96895724e-04 9.95131232e-01 -1.53481523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.99824100800001 meters 0.06665860210460574 Centerline is valid? [True, True] Translation: X:109.89, Y:-43.17, Z:-15.35 [[ 7.37115021e-01 6.71888907e-01 7.22962113e-02 1.09891493e+02] [-6.68741792e-01 7.40651793e-01 -6.49564248e-02 -4.31727679e+01] [-9.71898198e-02 -4.67141432e-04 9.95265754e-01 -1.53537114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.02824100800001 meters 0.06668331368798903 Centerline is valid? [True, True] Translation: X:109.91, Y:-43.19, Z:-15.36 [[ 7.37636527e-01 6.71374930e-01 7.17499622e-02 1.09914848e+02] [-6.68269720e-01 7.41117780e-01 -6.44981890e-02 -4.31948848e+01] [-9.64776399e-02 -3.72107015e-04 9.95335083e-01 -1.53583044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.05824100800001 meters 0.06661823221783894 Centerline is valid? [True, True] Translation: X:109.94, Y:-43.22, Z:-15.36 [[ 7.38902702e-01 6.70068757e-01 7.09271225e-02 1.09936291e+02] [-6.67025188e-01 7.42299017e-01 -6.37931676e-02 -4.32187846e+01] [-9.53949419e-02 -1.73233349e-04 9.95439488e-01 -1.53621990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.08824100800001 meters 0.06659780825866271 Centerline is valid? [True, True] Translation: X:109.96, Y:-43.24, Z:-15.37 [[ 7.39563438e-01 6.69333275e-01 7.09851247e-02 1.09959056e+02] [-6.66278204e-01 7.42962290e-01 -6.38779348e-02 -4.32423191e+01] [-9.54948981e-02 -5.40563567e-05 9.95429918e-01 -1.53652785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.11824100800001 meters 0.06636460515657576 Centerline is valid? [True, True] Translation: X:109.98, Y:-43.27, Z:-15.37 [[ 7.39864456e-01 6.68921521e-01 7.17257631e-02 1.09982204e+02] [-6.65797263e-01 7.43333033e-01 -6.45755809e-02 -4.32650169e+01] [-9.65121248e-02 2.23602331e-05 9.95331809e-01 -1.53676154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.14824100800001 meters 0.06627390606194881 Centerline is valid? [True, True] Translation: X:110.01, Y:-43.29, Z:-15.37 [[ 7.40891668e-01 6.67621538e-01 7.32189837e-02 1.10005341e+02] [-6.64355789e-01 7.44500795e-01 -6.59541671e-02 -4.32874231e+01] [-9.85440140e-02 2.21437207e-04 9.95132669e-01 -1.53703185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.17824100800001 meters 0.06627706678156005 Centerline is valid? [True, True] Translation: X:110.03, Y:-43.31, Z:-15.37 [[ 7.40985748e-01 6.67472878e-01 7.36211905e-02 1.10028590e+02] [-6.64166971e-01 7.44634062e-01 -6.63501953e-02 -4.33082959e+01] [-9.91078019e-02 2.67785964e-04 9.95076666e-01 -1.53744602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.20824100800002 meters 0.0664161373566854 Centerline is valid? [True, True] Translation: X:110.05, Y:-43.33, Z:-15.38 [[ 7.40801143e-01 6.67639363e-01 7.39685587e-02 1.10051859e+02] [-6.64299686e-01 7.44484793e-01 -6.66957264e-02 -4.33287786e+01] [-9.95971595e-02 2.70979999e-04 9.95027805e-01 -1.53790346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.23824100800002 meters 0.06638249109154608 Centerline is valid? [True, True] Translation: X:110.08, Y:-43.35, Z:-15.38 [[ 7.40052248e-01 6.68486624e-01 7.38126265e-02 1.10079140e+02] [-6.65162497e-01 7.43724144e-01 -6.65826572e-02 -4.33510917e+01] [-9.94058482e-02 1.77254168e-04 9.95046957e-01 -1.53836171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.26824100800002 meters 0.06646688746341801 Centerline is valid? [True, True] Translation: X:110.10, Y:-43.37, Z:-15.39 [[ 7.37436528e-01 6.71437221e-01 7.32080966e-02 1.10104829e+02] [-6.68176799e-01 7.41061419e-01 -6.60888713e-02 -4.33689748e+01] [-9.86262240e-02 -1.79603794e-04 9.95124533e-01 -1.53884667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.29824100800002 meters 0.06641393274338604 Centerline is valid? [True, True] Translation: X:110.13, Y:-43.39, Z:-15.39 [[ 7.35492608e-01 6.73514822e-01 7.36777300e-02 1.10131711e+02] [-6.70219816e-01 7.39173587e-01 -6.65417673e-02 -4.33903989e+01] [-9.92774985e-02 -4.39296658e-04 9.95059689e-01 -1.53914290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.328241008 meters 0.06667162621926818 Centerline is valid? [True, True] Translation: X:110.16, Y:-43.41, Z:-15.40 [[ 7.33221931e-01 6.76089066e-01 7.27267143e-02 1.10158064e+02] [-6.72886838e-01 7.36819532e-01 -6.57288325e-02 -4.34091676e+01] [-9.80250086e-02 -7.43027368e-04 9.95183674e-01 -1.53956252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.35824100800001 meters 0.0672305661620463 Centerline is valid? [True, True] Translation: X:110.19, Y:-43.43, Z:-15.40 [[ 7.29031015e-01 6.80658919e-01 7.22302878e-02 1.10187127e+02] [-6.77519853e-01 7.32599262e-01 -6.53082697e-02 -4.34253210e+01] [-9.73685118e-02 -1.32569980e-03 9.95247515e-01 -1.53994984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.38824100800001 meters 0.06760108772706687 Centerline is valid? [True, True] Translation: X:110.21, Y:-43.45, Z:-15.40 [[ 7.27271646e-01 6.82595809e-01 7.16862197e-02 1.10213327e+02] [-6.79510154e-01 7.30794474e-01 -6.48489624e-02 -4.34455704e+01] [-9.66535231e-02 -1.54870250e-03 9.95316883e-01 -1.54044527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.41824100800001 meters 0.06815930462454348 Centerline is valid? [True, True] Translation: X:110.24, Y:-43.46, Z:-15.41 [[ 7.26064060e-01 6.83946755e-01 7.10479952e-02 1.10237912e+02] [-6.80918427e-01 7.29529989e-01 -6.43124499e-02 -4.34642017e+01] [-9.58179345e-02 -1.68293064e-03 9.95397454e-01 -1.54107151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.44824100800001 meters 0.06887789824234293 Centerline is valid? [True, True] Translation: X:110.26, Y:-43.48, Z:-15.42 [[ 7.24712897e-01 6.85443449e-01 7.04165787e-02 1.10263172e+02] [-6.82472891e-01 7.28123539e-01 -6.37719692e-02 -4.34819495e+01] [-9.49840471e-02 -1.84103750e-03 9.95477092e-01 -1.54163806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.47824100800001 meters 0.06852761706784073 Centerline is valid? [True, True] Translation: X:110.29, Y:-43.50, Z:-15.42 [[ 7.24909427e-01 6.85158984e-01 7.11581969e-02 1.10287034e+02] [-6.82121466e-01 7.28391319e-01 -6.44700837e-02 -4.35039477e+01] [-9.60032699e-02 -1.80356219e-03 9.95379385e-01 -1.54197385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.50824100800001 meters 0.06788963425187615 Centerline is valid? [True, True] Translation: X:110.31, Y:-43.53, Z:-15.42 [[ 7.25224684e-01 6.84828188e-01 7.11302371e-02 1.10309362e+02] [-6.81788490e-01 7.28702503e-01 -6.44757034e-02 -4.35284502e+01] [-9.59875610e-02 -1.73640535e-03 9.95381019e-01 -1.54206324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.53824100800001 meters 0.06728782717393644 Centerline is valid? [True, True] Translation: X:110.33, Y:-43.55, Z:-15.42 [[ 7.27750926e-01 6.82117147e-01 7.13777811e-02 1.10328550e+02] [-6.79039339e-01 7.31241659e-01 -6.47395753e-02 -4.35528117e+01] [-9.63543815e-02 -1.35403538e-03 9.95346171e-01 -1.54239285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.56824100800002 meters 0.06681653261164232 Centerline is valid? [True, True] Translation: X:110.35, Y:-43.58, Z:-15.43 [[ 7.29641038e-01 6.79999747e-01 7.22793172e-02 1.10349182e+02] [-6.76831639e-01 7.33211556e-01 -6.55724591e-02 -4.35757741e+01] [-9.75852862e-02 -1.07657159e-03 9.95226584e-01 -1.54280294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.59824100800002 meters 0.06617894993045939 Centerline is valid? [True, True] Translation: X:110.37, Y:-43.60, Z:-15.43 [[ 7.31132074e-01 6.78286051e-01 7.33070488e-02 1.10370662e+02] [-6.75015608e-01 7.34797475e-01 -6.65326923e-02 -4.36000536e+01] [-9.89940314e-02 -8.39216767e-04 9.95087673e-01 -1.54304211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.62824100800002 meters 0.06597898438974062 Centerline is valid? [True, True] Translation: X:110.39, Y:-43.62, Z:-15.43 [[ 7.33222588e-01 6.76004831e-01 7.34990139e-02 1.10392579e+02] [-6.72702438e-01 7.36897015e-01 -6.67399388e-02 -4.36241428e+01] [-9.92777250e-02 -5.07735214e-04 9.95059634e-01 -1.54348941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.65824100800002 meters 0.06570582874442316 Centerline is valid? [True, True] Translation: X:110.41, Y:-43.65, Z:-15.44 [[ 7.36280791e-01 6.72733090e-01 7.29437214e-02 1.10413161e+02] [-6.69461342e-01 7.39885253e-01 -6.62670658e-02 -4.36501280e+01] [-9.85500317e-02 -4.18340216e-05 9.95132097e-01 -1.54386361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.68824100800002 meters 0.06581846168822356 Centerline is valid? [True, True] Translation: X:110.44, Y:-43.67, Z:-15.44 [[ 7.37710633e-01 6.71314469e-01 7.15535173e-02 1.10436780e+02] [-6.68156749e-01 7.41172621e-01 -6.50361745e-02 -4.36737538e+01] [-9.66932329e-02 1.68911972e-04 9.95314217e-01 -1.54430422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.718241008 meters 0.0660582280216656 Centerline is valid? [True, True] Translation: X:110.46, Y:-43.70, Z:-15.45 [[ 7.38964287e-01 6.69924875e-01 7.16410873e-02 1.10458045e+02] [-6.66748994e-01 7.42428796e-01 -6.51556733e-02 -4.36971802e+01] [-9.68378125e-02 3.81092690e-04 9.95300102e-01 -1.54477682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.74824100800001 meters 0.06604140517002796 Centerline is valid? [True, True] Translation: X:110.48, Y:-43.72, Z:-15.45 [[ 7.42211955e-01 6.66451104e-01 7.04580773e-02 1.10478961e+02] [-6.63361036e-01 7.45548265e-01 -6.41086594e-02 -4.37232988e+01] [-9.52551841e-02 8.43070254e-04 9.95452530e-01 -1.54498635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.77824100800001 meters 0.06659403313448688 Centerline is valid? [True, True] Translation: X:110.50, Y:-43.75, Z:-15.46 [[ 7.44054052e-01 6.64399963e-01 7.04006824e-02 1.10499960e+02] [-6.61302356e-01 7.47376349e-01 -6.40920140e-02 -4.37456365e+01] [-9.51985368e-02 1.13178556e-03 9.95457662e-01 -1.54563798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.80824100800001 meters 0.06661603163786553 Centerline is valid? [True, True] Translation: X:110.52, Y:-43.77, Z:-15.46 [[ 7.45928935e-01 6.62289423e-01 7.04467474e-02 1.10524156e+02] [-6.59175879e-01 7.49246754e-01 -6.41596556e-02 -4.37674466e+01] [-9.52742582e-02 1.42174688e-03 9.95450046e-01 -1.54585858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.83824100800001 meters 0.06674235911289156 Centerline is valid? [True, True] Translation: X:110.55, Y:-43.79, Z:-15.46 [[ 7.47273928e-01 6.60708110e-01 7.10385098e-02 1.10547755e+02] [-6.57531540e-01 7.50641079e-01 -6.47320985e-02 -4.37897918e+01] [-9.60934461e-02 1.66254883e-03 9.95370929e-01 -1.54622023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.86824100800001 meters 0.0667603666752642 Centerline is valid? [True, True] Translation: X:110.57, Y:-43.81, Z:-15.46 [[ 7.49134219e-01 6.58631493e-01 7.07282012e-02 1.10570632e+02] [-6.55470426e-01 7.52463139e-01 -6.44805759e-02 -4.38141942e+01] [-9.56893023e-02 1.94436168e-03 9.95409351e-01 -1.54630139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.89824100800001 meters 0.0667603666752642 Centerline is valid? [True, True] Translation: X:110.59, Y:-43.84, Z:-15.47 [[ 7.48965342e-01 6.58825457e-01 7.07102137e-02 1.10594265e+02] [-6.55663391e-01 7.52293313e-01 -6.45002936e-02 -4.38359233e+01] [-9.56892564e-02 1.94638595e-03 9.95409352e-01 -1.54670661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.92824100800001 meters 0.06706712044112495 Centerline is valid? [True, True] Translation: X:110.62, Y:-43.86, Z:-15.47 [[ 7.49269783e-01 6.58556095e-01 6.99904455e-02 1.10616328e+02] [-6.55453520e-01 7.52529013e-01 -6.38808831e-02 -4.38579483e+01] [-9.47389858e-02 1.98853150e-03 9.95500161e-01 -1.54708439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.95824100800002 meters 0.06677700376638343 Centerline is valid? [True, True] Translation: X:110.64, Y:-43.88, Z:-15.47 [[ 7.49046862e-01 6.58842708e-01 6.96784318e-02 1.10641693e+02] [-6.55767737e-01 7.52278186e-01 -6.36097966e-02 -4.38790747e+01] [-9.43264149e-02 1.95385099e-03 9.95539407e-01 -1.54740187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.98824100800002 meters 0.06707536269078228 Centerline is valid? [True, True] Translation: X:110.67, Y:-43.90, Z:-15.48 [[ 7.48788510e-01 6.59158511e-01 6.94681498e-02 1.10665511e+02] [-6.56100296e-01 7.52001541e-01 -6.34514203e-02 -4.38995408e+01] [-9.40646995e-02 1.93362081e-03 9.95564209e-01 -1.54804234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.01824100800002 meters 0.0667105995332416 Centerline is valid? [True, True] Translation: X:110.69, Y:-43.92, Z:-15.49 [[ 7.46278935e-01 6.62026767e-01 6.91976192e-02 1.10693774e+02] [-6.59001789e-01 7.49478508e-01 -6.32345527e-02 -4.39168079e+01] [-9.37250949e-02 1.58925981e-03 9.95596847e-01 -1.54859197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.04824100800002 meters 0.06628467919137217 Centerline is valid? [True, True] Translation: X:110.72, Y:-43.94, Z:-15.49 [[ 7.44171967e-01 6.64364843e-01 6.94797733e-02 1.10719389e+02] [-6.61322014e-01 7.47407250e-01 -6.35263499e-02 -4.39367052e+01] [-9.41343598e-02 1.32602509e-03 9.95558619e-01 -1.54903089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.078241008 meters 0.06580698236580353 Centerline is valid? [True, True] Translation: X:110.75, Y:-43.96, Z:-15.49 [[ 7.42013876e-01 6.66750256e-01 6.97101447e-02 1.10746451e+02] [-6.63695591e-01 7.45280489e-01 -6.37585692e-02 -4.39559880e+01] [-9.44646531e-02 1.04342734e-03 9.95527669e-01 -1.54924620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.10824100800001 meters 0.06542784926552866 Centerline is valid? [True, True] Translation: X:110.77, Y:-43.97, Z:-15.50 [[ 7.36790900e-01 6.72422806e-01 7.06168589e-02 1.10774016e+02] [-6.69310624e-01 7.40167177e-01 -6.46207290e-02 -4.39707748e+01] [-9.57207330e-02 3.47351174e-04 9.95408168e-01 -1.54982853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.13824100800001 meters 0.0654891999558029 Centerline is valid? [True, True] Translation: X:110.80, Y:-43.99, Z:-15.50 [[ 7.33944583e-01 6.75498310e-01 7.09040357e-02 1.10800518e+02] [-6.72372205e-01 7.37361535e-01 -6.49121373e-02 -4.39886067e+01] [-9.61299476e-02 -3.19912563e-05 9.95368792e-01 -1.55036158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.16824100800001 meters 0.06557675438683161 Centerline is valid? [True, True] Translation: X:110.83, Y:-44.01, Z:-15.51 [[ 7.30640968e-01 6.79041210e-01 7.11815381e-02 1.10827744e+02] [-6.75904253e-01 7.34099999e-01 -6.51968832e-02 -4.40066938e+01] [-9.65257374e-02 -4.76390479e-04 9.95330375e-01 -1.55068680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.19824100800001 meters 0.0658574417206903 Centerline is valid? [True, True] Translation: X:110.86, Y:-44.02, Z:-15.51 [[ 7.24736183e-01 6.85284854e-01 7.17086800e-02 1.10856045e+02] [-6.82127430e-01 7.28274000e-01 -6.57202422e-02 -4.40241125e+01] [-9.72606537e-02 -1.28462012e-03 9.95258115e-01 -1.55080370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.22824100800001 meters 0.06631153742781656 Centerline is valid? [True, True] Translation: X:110.88, Y:-44.04, Z:-15.51 [[ 7.22401924e-01 6.87761452e-01 7.15516889e-02 1.10880164e+02] [-6.84629431e-01 7.25934978e-01 -6.55816316e-02 -4.40429322e+01] [-9.70463919e-02 -1.61009516e-03 9.95278557e-01 -1.55120973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.25824100800001 meters 0.06688041049244953 Centerline is valid? [True, True] Translation: X:110.91, Y:-44.06, Z:-15.52 [[ 7.20229301e-01 6.90112661e-01 7.08115008e-02 1.10905449e+02] [-6.87053805e-01 7.23699495e-01 -6.49315755e-02 -4.40625950e+01] [-9.60563497e-02 -1.88568783e-03 9.95374112e-01 -1.55169137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.28824100800001 meters 0.06780498084264845 Centerline is valid? [True, True] Translation: X:110.93, Y:-44.08, Z:-15.52 [[ 7.18103302e-01 6.92374522e-01 7.03218920e-02 1.10931360e+02] [-6.89365622e-01 7.21535101e-01 -6.45146317e-02 -4.40802983e+01] [-9.54080008e-02 -2.14932472e-03 9.95435932e-01 -1.55230678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.31824100800002 meters 0.06858760527683626 Centerline is valid? [True, True] Translation: X:110.96, Y:-44.10, Z:-15.53 [[ 7.14313622e-01 6.96112609e-01 7.19950342e-02 1.10958821e+02] [-6.92974030e-01 7.17927585e-01 -6.60831045e-02 -4.40974497e+01] [-9.76885033e-02 -2.68662720e-03 9.95213413e-01 -1.55266589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.34824100800002 meters 0.07008406061583677 Centerline is valid? [True, True] Translation: X:110.98, Y:-44.11, Z:-15.53 [[ 7.12855966e-01 6.97586783e-01 7.21737614e-02 1.10983800e+02] [-6.94436899e-01 7.16494543e-01 -6.62794368e-02 -4.41145051e+01] [-9.79477653e-02 -2.87243107e-03 9.95187412e-01 -1.55329834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.37824100800002 meters 0.06846842831820893 Centerline is valid? [True, True] Translation: X:111.00, Y:-44.14, Z:-15.53 [[ 7.11512027e-01 6.98873969e-01 7.29781556e-02 1.11003943e+02] [-6.95657628e-01 7.15238263e-01 -6.70424548e-02 -4.41424423e+01] [-9.90509957e-02 -3.06629770e-03 9.95077634e-01 -1.55300950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.40824100800002 meters 0.06939727728872495 Centerline is valid? [True, True] Translation: X:111.03, Y:-44.16, Z:-15.54 [[ 7.11141428e-01 6.99201334e-01 7.34531422e-02 1.11028409e+02] [-6.95940535e-01 7.14918083e-01 -6.75196675e-02 -4.41625176e+01] [-9.97228212e-02 -3.10298637e-03 9.95010417e-01 -1.55352344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.43824100800002 meters 0.06915448903328222 Centerline is valid? [True, True] Translation: X:111.05, Y:-44.18, Z:-15.54 [[ 7.11041966e-01 6.99175445e-01 7.46526655e-02 1.11051541e+02] [-6.95804704e-01 7.14943262e-01 -6.86436194e-02 -4.41848671e+01] [-1.01366353e-01 -3.13518176e-03 9.94844226e-01 -1.55379731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.468241008 meters 0.06895321915524419 Centerline is valid? [True, True] Translation: X:111.07, Y:-44.21, Z:-15.54 [[ 7.10976582e-01 6.99131945e-01 7.56757766e-02 1.11073728e+02] [-6.95664279e-01 7.14985742e-01 -6.96175280e-02 -4.42080620e+01] [-1.02778939e-01 -3.14850241e-03 9.94699239e-01 -1.55402757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.49824100800001 meters 0.06927541559436823 Centerline is valid? [True, True] Translation: X:111.10, Y:-44.23, Z:-15.54 [[ 7.11283401e-01 6.98691244e-01 7.68535623e-02 1.11095365e+02] [-6.95108335e-01 7.15416580e-01 -7.07355617e-02 -4.42304762e+01] [-1.04404630e-01 -3.10852079e-03 9.94530045e-01 -1.55435470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.52824100800001 meters 0.06847455279445672 Centerline is valid? [True, True] Translation: X:111.12, Y:-44.26, Z:-15.55 [[ 7.11502099e-01 6.98444916e-01 7.70679002e-02 1.11117305e+02] [-6.94837109e-01 7.15657284e-01 -7.09650922e-02 -4.42552752e+01] [-1.04719412e-01 -3.05782488e-03 9.94497106e-01 -1.55462445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.55824100800001 meters 0.06804681530857641 Centerline is valid? [True, True] Translation: X:111.14, Y:-44.28, Z:-15.55 [[ 7.11104496e-01 6.98831296e-01 7.72348038e-02 1.11140002e+02] [-6.95207770e-01 7.15279787e-01 -7.11405836e-02 -4.42784658e+01] [-1.04959760e-01 -3.10584692e-03 9.94471620e-01 -1.55495340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.58824100800001 meters 0.06879499558192202 Centerline is valid? [True, True] Translation: X:111.16, Y:-44.30, Z:-15.56 [[ 7.11059979e-01 6.98949857e-01 7.65689415e-02 1.11164416e+02] [-6.95385239e-01 7.15164098e-01 -7.05668704e-02 -4.42974916e+01] [-1.04082062e-01 -3.06763427e-03 9.94563982e-01 -1.55563603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.61824100800001 meters 0.06838517668494642 Centerline is valid? [True, True] Translation: X:111.19, Y:-44.32, Z:-15.56 [[ 7.11780260e-01 6.98305539e-01 7.57511449e-02 1.11186335e+02] [-6.94809608e-01 7.15793874e-01 -6.98479669e-02 -4.43216913e+01] [-1.02997428e-01 -2.91621928e-03 9.94677347e-01 -1.55636110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.64824100800001 meters 0.06842705002403933 Centerline is valid? [True, True] Translation: X:111.21, Y:-44.34, Z:-15.57 [[ 7.13166062e-01 6.97000044e-01 7.47335756e-02 1.11207735e+02] [-6.93586580e-01 7.17066139e-01 -6.89478663e-02 -4.43437203e+01] [-1.01645582e-01 -2.66292681e-03 9.94817111e-01 -1.55693423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.67824100800001 meters 0.06756863978822748 Centerline is valid? [True, True] Translation: X:111.23, Y:-44.37, Z:-15.57 [[ 7.14697287e-01 6.95499659e-01 7.40811215e-02 1.11227953e+02] [-6.92134654e-01 7.18522396e-01 -6.83753458e-02 -4.43693391e+01] [-1.00783975e-01 -2.40643723e-03 9.94905422e-01 -1.55730092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.70824100800002 meters 0.06693512819511704 Centerline is valid? [True, True] Translation: X:111.25, Y:-44.39, Z:-15.58 [[ 7.16801562e-01 6.93409095e-01 7.33440381e-02 1.11248076e+02] [-6.90096766e-01 7.20541151e-01 -6.77266804e-02 -4.43944431e+01] [-9.98096939e-02 -2.06789316e-03 9.95004396e-01 -1.55780274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.73824100800002 meters 0.06599467023699217 Centerline is valid? [True, True] Translation: X:111.26, Y:-44.42, Z:-15.58 [[ 7.21228022e-01 6.88845101e-01 7.29559250e-02 1.11264215e+02] [-6.85541141e-01 7.24907207e-01 -6.74009334e-02 -4.44221098e+01] [-9.93150786e-02 -1.40284614e-03 9.95055047e-01 -1.55817470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.76824100800002 meters 0.06563985258543263 Centerline is valid? [True, True] Translation: X:111.28, Y:-44.45, Z:-15.59 [[ 7.23619958e-01 6.86357353e-01 7.27168547e-02 1.11284056e+02] [-6.83059624e-01 7.27263715e-01 -6.72089186e-02 -4.44468383e+01] [-9.90136653e-02 -1.03623265e-03 9.95085534e-01 -1.55855488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.79824100800002 meters 0.06529963137813484 Centerline is valid? [True, True] Translation: X:111.30, Y:-44.47, Z:-15.59 [[ 7.25963332e-01 6.83847651e-01 7.30043274e-02 1.11304834e+02] [-6.80507880e-01 7.29624518e-01 -6.75062007e-02 -4.44716800e+01] [-9.94297039e-02 -6.72993714e-04 9.95044361e-01 -1.55897469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.828241008 meters 0.0651736978797335 Centerline is valid? [True, True] Translation: X:111.32, Y:-44.50, Z:-15.59 [[ 7.29371730e-01 6.80179694e-01 7.32970948e-02 1.11324142e+02] [-6.76791034e-01 7.33045403e-01 -6.78110120e-02 -4.44961984e+01] [-9.98537718e-02 -1.47381452e-04 9.95002112e-01 -1.55949145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.85824100800001 meters 0.06501680197592757 Centerline is valid? [True, True] Translation: X:111.35, Y:-44.52, Z:-15.60 [[ 7.30665122e-01 6.78752919e-01 7.36407134e-02 1.11346668e+02] [-6.75323405e-01 7.34366715e-01 -6.81456261e-02 -4.45203282e+01] [-1.00333331e-01 6.03348136e-05 9.94953878e-01 -1.55980864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.88824100800001 meters 0.06487149944558984 Centerline is valid? [True, True] Translation: X:111.37, Y:-44.54, Z:-15.60 [[ 7.32071552e-01 6.77119131e-01 7.47055879e-02 1.11368430e+02] [-6.73576888e-01 7.35873346e-01 -6.91707618e-02 -4.45446518e+01] [-1.01810697e-01 3.17989524e-04 9.94803740e-01 -1.56009622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.91824100800001 meters 0.06489109360749322 Centerline is valid? [True, True] Translation: X:111.39, Y:-44.57, Z:-15.60 [[ 7.33669872e-01 6.75349123e-01 7.50471957e-02 1.11389693e+02] [-6.71763286e-01 7.37497950e-01 -6.95043946e-02 -4.45690311e+01] [-1.02286885e-01 5.79329473e-04 9.94754773e-01 -1.56035810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.94824100800001 meters 0.0650246487756565 Centerline is valid? [True, True] Translation: X:111.41, Y:-44.59, Z:-15.61 [[ 7.36505353e-01 6.72138207e-01 7.60926792e-02 1.11411782e+02] [-6.68432220e-01 7.40424957e-01 -7.04929120e-02 -4.45939560e+01] [-1.03721898e-01 1.05560865e-03 9.94605778e-01 -1.56055514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.97824100800001 meters 0.06530206829992202 Centerline is valid? [True, True] Translation: X:111.43, Y:-44.62, Z:-15.61 [[ 7.37410700e-01 6.71158193e-01 7.59745987e-02 1.11434581e+02] [-6.67454617e-01 7.41313154e-01 -7.04211748e-02 -4.46164592e+01] [-1.03584718e-01 1.21973114e-03 9.94619886e-01 -1.56110344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.00824100800001 meters 0.06539831587593767 Centerline is valid? [True, True] Translation: X:111.46, Y:-44.64, Z:-15.61 [[ 7.38146171e-01 6.70370310e-01 7.57883744e-02 1.11459016e+02] [-6.66678093e-01 7.42025495e-01 -7.02743611e-02 -4.46393275e+01] [-1.03346751e-01 1.34630159e-03 9.94644477e-01 -1.56143039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.03824100800001 meters 0.06534929988543386 Centerline is valid? [True, True] Translation: X:111.48, Y:-44.66, Z:-15.62 [[ 7.38581049e-01 6.69895521e-01 7.57497603e-02 1.11483045e+02] [-6.66200350e-01 7.42453979e-01 -7.02793188e-02 -4.46615581e+01] [-1.03320512e-01 1.44245611e-03 9.94647069e-01 -1.56167812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.06824100800002 meters 0.06558216033779499 Centerline is valid? [True, True] Translation: X:111.51, Y:-44.68, Z:-15.62 [[ 7.38746022e-01 6.69711500e-01 7.57682156e-02 1.11505931e+02] [-6.66009528e-01 7.42619865e-01 -7.03352273e-02 -4.46838213e+01] [-1.03371293e-01 1.49751584e-03 9.94641711e-01 -1.56219357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.09824100800002 meters 0.0650411411740065 Centerline is valid? [True, True] Translation: X:111.53, Y:-44.70, Z:-15.62 [[ 7.38503678e-01 6.70061838e-01 7.50296623e-02 1.11532361e+02] [-6.66431726e-01 7.42303870e-01 -6.96686410e-02 -4.47034210e+01] [-1.02377106e-01 1.44840032e-03 9.94744606e-01 -1.56232792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.12824100800002 meters 0.06519179181476956 Centerline is valid? [True, True] Translation: X:111.56, Y:-44.72, Z:-15.63 [[ 7.37770074e-01 6.70911795e-01 7.46503996e-02 1.11559117e+02] [-6.67319057e-01 7.41535933e-01 -6.93522641e-02 -4.47200363e+01] [-1.01885206e-01 1.35039077e-03 9.94795246e-01 -1.56292283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.15824100800002 meters 0.06517393232451024 Centerline is valid? [True, True] Translation: X:111.58, Y:-44.74, Z:-15.63 [[ 7.36800900e-01 6.71974654e-01 7.46625556e-02 1.11584160e+02] [-6.68382691e-01 7.40573125e-01 -6.93975833e-02 -4.47391010e+01] [-1.01926499e-01 1.22904199e-03 9.94791173e-01 -1.56338421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.18824100800002 meters 0.0653243971719837 Centerline is valid? [True, True] Translation: X:111.61, Y:-44.76, Z:-15.64 [[ 7.35548913e-01 6.73418273e-01 7.39974724e-02 1.11608607e+02] [-6.69894337e-01 7.39260943e-01 -6.88101398e-02 -4.47587696e+01] [-1.01041447e-01 1.04273584e-03 9.94881671e-01 -1.56398227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.218241008 meters 0.06487164625015777 Centerline is valid? [True, True] Translation: X:111.64, Y:-44.77, Z:-15.64 [[ 7.33065969e-01 6.76155002e-01 7.36796983e-02 1.11637813e+02] [-6.72671863e-01 7.36759079e-01 -6.85465097e-02 -4.47748933e+01] [-1.00632252e-01 6.86853671e-04 9.94923453e-01 -1.56422763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.24824100800001 meters 0.06473737796644694 Centerline is valid? [True, True] Translation: X:111.66, Y:-44.79, Z:-15.65 [[ 7.31643664e-01 6.77634261e-01 7.42250489e-02 1.11663777e+02] [-6.74103353e-01 7.35398903e-01 -6.90877958e-02 -4.47934721e+01] [-1.01401277e-01 5.12293641e-04 9.94845475e-01 -1.56459939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.27824100800001 meters 0.06453366711095143 Centerline is valid? [True, True] Translation: X:111.69, Y:-44.81, Z:-15.65 [[ 7.30738334e-01 6.78647615e-01 7.38843874e-02 1.11690836e+02] [-6.75151407e-01 7.34463929e-01 -6.87990952e-02 -4.48127229e+01] [-1.00955759e-01 3.90988065e-04 9.94890839e-01 -1.56498909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.30824100800001 meters 0.06423518582677838 Centerline is valid? [True, True] Translation: X:111.72, Y:-44.83, Z:-15.65 [[ 7.28461212e-01 6.80851983e-01 7.60581296e-02 1.11721093e+02] [-6.77154200e-01 7.32421028e-01 -7.08634377e-02 -4.48281450e+01] [-1.03954086e-01 1.18183887e-04 9.94582090e-01 -1.56501378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.33824100800001 meters 0.06397117920975286 Centerline is valid? [True, True] Translation: X:111.75, Y:-44.85, Z:-15.65 [[ 7.27457539e-01 6.81818295e-01 7.70022163e-02 1.11746935e+02] [-6.78030103e-01 7.31521574e-01 -7.17730217e-02 -4.48478569e+01] [-1.05264942e-01 2.00514284e-06 9.94444213e-01 -1.56530486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.36824100800001 meters 0.06379527951038062 Centerline is valid? [True, True] Translation: X:111.77, Y:-44.87, Z:-15.66 [[ 7.27058358e-01 6.82156224e-01 7.77755159e-02 1.11771520e+02] [-6.78289877e-01 7.31206459e-01 -7.25255600e-02 -4.48679246e+01] [-1.06343722e-01 -2.40306346e-05 9.94329428e-01 -1.56556403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.39824100800001 meters 0.06377936500818648 Centerline is valid? [True, True] Translation: X:111.80, Y:-44.89, Z:-15.66 [[ 7.27188433e-01 6.82052117e-01 7.74718829e-02 1.11796275e+02] [-6.78212171e-01 7.31303568e-01 -7.22726909e-02 -4.48888630e+01] [-1.05949206e-01 1.34909597e-05 9.94371543e-01 -1.56588184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.42824100800001 meters 0.06378152920503898 Centerline is valid? [True, True] Translation: X:111.82, Y:-44.91, Z:-15.66 [[ 7.27535462e-01 6.81708225e-01 7.72401930e-02 1.11820371e+02] [-6.77885493e-01 7.31624144e-01 -7.20927917e-02 -4.49086096e+01] [-1.05657039e-01 9.00562269e-05 9.94402626e-01 -1.56645940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.45824100800002 meters 0.06368042241587173 Centerline is valid? [True, True] Translation: X:111.85, Y:-44.93, Z:-15.67 [[ 7.28416065e-01 6.80726624e-01 7.75970378e-02 1.11847345e+02] [-6.76859250e-01 7.32537505e-01 -7.24593601e-02 -4.49280105e+01] [-1.06167756e-01 2.58289118e-04 9.94348199e-01 -1.56680932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.48824100800002 meters 0.06361112798179969 Centerline is valid? [True, True] Translation: X:111.87, Y:-44.95, Z:-15.67 [[ 7.28560641e-01 6.80538581e-01 7.78885902e-02 1.11872241e+02] [-6.76637104e-01 7.32712182e-01 -7.27673580e-02 -4.49490151e+01] [-1.06590913e-01 3.13122893e-04 9.94302911e-01 -1.56707233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.51824100800002 meters 0.06349572361961496 Centerline is valid? [True, True] Translation: X:111.90, Y:-44.97, Z:-15.67 [[ 7.28768449e-01 6.80267178e-01 7.83141984e-02 1.11896427e+02] [-6.76317279e-01 7.32964133e-01 -7.32018946e-02 -4.49710412e+01] [-1.07198345e-01 3.81985632e-04 9.94237582e-01 -1.56734056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.54824100800002 meters 0.06351927401454674 Centerline is valid? [True, True] Translation: X:111.92, Y:-44.99, Z:-15.68 [[ 7.29195144e-01 6.79934600e-01 7.72229431e-02 1.11920701e+02] [-6.76088619e-01 7.33272621e-01 -7.22180197e-02 -4.49913306e+01] [-1.05729000e-01 4.51476293e-04 9.94394879e-01 -1.56783797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.578241008 meters 0.06380040416501337 Centerline is valid? [True, True] Translation: X:111.94, Y:-45.01, Z:-15.69 [[ 7.29016714e-01 6.80189614e-01 7.66597658e-02 1.11943929e+02] [-6.76397632e-01 7.33036084e-01 -7.17240839e-02 -4.50101413e+01] [-1.04980351e-01 4.35572018e-04 9.94474201e-01 -1.56872423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.60824100800001 meters 0.06371795055948327 Centerline is valid? [True, True] Translation: X:111.97, Y:-45.03, Z:-15.69 [[ 7.29503045e-01 6.79672993e-01 7.66154653e-02 1.11970462e+02] [-6.75879643e-01 7.33515059e-01 -7.17102953e-02 -4.50304308e+01] [-1.04938149e-01 5.30045484e-04 9.94478609e-01 -1.56899269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.63824100800001 meters 0.06384674179032705 Centerline is valid? [True, True] Translation: X:112.00, Y:-45.05, Z:-15.69 [[ 7.29065048e-01 6.80202846e-01 7.60805067e-02 1.11995185e+02] [-6.76461508e-01 7.33023779e-01 -7.12458256e-02 -4.50485230e+01] [-1.04230434e-01 4.77306965e-04 9.94553060e-01 -1.56946245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.66824100800001 meters 0.06385765628822897 Centerline is valid? [True, True] Translation: X:112.02, Y:-45.07, Z:-15.70 [[ 7.28876800e-01 6.80441448e-01 7.57498941e-02 1.12018342e+02] [-6.76731100e-01 7.32802309e-01 -7.09633297e-02 -4.50697350e+01] [-1.03796088e-01 4.61215468e-04 9.94598492e-01 -1.56985577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.69824100800001 meters 0.06394523430781704 Centerline is valid? [True, True] Translation: X:112.04, Y:-45.09, Z:-15.70 [[ 7.28636249e-01 6.80803499e-01 7.48051619e-02 1.12042187e+02] [-6.77184091e-01 7.32465981e-01 -7.01091640e-02 -4.50918006e+01] [-1.02522800e-01 4.27212737e-04 9.94730563e-01 -1.57020557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.72824100800001 meters 0.06408357026018582 Centerline is valid? [True, True] Translation: X:113.06, Y:-44.29, Z:-14.65 [[ 7.68819765e-01 -6.30054306e-01 -1.09305720e-01 1.13062214e+02] [-6.22123966e-01 -7.76499869e-01 1.00048609e-01 -4.42864020e+01] [-1.47911934e-01 -8.91764038e-03 -9.88960331e-01 -1.46546454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.75824100800001 meters 0.06391753176652064 Centerline is valid? [True, True] Translation: X:112.20, Y:-45.20, Z:-15.72 [[ 7.75489352e-01 6.26479591e-01 7.83555186e-02 1.12197368e+02] [-6.23294256e-01 7.79437819e-01 -6.30948211e-02 -4.52006328e+01] [-1.00600872e-01 9.08171998e-05 9.94926860e-01 -1.57183590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.78824100800001 meters 0.06404122155385988 Centerline is valid? [True, True] Translation: X:112.22, Y:-45.22, Z:-15.73 [[ 7.74531550e-01 6.27625204e-01 7.86605441e-02 1.12223678e+02] [-6.24417344e-01 7.78515640e-01 -6.33749058e-02 -4.52166141e+01] [-1.01014152e-01 -3.11439787e-05 9.94884988e-01 -1.57254082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.81824100800002 meters 0.06404122155385988 Centerline is valid? [True, True] Translation: X:112.25, Y:-45.24, Z:-15.73 [[ 7.74383420e-01 6.27809524e-01 7.86480775e-02 1.12248608e+02] [-6.24601041e-01 7.78367009e-01 -6.33903724e-02 -4.52368800e+01] [-1.01014148e-01 -3.52176382e-05 9.94884989e-01 -1.57294436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.84824100800002 meters 0.06419729240676848 Centerline is valid? [True, True] Translation: X:112.28, Y:-45.25, Z:-15.73 [[ 7.73254688e-01 6.29209144e-01 7.85686956e-02 1.12276024e+02] [-6.26011181e-01 7.77236010e-01 -6.33576033e-02 -4.52532214e+01] [-1.00931603e-01 -1.93318157e-04 9.94893348e-01 -1.57348981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.87824100800002 meters 0.06415959663779655 Centerline is valid? [True, True] Translation: X:112.30, Y:-45.27, Z:-15.74 [[ 7.71788651e-01 6.31012727e-01 7.85188882e-02 1.12304529e+02] [-6.27825292e-01 7.75772372e-01 -6.33453261e-02 -4.52699337e+01] [-1.00884491e-01 -4.06940116e-04 9.94898062e-01 -1.57356977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.90824100800002 meters 0.06409568496904962 Centerline is valid? [True, True] Translation: X:112.33, Y:-45.29, Z:-15.74 [[ 7.71521799e-01 6.31371570e-01 7.82563361e-02 1.12330119e+02] [-6.28203814e-01 7.75480341e-01 -6.31681009e-02 -4.52893465e+01] [-1.00568793e-01 -4.25362005e-04 9.94930016e-01 -1.57393930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.93824100800002 meters 0.06399904462752946 Centerline is valid? [True, True] Translation: X:112.35, Y:-45.31, Z:-15.74 [[ 7.71952652e-01 6.30916516e-01 7.76753054e-02 1.12354728e+02] [-6.27791720e-01 7.75850648e-01 -6.27162521e-02 -4.53094534e+01] [-9.98331553e-02 -3.49936473e-04 9.95004130e-01 -1.57427382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.968241008 meters 0.0639972082138941 Centerline is valid? [True, True] Translation: X:112.38, Y:-45.33, Z:-15.75 [[ 7.73991282e-01 6.28691925e-01 7.53920313e-02 1.12378791e+02] [-6.25735561e-01 7.77654461e-01 -6.08978378e-02 -4.53290344e+01] [-9.69149284e-02 -4.10795009e-05 9.95292668e-01 -1.57501364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.99824100800001 meters 0.06396082980774712 Centerline is valid? [True, True] Translation: X:112.40, Y:-45.35, Z:-15.76 [[ 7.74833040e-01 6.27682301e-01 7.51577598e-02 1.12404550e+02] [-6.24736927e-01 7.78469599e-01 -6.07359458e-02 -4.53485324e+01] [-9.66309094e-02 1.06389621e-04 9.95320278e-01 -1.57557552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.02824100800001 meters 0.06389010145513901 Centerline is valid? [True, True] Translation: X:112.43, Y:-45.37, Z:-15.76 [[ 7.75459443e-01 6.26870674e-01 7.54705974e-02 1.12430177e+02] [-6.23893805e-01 7.79123292e-01 -6.10198023e-02 -4.53680222e+01] [-9.70524249e-02 2.32743796e-04 9.95279244e-01 -1.57603838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.05824100800001 meters 0.06392965759902808 Centerline is valid? [True, True] Translation: X:112.45, Y:-45.39, Z:-15.76 [[ 7.75709422e-01 6.26607765e-01 7.50839674e-02 1.12453759e+02] [-6.23657534e-01 7.79334734e-01 -6.07342867e-02 -4.53869773e+01] [-9.65721194e-02 2.85476496e-04 9.95325949e-01 -1.57647267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.08824100800001 meters 0.06370644368408543 Centerline is valid? [True, True] Translation: X:112.48, Y:-45.41, Z:-15.77 [[ 7.76717305e-01 6.25299743e-01 7.55675863e-02 1.12477318e+02] [-6.22303044e-01 7.80384529e-01 -6.11466123e-02 -4.54084360e+01] [-9.72067361e-02 4.67692919e-04 9.95264102e-01 -1.57659373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.11824100800001 meters 0.06360399437363325 Centerline is valid? [True, True] Translation: X:112.50, Y:-45.43, Z:-15.77 [[ 7.76791254e-01 6.25258554e-01 7.51471088e-02 1.12502289e+02] [-6.22292504e-01 7.80417516e-01 -6.08320566e-02 -4.54289958e+01] [-9.66818838e-02 4.90327043e-04 9.95315213e-01 -1.57682944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.14824100800001 meters 0.06354628881416491 Centerline is valid? [True, True] Translation: X:112.53, Y:-45.45, Z:-15.77 [[ 7.76230898e-01 6.25980957e-01 7.49228498e-02 1.12528252e+02] [-6.23033260e-01 7.79838229e-01 -6.06786028e-02 -4.54485795e+01] [-9.64113524e-02 4.21178994e-04 9.95341486e-01 -1.57720248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.17824100800001 meters 0.06356560646882713 Centerline is valid? [True, True] Translation: X:112.55, Y:-45.46, Z:-15.78 [[ 7.74979420e-01 6.27549982e-01 7.47523822e-02 1.12554830e+02] [-6.24619992e-01 7.78576238e-01 -6.05715099e-02 -4.54648965e+01] [-9.62120784e-02 2.49841203e-04 9.95360826e-01 -1.57778415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.20824100800002 meters 0.06351326732854094 Centerline is valid? [True, True] Translation: X:112.58, Y:-45.48, Z:-15.78 [[ 7.74520905e-01 6.28060825e-01 7.52128106e-02 1.12581003e+02] [-6.25094149e-01 7.78164222e-01 -6.09733462e-02 -4.54834700e+01] [-9.68228884e-02 2.10043453e-04 9.95301605e-01 -1.57818899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.23824100800002 meters 0.06338667884440247 Centerline is valid? [True, True] Translation: X:112.61, Y:-45.50, Z:-15.79 [[ 7.73671626e-01 6.29006789e-01 7.60438987e-02 1.12606075e+02] [-6.25975546e-01 7.77399798e-01 -6.16779508e-02 -4.55019663e+01] [-9.79123612e-02 1.16859419e-04 9.95195034e-01 -1.57858949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.26824100800002 meters 0.06338829764350559 Centerline is valid? [True, True] Translation: X:112.63, Y:-45.52, Z:-15.79 [[ 7.73274721e-01 6.29500517e-01 7.59954273e-02 1.12631188e+02] [-6.26473260e-01 7.77000060e-01 -6.16616699e-02 -4.55221580e+01] [-9.78645047e-02 7.23075292e-05 9.95199746e-01 -1.57894090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.29824100800002 meters 0.06329102537181312 Centerline is valid? [True, True] Translation: X:112.66, Y:-45.54, Z:-15.79 [[ 7.71744843e-01 6.31455323e-01 7.53264402e-02 1.12655839e+02] [-6.28487160e-01 7.75412248e-01 -6.11533815e-02 -4.55401924e+01] [-9.70246726e-02 -1.46893705e-04 9.95281966e-01 -1.57923147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.32824100800002 meters 0.06329399976535005 Centerline is valid? [True, True] Translation: X:112.68, Y:-45.56, Z:-15.80 [[ 7.70829934e-01 6.32604071e-01 7.50553278e-02 1.12681683e+02] [-6.29661796e-01 7.74475312e-01 -6.09427109e-02 -4.55584536e+01] [-9.66811054e-02 -2.83006692e-04 9.95315369e-01 -1.57964807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.35824100800001 meters 0.0633925751663629 Centerline is valid? [True, True] Translation: X:112.71, Y:-45.58, Z:-15.80 [[ 7.69962639e-01 6.33651251e-01 7.51240749e-02 1.12708988e+02] [-6.30706126e-01 7.73618727e-01 -6.10233320e-02 -4.55770364e+01] [-9.67849019e-02 -3.95528537e-04 9.95305243e-01 -1.58013574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.38824100800001 meters 0.06381977717955324 Centerline is valid? [True, True] Translation: X:112.74, Y:-45.59, Z:-15.81 [[ 7.68214081e-01 6.35925325e-01 7.37977450e-02 1.12735507e+02] [-6.33090814e-01 7.71750327e-01 -5.99787850e-02 -4.55928917e+01] [-9.50954621e-02 -6.44127217e-04 9.95467949e-01 -1.58072044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.41824100800001 meters 0.06395466412637102 Centerline is valid? [True, True] Translation: X:112.76, Y:-45.61, Z:-15.81 [[ 7.67248187e-01 6.37015048e-01 7.44449347e-02 1.12759955e+02] [-6.34134509e-01 7.70850974e-01 -6.05161114e-02 -4.56121247e+01] [-9.59356240e-02 -7.77225419e-04 9.95387237e-01 -1.58117856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.44824100800001 meters 0.0637929960590781 Centerline is valid? [True, True] Translation: X:112.78, Y:-45.63, Z:-15.81 [[ 7.66791844e-01 6.37630271e-01 7.38776327e-02 1.12784194e+02] [-6.34794390e-01 7.70342097e-01 -6.00760866e-02 -4.56343299e+01] [-9.52173819e-02 -8.31253540e-04 9.95456156e-01 -1.58121425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.47824100800001 meters 0.06376966063451243 Centerline is valid? [True, True] Translation: X:112.81, Y:-45.66, Z:-15.82 [[ 7.66393756e-01 6.38143564e-01 7.35758237e-02 1.12807684e+02] [-6.35330321e-01 7.69916904e-01 -5.98610470e-02 -4.56552551e+01] [-9.48472123e-02 -8.67818987e-04 9.95491463e-01 -1.58150680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.50824100800001 meters 0.06383728528837633 Centerline is valid? [True, True] Translation: X:112.83, Y:-45.68, Z:-15.82 [[ 7.66296449e-01 6.38328818e-01 7.29799390e-02 1.12830762e+02] [-6.35559327e-01 7.69763325e-01 -5.94034188e-02 -4.56750723e+01] [-9.40961946e-02 -8.62451955e-04 9.95562737e-01 -1.58202476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.53824100800001 meters 0.06409012261103199 Centerline is valid? [True, True] Translation: X:112.86, Y:-45.70, Z:-15.83 [[ 7.66260596e-01 6.38403203e-01 7.27052279e-02 1.12855059e+02] [-6.35653887e-01 7.69701638e-01 -5.91905786e-02 -4.56952959e+01] [-9.37487879e-02 -8.59952661e-04 9.95595513e-01 -1.58277115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.56824100800002 meters 0.0641317671878868 Centerline is valid? [True, True] Translation: X:112.88, Y:-45.72, Z:-15.83 [[ 7.66234322e-01 6.38463549e-01 7.24517832e-02 1.12880128e+02] [-6.35731157e-01 7.69651600e-01 -5.90111045e-02 -4.57161483e+01] [-9.34390700e-02 -8.43522336e-04 9.95624642e-01 -1.58331364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.59824100800002 meters 0.06436015983684254 Centerline is valid? [True, True] Translation: X:112.90, Y:-45.74, Z:-15.84 [[ 7.65788847e-01 6.39005598e-01 7.23829228e-02 1.12904663e+02] [-6.36278083e-01 7.69201573e-01 -5.89842414e-02 -4.57374743e+01] [-9.33683185e-02 -8.86193147e-04 9.95631243e-01 -1.58380756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.62824100800002 meters 0.06392615044660875 Centerline is valid? [True, True] Translation: X:112.93, Y:-45.76, Z:-15.84 [[ 7.65452914e-01 6.39436347e-01 7.21317859e-02 1.12925950e+02] [-6.36727029e-01 7.68843498e-01 -5.88078768e-02 -4.57640633e+01] [-9.30619485e-02 -9.13597061e-04 9.95659901e-01 -1.58374494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.65824100800002 meters 0.06429755598104689 Centerline is valid? [True, True] Translation: X:112.95, Y:-45.78, Z:-15.84 [[ 7.64990769e-01 6.39920876e-01 7.27351051e-02 1.12948523e+02] [-6.37165024e-01 7.68440212e-01 -5.93327297e-02 -4.57846127e+01] [-9.38608319e-02 -9.55274487e-04 9.95584869e-01 -1.58441597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.68824100800002 meters 0.06395467126454522 Centerline is valid? [True, True] Translation: X:112.98, Y:-45.81, Z:-15.84 [[ 7.64608811e-01 6.40371247e-01 7.27875828e-02 1.12975228e+02] [-6.37611738e-01 7.68064888e-01 -5.93936075e-02 -4.58092435e+01] [-9.39395451e-02 -9.97341509e-04 9.95577404e-01 -1.58449872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.718241008 meters 0.0644737286698311 Centerline is valid? [True, True] Translation: X:113.00, Y:-45.83, Z:-15.85 [[ 7.63040572e-01 6.42233773e-01 7.28345120e-02 1.13000966e+02] [-6.39473835e-01 7.66507912e-01 -5.94881118e-02 -4.58253646e+01] [-9.40335042e-02 -1.18392183e-03 9.95568329e-01 -1.58521166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.74824100800001 meters 0.06531670029762672 Centerline is valid? [True, True] Translation: X:113.03, Y:-45.84, Z:-15.86 [[ 7.62168091e-01 6.43262430e-01 7.28920281e-02 1.13025357e+02] [-6.40501298e-01 7.65644668e-01 -5.95510598e-02 -4.58423609e+01] [-9.41163521e-02 -1.29952104e-03 9.95560357e-01 -1.58615917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.77824100800001 meters 0.0652177589247209 Centerline is valid? [True, True] Translation: X:113.05, Y:-45.86, Z:-15.86 [[ 7.60701694e-01 6.45027274e-01 7.26136923e-02 1.13048494e+02] [-6.42294392e-01 7.64158067e-01 -5.93326543e-02 -4.58645586e+01] [-9.37595191e-02 -1.50491667e-03 9.95593736e-01 -1.58617451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.80824100800001 meters 0.06560842755907512 Centerline is valid? [True, True] Translation: X:113.07, Y:-45.89, Z:-15.86 [[ 7.59001563e-01 6.46980524e-01 7.30262136e-02 1.13071206e+02] [-6.44222950e-01 7.62504549e-01 -5.96959234e-02 -4.58870361e+01] [-9.43049199e-02 -1.73586356e-03 9.95541847e-01 -1.58641978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.83824100800001 meters 0.06577053706313692 Centerline is valid? [True, True] Translation: X:113.10, Y:-45.91, Z:-15.87 [[ 7.58657984e-01 6.47342434e-01 7.33882664e-02 1.13095153e+02] [-6.44556356e-01 7.62197250e-01 -6.00204594e-02 -4.59069215e+01] [-9.47901251e-02 -1.76787289e-03 9.95495709e-01 -1.58691514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.86824100800001 meters 0.06584853108084834 Centerline is valid? [True, True] Translation: X:113.12, Y:-45.93, Z:-15.87 [[ 7.58594491e-01 6.47455860e-01 7.30431844e-02 1.13119566e+02] [-6.44694275e-01 7.62100930e-01 -5.97617291e-02 -4.59274790e+01] [-9.43593605e-02 -1.75560439e-03 9.95536654e-01 -1.58741668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.89824100800001 meters 0.06609362755835191 Centerline is valid? [True, True] Translation: X:113.14, Y:-45.95, Z:-15.88 [[ 7.58705506e-01 6.47373255e-01 7.26210938e-02 1.13144497e+02] [-6.44640978e-01 7.62171188e-01 -5.94397996e-02 -4.59493008e+01] [-9.38294419e-02 -1.71722975e-03 9.95586805e-01 -1.58809511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.92824100800001 meters 0.06611946392870913 Centerline is valid? [True, True] Translation: X:113.17, Y:-45.97, Z:-15.88 [[ 7.59140433e-01 6.46920508e-01 7.21086614e-02 1.13167115e+02] [-6.44221448e-01 7.62555718e-01 -5.90550902e-02 -4.59713010e+01] [-9.31908210e-02 -1.62283949e-03 9.95646944e-01 -1.58847157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.95824100800002 meters 0.06562579971188645 Centerline is valid? [True, True] Translation: X:113.19, Y:-46.00, Z:-15.89 [[ 7.61378337e-01 6.44213596e-01 7.27452452e-02 1.13186379e+02] [-6.41451480e-01 7.64844562e-01 -5.96053252e-02 -4.59985567e+01] [-9.40373660e-02 -1.28034180e-03 9.95567845e-01 -1.58872389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.98824100800002 meters 0.06521633795968891 Centerline is valid? [True, True] Translation: X:113.21, Y:-46.02, Z:-15.89 [[ 7.63173855e-01 6.42007624e-01 7.34294065e-02 1.13207401e+02] [-6.39180526e-01 7.66697603e-01 -6.01917010e-02 -4.60233871e+01] [-9.49416809e-02 -9.97914207e-04 9.95482336e-01 -1.58904459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01824100800002 meters 0.06482833800772043 Centerline is valid? [True, True] Translation: X:113.23, Y:-46.05, Z:-15.89 [[ 7.65328344e-01 6.39429329e-01 7.35027868e-02 1.13227609e+02] [-6.36582151e-01 7.68849596e-01 -6.02782219e-02 -4.60478871e+01] [-9.50562509e-02 -6.57930425e-04 9.95471685e-01 -1.58940844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04824100800002 meters 0.06467768390958119 Centerline is valid? [True, True] Translation: X:113.25, Y:-46.07, Z:-15.90 [[ 7.67517138e-01 6.36828029e-01 7.32632496e-02 1.13250282e+02] [-6.33985704e-01 7.71005810e-01 -6.01013154e-02 -4.60735184e+01] [-9.47605934e-02 -3.19063291e-04 9.95500039e-01 -1.58989640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07824100800002 meters 0.06469938830299261 Centerline is valid? [True, True] Translation: X:113.27, Y:-46.10, Z:-15.90 [[ 7.69682163e-01 6.34290253e-01 7.25619928e-02 1.13271611e+02] [-6.31487189e-01 7.73094997e-01 -5.95655619e-02 -4.60966240e+01] [-9.38791689e-02 2.45816226e-05 9.95583598e-01 -1.59046705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10824100800001 meters 0.06484036551736903 Centerline is valid? [True, True] Translation: X:113.29, Y:-46.12, Z:-15.91 [[ 7.73327460e-01 6.29767791e-01 7.31926778e-02 1.13291085e+02] [-6.26893233e-01 7.76783221e-01 -6.01057621e-02 -4.61224778e+01] [-9.47075170e-02 5.97442020e-04 9.95504962e-01 -1.59096395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13824100800001 meters 0.06478287796401003 Centerline is valid? [True, True] Translation: X:113.31, Y:-46.15, Z:-15.91 [[ 7.74727498e-01 6.27916128e-01 7.42875444e-02 1.13313198e+02] [-6.24943537e-01 7.78280540e-01 -6.10325833e-02 -4.61468299e+01] [-9.61398936e-02 8.58099855e-04 9.95367462e-01 -1.59124381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16824100800001 meters 0.06448060743658718 Centerline is valid? [True, True] Translation: X:113.33, Y:-46.17, Z:-15.91 [[ 7.77117013e-01 6.24963437e-01 7.42283731e-02 1.13334469e+02] [-6.21979547e-01 7.80653031e-01 -6.10105512e-02 -4.61727725e+01] [-9.60759683e-02 1.24380734e-03 9.95373227e-01 -1.59110259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19824100800001 meters 0.06434928225705894 Centerline is valid? [True, True] Translation: X:113.36, Y:-46.19, Z:-15.92 [[ 7.77586995e-01 6.24339434e-01 7.45569333e-02 1.13357456e+02] [-6.21323300e-01 7.81152001e-01 -6.13099324e-02 -4.61938901e+01] [-9.65185061e-02 1.34984628e-03 9.95330275e-01 -1.59150827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22824100800001 meters 0.06395199507177605 Centerline is valid? [True, True] Translation: X:113.38, Y:-46.21, Z:-15.92 [[ 7.77410842e-01 6.24570976e-01 7.44545478e-02 1.13384097e+02] [-6.21561675e-01 7.80966902e-01 -6.12517993e-02 -4.62140449e+01] [-9.64026335e-02 1.33971941e-03 9.95341518e-01 -1.59173103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25824100800001 meters 0.06440095171116664 Centerline is valid? [True, True] Translation: X:113.41, Y:-46.23, Z:-15.93 [[ 7.76651035e-01 6.25538056e-01 7.42651275e-02 1.13408747e+02] [-6.22544929e-01 7.80192661e-01 -6.11328240e-02 -4.62328949e+01] [-9.61820154e-02 1.24549250e-03 9.95362983e-01 -1.59261416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28824100800001 meters 0.06392435745805233 Centerline is valid? [True, True] Translation: X:113.44, Y:-46.25, Z:-15.93 [[ 7.75278930e-01 6.27203443e-01 7.45548302e-02 1.13436386e+02] [-6.24191610e-01 7.78854738e-01 -6.14013904e-02 -4.62504047e+01] [-9.65785462e-02 1.06670477e-03 9.95324795e-01 -1.59272463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31824100800002 meters 0.06381221474422286 Centerline is valid? [True, True] Translation: X:113.46, Y:-46.27, Z:-15.93 [[ 7.73711216e-01 6.29028239e-01 7.54614424e-02 1.13462124e+02] [-6.25948433e-01 7.77381963e-01 -6.21759049e-02 -4.62690371e+01] [-9.77727641e-02 8.71223297e-04 9.95208384e-01 -1.59313970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34824100800002 meters 0.0638821936398768 Centerline is valid? [True, True] Translation: X:113.49, Y:-46.29, Z:-15.94 [[ 7.71115468e-01 6.32184589e-01 7.56543509e-02 1.13487693e+02] [-6.29101442e-01 7.74817657e-01 -6.23616414e-02 -4.62873493e+01] [-9.80423956e-02 4.93765022e-04 9.95182116e-01 -1.59383638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37824100800002 meters 0.06357073049322208 Centerline is valid? [True, True] Translation: X:113.51, Y:-46.31, Z:-15.94 [[ 7.70192366e-01 6.33315572e-01 7.55983181e-02 1.13514812e+02] [-6.30239587e-01 7.73893564e-01 -6.23443257e-02 -4.63069406e+01] [-9.79886841e-02 3.72071022e-04 9.95187459e-01 -1.59396400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40824100800002 meters 0.06357677493312196 Centerline is valid? [True, True] Translation: X:113.54, Y:-46.33, Z:-15.94 [[ 7.69694217e-01 6.33883274e-01 7.59131596e-02 1.13540703e+02] [-6.30781199e-01 7.73428658e-01 -6.26353747e-02 -4.63267743e+01] [-9.84169295e-02 3.25491825e-04 9.95145217e-01 -1.59444676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43824100800002 meters 0.06357407746932535 Centerline is valid? [True, True] Translation: X:113.57, Y:-46.35, Z:-15.95 [[ 7.68811127e-01 6.34948642e-01 7.59583612e-02 1.13568086e+02] [-6.31845277e-01 7.72554320e-01 -6.27006336e-02 -4.63478754e+01] [-9.84936422e-02 2.11012991e-04 9.95137658e-01 -1.59488519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.468241008 meters 0.06343154771189244 Centerline is valid? [True, True] Translation: X:113.59, Y:-46.37, Z:-15.95 [[ 7.67476378e-01 6.36456082e-01 7.68353114e-02 1.13593838e+02] [-6.33283137e-01 7.71312940e-01 -6.34729614e-02 -4.63658961e+01] [-9.96618223e-02 5.54914505e-05 9.95021366e-01 -1.59517074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49824100800001 meters 0.06343154771189244 Centerline is valid? [True, True] Translation: X:113.62, Y:-46.39, Z:-15.96 [[ 7.67324006e-01 6.36641190e-01 7.68235953e-02 1.13618510e+02] [-6.33467750e-01 7.71160160e-01 -6.34871380e-02 -4.63864665e+01] [-9.96618232e-02 4.99349816e-05 9.95021366e-01 -1.59557420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52824100800001 meters 0.06351008439821804 Centerline is valid? [True, True] Translation: X:113.64, Y:-46.40, Z:-15.96 [[ 7.65065644e-01 6.39327940e-01 7.70347052e-02 1.13644020e+02] [-6.36147339e-01 7.68934138e-01 -6.36934421e-02 -4.64044537e+01] [-9.99556118e-02 -2.75758454e-04 9.94991859e-01 -1.59600545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55824100800001 meters 0.06345285238553436 Centerline is valid? [True, True] Translation: X:113.67, Y:-46.43, Z:-15.96 [[ 7.63898416e-01 6.40681466e-01 7.73722759e-02 1.13669311e+02] [-6.37476787e-01 7.67806663e-01 -6.40021441e-02 -4.64260765e+01] [-1.00411936e-01 -4.31893328e-04 9.94945856e-01 -1.59629464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58824100800001 meters 0.06353936277735882 Centerline is valid? [True, True] Translation: X:113.69, Y:-46.45, Z:-15.97 [[ 7.62597516e-01 6.42148616e-01 7.80396334e-02 1.13693670e+02] [-6.38892905e-01 7.66579928e-01 -6.45838235e-02 -4.64454029e+01] [-1.01296029e-01 -6.07504721e-04 9.94856143e-01 -1.59663299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61824100800001 meters 0.06356501041884309 Centerline is valid? [True, True] Translation: X:113.72, Y:-46.46, Z:-15.97 [[ 7.62059432e-01 6.42700602e-01 7.87487063e-02 1.13719202e+02] [-6.39385630e-01 7.66117152e-01 -6.51960488e-02 -4.64646724e+01] [-1.02232274e-01 -6.67527254e-04 9.94760331e-01 -1.59711845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64824100800001 meters 0.0636008842631159 Centerline is valid? [True, True] Translation: X:113.74, Y:-46.48, Z:-15.98 [[ 7.61814811e-01 6.42905328e-01 7.94413802e-02 1.13744106e+02] [-6.39529874e-01 7.65945348e-01 -6.57971363e-02 -4.64848235e+01] [-1.03149085e-01 -6.79902967e-04 9.94665674e-01 -1.59759810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67824100800001 meters 0.0637750431094947 Centerline is valid? [True, True] Translation: X:113.77, Y:-46.51, Z:-15.98 [[ 7.61503077e-01 6.43267843e-01 7.94955716e-02 1.13768494e+02] [-6.39886997e-01 7.65640894e-01 -6.58684438e-02 -4.65068040e+01] [-1.03236112e-01 -7.09159993e-04 9.94656625e-01 -1.59799848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70824100800002 meters 0.0637750431094947 Centerline is valid? [True, True] Translation: X:113.79, Y:-46.53, Z:-15.98 [[ 7.61354392e-01 6.43445711e-01 7.94802232e-02 1.13793127e+02] [-6.40063899e-01 7.65491420e-01 -6.58869578e-02 -4.65274276e+01] [-1.03236109e-01 -7.09096826e-04 9.94656626e-01 -1.59840227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73824100800002 meters 0.06373682674253127 Centerline is valid? [True, True] Translation: X:113.81, Y:-46.55, Z:-15.99 [[ 7.61629123e-01 6.43154135e-01 7.92075588e-02 1.13814375e+02] [-6.39790729e-01 7.65736473e-01 -6.56922957e-02 -4.65520581e+01] [-1.02902388e-01 -6.43096211e-04 9.94691251e-01 -1.59873874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76824100800002 meters 0.0636698862276601 Centerline is valid? [True, True] Translation: X:113.84, Y:-46.57, Z:-15.99 [[ 7.61662129e-01 6.43078151e-01 7.95065580e-02 1.13837683e+02] [-6.39685747e-01 7.65800311e-01 -6.59699096e-02 -4.65733292e+01] [-1.03309954e-01 -6.12430166e-04 9.94649023e-01 -1.59911017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79824100800002 meters 0.06375789351406715 Centerline is valid? [True, True] Translation: X:113.86, Y:-46.59, Z:-16.00 [[ 7.62060170e-01 6.42636049e-01 7.92666697e-02 1.13861707e+02] [-6.39259065e-01 7.66171408e-01 -6.57968166e-02 -4.65949639e+01] [-1.03015262e-01 -5.30803912e-04 9.94679634e-01 -1.59961655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82824100800002 meters 0.0632512289556378 Centerline is valid? [True, True] Translation: X:113.89, Y:-46.62, Z:-16.00 [[ 7.63683868e-01 6.40701695e-01 7.92987256e-02 1.13885387e+02] [-6.37308734e-01 7.67789865e-01 -6.58506022e-02 -4.66223468e+01] [-1.03075350e-01 -2.48727817e-04 9.94673519e-01 -1.59965410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85824100800001 meters 0.06327421864108841 Centerline is valid? [True, True] Translation: X:113.91, Y:-46.65, Z:-16.00 [[ 7.64591916e-01 6.39714991e-01 7.85107220e-02 1.13908070e+02] [-6.36379076e-01 7.68612207e-01 -6.52452798e-02 -4.66460696e+01] [-1.02082683e-01 -7.65673072e-05 9.94775914e-01 -1.60009725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88824100800001 meters 0.06329465026564997 Centerline is valid? [True, True] Translation: X:113.93, Y:-46.67, Z:-16.01 [[ 7.66541123e-01 6.37471658e-01 7.77469818e-02 1.13927798e+02] [-6.34185560e-01 7.70473767e-01 -6.46440331e-02 -4.66728373e+01] [-1.01110749e-01 2.46296491e-04 9.94875146e-01 -1.60050721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91824100800001 meters 0.06342724682322626 Centerline is valid? [True, True] Translation: X:113.95, Y:-46.70, Z:-16.01 [[ 7.67357408e-01 6.36482865e-01 7.77957061e-02 1.13949757e+02] [-6.33183928e-01 7.71290736e-01 -6.47202765e-02 -4.66959234e+01] [-1.01196454e-01 4.04592887e-04 9.94866380e-01 -1.60106047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94824100800001 meters 0.06347623255931079 Centerline is valid? [True, True] Translation: X:113.97, Y:-46.72, Z:-16.02 [[ 7.68142358e-01 6.35645971e-01 7.68863913e-02 1.13972194e+02] [-6.32417853e-01 7.71980522e-01 -6.39822870e-02 -4.67188059e+01] [-1.00024879e-01 5.23178266e-04 9.94984799e-01 -1.60151281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97824100800001 meters 0.06352804767179357 Centerline is valid? [True, True] Translation: X:114.00, Y:-46.74, Z:-16.02 [[ 7.69324165e-01 6.34305843e-01 7.61342668e-02 1.13995959e+02] [-6.31131400e-01 7.73081878e-01 -6.33842731e-02 -4.67414100e+01] [-9.90630367e-02 7.12326584e-04 9.95080905e-01 -1.60177217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00824100800001 meters 0.0641945135544423 Centerline is valid? [True, True] Translation: X:114.02, Y:-46.77, Z:-16.03 [[ 7.71665898e-01 6.31423073e-01 7.63979394e-02 1.14015022e+02] [-6.28208640e-01 7.75437720e-01 -6.36415524e-02 -4.67664892e+01] [-9.94265885e-02 1.11617006e-03 9.95044274e-01 -1.60262879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03824100800001 meters 0.06434509570145291 Centerline is valid? [True, True] Translation: X:114.04, Y:-46.79, Z:-16.03 [[ 7.73001518e-01 6.29845864e-01 7.59133805e-02 1.14037632e+02] [-6.26662839e-01 7.76719018e-01 -6.32554522e-02 -4.67906780e+01] [-9.88045513e-02 1.32446599e-03 9.95105978e-01 -1.60304903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06824100800002 meters 0.06464213713677912 Centerline is valid? [True, True] Translation: X:114.06, Y:-46.82, Z:-16.03 [[ 7.74031156e-01 6.28581506e-01 7.59016429e-02 1.14059865e+02] [-6.25389895e-01 7.77742245e-01 -6.32809527e-02 -4.68151950e+01] [-9.88091507e-02 1.51330845e-03 9.95105252e-01 -1.60341012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09824100800002 meters 0.06465806759340478 Centerline is valid? [True, True] Translation: X:114.08, Y:-46.84, Z:-16.04 [[ 7.75285267e-01 6.27075809e-01 7.55558380e-02 1.14083920e+02] [-6.23903308e-01 7.78956335e-01 -6.30213536e-02 -4.68404236e+01] [-9.83738649e-02 1.71998963e-03 9.95148041e-01 -1.60366577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12824100800002 meters 0.06513213931882919 Centerline is valid? [True, True] Translation: X:114.10, Y:-46.87, Z:-16.04 [[ 7.77841803e-01 6.23779472e-01 7.65591230e-02 1.14103374e+02] [-6.20501427e-01 7.81597289e-01 -6.39035029e-02 -4.68663546e+01] [-9.97000962e-02 2.20177087e-03 9.95015097e-01 -1.60385120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.15824100800002 meters 0.06496394745987237 Centerline is valid? [True, True] Translation: X:114.13, Y:-46.89, Z:-16.04 [[ 7.79157605e-01 6.22038056e-01 7.73439245e-02 1.14127977e+02] [-6.18680808e-01 7.82983105e-01 -6.45872615e-02 -4.68875998e+01] [-1.00734721e-01 2.47245426e-03 9.94910249e-01 -1.60403494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.18824100800002 meters 0.06528888590789893 Centerline is valid? [True, True] Translation: X:114.15, Y:-46.91, Z:-16.04 [[ 7.80024516e-01 6.20897087e-01 7.77724999e-02 1.14151434e+02] [-6.17493316e-01 7.83887571e-01 -6.49790740e-02 -4.69103543e+01] [-1.01310214e-01 2.66127189e-03 9.94851325e-01 -1.60443347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.218241008 meters 0.06514815857584774 Centerline is valid? [True, True] Translation: X:114.17, Y:-46.93, Z:-16.05 [[ 7.82247122e-01 6.18101647e-01 7.77161064e-02 1.14174866e+02] [-6.14685326e-01 7.86092265e-01 -6.49684659e-02 -4.69334986e+01] [-1.01249146e-01 3.05044531e-03 9.94856424e-01 -1.60458916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.24824100800001 meters 0.06610654158554197 Centerline is valid? [True, True] Translation: X:114.20, Y:-46.96, Z:-16.05 [[ 7.82824312e-01 6.17468830e-01 7.69307516e-02 1.14197175e+02] [-6.14116557e-01 7.86589184e-01 -6.43297022e-02 -4.69586429e+01] [-1.00234483e-01 3.11440656e-03 9.94958968e-01 -1.60525201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.27824100800001 meters 0.06650091684670185 Centerline is valid? [True, True] Translation: X:114.22, Y:-46.98, Z:-16.06 [[ 7.83143758e-01 6.17104807e-01 7.65996805e-02 1.14219683e+02] [-6.13775170e-01 7.86874531e-01 -6.40976812e-02 -4.69812250e+01] [-9.98293249e-02 3.18271695e-03 9.94999486e-01 -1.60567212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.30824100800001 meters 0.0657789926298975 Centerline is valid? [True, True] Translation: X:114.25, Y:-47.00, Z:-16.06 [[ 7.82553693e-01 6.17897611e-01 7.62381803e-02 1.14245404e+02] [-6.14600169e-01 7.86252498e-01 -6.38250851e-02 -4.70009739e+01] [-9.93798273e-02 3.09055750e-03 9.95044772e-01 -1.60599377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.33824100800001 meters 0.06521077916827359 Centerline is valid? [True, True] Translation: X:114.27, Y:-47.02, Z:-16.06 [[ 7.80408950e-01 6.20638140e-01 7.59616384e-02 1.14272723e+02] [-6.17374233e-01 7.84092273e-01 -6.36267529e-02 -4.70193783e+01] [-9.90501232e-02 2.75812918e-03 9.95078623e-01 -1.60643194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.36824100800001 meters 0.0657486991001862 Centerline is valid? [True, True] Translation: X:114.30, Y:-47.04, Z:-16.07 [[ 7.78277097e-01 6.23308313e-01 7.59704380e-02 1.14295105e+02] [-6.20052814e-01 7.81972354e-01 -6.36690368e-02 -4.70402623e+01] [-9.90922221e-02 2.44646926e-03 9.95075247e-01 -1.60720623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.39824100800001 meters 0.06459045432240015 Centerline is valid? [True, True] Translation: X:114.32, Y:-47.06, Z:-16.07 [[ 7.76273352e-01 6.25877448e-01 7.53465516e-02 1.14322201e+02] [-6.22684603e-01 7.79918529e-01 -6.31741536e-02 -4.70581932e+01] [-9.83034497e-02 2.12327439e-03 9.95154221e-01 -1.60724251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.42824100800001 meters 0.06417804592842673 Centerline is valid? [True, True] Translation: X:114.35, Y:-47.08, Z:-16.08 [[ 7.73598716e-01 6.29188846e-01 7.52756447e-02 1.14346940e+02] [-6.26014468e-01 7.77250549e-01 -6.31464158e-02 -4.70769448e+01] [-9.82390567e-02 1.72634349e-03 9.95161347e-01 -1.60763616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.45824100800002 meters 0.06391023315231256 Centerline is valid? [True, True] Translation: X:114.38, Y:-47.09, Z:-16.08 [[ 7.69456208e-01 6.34253523e-01 7.52304013e-02 1.14375204e+02] [-6.31104187e-01 7.73124345e-01 -6.31367725e-02 -4.70921563e+01] [-9.82071751e-02 1.10276022e-03 9.95165381e-01 -1.60836052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.48824100800002 meters 0.06363127790768745 Centerline is valid? [True, True] Translation: X:114.40, Y:-47.11, Z:-16.09 [[ 7.66779780e-01 6.37524399e-01 7.49093508e-02 1.14403171e+02] [-6.34414605e-01 7.70429845e-01 -6.28964486e-02 -4.71103907e+01] [-9.78104200e-02 7.04138751e-04 9.95204816e-01 -1.60882988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.51824100800002 meters 0.06358007857684764 Centerline is valid? [True, True] Translation: X:114.43, Y:-47.13, Z:-16.09 [[ 7.64514037e-01 6.40219438e-01 7.50823526e-02 1.14428830e+02] [-6.37104366e-01 7.68191981e-01 -6.30801694e-02 -4.71289053e+01] [-9.80628117e-02 3.90380343e-04 9.95180151e-01 -1.60939755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.54824100800002 meters 0.06334555947552777 Centerline is valid? [True, True] Translation: X:114.46, Y:-47.15, Z:-16.10 [[ 7.60343254e-01 6.45191891e-01 7.48702904e-02 1.14455860e+02] [-6.42115324e-01 7.64020532e-01 -6.29327973e-02 -4.71471652e+01] [-9.78061696e-02 -2.24832924e-04 9.95205458e-01 -1.60959248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.57824100800002 meters 0.06344335187078394 Centerline is valid? [True, True] Translation: X:114.48, Y:-47.17, Z:-16.10 [[ 7.58744016e-01 6.46959713e-01 7.58330287e-02 1.14480528e+02] [-6.43809020e-01 7.62524059e-01 -6.37730731e-02 -4.71673561e+01] [-9.90831179e-02 -4.34550263e-04 9.95079066e-01 -1.60993339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.60824100800001 meters 0.06344240129708086 Centerline is valid? [True, True] Translation: X:114.50, Y:-47.19, Z:-16.10 [[ 7.57761020e-01 6.48070226e-01 7.61788649e-02 1.14504717e+02] [-6.44893179e-01 7.61580377e-01 -6.40945984e-02 -4.71875140e+01] [-9.95541295e-02 -5.58842057e-04 9.95031991e-01 -1.61044884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.63824100800001 meters 0.06359618031290087 Centerline is valid? [True, True] Translation: X:114.53, Y:-47.21, Z:-16.11 [[ 7.56710009e-01 6.49335556e-01 7.58504979e-02 1.14529842e+02] [-6.46189161e-01 7.60501708e-01 -6.38492032e-02 -4.72090347e+01] [-9.91439911e-02 -6.98438408e-04 9.95072852e-01 -1.61078555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.66824100800001 meters 0.06351920779977187 Centerline is valid? [True, True] Translation: X:114.55, Y:-47.23, Z:-16.11 [[ 7.55162737e-01 6.51156529e-01 7.56598686e-02 1.14554210e+02] [-6.48031727e-01 7.58942915e-01 -6.37223159e-02 -4.72305740e+01] [-9.89147232e-02 -9.09276848e-04 9.95095498e-01 -1.61117146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.69824100800001 meters 0.06360013524769337 Centerline is valid? [True, True] Translation: X:114.58, Y:-47.25, Z:-16.12 [[ 7.54792326e-01 6.51510684e-01 7.63044786e-02 1.14578011e+02] [-6.48330540e-01 7.58638880e-01 -6.43005494e-02 -4.72512679e+01] [-9.97800391e-02 -9.36962602e-04 9.95009078e-01 -1.61164772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.72824100800001 meters 0.06357168656330585 Centerline is valid? [True, True] Translation: X:114.60, Y:-47.27, Z:-16.12 [[ 7.54435745e-01 6.51893382e-01 7.65618992e-02 1.14601189e+02] [-6.48690549e-01 7.58310017e-01 -6.45483555e-02 -4.72737141e+01] [-1.00136301e-01 -9.67393674e-04 9.94973259e-01 -1.61204950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.75824100800001 meters 0.06349110689837553 Centerline is valid? [True, True] Translation: X:114.62, Y:-47.30, Z:-16.12 [[ 7.54610831e-01 6.51515607e-01 7.80378627e-02 1.14624863e+02] [-6.48182190e-01 7.58634687e-01 -6.58275100e-02 -4.72977670e+01] [-1.02089880e-01 -9.08600681e-04 9.94774764e-01 -1.61243232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78824100800001 meters 0.0629325609335033 Centerline is valid? [True, True] Translation: X:114.64, Y:-47.33, Z:-16.13 [[ 7.56029849e-01 6.49822624e-01 7.84182708e-02 1.14643426e+02] [-6.46442951e-01 7.60085610e-01 -6.61919626e-02 -4.73264459e+01] [-1.02617634e-01 -6.49838913e-04 9.94720664e-01 -1.61254418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81824100800002 meters 0.06300777551681118 Centerline is valid? [True, True] Translation: X:114.67, Y:-47.35, Z:-16.13 [[ 7.56706132e-01 6.49064341e-01 7.81748725e-02 1.14666050e+02] [-6.45698013e-01 7.60733339e-01 -6.60216883e-02 -4.73503593e+01] [-1.02322555e-01 -5.18343443e-04 9.94751138e-01 -1.61301876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84824100800002 meters 0.06277349741420929 Centerline is valid? [True, True] Translation: X:114.69, Y:-47.37, Z:-16.14 [[ 7.57595392e-01 6.47990313e-01 7.84714989e-02 1.14689628e+02] [-6.44588667e-01 7.61648498e-01 -6.63099966e-02 -4.73745411e+01] [-1.02735935e-01 -3.45690985e-04 9.94708605e-01 -1.61362533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87824100800002 meters 0.06294316975326616 Centerline is valid? [True, True] Translation: X:114.71, Y:-47.40, Z:-16.14 [[ 7.59599922e-01 6.45660553e-01 7.82969207e-02 1.14708121e+02] [-6.42257462e-01 7.63624548e-01 -6.62034949e-02 -4.74016207e+01] [-1.02534436e-01 1.38803977e-06 9.94729455e-01 -1.61422269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90824100800002 meters 0.06302121654269621 Centerline is valid? [True, True] Translation: X:114.73, Y:-47.43, Z:-16.15 [[ 7.60758571e-01 6.44417057e-01 7.72855274e-02 1.14729560e+02] [-6.41091929e-01 7.64674192e-01 -6.53798057e-02 -4.74268985e+01] [-1.01230110e-01 1.91119722e-04 9.94863020e-01 -1.61470664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93824100800002 meters 0.06307072994384334 Centerline is valid? [True, True] Translation: X:114.75, Y:-47.45, Z:-16.15 [[ 7.61298540e-01 6.43818506e-01 7.69562512e-02 1.14749208e+02] [-6.40515170e-01 7.65178178e-01 -6.51358022e-02 -4.74522650e+01] [-1.00820879e-01 2.96144742e-04 9.94904550e-01 -1.61524891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.968241008 meters 0.06318933494253161 Centerline is valid? [True, True] Translation: X:114.77, Y:-47.47, Z:-16.16 [[ 7.61297647e-01 6.43889317e-01 7.63704114e-02 1.14771598e+02] [-6.40633403e-01 7.65118587e-01 -6.46714076e-02 -4.74736912e+01] [-1.00073650e-01 3.08753919e-04 9.94979984e-01 -1.61590095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99824100800001 meters 0.06335501663688253 Centerline is valid? [True, True] Translation: X:114.80, Y:-47.50, Z:-16.16 [[ 7.61106566e-01 6.44199148e-01 7.56587971e-02 1.14795081e+02] [-6.41002060e-01 7.64857747e-01 -6.41013669e-02 -4.74955210e+01] [-9.91622630e-02 2.90526367e-04 9.95071234e-01 -1.61623828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02824100800001 meters 0.06358758702954757 Centerline is valid? [True, True] Translation: X:114.82, Y:-47.52, Z:-16.17 [[ 7.60845543e-01 6.44593798e-01 7.49192652e-02 1.14817631e+02] [-6.41459349e-01 7.64525195e-01 -6.34911757e-02 -4.75176028e+01] [-9.82036839e-02 2.49314962e-04 9.95166305e-01 -1.61697671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05824100800001 meters 0.06364843835455426 Centerline is valid? [True, True] Translation: X:114.84, Y:-47.54, Z:-16.18 [[ 7.60806530e-01 6.44665577e-01 7.46975119e-02 1.14842471e+02] [-6.41547034e-01 7.64464666e-01 -6.33338610e-02 -4.75425779e+01] [-9.79327685e-02 2.62847763e-04 9.95192998e-01 -1.61751626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08824100800001 meters 0.06368545102532432 Centerline is valid? [True, True] Translation: X:114.86, Y:-47.57, Z:-16.18 [[ 7.61525340e-01 6.43945465e-01 7.35757675e-02 1.14863351e+02] [-6.40912183e-01 7.65071296e-01 -6.24298423e-02 -4.75676817e+01] [-9.64921217e-02 3.86301112e-04 9.95333673e-01 -1.61782542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11824100800001 meters 0.06376577607932525 Centerline is valid? [True, True] Translation: X:114.89, Y:-47.59, Z:-16.18 [[ 7.62155983e-01 6.43220796e-01 7.33843603e-02 1.14886614e+02] [-6.40196966e-01 7.65680584e-01 -6.22983761e-02 -4.75910789e+01] [-9.62605910e-02 5.00635250e-04 9.95356041e-01 -1.61819717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14824100800001 meters 0.0635452431139089 Centerline is valid? [True, True] Translation: X:114.91, Y:-47.61, Z:-16.18 [[ 7.62281946e-01 6.43104529e-01 7.30944540e-02 1.14910598e+02] [-6.40100943e-01 7.65778215e-01 -6.20846801e-02 -4.76135824e+01] [-9.59010795e-02 5.38201824e-04 9.95390724e-01 -1.61836699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17824100800001 meters 0.06359618563413773 Centerline is valid? [True, True] Translation: X:114.94, Y:-47.63, Z:-16.19 [[ 7.62492862e-01 6.42823522e-01 7.33658946e-02 1.14935107e+02] [-6.39792910e-01 7.66014071e-01 -6.23496223e-02 -4.76341995e+01] [-9.62791114e-02 6.02162772e-04 9.95354193e-01 -1.61888558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20824100800002 meters 0.06375315316973527 Centerline is valid? [True, True] Translation: X:114.96, Y:-47.66, Z:-16.19 [[ 7.63268509e-01 6.41972008e-01 7.27538556e-02 1.14957756e+02] [-6.38984355e-01 7.66727725e-01 -6.18675198e-02 -4.76554442e+01] [-9.54996141e-02 7.32954056e-04 9.95429197e-01 -1.61935285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23824100800002 meters 0.06401774685699232 Centerline is valid? [True, True] Translation: X:114.98, Y:-47.68, Z:-16.20 [[ 7.66033874e-01 6.38639882e-01 7.30151019e-02 1.14979935e+02] [-6.35614108e-01 7.69504870e-01 -6.21044361e-02 -4.76804077e+01] [-9.58478462e-02 1.16467286e-03 9.95395315e-01 -1.61966339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26824100800002 meters 0.06429254244026258 Centerline is valid? [True, True] Translation: X:115.00, Y:-47.70, Z:-16.20 [[ 7.67251739e-01 6.37151234e-01 7.32330143e-02 1.15003749e+02] [-6.34097265e-01 7.70737567e-01 -6.23238375e-02 -4.77027017e+01] [-9.61531452e-02 1.38121859e-03 9.95365594e-01 -1.61998454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29824100800002 meters 0.06452380127779435 Centerline is valid? [True, True] Translation: X:115.03, Y:-47.72, Z:-16.20 [[ 7.68346664e-01 6.35779091e-01 7.36773424e-02 1.15027723e+02] [-6.32678224e-01 7.71869433e-01 -6.27363010e-02 -4.77242528e+01] [-9.67557169e-02 1.58917752e-03 9.95306890e-01 -1.62037639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32824100800002 meters 0.06465730498674403 Centerline is valid? [True, True] Translation: X:115.05, Y:-47.75, Z:-16.21 [[ 7.69179400e-01 6.34739423e-01 7.39521194e-02 1.15053744e+02] [-6.31607551e-01 7.72724273e-01 -6.30007850e-02 -4.77472811e+01] [-9.71336796e-02 1.75018895e-03 9.95269805e-01 -1.62074955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35824100800001 meters 0.06498593700831551 Centerline is valid? [True, True] Translation: X:115.08, Y:-47.77, Z:-16.21 [[ 7.70428030e-01 6.33229954e-01 7.38950339e-02 1.15077778e+02] [-6.30091247e-01 7.73961185e-01 -6.30008274e-02 -4.77697911e+01] [-9.70858991e-02 1.97698931e-03 9.95274043e-01 -1.62117001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38824100800001 meters 0.06514547896112305 Centerline is valid? [True, True] Translation: X:115.10, Y:-47.79, Z:-16.22 [[ 7.70845629e-01 6.32632048e-01 7.46572722e-02 1.15102886e+02] [-6.29421195e-01 7.74449647e-01 -6.36922489e-02 -4.77913242e+01] [-9.81120560e-02 2.10602209e-03 9.95173145e-01 -1.62153045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41824100800001 meters 0.06584802722960753 Centerline is valid? [True, True] Translation: X:115.13, Y:-47.81, Z:-16.22 [[ 7.71955517e-01 6.31187025e-01 7.54162987e-02 1.15125618e+02] [-6.27899451e-01 7.75627127e-01 -6.43804274e-02 -4.78126651e+01] [-9.91310176e-02 2.34497359e-03 9.95071627e-01 -1.62198952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44824100800001 meters 0.06571172811932463 Centerline is valid? [True, True] Translation: X:115.15, Y:-47.83, Z:-16.22 [[ 7.71668591e-01 6.31490682e-01 7.58096577e-02 1.15150194e+02] [-6.28166873e-01 7.75379925e-01 -6.47483712e-02 -4.78334334e+01] [-9.96692798e-02 2.34316868e-03 9.95017861e-01 -1.62235216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47824100800001 meters 0.0652417382294168 Centerline is valid? [True, True] Translation: X:115.18, Y:-47.85, Z:-16.23 [[ 7.71072207e-01 6.32227293e-01 7.57383772e-02 1.15176020e+02] [-6.28910145e-01 7.74779643e-01 -6.47188904e-02 -4.78536383e+01] [-9.95976017e-02 2.27030391e-03 9.95025207e-01 -1.62258427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50824100800001 meters 0.06486269487410778 Centerline is valid? [True, True] Translation: X:115.20, Y:-47.87, Z:-16.23 [[ 7.69496974e-01 6.34154676e-01 7.56455824e-02 1.15202321e+02] [-6.30851528e-01 7.73203508e-01 -6.46736858e-02 -4.78728398e+01] [-9.95025499e-02 2.04507423e-03 9.95035206e-01 -1.62290667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53824100800001 meters 0.06398265405169788 Centerline is valid? [True, True] Translation: X:115.23, Y:-47.89, Z:-16.23 [[ 7.65547103e-01 6.38938929e-01 7.54630997e-02 1.15233513e+02] [-6.35671680e-01 7.69256106e-01 -6.45488860e-02 -4.78859741e+01] [-9.92932463e-02 1.44545727e-03 9.95057165e-01 -1.62338581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56824100800002 meters 0.06376624372938654 Centerline is valid? [True, True] Translation: X:115.26, Y:-47.90, Z:-16.24 [[ 7.62075903e-01 6.43216855e-01 7.42455085e-02 1.15261655e+02] [-6.40071493e-01 7.65683531e-01 -6.35390832e-02 -4.79016366e+01] [-9.77179723e-02 8.99170753e-04 9.95213741e-01 -1.62409683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59824100800002 meters 0.06362245026212182 Centerline is valid? [True, True] Translation: X:115.30, Y:-47.91, Z:-16.25 [[ 7.55117681e-01 6.51415912e-01 7.38552437e-02 1.15296432e+02] [-6.48339300e-01 7.58720826e-01 -6.32365422e-02 -4.79096464e+01] [-9.72288014e-02 -1.32225871e-04 9.95262047e-01 -1.62473845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62824100800002 meters 0.06362245026212182 Centerline is valid? [True, True] Translation: X:115.32, Y:-47.93, Z:-16.25 [[ 7.54947840e-01 6.51614471e-01 7.38399549e-02 1.15320693e+02] [-6.48537061e-01 7.58550303e-01 -6.32543885e-02 -4.79306528e+01] [-9.72287951e-02 -1.34183300e-04 9.95262048e-01 -1.62514214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65824100800002 meters 0.06390576961837541 Centerline is valid? [True, True] Translation: X:115.35, Y:-47.95, Z:-16.26 [[ 7.51679633e-01 6.55318038e-01 7.44042938e-02 1.15349427e+02] [-6.52207955e-01 7.55352845e-01 -6.37719608e-02 -4.79466214e+01] [-9.79924112e-02 -5.90988234e-04 9.95186987e-01 -1.62556094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68824100800002 meters 0.06390576961837541 Centerline is valid? [True, True] Translation: X:115.37, Y:-47.97, Z:-16.26 [[ 7.51507894e-01 6.55516874e-01 7.43875939e-02 1.15373676e+02] [-6.52405835e-01 7.55180296e-01 -6.37914334e-02 -4.79676426e+01] [-9.79924061e-02 -5.91134541e-04 9.95186987e-01 -1.62596476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.718241008 meters 0.06448220365883903 Centerline is valid? [True, True] Translation: X:115.40, Y:-47.98, Z:-16.26 [[ 7.47226133e-01 6.60329609e-01 7.49527391e-02 1.15401552e+02] [-6.57191438e-01 7.50974940e-01 -6.43121512e-02 -4.79831187e+01] [-9.87548465e-02 -1.20257834e-03 9.95111066e-01 -1.62612851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74824100800001 meters 0.06476407324898557 Centerline is valid? [True, True] Translation: X:115.43, Y:-48.00, Z:-16.27 [[ 7.45978734e-01 6.61745330e-01 7.48922398e-02 1.15426477e+02] [-6.58616491e-01 7.49727450e-01 -6.42889468e-02 -4.80016004e+01] [-9.86916783e-02 -1.36707704e-03 9.95117121e-01 -1.62655014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77824100800001 meters 0.06474129635172447 Centerline is valid? [True, True] Translation: X:115.45, Y:-48.02, Z:-16.27 [[ 7.45348285e-01 6.62431482e-01 7.51030333e-02 1.15452145e+02] [-6.59285839e-01 7.49121119e-01 -6.44959809e-02 -4.80221242e+01] [-9.89854366e-02 -1.44239758e-03 9.95087837e-01 -1.62701678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80824100800001 meters 0.06329425925843968 Centerline is valid? [True, True] Translation: X:115.47, Y:-48.05, Z:-16.27 [[ 7.50345864e-01 6.56579507e-01 7.67100721e-02 1.15470961e+02] [-6.53263255e-01 7.54256535e-01 -6.59105468e-02 -4.80516381e+01] [-1.01134587e-01 -6.56165207e-04 9.94872537e-01 -1.62707635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83824100800001 meters 0.06290830182158716 Centerline is valid? [True, True] Translation: X:115.49, Y:-48.08, Z:-16.27 [[ 7.51590016e-01 6.55187642e-01 7.64303760e-02 1.15492891e+02] [-6.51884602e-01 7.55466056e-01 -6.57077178e-02 -4.80758174e+01] [-1.00791439e-01 -4.38520604e-04 9.94907480e-01 -1.62733910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86824100800001 meters 0.06293318812339141 Centerline is valid? [True, True] Translation: X:115.52, Y:-48.10, Z:-16.28 [[ 7.52751042e-01 6.54002983e-01 7.51396440e-02 1.15515627e+02] [-6.50801633e-01 7.56491927e-01 -6.46312512e-02 -4.80979104e+01] [-9.91115652e-02 -2.49761404e-04 9.95076296e-01 -1.62788011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89824100800001 meters 0.06321242958658888 Centerline is valid? [True, True] Translation: X:115.54, Y:-48.12, Z:-16.29 [[ 7.53204124e-01 6.53596191e-01 7.41320902e-02 1.15539442e+02] [-6.50475525e-01 7.56843438e-01 -6.37934305e-02 -4.81187963e+01] [-9.78015292e-02 -1.71635339e-04 9.95205924e-01 -1.62861188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92824100800001 meters 0.06377308527281489 Centerline is valid? [True, True] Translation: X:115.56, Y:-48.14, Z:-16.30 [[ 7.53905360e-01 6.52982169e-01 7.23947133e-02 1.15562496e+02] [-6.50000976e-01 7.57373278e-01 -6.23253574e-02 -4.81384547e+01] [-9.55271684e-02 -6.92132271e-05 9.95426821e-01 -1.62955015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95824100800002 meters 0.06401606189670438 Centerline is valid? [True, True] Translation: X:115.59, Y:-48.16, Z:-16.30 [[ 7.53336437e-01 6.53688133e-01 7.19446782e-02 1.15586143e+02] [-6.50744729e-01 7.56764035e-01 -6.19636357e-02 -4.81590188e+01] [-9.49500384e-02 -1.38155593e-04 9.95482030e-01 -1.63008252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98824100800002 meters 0.06413199217934779 Centerline is valid? [True, True] Translation: X:115.61, Y:-48.18, Z:-16.30 [[ 7.52379245e-01 6.54705286e-01 7.27080512e-02 1.15610745e+02] [-6.51701238e-01 7.55884201e-01 -6.26463949e-02 -4.81813978e+01] [-9.59737931e-02 -2.50079684e-04 9.95383830e-01 -1.63034515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.01824100800002 meters 0.06428623073975658 Centerline is valid? [True, True] Translation: X:115.63, Y:-48.20, Z:-16.31 [[ 7.51243039e-01 6.56006226e-01 7.27305212e-02 1.15634976e+02] [-6.53002906e-01 7.54755378e-01 -6.27018628e-02 -4.82025631e+01] [-9.60265644e-02 -3.88903746e-04 9.95378696e-01 -1.63071487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.04824100800002 meters 0.06434729816421378 Centerline is valid? [True, True] Translation: X:115.66, Y:-48.22, Z:-16.31 [[ 7.48526581e-01 6.59082511e-01 7.29259967e-02 1.15661151e+02] [-6.56074510e-01 7.52070252e-01 -6.29012959e-02 -4.82228656e+01] [-9.63026167e-02 -7.61595643e-04 9.95351810e-01 -1.63069680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07824100800002 meters 0.06434729816421378 Centerline is valid? [True, True] Translation: X:115.69, Y:-48.24, Z:-16.31 [[ 7.48358794e-01 6.59274758e-01 7.29102743e-02 1.15685338e+02] [-6.56265893e-01 7.51901730e-01 -6.29195135e-02 -4.82439680e+01] [-9.63026085e-02 -7.62155092e-04 9.95351811e-01 -1.63110062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10824100800001 meters 0.06432641244230292 Centerline is valid? [True, True] Translation: X:115.71, Y:-48.27, Z:-16.31 [[ 7.46885251e-01 6.60921769e-01 7.31083874e-02 1.15709635e+02] [-6.57901196e-01 7.50454201e-01 -6.31229652e-02 -4.82661836e+01] [-9.65838383e-02 -9.52483780e-04 9.95324397e-01 -1.63124288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.13824100800001 meters 0.06436709054115458 Centerline is valid? [True, True] Translation: X:115.73, Y:-48.29, Z:-16.32 [[ 7.46436056e-01 6.61418479e-01 7.32038925e-02 1.15733742e+02] [-6.58389221e-01 7.50016405e-01 -6.32378537e-02 -4.82890630e+01] [-9.67308054e-02 -9.93639604e-04 9.95310084e-01 -1.63159406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.16824100800001 meters 0.06472188256275002 Centerline is valid? [True, True] Translation: X:115.76, Y:-48.31, Z:-16.32 [[ 7.45937296e-01 6.61977314e-01 7.32365157e-02 1.15757682e+02] [-6.58943863e-01 7.49523159e-01 -6.33089132e-02 -4.83090510e+01] [-9.68015289e-02 -1.03427309e-03 9.95303167e-01 -1.63219860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.19824100800001 meters 0.0644596107650958 Centerline is valid? [True, True] Translation: X:115.78, Y:-48.33, Z:-16.33 [[ 7.46036671e-01 6.61928437e-01 7.26638103e-02 1.15782267e+02] [-6.58940458e-01 7.49566361e-01 -6.28310660e-02 -4.83307607e+01] [-9.60560173e-02 -1.00684509e-03 9.95375421e-01 -1.63253569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.22824100800001 meters 0.06487246785174536 Centerline is valid? [True, True] Translation: X:115.81, Y:-48.35, Z:-16.33 [[ 7.46430631e-01 6.61687600e-01 7.07872406e-02 1.15806290e+02] [-6.58848345e-01 7.49779074e-01 -6.12388661e-02 -4.83521687e+01] [-9.35957900e-02 -9.27490882e-04 9.95609847e-01 -1.63335120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25824100800001 meters 0.06500364016612886 Centerline is valid? [True, True] Translation: X:115.83, Y:-48.38, Z:-16.34 [[ 7.46781310e-01 6.61416470e-01 6.96127029e-02 1.15830383e+02] [-6.58666883e-01 7.50018347e-01 -6.02529313e-02 -4.83750725e+01] [-9.20630855e-02 -8.55819063e-04 9.95752809e-01 -1.63394648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28824100800001 meters 0.06512981914675668 Centerline is valid? [True, True] Translation: X:115.85, Y:-48.40, Z:-16.35 [[ 7.47594121e-01 6.60563325e-01 6.89863963e-02 1.15853575e+02] [-6.57856240e-01 7.50769991e-01 -5.97460362e-02 -4.83985096e+01] [-9.12589565e-02 -7.17345833e-04 9.95826937e-01 -1.63450678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31824100800002 meters 0.06527633901466101 Centerline is valid? [True, True] Translation: X:115.88, Y:-48.42, Z:-16.35 [[ 7.49615607e-01 6.58458916e-01 6.71438666e-02 1.15875308e+02] [-6.55883189e-01 7.52616555e-01 -5.81855955e-02 -4.84229741e+01] [-8.88464097e-02 -4.21702903e-04 9.96045249e-01 -1.63512878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34824100800002 meters 0.06545676057185984 Centerline is valid? [True, True] Translation: X:115.90, Y:-48.45, Z:-16.36 [[ 7.50860773e-01 6.57051915e-01 6.70140294e-02 1.15896722e+02] [-6.54477712e-01 7.53845294e-01 -5.81050508e-02 -4.84469985e+01] [-8.86962456e-02 -2.30385249e-04 9.96058695e-01 -1.63558595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37824100800002 meters 0.06530332059007599 Centerline is valid? [True, True] Translation: X:115.92, Y:-48.47, Z:-16.36 [[ 7.52722200e-01 6.54871321e-01 6.74747547e-02 1.15917146e+02] [-6.52250090e-01 7.55740399e-01 -5.85343465e-02 -4.84717841e+01] [-8.93258629e-02 4.96873467e-05 9.96002454e-01 -1.63591915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40824100800002 meters 0.06477487096158281 Centerline is valid? [True, True] Translation: X:115.94, Y:-48.50, Z:-16.36 [[ 7.56149292e-01 6.50759892e-01 6.89188719e-02 1.15936095e+02] [-6.48005253e-01 7.59283372e-01 -5.98159952e-02 -4.85008193e+01] [-9.12548040e-02 5.70031369e-04 9.95827413e-01 -1.63580842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43824100800002 meters 0.06474303930458676 Centerline is valid? [True, True] Translation: X:115.96, Y:-48.53, Z:-16.36 [[ 7.58495699e-01 6.47887335e-01 7.01874343e-02 1.15957947e+02] [-6.45014703e-01 7.61735572e-01 -6.09503981e-02 -4.85258030e+01] [-9.29532565e-02 9.58687748e-04 9.95670012e-01 -1.63609774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.468241008 meters 0.06553076671339894 Centerline is valid? [True, True] Translation: X:115.98, Y:-48.55, Z:-16.37 [[ 7.60527836e-01 6.45373726e-01 7.13453865e-02 1.15977097e+02] [-6.42391213e-01 7.63865848e-01 -6.19878732e-02 -4.85507835e+01] [-9.45036488e-02 1.31185371e-03 9.95523651e-01 -1.63674307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49824100800001 meters 0.06559606264461477 Centerline is valid? [True, True] Translation: X:116.00, Y:-48.57, Z:-16.37 [[ 7.62655120e-01 6.42788989e-01 7.19686339e-02 1.15999722e+02] [-6.39739624e-01 7.66041465e-01 -6.25594642e-02 -4.85745508e+01] [-9.53434925e-02 1.67010888e-03 9.95443032e-01 -1.63683264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52824100800001 meters 0.06546414406511164 Centerline is valid? [True, True] Translation: X:116.02, Y:-48.60, Z:-16.37 [[ 7.65839911e-01 6.38791847e-01 7.37170745e-02 1.16022329e+02] [-6.35570348e-01 7.69376322e-01 -6.41124666e-02 -4.86000655e+01] [-9.76706926e-02 2.24749906e-03 9.95216250e-01 -1.63653816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55824100800001 meters 0.06642654604116253 Centerline is valid? [True, True] Translation: X:116.04, Y:-48.63, Z:-16.37 [[ 7.66268767e-01 6.38218486e-01 7.42249351e-02 1.16044769e+02] [-6.34946436e-01 7.69851665e-01 -6.45866665e-02 -4.86252856e+01] [-9.83625943e-02 2.36188728e-03 9.95147839e-01 -1.63713951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58824100800001 meters 0.06692340201851073 Centerline is valid? [True, True] Translation: X:116.07, Y:-48.65, Z:-16.38 [[ 7.66362123e-01 6.38063160e-01 7.45955737e-02 1.16068278e+02] [-6.34752657e-01 7.69980188e-01 -6.49582519e-02 -4.86474346e+01] [-9.88845814e-02 2.43180520e-03 9.95095938e-01 -1.63759723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61824100800001 meters 0.06574191054645528 Centerline is valid? [True, True] Translation: X:116.10, Y:-48.67, Z:-16.37 [[ 7.66015945e-01 6.38443198e-01 7.48989664e-02 1.16096711e+02] [-6.35103656e-01 7.69665133e-01 -6.52604648e-02 -4.86655966e+01] [-9.93122228e-02 2.42194921e-03 9.95053374e-01 -1.63747849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64824100800001 meters 0.06578979749208873 Centerline is valid? [True, True] Translation: X:116.12, Y:-48.69, Z:-16.38 [[ 7.65723897e-01 6.38812599e-01 7.47353804e-02 1.16122295e+02] [-6.35486091e-01 7.69358648e-01 -6.51513525e-02 -4.86871556e+01] [-9.91178160e-02 2.39465272e-03 9.95072824e-01 -1.63795815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67824100800001 meters 0.06574547290335524 Centerline is valid? [True, True] Translation: X:116.15, Y:-48.71, Z:-16.38 [[ 7.65117993e-01 6.39536499e-01 7.47497302e-02 1.16147939e+02] [-6.36207998e-01 7.68757192e-01 -6.52055416e-02 -4.87069767e+01] [-9.91657165e-02 2.33355699e-03 9.95068196e-01 -1.63838594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70824100800002 meters 0.06573266926921564 Centerline is valid? [True, True] Translation: X:116.18, Y:-48.72, Z:-16.39 [[ 7.63305645e-01 6.41771997e-01 7.41161070e-02 1.16176963e+02] [-6.38506879e-01 7.66892750e-01 -6.46875118e-02 -4.87241894e+01] [-9.83537388e-02 2.05269866e-03 9.95149400e-01 -1.63909959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73824100800002 meters 0.06525013768074915 Centerline is valid? [True, True] Translation: X:116.20, Y:-48.74, Z:-16.40 [[ 7.62062277e-01 6.43316578e-01 7.35177977e-02 1.16204069e+02] [-6.40107177e-01 7.65597990e-01 -6.42068556e-02 -4.87421315e+01] [-9.75904128e-02 1.87035268e-03 9.95224906e-01 -1.63954536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76824100800002 meters 0.06522187160156052 Centerline is valid? [True, True] Translation: X:116.23, Y:-48.76, Z:-16.40 [[ 7.60799765e-01 6.44852052e-01 7.31406076e-02 1.16229050e+02] [-6.41679287e-01 7.64305548e-01 -6.39118239e-02 -4.87610886e+01] [-9.71154430e-02 1.69128765e-03 9.95271687e-01 -1.64001330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79824100800002 meters 0.06507985888623422 Centerline is valid? [True, True] Translation: X:116.25, Y:-48.78, Z:-16.40 [[ 7.59406702e-01 6.46537668e-01 7.27358566e-02 1.16254606e+02] [-6.43404712e-01 7.62880606e-01 -6.35889722e-02 -4.87810074e+01] [-9.66014402e-02 1.49129883e-03 9.95322027e-01 -1.64045980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82824100800002 meters 0.06473967308531965 Centerline is valid? [True, True] Translation: X:116.28, Y:-48.80, Z:-16.41 [[ 7.56988398e-01 6.49365789e-01 7.27505109e-02 1.16281923e+02] [-6.46241322e-01 7.60475335e-01 -6.36350494e-02 -4.87978161e+01] [-9.66473932e-02 1.15660784e-03 9.95318011e-01 -1.64080344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85824100800001 meters 0.06474926414618538 Centerline is valid? [True, True] Translation: X:116.31, Y:-48.82, Z:-16.41 [[ 7.55389874e-01 6.51264903e-01 7.23889843e-02 1.16307853e+02] [-6.48176616e-01 7.58849885e-01 -6.33555607e-02 -4.88158048e+01] [-9.61936255e-02 9.37302062e-04 9.95362199e-01 -1.64128139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88824100800001 meters 0.06447421282157459 Centerline is valid? [True, True] Translation: X:116.33, Y:-48.84, Z:-16.42 [[ 7.54307949e-01 6.52494799e-01 7.25951446e-02 1.16334512e+02] [-6.49393006e-01 7.57792786e-01 -6.35516981e-02 -4.88350714e+01] [-9.64792293e-02 7.94771947e-04 9.95334681e-01 -1.64153330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91824100800001 meters 0.06417017643262407 Centerline is valid? [True, True] Translation: X:116.36, Y:-48.85, Z:-16.42 [[ 7.53193495e-01 6.53777806e-01 7.26232671e-02 1.16361735e+02] [-6.50676537e-01 7.56686297e-01 -6.36073315e-02 -4.88540835e+01] [-9.65380927e-02 6.54372342e-04 9.95329075e-01 -1.64179400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94824100800001 meters 0.06424754435553348 Centerline is valid? [True, True] Translation: X:116.39, Y:-48.87, Z:-16.42 [[ 7.53242501e-01 6.53638845e-01 7.33620840e-02 1.16385461e+02] [-6.50469893e-01 7.56806291e-01 -6.42896308e-02 -4.88743139e+01] [-9.75430867e-02 7.05855377e-04 9.95231053e-01 -1.64227155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97824100800001 meters 0.063930857954444 Centerline is valid? [True, True] Translation: X:116.41, Y:-48.90, Z:-16.42 [[ 7.52754819e-01 6.54229799e-01 7.30996126e-02 1.16410481e+02] [-6.51083336e-01 7.56295542e-01 -6.40901044e-02 -4.88952977e+01] [-9.72145673e-02 6.50195224e-04 9.95263234e-01 -1.64237037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00824100800001 meters 0.06375957436022328 Centerline is valid? [True, True] Translation: X:116.44, Y:-48.92, Z:-16.43 [[ 7.52977491e-01 6.53909212e-01 7.36725180e-02 1.16436152e+02] [-6.50708350e-01 7.56572681e-01 -6.46252400e-02 -4.89185584e+01] [-9.79976542e-02 7.22028436e-04 9.95186384e-01 -1.64262597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03824100800001 meters 0.06379389155681439 Centerline is valid? [True, True] Translation: X:116.46, Y:-48.94, Z:-16.43 [[ 7.54173339e-01 6.52283469e-01 7.58211719e-02 1.16459415e+02] [-6.48879515e-01 7.57974458e-01 -6.65589659e-02 -4.89415791e+01] [-1.00885825e-01 9.98192327e-04 9.94897509e-01 -1.64297440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.06824100800002 meters 0.06379406672675893 Centerline is valid? [True, True] Translation: X:116.48, Y:-48.96, Z:-16.43 [[ 7.54369332e-01 6.52054500e-01 7.58408822e-02 1.16484743e+02] [-6.48643847e-01 7.58171360e-01 -6.66134323e-02 -4.89641146e+01] [-1.00935973e-01 1.05740885e-03 9.94892362e-01 -1.64336885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.09824100800002 meters 0.06390994359211895 Centerline is valid? [True, True] Translation: X:116.51, Y:-48.99, Z:-16.44 [[ 7.54429953e-01 6.51944322e-01 7.61842899e-02 1.16508792e+02] [-6.48497292e-01 7.58266023e-01 -6.69619344e-02 -4.89866449e+01] [-1.01423411e-01 1.11278338e-03 9.94842728e-01 -1.64391136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.12824100800002 meters 0.0637278550625297 Centerline is valid? [True, True] Translation: X:116.53, Y:-49.01, Z:-16.44 [[ 7.54225623e-01 6.52215796e-01 7.58832344e-02 1.16534702e+02] [-6.48793791e-01 7.58032551e-01 -6.67328133e-02 -4.90072597e+01] [-1.01046157e-01 1.09902637e-03 9.94881132e-01 -1.64431944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.15824100800002 meters 0.06380413205312846 Centerline is valid? [True, True] Translation: X:116.56, Y:-49.03, Z:-16.45 [[ 7.53978208e-01 6.52509562e-01 7.58164435e-02 1.16559092e+02] [-6.49090831e-01 7.57779706e-01 -6.67159015e-02 -4.90276579e+01] [-1.00984926e-01 1.09057760e-03 9.94887358e-01 -1.64477098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18824100800002 meters 0.06379567808274758 Centerline is valid? [True, True] Translation: X:116.59, Y:-49.05, Z:-16.45 [[ 7.53415464e-01 6.53299527e-01 7.45980360e-02 1.16586718e+02] [-6.49991208e-01 7.57098903e-01 -6.56709955e-02 -4.90502439e+01] [-9.93809215e-02 9.89476036e-04 9.95048970e-01 -1.64531867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.218241008 meters 0.0640671828883238 Centerline is valid? [True, True] Translation: X:116.61, Y:-49.07, Z:-16.46 [[ 7.51213863e-01 6.55844966e-01 7.44655144e-02 1.16612224e+02] [-6.52554811e-01 7.54895286e-01 -6.56149770e-02 -4.90681686e+01] [-9.92469182e-02 6.98050562e-04 9.95062592e-01 -1.64616516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24824100800001 meters 0.06359492549900388 Centerline is valid? [True, True] Translation: X:116.64, Y:-49.09, Z:-16.46 [[ 7.49483533e-01 6.57812660e-01 7.45448775e-02 1.16638942e+02] [-6.54523541e-01 7.53181453e-01 -6.57010878e-02 -4.90875645e+01] [-9.93648265e-02 4.50506225e-04 9.95050968e-01 -1.64627543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27824100800001 meters 0.06372906609450342 Centerline is valid? [True, True] Translation: X:116.66, Y:-49.11, Z:-16.47 [[ 7.48015313e-01 6.59431108e-01 7.49913745e-02 1.16662895e+02] [-6.56106975e-01 7.51764953e-01 -6.61293618e-02 -4.91066250e+01] [-9.99836455e-02 2.63411349e-04 9.94989046e-01 -1.64697090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30824100800001 meters 0.06363803226794827 Centerline is valid? [True, True] Translation: X:116.69, Y:-49.13, Z:-16.47 [[ 7.46438034e-01 6.61181472e-01 7.52948968e-02 1.16690218e+02] [-6.57836268e-01 7.50226005e-01 -6.64257989e-02 -4.91277992e+01] [-1.00407697e-01 5.10288487e-05 9.94946376e-01 -1.64729860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33824100800001 meters 0.06358787042340368 Centerline is valid? [True, True] Translation: X:116.72, Y:-49.15, Z:-16.48 [[ 7.44073554e-01 6.63834965e-01 7.53504179e-02 1.16717832e+02] [-6.60493871e-01 7.47879044e-01 -6.65190294e-02 -4.91453938e+01] [-1.00510656e-01 -2.73438606e-04 9.94935944e-01 -1.64760840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36824100800001 meters 0.06382511375606695 Centerline is valid? [True, True] Translation: X:116.74, Y:-49.17, Z:-16.48 [[ 7.43075549e-01 6.65004388e-01 7.48858625e-02 1.16743704e+02] [-6.61706833e-01 7.46839342e-01 -6.61442718e-02 -4.91651352e+01] [-9.99139392e-02 -4.02295775e-04 9.94996001e-01 -1.64818341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39824100800001 meters 0.06417328902605067 Centerline is valid? [True, True] Translation: X:116.77, Y:-49.19, Z:-16.49 [[ 7.41392401e-01 6.66975277e-01 7.40357205e-02 1.16768877e+02] [-6.63758821e-01 7.45079578e-01 -6.54266747e-02 -4.91853244e+01] [-9.88004778e-02 -6.35023145e-04 9.95107061e-01 -1.64863316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42824100800001 meters 0.06417328225721775 Centerline is valid? [True, True] Translation: X:116.79, Y:-49.21, Z:-16.49 [[ 7.40304314e-01 6.68161146e-01 7.42307571e-02 1.16793744e+02] [-6.64930168e-01 7.44016190e-01 -6.56336890e-02 -4.92064659e+01] [-9.90827659e-02 -7.69366692e-04 9.95078898e-01 -1.64890263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45824100800002 meters 0.06439920328894772 Centerline is valid? [True, True] Translation: X:116.82, Y:-49.23, Z:-16.49 [[ 7.38300104e-01 6.70349797e-01 7.44587520e-02 1.16819550e+02] [-6.67106497e-01 7.42044519e-01 -6.58699736e-02 -4.92262528e+01] [-9.94076322e-02 -1.04010885e-03 9.95046251e-01 -1.64923733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48824100800002 meters 0.06481575595189337 Centerline is valid? [True, True] Translation: X:116.84, Y:-49.25, Z:-16.50 [[ 7.37130638e-01 6.71641676e-01 7.44035059e-02 1.16844956e+02] [-6.68405988e-01 7.40875195e-01 -6.58587911e-02 -4.92456929e+01] [-9.93572207e-02 -1.18521612e-03 9.95051123e-01 -1.64981225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51824100800002 meters 0.06481575595189337 Centerline is valid? [True, True] Translation: X:116.87, Y:-49.27, Z:-16.50 [[ 7.36956465e-01 6.71834622e-01 7.43868889e-02 1.16868871e+02] [-6.68598021e-01 7.40700232e-01 -6.58775534e-02 -4.92671026e+01] [-9.93572070e-02 -1.18603787e-03 9.95051124e-01 -1.65021603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54824100800002 meters 0.06487455040054185 Centerline is valid? [True, True] Translation: X:116.89, Y:-49.29, Z:-16.51 [[ 7.36537700e-01 6.72292403e-01 7.43985353e-02 1.16893733e+02] [-6.69053656e-01 7.40284696e-01 -6.59224868e-02 -4.92874097e+01] [-9.93952842e-02 -1.22221522e-03 9.95047277e-01 -1.65076200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57824100800002 meters 0.0652120856591395 Centerline is valid? [True, True] Translation: X:116.92, Y:-49.31, Z:-16.51 [[ 7.35797937e-01 6.73122297e-01 7.42143437e-02 1.16917780e+02] [-6.69900268e-01 7.39530034e-01 -6.57948243e-02 -4.93074177e+01] [-9.91716994e-02 -1.30451274e-03 9.95069481e-01 -1.65127842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60824100800001 meters 0.0649261916717159 Centerline is valid? [True, True] Translation: X:116.94, Y:-49.33, Z:-16.52 [[ 7.35915745e-01 6.72975143e-01 7.43806013e-02 1.16941103e+02] [-6.69734995e-01 7.39664014e-01 -6.59710784e-02 -4.93305127e+01] [-9.94135501e-02 -1.26613629e-03 9.95045397e-01 -1.65169659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63824100800001 meters 0.06484475728584908 Centerline is valid? [True, True] Translation: X:116.96, Y:-49.35, Z:-16.52 [[ 7.36443935e-01 6.72421684e-01 7.41579991e-02 1.16963434e+02] [-6.69194664e-01 7.40167366e-01 -6.58086076e-02 -4.93548017e+01] [-9.91404656e-02 -1.16178731e-03 9.95072770e-01 -1.65199624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66824100800001 meters 0.06479798362382108 Centerline is valid? [True, True] Translation: X:116.99, Y:-49.38, Z:-16.52 [[ 7.36722121e-01 6.72184462e-01 7.35429508e-02 1.16986207e+02] [-6.69006180e-01 7.40382909e-01 -6.52983781e-02 -4.93782806e+01] [-9.83424990e-02 -1.09392902e-03 9.95152027e-01 -1.65232144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69824100800001 meters 0.06491393779073656 Centerline is valid? [True, True] Translation: X:117.01, Y:-49.40, Z:-16.53 [[ 7.37487392e-01 6.71313019e-01 7.38320903e-02 1.17007602e+02] [-6.68101308e-01 7.41173343e-01 -6.55951040e-02 -4.94006204e+01] [-9.87572245e-02 -9.51753919e-04 9.95111102e-01 -1.65279817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72824100800001 meters 0.06495605523725068 Centerline is valid? [True, True] Translation: X:117.03, Y:-49.42, Z:-16.53 [[ 7.38643156e-01 6.69911658e-01 7.49977221e-02 1.17027580e+02] [-6.66588391e-01 7.42440428e-01 -6.66492854e-02 -4.94249545e+01] [-1.00330474e-01 -7.62572426e-04 9.94953876e-01 -1.65326559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.75824100800001 meters 0.06437792206375041 Centerline is valid? [True, True] Translation: X:117.05, Y:-49.45, Z:-16.53 [[ 7.39250186e-01 6.69240263e-01 7.50108864e-02 1.17050281e+02] [-6.65909414e-01 7.43045792e-01 -6.66903544e-02 -4.94490840e+01] [-1.00368394e-01 -6.49598482e-04 9.94950131e-01 -1.65330229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.78824100800001 meters 0.06462317314783769 Centerline is valid? [True, True] Translation: X:117.07, Y:-49.47, Z:-16.54 [[ 7.40431876e-01 6.67963550e-01 7.47350856e-02 1.17073221e+02] [-6.64647160e-01 7.44193856e-01 -6.64805093e-02 -4.94715312e+01] [-1.00023949e-01 -4.48174215e-04 9.94984929e-01 -1.65391944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.81824100800002 meters 0.06456573003590589 Centerline is valid? [True, True] Translation: X:117.10, Y:-49.50, Z:-16.54 [[ 7.41572266e-01 6.66687738e-01 7.48200173e-02 1.17095963e+02] [-6.63353376e-01 7.45337105e-01 -6.65950331e-02 -4.94952332e+01] [-1.00164227e-01 -2.47081479e-04 9.94970887e-01 -1.65442219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.84824100800002 meters 0.06475003122505943 Centerline is valid? [True, True] Translation: X:117.12, Y:-49.52, Z:-16.55 [[ 7.42244593e-01 6.65940265e-01 7.48099396e-02 1.17117797e+02] [-6.62599395e-01 7.46005060e-01 -6.66220117e-02 -4.95183973e+01] [-1.00174874e-01 -1.19192742e-04 9.94969839e-01 -1.65498750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87824100800002 meters 0.0645255405280284 Centerline is valid? [True, True] Translation: X:117.14, Y:-49.54, Z:-16.55 [[ 7.44017028e-01 6.63938011e-01 7.49998662e-02 1.17138644e+02] [-6.60566668e-01 7.47787595e-01 -6.68235767e-02 -4.95440896e+01] [-1.00450682e-01 1.75467268e-04 9.94942023e-01 -1.65519566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90824100800002 meters 0.06460918120622439 Centerline is valid? [True, True] Translation: X:117.16, Y:-49.57, Z:-16.56 [[ 7.44282914e-01 6.63647772e-01 7.49304921e-02 1.17162815e+02] [-6.60277743e-01 7.48045170e-01 -6.67961474e-02 -4.95671976e+01] [-1.00380507e-01 2.40294939e-04 9.94949092e-01 -1.65559900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93824100800002 meters 0.0646173740453398 Centerline is valid? [True, True] Translation: X:117.19, Y:-49.59, Z:-16.56 [[ 7.44657477e-01 6.63222816e-01 7.49715881e-02 1.17185900e+02] [-6.59842778e-01 7.48421932e-01 -6.68739053e-02 -4.95900896e+01] [-1.00462681e-01 3.28692592e-04 9.94940773e-01 -1.65598070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.968241008 meters 0.06488425977658882 Centerline is valid? [True, True] Translation: X:117.21, Y:-49.61, Z:-16.57 [[ 7.44741997e-01 6.63141375e-01 7.48523588e-02 1.17208438e+02] [-6.59768194e-01 7.48494077e-01 -6.68022912e-02 -4.96126610e+01] [-1.00325910e-01 3.65266114e-04 9.94954561e-01 -1.65664059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99824100800001 meters 0.06464061191976639 Centerline is valid? [True, True] Translation: X:117.23, Y:-49.64, Z:-16.57 [[ 7.44721830e-01 6.63262349e-01 7.39760276e-02 1.17231765e+02] [-6.59964777e-01 7.48386877e-01 -6.60573643e-02 -4.96353328e+01] [-9.91760508e-02 3.72788640e-04 9.95069833e-01 -1.65678989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02824100800001 meters 0.06499852329957373 Centerline is valid? [True, True] Translation: X:117.26, Y:-49.66, Z:-16.57 [[ 7.44672758e-01 6.63358058e-01 7.36109349e-02 1.17255594e+02] [-6.60090153e-01 7.48302038e-01 -6.57651183e-02 -4.96558589e+01] [-9.87090338e-02 3.83638764e-04 9.95116264e-01 -1.65747897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05824100800001 meters 0.06503209920820717 Centerline is valid? [True, True] Translation: X:117.28, Y:-49.68, Z:-16.58 [[ 7.44110103e-01 6.63966802e-01 7.38121920e-02 1.17280378e+02] [-6.60680637e-01 7.47761979e-01 -6.59781673e-02 -4.96758858e+01] [-9.90012635e-02 3.28734911e-04 9.95087253e-01 -1.65801502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08824100800001 meters 0.0652813822803607 Centerline is valid? [True, True] Translation: X:117.30, Y:-49.70, Z:-16.58 [[ 7.43798469e-01 6.64414904e-01 7.29155148e-02 1.17303855e+02] [-6.61207625e-01 7.47363869e-01 -6.52052514e-02 -4.96972714e+01] [-9.78177622e-02 2.87271842e-04 9.95204302e-01 -1.65846734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11824100800001 meters 0.06512874817779633 Centerline is valid? [True, True] Translation: X:117.33, Y:-49.72, Z:-16.59 [[ 7.43197799e-01 6.65123465e-01 7.25796710e-02 1.17329608e+02] [-6.61946569e-01 7.46733374e-01 -6.49307971e-02 -4.97204017e+01] [-9.73846594e-02 2.12561316e-04 9.95246795e-01 -1.65863559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14824100800001 meters 0.06531624269129373 Centerline is valid? [True, True] Translation: X:117.35, Y:-49.74, Z:-16.59 [[ 7.42800111e-01 6.65591560e-01 7.23593152e-02 1.17352820e+02] [-6.62431709e-01 7.46316180e-01 -6.47795534e-02 -4.97410751e+01] [-9.71196517e-02 1.85154585e-04 9.95272696e-01 -1.65923270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17824100800001 meters 0.06531971285782141 Centerline is valid? [True, True] Translation: X:117.38, Y:-49.76, Z:-16.60 [[ 7.42070356e-01 6.66296936e-01 7.33483456e-02 1.17377119e+02] [-6.63050027e-01 7.45686516e-01 -6.56984230e-02 -4.97612434e+01] [-9.84695301e-02 1.19229668e-04 9.95140059e-01 -1.65960993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20824100800002 meters 0.06494048007544047 Centerline is valid? [True, True] Translation: X:117.40, Y:-49.78, Z:-16.60 [[ 7.41420390e-01 6.66962296e-01 7.38721940e-02 1.17402131e+02] [-6.63668950e-01 7.45091466e-01 -6.61984278e-02 -4.97824685e+01] [-9.91933967e-02 5.41827715e-05 9.95068172e-01 -1.65959611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23824100800002 meters 0.06481916760331663 Centerline is valid? [True, True] Translation: X:117.43, Y:-49.81, Z:-16.60 [[ 7.41188120e-01 6.67124470e-01 7.47336089e-02 1.17427540e+02] [-6.63751329e-01 7.44946265e-01 -6.70017544e-02 -4.98051534e+01] [-1.00371033e-01 5.63722022e-05 9.94950075e-01 -1.65985048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26824100800002 meters 0.0646002720309647 Centerline is valid? [True, True] Translation: X:117.45, Y:-49.83, Z:-16.60 [[ 7.40362537e-01 6.67961416e-01 7.54377947e-02 1.17451924e+02] [-6.64523696e-01 7.44195906e-01 -6.76809485e-02 -4.98260436e+01] [-1.01348760e-01 -2.17634101e-05 9.94850958e-01 -1.66005691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29824100800002 meters 0.06442103699650016 Centerline is valid? [True, True] Translation: X:117.48, Y:-49.85, Z:-16.60 [[ 7.39455902e-01 6.68829223e-01 7.66318445e-02 1.17476295e+02] [-6.65282360e-01 7.43416073e-01 -6.87889827e-02 -4.98450767e+01] [-1.02977427e-01 -1.15395159e-04 9.94683687e-01 -1.66047563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32824100800002 meters 0.0642869929981958 Centerline is valid? [True, True] Translation: X:117.50, Y:-49.87, Z:-16.61 [[ 7.39092591e-01 6.69083938e-01 7.79026706e-02 1.17500445e+02] [-6.65415972e-01 7.43186832e-01 -6.99636826e-02 -4.98655975e+01] [-1.04707815e-01 -1.28041805e-04 9.94503020e-01 -1.66073569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35824100800001 meters 0.06432739607612514 Centerline is valid? [True, True] Translation: X:117.53, Y:-49.89, Z:-16.61 [[ 7.38097944e-01 6.70212749e-01 7.76292173e-02 1.17525602e+02] [-6.66573538e-01 7.42168984e-01 -6.97489619e-02 -4.98859834e+01] [-1.04360641e-01 -2.64016599e-04 9.94539485e-01 -1.66114561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38824100800001 meters 0.06439670894398707 Centerline is valid? [True, True] Translation: X:117.55, Y:-49.91, Z:-16.62 [[ 7.37304443e-01 6.71069168e-01 7.77710163e-02 1.17550334e+02] [-6.67417434e-01 7.41394661e-01 -6.99137005e-02 -4.99060336e+01] [-1.04575945e-01 -3.58050117e-04 9.94516839e-01 -1.66154542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41824100800001 meters 0.06446356072386071 Centerline is valid? [True, True] Translation: X:117.58, Y:-49.93, Z:-16.62 [[ 7.36671256e-01 6.71776713e-01 7.76627909e-02 1.17575652e+02] [-6.68135511e-01 7.40753577e-01 -6.98503961e-02 -4.99271624e+01] [-1.04452860e-01 -4.32489440e-04 9.94529745e-01 -1.66193965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44824100800001 meters 0.0645266326342258 Centerline is valid? [True, True] Translation: X:117.60, Y:-49.95, Z:-16.62 [[ 7.36071610e-01 6.72473999e-01 7.73130432e-02 1.17600685e+02] [-6.68865620e-01 7.40120578e-01 -6.95723587e-02 -4.99486151e+01] [-1.04006576e-01 -5.01798449e-04 9.94576483e-01 -1.66239549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47824100800001 meters 0.06454910213632407 Centerline is valid? [True, True] Translation: X:117.62, Y:-49.97, Z:-16.63 [[ 7.35391259e-01 6.73323653e-01 7.63868769e-02 1.17624262e+02] [-6.69802179e-01 7.39347628e-01 -6.87759166e-02 -4.99683515e+01] [-1.02784908e-01 -5.86888677e-04 9.94703432e-01 -1.66290898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50824100800001 meters 0.06478164591109077 Centerline is valid? [True, True] Translation: X:117.65, Y:-49.99, Z:-16.64 [[ 7.35736910e-01 6.73018653e-01 7.57435934e-02 1.17647601e+02] [-6.69551808e-01 7.39625327e-01 -6.82257454e-02 -4.99888951e+01] [-1.01939079e-01 -5.18060792e-04 9.94790508e-01 -1.66353381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53824100800001 meters 0.06479428686213053 Centerline is valid? [True, True] Translation: X:117.67, Y:-50.01, Z:-16.64 [[ 7.35980596e-01 6.72850331e-01 7.48665149e-02 1.17671458e+02] [-6.69459454e-01 7.39778491e-01 -6.74672023e-02 -5.00100027e+01] [-1.00779967e-01 -4.65544432e-04 9.94908630e-01 -1.66409663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56824100800002 meters 0.06502186457668287 Centerline is valid? [True, True] Translation: X:117.69, Y:-50.03, Z:-16.65 [[ 7.37800196e-01 6.71072418e-01 7.28881391e-02 1.17693401e+02] [-6.67847020e-01 7.41391781e-01 -6.57159447e-02 -5.00336071e+01] [-9.81388251e-02 -1.92889636e-04 9.95172716e-01 -1.66491095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59824100800002 meters 0.06510151853834796 Centerline is valid? [True, True] Translation: X:117.72, Y:-50.06, Z:-16.65 [[ 7.38509719e-01 6.70359509e-01 7.22601155e-02 1.17716442e+02] [-6.67183121e-01 7.42036471e-01 -6.51809793e-02 -5.00567140e+01] [-9.73143303e-02 -7.39426715e-05 9.95253694e-01 -1.66537869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62824100800002 meters 0.06513171542619252 Centerline is valid? [True, True] Translation: X:117.74, Y:-50.08, Z:-16.66 [[ 7.39507494e-01 6.69324977e-01 7.16431543e-02 1.17738132e+02] [-6.66194669e-01 7.42969762e-01 -6.46575209e-02 -5.00789618e+01] [-9.65055910e-02 8.64337007e-05 9.95332439e-01 -1.66583024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65824100800002 meters 0.06502052838423494 Centerline is valid? [True, True] Translation: X:117.76, Y:-50.11, Z:-16.66 [[ 7.40673863e-01 6.68019404e-01 7.17795555e-02 1.17762065e+02] [-6.64868522e-01 7.44143803e-01 -6.48062413e-02 -5.01051588e+01] [-9.67061382e-02 2.76322083e-04 9.95312939e-01 -1.66604144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68824100800002 meters 0.06484535143699122 Centerline is valid? [True, True] Translation: X:117.78, Y:-50.13, Z:-16.66 [[ 7.42925981e-01 6.65549897e-01 7.14445288e-02 1.17782463e+02] [-6.62412139e-01 7.46353089e-01 -6.45540440e-02 -5.01319059e+01] [-9.62867821e-02 6.33153316e-04 9.95353432e-01 -1.66615756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.718241008 meters 0.06489721809583379 Centerline is valid? [True, True] Translation: X:117.81, Y:-50.16, Z:-16.67 [[ 7.43627138e-01 6.64725737e-01 7.18218255e-02 1.17806411e+02] [-6.61547595e-01 7.47087079e-01 -6.49282367e-02 -5.01554500e+01] [-9.68166278e-02 7.68842880e-04 9.95301939e-01 -1.66662128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74824100800001 meters 0.06497085804135211 Centerline is valid? [True, True] Translation: X:117.83, Y:-50.18, Z:-16.67 [[ 7.44232012e-01 6.63931611e-01 7.28939539e-02 1.17829189e+02] [-6.60649374e-01 7.47792733e-01 -6.59426562e-02 -5.01767943e+01] [-9.82909829e-02 9.19290670e-04 9.95157293e-01 -1.66704458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77824100800001 meters 0.06495773364700207 Centerline is valid? [True, True] Translation: X:117.85, Y:-50.20, Z:-16.67 [[ 7.44003785e-01 6.64007976e-01 7.45102338e-02 1.17852794e+02] [-6.60575102e-01 7.47724879e-01 -6.74391595e-02 -5.01978038e+01] [-1.00493295e-01 9.55384719e-04 9.94937277e-01 -1.66719824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80824100800001 meters 0.06481491447036146 Centerline is valid? [True, True] Translation: X:117.88, Y:-50.22, Z:-16.68 [[ 7.43267850e-01 6.64832500e-01 7.45026827e-02 1.17877294e+02] [-6.61401536e-01 7.46991966e-01 -6.74611815e-02 -5.02191203e+01] [-1.00503291e-01 8.65538541e-04 9.94936349e-01 -1.66761837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83824100800001 meters 0.06456139540727347 Centerline is valid? [True, True] Translation: X:117.90, Y:-50.24, Z:-16.68 [[ 7.42395873e-01 6.65700257e-01 7.54422625e-02 1.17901758e+02] [-6.62182445e-01 7.46218834e-01 -6.83510141e-02 -5.02399349e+01] [-1.01797725e-01 7.86968973e-04 9.94804807e-01 -1.66787258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86824100800001 meters 0.06421791459733217 Centerline is valid? [True, True] Translation: X:117.93, Y:-50.26, Z:-16.68 [[ 7.41446090e-01 6.66602360e-01 7.68048724e-02 1.17927311e+02] [-6.62957566e-01 7.45413177e-01 -6.96165238e-02 -5.02603271e+01] [-1.03657903e-01 6.98528142e-04 9.94612764e-01 -1.66802935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89824100800001 meters 0.0640167284420189 Centerline is valid? [True, True] Translation: X:117.95, Y:-50.28, Z:-16.68 [[ 7.40070627e-01 6.68124039e-01 7.68487847e-02 1.17952039e+02] [-6.64479448e-01 7.44049733e-01 -6.96926021e-02 -5.02797825e+01] [-1.03742621e-01 5.13009719e-04 9.94604045e-01 -1.66841961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92824100800001 meters 0.0639974328803553 Centerline is valid? [True, True] Translation: X:117.98, Y:-50.30, Z:-16.69 [[ 7.37193783e-01 6.71237372e-01 7.73674144e-02 1.17979843e+02] [-6.67558136e-01 7.41242458e-01 -7.01837106e-02 -5.02970451e+01] [-1.04457942e-01 9.17482405e-05 9.94529301e-01 -1.66882497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95824100800002 meters 0.06408073004764565 Centerline is valid? [True, True] Translation: X:118.01, Y:-50.32, Z:-16.69 [[ 7.35729090e-01 6.72906198e-01 7.68111667e-02 1.18005469e+02] [-6.69285400e-01 7.39727811e-01 -6.97123993e-02 -5.03166614e+01] [-1.03729262e-01 -1.19152324e-04 9.94605563e-01 -1.66934623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.98824100800002 meters 0.06431682751719357 Centerline is valid? [True, True] Translation: X:118.03, Y:-50.34, Z:-16.70 [[ 7.34543249e-01 6.74251333e-01 7.63633030e-02 1.18030612e+02] [-6.70676296e-01 7.38501903e-01 -6.93415153e-02 -5.03357976e+01] [-1.03148054e-01 -2.80715219e-04 9.94665974e-01 -1.66985587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01824100800002 meters 0.06438051560435402 Centerline is valid? [True, True] Translation: X:118.06, Y:-50.36, Z:-16.70 [[ 7.32793587e-01 6.76255693e-01 7.54440044e-02 1.18056483e+02] [-6.72774011e-01 7.36666786e-01 -6.85359590e-02 -5.03550287e+01] [-1.01924925e-01 -5.34054272e-04 9.94791950e-01 -1.67030258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04824100800002 meters 0.06486565207322112 Centerline is valid? [True, True] Translation: X:118.08, Y:-50.37, Z:-16.71 [[ 7.31183773e-01 6.78108759e-01 7.44231165e-02 1.18083099e+02] [-6.74726767e-01 7.34961184e-01 -6.76450159e-02 -5.03720183e+01] [-1.00568780e-01 -7.54330819e-04 9.94929822e-01 -1.67115791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07824100800002 meters 0.06485628742728619 Centerline is valid? [True, True] Translation: X:118.11, Y:-50.39, Z:-16.71 [[ 7.30981080e-01 6.78382978e-01 7.39134373e-02 1.18106595e+02] [-6.75046976e-01 7.34708062e-01 -6.71985447e-02 -5.03947519e+01] [-9.98911472e-02 -7.74177569e-04 9.94998070e-01 -1.67148483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.10824100800001 meters 0.06501905133248287 Centerline is valid? [True, True] Translation: X:118.13, Y:-50.42, Z:-16.72 [[ 7.31581161e-01 6.77845466e-01 7.29008183e-02 1.18128281e+02] [-6.74594492e-01 7.35204108e-01 -6.63113209e-02 -5.04175122e+01] [-9.85458093e-02 -6.66377431e-04 9.95132292e-01 -1.67203017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.13824100800001 meters 0.06486354568975634 Centerline is valid? [True, True] Translation: X:118.15, Y:-50.44, Z:-16.72 [[ 7.32479762e-01 6.76955536e-01 7.21429164e-02 1.18151276e+02] [-6.73764913e-01 7.36023731e-01 -6.56499044e-02 -5.04417282e+01] [-9.75409647e-02 -5.20139442e-04 9.95231375e-01 -1.67235248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.16824100800001 meters 0.06483942329538922 Centerline is valid? [True, True] Translation: X:118.17, Y:-50.46, Z:-16.73 [[ 7.35288413e-01 6.73884084e-01 7.23269679e-02 1.18172245e+02] [-6.70658265e-01 7.38837082e-01 -6.58578553e-02 -5.04637691e+01] [-9.78184064e-02 -8.21608791e-05 9.95204277e-01 -1.67308878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19824100800001 meters 0.0648667356190915 Centerline is valid? [True, True] Translation: X:118.20, Y:-50.49, Z:-16.74 [[ 7.36752189e-01 6.72262619e-01 7.25202249e-02 1.18195220e+02] [-6.69009109e-01 7.40312736e-01 -6.60595511e-02 -5.04875975e+01] [-9.80970130e-02 1.52827806e-04 9.95176845e-01 -1.67352410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22824100800001 meters 0.064666278755973 Centerline is valid? [True, True] Translation: X:118.22, Y:-50.51, Z:-16.74 [[ 7.38179056e-01 6.70658765e-01 7.28594635e-02 1.18217163e+02] [-6.67363668e-01 7.41765911e-01 -6.64008118e-02 -5.05116305e+01] [-9.85769528e-02 3.91929778e-04 9.95129354e-01 -1.67378447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25824100800001 meters 0.06489613648979603 Centerline is valid? [True, True] Translation: X:118.24, Y:-50.53, Z:-16.74 [[ 7.39497448e-01 6.69237827e-01 7.25551904e-02 1.18237945e+02] [-6.65960062e-01 7.43048024e-01 -6.61576149e-02 -5.05348457e+01] [-9.81871693e-02 6.04528274e-04 9.95167782e-01 -1.67414525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28824100800001 meters 0.06462460469094833 Centerline is valid? [True, True] Translation: X:118.26, Y:-50.56, Z:-16.74 [[ 7.41922340e-01 6.66451901e-01 7.34377679e-02 1.18261562e+02] [-6.63077686e-01 7.45547354e-01 -6.69860108e-02 -5.05599017e+01] [-9.93942877e-02 1.00347265e-03 9.95047621e-01 -1.67403110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31824100800002 meters 0.06436306061008557 Centerline is valid? [True, True] Translation: X:118.29, Y:-50.58, Z:-16.74 [[ 7.41856491e-01 6.66482859e-01 7.38210435e-02 1.18286093e+02] [-6.63069289e-01 7.45519636e-01 -6.73764837e-02 -5.05820515e+01] [-9.99403089e-02 1.03521495e-03 9.94992896e-01 -1.67433525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34824100800002 meters 0.06492157142342211 Centerline is valid? [True, True] Translation: X:118.31, Y:-50.61, Z:-16.75 [[ 7.42030890e-01 6.66249576e-01 7.41731822e-02 1.18308001e+02] [-6.62798552e-01 7.45728031e-01 -6.77331752e-02 -5.06051022e+01] [-1.00440220e-01 1.09823048e-03 9.94942489e-01 -1.67506477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37824100800002 meters 0.06433917555878516 Centerline is valid? [True, True] Translation: X:118.34, Y:-50.63, Z:-16.75 [[ 7.41671670e-01 6.66610848e-01 7.45192030e-02 1.18336445e+02] [-6.63125992e-01 7.45405134e-01 -6.80816054e-02 -5.06286899e+01] [-1.00930933e-01 1.07857750e-03 9.94892850e-01 -1.67508311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40824100800002 meters 0.0645992324135464 Centerline is valid? [True, True] Translation: X:118.36, Y:-50.65, Z:-16.76 [[ 7.40709266e-01 6.67697560e-01 7.43622948e-02 1.18361433e+02] [-6.64226540e-01 7.44432010e-01 -6.80006343e-02 -5.06478195e+01] [-1.00761530e-01 9.75290165e-04 9.94910128e-01 -1.67568726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43824100800002 meters 0.0645992324135464 Centerline is valid? [True, True] Translation: X:118.39, Y:-50.67, Z:-16.76 [[ 7.40545453e-01 6.67881023e-01 7.43462928e-02 1.18385004e+02] [-6.64409170e-01 7.44267418e-01 -6.80181242e-02 -5.06696132e+01] [-1.00761538e-01 9.74153938e-04 9.94910128e-01 -1.67609100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.468241008 meters 0.06431418536936304 Centerline is valid? [True, True] Translation: X:118.41, Y:-50.69, Z:-16.76 [[ 7.39958836e-01 6.68540150e-01 7.42629682e-02 1.18411110e+02] [-6.65075674e-01 7.43675492e-01 -6.79787437e-02 -5.06903422e+01] [-1.00674069e-01 9.10978487e-04 9.94919043e-01 -1.67642934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49824100800001 meters 0.06443459673999602 Centerline is valid? [True, True] Translation: X:118.44, Y:-50.71, Z:-16.77 [[ 7.39302662e-01 6.69325807e-01 7.37193228e-02 1.18435915e+02] [-6.65914275e-01 7.42968578e-01 -6.74971901e-02 -5.07112181e+01] [-9.99487517e-02 8.10102943e-04 9.94992257e-01 -1.67685600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52824100800001 meters 0.06446675028021116 Centerline is valid? [True, True] Translation: X:118.46, Y:-50.73, Z:-16.77 [[ 7.38332812e-01 6.70364243e-01 7.40029767e-02 1.18460756e+02] [-6.66928092e-01 7.42031869e-01 -6.77910458e-02 -5.07297595e+01] [-1.00357260e-01 6.97689466e-04 9.94951222e-01 -1.67731455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55824100800001 meters 0.06439420621716163 Centerline is valid? [True, True] Translation: X:118.49, Y:-50.75, Z:-16.78 [[ 7.37044730e-01 6.71737203e-01 7.43921805e-02 1.18487187e+02] [-6.68268389e-01 7.40789337e-01 -6.81800517e-02 -5.07490410e+01] [-1.00908011e-01 5.37805269e-04 9.94895615e-01 -1.67773065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58824100800001 meters 0.06438235038496821 Centerline is valid? [True, True] Translation: X:118.51, Y:-50.77, Z:-16.78 [[ 7.35765196e-01 6.73092231e-01 7.48092620e-02 1.18513321e+02] [-6.69587990e-01 7.39558454e-01 -6.85945842e-02 -5.07682075e+01] [-1.01496304e-01 3.78124257e-04 9.94835844e-01 -1.67815737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61824100800001 meters 0.06435869392007784 Centerline is valid? [True, True] Translation: X:118.54, Y:-50.79, Z:-16.79 [[ 7.34784476e-01 6.74234396e-01 7.41603270e-02 1.18538797e+02] [-6.70793430e-01 7.38517380e-01 -6.80312614e-02 -5.07873982e+01] [-1.00637707e-01 2.42054655e-04 9.94923109e-01 -1.67857541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64824100800001 meters 0.06436397062483398 Centerline is valid? [True, True] Translation: X:118.57, Y:-50.81, Z:-16.79 [[ 7.32937289e-01 6.76245955e-01 7.41238105e-02 1.18565826e+02] [-6.72815768e-01 7.36675918e-01 -6.80259828e-02 -5.08062828e+01] [-1.00607522e-01 -1.28890791e-05 9.94926191e-01 -1.67868719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67824100800001 meters 0.06471402339133821 Centerline is valid? [True, True] Translation: X:118.59, Y:-50.83, Z:-16.79 [[ 7.32494562e-01 6.76750149e-01 7.38982579e-02 1.18589371e+02] [-6.73340335e-01 7.36212763e-01 -6.78495483e-02 -5.08266059e+01] [-1.00322033e-01 -5.92525836e-05 9.94955017e-01 -1.67945729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70824100800002 meters 0.06441951677256007 Centerline is valid? [True, True] Translation: X:118.62, Y:-50.85, Z:-16.79 [[ 7.32111145e-01 6.77086292e-01 7.46151799e-02 1.18615398e+02] [-6.73608150e-01 7.35903626e-01 -6.85413268e-02 -5.08494200e+01] [-1.01317974e-01 -8.15240314e-05 9.94854091e-01 -1.67947984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73824100800002 meters 0.06444440461336573 Centerline is valid? [True, True] Translation: X:118.64, Y:-50.87, Z:-16.80 [[ 7.31074049e-01 6.78113952e-01 7.54466905e-02 1.18643043e+02] [-6.74558525e-01 7.34956754e-01 -6.93495941e-02 -5.08709478e+01] [-1.02476982e-01 -1.93519727e-04 9.94735357e-01 -1.67973068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76824100800002 meters 0.0644788963869002 Centerline is valid? [True, True] Translation: X:118.67, Y:-50.89, Z:-16.80 [[ 7.30437828e-01 6.78801595e-01 7.54252894e-02 1.18667853e+02] [-6.75246581e-01 7.34321681e-01 -6.93810045e-02 -5.08916384e+01] [-1.02482362e-01 -2.52158511e-04 9.94734790e-01 -1.68015383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79824100800002 meters 0.06440301374463335 Centerline is valid? [True, True] Translation: X:118.69, Y:-50.91, Z:-16.80 [[ 7.30156388e-01 6.79126491e-01 7.52253889e-02 1.18692469e+02] [-6.75589839e-01 7.34021206e-01 -6.92187759e-02 -5.09132484e+01] [-1.02225335e-01 -2.80976963e-04 9.94761229e-01 -1.68043155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82824100800002 meters 0.06432643794757867 Centerline is valid? [True, True] Translation: X:118.72, Y:-50.93, Z:-16.81 [[ 7.29650966e-01 6.79692742e-01 7.50149663e-02 1.18718625e+02] [-6.76175288e-01 7.33496875e-01 -6.90602233e-02 -5.09331913e+01] [-1.01962976e-01 -3.33407855e-04 9.94788138e-01 -1.68090845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85824100800001 meters 0.06440198799391231 Centerline is valid? [True, True] Translation: X:118.74, Y:-50.95, Z:-16.81 [[ 7.29424502e-01 6.80001952e-01 7.44126445e-02 1.18743764e+02] [-6.76538955e-01 7.33210219e-01 -6.85406228e-02 -5.09539984e+01] [-1.01167869e-01 -3.47843145e-04 9.94869309e-01 -1.68147274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88824100800001 meters 0.06475942929290535 Centerline is valid? [True, True] Translation: X:118.77, Y:-50.97, Z:-16.82 [[ 7.29103604e-01 6.80389674e-01 7.40123423e-02 1.18768415e+02] [-6.76962572e-01 7.32850429e-01 -6.82050231e-02 -5.09738930e+01] [-1.00645970e-01 -3.75057500e-04 9.94922232e-01 -1.68218197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91824100800001 meters 0.06449978771978601 Centerline is valid? [True, True] Translation: X:118.79, Y:-51.00, Z:-16.82 [[ 7.29352030e-01 6.80107683e-01 7.41562930e-02 1.18792056e+02] [-6.76661978e-01 7.33112163e-01 -6.83748727e-02 -5.09963730e+01] [-1.00867157e-01 -3.09391749e-04 9.94899855e-01 -1.68223998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94824100800001 meters 0.06423182991061185 Centerline is valid? [True, True] Translation: X:118.81, Y:-51.02, Z:-16.82 [[ 7.30785474e-01 6.78503411e-01 7.47376225e-02 1.18814021e+02] [-6.74991241e-01 7.34597248e-01 -6.89471406e-02 -5.10186997e+01] [-1.01682922e-01 -6.16717686e-05 9.94816857e-01 -1.68248651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97824100800001 meters 0.06408544666300434 Centerline is valid? [True, True] Translation: X:118.84, Y:-51.04, Z:-16.83 [[ 7.32241758e-01 6.76951077e-01 7.45603560e-02 1.18837177e+02] [-6.73444244e-01 7.36027994e-01 -6.88160056e-02 -5.10414184e+01] [-1.01463578e-01 1.77710325e-04 9.94839239e-01 -1.68267495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00824100800001 meters 0.06430486422861967 Centerline is valid? [True, True] Translation: X:118.86, Y:-51.06, Z:-16.83 [[ 7.33329581e-01 6.75790281e-01 7.43990756e-02 1.18858842e+02] [-6.72290663e-01 7.37093869e-01 -6.86869116e-02 -5.10638259e+01] [-1.01257050e-01 3.52340176e-04 9.94860234e-01 -1.68324413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03824100800001 meters 0.06460475960184832 Centerline is valid? [True, True] Translation: X:118.88, Y:-51.09, Z:-16.84 [[ 7.36681727e-01 6.72233001e-01 7.35039152e-02 1.18880661e+02] [-6.68796498e-01 7.40339153e-01 -6.78909620e-02 -5.10886927e+01] [-1.00056371e-01 8.54870068e-04 9.94981403e-01 -1.68365400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06824100800002 meters 0.06470222644250302 Centerline is valid? [True, True] Translation: X:118.90, Y:-51.11, Z:-16.84 [[ 7.37932176e-01 6.70849572e-01 7.35999686e-02 1.18904650e+02] [-6.67393269e-01 7.41592678e-01 -6.80185556e-02 -5.11108510e+01] [-1.00211417e-01 1.07295709e-03 9.94965588e-01 -1.68399450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09824100800002 meters 0.0652572244838475 Centerline is valid? [True, True] Translation: X:118.93, Y:-51.13, Z:-16.85 [[ 7.39347881e-01 6.69300158e-01 7.34983607e-02 1.18926189e+02] [-6.65842134e-01 7.42990973e-01 -6.79607652e-02 -5.11330556e+01] [-1.00094770e-01 1.30834241e-03 9.94977048e-01 -1.68469362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12824100800002 meters 0.06573412193335623 Centerline is valid? [True, True] Translation: X:118.95, Y:-51.16, Z:-16.85 [[ 7.41125755e-01 6.67340801e-01 7.34089198e-02 1.18950045e+02] [-6.63879846e-01 7.44750793e-01 -6.78955528e-02 -5.11569092e+01] [-9.99808238e-02 1.58444049e-03 9.94988103e-01 -1.68516743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15824100800002 meters 0.0659541285160754 Centerline is valid? [True, True] Translation: X:118.97, Y:-51.18, Z:-16.85 [[ 7.43932342e-01 6.64266491e-01 7.29019885e-02 1.18974866e+02] [-6.60834963e-01 7.47493133e-01 -6.74623399e-02 -5.11798042e+01] [-9.93067076e-02 2.01123361e-03 9.95054839e-01 -1.68544802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18824100800002 meters 0.06643386597334938 Centerline is valid? [True, True] Translation: X:119.00, Y:-51.20, Z:-16.86 [[ 7.44670493e-01 6.63500239e-01 7.23414771e-02 1.18997073e+02] [-6.60114011e-01 7.48173050e-01 -6.69819338e-02 -5.12019714e+01] [-9.85664727e-02 2.12584707e-03 9.95128198e-01 -1.68593077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21824100800002 meters 0.06587253114428163 Centerline is valid? [True, True] Translation: X:119.02, Y:-51.22, Z:-16.86 [[ 7.45732762e-01 6.62365780e-01 7.17929118e-02 1.19023090e+02] [-6.59022739e-01 7.49177131e-01 -6.65030518e-02 -5.12223555e+01] [-9.78349534e-02 2.28034305e-03 9.95200041e-01 -1.68605823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24824100800001 meters 0.06723640444812679 Centerline is valid? [True, True] Translation: X:119.04, Y:-51.25, Z:-16.87 [[ 7.46857203e-01 6.61127323e-01 7.15191031e-02 1.19043762e+02] [-6.57800773e-01 7.50269696e-01 -6.62836824e-02 -5.12463956e+01] [-9.74805692e-02 2.45912435e-03 9.95234390e-01 -1.68677700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27824100800001 meters 0.06785995248380083 Centerline is valid? [True, True] Translation: X:119.07, Y:-51.27, Z:-16.87 [[ 7.48068393e-01 6.59911844e-01 7.00716600e-02 1.19067308e+02] [-6.56710649e-01 7.51338581e-01 -6.49727598e-02 -5.12680352e+01] [-9.55238354e-02 2.58726271e-03 9.95423781e-01 -1.68722746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30824100800001 meters 0.0669999313344016 Centerline is valid? [True, True] Translation: X:119.10, Y:-51.29, Z:-16.87 [[ 7.48555863e-01 6.59352682e-01 7.01296050e-02 1.19095204e+02] [-6.56141078e-01 7.51829003e-01 -6.50541047e-02 -5.12869100e+01] [-9.56190694e-02 2.68171689e-03 9.95414387e-01 -1.68731319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33824100800001 meters 0.06723790173120874 Centerline is valid? [True, True] Translation: X:119.12, Y:-51.31, Z:-16.88 [[ 7.49088602e-01 6.58709673e-01 7.04828602e-02 1.19120370e+02] [-6.55459548e-01 7.52391994e-01 -6.54145899e-02 -5.13078513e+01] [-9.61199629e-02 2.80266001e-03 9.95365811e-01 -1.68778129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36824100800001 meters 0.06718637021438487 Centerline is valid? [True, True] Translation: X:119.15, Y:-51.33, Z:-16.88 [[ 7.49134594e-01 6.58644243e-01 7.06053949e-02 1.19145949e+02] [-6.55379473e-01 7.52449133e-01 -6.55595057e-02 -5.13284894e+01] [-9.63073592e-02 2.83956720e-03 9.95347592e-01 -1.68815297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39824100800001 meters 0.0673547787426948 Centerline is valid? [True, True] Translation: X:119.17, Y:-51.35, Z:-16.89 [[ 7.49050477e-01 6.58677255e-01 7.11874778e-02 1.19170349e+02] [-6.55355233e-01 7.52420067e-01 -6.61329043e-02 -5.13500220e+01] [-9.71231267e-02 2.88379738e-03 9.95268196e-01 -1.68857072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.42824100800001 meters 0.0672793234955589 Centerline is valid? [True, True] Translation: X:119.20, Y:-51.37, Z:-16.89 [[ 7.48446932e-01 6.59372131e-01 7.11026170e-02 1.19196323e+02] [-6.56057955e-01 7.51811457e-01 -6.60870049e-02 -5.13687329e+01] [-9.70316914e-02 2.81517855e-03 9.95277311e-01 -1.68889294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.45824100800002 meters 0.06648076403432895 Centerline is valid? [True, True] Translation: X:119.22, Y:-51.39, Z:-16.89 [[ 7.47969371e-01 6.59863769e-01 7.15655381e-02 1.19223760e+02] [-6.56505661e-01 7.51380075e-01 -6.65454748e-02 -5.13874099e+01] [-9.76838672e-02 2.79079613e-03 9.95213582e-01 -1.68901467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.48824100800002 meters 0.06562502450047988 Centerline is valid? [True, True] Translation: X:119.25, Y:-51.41, Z:-16.89 [[ 7.47017974e-01 6.60909327e-01 7.18540729e-02 1.19251888e+02] [-6.57525902e-01 7.50460952e-01 -6.68434660e-02 -5.14064802e+01] [-9.81011460e-02 2.68735655e-03 9.95172821e-01 -1.68917277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.51824100800002 meters 0.06528674439122926 Centerline is valid? [True, True] Translation: X:119.28, Y:-51.42, Z:-16.90 [[ 7.43325661e-01 6.64922391e-01 7.31107169e-02 1.19279075e+02] [-6.61434283e-01 7.46909129e-01 -6.80547040e-02 -5.14229123e+01] [-9.98581584e-02 2.22887323e-03 9.94999186e-01 -1.68955234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.54824100800002 meters 0.06545339378847756 Centerline is valid? [True, True] Translation: X:119.30, Y:-51.44, Z:-16.90 [[ 7.41138134e-01 6.67345311e-01 7.32427631e-02 1.19304350e+02] [-6.63853151e-01 7.44745938e-01 -6.82091041e-02 -5.14423451e+01] [-1.00066276e-01 1.92992910e-03 9.94978902e-01 -1.69025801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.57824100800002 meters 0.06438776913886535 Centerline is valid? [True, True] Translation: X:119.33, Y:-51.46, Z:-16.90 [[ 7.38476549e-01 6.70275504e-01 7.33698459e-02 1.19333828e+02] [-6.66782923e-01 7.42110725e-01 -6.83535340e-02 -5.14589234e+01] [-1.00264249e-01 1.55572164e-03 9.94959627e-01 -1.69032907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.60824100800001 meters 0.0644956177925694 Centerline is valid? [True, True] Translation: X:119.36, Y:-51.48, Z:-16.91 [[ 7.35568722e-01 6.73457793e-01 7.34387925e-02 1.19358901e+02] [-6.69970870e-01 7.39224782e-01 -6.84525779e-02 -5.14770945e+01] [-1.00387697e-01 1.14972357e-03 9.94947731e-01 -1.69106008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63824100800001 meters 0.06408006929840486 Centerline is valid? [True, True] Translation: X:119.39, Y:-51.49, Z:-16.91 [[ 7.32769182e-01 6.76467837e-01 7.37603644e-02 1.19386228e+02] [-6.72962342e-01 7.36471780e-01 -6.87822946e-02 -5.14943116e+01] [-1.00851437e-01 7.63598244e-04 9.94901203e-01 -1.69149791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66824100800001 meters 0.0635657545437524 Centerline is valid? [True, True] Translation: X:119.42, Y:-51.51, Z:-16.91 [[ 7.28219022e-01 6.81333050e-01 7.40427608e-02 1.19416691e+02] [-6.77822737e-01 7.31973539e-01 -6.90729712e-02 -5.15095764e+01] [-1.01259040e-01 1.12384783e-04 9.94860088e-01 -1.69146299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69824100800001 meters 0.06343345992930807 Centerline is valid? [True, True] Translation: X:119.44, Y:-51.53, Z:-16.92 [[ 7.26027232e-01 6.83765392e-01 7.31392245e-02 1.19442282e+02] [-6.80349892e-01 7.29701889e-01 -6.82581671e-02 -5.15292964e+01] [-1.00042403e-01 -2.02975346e-04 9.94983154e-01 -1.69172697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72824100800001 meters 0.06387617948961957 Centerline is valid? [True, True] Translation: X:119.47, Y:-51.55, Z:-16.93 [[ 7.24992287e-01 6.84993238e-01 7.19058300e-02 1.19466930e+02] [-6.81694636e-01 7.28549346e-01 -6.71436821e-02 -5.15478446e+01] [-9.83799136e-02 -3.39166908e-04 9.95148872e-01 -1.69252520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75824100800001 meters 0.06413958779368344 Centerline is valid? [True, True] Translation: X:119.49, Y:-51.57, Z:-16.93 [[ 7.23138830e-01 6.87083839e-01 7.06118340e-02 1.19492864e+02] [-6.83911620e-01 7.26577895e-01 -6.59504183e-02 -5.15667696e+01] [-9.66184643e-02 -6.00945451e-04 9.95321311e-01 -1.69309560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78824100800001 meters 0.06424138449848309 Centerline is valid? [True, True] Translation: X:119.52, Y:-51.59, Z:-16.94 [[ 7.22293035e-01 6.88033950e-01 7.00146830e-02 1.19516764e+02] [-6.84916687e-01 7.25678162e-01 -6.54242847e-02 -5.15883598e+01] [-9.58222555e-02 -6.98719548e-04 9.95398215e-01 -1.69353951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81824100800002 meters 0.06428233508919341 Centerline is valid? [True, True] Translation: X:119.54, Y:-51.61, Z:-16.94 [[ 7.21489201e-01 6.88894186e-01 6.98436362e-02 1.19539598e+02] [-6.85793010e-01 7.24861491e-01 -6.52975166e-02 -5.16103460e+01] [-9.56100418e-02 -7.86824515e-04 9.95418556e-01 -1.69398397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84824100800002 meters 0.06447427612646017 Centerline is valid? [True, True] Translation: X:119.56, Y:-51.63, Z:-16.94 [[ 7.20783759e-01 6.89646945e-01 6.96983775e-02 1.19562007e+02] [-6.86559198e-01 7.24145253e-01 -6.51929409e-02 -5.16320263e+01] [-9.54318618e-02 -8.62049221e-04 9.95435591e-01 -1.69442859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87824100800002 meters 0.06468178429493585 Centerline is valid? [True, True] Translation: X:119.58, Y:-51.65, Z:-16.95 [[ 7.19940431e-01 6.90577205e-01 6.92018785e-02 1.19584794e+02] [-6.87536003e-01 7.23258040e-01 -6.47460651e-02 -5.16540883e+01] [-9.47629717e-02 -9.65472881e-04 9.95499396e-01 -1.69492568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90824100800002 meters 0.06486378998902835 Centerline is valid? [True, True] Translation: X:119.61, Y:-51.68, Z:-16.95 [[ 7.19365101e-01 6.91199785e-01 6.89689013e-02 1.19607728e+02] [-6.88179180e-01 7.22663000e-01 -6.45569898e-02 -5.16762761e+01] [-9.44630506e-02 -1.02291640e-03 9.95527843e-01 -1.69541153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93824100800002 meters 0.0650183702993345 Centerline is valid? [True, True] Translation: X:119.63, Y:-51.70, Z:-16.96 [[ 7.19175280e-01 6.91446499e-01 6.84737558e-02 1.19630612e+02] [-6.88467627e-01 7.22426941e-01 -6.41220824e-02 -5.16993124e+01] [-9.38042753e-02 -1.02694761e-03 9.95590128e-01 -1.69592939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96824100800002 meters 0.0651082192243267 Centerline is valid? [True, True] Translation: X:119.65, Y:-51.73, Z:-16.96 [[ 7.19845909e-01 6.90704903e-01 6.89101188e-02 1.19652552e+02] [-6.87681742e-01 7.23136155e-01 -6.45594548e-02 -5.17250884e+01] [-9.44229303e-02 -9.15371128e-04 9.95531754e-01 -1.69644931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99824100800001 meters 0.06504614093125735 Centerline is valid? [True, True] Translation: X:119.67, Y:-51.75, Z:-16.97 [[ 7.20485159e-01 6.89993405e-01 6.93558626e-02 1.19672770e+02] [-6.86923495e-01 7.23815216e-01 -6.50203445e-02 -5.17502768e+01] [-9.50644376e-02 -7.95978257e-04 9.95470803e-01 -1.69677746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.028241008 meters 0.0649265283190872 Centerline is valid? [True, True] Translation: X:119.69, Y:-51.78, Z:-16.97 [[ 7.21939164e-01 6.88480421e-01 6.92715902e-02 1.19691861e+02] [-6.85408318e-01 7.25254700e-01 -6.49696700e-02 -5.17754792e+01] [-9.49698921e-02 -5.75174849e-04 9.95479979e-01 -1.69711067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.058241008 meters 0.06485325170405422 Centerline is valid? [True, True] Translation: X:119.71, Y:-51.80, Z:-16.97 [[ 7.23043138e-01 6.87300277e-01 6.94762526e-02 1.19711605e+02] [-6.84202104e-01 7.26373297e-01 -6.51867668e-02 -5.18006468e+01] [-9.52685775e-02 -4.02953752e-04 9.95451524e-01 -1.69747042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.088241008 meters 0.0646980834721668 Centerline is valid? [True, True] Translation: X:119.73, Y:-51.83, Z:-16.98 [[ 7.25267813e-01 6.84862168e-01 7.03591544e-02 1.19729623e+02] [-6.81670340e-01 7.28672634e-01 -6.60434769e-02 -5.18271784e+01] [-9.64994691e-02 -6.25405988e-05 9.95333034e-01 -1.69791372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.118241008 meters 0.06477193378698529 Centerline is valid? [True, True] Translation: X:119.75, Y:-51.85, Z:-16.98 [[ 7.26251515e-01 6.83810283e-01 7.04431254e-02 1.19751225e+02] [-6.80603372e-01 7.29659844e-01 -6.61480362e-02 -5.18527751e+01] [-9.66322273e-02 9.62827596e-05 9.95320151e-01 -1.69837411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.148241008 meters 0.06474816757199615 Centerline is valid? [True, True] Translation: X:119.77, Y:-51.88, Z:-16.99 [[ 7.26862444e-01 6.83195376e-01 7.01075308e-02 1.19771658e+02] [-6.80012562e-01 7.30235603e-01 -6.58701635e-02 -5.18774105e+01] [-9.61972061e-02 2.04546378e-04 9.95362274e-01 -1.69880530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.178241008 meters 0.0649798941567853 Centerline is valid? [True, True] Translation: X:119.79, Y:-51.90, Z:-16.99 [[ 7.27355484e-01 6.82671752e-01 7.00947817e-02 1.19792682e+02] [-6.79485140e-01 7.30725114e-01 -6.58843869e-02 -5.19028861e+01] [-9.61974272e-02 2.93007571e-04 9.95362230e-01 -1.69938431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.208241008 meters 0.06517276360938208 Centerline is valid? [True, True] Translation: X:119.81, Y:-51.93, Z:-17.00 [[ 7.28088600e-01 6.81899030e-01 7.00050264e-02 1.19810318e+02] [-6.78713998e-01 7.31446197e-01 -6.58313797e-02 -5.19297878e+01] [-9.60952642e-02 4.17685731e-04 9.95372054e-01 -1.69989455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.238241008 meters 0.06520557506522723 Centerline is valid? [True, True] Translation: X:119.83, Y:-51.95, Z:-17.00 [[ 7.28055694e-01 6.81955458e-01 6.97972799e-02 1.19832324e+02] [-6.78786891e-01 7.31393580e-01 -6.56641995e-02 -5.19543259e+01] [-9.58293417e-02 4.29715617e-04 9.95397686e-01 -1.70033195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.268241008 meters 0.06533294927523013 Centerline is valid? [True, True] Translation: X:119.85, Y:-51.98, Z:-17.01 [[ 7.27523159e-01 6.82581839e-01 6.92249021e-02 1.19851865e+02] [-6.79464987e-01 7.30809071e-01 -6.51569847e-02 -5.19776713e+01] [-9.50651608e-02 3.67318152e-04 9.95470984e-01 -1.70095807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.298241008 meters 0.06533294927523013 Centerline is valid? [True, True] Translation: X:119.88, Y:-52.00, Z:-17.01 [[ 7.27365937e-01 6.82750645e-01 6.92123587e-02 1.19875147e+02] [-6.79633288e-01 7.30651370e-01 -6.51703054e-02 -5.19998102e+01] [-9.50651727e-02 3.63637284e-04 9.95470984e-01 -1.70136169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.328241008 meters 0.06539710055751828 Centerline is valid? [True, True] Translation: X:119.90, Y:-52.02, Z:-17.02 [[ 7.26698827e-01 6.83482533e-01 6.89959570e-02 1.19897739e+02] [-6.80385111e-01 7.29966810e-01 -6.49965924e-02 -5.20231855e+01] [-9.47887943e-02 2.89125612e-04 9.95497364e-01 -1.70188109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.358241008 meters 0.06558696165985924 Centerline is valid? [True, True] Translation: X:119.92, Y:-52.05, Z:-17.02 [[ 7.25735747e-01 6.84543885e-01 6.86097318e-02 1.19919734e+02] [-6.81482870e-01 7.28971632e-01 -6.46641930e-02 -5.20453360e+01] [-9.42800260e-02 1.72759445e-04 9.95545703e-01 -1.70238789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.388241008 meters 0.06568888087689945 Centerline is valid? [True, True] Translation: X:119.94, Y:-52.07, Z:-17.03 [[ 7.24998790e-01 6.85332680e-01 6.85264409e-02 1.19942366e+02] [-6.82280498e-01 7.28230122e-01 -6.46081379e-02 -5.20690218e+01] [-9.41810867e-02 8.65676266e-05 9.95555079e-01 -1.70289743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.418241008 meters 0.06542597927616717 Centerline is valid? [True, True] Translation: X:119.97, Y:-52.09, Z:-17.03 [[ 7.22523954e-01 6.87993842e-01 6.79971281e-02 1.19966932e+02] [-6.84998115e-01 7.25716484e-01 -6.41339807e-02 -5.20944166e+01] [-9.34704206e-02 -2.39567281e-04 9.95622028e-01 -1.70313640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.448241008 meters 0.06638180285272759 Centerline is valid? [True, True] Translation: X:119.99, Y:-52.12, Z:-17.04 [[ 7.21027634e-01 6.89559611e-01 6.80198119e-02 1.19990359e+02] [-6.86564490e-01 7.24228815e-01 -6.42014475e-02 -5.21168548e+01] [-9.35326329e-02 -4.08969677e-04 9.95616131e-01 -1.70418477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.478241008 meters 0.06579130252128118 Centerline is valid? [True, True] Translation: X:120.01, Y:-52.14, Z:-17.04 [[ 7.19373647e-01 6.91220586e-01 6.86706472e-02 1.20013190e+02] [-6.88171311e-01 7.22643579e-01 -6.48575727e-02 -5.21406182e+01] [-9.44552916e-02 -6.00340669e-04 9.95528923e-01 -1.70389970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.508241008 meters 0.0660598737910746 Centerline is valid? [True, True] Translation: X:120.04, Y:-52.16, Z:-17.04 [[ 7.17670967e-01 6.92970502e-01 6.88496022e-02 1.20036606e+02] [-6.89910135e-01 7.20965485e-01 -6.50597878e-02 -5.21634278e+01] [-9.47227006e-02 -8.08517552e-04 9.95503368e-01 -1.70427498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.538241008 meters 0.06591631812994796 Centerline is valid? [True, True] Translation: X:120.06, Y:-52.19, Z:-17.04 [[ 7.14446926e-01 6.96089088e-01 7.08912599e-02 1.20060126e+02] [-6.92858596e-01 7.17954325e-01 -6.69966622e-02 -5.21868302e+01] [-9.75323322e-02 -1.25205942e-03 9.95231569e-01 -1.70429742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.568241008 meters 0.0661386768574091 Centerline is valid? [True, True] Translation: X:120.08, Y:-52.21, Z:-17.05 [[ 7.13339397e-01 6.97234107e-01 7.07919825e-02 1.20083187e+02] [-6.94015111e-01 7.16842164e-01 -6.69353268e-02 -5.22082995e+01] [-9.74162707e-02 -1.38309995e-03 9.95242763e-01 -1.70476867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.598241008 meters 0.0664707494214637 Centerline is valid? [True, True] Translation: X:120.11, Y:-52.23, Z:-17.05 [[ 7.12126721e-01 6.98397625e-01 7.15282480e-02 1.20106211e+02] [-6.95113973e-01 7.15708318e-01 -6.76621569e-02 -5.22304684e+01] [-9.84484518e-02 -1.53625472e-03 9.95140966e-01 -1.70521757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.628241008 meters 0.06669255165874205 Centerline is valid? [True, True] Translation: X:120.13, Y:-52.26, Z:-17.06 [[ 7.11043848e-01 6.99509647e-01 7.14345880e-02 1.20127196e+02] [-6.96237012e-01 7.14621216e-01 -6.76057755e-02 -5.22562159e+01] [-9.83395643e-02 -1.66473340e-03 9.95151526e-01 -1.70569640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.658241008 meters 0.06710129796319783 Centerline is valid? [True, True] Translation: X:120.15, Y:-52.28, Z:-17.06 [[ 7.11061085e-01 6.99493093e-01 7.14251132e-02 1.20149180e+02] [-6.96217769e-01 7.14637484e-01 -6.76319823e-02 -5.22791121e+01] [-9.83511677e-02 -1.63696229e-03 9.95150425e-01 -1.70629324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.688241008 meters 0.06681825108212294 Centerline is valid? [True, True] Translation: X:120.17, Y:-52.30, Z:-17.07 [[ 7.11378362e-01 6.99191956e-01 7.12140004e-02 1.20170150e+02] [-6.95931382e-01 7.14932270e-01 -6.74637790e-02 -5.23045580e+01] [-9.80833186e-02 -1.56778505e-03 9.95176972e-01 -1.70667899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.718241008 meters 0.06670855699023809 Centerline is valid? [True, True] Translation: X:120.19, Y:-52.33, Z:-17.07 [[ 7.12278001e-01 6.98287710e-01 7.10937640e-02 1.20189186e+02] [-6.95029858e-01 7.15815813e-01 -6.73885675e-02 -5.23288172e+01] [-9.79466490e-02 -1.41289453e-03 9.95190664e-01 -1.70706679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.748241008 meters 0.06600519439440719 Centerline is valid? [True, True] Translation: X:120.21, Y:-52.36, Z:-17.07 [[ 7.14200840e-01 6.96189840e-01 7.23661985e-02 1.20206011e+02] [-6.92801801e-01 7.17856824e-01 -6.86093606e-02 -5.23582888e+01] [-9.97137092e-02 -1.13456963e-03 9.95015522e-01 -1.70729748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.778241008 meters 0.06564847330060493 Centerline is valid? [True, True] Translation: X:120.23, Y:-52.38, Z:-17.08 [[ 7.15207119e-01 6.95153151e-01 7.23938725e-02 1.20225028e+02] [-6.91754135e-01 7.18861015e-01 -6.86662803e-02 -5.23831479e+01] [-9.97747138e-02 -9.68148179e-04 9.95009582e-01 -1.70761188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.808241008 meters 0.06527027872046705 Centerline is valid? [True, True] Translation: X:120.24, Y:-52.41, Z:-17.08 [[ 7.16320547e-01 6.93913798e-01 7.32701524e-02 1.20244805e+02] [-6.90422461e-01 7.20057654e-01 -6.95255366e-02 -5.24090314e+01] [-1.01003463e-01 -7.84788480e-04 9.94885765e-01 -1.70785190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.838241008 meters 0.06517783239914755 Centerline is valid? [True, True] Translation: X:120.26, Y:-52.43, Z:-17.08 [[ 7.17080718e-01 6.93100726e-01 7.35297766e-02 1.20264678e+02] [-6.89577196e-01 7.20840454e-01 -6.98020796e-02 -5.24340581e+01] [-1.01383110e-01 -6.50731782e-04 9.94847245e-01 -1.70829714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.868241008 meters 0.06468967208636045 Centerline is valid? [True, True] Translation: X:120.29, Y:-52.47, Z:-17.09 [[ 7.18490973e-01 6.91643924e-01 7.34806369e-02 1.20286032e+02] [-6.88115568e-01 7.22238532e-01 -6.97744079e-02 -5.24671046e+01] [-1.01329593e-01 -4.30888008e-04 9.94852817e-01 -1.70851383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.898241008 meters 0.06468337305644398 Centerline is valid? [True, True] Translation: X:120.31, Y:-52.49, Z:-17.09 [[ 7.18434245e-01 6.91733262e-01 7.31937892e-02 1.20307530e+02] [-6.88222307e-01 7.22153004e-01 -6.96067186e-02 -5.24906296e+01] [-1.01006397e-01 -3.65748226e-04 9.94885709e-01 -1.70908168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.928241008 meters 0.06497821256658379 Centerline is valid? [True, True] Translation: X:120.33, Y:-52.52, Z:-17.10 [[ 7.18699662e-01 6.91456887e-01 7.31995227e-02 1.20327027e+02] [-6.87940517e-01 7.22417665e-01 -6.96459820e-02 -5.25151886e+01] [-1.01037822e-01 -3.02373774e-04 9.94882539e-01 -1.71001084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.958241008 meters 0.06489575992686271 Centerline is valid? [True, True] Translation: X:120.35, Y:-52.54, Z:-17.10 [[ 7.18271056e-01 6.91910652e-01 7.31186720e-02 1.20348399e+02] [-6.88401003e-01 7.21983056e-01 -6.96026307e-02 -5.25394142e+01] [-1.00949244e-01 -3.41412025e-04 9.94891519e-01 -1.71043230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.988241008 meters 0.06457854489203234 Centerline is valid? [True, True] Translation: X:120.37, Y:-52.56, Z:-17.10 [[ 7.17647246e-01 6.92595315e-01 7.27609831e-02 1.20370848e+02] [-6.89120250e-01 7.21326251e-01 -6.92944509e-02 -5.25638623e+01] [-1.00477419e-01 -4.12095046e-04 9.94939254e-01 -1.71030082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.018241008 meters 0.06490853974109365 Centerline is valid? [True, True] Translation: X:120.39, Y:-52.58, Z:-17.11 [[ 7.16705740e-01 6.93616249e-01 7.23144586e-02 1.20393205e+02] [-6.90185213e-01 7.20344517e-01 -6.89068055e-02 -5.25849926e+01] [-9.98862037e-02 -5.24466976e-04 9.94998729e-01 -1.71086477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.048241008 meters 0.06479370698674476 Centerline is valid? [True, True] Translation: X:120.42, Y:-52.61, Z:-17.11 [[ 7.15909467e-01 6.94463276e-01 7.20721419e-02 1.20416701e+02] [-6.91056554e-01 7.19527884e-01 -6.87056290e-02 -5.26083905e+01] [-9.95714519e-02 -6.18915768e-04 9.95030222e-01 -1.71103826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.078241008 meters 0.06494234761714632 Centerline is valid? [True, True] Translation: X:120.44, Y:-52.63, Z:-17.12 [[ 7.16124240e-01 6.94258270e-01 7.19133315e-02 1.20439053e+02] [-6.90861596e-01 7.19725740e-01 -6.85938400e-02 -5.26303894e+01] [-9.93797164e-02 -5.60447400e-04 9.95049425e-01 -1.71162403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.108241008 meters 0.06473752423143109 Centerline is valid? [True, True] Translation: X:120.46, Y:-52.65, Z:-17.12 [[ 7.16411290e-01 6.93988342e-01 7.16592258e-02 1.20462492e+02] [-6.90612441e-01 7.19986058e-01 -6.83705530e-02 -5.26531213e+01] [-9.90420102e-02 -5.07316831e-04 9.95083124e-01 -1.71193425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.138241008 meters 0.064747409513687 Centerline is valid? [True, True] Translation: X:120.49, Y:-52.67, Z:-17.13 [[ 7.16426999e-01 6.93991480e-01 7.14715343e-02 1.20485664e+02] [-6.90629634e-01 7.19983052e-01 -6.82283864e-02 -5.26736722e+01] [-9.88082123e-02 -4.79701515e-04 9.95106380e-01 -1.71252493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.168241008 meters 0.06504684202175293 Centerline is valid? [True, True] Translation: X:120.51, Y:-52.69, Z:-17.13 [[ 7.16782211e-01 6.93669322e-01 7.10361438e-02 1.20508503e+02] [-6.90343243e-01 7.20293486e-01 -6.78491048e-02 -5.26946594e+01] [-9.82317143e-02 -4.06290494e-04 9.95163487e-01 -1.71313177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.198241008 meters 0.06505813929605493 Centerline is valid? [True, True] Translation: X:120.53, Y:-52.72, Z:-17.14 [[ 7.16491344e-01 6.94008382e-01 7.06577708e-02 1.20530995e+02] [-6.90717576e-01 7.19966788e-01 -6.75059599e-02 -5.27159516e+01] [-9.77209502e-02 -4.37128288e-04 9.95213758e-01 -1.71361881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.228241008 meters 0.06492181606042713 Centerline is valid? [True, True] Translation: X:120.55, Y:-52.74, Z:-17.14 [[ 7.18279640e-01 6.92196767e-01 7.02708667e-02 1.20551110e+02] [-6.88930247e-01 7.21708812e-01 -6.71677422e-02 -5.27400651e+01] [-9.72083977e-02 -1.66503917e-04 9.95264035e-01 -1.71400188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.258241008 meters 0.06467074241039432 Centerline is valid? [True, True] Translation: X:120.57, Y:-52.76, Z:-17.14 [[ 7.20003632e-01 6.90362722e-01 7.06688211e-02 1.20571818e+02] [-6.87046932e-01 7.23463407e-01 -6.75811499e-02 -5.27648644e+01] [-9.77818127e-02 1.05876673e-04 9.95207871e-01 -1.71425934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.288241008 meters 0.06481752379538892 Centerline is valid? [True, True] Translation: X:120.59, Y:-52.79, Z:-17.15 [[ 7.22029500e-01 6.88200967e-01 7.10832605e-02 1.20591881e+02] [-6.84832632e-01 7.25519986e-01 -6.80074681e-02 -5.27900151e+01] [-9.83751315e-02 4.23261759e-04 9.95149313e-01 -1.71467612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.318241008 meters 0.06487246539694992 Centerline is valid? [True, True] Translation: X:120.61, Y:-52.81, Z:-17.15 [[ 7.23575033e-01 6.86597121e-01 7.08771166e-02 1.20613208e+02] [-6.83237575e-01 7.27037794e-01 -6.78414468e-02 -5.28141200e+01] [-9.81100846e-02 6.62467805e-04 9.95175348e-01 -1.71500081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.348241008 meters 0.06521807086370342 Centerline is valid? [True, True] Translation: X:120.63, Y:-52.84, Z:-17.15 [[ 7.25127796e-01 6.84911450e-01 7.13160948e-02 1.20633854e+02] [-6.81498229e-01 7.28625729e-01 -6.82986892e-02 -5.28386813e+01] [-9.87412958e-02 9.23485609e-04 9.95112709e-01 -1.71530263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.378241008 meters 0.06538810031326546 Centerline is valid? [True, True] Translation: X:120.66, Y:-52.86, Z:-17.16 [[ 7.25837320e-01 6.84151181e-01 7.13957046e-02 1.20656600e+02] [-6.80724816e-01 7.29339480e-01 -6.83933255e-02 -5.28624720e+01] [-9.88630805e-02 1.04160016e-03 9.95100501e-01 -1.71571768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.408241008 meters 0.06535692851626927 Centerline is valid? [True, True] Translation: X:120.68, Y:-52.89, Z:-17.16 [[ 7.25840847e-01 6.84137581e-01 7.14901051e-02 1.20680287e+02] [-6.80698743e-01 7.29352196e-01 -6.85171175e-02 -5.28854314e+01] [-9.90166002e-02 1.06929794e-03 9.95085207e-01 -1.71603455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.438241008 meters 0.06528145673338251 Centerline is valid? [True, True] Translation: X:120.70, Y:-52.91, Z:-17.17 [[ 7.26217052e-01 6.83769742e-01 7.11880132e-02 1.20704562e+02] [-6.80354796e-01 7.29696951e-01 -6.82620783e-02 -5.29061328e+01] [-9.86212199e-02 1.13997908e-03 9.95124392e-01 -1.71652364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.468241008 meters 0.06534016730605927 Centerline is valid? [True, True] Translation: X:120.73, Y:-52.93, Z:-17.17 [[ 7.26146918e-01 6.83814880e-01 7.14693178e-02 1.20728098e+02] [-6.80370089e-01 7.29654619e-01 -6.85614928e-02 -5.29270948e+01] [-9.90312869e-02 1.16013057e-03 9.95083644e-01 -1.71692655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.498241008 meters 0.06541397089709089 Centerline is valid? [True, True] Translation: X:120.75, Y:-52.95, Z:-17.18 [[ 7.25596330e-01 6.84445320e-01 7.10251348e-02 1.20751099e+02] [-6.81043490e-01 7.29063385e-01 -6.81641119e-02 -5.29484504e+01] [-9.84364326e-02 1.08842376e-03 9.95142746e-01 -1.71753719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.528241008 meters 0.0653655318695275 Centerline is valid? [True, True] Translation: X:120.78, Y:-52.97, Z:-17.18 [[ 7.24729765e-01 6.85402072e-01 7.06453620e-02 1.20775395e+02] [-6.82038131e-01 7.28164163e-01 -6.78302252e-02 -5.29694941e+01] [-9.79323977e-02 9.75752546e-04 9.95192591e-01 -1.71811255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.558241008 meters 0.06482428008708042 Centerline is valid? [True, True] Translation: X:120.80, Y:-52.99, Z:-17.18 [[ 7.23115093e-01 6.87155822e-01 7.01529696e-02 1.20801830e+02] [-6.83843893e-01 7.26509673e-01 -6.73886175e-02 -5.29888230e+01] [-9.72732918e-02 7.56046560e-04 9.95257422e-01 -1.71833406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.588241008 meters 0.06499942728260295 Centerline is valid? [True, True] Translation: X:120.82, Y:-53.01, Z:-17.19 [[ 7.22308895e-01 6.88066207e-01 6.95324040e-02 1.20824067e+02] [-6.84813596e-01 7.25647620e-01 -6.68271672e-02 -5.30103350e+01] [-9.64375389e-02 6.53121721e-04 9.95338824e-01 -1.71889922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.618241008 meters 0.0650391643849379 Centerline is valid? [True, True] Translation: X:120.85, Y:-53.03, Z:-17.19 [[ 7.21503947e-01 6.88977421e-01 6.88633966e-02 1.20847796e+02] [-6.85788402e-01 7.24782596e-01 -6.62152214e-02 -5.30322961e+01] [-9.55317839e-02 5.48824857e-04 9.95426229e-01 -1.71929099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.648241008 meters 0.0648619371383632 Centerline is valid? [True, True] Translation: X:120.87, Y:-53.05, Z:-17.19 [[ 7.20838025e-01 6.89621419e-01 6.93890529e-02 1.20871306e+02] [-6.86383189e-01 7.24169909e-01 -6.67537365e-02 -5.30543102e+01] [-9.62842706e-02 4.91152157e-04 9.95353755e-01 -1.71946113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.678241008 meters 0.06467801084036956 Centerline is valid? [True, True] Translation: X:120.89, Y:-53.08, Z:-17.20 [[ 7.20880540e-01 6.89474217e-01 7.04027737e-02 1.20892883e+02] [-6.86136313e-01 7.24310022e-01 -6.77639430e-02 -5.30768790e+01] [-9.77149261e-02 5.43808289e-04 9.95214297e-01 -1.71962722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.708241008 meters 0.06450622561007095 Centerline is valid? [True, True] Translation: X:120.91, Y:-53.10, Z:-17.20 [[ 7.21311093e-01 6.88944268e-01 7.11765539e-02 1.20914705e+02] [-6.85527036e-01 7.24814033e-01 -6.85368591e-02 -5.30998693e+01] [-9.88078413e-02 6.42944733e-04 9.95106325e-01 -1.71993077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.738241008 meters 0.0643766594256172 Centerline is valid? [True, True] Translation: X:120.94, Y:-53.12, Z:-17.20 [[ 7.21331030e-01 6.88866436e-01 7.17257179e-02 1.20937983e+02] [-6.85392717e-01 7.24887971e-01 -6.90959708e-02 -5.31231421e+01] [-9.95910052e-02 6.80783125e-04 9.95028225e-01 -1.72021247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.768241008 meters 0.06426716264355412 Centerline is valid? [True, True] Translation: X:120.96, Y:-53.15, Z:-17.21 [[ 7.21989748e-01 6.88022814e-01 7.31806785e-02 1.20959392e+02] [-6.84398213e-01 7.25688570e-01 -7.05349982e-02 -5.31463486e+01] [-1.01636070e-01 8.40819996e-04 9.94821292e-01 -1.72060390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.798241008 meters 0.06423248337990854 Centerline is valid? [True, True] Translation: X:120.98, Y:-53.17, Z:-17.21 [[ 7.22415721e-01 6.87498267e-01 7.39030416e-02 1.20980379e+02] [-6.83795500e-01 7.26185400e-01 -7.12634445e-02 -5.31686767e+01] [-1.02660804e-01 9.47265292e-04 9.94715970e-01 -1.72085693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.828241008 meters 0.06413525022654455 Centerline is valid? [True, True] Translation: X:121.00, Y:-53.19, Z:-17.21 [[ 7.22428119e-01 6.87411800e-01 7.45830421e-02 1.21002190e+02] [-6.83636919e-01 7.26267194e-01 -7.19480754e-02 -5.31918201e+01] [-1.03625173e-01 9.89591595e-04 9.94615928e-01 -1.72117967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.858241008 meters 0.06398736951077418 Centerline is valid? [True, True] Translation: X:121.02, Y:-53.22, Z:-17.21 [[ 7.22831588e-01 6.86880229e-01 7.55648490e-02 1.21024029e+02] [-6.82998769e-01 7.26769794e-01 -7.29270054e-02 -5.32155702e+01] [-1.05010368e-01 1.10324426e-03 9.94470515e-01 -1.72139967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.888241008 meters 0.06402829740554007 Centerline is valid? [True, True] Translation: X:121.05, Y:-53.24, Z:-17.22 [[ 7.22593057e-01 6.87074161e-01 7.60813457e-02 1.21047393e+02] [-6.83137075e-01 7.26586454e-01 -7.34565266e-02 -5.32384542e+01] [-1.05749757e-01 1.10518815e-03 9.94392160e-01 -1.72178966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.918241008 meters 0.06404127701962226 Centerline is valid? [True, True] Translation: X:121.07, Y:-53.26, Z:-17.22 [[ 7.22392318e-01 6.87246917e-01 7.64265247e-02 1.21070071e+02] [-6.83271124e-01 7.26423046e-01 -7.38249977e-02 -5.32604554e+01] [-1.06253991e-01 1.11057380e-03 9.94338401e-01 -1.72212823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.948241008 meters 0.06372144174245996 Centerline is valid? [True, True] Translation: X:121.10, Y:-53.28, Z:-17.22 [[ 7.21441849e-01 6.88275084e-01 7.61516123e-02 1.21095937e+02] [-6.84330454e-01 7.25449139e-01 -7.35892437e-02 -5.32807950e+01] [-1.05893764e-01 9.77492620e-04 9.94376968e-01 -1.72234231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.978241008 meters 0.06368443694986337 Centerline is valid? [True, True] Translation: X:121.12, Y:-53.30, Z:-17.23 [[ 7.20079173e-01 6.89658618e-01 7.65308765e-02 1.21120243e+02] [-6.85678071e-01 7.24134200e-01 -7.39948877e-02 -5.33004596e+01] [-1.06449837e-01 8.06633749e-04 9.94317747e-01 -1.72291433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.008241008 meters 0.06357739869463559 Centerline is valid? [True, True] Translation: X:121.14, Y:-53.32, Z:-17.23 [[ 7.19004157e-01 6.90833401e-01 7.60410035e-02 1.21144555e+02] [-6.86906615e-01 7.23013682e-01 -7.35562268e-02 -5.33221209e+01] [-1.05793784e-01 6.54164518e-04 9.94387876e-01 -1.72331465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.038241008 meters 0.06344028993620443 Centerline is valid? [True, True] Translation: X:121.17, Y:-53.34, Z:-17.24 [[ 7.17496078e-01 6.92445676e-01 7.56198650e-02 1.21169579e+02] [-6.88567377e-01 7.21469883e-01 -7.31858975e-02 -5.33437812e+01] [-1.05234713e-01 4.41222393e-04 9.94447314e-01 -1.72373040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.068241008 meters 0.0634233746030109 Centerline is valid? [True, True] Translation: X:121.20, Y:-53.37, Z:-17.24 [[ 7.16289565e-01 6.93708410e-01 7.54844487e-02 1.21195207e+02] [-6.89847246e-01 7.20255901e-01 -7.30904469e-02 -5.33668709e+01] [-1.05071577e-01 2.81185342e-04 9.94464622e-01 -1.72419415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.098241008 meters 0.06348497766299178 Centerline is valid? [True, True] Translation: X:121.22, Y:-53.39, Z:-17.25 [[ 7.14115936e-01 6.96039705e-01 7.46133967e-02 1.21220905e+02] [-6.92274349e-01 7.18003293e-01 -7.23014283e-02 -5.33868377e+01] [-1.03897329e-01 -2.13384583e-05 9.94588028e-01 -1.72493856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.128241008 meters 0.0635801372420086 Centerline is valid? [True, True] Translation: X:121.24, Y:-53.41, Z:-17.25 [[ 7.13294240e-01 6.96942355e-01 7.40451325e-02 1.21244704e+02] [-6.93234913e-01 7.17127143e-01 -7.17914789e-02 -5.34087266e+01] [-1.03134297e-01 -1.22222603e-04 9.94667433e-01 -1.72548073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.158241008 meters 0.06382184325360873 Centerline is valid? [True, True] Translation: X:121.27, Y:-53.43, Z:-17.26 [[ 7.12647140e-01 6.97642339e-01 7.36832417e-02 1.21269266e+02] [-6.93971175e-01 7.16446179e-01 -7.14764313e-02 -5.34321137e+01] [-1.02655062e-01 -1.96571498e-04 9.94716995e-01 -1.72603720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.188241008 meters 0.06399740940933225 Centerline is valid? [True, True] Translation: X:121.29, Y:-53.45, Z:-17.27 [[ 7.10982914e-01 6.99445494e-01 7.26587771e-02 1.21293050e+02] [-6.95881526e-01 7.14685821e-01 -7.05200709e-02 -5.34540310e+01] [-1.01253144e-01 -4.23335211e-04 9.94860604e-01 -1.72653648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.218241008 meters 0.06419577821806324 Centerline is valid? [True, True] Translation: X:121.32, Y:-53.48, Z:-17.27 [[ 7.10880527e-01 6.99584082e-01 7.23255729e-02 1.21316048e+02] [-6.96050836e-01 7.14550162e-01 -7.02232141e-02 -5.34771531e+01] [-1.00807293e-01 -4.21960034e-04 9.94905881e-01 -1.72696552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.248241008 meters 0.06419577821806324 Centerline is valid? [True, True] Translation: X:121.34, Y:-53.50, Z:-17.27 [[ 7.10704451e-01 6.99764796e-01 7.23077640e-02 1.21338939e+02] [-6.96230618e-01 7.14373188e-01 -7.02415460e-02 -5.34996461e+01] [-1.00807289e-01 -4.21899810e-04 9.94905881e-01 -1.72736932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.278241008 meters 0.06420175921412416 Centerline is valid? [True, True] Translation: X:121.36, Y:-53.52, Z:-17.28 [[ 7.10832636e-01 6.99646830e-01 7.21891705e-02 1.21361318e+02] [-6.96120068e-01 7.14488747e-01 -7.01618230e-02 -5.35229678e+01] [-1.00666847e-01 -3.79016642e-04 9.94920119e-01 -1.72782896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.308241008 meters 0.06426934975775155 Centerline is valid? [True, True] Translation: X:121.38, Y:-53.55, Z:-17.28 [[ 7.10941108e-01 6.99568307e-01 7.18813226e-02 1.21384535e+02] [-6.96067811e-01 7.14565649e-01 -6.98966077e-02 -5.35467507e+01] [-1.00261376e-01 -3.41903118e-04 9.94961074e-01 -1.72828311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.338241008 meters 0.06405437620594906 Centerline is valid? [True, True] Translation: X:121.40, Y:-53.57, Z:-17.29 [[ 7.11393142e-01 6.99012901e-01 7.28063267e-02 1.21404911e+02] [-6.95414194e-01 7.15109019e-01 -7.08391883e-02 -5.35696393e+01] [-1.01581967e-01 -2.36040254e-04 9.94827145e-01 -1.72862688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.368241008 meters 0.0641881191858374 Centerline is valid? [True, True] Translation: X:121.43, Y:-53.59, Z:-17.29 [[ 7.11683046e-01 6.98765855e-01 7.23430843e-02 1.21426650e+02] [-6.95208832e-01 7.15350437e-01 -7.04161345e-02 -5.35924326e+01] [-1.00955047e-01 -1.79582034e-04 9.94890972e-01 -1.72909319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.398241008 meters 0.06416123180157761 Centerline is valid? [True, True] Translation: X:121.45, Y:-53.62, Z:-17.30 [[ 7.11551439e-01 6.98868086e-01 7.26494865e-02 1.21448828e+02] [-6.95278182e-01 7.15250563e-01 -7.07451873e-02 -5.36151315e+01] [-1.01404140e-01 -1.72763039e-04 9.94845300e-01 -1.72951558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.428241008 meters 0.06437275213651909 Centerline is valid? [True, True] Translation: X:121.47, Y:-53.64, Z:-17.30 [[ 7.11147957e-01 6.99322799e-01 7.22233076e-02 1.21470799e+02] [-6.95774275e-01 7.14805972e-01 -7.03603606e-02 -5.36373878e+01] [-1.00830256e-01 -2.14492801e-04 9.94903620e-01 -1.73007814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.458241008 meters 0.06407587390873608 Centerline is valid? [True, True] Translation: X:121.50, Y:-53.66, Z:-17.30 [[ 7.10022108e-01 7.00378283e-01 7.30675571e-02 1.21495624e+02] [-6.96748943e-01 7.13771770e-01 -7.12093460e-02 -5.36631591e+01] [-1.02027039e-01 -3.49533254e-04 9.94781565e-01 -1.73012156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.488241008 meters 0.06397597388342481 Centerline is valid? [True, True] Translation: X:121.52, Y:-53.69, Z:-17.30 [[ 7.09694523e-01 7.00689541e-01 7.32656259e-02 1.21518372e+02] [-6.97036567e-01 7.13466215e-01 -7.14561710e-02 -5.36870452e+01] [-1.02341141e-01 -3.56767128e-04 9.94749297e-01 -1.73037903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.518241008 meters 0.0641408470483114 Centerline is valid? [True, True] Translation: X:121.54, Y:-53.71, Z:-17.31 [[ 7.09319957e-01 7.01113258e-01 7.28381579e-02 1.21540522e+02] [-6.97501014e-01 7.13049823e-01 -7.10794301e-02 -5.37093830e+01] [-1.01771966e-01 -3.86630654e-04 9.94807679e-01 -1.73077332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.548241008 meters 0.06428260851120794 Centerline is valid? [True, True] Translation: X:121.56, Y:-53.73, Z:-17.31 [[ 7.09038487e-01 7.01353603e-01 7.32635576e-02 1.21563510e+02] [-6.97696904e-01 7.12813414e-01 -7.15266838e-02 -5.37306116e+01] [-1.02388744e-01 -4.00585718e-04 9.94744382e-01 -1.73145029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.578241008 meters 0.06412345839246716 Centerline is valid? [True, True] Translation: X:121.59, Y:-53.75, Z:-17.32 [[ 7.09686535e-01 7.00651743e-01 7.37031768e-02 1.21587369e+02] [-6.96943762e-01 7.13503370e-01 -7.19884343e-02 -5.37532744e+01] [-1.03026287e-01 -2.77746826e-04 9.94678595e-01 -1.73189739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.608241008 meters 0.06418859630491293 Centerline is valid? [True, True] Translation: X:121.61, Y:-53.78, Z:-17.32 [[ 7.09901541e-01 7.00494699e-01 7.31230419e-02 1.21610163e+02] [-6.96840514e-01 7.13657569e-01 -7.14574890e-02 -5.37760478e+01] [-1.02240405e-01 -2.27316539e-04 9.94759694e-01 -1.73237727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.638241008 meters 0.06426102830421393 Centerline is valid? [True, True] Translation: X:121.63, Y:-53.80, Z:-17.33 [[ 7.09652423e-01 7.00770417e-01 7.28989829e-02 1.21634038e+02] [-6.97136558e-01 7.13386827e-01 -7.12730991e-02 -5.37987496e+01] [-1.01951253e-01 -2.41418624e-04 9.94789366e-01 -1.73285346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.668241008 meters 0.06422909209228075 Centerline is valid? [True, True] Translation: X:121.66, Y:-53.82, Z:-17.33 [[ 7.09452633e-01 7.00993525e-01 7.26982777e-02 1.21657364e+02] [-6.97377285e-01 7.13167593e-01 -7.11119305e-02 -5.38218526e+01] [-1.01695059e-01 -2.47581205e-04 9.94815588e-01 -1.73329888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.698241008 meters 0.06448041013471228 Centerline is valid? [True, True] Translation: X:121.68, Y:-53.84, Z:-17.34 [[ 7.09819347e-01 7.00759489e-01 7.13626965e-02 1.21678434e+02] [-6.97270494e-01 7.13397579e-01 -6.98409083e-02 -5.38445923e+01] [-9.98516540e-02 -1.84674804e-04 9.95002318e-01 -1.73384130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.728241008 meters 0.06442953199826278 Centerline is valid? [True, True] Translation: X:121.70, Y:-53.87, Z:-17.34 [[ 7.09677603e-01 7.00968375e-01 7.07180145e-02 1.21703510e+02] [-6.97541340e-01 7.13192329e-01 -6.92299085e-02 -5.38708685e+01] [-9.89635219e-02 -1.97823124e-04 9.95091042e-01 -1.73429088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.758241008 meters 0.06430143713101324 Centerline is valid? [True, True] Translation: X:121.73, Y:-53.89, Z:-17.35 [[ 7.10407248e-01 7.00263135e-01 7.03781464e-02 1.21725646e+02] [-6.96859494e-01 7.13884822e-01 -6.89587309e-02 -5.38949065e+01] [-9.85311476e-02 -5.48972461e-05 9.95133966e-01 -1.73459145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.788241008 meters 0.06460682597240132 Centerline is valid? [True, True] Translation: X:121.75, Y:-53.92, Z:-17.35 [[ 7.10609256e-01 7.00156865e-01 6.93891244e-02 1.21746761e+02] [-6.96844365e-01 7.13989051e-01 -6.80262135e-02 -5.39159815e+01] [-9.71720955e-02 -1.33633984e-05 9.95267594e-01 -1.73540328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.818241008 meters 0.06462767942073055 Centerline is valid? [True, True] Translation: X:121.77, Y:-53.94, Z:-17.36 [[ 7.11996872e-01 6.98782737e-01 6.90155106e-02 1.21768224e+02] [-6.95497107e-01 7.15333943e-01 -6.76840098e-02 -5.39397878e+01] [-9.66655549e-02 1.90715316e-04 9.95316901e-01 -1.73573312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.848241008 meters 0.06468189438308786 Centerline is valid? [True, True] Translation: X:121.79, Y:-53.96, Z:-17.36 [[ 7.12387152e-01 6.98432119e-01 6.85355435e-02 1.21790655e+02] [-6.95187730e-01 7.15676260e-01 -6.72421866e-02 -5.39635188e+01] [-9.60133643e-02 2.57400860e-04 9.95380012e-01 -1.73613769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.878241008 meters 0.06475035400032483 Centerline is valid? [True, True] Translation: X:121.81, Y:-53.99, Z:-17.36 [[ 7.12570127e-01 6.98251527e-01 6.84734954e-02 1.21813376e+02] [-6.95008958e-01 7.15852437e-01 -6.72148538e-02 -5.39871555e+01] [-9.59497928e-02 3.05604213e-04 9.95386128e-01 -1.73649498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.908241008 meters 0.0646821946949683 Centerline is valid? [True, True] Translation: X:121.84, Y:-54.01, Z:-17.37 [[ 7.12945970e-01 6.97879523e-01 6.83536003e-02 1.21835764e+02] [-6.94643330e-01 7.16215070e-01 -6.71313416e-02 -5.40105772e+01] [-9.58054673e-02 3.79646854e-04 9.95400004e-01 -1.73679293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.938241008 meters 0.06465052971122061 Centerline is valid? [True, True] Translation: X:121.85, Y:-54.04, Z:-17.37 [[ 7.15609650e-01 6.95006727e-01 6.97744808e-02 1.21854616e+02] [-6.91616627e-01 7.19002777e-01 -6.85671067e-02 -5.40358126e+01] [-9.78226459e-02 8.10092187e-04 9.95203534e-01 -1.73699666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.968241008 meters 0.06434165370058519 Centerline is valid? [True, True] Translation: X:121.88, Y:-54.06, Z:-17.37 [[ 7.16892015e-01 6.93593646e-01 7.06660653e-02 1.21877842e+02] [-6.90108102e-01 7.20365744e-01 -6.94550466e-02 -5.40606085e+01] [-9.90789917e-02 1.02454416e-03 9.95079044e-01 -1.73698844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.998241008 meters 0.06484887559962445 Centerline is valid? [True, True] Translation: X:121.90, Y:-54.08, Z:-17.38 [[ 7.17700222e-01 6.92662260e-01 7.15917905e-02 1.21897631e+02] [-6.89075462e-01 7.21261085e-01 -7.04092007e-02 -5.40845442e+01] [-1.00406169e-01 1.20055291e-03 9.94945808e-01 -1.73761563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.028241008 meters 0.06517910864894472 Centerline is valid? [True, True] Translation: X:121.92, Y:-54.11, Z:-17.38 [[ 7.19564578e-01 6.90689512e-01 7.19361999e-02 1.21918460e+02] [-6.87054665e-01 7.23149862e-01 -7.07825150e-02 -5.41074333e+01] [-1.00909394e-01 1.50848877e-03 9.94894476e-01 -1.73804755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.058241008 meters 0.06450884428545813 Centerline is valid? [True, True] Translation: X:121.94, Y:-54.13, Z:-17.38 [[ 7.20042277e-01 6.90161386e-01 7.22245093e-02 1.21943876e+02] [-6.86491940e-01 7.23653698e-01 -7.10924835e-02 -5.41293043e+01] [-1.01330820e-01 1.60805027e-03 9.94851486e-01 -1.73804759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.088241008 meters 0.06474158186928611 Centerline is valid? [True, True] Translation: X:121.97, Y:-54.15, Z:-17.39 [[ 7.20805778e-01 6.89439737e-01 7.14974055e-02 1.21966555e+02] [-6.85836716e-01 7.24341007e-01 -7.04138104e-02 -5.41526813e+01] [-1.00334582e-01 1.71913562e-03 9.94952268e-01 -1.73855396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.118241008 meters 0.06487560371219596 Centerline is valid? [True, True] Translation: X:121.99, Y:-54.18, Z:-17.39 [[ 7.20942088e-01 6.89353792e-01 7.09496678e-02 1.21989390e+02] [-6.85801842e-01 7.24422740e-01 -6.99108444e-02 -5.41756588e+01] [-9.95908585e-02 1.74425724e-03 9.95026944e-01 -1.73902896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.148241008 meters 0.06521444952788201 Centerline is valid? [True, True] Translation: X:122.01, Y:-54.20, Z:-17.40 [[ 7.20775960e-01 6.89586435e-01 7.03744577e-02 1.22012783e+02] [-6.86089446e-01 7.24201335e-01 -6.93808181e-02 -5.41967904e+01] [-9.88093472e-02 1.72485305e-03 9.95104888e-01 -1.73973191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.178241008 meters 0.06622481242755966 Centerline is valid? [True, True] Translation: X:122.03, Y:-54.22, Z:-17.41 [[ 7.20274087e-01 6.90187230e-01 6.96191565e-02 1.22032138e+02] [-6.86764575e-01 7.23628957e-01 -6.86698705e-02 -5.42203989e+01] [-9.77735053e-02 1.64915788e-03 9.95207326e-01 -1.74070897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.208241008 meters 0.06526644685281784 Centerline is valid? [True, True] Translation: X:122.06, Y:-54.24, Z:-17.41 [[ 7.19519408e-01 6.91011460e-01 6.92458167e-02 1.22058236e+02] [-6.87626440e-01 7.22842140e-01 -6.83309581e-02 -5.42416269e+01] [-9.72712695e-02 1.55019611e-03 9.95256699e-01 -1.74075034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.238241008 meters 0.06509422508851681 Centerline is valid? [True, True] Translation: X:122.08, Y:-54.26, Z:-17.41 [[ 7.17914520e-01 6.92702192e-01 6.90102545e-02 1.22081421e+02] [-6.89344586e-01 7.21222484e-01 -6.81334738e-02 -5.42632068e+01] [-9.69679538e-02 1.34216483e-03 9.95286599e-01 -1.74117160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.268241008 meters 0.06439494106164659 Centerline is valid? [True, True] Translation: X:122.11, Y:-54.28, Z:-17.41 [[ 7.14923933e-01 6.95766426e-01 6.92304165e-02 1.22109337e+02] [-6.92398719e-01 7.18267481e-01 -6.83801143e-02 -5.42834656e+01] [-9.73025446e-02 9.51528534e-04 9.95254394e-01 -1.74148082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.298241008 meters 0.06408824738483442 Centerline is valid? [True, True] Translation: X:122.13, Y:-54.30, Z:-17.42 [[ 7.13123585e-01 6.97550474e-01 6.98433174e-02 1.22133243e+02] [-6.94126476e-01 7.16535257e-01 -6.90337671e-02 -5.43041820e+01] [-9.81997363e-02 7.49511695e-04 9.95166443e-01 -1.74178105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.328241008 meters 0.06377886276136144 Centerline is valid? [True, True] Translation: X:122.16, Y:-54.33, Z:-17.42 [[ 7.11600471e-01 6.99078021e-01 7.01048521e-02 1.22158608e+02] [-6.95632872e-01 7.15045177e-01 -6.93202825e-02 -5.43269098e+01] [-9.85884223e-02 5.61106004e-04 9.95128137e-01 -1.74209511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.358241008 meters 0.06385572844851567 Centerline is valid? [True, True] Translation: X:122.18, Y:-54.35, Z:-17.43 [[ 7.08111827e-01 7.02629213e-01 6.99273133e-02 1.22183667e+02] [-6.99214093e-01 7.11556167e-01 -6.91915675e-02 -5.43481366e+01] [-9.83732276e-02 1.01204284e-04 9.95149586e-01 -1.74254712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.388241008 meters 0.06392579164458184 Centerline is valid? [True, True] Translation: X:122.21, Y:-54.37, Z:-17.43 [[ 7.06707171e-01 7.04032395e-01 7.00240051e-02 1.22207133e+02] [-7.00611955e-01 7.10167854e-01 -6.93145614e-02 -5.43705750e+01] [-9.85284941e-02 -7.45575496e-05 9.95134227e-01 -1.74304727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.418241008 meters 0.06373945192861921 Centerline is valid? [True, True] Translation: X:122.23, Y:-54.39, Z:-17.43 [[ 7.05202780e-01 7.05523966e-01 7.01781544e-02 1.22231882e+02] [-7.02092485e-01 7.08686014e-01 -6.95001856e-02 -5.43944736e+01] [-9.87683231e-02 -2.59830774e-04 9.95110421e-01 -1.74333883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.448241008 meters 0.06412133243328502 Centerline is valid? [True, True] Translation: X:122.25, Y:-54.42, Z:-17.44 [[ 7.05078572e-01 7.05604986e-01 7.06102822e-02 1.22252373e+02] [-7.02126463e-01 7.08605354e-01 -6.99777303e-02 -5.44180434e+01] [-9.94114594e-02 -2.37549503e-04 9.95046384e-01 -1.74412374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.478241008 meters 0.06371585986556136 Centerline is valid? [True, True] Translation: X:122.27, Y:-54.44, Z:-17.44 [[ 7.05440110e-01 7.05241545e-01 7.06301248e-02 1.22273903e+02] [-7.01755870e-01 7.08967091e-01 -7.00311527e-02 -5.44428451e+01] [-9.94633125e-02 -1.62320635e-04 9.95041217e-01 -1.74416532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.508241008 meters 0.0637687419958708 Centerline is valid? [True, True] Translation: X:122.29, Y:-54.47, Z:-17.45 [[ 7.05727720e-01 7.04896979e-01 7.11943419e-02 1.22294951e+02] [-7.01349327e-01 7.09309694e-01 -7.06320027e-02 -5.44651465e+01] [-1.00287122e-01 -8.51415515e-05 9.94958535e-01 -1.74471735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.538241008 meters 0.06371786662082825 Centerline is valid? [True, True] Translation: X:122.32, Y:-54.49, Z:-17.45 [[ 7.05551288e-01 7.04990928e-01 7.20081367e-02 1.22316468e+02] [-7.01359943e-01 7.09216317e-01 -7.14593995e-02 -5.44874435e+01] [-1.01447574e-01 -8.53512727e-05 9.94840883e-01 -1.74508184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.568241008 meters 0.06332334741663977 Centerline is valid? [True, True] Translation: X:122.34, Y:-54.51, Z:-17.45 [[ 7.05090593e-01 7.05323979e-01 7.32484772e-02 1.22340826e+02] [-7.01565363e-01 7.08885090e-01 -7.27184329e-02 -5.45101553e+01] [-1.03214808e-01 -1.15511521e-04 9.94659082e-01 -1.74511829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.598241008 meters 0.06324203587756325 Centerline is valid? [True, True] Translation: X:122.37, Y:-54.53, Z:-17.45 [[ 7.04998892e-01 7.05358427e-01 7.37973743e-02 1.22365009e+02] [-7.01539476e-01 7.08850817e-01 -7.32999500e-02 -5.45336740e+01] [-1.04014067e-01 -9.53877917e-05 9.94575822e-01 -1.74539805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.628241008 meters 0.0631184984834557 Centerline is valid? [True, True] Translation: X:122.39, Y:-54.56, Z:-17.46 [[ 7.04663269e-01 7.05648523e-01 7.42282948e-02 1.22388999e+02] [-7.01781698e-01 7.08562030e-01 -7.37719314e-02 -5.45570767e+01] [-1.04652406e-01 -1.07688426e-04 9.94508855e-01 -1.74573586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.658241008 meters 0.06325145414301335 Centerline is valid? [True, True] Translation: X:122.41, Y:-54.58, Z:-17.46 [[ 7.04626091e-01 7.05699934e-01 7.40923445e-02 1.22412958e+02] [-7.01843143e-01 7.08510830e-01 -7.36790776e-02 -5.45814687e+01] [-1.04490549e-01 -8.50034906e-05 9.94525876e-01 -1.74636979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.688241008 meters 0.06325667660648578 Centerline is valid? [True, True] Translation: X:122.44, Y:-54.61, Z:-17.47 [[ 7.04326464e-01 7.06081719e-01 7.32996408e-02 1.22437700e+02] [-7.02303754e-01 7.08130352e-01 -7.29441053e-02 -5.46075116e+01] [-1.03410200e-01 -1.02149084e-04 9.94638789e-01 -1.74693699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.718241008 meters 0.06333191132246063 Centerline is valid? [True, True] Translation: X:122.46, Y:-54.63, Z:-17.47 [[ 7.04154031e-01 7.06326934e-01 7.25903720e-02 1.22461016e+02] [-7.02615859e-01 7.07885764e-01 -7.23097536e-02 -5.46320327e+01] [-1.02460017e-01 -8.59420628e-05 9.94737120e-01 -1.74732339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.748241008 meters 0.06355402647688059 Centerline is valid? [True, True] Translation: X:122.48, Y:-54.65, Z:-17.48 [[ 7.03622176e-01 7.06931017e-01 7.18635545e-02 1.22483383e+02] [-7.03292724e-01 7.07282487e-01 -7.16297943e-02 -5.46538434e+01] [-1.01465157e-01 -1.40803319e-04 9.94839084e-01 -1.74794054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.778241008 meters 0.06367421894707871 Centerline is valid? [True, True] Translation: X:122.51, Y:-54.68, Z:-17.49 [[ 7.03559430e-01 7.07149244e-01 7.03141173e-02 1.22506628e+02] [-7.03664464e-01 7.07064301e-01 -7.01170183e-02 -5.46767315e+01] [-9.92997987e-02 -1.46056246e-04 9.95057550e-01 -1.74859909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.808241008 meters 0.06372976035187912 Centerline is valid? [True, True] Translation: X:122.53, Y:-54.70, Z:-17.49 [[ 7.03416333e-01 7.07354775e-01 6.96755708e-02 1.22529183e+02] [-7.03930582e-01 7.06858685e-01 -6.95164437e-02 -5.46994427e+01] [-9.84235708e-02 -1.47763212e-04 9.95144602e-01 -1.74901850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.838241008 meters 0.06414336622865208 Centerline is valid? [True, True] Translation: X:122.55, Y:-54.72, Z:-17.50 [[ 7.03320291e-01 7.07511262e-01 6.90534744e-02 1.22551067e+02] [-7.04145316e-01 7.06702055e-01 -6.89317043e-02 -5.47207991e+01] [-9.75701893e-02 -1.42614186e-04 9.95228636e-01 -1.74989311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.868241008 meters 0.06391979458104696 Centerline is valid? [True, True] Translation: X:122.57, Y:-54.74, Z:-17.50 [[ 7.03563044e-01 7.07312605e-01 6.86143013e-02 1.22574027e+02] [-7.03985346e-01 7.06900892e-01 -6.85256263e-02 -5.47449571e+01] [-9.69725500e-02 -9.13644016e-05 9.95287052e-01 -1.75005572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.898241008 meters 0.0642588816107525 Centerline is valid? [True, True] Translation: X:122.60, Y:-54.77, Z:-17.51 [[ 7.04034586e-01 7.06911876e-01 6.79036128e-02 1.22596114e+02] [-7.03647690e-01 7.07301632e-01 -6.78552084e-02 -5.47689411e+01] [-9.59959888e-02 -7.80677423e-06 9.95381721e-01 -1.75080258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.928241008 meters 0.06404836572837637 Centerline is valid? [True, True] Translation: X:123.78, Y:-53.88, Z:-16.45 [[ 7.50673147e-01 -6.51661148e-01 -1.08754651e-01 1.23777191e+02] [-6.43108972e-01 -7.58452420e-01 1.05644580e-01 -5.38824169e+01] [-1.51329696e-01 -9.36345806e-03 -9.88438996e-01 -1.64458967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.958241008 meters 0.06402143209639598 Centerline is valid? [True, True] Translation: X:122.74, Y:-54.95, Z:-17.52 [[ 7.61189351e-01 6.44345604e-01 7.35494036e-02 1.22741062e+02] [-6.41295608e-01 7.64734263e-01 -6.26214891e-02 -5.49451745e+01] [-9.65956302e-02 4.99901142e-04 9.95323583e-01 -1.75246725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.988241008 meters 0.06409219154931449 Centerline is valid? [True, True] Translation: X:122.76, Y:-54.97, Z:-17.53 [[ 7.62809715e-01 6.42333695e-01 7.43556466e-02 1.22763159e+02] [-6.39201967e-01 7.66424675e-01 -6.33566333e-02 -5.49682143e+01] [-9.76841027e-02 8.00779851e-04 9.95217150e-01 -1.75277435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.018241008 meters 0.06441729199434942 Centerline is valid? [True, True] Translation: X:122.79, Y:-54.99, Z:-17.53 [[ 7.65901732e-01 6.38575986e-01 7.49349489e-02 1.22785380e+02] [-6.35375490e-01 7.69557672e-01 -6.38668645e-02 -5.49931797e+01] [-9.84506108e-02 1.30391229e-03 9.95141084e-01 -1.75301371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.048241008 meters 0.0645111271369898 Centerline is valid? [True, True] Translation: X:122.81, Y:-55.02, Z:-17.53 [[ 7.67481667e-01 6.36647633e-01 7.51776702e-02 1.22808744e+02] [-6.33413727e-01 7.71153218e-01 -6.41074416e-02 -5.50156695e+01] [-9.87873533e-02 1.58271788e-03 9.95107308e-01 -1.75326513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.078241008 meters 0.06522648205525822 Centerline is valid? [True, True] Translation: X:122.83, Y:-55.04, Z:-17.54 [[ 7.69385374e-01 6.34326276e-01 7.53413713e-02 1.22830251e+02] [-6.31063660e-01 7.73063076e-01 -6.42817047e-02 -5.50386394e+01] [-9.90192066e-02 1.91220191e-03 9.95083685e-01 -1.75368835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.108241008 meters 0.06522648205525822 Centerline is valid? [True, True] Translation: X:122.85, Y:-55.06, Z:-17.54 [[ 7.69223950e-01 6.34523843e-01 7.53260054e-02 1.22854550e+02] [-6.31260410e-01 7.72900927e-01 -6.42997046e-02 -5.50596032e+01] [-9.90192350e-02 1.91054775e-03 9.95083685e-01 -1.75409084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.138241008 meters 0.06554305679565291 Centerline is valid? [True, True] Translation: X:122.88, Y:-55.08, Z:-17.54 [[ 7.71024369e-01 6.32290279e-01 7.56995761e-02 1.22878234e+02] [-6.28980149e-01 7.74728344e-01 -6.46526533e-02 -5.50815839e+01] [-9.95258514e-02 2.23524049e-03 9.95032466e-01 -1.75438869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.168241008 meters 0.06659078276438715 Centerline is valid? [True, True] Translation: X:122.90, Y:-55.10, Z:-17.55 [[ 7.71967205e-01 6.31151056e-01 7.55974826e-02 1.22899947e+02] [-6.27841226e-01 7.75656217e-01 -6.45974327e-02 -5.51047266e+01] [-9.94083952e-02 2.40388335e-03 9.95043814e-01 -1.75497268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.198241008 meters 0.06632419600770359 Centerline is valid? [True, True] Translation: X:122.93, Y:-55.12, Z:-17.55 [[ 7.73384132e-01 6.29528402e-01 7.46389708e-02 1.22927079e+02] [-6.26291781e-01 7.76973115e-01 -6.38073930e-02 -5.51248428e+01] [-9.81610398e-02 2.60185130e-03 9.95167142e-01 -1.75518574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.228241008 meters 0.06738740316063033 Centerline is valid? [True, True] Translation: X:122.95, Y:-55.15, Z:-17.56 [[ 7.72709633e-01 6.30435816e-01 7.39628613e-02 1.22949687e+02] [-6.27258042e-01 7.76237373e-01 -6.32683835e-02 -5.51467478e+01] [-9.72993921e-02 2.49428977e-03 9.95252032e-01 -1.75600355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.258241008 meters 0.06758490463448834 Centerline is valid? [True, True] Translation: X:122.97, Y:-55.17, Z:-17.56 [[ 7.72082480e-01 6.31231727e-01 7.37234696e-02 1.22974746e+02] [-6.28075050e-01 7.75590545e-01 -6.30954745e-02 -5.51657216e+01] [-9.70070913e-02 2.41103859e-03 9.95280770e-01 -1.75649885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.288241008 meters 0.0660849271315952 Centerline is valid? [True, True] Translation: X:123.01, Y:-55.18, Z:-17.57 [[ 7.69923102e-01 6.33906349e-01 7.33563732e-02 1.23005423e+02] [-6.30790553e-01 7.73407004e-01 -6.28083203e-02 -5.51796647e+01] [-9.65489258e-02 2.08506963e-03 9.95326056e-01 -1.75675002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.318241008 meters 0.06596229059744649 Centerline is valid? [True, True] Translation: X:123.03, Y:-55.20, Z:-17.57 [[ 7.69196095e-01 6.34819648e-01 7.30847662e-02 1.23032428e+02] [-6.31727900e-01 7.72657791e-01 -6.26083009e-02 -5.51984705e+01] [-9.62144935e-02 1.98837466e-03 9.95358638e-01 -1.75726279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.348241008 meters 0.06507670376048219 Centerline is valid? [True, True] Translation: X:123.06, Y:-55.22, Z:-17.57 [[ 7.68038675e-01 6.36153034e-01 7.36607895e-02 1.23060662e+02] [-6.33016624e-01 7.71560689e-01 -6.31193932e-02 -5.52164169e+01] [-9.69873630e-02 1.84963084e-03 9.95283894e-01 -1.75732935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.378241008 meters 0.06564299002978002 Centerline is valid? [True, True] Translation: X:123.08, Y:-55.24, Z:-17.58 [[ 7.66864707e-01 6.37577407e-01 7.35769725e-02 1.23084877e+02] [-6.34451865e-01 7.70384446e-01 -6.30764434e-02 -5.52378884e+01] [-9.68986703e-02 1.69005092e-03 9.95292817e-01 -1.75809406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.408241008 meters 0.06512244042296612 Centerline is valid? [True, True] Translation: X:123.11, Y:-55.26, Z:-17.58 [[ 7.65465257e-01 6.39241950e-01 7.37066415e-02 1.23112223e+02] [-6.36108662e-01 7.69004180e-01 -6.32324396e-02 -5.52565205e+01] [-9.71015434e-02 1.51680255e-03 9.95273324e-01 -1.75826134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.438241008 meters 0.06466277699745364 Centerline is valid? [True, True] Translation: X:123.14, Y:-55.28, Z:-17.59 [[ 7.64911368e-01 6.39852136e-01 7.41609245e-02 1.23137642e+02] [-6.36679880e-01 7.68496635e-01 -6.36525877e-02 -5.52773098e+01] [-9.77206651e-02 1.47181943e-03 9.95212794e-01 -1.75850229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.468241008 meters 0.06449129838308391 Centerline is valid? [True, True] Translation: X:123.16, Y:-55.30, Z:-17.59 [[ 7.64788425e-01 6.39928159e-01 7.47704251e-02 1.23164138e+02] [-6.36700745e-01 7.68433281e-01 -6.42063410e-02 -5.53000719e+01] [-9.85435287e-02 1.49788106e-03 9.95131614e-01 -1.75872917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.498241008 meters 0.06441841783347187 Centerline is valid? [True, True] Translation: X:123.19, Y:-55.32, Z:-17.59 [[ 7.65072832e-01 6.39634282e-01 7.43743699e-02 1.23189395e+02] [-6.36435219e-01 7.68677790e-01 -6.39114107e-02 -5.53228161e+01] [-9.80498556e-02 1.56241564e-03 9.95180277e-01 -1.75902142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.528241008 meters 0.06454287200802226 Centerline is valid? [True, True] Translation: X:123.21, Y:-55.35, Z:-17.60 [[ 7.65698154e-01 6.38854286e-01 7.46427367e-02 1.23214483e+02] [-6.35624522e-01 7.69325885e-01 -6.41806065e-02 -5.53452753e+01] [-9.84266450e-02 1.69821809e-03 9.95142860e-01 -1.75953628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.558241008 meters 0.0647623173176075 Centerline is valid? [True, True] Translation: X:123.24, Y:-55.37, Z:-17.60 [[ 7.65813188e-01 6.38763171e-01 7.42413154e-02 1.23239392e+02] [-6.35563875e-01 7.69401466e-01 -6.38744470e-02 -5.53665669e+01] [-9.79220212e-02 1.73079583e-03 9.95192585e-01 -1.75998692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.588241008 meters 0.06479556143321845 Centerline is valid? [True, True] Translation: X:123.26, Y:-55.39, Z:-17.60 [[ 7.65865202e-01 6.38625910e-01 7.48828469e-02 1.23263188e+02] [-6.35366952e-01 7.69515266e-01 -6.44599932e-02 -5.53889397e+01] [-9.87893156e-02 1.78957946e-03 9.95106762e-01 -1.76030764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.618241008 meters 0.06475657523799444 Centerline is valid? [True, True] Translation: X:123.29, Y:-55.41, Z:-17.60 [[ 7.66255243e-01 6.38041842e-01 7.58650816e-02 1.23285863e+02] [-6.34689991e-01 7.69999303e-01 -6.53428523e-02 -5.54132932e+01] [-1.00107534e-01 1.91849523e-03 9.94974774e-01 -1.76044061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.648241008 meters 0.06475828857329259 Centerline is valid? [True, True] Translation: X:123.31, Y:-55.43, Z:-17.61 [[ 7.65955854e-01 6.38367361e-01 7.61494740e-02 1.23310082e+02] [-6.34988550e-01 7.69729478e-01 -6.56206615e-02 -5.54347995e+01] [-1.00504583e-01 1.90848575e-03 9.94934765e-01 -1.76075720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.678241008 meters 0.06413067656734817 Centerline is valid? [True, True] Translation: X:123.34, Y:-55.46, Z:-17.61 [[ 7.65372945e-01 6.39019345e-01 7.65410539e-02 1.23338510e+02] [-6.35605755e-01 7.69188425e-01 -6.59885739e-02 -5.54550201e+01] [-1.01042468e-01 1.85593480e-03 9.94880382e-01 -1.76083632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.708241008 meters 0.06473693284719913 Centerline is valid? [True, True] Translation: X:123.36, Y:-55.48, Z:-17.62 [[ 7.64255340e-01 6.40320502e-01 7.68337820e-02 1.23363929e+02] [-6.36882727e-01 7.68105904e-01 -6.62850846e-02 -5.54785936e+01] [-1.01460180e-01 1.72462126e-03 9.94838106e-01 -1.76170262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.738241008 meters 0.06356460295973365 Centerline is valid? [True, True] Translation: X:123.39, Y:-55.49, Z:-17.62 [[ 7.60914396e-01 6.44203672e-01 7.75300673e-02 1.23394000e+02] [-6.40716699e-01 7.64852942e-01 -6.69484041e-02 -5.54942836e+01] [-1.02427508e-01 1.26719571e-03 9.94739664e-01 -1.76190385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.768241008 meters 0.06336649808623497 Centerline is valid? [True, True] Translation: X:123.42, Y:-55.51, Z:-17.62 [[ 7.58873826e-01 6.46614855e-01 7.74580187e-02 1.23420804e+02] [-6.43143172e-01 7.62816026e-01 -6.69221205e-02 -5.55132030e+01] [-1.02359055e-01 9.68849795e-04 9.94747046e-01 -1.76228168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.798241008 meters 0.06338408974891632 Centerline is valid? [True, True] Translation: X:123.45, Y:-55.53, Z:-17.63 [[ 7.56579192e-01 6.49290288e-01 7.75245034e-02 1.23446138e+02] [-6.45823115e-01 7.60540413e-01 -6.70133149e-02 -5.55317220e+01] [-1.02471612e-01 6.33763361e-04 9.94735727e-01 -1.76300453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.828241008 meters 0.06308326712853193 Centerline is valid? [True, True] Translation: X:123.47, Y:-55.55, Z:-17.63 [[ 7.54459596e-01 6.51727137e-01 7.77332428e-02 1.23473447e+02] [-6.48250607e-01 7.58453446e-01 -6.72273730e-02 -5.55507497e+01] [-1.02770949e-01 3.29714859e-04 9.94704993e-01 -1.76327129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.858241008 meters 0.06304678272755378 Centerline is valid? [True, True] Translation: X:123.50, Y:-55.57, Z:-17.63 [[ 7.51015580e-01 6.55619299e-01 7.83513467e-02 1.23501348e+02] [-6.52104461e-01 7.55091586e-01 -6.77972630e-02 -5.55693931e+01] [-1.03611637e-01 -1.76461894e-04 9.94617815e-01 -1.76346245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.888241008 meters 0.06306020243376319 Centerline is valid? [True, True] Translation: X:123.53, Y:-55.59, Z:-17.64 [[ 7.49267109e-01 6.57583946e-01 7.86266669e-02 1.23527083e+02] [-6.54050886e-01 7.53381164e-01 -6.80754000e-02 -5.55894750e+01] [-1.04001140e-01 -4.19183030e-04 9.94577090e-01 -1.76392690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.918241008 meters 0.06326696158967333 Centerline is valid? [True, True] Translation: X:123.55, Y:-55.61, Z:-17.64 [[ 7.48218471e-01 6.58834324e-01 7.81437928e-02 1.23552414e+02] [-6.55347648e-01 7.52287856e-01 -6.76937438e-02 -5.56101567e+01] [-1.03385588e-01 -5.61641304e-04 9.94641194e-01 -1.76449264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.948241008 meters 0.0637880142622034 Centerline is valid? [True, True] Translation: X:123.58, Y:-55.63, Z:-17.65 [[ 7.46611099e-01 6.60831767e-01 7.66370865e-02 1.23576351e+02] [-6.57485531e-01 7.50533639e-01 -6.64231417e-02 -5.56291653e+01] [-1.01413234e-01 -7.95520750e-04 9.94844070e-01 -1.76523459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.978241008 meters 0.06400011520696389 Centerline is valid? [True, True] Translation: X:123.60, Y:-55.65, Z:-17.66 [[ 7.46102543e-01 6.61478392e-01 7.60087573e-02 1.23600273e+02] [-6.58187204e-01 7.49963738e-01 -6.59090011e-02 -5.56503508e+01] [-1.00601192e-01 -8.53118060e-04 9.94926466e-01 -1.76572937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.008241008 meters 0.06415336967142417 Centerline is valid? [True, True] Translation: X:123.62, Y:-55.67, Z:-17.66 [[ 7.45148592e-01 6.62598739e-01 7.56074588e-02 1.23624951e+02] [-6.59344784e-01 7.48973939e-01 -6.55933997e-02 -5.56720743e+01] [-1.00090120e-01 -9.74554197e-04 9.94977898e-01 -1.76620349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.038241008 meters 0.06411403989078236 Centerline is valid? [True, True] Translation: X:123.65, Y:-55.69, Z:-17.67 [[ 7.44531005e-01 6.63290763e-01 7.56237161e-02 1.23648538e+02] [-6.60034867e-01 7.48361068e-01 -6.56482045e-02 -5.56937703e+01] [-1.00137693e-01 -1.03716572e-03 9.94973048e-01 -1.76657171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.068241008 meters 0.0640661779604592 Centerline is valid? [True, True] Translation: X:123.67, Y:-55.72, Z:-17.67 [[ 7.44165955e-01 6.63688044e-01 7.57311822e-02 1.23672468e+02] [-6.60421680e-01 7.48008716e-01 -6.57735850e-02 -5.57161352e+01] [-1.00300726e-01 -1.06805187e-03 9.94956594e-01 -1.76695238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.098241008 meters 0.06361922135222028 Centerline is valid? [True, True] Translation: X:123.69, Y:-55.74, Z:-17.67 [[ 7.45075035e-01 6.62648984e-01 7.58914765e-02 1.23692774e+02] [-6.59359751e-01 7.48929575e-01 -6.59485415e-02 -5.57410810e+01] [-1.00538105e-01 -9.03173176e-04 9.94932799e-01 -1.76737731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.128241008 meters 0.06331233855312154 Centerline is valid? [True, True] Translation: X:123.71, Y:-55.77, Z:-17.68 [[ 7.46441541e-01 6.61166113e-01 7.53949370e-02 1.23714523e+02] [-6.57909363e-01 7.50239237e-01 -6.55465956e-02 -5.57651367e+01] [-9.99014279e-02 -6.76333192e-04 9.94997109e-01 -1.76784810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.158241008 meters 0.06324328886754221 Centerline is valid? [True, True] Translation: X:123.74, Y:-55.79, Z:-17.68 [[ 7.48137761e-01 6.59322854e-01 7.47212456e-02 1.23738731e+02] [-6.56112093e-01 7.51859835e-01 -6.49900818e-02 -5.57908535e+01] [-9.90293496e-02 -4.03978550e-04 9.95084431e-01 -1.76848426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.188241008 meters 0.06334058016705886 Centerline is valid? [True, True] Translation: X:123.76, Y:-55.82, Z:-17.69 [[ 7.50851287e-01 6.56330264e-01 7.38439543e-02 1.23760116e+02] [-6.53175023e-01 7.54473713e-01 -6.42791206e-02 -5.58164094e+01] [-9.79016546e-02 3.10339322e-05 9.95196094e-01 -1.76932737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.218241008 meters 0.06339090909790378 Centerline is valid? [True, True] Translation: X:123.78, Y:-55.84, Z:-17.70 [[ 7.52038058e-01 6.55020773e-01 7.33930961e-02 1.23781837e+02] [-6.51893762e-01 7.55610835e-01 -6.39279974e-02 -5.58397489e+01] [-9.73307849e-02 2.31785458e-04 9.95252061e-01 -1.76979581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.248241008 meters 0.06329570705364762 Centerline is valid? [True, True] Translation: X:123.81, Y:-55.86, Z:-17.70 [[ 7.52288432e-01 6.54728314e-01 7.34367108e-02 1.23805069e+02] [-6.51593523e-01 7.55864241e-01 -6.39932030e-02 -5.58629914e+01] [-9.74063456e-02 2.90461228e-04 9.95244653e-01 -1.77017133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.278241008 meters 0.06324811501704963 Centerline is valid? [True, True] Translation: X:123.83, Y:-55.89, Z:-17.71 [[ 7.52196028e-01 6.54747487e-01 7.42082426e-02 1.23830575e+02] [-6.51543465e-01 7.55847624e-01 -6.46953114e-02 -5.58870549e+01] [-9.84492164e-02 3.13660824e-04 9.95142027e-01 -1.77055237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.308241008 meters 0.06279520906078835 Centerline is valid? [True, True] Translation: X:123.85, Y:-55.91, Z:-17.71 [[ 7.51308148e-01 6.55602849e-01 7.56371039e-02 1.23854030e+02] [-6.52272932e-01 7.55105850e-01 -6.59937750e-02 -5.59080945e+01] [-1.00379726e-01 2.45625388e-04 9.94949170e-01 -1.77053238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.338241008 meters 0.06273662599802231 Centerline is valid? [True, True] Translation: X:123.88, Y:-55.93, Z:-17.71 [[ 7.51301676e-01 6.55517124e-01 7.64401191e-02 1.23877887e+02] [-6.52113804e-01 7.55180261e-01 -6.67110235e-02 -5.59291844e+01] [-1.01456287e-01 2.72446929e-04 9.94839961e-01 -1.77081047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.368241008 meters 0.06253419938038272 Centerline is valid? [True, True] Translation: X:123.90, Y:-55.95, Z:-17.71 [[ 7.51233322e-01 6.55492758e-01 7.73158519e-02 1.23901838e+02] [-6.52007631e-01 7.55201399e-01 -6.75047800e-02 -5.59500154e+01] [-1.02637934e-01 3.01314676e-04 9.94718736e-01 -1.77112939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.398241008 meters 0.0625720049134727 Centerline is valid? [True, True] Translation: X:123.92, Y:-55.97, Z:-17.72 [[ 7.51670469e-01 6.54916773e-01 7.79456583e-02 1.23924852e+02] [-6.51368291e-01 7.55700904e-01 -6.80844640e-02 -5.59698789e+01] [-1.03493262e-01 4.05750840e-04 9.94630072e-01 -1.77153711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.428241008 meters 0.06253191114184581 Centerline is valid? [True, True] Translation: X:123.95, Y:-55.99, Z:-17.72 [[ 7.51796160e-01 6.54767798e-01 7.79850261e-02 1.23948617e+02] [-6.51211994e-01 7.55829961e-01 -6.81469617e-02 -5.59907843e+01] [-1.03563855e-01 4.47839812e-04 9.94622706e-01 -1.77203818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.458241008 meters 0.06234457458276043 Centerline is valid? [True, True] Translation: X:123.97, Y:-56.01, Z:-17.72 [[ 7.51584382e-01 6.55017860e-01 7.79263772e-02 1.23974000e+02] [-6.51466923e-01 7.55613275e-01 -6.81133445e-02 -5.60119315e+01] [-1.03497662e-01 4.26468697e-04 9.94629605e-01 -1.77219499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.488241008 meters 0.06233737471915065 Centerline is valid? [True, True] Translation: X:124.00, Y:-56.03, Z:-17.73 [[ 7.51436858e-01 6.55177749e-01 7.80049077e-02 1.23997704e+02] [-6.51616795e-01 7.55474639e-01 -6.82174616e-02 -5.60328631e+01] [-1.03625292e-01 4.31807072e-04 9.94616314e-01 -1.77264948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.518241008 meters 0.06247075746080117 Centerline is valid? [True, True] Translation: X:124.02, Y:-56.05, Z:-17.73 [[ 7.51697791e-01 6.55024477e-01 7.67682580e-02 1.24021619e+02] [-6.51571800e-01 7.55607513e-01 -6.71675250e-02 -5.60537156e+01] [-1.02003045e-01 4.69648130e-04 9.94783976e-01 -1.77314445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.548241008 meters 0.06305850922126022 Centerline is valid? [True, True] Translation: X:124.04, Y:-56.08, Z:-17.74 [[ 7.52016756e-01 6.54767119e-01 7.58341443e-02 1.24043412e+02] [-6.51393760e-01 7.55830502e-01 -6.63808900e-02 -5.60751149e+01] [-1.00781783e-01 5.21653193e-04 9.94908418e-01 -1.77416021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.578241008 meters 0.06277517586378932 Centerline is valid? [True, True] Translation: X:124.07, Y:-56.10, Z:-17.74 [[ 7.52726961e-01 6.54003019e-01 7.53801916e-02 1.24068175e+02] [-6.50663197e-01 7.56491664e-01 -6.60133801e-02 -5.60973367e+01] [-1.00197436e-01 6.42934474e-04 9.94967366e-01 -1.77412554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.608241008 meters 0.06309872532390023 Centerline is valid? [True, True] Translation: X:124.09, Y:-56.12, Z:-17.75 [[ 7.53477494e-01 6.53165327e-01 7.51446672e-02 1.24090113e+02] [-6.49838890e-01 7.57214930e-01 -6.58404588e-02 -5.61199039e+01] [-9.99053688e-02 7.77376753e-04 9.94996640e-01 -1.77468381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.638241008 meters 0.06339113794429364 Centerline is valid? [True, True] Translation: X:124.11, Y:-56.14, Z:-17.75 [[ 7.54821990e-01 6.51728732e-01 7.41176362e-02 1.24112402e+02] [-6.48482983e-01 7.58451518e-01 -6.49701042e-02 -5.61433310e+01] [-9.85575173e-02 9.76837507e-04 9.95130877e-01 -1.77502202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.668241008 meters 0.06340828568139743 Centerline is valid? [True, True] Translation: X:124.14, Y:-56.16, Z:-17.75 [[ 7.54903152e-01 6.51673999e-01 7.37714699e-02 1.24135687e+02] [-6.48455226e-01 7.58498512e-01 -6.46979751e-02 -5.61647545e+01] [-9.81175383e-02 1.00321012e-03 9.95174328e-01 -1.77541818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.698241008 meters 0.06301003876887372 Centerline is valid? [True, True] Translation: X:124.16, Y:-56.19, Z:-17.76 [[ 7.54377875e-01 6.52252266e-01 7.40338005e-02 1.24161263e+02] [-6.49010372e-01 7.58001367e-01 -6.49574026e-02 -5.61854606e+01] [-9.84863350e-02 9.53722903e-04 9.95137946e-01 -1.77550333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.728241008 meters 0.06331583501846226 Centerline is valid? [True, True] Translation: X:124.18, Y:-56.21, Z:-17.76 [[ 7.53810598e-01 6.52861172e-01 7.44437557e-02 1.24184358e+02] [-6.49582818e-01 7.57477044e-01 -6.53505198e-02 -5.62066299e+01] [-9.90542530e-02 9.04529747e-04 9.95081623e-01 -1.77627081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.758241008 meters 0.06252194522826271 Centerline is valid? [True, True] Translation: X:124.21, Y:-56.23, Z:-17.76 [[ 7.52401695e-01 6.54406404e-01 7.51262117e-02 1.24213075e+02] [-6.51072107e-01 7.56142661e-01 -6.59802078e-02 -5.62263279e+01] [-9.99840042e-02 7.31039225e-04 9.94988776e-01 -1.77610716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.788241008 meters 0.06255508005723553 Centerline is valid? [True, True] Translation: X:124.24, Y:-56.24, Z:-17.77 [[ 7.50927317e-01 6.55954670e-01 7.63651474e-02 1.24239335e+02] [-6.52511976e-01 7.54800068e-01 -6.71191385e-02 -5.62435628e+01] [-1.01667531e-01 5.72421321e-04 9.94818268e-01 -1.77652348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.818241008 meters 0.06245281917302643 Centerline is valid? [True, True] Translation: X:124.26, Y:-56.26, Z:-17.77 [[ 7.50268583e-01 6.56617837e-01 7.71366952e-02 1.24264155e+02] [-6.53106729e-01 7.54223286e-01 -6.78147091e-02 -5.62640617e+01] [-1.02706639e-01 5.00750967e-04 9.94711564e-01 -1.77695036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.848241008 meters 0.06256829724502402 Centerline is valid? [True, True] Translation: X:124.29, Y:-56.28, Z:-17.77 [[ 7.49257995e-01 6.57812546e-01 7.67796211e-02 1.24289053e+02] [-6.54336768e-01 7.53181601e-01 -6.75342159e-02 -5.62838754e+01] [-1.02253853e-01 3.60822091e-04 9.94758272e-01 -1.77739717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.878241008 meters 0.06253717480096747 Centerline is valid? [True, True] Translation: X:124.31, Y:-56.30, Z:-17.78 [[ 7.48068556e-01 6.59231385e-01 7.62064083e-02 1.24314455e+02] [-6.55811512e-01 7.51940121e-01 -6.70620300e-02 -5.63039862e+01] [-1.01512051e-01 1.89956066e-04 9.94834291e-01 -1.77785375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.908241008 meters 0.06247392257761482 Centerline is valid? [True, True] Translation: X:124.34, Y:-56.32, Z:-17.78 [[ 7.46977501e-01 6.60448588e-01 7.63693369e-02 1.24340365e+02] [-6.57016838e-01 7.50871268e-01 -6.72399773e-02 -5.63242707e+01] [-1.01752089e-01 5.08100160e-05 9.94809786e-01 -1.77815172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.938241008 meters 0.06269220264997069 Centerline is valid? [True, True] Translation: X:124.36, Y:-56.34, Z:-17.79 [[ 7.45865508e-01 6.61663542e-01 7.67202773e-02 1.24364861e+02] [-6.58202675e-01 7.49800873e-01 -6.75861617e-02 -5.63434951e+01] [-1.02244230e-01 -8.73049419e-05 9.94759323e-01 -1.77880112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.968241008 meters 0.06296110218731556 Centerline is valid? [True, True] Translation: X:124.39, Y:-56.36, Z:-17.79 [[ 7.44684574e-01 6.63052801e-01 7.61962495e-02 1.24391112e+02] [-6.59643148e-01 7.48572588e-01 -6.71565111e-02 -5.63627505e+01] [-1.01566736e-01 -2.51916045e-04 9.94828696e-01 -1.77931662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.998241008 meters 0.06274738763315127 Centerline is valid? [True, True] Translation: X:124.42, Y:-56.38, Z:-17.80 [[ 7.44394660e-01 6.63363266e-01 7.63267073e-02 1.24415908e+02] [-6.59939795e-01 7.48297471e-01 -6.73079610e-02 -5.63846707e+01] [-1.01764711e-01 -2.67344850e-04 9.94808460e-01 -1.77957129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.028241008 meters 0.06271475992927368 Centerline is valid? [True, True] Translation: X:124.44, Y:-56.41, Z:-17.80 [[ 7.44375187e-01 6.63382960e-01 7.63454608e-02 1.24440014e+02] [-6.59954329e-01 7.48280020e-01 -6.73594477e-02 -5.64059525e+01] [-1.01812893e-01 -2.43815781e-04 9.94803536e-01 -1.77998177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.058241008 meters 0.06271475992927368 Centerline is valid? [True, True] Translation: X:124.46, Y:-56.43, Z:-17.80 [[ 7.44204186e-01 6.63576806e-01 7.63279211e-02 1.24463956e+02] [-6.60147154e-01 7.48108122e-01 -6.73793158e-02 -5.64273180e+01] [-1.01812889e-01 -2.43690973e-04 9.94803537e-01 -1.78038429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.088241008 meters 0.06260903897817537 Centerline is valid? [True, True] Translation: X:124.49, Y:-56.45, Z:-17.81 [[ 7.44611499e-01 6.63061457e-01 7.68324060e-02 1.24487483e+02] [-6.59579759e-01 7.48564948e-01 -6.78605856e-02 -5.64496677e+01] [-1.02509785e-01 -1.47327430e-04 9.94731985e-01 -1.78077195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.118241008 meters 0.06270501102489946 Centerline is valid? [True, True] Translation: X:124.51, Y:-56.47, Z:-17.81 [[ 7.45086792e-01 6.62582463e-01 7.63554316e-02 1.24509750e+02] [-6.59137954e-01 7.48988970e-01 -6.74735549e-02 -5.64712313e+01] [-1.01896170e-01 -5.51084302e-05 9.94795038e-01 -1.78131877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.148241008 meters 0.06283404716115908 Centerline is valid? [True, True] Translation: X:124.53, Y:-56.50, Z:-17.82 [[ 7.46383002e-01 6.61162200e-01 7.60063157e-02 1.24530826e+02] [-6.57738565e-01 7.50242973e-01 -6.71971818e-02 -5.64963811e+01] [-1.01451441e-01 1.62549246e-04 9.94840479e-01 -1.78174495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.178241008 meters 0.06278527736405383 Centerline is valid? [True, True] Translation: X:124.55, Y:-56.52, Z:-17.82 [[ 7.47128388e-01 6.60383197e-01 7.54533339e-02 1.24553415e+02] [-6.57001937e-01 7.50928724e-01 -6.67420841e-02 -5.65191513e+01] [-1.00735427e-01 2.91919185e-04 9.94913207e-01 -1.78213492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.208241008 meters 0.06281256521972167 Centerline is valid? [True, True] Translation: X:124.58, Y:-56.54, Z:-17.82 [[ 7.47770871e-01 6.59764643e-01 7.44938979e-02 1.24577572e+02] [-6.56462979e-01 7.51472196e-01 -6.59234024e-02 -5.65430389e+01] [-9.94740231e-02 3.93113919e-04 9.95040082e-01 -1.78249938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.238241008 meters 0.06304122186375309 Centerline is valid? [True, True] Translation: X:124.60, Y:-56.57, Z:-17.83 [[ 7.49094018e-01 6.58283177e-01 7.43061977e-02 1.24598875e+02] [-6.54986285e-01 7.52770131e-01 -6.58034685e-02 -5.65674975e+01] [-9.92528025e-02 6.23444259e-04 9.95062055e-01 -1.78300700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.268241008 meters 0.06309979948233395 Centerline is valid? [True, True] Translation: X:124.62, Y:-56.59, Z:-17.83 [[ 7.49450780e-01 6.57883511e-01 7.42483288e-02 1.24623297e+02] [-6.54586668e-01 7.53119378e-01 -6.57837169e-02 -5.65922006e+01] [-9.91958778e-02 6.99691883e-04 9.95067680e-01 -1.78343699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.298241008 meters 0.06308017022689447 Centerline is valid? [True, True] Translation: X:124.65, Y:-56.62, Z:-17.84 [[ 7.49904150e-01 6.57450615e-01 7.35013946e-02 1.24646007e+02] [-6.54213427e-01 7.53497230e-01 -6.51668426e-02 -5.66151629e+01] [-9.82270780e-02 7.83286427e-04 9.95163719e-01 -1.78385434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.328241008 meters 0.06324560545091405 Centerline is valid? [True, True] Translation: X:124.67, Y:-56.64, Z:-17.84 [[ 7.49812451e-01 6.57592883e-01 7.31634395e-02 1.24668567e+02] [-6.54382741e-01 7.53373069e-01 -6.49018255e-02 -5.66375960e+01] [-9.77983434e-02 7.87304738e-04 9.95205941e-01 -1.78436315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.358241008 meters 0.06305779869462004 Centerline is valid? [True, True] Translation: X:124.69, Y:-56.66, Z:-17.85 [[ 7.48945011e-01 6.58574459e-01 7.32192140e-02 1.24693234e+02] [-6.55360659e-01 7.52515257e-01 -6.49861181e-02 -5.66592674e+01] [-9.78967732e-02 6.86036618e-04 9.95196338e-01 -1.78466439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.388241008 meters 0.06299248882422351 Centerline is valid? [True, True] Translation: X:124.72, Y:-56.68, Z:-17.85 [[ 7.47557201e-01 6.60092129e-01 7.37333889e-02 1.24718828e+02] [-6.56836785e-01 7.51184473e-01 -6.54776664e-02 -5.66794194e+01] [-9.86086691e-02 5.17498903e-04 9.95126154e-01 -1.78507111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.418241008 meters 0.06289327373184538 Centerline is valid? [True, True] Translation: X:124.75, Y:-56.70, Z:-17.85 [[ 7.46684336e-01 6.61020907e-01 7.42553925e-02 1.24745168e+02] [-6.57720705e-01 7.50367365e-01 -6.59718971e-02 -5.67010058e+01] [-9.93276266e-02 4.20873049e-04 9.95054695e-01 -1.78548560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.448241008 meters 0.06284300565552514 Centerline is valid? [True, True] Translation: X:124.77, Y:-56.72, Z:-17.86 [[ 7.46203108e-01 6.61511172e-01 7.47254312e-02 1.24769337e+02] [-6.58166633e-01 7.49935206e-01 -6.64369584e-02 -5.67216251e+01] [-9.99880219e-02 3.93679456e-04 9.94988563e-01 -1.78588195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.478241008 meters 0.06268173616910666 Centerline is valid? [True, True] Translation: X:124.79, Y:-56.74, Z:-17.86 [[ 7.45951408e-01 6.61738265e-01 7.52260983e-02 1.24794081e+02] [-6.58346660e-01 7.49734831e-01 -6.69130652e-02 -5.67421233e+01] [-1.00678562e-01 3.89044615e-04 9.94918929e-01 -1.78630588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.508241008 meters 0.06272971153023017 Centerline is valid? [True, True] Translation: X:124.82, Y:-56.76, Z:-17.87 [[ 7.46356508e-01 6.61265779e-01 7.53626752e-02 1.24817840e+02] [-6.57855787e-01 7.50151544e-01 -6.70702983e-02 -5.67635242e+01] [-1.00884720e-01 4.80581612e-04 9.94898006e-01 -1.78673941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.538241008 meters 0.06282253550575005 Centerline is valid? [True, True] Translation: X:124.84, Y:-56.79, Z:-17.87 [[ 7.46269607e-01 6.61408166e-01 7.49727429e-02 1.24841728e+02] [-6.58030990e-01 7.50026003e-01 -6.67548572e-02 -5.67853344e+01] [-1.00383714e-01 4.82732802e-04 9.94948681e-01 -1.78718605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.568241008 meters 0.06282452844678696 Centerline is valid? [True, True] Translation: X:124.87, Y:-56.81, Z:-17.88 [[ 7.46020039e-01 6.61700191e-01 7.48796318e-02 1.24866319e+02] [-6.58329434e-01 7.49768389e-01 -6.67062111e-02 -5.68074207e+01] [-1.00281894e-01 4.68704606e-04 9.94958955e-01 -1.78757309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.598241008 meters 0.06299228119031598 Centerline is valid? [True, True] Translation: X:124.89, Y:-56.83, Z:-17.88 [[ 7.45464454e-01 6.62428763e-01 7.39654125e-02 1.24891135e+02] [-6.59139934e-01 7.49124809e-01 -6.59285112e-02 -5.68266897e+01] [-9.90822676e-02 3.93804444e-04 9.95079167e-01 -1.78818653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.628241008 meters 0.0631423550075663 Centerline is valid? [True, True] Translation: X:124.91, Y:-56.85, Z:-17.89 [[ 7.45223526e-01 6.62731484e-01 7.36809050e-02 1.24914531e+02] [-6.59467609e-01 7.48857026e-01 -6.56934271e-02 -5.68469681e+01] [-9.87135659e-02 3.66117108e-04 9.95115821e-01 -1.78876412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.658241008 meters 0.06325716650991242 Centerline is valid? [True, True] Translation: X:124.94, Y:-56.87, Z:-17.89 [[ 7.45101877e-01 6.62898527e-01 7.34080140e-02 1.24938844e+02] [-6.59656654e-01 7.48709162e-01 -6.54804475e-02 -5.68689199e+01] [-9.83681449e-02 3.65519438e-04 9.95150026e-01 -1.78927750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.688241008 meters 0.06304100235635424 Centerline is valid? [True, True] Translation: X:124.96, Y:-56.89, Z:-17.89 [[ 7.45474745e-01 6.62434892e-01 7.38066267e-02 1.24962700e+02] [-6.59152084e-01 7.49119355e-01 -6.58689832e-02 -5.68915816e+01] [-9.89238854e-02 4.53871618e-04 9.95094899e-01 -1.78943457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.718241008 meters 0.0630917476013444 Centerline is valid? [True, True] Translation: X:124.98, Y:-56.91, Z:-17.90 [[ 7.46651890e-01 6.61147853e-01 7.34470629e-02 1.24983828e+02] [-6.57887274e-01 7.50255354e-01 -6.55838257e-02 -5.69144098e+01] [-9.84646577e-02 6.48399364e-04 9.95140337e-01 -1.78982157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.748241008 meters 0.06318715816759639 Centerline is valid? [True, True] Translation: X:125.01, Y:-56.94, Z:-17.90 [[ 7.47047214e-01 6.60675962e-01 7.36731503e-02 1.25006337e+02] [-6.57389846e-01 7.50670854e-01 -6.58168626e-02 -5.69366581e+01] [-9.87879057e-02 7.36322954e-04 9.95108239e-01 -1.79023960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.778241008 meters 0.06307706308458551 Centerline is valid? [True, True] Translation: X:125.03, Y:-56.96, Z:-17.91 [[ 7.46839309e-01 6.60934614e-01 7.34607559e-02 1.25029534e+02] [-6.57666931e-01 7.50443154e-01 -6.56451103e-02 -5.69589242e+01] [-9.85152470e-02 7.13638935e-04 9.95135286e-01 -1.79063307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.808241008 meters 0.06339999337791502 Centerline is valid? [True, True] Translation: X:125.05, Y:-56.98, Z:-17.91 [[ 7.47086898e-01 6.60625283e-01 7.37251809e-02 1.25051839e+02] [-6.57329188e-01 7.50715408e-01 -6.59144504e-02 -5.69819769e+01] [-9.88913817e-02 7.82108955e-04 9.95097926e-01 -1.79125779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.838241008 meters 0.06275279350709331 Centerline is valid? [True, True] Translation: X:125.08, Y:-57.00, Z:-17.91 [[ 7.46950181e-01 6.60794612e-01 7.35928493e-02 1.25078552e+02] [-6.57507718e-01 7.50566363e-01 -6.58311121e-02 -5.70024709e+01] [-9.87371614e-02 7.84694685e-04 9.95113238e-01 -1.79099792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.868241008 meters 0.06286205576468047 Centerline is valid? [True, True] Translation: X:125.10, Y:-57.02, Z:-17.92 [[ 7.46806317e-01 6.60956132e-01 7.36024182e-02 1.25102352e+02] [-6.57665615e-01 7.50424124e-01 -6.58754294e-02 -5.70242051e+01] [-9.87737993e-02 7.90407151e-04 9.95109598e-01 -1.79153219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.898241008 meters 0.06346142295223013 Centerline is valid? [True, True] Translation: X:125.12, Y:-57.05, Z:-17.93 [[ 7.46388996e-01 6.61391319e-01 7.39255717e-02 1.25123862e+02] [-6.58069938e-01 7.50040623e-01 -6.62043838e-02 -5.70459977e+01] [-9.92341866e-02 7.66027107e-04 9.95063812e-01 -1.79259715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.928241008 meters 0.06277125724194843 Centerline is valid? [True, True] Translation: X:125.15, Y:-57.07, Z:-17.92 [[ 7.45772370e-01 6.62086943e-01 7.39219249e-02 1.25150924e+02] [-6.58766060e-01 7.49426709e-01 -6.62335767e-02 -5.70663797e+01] [-9.92514512e-02 6.97916336e-04 9.95062140e-01 -1.79228334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.958241008 meters 0.06284607949646547 Centerline is valid? [True, True] Translation: X:125.17, Y:-57.09, Z:-17.93 [[ 7.45417436e-01 6.62555538e-01 7.33007899e-02 1.25174349e+02] [-6.59289083e-01 7.49012501e-01 -6.57128455e-02 -5.70877044e+01] [-9.84416177e-02 6.57090228e-04 9.95142611e-01 -1.79283381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.988241008 meters 0.06288861384743075 Centerline is valid? [True, True] Translation: X:125.20, Y:-57.11, Z:-17.93 [[ 7.44797802e-01 6.63245327e-01 7.33612249e-02 1.25198439e+02] [-6.59973570e-01 7.48401822e-01 -6.57996950e-02 -5.71090466e+01] [-9.85450146e-02 5.90998731e-04 9.95132419e-01 -1.79324638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.018241008 meters 0.0629110395813006 Centerline is valid? [True, True] Translation: X:125.22, Y:-57.13, Z:-17.94 [[ 7.44520578e-01 6.63501806e-01 7.38543338e-02 1.25223456e+02] [-6.60183708e-01 7.48174451e-01 -6.62756575e-02 -5.71308388e+01] [-9.92299441e-02 5.86162846e-04 9.95064357e-01 -1.79360812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.048241008 meters 0.06296894170439318 Centerline is valid? [True, True] Translation: X:125.25, Y:-57.15, Z:-17.94 [[ 7.43873275e-01 6.64177782e-01 7.42995552e-02 1.25246061e+02] [-6.60818600e-01 7.47574472e-01 -6.67172136e-02 -5.71518491e+01] [-9.98565418e-02 5.30624106e-04 9.95001703e-01 -1.79407403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.078241008 meters 0.06285383866818217 Centerline is valid? [True, True] Translation: X:125.27, Y:-57.18, Z:-17.94 [[ 7.43227956e-01 6.64891081e-01 7.43777910e-02 1.25271149e+02] [-6.61525500e-01 7.46940186e-01 -6.68159512e-02 -5.71757777e+01] [-9.99810910e-02 4.56677427e-04 9.94989233e-01 -1.79436861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.108241008 meters 0.06263798172596753 Centerline is valid? [True, True] Translation: X:125.30, Y:-57.20, Z:-17.95 [[ 7.42975301e-01 6.65153775e-01 7.45530566e-02 1.25295368e+02] [-6.61769046e-01 7.46706266e-01 -6.70185143e-02 -5.71982650e+01] [-1.00246852e-01 4.56195676e-04 9.94962492e-01 -1.79461325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.138241008 meters 0.062391765435222075 Centerline is valid? [True, True] Translation: X:125.32, Y:-57.22, Z:-17.95 [[ 7.42756294e-01 6.65269407e-01 7.56948074e-02 1.25319631e+02] [-6.61776546e-01 7.46603234e-01 -6.80838797e-02 -5.72203861e+01] [-1.01808110e-01 4.76681922e-04 9.94803941e-01 -1.79493371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.168241008 meters 0.06234010236804288 Centerline is valid? [True, True] Translation: X:125.34, Y:-57.24, Z:-17.95 [[ 7.42187141e-01 6.65873703e-01 7.59635425e-02 1.25344326e+02] [-6.62357061e-01 7.46064369e-01 -6.83453031e-02 -5.72411701e+01] [-1.02183033e-01 4.10016254e-04 9.94765530e-01 -1.79526298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.198241008 meters 0.06248571122493661 Centerline is valid? [True, True] Translation: X:125.37, Y:-57.26, Z:-17.96 [[ 7.41581149e-01 6.66484996e-01 7.65189463e-02 1.25368205e+02] [-6.62916068e-01 7.45518359e-01 -6.88815143e-02 -5.72608760e+01] [-1.02954775e-01 3.55593504e-04 9.94685975e-01 -1.79591672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.228241008 meters 0.06256471245552286 Centerline is valid? [True, True] Translation: X:125.39, Y:-57.28, Z:-17.96 [[ 7.40912371e-01 6.67244334e-01 7.63796856e-02 1.25392436e+02] [-6.63688936e-01 7.44838857e-01 -6.87900695e-02 -5.72817697e+01] [-1.02790342e-01 2.75061219e-04 9.94703006e-01 -1.79641323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.258241008 meters 0.06265620584280726 Centerline is valid? [True, True] Translation: X:125.42, Y:-57.30, Z:-17.97 [[ 7.40224212e-01 6.68131831e-01 7.52859401e-02 1.25417822e+02] [-6.64678947e-01 7.44042893e-01 -6.78385730e-02 -5.73027719e+01] [-1.01341079e-01 1.74774902e-04 9.94851725e-01 -1.79683571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.288241008 meters 0.06264023691708569 Centerline is valid? [True, True] Translation: X:125.44, Y:-57.32, Z:-17.97 [[ 7.39242764e-01 6.69312636e-01 7.44360929e-02 1.25442902e+02] [-6.65939993e-01 7.42980884e-01 -6.71068708e-02 -5.73242702e+01] [-1.00220071e-01 3.82974518e-05 9.94965294e-01 -1.79725190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.318241008 meters 0.0629855380616569 Centerline is valid? [True, True] Translation: X:125.47, Y:-57.35, Z:-17.98 [[ 7.38737600e-01 6.69984100e-01 7.34034407e-02 1.25466078e+02] [-6.66704415e-01 7.42375448e-01 -6.62111558e-02 -5.73453652e+01] [-9.88533338e-02 -2.57277244e-05 9.95102014e-01 -1.79806984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.348241008 meters 0.06301159868746554 Centerline is valid? [True, True] Translation: X:125.49, Y:-57.37, Z:-17.99 [[ 7.38901688e-01 6.69900226e-01 7.25119495e-02 1.25489413e+02] [-6.66696382e-01 7.42451135e-01 -6.54388764e-02 -5.73674172e+01] [-9.76740973e-02 9.44177713e-06 9.95218454e-01 -1.79856852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.378241008 meters 0.06315060720068291 Centerline is valid? [True, True] Translation: X:125.51, Y:-57.39, Z:-17.99 [[ 7.38786758e-01 6.70077804e-01 7.20406959e-02 1.25512150e+02] [-6.66913155e-01 7.42290870e-01 -6.50469616e-02 -5.73882494e+01] [-9.70616760e-02 1.09460466e-05 9.95278369e-01 -1.79909737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.408241008 meters 0.06329110336844429 Centerline is valid? [True, True] Translation: X:125.54, Y:-57.41, Z:-18.00 [[ 7.39220665e-01 6.69641958e-01 7.16411738e-02 1.25535101e+02] [-6.66507762e-01 7.42684079e-01 -6.47129230e-02 -5.74088582e+01] [-9.65412476e-02 8.77315356e-05 9.95328981e-01 -1.79979502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.438241008 meters 0.06312359561776784 Centerline is valid? [True, True] Translation: X:125.56, Y:-57.43, Z:-18.00 [[ 7.39566953e-01 6.69245327e-01 7.17733490e-02 1.25558876e+02] [-6.66095259e-01 7.43041497e-01 -6.48570710e-02 -5.74316568e+01] [-9.67358684e-02 1.58258919e-04 9.95310076e-01 -1.79987334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.468241008 meters 0.06303078733470711 Centerline is valid? [True, True] Translation: X:125.58, Y:-57.45, Z:-18.00 [[ 7.39535831e-01 6.69255317e-01 7.20005212e-02 1.25581480e+02] [-6.66081589e-01 7.43032493e-01 -6.51001612e-02 -5.74536716e+01] [-9.70673558e-02 1.85680251e-04 9.95277797e-01 -1.80019935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.498241008 meters 0.06277922434154323 Centerline is valid? [True, True] Translation: X:125.60, Y:-57.48, Z:-18.00 [[ 7.39836060e-01 6.68817476e-01 7.29779919e-02 1.25604960e+02] [-6.65552800e-01 7.43426604e-01 -6.60026881e-02 -5.74766603e+01] [-9.83975320e-02 2.60461860e-04 9.95147154e-01 -1.80033448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.528241008 meters 0.06255631123915575 Centerline is valid? [True, True] Translation: X:125.63, Y:-57.50, Z:-18.01 [[ 7.39365959e-01 6.69079624e-01 7.53022942e-02 1.25627747e+02] [-6.65600784e-01 7.43190682e-01 -6.81410805e-02 -5.74992018e+01] [-1.01555772e-01 2.59929264e-04 9.94829813e-01 -1.80054886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.558241008 meters 0.062433106799162606 Centerline is valid? [True, True] Translation: X:125.65, Y:-57.52, Z:-18.01 [[ 7.39130003e-01 6.69287192e-01 7.57726497e-02 1.25651755e+02] [-6.65762129e-01 7.43003760e-01 -6.86017450e-02 -5.75204065e+01] [-1.02213633e-01 2.59047321e-04 9.94762437e-01 -1.80088990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.588241008 meters 0.06233801040690309 Centerline is valid? [True, True] Translation: X:125.68, Y:-57.54, Z:-18.01 [[ 7.38184279e-01 6.70284527e-01 7.61749578e-02 1.25676539e+02] [-6.66723616e-01 7.42104192e-01 -6.89999119e-02 -5.75414589e+01] [-1.02779329e-01 1.47006863e-04 9.94704171e-01 -1.80110005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.618241008 meters 0.06234740732755124 Centerline is valid? [True, True] Translation: X:125.70, Y:-57.56, Z:-18.02 [[ 7.37739091e-01 6.70735864e-01 7.65142775e-02 1.25701461e+02] [-6.67141648e-01 7.41696291e-01 -6.93443140e-02 -5.75628231e+01] [-1.03262074e-01 1.12149970e-04 9.94654177e-01 -1.80154746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.648241008 meters 0.062383484919130455 Centerline is valid? [True, True] Translation: X:125.72, Y:-57.59, Z:-18.02 [[ 7.37501865e-01 6.71030124e-01 7.62205527e-02 1.25724959e+02] [-6.67461345e-01 7.41430080e-01 -6.91143251e-02 -5.75855328e+01] [-1.02890005e-01 9.76710496e-05 9.94692735e-01 -1.80209217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.678241008 meters 0.0622758041393866 Centerline is valid? [True, True] Translation: X:125.75, Y:-57.61, Z:-18.02 [[ 7.37990506e-01 6.70513215e-01 7.60397403e-02 1.25749614e+02] [-6.66954910e-01 7.41897560e-01 -6.89866482e-02 -5.76109630e+01] [-1.02670157e-01 1.96413212e-04 9.94715437e-01 -1.80238763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.708241008 meters 0.06233171539532552 Centerline is valid? [True, True] Translation: X:125.77, Y:-57.63, Z:-18.03 [[ 7.38145518e-01 6.70372261e-01 7.57774799e-02 1.25771223e+02] [-6.66832176e-01 7.42024909e-01 -6.88032219e-02 -5.76334808e+01] [-1.02352549e-01 2.55928057e-04 9.94748154e-01 -1.80286635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.738241008 meters 0.06244862656986336 Centerline is valid? [True, True] Translation: X:125.79, Y:-57.66, Z:-18.03 [[ 7.38156017e-01 6.70402629e-01 7.54056354e-02 1.25794087e+02] [-6.66893698e-01 7.41997465e-01 -6.85022545e-02 -5.76558565e+01] [-1.01874882e-01 2.77808264e-04 9.94797181e-01 -1.80338367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.768241008 meters 0.06247275959876162 Centerline is valid? [True, True] Translation: X:125.82, Y:-57.68, Z:-18.04 [[ 7.38489383e-01 6.70149594e-01 7.43838199e-02 1.25821861e+02] [-6.66733627e-01 7.42225993e-01 -6.75784459e-02 -5.76826030e+01] [-1.00497273e-01 3.11770845e-04 9.94937285e-01 -1.80397569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.798241008 meters 0.06257592168332844 Centerline is valid? [True, True] Translation: X:125.85, Y:-57.71, Z:-18.05 [[ 7.38434618e-01 6.70338998e-01 7.32116274e-02 1.25847234e+02] [-6.67020741e-01 7.42054917e-01 -6.66170495e-02 -5.77059940e+01] [-9.89830543e-02 3.58661536e-04 9.95089054e-01 -1.80461507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.828241008 meters 0.06296702191235476 Centerline is valid? [True, True] Translation: X:125.87, Y:-57.73, Z:-18.05 [[ 7.38056702e-01 6.70798526e-01 7.28123743e-02 1.25870558e+02] [-6.67513514e-01 7.41639553e-01 -6.63059726e-02 -5.77268959e+01] [-9.84784854e-02 3.34323650e-04 9.95139124e-01 -1.80534975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.858241008 meters 0.0628187628760172 Centerline is valid? [True, True] Translation: X:125.90, Y:-57.75, Z:-18.06 [[ 7.37552856e-01 6.71407731e-01 7.23010622e-02 1.25895722e+02] [-6.68168765e-01 7.41088108e-01 -6.58704611e-02 -5.77490619e+01] [-9.78073942e-02 2.73635376e-04 9.95205325e-01 -1.80567183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.888241008 meters 0.06273368166962717 Centerline is valid? [True, True] Translation: X:125.92, Y:-57.77, Z:-18.06 [[ 7.37563658e-01 6.71346998e-01 7.27534071e-02 1.25919185e+02] [-6.68062957e-01 7.41143110e-01 -6.63232613e-02 -5.77718221e+01] [-9.84466088e-02 3.13770924e-04 9.95142285e-01 -1.80601973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.918241008 meters 0.06273368166962717 Centerline is valid? [True, True] Translation: X:125.94, Y:-57.79, Z:-18.06 [[ 7.37390730e-01 6.71538803e-01 7.27361465e-02 1.25942774e+02] [-6.68253827e-01 7.40969323e-01 -6.63421842e-02 -5.77935748e+01] [-9.84466042e-02 3.13903356e-04 9.95142285e-01 -1.80642228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.948241008 meters 0.06263505219877731 Centerline is valid? [True, True] Translation: X:125.97, Y:-57.82, Z:-18.07 [[ 7.37383367e-01 6.71516501e-01 7.30161513e-02 1.25965771e+02] [-6.68202484e-01 7.40989521e-01 -6.66331074e-02 -5.78157157e+01] [-9.88494341e-02 3.44571393e-04 9.95102342e-01 -1.80677929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.978241008 meters 0.06267380887219902 Centerline is valid? [True, True] Translation: X:125.99, Y:-57.84, Z:-18.07 [[ 7.37102641e-01 6.71814951e-01 7.31051816e-02 1.25990320e+02] [-6.68491172e-01 7.40718950e-01 -6.67457094e-02 -5.78376979e+01] [-9.89911589e-02 3.28270170e-04 9.95088259e-01 -1.80717256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.008241008 meters 0.0625849578531302 Centerline is valid? [True, True] Translation: X:126.01, Y:-57.86, Z:-18.08 [[ 7.36893808e-01 6.71995209e-01 7.35523929e-02 1.26014358e+02] [-6.68627922e-01 7.40555419e-01 -6.71890874e-02 -5.78599862e+01] [-9.96203679e-02 3.32038884e-04 9.95025463e-01 -1.80765802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.038241008 meters 0.062475181538877024 Centerline is valid? [True, True] Translation: X:126.04, Y:-57.88, Z:-18.08 [[ 7.37247381e-01 6.71604262e-01 7.35799900e-02 1.26036945e+02] [-6.68229480e-01 7.40909947e-01 -6.72444285e-02 -5.78824480e+01] [-9.96777913e-02 4.07460364e-04 9.95019684e-01 -1.80803818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.068241008 meters 0.06210889614557482 Centerline is valid? [True, True] Translation: X:126.06, Y:-57.90, Z:-18.08 [[ 7.37409780e-01 6.71363192e-01 7.41503990e-02 1.26061300e+02] [-6.67931398e-01 7.41128361e-01 -6.77967596e-02 -5.79048146e+01] [-1.00471213e-01 4.66613901e-04 9.94939856e-01 -1.80797586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.098241008 meters 0.06221303423960647 Centerline is valid? [True, True] Translation: X:126.08, Y:-57.93, Z:-18.09 [[ 7.37480840e-01 6.71248688e-01 7.44795938e-02 1.26083997e+02] [-6.67781866e-01 7.41232040e-01 -6.81354717e-02 -5.79266429e+01] [-1.00942507e-01 5.12482784e-04 9.94892129e-01 -1.80859863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.128241008 meters 0.06241632820702319 Centerline is valid? [True, True] Translation: X:126.11, Y:-57.95, Z:-18.09 [[ 7.37962458e-01 6.70736958e-01 7.43192061e-02 1.26106539e+02] [-6.67278769e-01 7.41695061e-01 -6.80255887e-02 -5.79489607e+01] [-1.00749464e-01 6.08702286e-04 9.94911642e-01 -1.80914937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.158241008 meters 0.062242099129113757 Centerline is valid? [True, True] Translation: X:126.13, Y:-57.97, Z:-18.09 [[ 7.39019465e-01 6.69593620e-01 7.41256657e-02 1.26130774e+02] [-6.66145858e-01 7.42727259e-01 -6.78668886e-02 -5.79717294e+01] [-1.00498388e-01 7.76446527e-04 9.94936918e-01 -1.80929927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.188241008 meters 0.06214388486404047 Centerline is valid? [True, True] Translation: X:126.15, Y:-57.99, Z:-18.10 [[ 7.39237565e-01 6.69412320e-01 7.35864639e-02 1.26154766e+02] [-6.66010265e-01 7.42890619e-01 -6.74081235e-02 -5.79944162e+01] [-9.97905220e-02 8.21276812e-04 9.95008129e-01 -1.80957839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.218241008 meters 0.06240550023263501 Centerline is valid? [True, True] Translation: X:126.18, Y:-58.02, Z:-18.10 [[ 7.39789994e-01 6.68789209e-01 7.37004639e-02 1.26176579e+02] [-6.65369754e-01 7.43451492e-01 -6.75497540e-02 -5.80176649e+01] [-9.99692664e-02 9.34572524e-04 9.94990087e-01 -1.81020030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.248241008 meters 0.062338917564398404 Centerline is valid? [True, True] Translation: X:126.20, Y:-58.04, Z:-18.11 [[ 7.40094139e-01 6.68417753e-01 7.40160278e-02 1.26200885e+02] [-6.64963699e-01 7.43785372e-01 -6.78719317e-02 -5.80408080e+01] [-1.00418843e-01 1.01364726e-03 9.94944736e-01 -1.81051767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.278241008 meters 0.06214438026386172 Centerline is valid? [True, True] Translation: X:126.22, Y:-58.06, Z:-18.11 [[ 7.40524404e-01 6.67878921e-01 7.45744843e-02 1.26224995e+02] [-6.64365481e-01 7.44269090e-01 -6.84253558e-02 -5.80634616e+01] [-1.01203336e-01 1.12593265e-03 9.94865125e-01 -1.81084049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.308241008 meters 0.062303183287902936 Centerline is valid? [True, True] Translation: X:126.25, Y:-58.09, Z:-18.11 [[ 7.40430607e-01 6.67987843e-01 7.45302511e-02 1.26247980e+02] [-6.64475401e-01 7.44171316e-01 -6.84214467e-02 -5.80851265e+01] [-1.01167970e-01 1.13781482e-03 9.94868709e-01 -1.81130157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.338241008 meters 0.06225275549307927 Centerline is valid? [True, True] Translation: X:126.27, Y:-58.11, Z:-18.12 [[ 7.39899341e-01 6.68540564e-01 7.48497175e-02 1.26271395e+02] [-6.64997190e-01 7.43674876e-01 -6.87489407e-02 -5.81058068e+01] [-1.01625310e-01 1.09244411e-03 9.94822146e-01 -1.81174547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.368241008 meters 0.06230495759098209 Centerline is valid? [True, True] Translation: X:126.30, Y:-58.13, Z:-18.12 [[ 7.38763525e-01 6.69846483e-01 7.43918176e-02 1.26298291e+02] [-6.66350050e-01 7.42499041e-01 -6.83577747e-02 -5.81258971e+01] [-1.01025068e-01 9.29239278e-04 9.94883447e-01 -1.81212805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.398241008 meters 0.062075166674993285 Centerline is valid? [True, True] Translation: X:126.32, Y:-58.15, Z:-18.13 [[ 7.37552312e-01 6.71258662e-01 7.36776488e-02 1.26323504e+02] [-6.67832195e-01 7.41222796e-01 -6.77416134e-02 -5.81470021e+01] [-1.00083698e-01 7.58677715e-04 9.94978732e-01 -1.81255355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.428241008 meters 0.06217831232481451 Centerline is valid? [True, True] Translation: X:126.35, Y:-58.17, Z:-18.13 [[ 7.36939832e-01 6.71938662e-01 7.36078773e-02 1.26348949e+02] [-6.68518668e-01 7.40606479e-01 -6.77113936e-02 -5.81692732e+01] [-1.00012374e-01 6.90982911e-04 9.94985953e-01 -1.81294629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.458241008 meters 0.062237143402019836 Centerline is valid? [True, True] Translation: X:126.37, Y:-58.19, Z:-18.13 [[ 7.36347419e-01 6.72559692e-01 7.38643223e-02 1.26372531e+02] [-6.69114710e-01 7.40042601e-01 -6.79886320e-02 -5.81897884e+01] [-1.00389159e-01 6.39549216e-04 9.94948043e-01 -1.81347488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.488241008 meters 0.06209725861037594 Centerline is valid? [True, True] Translation: X:126.40, Y:-58.21, Z:-18.14 [[ 7.35873703e-01 6.73113914e-01 7.35360612e-02 1.26397715e+02] [-6.69699317e-01 7.39538584e-01 -6.77163761e-02 -5.82108243e+01] [-9.99635896e-02 5.83650413e-04 9.94990925e-01 -1.81376262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.518241008 meters 0.06224613787998459 Centerline is valid? [True, True] Translation: X:126.42, Y:-58.23, Z:-18.14 [[ 7.35979243e-01 6.73030453e-01 7.32431779e-02 1.26420585e+02] [-6.69638718e-01 7.39614510e-01 -6.74860331e-02 -5.82327711e+01] [-9.95918725e-02 6.21851875e-04 9.95028177e-01 -1.81436008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.548241008 meters 0.06213017734962512 Centerline is valid? [True, True] Translation: X:126.45, Y:-58.26, Z:-18.15 [[ 7.35897796e-01 6.73016978e-01 7.41793896e-02 1.26445665e+02] [-6.69535842e-01 7.39626751e-01 -6.83668452e-02 -5.82564073e+01] [-1.00877108e-01 6.45250594e-04 9.94898685e-01 -1.81468114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.578241008 meters 0.06206999844689513 Centerline is valid? [True, True] Translation: X:126.47, Y:-58.28, Z:-18.15 [[ 7.35645820e-01 6.73264563e-01 7.44315516e-02 1.26469164e+02] [-6.69756101e-01 7.39401385e-01 -6.86466122e-02 -5.82789313e+01] [-1.01252124e-01 6.48607539e-04 9.94860587e-01 -1.81503693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.608241008 meters 0.062039329676555455 Centerline is valid? [True, True] Translation: X:126.49, Y:-58.30, Z:-18.15 [[ 7.35992339e-01 6.72835694e-01 7.48826156e-02 1.26490889e+02] [-6.69278545e-01 7.39791581e-01 -6.90988131e-02 -5.83027424e+01] [-1.01889676e-01 7.38869078e-04 9.94795430e-01 -1.81545151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.638241008 meters 0.0618470258457449 Centerline is valid? [True, True] Translation: X:126.51, Y:-58.33, Z:-18.16 [[ 7.35826463e-01 6.73010177e-01 7.49447691e-02 1.26514545e+02] [-6.69444311e-01 7.39632849e-01 -6.91922246e-02 -5.83252061e+01] [-1.01998684e-01 7.42120535e-04 9.94784257e-01 -1.81571675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.668241008 meters 0.061935575239791776 Centerline is valid? [True, True] Translation: X:126.54, Y:-58.35, Z:-18.16 [[ 7.35642750e-01 6.73204340e-01 7.50044091e-02 1.26536899e+02] [-6.69629950e-01 7.39456127e-01 -6.92846803e-02 -5.83469666e+01] [-1.02105217e-01 7.43574044e-04 9.94773327e-01 -1.81616360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.698241008 meters 0.061866525179109524 Centerline is valid? [True, True] Translation: X:126.56, Y:-58.37, Z:-18.17 [[ 7.35410168e-01 6.73418968e-01 7.53576723e-02 1.26560835e+02] [-6.69808337e-01 7.39260673e-01 -6.96451729e-02 -5.83688140e+01] [-1.02609344e-01 7.42571135e-04 9.94721454e-01 -1.81659059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.728241008 meters 0.062153404783551025 Centerline is valid? [True, True] Translation: X:126.58, Y:-58.39, Z:-18.17 [[ 7.35072015e-01 6.73930185e-01 7.40758991e-02 1.26582934e+02] [-6.70440423e-01 7.38794716e-01 -6.84982195e-02 -5.83908303e+01] [-1.00889901e-01 6.87647079e-04 9.94897359e-01 -1.81729127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.758241008 meters 0.061958988627426166 Centerline is valid? [True, True] Translation: X:126.61, Y:-58.41, Z:-18.17 [[ 7.34312826e-01 6.74748623e-01 7.41550308e-02 1.26609795e+02] [-6.71253914e-01 7.38047390e-01 -6.85874175e-02 -5.84135515e+01] [-1.01009192e-01 5.87765686e-04 9.94885319e-01 -1.81745562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.788241008 meters 0.062131040077662285 Centerline is valid? [True, True] Translation: X:126.63, Y:-58.44, Z:-18.18 [[ 7.33874910e-01 6.75238839e-01 7.40278792e-02 1.26634607e+02] [-6.71753344e-01 7.37598942e-01 -6.85218631e-02 -5.84360413e+01] [-1.00871509e-01 5.58000635e-04 9.94899305e-01 -1.81804625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.818241008 meters 0.06208770773010515 Centerline is valid? [True, True] Translation: X:126.66, Y:-58.46, Z:-18.18 [[ 7.33375899e-01 6.75742536e-01 7.43761722e-02 1.26658773e+02] [-6.72221306e-01 7.37137534e-01 -6.88968196e-02 -5.84576519e+01] [-1.01381980e-01 5.30019482e-04 9.94847432e-01 -1.81846206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.848241008 meters 0.06226396501677759 Centerline is valid? [True, True] Translation: X:126.68, Y:-58.48, Z:-18.19 [[ 7.33773937e-01 6.75402025e-01 7.35385209e-02 1.26681470e+02] [-6.71954816e-01 7.37449490e-01 -6.81540481e-02 -5.84804442e+01] [-1.00262327e-01 5.95100886e-04 9.94960859e-01 -1.81892562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.878241008 meters 0.06230922360130422 Centerline is valid? [True, True] Translation: X:126.71, Y:-58.50, Z:-18.19 [[ 7.33876545e-01 6.75319766e-01 7.32695749e-02 1.26706016e+02] [-6.71893591e-01 7.37524789e-01 -6.79425382e-02 -5.85021609e+01] [-9.99210668e-02 6.32077360e-04 9.94995166e-01 -1.81935346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.908241008 meters 0.06241518914949358 Centerline is valid? [True, True] Translation: X:126.73, Y:-58.52, Z:-18.20 [[ 7.33802329e-01 6.75362679e-01 7.36165316e-02 1.26730600e+02] [-6.71900329e-01 7.37485471e-01 -6.83017453e-02 -5.85230413e+01] [-1.00419572e-01 6.57008031e-04 9.94944962e-01 -1.81997108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.938241008 meters 0.062193906116316915 Centerline is valid? [True, True] Translation: X:126.76, Y:-58.54, Z:-18.20 [[ 7.33532821e-01 6.75637275e-01 7.37826107e-02 1.26756210e+02] [-6.72158052e-01 7.37233927e-01 -6.84813049e-02 -5.85443162e+01] [-1.00663566e-01 6.39708834e-04 9.94920317e-01 -1.82020136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.968241008 meters 0.062371830921886695 Centerline is valid? [True, True] Translation: X:126.78, Y:-58.57, Z:-18.21 [[ 7.33734308e-01 6.75429927e-01 7.36775335e-02 1.26779008e+02] [-6.71955236e-01 7.37423843e-01 -6.84268672e-02 -5.85666976e+01] [-1.00549124e-01 6.99135624e-04 9.94931849e-01 -1.82070629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.998241008 meters 0.06227187885057505 Centerline is valid? [True, True] Translation: X:126.80, Y:-58.59, Z:-18.21 [[ 7.33642394e-01 6.75511569e-01 7.38441414e-02 1.26802524e+02] [-6.72018078e-01 7.37349042e-01 -6.86155479e-02 -5.85892134e+01] [-1.00799503e-01 7.14676843e-04 9.94906503e-01 -1.82096732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.028241008 meters 0.06221825693994042 Centerline is valid? [True, True] Translation: X:126.83, Y:-58.61, Z:-18.21 [[ 7.34076106e-01 6.75042614e-01 7.38223489e-02 1.26826068e+02] [-6.71545283e-01 7.37778301e-01 -6.86302461e-02 -5.86123690e+01] [-1.00792868e-01 8.04773599e-04 9.94907106e-01 -1.82129237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.058241008 meters 0.06232993395912526 Centerline is valid? [True, True] Translation: X:126.85, Y:-58.64, Z:-18.22 [[ 7.34116027e-01 6.74973068e-01 7.40608938e-02 1.26849307e+02] [-6.71448577e-01 7.37841880e-01 -6.88924434e-02 -5.86366344e+01] [-1.01145773e-01 8.46965104e-04 9.94871256e-01 -1.82169534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.088241008 meters 0.062267854299856006 Centerline is valid? [True, True] Translation: X:126.87, Y:-58.66, Z:-18.22 [[ 7.33954981e-01 6.75052528e-01 7.49277733e-02 1.26873274e+02] [-6.71440524e-01 7.37769145e-01 -6.97446186e-02 -5.86589960e+01] [-1.02360680e-01 8.79866834e-04 9.94746961e-01 -1.82200765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.118241008 meters 0.06239266759562843 Centerline is valid? [True, True] Translation: X:126.90, Y:-58.68, Z:-18.23 [[ 7.33900534e-01 6.75110902e-01 7.49351435e-02 1.26896796e+02] [-6.71494911e-01 7.37715707e-01 -6.97862474e-02 -5.86801507e+01] [-1.02394289e-01 8.97596740e-04 9.94743487e-01 -1.82269591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.148241008 meters 0.06248198136479316 Centerline is valid? [True, True] Translation: X:126.92, Y:-58.70, Z:-18.23 [[ 7.33481748e-01 6.75634283e-01 7.43158225e-02 1.26920675e+02] [-6.72077184e-01 7.37236465e-01 -6.92434372e-02 -5.87003268e+01] [-1.01571574e-01 8.42828620e-04 9.94827877e-01 -1.82328574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.178241008 meters 0.06272091614928106 Centerline is valid? [True, True] Translation: X:126.94, Y:-58.72, Z:-18.24 [[ 7.32129800e-01 6.77216798e-01 7.32349954e-02 1.26944138e+02] [-6.73767166e-01 7.35783256e-01 -6.82700972e-02 -5.87217202e+01] [-1.00118740e-01 6.39237236e-04 9.94975291e-01 -1.82382934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.208241008 meters 0.06258788608129152 Centerline is valid? [True, True] Translation: X:126.97, Y:-58.74, Z:-18.24 [[ 7.31790911e-01 6.77573686e-01 7.33209579e-02 1.26967344e+02] [-6.74116027e-01 7.35454646e-01 -6.83669910e-02 -5.87443654e+01] [-1.00247913e-01 6.03509780e-04 9.94962307e-01 -1.82406436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.238241008 meters 0.06225629431539175 Centerline is valid? [True, True] Translation: X:126.99, Y:-58.77, Z:-18.24 [[ 7.30713613e-01 6.78760415e-01 7.30884102e-02 1.26992192e+02] [-6.75327294e-01 7.34359642e-01 -6.81832929e-02 -5.87670218e+01] [-9.99532990e-02 4.63861957e-04 9.94992022e-01 -1.82411911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.268241008 meters 0.06221924088031492 Centerline is valid? [True, True] Translation: X:127.02, Y:-58.79, Z:-18.25 [[ 7.30450718e-01 6.78956422e-01 7.38913137e-02 1.27016014e+02] [-6.75443887e-01 7.34178420e-01 -6.89753797e-02 -5.87892379e+01] [-1.01080685e-01 4.73679446e-04 9.94878119e-01 -1.82458029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.298241008 meters 0.06237943065143587 Centerline is valid? [True, True] Translation: X:127.04, Y:-58.81, Z:-18.25 [[ 7.29605753e-01 6.79862411e-01 7.39090424e-02 1.27042314e+02] [-6.76349064e-01 7.33339595e-01 -6.90288550e-02 -5.88127741e+01] [-1.01130551e-01 3.75538146e-04 9.94873093e-01 -1.82516619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.328241008 meters 0.06252651039021599 Centerline is valid? [True, True] Translation: X:127.07, Y:-58.83, Z:-18.26 [[ 7.29190621e-01 6.80364851e-01 7.33805661e-02 1.27065699e+02] [-6.76898868e-01 7.32873489e-01 -6.85884217e-02 -5.88347069e+01] [-1.00443823e-01 3.42811738e-04 9.94942672e-01 -1.82577743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.358241008 meters 0.06259540992930028 Centerline is valid? [True, True] Translation: X:127.09, Y:-58.86, Z:-18.26 [[ 7.29100897e-01 6.80531836e-01 7.27207158e-02 1.27090797e+02] [-6.77125860e-01 7.32718436e-01 -6.80019424e-02 -5.88595957e+01] [-9.95612958e-02 3.39199992e-04 9.95031373e-01 -1.82630781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.388241008 meters 0.06272031119716433 Centerline is valid? [True, True] Translation: X:127.11, Y:-58.88, Z:-18.27 [[ 7.29097327e-01 6.80561195e-01 7.24813598e-02 1.27114892e+02] [-6.77172204e-01 7.32691149e-01 -6.78342631e-02 -5.88844158e+01] [-9.92718179e-02 3.75417798e-04 9.95060282e-01 -1.82681959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.418241008 meters 0.06271361337343459 Centerline is valid? [True, True] Translation: X:127.14, Y:-58.91, Z:-18.27 [[ 7.30509113e-01 6.78988576e-01 7.30133545e-02 1.27135918e+02] [-6.75536875e-01 7.34148567e-01 -6.83799069e-02 -5.89100519e+01] [-1.00031825e-01 6.28931733e-04 9.94984039e-01 -1.82707847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.448241008 meters 0.06268198415376612 Centerline is valid? [True, True] Translation: X:127.16, Y:-58.93, Z:-18.27 [[ 7.30961605e-01 6.78418027e-01 7.37842310e-02 1.27158320e+02] [-6.74886274e-01 7.34675731e-01 -6.91381672e-02 -5.89340211e+01] [-1.01112063e-01 7.41380857e-04 9.94874767e-01 -1.82748058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.478241008 meters 0.06274500271546389 Centerline is valid? [True, True] Translation: X:127.18, Y:-58.96, Z:-18.28 [[ 7.31220715e-01 6.78087125e-01 7.42570998e-02 1.27181481e+02] [-6.74504122e-01 7.34981072e-01 -6.96204891e-02 -5.89573031e+01] [-1.01786320e-01 8.21223939e-04 9.94805946e-01 -1.82775940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.508241008 meters 0.06285373221405462 Centerline is valid? [True, True] Translation: X:127.20, Y:-58.98, Z:-18.28 [[ 7.31799083e-01 6.77406850e-01 7.47667117e-02 1.27204697e+02] [-6.73767147e-01 7.35607952e-01 -7.01339597e-02 -5.89806168e+01] [-1.02508212e-01 9.48613402e-04 9.94731706e-01 -1.82822051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.538241008 meters 0.06316019916773517 Centerline is valid? [True, True] Translation: X:127.23, Y:-59.00, Z:-18.29 [[ 7.32187822e-01 6.77038145e-01 7.42990130e-02 1.27227739e+02] [-6.73437496e-01 7.35947210e-01 -6.97398317e-02 -5.90033167e+01] [-1.01896678e-01 1.02691425e-03 9.94794457e-01 -1.82871965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.568241008 meters 0.06332925195951433 Centerline is valid? [True, True] Translation: X:127.25, Y:-59.03, Z:-18.29 [[ 7.33165398e-01 6.76030777e-01 7.38301270e-02 1.27252967e+02] [-6.72467313e-01 7.36872438e-01 -6.93305372e-02 -5.90272780e+01] [-1.01272963e-01 1.18240373e-03 9.94857974e-01 -1.82924551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.598241008 meters 0.06365178952790893 Centerline is valid? [True, True] Translation: X:127.28, Y:-59.05, Z:-18.30 [[ 7.33705590e-01 6.75498799e-01 7.33313045e-02 1.27277858e+02] [-6.71975699e-01 7.37359968e-01 -6.89125338e-02 -5.90508374e+01] [-1.00621902e-01 1.28465667e-03 9.94923908e-01 -1.82976975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.628241008 meters 0.06398646371556885 Centerline is valid? [True, True] Translation: X:127.30, Y:-59.07, Z:-18.30 [[ 7.34391561e-01 6.74731396e-01 7.35294389e-02 1.27301122e+02] [-6.71180696e-01 7.38061993e-01 -6.91445477e-02 -5.90744666e+01] [-1.00923281e-01 1.42763242e-03 9.94893187e-01 -1.83031950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.658241008 meters 0.06449883736316676 Centerline is valid? [True, True] Translation: X:127.32, Y:-59.10, Z:-18.31 [[ 7.36231276e-01 6.72687224e-01 7.38607262e-02 1.27322435e+02] [-6.69089686e-01 7.39924890e-01 -6.94992664e-02 -5.91000257e+01] [-1.01402658e-01 1.74808350e-03 9.94843930e-01 -1.83061500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.688241008 meters 0.06423366571214181 Centerline is valid? [True, True] Translation: X:127.35, Y:-59.12, Z:-18.31 [[ 7.37105132e-01 6.71645951e-01 7.46172941e-02 1.27346150e+02] [-6.67964270e-01 7.40869718e-01 -7.02552146e-02 -5.91230184e+01] [-1.02468324e-01 1.94379290e-03 9.94734369e-01 -1.83069071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.718241008 meters 0.06468142040847688 Centerline is valid? [True, True] Translation: X:127.37, Y:-59.15, Z:-18.31 [[ 7.38153476e-01 6.70419921e-01 7.52766567e-02 1.27367825e+02] [-6.66662438e-01 7.41978746e-01 -7.09135666e-02 -5.91466971e+01] [-1.03395547e-01 2.16097628e-03 9.94637970e-01 -1.83099399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.748241008 meters 0.06587344857995028 Centerline is valid? [True, True] Translation: X:127.39, Y:-59.17, Z:-18.31 [[ 7.40098251e-01 6.68210690e-01 7.58225106e-02 1.27388292e+02] [-6.64382894e-01 7.43967838e-01 -7.14648563e-02 -5.91723121e+01] [-1.04163090e-01 2.51583607e-03 9.94557048e-01 -1.83149445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.778241008 meters 0.06668428857021773 Centerline is valid? [True, True] Translation: X:127.41, Y:-59.20, Z:-18.32 [[ 7.41261331e-01 6.66849056e-01 7.64459006e-02 1.27409807e+02] [-6.62946333e-01 7.45187705e-01 -7.20933000e-02 -5.91950006e+01] [-1.05041894e-01 2.76044604e-03 9.94463966e-01 -1.83182868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.808241008 meters 0.06556932721450721 Centerline is valid? [True, True] Translation: X:127.44, Y:-59.21, Z:-18.32 [[ 7.41644876e-01 6.66430235e-01 7.63781359e-02 1.27437566e+02] [-6.62529218e-01 7.45561992e-01 -7.20579688e-02 -5.92147455e+01] [-1.04966244e-01 2.83867671e-03 9.94471734e-01 -1.83199528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.838241008 meters 0.06684665150803637 Centerline is valid? [True, True] Translation: X:127.46, Y:-59.24, Z:-18.33 [[ 7.42195658e-01 6.65778853e-01 7.67080439e-02 1.27461561e+02] [-6.61836278e-01 7.46143202e-01 -7.24090049e-02 -5.92406104e+01] [-1.05443570e-01 2.97348277e-03 9.94420843e-01 -1.83272241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.868241008 meters 0.06684665150803637 Centerline is valid? [True, True] Translation: X:127.48, Y:-59.26, Z:-18.33 [[ 7.42033650e-01 6.65962996e-01 7.66769203e-02 1.27484787e+02] [-6.62018001e-01 7.45978774e-01 -7.24419463e-02 -5.92627694e+01] [-1.05443011e-01 2.99286032e-03 9.94420844e-01 -1.83312652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.898241008 meters 0.06748448994289644 Centerline is valid? [True, True] Translation: X:127.51, Y:-59.28, Z:-18.34 [[ 7.42527258e-01 6.65453517e-01 7.63209554e-02 1.27506897e+02] [-6.61538503e-01 7.46432941e-01 -7.21434228e-02 -5.92847938e+01] [-1.04976570e-01 3.07920735e-03 9.94469928e-01 -1.83366726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.92824100800001 meters 0.06620268891695841 Centerline is valid? [True, True] Translation: X:127.54, Y:-59.31, Z:-18.34 [[ 7.42567185e-01 6.65473214e-01 7.57586774e-02 1.27535448e+02] [-6.61614451e-01 7.46415442e-01 -7.16261559e-02 -5.93060158e+01] [-1.04212735e-01 3.06419718e-03 9.94550309e-01 -1.83373900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.958241008 meters 0.06688142487467133 Centerline is valid? [True, True] Translation: X:127.56, Y:-59.33, Z:-18.34 [[ 7.42129794e-01 6.65948187e-01 7.58708185e-02 1.27557201e+02] [-6.62074616e-01 7.45991788e-01 -7.17875650e-02 -5.93291159e+01] [-1.04405806e-01 3.04354780e-03 9.94530122e-01 -1.83428250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.988241008 meters 0.06592673571437785 Centerline is valid? [True, True] Translation: X:127.58, Y:-59.35, Z:-18.34 [[ 7.41802476e-01 6.66319597e-01 7.58108226e-02 1.27583879e+02] [-6.62450464e-01 7.45660181e-01 -7.17654368e-02 -5.93485376e+01] [-1.04347829e-01 3.01486410e-03 9.94536295e-01 -1.83441808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.018241008 meters 0.06590395005997704 Centerline is valid? [True, True] Translation: X:127.61, Y:-59.37, Z:-18.35 [[ 7.40676869e-01 6.67614295e-01 7.54249915e-02 1.27609157e+02] [-6.63787516e-01 7.44501888e-01 -7.14357961e-02 -5.93709491e+01] [-1.03845607e-01 2.84467401e-03 9.94589361e-01 -1.83485779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.048241008 meters 0.06553284969871491 Centerline is valid? [True, True] Translation: X:127.64, Y:-59.39, Z:-18.35 [[ 7.39709154e-01 6.68549485e-01 7.66286810e-02 1.27636101e+02] [-6.64599686e-01 7.43662428e-01 -7.26185222e-02 -5.93912249e+01] [-1.05534947e-01 2.78918820e-03 9.94411683e-01 -1.83519691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.078241008 meters 0.06498682592587332 Centerline is valid? [True, True] Translation: X:127.66, Y:-59.41, Z:-18.36 [[ 7.38830608e-01 6.69639901e-01 7.55760246e-02 1.27662232e+02] [-6.65799532e-01 7.42681289e-01 -7.16623092e-02 -5.94104614e+01] [-1.04116841e-01 2.62782569e-03 9.94561601e-01 -1.83555752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.108241008 meters 0.0656669786186105 Centerline is valid? [True, True] Translation: X:127.69, Y:-59.43, Z:-18.37 [[ 7.35856676e-01 6.73012562e-01 7.46260230e-02 1.27685070e+02] [-6.69281775e-01 7.39627921e-01 -7.07986158e-02 -5.94308605e+01] [-1.02843848e-01 2.15179694e-03 9.94695186e-01 -1.83654776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.138241008 meters 0.06435571413920442 Centerline is valid? [True, True] Translation: X:127.71, Y:-59.45, Z:-18.36 [[ 7.34524224e-01 6.74550293e-01 7.38651867e-02 1.27713819e+02] [-6.70899773e-01 7.38226343e-01 -7.01096379e-02 -5.94491893e+01] [-1.01821703e-01 1.94109039e-03 9.94800770e-01 -1.83648728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.168241008 meters 0.06484053099048345 Centerline is valid? [True, True] Translation: X:127.74, Y:-59.47, Z:-18.37 [[ 7.32768900e-01 6.76471891e-01 7.37259777e-02 1.27735695e+02] [-6.72840924e-01 7.36466491e-01 -7.00157019e-02 -5.94706615e+01] [-1.01660366e-01 1.69947387e-03 9.94817713e-01 -1.83726262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.198241008 meters 0.06402904878179685 Centerline is valid? [True, True] Translation: X:127.76, Y:-59.49, Z:-18.37 [[ 7.30942558e-01 6.78480535e-01 7.33971504e-02 1.27763040e+02] [-6.74888791e-01 7.34616973e-01 -6.97353689e-02 -5.94891774e+01] [-1.01232883e-01 1.43763473e-03 9.94861717e-01 -1.83742342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.228241008 meters 0.06374093918646209 Centerline is valid? [True, True] Translation: X:127.79, Y:-59.51, Z:-18.38 [[ 7.26828677e-01 6.82931368e-01 7.29713728e-02 1.27793322e+02] [-6.79400428e-01 7.30482064e-01 -6.93614657e-02 -5.95069619e+01] [-1.00673400e-01 8.37120412e-04 9.94919176e-01 -1.83809481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.258241008 meters 0.06397049733708746 Centerline is valid? [True, True] Translation: X:127.82, Y:-59.53, Z:-18.39 [[ 7.24201029e-01 6.85736825e-01 7.27865147e-02 1.27818635e+02] [-6.82232463e-01 7.27849415e-01 -6.92394105e-02 -5.95254761e+01] [-1.00457636e-01 4.85929181e-04 9.94941218e-01 -1.83884482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.288241008 meters 0.06378468048007163 Centerline is valid? [True, True] Translation: X:127.85, Y:-59.54, Z:-18.39 [[ 7.21852423e-01 6.88261155e-01 7.22887401e-02 1.27845884e+02] [-6.84814250e-01 7.25462996e-01 -6.87959680e-02 -5.95448737e+01] [-9.97923984e-02 1.56176928e-04 9.95008268e-01 -1.83908481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.318241008 meters 0.0638626277210446 Centerline is valid? [True, True] Translation: X:127.87, Y:-59.56, Z:-18.40 [[ 7.18993497e-01 6.91293529e-01 7.18443360e-02 1.27872257e+02] [-6.87900420e-01 7.22574011e-01 -6.84091468e-02 -5.95636715e+01] [-9.92036505e-02 -2.36017189e-04 9.95067123e-01 -1.83957020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.348241008 meters 0.06459227224061168 Centerline is valid? [True, True] Translation: X:127.90, Y:-59.58, Z:-18.40 [[ 7.13640848e-01 6.96782923e-01 7.21823959e-02 1.27900969e+02] [-6.93382472e-01 7.17281395e-01 -6.87615312e-02 -5.95788933e+01] [-9.96869504e-02 -9.78970662e-04 9.95018368e-01 -1.84007451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.378241008 meters 0.06468840693596613 Centerline is valid? [True, True] Translation: X:127.93, Y:-59.60, Z:-18.40 [[ 7.11442896e-01 6.99019719e-01 7.22525954e-02 1.27925442e+02] [-6.95620626e-01 7.15101268e-01 -6.88630597e-02 -5.96000485e+01] [-9.98045592e-02 -1.26826104e-03 9.95006252e-01 -1.84027774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.408241008 meters 0.06551070902264469 Centerline is valid? [True, True] Translation: X:127.95, Y:-59.62, Z:-18.41 [[ 7.09576128e-01 7.00949143e-01 7.19167411e-02 1.27949127e+02] [-6.97588300e-01 7.13209661e-01 -6.85750821e-02 -5.96193280e+01] [-9.93593596e-02 -1.50903604e-03 9.95050471e-01 -1.84082218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.438241008 meters 0.06529822483537426 Centerline is valid? [True, True] Translation: X:127.97, Y:-59.64, Z:-18.41 [[ 7.08420412e-01 7.02060146e-01 7.24711774e-02 1.27971857e+02] [-6.98650118e-01 7.12115724e-01 -6.91318159e-02 -5.96432971e+01] [-1.00142558e-01 -1.65760716e-03 9.94971718e-01 -1.84084529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.468241008 meters 0.0653679813548695 Centerline is valid? [True, True] Translation: X:128.00, Y:-59.67, Z:-18.41 [[ 7.07403634e-01 7.03038555e-01 7.29170049e-02 1.27995460e+02] [-6.99587881e-01 7.11149504e-01 -6.95929584e-02 -5.96664820e+01] [-1.00781425e-01 -1.78154132e-03 9.94906996e-01 -1.84123735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.498241008 meters 0.0652083079821096 Centerline is valid? [True, True] Translation: X:128.02, Y:-59.69, Z:-18.42 [[ 7.07707009e-01 7.02750672e-01 7.27480769e-02 1.28017909e+02] [-6.99310208e-01 7.11434173e-01 -6.94741044e-02 -5.96896068e+01] [-1.00578441e-01 -1.70616211e-03 9.94927669e-01 -1.84169051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.528241008 meters 0.0648944263549108 Centerline is valid? [True, True] Translation: X:128.04, Y:-59.72, Z:-18.42 [[ 7.08927014e-01 7.01547724e-01 7.24795190e-02 1.28037398e+02] [-6.98122661e-01 7.12620890e-01 -6.92547277e-02 -5.97151445e+01] [-1.00235916e-01 -1.50304738e-03 9.94962563e-01 -1.84216437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.558241008 meters 0.06496191354593087 Centerline is valid? [True, True] Translation: X:128.06, Y:-59.74, Z:-18.43 [[ 7.09913028e-01 7.00667790e-01 7.13311992e-02 1.28059132e+02] [-6.97342983e-01 7.13486419e-01 -6.81901346e-02 -5.97407705e+01] [-9.86724728e-02 -1.33324621e-03 9.95119071e-01 -1.84273559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.588241008 meters 0.06508343427189982 Centerline is valid? [True, True] Translation: X:128.08, Y:-59.76, Z:-18.43 [[ 7.11327792e-01 6.99260099e-01 7.10498921e-02 1.28079611e+02] [-6.95950284e-01 7.14866490e-01 -6.79639873e-02 -5.97643775e+01] [-9.83156915e-02 -1.10251956e-03 9.95154666e-01 -1.84349071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.618241008 meters 0.06462806475308801 Centerline is valid? [True, True] Translation: X:128.10, Y:-59.79, Z:-18.44 [[ 7.13988038e-01 6.96557725e-01 7.09113388e-02 1.28096730e+02] [-6.93244277e-01 7.17500411e-01 -6.78640707e-02 -5.97924222e+01] [-9.81501574e-02 -7.04745137e-04 9.95171367e-01 -1.84385016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.648241008 meters 0.06423667274513228 Centerline is valid? [True, True] Translation: X:128.12, Y:-59.82, Z:-18.44 [[ 7.15537284e-01 6.94948151e-01 7.10877076e-02 1.28116779e+02] [-6.91607276e-01 7.19059700e-01 -6.80626380e-02 -5.98185872e+01] [-9.84163102e-02 -4.63420669e-04 9.95145223e-01 -1.84408610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.67824100800001 meters 0.0641251706328331 Centerline is valid? [True, True] Translation: X:128.14, Y:-59.85, Z:-18.44 [[ 7.17268668e-01 6.93114373e-01 7.15410621e-02 1.28136604e+02] [-6.89717962e-01 7.20827602e-01 -6.85324891e-02 -5.98454731e+01] [-9.90696254e-02 -1.86948267e-04 9.95080486e-01 -1.84443342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.708241008 meters 0.0639759216965363 Centerline is valid? [True, True] Translation: X:128.16, Y:-59.87, Z:-18.45 [[ 7.18420308e-01 6.91910734e-01 7.16365609e-02 1.28156851e+02] [-6.88495070e-01 7.21983058e-01 -6.86658795e-02 -5.98720382e+01] [-9.92310424e-02 9.54334852e-06 9.95064420e-01 -1.84469970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.738241008 meters 0.06393377906719483 Centerline is valid? [True, True] Translation: X:128.18, Y:-59.90, Z:-18.45 [[ 7.21595582e-01 6.88621724e-01 7.14138401e-02 1.28175064e+02] [-6.85207816e-01 7.25120600e-01 -6.84862364e-02 -5.99023353e+01] [-9.89447567e-02 4.86044212e-04 9.95092809e-01 -1.84507193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.768241008 meters 0.06418060096548513 Centerline is valid? [True, True] Translation: X:128.20, Y:-59.93, Z:-18.46 [[ 7.23238931e-01 6.86941390e-01 7.09716470e-02 1.28195592e+02] [-6.83556988e-01 7.26712439e-01 -6.81092825e-02 -5.99270604e+01] [-9.83630639e-02 7.46119419e-04 9.95150316e-01 -1.84550113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.798241008 meters 0.06464559323593679 Centerline is valid? [True, True] Translation: X:128.22, Y:-59.95, Z:-18.46 [[ 7.24491903e-01 6.85634063e-01 7.08337065e-02 1.28215640e+02] [-6.82253107e-01 7.27945763e-01 -6.80122428e-02 -5.99509765e+01] [-9.81946069e-02 9.47802881e-04 9.95166780e-01 -1.84613393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.828241008 meters 0.06487739447576758 Centerline is valid? [True, True] Translation: X:128.24, Y:-59.97, Z:-18.47 [[ 7.25479784e-01 6.84651950e-01 7.02195828e-02 1.28237012e+02] [-6.81321827e-01 7.28869336e-01 -6.74541226e-02 -5.99747844e+01] [-9.73634973e-02 1.09446779e-03 9.95248286e-01 -1.84660090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.858241008 meters 0.06497924762247781 Centerline is valid? [True, True] Translation: X:128.26, Y:-60.00, Z:-18.47 [[ 7.27119573e-01 6.82948351e-01 6.98475299e-02 1.28258679e+02] [-6.79642464e-01 7.30465437e-01 -6.71294744e-02 -5.99993403e+01] [-9.68671703e-02 1.33980743e-03 9.95296416e-01 -1.84702464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.888241008 meters 0.06509563989907786 Centerline is valid? [True, True] Translation: X:128.28, Y:-60.03, Z:-18.47 [[ 7.27541016e-01 6.82468551e-01 7.01480357e-02 1.28282680e+02] [-6.79128719e-01 7.30913554e-01 -6.74504281e-02 -6.00255889e+01] [-9.73049459e-02 1.43340741e-03 9.95253582e-01 -1.84737200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.918241008 meters 0.06477627847036298 Centerline is valid? [True, True] Translation: X:128.31, Y:-60.05, Z:-18.48 [[ 7.27550947e-01 6.82519853e-01 6.95432978e-02 1.28306029e+02] [-6.79232652e-01 7.30865610e-01 -6.69213294e-02 -6.00485652e+01] [-9.65019407e-02 1.45259798e-03 9.95331736e-01 -1.84756227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.948241008 meters 0.06598008282391468 Centerline is valid? [True, True] Translation: X:128.33, Y:-60.07, Z:-18.49 [[ 7.28302790e-01 6.81728971e-01 6.94309463e-02 1.28326472e+02] [-6.78445055e-01 7.31603105e-01 -6.68521129e-02 -6.00723993e+01] [-9.63709180e-02 1.58349812e-03 9.95344231e-01 -1.84855305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.978241008 meters 0.0661877701331536 Centerline is valid? [True, True] Translation: X:128.35, Y:-60.09, Z:-18.49 [[ 7.28323004e-01 6.81742153e-01 6.90886321e-02 1.28349515e+02] [-6.78488109e-01 7.31590800e-01 -6.65491381e-02 -6.00946194e+01] [-9.59139603e-02 1.59345282e-03 9.95388353e-01 -1.84910948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.008241008 meters 0.06601103925406511 Centerline is valid? [True, True] Translation: X:128.37, Y:-60.12, Z:-18.49 [[ 7.28076323e-01 6.82024662e-01 6.89001292e-02 1.28373545e+02] [-6.78786635e-01 7.31327478e-01 -6.63989800e-02 -6.01164904e+01] [-9.56742996e-02 1.57503835e-03 9.95411446e-01 -1.84944008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.038241008 meters 0.06549786587092178 Centerline is valid? [True, True] Translation: X:128.40, Y:-60.14, Z:-18.50 [[ 7.27745898e-01 6.82395097e-01 6.87229284e-02 1.28399704e+02] [-6.79172317e-01 7.30981903e-01 -6.62602559e-02 -6.01373531e+01] [-9.54508907e-02 1.54591887e-03 9.95432940e-01 -1.84955040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.068241008 meters 0.06558476758946871 Centerline is valid? [True, True] Translation: X:128.42, Y:-60.16, Z:-18.50 [[ 7.28197432e-01 6.81932941e-01 6.85271132e-02 1.28423260e+02] [-6.78723130e-01 7.31412889e-01 -6.61067194e-02 -6.01590802e+01] [-9.52019634e-02 1.62780657e-03 9.95456647e-01 -1.84998596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.098241008 meters 0.06580959649630887 Centerline is valid? [True, True] Translation: X:128.45, Y:-60.18, Z:-18.50 [[ 7.28385949e-01 6.81732137e-01 6.85215437e-02 1.28445850e+02] [-6.78518835e-01 7.31599944e-01 -6.61340561e-02 -6.01809870e+01] [-9.52160690e-02 1.67795924e-03 9.95455215e-01 -1.85046642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.128241008 meters 0.06571156539015384 Centerline is valid? [True, True] Translation: X:128.47, Y:-60.21, Z:-18.51 [[ 7.29056802e-01 6.80953745e-01 6.91243599e-02 1.28471608e+02] [-6.77677315e-01 7.32324176e-01 -6.67439729e-02 -6.02056791e+01] [-9.60709982e-02 1.81613676e-03 9.95372827e-01 -1.85069682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.158241008 meters 0.06592430407058415 Centerline is valid? [True, True] Translation: X:128.49, Y:-60.23, Z:-18.51 [[ 7.30551120e-01 6.79286419e-01 6.97497076e-02 1.28492648e+02] [-6.75937359e-01 7.33870270e-01 -6.74026229e-02 -6.02304239e+01] [-9.69729232e-02 2.09462856e-03 9.95284816e-01 -1.85090344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.188241008 meters 0.06606495931890152 Centerline is valid? [True, True] Translation: X:128.52, Y:-60.25, Z:-18.51 [[ 7.31068482e-01 6.78672540e-01 7.03026188e-02 1.28515415e+02] [-6.75263912e-01 7.34437651e-01 -6.79704787e-02 -6.02532239e+01] [-9.77625876e-02 2.21825329e-03 9.95207293e-01 -1.85128520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.218241008 meters 0.06688512085966031 Centerline is valid? [True, True] Translation: X:128.54, Y:-60.28, Z:-18.52 [[ 7.31782624e-01 6.77926883e-01 7.00666303e-02 1.28536888e+02] [-6.74534291e-01 7.35125624e-01 -6.77776324e-02 -6.02776558e+01] [-9.74560544e-02 2.33614886e-03 9.95237087e-01 -1.85183022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.248241008 meters 0.06646486885013961 Centerline is valid? [True, True] Translation: X:128.56, Y:-60.30, Z:-18.52 [[ 7.31670981e-01 6.78003653e-01 7.04884583e-02 1.28561268e+02] [-6.74566483e-01 7.35054716e-01 -6.82248132e-02 -6.02992711e+01] [-9.80695462e-02 2.36896453e-03 9.95176744e-01 -1.85207581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.278241008 meters 0.0657300075512518 Centerline is valid? [True, True] Translation: X:128.59, Y:-60.32, Z:-18.52 [[ 7.30003598e-01 6.79869195e-01 6.98041860e-02 1.28587803e+02] [-6.76503834e-01 7.33330330e-01 -6.75957742e-02 -6.03189859e+01] [-9.71458114e-02 2.12235888e-03 9.95267897e-01 -1.85225726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.308241008 meters 0.06578598514358575 Centerline is valid? [True, True] Translation: X:128.61, Y:-60.34, Z:-18.53 [[ 7.28518979e-01 6.81462601e-01 6.97769289e-02 1.28611325e+02] [-6.78103512e-01 7.31850375e-01 -6.76066196e-02 -6.03395702e+01] [-9.71376545e-02 1.93672498e-03 9.95269072e-01 -1.85282015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.338241008 meters 0.06497417209220913 Centerline is valid? [True, True] Translation: X:128.64, Y:-60.36, Z:-18.53 [[ 7.26542748e-01 6.83558848e-01 6.98780136e-02 1.28638537e+02] [-6.80196671e-01 7.29893467e-01 -6.77348852e-02 -6.03585079e+01] [-9.73042858e-02 1.68149733e-03 9.95253259e-01 -1.85306730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.368241008 meters 0.06477213721936245 Centerline is valid? [True, True] Translation: X:128.67, Y:-60.38, Z:-18.53 [[ 7.24574942e-01 6.85607061e-01 7.02432296e-02 1.28665273e+02] [-6.82215673e-01 7.27970387e-01 -6.81240887e-02 -6.03793989e+01] [-9.78413472e-02 1.43997544e-03 9.95200983e-01 -1.85343820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.398241008 meters 0.06460819878732331 Centerline is valid? [True, True] Translation: X:128.69, Y:-60.40, Z:-18.54 [[ 7.21446539e-01 6.88834196e-01 7.08684798e-02 1.28691785e+02] [-6.85393145e-01 7.24918175e-01 -6.87740948e-02 -6.03962299e+01] [-9.87477973e-02 1.04406239e-03 9.95111945e-01 -1.85393485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.42824100800001 meters 0.06420475464397385 Centerline is valid? [True, True] Translation: X:128.72, Y:-60.42, Z:-18.54 [[ 7.20312252e-01 6.90007530e-01 7.09920327e-02 1.28717664e+02] [-6.86557065e-01 7.23801620e-01 -6.89246762e-02 -6.04160159e+01] [-9.89426939e-02 9.07207070e-04 9.95092719e-01 -1.85398477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.458241008 meters 0.06420351995760931 Centerline is valid? [True, True] Translation: X:128.74, Y:-60.44, Z:-18.54 [[ 7.19049226e-01 6.91389147e-01 7.03509594e-02 1.28741141e+02] [-6.88004005e-01 7.22482183e-01 -6.83372828e-02 -6.04364531e+01] [-9.80749704e-02 7.36128533e-04 9.95178757e-01 -1.85446037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.488241008 meters 0.06428057432010993 Centerline is valid? [True, True] Translation: X:128.77, Y:-60.46, Z:-18.55 [[ 7.18679310e-01 6.91762582e-01 7.04597660e-02 1.28765803e+02] [-6.88365417e-01 7.22124660e-01 -6.84764751e-02 -6.04582384e+01] [-9.82501979e-02 7.10559700e-04 9.95161491e-01 -1.85490891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.518241008 meters 0.0640101038088969 Centerline is valid? [True, True] Translation: X:128.79, Y:-60.48, Z:-18.55 [[ 7.18927715e-01 6.91511877e-01 7.03865320e-02 1.28791296e+02] [-6.88117068e-01 7.22364680e-01 -6.84409961e-02 -6.04795529e+01] [-9.81725064e-02 7.69954921e-04 9.95169114e-01 -1.85506279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.548241008 meters 0.06443103938418313 Centerline is valid? [True, True] Translation: X:128.81, Y:-60.50, Z:-18.56 [[ 7.19510579e-01 6.90920963e-01 7.02335311e-02 1.28813069e+02] [-6.87534454e-01 7.22929772e-01 -6.83294893e-02 -6.05026756e+01] [-9.79841872e-02 8.75817960e-04 9.95187586e-01 -1.85578750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.578241008 meters 0.06442539550520286 Centerline is valid? [True, True] Translation: X:128.84, Y:-60.53, Z:-18.56 [[ 7.19751483e-01 6.90641077e-01 7.05174159e-02 1.28836861e+02] [-6.87221723e-01 7.23197073e-01 -6.86461775e-02 -6.05268674e+01] [-9.84078587e-02 9.47088021e-04 9.95145716e-01 -1.85614901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.608241008 meters 0.06436575462069995 Centerline is valid? [True, True] Translation: X:128.86, Y:-60.55, Z:-18.57 [[ 7.20014561e-01 6.90397381e-01 7.02174325e-02 1.28860327e+02] [-6.87001947e-01 7.23429640e-01 -6.83950370e-02 -6.05494114e+01] [-9.80171263e-02 1.00590975e-03 9.95184220e-01 -1.85652020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.638241008 meters 0.06465266950457838 Centerline is valid? [True, True] Translation: X:128.89, Y:-60.57, Z:-18.57 [[ 7.21637974e-01 6.88624784e-01 7.09544979e-02 1.28885964e+02] [-6.85145755e-01 7.25116721e-01 -6.91450244e-02 -6.05748151e+01] [-9.90652703e-02 1.28350226e-03 9.95080110e-01 -1.85685743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.668241008 meters 0.0649163268386349 Centerline is valid? [True, True] Translation: X:128.91, Y:-60.60, Z:-18.57 [[ 7.22623682e-01 6.87601416e-01 7.08470688e-02 1.28907678e+02] [-6.84122109e-01 7.26086873e-01 -6.90998807e-02 -6.05970636e+01] [-9.89543024e-02 1.46516415e-03 9.95090900e-01 -1.85728882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.698241008 meters 0.065010591921043 Centerline is valid? [True, True] Translation: X:128.93, Y:-60.62, Z:-18.58 [[ 7.23930072e-01 6.86213846e-01 7.09634322e-02 1.28931436e+02] [-6.82713292e-01 7.27397919e-01 -6.92446966e-02 -6.06201460e+01] [-9.91353225e-02 1.68063979e-03 9.95072542e-01 -1.85755716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.728241008 meters 0.065010591921043 Centerline is valid? [True, True] Translation: X:128.95, Y:-60.64, Z:-18.58 [[ 7.23752935e-01 6.86402522e-01 7.09455111e-02 1.28954300e+02] [-6.82901074e-01 7.27219879e-01 -6.92630519e-02 -6.06426721e+01] [-9.91353196e-02 1.68057138e-03 9.95072542e-01 -1.85795975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.758241008 meters 0.06537560929224477 Centerline is valid? [True, True] Translation: X:128.98, Y:-60.67, Z:-18.58 [[ 7.24913889e-01 6.85187841e-01 7.08341434e-02 1.28976345e+02] [-6.81687986e-01 7.28364005e-01 -6.91908026e-02 -6.06656632e+01] [-9.90017370e-02 1.87058924e-03 9.95085502e-01 -1.85837696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.788241008 meters 0.06482932529080586 Centerline is valid? [True, True] Translation: X:129.00, Y:-60.69, Z:-18.58 [[ 7.25504441e-01 6.84616813e-01 7.03073623e-02 1.29001310e+02] [-6.81162783e-01 7.28900527e-01 -6.87116054e-02 -6.06867273e+01] [-9.82881938e-02 1.95981629e-03 9.95156063e-01 -1.85846335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.818241008 meters 0.06548436376877073 Centerline is valid? [True, True] Translation: X:129.02, Y:-60.71, Z:-18.59 [[ 7.26413170e-01 6.83831948e-01 6.85403074e-02 1.29024945e+02] [-6.80544690e-01 7.29636734e-01 -6.70012032e-02 -6.07094585e+01] [-9.58270893e-02 2.02581411e-03 9.95395934e-01 -1.85915767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.848241008 meters 0.06524816347364425 Centerline is valid? [True, True] Translation: X:129.05, Y:-60.73, Z:-18.60 [[ 7.25655286e-01 6.84675196e-01 6.81489692e-02 1.29050233e+02] [-6.81425073e-01 7.28845753e-01 -6.66613622e-02 -6.07301487e+01] [-9.53114680e-02 1.93475348e-03 9.95445619e-01 -1.85952549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.878241008 meters 0.06528701335843541 Centerline is valid? [True, True] Translation: X:129.08, Y:-60.75, Z:-18.60 [[ 7.23355327e-01 6.87178384e-01 6.74013381e-02 1.29077428e+02] [-6.84006966e-01 7.26486937e-01 -6.59636350e-02 -6.07481367e+01] [-9.42949758e-02 1.61216203e-03 9.95542997e-01 -1.86014161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.908241008 meters 0.06520946272189357 Centerline is valid? [True, True] Translation: X:129.10, Y:-60.77, Z:-18.61 [[ 7.21516655e-01 6.89150931e-01 6.69679830e-02 1.29101963e+02] [-6.86025195e-01 7.24616525e-01 -6.55768464e-02 -6.07679187e+01] [-9.37184519e-02 1.37306320e-03 9.95597794e-01 -1.86059799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.938241008 meters 0.06512381171061182 Centerline is valid? [True, True] Translation: X:129.13, Y:-60.79, Z:-18.61 [[ 7.20254446e-01 6.90477627e-01 6.68893115e-02 1.29126636e+02] [-6.87361892e-01 7.23352716e-01 -6.55322624e-02 -6.07873327e+01] [-9.36331262e-02 1.22273962e-03 9.95606018e-01 -1.86100618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.968241008 meters 0.06503814636384429 Centerline is valid? [True, True] Translation: X:129.15, Y:-60.81, Z:-18.61 [[ 7.18679632e-01 6.92116575e-01 6.68897008e-02 1.29152380e+02] [-6.89005051e-01 7.21784998e-01 -6.55626169e-02 -6.08078032e+01] [-9.36569564e-02 1.03117569e-03 9.95603993e-01 -1.86145942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.998241008 meters 0.06474839651451869 Centerline is valid? [True, True] Translation: X:129.18, Y:-60.83, Z:-18.62 [[ 7.16648313e-01 6.94264434e-01 6.64235773e-02 1.29180234e+02] [-6.91202748e-01 7.19719605e-01 -6.51341047e-02 -6.08255331e+01] [-9.30266431e-02 7.66087058e-04 9.95663325e-01 -1.86174911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.028241008 meters 0.06501090036010528 Centerline is valid? [True, True] Translation: X:129.21, Y:-60.85, Z:-18.62 [[ 7.15537141e-01 6.95391624e-01 6.66114803e-02 1.29206254e+02] [-6.92314548e-01 7.18630694e-01 -6.53489978e-02 -6.08470362e+01] [-9.33122001e-02 6.43538175e-04 9.95636690e-01 -1.86237467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.058241008 meters 0.06472993902252373 Centerline is valid? [True, True] Translation: X:129.23, Y:-60.87, Z:-18.63 [[ 7.14226693e-01 6.96677392e-01 6.72372137e-02 1.29231475e+02] [-6.93542961e-01 7.17384377e-01 -6.60137633e-02 -6.08666995e+01] [-9.42252231e-02 5.16895509e-04 9.95550772e-01 -1.86265409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.088241008 meters 0.06461621441002835 Centerline is valid? [True, True] Translation: X:129.26, Y:-60.89, Z:-18.63 [[ 7.13081748e-01 6.97858466e-01 6.71415132e-02 1.29256650e+02] [-6.94735552e-01 7.16235588e-01 -6.59476797e-02 -6.08881703e+01] [-9.41112878e-02 3.80490486e-04 9.95561611e-01 -1.86291691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.118241008 meters 0.06461719072690426 Centerline is valid? [True, True] Translation: X:129.28, Y:-60.91, Z:-18.63 [[ 7.11797368e-01 6.99161084e-01 6.72181875e-02 1.29280367e+02] [-6.96033145e-01 7.14964141e-01 -6.60616322e-02 -6.09083981e+01] [-9.42463161e-02 2.36409525e-04 9.95548882e-01 -1.86326153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.148241008 meters 0.0647974062969515 Centerline is valid? [True, True] Translation: X:129.30, Y:-60.93, Z:-18.64 [[ 7.10576454e-01 7.00439991e-01 6.68200723e-02 1.29304580e+02] [-6.97353126e-01 7.13711295e-01 -6.56871753e-02 -6.09275793e+01] [-9.37001648e-02 7.85737786e-05 9.95600459e-01 -1.86377106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.17824100800001 meters 0.06444375454783152 Centerline is valid? [True, True] Translation: X:129.33, Y:-60.94, Z:-18.64 [[ 7.08022122e-01 7.02912899e-01 6.79568316e-02 1.29333834e+02] [-6.99728354e-01 7.11275898e-01 -6.68343255e-02 -6.09436832e+01] [-9.53147660e-02 -2.31140958e-04 9.95447157e-01 -1.86383892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.208241008 meters 0.06461967837491372 Centerline is valid? [True, True] Translation: X:129.36, Y:-60.96, Z:-18.64 [[ 7.06942408e-01 7.03947126e-01 6.84899604e-02 1.29359475e+02] [-7.00714227e-01 7.10252293e-01 -6.73888210e-02 -6.09643072e+01] [-9.60833183e-02 -3.51874228e-04 9.95373233e-01 -1.86445702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.238241008 meters 0.06461027453090862 Centerline is valid? [True, True] Translation: X:129.38, Y:-60.99, Z:-18.65 [[ 7.05918403e-01 7.04918741e-01 6.90563276e-02 1.29383601e+02] [-7.01632778e-01 7.09287923e-01 -6.79859370e-02 -6.09858002e+01] [-9.69053803e-02 -4.59658904e-04 9.95293492e-01 -1.86469359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.268241008 meters 0.06439557357532225 Centerline is valid? [True, True] Translation: X:129.41, Y:-61.01, Z:-18.65 [[ 7.04957170e-01 7.05838643e-01 6.94780464e-02 1.29407863e+02] [-7.02513901e-01 7.08372421e-01 -6.84304898e-02 -6.10087688e+01] [-9.75172160e-02 -5.68729019e-04 9.95233676e-01 -1.86478982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.298241008 meters 0.06452293393228012 Centerline is valid? [True, True] Translation: X:129.43, Y:-61.03, Z:-18.65 [[ 7.04727843e-01 7.06036036e-01 6.97981559e-02 1.29432693e+02] [-7.02677839e-01 7.08175676e-01 -6.87827474e-02 -6.10284697e+01] [-9.79924545e-02 -5.72500207e-04 9.95186993e-01 -1.86538439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.328241008 meters 0.06454643606671685 Centerline is valid? [True, True] Translation: X:129.46, Y:-61.05, Z:-18.66 [[ 7.04549673e-01 7.06301829e-01 6.89019939e-02 1.29457283e+02] [-7.03027769e-01 7.07910580e-01 -6.79305983e-02 -6.10515102e+01] [-9.67559564e-02 -5.79534296e-04 9.95307967e-01 -1.86578044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.358241008 meters 0.06459191309000702 Centerline is valid? [True, True] Translation: X:129.48, Y:-61.07, Z:-18.66 [[ 7.04204659e-01 7.06693313e-01 6.84131513e-02 1.29481497e+02] [-7.03463739e-01 7.07519752e-01 -6.74875452e-02 -6.10749650e+01] [-9.60966528e-02 -6.01127479e-04 9.95371826e-01 -1.86619973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.388241008 meters 0.06453516120008171 Centerline is valid? [True, True] Translation: X:129.51, Y:-61.10, Z:-18.66 [[ 7.03679745e-01 7.07251618e-01 6.80438487e-02 1.29505542e+02] [-7.04055645e-01 7.06961621e-01 -6.71633568e-02 -6.10972165e+01] [-9.56057823e-02 -6.45161947e-04 9.95419067e-01 -1.86646500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.418241008 meters 0.06467394147570385 Centerline is valid? [True, True] Translation: X:129.53, Y:-61.12, Z:-18.67 [[ 7.03423389e-01 7.07468771e-01 6.84359156e-02 1.29529004e+02] [-7.04233430e-01 7.06744304e-01 -6.75852474e-02 -6.11180238e+01] [-9.61811454e-02 -6.53815795e-04 9.95363632e-01 -1.86699992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.448241008 meters 0.06462530314237006 Centerline is valid? [True, True] Translation: X:129.55, Y:-61.14, Z:-18.67 [[ 7.03084442e-01 7.07802653e-01 6.84665727e-02 1.29553046e+02] [-7.04562915e-01 7.06409899e-01 -6.76472688e-02 -6.11394868e+01] [-9.62463811e-02 -6.77265842e-04 9.95357310e-01 -1.86743751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.478241008 meters 0.06498150868107372 Centerline is valid? [True, True] Translation: X:129.58, Y:-61.16, Z:-18.68 [[ 7.03041331e-01 7.07955966e-01 6.73144667e-02 1.29576218e+02] [-7.04821706e-01 7.06256267e-01 -6.65465907e-02 -6.11603292e+01] [-9.46533199e-02 -6.59693561e-04 9.95510077e-01 -1.86809818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.508241008 meters 0.06489695521338618 Centerline is valid? [True, True] Translation: X:129.60, Y:-61.18, Z:-18.68 [[ 7.02395896e-01 7.08605557e-01 6.72173357e-02 1.29599495e+02] [-7.05481885e-01 7.05604439e-01 -6.64656789e-02 -6.11838511e+01] [-9.45267999e-02 -7.35392605e-04 9.95522046e-01 -1.86838957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.538241008 meters 0.06537015696211448 Centerline is valid? [True, True] Translation: X:129.62, Y:-61.20, Z:-18.69 [[ 7.01849351e-01 7.09220697e-01 6.64341188e-02 1.29622302e+02] [-7.06168656e-01 7.04986094e-01 -6.57300252e-02 -6.12040496e+01] [-9.34522242e-02 -7.81116874e-04 9.95623459e-01 -1.86902661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.568241008 meters 0.0653025777546903 Centerline is valid? [True, True] Translation: X:129.65, Y:-61.23, Z:-18.69 [[ 7.00762838e-01 7.10282695e-01 6.65577868e-02 1.29646486e+02] [-7.07222967e-01 7.03915942e-01 -6.58636576e-02 -6.12258270e+01] [-9.36329034e-02 -9.16391828e-04 9.95606368e-01 -1.86931954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.598241008 meters 0.06553157319260883 Centerline is valid? [True, True] Translation: X:129.67, Y:-61.25, Z:-18.70 [[ 6.98425073e-01 7.12557353e-01 6.68164359e-02 1.29672991e+02] [-7.09480901e-01 7.01612838e-01 -6.61534316e-02 -6.12459033e+01] [-9.40173833e-02 -1.20176983e-03 9.95569831e-01 -1.86964694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.628241008 meters 0.06578964129163341 Centerline is valid? [True, True] Translation: X:129.70, Y:-61.27, Z:-18.70 [[ 6.97771597e-01 7.13208935e-01 6.66919379e-02 1.29696850e+02] [-7.10143245e-01 7.00950375e-01 -6.60692291e-02 -6.12669756e+01] [-9.38689034e-02 -1.25959775e-03 9.95583770e-01 -1.87016099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.658241008 meters 0.06587130118810863 Centerline is valid? [True, True] Translation: X:129.72, Y:-61.29, Z:-18.71 [[ 6.96819485e-01 7.14140978e-01 6.66728550e-02 1.29720350e+02] [-7.11080227e-01 7.00000549e-01 -6.60616538e-02 -6.12883670e+01] [-9.38483691e-02 -1.37670132e-03 9.95585550e-01 -1.87054176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.688241008 meters 0.06603683449168359 Centerline is valid? [True, True] Translation: X:129.74, Y:-61.31, Z:-18.71 [[ 6.96053882e-01 7.14848097e-01 6.70909240e-02 1.29743459e+02] [-7.11749266e-01 6.99278245e-01 -6.65050246e-02 -6.13101201e+01] [-9.44562139e-02 -1.46083537e-03 9.95527945e-01 -1.87094841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.718241008 meters 0.06590033356680057 Centerline is valid? [True, True] Translation: X:129.77, Y:-61.33, Z:-18.71 [[ 6.94601579e-01 7.16213067e-01 6.75832106e-02 1.29767326e+02] [-7.13071974e-01 6.97879763e-01 -6.70238471e-02 -6.13333407e+01] [-9.51683101e-02 -1.63682336e-03 9.95459850e-01 -1.87113357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.748241008 meters 0.06656008692677781 Centerline is valid? [True, True] Translation: X:129.79, Y:-61.35, Z:-18.72 [[ 6.93695498e-01 7.17160224e-01 6.68413699e-02 1.29789975e+02] [-7.14088486e-01 6.96906204e-01 -6.63278041e-02 -6.13532405e+01] [-9.41498282e-02 -1.71935354e-03 9.95556555e-01 -1.87178640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.778241008 meters 0.0666895488712124 Centerline is valid? [True, True] Translation: X:129.81, Y:-61.38, Z:-18.72 [[ 6.93344353e-01 7.17590037e-01 6.58646064e-02 1.29812784e+02] [-7.14608632e-01 6.96463563e-01 -6.53682555e-02 -6.13755395e+01] [-9.27799074e-02 -1.74470536e-03 9.95685113e-01 -1.87222538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.808241008 meters 0.0669034615413121 Centerline is valid? [True, True] Translation: X:129.84, Y:-61.40, Z:-18.73 [[ 6.92353217e-01 7.18567382e-01 6.56349074e-02 1.29835359e+02] [-7.15608496e-01 6.95454886e-01 -6.51688706e-02 -6.13976842e+01] [-9.24743418e-02 -1.84902022e-03 9.95713351e-01 -1.87265243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.838241008 meters 0.06671662581812092 Centerline is valid? [True, True] Translation: X:129.86, Y:-61.42, Z:-18.73 [[ 6.92399892e-01 7.18555790e-01 6.52684148e-02 1.29857609e+02] [-7.15627387e-01 6.95466944e-01 -6.48318811e-02 -6.14221885e+01] [-9.19773486e-02 -1.81827769e-03 9.95759439e-01 -1.87301228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.868241008 meters 0.06680965428272038 Centerline is valid? [True, True] Translation: X:129.88, Y:-61.45, Z:-18.73 [[ 6.92743427e-01 7.18257226e-01 6.49084089e-02 1.29878882e+02] [-7.15356698e-01 6.95775475e-01 -6.45080166e-02 -6.14460475e+01] [-9.14950281e-02 -1.74516056e-03 9.95804004e-01 -1.87349135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.898241008 meters 0.06634859673334928 Centerline is valid? [True, True] Translation: X:129.90, Y:-61.47, Z:-18.74 [[ 6.93908377e-01 7.17142346e-01 6.47921298e-02 1.29898489e+02] [-7.14244685e-01 6.96924943e-01 -6.44216911e-02 -6.14736837e+01] [-9.13547741e-02 -1.57468316e-03 9.95817165e-01 -1.87367636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.92824100800001 meters 0.0661874748301892 Centerline is valid? [True, True] Translation: X:129.92, Y:-61.50, Z:-18.74 [[ 6.95008149e-01 7.16074057e-01 6.48198878e-02 1.29920267e+02] [-7.13165839e-01 6.98022894e-01 -6.44866242e-02 -6.14977988e+01] [-9.14229643e-02 -1.40860033e-03 9.95811156e-01 -1.87410808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.958241008 meters 0.06595207951191288 Centerline is valid? [True, True] Translation: X:129.94, Y:-61.52, Z:-18.75 [[ 6.96207766e-01 7.14920752e-01 6.46766196e-02 1.29941549e+02] [-7.12017619e-01 6.99204404e-01 -6.43747796e-02 -6.15229222e+01] [-9.12450431e-02 -1.23267121e-03 9.95827707e-01 -1.87454334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.988241008 meters 0.06612667306801932 Centerline is valid? [True, True] Translation: X:129.96, Y:-61.55, Z:-18.75 [[ 6.97690810e-01 7.13397745e-01 6.55071870e-02 1.29960868e+02] [-7.10409304e-01 7.00758600e-01 -6.52380707e-02 -6.15463087e+01] [-9.24454172e-02 -1.02091266e-03 9.95717230e-01 -1.87522860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.018241008 meters 0.06569730820531915 Centerline is valid? [True, True] Translation: X:129.98, Y:-61.57, Z:-18.75 [[ 6.99078569e-01 7.12064029e-01 6.52224826e-02 1.29980133e+02] [-7.09093317e-01 7.02114052e-01 -6.49809626e-02 -6.15726996e+01] [-9.20642276e-02 -8.22028159e-04 9.95752732e-01 -1.87541566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.048241008 meters 0.06539980927100329 Centerline is valid? [True, True] Translation: X:130.00, Y:-61.60, Z:-18.76 [[ 7.00446832e-01 7.10659094e-01 6.58626346e-02 1.29999960e+02] [-7.07620705e-01 7.03536256e-01 -6.56481100e-02 -6.15985981e+01] [-9.29901778e-02 -6.22753245e-04 9.95666831e-01 -1.87562365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.078241008 meters 0.06486998608524021 Centerline is valid? [True, True] Translation: X:130.02, Y:-61.63, Z:-18.76 [[ 7.02407649e-01 7.08584895e-01 6.73122656e-02 1.30017643e+02] [-7.05398555e-01 7.05625492e-01 -6.71233427e-02 -6.16265302e+01] [-9.50598373e-02 -3.34025606e-04 9.95471504e-01 -1.87564543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.108241008 meters 0.06487327206614896 Centerline is valid? [True, True] Translation: X:130.04, Y:-61.65, Z:-18.76 [[ 7.02546384e-01 7.08473233e-01 6.70392217e-02 1.30039087e+02] [-7.05309491e-01 7.05737622e-01 -6.68799761e-02 -6.16512247e+01] [-9.46947737e-02 -2.97113951e-04 9.95506309e-01 -1.87597115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.138241008 meters 0.06521275792214588 Centerline is valid? [True, True] Translation: X:130.06, Y:-61.67, Z:-18.77 [[ 7.02204629e-01 7.08819433e-01 6.69602101e-02 1.30060732e+02] [-7.05661377e-01 7.05389899e-01 -6.68364558e-02 -6.16739701e+01] [-9.46080346e-02 -3.18365380e-04 9.95514550e-01 -1.87674020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.168241008 meters 0.06516273623294022 Centerline is valid? [True, True] Translation: X:130.08, Y:-61.70, Z:-18.77 [[ 7.01325530e-01 7.09745670e-01 6.63595108e-02 1.30083374e+02] [-7.06645317e-01 7.04457884e-01 -6.62682938e-02 -6.16971900e+01] [-9.37811152e-02 -4.16991249e-04 9.95592752e-01 -1.87694902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.198241008 meters 0.06529026286819965 Centerline is valid? [True, True] Translation: X:130.11, Y:-61.72, Z:-18.77 [[ 7.00016461e-01 7.11049595e-01 6.62225622e-02 1.30106187e+02] [-7.07964673e-01 7.03141630e-01 -6.61654719e-02 -6.17193930e+01] [-9.36107723e-02 -5.66315109e-04 9.95608710e-01 -1.87743533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.228241008 meters 0.06598221805526303 Centerline is valid? [True, True] Translation: X:130.13, Y:-61.74, Z:-18.78 [[ 6.97439538e-01 7.13701994e-01 6.48656649e-02 1.30129927e+02] [-7.10751526e-01 7.00448914e-01 -6.48350807e-02 -6.17414753e+01] [-9.17080109e-02 -8.84821523e-04 9.95785548e-01 -1.87822681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.258241008 meters 0.06637077321391195 Centerline is valid? [True, True] Translation: X:131.23, Y:-60.97, Z:-17.73 [[ 7.58893064e-01 -6.41443464e-01 -1.12390391e-01 1.31233646e+02] [-6.32261598e-01 -7.67084569e-01 1.08749875e-01 -6.09743546e+01] [-1.55969831e-01 -1.14693978e-02 -9.87695229e-01 -1.77314759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.288241008 meters 0.06715307502149286 Centerline is valid? [True, True] Translation: X:130.29, Y:-61.92, Z:-18.81 [[ 7.48649405e-01 6.59515349e-01 6.75542199e-02 1.30289397e+02] [-6.56995796e-01 7.51690048e-01 -5.76072522e-02 -6.19233042e+01] [-8.87727018e-02 -1.25520338e-03 9.96051119e-01 -1.88112071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.318241008 meters 0.0669793521080065 Centerline is valid? [True, True] Translation: X:130.31, Y:-61.95, Z:-18.81 [[ 7.48181424e-01 6.60078354e-01 6.72392978e-02 1.30313215e+02] [-6.57582088e-01 7.51195640e-01 -5.73664343e-02 -6.19457706e+01] [-8.83762089e-02 -1.29485732e-03 9.96086326e-01 -1.88143357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.348241008 meters 0.06734268125400814 Centerline is valid? [True, True] Translation: X:130.34, Y:-61.97, Z:-18.82 [[ 7.47760194e-01 6.60537443e-01 6.74164537e-02 1.30336361e+02] [-6.58027061e-01 7.50791928e-01 -5.75488297e-02 -6.19667856e+01] [-8.86288861e-02 -1.32912686e-03 9.96063830e-01 -1.88201282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.378241008 meters 0.06752727239249762 Centerline is valid? [True, True] Translation: X:130.36, Y:-61.99, Z:-18.82 [[ 7.47693755e-01 6.60641596e-01 6.71321933e-02 1.30359205e+02] [-6.58150321e-01 7.50700309e-01 -5.73341179e-02 -6.19892761e+01] [-8.82734613e-02 -1.31471268e-03 9.96095411e-01 -1.88242127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.408241008 meters 0.06718124932071078 Centerline is valid? [True, True] Translation: X:130.38, Y:-62.01, Z:-18.83 [[ 7.48041094e-01 6.60065597e-01 6.89052227e-02 1.30378560e+02] [-6.57435517e-01 7.51206914e-01 -5.88788044e-02 -6.20147788e+01] [-9.06259529e-02 -1.25697548e-03 9.95884208e-01 -1.88258070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.438241008 meters 0.06673314282636632 Centerline is valid? [True, True] Translation: X:130.40, Y:-62.04, Z:-18.83 [[ 7.48739503e-01 6.59211759e-01 6.94910992e-02 1.30400019e+02] [-6.56530791e-01 7.51956478e-01 -5.94035043e-02 -6.20381467e+01] [-9.14137708e-02 -1.14529594e-03 9.95812337e-01 -1.88290558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.468241008 meters 0.06659594099364397 Centerline is valid? [True, True] Translation: X:130.42, Y:-62.06, Z:-18.83 [[ 7.49689952e-01 6.58096518e-01 6.98136754e-02 1.30421209e+02] [-6.55383219e-01 7.52932923e-01 -5.97063673e-02 -6.20610690e+01] [-9.18575671e-02 -9.93447685e-04 9.95771661e-01 -1.88333458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.498241008 meters 0.06641578000911043 Centerline is valid? [True, True] Translation: X:130.44, Y:-62.08, Z:-18.84 [[ 7.50968654e-01 6.56561564e-01 7.05194534e-02 1.30442979e+02] [-6.53784049e-01 7.54272019e-01 -6.03335634e-02 -6.20846280e+01] [-9.28035493e-02 -7.95878862e-04 9.95684121e-01 -1.88381173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.528241008 meters 0.06615444913147235 Centerline is valid? [True, True] Translation: X:130.46, Y:-62.11, Z:-18.84 [[ 7.53630497e-01 6.53509590e-01 7.04719018e-02 1.30460587e+02] [-6.50719864e-01 7.56918131e-01 -6.03208201e-02 -6.21133767e+01] [-9.27616946e-02 -3.97856682e-04 9.95688259e-01 -1.88435875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.558241008 meters 0.06587043141813355 Centerline is valid? [True, True] Translation: X:130.48, Y:-62.14, Z:-18.85 [[ 7.55547606e-01 6.51213552e-01 7.11949772e-02 1.30479872e+02] [-6.48353233e-01 7.58894526e-01 -6.09687153e-02 -6.21403319e+01] [-9.37331321e-02 -9.47267850e-05 9.95597354e-01 -1.88465151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.588241008 meters 0.06575834118940856 Centerline is valid? [True, True] Translation: X:130.50, Y:-62.17, Z:-18.85 [[ 7.57792809e-01 6.48560734e-01 7.15474207e-02 1.30497730e+02] [-6.45657314e-01 7.61162865e-01 -6.13002918e-02 -6.21671311e+01] [-9.42162020e-02 2.57804880e-04 9.95551727e-01 -1.88493849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.618241008 meters 0.06531408893805889 Centerline is valid? [True, True] Translation: X:130.52, Y:-62.19, Z:-18.85 [[ 7.60078572e-01 6.45859222e-01 7.17386179e-02 1.30518997e+02] [-6.42926218e-01 7.63456281e-01 -6.14848382e-02 -6.21944025e+01] [-9.44798481e-02 6.10669783e-04 9.95526587e-01 -1.88477209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.648241008 meters 0.06617080727862965 Centerline is valid? [True, True] Translation: X:130.54, Y:-62.22, Z:-18.86 [[ 7.62266069e-01 6.43227820e-01 7.21693176e-02 1.30537310e+02] [-6.40243586e-01 7.65674226e-01 -6.18961349e-02 -6.22210855e+01] [-9.50715023e-02 9.75380761e-04 9.95469968e-01 -1.88565528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.67824100800001 meters 0.06617080727862965 Centerline is valid? [True, True] Translation: X:130.56, Y:-62.24, Z:-18.86 [[ 7.62114112e-01 6.43408827e-01 7.21606690e-02 1.30561558e+02] [-6.40424447e-01 7.65522141e-01 -6.19062159e-02 -6.22421385e+01] [-9.50715955e-02 9.66144225e-04 9.95469969e-01 -1.88605595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.708241008 meters 0.06734829739935023 Centerline is valid? [True, True] Translation: X:130.58, Y:-62.27, Z:-18.87 [[ 7.65983112e-01 6.38830620e-01 7.18700998e-02 1.30577535e+02] [-6.35846880e-01 7.69345839e-01 -6.16905629e-02 -6.22716067e+01] [-9.47027827e-02 1.55555070e-03 9.95504376e-01 -1.88669918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.738241008 meters 0.06655658967411382 Centerline is valid? [True, True] Translation: X:130.60, Y:-62.29, Z:-18.87 [[ 7.66754463e-01 6.37947241e-01 7.14906428e-02 1.30601758e+02] [-6.34990082e-01 7.70078273e-01 -6.13762843e-02 -6.22944831e+01] [-9.42082219e-02 1.66469077e-03 9.95551124e-01 -1.88666923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.768241008 meters 0.0666382669764655 Centerline is valid? [True, True] Translation: X:130.62, Y:-62.32, Z:-18.87 [[ 7.67170843e-01 6.37486480e-01 7.11328724e-02 1.30624620e+02] [-6.34554129e-01 7.70459587e-01 -6.10989545e-02 -6.23171448e+01] [-9.37547609e-02 1.73567856e-03 9.95593809e-01 -1.88707149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.798241008 meters 0.06631039734575961 Centerline is valid? [True, True] Translation: X:130.65, Y:-62.34, Z:-18.87 [[ 7.67332469e-01 6.37350989e-01 7.06016917e-02 1.30649656e+02] [-6.34459303e-01 7.70571619e-01 -6.06693785e-02 -6.23389356e+01] [-9.30713483e-02 1.75968387e-03 9.95657887e-01 -1.88735914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.828241008 meters 0.06718324806731422 Centerline is valid? [True, True] Translation: X:130.67, Y:-62.36, Z:-18.88 [[ 7.66568994e-01 6.38282471e-01 7.04802426e-02 1.30670184e+02] [-6.35401174e-01 7.69800422e-01 -6.06024599e-02 -6.23629990e+01] [-9.29372084e-02 1.67273786e-03 9.95670567e-01 -1.88830421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.858241008 meters 0.06724681375191043 Centerline is valid? [True, True] Translation: X:130.69, Y:-62.38, Z:-18.89 [[ 7.66132363e-01 6.38742936e-01 7.10539499e-02 1.30693031e+02] [-6.35812845e-01 7.69418422e-01 -6.11336132e-02 -6.23843400e+01] [-9.37188816e-02 1.65942550e-03 9.95597317e-01 -1.88871905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.888241008 meters 0.06635091755809731 Centerline is valid? [True, True] Translation: X:130.72, Y:-62.40, Z:-18.89 [[ 7.65493492e-01 6.39512387e-01 7.10184577e-02 1.30719574e+02] [-6.36586183e-01 7.68779162e-01 -6.11279963e-02 -6.24045232e+01] [-9.36896212e-02 1.58371434e-03 9.95600194e-01 -1.88868601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.918241008 meters 0.06631220391939341 Centerline is valid? [True, True] Translation: X:130.74, Y:-62.43, Z:-18.89 [[ 7.64725264e-01 6.40433980e-01 7.09900560e-02 1.30744292e+02] [-6.37511157e-01 7.68011774e-01 -6.11346032e-02 -6.24261799e+01] [-9.36738761e-02 1.49422279e-03 9.95601814e-01 -1.88915617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.948241008 meters 0.06599724703926356 Centerline is valid? [True, True] Translation: X:130.77, Y:-62.45, Z:-18.89 [[ 7.63642560e-01 6.41615864e-01 7.19661291e-02 1.30769246e+02] [-6.38613486e-01 7.67024856e-01 -6.20135965e-02 -6.24473840e+01] [-9.49887171e-02 1.39768108e-03 9.95477368e-01 -1.88941988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.978241008 meters 0.06557557027654028 Centerline is valid? [True, True] Translation: X:130.79, Y:-62.47, Z:-18.90 [[ 7.62750069e-01 6.42632505e-01 7.23587996e-02 1.30794026e+02] [-6.39598584e-01 7.66173456e-01 -6.23849976e-02 -6.24680257e+01] [-9.55300188e-02 1.30357542e-03 9.95425696e-01 -1.88974444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.008241008 meters 0.06561510464367243 Centerline is valid? [True, True] Translation: X:130.82, Y:-62.49, Z:-18.90 [[ 7.62012386e-01 6.43478415e-01 7.26130359e-02 1.30817938e+02] [-6.40423654e-01 7.65463272e-01 -6.26380190e-02 -6.24881178e+01] [-9.58888253e-02 1.22784046e-03 9.95391293e-01 -1.89015654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.038241008 meters 0.06543412283464543 Centerline is valid? [True, True] Translation: X:130.84, Y:-62.51, Z:-18.91 [[ 7.60927677e-01 6.44618475e-01 7.38653595e-02 1.30842461e+02] [-6.41459312e-01 7.64503596e-01 -6.37510993e-02 -6.25073065e+01] [-9.75654694e-02 1.12835325e-03 9.95228469e-01 -1.89063194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.068241008 meters 0.06533296641656665 Centerline is valid? [True, True] Translation: X:130.87, Y:-62.53, Z:-18.91 [[ 7.60594254e-01 6.44922072e-01 7.46451763e-02 1.30867641e+02] [-6.41694273e-01 7.64247512e-01 -6.44530855e-02 -6.25271487e+01] [-9.86146077e-02 1.12326435e-03 9.95125066e-01 -1.89091226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.098241008 meters 0.06525999982145532 Centerline is valid? [True, True] Translation: X:130.89, Y:-62.55, Z:-18.91 [[ 7.60223495e-01 6.45365983e-01 7.45854234e-02 1.30892834e+02] [-6.42142508e-01 7.63872741e-01 -6.44316376e-02 -6.25483701e+01] [-9.85557589e-02 1.08797393e-03 9.95130935e-01 -1.89132583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.128241008 meters 0.06502683696741313 Centerline is valid? [True, True] Translation: X:130.92, Y:-62.57, Z:-18.92 [[ 7.60055026e-01 6.45450941e-01 7.55608350e-02 1.30915905e+02] [-6.42138842e-01 7.63800907e-01 -6.53137232e-02 -6.25709287e+01] [-9.98702384e-02 1.12147651e-03 9.94999838e-01 -1.89158417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.158241008 meters 0.06511103917989455 Centerline is valid? [True, True] Translation: X:130.94, Y:-62.59, Z:-18.92 [[ 7.60258011e-01 6.45129742e-01 7.62586003e-02 1.30938725e+02] [-6.41750561e-01 7.64072096e-01 -6.59549123e-02 -6.25926602e+01] [-1.00816544e-01 1.20375091e-03 9.94904305e-01 -1.89195440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.188241008 meters 0.06485971810325662 Centerline is valid? [True, True] Translation: X:130.96, Y:-62.61, Z:-18.92 [[ 7.60504128e-01 6.44790481e-01 7.66727222e-02 1.30964011e+02] [-6.41369670e-01 7.64358294e-01 -6.63426291e-02 -6.26133366e+01] [-1.01382527e-01 1.27828478e-03 9.94846696e-01 -1.89220006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.218241008 meters 0.06470772870800992 Centerline is valid? [True, True] Translation: X:130.99, Y:-62.63, Z:-18.93 [[ 7.60515389e-01 6.44846929e-01 7.60840489e-02 1.30990020e+02] [-6.41475518e-01 7.64310659e-01 -6.58663429e-02 -6.26348464e+01] [-1.00625559e-01 1.28631269e-03 9.94923536e-01 -1.89259177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.248241008 meters 0.0650928871333387 Centerline is valid? [True, True] Translation: X:131.01, Y:-62.66, Z:-18.93 [[ 7.61092518e-01 6.44226325e-01 7.55686541e-02 1.31013695e+02] [-6.40893440e-01 7.64833648e-01 -6.54605918e-02 -6.26555372e+01] [-9.99688859e-02 1.39011192e-03 9.94989593e-01 -1.89337766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.278241008 meters 0.06560282268052814 Centerline is valid? [True, True] Translation: X:131.04, Y:-62.68, Z:-18.94 [[ 7.60696832e-01 6.44717167e-01 7.53664621e-02 1.31037952e+02] [-6.41401295e-01 7.64420016e-01 -6.53178322e-02 -6.26782273e+01] [-9.97231599e-02 1.34692172e-03 9.95014310e-01 -1.89413391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.308241008 meters 0.06499666380088198 Centerline is valid? [True, True] Translation: X:131.06, Y:-62.70, Z:-18.94 [[ 7.60006909e-01 6.45491356e-01 7.56994596e-02 1.31064879e+02] [-6.42145013e-01 7.63766490e-01 -6.56546400e-02 -6.26978078e+01] [-1.00196213e-01 1.28794952e-03 9.94966864e-01 -1.89423778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.338241008 meters 0.06479539091271529 Centerline is valid? [True, True] Translation: X:131.09, Y:-62.72, Z:-18.95 [[ 7.59477376e-01 6.46128541e-01 7.55779346e-02 1.31091299e+02] [-6.42792840e-01 7.63227622e-01 -6.55817230e-02 -6.27191801e+01] [-1.00057390e-01 1.22687973e-03 9.94980911e-01 -1.89456214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.368241008 meters 0.06451583447394448 Centerline is valid? [True, True] Translation: X:131.12, Y:-62.74, Z:-18.95 [[ 7.57590802e-01 6.48240015e-01 7.64268300e-02 1.31119051e+02] [-6.44834709e-01 7.61435417e-01 -6.63649362e-02 -6.27387252e+01] [-1.01214502e-01 9.94792563e-04 9.94864129e-01 -1.89489994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.398241008 meters 0.06425937221146519 Centerline is valid? [True, True] Translation: X:131.15, Y:-62.76, Z:-18.95 [[ 7.56612651e-01 6.49352420e-01 7.66728839e-02 1.31146449e+02] [-6.45926571e-01 7.60487120e-01 -6.66198627e-02 -6.27574441e+01] [-1.01568510e-01 8.80377929e-04 9.94828157e-01 -1.89526146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.42824100800001 meters 0.0644341646206285 Centerline is valid? [True, True] Translation: X:131.17, Y:-62.78, Z:-18.96 [[ 7.55388584e-01 6.50759205e-01 7.68149972e-02 1.31170853e+02] [-6.47324004e-01 7.59283831e-01 -6.67809690e-02 -6.27766004e+01] [-1.01782716e-01 7.21390046e-04 9.94806392e-01 -1.89597906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.458241008 meters 0.0640811735650355 Centerline is valid? [True, True] Translation: X:131.20, Y:-62.80, Z:-18.96 [[ 7.53260118e-01 6.53073148e-01 7.80682954e-02 1.31198112e+02] [-6.49533293e-01 7.57294703e-01 -6.79060634e-02 -6.27954199e+01] [-1.03468333e-01 4.42972286e-04 9.94632650e-01 -1.89620600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.488241008 meters 0.06393516195324007 Centerline is valid? [True, True] Translation: X:131.22, Y:-62.81, Z:-18.97 [[ 7.51899002e-01 6.54645060e-01 7.80239413e-02 1.31224127e+02] [-6.51113929e-01 7.55936360e-01 -6.79033954e-02 -6.28147990e+01] [-1.03433757e-01 2.54020270e-04 9.94636312e-01 -1.89657888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.518241008 meters 0.06393567051374761 Centerline is valid? [True, True] Translation: X:131.25, Y:-62.83, Z:-18.97 [[ 7.50263074e-01 6.56520138e-01 7.80168422e-02 1.31251340e+02] [-6.52996038e-01 7.54308496e-01 -6.79328075e-02 -6.28334522e+01] [-1.03448023e-01 2.27880627e-05 9.94634861e-01 -1.89701335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.548241008 meters 0.06389983805025698 Centerline is valid? [True, True] Translation: X:131.28, Y:-62.85, Z:-18.97 [[ 7.48094690e-01 6.58955877e-01 7.83038200e-02 1.31279325e+02] [-6.55415285e-01 7.52181541e-01 -6.82182867e-02 -6.28526505e+01] [-1.03851529e-01 -2.87782489e-04 9.94592770e-01 -1.89735307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.578241008 meters 0.06435119573733718 Centerline is valid? [True, True] Translation: X:131.31, Y:-62.87, Z:-18.98 [[ 7.45034658e-01 6.62374147e-01 7.86374474e-02 1.31307846e+02] [-6.58817539e-01 7.49172845e-01 -6.85528946e-02 -6.28678233e+01] [-1.04320705e-01 -7.33447215e-04 9.94543439e-01 -1.89810362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.608241008 meters 0.06456250040734096 Centerline is valid? [True, True] Translation: X:131.33, Y:-62.89, Z:-18.99 [[ 7.43382082e-01 6.64266229e-01 7.83163924e-02 1.31334072e+02] [-6.60745162e-01 7.47495447e-01 -6.83109667e-02 -6.28878121e+01] [-1.03917815e-01 -9.66028733e-04 9.94585418e-01 -1.89857537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.638241008 meters 0.064943077612619 Centerline is valid? [True, True] Translation: X:131.36, Y:-62.91, Z:-18.99 [[ 7.42272561e-01 6.65585840e-01 7.76333340e-02 1.31358679e+02] [-6.62129538e-01 7.46320474e-01 -6.77512016e-02 -6.29066298e+01] [-1.03033587e-01 -1.11346565e-03 9.94677254e-01 -1.89905446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.668241008 meters 0.06483198301067647 Centerline is valid? [True, True] Translation: X:131.38, Y:-62.93, Z:-18.99 [[ 7.41220712e-01 6.66707961e-01 7.80535140e-02 1.31383881e+02] [-6.63216972e-01 7.45318003e-01 -6.81492756e-02 -6.29274860e+01] [-1.03610354e-01 -1.25276061e-03 9.94617175e-01 -1.89926779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.698241008 meters 0.06473322968603042 Centerline is valid? [True, True] Translation: X:131.41, Y:-62.95, Z:-19.00 [[ 7.40810660e-01 6.66997564e-01 7.94595206e-02 1.31409122e+02] [-6.63376887e-01 7.45058784e-01 -6.94155189e-02 -6.29481550e+01] [-1.05501996e-01 -1.28785303e-03 9.94418257e-01 -1.89965226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.728241008 meters 0.06432702755290759 Centerline is valid? [True, True] Translation: X:131.43, Y:-62.97, Z:-19.00 [[ 7.41827733e-01 6.65690443e-01 8.09187776e-02 1.31433383e+02] [-6.61923679e-01 7.46227199e-01 -7.07249002e-02 -6.29725198e+01] [-1.07464683e-01 -1.09636254e-03 9.94208298e-01 -1.89986816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.758241008 meters 0.06397270738665209 Centerline is valid? [True, True] Translation: X:131.46, Y:-63.00, Z:-19.00 [[ 7.42953569e-01 6.64326075e-01 8.17976779e-02 1.31455180e+02] [-6.60462692e-01 7.47442380e-01 -7.15466342e-02 -6.29960612e+01] [-1.08669346e-01 -8.68487240e-04 9.94077572e-01 -1.90008263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.788241008 meters 0.06370963316750415 Centerline is valid? [True, True] Translation: X:131.48, Y:-63.02, Z:-19.00 [[ 7.44446134e-01 6.62638269e-01 8.19175102e-02 1.31476901e+02] [-6.58749667e-01 7.48939362e-01 -7.16847911e-02 -6.30192718e+01] [-1.08852334e-01 -5.97666988e-04 9.94057751e-01 -1.90049696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.818241008 meters 0.0636087644782875 Centerline is valid? [True, True] Translation: X:131.50, Y:-63.04, Z:-19.01 [[ 7.45767540e-01 6.61090345e-01 8.24034716e-02 1.31499278e+02] [-6.57142146e-01 7.50306227e-01 -7.21440617e-02 -6.30432872e+01] [-1.09521581e-01 -3.48094756e-04 9.93984357e-01 -1.90075858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.848241008 meters 0.06349472162883765 Centerline is valid? [True, True] Translation: X:131.52, Y:-63.07, Z:-19.01 [[ 7.48302995e-01 6.58310752e-01 8.16675085e-02 1.31521985e+02] [-6.54412785e-01 7.52746270e-01 -7.15329297e-02 -6.30707373e+01] [-1.08565809e-01 8.40438743e-05 9.94089261e-01 -1.90130285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.878241008 meters 0.06357084800697371 Centerline is valid? [True, True] Translation: X:131.54, Y:-63.09, Z:-19.02 [[ 7.49214820e-01 6.57439376e-01 8.03157559e-02 1.31544861e+02] [-6.53658154e-01 7.53507401e-01 -7.04103356e-02 -6.30934967e+01] [-1.06809044e-01 2.53418230e-04 9.94279520e-01 -1.90181892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.908241008 meters 0.06376265984866819 Centerline is valid? [True, True] Translation: X:131.57, Y:-63.12, Z:-19.02 [[ 7.50082713e-01 6.56518080e-01 7.97491951e-02 1.31568214e+02] [-6.52781058e-01 7.54310177e-01 -6.99503188e-02 -6.31157809e+01] [-1.06079278e-01 4.09760960e-04 9.94357591e-01 -1.90236811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.938241008 meters 0.06388460684105449 Centerline is valid? [True, True] Translation: X:131.59, Y:-63.14, Z:-19.03 [[ 7.50658223e-01 6.55941617e-01 7.90748158e-02 1.31592833e+02] [-6.52260954e-01 7.54811454e-01 -6.93924832e-02 -6.31392916e+01] [-1.05203994e-01 5.12623393e-04 9.94450530e-01 -1.90291527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.968241008 meters 0.06412113044466007 Centerline is valid? [True, True] Translation: X:131.62, Y:-63.16, Z:-19.03 [[ 7.51823534e-01 6.54679360e-01 7.84621504e-02 1.31616125e+02] [-6.51044023e-01 7.55906356e-01 -6.89003708e-02 -6.31628263e+01] [-1.04417689e-01 7.18606166e-04 9.94533272e-01 -1.90333330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.998241008 meters 0.06406029052830897 Centerline is valid? [True, True] Translation: X:131.64, Y:-63.19, Z:-19.04 [[ 7.52187525e-01 6.54235022e-01 7.86794954e-02 1.31640082e+02] [-6.50572661e-01 7.56290865e-01 -6.91327709e-02 -6.31852902e+01] [-1.04733664e-01 8.14079110e-04 9.94499973e-01 -1.90371508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.028241008 meters 0.06423412874367364 Centerline is valid? [True, True] Translation: X:131.66, Y:-63.21, Z:-19.04 [[ 7.52676736e-01 6.53683918e-01 7.85815991e-02 1.31663239e+02] [-6.50023868e-01 7.56767134e-01 -6.90831126e-02 -6.32067022e+01] [-1.04626491e-01 9.17336654e-04 9.94511164e-01 -1.90424910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.058241008 meters 0.06412898126938069 Centerline is valid? [True, True] Translation: X:131.69, Y:-63.23, Z:-19.05 [[ 7.52466073e-01 6.53951119e-01 7.83756486e-02 1.31687943e+02] [-6.50308303e-01 7.56536264e-01 -6.89346935e-02 -6.32282669e+01] [-1.04373940e-01 9.02683044e-04 9.94537715e-01 -1.90470192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.088241008 meters 0.06444624573582315 Centerline is valid? [True, True] Translation: X:131.71, Y:-63.25, Z:-19.05 [[ 7.52944723e-01 6.53550504e-01 7.71102027e-02 1.31710843e+02] [-6.50018984e-01 7.56882289e-01 -6.78566232e-02 -6.32490029e+01] [-1.02711077e-01 9.69190716e-04 9.94710760e-01 -1.90535828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.118241008 meters 0.0645463668690078 Centerline is valid? [True, True] Translation: X:131.74, Y:-63.27, Z:-19.06 [[ 7.52883911e-01 6.53664358e-01 7.67380223e-02 1.31736471e+02] [-6.50164618e-01 7.56783962e-01 -6.75574114e-02 -6.32721822e+01] [-1.02233976e-01 9.70541114e-04 9.94759907e-01 -1.90582901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.148241008 meters 0.06462792929872398 Centerline is valid? [True, True] Translation: X:131.76, Y:-63.29, Z:-19.06 [[ 7.52744878e-01 6.53828146e-01 7.67066110e-02 1.31759414e+02] [-6.50327500e-01 7.56642446e-01 -6.75747804e-02 -6.32938301e+01] [-1.02221771e-01 9.82151206e-04 9.94761150e-01 -1.90636497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.17824100800001 meters 0.06464162729136164 Centerline is valid? [True, True] Translation: X:131.79, Y:-63.32, Z:-19.07 [[ 7.52677393e-01 6.53981704e-01 7.60570357e-02 1.31786281e+02] [-6.50538309e-01 7.56509737e-01 -6.70292895e-02 -6.33178220e+01] [-1.01373817e-01 9.73415456e-04 9.94847929e-01 -1.90684559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.208241008 meters 0.06498465422651933 Centerline is valid? [True, True] Translation: X:131.81, Y:-63.34, Z:-19.08 [[ 7.52640457e-01 6.54140201e-01 7.50529137e-02 1.31810142e+02] [-6.50782456e-01 7.56372681e-01 -6.62009274e-02 -6.33380050e+01] [-1.00072661e-01 9.82376693e-04 9.94979647e-01 -1.90754093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.238241008 meters 0.06481516418181632 Centerline is valid? [True, True] Translation: X:131.84, Y:-63.36, Z:-19.08 [[ 7.52110554e-01 6.54776119e-01 7.48194395e-02 1.31835533e+02] [-6.51440652e-01 7.55822339e-01 -6.60126420e-02 -6.33588224e+01] [-9.97737053e-02 9.08380256e-04 9.95009740e-01 -1.90780714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.268241008 meters 0.06499114543272252 Centerline is valid? [True, True] Translation: X:131.86, Y:-63.38, Z:-19.08 [[ 7.51861864e-01 6.55110447e-01 7.43911261e-02 1.31857961e+02] [-6.51811358e-01 7.55532606e-01 -6.56691315e-02 -6.33802473e+01] [-9.92254555e-02 8.85134686e-04 9.95064584e-01 -1.90840842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.298241008 meters 0.06450412635483094 Centerline is valid? [True, True] Translation: X:131.88, Y:-63.40, Z:-19.08 [[ 7.51509219e-01 6.55530486e-01 7.42541233e-02 1.31882805e+02] [-6.52242544e-01 7.55168231e-01 -6.55790182e-02 -6.34019722e+01] [-9.90634006e-02 8.51538522e-04 9.95080759e-01 -1.90844942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.328241008 meters 0.06450782485357756 Centerline is valid? [True, True] Translation: X:131.91, Y:-63.42, Z:-19.09 [[ 7.51126698e-01 6.55910697e-01 7.47652437e-02 1.31905685e+02] [-6.52575585e-01 7.54838038e-01 -6.60654486e-02 -6.34243938e+01] [-9.97686842e-02 8.33549577e-04 9.95010309e-01 -1.90868680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.358241008 meters 0.06415567837355099 Centerline is valid? [True, True] Translation: X:131.93, Y:-63.45, Z:-19.09 [[ 7.50976123e-01 6.55948287e-01 7.59388401e-02 1.31929562e+02] [-6.52504024e-01 7.54805334e-01 -6.71372224e-02 -6.34464325e+01] [-1.01357588e-01 8.68052212e-04 9.94849680e-01 -1.90882500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.388241008 meters 0.06403528062679141 Centerline is valid? [True, True] Translation: X:131.95, Y:-63.47, Z:-19.09 [[ 7.50526936e-01 6.56374269e-01 7.66950893e-02 1.31953000e+02] [-6.52859956e-01 7.54434961e-01 -6.78363290e-02 -6.34666060e+01] [-1.02387478e-01 8.41839444e-04 9.94744236e-01 -1.90922305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.418241008 meters 0.06380405187331177 Centerline is valid? [True, True] Translation: X:131.98, Y:-63.49, Z:-19.09 [[ 7.50130413e-01 6.56681076e-01 7.79379777e-02 1.31978824e+02] [-6.53050054e-01 7.54167929e-01 -6.89663805e-02 -6.34869666e+01] [-1.04067240e-01 8.36378902e-04 9.94569912e-01 -1.90931942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.448241008 meters 0.06374610314663719 Centerline is valid? [True, True] Translation: X:132.00, Y:-63.51, Z:-19.10 [[ 7.50087045e-01 6.56707148e-01 7.81354354e-02 1.32004768e+02] [-6.53054473e-01 7.54145201e-01 -6.91727635e-02 -6.35104933e+01] [-1.04351712e-01 8.58898211e-04 9.94540086e-01 -1.90969329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.478241008 meters 0.0639359062331312 Centerline is valid? [True, True] Translation: X:132.03, Y:-63.53, Z:-19.10 [[ 7.50517977e-01 6.56266305e-01 7.77000790e-02 1.32027096e+02] [-6.52646011e-01 7.54528739e-01 -6.88445082e-02 -6.35320748e+01] [-1.03807274e-01 9.58394436e-04 9.94596969e-01 -1.91020598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.508241008 meters 0.06451970489116565 Centerline is valid? [True, True] Translation: X:132.05, Y:-63.56, Z:-19.11 [[ 7.50482504e-01 6.56311493e-01 7.76610254e-02 1.32048279e+02] [-6.52693138e-01 7.54489424e-01 -6.88285996e-02 -6.35555068e+01] [-1.03767423e-01 9.65841421e-04 9.94601121e-01 -1.91109279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.538241008 meters 0.06451970489116565 Centerline is valid? [True, True] Translation: X:132.07, Y:-63.58, Z:-19.11 [[ 7.50330903e-01 6.56486815e-01 7.76440399e-02 1.32072175e+02] [-6.52867415e-01 7.54336878e-01 -6.88477544e-02 -6.35769522e+01] [-1.03767406e-01 9.67334191e-04 9.94601121e-01 -1.91149415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.568241008 meters 0.06452412186516787 Centerline is valid? [True, True] Translation: X:132.10, Y:-63.60, Z:-19.12 [[ 7.50063569e-01 6.56832141e-01 7.73057670e-02 1.32096011e+02] [-6.53242806e-01 7.54036243e-01 -6.85797463e-02 -6.35985654e+01] [-1.03336732e-01 9.39733124e-04 9.94645986e-01 -1.91190117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.598241008 meters 0.06398293631277743 Centerline is valid? [True, True] Translation: X:132.12, Y:-63.62, Z:-19.12 [[ 7.49699699e-01 6.57320696e-01 7.66802701e-02 1.32123666e+02] [-6.53788871e-01 7.53610453e-01 -6.80543693e-02 -6.36188898e+01] [-1.02520598e-01 8.87632995e-04 9.94730486e-01 -1.91181388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.628241008 meters 0.06411006280665486 Centerline is valid? [True, True] Translation: X:132.15, Y:-63.64, Z:-19.12 [[ 7.48971016e-01 6.58334347e-01 7.50886491e-02 1.32149203e+02] [-6.54949128e-01 7.52725253e-01 -6.66808390e-02 -6.36398122e+01] [-1.00419409e-01 7.62770489e-04 9.94944903e-01 -1.91237691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.658241008 meters 0.06425629438813121 Centerline is valid? [True, True] Translation: X:132.17, Y:-63.66, Z:-19.13 [[ 7.48494043e-01 6.58937922e-01 7.45485292e-02 1.32173112e+02] [-6.55600229e-01 7.52196992e-01 -6.62421704e-02 -6.36592644e+01] [-9.97246575e-02 7.07837054e-04 9.95014820e-01 -1.91306226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.688241008 meters 0.06448287760849919 Centerline is valid? [True, True] Translation: X:132.20, Y:-63.68, Z:-19.14 [[ 7.47646299e-01 6.59928602e-01 7.42916703e-02 1.32198188e+02] [-6.56615665e-01 7.51328080e-01 -6.60453233e-02 -6.36792939e+01] [-9.94026159e-02 5.97467038e-04 9.95047116e-01 -1.91389070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.718241008 meters 0.0643730168410609 Centerline is valid? [True, True] Translation: X:132.23, Y:-63.70, Z:-19.14 [[ 7.45604789e-01 6.62313710e-01 7.35802082e-02 1.32225926e+02] [-6.59072022e-01 7.49226572e-01 -6.54493157e-02 -6.36973208e+01] [-9.84762263e-02 3.04666639e-04 9.95139357e-01 -1.91430861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.748241008 meters 0.0643851408978222 Centerline is valid? [True, True] Translation: X:132.25, Y:-63.72, Z:-19.15 [[ 7.44172873e-01 6.63876337e-01 7.39928724e-02 1.32250278e+02] [-6.60602213e-01 7.47842359e-01 -6.58522803e-02 -6.37176402e+01] [-9.90527748e-02 1.25625321e-04 9.95082174e-01 -1.91471321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.778241008 meters 0.06417521605846731 Centerline is valid? [True, True] Translation: X:132.28, Y:-63.74, Z:-19.15 [[ 7.41183652e-01 6.67140349e-01 7.46361150e-02 1.32276992e+02] [-6.63822210e-01 7.44931991e-01 -6.64560154e-02 -6.37369896e+01] [-9.99343190e-02 -2.88998615e-04 9.94993994e-01 -1.91497014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.808241008 meters 0.0642233722991093 Centerline is valid? [True, True] Translation: X:132.30, Y:-63.76, Z:-19.15 [[ 7.39892149e-01 6.68513543e-01 7.51614945e-02 1.32303378e+02] [-6.65152598e-01 7.43699828e-01 -6.69521250e-02 -6.37591122e+01] [-1.00655993e-01 -4.56511637e-04 9.94921184e-01 -1.91532604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.838241008 meters 0.06440438797689368 Centerline is valid? [True, True] Translation: X:132.33, Y:-63.78, Z:-19.16 [[ 7.38465661e-01 6.70070651e-01 7.53245590e-02 1.32328357e+02] [-6.66698212e-01 7.42297057e-01 -6.71459162e-02 -6.37789924e+01] [-1.00905706e-01 -6.33795376e-04 9.94895792e-01 -1.91574612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.868241008 meters 0.06422496974066015 Centerline is valid? [True, True] Translation: X:132.35, Y:-63.80, Z:-19.16 [[ 7.36745713e-01 6.71928536e-01 7.56161210e-02 1.32352966e+02] [-6.68537745e-01 7.40615469e-01 -6.74241107e-02 -6.38005738e+01] [-1.01306653e-01 -8.77806605e-04 9.94854860e-01 -1.91575509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.898241008 meters 0.06487231217835766 Centerline is valid? [True, True] Translation: X:132.38, Y:-63.82, Z:-19.16 [[ 7.34263722e-01 6.74755399e-01 7.45784043e-02 1.32379219e+02] [-6.71468169e-01 7.38040416e-01 -6.65345199e-02 -6.38186632e+01] [-9.99364031e-02 -1.22314032e-03 9.94993075e-01 -1.91633536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.92824100800001 meters 0.06518636731843303 Centerline is valid? [True, True] Translation: X:132.40, Y:-63.84, Z:-19.17 [[ 7.32662061e-01 6.76519852e-01 7.43451035e-02 1.32404548e+02] [-6.73258626e-01 7.36423002e-01 -6.63625184e-02 -6.38384579e+01] [-9.96450054e-02 -1.43218277e-03 9.95022021e-01 -1.91683751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.958241008 meters 0.06565928307940677 Centerline is valid? [True, True] Translation: X:132.43, Y:-63.86, Z:-19.17 [[ 7.31162508e-01 6.78239171e-01 7.34371455e-02 1.32429541e+02] [-6.75062628e-01 7.34839437e-01 -6.55854411e-02 -6.38591882e+01] [-9.84471259e-02 -1.62105678e-03 9.95140963e-01 -1.91731914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.988241008 meters 0.06560979359494236 Centerline is valid? [True, True] Translation: X:132.45, Y:-63.88, Z:-19.18 [[ 7.31977074e-01 6.77404972e-01 7.30210070e-02 1.32451692e+02] [-6.74256954e-01 7.35608814e-01 -6.52474729e-02 -6.38809346e+01] [-9.79138589e-02 -1.47526751e-03 9.95193800e-01 -1.91788944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.018241008 meters 0.0651801661916625 Centerline is valid? [True, True] Translation: X:132.47, Y:-63.91, Z:-19.18 [[ 7.33459635e-01 6.75837993e-01 7.26634085e-02 1.32473394e+02] [-6.72709920e-01 7.37049171e-01 -6.49606201e-02 -6.39057884e+01] [-9.74593601e-02 -1.23540309e-03 9.95238739e-01 -1.91834535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.048241008 meters 0.06506185652930634 Centerline is valid? [True, True] Translation: X:132.50, Y:-63.93, Z:-19.19 [[ 7.34161352e-01 6.75071204e-01 7.27047334e-02 1.32496334e+02] [-6.71932831e-01 7.37751742e-01 -6.50279721e-02 -6.39293648e+01] [-9.75365552e-02 -1.11167340e-03 9.95231322e-01 -1.91872737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.078241008 meters 0.06487723355179953 Centerline is valid? [True, True] Translation: X:132.52, Y:-63.95, Z:-19.19 [[ 7.34618428e-01 6.74568080e-01 7.27576131e-02 1.32518856e+02] [-6.71419439e-01 7.38211936e-01 -6.51081708e-02 -6.39532544e+01] [-9.76304322e-02 -1.02121365e-03 9.95222214e-01 -1.91902592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.108241008 meters 0.06488689206334841 Centerline is valid? [True, True] Translation: X:132.54, Y:-63.98, Z:-19.19 [[ 7.34553126e-01 6.74686260e-01 7.23198143e-02 1.32542132e+02] [-6.71572843e-01 7.38103948e-01 -6.47493486e-02 -6.39755682e+01] [-9.70650364e-02 -1.00618692e-03 9.95277532e-01 -1.91949733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.138241008 meters 0.06504670868242435 Centerline is valid? [True, True] Translation: X:132.57, Y:-64.00, Z:-19.20 [[ 7.34959319e-01 6.74262443e-01 7.21453902e-02 1.32565086e+02] [-6.71158429e-01 7.38491240e-01 -6.46301163e-02 -6.39973753e+01] [-9.68563988e-02 -9.20480483e-04 9.95297941e-01 -1.92007207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.168241008 meters 0.06456240980498894 Centerline is valid? [True, True] Translation: X:132.59, Y:-64.02, Z:-19.20 [[ 7.35407328e-01 6.73742446e-01 7.24374104e-02 1.32587634e+02] [-6.70608945e-01 7.38965769e-01 -6.49094417e-02 -6.40220616e+01] [-9.72610127e-02 -8.42296244e-04 9.95258552e-01 -1.92012148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.198241008 meters 0.06440907314642547 Centerline is valid? [True, True] Translation: X:132.61, Y:-64.04, Z:-19.21 [[ 7.35879882e-01 6.73123356e-01 7.33876436e-02 1.32609668e+02] [-6.69900141e-01 7.39529847e-01 -6.57982197e-02 -6.40441372e+01] [-9.85626713e-02 -7.42806645e-04 9.95130568e-01 -1.92063763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.228241008 meters 0.06426234739487993 Centerline is valid? [True, True] Translation: X:132.63, Y:-64.07, Z:-19.21 [[ 7.36381556e-01 6.72592649e-01 7.32211257e-02 1.32633491e+02] [-6.69378739e-01 7.40012639e-01 -6.56764572e-02 -6.40686440e+01] [-9.83580608e-02 -6.49733104e-04 9.95150878e-01 -1.92088971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.258241008 meters 0.06443032962397788 Centerline is valid? [True, True] Translation: X:132.66, Y:-64.09, Z:-19.22 [[ 7.36797872e-01 6.72171910e-01 7.28959495e-02 1.32656579e+02] [-6.68979981e-01 7.40394904e-01 -6.54306566e-02 -6.40895711e+01] [-9.79524390e-02 -5.56762401e-04 9.95190941e-01 -1.92156459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.288241008 meters 0.06440893573902311 Centerline is valid? [True, True] Translation: X:132.68, Y:-64.11, Z:-19.22 [[ 7.36750579e-01 6.72236092e-01 7.27820054e-02 1.32680061e+02] [-6.69051376e-01 7.40336642e-01 -6.53598657e-02 -6.41120407e+01] [-9.78204462e-02 -5.40981970e-04 9.95203933e-01 -1.92181888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.318241008 meters 0.06475960904657771 Centerline is valid? [True, True] Translation: X:132.70, Y:-64.13, Z:-19.22 [[ 7.36562679e-01 6.72449350e-01 7.27137657e-02 1.32703228e+02] [-6.69268222e-01 7.40142944e-01 -6.53335207e-02 -6.41331094e+01] [-9.77520641e-02 -5.42779601e-04 9.95210651e-01 -1.92249708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.348241008 meters 0.06461663975201977 Centerline is valid? [True, True] Translation: X:132.73, Y:-64.16, Z:-19.23 [[ 7.36465611e-01 6.72556365e-01 7.27072201e-02 1.32726698e+02] [-6.69373183e-01 7.40045710e-01 -6.53596900e-02 -6.41563765e+01] [-9.77647418e-02 -5.33099309e-04 9.95209411e-01 -1.92285734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.378241008 meters 0.06426436629059758 Centerline is valid? [True, True] Translation: X:132.75, Y:-64.18, Z:-19.23 [[ 7.36569411e-01 6.72520277e-01 7.19859753e-02 1.32750624e+02] [-6.69396886e-01 7.40078528e-01 -6.47424197e-02 -6.41791460e+01] [-9.68158647e-02 -4.99901762e-04 9.95302185e-01 -1.92313840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.408241008 meters 0.06442216724972526 Centerline is valid? [True, True] Translation: X:132.77, Y:-64.20, Z:-19.24 [[ 7.36431860e-01 6.72735317e-01 7.13814261e-02 1.32774792e+02] [-6.69662089e-01 7.39883061e-01 -6.42319456e-02 -6.42004777e+01] [-9.60250064e-02 -4.98983687e-04 9.95378797e-01 -1.92367018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.438241008 meters 0.0646946122851899 Centerline is valid? [True, True] Translation: X:132.80, Y:-64.22, Z:-19.24 [[ 7.36585946e-01 6.72566344e-01 7.13838733e-02 1.32797560e+02] [-6.69488974e-01 7.40036694e-01 -6.42666722e-02 -6.42221048e+01] [-9.60502863e-02 -4.52788510e-04 9.95376380e-01 -1.92432928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.468241008 meters 0.06420005584431338 Centerline is valid? [True, True] Translation: X:132.82, Y:-64.25, Z:-19.24 [[ 7.36577685e-01 6.72624503e-01 7.09196168e-02 1.32821636e+02] [-6.69584672e-01 7.39983843e-01 -6.38770596e-02 -6.42463509e+01] [-9.54446460e-02 -4.36271630e-04 9.95434643e-01 -1.92428507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.498241008 meters 0.06414671068699768 Centerline is valid? [True, True] Translation: X:132.84, Y:-64.27, Z:-19.25 [[ 7.36978034e-01 6.72244456e-01 7.03616978e-02 1.32844699e+02] [-6.69246996e-01 7.40329160e-01 -6.34128776e-02 -6.42692535e+01] [-9.47197720e-02 -3.55457017e-04 9.95503912e-01 -1.92466419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.528241008 meters 0.06412993885009625 Centerline is valid? [True, True] Translation: X:132.87, Y:-64.29, Z:-19.25 [[ 7.37075015e-01 6.72101741e-01 7.07083636e-02 1.32868614e+02] [-6.69070729e-01 7.40458744e-01 -6.37589812e-02 -6.42916894e+01] [-9.52091484e-02 -3.13744398e-04 9.95457242e-01 -1.92517109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.558241008 meters 0.06406116579538494 Centerline is valid? [True, True] Translation: X:132.89, Y:-64.31, Z:-19.26 [[ 7.37360935e-01 6.71776091e-01 7.08218563e-02 1.32892095e+02] [-6.68730514e-01 7.40754226e-01 -6.38958243e-02 -6.43139557e+01] [-9.53852764e-02 -2.46451605e-04 9.95440399e-01 -1.92561256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.588241008 meters 0.06399520115835985 Centerline is valid? [True, True] Translation: X:132.92, Y:-64.34, Z:-19.26 [[ 7.37156019e-01 6.72021436e-01 7.06271400e-02 1.32917690e+02] [-6.68991230e-01 7.40531649e-01 -6.37464560e-02 -6.43383364e+01] [-9.51406174e-02 -2.57853496e-04 9.95463810e-01 -1.92611442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.618241008 meters 0.06376523758002442 Centerline is valid? [True, True] Translation: X:132.94, Y:-64.36, Z:-19.26 [[ 7.37421821e-01 6.71676367e-01 7.11330866e-02 1.32940866e+02] [-6.68594435e-01 7.40844674e-01 -6.42701378e-02 -6.43611794e+01] [-9.58673010e-02 -1.64983737e-04 9.95394110e-01 -1.92631377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.648241008 meters 0.06374369444434017 Centerline is valid? [True, True] Translation: X:132.96, Y:-64.38, Z:-19.27 [[ 7.37545897e-01 6.71468890e-01 7.18023664e-02 1.32962916e+02] [-6.68324024e-01 7.41032737e-01 -6.49113348e-02 -6.43829510e+01] [-9.67938460e-02 -1.12157734e-04 9.95304445e-01 -1.92672970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67824100800001 meters 0.06352941311801169 Centerline is valid? [True, True] Translation: X:132.99, Y:-64.41, Z:-19.27 [[ 7.37685043e-01 6.71254956e-01 7.23709957e-02 1.32985739e+02] [-6.68055971e-01 7.41226538e-01 -6.54556336e-02 -6.44061318e+01] [-9.75807210e-02 -6.22338576e-05 9.95227612e-01 -1.92694220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.708241008 meters 0.0633322468191563 Centerline is valid? [True, True] Translation: X:133.01, Y:-64.43, Z:-19.27 [[ 7.38183164e-01 6.70678310e-01 7.26375942e-02 1.33009161e+02] [-6.67449528e-01 7.41748342e-01 -6.57307009e-02 -6.44295107e+01] [-9.79629705e-02 3.93688708e-05 9.95190060e-01 -1.92709423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.738241008 meters 0.06334081011577779 Centerline is valid? [True, True] Translation: X:133.03, Y:-64.45, Z:-19.28 [[ 7.39637016e-01 6.69004469e-01 7.32810016e-02 1.33030925e+02] [-6.65706184e-01 7.43258324e-01 -6.63501393e-02 -6.44522592e+01] [-9.88552541e-02 2.91403156e-04 9.95101781e-01 -1.92760417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.768241008 meters 0.06342605544313709 Centerline is valid? [True, True] Translation: X:133.06, Y:-64.48, Z:-19.28 [[ 7.39963428e-01 6.68698706e-01 7.27747652e-02 1.33057167e+02] [-6.65441791e-01 7.43533401e-01 -6.59189256e-02 -6.44756164e+01] [-9.81903689e-02 3.50224060e-04 9.95167588e-01 -1.92800039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.798241008 meters 0.06358698114075745 Centerline is valid? [True, True] Translation: X:133.08, Y:-64.50, Z:-19.29 [[ 7.40339246e-01 6.68308725e-01 7.25344633e-02 1.33082341e+02] [-6.65066485e-01 7.43883899e-01 -6.57519220e-02 -6.44976829e+01] [-9.78998026e-02 4.38487819e-04 9.95196180e-01 -1.92858212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.828241008 meters 0.06399820770749506 Centerline is valid? [True, True] Translation: X:133.11, Y:-64.52, Z:-19.29 [[ 7.40415571e-01 6.68394521e-01 7.09474882e-02 1.33105407e+02] [-6.65289487e-01 7.43806806e-01 -6.43532036e-02 -6.45179202e+01] [-9.57845532e-02 4.47495968e-04 9.95401989e-01 -1.92922903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.858241008 meters 0.06418878301502012 Centerline is valid? [True, True] Translation: X:133.13, Y:-64.54, Z:-19.30 [[ 7.40327875e-01 6.68594279e-01 6.99737658e-02 1.33128560e+02] [-6.65572177e-01 7.43627258e-01 -6.34994402e-02 -6.45389370e+01] [-9.44897620e-02 4.37814090e-04 9.95525737e-01 -1.92982494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.888241008 meters 0.06417520503860812 Centerline is valid? [True, True] Translation: X:133.15, Y:-64.56, Z:-19.30 [[ 7.40175385e-01 6.68833414e-01 6.92983700e-02 1.33152258e+02] [-6.65867832e-01 7.43412189e-01 -6.29153945e-02 -6.45603046e+01] [-9.35971711e-02 4.24870892e-04 9.95610059e-01 -1.93017913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.918241008 meters 0.06437732936269214 Centerline is valid? [True, True] Translation: X:133.18, Y:-64.58, Z:-19.31 [[ 7.40102093e-01 6.69036042e-01 6.81150974e-02 1.33175528e+02] [-6.66169313e-01 7.43229846e-01 -6.18695623e-02 -6.45815977e+01] [-9.20181404e-02 4.13604941e-04 9.95757245e-01 -1.93068389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.948241008 meters 0.06428805111462252 Centerline is valid? [True, True] Translation: X:133.20, Y:-64.60, Z:-19.31 [[ 7.40018908e-01 6.69147069e-01 6.79280249e-02 1.33201071e+02] [-6.66293872e-01 7.43129883e-01 -6.17288583e-02 -6.46025526e+01] [-9.17850298e-02 4.20495540e-04 9.95778756e-01 -1.93091835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.978241008 meters 0.0645378094522678 Centerline is valid? [True, True] Translation: X:133.22, Y:-64.62, Z:-19.32 [[ 7.40043007e-01 6.69031991e-01 6.87934782e-02 1.33223473e+02] [-6.66101661e-01 7.43233460e-01 -6.25507905e-02 -6.46229083e+01] [-9.29780947e-02 4.66825006e-04 9.95668045e-01 -1.93154068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.008241008 meters 0.06440290688845528 Centerline is valid? [True, True] Translation: X:133.25, Y:-64.65, Z:-19.32 [[ 7.40256704e-01 6.68785977e-01 6.88863485e-02 1.33247988e+02] [-6.65844325e-01 7.43454807e-01 -6.26600684e-02 -6.46450846e+01] [-9.31200620e-02 5.16951514e-04 9.95654753e-01 -1.93182628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.038241008 meters 0.06421142392097218 Centerline is valid? [True, True] Translation: X:133.27, Y:-64.67, Z:-19.32 [[ 7.41176314e-01 6.67745155e-01 6.90947191e-02 1.33271846e+02] [-6.64778195e-01 7.44389653e-01 -6.28808065e-02 -6.46676571e+01] [-9.34217478e-02 6.73101698e-04 9.95626398e-01 -1.93197335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.068241008 meters 0.064040258943669 Centerline is valid? [True, True] Translation: X:133.30, Y:-64.69, Z:-19.32 [[ 7.41082512e-01 6.67832505e-01 6.92564397e-02 1.33296519e+02] [-6.64848941e-01 7.44311273e-01 -6.30603973e-02 -6.46898020e+01] [-9.36621319e-02 6.87886993e-04 9.95603803e-01 -1.93221678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.098241008 meters 0.06376453784547505 Centerline is valid? [True, True] Translation: X:133.32, Y:-64.71, Z:-19.32 [[ 7.41529923e-01 6.67223107e-01 7.03327695e-02 1.33321138e+02] [-6.64139826e-01 7.44857490e-01 -6.40750465e-02 -6.47118069e+01] [-9.51402418e-02 8.02770983e-04 9.95463555e-01 -1.93234435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.128241008 meters 0.06429037982066645 Centerline is valid? [True, True] Translation: X:133.34, Y:-64.74, Z:-19.33 [[ 7.42633916e-01 6.65963245e-01 7.06245192e-02 1.33342128e+02] [-6.62845543e-01 7.45983895e-01 -6.43724670e-02 -6.47350238e+01] [-9.55544510e-02 9.92029529e-04 9.95423710e-01 -1.93306284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.158241008 meters 0.06404022050779098 Centerline is valid? [True, True] Translation: X:133.37, Y:-64.76, Z:-19.33 [[ 7.44021278e-01 6.64383006e-01 7.09052835e-02 1.33365102e+02] [-6.61230102e-01 7.47391278e-01 -6.46608825e-02 -6.47582805e+01] [-9.59535819e-02 1.22436457e-03 9.95385057e-01 -1.93302361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.188241008 meters 0.06418647783568467 Centerline is valid? [True, True] Translation: X:133.39, Y:-64.78, Z:-19.33 [[ 7.45021937e-01 6.63200776e-01 7.14635882e-02 1.33387584e+02] [-6.59989030e-01 7.48440199e-01 -6.52054407e-02 -6.47810353e+01] [-9.67305210e-02 1.41429946e-03 9.95309603e-01 -1.93332472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.218241008 meters 0.06426847898468972 Centerline is valid? [True, True] Translation: X:133.41, Y:-64.80, Z:-19.34 [[ 7.45628545e-01 6.62520324e-01 7.14485391e-02 1.33411156e+02] [-6.59305050e-01 7.49042404e-01 -6.52098790e-02 -6.48032443e+01] [-9.67208556e-02 1.51596451e-03 9.95310393e-01 -1.93371687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.248241008 meters 0.06430578586329871 Centerline is valid? [True, True] Translation: X:133.44, Y:-64.83, Z:-19.34 [[ 7.47057815e-01 6.60895723e-01 7.15644111e-02 1.33436188e+02] [-6.57659613e-01 7.50475699e-01 -6.53456905e-02 -6.48270916e+01] [-9.68940388e-02 1.75198587e-03 9.95293161e-01 -1.93393649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.278241008 meters 0.06495276247534514 Centerline is valid? [True, True] Translation: X:133.46, Y:-64.85, Z:-19.34 [[ 7.48186227e-01 6.59551251e-01 7.21769792e-02 1.33457945e+02] [-6.56248524e-01 7.51656992e-01 -6.59518095e-02 -6.48505514e+01] [-9.77509295e-02 1.97819947e-03 9.95208944e-01 -1.93445892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.308241008 meters 0.0660005144388109 Centerline is valid? [True, True] Translation: X:133.48, Y:-64.87, Z:-19.35 [[ 7.50091246e-01 6.57382565e-01 7.21892423e-02 1.33479686e+02] [-6.54065453e-01 7.53553539e-01 -6.59958134e-02 -6.48727575e+01] [-9.77829561e-02 2.28639248e-03 9.95205138e-01 -1.93493122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.338241008 meters 0.06505357767137827 Centerline is valid? [True, True] Translation: X:133.51, Y:-64.89, Z:-19.35 [[ 7.50860310e-01 6.56582096e-01 7.14754907e-02 1.33507170e+02] [-6.53324035e-01 7.54250785e-01 -6.53716923e-02 -6.48914573e+01] [-9.68323278e-02 2.38835317e-03 9.95297843e-01 -1.93496384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.368241008 meters 0.06475938742572539 Centerline is valid? [True, True] Translation: X:133.53, Y:-64.91, Z:-19.35 [[ 7.50577427e-01 6.56972310e-01 7.08583853e-02 1.33532508e+02] [-6.53768835e-01 7.53911064e-01 -6.48414859e-02 -6.49114886e+01] [-9.60199813e-02 2.34355161e-03 9.95376648e-01 -1.93537692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.398241008 meters 0.06488230679660885 Centerline is valid? [True, True] Translation: X:133.56, Y:-64.93, Z:-19.36 [[ 7.50166028e-01 6.57495977e-01 7.03560232e-02 1.33557111e+02] [-6.54336998e-01 7.53454589e-01 -6.44148726e-02 -6.49330176e+01] [-9.53625881e-02 2.28530011e-03 9.95439980e-01 -1.93587272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.42824100800001 meters 0.06499581092966766 Centerline is valid? [True, True] Translation: X:133.58, Y:-64.96, Z:-19.36 [[ 7.49544053e-01 6.58247904e-01 6.99529036e-02 1.33582357e+02] [-6.55125146e-01 7.52798011e-01 -6.40796250e-02 -6.49550760e+01] [-9.48406856e-02 2.20259565e-03 9.95490027e-01 -1.93639015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.458241008 meters 0.06499581092966766 Centerline is valid? [True, True] Translation: X:133.61, Y:-64.98, Z:-19.37 [[ 7.49378280e-01 6.58438822e-01 6.99321952e-02 1.33605932e+02] [-6.55314786e-01 7.52631010e-01 -6.41022149e-02 -6.49768722e+01] [-9.48405255e-02 2.20920599e-03 9.95490027e-01 -1.93679208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.488241008 meters 0.06449741353061127 Centerline is valid? [True, True] Translation: X:133.63, Y:-64.99, Z:-19.37 [[ 7.47226039e-01 6.60903122e-01 6.97159153e-02 1.33634445e+02] [-6.57806090e-01 7.50468785e-01 -6.39355274e-02 -6.49938221e+01] [-9.45748079e-02 1.91473729e-03 9.95515916e-01 -1.93717485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.518241008 meters 0.0642347996083773 Centerline is valid? [True, True] Translation: X:133.66, Y:-65.01, Z:-19.38 [[ 7.45665503e-01 6.62625829e-01 7.00711666e-02 1.33660642e+02] [-6.59501209e-01 7.48948603e-01 -6.42973190e-02 -6.50126986e+01] [-9.50847666e-02 1.73227356e-03 9.95467672e-01 -1.93762142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.548241008 meters 0.06399440413939268 Centerline is valid? [True, True] Translation: X:133.69, Y:-65.03, Z:-19.38 [[ 7.42552201e-01 6.66197083e-01 6.92652539e-02 1.33687477e+02] [-6.63156104e-01 7.45774622e-01 -6.35939798e-02 -6.50298332e+01] [-9.40223924e-02 1.28817371e-03 9.95569249e-01 -1.93811737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.578241008 meters 0.06351088361021463 Centerline is valid? [True, True] Translation: X:133.72, Y:-65.05, Z:-19.38 [[ 7.40814322e-01 6.68150124e-01 6.90619432e-02 1.33715484e+02] [-6.65134050e-01 7.44025747e-01 -6.34222607e-02 -6.50495508e+01] [-9.37594552e-02 1.04866914e-03 9.95594327e-01 -1.93843570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.608241008 meters 0.06359567717628734 Centerline is valid? [True, True] Translation: X:133.74, Y:-65.07, Z:-19.39 [[ 7.39265889e-01 6.69879157e-01 6.89047250e-02 1.33740491e+02] [-6.66880765e-01 7.42469651e-01 -6.33155811e-02 -6.50680671e+01] [-9.35734552e-02 8.55813585e-04 9.95612011e-01 -1.93902062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.638241008 meters 0.06310417350614259 Centerline is valid? [True, True] Translation: X:133.77, Y:-65.09, Z:-19.39 [[ 7.37408277e-01 6.71878911e-01 6.93380227e-02 1.33767369e+02] [-6.68848460e-01 7.40660740e-01 -6.37448456e-02 -6.50866911e+01] [-9.41847687e-02 6.29347074e-04 9.95554536e-01 -1.93920813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.668241008 meters 0.06326781959415541 Centerline is valid? [True, True] Translation: X:133.79, Y:-65.10, Z:-19.40 [[ 7.33669733e-01 6.75990923e-01 6.90289380e-02 1.33794816e+02] [-6.73002271e-01 7.36909937e-01 -6.34955765e-02 -6.51031106e+01] [-9.37905437e-02 1.28150658e-04 9.95591943e-01 -1.94003215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.698241008 meters 0.06278122897775976 Centerline is valid? [True, True] Translation: X:133.82, Y:-65.12, Z:-19.40 [[ 7.31386157e-01 6.78420640e-01 6.94242432e-02 1.33821136e+02] [-6.75406803e-01 7.34673673e-01 -6.38767914e-02 -6.51231338e+01] [-9.43394975e-02 -1.71005131e-04 9.95540070e-01 -1.94001675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.728241008 meters 0.06332776505355785 Centerline is valid? [True, True] Translation: X:133.85, Y:-65.14, Z:-19.41 [[ 7.29173260e-01 6.80811646e-01 6.92954570e-02 1.33846630e+02] [-6.77816611e-01 7.32458392e-01 -6.37914175e-02 -6.51419211e+01] [-9.41859790e-02 -4.54615996e-04 9.95554516e-01 -1.94079383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.758241008 meters 0.06314155091078862 Centerline is valid? [True, True] Translation: X:133.87, Y:-65.16, Z:-19.41 [[ 7.26999189e-01 6.83133906e-01 6.92838108e-02 1.33872577e+02] [-6.80147464e-01 7.30292771e-01 -6.38114096e-02 -6.51628513e+01] [-9.41892036e-02 -7.32365267e-04 9.95554046e-01 -1.94083869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.788241008 meters 0.06406746885874155 Centerline is valid? [True, True] Translation: X:133.90, Y:-65.18, Z:-19.42 [[ 7.23562743e-01 6.86673747e-01 7.02575383e-02 1.33900088e+02] [-6.83615861e-01 7.26964761e-01 -6.47424996e-02 -6.51791132e+01] [-9.55317293e-02 -1.18390694e-03 9.95425681e-01 -1.94159791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.818241008 meters 0.06418634271593157 Centerline is valid? [True, True] Translation: X:133.92, Y:-65.20, Z:-19.42 [[ 7.22349324e-01 6.87831789e-01 7.14064724e-02 1.33924378e+02] [-6.84675151e-01 7.25868893e-01 -6.58353136e-02 -6.51996109e+01] [-9.71153586e-02 -1.33414298e-03 9.95272238e-01 -1.94189661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.848241008 meters 0.06392703885467746 Centerline is valid? [True, True] Translation: X:133.95, Y:-65.22, Z:-19.42 [[ 7.21684494e-01 6.88490663e-01 7.17781256e-02 1.33947597e+02] [-6.85301591e-01 7.25243833e-01 -6.62050697e-02 -6.52228402e+01] [-9.76382153e-02 -1.41049143e-03 9.95220975e-01 -1.94206811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.878241008 meters 0.06384466665928504 Centerline is valid? [True, True] Translation: X:133.97, Y:-65.25, Z:-19.42 [[ 7.21700418e-01 6.88520938e-01 7.13261827e-02 1.33969150e+02] [-6.85368870e-01 7.25215147e-01 -6.58217497e-02 -6.52481960e+01] [-9.70464810e-02 -1.38116096e-03 9.95278892e-01 -1.94247537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.908241008 meters 0.06406615194478264 Centerline is valid? [True, True] Translation: X:133.99, Y:-65.27, Z:-19.43 [[ 7.21911335e-01 6.88314263e-01 7.11863664e-02 1.33991205e+02] [-6.85170215e-01 7.25411413e-01 -6.57271536e-02 -6.52705089e+01] [-9.68803399e-02 -1.32560077e-03 9.95295153e-01 -1.94313659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.938241008 meters 0.06390591136692454 Centerline is valid? [True, True] Translation: X:134.01, Y:-65.29, Z:-19.44 [[ 7.22504697e-01 6.87656840e-01 7.15194516e-02 1.34012827e+02] [-6.84476882e-01 7.26034835e-01 -6.60667609e-02 -6.52944559e+01] [-9.73568733e-02 -1.21986617e-03 9.95248789e-01 -1.94356784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.968241008 meters 0.06376704055892883 Centerline is valid? [True, True] Translation: X:134.03, Y:-65.32, Z:-19.44 [[ 7.22767953e-01 6.87360952e-01 7.17036110e-02 1.34034060e+02] [-6.84159925e-01 7.26315067e-01 -6.62693057e-02 -6.53183263e+01] [-9.76303461e-02 -1.15940668e-03 9.95222071e-01 -1.94389856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.998241008 meters 0.06353089500085526 Centerline is valid? [True, True] Translation: X:134.05, Y:-65.34, Z:-19.44 [[ 7.23174680e-01 6.86923634e-01 7.17934780e-02 1.34054738e+02] [-6.83709538e-01 7.26728804e-01 -6.63815728e-02 -6.53431146e+01] [-9.77734596e-02 -1.08041301e-03 9.95208111e-01 -1.94426723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.028241008 meters 0.06366995700686537 Centerline is valid? [True, True] Translation: X:134.07, Y:-65.37, Z:-19.45 [[ 7.24226967e-01 6.85971427e-01 7.02744678e-02 1.34071811e+02] [-6.82884764e-01 7.27627910e-01 -6.50078777e-02 -6.53697389e+01] [-9.57272108e-02 -9.08905235e-04 9.95407191e-01 -1.94482810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.058241008 meters 0.06381608190702442 Centerline is valid? [True, True] Translation: X:134.09, Y:-65.39, Z:-19.45 [[ 7.24537063e-01 6.85776224e-01 6.89711127e-02 1.34093325e+02] [-6.82801174e-01 7.27811950e-01 -6.38147499e-02 -6.53933835e+01] [-9.39606383e-02 -8.57405253e-04 9.95575544e-01 -1.94548195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.088241008 meters 0.06413923820195665 Centerline is valid? [True, True] Translation: X:134.12, Y:-65.42, Z:-19.46 [[ 7.24492997e-01 6.85896276e-01 6.82363311e-02 1.34115285e+02] [-6.82982466e-01 7.27698829e-01 -6.31614176e-02 -6.54152300e+01] [-9.29776793e-02 -8.44212964e-04 9.95667835e-01 -1.94613090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.118241008 meters 0.06382825760939795 Centerline is valid? [True, True] Translation: X:134.14, Y:-65.44, Z:-19.47 [[ 7.25124549e-01 6.85238260e-01 6.81389410e-02 1.34135583e+02] [-6.82327381e-01 7.28318598e-01 -6.30980582e-02 -6.54414049e+01] [-9.28640616e-02 -7.39114169e-04 9.95678522e-01 -1.94667768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.148241008 meters 0.06314347966033855 Centerline is valid? [True, True] Translation: X:134.16, Y:-65.47, Z:-19.47 [[ 7.25757532e-01 6.84517727e-01 6.86402735e-02 1.34156152e+02] [-6.81557115e-01 7.28995947e-01 -6.35988032e-02 -6.54674555e+01] [-9.35729893e-02 -6.24956377e-04 9.95612226e-01 -1.94665586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.17824100800001 meters 0.06306348797134628 Centerline is valid? [True, True] Translation: X:134.18, Y:-65.49, Z:-19.47 [[ 7.27123361e-01 6.83049057e-01 6.88157193e-02 1.34175720e+02] [-6.80065480e-01 7.30372373e-01 -6.37741351e-02 -6.54925445e+01] [-9.38219630e-02 -4.27531645e-04 9.95588899e-01 -1.94707144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.208241008 meters 0.0633000074394197 Centerline is valid? [True, True] Translation: X:134.19, Y:-65.52, Z:-19.48 [[ 7.28545393e-01 6.81478834e-01 6.93412475e-02 1.34194337e+02] [-6.78439366e-01 7.31837794e-01 -6.42920699e-02 -6.55180449e+01] [-9.45602304e-02 -2.04140615e-04 9.95519121e-01 -1.94782452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.238241008 meters 0.06301635409050402 Centerline is valid? [True, True] Translation: X:134.22, Y:-65.54, Z:-19.48 [[ 7.29038493e-01 6.80934241e-01 6.95085260e-02 1.34215993e+02] [-6.77874325e-01 7.32344556e-01 -6.44814068e-02 -6.55429682e+01] [-9.48117883e-02 -1.08617410e-04 9.95495210e-01 -1.94783995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.268241008 meters 0.06226710497815203 Centerline is valid? [True, True] Translation: X:134.24, Y:-65.56, Z:-19.48 [[ 7.28428169e-01 6.81597061e-01 6.94107272e-02 1.34240841e+02] [-6.78548004e-01 7.31727689e-01 -6.43987252e-02 -6.55648698e+01] [-9.46837328e-02 -1.88664853e-04 9.95507386e-01 -1.94762009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.298241008 meters 0.06301723030410736 Centerline is valid? [True, True] Translation: X:134.26, Y:-65.58, Z:-19.49 [[ 7.27562738e-01 6.82524494e-01 6.93741839e-02 1.34264784e+02] [-6.79479508e-01 7.30862665e-01 -6.44000307e-02 -6.55839338e+01] [-9.46575992e-02 -2.83273646e-04 9.95509849e-01 -1.94867291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.328241008 meters 0.06306357772896491 Centerline is valid? [True, True] Translation: X:134.29, Y:-65.60, Z:-19.49 [[ 7.27283262e-01 6.82835135e-01 6.92476354e-02 1.34288761e+02] [-6.79799567e-01 7.30572439e-01 -6.43153185e-02 -6.56039094e+01] [-9.45071731e-02 -2.99057908e-04 9.95524136e-01 -1.94924829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.358241008 meters 0.06266568041403675 Centerline is valid? [True, True] Translation: X:134.31, Y:-65.63, Z:-19.49 [[ 7.27353515e-01 6.82785415e-01 6.89995751e-02 1.34314979e+02] [-6.79768938e-01 7.30618918e-01 -6.41107437e-02 -6.56250862e+01] [-9.41862756e-02 -2.72593110e-04 9.95554555e-01 -1.94930716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.388241008 meters 0.06257185588042287 Centerline is valid? [True, True] Translation: X:134.34, Y:-65.65, Z:-19.50 [[ 7.27418387e-01 6.82703400e-01 6.91271127e-02 1.34338977e+02] [-6.79671691e-01 7.30695568e-01 -6.42680308e-02 -6.56472589e+01] [-9.43868780e-02 -2.33994266e-04 9.95535566e-01 -1.94967681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.418241008 meters 0.06248923622572721 Centerline is valid? [True, True] Translation: X:134.36, Y:-65.67, Z:-19.50 [[ 7.28072035e-01 6.82057081e-01 6.86239713e-02 1.34362592e+02] [-6.79063574e-01 7.31298928e-01 -6.38321229e-02 -6.56707216e+01] [-9.37217881e-02 -1.25655612e-04 9.95598418e-01 -1.95000804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.448241008 meters 0.06251868977420995 Centerline is valid? [True, True] Translation: X:134.38, Y:-65.69, Z:-19.50 [[ 7.28765455e-01 6.81266360e-01 6.91162760e-02 1.34384746e+02] [-6.78222266e-01 7.32035619e-01 -6.43304820e-02 -6.56938709e+01] [-9.44217692e-02 5.63568236e-06 9.95532285e-01 -1.95047221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.478241008 meters 0.062475852362112394 Centerline is valid? [True, True] Translation: X:134.41, Y:-65.72, Z:-19.51 [[ 7.29370268e-01 6.80594927e-01 6.93509743e-02 1.34406027e+02] [-6.77523655e-01 7.32659901e-01 -6.45845664e-02 -6.57169244e+01] [-9.47666063e-02 1.19136899e-04 9.95499511e-01 -1.95087600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.508241008 meters 0.0621110193452673 Centerline is valid? [True, True] Translation: X:134.43, Y:-65.74, Z:-19.51 [[ 7.30160408e-01 6.79742439e-01 6.93973731e-02 1.34429166e+02] [-6.76660358e-01 7.33450853e-01 -6.46576127e-02 -6.57406640e+01] [-9.48500858e-02 2.51977527e-04 9.95491536e-01 -1.95089446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.538241008 meters 0.062039403779790635 Centerline is valid? [True, True] Translation: X:134.45, Y:-65.76, Z:-19.51 [[ 7.30942683e-01 6.78885999e-01 6.95456307e-02 1.34452201e+02] [-6.75783539e-01 7.34243589e-01 -6.48302428e-02 -6.57646577e+01] [-9.50757777e-02 3.89399212e-04 9.95469962e-01 -1.95117598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.568241008 meters 0.06200502130367272 Centerline is valid? [True, True] Translation: X:134.48, Y:-65.79, Z:-19.51 [[ 7.32352901e-01 6.77354718e-01 6.96406076e-02 1.34475125e+02] [-6.74233583e-01 7.35656312e-01 -6.49528001e-02 -6.57879946e+01] [-9.52276381e-02 6.14335245e-04 9.95455333e-01 -1.95146207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.598241008 meters 0.062055622745667796 Centerline is valid? [True, True] Translation: X:134.50, Y:-65.81, Z:-19.52 [[ 7.32835682e-01 6.76841170e-01 6.95549657e-02 1.34498640e+02] [-6.73722168e-01 7.36128747e-01 -6.49069154e-02 -6.58102703e+01] [-9.51330823e-02 7.05381326e-04 9.95464313e-01 -1.95187152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.628241008 meters 0.06219570903980169 Centerline is valid? [True, True] Translation: X:134.52, Y:-65.83, Z:-19.52 [[ 7.33362281e-01 6.76296392e-01 6.93033454e-02 1.34522616e+02] [-6.73194278e-01 7.36629182e-01 -6.47063567e-02 -6.58326634e+01] [-9.48115423e-02 7.98585815e-04 9.95494919e-01 -1.95233714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.658241008 meters 0.062212190022508274 Centerline is valid? [True, True] Translation: X:134.55, Y:-65.85, Z:-19.53 [[ 7.33564846e-01 6.76066931e-01 6.93982777e-02 1.34545454e+02] [-6.72952042e-01 7.36839721e-01 -6.48288101e-02 -6.58542991e+01] [-9.49640223e-02 8.54423393e-04 9.95480339e-01 -1.95268910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.688241008 meters 0.062137490083954146 Centerline is valid? [True, True] Translation: X:134.57, Y:-65.88, Z:-19.53 [[ 7.34096511e-01 6.75435218e-01 6.99255219e-02 1.34571305e+02] [-6.72267066e-01 7.37418697e-01 -6.53502635e-02 -6.58776884e+01] [-9.57042568e-02 9.64774989e-04 9.95409345e-01 -1.95285688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.718241008 meters 0.06209075002512373 Centerline is valid? [True, True] Translation: X:134.60, Y:-65.90, Z:-19.53 [[ 7.33965632e-01 6.75619319e-01 6.95196836e-02 1.34596061e+02] [-6.72484575e-01 7.37250025e-01 -6.50145908e-02 -6.59005771e+01] [-9.51785020e-02 9.67560356e-04 9.95459751e-01 -1.95326668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.748241008 meters 0.06200819080502419 Centerline is valid? [True, True] Translation: X:134.62, Y:-65.92, Z:-19.54 [[ 7.33866187e-01 6.75691745e-01 6.98647592e-02 1.34621446e+02] [-6.72522502e-01 7.37183616e-01 -6.53743100e-02 -6.59229076e+01] [-9.56760374e-02 9.90373002e-04 9.95412033e-01 -1.95362548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.778241008 meters 0.06180198333439339 Centerline is valid? [True, True] Translation: X:134.65, Y:-65.94, Z:-19.54 [[ 7.32866895e-01 6.76788210e-01 6.97411881e-02 1.34647404e+02] [-6.73630932e-01 7.36177253e-01 -6.53025226e-02 -6.59445142e+01] [-9.55378537e-02 8.78235465e-04 9.95425410e-01 -1.95414580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.808241008 meters 0.061817114410173395 Centerline is valid? [True, True] Translation: X:134.68, Y:-65.96, Z:-19.55 [[ 7.30909743e-01 6.78988314e-01 6.88898903e-02 1.34675019e+02] [-6.75913909e-01 7.34148823e-01 -6.45437307e-02 -6.59627200e+01] [-9.43998708e-02 6.12006526e-04 9.95534173e-01 -1.95464159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.838241008 meters 0.061984123489505556 Centerline is valid? [True, True] Translation: X:134.70, Y:-65.98, Z:-19.55 [[ 7.29605012e-01 6.80420123e-01 6.85928751e-02 1.34699416e+02] [-6.77374990e-01 7.32822115e-01 -6.43029680e-02 -6.59819061e+01] [-9.40194091e-02 4.52669692e-04 9.95570262e-01 -1.95524846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.868241008 meters 0.06187844819120374 Centerline is valid? [True, True] Translation: X:134.73, Y:-66.00, Z:-19.56 [[ 7.28296518e-01 6.81882384e-01 6.79749734e-02 1.34726295e+02] [-6.78896785e-01 7.31461783e-01 -6.37402167e-02 -6.60012415e+01] [-9.31844261e-02 2.73786942e-04 9.95648828e-01 -1.95571858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.898241008 meters 0.0620256593476341 Centerline is valid? [True, True] Translation: X:134.75, Y:-66.02, Z:-19.56 [[ 7.25806251e-01 6.84507680e-01 6.82240581e-02 1.34754604e+02] [-6.81508520e-01 7.29005648e-01 -6.40070470e-02 -6.60185409e+01] [-9.35490389e-02 -3.85620789e-05 9.95614672e-01 -1.95626903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92824100800001 meters 0.06227439725802338 Centerline is valid? [True, True] Translation: X:134.78, Y:-66.04, Z:-19.57 [[ 7.24775214e-01 6.85595284e-01 6.82641719e-02 1.34778928e+02] [-6.82594216e-01 7.27982887e-01 -6.40784901e-02 -6.60380064e+01] [-9.36270595e-02 -1.54227581e-04 9.95607327e-01 -1.95683348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.958241008 meters 0.0621493745098883 Centerline is valid? [True, True] Translation: X:134.80, Y:-66.06, Z:-19.57 [[ 7.23606872e-01 6.86872742e-01 6.78154245e-02 1.34804288e+02] [-6.83913883e-01 7.26777648e-01 -6.36871372e-02 -6.60590182e+01] [-9.30316932e-02 -2.95460140e-04 9.95663104e-01 -1.95704832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.988241008 meters 0.062196779106715165 Centerline is valid? [True, True] Translation: X:134.83, Y:-66.08, Z:-19.57 [[ 7.22419364e-01 6.88062553e-01 6.84118849e-02 1.34831154e+02] [-6.85053809e-01 7.25651251e-01 -6.42770641e-02 -6.60811187e+01] [-9.38698107e-02 -4.30826570e-04 9.95584388e-01 -1.95740476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.018241008 meters 0.06199214094916625 Centerline is valid? [True, True] Translation: X:134.86, Y:-66.10, Z:-19.58 [[ 7.21333453e-01 6.89191035e-01 6.85110678e-02 1.34857227e+02] [-6.86174430e-01 7.24579477e-01 -6.44145416e-02 -6.61016740e+01] [-9.40356383e-02 -5.46179110e-04 9.95568682e-01 -1.95763699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.048241008 meters 0.062299460249113946 Centerline is valid? [True, True] Translation: X:134.88, Y:-66.12, Z:-19.58 [[ 7.21906028e-01 6.88571049e-01 6.87138806e-02 1.34879460e+02] [-6.85530031e-01 7.25168752e-01 -6.46440934e-02 -6.61225849e+01] [-9.43412102e-02 -4.38467971e-04 9.95539825e-01 -1.95827971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.078241008 meters 0.06196193264502898 Centerline is valid? [True, True] Translation: X:134.90, Y:-66.15, Z:-19.58 [[ 7.22660079e-01 6.87693750e-01 6.95680786e-02 1.34901725e+02] [-6.84571154e-01 7.26000830e-01 -6.54609039e-02 -6.61457212e+01] [-9.55235373e-02 -3.18317866e-04 9.95427121e-01 -1.95849955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.108241008 meters 0.061437446854469474 Centerline is valid? [True, True] Translation: X:134.92, Y:-66.17, Z:-19.59 [[ 7.25235817e-01 6.84899382e-01 7.03267097e-02 1.34923107e+02] [-6.81691638e-01 7.28637654e-01 -6.62093652e-02 -6.61704630e+01] [-9.65894421e-02 7.62730721e-05 9.95324306e-01 -1.95873768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.138241008 meters 0.06156282089335819 Centerline is valid? [True, True] Translation: X:134.95, Y:-66.19, Z:-19.59 [[ 7.26885301e-01 6.83168915e-01 7.01284012e-02 1.34945092e+02] [-6.79969987e-01 7.30260319e-01 -6.60354665e-02 -6.61939628e+01] [-9.63253667e-02 3.15001917e-04 9.95349850e-01 -1.95919496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.168241008 meters 0.06136088125907206 Centerline is valid? [True, True] Translation: X:134.97, Y:-66.22, Z:-19.59 [[ 7.28127960e-01 6.81898725e-01 6.95974399e-02 1.34967785e+02] [-6.78739313e-01 7.31446428e-01 -6.55672793e-02 -6.62171900e+01] [-9.56170429e-02 5.02850696e-04 9.95418067e-01 -1.95939104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.198241008 meters 0.06193751680597573 Centerline is valid? [True, True] Translation: X:134.99, Y:-66.24, Z:-19.60 [[ 7.29349650e-01 6.80626688e-01 6.92560440e-02 1.34988186e+02] [-6.77489248e-01 7.32630080e-01 -6.52800502e-02 -6.62407162e+01] [-9.51704053e-02 6.91756657e-04 9.95460755e-01 -1.96021301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.228241008 meters 0.061830868235399176 Centerline is valid? [True, True] Translation: X:135.01, Y:-66.27, Z:-19.60 [[ 7.31709090e-01 6.78049038e-01 6.96513478e-02 1.35008963e+02] [-6.74861046e-01 7.35015910e-01 -6.56824172e-02 -6.62663399e+01] [-9.57307487e-02 1.05544025e-03 9.95406706e-01 -1.96027319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.258241008 meters 0.06175877330494026 Centerline is valid? [True, True] Translation: X:135.03, Y:-66.29, Z:-19.61 [[ 7.32132025e-01 6.77558514e-01 6.99797064e-02 1.35033401e+02] [-6.74335156e-01 7.35467976e-01 -6.60223687e-02 -6.62902683e+01] [-9.62018510e-02 1.14731425e-03 9.95361184e-01 -1.96050631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.288241008 meters 0.061982194362754386 Centerline is valid? [True, True] Translation: X:135.06, Y:-66.31, Z:-19.61 [[ 7.32805600e-01 6.76872021e-01 6.95716887e-02 1.35055831e+02] [-6.73678932e-01 7.36099635e-01 -6.56812292e-02 -6.63131171e+01] [-9.56694810e-02 1.26259155e-03 9.95412355e-01 -1.96093922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.318241008 meters 0.06238689730681065 Centerline is valid? [True, True] Translation: X:135.08, Y:-66.34, Z:-19.62 [[ 7.33122833e-01 6.76507018e-01 6.97794066e-02 1.35077534e+02] [-6.73289552e-01 7.36434963e-01 -6.59145273e-02 -6.63352622e+01] [-9.59796351e-02 1.34169959e-03 9.95382394e-01 -1.96155581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.348241008 meters 0.06238689730681065 Centerline is valid? [True, True] Translation: X:135.10, Y:-66.36, Z:-19.62 [[ 7.32937879e-01 6.76708930e-01 6.97645308e-02 1.35101324e+02] [-6.73490878e-01 7.36249439e-01 -6.59302673e-02 -6.63580161e+01] [-9.59796974e-02 1.33701518e-03 9.95382394e-01 -1.96196714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.378241008 meters 0.06178057024104941 Centerline is valid? [True, True] Translation: X:135.13, Y:-66.38, Z:-19.62 [[ 7.32467938e-01 6.77105822e-01 7.08408495e-02 1.35127382e+02] [-6.73785635e-01 7.35884454e-01 -6.69849851e-02 -6.63791296e+01] [-9.74866033e-02 1.33280712e-03 9.95235945e-01 -1.96207981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.408241008 meters 0.062364000306517973 Centerline is valid? [True, True] Translation: X:135.15, Y:-66.40, Z:-19.63 [[ 7.32034706e-01 6.77577874e-01 7.08054609e-02 1.35149630e+02] [-6.74259590e-01 7.35449892e-01 -6.69885200e-02 -6.64019229e+01] [-9.74638075e-02 1.29666052e-03 9.95238225e-01 -1.96286880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.438241008 meters 0.06233221560567072 Centerline is valid? [True, True] Translation: X:135.17, Y:-66.42, Z:-19.63 [[ 7.30803308e-01 6.78862257e-01 7.12219174e-02 1.35173952e+02] [-6.75506882e-01 7.34264725e-01 -6.74222973e-02 -6.64227851e+01] [-9.80661945e-02 1.16154257e-03 9.95179216e-01 -1.96336889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.468241008 meters 0.061822254287286174 Centerline is valid? [True, True] Translation: X:135.20, Y:-66.44, Z:-19.64 [[ 7.28485980e-01 6.81443547e-01 7.03055461e-02 1.35202062e+02] [-6.78183594e-01 7.31870217e-01 -6.65807657e-02 -6.64403961e+01] [-9.68255684e-02 8.23086384e-04 9.95301026e-01 -1.96355227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.498241008 meters 0.06184179069629719 Centerline is valid? [True, True] Translation: X:135.23, Y:-66.46, Z:-19.64 [[ 7.27107583e-01 6.82946865e-01 6.99867269e-02 1.35226679e+02] [-6.79720137e-01 7.30467770e-01 -6.63126858e-02 -6.64613312e+01] [-9.64110892e-02 6.45069092e-04 9.95341392e-01 -1.96394844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.528241008 meters 0.06176430185500876 Centerline is valid? [True, True] Translation: X:135.25, Y:-66.48, Z:-19.64 [[ 7.25849479e-01 6.84238113e-01 7.04325175e-02 1.35249976e+02] [-6.80972660e-01 7.29258495e-01 -6.67703820e-02 -6.64818153e+01] [-9.70503519e-02 5.02628195e-04 9.95279346e-01 -1.96441857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.558241008 meters 0.061696516531282025 Centerline is valid? [True, True] Translation: X:135.27, Y:-66.50, Z:-19.65 [[ 7.24978850e-01 6.85120198e-01 7.08235904e-02 1.35273970e+02] [-6.81819532e-01 7.28429919e-01 -6.71712608e-02 -6.65030863e+01] [-9.76104097e-02 4.08836109e-04 9.95224618e-01 -1.96473419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.588241008 meters 0.061729044912459334 Centerline is valid? [True, True] Translation: X:135.30, Y:-66.52, Z:-19.65 [[ 7.23650816e-01 6.86524626e-01 7.08056121e-02 1.35297914e+02] [-6.83229513e-01 7.27106512e-01 -6.71829816e-02 -6.65236352e+01] [-9.76059930e-02 2.40535606e-04 9.95225106e-01 -1.96514753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.618241008 meters 0.061838886436673825 Centerline is valid? [True, True] Translation: X:135.32, Y:-66.55, Z:-19.66 [[ 7.23420634e-01 6.86785538e-01 7.06272677e-02 1.35322231e+02] [-6.83504880e-01 7.26860078e-01 -6.70485422e-02 -6.65459512e+01] [-9.73841104e-02 2.30216847e-04 9.95246845e-01 -1.96563695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.648241008 meters 0.06179961022472863 Centerline is valid? [True, True] Translation: X:135.35, Y:-66.57, Z:-19.66 [[ 7.23263094e-01 6.86921388e-01 7.09189974e-02 1.35345321e+02] [-6.83612637e-01 7.26731695e-01 -6.73409726e-02 -6.65662122e+01] [-9.77970376e-02 2.24117389e-04 9.95206355e-01 -1.96616473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67824100800001 meters 0.061875613791439396 Centerline is valid? [True, True] Translation: X:135.37, Y:-66.59, Z:-19.67 [[ 7.23459790e-01 6.86722376e-01 7.08400387e-02 1.35368107e+02] [-6.83417504e-01 7.26919738e-01 -6.72919739e-02 -6.65874731e+01] [-9.77059265e-02 2.69714812e-04 9.95215293e-01 -1.96672920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.708241008 meters 0.06207253075106725 Centerline is valid? [True, True] Translation: X:135.39, Y:-66.61, Z:-19.67 [[ 7.25512141e-01 6.84477816e-01 7.15699163e-02 1.35388324e+02] [-6.81089869e-01 7.29033438e-01 -6.80208497e-02 -6.66114411e+01] [-9.87356249e-02 6.04407381e-04 9.95113517e-01 -1.96713773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.738241008 meters 0.06210223058360535 Centerline is valid? [True, True] Translation: X:135.41, Y:-66.64, Z:-19.67 [[ 7.26577436e-01 6.83311372e-01 7.19082560e-02 1.35410727e+02] [-6.79884353e-01 7.30126679e-01 -6.83542183e-02 -6.66368150e+01] [-9.92093509e-02 7.75334612e-04 9.95066281e-01 -1.96746873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.768241008 meters 0.06195255167925124 Centerline is valid? [True, True] Translation: X:135.43, Y:-66.66, Z:-19.67 [[ 7.28730297e-01 6.80855925e-01 7.33986604e-02 1.35431495e+02] [-6.77268431e-01 7.32416450e-01 -6.98112920e-02 -6.66619003e+01] [-1.01289818e-01 1.16300802e-03 9.94856281e-01 -1.96726828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.798241008 meters 0.06175325697626445 Centerline is valid? [True, True] Translation: X:135.45, Y:-66.69, Z:-19.67 [[ 7.29489863e-01 6.80012296e-01 7.36737237e-02 1.35454906e+02] [-6.76390440e-01 7.33199542e-01 -7.01028097e-02 -6.66854963e+01] [-1.01688313e-01 1.30708655e-03 9.94815449e-01 -1.96737672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.828241008 meters 0.062079643775554784 Centerline is valid? [True, True] Translation: X:135.48, Y:-66.71, Z:-19.68 [[ 7.29925600e-01 6.79520023e-01 7.38996433e-02 1.35476563e+02] [-6.75869553e-01 7.33655613e-01 -7.03547402e-02 -6.67087347e+01] [-1.02024343e-01 1.40720702e-03 9.94780907e-01 -1.96776594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.858241008 meters 0.06186898632306916 Centerline is valid? [True, True] Translation: X:135.50, Y:-66.73, Z:-19.68 [[ 7.30189901e-01 6.79112515e-01 7.50259995e-02 1.35501286e+02] [-6.75343952e-01 7.34032633e-01 -7.14607549e-02 -6.67321287e+01] [-1.03601425e-01 1.51156653e-03 9.94617746e-01 -1.96793460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.888241008 meters 0.06210617894145285 Centerline is valid? [True, True] Translation: X:135.53, Y:-66.75, Z:-19.68 [[ 7.31124762e-01 6.78113265e-01 7.49598698e-02 1.35525071e+02] [-6.74341828e-01 7.34955488e-01 -7.14389949e-02 -6.67541305e+01] [-1.03535898e-01 1.68224251e-03 9.94624295e-01 -1.96826246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.918241008 meters 0.062343248456633235 Centerline is valid? [True, True] Translation: X:135.55, Y:-66.78, Z:-19.69 [[ 7.31588078e-01 6.77684214e-01 7.43168312e-02 1.35548222e+02] [-6.73971468e-01 7.35350956e-01 -7.08620629e-02 -6.67762888e+01] [-1.02671054e-01 1.75441659e-03 9.94713816e-01 -1.96882916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.948241008 meters 0.06248237896195127 Centerline is valid? [True, True] Translation: X:135.57, Y:-66.80, Z:-19.69 [[ 7.31821787e-01 6.77555080e-01 7.31845993e-02 1.35574009e+02] [-6.73951201e-01 7.35469910e-01 -6.98125285e-02 -6.67995898e+01] [-1.01126904e-01 1.76748069e-03 9.94871964e-01 -1.96939383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.978241008 meters 0.06321059619089657 Centerline is valid? [True, True] Translation: X:135.60, Y:-66.82, Z:-19.70 [[ 7.31955396e-01 6.77495130e-01 7.23992199e-02 1.35595939e+02] [-6.73962607e-01 7.35525064e-01 -6.91178988e-02 -6.68218576e+01] [-1.00078481e-01 1.79685198e-03 9.94977924e-01 -1.97018004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.008241008 meters 0.0629054880846791 Centerline is valid? [True, True] Translation: X:135.62, Y:-66.84, Z:-19.70 [[ 7.31847125e-01 6.77729661e-01 7.12901988e-02 1.35620876e+02] [-6.74304081e-01 7.35309078e-01 -6.80776481e-02 -6.68425134e+01] [-9.85585717e-02 1.75115905e-03 9.95129711e-01 -1.97048429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.038241008 meters 0.06306126945420423 Centerline is valid? [True, True] Translation: X:135.64, Y:-66.87, Z:-19.71 [[ 7.31444321e-01 6.78224678e-01 7.07141589e-02 1.35643138e+02] [-6.74853474e-01 7.34852648e-01 -6.75601542e-02 -6.68653113e+01] [-9.77854507e-02 1.69479526e-03 9.95206076e-01 -1.97097158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.068241008 meters 0.06290969111664643 Centerline is valid? [True, True] Translation: X:135.67, Y:-66.89, Z:-19.71 [[ 7.30410416e-01 6.79338980e-01 7.07048396e-02 1.35667226e+02] [-6.75970488e-01 7.33822923e-01 -6.75856237e-02 -6.68868502e+01] [-9.77983807e-02 1.57085858e-03 9.95205009e-01 -1.97126258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.098241008 meters 0.06227046560585231 Centerline is valid? [True, True] Translation: X:135.69, Y:-66.90, Z:-19.72 [[ 7.26417454e-01 6.83579501e-01 7.09700538e-02 1.35694745e+02] [-6.80202397e-01 7.29875336e-01 -6.78726236e-02 -6.69039062e+01] [-9.81956259e-02 1.02985773e-03 9.95166598e-01 -1.97156908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.128241008 meters 0.06190501808846698 Centerline is valid? [True, True] Translation: X:135.72, Y:-66.92, Z:-19.72 [[ 7.23443156e-01 6.86630934e-01 7.18885285e-02 1.35721232e+02] [-6.83177212e-01 7.27005872e-01 -6.87848709e-02 -6.69226832e+01] [-9.94932025e-02 6.49339568e-04 9.95038030e-01 -1.97196943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.158241008 meters 0.061866644364698214 Centerline is valid? [True, True] Translation: X:135.75, Y:-66.94, Z:-19.72 [[ 7.20525593e-01 6.89655351e-01 7.22382684e-02 1.35749056e+02] [-6.86181714e-01 7.24137721e-01 -6.91318798e-02 -6.69424860e+01] [-9.99876258e-02 2.42709893e-04 9.94988651e-01 -1.97248010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.188241008 meters 0.06196562849702261 Centerline is valid? [True, True] Translation: X:135.77, Y:-66.96, Z:-19.73 [[ 7.17741821e-01 6.92538784e-01 7.23651184e-02 1.35774911e+02] [-6.89062697e-01 7.21380632e-01 -6.93006752e-02 -6.69606014e+01] [-1.00196200e-01 -1.24110785e-04 9.94967691e-01 -1.97304942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.218241008 meters 0.06215227579599179 Centerline is valid? [True, True] Translation: X:135.80, Y:-66.98, Z:-19.73 [[ 7.14320376e-01 6.95988984e-01 7.31145264e-02 1.35802187e+02] [-6.92454528e-01 7.18052219e-01 -7.00552405e-02 -6.69783724e+01] [-1.01257724e-01 -5.86599116e-04 9.94860055e-01 -1.97346889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.248241008 meters 0.06234029177046951 Centerline is valid? [True, True] Translation: X:135.83, Y:-67.00, Z:-19.74 [[ 7.12180716e-01 6.98177679e-01 7.31201499e-02 1.35827151e+02] [-6.94651048e-01 7.15923992e-01 -7.00910777e-02 -6.70000205e+01] [-1.01284496e-01 -8.75474950e-04 9.94857118e-01 -1.97383103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.278241008 meters 0.06269036041729092 Centerline is valid? [True, True] Translation: X:135.85, Y:-67.02, Z:-19.74 [[ 7.10649503e-01 6.99780901e-01 7.26909550e-02 1.35850579e+02] [-6.96300166e-01 7.14356736e-01 -6.97175207e-02 -6.70204513e+01] [-1.00714263e-01 -1.07000259e-03 9.94914817e-01 -1.97430098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.308241008 meters 0.0626423734584957 Centerline is valid? [True, True] Translation: X:135.87, Y:-67.04, Z:-19.74 [[ 7.09756256e-01 7.00693057e-01 7.26312383e-02 1.35873673e+02] [-6.97219976e-01 7.13461878e-01 -6.96882545e-02 -6.70431757e+01] [-1.00649696e-01 -1.17827560e-03 9.94921228e-01 -1.97449597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.338241008 meters 0.0629285737300975 Centerline is valid? [True, True] Translation: X:135.90, Y:-67.06, Z:-19.75 [[ 7.08513963e-01 7.01911223e-01 7.29972521e-02 1.35895974e+02] [-6.98405592e-01 7.12263197e-01 -7.00768619e-02 -6.70649309e+01] [-1.01180992e-01 -1.33125396e-03 9.94867144e-01 -1.97498051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.368241008 meters 0.0627349044351286 Centerline is valid? [True, True] Translation: X:135.92, Y:-67.09, Z:-19.75 [[ 7.08776039e-01 7.01677607e-01 7.26984337e-02 1.35917183e+02] [-6.98196077e-01 7.12493457e-01 -6.98234361e-02 -6.70892935e+01] [-1.00790700e-01 -1.26858276e-03 9.94906843e-01 -1.97532431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.398241008 meters 0.0628983371242516 Centerline is valid? [True, True] Translation: X:135.94, Y:-67.11, Z:-19.76 [[ 7.09526743e-01 7.00961293e-01 7.22846294e-02 1.35937651e+02] [-6.97511944e-01 7.13198417e-01 -6.94629909e-02 -6.71126693e+01] [-1.00244151e-01 -1.13354269e-03 9.94962223e-01 -1.97594268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42824100800001 meters 0.06248907644484815 Centerline is valid? [True, True] Translation: X:135.95, Y:-67.14, Z:-19.76 [[ 7.12683615e-01 6.97769982e-01 7.21049087e-02 1.35953110e+02] [-6.94317946e-01 7.16321590e-01 -6.93250940e-02 -6.71415076e+01] [-1.00023272e-01 -6.56873509e-04 9.94984881e-01 -1.97640213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.458241008 meters 0.06222303171844481 Centerline is valid? [True, True] Translation: X:135.97, Y:-67.17, Z:-19.77 [[ 7.13998531e-01 6.96425698e-01 7.20926140e-02 1.35973414e+02] [-6.92965050e-01 7.17628767e-01 -6.93425685e-02 -6.71679915e+01] [-1.00027680e-01 -4.47169784e-04 9.94984554e-01 -1.97670416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.488241008 meters 0.06206458843751211 Centerline is valid? [True, True] Translation: X:135.99, Y:-67.19, Z:-19.77 [[ 7.15371625e-01 6.95009092e-01 7.21512372e-02 1.35993363e+02] [-6.91531958e-01 7.19000913e-01 -6.94351408e-02 -6.71928697e+01] [-1.00134860e-01 -2.22956891e-04 9.94973849e-01 -1.97719770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.518241008 meters 0.062136355319141835 Centerline is valid? [True, True] Translation: X:136.01, Y:-67.22, Z:-19.78 [[ 7.17175707e-01 6.93132991e-01 7.22887406e-02 1.36011907e+02] [-6.89629938e-01 7.20809721e-01 -6.95981021e-02 -6.72207066e+01] [-1.00347168e-01 6.15884128e-05 9.94952482e-01 -1.97763653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.548241008 meters 0.06209530448243577 Centerline is valid? [True, True] Translation: X:136.03, Y:-67.25, Z:-19.78 [[ 7.17816134e-01 6.92442599e-01 7.25482305e-02 1.36031627e+02] [-6.88906734e-01 7.21472947e-01 -6.98877658e-02 -6.72455110e+01] [-1.00734852e-01 1.87601370e-04 9.94913290e-01 -1.97801366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.578241008 meters 0.06194432842756376 Centerline is valid? [True, True] Translation: X:136.05, Y:-67.27, Z:-19.78 [[ 7.18203996e-01 6.91986711e-01 7.30575890e-02 1.36053291e+02] [-6.88396367e-01 7.21910188e-01 -7.03997372e-02 -6.72711015e+01] [-1.01456700e-01 2.68793800e-04 9.94839920e-01 -1.97821159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.608241008 meters 0.062008019377203905 Centerline is valid? [True, True] Translation: X:136.07, Y:-67.30, Z:-19.79 [[ 7.18343137e-01 6.91813120e-01 7.33331133e-02 1.36073961e+02] [-6.88192000e-01 7.22076526e-01 -7.06913184e-02 -6.72951360e+01] [-1.01857301e-01 3.13361511e-04 9.94798971e-01 -1.97867983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.638241008 meters 0.061986233414458365 Centerline is valid? [True, True] Translation: X:136.10, Y:-67.32, Z:-19.79 [[ 7.19053843e-01 6.91179374e-01 7.23370098e-02 1.36096101e+02] [-6.87649796e-01 7.22683122e-01 -6.97629066e-02 -6.73205951e+01] [-1.00495418e-01 4.20756136e-04 9.94937432e-01 -1.97911868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.668241008 meters 0.06212768231946792 Centerline is valid? [True, True] Translation: X:136.12, Y:-67.34, Z:-19.80 [[ 7.19287747e-01 6.90981385e-01 7.19017602e-02 1.36116807e+02] [-6.87488681e-01 7.22872393e-01 -6.93888813e-02 -6.73441728e+01] [-9.99222227e-02 4.78925852e-04 9.94995136e-01 -1.97960491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.698241008 meters 0.06226141219699418 Centerline is valid? [True, True] Translation: X:136.14, Y:-67.37, Z:-19.80 [[ 7.19150410e-01 6.91177552e-01 7.13882373e-02 1.36139217e+02] [-6.87733826e-01 7.22684841e-01 -6.89115741e-02 -6.73689322e+01] [-9.92213300e-02 4.61681182e-04 9.95065282e-01 -1.98016252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.728241008 meters 0.062360180784273564 Centerline is valid? [True, True] Translation: X:136.16, Y:-67.39, Z:-19.81 [[ 7.19173702e-01 6.91261496e-01 7.03329987e-02 1.36160230e+02] [-6.87915383e-01 7.22604539e-01 -6.79345670e-02 -6.73924897e+01] [-9.77834945e-02 4.73602262e-04 9.95207598e-01 -1.98072804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.758241008 meters 0.06270096000001313 Centerline is valid? [True, True] Translation: X:136.18, Y:-67.42, Z:-19.81 [[ 7.20114031e-01 6.90404929e-01 6.91145145e-02 1.36181562e+02] [-6.87167430e-01 7.23422888e-01 -6.67850917e-02 -6.74200803e+01] [-9.61077782e-02 5.99638332e-04 9.95370753e-01 -1.98141683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.788241008 meters 0.06302399694931525 Centerline is valid? [True, True] Translation: X:136.20, Y:-67.44, Z:-19.82 [[ 7.20730921e-01 6.89841625e-01 6.83042548e-02 1.36200779e+02] [-6.86672185e-01 7.23959968e-01 -6.60550944e-02 -6.74446463e+01] [-9.50170998e-02 7.05317141e-04 9.95475391e-01 -1.98205207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.818241008 meters 0.06277604471528028 Centerline is valid? [True, True] Translation: X:136.22, Y:-67.47, Z:-19.82 [[ 7.20389108e-01 6.90266107e-01 6.76183012e-02 1.36223538e+02] [-6.87159390e-01 7.23555293e-01 -6.54195046e-02 -6.74697725e+01] [-9.40824465e-02 6.62947985e-04 9.95564189e-01 -1.98219358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.848241008 meters 0.06335531882696725 Centerline is valid? [True, True] Translation: X:136.24, Y:-67.49, Z:-19.83 [[ 7.20298999e-01 6.90473316e-01 6.64526236e-02 1.36242266e+02] [-6.87470067e-01 7.23357568e-01 -6.43330032e-02 -6.74949150e+01] [-9.24892303e-02 6.54808208e-04 9.95713470e-01 -1.98303458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.878241008 meters 0.06317887326885989 Centerline is valid? [True, True] Translation: X:136.27, Y:-67.52, Z:-19.83 [[ 7.19090102e-01 6.91764968e-01 6.61109195e-02 1.36265986e+02] [-6.88795055e-01 7.22122544e-01 -6.40343959e-02 -6.75171674e+01] [-9.20369372e-02 5.09625931e-04 9.95755463e-01 -1.98336503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.908241008 meters 0.06302619331854385 Centerline is valid? [True, True] Translation: X:136.29, Y:-67.54, Z:-19.84 [[ 7.17222029e-01 6.93677015e-01 6.63683599e-02 1.36290649e+02] [-6.90688813e-01 7.20286133e-01 -6.43183471e-02 -6.75385559e+01] [-9.24203684e-02 2.90651734e-04 9.95720036e-01 -1.98371947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.938241008 meters 0.06311926350693926 Centerline is valid? [True, True] Translation: X:136.31, Y:-67.56, Z:-19.84 [[ 7.16075072e-01 6.94818847e-01 6.68076382e-02 1.36313386e+02] [-6.91792704e-01 7.19184775e-01 -6.47774160e-02 -6.75602917e+01] [-9.30556057e-02 1.68456123e-04 9.95660899e-01 -1.98419519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.968241008 meters 0.06278932794988126 Centerline is valid? [True, True] Translation: X:136.34, Y:-67.58, Z:-19.84 [[ 7.15212622e-01 6.95539758e-01 6.85226236e-02 1.36338705e+02] [-6.92356031e-01 7.18487602e-01 -6.64732357e-02 -6.75821311e+01] [-9.54674338e-02 1.00445463e-04 9.95432549e-01 -1.98429821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.998241008 meters 0.06273979621786038 Centerline is valid? [True, True] Translation: X:136.36, Y:-67.60, Z:-19.85 [[ 7.14823778e-01 6.95877633e-01 6.91468479e-02 1.36363195e+02] [-6.92633281e-01 7.18160367e-01 -6.71179942e-02 -6.76039938e+01] [-9.63644366e-02 8.41299785e-05 9.95346115e-01 -1.98470580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.028241008 meters 0.06267827732043314 Centerline is valid? [True, True] Translation: X:136.39, Y:-67.63, Z:-19.85 [[ 7.15320569e-01 6.95253037e-01 7.02829802e-02 1.36386540e+02] [-6.91894704e-01 7.18765036e-01 -6.82535154e-02 -6.76265386e+01] [-9.79704126e-02 1.94721762e-04 9.95189309e-01 -1.98509413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.058241008 meters 0.06270630322395855 Centerline is valid? [True, True] Translation: X:136.41, Y:-67.65, Z:-19.86 [[ 7.14909397e-01 6.95618102e-01 7.08520273e-02 1.36410065e+02] [-6.92203476e-01 7.18411739e-01 -6.88398268e-02 -6.76490887e+01] [-9.87871579e-02 1.70219532e-04 9.95108571e-01 -1.98551322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.088241008 meters 0.06270720915844694 Centerline is valid? [True, True] Translation: X:136.44, Y:-67.67, Z:-19.86 [[ 7.14373053e-01 6.96135727e-01 7.11771777e-02 1.36436309e+02] [-6.92688460e-01 7.17910185e-01 -6.91929389e-02 -6.76718419e+01] [-9.92664976e-02 1.25961383e-04 9.95060876e-01 -1.98590179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.118241008 meters 0.06275298476562181 Centerline is valid? [True, True] Translation: X:136.46, Y:-67.69, Z:-19.86 [[ 7.13470959e-01 6.96982577e-01 7.19338390e-02 1.36460520e+02] [-6.93460742e-01 7.17088059e-01 -6.99779555e-02 -6.76928390e+01] [-1.00356313e-01 4.39456398e-05 9.94951561e-01 -1.98627651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.148241008 meters 0.0628215467741674 Centerline is valid? [True, True] Translation: X:136.48, Y:-67.71, Z:-19.87 [[ 7.12614066e-01 6.97908483e-01 7.14488754e-02 1.36483990e+02] [-6.94435614e-01 7.16186948e-01 -6.95372827e-02 -6.77141648e+01] [-9.97014116e-02 -6.33978734e-05 9.95017399e-01 -1.98672285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17824100800001 meters 0.06273805629427688 Centerline is valid? [True, True] Translation: X:136.51, Y:-67.74, Z:-19.87 [[ 7.11894971e-01 6.98705273e-01 7.08272037e-02 1.36507612e+02] [-6.95293765e-01 7.15409616e-01 -6.89613042e-02 -6.77370186e+01] [-9.88540894e-02 -1.52507476e-04 9.95101927e-01 -1.98694025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.208241008 meters 0.06293601477038734 Centerline is valid? [True, True] Translation: X:136.53, Y:-67.76, Z:-19.88 [[ 7.11802112e-01 6.98945270e-01 6.93776826e-02 1.36529611e+02] [-6.95669684e-01 7.15175143e-01 -6.75885040e-02 -6.77595291e+01] [-9.68578593e-02 -1.54310578e-04 9.95298212e-01 -1.98756551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.238241008 meters 0.06304048470877792 Centerline is valid? [True, True] Translation: X:136.55, Y:-67.78, Z:-19.88 [[ 7.12429616e-01 6.98361830e-01 6.88098550e-02 1.36552249e+02] [-6.95135350e-01 7.15744892e-01 -6.70529281e-02 -6.77833153e+01] [-9.60775078e-02 -6.16707814e-05 9.95373854e-01 -1.98801964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.268241008 meters 0.06304048470877792 Centerline is valid? [True, True] Translation: X:136.58, Y:-67.81, Z:-19.88 [[ 7.12245779e-01 6.98551213e-01 6.87906504e-02 1.36575101e+02] [-6.95323711e-01 7.15560060e-01 -6.70726232e-02 -6.78058431e+01] [-9.60775042e-02 -5.95775594e-05 9.95373854e-01 -1.98842109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.298241008 meters 0.06315984553371495 Centerline is valid? [True, True] Translation: X:136.60, Y:-67.83, Z:-19.89 [[ 7.12861694e-01 6.97986706e-01 6.81378259e-02 1.36597755e+02] [-6.94814382e-01 7.16110715e-01 -6.64711908e-02 -6.78294172e+01] [-9.51902348e-02 4.16243087e-05 9.95459099e-01 -1.98895302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.328241008 meters 0.06332164615161752 Centerline is valid? [True, True] Translation: X:136.62, Y:-67.85, Z:-19.90 [[ 7.13943827e-01 6.96872758e-01 6.82097595e-02 1.36619086e+02] [-6.93685030e-01 7.17194751e-01 -6.65790331e-02 -6.78523066e+01] [-9.53167959e-02 2.17600546e-04 9.95446965e-01 -1.98950575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.358241008 meters 0.06339679538967437 Centerline is valid? [True, True] Translation: X:136.64, Y:-67.88, Z:-19.90 [[ 7.16529674e-01 6.94228948e-01 6.80543461e-02 1.36638974e+02] [-6.91042270e-01 7.19754007e-01 -6.64435807e-02 -6.78797105e+01] [-9.51094455e-02 5.80367375e-04 9.95466653e-01 -1.98990815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.388241008 meters 0.06352067282137973 Centerline is valid? [True, True] Translation: X:136.66, Y:-67.90, Z:-19.90 [[ 7.17697619e-01 6.93003078e-01 6.82412058e-02 1.36660064e+02] [-6.89789375e-01 7.20934209e-01 -6.66669587e-02 -6.79043216e+01] [-9.53978273e-02 7.74658738e-04 9.95438926e-01 -1.99025710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.418241008 meters 0.06356407966120373 Centerline is valid? [True, True] Translation: X:136.68, Y:-67.93, Z:-19.91 [[ 7.18777021e-01 6.91810843e-01 6.89735588e-02 1.36680832e+02] [-6.88518561e-01 7.22078124e-01 -6.74193942e-02 -6.79285456e+01] [-9.64457659e-02 9.69935897e-04 9.95337769e-01 -1.99059038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.448241008 meters 0.0634580528953659 Centerline is valid? [True, True] Translation: X:136.70, Y:-67.95, Z:-19.91 [[ 7.19323589e-01 6.91222183e-01 6.91770843e-02 1.36703383e+02] [-6.87904457e-01 7.22641499e-01 -6.76514762e-02 -6.79519887e+01] [-9.67524330e-02 1.07607802e-03 9.95307896e-01 -1.99069225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.478241008 meters 0.06349940827263 Centerline is valid? [True, True] Translation: X:136.73, Y:-67.98, Z:-19.91 [[ 7.20173756e-01 6.90314055e-01 6.93993216e-02 1.36727288e+02] [-6.86967466e-01 7.23508812e-01 -6.79021323e-02 -6.79770408e+01] [-9.70848171e-02 1.22625758e-03 9.95275356e-01 -1.99105587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.508241008 meters 0.06375083677967783 Centerline is valid? [True, True] Translation: X:136.75, Y:-68.00, Z:-19.92 [[ 7.20165897e-01 6.90257779e-01 7.00377075e-02 1.36748550e+02] [-6.86844118e-01 7.23562408e-01 -6.85754943e-02 -6.79994694e+01] [-9.80114207e-02 1.28074495e-03 9.95184466e-01 -1.99165962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.538241008 meters 0.06346781126423306 Centerline is valid? [True, True] Translation: X:136.77, Y:-68.02, Z:-19.92 [[ 7.20267922e-01 6.90138000e-01 7.01688099e-02 1.36773841e+02] [-6.86708055e-01 7.23676583e-01 -6.87331875e-02 -6.80222954e+01] [-9.82149091e-02 1.32082317e-03 9.95164352e-01 -1.99175163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.568241008 meters 0.0639894509494835 Centerline is valid? [True, True] Translation: X:136.79, Y:-68.05, Z:-19.92 [[ 7.20640393e-01 6.89632575e-01 7.13045267e-02 1.36794260e+02] [-6.86083495e-01 7.24158011e-01 -6.98900094e-02 -6.80452827e+01] [-9.98341713e-02 1.44470500e-03 9.95003041e-01 -1.99242954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.598241008 meters 0.06345018332412211 Centerline is valid? [True, True] Translation: X:136.82, Y:-68.07, Z:-19.93 [[ 7.20445939e-01 6.89808099e-01 7.15711972e-02 1.36819741e+02] [-6.86230256e-01 7.23990810e-01 -7.01807921e-02 -6.80680317e+01] [-1.00228168e-01 1.44714567e-03 9.94963427e-01 -1.99251019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.628241008 meters 0.06388773956179315 Centerline is valid? [True, True] Translation: X:136.84, Y:-68.09, Z:-19.93 [[ 7.20466901e-01 6.89741546e-01 7.20003062e-02 1.36841911e+02] [-6.86115037e-01 7.24054102e-01 -7.06527667e-02 -6.80916785e+01] [-1.00864266e-01 1.50248715e-03 9.94899061e-01 -1.99317909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.658241008 meters 0.0634953178767042 Centerline is valid? [True, True] Translation: X:136.87, Y:-68.11, Z:-19.93 [[ 7.19837420e-01 6.90448935e-01 7.15147313e-02 1.36867117e+02] [-6.86872047e-01 7.23379755e-01 -7.02034282e-02 -6.81132653e+01] [-1.00204191e-01 1.41358474e-03 9.94965890e-01 -1.99343149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.688241008 meters 0.06351458697313639 Centerline is valid? [True, True] Translation: X:136.89, Y:-68.13, Z:-19.94 [[ 7.18914167e-01 6.91516583e-01 7.04786230e-02 1.36890897e+02] [-6.88043819e-01 7.22359457e-01 -6.92280078e-02 -6.81347474e+01] [-9.87832153e-02 1.27661459e-03 9.95108158e-01 -1.99390513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.718241008 meters 0.06374442417039246 Centerline is valid? [True, True] Translation: X:136.91, Y:-68.16, Z:-19.95 [[ 7.18303104e-01 6.92191355e-01 7.00840825e-02 1.36912563e+02] [-6.88757272e-01 7.21713020e-01 -6.88747908e-02 -6.81573804e+01] [-9.82551296e-02 1.20205456e-03 9.95160532e-01 -1.99450847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.748241008 meters 0.0638412144843942 Centerline is valid? [True, True] Translation: X:136.94, Y:-68.18, Z:-19.95 [[ 7.17893159e-01 6.92702988e-01 6.92241516e-02 1.36936346e+02] [-6.89352023e-01 7.21222065e-01 -6.80626367e-02 -6.81796584e+01] [-9.70731774e-02 1.14189233e-03 9.95276592e-01 -1.99505882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.778241008 meters 0.06406688281970259 Centerline is valid? [True, True] Translation: X:136.96, Y:-68.20, Z:-19.96 [[ 7.16301580e-01 6.94469082e-01 6.80054477e-02 1.36960357e+02] [-6.91239946e-01 7.19521969e-01 -6.68989841e-02 -6.82000046e+01] [-9.53906897e-02 9.11766119e-04 9.95439493e-01 -1.99579388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.808241008 meters 0.06383643678470777 Centerline is valid? [True, True] Translation: X:136.99, Y:-68.22, Z:-19.96 [[ 7.15127862e-01 6.95736201e-01 6.74038498e-02 1.36985015e+02] [-6.92566884e-01 7.18296989e-01 -6.63366168e-02 -6.82216121e+01] [-9.45687681e-02 7.57488729e-04 9.95518043e-01 -1.99611629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.838241008 meters 0.06387327159487075 Centerline is valid? [True, True] Translation: X:137.01, Y:-68.24, Z:-19.97 [[ 7.14437816e-01 6.96513423e-01 6.66907695e-02 1.37008986e+02] [-6.93411122e-01 7.17543448e-01 -6.56689944e-02 -6.82434567e+01] [-9.35928608e-02 6.72291599e-04 9.95610328e-01 -1.99664090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.868241008 meters 0.06403887782589522 Centerline is valid? [True, True] Translation: X:137.03, Y:-68.26, Z:-19.97 [[ 7.13441067e-01 6.97563974e-01 6.63803205e-02 1.37032456e+02] [-6.94491596e-01 7.16522289e-01 -6.54005616e-02 -6.82648901e+01] [-9.31840547e-02 5.58871715e-04 9.95648743e-01 -1.99726043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.898241008 meters 0.06407224043853045 Centerline is valid? [True, True] Translation: X:137.06, Y:-68.29, Z:-19.98 [[ 7.12360084e-01 6.98652943e-01 6.65370258e-02 1.37056662e+02] [-6.95568718e-01 7.15460606e-01 -6.55765211e-02 -6.82869865e+01] [-9.34198502e-02 4.33022340e-04 9.95626709e-01 -1.99774460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92824100800001 meters 0.06424348153579737 Centerline is valid? [True, True] Translation: X:137.08, Y:-68.31, Z:-19.98 [[ 7.12054226e-01 6.98962335e-01 6.65615047e-02 1.37080105e+02] [-6.95875500e-01 7.15158367e-01 -6.56185843e-02 -6.83098024e+01] [-9.34669359e-02 4.05469850e-04 9.95622302e-01 -1.99824532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.958241008 meters 0.06437344174435806 Centerline is valid? [True, True] Translation: X:137.10, Y:-68.33, Z:-19.99 [[ 7.11836286e-01 6.99177666e-01 6.66310259e-02 1.37102317e+02] [-6.96082066e-01 7.14947851e-01 -6.57215928e-02 -6.83315303e+01] [-9.35887786e-02 4.02352330e-04 9.95610857e-01 -1.99878223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.988241008 meters 0.06398681084822269 Centerline is valid? [True, True] Translation: X:137.12, Y:-68.36, Z:-19.99 [[ 7.11522817e-01 6.99451461e-01 6.71039132e-02 1.37124766e+02] [-6.96309882e-01 7.14679999e-01 -6.62196888e-02 -6.83555025e+01] [-9.42752827e-02 3.91701636e-04 9.95546090e-01 -1.99878991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.018241008 meters 0.06417065804339529 Centerline is valid? [True, True] Translation: X:137.15, Y:-68.38, Z:-19.99 [[ 7.11621409e-01 6.99345451e-01 6.71633097e-02 1.37145993e+02] [-6.96194662e-01 7.14783712e-01 -6.63116743e-02 -6.83787209e+01] [-9.43820076e-02 4.30069394e-04 9.95535962e-01 -1.99919770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.048241008 meters 0.06379902046556982 Centerline is valid? [True, True] Translation: X:137.17, Y:-68.40, Z:-19.99 [[ 7.11160471e-01 6.99804961e-01 6.72592013e-02 1.37169374e+02] [-6.96644221e-01 7.14333859e-01 -6.64376918e-02 -6.84019373e+01] [-9.45389512e-02 3.92126249e-04 9.95521086e-01 -1.99930269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.078241008 meters 0.06429923872238819 Centerline is valid? [True, True] Translation: X:137.19, Y:-68.42, Z:-20.00 [[ 7.11021961e-01 6.99918513e-01 6.75414395e-02 1.37191134e+02] [-6.96727776e-01 7.14222590e-01 -6.67570002e-02 -6.84238983e+01] [-9.49640822e-02 4.07696182e-04 9.95480616e-01 -2.00014899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.108241008 meters 0.06428272522475459 Centerline is valid? [True, True] Translation: X:137.21, Y:-68.45, Z:-20.00 [[ 7.10662730e-01 7.00230987e-01 6.80812021e-02 1.37214751e+02] [-6.96988662e-01 7.13916255e-01 -6.73081399e-02 -6.84458019e+01] [-9.57355220e-02 3.81560452e-04 9.95406733e-01 -2.00044637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.138241008 meters 0.06413402288570379 Centerline is valid? [True, True] Translation: X:137.24, Y:-68.47, Z:-20.01 [[ 7.10254429e-01 7.00663528e-01 6.78915790e-02 1.37240472e+02] [-6.97438737e-01 7.13491769e-01 -6.71468863e-02 -6.84715925e+01] [-9.54874570e-02 3.41156324e-04 9.95430575e-01 -2.00071828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.168241008 meters 0.06430908444076679 Centerline is valid? [True, True] Translation: X:137.26, Y:-68.49, Z:-20.01 [[ 7.09770436e-01 7.01179455e-01 6.76261751e-02 1.37262905e+02] [-6.97976303e-01 7.12984763e-01 -6.69463109e-02 -6.84938576e+01] [-9.51578102e-02 3.15044600e-04 9.95462150e-01 -2.00142555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.198241008 meters 0.06438458550687905 Centerline is valid? [True, True] Translation: X:137.29, Y:-68.52, Z:-20.02 [[ 7.09558979e-01 7.01422712e-01 6.73218802e-02 1.37286643e+02] [-6.98247784e-01 7.12745462e-01 -6.66628737e-02 -6.85164670e+01] [-9.47422182e-02 2.93886918e-04 9.95501796e-01 -2.00177065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.228241008 meters 0.06424235939015942 Centerline is valid? [True, True] Translation: X:137.31, Y:-68.54, Z:-20.02 [[ 7.08751834e-01 7.02244154e-01 6.72605803e-02 1.37309744e+02] [-6.99075438e-01 7.11936166e-01 -6.66365319e-02 -6.85399963e+01] [-9.46803546e-02 2.08544520e-04 9.95507703e-01 -2.00215320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.258241008 meters 0.06415134859435673 Centerline is valid? [True, True] Translation: X:137.33, Y:-68.56, Z:-20.02 [[ 7.07681035e-01 7.03284460e-01 6.76647668e-02 1.37333260e+02] [-7.00078849e-01 7.10908545e-01 -6.70719538e-02 -6.85630584e+01] [-9.52741237e-02 9.48776930e-05 9.95451070e-01 -2.00244900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.288241008 meters 0.06405057367992592 Centerline is valid? [True, True] Translation: X:137.36, Y:-68.58, Z:-20.03 [[ 7.07132447e-01 7.03782007e-01 6.82245485e-02 1.37357127e+02] [-7.00521794e-01 7.10415993e-01 -6.76633733e-02 -6.85847141e+01] [-9.60880750e-02 5.41835857e-05 9.95372834e-01 -2.00285776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.318241008 meters 0.06404414768653267 Centerline is valid? [True, True] Translation: X:137.38, Y:-68.61, Z:-20.03 [[ 7.06923640e-01 7.03921058e-01 6.89500615e-02 1.37381099e+02] [-7.00588335e-01 7.10278213e-01 -6.84167009e-02 -6.86052240e+01] [-9.71336830e-02 5.97744288e-05 9.95271342e-01 -2.00322092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.348241008 meters 0.06401681423906154 Centerline is valid? [True, True] Translation: X:137.40, Y:-68.63, Z:-20.03 [[ 7.07183152e-01 7.03596142e-01 6.96021452e-02 1.37402573e+02] [-7.00196593e-01 7.10600067e-01 -6.90816682e-02 -6.86271064e+01] [-9.80648843e-02 1.18206970e-04 9.95180016e-01 -2.00349902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.378241008 meters 0.06393771436943134 Centerline is valid? [True, True] Translation: X:137.43, Y:-68.65, Z:-20.04 [[ 7.06939318e-01 7.03858220e-01 6.94291525e-02 1.37425897e+02] [-7.00474294e-01 7.10340479e-01 -6.89359677e-02 -6.86494932e+01] [-9.78394850e-02 1.00209385e-04 9.95202203e-01 -2.00372254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.408241008 meters 0.06393273922484978 Centerline is valid? [True, True] Translation: X:137.45, Y:-68.67, Z:-20.04 [[ 7.06249207e-01 7.04645169e-01 6.84634449e-02 1.37449813e+02] [-7.01355247e-01 7.09559854e-01 -6.80119916e-02 -6.86706404e+01] [-9.65032332e-02 1.62188762e-05 9.95332671e-01 -2.00406433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.438241008 meters 0.06440298989427799 Centerline is valid? [True, True] Translation: X:137.48, Y:-68.69, Z:-20.05 [[ 7.04684696e-01 7.06319839e-01 6.73183746e-02 1.37475316e+02] [-7.03143574e-01 7.07892824e-01 -6.69093724e-02 -6.86885181e+01] [-9.49136115e-02 -1.84471738e-04 9.95485496e-01 -2.00486536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.468241008 meters 0.06498448815465821 Centerline is valid? [True, True] Translation: X:137.50, Y:-68.71, Z:-20.06 [[ 7.03955128e-01 7.07098778e-01 6.67719705e-02 1.37498229e+02] [-7.03975947e-01 7.07114730e-01 -6.63824049e-02 -6.87095517e+01] [-9.41543613e-02 -2.75626916e-04 9.95557573e-01 -2.00569550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.498241008 meters 0.064701329589629 Centerline is valid? [True, True] Translation: X:137.52, Y:-68.73, Z:-20.06 [[ 7.03282069e-01 7.07803033e-01 6.64017926e-02 1.37520881e+02] [-7.04715107e-01 7.06409758e-01 -6.60444655e-02 -6.87331188e+01] [-9.36533473e-02 -3.46458055e-04 9.95604806e-01 -2.00566931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.528241008 meters 0.06550828103079685 Centerline is valid? [True, True] Translation: X:137.54, Y:-68.75, Z:-20.07 [[ 7.03700737e-01 7.07430859e-01 6.59306636e-02 1.37543299e+02] [-7.04381864e-01 7.06782503e-01 -6.56100838e-02 -6.87543402e+01] [-9.30132374e-02 -2.70499433e-04 9.95664835e-01 -2.00687192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.558241008 meters 0.06563775483242217 Centerline is valid? [True, True] Translation: X:138.69, Y:-67.81, Z:-18.97 [[ 7.53826455e-01 -6.47571350e-01 -1.11341916e-01 1.38689359e+02] [-6.38675574e-01 -7.61940945e-01 1.07422100e-01 -6.78130457e+01] [-1.54399439e-01 -9.86625873e-03 -9.87959245e-01 -1.89725071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.588241008 meters 0.06492552806965168 Centerline is valid? [True, True] Translation: X:137.68, Y:-68.84, Z:-20.08 [[ 7.56714104e-01 6.50060806e-01 6.93160401e-02 1.37679735e+02] [-6.47374352e-01 7.59882168e-01 -5.90384635e-02 -6.88381507e+01] [-9.10506140e-02 -1.98188547e-04 9.95846246e-01 -2.00762919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.618241008 meters 0.06486961620094113 Centerline is valid? [True, True] Translation: X:137.70, Y:-68.86, Z:-20.08 [[ 7.57275367e-01 6.49394080e-01 6.94359271e-02 1.37702259e+02] [-6.46692588e-01 7.60452050e-01 -5.91724290e-02 -6.88605657e+01] [-9.12289181e-02 -9.38765682e-05 9.95829943e-01 -2.00799792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.648241008 meters 0.06469393704091876 Centerline is valid? [True, True] Translation: X:137.73, Y:-68.88, Z:-20.08 [[ 7.58000945e-01 6.48540512e-01 6.94965630e-02 1.37725795e+02] [-6.45828100e-01 7.61180139e-01 -5.92525208e-02 -6.88842843e+01] [-9.13270636e-02 3.06334766e-05 9.95820951e-01 -2.00822125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67824100800001 meters 0.06463754433401941 Centerline is valid? [True, True] Translation: X:137.75, Y:-68.91, Z:-20.09 [[ 7.60944575e-01 6.44946607e-01 7.07617721e-02 1.37747639e+02] [-6.42115763e-01 7.64227472e-01 -6.03632166e-02 -6.89101371e+01] [-9.30091419e-02 4.95812894e-04 9.95665131e-01 -2.00857033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.708241008 meters 0.06465638607522677 Centerline is valid? [True, True] Translation: X:137.77, Y:-68.93, Z:-20.09 [[ 7.62089018e-01 6.43525794e-01 7.13784335e-02 1.37771774e+02] [-6.40636035e-01 7.65424106e-01 -6.09213312e-02 -6.89342597e+01] [-9.38392217e-02 6.99880814e-04 9.95587119e-01 -2.00889752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.738241008 meters 0.06494488119716242 Centerline is valid? [True, True] Translation: X:137.79, Y:-68.96, Z:-20.09 [[ 7.65063681e-01 6.39813213e-01 7.29151332e-02 1.37791519e+02] [-6.36776294e-01 7.68529490e-01 -6.22765969e-02 -6.89594881e+01] [-9.58828196e-02 1.21493417e-03 9.95391887e-01 -2.00908801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.768241008 meters 0.06503913330280499 Centerline is valid? [True, True] Translation: X:137.81, Y:-68.98, Z:-20.09 [[ 7.66188220e-01 6.38382958e-01 7.36397339e-02 1.37814431e+02] [-6.35275747e-01 7.69717579e-01 -6.29251464e-02 -6.89827665e+01] [-9.68521388e-02 1.43096899e-03 9.95297752e-01 -2.00932616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.798241008 meters 0.06484101696218379 Centerline is valid? [True, True] Translation: X:137.84, Y:-69.01, Z:-20.09 [[ 7.67223441e-01 6.37072592e-01 7.42071704e-02 1.37838910e+02] [-6.33907935e-01 7.70802078e-01 -6.34419959e-02 -6.90053981e+01] [-9.76161980e-02 1.63367224e-03 9.95222794e-01 -2.00949334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.828241008 meters 0.0653092927468408 Centerline is valid? [True, True] Translation: X:137.86, Y:-69.03, Z:-20.10 [[ 7.67652357e-01 6.36599395e-01 7.38313590e-02 1.37860526e+02] [-6.33461347e-01 7.71192766e-01 -6.31540946e-02 -6.90277140e+01] [-9.71420684e-02 1.71107740e-03 9.95269054e-01 -2.01010945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.858241008 meters 0.06506803175616124 Centerline is valid? [True, True] Translation: X:137.89, Y:-69.05, Z:-20.10 [[ 7.68097711e-01 6.36100942e-01 7.34948815e-02 1.37886651e+02] [-6.32986672e-01 7.71603784e-01 -6.28925475e-02 -6.90499715e+01] [-9.67149375e-02 1.78634129e-03 9.95310519e-01 -2.01046818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.888241008 meters 0.06522513308705717 Centerline is valid? [True, True] Translation: X:137.91, Y:-69.07, Z:-20.11 [[ 7.67990081e-01 6.36305974e-01 7.28419039e-02 1.37911173e+02] [-6.33243830e-01 7.71434735e-01 -6.23754891e-02 -6.90708768e+01] [-9.58826711e-02 1.77707075e-03 9.95391057e-01 -2.01100291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.918241008 meters 0.06527608104989215 Centerline is valid? [True, True] Translation: X:137.94, Y:-69.09, Z:-20.12 [[ 7.67835773e-01 6.36493538e-01 7.28299493e-02 1.37935867e+02] [-6.33430205e-01 7.71279985e-01 -6.23967885e-02 -6.90917533e+01] [-9.58874349e-02 1.77779658e-03 9.95390596e-01 -2.01153934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.948241008 meters 0.0655975658311783 Centerline is valid? [True, True] Translation: X:137.96, Y:-69.11, Z:-20.12 [[ 7.67701713e-01 6.36792580e-01 7.16190606e-02 1.37960989e+02] [-6.33828882e-01 7.71033203e-01 -6.13901289e-02 -6.91103158e+01] [-9.43134522e-02 1.73507799e-03 9.95541040e-01 -2.01214232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.978241008 meters 0.06580400931338747 Centerline is valid? [True, True] Translation: X:137.99, Y:-69.13, Z:-20.13 [[ 7.67750872e-01 6.36721577e-01 7.17233085e-02 1.37985993e+02] [-6.33746220e-01 7.71091763e-01 -6.15079042e-02 -6.91313660e+01] [-9.44686621e-02 1.76837136e-03 9.95526265e-01 -2.01261551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.008241008 meters 0.06548989572493832 Centerline is valid? [True, True] Translation: X:138.01, Y:-69.15, Z:-20.13 [[ 7.67917140e-01 6.36564889e-01 7.13330763e-02 1.38012026e+02] [-6.33618415e-01 7.71221044e-01 -6.12029841e-02 -6.91516870e+01] [-9.39732404e-02 1.80086986e-03 9.95573095e-01 -2.01287424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.038241008 meters 0.06546659444198275 Centerline is valid? [True, True] Translation: X:138.04, Y:-69.17, Z:-20.13 [[ 7.68117512e-01 6.36331652e-01 7.12566955e-02 1.38036964e+02] [-6.33387576e-01 7.71413379e-01 -6.11684362e-02 -6.91730490e+01] [-9.38917803e-02 1.85144145e-03 9.95580688e-01 -2.01320662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.068241008 meters 0.06450620014224592 Centerline is valid? [True, True] Translation: X:138.07, Y:-69.19, Z:-20.13 [[ 7.68022538e-01 6.36403726e-01 7.16357332e-02 1.38065746e+02] [-6.33425737e-01 7.71353863e-01 -6.15227919e-02 -6.91918247e+01] [-9.44098335e-02 1.87497373e-03 9.95531651e-01 -2.01302603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.098241008 meters 0.06479785892516961 Centerline is valid? [True, True] Translation: X:138.09, Y:-69.21, Z:-20.14 [[ 7.67344248e-01 6.37148220e-01 7.22838301e-02 1.38089634e+02] [-6.34115332e-01 7.70739121e-01 -6.21204833e-02 -6.92116611e+01] [-9.52919310e-02 1.83151062e-03 9.95447685e-01 -2.01360387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.128241008 meters 0.06451027007236716 Centerline is valid? [True, True] Translation: X:138.12, Y:-69.23, Z:-20.14 [[ 7.66652189e-01 6.37954684e-01 7.25137452e-02 1.38116406e+02] [-6.34903347e-01 7.70071899e-01 -6.23458963e-02 -6.92317468e+01] [-9.56146540e-02 1.75839832e-03 9.95416870e-01 -2.01400333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.158241008 meters 0.06402657087583331 Centerline is valid? [True, True] Translation: X:138.14, Y:-69.25, Z:-20.14 [[ 7.65456901e-01 6.39343718e-01 7.29063963e-02 1.38143177e+02] [-6.36261737e-01 7.68919355e-01 -6.27218235e-02 -6.92506103e+01] [-9.61599431e-02 1.62330227e-03 9.95364572e-01 -2.01413075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.188241008 meters 0.06402657087583331 Centerline is valid? [True, True] Translation: X:138.17, Y:-69.27, Z:-20.15 [[ 7.65290837e-01 6.39544217e-01 7.28912105e-02 1.38167410e+02] [-6.36461464e-01 7.68752603e-01 -6.27394654e-02 -6.92716598e+01] [-9.61599701e-02 1.62149147e-03 9.95364572e-01 -2.01453079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.218241008 meters 0.06375051201588611 Centerline is valid? [True, True] Translation: X:138.19, Y:-69.29, Z:-20.15 [[ 7.63798411e-01 6.41169867e-01 7.42508496e-02 1.38192791e+02] [-6.37974876e-01 7.67397574e-01 -6.39454552e-02 -6.92901685e+01] [-9.79798209e-02 1.47126059e-03 9.95187314e-01 -2.01482457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.248241008 meters 0.06315425512348562 Centerline is valid? [True, True] Translation: X:138.22, Y:-69.31, Z:-20.15 [[ 7.63109439e-01 6.42014622e-01 7.40351878e-02 1.38220294e+02] [-6.38839582e-01 7.66691153e-01 -6.37860914e-02 -6.93095089e+01] [-9.77137268e-02 1.37916002e-03 9.95213608e-01 -2.01495548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.278241008 meters 0.06370908843522435 Centerline is valid? [True, True] Translation: X:138.24, Y:-69.33, Z:-20.16 [[ 7.62511513e-01 6.42667671e-01 7.45282287e-02 1.38243023e+02] [-6.39449096e-01 7.66143902e-01 -6.42524305e-02 -6.93303129e+01] [-9.83923078e-02 1.33620959e-03 9.95146807e-01 -2.01569167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.308241008 meters 0.06341725649538335 Centerline is valid? [True, True] Translation: X:138.27, Y:-69.35, Z:-20.16 [[ 7.61121184e-01 6.44122905e-01 7.61592244e-02 1.38271272e+02] [-6.40765204e-01 7.64921069e-01 -6.56940852e-02 -6.93487282e+01] [-1.00570860e-01 1.20097894e-03 9.94929173e-01 -2.01594931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.338241008 meters 0.06301057996995237 Centerline is valid? [True, True] Translation: X:138.30, Y:-69.37, Z:-20.16 [[ 7.60675619e-01 6.44709510e-01 7.56455499e-02 1.38299356e+02] [-6.41397384e-01 7.64426817e-01 -6.52766257e-02 -6.93675729e+01] [-9.99099483e-02 1.13547985e-03 9.94995836e-01 -2.01604153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.368241008 meters 0.06293403005255603 Centerline is valid? [True, True] Translation: X:138.33, Y:-69.39, Z:-20.16 [[ 7.59776992e-01 6.45694671e-01 7.62713236e-02 1.38325164e+02] [-6.42327816e-01 7.63594979e-01 -6.58610970e-02 -6.93874575e+01] [-1.00766559e-01 1.04855344e-03 9.94909544e-01 -2.01646399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.398241008 meters 0.06274632793387767 Centerline is valid? [True, True] Translation: X:138.35, Y:-69.41, Z:-20.17 [[ 7.59168361e-01 6.46333107e-01 7.69214839e-02 1.38350918e+02] [-6.42909740e-01 7.63054743e-01 -6.64418946e-02 -6.94080836e+01] [-1.01638899e-01 9.87013019e-04 9.94820868e-01 -2.01684753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42824100800001 meters 0.06263123022630257 Centerline is valid? [True, True] Translation: X:138.38, Y:-69.43, Z:-20.17 [[ 7.58159866e-01 6.47304065e-01 7.86833243e-02 1.38376096e+02] [-6.43722753e-01 7.62231347e-01 -6.80028797e-02 -6.94282282e+01] [-1.03993437e-01 9.06808012e-04 9.94577570e-01 -2.01705201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.458241008 meters 0.06267414008377632 Centerline is valid? [True, True] Translation: X:138.40, Y:-69.45, Z:-20.17 [[ 7.57586309e-01 6.47984343e-01 7.86083710e-02 1.38400534e+02] [-6.44410188e-01 7.61653196e-01 -6.79699931e-02 -6.94501274e+01] [-1.03915808e-01 8.37101051e-04 9.94585745e-01 -2.01740578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.488241008 meters 0.06233237628473889 Centerline is valid? [True, True] Translation: X:138.43, Y:-69.47, Z:-20.18 [[ 7.56696821e-01 6.48967974e-01 7.90600352e-02 1.38425986e+02] [-6.45353231e-01 7.60815366e-01 -6.84045820e-02 -6.94708250e+01] [-1.04542473e-01 7.39880600e-04 9.94520148e-01 -2.01753780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.518241008 meters 0.06220082103997891 Centerline is valid? [True, True] Translation: X:138.45, Y:-69.49, Z:-20.18 [[ 7.55478851e-01 6.50227250e-01 8.03506659e-02 1.38451822e+02] [-6.46496391e-01 7.59739534e-01 -6.95575732e-02 -6.94909654e+01] [-1.06273807e-01 6.02859903e-04 9.94336721e-01 -2.01786295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.548241008 meters 0.06214679068476889 Centerline is valid? [True, True] Translation: X:138.48, Y:-69.51, Z:-20.18 [[ 7.53491497e-01 6.52420646e-01 8.12272358e-02 1.38478890e+02] [-6.48616163e-01 7.57856974e-01 -7.03553803e-02 -6.95075842e+01] [-1.07459930e-01 3.26882846e-04 9.94209363e-01 -2.01827904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.578241008 meters 0.06223427734556713 Centerline is valid? [True, True] Translation: X:138.50, Y:-69.53, Z:-20.19 [[ 7.52799145e-01 6.53211750e-01 8.12887294e-02 1.38504025e+02] [-6.49402575e-01 7.57175246e-01 -7.04410618e-02 -6.95283792e+01] [-1.07562743e-01 2.38860875e-04 9.94198270e-01 -2.01868233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.608241008 meters 0.062296137650793566 Centerline is valid? [True, True] Translation: X:138.53, Y:-69.55, Z:-20.19 [[ 7.51426775e-01 6.54923538e-01 8.02057455e-02 1.38531288e+02] [-6.51221557e-01 7.55695150e-01 -6.95364985e-02 -6.95503588e+01] [-1.06152182e-01 1.98764285e-05 9.94349895e-01 -2.01912848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.638241008 meters 0.062327631537917004 Centerline is valid? [True, True] Translation: X:138.56, Y:-69.57, Z:-20.20 [[ 7.51091170e-01 6.55341502e-01 7.99347901e-02 1.38556105e+02] [-6.51661323e-01 7.55332718e-01 -6.93541998e-02 -6.95704517e+01] [-1.05828048e-01 9.16003043e-07 9.94384445e-01 -2.01963950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.668241008 meters 0.062388095984620744 Centerline is valid? [True, True] Translation: X:138.58, Y:-69.59, Z:-20.20 [[ 7.50759122e-01 6.55711416e-01 8.00204895e-02 1.38581564e+02] [-6.52021858e-01 7.55011614e-01 -6.94619245e-02 -6.95911546e+01] [-1.05963376e-01 -2.59348196e-05 9.94370033e-01 -2.02014234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.698241008 meters 0.06258411611705339 Centerline is valid? [True, True] Translation: X:138.61, Y:-69.61, Z:-20.21 [[ 7.50324778e-01 6.56313616e-01 7.91527952e-02 1.38605660e+02] [-6.52703406e-01 7.54488191e-01 -6.87446977e-02 -6.96115555e+01] [-1.04837930e-01 -8.24490141e-05 9.94489317e-01 -2.02074663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.728241008 meters 0.06270865639547592 Centerline is valid? [True, True] Translation: X:138.63, Y:-69.63, Z:-20.21 [[ 7.50183962e-01 6.56618980e-01 7.79457390e-02 1.38630750e+02] [-6.53116786e-01 7.54222450e-01 -6.77270883e-02 -6.96324143e+01] [-1.03259318e-01 -9.98951726e-05 9.94654464e-01 -2.02130822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.758241008 meters 0.06294415540646811 Centerline is valid? [True, True] Translation: X:138.66, Y:-69.65, Z:-20.22 [[ 7.49478658e-01 6.57666998e-01 7.58673922e-02 1.38657255e+02] [-6.54351709e-01 7.53308751e-01 -6.59527627e-02 -6.96526776e+01] [-1.00526526e-01 -2.13769601e-04 9.94934356e-01 -2.02190050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.788241008 meters 0.06298328809503533 Centerline is valid? [True, True] Translation: X:138.68, Y:-69.67, Z:-20.22 [[ 7.49246810e-01 6.57960188e-01 7.56148775e-02 1.38682113e+02] [-6.54664451e-01 7.53052682e-01 -6.57732030e-02 -6.96735193e+01] [-1.00218135e-01 -2.22009759e-04 9.94965465e-01 -2.02226442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.818241008 meters 0.06316351489739046 Centerline is valid? [True, True] Translation: X:138.71, Y:-69.69, Z:-20.23 [[ 7.49315346e-01 6.57859209e-01 7.58140643e-02 1.38706088e+02] [-6.54541902e-01 7.53140908e-01 -6.59823566e-02 -6.96942309e+01] [-1.00505774e-01 -1.81889431e-04 9.94936458e-01 -2.02299175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.848241008 meters 0.0631800671510595 Centerline is valid? [True, True] Translation: X:138.73, Y:-69.72, Z:-20.24 [[ 7.49176716e-01 6.58027156e-01 7.57265487e-02 1.38730360e+02] [-6.54714785e-01 7.52994177e-01 -6.59417914e-02 -6.97160998e+01] [-1.00413140e-01 -1.77236367e-04 9.94945813e-01 -2.02351419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.878241008 meters 0.06331801873454276 Centerline is valid? [True, True] Translation: X:138.75, Y:-69.74, Z:-20.24 [[ 7.49974266e-01 6.57113779e-01 7.57633239e-02 1.38754439e+02] [-6.53790012e-01 7.53791404e-01 -6.60086372e-02 -6.97383854e+01] [-1.00484927e-01 -2.85252048e-05 9.94938580e-01 -2.02397147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.908241008 meters 0.06309679208352005 Centerline is valid? [True, True] Translation: X:138.78, Y:-69.76, Z:-20.24 [[ 7.50131273e-01 6.56930825e-01 7.57955405e-02 1.38778727e+02] [-6.53599997e-01 7.53950854e-01 -6.60693081e-02 -6.97600897e+01] [-1.00549078e-01 2.06891309e-05 9.94932099e-01 -2.02428492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.938241008 meters 0.06300189904256802 Centerline is valid? [True, True] Translation: X:138.80, Y:-69.78, Z:-20.24 [[ 7.50647374e-01 6.56341713e-01 7.57896747e-02 1.38803065e+02] [-6.53005015e-01 7.54463743e-01 -6.60977380e-02 -6.97816326e+01] [-1.00563264e-01 1.25055846e-04 9.94930658e-01 -2.02443121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.968241008 meters 0.06297776936030249 Centerline is valid? [True, True] Translation: X:138.83, Y:-69.80, Z:-20.25 [[ 7.50480642e-01 6.56515802e-01 7.59329156e-02 1.38827559e+02] [-6.53163727e-01 7.54312259e-01 -6.62582928e-02 -6.98039015e+01] [-1.00776745e-01 1.28939961e-04 9.94909057e-01 -2.02471707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.998241008 meters 0.06297402759283037 Centerline is valid? [True, True] Translation: X:138.85, Y:-69.83, Z:-20.25 [[ 7.50666267e-01 6.56335604e-01 7.56553376e-02 1.38850319e+02] [-6.53003513e-01 7.54469047e-01 -6.60520253e-02 -6.98259199e+01] [-1.00431906e-01 1.79826077e-04 9.94943918e-01 -2.02507503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.028241008 meters 0.06306914561746021 Centerline is valid? [True, True] Translation: X:138.87, Y:-69.85, Z:-20.26 [[ 7.51307470e-01 6.55586556e-01 7.57849139e-02 1.38873280e+02] [-6.52235847e-01 7.55119974e-01 -6.61983797e-02 -6.98475819e+01] [-1.00625470e-01 3.05699676e-04 9.94924329e-01 -2.02552633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.058241008 meters 0.06313285587419747 Centerline is valid? [True, True] Translation: X:138.90, Y:-69.87, Z:-20.26 [[ 7.51863355e-01 6.54989965e-01 7.54297148e-02 1.38896741e+02] [-6.51664176e-01 7.55637464e-01 -6.59228668e-02 -6.98690663e+01] [-1.00176335e-01 4.10144843e-04 9.94969615e-01 -2.02604928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.088241008 meters 0.06330228053323342 Centerline is valid? [True, True] Translation: X:138.92, Y:-69.89, Z:-20.27 [[ 7.52735544e-01 6.53948064e-01 7.57702474e-02 1.38922216e+02] [-6.50585026e-01 7.56539233e-01 -6.62383055e-02 -6.98894815e+01] [-1.00639577e-01 5.64938502e-04 9.94922789e-01 -2.02652968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.118241008 meters 0.06342888929191302 Centerline is valid? [True, True] Translation: X:138.95, Y:-69.91, Z:-20.27 [[ 7.53191695e-01 6.53537425e-01 7.47736910e-02 1.38946875e+02] [-6.50257187e-01 7.56893935e-01 -6.54000207e-02 -6.99105611e+01] [-9.93371143e-02 6.36622472e-04 9.95053633e-01 -2.02699230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.148241008 meters 0.0636556254770371 Centerline is valid? [True, True] Translation: X:138.97, Y:-69.93, Z:-20.28 [[ 7.53283099e-01 6.53556336e-01 7.36796328e-02 1.38969776e+02] [-6.50368379e-01 7.56877594e-01 -6.44769679e-02 -6.99318854e+01] [-9.79057942e-02 6.50506860e-04 9.95195474e-01 -2.02752573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17824100800001 meters 0.06351963202481781 Centerline is valid? [True, True] Translation: X:139.00, Y:-69.95, Z:-20.28 [[ 7.53296216e-01 6.53586045e-01 7.32809174e-02 1.38995530e+02] [-6.50430032e-01 7.56851928e-01 -6.41555303e-02 -6.99540656e+01] [-9.73939630e-02 6.64008783e-04 9.95245686e-01 -2.02779170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20824100800002 meters 0.06340460097917676 Centerline is valid? [True, True] Translation: X:139.02, Y:-69.97, Z:-20.28 [[ 7.53484461e-01 6.53354772e-01 7.34078197e-02 1.39020890e+02] [-6.50182948e-01 7.57051529e-01 -6.43048771e-02 -6.99745267e+01] [-9.75874005e-02 7.24213061e-04 9.95226695e-01 -2.02800339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.238241008 meters 0.06370405636063894 Centerline is valid? [True, True] Translation: X:139.05, Y:-70.00, Z:-20.29 [[ 7.53661734e-01 6.53162519e-01 7.32987953e-02 1.39045507e+02] [-6.49996124e-01 7.57217358e-01 -6.42410428e-02 -6.99981246e+01] [-9.74629615e-02 7.72082897e-04 9.95238853e-01 -2.02875164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.268241008 meters 0.06349691267234739 Centerline is valid? [True, True] Translation: X:139.07, Y:-70.02, Z:-20.29 [[ 7.54329430e-01 6.52412574e-01 7.31091204e-02 1.39073214e+02] [-6.49254959e-01 7.57863461e-01 -6.41168682e-02 -7.00224009e+01] [-9.72373820e-02 8.98781719e-04 9.95260812e-01 -2.02886393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.298241008 meters 0.06359493541827536 Centerline is valid? [True, True] Translation: X:139.10, Y:-70.04, Z:-20.29 [[ 7.54799541e-01 6.51864028e-01 7.31501276e-02 1.39097386e+02] [-6.48694105e-01 7.58335184e-01 -6.42160860e-02 -7.00448571e+01] [-9.73324720e-02 1.01821569e-03 9.95251402e-01 -2.02925098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.328241008 meters 0.06373705940701188 Centerline is valid? [True, True] Translation: X:139.12, Y:-70.07, Z:-20.30 [[ 7.54304268e-01 6.52399999e-01 7.34800183e-02 1.39120898e+02] [-6.49201062e-01 7.57874192e-01 -6.45344108e-02 -7.00662601e+01] [-9.77908590e-02 9.75275510e-04 9.95206510e-01 -2.02980092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.358241008 meters 0.06355210638844762 Centerline is valid? [True, True] Translation: X:139.15, Y:-70.09, Z:-20.30 [[ 7.54174880e-01 6.52576032e-01 7.32446021e-02 1.39146508e+02] [-6.49396705e-01 7.57722637e-01 -6.43453578e-02 -7.00872246e+01] [-9.74893313e-02 9.62849269e-04 9.95236104e-01 -2.02996905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.388241008 meters 0.0633936194933524 Centerline is valid? [True, True] Translation: X:139.17, Y:-70.11, Z:-20.30 [[ 7.53714360e-01 6.52955884e-01 7.45873765e-02 1.39172753e+02] [-6.49656950e-01 7.57395337e-01 -6.55602909e-02 -7.01064207e+01] [-9.93001089e-02 9.57525210e-04 9.95057070e-01 -2.03040803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.418241008 meters 0.06343152775492392 Centerline is valid? [True, True] Translation: X:139.20, Y:-70.13, Z:-20.31 [[ 7.53505526e-01 6.53196707e-01 7.45887613e-02 1.39199492e+02] [-6.49896026e-01 7.57187668e-01 -6.55895643e-02 -7.01291572e+01] [-9.93205776e-02 9.47159667e-04 9.95055037e-01 -2.03078913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.448241008 meters 0.06358861315031082 Centerline is valid? [True, True] Translation: X:139.22, Y:-70.15, Z:-20.31 [[ 7.53101887e-01 6.53706347e-01 7.41994592e-02 1.39223284e+02] [-6.50437604e-01 7.56747764e-01 -6.52973620e-02 -7.01501425e+01] [-9.88355748e-02 9.13448164e-04 9.95103359e-01 -2.03129030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.478241008 meters 0.06346496895898182 Centerline is valid? [True, True] Translation: X:139.25, Y:-70.17, Z:-20.32 [[ 7.52823112e-01 6.53985090e-01 7.45712054e-02 1.39248322e+02] [-6.50681644e-01 7.56506896e-01 -6.56560390e-02 -7.01710657e+01] [-9.93517017e-02 9.05269080e-04 9.95051968e-01 -2.03156172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.508241008 meters 0.06338882122689386 Centerline is valid? [True, True] Translation: X:139.27, Y:-70.19, Z:-20.32 [[ 7.53269099e-01 6.53358225e-01 7.55559060e-02 1.39272353e+02] [-6.49960130e-01 7.57048199e-01 -6.65571500e-02 -7.01926750e+01] [-1.00685124e-01 1.02711797e-03 9.94917811e-01 -2.03186037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.538241008 meters 0.06392397962790677 Centerline is valid? [True, True] Translation: X:139.29, Y:-70.21, Z:-20.32 [[ 7.53856177e-01 6.52711408e-01 7.52906498e-02 1.39294835e+02] [-6.49330423e-01 7.57605786e-01 -6.63586856e-02 -7.02146291e+01] [-1.00353703e-01 1.13639557e-03 9.94951176e-01 -2.03249892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.568241008 meters 0.06337377861129018 Centerline is valid? [True, True] Translation: X:139.32, Y:-70.24, Z:-20.33 [[ 7.54055770e-01 6.52459798e-01 7.54725677e-02 1.39321849e+02] [-6.49059421e-01 7.57822411e-01 -6.65361718e-02 -7.02354127e+01] [-1.00606980e-01 1.18580311e-03 9.94925540e-01 -2.03253680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.598241008 meters 0.06419141062952864 Centerline is valid? [True, True] Translation: X:139.35, Y:-70.26, Z:-20.34 [[ 7.53631958e-01 6.53029934e-01 7.47715024e-02 1.39347578e+02] [-6.49692299e-01 7.57331265e-01 -6.59490105e-02 -7.02603882e+01] [-9.96934745e-02 1.12281262e-03 9.95017563e-01 -2.03361628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.628241008 meters 0.06385330122331168 Centerline is valid? [True, True] Translation: X:139.37, Y:-70.28, Z:-20.34 [[ 7.52872738e-01 6.53941562e-01 7.44518234e-02 1.39373378e+02] [-6.50628128e-01 7.56544314e-01 -6.57551439e-02 -7.02814757e+01] [-9.93261252e-02 1.06480475e-03 9.95054364e-01 -2.03382401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.658241008 meters 0.06360038315239815 Centerline is valid? [True, True] Translation: X:139.40, Y:-70.30, Z:-20.34 [[ 7.51797455e-01 6.55255648e-01 7.37605687e-02 1.39399026e+02] [-6.52006753e-01 7.55406654e-01 -6.51765389e-02 -7.03023684e+01] [-9.84265196e-02 9.07167173e-04 9.95143908e-01 -2.03408517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.688241008 meters 0.06396432669947284 Centerline is valid? [True, True] Translation: X:139.42, Y:-70.32, Z:-20.35 [[ 7.50611874e-01 6.56679172e-01 7.31729388e-02 1.39424464e+02] [-6.53485392e-01 7.54169687e-01 -6.46910002e-02 -7.03214331e+01] [-9.76660448e-02 7.40386298e-04 9.95218969e-01 -2.03481054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.718241008 meters 0.06380931463115917 Centerline is valid? [True, True] Translation: X:139.45, Y:-70.34, Z:-20.35 [[ 7.49514237e-01 6.57971576e-01 7.28135513e-02 1.39451042e+02] [-6.54812288e-01 7.53042531e-01 -6.44035205e-02 -7.03413557e+01] [-9.72073869e-02 5.92147443e-04 9.95263972e-01 -2.03519273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.748241008 meters 0.06369177611794759 Centerline is valid? [True, True] Translation: X:139.48, Y:-70.36, Z:-20.36 [[ 7.48334733e-01 6.59297502e-01 7.29515691e-02 1.39476806e+02] [-6.56129220e-01 7.51882042e-01 -6.45588150e-02 -7.03616057e+01] [-9.74144402e-02 4.45947450e-04 9.95243803e-01 -2.03555522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.778241008 meters 0.06361721093226086 Centerline is valid? [True, True] Translation: X:139.50, Y:-70.38, Z:-20.36 [[ 7.46943894e-01 6.60839350e-01 7.32541664e-02 1.39502501e+02] [-6.57648825e-01 7.50527335e-01 -6.48594075e-02 -7.03835488e+01] [-9.78409030e-02 2.70821954e-04 9.95202032e-01 -2.03595507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.808241008 meters 0.06369437733884015 Centerline is valid? [True, True] Translation: X:139.53, Y:-70.40, Z:-20.36 [[ 7.44655817e-01 6.63373331e-01 7.36446780e-02 1.39528978e+02] [-6.60157073e-01 7.48288596e-01 -6.52442725e-02 -7.04019443e+01] [-9.83887831e-02 -3.25280498e-05 9.95148052e-01 -2.03639265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.838241008 meters 0.06371811699810852 Centerline is valid? [True, True] Translation: X:139.55, Y:-70.42, Z:-20.37 [[ 7.43456389e-01 6.64688066e-01 7.39078606e-02 1.39554943e+02] [-6.61451847e-01 7.47120968e-01 -6.55111625e-02 -7.04219103e+01] [-9.87626003e-02 -1.81798578e-04 9.95111007e-01 -2.03683747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.868241008 meters 0.06383281462503945 Centerline is valid? [True, True] Translation: X:139.58, Y:-70.44, Z:-20.37 [[ 7.42811224e-01 6.65374118e-01 7.42210794e-02 1.39578811e+02] [-6.62110312e-01 7.46510027e-01 -6.58233570e-02 -7.04427868e+01] [-9.92039382e-02 -2.48213639e-04 9.95067092e-01 -2.03732972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.898241008 meters 0.06406052141791957 Centerline is valid? [True, True] Translation: X:139.60, Y:-70.46, Z:-20.38 [[ 7.42308941e-01 6.65973578e-01 7.38690034e-02 1.39601947e+02] [-6.62740562e-01 7.45975269e-01 -6.55427006e-02 -7.04636845e+01] [-9.87541565e-02 -3.03052148e-04 9.95111815e-01 -2.03774771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92824100800001 meters 0.06410477685437119 Centerline is valid? [True, True] Translation: X:139.63, Y:-70.48, Z:-20.38 [[ 7.40029994e-01 6.68529205e-01 7.36499142e-02 1.39626367e+02] [-6.65325363e-01 7.43685629e-01 -6.53746658e-02 -7.04838126e+01] [-9.84772561e-02 -6.21942360e-04 9.95139107e-01 -2.03805037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95824100800002 meters 0.06401563906430126 Centerline is valid? [True, True] Translation: X:139.65, Y:-70.50, Z:-20.38 [[ 7.39387916e-01 6.69139460e-01 7.45512792e-02 1.39651029e+02] [-6.65856692e-01 7.43136533e-01 -6.62039219e-02 -7.05047702e+01] [-9.97014357e-02 -6.90088249e-04 9.95017159e-01 -2.03839736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.988241008 meters 0.06390894027687835 Centerline is valid? [True, True] Translation: X:139.68, Y:-70.53, Z:-20.39 [[ 7.38915524e-01 6.69574275e-01 7.53268801e-02 1.39675540e+02] [-6.66221586e-01 7.42744744e-01 -6.69256614e-02 -7.05265472e+01] [-1.00760345e-01 -7.31983414e-04 9.94910457e-01 -2.03879333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.018241008 meters 0.06403688932282535 Centerline is valid? [True, True] Translation: X:139.70, Y:-70.55, Z:-20.39 [[ 7.38791656e-01 6.69710259e-01 7.53329770e-02 1.39699378e+02] [-6.66354672e-01 7.42622137e-01 -6.69612812e-02 -7.05484529e+01] [-1.00788593e-01 -7.28045336e-04 9.94907598e-01 -2.03927775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.048241008 meters 0.06386828984746662 Centerline is valid? [True, True] Translation: X:139.72, Y:-70.57, Z:-20.40 [[ 7.39849458e-01 6.68531884e-01 7.54181710e-02 1.39720272e+02] [-6.65158994e-01 7.43683284e-01 -6.70722396e-02 -7.05721525e+01] [-1.00927164e-01 -5.41714694e-04 9.94893670e-01 -2.03973886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.078241008 meters 0.06386828984746662 Centerline is valid? [True, True] Translation: X:139.74, Y:-70.59, Z:-20.40 [[ 7.39682734e-01 6.68718038e-01 7.54031780e-02 1.39744162e+02] [-6.65344395e-01 7.43515897e-01 -6.70890899e-02 -7.05936083e+01] [-1.00927146e-01 -5.44440442e-04 9.94893670e-01 -2.04013874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.108241008 meters 0.06371313008650516 Centerline is valid? [True, True] Translation: X:139.77, Y:-70.62, Z:-20.40 [[ 7.40323277e-01 6.67918794e-01 7.61966545e-02 1.39766179e+02] [-6.64465784e-01 7.44234045e-01 -6.78299990e-02 -7.06170646e+01] [-1.02013075e-01 -4.13942659e-04 9.94782972e-01 -2.04041291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.138241008 meters 0.06366334404012572 Centerline is valid? [True, True] Translation: X:139.79, Y:-70.64, Z:-20.41 [[ 7.41276504e-01 6.66870590e-01 7.61101885e-02 1.39787848e+02] [-6.63416581e-01 7.45173508e-01 -6.77855714e-02 -7.06415354e+01] [-1.01919500e-01 -2.44909579e-04 9.94792619e-01 -2.04086264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.168241008 meters 0.06362975038537483 Centerline is valid? [True, True] Translation: X:139.81, Y:-70.67, Z:-20.41 [[ 7.42832993e-01 6.65137874e-01 7.60969962e-02 1.39809281e+02] [-6.61672400e-01 7.46720569e-01 -6.78087512e-02 -7.06670611e+01] [-1.01925361e-01 1.92954494e-05 9.94792049e-01 -2.04125275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.198241008 meters 0.06376387460216196 Centerline is valid? [True, True] Translation: X:139.83, Y:-70.69, Z:-20.42 [[ 7.45583548e-01 6.62137754e-01 7.53575978e-02 1.39827643e+02] [-6.58720293e-01 7.49382004e-01 -6.71877006e-02 -7.06931862e+01] [-1.00959141e-01 4.54465296e-04 9.94890469e-01 -2.04175176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.228241008 meters 0.06384947795013267 Centerline is valid? [True, True] Translation: X:139.85, Y:-70.72, Z:-20.42 [[ 7.46799448e-01 6.60723321e-01 7.57316144e-02 1.39849001e+02] [-6.57262736e-01 7.50629239e-01 -6.75384474e-02 -7.07169288e+01] [-1.01470591e-01 6.62107190e-04 9.94838319e-01 -2.04221001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.258241008 meters 0.06396818098682258 Centerline is valid? [True, True] Translation: X:139.87, Y:-70.74, Z:-20.43 [[ 7.47956359e-01 6.59438498e-01 7.55125994e-02 1.39869806e+02] [-6.55988127e-01 7.51758027e-01 -6.73754116e-02 -7.07400045e+01] [-1.01197143e-01 8.58498878e-04 9.94866022e-01 -2.04262690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.288241008 meters 0.06411490121235879 Centerline is valid? [True, True] Translation: X:139.89, Y:-70.76, Z:-20.43 [[ 7.48456346e-01 6.58869235e-01 7.55276690e-02 1.39891894e+02] [-6.55411814e-01 7.52256882e-01 -6.74161545e-02 -7.07639699e+01] [-1.01234639e-01 9.56322127e-04 9.94862118e-01 -2.04303747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.318241008 meters 0.06446245639718594 Centerline is valid? [True, True] Translation: X:139.91, Y:-70.79, Z:-20.44 [[ 7.50161722e-01 6.57052589e-01 7.44263819e-02 1.39912166e+02] [-6.53683312e-01 7.53843773e-01 -6.64657326e-02 -7.07895277e+01] [-9.97773462e-02 1.20876458e-03 9.95009055e-01 -2.04360693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.348241008 meters 0.0644210984335617 Centerline is valid? [True, True] Translation: X:139.94, Y:-70.81, Z:-20.44 [[ 7.51126280e-01 6.55956211e-01 7.43690865e-02 1.39935394e+02] [-6.52583603e-01 7.54797689e-01 -6.64461394e-02 -7.08124399e+01] [-9.97193725e-02 1.37739503e-03 9.95014648e-01 -2.04392480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.378241008 meters 0.06482747870552659 Centerline is valid? [True, True] Translation: X:139.96, Y:-70.84, Z:-20.44 [[ 7.51789670e-01 6.55146220e-01 7.48045560e-02 1.39955974e+02] [-6.51726401e-01 7.55500576e-01 -6.68698667e-02 -7.08360530e+01] [-1.00324425e-01 1.51997100e-03 9.94953617e-01 -2.04447406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.408241008 meters 0.06500986436400776 Centerline is valid? [True, True] Translation: X:139.98, Y:-70.86, Z:-20.45 [[ 7.52113222e-01 6.54779004e-01 7.47673583e-02 1.39977784e+02] [-6.51357580e-01 7.55818709e-01 -6.68683908e-02 -7.08596217e+01] [-1.00294587e-01 1.59231524e-03 9.94956512e-01 -2.04490165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.438241008 meters 0.06466677905073594 Centerline is valid? [True, True] Translation: X:140.00, Y:-70.88, Z:-20.45 [[ 7.53328050e-01 6.53375622e-01 7.48140806e-02 1.40000531e+02] [-6.49940044e-01 7.57031735e-01 -6.69394675e-02 -7.08835325e+01] [-1.00373249e-01 1.80271168e-03 9.94948220e-01 -2.04502975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.468241008 meters 0.06490318953460497 Centerline is valid? [True, True] Translation: X:140.02, Y:-70.91, Z:-20.46 [[ 7.54021078e-01 6.52556151e-01 7.49845517e-02 1.40023828e+02] [-6.49097397e-01 7.57737882e-01 -6.71257863e-02 -7.09073849e+01] [-1.00621980e-01 1.94198042e-03 9.94922834e-01 -2.04553015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.498241008 meters 0.0656175004910868 Centerline is valid? [True, True] Translation: X:140.04, Y:-70.93, Z:-20.46 [[ 7.54113614e-01 6.52489184e-01 7.46359243e-02 1.40044655e+02] [-6.49058390e-01 7.57795473e-01 -6.68522835e-02 -7.09323179e+01] [-1.00179158e-01 1.97114424e-03 9.94967462e-01 -2.04620203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.528241008 meters 0.06528628191186683 Centerline is valid? [True, True] Translation: X:140.07, Y:-70.96, Z:-20.46 [[ 7.53997059e-01 6.52656903e-01 7.43464958e-02 1.40067293e+02] [-6.49249611e-01 7.57651029e-01 -6.66322831e-02 -7.09565156e+01] [-9.98167186e-02 1.97111207e-03 9.95003888e-01 -2.04640428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.558241008 meters 0.06529949406085554 Centerline is valid? [True, True] Translation: X:140.09, Y:-70.98, Z:-20.47 [[ 7.53514435e-01 6.53265917e-01 7.38893599e-02 1.40089968e+02] [-6.49899993e-01 7.57126154e-01 -6.62569721e-02 -7.09788856e+01] [-9.92269885e-02 1.90489036e-03 9.95063001e-01 -2.04693448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.588241008 meters 0.06504390615519412 Centerline is valid? [True, True] Translation: X:140.11, Y:-71.00, Z:-20.47 [[ 7.52801213e-01 6.54092257e-01 7.38488525e-02 1.40114837e+02] [-6.50730942e-01 7.56412594e-01 -6.62512472e-02 -7.10002850e+01] [-9.91946299e-02 1.81828585e-03 9.95066389e-01 -2.04737344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.618241008 meters 0.06519104112211867 Centerline is valid? [True, True] Translation: X:140.14, Y:-71.02, Z:-20.48 [[ 7.51791367e-01 6.55232427e-01 7.40284175e-02 1.40137675e+02] [-6.51856453e-01 7.55425426e-01 -6.64499109e-02 -7.10223164e+01] [-9.94630853e-02 1.70056771e-03 9.95039800e-01 -2.04792752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.648241008 meters 0.06482611893559409 Centerline is valid? [True, True] Translation: X:140.16, Y:-71.04, Z:-20.48 [[ 7.49214202e-01 6.58168283e-01 7.41120181e-02 1.40160947e+02] [-6.54795627e-01 7.52869657e-01 -6.65579846e-02 -7.10422911e+01] [-9.96030441e-02 1.33796196e-03 9.95026353e-01 -2.04843003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67824100800001 meters 0.06474166034527147 Centerline is valid? [True, True] Translation: X:140.18, Y:-71.06, Z:-20.49 [[ 7.47956152e-01 6.59573519e-01 7.43260981e-02 1.40184802e+02] [-6.56185264e-01 7.51639135e-01 -6.67795652e-02 -7.10630229e+01] [-9.99124369e-02 1.17649629e-03 9.94995538e-01 -2.04887318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70824100800002 meters 0.0643471184900298 Centerline is valid? [True, True] Translation: X:140.21, Y:-71.08, Z:-20.49 [[ 7.46034763e-01 6.61668596e-01 7.50120116e-02 1.40210278e+02] [-6.58224971e-01 7.49795847e-01 -6.74245982e-02 -7.10842435e+01] [-1.00856434e-01 9.26315077e-04 9.94900559e-01 -2.04930989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.738241008 meters 0.06401594045068332 Centerline is valid? [True, True] Translation: X:140.23, Y:-71.11, Z:-20.49 [[ 7.44301124e-01 6.63551575e-01 7.55985730e-02 1.40234998e+02] [-6.60059633e-01 7.48130210e-01 -6.79887476e-02 -7.11052233e+01] [-1.01671617e-01 7.04534886e-04 9.94817765e-01 -2.04946984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.768241008 meters 0.06359828653366162 Centerline is valid? [True, True] Translation: X:140.26, Y:-71.12, Z:-20.50 [[ 7.40767261e-01 6.67392925e-01 7.64888800e-02 1.40259140e+02] [-6.63834797e-01 7.44705742e-01 -6.88238376e-02 -7.11241033e+01] [-1.02894250e-01 2.06465571e-04 9.94692279e-01 -2.04980443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.798241008 meters 0.06337451066245058 Centerline is valid? [True, True] Translation: X:140.29, Y:-71.14, Z:-20.50 [[ 7.39039932e-01 6.69193992e-01 7.74556582e-02 1.40285326e+02] [-6.65552034e-01 7.43087747e-01 -6.97215127e-02 -7.11445286e+01] [-1.04213568e-01 -2.37888201e-05 9.94554942e-01 -2.04983440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.828241008 meters 0.06346812390474221 Centerline is valid? [True, True] Translation: X:140.31, Y:-71.17, Z:-20.50 [[ 7.37004898e-01 6.71312483e-01 7.85068861e-02 1.40311434e+02] [-6.67578961e-01 7.41174379e-01 -7.07026941e-02 -7.11650345e+01] [-1.05650894e-01 -3.01313602e-04 9.94403237e-01 -2.05042657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.858241008 meters 0.06344439711575837 Centerline is valid? [True, True] Translation: X:140.34, Y:-71.19, Z:-20.50 [[ 7.34153382e-01 6.74396793e-01 7.87894499e-02 1.40336660e+02] [-6.70649008e-01 7.38368782e-01 -7.10031674e-02 -7.11867512e+01] [-1.06059979e-01 -7.12850949e-04 9.94359479e-01 -2.05044440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.888241008 meters 0.06358398098390493 Centerline is valid? [True, True] Translation: X:140.36, Y:-71.21, Z:-20.51 [[ 7.32970024e-01 6.75694371e-01 7.86896467e-02 1.40359964e+02] [-6.71959338e-01 7.37181362e-01 -7.09527151e-02 -7.12081252e+01] [-1.05950891e-01 -8.70029632e-04 9.94370983e-01 -2.05086883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.918241008 meters 0.06375148738570073 Centerline is valid? [True, True] Translation: X:140.38, Y:-71.23, Z:-20.51 [[ 7.32319533e-01 6.76431928e-01 7.84088558e-02 1.40383989e+02] [-6.72724053e-01 7.36504548e-01 -7.07347056e-02 -7.12306345e+01] [-1.05595692e-01 -9.47116681e-04 9.94408695e-01 -2.05129668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.948241008 meters 0.06361328106813782 Centerline is valid? [True, True] Translation: X:140.41, Y:-71.25, Z:-20.52 [[ 7.32466391e-01 6.76208880e-01 7.89590789e-02 1.40406092e+02] [-6.72442460e-01 7.36709415e-01 -7.12767507e-02 -7.12533381e+01] [-1.06367869e-01 -8.87612950e-04 9.94326450e-01 -2.05165242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.978241008 meters 0.06344506585276281 Centerline is valid? [True, True] Translation: X:140.43, Y:-71.28, Z:-20.52 [[ 7.34979934e-01 6.73570283e-01 7.81509424e-02 1.40425444e+02] [-6.69862279e-01 7.39123026e-01 -7.05810145e-02 -7.12792257e+01] [-1.05304435e-01 -4.74738974e-04 9.94439918e-01 -2.05223897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.008241008 meters 0.06347500269000955 Centerline is valid? [True, True] Translation: X:140.45, Y:-71.30, Z:-20.53 [[ 7.36908732e-01 6.71492767e-01 7.78651683e-02 1.40446046e+02] [-6.67796583e-01 7.41011094e-01 -7.03582458e-02 -7.13035778e+01] [-1.04944007e-01 -1.50487577e-04 9.94478121e-01 -2.05299589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.038241008 meters 0.06334977102411522 Centerline is valid? [True, True] Translation: X:140.47, Y:-71.33, Z:-20.53 [[ 7.39186337e-01 6.68995525e-01 7.77724046e-02 1.40466701e+02] [-6.65290696e-01 7.43266395e-01 -7.03089962e-02 -7.13288858e+01] [-1.04842019e-01 2.30192128e-04 9.94488863e-01 -2.05331152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.068241008 meters 0.06358276592863589 Centerline is valid? [True, True] Translation: X:140.49, Y:-71.35, Z:-20.54 [[ 7.42288492e-01 6.65552992e-01 7.77625217e-02 1.40485813e+02] [-6.61825984e-01 7.46350224e-01 -7.03399640e-02 -7.13548447e+01] [-1.04853049e-01 7.47288464e-04 9.94487446e-01 -2.05384645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.098241008 meters 0.06417128839465604 Centerline is valid? [True, True] Translation: X:140.50, Y:-71.38, Z:-20.54 [[ 7.46374952e-01 6.61041169e-01 7.71297864e-02 1.40502023e+02] [-6.57348279e-01 7.50348350e-01 -6.97896398e-02 -7.13849143e+01] [-1.04008033e-01 1.38810668e-03 9.94575488e-01 -2.05413165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.128241008 meters 0.0641316868656474 Centerline is valid? [True, True] Translation: X:140.53, Y:-71.41, Z:-20.54 [[ 7.46843520e-01 6.60484850e-01 7.73596784e-02 1.40525151e+02] [-6.56764170e-01 7.50837895e-01 -7.00234297e-02 -7.14083626e+01] [-1.04333993e-01 1.48947973e-03 9.94541201e-01 -2.05432938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.158241008 meters 0.06422295989175518 Centerline is valid? [True, True] Translation: X:140.55, Y:-71.43, Z:-20.55 [[ 7.48121367e-01 6.58971637e-01 7.79153514e-02 1.40547744e+02] [-6.55185068e-01 7.52165773e-01 -7.05632817e-02 -7.14316794e+01] [-1.05104462e-01 1.74092397e-03 9.94459663e-01 -2.05450381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.188241008 meters 0.06468351844945876 Centerline is valid? [True, True] Translation: X:140.57, Y:-71.45, Z:-20.55 [[ 7.48870183e-01 6.58199373e-01 7.72465779e-02 1.40569570e+02] [-6.54470037e-01 7.52841370e-01 -6.99917234e-02 -7.14548674e+01] [-1.04222928e-01 1.85914403e-03 9.94552223e-01 -2.05505840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.218241008 meters 0.06552939265797272 Centerline is valid? [True, True] Translation: X:140.59, Y:-71.48, Z:-20.56 [[ 7.51096965e-01 6.55724052e-01 7.66767096e-02 1.40592102e+02] [-6.52033467e-01 7.54997404e-01 -6.95073967e-02 -7.14792433e+01] [-1.03468388e-01 2.21101384e-03 9.94630285e-01 -2.05564816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.248241008 meters 0.0653058465046656 Centerline is valid? [True, True] Translation: X:140.62, Y:-71.50, Z:-20.56 [[ 7.51697676e-01 6.55009393e-01 7.68979814e-02 1.40617782e+02] [-6.51289070e-01 7.55617082e-01 -6.97522216e-02 -7.15010043e+01] [-1.03793789e-01 2.34976801e-03 9.94596063e-01 -2.05598342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.278241008 meters 0.06551059456328784 Centerline is valid? [True, True] Translation: X:140.64, Y:-71.52, Z:-20.56 [[ 7.51767421e-01 6.55012163e-01 7.61893144e-02 1.40642802e+02] [-6.51356074e-01 7.55614653e-01 -6.91502768e-02 -7.15221346e+01] [-1.02864035e-01 2.35855249e-03 9.94692630e-01 -2.05649364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.308241008 meters 0.06562351434242228 Centerline is valid? [True, True] Translation: X:140.67, Y:-71.54, Z:-20.57 [[ 7.51668126e-01 6.55128168e-01 7.61715948e-02 1.40667307e+02] [-6.51470672e-01 7.55514043e-01 -6.91700358e-02 -7.15431459e+01] [-1.02863948e-01 2.36935104e-03 9.94692613e-01 -2.05697548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.338241008 meters 0.0648504614049994 Centerline is valid? [True, True] Translation: X:140.70, Y:-71.56, Z:-20.57 [[ 7.49791493e-01 6.57281986e-01 7.61124720e-02 1.40696535e+02] [-6.53637725e-01 7.53641817e-01 -6.91500996e-02 -7.15615682e+01] [-1.02812656e-01 2.09817337e-03 9.94698525e-01 -2.05726732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.368241008 meters 0.06485772657518164 Centerline is valid? [True, True] Translation: X:140.72, Y:-71.58, Z:-20.58 [[ 7.48812664e-01 6.58442812e-01 7.57143087e-02 1.40721144e+02] [-6.54837966e-01 7.52628202e-01 -6.88333314e-02 -7.15809990e+01] [-1.02307536e-01 1.96266635e-03 9.94750881e-01 -2.05779843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.398241008 meters 0.06510509643840537 Centerline is valid? [True, True] Translation: X:140.75, Y:-71.60, Z:-20.59 [[ 7.47706578e-01 6.59742240e-01 7.53329231e-02 1.40746438e+02] [-6.56177118e-01 7.51489813e-01 -6.85175197e-02 -7.16029419e+01] [-1.01815826e-01 1.79925984e-03 9.94801639e-01 -2.05852544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42824100800001 meters 0.06472496589382822 Centerline is valid? [True, True] Translation: X:140.77, Y:-71.62, Z:-20.59 [[ 7.46174849e-01 6.61651489e-01 7.37590831e-02 1.40774638e+02] [-6.58238792e-01 7.49809930e-01 -6.71324139e-02 -7.16214928e+01] [-9.97235545e-02 1.54142898e-03 9.95013988e-01 -2.05901813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45824100800002 meters 0.06499979874167817 Centerline is valid? [True, True] Translation: X:140.80, Y:-71.64, Z:-20.60 [[ 7.45331735e-01 6.62640111e-01 7.34076761e-02 1.40798624e+02] [-6.59260457e-01 7.48936596e-01 -6.68552597e-02 -7.16420347e+01] [-9.92786718e-02 1.43456865e-03 9.95058635e-01 -2.05965298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.488241008 meters 0.06446246652892572 Centerline is valid? [True, True] Translation: X:140.82, Y:-71.66, Z:-20.60 [[ 7.44149293e-01 6.63904165e-01 7.39803366e-02 1.40824853e+02] [-6.60475865e-01 7.47816554e-01 -6.73946105e-02 -7.16617538e+01] [-1.00067283e-01 1.28942491e-03 9.94979837e-01 -2.05986293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.518241008 meters 0.06426018139942652 Centerline is valid? [True, True] Translation: X:140.85, Y:-71.68, Z:-20.60 [[ 7.43489012e-01 6.64664922e-01 7.37877373e-02 1.40850348e+02] [-6.61254797e-01 7.47140601e-01 -6.72533712e-02 -7.16822207e+01] [-9.98307711e-02 1.20964730e-03 9.95003695e-01 -2.06022457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.548241008 meters 0.06438533713004843 Centerline is valid? [True, True] Translation: X:140.87, Y:-71.70, Z:-20.61 [[ 7.42783894e-01 6.65479124e-01 7.35501335e-02 1.40874929e+02] [-6.62091480e-01 7.46415618e-01 -6.70715867e-02 -7.17020647e+01] [-9.95337091e-02 1.12277756e-03 9.95033557e-01 -2.06072627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.578241008 meters 0.06410163282612988 Centerline is valid? [True, True] Translation: X:140.90, Y:-71.72, Z:-20.61 [[ 7.42533095e-01 6.65795180e-01 7.32214495e-02 1.40899939e+02] [-6.62436279e-01 7.46133749e-01 -6.68027399e-02 -7.17230586e+01] [-9.91099369e-02 1.09870075e-03 9.95075883e-01 -2.06094147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.608241008 meters 0.0644591244030878 Centerline is valid? [True, True] Translation: X:140.92, Y:-71.75, Z:-20.62 [[ 7.42482737e-01 6.65834856e-01 7.33711720e-02 1.40922446e+02] [-6.62458837e-01 7.46098308e-01 -6.69746581e-02 -7.17450378e+01] [-9.93361691e-02 1.12214615e-03 9.95053298e-01 -2.06163055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.638241008 meters 0.06418294559907732 Centerline is valid? [True, True] Translation: X:140.95, Y:-71.77, Z:-20.62 [[ 7.42249751e-01 6.66169097e-01 7.26914116e-02 1.40946835e+02] [-6.62853990e-01 7.45799935e-01 -6.63855689e-02 -7.17665262e+01] [-9.84372646e-02 1.09087975e-03 9.95142661e-01 -2.06180737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.668241008 meters 0.0643996891920517 Centerline is valid? [True, True] Translation: X:140.97, Y:-71.79, Z:-20.62 [[ 7.42194576e-01 6.66223678e-01 7.27545375e-02 1.40970757e+02] [-6.62899920e-01 7.45751154e-01 -6.64749041e-02 -7.17896817e+01] [-9.85439353e-02 1.10833618e-03 9.95132084e-01 -2.06232968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.698241008 meters 0.06405793683847033 Centerline is valid? [True, True] Translation: X:141.00, Y:-71.81, Z:-20.63 [[ 7.41727649e-01 6.66741334e-01 7.27742242e-02 1.40995482e+02] [-6.63414137e-01 7.45288432e-01 -6.65344765e-02 -7.18111815e+01] [-9.85990730e-02 1.07101173e-03 9.95126663e-01 -2.06254776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.728241008 meters 0.06402915033959379 Centerline is valid? [True, True] Translation: X:141.02, Y:-71.83, Z:-20.63 [[ 7.41305182e-01 6.67246329e-01 7.24497322e-02 1.41020032e+02] [-6.63947824e-01 7.44836415e-01 -6.62721776e-02 -7.18319464e+01] [-9.81830661e-02 1.02506667e-03 9.95167843e-01 -2.06297321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.758241008 meters 0.06391560119036915 Centerline is valid? [True, True] Translation: X:141.05, Y:-71.85, Z:-20.63 [[ 7.39861657e-01 6.68814663e-01 7.27438977e-02 1.41045817e+02] [-6.65493305e-01 7.43428698e-01 -6.65765043e-02 -7.18512093e+01] [-9.86072434e-02 8.46825846e-04 9.95126070e-01 -2.06341660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.788241008 meters 0.06387392253062309 Centerline is valid? [True, True] Translation: X:141.07, Y:-71.87, Z:-20.64 [[ 7.38887920e-01 6.69843472e-01 7.31735206e-02 1.41069257e+02] [-6.66484452e-01 7.42501972e-01 -6.70022197e-02 -7.18731273e+01] [-9.92124828e-02 7.38116961e-04 9.95065997e-01 -2.06389536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.818241008 meters 0.06347021334016954 Centerline is valid? [True, True] Translation: X:141.09, Y:-71.89, Z:-20.64 [[ 7.37724479e-01 6.71079042e-01 7.35901728e-02 1.41094201e+02] [-6.67683830e-01 7.41385564e-01 -6.74221586e-02 -7.18937212e+01] [-9.98042894e-02 6.04008361e-04 9.95006904e-01 -2.06392289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.848241008 meters 0.06344059320932999 Centerline is valid? [True, True] Translation: X:141.12, Y:-71.91, Z:-20.64 [[ 7.36804462e-01 6.72072150e-01 7.37442149e-02 1.41118091e+02] [-6.68664228e-01 7.40485502e-01 -6.75971206e-02 -7.19139173e+01] [-1.00036664e-01 4.95741584e-04 9.94983628e-01 -2.06433266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.878241008 meters 0.06321930748907185 Centerline is valid? [True, True] Translation: X:141.14, Y:-71.93, Z:-20.65 [[ 7.35284591e-01 6.73722454e-01 7.38554300e-02 1.41143613e+02] [-6.70309204e-01 7.38984416e-01 -6.77318561e-02 -7.19336681e+01] [-1.00210484e-01 2.96215608e-04 9.94966216e-01 -2.06460032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.908241008 meters 0.06336755953680522 Centerline is valid? [True, True] Translation: X:141.17, Y:-71.96, Z:-20.65 [[ 7.34896708e-01 6.74169193e-01 7.36391678e-02 1.41167824e+02] [-6.70774793e-01 7.38576896e-01 -6.75673388e-02 -7.19561563e+01] [-9.99400063e-02 2.59717233e-04 9.94993431e-01 -2.06503687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.938241008 meters 0.0633452980737163 Centerline is valid? [True, True] Translation: X:141.19, Y:-71.98, Z:-20.65 [[ 7.34252427e-01 6.74896584e-01 7.34028250e-02 1.41192356e+02] [-6.71523577e-01 7.37912302e-01 -6.73907980e-02 -7.19794508e+01] [-9.96466669e-02 1.90129398e-04 9.95022867e-01 -2.06544459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.968241008 meters 0.06341940366969115 Centerline is valid? [True, True] Translation: X:141.21, Y:-72.00, Z:-20.66 [[ 7.33972395e-01 6.75151398e-01 7.38587360e-02 1.41214396e+02] [-6.71733230e-01 7.37679168e-01 -6.78521448e-02 -7.20020938e+01] [-1.00294521e-01 1.88233977e-04 9.94957775e-01 -2.06602965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.998241008 meters 0.06341940366969115 Centerline is valid? [True, True] Translation: X:141.24, Y:-72.02, Z:-20.66 [[ 7.33805946e-01 6.75334034e-01 7.38429176e-02 1.41237908e+02] [-6.71915056e-01 7.37511971e-01 -6.78693546e-02 -7.20239496e+01] [-1.00294521e-01 1.86767802e-04 9.94957775e-01 -2.06642960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.028241008 meters 0.06334311047315154 Centerline is valid? [True, True] Translation: X:141.26, Y:-72.05, Z:-20.67 [[ 7.34049907e-01 6.75037418e-01 7.41297333e-02 1.41261791e+02] [-6.71586842e-01 7.37783450e-01 -6.81666610e-02 -7.20469423e+01] [-1.00706737e-01 2.53177720e-04 9.94916122e-01 -2.06669057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.058241008 meters 0.06338138553528849 Centerline is valid? [True, True] Translation: X:141.29, Y:-72.07, Z:-20.67 [[ 7.34492474e-01 6.74596359e-01 7.37601428e-02 1.41285019e+02] [-6.71174423e-01 7.38186723e-01 -6.78620398e-02 -7.20701317e+01] [-1.00228243e-01 3.38236241e-04 9.94964414e-01 -2.06710590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.088241008 meters 0.0634411485902982 Centerline is valid? [True, True] Translation: X:141.31, Y:-72.09, Z:-20.68 [[ 7.35672382e-01 6.73299629e-01 7.38495579e-02 1.41305344e+02] [-6.69859220e-01 7.39369540e-01 -6.79802151e-02 -7.20946947e+01] [-1.00373167e-01 5.42359493e-04 9.94949714e-01 -2.06755853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.118241008 meters 0.06342067723968303 Centerline is valid? [True, True] Translation: X:141.33, Y:-72.12, Z:-20.68 [[ 7.35858725e-01 6.73133233e-01 7.35090988e-02 1.41327678e+02] [-6.69720485e-01 7.39520998e-01 -6.76990808e-02 -7.21183218e+01] [-9.99320233e-02 5.86409973e-04 9.94994094e-01 -2.06789800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.148241008 meters 0.06341529522593416 Centerline is valid? [True, True] Translation: X:141.35, Y:-72.14, Z:-20.68 [[ 7.36244463e-01 6.72734781e-01 7.32939602e-02 1.41350230e+02] [-6.69336658e-01 7.39883419e-01 -6.75349174e-02 -7.21419141e+01] [-9.96620738e-02 6.63874655e-04 9.95021121e-01 -2.06833967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17824100800001 meters 0.06352086587714756 Centerline is valid? [True, True] Translation: X:141.37, Y:-72.17, Z:-20.69 [[ 7.36405491e-01 6.72517107e-01 7.36728816e-02 1.41373847e+02] [-6.69079232e-01 7.40081225e-01 -6.79173179e-02 -7.21657701e+01] [-1.00199475e-01 7.21690827e-04 9.94967107e-01 -2.06881106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20824100800002 meters 0.06352703983548821 Centerline is valid? [True, True] Translation: X:141.40, Y:-72.19, Z:-20.69 [[ 7.36486912e-01 6.72450093e-01 7.34704089e-02 1.41396321e+02] [-6.69026908e-01 7.40142080e-01 -6.77694463e-02 -7.21884370e+01] [-9.99501118e-02 7.57629721e-04 9.94992161e-01 -2.06927234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.238241008 meters 0.06342080257156131 Centerline is valid? [True, True] Translation: X:141.42, Y:-72.21, Z:-20.70 [[ 7.36683872e-01 6.72156165e-01 7.41819632e-02 1.41416900e+02] [-6.68660814e-01 7.40408938e-01 -6.84640117e-02 -7.22123401e+01] [-1.00943496e-01 8.33761361e-04 9.94891811e-01 -2.06957885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.268241008 meters 0.06338063996582746 Centerline is valid? [True, True] Translation: X:141.44, Y:-72.24, Z:-20.70 [[ 7.36596479e-01 6.72241191e-01 7.42792525e-02 1.41440003e+02] [-6.68734046e-01 7.40331727e-01 -6.85835917e-02 -7.22358377e+01] [-1.01096003e-01 8.45367126e-04 9.94876316e-01 -2.07006140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.298241008 meters 0.06353346694670783 Centerline is valid? [True, True] Translation: X:141.46, Y:-72.26, Z:-20.71 [[ 7.36559693e-01 6.72318812e-01 7.39407443e-02 1.41462451e+02] [-6.68840678e-01 7.40261227e-01 -6.83041962e-02 -7.22585896e+01] [-1.00657662e-01 8.55540204e-04 9.94920752e-01 -2.07058592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.328241008 meters 0.06355350215691893 Centerline is valid? [True, True] Translation: X:141.49, Y:-72.28, Z:-20.71 [[ 7.36283764e-01 6.72642954e-01 7.37405967e-02 1.41485888e+02] [-6.69181672e-01 7.39966727e-01 -6.81552021e-02 -7.22811857e+01] [-1.00409705e-01 8.35712936e-04 9.94945824e-01 -2.07116076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.358241008 meters 0.06336570904619336 Centerline is valid? [True, True] Translation: X:141.51, Y:-72.30, Z:-20.71 [[ 7.34400416e-01 6.74906686e-01 7.18122127e-02 1.41511696e+02] [-6.71632497e-01 7.37902894e-01 -6.64011228e-02 -7.23038263e+01] [-9.78050013e-02 5.33596578e-04 9.95205455e-01 -2.07132981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.388241008 meters 0.06354880919616937 Centerline is valid? [True, True] Translation: X:141.53, Y:-72.33, Z:-20.72 [[ 7.33415177e-01 6.76035297e-01 7.12632784e-02 1.41533395e+02] [-6.72811845e-01 7.36869123e-01 -6.59402551e-02 -7.23255104e+01] [-9.70896495e-02 4.14806061e-04 9.95275554e-01 -2.07211465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.418241008 meters 0.06350653025692521 Centerline is valid? [True, True] Translation: X:141.56, Y:-72.35, Z:-20.72 [[ 7.32318260e-01 6.77213799e-01 7.13543056e-02 1.41558402e+02] [-6.73984444e-01 7.35786239e-01 -6.60573969e-02 -7.23472571e+01] [-9.72364969e-02 2.83346004e-04 9.95261264e-01 -2.07238990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.448241008 meters 0.06349017358795032 Centerline is valid? [True, True] Translation: X:141.59, Y:-72.37, Z:-20.73 [[ 7.29851729e-01 6.79891301e-01 7.11637037e-02 1.41585026e+02] [-6.76688661e-01 7.33312905e-01 -6.59138799e-02 -7.23667516e+01] [-9.69995359e-02 -4.83122112e-05 9.95284426e-01 -2.07288741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.478241008 meters 0.06361715214731471 Centerline is valid? [True, True] Translation: X:141.61, Y:-72.39, Z:-20.73 [[ 7.29671297e-01 6.80132764e-01 7.07051757e-02 1.41608296e+02] [-6.76969155e-01 7.33088958e-01 -6.55236049e-02 -7.23879407e+01] [-9.63979340e-02 -5.45292741e-05 9.95342873e-01 -2.07340110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.508241008 meters 0.06363413350370992 Centerline is valid? [True, True] Translation: X:141.63, Y:-72.41, Z:-20.74 [[ 7.29130650e-01 6.80705746e-01 7.07685105e-02 1.41634449e+02] [-6.77536652e-01 7.32556943e-01 -6.56080042e-02 -7.24121597e+01] [-9.65017092e-02 -1.11452953e-04 9.95332813e-01 -2.07384561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.538241008 meters 0.06362216931946019 Centerline is valid? [True, True] Translation: X:141.66, Y:-72.43, Z:-20.74 [[ 7.29160311e-01 6.80692510e-01 7.05899988e-02 1.41657753e+02] [-6.77533980e-01 7.32569247e-01 -6.54981239e-02 -7.24345330e+01] [-9.62961446e-02 -6.84904549e-05 9.95352725e-01 -2.07409870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.568241008 meters 0.063598637842852 Centerline is valid? [True, True] Translation: X:141.68, Y:-72.46, Z:-20.75 [[ 7.30590278e-01 6.79201520e-01 7.01650987e-02 1.41678290e+02] [-6.76070730e-01 7.33951818e-01 -6.51390553e-02 -7.24577879e+01] [-9.57403472e-02 1.53390981e-04 9.95406330e-01 -2.07455521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.598241008 meters 0.06372393468050942 Centerline is valid? [True, True] Translation: X:141.70, Y:-72.48, Z:-20.75 [[ 7.31739804e-01 6.77941955e-01 7.03673647e-02 1.41700757e+02] [-6.74784553e-01 7.35115359e-01 -6.53545408e-02 -7.24810390e+01] [-9.60347156e-02 3.39708081e-04 9.95377927e-01 -2.07506105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.628241008 meters 0.06368372777898185 Centerline is valid? [True, True] Translation: X:141.72, Y:-72.50, Z:-20.75 [[ 7.32978581e-01 6.76604477e-01 7.03475755e-02 1.41723477e+02] [-6.73439499e-01 7.36346447e-01 -6.53693369e-02 -7.25047876e+01] [-9.60293734e-02 5.39487819e-04 9.95378354e-01 -2.07547294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.658241008 meters 0.06403629354110055 Centerline is valid? [True, True] Translation: X:141.74, Y:-72.53, Z:-20.76 [[ 7.34512032e-01 6.74885324e-01 7.08651830e-02 1.41744507e+02] [-6.71661851e-01 7.37922193e-01 -6.58877527e-02 -7.25287420e+01] [-9.67596686e-02 7.97907173e-04 9.95307455e-01 -2.07595218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.688241008 meters 0.06442399902621142 Centerline is valid? [True, True] Translation: X:141.76, Y:-72.55, Z:-20.76 [[ 7.36708867e-01 6.72554820e-01 7.02143812e-02 1.41764142e+02] [-6.69378107e-01 7.40046477e-01 -6.53005567e-02 -7.25541956e+01] [-9.58801095e-02 1.10752961e-03 9.95392273e-01 -2.07630961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.718241008 meters 0.0645201286782355 Centerline is valid? [True, True] Translation: X:141.79, Y:-72.58, Z:-20.77 [[ 7.37131121e-01 6.72164686e-01 6.95150769e-02 1.41786909e+02] [-6.69046526e-01 7.40400749e-01 -6.46797952e-02 -7.25772906e+01] [-9.49444892e-02 1.16866921e-03 9.95481882e-01 -2.07664872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.748241008 meters 0.06436204739213253 Centerline is valid? [True, True] Translation: X:141.81, Y:-72.60, Z:-20.77 [[ 7.37136745e-01 6.72146649e-01 6.96297476e-02 1.41811586e+02] [-6.69015208e-01 7.40417081e-01 -6.48166436e-02 -7.25993710e+01] [-9.51213442e-02 1.19536962e-03 9.95464967e-01 -2.07695156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.778241008 meters 0.06443079860211201 Centerline is valid? [True, True] Translation: X:141.84, Y:-72.62, Z:-20.78 [[ 7.36930648e-01 6.72435060e-01 6.90239784e-02 1.41836058e+02] [-6.69355864e-01 7.40155193e-01 -6.42885440e-02 -7.26192821e+01] [-9.43183270e-02 1.17459368e-03 9.95541397e-01 -2.07752559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.808241008 meters 0.06388622714737736 Centerline is valid? [True, True] Translation: X:141.86, Y:-72.64, Z:-20.78 [[ 7.36240267e-01 6.73218393e-01 6.87551098e-02 1.41864230e+02] [-6.70165471e-01 7.39442920e-01 -6.40500617e-02 -7.26409101e+01] [-9.39601587e-02 1.07893396e-03 9.95575374e-01 -2.07779920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.838241008 meters 0.06387536255753391 Centerline is valid? [True, True] Translation: X:141.89, Y:-72.66, Z:-20.78 [[ 7.35536011e-01 6.73975825e-01 6.88720903e-02 1.41889322e+02] [-6.70910969e-01 7.38752695e-01 -6.42100320e-02 -7.26622826e+01] [-9.41554516e-02 1.02174994e-03 9.95556983e-01 -2.07825441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.868241008 meters 0.06382393794966448 Centerline is valid? [True, True] Translation: X:141.91, Y:-72.68, Z:-20.79 [[ 7.33956258e-01 6.75708981e-01 6.87428901e-02 1.41912637e+02] [-6.72659572e-01 7.37168020e-01 -6.41280744e-02 -7.26824984e+01] [-9.40069760e-02 8.26638409e-04 9.95571195e-01 -2.07867202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.898241008 meters 0.06359110991198944 Centerline is valid? [True, True] Translation: X:141.94, Y:-72.70, Z:-20.79 [[ 7.32259209e-01 6.77570481e-01 6.85178393e-02 1.41937924e+02] [-6.74547879e-01 7.35457605e-01 -6.39317679e-02 -7.27048481e+01] [-9.37102447e-02 5.96062591e-04 9.95599334e-01 -2.07901422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92824100800001 meters 0.06358025367648401 Centerline is valid? [True, True] Translation: X:141.97, Y:-72.73, Z:-20.80 [[ 7.30432342e-01 6.79474658e-01 6.91576658e-02 1.41970424e+02] [-6.76403000e-01 7.33698889e-01 -6.45362072e-02 -7.27343830e+01] [-9.45916198e-02 3.60880378e-04 9.95516095e-01 -2.07953516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95824100800002 meters 0.06345285350617737 Centerline is valid? [True, True] Translation: X:142.00, Y:-72.76, Z:-20.80 [[ 7.29210992e-01 6.80736792e-01 6.96329551e-02 1.41995419e+02] [-6.77611531e-01 7.32528028e-01 -6.51559769e-02 -7.27551919e+01] [-9.53621620e-02 3.28361288e-04 9.95442590e-01 -2.07989970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.988241008 meters 0.06356188667447972 Centerline is valid? [True, True] Translation: X:142.02, Y:-72.77, Z:-20.80 [[ 7.27019595e-01 6.83046433e-01 6.99290946e-02 1.42020183e+02] [-6.79901947e-01 7.30374950e-01 -6.54658309e-02 -7.27737321e+01] [-9.57906612e-02 5.00143805e-05 9.95401500e-01 -2.08045390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.018241008 meters 0.06344331863166956 Centerline is valid? [True, True] Translation: X:142.04, Y:-72.80, Z:-20.81 [[ 7.26298497e-01 6.83824505e-01 6.98179097e-02 1.42044553e+02] [-6.80690859e-01 7.29646521e-01 -6.53904283e-02 -7.27951688e+01] [-9.56579721e-02 -3.14431640e-05 9.95414261e-01 -2.08066742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.048241008 meters 0.06358229509868876 Centerline is valid? [True, True] Translation: X:142.07, Y:-72.82, Z:-20.81 [[ 7.25250800e-01 6.84914249e-01 7.00267736e-02 1.42067705e+02] [-6.81763439e-01 7.28623668e-01 -6.56213694e-02 -7.28160944e+01] [-9.59681756e-02 -1.49743269e-04 9.95384392e-01 -2.08118860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.078241008 meters 0.0636695723435296 Centerline is valid? [True, True] Translation: X:142.09, Y:-72.84, Z:-20.82 [[ 7.24816459e-01 6.85353570e-01 7.02252412e-02 1.42090467e+02] [-6.82183759e-01 7.28210443e-01 -6.58397309e-02 -7.28378791e+01] [-9.62622487e-02 -1.84798386e-04 9.95355989e-01 -2.08163498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.108241008 meters 0.06338986557163288 Centerline is valid? [True, True] Translation: X:142.11, Y:-72.86, Z:-20.82 [[ 7.23810879e-01 6.86393517e-01 7.04396974e-02 1.42113415e+02] [-6.83206182e-01 7.27230258e-01 -6.60716599e-02 -7.28614227e+01] [-9.65770384e-02 -3.01450494e-04 9.95325467e-01 -2.08163594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.138241008 meters 0.0634088497786608 Centerline is valid? [True, True] Translation: X:142.14, Y:-72.88, Z:-20.82 [[ 7.23984037e-01 6.86150801e-01 7.10224827e-02 1.42135906e+02] [-6.82905423e-01 7.27459291e-01 -6.66570625e-02 -7.28842004e+01] [-9.74027618e-02 -2.42989361e-04 9.95245017e-01 -2.08206596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.168241008 meters 0.06342794022490039 Centerline is valid? [True, True] Translation: X:142.16, Y:-72.91, Z:-20.83 [[ 7.24084905e-01 6.86032038e-01 7.11413559e-02 1.42158655e+02] [-6.82773345e-01 7.27571300e-01 -6.67874441e-02 -7.29070045e+01] [-9.75787352e-02 -2.13641402e-04 9.95227785e-01 -2.08256540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.198241008 meters 0.0635593095720598 Centerline is valid? [True, True] Translation: X:142.18, Y:-72.93, Z:-20.83 [[ 7.25077220e-01 6.85069243e-01 7.03075977e-02 1.42179365e+02] [-6.81878830e-01 7.28477954e-01 -6.60388652e-02 -7.29308626e+01] [-9.64587303e-02 -5.79856724e-05 9.95336983e-01 -2.08303515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.228241008 meters 0.0635473758882198 Centerline is valid? [True, True] Translation: X:142.20, Y:-72.95, Z:-20.84 [[ 7.25022826e-01 6.85167979e-01 6.99052436e-02 1.42202263e+02] [-6.82011694e-01 7.28385090e-01 -6.56902602e-02 -7.29532859e+01] [-9.59267999e-02 -4.92555235e-05 9.95388390e-01 -2.08356100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.258241008 meters 0.06397364678524643 Centerline is valid? [True, True] Translation: X:142.22, Y:-72.98, Z:-20.84 [[ 7.25422218e-01 6.84811356e-01 6.92532538e-02 1.42224614e+02] [-6.81709033e-01 7.28720390e-01 -6.51105766e-02 -7.29754043e+01] [-9.50547203e-02 2.20901922e-05 9.95472049e-01 -2.08436551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.288241008 meters 0.06362327234512383 Centerline is valid? [True, True] Translation: X:142.25, Y:-73.00, Z:-20.84 [[ 7.25582093e-01 6.84854145e-01 6.71224674e-02 1.42247801e+02] [-6.81937821e-01 7.28680176e-01 -6.31348584e-02 -7.29981285e+01] [-9.21489808e-02 3.61735230e-05 9.95745230e-01 -2.08440573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.318241008 meters 0.06409547299771903 Centerline is valid? [True, True] Translation: X:142.27, Y:-73.02, Z:-20.85 [[ 7.25439273e-01 6.85015975e-01 6.70147440e-02 1.42270348e+02] [-6.82106808e-01 7.28528045e-01 -6.30649619e-02 -7.30188716e+01] [-9.20226268e-02 3.85869665e-05 9.95756915e-01 -2.08525646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.348241008 meters 0.063917760526204 Centerline is valid? [True, True] Translation: X:142.29, Y:-73.04, Z:-20.85 [[ 7.25701470e-01 6.84782438e-01 6.65611642e-02 1.42294342e+02] [-6.81908874e-01 7.28747559e-01 -6.26680374e-02 -7.30407080e+01] [-9.14202573e-02 8.96383382e-05 9.95812396e-01 -2.08549334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.378241008 meters 0.0642690235083735 Centerline is valid? [True, True] Translation: X:142.32, Y:-73.06, Z:-20.86 [[ 7.25735999e-01 6.84760144e-01 6.64138904e-02 1.42317318e+02] [-6.81896128e-01 7.28768504e-01 -6.25630752e-02 -7.30623649e+01] [-9.12410519e-02 1.16901155e-04 9.95828829e-01 -2.08627002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.408241008 meters 0.06388688785723591 Centerline is valid? [True, True] Translation: X:142.34, Y:-73.09, Z:-20.86 [[ 7.25873664e-01 6.84627179e-01 6.62800869e-02 1.42341032e+02] [-6.81771440e-01 7.28893409e-01 -6.24668086e-02 -7.30851679e+01] [-9.10775934e-02 1.55140931e-04 9.95843787e-01 -2.08628879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.438241008 meters 0.06377279870075571 Centerline is valid? [True, True] Translation: X:142.36, Y:-73.11, Z:-20.87 [[ 7.27265335e-01 6.83067595e-01 6.71103028e-02 1.42362342e+02] [-6.80129815e-01 7.30355061e-01 -6.32844342e-02 -7.31088692e+01] [-9.22418956e-02 3.80857377e-04 9.95736555e-01 -2.08657566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.468241008 meters 0.06378390510861115 Centerline is valid? [True, True] Translation: X:142.38, Y:-73.13, Z:-20.87 [[ 7.28172119e-01 6.82069846e-01 6.74246946e-02 1.42384893e+02] [-6.79097504e-01 7.31286841e-01 -6.36092529e-02 -7.31322202e+01] [-9.26927452e-02 5.30542736e-04 9.95694619e-01 -2.08692253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.498241008 meters 0.06378524285118416 Centerline is valid? [True, True] Translation: X:142.41, Y:-73.16, Z:-20.87 [[ 7.29158384e-01 6.80996391e-01 6.76163142e-02 1.42408567e+02] [-6.77999639e-01 7.32286445e-01 -6.38204714e-02 -7.31577112e+01] [-9.29760211e-02 6.91395240e-04 9.95668108e-01 -2.08726305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.528241008 meters 0.06421804635019504 Centerline is valid? [True, True] Translation: X:142.43, Y:-73.18, Z:-20.88 [[ 7.31324056e-01 6.78584868e-01 6.84668048e-02 1.42428742e+02] [-6.75497118e-01 7.34521262e-01 -6.46696175e-02 -7.31822780e+01] [-9.41741477e-02 1.04531765e-03 9.95555190e-01 -2.08758477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.558241008 meters 0.06421818193631625 Centerline is valid? [True, True] Translation: X:142.45, Y:-73.20, Z:-20.88 [[ 7.31974524e-01 6.77952202e-01 6.77798429e-02 1.42452616e+02] [-6.74920737e-01 7.35105107e-01 -6.40506156e-02 -7.32049179e+01] [-9.32485646e-02 1.13739739e-03 9.95642211e-01 -2.08794971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.588241008 meters 0.06515228241962638 Centerline is valid? [True, True] Translation: X:142.47, Y:-73.23, Z:-20.89 [[ 7.32643604e-01 6.77211677e-01 6.79536224e-02 1.42473923e+02] [-6.74157904e-01 7.35787164e-01 -6.42523897e-02 -7.32281576e+01] [-9.35118717e-02 1.26263071e-03 9.95617364e-01 -2.08873440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.618241008 meters 0.06478315261710331 Centerline is valid? [True, True] Translation: X:142.50, Y:-73.25, Z:-20.89 [[ 7.32791345e-01 6.76997522e-01 6.84923386e-02 1.42499093e+02] [-6.73892560e-01 7.35984126e-01 -6.47779656e-02 -7.32513259e+01] [-9.42637961e-02 1.31225511e-03 9.95546390e-01 -2.08879597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.648241008 meters 0.0647768711595171 Centerline is valid? [True, True] Translation: X:142.52, Y:-73.27, Z:-20.89 [[ 7.32389187e-01 6.77461856e-01 6.82019991e-02 1.42524668e+02] [-6.74381857e-01 7.35556804e-01 -6.45391296e-02 -7.32745302e+01] [-9.38892430e-02 1.27356978e-03 9.95581834e-01 -2.08918347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67824100800001 meters 0.06438164391284279 Centerline is valid? [True, True] Translation: X:142.55, Y:-73.30, Z:-20.89 [[ 7.31958316e-01 6.77874349e-01 6.87269266e-02 1.42549205e+02] [-6.74744211e-01 7.35176694e-01 -6.50805592e-02 -7.32955653e+01] [-9.46428764e-02 1.26316065e-03 9.95510487e-01 -2.08936543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70824100800002 meters 0.06467209452528415 Centerline is valid? [True, True] Translation: X:142.57, Y:-73.32, Z:-20.90 [[ 7.31631203e-01 6.78114348e-01 6.98334720e-02 1.42571696e+02] [-6.74879887e-01 7.34955301e-01 -6.61652704e-02 -7.33167547e+01] [-9.61920996e-02 1.27937067e-03 9.95361966e-01 -2.08984339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.738241008 meters 0.06424885544748199 Centerline is valid? [True, True] Translation: X:142.60, Y:-73.34, Z:-20.90 [[ 7.31119006e-01 6.78608981e-01 7.03907014e-02 1.42595984e+02] [-6.75323306e-01 7.34498689e-01 -6.67091294e-02 -7.33384602e+01] [-9.69712922e-02 1.23583114e-03 9.95286412e-01 -2.08991899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.768241008 meters 0.0640561412908162 Centerline is valid? [True, True] Translation: X:142.62, Y:-73.36, Z:-20.90 [[ 7.30770116e-01 6.78880256e-01 7.13907261e-02 1.42619013e+02] [-6.75498204e-01 7.34247951e-01 -6.76913745e-02 -7.33592887e+01] [-9.83728320e-02 1.24252630e-03 9.95148854e-01 -2.09005717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.798241008 meters 0.0639476880219297 Centerline is valid? [True, True] Translation: X:142.64, Y:-73.38, Z:-20.90 [[ 7.30252457e-01 6.79361210e-01 7.21089204e-02 1.42643340e+02] [-6.75910229e-01 7.33803028e-01 -6.83994055e-02 -7.33806028e+01] [-9.93816470e-02 1.20967694e-03 9.95048655e-01 -2.09038458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.828241008 meters 0.06412630166224928 Centerline is valid? [True, True] Translation: X:142.67, Y:-73.40, Z:-20.91 [[ 7.30123339e-01 6.79528105e-01 7.18433338e-02 1.42666872e+02] [-6.76099929e-01 7.33648482e-01 -6.81820418e-02 -7.34021001e+01] [-9.90393665e-02 1.20802717e-03 9.95082783e-01 -2.09086620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.858241008 meters 0.06402823672955048 Centerline is valid? [True, True] Translation: X:142.69, Y:-73.42, Z:-20.91 [[ 7.30080649e-01 6.79582773e-01 7.17600202e-02 1.42691128e+02] [-6.76159735e-01 7.33597819e-01 -6.81340710e-02 -7.34247590e+01] [-9.89457352e-02 1.22213049e-03 9.95092080e-01 -2.09113902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.888241008 meters 0.06402823672955048 Centerline is valid? [True, True] Translation: X:142.72, Y:-73.45, Z:-20.92 [[ 7.29851055e-01 6.79830959e-01 7.17447179e-02 1.42715944e+02] [-6.76407534e-01 7.33367849e-01 -6.81501797e-02 -7.34487613e+01] [-9.89458715e-02 1.21081283e-03 9.95092080e-01 -2.09156916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.918241008 meters 0.06405858789026331 Centerline is valid? [True, True] Translation: X:142.74, Y:-73.47, Z:-20.92 [[ 7.29693752e-01 6.79978447e-01 7.19467914e-02 1.42740185e+02] [-6.76531559e-01 7.33231068e-01 -6.83904194e-02 -7.34710790e+01] [-9.92576339e-02 1.22978673e-03 9.95061008e-01 -2.09199800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.948241008 meters 0.06406885635355905 Centerline is valid? [True, True] Translation: X:142.76, Y:-73.49, Z:-20.92 [[ 7.29613752e-01 6.80052962e-01 7.20537413e-02 1.42764710e+02] [-6.76591998e-01 7.33161920e-01 -6.85336906e-02 -7.34925388e+01] [-9.94335986e-02 1.25213831e-03 9.95043412e-01 -2.09246519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.978241008 meters 0.06394890126648041 Centerline is valid? [True, True] Translation: X:142.79, Y:-73.51, Z:-20.93 [[ 7.29856194e-01 6.79745137e-01 7.25016250e-02 1.42789499e+02] [-6.76236016e-01 7.33447195e-01 -6.89932079e-02 -7.35137495e+01] [-1.00073911e-01 1.32691011e-03 9.94979121e-01 -2.09285124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.008241008 meters 0.06348411676110736 Centerline is valid? [True, True] Translation: X:142.82, Y:-73.54, Z:-20.93 [[ 7.29360114e-01 6.80229645e-01 7.29482982e-02 1.42816429e+02] [-6.76676205e-01 7.32997927e-01 -6.94503598e-02 -7.35354905e+01] [-1.00713145e-01 1.29194480e-03 9.94914666e-01 -2.09299197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.038241008 meters 0.0632823427584243 Centerline is valid? [True, True] Translation: X:142.84, Y:-73.56, Z:-20.93 [[ 7.27938316e-01 6.81700885e-01 7.34146596e-02 1.42841343e+02] [-6.78104312e-01 7.31630115e-01 -6.99422407e-02 -7.35563886e+01] [-1.01392063e-01 1.13083965e-03 9.94845903e-01 -2.09329531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.068241008 meters 0.06285483776485246 Centerline is valid? [True, True] Translation: X:142.87, Y:-73.58, Z:-20.93 [[ 7.26784959e-01 6.82854721e-01 7.41151335e-02 1.42867684e+02] [-6.79191054e-01 7.30553499e-01 -7.06477046e-02 -7.35787874e+01] [-1.02387189e-01 1.00735346e-03 9.94744112e-01 -2.09346111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.098241008 meters 0.06283925036891942 Centerline is valid? [True, True] Translation: X:142.89, Y:-73.60, Z:-20.94 [[ 7.26092262e-01 6.83589901e-01 7.41274238e-02 1.42891748e+02] [-6.79923767e-01 7.29865716e-01 -7.07086114e-02 -7.35999929e+01] [-1.02438758e-01 9.39978331e-04 9.94738869e-01 -2.09388540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.128241008 meters 0.06288368016402124 Centerline is valid? [True, True] Translation: X:142.92, Y:-73.62, Z:-20.95 [[ 7.24053657e-01 6.85895516e-01 7.27574274e-02 1.42918730e+02] [-6.82371897e-01 7.27699763e-01 -6.94380990e-02 -7.36183426e+01] [-1.00572843e-01 6.29285731e-04 9.94929499e-01 -2.09450146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.158241008 meters 0.06285789997134021 Centerline is valid? [True, True] Translation: X:142.94, Y:-73.64, Z:-20.95 [[ 7.23246290e-01 6.86737586e-01 7.28442981e-02 1.42944478e+02] [-6.83206217e-01 7.26905220e-01 -6.95562159e-02 -7.36389308e+01] [-1.00717768e-01 5.38597801e-04 9.94914891e-01 -2.09497884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.188241008 meters 0.0628925328178867 Centerline is valid? [True, True] Translation: X:142.97, Y:-73.66, Z:-20.96 [[ 7.22347715e-01 6.87705341e-01 7.26301817e-02 1.42970306e+02] [-6.84196238e-01 7.25989795e-01 -6.93853416e-02 -7.36603213e+01] [-1.00445441e-01 4.27045882e-04 9.94942476e-01 -2.09556045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.218241008 meters 0.062943438028681 Centerline is valid? [True, True] Translation: X:143.00, Y:-73.68, Z:-20.96 [[ 7.21923128e-01 6.88207663e-01 7.20916750e-02 1.42995518e+02] [-6.84748065e-01 7.25513652e-01 -6.89204420e-02 -7.36812356e+01] [-9.97350708e-02 3.90626116e-04 9.95013951e-01 -2.09588799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.248241008 meters 0.06270684925857574 Centerline is valid? [True, True] Translation: X:143.02, Y:-73.70, Z:-20.96 [[ 7.21873210e-01 6.88309274e-01 7.16199086e-02 1.43019756e+02] [-6.84891950e-01 7.25417248e-01 -6.85042544e-02 -7.37040967e+01] [-9.91064306e-02 3.99487149e-04 9.95076759e-01 -2.09607179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.278241008 meters 0.06306332259189978 Centerline is valid? [True, True] Translation: X:143.04, Y:-73.73, Z:-20.97 [[ 7.22239777e-01 6.87963093e-01 7.12494733e-02 1.43041879e+02] [-6.84575857e-01 7.25745521e-01 -6.81860262e-02 -7.37269873e+01] [-9.86184556e-02 4.70991048e-04 9.95125207e-01 -2.09674108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.308241008 meters 0.06311116211145987 Centerline is valid? [True, True] Translation: X:143.06, Y:-73.75, Z:-20.97 [[ 7.23199095e-01 6.87027481e-01 7.05429602e-02 1.43064667e+02] [-6.83698884e-01 7.26631167e-01 -6.75498514e-02 -7.37493830e+01] [-9.76673177e-02 6.21848183e-04 9.95218925e-01 -2.09707800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.338241008 meters 0.06320791818615318 Centerline is valid? [True, True] Translation: X:143.09, Y:-73.77, Z:-20.98 [[ 7.23665524e-01 6.86570582e-01 7.02071600e-02 1.43087835e+02] [-6.83268545e-01 7.27062819e-01 -6.72588490e-02 -7.37714004e+01] [-9.72229628e-02 7.02566172e-04 9.95262378e-01 -2.09763076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.368241008 meters 0.0633062385170246 Centerline is valid? [True, True] Translation: X:143.11, Y:-73.79, Z:-20.98 [[ 7.23745739e-01 6.86460383e-01 7.04574165e-02 1.43111542e+02] [-6.83130822e-01 7.27166822e-01 -6.75329004e-02 -7.37936506e+01] [-9.75929564e-02 7.45016149e-04 9.95226135e-01 -2.09810410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.398241008 meters 0.06329887294893241 Centerline is valid? [True, True] Translation: X:143.14, Y:-73.82, Z:-20.99 [[ 7.22904662e-01 6.87283537e-01 7.10646829e-02 1.43135425e+02] [-6.83896645e-01 7.26388943e-01 -6.81504387e-02 -7.38152592e+01] [-9.84592745e-02 6.65371728e-04 9.95140859e-01 -2.09850612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42824100800001 meters 0.06289518164681625 Centerline is valid? [True, True] Translation: X:143.16, Y:-73.84, Z:-20.99 [[ 7.20486168e-01 6.89589306e-01 7.32548406e-02 1.43162528e+02] [-6.85997660e-01 7.24200550e-01 -7.02906393e-02 -7.38355201e+01] [-1.01522869e-01 3.90784148e-04 9.94833129e-01 -2.09863650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45824100800002 meters 0.0626790483677447 Centerline is valid? [True, True] Translation: X:143.19, Y:-73.86, Z:-20.99 [[ 7.18956850e-01 6.91121559e-01 7.38379196e-02 1.43187560e+02] [-6.87476023e-01 7.22738506e-01 -7.08926616e-02 -7.38566229e+01] [-1.02360955e-01 2.06965376e-04 9.94747301e-01 -2.09896856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.488241008 meters 0.06261912781861266 Centerline is valid? [True, True] Translation: X:143.21, Y:-73.88, Z:-20.99 [[ 7.17087304e-01 6.93022026e-01 7.42042442e-02 1.43212639e+02] [-6.89346010e-01 7.20916410e-01 -7.12853973e-02 -7.38771726e+01] [-1.02897408e-01 -3.45463285e-05 9.94691974e-01 -2.09923049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.518241008 meters 0.06252055134099184 Centerline is valid? [True, True] Translation: X:143.24, Y:-73.90, Z:-20.99 [[ 7.15588876e-01 6.94459346e-01 7.52248401e-02 1.43238357e+02] [-6.90685856e-01 7.19531908e-01 -7.22971705e-02 -7.38994070e+01] [-1.04334119e-01 -2.21682165e-04 9.94542278e-01 -2.09947678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.548241008 meters 0.062234040803381116 Centerline is valid? [True, True] Translation: X:143.26, Y:-73.92, Z:-20.99 [[ 7.12638000e-01 6.97276054e-01 7.71568940e-02 1.43264274e+02] [-6.93317209e-01 7.16802430e-01 -7.41992145e-02 -7.39193466e+01] [-1.07043585e-01 -6.17022630e-04 9.94254138e-01 -2.09946131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.578241008 meters 0.062392923808967146 Centerline is valid? [True, True] Translation: X:143.29, Y:-73.94, Z:-21.00 [[ 7.12243158e-01 6.97669731e-01 7.72439667e-02 1.43288021e+02] [-6.93700175e-01 7.16419238e-01 -7.43205414e-02 -7.39403358e+01] [-1.07190256e-01 -6.49856113e-04 9.94238315e-01 -2.09992223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.608241008 meters 0.06236930207212675 Centerline is valid? [True, True] Translation: X:143.31, Y:-73.96, Z:-21.00 [[ 7.11853114e-01 6.98099134e-01 7.69593624e-02 1.43311846e+02] [-6.94157457e-01 7.16000788e-01 -7.40830367e-02 -7.39616664e+01] [-1.06820268e-01 -6.85674900e-04 9.94278110e-01 -2.10048460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.638241008 meters 0.06267087039571975 Centerline is valid? [True, True] Translation: X:143.33, Y:-73.98, Z:-21.01 [[ 7.12799189e-01 6.97335329e-01 7.51049646e-02 1.43334127e+02] [-6.93573388e-01 7.16744836e-01 -7.23380674e-02 -7.39832329e+01] [-1.04274986e-01 -5.28288961e-04 9.94548364e-01 -2.10130308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.668241008 meters 0.06270091977594512 Centerline is valid? [True, True] Translation: X:143.36, Y:-74.01, Z:-21.02 [[ 7.13211614e-01 6.96997690e-01 7.43196805e-02 1.43357324e+02] [-6.93310536e-01 7.17073224e-01 -7.15995291e-02 -7.40070734e+01] [-1.03197359e-01 -4.61001807e-04 9.94660793e-01 -2.10178087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.698241008 meters 0.06255578833084947 Centerline is valid? [True, True] Translation: X:143.38, Y:-74.03, Z:-21.02 [[ 7.14125994e-01 6.96111917e-01 7.38394477e-02 1.43379133e+02] [-6.92463293e-01 7.17933220e-01 -7.11792018e-02 -7.40308112e+01] [-1.02560483e-01 -3.00188846e-04 9.94726725e-01 -2.10220983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.728241008 meters 0.06304104438353063 Centerline is valid? [True, True] Translation: X:143.40, Y:-74.06, Z:-21.03 [[ 7.17466451e-01 6.92915871e-01 7.14806824e-02 1.43397623e+02] [-6.89477863e-01 7.21018422e-01 -6.89399170e-02 -7.40577731e+01] [-9.93084514e-02 1.77729384e-04 9.95056682e-01 -2.10299602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.758241008 meters 0.0631866049153008 Centerline is valid? [True, True] Translation: X:143.42, Y:-74.08, Z:-21.03 [[ 7.19567984e-01 6.90889060e-01 6.99587161e-02 1.43418044e+02] [-6.87582982e-01 7.22960635e-01 -6.75097206e-02 -7.40830521e+01] [-9.72191252e-02 4.75410936e-04 9.95262888e-01 -2.10338965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.788241008 meters 0.06351847478268635 Centerline is valid? [True, True] Translation: X:143.44, Y:-74.11, Z:-21.04 [[ 7.21574878e-01 6.88932552e-01 6.85684615e-02 1.43438672e+02] [-6.85744977e-01 7.24825068e-01 -6.62000538e-02 -7.41081654e+01] [-9.53075118e-02 7.47817693e-04 9.95447597e-01 -2.10388820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.818241008 meters 0.0640389046843765 Centerline is valid? [True, True] Translation: X:143.46, Y:-74.13, Z:-21.05 [[ 7.22932547e-01 6.87589733e-01 6.77413517e-02 1.43458865e+02] [-6.84469514e-01 7.26098806e-01 -6.54370587e-02 -7.41323770e+01] [-9.41807643e-02 9.39689451e-04 9.95554670e-01 -2.10456436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.848241008 meters 0.06513413565945801 Centerline is valid? [True, True] Translation: X:143.48, Y:-74.16, Z:-21.05 [[ 7.26312563e-01 6.84111398e-01 6.67956281e-02 1.43476916e+02] [-6.81060423e-01 7.29376209e-01 -6.45526690e-02 -7.41590648e+01] [-9.28803586e-02 1.39355581e-03 9.95676301e-01 -2.10515257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.878241008 meters 0.06470874182085394 Centerline is valid? [True, True] Translation: X:143.50, Y:-74.18, Z:-21.05 [[ 7.27052752e-01 6.83331976e-01 6.67211054e-02 1.43500689e+02] [-6.80281787e-01 7.30106239e-01 -6.45102263e-02 -7.41824319e+01] [-9.27953957e-02 1.51318474e-03 9.95684049e-01 -2.10525444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.908241008 meters 0.06487649990031567 Centerline is valid? [True, True] Translation: X:143.52, Y:-74.21, Z:-21.06 [[ 7.28133442e-01 6.82083037e-01 6.77083620e-02 1.43522449e+02] [-6.78933004e-01 7.31272700e-01 -6.54997254e-02 -7.42065994e+01] [-9.41895283e-02 1.72309891e-03 9.95552793e-01 -2.10557155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.938241008 meters 0.06571540555365457 Centerline is valid? [True, True] Translation: X:143.54, Y:-74.23, Z:-21.06 [[ 7.29674833e-01 6.80222449e-01 6.98001330e-02 1.43542278e+02] [-6.76862189e-01 7.33002872e-01 -6.75600998e-02 -7.42321918e+01] [-9.71195945e-02 2.05183365e-03 9.95270604e-01 -2.10594861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.968241008 meters 0.06523121523730693 Centerline is valid? [True, True] Translation: X:143.57, Y:-74.26, Z:-21.06 [[ 7.29790998e-01 6.80066949e-01 7.01002432e-02 1.43567021e+02] [-6.76673883e-01 7.33146995e-01 -6.78818069e-02 -7.42555127e+01] [-9.75579559e-02 2.10452783e-03 9.95227620e-01 -2.10609785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.998241008 meters 0.06508776824063511 Centerline is valid? [True, True] Translation: X:143.59, Y:-74.28, Z:-21.06 [[ 7.30258114e-01 6.79525495e-01 7.04853785e-02 1.43591179e+02] [-6.76088443e-01 7.33648539e-01 -6.82952278e-02 -7.42781882e+01] [-9.81198434e-02 2.21879441e-03 9.95172133e-01 -2.10642843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.028241008 meters 0.06533893605799966 Centerline is valid? [True, True] Translation: X:143.61, Y:-74.30, Z:-21.07 [[ 7.30456391e-01 6.79295256e-01 7.06499550e-02 1.43612829e+02] [-6.75837173e-01 7.33861526e-01 -6.84936277e-02 -7.43014070e+01] [-9.83746802e-02 2.28374222e-03 9.95146827e-01 -2.10682493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.058241008 meters 0.06503732959182831 Centerline is valid? [True, True] Translation: X:143.64, Y:-74.33, Z:-21.07 [[ 7.30955929e-01 6.78727534e-01 7.09391580e-02 1.43638559e+02] [-6.75236825e-01 7.34386318e-01 -6.87892879e-02 -7.43254071e+01] [-9.87859308e-02 2.38120605e-03 9.95105859e-01 -2.10691184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.088241008 meters 0.06604461599517134 Centerline is valid? [True, True] Translation: X:143.66, Y:-74.35, Z:-21.08 [[ 7.30994848e-01 6.78685454e-01 7.09407250e-02 1.43663547e+02] [-6.75190393e-01 7.34425091e-01 -6.88310939e-02 -7.43536828e+01] [-9.88153106e-02 2.41667906e-03 9.95102856e-01 -2.10765111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.118241008 meters 0.06625911256207871 Centerline is valid? [True, True] Translation: X:143.69, Y:-74.38, Z:-21.08 [[ 7.31058414e-01 6.78708650e-01 7.00582845e-02 1.43687634e+02] [-6.75289632e-01 7.34403499e-01 -6.80838787e-02 -7.43757204e+01] [-9.76601666e-02 2.46365925e-03 9.95216771e-01 -2.10824263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.148241008 meters 0.06628985318802517 Centerline is valid? [True, True] Translation: X:143.71, Y:-74.40, Z:-21.09 [[ 7.31253861e-01 6.78550077e-01 6.95527398e-02 1.43712876e+02] [-6.75177448e-01 7.34549948e-01 -6.76149951e-02 -7.43989732e+01] [-9.69701216e-02 2.48328488e-03 9.95284195e-01 -2.10865990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17824100800001 meters 0.06641225381965808 Centerline is valid? [True, True] Translation: X:143.74, Y:-74.42, Z:-21.09 [[ 7.31012739e-01 6.78966440e-01 6.80069827e-02 1.43736574e+02] [-6.75740077e-01 7.34165368e-01 -6.61555785e-02 -7.44209226e+01] [-9.48457890e-02 2.40552684e-03 9.95489071e-01 -2.10913636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20824100800002 meters 0.06693231793660802 Centerline is valid? [True, True] Translation: X:143.76, Y:-74.44, Z:-21.10 [[ 7.30900291e-01 6.79124832e-01 6.76330398e-02 1.43759313e+02] [-6.75931376e-01 7.34018881e-01 -6.58259648e-02 -7.44427386e+01] [-9.43479755e-02 2.39692320e-03 9.95536395e-01 -2.10980319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.238241008 meters 0.06719894480302331 Centerline is valid? [True, True] Translation: X:143.78, Y:-74.46, Z:-21.10 [[ 7.31053547e-01 6.79013952e-01 6.70877458e-02 1.43783354e+02] [-6.75868523e-01 7.34121396e-01 -6.53262281e-02 -7.44639127e+01] [-9.36079699e-02 2.41447509e-03 9.95606206e-01 -2.11040926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.268241008 meters 0.06719925738707855 Centerline is valid? [True, True] Translation: X:143.81, Y:-74.49, Z:-21.11 [[ 7.30518867e-01 6.79629771e-01 6.66750247e-02 1.43807287e+02] [-6.76522713e-01 7.33551553e-01 -6.49548914e-02 -7.44854703e+01] [-9.30548459e-02 2.34360510e-03 9.95658226e-01 -2.11090502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.298241008 meters 0.06713214208651438 Centerline is valid? [True, True] Translation: X:143.83, Y:-74.51, Z:-21.11 [[ 7.30003551e-01 6.80189479e-01 6.66114679e-02 1.43831582e+02] [-6.77087635e-01 7.33032748e-01 -6.49255374e-02 -7.45075223e+01] [-9.29900548e-02 2.29407156e-03 9.95664395e-01 -2.11133572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.328241008 meters 0.06662804101092513 Centerline is valid? [True, True] Translation: X:143.86, Y:-74.53, Z:-21.12 [[ 7.27923559e-01 6.82347019e-01 6.73040723e-02 1.43857133e+02] [-6.79186187e-01 7.31025501e-01 -6.56341398e-02 -7.45285601e+01] [-9.39862528e-02 2.06464045e-03 9.95571354e-01 -2.11159815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.358241008 meters 0.06604554983820794 Centerline is valid? [True, True] Translation: X:143.88, Y:-74.55, Z:-21.12 [[ 7.25949139e-01 6.84375038e-01 6.80342151e-02 1.43881180e+02] [-6.81150567e-01 7.29127829e-01 -6.63815727e-02 -7.45487748e+01] [-9.50355309e-02 1.84810131e-03 9.95472166e-01 -2.11193347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.388241008 meters 0.06562594259704078 Centerline is valid? [True, True] Translation: X:143.91, Y:-74.57, Z:-21.12 [[ 7.23738243e-01 6.86672880e-01 6.84347278e-02 1.43906560e+02] [-6.83417685e-01 7.26964834e-01 -6.68011826e-02 -7.45688937e+01] [-9.56202009e-02 1.57706725e-03 9.95416641e-01 -2.11229176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.418241008 meters 0.06451775215665256 Centerline is valid? [True, True] Translation: X:143.94, Y:-74.59, Z:-21.13 [[ 7.19765183e-01 6.90739940e-01 6.94004064e-02 1.43936202e+02] [-6.87407852e-01 7.23102469e-01 -6.77736326e-02 -7.45863842e+01] [-9.69975601e-02 1.07471680e-03 9.95284039e-01 -2.11256081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.448241008 meters 0.06437416407060519 Centerline is valid? [True, True] Translation: X:143.96, Y:-74.61, Z:-21.13 [[ 7.16766975e-01 6.93744187e-01 7.04564126e-02 1.43961247e+02] [-6.90319936e-01 7.20221146e-01 -6.88468393e-02 -7.46055802e+01] [-9.85062928e-02 7.09674495e-04 9.95136175e-01 -2.11319549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.478241008 meters 0.06384333162666313 Centerline is valid? [True, True] Translation: X:143.99, Y:-74.63, Z:-21.13 [[ 7.14190769e-01 6.96312486e-01 7.12773889e-02 1.43987509e+02] [-6.92817157e-01 7.17738653e-01 -6.96822333e-02 -7.46250790e+01] [-9.96791462e-02 3.84209928e-04 9.95019558e-01 -2.11324161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.508241008 meters 0.06386840670484771 Centerline is valid? [True, True] Translation: X:144.01, Y:-74.65, Z:-21.14 [[ 7.11535210e-01 6.99013712e-01 7.13966030e-02 1.44013782e+02] [-6.95516868e-01 7.15108264e-01 -6.98316336e-02 -7.46460561e+01] [-9.98695703e-02 3.01243567e-05 9.95000537e-01 -2.11367308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.538241008 meters 0.06425322631226435 Centerline is valid? [True, True] Translation: X:144.04, Y:-74.66, Z:-21.14 [[ 7.06712076e-01 7.03918053e-01 7.11155165e-02 1.44041062e+02] [-7.00469120e-01 7.10280917e-01 -6.95990734e-02 -7.46622663e+01] [-9.95040385e-02 -6.27717608e-04 9.95036960e-01 -2.11432326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.568241008 meters 0.06454131031764662 Centerline is valid? [True, True] Translation: X:144.07, Y:-74.68, Z:-21.15 [[ 7.04344002e-01 7.06354542e-01 7.04470558e-02 1.44066162e+02] [-7.02978989e-01 7.07857600e-01 -6.89794143e-02 -7.46826716e+01] [-9.85904065e-02 -9.37563314e-04 9.95127657e-01 -2.11482228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.598241008 meters 0.06491767596415676 Centerline is valid? [True, True] Translation: X:144.09, Y:-74.71, Z:-21.15 [[ 7.02288623e-01 7.08388014e-01 7.05486515e-02 1.44092384e+02] [-7.05009882e-01 7.05822198e-01 -6.91092693e-02 -7.47060795e+01] [-9.87509823e-02 -1.20284294e-03 9.95111449e-01 -2.11528464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.628241008 meters 0.0655569705438567 Centerline is valid? [True, True] Translation: X:144.12, Y:-74.73, Z:-21.16 [[ 7.00203602e-01 7.10500974e-01 7.00234337e-02 1.44116336e+02] [-7.07178054e-01 7.03694724e-01 -6.86508210e-02 -7.47262350e+01] [-9.80515961e-02 -1.44948347e-03 9.95180277e-01 -2.11597897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.658241008 meters 0.0654489890369749 Centerline is valid? [True, True] Translation: X:144.14, Y:-74.75, Z:-21.16 [[ 7.00160097e-01 7.10574457e-01 6.97121201e-02 1.44138438e+02] [-7.07278484e-01 7.03620558e-01 -6.83758385e-02 -7.47497991e+01] [-9.76370052e-02 -1.43184897e-03 9.95221063e-01 -2.11635840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.688241008 meters 0.06592487520861678 Centerline is valid? [True, True] Translation: X:144.16, Y:-74.77, Z:-21.17 [[ 7.00027195e-01 7.10762833e-01 6.91239496e-02 1.44161847e+02] [-7.07520004e-01 7.03430290e-01 -6.78326668e-02 -7.47717848e+01] [-9.68368183e-02 -1.42186562e-03 9.95299256e-01 -2.11718259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.718241008 meters 0.0655460290204684 Centerline is valid? [True, True] Translation: X:144.18, Y:-74.80, Z:-21.18 [[ 7.01111651e-01 7.09731898e-01 6.87247127e-02 1.44181559e+02] [-7.06517847e-01 7.04470783e-01 -6.74792461e-02 -7.47964633e+01] [-9.63067255e-02 -1.24475039e-03 9.95350926e-01 -2.11755259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.748241008 meters 0.06526381979550232 Centerline is valid? [True, True] Translation: X:144.20, Y:-74.82, Z:-21.18 [[ 7.03502846e-01 7.07479983e-01 6.74968049e-02 1.44198599e+02] [-7.04367039e-01 7.06732810e-01 -6.63009036e-02 -7.48248724e+01] [-9.46087687e-02 -8.99650212e-04 9.95514124e-01 -2.11808924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.778241008 meters 0.06513549878692838 Centerline is valid? [True, True] Translation: X:144.22, Y:-74.85, Z:-21.19 [[ 7.04900178e-01 7.06114775e-01 6.72135651e-02 1.44217475e+02] [-7.03018550e-01 7.08097062e-01 -6.60565536e-02 -7.48504523e+01] [-9.42372365e-02 -6.89106678e-04 9.95549531e-01 -2.11852452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.808241008 meters 0.06513549878692838 Centerline is valid? [True, True] Translation: X:144.24, Y:-74.87, Z:-21.19 [[ 7.04723045e-01 7.06293013e-01 6.71982899e-02 1.44240243e+02] [-7.03196115e-01 7.07919277e-01 -6.60720882e-02 -7.48730954e+01] [-9.42372190e-02 -6.91053177e-04 9.95549531e-01 -2.11892452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.838241008 meters 0.06503042582057848 Centerline is valid? [True, True] Translation: X:144.26, Y:-74.90, Z:-21.19 [[ 7.06713586e-01 7.04355449e-01 6.66281403e-02 1.44259614e+02] [-7.01299305e-01 7.09847334e-01 -6.55442379e-02 -7.48995627e+01] [-9.34622489e-02 -4.05265158e-04 9.95622742e-01 -2.11940509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.868241008 meters 0.06487430321096715 Centerline is valid? [True, True] Translation: X:144.27, Y:-74.93, Z:-21.20 [[ 7.10777087e-01 7.00194108e-01 6.72617523e-02 1.44274839e+02] [-6.97057423e-01 7.13952507e-01 -6.62024745e-02 -7.49287535e+01] [-9.43762793e-02 1.69898252e-04 9.95536583e-01 -2.11972624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.898241008 meters 0.06496555950725962 Centerline is valid? [True, True] Translation: X:144.29, Y:-74.96, Z:-21.20 [[ 7.12479382e-01 6.98461682e-01 6.72637272e-02 1.44294785e+02] [-6.95314490e-01 7.15647332e-01 -6.62318457e-02 -7.49553082e+01] [-9.43975132e-02 4.19380391e-04 9.95534496e-01 -2.12012164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92824100800001 meters 0.06484594200494279 Centerline is valid? [True, True] Translation: X:144.32, Y:-74.98, Z:-21.20 [[ 7.14214919e-01 6.96646827e-01 6.76775257e-02 1.44315430e+02] [-6.93449460e-01 7.17413915e-01 -6.66717328e-02 -7.49813229e+01] [-9.49994498e-02 6.87002567e-04 9.95477088e-01 -2.12019101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95824100800002 meters 0.06506953001727378 Centerline is valid? [True, True] Translation: X:144.33, Y:-75.01, Z:-21.21 [[ 7.15976944e-01 6.94784119e-01 6.82058915e-02 1.44334818e+02] [-6.91524639e-01 7.19217694e-01 -6.72278308e-02 -7.50071222e+01] [-9.57637133e-02 9.67522348e-04 9.95403624e-01 -2.12058977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.988241008 meters 0.06504899657587217 Centerline is valid? [True, True] Translation: X:144.35, Y:-75.03, Z:-21.21 [[ 7.18373299e-01 6.92265064e-01 6.86213121e-02 1.44353318e+02] [-6.88951067e-01 7.21642085e-01 -6.76692607e-02 -7.50342853e+01] [-9.63650918e-02 1.33506381e-03 9.95345160e-01 -2.12083815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.018241008 meters 0.06552805631408734 Centerline is valid? [True, True] Translation: X:144.37, Y:-75.06, Z:-21.21 [[ 7.19945915e-01 6.90573249e-01 6.91843008e-02 1.44373072e+02] [-6.87193331e-01 7.23260692e-01 -6.82590416e-02 -7.50586571e+01] [-9.71761534e-02 1.59982799e-03 9.95265912e-01 -2.12129677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.048241008 meters 0.06581188545217914 Centerline is valid? [True, True] Translation: X:144.39, Y:-75.08, Z:-21.22 [[ 7.21184137e-01 6.89285781e-01 6.91270721e-02 1.44392735e+02] [-6.85902103e-01 7.24487322e-01 -6.82380019e-02 -7.50828415e+01] [-9.71171718e-02 1.79776036e-03 9.95271331e-01 -2.12166438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.078241008 meters 0.06582909473299499 Centerline is valid? [True, True] Translation: X:144.41, Y:-75.11, Z:-21.22 [[ 7.24196998e-01 6.86162297e-01 6.87023328e-02 1.44413170e+02] [-6.82804910e-01 7.27445122e-01 -6.78310391e-02 -7.51094811e+01] [-9.65202785e-02 2.21274468e-03 9.95328559e-01 -2.12174393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.108241008 meters 0.06766643058700503 Centerline is valid? [True, True] Translation: X:144.43, Y:-75.14, Z:-21.23 [[ 7.25451101e-01 6.84909067e-01 6.79725654e-02 1.44433236e+02] [-6.81614176e-01 7.28624674e-01 -6.71431296e-02 -7.51375913e+01] [-9.55134266e-02 2.37799316e-03 9.95425301e-01 -2.12268660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.138241008 meters 0.06721343325456326 Centerline is valid? [True, True] Translation: X:144.46, Y:-75.16, Z:-21.23 [[ 7.26581641e-01 6.83759479e-01 6.74692143e-02 1.44457962e+02] [-6.80503504e-01 7.29703011e-01 -6.66970564e-02 -7.51601726e+01] [-9.48372333e-02 2.54781998e-03 9.95489532e-01 -2.12292262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.168241008 meters 0.06855005616259016 Centerline is valid? [True, True] Translation: X:144.48, Y:-75.18, Z:-21.24 [[ 7.27218812e-01 6.83226703e-01 6.59853832e-02 1.44477669e+02] [-6.80106788e-01 7.30201733e-01 -6.52700979e-02 -7.51840934e+01] [-9.27769150e-02 2.58853609e-03 9.95683556e-01 -2.12377143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.198241008 meters 0.06766716629846115 Centerline is valid? [True, True] Translation: X:144.51, Y:-75.21, Z:-21.24 [[ 7.26837755e-01 6.83748926e-01 6.47632941e-02 1.44506053e+02] [-6.80743624e-01 7.29713090e-01 -6.40852879e-02 -7.52053268e+01] [-9.10768702e-02 2.49240724e-03 9.95840746e-01 -2.12404625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.228241008 meters 0.06796021755550961 Centerline is valid? [True, True] Translation: X:144.53, Y:-75.23, Z:-21.25 [[ 7.26384438e-01 6.84211071e-01 6.49681335e-02 1.44528759e+02] [-6.81183925e-01 7.29279826e-01 -6.43381282e-02 -7.52266955e+01] [-9.14008087e-02 2.47896694e-03 9.95811100e-01 -2.12452857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.258241008 meters 0.06765536590131928 Centerline is valid? [True, True] Translation: X:144.55, Y:-75.25, Z:-21.25 [[ 7.25288598e-01 6.85387985e-01 6.48055570e-02 1.44553662e+02] [-6.82377808e-01 7.28174291e-01 -6.42084796e-02 -7.52481088e+01] [-9.11974610e-02 2.34780420e-03 9.95830061e-01 -2.12490151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.288241008 meters 0.06688795048099305 Centerline is valid? [True, True] Translation: X:144.58, Y:-75.27, Z:-21.25 [[ 7.23010089e-01 6.87750587e-01 6.52345096e-02 1.44579453e+02] [-6.84707067e-01 7.25944060e-01 -6.46641611e-02 -7.52671839e+01] [-9.18294195e-02 2.08631111e-03 9.95772567e-01 -2.12506953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.318241008 meters 0.06670941325965224 Centerline is valid? [True, True] Translation: X:144.61, Y:-75.29, Z:-21.25 [[ 7.22081881e-01 6.88667336e-01 6.58411608e-02 1.44605487e+02] [-6.85568094e-01 7.25074664e-01 -6.52925724e-02 -7.52881812e+01] [-9.27046194e-02 2.00798433e-03 9.95691630e-01 -2.12546065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.348241008 meters 0.06550189665276332 Centerline is valid? [True, True] Translation: X:144.63, Y:-75.31, Z:-21.25 [[ 7.20866438e-01 6.89883963e-01 6.64206034e-02 1.44633646e+02] [-6.86731342e-01 7.23917484e-01 -6.59055483e-02 -7.53065873e+01] [-9.35502169e-02 1.89598776e-03 9.95612757e-01 -2.12542484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.378241008 meters 0.06601347101891604 Centerline is valid? [True, True] Translation: X:144.66, Y:-75.33, Z:-21.26 [[ 7.19428820e-01 6.91270640e-01 6.75801416e-02 1.44656162e+02] [-6.88009290e-01 7.22593772e-01 -6.70928976e-02 -7.53286013e+01] [-9.52123397e-02 1.77279888e-03 9.95455407e-01 -2.12619241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.408241008 meters 0.0656893589528196 Centerline is valid? [True, True] Translation: X:144.68, Y:-75.35, Z:-21.26 [[ 7.17750388e-01 6.92945068e-01 6.82752822e-02 1.44681876e+02] [-6.89621667e-01 7.20988648e-01 -6.78035847e-02 -7.53478178e+01] [-9.62098630e-02 1.58193529e-03 9.95359814e-01 -2.12646632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.438241008 meters 0.06558996714998776 Centerline is valid? [True, True] Translation: X:144.71, Y:-75.37, Z:-21.27 [[ 7.17364725e-01 6.93272988e-01 6.89957681e-02 1.44705156e+02] [-6.89877614e-01 7.20673354e-01 -6.85477460e-02 -7.53695228e+01] [-9.72457123e-02 1.57509903e-03 9.95259157e-01 -2.12680642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.468241008 meters 0.06479321149573063 Centerline is valid? [True, True] Translation: X:144.73, Y:-75.39, Z:-21.27 [[ 7.16922437e-01 6.93795504e-01 6.83375229e-02 1.44731196e+02] [-6.90464307e-01 7.20170477e-01 -6.79229376e-02 -7.53899617e+01] [-9.63392952e-02 1.51085765e-03 9.95347405e-01 -2.12677648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.498241008 meters 0.0649935696560511 Centerline is valid? [True, True] Translation: X:144.75, Y:-75.41, Z:-21.27 [[ 7.17455476e-01 6.93232016e-01 6.84617605e-02 1.44753737e+02] [-6.89882610e-01 7.20712677e-01 -6.80824620e-02 -7.54117461e+01] [-9.65382010e-02 1.61555710e-03 9.95327969e-01 -2.12716188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.528241008 meters 0.0651449343970718 Centerline is valid? [True, True] Translation: X:144.78, Y:-75.43, Z:-21.28 [[ 7.17394722e-01 6.93306016e-01 6.83489676e-02 1.44775803e+02] [-6.89964493e-01 7.20641460e-01 -6.80065000e-02 -7.54335050e+01] [-9.64044154e-02 1.62914343e-03 9.95340914e-01 -2.12769238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.558241008 meters 0.06527438345225337 Centerline is valid? [True, True] Translation: X:144.80, Y:-75.46, Z:-21.28 [[ 7.17179617e-01 6.93555502e-01 6.80746842e-02 1.44800573e+02] [-6.90240740e-01 7.20401425e-01 -6.77459089e-02 -7.54562916e+01] [-9.60266473e-02 1.59806466e-03 9.95377481e-01 -2.12820466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.588241008 meters 0.06531688918949204 Centerline is valid? [True, True] Translation: X:144.82, Y:-75.48, Z:-21.29 [[ 7.16590890e-01 6.94186373e-01 6.78437651e-02 1.44823917e+02] [-6.90892550e-01 7.19793654e-01 -6.75616799e-02 -7.54780532e+01] [-9.57339091e-02 1.54133239e-03 9.95405768e-01 -2.12871615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.618241008 meters 0.0649167494807516 Centerline is valid? [True, True] Translation: X:144.85, Y:-75.50, Z:-21.29 [[ 7.14428399e-01 6.96411109e-01 6.78500476e-02 1.44849666e+02] [-6.93123546e-01 7.17641945e-01 -6.76002151e-02 -7.54978160e+01] [-9.57695809e-02 1.26704783e-03 9.95402724e-01 -2.12904109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.648241008 meters 0.06434410899943832 Centerline is valid? [True, True] Translation: X:144.87, Y:-75.52, Z:-21.29 [[ 7.13336056e-01 6.97461907e-01 6.85460464e-02 1.44874476e+02] [-6.94108354e-01 7.16620922e-01 -6.83231098e-02 -7.55192258e+01] [-9.67742974e-02 1.15895427e-03 9.95305678e-01 -2.12908452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67824100800001 meters 0.06430562569178255 Centerline is valid? [True, True] Translation: X:144.90, Y:-75.54, Z:-21.29 [[ 7.12150406e-01 6.98642305e-01 6.88529490e-02 1.44897739e+02] [-6.95260728e-01 7.15470386e-01 -6.86632848e-02 -7.55409501e+01] [-9.72333216e-02 1.02783469e-03 9.95261084e-01 -2.12948696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70824100800002 meters 0.06402963862595389 Centerline is valid? [True, True] Translation: X:144.92, Y:-75.56, Z:-21.30 [[ 7.09129469e-01 7.01526396e-01 7.06831840e-02 1.44923302e+02] [-6.97972783e-01 7.12643150e-01 -7.05247186e-02 -7.55590126e+01] [-9.98468385e-02 6.76217606e-04 9.95002589e-01 -2.13005909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.738241008 meters 0.06356232370612486 Centerline is valid? [True, True] Translation: X:144.95, Y:-75.58, Z:-21.30 [[ 7.07277357e-01 7.03306471e-01 7.15454300e-02 1.44949293e+02] [-6.99671186e-01 7.10886631e-01 -7.14172897e-02 -7.55796206e+01] [-1.01088932e-01 4.53556027e-04 9.94877290e-01 -2.13009088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.768241008 meters 0.06355717810448823 Centerline is valid? [True, True] Translation: X:144.97, Y:-75.60, Z:-21.30 [[ 7.05442399e-01 7.05119948e-01 7.18114252e-02 1.44974336e+02] [-7.01463269e-01 7.09088013e-01 -7.17180004e-02 -7.56002237e+01] [-1.01490414e-01 2.19841205e-04 9.94836493e-01 -2.13048716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.798241008 meters 0.06364637795206027 Centerline is valid? [True, True] Translation: X:145.00, Y:-75.62, Z:-21.31 [[ 7.03410711e-01 7.07139432e-01 7.18832065e-02 1.44998661e+02] [-7.03482218e-01 7.07074128e-01 -7.18258061e-02 -7.56202591e+01] [-1.01617615e-01 -4.55162157e-05 9.94823531e-01 -2.13104369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.828241008 meters 0.06395161830660041 Centerline is valid? [True, True] Translation: X:145.03, Y:-75.64, Z:-21.32 [[ 6.99914163e-01 7.10662975e-01 7.12621871e-02 1.45025651e+02] [-7.07083405e-01 7.03532415e-01 -7.12404374e-02 -7.56369075e+01] [-1.00763200e-01 -5.26118747e-04 9.94910298e-01 -2.13164278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.858241008 meters 0.0640213047998477 Centerline is valid? [True, True] Translation: X:146.14, Y:-74.86, Z:-20.26 [[ 7.57665909e-01 -6.44357731e-01 -1.03660432e-01 1.46141124e+02] [-6.36449238e-01 -7.64649198e-01 1.01212507e-01 -7.48583305e+01] [-1.44480927e-01 -1.07106630e-02 -9.89449616e-01 -2.02578455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.888241008 meters 0.06424872254720525 Centerline is valid? [True, True] Translation: X:145.19, Y:-75.82, Z:-21.34 [[ 7.51063726e-01 6.55823901e-01 7.61465118e-02 1.45191743e+02] [-6.52603805e-01 7.54913328e-01 -6.49164179e-02 -7.58161878e+01] [-1.00057755e-01 -9.37136584e-04 9.94981190e-01 -2.13415009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.918241008 meters 0.06471394060297635 Centerline is valid? [True, True] Translation: X:145.22, Y:-75.83, Z:-21.35 [[ 7.49185150e-01 6.57973424e-01 7.61090303e-02 1.45218592e+02] [-6.54764028e-01 7.53040199e-01 -6.49193836e-02 -7.58324922e+01] [-1.00028388e-01 -1.19681714e-03 9.94983864e-01 -2.13474666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.948241008 meters 0.06473217413137815 Centerline is valid? [True, True] Translation: X:145.24, Y:-75.85, Z:-21.35 [[ 7.48538188e-01 6.58788549e-01 7.54203520e-02 1.45243093e+02] [-6.55638785e-01 7.52327071e-01 -6.43565178e-02 -7.58540247e+01] [-9.91381095e-02 -1.27519679e-03 9.95072866e-01 -2.13501683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.978241008 meters 0.06472090456853964 Centerline is valid? [True, True] Translation: X:145.27, Y:-75.87, Z:-21.35 [[ 7.48239200e-01 6.59159988e-01 7.51412725e-02 1.45267687e+02] [-6.56032039e-01 7.52001620e-01 -6.41523708e-02 -7.58748750e+01] [-9.87930346e-02 -1.29376365e-03 9.95107161e-01 -2.13542985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.008241008 meters 0.06474826876604642 Centerline is valid? [True, True] Translation: X:145.29, Y:-75.89, Z:-21.36 [[ 7.48951995e-01 6.58303415e-01 7.55481511e-02 1.45291908e+02] [-6.55133526e-01 7.52751797e-01 -6.45352238e-02 -7.58935866e+01] [-9.93527647e-02 -1.16034199e-03 9.95051598e-01 -2.13612695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.038241008 meters 0.0645724445290039 Centerline is valid? [True, True] Translation: X:145.32, Y:-75.92, Z:-21.36 [[ 7.49166869e-01 6.58077249e-01 7.53879074e-02 1.45315974e+02] [-6.54916750e-01 7.52949608e-01 -6.44277827e-02 -7.59156380e+01] [-9.91617533e-02 -1.10564307e-03 9.95070713e-01 -2.13643148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.068241008 meters 0.06435262526222554 Centerline is valid? [True, True] Translation: X:145.34, Y:-75.94, Z:-21.37 [[ 7.50082507e-01 6.57093629e-01 7.48611725e-02 1.45339666e+02] [-6.53969125e-01 7.53808379e-01 -6.40102482e-02 -7.59373092e+01] [-9.84917053e-02 -9.43928028e-04 9.95137424e-01 -2.13689997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.098241008 meters 0.0642231171981082 Centerline is valid? [True, True] Translation: X:145.36, Y:-75.96, Z:-21.37 [[ 7.51213655e-01 6.55826237e-01 7.46323760e-02 1.45363094e+02] [-6.52711245e-01 7.54911508e-01 -6.38486172e-02 -7.59585667e+01] [-9.82144379e-02 -7.49438034e-04 9.95164993e-01 -2.13744182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.128241008 meters 0.06418226752805467 Centerline is valid? [True, True] Translation: X:145.39, Y:-75.98, Z:-21.38 [[ 7.52700208e-01 6.54223418e-01 7.37164573e-02 1.45386319e+02] [-6.51174272e-01 7.56301168e-01 -6.30920816e-02 -7.59807220e+01] [-9.70281600e-02 -5.12837480e-04 9.95281505e-01 -2.13795521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.158241008 meters 0.06420055654405789 Centerline is valid? [True, True] Translation: X:145.41, Y:-76.01, Z:-21.38 [[ 7.55786293e-01 6.50862961e-01 7.18643572e-02 1.45408333e+02] [-6.47947430e-01 7.59195234e-01 -6.15363706e-02 -7.60062647e+01] [-9.46108219e-02 -5.59801895e-05 9.95514334e-01 -2.13837267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.188241008 meters 0.06451115904902203 Centerline is valid? [True, True] Translation: X:145.43, Y:-76.03, Z:-21.39 [[ 7.57711442e-01 6.48647032e-01 7.16268034e-02 1.45429562e+02] [-6.45737248e-01 7.61089328e-01 -6.13713397e-02 -7.60289065e+01] [-9.43227330e-02 2.49671429e-04 9.95541641e-01 -2.13903811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.218241008 meters 0.06431185262107078 Centerline is valid? [True, True] Translation: X:145.45, Y:-76.05, Z:-21.39 [[ 7.59244261e-01 6.46922617e-01 7.09878891e-02 1.45452212e+02] [-6.44054310e-01 7.62555503e-01 -6.08535195e-02 -7.60518707e+01] [-9.34997236e-02 4.82629526e-04 9.95619189e-01 -2.13923589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.248241008 meters 0.06488196806430496 Centerline is valid? [True, True] Translation: X:145.47, Y:-76.08, Z:-21.40 [[ 7.64023555e-01 6.41287002e-01 7.08448177e-02 1.45472911e+02] [-6.38403400e-01 7.67300174e-01 -6.07580619e-02 -7.60780976e+01] [-9.33225963e-02 1.19301797e-03 9.95635209e-01 -2.13968872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.278241008 meters 0.06532757111658165 Centerline is valid? [True, True] Translation: X:145.50, Y:-76.10, Z:-21.40 [[ 7.66049155e-01 6.38910791e-01 7.04392970e-02 1.45496780e+02] [-6.36047518e-01 7.69279380e-01 -6.04383278e-02 -7.61029288e+01] [-9.28021985e-02 1.49598992e-03 9.95683441e-01 -2.14021654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.308241008 meters 0.06573542433652078 Centerline is valid? [True, True] Translation: X:145.52, Y:-76.13, Z:-21.41 [[ 7.68185912e-01 6.36360544e-01 7.02542694e-02 1.45519338e+02] [-6.33497898e-01 7.71389593e-01 -6.03200480e-02 -7.61268599e+01] [-9.25787109e-02 1.83107907e-03 9.95703686e-01 -2.14062815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.338241008 meters 0.06627919112492606 Centerline is valid? [True, True] Translation: X:145.54, Y:-76.15, Z:-21.41 [[ 7.70285939e-01 6.33821005e-01 7.02175642e-02 1.45541528e+02] [-6.30947589e-01 7.73476734e-01 -6.03231514e-02 -7.61502401e+01] [-9.25457327e-02 2.16247242e-03 9.95706087e-01 -2.14104761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.368241008 meters 0.0677366273093511 Centerline is valid? [True, True] Translation: X:145.56, Y:-76.18, Z:-21.42 [[ 7.74067481e-01 6.29254156e-01 6.97046760e-02 1.45561716e+02] [-6.26402826e-01 7.77194901e-01 -5.98964548e-02 -7.61763736e+01] [-9.18642119e-02 2.70069181e-03 9.95767881e-01 -2.14161441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.398241008 meters 0.06842402892930535 Centerline is valid? [True, True] Translation: X:145.58, Y:-76.20, Z:-21.42 [[ 7.75366290e-01 6.27662939e-01 6.96157380e-02 1.45584005e+02] [-6.24809392e-01 7.78479772e-01 -5.98537306e-02 -7.62000753e+01] [-9.17624123e-02 2.91199818e-03 9.95776672e-01 -2.14216203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42824100800001 meters 0.06794272231107336 Centerline is valid? [True, True] Translation: X:145.61, Y:-76.22, Z:-21.42 [[ 7.76325695e-01 6.26520401e-01 6.92141771e-02 1.45609989e+02] [-6.23693722e-01 7.79399084e-01 -5.95248623e-02 -7.62205058e+01] [-9.12390068e-02 3.04223237e-03 9.95824376e-01 -2.14242489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45824100800002 meters 0.06810250477398816 Centerline is valid? [True, True] Translation: X:145.63, Y:-76.24, Z:-21.43 [[ 7.76720059e-01 6.26015911e-01 6.93543792e-02 1.45633745e+02] [-6.23172897e-01 7.79803995e-01 -5.96763834e-02 -7.62421852e+01] [-9.14411875e-02 3.13207463e-03 9.95805553e-01 -2.14273590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.488241008 meters 0.06795723294946882 Centerline is valid? [True, True] Translation: X:145.66, Y:-76.26, Z:-21.43 [[ 7.75908790e-01 6.27064747e-01 6.89590563e-02 1.45658437e+02] [-6.24255762e-01 7.78961313e-01 -5.93634294e-02 -7.62635280e+01] [-9.09411509e-02 3.01251850e-03 9.95851712e-01 -2.14312142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.518241008 meters 0.06789923103448078 Centerline is valid? [True, True] Translation: X:145.68, Y:-76.28, Z:-21.44 [[ 7.74916259e-01 6.28244126e-01 6.93837888e-02 1.45682273e+02] [-6.25402389e-01 7.78010811e-01 -5.97580897e-02 -7.62833871e+01] [-9.15240066e-02 2.91472797e-03 9.95798604e-01 -2.14358053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.548241008 meters 0.06774639291030252 Centerline is valid? [True, True] Translation: X:145.71, Y:-76.30, Z:-21.44 [[ 7.73805567e-01 6.29600059e-01 6.94889234e-02 1.45707915e+02] [-6.26752816e-01 7.76914440e-01 -5.98737072e-02 -7.63025131e+01] [-9.16834376e-02 2.77822953e-03 9.95784328e-01 -2.14406837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.578241008 meters 0.06709373154402005 Centerline is valid? [True, True] Translation: X:145.73, Y:-76.32, Z:-21.45 [[ 7.70809598e-01 6.33145275e-01 7.05664511e-02 1.45734402e+02] [-6.30220624e-01 7.74029205e-01 -6.08338342e-02 -7.63196348e+01] [-9.31371487e-02 2.41887042e-03 9.95650351e-01 -2.14454847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.608241008 meters 0.06547196255721384 Centerline is valid? [True, True] Translation: X:145.76, Y:-76.34, Z:-21.44 [[ 7.68595850e-01 6.35805638e-01 7.07927204e-02 1.45762643e+02] [-6.32872142e-01 7.71846307e-01 -6.10420423e-02 -7.63371932e+01] [-9.34519744e-02 2.11391982e-03 9.95621544e-01 -2.14448908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.638241008 meters 0.06531087004154883 Centerline is valid? [True, True] Translation: X:145.79, Y:-76.36, Z:-21.45 [[ 7.67262011e-01 6.37337978e-01 7.14794266e-02 1.45786741e+02] [-6.34350659e-01 7.70581868e-01 -6.16670703e-02 -7.63571797e+01] [-9.43835159e-02 1.97177906e-03 9.95533959e-01 -2.14488035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.668241008 meters 0.06485732934332257 Centerline is valid? [True, True] Translation: X:145.81, Y:-76.37, Z:-21.45 [[ 7.64254579e-01 6.40833781e-01 7.24362073e-02 1.45813463e+02] [-6.37778402e-01 7.67678026e-01 -6.25232659e-02 -7.63743166e+01] [-9.56747055e-02 1.58544369e-03 9.95411391e-01 -2.14532131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.698241008 meters 0.06485732934332257 Centerline is valid? [True, True] Translation: X:145.84, Y:-76.40, Z:-21.46 [[ 7.64095411e-01 6.41025038e-01 7.24230876e-02 1.45837683e+02] [-6.37969076e-01 7.67518338e-01 -6.25384584e-02 -7.63954114e+01] [-9.56747655e-02 1.58165876e-03 9.95411391e-01 -2.14571997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.728241008 meters 0.06454603137724886 Centerline is valid? [True, True] Translation: X:145.86, Y:-76.42, Z:-21.46 [[ 7.62513056e-01 6.42799969e-01 7.33623846e-02 1.45863586e+02] [-6.39669037e-01 7.66032789e-01 -6.33820893e-02 -7.64154331e+01] [-9.69399972e-02 1.40202472e-03 9.95289240e-01 -2.14608012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.758241008 meters 0.06423574439923144 Centerline is valid? [True, True] Translation: X:145.89, Y:-76.44, Z:-21.46 [[ 7.60880663e-01 6.44714793e-01 7.35081854e-02 1.45887869e+02] [-6.41577087e-01 7.64422285e-01 -6.35406205e-02 -7.64355841e+01] [-9.71568731e-02 1.18566192e-03 9.95268374e-01 -2.14633505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.788241008 meters 0.06387676282280293 Centerline is valid? [True, True] Translation: X:145.91, Y:-76.46, Z:-21.47 [[ 7.59431416e-01 6.46346736e-01 7.41607808e-02 1.45914186e+02] [-6.43157909e-01 7.63043172e-01 -6.41328514e-02 -7.64578789e+01] [-9.80399366e-02 1.00740944e-03 9.95181971e-01 -2.14656662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.818241008 meters 0.06353736094093682 Centerline is valid? [True, True] Translation: X:145.94, Y:-76.48, Z:-21.47 [[ 7.57981357e-01 6.47829483e-01 7.60343580e-02 1.45939371e+02] [-6.44479988e-01 7.61784880e-01 -6.57977309e-02 -7.64771974e+01] [-1.00547534e-01 8.70831259e-04 9.94931875e-01 -2.14682069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.848241008 meters 0.0635849669450408 Centerline is valid? [True, True] Translation: X:145.96, Y:-76.50, Z:-21.47 [[ 7.57967389e-01 6.47778151e-01 7.66087658e-02 1.45964182e+02] [-6.44374313e-01 7.61828486e-01 -6.63257333e-02 -7.64978685e+01] [-1.01327101e-01 9.08022113e-04 9.94852750e-01 -2.14730273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.878241008 meters 0.06370762468706906 Centerline is valid? [True, True] Translation: X:145.99, Y:-76.52, Z:-21.48 [[ 7.58537410e-01 6.47159859e-01 7.61913037e-02 1.45988962e+02] [-6.43786855e-01 7.62353657e-01 -6.59953586e-02 -7.65195855e+01] [-1.00794266e-01 1.00898864e-03 9.94906779e-01 -2.14773669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.908241008 meters 0.06411469891570494 Centerline is valid? [True, True] Translation: X:146.01, Y:-76.54, Z:-21.48 [[ 7.59952570e-01 6.45491468e-01 7.62420884e-02 1.46009270e+02] [-6.42101887e-01 7.63766443e-01 -6.60756204e-02 -7.65432678e+01] [-1.00882398e-01 1.25914876e-03 9.94897561e-01 -2.14820978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.938241008 meters 0.06425417730214762 Centerline is valid? [True, True] Translation: X:146.03, Y:-76.57, Z:-21.49 [[ 7.60754697e-01 6.44590942e-01 7.58604514e-02 1.46032305e+02] [-6.41229433e-01 7.64526394e-01 -6.57587038e-02 -7.65659484e+01] [-1.00384782e-01 1.38228853e-03 9.94947730e-01 -2.14858933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.968241008 meters 0.06455934356954143 Centerline is valid? [True, True] Translation: X:146.06, Y:-76.59, Z:-21.49 [[ 7.61555889e-01 6.43791515e-01 7.45996852e-02 1.46055264e+02] [-6.40534304e-01 7.65199502e-01 -6.46956469e-02 -7.65892335e+01] [-9.87341505e-02 1.48569348e-03 9.95112737e-01 -2.14907595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.998241008 meters 0.06492197645220944 Centerline is valid? [True, True] Translation: X:146.08, Y:-76.61, Z:-21.50 [[ 7.62509567e-01 6.42718189e-01 7.41113352e-02 1.46077313e+02] [-6.39495334e-01 7.66100936e-01 -6.43045391e-02 -7.66116397e+01] [-9.81064602e-02 1.63897316e-03 9.95174576e-01 -2.14952758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.028241008 meters 0.06557249396389796 Centerline is valid? [True, True] Translation: X:146.10, Y:-76.63, Z:-21.50 [[ 7.64154052e-01 6.40814598e-01 7.36562010e-02 1.46099873e+02] [-6.37620685e-01 7.67693359e-01 -6.39278363e-02 -7.66344760e+01] [-9.75112671e-02 1.88599783e-03 9.95232634e-01 -2.15004863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.058241008 meters 0.0655203298324909 Centerline is valid? [True, True] Translation: X:146.13, Y:-76.65, Z:-21.50 [[ 7.64781027e-01 6.40085709e-01 7.34865020e-02 1.46125058e+02] [-6.36900950e-01 7.68300929e-01 -6.38033080e-02 -7.66545469e+01] [-9.72993333e-02 1.99193647e-03 9.95253170e-01 -2.15036380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.088241008 meters 0.06539275039685954 Centerline is valid? [True, True] Translation: X:146.15, Y:-76.68, Z:-21.51 [[ 7.65010368e-01 6.39763208e-01 7.39065270e-02 1.46149979e+02] [-6.36537464e-01 7.68569297e-01 -6.41972986e-02 -7.66756094e+01] [-9.78733572e-02 2.06732577e-03 9.95196730e-01 -2.15077984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.118241008 meters 0.06491574044705185 Centerline is valid? [True, True] Translation: X:146.18, Y:-76.70, Z:-21.51 [[ 7.64915326e-01 6.39947311e-01 7.32938089e-02 1.46175298e+02] [-6.36772733e-01 7.68416054e-01 -6.36965808e-02 -7.66967095e+01] [-9.70825950e-02 2.05099187e-03 9.95274215e-01 -2.15102219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.148241008 meters 0.06535748457473133 Centerline is valid? [True, True] Translation: X:146.20, Y:-76.72, Z:-21.52 [[ 7.64848471e-01 6.40089468e-01 7.27481197e-02 1.46197987e+02] [-6.36959519e-01 7.68297662e-01 -6.32556244e-02 -7.67189027e+01] [-9.63814693e-02 2.04336030e-03 9.95342372e-01 -2.15158003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17824100800001 meters 0.06513183784582935 Centerline is valid? [True, True] Translation: X:146.22, Y:-76.74, Z:-21.52 [[ 7.64802000e-01 6.40176585e-01 7.24695799e-02 1.46223092e+02] [-6.37068160e-01 7.68225064e-01 -6.30429286e-02 -7.67391725e+01] [-9.60315543e-02 2.04729594e-03 9.95376185e-01 -2.15192404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20824100800002 meters 0.06557453451939144 Centerline is valid? [True, True] Translation: X:146.25, Y:-76.76, Z:-21.53 [[ 7.65510110e-01 6.39440737e-01 7.14829734e-02 1.46246704e+02] [-6.36410368e-01 7.68837426e-01 -6.22162068e-02 -7.67596790e+01] [-9.47423624e-02 2.13462990e-03 9.95499537e-01 -2.15252878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.238241008 meters 0.06571914153191893 Centerline is valid? [True, True] Translation: X:146.27, Y:-76.78, Z:-21.53 [[ 7.65958357e-01 6.38903872e-01 7.14817300e-02 1.46270469e+02] [-6.35868453e-01 7.69283365e-01 -6.22448005e-02 -7.67812142e+01] [-9.47581498e-02 2.22394804e-03 9.95497839e-01 -2.15295663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.268241008 meters 0.06507167195593105 Centerline is valid? [True, True] Translation: X:146.30, Y:-76.80, Z:-21.53 [[ 7.66120949e-01 6.38698260e-01 7.15767049e-02 1.46296467e+02] [-6.35651195e-01 7.69453938e-01 -6.23554005e-02 -7.68021190e+01] [-9.49012632e-02 2.27396060e-03 9.95484093e-01 -2.15301205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.298241008 meters 0.06524757882645238 Centerline is valid? [True, True] Translation: X:146.32, Y:-76.83, Z:-21.53 [[ 7.66354030e-01 6.38322253e-01 7.24306730e-02 1.46318800e+02] [-6.35196585e-01 7.69765581e-01 -6.31367472e-02 -7.68255281e+01] [-9.60562298e-02 2.37738456e-03 9.95373070e-01 -2.15329131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.328241008 meters 0.06562317038871388 Centerline is valid? [True, True] Translation: X:146.34, Y:-76.85, Z:-21.54 [[ 7.65906872e-01 6.38844897e-01 7.25524726e-02 1.46342303e+02] [-6.35708100e-01 7.69332000e-01 -6.32731092e-02 -7.68480616e+01] [-9.62386418e-02 2.33911466e-03 9.95355541e-01 -2.15388820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.358241008 meters 0.06557202248733943 Centerline is valid? [True, True] Translation: X:146.37, Y:-76.87, Z:-21.54 [[ 7.64704881e-01 6.40290611e-01 7.24870891e-02 1.46366868e+02] [-6.37162416e-01 7.68129654e-01 -6.32525877e-02 -7.68678366e+01] [-9.61795207e-02 2.18351378e-03 9.95361609e-01 -2.15430773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.388241008 meters 0.065463657802576 Centerline is valid? [True, True] Translation: X:146.39, Y:-76.89, Z:-21.55 [[ 7.63342167e-01 6.41917726e-01 7.24594247e-02 1.46392601e+02] [-6.38796353e-01 7.66770911e-01 -6.32581211e-02 -7.68869252e+01] [-9.61662883e-02 2.00077503e-03 9.95363271e-01 -2.15478506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.418241008 meters 0.06460573794220227 Centerline is valid? [True, True] Translation: X:146.42, Y:-76.90, Z:-21.55 [[ 7.59060941e-01 6.46957433e-01 7.26124487e-02 1.46422387e+02] [-6.43842669e-01 7.62524849e-01 -6.34229592e-02 -7.69026296e+01] [-9.64007513e-02 1.39089831e-03 9.95341630e-01 -2.15528042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.448241008 meters 0.06413774327383563 Centerline is valid? [True, True] Translation: X:146.45, Y:-76.92, Z:-21.56 [[ 7.57147170e-01 6.49146748e-01 7.30524636e-02 1.46448731e+02] [-6.46002006e-01 7.60662348e-01 -6.38294577e-02 -7.69216365e+01] [-9.70029434e-02 1.13625515e-03 9.95283446e-01 -2.15551485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.478241008 meters 0.06398311431333736 Centerline is valid? [True, True] Translation: X:146.47, Y:-76.94, Z:-21.56 [[ 7.55757844e-01 6.50751021e-01 7.31654937e-02 1.46474394e+02] [-6.47601041e-01 7.59290588e-01 -6.39585407e-02 -7.69424425e+01] [-9.71749563e-02 9.55119004e-04 9.95266856e-01 -2.15581160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.508241008 meters 0.06380214423822159 Centerline is valid? [True, True] Translation: X:146.50, Y:-76.96, Z:-21.56 [[ 7.54639855e-01 6.52064845e-01 7.30077150e-02 1.46498733e+02] [-6.48931311e-01 7.58162767e-01 -6.38543087e-02 -7.69629515e+01] [-9.69888811e-02 8.10014105e-04 9.95285135e-01 -2.15617746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.538241008 meters 0.06393285262983647 Centerline is valid? [True, True] Translation: X:146.52, Y:-76.98, Z:-21.57 [[ 7.54946151e-01 6.51652882e-01 7.35175512e-02 1.46521647e+02] [-6.48470060e-01 7.58516790e-01 -6.43339789e-02 -7.69838972e+01] [-9.76877197e-02 8.94758941e-04 9.95216715e-01 -2.15663962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.568241008 meters 0.06391484691223734 Centerline is valid? [True, True] Translation: X:146.55, Y:-77.01, Z:-21.57 [[ 7.54939955e-01 6.51680954e-01 7.33321130e-02 1.46545918e+02] [-6.48512841e-01 7.58492665e-01 -6.41870055e-02 -7.70057556e+01] [-9.74513188e-02 9.00518066e-04 9.95239885e-01 -2.15697855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.598241008 meters 0.06422664776391851 Centerline is valid? [True, True] Translation: X:146.57, Y:-77.03, Z:-21.58 [[ 7.56022762e-01 6.50340933e-01 7.40692476e-02 1.46566633e+02] [-6.47098841e-01 7.59641651e-01 -6.48664227e-02 -7.70296546e+01] [-9.84513754e-02 1.11036783e-03 9.95141243e-01 -2.15759083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.628241008 meters 0.0643738119333309 Centerline is valid? [True, True] Translation: X:146.59, Y:-77.05, Z:-21.58 [[ 7.56501602e-01 6.49798045e-01 7.39447576e-02 1.46589192e+02] [-6.46561238e-01 7.60105949e-01 -6.47882062e-02 -7.70526408e+01] [-9.83050999e-02 1.20256770e-03 9.95155596e-01 -2.15803209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.658241008 meters 0.06435062106716088 Centerline is valid? [True, True] Translation: X:146.61, Y:-77.08, Z:-21.58 [[ 7.57051513e-01 6.49202888e-01 7.35433021e-02 1.46612289e+02] [-6.45995402e-01 7.60614179e-01 -6.44671274e-02 -7.70754310e+01] [-9.77903236e-02 1.29630129e-03 9.95206196e-01 -2.15833686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.688241008 meters 0.06419653766679835 Centerline is valid? [True, True] Translation: X:146.64, Y:-77.10, Z:-21.59 [[ 7.57450132e-01 6.48808501e-01 7.29165749e-02 1.46636891e+02] [-6.45650851e-01 7.60950513e-01 -6.39475904e-02 -7.70971623e+01] [-9.69756453e-02 1.35846212e-03 9.95285828e-01 -2.15859336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.718241008 meters 0.0653203695074466 Centerline is valid? [True, True] Translation: X:146.66, Y:-77.12, Z:-21.60 [[ 7.58968988e-01 6.47080374e-01 7.24780312e-02 1.46656188e+02] [-6.43949255e-01 7.62420118e-01 -6.35996977e-02 -7.71217616e+01] [-9.64128252e-02 1.59802403e-03 9.95340150e-01 -2.15966811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.748241008 meters 0.06494776051319213 Centerline is valid? [True, True] Translation: X:146.68, Y:-77.14, Z:-21.60 [[ 7.59560508e-01 6.46412586e-01 7.22399005e-02 1.46679923e+02] [-6.43297304e-01 7.62986179e-01 -6.34087468e-02 -7.71437474e+01] [-9.61062577e-02 1.69104664e-03 9.95369644e-01 -2.15987546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.778241008 meters 0.06498555851034415 Centerline is valid? [True, True] Translation: X:146.70, Y:-77.17, Z:-21.60 [[ 7.60207736e-01 6.45658978e-01 7.21711969e-02 1.46702422e+02] [-6.42543401e-01 7.63623741e-01 -6.33779185e-02 -7.71681402e+01] [-9.60321614e-02 1.80725772e-03 9.95376591e-01 -2.16018141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.808241008 meters 0.06520277659727274 Centerline is valid? [True, True] Translation: X:146.72, Y:-77.19, Z:-21.61 [[ 7.60850546e-01 6.44911432e-01 7.20811431e-02 1.46723853e+02] [-6.41797129e-01 7.64254893e-01 -6.33316974e-02 -7.71914956e+01] [-9.59317020e-02 1.92448586e-03 9.95386058e-01 -2.16055757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.838241008 meters 0.06501129960973104 Centerline is valid? [True, True] Translation: X:146.75, Y:-77.21, Z:-21.61 [[ 7.62573782e-01 6.42836465e-01 7.24051508e-02 1.46747252e+02] [-6.39681977e-01 7.66000237e-01 -6.36443639e-02 -7.72145739e+01] [-9.63752806e-02 2.21725329e-03 9.95342599e-01 -2.16073812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.868241008 meters 0.06639931731243007 Centerline is valid? [True, True] Translation: X:146.77, Y:-77.24, Z:-21.62 [[ 7.63398727e-01 6.41910699e-01 7.19238329e-02 1.46767164e+02] [-6.38790769e-01 7.66775819e-01 -6.32550132e-02 -7.72389352e+01] [-9.57535257e-02 2.34451600e-03 9.95402313e-01 -2.16168278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.898241008 meters 0.06635108681244493 Centerline is valid? [True, True] Translation: X:146.79, Y:-77.26, Z:-21.62 [[ 7.63907951e-01 6.41404283e-01 7.10294868e-02 1.46791438e+02] [-6.38356603e-01 7.67199310e-01 -6.24985374e-02 -7.72603692e+01] [-9.45806028e-02 2.40098779e-03 9.95514312e-01 -2.16211041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92824100800001 meters 0.0661257014478548 Centerline is valid? [True, True] Translation: X:146.82, Y:-77.28, Z:-21.62 [[ 7.65060487e-01 6.40041763e-01 7.09153948e-02 1.46815065e+02] [-6.36995347e-01 7.68335765e-01 -6.24265989e-02 -7.72835584e+01] [-9.44424645e-02 2.58734763e-03 9.95526959e-01 -2.16234976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95824100800002 meters 0.06687109638058149 Centerline is valid? [True, True] Translation: X:146.84, Y:-77.31, Z:-21.63 [[ 7.65586369e-01 6.39380851e-01 7.12013958e-02 1.46835750e+02] [-6.36303168e-01 7.68885416e-01 -6.27175868e-02 -7.73070089e+01] [-9.48461389e-02 2.71005585e-03 9.95488255e-01 -2.16288856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.988241008 meters 0.06662326410726205 Centerline is valid? [True, True] Translation: X:146.86, Y:-77.33, Z:-21.63 [[ 7.66012472e-01 6.38912333e-01 7.08231925e-02 1.46859839e+02] [-6.35864043e-01 7.69274589e-01 -6.23981300e-02 -7.73290296e+01] [-9.43494171e-02 2.76382430e-03 9.95535308e-01 -2.16310265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.018241008 meters 0.06684396348772574 Centerline is valid? [True, True] Translation: X:146.88, Y:-77.35, Z:-21.64 [[ 7.66460528e-01 6.38465248e-01 7.00027645e-02 1.46884059e+02] [-6.35482689e-01 7.69645527e-01 -6.17050573e-02 -7.73518785e+01] [-9.32738492e-02 2.80894573e-03 9.95636530e-01 -2.16356825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.048241008 meters 0.06675465695734224 Centerline is valid? [True, True] Translation: X:146.91, Y:-77.37, Z:-21.64 [[ 7.66062758e-01 6.38891498e-01 7.04663400e-02 1.46908836e+02] [-6.35867536e-01 7.69291747e-01 -6.21505078e-02 -7.73729675e+01] [-9.39166048e-02 2.80393147e-03 9.95576119e-01 -2.16402367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.078241008 meters 0.06698031058773636 Centerline is valid? [True, True] Translation: X:146.93, Y:-77.39, Z:-21.64 [[ 7.65462083e-01 6.39581006e-01 7.07385057e-02 1.46931426e+02] [-6.36533435e-01 7.68718770e-01 -6.24230678e-02 -7.73946148e+01] [-9.43026256e-02 2.75506749e-03 9.95539765e-01 -2.16448979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.108241008 meters 0.06689552371383495 Centerline is valid? [True, True] Translation: X:146.95, Y:-77.42, Z:-21.65 [[ 7.64455948e-01 6.40722565e-01 7.12860329e-02 1.46954872e+02] [-6.37629498e-01 7.67767885e-01 -6.29372495e-02 -7.74153494e+01] [-9.50564427e-02 2.65867734e-03 9.95468334e-01 -2.16492119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.138241008 meters 0.0655262001287955 Centerline is valid? [True, True] Translation: X:146.98, Y:-77.43, Z:-21.65 [[ 7.62750427e-01 6.42740566e-01 7.13887341e-02 1.46982735e+02] [-6.39644926e-01 7.66080060e-01 -6.30532321e-02 -7.74342980e+01] [-9.52163558e-02 2.43043810e-03 9.95453635e-01 -2.16503351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.168241008 meters 0.06509672519234357 Centerline is valid? [True, True] Translation: X:147.01, Y:-77.45, Z:-21.66 [[ 7.59244541e-01 6.46799028e-01 7.21023227e-02 1.47008014e+02] [-6.43655647e-01 7.62657942e-01 -6.37202653e-02 -7.74531068e+01] [-9.62036147e-02 1.97019645e-03 9.95359725e-01 -2.16561655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.198241008 meters 0.0647641843016805 Centerline is valid? [True, True] Translation: X:147.03, Y:-77.47, Z:-21.66 [[ 7.57003322e-01 6.49460217e-01 7.17453609e-02 1.47033703e+02] [-6.46356859e-01 7.60393786e-01 -6.34358036e-02 -7.74731543e+01] [-9.57537574e-02 1.64800790e-03 9.95403688e-01 -2.16603387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.228241008 meters 0.06429956476657271 Centerline is valid? [True, True] Translation: X:147.06, Y:-77.49, Z:-21.67 [[ 7.51179675e-01 6.56163481e-01 7.19623688e-02 1.47060992e+02] [-6.53068452e-01 7.54618318e-01 -6.36615398e-02 -7.74880987e+01] [-9.60764993e-02 8.24901969e-04 9.95373611e-01 -2.16658873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.258241008 meters 0.0640260074366096 Centerline is valid? [True, True] Translation: X:147.09, Y:-77.51, Z:-21.67 [[ 7.47599236e-01 6.60185315e-01 7.24619391e-02 1.47087305e+02] [-6.57063000e-01 7.51102682e-01 -6.41324807e-02 -7.75052749e+01] [-9.67656787e-02 3.33334393e-04 9.95307135e-01 -2.16707205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.288241008 meters 0.06410666383870972 Centerline is valid? [True, True] Translation: X:147.11, Y:-77.52, Z:-21.68 [[ 7.44356022e-01 6.63812279e-01 7.27143174e-02 1.47114901e+02] [-6.60682791e-01 7.47899221e-01 -6.43817171e-02 -7.75246084e+01] [-9.71203557e-02 -1.18179341e-04 9.95272637e-01 -2.16762611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.318241008 meters 0.06430329230502292 Centerline is valid? [True, True] Translation: X:147.14, Y:-77.54, Z:-21.68 [[ 7.41324206e-01 6.67193977e-01 7.27366481e-02 1.47140784e+02] [-6.64074722e-01 7.44883828e-01 -6.44425819e-02 -7.75432454e+01] [-9.71760554e-02 -5.29723571e-04 9.95267067e-01 -2.16801329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.348241008 meters 0.06475044417034345 Centerline is valid? [True, True] Translation: X:147.17, Y:-77.56, Z:-21.68 [[ 7.36867378e-01 6.72063234e-01 7.31947917e-02 1.47170102e+02] [-6.68925746e-01 7.40492855e-01 -6.48743241e-02 -7.75644044e+01] [-9.77998683e-02 -1.15810756e-03 9.95205428e-01 -2.16835415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.378241008 meters 0.06527808261311369 Centerline is valid? [True, True] Translation: X:147.19, Y:-77.58, Z:-21.69 [[ 7.35121482e-01 6.74032473e-01 7.26404311e-02 1.47194683e+02] [-6.70946564e-01 7.38700451e-01 -6.44387530e-02 -7.75841803e+01] [-9.70933312e-02 -1.36753597e-03 9.95274342e-01 -2.16881782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.408241008 meters 0.06587594143989761 Centerline is valid? [True, True] Translation: X:147.22, Y:-77.60, Z:-21.69 [[ 7.33471100e-01 6.75866888e-01 7.22779062e-02 1.47218689e+02] [-6.72817885e-01 7.37022015e-01 -6.41454862e-02 -7.76046363e+01] [-9.66242182e-02 -1.58100764e-03 9.95319678e-01 -2.16934246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.438241008 meters 0.0663869831355999 Centerline is valid? [True, True] Translation: X:147.24, Y:-77.63, Z:-21.70 [[ 7.32467691e-01 6.77047860e-01 7.13952177e-02 1.47242535e+02] [-6.74075165e-01 7.35937052e-01 -6.33981743e-02 -7.76259841e+01] [-9.54659842e-02 -1.68862881e-03 9.95431261e-01 -2.16987427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.468241008 meters 0.0666046738753617 Centerline is valid? [True, True] Translation: X:147.26, Y:-77.65, Z:-21.70 [[ 7.31185775e-01 6.78563093e-01 7.01390912e-02 1.47264280e+02] [-6.75700864e-01 7.34539793e-01 -6.22867168e-02 -7.76493420e+01] [-9.37854207e-02 -1.84988327e-03 9.95590716e-01 -2.17027723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.498241008 meters 0.0669988501489584 Centerline is valid? [True, True] Translation: X:147.29, Y:-77.67, Z:-21.71 [[ 7.30928956e-01 6.78872893e-01 6.98173071e-02 1.47290258e+02] [-6.76036283e-01 7.34253442e-01 -6.20227879e-02 -7.76730491e+01] [-9.33691875e-02 -1.86478123e-03 9.95629809e-01 -2.17100340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.528241008 meters 0.06643630861410474 Centerline is valid? [True, True] Translation: X:147.31, Y:-77.70, Z:-21.71 [[ 7.30579006e-01 6.79262075e-01 6.96946900e-02 1.47312133e+02] [-6.76431879e-01 7.33893412e-01 -6.19707386e-02 -7.76973574e+01] [-9.32428463e-02 -1.86918951e-03 9.95641641e-01 -2.17122818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.558241008 meters 0.06681838101666693 Centerline is valid? [True, True] Translation: X:147.33, Y:-77.72, Z:-21.72 [[ 7.32348141e-01 6.77369231e-01 6.95494455e-02 1.47330970e+02] [-6.74538818e-01 7.35641472e-01 -6.18789739e-02 -7.77226129e+01] [-9.30783694e-02 -1.59684932e-03 9.95657505e-01 -2.17214568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.588241008 meters 0.0660543925865646 Centerline is valid? [True, True] Translation: X:147.35, Y:-77.75, Z:-21.72 [[ 7.33248081e-01 6.76430960e-01 6.91983274e-02 1.47350769e+02] [-6.73623343e-01 7.36504604e-01 -6.15837586e-02 -7.77496401e+01] [-9.26220477e-02 -1.45743581e-03 9.95700272e-01 -2.17227711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.618241008 meters 0.0660543925865646 Centerline is valid? [True, True] Translation: X:147.38, Y:-77.77, Z:-21.73 [[ 7.33047607e-01 6.76649759e-01 6.91831603e-02 1.47375206e+02] [-6.73841507e-01 7.36303582e-01 -6.16007913e-02 -7.77716899e+01] [-9.26219694e-02 -1.46217235e-03 9.95700273e-01 -2.17268598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.648241008 meters 0.0654445082458349 Centerline is valid? [True, True] Translation: X:147.40, Y:-77.80, Z:-21.73 [[ 7.34360255e-01 6.75176913e-01 6.96502064e-02 1.47395485e+02] [-6.72319928e-01 7.37654773e-01 -6.20592447e-02 -7.77975572e+01] [-9.32787766e-02 -1.25337896e-03 9.95639241e-01 -2.17297745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67824100800001 meters 0.06519918378760178 Centerline is valid? [True, True] Translation: X:147.41, Y:-77.82, Z:-21.73 [[ 7.35964358e-01 6.73410574e-01 6.98187787e-02 1.47414474e+02] [-6.70529954e-01 7.39267992e-01 -6.22287563e-02 -7.78218842e+01] [-9.35202908e-02 -1.01743575e-03 9.95616854e-01 -2.17339621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70824100800002 meters 0.0646385911568769 Centerline is valid? [True, True] Translation: X:147.43, Y:-77.85, Z:-21.74 [[ 7.39938243e-01 6.68967222e-01 7.05283836e-02 1.47429850e+02] [-6.66004905e-01 7.43291775e-01 -6.28872309e-02 -7.78539076e+01] [-9.44926636e-02 -4.39582265e-04 9.95525461e-01 -2.17373392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.738241008 meters 0.06445061943864001 Centerline is valid? [True, True] Translation: X:147.45, Y:-77.88, Z:-21.74 [[ 7.42017647e-01 6.66587391e-01 7.12113908e-02 1.47448700e+02] [-6.63552947e-01 7.45426883e-01 -6.35314790e-02 -7.78795730e+01] [-9.54321679e-02 -1.11049645e-04 9.95435929e-01 -2.17412708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.768241008 meters 0.06424234872195007 Centerline is valid? [True, True] Translation: X:147.47, Y:-77.91, Z:-21.74 [[ 7.43756422e-01 6.64588002e-01 7.17577418e-02 1.47468799e+02] [-6.61494580e-01 7.47209984e-01 -6.40481205e-02 -7.79052957e+01] [-9.61837135e-02 1.68843673e-04 9.95363584e-01 -2.17440170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.798241008 meters 0.0643820632888118 Centerline is valid? [True, True] Translation: X:147.49, Y:-77.93, Z:-21.75 [[ 7.44748382e-01 6.63485511e-01 7.16716425e-02 1.47490308e+02] [-6.60391392e-01 7.48189057e-01 -6.40026927e-02 -7.79295371e+01] [-9.60887979e-02 3.34566060e-04 9.95372710e-01 -2.17480182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.828241008 meters 0.06444456325469305 Centerline is valid? [True, True] Translation: X:147.51, Y:-77.95, Z:-21.75 [[ 7.46099698e-01 6.62014800e-01 7.12154918e-02 1.47512620e+02] [-6.58949914e-01 7.49490564e-01 -6.36310176e-02 -7.79536220e+01] [-9.55000144e-02 5.47640823e-04 9.95429278e-01 -2.17515942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.858241008 meters 0.0644968761138078 Centerline is valid? [True, True] Translation: X:147.54, Y:-77.98, Z:-21.76 [[ 7.47226807e-01 6.60752416e-01 7.11220256e-02 1.47537614e+02] [-6.57687035e-01 7.50603564e-01 -6.35771479e-02 -7.79788404e+01] [-9.53932000e-02 7.30515094e-04 9.95439402e-01 -2.17557026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.888241008 meters 0.06495323512611671 Centerline is valid? [True, True] Translation: X:147.56, Y:-78.00, Z:-21.76 [[ 7.47623778e-01 6.60417378e-01 7.00540751e-02 1.47560270e+02] [-6.57437128e-01 7.50898292e-01 -6.26751781e-02 -7.79996995e+01] [-9.39952622e-02 8.01303494e-04 9.95572322e-01 -2.17638521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.918241008 meters 0.06503649490792086 Centerline is valid? [True, True] Translation: X:147.59, Y:-78.02, Z:-21.77 [[ 7.46755422e-01 6.61494613e-01 6.91463462e-02 1.47586615e+02] [-6.58594647e-01 7.49949620e-01 -6.18761533e-02 -7.80202208e+01] [-9.27870181e-02 6.66939466e-04 9.95685756e-01 -2.17693416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.948241008 meters 0.06534804201431993 Centerline is valid? [True, True] Translation: X:147.61, Y:-78.04, Z:-21.78 [[ 7.46634304e-01 6.61696056e-01 6.85240442e-02 1.47610204e+02] [-6.58845534e-01 7.49771890e-01 -6.13569503e-02 -7.80401106e+01] [-9.19770542e-02 6.64443418e-04 9.95760905e-01 -2.17761304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.978241008 meters 0.06549384823817761 Centerline is valid? [True, True] Translation: X:147.63, Y:-78.06, Z:-21.78 [[ 7.46253852e-01 6.62126549e-01 6.85100086e-02 1.47634598e+02] [-6.59276454e-01 7.49391775e-01 -6.13720145e-02 -7.80611867e+01] [-9.19768772e-02 6.32066724e-04 9.95760942e-01 -2.17804896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.008241008 meters 0.06501403227069226 Centerline is valid? [True, True] Translation: X:147.66, Y:-78.08, Z:-21.78 [[ 7.45320778e-01 6.63251585e-01 6.77810619e-02 1.47659517e+02] [-6.60463844e-01 7.48396335e-01 -6.07489609e-02 -7.80818866e+01] [-9.10189429e-02 5.10522087e-04 9.95849030e-01 -2.17811455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.038241008 meters 0.0648272968768442 Centerline is valid? [True, True] Translation: X:147.68, Y:-78.10, Z:-21.78 [[ 7.44761625e-01 6.63900689e-01 6.75721560e-02 1.47684563e+02] [-6.61130007e-01 7.47820613e-01 -6.05924511e-02 -7.81037254e+01] [-9.07592212e-02 4.52952381e-04 9.95872762e-01 -2.17824045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.068241008 meters 0.06489405125583682 Centerline is valid? [True, True] Translation: X:147.71, Y:-78.12, Z:-21.79 [[ 7.44361946e-01 6.64313733e-01 6.79158046e-02 1.47708498e+02] [-6.61513331e-01 7.47453730e-01 -6.09346771e-02 -7.81249043e+01] [-9.12436643e-02 4.30244782e-04 9.95828504e-01 -2.17856345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.098241008 meters 0.06496835250853053 Centerline is valid? [True, True] Translation: X:147.73, Y:-78.15, Z:-21.79 [[ 7.43872061e-01 6.64875867e-01 6.77822836e-02 1.47734503e+02] [-6.62086343e-01 7.46953771e-01 -6.08419175e-02 -7.81470238e+01] [-9.10825551e-02 3.80878344e-04 9.95843272e-01 -2.17890155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.128241008 meters 0.06484280933567642 Centerline is valid? [True, True] Translation: X:147.76, Y:-78.17, Z:-21.79 [[ 7.42965228e-01 6.65673976e-01 6.98629197e-02 1.47759653e+02] [-6.62709197e-01 7.46242622e-01 -6.27572299e-02 -7.81654481e+01] [-9.39105432e-02 3.27640226e-04 9.95580586e-01 -2.17921862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.158241008 meters 0.06470843218881808 Centerline is valid? [True, True] Translation: X:147.78, Y:-78.19, Z:-21.80 [[ 7.42354828e-01 6.66329652e-01 7.01006637e-02 1.47784714e+02] [-6.63344830e-01 7.45657242e-01 -6.29993178e-02 -7.81863860e+01] [-9.42493811e-02 2.66934925e-04 9.95548584e-01 -2.17951459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.188241008 meters 0.06471454202309232 Centerline is valid? [True, True] Translation: X:147.81, Y:-78.21, Z:-21.80 [[ 7.42152413e-01 6.66459872e-01 7.10002489e-02 1.47808766e+02] [-6.63394871e-01 7.45540851e-01 -6.38442217e-02 -7.82072749e+01] [-9.54831978e-02 2.80942183e-04 9.95431002e-01 -2.17995471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.218241008 meters 0.06464468263280389 Centerline is valid? [True, True] Translation: X:147.83, Y:-78.23, Z:-21.80 [[ 7.42103172e-01 6.66466922e-01 7.14473462e-02 1.47832502e+02] [-6.63361388e-01 7.45534543e-01 -6.42644137e-02 -7.82291276e+01] [-9.60965705e-02 2.95414508e-04 9.95371972e-01 -2.18023104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.248241008 meters 0.06459677865239472 Centerline is valid? [True, True] Translation: X:147.86, Y:-78.25, Z:-21.81 [[ 7.42820256e-01 6.65543068e-01 7.25981493e-02 1.47855089e+02] [-6.62328650e-01 7.46359313e-01 -6.53340309e-02 -7.82507439e+01] [-9.76669162e-02 4.47607419e-04 9.95219058e-01 -2.18051260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.278241008 meters 0.06440052481390394 Centerline is valid? [True, True] Translation: X:147.88, Y:-78.27, Z:-21.81 [[ 7.43007289e-01 6.65331343e-01 7.26248743e-02 1.47879352e+02] [-6.62111068e-01 7.46548029e-01 -6.53832912e-02 -7.82723911e+01] [-9.77195097e-02 4.94528846e-04 9.95213873e-01 -2.18065822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.308241008 meters 0.06449933799564368 Centerline is valid? [True, True] Translation: X:147.90, Y:-78.29, Z:-21.81 [[ 7.42572807e-01 6.65814443e-01 7.26412665e-02 1.47903027e+02] [-6.62591544e-01 7.46117228e-01 -6.54333832e-02 -7.82932932e+01] [-9.77653920e-02 4.57562038e-04 9.95209384e-01 -2.18130309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.338241008 meters 0.06470880185814297 Centerline is valid? [True, True] Translation: X:147.93, Y:-78.31, Z:-21.82 [[ 7.42444562e-01 6.65952244e-01 7.26889395e-02 1.47927647e+02] [-6.62722643e-01 7.45994232e-01 -6.55080538e-02 -7.83142217e+01] [-9.78507650e-02 4.63492236e-04 9.95200991e-01 -2.18170717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.368241008 meters 0.06429128251888241 Centerline is valid? [True, True] Translation: X:147.95, Y:-78.34, Z:-21.82 [[ 7.41847537e-01 6.66582024e-01 7.30112064e-02 1.47953926e+02] [-6.63323635e-01 7.45431580e-01 -6.58294306e-02 -7.83369161e+01] [-9.83055741e-02 4.05342127e-04 9.95156194e-01 -2.18174037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.398241008 meters 0.06419539573299884 Centerline is valid? [True, True] Translation: X:147.98, Y:-78.36, Z:-21.82 [[ 7.41358384e-01 6.67124742e-01 7.30227762e-02 1.47978084e+02] [-6.63863454e-01 7.44945934e-01 -6.58852837e-02 -7.83582509e+01] [-9.83517230e-02 3.67455034e-04 9.95151649e-01 -2.18215603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42824100800001 meters 0.06419265748900878 Centerline is valid? [True, True] Translation: X:148.00, Y:-78.38, Z:-21.82 [[ 7.40511476e-01 6.67988171e-01 7.37194426e-02 1.48003846e+02] [-6.64664656e-01 7.44171837e-01 -6.65520292e-02 -7.83791205e+01] [-9.93159013e-02 2.83833435e-04 9.95055914e-01 -2.18243624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45824100800002 meters 0.06414369709842623 Centerline is valid? [True, True] Translation: X:148.03, Y:-78.40, Z:-21.83 [[ 7.38844644e-01 6.69750446e-01 7.44508711e-02 1.48030662e+02] [-6.66365804e-01 7.42586247e-01 -6.72479027e-02 -7.83975140e+01] [-1.00325506e-01 7.42380879e-05 9.94954666e-01 -2.18283080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.488241008 meters 0.064152819133588 Centerline is valid? [True, True] Translation: X:148.06, Y:-78.42, Z:-21.83 [[ 7.37707260e-01 6.71055209e-01 7.39790808e-02 1.48055562e+02] [-6.67716460e-01 7.41407378e-01 -6.68567772e-02 -7.84177511e+01] [-9.97132249e-02 -7.63200628e-05 9.95016214e-01 -2.18330695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.518241008 meters 0.06421508620185044 Centerline is valid? [True, True] Translation: X:148.08, Y:-78.44, Z:-21.84 [[ 7.36675409e-01 6.72218461e-01 7.36999508e-02 1.48080455e+02] [-6.68907235e-01 7.40352820e-01 -6.66394238e-02 -7.84378365e+01] [-9.93602173e-02 -2.06805518e-04 9.95051508e-01 -2.18382227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.548241008 meters 0.06449948148838414 Centerline is valid? [True, True] Translation: X:148.11, Y:-78.46, Z:-21.84 [[ 7.34901820e-01 6.74222768e-01 7.30956507e-02 1.48105478e+02] [-6.70972370e-01 7.38527898e-01 -6.61258051e-02 -7.84567968e+01] [-9.85667007e-02 -4.49187532e-04 9.95130345e-01 -2.18435926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.578241008 meters 0.0645900534242679 Centerline is valid? [True, True] Translation: X:148.13, Y:-78.48, Z:-21.85 [[ 7.34573478e-01 6.74568331e-01 7.32077346e-02 1.48128486e+02] [-6.71306257e-01 7.38212263e-01 -6.62613299e-02 -7.84781751e+01] [-9.87406421e-02 -4.70994750e-04 9.95113091e-01 -2.18465815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.608241008 meters 0.06446798671692693 Centerline is valid? [True, True] Translation: X:148.15, Y:-78.50, Z:-21.85 [[ 7.34174715e-01 6.74949963e-01 7.36887782e-02 1.48151055e+02] [-6.71644674e-01 7.37863325e-01 -6.67169064e-02 -7.84998270e+01] [-9.94028204e-02 -5.10809691e-04 9.95047144e-01 -2.18499525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.638241008 meters 0.06414870455390718 Centerline is valid? [True, True] Translation: X:148.18, Y:-78.53, Z:-21.85 [[ 7.33823407e-01 6.75307057e-01 7.39160837e-02 1.48177268e+02] [-6.71980955e-01 7.37536496e-01 -6.69441121e-02 -7.85251816e+01] [-9.97236407e-02 -5.45044065e-04 9.95015024e-01 -2.18504565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.668241008 meters 0.06443028765405386 Centerline is valid? [True, True] Translation: X:148.20, Y:-78.55, Z:-21.86 [[ 7.34001288e-01 6.75070492e-01 7.43097536e-02 1.48200015e+02] [-6.71701450e-01 7.37753081e-01 -6.73613642e-02 -7.85466806e+01] [-1.00295919e-01 -4.70641137e-04 9.94957540e-01 -2.18584439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.698241008 meters 0.06409245716619011 Centerline is valid? [True, True] Translation: X:148.22, Y:-78.57, Z:-21.86 [[ 7.34706261e-01 6.74226288e-01 7.50041483e-02 1.48222428e+02] [-6.70786069e-01 7.38524746e-01 -6.80238802e-02 -7.85708502e+01] [-1.01255908e-01 -3.34167120e-04 9.94860357e-01 -2.18589549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.728241008 meters 0.06393631370656017 Centerline is valid? [True, True] Translation: X:148.24, Y:-78.59, Z:-21.86 [[ 7.35645301e-01 6.73106645e-01 7.58513994e-02 1.48244372e+02] [-6.69578542e-01 7.39545414e-01 -6.88269992e-02 -7.85944101e+01] [-1.02423465e-01 -1.56210865e-04 9.94740876e-01 -2.18632480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.758241008 meters 0.06405514579121876 Centerline is valid? [True, True] Translation: X:148.26, Y:-78.62, Z:-21.87 [[ 7.37944250e-01 6.70628997e-01 7.54654402e-02 1.48264258e+02] [-6.67119813e-01 7.41792897e-01 -6.85160813e-02 -7.86200762e+01] [-1.01928598e-01 2.16557865e-04 9.94791694e-01 -2.18675727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.788241008 meters 0.06410447566033882 Centerline is valid? [True, True] Translation: X:148.29, Y:-78.64, Z:-21.87 [[ 7.39201087e-01 6.69242967e-01 7.54692317e-02 1.48286065e+02] [-6.65722793e-01 7.43043514e-01 -6.85528884e-02 -7.86446602e+01] [-1.01955462e-01 4.32781880e-04 9.94788870e-01 -2.18716072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.818241008 meters 0.06420322360829443 Centerline is valid? [True, True] Translation: X:148.31, Y:-78.67, Z:-21.88 [[ 7.40140566e-01 6.68203314e-01 7.54736688e-02 1.48308397e+02] [-6.64673711e-01 7.43978473e-01 -6.85921977e-02 -7.86690634e+01] [-1.01984319e-01 6.02504538e-04 9.94785824e-01 -2.18751234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.848241008 meters 0.06442277145507692 Centerline is valid? [True, True] Translation: X:148.33, Y:-78.69, Z:-21.88 [[ 7.41171590e-01 6.67170003e-01 7.44906857e-02 1.48329565e+02] [-6.63722962e-01 7.44905098e-01 -6.77364355e-02 -7.86927148e+01] [-1.00680209e-01 7.63143013e-04 9.94918546e-01 -2.18798904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.878241008 meters 0.06503594863339147 Centerline is valid? [True, True] Translation: X:148.35, Y:-78.72, Z:-21.89 [[ 7.43043306e-01 6.65252587e-01 7.29769923e-02 1.48350106e+02] [-6.61933701e-01 7.46617684e-01 -6.63762734e-02 -7.87163741e+01] [-9.86429006e-02 1.01451507e-03 9.95122379e-01 -2.18864596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.908241008 meters 0.06543730765455813 Centerline is valid? [True, True] Translation: X:148.37, Y:-78.74, Z:-21.89 [[ 7.43966273e-01 6.64295065e-01 7.22928211e-02 1.48373329e+02] [-6.61030668e-01 7.47469554e-01 -6.57854181e-02 -7.87386307e+01] [-9.77376114e-02 1.15436042e-03 9.95211549e-01 -2.18919701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.938241008 meters 0.06587344176199317 Centerline is valid? [True, True] Translation: X:148.40, Y:-78.76, Z:-21.90 [[ 7.45034225e-01 6.63247624e-01 7.08984633e-02 1.48397073e+02] [-6.60100606e-01 7.48398909e-01 -6.45466028e-02 -7.87609446e+01] [-9.58707135e-02 1.28930959e-03 9.95392960e-01 -2.18977081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.968241008 meters 0.06650029537405912 Centerline is valid? [True, True] Translation: X:148.42, Y:-78.78, Z:-21.90 [[ 7.46394210e-01 6.61756900e-01 7.05229695e-02 1.48419951e+02] [-6.58633485e-01 7.49716989e-01 -6.42368224e-02 -7.87817241e+01] [-9.53814288e-02 1.49720316e-03 9.95439672e-01 -2.19043737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.998241008 meters 0.06575549572486343 Centerline is valid? [True, True] Translation: X:148.45, Y:-78.80, Z:-21.90 [[ 7.46925972e-01 6.61221362e-01 6.99135458e-02 1.48446402e+02] [-6.58146821e-01 7.50189201e-01 -6.37096920e-02 -7.88014960e+01] [-9.45745964e-02 1.57304567e-03 9.95516535e-01 -2.19045812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.028241008 meters 0.0660163797827897 Centerline is valid? [True, True] Translation: X:148.47, Y:-78.82, Z:-21.91 [[ 7.47548109e-01 6.60531974e-01 6.97806330e-02 1.48469974e+02] [-6.57462991e-01 7.50796032e-01 -6.36218042e-02 -7.88242583e+01] [-9.44152583e-02 1.68217580e-03 9.95531481e-01 -2.19084712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.058241008 meters 0.06604152242135511 Centerline is valid? [True, True] Translation: X:148.49, Y:-78.85, Z:-21.91 [[ 7.47705594e-01 6.60306228e-01 7.02284136e-02 1.48492406e+02] [-6.57193076e-01 7.50994423e-01 -6.40674423e-02 -7.88460508e+01] [-9.50452781e-02 1.74995789e-03 9.95471412e-01 -2.19115290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.088241008 meters 0.06622154975950294 Centerline is valid? [True, True] Translation: X:148.52, Y:-78.87, Z:-21.91 [[ 7.48207867e-01 6.59715888e-01 7.04267986e-02 1.48515070e+02] [-6.56579459e-01 7.51512814e-01 -6.42798967e-02 -7.88680363e+01] [-9.53331107e-02 1.85393510e-03 9.95443701e-01 -2.19133352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.118241008 meters 0.06646097224890468 Centerline is valid? [True, True] Translation: X:148.54, Y:-78.89, Z:-21.92 [[ 7.47975443e-01 6.59939737e-01 7.07974607e-02 1.48539752e+02] [-6.56768174e-01 7.51316238e-01 -6.46488672e-02 -7.88898749e+01] [-9.58556383e-02 1.85824610e-03 9.95393512e-01 -2.19179286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.148241008 meters 0.06603361639763014 Centerline is valid? [True, True] Translation: X:148.57, Y:-78.91, Z:-21.92 [[ 7.47319228e-01 6.60601694e-01 7.15497968e-02 1.48566326e+02] [-6.57362049e-01 7.50734374e-01 -6.53684578e-02 -7.89100013e+01] [-9.68974059e-02 1.81698442e-03 9.95292716e-01 -2.19217855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17824100800001 meters 0.06572275285130756 Centerline is valid? [True, True] Translation: X:148.60, Y:-78.93, Z:-21.93 [[ 7.45172012e-01 6.63055413e-01 7.12474012e-02 1.48595091e+02] [-6.59850645e-01 7.48568773e-01 -6.51300099e-02 -7.89276712e+01] [-9.65183853e-02 1.52041689e-03 9.95330041e-01 -2.19261324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20824100800002 meters 0.06608821736273697 Centerline is valid? [True, True] Translation: X:148.62, Y:-78.95, Z:-21.93 [[ 7.43510622e-01 6.64892166e-01 7.14868028e-02 1.48618162e+02] [-6.61669853e-01 7.46938193e-01 -6.53937332e-02 -7.89474307e+01] [-9.68760042e-02 1.32027290e-03 9.95295583e-01 -2.19345013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.238241008 meters 0.06556101834326457 Centerline is valid? [True, True] Translation: X:148.65, Y:-78.97, Z:-21.94 [[ 7.40899626e-01 6.67780000e-01 7.16771680e-02 1.48645086e+02] [-6.64552028e-01 7.44358079e-01 -6.55869816e-02 -7.89660456e+01] [-9.71511537e-02 9.60162708e-04 9.95269175e-01 -2.19375970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.268241008 meters 0.06488971088662678 Centerline is valid? [True, True] Translation: X:148.67, Y:-78.98, Z:-21.94 [[ 7.37968216e-01 6.70943362e-01 7.23734552e-02 1.48673232e+02] [-6.67665440e-01 7.41508386e-01 -6.62432911e-02 -7.89841471e+01] [-9.81110203e-02 5.64188551e-04 9.95175316e-01 -2.19379664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.298241008 meters 0.06478860117384103 Centerline is valid? [True, True] Translation: X:148.70, Y:-79.00, Z:-21.94 [[ 7.31957929e-01 6.77435360e-01 7.29309455e-02 1.48703403e+02] [-6.74134975e-01 7.35582256e-01 -6.67890691e-02 -7.89990930e+01] [-9.88919864e-02 -2.78512424e-04 9.95098135e-01 -2.19416162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.328241008 meters 0.06509573528445482 Centerline is valid? [True, True] Translation: X:148.73, Y:-79.02, Z:-21.95 [[ 7.29180028e-01 6.80450695e-01 7.26865745e-02 1.48729790e+02] [-6.77183798e-01 7.32793572e-01 -6.66009335e-02 -7.90172574e+01] [-9.85829061e-02 -6.58100017e-04 9.95128624e-01 -2.19465197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.358241008 meters 0.06537137706064676 Centerline is valid? [True, True] Translation: X:148.76, Y:-79.04, Z:-21.95 [[ 7.26831276e-01 6.82906596e-01 7.31770272e-02 1.48756684e+02] [-6.79605997e-01 7.30505039e-01 -6.70677031e-02 -7.90368782e+01] [-9.92571640e-02 -9.84642275e-04 9.95061328e-01 -2.19499040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.388241008 meters 0.06555991784719796 Centerline is valid? [True, True] Translation: X:148.78, Y:-79.06, Z:-21.95 [[ 7.25364900e-01 6.84403167e-01 7.37432555e-02 1.48782827e+02] [-6.81055287e-01 7.29102826e-01 -6.76222262e-02 -7.90569882e+01] [-1.00047282e-01 -1.17244472e-03 9.94981993e-01 -2.19547145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.418241008 meters 0.06602255709900781 Centerline is valid? [True, True] Translation: X:148.81, Y:-79.08, Z:-21.96 [[ 7.23574928e-01 6.86188777e-01 7.47280779e-02 1.48807142e+02] [-6.82756348e-01 7.27422141e-01 -6.85623635e-02 -7.90765389e+01] [-1.01405583e-01 -1.41106231e-03 9.94844167e-01 -2.19587776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.448241008 meters 0.06612272221466821 Centerline is valid? [True, True] Translation: X:148.83, Y:-79.10, Z:-21.96 [[ 7.23301609e-01 6.86515300e-01 7.43742292e-02 1.48830090e+02] [-6.83113671e-01 7.27113961e-01 -6.82715183e-02 -7.90982694e+01] [-1.00947982e-01 -1.42515377e-03 9.94890684e-01 -2.19622937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.478241008 meters 0.06611764544703631 Centerline is valid? [True, True] Translation: X:148.85, Y:-79.12, Z:-21.97 [[ 7.23014981e-01 6.86806484e-01 7.44727527e-02 1.48853235e+02] [-6.83394310e-01 7.26838883e-01 -6.83919149e-02 -7.91208330e+01] [-1.01101703e-01 -1.44587649e-03 9.94875045e-01 -2.19657638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.508241008 meters 0.06611764544703631 Centerline is valid? [True, True] Translation: X:148.88, Y:-79.14, Z:-21.97 [[ 7.22841000e-01 6.86991494e-01 7.44551916e-02 1.48876757e+02] [-6.83578331e-01 7.26664019e-01 -6.84110266e-02 -7.91426858e+01] [-1.01101702e-01 -1.44566076e-03 9.94875045e-01 -2.19697524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.538241008 meters 0.0660727282633436 Centerline is valid? [True, True] Translation: X:148.90, Y:-79.17, Z:-21.97 [[ 7.22767939e-01 6.87103345e-01 7.41316438e-02 1.48900292e+02] [-6.83716932e-01 7.26558291e-01 -6.81484131e-02 -7.91657981e+01] [-1.00685963e-01 -1.42957206e-03 9.94917229e-01 -2.19742334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.568241008 meters 0.06595795613649084 Centerline is valid? [True, True] Translation: X:148.92, Y:-79.19, Z:-21.98 [[ 7.24061259e-01 6.85799897e-01 7.35785017e-02 1.48920416e+02] [-6.82453415e-01 7.27789142e-01 -6.76779148e-02 -7.91895419e+01] [-9.99631416e-02 -1.21094364e-03 9.94990404e-01 -2.19797420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.598241008 meters 0.0657138697794138 Centerline is valid? [True, True] Translation: X:148.94, Y:-79.21, Z:-21.98 [[ 7.24838036e-01 6.85021154e-01 7.31836087e-02 1.48941948e+02] [-6.81705325e-01 7.28522364e-01 -6.73276693e-02 -7.92137289e+01] [-9.94367733e-02 -1.08800016e-03 9.95043288e-01 -2.19838974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.628241008 meters 0.06516693786242417 Centerline is valid? [True, True] Translation: X:148.96, Y:-79.24, Z:-21.99 [[ 7.27403685e-01 6.82293228e-01 7.32108664e-02 1.48960233e+02] [-6.78957560e-01 7.31078297e-01 -6.73880860e-02 -7.92398065e+01] [-9.95013103e-02 -6.88729222e-04 9.95037193e-01 -2.19874111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.658241008 meters 0.0649757958648088 Centerline is valid? [True, True] Translation: X:148.98, Y:-79.27, Z:-21.99 [[ 7.28771542e-01 6.80825299e-01 7.32731277e-02 1.48982420e+02] [-6.77473833e-01 7.32445692e-01 -6.74723205e-02 -7.92666366e+01] [-9.96054495e-02 -4.68719544e-04 9.95026902e-01 -2.19902125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.688241008 meters 0.06519980749925584 Centerline is valid? [True, True] Translation: X:149.00, Y:-79.29, Z:-22.00 [[ 7.30327564e-01 6.79115837e-01 7.36432473e-02 1.49002165e+02] [-6.75716576e-01 7.34031089e-01 -6.78636121e-02 -7.92909478e+01] [-1.00143687e-01 -1.99296287e-04 9.94972966e-01 -2.19965105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.718241008 meters 0.06496821381438417 Centerline is valid? [True, True] Translation: X:149.02, Y:-79.32, Z:-22.00 [[ 7.31622553e-01 6.77724063e-01 7.36106952e-02 1.49023691e+02] [-6.74319075e-01 7.35316323e-01 -6.78505026e-02 -7.93163393e+01] [-1.00111064e-01 3.86205973e-06 9.94976269e-01 -2.19979970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.748241008 meters 0.06521979610935974 Centerline is valid? [True, True] Translation: X:149.04, Y:-79.35, Z:-22.01 [[ 7.34736980e-01 6.74352717e-01 7.35525897e-02 1.49040780e+02] [-6.70932753e-01 7.38409218e-01 -6.78311612e-02 -7.93457033e+01] [-1.00054038e-01 4.89221006e-04 9.94981884e-01 -2.20050509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.778241008 meters 0.06515104624799661 Centerline is valid? [True, True] Translation: X:149.06, Y:-79.37, Z:-22.01 [[ 7.36169880e-01 6.72820760e-01 7.32538851e-02 1.49062303e+02] [-6.69416641e-01 7.39805174e-01 -6.75993041e-02 -7.93704091e+01] [-9.96758184e-02 7.27201913e-04 9.95019700e-01 -2.20071487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.808241008 meters 0.06526651899751748 Centerline is valid? [True, True] Translation: X:149.08, Y:-79.39, Z:-22.01 [[ 7.37076594e-01 6.71803430e-01 7.34727513e-02 1.49084461e+02] [-6.68370408e-01 7.40728934e-01 -6.78354206e-02 -7.93948247e+01] [-9.99954610e-02 8.92888055e-04 9.94987493e-01 -2.20106535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.838241008 meters 0.06517513780170872 Centerline is valid? [True, True] Translation: X:149.11, Y:-79.42, Z:-22.01 [[ 7.36549876e-01 6.72449045e-01 7.28461514e-02 1.49108115e+02] [-6.69074197e-01 7.40142961e-01 -6.72912730e-02 -7.94166150e+01] [-9.91665185e-02 8.23898590e-04 9.95070511e-01 -2.20149775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.868241008 meters 0.06499998238335994 Centerline is valid? [True, True] Translation: X:149.13, Y:-79.44, Z:-22.02 [[ 7.36253600e-01 6.72783945e-01 7.27488848e-02 1.49130883e+02] [-6.69416401e-01 7.39838576e-01 -6.72351317e-02 -7.94395840e+01] [-9.90571485e-02 8.02811074e-04 9.95081422e-01 -2.20176849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.898241008 meters 0.065041603344483 Centerline is valid? [True, True] Translation: X:149.15, Y:-79.46, Z:-22.02 [[ 7.37145411e-01 6.71816923e-01 7.26544238e-02 1.49152799e+02] [-6.68449727e-01 7.40716614e-01 -6.71852749e-02 -7.94622091e+01] [-9.89525434e-02 9.59487300e-04 9.95091691e-01 -2.20217229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92824100800001 meters 0.0653640580113398 Centerline is valid? [True, True] Translation: X:149.18, Y:-79.49, Z:-22.03 [[ 7.37751842e-01 6.71165777e-01 7.25170219e-02 1.49175827e+02] [-6.67806488e-01 7.41306536e-01 -6.70754357e-02 -7.94852173e+01] [-9.87760792e-02 1.05768851e-03 9.95109123e-01 -2.20265958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95824100800002 meters 0.06545714412090836 Centerline is valid? [True, True] Translation: X:149.20, Y:-79.51, Z:-22.03 [[ 7.38984867e-01 6.69821623e-01 7.23903272e-02 1.49200836e+02] [-6.66464435e-01 7.42520981e-01 -6.69906721e-02 -7.95061091e+01] [-9.86231375e-02 1.25951438e-03 9.95124058e-01 -2.20294348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.988241008 meters 0.06611380093681078 Centerline is valid? [True, True] Translation: X:149.22, Y:-79.53, Z:-22.04 [[ 7.39787369e-01 6.69010738e-01 7.16887850e-02 1.49222790e+02] [-6.65711061e-01 7.43251454e-01 -6.63781585e-02 -7.95293584e+01] [-9.76904944e-02 1.38170610e-03 9.95215885e-01 -2.20378406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.018241008 meters 0.06571837887683478 Centerline is valid? [True, True] Translation: X:149.25, Y:-79.55, Z:-22.04 [[ 7.39668201e-01 6.69134519e-01 7.17631470e-02 1.49248601e+02] [-6.65826245e-01 7.43140014e-01 -6.64705355e-02 -7.95515911e+01] [-9.78077958e-02 1.38435469e-03 9.95204360e-01 -2.20393160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.048241008 meters 0.06623071627516663 Centerline is valid? [True, True] Translation: X:149.27, Y:-79.57, Z:-22.05 [[ 7.39942840e-01 6.68786389e-01 7.21758947e-02 1.49269832e+02] [-6.65433348e-01 7.43453152e-01 -6.69019481e-02 -7.95744755e+01] [-9.84025087e-02 1.47537019e-03 9.95145602e-01 -2.20450574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.078241008 meters 0.06588898617324482 Centerline is valid? [True, True] Translation: X:149.29, Y:-79.60, Z:-22.05 [[ 7.39896177e-01 6.68789236e-01 7.26264749e-02 1.49293773e+02] [-6.65392239e-01 7.43450545e-01 -6.73383633e-02 -7.95969562e+01] [-9.90293649e-02 1.49830484e-03 9.95083383e-01 -2.20463795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.108241008 meters 0.06563729785764398 Centerline is valid? [True, True] Translation: X:149.32, Y:-79.62, Z:-22.05 [[ 7.39597066e-01 6.69136364e-01 7.24755581e-02 1.49318378e+02] [-6.65751873e-01 7.43138180e-01 -6.72316063e-02 -7.96183034e+01] [-9.88464669e-02 1.47356019e-03 9.95101605e-01 -2.20492766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.138241008 meters 0.0654263655322029 Centerline is valid? [True, True] Translation: X:149.35, Y:-79.64, Z:-22.05 [[ 7.39254259e-01 6.69506157e-01 7.25578836e-02 1.49348746e+02] [-6.66113957e-01 7.42805112e-01 -6.73257848e-02 -7.96449491e+01] [-9.89713943e-02 1.43905412e-03 9.95089238e-01 -2.20528791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.168241008 meters 0.06535160054051224 Centerline is valid? [True, True] Translation: X:149.37, Y:-79.66, Z:-22.06 [[ 7.38020802e-01 6.70851189e-01 7.26909805e-02 1.49374004e+02] [-6.67441071e-01 7.41590762e-01 -6.75689111e-02 -7.96645907e+01] [-9.92356440e-02 1.35031606e-03 9.95063045e-01 -2.20586763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.198241008 meters 0.06561893836770623 Centerline is valid? [True, True] Translation: X:149.40, Y:-79.69, Z:-22.06 [[ 7.36813215e-01 6.72176334e-01 7.26998179e-02 1.49397660e+02] [-6.68768187e-01 7.40390126e-01 -6.76134114e-02 -7.96852486e+01] [-9.92743623e-02 1.19912955e-03 9.95059377e-01 -2.20649970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.228241008 meters 0.06524494750902655 Centerline is valid? [True, True] Translation: X:149.42, Y:-79.70, Z:-22.07 [[ 7.34864553e-01 6.74352621e-01 7.22677784e-02 1.49424283e+02] [-6.70992444e-01 7.38408892e-01 -6.72417147e-02 -7.97041068e+01] [-9.87077967e-02 9.22419331e-04 9.95116033e-01 -2.20679085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.258241008 meters 0.06510968762132291 Centerline is valid? [True, True] Translation: X:149.45, Y:-79.72, Z:-22.07 [[ 7.32784455e-01 6.76662448e-01 7.17974520e-02 1.49450412e+02] [-6.73353823e-01 7.36293102e-01 -6.68363465e-02 -7.97235419e+01] [-9.80896146e-02 6.31546950e-04 9.95177386e-01 -2.20729137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.288241008 meters 0.06516421808229136 Centerline is valid? [True, True] Translation: X:149.48, Y:-79.74, Z:-22.08 [[ 7.27635935e-01 6.82229890e-01 7.14725334e-02 1.49479900e+02] [-6.78974481e-01 7.31137722e-01 -6.65678939e-02 -7.97399088e+01] [-9.76708722e-02 -9.08344992e-05 9.95218766e-01 -2.20774864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.318241008 meters 0.06538961999218731 Centerline is valid? [True, True] Translation: X:149.50, Y:-79.76, Z:-22.08 [[ 7.25275138e-01 6.84754310e-01 7.13267845e-02 1.49504939e+02] [-6.81520933e-01 7.28773883e-01 -6.64668767e-02 -7.97580036e+01] [-9.74945780e-02 -4.03923567e-04 9.95235974e-01 -2.20832110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.348241008 meters 0.0654590544020092 Centerline is valid? [True, True] Translation: X:149.53, Y:-79.78, Z:-22.09 [[ 7.23269608e-01 6.86824931e-01 7.17815337e-02 1.49531030e+02] [-6.83557602e-01 7.26822584e-01 -6.69173811e-02 -7.97783185e+01] [-9.81329655e-02 -6.67504966e-04 9.95173088e-01 -2.20855904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.378241008 meters 0.06579238201390715 Centerline is valid? [True, True] Translation: X:149.56, Y:-79.80, Z:-22.09 [[ 7.19300077e-01 6.90962331e-01 7.19614924e-02 1.49558740e+02] [-6.87695680e-01 7.22889754e-01 -6.71197128e-02 -7.97973007e+01] [-9.83974188e-02 -1.20839288e-03 9.95146466e-01 -2.20878391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.408241008 meters 0.0662009975647505 Centerline is valid? [True, True] Translation: X:149.58, Y:-79.82, Z:-22.09 [[ 7.18679660e-01 6.91551773e-01 7.24961443e-02 1.49582863e+02] [-6.88235565e-01 7.22325776e-01 -6.76555916e-02 -7.98175451e+01] [-9.91531781e-02 -1.27172732e-03 9.95071369e-01 -2.20938885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.438241008 meters 0.06601243278543054 Centerline is valid? [True, True] Translation: X:149.60, Y:-79.84, Z:-22.10 [[ 7.19394191e-01 6.90799515e-01 7.25811819e-02 1.49604990e+02] [-6.87468343e-01 7.23045448e-01 -6.77684140e-02 -7.98406101e+01] [-9.92938807e-02 -1.14506142e-03 9.95057493e-01 -2.20987305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.468241008 meters 0.06608236372280138 Centerline is valid? [True, True] Translation: X:149.63, Y:-79.86, Z:-22.10 [[ 7.19750465e-01 6.90476356e-01 7.21226064e-02 1.49627446e+02] [-6.87182777e-01 7.23354168e-01 -6.73689805e-02 -7.98642217e+01] [-9.86868761e-02 -1.07255792e-03 9.95117958e-01 -2.21030616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.498241008 meters 0.06569582269504316 Centerline is valid? [True, True] Translation: X:149.65, Y:-79.89, Z:-22.10 [[ 7.20038488e-01 6.90151706e-01 7.23546759e-02 1.49647974e+02] [-6.86831769e-01 7.23664018e-01 -6.76203432e-02 -7.98905127e+01] [-9.90287706e-02 -1.00624042e-03 9.95084062e-01 -2.21045023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.528241008 meters 0.0655294846380961 Centerline is valid? [True, True] Translation: X:149.67, Y:-79.92, Z:-22.11 [[ 7.20478513e-01 6.89731548e-01 7.19798899e-02 1.49670562e+02] [-6.86440699e-01 7.24064601e-01 -6.73024594e-02 -7.99158218e+01] [-9.85387197e-02 -9.19950052e-04 9.95132792e-01 -2.21078997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.558241008 meters 0.06546232630185662 Centerline is valid? [True, True] Translation: X:149.69, Y:-79.94, Z:-22.11 [[ 7.21216407e-01 6.88928458e-01 7.22805274e-02 1.49691752e+02] [-6.85601787e-01 7.24828922e-01 -6.76256109e-02 -7.99399607e+01] [-9.89802247e-02 -7.82958671e-04 9.95089093e-01 -2.21122146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.588241008 meters 0.06543564929438049 Centerline is valid? [True, True] Translation: X:149.71, Y:-79.96, Z:-22.12 [[ 7.22042002e-01 6.88072515e-01 7.21911434e-02 1.49712644e+02] [-6.84746427e-01 7.25641650e-01 -6.75760766e-02 -7.99631522e+01] [-9.88821415e-02 -6.39861912e-04 9.95098946e-01 -2.21175398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.618241008 meters 0.06529210778455509 Centerline is valid? [True, True] Translation: X:149.73, Y:-79.99, Z:-22.12 [[ 7.23441680e-01 6.86745705e-01 7.07988183e-02 1.49733811e+02] [-6.83537529e-01 7.26897623e-01 -6.63045363e-02 -7.99881250e+01] [-9.69978483e-02 -4.26184189e-04 9.95284500e-01 -2.21228290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.648241008 meters 0.06540526690484787 Centerline is valid? [True, True] Translation: X:149.76, Y:-80.01, Z:-22.13 [[ 7.23695965e-01 6.86545921e-01 7.01345017e-02 1.49756936e+02] [-6.83393725e-01 7.27086350e-01 -6.57149669e-02 -8.00102758e+01] [-9.61101813e-02 -3.71821921e-04 9.95370632e-01 -2.21281734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.67824100800001 meters 0.06551401638568617 Centerline is valid? [True, True] Translation: X:149.78, Y:-80.03, Z:-22.13 [[ 7.23546998e-01 6.86728869e-01 6.98799075e-02 1.49780561e+02] [-6.83597079e-01 7.26913560e-01 -6.55111394e-02 -8.00315178e+01] [-9.57850430e-02 -3.69312388e-04 9.95401974e-01 -2.21339622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.70824100800002 meters 0.06583560309934436 Centerline is valid? [True, True] Translation: X:149.81, Y:-80.05, Z:-22.14 [[ 7.22844618e-01 6.87460178e-01 6.99582859e-02 1.49805102e+02] [-6.84322269e-01 7.26221938e-01 -6.56104405e-02 -8.00513397e+01] [-9.59098071e-02 -4.47859184e-04 9.95389928e-01 -2.21413048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.738241008 meters 0.06555714462705738 Centerline is valid? [True, True] Translation: X:149.83, Y:-80.08, Z:-22.14 [[ 7.22272683e-01 6.87995508e-01 7.05999509e-02 1.49829968e+02] [-6.84799378e-01 7.25714771e-01 -6.62410983e-02 -8.00755666e+01] [-9.68090052e-02 -5.02666700e-04 9.95302850e-01 -2.21430824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.768241008 meters 0.06546670385274968 Centerline is valid? [True, True] Translation: X:149.85, Y:-80.10, Z:-22.15 [[ 7.22337605e-01 6.87901957e-01 7.08468885e-02 1.49852247e+02] [-6.84678466e-01 7.25803477e-01 -6.65184971e-02 -8.00978933e+01] [-9.71791224e-02 -4.58527047e-04 9.95266802e-01 -2.21458940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.798241008 meters 0.06535571186510364 Centerline is valid? [True, True] Translation: X:149.88, Y:-80.12, Z:-22.15 [[ 7.22253917e-01 6.87926739e-01 7.14568523e-02 1.49875023e+02] [-6.84644558e-01 7.25779997e-01 -6.71209690e-02 -8.01200356e+01] [-9.80362634e-02 -4.44162352e-04 9.95182744e-01 -2.21495449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.828241008 meters 0.06536986331758707 Centerline is valid? [True, True] Translation: X:149.90, Y:-80.14, Z:-22.15 [[ 7.22137970e-01 6.87959649e-01 7.23067960e-02 1.49897692e+02] [-6.84595844e-01 7.25748810e-01 -6.79499489e-02 -8.01407683e+01] [-9.92233942e-02 -4.31693876e-04 9.95065089e-01 -2.21534544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.858241008 meters 0.06546997524207351 Centerline is valid? [True, True] Translation: X:149.92, Y:-80.16, Z:-22.16 [[ 7.22245561e-01 6.87896118e-01 7.18350931e-02 1.49920263e+02] [-6.84573217e-01 7.25809045e-01 -6.75332540e-02 -8.01628776e+01] [-9.85944236e-02 -4.00787903e-04 9.95127619e-01 -2.21584865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.888241008 meters 0.06552528160716288 Centerline is valid? [True, True] Translation: X:149.94, Y:-80.19, Z:-22.16 [[ 7.22132702e-01 6.88044585e-01 7.15472607e-02 1.49944711e+02] [-6.84746632e-01 7.25668304e-01 -6.72871603e-02 -8.01873132e+01] [-9.82161456e-02 -4.01486920e-04 9.95165025e-01 -2.21631494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.918241008 meters 0.06570266331428372 Centerline is valid? [True, True] Translation: X:149.97, Y:-80.21, Z:-22.17 [[ 7.21907057e-01 6.88358479e-01 7.08011659e-02 1.49967808e+02] [-6.85125919e-01 7.25370554e-01 -6.66335828e-02 -8.02096400e+01] [-9.72248727e-02 -4.04460226e-04 9.95262358e-01 -2.21681749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.948241008 meters 0.06594094433288168 Centerline is valid? [True, True] Translation: X:149.99, Y:-80.23, Z:-22.17 [[ 7.21842044e-01 6.88530208e-01 6.97869322e-02 1.49989410e+02] [-6.85387492e-01 7.25207553e-01 -6.57114230e-02 -8.02315166e+01] [-9.58543101e-02 -3.97822475e-04 9.95395295e-01 -2.21743936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.978241008 meters 0.06611037606622895 Centerline is valid? [True, True] Translation: X:150.01, Y:-80.26, Z:-22.18 [[ 7.21492160e-01 6.88975268e-01 6.90082777e-02 1.50013971e+02] [-6.85902187e-01 7.24784721e-01 -6.50022926e-02 -8.02555657e+01] [-9.48011172e-02 -4.34284092e-04 9.95496137e-01 -2.21799337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.008241008 meters 0.06570244403067949 Centerline is valid? [True, True] Translation: X:150.04, Y:-80.28, Z:-22.18 [[ 7.21597245e-01 6.88937865e-01 6.82791002e-02 1.50037947e+02] [-6.85925441e-01 7.24820297e-01 -6.43570192e-02 -8.02799105e+01] [-9.38280651e-02 -3.94524217e-04 9.95588338e-01 -2.21815645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.038241008 meters 0.06633104645164346 Centerline is valid? [True, True] Translation: X:150.06, Y:-80.30, Z:-22.19 [[ 7.21592646e-01 6.88960317e-01 6.81009202e-02 1.50061443e+02] [-6.85960178e-01 7.24798969e-01 -6.42268498e-02 -8.03005910e+01] [-9.36092275e-02 -3.68896885e-04 9.95608948e-01 -2.21918239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.068241008 meters 0.06626761250930656 Centerline is valid? [True, True] Translation: X:150.08, Y:-80.32, Z:-22.19 [[ 7.21831129e-01 6.88816708e-01 6.70176445e-02 1.50084686e+02] [-6.85907527e-01 7.24935474e-01 -6.32409909e-02 -8.03226566e+01] [-9.21449190e-02 -3.18590927e-04 9.95745556e-01 -2.21944947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.098241008 meters 0.06633396844131727 Centerline is valid? [True, True] Translation: X:150.11, Y:-80.35, Z:-22.20 [[ 7.21917559e-01 6.88706882e-01 6.72150913e-02 1.50108006e+02] [-6.85777529e-01 7.25039826e-01 -6.34541709e-02 -8.03458651e+01] [-9.24349423e-02 -2.85919029e-04 9.95718685e-01 -2.21978984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.128241008 meters 0.0661066521012243 Centerline is valid? [True, True] Translation: X:150.13, Y:-80.37, Z:-22.20 [[ 7.21757749e-01 6.88814581e-01 6.78249589e-02 1.50130468e+02] [-6.85829070e-01 7.24937511e-01 -6.40631798e-02 -8.03686640e+01] [-9.32965093e-02 -2.78232111e-04 9.95638330e-01 -2.22005540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.158241008 meters 0.06599945371141587 Centerline is valid? [True, True] Translation: X:150.15, Y:-80.39, Z:-22.20 [[ 7.21734630e-01 6.88793317e-01 6.82853610e-02 1.50153927e+02] [-6.85763981e-01 7.24957724e-01 -6.45295409e-02 -8.03917758e+01] [-9.39515164e-02 -2.54436689e-04 9.95576741e-01 -2.22039074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.188241008 meters 0.06584007823975735 Centerline is valid? [True, True] Translation: X:150.18, Y:-80.41, Z:-22.21 [[ 7.22212255e-01 6.88131062e-01 6.98934910e-02 1.50176026e+02] [-6.84950954e-01 7.25586397e-01 -6.60800371e-02 -8.04140192e+01] [-9.61854924e-02 -1.49800806e-04 9.95363415e-01 -2.22069623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.218241008 meters 0.06570347187020499 Centerline is valid? [True, True] Translation: X:150.20, Y:-80.44, Z:-22.21 [[ 7.22315258e-01 6.88027208e-01 6.98514842e-02 1.50198747e+02] [-6.84847797e-01 7.25684882e-01 -6.60677472e-02 -8.04370026e+01] [-9.61465737e-02 -1.15893234e-04 9.95367180e-01 -2.22100961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.248241008 meters 0.06575103819575076 Centerline is valid? [True, True] Translation: X:150.22, Y:-80.46, Z:-22.21 [[ 7.22430482e-01 6.87870524e-01 7.02021461e-02 1.50221455e+02] [-6.84654991e-01 7.25833409e-01 -6.64334754e-02 -8.04596174e+01] [-9.66526925e-02 -7.06821127e-05 9.95318166e-01 -2.22138718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.278241008 meters 0.06574630122788243 Centerline is valid? [True, True] Translation: X:150.24, Y:-80.48, Z:-22.22 [[ 7.22636851e-01 6.87643340e-01 7.03037560e-02 1.50244725e+02] [-6.84414751e-01 7.26048646e-01 -6.65568362e-02 -8.04816688e+01] [-9.68113120e-02 -2.05050757e-05 9.95302753e-01 -2.22184098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.308241008 meters 0.06586490164950606 Centerline is valid? [True, True] Translation: X:150.27, Y:-80.50, Z:-22.22 [[ 7.22520452e-01 6.87701989e-01 7.09236952e-02 1.50267660e+02] [-6.84413003e-01 7.25993095e-01 -6.71778719e-02 -8.05025563e+01] [-9.76884692e-02 -3.71286729e-06 9.95217043e-01 -2.22239317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.338241008 meters 0.0659623572316301 Centerline is valid? [True, True] Translation: X:150.29, Y:-80.52, Z:-22.23 [[ 7.22609501e-01 6.87705880e-01 6.99723633e-02 1.50289842e+02] [-6.84502001e-01 7.25989410e-01 -6.63052580e-02 -8.05247893e+01] [-9.63977105e-02 1.65866950e-05 9.95342896e-01 -2.22284042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.368241008 meters 0.06597701103954001 Centerline is valid? [True, True] Translation: X:150.31, Y:-80.55, Z:-22.23 [[ 7.22228553e-01 6.88049728e-01 7.05229653e-02 1.50312170e+02] [-6.84794000e-01 7.25663539e-01 -6.68551179e-02 -8.05469585e+01] [-9.71755903e-02 -9.02840690e-06 9.95267253e-01 -2.22322233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.398241008 meters 0.0659967099635891 Centerline is valid? [True, True] Translation: X:150.33, Y:-80.57, Z:-22.24 [[ 7.21446699e-01 6.88908975e-01 7.01361906e-02 1.50334930e+02] [-6.85690255e-01 7.24847856e-01 -6.65166149e-02 -8.05677179e+01] [-9.66619604e-02 -1.03510185e-04 9.95317263e-01 -2.22365004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42824100800001 meters 0.0659967099635891 Centerline is valid? [True, True] Translation: X:150.36, Y:-80.59, Z:-22.24 [[ 7.21285584e-01 6.89078871e-01 7.01242855e-02 1.50358085e+02] [-6.85859733e-01 7.24686344e-01 -6.65291629e-02 -8.05899684e+01] [-9.66619526e-02 -1.08897568e-04 9.95317264e-01 -2.22404849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45824100800002 meters 0.066083379115691 Centerline is valid? [True, True] Translation: X:150.38, Y:-80.61, Z:-22.24 [[ 7.20660535e-01 6.89763493e-01 6.98191790e-02 1.50381193e+02] [-6.86572466e-01 7.24034732e-01 -6.62718274e-02 -8.06110895e+01] [-9.62633977e-02 -1.76435300e-04 9.95355880e-01 -2.22447003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48824100800002 meters 0.06613243791446466 Centerline is valid? [True, True] Translation: X:150.40, Y:-80.63, Z:-22.25 [[ 7.19979408e-01 6.90450012e-01 7.00602147e-02 1.50404304e+02] [-6.87237444e-01 7.23380066e-01 -6.65280143e-02 -8.06329903e+01] [-9.66144310e-02 -2.49202553e-04 9.95321852e-01 -2.22480926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.518241008 meters 0.06603464682500905 Centerline is valid? [True, True] Translation: X:150.43, Y:-80.65, Z:-22.25 [[ 7.20326081e-01 6.90031299e-01 7.06197036e-02 1.50425947e+02] [-6.86762064e-01 7.23779508e-01 -6.70901679e-02 -8.06549377e+01] [-9.74074101e-02 -1.72135698e-04 9.95244576e-01 -2.22510949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.548241008 meters 0.06537317020860521 Centerline is valid? [True, True] Translation: X:150.45, Y:-80.68, Z:-22.25 [[ 7.22100558e-01 6.88042483e-01 7.18910683e-02 1.50446875e+02] [-6.84643111e-01 7.25670401e-01 -6.83101760e-02 -8.06816487e+01] [-9.91695234e-02 1.07091526e-04 9.95070547e-01 -2.22493940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.578241008 meters 0.0652605006042427 Centerline is valid? [True, True] Translation: X:150.47, Y:-80.71, Z:-22.25 [[ 7.22999755e-01 6.87014506e-01 7.26802754e-02 1.50468371e+02] [-6.83531258e-01 7.26643649e-01 -6.90943325e-02 -8.07057144e+01] [-1.00281469e-01 2.75945407e-04 9.94959070e-01 -2.22521930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.608241008 meters 0.06518818254017446 Centerline is valid? [True, True] Translation: X:150.49, Y:-80.73, Z:-22.25 [[ 7.23688841e-01 6.86262025e-01 7.29307504e-02 1.50491937e+02] [-6.82746937e-01 7.27354291e-01 -6.93711461e-02 -8.07294660e+01] [-1.00653277e-01 4.09877905e-04 9.94921479e-01 -2.22537008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.638241008 meters 0.06551648051981561 Centerline is valid? [True, True] Translation: X:150.51, Y:-80.75, Z:-22.26 [[ 7.24581824e-01 6.85333279e-01 7.27975053e-02 1.50513406e+02] [-6.81824115e-01 7.28229352e-01 -6.92667850e-02 -8.07520748e+01] [-1.00484113e-01 5.54358802e-04 9.94938509e-01 -2.22603721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.668241008 meters 0.06582144879699629 Centerline is valid? [True, True] Translation: X:150.54, Y:-80.77, Z:-22.27 [[ 7.24948817e-01 6.85023946e-01 7.20514102e-02 1.50535941e+02] [-6.81581718e-01 7.28520292e-01 -6.85896997e-02 -8.07739501e+01] [-9.94765011e-02 6.15097725e-04 9.95039722e-01 -2.22673945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.698241008 meters 0.06568913944098453 Centerline is valid? [True, True] Translation: X:150.56, Y:-80.80, Z:-22.27 [[ 7.24981884e-01 6.84982853e-01 7.21093629e-02 1.50559993e+02] [-6.81531990e-01 7.28558906e-01 -6.86736324e-02 -8.07957925e+01] [-9.95761792e-02 6.42301748e-04 9.95029734e-01 -2.22697544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.728241008 meters 0.0655345317782305 Centerline is valid? [True, True] Translation: X:150.58, Y:-80.82, Z:-22.27 [[ 7.24819837e-01 6.85198075e-01 7.16924143e-02 1.50583857e+02] [-6.81784841e-01 7.28356504e-01 -6.83098389e-02 -8.08177921e+01] [-9.90234063e-02 6.33525008e-04 9.95084903e-01 -2.22720756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.758241008 meters 0.06577784138101486 Centerline is valid? [True, True] Translation: X:150.61, Y:-80.84, Z:-22.28 [[ 7.24078149e-01 6.86153350e-01 7.00315216e-02 1.50607598e+02] [-6.82897999e-01 7.27456744e-01 -6.67608378e-02 -8.08374364e+01] [-9.67530752e-02 5.15677965e-04 9.95308282e-01 -2.22782509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.788241008 meters 0.0656077819647684 Centerline is valid? [True, True] Translation: X:150.63, Y:-80.86, Z:-22.28 [[ 7.23871924e-01 6.86357518e-01 7.01626290e-02 1.50632420e+02] [-6.83088090e-01 7.27264118e-01 -6.69146066e-02 -8.08588432e+01] [-9.69541058e-02 5.10348762e-04 9.95288722e-01 -2.22802242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.818241008 meters 0.06571763220845218 Centerline is valid? [True, True] Translation: X:150.66, Y:-80.88, Z:-22.29 [[ 7.23803544e-01 6.86510304e-01 6.93688155e-02 1.50656713e+02] [-6.83312092e-01 7.27119897e-01 -6.61909394e-02 -8.08814648e+01] [-9.58802079e-02 5.08686097e-04 9.95392750e-01 -2.22859143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.848241008 meters 0.0660414370073754 Centerline is valid? [True, True] Translation: X:150.68, Y:-80.90, Z:-22.29 [[ 7.23972658e-01 6.86398425e-01 6.87080280e-02 1.50679789e+02] [-6.83256865e-01 7.27225484e-01 -6.55984203e-02 -8.09045541e+01] [-9.49928813e-02 5.46230917e-04 9.95477802e-01 -2.22919015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.878241008 meters 0.06627635209326425 Centerline is valid? [True, True] Translation: X:150.70, Y:-80.93, Z:-22.30 [[ 7.24284874e-01 6.86095179e-01 6.84457963e-02 1.50701931e+02] [-6.82971804e-01 7.27511528e-01 -6.53948822e-02 -8.09267556e+01] [-9.46622192e-02 6.17975078e-04 9.95509258e-01 -2.22973680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.908241008 meters 0.06631688541993863 Centerline is valid? [True, True] Translation: X:150.73, Y:-80.95, Z:-22.30 [[ 7.24580541e-01 6.85805055e-01 6.82236502e-02 1.50725614e+02] [-6.82699245e-01 7.27784985e-01 -6.51978251e-02 -8.09500384e+01] [-9.43651463e-02 6.64840954e-04 9.95537431e-01 -2.23012814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.938241008 meters 0.0663913565536652 Centerline is valid? [True, True] Translation: X:150.75, Y:-80.97, Z:-22.31 [[ 7.24791209e-01 6.85600127e-01 6.80453383e-02 1.50749865e+02] [-6.82506325e-01 7.27977990e-01 -6.50627673e-02 -8.09749819e+01] [-9.41425501e-02 7.15548096e-04 9.95558471e-01 -2.23066141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.968241008 meters 0.06708586065948124 Centerline is valid? [True, True] Translation: X:150.77, Y:-81.00, Z:-22.31 [[ 7.25795152e-01 6.84659749e-01 6.68013869e-02 1.50770253e+02] [-6.81669748e-01 7.28862327e-01 -6.39223163e-02 -8.09991816e+01] [-9.24540513e-02 8.58022732e-04 9.95716582e-01 -2.23140753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.998241008 meters 0.06667457576836466 Centerline is valid? [True, True] Translation: X:150.79, Y:-81.02, Z:-22.32 [[ 7.25709804e-01 6.84812310e-01 6.61617738e-02 1.50794324e+02] [-6.81877338e-01 7.28718996e-01 -6.33397289e-02 -8.10213761e+01] [-9.15891674e-02 8.52048096e-04 9.95796515e-01 -2.23150634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.028241008 meters 0.06710243152561744 Centerline is valid? [True, True] Translation: X:150.82, Y:-81.04, Z:-22.32 [[ 7.25601108e-01 6.84884174e-01 6.66085566e-02 1.50816788e+02] [-6.81906705e-01 7.28651431e-01 -6.37991953e-02 -8.10443507e+01] [-9.22294793e-02 8.71945395e-04 9.95737397e-01 -2.23210694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.058241008 meters 0.06661512831110387 Centerline is valid? [True, True] Translation: X:150.84, Y:-81.07, Z:-22.32 [[ 7.25440378e-01 6.85035744e-01 6.68003531e-02 1.50841229e+02] [-6.82038333e-01 7.28508924e-01 -6.40192179e-02 -8.10669036e+01] [-9.25201059e-02 8.81724181e-04 9.95710426e-01 -2.23223325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.088241008 meters 0.06647732203768889 Centerline is valid? [True, True] Translation: X:150.87, Y:-81.09, Z:-22.32 [[ 7.24737952e-01 6.85758633e-01 6.70074522e-02 1.50865719e+02] [-6.82742682e-01 7.27828574e-01 -6.42494921e-02 -8.10895849e+01] [-9.28295822e-02 8.15197752e-04 9.95681678e-01 -2.23241287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.118241008 meters 0.06623990815591854 Centerline is valid? [True, True] Translation: X:150.89, Y:-81.11, Z:-22.33 [[ 7.24060636e-01 6.86420700e-01 6.75486430e-02 1.50889412e+02] [-6.83354742e-01 7.27204260e-01 -6.48094129e-02 -8.11115348e+01] [-9.36081835e-02 7.66259143e-04 9.95608819e-01 -2.23273230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.148241008 meters 0.06635203183681483 Centerline is valid? [True, True] Translation: X:150.91, Y:-81.13, Z:-22.33 [[ 7.23793317e-01 6.86650706e-01 6.80737966e-02 1.50912120e+02] [-6.83534717e-01 7.26987084e-01 -6.53457690e-02 -8.11339453e+01] [-9.43584893e-02 7.66027558e-04 9.95537990e-01 -2.23327320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17824100800001 meters 0.06622346344087167 Centerline is valid? [True, True] Translation: X:150.93, Y:-81.16, Z:-22.34 [[ 7.23416821e-01 6.86985479e-01 6.86953772e-02 1.50934771e+02] [-6.83810238e-01 7.26670752e-01 -6.59786039e-02 -8.11553360e+01] [-9.52452642e-02 7.55429639e-04 9.95453549e-01 -2.23363678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20824100800002 meters 0.06585397244576988 Centerline is valid? [True, True] Translation: X:150.96, Y:-81.18, Z:-22.34 [[ 7.23726301e-01 6.86512210e-01 7.01514561e-02 1.50959046e+02] [-6.83195606e-01 7.27117770e-01 -6.74055816e-02 -8.11790864e+01] [-9.72831251e-02 8.56025639e-04 9.95256379e-01 -2.23368117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23824100800002 meters 0.06583185971640017 Centerline is valid? [True, True] Translation: X:150.98, Y:-81.20, Z:-22.34 [[ 7.24032324e-01 6.86090502e-01 7.11127066e-02 1.50980461e+02] [-6.82675941e-01 7.27515573e-01 -6.83714212e-02 -8.12015762e+01] [-9.86445842e-02 9.56185067e-04 9.95122270e-01 -2.23403930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.268241008 meters 0.06564981780087653 Centerline is valid? [True, True] Translation: X:151.00, Y:-81.23, Z:-22.34 [[ 7.24578473e-01 6.85508049e-01 7.11670658e-02 1.51003331e+02] [-6.82082511e-01 7.28064280e-01 -6.84532889e-02 -8.12251037e+01] [-9.87394790e-02 1.05796870e-03 9.95112755e-01 -2.23422781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.298241008 meters 0.06602663130352679 Centerline is valid? [True, True] Translation: X:151.02, Y:-81.25, Z:-22.35 [[ 7.25655172e-01 6.84328091e-01 7.15516274e-02 1.51022812e+02] [-6.80855933e-01 7.29173159e-01 -6.88600183e-02 -8.12504722e+01] [-9.92963711e-02 1.25227835e-03 9.95057115e-01 -2.23461133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.328241008 meters 0.06611375817286161 Centerline is valid? [True, True] Translation: X:151.05, Y:-81.27, Z:-22.35 [[ 7.25135892e-01 6.84924962e-01 7.11036874e-02 1.51045965e+02] [-6.81495854e-01 7.28612645e-01 -6.84617682e-02 -8.12732163e+01] [-9.86982197e-02 1.18721717e-03 9.95116703e-01 -2.23511489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.358241008 meters 0.06632905079275694 Centerline is valid? [True, True] Translation: X:151.07, Y:-81.30, Z:-22.36 [[ 7.25237128e-01 6.84842879e-01 7.08614087e-02 1.51069053e+02] [-6.81433415e-01 7.28689745e-01 -6.82624059e-02 -8.12961575e+01] [-9.83850045e-02 1.21909948e-03 9.95147680e-01 -2.23560771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.388241008 meters 0.06619189731940377 Centerline is valid? [True, True] Translation: X:151.09, Y:-81.32, Z:-22.36 [[ 7.24971811e-01 6.85205944e-01 7.00620243e-02 1.51092493e+02] [-6.81871627e-01 7.28348419e-01 -6.75252920e-02 -8.13184266e+01] [-9.72982962e-02 1.18062672e-03 9.95254564e-01 -2.23592747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.418241008 meters 0.06636082000384692 Centerline is valid? [True, True] Translation: X:151.11, Y:-81.34, Z:-22.36 [[ 7.24258076e-01 6.86032758e-01 6.93490833e-02 1.51114369e+02] [-6.82766627e-01 7.27569847e-01 -6.68718980e-02 -8.13407422e+01] [-9.63326146e-02 1.08327248e-03 9.95348609e-01 -2.23643786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.448241008 meters 0.06627288059751746 Centerline is valid? [True, True] Translation: X:151.14, Y:-81.36, Z:-22.37 [[ 7.23864923e-01 6.86517665e-01 6.86517994e-02 1.51137569e+02] [-6.83316335e-01 7.27112395e-01 -6.62295348e-02 -8.13623501e+01] [-9.53853198e-02 1.03034116e-03 9.95439892e-01 -2.23699921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.478241008 meters 0.06635709347499648 Centerline is valid? [True, True] Translation: X:151.16, Y:-81.38, Z:-22.38 [[ 7.23497758e-01 6.86931334e-01 6.83837530e-02 1.51161348e+02] [-6.83754106e-01 7.26721650e-01 -6.59997371e-02 -8.13842599e+01] [-9.50332413e-02 9.92989823e-04 9.95473604e-01 -2.23759915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.508241008 meters 0.06639877707298998 Centerline is valid? [True, True] Translation: X:151.19, Y:-81.41, Z:-22.38 [[ 7.22552903e-01 6.87977012e-01 6.78596599e-02 1.51185882e+02] [-6.84849958e-01 7.25731955e-01 -6.55260620e-02 -8.14052708e+01] [-9.43283480e-02 8.72361083e-04 9.95540758e-01 -2.23824378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.538241008 meters 0.06633385443411345 Centerline is valid? [True, True] Translation: X:151.21, Y:-81.43, Z:-22.39 [[ 7.21920884e-01 6.88669992e-01 6.75564868e-02 1.51209609e+02] [-6.85570998e-01 7.25074479e-01 -6.52641268e-02 -8.14281698e+01] [-9.39289302e-02 8.00768041e-04 9.95578583e-01 -2.23871534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.568241008 meters 0.06638014451465009 Centerline is valid? [True, True] Translation: X:151.23, Y:-81.45, Z:-22.39 [[ 7.21169046e-01 6.89476973e-01 6.73551088e-02 1.51233097e+02] [-6.86396501e-01 7.24307244e-01 -6.51065202e-02 -8.14509000e+01] [-9.36752398e-02 7.20496035e-04 9.95602546e-01 -2.23914876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.598241008 meters 0.06627141226281945 Centerline is valid? [True, True] Translation: X:151.25, Y:-81.47, Z:-22.40 [[ 7.20507154e-01 6.90133554e-01 6.77135012e-02 1.51254850e+02] [-6.87019805e-01 7.23681724e-01 -6.54870194e-02 -8.14722659e+01] [-9.41978127e-02 6.63349628e-04 9.95553279e-01 -2.23956443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.628241008 meters 0.0658083306170339 Centerline is valid? [True, True] Translation: X:151.28, Y:-81.49, Z:-22.40 [[ 7.18920419e-01 6.91712576e-01 6.84627116e-02 1.51278878e+02] [-6.88534050e-01 7.22172750e-01 -6.62373083e-02 -8.14938004e+01] [-9.52590839e-02 4.80445296e-04 9.95452398e-01 -2.23969086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.658241008 meters 0.06564755199765757 Centerline is valid? [True, True] Translation: X:151.30, Y:-81.51, Z:-22.40 [[ 7.17926840e-01 6.92720937e-01 6.86932046e-02 1.51301440e+02] [-6.89522412e-01 7.21205634e-01 -6.64926836e-02 -8.15148510e+01] [-9.56028002e-02 3.71378072e-04 9.95419493e-01 -2.24000901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.688241008 meters 0.06522871911584908 Centerline is valid? [True, True] Translation: X:151.33, Y:-81.54, Z:-22.40 [[ 7.16797671e-01 6.93833845e-01 6.92509526e-02 1.51327211e+02] [-6.90587310e-01 7.20135086e-01 -6.70419643e-02 -8.15384624e+01] [-9.63860246e-02 2.31694871e-04 9.95344001e-01 -2.24014701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.718241008 meters 0.06529279571771765 Centerline is valid? [True, True] Translation: X:151.35, Y:-81.56, Z:-22.41 [[ 7.16710404e-01 6.93872246e-01 6.97674965e-02 1.51349536e+02] [-6.90572579e-01 7.20098075e-01 -6.75890226e-02 -8.15610508e+01] [-9.71375869e-02 2.62235748e-04 9.95270928e-01 -2.24058800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.748241008 meters 0.06547374152079617 Centerline is valid? [True, True] Translation: X:151.37, Y:-81.58, Z:-22.41 [[ 7.16594050e-01 6.94073830e-01 6.89527724e-02 1.51371881e+02] [-6.90848708e-01 7.19903780e-01 -6.68327079e-02 -8.15831995e+01] [-9.60261951e-02 2.55987157e-04 9.95378774e-01 -2.24102870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.778241008 meters 0.06570080672779835 Centerline is valid? [True, True] Translation: X:151.40, Y:-81.61, Z:-22.42 [[ 7.16498022e-01 6.94233246e-01 6.83431416e-02 1.51395034e+02] [-6.91062849e-01 7.19750051e-01 -6.62721860e-02 -8.16052004e+01] [-9.51983344e-02 2.54484097e-04 9.95458293e-01 -2.24156958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.808241008 meters 0.06613451893499112 Centerline is valid? [True, True] Translation: X:151.42, Y:-81.63, Z:-22.42 [[ 7.16653682e-01 6.94125279e-01 6.78055824e-02 1.51416361e+02] [-6.91001489e-01 7.19854162e-01 -6.57793832e-02 -8.16273855e+01] [-9.44692634e-02 2.87278782e-04 9.95527737e-01 -2.24246377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.838241008 meters 0.06585502055562409 Centerline is valid? [True, True] Translation: X:151.44, Y:-81.65, Z:-22.43 [[ 7.16715919e-01 6.94063224e-01 6.77829831e-02 1.51439621e+02] [-6.90938473e-01 7.19913982e-01 -6.57866575e-02 -8.16509077e+01] [-9.44580168e-02 3.16473860e-04 9.95528796e-01 -2.24258608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.868241008 meters 0.06549788707795295 Centerline is valid? [True, True] Translation: X:151.46, Y:-81.67, Z:-22.43 [[ 7.16842478e-01 6.93887515e-01 6.82420488e-02 1.51463276e+02] [-6.90716288e-01 7.20083316e-01 -6.62648261e-02 -8.16743592e+01] [-9.51202964e-02 3.65547534e-04 9.95465718e-01 -2.24263721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.898241008 meters 0.06597369702703519 Centerline is valid? [True, True] Translation: X:151.48, Y:-81.70, Z:-22.44 [[ 7.16664908e-01 6.94051842e-01 6.84357296e-02 1.51484714e+02] [-6.90859874e-01 7.19924929e-01 -6.64885844e-02 -8.16966409e+01] [-9.54151123e-02 3.70535771e-04 9.95437501e-01 -2.24361398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92824100800001 meters 0.06591276444722527 Centerline is valid? [True, True] Translation: X:151.51, Y:-81.72, Z:-22.44 [[ 7.15742352e-01 6.94997179e-01 6.84967631e-02 1.51507593e+02] [-6.91800552e-01 7.19012412e-01 -6.65818936e-02 -8.17179315e+01] [-9.55242510e-02 2.69382620e-04 9.95427067e-01 -2.24407746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95824100800002 meters 0.06605183021408101 Centerline is valid? [True, True] Translation: X:151.53, Y:-81.74, Z:-22.45 [[ 7.15111516e-01 6.95709675e-01 6.78495951e-02 1.51531458e+02] [-6.92574062e-01 7.18323055e-01 -6.59784572e-02 -8.17392198e+01] [-9.46397794e-02 1.91084850e-04 9.95511565e-01 -2.24456083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98824100800002 meters 0.06534209627062598 Centerline is valid? [True, True] Translation: X:151.56, Y:-81.76, Z:-22.44 [[ 7.14210531e-01 6.96647072e-01 6.77213073e-02 1.51556845e+02] [-6.93525239e-01 7.17414002e-01 -6.58778601e-02 -8.17606080e+01] [-9.44778325e-02 8.42256530e-05 9.95526962e-01 -2.24423949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.018241008 meters 0.06541968516538518 Centerline is valid? [True, True] Translation: X:151.58, Y:-81.78, Z:-22.45 [[ 7.13021155e-01 6.97835489e-01 6.80181084e-02 1.51580501e+02] [-6.94688130e-01 7.16258074e-01 -6.62025148e-02 -8.17804718e+01] [-9.49169836e-02 -4.75789768e-05 9.95485190e-01 -2.24486118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.048241008 meters 0.06604469009520822 Centerline is valid? [True, True] Translation: X:151.60, Y:-81.80, Z:-22.46 [[ 7.12288666e-01 6.98525401e-01 6.86084606e-02 1.51603499e+02] [-6.95323063e-01 7.15585250e-01 -6.68100846e-02 -8.17991764e+01] [-9.57637436e-02 -1.16978952e-04 9.95404085e-01 -2.24589923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.078241008 meters 0.06528410485803081 Centerline is valid? [True, True] Translation: X:151.63, Y:-81.82, Z:-22.46 [[ 7.13190147e-01 6.97535858e-01 6.93075822e-02 1.51625475e+02] [-6.94260448e-01 7.16549876e-01 -6.75181808e-02 -8.18233911e+01] [-9.67586917e-02 3.57881412e-05 9.95307869e-01 -2.24552973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.108241008 meters 0.06512501416241674 Centerline is valid? [True, True] Translation: X:151.65, Y:-81.85, Z:-22.46 [[ 7.13854169e-01 6.96784434e-01 7.00262683e-02 1.51647843e+02] [-6.93434111e-01 7.17280578e-01 -6.82473927e-02 -8.18467379e+01] [-9.77822030e-02 1.60082683e-04 9.95207825e-01 -2.24585164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.138241008 meters 0.06507908799571292 Centerline is valid? [True, True] Translation: X:151.67, Y:-81.87, Z:-22.46 [[ 7.15023255e-01 6.95624195e-01 6.96327765e-02 1.51670917e+02] [-6.92302699e-01 7.18405779e-01 -6.78977981e-02 -8.18698997e+01] [-9.72559402e-02 3.41545607e-04 9.95259346e-01 -2.24625311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.168241008 meters 0.06497972838795261 Centerline is valid? [True, True] Translation: X:151.69, Y:-81.89, Z:-22.47 [[ 7.14680746e-01 6.96049770e-01 6.88923021e-02 1.51694804e+02] [-6.92797494e-01 7.17993471e-01 -6.72086828e-02 -8.18918801e+01] [-9.62448114e-02 3.04337251e-04 9.95357646e-01 -2.24650121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.198241008 meters 0.06508162663397228 Centerline is valid? [True, True] Translation: X:151.72, Y:-81.91, Z:-22.47 [[ 7.14299201e-01 6.96369274e-01 6.96167003e-02 1.51718514e+02] [-6.93046297e-01 7.17683601e-01 -6.79490892e-02 -8.19146737e+01] [-9.72804221e-02 2.88383786e-04 9.95256970e-01 -2.24693707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.228241008 meters 0.06505574777508838 Centerline is valid? [True, True] Translation: X:151.74, Y:-81.94, Z:-22.47 [[ 7.13620017e-01 6.97101124e-01 6.92567254e-02 1.51741824e+02] [-6.93811932e-01 7.16972786e-01 -6.76389469e-02 -8.19365133e+01] [-9.68063732e-02 2.17364031e-04 9.95303210e-01 -2.24740682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.258241008 meters 0.06520807581995501 Centerline is valid? [True, True] Translation: X:151.77, Y:-81.96, Z:-22.48 [[ 7.12108663e-01 6.98715452e-01 6.85417369e-02 1.51766770e+02] [-6.95498031e-01 7.15399691e-01 -6.69758996e-02 -8.19564695e+01] [-9.58318333e-02 2.34751814e-05 9.95397538e-01 -2.24793081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.288241008 meters 0.06525704967794445 Centerline is valid? [True, True] Translation: X:151.79, Y:-81.98, Z:-22.48 [[ 7.11475290e-01 6.99400079e-01 6.81354680e-02 1.51790815e+02] [-6.96222282e-01 7.14730388e-01 -6.65958477e-02 -8.19772803e+01] [-9.52756306e-02 -5.61309651e-05 9.95450929e-01 -2.24836969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.318241008 meters 0.06525704967794445 Centerline is valid? [True, True] Translation: X:151.81, Y:-82.00, Z:-22.49 [[ 7.11296275e-01 6.99583542e-01 6.81210431e-02 1.51813642e+02] [-6.96405172e-01 7.14550813e-01 -6.66105988e-02 -8.19998474e+01] [-9.52756254e-02 -5.99759565e-05 9.95450929e-01 -2.24876827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.348241008 meters 0.06539730220018937 Centerline is valid? [True, True] Translation: X:151.84, Y:-82.02, Z:-22.49 [[ 7.10737123e-01 7.00194157e-01 6.76822264e-02 1.51837261e+02] [-6.97056158e-01 7.13952469e-01 -6.62161952e-02 -8.20208759e+01] [-9.46860856e-02 -1.16004574e-04 9.95507173e-01 -2.24934069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.378241008 meters 0.06611686916099459 Centerline is valid? [True, True] Translation: X:151.86, Y:-82.04, Z:-22.50 [[ 7.09687617e-01 7.01305587e-01 6.71860067e-02 1.51860186e+02] [-6.98215631e-01 7.12860727e-01 -6.57610652e-02 -8.20411284e+01] [-9.40128680e-02 -2.40506317e-04 9.95570953e-01 -2.25030582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.408241008 meters 0.06594882886360881 Centerline is valid? [True, True] Translation: X:151.88, Y:-82.06, Z:-22.50 [[ 7.08272999e-01 7.02827996e-01 6.61979468e-02 1.51883578e+02] [-6.99832111e-01 7.11359711e-01 -6.48257514e-02 -8.20625448e+01] [-9.26519052e-02 -4.13119553e-04 9.95698475e-01 -2.25031227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.438241008 meters 0.06587585990494947 Centerline is valid? [True, True] Translation: X:151.91, Y:-82.09, Z:-22.51 [[ 7.08430759e-01 7.02670339e-01 6.61834840e-02 1.51906921e+02] [-6.99672937e-01 7.11515462e-01 -6.48346183e-02 -8.20862085e+01] [-9.26479354e-02 -3.75954739e-04 9.95698859e-01 -2.25064321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.468241008 meters 0.06597042230560632 Centerline is valid? [True, True] Translation: X:151.93, Y:-82.11, Z:-22.51 [[ 7.08079626e-01 7.03008351e-01 6.63513499e-02 1.51929381e+02] [-6.99993449e-01 7.11181485e-01 -6.50389636e-02 -8.21083633e+01] [-9.29107861e-02 -3.92745300e-04 9.95674360e-01 -2.25114443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.498241008 meters 0.0654969313450621 Centerline is valid? [True, True] Translation: X:151.95, Y:-82.13, Z:-22.51 [[ 7.08450602e-01 7.02570802e-01 6.70224831e-02 1.51951063e+02] [-6.99489604e-01 7.11613777e-01 -6.57276665e-02 -8.21334285e+01] [-9.38724618e-02 -3.16725308e-04 9.95584181e-01 -2.25110092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.528241008 meters 0.06544271377918173 Centerline is valid? [True, True] Translation: X:151.97, Y:-82.16, Z:-22.51 [[ 7.08738719e-01 7.02252673e-01 6.73098171e-02 1.51973248e+02] [-6.99140133e-01 7.11927750e-01 -6.60450922e-02 -8.21572877e+01] [-9.43000692e-02 -2.50280408e-04 9.95543788e-01 -2.25143285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.558241008 meters 0.06524393928759933 Centerline is valid? [True, True] Translation: X:151.99, Y:-82.18, Z:-22.52 [[ 7.09354149e-01 7.01565809e-01 6.79860802e-02 1.51994359e+02] [-6.98383726e-01 7.12604657e-01 -6.67440898e-02 -8.21801282e+01] [-9.52725688e-02 -1.35174997e-04 9.95451214e-01 -2.25181332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.588241008 meters 0.06504483652942371 Centerline is valid? [True, True] Translation: X:152.02, Y:-82.20, Z:-22.52 [[ 7.09869901e-01 7.00965605e-01 6.87891306e-02 1.52016122e+02] [-6.97701906e-01 7.13195078e-01 -6.75635301e-02 -8.22037650e+01] [-9.64197801e-02 -3.29911133e-05 9.95340758e-01 -2.25204130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.618241008 meters 0.0649309039871453 Centerline is valid? [True, True] Translation: X:152.04, Y:-82.23, Z:-22.52 [[ 7.11157676e-01 6.99591471e-01 6.94732673e-02 1.52036363e+02] [-6.96252462e-01 7.14543030e-01 -6.82698162e-02 -8.22299317e+01] [-9.74026201e-02 1.79670410e-04 9.95245044e-01 -2.25217857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.648241008 meters 0.06506974406048628 Centerline is valid? [True, True] Translation: X:152.06, Y:-82.25, Z:-22.53 [[ 7.11577712e-01 6.99082127e-01 7.02946619e-02 1.52057385e+02] [-6.95657260e-01 7.15041328e-01 -6.91149468e-02 -8.22535116e+01] [-9.85806125e-02 2.79663873e-04 9.95129029e-01 -2.25273359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67824100800001 meters 0.06494547328196044 Centerline is valid? [True, True] Translation: X:152.08, Y:-82.28, Z:-22.53 [[ 7.12142826e-01 6.98505034e-01 7.03086922e-02 1.52079875e+02] [-6.95072635e-01 7.15605038e-01 -6.91625779e-02 -8.22773376e+01] [-9.86236632e-02 3.83985706e-04 9.95124729e-01 -2.25292357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70824100800002 meters 0.06506480890056547 Centerline is valid? [True, True] Translation: X:152.10, Y:-82.30, Z:-22.53 [[ 7.13278491e-01 6.97348573e-01 7.02763331e-02 1.52101401e+02] [-6.93910148e-01 7.16731919e-01 -6.91669187e-02 -8.23013630e+01] [-9.86027431e-02 5.69814684e-04 9.95126713e-01 -2.25347779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73824100800002 meters 0.0652899618009561 Centerline is valid? [True, True] Translation: X:152.12, Y:-82.32, Z:-22.54 [[ 7.13798111e-01 6.96894191e-01 6.95035469e-02 1.52124008e+02] [-6.93525571e-01 7.17173663e-01 -6.84413603e-02 -8.23248699e+01] [-9.75424998e-02 6.50826628e-04 9.95231148e-01 -2.25400247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.768241008 meters 0.06547486564164252 Centerline is valid? [True, True] Translation: X:152.15, Y:-82.35, Z:-22.55 [[ 7.14101931e-01 6.96639602e-01 6.89325529e-02 1.52146625e+02] [-6.93321646e-01 7.17420914e-01 -6.79141152e-02 -8.23475141e+01] [-9.67653173e-02 7.05169753e-04 9.95306976e-01 -2.25459805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.798241008 meters 0.06581759270208211 Centerline is valid? [True, True] Translation: X:152.17, Y:-82.37, Z:-22.55 [[ 7.14815802e-01 6.96048805e-01 6.74865225e-02 1.52167077e+02] [-6.92863037e-01 7.17994034e-01 -6.65235308e-02 -8.23704271e+01] [-9.47585447e-02 7.93154091e-04 9.95499969e-01 -2.25525394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.828241008 meters 0.06562893665948896 Centerline is valid? [True, True] Translation: X:152.19, Y:-82.39, Z:-22.55 [[ 7.15489922e-01 6.95339546e-01 6.76541810e-02 1.52189895e+02] [-6.92132155e-01 7.18680799e-01 -6.67157416e-02 -8.23944799e+01] [-9.50118543e-02 9.08806689e-04 9.95475726e-01 -2.25530212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.858241008 meters 0.06583989482171523 Centerline is valid? [True, True] Translation: X:152.21, Y:-82.42, Z:-22.56 [[ 7.16242053e-01 6.94610886e-01 6.71791511e-02 1.52210397e+02] [-6.91441873e-01 7.19384923e-01 -6.62832496e-02 -8.24179782e+01] [-9.43687352e-02 1.02437270e-03 9.95536786e-01 -2.25578547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.888241008 meters 0.06569859810358085 Centerline is valid? [True, True] Translation: X:152.23, Y:-82.44, Z:-22.56 [[ 7.16473835e-01 6.94309139e-01 6.78237677e-02 1.52233337e+02] [-6.91074332e-01 7.19676047e-01 -6.69526266e-02 -8.24419612e+01] [-9.52969616e-02 1.09854016e-03 9.95448282e-01 -2.25605927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.918241008 meters 0.0658592410448894 Centerline is valid? [True, True] Translation: X:152.26, Y:-82.46, Z:-22.57 [[ 7.16897140e-01 6.93904372e-01 6.74923191e-02 1.52256891e+02] [-6.90695753e-01 7.20066208e-01 -6.66635756e-02 -8.24643186e+01] [-9.48570849e-02 1.17426853e-03 9.95490208e-01 -2.25665365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.948241008 meters 0.06576590925354814 Centerline is valid? [True, True] Translation: X:152.28, Y:-82.49, Z:-22.57 [[ 7.16492968e-01 6.94336381e-01 6.73410438e-02 1.52280821e+02] [-6.91142246e-01 7.19649718e-01 -6.65332980e-02 -8.24859342e+01] [-9.46584526e-02 1.12839994e-03 9.95509168e-01 -2.25708822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.978241008 meters 0.06569077336644374 Centerline is valid? [True, True] Translation: X:152.30, Y:-82.51, Z:-22.57 [[ 7.15929101e-01 6.94921135e-01 6.73063007e-02 1.52304053e+02] [-6.91729548e-01 7.19085154e-01 -6.65340094e-02 -8.25084706e+01] [-9.46348509e-02 1.07587658e-03 9.95511470e-01 -2.25745368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.008241008 meters 0.06567553222431173 Centerline is valid? [True, True] Translation: X:152.33, Y:-82.53, Z:-22.58 [[ 7.15245355e-01 6.95652576e-01 6.70192187e-02 1.52327584e+02] [-6.92488160e-01 7.18377682e-01 -6.62846463e-02 -8.25308733e+01] [-9.42561959e-02 9.99769906e-04 9.95547473e-01 -2.25787853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.038241008 meters 0.06557307266531427 Centerline is valid? [True, True] Translation: X:152.35, Y:-82.55, Z:-22.58 [[ 7.13083292e-01 6.97905408e-01 6.66352685e-02 1.52352397e+02] [-6.94783729e-01 7.16189582e-01 -6.59397600e-02 -8.25521930e+01] [-9.37432002e-02 7.23440858e-04 9.95596148e-01 -2.25821637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.068241008 meters 0.0656672124461847 Centerline is valid? [True, True] Translation: X:152.38, Y:-82.57, Z:-22.59 [[ 7.12322717e-01 6.98702534e-01 6.64162297e-02 1.52375865e+02] [-6.95602065e-01 7.15412022e-01 -6.57526106e-02 -8.25742207e+01] [-9.34564849e-02 6.37811646e-04 9.95623161e-01 -2.25876132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.098241008 meters 0.0655891248675042 Centerline is valid? [True, True] Translation: X:152.40, Y:-82.60, Z:-22.59 [[ 7.10955879e-01 7.00139039e-01 6.59322766e-02 1.52400521e+02] [-6.97086366e-01 7.14006375e-01 -6.53107648e-02 -8.25962830e+01] [-9.28026819e-02 4.72581065e-04 9.95684407e-01 -2.25912458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.128241008 meters 0.06568326081417301 Centerline is valid? [True, True] Translation: X:152.42, Y:-82.62, Z:-22.60 [[ 7.09402490e-01 7.01737980e-01 6.56651646e-02 1.52423587e+02] [-6.98713598e-01 7.12435067e-01 -6.50813615e-02 -8.26176196e+01] [-9.24522291e-02 2.87736447e-04 9.95717080e-01 -2.25973200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.158241008 meters 0.06536098526634036 Centerline is valid? [True, True] Translation: X:152.45, Y:-82.64, Z:-22.60 [[ 7.07027095e-01 7.04047163e-01 6.65603503e-02 1.52449105e+02] [-7.00947001e-01 7.10153218e-01 -6.59977999e-02 -8.26414740e+01] [-9.37336107e-02 6.95483718e-06 9.95597313e-01 -2.25991231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.188241008 meters 0.06528571196270215 Centerline is valid? [True, True] Translation: X:152.47, Y:-82.66, Z:-22.60 [[ 7.05121165e-01 7.05964944e-01 6.64653328e-02 1.52472469e+02] [-7.02877489e-01 7.08246745e-01 -6.59528816e-02 -8.26623097e+01] [-9.36342780e-02 -2.12213535e-04 9.95606638e-01 -2.26032965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.218241008 meters 0.06520810523504779 Centerline is valid? [True, True] Translation: X:152.50, Y:-82.68, Z:-22.61 [[ 7.03339666e-01 7.07688517e-01 6.70095382e-02 1.52497002e+02] [-7.04554892e-01 7.06524441e-01 -6.65253251e-02 -8.26830095e+01] [-9.44230852e-02 -4.21998088e-04 9.95532070e-01 -2.26068934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.248241008 meters 0.06544177275596248 Centerline is valid? [True, True] Translation: X:152.52, Y:-82.70, Z:-22.61 [[ 7.01089136e-01 7.09898587e-01 6.72162187e-02 1.52523374e+02] [-7.06752774e-01 7.04303561e-01 -6.67608420e-02 -8.27043355e+01] [-9.47340496e-02 -6.99948088e-04 9.95502371e-01 -2.26124407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.278241008 meters 0.06576625296142688 Centerline is valid? [True, True] Translation: X:152.55, Y:-82.72, Z:-22.62 [[ 6.98682662e-01 7.12145819e-01 6.84899268e-02 1.52547888e+02] [-7.08884995e-01 7.02030882e-01 -6.80786644e-02 -8.27231579e+01] [-9.65639799e-02 -9.86098904e-04 9.95326291e-01 -2.26167785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.308241008 meters 0.06578009860740808 Centerline is valid? [True, True] Translation: X:152.57, Y:-82.75, Z:-22.62 [[ 6.97675884e-01 7.13132906e-01 6.84822553e-02 1.52571047e+02] [-7.09874908e-01 7.01027989e-01 -6.80982660e-02 -8.27460584e+01] [-9.65710921e-02 -1.10331674e-03 9.95325478e-01 -2.26185938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.338241008 meters 0.06567072616645972 Centerline is valid? [True, True] Translation: X:152.59, Y:-82.77, Z:-22.62 [[ 6.97274599e-01 7.13461516e-01 6.91433253e-02 1.52594212e+02] [-7.10138186e-01 7.00693498e-01 -6.87922781e-02 -8.27685020e+01] [-9.75289215e-02 -1.13420754e-03 9.95232045e-01 -2.26215310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.368241008 meters 0.06572609137005284 Centerline is valid? [True, True] Translation: X:152.62, Y:-82.79, Z:-22.63 [[ 6.96874671e-01 7.13872619e-01 6.89316796e-02 1.52617803e+02] [-7.10568675e-01 7.00274605e-01 -6.86122067e-02 -8.27901940e+01] [-9.72514804e-02 -1.16658326e-03 9.95259157e-01 -2.26261565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.398241008 meters 0.06587079695074383 Centerline is valid? [True, True] Translation: X:152.64, Y:-82.81, Z:-22.63 [[ 6.96642681e-01 7.14151361e-01 6.83871949e-02 1.52642577e+02] [-7.10898050e-01 6.99990323e-01 -6.80992720e-02 -8.28146120e+01] [-9.65035625e-02 -1.17546403e-03 9.95331945e-01 -2.26321613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42824100800001 meters 0.06584889900506656 Centerline is valid? [True, True] Translation: X:152.67, Y:-82.84, Z:-22.64 [[ 6.96546835e-01 7.14263111e-01 6.81961572e-02 1.52665286e+02] [-7.11023420e-01 6.99876335e-01 -6.79618389e-02 -8.28384919e+01] [-9.62715110e-02 -1.15046120e-03 9.95354446e-01 -2.26364276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45824100800002 meters 0.06569687215936529 Centerline is valid? [True, True] Translation: X:152.69, Y:-82.86, Z:-22.64 [[ 6.96428975e-01 7.14422028e-01 6.77336604e-02 1.52687645e+02] [-7.11223598e-01 6.99714132e-01 -6.75361161e-02 -8.28623975e+01] [-9.56434884e-02 -1.13966959e-03 9.95415001e-01 -2.26394217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48824100800002 meters 0.06590572713615403 Centerline is valid? [True, True] Translation: X:152.71, Y:-82.88, Z:-22.64 [[ 6.96405138e-01 7.14447171e-01 6.77135385e-02 1.52709408e+02] [-7.11247297e-01 6.99688495e-01 -6.75521401e-02 -8.28844024e+01] [-9.56408193e-02 -1.11741382e-03 9.95415283e-01 -2.26449365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.518241008 meters 0.06616714705029196 Centerline is valid? [True, True] Translation: X:152.73, Y:-82.91, Z:-22.65 [[ 6.96165307e-01 7.14765308e-01 6.68163118e-02 1.52731050e+02] [-7.11648126e-01 6.99363493e-01 -6.66906979e-02 -8.29068987e+01] [-9.43970864e-02 -1.12195290e-03 9.95533993e-01 -2.26505290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.548241008 meters 0.06624440662463141 Centerline is valid? [True, True] Translation: X:152.75, Y:-82.93, Z:-22.66 [[ 6.96260088e-01 7.14660479e-01 6.69498994e-02 1.52753336e+02] [-7.11527049e-01 6.99470672e-01 -6.68583443e-02 -8.29282638e+01] [-9.46105074e-02 -1.08586761e-03 9.95513773e-01 -2.26558031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.578241008 meters 0.06627305402976835 Centerline is valid? [True, True] Translation: X:152.78, Y:-82.95, Z:-22.66 [[ 6.96432379e-01 7.14530748e-01 6.65413556e-02 1.52775787e+02] [-7.11433732e-01 6.99603246e-01 -6.64631017e-02 -8.29508542e+01] [-9.40424782e-02 -1.05270888e-03 9.95567629e-01 -2.26607997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.608241008 meters 0.06611996895703495 Centerline is valid? [True, True] Translation: X:152.80, Y:-82.97, Z:-22.66 [[ 6.96216429e-01 7.14794446e-01 6.59665431e-02 1.52797810e+02] [-7.11749060e-01 6.99333814e-01 -6.59203443e-02 -8.29735318e+01] [-9.32521301e-02 -1.05679832e-03 9.95641965e-01 -2.26643473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.638241008 meters 0.06588478913659195 Centerline is valid? [True, True] Translation: X:152.82, Y:-83.00, Z:-22.67 [[ 6.96140469e-01 7.14768682e-01 6.70386286e-02 1.52819903e+02] [-7.11620217e-01 6.99360158e-01 -6.70226579e-02 -8.29966314e+01] [-9.47898428e-02 -1.04885884e-03 9.95496753e-01 -2.26669433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.668241008 meters 0.0658694696289603 Centerline is valid? [True, True] Translation: X:153.97, Y:-82.14, Z:-21.55 [[ 7.59731958e-01 -6.41274214e-01 -1.07585942e-01 1.53974685e+02] [-6.32800405e-01 -7.67228177e-01 1.04520678e-01 -8.21350154e+01] [-1.49569382e-01 -1.13272722e-02 -9.88686347e-01 -2.15535671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.698241008 meters 0.06568773826016511 Centerline is valid? [True, True] Translation: X:152.96, Y:-83.16, Z:-22.69 [[ 7.50943866e-01 6.56289703e-01 7.32607396e-02 1.52960419e+02] [-6.53316725e-01 7.54508334e-01 -6.24053690e-02 -8.31608616e+01] [-9.62318397e-02 -9.99537435e-04 9.95358445e-01 -2.26854795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.728241008 meters 0.06533835444586311 Centerline is valid? [True, True] Translation: X:152.98, Y:-83.18, Z:-22.69 [[ 7.50932740e-01 6.56241213e-01 7.38071155e-02 1.52984395e+02] [-6.53220441e-01 7.54550538e-01 -6.29010461e-02 -8.31835865e+01] [-9.69694575e-02 -9.77861614e-04 9.95286877e-01 -2.26871400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.758241008 meters 0.06522547862495502 Centerline is valid? [True, True] Translation: X:153.01, Y:-83.21, Z:-22.69 [[ 7.51175082e-01 6.55937827e-01 7.40375765e-02 1.53007913e+02] [-6.52893269e-01 7.54814367e-01 -6.31320152e-02 -8.32055188e+01] [-9.72953033e-02 -9.15438642e-04 9.95255136e-01 -2.26903339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.788241008 meters 0.06521407474569822 Centerline is valid? [True, True] Translation: X:153.03, Y:-83.23, Z:-22.69 [[ 7.51509627e-01 6.55610086e-01 7.35438326e-02 1.53031954e+02] [-6.52601368e-01 7.55099136e-01 -6.27435248e-02 -8.32280167e+01] [-9.66681722e-02 -8.42442847e-04 9.95316309e-01 -2.26944476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.818241008 meters 0.0651167111620438 Centerline is valid? [True, True] Translation: X:153.06, Y:-83.25, Z:-22.70 [[ 7.51665149e-01 6.55442163e-01 7.34511697e-02 1.53055707e+02] [-6.52436993e-01 7.55244953e-01 -6.26979355e-02 -8.32500756e+01] [-9.65684957e-02 -7.94407229e-04 9.95326024e-01 -2.26976093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.848241008 meters 0.06532692698125694 Centerline is valid? [True, True] Translation: X:153.08, Y:-83.27, Z:-22.70 [[ 7.52367227e-01 6.54794018e-01 7.20301936e-02 1.53079395e+02] [-6.51898173e-01 7.55807079e-01 -6.15177260e-02 -8.32718599e+01] [-9.47223693e-02 -6.72430674e-04 9.95503501e-01 -2.27029649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.878241008 meters 0.0653894744920655 Centerline is valid? [True, True] Translation: X:153.10, Y:-83.29, Z:-22.71 [[ 7.52512278e-01 6.54673667e-01 7.16076960e-02 1.53104148e+02] [-6.51808119e-01 7.55911367e-01 -6.11897098e-02 -8.32932711e+01] [-9.41883630e-02 -6.28469761e-04 9.95554196e-01 -2.27083071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.908241008 meters 0.06545093868047033 Centerline is valid? [True, True] Translation: X:153.13, Y:-83.31, Z:-22.71 [[ 7.53314580e-01 6.53825751e-01 7.09156663e-02 1.53127562e+02] [-6.51008582e-01 7.56644993e-01 -6.06315213e-02 -8.33142971e+01] [-9.33004338e-02 -4.92098374e-04 9.95637879e-01 -2.27140671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.938241008 meters 0.06549390037198072 Centerline is valid? [True, True] Translation: X:153.15, Y:-83.34, Z:-22.72 [[ 7.54029509e-01 6.53047666e-01 7.04857780e-02 1.53150874e+02] [-6.50258224e-01 7.57316717e-01 -6.02962045e-02 -8.33358939e+01] [-9.27563536e-02 -3.68839351e-04 9.95688768e-01 -2.27179394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.968241008 meters 0.0651671357400032 Centerline is valid? [True, True] Translation: X:153.17, Y:-83.36, Z:-22.72 [[ 7.55697057e-01 6.51036213e-01 7.12306627e-02 1.53172439e+02] [-6.48176847e-01 7.59046663e-01 -6.09502920e-02 -8.33613191e+01] [-9.37482442e-02 -1.10110062e-04 9.95595929e-01 -2.27209623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.998241008 meters 0.06525749598845879 Centerline is valid? [True, True] Translation: X:153.20, Y:-83.39, Z:-22.72 [[ 7.56128214e-01 6.50510050e-01 7.14618729e-02 1.53196868e+02] [-6.47626902e-01 7.59497646e-01 -6.11777830e-02 -8.33853754e+01] [-9.40718869e-02 -2.23835289e-05 9.95565407e-01 -2.27248769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.028241008 meters 0.0649613241226607 Centerline is valid? [True, True] Translation: X:153.22, Y:-83.41, Z:-22.72 [[ 7.58133086e-01 6.47912901e-01 7.37773426e-02 1.53217701e+02] [-6.44822172e-01 7.61714350e-01 -6.32108877e-02 -8.34087459e+01] [-9.71524102e-02 3.48999110e-04 9.95269455e-01 -2.27248662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.058241008 meters 0.06484728276564328 Centerline is valid? [True, True] Translation: X:153.24, Y:-83.43, Z:-22.73 [[ 7.59154731e-01 6.46634959e-01 7.44803643e-02 1.53241776e+02] [-6.43477518e-01 7.62799418e-01 -6.38257896e-02 -8.34304706e+01] [-9.80855654e-02 5.27210139e-04 9.95177845e-01 -2.27256195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.088241008 meters 0.06488085941853174 Centerline is valid? [True, True] Translation: X:153.26, Y:-83.45, Z:-22.73 [[ 7.60100754e-01 6.45416341e-01 7.53962223e-02 1.53264585e+02] [-6.42170952e-01 7.63830627e-01 -6.46470555e-02 -8.34521287e+01] [-9.93142097e-02 7.21011850e-04 9.95055862e-01 -2.27287650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.118241008 meters 0.06470468782434566 Centerline is valid? [True, True] Translation: X:153.29, Y:-83.47, Z:-22.73 [[ 7.60833247e-01 6.44553909e-01 7.53858717e-02 1.53289761e+02] [-6.41303713e-01 7.64558399e-01 -6.46529384e-02 -8.34744564e+01] [-9.93092055e-02 8.44865551e-04 9.95056264e-01 -2.27299526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.148241008 meters 0.06484515848475338 Centerline is valid? [True, True] Translation: X:153.31, Y:-83.50, Z:-22.73 [[ 7.61214602e-01 6.44094958e-01 7.54586945e-02 1.53314008e+02] [-6.40832181e-01 7.64944970e-01 -6.47557639e-02 -8.34960499e+01] [-9.94306099e-02 9.36673328e-04 9.95044058e-01 -2.27340838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17824100800001 meters 0.06517400574114629 Centerline is valid? [True, True] Translation: X:153.34, Y:-83.52, Z:-22.74 [[ 7.60638881e-01 6.44893200e-01 7.44395910e-02 1.53340205e+02] [-6.41718932e-01 7.64272234e-01 -6.39121676e-02 -8.35166472e+01] [-9.81086348e-02 8.44784797e-04 9.95175352e-01 -2.27422716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20824100800002 meters 0.06502658939775686 Centerline is valid? [True, True] Translation: X:153.37, Y:-83.54, Z:-22.74 [[ 7.60302637e-01 6.45268538e-01 7.46218074e-02 1.53366824e+02] [-6.42075760e-01 7.63955376e-01 -6.41163129e-02 -8.35360992e+01] [-9.83799705e-02 8.34948064e-04 9.95148574e-01 -2.27447716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23824100800002 meters 0.06502658939775686 Centerline is valid? [True, True] Translation: X:153.39, Y:-83.56, Z:-22.75 [[ 7.60113096e-01 6.45493663e-01 7.46057105e-02 1.53391629e+02] [-6.42300129e-01 7.63765174e-01 -6.41350368e-02 -8.35577085e+01] [-9.83800033e-02 8.30623929e-04 9.95148574e-01 -2.27488464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.268241008 meters 0.06510713099318899 Centerline is valid? [True, True] Translation: X:153.42, Y:-83.58, Z:-22.75 [[ 7.59301287e-01 6.46393863e-01 7.50768328e-02 1.53417582e+02] [-6.43160148e-01 7.63003547e-01 -6.45802651e-02 -8.35767585e+01] [-9.90281767e-02 7.49451460e-04 9.95084347e-01 -2.27520427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.298241008 meters 0.06506637187379645 Centerline is valid? [True, True] Translation: X:153.44, Y:-83.60, Z:-22.76 [[ 7.58581998e-01 6.47173004e-01 7.56336933e-02 1.53443762e+02] [-6.43891532e-01 7.62342864e-01 -6.50926422e-02 -8.35963722e+01] [-9.97850072e-02 6.78211878e-04 9.95008790e-01 -2.27556443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.328241008 meters 0.06490000209960725 Centerline is valid? [True, True] Translation: X:153.47, Y:-83.61, Z:-22.76 [[ 7.56552857e-01 6.49553208e-01 7.55539861e-02 1.53472762e+02] [-6.46287241e-01 7.60316039e-01 -6.50563093e-02 -8.36125164e+01] [-9.97024418e-02 3.88959425e-04 9.95017222e-01 -2.27590892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.358241008 meters 0.06491016505847048 Centerline is valid? [True, True] Translation: X:153.50, Y:-83.63, Z:-22.76 [[ 7.54939658e-01 6.51459698e-01 7.52753264e-02 1.53499489e+02] [-6.48223817e-01 7.58683225e-01 -6.48509707e-02 -8.36310013e+01] [-9.93579211e-02 1.63310229e-04 9.95051746e-01 -2.27622493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.388241008 meters 0.06520677988279132 Centerline is valid? [True, True] Translation: X:153.53, Y:-83.65, Z:-22.77 [[ 7.50900293e-01 6.56250925e-01 7.40504796e-02 1.53530044e+02] [-6.53139638e-01 7.54542598e-01 -6.38285237e-02 -8.36474286e+01] [-9.77617690e-02 -4.36446336e-04 9.95209750e-01 -2.27654154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.418241008 meters 0.06552547377947822 Centerline is valid? [True, True] Translation: X:153.56, Y:-83.66, Z:-22.77 [[ 7.48863473e-01 6.58585993e-01 7.39458490e-02 1.53556638e+02] [-6.55490880e-01 7.52505140e-01 -6.37786788e-02 -8.36640375e+01] [-9.76483761e-02 -7.09306781e-04 9.95220725e-01 -2.27706510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.448241008 meters 0.06592437280081356 Centerline is valid? [True, True] Translation: X:153.59, Y:-83.69, Z:-22.78 [[ 7.46475456e-01 6.61338589e-01 7.35232307e-02 1.53589024e+02] [-6.58290544e-01 7.50086773e-01 -6.34302182e-02 -8.36862819e+01] [-9.70976539e-02 -1.05054649e-03 9.95274305e-01 -2.27769445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.478241008 meters 0.06617356015607584 Centerline is valid? [True, True] Translation: X:153.62, Y:-83.70, Z:-22.78 [[ 7.45076430e-01 6.62980550e-01 7.29239620e-02 1.53616096e+02] [-6.59980208e-01 7.48635694e-01 -6.30136738e-02 -8.37048806e+01] [-9.63703210e-02 -1.17836851e-03 9.95344851e-01 -2.27824739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.508241008 meters 0.0670451257761588 Centerline is valid? [True, True] Translation: X:153.64, Y:-83.72, Z:-22.79 [[ 7.41963910e-01 6.66521243e-01 7.23808583e-02 1.53644237e+02] [-6.63578709e-01 7.45484326e-01 -6.25812770e-02 -8.37204462e+01] [-9.56705460e-02 -1.59734750e-03 9.95411772e-01 -2.27870501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.538241008 meters 0.06730873491913143 Centerline is valid? [True, True] Translation: X:153.67, Y:-83.74, Z:-22.79 [[ 7.40672640e-01 6.67934828e-01 7.25748306e-02 1.53670675e+02] [-6.64981866e-01 7.44217656e-01 -6.27630380e-02 -8.37397963e+01] [-9.59330892e-02 -1.77408124e-03 9.95386204e-01 -2.27909055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.568241008 meters 0.06752983614634951 Centerline is valid? [True, True] Translation: X:153.70, Y:-83.76, Z:-22.79 [[ 7.39486929e-01 6.69201079e-01 7.29999821e-02 1.53696552e+02] [-6.66216250e-01 7.43078873e-01 -6.31640555e-02 -8.37595401e+01] [-9.65141985e-02 -1.92478091e-03 9.95329747e-01 -2.27938222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.598241008 meters 0.06794439125076301 Centerline is valid? [True, True] Translation: X:153.72, Y:-83.78, Z:-22.80 [[ 7.38326898e-01 6.70476963e-01 7.30344643e-02 1.53721721e+02] [-6.67492112e-01 7.41927471e-01 -6.32290181e-02 -8.37774465e+01] [-9.65798755e-02 -2.06624401e-03 9.95323092e-01 -2.27982009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.628241008 meters 0.06882174420643189 Centerline is valid? [True, True] Translation: X:153.75, Y:-83.79, Z:-22.80 [[ 7.36983570e-01 6.72039520e-01 7.22364204e-02 1.53748060e+02] [-6.69124363e-01 7.40511942e-01 -6.25671647e-02 -8.37942646e+01] [-9.55395393e-02 -2.22417642e-03 9.95423151e-01 -2.28025348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.658241008 meters 0.06898617542498879 Centerline is valid? [True, True] Translation: X:153.77, Y:-83.82, Z:-22.81 [[ 7.36328192e-01 6.72760204e-01 7.22115042e-02 1.53772576e+02] [-6.69849221e-01 7.39857004e-01 -6.25590488e-02 -8.38154888e+01] [-9.55134256e-02 -2.30682852e-03 9.95425469e-01 -2.28054989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.688241008 meters 0.06874174490527203 Centerline is valid? [True, True] Translation: X:153.80, Y:-83.84, Z:-22.81 [[ 7.35551685e-01 6.73644277e-01 7.18825870e-02 1.53796548e+02] [-6.70760978e-01 7.39051887e-01 -6.23058479e-02 -8.38371040e+01] [-9.50969394e-02 -2.38686293e-03 9.95465155e-01 -2.28069588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.718241008 meters 0.06898639131439169 Centerline is valid? [True, True] Translation: X:153.82, Y:-83.86, Z:-22.81 [[ 7.35024858e-01 6.74174644e-01 7.22980416e-02 1.53824622e+02] [-6.71257841e-01 7.38567902e-01 -6.26926177e-02 -8.38603347e+01] [-9.56627862e-02 -2.44999486e-03 9.95410784e-01 -2.28111722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.748241008 meters 0.06920120565004897 Centerline is valid? [True, True] Translation: X:153.85, Y:-83.88, Z:-22.81 [[ 7.34715485e-01 6.74490767e-01 7.24938774e-02 1.53849594e+02] [-6.71553740e-01 7.38279209e-01 -6.29236373e-02 -8.38808467e+01] [-9.59621348e-02 -2.45256381e-03 9.95381964e-01 -2.28147232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.778241008 meters 0.07010838527069689 Centerline is valid? [True, True] Translation: X:153.87, Y:-83.90, Z:-22.82 [[ 7.34232404e-01 6.74926092e-01 7.33317597e-02 1.53874860e+02] [-6.71918983e-01 7.37881068e-01 -6.36899482e-02 -8.38984065e+01] [-9.70961250e-02 -2.50977763e-03 9.95271844e-01 -2.28207085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.808241008 meters 0.06902940384737845 Centerline is valid? [True, True] Translation: X:153.90, Y:-83.92, Z:-22.82 [[ 7.34287035e-01 6.74892322e-01 7.30951649e-02 1.53897335e+02] [-6.71902006e-01 7.37912062e-01 -6.35097140e-02 -8.39220989e+01] [-9.68000222e-02 -2.47842835e-03 9.95300765e-01 -2.28226124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.838241008 meters 0.06924066882588795 Centerline is valid? [True, True] Translation: X:153.92, Y:-83.94, Z:-22.83 [[ 7.34061631e-01 6.75166690e-01 7.28248752e-02 1.53921167e+02] [-6.72196411e-01 7.37661030e-01 -6.33102613e-02 -8.39418739e+01] [-9.64650520e-02 -2.47898610e-03 9.95333285e-01 -2.28273321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.868241008 meters 0.0689049108683264 Centerline is valid? [True, True] Translation: X:153.94, Y:-83.96, Z:-22.83 [[ 7.34514643e-01 6.74704813e-01 7.25372599e-02 1.53944449e+02] [-6.71753295e-01 7.38083806e-01 -6.30857057e-02 -8.39648109e+01] [-9.61028062e-02 -2.38976871e-03 9.95368545e-01 -2.28315262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.898241008 meters 0.06864321732768214 Centerline is valid? [True, True] Translation: X:153.97, Y:-83.99, Z:-22.84 [[ 7.35049019e-01 6.74097297e-01 7.27720657e-02 1.53966886e+02] [-6.71120047e-01 7.38639011e-01 -6.33268837e-02 -8.39853714e+01] [-9.64407678e-02 -2.29042843e-03 9.95336090e-01 -2.28357370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92824100800001 meters 0.06831081091016716 Centerline is valid? [True, True] Translation: X:153.99, Y:-84.01, Z:-22.84 [[ 7.35995760e-01 6.73131736e-01 7.21381124e-02 1.53990667e+02] [-6.70200459e-01 7.39519509e-01 -6.27872654e-02 -8.40075690e+01] [-9.56116424e-02 -2.13583501e-03 9.95416421e-01 -2.28404187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95824100800002 meters 0.0670544255907207 Centerline is valid? [True, True] Translation: X:154.01, Y:-84.03, Z:-22.84 [[ 7.38138655e-01 6.70733810e-01 7.25774239e-02 1.54011393e+02] [-6.67751884e-01 7.41695945e-01 -6.32024244e-02 -8.40327800e+01] [-9.62223839e-02 -1.81155904e-03 9.95358212e-01 -2.28407181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98824100800002 meters 0.06671255100411402 Centerline is valid? [True, True] Translation: X:154.03, Y:-84.06, Z:-22.84 [[ 7.39718572e-01 6.69002717e-01 7.24692921e-02 1.54033730e+02] [-6.66018536e-01 7.43258317e-01 -6.31378150e-02 -8.40561615e+01] [-9.61027739e-02 -1.56167750e-03 9.95370191e-01 -2.28435518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.018241008 meters 0.06611098867997503 Centerline is valid? [True, True] Translation: X:154.06, Y:-84.08, Z:-22.85 [[ 7.41784102e-01 6.66634297e-01 7.31782746e-02 1.54055052e+02] [-6.63576467e-01 7.45383910e-01 -6.37894922e-02 -8.40792788e+01] [-9.70701717e-02 -1.24134965e-03 9.95276766e-01 -2.28474723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.048241008 meters 0.06553010082103816 Centerline is valid? [True, True] Translation: X:154.08, Y:-84.10, Z:-22.85 [[ 7.44230093e-01 6.63872817e-01 7.34469359e-02 1.54076738e+02] [-6.60776074e-01 7.47844998e-01 -6.40534059e-02 -8.41039850e+01] [-9.74502386e-02 -8.61505745e-04 9.95240026e-01 -2.28494224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.078241008 meters 0.0651891500025192 Centerline is valid? [True, True] Translation: X:154.10, Y:-84.13, Z:-22.85 [[ 7.47234939e-01 6.60512671e-01 7.32322122e-02 1.54097366e+02] [-6.57414762e-01 7.50814793e-01 -6.38981772e-02 -8.41279893e+01] [-9.71893840e-02 -3.96986801e-04 9.95265827e-01 -2.28542005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.108241008 meters 0.06517599434696146 Centerline is valid? [True, True] Translation: X:154.12, Y:-84.15, Z:-22.86 [[ 7.53669740e-01 6.53271938e-01 7.22336349e-02 1.54115124e+02] [-6.50221639e-01 7.57123150e-01 -6.30583513e-02 -8.41547206e+01] [-9.58840086e-02 5.57298794e-04 9.95392358e-01 -2.28607747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.138241008 meters 0.06543530876329222 Centerline is valid? [True, True] Translation: X:154.14, Y:-84.18, Z:-22.86 [[ 7.56623997e-01 6.49963954e-01 7.11827616e-02 1.54137157e+02] [-6.46984755e-01 7.59964401e-01 -6.21678020e-02 -8.41795012e+01] [-9.45031952e-02 9.83489328e-04 9.95524072e-01 -2.28649817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.168241008 meters 0.06617260704687432 Centerline is valid? [True, True] Translation: X:154.16, Y:-84.20, Z:-22.87 [[ 7.59896893e-01 6.46186619e-01 7.07076088e-02 1.54157382e+02] [-6.43227395e-01 7.63178018e-01 -6.17885929e-02 -8.42038618e+01] [-9.38894547e-02 1.47188877e-03 9.95581541e-01 -2.28699448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.198241008 meters 0.06656915144496565 Centerline is valid? [True, True] Translation: X:154.18, Y:-84.23, Z:-22.87 [[ 7.62226261e-01 6.43561865e-01 6.95647387e-02 1.54180179e+02] [-6.40684398e-01 7.65392014e-01 -6.08158520e-02 -8.42279573e+01] [-9.23830586e-02 1.78639677e-03 9.95721939e-01 -2.28733867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.228241008 meters 0.06800774763998411 Centerline is valid? [True, True] Translation: X:154.20, Y:-84.25, Z:-22.88 [[ 7.67013424e-01 6.37848984e-01 6.95635061e-02 1.54201001e+02] [-6.34945049e-01 7.70157397e-01 -6.08470984e-02 -8.42532036e+01] [-9.23861087e-02 2.50153750e-03 9.95720116e-01 -2.28768202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.258241008 meters 0.06846623746218079 Centerline is valid? [True, True] Translation: X:154.22, Y:-84.28, Z:-22.88 [[ 7.68447618e-01 6.36165417e-01 6.91507089e-02 1.54224222e+02] [-6.33286324e-01 7.71547932e-01 -6.05162917e-02 -8.42763690e+01] [-9.18514584e-02 2.71140195e-03 9.95769028e-01 -2.28798604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.288241008 meters 0.06882486350191853 Centerline is valid? [True, True] Translation: X:154.25, Y:-84.30, Z:-22.88 [[ 7.70168946e-01 6.34015698e-01 6.97415884e-02 1.54246913e+02] [-6.31075301e-01 7.73314285e-01 -6.10653794e-02 -8.42995650e+01] [-9.26485757e-02 3.01846505e-03 9.95694296e-01 -2.28816671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.318241008 meters 0.06994397086138172 Centerline is valid? [True, True] Translation: X:154.27, Y:-84.32, Z:-22.88 [[ 7.72117730e-01 6.31547969e-01 7.05788486e-02 1.54271049e+02] [-6.28523423e-01 7.75329451e-01 -6.18267678e-02 -8.43233281e+01] [-9.37684297e-02 3.37708409e-03 9.95588307e-01 -2.28839398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.348241008 meters 0.07035253945798615 Centerline is valid? [True, True] Translation: X:154.30, Y:-84.34, Z:-22.89 [[ 7.72288499e-01 6.31268366e-01 7.12090228e-02 1.54296991e+02] [-6.28184853e-01 7.75556711e-01 -6.24145705e-02 -8.43436469e+01] [-9.46269795e-02 3.46962544e-03 9.95506754e-01 -2.28891621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.378241008 meters 0.07044936132609315 Centerline is valid? [True, True] Translation: X:154.33, Y:-84.37, Z:-22.89 [[ 7.71824861e-01 6.31830495e-01 7.12503309e-02 1.54327044e+02] [-6.28744204e-01 7.75099064e-01 -6.24673220e-02 -8.43664815e+01] [-9.46948238e-02 3.41559954e-03 9.95500489e-01 -2.28945315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.408241008 meters 0.06880754882086149 Centerline is valid? [True, True] Translation: X:154.36, Y:-84.38, Z:-22.90 [[ 7.68239541e-01 6.36101323e-01 7.19938579e-02 1.54357952e+02] [-6.32960151e-01 7.71599746e-01 -6.32082165e-02 -8.43809841e+01] [-9.57572726e-02 2.98980800e-03 9.95400224e-01 -2.28967387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.438241008 meters 0.0668542491859208 Centerline is valid? [True, True] Translation: X:154.39, Y:-84.40, Z:-22.90 [[ 7.66142535e-01 6.38553013e-01 7.26337776e-02 1.54389096e+02] [-6.35363813e-01 7.69572997e-01 -6.37983295e-02 -8.43958834e+01] [-9.66356094e-02 2.72973997e-03 9.95316084e-01 -2.28967202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.468241008 meters 0.06564771885010087 Centerline is valid? [True, True] Translation: X:154.42, Y:-84.41, Z:-22.90 [[ 7.63509290e-01 6.41651903e-01 7.30506721e-02 1.54419514e+02] [-6.38436782e-01 7.66992299e-01 -6.41972706e-02 -8.44107810e+01] [-9.72216037e-02 2.37697643e-03 9.95259921e-01 -2.28983028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.498241008 meters 0.06589826960303721 Centerline is valid? [True, True] Translation: X:154.45, Y:-84.43, Z:-22.90 [[ 7.60661469e-01 6.45092427e-01 7.24561196e-02 1.54446413e+02] [-6.41941715e-01 7.64102063e-01 -6.37092700e-02 -8.44275665e+01] [-9.64622381e-02 1.94858122e-03 9.95334738e-01 -2.29047716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.528241008 meters 0.06494404536253695 Centerline is valid? [True, True] Translation: X:154.48, Y:-84.44, Z:-22.91 [[ 7.55361446e-01 6.51421806e-01 7.12651128e-02 1.54483586e+02] [-6.48399613e-01 7.58714917e-01 -6.26866605e-02 -8.44399001e+01] [-9.49053617e-02 1.14281504e-03 9.95485643e-01 -2.29071942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.558241008 meters 0.06469130744771232 Centerline is valid? [True, True] Translation: X:154.51, Y:-84.46, Z:-22.91 [[ 7.52700711e-01 6.54495590e-01 7.12542050e-02 1.54512251e+02] [-6.51482933e-01 7.56065399e-01 -6.27303697e-02 -8.44572779e+01] [-9.49295893e-02 7.96295363e-04 9.95483671e-01 -2.29113438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.588241008 meters 0.06472837895198559 Centerline is valid? [True, True] Translation: X:154.54, Y:-84.47, Z:-22.92 [[ 7.50461418e-01 6.57085064e-01 7.10413902e-02 1.54539500e+02] [-6.54098355e-01 7.53816272e-01 -6.25808985e-02 -8.44740315e+01] [-9.46731296e-02 4.96493324e-04 9.95508288e-01 -2.29163166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.618241008 meters 0.0644773374685837 Centerline is valid? [True, True] Translation: X:154.57, Y:-84.49, Z:-22.92 [[ 7.46826815e-01 6.61205684e-01 7.11108480e-02 1.54570591e+02] [-6.58228538e-01 7.50204668e-01 -6.26749389e-02 -8.44882721e+01] [-9.47887159e-02 1.35423454e-07 9.95497413e-01 -2.29188918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.648241008 meters 0.06457343901970641 Centerline is valid? [True, True] Translation: X:154.60, Y:-84.51, Z:-22.92 [[ 7.45670105e-01 6.62481436e-01 7.13753613e-02 1.54596797e+02] [-6.59484788e-01 7.49078319e-01 -6.29403401e-02 -8.45061128e+01] [-9.51625425e-02 -1.38234950e-04 9.95461738e-01 -2.29242991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67824100800001 meters 0.0645839318161026 Centerline is valid? [True, True] Translation: X:154.62, Y:-84.52, Z:-22.93 [[ 7.44858218e-01 6.63330569e-01 7.19638216e-02 1.54623416e+02] [-6.60285189e-01 7.48326470e-01 -6.34898691e-02 -8.45243464e+01] [-9.59672036e-02 -2.25694728e-04 9.95384471e-01 -2.29293651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70824100800002 meters 0.06468291361891554 Centerline is valid? [True, True] Translation: X:154.65, Y:-84.54, Z:-22.94 [[ 7.44167157e-01 6.64202420e-01 7.10660820e-02 1.54649637e+02] [-6.61233859e-01 7.47552706e-01 -6.27274691e-02 -8.45435756e+01] [-9.47893787e-02 -3.11577393e-04 9.95497301e-01 -2.29351518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73824100800002 meters 0.0647632415111186 Centerline is valid? [True, True] Translation: X:154.68, Y:-84.56, Z:-22.94 [[ 7.42038721e-01 6.66508753e-01 7.17259948e-02 1.54678067e+02] [-6.63492270e-01 7.45496973e-01 -6.33424798e-02 -8.45618526e+01] [-9.56898293e-02 -5.87070423e-04 9.95411027e-01 -2.29363740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.768241008 meters 0.06505228943070458 Centerline is valid? [True, True] Translation: X:154.70, Y:-84.58, Z:-22.94 [[ 7.40880754e-01 6.67721896e-01 7.24097980e-02 1.54703337e+02] [-6.64650619e-01 7.44410462e-01 -6.39735747e-02 -8.45800582e+01] [-9.66191678e-02 -7.30426843e-04 9.95321156e-01 -2.29417567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.798241008 meters 0.06491960999079928 Centerline is valid? [True, True] Translation: X:154.73, Y:-84.60, Z:-22.94 [[ 7.39407699e-01 6.69379735e-01 7.21597214e-02 1.54728536e+02] [-6.66335955e-01 7.42919850e-01 -6.37690461e-02 -8.46005006e+01] [-9.62945965e-02 -9.31293247e-04 9.95352442e-01 -2.29422948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.828241008 meters 0.065639790371959 Centerline is valid? [True, True] Translation: X:154.76, Y:-84.62, Z:-22.95 [[ 7.37854671e-01 6.71137921e-01 7.17243026e-02 1.54757395e+02] [-6.68136450e-01 7.41331645e-01 -6.34119652e-02 -8.46199099e+01] [-9.57296698e-02 -1.13280617e-03 9.95406724e-01 -2.29506778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.858241008 meters 0.06593846957433336 Centerline is valid? [True, True] Translation: X:154.78, Y:-84.64, Z:-22.95 [[ 7.34836176e-01 6.74519512e-01 7.09874824e-02 1.54784754e+02] [-6.71589989e-01 7.38255465e-01 -6.28152476e-02 -8.46382853e+01] [-9.47770070e-02 -1.51556615e-03 9.95497374e-01 -2.29518130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.888241008 meters 0.06640332907100889 Centerline is valid? [True, True] Translation: X:154.81, Y:-84.66, Z:-22.96 [[ 7.33198360e-01 6.76365783e-01 7.03526251e-02 1.54810372e+02] [-6.73495426e-01 7.36563880e-01 -6.22700769e-02 -8.46569924e+01] [-9.39365518e-02 -1.72585289e-03 9.95576690e-01 -2.29563663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.918241008 meters 0.06667762563987059 Centerline is valid? [True, True] Translation: X:154.83, Y:-84.68, Z:-22.96 [[ 7.32045319e-01 6.77611994e-01 7.03678703e-02 1.54834437e+02] [-6.74743149e-01 7.35417240e-01 -6.23150603e-02 -8.46757905e+01] [-9.39751772e-02 -1.86279023e-03 9.95572798e-01 -2.29610306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.948241008 meters 0.06723556935771346 Centerline is valid? [True, True] Translation: X:154.86, Y:-84.69, Z:-22.97 [[ 7.30742729e-01 6.79130138e-01 6.92626873e-02 1.54861499e+02] [-6.76355585e-01 7.34015137e-01 -6.13588009e-02 -8.46943792e+01] [-9.25104718e-02 -2.00870771e-03 9.95709685e-01 -2.29675602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.978241008 meters 0.06730782378309487 Centerline is valid? [True, True] Translation: X:154.89, Y:-84.71, Z:-22.97 [[ 7.30578001e-01 6.79369701e-01 6.86483284e-02 1.54885967e+02] [-6.76642113e-01 7.33793450e-01 -6.08491824e-02 -8.47141905e+01] [-9.17127846e-02 -1.99527589e-03 9.95783503e-01 -2.29724307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.008241008 meters 0.06737297141219 Centerline is valid? [True, True] Translation: X:154.91, Y:-84.73, Z:-22.98 [[ 7.30816546e-01 6.79171896e-01 6.80640307e-02 1.54908863e+02] [-6.76487266e-01 7.33976701e-01 -6.03587687e-02 -8.47342590e+01] [-9.09513921e-02 -1.93326319e-03 9.95853456e-01 -2.29781696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.038241008 meters 0.06730071152852081 Centerline is valid? [True, True] Translation: X:154.93, Y:-84.76, Z:-22.98 [[ 7.32249255e-01 6.77749955e-01 6.68283377e-02 1.54930845e+02] [-6.75154224e-01 7.35290474e-01 -5.92848505e-02 -8.47579631e+01] [-8.93185449e-02 -1.70814679e-03 9.96001646e-01 -2.29824204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.068241008 meters 0.06706056934652713 Centerline is valid? [True, True] Translation: X:154.95, Y:-84.78, Z:-22.99 [[ 7.32946814e-01 6.77002068e-01 6.67620296e-02 1.54953193e+02] [-6.74405609e-01 7.35979391e-01 -5.92571489e-02 -8.47809519e+01] [-8.92526903e-02 -1.59234875e-03 9.96007742e-01 -2.29856270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.098241008 meters 0.06662267481440762 Centerline is valid? [True, True] Translation: X:154.98, Y:-84.80, Z:-22.99 [[ 7.33737372e-01 6.76105964e-01 6.71579809e-02 1.54975832e+02] [-6.73472439e-01 7.36802929e-01 -5.96348697e-02 -8.48035441e+01] [-8.98016881e-02 -1.47271662e-03 9.95958577e-01 -2.29883281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.128241008 meters 0.06662267481440762 Centerline is valid? [True, True] Translation: X:155.00, Y:-84.82, Z:-22.99 [[ 7.33566408e-01 6.76292697e-01 6.71454631e-02 1.54999770e+02] [-6.73658662e-01 7.36631528e-01 -5.96489597e-02 -8.48249887e+01] [-8.98016209e-02 -1.47664970e-03 9.95958578e-01 -2.29923029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.158241008 meters 0.06677737299593572 Centerline is valid? [True, True] Translation: X:155.02, Y:-84.85, Z:-23.00 [[ 7.34377865e-01 6.75418826e-01 6.70713154e-02 1.55023081e+02] [-6.72784041e-01 7.37433118e-01 -5.96156946e-02 -8.48453788e+01] [-8.97261717e-02 -1.34406407e-03 9.95965565e-01 -2.29984530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.188241008 meters 0.06662099572736901 Centerline is valid? [True, True] Translation: X:155.05, Y:-84.87, Z:-23.00 [[ 7.36035573e-01 6.73620386e-01 6.69866535e-02 1.55045272e+02] [-6.70982648e-01 7.39076690e-01 -5.95645206e-02 -8.48670219e+01] [-8.96321495e-02 -1.10527604e-03 9.95974325e-01 -2.30033486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.218241008 meters 0.0662729158380939 Centerline is valid? [True, True] Translation: X:155.07, Y:-84.89, Z:-23.01 [[ 7.36860226e-01 6.72730236e-01 6.68658161e-02 1.55068114e+02] [-6.70096175e-01 7.39887205e-01 -5.94814353e-02 -8.48912344e+01] [-8.94881217e-02 -9.77023664e-04 9.95987410e-01 -2.30053738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.248241008 meters 0.06602278062297007 Centerline is valid? [True, True] Translation: X:155.09, Y:-84.91, Z:-23.01 [[ 7.37198661e-01 6.72323986e-01 6.72204679e-02 1.55091176e+02] [-6.69657548e-01 7.40256460e-01 -5.98259220e-02 -8.49145020e+01] [-8.99827880e-02 -9.11104101e-04 9.95942904e-01 -2.30079430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.278241008 meters 0.06599752944973392 Centerline is valid? [True, True] Translation: X:155.12, Y:-84.94, Z:-23.01 [[ 7.37350691e-01 6.72163605e-01 6.71568888e-02 1.55115261e+02] [-6.69499073e-01 7.40402142e-01 -5.97968236e-02 -8.49373320e+01] [-8.99163528e-02 -8.70245637e-04 9.95948941e-01 -2.30110687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.308241008 meters 0.0659710915109527 Centerline is valid? [True, True] Translation: X:155.14, Y:-84.96, Z:-23.02 [[ 7.37135228e-01 6.72545137e-01 6.56863296e-02 1.55139648e+02] [-6.69995199e-01 7.40055588e-01 -5.85163288e-02 -8.49582542e+01] [-8.79664077e-02 -8.75078087e-04 9.96123057e-01 -2.30154055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.338241008 meters 0.06616838631320282 Centerline is valid? [True, True] Translation: X:155.16, Y:-84.98, Z:-23.02 [[ 7.36772943e-01 6.73022829e-01 6.48529307e-02 1.55162869e+02] [-6.70536710e-01 7.39621161e-01 -5.78018812e-02 -8.49774246e+01] [-8.68685856e-02 -8.99408776e-04 9.96219373e-01 -2.30214511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.368241008 meters 0.06636740470760953 Centerline is valid? [True, True] Translation: X:155.19, Y:-85.00, Z:-23.03 [[ 7.35886465e-01 6.74080693e-01 6.39244031e-02 1.55187543e+02] [-6.71667661e-01 7.38657044e-01 -5.69940685e-02 -8.49974578e+01] [-8.56368119e-02 -9.94790663e-04 9.96325924e-01 -2.30258214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.398241008 meters 0.06642859359478168 Centerline is valid? [True, True] Translation: X:155.21, Y:-85.02, Z:-23.03 [[ 7.35136354e-01 6.74894025e-01 6.39734002e-02 1.55212520e+02] [-6.72478265e-01 7.37913887e-01 -5.70620520e-02 -8.50186638e+01] [-8.57176984e-02 -1.07233234e-03 9.96318888e-01 -2.30300722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42824100800001 meters 0.06640196046013933 Centerline is valid? [True, True] Translation: X:155.24, Y:-85.04, Z:-23.03 [[ 7.33757904e-01 6.76363278e-01 6.42810538e-02 1.55239124e+02] [-6.73927307e-01 7.36567177e-01 -5.73653105e-02 -8.50382072e+01] [-8.61471038e-02 -1.22850749e-03 9.96281671e-01 -2.30312009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45824100800002 meters 0.06680123018679371 Centerline is valid? [True, True] Translation: X:155.26, Y:-85.06, Z:-23.04 [[ 7.32466587e-01 6.77808626e-01 6.37821792e-02 1.55264864e+02] [-6.75413379e-01 7.35237105e-01 -5.69488100e-02 -8.50575117e+01] [-8.54954194e-02 -1.36623665e-03 9.96337627e-01 -2.30369447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48824100800002 meters 0.06692345107843913 Centerline is valid? [True, True] Translation: X:155.29, Y:-85.08, Z:-23.04 [[ 7.31758195e-01 6.78472890e-01 6.48419696e-02 1.55289846e+02] [-6.75996765e-01 7.34624025e-01 -5.79302715e-02 -8.50777086e+01] [-8.69385875e-02 -1.44201074e-03 9.96212629e-01 -2.30399758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.518241008 meters 0.0666934090425567 Centerline is valid? [True, True] Translation: X:155.32, Y:-85.10, Z:-23.04 [[ 7.30965809e-01 6.79178146e-01 6.63779573e-02 1.55315587e+02] [-6.76583052e-01 7.33971853e-01 -5.93354268e-02 -8.50979025e+01] [-8.90188775e-02 -1.53803270e-03 9.96028752e-01 -2.30408614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.548241008 meters 0.06652261427401539 Centerline is valid? [True, True] Translation: X:155.34, Y:-85.12, Z:-23.04 [[ 7.29864808e-01 6.80321812e-01 6.67801948e-02 1.55341336e+02] [-6.77699831e-01 7.32911581e-01 -5.96955159e-02 -8.51198815e+01] [-8.95561396e-02 -1.68727050e-03 9.95980347e-01 -2.30433444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.578241008 meters 0.06819423076444486 Centerline is valid? [True, True] Translation: X:155.37, Y:-85.14, Z:-23.05 [[ 7.28944260e-01 6.81241652e-01 6.74542569e-02 1.55369144e+02] [-6.78567060e-01 7.32056418e-01 -6.03336227e-02 -8.51356580e+01] [-9.04820985e-02 -1.79238889e-03 9.95896469e-01 -2.30545600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.608241008 meters 0.0675774836276687 Centerline is valid? [True, True] Translation: X:155.39, Y:-85.16, Z:-23.06 [[ 7.28129268e-01 6.82012851e-01 6.84561227e-02 1.55393385e+02] [-6.79258150e-01 7.31337746e-01 -6.12655485e-02 -8.51565784e+01] [-9.18484378e-02 -1.89014027e-03 9.95771205e-01 -2.30551306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.638241008 meters 0.06726255435380828 Centerline is valid? [True, True] Translation: X:155.42, Y:-85.18, Z:-23.06 [[ 7.26398868e-01 6.83862146e-01 6.83904198e-02 1.55418307e+02] [-6.81118590e-01 7.29608211e-01 -6.12317369e-02 -8.51764899e+01] [-9.17722788e-02 -2.10332186e-03 9.95777799e-01 -2.30567851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.668241008 meters 0.06710340447562785 Centerline is valid? [True, True] Translation: X:155.44, Y:-85.20, Z:-23.06 [[ 7.26017387e-01 6.84229901e-01 6.87618804e-02 1.55441860e+02] [-6.81455503e-01 7.29263229e-01 -6.15917252e-02 -8.51978055e+01] [-9.22884109e-02 -2.14149838e-03 9.95730015e-01 -2.30592345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.698241008 meters 0.06713718687680455 Centerline is valid? [True, True] Translation: X:155.47, Y:-85.22, Z:-23.06 [[ 7.25351229e-01 6.84903692e-01 6.90834769e-02 1.55466758e+02] [-6.82103798e-01 7.28630230e-01 -6.19063580e-02 -8.52196675e+01] [-9.27362028e-02 -2.21824905e-03 9.95688242e-01 -2.30629175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.728241008 meters 0.06660493903603934 Centerline is valid? [True, True] Translation: X:155.49, Y:-85.24, Z:-23.07 [[ 7.25231951e-01 6.84896476e-01 7.03948500e-02 1.55490792e+02] [-6.81985284e-01 7.28636974e-01 -6.31207785e-02 -8.52417475e+01] [-9.45234893e-02 -2.23104650e-03 9.95520132e-01 -2.30652209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.758241008 meters 0.06657697051128307 Centerline is valid? [True, True] Translation: X:155.52, Y:-85.26, Z:-23.07 [[ 7.25164023e-01 6.84968058e-01 7.03981481e-02 1.55515083e+02] [-6.82056583e-01 7.28569662e-01 -6.31273734e-02 -8.52634599e+01] [-9.45301893e-02 -2.23782028e-03 9.95519480e-01 -2.30684494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.788241008 meters 0.06644767604433675 Centerline is valid? [True, True] Translation: X:155.54, Y:-85.28, Z:-23.07 [[ 7.25137186e-01 6.85017412e-01 7.01940667e-02 1.55538638e+02] [-6.82119616e-01 7.28523340e-01 -6.29807361e-02 -8.52844811e+01] [-9.42809168e-02 -2.21107614e-03 9.95543178e-01 -2.30727449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.818241008 meters 0.0662625249013777 Centerline is valid? [True, True] Translation: X:155.56, Y:-85.31, Z:-23.08 [[ 7.24521930e-01 6.85662739e-01 7.02465670e-02 1.55562364e+02] [-6.82762094e-01 7.27915783e-01 -6.30439248e-02 -8.53076779e+01] [-9.43604550e-02 -2.28498708e-03 9.95535476e-01 -2.30752462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.848241008 meters 0.06644220752860504 Centerline is valid? [True, True] Translation: X:155.58, Y:-85.33, Z:-23.08 [[ 7.25027706e-01 6.85183511e-01 6.97020956e-02 1.55584835e+02] [-6.82322142e-01 7.28367222e-01 -6.25914123e-02 -8.53300685e+01] [-9.36553254e-02 -2.17877513e-03 9.95602297e-01 -2.30799790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.878241008 meters 0.06571334342668798 Centerline is valid? [True, True] Translation: X:155.61, Y:-85.35, Z:-23.08 [[ 7.24965805e-01 6.85233358e-01 6.98557586e-02 1.55607224e+02] [-6.82356733e-01 7.28320358e-01 -6.27594233e-02 -8.53543159e+01] [-9.38822215e-02 -2.16811144e-03 9.95580950e-01 -2.30818358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.908241008 meters 0.06578866051832388 Centerline is valid? [True, True] Translation: X:155.63, Y:-85.37, Z:-23.09 [[ 7.24720547e-01 6.85502172e-01 6.97631832e-02 1.55631168e+02] [-6.82631248e-01 7.28067332e-01 -6.27099613e-02 -8.53746365e+01] [-9.37801093e-02 -2.17533136e-03 9.95590558e-01 -2.30874888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.938241008 meters 0.06665409834316016 Centerline is valid? [True, True] Translation: X:155.66, Y:-85.39, Z:-23.10 [[ 7.24822593e-01 6.85392370e-01 6.97818609e-02 1.55657044e+02] [-6.82516095e-01 7.28170816e-01 -6.27617926e-02 -8.53922503e+01] [-9.38295683e-02 -2.13607803e-03 9.95585983e-01 -2.30967752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.968241008 meters 0.06662659321269977 Centerline is valid? [True, True] Translation: X:155.68, Y:-85.41, Z:-23.10 [[ 7.24384497e-01 6.85932915e-01 6.90154814e-02 1.55679472e+02] [-6.83120491e-01 7.27661549e-01 -6.20891691e-02 -8.54147915e+01] [-9.28089168e-02 -2.16945805e-03 9.95681575e-01 -2.30997120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.998241008 meters 0.06668425109645919 Centerline is valid? [True, True] Translation: X:155.70, Y:-85.44, Z:-23.10 [[ 7.24124375e-01 6.86220904e-01 6.88822235e-02 1.55702184e+02] [-6.83417644e-01 7.27389941e-01 -6.20015962e-02 -8.54376512e+01] [-9.26510278e-02 -2.17845985e-03 9.95696260e-01 -2.31034237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.028241008 meters 0.06645732924966287 Centerline is valid? [True, True] Translation: X:155.73, Y:-85.46, Z:-23.10 [[ 7.23732710e-01 6.86546649e-01 6.97471371e-02 1.55725255e+02] [-6.83673031e-01 7.27082302e-01 -6.27894311e-02 -8.54608940e+01] [-9.38197825e-02 -2.24147152e-03 9.95586673e-01 -2.31048456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.058241008 meters 0.06692390219813034 Centerline is valid? [True, True] Translation: X:155.75, Y:-85.48, Z:-23.11 [[ 7.22727914e-01 6.87624042e-01 6.95524255e-02 1.55748956e+02] [-6.84768105e-01 7.26063125e-01 -6.26496695e-02 -8.54811044e+01] [-9.35788703e-02 -2.34861764e-03 9.95609100e-01 -2.31091968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.088241008 meters 0.06708368276660291 Centerline is valid? [True, True] Translation: X:155.77, Y:-85.50, Z:-23.11 [[ 7.22416899e-01 6.87933517e-01 6.97230218e-02 1.55772139e+02] [-6.85062501e-01 7.25769821e-01 -6.28294261e-02 -8.55022154e+01] [-9.38253331e-02 -2.37558851e-03 9.95585839e-01 -2.31124028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.118241008 meters 0.06723564866026435 Centerline is valid? [True, True] Translation: X:155.80, Y:-85.53, Z:-23.12 [[ 7.21944729e-01 6.88408142e-01 6.99288066e-02 1.55795874e+02] [-6.85519481e-01 7.25319489e-01 -6.30450634e-02 -8.55251141e+01] [-9.41214612e-02 -2.42250801e-03 9.95557774e-01 -2.31162216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.148241008 meters 0.06745229432450732 Centerline is valid? [True, True] Translation: X:155.82, Y:-85.55, Z:-23.12 [[ 7.21418712e-01 6.88940939e-01 7.01100964e-02 1.55817941e+02] [-6.86036205e-01 7.24813270e-01 -6.32459429e-02 -8.55472458e+01] [-9.43894474e-02 -2.47125780e-03 9.95532282e-01 -2.31202732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17824100800001 meters 0.06736266759981431 Centerline is valid? [True, True] Translation: X:155.84, Y:-85.57, Z:-23.12 [[ 7.21486954e-01 6.88810776e-01 7.06844318e-02 1.55840473e+02] [-6.85856208e-01 7.24936991e-01 -6.37779016e-02 -8.55695846e+01] [-9.51726652e-02 -2.46443234e-03 9.95457729e-01 -2.31240788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20824100800002 meters 0.06735221371198072 Centerline is valid? [True, True] Translation: X:155.86, Y:-85.59, Z:-23.13 [[ 7.21866047e-01 6.88425257e-01 7.05696532e-02 1.55862824e+02] [-6.85475810e-01 7.25303355e-01 -6.37020981e-02 -8.55927544e+01] [-9.50385394e-02 -2.38940841e-03 9.95470726e-01 -2.31280027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23824100800002 meters 0.06719899810560645 Centerline is valid? [True, True] Translation: X:155.88, Y:-85.62, Z:-23.13 [[ 7.22941094e-01 6.87323592e-01 7.03025990e-02 1.55883804e+02] [-6.84388168e-01 7.26347980e-01 -6.34936891e-02 -8.56153482e+01] [-9.47048612e-02 -2.21206991e-03 9.95502936e-01 -2.31331170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.268241008 meters 0.06663317147345153 Centerline is valid? [True, True] Translation: X:155.90, Y:-85.64, Z:-23.14 [[ 7.24658625e-01 6.85440732e-01 7.09991574e-02 1.55904261e+02] [-6.82435162e-01 7.28125770e-01 -6.41491458e-02 -8.56392597e+01] [-9.56667536e-02 -1.96608973e-03 9.95411476e-01 -2.31375290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.298241008 meters 0.06564303022191405 Centerline is valid? [True, True] Translation: X:156.92, Y:-84.83, Z:-22.07 [[ 7.89390440e-01 -6.03626999e-01 -1.11790785e-01 1.56916301e+02] [-5.95657126e-01 -7.97189858e-01 9.83916585e-02 -8.48328540e+01] [-1.48510341e-01 -1.10804570e-02 -9.88848776e-01 -2.20731666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.328241008 meters 0.06533064771159793 Centerline is valid? [True, True] Translation: X:156.94, Y:-84.82, Z:-22.08 [[ 8.31562865e-01 -5.42610430e-01 -1.18647046e-01 1.56944648e+02] [-5.35269411e-01 -8.39912072e-01 8.96346416e-02 -8.48168737e+01] [-1.48289778e-01 -1.10287047e-02 -9.88882455e-01 -2.20802091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.358241008 meters 0.0651480486337054 Centerline is valid? [True, True] Translation: X:156.96, Y:-84.78, Z:-22.08 [[ 8.68064218e-01 -4.80113695e-01 -1.26314504e-01 1.56956463e+02] [-4.73396760e-01 -8.77146501e-01 8.06816243e-02 -8.47827811e+01] [-1.49532678e-01 -1.02399541e-02 -9.88703758e-01 -2.20847051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.388241008 meters 0.06527915127993414 Centerline is valid? [True, True] Translation: X:156.95, Y:-84.75, Z:-22.09 [[ 9.01630438e-01 -4.11617576e-01 -1.32791282e-01 1.56953876e+02] [-4.05615083e-01 -9.11302709e-01 7.07373774e-02 -8.47482834e+01] [-1.50129803e-01 -9.91682554e-03 -9.88616558e-01 -2.20874883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.418241008 meters 0.06518544809516326 Centerline is valid? [True, True] Translation: X:156.95, Y:-84.71, Z:-22.09 [[ 9.29734740e-01 -3.41603537e-01 -1.37478494e-01 1.56947413e+02] [-3.36447149e-01 -9.39797013e-01 5.98739542e-02 -8.47108085e+01] [-1.49655033e-01 -9.41264775e-03 -9.88693468e-01 -2.20902047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.448241008 meters 0.0653072655840921 Centerline is valid? [True, True] Translation: X:156.94, Y:-84.68, Z:-22.09 [[ 9.52627438e-01 -2.68839194e-01 -1.42219731e-01 1.56936646e+02] [-2.64497084e-01 -9.63142784e-01 4.89619169e-02 -8.46752647e+01] [-1.50140790e-01 -9.02576140e-03 -9.88623426e-01 -2.20927845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.478241008 meters 0.0652445030765649 Centerline is valid? [True, True] Translation: X:156.92, Y:-84.63, Z:-22.10 [[ 9.69694799e-01 -1.97493039e-01 -1.43834965e-01 1.56919809e+02] [-1.94123802e-01 -9.80270121e-01 3.72349282e-02 -8.46340911e+01] [-1.48350758e-01 -8.18472591e-03 -9.88900937e-01 -2.20962697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.508241008 meters 0.06563268648435917 Centerline is valid? [True, True] Translation: X:156.90, Y:-84.60, Z:-22.10 [[ 9.81826177e-01 -1.22119069e-01 -1.45273158e-01 1.56899203e+02] [-1.19652111e-01 -9.92484927e-01 2.56328157e-02 -8.45984241e+01] [-1.47311676e-01 -7.78472941e-03 -9.89059487e-01 -2.20987888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.538241008 meters 0.06561915584991918 Centerline is valid? [True, True] Translation: X:156.88, Y:-84.57, Z:-22.10 [[ 9.88081394e-01 -4.56740821e-02 -1.47000123e-01 1.56875192e+02] [-4.40815947e-02 -9.98928787e-01 1.40744910e-02 -8.45667530e+01] [-1.47485494e-01 -7.42674287e-03 -9.89036335e-01 -2.21035373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.568241008 meters 0.06594307391952309 Centerline is valid? [True, True] Translation: X:156.85, Y:-84.54, Z:-22.11 [[ 9.88721796e-01 3.04955132e-02 -1.46626167e-01 1.56848765e+02] [ 3.11933904e-02 -9.99510335e-01 2.46207312e-03 -8.45381541e+01] [-1.46479288e-01 -7.00807264e-03 -9.89188913e-01 -2.21065302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.598241008 meters 0.06689033923876399 Centerline is valid? [True, True] Translation: X:156.81, Y:-85.92, Z:-23.20 [[ 9.93832429e-01 -6.59029358e-02 8.91846802e-02 1.56812035e+02] [ 6.57899964e-02 9.97824616e-01 4.20856775e-03 -8.59157651e+01] [-8.92680262e-02 1.68484868e-03 9.96006215e-01 -2.31994153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.628241008 meters 0.06708397902523111 Centerline is valid? [True, True] Translation: X:156.84, Y:-85.92, Z:-23.20 [[ 9.93874937e-01 -6.59420095e-02 8.86806693e-02 1.56839614e+02] [ 6.58302303e-02 9.97822050e-01 4.18778001e-03 -8.59161253e+01] [-8.87636778e-02 1.67573929e-03 9.96051305e-01 -2.32038825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.658241008 meters 0.06721137690915535 Centerline is valid? [True, True] Translation: X:156.87, Y:-85.91, Z:-23.21 [[ 9.93934994e-01 -6.59053475e-02 8.80324571e-02 1.56867637e+02] [ 6.57945891e-02 9.97824507e-01 4.16240034e-03 -8.59141720e+01] [-8.81152675e-02 1.65490399e-03 9.96108910e-01 -2.32085309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.688241008 meters 0.0663828964303184 Centerline is valid? [True, True] Translation: X:156.90, Y:-85.91, Z:-23.21 [[ 9.94259557e-01 -6.32125836e-02 8.63255581e-02 1.56895715e+02] [ 6.30955267e-02 9.97999126e-01 4.08653854e-03 -8.59074957e+01] [-8.64111521e-02 1.38367655e-03 9.96258600e-01 -2.32100528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.718241008 meters 0.0668621745562707 Centerline is valid? [True, True] Translation: X:156.92, Y:-85.91, Z:-23.22 [[ 9.94348891e-01 -6.18418494e-02 8.62894461e-02 1.56922933e+02] [ 6.17174677e-02 9.98085194e-01 4.11103193e-03 -8.59057774e+01] [-8.63784523e-02 1.23776606e-03 9.96261628e-01 -2.32176572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.748241008 meters 0.06560436500548814 Centerline is valid? [True, True] Translation: X:156.95, Y:-85.90, Z:-23.21 [[ 9.94603218e-01 -5.97758034e-02 8.48014891e-02 1.56953047e+02] [ 5.96475281e-02 9.98211294e-01 4.04779061e-03 -8.58989979e+01] [-8.48917641e-02 1.03225363e-03 9.96389644e-01 -2.32149284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.778241008 meters 0.06556421244564403 Centerline is valid? [True, True] Translation: X:156.98, Y:-85.89, Z:-23.22 [[ 9.94665198e-01 -5.79608150e-02 8.53328040e-02 1.56982989e+02] [ 5.78239354e-02 9.98318472e-01 4.07693299e-03 -8.58949292e+01] [-8.54256169e-02 8.79095186e-04 9.96344163e-01 -2.32205260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.808241008 meters 0.06558999703539882 Centerline is valid? [True, True] Translation: X:157.01, Y:-85.89, Z:-23.23 [[ 9.94921120e-01 -5.41431396e-02 8.48556715e-02 1.57012521e+02] [ 5.39938807e-02 9.98533034e-01 4.05466439e-03 -8.58891079e+01] [-8.49507234e-02 5.47615757e-04 9.96385003e-01 -2.32263755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.838241008 meters 0.06615313381249391 Centerline is valid? [True, True] Translation: X:157.04, Y:-85.89, Z:-23.24 [[ 9.95101225e-01 -5.16598831e-02 8.42900214e-02 1.57042921e+02] [ 5.15037381e-02 9.98664681e-01 4.02737845e-03 -8.58865292e+01] [-8.43855212e-02 3.33601958e-04 9.96433125e-01 -2.32354729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.868241008 meters 0.06552798291178875 Centerline is valid? [True, True] Translation: X:157.08, Y:-85.88, Z:-23.23 [[ 9.95216118e-01 -4.95892973e-02 8.41770746e-02 1.57075076e+02] [ 4.94264627e-02 9.98769681e-01 4.01860304e-03 -8.58829847e+01] [-8.42727897e-02 1.61196526e-04 9.96442708e-01 -2.32342311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.898241008 meters 0.06551626925526863 Centerline is valid? [True, True] Translation: X:157.11, Y:-85.88, Z:-23.24 [[ 9.95177315e-01 -4.59150662e-02 8.66828632e-02 1.57105267e+02] [ 4.57288701e-02 9.98945336e-01 4.13353973e-03 -8.58793255e+01] [-8.67812337e-02 -1.49695578e-04 9.96227381e-01 -2.32352788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92824100800001 meters 0.06559728605551612 Centerline is valid? [True, True] Translation: X:157.14, Y:-85.88, Z:-23.24 [[ 9.95172140e-01 -4.41613693e-02 8.76480759e-02 1.57137344e+02] [ 4.39650171e-02 9.99024367e-01 4.17035835e-03 -8.58765344e+01] [-8.77467322e-02 -2.96775288e-04 9.96142772e-01 -2.32395201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95824100800002 meters 0.06547762658360522 Centerline is valid? [True, True] Translation: X:157.17, Y:-85.87, Z:-23.24 [[ 9.95130572e-01 -4.22545754e-02 8.90488349e-02 1.57169280e+02] [ 4.20447645e-02 9.99106768e-01 4.23140533e-03 -8.58741326e+01] [-8.91480899e-02 -4.66763511e-04 9.96018273e-01 -2.32426079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98824100800002 meters 0.06571907849241057 Centerline is valid? [True, True] Translation: X:157.20, Y:-85.87, Z:-23.25 [[ 9.95272371e-01 -4.01070958e-02 8.84552319e-02 1.57199587e+02] [ 3.98919754e-02 9.99195175e-01 4.19913724e-03 -8.58714644e+01] [-8.85524561e-02 -6.50631339e-04 9.96071302e-01 -2.32456895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.018241008 meters 0.06571907849241057 Centerline is valid? [True, True] Translation: X:157.23, Y:-85.87, Z:-23.25 [[ 9.95276039e-01 -4.00149296e-02 8.84557022e-02 1.57231788e+02] [ 3.98003288e-02 9.99198871e-01 4.18920194e-03 -8.58700605e+01] [-8.85524684e-02 -6.48846275e-04 9.96071302e-01 -2.32495475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.048241008 meters 0.06576729848350679 Centerline is valid? [True, True] Translation: X:157.26, Y:-85.87, Z:-23.25 [[ 9.95307518e-01 -3.59845505e-02 8.98223615e-02 1.57263900e+02] [ 3.57477051e-02 9.99351832e-01 4.24467619e-03 -8.58652860e+01] [-8.99168842e-02 -1.01381484e-03 9.95948757e-01 -2.32507747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.078241008 meters 0.06661503393168235 Centerline is valid? [True, True] Translation: X:157.30, Y:-85.86, Z:-23.26 [[ 9.95336807e-01 -3.36777666e-02 9.03905385e-02 1.57295223e+02] [ 3.34285021e-02 9.99431987e-01 4.27056437e-03 -8.58600935e+01] [-9.04830186e-02 -1.22902959e-03 9.95897240e-01 -2.32591477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.108241008 meters 0.06631930295986957 Centerline is valid? [True, True] Translation: X:157.33, Y:-85.86, Z:-23.26 [[ 9.95297999e-01 -3.21843175e-02 9.13567882e-02 1.57326983e+02] [ 3.19258351e-02 9.99481035e-01 4.28972147e-03 -8.58594195e+01] [-9.14474390e-02 -1.35290944e-03 9.95808985e-01 -2.32601356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.138241008 meters 0.06656890396966089 Centerline is valid? [True, True] Translation: X:157.36, Y:-85.86, Z:-23.26 [[ 9.95305094e-01 -3.04729858e-02 9.18649414e-02 1.57359945e+02] [ 3.02045873e-02 9.99534441e-01 4.31088585e-03 -8.58578422e+01] [-9.19535384e-02 -1.51590400e-03 9.95762145e-01 -2.32634254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.168241008 meters 0.06646530250796846 Centerline is valid? [True, True] Translation: X:157.39, Y:-85.86, Z:-23.27 [[ 9.95200454e-01 -2.95015822e-02 9.33044100e-02 1.57392612e+02] [ 2.92231027e-02 9.99563449e-01 4.34982883e-03 -8.58583792e+01] [-9.33920048e-02 -1.60230727e-03 9.95628126e-01 -2.32654377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.198241008 meters 0.06662536135699024 Centerline is valid? [True, True] Translation: X:157.42, Y:-85.86, Z:-23.27 [[ 9.95228378e-01 -2.92765595e-02 9.30771631e-02 1.57424755e+02] [ 2.89987385e-02 9.99570043e-01 4.33623352e-03 -8.58569438e+01] [-9.31640939e-02 -1.61642233e-03 9.95649456e-01 -2.32700302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.228241008 meters 0.06748512119931939 Centerline is valid? [True, True] Translation: X:157.46, Y:-85.85, Z:-23.28 [[ 9.95245386e-01 -2.85918159e-02 9.31081572e-02 1.57455710e+02] [ 2.83131070e-02 9.99589798e-01 4.31324601e-03 -8.58535532e+01] [-9.31932876e-02 -1.65655698e-03 9.95646658e-01 -2.32777188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.258241008 meters 0.06758143611806088 Centerline is valid? [True, True] Translation: X:157.49, Y:-85.85, Z:-23.28 [[ 9.95312366e-01 -2.89212389e-02 9.22868180e-02 1.57487388e+02] [ 2.86509300e-02 9.99580431e-01 4.25282248e-03 -8.58533033e+01] [-9.23710942e-02 -1.58878364e-03 9.95723384e-01 -2.32823081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.288241008 meters 0.06712394997735247 Centerline is valid? [True, True] Translation: X:157.52, Y:-85.86, Z:-23.29 [[ 9.95449232e-01 -3.04594037e-02 9.02942495e-02 1.57519833e+02] [ 3.02086574e-02 9.99535030e-01 4.14263466e-03 -8.58580748e+01] [-9.03784475e-02 -1.39611444e-03 9.95906515e-01 -2.32860710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.318241008 meters 0.06682529559018716 Centerline is valid? [True, True] Translation: X:157.55, Y:-85.86, Z:-23.29 [[ 9.95492793e-01 -3.15681456e-02 8.94290302e-02 1.57552855e+02] [ 3.13283074e-02 9.99500802e-01 4.08460832e-03 -8.58609211e+01] [-8.95133310e-02 -1.26453799e-03 9.95984821e-01 -2.32890669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.348241008 meters 0.06700524703672142 Centerline is valid? [True, True] Translation: X:157.58, Y:-85.86, Z:-23.29 [[ 9.95552958e-01 -3.30832838e-02 8.82031987e-02 1.57583267e+02] [ 3.28580322e-02 9.99452005e-01 4.00488042e-03 -8.58628696e+01] [-8.82873584e-02 -1.08888702e-03 9.96094452e-01 -2.32940926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.378241008 meters 0.06676554728940291 Centerline is valid? [True, True] Translation: X:157.61, Y:-85.86, Z:-23.30 [[ 9.95492916e-01 -3.51873656e-02 8.80664770e-02 1.57614894e+02] [ 3.49725835e-02 9.99380343e-01 3.98111031e-03 -8.58646164e+01] [-8.81519907e-02 -8.83254889e-04 9.96106644e-01 -2.32991187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.408241008 meters 0.06692565177466903 Centerline is valid? [True, True] Translation: X:157.65, Y:-85.87, Z:-23.31 [[ 9.95548473e-01 -3.82833367e-02 8.61256327e-02 1.57645052e+02] [ 3.80911486e-02 9.99266758e-01 3.87435091e-03 -8.58674290e+01] [-8.62108049e-02 -5.76479859e-04 9.96276751e-01 -2.33064346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.438241008 meters 0.06704952930204862 Centerline is valid? [True, True] Translation: X:157.68, Y:-85.87, Z:-23.31 [[ 9.95476357e-01 -3.96986174e-02 8.63182574e-02 1.57675589e+02] [ 3.95126270e-02 9.99211605e-01 3.86283509e-03 -8.58695154e+01] [-8.64035537e-02 -4.34699903e-04 9.96260125e-01 -2.33116224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.468241008 meters 0.06672108030002409 Centerline is valid? [True, True] Translation: X:157.71, Y:-85.87, Z:-23.31 [[ 9.95397307e-01 -4.16221467e-02 8.63237980e-02 1.57708283e+02] [ 4.14444512e-02 9.99133390e-01 3.85040319e-03 -8.58727569e+01] [-8.64092510e-02 -2.55038531e-04 9.96259693e-01 -2.33136702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.498241008 meters 0.06654009189200646 Centerline is valid? [True, True] Translation: X:157.74, Y:-85.88, Z:-23.32 [[ 9.95277525e-01 -4.27791386e-02 8.71354867e-02 1.57740124e+02] [ 4.26029803e-02 9.99084542e-01 3.88116545e-03 -8.58750704e+01] [-8.72217508e-02 -1.50605312e-04 9.96188910e-01 -2.33170502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.528241008 meters 0.06656128810277075 Centerline is valid? [True, True] Translation: X:157.77, Y:-85.88, Z:-23.32 [[ 9.95193247e-01 -4.40047798e-02 8.74870269e-02 1.57772512e+02] [ 4.38322586e-02 9.99031320e-01 3.89298247e-03 -8.58761573e+01] [-8.75735898e-02 -3.95158807e-05 9.96158052e-01 -2.33212844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.558241008 meters 0.0667018281356717 Centerline is valid? [True, True] Translation: X:157.80, Y:-85.88, Z:-23.33 [[ 9.95159097e-01 -4.41287606e-02 8.78124332e-02 1.57803072e+02] [ 4.39564693e-02 9.99025852e-01 3.89571713e-03 -8.58760296e+01] [-8.78988040e-02 -1.69338188e-05 9.96129409e-01 -2.33255167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.588241008 meters 0.06670288153613804 Centerline is valid? [True, True] Translation: X:157.84, Y:-85.87, Z:-23.33 [[ 9.95113777e-01 -4.29465195e-02 8.89053835e-02 1.57835220e+02] [ 4.27654834e-02 9.99077365e-01 3.94097418e-03 -8.58746395e+01] [-8.89926074e-02 -1.19635997e-04 9.96032279e-01 -2.33282618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.618241008 meters 0.06663060532096549 Centerline is valid? [True, True] Translation: X:157.87, Y:-85.87, Z:-23.33 [[ 9.95200676e-01 -4.14695807e-02 8.86334496e-02 1.57867478e+02] [ 4.12844363e-02 9.99139737e-01 3.92184925e-03 -8.58737547e+01] [-8.87198390e-02 -2.43845021e-04 9.96056590e-01 -2.33302965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.648241008 meters 0.06646677886913804 Centerline is valid? [True, True] Translation: X:157.90, Y:-85.87, Z:-23.33 [[ 9.95300484e-01 -3.79447583e-02 8.90906344e-02 1.57900104e+02] [ 3.77439962e-02 9.99279683e-01 3.93765711e-03 -8.58703852e+01] [-8.91758743e-02 -5.56515464e-04 9.96015740e-01 -2.33307631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.67824100800001 meters 0.06646062126618994 Centerline is valid? [True, True] Translation: X:157.93, Y:-85.87, Z:-23.33 [[ 9.95381606e-01 -3.65323486e-02 8.87741302e-02 1.57931667e+02] [ 3.63282302e-02 9.99332245e-01 3.91444917e-03 -8.58680795e+01] [-8.88578549e-02 -6.71363656e-04 9.96044091e-01 -2.33337232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.70824100800002 meters 0.06742876579773267 Centerline is valid? [True, True] Translation: X:157.96, Y:-85.86, Z:-23.35 [[ 9.95479246e-01 -3.50354556e-02 8.82813036e-02 1.57961672e+02] [ 3.48278463e-02 9.99385750e-01 3.89138955e-03 -8.58637737e+01] [-8.83634134e-02 -7.99149862e-04 9.96087982e-01 -2.33450691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.73824100800002 meters 0.06752224165172992 Centerline is valid? [True, True] Translation: X:157.99, Y:-85.86, Z:-23.35 [[ 9.95618517e-01 -3.22924671e-02 8.77551462e-02 1.57993863e+02] [ 3.20783072e-02 9.99477944e-01 3.84993874e-03 -8.58626949e+01] [-8.78336571e-02 -1.01803376e-03 9.96134636e-01 -2.33470288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.768241008 meters 0.06696053249656872 Centerline is valid? [True, True] Translation: X:158.03, Y:-85.86, Z:-23.35 [[ 9.95519449e-01 -3.20245988e-02 8.89688296e-02 1.58025945e+02] [ 3.18050706e-02 9.99486543e-01 3.88438456e-03 -8.58630632e+01] [-8.90475437e-02 -1.03732047e-03 9.96026836e-01 -2.33464543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.798241008 meters 0.06791197711846608 Centerline is valid? [True, True] Translation: X:158.06, Y:-85.86, Z:-23.36 [[ 9.95489503e-01 -3.15316206e-02 8.94785230e-02 1.58055772e+02] [ 3.13094430e-02 9.99502186e-01 3.88586997e-03 -8.58597724e+01] [-8.95565071e-02 -1.06682005e-03 9.95981171e-01 -2.33563943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.828241008 meters 0.06765969592544822 Centerline is valid? [True, True] Translation: X:158.09, Y:-85.86, Z:-23.36 [[ 9.95457804e-01 -3.11617629e-02 8.99594676e-02 1.58088098e+02] [ 3.09373931e-02 9.99513763e-01 3.88776873e-03 -8.58596558e+01] [-9.00368757e-02 -1.08699831e-03 9.95937839e-01 -2.33582403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.858241008 meters 0.06624626420795653 Centerline is valid? [True, True] Translation: X:158.12, Y:-85.86, Z:-23.35 [[ 9.95256677e-01 -3.24649328e-02 9.17070088e-02 1.58121320e+02] [ 3.22389578e-02 9.99472405e-01 3.94480668e-03 -8.58649103e+01] [-9.17866925e-02 -9.69556800e-04 9.95778220e-01 -2.33536148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.888241008 meters 0.06586245092537703 Centerline is valid? [True, True] Translation: X:158.15, Y:-85.87, Z:-23.36 [[ 9.95145065e-01 -3.46350302e-02 9.21233614e-02 1.58151909e+02] [ 3.44184222e-02 9.99399746e-01 3.93947181e-03 -8.58666482e+01] [-9.22045077e-02 -7.49605184e-04 9.95739809e-01 -2.33572799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.918241008 meters 0.0657045817784075 Centerline is valid? [True, True] Translation: X:158.18, Y:-85.87, Z:-23.36 [[ 9.95029436e-01 -3.71356295e-02 9.23978738e-02 1.58182705e+02] [ 3.69294012e-02 9.99310105e-01 3.94130936e-03 -8.58696348e+01] [-9.24804920e-02 -5.09520673e-04 9.95714366e-01 -2.33616582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.948241008 meters 0.06539666458556051 Centerline is valid? [True, True] Translation: X:158.21, Y:-85.87, Z:-23.36 [[ 9.94841907e-01 -4.05092280e-02 9.29977579e-02 1.58214782e+02] [ 4.03171302e-02 9.99179149e-01 3.94423743e-03 -8.58735188e+01] [-9.30811987e-02 -1.74489968e-04 9.95658506e-01 -2.33646462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.978241008 meters 0.06555454826969358 Centerline is valid? [True, True] Translation: X:158.25, Y:-85.88, Z:-23.37 [[ 9.94611444e-01 -4.76460730e-02 9.20756585e-02 1.58245391e+02] [ 4.74886923e-02 9.98864159e-01 3.90068101e-03 -8.58825610e+01] [-9.21569274e-02 4.92890641e-04 9.95744374e-01 -2.33695500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.008241008 meters 0.06572951040043029 Centerline is valid? [True, True] Translation: X:158.28, Y:-85.89, Z:-23.37 [[ 9.94481650e-01 -5.09914040e-02 9.16849230e-02 1.58277756e+02] [ 5.08505611e-02 9.98698763e-01 3.87307089e-03 -8.58860881e+01] [-9.17631125e-02 8.10531847e-04 9.95780535e-01 -2.33732575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.038241008 meters 0.06606452018023413 Centerline is valid? [True, True] Translation: X:158.31, Y:-85.89, Z:-23.38 [[ 9.94280821e-01 -5.44318447e-02 9.18848335e-02 1.58309966e+02] [ 5.43055614e-02 9.98516842e-01 3.87589015e-03 -8.58901063e+01] [-9.19595256e-02 1.13613422e-03 9.95762098e-01 -2.33771152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.068241008 meters 0.06662729172356895 Centerline is valid? [True, True] Translation: X:158.34, Y:-85.90, Z:-23.38 [[ 9.93849822e-01 -6.09018298e-02 9.24851273e-02 1.58341119e+02] [ 6.08024665e-02 9.98142221e-01 3.89432486e-03 -8.58978131e+01] [-9.25504819e-02 1.75294979e-03 9.95706450e-01 -2.33781577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.098241008 meters 0.06732289360237734 Centerline is valid? [True, True] Translation: X:158.37, Y:-85.90, Z:-23.38 [[ 9.93756604e-01 -6.27991649e-02 9.22175484e-02 1.58368305e+02] [ 6.27088781e-02 9.98024322e-01 3.87922065e-03 -8.59006434e+01] [-9.22789680e-02 1.92785786e-03 9.95731327e-01 -2.33837974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.128241008 meters 0.06702027754906939 Centerline is valid? [True, True] Translation: X:158.40, Y:-85.90, Z:-23.39 [[ 9.93662361e-01 -6.44516471e-02 9.20928720e-02 1.58397243e+02] [ 6.43683799e-02 9.97918673e-01 3.87723629e-03 -8.58988279e+01] [-9.21510910e-02 2.07520521e-03 9.95742873e-01 -2.33850483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.158241008 meters 0.0671294314154574 Centerline is valid? [True, True] Translation: X:158.43, Y:-85.90, Z:-23.39 [[ 9.93665508e-01 -6.49363330e-02 9.17176673e-02 1.58426026e+02] [ 6.48539460e-02 9.97887218e-01 3.88155822e-03 -8.58972197e+01] [-9.17759419e-02 2.09128212e-03 9.95777487e-01 -2.33886113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.188241008 meters 0.06697251293616452 Centerline is valid? [True, True] Translation: X:158.45, Y:-85.89, Z:-23.39 [[ 9.93695657e-01 -6.41050774e-02 9.19754377e-02 1.58453415e+02] [ 6.40164820e-02 9.97941157e-01 3.91620920e-03 -8.58949740e+01] [-9.20371236e-02 1.99642388e-03 9.95753575e-01 -2.33927974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.218241008 meters 0.06689048329378516 Centerline is valid? [True, True] Translation: X:158.48, Y:-85.89, Z:-23.40 [[ 9.93772539e-01 -6.31126608e-02 9.18310007e-02 1.58482630e+02] [ 6.30198053e-02 9.98004604e-01 3.91342871e-03 -8.58924579e+01] [-9.18947483e-02 1.89811380e-03 9.95766917e-01 -2.33953460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.248241008 meters 0.06673844892978097 Centerline is valid? [True, True] Translation: X:158.51, Y:-85.89, Z:-23.40 [[ 9.93777463e-01 -6.17966954e-02 9.26688850e-02 1.58510630e+02] [ 6.16942483e-02 9.98087190e-01 3.97260079e-03 -8.58894188e+01] [-9.27371206e-02 1.76925608e-03 9.95689056e-01 -2.33979740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.278241008 meters 0.06633295692088384 Centerline is valid? [True, True] Translation: X:158.54, Y:-85.88, Z:-23.40 [[ 9.93828660e-01 -6.01488344e-02 9.32025290e-02 1.58539422e+02] [ 6.00376331e-02 9.98188103e-01 3.99914458e-03 -8.58846281e+01] [-9.32741996e-02 1.62119474e-03 9.95639139e-01 -2.34020300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.308241008 meters 0.06617949902573377 Centerline is valid? [True, True] Translation: X:158.57, Y:-85.88, Z:-23.41 [[ 9.93838077e-01 -5.88093978e-02 9.39538849e-02 1.58568703e+02] [ 5.86881123e-02 9.98268128e-01 4.05589226e-03 -8.58801361e+01] [-9.40296934e-02 1.48307599e-03 9.95568289e-01 -2.34057787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.338241008 meters 0.0657980330636942 Centerline is valid? [True, True] Translation: X:158.60, Y:-85.87, Z:-23.41 [[ 9.94057846e-01 -5.48528094e-02 9.40221733e-02 1.58596915e+02] [ 5.47134558e-02 9.98493838e-01 4.06129878e-03 -8.58720639e+01] [-9.41033343e-02 1.10711211e-03 9.95561820e-01 -2.34087703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.368241008 meters 0.06571004128695719 Centerline is valid? [True, True] Translation: X:158.63, Y:-85.87, Z:-23.41 [[ 9.94049535e-01 -5.35247151e-02 9.48716299e-02 1.58627467e+02] [ 5.33762196e-02 9.98566040e-01 4.10403561e-03 -8.58683788e+01] [-9.49552551e-02 9.84274257e-04 9.95481055e-01 -2.34126001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.398241008 meters 0.06552252647556783 Centerline is valid? [True, True] Translation: X:158.66, Y:-85.86, Z:-23.42 [[ 9.94075583e-01 -5.23104669e-02 9.52751321e-02 1.58658930e+02] [ 5.21553448e-02 9.98630488e-01 4.11935744e-03 -8.58647417e+01] [-9.53601372e-02 8.74154722e-04 9.95442454e-01 -2.34161222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42824100800001 meters 0.06533391155511621 Centerline is valid? [True, True] Translation: X:158.69, Y:-85.86, Z:-23.42 [[ 9.94225004e-01 -5.04682357e-02 9.47079685e-02 1.58690144e+02] [ 5.03071475e-02 9.98725422e-01 4.08926559e-03 -8.58606422e+01] [-9.47936339e-02 6.98837651e-04 9.95496699e-01 -2.34203166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45824100800002 meters 0.06528158051464066 Centerline is valid? [True, True] Translation: X:158.72, Y:-85.85, Z:-23.43 [[ 9.94515301e-01 -4.65898340e-02 9.36413576e-02 1.58720428e+02] [ 4.64156297e-02 9.98914050e-01 4.03866264e-03 -8.58539160e+01] [-9.37278283e-02 3.29910791e-04 9.95597803e-01 -2.34259618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48824100800002 meters 0.06517475424198427 Centerline is valid? [True, True] Translation: X:158.75, Y:-85.85, Z:-23.43 [[ 9.94732607e-01 -4.41038592e-02 9.25304815e-02 1.58752162e+02] [ 4.39239277e-02 9.99026946e-01 3.98118102e-03 -8.58482080e+01] [-9.26160298e-02 1.04091609e-04 9.95701893e-01 -2.34275512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.518241008 meters 0.06565669795615936 Centerline is valid? [True, True] Translation: X:158.78, Y:-85.84, Z:-23.44 [[ 9.94844012e-01 -4.16160789e-02 9.24850966e-02 1.58782862e+02] [ 4.14260887e-02 9.99133668e-01 3.97392961e-03 -8.58426335e+01] [-9.25703532e-02 -1.22144255e-04 9.95706139e-01 -2.34354071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.548241008 meters 0.06584636346506295 Centerline is valid? [True, True] Translation: X:158.81, Y:-85.84, Z:-23.44 [[ 9.94864621e-01 -3.92002547e-02 9.33151989e-02 1.58813531e+02] [ 3.89969861e-02 9.99231316e-01 4.00149431e-03 -8.58371151e+01] [-9.34003286e-02 -3.41933604e-04 9.95628576e-01 -2.34402004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.578241008 meters 0.06629586357831731 Centerline is valid? [True, True] Translation: X:158.84, Y:-85.83, Z:-23.44 [[ 9.95075158e-01 -3.46881401e-02 9.28555994e-02 1.58843773e+02] [ 3.44674933e-02 9.99397897e-01 3.97938201e-03 -8.58294118e+01] [-9.29377281e-02 -7.59284438e-04 9.95671634e-01 -2.34437477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.608241008 meters 0.06562082035020476 Centerline is valid? [True, True] Translation: X:158.88, Y:-85.83, Z:-23.44 [[ 9.95124616e-01 -3.30555856e-02 9.29210788e-02 1.58877552e+02] [ 3.28280712e-02 9.99453104e-01 3.97634033e-03 -8.58284643e+01] [-9.30017009e-02 -9.06534355e-04 9.95665537e-01 -2.34406670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.638241008 meters 0.06578478828549943 Centerline is valid? [True, True] Translation: X:158.91, Y:-85.83, Z:-23.45 [[ 9.95117879e-01 -3.15554805e-02 9.35128752e-02 1.58908646e+02] [ 3.13207856e-02 9.99501473e-01 3.97672996e-03 -8.58253235e+01] [-9.35917441e-02 -1.02841837e-03 9.95610128e-01 -2.34453331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.668241008 meters 0.06585319730938677 Centerline is valid? [True, True] Translation: X:158.94, Y:-85.82, Z:-23.45 [[ 9.95050229e-01 -2.99363866e-02 9.47568170e-02 1.58940991e+02] [ 2.96903300e-02 9.99551118e-01 4.00582311e-03 -8.58244621e+01] [-9.48342022e-02 -1.17263404e-03 9.95492390e-01 -2.34466986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.698241008 meters 0.0669260420018754 Centerline is valid? [True, True] Translation: X:158.97, Y:-85.82, Z:-23.46 [[ 9.95016600e-01 -2.99319961e-02 9.51106775e-02 1.58971203e+02] [ 2.96861484e-02 9.99551269e-01 3.99906991e-03 -8.58201005e+01] [-9.51876986e-02 -1.15567126e-03 9.95458671e-01 -2.34581273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.728241008 meters 0.06606147252219853 Centerline is valid? [True, True] Translation: X:159.00, Y:-85.82, Z:-23.46 [[ 9.95026675e-01 -2.92246451e-02 9.52251870e-02 1.59004480e+02] [ 2.89767531e-02 9.99572141e-01 3.98527703e-03 -8.58222739e+01] [-9.53009123e-02 -1.20614021e-03 9.95447779e-01 -2.34550419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.758241008 meters 0.06735753326504675 Centerline is valid? [True, True] Translation: X:159.03, Y:-85.82, Z:-23.47 [[ 9.95067105e-01 -2.86463463e-02 9.49781178e-02 1.59034791e+02] [ 2.83994429e-02 9.99588848e-01 3.95056110e-03 -8.58174679e+01] [-9.50522365e-02 -1.23374776e-03 9.95471522e-01 -2.34660999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.788241008 meters 0.0672792735308857 Centerline is valid? [True, True] Translation: X:159.07, Y:-85.82, Z:-23.47 [[ 9.95042771e-01 -2.87142158e-02 9.52122753e-02 1.59067012e+02] [ 2.84686526e-02 9.99586934e-01 3.93676151e-03 -8.58166253e+01] [-9.52859874e-02 -1.20668089e-03 9.95449207e-01 -2.34696658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.818241008 meters 0.06641754590493429 Centerline is valid? [True, True] Translation: X:159.10, Y:-85.82, Z:-23.47 [[ 9.95098407e-01 -2.74775128e-02 9.49955143e-02 1.59099375e+02] [ 2.72291191e-02 9.99621571e-01 3.91030526e-03 -8.58195380e+01] [-9.50670106e-02 -1.30449436e-03 9.95470021e-01 -2.34672473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.848241008 meters 0.06647163374388032 Centerline is valid? [True, True] Translation: X:159.13, Y:-85.82, Z:-23.47 [[ 9.95126672e-01 -2.74406627e-02 9.47096409e-02 1.59132134e+02] [ 2.71954825e-02 9.99622609e-01 3.87876893e-03 -8.58188512e+01] [-9.47803344e-02 -1.28419204e-03 9.95497383e-01 -2.34714682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.878241008 meters 0.06607373013910872 Centerline is valid? [True, True] Translation: X:159.16, Y:-85.82, Z:-23.47 [[ 9.95266198e-01 -2.65766593e-02 9.34819538e-02 1.59163760e+02] [ 2.63362120e-02 9.99645900e-01 3.80508543e-03 -8.58195722e+01] [-9.35499783e-02 -1.32511235e-03 9.95613703e-01 -2.34729440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.908241008 meters 0.06673086271327319 Centerline is valid? [True, True] Translation: X:159.19, Y:-85.82, Z:-23.48 [[ 9.95276564e-01 -2.59269900e-02 9.35540108e-02 1.59194538e+02] [ 2.56851388e-02 9.99662903e-01 3.78854278e-03 -8.58157775e+01] [-9.36206996e-02 -1.36770008e-03 9.95606998e-01 -2.34818151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.938241008 meters 0.06636146594359103 Centerline is valid? [True, True] Translation: X:159.23, Y:-85.82, Z:-23.48 [[ 9.95299447e-01 -2.51834258e-02 9.35136669e-02 1.59227960e+02] [ 2.49406638e-02 9.99681847e-01 3.76399236e-03 -8.58167012e+01] [-9.35787055e-02 -1.41400658e-03 9.95610881e-01 -2.34824704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.968241008 meters 0.06636146594359103 Centerline is valid? [True, True] Translation: X:159.26, Y:-85.82, Z:-23.49 [[ 9.95305999e-01 -2.49194255e-02 9.35146505e-02 1.59260060e+02] [ 2.46778136e-02 9.99688463e-01 3.73937393e-03 -8.58155890e+01] [-9.35787003e-02 -1.41408419e-03 9.95610881e-01 -2.34863283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.998241008 meters 0.0664367906501927 Centerline is valid? [True, True] Translation: X:159.29, Y:-85.82, Z:-23.49 [[ 9.95090680e-01 -2.63339554e-02 9.53994829e-02 1.59291044e+02] [ 2.60915130e-02 9.99652381e-01 3.78806883e-03 -8.58159325e+01] [-9.54660751e-02 -1.28035514e-03 9.95431861e-01 -2.34924111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.028241008 meters 0.06617260700005226 Centerline is valid? [True, True] Translation: X:159.32, Y:-85.82, Z:-23.50 [[ 9.94961734e-01 -2.72367630e-02 9.64847495e-02 1.59323198e+02] [ 2.69952058e-02 9.99628309e-01 3.80829765e-03 -8.58170131e+01] [-9.65526127e-02 -1.18448476e-03 9.95327177e-01 -2.34951478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.058241008 meters 0.06529648142090798 Centerline is valid? [True, True] Translation: X:159.36, Y:-85.82, Z:-23.49 [[ 9.94928762e-01 -2.82064150e-02 9.65461396e-02 1.59356113e+02] [ 2.79710149e-02 9.99601546e-01 3.79102521e-03 -8.58204692e+01] [-9.66146016e-02 -1.07130651e-03 9.95321290e-01 -2.34934497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.088241008 meters 0.06538968742938776 Centerline is valid? [True, True] Translation: X:159.39, Y:-85.82, Z:-23.50 [[ 9.95003985e-01 -2.92482374e-02 9.54547540e-02 1.59387137e+02] [ 2.90251182e-02 9.99571740e-01 3.72535956e-03 -8.58211193e+01] [-9.55228348e-02 -9.36162093e-04 9.95426799e-01 -2.34993671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.118241008 meters 0.06554422180360886 Centerline is valid? [True, True] Translation: X:159.42, Y:-85.82, Z:-23.51 [[ 9.94976551e-01 -3.04244300e-02 9.53730410e-02 1.59417414e+02] [ 3.02092834e-02 9.99536750e-01 3.69923507e-03 -8.58215424e+01] [-9.54414066e-02 -7.99500930e-04 9.95434729e-01 -2.35050055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.148241008 meters 0.06519565275085236 Centerline is valid? [True, True] Translation: X:159.45, Y:-85.82, Z:-23.51 [[ 9.95010364e-01 -3.07522342e-02 9.49140425e-02 1.59451025e+02] [ 3.05415228e-02 9.99526753e-01 3.67226056e-03 -8.58233713e+01] [-9.49820550e-02 -7.55117922e-04 9.95478698e-01 -2.35053573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17824100800001 meters 0.0651542095084092 Centerline is valid? [True, True] Translation: X:159.48, Y:-85.83, Z:-23.51 [[ 9.95025604e-01 -3.22476978e-02 9.42556837e-02 1.59482926e+02] [ 3.20490100e-02 9.99479738e-01 3.62137373e-03 -8.58250519e+01] [-9.43234270e-02 -5.82558232e-04 9.95541436e-01 -2.35099265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.20824100800002 meters 0.06516096835761144 Centerline is valid? [True, True] Translation: X:159.52, Y:-85.83, Z:-23.51 [[ 9.95060608e-01 -3.30214715e-02 9.36160769e-02 1.59515482e+02] [ 3.28310365e-02 9.99454526e-01 3.57404456e-03 -8.58251729e+01] [-9.36830320e-02 -4.82878114e-04 9.95601957e-01 -2.35142768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.23824100800002 meters 0.06516464978141398 Centerline is valid? [True, True] Translation: X:159.55, Y:-85.83, Z:-23.52 [[ 9.95096913e-01 -3.38717523e-02 9.29238282e-02 1.59546789e+02] [ 3.36901461e-02 9.99426117e-01 3.52281605e-03 -8.58251151e+01] [-9.29898247e-02 -3.74926031e-04 9.95666988e-01 -2.35186562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.268241008 meters 0.06531727186210078 Centerline is valid? [True, True] Translation: X:159.58, Y:-85.83, Z:-23.52 [[ 9.95159178e-01 -3.48502908e-02 9.18894324e-02 1.59577049e+02] [ 3.46788414e-02 9.99392511e-01 3.46233860e-03 -8.58251125e+01] [-9.19542741e-02 -2.58958989e-04 9.95763197e-01 -2.35238373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.298241008 meters 0.0656270755914339 Centerline is valid? [True, True] Translation: X:159.61, Y:-85.83, Z:-23.53 [[ 9.95274445e-01 -3.61470283e-02 9.01230912e-02 1.59608691e+02] [ 3.59890732e-02 9.99346476e-01 3.37760806e-03 -8.58250792e+01] [-9.01862841e-02 -1.18200463e-04 9.95924907e-01 -2.35312324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.328241008 meters 0.06565090127236117 Centerline is valid? [True, True] Translation: X:159.64, Y:-85.83, Z:-23.54 [[ 9.95211232e-01 -3.76925808e-02 9.01879889e-02 1.59641064e+02] [ 3.75429200e-02 9.99289381e-01 3.35587971e-03 -8.58253166e+01] [-9.02503914e-02 4.61112675e-05 9.95919106e-01 -2.35355075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.358241008 meters 0.06578409224578839 Centerline is valid? [True, True] Translation: X:159.67, Y:-85.83, Z:-23.54 [[ 9.95197844e-01 -3.88821846e-02 8.98299912e-02 1.59672812e+02] [ 3.87394186e-02 9.99243789e-01 3.33291437e-03 -8.58264165e+01] [-8.98916517e-02 1.63052431e-04 9.95951537e-01 -2.35391156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.388241008 meters 0.06567087833012746 Centerline is valid? [True, True] Translation: X:159.70, Y:-85.83, Z:-23.54 [[ 9.95118876e-01 -3.98223125e-02 9.02917850e-02 1.59704828e+02] [ 3.96824585e-02 9.99206745e-01 3.34426523e-03 -8.58278792e+01] [-9.03533369e-02 2.55058556e-04 9.95909740e-01 -2.35403685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.418241008 meters 0.06578243170204183 Centerline is valid? [True, True] Translation: X:159.74, Y:-85.83, Z:-23.54 [[ 9.95156165e-01 -4.00805194e-02 8.97650212e-02 1.59735597e+02] [ 3.99434917e-02 9.99196414e-01 3.32311147e-03 -8.58289529e+01] [-8.98260794e-02 2.78513519e-04 9.95957428e-01 -2.35439832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.448241008 meters 0.06561007343701701 Centerline is valid? [True, True] Translation: X:159.77, Y:-85.83, Z:-23.55 [[ 9.95114226e-01 -3.97370499e-02 9.03805508e-02 1.59767213e+02] [ 3.95988181e-02 9.99210134e-01 3.32279217e-03 -8.58263941e+01] [-9.04412002e-02 2.72405227e-04 9.95901760e-01 -2.35461864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.478241008 meters 0.06573855743339876 Centerline is valid? [True, True] Translation: X:159.80, Y:-85.82, Z:-23.55 [[ 9.95102421e-01 -3.84721663e-02 9.10552860e-02 1.59797838e+02] [ 3.83267570e-02 9.99259659e-01 3.34560654e-03 -8.58229511e+01] [-9.11165868e-02 1.60632656e-04 9.95840219e-01 -2.35511195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.508241008 meters 0.06542302153604614 Centerline is valid? [True, True] Translation: X:159.83, Y:-85.82, Z:-23.55 [[ 9.95047683e-01 -3.69221471e-02 9.22868552e-02 1.59829594e+02] [ 3.67682662e-02 9.99318144e-01 3.36768900e-03 -8.58187031e+01] [-9.23482712e-02 4.22165240e-05 9.95726767e-01 -2.35518106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.538241008 meters 0.06536690818425529 Centerline is valid? [True, True] Translation: X:159.86, Y:-85.81, Z:-23.56 [[ 9.95046798e-01 -3.52025367e-02 9.29658581e-02 1.59861831e+02] [ 3.50394299e-02 9.99380192e-01 3.38667736e-03 -8.58145139e+01] [-9.30274568e-02 -1.12431805e-04 9.95663537e-01 -2.35556442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.568241008 meters 0.06562616566776061 Centerline is valid? [True, True] Translation: X:159.89, Y:-85.81, Z:-23.56 [[ 9.95106717e-01 -3.11515506e-02 9.37667443e-02 1.59892775e+02] [ 3.09682969e-02 9.99514553e-01 3.40918210e-03 -8.58075598e+01] [-9.38274269e-02 -4.88703630e-04 9.95588356e-01 -2.35595304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.598241008 meters 0.0657319936783075 Centerline is valid? [True, True] Translation: X:159.92, Y:-85.80, Z:-23.56 [[ 9.95062639e-01 -2.92832719e-02 9.48305534e-02 1.59924921e+02] [ 2.90883204e-02 9.99570934e-01 3.43777961e-03 -8.58043202e+01] [-9.48905343e-02 -6.62344530e-04 9.95487493e-01 -2.35619448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.628241008 meters 0.0656769226853696 Centerline is valid? [True, True] Translation: X:159.96, Y:-85.80, Z:-23.56 [[ 9.95052381e-01 -2.73685647e-02 9.55077001e-02 1.59957473e+02] [ 2.71640626e-02 9.99625066e-01 3.44095938e-03 -8.58015732e+01] [-9.55660652e-02 -8.29557678e-04 9.95422744e-01 -2.35637581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.658241008 meters 0.06577938771888955 Centerline is valid? [True, True] Translation: X:159.99, Y:-85.80, Z:-23.57 [[ 9.94934890e-01 -2.63268731e-02 9.70126771e-02 1.59988751e+02] [ 2.61135271e-02 9.99652967e-01 3.46838811e-03 -8.57985597e+01] [-9.70703223e-02 -9.17477170e-04 9.95277103e-01 -2.35670301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.688241008 meters 0.06589004007979378 Centerline is valid? [True, True] Translation: X:160.02, Y:-85.79, Z:-23.57 [[ 9.94950865e-01 -2.48152641e-02 9.72470024e-02 1.60020439e+02] [ 2.45961702e-02 9.99691511e-01 3.45129385e-03 -8.57946071e+01] [-9.73026475e-02 -1.04196398e-03 9.95254294e-01 -2.35704674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.718241008 meters 0.06579925386572971 Centerline is valid? [True, True] Translation: X:160.05, Y:-85.79, Z:-23.57 [[ 9.94968554e-01 -2.44980582e-02 9.71463957e-02 1.60053547e+02] [ 2.42782938e-02 9.99699307e-01 3.44380120e-03 -8.57938519e+01] [-9.72015509e-02 -1.06792516e-03 9.95264145e-01 -2.35732150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.748241008 meters 0.06575571247300699 Centerline is valid? [True, True] Translation: X:160.08, Y:-85.79, Z:-23.58 [[ 9.95028488e-01 -2.42381448e-02 9.65961672e-02 1.60084812e+02] [ 2.40222386e-02 9.99705651e-01 3.39763499e-03 -8.57924607e+01] [-9.66500866e-02 -1.06028743e-03 9.95317857e-01 -2.35781574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.778241008 meters 0.06582602429840845 Centerline is valid? [True, True] Translation: X:160.12, Y:-85.79, Z:-23.58 [[ 9.95053320e-01 -2.46779643e-02 9.62283188e-02 1.60116342e+02] [ 2.44678951e-02 9.99694961e-01 3.36258876e-03 -8.57902762e+01] [-9.62819472e-02 -9.91450701e-04 9.95353607e-01 -2.35848466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.808241008 meters 0.065996306788085 Centerline is valid? [True, True] Translation: X:160.15, Y:-85.79, Z:-23.59 [[ 9.95243320e-01 -2.45352901e-02 9.42801838e-02 1.60148151e+02] [ 2.43352454e-02 9.99698502e-01 3.27112535e-03 -8.57892087e+01] [-9.43320166e-02 -9.61234242e-04 9.95540329e-01 -2.35906448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.838241008 meters 0.0661392712561608 Centerline is valid? [True, True] Translation: X:160.18, Y:-85.79, Z:-23.60 [[ 9.95404946e-01 -2.53231229e-02 9.23457220e-02 1.60179942e+02] [ 2.51365285e-02 9.99678959e-01 3.18334603e-03 -8.57883645e+01] [-9.23966875e-02 -8.47467520e-04 9.95721916e-01 -2.35966595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.868241008 meters 0.06642956522569018 Centerline is valid? [True, True] Translation: X:160.21, Y:-85.79, Z:-23.60 [[ 9.95569674e-01 -2.51254397e-02 9.06075965e-02 1.60211045e+02] [ 2.49468806e-02 9.99683963e-01 3.10284549e-03 -8.57874808e+01] [-9.06569215e-02 -8.28721979e-04 9.95881838e-01 -2.36028794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.898241008 meters 0.06683697929292383 Centerline is valid? [True, True] Translation: X:160.24, Y:-85.79, Z:-23.61 [[ 9.95776908e-01 -2.48601272e-02 8.83760299e-02 1.60242411e+02] [ 2.46908145e-02 9.99690608e-01 3.00865285e-03 -8.57860594e+01] [-8.84234825e-02 -8.13870874e-04 9.96082640e-01 -2.36097501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.92824100800001 meters 0.06707953727563729 Centerline is valid? [True, True] Translation: X:160.27, Y:-85.79, Z:-23.62 [[ 9.95873765e-01 -2.44651447e-02 8.73893673e-02 1.60272579e+02] [ 2.42998113e-02 9.99700348e-01 2.95538404e-03 -8.57850311e+01] [-8.74354848e-02 -8.19644297e-04 9.96169847e-01 -2.36152889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.95824100800002 meters 0.066887003676698 Centerline is valid? [True, True] Translation: X:160.31, Y:-85.79, Z:-23.62 [[ 9.95888717e-01 -2.48672180e-02 8.71050239e-02 1.60305528e+02] [ 2.47059406e-02 9.99690470e-01 2.92926039e-03 -8.57853830e+01] [-8.71509048e-02 -7.65205826e-04 9.96194827e-01 -2.36170592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.98824100800002 meters 0.06693797284138478 Centerline is valid? [True, True] Translation: X:160.34, Y:-85.79, Z:-23.62 [[ 9.95861503e-01 -2.57734959e-02 8.71527082e-02 1.60336111e+02] [ 2.56178696e-02 9.99667591e-01 2.90385085e-03 -8.57850367e+01] [-8.71985803e-02 -6.59166561e-04 9.96190731e-01 -2.36233128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.018241008 meters 0.06642843126872217 Centerline is valid? [True, True] Translation: X:160.37, Y:-85.79, Z:-23.62 [[ 9.95714873e-01 -2.71017427e-02 8.84159899e-02 1.60368072e+02] [ 2.69475553e-02 9.99632533e-01 2.93727572e-03 -8.57876408e+01] [-8.84631052e-02 -5.42094344e-04 9.96079307e-01 -2.36232921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.048241008 meters 0.06620280505415463 Centerline is valid? [True, True] Translation: X:160.40, Y:-85.79, Z:-23.63 [[ 9.95566080e-01 -2.86245083e-02 8.96036676e-02 1.60398709e+02] [ 2.84741889e-02 9.99590158e-01 2.95568457e-03 -8.57888940e+01] [-8.96515493e-02 -3.91187540e-04 9.95973115e-01 -2.36270669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.078241008 meters 0.06566133432967 Centerline is valid? [True, True] Translation: X:160.43, Y:-85.79, Z:-23.63 [[ 9.95422402e-01 -2.93347146e-02 9.09599716e-02 1.60431227e+02] [ 2.91844668e-02 9.99569596e-01 2.98171551e-03 -8.57895576e+01] [-9.10082898e-02 -3.13448144e-04 9.95850086e-01 -2.36271595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.108241008 meters 0.06549580790459562 Centerline is valid? [True, True] Translation: X:160.46, Y:-85.79, Z:-23.63 [[ 9.95261980e-01 -3.16696845e-02 9.19272636e-02 1.60461626e+02] [ 3.15281318e-02 9.99498387e-01 2.99201496e-03 -8.57893199e+01] [-9.19759078e-02 -7.95438484e-05 9.95761229e-01 -2.36320195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.138241008 meters 0.06546246582780471 Centerline is valid? [True, True] Translation: X:160.49, Y:-85.79, Z:-23.63 [[ 9.95292481e-01 -3.21631740e-02 9.14243308e-02 1.60493932e+02] [ 3.20269402e-02 9.99482631e-01 2.95721037e-03 -8.57886168e+01] [-9.14721439e-02 -1.52476668e-05 9.95807635e-01 -2.36348839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.168241008 meters 0.06544176335408114 Centerline is valid? [True, True] Translation: X:160.53, Y:-85.79, Z:-23.64 [[ 9.95313458e-01 -3.23081897e-02 9.11443960e-02 1.60526423e+02] [ 3.21752024e-02 9.99477954e-01 2.92844446e-03 -8.57885116e+01] [-9.11914272e-02 1.78692129e-05 9.95833381e-01 -2.36393380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.198241008 meters 0.06533499963055787 Centerline is valid? [True, True] Translation: X:160.56, Y:-85.79, Z:-23.64 [[ 9.95360354e-01 -3.15979926e-02 9.08808656e-02 1.60559400e+02] [ 3.14649612e-02 9.99500659e-01 2.89653324e-03 -8.57881466e+01] [-9.09270096e-02 -2.35314415e-05 9.95857559e-01 -2.36432762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.228241008 meters 0.06535747676595949 Centerline is valid? [True, True] Translation: X:160.59, Y:-85.79, Z:-23.65 [[ 9.95379804e-01 -3.10472235e-02 9.08576652e-02 1.60591050e+02] [ 3.09141490e-02 9.99517918e-01 2.87192744e-03 -8.57866545e+01] [-9.09030297e-02 -4.98711710e-05 9.95859748e-01 -2.36475232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.258241008 meters 0.06548635141214323 Centerline is valid? [True, True] Translation: X:160.62, Y:-85.78, Z:-23.65 [[ 9.95508069e-01 -3.05560245e-02 8.96103448e-02 1.60622516e+02] [ 3.04265580e-02 9.99533053e-01 2.81075236e-03 -8.57841393e+01] [-8.96543869e-02 -7.15923059e-05 9.95972934e-01 -2.36531588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.288241008 meters 0.06570128260293953 Centerline is valid? [True, True] Translation: X:160.65, Y:-85.78, Z:-23.66 [[ 9.95624543e-01 -2.99616508e-02 8.85102705e-02 1.60653470e+02] [ 2.98347700e-02 9.99551044e-01 2.75640483e-03 -8.57816261e+01] [-8.85531197e-02 -1.03660735e-04 9.96071450e-01 -2.36591134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.318241008 meters 0.0658754934736166 Centerline is valid? [True, True] Translation: X:160.68, Y:-85.78, Z:-23.66 [[ 9.95790788e-01 -2.94027854e-02 8.68111935e-02 1.60684219e+02] [ 2.92801418e-02 9.99567636e-01 2.68602790e-03 -8.57797691e+01] [-8.68526362e-02 -1.32877785e-04 9.96221161e-01 -2.36642331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.348241008 meters 0.06547252203266452 Centerline is valid? [True, True] Translation: X:160.72, Y:-85.78, Z:-23.66 [[ 9.95932635e-01 -2.94873579e-02 8.51391978e-02 1.60716325e+02] [ 2.93710850e-02 9.99565148e-01 2.61822045e-03 -8.57795303e+01] [-8.51793792e-02 -1.06940584e-04 9.96365627e-01 -2.36643591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.378241008 meters 0.06554891790409714 Centerline is valid? [True, True] Translation: X:160.75, Y:-85.78, Z:-23.67 [[ 9.95931033e-01 -3.00807617e-02 8.49501365e-02 1.60748077e+02] [ 2.99687407e-02 9.99547471e-01 2.59387904e-03 -8.57790807e+01] [-8.49897199e-02 -3.74760142e-05 9.96381827e-01 -2.36696807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.408241008 meters 0.06539402347625373 Centerline is valid? [True, True] Translation: X:160.78, Y:-85.78, Z:-23.67 [[ 9.95919566e-01 -2.99759499e-02 8.51214425e-02 1.60779490e+02] [ 2.98650566e-02 9.99550620e-01 2.57614371e-03 -8.57784121e+01] [-8.51604129e-02 -2.34752293e-05 9.96367253e-01 -2.36727536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.438241008 meters 0.06522797364776771 Centerline is valid? [True, True] Translation: X:160.81, Y:-85.78, Z:-23.68 [[ 9.95833522e-01 -3.10102210e-02 8.57552478e-02 1.60811287e+02] [ 3.09033516e-02 9.99519064e-01 2.57376180e-03 -8.57774322e+01] [-8.57938179e-02 8.70862931e-05 9.96312909e-01 -2.36751055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.468241008 meters 0.06525271189297016 Centerline is valid? [True, True] Translation: X:160.84, Y:-85.78, Z:-23.68 [[ 9.95765645e-01 -3.11926884e-02 8.64742522e-02 1.60841571e+02] [ 3.10864834e-02 9.99513382e-01 2.57483933e-03 -8.57757044e+01] [-8.65124885e-02 1.24243862e-04 9.96250759e-01 -2.36808482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.498241008 meters 0.06514401502078393 Centerline is valid? [True, True] Translation: X:160.87, Y:-85.77, Z:-23.68 [[ 9.95733165e-01 -3.06841440e-02 8.70284261e-02 1.60873626e+02] [ 3.05762025e-02 9.99529126e-01 2.57337436e-03 -8.57733808e+01] [-8.70664085e-02 9.86045894e-05 9.96202505e-01 -2.36834830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.528241008 meters 0.06491246104174249 Centerline is valid? [True, True] Translation: X:160.91, Y:-85.77, Z:-23.69 [[ 9.95652466e-01 -3.03982856e-02 8.80460717e-02 1.60905585e+02] [ 3.02884669e-02 9.99537861e-01 2.58331279e-03 -8.57720587e+01] [-8.80839105e-02 9.46987843e-05 9.96113054e-01 -2.36853415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.558241008 meters 0.06499813478250359 Centerline is valid? [True, True] Translation: X:160.94, Y:-85.77, Z:-23.69 [[ 9.95626445e-01 -3.00470559e-02 8.84599095e-02 1.60936334e+02] [ 2.99366306e-02 9.99548482e-01 2.57504188e-03 -8.57712297e+01] [-8.84973407e-02 8.44118422e-05 9.96076410e-01 -2.36887675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.588241008 meters 0.06498939853975627 Centerline is valid? [True, True] Translation: X:160.97, Y:-85.77, Z:-23.69 [[ 9.95706305e-01 -2.85604734e-02 8.80525571e-02 1.60966731e+02] [ 2.84468329e-02 9.99592066e-01 2.54543087e-03 -8.57673970e+01] [-8.80893362e-02 -2.96851927e-05 9.96112578e-01 -2.36926012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.618241008 meters 0.06498386207832492 Centerline is valid? [True, True] Translation: X:161.00, Y:-85.76, Z:-23.70 [[ 9.95737833e-01 -2.75100241e-02 8.80304912e-02 1.60998880e+02] [ 2.73939697e-02 9.99621522e-01 2.52639847e-03 -8.57640622e+01] [-8.80666749e-02 -1.04125931e-04 9.96114577e-01 -2.36959805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.648241008 meters 0.06490333600008182 Centerline is valid? [True, True] Translation: X:161.03, Y:-85.76, Z:-23.70 [[ 9.95792813e-01 -2.60635789e-02 8.78485271e-02 1.61031549e+02] [ 2.59443079e-02 9.99660265e-01 2.49940277e-03 -8.57613901e+01] [-8.78838253e-02 -2.09718085e-04 9.96130709e-01 -2.36960755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67824100800001 meters 0.0648790707122118 Centerline is valid? [True, True] Translation: X:161.06, Y:-85.76, Z:-23.70 [[ 9.95721026e-01 -2.43964101e-02 8.91316648e-02 1.61063632e+02] [ 2.42691589e-02 9.99702306e-01 2.51129141e-03 -8.57587508e+01] [-8.91663974e-02 -3.37395124e-04 9.96016687e-01 -2.36995951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70824100800002 meters 0.06498856838326196 Centerline is valid? [True, True] Translation: X:161.09, Y:-85.75, Z:-23.71 [[ 9.95894971e-01 -2.20356297e-02 8.77931552e-02 1.61094498e+02] [ 2.19048021e-02 9.99757051e-01 2.45342537e-03 -8.57544141e+01] [-8.78258887e-02 -5.20262301e-04 9.96135705e-01 -2.37051519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73824100800002 meters 0.06515336937373868 Centerline is valid? [True, True] Translation: X:161.13, Y:-85.75, Z:-23.71 [[ 9.96010113e-01 -2.10789662e-02 8.67152410e-02 1.61126151e+02] [ 2.09492503e-02 9.99777646e-01 2.40573714e-03 -8.57520834e+01] [-8.67466700e-02 -5.79519237e-04 9.96230234e-01 -2.37097077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.768241008 meters 0.06512983460822505 Centerline is valid? [True, True] Translation: X:161.16, Y:-85.75, Z:-23.71 [[ 9.95952169e-01 -2.07177644e-02 8.74645685e-02 1.61157718e+02] [ 2.05861408e-02 9.99785186e-01 2.40671590e-03 -8.57502774e+01] [-8.74956417e-02 -5.96416001e-04 9.96164724e-01 -2.37127221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.798241008 meters 0.0652306076102815 Centerline is valid? [True, True] Translation: X:161.19, Y:-85.75, Z:-23.72 [[ 9.95882440e-01 -2.06623108e-02 8.82679709e-02 1.61188658e+02] [ 2.05298707e-02 9.99786340e-01 2.40810334e-03 -8.57484977e+01] [-8.82988685e-02 -5.86057804e-04 9.96093854e-01 -2.37165792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.828241008 meters 0.0652306076102815 Centerline is valid? [True, True] Translation: X:161.22, Y:-85.75, Z:-23.72 [[ 9.95887654e-01 -2.04074482e-02 8.82684323e-02 1.61220780e+02] [ 2.02755203e-02 9.99791571e-01 2.39105096e-03 -8.57477945e+01] [-8.82988299e-02 -5.91529731e-04 9.96093854e-01 -2.37204336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.858241008 meters 0.06492002478531744 Centerline is valid? [True, True] Translation: X:161.25, Y:-85.75, Z:-23.72 [[ 9.95684241e-01 -2.15083896e-02 9.02789055e-02 1.61253373e+02] [ 2.13771218e-02 9.99768552e-01 2.42081137e-03 -8.57485366e+01] [-9.03100784e-02 -4.80460570e-04 9.95913580e-01 -2.37207012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.888241008 meters 0.06455323221317658 Centerline is valid? [True, True] Translation: X:161.29, Y:-85.75, Z:-23.72 [[ 9.95616950e-01 -2.24977466e-02 9.07785208e-02 1.61285933e+02] [ 2.23709655e-02 9.99746824e-01 2.41398900e-03 -8.57500414e+01] [-9.08098472e-02 -3.72605215e-04 9.95868180e-01 -2.37212970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.918241008 meters 0.06455586939356792 Centerline is valid? [True, True] Translation: X:161.32, Y:-85.75, Z:-23.73 [[ 9.95606810e-01 -2.36886018e-02 9.05865928e-02 1.61317067e+02] [ 2.35690829e-02 9.99719356e-01 2.38903172e-03 -8.57505885e+01] [-9.06177630e-02 -2.43493327e-04 9.95885717e-01 -2.37256125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.948241008 meters 0.06441071962938565 Centerline is valid? [True, True] Translation: X:161.35, Y:-85.75, Z:-23.73 [[ 9.95436269e-01 -2.63765391e-02 9.17110317e-02 1.61348972e+02] [ 2.62677361e-02 9.99652078e-01 2.39344059e-03 -8.57499275e+01] [-9.17422541e-02 2.65236134e-05 9.95782787e-01 -2.37297043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.978241008 meters 0.06438444932336759 Centerline is valid? [True, True] Translation: X:161.38, Y:-85.75, Z:-23.73 [[ 9.95271600e-01 -2.75153045e-02 9.31522994e-02 1.61380708e+02] [ 2.74100113e-02 9.99621370e-01 2.40982283e-03 -8.57496949e+01] [-9.31833362e-02 1.54877354e-04 9.95648955e-01 -2.37321177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.008241008 meters 0.06418519003369044 Centerline is valid? [True, True] Translation: X:161.41, Y:-85.75, Z:-23.73 [[ 9.95281946e-01 -2.84884153e-02 9.27483546e-02 1.61412434e+02] [ 2.83902022e-02 9.99594087e-01 2.37843340e-03 -8.57509606e+01] [-9.27784647e-02 2.65932716e-04 9.95686741e-01 -2.37342668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.038241008 meters 0.06420101212602868 Centerline is valid? [True, True] Translation: X:161.44, Y:-85.75, Z:-23.74 [[ 9.95247295e-01 -2.90424838e-02 9.29481372e-02 1.61443707e+02] [ 2.89481779e-02 9.99578121e-01 2.36299127e-03 -8.57517047e+01] [-9.29775514e-02 3.38918541e-04 9.95668148e-01 -2.37387724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.068241008 meters 0.06440870743764672 Centerline is valid? [True, True] Translation: X:161.48, Y:-85.75, Z:-23.75 [[ 9.95221737e-01 -3.00448619e-02 9.29031782e-02 1.61475036e+02] [ 2.99570701e-02 9.99548448e-01 2.33972352e-03 -8.57508016e+01] [-9.29315242e-02 4.54563312e-04 9.95672399e-01 -2.37453399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.098241008 meters 0.06430090574445074 Centerline is valid? [True, True] Translation: X:161.51, Y:-85.75, Z:-23.75 [[ 9.95215626e-01 -2.98723231e-02 9.30242021e-02 1.61508008e+02] [ 2.97855399e-02 9.99553617e-01 2.32147995e-03 -8.57478018e+01] [-9.30520256e-02 4.60402969e-04 9.95661141e-01 -2.37465779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.128241008 meters 0.06438739522078592 Centerline is valid? [True, True] Translation: X:161.54, Y:-85.75, Z:-23.75 [[ 9.95248101e-01 -2.90979922e-02 9.29221376e-02 1.61540812e+02] [ 2.90102398e-02 9.99576479e-01 2.29528216e-03 -8.57459795e+01] [-9.29495712e-02 4.11318280e-04 9.95670733e-01 -2.37497866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.158241008 meters 0.0644316959283162 Centerline is valid? [True, True] Translation: X:161.57, Y:-85.75, Z:-23.75 [[ 9.95275717e-01 -2.83934870e-02 9.28442631e-02 1.61571815e+02] [ 2.83050915e-02 9.99596755e-01 2.26903896e-03 -8.57450122e+01] [-9.28712500e-02 3.69645982e-04 9.95678058e-01 -2.37547498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.188241008 meters 0.0644963974913031 Centerline is valid? [True, True] Translation: X:161.60, Y:-85.74, Z:-23.76 [[ 9.95368848e-01 -2.79572135e-02 9.19741834e-02 1.61603659e+02] [ 2.78706642e-02 9.99609060e-01 2.22554854e-03 -8.57438122e+01] [-9.20004472e-02 3.48139891e-04 9.95758905e-01 -2.37575224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.218241008 meters 0.06469417982629956 Centerline is valid? [True, True] Translation: X:161.64, Y:-85.74, Z:-23.76 [[ 9.95513601e-01 -2.73185601e-02 9.05890011e-02 1.61635487e+02] [ 2.72337652e-02 9.99626732e-01 2.17222064e-03 -8.57412809e+01] [-9.06145290e-02 3.04604396e-04 9.95885995e-01 -2.37607211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.248241008 meters 0.06491030215871382 Centerline is valid? [True, True] Translation: X:161.67, Y:-85.74, Z:-23.77 [[ 9.95529432e-01 -2.71765717e-02 9.04576345e-02 1.61666870e+02] [ 2.70932435e-02 9.99630600e-01 2.14919746e-03 -8.57393450e+01] [-9.04826273e-02 3.11201390e-04 9.95897985e-01 -2.37666463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.278241008 meters 0.06490256810544529 Centerline is valid? [True, True] Translation: X:161.70, Y:-85.74, Z:-23.77 [[ 9.95470904e-01 -2.70900712e-02 9.11252261e-02 1.61698542e+02] [ 2.70072146e-02 9.99632943e-01 2.14245110e-03 -8.57377409e+01] [-9.11498171e-02 3.28290804e-04 9.95837137e-01 -2.37713739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.308241008 meters 0.06489093259693578 Centerline is valid? [True, True] Translation: X:161.73, Y:-85.74, Z:-23.77 [[ 9.95459949e-01 -2.74883258e-02 9.11256329e-02 1.61731457e+02] [ 2.74088550e-02 9.99622051e-01 2.12365273e-03 -8.57365856e+01] [-9.11495677e-02 3.83638019e-04 9.95837140e-01 -2.37739209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.338241008 meters 0.06476521117860908 Centerline is valid? [True, True] Translation: X:161.76, Y:-85.74, Z:-23.78 [[ 9.95382476e-01 -2.81174888e-02 9.17776256e-02 1.61763125e+02] [ 2.80417630e-02 9.99604515e-01 2.11477759e-03 -8.57371413e+01] [-9.18007912e-02 4.68593873e-04 9.95777282e-01 -2.37764115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.368241008 meters 0.06463106492008105 Centerline is valid? [True, True] Translation: X:161.79, Y:-85.74, Z:-23.78 [[ 9.95254142e-01 -3.12371118e-02 9.21598365e-02 1.61794148e+02] [ 3.11760265e-02 9.99511698e-01 2.10275016e-03 -8.57413285e+01] [-9.21805185e-02 7.80406706e-04 9.95742006e-01 -2.37781902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.398241008 meters 0.06482322158145916 Centerline is valid? [True, True] Translation: X:161.83, Y:-85.74, Z:-23.78 [[ 9.95118173e-01 -3.40414339e-02 9.26337053e-02 1.61826006e+02] [ 3.39935773e-02 9.99419856e-01 2.09490078e-03 -8.57426653e+01] [-9.26512778e-02 1.06427718e-03 9.95698051e-01 -2.37822530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42824100800001 meters 0.06499108474655631 Centerline is valid? [True, True] Translation: X:161.86, Y:-85.74, Z:-23.79 [[ 9.95054194e-01 -3.63178152e-02 9.24562957e-02 1.61856282e+02] [ 3.62822480e-02 9.99339447e-01 2.06608263e-03 -8.57437324e+01] [-9.24702590e-02 1.29865806e-03 9.95714600e-01 -2.37870089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45824100800002 meters 0.0655978466494008 Centerline is valid? [True, True] Translation: X:161.89, Y:-85.75, Z:-23.79 [[ 9.95022611e-01 -4.07618498e-02 9.09311519e-02 1.61887253e+02] [ 4.07462032e-02 9.99167468e-01 2.02923614e-03 -8.57458051e+01] [-9.09381642e-02 1.68596334e-03 9.95855114e-01 -2.37927150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48824100800002 meters 0.06536773155238688 Centerline is valid? [True, True] Translation: X:161.92, Y:-85.74, Z:-23.79 [[ 9.95047031e-01 -4.20912917e-02 9.00540393e-02 1.61918842e+02] [ 4.20811687e-02 9.99112170e-01 2.01190041e-03 -8.57449942e+01] [-9.00587701e-02 1.78764369e-03 9.95934848e-01 -2.37948238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.518241008 meters 0.06626746074542385 Centerline is valid? [True, True] Translation: X:161.95, Y:-85.75, Z:-23.80 [[ 9.95062000e-01 -4.34532663e-02 8.92380484e-02 1.61949734e+02] [ 4.34508123e-02 9.99053623e-01 1.97103083e-03 -8.57477043e+01] [-8.92392433e-02 1.91616781e-03 9.96008376e-01 -2.38020898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.548241008 meters 0.06613026336645732 Centerline is valid? [True, True] Translation: X:161.98, Y:-85.74, Z:-23.80 [[ 9.94870138e-01 -4.78050874e-02 8.91520193e-02 1.61981080e+02] [ 4.78204759e-02 9.98854015e-01 1.96450997e-03 -8.57449128e+01] [-8.91437660e-02 2.30885968e-03 9.96016093e-01 -2.38041391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.578241008 meters 0.06705567727867806 Centerline is valid? [True, True] Translation: X:162.01, Y:-85.75, Z:-23.81 [[ 9.94813985e-01 -5.02341481e-02 8.84401826e-02 1.62011487e+02] [ 5.02591027e-02 9.98734317e-01 1.94605403e-03 -8.57469863e+01] [-8.84260037e-02 2.50896246e-03 9.96079589e-01 -2.38099832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.608241008 meters 0.06767997172146095 Centerline is valid? [True, True] Translation: X:162.04, Y:-85.75, Z:-23.81 [[ 9.94673979e-01 -5.30465045e-02 8.83727543e-02 1.62042672e+02] [ 5.30826949e-02 9.98588231e-01 1.94222511e-03 -8.57491804e+01] [-8.83510207e-02 2.75918317e-03 9.96085581e-01 -2.38137544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.638241008 meters 0.0679913531735579 Centerline is valid? [True, True] Translation: X:162.07, Y:-85.75, Z:-23.82 [[ 9.94562307e-01 -5.58230023e-02 8.79181989e-02 1.62073770e+02] [ 5.58700242e-02 9.98436189e-01 1.92776408e-03 -8.57506082e+01] [-8.78883251e-02 2.99471041e-03 9.96125832e-01 -2.38165701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.668241008 meters 0.06742458521782826 Centerline is valid? [True, True] Translation: X:162.10, Y:-85.75, Z:-23.82 [[ 9.94147462e-01 -6.10750096e-02 8.91104244e-02 1.62104667e+02] [ 6.11446381e-02 9.98127010e-01 1.95072531e-03 -8.57464549e+01] [-8.90626621e-02 3.50931604e-03 9.96019843e-01 -2.38155579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.698241008 meters 0.07028906198880197 Centerline is valid? [True, True] Translation: X:162.13, Y:-85.75, Z:-23.82 [[ 9.93934214e-01 -6.33587769e-02 8.98912888e-02 1.62132562e+02] [ 6.34392471e-02 9.97983769e-01 1.96451437e-03 -8.57517828e+01] [-8.98345164e-02 3.75003763e-03 9.95949646e-01 -2.38227685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.728241008 meters 0.0686673658692755 Centerline is valid? [True, True] Translation: X:162.16, Y:-85.75, Z:-23.82 [[ 9.93837094e-01 -6.45228337e-02 9.01367583e-02 1.62161827e+02] [ 6.46085688e-02 9.97908741e-01 1.96931264e-03 -8.57453550e+01] [-9.00753246e-02 3.86643101e-03 9.95927450e-01 -2.38216005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.758241008 meters 0.0689850339770733 Centerline is valid? [True, True] Translation: X:162.19, Y:-85.74, Z:-23.83 [[ 9.93742487e-01 -6.57039606e-02 9.03264083e-02 1.62190628e+02] [ 6.57930997e-02 9.97831295e-01 1.99354317e-03 -8.57445888e+01] [-9.02615006e-02 3.96178584e-03 9.95910220e-01 -2.38252057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.788241008 meters 0.06907744568723415 Centerline is valid? [True, True] Translation: X:162.22, Y:-85.74, Z:-23.83 [[ 9.93756927e-01 -6.60369870e-02 8.99237759e-02 1.62219312e+02] [ 6.61249177e-02 9.97809340e-01 2.00422379e-03 -8.57409381e+01] [-8.98591364e-02 3.95449101e-03 9.95946634e-01 -2.38278475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.818241008 meters 0.06962305616015042 Centerline is valid? [True, True] Translation: X:162.25, Y:-85.74, Z:-23.83 [[ 9.93805611e-01 -6.55201593e-02 8.97636706e-02 1.62246831e+02] [ 6.56035524e-02 9.97843713e-01 2.02421152e-03 -8.57390995e+01] [-8.97027411e-02 3.87714290e-03 9.95961036e-01 -2.38329108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.848241008 meters 0.07002086808065817 Centerline is valid? [True, True] Translation: X:162.27, Y:-85.74, Z:-23.84 [[ 9.93802402e-01 -6.54895285e-02 8.98215355e-02 1.62274531e+02] [ 6.55722780e-02 9.97845752e-01 2.03248001e-03 -8.57365659e+01] [-8.97611438e-02 3.86991918e-03 9.95955803e-01 -2.38382009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.878241008 meters 0.069727060249386 Centerline is valid? [True, True] Translation: X:162.30, Y:-85.73, Z:-23.84 [[ 9.94046469e-01 -6.34500102e-02 8.85760333e-02 1.62303478e+02] [ 6.35218941e-02 9.97978421e-01 2.00987167e-03 -8.57301620e+01] [-8.85244962e-02 3.62861157e-03 9.96067391e-01 -2.38424137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.908241008 meters 0.06884499674101525 Centerline is valid? [True, True] Translation: X:162.33, Y:-85.72, Z:-23.84 [[ 9.94226369e-01 -6.17642471e-02 8.77445391e-02 1.62332618e+02] [ 6.18273981e-02 9.98084852e-01 2.00046461e-03 -8.57245629e+01] [-8.77000525e-02 3.43610188e-03 9.96141001e-01 -2.38444251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.938241008 meters 0.06909820275635191 Centerline is valid? [True, True] Translation: X:162.36, Y:-85.72, Z:-23.85 [[ 9.94446753e-01 -6.00086805e-02 8.64558460e-02 1.62361271e+02] [ 6.00622947e-02 9.98192660e-01 1.98333003e-03 -8.57220493e+01] [-8.64186079e-02 3.22042039e-03 9.96253709e-01 -2.38501435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.968241008 meters 0.06778812938953725 Centerline is valid? [True, True] Translation: X:162.39, Y:-85.71, Z:-23.85 [[ 9.94607767e-01 -5.80250566e-02 8.59562784e-02 1.62392056e+02] [ 5.80703510e-02 9.98310539e-01 1.97546172e-03 -8.57146237e+01] [-8.59256849e-02 3.02670168e-03 9.96296952e-01 -2.38507077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.998241008 meters 0.06801375224646461 Centerline is valid? [True, True] Translation: X:162.42, Y:-85.71, Z:-23.86 [[ 9.94775885e-01 -5.42024051e-02 8.65045562e-02 1.62420898e+02] [ 5.42339171e-02 9.98526280e-01 1.98756009e-03 -8.57087865e+01] [-8.64848033e-02 2.71430408e-03 9.96249472e-01 -2.38568232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.028241008 meters 0.06644121872207459 Centerline is valid? [True, True] Translation: X:162.45, Y:-85.70, Z:-23.86 [[ 9.94829708e-01 -5.22624171e-02 8.70775081e-02 1.62452227e+02] [ 5.22866909e-02 9.98630105e-01 2.00361418e-03 -8.57008218e+01] [-8.70629349e-02 2.55973984e-03 9.96199525e-01 -2.38560589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.058241008 meters 0.06626565220413226 Centerline is valid? [True, True] Translation: X:162.48, Y:-85.70, Z:-23.86 [[ 9.94853860e-01 -5.02251890e-02 8.79956068e-02 1.62483095e+02] [ 5.02422953e-02 9.98735012e-01 2.02184320e-03 -8.56969495e+01] [-8.79858408e-02 2.40966275e-03 9.96118811e-01 -2.38597106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.088241008 meters 0.06613031344679024 Centerline is valid? [True, True] Translation: X:162.51, Y:-85.69, Z:-23.86 [[ 9.94927427e-01 -4.82133789e-02 8.82886428e-02 1.62514231e+02] [ 4.82229122e-02 9.98834544e-01 2.02619848e-03 -8.56929314e+01] [-8.82834361e-02 2.24161503e-03 9.96092872e-01 -2.38629695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.118241008 meters 0.0659508554533074 Centerline is valid? [True, True] Translation: X:162.54, Y:-85.69, Z:-23.87 [[ 9.94926191e-01 -4.53674958e-02 8.97979120e-02 1.62544631e+02] [ 4.53662062e-02 9.98968307e-01 2.05643639e-03 -8.56880244e+01] [-8.97985635e-02 2.02778817e-03 9.95957884e-01 -2.38676179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.148241008 meters 0.06572083354926414 Centerline is valid? [True, True] Translation: X:162.58, Y:-85.68, Z:-23.87 [[ 9.94855727e-01 -4.45448135e-02 9.09826504e-02 1.62576241e+02] [ 4.45404294e-02 9.99005418e-01 2.07961462e-03 -8.56848347e+01] [-9.09847968e-02 1.98348980e-03 9.95850306e-01 -2.38703303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.17824100800001 meters 0.06640404279088571 Centerline is valid? [True, True] Translation: X:162.61, Y:-85.69, Z:-23.88 [[ 9.94724398e-01 -4.37165831e-02 9.28021153e-02 1.62607376e+02] [ 4.37089985e-02 9.99042066e-01 2.11523421e-03 -8.56851381e+01] [-9.28056878e-02 1.95221244e-03 9.95682325e-01 -2.38772885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.20824100800002 meters 0.06562224116842533 Centerline is valid? [True, True] Translation: X:162.64, Y:-85.68, Z:-23.88 [[ 9.94640475e-01 -4.38920601e-02 9.36152375e-02 1.62639276e+02] [ 4.38856741e-02 9.99034294e-01 2.12791742e-03 -8.56767651e+01] [-9.36182314e-02 1.99185501e-03 9.95606177e-01 -2.38779912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.23824100800002 meters 0.0658345081526675 Centerline is valid? [True, True] Translation: X:162.67, Y:-85.67, Z:-23.88 [[ 9.94495035e-01 -4.45241549e-02 9.48537009e-02 1.62671169e+02] [ 4.45210383e-02 9.99006133e-01 2.15017716e-03 -8.56748805e+01] [-9.48551638e-02 2.08464474e-03 9.95488901e-01 -2.38814094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.268241008 meters 0.06627808873223395 Centerline is valid? [True, True] Translation: X:162.70, Y:-85.68, Z:-23.88 [[ 9.94549019e-01 -4.54047853e-02 9.38650827e-02 1.62702145e+02] [ 4.54058514e-02 9.98966361e-01 2.12547775e-03 -8.56753195e+01] [-9.38645670e-02 2.14813219e-03 9.95582658e-01 -2.38849799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.298241008 meters 0.06659361203984059 Centerline is valid? [True, True] Translation: X:162.73, Y:-85.68, Z:-23.89 [[ 9.94519351e-01 -4.73218723e-02 9.32303674e-02 1.62733522e+02] [ 4.73333627e-02 9.98876963e-01 2.08926467e-03 -8.56769647e+01] [-9.32245342e-02 2.33509265e-03 9.95642372e-01 -2.38888258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.328241008 meters 0.06805462004670797 Centerline is valid? [True, True] Translation: X:162.76, Y:-85.68, Z:-23.89 [[ 9.94430930e-01 -5.30261930e-02 9.10788081e-02 1.62762639e+02] [ 5.30614212e-02 9.98589174e-01 2.03630153e-03 -8.56782143e+01] [-9.10582891e-02 2.80780977e-03 9.95841606e-01 -2.38946114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.358241008 meters 0.06691571440234191 Centerline is valid? [True, True] Translation: X:162.79, Y:-85.67, Z:-23.90 [[ 9.94446032e-01 -5.61698713e-02 8.90058181e-02 1.62793560e+02] [ 5.62161696e-02 9.98416641e-01 1.98849316e-03 -8.56706724e+01] [-8.89765833e-02 3.02611704e-03 9.96029121e-01 -2.38955175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.388241008 meters 0.06898763046005152 Centerline is valid? [True, True] Translation: X:162.82, Y:-85.67, Z:-23.91 [[ 9.94519269e-01 -5.84904389e-02 8.66619465e-02 1.62822717e+02] [ 5.85430537e-02 9.98283007e-01 1.93644712e-03 -8.56731961e+01] [-8.66264122e-02 3.14762102e-03 9.96235894e-01 -2.39051472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.418241008 meters 0.06825708409488686 Centerline is valid? [True, True] Translation: X:162.85, Y:-85.67, Z:-23.91 [[ 9.94587464e-01 -6.08550219e-02 8.42166384e-02 1.62853636e+02] [ 6.09137461e-02 9.98141274e-01 1.87446134e-03 -8.56669971e+01] [-8.41741731e-02 3.26563518e-03 9.96445706e-01 -2.39068041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.448241008 meters 0.06936628621910772 Centerline is valid? [True, True] Translation: X:162.88, Y:-85.67, Z:-23.91 [[ 9.94321375e-01 -6.63968503e-02 8.31652674e-02 1.62884518e+02] [ 6.64735605e-02 9.97786473e-01 1.84929373e-03 -8.56665562e+01] [-8.31039661e-02 3.68949914e-03 9.96534053e-01 -2.39097996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.478241008 meters 0.07031355137097575 Centerline is valid? [True, True] Translation: X:162.91, Y:-85.67, Z:-23.91 [[ 9.94036615e-01 -7.04427468e-02 8.32407845e-02 1.62914892e+02] [ 7.05337538e-02 9.97507677e-01 1.85061750e-03 -8.56672140e+01] [-8.31636841e-02 4.03170345e-03 9.96527745e-01 -2.39125490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.508241008 meters 0.0716012269759272 Centerline is valid? [True, True] Translation: X:162.94, Y:-85.67, Z:-23.92 [[ 9.93537549e-01 -7.56836198e-02 8.45879891e-02 1.62944068e+02] [ 7.57965900e-02 9.97121529e-01 1.87979890e-03 -8.56680993e+01] [-8.44867750e-02 4.54383035e-03 9.96414240e-01 -2.39151212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.538241008 meters 0.0733773030678511 Centerline is valid? [True, True] Translation: X:162.97, Y:-85.67, Z:-23.92 [[ 9.93093347e-01 -8.10771865e-02 8.48062163e-02 1.62973309e+02] [ 8.12100846e-02 9.96695219e-01 1.88723734e-03 -8.56688253e+01] [-8.46789623e-02 5.01291715e-03 9.96395676e-01 -2.39181115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.568241008 meters 0.07635011887265815 Centerline is valid? [True, True] Translation: X:163.00, Y:-85.67, Z:-23.92 [[ 9.92373141e-01 -9.00069317e-02 8.42276722e-02 1.63003353e+02] [ 9.01699562e-02 9.95924628e-01 1.87441178e-03 -8.56658697e+01] [-8.40531232e-02 5.73468961e-03 9.96444773e-01 -2.39198982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.598241008 meters 0.081435919582652 Centerline is valid? [True, True] Translation: X:163.03, Y:-85.67, Z:-23.93 [[ 9.92018340e-01 -9.36789226e-02 8.44030356e-02 1.63031893e+02] [ 9.38558239e-02 9.95584028e-01 1.87837334e-03 -8.56693922e+01] [-8.42062781e-02 6.05833565e-03 9.96429927e-01 -2.39264086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.628241008 meters 0.07618249841604083 Centerline is valid? [True, True] Translation: X:163.06, Y:-85.65, Z:-23.92 [[ 9.91792552e-01 -9.59198352e-02 8.45394476e-02 1.63062480e+02] [ 9.61051192e-02 9.95369406e-01 1.88465794e-03 -8.56536400e+01] [-8.43287558e-02 6.25548398e-03 9.96418351e-01 -2.39226911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.658241008 meters 0.07576487342167736 Centerline is valid? [True, True] Translation: X:163.09, Y:-85.65, Z:-23.92 [[ 9.91656875e-01 -9.71464808e-02 8.47301802e-02 1.63092206e+02] [ 9.73369846e-02 9.95249688e-01 1.88970063e-03 -8.56455655e+01] [-8.45112631e-02 6.37344562e-03 9.96402141e-01 -2.39247927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.688241008 meters 0.07614514587166658 Centerline is valid? [True, True] Translation: X:163.12, Y:-85.63, Z:-23.93 [[ 9.91550533e-01 -9.76692585e-02 8.53712835e-02 1.63119956e+02] [ 9.78649944e-02 9.95197887e-01 1.89937851e-03 -8.56305789e+01] [-8.51468319e-02 6.47153041e-03 9.96347397e-01 -2.39268240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.718241008 meters 0.07591826078141117 Centerline is valid? [True, True] Translation: X:163.15, Y:-85.62, Z:-23.93 [[ 9.91681866e-01 -9.76942747e-02 8.38027716e-02 1.63148628e+02] [ 9.78810964e-02 9.95196329e-01 1.88627671e-03 -8.56201600e+01] [-8.35844891e-02 6.33212076e-03 9.96480576e-01 -2.39289668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.748241008 meters 0.0768783072399918 Centerline is valid? [True, True] Translation: X:163.18, Y:-85.61, Z:-23.93 [[ 9.91750926e-01 -9.73998667e-02 8.33268686e-02 1.63175809e+02] [ 9.75816818e-02 9.95225710e-01 1.89768661e-03 -8.56111872e+01] [-8.31138765e-02 6.24914352e-03 9.96520462e-01 -2.39334329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.778241008 meters 0.0768783072399918 Centerline is valid? [True, True] Translation: X:163.20, Y:-85.61, Z:-23.94 [[ 9.91726356e-01 -9.76498150e-02 8.33267524e-02 1.63203331e+02] [ 9.78320784e-02 9.95201117e-01 1.90280266e-03 -8.56104517e+01] [-8.31126854e-02 6.26496982e-03 9.96520462e-01 -2.39367127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.808241008 meters 0.07443898007022273 Centerline is valid? [True, True] Translation: X:163.23, Y:-85.59, Z:-23.94 [[ 9.91755633e-01 -9.78286577e-02 8.27666444e-02 1.63231874e+02] [ 9.80072899e-02 9.95183861e-01 1.91163238e-03 -8.55946873e+01] [-8.25550412e-02 6.21586233e-03 9.96567122e-01 -2.39372330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.838241008 meters 0.07708713306649567 Centerline is valid? [True, True] Translation: X:163.26, Y:-85.58, Z:-23.94 [[ 9.91784362e-01 -9.82221470e-02 8.19523550e-02 1.63258858e+02] [ 9.83967562e-02 9.95145422e-01 1.91520798e-03 -8.55775210e+01] [-8.17426267e-02 6.16437257e-03 9.96634408e-01 -2.39401084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.868241008 meters 0.0760055721251155 Centerline is valid? [True, True] Translation: X:163.29, Y:-85.56, Z:-23.94 [[ 9.91688028e-01 -9.88872229e-02 8.23175126e-02 1.63287700e+02] [ 9.90651534e-02 9.95079077e-01 1.93008649e-03 -8.55644058e+01] [-8.21032954e-02 6.24075335e-03 9.96604286e-01 -2.39408492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.898241008 meters 0.07694689047766563 Centerline is valid? [True, True] Translation: X:163.31, Y:-85.56, Z:-23.94 [[ 9.91657900e-01 -9.89529487e-02 8.26009847e-02 1.63314883e+02] [ 9.91303417e-02 9.95072525e-01 1.96092122e-03 -8.55569614e+01] [-8.23880093e-02 6.24370081e-03 9.96580771e-01 -2.39430340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92824100800001 meters 0.07615978779539326 Centerline is valid? [True, True] Translation: X:163.34, Y:-85.55, Z:-23.94 [[ 9.91593059e-01 -9.99093581e-02 8.22272751e-02 1.63343378e+02] [ 1.00088303e-01 9.94976641e-01 1.95326126e-03 -8.55455961e+01] [-8.20093671e-02 6.29314809e-03 9.96611690e-01 -2.39434341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95824100800002 meters 0.07733475680345957 Centerline is valid? [True, True] Translation: X:163.37, Y:-85.52, Z:-23.95 [[ 9.91794960e-01 -9.92417985e-02 8.05842645e-02 1.63369501e+02] [ 9.94096364e-02 9.95044710e-01 1.93648520e-03 -8.55249677e+01] [-8.03771264e-02 6.09025618e-03 9.96745919e-01 -2.39454846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98824100800002 meters 0.07788909221374271 Centerline is valid? [True, True] Translation: X:163.40, Y:-85.51, Z:-23.95 [[ 9.92098305e-01 -9.82556115e-02 7.80178745e-02 1.63397373e+02] [ 9.84090759e-02 9.95144262e-01 1.88457522e-03 -8.55129531e+01] [-7.78242102e-02 5.80798306e-03 9.96950179e-01 -2.39487402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.018241008 meters 0.07869475593568646 Centerline is valid? [True, True] Translation: X:163.42, Y:-85.50, Z:-23.95 [[ 9.92309741e-01 -9.75047756e-02 7.62508864e-02 1.63424718e+02] [ 9.76492403e-02 9.95219191e-01 1.84039431e-03 -8.55014300e+01] [-7.60657927e-02 5.61959993e-03 9.97086965e-01 -2.39528623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.048241008 meters 0.07973872321228703 Centerline is valid? [True, True] Translation: X:163.45, Y:-85.48, Z:-23.96 [[ 9.92631917e-01 -9.46312660e-02 7.56756357e-02 1.63452971e+02] [ 9.47630742e-02 9.95498126e-01 1.85523313e-03 -8.54819585e+01] [-7.55105165e-02 5.32969226e-03 9.97130762e-01 -2.39569709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.078241008 meters 0.07978115752113281 Centerline is valid? [True, True] Translation: X:163.48, Y:-85.47, Z:-23.96 [[ 9.92575463e-01 -9.42776468e-02 7.68483993e-02 1.63481060e+02] [ 9.44124500e-02 9.95531383e-01 1.88520480e-03 -8.54723804e+01] [-7.66827259e-02 5.38423763e-03 9.97041007e-01 -2.39604045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.108241008 meters 0.07669358664830218 Centerline is valid? [True, True] Translation: X:163.51, Y:-85.46, Z:-23.96 [[ 9.92670530e-01 -9.28849001e-02 7.73150303e-02 1.63511165e+02] [ 9.30167280e-02 9.95662729e-01 1.90219696e-03 -8.54571823e+01] [-7.71563795e-02 5.30333628e-03 9.97004899e-01 -2.39603606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.138241008 meters 0.07896977109366325 Centerline is valid? [True, True] Translation: X:163.54, Y:-85.44, Z:-23.97 [[ 9.92488194e-01 -9.06560375e-02 8.21502777e-02 1.63539507e+02] [ 9.07970019e-02 9.95867361e-01 2.02599864e-03 -8.54414727e+01] [-8.19944492e-02 5.44821919e-03 9.96617894e-01 -2.39664035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.168241008 meters 0.07447319925835913 Centerline is valid? [True, True] Translation: X:163.57, Y:-85.42, Z:-23.97 [[ 9.92503447e-01 -8.90428027e-02 8.37155091e-02 1.63569694e+02] [ 8.91833133e-02 9.96013084e-01 2.06712687e-03 -8.54224243e+01] [-8.35658051e-02 5.41439593e-03 9.96487552e-01 -2.39659539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.198241008 meters 0.07163445153778726 Centerline is valid? [True, True] Translation: X:163.60, Y:-85.41, Z:-23.97 [[ 9.92780679e-01 -8.63857959e-02 8.32106790e-02 1.63600329e+02] [ 8.65151137e-02 9.96248414e-01 2.05717412e-03 -8.54064848e+01] [-8.30762177e-02 5.15665863e-03 9.96529855e-01 -2.39662722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.228241008 meters 0.07172572830236772 Centerline is valid? [True, True] Translation: X:163.63, Y:-85.40, Z:-23.97 [[ 9.93105418e-01 -8.28856986e-02 8.28950546e-02 1.63629829e+02] [ 8.30020641e-02 9.96547272e-01 2.04737468e-03 -8.53960406e+01] [-8.27785386e-02 4.84720175e-03 9.96556179e-01 -2.39707054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.258241008 meters 0.07117237334194486 Centerline is valid? [True, True] Translation: X:163.66, Y:-85.38, Z:-23.98 [[ 9.93399547e-01 -7.87324345e-02 8.34178880e-02 1.63659516e+02] [ 7.88356920e-02 9.96885494e-01 2.06048333e-03 -8.53834584e+01] [-8.33203094e-02 4.52942372e-03 9.96512524e-01 -2.39752939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.288241008 meters 0.07303921873032405 Centerline is valid? [True, True] Translation: X:163.69, Y:-85.37, Z:-23.98 [[ 9.93707148e-01 -7.24273653e-02 8.54422642e-02 1.63687440e+02] [ 7.25126340e-02 9.97365264e-01 2.10920930e-03 -8.53661790e+01] [-8.53699108e-02 4.09970727e-03 9.96340891e-01 -2.39845598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.318241008 meters 0.06969362953577024 Centerline is valid? [True, True] Translation: X:163.72, Y:-85.35, Z:-23.98 [[ 9.93701354e-01 -7.03978298e-02 8.71881003e-02 1.63718433e+02] [ 7.04786351e-02 9.97510961e-01 2.15501602e-03 -8.53492123e+01] [-8.71227942e-02 4.00345597e-03 9.96189536e-01 -2.39833429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.348241008 meters 0.06963004523027382 Centerline is valid? [True, True] Translation: X:163.75, Y:-85.34, Z:-23.99 [[ 9.93522497e-01 -6.97539149e-02 8.97075242e-02 1.63749450e+02] [ 6.98369890e-02 9.97555955e-01 2.21624079e-03 -8.53405605e+01] [-8.96428664e-02 4.06301830e-03 9.95965686e-01 -2.39866229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.378241008 meters 0.0695656021341522 Centerline is valid? [True, True] Translation: X:163.78, Y:-85.33, Z:-23.99 [[ 9.93399547e-01 -6.98060155e-02 9.10190068e-02 1.63781592e+02] [ 6.98919779e-02 9.97552036e-01 2.24649386e-03 -8.53324442e+01] [-9.09530144e-02 4.12983243e-03 9.95846622e-01 -2.39902076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.408241008 meters 0.07760675284309945 Centerline is valid? [True, True] Translation: X:163.81, Y:-85.33, Z:-24.00 [[ 9.93187498e-01 -7.22389938e-02 9.14337050e-02 1.63812506e+02] [ 7.23364730e-02 9.97377744e-01 2.25173066e-03 -8.53336714e+01] [-9.13566052e-02 4.37760099e-03 9.95808620e-01 -2.40033479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.438241008 meters 0.07868402832569454 Centerline is valid? [True, True] Translation: X:163.84, Y:-85.33, Z:-24.01 [[ 9.93079737e-01 -7.37536466e-02 9.13949432e-02 1.63843876e+02] [ 7.38583668e-02 9.97266224e-01 2.24053087e-03 -8.53273925e+01] [-9.13103372e-02 4.52525544e-03 9.95812203e-01 -2.40075054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.468241008 meters 0.08014154730176586 Centerline is valid? [True, True] Translation: X:163.87, Y:-85.32, Z:-24.01 [[ 9.92947160e-01 -7.48384521e-02 9.19518552e-02 1.63874846e+02] [ 7.49496153e-02 9.97184787e-01 2.24854947e-03 -8.53215812e+01] [-9.18612691e-02 4.65906536e-03 9.95760915e-01 -2.40126068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.498241008 meters 0.08230751864827737 Centerline is valid? [True, True] Translation: X:163.91, Y:-85.32, Z:-24.02 [[ 9.92777129e-01 -7.61891313e-02 9.26757128e-02 1.63905204e+02] [ 7.63085020e-02 9.97081694e-01 2.26005947e-03 -8.53174268e+01] [-9.25774487e-02 4.82820945e-03 9.95693780e-01 -2.40168758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.528241008 meters 0.08145300971603832 Centerline is valid? [True, True] Translation: X:163.94, Y:-85.31, Z:-24.02 [[ 9.92653823e-01 -7.76615281e-02 9.27743194e-02 1.63936578e+02] [ 7.77878467e-02 9.96967375e-01 2.25931438e-03 -8.53070792e+01] [-9.26684314e-02 4.97399747e-03 9.95684599e-01 -2.40191570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.558241008 meters 0.08292041895633137 Centerline is valid? [True, True] Translation: X:163.97, Y:-85.29, Z:-24.02 [[ 9.92274253e-01 -8.17254273e-02 9.33421750e-02 1.63967370e+02] [ 8.18717674e-02 9.96640293e-01 2.26700338e-03 -8.52914983e+01] [-9.32138445e-02 5.39259975e-03 9.95631508e-01 -2.40235386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.588241008 meters 0.0843688664972303 Centerline is valid? [True, True] Translation: X:164.00, Y:-85.28, Z:-24.03 [[ 9.92023432e-01 -8.42057366e-02 9.38024718e-02 1.63997858e+02] [ 8.43649664e-02 9.96432327e-01 2.27386907e-03 -8.52843596e+01] [-9.36592881e-02 5.65791098e-03 9.95588231e-01 -2.40276360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.618241008 meters 0.08495521396125508 Centerline is valid? [True, True] Translation: X:164.03, Y:-85.28, Z:-24.03 [[ 9.91805106e-01 -8.68820448e-02 9.36703873e-02 1.64028342e+02] [ 8.70528604e-02 9.96201110e-01 2.26878548e-03 -8.52757037e+01] [-9.35116606e-02 5.90408214e-03 9.95600679e-01 -2.40309638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.648241008 meters 0.08880729959296799 Centerline is valid? [True, True] Translation: X:164.06, Y:-85.27, Z:-24.04 [[ 9.91471689e-01 -9.14698868e-02 9.28286065e-02 1.64056950e+02] [ 9.16578542e-02 9.95788027e-01 2.24554297e-03 -8.52656768e+01] [-9.26430145e-02 6.28207859e-03 9.95679571e-01 -2.40359554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67824100800001 meters 0.08986454393465235 Centerline is valid? [True, True] Translation: X:164.09, Y:-85.26, Z:-24.04 [[ 9.91284410e-01 -9.28856059e-02 9.34209943e-02 1.64088268e+02] [ 9.30819127e-02 9.95655882e-01 2.26341943e-03 -8.52586538e+01] [-9.32254016e-02 6.45211245e-03 9.95624123e-01 -2.40386593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70824100800002 meters 0.090251761886608 Centerline is valid? [True, True] Translation: X:164.12, Y:-85.25, Z:-24.04 [[ 9.91140142e-01 -9.35389675e-02 9.42957110e-02 1.64120362e+02] [ 9.37424404e-02 9.95593873e-01 2.27928957e-03 -8.52490999e+01] [-9.40934345e-02 6.58041469e-03 9.95541623e-01 -2.40416006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73824100800002 meters 0.09053702942831249 Centerline is valid? [True, True] Translation: X:164.15, Y:-85.24, Z:-24.05 [[ 9.91094034e-01 -9.32447539e-02 9.50685674e-02 1.64152257e+02] [ 9.34510015e-02 9.95621246e-01 2.29022107e-03 -8.52379225e+01] [-9.48658366e-02 6.61442841e-03 9.95468092e-01 -2.40454427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76824100800002 meters 0.09069927188697523 Centerline is valid? [True, True] Translation: X:164.18, Y:-85.21, Z:-24.05 [[ 9.91375269e-01 -9.18163143e-02 9.35138480e-02 1.64182327e+02] [ 9.20102302e-02 9.95755531e-01 2.24497343e-03 -8.52125635e+01] [-9.33230566e-02 6.37861954e-03 9.95615448e-01 -2.40517158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.798241008 meters 0.09041428787029336 Centerline is valid? [True, True] Translation: X:164.21, Y:-85.20, Z:-24.06 [[ 9.91578222e-01 -9.04355396e-02 9.27040584e-02 1.64212820e+02] [ 9.06203632e-02 9.95883030e-01 2.22256231e-03 -8.51995259e+01] [-9.25233972e-02 6.19703105e-03 9.95691226e-01 -2.40563063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.828241008 meters 0.08780864997751749 Centerline is valid? [True, True] Translation: X:164.24, Y:-85.18, Z:-24.06 [[ 9.91611563e-01 -8.97047554e-02 9.30567797e-02 1.64244973e+02] [ 8.98891674e-02 9.95949309e-01 2.21640252e-03 -8.51829066e+01] [-9.28786572e-02 6.16698608e-03 9.95658337e-01 -2.40584110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.858241008 meters 0.08951235495480794 Centerline is valid? [True, True] Translation: X:164.28, Y:-85.17, Z:-24.06 [[ 9.91679059e-01 -8.78445945e-02 9.41061669e-02 1.64275537e+02] [ 8.80265120e-02 9.96115649e-01 2.22436622e-03 -8.51741627e+01] [-9.39360241e-02 6.07798023e-03 9.95559683e-01 -2.40620215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.888241008 meters 0.08905292090825923 Centerline is valid? [True, True] Translation: X:164.31, Y:-85.16, Z:-24.06 [[ 9.91746113e-01 -8.64670235e-02 9.46736527e-02 1.64307043e+02] [ 8.66452419e-02 9.96236724e-01 2.23443707e-03 -8.51601598e+01] [-9.45105747e-02 5.98702725e-03 9.95505855e-01 -2.40649714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.918241008 meters 0.08736859830997695 Centerline is valid? [True, True] Translation: X:164.34, Y:-85.13, Z:-24.06 [[ 9.91496069e-01 -8.46991283e-02 9.88008203e-02 1.64336233e+02] [ 8.48853556e-02 9.96388012e-01 2.32487660e-03 -8.51306113e+01] [-9.86408680e-02 6.08163675e-03 9.95104514e-01 -2.40643974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.948241008 meters 0.08404762992320575 Centerline is valid? [True, True] Translation: X:164.37, Y:-85.11, Z:-24.07 [[ 9.91406046e-01 -8.37242838e-02 1.00520132e-01 1.64368577e+02] [ 8.39118741e-02 9.96470366e-01 2.36796794e-03 -8.51114557e+01] [-1.00363589e-01 6.08721490e-03 9.94932207e-01 -2.40651976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.978241008 meters 0.08093539670512366 Centerline is valid? [True, True] Translation: X:164.40, Y:-85.09, Z:-24.07 [[ 9.91259317e-01 -8.32348000e-02 1.02356900e-01 1.64400076e+02] [ 8.34281410e-02 9.96510910e-01 2.39812173e-03 -8.50927205e+01] [-1.02199375e-01 6.16228536e-03 9.94744849e-01 -2.40658625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.008241008 meters 0.08331789089252073 Centerline is valid? [True, True] Translation: X:164.43, Y:-85.08, Z:-24.07 [[ 9.91140726e-01 -8.20556462e-02 1.04436263e-01 1.64431044e+02] [ 8.22536834e-02 9.96608495e-01 2.41658081e-03 -8.50847267e+01] [-1.04280361e-01 6.19509563e-03 9.94528646e-01 -2.40690118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.038241008 meters 0.0834121038290775 Centerline is valid? [True, True] Translation: X:164.46, Y:-85.06, Z:-24.07 [[ 9.90967153e-01 -8.04466294e-02 1.07296051e-01 1.64460777e+02] [ 8.06497745e-02 9.96739486e-01 2.45167170e-03 -8.50604959e+01] [-1.07143439e-01 6.22387618e-03 9.94224093e-01 -2.40709930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.068241008 meters 0.07899840025065816 Centerline is valid? [True, True] Translation: X:164.49, Y:-85.04, Z:-24.07 [[ 9.91056443e-01 -7.90350416e-02 1.07520184e-01 1.64491947e+02] [ 7.92307091e-02 9.96853277e-01 2.45754311e-03 -8.50387950e+01] [-1.07376079e-01 6.08333646e-03 9.94199865e-01 -2.40738831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.098241008 meters 0.08211822539234621 Centerline is valid? [True, True] Translation: X:164.52, Y:-85.03, Z:-24.08 [[ 9.91330351e-01 -7.70520886e-02 1.06428901e-01 1.64521417e+02] [ 7.72356630e-02 9.97009971e-01 2.40201425e-03 -8.50302834e+01] [-1.06295756e-01 5.83891709e-03 9.94317414e-01 -2.40803297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.128241008 meters 0.07700538486050339 Centerline is valid? [True, True] Translation: X:164.55, Y:-84.99, Z:-24.08 [[ 9.91707785e-01 -7.37067332e-02 1.05275764e-01 1.64552032e+02] [ 7.38688353e-02 9.97265164e-01 2.36387110e-03 -8.49938401e+01] [-1.05162085e-01 5.43232868e-03 9.94440258e-01 -2.40846382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.158241008 meters 0.07607994365839633 Centerline is valid? [True, True] Translation: X:164.58, Y:-84.98, Z:-24.09 [[ 9.91675336e-01 -7.29619713e-02 1.06097023e-01 1.64584016e+02] [ 7.31231106e-02 9.97320092e-01 2.37569990e-03 -8.49799515e+01] [-1.05986029e-01 5.40222137e-03 9.94352944e-01 -2.40883592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.188241008 meters 0.06992944995422329 Centerline is valid? [True, True] Translation: X:164.62, Y:-84.95, Z:-24.09 [[ 9.91725734e-01 -7.25786229e-02 1.05888682e-01 1.64616722e+02] [ 7.27399339e-02 9.97348190e-01 2.34296888e-03 -8.49544151e+01] [-1.05777935e-01 5.37875322e-03 9.94375230e-01 -2.40895547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.218241008 meters 0.06994075434553068 Centerline is valid? [True, True] Translation: X:164.65, Y:-84.94, Z:-24.09 [[ 9.91757103e-01 -7.20018903e-02 1.05988572e-01 1.64648644e+02] [ 7.21638095e-02 9.97390115e-01 2.31159853e-03 -8.49428105e+01] [-1.05878393e-01 5.35599483e-03 9.94364661e-01 -2.40935950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.248241008 meters 0.06889233957180645 Centerline is valid? [True, True] Translation: X:164.68, Y:-84.92, Z:-24.10 [[ 9.91523904e-01 -7.26037244e-02 1.07745290e-01 1.64679957e+02] [ 7.27773826e-02 9.97345501e-01 2.32477339e-03 -8.49158987e+01] [-1.07628068e-01 5.53635182e-03 9.94175813e-01 -2.40958133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.278241008 meters 0.06905856359093587 Centerline is valid? [True, True] Translation: X:164.71, Y:-84.90, Z:-24.10 [[ 9.91383058e-01 -7.32173852e-02 1.08622500e-01 1.64711435e+02] [ 7.34004056e-02 9.97299859e-01 2.31783793e-03 -8.49041550e+01] [-1.08498910e-01 5.67507030e-03 9.94080369e-01 -2.40984495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.308241008 meters 0.06826449602308501 Centerline is valid? [True, True] Translation: X:164.74, Y:-84.89, Z:-24.10 [[ 9.91279346e-01 -7.23995324e-02 1.10107064e-01 1.64743155e+02] [ 7.25855511e-02 9.97359484e-01 2.32321713e-03 -8.48918183e+01] [-1.09984525e-01 5.68922478e-03 9.93917017e-01 -2.41006467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.338241008 meters 0.06870799808905166 Centerline is valid? [True, True] Translation: X:164.77, Y:-84.88, Z:-24.10 [[ 9.91030542e-01 -7.23246746e-02 1.12372623e-01 1.64774439e+02] [ 7.25211409e-02 9.97364122e-01 2.34371977e-03 -8.48816060e+01] [-1.12245931e-01 5.82669295e-03 9.93663374e-01 -2.41036721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.368241008 meters 0.06813329884634381 Centerline is valid? [True, True] Translation: X:164.81, Y:-84.86, Z:-24.10 [[ 9.90606550e-01 -7.08586003e-02 1.16951790e-01 1.64805138e+02] [ 7.10651742e-02 9.97468768e-01 2.40794621e-03 -8.48579936e+01] [-1.16826382e-01 5.92587204e-03 9.93134674e-01 -2.41045394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.398241008 meters 0.0683028723323397 Centerline is valid? [True, True] Translation: X:164.84, Y:-84.85, Z:-24.11 [[ 9.90404188e-01 -7.01275337e-02 1.19086831e-01 1.64836071e+02] [ 7.03370848e-02 9.97520277e-01 2.44773926e-03 -8.48461539e+01] [-1.18963182e-01 5.95196929e-03 9.92880826e-01 -2.41073796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42824100800001 meters 0.06772404318274176 Centerline is valid? [True, True] Translation: X:164.87, Y:-84.83, Z:-24.11 [[ 9.90238602e-01 -6.90989100e-02 1.21048968e-01 1.64867589e+02] [ 6.93099415e-02 9.97592113e-01 2.47129845e-03 -8.48330047e+01] [-1.20928260e-01 5.94272177e-03 9.92643461e-01 -2.41113918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45824100800002 meters 0.06849827795475939 Centerline is valid? [True, True] Translation: X:164.90, Y:-84.81, Z:-24.11 [[ 9.90000656e-01 -6.55300462e-02 1.24918029e-01 1.64897484e+02] [ 6.57304609e-02 9.97834230e-01 2.52104356e-03 -8.48136965e+01] [-1.24812689e-01 5.71508484e-03 9.92163863e-01 -2.41148921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48824100800002 meters 0.06850219653907229 Centerline is valid? [True, True] Translation: X:164.93, Y:-84.80, Z:-24.12 [[ 9.90015944e-01 -6.25595226e-02 1.26312057e-01 1.64927148e+02] [ 6.27408599e-02 9.98026604e-01 2.54620310e-03 -8.48017414e+01] [-1.26222083e-01 5.40414545e-03 9.91987289e-01 -2.41183668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51824100800002 meters 0.06838192298633343 Centerline is valid? [True, True] Translation: X:164.96, Y:-84.79, Z:-24.12 [[ 9.90065634e-01 -6.03837521e-02 1.26979695e-01 1.64957784e+02] [ 6.05495414e-02 9.98161917e-01 2.55742986e-03 -8.47889882e+01] [-1.26900723e-01 5.15653889e-03 9.91902020e-01 -2.41227023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.548241008 meters 0.06881225834919034 Centerline is valid? [True, True] Translation: X:164.99, Y:-84.78, Z:-24.13 [[ 9.90083090e-01 -5.87743611e-02 1.27597217e-01 1.64989763e+02] [ 5.89292649e-02 9.98258868e-01 2.56399390e-03 -8.47781279e+01] [-1.27525750e-01 4.98064320e-03 9.91822754e-01 -2.41278618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.578241008 meters 0.06919364764292561 Centerline is valid? [True, True] Translation: X:165.02, Y:-84.77, Z:-24.13 [[ 9.90080008e-01 -5.71867502e-02 1.28340377e-01 1.65021777e+02] [ 5.73339644e-02 9.98351798e-01 2.55011730e-03 -8.47691797e+01] [-1.28274679e-01 4.83344246e-03 9.91726900e-01 -2.41326461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.608241008 meters 0.07028915568615521 Centerline is valid? [True, True] Translation: X:165.05, Y:-84.75, Z:-24.14 [[ 9.89822682e-01 -5.75464091e-02 1.30151715e-01 1.65052790e+02] [ 5.77048426e-02 9.98330413e-01 2.55677245e-03 -8.47513961e+01] [-1.30081549e-01 4.97963286e-03 9.91490794e-01 -2.41387889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.638241008 meters 0.07028915568615521 Centerline is valid? [True, True] Translation: X:165.09, Y:-84.75, Z:-24.14 [[ 9.89837758e-01 -5.72851823e-02 1.30152302e-01 1.65085160e+02] [ 5.74453391e-02 9.98345456e-01 2.52654588e-03 -8.47508701e+01] [-1.30081693e-01 4.97577263e-03 9.91490794e-01 -2.41426492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.668241008 meters 0.07278661511266352 Centerline is valid? [True, True] Translation: X:165.12, Y:-84.75, Z:-24.15 [[ 9.89649200e-01 -5.82950922e-02 1.31134067e-01 1.65115864e+02] [ 5.84710338e-02 9.98285946e-01 2.51162398e-03 -8.47487894e+01] [-1.31055712e-01 5.18191781e-03 9.91361462e-01 -2.41458131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.698241008 meters 0.07443126735668561 Centerline is valid? [True, True] Translation: X:165.15, Y:-84.74, Z:-24.15 [[ 9.89306763e-01 -5.96244167e-02 1.33105439e-01 1.65147020e+02] [ 5.98215691e-02 9.98205903e-01 2.52102309e-03 -8.47439733e+01] [-1.33016950e-01 5.46851104e-03 9.91098676e-01 -2.41494409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.728241008 meters 0.07453494159041148 Centerline is valid? [True, True] Translation: X:165.18, Y:-84.73, Z:-24.15 [[ 9.88709292e-01 -6.17897896e-02 1.36513584e-01 1.65177743e+02] [ 6.20213575e-02 9.98071538e-01 2.56046245e-03 -8.47329469e+01] [-1.36408534e-01 5.93520481e-03 9.90634890e-01 -2.41549357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.758241008 meters 0.07903032247211028 Centerline is valid? [True, True] Translation: X:165.21, Y:-84.73, Z:-24.16 [[ 9.87362661e-01 -6.48321069e-02 1.44609037e-01 1.65207815e+02] [ 6.51256606e-02 9.97873397e-01 2.70791670e-03 -8.47253257e+01] [-1.44477071e-01 6.74406322e-03 9.89485166e-01 -2.41570559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.788241008 meters 0.08027970503957858 Centerline is valid? [True, True] Translation: X:165.24, Y:-84.72, Z:-24.16 [[ 9.86493033e-01 -6.65502679e-02 1.49674842e-01 1.65238583e+02] [ 6.68851163e-02 9.97756751e-01 2.80125810e-03 -8.47186342e+01] [-1.49525508e-01 7.24759759e-03 9.88731306e-01 -2.41619466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.818241008 meters 0.08407748129944025 Centerline is valid? [True, True] Translation: X:165.27, Y:-84.72, Z:-24.16 [[ 9.85541672e-01 -6.83423941e-02 1.55038477e-01 1.65268918e+02] [ 6.87246121e-02 9.97631455e-01 2.89962123e-03 -8.47186243e+01] [-1.54869428e-01 7.79726164e-03 9.87904177e-01 -2.41627577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.848241008 meters 0.09225412237421488 Centerline is valid? [True, True] Translation: X:165.30, Y:-84.72, Z:-24.16 [[ 9.83339555e-01 -7.27559671e-02 1.66582979e-01 1.65298653e+02] [ 7.32621122e-02 9.97307862e-01 3.11295438e-03 -8.47151407e+01] [-1.66361001e-01 9.14312971e-03 9.86022525e-01 -2.41628478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.878241008 meters 0.09436120432533451 Centerline is valid? [True, True] Translation: X:165.33, Y:-84.71, Z:-24.17 [[ 9.82403087e-01 -7.61093885e-02 1.70562408e-01 1.65328509e+02] [ 7.66917914e-02 9.97049773e-01 3.18121632e-03 -8.47062591e+01] [-1.70301331e-01 9.95549991e-03 9.85341740e-01 -2.41725764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.908241008 meters 0.09999619683800742 Centerline is valid? [True, True] Translation: X:165.36, Y:-84.71, Z:-24.18 [[ 9.81128093e-01 -7.87895516e-02 1.76578232e-01 1.65358179e+02] [ 7.94588109e-02 9.96832725e-01 3.28880725e-03 -8.47050397e+01] [-1.76278084e-01 1.08039552e-02 9.84281114e-01 -2.41752401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.938241008 meters 0.10546460010483993 Centerline is valid? [True, False] Translation: X:165.42, Y:-84.71, Z:-24.17 [[ 9.89290884e-01 -7.36470931e-02 1.26014490e-01 1.65422663e+02] [ 7.31106827e-02 9.97284275e-01 8.88275504e-03 -8.47054109e+01] [-1.26326458e-01 4.25376774e-04 9.91988632e-01 -2.41672004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.968241008 meters 0.12325133113043543 Centerline is valid? [False, False] Translation: X:165.48, Y:-84.70, Z:-24.16 [[ 9.93867320e-01 -7.09181311e-02 8.48431981e-02 1.65479157e+02] [ 7.02091968e-02 9.97468121e-01 1.13143861e-02 -8.47038597e+01] [-8.54307806e-02 -5.28822578e-03 9.96330074e-01 -2.41575473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 2755.67 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%| | 0/6066 [00:00