+ python -m lidar_slam --no-model /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/d3ca9c34-2c63-4530-a2ce-b0ce0ec3ebd6 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 0.021193817 Adjusted end_distance from 9.223372036854776e+18 to 281.751193817 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.021193817 meters 0.16559246284614731 Centerline is valid? [0, False] SLAMing on 0.051193817 meters 0.17954594619516115 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99983339e-01 -5.76811167e-03 2.25950765e-04 6.73432159e-04] [ 5.76889880e-03 9.99976686e-01 -3.65341376e-03 -1.19595840e-02] [-2.04872198e-04 3.65465638e-03 9.99993301e-01 -2.01119087e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.081193817 meters 0.18119946155994313 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 9.99991367e-01 -4.13554605e-03 4.03430175e-04 7.36426851e-04] [ 4.13581920e-03 9.99991217e-01 -6.78611393e-04 -1.96310786e-02] [-4.00620203e-04 6.80274049e-04 9.99999688e-01 -2.72119231e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11119381700000001 meters 0.19270938310658586 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99996207e-01 -2.70802472e-03 5.02556550e-04 1.18464051e-03] [ 2.70709152e-03 9.99994628e-01 1.84837204e-03 -2.61108173e-02] [-5.07559287e-04 -1.84700457e-03 9.99998165e-01 -3.74334176e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.141193817 meters 0.19483945118075077 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.01 [[ 9.99996460e-01 -2.66086287e-03 2.54583831e-05 4.77067541e-03] [ 2.66077816e-03 9.99992282e-01 2.89071283e-03 -3.06371739e-02] [-3.31499771e-05 -2.89063486e-03 9.99995822e-01 -7.34081609e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17119381700000003 meters 0.2076870780856674 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99998381e-01 -1.79104353e-03 1.75200798e-04 8.00447379e-03] [ 1.79022344e-03 9.99987936e-01 4.57413180e-03 -3.85095423e-02] [-1.83391154e-04 -4.57381074e-03 9.99989523e-01 -1.18425626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20119381700000002 meters 0.2063663884513216 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99999529 -0.00285231 0.00113154 0.00564097] [ 0.00284853 0.99999041 0.00332732 -0.0422424 ] [-0.00114102 -0.00332408 0.99999382 -0.01115309] [ 0. 0. 0. 1. ]] SLAMing on 0.23119381700000002 meters 0.20927637848940817 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999729 -0.00190916 0.00133021 0.00586138] [ 0.00190262 0.99998618 0.00490146 -0.04703392] [-0.00133955 -0.00489892 0.9999871 -0.01200445] [ 0. 0. 0. 1. ]] SLAMing on 0.261193817 meters 0.21227055813680984 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999582 -0.00268354 0.00107309 0.00825139] [ 0.00267841 0.99998512 0.00475314 -0.05046959] [-0.00108583 -0.00475024 0.99998813 -0.01449121] [ 0. 0. 0. 1. ]] SLAMing on 0.291193817 meters 0.22109348917633576 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.02 [[ 0.99998952 -0.00421602 0.00178276 0.00727939] [ 0.00420848 0.99998228 0.00421161 -0.05906159] [-0.00180049 -0.00420407 0.99998954 -0.01519147] [ 0. 0. 0. 1. ]] SLAMing on 0.32119381700000005 meters 0.22646313200528687 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.02 [[ 0.99998939 -0.00444955 0.00119081 0.01065699] [ 0.00444357 0.99997775 0.00497464 -0.06356751] [-0.00121292 -0.0049693 0.99998692 -0.01817072] [ 0. 0. 0. 1. ]] SLAMing on 0.351193817 meters 0.2333454162769396 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 0.99996859 -0.00779624 0.00142416 0.01154291] [ 0.00779316 0.99996731 0.00215489 -0.06734752] [-0.00144092 -0.00214373 0.99999666 -0.01978685] [ 0. 0. 0. 1. ]] SLAMing on 0.38119381700000005 meters 0.23076427584517853 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.02 [[ 0.99997597 -0.00670491 0.00176022 0.01171868] [ 0.00669777 0.99996944 0.00403247 -0.07411435] [-0.00178721 -0.00402058 0.99999032 -0.02093442] [ 0. 0. 0. 1. ]] SLAMing on 0.411193817 meters 0.24210265389560404 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.02 [[ 0.99996604 -0.00770651 0.00292143 0.01139178] [ 0.00769621 0.99996419 0.00352035 -0.0848948 ] [-0.00294846 -0.00349774 0.99998954 -0.02354169] [ 0. 0. 0. 1. ]] SLAMing on 0.44119381700000004 meters 0.23455748035889037 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.09, Z:-0.02 [[ 0.99997375 -0.00659325 0.0030035 0.01204595] [ 0.00657679 0.99996348 0.00545816 -0.09058107] [-0.00303938 -0.00543827 0.99998059 -0.02462391] [ 0. 0. 0. 1. ]] SLAMing on 0.471193817 meters 0.24508760856921488 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.10, Z:-0.03 [[ 0.99997692 -0.00596312 0.00325703 0.0132292 ] [ 0.00594106 0.99995964 0.00673988 -0.1006705 ] [-0.00329709 -0.00672038 0.99997198 -0.02691742] [ 0. 0. 0. 1. ]] SLAMing on 0.501193817 meters 0.24509740952941617 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.03 [[ 0.99998098 -0.00517653 0.00335238 0.01390746] [ 0.00514832 0.99995172 0.00837002 -0.10624642] [-0.00339554 -0.0083526 0.99995935 -0.02801724] [ 0. 0. 0. 1. ]] SLAMing on 0.531193817 meters 0.2471100873797464 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.11, Z:-0.03 [[ 0.99995945 -0.00821267 0.00369436 0.01336226] [ 0.00819083 0.99994911 0.00588891 -0.11064429] [-0.00374254 -0.00585842 0.99997584 -0.02808422] [ 0. 0. 0. 1. ]] SLAMing on 0.561193817 meters 0.2527679987971901 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.12, Z:-0.03 [[ 0.99998375 -0.00559902 -0.00107337 0.02514042] [ 0.00560378 0.99997424 0.00448417 -0.11912036] [ 0.00104824 -0.00449012 0.99998937 -0.02715844] [ 0. 0. 0. 1. ]] SLAMing on 0.5911938170000001 meters 0.2691785593332582 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.13, Z:-0.03 [[ 9.99964412e-01 -8.38451658e-03 -9.35022033e-04 2.59248971e-02] [ 8.38698219e-03 9.99961277e-01 2.66496637e-03 -1.25456143e-01] [ 9.12641371e-04 -2.67271354e-03 9.99996012e-01 -2.83352541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6211938170000001 meters 0.2621075894136917 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.14, Z:-0.03 [[ 9.99963109e-01 -8.58128689e-03 -3.76259240e-04 2.74475756e-02] [ 8.58250765e-03 9.99957482e-01 3.37269268e-03 -1.42215837e-01] [ 3.47301198e-04 -3.37579751e-03 9.99994242e-01 -3.20359087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.651193817 meters 0.26272816042436264 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.15, Z:-0.03 [[ 0.99996796 -0.00791429 -0.00120392 0.03068773] [ 0.00792137 0.99995065 0.00599531 -0.15103382] [ 0.00115641 -0.00600466 0.9999813 -0.03423188] [ 0. 0. 0. 1. ]] SLAMing on 0.681193817 meters 0.2646120605512318 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.16, Z:-0.04 [[ 0.9999437 -0.0105159 -0.00142054 0.03303337] [ 0.01052256 0.99993329 0.00476296 -0.15840104] [ 0.00137035 -0.00477764 0.99998765 -0.03632901] [ 0. 0. 0. 1. ]] SLAMing on 0.7111938170000001 meters 0.27147721812965586 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.17, Z:-0.04 [[ 0.99991128 -0.01321114 -0.00169997 0.03517976] [ 0.01321718 0.99990621 0.00358879 -0.16613321] [ 0.0016524 -0.00361094 0.99999212 -0.03793831] [ 0. 0. 0. 1. ]] SLAMing on 0.7411938170000001 meters 0.26590691942484707 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.18, Z:-0.04 [[ 0.99987093 -0.01575548 -0.00314321 0.03849497] [ 0.0157731 0.99985956 0.00566312 -0.18489239] [ 0.00305354 -0.00571196 0.99997902 -0.03801465] [ 0. 0. 0. 1. ]] SLAMing on 0.7711938170000001 meters 0.2537504583062829 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.19, Z:-0.04 [[ 0.99984053 -0.01535509 -0.00911758 0.05047326] [ 0.01539372 0.99987276 0.00418289 -0.19463749] [ 0.0090522 -0.00432258 0.99994969 -0.03548723] [ 0. 0. 0. 1. ]] SLAMing on 0.801193817 meters 0.2365132407718081 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.20, Z:-0.04 [[ 0.99979108 -0.01812583 -0.00944729 0.05153407] [ 0.0181565 0.99983013 0.00317089 -0.20302848] [ 0.00938821 -0.00334176 0.99995035 -0.03542903] [ 0. 0. 0. 1. ]] SLAMing on 0.8311938170000001 meters 0.22105056524342576 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.21, Z:-0.04 [[ 0.99972961 -0.02110163 -0.00976866 0.05355487] [ 0.02112107 0.99977514 0.00189036 -0.21111095] [ 0.00972657 -0.00209617 0.9999505 -0.03653207] [ 0. 0. 0. 1. ]] SLAMing on 0.8611938170000001 meters 0.2190499251531297 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.22, Z:-0.03 [[ 9.99671203e-01 -2.02155346e-02 -1.57739624e-02 6.64781444e-02] [ 2.02128382e-02 9.99795645e-01 -3.30365856e-04 -2.20759960e-01] [ 1.57774174e-02 1.14206837e-05 9.99875529e-01 -3.43694089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8911938170000001 meters 0.21448265547426845 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:-0.03 [[ 0.99954707 -0.02561718 -0.01579276 0.06756388] [ 0.02557068 0.99966809 -0.00313978 -0.23603767] [ 0.01586795 0.00273453 0.99987036 -0.03485857] [ 0. 0. 0. 1. ]] SLAMing on 0.921193817 meters 0.211290340814828 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.04 [[ 0.99954224 -0.0292142 -0.00786345 0.07876494] [ 0.02923259 0.99957014 0.00223396 -0.24273709] [ 0.00779481 -0.00246281 0.99996659 -0.03947844] [ 0. 0. 0. 1. ]] SLAMing on 0.951193817 meters 0.20650981145606995 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.25, Z:-0.04 [[ 0.99953435 -0.02922999 -0.00875716 0.08124717] [ 0.02926678 0.99956322 0.00410259 -0.24888658] [ 0.00863341 -0.00435697 0.99995324 -0.0400477 ] [ 0. 0. 0. 1. ]] SLAMing on 0.9811938170000001 meters 0.20650515572615827 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.26, Z:-0.04 [[ 0.99936972 -0.03188455 -0.0156055 0.09473413] [ 0.03191839 0.99948863 0.0019242 -0.26142039] [ 0.01553617 -0.00242109 0.99987638 -0.03696001] [ 0. 0. 0. 1. ]] SLAMing on 1.011193817 meters 0.20180314711495823 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.27, Z:-0.04 [[ 9.99215888e-01 -3.62244141e-02 -1.59812704e-02 9.68892017e-02] [ 3.62060537e-02 9.99343313e-01 -1.43680133e-03 -2.65459059e-01] [ 1.60228230e-02 8.57055979e-04 9.99871259e-01 -3.81904290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.041193817 meters 0.20180314711495823 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.27, Z:-0.04 [[ 9.99215888e-01 -3.62244141e-02 -1.59812704e-02 9.68892017e-02] [ 3.62060537e-02 9.99343313e-01 -1.43680133e-03 -2.65459059e-01] [ 1.60228230e-02 8.57055979e-04 9.99871259e-01 -3.81904290e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.071193817 meters 0.20041370589721408 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.27, Z:-0.04 [[ 0.99905283 -0.04040933 -0.01614103 0.09842074] [ 0.04033594 0.99917442 -0.00484675 -0.26889378] [ 0.01632356 0.0041911 0.99985798 -0.03917805] [ 0. 0. 0. 1. ]] SLAMing on 1.101193817 meters 0.1988900933835102 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.27, Z:-0.04 [[ 0.99910578 -0.04096923 -0.0104485 0.1134652 ] [ 0.04089263 0.99913583 -0.00744249 -0.27245325] [ 0.01074438 0.00700856 0.99991772 -0.03808579] [ 0. 0. 0. 1. ]] SLAMing on 1.131193817 meters 0.1955219194856766 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.28, Z:-0.04 [[ 0.99910075 -0.04095989 -0.01095368 0.1151359 ] [ 0.04088834 0.9991414 -0.00667852 -0.2756985 ] [ 0.01121783 0.00622464 0.9999177 -0.0387112 ] [ 0. 0. 0. 1. ]] SLAMing on 1.161193817 meters 0.1960767889241065 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.28, Z:-0.04 [[ 0.99947204 -0.02933966 -0.01395783 0.13808659] [ 0.02912857 0.9994617 -0.01509397 -0.27725902] [ 0.01439316 0.01467943 0.99978865 -0.04042301] [ 0. 0. 0. 1. ]] SLAMing on 1.191193817 meters 0.19431124280500184 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.28, Z:-0.04 [[ 0.99964918 -0.02198859 -0.01476567 0.14059767] [ 0.02188784 0.99973627 -0.00695062 -0.27991115] [ 0.01491461 0.00662499 0.99986682 -0.04185758] [ 0. 0. 0. 1. ]] SLAMing on 1.221193817 meters 0.1882994798655884 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.28, Z:-0.04 [[ 0.99973319 -0.01748246 -0.01509682 0.14109411] [ 0.01745034 0.99984519 -0.00225625 -0.28110545] [ 0.01513393 0.0019922 0.99988349 -0.04184786] [ 0. 0. 0. 1. ]] SLAMing on 1.251193817 meters 0.1879206472607207 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.04 [[ 0.9999036 -0.01041881 -0.00917824 0.15097574] [ 0.0103663 0.99992974 -0.00574959 -0.28077705] [ 0.0092375 0.00565389 0.99994135 -0.04479739] [ 0. 0. 0. 1. ]] SLAMing on 1.281193817 meters 0.18444968623284824 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.04 [[ 9.99934572e-01 -6.07770338e-03 -9.69089697e-03 1.51997556e-01] [ 6.06799555e-03 9.99981058e-01 -1.03083594e-03 -2.82531511e-01] [ 9.69697853e-03 9.71964175e-04 9.99952511e-01 -4.49923032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.311193817 meters 0.17934462932152823 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.04 [[ 9.99934300e-01 -5.93059405e-03 -9.80935919e-03 1.52138615e-01] [ 5.92387830e-03 9.99982199e-01 -7.13540776e-04 -2.83407485e-01] [ 9.81341630e-03 6.55384446e-04 9.99951632e-01 -4.48132245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.341193817 meters 0.17634358066874262 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.04 [[ 9.99934271e-01 -5.74093335e-03 -9.92451852e-03 1.52156321e-01] [ 5.73786946e-03 9.99983481e-01 -3.37165387e-04 -2.84327831e-01] [ 9.92629023e-03 2.80197633e-04 9.99950694e-01 -4.44564710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.371193817 meters 0.17353428351308547 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.04 [[ 9.99933523e-01 -5.62408881e-03 -1.00657696e-02 1.52187810e-01] [ 5.62352562e-03 9.99984184e-01 -8.42532309e-05 -2.84876153e-01] [ 1.00660842e-02 2.76425169e-05 9.99949335e-01 -4.40443486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.401193817 meters 0.1593371323511572 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.04 [[ 9.99929485e-01 -5.78484569e-03 -1.03711249e-02 1.52240606e-01] [ 5.78285518e-03 9.99983255e-01 -2.21906904e-04 -2.84048620e-01] [ 1.03722349e-02 1.61916543e-04 9.99946194e-01 -4.32073181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.431193817 meters 0.1560794679294347 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.05 [[ 9.99966178e-01 -7.07846214e-03 4.18784095e-03 1.51902433e-01] [ 7.08227325e-03 9.99974519e-01 -8.95912529e-04 -2.82561439e-01] [-4.18139256e-03 9.25541661e-04 9.99990830e-01 -4.70078513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.461193817 meters 0.14750063694550344 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.05 [[ 0.99996538 -0.00731564 0.00396441 0.15201827] [ 0.00732148 0.99997213 -0.00146055 -0.28090635] [-0.00395362 0.00148952 0.99999108 -0.04671242] [ 0. 0. 0. 1. ]] SLAMing on 1.491193817 meters 0.14027304657028875 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.28, Z:-0.05 [[ 0.99996137 -0.00807272 0.00347788 0.15215189] [ 0.00808372 0.99996233 -0.00315968 -0.27596706] [-0.00345225 0.00318767 0.99998896 -0.04589329] [ 0. 0. 0. 1. ]] SLAMing on 1.5211938170000001 meters 0.13850912538812077 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:-0.05 [[ 9.99986006e-01 -4.46500431e-03 2.83744266e-03 1.53352014e-01] [ 4.46526703e-03 9.99990027e-01 -8.62598823e-05 -2.73998259e-01] [-2.83702921e-03 9.89286143e-05 9.99995971e-01 -4.63392874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.551193817 meters 0.12981796252053024 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.27, Z:-0.05 [[ 0.99998235 -0.00528235 0.00271782 0.15352122] [ 0.00528791 0.99998394 -0.00204102 -0.26904044] [-0.00270699 0.00205535 0.99999422 -0.04665776] [ 0. 0. 0. 1. ]] SLAMing on 1.581193817 meters 0.13181580957140202 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.26, Z:-0.05 [[ 9.99994916e-01 -2.24638594e-03 2.26297481e-03 1.54919361e-01] [ 2.24667430e-03 9.99997468e-01 -1.24891966e-04 -2.64306725e-01] [-2.26268852e-03 1.29975498e-04 9.99997432e-01 -4.79836850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.611193817 meters 0.12462203108118912 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.25, Z:-0.05 [[ 9.99998803e-01 -8.91587947e-04 1.26492999e-03 1.57013416e-01] [ 8.95619320e-04 9.99994511e-01 -3.19005425e-03 -2.49511630e-01] [-1.26207883e-03 3.19118332e-03 9.99994112e-01 -5.14832867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.641193817 meters 0.1282905985448824 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:-0.05 [[ 9.99998250e-01 1.73244963e-03 7.06317811e-04 1.58857249e-01] [-1.73098509e-03 9.99996362e-01 -2.06885422e-03 -2.43237367e-01] [-7.09899427e-04 2.06762797e-03 9.99997610e-01 -5.31881556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.671193817 meters 0.12332002254507991 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.24, Z:-0.05 [[ 0.99999852 0.00124579 0.00118502 0.15769868] [-0.00124085 0.99999055 -0.00416639 -0.23504753] [-0.0011902 0.00416492 0.99999062 -0.05280804] [ 0. 0. 0. 1. ]] SLAMing on 1.701193817 meters 0.1256297559173891 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.23, Z:-0.05 [[ 9.99993210e-01 3.62605309e-03 6.56433730e-04 1.59510362e-01] [-3.62362910e-03 9.99986748e-01 -3.65693350e-03 -2.27224719e-01] [-6.69685266e-04 3.65452999e-03 9.99993098e-01 -5.46503306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.731193817 meters 0.12163756310399 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.21, Z:-0.06 [[ 9.99956845e-01 9.29008611e-03 5.77087337e-05 1.60801068e-01] [-9.28971719e-03 9.99946030e-01 -4.65167707e-03 -2.09964828e-01] [-1.00920100e-04 4.65094022e-03 9.99989179e-01 -5.88644642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.761193817 meters 0.12352044754368717 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.20, Z:-0.06 [[ 9.99928750e-01 1.19321794e-02 -3.42963952e-04 1.62299875e-01] [-1.19333411e-02 9.99922269e-01 -3.61269483e-03 -2.03296002e-01] [ 2.99829970e-04 3.61653013e-03 9.99993415e-01 -6.02855819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7911938170000001 meters 0.1185682565229026 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.20, Z:-0.06 [[ 9.99884968e-01 1.51584734e-02 -5.20064861e-04 1.62641153e-01] [-1.51593914e-02 9.99883453e-01 -1.80907376e-03 -1.97476774e-01] [ 4.92581452e-04 1.81674952e-03 9.99998228e-01 -6.04283760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.821193817 meters 0.11837214249632877 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.19, Z:-0.06 [[ 9.99891601e-01 1.47173910e-02 -4.29863732e-04 1.62548965e-01] [-1.47189990e-02 9.99883613e-01 -4.01398486e-03 -1.90119035e-01] [ 3.70738317e-04 4.01987692e-03 9.99991852e-01 -6.04053930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.851193817 meters 0.11259171077747779 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.18, Z:-0.06 [[ 9.99780304e-01 2.09575214e-02 -3.54476396e-04 1.61832965e-01] [-2.09578073e-02 9.99780022e-01 -8.22880039e-04 -1.78394170e-01] [ 3.37152893e-04 8.30128304e-04 9.99999599e-01 -5.94713334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.881193817 meters 0.11547484978391612 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.17, Z:-0.06 [[ 9.99791136e-01 2.04362008e-02 -2.16896326e-04 1.61818665e-01] [-2.04367678e-02 9.99786491e-01 -3.05139761e-03 -1.71423949e-01] [ 1.54491043e-04 3.05519295e-03 9.99995321e-01 -5.97323126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.911193817 meters 0.11068824229758129 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.17, Z:-0.06 [[ 9.99614665e-01 2.77537189e-02 -5.02140769e-04 1.63385654e-01] [-2.77518753e-02 9.99609174e-01 3.36652430e-03 -1.67556589e-01] [ 5.95378088e-04 -3.35129171e-03 9.99994207e-01 -6.09592128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.941193817 meters 0.10757443278946843 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.16, Z:-0.06 [[ 9.99405497e-01 3.44765467e-02 -1.41840808e-04 1.62351929e-01] [-3.44743098e-02 9.99373567e-01 7.99969633e-03 -1.58997914e-01] [ 4.17553858e-04 -7.99005063e-03 9.99967992e-01 -5.97651787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.971193817 meters 0.10804391575968282 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.16, Z:-0.06 [[ 9.99428621e-01 3.37996552e-02 -1.24447576e-04 1.62307750e-01] [-3.37981885e-02 9.99408585e-01 6.33739638e-03 -1.55082441e-01] [ 3.38575789e-04 -6.32956922e-03 9.99979911e-01 -5.96826613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0011938170000003 meters 0.10274537587943211 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.15, Z:-0.06 [[ 0.99946182 0.03262908 -0.00337759 0.17111572] [-0.03258585 0.99939509 0.0121498 -0.15325184] [ 0.00377198 -0.0120332 0.99992048 -0.05643606] [ 0. 0. 0. 1. ]] SLAMing on 2.031193817 meters 0.09975059900436545 Centerline is valid? [False, True] Translation: X:0.17, Y:-0.15, Z:-0.06 [[ 0.99947391 0.03225209 -0.00342223 0.17095207] [-0.03221157 0.99941718 0.01130136 -0.15109754] [ 0.00378472 -0.01118518 0.99993028 -0.05613931] [ 0. 0. 0. 1. ]] SLAMing on 2.061193817 meters 0.09383325474135308 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.15, Z:-0.05 [[ 9.99471301e-01 3.23447710e-02 3.30682133e-03 2.03096646e-01] [-3.23450269e-02 9.99476762e-01 2.39142031e-05 -1.46388932e-01] [-3.30431757e-03 -1.30860784e-04 9.99994532e-01 -4.74058139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.091193817 meters 0.09961499001713357 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.14, Z:-0.06 [[ 9.99470201e-01 3.25471512e-02 3.50501657e-05 2.30452270e-01] [-3.25471510e-02 9.99470201e-01 -4.01507696e-06 -1.40969621e-01] [-3.51622755e-05 2.87216674e-06 9.99999999e-01 -6.37365860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.121193817 meters 0.09983351439282384 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.14, Z:-0.07 [[ 9.99466914e-01 3.26474598e-02 1.77840033e-04 2.61609153e-01] [-3.26474659e-02 9.99466929e-01 3.14265105e-05 -1.41108754e-01] [-1.76719236e-04 -3.72157839e-05 9.99999984e-01 -6.99603111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1511938170000002 meters 0.0988078944415136 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.14, Z:-0.07 [[ 9.99487820e-01 3.19683503e-02 1.45697140e-03 2.92344842e-01] [-3.19684009e-02 9.99488880e-01 1.15051120e-05 -1.42117709e-01] [-1.45585891e-03 -5.80762652e-05 9.99998939e-01 -7.39890643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.181193817 meters 0.09286467548964007 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.15, Z:-0.07 [[ 9.99516570e-01 3.04839497e-02 6.11188851e-03 3.24102801e-01] [-3.04847641e-02 9.99535231e-01 4.01061008e-05 -1.45956972e-01] [-6.10782530e-03 -2.26406192e-04 9.99981321e-01 -6.80040842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2111938170000003 meters 0.08952310437855437 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.15, Z:-0.06 [[ 9.99450071e-01 3.29172297e-02 4.00155245e-03 3.56292743e-01] [-3.29175975e-02 9.99458069e-01 2.60790127e-05 -1.49666873e-01] [-3.99852544e-03 -1.57786164e-04 9.99991993e-01 -5.85693900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.241193817 meters 0.09080440368771113 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.15, Z:-0.07 [[ 9.99393910e-01 3.27641066e-02 1.17612436e-02 3.85062504e-01] [-3.27672549e-02 9.99463007e-01 7.50326665e-05 -1.46117608e-01] [-1.17524695e-02 -4.60370858e-04 9.99930831e-01 -7.05039647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.271193817 meters 0.08570148885651033 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.15, Z:-0.06 [[ 9.99348380e-01 3.32097923e-02 1.41394977e-02 4.16921566e-01] [-3.32143935e-02 9.99448246e-01 9.06482372e-05 -1.52141010e-01] [-1.41286857e-02 -5.60224009e-04 9.99900028e-01 -6.00161232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.301193817 meters 0.094611153599715 Centerline is valid? [True, True] Translation: X:0.44, Y:-0.14, Z:-0.09 [[ 9.99283078e-01 3.44259506e-02 1.57538270e-02 4.44572981e-01] [-3.44318791e-02 9.99407042e-01 1.05160981e-04 -1.42751306e-01] [-1.57408654e-02 -6.47519456e-04 9.99875895e-01 -8.76514131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.331193817 meters 0.08450933259881951 Centerline is valid? [True, True] Translation: X:0.48, Y:-0.16, Z:-0.06 [[ 9.99195137e-01 3.51403225e-02 1.93451966e-02 4.78014503e-01] [-3.51492894e-02 9.99382065e-01 1.23594775e-04 -1.55736583e-01] [-1.93288994e-02 -8.03465212e-04 9.99812857e-01 -6.38065151e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.361193817 meters 0.08416418976037573 Centerline is valid? [True, True] Translation: X:0.51, Y:-0.16, Z:-0.06 [[ 9.98919029e-01 3.87252119e-02 2.57124575e-02 5.08891946e-01] [-3.87422215e-02 9.99249225e-01 1.63511259e-04 -1.58929915e-01] [-2.56868213e-02 -1.15949223e-03 9.99669367e-01 -6.40743725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.391193817 meters 0.0833177153232975 Centerline is valid? [True, True] Translation: X:0.54, Y:-0.16, Z:-0.07 [[ 9.98690946e-01 4.03037605e-02 3.14960430e-02 5.40095328e-01] [-4.03300970e-02 9.99186390e-01 2.01098598e-04 -1.59974529e-01] [-3.14623125e-02 -1.47107382e-03 9.99503856e-01 -6.52305027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4211938170000002 meters 0.08507355640724512 Centerline is valid? [True, True] Translation: X:0.57, Y:-0.16, Z:-0.07 [[ 9.98419068e-01 4.52980194e-02 3.32784392e-02 5.71072102e-01] [-4.53308733e-02 9.98972000e-01 2.33040591e-04 -1.64334184e-01] [-3.32336727e-02 -1.74121288e-03 9.99446092e-01 -6.92537919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.451193817 meters 0.08274678275747363 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.17, Z:-0.07 [[ 9.98158133e-01 4.45529896e-02 4.11749010e-02 6.02239925e-01] [-4.46011338e-02 9.99004843e-01 2.50931262e-04 -1.69426413e-01] [-4.11227458e-02 -2.08691635e-03 9.99151923e-01 -6.90155215e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4811938170000003 meters 0.08242582105309178 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.18, Z:-0.07 [[ 9.98115980e-01 4.35688613e-02 4.32000590e-02 6.33021025e-01] [-4.36210001e-02 9.99048116e-01 2.64546827e-04 -1.75152203e-01] [-4.31474115e-02 -2.14847819e-03 9.99066407e-01 -7.27316930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.511193817 meters 0.08102772182816094 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.18, Z:-0.07 [[ 9.98055331e-01 4.16087987e-02 4.64140491e-02 6.63493702e-01] [-4.16667782e-02 9.99131523e-01 2.81976294e-04 -1.84171715e-01] [-4.63620069e-02 -2.21535183e-03 9.98922247e-01 -7.45892055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.541193817 meters 0.07411826469459551 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.21, Z:-0.07 [[ 9.97698648e-01 3.06267549e-02 6.04930497e-02 6.94704484e-01] [-3.07052051e-02 9.99528416e-01 3.67475869e-04 -2.10277323e-01] [-6.04532676e-02 -2.22408167e-03 9.98168551e-01 -6.95681135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.571193817 meters 0.07195820103646473 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.22, Z:-0.07 [[ 9.97685027e-01 2.44733033e-02 6.34479597e-02 7.24178450e-01] [-2.45470889e-02 9.99698601e-01 3.83557954e-04 -2.23067944e-01] [-6.34194496e-02 -1.94013273e-03 9.97985075e-01 -7.16807010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.601193817 meters 0.06931673617757003 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.24, Z:-0.07 [[ 9.97606906e-01 1.75323631e-02 6.68810715e-02 7.54462238e-01] [-1.75989603e-02 9.99845044e-01 4.06662363e-04 -2.35967186e-01] [-6.68635781e-02 -1.58272651e-03 9.97760872e-01 -7.31009857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.631193817 meters 0.0679312787635655 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.25, Z:-0.08 [[ 9.97584634e-01 1.11500213e-02 6.85607439e-02 7.84663078e-01] [-1.12049627e-02 9.99937136e-01 4.16832277e-04 -2.47291583e-01] [-6.85517862e-02 -1.18404606e-03 9.97646857e-01 -7.65224552e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.661193817 meters 0.06802577110775032 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.27, Z:-0.08 [[ 9.97891853e-01 2.94644236e-03 6.48318512e-02 8.15603602e-01] [-2.97870256e-03 9.99995483e-01 4.00944425e-04 -2.67323095e-01] [-6.48303771e-02 -5.93213976e-04 9.97896122e-01 -8.36859767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6911938170000003 meters 0.06782652641857125 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.28, Z:-0.09 [[ 9.97821993e-01 -4.04328671e-04 6.59629179e-02 8.47376573e-01] [ 3.78458007e-04 9.99999846e-01 4.04695358e-04 -2.75674607e-01] [-6.59630714e-02 -3.78849734e-04 9.97821993e-01 -8.74835712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.721193817 meters 0.06734213256836084 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.28, Z:-0.09 [[ 9.97680725e-01 -2.97034897e-03 6.80025584e-02 8.78689133e-01] [ 2.95080804e-03 9.99995571e-01 3.87801652e-04 -2.81869952e-01] [-6.80034091e-02 -1.86239737e-04 9.97685071e-01 -9.00011779e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7511938170000003 meters 0.06814561066346396 Centerline is valid? [True, True] Translation: X:0.91, Y:-0.29, Z:-0.09 [[ 9.97824460e-01 -3.31999345e-03 6.58431835e-02 9.09663522e-01] [ 3.30194144e-03 9.99994475e-01 3.82988499e-04 -2.85797784e-01] [-6.58440912e-02 -1.64744956e-04 9.97829910e-01 -9.43840948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.781193817 meters 0.06971091829013834 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.29, Z:-0.10 [[ 9.98048161e-01 -5.91175448e-03 6.21684760e-02 9.38511662e-01] [ 5.90205212e-03 9.99982525e-01 3.39704444e-04 -2.93664735e-01] [-6.21693978e-02 2.78801902e-05 9.98065612e-01 -1.03796333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.811193817 meters 0.06976288810669935 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.30, Z:-0.11 [[ 9.98017423e-01 -7.92002808e-03 6.24379377e-02 9.70415664e-01] [ 7.91391860e-03 9.99968625e-01 3.45157705e-04 -2.97706266e-01] [-6.24387124e-02 1.49655353e-04 9.98048789e-01 -1.08911555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.841193817 meters 0.07071951813191249 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.30, Z:-0.12 [[ 9.98153977e-01 -8.11860347e-03 6.01890833e-02 9.99840190e-01] [ 8.11499778e-03 9.99967027e-01 3.04348535e-04 -2.99629495e-01] [-6.01895695e-02 1.84647577e-04 9.98186947e-01 -1.16177550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.871193817 meters 0.07070986441498138 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.30, Z:-0.12 [[ 9.98084446e-01 -8.50210720e-03 6.12793068e-02 1.03159220e+00] [ 8.49827151e-03 9.99963837e-01 3.23227065e-04 -3.01525989e-01] [-6.12798389e-02 1.98160282e-04 9.98120605e-01 -1.20146804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9011938170000002 meters 0.07011213512113261 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.30, Z:-0.12 [[ 9.97886923e-01 -8.06195645e-03 6.44724322e-02 1.06254678e+00] [ 8.05869983e-03 9.99967480e-01 3.10568471e-04 -3.02241121e-01] [-6.44728393e-02 2.09651762e-04 9.97919440e-01 -1.21933274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.931193817 meters 0.07011213512113261 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.30, Z:-0.13 [[ 9.97889193e-01 -7.77633265e-03 6.44723755e-02 1.09482579e+00] [ 7.77168707e-03 9.99969748e-01 3.22849315e-04 -3.02367584e-01] [-6.44729356e-02 1.78891285e-04 9.97919440e-01 -1.25644205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9611938170000003 meters 0.06923275356781339 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.30, Z:-0.13 [[ 9.97595429e-01 -3.78259916e-03 6.92029711e-02 1.12440296e+00] [ 3.77016180e-03 9.99992845e-01 3.10332301e-04 -2.99513888e-01] [-6.92036498e-02 -4.86796875e-05 9.97602552e-01 -1.25497253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.991193817 meters 0.06902128827674615 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.30, Z:-0.13 [[ 9.97483970e-01 -9.07407625e-04 7.08865698e-02 1.15509857e+00] [ 8.86520120e-04 9.99999554e-01 3.26121176e-04 -2.96275388e-01] [-7.08868341e-02 -2.62458276e-04 9.97484330e-01 -1.28367231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0211938170000003 meters 0.06908717752735158 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.29, Z:-0.13 [[ 9.97350552e-01 2.57762253e-03 7.26996012e-02 1.18692363e+00] [-2.60836749e-03 9.99996544e-01 3.27967822e-04 -2.92823225e-01] [-7.26985046e-02 -5.16726164e-04 9.97353829e-01 -1.31079283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.051193817 meters 0.0691632820671962 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.29, Z:-0.13 [[ 9.97229026e-01 6.47929927e-03 7.41099771e-02 1.21890056e+00] [-6.52061592e-03 9.99978691e-01 3.15561518e-04 -2.89663732e-01] [-7.41063532e-02 -7.97929801e-04 9.97250025e-01 -1.33281080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.081193817 meters 0.06989138432499482 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.29, Z:-0.14 [[ 9.97067083e-01 1.11504435e-02 7.57159114e-02 1.25126709e+00] [-1.12056692e-02 9.99937168e-01 3.04573412e-04 -2.87052815e-01] [-7.57077579e-02 -1.15212758e-03 9.97129384e-01 -1.35865722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.111193817 meters 0.06995640767786553 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.29, Z:-0.14 [[ 9.97027264e-01 1.23286937e-02 7.60568065e-02 1.28406600e+00] [-1.23862132e-02 9.99923247e-01 2.84587409e-04 -2.87018477e-01] [-7.60474603e-02 -1.22579723e-03 9.97103446e-01 -1.39821345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.141193817 meters 0.0697732371568243 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.29, Z:-0.14 [[ 9.96973989e-01 1.23479199e-02 7.67489007e-02 1.31598157e+00] [-1.24048263e-02 9.99923022e-01 2.64755938e-04 -2.87509589e-01] [-7.67397235e-02 -1.21601156e-03 9.97050418e-01 -1.42867870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1711938170000002 meters 0.07005059813392533 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.29, Z:-0.15 [[ 9.96971717e-01 1.24419447e-02 7.67632262e-02 1.34840356e+00] [-1.24978488e-02 9.99921868e-01 2.47893926e-04 -2.88947842e-01] [-7.67541442e-02 -1.20651843e-03 9.97049320e-01 -1.47631931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.201193817 meters 0.06999855297014414 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.30, Z:-0.15 [[ 9.97095413e-01 1.01885742e-02 7.54780182e-02 1.37952603e+00] [-1.02345170e-02 9.99947601e-01 2.21913230e-04 -2.97575793e-01] [-7.54718023e-02 -9.93749722e-04 9.97147441e-01 -1.53747523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2311938170000003 meters 0.07006647799818444 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.30, Z:-0.16 [[ 9.97270197e-01 8.26913894e-03 7.33742152e-02 1.41150582e+00] [-8.30628411e-03 9.99965482e-01 2.01107289e-04 -3.03229009e-01] [-7.33700195e-02 -8.10025384e-04 9.97304459e-01 -1.58801407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.261193817 meters 0.06995616865266863 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.31, Z:-0.16 [[ 9.97308143e-01 6.30779088e-03 7.30525797e-02 1.44388782e+00] [-6.33822613e-03 9.99979896e-01 1.84804713e-04 -3.08941528e-01] [-7.30499454e-02 -6.47331015e-04 9.97328074e-01 -1.63095701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2911938170000004 meters 0.07008273403031146 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.32, Z:-0.17 [[ 9.97403229e-01 2.43524269e-03 7.19782555e-02 1.47413794e+00] [-2.45312691e-03 9.99996978e-01 1.60067276e-04 -3.17515186e-01] [-7.19776482e-02 -3.36223413e-04 9.97406189e-01 -1.68409024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.321193817 meters 0.07024391367611817 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.32, Z:-0.17 [[ 9.97472604e-01 2.50369883e-03 7.10080010e-02 1.50469410e+00] [-2.52047332e-03 9.99996813e-01 1.46634630e-04 -3.18493635e-01] [-7.10074075e-02 -3.25237798e-04 9.97475735e-01 -1.72795221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.351193817 meters 0.07050610001534467 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.32, Z:-0.18 [[ 9.97485796e-01 2.99885054e-03 7.08032068e-02 1.53735222e+00] [-3.01585892e-03 9.99995443e-01 1.33321139e-04 -3.18072141e-01] [-7.08024844e-02 -3.46518426e-04 9.97490295e-01 -1.78133538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.381193817 meters 0.06845551609417103 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.32, Z:-0.17 [[ 9.97513240e-01 4.24809652e-03 7.03511879e-02 1.57033721e+00] [-4.26670155e-03 9.99990891e-01 1.14190905e-04 -3.18851294e-01] [-7.03500620e-02 -4.14074462e-04 9.97522279e-01 -1.67914989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.411193817 meters 0.07029964079082264 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.32, Z:-0.18 [[ 9.97403908e-01 5.66501641e-03 7.17868460e-02 1.60026413e+00] [-5.68672479e-03 9.99983826e-01 9.80227502e-05 -3.15627758e-01] [-7.17851296e-02 -5.06000311e-04 9.97419991e-01 -1.83326567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4411938170000003 meters 0.07030580536573952 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.31, Z:-0.19 [[ 9.97358754e-01 6.89252104e-03 7.23049685e-02 1.63167140e+00] [-6.91634138e-03 9.99976079e-01 7.90742408e-05 -3.14728213e-01] [-7.23026939e-02 -5.78951232e-04 9.97382567e-01 -1.85769533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.471193817 meters 0.06843351857588387 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.32, Z:-0.18 [[ 9.97421139e-01 7.73984177e-03 7.13524033e-02 1.66464851e+00] [-7.76433390e-03 9.99969855e-01 6.59027026e-05 -3.17121932e-01] [-7.13497423e-02 -6.19736633e-04 9.97451167e-01 -1.76797998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5011938170000003 meters 0.06838281603210566 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.32, Z:-0.18 [[ 9.97448259e-01 7.70852359e-03 7.09756931e-02 1.69639670e+00] [-7.73136376e-03 9.99970111e-01 4.70883771e-05 -3.16986329e-01] [-7.09732088e-02 -5.95707122e-04 9.97478044e-01 -1.80432591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.531193817 meters 0.068277470461738 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.32, Z:-0.18 [[ 9.97338552e-01 7.42790678e-03 7.25302673e-02 1.72763029e+00] [-7.44954973e-03 9.99972251e-01 2.78846040e-05 -3.16946060e-01] [-7.25280476e-02 -5.68128224e-04 9.97366211e-01 -1.83989889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5611938170000004 meters 0.06844704131371561 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.32, Z:-0.19 [[ 9.97325692e-01 8.30936047e-03 7.26114196e-02 1.75945595e+00] [-8.33222618e-03 9.99965286e-01 1.19984283e-05 -3.17258583e-01] [-7.26087993e-02 -6.16981113e-04 9.97360307e-01 -1.87941987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.591193817 meters 0.06865033035349553 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.32, Z:-0.19 [[ 9.97337679e-01 9.13175396e-03 7.23475315e-02 1.79134540e+00] [-9.15511544e-03 9.99958091e-01 -8.70351303e-06 -3.17979473e-01] [-7.23445790e-02 -6.53669661e-04 9.97379484e-01 -1.92686140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.621193817 meters 0.06851221326957348 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.32, Z:-0.20 [[ 9.97250726e-01 8.76964886e-03 7.35804525e-02 1.82338718e+00] [-8.79143759e-03 9.99961354e-01 -2.77577417e-05 -3.20263205e-01] [-7.35778523e-02 -6.19196528e-04 9.97289284e-01 -1.96094987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6511938170000002 meters 0.06854604144614235 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.32, Z:-0.20 [[ 9.97230799e-01 8.00842869e-03 7.39364561e-02 1.85438513e+00] [-8.02690391e-03 9.99967783e-01 -4.72687619e-05 -3.22511105e-01] [-7.39344526e-02 -5.46342964e-04 9.97262953e-01 -2.00526037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.681193817 meters 0.06815986096347099 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.33, Z:-0.20 [[ 9.97081085e-01 3.32798305e-03 7.62773520e-02 1.88592430e+00] [-3.33212792e-03 9.99994446e-01 -7.29291425e-05 -3.30037618e-01] [-7.62771710e-02 -1.81449626e-04 9.97086636e-01 -2.03186914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7111938170000003 meters 0.06834133070349947 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.33, Z:-0.21 [[ 9.97048065e-01 6.32526452e-04 7.67773170e-02 1.91680952e+00] [-6.28729486e-04 9.99999800e-01 -7.36260124e-05 -3.34796774e-01] [-7.67773482e-02 2.51365102e-05 9.97048263e-01 -2.06921499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.741193817 meters 0.06845728176756032 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.34, Z:-0.21 [[ 9.96941510e-01 -2.29100073e-03 7.81177108e-02 1.94910403e+00] [ 2.30526265e-03 9.99997339e-01 -9.23912339e-05 -3.39192484e-01] [-7.81172912e-02 2.72190497e-04 9.96944138e-01 -2.10344420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7711938170000003 meters 0.06896421131705992 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.34, Z:-0.21 [[ 9.96955669e-01 -4.67736656e-03 7.78300536e-02 1.97996131e+00] [ 4.70030083e-03 9.99988947e-01 -1.11482510e-04 -3.43470917e-01] [-7.78286719e-02 4.76967786e-04 9.96966635e-01 -2.14644113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.801193817 meters 0.07080824090949016 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.35, Z:-0.22 [[ 9.97081139e-01 -1.00728342e-02 7.56818385e-02 2.00949838e+00] [ 1.01119273e-02 9.99948864e-01 -1.33359260e-04 -3.51863789e-01] [-7.56766251e-02 8.98259253e-04 9.97132008e-01 -2.20855603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8311938170000004 meters 0.07204913296724054 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.36, Z:-0.23 [[ 9.97135773e-01 -1.24334942e-02 7.46033399e-02 2.04052539e+00] [ 1.24774191e-02 9.99922146e-01 -1.22711381e-04 -3.55944349e-01] [-7.45960060e-02 1.05321704e-03 9.97213280e-01 -2.26595201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.861193817 meters 0.07259795364733816 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.36, Z:-0.23 [[ 9.97090630e-01 -1.36159152e-02 7.49992095e-02 2.07300527e+00] [ 1.36647594e-02 9.99906623e-01 -1.38132577e-04 -3.57594011e-01] [-7.49903255e-02 1.16257685e-03 9.97183584e-01 -2.31392500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.891193817 meters 0.07387989945546142 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.36, Z:-0.24 [[ 9.97011758e-01 -1.66710999e-02 7.54296243e-02 2.10492077e+00] [ 1.67309056e-02 9.99860016e-01 -1.60989837e-04 -3.57263500e-01] [-7.54163814e-02 1.42251469e-03 9.97151115e-01 -2.36163527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9211938170000002 meters 0.07438844916783778 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.36, Z:-0.24 [[ 9.96947565e-01 -1.70498462e-02 7.61896017e-02 2.13581289e+00] [ 1.71134181e-02 9.99853538e-01 -1.81539540e-04 -3.55974964e-01] [-7.61753476e-02 1.48484991e-03 9.97093331e-01 -2.40942609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.951193817 meters 0.07468362444350833 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.35, Z:-0.24 [[ 9.96871821e-01 -1.75044306e-02 7.70724772e-02 2.16783514e+00] [ 1.75721246e-02 9.99845578e-01 -2.00179242e-04 -3.54987828e-01] [-7.70570715e-02 1.55388022e-03 9.97025473e-01 -2.44255365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9811938170000003 meters 0.06929129707499275 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.34, Z:-0.23 [[ 9.96651441e-01 -1.55246489e-02 8.02800722e-02 2.20159728e+00] [ 1.55937617e-02 9.99878383e-01 -2.33983265e-04 -3.41395216e-01] [-8.02666762e-02 1.48506807e-03 9.96772319e-01 -2.27495523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0111938170000005 meters 0.07294218065054893 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.35, Z:-0.25 [[ 9.96616999e-01 -1.39321609e-02 8.09966197e-02 2.23119236e+00] [ 1.39970722e-02 9.99902009e-01 -2.33644667e-04 -3.47227214e-01] [-8.09854276e-02 1.36656978e-03 9.96714349e-01 -2.46367746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.041193817000001 meters 0.07242153354757096 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.34, Z:-0.25 [[ 9.96596791e-01 -1.23109981e-02 8.15062956e-02 2.26314710e+00] [ 1.23735344e-02 9.99923411e-01 -2.62181611e-04 -3.42890436e-01] [-8.14968254e-02 1.26981030e-03 9.96672792e-01 -2.50699008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.071193817000001 meters 0.07160250689682483 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.34, Z:-0.25 [[ 9.96588544e-01 -9.46296213e-03 8.19861316e-02 2.29522164e+00] [ 9.51817513e-03 9.99954661e-01 -2.82623525e-04 -3.36902509e-01] [-8.19797400e-02 1.06201773e-03 9.96633430e-01 -2.54963928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.101193817 meters 0.06799870697584888 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.32, Z:-0.24 [[ 9.96707064e-01 -5.47211920e-03 8.09016988e-02 2.32996467e+00] [ 5.51385820e-03 9.99984756e-01 -2.92523274e-04 -3.24088022e-01] [-8.08988648e-02 7.37640509e-04 9.96722042e-01 -2.42502662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.131193817000001 meters 0.06751374252798208 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.31, Z:-0.25 [[ 9.96509813e-01 1.75590297e-03 8.34572319e-02 2.36033804e+00] [-1.73331343e-03 9.99998439e-01 -3.43126458e-04 -3.13968967e-01] [-8.34577041e-02 1.97271341e-04 9.96511301e-01 -2.46039161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.161193817000001 meters 0.0673755344433355 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.31, Z:-0.25 [[ 9.96472152e-01 5.41466977e-03 8.37492206e-02 2.39182322e+00] [-5.40538740e-03 9.99985334e-01 -3.37583406e-04 -3.09372369e-01] [-8.37498203e-02 -1.16304519e-04 9.96486806e-01 -2.49618745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.191193817 meters 0.06751360038998994 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.30, Z:-0.25 [[ 9.96472377e-01 9.76161963e-03 8.33517411e-02 2.42333144e+00] [-9.76549834e-03 9.99952251e-01 -3.61170361e-04 -3.02886851e-01] [-8.33512868e-02 -4.54075001e-04 9.96520124e-01 -2.53897383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2211938170000005 meters 0.06777906066664446 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.30, Z:-0.26 [[ 9.96451930e-01 1.10684035e-02 8.34328525e-02 2.45446221e+00] [-1.10747792e-02 9.99938598e-01 -3.86403288e-04 -3.01158361e-01] [-8.34320064e-02 -5.38968120e-04 9.96513326e-01 -2.59076738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.251193817000001 meters 0.07003114319006228 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.29, Z:-0.28 [[ 9.96465852e-01 1.26578557e-02 8.30396592e-02 2.48327915e+00] [-1.26673051e-02 9.99919681e-01 -4.13080082e-04 -2.94611263e-01] [-8.30382183e-02 -6.40268505e-04 9.96546158e-01 -2.82021564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.281193817000001 meters 0.068153276733882 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.30, Z:-0.27 [[ 9.96498990e-01 1.35734613e-02 8.24956037e-02 2.51730223e+00] [-1.35840819e-02 9.99907639e-01 -4.32554012e-04 -2.97240908e-01] [-8.24938555e-02 -6.89587400e-04 9.96591335e-01 -2.69500336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.311193817 meters 0.06813554591048783 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.30, Z:-0.27 [[ 9.96458530e-01 1.45157180e-02 8.28232519e-02 2.54991873e+00] [-1.45277472e-02 9.99894362e-01 -4.57443104e-04 -2.96475995e-01] [-8.28211427e-02 -7.47412186e-04 9.96564147e-01 -2.72712563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.341193817000001 meters 0.06879275955782145 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.30, Z:-0.28 [[ 9.96687952e-01 1.51401349e-02 7.98993224e-02 2.58061621e+00] [-1.51510454e-02 9.99885106e-01 -4.69728182e-04 -2.96515055e-01] [-7.98972542e-02 -7.42385844e-04 9.96802828e-01 -2.80480361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.371193817000001 meters 0.06897756866688358 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.30, Z:-0.29 [[ 9.96819384e-01 1.49446159e-02 7.82800945e-02 2.61246351e+00] [-1.49528901e-02 9.99888084e-01 -4.80488185e-04 -2.97639484e-01] [-7.82785144e-02 -6.91553711e-04 9.96931289e-01 -2.86077193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.401193817000001 meters 0.06868449140229087 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.30, Z:-0.29 [[ 9.96755902e-01 1.40101146e-02 7.92552079e-02 2.64490921e+00] [-1.40138011e-02 9.99901672e-01 -5.09720450e-04 -3.00429986e-01] [-7.92545561e-02 -6.02599853e-04 9.96854228e-01 -2.87351348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4311938170000005 meters 0.0688308420400617 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.30, Z:-0.29 [[ 9.96617323e-01 1.19345232e-02 8.13109950e-02 2.67548601e+00] [-1.19293312e-02 9.99928692e-01 -5.49668863e-04 -3.02892905e-01] [-8.13117569e-02 -4.22176275e-04 9.96688627e-01 -2.92432931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.461193817000001 meters 0.06814927620204875 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.31, Z:-0.29 [[ 9.96428304e-01 9.64802670e-03 8.38901146e-02 2.70799000e+00] [-9.63240966e-03 9.99953433e-01 -5.90913427e-04 -3.07244735e-01] [-8.38919092e-02 -2.19261087e-04 9.96474836e-01 -2.89494023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.491193817000001 meters 0.06799736918791609 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.31, Z:-0.29 [[ 9.96176639e-01 5.06933083e-03 8.72147164e-02 2.73950287e+00] [-5.03239636e-03 9.99987130e-01 -6.43353545e-04 -3.12691652e-01] [-8.72168554e-02 2.01994750e-04 9.96189329e-01 -2.89591885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.521193817 meters 0.06806827933788494 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.31, Z:-0.29 [[ 9.96103362e-01 3.30277103e-03 8.81316329e-02 2.77108308e+00] [-3.25595879e-03 9.99994472e-01 -6.74914006e-04 -3.13716185e-01] [-8.81333748e-02 3.85331144e-04 9.96108608e-01 -2.93220437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.551193817000001 meters 0.0683446092105143 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.31, Z:-0.30 [[ 9.96172423e-01 2.28751806e-03 8.73800357e-02 2.80302801e+00] [-2.23527742e-03 9.99997260e-01 -6.95697481e-04 -3.14402597e-01] [-8.73813876e-02 4.97716025e-04 9.96174807e-01 -2.97059743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.581193817000001 meters 0.06834572245597885 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.31, Z:-0.30 [[ 9.96215717e-01 1.75348643e-03 8.68974724e-02 2.83497100e+00] [-1.69749161e-03 9.99998301e-01 -7.18267557e-04 -3.14423434e-01] [-8.68985842e-02 5.68041699e-04 9.96217001e-01 -3.00586269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.611193817000001 meters 0.06875654973446647 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.31, Z:-0.31 [[ 9.96328751e-01 1.46025890e-03 8.55972371e-02 2.86606635e+00] [-1.40225238e-03 9.99998745e-01 -7.37788967e-04 -3.13532459e-01] [-8.55982070e-02 6.15051430e-04 9.96329548e-01 -3.05403966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.641193817 meters 0.06877105367951646 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.31, Z:-0.31 [[ 9.96390448e-01 1.47119186e-03 8.48758499e-02 2.89796221e+00] [-1.41336526e-03 9.99998726e-01 -7.41392784e-04 -3.12354355e-01] [-8.48768325e-02 6.18756110e-04 9.96391259e-01 -3.07531227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.671193817000001 meters 0.06924283930342955 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.31, Z:-0.31 [[ 9.96396997e-01 -6.54547100e-05 8.48116789e-02 2.92872062e+00] [ 1.31342690e-04 9.99999694e-01 -7.71294383e-04 -3.13329939e-01] [-8.48116025e-02 7.79654801e-04 9.96396700e-01 -3.14158040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.701193817000001 meters 0.06964420559097882 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.31, Z:-0.32 [[ 9.96548343e-01 -3.67806236e-03 8.29329405e-02 2.96019255e+00] [ 3.75437409e-03 9.99992660e-01 -7.64230823e-04 -3.14745283e-01] [-8.29295209e-02 1.07295424e-03 9.96554837e-01 -3.16838873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.731193817 meters 0.07002479496802771 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.32, Z:-0.32 [[ 9.96570277e-01 -5.79612350e-03 8.25474876e-02 2.99211005e+00] [ 5.88086646e-03 9.99982401e-01 -7.83491193e-04 -3.16470886e-01] [-8.25414936e-02 1.26625479e-03 9.96586824e-01 -3.20557447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7611938170000005 meters 0.07038978979983734 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.32, Z:-0.32 [[ 9.96598657e-01 -7.33973260e-03 8.20807279e-02 3.02348097e+00] [ 7.43089690e-03 9.99972066e-01 -8.05235231e-04 -3.17857706e-01] [-8.20725248e-02 1.41242978e-03 9.96625359e-01 -3.24926906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.791193817000001 meters 0.07079933954466987 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.32, Z:-0.33 [[ 9.96615440e-01 -8.99956479e-03 8.17109095e-02 3.05566949e+00] [ 9.09734547e-03 9.99958278e-01 -8.24438780e-04 -3.19341600e-01] [-8.17000808e-02 1.56500079e-03 9.96655732e-01 -3.29808310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.821193817000001 meters 0.07229161802196117 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.32, Z:-0.34 [[ 9.96832987e-01 -1.22167195e-02 7.85795648e-02 3.08481241e+00] [ 1.23194753e-02 9.99923774e-01 -8.23001219e-04 -3.21368440e-01] [-7.85635206e-02 1.78845377e-03 9.96907506e-01 -3.38562942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.851193817 meters 0.07229161802196117 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.32, Z:-0.34 [[ 9.96837037e-01 -1.18816663e-02 7.85795677e-02 3.11706191e+00] [ 1.19833762e-02 9.99927858e-01 -8.22911335e-04 -3.21967539e-01] [-7.85641213e-02 1.76195701e-03 9.96907505e-01 -3.42273508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.881193817000001 meters 0.0724548560018501 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.32, Z:-0.35 [[ 9.97020103e-01 -1.29085011e-02 7.60544908e-02 3.14903159e+00] [ 1.30093335e-02 9.99915030e-01 -8.30494396e-04 -3.20357097e-01] [-7.60373080e-02 1.81743785e-03 9.97103317e-01 -3.46920278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.911193817000001 meters 0.07266795186772067 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.32, Z:-0.35 [[ 9.97128597e-01 -1.27982597e-02 7.46375657e-02 3.18120654e+00] [ 1.28948689e-02 9.99916528e-01 -8.12609492e-04 -3.19548644e-01] [-7.46209355e-02 1.77271779e-03 9.97210396e-01 -3.50837064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.941193817000001 meters 0.07255771070162749 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.32, Z:-0.36 [[ 9.97312843e-01 -1.02799784e-02 7.25356195e-02 3.21154239e+00] [ 1.03663161e-02 9.99945937e-01 -8.13911315e-04 -3.16480398e-01] [-7.25233310e-02 1.56365137e-03 9.97365490e-01 -3.55122354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9711938170000005 meters 0.07241639179880519 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.31, Z:-0.36 [[ 9.97363384e-01 -7.78544992e-03 7.21503133e-02 3.24293487e+00] [ 7.86542967e-03 9.99968727e-01 -8.24460777e-04 -3.13739256e-01] [-7.21416382e-02 1.38978021e-03 9.97393429e-01 -3.59234071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.001193817000001 meters 0.07173521682538594 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.31, Z:-0.36 [[ 9.97241272e-01 -6.26454769e-03 7.39635138e-02 3.27506067e+00] [ 6.34616157e-03 9.99979486e-01 -8.68469426e-04 -3.09576135e-01] [-7.39565560e-02 1.33545796e-03 9.97260570e-01 -3.61805405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.031193817000001 meters 0.07139904674177955 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.31, Z:-0.36 [[ 9.97214420e-01 -4.26407217e-03 7.44662277e-02 3.30636282e+00] [ 4.34298734e-03 9.99990166e-01 -8.97848129e-04 -3.05486225e-01] [-7.44616669e-02 1.21875298e-03 9.97223132e-01 -3.64720777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.061193817 meters 0.06987530307171941 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.30, Z:-0.36 [[ 9.96893743e-01 3.96996677e-04 7.87572668e-02 3.33705090e+00] [-3.20586769e-04 9.99999466e-01 -9.82836559e-04 -2.95609634e-01] [-7.87576149e-02 9.54535078e-04 9.96893338e-01 -3.63750458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.091193817000001 meters 0.06868185727164423 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.29, Z:-0.36 [[ 9.96680343e-01 2.92869889e-03 8.13616406e-02 3.36916194e+00] [-2.85567437e-03 9.99995409e-01 -1.01387985e-03 -2.89600764e-01] [-8.13642364e-02 7.78171770e-04 9.96684130e-01 -3.61938479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.121193817000001 meters 0.06797358387871925 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.28, Z:-0.36 [[ 9.96560389e-01 5.96313580e-03 8.26548941e-02 3.40159515e+00] [-5.89857416e-03 9.99982078e-01 -1.02526983e-03 -2.84941003e-01] [-8.26595266e-02 5.34197278e-04 9.96577703e-01 -3.63148707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.151193817000001 meters 0.06749623624785137 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.28, Z:-0.37 [[ 9.96349931e-01 8.38882820e-03 8.49496484e-02 3.43253864e+00] [-8.32700042e-03 9.99964744e-01 -1.08212513e-03 -2.81331628e-01] [-8.49557312e-02 3.70799536e-04 9.96384658e-01 -3.65607815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1811938170000005 meters 0.06700064680631192 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.27, Z:-0.37 [[ 9.96200885e-01 1.29035147e-02 8.61237195e-02 3.46397257e+00] [-1.28545996e-02 9.99916746e-01 -1.12253567e-03 -2.74233647e-01] [-8.61310341e-02 1.11850999e-05 9.96283817e-01 -3.68919844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.211193817000001 meters 0.06716418587160916 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.27, Z:-0.38 [[ 9.96171477e-01 1.59643095e-02 8.59507319e-02 3.49496679e+00] [-1.59246709e-02 9.99872537e-01 -1.14683912e-03 -2.70442320e-01] [-8.59580849e-02 -2.26288704e-04 9.96298729e-01 -3.76327790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.241193817000001 meters 0.06703677870392535 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.27, Z:-0.38 [[ 9.96309330e-01 1.99161343e-02 8.34929164e-02 3.52698491e+00] [-1.98914005e-02 9.99801510e-01 -1.12815868e-03 -2.66887395e-01] [-8.34988125e-02 -5.36796019e-04 9.96507732e-01 -3.78399875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.271193817 meters 0.06736453445877152 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.26, Z:-0.39 [[ 9.96422605e-01 2.35255493e-02 8.11698328e-02 3.55874393e+00] [-2.35116401e-02 9.99722928e-01 -1.12728303e-03 -2.62884631e-01] [-8.11738628e-02 -7.85185606e-04 9.96699648e-01 -3.85072158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.301193817000001 meters 0.06788184193101311 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.26, Z:-0.39 [[ 9.96629472e-01 2.97389496e-02 7.64544976e-02 3.58893807e+00] [-2.97442134e-02 9.99556970e-01 -1.07010808e-03 -2.59387588e-01] [-7.64524498e-02 -1.20757765e-03 9.97072497e-01 -3.90374945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.331193817000001 meters 0.06848405491271072 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.26, Z:-0.40 [[ 9.96603943e-01 3.21708782e-02 7.57998354e-02 3.61993056e+00] [-3.21833466e-02 9.99481423e-01 -1.05732498e-03 -2.59284454e-01] [-7.57945424e-02 -1.38575813e-03 9.97122493e-01 -3.97055469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.361193817000001 meters 0.06825556090390662 Centerline is valid? [True, True] Translation: X:3.65, Y:-0.26, Z:-0.40 [[ 9.96709543e-01 3.39247467e-02 7.36152108e-02 3.65166219e+00] [-3.39408252e-02 9.99423310e-01 -1.03291529e-03 -2.62351951e-01] [-7.36077991e-02 -1.46904447e-03 9.97286185e-01 -3.99310087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.391193817 meters 0.06906792359355252 Centerline is valid? [True, True] Translation: X:3.68, Y:-0.26, Z:-0.41 [[ 9.96682933e-01 3.65170012e-02 7.27299153e-02 3.68224587e+00] [-3.65380812e-02 9.99331719e-01 -1.04105320e-03 -2.61988648e-01] [-7.27193274e-02 -1.61981159e-03 9.97351130e-01 -4.06470438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.421193817000001 meters 0.06904689363273278 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.26, Z:-0.41 [[ 9.96584734e-01 4.16957555e-02 7.12764488e-02 3.71325367e+00] [-4.17270074e-02 9.99128496e-01 -1.05110277e-03 -2.64752535e-01] [-7.12581576e-02 -1.92663993e-03 9.97456046e-01 -4.07819925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.451193817000001 meters 0.06976131657550476 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.27, Z:-0.41 [[ 9.96391311e-01 4.50220424e-02 7.19539447e-02 3.74460137e+00] [-4.50632338e-02 9.98983583e-01 -1.05159685e-03 -2.66715907e-01] [-7.19281545e-02 -2.19467547e-03 9.97407401e-01 -4.12152398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.481193817000001 meters 0.07038747411597276 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.27, Z:-0.42 [[ 9.96239481e-01 4.78202739e-02 7.22503826e-02 3.77637479e+00] [-4.78676961e-02 9.98853105e-01 -1.07598455e-03 -2.71055405e-01] [-7.22189729e-02 -2.38652107e-03 9.97385946e-01 -4.15739368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5111938170000005 meters 0.07075899466760069 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.28, Z:-0.42 [[ 9.95988999e-01 4.95722371e-02 7.44883074e-02 3.80741153e+00] [-4.96257067e-02 9.98767242e-01 -1.13398473e-03 -2.76960702e-01] [-7.44526955e-02 -2.56709858e-03 9.97221242e-01 -4.18197390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.541193817000001 meters 0.070404514612925 Centerline is valid? [True, True] Translation: X:3.84, Y:-0.28, Z:-0.42 [[ 9.95883173e-01 4.97792422e-02 7.57544250e-02 3.83810296e+00] [-4.98334788e-02 9.98756849e-01 -1.17532508e-03 -2.84481525e-01] [-7.57187576e-02 -2.60462006e-03 9.97125812e-01 -4.20445860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.571193817000001 meters 0.06788836759143325 Centerline is valid? [True, True] Translation: X:3.87, Y:-0.30, Z:-0.42 [[ 9.96225983e-01 4.41292485e-02 7.47422280e-02 3.86904468e+00] [-4.41639989e-02 9.99023588e-01 -1.18857770e-03 -3.04339641e-01] [-7.47216998e-02 -2.11682368e-03 9.97202179e-01 -4.22563943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.601193817 meters 0.06729939110915913 Centerline is valid? [True, True] Translation: X:3.90, Y:-0.31, Z:-0.43 [[ 9.96445698e-01 4.09212823e-02 7.36302861e-02 3.89955904e+00] [-4.09467370e-02 9.99160652e-01 -1.16440069e-03 -3.14190689e-01] [-7.36161334e-02 -1.85465790e-03 9.97284927e-01 -4.27954355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.631193817000001 meters 0.06592888257224305 Centerline is valid? [True, True] Translation: X:3.93, Y:-0.34, Z:-0.43 [[ 9.96792588e-01 3.28560611e-02 7.29727010e-02 3.92946448e+00] [-3.28575271e-02 9.99459348e-01 -1.18068656e-03 -3.35088137e-01] [-7.29720409e-02 -1.22080289e-03 9.97333240e-01 -4.32059454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.661193817000001 meters 0.06514391163147491 Centerline is valid? [True, True] Translation: X:3.96, Y:-0.35, Z:-0.43 [[ 9.96861007e-01 2.81179025e-02 7.40102397e-02 3.96108258e+00] [-2.81054477e-02 9.99604232e-01 -1.20996073e-03 -3.46990718e-01] [-7.40149703e-02 -8.73928249e-04 9.97256747e-01 -4.33560103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.691193817000001 meters 0.06468114656248554 Centerline is valid? [True, True] Translation: X:3.99, Y:-0.36, Z:-0.44 [[ 9.96853791e-01 2.51019977e-02 7.51825016e-02 3.99164537e+00] [-2.50808332e-02 9.99684675e-01 -1.22580080e-03 -3.57348559e-01] [-7.51895647e-02 -6.63695602e-04 9.97169037e-01 -4.35896759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7211938170000005 meters 0.06409370758919858 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.37, Z:-0.44 [[ 9.96854508e-01 2.13099850e-02 7.63346246e-02 4.02370343e+00] [-2.12754296e-02 9.99772851e-01 -1.26595925e-03 -3.66799029e-01] [-7.63442628e-02 -3.62074750e-04 9.97081452e-01 -4.37410640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.751193817000001 meters 0.06386788782898223 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.37, Z:-0.44 [[ 9.96892257e-01 1.78967524e-02 7.67172367e-02 4.05611680e+00] [-1.78494355e-02 9.99839838e-01 -1.30247042e-03 -3.74217004e-01] [-7.67282595e-02 -7.09366904e-05 9.97052039e-01 -4.40171696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.781193817000001 meters 0.06408969717738364 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.39, Z:-0.44 [[ 9.97066053e-01 1.19297574e-02 7.56106225e-02 4.08751908e+00] [-1.18666289e-02 9.99928765e-01 -1.28414049e-03 -3.86170801e-01] [-7.56205558e-02 3.83129685e-04 9.97136593e-01 -4.44002858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.811193817 meters 0.06419845220793703 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.39, Z:-0.45 [[ 9.97199201e-01 9.95756218e-03 7.41255780e-02 4.11879599e+00] [-9.88979271e-03 9.99950274e-01 -1.28125324e-03 -3.91690746e-01] [-7.41346502e-02 5.44578104e-04 9.97248092e-01 -4.48661749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.841193817000001 meters 0.06468951110182622 Centerline is valid? [True, True] Translation: X:4.15, Y:-0.40, Z:-0.45 [[ 9.97261128e-01 8.27581710e-03 7.34966270e-02 4.14907515e+00] [-8.20315746e-03 9.99965521e-01 -1.29042249e-03 -3.96291900e-01] [-7.35047722e-02 6.83983783e-04 9.97294631e-01 -4.54759603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.871193817000001 meters 0.0641192759563955 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.40, Z:-0.45 [[ 9.97285140e-01 6.52892166e-03 7.33465864e-02 4.18178922e+00] [-6.45048075e-03 9.99978342e-01 -1.30628653e-03 -3.98650669e-01] [-7.33535265e-02 8.29619400e-04 9.97305656e-01 -4.54409378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.901193817000001 meters 0.06449886986498919 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.40, Z:-0.46 [[ 9.97268807e-01 4.93788706e-03 7.36922264e-02 4.21359260e+00] [-4.85274626e-03 9.99987335e-01 -1.33436122e-03 -4.02622166e-01] [-7.36978820e-02 9.73107144e-04 9.97280139e-01 -4.59433831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9311938170000005 meters 0.06511027462701423 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.41, Z:-0.46 [[ 9.97239765e-01 4.30732295e-03 7.41235345e-02 4.24638955e+00] [-4.21767959e-03 9.99990173e-01 -1.36586609e-03 -4.09800410e-01] [-7.41286893e-02 1.04946666e-03 9.97248132e-01 -4.57781285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.961193817000001 meters 0.06645561120016968 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.41, Z:-0.46 [[ 9.97377417e-01 4.61338266e-03 7.22288356e-02 4.27719886e+00] [-4.52712199e-03 9.99988831e-01 -1.35793261e-03 -4.13791737e-01] [-7.22342935e-02 1.02738257e-03 9.97387162e-01 -4.63258033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.991193817000001 meters 0.06693985914689504 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.42, Z:-0.47 [[ 9.97472990e-01 4.59904961e-03 7.08977006e-02 4.30926587e+00] [-4.51460308e-03 9.99988896e-01 -1.35129788e-03 -4.15867095e-01] [-7.09031280e-02 1.02780816e-03 9.97482677e-01 -4.65599392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.021193817000001 meters 0.06704851694970125 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.42, Z:-0.47 [[ 9.97464651e-01 2.86642532e-03 7.11059254e-02 4.34084868e+00] [-2.77557533e-03 9.99995201e-01 -1.37644336e-03 -4.17953446e-01] [-7.11095297e-02 1.17559374e-03 9.97467820e-01 -4.68595592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.051193817000001 meters 0.06817199051905926 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.42, Z:-0.47 [[ 9.97463068e-01 -2.49076014e-03 7.11422836e-02 4.37108029e+00] [ 2.59765321e-03 9.99995632e-01 -1.41004583e-03 -4.23336790e-01] [-7.11384607e-02 1.59127162e-03 9.97465181e-01 -4.73870217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.081193817000001 meters 0.06897135102751978 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.43, Z:-0.48 [[ 9.97349141e-01 -6.13013381e-03 7.25059475e-02 4.40331117e+00] [ 6.25023788e-03 9.99979445e-01 -1.42969748e-03 -4.27023117e-01] [-7.24956929e-02 1.87908697e-03 9.97366955e-01 -4.77239323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.111193817000001 meters 0.06955229537078839 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.43, Z:-0.48 [[ 9.97283785e-01 -9.51936405e-03 7.30372082e-02 4.43520640e+00] [ 9.65190482e-03 9.99952351e-01 -1.46196326e-03 -4.29267772e-01] [-7.30198110e-02 2.16294043e-03 9.97328145e-01 -4.79310475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.141193817 meters 0.07137861149919125 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.43, Z:-0.48 [[ 9.97094625e-01 -1.35234798e-02 7.49628246e-02 4.46603393e+00] [ 1.36762746e-02 9.99905312e-01 -1.52529793e-03 -4.31476331e-01] [-7.49350992e-02 2.54607855e-03 9.97185163e-01 -4.82514531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.171193817000001 meters 0.07189512177317253 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.43, Z:-0.49 [[ 9.97113068e-01 -1.48709773e-02 7.44606134e-02 4.49822360e+00] [ 1.50269871e-02 9.99885910e-01 -1.53536915e-03 -4.30253249e-01] [-7.44292857e-02 2.64985531e-03 9.97222773e-01 -4.85806729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.201193817000001 meters 0.0716386215908397 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.43, Z:-0.49 [[ 9.97101809e-01 -1.61059487e-02 7.43544329e-02 4.53053373e+00] [ 1.62665531e-02 9.99866482e-01 -1.55486617e-03 -4.26736734e-01] [-7.43194627e-02 2.75985020e-03 9.97230666e-01 -4.87363329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.231193817000001 meters 0.07390274791143066 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.43, Z:-0.49 [[ 9.97045795e-01 -1.79561354e-02 7.46810586e-02 4.56083369e+00] [ 1.81251315e-02 9.99834469e-01 -1.58571741e-03 -4.26938821e-01] [-7.46402232e-02 2.93463689e-03 9.97206210e-01 -4.93980295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2611938170000005 meters 0.07393901313080127 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.41, Z:-0.50 [[ 9.97073300e-01 -2.21863011e-02 7.31614832e-02 4.59238136e+00] [ 2.23620082e-02 9.99748685e-01 -1.58329277e-03 -4.14426811e-01] [-7.31079692e-02 3.21469664e-03 9.97318851e-01 -4.96219102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.291193817000001 meters 0.07489702630915972 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.41, Z:-0.50 [[ 9.97194842e-01 -2.20262948e-02 7.15352291e-02 4.62337890e+00] [ 2.21933249e-02 9.99752510e-01 -1.54085738e-03 -4.09127189e-01] [-7.14835855e-02 3.12413961e-03 9.97436884e-01 -5.02521986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.321193817000001 meters 0.07514597770765054 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.40, Z:-0.51 [[ 9.97270204e-01 -2.24476334e-02 7.03437608e-02 4.65519135e+00] [ 2.26121589e-02 9.99743121e-01 -1.54335247e-03 -4.01792247e-01] [-7.02910463e-02 3.12976373e-03 9.97521615e-01 -5.07923885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.351193817 meters 0.07619199697618335 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.39, Z:-0.51 [[ 9.97279177e-01 -2.48871848e-02 6.93892764e-02 4.68627869e+00] [ 2.50537081e-02 9.99684935e-01 -1.53046276e-03 -3.88998113e-01] [-6.93293253e-02 3.26475732e-03 9.97588485e-01 -5.13785663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.381193817000001 meters 0.07809755288729636 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.39, Z:-0.52 [[ 9.97204459e-01 -2.75776422e-02 6.94459489e-02 4.71682442e+00] [ 2.77511526e-02 9.99613684e-01 -1.53478485e-03 -3.86330931e-01] [-6.93767951e-02 3.45769942e-03 9.97584535e-01 -5.18879172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.411193817000001 meters 0.0798581036589189 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.38, Z:-0.52 [[ 9.96968785e-01 -3.14762071e-02 7.11511718e-02 4.74878165e+00] [ 3.16683561e-02 9.99497193e-01 -1.57385853e-03 -3.83704223e-01] [-7.10658574e-02 3.82232848e-03 9.97464302e-01 -5.22107393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.441193817000001 meters 0.08173364513735598 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.38, Z:-0.53 [[ 9.96868400e-01 -3.51092489e-02 7.08571378e-02 4.77992709e+00] [ 3.53095103e-02 9.99375183e-01 -1.57532513e-03 -3.80658362e-01] [-7.07575566e-02 4.07232268e-03 9.97485230e-01 -5.25563764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4711938170000005 meters 0.08522267597373444 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.37, Z:-0.53 [[ 9.96776614e-01 -4.01524185e-02 6.94562160e-02 4.80929746e+00] [ 4.03572944e-02 9.99184113e-01 -1.54843736e-03 -3.72770141e-01] [-6.93373740e-02 4.34651110e-03 9.97583799e-01 -5.31841031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.501193817000001 meters 0.08565600288835333 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.37, Z:-0.54 [[ 9.96858919e-01 -4.13903822e-02 6.75213372e-02 4.84026277e+00] [ 4.15867561e-02 9.99133764e-01 -1.50471546e-03 -3.67004672e-01] [-6.74005670e-02 4.30798241e-03 9.97716696e-01 -5.36388717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.531193817000001 meters 0.08541341335986281 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.36, Z:-0.54 [[ 9.96898719e-01 -4.15746908e-02 6.68168294e-02 4.87223451e+00] [ 4.17674391e-02 9.99126249e-01 -1.48977005e-03 -3.60455440e-01] [-6.66965114e-02 4.27591771e-03 9.97764146e-01 -5.39627708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.561193817000001 meters 0.08516113692715965 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.35, Z:-0.54 [[ 9.96922565e-01 -4.08858598e-02 6.68860729e-02 4.90437164e+00] [ 4.10778579e-02 9.99154827e-01 -1.49716307e-03 -3.53297692e-01] [-6.67683298e-02 4.24009224e-03 9.97759496e-01 -5.43858792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.591193817000001 meters 0.08515713385342306 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.35, Z:-0.55 [[ 9.96932687e-01 -3.90212340e-02 6.78421830e-02 4.93525612e+00] [ 3.92150261e-02 9.99229629e-01 -1.52660419e-03 -3.45799032e-01] [-6.77303493e-02 4.18235460e-03 9.97694897e-01 -5.48274850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.621193817000001 meters 0.07888690384696168 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.32, Z:-0.55 [[ 9.96876300e-01 -3.41776148e-02 7.12006488e-02 4.96706088e+00] [ 3.43792017e-02 9.99407568e-01 -1.60735310e-03 -3.16056356e-01] [-7.11035318e-02 4.05015368e-03 9.97460718e-01 -5.46008563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.651193817000001 meters 0.08097008866000527 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.31, Z:-0.55 [[ 9.96942546e-01 -3.12380286e-02 7.16222382e-02 4.99693946e+00] [ 3.14343870e-02 9.99504511e-01 -1.61580135e-03 -3.11080323e-01] [-7.15362757e-02 3.86226227e-03 9.97430521e-01 -5.53886189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6811938170000005 meters 0.07809180343006478 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.30, Z:-0.55 [[ 9.96934688e-01 -2.92787102e-02 7.25533260e-02 5.02880243e+00] [ 2.94751152e-02 9.99564173e-01 -1.63762385e-03 -2.98355904e-01] [-7.24737577e-02 3.77112167e-03 9.97363190e-01 -5.53970892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.711193817000001 meters 0.07587471188344551 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.29, Z:-0.55 [[ 9.96895528e-01 -2.76576753e-02 7.37181100e-02 5.06043018e+00] [ 2.78562795e-02 9.99610548e-01 -1.66711341e-03 -2.87177968e-01] [-7.36432919e-02 3.71545018e-03 9.97277725e-01 -5.54318973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.741193817000001 meters 0.07468696324339034 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.27, Z:-0.56 [[ 9.96687623e-01 -2.54395608e-02 7.72438442e-02 5.09022258e+00] [ 2.56512131e-02 9.99669424e-01 -1.74894862e-03 -2.69610966e-01] [-7.71738167e-02 3.72455375e-03 9.97010697e-01 -5.56120880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.771193817000001 meters 0.07468696324339034 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.27, Z:-0.56 [[ 9.96696370e-01 -2.50943186e-02 7.72439103e-02 5.12252355e+00] [ 2.53047211e-02 9.99678259e-01 -1.74614316e-03 -2.70612262e-01] [-7.71752395e-02 3.69501015e-03 9.97010697e-01 -5.59837070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.801193817000001 meters 0.07428546027459165 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.26, Z:-0.56 [[ 9.96566905e-01 -2.51268999e-02 7.88862622e-02 5.15487884e+00] [ 2.53488408e-02 9.99677022e-01 -1.81313388e-03 -2.62137390e-01] [-7.88152252e-02 3.80658452e-03 9.96881974e-01 -5.62250486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.831193817000001 meters 0.07350642371615372 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.25, Z:-0.56 [[ 9.96426361e-01 -2.55538654e-02 8.05078037e-02 5.18698988e+00] [ 2.57884766e-02 9.99665663e-01 -1.87554627e-03 -2.52788887e-01] [-8.04329595e-02 3.94501737e-03 9.96752214e-01 -5.63394743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.861193817000001 meters 0.07369702334462033 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.24, Z:-0.57 [[ 9.96291198e-01 -2.61470317e-02 8.19767138e-02 5.21864572e+00] [ 2.63948491e-02 9.99649712e-01 -1.94059030e-03 -2.36101009e-01] [-8.18972577e-02 4.09715603e-03 9.96632356e-01 -5.66969018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.891193817 meters 0.07455329864267345 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.23, Z:-0.57 [[ 9.96205533e-01 -2.67446454e-02 8.28206509e-02 5.24952990e+00] [ 2.70006198e-02 9.99633472e-01 -1.97202143e-03 -2.29607441e-01] [-8.27375538e-02 4.20074756e-03 9.96562517e-01 -5.70882950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.921193817000001 meters 0.07568548316234415 Centerline is valid? [True, True] Translation: X:5.28, Y:-0.22, Z:-0.58 [[ 9.96229387e-01 -2.62129020e-02 8.27036447e-02 5.28150448e+00] [ 2.64681600e-02 9.99647673e-01 -1.99135490e-03 -2.23813435e-01] [-8.26223068e-02 4.17285957e-03 9.96572196e-01 -5.76472860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.951193817000001 meters 0.07340929338128371 Centerline is valid? [True, True] Translation: X:5.31, Y:-0.21, Z:-0.58 [[ 9.96247918e-01 -2.52518530e-02 8.27793997e-02 5.31459105e+00] [ 2.55068876e-02 9.99672596e-01 -2.02463636e-03 -2.11675958e-01] [-8.27011716e-02 4.12848460e-03 9.96565839e-01 -5.77316953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.981193817000001 meters 0.07215446470275287 Centerline is valid? [True, True] Translation: X:5.34, Y:-0.19, Z:-0.58 [[ 9.96357555e-01 -2.07224367e-02 8.27176067e-02 5.34421340e+00] [ 2.09631244e-02 9.99778164e-01 -2.04222135e-03 -1.93630218e-01] [-8.26569371e-02 3.76880215e-03 9.96570934e-01 -5.83013931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0111938170000005 meters 0.07134647219768049 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.18, Z:-0.59 [[ 9.96427129e-01 -1.79269722e-02 8.25324253e-02 5.37596491e+00] [ 1.81567971e-02 9.99833081e-01 -2.03490145e-03 -1.84969514e-01] [-8.24821695e-02 3.52615551e-03 9.96586302e-01 -5.88452586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.041193817000001 meters 0.07082806071715925 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.18, Z:-0.59 [[ 9.96621671e-01 -1.57523882e-02 8.06046381e-02 5.40843461e+00] [ 1.59644481e-02 9.99870586e-01 -1.98704842e-03 -1.76323360e-01] [-8.05629059e-02 3.26714408e-03 9.96744172e-01 -5.93363676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.071193817000001 meters 0.06994205456791643 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.17, Z:-0.60 [[ 9.96671210e-01 -1.34000281e-02 8.04172790e-02 5.44090121e+00] [ 1.36054025e-02 9.99905429e-01 -2.00643604e-03 -1.66759280e-01] [-8.03827875e-02 3.09386648e-03 9.96759267e-01 -5.97619714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.101193817000001 meters 0.06813736617194294 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.15, Z:-0.60 [[ 9.96784374e-01 -5.76478701e-03 7.99229595e-02 5.47113787e+00] [ 5.94587162e-03 9.99980267e-01 -2.02793623e-03 -1.48119201e-01] [-7.99096918e-02 2.49662680e-03 9.96798981e-01 -6.02475659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.131193817000001 meters 0.0672633126083315 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.14, Z:-0.61 [[ 9.96824913e-01 -1.42883043e-03 7.96118766e-02 5.50139147e+00] [ 1.59465092e-03 9.99996690e-01 -2.01932264e-03 -1.41037936e-01] [-7.96087278e-02 2.13986427e-03 9.96823892e-01 -6.07011670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.161193817000001 meters 0.06553824238272486 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.13, Z:-0.61 [[ 9.96669297e-01 4.30699019e-03 8.14356296e-02 5.53252922e+00] [-4.15241901e-03 9.99989242e-01 -2.06734221e-03 -1.32035292e-01] [-8.14436576e-02 1.72230165e-03 9.96676459e-01 -6.09463008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.191193817000001 meters 0.0644744467180508 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.12, Z:-0.61 [[ 9.96458453e-01 1.00977766e-02 8.34780573e-02 5.56456502e+00] [-9.95556303e-03 9.99948195e-01 -2.11970136e-03 -1.22330273e-01] [-8.34951370e-02 1.28112327e-03 9.96507361e-01 -6.12321261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2211938170000005 meters 0.06314095858292866 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.11, Z:-0.61 [[ 9.95990166e-01 2.10834237e-02 8.69429564e-02 5.59532636e+00] [-2.09702345e-02 9.99777647e-01 -2.21511134e-03 -1.05877719e-01] [-8.69703264e-02 3.83014923e-04 9.96210829e-01 -6.13980492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.251193817000001 meters 0.06337071021502005 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.10, Z:-0.62 [[ 9.95955271e-01 2.65579735e-02 8.58357316e-02 5.62677247e+00] [-2.64686749e-02 9.99647270e-01 -2.17845673e-03 -1.01370302e-01] [-8.58633101e-02 -1.02312608e-04 9.96306921e-01 -6.19750741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.281193817000001 meters 0.06395840102398109 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.10, Z:-0.63 [[ 9.95908730e-01 3.17162489e-02 8.46160758e-02 5.65799452e+00] [-3.16458931e-02 9.99496781e-01 -2.17296173e-03 -9.74356212e-02] [-8.46424136e-02 -5.13679725e-04 9.96411259e-01 -6.25984983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.311193817000001 meters 0.06466376670703823 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.10, Z:-0.63 [[ 9.95762831e-01 3.53739212e-02 8.48826829e-02 5.68859958e+00] [-3.53143734e-02 9.99373824e-01 -2.20339961e-03 -9.50688864e-02] [-8.49074743e-02 -8.03515324e-04 9.96388516e-01 -6.33648544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.341193817000001 meters 0.0649733559827975 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.10, Z:-0.64 [[ 9.95680709e-01 3.86927603e-02 8.43966620e-02 5.72029955e+00] [-3.86439191e-02 9.99250595e-01 -2.21287118e-03 -9.54104552e-02] [-8.44190368e-02 -1.05810464e-03 9.96429780e-01 -6.36736078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.371193817000001 meters 0.06676845555887055 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.10, Z:-0.65 [[ 9.95487202e-01 4.36366000e-02 8.42678962e-02 5.75044671e+00] [-4.36034006e-02 9.99046419e-01 -2.23527170e-03 -9.59848303e-02] [-8.42850796e-02 -1.44918247e-03 9.96440628e-01 -6.45611964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.401193817000001 meters 0.06646111925813825 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.10, Z:-0.65 [[ 9.95482031e-01 4.49644035e-02 8.36285153e-02 5.78275863e+00] [-4.49345143e-02 9.98987422e-01 -2.24052720e-03 -1.02450453e-01] [-8.36445789e-02 -1.52740215e-03 9.96494481e-01 -6.47564817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4311938170000005 meters 0.06709394312183983 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.11, Z:-0.65 [[ 9.95474638e-01 4.59060932e-02 8.32038177e-02 5.81376928e+00] [-4.58776963e-02 9.98944521e-01 -2.25419021e-03 -1.07048037e-01] [-8.32194788e-02 -1.57321029e-03 9.96530001e-01 -6.53806819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.461193817000001 meters 0.06638077686461409 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.12, Z:-0.65 [[ 9.95428837e-01 4.63437063e-02 8.35086322e-02 5.84693712e+00] [-4.63149209e-02 9.98924280e-01 -2.28294410e-03 -1.15817963e-01] [-8.35246004e-02 -1.59518731e-03 9.96504439e-01 -6.54780516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.491193817000001 meters 0.06580001267713693 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.13, Z:-0.66 [[ 9.95254395e-01 4.44976700e-02 8.65369643e-02 5.87810449e+00] [-4.44563415e-02 9.99008432e-01 -2.40565736e-03 -1.32100045e-01] [-8.65582032e-02 -1.45287578e-03 9.96245736e-01 -6.55725453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.521193817000001 meters 0.06535626879275792 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.14, Z:-0.66 [[ 9.95237843e-01 4.24877908e-02 8.77292599e-02 5.91038795e+00] [-4.24373315e-02 9.99096149e-01 -2.44103128e-03 -1.40997993e-01] [-8.77536797e-02 -1.29358898e-03 9.96141365e-01 -6.58937980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.551193817000001 meters 0.06497599051445517 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.15, Z:-0.66 [[ 9.95276261e-01 4.03938432e-02 8.82808136e-02 5.94187923e+00] [-4.03341163e-02 9.99183218e-01 -2.46103125e-03 -1.50169825e-01] [-8.83081179e-02 -1.11132262e-03 9.96092587e-01 -6.62617465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.581193817000001 meters 0.06456282903024999 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.17, Z:-0.67 [[ 9.95327779e-01 3.70536995e-02 8.91607309e-02 5.97404950e+00] [-3.69765745e-02 9.99312962e-01 -2.51714449e-03 -1.66017272e-01] [-8.91927436e-02 -7.91474577e-04 9.96014070e-01 -6.65643345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.611193817000001 meters 0.06472327596238388 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.17, Z:-0.67 [[ 9.95433115e-01 3.65728639e-02 8.81778798e-02 6.00444583e+00] [-3.64951093e-02 9.99330719e-01 -2.49434449e-03 -1.74398771e-01] [-8.82100893e-02 -7.35108251e-04 9.96101621e-01 -6.71202815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.641193817000001 meters 0.06449182723620611 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.18, Z:-0.67 [[ 9.95407579e-01 3.71694543e-02 8.82166864e-02 6.03699440e+00] [-3.70919706e-02 9.99308684e-01 -2.51800260e-03 -1.83727373e-01] [-8.82492936e-02 -7.65691869e-04 9.96098126e-01 -6.73804863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.671193817000001 meters 0.06434344977344815 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.19, Z:-0.68 [[ 9.95408377e-01 3.67306210e-02 8.83913155e-02 6.06979807e+00] [-3.66484243e-02 9.99324959e-01 -2.55316638e-03 -1.93223237e-01] [-8.84254271e-02 -6.97959235e-04 9.96082555e-01 -6.77163385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.701193817000001 meters 0.06410038201957079 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.21, Z:-0.68 [[ 9.95239349e-01 3.60910351e-02 9.05321766e-02 6.10066093e+00] [-3.59991140e-02 9.99348312e-01 -2.64856322e-03 -2.07267310e-01] [-9.05687673e-02 -6.23123809e-04 9.95890009e-01 -6.81436501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.731193817000001 meters 0.06378899145839027 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.21, Z:-0.68 [[ 9.95241497e-01 3.56234060e-02 9.06936397e-02 6.13346689e+00] [-3.55270633e-02 9.99365129e-01 -2.67694779e-03 -2.14318450e-01] [-9.07314230e-02 -5.57869158e-04 9.95875242e-01 -6.84839397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7611938170000005 meters 0.06377777457650513 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.22, Z:-0.69 [[ 9.95262748e-01 3.46483889e-02 9.08380564e-02 6.16567208e+00] [-3.45449140e-02 9.99399468e-01 -2.71158869e-03 -2.22642958e-01] [-9.08774574e-02 -4.39249631e-04 9.95861986e-01 -6.88671076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.791193817000001 meters 0.06377571630634349 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.24, Z:-0.69 [[ 9.95335205e-01 3.18878051e-02 9.10549127e-02 6.19592432e+00] [-3.17691436e-02 9.99491443e-01 -2.75263886e-03 -2.41780329e-01] [-9.10963817e-02 -1.52938235e-04 9.95842069e-01 -6.93762136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.821193817000001 meters 0.06380342721670307 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.26, Z:-0.70 [[ 9.95518422e-01 2.78120045e-02 9.03856442e-02 6.22719544e+00] [-2.76772333e-02 9.99613145e-01 -2.74434831e-03 -2.55601669e-01] [-9.04270038e-02 2.30424735e-04 9.95903059e-01 -6.97512790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.851193817000001 meters 0.06408515463483447 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.27, Z:-0.70 [[ 9.95509404e-01 2.30473636e-02 9.18141914e-02 6.25890269e+00] [-2.28856235e-02 9.99734129e-01 -2.81418918e-03 -2.70505093e-01] [-9.18546403e-02 7.00326771e-04 9.95772180e-01 -7.01275440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.881193817000001 meters 0.06455697243649745 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.29, Z:-0.70 [[ 9.95361477e-01 1.82711737e-02 9.44547229e-02 6.29095287e+00] [-1.80757244e-02 9.99832344e-01 -2.92447696e-03 -2.85093214e-01] [-9.44923206e-02 1.20357416e-03 9.95524863e-01 -7.03269550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.911193817000001 meters 0.06537627672328855 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.30, Z:-0.70 [[ 9.95188377e-01 1.33537792e-02 9.70658039e-02 6.32234361e+00] [-1.31207668e-02 9.99909302e-01 -3.03848959e-03 -2.98271266e-01] [-9.70975756e-02 1.75029175e-03 9.95273328e-01 -7.04539460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.941193817000001 meters 0.06633860711007024 Centerline is valid? [True, True] Translation: X:6.35, Y:-0.31, Z:-0.70 [[ 9.95083909e-01 5.46238592e-03 9.88846602e-02 6.35341978e+00] [-5.17851778e-03 9.99981702e-01 -3.12714078e-03 -3.14032530e-01] [-9.88999324e-02 2.59969150e-03 9.95093988e-01 -7.03864437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.971193817000001 meters 0.06665192215520106 Centerline is valid? [True, True] Translation: X:6.38, Y:-0.32, Z:-0.71 [[ 9.95063391e-01 3.41440114e-03 9.91826119e-02 6.38496670e+00] [-3.11840546e-03 9.99990210e-01 -3.13922570e-03 -3.19458151e-01] [-9.91923595e-02 2.81443697e-03 9.95064297e-01 -7.07345434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.001193817 meters 0.06907499353550499 Centerline is valid? [True, True] Translation: X:6.41, Y:-0.33, Z:-0.72 [[ 9.95178994e-01 3.06359419e-03 9.80274628e-02 6.41484121e+00] [-2.76979947e-03 9.99991256e-01 -3.13301124e-03 -3.30406754e-01] [-9.80362040e-02 2.84639056e-03 9.95178778e-01 -7.15629285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.031193817 meters 0.06735690664770691 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.33, Z:-0.72 [[ 9.95147159e-01 3.68634065e-03 9.83287454e-02 6.44740452e+00] [-3.39102529e-03 9.99989225e-01 -3.17030122e-03 -3.28650112e-01] [-9.83393728e-02 2.82148099e-03 9.95148937e-01 -7.16854987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.061193817000001 meters 0.0655901316827226 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.33, Z:-0.72 [[ 9.95095817e-01 7.51064948e-03 9.86301407e-02 6.47968646e+00] [-7.22933099e-03 9.99968718e-01 -3.20933846e-03 -3.25328734e-01] [-9.86511595e-02 2.48056935e-03 9.95118986e-01 -7.19178761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.091193817 meters 0.0653561857110213 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.32, Z:-0.72 [[ 9.95026285e-01 9.76885022e-03 9.91325434e-02 6.51085315e+00] [-9.49266972e-03 9.99949638e-01 -3.25727902e-03 -3.23829526e-01] [-9.91593708e-02 2.30004575e-03 9.95068907e-01 -7.22927133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.121193817000002 meters 0.06497393168704768 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.32, Z:-0.73 [[ 9.94946037e-01 1.29492664e-02 9.95725892e-02 6.54173502e+00] [-1.26836069e-02 9.99914112e-01 -3.30060593e-03 -3.21670159e-01] [-9.96067776e-02 2.02098521e-03 9.95024827e-01 -7.26895606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.151193817000001 meters 0.06437222470363411 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.32, Z:-0.73 [[ 9.94856186e-01 1.68604998e-02 9.98843964e-02 6.57386913e+00] [-1.66100141e-02 9.99856469e-01 -3.33890508e-03 -3.18006208e-01] [-9.99263555e-02 1.66264914e-03 9.94993447e-01 -7.31113179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.181193817 meters 0.0634635857849157 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.31, Z:-0.74 [[ 9.94943767e-01 2.41123861e-02 9.74961192e-02 6.60544449e+00] [-2.39057692e-02 9.99708813e-01 -3.28698978e-03 -3.09414367e-01] [-9.75469867e-02 9.39650273e-04 9.95230477e-01 -7.37170648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.211193817000002 meters 0.06335974974987262 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.31, Z:-0.74 [[ 9.95078813e-01 2.60230411e-02 9.56083511e-02 6.63710372e+00] [-2.58304902e-02 9.99661050e-01 -3.25125370e-03 -3.07406546e-01] [-9.56605521e-02 7.65643092e-04 9.95413719e-01 -7.42222944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.241193817000001 meters 0.06332854941784632 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.31, Z:-0.75 [[ 9.95239315e-01 2.71889997e-02 9.35920109e-02 6.66736960e+00] [-2.70070345e-02 9.99630088e-01 -3.21052637e-03 -3.06409257e-01] [-9.36446811e-02 6.67599403e-04 9.95605458e-01 -7.48555627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.271193817 meters 0.06352235530907607 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.30, Z:-0.75 [[ 9.95313545e-01 2.77607348e-02 9.26298514e-02 6.69885923e+00] [-2.75826659e-02 9.99614397e-01 -3.20230767e-03 -3.03525126e-01] [-9.26830314e-02 6.32321958e-04 9.95695463e-01 -7.54578132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.301193817000001 meters 0.06356278367363742 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.30, Z:-0.76 [[ 9.95392886e-01 2.87833922e-02 9.14577465e-02 6.73075987e+00] [-2.86116298e-02 9.99585517e-01 -3.18889567e-03 -3.03466634e-01] [-9.15116261e-02 5.57448881e-04 9.95803852e-01 -7.59243815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.331193817 meters 0.06362241815833225 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.30, Z:-0.76 [[ 9.95490274e-01 3.01106230e-02 8.99581243e-02 6.76223466e+00] [-2.99474631e-02 9.99546469e-01 -3.16323500e-03 -3.04279721e-01] [-9.00125725e-02 4.54952077e-04 9.95940525e-01 -7.63891284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.361193817 meters 0.06371339733090242 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.31, Z:-0.77 [[ 9.95595343e-01 3.07744842e-02 8.85598298e-02 6.79360594e+00] [-3.06166488e-02 9.99526267e-01 -3.14038909e-03 -3.06449974e-01] [-8.86145200e-02 4.15151538e-04 9.96065909e-01 -7.68526682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.391193817000001 meters 0.06384771842056668 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.31, Z:-0.77 [[ 9.95802921e-01 3.38173337e-02 8.50466404e-02 6.82484381e+00] [-3.36807673e-02 9.99428017e-01 -3.04050009e-03 -3.08947725e-01] [-8.51008168e-02 1.63302764e-04 9.96372332e-01 -7.74379105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.421193817 meters 0.0639449232321368 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.31, Z:-0.78 [[ 9.95761033e-01 3.62150491e-02 8.45484163e-02 6.85738127e+00] [-3.60868733e-02 9.99344020e-01 -3.04429694e-03 -3.09360010e-01] [-8.46032035e-02 -1.96957209e-05 9.96414722e-01 -7.78695848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.451193817000002 meters 0.06400441453874439 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.31, Z:-0.78 [[ 9.95648011e-01 4.01002052e-02 8.41249730e-02 6.88895353e+00] [-3.99846444e-02 9.99195613e-01 -3.05875141e-03 -3.07864447e-01] [-8.41799605e-02 -3.18267369e-04 9.96450517e-01 -7.82197613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.481193817000001 meters 0.06415622752910417 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.31, Z:-0.79 [[ 9.95480569e-01 4.46176816e-02 8.38313781e-02 6.92106883e+00] [-4.45168258e-02 9.99003909e-01 -3.07287483e-03 -3.05294023e-01] [-8.38849789e-02 -6.72919672e-04 9.96475217e-01 -7.86596363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.511193817 meters 0.06511792949360942 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.30, Z:-0.79 [[ 9.95160654e-01 5.31095510e-02 8.26719319e-02 6.95307760e+00] [-5.30381879e-02 9.98587794e-01 -3.06067080e-03 -2.98299383e-01] [-8.27177330e-02 -1.33891031e-03 9.96572117e-01 -7.90947244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.541193817000002 meters 0.06551416851101326 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.30, Z:-0.79 [[ 9.95017513e-01 5.59353777e-02 8.25311016e-02 6.98472174e+00] [-5.58739440e-02 9.98433155e-01 -3.05561027e-03 -2.99505525e-01] [-8.25727049e-02 -1.57095242e-03 9.96583805e-01 -7.94217838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.571193817000001 meters 0.06608047280580549 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.30, Z:-0.80 [[ 9.94799555e-01 5.80206991e-02 8.37104725e-02 7.01651728e+00] [-5.79628036e-02 9.98313856e-01 -3.12382096e-03 -3.04666623e-01] [-8.37505709e-02 -1.74451798e-03 9.96485222e-01 -7.98151958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.601193817 meters 0.06607365934652364 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.31, Z:-0.80 [[ 9.94712303e-01 5.86442359e-02 8.43106608e-02 7.04776607e+00] [-5.85853661e-02 9.98277356e-01 -3.17431123e-03 -3.08354925e-01] [-8.43515786e-02 -1.78184450e-03 9.96434462e-01 -8.01268749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.631193817000002 meters 0.06568491341484474 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.31, Z:-0.80 [[ 9.94474967e-01 5.84618585e-02 8.71880167e-02 7.07964704e+00] [-5.83961467e-02 9.98288014e-01 -3.30626321e-03 -3.12756936e-01] [-8.72320424e-02 -1.80344823e-03 9.96186387e-01 -8.02077805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.661193817000001 meters 0.06568491341484474 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.31, Z:-0.81 [[ 9.94456104e-01 5.87831972e-02 8.71871184e-02 7.11189997e+00] [-5.87166582e-02 9.98269135e-01 -3.32976238e-03 -3.14243839e-01] [-8.72319434e-02 -1.80803370e-03 9.96186388e-01 -8.05792999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.691193817 meters 0.06524129356594872 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.32, Z:-0.81 [[ 9.94346520e-01 5.99318321e-02 8.76537106e-02 7.14503860e+00] [-5.98665440e-02 9.98200681e-01 -3.37585177e-03 -3.18767680e-01] [-8.76983147e-02 -1.89075827e-03 9.96145286e-01 -8.06715835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.721193817000001 meters 0.0655342978059268 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.32, Z:-0.81 [[ 9.94166603e-01 6.05077739e-02 8.92836769e-02 7.17626964e+00] [-6.04394934e-02 9.98165829e-01 -3.47058366e-03 -3.21658607e-01] [-8.93299127e-02 -1.94592184e-03 9.96000191e-01 -8.10618828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.751193817 meters 0.06685363703733628 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.33, Z:-0.81 [[ 9.94092857e-01 6.58690748e-02 8.62592399e-02 7.20734393e+00] [-6.58230196e-02 9.97825585e-01 -3.38113901e-03 -3.25481807e-01] [-8.62943891e-02 -2.31667750e-03 9.96266988e-01 -8.14698184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.781193817000002 meters 0.06795742795088557 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.33, Z:-0.82 [[ 9.93944087e-01 6.90758302e-02 8.54615762e-02 7.23773486e+00] [-6.90423905e-02 9.97608101e-01 -3.35041825e-03 -3.27161651e-01] [-8.54885937e-02 -2.57034310e-03 9.96335834e-01 -8.19249387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.811193817000001 meters 0.06929570421658585 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.33, Z:-0.82 [[ 9.93766893e-01 7.23608863e-02 8.48013227e-02 7.26924046e+00] [-7.23387345e-02 9.97374536e-01 -3.33799048e-03 -3.29514739e-01] [-8.48202199e-02 -2.81723594e-03 9.96392289e-01 -8.24191405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.841193817 meters 0.07042455511247352 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.33, Z:-0.83 [[ 9.93479151e-01 7.57397908e-02 8.52212417e-02 7.30048529e+00] [-7.57293664e-02 9.97122748e-01 -3.35974536e-03 -3.32947542e-01] [-8.52305052e-02 -3.11591367e-03 9.96356388e-01 -8.27695773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.871193817000002 meters 0.07102300794440337 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.34, Z:-0.83 [[ 9.93245709e-01 7.77588379e-02 8.61192441e-02 7.33197650e+00] [-7.77551004e-02 9.96966682e-01 -3.40284899e-03 -3.38796129e-01] [-8.61226186e-02 -3.31634531e-03 9.96279025e-01 -8.30368442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.901193817000001 meters 0.07258289449752262 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.35, Z:-0.84 [[ 9.93244573e-01 7.96311377e-02 8.44043889e-02 7.36211576e+00] [-7.96323178e-02 9.96818648e-01 -3.35806644e-03 -3.50293692e-01] [-8.44032755e-02 -3.38593585e-03 9.96425924e-01 -8.37610973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.931193817 meters 0.06955727662822343 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.37, Z:-0.84 [[ 9.93478800e-01 7.86602200e-02 8.25375244e-02 7.39464720e+00] [-7.86565523e-02 9.96896308e-01 -3.30111335e-03 -3.66720755e-01] [-8.25410197e-02 -3.21253097e-03 9.96582490e-01 -8.38695780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.961193817000002 meters 0.07123754248186706 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.37, Z:-0.85 [[ 9.93909165e-01 7.48201860e-02 8.09105164e-02 7.42449025e+00] [-7.48013602e-02 9.97193099e-01 -3.26800136e-03 -3.72524742e-01] [-8.09279211e-02 -2.80412019e-03 9.96716012e-01 -8.51650279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.991193817000001 meters 0.06765244303967224 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.39, Z:-0.85 [[ 9.94397707e-01 6.97200165e-02 7.94501118e-02 7.45588060e+00] [-6.96842981e-02 9.97563880e-01 -3.22546899e-03 -3.94130729e-01] [-7.94814415e-02 -2.32902631e-03 9.96833625e-01 -8.50836766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.021193817 meters 0.06543587763472579 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.43, Z:-0.86 [[ 9.95445122e-01 5.74425221e-02 7.60878791e-02 7.48553410e+00] [-5.73735234e-02 9.98347988e-01 -3.09421560e-03 -4.27279222e-01] [-7.61399205e-02 -1.28530789e-03 9.97096315e-01 -8.55630790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.051193817000001 meters 0.06628173922639566 Centerline is valid? [True, True] Translation: X:7.51, Y:-0.44, Z:-0.87 [[ 9.95825469e-01 5.21082965e-02 7.49423890e-02 7.51491523e+00] [-5.20264089e-02 9.98641064e-01 -3.04582880e-03 -4.39884859e-01] [-7.49992601e-02 -8.65869487e-04 9.97183213e-01 -8.68145483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.081193817 meters 0.06449361525734301 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.46, Z:-0.86 [[ 9.96050021e-01 4.76232984e-02 7.49424897e-02 7.54730621e+00] [-4.75281766e-02 9.98865231e-01 -3.05321676e-03 -4.55814108e-01] [-7.50028516e-02 -5.20723265e-04 9.97183183e-01 -8.61671568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.111193817 meters 0.06554090887324131 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.47, Z:-0.88 [[ 9.96159106e-01 4.33771960e-02 7.60621746e-02 7.57689958e+00] [-4.32649904e-02 9.99058750e-01 -3.12314248e-03 -4.66245057e-01] [-7.61260542e-02 -1.79682433e-04 9.97098186e-01 -8.75831541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.141193817000001 meters 0.0644500501045618 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.48, Z:-0.87 [[ 9.96404006e-01 3.58676992e-02 7.67630405e-02 7.61019239e+00] [-3.57297043e-02 9.99356460e-01 -3.17075069e-03 -4.84659341e-01] [-7.68273680e-02 4.16627957e-04 9.97044323e-01 -8.67034962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.171193817 meters 0.06523380875086489 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.49, Z:-0.87 [[ 9.96403817e-01 3.19477792e-02 7.84778477e-02 7.64091206e+00] [-3.17889720e-02 9.99489246e-01 -3.27237180e-03 -4.94749970e-01] [-7.85423098e-02 7.65873649e-04 9.96910487e-01 -8.71847119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.201193817000002 meters 0.06729155902992943 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.51, Z:-0.88 [[ 9.96347863e-01 2.81367732e-02 8.06179770e-02 7.67049237e+00] [-2.79547507e-02 9.99603455e-01 -3.38584057e-03 -5.07165060e-01] [-8.06812750e-02 1.11981957e-03 9.96739323e-01 -8.81429071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.231193817000001 meters 0.06645707275408448 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.52, Z:-0.87 [[ 9.96295820e-01 2.21294092e-02 8.30958943e-02 7.70322522e+00] [-2.19132774e-02 9.99753706e-01 -3.51223362e-03 -5.15383744e-01] [-8.31531519e-02 1.67832030e-03 9.96535366e-01 -8.72076573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.261193817 meters 0.06597676568515708 Centerline is valid? [True, True] Translation: X:7.74, Y:-0.52, Z:-0.87 [[ 9.96306205e-01 2.03177681e-02 8.34334141e-02 7.73584581e+00] [-2.00915717e-02 9.99791842e-01 -3.54991156e-03 -5.16209833e-01] [-8.34881731e-02 1.86049049e-03 9.96507031e-01 -8.70949758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.291193817000002 meters 0.06677169202091418 Centerline is valid? [True, True] Translation: X:7.77, Y:-0.52, Z:-0.88 [[ 9.96318185e-01 1.86766609e-02 8.36735167e-02 7.76655435e+00] [-1.84411530e-02 9.99823514e-01 -3.58666189e-03 -5.18011217e-01] [-8.37257364e-02 2.03042034e-03 9.96486768e-01 -8.76017085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.321193817000001 meters 0.06679116035167013 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.52, Z:-0.88 [[ 9.96324567e-01 1.83280915e-02 8.36745973e-02 7.79886007e+00] [-1.80893895e-02 9.99829856e-01 -3.61005512e-03 -5.16668104e-01] [-8.37265260e-02 2.08316422e-03 9.96486593e-01 -8.79472294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.351193817 meters 0.06641977316989157 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.51, Z:-0.89 [[ 9.96251719e-01 2.25759127e-02 8.35035396e-02 7.82965820e+00] [-2.23509502e-02 9.99743603e-01 -3.62801117e-03 -5.07224497e-01] [-8.35640353e-02 1.74802890e-03 9.96500876e-01 -8.85062181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.381193817000002 meters 0.06537534620427293 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.50, Z:-0.89 [[ 9.96364686e-01 2.61951637e-02 8.10630949e-02 7.86267412e+00] [-2.59936376e-02 9.99655839e-01 -3.54052243e-03 -5.00438087e-01] [-8.11279407e-02 1.42052681e-03 9.96702684e-01 -8.87869151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.411193817000001 meters 0.06551369496035274 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.50, Z:-0.90 [[ 9.96412170e-01 3.02010849e-02 7.90612567e-02 7.89372418e+00] [-3.00198176e-02 9.99543244e-01 -3.48057664e-03 -4.95814458e-01] [-7.91302622e-02 1.09468441e-03 9.96863683e-01 -8.95765411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.441193817 meters 0.06486598619154331 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.49, Z:-0.90 [[ 9.96400063e-01 3.49226941e-02 7.72484301e-02 7.92688111e+00] [-3.47620326e-02 9.99389753e-01 -3.42390320e-03 -4.88642871e-01] [-7.73208614e-02 7.26264916e-04 9.97005996e-01 -8.99530455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.471193817000001 meters 0.0642670660137365 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.48, Z:-0.90 [[ 9.96113788e-01 4.32417990e-02 7.67298378e-02 7.95931232e+00] [-4.31057886e-02 9.99064630e-01 -3.42867339e-03 -4.75406778e-01] [-7.68063290e-02 1.07848674e-04 9.97046025e-01 -9.04258136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.501193817 meters 0.06435437492143987 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.47, Z:-0.91 [[ 9.96022217e-01 4.56930969e-02 7.64976083e-02 7.99091378e+00] [-4.55633856e-02 9.98955523e-01 -3.44098488e-03 -4.72174479e-01] [-7.65749376e-02 -5.81926382e-05 9.97063827e-01 -9.08846382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.531193817000002 meters 0.06475533131776708 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.47, Z:-0.92 [[ 9.96057668e-01 4.56556947e-02 7.60570815e-02 8.02119067e+00] [-4.55253334e-02 9.98957235e-01 -3.44779302e-03 -4.71142818e-01] [-7.61351832e-02 -2.83233164e-05 9.97097504e-01 -9.15246717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.561193817000001 meters 0.06489892514443717 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.47, Z:-0.92 [[ 9.96235887e-01 4.46931916e-02 7.42736587e-02 8.05242297e+00] [-4.45647088e-02 9.99000758e-01 -3.38706974e-03 -4.73770462e-01] [-7.43508203e-02 6.43364555e-05 9.97232145e-01 -9.19432400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.591193817 meters 0.06491216439050505 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.48, Z:-0.92 [[ 9.96303285e-01 4.32182841e-02 7.42424727e-02 8.08515591e+00] [-4.30844864e-02 9.99065635e-01 -3.40353836e-03 -4.76912689e-01] [-7.43201982e-02 1.92257642e-04 9.97234411e-01 -9.22321534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.621193817000002 meters 0.06490262128558694 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.48, Z:-0.92 [[ 9.96342687e-01 4.18559239e-02 7.44938312e-02 8.11769054e+00] [-4.17155064e-02 9.99123605e-01 -3.44057831e-03 -4.78868390e-01] [-7.45725538e-02 3.20447150e-04 9.97215539e-01 -9.24742442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.651193817000001 meters 0.06533878642693085 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.48, Z:-0.93 [[ 9.96557200e-01 3.88779949e-02 7.32273746e-02 8.14872221e+00] [-3.87318991e-02 9.99243804e-01 -3.41460514e-03 -4.78184020e-01] [-7.33047533e-02 5.66614050e-04 9.97309426e-01 -9.31089135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.681193817 meters 0.06547921429818333 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.48, Z:-0.94 [[ 9.96541085e-01 3.75950592e-02 7.41112492e-02 8.18001291e+00] [-3.74413450e-02 9.99292827e-01 -3.46282741e-03 -4.78796420e-01] [-7.41890249e-02 6.76024938e-04 9.97243968e-01 -9.35366840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.711193817000002 meters 0.06540155313296814 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.48, Z:-0.94 [[ 9.96651646e-01 3.62925218e-02 7.32690249e-02 8.21163536e+00] [-3.61373564e-02 9.99340902e-01 -3.44273415e-03 -4.79511573e-01] [-7.33456790e-02 7.83457792e-04 9.97306271e-01 -9.36665029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.741193817000001 meters 0.06577912584785248 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.48, Z:-0.94 [[ 9.96681407e-01 3.44172549e-02 7.37673769e-02 8.24408112e+00] [-3.42534682e-02 9.99407103e-01 -3.48465830e-03 -4.82427371e-01] [-7.38435728e-02 9.46305638e-04 9.97269388e-01 -9.40447452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.771193817 meters 0.06635339415689825 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.49, Z:-0.94 [[ 9.96712655e-01 3.29654120e-02 7.40078673e-02 8.27505319e+00] [-3.27941090e-02 9.99455898e-01 -3.52897660e-03 -4.86179823e-01] [-7.40839337e-02 1.09035357e-03 9.97251414e-01 -9.44881088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.801193817000001 meters 0.06556503519821713 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.48, Z:-0.94 [[ 9.96492475e-01 3.12302268e-02 7.76364679e-02 8.30752549e+00] [-3.10350472e-02 9.99511376e-01 -3.71959202e-03 -4.83469182e-01] [-7.77146965e-02 1.29709401e-03 9.96974796e-01 -9.42892242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.831193817 meters 0.06511948997393052 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.48, Z:-0.94 [[ 9.96275916e-01 3.17195486e-02 8.01758668e-02 8.33948986e+00] [-3.15131443e-02 9.99495966e-01 -3.83873888e-03 -4.81070496e-01] [-8.02572185e-02 1.29784943e-03 9.96773342e-01 -9.44116989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.861193817000002 meters 0.06470726022814081 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.48, Z:-0.95 [[ 9.96088280e-01 3.29870029e-02 8.19755852e-02 8.37117057e+00] [-3.27734060e-02 9.99455001e-01 -3.95019348e-03 -4.77313508e-01] [-8.20612136e-02 1.24812230e-03 9.96626509e-01 -9.46577340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.891193817000001 meters 0.06445774506638996 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.47, Z:-0.95 [[ 9.95886222e-01 3.50577615e-02 8.35558825e-02 8.40335913e+00] [-3.48409765e-02 9.99384656e-01 -4.05166477e-03 -4.73097597e-01] [-8.36465092e-02 1.12382858e-03 9.96494856e-01 -9.49852858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.921193817 meters 0.06376891338216141 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.46, Z:-0.96 [[ 9.95748886e-01 4.04174474e-02 8.27682648e-02 8.43501166e+00] [-4.02211756e-02 9.99182642e-01 -4.03803381e-03 -4.63653809e-01] [-8.28638205e-02 6.91830752e-04 9.96560640e-01 -9.55219025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.951193817000002 meters 0.06379186315518881 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.46, Z:-0.96 [[ 9.95759804e-01 4.28140620e-02 8.14209412e-02 8.46719843e+00] [-4.26304358e-02 9.99082930e-01 -3.99312619e-03 -4.60481275e-01] [-8.15172344e-02 5.05184348e-04 9.96671804e-01 -9.60794514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.981193817000001 meters 0.06357417610773677 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.46, Z:-0.96 [[ 9.95793044e-01 4.45442089e-02 8.00751356e-02 8.49977006e+00] [-4.43704527e-02 9.99007342e-01 -3.94883671e-03 -4.58198475e-01] [-8.01715462e-02 3.79254114e-04 9.96781009e-01 -9.63434777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.011193817 meters 0.06419615767945164 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.46, Z:-0.97 [[ 9.95882551e-01 4.52917641e-02 7.85277007e-02 8.53008868e+00] [-4.51251101e-02 9.98973745e-01 -3.89637569e-03 -4.57893944e-01] [-7.86235850e-02 3.36761425e-04 9.96904318e-01 -9.72273618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.041193817000002 meters 0.06456996016257376 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.46, Z:-0.98 [[ 9.96042995e-01 4.55229078e-02 7.63283437e-02 8.56090768e+00] [-4.53645319e-02 9.98963240e-01 -3.80837839e-03 -4.55236448e-01] [-7.64225780e-02 3.30709038e-04 9.97075464e-01 -9.79792265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.071193817000001 meters 0.06384089081061864 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.45, Z:-0.98 [[ 9.96013702e-01 4.54716329e-02 7.67400543e-02 8.59336017e+00] [-4.53099828e-02 9.98965567e-01 -3.84716767e-03 -4.54325456e-01] [-7.68356088e-02 3.54741170e-04 9.97043712e-01 -9.77973858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.101193817 meters 0.06380778059533537 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.46, Z:-0.98 [[ 9.95947523e-01 4.46199973e-02 7.80870492e-02 8.62405550e+00] [-4.44480195e-02 9.99003929e-01 -3.93993241e-03 -4.55333749e-01] [-7.81850688e-02 4.53151238e-04 9.96938759e-01 -9.81417374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.131193817000002 meters 0.0636659136177277 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.46, Z:-0.98 [[ 9.95824410e-01 4.41608383e-02 7.98972095e-02 8.65672252e+00] [-4.39769595e-02 9.99024294e-01 -4.06047376e-03 -4.56973285e-01] [-7.99985673e-02 5.29882535e-04 9.96794838e-01 -9.83277233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.161193817000001 meters 0.06367746507407414 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.46, Z:-0.99 [[ 9.95627331e-01 4.45210890e-02 8.21224140e-02 8.68745037e+00] [-4.43277088e-02 9.99008310e-01 -4.17741572e-03 -4.57877385e-01] [-8.22269572e-02 5.18850811e-04 9.96613495e-01 -9.86525004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.191193817 meters 0.06363936095842687 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.46, Z:-0.99 [[ 9.95671301e-01 4.59344405e-02 8.08002932e-02 8.71915329e+00] [-4.57501551e-02 9.98944369e-01 -4.13159691e-03 -4.57103511e-01] [-8.09047805e-02 4.17086530e-04 9.96721748e-01 -9.91301678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.221193817000001 meters 0.06379376517542962 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.46, Z:-1.00 [[ 9.95765204e-01 4.75862432e-02 7.86588023e-02 8.75062474e+00] [-4.74150076e-02 9.98867089e-01 -4.04427121e-03 -4.55618907e-01] [-7.87621406e-02 2.97536836e-04 9.96893393e-01 -9.96890925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.251193817 meters 0.06424476263896657 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.45, Z:-1.00 [[ 9.96016747e-01 4.82508915e-02 7.49832776e-02 8.78245579e+00] [-4.80950283e-02 9.98835213e-01 -3.88401003e-03 -4.54379193e-01] [-7.50833450e-02 2.62216178e-04 9.97177227e-01 -1.00320817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.281193817000002 meters 0.06505363979607225 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.45, Z:-1.01 [[ 9.96394499e-01 4.87133633e-02 6.94623032e-02 8.81301906e+00] [-4.85802023e-02 9.98812775e-01 -3.60603261e-03 -4.52577024e-01] [-6.95554979e-02 2.18538317e-04 9.97578060e-01 -1.01109239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.311193817000001 meters 0.06545677044938429 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.46, Z:-1.02 [[ 9.96547632e-01 4.76601624e-02 6.79803345e-02 8.84348669e+00] [-4.75308953e-02 9.98863571e-01 -3.51864641e-03 -4.55604278e-01] [-6.80707789e-02 2.75332585e-04 9.97680456e-01 -1.01676676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.341193817 meters 0.0656324495560279 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.46, Z:-1.02 [[ 9.96634451e-01 4.27756133e-02 6.99286585e-02 8.87565816e+00] [-4.26254342e-02 9.99084496e-01 -3.63907817e-03 -4.59623514e-01] [-7.00203023e-02 6.46091241e-04 9.97545357e-01 -1.01905051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.371193817000002 meters 0.0657033777966913 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.46, Z:-1.02 [[ 9.96609134e-01 4.14022722e-02 7.11061544e-02 8.90810315e+00] [-4.12413347e-02 9.99142250e-01 -3.73059781e-03 -4.60866254e-01] [-7.11996183e-02 7.85435139e-04 9.97461777e-01 -1.02260358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.401193817000001 meters 0.06578261751739813 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.46, Z:-1.02 [[ 9.96595664e-01 4.06730390e-02 7.17132269e-02 8.93996715e+00] [-4.05074757e-02 9.99172153e-01 -3.76211356e-03 -4.62327415e-01] [-7.18068759e-02 8.44384265e-04 9.97418197e-01 -1.02484225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.431193817 meters 0.06576654824731809 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.46, Z:-1.03 [[ 9.96482884e-01 4.00582400e-02 7.36016235e-02 8.97210327e+00] [-3.98804563e-02 9.99196909e-01 -3.88411882e-03 -4.64262486e-01] [-7.36981057e-02 9.35191590e-04 9.97280159e-01 -1.02737660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.461193817000002 meters 0.06531369874240152 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.46, Z:-1.03 [[ 9.96211622e-01 3.93860902e-02 7.75315429e-02 9.00348365e+00] [-3.91840890e-02 9.99223492e-01 -4.12556862e-03 -4.64537121e-01] [-7.76338291e-02 1.07193652e-03 9.96981364e-01 -1.02712408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.491193817000001 meters 0.06516160242011443 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.47, Z:-1.03 [[ 9.96156788e-01 3.92437840e-02 7.83044029e-02 9.03597016e+00] [-3.90377431e-02 9.99229074e-01 -4.16090527e-03 -4.65433902e-01] [-7.84073257e-02 1.08808686e-03 9.96920813e-01 -1.02935693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.521193817 meters 0.06528036110753045 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.47, Z:-1.03 [[ 9.96110163e-01 3.95548630e-02 7.87398017e-02 9.06637543e+00] [-3.93452407e-02 9.99216797e-01 -4.21247395e-03 -4.66119728e-01] [-7.88447563e-02 1.09805166e-03 9.96886302e-01 -1.03402084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.551193817000001 meters 0.06519848226477964 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.47, Z:-1.04 [[ 9.96071555e-01 3.94226708e-02 7.92925613e-02 9.09793616e+00] [-3.92089465e-02 9.99221991e-01 -4.25113375e-03 -4.65994308e-01] [-7.93984620e-02 1.12545561e-03 9.96842323e-01 -1.03729718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.581193817 meters 0.06519848226477964 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.47, Z:-1.04 [[ 9.96058314e-01 3.97581762e-02 7.92913773e-02 9.13014826e+00] [-3.95437661e-02 9.99208703e-01 -4.27308287e-03 -4.67986597e-01] [-7.93985242e-02 1.12076004e-03 9.96842324e-01 -1.04101266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.611193817000002 meters 0.06517665088417605 Centerline is valid? [True, True] Translation: X:9.16, Y:-0.47, Z:-1.05 [[ 9.96137147e-01 4.02336619e-02 7.80515041e-02 9.16189442e+00] [-4.00252586e-02 9.99189701e-01 -4.23327816e-03 -4.67927007e-01] [-7.81585793e-02 1.09289399e-03 9.96940340e-01 -1.04528969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.641193817000001 meters 0.06584623416559275 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.47, Z:-1.05 [[ 9.96168133e-01 4.09577506e-02 7.72755709e-02 9.19210647e+00] [-4.07538056e-02 9.99160328e-01 -4.21500737e-03 -4.71135060e-01] [-7.73833220e-02 1.04958242e-03 9.97000863e-01 -1.05297816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.671193817 meters 0.06603296879710775 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.47, Z:-1.06 [[ 9.96152497e-01 4.08871552e-02 7.75141461e-02 9.22501218e+00] [-4.06801691e-02 9.99163189e-01 -4.24810596e-03 -4.73510628e-01] [-7.76229743e-02 1.07847279e-03 9.96982202e-01 -1.05840373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.701193817000002 meters 0.06556197355476774 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.47, Z:-1.06 [[ 9.96259363e-01 3.94523000e-02 7.68817073e-02 9.25700175e+00] [-3.92420806e-02 9.99220721e-01 -4.24373242e-03 -4.73760511e-01] [-7.69892201e-02 1.21086000e-03 9.97031190e-01 -1.05792296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.731193817000001 meters 0.06623995017751753 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.48, Z:-1.06 [[ 9.96297418e-01 3.80258553e-02 7.71070048e-02 9.28730280e+00] [-3.78094874e-02 9.99275866e-01 -4.26452656e-03 -4.78497517e-01] [-7.72133312e-02 1.33336047e-03 9.97013703e-01 -1.06343718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.761193817 meters 0.06647739679618896 Centerline is valid? [True, True] Translation: X:9.32, Y:-0.48, Z:-1.07 [[ 9.96353589e-01 3.57682294e-02 7.74606990e-02 9.31887233e+00] [-3.55408764e-02 9.99358920e-01 -4.31211504e-03 -4.82905844e-01] [-7.75652773e-02 1.54337017e-03 9.96986081e-01 -1.06558072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.791193817000002 meters 0.06712509822944206 Centerline is valid? [True, True] Translation: X:9.35, Y:-0.49, Z:-1.07 [[ 9.96413108e-01 3.22869158e-02 7.82206707e-02 9.35084805e+00] [-3.20442460e-02 9.99476959e-01 -4.35590306e-03 -4.88805944e-01] [-7.83203967e-02 1.83375649e-03 9.96926553e-01 -1.06833266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.821193817000001 meters 0.06915629973713736 Centerline is valid? [True, True] Translation: X:9.38, Y:-0.50, Z:-1.08 [[ 9.96456307e-01 2.92338990e-02 7.88682870e-02 9.38092442e+00] [-2.89753349e-02 9.99570350e-01 -4.42108587e-03 -4.96290643e-01] [-7.89636468e-02 2.12018387e-03 9.96875242e-01 -1.07537780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.851193817 meters 0.06885019614249129 Centerline is valid? [True, True] Translation: X:9.41, Y:-0.49, Z:-1.07 [[ 9.96631197e-01 2.30195817e-02 7.87169322e-02 9.41223824e+00] [-2.27413167e-02 9.99731569e-01 -4.42975580e-03 -4.94128344e-01] [-7.87977733e-02 2.62470614e-03 9.96887166e-01 -1.07338269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.881193817000002 meters 0.07013534279466772 Centerline is valid? [True, True] Translation: X:9.44, Y:-0.50, Z:-1.08 [[ 9.96645848e-01 2.09077249e-02 7.91196655e-02 9.44280325e+00] [-2.06205601e-02 9.99777493e-01 -4.44487801e-03 -4.97453450e-01] [-7.91949931e-02 2.79847739e-03 9.96855216e-01 -1.07777720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.911193817000001 meters 0.07013504100711362 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.50, Z:-1.08 [[ 9.96563793e-01 1.86715022e-02 8.06968465e-02 9.47530094e+00] [-1.83635457e-02 9.99820992e-01 -4.55674677e-03 -4.98212387e-01] [-8.07674824e-02 3.05920862e-03 9.96728275e-01 -1.07767018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.941193817000002 meters 0.07134554832359075 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.50, Z:-1.08 [[ 9.96327763e-01 1.50888659e-02 8.42811643e-02 9.50808516e+00] [-1.47376864e-02 9.99879933e-01 -4.78740561e-03 -4.97310308e-01] [-8.43432815e-02 3.52771575e-03 9.96430512e-01 -1.07817729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.971193817000001 meters 0.07540038983588229 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.50, Z:-1.09 [[ 9.96243642e-01 1.29943301e-02 8.56139777e-02 9.53804132e+00] [-1.26217990e-02 9.99908379e-01 -4.89117026e-03 -5.02027391e-01] [-8.56696911e-02 3.79219486e-03 9.96316377e-01 -1.08591210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.001193817 meters 0.07385417115775418 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.49, Z:-1.09 [[ 9.96240908e-01 1.12162195e-02 8.58967440e-02 9.57049561e+00] [-1.08325185e-02 9.99929164e-01 -4.93181597e-03 -4.93851846e-01] [-8.59459758e-02 3.98279875e-03 9.96291838e-01 -1.08722064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.031193817000002 meters 0.0748975968755515 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.49, Z:-1.09 [[ 9.96282842e-01 9.85614720e-03 8.55765987e-02 9.60243104e+00] [-9.46808726e-03 9.99942977e-01 -4.93934434e-03 -4.90209153e-01] [-8.56204019e-02 4.11073732e-03 9.96319351e-01 -1.09259684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.061193817000001 meters 0.0753720395573922 Centerline is valid? [True, True] Translation: X:9.63, Y:-0.49, Z:-1.10 [[ 9.96349454e-01 8.17534520e-03 8.49760461e-02 9.63453484e+00] [-7.78395121e-03 9.99957521e-01 -4.93624253e-03 -4.85930984e-01] [-8.50127919e-02 4.25677316e-03 9.96370767e-01 -1.09670129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.091193817 meters 0.07764045194048487 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.48, Z:-1.10 [[ 9.96154974e-01 3.06221937e-03 8.75550723e-02 9.66598344e+00] [-2.62611065e-03 9.99983568e-01 -5.09571688e-03 -4.78840304e-01] [-8.75692378e-02 4.84619441e-03 9.96146647e-01 -1.09914988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.121193817000002 meters 0.07762699791648632 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.47, Z:-1.10 [[ 9.95965257e-01 -1.96142314e-04 8.97394488e-02 9.69850548e+00] [ 6.67561378e-04 9.99986136e-01 -5.22321398e-03 -4.74153206e-01] [-8.97371802e-02 5.26204624e-03 9.95951580e-01 -1.10022720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.151193817000001 meters 0.07977425419876419 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.47, Z:-1.10 [[ 9.95795976e-01 -3.81631635e-03 9.15194470e-02 9.72878429e+00] [ 4.32272784e-03 9.99976421e-01 -5.33579078e-03 -4.72231606e-01] [-9.14969260e-02 5.70897266e-03 9.95788994e-01 -1.10313964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.181193817 meters 0.08135650488380504 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.47, Z:-1.11 [[ 9.95902967e-01 -6.39161794e-03 9.02021478e-02 9.75934729e+00] [ 6.89453009e-03 9.99962372e-01 -5.26490271e-03 -4.68024197e-01] [-9.01651025e-02 5.86523366e-03 9.95909561e-01 -1.10862919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.211193817000002 meters 0.08298676656827435 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.45, Z:-1.11 [[ 9.95845870e-01 -1.03992204e-02 9.04591608e-02 9.79115556e+00] [ 1.09216179e-02 9.99926407e-01 -5.28186460e-03 -4.52628471e-01] [-9.03975764e-02 6.24788344e-03 9.95886159e-01 -1.11375641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.241193817000001 meters 0.08373562939934955 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.45, Z:-1.12 [[ 9.95798029e-01 -1.07095464e-02 9.09482898e-02 9.82336779e+00] [ 1.12385178e-02 9.99922768e-01 -5.30603228e-03 -4.45825505e-01] [-9.08844404e-02 6.30586046e-03 9.95841481e-01 -1.11829697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.271193817 meters 0.08446051993028433 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.44, Z:-1.12 [[ 9.95690521e-01 -1.11229825e-02 9.20688072e-02 9.85417395e+00] [ 1.16695655e-02 9.99917325e-01 -5.40044930e-03 -4.39125591e-01] [-9.20011263e-02 6.45157916e-03 9.95738003e-01 -1.12248498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.301193817000001 meters 0.08185474660773258 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.42, Z:-1.12 [[ 9.95629042e-01 -8.14844077e-03 9.30398465e-02 9.88611185e+00] [ 8.69621265e-03 9.99947152e-01 -5.48358309e-03 -4.18149502e-01] [-9.29902469e-02 6.26870887e-03 9.95647286e-01 -1.12461247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.331193817 meters 0.08055609213679081 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.41, Z:-1.13 [[ 9.95735852e-01 -5.61556002e-03 9.20791967e-02 9.91847669e+00] [ 6.14130452e-03 9.99966414e-01 -5.42734614e-03 -4.06889437e-01] [-9.20456265e-02 5.96968952e-03 9.95736896e-01 -1.12902718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.361193817000002 meters 0.07828833128151617 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.39, Z:-1.13 [[ 9.95764386e-01 -1.63458701e-03 9.19272330e-02 9.94997296e+00] [ 2.14264762e-03 9.99982971e-01 -5.42834802e-03 -3.92430765e-01] [-9.19167945e-02 5.60232330e-03 9.95750931e-01 -1.13379451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.391193817000001 meters 0.07916619223800009 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.38, Z:-1.14 [[ 9.95720779e-01 2.21558089e-03 9.23862666e-02 9.98003086e+00] [-1.71866498e-03 9.99983629e-01 -5.45789117e-03 -3.83410501e-01] [-9.23968465e-02 5.27575461e-03 9.95708285e-01 -1.13918790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.421193817 meters 0.07373024640915528 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.35, Z:-1.14 [[ 9.95642640e-01 1.28035591e-02 9.23677598e-02 1.00121443e+01] [-1.23522162e-02 9.99908821e-01 -5.45643355e-03 -3.52862829e-01] [-9.24291995e-02 4.29171136e-03 9.95710010e-01 -1.14252742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.451193817000002 meters 0.07033192665407034 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.34, Z:-1.15 [[ 9.95641253e-01 1.76264042e-02 9.15849614e-02 1.00434795e+01] [-1.72028539e-02 9.99837372e-01 -5.41209681e-03 -3.38403196e-01] [-9.16654629e-02 3.81298415e-03 9.95782559e-01 -1.14513618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.481193817000001 meters 0.06901366959584554 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.33, Z:-1.15 [[ 9.95514189e-01 2.19733597e-02 9.20253809e-02 1.00745848e+01] [-2.15642987e-02 9.99752678e-01 -5.43719414e-03 -3.29919475e-01] [-9.21220945e-02 3.42834111e-03 9.95741817e-01 -1.14929954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.511193817 meters 0.0674342335108994 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.32, Z:-1.15 [[ 9.95379302e-01 2.65106102e-02 9.22888581e-02 1.01067802e+01] [-2.61183635e-02 9.99643970e-01 -5.45562291e-03 -3.21312986e-01] [-9.24006324e-02 3.01998018e-03 9.95717331e-01 -1.15317454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.541193817000002 meters 0.06492953276449202 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.30, Z:-1.16 [[ 9.95147692e-01 3.52911059e-02 9.18455725e-02 1.01375254e+01] [-3.49389541e-02 9.99374644e-01 -5.43974934e-03 -3.01427581e-01] [-9.19801111e-02 2.20436576e-03 9.95758404e-01 -1.15612493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.571193817000001 meters 0.06365508402316072 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.29, Z:-1.16 [[ 9.94889021e-01 4.02887383e-02 9.25886277e-02 1.01695636e+01] [-3.99525103e-02 9.99186537e-01 -5.48286575e-03 -2.91467845e-01] [-9.27342080e-02 1.75569483e-03 9.95689351e-01 -1.15779451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.601193817 meters 0.06276120116650591 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.28, Z:-1.16 [[ 9.94662831e-01 4.50654416e-02 9.28167970e-02 1.02020492e+01] [-4.47484153e-02 9.98983175e-01 -5.49504437e-03 -2.83497971e-01] [-9.29700551e-02 1.31231182e-03 9.95668040e-01 -1.15991202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.631193817000002 meters 0.0616064767611616 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.27, Z:-1.16 [[ 9.94285844e-01 5.31860133e-02 9.25575931e-02 1.02354138e+01] [-5.29034082e-02 9.98584455e-01 -5.50593642e-03 -2.71392855e-01] [-9.27194125e-02 5.77862511e-04 9.95692109e-01 -1.16135945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.661193817000001 meters 0.06125399686292121 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.27, Z:-1.16 [[ 9.94035272e-01 5.63378170e-02 9.33805610e-02 1.02678356e+01] [-5.60613222e-02 9.98411714e-01 -5.58365401e-03 -2.70330481e-01] [-9.35468168e-02 3.15311314e-04 9.95614832e-01 -1.16437201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.691193817000002 meters 0.060974186740081204 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.27, Z:-1.17 [[ 9.93742969e-01 5.79688116e-02 9.54700381e-02 1.02986220e+01] [-5.76843210e-02 9.98318375e-01 -5.73940753e-03 -2.70430654e-01] [-9.56421999e-02 1.96371559e-04 9.95415758e-01 -1.16706971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.721193817000001 meters 0.06082014336403573 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.27, Z:-1.17 [[ 9.93609794e-01 5.85033135e-02 9.65242983e-02 1.03299307e+01] [-5.82121148e-02 9.98287199e-01 -5.83253730e-03 -2.71761072e-01] [-9.67001942e-02 1.76382639e-04 9.95313539e-01 -1.17086388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.751193817 meters 0.06094106099533131 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.28, Z:-1.18 [[ 9.93844109e-01 5.56151453e-02 9.58167169e-02 1.03612769e+01] [-5.53134633e-02 9.98452170e-01 -5.80381928e-03 -2.76889193e-01] [-9.59911892e-02 4.68137152e-04 9.95382074e-01 -1.17502500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.781193817000002 meters 0.0612872383624177 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.28, Z:-1.18 [[ 9.94061807e-01 5.27012543e-02 9.52034712e-02 1.03914350e+01] [-5.23873313e-02 9.98610024e-01 -5.79553979e-03 -2.84329520e-01] [-9.53765728e-02 7.73668969e-04 9.95440963e-01 -1.17953673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.811193817000001 meters 0.06218428993528819 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.30, Z:-1.19 [[ 9.94353693e-01 4.97246098e-02 9.37453777e-02 1.04211701e+01] [-4.94046516e-02 9.98762395e-01 -5.73225675e-03 -2.95054719e-01] [-9.39143922e-02 1.06843295e-03 9.95579703e-01 -1.18827427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.841193817 meters 0.06270027261671965 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.30, Z:-1.19 [[ 9.94682687e-01 4.56059777e-02 9.23387607e-02 1.04528525e+01] [-4.52751942e-02 9.98958433e-01 -5.67501864e-03 -3.03541350e-01] [-9.25013984e-02 1.46418746e-03 9.95711478e-01 -1.19153311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.871193817000002 meters 0.06398023122655451 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.32, Z:-1.20 [[ 9.95148489e-01 3.86115341e-02 9.04910733e-02 1.04834164e+01] [-3.82642901e-02 9.99252132e-01 -5.56969073e-03 -3.15106831e-01] [-9.06384522e-02 2.08009263e-03 9.95881692e-01 -1.19559547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.901193817000001 meters 0.06493331302805146 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.32, Z:-1.20 [[ 9.95333991e-01 3.68752127e-02 8.91653766e-02 1.05138000e+01] [-3.65313312e-02 9.99317449e-01 -5.48607262e-03 -3.20546480e-01] [-8.93068169e-02 2.20314465e-03 9.96001726e-01 -1.20175149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.931193817 meters 0.06499318896234922 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.33, Z:-1.21 [[ 9.95458287e-01 3.60321837e-02 8.81162925e-02 1.05449561e+01] [-3.56909782e-02 9.99348039e-01 -5.44521429e-03 -3.26097896e-01] [-8.82550471e-02 2.27552701e-03 9.96095311e-01 -1.20531796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.961193817000002 meters 0.06465226670261232 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.33, Z:-1.21 [[ 9.95448442e-01 3.68390094e-02 8.78936101e-02 1.05774629e+01] [-3.65006961e-02 9.99318746e-01 -5.45376985e-03 -3.30010256e-01] [-8.80346437e-02 2.22076875e-03 9.96114938e-01 -1.20854377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.991193817000001 meters 0.06444138964881521 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.33, Z:-1.21 [[ 9.95373373e-01 3.90203475e-02 8.78023907e-02 1.06083910e+01] [-3.86881315e-02 9.99236292e-01 -5.48289597e-03 -3.33626169e-01] [-8.79492798e-02 2.06061822e-03 9.96122823e-01 -1.21302233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.021193817000002 meters 0.06390362882446102 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.33, Z:-1.22 [[ 9.95391234e-01 4.20806603e-02 8.61713973e-02 1.06402953e+01] [-4.17711892e-02 9.99112653e-01 -5.39209826e-03 -3.34944308e-01] [-8.63218364e-02 1.76776560e-03 9.96265735e-01 -1.21824104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.051193817000001 meters 0.06308605828911079 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.33, Z:-1.22 [[ 9.95295583e-01 4.67559260e-02 8.48562606e-02 1.06726067e+01] [-4.64707195e-02 9.98905410e-01 -5.33426231e-03 -3.34422921e-01] [-8.50127862e-02 1.36583623e-03 9.96378924e-01 -1.22274945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.081193817 meters 0.062151315472026465 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.33, Z:-1.23 [[ 9.95008600e-01 5.72249920e-02 8.17507576e-02 1.07049850e+01] [-5.69937144e-02 9.98361194e-01 -5.16172958e-03 -3.27137448e-01] [-8.19121638e-02 4.76685989e-04 9.96639438e-01 -1.22899146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.111193817000002 meters 0.062164979668469206 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.33, Z:-1.23 [[ 9.94810423e-01 6.05828397e-02 8.17431433e-02 1.07361863e+01] [-6.03608699e-02 9.98163147e-01 -5.18618822e-03 -3.27149611e-01] [-8.19071872e-02 2.25186852e-04 9.96639936e-01 -1.23352600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.141193817000001 meters 0.062084375609471415 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.33, Z:-1.24 [[ 9.94626490e-01 6.24824782e-02 8.25474779e-02 1.07685700e+01] [-6.22602992e-02 9.98046056e-01 -5.26543150e-03 -3.29846728e-01] [-8.27151820e-02 9.77069746e-05 9.96573223e-01 -1.23683568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.171193817 meters 0.06213406544026742 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.34, Z:-1.24 [[ 9.94582266e-01 6.32294907e-02 8.25115028e-02 1.07996992e+01] [-6.30098942e-02 9.97999013e-01 -5.26527820e-03 -3.35243332e-01] [-8.26793192e-02 3.77112587e-05 9.96576203e-01 -1.24122095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.201193817000002 meters 0.062229434235661574 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.35, Z:-1.25 [[ 9.94587372e-01 6.31705117e-02 8.24951287e-02 1.08302698e+01] [-6.29483993e-02 9.98002746e-01 -5.29317570e-03 -3.47961261e-01] [-8.26647376e-02 7.15894088e-05 9.96577411e-01 -1.24741565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.231193817000001 meters 0.062322624749314735 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.36, Z:-1.25 [[ 9.94695359e-01 6.25805741e-02 8.16383198e-02 1.08616816e+01] [-6.23599370e-02 9.98039906e-01 -5.25207241e-03 -3.55916290e-01] [-8.18069787e-02 1.33251573e-04 9.96648183e-01 -1.25199007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.261193817 meters 0.06211534939357239 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.37, Z:-1.25 [[ 9.94660955e-01 6.29214504e-02 8.17953228e-02 1.08939821e+01] [-6.26993394e-02 9.98018474e-01 -5.28373742e-03 -3.65426339e-01] [-8.19657037e-02 1.27014608e-04 9.96635143e-01 -1.25400307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.291193817000002 meters 0.06224929445298686 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.37, Z:-1.26 [[ 9.94401309e-01 6.48788582e-02 8.34072616e-02 1.09243094e+01] [-6.46521448e-02 9.97893147e-01 -5.41907971e-03 -3.68871763e-01] [-8.35831185e-02 -3.71839702e-06 9.96500809e-01 -1.25962810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.321193817000001 meters 0.061713590104500185 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.37, Z:-1.26 [[ 9.94157329e-01 6.65487537e-02 8.49851055e-02 1.09570610e+01] [-6.63174864e-02 9.97783167e-01 -5.54463064e-03 -3.73099095e-01] [-8.51656960e-02 -1.23763395e-04 9.96366794e-01 -1.25777078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.351193817000002 meters 0.06160834920394432 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.38, Z:-1.26 [[ 9.93947654e-01 6.77977607e-02 8.64379848e-02 1.09882507e+01] [-6.75609013e-02 9.97699063e-01 -5.66606252e-03 -3.79181603e-01] [-8.66232428e-02 -2.08058614e-04 9.96241121e-01 -1.26101665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.381193817000002 meters 0.06115849469149977 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.39, Z:-1.26 [[ 9.93710077e-01 6.83059217e-02 8.87388518e-02 1.10198700e+01] [-6.80558545e-02 9.97664396e-01 -5.84408859e-03 -3.93036833e-01] [-8.89307788e-02 -2.31868666e-04 9.96037782e-01 -1.26145473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.411193817000001 meters 0.06108187201798562 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.40, Z:-1.26 [[ 9.93693300e-01 6.82489894e-02 8.89702293e-02 1.10518864e+01] [-6.79950888e-02 9.97668299e-01 -5.88499090e-03 -4.01808861e-01] [-8.91644220e-02 -2.01662618e-04 9.96016900e-01 -1.26472714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.441193817000002 meters 0.06109475547630264 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.41, Z:-1.27 [[ 9.93714229e-01 6.78544493e-02 8.90382213e-02 1.10839115e+01] [-6.75958393e-02 9.97695222e-01 -5.92007037e-03 -4.11005329e-01] [-8.92347110e-02 -1.35755130e-04 9.96010616e-01 -1.26869948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.471193817000001 meters 0.06109475547630264 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.41, Z:-1.27 [[ 9.93690994e-01 6.81965314e-02 8.90361772e-02 1.11161440e+01] [-6.79365534e-02 9.97671897e-01 -5.95063324e-03 -4.13411757e-01] [-8.92347044e-02 -1.35720345e-04 9.96010617e-01 -1.27241425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.501193817 meters 0.061186462553438285 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.42, Z:-1.28 [[ 9.93813815e-01 6.74089906e-02 8.82617062e-02 1.11469222e+01] [-6.71476042e-02 9.97725427e-01 -5.93062685e-03 -4.21884113e-01] [-8.84607260e-02 -3.26232118e-05 9.96079665e-01 -1.27778777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.531193817000002 meters 0.06139927021254693 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.43, Z:-1.28 [[ 9.93931706e-01 6.77994407e-02 8.66198567e-02 1.11781791e+01] [-6.75471890e-02 9.97698970e-01 -5.84322435e-03 -4.29746301e-01] [-8.68167091e-02 -4.31618918e-05 9.96224301e-01 -1.28301998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.561193817000001 meters 0.061468763409961345 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.44, Z:-1.29 [[ 9.93772276e-01 7.03445990e-02 8.64193352e-02 1.12105786e+01] [-7.01009708e-02 9.97522721e-01 -5.85441282e-03 -4.40203353e-01] [-8.66170768e-02 -2.40126147e-04 9.96241650e-01 -1.28782756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.591193817 meters 0.06145509144202411 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.45, Z:-1.29 [[ 9.93637563e-01 7.15820840e-02 8.69505537e-02 1.12418865e+01] [-7.13374472e-02 9.97434661e-01 -5.92157760e-03 -4.47312094e-01] [-8.71513749e-02 -3.18928600e-04 9.96195029e-01 -1.29128945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.621193817000002 meters 0.061340391161974525 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.46, Z:-1.29 [[ 9.93571272e-01 7.27266175e-02 8.67580881e-02 1.12747147e+01] [-7.24852812e-02 9.97351836e-01 -5.93296122e-03 -4.55160326e-01] [-8.69598226e-02 -3.93864582e-04 9.96211742e-01 -1.29449433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.651193817000001 meters 0.061473207428672974 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.46, Z:-1.30 [[ 9.93637673e-01 7.32523084e-02 8.55469083e-02 1.13065520e+01] [-7.30169836e-02 9.97313359e-01 -5.88075106e-03 -4.62518680e-01] [-8.57478531e-02 -4.03041396e-04 9.96316789e-01 -1.29867617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.681193817 meters 0.06144226570371134 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.47, Z:-1.30 [[ 9.93679236e-01 7.35003551e-02 8.48485355e-02 1.13381484e+01] [-7.32675979e-02 9.97295112e-01 -5.85813579e-03 -4.70533400e-01] [-8.50496048e-02 -3.95540481e-04 9.96376640e-01 -1.30278282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.711193817000002 meters 0.06158694484525575 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.49, Z:-1.31 [[ 9.94202396e-01 6.75286597e-02 8.36748219e-02 1.13674356e+01] [-6.72790288e-02 9.97717325e-01 -5.80272592e-03 -4.91392256e-01] [-8.38756698e-02 1.39523257e-04 9.96476218e-01 -1.30866258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.741193817000001 meters 0.06177640746778394 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.51, Z:-1.31 [[ 9.94689132e-01 6.17540253e-02 8.23405792e-02 1.13980947e+01] [-6.14906948e-02 9.98091194e-01 -5.73256890e-03 -5.05492858e-01] [-8.25374162e-02 6.38944557e-04 9.96587762e-01 -1.31107452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.771193817000002 meters 0.06268726592868568 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.52, Z:-1.31 [[ 9.95038638e-01 5.52881603e-02 8.27123226e-02 1.14280267e+01] [-5.49978448e-02 9.98469709e-01 -5.78599076e-03 -5.20226603e-01] [-8.29056454e-02 1.20828488e-03 9.96556669e-01 -1.31485156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.801193817000001 meters 0.06606633913345536 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.54, Z:-1.32 [[ 9.95682787e-01 4.04621892e-02 8.35380098e-02 1.14566920e+01] [-4.01124444e-02 9.99177979e-01 -5.86149945e-03 -5.44384840e-01] [-8.37065090e-02 2.48528033e-03 9.96487353e-01 -1.31731085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.831193817 meters 0.06767862479154407 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.56, Z:-1.32 [[ 9.95904170e-01 3.42754731e-02 8.36664528e-02 1.14874201e+01] [-3.39027964e-02 9.99407888e-01 -5.87143142e-03 -5.55135098e-01] [-8.38181590e-02 3.01085632e-03 9.96476518e-01 -1.31892101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.861193817000002 meters 0.06992213820713387 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.57, Z:-1.32 [[ 9.96007308e-01 2.89494493e-02 8.44474479e-02 1.15165246e+01] [-2.85502539e-02 9.99574761e-01 -5.93123036e-03 -5.65804216e-01] [-8.45832434e-02 3.49655270e-03 9.96410281e-01 -1.32245054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.891193817000001 meters 0.07099446955734683 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.57, Z:-1.32 [[ 9.96078039e-01 2.37303209e-02 8.52373883e-02 1.15474980e+01] [-2.33046652e-02 9.99710491e-01 -5.98546604e-03 -5.73908415e-01] [-8.53547484e-02 3.97556248e-03 9.96342693e-01 -1.32255816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.921193817 meters 0.07132229753106854 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.58, Z:-1.33 [[ 9.96163054e-01 2.32632651e-02 8.43681787e-02 1.15792078e+01] [-2.28449494e-02 9.99721490e-01 -5.92037739e-03 -5.76581872e-01] [-8.44824086e-02 3.97027445e-03 9.96417061e-01 -1.32640663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.951193817000002 meters 0.07126068048062302 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.58, Z:-1.33 [[ 9.96263792e-01 2.33528188e-02 8.31450700e-02 1.16111774e+01] [-2.29448304e-02 9.99719563e-01 -5.85922969e-03 -5.77375815e-01] [-8.32585826e-02 3.92958886e-03 9.96520229e-01 -1.33097473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.981193817000001 meters 0.07045071519226097 Centerline is valid? [True, True] Translation: X:11.64, Y:-0.58, Z:-1.33 [[ 9.96313795e-01 2.35984364e-02 8.24738441e-02 1.16438145e+01] [-2.31958177e-02 9.99713903e-01 -5.83665972e-03 -5.76790090e-01] [-8.25879846e-02 3.90209634e-03 9.96576138e-01 -1.33364708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.011193817 meters 0.0700551610829462 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.58, Z:-1.34 [[ 9.96274475e-01 2.39737683e-02 8.28397786e-02 1.16756735e+01] [-2.35666848e-02 9.99704925e-01 -5.88856826e-03 -5.76468739e-01] [-8.29565058e-02 3.91437130e-03 9.96545481e-01 -1.33638729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.041193817000002 meters 0.07087879528692657 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.58, Z:-1.34 [[ 9.96273508e-01 2.38540041e-02 8.28859726e-02 1.17061773e+01] [-2.34438181e-02 9.99707636e-01 -5.91867483e-03 -5.79347110e-01] [-8.30029238e-02 3.95345527e-03 9.96541462e-01 -1.34031874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.071193817000001 meters 0.07105159801729949 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.58, Z:-1.34 [[ 9.96186168e-01 2.34481890e-02 8.40434485e-02 1.17391222e+01] [-2.30230547e-02 9.99716784e-01 -6.02425849e-03 -5.80886329e-01] [-8.41609039e-02 4.06634607e-03 9.96443881e-01 -1.34321869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.101193817000002 meters 0.07178418477549078 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.58, Z:-1.35 [[ 9.96143631e-01 2.24805502e-02 8.48085575e-02 1.17698060e+01] [-2.20410845e-02 9.99738366e-01 -6.11474404e-03 -5.82622928e-01] [-8.49238315e-02 4.22189075e-03 9.96378502e-01 -1.34658158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.131193817000002 meters 0.07242005875269672 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.58, Z:-1.35 [[ 9.95915925e-01 1.97372321e-02 8.81017177e-02 1.18021482e+01] [-1.92511225e-02 9.99794426e-01 -6.36395275e-03 -5.83254178e-01] [-8.82092131e-02 4.64190493e-03 9.96091154e-01 -1.34628469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.161193817000001 meters 0.07262598941841669 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.58, Z:-1.35 [[ 9.95692389e-01 1.88639941e-02 9.07789449e-02 1.18349307e+01] [-1.83416470e-02 9.99810093e-01 -6.58493348e-03 -5.84234342e-01] [-9.08859235e-02 4.89153278e-03 9.95849297e-01 -1.34705917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.191193817000002 meters 0.075042719910435 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.59, Z:-1.35 [[ 9.95587944e-01 1.82112394e-02 9.20488827e-02 1.18657486e+01] [-1.76681956e-02 9.99821382e-01 -6.71104347e-03 -5.88813236e-01] [-9.21546575e-02 5.05509631e-03 9.95731874e-01 -1.35070748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.221193817000001 meters 0.07301744133112041 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.58, Z:-1.35 [[ 9.95637396e-01 1.77386441e-02 9.16052218e-02 1.18978796e+01] [-1.71962997e-02 9.99829641e-01 -6.70642045e-03 -5.82139471e-01] [-9.17085788e-02 5.10189214e-03 9.95772819e-01 -1.35366508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.251193817 meters 0.07279110414831505 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.58, Z:-1.36 [[ 9.95669355e-01 1.77911890e-02 9.12469660e-02 1.19303141e+01] [-1.72522487e-02 9.99828775e-01 -6.69181055e-03 -5.81168947e-01] [-9.13503975e-02 5.08861534e-03 9.95805810e-01 -1.35758839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.281193817000002 meters 0.07274689890903861 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.58, Z:-1.36 [[ 9.95862569e-01 1.86007301e-02 8.89480567e-02 1.19626059e+01] [-1.80895623e-02 9.99814918e-01 -6.54954690e-03 -5.79997868e-01] [-8.90534204e-02 4.91341719e-03 9.96014732e-01 -1.36263388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.311193817000001 meters 0.07204320822440595 Centerline is valid? [True, True] Translation: X:12.00, Y:-0.58, Z:-1.37 [[ 9.95842039e-01 1.93353844e-02 8.90212080e-02 1.19953789e+01] [-1.88234355e-02 9.99801126e-01 -6.58686468e-03 -5.75727644e-01] [-8.91308636e-02 4.88379178e-03 9.96007951e-01 -1.36689416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.341193817 meters 0.07274092969811986 Centerline is valid? [True, True] Translation: X:12.03, Y:-0.57, Z:-1.37 [[ 9.95723023e-01 2.30343777e-02 8.94711038e-02 1.20255054e+01] [-2.25309557e-02 9.99724144e-01 -6.63266886e-03 -5.65585510e-01] [-8.95992020e-02 4.58843161e-03 9.95967333e-01 -1.37258868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.371193817000002 meters 0.06917172702154296 Centerline is valid? [True, True] Translation: X:12.06, Y:-0.55, Z:-1.37 [[ 9.95686377e-01 2.56849576e-02 8.91567262e-02 1.20581828e+01] [-2.51958026e-02 9.99660697e-01 -6.60774868e-03 -5.54235252e-01] [-8.92961948e-02 4.33287006e-03 9.95995691e-01 -1.37366685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.401193817000001 meters 0.06938621730646581 Centerline is valid? [True, True] Translation: X:12.09, Y:-0.55, Z:-1.38 [[ 9.95688859e-01 2.84373973e-02 8.82893588e-02 1.20890342e+01] [-2.79685001e-02 9.99587386e-01 -6.54370728e-03 -5.50812488e-01] [-8.84390154e-02 4.04617549e-03 9.96073375e-01 -1.37983253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.431193817000002 meters 0.06803841683865071 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.55, Z:-1.38 [[ 9.95710024e-01 3.09344373e-02 8.72044026e-02 1.21214418e+01] [-3.04845191e-02 9.99514190e-01 -6.48668793e-03 -5.45116035e-01] [-8.73626999e-02 3.80047592e-03 9.96169320e-01 -1.38437738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.461193817000002 meters 0.06579308526221493 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.53, Z:-1.39 [[ 9.95500158e-01 3.72716283e-02 8.71221092e-02 1.21517703e+01] [-3.68437053e-02 9.99299802e-01 -6.51518110e-03 -5.29628449e-01] [-8.73039379e-02 3.27596249e-03 9.96176335e-01 -1.38971062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.491193817000001 meters 0.06381544465214468 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.52, Z:-1.39 [[ 9.95318196e-01 4.21379926e-02 8.69832118e-02 1.21836438e+01] [-4.17302715e-02 9.99107761e-01 -6.50122006e-03 -5.19232093e-01] [-8.71795504e-02 2.84094957e-03 9.96188564e-01 -1.39266344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.521193817000002 meters 0.06229075844364063 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.51, Z:-1.40 [[ 9.94941049e-01 4.85466367e-02 8.79518782e-02 1.22134319e+01] [-4.81542292e-02 9.98818244e-01 -6.57913213e-03 -5.09863288e-01] [-8.81673353e-02 2.31059372e-03 9.96102998e-01 -1.39680087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.551193817000001 meters 0.05914105320844565 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.49, Z:-1.40 [[ 9.94148233e-01 6.25010267e-02 8.81073941e-02 1.22461811e+01] [-6.21621380e-02 9.98044324e-01 -6.58758881e-03 -4.86106668e-01] [-8.83468157e-02 1.07209578e-03 9.96089198e-01 -1.39940193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.581193817 meters 0.05854176370869504 Centerline is valid? [True, True] Translation: X:12.28, Y:-0.48, Z:-1.40 [[ 9.93783284e-01 6.85100912e-02 8.77562018e-02 1.22787615e+01] [-6.81976747e-02 9.97650282e-01 -6.55683268e-03 -4.78435169e-01] [-8.79992086e-02 5.31301821e-04 9.96120403e-01 -1.40347353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.611193817000002 meters 0.05865111087895249 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.47, Z:-1.41 [[ 9.93500397e-01 7.37304671e-02 8.67224276e-02 1.23110290e+01] [-7.34430238e-02 9.97278201e-01 -6.50482635e-03 -4.73509256e-01] [-8.69659905e-02 9.33902500e-05 9.96211277e-01 -1.40960190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.641193817000001 meters 0.05867975884744492 Centerline is valid? [True, True] Translation: X:12.34, Y:-0.47, Z:-1.41 [[ 9.93248477e-01 7.74512817e-02 8.63641242e-02 1.23440825e+01] [-7.71778977e-02 9.96996117e-01 -6.50499010e-03 -4.71148507e-01] [-8.66085163e-02 -2.04330035e-04 9.96242402e-01 -1.41459357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.671193817 meters 0.05893917517121023 Centerline is valid? [True, True] Translation: X:12.38, Y:-0.47, Z:-1.42 [[ 9.92679307e-01 8.36680698e-02 8.71059611e-02 1.23765695e+01] [-8.34112150e-02 9.96493418e-01 -6.59075170e-03 -4.68387266e-01] [-8.73519524e-02 -7.23111225e-04 9.96177250e-01 -1.41992227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.701193817000002 meters 0.059056895340198305 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.47, Z:-1.42 [[ 9.92460605e-01 8.60861188e-02 8.72417767e-02 1.24081165e+01] [-8.58351026e-02 9.96287287e-01 -6.63154608e-03 -4.70631249e-01] [-8.74887570e-02 -9.06858617e-04 9.96165094e-01 -1.42370224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.731193817000001 meters 0.059091132222030926 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.47, Z:-1.43 [[ 9.92291600e-01 8.79249094e-02 8.73303511e-02 1.24408506e+01] [-8.76783366e-02 9.96126557e-01 -6.66274973e-03 -4.74756043e-01] [-8.75779036e-02 -1.04558933e-03 9.96157125e-01 -1.42673101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.761193817 meters 0.05947645666109307 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.48, Z:-1.43 [[ 9.92155354e-01 8.88320853e-02 8.79580263e-02 1.24722662e+01] [-8.85827198e-02 9.96046006e-01 -6.74212550e-03 -4.78911189e-01] [-8.82091578e-02 -1.10232528e-03 9.96101365e-01 -1.43241747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.791193817000002 meters 0.05955959260391026 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.49, Z:-1.44 [[ 9.92115286e-01 9.00689226e-02 8.71484298e-02 1.25033023e+01] [-8.98263626e-02 9.95934845e-01 -6.70891099e-03 -4.89685819e-01] [-8.73984223e-02 -1.17221332e-03 9.96172747e-01 -1.43725236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.821193817000001 meters 0.059323260072009956 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.50, Z:-1.44 [[ 9.92047848e-01 9.02580490e-02 8.77185975e-02 1.25347315e+01] [-9.00107669e-02 9.95917724e-01 -6.77853120e-03 -4.98381082e-01] [-8.79723230e-02 -1.17099094e-03 9.96122231e-01 -1.44012114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.851193817000002 meters 0.05918244301937689 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.51, Z:-1.44 [[ 9.92049378e-01 8.97370723e-02 8.82342923e-02 1.25652453e+01] [-8.94823788e-02 9.95964878e-01 -6.84579751e-03 -5.07111094e-01] [-8.84925780e-02 -1.10404520e-03 9.96076224e-01 -1.44401651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.881193817000002 meters 0.05916981300864911 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.52, Z:-1.45 [[ 9.92263982e-01 8.78948548e-02 8.76737378e-02 1.25958295e+01] [-8.76341733e-02 9.96129342e-01 -6.82541955e-03 -5.20228898e-01] [-8.79343020e-02 -9.10597545e-04 9.96125860e-01 -1.44971494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.911193817000001 meters 0.05909440759344069 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.53, Z:-1.46 [[ 9.92435716e-01 8.64893948e-02 8.71259720e-02 1.26280519e+01] [-8.62241815e-02 9.96252486e-01 -6.80987877e-03 -5.29194141e-01] [-8.73884485e-02 -7.53998718e-04 9.96174026e-01 -1.45504239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.941193817000002 meters 0.05884661803202107 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.54, Z:-1.46 [[ 9.92676157e-01 8.42542655e-02 8.65752064e-02 1.26598178e+01] [-8.39815334e-02 9.96444149e-01 -6.79413878e-03 -5.40341909e-01] [-8.68397930e-02 -5.26339024e-04 9.96222151e-01 -1.45823574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.971193817000001 meters 0.05846267315814346 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.55, Z:-1.46 [[ 9.93033182e-01 8.02427168e-02 8.62914001e-02 1.26924518e+01] [-7.99539443e-02 9.96775344e-01 -6.80301698e-03 -5.52896992e-01] [-8.65590326e-02 -1.43716200e-04 9.96246713e-01 -1.46013415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.001193817 meters 0.059355293262649426 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.58, Z:-1.46 [[ 9.93942702e-01 6.74951640e-02 8.67312432e-02 1.27214895e+01] [-6.71532008e-02 9.97719108e-01 -6.85774848e-03 -5.78270647e-01] [-8.69962834e-02 9.91928464e-04 9.96208142e-01 -1.46433613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.031193817000002 meters 0.06086214998270858 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.59, Z:-1.47 [[ 9.94368467e-01 5.95598993e-02 8.76582596e-02 1.27519115e+01] [-5.91775640e-02 9.98223235e-01 -6.95623807e-03 -5.94070302e-01] [-8.79168243e-02 1.72966152e-03 9.96126317e-01 -1.46695332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.061193817000001 meters 0.06365274029431513 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.61, Z:-1.47 [[ 9.94933211e-01 5.04874434e-02 8.69420722e-02 1.27810970e+01] [-5.00741304e-02 9.98721463e-01 -6.92964793e-03 -6.10319597e-01] [-8.71807738e-02 2.54098820e-03 9.96189267e-01 -1.47107020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.091193817 meters 0.06561392840228193 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.62, Z:-1.47 [[ 9.95292305e-01 4.27699705e-02 8.69710171e-02 1.28112680e+01] [-4.23268379e-02 9.99079757e-01 -6.93375490e-03 -6.21961151e-01] [-8.71875392e-02 3.21990475e-03 9.96186712e-01 -1.47344215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.121193817000002 meters 0.06849029457463413 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.63, Z:-1.48 [[ 9.95599628e-01 3.57485372e-02 8.66223043e-02 1.28413876e+01] [-3.52822885e-02 9.99353510e-01 -6.90806896e-03 -6.32704250e-01] [-8.68132573e-02 3.82143775e-03 9.96217273e-01 -1.47780722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.151193817000001 meters 0.07310666262973943 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.65, Z:-1.48 [[ 9.95981114e-01 2.70344441e-02 8.53859449e-02 1.28701686e+01] [-2.65495483e-02 9.99624305e-01 -6.80953686e-03 -6.47514276e-01] [-8.55379579e-02 4.51521184e-03 9.96324681e-01 -1.48297342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.181193817000002 meters 0.07359782190707401 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.65, Z:-1.49 [[ 9.96080635e-01 2.55934895e-02 8.46660608e-02 1.29019072e+01] [-2.51113600e-02 9.99661840e-01 -6.75471814e-03 -6.51869478e-01] [-8.48103069e-02 4.60216400e-03 9.96386487e-01 -1.48704069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.211193817000002 meters 0.07636000105046241 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.66, Z:-1.49 [[ 9.96050897e-01 2.65846015e-02 8.47105067e-02 1.29319011e+01] [-2.61051238e-02 9.99636326e-01 -6.76304989e-03 -6.59955426e-01] [-8.48594927e-02 4.52496365e-03 9.96382653e-01 -1.49408958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.241193817000001 meters 0.07307128373276157 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.65, Z:-1.50 [[ 9.95947500e-01 3.12384959e-02 8.43370225e-02 1.29632774e+01] [-3.07783096e-02 9.99503433e-01 -6.75152383e-03 -6.54710596e-01] [-8.45060509e-02 4.12841230e-03 9.96414414e-01 -1.49605668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.271193817000002 meters 0.0699029472265927 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.65, Z:-1.50 [[ 9.95866158e-01 3.43042165e-02 8.41059826e-02 1.29951043e+01] [-3.38573146e-02 9.99403986e-01 -6.73456194e-03 -6.49701498e-01] [-8.42868782e-02 3.85911961e-03 9.96434057e-01 -1.49742297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.301193817000001 meters 0.06892995449898692 Centerline is valid? [True, True] Translation: X:13.03, Y:-0.65, Z:-1.50 [[ 9.95740561e-01 3.66577470e-02 8.45987316e-02 1.30269381e+01] [-3.62137800e-02 9.99321086e-01 -6.77705225e-03 -6.48338651e-01] [-8.47897279e-02 3.68454596e-03 9.96392054e-01 -1.50115251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.331193817 meters 0.06811940501159816 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.65, Z:-1.50 [[ 9.95514895e-01 3.91637404e-02 8.61179102e-02 1.30575858e+01] [-3.87124371e-02 9.99226535e-01 -6.90496098e-03 -6.46931075e-01] [-8.63217251e-02 3.54015733e-03 9.96261024e-01 -1.50490042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.361193817000002 meters 0.06726980027407073 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.64, Z:-1.51 [[ 9.95309197e-01 4.17911183e-02 8.72531101e-02 1.30886861e+01] [-4.13375294e-02 9.99120720e-01 -6.99973895e-03 -6.41924609e-01] [-8.74689170e-02 3.36007655e-03 9.96161582e-01 -1.50869922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.391193817000001 meters 0.06726980027407073 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.64, Z:-1.51 [[ 9.95295571e-01 4.21137228e-02 8.72534277e-02 1.31208843e+01] [-4.16617143e-02 9.99107282e-01 -6.99579941e-03 -6.44769880e-01] [-8.74701541e-02 3.32776080e-03 9.96161582e-01 -1.51241501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.421193817 meters 0.06653806809144973 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.64, Z:-1.52 [[ 9.95046609e-01 4.39887192e-02 8.91472895e-02 1.31524023e+01] [-4.35209709e-02 9.99026678e-01 -7.18484587e-03 -6.43416361e-01] [-8.93765727e-02 3.26947993e-03 9.95992540e-01 -1.51544712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.451193817000002 meters 0.06647378801776196 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.64, Z:-1.52 [[ 9.94759262e-01 4.49481315e-02 9.18350531e-02 1.31835105e+01] [-4.44556122e-02 9.98983933e-01 -7.40271951e-03 -6.43512882e-01] [-9.20744810e-02 3.28134028e-03 9.95746716e-01 -1.51735567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.481193817000001 meters 0.06534133695961893 Centerline is valid? [True, True] Translation: X:13.22, Y:-0.64, Z:-1.52 [[ 9.94407459e-01 4.73745241e-02 9.43899345e-02 1.32153867e+01] [-4.68632728e-02 9.98872196e-01 -7.62694588e-03 -6.40270732e-01] [-9.46448040e-02 3.16087062e-03 9.95506087e-01 -1.51879660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.511193817000002 meters 0.06113122085200273 Centerline is valid? [True, True] Translation: X:13.25, Y:-0.62, Z:-1.52 [[ 9.93819504e-01 5.55756817e-02 9.60944143e-02 1.32477790e+01] [-5.50835135e-02 9.98451526e-01 -7.76896413e-03 -6.24316822e-01] [-9.63773800e-02 2.42773011e-03 9.95341904e-01 -1.51776062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.541193817000002 meters 0.06022402535495746 Centerline is valid? [True, True] Translation: X:13.28, Y:-0.62, Z:-1.52 [[ 9.93440456e-01 6.01807047e-02 9.72334506e-02 1.32778880e+01] [-5.96985323e-02 9.98185481e-01 -7.86322611e-03 -6.21150697e-01] [-9.75302331e-02 2.00695265e-03 9.95230539e-01 -1.52161993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.571193817000001 meters 0.059617911394432815 Centerline is valid? [True, True] Translation: X:13.31, Y:-0.62, Z:-1.53 [[ 9.93217149e-01 6.40571502e-02 9.70380203e-02 1.33087194e+01] [-6.35955818e-02 9.97944916e-01 -7.84522251e-03 -6.18910845e-01] [-9.73411415e-02 1.62082018e-03 9.95249755e-01 -1.52631891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.601193817000002 meters 0.0596709457082799 Centerline is valid? [True, True] Translation: X:13.34, Y:-0.61, Z:-1.54 [[ 9.93376088e-01 6.72092904e-02 9.32033262e-02 1.33399290e+01] [-6.67950860e-02 9.97738073e-01 -7.56010197e-03 -6.12442156e-01] [-9.35006161e-02 1.28450033e-03 9.95618393e-01 -1.53611191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.631193817000002 meters 0.06017848807563825 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.61, Z:-1.54 [[ 9.93531833e-01 6.66156436e-02 9.19611538e-02 1.33715432e+01] [-6.62076203e-02 9.97777802e-01 -7.48394331e-03 -6.12715577e-01] [-9.22553455e-02 1.34700676e-03 9.95734471e-01 -1.54224717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.661193817000001 meters 0.06046401785523158 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.61, Z:-1.55 [[ 9.93727875e-01 6.58753587e-02 9.03623152e-02 1.34035299e+01] [-6.54760669e-02 9.97826854e-01 -7.37928399e-03 -6.13766772e-01] [-9.06520577e-02 1.41643120e-03 9.95881619e-01 -1.54715775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.691193817000002 meters 0.06096793924896869 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.62, Z:-1.55 [[ 9.93927670e-01 6.49942454e-02 8.87892705e-02 1.34347021e+01] [-6.46028969e-02 9.97884516e-01 -7.27727869e-03 -6.17404052e-01] [-8.90744194e-02 1.49704457e-03 9.96023848e-01 -1.55292841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.721193817000001 meters 0.0611295562171434 Centerline is valid? [True, True] Translation: X:13.47, Y:-0.62, Z:-1.56 [[ 9.94040865e-01 6.74748334e-02 8.56148678e-02 1.34666515e+01] [-6.71180835e-02 9.97720189e-01 -7.04183411e-03 -6.19325219e-01] [-8.58948286e-02 1.25356502e-03 9.96303421e-01 -1.55961066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.751193817 meters 0.061012599591566866 Centerline is valid? [True, True] Translation: X:13.50, Y:-0.62, Z:-1.57 [[ 9.94065526e-01 7.05180750e-02 8.28307435e-02 1.34983912e+01] [-7.01927367e-02 9.97510018e-01 -6.83691330e-03 -6.19349859e-01] [-8.31066224e-02 9.82223246e-04 9.96540177e-01 -1.56544748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.781193817000002 meters 0.06074185437400308 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.62, Z:-1.57 [[ 9.93801749e-01 7.41578532e-02 8.28172466e-02 1.35292502e+01] [-7.38430763e-02 9.97246267e-01 -6.86166190e-03 -6.18337286e-01] [-8.30980361e-02 7.03651338e-04 9.96541129e-01 -1.57017622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.811193817000001 meters 0.06040712017399793 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.62, Z:-1.57 [[ 9.93461962e-01 7.73499129e-02 8.39661905e-02 1.35610795e+01] [-7.70357190e-02 9.97003898e-01 -6.98028743e-03 -6.17986743e-01] [-8.42545439e-02 4.66254184e-04 9.96444155e-01 -1.57360569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.841193817 meters 0.05993519203661951 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.62, Z:-1.57 [[ 9.92929678e-01 7.90557494e-02 8.85485325e-02 1.35917361e+01] [-7.87100930e-02 9.96870127e-01 -7.39399757e-03 -6.20226769e-01] [-8.88559249e-02 3.72056389e-04 9.96044420e-01 -1.57311547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.871193817000002 meters 0.059875498274199836 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.63, Z:-1.57 [[ 9.92822338e-01 7.70805347e-02 9.14461407e-02 1.36230092e+01] [-7.67026814e-02 9.97024704e-01 -7.64451898e-03 -6.27216668e-01] [-9.17633050e-02 5.75485005e-04 9.95780681e-01 -1.57398184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.901193817000001 meters 0.06005665536392452 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.64, Z:-1.57 [[ 9.92910441e-01 7.33669550e-02 9.35208282e-02 1.36554663e+01] [-7.29527367e-02 9.97304545e-01 -7.84492255e-03 -6.35684847e-01] [-9.38443051e-02 9.66705150e-04 9.95586416e-01 -1.57445698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.931193817000002 meters 0.06052827836143531 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.64, Z:-1.58 [[ 9.93096534e-01 6.88580762e-02 9.49623085e-02 1.36865518e+01] [-6.84070963e-02 9.97625414e-01 -8.00019053e-03 -6.44581529e-01] [-9.52876900e-02 1.44886571e-03 9.95448721e-01 -1.57666515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.961193817000002 meters 0.06320834525578169 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.66, Z:-1.58 [[ 9.93790936e-01 5.98014931e-02 9.38262030e-02 1.37151499e+01] [-5.93177953e-02 9.98207585e-01 -7.93825902e-03 -6.60433478e-01] [-9.41327473e-02 2.32340636e-03 9.95556943e-01 -1.58302574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.991193817000001 meters 0.06420043548238454 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.67, Z:-1.59 [[ 9.94075620e-01 5.52938730e-02 9.35748277e-02 1.37465041e+01] [-5.47927885e-02 9.98466354e-01 -7.91769104e-03 -6.67443967e-01] [-9.38691168e-02 2.74355790e-03 9.95580766e-01 -1.58659024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.021193817000002 meters 0.06627829858259159 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.68, Z:-1.59 [[ 9.94442201e-01 5.06031970e-02 9.23256518e-02 1.37758986e+01] [-5.00944310e-02 9.98713861e-01 -7.82120801e-03 -6.76333574e-01] [-9.26026863e-02 3.15273831e-03 9.95698148e-01 -1.59169275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.051193817000001 meters 0.06904333708057497 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.68, Z:-1.60 [[ 9.95007157e-01 4.31749446e-02 8.99815589e-02 1.38055909e+01] [-4.26612957e-02 9.99060497e-01 -7.62475095e-03 -6.84526103e-01] [-9.02262192e-02 3.74795187e-03 9.95914244e-01 -1.59627292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.081193817 meters 0.07095861024966202 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.69, Z:-1.60 [[ 9.95104509e-01 4.18493401e-02 8.95301587e-02 1.38355877e+01] [-4.13354959e-02 9.99116520e-01 -7.58659111e-03 -6.89780386e-01] [-8.97685544e-02 3.84867752e-03 9.95955217e-01 -1.60132493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.111193817000002 meters 0.07017966767895283 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.69, Z:-1.60 [[ 9.95154529e-01 4.24141640e-02 8.87045754e-02 1.38686463e+01] [-4.19123419e-02 9.99093044e-01 -7.51302101e-03 -6.89783638e-01] [-8.89427828e-02 3.75880039e-03 9.96029645e-01 -1.60475357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.141193817000001 meters 0.06839363355178557 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.69, Z:-1.61 [[ 9.94982915e-01 4.62016070e-02 8.87378754e-02 1.39007006e+01] [-4.57111498e-02 9.98926150e-01 -7.55235849e-03 -6.86107994e-01] [-8.89915153e-02 3.45815735e-03 9.96026381e-01 -1.60764766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.171193817 meters 0.06617041808815809 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.68, Z:-1.61 [[ 9.94831222e-01 4.91686986e-02 8.88441212e-02 1.39332942e+01] [-4.86888993e-02 9.98785374e-01 -7.56088141e-03 -6.80625876e-01] [-8.91079676e-02 3.19607843e-03 9.96016845e-01 -1.60872642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.201193817000002 meters 0.06619664759599184 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.68, Z:-1.61 [[ 9.94584266e-01 5.26149374e-02 8.96314986e-02 1.39630907e+01] [-5.21375996e-02 9.98610531e-01 -7.66018986e-03 -6.79730194e-01] [-8.99099988e-02 2.94553313e-03 9.95945539e-01 -1.61396754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.231193817000001 meters 0.06443067166877488 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.67, Z:-1.62 [[ 9.94256346e-01 5.63569619e-02 9.09846779e-02 1.39952873e+01] [-5.58793679e-02 9.98407137e-01 -7.79006862e-03 -6.73664930e-01] [-9.12787764e-02 2.66115887e-03 9.95821823e-01 -1.61546210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.261193817000002 meters 0.06267338353553352 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.67, Z:-1.62 [[ 9.93840053e-01 6.40363421e-02 9.04505214e-02 1.40260134e+01] [-6.35956561e-02 9.97945664e-01 -7.74876500e-03 -6.65106328e-01] [-9.07609082e-02 1.94877277e-03 9.95870805e-01 -1.62004443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.291193817000002 meters 0.06238703893931297 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.67, Z:-1.63 [[ 9.93747444e-01 6.66564467e-02 8.95708447e-02 1.40565430e+01] [-6.62353080e-02 9.97774557e-01 -7.66921998e-03 -6.65420429e-01] [-8.98827129e-02 1.68851526e-03 9.95950926e-01 -1.62517069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.321193817000001 meters 0.0620861343928564 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.67, Z:-1.63 [[ 9.93686419e-01 6.79150730e-02 8.93019799e-02 1.40884116e+01] [-6.74993940e-02 9.97689833e-01 -7.67000543e-03 -6.66407367e-01] [-8.96165864e-02 1.59375070e-03 9.95975064e-01 -1.62924605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.351193817000002 meters 0.06207767161412049 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.67, Z:-1.63 [[ 9.93731687e-01 6.91506276e-02 8.78380619e-02 1.41198658e+01] [-6.87510385e-02 9.97605127e-01 -7.57001137e-03 -6.68484035e-01] [-8.81511719e-02 1.48360219e-03 9.96106003e-01 -1.63414448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.381193817000002 meters 0.0620497795904035 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.67, Z:-1.64 [[ 9.93866334e-01 7.16846341e-02 8.42082178e-02 1.41510933e+01] [-7.13244740e-02 9.97426588e-01 -7.28155259e-03 -6.69088622e-01] [-8.45134908e-02 1.23078314e-03 9.96421575e-01 -1.64026491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.411193817000001 meters 0.06214794884199424 Centerline is valid? [True, True] Translation: X:14.18, Y:-0.67, Z:-1.65 [[ 9.93809967e-01 7.41026483e-02 8.27680285e-02 1.41815843e+01] [-7.37608761e-02 9.97250083e-01 -7.18367142e-03 -6.71337566e-01] [-8.30727523e-02 1.03416197e-03 9.96542949e-01 -1.64721802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.441193817000002 meters 0.06182511067289865 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.67, Z:-1.65 [[ 9.93603247e-01 7.71477802e-02 8.24670085e-02 1.42135749e+01] [-7.68181504e-02 9.97019359e-01 -7.16731027e-03 -6.72129939e-01] [-8.27741460e-02 7.86499697e-04 9.96568022e-01 -1.65111774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.471193817000001 meters 0.06169485804660211 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.67, Z:-1.66 [[ 9.93209319e-01 8.28672165e-02 8.16594933e-02 1.42441430e+01] [-8.25612736e-02 9.96560542e-01 -7.12191356e-03 -6.73246721e-01] [-8.19688021e-02 3.31639155e-04 9.96634841e-01 -1.65654179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.501193817 meters 0.06164401184173273 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.68, Z:-1.66 [[ 9.93028219e-01 8.44828973e-02 8.22045952e-02 1.42755161e+01] [-8.41765286e-02 9.96424905e-01 -7.19174618e-03 -6.78203308e-01] [-8.25182855e-02 2.21909452e-04 9.96589526e-01 -1.65940974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.531193817000002 meters 0.06124984276069831 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.68, Z:-1.66 [[ 9.92765598e-01 8.52220352e-02 8.45793889e-02 1.43066184e+01] [-8.48980779e-02 9.96361966e-01 -7.42620074e-03 -6.84446355e-01] [-8.49045622e-02 1.91849064e-04 9.96389070e-01 -1.66078581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.561193817000001 meters 0.06077137605671576 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.69, Z:-1.66 [[ 9.92410234e-01 8.53269157e-02 8.85508096e-02 1.43382470e+01] [-8.49694094e-02 9.96352984e-01 -7.80586463e-03 -6.91254258e-01] [-8.88939137e-02 2.22509953e-04 9.96041075e-01 -1.66026177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.591193817000002 meters 0.06036053890428945 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.70, Z:-1.66 [[ 9.92315421e-01 8.47482932e-02 9.01544908e-02 1.43706849e+01] [-8.43753101e-02 9.96402353e-01 -7.94721839e-03 -6.98100301e-01] [-9.05036599e-02 2.79334247e-04 9.95896084e-01 -1.65945744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.621193817000002 meters 0.06044733514312459 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.71, Z:-1.66 [[ 9.92327291e-01 8.24493245e-02 9.21339026e-02 1.44021592e+01] [-8.20471390e-02 9.96595118e-01 -8.15095334e-03 -7.09352205e-01] [-9.24922381e-02 5.29090336e-04 9.95713265e-01 -1.66136980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.651193817000001 meters 0.06079055395073182 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.72, Z:-1.67 [[ 9.92508907e-01 8.00890734e-02 9.22594702e-02 1.44322087e+01] [-7.96727051e-02 9.96787405e-01 -8.19330670e-03 -7.18615881e-01] [-9.26192722e-02 7.81368311e-04 9.95701290e-01 -1.66571110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.681193817000002 meters 0.06111709480982798 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.73, Z:-1.67 [[ 9.92669716e-01 7.73405277e-02 9.28723691e-02 1.44630817e+01] [-7.69054030e-02 9.97004175e-01 -8.26041612e-03 -7.29369441e-01] [-9.32330046e-02 1.05747795e-03 9.95643756e-01 -1.66826748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.711193817000002 meters 0.06165659716788647 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.74, Z:-1.67 [[ 9.93075286e-01 7.48423150e-02 9.05544218e-02 1.44936761e+01] [-7.44158005e-02 9.97194550e-01 -8.08194906e-03 -7.40404258e-01] [-9.09052477e-02 1.28730408e-03 9.95858714e-01 -1.67318758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.741193817000001 meters 0.06329211107097504 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.76, Z:-1.68 [[ 9.93882997e-01 7.01431958e-02 8.53025211e-02 1.45216038e+01] [-6.97451258e-02 9.97535576e-01 -7.64149137e-03 -7.57398711e-01] [-8.56282981e-02 1.64531328e-03 9.96325794e-01 -1.68192550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.771193817000002 meters 0.0636830475467163 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.76, Z:-1.69 [[ 9.94206184e-01 7.00604459e-02 8.15205361e-02 1.45522591e+01] [-6.96966243e-02 9.97541497e-01 -7.30352370e-03 -7.64027478e-01] [-8.18318058e-02 1.57950224e-03 9.96644902e-01 -1.68789195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.801193817000001 meters 0.06407466524705968 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.77, Z:-1.69 [[ 9.94435357e-01 7.00459818e-02 7.86885051e-02 1.45837338e+01] [-6.97047936e-02 9.97542554e-01 -7.07773327e-03 -7.68990000e-01] [-7.89908992e-02 1.55338220e-03 9.96874127e-01 -1.69351303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.831193817 meters 0.06502033940172104 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.78, Z:-1.70 [[ 9.94485427e-01 7.19949548e-02 7.62591726e-02 1.46132728e+01] [-7.16803375e-02 9.97404077e-01 -6.85832801e-03 -7.75587478e-01] [-7.65549747e-02 1.35422404e-03 9.97064442e-01 -1.70334454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.861193817000002 meters 0.0643089931436782 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.78, Z:-1.70 [[ 9.94436888e-01 7.22516411e-02 7.66483932e-02 1.46453572e+01] [-7.19329233e-02 9.97385504e-01 -6.91452308e-03 -7.80367662e-01] [-7.69475820e-02 1.36251383e-03 9.97034209e-01 -1.70286779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.891193817000001 meters 0.06410337728751193 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.79, Z:-1.71 [[ 9.94339345e-01 7.29582910e-02 7.72421877e-02 1.46770596e+01] [-7.26349319e-02 9.97334091e-01 -6.99125972e-03 -7.87182256e-01] [-7.75463374e-02 1.34120356e-03 9.96987847e-01 -1.70503801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.921193817000002 meters 0.0641634667691277 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.79, Z:-1.71 [[ 9.94359361e-01 7.29742327e-02 7.69689713e-02 1.47082544e+01] [-7.26514468e-02 9.97332902e-01 -6.98927163e-03 -7.94502941e-01] [-7.72737243e-02 1.35794055e-03 9.97008991e-01 -1.70786394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.951193817000002 meters 0.06399427682562361 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.80, Z:-1.71 [[ 9.94290873e-01 7.45016048e-02 7.63882846e-02 1.47400471e+01] [-7.41865414e-02 9.97220109e-01 -6.95783880e-03 -8.04088405e-01] [-7.66943037e-02 1.25113298e-03 9.97053869e-01 -1.71101807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.981193817000001 meters 0.06378066124882993 Centerline is valid? [True, True] Translation: X:14.77, Y:-0.81, Z:-1.71 [[ 9.94066941e-01 7.61985138e-02 7.76189675e-02 1.47705315e+01] [-7.58760190e-02 9.97091982e-01 -7.09987583e-03 -8.09161036e-01] [-7.79342502e-02 1.16833359e-03 9.96957816e-01 -1.71464225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.011193817000002 meters 0.06343005603799377 Centerline is valid? [True, True] Translation: X:14.80, Y:-0.81, Z:-1.72 [[ 9.93795861e-01 7.76685452e-02 7.96076905e-02 1.48016464e+01] [-7.73321464e-02 9.96978626e-01 -7.30472802e-03 -8.13080301e-01] [-7.99345134e-02 1.10317490e-03 9.96799507e-01 -1.71780430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.041193817 meters 0.06290468804458334 Centerline is valid? [True, True] Translation: X:14.83, Y:-0.82, Z:-1.72 [[ 9.93697431e-01 7.90540148e-02 7.94724954e-02 1.48341489e+01] [-7.87216341e-02 9.96869823e-01 -7.31166404e-03 -8.15528735e-01] [-7.98017488e-02 1.00937707e-03 9.96810244e-01 -1.71904039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.071193817 meters 0.06330875246194295 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.82, Z:-1.72 [[ 9.93720085e-01 7.86805915e-02 7.95597750e-02 1.48655926e+01] [-7.83440053e-02 9.96899304e-01 -7.34812625e-03 -8.23084251e-01] [-7.98912393e-02 1.06894920e-03 9.96803013e-01 -1.72448288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.101193817000002 meters 0.06383956108715737 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.83, Z:-1.73 [[ 9.93857270e-01 7.70155446e-02 7.94753536e-02 1.48963418e+01] [-7.66722207e-02 9.97029136e-01 -7.36703768e-03 -8.31859048e-01] [-7.98066195e-02 1.22823211e-03 9.96809608e-01 -1.72890508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.131193817000003 meters 0.06479895883999329 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.85, Z:-1.73 [[ 9.94230055e-01 6.99996613e-02 8.12812729e-02 1.49267282e+01] [-6.96150732e-02 9.97545286e-01 -7.55935644e-03 -8.50026969e-01] [-8.16109030e-02 1.85733760e-03 9.96662536e-01 -1.72851398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.161193817 meters 0.06583929766828048 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.86, Z:-1.73 [[ 9.94519326e-01 6.48439779e-02 8.20156651e-02 1.49578141e+01] [-6.44324473e-02 9.97892692e-01 -7.65728839e-03 -8.60758052e-01] [-8.23393620e-02 2.33085127e-03 9.96601624e-01 -1.73119766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.191193817000002 meters 0.06774922075260144 Centerline is valid? [True, True] Translation: X:14.99, Y:-0.87, Z:-1.73 [[ 9.94879798e-01 5.95893803e-02 8.16289988e-02 1.49865567e+01] [-5.91632585e-02 9.98219151e-01 -7.63123321e-03 -8.71585762e-01] [-8.19383703e-02 2.76272220e-03 9.96633569e-01 -1.73468790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.221193817000003 meters 0.06913022922695199 Centerline is valid? [True, True] Translation: X:15.02, Y:-0.88, Z:-1.74 [[ 9.95079981e-01 5.56472998e-02 8.19707835e-02 1.50180457e+01] [-5.52044809e-02 9.98445684e-01 -7.66044259e-03 -8.79860366e-01] [-8.22696579e-02 3.09759852e-03 9.96605292e-01 -1.73805229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.251193817 meters 0.06913022922695199 Centerline is valid? [True, True] Translation: X:15.05, Y:-0.88, Z:-1.74 [[ 9.95060994e-01 5.59856488e-02 8.19708867e-02 1.50501859e+01] [-5.55440634e-02 9.98426858e-01 -7.65935984e-03 -8.83134931e-01] [-8.22707491e-02 3.06853409e-03 9.96605292e-01 -1.74176700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.281193817000002 meters 0.06966784992493213 Centerline is valid? [True, True] Translation: X:15.08, Y:-0.89, Z:-1.74 [[ 9.95214488e-01 5.33891440e-02 8.18396068e-02 1.50821376e+01] [-5.29372261e-02 9.98568282e-01 -7.68345996e-03 -8.88527743e-01] [-8.21326490e-02 3.31432890e-03 9.96615896e-01 -1.74437127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.311193817000003 meters 0.07147979676409347 Centerline is valid? [True, True] Translation: X:15.11, Y:-0.90, Z:-1.75 [[ 9.95430263e-01 5.26315298e-02 7.96775588e-02 1.51124964e+01] [-5.22008015e-02 9.98608590e-01 -7.48065233e-03 -8.96418710e-01] [-7.99604128e-02 3.28723529e-03 9.96792620e-01 -1.75072428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.341193817 meters 0.06985104006156646 Centerline is valid? [True, True] Translation: X:15.14, Y:-0.90, Z:-1.75 [[ 9.95368534e-01 5.40799026e-02 7.94785915e-02 1.51445481e+01] [-5.36542135e-02 9.98531534e-01 -7.48342746e-03 -8.95893342e-01] [-7.97665829e-02 3.18440690e-03 9.96808483e-01 -1.75201076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.371193817 meters 0.06982882767559026 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.90, Z:-1.76 [[ 9.95206744e-01 5.54125653e-02 8.05790526e-02 1.51751180e+01] [-5.49772112e-02 9.98458585e-01 -7.61314725e-03 -8.97731816e-01] [-8.08767108e-02 3.14664390e-03 9.96719146e-01 -1.75514612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.401193817000003 meters 0.06970626064644513 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.90, Z:-1.76 [[ 9.95049319e-01 5.74216844e-02 8.11147471e-02 1.52058878e+01] [-5.69849759e-02 9.98345415e-01 -7.69051201e-03 -8.98750618e-01] [-8.14221380e-02 3.03011684e-03 9.96675099e-01 -1.75891581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.431193817 meters 0.06902988750788001 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.90, Z:-1.76 [[ 9.95043036e-01 5.93838462e-02 7.97678835e-02 1.52378174e+01] [-5.89671095e-02 9.98231209e-01 -7.57193139e-03 -8.98443062e-01] [-8.00764411e-02 2.83071608e-03 9.96784706e-01 -1.76346234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.461193817 meters 0.06748220265406168 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.89, Z:-1.77 [[ 9.94999368e-01 6.25645965e-02 7.78583885e-02 1.52704749e+01] [-6.21755862e-02 9.98037697e-01 -7.41290499e-03 -8.94808619e-01] [-7.81693921e-02 2.53494484e-03 9.96936869e-01 -1.76699715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.491193817000003 meters 0.06651604947206755 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.89, Z:-1.78 [[ 9.94686038e-01 7.33350013e-02 7.22610844e-02 1.53016540e+01] [-7.30268166e-02 9.97306100e-01 -6.90121570e-03 -8.87560457e-01] [-7.25725209e-02 1.58754594e-03 9.97361875e-01 -1.77796918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.521193817 meters 0.06515727698792359 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.88, Z:-1.78 [[ 9.94282244e-01 7.91374374e-02 7.16943873e-02 1.53345548e+01] [-7.88477192e-02 9.96863023e-01 -6.86661753e-03 -8.84123608e-01] [-7.20128901e-02 1.17441697e-03 9.97403010e-01 -1.78051915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.551193817 meters 0.06410089038094374 Centerline is valid? [True, True] Translation: X:15.37, Y:-0.88, Z:-1.78 [[ 9.93826830e-01 8.44781571e-02 7.19143420e-02 1.53667689e+01] [-8.41990168e-02 9.96425001e-01 -6.90968891e-03 -8.81982787e-01] [-7.22409661e-02 8.11917330e-04 9.97386878e-01 -1.78163105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.581193817000003 meters 0.06364909373782514 Centerline is valid? [True, True] Translation: X:15.40, Y:-0.88, Z:-1.78 [[ 9.93318420e-01 8.92313419e-02 7.31866417e-02 1.53984944e+01] [-8.89533565e-02 9.96010803e-01 -7.05556311e-03 -8.80656436e-01] [-7.35242631e-02 4.98223374e-04 9.97293304e-01 -1.78466338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.611193817 meters 0.06308574717210837 Centerline is valid? [True, True] Translation: X:15.43, Y:-0.87, Z:-1.79 [[ 9.92627734e-01 9.60478895e-02 7.39255402e-02 1.54314833e+01] [-9.57813824e-02 9.95376714e-01 -7.15011399e-03 -8.74346666e-01] [-7.42705146e-02 1.67110076e-05 9.97238131e-01 -1.78604599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.641193817 meters 0.06293946271392464 Centerline is valid? [True, True] Translation: X:15.46, Y:-0.88, Z:-1.79 [[ 9.92342475e-01 9.84419330e-02 7.46029346e-02 1.54641218e+01] [-9.81755259e-02 9.95142787e-01 -7.23879249e-03 -8.75255391e-01] [-7.49531729e-02 -1.40821072e-04 9.97187045e-01 -1.78827720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.671193817000002 meters 0.06305979453761863 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.88, Z:-1.79 [[ 9.92170627e-01 1.00264886e-01 7.44607301e-02 1.54967698e+01] [-1.00003046e-01 9.94960746e-01 -7.24597845e-03 -8.78728632e-01] [-7.48120208e-02 -2.57052807e-04 9.97197621e-01 -1.79218518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.701193817 meters 0.06310328000483732 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.88, Z:-1.80 [[ 9.91990120e-01 1.01394496e-01 7.53309906e-02 1.55275458e+01] [-1.01127520e-01 9.94846247e-01 -7.35996031e-03 -8.84103824e-01] [-7.56890128e-02 -3.17028385e-04 9.97131422e-01 -1.79568506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.731193817 meters 0.06293888022709697 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.89, Z:-1.80 [[ 9.91849409e-01 1.01679360e-01 7.67857969e-02 1.55597071e+01] [-1.01400768e-01 9.94817172e-01 -7.52848994e-03 -8.90657734e-01] [-7.71533214e-02 -3.19010507e-04 9.97019189e-01 -1.79830459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.761193817000002 meters 0.06239970558772645 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.90, Z:-1.80 [[ 9.91572469e-01 1.00743520e-01 8.14541671e-02 1.55905665e+01] [-1.00425321e-01 9.94912400e-01 -8.00442852e-03 -8.97257626e-01] [-8.18461552e-02 -2.43089903e-04 9.96644946e-01 -1.79789855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.791193817 meters 0.062394772678935576 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.90, Z:-1.80 [[ 9.91524798e-01 1.00800253e-01 8.19627023e-02 1.56211691e+01] [-1.00478565e-01 9.94906651e-01 -8.05065997e-03 -9.01181462e-01] [-8.23567463e-02 -2.53065693e-04 9.96602881e-01 -1.80162363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.821193817 meters 0.06234280498520426 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.91, Z:-1.80 [[ 9.91596377e-01 9.99508569e-02 8.21367820e-02 1.56534926e+01] [-9.96232005e-02 9.94992362e-01 -8.08814817e-03 -9.07155034e-01] [-8.25338880e-02 -1.62550673e-04 9.96588245e-01 -1.80384037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.851193817000002 meters 0.06275089018124451 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.91, Z:-1.81 [[ 9.91839572e-01 9.88681948e-02 8.04943723e-02 1.56836348e+01] [-9.85476236e-02 9.95100537e-01 -7.95535060e-03 -9.13671063e-01] [-8.08865242e-02 -4.20975633e-05 9.96723316e-01 -1.80970009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.881193817000003 meters 0.06291725917827863 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.92, Z:-1.81 [[ 9.91949165e-01 9.78267154e-02 8.04163462e-02 1.57148017e+01] [-9.75016643e-02 9.95203461e-01 -7.96842250e-03 -9.21355829e-01] [-8.08101507e-02 6.35424569e-05 9.96729510e-01 -1.81390247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.911193817 meters 0.06297268063190718 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.93, Z:-1.82 [[ 9.92227672e-01 9.43605672e-02 8.11192318e-02 1.57451199e+01] [-9.40160348e-02 9.95538016e-01 -8.06492495e-03 -9.32357895e-01] [-8.15182900e-02 3.75733190e-04 9.96671775e-01 -1.81584224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.941193817000002 meters 0.06256130353270084 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.94, Z:-1.81 [[ 9.92388284e-01 9.33742824e-02 8.02915746e-02 1.57774933e+01] [-9.30319604e-02 9.95630966e-01 -8.00207797e-03 -9.37082613e-01] [-8.06879663e-02 4.71485840e-04 9.96739299e-01 -1.81445609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.971193817000003 meters 0.0626823392393044 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.94, Z:-1.82 [[ 9.92487917e-01 9.17370067e-02 8.09447770e-02 1.58098992e+01] [-9.13816924e-02 9.95783069e-01 -8.09110327e-03 -9.42769702e-01] [-8.13456920e-02 6.33451511e-04 9.96685746e-01 -1.81773233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.001193817 meters 0.06302886928683452 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.95, Z:-1.82 [[ 9.92656656e-01 8.87257109e-02 8.22223356e-02 1.58411680e+01] [-8.83462269e-02 9.96055668e-01 -8.24930458e-03 -9.50473880e-01] [-8.26299488e-02 9.24693971e-04 9.96579870e-01 -1.82062801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.031193817000002 meters 0.06309161496642518 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.96, Z:-1.82 [[ 9.92728887e-01 8.76270450e-02 8.25279266e-02 1.58732338e+01] [-8.72387239e-02 9.96152802e-01 -8.30658450e-03 -9.56456447e-01] [-8.29383068e-02 1.04655537e-03 9.96554134e-01 -1.82338665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.061193817000003 meters 0.06356489435686476 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.96, Z:-1.83 [[ 9.92931382e-01 8.61324161e-02 8.16607522e-02 1.59032167e+01] [-8.57446941e-02 9.96282988e-01 -8.24953610e-03 -9.63372118e-01] [-8.20677707e-02 1.18924706e-03 9.96626042e-01 -1.82814866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.091193817 meters 0.06572996112502714 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.98, Z:-1.84 [[ 9.93755245e-01 8.13595535e-02 7.63618774e-02 1.59311371e+01] [-8.10044202e-02 9.96683676e-01 -7.74170930e-03 -9.77737698e-01] [-7.67384987e-02 1.50771462e-03 9.97050114e-01 -1.83795414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.121193817 meters 0.0670810186322497 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.99, Z:-1.84 [[ 9.94108971e-01 7.82377740e-02 7.50080322e-02 1.59623024e+01] [-7.78859187e-02 9.96933240e-01 -7.60914539e-03 -9.86030052e-01] [-7.53733232e-02 1.72225018e-03 9.97153898e-01 -1.84433625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.151193817000003 meters 0.06754694028245067 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.99, Z:-1.85 [[ 9.94469055e-01 7.54829639e-02 7.30316418e-02 1.59927028e+01] [-7.51415300e-02 9.97145307e-01 -7.41537213e-03 -9.90872075e-01] [-7.33828932e-02 1.88664881e-03 9.97302056e-01 -1.84846865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.181193817 meters 0.06791177142085006 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.99, Z:-1.85 [[ 9.94736513e-01 7.39193248e-02 7.09591638e-02 1.60237735e+01] [-7.35934393e-02 9.97262338e-01 -7.19959766e-03 -9.94988496e-01] [-7.12970910e-02 1.93957376e-03 9.97453238e-01 -1.85243588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.211193817 meters 0.06989492415955902 Centerline is valid? [True, True] Translation: X:16.05, Y:-1.00, Z:-1.86 [[ 9.95185607e-01 7.20921291e-02 6.63952681e-02 1.60520800e+01] [-7.18010541e-02 9.97396045e-01 -6.76296417e-03 -1.00078277e+00] [-6.67099344e-02 1.96315437e-03 9.97770480e-01 -1.86268732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.241193817000003 meters 0.06895243739193355 Centerline is valid? [True, True] Translation: X:16.08, Y:-1.00, Z:-1.86 [[ 9.95307496e-01 7.26357170e-02 6.39299635e-02 1.60841983e+01] [-7.23667771e-02 9.97356806e-01 -6.51542723e-03 -1.00270820e+00] [-6.42342369e-02 1.85844816e-03 9.97933118e-01 -1.86366978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.271193817 meters 0.06866457807645607 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.01, Z:-1.87 [[ 9.95241681e-01 7.40795001e-02 6.32947339e-02 1.61172766e+01] [-7.38192979e-02 9.97250821e-01 -6.44287566e-03 -1.00665087e+00] [-6.35980104e-02 1.73984559e-03 9.97974081e-01 -1.86624800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.301193817 meters 0.06699254242573251 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.01, Z:-1.87 [[ 9.94989943e-01 7.66686142e-02 6.41633684e-02 1.61497221e+01] [-7.64042569e-02 9.97055294e-01 -6.56730711e-03 -1.00669736e+00] [-6.44779325e-02 1.63205005e-03 9.97917799e-01 -1.86508831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.331193817000003 meters 0.06498768932794634 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.00, Z:-1.86 [[ 9.94273572e-01 8.28923534e-02 6.74456977e-02 1.61802086e+01] [-8.26137208e-02 9.96557655e-01 -6.91474759e-03 -1.00181555e+00] [-6.77867060e-02 1.30321075e-03 9.97698985e-01 -1.86406965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.361193817 meters 0.06501089143539668 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.00, Z:-1.87 [[ 9.93865086e-01 8.62788625e-02 6.91964541e-02 1.62103709e+01] [-8.59938897e-02 9.96270421e-01 -7.09218494e-03 -1.00084784e+00] [-6.95502861e-02 1.09820275e-03 9.97577842e-01 -1.87177350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.391193817 meters 0.06368677007555916 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.00, Z:-1.87 [[ 9.93485001e-01 8.90393361e-02 7.11305062e-02 1.62429862e+01] [-8.87450701e-02 9.96027673e-01 -7.29288731e-03 -9.96944779e-01] [-7.14973064e-02 9.32892408e-04 9.97440357e-01 -1.87133677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.421193817000002 meters 0.06307238140040734 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.00, Z:-1.87 [[ 9.93209037e-01 9.08657376e-02 7.26582912e-02 1.62749320e+01] [-9.05639179e-02 9.95862820e-01 -7.44454621e-03 -9.96390038e-01] [-7.30341449e-02 8.13771052e-04 9.97329109e-01 -1.87349695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.451193817 meters 0.06309402726997633 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.00, Z:-1.88 [[ 9.93153042e-01 9.04205463e-02 7.39672909e-02 1.63054633e+01] [-9.01046979e-02 9.95903278e-01 -7.60287008e-03 -1.00101791e+00] [-7.43517231e-02 8.86013152e-04 9.97231686e-01 -1.87561160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.481193817 meters 0.06324272800861284 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.01, Z:-1.88 [[ 9.93259951e-01 8.93644884e-02 7.38150219e-02 1.63366072e+01] [-8.90455383e-02 9.95998505e-01 -7.60725657e-03 -1.00786641e+00] [-7.41994700e-02 9.83084932e-04 9.97242935e-01 -1.87904114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.511193817000002 meters 0.06339746362628851 Centerline is valid? [True, True] Translation: X:16.37, Y:-1.01, Z:-1.88 [[ 9.93246802e-01 8.87156658e-02 7.47684466e-02 1.63679625e+01] [-8.83848306e-02 9.96056419e-01 -7.72863473e-03 -1.01392225e+00] [-7.51592421e-02 1.06804525e-03 9.97170972e-01 -1.88258419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.541193817000003 meters 0.06372687368334891 Centerline is valid? [True, True] Translation: X:16.40, Y:-1.02, Z:-1.89 [[ 9.93352692e-01 8.67330145e-02 7.56823203e-02 1.64006116e+01] [-8.63866451e-02 9.96230802e-01 -7.84455463e-03 -1.01985643e+00] [-7.60774405e-02 1.25446771e-03 9.97101123e-01 -1.88617156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.571193817 meters 0.06377465339126631 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.02, Z:-1.89 [[ 9.93397200e-01 8.40214530e-02 7.81178542e-02 1.64322975e+01] [-8.36417213e-02 9.96462758e-01 -8.12614684e-03 -1.02341678e+00] [-7.85243031e-02 1.53857973e-03 9.96911012e-01 -1.88731941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.601193817000002 meters 0.06399669789147151 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.03, Z:-1.89 [[ 9.93470148e-01 8.39246308e-02 7.72898477e-02 1.64642823e+01] [-8.35508150e-02 9.96470895e-01 -8.06330274e-03 -1.02667444e+00] [-7.76937934e-02 1.55302081e-03 9.96976059e-01 -1.89253225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.631193817000003 meters 0.06521098106024092 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.03, Z:-1.90 [[ 9.93628659e-01 8.36582172e-02 7.55207908e-02 1.64941705e+01] [-8.32984566e-02 9.96493277e-01 -7.90666146e-03 -1.03277174e+00] [-7.59174176e-02 1.56552011e-03 9.97112880e-01 -1.90106401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.661193817 meters 0.06548102129781322 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.04, Z:-1.91 [[ 9.93654095e-01 8.39225541e-02 7.48902169e-02 1.65259250e+01] [-8.35690487e-02 9.96471092e-01 -7.84710913e-03 -1.03767306e+00] [-7.52844857e-02 1.53880793e-03 9.97160909e-01 -1.90636167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.691193817000002 meters 0.06657761201501439 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.04, Z:-1.91 [[ 9.93923969e-01 8.26320824e-02 7.27123358e-02 1.65558345e+01] [-8.22939061e-02 9.96578822e-01 -7.63966130e-03 -1.04455951e+00] [-7.30948551e-02 1.60946035e-03 9.97323695e-01 -1.91329836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.721193817000003 meters 0.0663843015125756 Centerline is valid? [True, True] Translation: X:16.59, Y:-1.05, Z:-1.92 [[ 9.93969728e-01 8.15116866e-02 7.33486538e-02 1.65890142e+01] [-8.11632689e-02 9.96670896e-01 -7.72329732e-03 -1.04836283e+00] [-7.37340075e-02 1.72350722e-03 9.97276454e-01 -1.91502180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.751193817 meters 0.0673154388191795 Centerline is valid? [True, True] Translation: X:16.62, Y:-1.05, Z:-1.92 [[ 9.94233336e-01 7.94743039e-02 7.19993639e-02 1.66197843e+01] [-7.91313820e-02 9.96835168e-01 -7.60733319e-03 -1.05425060e+00] [-7.23760856e-02 1.86605509e-03 9.97375666e-01 -1.92009434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.781193817000002 meters 0.0695084985224252 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.06, Z:-1.93 [[ 9.94448283e-01 7.67800345e-02 7.19544232e-02 1.66497842e+01] [-7.64290819e-02 9.97045886e-01 -7.62216164e-03 -1.06298486e+00] [-7.23270914e-02 2.08043505e-03 9.97378796e-01 -1.92748674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.811193817000003 meters 0.06973600642532451 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.07, Z:-1.93 [[ 9.95244549e-01 7.01689974e-02 6.75618188e-02 1.66802994e+01] [-6.98425839e-02 9.97532155e-01 -7.18423997e-03 -1.06745365e+00] [-6.78991976e-02 2.43138368e-03 9.97689224e-01 -1.92785778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.841193817 meters 0.07511718760480547 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.08, Z:-1.94 [[ 9.95657071e-01 6.52050616e-02 6.64476969e-02 1.67080751e+01] [-6.48783742e-02 9.97868170e-01 -7.06485522e-03 -1.07935240e+00] [-6.67667060e-02 2.72315451e-03 9.97764898e-01 -1.94027624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.871193817 meters 0.07764863769239905 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.09, Z:-1.95 [[ 9.96062459e-01 6.10179394e-02 6.43147650e-02 1.67379020e+01] [-6.07026667e-02 9.98132411e-01 -6.84657038e-03 -1.08538960e+00] [-6.46124151e-02 2.91553399e-03 9.97906176e-01 -1.94613794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.901193817000003 meters 0.07774699783671736 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.09, Z:-1.94 [[ 9.96695539e-01 5.28450167e-02 6.16879712e-02 1.67693259e+01] [-5.25393724e-02 9.98597258e-01 -6.56741650e-03 -1.08544774e+00] [-6.19484941e-02 3.30466744e-03 9.98073877e-01 -1.94400483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.931193817 meters 0.07852363515368962 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.09, Z:-1.95 [[ 9.96781048e-01 5.00979493e-02 6.25918315e-02 1.68012616e+01] [-4.97780728e-02 9.98738095e-01 -6.66046721e-03 -1.08770950e+00] [-6.28465223e-02 3.52332674e-03 9.98016984e-01 -1.94714654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.961193817 meters 0.08041646676741902 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.09, Z:-1.95 [[ 9.96845029e-01 4.81691999e-02 6.30849858e-02 1.68319537e+01] [-4.78406677e-02 9.98832449e-01 -6.70885649e-03 -1.09139701e+00] [-6.33344911e-02 3.66966240e-03 9.97985609e-01 -1.95074492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.991193817000003 meters 0.08156702816836522 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.09, Z:-1.95 [[ 9.96837110e-01 4.68450788e-02 6.41974678e-02 1.68639395e+01] [-4.65009533e-02 9.98894793e-01 -6.84496521e-03 -1.09308225e+00] [-6.44471693e-02 3.83807189e-03 9.97913740e-01 -1.95391013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.021193817 meters 0.07951359452065433 Centerline is valid? [True, True] Translation: X:16.90, Y:-1.08, Z:-1.95 [[ 9.96554158e-01 4.66814796e-02 6.85612887e-02 1.68964287e+01] [-4.62860830e-02 9.98901219e-01 -7.34522928e-03 -1.08364330e+00] [-6.88288411e-02 4.14648528e-03 9.97619866e-01 -1.95194297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.051193817 meters 0.07856558729662162 Centerline is valid? [True, True] Translation: X:16.93, Y:-1.08, Z:-1.95 [[ 9.96303708e-01 4.78342861e-02 7.13498530e-02 1.69283888e+01] [-4.74088762e-02 9.98846312e-01 -7.64488048e-03 -1.07990163e+00] [-7.16332249e-02 4.23400642e-03 9.97422054e-01 -1.95396310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.081193817000003 meters 0.07748971659711688 Centerline is valid? [True, True] Translation: X:16.96, Y:-1.08, Z:-1.95 [[ 9.96095447e-01 4.83136039e-02 7.38894922e-02 1.69610295e+01] [-4.78584250e-02 9.98822733e-01 -7.91948509e-03 -1.07567575e+00] [-7.41851234e-02 4.35232832e-03 9.97234990e-01 -1.95487882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.111193817 meters 0.07653769151418245 Centerline is valid? [True, True] Translation: X:16.99, Y:-1.07, Z:-1.96 [[ 9.95838102e-01 4.91026098e-02 7.67815670e-02 1.69929323e+01] [-4.86128683e-02 9.98783742e-01 -8.23559467e-03 -1.07232866e+00] [-7.70925700e-02 4.46874676e-03 9.97013925e-01 -1.95562086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.141193817 meters 0.07621563158430339 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.06, Z:-1.96 [[ 9.95422033e-01 4.92922802e-02 8.18855747e-02 1.70260760e+01] [-4.87354386e-02 9.98773076e-01 -8.78632068e-03 -1.06431233e+00] [-8.22182051e-02 4.75536780e-03 9.96603007e-01 -1.95567765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.171193817000002 meters 0.07620977679196472 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.06, Z:-1.96 [[ 9.95347295e-01 4.99862764e-02 8.23719292e-02 1.70583717e+01] [-4.94253019e-02 9.98738731e-01 -8.83662398e-03 -1.06198842e+00] [-8.27097460e-02 4.72425231e-03 9.96562481e-01 -1.95961276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.201193817 meters 0.07620977679196472 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.07, Z:-1.96 [[ 9.95330494e-01 5.03237614e-02 8.23694504e-02 1.70905069e+01] [-4.97620367e-02 9.98721806e-01 -8.85965920e-03 -1.06569298e+00] [-8.27100176e-02 4.71941736e-03 9.96562482e-01 -1.96333393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.231193817 meters 0.07432592641970258 Centerline is valid? [True, True] Translation: X:17.12, Y:-1.06, Z:-1.97 [[ 9.95404641e-01 5.02857891e-02 8.14919627e-02 1.71230274e+01] [-4.97335406e-02 9.98723808e-01 -8.79372140e-03 -1.05955455e+00] [-8.18301625e-02 4.70042726e-03 9.96635204e-01 -1.96606593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.261193817000002 meters 0.07576372984743374 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.05, Z:-1.97 [[ 9.95725193e-01 4.94273761e-02 7.80274004e-02 1.71533178e+01] [-4.89159755e-02 9.98767127e-01 -8.45304708e-03 -1.05276716e+00] [-7.83490145e-02 4.60012552e-03 9.96915378e-01 -1.97448504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.291193817000003 meters 0.07576801326101362 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.05, Z:-1.98 [[ 9.95828180e-01 4.97150169e-02 7.65157009e-02 1.71851832e+01] [-4.92247570e-02 9.98753396e-01 -8.28119943e-03 -1.04937110e+00] [-7.68320161e-02 4.48018497e-03 9.97033986e-01 -1.97957559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.321193817 meters 0.07673360503396746 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.05, Z:-1.99 [[ 9.95850945e-01 5.09070238e-02 7.54279202e-02 1.72162350e+01] [-5.04324324e-02 9.98693938e-01 -8.18464349e-03 -1.04791292e+00] [-7.57460625e-02 4.34667146e-03 9.97117666e-01 -1.98569701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.351193817000002 meters 0.0746447885622756 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.04, Z:-1.99 [[ 9.95792199e-01 5.24703017e-02 7.51316419e-02 1.72498577e+01] [-5.20019384e-02 9.98613498e-01 -8.17800398e-03 -1.04139670e+00] [-7.54565741e-02 4.23660155e-03 9.97140089e-01 -1.98733534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.381193817000003 meters 0.07409770001262798 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.03, Z:-1.99 [[ 9.95363080e-01 5.68769229e-02 7.75716066e-02 1.72811555e+01] [-5.63893119e-02 9.98372982e-01 -8.46371465e-03 -1.03120447e+00] [-7.79267863e-02 4.05025956e-03 9.96950857e-01 -1.98968158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.411193817 meters 0.07163202695030307 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.02, Z:-1.99 [[ 9.95193790e-01 5.85701985e-02 7.84783592e-02 1.73144368e+01] [-5.80767195e-02 9.98275443e-01 -8.55777600e-03 -1.02185047e+00] [-7.88442494e-02 3.95887987e-03 9.96879086e-01 -1.99040850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.441193817000002 meters 0.07187239402447736 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.02, Z:-1.99 [[ 9.94945238e-01 6.09109256e-02 7.98362857e-02 1.73453071e+01] [-6.04069735e-02 9.98135789e-01 -8.71463531e-03 -1.01812576e+00] [-8.02182705e-02 3.84791651e-03 9.96769895e-01 -1.99479031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.471193817000003 meters 0.07070251395400602 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.01, Z:-2.00 [[ 9.94821079e-01 6.37284504e-02 7.91814703e-02 1.73778163e+01] [-6.32414241e-02 9.97960806e-01 -8.64588686e-03 -1.01129281e+00] [-7.95709929e-02 3.59356155e-03 9.96822724e-01 -1.99853661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.501193817 meters 0.06713584923071086 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.99, Z:-2.00 [[ 9.94441869e-01 7.07994219e-02 7.79282382e-02 1.74106484e+01] [-7.03488840e-02 9.97486104e-01 -8.51506242e-03 -9.93997927e-01] [-7.83351963e-02 2.98556999e-03 9.96922607e-01 -2.00157622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.531193817000002 meters 0.06647228059894472 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.99, Z:-2.01 [[ 9.94313711e-01 7.44984874e-02 7.60934883e-02 1.74424243e+01] [-7.40803757e-02 9.97217679e-01 -8.30656353e-03 -9.90375494e-01] [-7.65005982e-02 2.62229581e-03 9.97066087e-01 -2.00686330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.561193817000003 meters 0.06610502124508334 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.99, Z:-2.01 [[ 9.94212245e-01 7.77007815e-02 7.41930011e-02 1.74736474e+01] [-7.73105670e-02 9.96973982e-01 -8.12132047e-03 -9.86809000e-01] [-7.45995247e-02 2.33841327e-03 9.97210832e-01 -2.01258865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.591193817 meters 0.06456205146906961 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.98, Z:-2.02 [[ 9.94003073e-01 8.44319910e-02 6.94919432e-02 1.75066990e+01] [-8.41050352e-02 9.96427738e-01 -7.62267345e-03 -9.75807752e-01] [-6.98872973e-02 1.73233850e-03 9.97553389e-01 -2.01868104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.621193817 meters 0.06450840024805032 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.97, Z:-2.02 [[ 9.93660979e-01 8.78533553e-02 7.01401942e-02 1.75375840e+01] [-8.75271763e-02 9.96132247e-01 -7.71626739e-03 -9.74804948e-01] [-7.05468092e-02 1.52818066e-03 9.97507299e-01 -2.02487583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.651193817000003 meters 0.063228758639831 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.97, Z:-2.03 [[ 9.93339940e-01 9.09943108e-02 7.06809636e-02 1.75702127e+01] [-9.06696636e-02 9.95850519e-01 -7.79465008e-03 -9.72312127e-01] [-7.10969431e-02 1.33411804e-03 9.97468518e-01 -2.02552653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.681193817 meters 0.06270112280172307 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.97, Z:-2.03 [[ 9.92950358e-01 9.35738413e-02 7.27566010e-02 1.76011450e+01] [-9.32342161e-02 9.95611598e-01 -8.05773509e-03 -9.68676938e-01] [-7.31913090e-02 1.21752628e-03 9.97317176e-01 -2.02805547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.711193817 meters 0.06235204853101073 Centerline is valid? [True, True] Translation: X:17.63, Y:-0.97, Z:-2.03 [[ 9.92861079e-01 9.38947456e-02 7.35571580e-02 1.76336954e+01] [-9.35491812e-02 9.95581409e-01 -8.13683077e-03 -9.70511379e-01] [-7.39961447e-02 1.19753067e-03 9.97257808e-01 -2.03031517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.741193817000003 meters 0.06241843852110705 Centerline is valid? [True, True] Translation: X:17.66, Y:-0.98, Z:-2.03 [[ 9.92809975e-01 9.34807278e-02 7.47643430e-02 1.76644218e+01] [-9.31207210e-02 9.95620276e-01 -8.29442652e-03 -9.75136448e-01] [-7.52122648e-02 1.27267986e-03 9.97166734e-01 -2.03356430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.771193817 meters 0.06255101215866916 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.98, Z:-2.04 [[ 9.92782090e-01 9.22449748e-02 7.66458455e-02 1.76964954e+01] [-9.18612455e-02 9.95735327e-01 -8.52467338e-03 -9.80298277e-01] [-7.71053343e-02 1.42236023e-03 9.97021938e-01 -2.03580876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.801193817 meters 0.0630527806184612 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.99, Z:-2.04 [[ 9.92873762e-01 9.07670741e-02 7.72206597e-02 1.77277185e+01] [-9.03713490e-02 9.95870910e-01 -8.61100387e-03 -9.86173758e-01] [-7.76834043e-02 1.57110462e-03 9.96976840e-01 -2.04026999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.831193817000003 meters 0.06326568622146592 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.99, Z:-2.04 [[ 9.93123750e-01 8.82556224e-02 7.69165897e-02 1.77589997e+01] [-8.78535777e-02 9.96096259e-01 -8.60179534e-03 -9.93172302e-01] [-7.73754841e-02 1.78524966e-03 9.97000425e-01 -2.04222818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.861193817 meters 0.06291808140802316 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.00, Z:-2.04 [[ 9.93198225e-01 8.84666064e-02 7.57030141e-02 1.77905039e+01] [-8.80760813e-02 9.96077583e-01 -8.48837976e-03 -9.96970669e-01] [-7.61570134e-02 1.76301888e-03 9.97094279e-01 -2.04430083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.891193817 meters 0.06392252795040514 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.00, Z:-2.05 [[ 9.93297781e-01 8.81947169e-02 7.47074974e-02 1.78207432e+01] [-8.78117007e-02 9.96101652e-01 -8.40258044e-03 -1.00351308e+00] [-7.51573248e-02 1.78607210e-03 9.97170089e-01 -2.05227747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.921193817000002 meters 0.06363697812142827 Centerline is valid? [True, True] Translation: X:17.85, Y:-1.01, Z:-2.05 [[ 9.93443929e-01 8.75233688e-02 7.35446764e-02 1.78524617e+01] [-8.71499049e-02 9.96160814e-01 -8.27804830e-03 -1.00624198e+00] [-7.39868474e-02 1.81436528e-03 9.97257567e-01 -2.05415633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.951193817 meters 0.06421736735215389 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.01, Z:-2.06 [[ 9.93461855e-01 8.55169272e-02 7.56333178e-02 1.78833955e+01] [-8.51141907e-02 9.96334619e-01 -8.53821341e-03 -1.01125826e+00] [-7.60862547e-02 2.04492069e-03 9.97099143e-01 -2.05701602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.981193817 meters 0.06440482990253495 Centerline is valid? [True, True] Translation: X:17.92, Y:-1.02, Z:-2.06 [[ 9.93450543e-01 8.48522846e-02 7.65252108e-02 1.79156362e+01] [-8.44364918e-02 9.96391243e-01 -8.65851431e-03 -1.01645750e+00] [-7.69837446e-02 2.14028541e-03 9.97030051e-01 -2.05935354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.011193817000002 meters 0.06465773703137792 Centerline is valid? [True, True] Translation: X:17.95, Y:-1.02, Z:-2.06 [[ 9.93396556e-01 8.39971397e-02 7.81521811e-02 1.79469537e+01] [-8.35584913e-02 9.96463380e-01 -8.87187416e-03 -1.02151998e+00] [-7.86209986e-02 2.28301090e-03 9.96901964e-01 -2.06260706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.041193817000003 meters 0.06557340629379446 Centerline is valid? [True, True] Translation: X:17.98, Y:-1.03, Z:-2.07 [[ 9.93503626e-01 8.24960656e-02 7.83897006e-02 1.79769012e+01] [-8.20478036e-02 9.96588408e-01 -8.92760623e-03 -1.02845211e+00] [-7.88587594e-02 2.43790640e-03 9.96882818e-01 -2.06699270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.071193817 meters 0.06598682755439514 Centerline is valid? [True, True] Translation: X:18.01, Y:-1.03, Z:-2.07 [[ 9.93739397e-01 7.97819414e-02 7.82103058e-02 1.80085921e+01] [-7.93261401e-02 9.96808785e-01 -8.92247250e-03 -1.03442008e+00] [-7.86725720e-02 2.66249077e-03 9.96896954e-01 -2.06952762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.101193817000002 meters 0.0685088716933227 Centerline is valid? [True, True] Translation: X:18.04, Y:-1.05, Z:-2.07 [[ 9.94349178e-01 7.20643649e-02 7.79515179e-02 1.80375127e+01] [-7.15871809e-02 9.97394617e-01 -8.90239457e-03 -1.04618032e+00] [-7.83899698e-02 3.27175932e-03 9.96917403e-01 -2.07298551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.131193817000003 meters 0.07084864809308165 Centerline is valid? [True, True] Translation: X:18.07, Y:-1.05, Z:-2.08 [[ 9.94755346e-01 6.71596433e-02 7.71452178e-02 1.80670030e+01] [-6.66775922e-02 9.97735674e-01 -8.81040605e-03 -1.05370330e+00] [-7.75622396e-02 3.62034114e-03 9.96980939e-01 -2.07781774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.161193817 meters 0.07410242073762345 Centerline is valid? [True, True] Translation: X:18.10, Y:-1.06, Z:-2.08 [[ 9.95178216e-01 6.13663473e-02 7.65146441e-02 1.80952974e+01] [-6.08748777e-02 9.98107128e-01 -8.74128683e-03 -1.06206170e+00] [-7.69062325e-02 4.04131862e-03 9.97030140e-01 -2.08207876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.191193817000002 meters 0.07875304109996718 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.07, Z:-2.09 [[ 9.95877127e-01 5.24515231e-02 7.40107185e-02 1.81239710e+01] [-5.19673868e-02 9.98613004e-01 -8.45338608e-03 -1.07417744e+00] [-7.43514588e-02 4.57239020e-03 9.97221617e-01 -2.08728509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.221193817000003 meters 0.08029297058325559 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.08, Z:-2.09 [[ 9.96075305e-01 5.00981505e-02 7.29668559e-02 1.81541965e+01] [-4.96213265e-02 9.98733331e-01 -8.33412371e-03 -1.08098431e+00] [-7.32919552e-02 4.68070264e-03 9.97299544e-01 -2.09162545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.251193817 meters 0.07958699950651876 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.08, Z:-2.09 [[ 9.95958095e-01 5.00545606e-02 7.45789118e-02 1.81865710e+01] [-4.95569309e-02 9.98735051e-01 -8.50934386e-03 -1.08412398e+00] [-7.49105047e-02 4.77904792e-03 9.97178809e-01 -2.09311703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.281193817000002 meters 0.07526839879378626 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.08, Z:-2.09 [[ 9.95640073e-01 5.60206597e-02 7.45823774e-02 1.82182230e+01] [-5.55371548e-02 9.98420075e-01 -8.54269417e-03 -1.07614298e+00] [-7.49431102e-02 4.36335560e-03 9.97178265e-01 -2.09379159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.311193817000003 meters 0.07209964737581083 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.07, Z:-2.10 [[ 9.95245520e-01 6.26905707e-02 7.45402420e-02 1.82496253e+01] [-6.22262388e-02 9.98025552e-01 -8.53775060e-03 -1.06927820e+00] [-7.49283026e-02 3.85879914e-03 9.97181457e-01 -2.09646671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.341193817 meters 0.06932555464764685 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.06, Z:-2.10 [[ 9.94652104e-01 7.12416963e-02 7.47784297e-02 1.82797491e+01] [-7.07983261e-02 9.97453863e-01 -8.56665705e-03 -1.06171568e+00] [-7.51983367e-02 3.22665580e-03 9.97163376e-01 -2.10016609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.371193817 meters 0.06624308631476263 Centerline is valid? [True, True] Translation: X:18.31, Y:-1.05, Z:-2.10 [[ 9.93926785e-01 7.99973559e-02 7.55643408e-02 1.83112643e+01] [-7.95700029e-02 9.96791714e-01 -8.65413933e-03 -1.05401863e+00] [-7.60142170e-02 2.58892606e-03 9.97103373e-01 -2.10279821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.401193817000003 meters 0.06386261102996824 Centerline is valid? [True, True] Translation: X:18.34, Y:-1.05, Z:-2.10 [[ 9.93199977e-01 8.74057305e-02 7.69028228e-02 1.83426950e+01] [-8.69852687e-02 9.96170671e-01 -8.80667728e-03 -1.04770532e+00] [-7.73780907e-02 2.05737896e-03 9.96999698e-01 -2.10469818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.431193817 meters 0.06197522800012924 Centerline is valid? [True, True] Translation: X:18.37, Y:-1.04, Z:-2.11 [[ 9.91953853e-01 9.89161611e-02 7.90135889e-02 1.83735747e+01] [-9.85084128e-02 9.95095053e-01 -9.05139316e-03 -1.03790582e+00] [-7.95213606e-02 1.19506109e-03 9.96832446e-01 -2.11049429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.461193817 meters 0.061444035772170016 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.04, Z:-2.12 [[ 9.91436397e-01 1.03832288e-01 7.92005441e-02 1.84044062e+01] [-1.03439105e-01 9.94594505e-01 -9.06217468e-03 -1.03673119e+00] [-7.97133722e-02 7.92136408e-04 9.96817511e-01 -2.11537014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.491193817000003 meters 0.06053175552950943 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.04, Z:-2.12 [[ 9.90809831e-01 1.11083478e-01 7.71773292e-02 1.84370268e+01] [-1.10730776e-01 9.93811055e-01 -8.84776491e-03 -1.03549387e+00] [-7.76825234e-02 2.20546883e-04 9.96978123e-01 -2.11624570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.521193817 meters 0.06061244735733045 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.04, Z:-2.12 [[ 9.90414989e-01 1.14635089e-01 7.70515847e-02 1.84696729e+01] [-1.14292598e-01 9.93407668e-01 -8.85477191e-03 -1.03836893e+00] [-7.75587027e-02 -3.65269479e-05 9.96987786e-01 -2.12128457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.551193817 meters 0.06081451771553312 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.04, Z:-2.13 [[ 9.90127578e-01 1.16711574e-01 7.76259444e-02 1.85002861e+01] [-1.16368042e-01 9.93165837e-01 -8.94985026e-03 -1.04196920e+00] [-7.81399871e-02 -1.71685565e-04 9.96942382e-01 -2.12751036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.581193817000003 meters 0.060914338432089515 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.05, Z:-2.13 [[ 9.90050279e-01 1.17518380e-01 7.73942829e-02 1.85323364e+01] [-1.17177869e-01 9.93070684e-01 -8.94221694e-03 -1.04777608e+00] [-7.79088683e-02 -2.15652761e-04 9.96960461e-01 -2.13088818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.611193817 meters 0.0607821386795372 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.06, Z:-2.13 [[ 9.90068418e-01 1.16524600e-01 7.86545905e-02 1.85626207e+01] [-1.16167548e-01 9.93187799e-01 -9.11569102e-03 -1.06305145e+00] [-7.91809819e-02 -1.11953110e-04 9.96860251e-01 -2.13345011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.641193817 meters 0.06038535481492745 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.07, Z:-2.13 [[ 9.90208421e-01 1.15531724e-01 7.83562571e-02 1.85947778e+01] [-1.15172606e-01 9.93303791e-01 -9.10220383e-03 -1.07448703e+00] [-7.88831605e-02 -1.14154505e-05 9.96883868e-01 -2.13328915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.671193817000002 meters 0.060762283255149124 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.08, Z:-2.14 [[ 9.90411729e-01 1.14447159e-01 7.73721852e-02 1.86238090e+01] [-1.14090967e-01 9.93429331e-01 -9.02304515e-03 -1.08488195e+00] [-7.78964601e-02 1.09062290e-04 9.96961448e-01 -2.14031349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.701193817000004 meters 0.06150493980604118 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.09, Z:-2.15 [[ 9.90433465e-01 1.14356086e-01 7.72284771e-02 1.86536853e+01] [-1.14000465e-01 9.93439817e-01 -9.01240248e-03 -1.09399450e+00] [-7.77524673e-02 1.22102741e-04 9.96972687e-01 -2.15108447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.731193817 meters 0.06099371876750417 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.11, Z:-2.15 [[ 9.90502622e-01 1.13238883e-01 7.79840440e-02 1.86851019e+01] [-1.12870735e-01 9.93567762e-01 -9.12679840e-03 -1.10682668e+00] [-7.85159406e-02 2.38001337e-04 9.96912830e-01 -2.14768138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.761193817000002 meters 0.060934148225660276 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.12, Z:-2.15 [[ 9.90471202e-01 1.13033852e-01 7.86774877e-02 1.87161627e+01] [-1.12656516e-01 9.93591098e-01 -9.23255637e-03 -1.11797582e+00] [-7.92168427e-02 2.81049528e-04 9.96857368e-01 -2.15130295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.791193817000003 meters 0.0610007726211992 Centerline is valid? [True, True] Translation: X:18.75, Y:-1.13, Z:-2.16 [[ 9.90604615e-01 1.11477126e-01 7.92170834e-02 1.87482040e+01] [-1.11087768e-01 9.93766906e-01 -9.31898183e-03 -1.13045766e+00] [-7.97621692e-02 4.31377431e-04 9.96813829e-01 -2.15500995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.821193817 meters 0.06166770809445664 Centerline is valid? [True, True] Translation: X:18.78, Y:-1.15, Z:-2.16 [[ 9.91072188e-01 1.07893390e-01 7.83258246e-02 1.87771568e+01] [-1.07499233e-01 9.94162193e-01 -9.24380187e-03 -1.14904336e+00] [-7.88659187e-02 7.41308839e-04 9.96884957e-01 -2.16169929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.851193817000002 meters 0.06191744345185233 Centerline is valid? [True, True] Translation: X:18.81, Y:-1.16, Z:-2.17 [[ 9.91390336e-01 1.06341058e-01 7.63988249e-02 1.88077437e+01] [-1.05959874e-01 9.94329338e-01 -9.03729147e-03 -1.15865459e+00] [-7.69266281e-02 8.64273570e-04 9.97036382e-01 -2.16611901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.881193817000003 meters 0.06256673134614961 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.17, Z:-2.17 [[ 9.91661341e-01 1.04829058e-01 7.49576782e-02 1.88388780e+01] [-1.04456343e-01 9.94489770e-01 -8.88646828e-03 -1.16830801e+00] [-7.54762043e-02 9.82562125e-04 9.97147119e-01 -2.17254048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.911193817 meters 0.06328929092004397 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.18, Z:-2.18 [[ 9.91977283e-01 1.03683649e-01 7.23240685e-02 1.88695389e+01] [-1.03331530e-01 9.94609760e-01 -8.60348380e-03 -1.17768893e+00] [-7.28262650e-02 1.06110386e-03 9.97344078e-01 -2.17872686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.941193817000002 meters 0.06376231627358399 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.19, Z:-2.18 [[ 9.92220489e-01 1.00936622e-01 7.28717954e-02 1.89000925e+01] [-1.00571914e-01 9.94892047e-01 -8.66629910e-03 -1.19354099e+00] [-7.33743167e-02 1.27002356e-03 9.97303663e-01 -2.18273745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.971193817000003 meters 0.06355590997316757 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.20, Z:-2.18 [[ 9.92241566e-01 9.89933572e-02 7.52129700e-02 1.89311687e+01] [-9.85974582e-02 9.95086990e-01 -8.96794139e-03 -1.20360487e+00] [-7.57312145e-02 1.48255655e-03 9.97127166e-01 -2.18343074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.001193817 meters 0.06448316816065383 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.22, Z:-2.19 [[ 9.92307443e-01 9.72932740e-02 7.65503541e-02 1.89620047e+01] [-9.68762756e-02 9.95254363e-01 -9.15091976e-03 -1.21550071e+00] [-7.70773968e-02 1.66461259e-03 9.97023723e-01 -2.18816572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.031193817000002 meters 0.06451196034096163 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.22, Z:-2.19 [[ 9.92374974e-01 9.61914289e-02 7.70656854e-02 1.89942807e+01] [-9.57635365e-02 9.95361249e-01 -9.23736467e-03 -1.22486161e+00] [-7.75967521e-02 1.78684695e-03 9.96983225e-01 -2.18949787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.061193817000003 meters 0.06465761027714272 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.24, Z:-2.19 [[ 9.92254589e-01 9.44081035e-02 8.07337656e-02 1.90242100e+01] [-9.39299444e-02 9.95531470e-01 -9.70869559e-03 -1.23837221e+00] [-8.12895838e-02 2.05017963e-03 9.96688417e-01 -2.19013887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.091193817 meters 0.06465761027714272 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.24, Z:-2.19 [[ 9.92223391e-01 9.47374759e-02 8.07313646e-02 1.90562714e+01] [-9.42587851e-02 9.95500194e-01 -9.72861308e-03 -1.24249816e+00] [-8.12897533e-02 2.04331712e-03 9.96688417e-01 -2.19385548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.121193817 meters 0.06414054317700327 Centerline is valid? [True, True] Translation: X:19.09, Y:-1.25, Z:-2.19 [[ 9.92016007e-01 9.48763208e-02 8.30826462e-02 1.90879109e+01] [-9.43672211e-02 9.95486807e-01 -1.00421909e-02 -1.24821611e+00] [-8.36604442e-02 2.12173564e-03 9.96492061e-01 -2.19459932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.151193817000003 meters 0.06367788186234813 Centerline is valid? [True, True] Translation: X:19.12, Y:-1.25, Z:-2.20 [[ 9.91794011e-01 9.60169581e-02 8.44119874e-02 1.91196821e+01] [-9.54933277e-02 9.95377517e-01 -1.02285328e-02 -1.25319912e+00] [-8.50039070e-02 2.08381603e-03 9.96378439e-01 -2.19685319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.181193817 meters 0.06272492521133037 Centerline is valid? [True, True] Translation: X:19.15, Y:-1.26, Z:-2.20 [[ 9.91547363e-01 9.63191347e-02 8.69278521e-02 1.91521129e+01] [-9.57625545e-02 9.95348189e-01 -1.05601124e-02 -1.25544315e+00] [-8.75406210e-02 2.14641847e-03 9.96158638e-01 -2.19709918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.211193817 meters 0.062233699637485665 Centerline is valid? [True, True] Translation: X:19.18, Y:-1.26, Z:-2.20 [[ 9.91177784e-01 9.78668063e-02 8.93794656e-02 1.91841353e+01] [-9.72820115e-02 9.95197316e-01 -1.08863303e-02 -1.25630029e+00] [-9.00156147e-02 2.09527452e-03 9.95938150e-01 -2.19921372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.241193817000003 meters 0.06183117208499784 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.26, Z:-2.20 [[ 9.90922532e-01 9.93585087e-02 9.05561851e-02 1.92150365e+01] [-9.87617571e-02 9.95049661e-01 -1.10583285e-02 -1.25744967e+00] [-9.12066403e-02 2.01445888e-03 9.95829951e-01 -2.20177983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.271193817 meters 0.06132367103157744 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.26, Z:-2.20 [[ 9.90617882e-01 1.01757911e-01 9.12224685e-02 1.92468635e+01] [-1.01160116e-01 9.94807504e-01 -1.11651669e-02 -1.25862587e+00] [-9.18849403e-02 1.83233852e-03 9.95767945e-01 -2.20494140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.301193817 meters 0.0608580392881295 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.26, Z:-2.21 [[ 9.90432934e-01 1.03279906e-01 9.15197487e-02 1.92792205e+01] [-1.02682119e-01 9.94650837e-01 -1.12291885e-02 -1.26008802e+00] [-9.21899442e-02 1.72431641e-03 9.95739946e-01 -2.20865295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.331193817000003 meters 0.060394643151527816 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.26, Z:-2.21 [[ 9.90055994e-01 1.05106316e-01 9.34975479e-02 1.93106968e+01] [-1.04487678e-01 9.94459675e-01 -1.15012822e-02 -1.26098155e+00] [-9.41883985e-02 1.61757169e-03 9.95553077e-01 -2.21273287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.361193817 meters 0.06037190987031407 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.26, Z:-2.22 [[ 9.89917264e-01 1.05492859e-01 9.45254871e-02 1.93425511e+01] [-1.04859477e-01 9.94418729e-01 -1.16568330e-02 -1.26277586e+00] [-9.52276274e-02 1.62740702e-03 9.95454193e-01 -2.21689307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.391193817 meters 0.060248484370788856 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.26, Z:-2.22 [[ 9.89827250e-01 1.06600557e-01 9.42249226e-02 1.93750926e+01] [-1.05973615e-01 9.94300729e-01 -1.16470302e-02 -1.26345923e+00] [-9.49294891e-02 1.54319227e-03 9.95482803e-01 -2.22135746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.421193817000002 meters 0.05997366648231199 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.26, Z:-2.23 [[ 9.89689605e-01 1.08720653e-01 9.32432544e-02 1.94082604e+01] [-1.08113148e-01 9.94071415e-01 -1.15572375e-02 -1.26321934e+00] [-9.39469642e-02 1.35725601e-03 9.95576278e-01 -2.22665887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.451193817000004 meters 0.0594765175978662 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.26, Z:-2.23 [[ 9.89052873e-01 1.14461766e-01 9.31285080e-02 1.94400878e+01] [-1.13877802e-01 9.93427294e-01 -1.15783510e-02 -1.25797695e+00] [-9.38416802e-02 8.46331494e-04 9.95586773e-01 -2.23283309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.481193817 meters 0.059248827147974394 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.26, Z:-2.24 [[ 9.88790712e-01 1.16743694e-01 9.30797422e-02 1.94721290e+01] [-1.16169182e-01 9.93161868e-01 -1.15855092e-02 -1.25891646e+00] [-9.37957858e-02 6.42646373e-04 9.95591250e-01 -2.23617919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.511193817000002 meters 0.05932028998902812 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.26, Z:-2.24 [[ 9.88619390e-01 1.18561829e-01 9.26001893e-02 1.95033504e+01] [-1.17998648e-01 9.92946548e-01 -1.15529818e-02 -1.26214275e+00] [-9.33167810e-02 4.94804678e-04 9.95636346e-01 -2.24191288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.541193817000003 meters 0.059303101572975185 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.27, Z:-2.25 [[ 9.88502381e-01 1.19491840e-01 9.26538878e-02 1.95360482e+01] [-1.18929351e-01 9.92835087e-01 -1.15887662e-02 -1.26726923e+00] [-9.33747938e-02 4.36256200e-04 9.95630934e-01 -2.24629994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.571193817 meters 0.05959989576707333 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.28, Z:-2.25 [[ 9.88601227e-01 1.17675474e-01 9.39153686e-02 1.95656309e+01] [-1.17086145e-01 9.93051892e-01 -1.17802399e-02 -1.27549432e+00] [-9.46490798e-02 6.49771155e-04 9.95510487e-01 -2.25177587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.601193817000002 meters 0.05986820975719202 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.28, Z:-2.26 [[ 9.88692261e-01 1.15798413e-01 9.52803305e-02 1.95966644e+01] [-1.15180585e-01 9.93272357e-01 -1.19773871e-02 -1.28312963e+00] [-9.60262809e-02 8.67505628e-04 9.95378421e-01 -2.25574257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.631193817000003 meters 0.06042185450145977 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.29, Z:-2.26 [[ 9.89057641e-01 1.13436391e-01 9.43248048e-02 1.96271511e+01] [-1.12817488e-01 9.93544636e-01 -1.18857383e-02 -1.29224022e+00] [-9.50641791e-02 1.11419280e-03 9.95470522e-01 -2.26049775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.661193817 meters 0.060353789365056254 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.30, Z:-2.26 [[ 9.89194127e-01 1.11932078e-01 9.46899624e-02 1.96585060e+01] [-1.11299236e-01 9.93715026e-01 -1.19551920e-02 -1.29914538e+00] [-9.54330079e-02 1.28708517e-03 9.95435023e-01 -2.26223402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.691193817000002 meters 0.06087385495883446 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.31, Z:-2.27 [[ 9.89608271e-01 1.08387512e-01 9.44860695e-02 1.96888147e+01] [-1.07738580e-01 9.94107345e-01 -1.19576583e-02 -1.31135652e+00] [-9.52253565e-02 1.65360257e-03 9.95454367e-01 -2.26651296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.721193817000003 meters 0.061420223286324856 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.32, Z:-2.27 [[ 9.89793030e-01 1.07159588e-01 9.39498864e-02 1.97187456e+01] [-1.06509479e-01 9.94240216e-01 -1.19215895e-02 -1.31886959e+00] [-9.46862679e-02 1.79335281e-03 9.95505547e-01 -2.27181222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.751193817 meters 0.06177433541195309 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.32, Z:-2.28 [[ 9.89941623e-01 1.06575766e-01 9.30440193e-02 1.97499650e+01] [-1.05934412e-01 9.94302875e-01 -1.18192117e-02 -1.32426263e+00] [-9.37735774e-02 1.84376613e-03 9.95591842e-01 -2.27656395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.781193817000002 meters 0.0620235314600682 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.33, Z:-2.28 [[ 9.90122354e-01 1.06193123e-01 9.15464069e-02 1.97815517e+01] [-1.05568126e-01 9.94343752e-01 -1.16564595e-02 -1.32897927e+00] [-9.22664336e-02 1.87693852e-03 9.95732586e-01 -2.28095892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.811193817000003 meters 0.06199378403150661 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.33, Z:-2.28 [[ 9.90072833e-01 1.06276410e-01 9.19842886e-02 1.98135770e+01] [-1.05643210e-01 9.94334799e-01 -1.17396274e-02 -1.33337281e+00] [-9.27108246e-02 1.90557074e-03 9.95691253e-01 -2.28462881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.841193817 meters 0.0622435716560961 Centerline is valid? [True, True] Translation: X:19.84, Y:-1.34, Z:-2.29 [[ 9.90016328e-01 1.06287889e-01 9.25772952e-02 1.98437971e+01] [-1.05643077e-01 9.94333479e-01 -1.18520978e-02 -1.33882011e+00] [-9.33124385e-02 1.95362005e-03 9.95634959e-01 -2.28837883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.871193817 meters 0.062104209793982776 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.34, Z:-2.29 [[ 9.89849468e-01 1.06735386e-01 9.38380916e-02 1.98755013e+01] [-1.06073521e-01 9.94285547e-01 -1.20274473e-02 -1.34322397e+00] [-9.45856124e-02 1.95162553e-03 9.95514818e-01 -2.29142954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.901193817000003 meters 0.06247385594009516 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.35, Z:-2.29 [[ 9.89865988e-01 1.05981731e-01 9.45155990e-02 1.99070282e+01] [-1.05304069e-01 9.94365928e-01 -1.21430319e-02 -1.34821426e+00] [-9.52700309e-02 2.06709711e-03 9.95449320e-01 -2.29494265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.931193817 meters 0.06204764849545847 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.35, Z:-2.30 [[ 9.89807496e-01 1.05826415e-01 9.52989536e-02 1.99400304e+01] [-1.05133753e-01 9.94382337e-01 -1.22744380e-02 -1.35006756e+00] [-9.60625559e-02 2.13019419e-03 9.95373019e-01 -2.29646978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.961193817 meters 0.06211308857354313 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.35, Z:-2.30 [[ 9.89762013e-01 1.04553451e-01 9.71582864e-02 1.99724323e+01] [-1.03823779e-01 9.94516530e-01 -1.25496469e-02 -1.35353253e+00] [-9.79376307e-02 2.33382328e-03 9.95189818e-01 -2.29820527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.991193817000003 meters 0.06231635020537582 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.36, Z:-2.30 [[ 9.89685098e-01 1.04211155e-01 9.83028066e-02 2.00039108e+01] [-1.03458783e-01 9.94552219e-01 -1.27343209e-02 -1.35840363e+00] [-9.90943328e-02 2.43267890e-03 9.95075070e-01 -2.30140891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.021193817 meters 0.0629983727888343 Centerline is valid? [True, True] Translation: X:20.04, Y:-1.37, Z:-2.30 [[ 9.89489667e-01 1.02625182e-01 1.01873803e-01 2.00350449e+01] [-1.01804860e-01 9.94716371e-01 -1.32329519e-02 -1.36755223e+00] [-1.02693573e-01 2.72262089e-03 9.94709313e-01 -2.30254956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.051193817 meters 0.06361983122361826 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.37, Z:-2.31 [[ 9.89658525e-01 1.00899384e-01 1.01957430e-01 2.00656295e+01] [-1.00065016e-01 9.94892295e-01 -1.32783174e-02 -1.37321621e+00] [-1.02776436e-01 2.93862810e-03 9.94700140e-01 -2.30585623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.081193817000003 meters 0.06561672206712296 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.38, Z:-2.31 [[ 9.90216801e-01 9.56603558e-02 1.01586332e-01 2.00951176e+01] [-9.48013741e-02 9.95407876e-01 -1.32612154e-02 -1.37889056e+00] [-1.02388408e-01 3.50095441e-03 9.94738336e-01 -2.31093925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.111193817000004 meters 0.06639168543387897 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.38, Z:-2.32 [[ 9.90553972e-01 9.34463589e-02 1.00352410e-01 2.01261077e+01] [-9.25968222e-02 9.95617498e-01 -1.31006321e-02 -1.38348670e+00] [-1.01136822e-01 3.68456885e-03 9.94865703e-01 -2.31595648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.141193817 meters 0.06677283170730543 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.39, Z:-2.32 [[ 9.90899002e-01 9.16378574e-02 9.85985312e-02 2.01573861e+01] [-9.08074490e-02 9.95785088e-01 -1.28866154e-02 -1.38877124e+00] [-9.93638489e-02 3.81585326e-03 9.95043851e-01 -2.32127527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.171193817000002 meters 0.0683137374382086 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.40, Z:-2.33 [[ 9.91129685e-01 8.96175466e-02 9.81358405e-02 2.01871393e+01] [-8.87845173e-02 9.95968200e-01 -1.28317633e-02 -1.39643272e+00] [-9.88901276e-02 4.00499832e-03 9.95090299e-01 -2.32620068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.201193817000004 meters 0.07058987297243312 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.40, Z:-2.33 [[ 9.91619574e-01 8.45737264e-02 9.76622038e-02 2.02159565e+01] [-8.37213792e-02 9.96406988e-01 -1.28001782e-02 -1.40249119e+00] [-9.83938611e-02 4.51649282e-03 9.95137302e-01 -2.33014892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.231193817 meters 0.07154332188161802 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.41, Z:-2.33 [[ 9.91859428e-01 8.22880114e-02 9.71779715e-02 2.02480949e+01] [-8.14324457e-02 9.96597379e-01 -1.27444257e-02 -1.40528198e+00] [-9.78960252e-02 4.72723890e-03 9.95185421e-01 -2.33425332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.261193817000002 meters 0.07248702568145948 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.41, Z:-2.34 [[ 9.91961597e-01 8.00283231e-02 9.80186574e-02 2.02800984e+01] [-7.91460253e-02 9.96780040e-01 -1.28630348e-02 -1.40764204e+00] [-9.87324484e-02 5.00184939e-03 9.95101445e-01 -2.33775305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.291193817000003 meters 0.07331272089601754 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.41, Z:-2.34 [[ 9.91919781e-01 7.90669280e-02 9.92147595e-02 2.03117110e+01] [-7.81575042e-02 9.96855923e-01 -1.30258939e-02 -1.40932530e+00] [-9.99327380e-02 5.16626382e-03 9.94980783e-01 -2.34120133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.321193817 meters 0.07269812483161207 Centerline is valid? [True, True] Translation: X:20.35, Y:-1.40, Z:-2.35 [[ 9.92036751e-01 7.97442389e-02 9.74881548e-02 2.03454409e+01] [-7.88671142e-02 9.96802650e-01 -1.28240481e-02 -1.40338256e+00] [-9.81990950e-02 5.03331757e-03 9.95154060e-01 -2.34541605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.351193817000002 meters 0.07192785274795342 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.40, Z:-2.35 [[ 9.91929839e-01 8.19003226e-02 9.67860079e-02 2.03775764e+01] [-8.10427899e-02 9.96628879e-01 -1.27649154e-02 -1.40232701e+00] [-9.75051813e-02 4.81809240e-03 9.95223355e-01 -2.34983587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.381193817000003 meters 0.07072108705575125 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.40, Z:-2.35 [[ 9.91643005e-01 8.44868703e-02 9.74993300e-02 2.04093514e+01] [-8.36257844e-02 9.96413832e-01 -1.28920068e-02 -1.40069801e+00] [-9.82388863e-02 4.63081039e-03 9.95152087e-01 -2.35267955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.411193817 meters 0.06910771788026776 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.40, Z:-2.35 [[ 9.91329780e-01 8.75843238e-02 9.79502578e-02 2.04413533e+01] [-8.67298579e-02 9.96147619e-01 -1.29558072e-02 -1.39699432e+00] [-9.87076417e-02 4.34826558e-03 9.95106976e-01 -2.35474674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.441193817000002 meters 0.06762797903629648 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.39, Z:-2.36 [[ 9.90975519e-01 9.11505607e-02 9.82806963e-02 2.04731618e+01] [-9.03073367e-02 9.95829045e-01 -1.30037338e-02 -1.39270755e+00] [-9.90560696e-02 4.01091394e-03 9.95073770e-01 -2.35786599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.471193817000003 meters 0.06655951051224475 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.38, Z:-2.37 [[ 9.90220534e-01 1.00364851e-01 9.69029984e-02 2.05037732e+01] [-9.95886126e-02 9.94946024e-01 -1.28264437e-02 -1.38375494e+00] [-9.77005771e-02 3.05057272e-03 9.95211179e-01 -2.36542588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.501193817 meters 0.06304182593760646 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.37, Z:-2.37 [[ 9.89749135e-01 1.06361823e-01 9.53090314e-02 2.05374248e+01] [-1.05638989e-01 9.94324560e-01 -1.26123912e-02 -1.37277289e+00] [-9.61095877e-02 2.41475358e-03 9.95367830e-01 -2.36778587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.531193817000002 meters 0.06172122954556271 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.37, Z:-2.37 [[ 9.89187613e-01 1.12115033e-01 9.45414454e-02 2.05691953e+01] [-1.11429090e-01 9.93693512e-01 -1.25204876e-02 -1.36757336e+00] [-9.53489558e-02 1.85044402e-03 9.95442189e-01 -2.37203006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.561193817000003 meters 0.06119276975762062 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.37, Z:-2.38 [[ 9.88522256e-01 1.17630246e-01 9.47991230e-02 2.06005849e+01] [-1.16965845e-01 9.93056583e-01 -1.25544343e-02 -1.36543690e+00] [-9.56176744e-02 1.32207828e-03 9.95417255e-01 -2.37759440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.591193817 meters 0.060169161425390985 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.36, Z:-2.38 [[ 9.87678632e-01 1.24384942e-01 9.49700281e-02 2.06337595e+01] [-1.23746751e-01 9.92233794e-01 -1.26031513e-02 -1.36029746e+00] [-9.58001136e-02 6.95630839e-04 9.95400349e-01 -2.38120309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.621193817 meters 0.06028719252691801 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.37, Z:-2.39 [[ 9.87753260e-01 1.25259050e-01 9.30250942e-02 2.06654164e+01] [-1.24648154e-01 9.92123873e-01 -1.23716417e-02 -1.36531722e+00] [-9.38420769e-02 6.24723181e-04 9.95586899e-01 -2.38731712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.651193817000003 meters 0.060748672781324876 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.37, Z:-2.39 [[ 9.88140102e-01 1.23846083e-01 9.07815308e-02 2.06957358e+01] [-1.23255967e-01 9.92301144e-01 -1.20998804e-02 -1.37305316e+00] [-9.15811396e-02 7.67011683e-04 9.95797322e-01 -2.39421778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.681193817 meters 0.06136114689439191 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.38, Z:-2.40 [[ 9.88685654e-01 1.20458236e-01 8.93895442e-02 2.07253359e+01] [-1.19869858e-01 9.92717796e-01 -1.19412856e-02 -1.38272696e+00] [-9.01770175e-02 1.09106581e-03 9.95925155e-01 -2.39941781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.711193817 meters 0.0625461865302028 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.40, Z:-2.40 [[ 9.89346229e-01 1.12998054e-01 9.17904075e-02 2.07558460e+01] [-1.12344451e-01 9.93593523e-01 -1.22733534e-02 -1.39739661e+00] [-9.25892194e-02 1.83045294e-03 9.95702710e-01 -2.40099017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.741193817000003 meters 0.06268149209254636 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.40, Z:-2.40 [[ 9.89555005e-01 1.10781289e-01 9.22409733e-02 2.07876731e+01] [-1.10109116e-01 9.93842644e-01 -1.23604767e-02 -1.40452846e+00] [-9.30423223e-02 2.07479954e-03 9.95659993e-01 -2.40201013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.771193817 meters 0.06290020425082281 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.41, Z:-2.41 [[ 9.89565101e-01 1.09715298e-01 9.33994859e-02 2.08200883e+01] [-1.09018746e-01 9.93960553e-01 -1.25432322e-02 -1.41197694e+00] [-9.42115891e-02 2.23005000e-03 9.95549699e-01 -2.40504660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.801193817 meters 0.0643924155345339 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.42, Z:-2.41 [[ 9.90224401e-01 1.06434185e-01 9.01520938e-02 2.08485885e+01] [-1.05768359e-01 9.94316630e-01 -1.21447007e-02 -1.42357616e+00] [-9.09323374e-02 2.49074003e-03 9.95853958e-01 -2.41173025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.831193817000003 meters 0.0646137245801102 Centerline is valid? [True, True] Translation: X:20.88, Y:-1.43, Z:-2.42 [[ 9.90486565e-01 1.04654244e-01 8.93524121e-02 2.08804156e+01] [-1.03993414e-01 9.94505201e-01 -1.20322543e-02 -1.42928251e+00] [-9.01206651e-02 2.62572387e-03 9.95927393e-01 -2.41547193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.861193817000004 meters 0.06559280027280946 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.44, Z:-2.42 [[ 9.90697429e-01 1.02664306e-01 8.93232567e-02 2.09120891e+01] [-1.01993414e-01 9.94712027e-01 -1.20551725e-02 -1.43630507e+00] [-9.00885537e-02 2.83264456e-03 9.95929731e-01 -2.41952873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.891193817 meters 0.06746345398234183 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.44, Z:-2.43 [[ 9.90800724e-01 1.00704805e-01 9.04016974e-02 2.09422222e+01] [-1.00006895e-01 9.94911597e-01 -1.22284772e-02 -1.44497566e+00] [-9.11731635e-02 3.07519099e-03 9.95830306e-01 -2.42542107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.921193817000002 meters 0.06656511816690544 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.45, Z:-2.43 [[ 9.91201889e-01 9.86488847e-02 8.82451908e-02 2.09739146e+01] [-9.79734603e-02 9.95117117e-01 -1.19634280e-02 -1.44644280e+00] [-8.89944788e-02 3.21248572e-03 9.96026939e-01 -2.42701866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.951193817000004 meters 0.06672165991431198 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.45, Z:-2.43 [[ 9.91327080e-01 9.88045506e-02 8.66503429e-02 2.10051500e+01] [-9.81532985e-02 9.95101880e-01 -1.17549592e-02 -1.45136219e+00] [-8.73873625e-02 3.14799240e-03 9.96169433e-01 -2.43236461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.981193817 meters 0.06672165991431198 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.46, Z:-2.44 [[ 9.91293716e-01 9.91416375e-02 8.66470083e-02 2.10371704e+01] [-9.84895284e-02 9.95068368e-01 -1.17794805e-02 -1.45595293e+00] [-8.73875341e-02 3.14310205e-03 9.96169433e-01 -2.43608206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.011193817000002 meters 0.06741492255842897 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.46, Z:-2.44 [[ 9.91495487e-01 9.84826678e-02 8.50756314e-02 2.10681468e+01] [-9.78490066e-02 9.95133707e-01 -1.15964327e-02 -1.46126794e+00] [-8.58036761e-02 3.17324463e-03 9.96307011e-01 -2.44138188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.041193817000003 meters 0.06693822099236209 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.46, Z:-2.45 [[ 9.91453160e-01 1.00168976e-01 8.35871315e-02 2.11007057e+01] [-9.95609724e-02 9.94965912e-01 -1.14213209e-02 -1.46201405e+00] [-8.43104085e-02 3.00168856e-03 9.96435018e-01 -2.44586357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.071193817 meters 0.0659982559730665 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.46, Z:-2.45 [[ 9.91206162e-01 1.02944186e-01 8.31434863e-02 2.11333425e+01] [-1.02351621e-01 9.94683306e-01 -1.13695633e-02 -1.46276156e+00] [-8.38718682e-02 2.75971060e-03 9.96472726e-01 -2.44964421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.101193817000002 meters 0.06541052463241104 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.46, Z:-2.45 [[ 9.90836308e-01 1.06529560e-01 8.30353107e-02 2.11643657e+01] [-1.05950768e-01 9.94306500e-01 -1.13586192e-02 -1.46401484e+00] [-8.37725779e-02 2.45687736e-03 9.96481871e-01 -2.45357531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.131193817000003 meters 0.06427158140177999 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.46, Z:-2.46 [[ 9.90365073e-01 1.10013509e-01 8.41073732e-02 2.11963239e+01] [-1.09429623e-01 9.93927613e-01 -1.15351054e-02 -1.46398085e+00] [-8.48656581e-02 2.22012735e-03 9.96389929e-01 -2.45684746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.161193817 meters 0.061859000656923624 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.46, Z:-2.46 [[ 9.89413422e-01 1.17167340e-01 8.56323180e-02 2.12277346e+01] [-1.16588108e-01 9.93110826e-01 -1.17515784e-02 -1.46164796e+00] [-8.64192833e-02 1.64345949e-03 9.96257500e-01 -2.45632630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.191193817000002 meters 0.06112047052870273 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.46, Z:-2.46 [[ 9.88876911e-01 1.20857854e-01 8.66939105e-02 2.12595851e+01] [-1.20278980e-01 9.92668933e-01 -1.18893090e-02 -1.46403964e+00] [-8.74952680e-02 1.32960809e-03 9.96164048e-01 -2.45875986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.221193817000003 meters 0.06024394764445831 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.46, Z:-2.46 [[ 9.88237452e-01 1.25312608e-01 8.76555167e-02 2.12921762e+01] [-1.24735891e-01 9.92116830e-01 -1.20479392e-02 -1.46416429e+00] [-8.84742721e-02 9.72435834e-04 9.96077988e-01 -2.46089889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.251193817 meters 0.059584833379333825 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.46, Z:-2.46 [[ 9.87572413e-01 1.29581577e-01 8.89344979e-02 2.13247252e+01] [-1.29002677e-01 9.91568567e-01 -1.22509691e-02 -1.46361501e+00] [-8.97721525e-02 6.25930813e-04 9.95962132e-01 -2.46259681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.281193817000002 meters 0.059306305615026596 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.46, Z:-2.47 [[ 9.87030799e-01 1.33780431e-01 8.87299120e-02 2.13561703e+01] [-1.33218600e-01 9.91010960e-01 -1.22507894e-02 -1.46334551e+00] [-8.95712312e-02 2.71431803e-04 9.95980382e-01 -2.46668138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.311193817000003 meters 0.0592365994583808 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.47, Z:-2.47 [[ 9.86390877e-01 1.37751806e-01 8.97634587e-02 2.13883250e+01] [-1.37190862e-01 9.90466777e-01 -1.24190055e-02 -1.46590623e+00] [-9.06184640e-02 -6.47325594e-05 9.95885681e-01 -2.47013313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.341193817 meters 0.0591914224205296 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.47, Z:-2.47 [[ 9.86122228e-01 1.38816043e-01 9.10662286e-02 2.14195771e+01] [-1.38240572e-01 9.90318175e-01 -1.26276198e-02 -1.47329115e+00] [-9.19374575e-02 -1.36670931e-04 9.95764774e-01 -2.47364143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.371193817 meters 0.058945605840162146 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.48, Z:-2.48 [[ 9.85981480e-01 1.39068262e-01 9.21983736e-02 2.14504924e+01] [-1.38476798e-01 9.90282788e-01 -1.28131155e-02 -1.48209023e+00] [-9.30843602e-02 -1.33840916e-04 9.95658216e-01 -2.47569873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.401193817000003 meters 0.05881987809678171 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.49, Z:-2.48 [[ 9.85936212e-01 1.39433971e-01 9.21300932e-02 2.14811198e+01] [-1.38842405e-01 9.90231361e-01 -1.28311570e-02 -1.49073705e+00] [-9.30192068e-02 -1.40861425e-04 9.95664305e-01 -2.47969570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.431193817 meters 0.05900111184624013 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.50, Z:-2.49 [[ 9.85872538e-01 1.41578272e-01 8.95038091e-02 2.15119369e+01] [-1.41026254e-01 9.89927017e-01 -1.24938321e-02 -1.49911270e+00] [-9.03710940e-02 -3.05060948e-04 9.95908114e-01 -2.48623773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.461193817 meters 0.05904539366471392 Centerline is valid? [True, True] Translation: X:21.54, Y:-1.50, Z:-2.49 [[ 9.85784698e-01 1.42692414e-01 8.86983934e-02 2.15436087e+01] [-1.42152482e-01 9.89767009e-01 -1.24072502e-02 -1.50488044e+00] [-8.95611640e-02 -3.77819302e-04 9.95981252e-01 -2.48993572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.491193817000003 meters 0.05917408100594744 Centerline is valid? [True, True] Translation: X:21.57, Y:-1.51, Z:-2.49 [[ 9.85615843e-01 1.44195822e-01 8.81417867e-02 2.15744980e+01] [-1.43666331e-01 9.89549053e-01 -1.23554097e-02 -1.51077638e+00] [-8.90022200e-02 -4.85319547e-04 9.96031309e-01 -2.49464829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.521193817 meters 0.0594697957113499 Centerline is valid? [True, True] Translation: X:21.60, Y:-1.52, Z:-2.50 [[ 9.85576542e-01 1.45389076e-01 8.66077139e-02 2.16048613e+01] [-1.44879940e-01 9.89374403e-01 -1.21693516e-02 -1.51680721e+00] [-8.74567461e-02 -5.53892953e-04 9.96168164e-01 -2.49994294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.551193817 meters 0.05951181189365556 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.53, Z:-2.50 [[ 9.85435210e-01 1.46535128e-01 8.62838484e-02 2.16361216e+01] [-1.46033313e-01 9.89205258e-01 -1.21337920e-02 -1.52545479e+00] [-8.71304633e-02 -6.43250361e-04 9.96196702e-01 -2.50415970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.581193817000003 meters 0.059570351672888704 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.53, Z:-2.51 [[ 9.85350827e-01 1.46671440e-01 8.70128504e-02 2.16673039e+01] [-1.46159345e-01 9.89185061e-01 -1.22621563e-02 -1.53311373e+00] [-8.78703199e-02 -6.35215385e-04 9.96131720e-01 -2.50764805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.611193817000004 meters 0.05944731072277527 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.54, Z:-2.51 [[ 9.85208964e-01 1.47251703e-01 8.76369428e-02 2.16982995e+01] [-1.46732223e-01 9.89098828e-01 -1.23758907e-02 -1.54186445e+00] [-8.85039684e-02 -6.66325009e-04 9.96075601e-01 -2.51109763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.641193817 meters 0.05925257305738593 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.55, Z:-2.51 [[ 9.85133720e-01 1.47265954e-01 8.84550288e-02 2.17276976e+01] [-1.46734383e-01 9.89096719e-01 -1.25180352e-02 -1.55495987e+00] [-8.93340592e-02 -6.47455488e-04 9.96001509e-01 -2.51425298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.671193817000002 meters 0.05890471347369683 Centerline is valid? [True, True] Translation: X:21.76, Y:-1.56, Z:-2.52 [[ 9.85217502e-01 1.46575358e-01 8.86686951e-02 2.17585691e+01] [-1.46036355e-01 9.89199346e-01 -1.25712457e-02 -1.56415323e+00] [-8.95536501e-02 -5.63441708e-04 9.95981840e-01 -2.51564982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.701193817000004 meters 0.0590596209198077 Centerline is valid? [True, True] Translation: X:21.79, Y:-1.57, Z:-2.52 [[ 9.85610773e-01 1.44520582e-01 8.76653060e-02 2.17884541e+01] [-1.43983241e-01 9.89501734e-01 -1.24556975e-02 -1.57261506e+00] [-8.85450769e-02 -3.45865244e-04 9.96072111e-01 -2.52236719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.731193817 meters 0.05923718640767155 Centerline is valid? [True, True] Translation: X:21.82, Y:-1.58, Z:-2.53 [[ 9.86063316e-01 1.41751446e-01 8.70957144e-02 2.18191553e+01] [-1.41207989e-01 9.89902279e-01 -1.24008517e-02 -1.58320517e+00] [-8.79740849e-02 -7.05857839e-05 9.96122761e-01 -2.52833410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.761193817000002 meters 0.060417635275616624 Centerline is valid? [True, True] Translation: X:21.85, Y:-1.61, Z:-2.54 [[ 9.87590623e-01 1.33309871e-01 8.30255318e-02 2.18457911e+01] [-1.32784602e-01 9.91074180e-01 -1.18414469e-02 -1.60533624e+00] [-8.38630426e-02 6.69989739e-04 9.96477065e-01 -2.53581262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.791193817000003 meters 0.06104395098402259 Centerline is valid? [True, True] Translation: X:21.88, Y:-1.62, Z:-2.54 [[ 9.88478842e-01 1.27667797e-01 8.13050631e-02 2.18758696e+01] [-1.27145272e-01 9.91816351e-01 -1.15933463e-02 -1.61979265e+00] [-8.21197880e-02 1.12222320e-03 9.96621835e-01 -2.53711773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.821193817 meters 0.06374725516920522 Centerline is valid? [True, True] Translation: X:21.90, Y:-1.64, Z:-2.55 [[ 9.89312619e-01 1.21760718e-01 8.02176346e-02 2.19036701e+01] [-1.21230902e-01 9.92558172e-01 -1.14605049e-02 -1.63858675e+00] [-8.10161081e-02 1.61316599e-03 9.96711487e-01 -2.54607035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.851193817000002 meters 0.0658129459849024 Centerline is valid? [True, True] Translation: X:21.93, Y:-1.66, Z:-2.54 [[ 9.90617413e-01 1.09256599e-01 8.20983300e-02 2.19328640e+01] [-1.08656068e-01 9.94009830e-01 -1.17607806e-02 -1.65894365e+00] [-8.28914900e-02 2.72995233e-03 9.96554840e-01 -2.54047630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.881193817000003 meters 0.06722525598925716 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.67, Z:-2.54 [[ 9.90687639e-01 1.05333966e-01 8.62714137e-02 2.19629354e+01] [-1.04656321e-01 9.94431726e-01 -1.23530338e-02 -1.67000368e+00] [-8.70922248e-02 3.20914909e-03 9.96195084e-01 -2.53952975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.911193817 meters 0.06778062914034773 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.68, Z:-2.54 [[ 9.90863510e-01 1.02150152e-01 8.80616303e-02 2.19943946e+01] [-1.01429298e-01 9.94762527e-01 -1.26337974e-02 -1.67742159e+00] [-8.88909542e-02 3.58633948e-03 9.96034907e-01 -2.53875532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.941193817000002 meters 0.06970610970250664 Centerline is valid? [True, True] Translation: X:22.03, Y:-1.69, Z:-2.54 [[ 9.90768254e-01 1.00722230e-01 9.07375264e-02 2.20250449e+01] [-9.99483623e-02 9.94907118e-01 -1.30442125e-02 -1.68724082e+00] [-9.15892531e-02 3.85472444e-03 9.95789410e-01 -2.54093113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.971193817000003 meters 0.06875575792952307 Centerline is valid? [True, True] Translation: X:22.06, Y:-1.69, Z:-2.54 [[ 9.90558700e-01 1.00489760e-01 9.32484287e-02 2.20576312e+01] [-9.96683546e-02 9.94929989e-01 -1.34363685e-02 -1.69055466e+00] [-9.41258756e-02 4.01559430e-03 9.95552206e-01 -2.54115252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.001193817 meters 0.07107739758297327 Centerline is valid? [True, True] Translation: X:22.09, Y:-1.70, Z:-2.55 [[ 9.90492419e-01 1.00355597e-01 9.40931542e-02 2.20883235e+01] [-9.95159584e-02 9.94943216e-01 -1.35856642e-02 -1.69794498e+00] [-9.49807429e-02 4.09272703e-03 9.95470697e-01 -2.54616740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.031193817000002 meters 0.07149964294301524 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.70, Z:-2.55 [[ 9.90581436e-01 1.00357799e-01 9.31489732e-02 2.21198824e+01] [-9.95322232e-02 9.94943045e-01 -1.34786386e-02 -1.70118849e+00] [-9.40306095e-02 4.08036474e-03 9.95560945e-01 -2.55176542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.061193817000003 meters 0.07003235094019394 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.70, Z:-2.56 [[ 9.90703580e-01 9.97736512e-02 9.24750471e-02 2.21521952e+01] [-9.89551586e-02 9.95001587e-01 -1.34059017e-02 -1.70046351e+00] [-9.33503744e-02 4.13039189e-03 9.95624752e-01 -2.55552492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.091193817 meters 0.07096556973736029 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.70, Z:-2.56 [[ 9.90837882e-01 9.93513165e-02 9.14855578e-02 2.21824781e+01] [-9.85460583e-02 9.95043758e-01 -1.32888689e-02 -1.70353067e+00] [-9.23523999e-02 4.15157356e-03 9.95717730e-01 -2.56090421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.121193817 meters 0.07144398757152659 Centerline is valid? [True, True] Translation: X:22.22, Y:-1.70, Z:-2.57 [[ 9.90957007e-01 9.88932296e-02 9.06881454e-02 2.22150265e+01] [-9.80979539e-02 9.95089269e-01 -1.31961762e-02 -1.70208305e+00] [-9.15478127e-02 4.18052174e-03 9.95791907e-01 -2.56509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.151193817000003 meters 0.06918857059530147 Centerline is valid? [True, True] Translation: X:22.25, Y:-1.70, Z:-2.57 [[ 9.90969380e-01 9.87141146e-02 9.07480690e-02 2.22478814e+01] [-9.79147121e-02 9.95106865e-01 -1.32301607e-02 -1.69778844e+00] [-9.16100301e-02 4.22511305e-03 9.95785996e-01 -2.56667462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.181193817 meters 0.06881261091322861 Centerline is valid? [True, True] Translation: X:22.28, Y:-1.70, Z:-2.57 [[ 9.91025551e-01 9.88588968e-02 8.99737480e-02 2.22808075e+01] [-9.80712564e-02 9.95092588e-01 -1.31442171e-02 -1.69679328e+00] [-9.08316325e-02 4.20241647e-03 9.95857397e-01 -2.56939382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.211193817 meters 0.07228782480034131 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.70, Z:-2.58 [[ 9.91025312e-01 9.89431439e-02 8.98837371e-02 2.23114571e+01] [-9.81549742e-02 9.95084151e-01 -1.31580031e-02 -1.70234802e+00] [-9.07437765e-02 4.21737821e-03 9.95865343e-01 -2.57707262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.241193817000003 meters 0.0682770985970479 Centerline is valid? [True, True] Translation: X:22.35, Y:-1.69, Z:-2.58 [[ 9.91069144e-01 1.01687977e-01 8.62641671e-02 2.23453250e+01] [-1.00970170e-01 9.94808962e-01 -1.26552024e-02 -1.68994946e+00] [-8.71032484e-02 3.83207303e-03 9.96191919e-01 -2.57972010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.271193817000004 meters 0.06762661551983419 Centerline is valid? [True, True] Translation: X:22.38, Y:-1.69, Z:-2.58 [[ 9.90815251e-01 1.03674402e-01 8.68144989e-02 2.23780634e+01] [-1.02952341e-01 9.94604367e-01 -1.27658826e-02 -1.68953757e+00] [-8.76695750e-02 3.71087525e-03 9.96142698e-01 -2.58319606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.301193817 meters 0.06717820923640712 Centerline is valid? [True, True] Translation: X:22.41, Y:-1.69, Z:-2.59 [[ 9.90460889e-01 1.06229971e-01 8.77634344e-02 2.24088711e+01] [-1.05500365e-01 9.94335282e-01 -1.29236344e-02 -1.68857591e+00] [-8.86391565e-02 3.54128005e-03 9.96057508e-01 -2.58625781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.331193817000003 meters 0.06502140960144502 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.68, Z:-2.59 [[ 9.89892159e-01 1.10281341e-01 8.91714080e-02 2.24421206e+01] [-1.09544264e-01 9.93895156e-01 -1.31329337e-02 -1.67692172e+00] [-9.00753480e-02 3.23197181e-03 9.95929709e-01 -2.58726276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.361193817000004 meters 0.0642468212381537 Centerline is valid? [True, True] Translation: X:22.48, Y:-1.67, Z:-2.59 [[ 9.89676491e-01 1.13002497e-01 8.81525927e-02 2.24751339e+01] [-1.12292992e-01 9.93590326e-01 -1.29826376e-02 -1.67443757e+00] [-8.90546338e-02 2.94969278e-03 9.96022375e-01 -2.59239324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.391193817 meters 0.06335568500368619 Centerline is valid? [True, True] Translation: X:22.51, Y:-1.67, Z:-2.60 [[ 9.89338178e-01 1.16502103e-01 8.73912408e-02 2.25072180e+01] [-1.15818056e-01 9.93186999e-01 -1.28748623e-02 -1.67255190e+00] [-8.82957928e-02 2.61610917e-03 9.96090864e-01 -2.59785652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.421193817000002 meters 0.06281718850481705 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.67, Z:-2.60 [[ 9.89154720e-01 1.19531378e-01 8.53533183e-02 2.25390271e+01] [-1.18888088e-01 9.92827725e-01 -1.25988349e-02 -1.67152976e+00] [-8.62470969e-02 2.31470415e-03 9.96271088e-01 -2.60477824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.451193817000004 meters 0.06259918179161968 Centerline is valid? [True, True] Translation: X:22.57, Y:-1.67, Z:-2.61 [[ 9.88965701e-01 1.22631218e-01 8.31169435e-02 2.25694984e+01] [-1.22029910e-01 9.92450258e-01 -1.22957942e-02 -1.67191565e+00] [-8.39972802e-02 2.01736566e-03 9.96463942e-01 -2.61174999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.481193817 meters 0.06186866376376011 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.67, Z:-2.62 [[ 9.88643812e-01 1.26403404e-01 8.12747924e-02 2.26019275e+01] [-1.25840493e-01 9.91977519e-01 -1.20321521e-02 -1.67021454e+00] [-8.21436718e-02 1.66785282e-03 9.96619102e-01 -2.61880552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.511193817000002 meters 0.06140892521385513 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.67, Z:-2.62 [[ 9.88566331e-01 1.26976950e-01 8.13232041e-02 2.26344760e+01] [-1.26413504e-01 9.91904307e-01 -1.20611413e-02 -1.67256524e+00] [-8.21963234e-02 1.64288702e-03 9.96614803e-01 -2.62095724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.541193817000003 meters 0.0614903660789004 Centerline is valid? [True, True] Translation: X:22.67, Y:-1.67, Z:-2.63 [[ 9.88340981e-01 1.28557437e-01 8.15787342e-02 2.26651382e+01] [-1.27993106e-01 9.91700856e-01 -1.21316851e-02 -1.67414527e+00] [-8.24613188e-02 1.54872597e-03 9.96593063e-01 -2.62539037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.571193817 meters 0.06120826604684509 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.68, Z:-2.63 [[ 9.88151288e-01 1.30025753e-01 8.15495895e-02 2.26977053e+01] [-1.29465520e-01 9.91509569e-01 -1.21430216e-02 -1.67605824e+00] [-8.24361039e-02 1.44128250e-03 9.96595310e-01 -2.62876506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.601193817000002 meters 0.06083055802159719 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.68, Z:-2.63 [[ 9.87879259e-01 1.31823417e-01 8.19582568e-02 2.27297472e+01] [-1.31263493e-01 9.91272362e-01 -1.22065529e-02 -1.67868584e+00] [-8.28520643e-02 1.30047330e-03 9.96561009e-01 -2.63171153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.631193817000003 meters 0.05998131120189282 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.68, Z:-2.63 [[ 9.87729473e-01 1.32631266e-01 8.24586916e-02 2.27623653e+01] [-1.32065408e-01 9.91164645e-01 -1.23034387e-02 -1.68117690e+00] [-8.33619605e-02 1.26252824e-03 9.96518534e-01 -2.63118000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.661193817 meters 0.06051196401579227 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.69, Z:-2.64 [[ 9.87557923e-01 1.31930468e-01 8.55786158e-02 2.27926847e+01] [-1.31315945e-01 9.91257987e-01 -1.27955723e-02 -1.69084017e+00] [-8.65186122e-02 1.39853199e-03 9.96249253e-01 -2.63548264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.691193817000002 meters 0.060120823875115664 Centerline is valid? [True, True] Translation: X:22.82, Y:-1.70, Z:-2.64 [[ 9.87589515e-01 1.30506200e-01 8.73789492e-02 2.28243063e+01] [-1.29857596e-01 9.91446231e-01 -1.30910316e-02 -1.69714923e+00] [-8.83399907e-02 1.58174534e-03 9.96089125e-01 -2.63517547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.721193817000003 meters 0.06004180018325859 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.70, Z:-2.64 [[ 9.87734399e-01 1.28993421e-01 8.79855333e-02 2.28563609e+01] [-1.28327509e-01 9.91643898e-01 -1.32072148e-02 -1.70328942e+00] [-8.89539610e-02 1.75425605e-03 9.96034194e-01 -2.63750772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.751193817 meters 0.06027605615015443 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.71, Z:-2.64 [[ 9.87680035e-01 1.28326687e-01 8.95567408e-02 2.28869733e+01] [-1.27631445e-01 9.91730178e-01 -1.34709905e-02 -1.70959761e+00] [-9.05448101e-02 1.87477211e-03 9.95890618e-01 -2.64086936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.781193817000002 meters 0.06053979149303023 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.71, Z:-2.64 [[ 9.88004777e-01 1.26245215e-01 8.89309066e-02 2.29191579e+01] [-1.25549134e-01 9.91996896e-01 -1.34004774e-02 -1.71178011e+00] [-8.99109294e-02 2.07453739e-03 9.95947650e-01 -2.64395742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.811193817000003 meters 0.06215493463717282 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.72, Z:-2.65 [[ 9.88061999e-01 1.25750041e-01 8.89967023e-02 2.29488493e+01] [-1.25048419e-01 9.92059630e-01 -1.34381122e-02 -1.72063927e+00] [-8.99798787e-02 2.14879110e-03 9.95941265e-01 -2.65144173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.841193817 meters 0.061244202182746225 Centerline is valid? [True, True] Translation: X:22.98, Y:-1.72, Z:-2.65 [[ 9.88238524e-01 1.24694345e-01 8.85208426e-02 2.29809282e+01] [-1.23993855e-01 9.92192637e-01 -1.33901453e-02 -1.72346357e+00] [-8.94994036e-02 2.25661691e-03 9.95984319e-01 -2.65274137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.871193817 meters 0.06311829428168701 Centerline is valid? [True, True] Translation: X:23.01, Y:-1.73, Z:-2.66 [[ 9.88960744e-01 1.21426655e-01 8.49247530e-02 2.30084749e+01] [-1.20767210e-01 9.92597307e-01 -1.28789386e-02 -1.73383117e+00] [-8.58599276e-02 2.48063919e-03 9.96304130e-01 -2.66162028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.901193817000003 meters 0.06311829428168701 Centerline is valid? [True, True] Translation: X:23.04, Y:-1.74, Z:-2.67 [[ 9.88921030e-01 1.21748704e-01 8.49261472e-02 2.30404166e+01] [-1.21091231e-01 9.92557950e-01 -1.28697553e-02 -1.73893220e+00] [-8.58609985e-02 2.44335993e-03 9.96304130e-01 -2.66533837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.931193817 meters 0.06348137304577865 Centerline is valid? [True, True] Translation: X:23.07, Y:-1.74, Z:-2.67 [[ 9.89333334e-01 1.19756942e-01 8.29326739e-02 2.30713460e+01] [-1.19120645e-01 9.92799880e-01 -1.25964008e-02 -1.74492504e+00] [-8.38440552e-02 2.58304562e-03 9.96475540e-01 -2.67047375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.961193817 meters 0.06543713377152473 Centerline is valid? [True, True] Translation: X:23.10, Y:-1.75, Z:-2.68 [[ 9.89483619e-01 1.18986481e-01 8.22458872e-02 2.31006029e+01] [-1.18356153e-01 9.92892341e-01 -1.25148023e-02 -1.75373857e+00] [-8.31504038e-02 2.64888508e-03 9.96533489e-01 -2.67816234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.991193817000003 meters 0.0643580128705504 Centerline is valid? [True, True] Translation: X:23.13, Y:-1.76, Z:-2.68 [[ 9.89618055e-01 1.18625020e-01 8.11431497e-02 2.31328785e+01] [-1.18008559e-01 9.92935550e-01 -1.23682403e-02 -1.75554015e+00] [-8.20371007e-02 2.66424765e-03 9.96625715e-01 -2.67942983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.021193817000004 meters 0.06321422856756785 Centerline is valid? [True, True] Translation: X:23.16, Y:-1.76, Z:-2.68 [[ 9.89399066e-01 1.20839065e-01 8.05444520e-02 2.31649648e+01] [-1.20237086e-01 9.92668999e-01 -1.23004600e-02 -1.75797231e+00] [-8.14403566e-02 2.48563349e-03 9.96675118e-01 -2.68149711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.051193817 meters 0.06242126247911276 Centerline is valid? [True, True] Translation: X:23.20, Y:-1.76, Z:-2.68 [[ 9.89014463e-01 1.22821976e-01 8.22505620e-02 2.31959037e+01] [-1.22198143e-01 9.92425802e-01 -1.25952582e-02 -1.76216419e+00] [-8.31745545e-02 2.40602664e-03 9.96532089e-01 -2.68374471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.081193817000003 meters 0.0624803463935911 Centerline is valid? [True, True] Translation: X:23.23, Y:-1.77, Z:-2.69 [[ 9.88594047e-01 1.24562112e-01 8.46527591e-02 2.32255441e+01] [-1.23907189e-01 9.92209075e-01 -1.29676699e-02 -1.76797717e+00] [-8.56085161e-02 2.33067588e-03 9.96326126e-01 -2.68704865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.111193817000004 meters 0.061187474027536784 Centerline is valid? [True, True] Translation: X:23.26, Y:-1.77, Z:-2.69 [[ 9.88232276e-01 1.26394244e-01 8.61479231e-02 2.32578629e+01] [-1.25723364e-01 9.91977637e-01 -1.31909990e-02 -1.76918636e+00] [-8.71240796e-02 2.20496428e-03 9.96195028e-01 -2.68713691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.141193817 meters 0.060597364101644166 Centerline is valid? [True, True] Translation: X:23.29, Y:-1.77, Z:-2.69 [[ 9.87759254e-01 1.29281023e-01 8.72815761e-02 2.32891573e+01] [-1.28601080e-01 9.91605970e-01 -1.33925944e-02 -1.77104293e+00] [-8.82803402e-02 2.00415409e-03 9.96093653e-01 -2.69001367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.171193817000002 meters 0.05945946953122936 Centerline is valid? [True, True] Translation: X:23.32, Y:-1.77, Z:-2.70 [[ 9.86880472e-01 1.37374926e-01 8.48237269e-02 2.33205219e+01] [-1.36760628e-01 9.90518311e-01 -1.30386461e-02 -1.76896262e+00] [-8.58106377e-02 1.26703908e-03 9.96310659e-01 -2.69599341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.201193817000004 meters 0.05872914417296028 Centerline is valid? [True, True] Translation: X:23.35, Y:-1.77, Z:-2.70 [[ 9.86266131e-01 1.42352164e-01 8.37554799e-02 2.33524017e+01] [-1.41769292e-01 9.89815713e-01 -1.28965592e-02 -1.77054953e+00] [-8.47383432e-02 8.45484479e-04 9.96402880e-01 -2.69975321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.231193817 meters 0.05856766268427725 Centerline is valid? [True, True] Translation: X:23.38, Y:-1.77, Z:-2.71 [[ 9.85708980e-01 1.46369000e-01 8.33901790e-02 2.33836000e+01] [-1.45803337e-01 9.89229923e-01 -1.28664612e-02 -1.77282968e+00] [-8.43753114e-02 5.24020049e-04 9.96433908e-01 -2.70554437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.261193817000002 meters 0.05815939735486044 Centerline is valid? [True, True] Translation: X:23.42, Y:-1.78, Z:-2.71 [[ 9.85243208e-01 1.49028185e-01 8.41808824e-02 2.34159579e+01] [-1.48459388e-01 9.88832896e-01 -1.30120757e-02 -1.77590443e+00] [-8.51799917e-02 3.22616910e-04 9.96365528e-01 -2.70735583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.291193817000003 meters 0.05784483482368593 Centerline is valid? [True, True] Translation: X:23.45, Y:-1.78, Z:-2.71 [[ 9.84785030e-01 1.50316460e-01 8.71975097e-02 2.34486733e+01] [-1.49708227e-01 9.88637901e-01 -1.35110311e-02 -1.77989541e+00] [-8.82376933e-02 2.51276610e-04 9.96099416e-01 -2.70785011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.321193817 meters 0.05780053302299286 Centerline is valid? [True, True] Translation: X:23.48, Y:-1.79, Z:-2.71 [[ 9.84651496e-01 1.50336264e-01 8.86591145e-02 2.34803743e+01] [-1.49707047e-01 9.88634887e-01 -1.37426148e-02 -1.78592151e+00] [-8.97175070e-02 2.58792035e-04 9.95967219e-01 -2.70972528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.351193817000002 meters 0.05780798784993977 Centerline is valid? [True, True] Translation: X:23.51, Y:-1.79, Z:-2.71 [[ 9.84509198e-01 1.51001249e-01 8.91081482e-02 2.35112654e+01] [-1.50365907e-01 9.88533546e-01 -1.38391559e-02 -1.79257207e+00] [-9.01761235e-02 2.25948740e-04 9.95925808e-01 -2.71311696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.381193817000003 meters 0.057716566814509054 Centerline is valid? [True, True] Translation: X:23.54, Y:-1.80, Z:-2.72 [[ 9.84215093e-01 1.52679993e-01 8.94956469e-02 2.35414745e+01] [-1.52043516e-01 9.88275675e-01 -1.39269315e-02 -1.79931429e+00] [-9.05727346e-02 9.98632922e-05 9.95889838e-01 -2.71724289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.411193817 meters 0.05760422958855659 Centerline is valid? [True, True] Translation: X:23.57, Y:-1.81, Z:-2.72 [[ 9.83180104e-01 1.58229801e-01 9.12152057e-02 2.35727328e+01] [-1.57590025e-01 9.87402236e-01 -1.42200165e-02 -1.80636930e+00] [-9.23161284e-02 -3.93769284e-04 9.95729671e-01 -2.72033770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.441193817000002 meters 0.057631198851799105 Centerline is valid? [True, True] Translation: X:23.60, Y:-1.81, Z:-2.72 [[ 9.82517234e-01 1.62185336e-01 9.14100734e-02 2.36039107e+01] [-1.61557357e-01 9.86760036e-01 -1.42776474e-02 -1.81206425e+00] [-9.25154324e-02 -7.39935191e-04 9.95710976e-01 -2.72242503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.471193817000003 meters 0.05817924575399376 Centerline is valid? [True, True] Translation: X:23.63, Y:-1.82, Z:-2.73 [[ 9.81875867e-01 1.66348271e-01 9.08186915e-02 2.36348402e+01] [-1.65743739e-01 9.86066451e-01 -1.42115289e-02 -1.81597768e+00] [-9.19173281e-02 -1.09867226e-03 9.95766036e-01 -2.72821388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.501193817 meters 0.059644891553026276 Centerline is valid? [True, True] Translation: X:23.67, Y:-1.82, Z:-2.73 [[ 9.80501740e-01 1.74525466e-01 9.03172171e-02 2.36662052e+01] [-1.73959777e-01 9.84650963e-01 -1.41590272e-02 -1.81969522e+00] [-9.14020456e-02 -1.82861212e-03 9.95812393e-01 -2.73231617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.531193817000002 meters 0.0603543990026252 Centerline is valid? [True, True] Translation: X:23.70, Y:-1.83, Z:-2.74 [[ 9.80002921e-01 1.77299608e-01 9.03278720e-02 2.36970444e+01] [-1.76743160e-01 9.84154763e-01 -1.41865548e-02 -1.82594598e+00] [-9.14118760e-02 -2.06196832e-03 9.95811035e-01 -2.73634657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.561193817000003 meters 0.060785845913621586 Centerline is valid? [True, True] Translation: X:23.73, Y:-1.84, Z:-2.74 [[ 9.79789147e-01 1.78707203e-01 8.98719296e-02 2.37279692e+01] [-1.78159983e-01 9.83899935e-01 -1.41399809e-02 -1.83550784e+00] [-9.09519021e-02 -2.15738165e-03 9.95852950e-01 -2.74170191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.591193817 meters 0.061026901852160566 Centerline is valid? [True, True] Translation: X:23.76, Y:-1.85, Z:-2.75 [[ 9.80086278e-01 1.78380792e-01 8.72420826e-02 2.37575562e+01] [-1.77861540e-01 9.83959419e-01 -1.37526012e-02 -1.84823181e+00] [-8.82958688e-02 -2.03827546e-03 9.96092207e-01 -2.74839178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.621193817 meters 0.06121133090251799 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.87, Z:-2.76 [[ 9.81427850e-01 1.74350071e-01 8.00089297e-02 2.37841471e+01] [-1.73898428e-01 9.84682566e-01 -1.26325286e-02 -1.87264263e+00] [-8.09858805e-02 -1.51551171e-03 9.96714097e-01 -2.76046102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.651193817000003 meters 0.060978261991015185 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.89, Z:-2.77 [[ 9.81968506e-01 1.72389993e-01 7.75857167e-02 2.38137406e+01] [-1.71957676e-01 9.85027928e-01 -1.22694577e-02 -1.88797310e+00] [-7.85392295e-02 -1.29323847e-03 9.96910185e-01 -2.76524940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.681193817000004 meters 0.060911105194441546 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.90, Z:-2.77 [[ 9.82419920e-01 1.70394070e-01 7.62690097e-02 2.38433500e+01] [-1.69968603e-01 9.85375394e-01 -1.20833151e-02 -1.90257619e+00] [-7.72125308e-02 -1.09244758e-03 9.97014058e-01 -2.77080090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.711193817 meters 0.060846388322975 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.92, Z:-2.77 [[ 9.82652575e-01 1.69401154e-01 7.54795749e-02 2.38744881e+01] [-1.68979723e-01 9.85546695e-01 -1.19818820e-02 -1.91736926e+00] [-7.64183902e-02 -9.80490492e-04 9.97075357e-01 -2.77450893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.741193817000003 meters 0.060733051495190246 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.94, Z:-2.78 [[ 9.83260717e-01 1.66549907e-01 7.38883655e-02 2.39022031e+01] [-1.66135952e-01 9.86032767e-01 -1.17570678e-02 -1.93935408e+00] [-7.48144880e-02 -7.15251042e-04 9.97197213e-01 -2.77911034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.771193817000004 meters 0.06064657940640503 Centerline is valid? [True, True] Translation: X:23.93, Y:-1.95, Z:-2.78 [[ 9.83563296e-01 1.64799276e-01 7.37864637e-02 2.39310102e+01] [-1.64379958e-01 9.86326966e-01 -1.17620023e-02 -1.95279014e+00] [-7.47159484e-02 -5.60341996e-04 9.97204700e-01 -2.78297565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.801193817 meters 0.06020068666637664 Centerline is valid? [True, True] Translation: X:23.96, Y:-1.97, Z:-2.78 [[ 9.83953905e-01 1.62075304e-01 7.46076924e-02 2.39611252e+01] [-1.61637257e-01 9.86778335e-01 -1.19128218e-02 -1.96859693e+00] [-7.55520286e-02 -3.37715239e-04 9.97141804e-01 -2.78280623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.831193817000003 meters 0.0597410020196124 Centerline is valid? [True, True] Translation: X:23.99, Y:-2.00, Z:-2.78 [[ 9.84676125e-01 1.55180342e-01 7.95738070e-02 2.39884353e+01] [-1.54656567e-01 9.87886129e-01 -1.27413651e-02 -1.99649781e+00] [-8.05870696e-02 2.39506186e-04 9.96747544e-01 -2.78123745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.861193817000004 meters 0.05980950622432697 Centerline is valid? [True, True] Translation: X:24.02, Y:-2.01, Z:-2.78 [[ 9.85037480e-01 1.51471322e-01 8.22046291e-02 2.40169054e+01] [-1.50899668e-01 9.88461495e-01 -1.31591212e-02 -2.01374123e+00] [-8.32493401e-02 5.57576345e-04 9.96528593e-01 -2.78245251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.891193817 meters 0.059759416589032756 Centerline is valid? [True, True] Translation: X:24.05, Y:-2.03, Z:-2.78 [[ 9.85521607e-01 1.47659007e-01 8.33305397e-02 2.40484602e+01] [-1.47056128e-01 9.89037908e-01 -1.33608148e-02 -2.02905861e+00] [-8.43899073e-02 9.13105215e-04 9.96432391e-01 -2.78099434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.921193817000002 meters 0.06075861653249981 Centerline is valid? [True, True] Translation: X:24.08, Y:-2.04, Z:-2.79 [[ 9.86197657e-01 1.43415658e-01 8.27413410e-02 2.40773182e+01] [-1.42803674e-01 9.89661690e-01 -1.32984713e-02 -2.04443877e+00] [-8.37931444e-02 1.29915370e-03 9.96482324e-01 -2.78553314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.951193817000004 meters 0.06295588173363469 Centerline is valid? [True, True] Translation: X:24.10, Y:-2.06, Z:-2.79 [[ 9.87452553e-01 1.36674530e-01 7.91045432e-02 2.41038437e+01] [-1.36091116e-01 9.90614335e-01 -1.27455219e-02 -2.06498882e+00] [-8.01040827e-02 1.82017256e-03 9.96784843e-01 -2.79250591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.981193817 meters 0.06379694560695232 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.08, Z:-2.80 [[ 9.87772324e-01 1.35461348e-01 7.71755072e-02 2.41335606e+01] [-1.34903190e-01 9.90780883e-01 -1.24246216e-02 -2.07620739e+00] [-7.81470732e-02 1.86147526e-03 9.96940103e-01 -2.79792815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.011193817000002 meters 0.06443726354587863 Centerline is valid? [True, True] Translation: X:24.16, Y:-2.09, Z:-2.80 [[ 9.87927147e-01 1.34412264e-01 7.70278902e-02 2.41645834e+01] [-1.33851409e-01 9.90923557e-01 -1.24219619e-02 -2.08622944e+00] [-7.79984149e-02 1.96170168e-03 9.96951553e-01 -2.80253680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.041193817000003 meters 0.06463130095200569 Centerline is valid? [True, True] Translation: X:24.20, Y:-2.10, Z:-2.81 [[ 9.87945156e-01 1.34017553e-01 7.74833146e-02 2.41959686e+01] [-1.33447068e-01 9.90976885e-01 -1.25176994e-02 -2.09538252e+00] [-7.84617652e-02 2.02687930e-03 9.96915063e-01 -2.80546432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.071193817 meters 0.06467712276458658 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.11, Z:-2.81 [[ 9.87842454e-01 1.33768260e-01 7.92044121e-02 2.42262855e+01] [-1.33168894e-01 9.91010368e-01 -1.28256171e-02 -2.10849671e+00] [-8.02080540e-02 2.12212514e-03 9.96775885e-01 -2.80590550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.101193817000002 meters 0.06587000602625545 Centerline is valid? [True, True] Translation: X:24.26, Y:-2.12, Z:-2.81 [[ 9.87762964e-01 1.34038745e-01 7.97367064e-02 2.42555494e+01] [-1.33430103e-01 9.90973782e-01 -1.29371758e-02 -2.12058047e+00] [-8.07510683e-02 2.13958617e-03 9.96732004e-01 -2.81063505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.131193817000003 meters 0.0642376102319554 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.13, Z:-2.81 [[ 9.87398642e-01 1.35538127e-01 8.16905045e-02 2.42870817e+01] [-1.34901819e-01 9.90769912e-01 -1.32845953e-02 -2.12659196e+00] [-8.27370631e-02 2.09699367e-03 9.96569205e-01 -2.80975413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.161193817 meters 0.06427632428839296 Centerline is valid? [True, True] Translation: X:24.32, Y:-2.13, Z:-2.82 [[ 9.87062928e-01 1.37513483e-01 8.24428148e-02 2.43175554e+01] [-1.36872329e-01 9.90497979e-01 -1.34059611e-02 -2.13073739e+00] [-8.35029418e-02 1.94838715e-03 9.96505626e-01 -2.81527413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.191193817000002 meters 0.06300743770938953 Centerline is valid? [True, True] Translation: X:24.35, Y:-2.13, Z:-2.82 [[ 9.86657912e-01 1.40947043e-01 8.14867861e-02 2.43497246e+01] [-1.40330615e-01 9.90015746e-01 -1.32718509e-02 -2.13099429e+00] [-8.25438294e-02 1.65968587e-03 9.96586053e-01 -2.81891033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.221193817000003 meters 0.06166776428085859 Centerline is valid? [True, True] Translation: X:24.38, Y:-2.13, Z:-2.82 [[ 9.85985145e-01 1.45656293e-01 8.13482521e-02 2.43822908e+01] [-1.45056019e-01 9.89334417e-01 -1.32726211e-02 -2.13176991e+00] [-8.24138664e-02 1.28655369e-03 9.96597361e-01 -2.82162686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.251193817 meters 0.06072201549149171 Centerline is valid? [True, True] Translation: X:24.41, Y:-2.13, Z:-2.83 [[ 9.84489084e-01 1.55756251e-01 8.07541567e-02 2.44134856e+01] [-1.55196564e-01 9.87795412e-01 -1.32004006e-02 -2.13169977e+00] [-8.18246304e-02 4.62882656e-04 9.96646635e-01 -2.82850170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.281193817000002 meters 0.06059781285856216 Centerline is valid? [True, True] Translation: X:24.45, Y:-2.13, Z:-2.83 [[ 9.84025846e-01 1.59351855e-01 7.93733007e-02 2.44455303e+01] [-1.58821148e-01 9.87221836e-01 -1.29957621e-02 -2.13450976e+00] [-8.04299545e-02 1.82007039e-04 9.96760247e-01 -2.83305223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.311193817000003 meters 0.06052925712398634 Centerline is valid? [True, True] Translation: X:24.48, Y:-2.14, Z:-2.84 [[ 9.83713441e-01 1.62020194e-01 7.78288101e-02 2.44766750e+01] [-1.61516543e-01 9.86787442e-01 -1.27651748e-02 -2.13848886e+00] [-7.88687086e-02 -1.33663073e-05 9.96885012e-01 -2.83742923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.341193817 meters 0.06035018421278595 Centerline is valid? [True, True] Translation: X:24.51, Y:-2.14, Z:-2.84 [[ 9.83507397e-01 1.63339623e-01 7.76747500e-02 2.45090057e+01] [-1.62840645e-01 9.86569895e-01 -1.27580185e-02 -2.14482040e+00] [-7.87154598e-02 -1.01000837e-04 9.96897119e-01 -2.83993327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.371193817 meters 0.060092836655154115 Centerline is valid? [True, True] Translation: X:24.54, Y:-2.16, Z:-2.84 [[ 9.83245615e-01 1.63762379e-01 8.00621246e-02 2.45391033e+01] [-1.63231123e-01 9.86499808e-01 -1.31806250e-02 -2.15509595e+00] [-8.11397611e-02 -1.08838753e-04 9.96702728e-01 -2.84180441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.401193817000003 meters 0.06026481577528997 Centerline is valid? [True, True] Translation: X:24.57, Y:-2.16, Z:-2.85 [[ 9.83266274e-01 1.64037573e-01 7.92408252e-02 2.45702711e+01] [-1.63516387e-01 9.86454085e-01 -1.30663123e-02 -2.16318995e+00] [-8.03108019e-02 -1.09509220e-04 9.96769865e-01 -2.84636216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.431193817000004 meters 0.060345317718840344 Centerline is valid? [True, True] Translation: X:24.60, Y:-2.17, Z:-2.85 [[ 9.83271754e-01 1.64565131e-01 7.80703253e-02 2.46013404e+01] [-1.64059163e-01 9.86366210e-01 -1.28953476e-02 -2.17105924e+00] [-7.91280555e-02 -1.28521209e-04 9.96864451e-01 -2.85035558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.461193817 meters 0.06078804699984343 Centerline is valid? [True, True] Translation: X:24.63, Y:-2.18, Z:-2.86 [[ 9.83163367e-01 1.66507021e-01 7.52675578e-02 2.46312896e+01] [-1.66040804e-01 9.86040236e-01 -1.24540492e-02 -2.18123589e+00] [-7.62905271e-02 -2.53120912e-04 9.97085599e-01 -2.85620275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.491193817000003 meters 0.06069037068295914 Centerline is valid? [True, True] Translation: X:24.66, Y:-2.19, Z:-2.86 [[ 9.82978341e-01 1.67702549e-01 7.50295738e-02 2.46633640e+01] [-1.67241391e-01 9.85837587e-01 -1.24325883e-02 -2.18949914e+00] [-7.60519507e-02 -3.27085231e-04 9.97103803e-01 -2.85882529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.521193817000004 meters 0.061009036141554715 Centerline is valid? [True, True] Translation: X:24.69, Y:-2.20, Z:-2.87 [[ 9.82768734e-01 1.68653209e-01 7.56419885e-02 2.46931006e+01] [-1.68185062e-01 9.85675380e-01 -1.25630627e-02 -2.19732179e+00] [-7.66772466e-02 -3.75267285e-04 9.97055896e-01 -2.86501252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.551193817 meters 0.06027055032409913 Centerline is valid? [True, True] Translation: X:24.72, Y:-2.21, Z:-2.86 [[ 9.82540987e-01 1.68756811e-01 7.83220725e-02 2.47243371e+01] [-1.68253416e-01 9.85657648e-01 -1.30303426e-02 -2.20761231e+00] [-7.93977088e-02 -3.75110623e-04 9.96842948e-01 -2.86261201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.581193817000003 meters 0.05971236301772661 Centerline is valid? [True, True] Translation: X:24.76, Y:-2.22, Z:-2.86 [[ 9.82385495e-01 1.69158554e-01 7.93985047e-02 2.47560478e+01] [-1.68640251e-01 9.85588776e-01 -1.32374743e-02 -2.21773686e+00] [-8.04935071e-02 -3.85481019e-04 9.96755059e-01 -2.86172512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.611193817000004 meters 0.0604243658833001 Centerline is valid? [True, True] Translation: X:24.79, Y:-2.23, Z:-2.87 [[ 9.82236877e-01 1.69659235e-01 8.01652178e-02 2.47852258e+01] [-1.69131435e-01 9.85502699e-01 -1.33786399e-02 -2.22503782e+00] [-8.12728484e-02 -4.17464839e-04 9.96691803e-01 -2.87202623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.641193817 meters 0.06069058273971518 Centerline is valid? [True, True] Translation: X:24.82, Y:-2.23, Z:-2.88 [[ 9.82030694e-01 1.71153660e-01 7.95118970e-02 2.48150749e+01] [-1.70638421e-01 9.85244208e-01 -1.32808461e-02 -2.23431808e+00] [-8.06117014e-02 -5.25586012e-04 9.96745443e-01 -2.87738379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.671193817000002 meters 0.05994183262051631 Centerline is valid? [True, True] Translation: X:24.85, Y:-2.24, Z:-2.88 [[ 9.82077569e-01 1.70954241e-01 7.93618040e-02 2.48477614e+01] [-1.70438952e-01 9.85278847e-01 -1.32724589e-02 -2.24416206e+00] [-8.04624898e-02 -4.91758521e-04 9.96757516e-01 -2.87549762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.701193817000004 meters 0.06028565679202753 Centerline is valid? [True, True] Translation: X:24.88, Y:-2.25, Z:-2.88 [[ 9.82224248e-01 1.69897599e-01 7.98143655e-02 2.48769813e+01] [-1.69370221e-01 9.85461651e-01 -1.33814341e-02 -2.25380785e+00] [-8.09274699e-02 -3.74607630e-04 9.96719923e-01 -2.88185502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.731193817 meters 0.06101356633787351 Centerline is valid? [True, True] Translation: X:24.91, Y:-2.27, Z:-2.89 [[ 9.82645808e-01 1.68063595e-01 7.84974138e-02 2.49059784e+01] [-1.67546863e-01 9.85776133e-01 -1.31706025e-02 -2.26566118e+00] [-7.95943758e-02 -2.09958098e-04 9.96827313e-01 -2.89083969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.761193817000002 meters 0.06029477655280691 Centerline is valid? [True, True] Translation: X:24.94, Y:-2.29, Z:-2.89 [[ 9.83650497e-01 1.61956870e-01 7.87506919e-02 2.49361712e+01] [-1.61415806e-01 9.86797791e-01 -1.32309151e-02 -2.28890070e+00] [-7.98538464e-02 3.02989840e-04 9.96806537e-01 -2.88641176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.791193817000003 meters 0.060856673353039833 Centerline is valid? [True, True] Translation: X:24.97, Y:-2.30, Z:-2.89 [[ 9.84296166e-01 1.58478318e-01 7.77539785e-02 2.49658555e+01] [-1.57937860e-01 9.87362272e-01 -1.30910598e-02 -2.30233195e+00] [-7.88459940e-02 6.05183000e-04 9.96886625e-01 -2.89140578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.821193817 meters 0.060856673353039833 Centerline is valid? [True, True] Translation: X:25.00, Y:-2.31, Z:-2.90 [[ 9.84244070e-01 1.58803268e-01 7.77504496e-02 2.49976264e+01] [-1.58262170e-01 9.87310064e-01 -1.31119783e-02 -2.30794213e+00] [-7.88460263e-02 6.00432029e-04 9.96886625e-01 -2.89512082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.851193817000002 meters 0.061615444377795044 Centerline is valid? [True, True] Translation: X:25.03, Y:-2.32, Z:-2.90 [[ 9.84893537e-01 1.54825542e-01 7.75485164e-02 2.50269769e+01] [-1.54272688e-01 9.87941374e-01 -1.31064461e-02 -2.32099270e+00] [-7.86426005e-02 9.44835957e-04 9.96902427e-01 -2.90003390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.881193817000003 meters 0.06252257642528551 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.33, Z:-2.90 [[ 9.85429522e-01 1.51353236e-01 7.75941670e-02 2.50555931e+01] [-1.50787188e-01 9.88478956e-01 -1.31368372e-02 -2.33354869e+00] [-7.86885040e-02 1.24522090e-03 9.96898475e-01 -2.90467803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.911193817 meters 0.06444068483497879 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.35, Z:-2.91 [[ 9.86446785e-01 1.44400685e-01 7.79177906e-02 2.50848270e+01] [-1.43806397e-01 9.89517605e-01 -1.32147245e-02 -2.35317780e+00] [-7.90092408e-02 1.83054577e-03 9.96872203e-01 -2.90893048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.941193817000002 meters 0.06507271408042553 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.36, Z:-2.91 [[ 9.86731059e-01 1.43133538e-01 7.66459870e-02 2.51156654e+01] [-1.42554794e-01 9.89701563e-01 -1.29979886e-02 -2.36367338e+00] [-7.77171012e-02 1.89926620e-03 9.96973643e-01 -2.91333263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.971193817000003 meters 0.06615055718497129 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.37, Z:-2.92 [[ 9.86950199e-01 1.42555594e-01 7.48812842e-02 2.51453931e+01] [-1.41999980e-01 9.89784933e-01 -1.27197326e-02 -2.37209421e+00] [-7.59296359e-02 1.92060173e-03 9.97111329e-01 -2.92059884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.001193817 meters 0.06661589790743029 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.38, Z:-2.93 [[ 9.87225391e-01 1.42513983e-01 7.12445954e-02 2.51751126e+01] [-1.42008982e-01 9.89791046e-01 -1.21299256e-02 -2.37869379e+00] [-7.22459466e-02 1.85759811e-03 9.97385117e-01 -2.92740347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.031193817000002 meters 0.06674906769270152 Centerline is valid? [True, True] Translation: X:25.21, Y:-2.38, Z:-2.93 [[ 9.87154253e-01 1.43397423e-01 7.04532427e-02 2.52060655e+01] [-1.42906531e-01 9.89663614e-01 -1.19855657e-02 -2.38490100e+00] [-7.14437101e-02 1.76337366e-03 9.97443074e-01 -2.93176865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.061193817000003 meters 0.06657730406128587 Centerline is valid? [True, True] Translation: X:25.24, Y:-2.39, Z:-2.93 [[ 9.87051950e-01 1.44448279e-01 6.97362415e-02 2.52380280e+01] [-1.43968712e-01 9.89510913e-01 -1.18812064e-02 -2.39090333e+00] [-7.07209918e-02 1.68753100e-03 9.97494709e-01 -2.93476943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.091193817 meters 0.06664284865807524 Centerline is valid? [True, True] Translation: X:25.27, Y:-2.40, Z:-2.94 [[ 9.86793365e-01 1.44848856e-01 7.25097548e-02 2.52677016e+01] [-1.44328653e-01 9.89452224e-01 -1.23909687e-02 -2.39700521e+00] [-7.35397558e-02 1.76209047e-03 9.97290730e-01 -2.93676040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.121193817 meters 0.0663864333222058 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.40, Z:-2.94 [[ 9.86739994e-01 1.44409310e-01 7.40954487e-02 2.53000133e+01] [-1.43865458e-01 9.89516355e-01 -1.26535802e-02 -2.40116627e+00] [-7.51459531e-02 1.82601795e-03 9.97170874e-01 -2.93792434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.151193817000003 meters 0.06638284191828489 Centerline is valid? [True, True] Translation: X:25.33, Y:-2.41, Z:-2.94 [[ 9.86694406e-01 1.44014319e-01 7.54587696e-02 2.53322727e+01] [-1.43447418e-01 9.89573757e-01 -1.29080576e-02 -2.40524598e+00] [-7.65309633e-02 1.91194251e-03 9.97065372e-01 -2.94027741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.181193817000004 meters 0.0646203329222011 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.41, Z:-2.94 [[ 9.86469187e-01 1.45234412e-01 7.60625378e-02 2.53654608e+01] [-1.44660397e-01 9.89395540e-01 -1.30321104e-02 -2.40550727e+00] [-7.71486466e-02 1.85253841e-03 9.97017881e-01 -2.93911475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.211193817 meters 0.06446789487014902 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.41, Z:-2.94 [[ 9.85623963e-01 1.50122641e-01 7.75151381e-02 2.53958173e+01] [-1.49538913e-01 9.88666196e-01 -1.33141076e-02 -2.40563602e+00] [-7.86353458e-02 1.53117402e-03 9.96902271e-01 -2.94485927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.241193817000003 meters 0.061532749856256445 Centerline is valid? [True, True] Translation: X:25.43, Y:-2.40, Z:-2.94 [[ 9.84726003e-01 1.54588681e-01 8.01064207e-02 2.54290803e+01] [-1.53979845e-01 9.87978169e-01 -1.37602621e-02 -2.40169024e+00] [-8.12705757e-02 1.21531366e-03 9.96691335e-01 -2.93962529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.271193817000004 meters 0.06022023146213227 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.40, Z:-2.94 [[ 9.83717713e-01 1.59343185e-01 8.31216652e-02 2.54612218e+01] [-1.58704164e-01 9.87222879e-01 -1.42819636e-02 -2.39985740e+00] [-8.43353432e-02 8.57666182e-04 9.96437060e-01 -2.93928916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.301193817 meters 0.05950043560075196 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.40, Z:-2.94 [[ 9.82803238e-01 1.63690956e-01 8.54579769e-02 2.54939774e+01] [-1.63032110e-01 9.86511544e-01 -1.46801074e-02 -2.39896498e+00] [-8.67082815e-02 4.95262829e-04 9.96233622e-01 -2.93985284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.331193817000003 meters 0.05917776873877131 Centerline is valid? [True, True] Translation: X:25.52, Y:-2.40, Z:-2.94 [[ 9.81593556e-01 1.68754290e-01 8.94208014e-02 2.55249217e+01] [-1.68050443e-01 9.85658147e-01 -1.53969640e-02 -2.39559860e+00] [-9.07366451e-02 8.63553732e-05 9.95874919e-01 -2.94297587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.361193817000004 meters 0.058970160639317884 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.40, Z:-2.94 [[ 9.81287323e-01 1.70171579e-01 9.00934125e-02 2.55568327e+01] [-1.69463453e-01 9.85414446e-01 -1.55082830e-02 -2.40062791e+00] [-9.14184192e-02 -4.94592497e-05 9.95812568e-01 -2.94482313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.391193817 meters 0.058982903028045965 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.41, Z:-2.95 [[ 9.81030288e-01 1.70805174e-01 9.16796959e-02 2.55873254e+01] [-1.70071822e-01 9.85304819e-01 -1.58110518e-02 -2.40680280e+00] [-9.30330556e-02 -8.10122351e-05 9.95663017e-01 -2.94810053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.421193817000002 meters 0.05921291925049345 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.41, Z:-2.95 [[ 9.80899892e-01 1.71166830e-01 9.23976033e-02 2.56171239e+01] [-1.70420994e-01 9.85242056e-01 -1.59617283e-02 -2.41253731e+00] [-9.37661231e-02 -8.96338203e-05 9.95594248e-01 -2.95479205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.451193817000004 meters 0.05921016976970442 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.42, Z:-2.96 [[ 9.80525171e-01 1.73117831e-01 9.27394450e-02 2.56500133e+01] [-1.72372787e-01 9.84901088e-01 -1.60458539e-02 -2.41637420e+00] [-9.41170037e-02 -2.52392959e-04 9.95561111e-01 -2.95962004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.481193817 meters 0.05938282793195865 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.42, Z:-2.96 [[ 9.79948458e-01 1.76706935e-01 9.20634457e-02 2.56817648e+01] [-1.75985646e-01 9.84263350e-01 -1.59596181e-02 -2.42002350e+00] [-9.34348507e-02 -5.62241803e-04 9.95625237e-01 -2.96376466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.511193817000002 meters 0.05987140324183321 Centerline is valid? [True, True] Translation: X:25.71, Y:-2.42, Z:-2.97 [[ 9.79362803e-01 1.81226522e-01 8.94731642e-02 2.57135942e+01] [-1.80561333e-01 9.83440936e-01 -1.55412684e-02 -2.42344250e+00] [-9.08080623e-02 -9.34853611e-04 9.95867974e-01 -2.96850689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.541193817000003 meters 0.060575026959574035 Centerline is valid? [True, True] Translation: X:25.75, Y:-2.43, Z:-2.97 [[ 9.78546487e-01 1.86297318e-01 8.79777418e-02 2.57452555e+01] [-1.85673968e-01 9.82492454e-01 -1.52890965e-02 -2.42679020e+00] [-8.92857851e-02 -1.37408473e-03 9.96005101e-01 -2.97436783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.571193817 meters 0.06318929135593596 Centerline is valid? [True, True] Translation: X:25.77, Y:-2.43, Z:-2.98 [[ 9.77008262e-01 1.95978446e-01 8.39482318e-02 2.57748546e+01] [-1.95445869e-01 9.80605855e-01 -1.45968862e-02 -2.42535566e+00] [-8.51808027e-02 -2.14605668e-03 9.96363199e-01 -2.98459854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.601193817000002 meters 0.06442775506871073 Centerline is valid? [True, True] Translation: X:25.81, Y:-2.43, Z:-2.99 [[ 9.76381714e-01 1.99910519e-01 8.19422555e-02 2.58053036e+01] [-1.99416552e-01 9.79811158e-01 -1.42525011e-02 -2.42928587e+00] [-8.31371611e-02 -2.42476069e-03 9.96535164e-01 -2.99049078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.631193817000003 meters 0.06730194888012717 Centerline is valid? [True, True] Translation: X:25.83, Y:-2.43, Z:-3.00 [[ 9.75931501e-01 2.03238604e-01 7.90681724e-02 2.58348300e+01] [-2.02789472e-01 9.79125759e-01 -1.37541853e-02 -2.43077387e+00] [-8.02130657e-02 -2.61105021e-03 9.96774321e-01 -3.00081886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.661193817 meters 0.06656239840039407 Centerline is valid? [True, True] Translation: X:25.87, Y:-2.44, Z:-3.00 [[ 9.75498276e-01 2.05610957e-01 7.82767386e-02 2.58655378e+01] [-2.05178437e-01 9.78629866e-01 -1.36159454e-02 -2.44204111e+00] [-7.94035418e-02 -2.77836764e-03 9.96838682e-01 -3.00234965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.691193817000002 meters 0.06631487544115823 Centerline is valid? [True, True] Translation: X:25.90, Y:-2.46, Z:-3.00 [[ 9.75135988e-01 2.06890541e-01 7.94110142e-02 2.58960628e+01] [-2.06449752e-01 9.78359720e-01 -1.38115435e-02 -2.45745556e+00] [-8.05500153e-02 -2.92625106e-03 9.96746273e-01 -3.00463340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.721193817000003 meters 0.06581097921098517 Centerline is valid? [True, True] Translation: X:25.93, Y:-2.47, Z:-3.01 [[ 9.75345008e-01 2.05281569e-01 8.10036576e-02 2.59253753e+01] [-2.04814254e-01 9.78698915e-01 -1.41263862e-02 -2.47040940e+00] [-8.21780786e-02 -2.81260344e-03 9.96613693e-01 -3.00744816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.751193817 meters 0.065403402421994 Centerline is valid? [True, True] Translation: X:25.95, Y:-2.48, Z:-3.01 [[ 9.75559078e-01 2.03800273e-01 8.21579804e-02 2.59548541e+01] [-2.03314578e-01 9.79008681e-01 -1.43242820e-02 -2.48393620e+00] [-8.33526686e-02 -2.72973178e-03 9.96516373e-01 -3.00960834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.781193817000002 meters 0.06443277874394324 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.50, Z:-3.01 [[ 9.75899826e-01 2.00990564e-01 8.49842454e-02 2.59848274e+01] [-2.00457614e-01 9.79589868e-01 -1.48470970e-02 -2.49828256e+00] [-8.62338322e-02 -2.54645964e-03 9.96271671e-01 -3.01136137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.811193817000003 meters 0.06352127634107771 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.51, Z:-3.01 [[ 9.76271114e-01 1.98367919e-01 8.68612753e-02 2.60143831e+01] [-1.97800249e-01 9.80124787e-01 -1.51810545e-02 -2.51281652e+00] [-8.81463231e-02 -2.36035684e-03 9.96104741e-01 -3.01278195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.841193817000004 meters 0.0618331515159609 Centerline is valid? [True, True] Translation: X:26.04, Y:-2.54, Z:-3.01 [[ 9.77586074e-01 1.91285066e-01 8.79516423e-02 2.60401724e+01] [-1.90673981e-01 9.81532985e-01 -1.53763262e-02 -2.53751905e+00] [-8.92686996e-02 -1.73840745e-03 9.96006063e-01 -3.01486362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.871193817 meters 0.061759289912771964 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.55, Z:-3.02 [[ 9.78132177e-01 1.88338142e-01 8.82393808e-02 2.60688939e+01] [-1.87711628e-01 9.82103128e-01 -1.54204930e-02 -2.55169400e+00] [-8.95644389e-02 -1.48027736e-03 9.95979930e-01 -3.02077188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.901193817000003 meters 0.06051303079570261 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.58, Z:-3.02 [[ 9.79857305e-01 1.78831852e-01 8.88753664e-02 2.60959679e+01] [-1.78154548e-01 9.83879477e-01 -1.55606004e-02 -2.58008829e+00] [-9.02253800e-02 -5.86382669e-04 9.95921200e-01 -3.02210168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.931193817000004 meters 0.06050789132356742 Centerline is valid? [True, True] Translation: X:26.12, Y:-2.60, Z:-3.03 [[ 9.80770538e-01 1.73804943e-01 8.87749592e-02 2.61244596e+01] [-1.73108746e-01 9.84780090e-01 -1.55414229e-02 -2.59644395e+00] [-9.01249884e-02 -1.25152174e-04 9.95930455e-01 -3.02570819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.961193817 meters 0.06101274155422414 Centerline is valid? [True, True] Translation: X:26.15, Y:-2.61, Z:-3.03 [[ 9.81766359e-01 1.68633123e-01 8.77364567e-02 2.61536191e+01] [-1.67930550e-01 9.85678819e-01 -1.53816634e-02 -2.61246952e+00] [-8.90738250e-02 3.67568275e-04 9.96024959e-01 -3.03077336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.991193817000003 meters 0.0618072750839211 Centerline is valid? [True, True] Translation: X:26.18, Y:-2.63, Z:-3.04 [[ 9.82639631e-01 1.64157293e-01 8.64392208e-02 2.61827400e+01] [-1.63455978e-01 9.86433863e-01 -1.51781910e-02 -2.62692999e+00] [-8.77581852e-02 7.85684676e-04 9.96141498e-01 -3.03547708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.021193817000004 meters 0.0641377509368663 Centerline is valid? [True, True] Translation: X:26.21, Y:-2.65, Z:-3.04 [[ 9.84235410e-01 1.54573534e-01 8.59516184e-02 2.62091652e+01] [-1.53841074e-01 9.87979892e-01 -1.51214219e-02 -2.64690882e+00] [-8.72558422e-02 1.66014960e-03 9.96184552e-01 -3.04006126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.051193817 meters 0.06509642630051067 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.66, Z:-3.04 [[ 9.84583593e-01 1.52074026e-01 8.64212903e-02 2.62393934e+01] [-1.51324492e-01 9.88367308e-01 -1.51974638e-02 -2.65727771e+00] [-8.77271176e-02 1.88551570e-03 9.96142760e-01 -3.04248747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.081193817000003 meters 0.06527163442285333 Centerline is valid? [True, True] Translation: X:26.27, Y:-2.67, Z:-3.04 [[ 9.84615356e-01 1.51210230e-01 8.75674959e-02 2.62711199e+01] [-1.50435343e-01 9.88499584e-01 -1.54201190e-02 -2.66530439e+00] [-8.88921130e-02 2.00963970e-03 9.96039233e-01 -3.04453272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.111193817000004 meters 0.06514073654245132 Centerline is valid? [True, True] Translation: X:26.30, Y:-2.67, Z:-3.05 [[ 9.84435770e-01 1.52344346e-01 8.76208551e-02 2.63012795e+01] [-1.51570410e-01 9.88325578e-01 -1.54584256e-02 -2.67093323e+00] [-8.89529360e-02 1.93709824e-03 9.96033947e-01 -3.04796826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.141193817 meters 0.06504305676073963 Centerline is valid? [True, True] Translation: X:26.33, Y:-2.68, Z:-3.05 [[ 9.84365067e-01 1.53639074e-01 8.61420389e-02 2.63324299e+01] [-1.52893837e-01 9.88125369e-01 -1.52226984e-02 -2.67564131e+00] [-8.74579352e-02 1.81410566e-03 9.96166562e-01 -3.05347379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.171193817000002 meters 0.06292006186078672 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.67, Z:-3.05 [[ 9.84009040e-01 1.56951282e-01 8.42170029e-02 2.63666287e+01] [-1.56251099e-01 9.87605228e-01 -1.48831355e-02 -2.67437705e+00] [-8.55090795e-02 1.48614061e-03 9.96336283e-01 -3.05406065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.201193817000004 meters 0.0632891559792261 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.67, Z:-3.07 [[ 9.83016654e-01 1.64589602e-01 8.11697062e-02 2.63969537e+01] [-1.63962829e-01 9.86361794e-01 -1.43736314e-02 -2.67314178e+00] [-8.24284473e-02 8.20704364e-04 9.96596647e-01 -3.07012716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.231193817 meters 0.062012279782587984 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.67, Z:-3.07 [[ 9.82532975e-01 1.68160864e-01 7.96923884e-02 2.64301061e+01] [-1.67566727e-01 9.85759423e-01 -1.41333724e-02 -2.67353259e+00] [-8.09342029e-02 5.32711760e-04 9.96719304e-01 -3.06925378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.261193817000002 meters 0.061849738215018484 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.68, Z:-3.07 [[ 9.81810722e-01 1.72013124e-01 8.03690966e-02 2.64613436e+01] [-1.71419768e-01 9.85094629e-01 -1.42771070e-02 -2.67708622e+00] [-8.16270152e-02 2.40564815e-04 9.96662918e-01 -3.07321747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.291193817000003 meters 0.0615614456344979 Centerline is valid? [True, True] Translation: X:26.49, Y:-2.68, Z:-3.08 [[ 9.81456329e-01 1.74411220e-01 7.95248429e-02 2.64932607e+01] [-1.73836340e-01 9.84672901e-01 -1.41493633e-02 -2.68185114e+00] [-8.07737655e-02 6.26745074e-05 9.96732459e-01 -3.07606564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.321193817 meters 0.061486993001638436 Centerline is valid? [True, True] Translation: X:26.52, Y:-2.68, Z:-3.08 [[ 9.80827100e-01 1.78151981e-01 7.89941187e-02 2.65246664e+01] [-1.77595030e-01 9.84002959e-01 -1.40777251e-02 -2.68320280e+00] [-8.02384212e-02 -2.21148643e-04 9.96775675e-01 -3.08260798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.351193817000002 meters 0.06146933329876114 Centerline is valid? [True, True] Translation: X:26.56, Y:-2.69, Z:-3.09 [[ 9.80502409e-01 1.79557441e-01 7.98382784e-02 2.65557798e+01] [-1.78991244e-01 9.83747440e-01 -1.42516367e-02 -2.68640797e+00] [-8.10996894e-02 -3.16588678e-04 9.96705945e-01 -3.08789913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.381193817000003 meters 0.06126075919576809 Centerline is valid? [True, True] Translation: X:26.59, Y:-2.69, Z:-3.09 [[ 9.79623307e-01 1.83121313e-01 8.24909705e-02 2.65881922e+01] [-1.82527320e-01 9.83090136e-01 -1.47499685e-02 -2.69072257e+00] [-8.37970930e-02 -6.07442848e-04 9.96482653e-01 -3.08801423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.411193817 meters 0.0612094044556325 Centerline is valid? [True, True] Translation: X:26.62, Y:-2.70, Z:-3.09 [[ 9.79143436e-01 1.85266149e-01 8.33941621e-02 2.66188825e+01] [-1.84664721e-01 9.82688075e-01 -1.49361309e-02 -2.69676252e+00] [-8.47176081e-02 -7.75345151e-04 9.96404700e-01 -3.08956064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.441193817000002 meters 0.06075347873201545 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.70, Z:-3.09 [[ 9.78702661e-01 1.87059459e-01 8.45568425e-02 2.66509129e+01] [-1.86445961e-01 9.82348160e-01 -1.51656256e-02 -2.70384929e+00] [-8.59011323e-02 -9.22643633e-04 9.96303239e-01 -3.08803357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.471193817000003 meters 0.06064743602098717 Centerline is valid? [True, True] Translation: X:26.68, Y:-2.71, Z:-3.09 [[ 9.78312807e-01 1.88457426e-01 8.59526046e-02 2.66815172e+01] [-1.87826490e-01 9.82080814e-01 -1.54429391e-02 -2.70855292e+00] [-8.73227404e-02 -1.03615096e-03 9.96179535e-01 -3.09000177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.501193817 meters 0.06114550626742505 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.71, Z:-3.10 [[ 9.77914474e-01 1.89767667e-01 8.75871844e-02 2.67125873e+01] [-1.89115486e-01 9.81828350e-01 -1.57614918e-02 -2.71011845e+00] [-8.89866022e-02 -1.15070197e-03 9.96032158e-01 -3.09668950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.531193817000002 meters 0.060706820071837746 Centerline is valid? [True, True] Translation: X:26.74, Y:-2.72, Z:-3.10 [[ 9.77872480e-01 1.89580671e-01 8.84566721e-02 2.67439604e+01] [-1.88912541e-01 9.81864508e-01 -1.59417901e-02 -2.71828889e+00] [-8.98747220e-02 -1.12153684e-03 9.95952447e-01 -3.09688167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.561193817000003 meters 0.06057165789823894 Centerline is valid? [True, True] Translation: X:26.78, Y:-2.73, Z:-3.10 [[ 9.78134377e-01 1.88133703e-01 8.86501547e-02 2.67752564e+01] [-1.87454005e-01 9.82142956e-01 -1.60065774e-02 -2.72717162e+00] [-9.00785016e-02 -9.61242845e-04 9.95934204e-01 -3.10070073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.591193817000004 meters 0.060432451152744725 Centerline is valid? [True, True] Translation: X:26.81, Y:-2.74, Z:-3.10 [[ 9.78482233e-01 1.86698818e-01 8.78411740e-02 2.68065608e+01] [-1.86025432e-01 9.82416857e-01 -1.58636933e-02 -2.73772644e+00] [-8.92583829e-02 -8.18350338e-04 9.96008168e-01 -3.10436531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.621193817 meters 0.06028394613645262 Centerline is valid? [True, True] Translation: X:26.84, Y:-2.75, Z:-3.11 [[ 9.79030506e-01 1.83989852e-01 8.74471466e-02 2.68365641e+01] [-1.83309029e-01 9.82927995e-01 -1.58226370e-02 -2.74893719e+00] [-8.88654531e-02 -5.39007235e-04 9.96043493e-01 -3.10783287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.651193817000003 meters 0.06052458707618513 Centerline is valid? [True, True] Translation: X:26.87, Y:-2.76, Z:-3.11 [[ 9.79582930e-01 1.81412728e-01 8.66412510e-02 2.68663077e+01] [-1.80732172e-01 9.83407009e-01 -1.57015031e-02 -2.75971355e+00] [-8.80520660e-02 -2.77937085e-04 9.96115835e-01 -3.11480113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.681193817000004 meters 0.06122573068900522 Centerline is valid? [True, True] Translation: X:26.89, Y:-2.77, Z:-3.12 [[ 9.81111931e-01 1.75269928e-01 8.18524928e-02 2.68943031e+01] [-1.74638657e-01 9.84520375e-01 -1.48651023e-02 -2.77363312e+00] [-8.31908523e-02 2.89719791e-04 9.96533591e-01 -3.12295591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.711193817 meters 0.06122573068900522 Centerline is valid? [True, True] Translation: X:26.93, Y:-2.78, Z:-3.13 [[ 9.81055613e-01 1.75584592e-01 8.18531286e-02 2.69259593e+01] [-1.74954705e-01 9.84464313e-01 -1.48616121e-02 -2.77963118e+00] [-8.31909541e-02 2.59478021e-04 9.96533591e-01 -3.12666150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.741193817000003 meters 0.06164489178899096 Centerline is valid? [True, True] Translation: X:26.96, Y:-2.79, Z:-3.13 [[ 9.81529020e-01 1.73473625e-01 8.06702205e-02 2.69566554e+01] [-1.72852440e-01 9.84838408e-01 -1.46745891e-02 -2.78816586e+00] [-8.19927857e-02 4.59490547e-04 9.96632817e-01 -3.13195477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.771193817000004 meters 0.06185893541930523 Centerline is valid? [True, True] Translation: X:26.99, Y:-2.80, Z:-3.14 [[ 9.81671301e-01 1.72517785e-01 8.09880878e-02 2.69884479e+01] [-1.71886592e-01 9.85006242e-01 -1.47547614e-02 -2.79644430e+00] [-8.23192307e-02 5.63559408e-04 9.96605853e-01 -3.13610321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.801193817 meters 0.06213819638176202 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.81, Z:-3.14 [[ 9.81895352e-01 1.71959390e-01 7.94448650e-02 2.70193195e+01] [-1.71348035e-01 9.85103841e-01 -1.45008276e-02 -2.80512682e+00] [-8.07549951e-02 6.25573716e-04 9.96733786e-01 -3.13966939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.831193817000003 meters 0.062043983314439874 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.81, Z:-3.14 [[ 9.81638587e-01 1.73911864e-01 7.83603775e-02 2.70490742e+01] [-1.73321498e-01 9.84761104e-01 -1.43257267e-02 -2.81250345e+00] [-7.96576657e-02 4.81148126e-04 9.96822163e-01 -3.14297501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.861193817000004 meters 0.06167051472869325 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.82, Z:-3.15 [[ 9.81296135e-01 1.75749201e-01 7.85500721e-02 2.70814745e+01] [-1.75159720e-01 9.84434909e-01 -1.43869059e-02 -2.81624570e+00] [-7.98559203e-02 3.59006535e-04 9.96806352e-01 -3.14584299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.891193817 meters 0.061345097681030074 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.82, Z:-3.15 [[ 9.80827550e-01 1.78637053e-01 7.78853085e-02 2.71130686e+01] [-1.78066435e-01 9.83915031e-01 -1.42673447e-02 -2.81804860e+00] [-7.91812022e-02 1.25045566e-04 9.96860232e-01 -3.14956291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.921193817000002 meters 0.061034470249801666 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.82, Z:-3.15 [[ 9.79901522e-01 1.82566535e-01 8.03894740e-02 2.71445831e+01] [-1.81969924e-01 9.83193485e-01 -1.47484760e-02 -2.81901334e+00] [-8.17309853e-02 -1.76412468e-04 9.96654411e-01 -3.15416116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.951193817000004 meters 0.060871962661262234 Centerline is valid? [True, True] Translation: X:27.18, Y:-2.83, Z:-3.16 [[ 9.79910621e-01 1.82142564e-01 8.12358386e-02 2.71759425e+01] [-1.81529835e-01 9.83272125e-01 -1.49280543e-02 -2.82714930e+00] [-8.25959697e-02 -1.18569393e-04 9.96583108e-01 -3.15505168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.981193817 meters 0.060607964749302565 Centerline is valid? [True, True] Translation: X:27.21, Y:-2.84, Z:-3.16 [[ 9.79900827e-01 1.80943556e-01 8.39868999e-02 2.72076306e+01] [-1.80281547e-01 9.83493482e-01 -1.54639735e-02 -2.83596565e+00] [-8.53986750e-02 1.18721530e-05 9.96346860e-01 -3.15602735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.011193817000002 meters 0.06062538267224638 Centerline is valid? [True, True] Translation: X:27.24, Y:-2.84, Z:-3.16 [[ 9.80109727e-01 1.79493486e-01 8.46582048e-02 2.72377435e+01] [-1.78815059e-01 9.83759151e-01 -1.55918907e-02 -2.84419590e+00] [-8.60819265e-02 1.43601826e-04 9.96288051e-01 -3.15898952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.041193817000003 meters 0.06051295814846786 Centerline is valid? [True, True] Translation: X:27.27, Y:-2.85, Z:-3.16 [[ 9.80599662e-01 1.76431661e-01 8.54176286e-02 2.72695698e+01] [-1.75727574e-01 9.84312795e-01 -1.57525036e-02 -2.85203417e+00] [-8.68569051e-02 4.36667032e-04 9.96220702e-01 -3.15979722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.071193817 meters 0.0606420360384321 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.86, Z:-3.16 [[ 9.80748854e-01 1.75855894e-01 8.48904561e-02 2.73008604e+01] [-1.75155742e-01 9.84415786e-01 -1.56852076e-02 -2.85750218e+00] [-8.63258413e-02 5.14198520e-04 9.96266824e-01 -3.16444125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.101193817000002 meters 0.0610138193964219 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.86, Z:-3.17 [[ 9.80582686e-01 1.76859486e-01 8.47249599e-02 2.73319771e+01] [-1.76163450e-01 9.84236007e-01 -1.56818666e-02 -2.86181632e+00] [-8.61628432e-02 4.51925595e-04 9.96280964e-01 -3.17195384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.131193817000003 meters 0.06110638608938456 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.87, Z:-3.18 [[ 9.80619474e-01 1.77621582e-01 8.26802364e-02 2.73634894e+01] [-1.76960260e-01 9.84098786e-01 -1.53181322e-02 -2.86615712e+00] [-8.40863512e-02 3.90142601e-04 9.96458395e-01 -3.17655240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.161193817 meters 0.06107769023437849 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.87, Z:-3.18 [[ 9.81013112e-01 1.77363966e-01 7.84557003e-02 2.73947364e+01] [-1.76765525e-01 9.84145237e-01 -1.45636928e-02 -2.86826243e+00] [-7.97948781e-02 4.18910549e-04 9.96811217e-01 -3.17990694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.191193817000002 meters 0.06167975486653789 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.87, Z:-3.19 [[ 9.81226156e-01 1.76506420e-01 7.77220353e-02 2.74245491e+01] [-1.75916829e-01 9.84299372e-01 -1.44227468e-02 -2.87468668e+00] [-7.90474579e-02 4.79362446e-04 9.96870739e-01 -3.18731000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.221193817000003 meters 0.06154880213174156 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.88, Z:-3.19 [[ 9.81361439e-01 1.76185686e-01 7.67354617e-02 2.74562633e+01] [-1.75608445e-01 9.84356813e-01 -1.42596935e-02 -2.88136973e+00] [-7.80474284e-02 5.18518249e-04 9.96949512e-01 -3.18893657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.251193817000004 meters 0.06219099130254344 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.89, Z:-3.19 [[ 9.81763717e-01 1.74209697e-01 7.60985183e-02 2.74855540e+01] [-1.73634212e-01 9.84708332e-01 -1.41654583e-02 -2.89019925e+00] [-7.74026053e-02 6.93826673e-04 9.96999677e-01 -3.19409760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.281193817000002 meters 0.06292592196525709 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.90, Z:-3.20 [[ 9.82855676e-01 1.68250504e-01 7.54088115e-02 2.75156512e+01] [-1.67666268e-01 9.85743572e-01 -1.40581584e-02 -2.90143160e+00] [-7.66990435e-02 1.17362678e-03 9.97053599e-01 -3.19683051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.311193817000003 meters 0.06394346270939771 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.91, Z:-3.20 [[ 9.83216885e-01 1.65975751e-01 7.57403982e-02 2.75454759e+01] [-1.65377898e-01 9.86128870e-01 -1.41422207e-02 -2.91031296e+00] [-7.70370590e-02 1.37908226e-03 9.97027276e-01 -3.20318952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.341193817000004 meters 0.06461461373496144 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.92, Z:-3.21 [[ 9.83547739e-01 1.64103701e-01 7.55236476e-02 2.75760861e+01] [-1.63502127e-01 9.86441887e-01 -1.41229585e-02 -2.91861367e+00] [-7.68173192e-02 1.54232685e-03 9.97043991e-01 -3.20743153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.371193817 meters 0.06623217371329092 Centerline is valid? [True, True] Translation: X:27.60, Y:-2.93, Z:-3.21 [[ 9.83990189e-01 1.61590765e-01 7.51780108e-02 2.76047812e+01] [-1.60984947e-01 9.86856282e-01 -1.40899369e-02 -2.92877543e+00] [-7.64666958e-02 1.76183158e-03 9.97070579e-01 -3.21354871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.401193817000003 meters 0.06610184309234376 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.94, Z:-3.21 [[ 9.84253558e-01 1.59656035e-01 7.58609462e-02 2.76359568e+01] [-1.59033854e-01 9.87170831e-01 -1.42121153e-02 -2.93554940e+00] [-7.71567632e-02 1.92386646e-03 9.97017118e-01 -3.21392720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.431193817000004 meters 0.06643787640036689 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.94, Z:-3.22 [[ 9.84418959e-01 1.57169476e-01 7.88483871e-02 2.76669318e+01] [-1.56487243e-01 9.87569134e-01 -1.47969291e-02 -2.94015882e+00] [-8.01938590e-02 2.22761087e-03 9.96776797e-01 -3.21580419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.461193817 meters 0.06653026419931427 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.94, Z:-3.22 [[ 9.84302741e-01 1.57202312e-01 8.02218594e-02 2.76978431e+01] [-1.56494345e-01 9.87563774e-01 -1.50768740e-02 -2.94394426e+00] [-8.15943216e-02 2.28594103e-03 9.96663003e-01 -3.21905867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.491193817000003 meters 0.06580074040954974 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.95, Z:-3.22 [[ 9.83928840e-01 1.58962022e-01 8.13333505e-02 2.77302254e+01] [-1.58238463e-01 9.87282267e-01 -1.53073408e-02 -2.94680745e+00] [-8.27322605e-02 2.19126972e-03 9.96569401e-01 -3.22070985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.521193817000004 meters 0.06296333429190919 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.94, Z:-3.22 [[ 9.82833259e-01 1.64746786e-01 8.30498725e-02 2.77631707e+01] [-1.64010168e-01 9.86334302e-01 -1.56623814e-02 -2.94212152e+00] [-8.44952650e-02 1.77248587e-03 9.96422304e-01 -3.21705592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.551193817 meters 0.06222386184476233 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.94, Z:-3.22 [[ 9.82237895e-01 1.67084843e-01 8.53895350e-02 2.77945137e+01] [-1.66314633e-01 9.85941193e-01 -1.61061323e-02 -2.94313426e+00] [-8.68801506e-02 1.61852433e-03 9.96217456e-01 -3.21896823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.581193817000003 meters 0.06292661131133466 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.95, Z:-3.23 [[ 9.81942697e-01 1.68265095e-01 8.64603855e-02 2.78248659e+01] [-1.67479916e-01 9.85740587e-01 -1.63086570e-02 -2.94713618e+00] [-8.79716889e-02 1.53378852e-03 9.96121794e-01 -3.22644932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.611193817000004 meters 0.0631981547600933 Centerline is valid? [True, True] Translation: X:27.86, Y:-2.95, Z:-3.23 [[ 9.82100189e-01 1.67493700e-01 8.61689023e-02 2.78567584e+01] [-1.66709813e-01 9.85871833e-01 -1.62655255e-02 -2.94979856e+00] [-8.76758667e-02 1.60917414e-03 9.96147757e-01 -3.23171707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.641193817 meters 0.0638147462660276 Centerline is valid? [True, True] Translation: X:27.89, Y:-2.95, Z:-3.24 [[ 9.82309118e-01 1.66736644e-01 8.52507376e-02 2.78889694e+01] [-1.65964571e-01 9.86000033e-01 -1.61151069e-02 -2.94961997e+00] [-8.67442089e-02 1.68141430e-03 9.96229198e-01 -3.23824008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.671193817000002 meters 0.06245320319403447 Centerline is valid? [True, True] Translation: X:27.92, Y:-2.95, Z:-3.24 [[ 9.82208463e-01 1.67330532e-01 8.52468648e-02 2.79225164e+01] [-1.66558913e-01 9.85899473e-01 -1.61356014e-02 -2.95056065e+00] [-8.67448178e-02 1.64989911e-03 9.96229198e-01 -3.23715121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.701193817000004 meters 0.06200569222257314 Centerline is valid? [True, True] Translation: X:27.95, Y:-2.95, Z:-3.24 [[ 9.82083729e-01 1.68684693e-01 8.40060915e-02 2.79545495e+01] [-1.67937865e-01 9.85668866e-01 -1.59298701e-02 -2.95362294e+00] [-8.54893142e-02 1.53666262e-03 9.96337902e-01 -3.23932160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.731193817 meters 0.06266729971448383 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.96, Z:-3.25 [[ 9.81911707e-01 1.70100523e-01 8.31577560e-02 2.79853144e+01] [-1.69371703e-01 9.85425688e-01 -1.57936862e-02 -2.95839217e+00] [-8.46323032e-02 1.42343462e-03 9.96411234e-01 -3.24738808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.761193817000002 meters 0.06318230327723533 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.95, Z:-3.26 [[ 9.81356332e-01 1.74529390e-01 8.04937329e-02 2.80167333e+01] [-1.73859265e-01 9.84651422e-01 -1.53145035e-02 -2.95281803e+00] [-8.19310995e-02 1.03440374e-03 9.96637459e-01 -3.26053975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.791193817000003 meters 0.061561466680878765 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.95, Z:-3.26 [[ 9.80965638e-01 1.77036344e-01 7.97781320e-02 2.80514074e+01] [-1.76384869e-01 9.84203960e-01 -1.51968440e-02 -2.94973904e+00] [-8.12083471e-02 8.35926434e-04 9.96696797e-01 -3.26003015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.821193817 meters 0.061277379143984914 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.95, Z:-3.26 [[ 9.80711299e-01 1.78621291e-01 7.93711721e-02 2.80839970e+01] [-1.77979531e-01 9.83917632e-01 -1.51453117e-02 -2.95079395e+00] [-8.07999708e-02 7.26734347e-04 9.96730072e-01 -3.26404276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.851193817000002 meters 0.06117427891424974 Centerline is valid? [True, True] Translation: X:28.12, Y:-2.95, Z:-3.27 [[ 9.80556182e-01 1.79616981e-01 7.90399504e-02 2.81171138e+01] [-1.78981648e-01 9.83736394e-01 -1.51088106e-02 -2.95237572e+00] [-8.04682747e-02 6.68337020e-04 9.96756946e-01 -3.26724817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.881193817000003 meters 0.06111502025672822 Centerline is valid? [True, True] Translation: X:28.15, Y:-2.96, Z:-3.27 [[ 9.80428410e-01 1.80396842e-01 7.88486709e-02 2.81496707e+01] [-1.79764934e-01 9.83593708e-01 -1.50991914e-02 -2.95739986e+00] [-8.02789031e-02 6.29450122e-04 9.96772242e-01 -3.27116750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.911193817 meters 0.06121634872636409 Centerline is valid? [True, True] Translation: X:28.18, Y:-2.96, Z:-3.28 [[ 9.80164986e-01 1.81664639e-01 7.92121165e-02 2.81802801e+01] [-1.81028365e-01 9.83360384e-01 -1.52015184e-02 -2.96260693e+00] [-8.06556356e-02 5.60356190e-04 9.96741870e-01 -3.27612869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.941193817000002 meters 0.06103279754876825 Centerline is valid? [True, True] Translation: X:28.21, Y:-2.97, Z:-3.28 [[ 9.80043604e-01 1.82339973e-01 7.91622985e-02 2.82131001e+01] [-1.81706058e-01 9.83235410e-01 -1.51998874e-02 -2.96771268e+00] [-8.06067221e-02 5.12283228e-04 9.96745852e-01 -3.27844281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.971193817000003 meters 0.06038304581826833 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.97, Z:-3.28 [[ 9.79720313e-01 1.83827361e-01 7.97220801e-02 2.82452911e+01] [-1.83187089e-01 9.82958455e-01 -1.53351010e-02 -2.97123188e+00] [-8.11825039e-02 4.20054149e-04 9.96699165e-01 -3.27823546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.001193817000004 meters 0.05985456096180352 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.97, Z:-3.28 [[ 9.79123928e-01 1.85559198e-01 8.29705826e-02 2.82756988e+01] [-1.84868818e-01 9.82633034e-01 -1.59950116e-02 -2.97190585e+00] [-8.44976569e-02 3.22425118e-04 9.96423626e-01 -3.28136606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.031193817000002 meters 0.059697004610718675 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.98, Z:-3.28 [[ 9.78803611e-01 1.86609861e-01 8.43815805e-02 2.83076877e+01] [-1.85900164e-01 9.82434073e-01 -1.62610576e-02 -2.97693769e+00] [-8.59338135e-02 2.29832188e-04 9.96300821e-01 -3.28426420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.061193817000003 meters 0.05993309499070513 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.98, Z:-3.29 [[ 9.78706857e-01 1.87473344e-01 8.35860875e-02 2.83372791e+01] [-1.86777931e-01 9.82269675e-01 -1.61335273e-02 -2.98296701e+00] [-8.51286853e-02 1.77957342e-04 9.96369949e-01 -3.29031796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.091193817000004 meters 0.0599813536855515 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.99, Z:-3.29 [[ 9.78606497e-01 1.88457608e-01 8.25412314e-02 2.83683167e+01] [-1.87781104e-01 9.82081319e-01 -1.59542993e-02 -2.98997608e+00] [-8.40689105e-02 1.13297377e-04 9.96459937e-01 -3.29412408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.121193817 meters 0.05965182862704456 Centerline is valid? [True, True] Translation: X:28.40, Y:-3.00, Z:-3.30 [[ 9.77676538e-01 1.92636433e-01 8.39034696e-02 2.84001823e+01] [-1.91950572e-01 9.81270174e-01 -1.62426492e-02 -2.99594084e+00] [-8.54608982e-02 -2.25261923e-04 9.96341500e-01 -3.29554023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.151193817000003 meters 0.05938556563659348 Centerline is valid? [True, True] Translation: X:28.43, Y:-3.00, Z:-3.30 [[ 9.77084956e-01 1.95086654e-01 8.51245344e-02 2.84319237e+01] [-1.94387708e-01 9.80785920e-01 -1.65045049e-02 -3.00120219e+00] [-8.67087534e-02 -4.20859645e-04 9.96233615e-01 -3.29658331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.181193817000004 meters 0.05999747942951577 Centerline is valid? [True, True] Translation: X:28.46, Y:-3.00, Z:-3.31 [[ 9.76565328e-01 1.97734152e-01 8.49786137e-02 2.84622209e+01] [-1.97045290e-01 9.80255482e-01 -1.65028356e-02 -3.00413425e+00] [-8.65639262e-02 -6.28538524e-04 9.96246100e-01 -3.30609548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.211193817 meters 0.05979133605102314 Centerline is valid? [True, True] Translation: X:28.49, Y:-3.01, Z:-3.31 [[ 9.76040586e-01 2.00818946e-01 8.37647007e-02 2.84942193e+01] [-2.00159048e-01 9.79627990e-01 -1.62897457e-02 -3.00906930e+00] [-8.53295350e-02 -8.66809804e-04 9.96352407e-01 -3.30713528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.241193817000003 meters 0.06066091450434039 Centerline is valid? [True, True] Translation: X:28.53, Y:-3.01, Z:-3.31 [[ 9.75170147e-01 2.06141230e-01 8.09257592e-02 2.85252534e+01] [-2.05541114e-01 9.78521443e-01 -1.57682233e-02 -3.01150276e+00] [-8.24380716e-02 -1.25687008e-03 9.96595397e-01 -3.31271388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.271193817000004 meters 0.0607148743504007 Centerline is valid? [True, True] Translation: X:28.56, Y:-3.02, Z:-3.32 [[ 9.74939956e-01 2.07798577e-01 7.94470466e-02 2.85566372e+01] [-2.07226142e-01 9.78170669e-01 -1.54747919e-02 -3.01866224e+00] [-8.09284104e-02 -1.37651205e-03 9.96718966e-01 -3.31641563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.301193817 meters 0.06099653915287307 Centerline is valid? [True, True] Translation: X:28.59, Y:-3.03, Z:-3.32 [[ 9.74964746e-01 2.08025898e-01 7.85427943e-02 2.85859301e+01] [-2.07465096e-01 9.78122381e-01 -1.53245395e-02 -3.02635624e+00] [-8.00123660e-02 -1.35400262e-03 9.96792951e-01 -3.32150462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.331193817000003 meters 0.0613322159282214 Centerline is valid? [True, True] Translation: X:28.62, Y:-3.04, Z:-3.33 [[ 9.75113857e-01 2.07430591e-01 7.82656721e-02 2.86153092e+01] [-2.06870556e-01 9.78248894e-01 -1.52864076e-02 -3.03800573e+00] [-7.97341758e-02 -1.28487516e-03 9.96815334e-01 -3.32668831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.361193817000004 meters 0.060850630667157575 Centerline is valid? [True, True] Translation: X:28.65, Y:-3.05, Z:-3.33 [[ 9.75251568e-01 2.07018597e-01 7.76381275e-02 2.86469613e+01] [-2.06464336e-01 9.78336250e-01 -1.51875145e-02 -3.04831971e+00] [-7.91002924e-02 -1.21785716e-03 9.96865919e-01 -3.32784019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.391193817 meters 0.06077571209036302 Centerline is valid? [True, True] Translation: X:28.68, Y:-3.06, Z:-3.33 [[ 9.75150026e-01 2.07385962e-01 7.79325901e-02 2.86786248e+01] [-2.06826499e-01 9.78258432e-01 -1.52721764e-02 -3.05626138e+00] [-7.94054484e-02 -1.22586152e-03 9.96841648e-01 -3.33121022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.421193817000002 meters 0.060599482814052544 Centerline is valid? [True, True] Translation: X:28.71, Y:-3.06, Z:-3.33 [[ 9.74951443e-01 2.07607131e-01 7.98057790e-02 2.87095508e+01] [-2.07018718e-01 9.78211496e-01 -1.56690848e-02 -3.06394428e+00] [-8.13199441e-02 -1.24469321e-03 9.96687272e-01 -3.33378654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.451193817000004 meters 0.06057137809829875 Centerline is valid? [True, True] Translation: X:28.74, Y:-3.07, Z:-3.34 [[ 9.75008681e-01 2.07037192e-01 8.05833271e-02 2.87393052e+01] [-2.06433170e-01 9.78332357e-01 -1.58475871e-02 -3.07245625e+00] [-8.21183163e-02 -1.18353666e-03 9.96621885e-01 -3.33792348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.481193817 meters 0.06078155924561183 Centerline is valid? [True, True] Translation: X:28.77, Y:-3.08, Z:-3.34 [[ 9.75187940e-01 2.05891936e-01 8.13448970e-02 2.87684976e+01] [-2.05270500e-01 9.78574145e-01 -1.60207839e-02 -3.08149972e+00] [-8.29005633e-02 -1.07443242e-03 9.96557245e-01 -3.34364765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.511193817000002 meters 0.05992616551606013 Centerline is valid? [True, True] Translation: X:28.80, Y:-3.10, Z:-3.34 [[ 9.76152685e-01 2.01258685e-01 8.13687697e-02 2.87976434e+01] [-2.00618992e-01 9.79537905e-01 -1.60472200e-02 -3.09971256e+00] [-8.29334366e-02 -6.59583674e-04 9.96554871e-01 -3.34396236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.541193817000003 meters 0.059939279902815334 Centerline is valid? [True, True] Translation: X:28.83, Y:-3.11, Z:-3.35 [[ 9.76560589e-01 1.99033972e-01 8.19444601e-02 2.88263697e+01] [-1.98375249e-01 9.79992488e-01 -1.61859347e-02 -3.11187235e+00] [-8.35265062e-02 -4.49206771e-04 9.96505455e-01 -3.34718511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.571193817 meters 0.0597566016511113 Centerline is valid? [True, True] Translation: X:28.86, Y:-3.13, Z:-3.35 [[ 9.77059625e-01 1.96437948e-01 8.22594802e-02 2.88566015e+01] [-1.95763136e-01 9.80516236e-01 -1.62697590e-02 -3.12527441e+00] [-8.38527540e-02 -2.06849190e-04 9.96478135e-01 -3.34821203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.601193817000002 meters 0.06015993962169695 Centerline is valid? [True, True] Translation: X:28.89, Y:-3.14, Z:-3.35 [[ 9.77534086e-01 1.94117638e-01 8.21307105e-02 2.88862022e+01] [-1.93434453e-01 9.80978258e-01 -1.62717597e-02 -3.13779742e+00] [-8.37270768e-02 1.92906019e-05 9.96488724e-01 -3.35388190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.631193817000003 meters 0.06015993962169695 Centerline is valid? [True, True] Translation: X:28.92, Y:-3.14, Z:-3.36 [[ 9.77473159e-01 1.94425350e-01 8.21279877e-02 2.89177666e+01] [-1.93742096e-01 9.80917317e-01 -1.62854905e-02 -3.14430703e+00] [-8.37270775e-02 6.98141612e-06 9.96488724e-01 -3.35759352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.661193817 meters 0.059856858430983 Centerline is valid? [True, True] Translation: X:28.95, Y:-3.16, Z:-3.36 [[ 9.77200509e-01 1.95816515e-01 8.20673978e-02 2.89495058e+01] [-1.95136944e-01 9.80640548e-01 -1.62999377e-02 -3.15553094e+00] [-8.36704150e-02 -8.60737444e-05 9.96493479e-01 -3.35858477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.691193817000002 meters 0.060281656488601114 Centerline is valid? [True, True] Translation: X:28.98, Y:-3.16, Z:-3.37 [[ 9.76536442e-01 1.99739352e-01 8.05032241e-02 2.89796554e+01] [-1.99096400e-01 9.79848990e-01 -1.60181380e-02 -3.15904923e+00] [-8.20804553e-02 -3.85606645e-04 9.96625632e-01 -3.36731190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.721193817000003 meters 0.060450062674838614 Centerline is valid? [True, True] Translation: X:29.01, Y:-3.16, Z:-3.37 [[ 9.75697134e-01 2.03698149e-01 8.07599365e-02 2.90110744e+01] [-2.03062805e-01 9.79033490e-01 -1.60910630e-02 -3.16190513e+00] [-8.23444022e-02 -6.99335207e-04 9.96603688e-01 -3.37231256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.751193817000004 meters 0.060634393617487674 Centerline is valid? [True, True] Translation: X:29.04, Y:-3.16, Z:-3.37 [[ 9.74166741e-01 2.10979766e-01 8.05400415e-02 2.90430961e+01] [-2.10370845e-01 9.77489579e-01 -1.60695421e-02 -3.16432484e+00] [-8.21173995e-02 -1.28886310e-03 9.96621830e-01 -3.37299112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.781193817000002 meters 0.06186688503423569 Centerline is valid? [True, True] Translation: X:29.07, Y:-3.17, Z:-3.38 [[ 9.73475582e-01 2.13835181e-01 8.13621905e-02 2.90733878e+01] [-2.13221775e-01 9.76868567e-01 -1.62566412e-02 -3.16716225e+00] [-8.29564083e-02 -1.52274741e-03 9.96552013e-01 -3.38140251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.811193817000003 meters 0.06204925999566669 Centerline is valid? [True, True] Translation: X:29.11, Y:-3.17, Z:-3.38 [[ 9.72991154e-01 2.15676675e-01 8.22908640e-02 2.91052501e+01] [-2.15053882e-01 9.76463393e-01 -1.64642027e-02 -3.17439261e+00] [-8.39049608e-02 -1.67744617e-03 9.96472350e-01 -3.38429910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.841193817000004 meters 0.06125365056102512 Centerline is valid? [True, True] Translation: X:29.14, Y:-3.19, Z:-3.38 [[ 9.72959535e-01 2.15924867e-01 8.20133866e-02 2.91371183e+01] [-2.15305087e-01 9.76408555e-01 -1.64332914e-02 -3.18625194e+00] [-8.36269285e-02 -1.66897181e-03 9.96495736e-01 -3.38452145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.871193817 meters 0.06105664404415806 Centerline is valid? [True, True] Translation: X:29.17, Y:-3.20, Z:-3.39 [[ 9.73628097e-01 2.13050462e-01 8.15955186e-02 2.91657012e+01] [-2.12424492e-01 9.77040214e-01 -1.63785289e-02 -3.20060763e+00] [-8.32115561e-02 -1.38629067e-03 9.96530940e-01 -3.39008174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.901193817000003 meters 0.06036289284270746 Centerline is valid? [True, True] Translation: X:29.20, Y:-3.21, Z:-3.39 [[ 9.74350991e-01 2.09959977e-01 8.09750204e-02 2.91960091e+01] [-2.09331148e-01 9.77709370e-01 -1.62744638e-02 -3.21446738e+00] [-8.25870222e-02 -1.09355408e-03 9.96583257e-01 -3.39137968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.931193817000004 meters 0.06024110960216533 Centerline is valid? [True, True] Translation: X:29.23, Y:-3.23, Z:-3.40 [[ 9.74983649e-01 2.07354636e-01 8.00683374e-02 2.92265198e+01] [-2.06729241e-01 9.78265479e-01 -1.61143897e-02 -3.22684728e+00] [-8.16694838e-02 -8.41200182e-04 9.96659113e-01 -3.39584516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.961193817 meters 0.060215803568345105 Centerline is valid? [True, True] Translation: X:29.26, Y:-3.24, Z:-3.40 [[ 9.75815773e-01 2.03765839e-01 7.91395018e-02 2.92563471e+01] [-2.03140868e-01 9.79019523e-01 -1.59550070e-02 -3.23967055e+00] [-8.07302027e-02 -5.07319569e-04 9.96735861e-01 -3.40073103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.991193817000003 meters 0.060318870685363436 Centerline is valid? [True, True] Translation: X:29.29, Y:-3.25, Z:-3.40 [[ 9.76634327e-01 1.99836646e-01 7.90614091e-02 2.92858137e+01] [-1.99197945e-01 9.79829215e-01 -1.59652267e-02 -3.25287199e+00] [-8.06571157e-02 -1.56681817e-04 9.96741895e-01 -3.40435059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.021193817000004 meters 0.06045607527540328 Centerline is valid? [True, True] Translation: X:29.32, Y:-3.27, Z:-3.41 [[ 9.77295532e-01 1.96649871e-01 7.88813752e-02 2.93163038e+01] [-1.96001943e-01 9.80473769e-01 -1.59507488e-02 -3.26570133e+00] [-8.04778320e-02 1.27692755e-04 9.96756391e-01 -3.40797239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.051193817 meters 0.06116534883121813 Centerline is valid? [True, True] Translation: X:29.35, Y:-3.29, Z:-3.41 [[ 9.78495235e-01 1.90361580e-01 7.94326369e-02 2.93450634e+01] [-1.89681497e-01 9.81713812e-01 -1.60910024e-02 -3.28542526e+00] [-8.10432254e-02 6.78067723e-04 9.96710357e-01 -3.41030598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.081193817000003 meters 0.06154048046694949 Centerline is valid? [True, True] Translation: X:29.37, Y:-3.30, Z:-3.41 [[ 9.78908786e-01 1.88173078e-01 7.95517572e-02 2.93748815e+01] [-1.87481818e-01 9.82135485e-01 -1.61386617e-02 -3.29859864e+00] [-8.11674653e-02 8.83769659e-04 9.96700086e-01 -3.41190008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.111193817000004 meters 0.06224093518943083 Centerline is valid? [True, True] Translation: X:29.40, Y:-3.31, Z:-3.42 [[ 9.79307482e-01 1.86045824e-01 7.96480254e-02 2.94039481e+01] [-1.85343855e-01 9.82540469e-01 -1.61827904e-02 -3.31022499e+00] [-8.12681488e-02 1.08565567e-03 9.96691682e-01 -3.41684874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.141193817 meters 0.062256285645687005 Centerline is valid? [True, True] Translation: X:29.43, Y:-3.32, Z:-3.42 [[ 9.80079892e-01 1.81278296e-01 8.11269638e-02 2.94344888e+01] [-1.80531832e-01 9.83430647e-01 -1.65051551e-02 -3.32115932e+00] [-8.27747689e-02 1.53037122e-03 9.96567105e-01 -3.41722528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.171193817000002 meters 0.06270936536457172 Centerline is valid? [True, True] Translation: X:29.46, Y:-3.33, Z:-3.42 [[ 9.80448213e-01 1.77944914e-01 8.40054073e-02 2.94648908e+01] [-1.77129885e-01 9.84038610e-01 -1.71177760e-02 -3.33074464e+00] [-8.57105854e-02 1.90322469e-03 9.96318259e-01 -3.41886803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.201193817000004 meters 0.0637990788274645 Centerline is valid? [True, True] Translation: X:29.49, Y:-3.34, Z:-3.42 [[ 9.81120288e-01 1.74197586e-01 8.40129893e-02 2.94949698e+01] [-1.73366393e-01 9.84708132e-01 -1.71460810e-02 -3.34161178e+00] [-8.57150797e-02 2.25733895e-03 9.96317133e-01 -3.42124917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.231193817 meters 0.06473546676522278 Centerline is valid? [True, True] Translation: X:29.53, Y:-3.35, Z:-3.42 [[ 9.81681437e-01 1.70980105e-01 8.40675969e-02 2.95252073e+01] [-1.70133659e-01 9.85271136e-01 -1.71850745e-02 -3.35136446e+00] [-8.57676825e-02 2.56754073e-03 9.96311855e-01 -3.42422972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.261193817000002 meters 0.06706784814912527 Centerline is valid? [True, True] Translation: X:29.55, Y:-3.36, Z:-3.43 [[ 9.82568508e-01 1.67030216e-01 8.16090268e-02 2.95536947e+01] [-1.66217758e-01 9.85947681e-01 -1.66981482e-02 -3.36094197e+00] [-8.32513260e-02 2.84220509e-03 9.96524530e-01 -3.43018973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.291193817000003 meters 0.06887820953958973 Centerline is valid? [True, True] Translation: X:29.58, Y:-3.37, Z:-3.44 [[ 9.82990925e-01 1.65385209e-01 7.98534494e-02 2.95829572e+01] [-1.64601904e-01 9.86224730e-01 -1.63399999e-02 -3.36916549e+00] [-8.14558409e-02 2.91804181e-03 9.96672680e-01 -3.43584605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.321193817 meters 0.0685102303388704 Centerline is valid? [True, True] Translation: X:29.61, Y:-3.37, Z:-3.44 [[ 9.82999431e-01 1.65883817e-01 7.87062760e-02 2.96148694e+01] [-1.65124916e-01 9.86141243e-01 -1.61000549e-02 -3.37324635e+00] [-8.02862434e-02 2.82997759e-03 9.96767832e-01 -3.43923426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.351193817000002 meters 0.0677888752208753 Centerline is valid? [True, True] Translation: X:29.65, Y:-3.37, Z:-3.44 [[ 9.82941691e-01 1.67050041e-01 7.69409938e-02 2.96468250e+01] [-1.66326685e-01 9.85944735e-01 -1.57611219e-02 -3.37429804e+00] [-7.84924638e-02 2.69492340e-03 9.96911064e-01 -3.44305415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.381193817000003 meters 0.0660988134969678 Centerline is valid? [True, True] Translation: X:29.68, Y:-3.37, Z:-3.45 [[ 9.82219664e-01 1.71261771e-01 7.69021325e-02 2.96800257e+01] [-1.70549452e-01 9.85222664e-01 -1.57856810e-02 -3.36517715e+00] [-7.84692074e-02 2.38938972e-03 9.96913674e-01 -3.44790333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.411193817000004 meters 0.06462614575058556 Centerline is valid? [True, True] Translation: X:29.71, Y:-3.36, Z:-3.45 [[ 9.81641219e-01 1.74895861e-01 7.61048916e-02 2.97127608e+01] [-1.74209640e-01 9.84584760e-01 -1.56157630e-02 -3.36220445e+00] [-7.76628487e-02 2.07087082e-03 9.96977529e-01 -3.45191746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.441193817000002 meters 0.06417760007140481 Centerline is valid? [True, True] Translation: X:29.74, Y:-3.36, Z:-3.46 [[ 9.80943443e-01 1.79191359e-01 7.51027205e-02 2.97441584e+01] [-1.78533845e-01 9.83812715e-01 -1.54339673e-02 -3.36145977e+00] [-7.66526450e-02 1.73147156e-03 9.97056354e-01 -3.45815794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.471193817000003 meters 0.0627870426000459 Centerline is valid? [True, True] Translation: X:29.78, Y:-3.36, Z:-3.46 [[ 9.80206662e-01 1.83485093e-01 7.43513266e-02 2.97778367e+01] [-1.82850906e-01 9.83021483e-01 -1.53072192e-02 -3.35928733e+00] [-7.58975978e-02 1.40903081e-03 9.97114622e-01 -3.46112119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.501193817000004 meters 0.06184638543950454 Centerline is valid? [True, True] Translation: X:29.81, Y:-3.35, Z:-3.47 [[ 9.78688647e-01 1.91462432e-01 7.42338848e-02 2.98098503e+01] [-1.90852238e-01 9.81499616e-01 -1.52946959e-02 -3.35110226e+00] [-7.57888891e-02 8.01042164e-04 9.97123564e-01 -3.46807158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.531193817000002 meters 0.06100462420498148 Centerline is valid? [True, True] Translation: X:29.84, Y:-3.35, Z:-3.47 [[ 9.77932114e-01 1.95341048e-01 7.40989562e-02 2.98431576e+01] [-1.94744865e-01 9.80735252e-01 -1.52578938e-02 -3.34998055e+00] [-7.56519515e-02 4.90793112e-04 9.97134164e-01 -3.47031183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.561193817000003 meters 0.06042933803526776 Centerline is valid? [True, True] Translation: X:29.88, Y:-3.35, Z:-3.47 [[ 9.77090027e-01 1.99489640e-01 7.41549851e-02 2.98763898e+01] [-1.98902781e-01 9.79899917e-01 -1.52917282e-02 -3.34964671e+00] [-7.57150051e-02 1.91762317e-04 9.97129481e-01 -3.47278303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.591193817000004 meters 0.0602761515927342 Centerline is valid? [True, True] Translation: X:29.91, Y:-3.35, Z:-3.48 [[ 9.76364700e-01 2.03215328e-01 7.35901026e-02 2.99084170e+01] [-2.02646230e-01 9.79134069e-01 -1.51980421e-02 -3.35108802e+00] [-7.51430517e-02 -7.39250915e-05 9.97172762e-01 -3.47724985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.621193817 meters 0.060419228547194836 Centerline is valid? [True, True] Translation: X:29.94, Y:-3.35, Z:-3.48 [[ 9.75207282e-01 2.09020505e-01 7.26717690e-02 2.99400167e+01] [-2.08479900e-01 9.77911134e-01 -1.50314668e-02 -3.34896709e+00] [-7.42084168e-02 -4.91807250e-04 9.97242633e-01 -3.48276497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.651193817000003 meters 0.06056653435672175 Centerline is valid? [True, True] Translation: X:29.97, Y:-3.35, Z:-3.49 [[ 9.74626984e-01 2.11317298e-01 7.38054276e-02 2.99708870e+01] [-2.10764603e-01 9.77417295e-01 -1.52876573e-02 -3.35108657e+00] [-7.53692479e-02 -6.55808310e-04 9.97155478e-01 -3.48757073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.681193817000004 meters 0.0608691445872969 Centerline is valid? [True, True] Translation: X:30.00, Y:-3.35, Z:-3.49 [[ 9.74245111e-01 2.13330864e-01 7.30507040e-02 3.00018770e+01] [-2.12793570e-01 9.76979697e-01 -1.51514979e-02 -3.35421342e+00] [-7.46013368e-02 -7.83447332e-04 9.97213130e-01 -3.49292515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.711193817 meters 0.06078137752476339 Centerline is valid? [True, True] Translation: X:30.03, Y:-3.36, Z:-3.50 [[ 9.74006126e-01 2.14171658e-01 7.37737563e-02 3.00330438e+01] [-2.13624576e-01 9.76795680e-01 -1.53212250e-02 -3.36030515e+00] [-7.53432587e-02 -8.36920442e-04 9.97157306e-01 -3.49623215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.741193817000003 meters 0.060833832990922224 Centerline is valid? [True, True] Translation: X:30.06, Y:-3.37, Z:-3.50 [[ 9.74003680e-01 2.14032026e-01 7.42099982e-02 3.00634339e+01] [-2.13476372e-01 9.76826308e-01 -1.54337874e-02 -3.36898115e+00] [-7.57936033e-02 -8.09515519e-04 9.97123199e-01 -3.49960045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.771193817000004 meters 0.06047915529271914 Centerline is valid? [True, True] Translation: X:30.09, Y:-3.39, Z:-3.50 [[ 9.75180806e-01 2.08631806e-01 7.41293839e-02 3.00927261e+01] [-2.08060127e-01 9.77994189e-01 -1.54385668e-02 -3.38660018e+00] [-7.57190828e-02 -3.67975032e-04 9.97129122e-01 -3.50088888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.801193817 meters 0.060632488691844344 Centerline is valid? [True, True] Translation: X:30.12, Y:-3.40, Z:-3.50 [[ 9.76145770e-01 2.03625660e-01 7.53394072e-02 3.01219519e+01] [-2.03018439e-01 9.79048818e-01 -1.57138363e-02 -3.39913038e+00] [-7.69606979e-02 4.37059549e-05 9.97034126e-01 -3.50489566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.831193817000003 meters 0.06066930521367807 Centerline is valid? [True, True] Translation: X:30.15, Y:-3.41, Z:-3.51 [[ 9.77126367e-01 1.98484305e-01 7.63416308e-02 3.01519506e+01] [-1.97843553e-01 9.80103952e-01 -1.59428032e-02 -3.41154274e+00] [-7.79871302e-02 4.74433890e-04 9.96954253e-01 -3.50554601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.861193817000004 meters 0.062103279166960554 Centerline is valid? [True, True] Translation: X:30.18, Y:-3.43, Z:-3.51 [[ 9.78954231e-01 1.88873667e-01 7.73004000e-02 3.01808746e+01] [-1.88184915e-01 9.82000561e-01 -1.61658807e-02 -3.43120687e+00] [-7.89623454e-02 1.27888809e-03 9.96876779e-01 -3.50718092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.891193817 meters 0.06336804207116437 Centerline is valid? [True, True] Translation: X:30.21, Y:-3.44, Z:-3.51 [[ 9.79806470e-01 1.85194293e-01 7.53814034e-02 3.02100183e+01] [-1.84526077e-01 9.82700676e-01 -1.57958398e-02 -3.44402518e+00] [-7.70026555e-02 1.56703140e-03 9.97029656e-01 -3.51190256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.921193817000002 meters 0.06467998164643307 Centerline is valid? [True, True] Translation: X:30.24, Y:-3.46, Z:-3.52 [[ 9.80480559e-01 1.81899833e-01 7.46346071e-02 3.02393367e+01] [-1.81235705e-01 9.83315414e-01 -1.56338244e-02 -3.45555190e+00] [-7.62331496e-02 1.80220528e-03 9.97088391e-01 -3.51646674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.951193817000004 meters 0.0652769083157431 Centerline is valid? [True, True] Translation: X:30.27, Y:-3.46, Z:-3.52 [[ 9.81084166e-01 1.78787983e-01 7.42207251e-02 3.02699904e+01] [-1.78120230e-01 9.83885468e-01 -1.55746414e-02 -3.46462200e+00] [-7.58092516e-02 2.05982149e-03 9.97120211e-01 -3.51901489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.981193817 meters 0.06724681053187485 Centerline is valid? [True, True] Translation: X:30.30, Y:-3.48, Z:-3.52 [[ 9.81816114e-01 1.74718167e-01 7.42339555e-02 3.02992711e+01] [-1.74038226e-01 9.84615612e-01 -1.55818167e-02 -3.47603382e+00] [-7.58143379e-02 2.37893275e-03 9.97119114e-01 -3.52406610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.011193817000002 meters 0.07325123200977478 Centerline is valid? [True, True] Translation: X:30.33, Y:-3.49, Z:-3.53 [[ 9.83340426e-01 1.65744437e-01 7.46350352e-02 3.03255891e+01] [-1.65030158e-01 9.86163858e-01 -1.56809335e-02 -3.49478567e+00] [-7.62014018e-02 3.10266419e-03 9.97087619e-01 -3.52919810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.041193817000003 meters 0.07591481934271083 Centerline is valid? [True, True] Translation: X:30.35, Y:-3.51, Z:-3.53 [[ 9.84100544e-01 1.61219515e-01 7.45277649e-02 3.03545990e+01] [-1.60494188e-01 9.86912541e-01 -1.56605220e-02 -3.50577816e+00] [-7.60771676e-02 3.45025509e-03 9.97095963e-01 -3.53238871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.071193817 meters 0.07609841986247066 Centerline is valid? [True, True] Translation: X:30.39, Y:-3.51, Z:-3.53 [[ 9.84773091e-01 1.57208516e-01 7.42121379e-02 3.03857326e+01] [-1.56477927e-01 9.87558332e-01 -1.55948615e-02 -3.51120039e+00] [-7.57404602e-02 3.74483845e-03 9.97120534e-01 -3.53310835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.101193817000002 meters 0.0775264056250367 Centerline is valid? [True, True] Translation: X:30.42, Y:-3.52, Z:-3.54 [[ 9.85315225e-01 1.53547455e-01 7.46798923e-02 3.04157174e+01] [-1.52796927e-01 9.88132957e-01 -1.56958176e-02 -3.51719597e+00] [-7.62037156e-02 4.05446997e-03 9.97084026e-01 -3.53614470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.131193817000003 meters 0.07842911375731566 Centerline is valid? [True, True] Translation: X:30.45, Y:-3.52, Z:-3.54 [[ 9.85911919e-01 1.49589020e-01 7.48385791e-02 3.04468016e+01] [-1.48823595e-01 9.88738586e-01 -1.57335963e-02 -3.51830807e+00] [-7.63493642e-02 4.37419374e-03 9.97071533e-01 -3.53797528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.161193817000004 meters 0.08095346823545368 Centerline is valid? [True, True] Translation: X:30.48, Y:-3.52, Z:-3.54 [[ 9.86090723e-01 1.48506405e-01 7.46386823e-02 3.04765005e+01] [-1.47742006e-01 9.88901453e-01 -1.56912959e-02 -3.52374090e+00] [-7.61405593e-02 4.44577264e-03 9.97087183e-01 -3.54419619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.191193817000002 meters 0.08130637412249056 Centerline is valid? [True, True] Translation: X:30.51, Y:-3.53, Z:-3.55 [[ 9.86099996e-01 1.48490651e-01 7.45474597e-02 3.05087123e+01] [-1.47727626e-01 9.88903811e-01 -1.56780608e-02 -3.52535411e+00] [-7.60483124e-02 4.44741642e-03 9.97094216e-01 -3.54894972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.221193817000003 meters 0.08421528691248607 Centerline is valid? [True, True] Translation: X:30.54, Y:-3.53, Z:-3.56 [[ 9.86092069e-01 1.48230812e-01 7.51668708e-02 3.05391933e+01] [-1.47452597e-01 9.88942434e-01 -1.58301583e-02 -3.53080700e+00] [-7.66822254e-02 4.52644319e-03 9.97045309e-01 -3.55531246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.251193817000004 meters 0.08029353053462022 Centerline is valid? [True, True] Translation: X:30.57, Y:-3.52, Z:-3.55 [[ 9.86024582e-01 1.48820784e-01 7.48858952e-02 3.05747127e+01] [-1.48048356e-01 9.88854008e-01 -1.57934961e-02 -3.52199564e+00] [-7.64016182e-02 4.48604174e-03 9.97067033e-01 -3.55472607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.281193817000002 meters 0.08061389809199973 Centerline is valid? [True, True] Translation: X:30.61, Y:-3.52, Z:-3.56 [[ 9.85840638e-01 1.49760308e-01 7.54326625e-02 3.06056970e+01] [-1.48977058e-01 9.88712209e-01 -1.59374948e-02 -3.52283198e+00] [-7.69679985e-02 4.47409390e-03 9.97023525e-01 -3.55893952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.311193817000003 meters 0.079837157371846 Centerline is valid? [True, True] Translation: X:30.64, Y:-3.52, Z:-3.56 [[ 9.85546826e-01 1.51245000e-01 7.63046822e-02 3.06384503e+01] [-1.50445722e-01 9.88486350e-01 -1.61499223e-02 -3.52071481e+00] [-7.78687319e-02 4.43679163e-03 9.96953748e-01 -3.56167225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.341193817000004 meters 0.07641359298574071 Centerline is valid? [True, True] Translation: X:30.67, Y:-3.50, Z:-3.57 [[ 9.84884304e-01 1.55706733e-01 7.58836070e-02 3.06730128e+01] [-1.54928773e-01 9.87794943e-01 -1.60694278e-02 -3.50422527e+00] [-7.74595613e-02 4.06997310e-03 9.96987187e-01 -3.56558164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.371193817 meters 0.07742474148769607 Centerline is valid? [True, True] Translation: X:30.70, Y:-3.50, Z:-3.57 [[ 9.84506275e-01 1.59202580e-01 7.34978391e-02 3.07040166e+01] [-1.58483184e-01 9.87239127e-01 -1.55559203e-02 -3.50337225e+00] [-7.50364852e-02 3.66672963e-03 9.97174047e-01 -3.57470750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.401193817000003 meters 0.0719360449056681 Centerline is valid? [True, True] Translation: X:30.74, Y:-3.49, Z:-3.57 [[ 9.84016926e-01 1.62455233e-01 7.29313846e-02 3.07389733e+01] [-1.61753693e-01 9.86709988e-01 -1.54642421e-02 -3.49249764e+00] [-7.44743726e-02 3.42015511e-03 9.97217063e-01 -3.57441652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.431193817000004 meters 0.07365230874442426 Centerline is valid? [True, True] Translation: X:30.77, Y:-3.49, Z:-3.58 [[ 9.83478476e-01 1.65619145e-01 7.30779434e-02 3.07690375e+01] [-1.64922978e-01 9.86184617e-01 -1.55019865e-02 -3.49314588e+00] [-7.46357694e-02 3.19363800e-03 9.97205747e-01 -3.58269266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.461193817 meters 0.07270550575047521 Centerline is valid? [True, True] Translation: X:30.80, Y:-3.49, Z:-3.59 [[ 9.82950921e-01 1.68137538e-01 7.44127403e-02 3.08011577e+01] [-1.67422769e-01 9.85758801e-01 -1.57861696e-02 -3.48977283e+00] [-7.60072613e-02 3.05864288e-03 9.97102573e-01 -3.58652254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.491193817000003 meters 0.0680888951045939 Centerline is valid? [True, True] Translation: X:30.84, Y:-3.47, Z:-3.59 [[ 9.82200833e-01 1.72848097e-01 7.35191011e-02 3.08375120e+01] [-1.72163504e-01 9.84944895e-01 -1.55974983e-02 -3.47327049e+00] [-7.51082612e-02 2.66256972e-03 9.97171831e-01 -3.58557465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.521193817000004 meters 0.0680888951045939 Centerline is valid? [True, True] Translation: X:30.87, Y:-3.48, Z:-3.59 [[ 9.82142903e-01 1.73176724e-01 7.35196640e-02 3.08690303e+01] [-1.72493246e-01 9.84887243e-01 -1.55948576e-02 -3.48023216e+00] [-7.51092455e-02 2.63473318e-03 9.97171830e-01 -3.58928718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.551193817 meters 0.06888550783949834 Centerline is valid? [True, True] Translation: X:30.90, Y:-3.48, Z:-3.60 [[ 9.81630057e-01 1.76186788e-01 7.32164359e-02 3.09002748e+01] [-1.75515235e-01 9.84353774e-01 -1.55579758e-02 -3.48247505e+00] [-7.48119847e-02 2.42157680e-03 9.97194717e-01 -3.59698701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.581193817000003 meters 0.06662368807811592 Centerline is valid? [True, True] Translation: X:30.93, Y:-3.48, Z:-3.60 [[ 9.81132100e-01 1.79172012e-01 7.26442904e-02 3.09342033e+01] [-1.78517459e-01 9.83815307e-01 -1.54583104e-02 -3.47970840e+00] [-7.42382614e-02 2.19837039e-03 9.97238110e-01 -3.59663134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.611193817000004 meters 0.06572439106600923 Centerline is valid? [True, True] Translation: X:30.97, Y:-3.48, Z:-3.60 [[ 9.80739200e-01 1.80989546e-01 7.34398077e-02 3.09667734e+01] [-1.80323934e-01 9.83482765e-01 -1.56502058e-02 -3.47937723e+00] [-7.50593088e-02 2.10581524e-03 9.97176848e-01 -3.59906050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.641193817 meters 0.06559483760152057 Centerline is valid? [True, True] Translation: X:31.00, Y:-3.48, Z:-3.60 [[ 9.80313218e-01 1.82555270e-01 7.52300963e-02 3.09972477e+01] [-1.81858724e-01 9.83193417e-01 -1.60657568e-02 -3.47957072e+00] [-7.68986241e-02 2.06822442e-03 9.97036772e-01 -3.60355128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.671193817000002 meters 0.06418491873719152 Centerline is valid? [True, True] Translation: X:31.03, Y:-3.47, Z:-3.61 [[ 9.79749215e-01 1.85570235e-01 7.52008181e-02 3.10312170e+01] [-1.84883759e-01 9.82629313e-01 -1.60508223e-02 -3.47218808e+00] [-7.68730831e-02 1.82237056e-03 9.97039221e-01 -3.60630774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.701193817000004 meters 0.06360854648203672 Centerline is valid? [True, True] Translation: X:31.06, Y:-3.47, Z:-3.61 [[ 9.79290812e-01 1.88214110e-01 7.45986173e-02 3.10638650e+01] [-1.87544537e-01 9.82126678e-01 -1.59447627e-02 -3.47371040e+00] [-7.62663215e-02 1.62399653e-03 9.97086160e-01 -3.61066188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.731193817 meters 0.06310893528432013 Centerline is valid? [True, True] Translation: X:31.10, Y:-3.48, Z:-3.62 [[ 9.78630728e-01 1.91363930e-01 7.52445705e-02 3.10954976e+01] [-1.90690172e-01 9.81518134e-01 -1.61062239e-02 -3.47599355e+00] [-7.69360608e-02 1.41364556e-03 9.97035027e-01 -3.61517354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.761193817000002 meters 0.06286187015466031 Centerline is valid? [True, True] Translation: X:31.13, Y:-3.48, Z:-3.62 [[ 9.77975667e-01 1.94888959e-01 7.47120327e-02 3.11260833e+01] [-1.94233212e-01 9.80824637e-01 -1.60153284e-02 -3.47792334e+00] [-7.64006130e-02 1.15104345e-03 9.97076537e-01 -3.62082433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.791193817000003 meters 0.061324225048795866 Centerline is valid? [True, True] Translation: X:31.16, Y:-3.48, Z:-3.62 [[ 9.77068931e-01 1.99615819e-01 7.40933801e-02 3.11589023e+01] [-1.98982994e-01 9.79873918e-01 -1.59019965e-02 -3.47699727e+00] [-7.57764606e-02 7.94024097e-04 9.97124515e-01 -3.62087101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.821193817000005 meters 0.06059668891367124 Centerline is valid? [True, True] Translation: X:31.19, Y:-3.47, Z:-3.63 [[ 9.75025178e-01 2.09455002e-01 7.38546231e-02 3.11920088e+01] [-2.08852619e-01 9.77818286e-01 -1.58740079e-02 -3.47021083e+00] [-7.55412913e-02 5.28258761e-05 9.97142673e-01 -3.62688941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.851193817000002 meters 0.0608297895077534 Centerline is valid? [True, True] Translation: X:31.22, Y:-3.47, Z:-3.63 [[ 9.74137258e-01 2.14063195e-01 7.23432857e-02 3.12233309e+01] [-2.13496457e-01 9.76819774e-01 -1.55689415e-02 -3.47052884e+00] [-7.39990894e-02 -2.78749163e-04 9.97258270e-01 -3.63368192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.881193817000003 meters 0.06096098898787506 Centerline is valid? [True, True] Translation: X:31.26, Y:-3.47, Z:-3.64 [[ 9.73328827e-01 2.17826038e-01 7.19917432e-02 3.12557352e+01] [-2.17273667e-01 9.75987460e-01 -1.55123009e-02 -3.47244499e+00] [-7.36420216e-02 -5.43340440e-04 9.97284592e-01 -3.63820532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.911193817000004 meters 0.06148847712617416 Centerline is valid? [True, True] Translation: X:31.29, Y:-3.48, Z:-3.64 [[ 9.72592602e-01 2.21257211e-01 7.14764068e-02 3.12866391e+01] [-2.20720373e-01 9.75215179e-01 -1.54231181e-02 -3.47547625e+00] [-7.31173529e-02 -7.75888591e-04 9.97323042e-01 -3.64358121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.941193817000002 meters 0.06197662740081627 Centerline is valid? [True, True] Translation: X:31.32, Y:-3.48, Z:-3.65 [[ 9.72396919e-01 2.22493222e-01 7.02922272e-02 3.13170200e+01] [-2.21975987e-01 9.74933878e-01 -1.51853733e-02 -3.48422939e+00] [-7.19089163e-02 -8.36976340e-04 9.97410852e-01 -3.64973785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.971193817000003 meters 0.06194716931230555 Centerline is valid? [True, True] Translation: X:31.35, Y:-3.49, Z:-3.65 [[ 9.72488653e-01 2.22338358e-01 6.95088066e-02 3.13471851e+01] [-2.21830804e-01 9.74969240e-01 -1.50358047e-02 -3.49490658e+00] [-7.11119845e-02 -7.97045013e-04 9.97468020e-01 -3.65312101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.001193817 meters 0.061534653857566 Centerline is valid? [True, True] Translation: X:31.38, Y:-3.51, Z:-3.65 [[ 9.72781220e-01 2.21148829e-01 6.92090596e-02 3.13784962e+01] [-2.20641377e-01 9.75239827e-01 -1.49887553e-02 -3.50678906e+00] [-7.08101770e-02 -6.89602528e-04 9.97489571e-01 -3.65413092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.031193817 meters 0.06079418366920555 Centerline is valid? [True, True] Translation: X:31.41, Y:-3.52, Z:-3.65 [[ 9.73381185e-01 2.17845477e-01 7.12208986e-02 3.14081243e+01] [-2.17296560e-01 9.75983179e-01 -1.54608898e-02 -3.52215386e+00] [-7.28784840e-02 -4.26717015e-04 9.97340736e-01 -3.65350789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.061193816999996 meters 0.06112917649477812 Centerline is valid? [True, True] Translation: X:31.44, Y:-3.53, Z:-3.66 [[ 9.73953767e-01 2.15322875e-01 7.10641885e-02 3.14377019e+01] [-2.14770084e-01 9.76542882e-01 -1.54211171e-02 -3.53426367e+00] [-7.27177467e-02 -2.43006615e-04 9.97352531e-01 -3.66072784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.091193817 meters 0.0610728047996046 Centerline is valid? [True, True] Translation: X:31.47, Y:-3.55, Z:-3.66 [[ 9.74477010e-01 2.13230913e-01 7.01935524e-02 3.14680264e+01] [-2.12684503e-01 9.77001829e-01 -1.52554408e-02 -3.54649707e+00] [-7.18321607e-02 -6.30044822e-05 9.97416732e-01 -3.66349429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.121193817 meters 0.06162974947080356 Centerline is valid? [True, True] Translation: X:31.50, Y:-3.56, Z:-3.67 [[ 9.75046166e-01 2.10508416e-01 7.05065975e-02 3.14970716e+01] [-2.09948388e-01 9.77592032e-01 -1.53457847e-02 -3.55858529e+00] [-7.21571047e-02 1.60102085e-04 9.97393266e-01 -3.66970461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.151193817 meters 0.061656047139436176 Centerline is valid? [True, True] Translation: X:31.53, Y:-3.57, Z:-3.67 [[ 9.75480652e-01 2.08382373e-01 7.08116064e-02 3.15279893e+01] [-2.07810617e-01 9.78047378e-01 -1.54296424e-02 -3.57109804e+00] [-7.24723715e-02 3.35914061e-04 9.97370364e-01 -3.67165444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.181193817 meters 0.06137912034053767 Centerline is valid? [True, True] Translation: X:31.56, Y:-3.58, Z:-3.67 [[ 9.75975228e-01 2.05401276e-01 7.26819837e-02 3.15588789e+01] [-2.04788089e-01 9.78677653e-01 -1.58710184e-02 -3.58373737e+00] [-7.43921607e-02 6.05316193e-04 9.97228880e-01 -3.67087207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.211193817 meters 0.0618335296637792 Centerline is valid? [True, True] Translation: X:31.59, Y:-3.60, Z:-3.67 [[ 9.76815372e-01 2.00304524e-01 7.55633990e-02 3.15880941e+01] [-1.99626298e-01 9.79733141e-01 -1.65019549e-02 -3.60041653e+00] [-7.73373824e-02 1.03492161e-03 9.97004442e-01 -3.67097383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.241193817 meters 0.06315603351817094 Centerline is valid? [True, True] Translation: X:31.62, Y:-3.61, Z:-3.68 [[ 9.77188232e-01 1.98349665e-01 7.58984160e-02 3.16166790e+01] [-1.97657656e-01 9.80130566e-01 -1.65989499e-02 -3.61301634e+00] [-7.76827536e-02 1.21839551e-03 9.96977385e-01 -3.67705593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.271193817 meters 0.06296338514118503 Centerline is valid? [True, True] Translation: X:31.65, Y:-3.62, Z:-3.68 [[ 9.77774792e-01 1.96020873e-01 7.43792594e-02 3.16472444e+01] [-1.95347530e-01 9.80598721e-01 -1.62938787e-02 -3.62319792e+00] [-7.61301470e-02 1.40193923e-03 9.97096904e-01 -3.67739339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.301193817 meters 0.06476928146600014 Centerline is valid? [True, True] Translation: X:31.67, Y:-3.64, Z:-3.68 [[ 9.78764125e-01 1.91359025e-01 7.35017811e-02 3.16737152e+01] [-1.90687657e-01 9.81518543e-01 -1.61110871e-02 -3.63987819e+00] [-7.52263630e-02 1.75307163e-03 9.97164942e-01 -3.68104840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.331193817 meters 0.0642747627614477 Centerline is valid? [True, True] Translation: X:31.70, Y:-3.65, Z:-3.68 [[ 9.79306694e-01 1.88567858e-01 7.34885148e-02 3.17049151e+01] [-1.87889791e-01 9.82058216e-01 -1.60961723e-02 -3.64767932e+00] [-7.52052205e-02 1.95534754e-03 9.97166160e-01 -3.67951169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.361193817 meters 0.06547756893445368 Centerline is valid? [True, True] Translation: X:31.73, Y:-3.66, Z:-3.68 [[ 9.79607288e-01 1.86492809e-01 7.47662579e-02 3.17344473e+01] [-1.85782626e-01 9.82453906e-01 -1.64054528e-02 -3.65750697e+00] [-7.65139010e-02 2.18062934e-03 9.97066130e-01 -3.68410451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.391193817 meters 0.06616524845651396 Centerline is valid? [True, True] Translation: X:31.77, Y:-3.67, Z:-3.69 [[ 9.80049734e-01 1.84114462e-01 7.48624289e-02 3.17657105e+01] [-1.83394883e-01 9.82901934e-01 -1.64348631e-02 -3.66592358e+00] [-7.66083221e-02 2.37759677e-03 9.97058430e-01 -3.68723623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.421193817 meters 0.07208405294387575 Centerline is valid? [True, True] Translation: X:31.79, Y:-3.68, Z:-3.70 [[ 9.81289599e-01 1.78482166e-01 7.22138509e-02 3.17916854e+01] [-1.77794990e-01 9.83939303e-01 -1.58867532e-02 -3.68100062e+00] [-7.38895482e-02 2.75024477e-03 9.97262639e-01 -3.69913635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.451193817 meters 0.07230075805240617 Centerline is valid? [True, True] Translation: X:31.82, Y:-3.69, Z:-3.70 [[ 9.81894102e-01 1.75934787e-01 7.02205380e-02 3.18217960e+01] [-1.75278787e-01 9.84397676e-01 -1.54454606e-02 -3.68790798e+00] [-7.18423283e-02 2.85763597e-03 9.97411908e-01 -3.70118531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.481193817 meters 0.07107019719252193 Centerline is valid? [True, True] Translation: X:31.85, Y:-3.69, Z:-3.70 [[ 9.82429834e-01 1.73110185e-01 6.97458656e-02 3.18532461e+01] [-1.72455656e-01 9.84897750e-01 -1.53450024e-02 -3.69301504e+00] [-7.13489223e-02 3.04731916e-03 9.97446763e-01 -3.69917930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.511193817 meters 0.07278957567306318 Centerline is valid? [True, True] Translation: X:31.88, Y:-3.70, Z:-3.70 [[ 9.82843353e-01 1.70401584e-01 7.05850042e-02 3.18826423e+01] [-1.69724714e-01 9.85369253e-01 -1.55227670e-02 -3.70273804e+00] [-7.21973969e-02 3.27642875e-03 9.97384981e-01 -3.70096040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.541193817 meters 0.0764427288064577 Centerline is valid? [True, True] Translation: X:31.91, Y:-3.71, Z:-3.71 [[ 9.83280742e-01 1.67286005e-01 7.19331319e-02 3.19112771e+01] [-1.66572355e-01 9.85901824e-01 -1.58506750e-02 -3.71401113e+00] [-7.35706021e-02 3.60359227e-03 9.97283501e-01 -3.70557278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.571193817 meters 0.0773171876838856 Centerline is valid? [True, True] Translation: X:31.94, Y:-3.72, Z:-3.71 [[ 9.83822258e-01 1.63756443e-01 7.26470304e-02 3.19423590e+01] [-1.63018695e-01 9.86493053e-01 -1.60112873e-02 -3.71960671e+00] [-7.42877423e-02 3.90943671e-03 9.97229185e-01 -3.70678038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.601193817 meters 0.07865626992928544 Centerline is valid? [True, True] Translation: X:31.97, Y:-3.72, Z:-3.71 [[ 9.85001600e-01 1.57512102e-01 7.04399434e-02 3.19742135e+01] [-1.56802435e-01 9.87507911e-01 -1.55280872e-02 -3.71906649e+00] [-7.20058630e-02 4.25003609e-03 9.97395154e-01 -3.71051219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.631193816999996 meters 0.08095578931986497 Centerline is valid? [True, True] Translation: X:32.00, Y:-3.72, Z:-3.72 [[ 9.85468405e-01 1.54599459e-01 7.03635547e-02 3.20030587e+01] [-1.53883962e-01 9.87967173e-01 -1.55109849e-02 -3.72440723e+00] [-7.19148721e-02 4.45776304e-03 9.97400812e-01 -3.71551728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.661193817 meters 0.0841628075567435 Centerline is valid? [True, True] Translation: X:32.03, Y:-3.73, Z:-3.72 [[ 9.85969037e-01 1.51848926e-01 6.93322488e-02 3.20314462e+01] [-1.51146718e-01 9.88393006e-01 -1.52949334e-02 -3.73094162e+00] [-7.08500290e-02 4.60098885e-03 9.97476368e-01 -3.72113541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.691193817 meters 0.08437811656346603 Centerline is valid? [True, True] Translation: X:32.06, Y:-3.73, Z:-3.72 [[ 9.86339514e-01 1.49514656e-01 6.91355928e-02 3.20622519e+01] [-1.48810796e-01 9.88748080e-01 -1.52506235e-02 -3.73374195e+00] [-7.06378764e-02 4.75416998e-03 9.97490696e-01 -3.72382165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.721193817 meters 0.08599182150073444 Centerline is valid? [True, True] Translation: X:32.09, Y:-3.73, Z:-3.73 [[ 9.86454354e-01 1.48124986e-01 7.04755017e-02 3.20942713e+01] [-1.47390655e-01 9.88956315e-01 -1.55371314e-02 -3.73167393e+00] [-7.19986298e-02 4.93924055e-03 9.97392501e-01 -3.72625710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.751193817 meters 0.08330595455330778 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.73, Z:-3.73 [[ 9.86212272e-01 1.49225700e-01 7.15335264e-02 3.21285800e+01] [-1.48470549e-01 9.88790762e-01 -1.57900195e-02 -3.72676067e+00] [-7.30879668e-02 4.95168911e-03 9.97313206e-01 -3.72696798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.781193817 meters 0.08401877725303533 Centerline is valid? [True, True] Translation: X:32.16, Y:-3.73, Z:-3.73 [[ 9.85967701e-01 1.50819075e-01 7.15632537e-02 3.21596309e+01] [-1.50065014e-01 9.88549393e-01 -1.58300283e-02 -3.72570809e+00] [-7.31312812e-02 4.86875595e-03 9.97310439e-01 -3.73187363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.811193816999996 meters 0.08047366501497419 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.72, Z:-3.73 [[ 9.85709319e-01 1.52399492e-01 7.17741888e-02 3.21930472e+01] [-1.51645088e-01 9.88307482e-01 -1.58773217e-02 -3.71896147e+00] [-7.33546635e-02 4.76622078e-03 9.97294528e-01 -3.73287610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.841193817 meters 0.08284222517997751 Centerline is valid? [True, True] Translation: X:32.22, Y:-3.72, Z:-3.74 [[ 9.85050303e-01 1.56736579e-01 7.14810792e-02 3.22238533e+01] [-1.55999316e-01 9.87630508e-01 -1.58175139e-02 -3.71546442e+00] [-7.30760775e-02 4.43004740e-03 9.97316530e-01 -3.74121738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.871193817 meters 0.07787932443344862 Centerline is valid? [True, True] Translation: X:32.26, Y:-3.71, Z:-3.74 [[ 9.84737146e-01 1.58558547e-01 7.17770173e-02 3.22584763e+01] [-1.57820164e-01 9.87340169e-01 -1.58803471e-02 -3.70762034e+00] [-7.33862972e-02 4.31010703e-03 9.97294277e-01 -3.74018823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.901193817 meters 0.08021746242104599 Centerline is valid? [True, True] Translation: X:32.29, Y:-3.71, Z:-3.75 [[ 9.84347645e-01 1.60411726e-01 7.29917186e-02 3.22884614e+01] [-1.59652657e-01 9.87041042e-01 -1.61558187e-02 -3.70988430e+00] [-7.46374047e-02 4.24962028e-03 9.97201684e-01 -3.74689338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.931193817 meters 0.07635844018272683 Centerline is valid? [True, True] Translation: X:32.32, Y:-3.70, Z:-3.75 [[ 9.84002086e-01 1.62053523e-01 7.40172345e-02 3.23222833e+01] [-1.61277485e-01 9.86773098e-01 -1.63836905e-02 -3.70199457e+00] [-7.56932506e-02 4.18427221e-03 9.97122371e-01 -3.74723468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.961193817 meters 0.0776332924115644 Centerline is valid? [True, True] Translation: X:32.35, Y:-3.69, Z:-3.75 [[ 9.83295828e-01 1.64767726e-01 7.73363486e-02 3.23543546e+01] [-1.63928318e-01 9.86323624e-01 -1.71235046e-02 -3.69481016e+00] [-7.91000685e-02 4.15985312e-03 9.96858001e-01 -3.75245424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.991193817 meters 0.07284383504203236 Centerline is valid? [True, True] Translation: X:32.39, Y:-3.69, Z:-3.75 [[ 9.83060214e-01 1.66065938e-01 7.75546223e-02 3.23899834e+01] [-1.65226103e-01 9.86106280e-01 -1.71679778e-02 -3.68667950e+00] [-7.93281164e-02 4.06310792e-03 9.96840279e-01 -3.75093424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.021193817 meters 0.07167305646231567 Centerline is valid? [True, True] Translation: X:32.42, Y:-3.68, Z:-3.75 [[ 9.82714531e-01 1.67516886e-01 7.88051000e-02 3.24222671e+01] [-1.66653431e-01 9.85861006e-01 -1.74559443e-02 -3.68470643e+00] [-8.06150406e-02 4.02106976e-03 9.96737200e-01 -3.75283854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.051193817 meters 0.07759671822250652 Centerline is valid? [True, True] Translation: X:32.45, Y:-3.69, Z:-3.76 [[ 9.82617198e-01 1.68215216e-01 7.85307778e-02 3.24505465e+01] [-1.67360357e-01 9.85742397e-01 -1.73907101e-02 -3.69499720e+00] [-8.03364993e-02 3.94547188e-03 9.96759991e-01 -3.76350510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.081193817 meters 0.0756298141572173 Centerline is valid? [True, True] Translation: X:32.48, Y:-3.69, Z:-3.76 [[ 9.82625844e-01 1.68216237e-01 7.84203306e-02 3.24844284e+01] [-1.67361963e-01 9.85742156e-01 -1.73889358e-02 -3.69219953e+00] [-8.02273271e-02 3.96223727e-03 9.96768718e-01 -3.76482027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.111193817 meters 0.07310090402938879 Centerline is valid? [True, True] Translation: X:32.52, Y:-3.68, Z:-3.76 [[ 9.82741712e-01 1.67428418e-01 7.86540008e-02 3.25196469e+01] [-1.66564735e-01 9.85875873e-01 -1.74628667e-02 -3.68164790e+00] [-8.04668618e-02 4.06050472e-03 9.96749014e-01 -3.76489115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.141193817 meters 0.0746881174423226 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.68, Z:-3.77 [[ 9.82685785e-01 1.67276551e-01 7.96693346e-02 3.25505011e+01] [-1.66387783e-01 9.85901274e-01 -1.77139109e-02 -3.68429082e+00] [-8.15092205e-02 4.15120448e-03 9.96663943e-01 -3.76970481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.171193817 meters 0.07637395621406719 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.69, Z:-3.77 [[ 9.82716819e-01 1.66711915e-01 8.04660877e-02 3.25812423e+01] [-1.65801432e-01 9.85996431e-01 -1.79143461e-02 -3.68686711e+00] [-8.23258102e-02 4.26333667e-03 9.96596350e-01 -3.77480907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.201193817 meters 0.07462527714530563 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.68, Z:-3.78 [[ 9.82911796e-01 1.65623416e-01 8.03323364e-02 3.26145935e+01] [-1.64710252e-01 9.86179378e-01 -1.79099558e-02 -3.68391491e+00] [-8.21884017e-02 4.37234751e-03 9.96607219e-01 -3.77552985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.231193817 meters 0.0758490166176456 Centerline is valid? [True, True] Translation: X:32.65, Y:-3.68, Z:-3.78 [[ 9.83402276e-01 1.62010382e-01 8.16859792e-02 3.26467645e+01] [-1.61052361e-01 9.86777528e-01 -1.82276710e-02 -3.68162287e+00] [-8.35589606e-02 4.76941337e-03 9.96491421e-01 -3.77873168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.261193817 meters 0.07603101437995995 Centerline is valid? [True, True] Translation: X:32.68, Y:-3.68, Z:-3.78 [[ 9.83898206e-01 1.59477854e-01 8.06915997e-02 3.26786177e+01] [-1.58534172e-01 9.87189204e-01 -1.80108974e-02 -3.68253729e+00] [-8.25302153e-02 4.92851371e-03 9.96576376e-01 -3.78125857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.291193817 meters 0.0771810933567713 Centerline is valid? [True, True] Translation: X:32.71, Y:-3.68, Z:-3.79 [[ 9.84201297e-01 1.57882841e-01 8.01299851e-02 3.27096206e+01] [-1.56947356e-01 9.87445077e-01 -1.78814804e-02 -3.68431652e+00] [-8.19471383e-02 5.02278695e-03 9.96624020e-01 -3.78573841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.321193817 meters 0.07769288360226334 Centerline is valid? [True, True] Translation: X:32.74, Y:-3.68, Z:-3.79 [[ 9.84427058e-01 1.56936246e-01 7.92110019e-02 3.27422942e+01] [-1.56016766e-01 9.87595716e-01 -1.77050987e-02 -3.68440298e+00] [-8.10070179e-02 5.07113387e-03 9.96700630e-01 -3.79016224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.351193817 meters 0.08205469689920886 Centerline is valid? [True, True] Translation: X:32.77, Y:-3.68, Z:-3.80 [[ 9.84326331e-01 1.58608372e-01 7.71042038e-02 3.27737908e+01] [-1.57742431e-01 9.87329904e-01 -1.72333007e-02 -3.68407783e+00] [-7.88606319e-02 4.80058712e-03 9.96874092e-01 -3.80082005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.381193816999996 meters 0.0771499032190231 Centerline is valid? [True, True] Translation: X:32.81, Y:-3.68, Z:-3.80 [[ 9.84020968e-01 1.60689342e-01 7.66920490e-02 3.28084210e+01] [-1.59837115e-01 9.86994165e-01 -1.71643649e-02 -3.67814321e+00] [-7.84527354e-02 4.63185916e-03 9.96907074e-01 -3.80162590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.411193817 meters 0.0771499032190231 Centerline is valid? [True, True] Translation: X:32.84, Y:-3.69, Z:-3.81 [[ 9.83968474e-01 1.61012672e-01 7.66874232e-02 3.28399714e+01] [-1.60159819e-01 9.86941492e-01 -1.71850021e-02 -3.68545557e+00] [-7.84530029e-02 4.62725651e-03 9.96907074e-01 -3.80534836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.441193817 meters 0.07571578179872895 Centerline is valid? [True, True] Translation: X:32.87, Y:-3.69, Z:-3.81 [[ 9.83549730e-01 1.63478557e-01 7.68419848e-02 3.28719905e+01] [-1.62626827e-01 9.86536733e-01 -1.72565850e-02 -3.68542003e+00] [-7.86285223e-02 4.47614140e-03 9.96893936e-01 -3.80909254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.471193817 meters 0.07381040566087402 Centerline is valid? [True, True] Translation: X:32.90, Y:-3.68, Z:-3.81 [[ 9.83037627e-01 1.65986565e-01 7.80095105e-02 3.29044855e+01] [-1.65116275e-01 9.86118444e-01 -1.75222452e-02 -3.68391486e+00] [-7.98350744e-02 4.34438657e-03 9.96798619e-01 -3.81103170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.501193817 meters 0.07187726768362829 Centerline is valid? [True, True] Translation: X:32.94, Y:-3.68, Z:-3.81 [[ 9.82186370e-01 1.70417023e-01 7.91705240e-02 3.29381141e+01] [-1.69534542e-01 9.85363714e-01 -1.77873526e-02 -3.67545520e+00] [-8.10430293e-02 4.04835675e-03 9.96702382e-01 -3.81381323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.531193817 meters 0.07064844145428954 Centerline is valid? [True, True] Translation: X:32.97, Y:-3.67, Z:-3.82 [[ 9.81700356e-01 1.73842519e-01 7.77379602e-02 3.29700902e+01] [-1.73002376e-01 9.84766523e-01 -1.74663629e-02 -3.67479866e+00] [-7.95901373e-02 3.69788289e-03 9.96820814e-01 -3.81897383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.561193816999996 meters 0.0700079564697549 Centerline is valid? [True, True] Translation: X:33.00, Y:-3.68, Z:-3.83 [[ 9.81000786e-01 1.78531771e-01 7.59201259e-02 3.30000496e+01] [-1.77744508e-01 9.83928814e-01 -1.70580840e-02 -3.67619150e+00] [-7.77454095e-02 3.23960838e-03 9.96967982e-01 -3.82592954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.591193817 meters 0.06761123981626191 Centerline is valid? [True, True] Translation: X:33.03, Y:-3.67, Z:-3.83 [[ 9.80074512e-01 1.83995395e-01 7.48307772e-02 3.30328388e+01] [-1.83245544e-01 9.82923181e-01 -1.68253165e-02 -3.67471602e+00] [-7.66486863e-02 2.77765735e-03 9.97054293e-01 -3.82988534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.621193817 meters 0.06426611211617042 Centerline is valid? [True, True] Translation: X:33.07, Y:-3.67, Z:-3.83 [[ 9.77783398e-01 1.95772244e-01 7.49189896e-02 3.30659265e+01] [-1.95054475e-01 9.80647619e-01 -1.68522943e-02 -3.66663524e+00] [-7.67683402e-02 1.86460931e-03 9.97047213e-01 -3.83368540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.651193817 meters 0.06341076775188491 Centerline is valid? [True, True] Translation: X:33.10, Y:-3.67, Z:-3.84 [[ 9.76694998e-01 2.00805413e-01 7.57896233e-02 3.30950553e+01] [-2.00085710e-01 9.79630016e-01 -1.70511064e-02 -3.66732507e+00] [-7.76697443e-02 1.48930973e-03 9.96978030e-01 -3.83801221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.681193817 meters 0.06266118521206832 Centerline is valid? [True, True] Translation: X:33.12, Y:-3.67, Z:-3.84 [[ 9.75931817e-01 2.04708008e-01 7.51779272e-02 3.31238702e+01] [-2.04011756e-01 9.78822391e-01 -1.69094660e-02 -3.66829219e+00] [-7.70473416e-02 1.16530494e-03 9.97026755e-01 -3.84107539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.711193817 meters 0.062276680601020214 Centerline is valid? [True, True] Translation: X:33.15, Y:-3.67, Z:-3.84 [[ 9.75131243e-01 2.08352519e-01 7.55532102e-02 3.31513570e+01] [-2.07660659e-01 9.78053404e-01 -1.69879395e-02 -3.67058250e+00] [-7.74345544e-02 8.76041081e-04 9.96997052e-01 -3.84489963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.741193817 meters 0.06169695069140923 Centerline is valid? [True, True] Translation: X:33.18, Y:-3.67, Z:-3.85 [[ 9.74029807e-01 2.12717471e-01 7.75707005e-02 3.31794434e+01] [-2.12002677e-01 9.77113603e-01 -1.74319408e-02 -3.67460968e+00] [-7.95034650e-02 5.34033741e-04 9.96834447e-01 -3.84753205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.771193817 meters 0.06164540879470157 Centerline is valid? [True, True] Translation: X:33.21, Y:-3.68, Z:-3.85 [[ 9.73736433e-01 2.13765780e-01 7.83680449e-02 3.32067383e+01] [-2.13040199e-01 9.76884841e-01 -1.76034345e-02 -3.68210194e+00] [-8.03195670e-02 4.45561697e-04 9.96769065e-01 -3.85101009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.801193817 meters 0.0614003307271791 Centerline is valid? [True, True] Translation: X:33.23, Y:-3.69, Z:-3.85 [[ 9.73614055e-01 2.14003096e-01 7.92360191e-02 3.32342970e+01] [-2.13262460e-01 9.76832889e-01 -1.77941121e-02 -3.69067213e+00] [-8.12083445e-02 4.26529346e-04 9.96697057e-01 -3.85254570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.831193817 meters 0.061060217361032024 Centerline is valid? [True, True] Translation: X:33.26, Y:-3.70, Z:-3.85 [[ 9.73426668e-01 2.14576010e-01 7.99853610e-02 3.32617015e+01] [-2.13823777e-01 9.76707221e-01 -1.79554263e-02 -3.70092085e+00] [-8.19750834e-02 3.75518769e-04 9.96634308e-01 -3.85414652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.861193817 meters 0.06103532464984935 Centerline is valid? [True, True] Translation: X:33.29, Y:-3.71, Z:-3.86 [[ 9.73443939e-01 2.14082877e-01 8.10889550e-02 3.32879609e+01] [-2.13308608e-01 9.76815412e-01 -1.81958452e-02 -3.71285845e+00] [-8.31043599e-02 4.15663134e-04 9.96540763e-01 -3.85743316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.891193817 meters 0.06108224184265575 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.72, Z:-3.86 [[ 9.73499098e-01 2.13664583e-01 8.15288390e-02 3.33137778e+01] [-2.12880960e-01 9.76906979e-01 -1.82880077e-02 -3.72462084e+00] [-8.35535914e-02 4.47421449e-04 9.96503185e-01 -3.86105053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.921193817 meters 0.061412451035317187 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.74, Z:-3.87 [[ 9.73819598e-01 2.12388255e-01 8.10346769e-02 3.33396414e+01] [-2.11610546e-01 9.77185209e-01 -1.81670938e-02 -3.74032279e+00] [-8.30443651e-02 5.43679723e-04 9.96545703e-01 -3.86644647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.951193817 meters 0.06163246243750183 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.75, Z:-3.87 [[ 9.73938017e-01 2.12176671e-01 8.01610823e-02 3.33660343e+01] [-2.11415411e-01 9.77231169e-01 -1.79657107e-02 -3.75092321e+00] [-8.21478128e-02 5.50200490e-04 9.96620005e-01 -3.87141164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.981193817 meters 0.06187050776294765 Centerline is valid? [True, True] Translation: X:33.39, Y:-3.76, Z:-3.88 [[ 9.73954664e-01 2.12478839e-01 7.91521066e-02 3.33929046e+01] [-2.11737991e-01 9.77165533e-01 -1.77353983e-02 -3.76192599e+00] [-8.11131073e-02 5.13965825e-04 9.96704771e-01 -3.87676239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.011193817 meters 0.06175259286050443 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.78, Z:-3.88 [[ 9.73203579e-01 2.15927731e-01 7.90569917e-02 3.34190976e+01] [-2.15200341e-01 9.76409323e-01 -1.77101065e-02 -3.77638239e+00] [-8.10160868e-02 2.22447474e-04 9.96712769e-01 -3.88195252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.041193817 meters 0.061579259023730334 Centerline is valid? [True, True] Translation: X:33.45, Y:-3.79, Z:-3.88 [[ 9.72749323e-01 2.17625062e-01 7.99880438e-02 3.34472620e+01] [-2.16886220e-01 9.76032441e-01 -1.79176371e-02 -3.78690812e+00] [-8.19702525e-02 8.10649017e-05 9.96634773e-01 -3.88433371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.071193817 meters 0.06160010676989453 Centerline is valid? [True, True] Translation: X:33.48, Y:-3.80, Z:-3.89 [[ 9.72407205e-01 2.19125201e-01 8.00523232e-02 3.34753471e+01] [-2.18390514e-01 9.75696748e-01 -1.79287259e-02 -3.79669952e+00] [-8.20354271e-02 -4.86457573e-05 9.96629413e-01 -3.88836517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.101193817 meters 0.061495018514250384 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.81, Z:-3.89 [[ 9.72157921e-01 2.20034490e-01 8.05841173e-02 3.35034515e+01] [-2.19293388e-01 9.75492084e-01 -1.80444877e-02 -3.80642873e+00] [-8.25795782e-02 -1.29472489e-04 9.96584465e-01 -3.89176719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.131193816999996 meters 0.06165108192139752 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.82, Z:-3.90 [[ 9.72004673e-01 2.20666789e-01 8.07036845e-02 3.35313885e+01] [-2.19925985e-01 9.75349236e-01 -1.80673162e-02 -3.81644790e+00] [-8.27011337e-02 -1.87321567e-04 9.96574376e-01 -3.89607176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.161193817 meters 0.06158086743010415 Centerline is valid? [True, True] Translation: X:33.56, Y:-3.83, Z:-3.90 [[ 9.71956133e-01 2.20730023e-01 8.11143195e-02 3.35594349e+01] [-2.19982058e-01 9.75334926e-01 -1.81569652e-02 -3.82768001e+00] [-8.31214162e-02 -1.95921285e-04 9.96539408e-01 -3.89960470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.191193817 meters 0.061095856144817946 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.85, Z:-3.90 [[ 9.72031320e-01 2.20171603e-01 8.17286890e-02 3.35881828e+01] [-2.19411036e-01 9.75461142e-01 -1.82854353e-02 -3.84621767e+00] [-8.37490939e-02 -1.58160472e-04 9.96486861e-01 -3.90013988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.221193817 meters 0.0610195212899309 Centerline is valid? [True, True] Translation: X:33.62, Y:-3.86, Z:-3.90 [[ 9.72156315e-01 2.19696610e-01 8.15199242e-02 3.36188626e+01] [-2.18936298e-01 9.75568240e-01 -1.82621604e-02 -3.85900130e+00] [-8.35403837e-02 -9.39958694e-05 9.96504388e-01 -3.90385993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.251193817 meters 0.06118897394160924 Centerline is valid? [True, True] Translation: X:33.65, Y:-3.87, Z:-3.91 [[ 9.72667297e-01 2.17392791e-01 8.16008824e-02 3.36485072e+01] [-2.16620400e-01 9.76084196e-01 -1.83097108e-02 -3.87239979e+00] [-8.36297307e-02 1.32841131e-04 9.96496889e-01 -3.90920427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.281193817 meters 0.06147069618841396 Centerline is valid? [True, True] Translation: X:33.68, Y:-3.90, Z:-3.91 [[ 9.73768295e-01 2.12118918e-01 8.23460470e-02 3.36765187e+01] [-2.11311242e-01 9.77243666e-01 -1.85033909e-02 -3.89658857e+00] [-8.43970722e-02 6.17369957e-04 9.96432011e-01 -3.91137006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.311193816999996 meters 0.06168508004085413 Centerline is valid? [True, True] Translation: X:33.71, Y:-3.91, Z:-3.91 [[ 9.74584971e-01 2.08199959e-01 8.26856118e-02 3.37057990e+01] [-2.07368931e-01 9.78085781e-01 -1.86099602e-02 -3.91384907e+00] [-8.47482142e-02 9.90560543e-04 9.96401906e-01 -3.91339011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.341193817 meters 0.062348569582573024 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.93, Z:-3.92 [[ 9.75300579e-01 2.04691209e-01 8.30077712e-02 3.37347965e+01] [-2.03838729e-01 9.78825699e-01 -1.87089077e-02 -3.92998268e+00] [-8.50796886e-02 1.32660988e-03 9.96373267e-01 -3.91667441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.371193817 meters 0.06313751039161612 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.94, Z:-3.92 [[ 9.75939151e-01 2.01530312e-01 8.32364534e-02 3.37640888e+01] [-2.00659387e-01 9.79480918e-01 -1.87867644e-02 -3.94494525e+00] [-8.53146203e-02 1.63256317e-03 9.96352724e-01 -3.92083855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.401193817 meters 0.06433451640504641 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.96, Z:-3.93 [[ 9.76743220e-01 1.97887915e-01 8.25412271e-02 3.37921607e+01] [-1.97016293e-01 9.80222694e-01 -1.86560955e-02 -3.95969548e+00] [-8.46005998e-02 1.96024818e-03 9.96413015e-01 -3.92502463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.431193817 meters 0.06625718868365492 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.98, Z:-3.93 [[ 9.78071512e-01 1.91741074e-01 8.13109928e-02 3.38189192e+01] [-1.90871498e-01 9.81442400e-01 -1.84088911e-02 -3.97847470e+00] [-8.33317965e-02 2.48526093e-03 9.96518758e-01 -3.92980733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.461193817 meters 0.0659017886380516 Centerline is valid? [True, True] Translation: X:33.85, Y:-3.99, Z:-3.93 [[ 9.78291628e-01 1.90685786e-01 8.11444517e-02 3.38497040e+01] [-1.89816701e-01 9.81647778e-01 -1.83646417e-02 -3.98668697e+00] [-8.31571469e-02 2.56340309e-03 9.96533149e-01 -3.93065981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.491193817 meters 0.0670112114057662 Centerline is valid? [True, True] Translation: X:33.88, Y:-4.00, Z:-3.94 [[ 9.78364336e-01 1.90384524e-01 8.09750532e-02 3.38790519e+01] [-1.89516029e-01 9.81706135e-01 -1.83504750e-02 -3.99657621e+00] [-8.29873529e-02 2.60737970e-03 9.96547189e-01 -3.93619468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.521193817 meters 0.06749132731191411 Centerline is valid? [True, True] Translation: X:33.91, Y:-4.00, Z:-3.94 [[ 9.78123958e-01 1.91341144e-01 8.16216265e-02 3.39093887e+01] [-1.90459999e-01 9.81520229e-01 -1.85210186e-02 -4.00415736e+00] [-8.36571105e-02 2.57019711e-03 9.96491285e-01 -3.94108084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.551193817 meters 0.06587656700736795 Centerline is valid? [True, True] Translation: X:33.94, Y:-4.01, Z:-3.94 [[ 9.77539623e-01 1.93633619e-01 8.32004064e-02 3.39416503e+01] [-1.92723459e-01 9.81070847e-01 -1.89119320e-02 -4.00716317e+00] [-8.52874790e-02 2.45249268e-03 9.96353367e-01 -3.94151892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.581193817 meters 0.06347628305588741 Centerline is valid? [True, True] Translation: X:33.97, Y:-4.01, Z:-3.94 [[ 9.75981585e-01 1.99447397e-01 8.76394965e-02 3.39734212e+01] [-1.98459985e-01 9.79906376e-01 -1.99280622e-02 -4.00765740e+00] [-8.98531016e-02 2.05648850e-03 9.95952906e-01 -3.93904087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.611193817 meters 0.06239572584329958 Centerline is valid? [True, True] Translation: X:34.00, Y:-4.01, Z:-3.94 [[ 9.74915104e-01 2.03532212e-01 9.00842889e-02 3.40036067e+01] [-2.02505995e-01 9.79066723e-01 -2.04859546e-02 -4.01085448e+00] [-9.23680811e-02 1.72945803e-03 9.95723429e-01 -3.94084759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.641193817 meters 0.06121104300051149 Centerline is valid? [True, True] Translation: X:34.04, Y:-4.01, Z:-3.94 [[ 9.73920286e-01 2.07344008e-01 9.21289235e-02 3.40358341e+01] [-2.06287477e-01 9.78267091e-01 -2.09517276e-02 -4.01359712e+00] [-9.44709092e-02 1.40026933e-03 9.95526638e-01 -3.94216507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.671193817 meters 0.06048893465127213 Centerline is valid? [True, True] Translation: X:34.07, Y:-4.02, Z:-3.95 [[ 9.72918671e-01 2.11561372e-01 9.31184504e-02 3.40674981e+01] [-2.10500783e-01 9.77364197e-01 -2.11812865e-02 -4.01635788e+00] [-9.54917815e-02 1.00616242e-03 9.95429710e-01 -3.94535922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.701193817 meters 0.059926226304384746 Centerline is valid? [True, True] Translation: X:34.10, Y:-4.02, Z:-3.95 [[ 9.71776268e-01 2.16678366e-01 9.32811395e-02 3.40992324e+01] [-2.15634807e-01 9.76242901e-01 -2.12468311e-02 -4.01618073e+00] [-9.56687789e-02 5.32505678e-04 9.95413081e-01 -3.95158937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.731193817 meters 0.060130260687186216 Centerline is valid? [True, True] Translation: X:34.13, Y:-4.02, Z:-3.96 [[ 9.71722854e-01 2.17382092e-01 9.21939306e-02 3.41302672e+01] [-2.16363569e-01 9.76086468e-01 -2.10240912e-02 -4.02376300e+00] [-9.45595091e-02 4.82181987e-04 9.95519094e-01 -3.95819958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.761193817 meters 0.06048189525088164 Centerline is valid? [True, True] Translation: X:34.16, Y:-4.03, Z:-3.96 [[ 9.72006557e-01 2.16738345e-01 9.07069118e-02 3.41588494e+01] [-2.15746942e-01 9.76229569e-01 -2.07143895e-02 -4.03392736e+00] [-9.30403719e-02 5.64783514e-04 9.95662177e-01 -3.96471402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.791193817 meters 0.060992791164125995 Centerline is valid? [True, True] Translation: X:34.19, Y:-4.05, Z:-3.97 [[ 9.72605856e-01 2.14871179e-01 8.87030165e-02 3.41868512e+01] [-2.13914057e-01 9.76642118e-01 -2.02718958e-02 -4.04633322e+00] [-9.09869480e-02 7.41742365e-04 9.95851809e-01 -3.97127781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.821193817 meters 0.06151310479385943 Centerline is valid? [True, True] Translation: X:34.22, Y:-4.06, Z:-3.98 [[ 9.72994033e-01 2.14222927e-01 8.59717956e-02 3.42152779e+01] [-2.13321635e-01 9.76784488e-01 -1.96454519e-02 -4.06075572e+00] [-8.81844226e-02 7.75263473e-04 9.96103863e-01 -3.97784520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.851193817 meters 0.06139461790878379 Centerline is valid? [True, True] Translation: X:34.25, Y:-4.07, Z:-3.98 [[ 9.72572978e-01 2.16659962e-01 8.46183428e-02 3.42461401e+01] [-2.15794194e-01 9.76246966e-01 -1.93578553e-02 -4.06728466e+00] [-8.68024726e-02 5.66779922e-04 9.96225381e-01 -3.98320053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.881193816999996 meters 0.061143517208874024 Centerline is valid? [True, True] Translation: X:34.28, Y:-4.07, Z:-3.99 [[ 9.71743848e-01 2.20737053e-01 8.36005205e-02 3.42783208e+01] [-2.19905133e-01 9.75333330e-01 -1.91475424e-02 -4.07266940e+00] [-8.57649461e-02 2.22322928e-04 9.96315374e-01 -3.98766732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.911193817 meters 0.06103016152299951 Centerline is valid? [True, True] Translation: X:34.31, Y:-4.08, Z:-3.99 [[ 9.70700639e-01 2.25632899e-01 8.26442076e-02 3.43097390e+01] [-2.24835258e-01 9.74212381e-01 -1.89563753e-02 -4.07735620e+00] [-8.47901922e-02 -1.80366169e-04 9.96398811e-01 -3.99135830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.941193817 meters 0.061086145320034334 Centerline is valid? [True, True] Translation: X:34.34, Y:-4.08, Z:-3.99 [[ 9.69605009e-01 2.31203734e-01 8.00684676e-02 3.43408389e+01] [-2.30471846e-01 9.72905159e-01 -1.83923753e-02 -4.08320470e+00] [-8.21514110e-02 -6.20188319e-04 9.96619667e-01 -3.99442441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.971193817 meters 0.061169547932134 Centerline is valid? [True, True] Translation: X:34.37, Y:-4.09, Z:-4.00 [[ 9.69488510e-01 2.31633669e-01 8.02363571e-02 3.43722733e+01] [-2.30899693e-01 9.72802867e-01 -1.84367513e-02 -4.09226806e+00] [-8.23247306e-02 -6.52331741e-04 9.96605345e-01 -3.99903115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.001193817 meters 0.0609513204644746 Centerline is valid? [True, True] Translation: X:34.40, Y:-4.10, Z:-4.00 [[ 9.69795909e-01 2.30294844e-01 8.03752450e-02 3.44022057e+01] [-2.29551243e-01 9.73120766e-01 -1.84987122e-02 -4.10367319e+00] [-8.24749780e-02 -5.10261986e-04 9.96593005e-01 -4.00193086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.031193817 meters 0.0607231623689476 Centerline is valid? [True, True] Translation: X:34.43, Y:-4.12, Z:-4.00 [[ 9.70126779e-01 2.28253462e-01 8.21850891e-02 3.44319501e+01] [-2.27466367e-01 9.73601693e-01 -1.89419172e-02 -4.11794400e+00] [-8.43391001e-02 -3.18282490e-04 9.96437060e-01 -4.00369012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.061193817 meters 0.060837494667551645 Centerline is valid? [True, True] Translation: X:34.46, Y:-4.14, Z:-4.01 [[ 9.71726364e-01 2.20943070e-01 8.32588279e-02 3.44586003e+01] [-2.20106055e-01 9.75286644e-01 -1.92168069e-02 -4.14228799e+00] [-8.54470432e-02 3.47705734e-04 9.96342653e-01 -4.00569120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.091193817 meters 0.061231007975030324 Centerline is valid? [True, True] Translation: X:34.49, Y:-4.16, Z:-4.01 [[ 9.72695149e-01 2.16672394e-01 8.31698339e-02 3.44881266e+01] [-2.15819570e-01 9.76244088e-01 -1.92196418e-02 -4.15757197e+00] [-8.53584245e-02 7.45174558e-04 9.96350031e-01 -4.00877498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.121193817 meters 0.061868123740566 Centerline is valid? [True, True] Translation: X:34.52, Y:-4.17, Z:-4.01 [[ 9.73582616e-01 2.12628022e-01 8.32238829e-02 3.45173150e+01] [-2.11757009e-01 9.77132567e-01 -1.92591632e-02 -4.17103902e+00] [-8.54158041e-02 1.12714593e-03 9.96344755e-01 -4.01234852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.151193817 meters 0.06273053113659295 Centerline is valid? [True, True] Translation: X:34.55, Y:-4.18, Z:-4.02 [[ 9.74381860e-01 2.09103747e-01 8.27986313e-02 3.45457967e+01] [-2.08226281e-01 9.77892373e-01 -1.91917258e-02 -4.18277009e+00] [-8.49812118e-02 1.45921845e-03 9.96381485e-01 -4.01673693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.181193817 meters 0.06322214327256923 Centerline is valid? [True, True] Translation: X:34.58, Y:-4.20, Z:-4.02 [[ 9.75269661e-01 2.04777557e-01 8.31579309e-02 3.45755454e+01] [-2.03876709e-01 9.78806799e-01 -1.92753262e-02 -4.19507393e+00] [-8.53427023e-02 1.84467559e-03 9.96349949e-01 -4.01788761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.211193817 meters 0.06356820665150834 Centerline is valid? [True, True] Translation: X:34.61, Y:-4.21, Z:-4.02 [[ 9.75532861e-01 2.03621879e-01 8.29081874e-02 3.46062926e+01] [-2.02721482e-01 9.79047665e-01 -1.92267921e-02 -4.20568877e+00] [-8.50860629e-02 1.94909689e-03 9.96371699e-01 -4.02081063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.241193817 meters 0.06404362405564053 Centerline is valid? [True, True] Translation: X:34.64, Y:-4.22, Z:-4.02 [[ 9.75597927e-01 2.03255798e-01 8.30407493e-02 3.46361596e+01] [-2.02348930e-01 9.79123608e-01 -1.92839554e-02 -4.21619243e+00] [-8.52267338e-02 2.01018014e-03 9.96359555e-01 -4.02374199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.271193817 meters 0.06368868666395858 Centerline is valid? [True, True] Translation: X:34.67, Y:-4.22, Z:-4.03 [[ 9.75512688e-01 2.03253639e-01 8.40413858e-02 3.46675910e+01] [-2.02322126e-01 9.79123944e-01 -1.95463688e-02 -4.22374998e+00] [-8.62598037e-02 2.06429896e-03 9.96270538e-01 -4.02530140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.301193817 meters 0.06368868666395858 Centerline is valid? [True, True] Translation: X:34.70, Y:-4.23, Z:-4.03 [[ 9.75442341e-01 2.03593309e-01 8.40357256e-02 3.46989820e+01] [-2.02660961e-01 9.79053382e-01 -1.95706690e-02 -4.23132366e+00] [-8.62599185e-02 2.05929829e-03 9.96270538e-01 -4.02901693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.331193817 meters 0.06362562771615678 Centerline is valid? [True, True] Translation: X:34.73, Y:-4.24, Z:-4.03 [[ 9.75226421e-01 2.03924498e-01 8.57217993e-02 3.47290279e+01] [-2.02952542e-01 9.78984356e-01 -1.99973876e-02 -4.23830765e+00] [-8.79982577e-02 2.10452363e-03 9.96118405e-01 -4.03066919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.361193817 meters 0.06353406581948226 Centerline is valid? [True, True] Translation: X:34.76, Y:-4.24, Z:-4.03 [[ 9.75074109e-01 2.04319242e-01 8.65108601e-02 3.47605147e+01] [-2.03328560e-01 9.78902029e-01 -2.02067859e-02 -4.24496471e+00] [-8.88142917e-02 2.11298521e-03 9.96045961e-01 -4.03355549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.391193817 meters 0.0634256330756961 Centerline is valid? [True, True] Translation: X:34.79, Y:-4.25, Z:-4.04 [[ 9.74953553e-01 2.04958522e-01 8.63572433e-02 3.47916122e+01] [-2.03971511e-01 9.78768456e-01 -2.01973473e-02 -4.24901600e+00] [-8.86633641e-02 2.07705817e-03 9.96059483e-01 -4.03814870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.421193817 meters 0.06320980785589553 Centerline is valid? [True, True] Translation: X:34.82, Y:-4.25, Z:-4.04 [[ 9.74680799e-01 2.06535284e-01 8.56768093e-02 3.48233103e+01] [-2.05567318e-01 9.78437217e-01 -2.00671645e-02 -4.25492900e+00] [-8.79739563e-02 1.94672802e-03 9.96120873e-01 -4.04309513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.451193817 meters 0.06281346826143544 Centerline is valid? [True, True] Translation: X:34.85, Y:-4.26, Z:-4.05 [[ 9.74133850e-01 2.09464088e-01 8.47823040e-02 3.48537305e+01] [-2.08525038e-01 9.77814879e-01 -1.98839153e-02 -4.26050558e+00] [-8.70663646e-02 1.69036177e-03 9.96201080e-01 -4.04824118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.481193817 meters 0.06089512206307573 Centerline is valid? [True, True] Translation: X:34.89, Y:-4.26, Z:-4.05 [[ 9.72871929e-01 2.15285802e-01 8.46890341e-02 3.48864900e+01] [-2.14368804e-01 9.76550360e-01 -1.98849260e-02 -4.26315201e+00] [-8.69840490e-02 1.19079939e-03 9.96208993e-01 -4.04880980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.511193817 meters 0.06087924585809255 Centerline is valid? [True, True] Translation: X:34.92, Y:-4.27, Z:-4.06 [[ 9.72130082e-01 2.18573647e-01 8.47859951e-02 3.49169523e+01] [-2.17664570e-01 9.75820017e-01 -1.99356433e-02 -4.26862838e+00] [-8.70932774e-02 9.25131361e-04 9.96199732e-01 -4.05532555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.541193817 meters 0.06036589695413343 Centerline is valid? [True, True] Translation: X:34.95, Y:-4.27, Z:-4.06 [[ 9.71315073e-01 2.22263764e-01 8.45331203e-02 3.49490771e+01] [-2.21371895e-01 9.74986379e-01 -1.99008780e-02 -4.27214935e+00] [-8.68418849e-02 6.16765656e-04 9.96221916e-01 -4.05988020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.571193817 meters 0.05999825527434436 Centerline is valid? [True, True] Translation: X:34.98, Y:-4.28, Z:-4.06 [[ 9.70923932e-01 2.24689862e-01 8.25904650e-02 3.49806810e+01] [-2.23845370e-01 9.74430241e-01 -1.94667691e-02 -4.27687900e+00] [-8.48526324e-02 4.13258777e-04 9.96393426e-01 -4.06134149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.601193817 meters 0.06012901112378997 Centerline is valid? [True, True] Translation: X:35.01, Y:-4.28, Z:-4.07 [[ 9.70426134e-01 2.27830598e-01 7.97893327e-02 3.50100731e+01] [-2.27051056e-01 9.73700772e-01 -1.88314795e-02 -4.28417462e+00] [-8.19813220e-02 1.58307641e-04 9.96633853e-01 -4.06912581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.631193816999996 meters 0.06001811819743789 Centerline is valid? [True, True] Translation: X:35.04, Y:-4.29, Z:-4.07 [[ 9.70230743e-01 2.28498600e-01 8.02539480e-02 3.50411383e+01] [-2.27710337e-01 9.73544233e-01 -1.89638554e-02 -4.29322088e+00] [-8.24639827e-02 1.24661922e-04 9.96594038e-01 -4.07152880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.661193817 meters 0.05980171749365469 Centerline is valid? [True, True] Translation: X:35.07, Y:-4.30, Z:-4.07 [[ 9.70062354e-01 2.28728092e-01 8.16240772e-02 3.50722906e+01] [-2.27911199e-01 9.73490340e-01 -1.93143222e-02 -4.30167669e+00] [-8.38779787e-02 1.33055521e-04 9.96476024e-01 -4.07402950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.691193817 meters 0.059575695078743864 Centerline is valid? [True, True] Translation: X:35.10, Y:-4.31, Z:-4.08 [[ 9.69923162e-01 2.28704215e-01 8.33273186e-02 3.51039379e+01] [-2.27850043e-01 9.73495944e-01 -1.97485241e-02 -4.30986746e+00] [-8.56353774e-02 1.68417840e-04 9.96326530e-01 -4.07617951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.721193817 meters 0.05958853995848488 Centerline is valid? [True, True] Translation: X:35.13, Y:-4.32, Z:-4.08 [[ 9.69889010e-01 2.28562581e-01 8.41097817e-02 3.51346248e+01] [-2.27690794e-01 9.73529203e-01 -1.99447411e-02 -4.31831982e+00] [-8.64419502e-02 1.93162166e-04 9.96256870e-01 -4.07941888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.751193817 meters 0.05966856627468951 Centerline is valid? [True, True] Translation: X:35.16, Y:-4.33, Z:-4.08 [[ 9.70185719e-01 2.28076383e-01 8.19806907e-02 3.51648381e+01] [-2.27244432e-01 9.73643209e-01 -1.94645759e-02 -4.32895184e+00] [-8.42593529e-02 2.54598091e-04 9.96443825e-01 -4.08382530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.781193817 meters 0.059867635296784 Centerline is valid? [True, True] Translation: X:35.20, Y:-4.34, Z:-4.09 [[ 9.70318933e-01 2.27454607e-01 8.21314182e-02 3.51950896e+01] [-2.26615232e-01 9.73788627e-01 -1.95255392e-02 -4.33856617e+00] [-8.44198148e-02 3.33770034e-04 9.96430220e-01 -4.08869771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.811193817 meters 0.06000920687947661 Centerline is valid? [True, True] Translation: X:35.23, Y:-4.35, Z:-4.09 [[ 9.70666458e-01 2.26048442e-01 8.19068287e-02 3.52259444e+01] [-2.25206289e-01 9.74115942e-01 -1.95002062e-02 -4.34859994e+00] [-8.41947389e-02 4.82263156e-04 9.96449203e-01 -4.09231499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.841193817 meters 0.060082185259088566 Centerline is valid? [True, True] Translation: X:35.26, Y:-4.36, Z:-4.10 [[ 9.71129796e-01 2.23802624e-01 8.25790779e-02 3.52576295e+01] [-2.22936404e-01 9.74634232e-01 -1.96843378e-02 -4.35908477e+00] [-8.48898027e-02 7.06164292e-04 9.96390096e-01 -4.09509201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.871193817 meters 0.06086846842955176 Centerline is valid? [True, True] Translation: X:35.29, Y:-4.38, Z:-4.10 [[ 9.72121183e-01 2.18156969e-01 8.59531385e-02 3.52854653e+01] [-2.17193363e-01 9.75912852e-01 -2.05218933e-02 -4.37502170e+00] [-8.83597666e-02 1.28131600e-03 9.96087802e-01 -4.09710889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.901193817 meters 0.061961161381131266 Centerline is valid? [True, True] Translation: X:35.31, Y:-4.39, Z:-4.10 [[ 9.73015929e-01 2.14805273e-01 8.42537576e-02 3.53138099e+01] [-2.13864355e-01 9.76655614e-01 -2.01457137e-02 -4.38684190e+00] [-8.66143109e-02 1.58322488e-03 9.96240661e-01 -4.10230156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.931193817 meters 0.0626149356883341 Centerline is valid? [True, True] Translation: X:35.34, Y:-4.40, Z:-4.11 [[ 9.73504851e-01 2.12952116e-01 8.33048685e-02 3.53440246e+01] [-2.12025846e-01 9.77061114e-01 -1.99153044e-02 -4.39701360e+00] [-8.56349539e-02 1.72486018e-03 9.96325087e-01 -4.10738749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.961193817 meters 0.06324745097004468 Centerline is valid? [True, True] Translation: X:35.37, Y:-4.41, Z:-4.11 [[ 9.73897719e-01 2.11591225e-01 8.21728999e-02 3.53745298e+01] [-2.10683128e-01 9.77356515e-01 -1.96688314e-02 -4.40584214e+00] [-8.44739712e-02 1.84298650e-03 9.96423982e-01 -4.11258795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.991193817 meters 0.06379934341903634 Centerline is valid? [True, True] Translation: X:35.40, Y:-4.41, Z:-4.12 [[ 9.74115400e-01 2.10878347e-01 8.14218016e-02 3.54047920e+01] [-2.09982267e-01 9.77510445e-01 -1.95135333e-02 -4.41446727e+00] [-8.37056432e-02 1.91129885e-03 9.96488691e-01 -4.11673113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.021193817 meters 0.0639996024286111 Centerline is valid? [True, True] Translation: X:35.44, Y:-4.42, Z:-4.12 [[ 9.74061825e-01 2.11101688e-01 8.14839794e-02 3.54361333e+01] [-2.10203290e-01 9.77462232e-01 -1.95489658e-02 -4.42339031e+00] [-8.37743321e-02 1.91370073e-03 9.96482915e-01 -4.12140378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.051193817 meters 0.06347152496788983 Centerline is valid? [True, True] Translation: X:35.47, Y:-4.43, Z:-4.12 [[ 9.73903404e-01 2.11828799e-01 8.14906116e-02 3.54677760e+01] [-2.10930514e-01 9.77304985e-01 -1.95776677e-02 -4.43097339e+00] [-8.37882947e-02 1.87790066e-03 9.96481809e-01 -4.12372691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.081193817 meters 0.0627271483347677 Centerline is valid? [True, True] Translation: X:35.50, Y:-4.44, Z:-4.13 [[ 9.74063262e-01 2.11512349e-01 8.03945763e-02 3.54989533e+01] [-2.10634690e-01 9.77373465e-01 -1.93426515e-02 -4.43658533e+00] [-8.26667353e-02 1.90707962e-03 9.96575423e-01 -4.12538127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.111193817 meters 0.06488804240968732 Centerline is valid? [True, True] Translation: X:35.53, Y:-4.45, Z:-4.13 [[ 9.74327347e-01 2.10767892e-01 7.91398548e-02 3.55267761e+01] [-2.09913016e-01 9.77534164e-01 -1.90652723e-02 -4.44818518e+00] [-8.13802590e-02 1.96333050e-03 9.96681192e-01 -4.13498285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.141193817 meters 0.06427853118957018 Centerline is valid? [True, True] Translation: X:35.56, Y:-4.46, Z:-4.14 [[ 9.74594793e-01 2.10074467e-01 7.76769414e-02 3.55577783e+01] [-2.09247400e-01 9.77683342e-01 -1.87298850e-02 -4.45518541e+00] [-7.98781223e-02 2.00035033e-03 9.96802631e-01 -4.13713443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.171193817 meters 0.06366180817287291 Centerline is valid? [True, True] Translation: X:35.59, Y:-4.46, Z:-4.14 [[ 9.74564850e-01 2.10040239e-01 7.81437867e-02 3.55901845e+01] [-2.09201273e-01 9.77690620e-01 -1.88647672e-02 -4.46314494e+00] [-8.03628075e-02 2.03715937e-03 9.96763597e-01 -4.13878850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.201193817 meters 0.06282429239975722 Centerline is valid? [True, True] Translation: X:35.62, Y:-4.47, Z:-4.14 [[ 9.74051424e-01 2.11990028e-01 7.92720081e-02 3.56225055e+01] [-2.11130519e-01 9.77269915e-01 -1.91681094e-02 -4.46781728e+00] [-8.15335967e-02 1.93398408e-03 9.96668717e-01 -4.14038336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.231193817 meters 0.062052909739784355 Centerline is valid? [True, True] Translation: X:35.65, Y:-4.47, Z:-4.14 [[ 9.73231957e-01 2.16013994e-01 7.84698224e-02 3.56535702e+01] [-2.15182782e-01 9.76388947e-01 -1.89998646e-02 -4.47097884e+00] [-8.07213039e-02 1.60592067e-03 9.96735417e-01 -4.14444096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.261193817 meters 0.0608651464521309 Centerline is valid? [True, True] Translation: X:35.69, Y:-4.47, Z:-4.15 [[ 9.72230614e-01 2.20869438e-01 7.73584138e-02 3.56865275e+01] [-2.20075270e-01 9.75302638e-01 -1.87520744e-02 -4.47248909e+00] [-7.95896252e-02 1.20666703e-03 9.96826984e-01 -4.14792854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.291193817 meters 0.0606026700975981 Centerline is valid? [True, True] Translation: X:35.72, Y:-4.47, Z:-4.15 [[ 9.71141837e-01 2.25870040e-01 7.65914908e-02 3.57173697e+01] [-2.25105065e-01 9.74157104e-01 -1.85915901e-02 -4.47461119e+00] [-7.88114280e-02 8.13938448e-04 9.96889210e-01 -4.15465717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.321193817 meters 0.059985217787886944 Centerline is valid? [True, True] Translation: X:35.75, Y:-4.48, Z:-4.16 [[ 9.70341403e-01 2.29275707e-01 7.66173040e-02 3.57495078e+01] [-2.28519083e-01 9.73361360e-01 -1.86196299e-02 -4.47705991e+00] [-7.88453520e-02 5.58881751e-04 9.96886703e-01 -4.15757092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.351193817 meters 0.05979210824608847 Centerline is valid? [True, True] Translation: X:35.78, Y:-4.48, Z:-4.16 [[ 9.70071214e-01 2.29323336e-01 7.98288579e-02 3.57797182e+01] [-2.28499104e-01 9.73350108e-01 -1.94352067e-02 -4.48358131e+00] [-8.21583739e-02 6.12712074e-04 9.96619098e-01 -4.15894777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.381193816999996 meters 0.059514535134160954 Centerline is valid? [True, True] Translation: X:35.81, Y:-4.49, Z:-4.16 [[ 9.70501975e-01 2.26821681e-01 8.17180573e-02 3.58104977e+01] [-2.25949400e-01 9.73935942e-01 -1.98909332e-02 -4.49425276e+00] [-8.40998480e-02 8.40043992e-04 9.96456978e-01 -4.15842581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.411193817 meters 0.06004988008636047 Centerline is valid? [True, True] Translation: X:35.84, Y:-4.51, Z:-4.16 [[ 9.71079626e-01 2.23925507e-01 8.28355401e-02 3.58401844e+01] [-2.23016374e-01 9.74605606e-01 -2.01893642e-02 -4.50635139e+00] [-8.52528954e-02 1.13179845e-03 9.96358702e-01 -4.16127813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.441193817 meters 0.061469182190746985 Centerline is valid? [True, True] Translation: X:35.87, Y:-4.52, Z:-4.16 [[ 9.72409834e-01 2.17046057e-01 8.54992639e-02 3.58701893e+01] [-2.16048079e-01 9.76159664e-01 -2.08695312e-02 -4.51963051e+00] [-8.79905822e-02 1.82178568e-03 9.96119641e-01 -4.16341421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.471193817 meters 0.06225580830659578 Centerline is valid? [True, True] Translation: X:35.90, Y:-4.53, Z:-4.17 [[ 9.73056106e-01 2.14168639e-01 8.54026274e-02 3.59003922e+01] [-2.13159504e-01 9.76794431e-01 -2.08726141e-02 -4.53005817e+00] [-8.78910701e-02 2.10584288e-03 9.96127866e-01 -4.16677387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.501193817 meters 0.06301858973856049 Centerline is valid? [True, True] Translation: X:35.93, Y:-4.54, Z:-4.17 [[ 9.73570792e-01 2.11700893e-01 8.56892381e-02 3.59304048e+01] [-2.10673053e-01 9.77331647e-01 -2.09694057e-02 -4.54045999e+00] [-8.81860461e-02 2.36278753e-03 9.96101219e-01 -4.17079006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.531193817 meters 0.06364655053933545 Centerline is valid? [True, True] Translation: X:35.96, Y:-4.55, Z:-4.17 [[ 9.73924650e-01 2.10088342e-01 8.56368208e-02 3.59603362e+01] [-2.09053164e-01 9.77679124e-01 -2.09834545e-02 -4.55130488e+00] [-8.81337111e-02 2.53365522e-03 9.96105431e-01 -4.17464738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.561193817 meters 0.06317855876314711 Centerline is valid? [True, True] Translation: X:35.99, Y:-4.56, Z:-4.18 [[ 9.74022490e-01 2.09524362e-01 8.59053564e-02 3.59912963e+01] [-2.08478099e-01 9.77799919e-01 -2.10760725e-02 -4.55927112e+00] [-8.84142012e-02 2.61918320e-03 9.96080353e-01 -4.17610942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.591193817 meters 0.06351917763943532 Centerline is valid? [True, True] Translation: X:36.02, Y:-4.57, Z:-4.18 [[ 9.73893445e-01 2.10018686e-01 8.61609558e-02 3.60206933e+01] [-2.08965530e-01 9.77693888e-01 -2.11676572e-02 -4.56719948e+00] [-8.86846434e-02 2.61037282e-03 9.96056334e-01 -4.17986397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.621193817 meters 0.06357423290992492 Centerline is valid? [True, True] Translation: X:36.05, Y:-4.57, Z:-4.18 [[ 9.73943459e-01 2.09837377e-01 8.60372862e-02 3.60519884e+01] [-2.08784300e-01 9.77732716e-01 -2.11625175e-02 -4.57388737e+00] [-8.85621567e-02 2.64786097e-03 9.96067133e-01 -4.18461277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.651193817 meters 0.06410626887083 Centerline is valid? [True, True] Translation: X:36.08, Y:-4.58, Z:-4.19 [[ 9.74197703e-01 2.09553199e-01 8.38229773e-02 3.60826883e+01] [-2.08550471e-01 9.77793711e-01 -2.06436195e-02 -4.58154962e+00] [-8.62875166e-02 2.62964527e-03 9.96266806e-01 -4.19032988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.681193817 meters 0.06485475061871014 Centerline is valid? [True, True] Translation: X:36.11, Y:-4.59, Z:-4.20 [[ 9.74519793e-01 2.08634198e-01 8.23586331e-02 3.61130756e+01] [-2.07660809e-01 9.77990052e-01 -2.03087594e-02 -4.59066895e+00] [-8.47830256e-02 2.68862765e-03 9.96395810e-01 -4.19666797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.711193817 meters 0.06800447332738327 Centerline is valid? [True, True] Translation: X:36.14, Y:-4.61, Z:-4.20 [[ 9.76140781e-01 2.02025034e-01 7.95930974e-02 3.61404247e+01] [-2.01091367e-01 9.79375177e-01 -1.96602373e-02 -4.60620934e+00] [-8.19233639e-02 3.18567463e-03 9.96633540e-01 -4.20306645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.741193817 meters 0.06984038808157376 Centerline is valid? [True, True] Translation: X:36.17, Y:-4.62, Z:-4.21 [[ 9.76974603e-01 1.98373576e-01 7.85401176e-02 3.61692325e+01] [-1.97452735e-01 9.80120428e-01 -1.94001051e-02 -4.61798446e+00] [-8.08272419e-02 3.44544895e-03 9.96722171e-01 -4.20837356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.771193817 meters 0.07126706643669638 Centerline is valid? [True, True] Translation: X:36.20, Y:-4.63, Z:-4.21 [[ 9.77514976e-01 1.95868894e-01 7.81015224e-02 3.61996073e+01] [-1.94950199e-01 9.80623358e-01 -1.92937774e-02 -4.62825751e+00] [-8.03672280e-02 3.63404906e-03 9.96758698e-01 -4.21317922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.801193817 meters 0.0720340101520925 Centerline is valid? [True, True] Translation: X:36.23, Y:-4.64, Z:-4.22 [[ 9.77740756e-01 1.94828114e-01 7.78782348e-02 3.62303870e+01] [-1.93911419e-01 9.80830390e-01 -1.92382024e-02 -4.63620623e+00] [-8.01334821e-02 3.70849557e-03 9.96777243e-01 -4.21709318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.831193817 meters 0.07219552810587157 Centerline is valid? [True, True] Translation: X:36.26, Y:-4.64, Z:-4.22 [[ 9.77500886e-01 1.95576130e-01 7.90062970e-02 3.62608040e+01] [-1.94632982e-01 9.80681446e-01 -1.95423634e-02 -4.64176301e+00] [-8.13020294e-02 3.72544636e-03 9.96682548e-01 -4.22005506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.861193817 meters 0.06851696547233328 Centerline is valid? [True, True] Translation: X:36.29, Y:-4.64, Z:-4.22 [[ 9.75662980e-01 2.03616516e-01 8.13760628e-02 3.62930692e+01] [-2.02640907e-01 9.79045556e-01 -2.01608853e-02 -4.63697520e+00] [-8.37759619e-02 3.18011028e-03 9.96479541e-01 -4.22048381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.891193817 meters 0.06635072354356569 Centerline is valid? [True, True] Translation: X:36.32, Y:-4.64, Z:-4.22 [[ 9.74430206e-01 2.09264437e-01 8.18178986e-02 3.63240331e+01] [-2.08298010e-01 9.77855334e-01 -2.02702970e-02 -4.63750531e+00] [-8.42479209e-02 2.70948418e-03 9.96441141e-01 -4.22397192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.921193817 meters 0.0647786907217782 Centerline is valid? [True, True] Translation: X:36.36, Y:-4.64, Z:-4.23 [[ 9.73489946e-01 2.14154204e-01 8.03448927e-02 3.63557780e+01] [-2.13239621e-01 9.76797304e-01 -1.98969992e-02 -4.63794269e+00] [-8.27417006e-02 2.23681423e-03 9.96568516e-01 -4.22870665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.951193817 meters 0.06332636844679256 Centerline is valid? [True, True] Translation: X:36.39, Y:-4.64, Z:-4.23 [[ 9.72501730e-01 2.18784820e-01 7.98347593e-02 3.63884255e+01] [-2.17895636e-01 9.75771373e-01 -1.97918969e-02 -4.63768892e+00] [-8.22306393e-02 1.85200838e-03 9.96611605e-01 -4.23370861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.981193817 meters 0.06196666243814956 Centerline is valid? [True, True] Translation: X:36.42, Y:-4.64, Z:-4.24 [[ 9.71516138e-01 2.23028489e-01 8.00917343e-02 3.64210652e+01] [-2.22146004e-01 9.74810741e-01 -1.98789400e-02 -4.63732549e+00] [-8.25078528e-02 1.52065225e-03 9.96589254e-01 -4.23785082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.011193817 meters 0.061189362007260155 Centerline is valid? [True, True] Translation: X:36.45, Y:-4.64, Z:-4.24 [[ 9.70755055e-01 2.26700743e-01 7.90025022e-02 3.64538999e+01] [-2.25852423e-01 9.73963705e-01 -1.96312054e-02 -4.63516204e+00] [-8.13959786e-02 1.21418532e-03 9.96681103e-01 -4.24356844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.041193817 meters 0.06163511904937243 Centerline is valid? [True, True] Translation: X:36.48, Y:-4.64, Z:-4.25 [[ 9.70700650e-01 2.27170988e-01 7.83172408e-02 3.64837552e+01] [-2.26336652e-01 9.73854159e-01 -1.94883895e-02 -4.64116461e+00] [-8.06967673e-02 1.19133033e-03 9.96737986e-01 -4.25034265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.071193817 meters 0.061650498066851286 Centerline is valid? [True, True] Translation: X:36.52, Y:-4.65, Z:-4.25 [[ 9.70665726e-01 2.26603484e-01 8.03673397e-02 3.65150117e+01] [-2.25722058e-01 9.73986253e-01 -2.00082902e-02 -4.64865949e+00] [-8.28106323e-02 1.28068031e-03 9.96564478e-01 -4.25220389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.101193817 meters 0.06138509055671518 Centerline is valid? [True, True] Translation: X:36.55, Y:-4.66, Z:-4.25 [[ 9.70939534e-01 2.23549506e-01 8.54519793e-02 3.65469875e+01] [-2.22538609e-01 9.74691154e-01 -2.13007606e-02 -4.65729964e+00] [-8.80510627e-02 1.66538593e-03 9.96114570e-01 -4.24730397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.131193816999996 meters 0.06160878623461879 Centerline is valid? [True, True] Translation: X:36.58, Y:-4.66, Z:-4.25 [[ 9.71023079e-01 2.22558020e-01 8.70752994e-02 3.65780260e+01] [-2.21501924e-01 9.74917758e-01 -2.17316013e-02 -4.66488477e+00] [-8.97277979e-02 1.81454001e-03 9.95964673e-01 -4.24890443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.161193817 meters 0.06199334303472948 Centerline is valid? [True, True] Translation: X:36.61, Y:-4.67, Z:-4.25 [[ 9.71086772e-01 2.22331193e-01 8.69443559e-02 3.66081511e+01] [-2.21274794e-01 9.74969424e-01 -2.17275737e-02 -4.67185587e+00] [-8.95988060e-02 1.86076495e-03 9.95976200e-01 -4.25353709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.191193817 meters 0.06091386112187288 Centerline is valid? [True, True] Translation: X:36.64, Y:-4.67, Z:-4.25 [[ 9.71226931e-01 2.22300729e-01 8.54437454e-02 3.66404361e+01] [-2.21279604e-01 9.74976409e-01 -2.13620770e-02 -4.67457858e+00] [-8.80544413e-02 1.84046640e-03 9.96113963e-01 -4.25453527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.221193817 meters 0.06091386112187288 Centerline is valid? [True, True] Translation: X:36.67, Y:-4.68, Z:-4.26 [[ 9.71151515e-01 2.22632313e-01 8.54376298e-02 3.66717079e+01] [-2.21610320e-01 9.74900756e-01 -2.13865041e-02 -4.68267002e+00] [-8.80545368e-02 1.83567540e-03 9.96113964e-01 -4.25825056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.251193817 meters 0.06134497124130781 Centerline is valid? [True, True] Translation: X:36.70, Y:-4.68, Z:-4.27 [[ 9.71165265e-01 2.24600185e-01 7.99548928e-02 3.67023590e+01] [-2.23709691e-01 9.74449725e-01 -2.00426497e-02 -4.68451580e+00] [-8.24136061e-02 1.57804085e-03 9.96596963e-01 -4.26770440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.281193817 meters 0.06186498976305769 Centerline is valid? [True, True] Translation: X:36.73, Y:-4.69, Z:-4.28 [[ 9.71011405e-01 2.25630542e-01 7.89158416e-02 3.67322793e+01] [-2.24764329e-01 9.74211793e-01 -1.98085403e-02 -4.69134414e+00] [-8.13501552e-02 1.49685238e-03 9.96684459e-01 -4.27526868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.311193817 meters 0.060949902455529455 Centerline is valid? [True, True] Translation: X:36.77, Y:-4.70, Z:-4.28 [[ 9.70702168e-01 2.27273688e-01 7.79998167e-02 3.67655445e+01] [-2.26432247e-01 9.73829989e-01 -1.95854305e-02 -4.69643138e+00] [-8.04098137e-02 1.34994607e-03 9.96760974e-01 -4.27656111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.341193817 meters 0.06083756300644743 Centerline is valid? [True, True] Translation: X:36.80, Y:-4.70, Z:-4.28 [[ 9.70292937e-01 2.28709158e-01 7.88906718e-02 3.67959220e+01] [-2.27850515e-01 9.73493962e-01 -1.98406100e-02 -4.70312421e+00] [-8.13373218e-02 1.27592361e-03 9.96685814e-01 -4.27966558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.371193817 meters 0.060559668666984506 Centerline is valid? [True, True] Translation: X:36.83, Y:-4.71, Z:-4.28 [[ 9.69882683e-01 2.30434021e-01 7.89160480e-02 3.68268774e+01] [-2.29578663e-01 9.73087268e-01 -1.98697560e-02 -4.70956385e+00] [-8.13708693e-02 1.15389151e-03 9.96683225e-01 -4.28302134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.401193817 meters 0.05984542349785439 Centerline is valid? [True, True] Translation: X:36.86, Y:-4.71, Z:-4.29 [[ 9.68939438e-01 2.34409892e-01 7.87931933e-02 3.68593251e+01] [-2.33567786e-01 9.72137481e-01 -1.98697657e-02 -4.71357966e+00] [-8.12554860e-02 8.49047931e-04 9.96692944e-01 -4.28681406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.431193817 meters 0.059386638894209094 Centerline is valid? [True, True] Translation: X:36.89, Y:-4.72, Z:-4.29 [[ 9.68276261e-01 2.36606632e-01 8.03640700e-02 3.68908731e+01] [-2.35737830e-01 9.71605289e-01 -2.02691352e-02 -4.71950265e+00] [-8.28779673e-02 6.81270990e-04 9.96559471e-01 -4.28983890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.461193817 meters 0.059134148532733674 Centerline is valid? [True, True] Translation: X:36.92, Y:-4.73, Z:-4.29 [[ 9.67999724e-01 2.36940246e-01 8.26792184e-02 3.69225425e+01] [-2.36018962e-01 9.71523970e-01 -2.08860012e-02 -4.72767268e+00] [-8.52735768e-02 7.03780111e-04 9.96357326e-01 -4.29138687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.491193817 meters 0.05901401310239087 Centerline is valid? [True, True] Translation: X:36.95, Y:-4.74, Z:-4.29 [[ 9.67886675e-01 2.36732178e-01 8.45769479e-02 3.69535935e+01] [-2.35766376e-01 9.71574658e-01 -2.13752217e-02 -4.73743735e+00] [-8.72330220e-02 7.48391764e-04 9.96187653e-01 -4.29426289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.521193817 meters 0.05925848151490732 Centerline is valid? [True, True] Translation: X:36.98, Y:-4.75, Z:-4.30 [[ 9.67888166e-01 2.36131728e-01 8.62224206e-02 3.69825996e+01] [-2.35125074e-01 9.71720705e-01 -2.17961085e-02 -4.75117863e+00] [-8.89308642e-02 8.23142499e-04 9.96037461e-01 -4.29771622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.551193817 meters 0.059632223871602726 Centerline is valid? [True, True] Translation: X:37.01, Y:-4.76, Z:-4.30 [[ 9.68067191e-01 2.35680295e-01 8.54442074e-02 3.70110472e+01] [-2.34687655e-01 9.71830242e-01 -2.16260395e-02 -4.76174440e+00] [-8.81340961e-02 8.82758676e-04 9.96108228e-01 -4.30467453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.581193817 meters 0.05948392645477379 Centerline is valid? [True, True] Translation: X:37.04, Y:-4.77, Z:-4.31 [[ 9.68266704e-01 2.35677737e-01 8.31600527e-02 3.70417873e+01] [-2.34735684e-01 9.71830864e-01 -2.10696340e-02 -4.77067593e+00] [-8.57831496e-02 8.80393199e-04 9.96313443e-01 -4.30875443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.611193817 meters 0.05997610555788117 Centerline is valid? [True, True] Translation: X:37.07, Y:-4.78, Z:-4.32 [[ 9.68638050e-01 2.35235560e-01 8.00284963e-02 3.70720553e+01] [-2.34359193e-01 9.71937958e-01 -2.03069924e-02 -4.78124946e+00] [-8.25596600e-02 9.14711663e-04 9.96585704e-01 -4.31541138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.641193817 meters 0.06026598451030635 Centerline is valid? [True, True] Translation: X:37.10, Y:-4.79, Z:-4.32 [[ 9.68357484e-01 2.37487295e-01 7.67044245e-02 3.71015595e+01] [-2.36688868e-01 9.71390393e-01 -1.94700666e-02 -4.79292674e+00] [-7.91338346e-02 6.98901336e-04 9.96863756e-01 -4.32275592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.671193817 meters 0.05988010286459616 Centerline is valid? [True, True] Translation: X:37.13, Y:-4.80, Z:-4.33 [[ 9.67573139e-01 2.40735825e-01 7.64753736e-02 3.71328296e+01] [-2.39952359e-01 9.70590581e-01 -1.94110480e-02 -4.80090410e+00] [-7.88992120e-02 4.31162363e-04 9.96882505e-01 -4.32581648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.701193817 meters 0.05971146205931182 Centerline is valid? [True, True] Translation: X:37.16, Y:-4.81, Z:-4.33 [[ 9.66614730e-01 2.44370921e-01 7.70637219e-02 3.71633593e+01] [-2.43584820e-01 9.69681818e-01 -1.95859206e-02 -4.80801362e+00] [-7.95135194e-02 1.60486503e-04 9.96833775e-01 -4.32865590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.731193817 meters 0.05933902605374763 Centerline is valid? [True, True] Translation: X:37.20, Y:-4.81, Z:-4.33 [[ 9.65409861e-01 2.48937545e-01 7.75493368e-02 3.71952983e+01] [-2.48154407e-01 9.68519520e-01 -1.97314439e-02 -4.81391408e+00] [-8.00199436e-02 -1.95279181e-04 9.96793244e-01 -4.33062634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.761193817 meters 0.05959573990652502 Centerline is valid? [True, True] Translation: X:37.23, Y:-4.82, Z:-4.34 [[ 9.64239850e-01 2.53335227e-01 7.78638151e-02 3.72269083e+01] [-2.52558076e-01 9.67378402e-01 -1.98354745e-02 -4.81984903e+00] [-8.03487975e-02 -5.38980429e-04 9.96766663e-01 -4.33507629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.791193817 meters 0.059669454179908606 Centerline is valid? [True, True] Translation: X:37.26, Y:-4.83, Z:-4.34 [[ 9.62730879e-01 2.58989294e-01 7.79345942e-02 3.72587273e+01] [-2.58227051e-01 9.65879689e-01 -1.98800425e-02 -4.82727737e+00] [-8.04241598e-02 -9.85689583e-04 9.96760243e-01 -4.33522150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.821193817 meters 0.05993455496910645 Centerline is valid? [True, True] Translation: X:37.29, Y:-4.84, Z:-4.34 [[ 9.62290960e-01 2.59912030e-01 8.02611090e-02 3.72884335e+01] [-2.59104437e-01 9.65631708e-01 -2.05010833e-02 -4.83681250e+00] [-8.28311500e-02 -1.06800233e-03 9.96563024e-01 -4.33985687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.851193817 meters 0.05962670168638849 Centerline is valid? [True, True] Translation: X:37.32, Y:-4.85, Z:-4.34 [[ 9.62325816e-01 2.59583303e-01 8.09044626e-02 3.73177435e+01] [-2.58759537e-01 9.65720176e-01 -2.06892165e-02 -4.85117366e+00] [-8.35016470e-02 -1.02503409e-03 9.96507112e-01 -4.34048167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.881193816999996 meters 0.05916741117476714 Centerline is valid? [True, True] Translation: X:37.35, Y:-4.87, Z:-4.34 [[ 9.62725853e-01 2.57575953e-01 8.25442916e-02 3.73472413e+01] [-2.56708329e-01 9.66257692e-01 -2.11401782e-02 -4.86764233e+00] [-8.52042583e-02 -8.37611017e-04 9.96363153e-01 -4.34143045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.911193817 meters 0.05884842535532425 Centerline is valid? [True, True] Translation: X:37.37, Y:-4.89, Z:-4.34 [[ 9.64321934e-01 2.51460604e-01 8.27693872e-02 3.73734809e+01] [-2.50565397e-01 9.67867490e-01 -2.12015041e-02 -4.89248464e+00] [-8.54411420e-02 -2.94068891e-04 9.96343176e-01 -4.34468430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.941193817 meters 0.05883525160365372 Centerline is valid? [True, True] Translation: X:37.40, Y:-4.91, Z:-4.35 [[ 9.64987346e-01 2.49234826e-01 8.17399751e-02 3.74024127e+01] [-2.48351745e-01 9.68443079e-01 -2.09622200e-02 -4.90755578e+00] [-8.43850284e-02 -7.19883874e-05 9.96433220e-01 -4.34852709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.971193817 meters 0.059207027100028724 Centerline is valid? [True, True] Translation: X:37.43, Y:-4.92, Z:-4.36 [[ 9.65575620e-01 2.47155740e-01 8.11034046e-02 3.74307356e+01] [-2.46276870e-01 9.68975759e-01 -2.08250201e-02 -4.92074677e+00] [-8.37342563e-02 1.34239042e-04 9.96488111e-01 -4.35507533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.001193817 meters 0.05924871898421764 Centerline is valid? [True, True] Translation: X:37.46, Y:-4.94, Z:-4.36 [[ 9.65850562e-01 2.46042750e-01 8.12136454e-02 3.74596074e+01] [-2.45155736e-01 9.69258944e-01 -2.08749503e-02 -4.94027504e+00] [-8.38531824e-02 2.52091479e-04 9.96478088e-01 -4.35711906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.031193817 meters 0.05934843410227454 Centerline is valid? [True, True] Translation: X:37.49, Y:-4.96, Z:-4.36 [[ 9.65992467e-01 2.45363844e-01 8.15790329e-02 3.74879839e+01] [-2.44463815e-01 9.69431002e-01 -2.09994225e-02 -4.95566290e+00] [-8.42377426e-02 3.42162246e-04 9.96445626e-01 -4.36054093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.061193817 meters 0.05944677100656406 Centerline is valid? [True, True] Translation: X:37.52, Y:-4.97, Z:-4.36 [[ 9.66360096e-01 2.44330416e-01 8.03169537e-02 3.75168519e+01] [-2.43452265e-01 9.69691932e-01 -2.07014711e-02 -4.97072127e+00] [-8.29407011e-02 4.51731246e-04 9.96554382e-01 -4.36332186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.091193817 meters 0.06015567982379736 Centerline is valid? [True, True] Translation: X:37.54, Y:-4.99, Z:-4.37 [[ 9.67015250e-01 2.42163532e-01 7.89831000e-02 3.75439906e+01] [-2.41304930e-01 9.70235228e-01 -2.03846454e-02 -4.98522270e+00] [-8.15686037e-02 6.53251577e-04 9.96667515e-01 -4.37116764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.121193817 meters 0.0602863042350226 Centerline is valid? [True, True] Translation: X:37.57, Y:-5.00, Z:-4.37 [[ 9.67491225e-01 2.40445017e-01 7.84023145e-02 3.75738633e+01] [-2.39591953e-01 9.70662423e-01 -2.02523437e-02 -4.99804367e+00] [-8.09717557e-02 8.09401182e-04 9.96716068e-01 -4.37447334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.151193817 meters 0.06098508674905983 Centerline is valid? [True, True] Translation: X:37.60, Y:-5.02, Z:-4.38 [[ 9.68364779e-01 2.36429187e-01 7.98178828e-02 3.76019249e+01] [-2.35529256e-01 9.71647993e-01 -2.06433512e-02 -5.01616240e+00] [-8.24355763e-02 1.19084761e-03 9.96595684e-01 -4.37778743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.181193817 meters 0.061309738721084535 Centerline is valid? [True, True] Translation: X:37.63, Y:-5.03, Z:-4.38 [[ 9.68653394e-01 2.35057327e-01 8.03657554e-02 3.76324119e+01] [-2.34137999e-01 9.71980581e-01 -2.08122126e-02 -5.02984328e+00] [-8.30060167e-02 1.34314324e-03 9.96548141e-01 -4.38019126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.211193817 meters 0.061628802482145875 Centerline is valid? [True, True] Translation: X:37.66, Y:-5.04, Z:-4.38 [[ 9.68906432e-01 2.34044034e-01 8.02727658e-02 3.76614921e+01] [-2.33120891e-01 9.72224905e-01 -2.08178693e-02 -5.04326498e+00] [-8.29154803e-02 1.45730879e-03 9.96555517e-01 -4.38371023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.241193817 meters 0.062345098667042916 Centerline is valid? [True, True] Translation: X:37.69, Y:-5.06, Z:-4.39 [[ 9.69199919e-01 2.32608609e-01 8.08996395e-02 3.76904254e+01] [-2.31663909e-01 9.72569083e-01 -2.10050292e-02 -5.05720796e+00] [-8.35664389e-02 1.61654587e-03 9.96500897e-01 -4.38716667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.271193817 meters 0.062344215684029536 Centerline is valid? [True, True] Translation: X:37.72, Y:-5.07, Z:-4.39 [[ 9.69358801e-01 2.31802519e-01 8.13087147e-02 3.77212030e+01] [-2.30843183e-01 9.72761344e-01 -2.11374565e-02 -5.06864461e+00] [-8.39936902e-02 1.72021695e-03 9.96464802e-01 -4.38952049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.301193817 meters 0.06200919878815248 Centerline is valid? [True, True] Translation: X:37.75, Y:-5.08, Z:-4.39 [[ 9.69337088e-01 2.31883452e-01 8.13368019e-02 3.77531199e+01] [-2.30921360e-01 9.72742017e-01 -2.11729330e-02 -5.07680782e+00] [-8.40293776e-02 1.74130425e-03 9.96461756e-01 -4.39183274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.331193817 meters 0.06157633017594094 Centerline is valid? [True, True] Translation: X:37.78, Y:-5.08, Z:-4.40 [[ 9.68557332e-01 2.35107642e-01 8.13700838e-02 3.77834863e+01] [-2.34153471e-01 9.71968193e-01 -2.12128198e-02 -5.08219385e+00] [-8.40764294e-02 1.49274465e-03 9.96458191e-01 -4.39660096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.361193817 meters 0.06113837240028669 Centerline is valid? [True, True] Translation: X:37.82, Y:-5.09, Z:-4.40 [[ 9.67913883e-01 2.37912721e-01 8.08718239e-02 3.78152393e+01] [-2.36977610e-01 9.71285708e-01 -2.11112748e-02 -5.08732598e+00] [-8.35722876e-02 1.26908439e-03 9.96500909e-01 -4.40182738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.391193817 meters 0.060255999539864796 Centerline is valid? [True, True] Translation: X:37.85, Y:-5.09, Z:-4.41 [[ 9.66450145e-01 2.43873766e-01 8.06207356e-02 3.78472452e+01] [-2.42964890e-01 9.69806691e-01 -2.10486421e-02 -5.08813776e+00] [-8.33197404e-02 7.54455148e-04 9.96522580e-01 -4.40661535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.421193817 meters 0.06031324884741737 Centerline is valid? [True, True] Translation: X:37.88, Y:-5.10, Z:-4.41 [[ 9.66127567e-01 2.45397671e-01 7.98592969e-02 3.78791640e+01] [-2.44509215e-01 9.69422289e-01 -2.08727027e-02 -5.09553303e+00] [-8.25394950e-02 6.39359543e-04 9.96587589e-01 -4.41157311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.451193817 meters 0.06010996695989749 Centerline is valid? [True, True] Translation: X:37.91, Y:-5.10, Z:-4.41 [[ 9.65921550e-01 2.45890724e-01 8.08289008e-02 3.79104660e+01] [-2.44979807e-01 9.69297349e-01 -2.11552079e-02 -5.10339907e+00] [-8.35491086e-02 6.32822664e-04 9.96503460e-01 -4.41412434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.481193817 meters 0.06014060066792723 Centerline is valid? [True, True] Translation: X:37.94, Y:-5.11, Z:-4.42 [[ 9.65859976e-01 2.45905473e-01 8.15169068e-02 3.79405682e+01] [-2.44976865e-01 9.69293588e-01 -2.13605990e-02 -5.11162920e+00] [-8.42665033e-02 6.61591385e-04 9.96443033e-01 -4.41754362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.511193817 meters 0.06041488895328717 Centerline is valid? [True, True] Translation: X:37.97, Y:-5.12, Z:-4.42 [[ 9.65630552e-01 2.47529314e-01 7.92898228e-02 3.79703137e+01] [-2.46653998e-01 9.68880258e-01 -2.08050632e-02 -5.11665161e+00] [-8.19722070e-02 5.32852849e-04 9.96634473e-01 -4.42414759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.541193817 meters 0.060658361917093145 Centerline is valid? [True, True] Translation: X:38.00, Y:-5.12, Z:-4.43 [[ 9.65551852e-01 2.48814183e-01 7.61651128e-02 3.80016058e+01] [-2.48010470e-01 9.68551153e-01 -1.99867777e-02 -5.12271160e+00] [-7.87428016e-02 4.08524824e-04 9.96894881e-01 -4.43085881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.571193817 meters 0.06122561937648442 Centerline is valid? [True, True] Translation: X:38.03, Y:-5.13, Z:-4.44 [[ 9.65405444e-01 2.50255302e-01 7.32435184e-02 3.80312548e+01] [-2.49516015e-01 9.68179840e-01 -1.92238091e-02 -5.12833945e+00] [-7.57237582e-02 2.83339127e-04 9.97128794e-01 -4.43947974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.601193817 meters 0.06054473179196759 Centerline is valid? [True, True] Translation: X:38.06, Y:-5.13, Z:-4.44 [[ 9.65209634e-01 2.51520085e-01 7.14703421e-02 3.80633955e+01] [-2.50819492e-01 9.67852062e-01 -1.87608329e-02 -5.13447236e+00] [-7.38914443e-02 1.81981820e-04 9.97266274e-01 -4.43780620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.631193817 meters 0.06058264780617386 Centerline is valid? [True, True] Translation: X:38.09, Y:-5.15, Z:-4.44 [[ 9.65384537e-01 2.51082929e-01 7.06403488e-02 3.80938749e+01] [-2.50395740e-01 9.67965551e-01 -1.85651784e-02 -5.14582510e+00] [-7.30388235e-02 2.34493790e-04 9.97329071e-01 -4.44145044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.661193817 meters 0.06187404865843425 Centerline is valid? [True, True] Translation: X:38.12, Y:-5.16, Z:-4.45 [[ 9.65682499e-01 2.49868134e-01 7.08747285e-02 3.81225114e+01] [-2.49171139e-01 9.68279810e-01 -1.86534864e-02 -5.15761569e+00] [-7.32874805e-02 3.53408539e-04 9.97310794e-01 -4.45318492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.691193817 meters 0.06094426954461793 Centerline is valid? [True, True] Translation: X:38.15, Y:-5.17, Z:-4.45 [[ 9.65728628e-01 2.49830163e-01 7.03783082e-02 3.81545120e+01] [-2.49141912e-01 9.68289603e-01 -1.85351447e-02 -5.16640735e+00] [-7.27772224e-02 3.65733634e-04 9.97348155e-01 -4.44980457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.721193817 meters 0.061049447150060644 Centerline is valid? [True, True] Translation: X:38.18, Y:-5.17, Z:-4.45 [[ 9.65529905e-01 2.50504962e-01 7.07054864e-02 3.81844656e+01] [-2.49810348e-01 9.68115256e-01 -1.86451330e-02 -5.17401681e+00] [-7.31217584e-02 3.39471338e-04 9.97322963e-01 -4.45452761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.751193817 meters 0.060846883867677885 Centerline is valid? [True, True] Translation: X:38.22, Y:-5.18, Z:-4.46 [[ 9.65237535e-01 2.51648848e-01 7.06353841e-02 3.82164109e+01] [-2.50957385e-01 9.67818570e-01 -1.86442052e-02 -5.18188286e+00] [-7.30540292e-02 2.69615413e-04 9.97327948e-01 -4.45615074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.781193817 meters 0.06096048776737903 Centerline is valid? [True, True] Translation: X:38.25, Y:-5.19, Z:-4.46 [[ 9.64918932e-01 2.52405751e-01 7.22688842e-02 3.82452176e+01] [-2.51681731e-01 9.67621453e-01 -1.91057642e-02 -5.19283310e+00] [-7.47513275e-02 2.46755720e-04 9.97202175e-01 -4.46099033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.811193817 meters 0.06080180017025677 Centerline is valid? [True, True] Translation: X:38.28, Y:-5.20, Z:-4.46 [[ 9.64928656e-01 2.52154108e-01 7.30136583e-02 3.82760669e+01] [-2.51412723e-01 9.67687048e-01 -1.93240960e-02 -5.20386855e+00] [-7.55270216e-02 2.89811284e-04 9.97143713e-01 -4.46215832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.841193817 meters 0.06104440050925407 Centerline is valid? [True, True] Translation: X:38.30, Y:-5.21, Z:-4.47 [[ 9.65174769e-01 2.51023675e-01 7.36531076e-02 3.83048448e+01] [-2.50264073e-01 9.67980863e-01 -1.95177791e-02 -5.21471951e+00] [-7.61942233e-02 4.05341283e-04 9.97092912e-01 -4.46675617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.871193817 meters 0.06097817058328489 Centerline is valid? [True, True] Translation: X:38.34, Y:-5.23, Z:-4.47 [[ 9.65462842e-01 2.50124557e-01 7.29328864e-02 3.83355065e+01] [-2.49375671e-01 9.68213543e-01 -1.93470909e-02 -5.22529387e+00] [-7.54537908e-02 4.91209906e-04 9.97149178e-01 -4.46866929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.901193817 meters 0.061261881703806115 Centerline is valid? [True, True] Translation: X:38.36, Y:-5.24, Z:-4.47 [[ 9.65541391e-01 2.50010350e-01 7.22817272e-02 3.83644337e+01] [-2.49272749e-01 9.68243026e-01 -1.91973869e-02 -5.23506195e+00] [-7.47858236e-02 5.18006796e-04 9.97199485e-01 -4.47296308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.931193817 meters 0.06163814249957638 Centerline is valid? [True, True] Translation: X:38.39, Y:-5.24, Z:-4.48 [[ 9.65442595e-01 2.50836844e-01 7.07210997e-02 3.83936295e+01] [-2.50130865e-01 9.68029263e-01 -1.88121205e-02 -5.24240670e+00] [-7.31788669e-02 4.72492552e-04 9.97318720e-01 -4.48013208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.961193817 meters 0.061958812850818494 Centerline is valid? [True, True] Translation: X:38.42, Y:-5.25, Z:-4.49 [[ 9.65228805e-01 2.52206505e-01 6.87403340e-02 3.84241929e+01] [-2.51543605e-01 9.67673372e-01 -1.82772889e-02 -5.24991815e+00] [-7.11278420e-02 3.50574276e-04 9.97467146e-01 -4.48552405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.991193817 meters 0.062272896923509874 Centerline is valid? [True, True] Translation: X:38.45, Y:-5.26, Z:-4.49 [[ 9.65021201e-01 2.53330471e-01 6.75111373e-02 3.84546269e+01] [-2.52692434e-01 9.67379756e-01 -1.79705640e-02 -5.25939055e+00] [-6.98613990e-02 2.82421666e-04 9.97556668e-01 -4.49128089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.021193817 meters 0.06211182986814311 Centerline is valid? [True, True] Translation: X:38.49, Y:-5.27, Z:-4.50 [[ 9.64713902e-01 2.54488116e-01 6.75491428e-02 3.84860457e+01] [-2.53850914e-01 9.67075877e-01 -1.79989328e-02 -5.26925650e+00] [-6.99056610e-02 2.16409038e-04 9.97553583e-01 -4.49502050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.051193817 meters 0.06218409392654747 Centerline is valid? [True, True] Translation: X:38.52, Y:-5.28, Z:-4.50 [[ 9.64430874e-01 2.55228702e-01 6.87851604e-02 3.85151618e+01] [-2.54567851e-01 9.66880692e-01 -1.83558313e-02 -5.28086925e+00] [-7.11919785e-02 1.92439909e-04 9.97462613e-01 -4.49938670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.081193817 meters 0.062088597672408624 Centerline is valid? [True, True] Translation: X:38.55, Y:-5.29, Z:-4.50 [[ 9.64521525e-01 2.54570750e-01 6.99425555e-02 3.85458765e+01] [-2.53884285e-01 9.67054116e-01 -1.86843943e-02 -5.29158513e+00] [-7.23947365e-02 2.64184838e-04 9.97376024e-01 -4.50211764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.111193817 meters 0.062088597672408624 Centerline is valid? [True, True] Translation: X:38.58, Y:-5.30, Z:-4.51 [[ 9.64441914e-01 2.54873478e-01 6.99378594e-02 3.85769917e+01] [-2.54186534e-01 9.66974375e-01 -1.87019514e-02 -5.30017646e+00] [-7.23947493e-02 2.59683748e-04 9.97376024e-01 -4.50583360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.141193817 meters 0.061828182663399206 Centerline is valid? [True, True] Translation: X:38.61, Y:-5.31, Z:-4.51 [[ 9.64248821e-01 2.54966443e-01 7.22241232e-02 3.86069020e+01] [-2.54231301e-01 9.66949856e-01 -1.93499584e-02 -5.31029006e+00] [-7.47706957e-02 2.96541821e-04 9.97200710e-01 -4.50735137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.171193817 meters 0.06175396739019698 Centerline is valid? [True, True] Translation: X:38.64, Y:-5.32, Z:-4.51 [[ 9.64190558e-01 2.54880795e-01 7.32963083e-02 3.86366541e+01] [-2.54123847e-01 9.66972435e-01 -1.96311233e-02 -5.32146793e+00] [-7.58791060e-02 3.01803881e-04 9.97116979e-01 -4.51020388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.201193817 meters 0.06164554345303032 Centerline is valid? [True, True] Translation: X:38.67, Y:-5.33, Z:-4.51 [[ 9.63884546e-01 2.56114152e-01 7.30213865e-02 3.86680543e+01] [-2.55364937e-01 9.66646518e-01 -1.95769617e-02 -5.33329617e+00] [-7.55998060e-02 2.22829123e-04 9.97138215e-01 -4.51200222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.231193817 meters 0.062013959833571206 Centerline is valid? [True, True] Translation: X:38.70, Y:-5.34, Z:-4.52 [[ 9.63465990e-01 2.57580667e-01 7.33858712e-02 3.86974695e+01] [-2.56826070e-01 9.66256789e-01 -1.97024863e-02 -5.34200149e+00] [-7.59845759e-02 1.35270615e-04 9.97108984e-01 -4.51869003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.261193817 meters 0.06116227684560702 Centerline is valid? [True, True] Translation: X:38.73, Y:-5.35, Z:-4.51 [[ 9.63169882e-01 2.58832197e-01 7.28674939e-02 3.87285421e+01] [-2.58090446e-01 9.65922301e-01 -1.95813771e-02 -5.35166849e+00] [-7.54526283e-02 5.37886503e-05 9.97149386e-01 -4.51468509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.291193817 meters 0.06149240777412651 Centerline is valid? [True, True] Translation: X:38.76, Y:-5.36, Z:-4.52 [[ 9.63083262e-01 2.59356117e-01 7.21459243e-02 3.87566527e+01] [-2.58628705e-01 9.65781758e-01 -1.94110678e-02 -5.36499004e+00] [-7.47115968e-02 3.54674968e-05 9.97205183e-01 -4.52102212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.321193817 meters 0.061730306750489496 Centerline is valid? [True, True] Translation: X:38.79, Y:-5.38, Z:-4.53 [[ 9.63353800e-01 2.58494342e-01 7.16249410e-02 3.87862413e+01] [-2.57773543e-01 9.66012764e-01 -1.92909239e-02 -5.37769618e+00] [-7.41772019e-02 1.20970002e-04 9.97245069e-01 -4.52602684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.351193817 meters 0.06268583923113684 Centerline is valid? [True, True] Translation: X:38.81, Y:-5.39, Z:-4.54 [[ 9.63989601e-01 2.56425186e-01 7.04994594e-02 3.88133119e+01] [-2.55719033e-01 9.66564033e-01 -1.90196211e-02 -5.39155310e+00] [-7.30193517e-02 3.06663367e-04 9.97330477e-01 -4.53567058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.381193817 meters 0.06261578225957871 Centerline is valid? [True, True] Translation: X:38.84, Y:-5.41, Z:-4.54 [[ 9.64643943e-01 2.54105293e-01 6.99468545e-02 3.88427545e+01] [-2.53404641e-01 9.67176446e-01 -1.88629181e-02 -5.40546259e+00] [-7.24441175e-02 4.71142142e-04 9.97372362e-01 -4.53730223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.411193817 meters 0.06344346687078925 Centerline is valid? [True, True] Translation: X:38.87, Y:-5.42, Z:-4.54 [[ 9.65519900e-01 2.51180182e-01 6.84093425e-02 3.88709991e+01] [-2.50501172e-01 9.67940097e-01 -1.84697438e-02 -5.41927498e+00] [-7.08553792e-02 6.96284722e-04 9.97486356e-01 -4.54316991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.441193817 meters 0.0639025859338192 Centerline is valid? [True, True] Translation: X:38.90, Y:-5.43, Z:-4.55 [[ 9.66132620e-01 2.48705189e-01 6.88003635e-02 3.89000403e+01] [-2.48010765e-01 9.68578813e-01 -1.85941779e-02 -5.43200937e+00] [-7.12630430e-02 9.01211038e-04 9.97457150e-01 -4.54760379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.471193817 meters 0.06490666382380811 Centerline is valid? [True, True] Translation: X:38.93, Y:-5.45, Z:-4.55 [[ 9.67135129e-01 2.44855635e-01 6.85226933e-02 3.89287866e+01] [-2.44155679e-01 9.69558805e-01 -1.85398865e-02 -5.44774337e+00] [-7.09763764e-02 1.20037085e-03 9.97477274e-01 -4.55011848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.501193817 meters 0.06495699248014848 Centerline is valid? [True, True] Translation: X:38.96, Y:-5.46, Z:-4.55 [[ 9.67160824e-01 2.44497566e-01 6.94325691e-02 3.89585425e+01] [-2.43776385e-01 9.69649082e-01 -1.88077617e-02 -5.45937879e+00] [-7.19236788e-02 1.26410966e-03 9.97409337e-01 -4.55255374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.531193817 meters 0.06507124809225619 Centerline is valid? [True, True] Translation: X:38.99, Y:-5.47, Z:-4.55 [[ 9.67184961e-01 2.44162970e-01 7.02687310e-02 3.89882337e+01] [-2.43421800e-01 9.69733307e-01 -1.90562637e-02 -5.47107066e+00] [-7.27947628e-02 1.32599065e-03 9.97346060e-01 -4.55448557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.561193817 meters 0.06610354840673184 Centerline is valid? [True, True] Translation: X:39.02, Y:-5.48, Z:-4.56 [[ 9.67367933e-01 2.43187857e-01 7.11262801e-02 3.90167600e+01] [-2.42424107e-01 9.69978141e-01 -1.93121076e-02 -5.48365999e+00] [-7.36874071e-02 1.43918870e-03 9.97280349e-01 -4.56006639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.591193817 meters 0.06657460621139355 Centerline is valid? [True, True] Translation: X:39.05, Y:-5.50, Z:-4.56 [[ 9.68453467e-01 2.38347573e-01 7.27208117e-02 3.90471883e+01] [-2.37533964e-01 9.71178122e-01 -1.97654194e-02 -5.49623702e+00] [-7.53359011e-02 1.86822625e-03 9.97156463e-01 -4.56015961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.621193817 meters 0.06729577069526907 Centerline is valid? [True, True] Translation: X:39.08, Y:-5.51, Z:-4.56 [[ 9.69307627e-01 2.34770501e-01 7.29762731e-02 3.90780291e+01] [-2.33938727e-01 9.72048375e-01 -1.98652502e-02 -5.50619723e+00] [-7.56002425e-02 2.18356204e-03 9.97135816e-01 -4.56279273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.651193817 meters 0.06845048746290204 Centerline is valid? [True, True] Translation: X:39.11, Y:-5.52, Z:-4.57 [[ 9.69992567e-01 2.31664528e-01 7.37967947e-02 3.91078655e+01] [-2.30805046e-01 9.72792648e-01 -2.00871961e-02 -5.51707542e+00] [-7.64424701e-02 2.45175827e-03 9.97070979e-01 -4.56683973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.681193817 meters 0.0700425115192245 Centerline is valid? [True, True] Translation: X:39.14, Y:-5.53, Z:-4.57 [[ 9.70972333e-01 2.27635934e-01 7.34480029e-02 3.91370472e+01] [-2.26770562e-01 9.73742322e-01 -2.00250750e-02 -5.52888334e+00] [-7.60778555e-02 2.78794896e-03 9.97097983e-01 -4.57125753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.711193817 meters 0.07406994167636262 Centerline is valid? [True, True] Translation: X:39.16, Y:-5.54, Z:-4.58 [[ 9.72465040e-01 2.20912108e-01 7.42265924e-02 3.91641441e+01] [-2.20008441e-01 9.75287957e-01 -2.02407326e-02 -5.54384528e+00] [-7.68637246e-02 3.35292795e-03 9.97035970e-01 -4.57556272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.741193817 meters 0.07452366474877493 Centerline is valid? [True, True] Translation: X:39.20, Y:-5.55, Z:-4.58 [[ 9.72769301e-01 2.19410279e-01 7.46928153e-02 3.91951566e+01] [-2.18491252e-01 9.75626448e-01 -2.03619081e-02 -5.55208717e+00] [-7.73398980e-02 3.48771236e-03 9.96998684e-01 -4.57841502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.771193817 meters 0.07346535698217134 Centerline is valid? [True, True] Translation: X:39.23, Y:-5.56, Z:-4.58 [[ 9.72848318e-01 2.18932113e-01 7.50658396e-02 3.92271771e+01] [-2.18000658e-01 9.75733577e-01 -2.04865606e-02 -5.55715856e+00] [-7.77294262e-02 3.56591356e-03 9.96968114e-01 -4.57958059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.801193817 meters 0.07231763352599044 Centerline is valid? [True, True] Translation: X:39.26, Y:-5.56, Z:-4.58 [[ 9.72474880e-01 2.20608772e-01 7.49958464e-02 3.92598162e+01] [-2.19681610e-01 9.75356245e-01 -2.04984232e-02 -5.56118374e+00] [-7.76697991e-02 3.45899336e-03 9.96973138e-01 -4.58176151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.831193817 meters 0.07723646036670222 Centerline is valid? [True, True] Translation: X:39.29, Y:-5.57, Z:-4.59 [[ 9.71923082e-01 2.22852786e-01 7.55126363e-02 3.92862963e+01] [-2.21918885e-01 9.74846489e-01 -2.06477897e-02 -5.57326825e+00] [-7.82146459e-02 3.31038335e-03 9.96931046e-01 -4.59435520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.861193817 meters 0.07061499577922326 Centerline is valid? [True, True] Translation: X:39.32, Y:-5.56, Z:-4.59 [[ 9.71338797e-01 2.25328590e-01 7.56833442e-02 3.93220469e+01] [-2.24396880e-01 9.74277795e-01 -2.07079427e-02 -5.56445606e+00] [-7.84026932e-02 3.13132182e-03 9.96916853e-01 -4.59103282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.891193817 meters 0.06969359982162276 Centerline is valid? [True, True] Translation: X:39.35, Y:-5.56, Z:-4.60 [[ 9.70217610e-01 2.30206779e-01 7.53832140e-02 3.93539076e+01] [-2.29296788e-01 9.73137906e-01 -2.06300660e-02 -5.55980887e+00] [-7.81074440e-02 2.73052447e-03 9.96941208e-01 -4.59847562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.921193817 meters 0.06806941000529365 Centerline is valid? [True, True] Translation: X:39.39, Y:-5.56, Z:-4.60 [[ 9.69581324e-01 2.32566104e-01 7.63220996e-02 3.93862569e+01] [-2.31640463e-01 9.72577187e-01 -2.08880594e-02 -5.56008837e+00] [-7.90869875e-02 2.57338577e-03 9.96864397e-01 -4.60122784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.951193817 meters 0.06742425050954934 Centerline is valid? [True, True] Translation: X:39.42, Y:-5.56, Z:-4.61 [[ 9.68854901e-01 2.35586901e-01 7.62823281e-02 3.94176547e+01] [-2.34671935e-01 9.71850516e-01 -2.08724210e-02 -5.56211358e+00] [-7.90522889e-02 2.32102584e-03 9.96867769e-01 -4.60608330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.981193817 meters 0.06479669656629539 Centerline is valid? [True, True] Translation: X:39.45, Y:-5.56, Z:-4.61 [[ 9.67134746e-01 2.42226833e-01 7.73081164e-02 3.94517086e+01] [-2.41305658e-01 9.70217914e-01 -2.11844125e-02 -5.55537155e+00] [-8.01371526e-02 1.83329547e-03 9.96782161e-01 -4.60884893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.011193817 meters 0.06372826554020501 Centerline is valid? [True, True] Translation: X:39.48, Y:-5.56, Z:-4.61 [[ 9.66435083e-01 2.45131639e-01 7.69006422e-02 3.94844966e+01] [-2.44229974e-01 9.69488522e-01 -2.10647840e-02 -5.55675541e+00] [-7.97179350e-02 1.57630439e-03 9.96816215e-01 -4.61232810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.041193817 meters 0.06322623120865849 Centerline is valid? [True, True] Translation: X:39.52, Y:-5.56, Z:-4.62 [[ 9.65926449e-01 2.47135908e-01 7.68761238e-02 3.95161994e+01] [-2.46239233e-01 9.68979766e-01 -2.10820506e-02 -5.56045906e+00] [-7.97015402e-02 1.43379253e-03 9.96817741e-01 -4.61635518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.071193817 meters 0.06311041616488715 Centerline is valid? [True, True] Translation: X:39.55, Y:-5.57, Z:-4.62 [[ 9.65683500e-01 2.47654700e-01 7.82465762e-02 3.95467366e+01] [-2.46725012e-01 9.68847285e-01 -2.14873386e-02 -5.56625318e+00] [-8.11304233e-02 1.44458090e-03 9.96702447e-01 -4.62129079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.101193817 meters 0.06410682349748367 Centerline is valid? [True, True] Translation: X:39.58, Y:-5.57, Z:-4.63 [[ 9.65792609e-01 2.47252599e-01 7.81715352e-02 3.95755600e+01] [-2.46322522e-01 9.68949917e-01 -2.14772960e-02 -5.57467369e+00] [-8.10546197e-02 1.48720404e-03 9.96708552e-01 -4.62938745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.131193817 meters 0.06331664327696492 Centerline is valid? [True, True] Translation: X:39.61, Y:-5.58, Z:-4.63 [[ 9.65644139e-01 2.47658450e-01 7.87190529e-02 3.96088126e+01] [-2.46714802e-01 9.68846266e-01 -2.16499349e-02 -5.57622155e+00] [-8.16284497e-02 1.48497719e-03 9.96661723e-01 -4.63101267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.161193817 meters 0.06306282605987423 Centerline is valid? [True, True] Translation: X:39.64, Y:-5.58, Z:-4.64 [[ 9.65224259e-01 2.48998328e-01 7.96364375e-02 3.96393297e+01] [-2.48034983e-01 9.68502885e-01 -2.19273516e-02 -5.58022008e+00] [-8.25879934e-02 1.41218931e-03 9.96582776e-01 -4.63584237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.191193817 meters 0.06292998906226584 Centerline is valid? [True, True] Translation: X:39.67, Y:-5.59, Z:-4.64 [[ 9.64922025e-01 2.50376936e-01 7.89738913e-02 3.96722203e+01] [-2.49432585e-01 9.68147558e-01 -2.17644649e-02 -5.58539488e+00] [-8.19077000e-02 1.30234975e-03 9.96639068e-01 -4.63992196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.221193817 meters 0.0625326008033411 Centerline is valid? [True, True] Translation: X:39.70, Y:-5.59, Z:-4.64 [[ 9.64420749e-01 2.52365009e-01 7.87687820e-02 3.97037332e+01] [-2.51429884e-01 9.67631418e-01 -2.17359468e-02 -5.59108632e+00] [-8.17045407e-02 1.15777241e-03 9.96655922e-01 -4.64409977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.251193817 meters 0.061748471969726555 Centerline is valid? [True, True] Translation: X:39.74, Y:-5.59, Z:-4.65 [[ 9.63964418e-01 2.54079408e-01 7.88432371e-02 3.97364098e+01] [-2.53146357e-01 9.67182807e-01 -2.17793458e-02 -5.59463873e+00] [-8.17895066e-02 1.03563612e-03 9.96649088e-01 -4.64609677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.281193817 meters 0.0618238290434917 Centerline is valid? [True, True] Translation: X:39.77, Y:-5.60, Z:-4.65 [[ 9.63972492e-01 2.54150258e-01 7.85154791e-02 3.97682104e+01] [-2.53223328e-01 9.67164179e-01 -2.17116794e-02 -5.60171568e+00] [-8.14553878e-02 1.04751077e-03 9.96676438e-01 -4.65056480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.311193817 meters 0.061994068421689204 Centerline is valid? [True, True] Translation: X:39.80, Y:-5.61, Z:-4.65 [[ 9.64171024e-01 2.53118072e-01 7.94070376e-02 3.97995827e+01] [-2.52163957e-01 9.67434678e-01 -2.19882285e-02 -5.60917133e+00] [-8.23867399e-02 1.17681994e-03 9.96599739e-01 -4.65449117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.341193817 meters 0.06220465519230672 Centerline is valid? [True, True] Translation: X:39.83, Y:-5.62, Z:-4.66 [[ 9.64343524e-01 2.52363584e-01 7.97131607e-02 3.98316354e+01] [-2.51397548e-01 9.67631650e-01 -2.20966559e-02 -5.61672953e+00] [-8.27093686e-02 1.26907389e-03 9.96572902e-01 -4.65850453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.371193817 meters 0.06300192798173014 Centerline is valid? [True, True] Translation: X:39.86, Y:-5.62, Z:-4.67 [[ 9.64576730e-01 2.52033789e-01 7.79147032e-02 3.98611991e+01] [-2.51107500e-01 9.67717567e-01 -2.16271694e-02 -5.62331467e+00] [-8.08502045e-02 1.29609808e-03 9.96725421e-01 -4.66582990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.401193817 meters 0.06331119778196771 Centerline is valid? [True, True] Translation: X:39.89, Y:-5.63, Z:-4.67 [[ 9.64596031e-01 2.52420186e-01 7.64103859e-02 3.98913849e+01] [-2.51528888e-01 9.67616899e-01 -2.12310133e-02 -5.63078839e+00] [-7.92951170e-02 1.25993173e-03 9.96850388e-01 -4.67153831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.431193817 meters 0.06317667774775645 Centerline is valid? [True, True] Translation: X:39.92, Y:-5.64, Z:-4.68 [[ 9.64587447e-01 2.52746095e-01 7.54351964e-02 3.99229438e+01] [-2.51876915e-01 9.67531851e-01 -2.09794225e-02 -5.63743887e+00] [-7.82884223e-02 1.23610306e-03 9.96929985e-01 -4.67500418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.461193817 meters 0.06344124784044275 Centerline is valid? [True, True] Translation: X:39.95, Y:-5.65, Z:-4.68 [[ 9.64498521e-01 2.53218608e-01 7.49862577e-02 3.99535014e+01] [-2.52359470e-01 9.67408325e-01 -2.08765332e-02 -5.64591750e+00] [-7.78286567e-02 1.21189310e-03 9.96966013e-01 -4.67975012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.491193817 meters 0.06391729301766663 Centerline is valid? [True, True] Translation: X:39.98, Y:-5.66, Z:-4.68 [[ 9.64850125e-01 2.50820731e-01 7.84423227e-02 3.99826512e+01] [-2.49870142e-01 9.68032393e-01 -2.18677293e-02 -5.65699801e+00] [-8.14195893e-02 1.49868709e-03 9.96678787e-01 -4.68169701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.521193817 meters 0.06437198206619851 Centerline is valid? [True, True] Translation: X:40.01, Y:-5.67, Z:-4.68 [[ 9.65271682e-01 2.49174285e-01 7.85032184e-02 4.00131924e+01] [-2.48215088e-01 9.68457239e-01 -2.19054033e-02 -5.66760881e+00] [-8.14852733e-02 1.65898230e-03 9.96673165e-01 -4.68413270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.551193817 meters 0.06481965969286704 Centerline is valid? [True, True] Translation: X:40.04, Y:-5.68, Z:-4.69 [[ 9.65718538e-01 2.47350714e-01 7.87739105e-02 4.00431085e+01] [-2.46376888e-01 9.68924265e-01 -2.20045059e-02 -5.67796705e+00] [-8.17687836e-02 1.84208839e-03 9.96649624e-01 -4.68623346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.581193817 meters 0.06649688413599006 Centerline is valid? [True, True] Translation: X:40.07, Y:-5.69, Z:-4.69 [[ 9.66918332e-01 2.42481405e-01 7.91941099e-02 4.00717622e+01] [-2.41479032e-01 9.70153357e-01 -2.21436347e-02 -5.69253656e+00] [-8.21998513e-02 2.28736935e-03 9.96613241e-01 -4.68815334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.611193817 meters 0.06806783374394913 Centerline is valid? [True, True] Translation: X:40.10, Y:-5.70, Z:-4.69 [[ 9.67417518e-01 2.40675632e-01 7.86039881e-02 4.01003192e+01] [-2.39680468e-01 9.70602529e-01 -2.20000774e-02 -5.70490427e+00] [-8.15881122e-02 2.44341968e-03 9.96663138e-01 -4.69328344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.641193817 meters 0.06877738719456188 Centerline is valid? [True, True] Translation: X:40.13, Y:-5.71, Z:-4.70 [[ 9.67865880e-01 2.38739629e-01 7.89875222e-02 4.01304747e+01] [-2.37726519e-01 9.71080027e-01 -2.21287912e-02 -5.71498041e+00] [-8.19862245e-02 2.64027326e-03 9.96629965e-01 -4.69672763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.671193817 meters 0.06974688089513362 Centerline is valid? [True, True] Translation: X:40.16, Y:-5.72, Z:-4.70 [[ 9.68111460e-01 2.37828287e-01 7.87267880e-02 4.01597999e+01] [-2.36816932e-01 9.71303375e-01 -2.20792938e-02 -5.72410361e+00] [-8.17186755e-02 2.73138097e-03 9.96651693e-01 -4.70037823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.701193817 meters 0.06844779135015872 Centerline is valid? [True, True] Translation: X:40.19, Y:-5.73, Z:-4.70 [[ 9.67982639e-01 2.38064608e-01 7.95917876e-02 4.01922337e+01] [-2.37029940e-01 9.71245394e-01 -2.23426033e-02 -5.72796689e+00] [-8.26221402e-02 2.76161547e-03 9.96577120e-01 -4.70148128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.731193817 meters 0.06512561368551106 Centerline is valid? [True, True] Translation: X:40.23, Y:-5.72, Z:-4.70 [[ 9.66691613e-01 2.42624790e-01 8.14894856e-02 4.02257678e+01] [-2.41553418e-01 9.70117082e-01 -2.29083515e-02 -5.72478498e+00] [-8.46124760e-02 2.46124748e-03 9.96410895e-01 -4.69901930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.761193817 meters 0.06316357941211147 Centerline is valid? [True, True] Translation: X:40.26, Y:-5.73, Z:-4.70 [[ 9.65635142e-01 2.46785589e-01 8.15208320e-02 4.02584413e+01] [-2.45728122e-01 9.69067836e-01 -2.29176555e-02 -5.72669742e+00] [-8.46549634e-02 2.09813249e-03 9.96408117e-01 -4.69996271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.791193817 meters 0.06215248880211751 Centerline is valid? [True, True] Translation: X:40.29, Y:-5.73, Z:-4.70 [[ 9.64479875e-01 2.51432492e-01 8.09955073e-02 4.02896691e+01] [-2.50405047e-01 9.67873383e-01 -2.27690096e-02 -5.72917223e+00] [-8.41182644e-02 1.67856774e-03 9.96454364e-01 -4.70435977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.821193817 meters 0.061224062074196714 Centerline is valid? [True, True] Translation: X:40.32, Y:-5.73, Z:-4.71 [[ 9.63252464e-01 2.55995862e-01 8.13068783e-02 4.03216587e+01] [-2.54974667e-01 9.66676992e-01 -2.28803943e-02 -5.73107142e+00] [-8.44547748e-02 1.30840193e-03 9.96426454e-01 -4.70795898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.851193817 meters 0.05998691003514118 Centerline is valid? [True, True] Translation: X:40.36, Y:-5.73, Z:-4.71 [[ 9.61382345e-01 2.63883629e-01 7.81627636e-02 4.03571908e+01] [-2.62964260e-01 9.64554330e-01 -2.20168764e-02 -5.72653902e+00] [-8.12021253e-02 6.12622974e-04 9.96697466e-01 -4.71356101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.881193817 meters 0.059885738701721786 Centerline is valid? [True, True] Translation: X:40.39, Y:-5.73, Z:-4.72 [[ 9.60421110e-01 2.67690420e-01 7.70268114e-02 4.03884696e+01] [-2.66807447e-01 9.63504925e-01 -2.17266313e-02 -5.72993284e+00] [-8.00317231e-02 3.15388422e-04 9.96792267e-01 -4.71932256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.911193817 meters 0.059830718892202726 Centerline is valid? [True, True] Translation: X:40.42, Y:-5.74, Z:-4.72 [[ 9.59913053e-01 2.69615604e-01 7.66443487e-02 4.04195822e+01] [-2.68745564e-01 9.62968013e-01 -2.16431770e-02 -5.73581354e+00] [-7.96413945e-02 1.77739380e-04 9.96823563e-01 -4.72402881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.941193817 meters 0.05945179556244243 Centerline is valid? [True, True] Translation: X:40.45, Y:-5.74, Z:-4.73 [[ 9.59376012e-01 2.71236827e-01 7.76418184e-02 4.04511523e+01] [-2.70348067e-01 9.62512639e-01 -2.19395155e-02 -5.74203382e+00] [-8.06820361e-02 5.79293725e-05 9.96739889e-01 -4.72582909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.971193817 meters 0.05976455090430662 Centerline is valid? [True, True] Translation: X:40.48, Y:-5.75, Z:-4.73 [[ 9.58447439e-01 2.74761084e-01 7.67127924e-02 4.04818434e+01] [-2.73902807e-01 9.61512507e-01 -2.17014060e-02 -5.74627546e+00] [-7.97230112e-02 -2.12192120e-04 9.96817033e-01 -4.73447825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.001193817 meters 0.05919621046446284 Centerline is valid? [True, True] Translation: X:40.51, Y:-5.75, Z:-4.73 [[ 9.57755746e-01 2.77321526e-01 7.61360778e-02 4.05139550e+01] [-2.76482591e-01 9.60777086e-01 -2.15584766e-02 -5.75358466e+00] [-7.91284286e-02 -4.02545212e-04 9.96864349e-01 -4.73237415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.031193817 meters 0.05947958099118404 Centerline is valid? [True, True] Translation: X:40.54, Y:-5.76, Z:-4.74 [[ 9.56883399e-01 2.79985210e-01 7.73462590e-02 4.05443962e+01] [-2.79125958e-01 9.60004121e-01 -2.19268541e-02 -5.75991146e+00] [-8.03919223e-02 -6.07905979e-04 9.96763146e-01 -4.73782683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.061193817 meters 0.05947958099118404 Centerline is valid? [True, True] Translation: X:40.58, Y:-5.77, Z:-4.74 [[ 9.56791880e-01 2.80299466e-01 7.73402067e-02 4.05753957e+01] [-2.79439515e-01 9.59912410e-01 -2.19481767e-02 -5.76897686e+00] [-8.03918864e-02 -6.12072614e-04 9.96763146e-01 -4.74154221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.091193817 meters 0.05908073087552256 Centerline is valid? [True, True] Translation: X:40.61, Y:-5.78, Z:-4.74 [[ 9.55996689e-01 2.82510983e-01 7.91067276e-02 4.06063411e+01] [-2.81615798e-01 9.59263746e-01 -2.24857463e-02 -5.78023352e+00] [-8.22366861e-02 -7.81405217e-04 9.96612521e-01 -4.74141423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.121193817 meters 0.05911746891378221 Centerline is valid? [True, True] Translation: X:40.63, Y:-5.79, Z:-4.75 [[ 9.56391345e-01 2.80938583e-01 7.99318891e-02 4.06341734e+01] [-2.80018782e-01 9.59725529e-01 -2.27242258e-02 -5.79316464e+00] [-8.30967864e-02 -6.49177397e-04 9.96541270e-01 -4.74767732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.151193817 meters 0.05867309186725334 Centerline is valid? [True, True] Translation: X:40.66, Y:-5.81, Z:-4.75 [[ 9.57113732e-01 2.78409295e-01 8.01346928e-02 4.06635415e+01] [-2.77474014e-01 9.60462440e-01 -2.28051260e-02 -5.80985602e+00] [-8.33155216e-02 -4.08195625e-04 9.96523134e-01 -4.74767324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.181193817 meters 0.05878406077065053 Centerline is valid? [True, True] Translation: X:40.69, Y:-5.83, Z:-4.75 [[ 9.58578080e-01 2.73638247e-01 7.90580477e-02 4.06913325e+01] [-2.72709748e-01 9.61832682e-01 -2.25229815e-02 -5.82758345e+00] [-8.22037632e-02 3.01361067e-05 9.96615543e-01 -4.75115624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.211193817 meters 0.06012547713535114 Centerline is valid? [True, True] Translation: X:40.72, Y:-5.86, Z:-4.76 [[ 9.61722902e-01 2.62770224e-01 7.77230241e-02 4.07164363e+01] [-2.61834710e-01 9.64857947e-01 -2.21749137e-02 -5.85660904e+00] [-8.08185845e-02 9.75536921e-04 9.96728351e-01 -4.75623267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.241193817 meters 0.060813172967852956 Centerline is valid? [True, True] Translation: X:40.74, Y:-5.87, Z:-4.76 [[ 9.62970324e-01 2.58062904e-01 7.80493018e-02 4.07446807e+01] [-2.57103663e-01 9.66127129e-01 -2.22727747e-02 -5.87302699e+00] [-8.11533248e-02 1.38125970e-03 9.96700672e-01 -4.75850368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.271193817 meters 0.06139811058166535 Centerline is valid? [True, True] Translation: X:40.77, Y:-5.89, Z:-4.76 [[ 9.63618913e-01 2.55132179e-01 7.96627956e-02 4.07734911e+01] [-2.54121758e-01 9.66904736e-01 -2.27456258e-02 -5.88698250e+00] [-8.28294754e-02 1.67406557e-03 9.96562329e-01 -4.76077276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.301193817 meters 0.06278641317214984 Centerline is valid? [True, True] Translation: X:40.80, Y:-5.90, Z:-4.77 [[ 9.63792599e-01 2.54201176e-01 8.05331561e-02 4.08020083e+01] [-2.53163929e-01 9.67149710e-01 -2.30100522e-02 -5.90127900e+00] [-8.37368009e-02 1.78882774e-03 9.96486301e-01 -4.76704613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.331193817 meters 0.06170903163553504 Centerline is valid? [True, True] Translation: X:40.83, Y:-5.91, Z:-4.77 [[ 9.63760835e-01 2.54226950e-01 8.08313766e-02 4.08341212e+01] [-2.53179741e-01 9.67142877e-01 -2.31230170e-02 -5.90933899e+00] [-8.40539842e-02 1.82019120e-03 9.96459540e-01 -4.76665516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.361193817 meters 0.0613394575806931 Centerline is valid? [True, True] Translation: X:40.86, Y:-5.92, Z:-4.77 [[ 9.63273819e-01 2.56218214e-01 8.03478431e-02 4.08649286e+01] [-2.55187844e-01 9.66617530e-01 -2.30155187e-02 -5.91801178e+00] [-8.35626287e-02 1.66645374e-03 9.96501134e-01 -4.77044650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.391193817 meters 0.059633178366563275 Centerline is valid? [True, True] Translation: X:40.90, Y:-5.92, Z:-4.77 [[ 9.61532816e-01 2.62498281e-01 8.09277181e-02 4.08974500e+01] [-2.61472251e-01 9.64931760e-01 -2.32155140e-02 -5.91957091e+00] [-8.41837580e-02 1.16212588e-03 9.96449569e-01 -4.77137272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.421193817 meters 0.059005301716551654 Centerline is valid? [True, True] Translation: X:40.93, Y:-5.93, Z:-4.77 [[ 9.60673196e-01 2.65176318e-01 8.23925436e-02 4.09296776e+01] [-2.64122864e-01 9.64199479e-01 -2.36321263e-02 -5.92502900e+00] [-8.57095278e-02 9.40995716e-04 9.96319723e-01 -4.77323913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.451193817 meters 0.0582466404733155 Centerline is valid? [True, True] Translation: X:40.96, Y:-5.93, Z:-4.77 [[ 9.59377580e-01 2.69215631e-01 8.43658907e-02 4.09619881e+01] [-2.68124088e-01 9.63079725e-01 -2.42263539e-02 -5.92958384e+00] [-8.77731920e-02 6.21693253e-04 9.96140291e-01 -4.77498136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.481193817 meters 0.058063762046053916 Centerline is valid? [True, True] Translation: X:40.99, Y:-5.93, Z:-4.78 [[ 9.58065883e-01 2.73495445e-01 8.54985680e-02 4.09926717e+01] [-2.72388717e-01 9.61873263e-01 -2.45807594e-02 -5.93446751e+00] [-8.89615123e-02 2.61141757e-04 9.96035030e-01 -4.77946215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.511193817 meters 0.05801091623707766 Centerline is valid? [True, True] Translation: X:41.02, Y:-5.94, Z:-4.78 [[ 9.55658112e-01 2.82533023e-01 8.30220758e-02 4.10248404e+01] [-2.81521457e-01 9.59257421e-01 -2.38928631e-02 -5.93697304e+00] [-8.63900652e-02 -5.39087259e-04 9.96261244e-01 -4.78283689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.541193817 meters 0.058541042297207815 Centerline is valid? [True, True] Translation: X:41.05, Y:-5.94, Z:-4.79 [[ 9.54656649e-01 2.86431462e-01 8.11646528e-02 4.10542312e+01] [-2.85476420e-01 9.58100362e-01 -2.33860978e-02 -5.94348556e+00] [-8.44623974e-02 -8.44900807e-04 9.96426309e-01 -4.78905758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.571193817 meters 0.059263197700583053 Centerline is valid? [True, True] Translation: X:41.08, Y:-5.95, Z:-4.79 [[ 9.53726139e-01 2.90070441e-01 7.91554925e-02 4.10847311e+01] [-2.89173632e-01 9.57004635e-01 -2.28197091e-02 -5.95069738e+00] [-8.23714963e-02 -1.12592822e-03 9.96601058e-01 -4.79449280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.601193817 meters 0.06072498716628383 Centerline is valid? [True, True] Translation: X:41.11, Y:-5.96, Z:-4.80 [[ 9.51798595e-01 2.96864126e-01 7.71435349e-02 4.11147641e+01] [-2.96033416e-01 9.54918295e-01 -2.22545716e-02 -5.95723826e+00] [-8.02723568e-02 -1.65519410e-03 9.96771593e-01 -4.80110433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.631193817 meters 0.061589152711379186 Centerline is valid? [True, True] Translation: X:41.14, Y:-5.97, Z:-4.81 [[ 9.51053041e-01 2.99785967e-01 7.50099150e-02 4.11438311e+01] [-2.99009380e-01 9.54004701e-01 -2.16430279e-02 -5.96558652e+00] [-7.80480875e-02 -1.84500069e-03 9.96947888e-01 -4.80643617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.661193817 meters 0.06261256015074802 Centerline is valid? [True, True] Translation: X:41.17, Y:-5.97, Z:-4.81 [[ 9.50442432e-01 3.01955863e-01 7.40394510e-02 4.11729130e+01] [-3.01206070e-01 9.53319809e-01 -2.13599029e-02 -5.97354817e+00] [-7.70330231e-02 -1.99977402e-03 9.97026536e-01 -4.81298282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.691193817 meters 0.06377607317543482 Centerline is valid? [True, True] Translation: X:41.20, Y:-5.98, Z:-4.82 [[ 9.49824793e-01 3.04200506e-01 7.27661698e-02 4.12031081e+01] [-3.03481852e-01 9.52605643e-01 -2.10060733e-02 -5.98403433e+00] [-7.57075221e-02 -2.13112269e-03 9.97127790e-01 -4.81884508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.721193817 meters 0.06431334766531548 Centerline is valid? [True, True] Translation: X:41.23, Y:-6.00, Z:-4.82 [[ 9.49590875e-01 3.05023830e-01 7.23714909e-02 4.12316578e+01] [-3.04315415e-01 9.52342210e-01 -2.08912017e-02 -5.99760809e+00] [-7.52947400e-02 -2.18566581e-03 9.97158927e-01 -4.82367398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.751193817 meters 0.06211682338921661 Centerline is valid? [True, True] Translation: X:41.26, Y:-6.03, Z:-4.82 [[ 9.50536011e-01 3.01641735e-01 7.41185218e-02 4.12562200e+01] [-3.00886085e-01 9.53419382e-01 -2.14253761e-02 -6.02624493e+00] [-7.71288228e-02 -1.93564028e-03 9.97019257e-01 -4.82226129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.781193817 meters 0.06081029064226247 Centerline is valid? [True, True] Translation: X:41.28, Y:-6.05, Z:-4.82 [[ 9.51561301e-01 2.98125530e-01 7.51815027e-02 4.12836962e+01] [-2.97336852e-01 9.54525209e-01 -2.17352820e-02 -6.04590677e+00] [-7.82424820e-02 -1.67177813e-03 9.96932956e-01 -4.82270959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.811193817 meters 0.059785710084519716 Centerline is valid? [True, True] Translation: X:41.31, Y:-6.06, Z:-4.83 [[ 9.52849353e-01 2.93778336e-01 7.59763042e-02 4.13111664e+01] [-2.92958645e-01 9.55872658e-01 -2.19703236e-02 -6.06498429e+00] [-7.90780769e-02 -1.32350640e-03 9.96867547e-01 -4.82540034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.841193817 meters 0.059117849709925764 Centerline is valid? [True, True] Translation: X:41.34, Y:-6.08, Z:-4.83 [[ 9.54101152e-01 2.89367020e-01 7.71862668e-02 4.13384421e+01] [-2.88506055e-01 9.57217735e-01 -2.23263107e-02 -6.08353788e+00] [-8.03445615e-02 -9.67146585e-04 9.96766681e-01 -4.82847205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.871193817 meters 0.05830606810126563 Centerline is valid? [True, True] Translation: X:41.36, Y:-6.11, Z:-4.83 [[ 9.56387131e-01 2.81096401e-01 7.94258716e-02 4.13616770e+01] [-2.80155759e-01 9.59679497e-01 -2.29785327e-02 -6.11137945e+00] [-8.26825633e-02 -2.75242343e-04 9.96575897e-01 -4.83051628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.901193817 meters 0.05819702892122752 Centerline is valid? [True, True] Translation: X:41.39, Y:-6.13, Z:-4.83 [[ 9.57371145e-01 2.77481595e-01 8.02773703e-02 4.13904008e+01] [-2.76508010e-01 9.60730953e-01 -2.32240601e-02 -6.12948443e+00] [-8.35692036e-02 3.67090249e-05 9.96501975e-01 -4.83250465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.931193817 meters 0.05854485604389111 Centerline is valid? [True, True] Translation: X:41.42, Y:-6.15, Z:-4.84 [[ 9.58565620e-01 2.73230111e-01 8.06055777e-02 4.14183105e+01] [-2.72233283e-01 9.61948614e-01 -2.33217293e-02 -6.14721287e+00] [-8.39106225e-02 4.11886867e-04 9.96473200e-01 -4.83712040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.961193817 meters 0.059010462393317316 Centerline is valid? [True, True] Translation: X:41.45, Y:-6.16, Z:-4.84 [[ 9.59667611e-01 2.69203347e-01 8.10409445e-02 4.14469534e+01] [-2.68178966e-01 9.63083031e-01 -2.34758743e-02 -6.16447349e+00] [-8.43689424e-02 7.95559495e-04 9.96434267e-01 -4.84044079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.991193817 meters 0.06122076106344001 Centerline is valid? [True, True] Translation: X:41.47, Y:-6.19, Z:-4.84 [[ 9.62306537e-01 2.59388969e-01 8.17526216e-02 4.14715491e+01] [-2.58308518e-01 9.65771438e-01 -2.37115595e-02 -6.19004389e+00] [-8.51048639e-02 1.70039015e-03 9.96370549e-01 -4.84306011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.021193817 meters 0.06218710298407039 Centerline is valid? [True, True] Translation: X:41.50, Y:-6.20, Z:-4.85 [[ 9.63188294e-01 2.56224157e-01 8.13479613e-02 4.15008027e+01] [-2.55141943e-01 9.66615356e-01 -2.36081086e-02 -6.20499748e+00] [-8.46811563e-02 1.98377697e-03 9.96406125e-01 -4.84540858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.051193817 meters 0.06325579093287237 Centerline is valid? [True, True] Translation: X:41.53, Y:-6.22, Z:-4.85 [[ 9.63845984e-01 2.53844146e-01 8.10189429e-02 4.15291829e+01] [-2.52762166e-01 9.67242665e-01 -2.35141251e-02 -6.21903549e+00] [-8.43339013e-02 2.18547155e-03 9.96435154e-01 -4.84877776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.081193817 meters 0.06354301503989505 Centerline is valid? [True, True] Translation: X:41.56, Y:-6.23, Z:-4.85 [[ 9.64169701e-01 2.52833234e-01 8.03252323e-02 4.15594982e+01] [-2.51764420e-01 9.67507198e-01 -2.33344929e-02 -6.23052611e+00] [-8.36149757e-02 2.27537556e-03 9.96495539e-01 -4.85097201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.111193817 meters 0.06345289644857403 Centerline is valid? [True, True] Translation: X:41.59, Y:-6.24, Z:-4.85 [[ 9.63973106e-01 2.53691367e-01 7.99783836e-02 4.15891283e+01] [-2.52632389e-01 9.67282673e-01 -2.32617141e-02 -6.24021829e+00] [-8.32630007e-02 2.21853668e-03 9.96525138e-01 -4.85435669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.141193817 meters 0.06323350749668953 Centerline is valid? [True, True] Translation: X:41.62, Y:-6.25, Z:-4.86 [[ 9.63591390e-01 2.55622646e-01 7.84136236e-02 4.16206329e+01] [-2.54610539e-01 9.66774528e-01 -2.28141440e-02 -6.24724120e+00] [-8.16401058e-02 2.01857778e-03 9.96659831e-01 -4.86129209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.171193817 meters 0.061720188274223084 Centerline is valid? [True, True] Translation: X:41.65, Y:-6.25, Z:-4.86 [[ 9.62966509e-01 2.58306861e-01 7.72856271e-02 4.16527243e+01] [-2.57330192e-01 9.66061260e-01 -2.25125404e-02 -6.25113041e+00] [-8.04777940e-02 1.79089724e-03 9.96754793e-01 -4.86373041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.201193817000004 meters 0.061161743507498076 Centerline is valid? [True, True] Translation: X:41.68, Y:-6.26, Z:-4.87 [[ 9.62411703e-01 2.60993123e-01 7.51418951e-02 4.16839452e+01] [-2.60076388e-01 9.65339425e-01 -2.19104366e-02 -6.25717743e+00] [-7.82559071e-02 1.54422790e-03 9.96932108e-01 -4.86911768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.231193817 meters 0.06000862886897834 Centerline is valid? [True, True] Translation: X:41.72, Y:-6.26, Z:-4.87 [[ 9.61642495e-01 2.63986578e-01 7.45305121e-02 4.17155309e+01] [-2.63091923e-01 9.64525461e-01 -2.17548871e-02 -6.26317298e+00] [-7.76295748e-02 1.31204812e-03 9.96981408e-01 -4.87088237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.261193817 meters 0.059107894718566555 Centerline is valid? [True, True] Translation: X:41.75, Y:-6.27, Z:-4.88 [[ 9.59751186e-01 2.70977740e-01 7.38154828e-02 4.17469137e+01] [-2.70118951e-01 9.62585312e-01 -2.15701133e-02 -6.26654177e+00] [-7.68987201e-02 7.62981017e-04 9.97038617e-01 -4.87724487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.291193817 meters 0.05911821498633992 Centerline is valid? [True, True] Translation: X:41.78, Y:-6.27, Z:-4.88 [[ 9.59139643e-01 2.73329902e-01 7.30883724e-02 4.17776866e+01] [-2.72493056e-01 9.61920171e-01 -2.13803452e-02 -6.27402070e+00] [-7.61490674e-02 5.90662781e-04 9.97096270e-01 -4.88346489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.321193817 meters 0.05920202917565659 Centerline is valid? [True, True] Translation: X:41.81, Y:-6.28, Z:-4.89 [[ 9.58889819e-01 2.74420844e-01 7.22738877e-02 4.18079556e+01] [-2.73603788e-01 9.61609550e-01 -2.11669571e-02 -6.28351637e+00] [-7.53079149e-02 5.22370184e-04 9.97160190e-01 -4.88850526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.351193817 meters 0.059035848125005445 Centerline is valid? [True, True] Translation: X:41.84, Y:-6.30, Z:-4.89 [[ 9.59281540e-01 2.73024758e-01 7.23630337e-02 4.18380697e+01] [-2.72200186e-01 9.62006786e-01 -2.12132578e-02 -6.29611752e+00] [-7.54054741e-02 6.52255391e-04 9.97152741e-01 -4.89132248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.381193817 meters 0.05889538235994916 Centerline is valid? [True, True] Translation: X:41.87, Y:-6.31, Z:-4.89 [[ 9.59571657e-01 2.71645892e-01 7.36935861e-02 4.18684857e+01] [-2.70784381e-01 9.62396938e-01 -2.16322400e-02 -6.30745034e+00] [-7.67987907e-02 8.02612337e-04 9.97046289e-01 -4.89342906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.411193817 meters 0.0589176970602723 Centerline is valid? [True, True] Translation: X:41.90, Y:-6.32, Z:-4.90 [[ 9.59510487e-01 2.71402468e-01 7.53679340e-02 4.18976497e+01] [-2.70498509e-01 9.62465558e-01 -2.21496189e-02 -6.31865102e+00] [-7.85505018e-02 8.65877788e-04 9.96909760e-01 -4.89627298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.441193817 meters 0.05930922871066585 Centerline is valid? [True, True] Translation: X:41.93, Y:-6.33, Z:-4.90 [[ 9.59100638e-01 2.72290836e-01 7.73541707e-02 4.19263030e+01] [-2.71339450e-01 9.62214633e-01 -2.27574884e-02 -6.32997294e+00] [-8.06279705e-02 8.37483442e-04 9.96743913e-01 -4.90186997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.471193817 meters 0.05756947488218586 Centerline is valid? [True, True] Translation: X:41.96, Y:-6.33, Z:-4.90 [[ 9.57749145e-01 2.76051205e-01 8.06988746e-02 4.19583796e+01] [-2.75026253e-01 9.61142759e-01 -2.37730449e-02 -6.33437838e+00] [-8.41257167e-02 5.74304314e-04 9.96454983e-01 -4.89667485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.501193817 meters 0.05686075983041273 Centerline is valid? [True, True] Translation: X:41.99, Y:-6.34, Z:-4.90 [[ 9.56767990e-01 2.79000386e-01 8.21814920e-02 4.19909170e+01] [-2.77948523e-01 9.60290937e-01 -2.42060874e-02 -6.33873618e+00] [-8.56716497e-02 3.17385187e-04 9.96323375e-01 -4.89682863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.531193817 meters 0.05662305150680911 Centerline is valid? [True, True] Translation: X:42.02, Y:-6.34, Z:-4.90 [[ 9.55705062e-01 2.82335778e-01 8.31525232e-02 4.20228362e+01] [-2.81269105e-01 9.59315645e-01 -2.45190546e-02 -6.34251577e+00] [-8.66921228e-02 4.47488156e-05 9.96235150e-01 -4.89985277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.561193817 meters 0.05672155337383553 Centerline is valid? [True, True] Translation: X:42.05, Y:-6.35, Z:-4.91 [[ 9.54626126e-01 2.85680903e-01 8.41152881e-02 4.20535115e+01] [-2.84599867e-01 9.58324771e-01 -2.48304090e-02 -6.34564107e+00] [-8.77033378e-02 -2.35442680e-04 9.96146610e-01 -4.90533033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.591193817 meters 0.05732090486958122 Centerline is valid? [True, True] Translation: X:42.09, Y:-6.35, Z:-4.91 [[ 9.52836619e-01 2.92139945e-01 8.21987284e-02 4.20869107e+01] [-2.91129180e-01 9.56375261e-01 -2.42932272e-02 -6.34520627e+00] [-8.57098524e-02 -7.82971968e-04 9.96319832e-01 -4.91083429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.621193817 meters 0.05784976771788952 Centerline is valid? [True, True] Translation: X:42.12, Y:-6.35, Z:-4.92 [[ 9.52203244e-01 2.94871139e-01 7.97495667e-02 4.21176918e+01] [-2.93929284e-01 9.55536508e-01 -2.35702901e-02 -6.35106285e+00] [-8.31538207e-02 -9.97026286e-04 9.96536225e-01 -4.91780282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.651193817 meters 0.05831818078819373 Centerline is valid? [True, True] Translation: X:42.15, Y:-6.36, Z:-4.92 [[ 9.52017398e-01 2.96020680e-01 7.76828924e-02 4.21485606e+01] [-2.95129232e-01 9.55180955e-01 -2.29799898e-02 -6.35917833e+00] [-8.10037716e-02 -1.04914233e-03 9.96713243e-01 -4.92358914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.681193817 meters 0.05840908579608088 Centerline is valid? [True, True] Translation: X:42.18, Y:-6.37, Z:-4.93 [[ 9.52098860e-01 2.95686040e-01 7.79584894e-02 4.21774379e+01] [-2.94784892e-01 9.55284654e-01 -2.30889080e-02 -6.36883884e+00] [-8.12996163e-02 -9.98061968e-04 9.96689207e-01 -4.92862011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.711193817 meters 0.057746470034358455 Centerline is valid? [True, True] Translation: X:42.21, Y:-6.38, Z:-4.93 [[ 9.52594198e-01 2.94085869e-01 7.79602169e-02 4.22073075e+01] [-2.93178621e-01 9.55778622e-01 -2.30981091e-02 -6.38245615e+00] [-8.13055361e-02 -8.53144172e-04 9.96688859e-01 -4.92910151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.741193817 meters 0.05768051777770997 Centerline is valid? [True, True] Translation: X:42.24, Y:-6.40, Z:-4.93 [[ 9.53418726e-01 2.91722711e-01 7.67501955e-02 4.22358788e+01] [-2.90833504e-01 9.56502736e-01 -2.27681821e-02 -6.39523976e+00] [-8.00537678e-02 -6.13917073e-04 9.96790358e-01 -4.93426820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.771193817 meters 0.05761489793878739 Centerline is valid? [True, True] Translation: X:42.27, Y:-6.41, Z:-4.94 [[ 9.54055156e-01 2.90000668e-01 7.53549735e-02 4.22651226e+01] [-2.89137576e-01 9.57026336e-01 -2.23619203e-02 -6.40871864e+00] [-7.86016660e-02 -4.53448964e-04 9.96906000e-01 -4.93708992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.801193817 meters 0.057821258606284905 Centerline is valid? [True, True] Translation: X:42.29, Y:-6.42, Z:-4.94 [[ 9.54512980e-01 2.88766585e-01 7.42888340e-02 4.22928603e+01] [-2.87922018e-01 9.57399476e-01 -2.20716004e-02 -6.42139118e+00] [-7.74976314e-02 -3.21761935e-04 9.96992484e-01 -4.94294225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.831193817 meters 0.058155183186290815 Centerline is valid? [True, True] Translation: X:42.32, Y:-6.43, Z:-4.95 [[ 9.55014615e-01 2.87813953e-01 7.14857524e-02 4.23223279e+01] [-2.87027604e-01 9.57686318e-01 -2.12619616e-02 -6.43467998e+00] [-7.45804162e-02 -2.12900137e-04 9.97214980e-01 -4.94844996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.861193817 meters 0.05873538834163464 Centerline is valid? [True, True] Translation: X:42.35, Y:-6.45, Z:-4.96 [[ 9.55184441e-01 2.88051813e-01 6.81823823e-02 4.23488359e+01] [-2.87336803e-01 9.57614801e-01 -2.02843552e-02 -6.44825895e+00] [-7.11354037e-02 -2.16007315e-04 9.97466645e-01 -4.95697384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.891193817 meters 0.0590776201209845 Centerline is valid? [True, True] Translation: X:42.38, Y:-6.46, Z:-4.96 [[ 9.55231190e-01 2.88363393e-01 6.61810168e-02 4.23776264e+01] [-2.87690576e-01 9.57521018e-01 -1.96883962e-02 -6.45950133e+00] [-6.90471273e-02 -2.32684760e-04 9.97613372e-01 -4.96305839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.921193817 meters 0.058996908169488764 Centerline is valid? [True, True] Translation: X:42.41, Y:-6.47, Z:-4.97 [[ 9.55191651e-01 2.88295616e-01 6.70413857e-02 4.24064880e+01] [-2.87603583e-01 9.57541432e-01 -1.99646097e-02 -6.47226640e+00] [-6.99506139e-02 -2.11314235e-04 9.97550433e-01 -4.96653987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.951193817000004 meters 0.058996908169488764 Centerline is valid? [True, True] Translation: X:42.44, Y:-6.48, Z:-4.97 [[ 9.55098677e-01 2.88604533e-01 6.70368692e-02 4.24373337e+01] [-2.87912197e-01 9.57448367e-01 -1.99797604e-02 -6.48171638e+00] [-6.99505904e-02 -2.18089600e-04 9.97550433e-01 -4.97025539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.981193817 meters 0.058705272645871935 Centerline is valid? [True, True] Translation: X:42.47, Y:-6.50, Z:-4.97 [[ 9.55165353e-01 2.88119548e-01 6.81635823e-02 4.24674382e+01] [-2.87400188e-01 9.57594435e-01 -2.03477231e-02 -6.49506435e+00] [-7.11356439e-02 -1.54786309e-04 9.97466639e-01 -4.97142243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.011193817 meters 0.05847753398442991 Centerline is valid? [True, True] Translation: X:42.50, Y:-6.51, Z:-4.97 [[ 9.55869231e-01 2.85473664e-01 6.94175862e-02 4.24958975e+01] [-2.84720123e-01 9.58386553e-01 -2.07284124e-02 -6.51181871e+00] [-7.24462970e-02 4.90679696e-05 9.97372313e-01 -4.97362215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.041193817 meters 0.05852280198525831 Centerline is valid? [True, True] Translation: X:42.53, Y:-6.52, Z:-4.98 [[ 9.56284545e-01 2.83853198e-01 7.03365573e-02 4.25255319e+01] [-2.83073494e-01 9.58867730e-01 -2.10255418e-02 -6.52430224e+00] [-7.34116223e-02 1.95985589e-04 9.97301707e-01 -4.97695834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.071193817 meters 0.05876483125660826 Centerline is valid? [True, True] Translation: X:42.55, Y:-6.54, Z:-4.98 [[ 9.56663015e-01 2.82434538e-01 7.08985686e-02 4.25549260e+01] [-2.81636744e-01 9.59286518e-01 -2.12160543e-02 -6.53715513e+00] [-7.40041875e-02 3.28972408e-04 9.97257876e-01 -4.97998469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.101193817 meters 0.05853160184385246 Centerline is valid? [True, True] Translation: X:42.58, Y:-6.55, Z:-4.98 [[ 9.56871810e-01 2.81280716e-01 7.26463858e-02 4.25845525e+01] [-2.80437947e-01 9.59625425e-01 -2.17624165e-02 -6.55012029e+00] [-7.58346669e-02 4.51039569e-04 9.97120304e-01 -4.98040405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.131193817 meters 0.057822669298792324 Centerline is valid? [True, True] Translation: X:42.61, Y:-6.56, Z:-4.98 [[ 9.56761872e-01 2.80419049e-01 7.72779230e-02 4.26144223e+01] [-2.79459569e-01 9.59877499e-01 -2.31848293e-02 -6.56223466e+00] [-8.06788072e-02 5.86305635e-04 9.96739979e-01 -4.97664652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.161193817 meters 0.05760707952303441 Centerline is valid? [True, True] Translation: X:42.65, Y:-6.57, Z:-4.98 [[ 9.56695072e-01 2.80512535e-01 7.77641139e-02 4.26453206e+01] [-2.79541645e-01 9.59850189e-01 -2.33256140e-02 -6.56974281e+00] [-8.11850265e-02 5.77191710e-04 9.96698880e-01 -4.97931654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.191193817 meters 0.05807022403245612 Centerline is valid? [True, True] Translation: X:42.68, Y:-6.58, Z:-4.99 [[ 9.56728062e-01 2.80693052e-01 7.66995859e-02 4.26755380e+01] [-2.79746867e-01 9.59797412e-01 -2.30351554e-02 -6.57665127e+00] [-8.00818721e-02 5.81910684e-04 9.96788119e-01 -4.98645758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.221193817 meters 0.0588951826857309 Centerline is valid? [True, True] Translation: X:42.71, Y:-6.58, Z:-5.00 [[ 9.56497907e-01 2.81981118e-01 7.48224716e-02 4.27056270e+01] [-2.81084031e-01 9.59419839e-01 -2.24797698e-02 -6.58067895e+00] [-7.81250343e-02 4.70450858e-04 9.96943458e-01 -4.99753421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.251193817 meters 0.05879743917072915 Centerline is valid? [True, True] Translation: X:42.74, Y:-6.59, Z:-5.00 [[ 9.56166461e-01 2.82964705e-01 7.53437170e-02 4.27371981e+01] [-2.82055893e-01 9.59130231e-01 -2.26643721e-02 -6.58868152e+00] [-7.86776541e-02 4.19773120e-04 9.96900020e-01 -4.99996306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.281193817 meters 0.05831306357257443 Centerline is valid? [True, True] Translation: X:42.77, Y:-6.60, Z:-5.00 [[ 9.55599603e-01 2.84547181e-01 7.65656597e-02 4.27681901e+01] [-2.83613529e-01 9.58661992e-01 -2.30337152e-02 -6.59649797e+00] [-7.99547666e-02 2.95952212e-04 9.96798449e-01 -5.00013093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.311193817 meters 0.057731560877209265 Centerline is valid? [True, True] Translation: X:42.80, Y:-6.61, Z:-5.00 [[ 9.55253785e-01 2.85487118e-01 7.73777162e-02 4.27998502e+01] [-2.84534712e-01 9.58382516e-01 -2.33013118e-02 -6.60500147e+00] [-8.08096747e-02 2.42020101e-04 9.96729521e-01 -4.99826407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.341193817 meters 0.057826114966997834 Centerline is valid? [True, True] Translation: X:42.83, Y:-6.61, Z:-5.00 [[ 9.55176277e-01 2.85632326e-01 7.77975191e-02 4.28294317e+01] [-2.84667842e-01 9.58339245e-01 -2.34544550e-02 -6.61372722e+00] [-8.12557663e-02 2.56687172e-04 9.96693250e-01 -5.00283040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.371193817 meters 0.05871639843981828 Centerline is valid? [True, True] Translation: X:42.86, Y:-6.62, Z:-5.01 [[ 9.55949556e-01 2.83297812e-01 7.68296575e-02 4.28577066e+01] [-2.82347801e-01 9.59031870e-01 -2.31860401e-02 -6.62413024e+00] [-8.02506446e-02 4.71999926e-04 9.96774604e-01 -5.01257830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.401193817 meters 0.058825111128366234 Centerline is valid? [True, True] Translation: X:42.89, Y:-6.64, Z:-5.01 [[ 9.56727251e-01 2.80978466e-01 7.56575783e-02 4.28871948e+01] [-2.80048333e-01 9.59713834e-01 -2.28536145e-02 -6.63570289e+00] [-7.90309981e-02 6.76897046e-04 9.96871929e-01 -5.01482230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.431193817 meters 0.05967003893302498 Centerline is valid? [True, True] Translation: X:42.92, Y:-6.65, Z:-5.02 [[ 9.58078055e-01 2.76921326e-01 7.34916314e-02 4.29161504e+01] [-2.76029656e-01 9.60892064e-01 -2.22276798e-02 -6.65022841e+00] [-7.67728439e-02 1.00998253e-03 9.97048098e-01 -5.02014115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.461193817 meters 0.061109756468286786 Centerline is valid? [True, True] Translation: X:42.94, Y:-6.67, Z:-5.03 [[ 9.59378985e-01 2.72342370e-01 7.36314862e-02 4.29429955e+01] [-2.71433855e-01 9.62199424e-01 -2.22694869e-02 -6.66609986e+00] [-7.69130985e-02 1.37879954e-03 9.97036847e-01 -5.02600041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.491193817 meters 0.0645631938147104 Centerline is valid? [True, True] Translation: X:42.97, Y:-6.69, Z:-5.03 [[ 9.62259383e-01 2.62698751e-01 7.10369390e-02 4.29673594e+01] [-2.61824756e-01 9.64875611e-01 -2.15140089e-02 -6.68750858e+00] [-7.41935131e-02 2.10282771e-03 9.97241646e-01 -5.03145012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.521193817 meters 0.06533010536206968 Centerline is valid? [True, True] Translation: X:43.00, Y:-6.70, Z:-5.03 [[ 9.63117680e-01 2.59348319e-01 7.17132027e-02 4.29971374e+01] [-2.58448662e-01 9.65780922e-01 -2.17140313e-02 -6.70025312e+00] [-7.48907406e-02 2.37898615e-03 9.97188908e-01 -5.03248621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.551193817 meters 0.06729187978009588 Centerline is valid? [True, True] Translation: X:43.03, Y:-6.71, Z:-5.04 [[ 9.63623998e-01 2.57503988e-01 7.15575730e-02 4.30256967e+01] [-2.56601452e-01 9.66273900e-01 -2.16897470e-02 -6.71302131e+00] [-7.47294115e-02 2.53898362e-03 9.97200616e-01 -5.03785581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.581193817 meters 0.0679143494588055 Centerline is valid? [True, True] Translation: X:43.06, Y:-6.72, Z:-5.04 [[ 9.63728135e-01 2.56719360e-01 7.29606131e-02 4.30555757e+01] [-2.55776597e-01 9.66482278e-01 -2.21435748e-02 -6.72178882e+00] [-7.61998239e-02 2.67876865e-03 9.97088968e-01 -5.04106304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.611193817 meters 0.0653925968977896 Centerline is valid? [True, True] Translation: X:43.09, Y:-6.72, Z:-5.04 [[ 9.63306668e-01 2.58155638e-01 7.34569994e-02 4.30903784e+01] [-2.57203555e-01 9.66099870e-01 -2.23018727e-02 -6.71980282e+00] [-7.67241517e-02 2.59014133e-03 9.97048994e-01 -5.03867710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.641193817 meters 0.0651340830435942 Centerline is valid? [True, True] Translation: X:43.12, Y:-6.72, Z:-5.04 [[ 9.62806188e-01 2.59565704e-01 7.50325917e-02 4.31206149e+01] [-2.58573725e-01 9.65722042e-01 -2.28159414e-02 -6.72325292e+00] [-7.83828636e-02 2.56587280e-03 9.96920028e-01 -5.04268462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.671193817 meters 0.06620457726080957 Centerline is valid? [True, True] Translation: X:43.15, Y:-6.73, Z:-5.05 [[ 9.62264675e-01 2.61647726e-01 7.47473207e-02 4.31507431e+01] [-2.60670146e-01 9.65160507e-01 -2.27215921e-02 -6.72885118e+00] [-7.80882148e-02 2.37979045e-03 9.96943613e-01 -5.04963641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.701193817000004 meters 0.06204022812227008 Centerline is valid? [True, True] Translation: X:43.19, Y:-6.72, Z:-5.04 [[ 9.60613590e-01 2.66791879e-01 7.77407479e-02 4.31866311e+01] [-2.65748394e-01 9.63751938e-01 -2.36641869e-02 -6.71891562e+00] [-8.12362093e-02 2.07266067e-03 9.96692722e-01 -5.04469763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.731193817 meters 0.06126736799113048 Centerline is valid? [True, True] Translation: X:43.22, Y:-6.72, Z:-5.05 [[ 9.59490077e-01 2.70508660e-01 7.87645673e-02 4.32173277e+01] [-2.69449780e-01 9.62715890e-01 -2.39777279e-02 -6.72104769e+00] [-8.23140836e-02 1.78329663e-03 9.96604842e-01 -5.04755043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.761193817 meters 0.060009119190604636 Centerline is valid? [True, True] Translation: X:43.25, Y:-6.72, Z:-5.05 [[ 9.58023668e-01 2.74997996e-01 8.10355123e-02 4.32504996e+01] [-2.73892994e-01 9.61443722e-01 -2.46697552e-02 -6.72196748e+00] [-8.46952179e-02 1.43915028e-03 9.96405866e-01 -5.04842304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.791193817 meters 0.058892692682582126 Centerline is valid? [True, True] Translation: X:43.28, Y:-6.72, Z:-5.05 [[ 9.56466016e-01 2.80030749e-01 8.21920867e-02 4.32838887e+01] [-2.78912538e-01 9.59990503e-01 -2.50206021e-02 -6.72177171e+00] [-8.59101606e-02 1.00695216e-03 9.96302379e-01 -5.05015341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.821193817 meters 0.058293992857603026 Centerline is valid? [True, True] Translation: X:43.32, Y:-6.71, Z:-5.06 [[ 9.53328586e-01 2.90993031e-01 8.05460278e-02 4.33185985e+01] [-2.89955901e-01 9.56725172e-01 -2.45463090e-02 -6.71223589e+00] [-8.42032171e-02 4.59019436e-05 9.96448602e-01 -5.05697449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.851193817 meters 0.05858277776672799 Centerline is valid? [True, True] Translation: X:43.35, Y:-6.71, Z:-5.06 [[ 9.51739288e-01 2.96413609e-01 7.95694696e-02 4.33513714e+01] [-2.95418428e-01 9.55059583e-01 -2.42722929e-02 -6.71272928e+00] [-8.31882224e-02 -4.05392852e-04 9.96533770e-01 -5.06350919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.881193817 meters 0.05896019755029295 Centerline is valid? [True, True] Translation: X:43.38, Y:-6.71, Z:-5.07 [[ 9.50153606e-01 3.01854182e-01 7.80523974e-02 4.33843294e+01] [-3.00912932e-01 9.53353736e-01 -2.38340492e-02 -6.71434138e+00] [-8.16059521e-02 -8.40967955e-04 9.96664317e-01 -5.06844045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.911193817 meters 0.05983185995120643 Centerline is valid? [True, True] Translation: X:43.42, Y:-6.72, Z:-5.08 [[ 9.48869366e-01 3.06251686e-01 7.65299306e-02 4.34153549e+01] [-3.05359196e-01 9.51949857e-01 -2.33929701e-02 -6.71756182e+00] [-8.00167930e-02 -1.17224539e-03 9.96792826e-01 -5.07531804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.941193817 meters 0.06060846199562715 Centerline is valid? [True, True] Translation: X:43.45, Y:-6.72, Z:-5.08 [[ 9.47734938e-01 3.10042443e-01 7.53138229e-02 4.34465992e+01] [-3.09187777e-01 9.50721625e-01 -2.30501638e-02 -6.72462603e+00] [-7.87490092e-02 -1.44066798e-03 9.96893434e-01 -5.08009104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.971193817 meters 0.06197391269451222 Centerline is valid? [True, True] Translation: X:43.48, Y:-6.73, Z:-5.09 [[ 9.46188456e-01 3.14625177e-01 7.57522452e-02 4.34756188e+01] [-3.13775128e-01 9.49214223e-01 -2.31846515e-02 -6.73379813e+00] [-7.91995836e-02 -1.83212081e-03 9.96857096e-01 -5.08601404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.001193817 meters 0.06171318395959894 Centerline is valid? [True, True] Translation: X:43.51, Y:-6.75, Z:-5.09 [[ 9.45768676e-01 3.16031340e-01 7.51385610e-02 4.35053542e+01] [-3.15197801e-01 9.48746820e-01 -2.30177767e-02 -6.74501080e+00] [-7.85618096e-02 -1.91401698e-03 9.96907407e-01 -5.08819432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.031193817 meters 0.06193965674156077 Centerline is valid? [True, True] Translation: X:43.54, Y:-6.76, Z:-5.09 [[ 9.45333694e-01 3.17210031e-01 7.56439228e-02 4.35360647e+01] [-3.16367211e-01 9.48353193e-01 -2.31950094e-02 -6.75563942e+00] [-7.90948454e-02 -2.00423298e-03 9.96865080e-01 -5.09261739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.061193817 meters 0.061805553218085556 Centerline is valid? [True, True] Translation: X:43.57, Y:-6.77, Z:-5.10 [[ 9.45476192e-01 3.16941124e-01 7.49872905e-02 4.35663524e+01] [-3.16109933e-01 9.48443232e-01 -2.30205444e-02 -6.76807782e+00] [-7.84173454e-02 -1.93885072e-03 9.96918733e-01 -5.09772558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.091193817 meters 0.06123975463275974 Centerline is valid? [True, True] Translation: X:43.59, Y:-6.79, Z:-5.10 [[ 9.46971606e-01 3.13001840e-01 7.26266167e-02 4.35937791e+01] [-3.12208716e-01 9.49751275e-01 -2.23211267e-02 -6.79003125e+00] [-7.59637755e-02 -1.53718952e-03 9.97109393e-01 -5.10428951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.121193817 meters 0.06130980764965577 Centerline is valid? [True, True] Translation: X:43.62, Y:-6.81, Z:-5.11 [[ 9.48231354e-01 3.09477239e-01 7.12821068e-02 4.36207032e+01] [-3.08701180e-01 9.50906088e-01 -2.19361205e-02 -6.80683589e+00] [-7.45713193e-02 -1.20435323e-03 9.97214956e-01 -5.11212725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.151193817 meters 0.061008009444084584 Centerline is valid? [True, True] Translation: X:43.65, Y:-6.83, Z:-5.12 [[ 9.49833635e-01 3.04770062e-01 7.02230373e-02 4.36471422e+01] [-3.04002212e-01 9.52425626e-01 -2.16352093e-02 -6.82602427e+00] [-7.34759844e-02 -7.98109210e-04 9.97296667e-01 -5.11758781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.181193817 meters 0.06067732711867071 Centerline is valid? [True, True] Translation: X:43.67, Y:-6.85, Z:-5.12 [[ 9.51809344e-01 2.98697087e-01 6.95630858e-02 4.36741371e+01] [-2.97926903e-01 9.54347918e-01 -2.14385698e-02 -6.84671331e+00] [-7.27910244e-02 -3.19283611e-04 9.97347164e-01 -5.12024795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.211193817 meters 0.06184271521290662 Centerline is valid? [True, True] Translation: X:43.70, Y:-6.88, Z:-5.12 [[ 9.56159448e-01 2.84191133e-01 7.06718536e-02 4.36991798e+01] [-2.83354884e-01 9.58767296e-01 -2.18009667e-02 -6.87762377e+00] [-7.39535034e-02 8.19985389e-04 9.97261353e-01 -5.12390652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.241193817 meters 0.06387135141052346 Centerline is valid? [True, True] Translation: X:43.73, Y:-6.90, Z:-5.13 [[ 9.58614196e-01 2.76037558e-01 6.97286810e-02 4.37256349e+01] [-2.75199243e-01 9.61145732e-01 -2.15466617e-02 -6.89676050e+00] [-7.29671120e-02 1.46565557e-03 9.97333270e-01 -5.12829356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.271193817 meters 0.06616869258109488 Centerline is valid? [True, True] Translation: X:43.75, Y:-6.91, Z:-5.13 [[ 9.60647443e-01 2.68728823e-01 7.02944583e-02 4.37529293e+01] [-2.67857024e-01 9.63213712e-01 -2.17246467e-02 -6.91491425e+00] [-7.35466248e-02 2.04086188e-03 9.97289692e-01 -5.13116361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.301193817 meters 0.07242936822490625 Centerline is valid? [True, True] Translation: X:43.78, Y:-6.94, Z:-5.13 [[ 9.63996587e-01 2.56494818e-01 7.01497596e-02 4.37761365e+01] [-2.55594131e-01 9.66541042e-01 -2.16807459e-02 -6.94002851e+00] [-7.33636207e-02 2.97029826e-03 9.97300835e-01 -5.13247099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.331193817 meters 0.07462677944971308 Centerline is valid? [True, True] Translation: X:43.81, Y:-6.95, Z:-5.13 [[ 9.64959418e-01 2.52387767e-01 7.17895332e-02 4.38057932e+01] [-2.51432438e-01 9.67620314e-01 -2.21958718e-02 -6.95366995e+00] [-7.50669771e-02 3.36789814e-03 9.97172807e-01 -5.13316663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.361193817 meters 0.0731601537677465 Centerline is valid? [True, True] Translation: X:43.84, Y:-6.96, Z:-5.13 [[ 9.65283976e-01 2.50453838e-01 7.41601082e-02 4.38388181e+01] [-2.49428797e-01 9.68121729e-01 -2.29258207e-02 -6.95924856e+00] [-7.75378720e-02 3.63226080e-03 9.96982791e-01 -5.13021637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.391193817 meters 0.07467217626546978 Centerline is valid? [True, True] Translation: X:43.87, Y:-6.97, Z:-5.13 [[ 9.65299387e-01 2.50088778e-01 7.51844129e-02 4.38691643e+01] [-2.49031774e-01 9.68215684e-01 -2.32715605e-02 -6.96762830e+00] [-7.86146838e-02 3.74071540e-03 9.96898058e-01 -5.13405500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.421193817 meters 0.07155404278927985 Centerline is valid? [True, True] Translation: X:43.90, Y:-6.96, Z:-5.13 [[ 9.64776819e-01 2.51883651e-01 7.58967467e-02 4.39039413e+01] [-2.50809889e-01 9.67750624e-01 -2.35187087e-02 -6.96406860e+00] [-7.93731022e-02 3.65465040e-03 9.96838279e-01 -5.13320806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.451193817000004 meters 0.07077741022263398 Centerline is valid? [True, True] Translation: X:43.94, Y:-6.97, Z:-5.14 [[ 9.64313388e-01 2.53248399e-01 7.72330105e-02 4.39360128e+01] [-2.52138655e-01 9.67394474e-01 -2.39589370e-02 -6.96874001e+00] [-8.07823500e-02 3.63049634e-03 9.96725153e-01 -5.13558118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.481193817 meters 0.0708774056010073 Centerline is valid? [True, True] Translation: X:43.97, Y:-6.97, Z:-5.14 [[ 9.64031415e-01 2.54267459e-01 7.74047136e-02 4.39677894e+01] [-2.53153933e-01 9.67127322e-01 -2.40380951e-02 -6.97453673e+00] [-8.09723187e-02 3.57817112e-03 9.96709928e-01 -5.13995376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.511193817 meters 0.07047340111946415 Centerline is valid? [True, True] Translation: X:44.00, Y:-6.98, Z:-5.14 [[ 9.63621202e-01 2.55861309e-01 7.72603967e-02 4.39994213e+01] [-2.54754961e-01 9.66707298e-01 -2.40189386e-02 -6.97938864e+00] [-8.08337064e-02 3.46268907e-03 9.96721587e-01 -5.14420670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.541193817 meters 0.06892338705461046 Centerline is valid? [True, True] Translation: X:44.03, Y:-6.98, Z:-5.15 [[ 9.62890893e-01 2.58670160e-01 7.70121879e-02 4.40330870e+01] [-2.57577088e-01 9.65960241e-01 -2.39761677e-02 -6.97641211e+00] [-8.05926307e-02 3.24985844e-03 9.96741825e-01 -5.14862565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.571193817 meters 0.0694603454039391 Centerline is valid? [True, True] Translation: X:44.06, Y:-6.98, Z:-5.15 [[ 9.62476088e-01 2.60307844e-01 7.66785926e-02 4.40631138e+01] [-2.59229496e-01 9.65520703e-01 -2.38713517e-02 -6.98233360e+00] [-8.02486687e-02 3.09825227e-03 9.96770060e-01 -5.15404062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.601193817 meters 0.06924435285196177 Centerline is valid? [True, True] Translation: X:44.10, Y:-6.99, Z:-5.16 [[ 9.62115673e-01 2.62119431e-01 7.50122329e-02 4.40955003e+01] [-2.61092386e-01 9.65031113e-01 -2.33605733e-02 -6.98827078e+00] [-7.85123988e-02 2.89045085e-03 9.96908947e-01 -5.15890489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.631193817 meters 0.06808254562208196 Centerline is valid? [True, True] Translation: X:44.13, Y:-6.99, Z:-5.16 [[ 9.61579856e-01 2.64511467e-01 7.34701661e-02 4.41282077e+01] [-2.63531107e-01 9.64378854e-01 -2.29080976e-02 -6.99230754e+00] [-7.69125292e-02 2.66629103e-03 9.97034279e-01 -5.16189203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.661193817 meters 0.06851093694711054 Centerline is valid? [True, True] Translation: X:44.16, Y:-7.00, Z:-5.17 [[ 9.60986161e-01 2.67384194e-01 7.07904672e-02 4.41581000e+01] [-2.66480208e-01 9.63587089e-01 -2.20957004e-02 -6.99711020e+00] [-7.41208213e-02 2.36940384e-03 9.97246454e-01 -5.17014672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.691193817 meters 0.0683033232121675 Centerline is valid? [True, True] Translation: X:44.19, Y:-7.00, Z:-5.18 [[ 9.60373805e-01 2.70295943e-01 6.79871858e-02 4.41887154e+01] [-2.69468104e-01 9.62775043e-01 -2.12404592e-02 -7.00005137e+00] [-7.11975757e-02 2.07840256e-03 9.97460067e-01 -5.17732636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.721193817 meters 0.06625095625819528 Centerline is valid? [True, True] Translation: X:44.22, Y:-6.99, Z:-5.18 [[ 9.58718186e-01 2.76988348e-01 6.43186935e-02 4.42249522e+01] [-2.76261610e-01 9.60872092e-01 -2.01083528e-02 -6.99332599e+00] [-6.73718170e-02 1.50945766e-03 9.97726796e-01 -5.18365836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.751193817 meters 0.06484521663699216 Centerline is valid? [True, True] Translation: X:44.26, Y:-6.99, Z:-5.18 [[ 9.57718222e-01 2.80278239e-01 6.49608773e-02 4.42583093e+01] [-2.79542699e-01 9.59917902e-01 -2.03347438e-02 -6.99443467e+00] [-6.80564953e-02 1.31561572e-03 9.97680602e-01 -5.18467570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.781193817 meters 0.06398558873448291 Centerline is valid? [True, True] Translation: X:44.29, Y:-6.99, Z:-5.19 [[ 9.56509215e-01 2.84357239e-01 6.50467774e-02 4.42915886e+01] [-2.83627232e-01 9.58717816e-01 -2.03897781e-02 -6.99339337e+00] [-6.81594853e-02 1.05397319e-03 9.97673881e-01 -5.18623473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.811193817 meters 0.06342320639915677 Centerline is valid? [True, True] Translation: X:44.32, Y:-7.00, Z:-5.19 [[ 9.56150408e-01 2.85365629e-01 6.59003373e-02 4.43235088e+01] [-2.84618263e-01 9.58418205e-01 -2.06637155e-02 -6.99887646e+00] [-6.90567972e-02 1.00118049e-03 9.97612227e-01 -5.18664114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.841193817 meters 0.06342320639915677 Centerline is valid? [True, True] Translation: X:44.35, Y:-7.01, Z:-5.19 [[ 9.56049573e-01 2.85704601e-01 6.58945704e-02 4.43542327e+01] [-2.84956773e-01 9.58317217e-01 -2.06820841e-02 -7.00878544e+00] [-6.90568679e-02 9.95993579e-04 9.97612228e-01 -5.19035797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.871193817 meters 0.06368499940679817 Centerline is valid? [True, True] Translation: X:44.39, Y:-7.02, Z:-5.20 [[ 9.55897873e-01 2.86284407e-01 6.55781565e-02 4.43855115e+01] [-2.85543287e-01 9.58144190e-01 -2.06092970e-02 -7.01569755e+00] [-6.87334499e-02 9.74980755e-04 9.97634584e-01 -5.19574282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.901193817 meters 0.06404212886930503 Centerline is valid? [True, True] Translation: X:44.42, Y:-7.02, Z:-5.20 [[ 9.55988315e-01 2.86122301e-01 6.49643802e-02 4.44154343e+01] [-2.85392889e-01 9.58192582e-01 -2.04419684e-02 -7.02199375e+00] [-6.80972903e-02 1.00191076e-03 9.97678182e-01 -5.20069031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.931193817 meters 0.06458397220081816 Centerline is valid? [True, True] Translation: X:44.45, Y:-7.02, Z:-5.21 [[ 9.56164435e-01 2.85708477e-01 6.41890892e-02 4.44468616e+01] [-2.84994156e-01 9.58316018e-01 -2.02173647e-02 -7.02475057e+00] [-6.72897048e-02 1.03760979e-03 9.97732940e-01 -5.20721858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.961193817 meters 0.06445270098952226 Centerline is valid? [True, True] Translation: X:44.48, Y:-7.03, Z:-5.21 [[ 9.55664748e-01 2.87198003e-01 6.49784260e-02 4.44787354e+01] [-2.86468102e-01 9.57870753e-01 -2.04852793e-02 -7.03068768e+00] [-6.81242652e-02 9.62812929e-04 9.97676379e-01 -5.21108835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.991193817 meters 0.06371281543708297 Centerline is valid? [True, True] Translation: X:44.51, Y:-7.04, Z:-5.21 [[ 9.54930968e-01 2.89390717e-01 6.60292273e-02 4.45107247e+01] [-2.88640703e-01 9.57210691e-01 -2.08383782e-02 -7.03601765e+00] [-6.92343154e-02 8.40490131e-04 9.97600072e-01 -5.21212294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.021193817 meters 0.0634791040039811 Centerline is valid? [True, True] Translation: X:44.54, Y:-7.04, Z:-5.22 [[ 9.54074409e-01 2.92560416e-01 6.44237932e-02 4.45430608e+01] [-2.91852307e-01 9.56246843e-01 -2.03520558e-02 -7.04078773e+00] [-6.75592548e-02 6.15142979e-04 9.97715074e-01 -5.21644957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.051193817 meters 0.06380899897178478 Centerline is valid? [True, True] Translation: X:44.57, Y:-7.05, Z:-5.22 [[ 9.53146964e-01 2.95602660e-01 6.42645471e-02 4.45739036e+01] [-2.94903455e-01 9.55310887e-01 -2.03239107e-02 -7.04594340e+00] [-6.74004235e-02 4.19836797e-04 9.97725918e-01 -5.22356470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.081193817 meters 0.06259729798708229 Centerline is valid? [True, True] Translation: X:44.61, Y:-7.05, Z:-5.22 [[ 9.51723138e-01 2.99795314e-01 6.59229733e-02 4.46068637e+01] [-2.99068192e-01 9.54003537e-01 -2.08678672e-02 -7.05063019e+00] [-6.91468385e-02 1.44967615e-04 9.97606482e-01 -5.22087392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.111193817 meters 0.06225379612436977 Centerline is valid? [True, True] Translation: X:44.64, Y:-7.06, Z:-5.22 [[ 9.51413644e-01 3.00356169e-01 6.78103996e-02 4.46378782e+01] [-2.99585868e-01 9.53827108e-01 -2.14977862e-02 -7.06040940e+00] [-7.11363901e-02 1.38249658e-04 9.97466588e-01 -5.22296586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.141193817 meters 0.06217965687523778 Centerline is valid? [True, True] Translation: X:44.67, Y:-7.07, Z:-5.23 [[ 9.51620151e-01 2.99345591e-01 6.93635752e-02 4.46677905e+01] [-2.98536851e-01 9.54144732e-01 -2.19904413e-02 -7.07188975e+00] [-7.27656315e-02 2.18963755e-04 9.97349044e-01 -5.22655922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.171193817 meters 0.06278060484918423 Centerline is valid? [True, True] Translation: X:44.70, Y:-7.09, Z:-5.23 [[ 9.53625350e-01 2.92596376e-01 7.06119837e-02 4.46955731e+01] [-2.91738070e-01 9.56235729e-01 -2.24082419e-02 -7.09188048e+00] [-7.40782721e-02 7.68863728e-04 9.97252134e-01 -5.23002288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.201193817000004 meters 0.0638691766798456 Centerline is valid? [True, True] Translation: X:44.72, Y:-7.11, Z:-5.24 [[ 9.55112771e-01 2.87748054e-01 7.04318931e-02 4.47221892e+01] [-2.86878768e-01 9.57705428e-01 -2.23804486e-02 -7.10851141e+00] [-7.38929369e-02 1.17043752e-03 9.97265493e-01 -5.23577398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.231193817 meters 0.06570883429965303 Centerline is valid? [True, True] Translation: X:44.75, Y:-7.13, Z:-5.24 [[ 9.56937347e-01 2.81610301e-01 7.04737668e-02 4.47491895e+01] [-2.80721735e-01 9.59527415e-01 -2.24153155e-02 -7.12737695e+00] [-7.39338950e-02 1.66653447e-03 9.97261752e-01 -5.24064918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.261193817 meters 0.06759673262256806 Centerline is valid? [True, True] Translation: X:44.78, Y:-7.15, Z:-5.24 [[ 9.58572814e-01 2.75781765e-01 7.12922046e-02 4.47765468e+01] [-2.74854081e-01 9.61217827e-01 -2.27051360e-02 -7.14675760e+00] [-7.47890005e-02 2.16957271e-03 9.97197021e-01 -5.24403001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.291193817 meters 0.07016620015451533 Centerline is valid? [True, True] Translation: X:44.80, Y:-7.17, Z:-5.25 [[ 9.60247068e-01 2.69885456e-01 7.13260691e-02 4.48022703e+01] [-2.68940040e-01 9.62888821e-01 -2.27238563e-02 -7.16603567e+00] [-7.48119129e-02 2.63808046e-03 9.97194173e-01 -5.24788811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.321193817 meters 0.0716454499485003 Centerline is valid? [True, True] Translation: X:44.83, Y:-7.18, Z:-5.25 [[ 9.62409515e-01 2.62228509e-01 7.07399101e-02 4.48291349e+01] [-2.61277528e-01 9.65000461e-01 -2.25424884e-02 -7.18223468e+00] [-7.41753290e-02 3.21235645e-03 9.97240042e-01 -5.24886078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.351193817 meters 0.07574959793525333 Centerline is valid? [True, True] Translation: X:44.86, Y:-7.20, Z:-5.26 [[ 9.62818864e-01 2.60934933e-01 6.99485205e-02 4.48556734e+01] [-2.60002080e-01 9.65350851e-01 -2.22857091e-02 -7.19684641e+00] [-7.33399838e-02 3.27034033e-03 9.97301635e-01 -5.25940233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.381193817 meters 0.07267958876155138 Centerline is valid? [True, True] Translation: X:44.89, Y:-7.20, Z:-5.26 [[ 9.62786808e-01 2.61763074e-01 6.72432594e-02 4.48887879e+01] [-2.60902357e-01 9.65127208e-01 -2.14343751e-02 -7.19790465e+00] [-7.05090271e-02 3.09280869e-03 9.97506347e-01 -5.26046920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.411193817 meters 0.07151733140881235 Centerline is valid? [True, True] Translation: X:44.92, Y:-7.20, Z:-5.27 [[ 9.61217264e-01 2.68327449e-01 6.37318798e-02 4.49206124e+01] [-2.67568500e-01 9.63324576e-01 -2.03189360e-02 -7.19694761e+00] [-6.68466143e-02 2.47826853e-03 9.97760186e-01 -5.26930073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.441193817 meters 0.07016817706717614 Centerline is valid? [True, True] Translation: X:44.95, Y:-7.20, Z:-5.27 [[ 9.60078048e-01 2.72462240e-01 6.33598472e-02 4.49529814e+01] [-2.71719112e-01 9.62163946e-01 -2.02303037e-02 -7.19891104e+00] [-6.64745545e-02 2.20658904e-03 9.97785681e-01 -5.27377141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.471193817 meters 0.06886407507556516 Centerline is valid? [True, True] Translation: X:44.98, Y:-7.20, Z:-5.28 [[ 9.58766661e-01 2.77008591e-01 6.35037808e-02 4.49848418e+01] [-2.76271643e-01 9.60865561e-01 -2.02818497e-02 -7.20055984e+00] [-6.66368425e-02 1.90126742e-03 9.97775484e-01 -5.27778011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.501193817 meters 0.0677021228159808 Centerline is valid? [True, True] Translation: X:45.02, Y:-7.20, Z:-5.28 [[ 9.57650244e-01 2.80806710e-01 6.36679044e-02 4.50170251e+01] [-2.80074112e-01 9.59762933e-01 -2.03372383e-02 -7.20293550e+00] [-6.68169277e-02 1.64422941e-03 9.97763897e-01 -5.28136887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.531193817 meters 0.06541546601189999 Centerline is valid? [True, True] Translation: X:45.05, Y:-7.20, Z:-5.28 [[ 9.55540918e-01 2.87171902e-01 6.68868675e-02 4.50502635e+01] [-2.86378446e-01 9.57878227e-01 -2.13702480e-02 -7.20042199e+00] [-7.02064088e-02 1.26518916e-03 9.97531683e-01 -5.28225877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.561193817 meters 0.06488929444503859 Centerline is valid? [True, True] Translation: X:45.08, Y:-7.20, Z:-5.29 [[ 9.54736241e-01 2.89516792e-01 6.82549519e-02 4.50811271e+01] [-2.88696508e-01 9.57172286e-01 -2.18069277e-02 -7.20468665e+00] [-7.16452201e-02 1.11489797e-03 9.97429556e-01 -5.28558792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.591193817 meters 0.06408063408552345 Centerline is valid? [True, True] Translation: X:45.11, Y:-7.21, Z:-5.29 [[ 9.53818872e-01 2.92161159e-01 6.97955305e-02 4.51130033e+01] [-2.91310189e-01 9.56368639e-01 -2.23024759e-02 -7.20772827e+00] [-7.32661737e-02 9.40373224e-04 9.97311979e-01 -5.28815093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.621193817 meters 0.06309187810743433 Centerline is valid? [True, True] Translation: X:45.14, Y:-7.21, Z:-5.29 [[ 9.52603491e-01 2.95170538e-01 7.36270528e-02 4.51434012e+01] [-2.94231981e-01 9.55444287e-01 -2.35319966e-02 -7.21056154e+00] [-7.72924991e-02 7.53228502e-04 9.97008176e-01 -5.28970252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.651193817 meters 0.06150749905705866 Centerline is valid? [True, True] Translation: X:45.18, Y:-7.21, Z:-5.29 [[ 9.50310985e-01 3.01738900e-01 7.65680579e-02 4.51766231e+01] [-3.00745099e-01 9.53390573e-01 -2.44704068e-02 -7.21182555e+00] [-8.03829382e-02 2.27028211e-04 9.96764030e-01 -5.28567005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.681193817 meters 0.06146317780586619 Centerline is valid? [True, True] Translation: X:45.21, Y:-7.22, Z:-5.29 [[ 9.49169928e-01 3.05428798e-01 7.60900585e-02 4.52080491e+01] [-3.04459800e-01 9.52214913e-01 -2.43102717e-02 -7.22065658e+00] [-7.98791455e-02 -9.17851288e-05 9.96804551e-01 -5.28951915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.711193817 meters 0.06167942884959176 Centerline is valid? [True, True] Translation: X:45.24, Y:-7.23, Z:-5.29 [[ 9.48256055e-01 3.08277276e-01 7.59972018e-02 4.52379395e+01] [-3.07317344e-01 9.51296499e-01 -2.43109095e-02 -7.23059920e+00] [-7.97903730e-02 -3.02291056e-04 9.96811620e-01 -5.29459347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.741193817 meters 0.06202590960316875 Centerline is valid? [True, True] Translation: X:45.27, Y:-7.24, Z:-5.30 [[ 9.48219314e-01 3.08971475e-01 7.35986488e-02 4.52663048e+01] [-3.08070675e-01 9.51071253e-01 -2.35781955e-02 -7.24444652e+00] [-7.72825489e-02 -3.16285078e-04 9.97009181e-01 -5.30232436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.771193817000004 meters 0.062026104400947656 Centerline is valid? [True, True] Translation: X:45.30, Y:-7.26, Z:-5.31 [[ 9.48545758e-01 3.07912628e-01 7.38292527e-02 4.52950073e+01] [-3.07003054e-01 9.51414610e-01 -2.36509076e-02 -7.25798595e+00] [-7.75246428e-02 -2.31838008e-04 9.96990409e-01 -5.30691225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.801193817 meters 0.06214345912138834 Centerline is valid? [True, True] Translation: X:45.32, Y:-7.27, Z:-5.31 [[ 9.49107067e-01 3.06221366e-01 7.36495137e-02 4.53241022e+01] [-3.05309397e-01 9.51960330e-01 -2.36157127e-02 -7.27325380e+00] [-7.73430512e-02 -7.20488167e-05 9.97004537e-01 -5.31158012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.831193817 meters 0.062059791194417 Centerline is valid? [True, True] Translation: X:45.35, Y:-7.29, Z:-5.31 [[ 9.49762483e-01 3.03874135e-01 7.49115176e-02 4.53524529e+01] [-3.02920936e-01 9.52712174e-01 -2.40503425e-02 -7.29018795e+00] [-7.86773919e-02 1.49845994e-04 9.96900118e-01 -5.31414417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.861193817 meters 0.06289206171947512 Centerline is valid? [True, True] Translation: X:45.38, Y:-7.32, Z:-5.32 [[ 9.52193568e-01 2.95946600e-01 7.57827151e-02 4.53756976e+01] [-2.94943836e-01 9.55204116e-01 -2.43563069e-02 -7.31881737e+00] [-7.95961277e-02 8.40274015e-04 9.96826841e-01 -5.31791911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.891193817 meters 0.06374912698827984 Centerline is valid? [True, True] Translation: X:45.40, Y:-7.34, Z:-5.32 [[ 9.53487040e-01 2.91557016e-01 7.65308494e-02 4.54025832e+01] [-2.90518269e-01 9.56552646e-01 -2.46205354e-02 -7.33782113e+00] [-8.03840763e-02 1.24175148e-03 9.96763191e-01 -5.32140991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.921193817 meters 0.0647580284818373 Centerline is valid? [True, True] Translation: X:45.43, Y:-7.35, Z:-5.33 [[ 9.54584256e-01 2.88065745e-01 7.60725022e-02 4.54291382e+01] [-2.87025911e-01 9.57609370e-01 -2.45034701e-02 -7.35464043e+00] [-7.99063513e-02 1.55584748e-03 9.96801161e-01 -5.32645467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.951193817000004 meters 0.0658744694610139 Centerline is valid? [True, True] Translation: X:45.46, Y:-7.37, Z:-5.33 [[ 9.55767299e-01 2.84412589e-01 7.49556553e-02 4.54569358e+01] [-2.83392299e-01 9.58700232e-01 -2.41385768e-02 -7.37076032e+00] [-7.87253192e-02 1.82900681e-03 9.96894668e-01 -5.33086197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.981193817 meters 0.06784314946675639 Centerline is valid? [True, True] Translation: X:45.48, Y:-7.39, Z:-5.33 [[ 9.58256597e-01 2.75577362e-01 7.61670008e-02 4.54826856e+01] [-2.74493277e-01 9.61275304e-01 -2.45607530e-02 -7.39205182e+00] [-7.99858444e-02 2.62817398e-03 9.96792535e-01 -5.33079212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.011193817 meters 0.06905246412595291 Centerline is valid? [True, True] Translation: X:45.51, Y:-7.41, Z:-5.33 [[ 9.59177375e-01 2.71895805e-01 7.77909709e-02 4.55120771e+01] [-2.70753442e-01 9.62322049e-01 -2.50768422e-02 -7.40678528e+00] [-8.16782547e-02 2.99096646e-03 9.96654261e-01 -5.33248430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.041193817 meters 0.07319677984514117 Centerline is valid? [True, True] Translation: X:45.54, Y:-7.42, Z:-5.34 [[ 9.60198715e-01 2.68138943e-01 7.82300141e-02 4.55376983e+01] [-2.66968260e-01 9.63374378e-01 -2.52538210e-02 -7.42424221e+00] [-8.21363240e-02 3.36375570e-03 9.96615427e-01 -5.33948537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.071193817 meters 0.07207218666735808 Centerline is valid? [True, True] Translation: X:45.57, Y:-7.43, Z:-5.34 [[ 9.61199707e-01 2.64737851e-01 7.75176960e-02 4.55678972e+01] [-2.63577263e-01 9.64313614e-01 -2.50255918e-02 -7.43119009e+00] [-8.13765909e-02 3.62268941e-03 9.96676842e-01 -5.33927361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.101193817 meters 0.07358238704834745 Centerline is valid? [True, True] Translation: X:45.60, Y:-7.44, Z:-5.34 [[ 9.61987396e-01 2.62562550e-01 7.51076390e-02 4.55969231e+01] [-2.61466461e-01 9.64907924e-01 -2.42484593e-02 -7.44245978e+00] [-7.88386934e-02 3.68858366e-03 9.96880562e-01 -5.34478482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.131193817 meters 0.07564670195562917 Centerline is valid? [True, True] Translation: X:45.63, Y:-7.45, Z:-5.35 [[ 9.63418962e-01 2.58412056e-01 7.10430390e-02 4.56256315e+01] [-2.57420080e-01 9.66027263e-01 -2.29396906e-02 -7.45140885e+00] [-7.45574051e-02 3.81262815e-03 9.97209435e-01 -5.35159390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.161193817 meters 0.07643456736280697 Centerline is valid? [True, True] Translation: X:45.66, Y:-7.46, Z:-5.36 [[ 9.63588320e-01 2.57630236e-01 7.15835927e-02 4.56552883e+01] [-2.56621496e-01 9.66235730e-01 -2.31067296e-02 -7.45869864e+00] [-7.51196172e-02 3.89548617e-03 9.97166921e-01 -5.35569107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.191193817 meters 0.07818487926327507 Centerline is valid? [True, True] Translation: X:45.68, Y:-7.47, Z:-5.36 [[ 9.63451677e-01 2.57799559e-01 7.28028356e-02 4.56849458e+01] [-2.56754771e-01 9.66190257e-01 -2.35239154e-02 -7.46739470e+00] [-7.64058455e-02 3.97168038e-03 9.97068891e-01 -5.36076806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.221193817 meters 0.07673091434949716 Centerline is valid? [True, True] Translation: X:45.72, Y:-7.47, Z:-5.36 [[ 9.63061773e-01 2.58747283e-01 7.45779159e-02 4.57178710e+01] [-2.57651141e-01 9.65936674e-01 -2.41294639e-02 -7.46916378e+00] [-7.82809773e-02 4.02307909e-03 9.96923218e-01 -5.36207647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.251193817 meters 0.07482291099615297 Centerline is valid? [True, True] Translation: X:45.75, Y:-7.47, Z:-5.36 [[ 9.63075125e-01 2.58786712e-01 7.42680327e-02 4.57504340e+01] [-2.57700114e-01 9.65926211e-01 -2.40251196e-02 -7.47406356e+00] [-7.79548211e-02 3.99911457e-03 9.96948872e-01 -5.36382652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.281193817 meters 0.0771609019134765 Centerline is valid? [True, True] Translation: X:45.78, Y:-7.49, Z:-5.37 [[ 9.63135168e-01 2.58565535e-01 7.42597610e-02 4.57791450e+01] [-2.57476472e-01 9.65985262e-01 -2.40487124e-02 -7.48568933e+00] [-7.79520028e-02 4.04201939e-03 9.96948919e-01 -5.37054133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.311193817 meters 0.07800924896288693 Centerline is valid? [True, True] Translation: X:45.81, Y:-7.49, Z:-5.38 [[ 9.63398340e-01 2.57683631e-01 7.39106540e-02 4.58090216e+01] [-2.56600419e-01 9.66220576e-01 -2.39587858e-02 -7.49394789e+00] [-7.75877816e-02 4.11634971e-03 9.96977027e-01 -5.37508290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.341193817 meters 0.07894975210459275 Centerline is valid? [True, True] Translation: X:45.84, Y:-7.50, Z:-5.38 [[ 9.63576789e-01 2.57020579e-01 7.38931204e-02 4.58384428e+01] [-2.55934202e-01 9.66396845e-01 -2.39754338e-02 -7.50278455e+00] [-7.75722583e-02 4.19039474e-03 9.96977926e-01 -5.37936212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.371193817 meters 0.08022108204067689 Centerline is valid? [True, True] Translation: X:45.87, Y:-7.51, Z:-5.38 [[ 9.63736633e-01 2.55665988e-01 7.64630964e-02 4.58692330e+01] [-2.54496244e-01 9.66754818e-01 -2.48351483e-02 -7.51088925e+00] [-8.02705695e-02 4.47497135e-03 9.96763066e-01 -5.38094698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.401193817 meters 0.08136222734074376 Centerline is valid? [True, True] Translation: X:45.90, Y:-7.52, Z:-5.38 [[ 9.63802076e-01 2.54966081e-01 7.79606006e-02 4.58994362e+01] [-2.53746209e-01 9.66938864e-01 -2.53395824e-02 -7.52092623e+00] [-8.18438686e-02 4.64013530e-03 9.96634361e-01 -5.38370346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.431193817 meters 0.07837767737036264 Centerline is valid? [True, True] Translation: X:45.93, Y:-7.52, Z:-5.38 [[ 9.63941414e-01 2.54071893e-01 7.91481139e-02 4.59329222e+01] [-2.52810251e-01 9.67173410e-01 -2.57404596e-02 -7.52401816e+00] [-8.30898786e-02 4.80284043e-03 9.96530484e-01 -5.38301672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.461193817 meters 0.0822051283843961 Centerline is valid? [True, True] Translation: X:45.96, Y:-7.53, Z:-5.39 [[ 9.64647100e-01 2.51050311e-01 8.01854958e-02 4.59614332e+01] [-2.49741873e-01 9.67960260e-01 -2.61138361e-02 -7.53239840e+00] [-8.41722600e-02 5.16496037e-03 9.96437832e-01 -5.38750787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.491193817 meters 0.07895525543572526 Centerline is valid? [True, True] Translation: X:46.00, Y:-7.53, Z:-5.39 [[ 9.64819363e-01 2.50233831e-01 8.06636702e-02 4.59955970e+01] [-2.48907657e-01 9.68171151e-01 -2.62602539e-02 -7.53227841e+00] [-8.46674423e-02 5.25859624e-03 9.96395389e-01 -5.38881532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.521193817000004 meters 0.08471613261772133 Centerline is valid? [True, True] Translation: X:46.02, Y:-7.54, Z:-5.40 [[ 9.65260013e-01 2.48959050e-01 7.93252720e-02 4.60229624e+01] [-2.47669477e-01 9.68499434e-01 -2.58587975e-02 -7.54471209e+00] [-8.32642626e-02 5.31401459e-03 9.96513333e-01 -5.39781538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.551193817 meters 0.07958990069951963 Centerline is valid? [True, True] Translation: X:46.06, Y:-7.53, Z:-5.40 [[ 9.65482813e-01 2.48188568e-01 7.90276688e-02 4.60597980e+01] [-2.46906508e-01 9.68696936e-01 -2.57570003e-02 -7.53475401e+00] [-8.29464536e-02 5.35549541e-03 9.96539615e-01 -5.39852020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.581193817 meters 0.08460305013954125 Centerline is valid? [True, True] Translation: X:46.09, Y:-7.55, Z:-5.40 [[ 9.65168095e-01 2.48963201e-01 8.04230937e-02 4.60882243e+01] [-2.47635620e-01 9.68497832e-01 -2.62402298e-02 -7.54719545e+00] [-8.44224435e-02 5.41060995e-03 9.96415363e-01 -5.40489238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.611193817 meters 0.07795706364653662 Centerline is valid? [True, True] Translation: X:46.12, Y:-7.54, Z:-5.40 [[ 9.64661839e-01 2.50513039e-01 8.16746781e-02 4.61237093e+01] [-2.49146416e-01 9.68098223e-01 -2.66813277e-02 -7.54029625e+00] [-8.57531313e-02 5.38950534e-03 9.96301839e-01 -5.40294642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.641193817 meters 0.08338747678283025 Centerline is valid? [True, True] Translation: X:46.15, Y:-7.55, Z:-5.41 [[ 9.64052802e-01 2.52817831e-01 8.17639227e-02 4.61513868e+01] [-2.51456103e-01 9.67499956e-01 -2.67144682e-02 -7.55198041e+00] [-8.58604856e-02 5.19412056e-03 9.96293630e-01 -5.41111010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.671193817 meters 0.07726356560530712 Centerline is valid? [True, True] Translation: X:46.19, Y:-7.54, Z:-5.41 [[ 9.63459493e-01 2.54952832e-01 8.21270847e-02 4.61875306e+01] [-2.53586368e-01 9.66940410e-01 -2.68364821e-02 -7.54453620e+00] [-8.62540341e-02 5.02955432e-03 9.96260481e-01 -5.41067717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.701193817000004 meters 0.0748612531614818 Centerline is valid? [True, True] Translation: X:46.22, Y:-7.53, Z:-5.42 [[ 9.62298934e-01 2.59764553e-01 8.06420382e-02 4.62231680e+01] [-2.58463378e-01 9.65661398e-01 -2.63580626e-02 -7.53394931e+00] [-8.47197936e-02 4.52132196e-03 9.96394558e-01 -5.41657064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.731193817 meters 0.0748612531614818 Centerline is valid? [True, True] Translation: X:46.25, Y:-7.54, Z:-5.42 [[ 9.62211354e-01 2.60088051e-01 8.06443795e-02 4.62538221e+01] [-2.58788605e-01 9.65574486e-01 -2.63509054e-02 -7.54423994e+00] [-8.47217109e-02 4.48529386e-03 9.96394557e-01 -5.42028760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.761193817 meters 0.07359161546296254 Centerline is valid? [True, True] Translation: X:46.29, Y:-7.54, Z:-5.43 [[ 9.61572438e-01 2.62708693e-01 7.97658414e-02 4.62868838e+01] [-2.61443218e-01 9.64865858e-01 -2.61020986e-02 -7.54467643e+00] [-8.38205852e-02 4.24482031e-03 9.96471821e-01 -5.42517280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.791193817 meters 0.07276619219207454 Centerline is valid? [True, True] Translation: X:46.32, Y:-7.55, Z:-5.43 [[ 9.60988598e-01 2.64713872e-01 8.01715660e-02 4.63191700e+01] [-2.63441867e-01 9.64318299e-01 -2.62412199e-02 -7.54680384e+00] [-8.42573230e-02 4.09696613e-03 9.96435607e-01 -5.42861192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.821193817 meters 0.07298812153544 Centerline is valid? [True, True] Translation: X:46.35, Y:-7.55, Z:-5.43 [[ 9.60405958e-01 2.66724464e-01 8.04888613e-02 4.63500569e+01] [-2.65449657e-01 9.63764801e-01 -2.63417543e-02 -7.55171235e+00] [-8.45983217e-02 3.93303719e-03 9.96407374e-01 -5.43318508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.851193817 meters 0.07017492475715746 Centerline is valid? [True, True] Translation: X:46.39, Y:-7.55, Z:-5.43 [[ 9.59394489e-01 2.70062424e-01 8.14156132e-02 4.63850027e+01] [-2.68767299e-01 9.62835663e-01 -2.66763047e-02 -7.54702264e+00] [-8.55941234e-02 3.71124530e-03 9.96323177e-01 -5.43360974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.881193817 meters 0.0709770585915571 Centerline is valid? [True, True] Translation: X:46.42, Y:-7.55, Z:-5.44 [[ 9.59283746e-01 2.70328337e-01 8.18369360e-02 4.64152722e+01] [-2.69020737e-01 9.62761057e-01 -2.68139928e-02 -7.55450929e+00] [-8.60379970e-02 3.70639467e-03 9.96284962e-01 -5.43811161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.911193817 meters 0.07140839513104551 Centerline is valid? [True, True] Translation: X:46.45, Y:-7.56, Z:-5.44 [[ 9.59207919e-01 2.70322232e-01 8.27409159e-02 4.64454754e+01] [-2.68983012e-01 9.62762502e-01 -2.71386084e-02 -7.56206004e+00] [-8.69960204e-02 3.77566729e-03 9.96201504e-01 -5.44148722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.941193817 meters 0.06937582813092434 Centerline is valid? [True, True] Translation: X:46.48, Y:-7.56, Z:-5.44 [[ 9.59207763e-01 2.69712930e-01 8.47077452e-02 4.64795147e+01] [-2.68305685e-01 9.62932737e-01 -2.77957318e-02 -7.56272953e+00] [-8.90647292e-02 3.93431212e-03 9.96018070e-01 -5.44083849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.971193817 meters 0.0704395940224593 Centerline is valid? [True, True] Translation: X:46.51, Y:-7.57, Z:-5.44 [[ 9.58493542e-01 2.71527894e-01 8.69639685e-02 4.65085019e+01] [-2.70048590e-01 9.62422660e-01 -2.85723932e-02 -7.57191460e+00] [-9.14542957e-02 3.90195731e-03 9.95801630e-01 -5.44432752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.001193817 meters 0.06905115282161686 Centerline is valid? [True, True] Translation: X:46.54, Y:-7.58, Z:-5.45 [[ 9.57323706e-01 2.75039415e-01 8.87955086e-02 4.65391095e+01] [-2.73511508e-01 9.61426032e-01 -2.91794378e-02 -7.57531729e+00] [-9.33958090e-02 3.64757409e-03 9.95622377e-01 -5.44590980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.031193817 meters 0.06574236315613248 Centerline is valid? [True, True] Translation: X:46.57, Y:-7.57, Z:-5.45 [[ 9.56134020e-01 2.79325505e-01 8.82326332e-02 4.65732134e+01] [-2.77835251e-01 9.60191115e-01 -2.89930443e-02 -7.57439756e+00] [-9.28186872e-02 3.20710015e-03 9.95677862e-01 -5.44674904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.061193817 meters 0.06385342933143968 Centerline is valid? [True, True] Translation: X:46.60, Y:-7.57, Z:-5.46 [[ 9.53227612e-01 2.90286254e-01 8.42081335e-02 4.66046398e+01] [-2.88970910e-01 9.56937660e-01 -2.76790134e-02 -7.56842777e+00] [-8.86167714e-02 2.05069890e-03 9.96063684e-01 -5.45790402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.091193817 meters 0.06200396142879407 Centerline is valid? [True, True] Translation: X:46.64, Y:-7.57, Z:-5.46 [[ 9.51768121e-01 2.95589948e-01 8.22437042e-02 4.66362105e+01] [-2.94355378e-01 9.55313708e-01 -2.70302009e-02 -7.56609903e+00] [-8.65583937e-02 1.51760690e-03 9.96245623e-01 -5.46068132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.121193817 meters 0.0614601023042792 Centerline is valid? [True, True] Translation: X:46.67, Y:-7.57, Z:-5.47 [[ 9.50743793e-01 2.99300531e-01 8.06562582e-02 4.66657401e+01] [-2.98126964e-01 9.54158197e-01 -2.65037622e-02 -7.56742213e+00] [-8.48914200e-02 1.15248207e-03 9.96389542e-01 -5.46584482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.151193817 meters 0.06117719388565844 Centerline is valid? [True, True] Translation: X:46.70, Y:-7.57, Z:-5.47 [[ 9.50083539e-01 3.01831757e-01 7.89864505e-02 4.66951129e+01] [-3.00715671e-01 9.53360782e-01 -2.59481274e-02 -7.56794285e+00] [-8.31345531e-02 9.00425268e-04 9.96537925e-01 -5.47037999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.181193817 meters 0.061455266640304394 Centerline is valid? [True, True] Translation: X:46.72, Y:-7.58, Z:-5.47 [[ 9.50468609e-01 3.00716973e-01 7.86048677e-02 4.67214950e+01] [-2.99608405e-01 9.53712917e-01 -2.58161825e-02 -7.57568222e+00] [-8.27298419e-02 9.86791981e-04 9.96571523e-01 -5.47487898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.211193817 meters 0.061804685086457006 Centerline is valid? [True, True] Translation: X:46.75, Y:-7.58, Z:-5.48 [[ 9.50878339e-01 2.99298176e-01 7.90631745e-02 4.67465203e+01] [-2.98172380e-01 9.54158986e-01 -2.59588172e-02 -7.58459003e+00] [-8.32082651e-02 1.10922207e-03 9.96531562e-01 -5.47926925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.241193817 meters 0.06170580900749143 Centerline is valid? [True, True] Translation: X:46.77, Y:-7.59, Z:-5.48 [[ 9.51239556e-01 2.98121120e-01 7.91650446e-02 4.67737487e+01] [-2.96989557e-01 9.54527296e-01 -2.59777766e-02 -7.59378055e+00] [-8.33097198e-02 1.19989724e-03 9.96522981e-01 -5.48109046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.271193817000004 meters 0.06112347540242444 Centerline is valid? [True, True] Translation: X:46.80, Y:-7.60, Z:-5.48 [[ 9.51382979e-01 2.97354480e-01 8.03165061e-02 4.68021158e+01] [-2.96187580e-01 9.54766295e-01 -2.63484200e-02 -7.60167286e+00] [-8.45183136e-02 1.27868668e-03 9.96421106e-01 -5.48006197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.301193817 meters 0.06096771996865847 Centerline is valid? [True, True] Translation: X:46.83, Y:-7.61, Z:-5.48 [[ 9.51117663e-01 2.98065880e-01 8.08203138e-02 4.68287906e+01] [-2.96887502e-01 9.54544527e-01 -2.65058066e-02 -7.61081816e+00] [-8.50470648e-02 1.21559971e-03 9.96376194e-01 -5.48306601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.331193817 meters 0.06062646140882908 Centerline is valid? [True, True] Translation: X:46.86, Y:-7.62, Z:-5.49 [[ 9.50708879e-01 2.99111951e-01 8.17598192e-02 4.68561508e+01] [-2.97910505e-01 9.54217360e-01 -2.68059960e-02 -7.61847584e+00] [-8.60346326e-02 1.12758942e-03 9.96291509e-01 -5.48528040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.361193817 meters 0.06056389714828145 Centerline is valid? [True, True] Translation: X:46.88, Y:-7.63, Z:-5.49 [[ 9.50517630e-01 2.99842042e-01 8.13079639e-02 4.68818471e+01] [-2.98657028e-01 9.53988285e-01 -2.66520656e-02 -7.62636915e+00] [-8.55582548e-02 1.05006339e-03 9.96332616e-01 -5.48925456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.391193817 meters 0.06050248146166621 Centerline is valid? [True, True] Translation: X:46.91, Y:-7.63, Z:-5.49 [[ 9.50441959e-01 3.00150026e-01 8.10558080e-02 4.69081436e+01] [-2.98974674e-01 9.53891477e-01 -2.65554889e-02 -7.63480036e+00] [-8.52890751e-02 1.00581711e-03 9.96355741e-01 -5.49223103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.421193817 meters 0.060940966773437244 Centerline is valid? [True, True] Translation: X:46.93, Y:-7.65, Z:-5.50 [[ 9.51258407e-01 2.97753598e-01 8.03133744e-02 4.69323930e+01] [-2.96592193e-01 9.54642006e-01 -2.63004048e-02 -7.64884904e+00] [-8.45015610e-02 1.19816132e-03 9.96422627e-01 -5.49532009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.451193817000004 meters 0.06114679465625287 Centerline is valid? [True, True] Translation: X:46.96, Y:-7.66, Z:-5.50 [[ 9.52178421e-01 2.94385621e-01 8.18129593e-02 4.69580099e+01] [-2.93168830e-01 9.55685518e-01 -2.67811012e-02 -7.66258075e+00] [-8.60714315e-02 1.51537708e-03 9.96287816e-01 -5.49545909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.481193817 meters 0.06119365726220341 Centerline is valid? [True, True] Translation: X:46.98, Y:-7.68, Z:-5.50 [[ 9.53112018e-01 2.90861821e-01 8.35277297e-02 4.69839897e+01] [-2.89580573e-01 9.56763254e-01 -2.73343606e-02 -7.67590993e+00] [-8.78667844e-02 1.86469977e-03 9.96130489e-01 -5.49534420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.511193817 meters 0.06268710087251293 Centerline is valid? [True, True] Translation: X:47.01, Y:-7.69, Z:-5.50 [[ 9.54215644e-01 2.86865376e-01 8.47393671e-02 4.70082200e+01] [-2.85531687e-01 9.57968248e-01 -2.77216889e-02 -7.69236258e+00] [-8.91300157e-02 2.25669480e-03 9.96017443e-01 -5.49956098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.541193817 meters 0.06340456188538483 Centerline is valid? [True, True] Translation: X:47.04, Y:-7.71, Z:-5.50 [[ 9.55532889e-01 2.82523296e-01 8.44836412e-02 4.70359117e+01] [-2.81181425e-01 9.59256788e-01 -2.76300772e-02 -7.70642416e+00] [-8.88476467e-02 2.64621680e-03 9.96041713e-01 -5.50179427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.571193817 meters 0.06660779423606325 Centerline is valid? [True, True] Translation: X:47.06, Y:-7.73, Z:-5.51 [[ 9.58300729e-01 2.73416318e-01 8.30856748e-02 4.70608394e+01] [-2.72084383e-01 9.61889666e-01 -2.71727710e-02 -7.72720579e+00] [-8.73487310e-02 3.43337170e-03 9.96171878e-01 -5.50654984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.601193817 meters 0.06879372554578364 Centerline is valid? [True, True] Translation: X:47.09, Y:-7.74, Z:-5.51 [[ 9.59473468e-01 2.69788807e-01 8.13920385e-02 4.70864327e+01] [-2.68497917e-01 9.62912470e-01 -2.66165953e-02 -7.74249936e+00] [-8.55542684e-02 3.68432415e-03 9.96326700e-01 -5.51266673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.631193817 meters 0.06961576686003158 Centerline is valid? [True, True] Translation: X:47.11, Y:-7.76, Z:-5.52 [[ 9.60243604e-01 2.67235139e-01 8.07316666e-02 4.71147933e+01] [-2.65955352e-01 9.63623503e-01 -2.64101541e-02 -7.75521327e+00] [-8.48526526e-02 3.88916281e-03 9.96385920e-01 -5.51634424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.661193817 meters 0.07056599764827597 Centerline is valid? [True, True] Translation: X:47.14, Y:-7.77, Z:-5.52 [[ 9.60651525e-01 2.66277835e-01 7.90238047e-02 4.71430274e+01] [-2.65048498e-01 9.63888473e-01 -2.58515910e-02 -7.76703130e+00] [-8.30538401e-02 3.88922951e-03 9.96537472e-01 -5.52163622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.691193817 meters 0.07085204991623244 Centerline is valid? [True, True] Translation: X:47.17, Y:-7.78, Z:-5.53 [[ 9.60663123e-01 2.67423045e-01 7.49084675e-02 4.71736336e+01] [-2.66321031e-01 9.63572477e-01 -2.45191652e-02 -7.77610426e+00] [-7.87367274e-02 3.60495754e-03 9.96888927e-01 -5.52869465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.721193817 meters 0.06862302555386136 Centerline is valid? [True, True] Translation: X:47.21, Y:-7.78, Z:-5.53 [[ 9.59800050e-01 2.70855799e-01 7.36274475e-02 4.72059721e+01] [-2.69801416e-01 9.62614398e-01 -2.40980643e-02 -7.78039688e+00] [-7.74019415e-02 3.26453366e-03 9.96994625e-01 -5.53109745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.751193817 meters 0.0669721703501294 Centerline is valid? [True, True] Translation: X:47.24, Y:-7.78, Z:-5.53 [[ 9.58604577e-01 2.75281034e-01 7.27847298e-02 4.72374589e+01] [-2.74260767e-01 9.61359403e-01 -2.38564364e-02 -7.78456695e+00] [-7.65395089e-02 2.90689331e-03 9.97062312e-01 -5.53462165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.781193817 meters 0.06409339784415904 Centerline is valid? [True, True] Translation: X:47.27, Y:-7.78, Z:-5.53 [[ 9.55795856e-01 2.84042485e-01 7.59878192e-02 4.72687159e+01] [-2.82957209e-01 9.58808910e-01 -2.49137072e-02 -7.78198205e+00] [-7.99343494e-02 2.31111691e-03 9.96797451e-01 -5.53498499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.811193817 meters 0.06315316073632059 Centerline is valid? [True, True] Translation: X:47.30, Y:-7.79, Z:-5.54 [[ 9.54756831e-01 2.87315535e-01 7.67409773e-02 4.72975676e+01] [-2.86219424e-01 9.57833787e-01 -2.51570524e-02 -7.78639926e+00] [-8.07331129e-02 2.05410933e-03 9.96733638e-01 -5.53754495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.841193817 meters 0.06219438676635529 Centerline is valid? [True, True] Translation: X:47.33, Y:-7.79, Z:-5.54 [[ 9.53745386e-01 2.90564858e-01 7.70830887e-02 4.73267016e+01] [-2.89470161e-01 9.56853644e-01 -2.52612269e-02 -7.79107626e+00] [-8.10972591e-02 1.77952455e-03 9.96704604e-01 -5.54009879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.871193817 meters 0.061419921271370165 Centerline is valid? [True, True] Translation: X:47.36, Y:-7.80, Z:-5.54 [[ 9.52947871e-01 2.92959900e-01 7.78771565e-02 4.73558880e+01] [-2.91850728e-01 9.56123408e-01 -2.55182435e-02 -7.79633194e+00] [-8.19359944e-02 1.58905099e-03 9.96636327e-01 -5.54188575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.901193817 meters 0.06059153294458179 Centerline is valid? [True, True] Translation: X:47.38, Y:-7.80, Z:-5.54 [[ 9.51962048e-01 2.95831508e-01 7.90694504e-02 4.73845475e+01] [-2.94699044e-01 9.55239183e-01 -2.58954960e-02 -7.80143478e+00] [-8.31909409e-02 1.34983798e-03 9.96532712e-01 -5.54375929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.931193817 meters 0.05961640668572728 Centerline is valid? [True, True] Translation: X:47.41, Y:-7.81, Z:-5.55 [[ 9.50414105e-01 3.00242042e-01 8.10416327e-02 4.74133180e+01] [-2.99068914e-01 9.53862545e-01 -2.65335698e-02 -7.80596525e+00] [-8.52690711e-02 9.80845889e-04 9.96357478e-01 -5.54524203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.961193817 meters 0.059330573589922116 Centerline is valid? [True, True] Translation: X:47.44, Y:-7.81, Z:-5.55 [[ 9.49785763e-01 3.02042120e-01 8.17163486e-02 4.74408510e+01] [-3.00856650e-01 9.53294229e-01 -2.67467534e-02 -7.81470349e+00] [-8.59783697e-02 8.18778650e-04 9.96296667e-01 -5.54856632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.991193817 meters 0.059154605103807135 Centerline is valid? [True, True] Translation: X:47.47, Y:-7.82, Z:-5.55 [[ 9.49402201e-01 3.03172214e-01 8.19882234e-02 4.74665302e+01] [-3.01983648e-01 9.52935518e-01 -2.68286190e-02 -7.82445572e+00] [-8.62631820e-02 7.12047165e-04 9.96272130e-01 -5.55232238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.021193817000004 meters 0.058940576671469305 Centerline is valid? [True, True] Translation: X:47.49, Y:-7.84, Z:-5.55 [[ 9.49472395e-01 3.02407605e-01 8.39750704e-02 4.74914107e+01] [-3.01158527e-01 9.53178375e-01 -2.74686507e-02 -7.83797798e+00] [-8.83499500e-02 7.90917018e-04 9.96089183e-01 -5.55354903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.051193817 meters 0.05872627144723139 Centerline is valid? [True, True] Translation: X:47.52, Y:-7.85, Z:-5.55 [[ 9.49855300e-01 3.01176470e-01 8.40692795e-02 4.75185796e+01] [-2.99920661e-01 9.53567999e-01 -2.74894031e-02 -7.84904099e+00] [-8.84449361e-02 8.96841317e-04 9.96080664e-01 -5.55349444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.081193817 meters 0.058873075749721344 Centerline is valid? [True, True] Translation: X:47.54, Y:-7.86, Z:-5.56 [[ 9.50361111e-01 2.99455348e-01 8.45000137e-02 4.75445032e+01] [-2.98180545e-01 9.54109733e-01 -2.76221062e-02 -7.86176236e+00] [-8.88938730e-02 1.05471546e-03 9.96040545e-01 -5.55606893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.111193817 meters 0.059692059984919665 Centerline is valid? [True, True] Translation: X:47.57, Y:-7.88, Z:-5.56 [[ 9.50860142e-01 2.98101909e-01 8.36674513e-02 4.75679252e+01] [-2.96847580e-01 9.54533342e-01 -2.73425265e-02 -7.87660932e+00] [-8.80142312e-02 1.16243817e-03 9.96118539e-01 -5.56291703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.141193817 meters 0.0603623895594772 Centerline is valid? [True, True] Translation: X:47.59, Y:-7.90, Z:-5.57 [[ 9.51547280e-01 2.96415853e-01 8.18255232e-02 4.75901565e+01] [-2.95210867e-01 9.55058116e-01 -2.67308768e-02 -7.89743901e+00] [-8.60715856e-02 1.27990947e-03 9.96288133e-01 -5.56905244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.171193817 meters 0.05982102646646212 Centerline is valid? [True, True] Translation: X:47.62, Y:-7.91, Z:-5.57 [[ 9.51615322e-01 2.96718070e-01 7.99166224e-02 4.76178200e+01] [-2.95570691e-01 9.54964353e-01 -2.60969699e-02 -7.90876716e+00] [-8.40609681e-02 1.21326510e-03 9.96459875e-01 -5.57089709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.201193817000004 meters 0.06009796750893169 Centerline is valid? [True, True] Translation: X:47.64, Y:-7.92, Z:-5.58 [[ 9.51622794e-01 2.96975545e-01 7.88643431e-02 4.76435356e+01] [-2.95859418e-01 9.54884367e-01 -2.57497808e-02 -7.92075660e+00] [-8.29533835e-02 1.17131968e-03 9.96552740e-01 -5.57666674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.231193817 meters 0.06025626106802852 Centerline is valid? [True, True] Translation: X:47.67, Y:-7.93, Z:-5.58 [[ 9.51601338e-01 2.97428075e-01 7.74043561e-02 4.76701920e+01] [-2.96354805e-01 9.54743586e-01 -2.52688353e-02 -7.93227297e+00] [-8.14169735e-02 1.10670465e-03 9.96679513e-01 -5.58185399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.261193817 meters 0.06002216206893448 Centerline is valid? [True, True] Translation: X:47.70, Y:-7.94, Z:-5.58 [[ 9.51387623e-01 2.98104814e-01 7.74280935e-02 4.76973320e+01] [-2.97033419e-01 9.54532570e-01 -2.52729398e-02 -7.94338065e+00] [-8.14416221e-02 1.04563072e-03 9.96677565e-01 -5.58437484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.291193817 meters 0.0601041376295942 Centerline is valid? [True, True] Translation: X:47.72, Y:-7.96, Z:-5.59 [[ 9.51323999e-01 2.98272602e-01 7.75635463e-02 4.77237717e+01] [-2.97198313e-01 9.54480170e-01 -2.53133852e-02 -7.95727833e+00] [-8.15831561e-02 1.02947570e-03 9.96666007e-01 -5.58923777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.321193817 meters 0.060571781766527784 Centerline is valid? [True, True] Translation: X:47.75, Y:-7.97, Z:-5.59 [[ 9.51701963e-01 2.97442404e-01 7.61011882e-02 4.77510070e+01] [-2.96406069e-01 9.54739159e-01 -2.48310478e-02 -7.97034486e+00] [-8.00425909e-02 1.07490285e-03 9.96790865e-01 -5.59435455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.351193817 meters 0.061034908713549815 Centerline is valid? [True, True] Translation: X:47.78, Y:-7.98, Z:-5.60 [[ 9.52203756e-01 2.96351622e-01 7.40521633e-02 4.77792026e+01] [-2.95367600e-01 9.55078238e-01 -2.41565746e-02 -7.98465839e+00] [-7.78844497e-02 1.12937125e-03 9.96961753e-01 -5.60002418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.381193817 meters 0.06257243285403624 Centerline is valid? [True, True] Translation: X:47.80, Y:-8.00, Z:-5.61 [[ 9.53661483e-01 2.92154120e-01 7.19426535e-02 4.78039778e+01] [-2.91212206e-01 9.56370157e-01 -2.34856211e-02 -8.00449755e+00] [-7.56652278e-02 1.44675346e-03 9.97132228e-01 -5.60680738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.411193817 meters 0.06258633906148657 Centerline is valid? [True, True] Translation: X:47.83, Y:-8.02, Z:-5.61 [[ 9.54287743e-01 2.90106744e-01 7.19234282e-02 4.78332763e+01] [-2.89160264e-01 9.56992957e-01 -2.34696164e-02 -8.01728576e+00] [-7.56389082e-02 1.59936981e-03 9.97133992e-01 -5.60840526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.441193817 meters 0.06362248892809008 Centerline is valid? [True, True] Translation: X:47.86, Y:-8.03, Z:-5.61 [[ 9.55041761e-01 2.87768812e-01 7.13045971e-02 4.78613631e+01] [-2.86830213e-01 9.57698228e-01 -2.32923248e-02 -8.03109676e+00] [-7.49910909e-02 1.79283011e-03 9.97182592e-01 -5.61323601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.471193817 meters 0.06453403267902304 Centerline is valid? [True, True] Translation: X:47.89, Y:-8.05, Z:-5.62 [[ 9.55916326e-01 2.84899186e-01 7.11085931e-02 4.78899210e+01] [-2.83956173e-01 9.58555329e-01 -2.32502308e-02 -8.04527269e+00] [-7.47854927e-02 2.03355122e-03 9.97197571e-01 -5.61648387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.501193817 meters 0.06680037985381605 Centerline is valid? [True, True] Translation: X:47.92, Y:-8.07, Z:-5.62 [[ 9.57969216e-01 2.77266186e-01 7.36100716e-02 4.79159788e+01] [-2.76230398e-01 9.60789191e-01 -2.41018260e-02 -8.06624839e+00] [-7.74063825e-02 2.75546801e-03 9.96995817e-01 -5.61658165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.531193817 meters 0.06829864405507992 Centerline is valid? [True, True] Translation: X:47.94, Y:-8.08, Z:-5.62 [[ 9.59141602e-01 2.72644059e-01 7.55817792e-02 4.79448971e+01] [-2.71537644e-01 9.62109608e-01 -2.47469317e-02 -8.08101715e+00] [-7.94650599e-02 3.21251339e-03 9.96832475e-01 -5.61783348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.561193817 meters 0.06984068700604049 Centerline is valid? [True, True] Translation: X:47.97, Y:-8.09, Z:-5.62 [[ 9.59860698e-01 2.69254747e-01 7.85450341e-02 4.79737408e+01] [-2.68048240e-01 9.63062140e-01 -2.57187781e-02 -8.09458012e+00] [-8.25686517e-02 3.63258616e-03 9.96578759e-01 -5.61890345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.591193817 meters 0.07108376295885535 Centerline is valid? [True, True] Translation: X:48.00, Y:-8.11, Z:-5.62 [[ 9.60278799e-01 2.66648032e-01 8.22402318e-02 4.80025702e+01] [-2.65313222e-01 9.63785402e-01 -2.69554022e-02 -8.10665109e+00] [-8.64495398e-02 4.06528034e-03 9.96247936e-01 -5.61968631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.621193817 meters 0.07054183189613629 Centerline is valid? [True, True] Translation: X:48.03, Y:-8.11, Z:-5.62 [[ 9.60936624e-01 2.63694393e-01 8.40599331e-02 4.80343581e+01] [-2.62285712e-01 9.64595976e-01 -2.75827423e-02 -8.11430564e+00] [-8.83572877e-02 4.45754789e-03 9.96078872e-01 -5.61981869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.651193817 meters 0.07054183189613629 Centerline is valid? [True, True] Translation: X:48.06, Y:-8.12, Z:-5.62 [[ 9.60845677e-01 2.64025692e-01 8.40596162e-02 4.80649984e+01] [-2.62618188e-01 9.64505483e-01 -2.75837125e-02 -8.12462248e+00] [-8.83587695e-02 4.42810678e-03 9.96078872e-01 -5.62353572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.681193817 meters 0.07173472911480312 Centerline is valid? [True, True] Translation: X:48.09, Y:-8.14, Z:-5.63 [[ 9.61232216e-01 2.62605267e-01 8.40898363e-02 4.80948186e+01] [-2.61188341e-01 9.64892417e-01 -2.76274037e-02 -8.13589556e+00] [-8.83927472e-02 4.59306571e-03 9.96075111e-01 -5.62841562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.711193817 meters 0.07252498353504726 Centerline is valid? [True, True] Translation: X:48.13, Y:-8.15, Z:-5.63 [[ 9.61756737e-01 2.60719763e-01 8.39594171e-02 4.81250462e+01] [-2.59297176e-01 9.65402638e-01 -2.76174066e-02 -8.14601716e+00] [-8.82550465e-02 4.79078712e-03 9.96086389e-01 -5.63220862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.741193817 meters 0.07272464292669782 Centerline is valid? [True, True] Translation: X:48.16, Y:-8.15, Z:-5.64 [[ 9.61857326e-01 2.59964465e-01 8.51408307e-02 4.81559340e+01] [-2.58498272e-01 9.65605590e-01 -2.80087052e-02 -8.15453243e+00] [-8.94937301e-02 4.93162072e-03 9.95975176e-01 -5.63549258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.771193817000004 meters 0.07434489909170659 Centerline is valid? [True, True] Translation: X:48.18, Y:-8.17, Z:-5.64 [[ 9.61989734e-01 2.59363480e-01 8.54771145e-02 4.81849423e+01] [-2.57880648e-01 9.65766652e-01 -2.81486326e-02 -8.16519732e+00] [-8.98516740e-02 5.03580192e-03 9.95942427e-01 -5.63953996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.801193817 meters 0.07319317895948198 Centerline is valid? [True, True] Translation: X:48.22, Y:-8.17, Z:-5.64 [[ 9.61944622e-01 2.59401947e-01 8.58671937e-02 4.82176241e+01] [-2.57903389e-01 9.65756090e-01 -2.83022256e-02 -8.17124367e+00] [-9.02684177e-02 5.07973346e-03 9.95904518e-01 -5.64214919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.831193817 meters 0.07474039569565323 Centerline is valid? [True, True] Translation: X:48.25, Y:-8.18, Z:-5.65 [[ 9.62092087e-01 2.58956372e-01 8.55594126e-02 4.82481238e+01] [-2.57463641e-01 9.65875358e-01 -2.82358939e-02 -8.17540965e+00] [-8.99515930e-02 5.13709221e-03 9.95932890e-01 -5.64715049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.861193817 meters 0.07542581830652222 Centerline is valid? [True, True] Translation: X:48.28, Y:-8.18, Z:-5.65 [[ 9.62007100e-01 2.59274869e-01 8.55504633e-02 4.82792991e+01] [-2.57781877e-01 9.65789968e-01 -2.82531736e-02 -8.18161508e+00] [-8.99491171e-02 5.12639461e-03 9.95933169e-01 -5.65138117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.891193817 meters 0.07390568341219511 Centerline is valid? [True, True] Translation: X:48.31, Y:-8.18, Z:-5.65 [[ 9.61377314e-01 2.61613802e-01 8.55095263e-02 4.83125793e+01] [-2.60128179e-01 9.65159993e-01 -2.82757442e-02 -8.17927926e+00] [-8.99276988e-02 4.94022167e-03 9.95936044e-01 -5.65485957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.921193817 meters 0.07406274874440047 Centerline is valid? [True, True] Translation: X:48.34, Y:-8.18, Z:-5.66 [[ 9.60687460e-01 2.64194189e-01 8.53289738e-02 4.83430500e+01] [-2.62724615e-01 9.64458092e-01 -2.82199620e-02 -8.18399797e+00] [-8.97517692e-02 4.69254184e-03 9.95953111e-01 -5.66084280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.951193817000004 meters 0.07106202970596061 Centerline is valid? [True, True] Translation: X:48.38, Y:-8.18, Z:-5.66 [[ 9.59672782e-01 2.67957422e-01 8.50116002e-02 4.83766599e+01] [-2.66513168e-01 9.63421035e-01 -2.81183255e-02 -8.18236615e+00] [-8.94364779e-02 4.32768081e-03 9.95983126e-01 -5.66422345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.981193817 meters 0.06817700386835254 Centerline is valid? [True, True] Translation: X:48.41, Y:-8.18, Z:-5.67 [[ 9.58502532e-01 2.72280940e-01 8.44747580e-02 4.84107883e+01] [-2.70871113e-01 9.62209874e-01 -2.79463545e-02 -8.17951210e+00] [-8.88917059e-02 3.90487986e-03 9.96033642e-01 -5.66849467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.011193817 meters 0.06602303462965008 Centerline is valid? [True, True] Translation: X:48.44, Y:-8.18, Z:-5.67 [[ 9.57357664e-01 2.76493224e-01 8.37723068e-02 4.84444405e+01] [-2.75122345e-01 9.61009530e-01 -2.77196322e-02 -8.17774700e+00] [-8.81702757e-02 3.48996881e-03 9.96099304e-01 -5.67241226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.041193817 meters 0.0633065168480973 Centerline is valid? [True, True] Translation: X:48.48, Y:-8.17, Z:-5.68 [[ 9.54807472e-01 2.85502931e-01 8.26484553e-02 4.84773890e+01] [-2.84201494e-01 9.58374225e-01 -2.73561058e-02 -8.16985499e+00] [-8.70183977e-02 2.63099973e-03 9.96203230e-01 -5.67861652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.071193817 meters 0.06218875446028885 Centerline is valid? [True, True] Translation: X:48.51, Y:-8.17, Z:-5.68 [[ 9.53878322e-01 2.88836548e-01 8.17899470e-02 4.85068146e+01] [-2.87574325e-01 9.57375657e-01 -2.70713583e-02 -8.17215288e+00] [-8.61229019e-02 2.30209296e-03 9.96281861e-01 -5.68247643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.101193817 meters 0.06169925972001375 Centerline is valid? [True, True] Translation: X:48.54, Y:-8.18, Z:-5.69 [[ 9.53282658e-01 2.90885577e-01 8.14724234e-02 4.85352213e+01] [-2.89641269e-01 9.56755541e-01 -2.69586701e-02 -8.17557765e+00] [-8.57910808e-02 2.10145653e-03 9.96310933e-01 -5.68716018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.131193817 meters 0.06146831375773136 Centerline is valid? [True, True] Translation: X:48.56, Y:-8.18, Z:-5.69 [[ 9.53010556e-01 2.92136868e-01 8.01681361e-02 4.85636242e+01] [-2.90937195e-01 9.56374534e-01 -2.65197966e-02 -8.17994663e+00] [-8.44181741e-02 1.94975350e-03 9.96428507e-01 -5.69183518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.161193817 meters 0.06181313886920335 Centerline is valid? [True, True] Translation: X:48.59, Y:-8.19, Z:-5.70 [[ 9.53279537e-01 2.91944849e-01 7.76294320e-02 4.85914950e+01] [-2.90820027e-01 9.56433273e-01 -2.56730761e-02 -8.18595187e+00] [-8.17424940e-02 1.89742463e-03 9.96651677e-01 -5.69787847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.191193817 meters 0.06227184339393008 Centerline is valid? [True, True] Translation: X:48.62, Y:-8.19, Z:-5.70 [[ 9.53718443e-01 2.90724002e-01 7.68159201e-02 4.86194048e+01] [-2.89619285e-01 9.56804921e-01 -2.53970974e-02 -8.19313512e+00] [-8.08813962e-02 1.97430831e-03 9.96721778e-01 -5.70165098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.221193817 meters 0.06338531932567273 Centerline is valid? [True, True] Translation: X:48.65, Y:-8.20, Z:-5.71 [[ 9.54336745e-01 2.88568480e-01 7.72632505e-02 4.86454358e+01] [-2.87444315e-01 9.57456815e-01 -2.55384843e-02 -8.20191854e+00] [-8.13458273e-02 2.16343191e-03 9.96683589e-01 -5.70562043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.251193817 meters 0.06306443233565708 Centerline is valid? [True, True] Translation: X:48.67, Y:-8.21, Z:-5.71 [[ 9.54904520e-01 2.86570333e-01 7.76839838e-02 4.86735284e+01] [-2.85428057e-01 9.58056356e-01 -2.56679320e-02 -8.21041867e+00] [-8.17813023e-02 2.33723569e-03 9.96647559e-01 -5.70530044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.281193817 meters 0.06393260647743972 Centerline is valid? [True, True] Translation: X:48.70, Y:-8.22, Z:-5.71 [[ 9.55178078e-01 2.84934483e-01 8.02943309e-02 4.86991821e+01] [-2.83708888e-01 9.58543593e-01 -2.65225765e-02 -8.22321079e+00] [-8.45228130e-02 2.55356830e-03 9.96418272e-01 -5.70694352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.311193817 meters 0.06370097572739811 Centerline is valid? [True, True] Translation: X:48.73, Y:-8.23, Z:-5.71 [[ 9.55784771e-01 2.82024763e-01 8.32916813e-02 4.87267771e+01] [-2.80695433e-01 9.59402716e-01 -2.75045787e-02 -8.23387727e+00] [-8.76672376e-02 2.90886287e-03 9.96145569e-01 -5.70509608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.341193817000004 meters 0.06358901520639122 Centerline is valid? [True, True] Translation: X:48.75, Y:-8.24, Z:-5.71 [[ 9.55638863e-01 2.81984526e-01 8.50828480e-02 4.87543317e+01] [-2.80597843e-01 9.59414363e-01 -2.80879257e-02 -8.24117550e+00] [-8.95500668e-02 2.96784975e-03 9.95977900e-01 -5.70683048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.371193817 meters 0.06332851863828974 Centerline is valid? [True, True] Translation: X:48.78, Y:-8.25, Z:-5.71 [[ 9.55373333e-01 2.82917636e-01 8.49670875e-02 4.87818244e+01] [-2.81539070e-01 9.59139916e-01 -2.80423597e-02 -8.24703329e+00] [-8.94290033e-02 2.86936792e-03 9.95989066e-01 -5.70937493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.401193817 meters 0.06301696969292 Centerline is valid? [True, True] Translation: X:48.81, Y:-8.25, Z:-5.71 [[ 9.55080550e-01 2.83694813e-01 8.56644456e-02 4.88100360e+01] [-2.82297538e-01 9.58910506e-01 -2.82619986e-02 -8.25296585e+00] [-9.01623193e-02 2.80962304e-03 9.95923121e-01 -5.71234301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.431193817 meters 0.06364216758380399 Centerline is valid? [True, True] Translation: X:48.84, Y:-8.26, Z:-5.72 [[ 9.55050270e-01 2.84068822e-01 8.47578132e-02 4.88361513e+01] [-2.82703145e-01 9.58799984e-01 -2.79557336e-02 -8.26042216e+00] [-8.92071422e-02 2.73783063e-03 9.96009332e-01 -5.71797873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.461193817 meters 0.06283245120864742 Centerline is valid? [True, True] Translation: X:48.86, Y:-8.27, Z:-5.72 [[ 9.55093317e-01 2.84376002e-01 8.32288703e-02 4.88640776e+01] [-2.83061274e-01 9.58709165e-01 -2.74417760e-02 -8.26669004e+00] [-8.75960634e-02 2.65058676e-03 9.96152551e-01 -5.72137461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.491193817 meters 0.06399924207719368 Centerline is valid? [True, True] Translation: X:48.89, Y:-8.28, Z:-5.73 [[ 9.55104077e-01 2.84899369e-01 8.12930045e-02 4.88889332e+01] [-2.83647689e-01 9.58554079e-01 -2.67967435e-02 -8.27671931e+00] [-8.55581164e-02 2.53510611e-03 9.96329956e-01 -5.73008277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.521193817000004 meters 0.06330154014919952 Centerline is valid? [True, True] Translation: X:48.92, Y:-8.28, Z:-5.73 [[ 9.55140459e-01 2.85653157e-01 7.81599433e-02 4.89168957e+01] [-2.84499570e-01 9.58330157e-01 -2.57546911e-02 -8.28187117e+00] [-8.22599396e-02 2.36287725e-03 9.96608107e-01 -5.73463233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.551193817 meters 0.06337430498964577 Centerline is valid? [True, True] Translation: X:48.95, Y:-8.29, Z:-5.74 [[ 9.55265771e-01 2.86106399e-01 7.49028374e-02 4.89450052e+01] [-2.85049084e-01 9.58195284e-01 -2.46742186e-02 -8.28803257e+00] [-7.88309974e-02 2.21945127e-03 9.96885524e-01 -5.74080442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.581193817 meters 0.06392629229827437 Centerline is valid? [True, True] Translation: X:48.97, Y:-8.29, Z:-5.75 [[ 9.55346542e-01 2.86619652e-01 7.18481802e-02 4.89730661e+01] [-2.85648764e-01 9.58042189e-01 -2.36632207e-02 -8.29375082e+00] [-7.56159319e-02 2.08323217e-03 9.97134841e-01 -5.74695393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.611193817 meters 0.06586269642122437 Centerline is valid? [True, True] Translation: X:49.00, Y:-8.31, Z:-5.75 [[ 9.55757166e-01 2.85301365e-01 7.16335923e-02 4.89972068e+01] [-2.84332641e-01 9.58435380e-01 -2.35917726e-02 -8.30577926e+00] [-7.53869342e-02 2.18023727e-03 9.97151973e-01 -5.75457512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.641193817 meters 0.06500319962177915 Centerline is valid? [True, True] Translation: X:49.02, Y:-8.31, Z:-5.75 [[ 9.56386566e-01 2.83344783e-01 7.09962681e-02 4.90248379e+01] [-2.82389031e-01 9.59015354e-01 -2.33663297e-02 -8.31384838e+00] [-7.47072389e-02 2.29867649e-03 9.97202860e-01 -5.75335800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.671193817 meters 0.06682616124267489 Centerline is valid? [True, True] Translation: X:49.05, Y:-8.33, Z:-5.76 [[ 9.57069148e-01 2.80851933e-01 7.16996399e-02 4.90494286e+01] [-2.79870770e-01 9.59747827e-01 -2.35894282e-02 -8.32745560e+00] [-7.54387101e-02 2.51008051e-03 9.97147281e-01 -5.75844756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.701193817000004 meters 0.06820793480312848 Centerline is valid? [True, True] Translation: X:49.08, Y:-8.34, Z:-5.76 [[ 9.58430685e-01 2.76207640e-01 7.15539010e-02 4.90761546e+01] [-2.75218279e-01 9.61093729e-01 -2.35317356e-02 -8.33996643e+00] [-7.52696507e-02 2.86059603e-03 9.97159113e-01 -5.76012184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.731193817 meters 0.06918748818506334 Centerline is valid? [True, True] Translation: X:49.10, Y:-8.35, Z:-5.76 [[ 9.59234473e-01 2.73366547e-01 7.16934886e-02 4.91038246e+01] [-2.72365824e-01 9.61904994e-01 -2.35720065e-02 -8.35131717e+00] [-7.54061228e-02 3.08422509e-03 9.97148136e-01 -5.76331934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.761193817 meters 0.07093069989947201 Centerline is valid? [True, True] Translation: X:49.13, Y:-8.36, Z:-5.77 [[ 9.59964541e-01 2.70648779e-01 7.22310045e-02 4.91296402e+01] [-2.69625421e-01 9.62672431e-01 -2.37470645e-02 -8.36441571e+00] [-7.59619107e-02 3.32102486e-03 9.97105189e-01 -5.76659851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.791193817 meters 0.07189420206735865 Centerline is valid? [True, True] Translation: X:49.16, Y:-8.38, Z:-5.77 [[ 9.61561984e-01 2.65043746e-01 7.17660378e-02 4.91579539e+01] [-2.64018723e-01 9.64229173e-01 -2.35842115e-02 -8.37745503e+00] [-7.54497551e-02 3.73010354e-03 9.97142628e-01 -5.76679834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.821193817 meters 0.07689760467886951 Centerline is valid? [True, True] Translation: X:49.18, Y:-8.39, Z:-5.78 [[ 9.62159614e-01 2.63010681e-01 7.12338366e-02 4.91817042e+01] [-2.61994990e-01 9.64785183e-01 -2.34131720e-02 -8.39461135e+00] [-7.48832644e-02 3.86430019e-03 9.97184819e-01 -5.77538312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.851193817 meters 0.07845722669131527 Centerline is valid? [True, True] Translation: X:49.21, Y:-8.40, Z:-5.78 [[ 9.62584884e-01 2.61574535e-01 7.07750286e-02 4.92078123e+01] [-2.60568354e-01 9.65175212e-01 -2.32581831e-02 -8.40442892e+00] [-7.43940517e-02 3.94624279e-03 9.97221115e-01 -5.77952682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.881193817 meters 0.07746425260481718 Centerline is valid? [True, True] Translation: X:49.24, Y:-8.41, Z:-5.78 [[ 9.62253709e-01 2.62330842e-01 7.24591493e-02 4.92363482e+01] [-2.61278733e-01 9.64969808e-01 -2.38053074e-02 -8.40997381e+00] [-7.61657578e-02 3.97471062e-03 9.97087247e-01 -5.78094182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.911193817 meters 0.07193961463916769 Centerline is valid? [True, True] Translation: X:49.27, Y:-8.41, Z:-5.78 [[ 9.61582686e-01 2.64904956e-01 7.20007058e-02 4.92687884e+01] [-2.63873820e-01 9.64267272e-01 -2.36481499e-02 -8.40681318e+00] [-7.56924363e-02 3.74055028e-03 9.97124197e-01 -5.77737330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.941193817 meters 0.06956002798359029 Centerline is valid? [True, True] Translation: X:49.30, Y:-8.41, Z:-5.78 [[ 9.60166730e-01 2.69461906e-01 7.39603357e-02 4.93001640e+01] [-2.68387797e-01 9.63004809e-01 -2.42843395e-02 -8.40939529e+00] [-7.77678634e-02 3.46696331e-03 9.96965466e-01 -5.77822940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.971193817 meters 0.06567846999948253 Centerline is valid? [True, True] Translation: X:49.33, Y:-8.41, Z:-5.78 [[ 9.56526527e-01 2.81366608e-01 7.67452576e-02 4.93321764e+01] [-2.80247982e-01 9.59596840e-01 -2.51986812e-02 -8.40603852e+00] [-8.07345741e-02 2.59550350e-03 9.96732257e-01 -5.77912548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.001193817 meters 0.06333268670455976 Centerline is valid? [True, True] Translation: X:49.36, Y:-8.41, Z:-5.78 [[ 9.54927998e-01 2.86373297e-01 7.81207628e-02 4.93632127e+01] [-2.85230846e-01 9.58115569e-01 -2.56499557e-02 -8.40725009e+00] [-8.21941815e-02 2.21140956e-03 9.96613880e-01 -5.77927714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.031193817 meters 0.06210958154594397 Centerline is valid? [True, True] Translation: X:49.39, Y:-8.41, Z:-5.78 [[ 9.53480926e-01 2.90680520e-01 7.98683834e-02 4.93932701e+01] [-2.89501650e-01 9.56818325e-01 -2.62199701e-02 -8.41023698e+00] [-8.40411674e-02 1.87821256e-03 9.96460513e-01 -5.78143335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.061193817 meters 0.06122288653982093 Centerline is valid? [True, True] Translation: X:49.42, Y:-8.41, Z:-5.78 [[ 9.52659009e-01 2.93225471e-01 8.03718627e-02 4.94222776e+01] [-2.92040893e-01 9.56041872e-01 -2.63828655e-02 -8.41311071e+00] [-8.45749943e-02 1.66200393e-03 9.96415731e-01 -5.78313362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.091193817000004 meters 0.06100566949835339 Centerline is valid? [True, True] Translation: X:49.45, Y:-8.42, Z:-5.79 [[ 9.52165771e-01 2.94675494e-01 8.09116629e-02 4.94515450e+01] [-2.93480252e-01 9.55596135e-01 -2.65587576e-02 -8.41634603e+00] [-8.51450874e-02 1.54236467e-03 9.96367370e-01 -5.78677950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.121193817 meters 0.06127826349059821 Centerline is valid? [True, True] Translation: X:49.48, Y:-8.42, Z:-5.79 [[ 9.52284344e-01 2.94358914e-01 8.06681933e-02 4.94778169e+01] [-2.93172444e-01 9.55693713e-01 -2.64470447e-02 -8.42490965e+00] [-8.48790085e-02 1.53541529e-03 9.96390082e-01 -5.79099280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.151193817 meters 0.06142677108473421 Centerline is valid? [True, True] Translation: X:49.50, Y:-8.43, Z:-5.79 [[ 9.52281179e-01 2.94217463e-01 8.12197055e-02 4.95043565e+01] [-2.93014490e-01 9.55737237e-01 -2.66240986e-02 -8.43493434e+00] [-8.54579717e-02 1.55507747e-03 9.96340563e-01 -5.79467146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.181193817 meters 0.061443494407078206 Centerline is valid? [True, True] Translation: X:49.53, Y:-8.45, Z:-5.80 [[ 9.52000632e-01 2.95910601e-01 7.83052482e-02 4.95296540e+01] [-2.94800771e-01 9.55214722e-01 -2.56386665e-02 -8.44659781e+00] [-8.23850791e-02 1.32357922e-03 9.96599692e-01 -5.80148816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.211193817 meters 0.06122011810751785 Centerline is valid? [True, True] Translation: X:49.56, Y:-8.45, Z:-5.81 [[ 9.51708087e-01 2.97390327e-01 7.62280099e-02 4.95571963e+01] [-2.96343558e-01 9.54755279e-01 -2.49570206e-02 -8.45447979e+00] [-8.02010714e-02 1.16211859e-03 9.96778028e-01 -5.80577469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.241193817 meters 0.06143159295810772 Centerline is valid? [True, True] Translation: X:49.58, Y:-8.46, Z:-5.81 [[ 9.51314471e-01 2.99235542e-01 7.38841563e-02 4.95838089e+01] [-2.98260225e-01 9.54178807e-01 -2.41586849e-02 -8.46213977e+00] [-7.77278333e-02 9.45801429e-04 9.96974167e-01 -5.81168905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.271193817000004 meters 0.061199762112282764 Centerline is valid? [True, True] Translation: X:49.61, Y:-8.47, Z:-5.81 [[ 9.50947769e-01 3.00732877e-01 7.25126030e-02 4.96115613e+01] [-2.99797860e-01 9.53708071e-01 -2.37098960e-02 -8.46881206e+00] [-7.62861999e-02 8.07749486e-04 9.97085635e-01 -5.81392502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.301193817 meters 0.06147486768988701 Centerline is valid? [True, True] Translation: X:49.64, Y:-8.48, Z:-5.82 [[ 9.50644010e-01 3.02050646e-01 7.10026313e-02 4.96373498e+01] [-3.01160249e-01 9.53291653e-01 -2.31846790e-02 -8.47731859e+00] [-7.46891631e-02 6.57206112e-04 9.97206647e-01 -5.81945033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.331193817 meters 0.06142564069793908 Centerline is valid? [True, True] Translation: X:49.66, Y:-8.49, Z:-5.82 [[ 9.50523115e-01 3.02266963e-01 7.16972247e-02 4.96634083e+01] [-3.01359708e-01 9.53223094e-01 -2.34106830e-02 -8.49056379e+00] [-7.54197264e-02 6.45740604e-04 9.97151667e-01 -5.82250159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.361193817 meters 0.061556263102715926 Centerline is valid? [True, True] Translation: X:49.69, Y:-8.50, Z:-5.83 [[ 9.50819741e-01 3.01181594e-01 7.23288908e-02 4.96890152e+01] [-3.00256993e-01 9.53566535e-01 -2.35924070e-02 -8.50339360e+00] [-7.60760085e-02 7.14871085e-04 9.97101765e-01 -5.82599901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.391193817 meters 0.06169808076573648 Centerline is valid? [True, True] Translation: X:49.71, Y:-8.52, Z:-5.83 [[ 9.51032498e-01 3.00167759e-01 7.37326567e-02 4.97136171e+01] [-2.99206349e-01 9.53886108e-01 -2.40177653e-02 -8.51724894e+00] [-7.75419157e-02 7.80396300e-04 9.96988787e-01 -5.83030670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.421193817 meters 0.06176275507118472 Centerline is valid? [True, True] Translation: X:49.74, Y:-8.53, Z:-5.83 [[ 9.51260561e-01 2.98852333e-01 7.60961748e-02 4.97388037e+01] [-2.97824212e-01 9.54298930e-01 -2.47848716e-02 -8.53080704e+00] [-8.00255149e-02 9.13587511e-04 9.96792397e-01 -5.83281197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.451193817000004 meters 0.06159375216044293 Centerline is valid? [True, True] Translation: X:49.76, Y:-8.54, Z:-5.83 [[ 9.51671888e-01 2.97422097e-01 7.65552931e-02 4.97649683e+01] [-2.96379327e-01 9.54745554e-01 -2.49042403e-02 -8.54261914e+00] [-8.04978971e-02 1.01125910e-03 9.96754266e-01 -5.83352832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.481193817 meters 0.06187882507480739 Centerline is valid? [True, True] Translation: X:49.79, Y:-8.56, Z:-5.84 [[ 9.52292582e-01 2.95211255e-01 7.73896182e-02 4.97905918e+01] [-2.94139187e-01 9.55431250e-01 -2.51647824e-02 -8.55505921e+00] [-8.13693866e-02 1.20091623e-03 9.96683290e-01 -5.83603820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.511193817 meters 0.06232521443527518 Centerline is valid? [True, True] Translation: X:49.82, Y:-8.57, Z:-5.84 [[ 9.52770554e-01 2.93806656e-01 7.68499829e-02 4.98162917e+01] [-2.92745862e-01 9.55863984e-01 -2.49780584e-02 -8.56558703e+00] [-8.07968506e-02 1.30084404e-03 9.96729741e-01 -5.84029303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.541193817 meters 0.06232521443527518 Centerline is valid? [True, True] Translation: X:49.84, Y:-8.57, Z:-5.84 [[ 9.52806219e-01 2.93690356e-01 7.68523514e-02 4.98423312e+01] [-2.92629773e-01 9.55899721e-01 -2.49707682e-02 -8.57388314e+00] [-8.07968151e-02 1.30301710e-03 9.96729741e-01 -5.84343488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.571193817 meters 0.06283766419602528 Centerline is valid? [True, True] Translation: X:49.87, Y:-8.59, Z:-5.85 [[ 9.53346801e-01 2.91956235e-01 7.67556756e-02 4.98685095e+01] [-2.90893662e-01 9.56430600e-01 -2.49275945e-02 -8.58628548e+00] [-8.06892435e-02 1.43690292e-03 9.96738271e-01 -5.84813719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.601193817 meters 0.06305757646938538 Centerline is valid? [True, True] Translation: X:49.89, Y:-8.60, Z:-5.85 [[ 9.54123885e-01 2.89360915e-01 7.69277127e-02 4.98941056e+01] [-2.88285690e-01 9.57218641e-01 -2.49766777e-02 -8.59920045e+00] [-8.08639149e-02 1.65368600e-03 9.96723779e-01 -5.85063989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.631193817 meters 0.0642395340852947 Centerline is valid? [True, True] Translation: X:49.92, Y:-8.62, Z:-5.85 [[ 9.55501155e-01 2.84338833e-01 7.85427924e-02 4.99175108e+01] [-2.83201516e-01 9.58721518e-01 -2.54941541e-02 -8.61795539e+00] [-8.25496432e-02 2.11625586e-03 9.96584707e-01 -5.85371075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.661193817 meters 0.06526163043804356 Centerline is valid? [True, True] Translation: X:49.94, Y:-8.63, Z:-5.86 [[ 9.56373311e-01 2.81600035e-01 7.77914566e-02 4.99445958e+01] [-2.80476275e-01 9.59529072e-01 -2.52392382e-02 -8.63037429e+00] [-8.17505345e-02 2.31947586e-03 9.96650124e-01 -5.85822898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.691193817 meters 0.06834535712766274 Centerline is valid? [True, True] Translation: X:49.97, Y:-8.65, Z:-5.87 [[ 9.58588305e-01 2.75134928e-01 7.35474880e-02 4.99688097e+01] [-2.74111986e-01 9.61401805e-01 -2.38576761e-02 -8.64759209e+00] [-7.72727677e-02 2.70944128e-03 9.97006308e-01 -5.86710097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.721193817 meters 0.06994601187301556 Centerline is valid? [True, True] Translation: X:49.99, Y:-8.66, Z:-5.87 [[ 9.59605925e-01 2.71826252e-01 7.25738078e-02 4.99949478e+01] [-2.70820712e-01 9.62341862e-01 -2.35432251e-02 -8.66209677e+00] [-7.62404799e-02 2.93772800e-03 9.97085131e-01 -5.87247870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.751193817 meters 0.06880686250112218 Centerline is valid? [True, True] Translation: X:50.02, Y:-8.67, Z:-5.87 [[ 9.60321853e-01 2.69444471e-01 7.19834357e-02 5.00230588e+01] [-2.68448743e-01 9.63010941e-01 -2.33495213e-02 -8.67105987e+00] [-7.56122355e-02 3.09919280e-03 9.97132481e-01 -5.87185633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.781193817 meters 0.07149238699058223 Centerline is valid? [True, True] Translation: X:50.05, Y:-8.69, Z:-5.88 [[ 9.60335403e-01 2.69121931e-01 7.30020611e-02 5.00485550e+01] [-2.68097533e-01 9.63100928e-01 -2.36709606e-02 -8.68695085e+00] [-7.66787274e-02 3.16038905e-03 9.97050844e-01 -5.87970524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.811193817 meters 0.07067286465994951 Centerline is valid? [True, True] Translation: X:50.08, Y:-8.69, Z:-5.88 [[ 9.59785279e-01 2.70744441e-01 7.42271189e-02 5.00762830e+01] [-2.69689653e-01 9.62646307e-01 -2.40744543e-02 -8.69419070e+00] [-7.79724865e-02 3.08802086e-03 9.96950729e-01 -5.88175296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.841193817000004 meters 0.06932441004794965 Centerline is valid? [True, True] Translation: X:50.11, Y:-8.70, Z:-5.88 [[ 9.58835212e-01 2.73853683e-01 7.50945853e-02 5.01059309e+01] [-2.72784153e-01 9.61767110e-01 -2.43481499e-02 -8.69995461e+00] [-7.88913328e-02 2.86125066e-03 9.96879115e-01 -5.88435925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.871193817 meters 0.06536482183630782 Centerline is valid? [True, True] Translation: X:50.14, Y:-8.70, Z:-5.88 [[ 9.56656016e-01 2.80702482e-01 7.75588979e-02 5.01392663e+01] [-2.79584368e-01 9.59791912e-01 -2.51409488e-02 -8.69834813e+00] [-8.14975296e-02 2.36698448e-03 9.96670733e-01 -5.88199922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.901193817 meters 0.06410650190991972 Centerline is valid? [True, True] Translation: X:50.17, Y:-8.70, Z:-5.88 [[ 9.55375548e-01 2.84421411e-01 7.97622975e-02 5.01690820e+01] [-2.83251606e-01 9.58697039e-01 -2.58556523e-02 -8.70269736e+00] [-8.38217796e-02 2.10905917e-03 9.96478530e-01 -5.88349353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.931193817 meters 0.06356425631447452 Centerline is valid? [True, True] Translation: X:50.20, Y:-8.71, Z:-5.89 [[ 9.54473689e-01 2.87511165e-01 7.94814919e-02 5.01960729e+01] [-2.86360416e-01 9.57775538e-01 -2.57629627e-02 -8.70789427e+00] [-8.35325681e-02 1.82971700e-03 9.96503368e-01 -5.88805510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.961193817 meters 0.06298223358944846 Centerline is valid? [True, True] Translation: X:50.22, Y:-8.71, Z:-5.89 [[ 9.54097059e-01 2.89105100e-01 7.82115323e-02 5.02241933e+01] [-2.87997015e-01 9.57295934e-01 -2.53419360e-02 -8.71434825e+00] [-8.21980649e-02 1.65397872e-03 9.96614641e-01 -5.89181801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.991193817 meters 0.06278220670229492 Centerline is valid? [True, True] Translation: X:50.25, Y:-8.72, Z:-5.89 [[ 9.54000772e-01 2.88699025e-01 8.08418219e-02 5.02514729e+01] [-2.87514223e-01 9.57418326e-01 -2.61862769e-02 -8.72392385e+00] [-8.49593944e-02 1.73855478e-03 9.96382898e-01 -5.89305626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.021193817000004 meters 0.06272663704327823 Centerline is valid? [True, True] Translation: X:50.28, Y:-8.73, Z:-5.90 [[ 9.53777160e-01 2.89018046e-01 8.23267738e-02 5.02780871e+01] [-2.87791055e-01 9.57322078e-01 -2.66598596e-02 -8.73234498e+00] [-8.65184187e-02 1.73465609e-03 9.96248741e-01 -5.89613983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.051193817 meters 0.0624917446060916 Centerline is valid? [True, True] Translation: X:50.31, Y:-8.74, Z:-5.90 [[ 9.53667492e-01 2.89015530e-01 8.35962816e-02 5.03059446e+01] [-2.87751247e-01 9.57322806e-01 -2.70603923e-02 -8.73997064e+00] [-8.78495005e-02 1.75168218e-03 9.96132219e-01 -5.89763289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.081193817 meters 0.06254405396795587 Centerline is valid? [True, True] Translation: X:50.33, Y:-8.75, Z:-5.90 [[ 9.53487295e-01 2.89336577e-01 8.45359325e-02 5.03323248e+01] [-2.88045581e-01 9.57225855e-01 -2.73570123e-02 -8.74767449e+00] [-8.88353645e-02 1.73436189e-03 9.96044813e-01 -5.90097360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.111193817 meters 0.061820847418694765 Centerline is valid? [True, True] Translation: X:50.36, Y:-8.75, Z:-5.90 [[ 9.52694933e-01 2.91295142e-01 8.67150822e-02 5.03607959e+01] [-2.89945662e-01 9.56631924e-01 -2.80512853e-02 -8.75367946e+00] [-9.11256191e-02 1.58165542e-03 9.95838149e-01 -5.90232607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.141193817 meters 0.06157976551165414 Centerline is valid? [True, True] Translation: X:50.39, Y:-8.76, Z:-5.91 [[ 9.52105048e-01 2.93139602e-01 8.69778839e-02 5.03885201e+01] [-2.91790342e-01 9.56068622e-01 -2.81280417e-02 -8.76113150e+00] [-9.14022685e-02 1.40154398e-03 9.95813065e-01 -5.90574055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.171193817 meters 0.061085622937974315 Centerline is valid? [True, True] Translation: X:50.42, Y:-8.77, Z:-5.91 [[ 9.51155650e-01 2.96184511e-01 8.70497844e-02 5.04170035e+01] [-2.94846317e-01 9.55130105e-01 -2.81448516e-02 -8.76750554e+00] [-9.14799388e-02 1.10382629e-03 9.95806308e-01 -5.90907325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.201193817000004 meters 0.06028527151330197 Centerline is valid? [True, True] Translation: X:50.45, Y:-8.77, Z:-5.91 [[ 9.48851478e-01 3.02713231e-01 8.96971154e-02 5.04461290e+01] [-3.01322928e-01 9.53081568e-01 -2.89830457e-02 -8.77061859e+00] [-9.42622188e-02 4.72808332e-04 9.95547292e-01 -5.90968552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.231193817 meters 0.060255570028322006 Centerline is valid? [True, True] Translation: X:50.47, Y:-8.78, Z:-5.91 [[ 9.47802677e-01 3.05757914e-01 9.04554185e-02 5.04728982e+01] [-3.04358563e-01 9.52109275e-01 -2.92197511e-02 -8.77796139e+00] [-9.50576131e-02 1.63677154e-04 9.95471759e-01 -5.91363483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.261193817 meters 0.06030371851770762 Centerline is valid? [True, True] Translation: X:50.50, Y:-8.79, Z:-5.92 [[ 9.47176150e-01 3.07637726e-01 9.06441959e-02 5.04997072e+01] [-3.06242173e-01 9.51503562e-01 -2.92694942e-02 -8.78665724e+00] [-9.52526759e-02 -3.57086757e-05 9.95453126e-01 -5.91739752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.291193817 meters 0.06049559384546994 Centerline is valid? [True, True] Translation: X:50.52, Y:-8.80, Z:-5.92 [[ 9.47250018e-01 3.07636374e-01 8.98736073e-02 5.05236396e+01] [-3.06265135e-01 9.51503999e-01 -2.90139182e-02 -8.80078890e+00] [-9.44408333e-02 -4.17179605e-05 9.95530475e-01 -5.92388601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.321193817 meters 0.06049559384546994 Centerline is valid? [True, True] Translation: X:50.55, Y:-8.81, Z:-5.93 [[ 9.47287413e-01 3.07519825e-01 8.98783319e-02 5.05496841e+01] [-3.06149451e-01 9.51541673e-01 -2.89992743e-02 -8.80902765e+00] [-9.44408300e-02 -4.55545082e-05 9.95530475e-01 -5.92702652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.351193817 meters 0.06088275675509552 Centerline is valid? [True, True] Translation: X:50.57, Y:-8.83, Z:-5.93 [[ 9.48214718e-01 3.05486292e-01 8.69883581e-02 5.05727742e+01] [-3.04195386e-01 9.52196464e-01 -2.80546111e-02 -8.82803374e+00] [-9.14003061e-02 1.40337990e-04 9.95814222e-01 -5.93432414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.381193817 meters 0.06102740358779233 Centerline is valid? [True, True] Translation: X:50.60, Y:-8.84, Z:-5.94 [[ 9.48676205e-01 3.04408330e-01 8.57264666e-02 5.05983073e+01] [-3.03150967e-01 9.52541608e-01 -2.76401358e-02 -8.84251087e+00] [-9.00719139e-02 2.33477869e-04 9.95935237e-01 -5.93785306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.411193817 meters 0.061296095109838696 Centerline is valid? [True, True] Translation: X:50.62, Y:-8.86, Z:-5.94 [[ 9.48820327e-01 3.04318224e-01 8.44417325e-02 5.06237536e+01] [-3.03098685e-01 9.52570399e-01 -2.72180434e-02 -8.85665471e+00] [-8.87196415e-02 2.30854767e-04 9.96056611e-01 -5.94254674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.441193817 meters 0.06146741266496983 Centerline is valid? [True, True] Translation: X:50.65, Y:-8.87, Z:-5.95 [[ 9.48893530e-01 3.04359834e-01 8.34635252e-02 5.06479908e+01] [-3.03169235e-01 9.52557108e-01 -2.68955557e-02 -8.86991030e+00] [-8.76897011e-02 2.17445737e-04 9.96147815e-01 -5.94827162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.471193817 meters 0.061974718032924016 Centerline is valid? [True, True] Translation: X:50.67, Y:-8.89, Z:-5.96 [[ 9.48855387e-01 3.05383469e-01 8.00898996e-02 5.06720862e+01] [-3.04291849e-01 9.52229450e-01 -2.57981608e-02 -8.88868637e+00] [-8.41422929e-02 1.08020226e-04 9.96453743e-01 -5.95536076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.501193817 meters 0.06224412215581192 Centerline is valid? [True, True] Translation: X:50.70, Y:-8.90, Z:-5.96 [[ 9.49091703e-01 3.04809310e-01 7.94746777e-02 5.06957932e+01] [-3.03732761e-01 9.52413388e-01 -2.55958777e-02 -8.90313938e+00] [-8.34946088e-02 1.53771844e-04 9.96508217e-01 -5.96155920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.531193817 meters 0.06228580505814233 Centerline is valid? [True, True] Translation: X:50.72, Y:-8.92, Z:-5.96 [[ 9.49770392e-01 3.03031833e-01 7.81531260e-02 5.07204090e+01] [-3.01985513e-01 9.52980388e-01 -2.51620740e-02 -8.91900349e+00] [-8.21033058e-02 2.97081080e-04 9.96623780e-01 -5.96395745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.561193817 meters 0.06245723397987257 Centerline is valid? [True, True] Translation: X:50.75, Y:-8.94, Z:-5.97 [[ 9.50543695e-01 3.00613137e-01 7.80924139e-02 5.07462947e+01] [-2.99561357e-01 9.53746035e-01 -2.51295633e-02 -8.93527367e+00] [-8.20346069e-02 4.93278462e-04 9.96629359e-01 -5.96743545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.591193817000004 meters 0.06269601798546051 Centerline is valid? [True, True] Translation: X:50.77, Y:-8.96, Z:-5.97 [[ 9.51503384e-01 2.97209040e-01 7.94235333e-02 5.07729481e+01] [-2.96110425e-01 9.54812112e-01 -2.55430585e-02 -8.95880840e+00] [-8.34261794e-02 7.86170429e-04 9.96513650e-01 -5.96914509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.621193817 meters 0.06297233347390893 Centerline is valid? [True, True] Translation: X:50.80, Y:-8.98, Z:-5.97 [[ 9.51949791e-01 2.95621086e-01 7.99985545e-02 5.08010045e+01] [-2.94498679e-01 9.55304798e-01 -2.57540420e-02 -8.97528001e+00] [-8.40364408e-02 9.57086254e-04 9.96462222e-01 -5.97203419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.651193817 meters 0.06323028105697633 Centerline is valid? [True, True] Translation: X:50.83, Y:-8.99, Z:-5.98 [[ 9.52174718e-01 2.94634717e-01 8.09548593e-02 5.08294693e+01] [-2.93479165e-01 9.55609338e-01 -2.60916390e-02 -8.99238332e+00] [-8.50487221e-02 1.08523445e-03 9.96376203e-01 -5.97565183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.681193817 meters 0.0639266007987398 Centerline is valid? [True, True] Translation: X:50.86, Y:-9.01, Z:-5.98 [[ 9.52799521e-01 2.92614459e-01 8.09311508e-02 5.08562279e+01] [-2.91450016e-01 9.56229633e-01 -2.61108525e-02 -9.01020055e+00] [-8.50291777e-02 1.29102259e-03 9.96377625e-01 -5.98030865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.711193817 meters 0.06481118483783425 Centerline is valid? [True, True] Translation: X:50.88, Y:-9.03, Z:-5.98 [[ 9.53814751e-01 2.89410324e-01 8.04927693e-02 5.08830664e+01] [-2.88245118e-01 9.57203810e-01 -2.59926475e-02 -9.03275049e+00] [-8.45705260e-02 1.59052285e-03 9.96416226e-01 -5.98288852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.741193817 meters 0.06542191080864966 Centerline is valid? [True, True] Translation: X:50.91, Y:-9.05, Z:-5.99 [[ 9.54367767e-01 2.87496345e-01 8.07961385e-02 5.09118124e+01] [-2.86313289e-01 9.57780059e-01 -2.61162506e-02 -9.04812298e+00] [-8.48932570e-02 1.79149967e-03 9.96388441e-01 -5.98621164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.771193817000004 meters 0.06545890168312979 Centerline is valid? [True, True] Translation: X:50.94, Y:-9.06, Z:-5.99 [[ 9.54772243e-01 2.85987158e-01 8.13714275e-02 5.09405032e+01] [-2.84779445e-01 9.58231436e-01 -2.63283523e-02 -9.06208042e+00] [-8.55022305e-02 1.96467007e-03 9.96336042e-01 -5.98860364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.801193817 meters 0.06672499326398233 Centerline is valid? [True, True] Translation: X:50.97, Y:-9.08, Z:-5.99 [[ 9.55409224e-01 2.84259871e-01 7.99345988e-02 5.09671456e+01] [-2.83086179e-01 9.58744952e-01 -2.58907870e-02 -9.07837861e+00] [-8.39966049e-02 2.10791657e-03 9.96463811e-01 -5.99319279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.831193817 meters 0.06836996016298345 Centerline is valid? [True, True] Translation: X:50.99, Y:-9.10, Z:-6.00 [[ 9.56272070e-01 2.81920325e-01 7.78759216e-02 5.09923264e+01] [-2.80798013e-01 9.59435155e-01 -2.52321009e-02 -9.09944366e+00] [-8.18303389e-02 2.26134926e-03 9.96643709e-01 -5.99919433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.861193817 meters 0.068554349769288 Centerline is valid? [True, True] Translation: X:51.02, Y:-9.11, Z:-6.00 [[ 9.56250847e-01 2.82180958e-01 7.71895387e-02 5.10220304e+01] [-2.81077499e-01 9.59358583e-01 -2.50309466e-02 -9.11144578e+00] [-8.11157030e-02 2.23962138e-03 9.96702176e-01 -6.00385179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.891193817 meters 0.06661681216795892 Centerline is valid? [True, True] Translation: X:51.05, Y:-9.12, Z:-6.00 [[ 9.55844181e-01 2.83684999e-01 7.67119543e-02 5.10543596e+01] [-2.82598206e-01 9.58915182e-01 -2.48983566e-02 -9.11683577e+00] [-8.06235479e-02 2.12028853e-03 9.96742368e-01 -6.00350133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.921193817 meters 0.06579667233426593 Centerline is valid? [True, True] Translation: X:51.09, Y:-9.12, Z:-6.01 [[ 9.54903858e-01 2.86731481e-01 7.70952643e-02 5.10850057e+01] [-2.85641225e-01 9.58009103e-01 -2.50529136e-02 -9.12340452e+00] [-8.10414241e-02 1.90153810e-03 9.96708920e-01 -6.00662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.951193817000004 meters 0.06435961707668286 Centerline is valid? [True, True] Translation: X:51.12, Y:-9.13, Z:-6.01 [[ 9.52974605e-01 2.92784329e-01 7.82095792e-02 5.11159015e+01] [-2.91681115e-01 9.56177446e-01 -2.54326457e-02 -9.13003067e+00] [-8.22285158e-02 1.42440820e-03 9.96612483e-01 -6.01011602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.981193817 meters 0.0638654561066186 Centerline is valid? [True, True] Translation: X:51.15, Y:-9.14, Z:-6.01 [[ 9.52522956e-01 2.94245765e-01 7.82269002e-02 5.11461988e+01] [-2.93146895e-01 9.55728906e-01 -2.54392839e-02 -9.14134155e+00] [-8.22491112e-02 1.29952900e-03 9.96610955e-01 -6.01251756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.011193817 meters 0.06397396183531766 Centerline is valid? [True, True] Translation: X:51.18, Y:-9.15, Z:-6.02 [[ 9.52565698e-01 2.94079862e-01 7.83302345e-02 5.11762968e+01] [-2.92975516e-01 9.55779913e-01 -2.54971458e-02 -9.15429766e+00] [-8.23646618e-02 1.33886558e-03 9.96601360e-01 -6.01640644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.041193817 meters 0.06463966393995386 Centerline is valid? [True, True] Translation: X:51.20, Y:-9.17, Z:-6.02 [[ 9.52723641e-01 2.93593538e-01 7.82336080e-02 5.12043649e+01] [-2.92487705e-01 9.55929311e-01 -2.54969404e-02 -9.16707257e+00] [-8.22715360e-02 1.40916940e-03 9.96608955e-01 -6.02246075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.071193817 meters 0.06405913208605239 Centerline is valid? [True, True] Translation: X:51.23, Y:-9.18, Z:-6.02 [[ 9.52905776e-01 2.92967714e-01 7.83613434e-02 5.12349038e+01] [-2.91854406e-01 9.56121180e-01 -2.55596313e-02 -9.17985824e+00] [-8.24110869e-02 1.48581694e-03 9.96597313e-01 -6.02274631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.101193817 meters 0.0645174890886761 Centerline is valid? [True, True] Translation: X:51.26, Y:-9.19, Z:-6.03 [[ 9.52616491e-01 2.93631089e-01 7.93889475e-02 5.12630658e+01] [-2.92487564e-01 9.55917667e-01 -2.59314294e-02 -9.19201773e+00] [-8.35035714e-02 1.48242746e-03 9.96506375e-01 -6.02962288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.131193817 meters 0.06371722193868067 Centerline is valid? [True, True] Translation: X:51.29, Y:-9.20, Z:-6.03 [[ 9.52399354e-01 2.94538410e-01 7.86294794e-02 5.12948234e+01] [-2.93419038e-01 9.55638619e-01 -2.56923603e-02 -9.20007331e+00] [-8.27087541e-02 1.39800119e-03 9.96572781e-01 -6.03015976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.161193817 meters 0.06351356710283336 Centerline is valid? [True, True] Translation: X:51.33, Y:-9.21, Z:-6.04 [[ 9.51039369e-01 2.98887992e-01 7.86771007e-02 5.13256698e+01] [-2.97779459e-01 9.54287621e-01 -2.57396585e-02 -9.20546420e+00] [-8.27738581e-02 1.05100415e-03 9.96567802e-01 -6.03828412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.191193817 meters 0.06259911752475418 Centerline is valid? [True, True] Translation: X:51.36, Y:-9.21, Z:-6.04 [[ 9.50430289e-01 3.01051327e-01 7.77840889e-02 5.13583683e+01] [-2.99973143e-01 9.53607536e-01 -2.54711946e-02 -9.21176897e+00] [-8.18436303e-02 8.75457185e-04 9.96644798e-01 -6.03778368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.221193817 meters 0.06319321837128078 Centerline is valid? [True, True] Translation: X:51.39, Y:-9.22, Z:-6.05 [[ 9.49897081e-01 3.02817996e-01 7.74389813e-02 5.13880883e+01] [-3.01752711e-01 9.53048110e-01 -2.53890123e-02 -9.22241551e+00] [-8.14913246e-02 7.49526145e-04 9.96673769e-01 -6.04738451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.251193817 meters 0.0629628346251369 Centerline is valid? [True, True] Translation: X:51.42, Y:-9.23, Z:-6.05 [[ 9.49318151e-01 3.04615722e-01 7.74874795e-02 5.14179008e+01] [-3.03552557e-01 9.52475129e-01 -2.54356763e-02 -9.23161583e+00] [-8.15530039e-02 6.25026659e-04 9.96668810e-01 -6.05096136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.281193817 meters 0.06300399939930398 Centerline is valid? [True, True] Translation: X:51.45, Y:-9.24, Z:-6.06 [[ 9.48646008e-01 3.07053137e-01 7.60862854e-02 5.14474464e+01] [-3.06034289e-01 9.51692276e-01 -2.49965165e-02 -9.23969208e+00] [-8.00859889e-02 4.27833343e-04 9.96787867e-01 -6.05723986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.311193817 meters 0.06227226028625619 Centerline is valid? [True, True] Translation: X:51.48, Y:-9.25, Z:-6.06 [[ 9.48615645e-01 3.07278515e-01 7.55531157e-02 5.14782900e+01] [-3.06273131e-01 9.51619532e-01 -2.48401757e-02 -9.24902229e+00] [-7.95306729e-02 4.23889935e-04 9.96832329e-01 -6.05546670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.341193817000004 meters 0.06222942023063229 Centerline is valid? [True, True] Translation: X:51.51, Y:-9.26, Z:-6.06 [[ 9.48648406e-01 3.07106292e-01 7.58414611e-02 5.15089876e+01] [-3.06090088e-01 9.51675104e-01 -2.49670603e-02 -9.25968455e+00] [-7.98439717e-02 4.70642458e-04 9.96807263e-01 -6.05880737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.371193817 meters 0.06192532924044382 Centerline is valid? [True, True] Translation: X:51.54, Y:-9.27, Z:-6.06 [[ 9.48793883e-01 3.06678466e-01 7.57527910e-02 5.15405460e+01] [-3.05663281e-01 9.51813039e-01 -2.49378494e-02 -9.27031709e+00] [-7.97503957e-02 5.06032314e-04 9.96814736e-01 -6.06047240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.401193817 meters 0.06223825400699071 Centerline is valid? [True, True] Translation: X:51.57, Y:-9.28, Z:-6.07 [[ 9.49144482e-01 3.05065598e-01 7.78442899e-02 5.15687728e+01] [-3.03985243e-01 9.52331088e-01 -2.56606837e-02 -9.28241202e+00] [-8.19617291e-02 6.92180988e-04 9.96635237e-01 -6.06550759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.431193817 meters 0.062087621459746806 Centerline is valid? [True, True] Translation: X:51.60, Y:-9.29, Z:-6.07 [[ 9.49261250e-01 3.04391772e-01 7.90488975e-02 5.15984608e+01] [-3.03273239e-01 9.52546603e-01 -2.60827689e-02 -9.29492641e+00] [-8.32371391e-02 7.85946586e-04 9.96529458e-01 -6.06695945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.461193817 meters 0.06231047921698917 Centerline is valid? [True, True] Translation: X:51.63, Y:-9.31, Z:-6.07 [[ 9.49542832e-01 3.03386181e-01 7.95313483e-02 5.16266964e+01] [-3.02248192e-01 9.52867256e-01 -2.62682976e-02 -9.30891876e+00] [-8.37522561e-02 9.04667496e-04 9.96486197e-01 -6.07160084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.491193817 meters 0.06231047921698917 Centerline is valid? [True, True] Translation: X:51.66, Y:-9.32, Z:-6.08 [[ 9.49440730e-01 3.03707738e-01 7.95230187e-02 5.16572712e+01] [-3.02568766e-01 9.52764816e-01 -2.62934852e-02 -9.31929926e+00] [-8.37522692e-02 9.02924083e-04 9.96486198e-01 -6.07531606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.521193817000004 meters 0.0625708940120766 Centerline is valid? [True, True] Translation: X:51.69, Y:-9.33, Z:-6.08 [[ 9.49819486e-01 3.02694676e-01 7.88598542e-02 5.16864072e+01] [-3.01568620e-01 9.53087040e-01 -2.61048064e-02 -9.33338148e+00] [-8.30620910e-02 1.01319645e-03 9.96543859e-01 -6.07961589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.551193817 meters 0.06337136901267057 Centerline is valid? [True, True] Translation: X:51.71, Y:-9.35, Z:-6.09 [[ 9.50805068e-01 3.00415225e-01 7.56334242e-02 5.17136869e+01] [-2.99370469e-01 9.53807783e-01 -2.50606292e-02 -9.34936093e+00] [-7.96683432e-02 1.18535961e-03 9.96820721e-01 -6.08637236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.581193817 meters 0.06412268983386878 Centerline is valid? [True, True] Translation: X:51.74, Y:-9.36, Z:-6.09 [[ 9.51235759e-01 2.99597412e-01 7.34297013e-02 5.17418485e+01] [-2.98608605e-01 9.54064913e-01 -2.43524838e-02 -9.36246610e+00] [-7.73526426e-02 1.23821280e-03 9.97003027e-01 -6.09358442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.611193817 meters 0.06467955188748392 Centerline is valid? [True, True] Translation: X:51.77, Y:-9.38, Z:-6.10 [[ 9.51486195e-01 2.99485445e-01 7.05867446e-02 5.17705761e+01] [-2.98569981e-01 9.54100091e-01 -2.34303930e-02 -9.37509654e+00] [-7.43638811e-02 1.21861254e-03 9.97230429e-01 -6.09996854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.641193817 meters 0.06492271442241662 Centerline is valid? [True, True] Translation: X:51.80, Y:-9.39, Z:-6.11 [[ 9.51446211e-01 2.99960598e-01 6.90923060e-02 5.17999403e+01] [-2.99083354e-01 9.53950868e-01 -2.29540527e-02 -9.38721487e+00] [-7.27959767e-02 1.17518784e-03 9.97346161e-01 -6.10525987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.671193817 meters 0.06462816896877115 Centerline is valid? [True, True] Translation: X:51.83, Y:-9.40, Z:-6.11 [[ 9.51183698e-01 3.00905071e-01 6.85981877e-02 5.18313207e+01] [-3.00041337e-01 9.53653447e-01 -2.28100811e-02 -9.39841503e+00] [-7.22825672e-02 1.11428538e-03 9.97383572e-01 -6.10727018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.701193817000004 meters 0.0637854585474166 Centerline is valid? [True, True] Translation: X:51.86, Y:-9.41, Z:-6.11 [[ 9.49898899e-01 3.05092094e-01 6.79035859e-02 5.18620353e+01] [-3.04254480e-01 9.52322504e-01 -2.26066345e-02 -9.40619710e+00] [-7.15632184e-02 8.14047020e-04 9.97435734e-01 -6.11030977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.731193817 meters 0.06359174722828359 Centerline is valid? [True, True] Translation: X:51.89, Y:-9.41, Z:-6.11 [[ 9.48951348e-01 3.08190891e-01 6.71544049e-02 5.18931429e+01] [-3.07377977e-01 9.51324352e-01 -2.23776005e-02 -9.41497863e+00] [-7.07821934e-02 5.93468994e-04 9.97491618e-01 -6.11437924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.761193817 meters 0.06418200693370518 Centerline is valid? [True, True] Translation: X:51.92, Y:-9.42, Z:-6.12 [[ 9.48130440e-01 3.10791209e-01 6.67644585e-02 5.19229903e+01] [-3.09992264e-01 9.50478114e-01 -2.22744308e-02 -9.42467983e+00] [-7.03808539e-02 4.22600181e-04 9.97520103e-01 -6.12386385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.791193817 meters 0.06331980957412021 Centerline is valid? [True, True] Translation: X:51.95, Y:-9.43, Z:-6.12 [[ 9.47339889e-01 3.13095796e-01 6.72172446e-02 5.19538773e+01] [-3.12289924e-01 9.49721510e-01 -2.24512253e-02 -9.43374263e+00] [-7.08670473e-02 2.77673057e-04 9.97485731e-01 -6.12274078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.821193817 meters 0.06247018715476324 Centerline is valid? [True, True] Translation: X:51.98, Y:-9.44, Z:-6.12 [[ 9.45646857e-01 3.17108123e-01 7.20726023e-02 5.19830629e+01] [-3.16190132e-01 9.48389392e-01 -2.41114562e-02 -9.44172085e+00] [-7.59988301e-02 1.22771177e-05 9.97107907e-01 -6.12235100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.851193817 meters 0.06225468376120314 Centerline is valid? [True, True] Translation: X:52.01, Y:-9.45, Z:-6.12 [[ 9.44789494e-01 3.19543303e-01 7.25595578e-02 5.20135210e+01] [-3.18620911e-01 9.47571654e-01 -2.42626386e-02 -9.45115605e+00] [-7.65083439e-02 -1.95906340e-04 9.97068922e-01 -6.12451149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.881193817 meters 0.06263202255641971 Centerline is valid? [True, True] Translation: X:52.04, Y:-9.46, Z:-6.13 [[ 9.44102072e-01 3.21409207e-01 7.32625368e-02 5.20420139e+01] [-3.20472475e-01 9.46940344e-01 -2.45230070e-02 -9.46126192e+00] [-7.72571721e-02 -3.26404789e-04 9.97011145e-01 -6.13083014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.911193817000004 meters 0.06243428325892705 Centerline is valid? [True, True] Translation: X:52.07, Y:-9.47, Z:-6.13 [[ 9.43183418e-01 3.23824120e-01 7.44511898e-02 5.20723683e+01] [-3.22862408e-01 9.46117159e-01 -2.49436852e-02 -9.47309212e+00] [-7.85169151e-02 -5.11020112e-04 9.96912651e-01 -6.13231778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.941193817 meters 0.06237332124193221 Centerline is valid? [True, True] Translation: X:52.10, Y:-9.49, Z:-6.13 [[ 9.41546110e-01 3.28196131e-01 7.60146152e-02 5.21018872e+01] [-3.27205777e-01 9.44609201e-01 -2.54919136e-02 -9.48550812e+00] [-8.01704523e-02 -8.70609102e-04 9.96780789e-01 -6.13356501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.971193817 meters 0.0626635352206377 Centerline is valid? [True, True] Translation: X:52.13, Y:-9.50, Z:-6.14 [[ 9.40758773e-01 3.30296527e-01 7.66624767e-02 5.21319999e+01] [-3.29294179e-01 9.43876651e-01 -2.57334692e-02 -9.49686467e+00] [-8.08595972e-02 -1.03552037e-03 9.96724964e-01 -6.13759329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.001193817 meters 0.062421673725697034 Centerline is valid? [True, True] Translation: X:52.16, Y:-9.51, Z:-6.14 [[ 9.40108346e-01 3.32031500e-01 7.71451920e-02 5.21625712e+01] [-3.31020211e-01 9.43267575e-01 -2.59210506e-02 -9.51104056e+00] [-8.13751635e-02 -1.16802175e-03 9.96682858e-01 -6.13817766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.031193817 meters 0.06242518584548319 Centerline is valid? [True, True] Translation: X:52.19, Y:-9.52, Z:-6.14 [[ 9.39814969e-01 3.32500899e-01 7.86827560e-02 5.21908685e+01] [-3.31447683e-01 9.43102173e-01 -2.64711950e-02 -9.52342025e+00] [-8.30075743e-02 -1.20119187e-03 9.96548192e-01 -6.14249480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.061193817 meters 0.06195237437319871 Centerline is valid? [True, True] Translation: X:52.22, Y:-9.55, Z:-6.14 [[ 9.40011783e-01 3.31160751e-01 8.19170611e-02 5.22175137e+01] [-3.30011087e-01 9.43573714e-01 -2.75921686e-02 -9.54531221e+00] [-8.64322289e-02 -1.09657479e-03 9.96257129e-01 -6.14209527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.091193817000004 meters 0.06154361913892007 Centerline is valid? [True, True] Translation: X:52.25, Y:-9.56, Z:-6.15 [[ 9.40466697e-01 3.29950349e-01 8.15791525e-02 5.22457576e+01] [-3.28805839e-01 9.43997775e-01 -2.74758155e-02 -9.56299472e+00] [-8.60761934e-02 -9.83612253e-04 9.96288072e-01 -6.14514652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.121193817 meters 0.06139218055717232 Centerline is valid? [True, True] Translation: X:52.27, Y:-9.58, Z:-6.15 [[ 9.41077895e-01 3.28220451e-01 8.15090911e-02 5.22728515e+01] [-3.27068619e-01 9.44600818e-01 -2.74847733e-02 -9.58132443e+00] [-8.60146188e-02 -7.93753256e-04 9.96293559e-01 -6.14961967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.151193817 meters 0.06129151349951713 Centerline is valid? [True, True] Translation: X:52.30, Y:-9.60, Z:-6.15 [[ 9.41614813e-01 3.26541119e-01 8.20514550e-02 5.22992183e+01] [-3.25365078e-01 9.45182795e-01 -2.76956728e-02 -9.59932107e+00] [-8.65973995e-02 -6.18022284e-04 9.96243197e-01 -6.15385095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.181193817 meters 0.060901381073453366 Centerline is valid? [True, True] Translation: X:52.33, Y:-9.62, Z:-6.15 [[ 9.42438705e-01 3.23933354e-01 8.29244794e-02 5.23267470e+01] [-3.22719829e-01 9.46079835e-01 -2.80153245e-02 -9.61980124e+00] [-8.75282758e-02 -3.58647672e-04 9.96161971e-01 -6.15420376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.211193817 meters 0.060826513316647575 Centerline is valid? [True, True] Translation: X:52.35, Y:-9.65, Z:-6.16 [[ 9.44045929e-01 3.18568680e-01 8.53889887e-02 5.23508536e+01] [-3.17257193e-01 9.47899766e-01 -2.88774435e-02 -9.64694575e+00] [-9.01396515e-02 1.71362120e-04 9.95929121e-01 -6.15664683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.241193817 meters 0.0607738493301143 Centerline is valid? [True, True] Translation: X:52.38, Y:-9.66, Z:-6.16 [[ 9.44514597e-01 3.17050566e-01 8.58551961e-02 5.23781087e+01] [-3.15715875e-01 9.48408572e-01 -2.90631493e-02 -9.66376823e+00] [-9.06402919e-02 3.44720390e-04 9.95883637e-01 -6.16161037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.271193817000004 meters 0.0608986476724423 Centerline is valid? [True, True] Translation: X:52.41, Y:-9.68, Z:-6.17 [[ 9.44671429e-01 3.16379642e-01 8.66014639e-02 5.24065301e+01] [-3.15015924e-01 9.48632556e-01 -2.93469036e-02 -9.67934975e+00] [-9.14377309e-02 4.42341156e-04 9.95810698e-01 -6.16694109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.301193817 meters 0.060922184018993346 Centerline is valid? [True, True] Translation: X:52.44, Y:-9.69, Z:-6.17 [[ 9.44809991e-01 3.16326234e-01 8.52748195e-02 5.24352581e+01] [-3.15001431e-01 9.48650355e-01 -2.89240710e-02 -9.69303069e+00] [-9.00454302e-02 4.66061099e-04 9.95937550e-01 -6.17033354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.331193817 meters 0.06113226771694941 Centerline is valid? [True, True] Translation: X:52.46, Y:-9.71, Z:-6.18 [[ 9.43788379e-01 3.20066164e-01 8.25902316e-02 5.24639899e+01] [-3.18835585e-01 9.47395183e-01 -2.80399033e-02 -9.70733523e+00] [-8.72202119e-02 1.31030022e-04 9.96189047e-01 -6.17742293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.361193817 meters 0.06138764353379792 Centerline is valid? [True, True] Translation: X:52.49, Y:-9.72, Z:-6.18 [[ 9.42452714e-01 3.24529150e-01 8.03972143e-02 5.24928244e+01] [-3.23377109e-01 9.45875663e-01 -2.73217207e-02 -9.71672418e+00] [-8.49124631e-02 -2.49188919e-04 9.96388384e-01 -6.18309310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.391193817 meters 0.061983286872929574 Centerline is valid? [True, True] Translation: X:52.52, Y:-9.73, Z:-6.19 [[ 9.41110298e-01 3.29244272e-01 7.68740287e-02 5.25226442e+01] [-3.28204361e-01 9.44244582e-01 -2.61546870e-02 -9.72576361e+00] [-8.11991659e-02 -6.15946184e-04 9.96697705e-01 -6.18920018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.421193817 meters 0.06375328110511419 Centerline is valid? [True, True] Translation: X:52.55, Y:-9.73, Z:-6.20 [[ 9.37719705e-01 3.39524837e-01 7.35162511e-02 5.25524336e+01] [-3.38604944e-01 9.40595997e-01 -2.50172417e-02 -9.72989490e+00] [-7.76430664e-02 -1.43380554e-03 9.96980190e-01 -6.19634579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.451193817000004 meters 0.06479615868493728 Centerline is valid? [True, True] Translation: X:52.58, Y:-9.74, Z:-6.20 [[ 9.35510207e-01 3.45478736e-01 7.39262898e-02 5.25838117e+01] [-3.44567491e-01 9.38424566e-01 -2.51511070e-02 -9.73586480e+00] [-7.80634191e-02 -1.94347895e-03 9.96946501e-01 -6.19916318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.481193817 meters 0.06513299276658402 Centerline is valid? [True, True] Translation: X:52.61, Y:-9.74, Z:-6.20 [[ 9.33465650e-01 3.50683714e-01 7.52516610e-02 5.26149416e+01] [-3.49755206e-01 9.36490861e-01 -2.56156797e-02 -9.74481164e+00] [-7.94554945e-02 -2.40830315e-03 9.96835505e-01 -6.19942487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.511193817 meters 0.06714382875419293 Centerline is valid? [True, True] Translation: X:52.65, Y:-9.75, Z:-6.21 [[ 9.32127098e-01 3.54007489e-01 7.62743188e-02 5.26457421e+01] [-3.53064557e-01 9.35238611e-01 -2.59645810e-02 -9.75020728e+00] [-8.05263440e-02 -2.72746908e-03 9.96748749e-01 -6.20609897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.541193817 meters 0.06825732715596518 Centerline is valid? [True, True] Translation: X:52.68, Y:-9.76, Z:-6.21 [[ 9.30847600e-01 3.57295531e-01 7.65679413e-02 5.26758520e+01] [-3.56353947e-01 9.33986581e-01 -2.60946752e-02 -9.76065796e+00] [-8.08369405e-02 -2.99512225e-03 9.96722839e-01 -6.20945346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.571193817 meters 0.06954506397995591 Centerline is valid? [True, True] Translation: X:52.70, Y:-9.78, Z:-6.21 [[ 9.29281823e-01 3.61027093e-01 7.80687672e-02 5.27039534e+01] [-3.60060700e-01 9.32549208e-01 -2.66132801e-02 -9.77731003e+00] [-8.24110821e-02 -3.37825749e-03 9.96592696e-01 -6.21243121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.601193817 meters 0.07036107674056176 Centerline is valid? [True, True] Translation: X:52.73, Y:-9.79, Z:-6.22 [[ 9.29084924e-01 3.61532218e-01 7.80747056e-02 5.27325209e+01] [-3.60567481e-01 9.32353331e-01 -2.66149852e-02 -9.79041124e+00] [-8.24153865e-02 -3.42361848e-03 9.96592185e-01 -6.21790846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.631193817 meters 0.0683719570700972 Centerline is valid? [True, True] Translation: X:52.76, Y:-9.81, Z:-6.22 [[ 9.29133130e-01 3.60957203e-01 8.01344170e-02 5.27594223e+01] [-3.59935756e-01 9.32576074e-01 -2.73517422e-02 -9.81036887e+00] [-8.46042483e-02 -3.42983217e-03 9.96408730e-01 -6.21788453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.661193817000004 meters 0.06763072380435345 Centerline is valid? [True, True] Translation: X:52.79, Y:-9.83, Z:-6.22 [[ 9.29814809e-01 3.58815512e-01 8.18281743e-02 5.27863983e+01] [-3.57741552e-01 9.33402674e-01 -2.79361727e-02 -9.82796383e+00] [-8.64025688e-02 -3.29787101e-03 9.96254847e-01 -6.21997266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.691193817 meters 0.06606966298331918 Centerline is valid? [True, True] Translation: X:52.81, Y:-9.85, Z:-6.22 [[ 9.31586184e-01 3.54096722e-01 8.22355974e-02 5.28087107e+01] [-3.52993255e-01 9.35204404e-01 -2.80799813e-02 -9.85486591e+00] [-8.68501221e-02 -2.86968853e-03 9.96217256e-01 -6.22234728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.721193817 meters 0.06512670508110856 Centerline is valid? [True, True] Translation: X:52.84, Y:-9.87, Z:-6.22 [[ 9.32099388e-01 3.52958991e-01 8.13060995e-02 5.28359436e+01] [-3.51876720e-01 9.35634782e-01 -2.77547858e-02 -9.87423053e+00] [-8.58691159e-02 -2.73950473e-03 9.96302660e-01 -6.22437486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.751193817 meters 0.06530058556048891 Centerline is valid? [True, True] Translation: X:52.86, Y:-9.89, Z:-6.23 [[ 9.32555073e-01 3.52014595e-01 8.01670845e-02 5.28644419e+01] [-3.50956643e-01 9.35990930e-01 -2.73936682e-02 -9.88894703e+00] [-8.46786350e-02 -2.58906663e-03 9.96404951e-01 -6.23031897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.781193817 meters 0.06540287554264186 Centerline is valid? [True, True] Translation: X:52.89, Y:-9.90, Z:-6.24 [[ 9.32612051e-01 3.51862552e-01 8.01717299e-02 5.28928723e+01] [-3.50802556e-01 9.36048177e-01 -2.74112760e-02 -9.90415989e+00] [-8.46896031e-02 -2.56036143e-03 9.96404093e-01 -6.23504629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.811193817 meters 0.06445425017362316 Centerline is valid? [True, True] Translation: X:52.92, Y:-9.92, Z:-6.23 [[ 9.32304182e-01 3.52960612e-01 7.89158939e-02 5.29211627e+01] [-3.51935592e-01 9.35634579e-01 -2.70050633e-02 -9.92257887e+00] [-8.33681628e-02 -2.59637839e-03 9.96515433e-01 -6.23464648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.841193817000004 meters 0.06622276695653001 Centerline is valid? [True, True] Translation: X:52.95, Y:-9.94, Z:-6.24 [[ 9.31349581e-01 3.55590883e-01 7.83778146e-02 5.29483371e+01] [-3.54586879e-01 9.34637553e-01 -2.68475449e-02 -9.93807821e+00] [-8.28015910e-02 -2.78729500e-03 9.96562154e-01 -6.24151965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.871193817 meters 0.06698708025971238 Centerline is valid? [True, True] Translation: X:52.98, Y:-9.95, Z:-6.25 [[ 9.30713848e-01 3.57602462e-01 7.67607479e-02 5.29765202e+01] [-3.56644060e-01 9.33869473e-01 -2.63215016e-02 -9.95191472e+00] [-8.10971530e-02 -2.87847872e-03 9.96702045e-01 -6.24571043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.901193817 meters 0.06560654004183279 Centerline is valid? [True, True] Translation: X:53.00, Y:-9.97, Z:-6.24 [[ 9.29948780e-01 3.59447052e-01 7.74150029e-02 5.30044651e+01] [-3.58478141e-01 9.33160464e-01 -2.65512844e-02 -9.97166063e+00] [-8.17844009e-02 -3.06025177e-03 9.96645346e-01 -6.24460774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.931193817 meters 0.06663982805033447 Centerline is valid? [True, True] Translation: X:53.03, Y:-9.99, Z:-6.25 [[ 9.28957341e-01 3.61970627e-01 7.75598070e-02 5.30307578e+01] [-3.61004250e-01 9.32183804e-01 -2.66324572e-02 -9.98931175e+00] [-8.19401631e-02 -3.25900325e-03 9.96631922e-01 -6.24880590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.961193817 meters 0.0667723720497315 Centerline is valid? [True, True] Translation: X:53.06, Y:-10.00, Z:-6.25 [[ 9.28692837e-01 3.62825758e-01 7.67273358e-02 5.30592971e+01] [-3.61882370e-01 9.31851186e-01 -2.63536888e-02 -1.00047639e+01] [-8.10602560e-02 -3.29178809e-03 9.96703767e-01 -6.25452312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.991193817 meters 0.06654645331646575 Centerline is valid? [True, True] Translation: X:53.09, Y:-10.02, Z:-6.26 [[ 9.29078681e-01 3.62079794e-01 7.55713416e-02 5.30870633e+01] [-3.61160382e-01 9.32141759e-01 -2.59792275e-02 -1.00225298e+01] [-7.98497566e-02 -3.15662820e-03 9.96801912e-01 -6.26018220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.021193817000004 meters 0.06676527693812019 Centerline is valid? [True, True] Translation: X:53.11, Y:-10.04, Z:-6.27 [[ 9.30077492e-01 3.59612894e-01 7.50628073e-02 5.31141947e+01] [-3.58695443e-01 9.33097088e-01 -2.58341721e-02 -1.00390133e+01] [-7.93311883e-02 -2.89690491e-03 9.96844105e-01 -6.26692108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.051193817 meters 0.0651286453350349 Centerline is valid? [True, True] Translation: X:53.14, Y:-10.06, Z:-6.27 [[ 9.31378182e-01 3.56325385e-01 7.46116690e-02 5.31400252e+01] [-3.55405821e-01 9.34358397e-01 -2.57116422e-02 -1.00615038e+01] [-7.88757502e-02 -2.57015885e-03 9.96881142e-01 -6.26824612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.081193817 meters 0.06350968110824207 Centerline is valid? [True, True] Translation: X:53.16, Y:-10.09, Z:-6.27 [[ 9.34495542e-01 3.48104001e-01 7.44425030e-02 5.31619509e+01] [-3.47162024e-01 9.37454066e-01 -2.56593657e-02 -1.00940707e+01] [-7.87185550e-02 -1.86504718e-03 9.96895135e-01 -6.27030357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.111193817 meters 0.0631440794514769 Centerline is valid? [True, True] Translation: X:53.19, Y:-10.11, Z:-6.27 [[ 9.35828126e-01 3.44468669e-01 7.46127016e-02 5.31873987e+01] [-3.43511203e-01 9.38796506e-01 -2.57132865e-02 -1.01140214e+01] [-7.89035651e-02 -1.56708217e-03 9.96881022e-01 -6.27361241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.141193817 meters 0.06252362182905236 Centerline is valid? [True, True] Translation: X:53.21, Y:-10.14, Z:-6.27 [[ 9.37034095e-01 3.41154814e-01 7.47027338e-02 5.32142237e+01] [-3.40182797e-01 9.40006267e-01 -2.57659128e-02 -1.01351392e+01] [-7.90112032e-02 -1.26904610e-03 9.96872920e-01 -6.27455056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.171193817 meters 0.06234249589334833 Centerline is valid? [True, True] Translation: X:53.24, Y:-10.15, Z:-6.28 [[ 9.37978146e-01 3.38281093e-01 7.59137684e-02 5.32405303e+01] [-3.37265409e-01 9.41044564e-01 -2.62139678e-02 -1.01528168e+01] [-8.03059287e-02 -1.01495923e-03 9.96769747e-01 -6.27813060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.201193817000004 meters 0.061676742931978876 Centerline is valid? [True, True] Translation: X:53.27, Y:-10.18, Z:-6.28 [[ 9.39790596e-01 3.33162158e-01 7.61354894e-02 5.32665362e+01] [-3.32122925e-01 9.42869372e-01 -2.63003888e-02 -1.01768724e+01] [-8.05481153e-02 -5.69483365e-04 9.96750559e-01 -6.27749835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.231193817 meters 0.061930089001428865 Centerline is valid? [True, True] Translation: X:53.29, Y:-10.19, Z:-6.28 [[ 9.40714931e-01 3.30478799e-01 7.64145419e-02 5.32940739e+01] [-3.29420980e-01 9.43813362e-01 -2.64226160e-02 -1.01922673e+01] [-8.08531801e-02 -3.16403859e-04 9.96725972e-01 -6.28365566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.261193817 meters 0.062100662668895724 Centerline is valid? [True, True] Translation: X:53.32, Y:-10.21, Z:-6.29 [[ 9.41618211e-01 3.27797489e-01 7.68371675e-02 5.33219320e+01] [-3.26716871e-01 9.44748010e-01 -2.65948090e-02 -1.02088231e+01] [-8.13094728e-02 -6.18424976e-05 9.96688901e-01 -6.28676021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.291193817 meters 0.06205137352430538 Centerline is valid? [True, True] Translation: X:53.35, Y:-10.23, Z:-6.29 [[ 9.42862812e-01 3.24148115e-01 7.70565888e-02 5.33508499e+01] [-3.23047227e-01 9.46006302e-01 -2.66939298e-02 -1.02271566e+01] [-8.15488057e-02 2.75796378e-04 9.96669311e-01 -6.28741928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.321193817 meters 0.062437069190945306 Centerline is valid? [True, True] Translation: X:53.38, Y:-10.24, Z:-6.29 [[ 9.44001302e-01 3.20635904e-01 7.78084788e-02 5.33796506e+01] [-3.19498980e-01 9.47202323e-01 -2.69844554e-02 -1.02449481e+01] [-8.23525571e-02 6.13631424e-04 9.96603070e-01 -6.28990761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.351193817 meters 0.06265390015680343 Centerline is valid? [True, True] Translation: X:53.41, Y:-10.26, Z:-6.29 [[ 9.45108609e-01 3.17276355e-01 7.81372667e-02 5.34084543e+01] [-3.16115726e-01 9.48332659e-01 -2.71296282e-02 -1.02605141e+01] [-8.27077114e-02 9.40026427e-04 9.96573405e-01 -6.29113726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.381193817 meters 0.06265390015680343 Centerline is valid? [True, True] Translation: X:53.44, Y:-10.27, Z:-6.29 [[ 9.44998567e-01 3.17605886e-01 7.81294443e-02 5.34387792e+01] [-3.16444521e-01 9.48222351e-01 -2.71521330e-02 -1.02712778e+01] [-8.27077627e-02 9.35092208e-04 9.96573405e-01 -6.29485074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.411193817000004 meters 0.06434975487349306 Centerline is valid? [True, True] Translation: X:53.46, Y:-10.29, Z:-6.30 [[ 9.47183859e-01 3.10989166e-01 7.82845863e-02 5.34644174e+01] [-3.09797833e-01 9.50412196e-01 -2.72389439e-02 -1.02898884e+01] [-8.28736421e-02 1.54789282e-03 9.96558861e-01 -6.30179401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.441193817 meters 0.06458221627302886 Centerline is valid? [True, True] Translation: X:53.49, Y:-10.30, Z:-6.30 [[ 9.47791868e-01 3.08887699e-01 7.92399116e-02 5.34934667e+01] [-3.07657633e-01 9.51096858e-01 -2.75961547e-02 -1.03030443e+01] [-8.38889436e-02 1.77664733e-03 9.96473526e-01 -6.30422613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.471193817 meters 0.06518311866092008 Centerline is valid? [True, True] Translation: X:53.52, Y:-10.32, Z:-6.31 [[ 9.48167938e-01 3.07793841e-01 7.89969106e-02 5.35213029e+01] [-3.06565185e-01 9.51451188e-01 -2.75395068e-02 -1.03151824e+01] [-8.36381950e-02 1.89437489e-03 9.96494387e-01 -6.30854979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.501193817 meters 0.06533073654613342 Centerline is valid? [True, True] Translation: X:53.55, Y:-10.33, Z:-6.31 [[ 9.48156983e-01 3.07869575e-01 7.88331202e-02 5.35522994e+01] [-3.06644843e-01 9.51426673e-01 -2.74995633e-02 -1.03256505e+01] [-8.34702122e-02 1.90013316e-03 9.96508461e-01 -6.31368693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.531193817 meters 0.06432721066251185 Centerline is valid? [True, True] Translation: X:53.58, Y:-10.33, Z:-6.32 [[ 9.47649640e-01 3.09233612e-01 7.95910330e-02 5.35846467e+01] [-3.07987380e-01 9.50984352e-01 -2.77945349e-02 -1.03296366e+01] [-8.42848314e-02 1.82644722e-03 9.96440029e-01 -6.31583110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.561193817 meters 0.06438093298277488 Centerline is valid? [True, True] Translation: X:53.61, Y:-10.34, Z:-6.32 [[ 9.46712035e-01 3.12462411e-01 7.81253118e-02 5.36143706e+01] [-3.11270518e-01 9.49928883e-01 -2.73089969e-02 -1.03366344e+01] [-8.27465252e-02 1.53564975e-03 9.96569443e-01 -6.32257157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.591193817000004 meters 0.06346409227011614 Centerline is valid? [True, True] Translation: X:53.65, Y:-10.34, Z:-6.33 [[ 9.45592778e-01 3.16196523e-01 7.66423951e-02 5.36467099e+01] [-3.15059942e-01 9.48692944e-01 -2.68128939e-02 -1.03404265e+01] [-8.11882432e-02 1.20713028e-03 9.96698055e-01 -6.32584357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.621193817 meters 0.0625804947852022 Centerline is valid? [True, True] Translation: X:53.68, Y:-10.34, Z:-6.33 [[ 9.44122158e-01 3.20828337e-01 7.55150886e-02 5.36795518e+01] [-3.19737849e-01 9.47137005e-01 -2.64424166e-02 -1.03438136e+01] [-8.00066114e-02 8.19839444e-04 9.96793996e-01 -6.32881073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.651193817 meters 0.06237488665036879 Centerline is valid? [True, True] Translation: X:53.71, Y:-10.35, Z:-6.34 [[ 9.42518591e-01 3.25748025e-01 7.44777112e-02 5.37111977e+01] [-3.24700402e-01 9.45456527e-01 -2.61075498e-02 -1.03476829e+01] [-7.89199210e-02 4.23908294e-04 9.96880869e-01 -6.33586855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.681193817 meters 0.062146405020734916 Centerline is valid? [True, True] Translation: X:53.75, Y:-10.34, Z:-6.34 [[ 9.38867644e-01 3.35980373e-01 7.51314622e-02 5.37453692e+01] [-3.34945522e-01 9.41868892e-01 -2.63531231e-02 -1.03437000e+01] [-7.96181192e-02 -4.22852225e-04 9.96825349e-01 -6.34197023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.711193817 meters 0.06198901764299184 Centerline is valid? [True, True] Translation: X:53.78, Y:-10.35, Z:-6.34 [[ 9.37256668e-01 3.40264530e-01 7.59604402e-02 5.37783577e+01] [-3.39218975e-01 9.40329436e-01 -2.66652971e-02 -1.03494743e+01] [-8.05010927e-02 -7.74995163e-04 9.96754219e-01 -6.34370101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.741193817 meters 0.06235574236583005 Centerline is valid? [True, True] Translation: X:53.81, Y:-10.35, Z:-6.35 [[ 9.36062489e-01 3.43453134e-01 7.63345302e-02 5.38087622e+01] [-3.42405310e-01 9.39169257e-01 -2.68274132e-02 -1.03545540e+01] [-8.09050032e-02 -1.02521328e-03 9.96721290e-01 -6.34954551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.771193817000004 meters 0.06221399997201859 Centerline is valid? [True, True] Translation: X:53.84, Y:-10.36, Z:-6.35 [[ 9.35422501e-01 3.45156862e-01 7.64949955e-02 5.38405734e+01] [-3.44108637e-01 9.38544301e-01 -2.69042927e-02 -1.03641681e+01] [-8.10801433e-02 -1.15570788e-03 9.96706915e-01 -6.35210649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.801193817 meters 0.0626652091350104 Centerline is valid? [True, True] Translation: X:53.87, Y:-10.37, Z:-6.36 [[ 9.35535331e-01 3.45495020e-01 7.35311851e-02 5.38697073e+01] [-3.44525396e-01 9.38419924e-01 -2.58901037e-02 -1.03719755e+01] [-7.79480310e-02 -1.11225396e-03 9.96956803e-01 -6.36063012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.831193817 meters 0.0629383529132654 Centerline is valid? [True, True] Translation: X:53.90, Y:-10.38, Z:-6.37 [[ 9.35629240e-01 3.45418518e-01 7.26909468e-02 5.38994818e+01] [-3.44469111e-01 9.38448131e-01 -2.56151579e-02 -1.03826436e+01] [-7.70646331e-02 -1.07349513e-03 9.97025521e-01 -6.36681755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.861193817 meters 0.0631323909442555 Centerline is valid? [True, True] Translation: X:53.93, Y:-10.40, Z:-6.37 [[ 9.36360280e-01 3.43799210e-01 7.09332777e-02 5.39285337e+01] [-3.42888966e-01 9.39042756e-01 -2.50171616e-02 -1.03952939e+01] [-7.52102610e-02 -8.97161768e-04 9.97167294e-01 -6.37198232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.891193817 meters 0.06299626906791841 Centerline is valid? [True, True] Translation: X:53.96, Y:-10.41, Z:-6.38 [[ 9.37352169e-01 3.41184134e-01 7.04577788e-02 5.39570543e+01] [-3.40277021e-01 9.39996249e-01 -2.48716709e-02 -1.04095946e+01] [-7.47158674e-02 -6.61648415e-04 9.97204644e-01 -6.37622812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.921193817 meters 0.06278326339664649 Centerline is valid? [True, True] Translation: X:53.98, Y:-10.43, Z:-6.38 [[ 9.40156723e-01 3.33090970e-01 7.18034980e-02 5.39837887e+01] [-3.32123418e-01 9.42894695e-01 -2.53698467e-02 -1.04308364e+01] [-7.61536042e-02 4.00869697e-06 9.97096098e-01 -6.37626837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.951193817000004 meters 0.06319383097602688 Centerline is valid? [True, True] Translation: X:54.01, Y:-10.45, Z:-6.38 [[ 9.41423625e-01 3.29468572e-01 7.19167433e-02 5.40124143e+01] [-3.28485677e-01 9.44166489e-01 -2.54323000e-02 -1.04457581e+01] [-7.62805225e-02 3.18947973e-04 9.97086345e-01 -6.38110831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.981193817 meters 0.06354341769915316 Centerline is valid? [True, True] Translation: X:54.04, Y:-10.46, Z:-6.38 [[ 9.42520254e-01 3.25967657e-01 7.34891590e-02 5.40417324e+01] [-3.24928459e-01 9.45380704e-01 -2.60157955e-02 -1.04599503e+01] [-7.79555408e-02 6.41694996e-04 9.96956630e-01 -6.38306259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.011193817 meters 0.06415954201900152 Centerline is valid? [True, True] Translation: X:54.07, Y:-10.47, Z:-6.39 [[ 9.43716876e-01 3.22491558e-01 7.34687253e-02 5.40706558e+01] [-3.21440628e-01 9.46571863e-01 -2.60313472e-02 -1.04728031e+01] [-7.79383179e-02 9.50388437e-04 9.96957730e-01 -6.38669626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.041193817 meters 0.06367007107028247 Centerline is valid? [True, True] Translation: X:54.10, Y:-10.48, Z:-6.39 [[ 9.44276012e-01 3.20759250e-01 7.38668864e-02 5.41018558e+01] [-3.19689958e-01 9.47160098e-01 -2.61931185e-02 -1.04834545e+01] [-7.83654524e-02 1.11903165e-03 9.96924071e-01 -6.38552838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.071193817 meters 0.06405561695223247 Centerline is valid? [True, True] Translation: X:54.13, Y:-10.49, Z:-6.39 [[ 9.45305136e-01 3.16842299e-01 7.75187498e-02 5.41327539e+01] [-3.15648037e-01 9.48476960e-01 -2.75276692e-02 -1.04943013e+01] [-8.22466782e-02 1.55340593e-03 9.96610792e-01 -6.38604025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.101193817 meters 0.06444276751024265 Centerline is valid? [True, True] Translation: X:54.16, Y:-10.51, Z:-6.39 [[ 9.45485110e-01 3.15928542e-01 7.90383700e-02 5.41618802e+01] [-3.14683350e-01 9.48781519e-01 -2.80716862e-02 -1.05055703e+01] [-8.38587916e-02 1.66930223e-03 9.96476250e-01 -6.38955029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.131193817 meters 0.0652063565897114 Centerline is valid? [True, True] Translation: X:54.19, Y:-10.52, Z:-6.39 [[ 9.45840032e-01 3.14966668e-01 7.86297136e-02 5.41902061e+01] [-3.13728877e-01 9.49101083e-01 -2.79522085e-02 -1.05167048e+01] [-8.34315603e-02 1.76990607e-03 9.96511938e-01 -6.39318151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.161193817000004 meters 0.06530589208291629 Centerline is valid? [True, True] Translation: X:54.22, Y:-10.52, Z:-6.40 [[ 9.46433087e-01 3.13169482e-01 7.86720222e-02 5.42217862e+01] [-3.11922625e-01 9.49695259e-01 -2.79855536e-02 -1.05220537e+01] [-8.34786679e-02 1.94687025e-03 9.96507663e-01 -6.39716653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.191193817 meters 0.0653357413927159 Centerline is valid? [True, True] Translation: X:54.25, Y:-10.53, Z:-6.40 [[ 9.46435051e-01 3.13336051e-01 7.79821426e-02 5.42532266e+01] [-3.12109496e-01 9.49640332e-01 -2.77651308e-02 -1.05288129e+01] [-8.27548042e-02 1.93892577e-03 9.96568052e-01 -6.40135850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.221193817 meters 0.06587875601307891 Centerline is valid? [True, True] Translation: X:54.28, Y:-10.54, Z:-6.41 [[ 9.46346930e-01 3.13366050e-01 7.89253233e-02 5.42833329e+01] [-3.12107421e-01 9.49630336e-01 -2.81279549e-02 -1.05366738e+01] [-8.37642274e-02 1.98562465e-03 9.96483623e-01 -6.40766082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.251193817 meters 0.06576238051349052 Centerline is valid? [True, True] Translation: X:54.32, Y:-10.54, Z:-6.41 [[ 9.46173809e-01 3.13939532e-01 7.87216217e-02 5.43153566e+01] [-3.12686939e-01 9.49440961e-01 -2.80845236e-02 -1.05434333e+01] [-8.35583744e-02 1.95761769e-03 9.96500961e-01 -6.41123701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.281193817 meters 0.06545077296167504 Centerline is valid? [True, True] Translation: X:54.35, Y:-10.55, Z:-6.42 [[ 9.45652561e-01 3.15615335e-01 7.82827799e-02 5.43467430e+01] [-3.14382183e-01 9.48885511e-01 -2.79308102e-02 -1.05494601e+01] [-8.30967876e-02 1.80213099e-03 9.96539852e-01 -6.41555062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.311193817 meters 0.06547789929463885 Centerline is valid? [True, True] Translation: X:54.38, Y:-10.56, Z:-6.42 [[ 9.45238472e-01 3.17188781e-01 7.69123394e-02 5.43765704e+01] [-3.16001348e-01 9.48360963e-01 -2.74705673e-02 -1.05559063e+01] [-8.16540160e-02 1.66183415e-03 9.96659350e-01 -6.42045027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.341193817000004 meters 0.06420442452732755 Centerline is valid? [True, True] Translation: X:54.41, Y:-10.55, Z:-6.42 [[ 9.44257483e-01 3.20664815e-01 7.45109552e-02 5.44111646e+01] [-3.19560842e-01 9.47191809e-01 -2.66185006e-02 -1.05537838e+01] [-7.91117830e-02 1.32393479e-03 9.96864872e-01 -6.42440072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.371193817 meters 0.06461347835613093 Centerline is valid? [True, True] Translation: X:54.44, Y:-10.56, Z:-6.43 [[ 9.43872177e-01 3.22002199e-01 7.36199569e-02 5.44414077e+01] [-3.20926636e-01 9.46738134e-01 -2.63249086e-02 -1.05585630e+01] [-7.81754991e-02 1.22074365e-03 9.96938865e-01 -6.43178766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.401193817 meters 0.06434210563622396 Centerline is valid? [True, True] Translation: X:54.47, Y:-10.56, Z:-6.44 [[ 9.43349482e-01 3.23916588e-01 7.19013104e-02 5.44734488e+01] [-3.22894735e-01 9.46085053e-01 -2.57305647e-02 -1.05636304e+01] [-7.63593118e-02 1.05636030e-03 9.97079806e-01 -6.43679580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.431193817 meters 0.06411232666072017 Centerline is valid? [True, True] Translation: X:54.51, Y:-10.57, Z:-6.44 [[ 9.43414332e-01 3.24000450e-01 7.06619132e-02 5.45062343e+01] [-3.23012117e-01 9.46056341e-01 -2.53095284e-02 -1.05659060e+01] [-7.50504497e-02 1.05271766e-03 9.97179182e-01 -6.43894107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.461193817 meters 0.06436702486765712 Centerline is valid? [True, True] Translation: X:54.54, Y:-10.57, Z:-6.44 [[ 9.43275597e-01 3.24449239e-01 7.04545241e-02 5.45370418e+01] [-3.23466125e-01 9.45902540e-01 -2.52596666e-02 -1.05739860e+01] [-7.48385929e-02 1.03717521e-03 9.97195121e-01 -6.44334003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.491193817 meters 0.06420461476183109 Centerline is valid? [True, True] Translation: X:54.57, Y:-10.58, Z:-6.45 [[ 9.43108235e-01 3.25090186e-01 6.97368485e-02 5.45683097e+01] [-3.24127832e-01 9.45682502e-01 -2.50150700e-02 -1.05809171e+01] [-7.40810711e-02 9.88264981e-04 9.97251733e-01 -6.44579173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.521193817000004 meters 0.06438521302070566 Centerline is valid? [True, True] Translation: X:54.60, Y:-10.59, Z:-6.45 [[ 9.42715070e-01 3.26205843e-01 6.98430057e-02 5.45982548e+01] [-3.25241818e-01 9.45298309e-01 -2.50772230e-02 -1.05881565e+01] [-7.42028119e-02 9.24809858e-04 9.97242742e-01 -6.45102147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.551193817 meters 0.06321190011074336 Centerline is valid? [True, True] Translation: X:54.63, Y:-10.59, Z:-6.45 [[ 9.41406143e-01 3.29843683e-01 7.04103621e-02 5.46319525e+01] [-3.28872526e-01 9.44035331e-01 -2.53012953e-02 -1.05890141e+01] [-7.48153419e-02 6.62761194e-04 9.97197185e-01 -6.45105056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.581193817 meters 0.06321166188052632 Centerline is valid? [True, True] Translation: X:54.66, Y:-10.60, Z:-6.46 [[ 9.40502708e-01 3.32240746e-01 7.12091483e-02 5.46625001e+01] [-3.31252343e-01 9.43194485e-01 -2.56134660e-02 -1.05950037e+01] [-7.56739129e-02 5.01336951e-04 9.97132492e-01 -6.45696081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.611193817 meters 0.0630366099150804 Centerline is valid? [True, True] Translation: X:54.69, Y:-10.60, Z:-6.46 [[ 9.39776906e-01 3.34186598e-01 7.16846205e-02 5.46929811e+01] [-3.33188844e-01 9.42506861e-01 -2.58072110e-02 -1.06009348e+01] [-7.61876707e-02 3.68505026e-04 9.97093427e-01 -6.46150892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.641193817 meters 0.06250183274204779 Centerline is valid? [True, True] Translation: X:54.73, Y:-10.61, Z:-6.46 [[ 9.39337897e-01 3.35473850e-01 7.14255619e-02 5.47253028e+01] [-3.34485664e-01 9.42049477e-01 -2.57317425e-02 -1.06079943e+01] [-7.59187400e-02 2.79974402e-04 9.97113969e-01 -6.46340136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.671193817 meters 0.062396232159408795 Centerline is valid? [True, True] Translation: X:54.76, Y:-10.61, Z:-6.47 [[ 9.38918889e-01 3.36490062e-01 7.21509431e-02 5.47558660e+01] [-3.35482321e-01 9.41686989e-01 -2.60235742e-02 -1.06144065e+01] [-7.67002785e-02 2.28659528e-04 9.97054169e-01 -6.46703721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.701193817000004 meters 0.06249772250901988 Centerline is valid? [True, True] Translation: X:54.78, Y:-10.62, Z:-6.47 [[ 9.38915443e-01 3.36005751e-01 7.44172495e-02 5.47848241e+01] [-3.34929884e-01 9.41859885e-01 -2.68687314e-02 -1.06247119e+01] [-7.91186704e-02 3.02906067e-04 9.96865159e-01 -6.47180320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.731193817 meters 0.06195057598638839 Centerline is valid? [True, True] Translation: X:54.82, Y:-10.63, Z:-6.47 [[ 9.38658709e-01 3.36418188e-01 7.57801470e-02 5.48155550e+01] [-3.35303000e-01 9.41712654e-01 -2.73710739e-02 -1.06348518e+01] [-8.05712504e-02 2.82786287e-04 9.96748812e-01 -6.47050220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.761193817 meters 0.0615359978007865 Centerline is valid? [True, True] Translation: X:54.85, Y:-10.64, Z:-6.47 [[ 9.38515518e-01 3.36533949e-01 7.70293678e-02 5.48467694e+01] [-3.35379389e-01 9.41671284e-01 -2.78542413e-02 -1.06448983e+01] [-8.19102415e-02 3.07575447e-04 9.96639663e-01 -6.47167648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.791193817 meters 0.06153271387427687 Centerline is valid? [True, True] Translation: X:54.88, Y:-10.65, Z:-6.48 [[ 9.38213519e-01 3.37354570e-01 7.71186604e-02 5.48771754e+01] [-3.36199918e-01 9.41377627e-01 -2.78886608e-02 -1.06540390e+01] [-8.20061487e-02 2.38231273e-04 9.96631795e-01 -6.47601940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.821193817 meters 0.06170015071859289 Centerline is valid? [True, True] Translation: X:54.91, Y:-10.66, Z:-6.48 [[ 9.37820034e-01 3.38821344e-01 7.54564765e-02 5.49084162e+01] [-3.37718584e-01 9.40850721e-01 -2.73144510e-02 -1.06595576e+01] [-8.02479993e-02 1.32985050e-04 9.96774920e-01 -6.48310082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.851193817 meters 0.06181928779062211 Centerline is valid? [True, True] Translation: X:54.94, Y:-10.67, Z:-6.49 [[ 9.37957469e-01 3.38470838e-01 7.53211684e-02 5.49384377e+01] [-3.37369036e-01 9.40976864e-01 -2.72887500e-02 -1.06692530e+01] [-8.01119229e-02 1.84656973e-04 9.96785858e-01 -6.48897110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.881193817 meters 0.06206250820941012 Centerline is valid? [True, True] Translation: X:54.97, Y:-10.68, Z:-6.49 [[ 9.37981112e-01 3.38873516e-01 7.31858832e-02 5.49686193e+01] [-3.37832698e-01 9.40831925e-01 -2.65397258e-02 -1.06799289e+01] [-7.78492256e-02 1.69177228e-04 9.96965130e-01 -6.49338777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.911193817000004 meters 0.06243443842101166 Centerline is valid? [True, True] Translation: X:55.00, Y:-10.69, Z:-6.50 [[ 9.38699881e-01 3.37232582e-01 7.15312437e-02 5.49981859e+01] [-3.36231925e-01 9.41421310e-01 -2.59616780e-02 -1.06920278e+01] [-7.60961608e-02 3.19136233e-04 9.97100432e-01 -6.49855399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.941193817 meters 0.06339792632115439 Centerline is valid? [True, True] Translation: X:55.03, Y:-10.71, Z:-6.51 [[ 9.39819841e-01 3.34467362e-01 6.97871754e-02 5.50259024e+01] [-3.33505656e-01 9.42407173e-01 -2.53514940e-02 -1.07055085e+01] [-7.42471820e-02 5.51419393e-04 9.97239716e-01 -6.50576027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.971193817 meters 0.06604363465863596 Centerline is valid? [True, True] Translation: X:55.05, Y:-10.73, Z:-6.51 [[ 9.43190422e-01 3.25857010e-01 6.48770945e-02 5.50515156e+01] [-3.25003653e-01 9.45418341e-01 -2.35963328e-02 -1.07253466e+01] [-6.90250255e-02 1.17054238e-03 9.97614242e-01 -6.51265938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.001193817 meters 0.06690600591849448 Centerline is valid? [True, True] Translation: X:55.08, Y:-10.74, Z:-6.51 [[ 9.45476097e-01 3.19582846e-01 6.27833978e-02 5.50792524e+01] [-3.18769846e-01 9.47557026e-01 -2.28356853e-02 -1.07403358e+01] [-6.67887430e-02 1.57714057e-03 9.97765893e-01 -6.51357779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.031193817 meters 0.06875778643558522 Centerline is valid? [True, True] Translation: X:55.11, Y:-10.76, Z:-6.52 [[ 9.47698666e-01 3.13317808e-01 6.08209698e-02 5.51058800e+01] [-3.12541768e-01 9.49646310e-01 -2.21253131e-02 -1.07567051e+01] [-6.46906641e-02 1.95903620e-03 9.97903442e-01 -6.51682995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.061193817 meters 0.07260284145255509 Centerline is valid? [True, True] Translation: X:55.13, Y:-10.78, Z:-6.52 [[ 9.51170231e-01 3.02480767e-01 6.14863962e-02 5.51311053e+01] [-3.01664846e-01 9.53151583e-01 -2.23691901e-02 -1.07753816e+01] [-6.53721056e-02 2.72862352e-03 9.97857225e-01 -6.52092248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.091193817000004 meters 0.07454230956845229 Centerline is valid? [True, True] Translation: X:55.16, Y:-10.79, Z:-6.53 [[ 9.51986050e-01 3.00159086e-01 6.02252670e-02 5.51582843e+01] [-2.99371531e-01 9.53884955e-01 -2.19129782e-02 -1.07870152e+01] [-6.40253557e-02 2.83111916e-03 9.97944256e-01 -6.52616930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.121193817 meters 0.07473142295033401 Centerline is valid? [True, True] Translation: X:55.19, Y:-10.80, Z:-6.53 [[ 9.52194009e-01 2.99606004e-01 5.96892994e-02 5.51883988e+01] [-2.98831090e-01 9.54058772e-01 -2.17218704e-02 -1.07963679e+01] [-6.34551024e-02 2.84641649e-03 9.97980635e-01 -6.52970950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.151193817 meters 0.07318871631122997 Centerline is valid? [True, True] Translation: X:55.22, Y:-10.80, Z:-6.53 [[ 9.51548354e-01 3.01776640e-01 5.90473546e-02 5.52207792e+01] [-3.01021661e-01 9.53374874e-01 -2.15013849e-02 -1.08024848e+01] [-6.27828799e-02 2.68507469e-03 9.98023597e-01 -6.53216284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.181193817 meters 0.07015370665914127 Centerline is valid? [True, True] Translation: X:55.25, Y:-10.80, Z:-6.54 [[ 9.48361240e-01 3.11224350e-01 6.12402023e-02 5.52530175e+01] [-3.10430838e-01 9.50334035e-01 -2.23140617e-02 -1.08001890e+01] [-6.51433279e-02 2.15094390e-03 9.97873599e-01 -6.53549653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.211193817 meters 0.06805261259083374 Centerline is valid? [True, True] Translation: X:55.28, Y:-10.80, Z:-6.54 [[ 9.46183736e-01 3.17454392e-01 6.29209504e-02 5.52839988e+01] [-3.16630467e-01 9.48271892e-01 -2.29252435e-02 -1.08014702e+01] [-6.69438879e-02 1.76880263e-03 9.97755174e-01 -6.53853145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.241193817 meters 0.06583087525954376 Centerline is valid? [True, True] Translation: X:55.32, Y:-10.80, Z:-6.54 [[ 9.44109790e-01 3.23198455e-01 6.48032665e-02 5.53160154e+01] [-3.22337908e-01 9.46330170e-01 -2.36110653e-02 -1.08026220e+01] [-6.89563460e-02 1.40288849e-03 9.97618692e-01 -6.53950234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.271193817000004 meters 0.06418513044146706 Centerline is valid? [True, True] Translation: X:55.35, Y:-10.80, Z:-6.54 [[ 9.42168910e-01 3.28410337e-01 6.68161328e-02 5.53476686e+01] [-3.27508523e-01 9.44534563e-01 -2.43439107e-02 -1.08049990e+01] [-7.11049387e-02 1.05322285e-03 9.97468284e-01 -6.54121997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.301193817 meters 0.06418513044146706 Centerline is valid? [True, True] Translation: X:55.38, Y:-10.82, Z:-6.54 [[ 9.42063118e-01 3.28712809e-01 6.68204432e-02 5.53778837e+01] [-3.27812593e-01 9.44429380e-01 -2.43320871e-02 -1.08162840e+01] [-7.11054585e-02 1.01777908e-03 9.97468284e-01 -6.54492767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.331193817 meters 0.06235619069860015 Centerline is valid? [True, True] Translation: X:55.41, Y:-10.82, Z:-6.54 [[ 9.40238979e-01 3.33260721e-01 6.99139112e-02 5.54103797e+01] [-3.32284655e-01 9.42834418e-01 -2.54984010e-02 -1.08190428e+01] [-7.44148573e-02 7.43270635e-04 9.97227094e-01 -6.54299327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.361193817 meters 0.061650352799574565 Centerline is valid? [True, True] Translation: X:55.44, Y:-10.82, Z:-6.55 [[ 9.36812683e-01 3.42270948e-01 7.23366833e-02 5.54441968e+01] [-3.41252498e-01 9.39601297e-01 -2.63843723e-02 -1.08156926e+01] [-7.69982456e-02 3.21406601e-05 9.97031228e-01 -6.54744093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.391193817 meters 0.06140845602635654 Centerline is valid? [True, True] Translation: X:55.48, Y:-10.82, Z:-6.55 [[ 9.35161951e-01 3.46664494e-01 7.27726147e-02 5.54755436e+01] [-3.45647344e-01 9.37989134e-01 -2.65386138e-02 -1.08201389e+01] [-7.74599170e-02 -3.35759085e-04 9.96995410e-01 -6.55133956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.421193817 meters 0.061529998944105574 Centerline is valid? [True, True] Translation: X:55.51, Y:-10.83, Z:-6.55 [[ 9.33602279e-01 3.50788265e-01 7.30368262e-02 5.55070246e+01] [-3.49774620e-01 9.36454568e-01 -2.66562862e-02 -1.08255115e+01] [-7.77463819e-02 -6.60058558e-04 9.96972951e-01 -6.55490516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.451193817000004 meters 0.06235280360508271 Centerline is valid? [True, True] Translation: X:55.54, Y:-10.83, Z:-6.56 [[ 9.31059377e-01 3.57367141e-01 7.36013715e-02 5.55385497e+01] [-3.56355918e-01 9.33963227e-01 -2.68914687e-02 -1.08280439e+01] [-7.83511017e-02 -1.19073021e-03 9.96925116e-01 -6.55912757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.481193817000005 meters 0.061195766471691636 Centerline is valid? [True, True] Translation: X:55.57, Y:-10.84, Z:-6.56 [[ 9.30760352e-01 3.58138888e-01 7.36322178e-02 5.55686673e+01] [-3.57129888e-01 9.33667467e-01 -2.68943128e-02 -1.08424259e+01] [-7.83799056e-02 -1.26410561e-03 9.96922762e-01 -6.55517040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.511193817 meters 0.06136167870501767 Centerline is valid? [True, True] Translation: X:55.60, Y:-10.85, Z:-6.56 [[ 9.31039646e-01 3.57564302e-01 7.28899680e-02 5.55963430e+01] [-3.56571423e-01 9.33887782e-01 -2.66538891e-02 -1.08547084e+01] [-7.76015298e-02 -1.17465216e-03 9.96983763e-01 -6.56131060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.541193817 meters 0.06120229618652309 Centerline is valid? [True, True] Translation: X:55.62, Y:-10.87, Z:-6.57 [[ 9.31814003e-01 3.55825474e-01 7.14905343e-02 5.56242102e+01] [-3.54863685e-01 9.34551899e-01 -2.61631978e-02 -1.08700123e+01] [-7.61211468e-02 -9.90160395e-04 9.97098085e-01 -6.56567904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.571193817 meters 0.06066516223339873 Centerline is valid? [True, True] Translation: X:55.65, Y:-10.89, Z:-6.57 [[ 9.33610706e-01 3.51174120e-01 7.10477762e-02 5.56511097e+01] [-3.50208998e-01 9.36309989e-01 -2.60242596e-02 -1.08903770e+01] [-7.56617890e-02 -5.85043206e-04 9.97133367e-01 -6.56861087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.601193817 meters 0.060630103662992214 Centerline is valid? [True, True] Translation: X:55.68, Y:-10.91, Z:-6.57 [[ 9.34335245e-01 3.49306945e-01 7.07270006e-02 5.56797694e+01] [-3.48343508e-01 9.37008265e-01 -2.59289620e-02 -1.09059382e+01] [-7.53289506e-02 -4.10948447e-04 9.97158654e-01 -6.57277205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.631193817 meters 0.061439241675679344 Centerline is valid? [True, True] Translation: X:55.71, Y:-10.92, Z:-6.58 [[ 9.35345578e-01 3.46740770e-01 6.99963505e-02 5.57059887e+01] [-3.45787755e-01 9.37960984e-01 -2.56908538e-02 -1.09219440e+01] [-7.45619123e-02 -1.74054431e-04 9.97216371e-01 -6.58298691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.661193817000004 meters 0.06154360940558517 Centerline is valid? [True, True] Translation: X:55.73, Y:-10.94, Z:-6.59 [[ 9.36356698e-01 3.44317315e-01 6.84230931e-02 5.57334057e+01] [-3.43398730e-01 9.38853335e-01 -2.51341860e-02 -1.09397404e+01] [-7.28933846e-02 3.81601396e-05 9.97339738e-01 -6.58657927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.691193817 meters 0.061605438233467175 Centerline is valid? [True, True] Translation: X:55.76, Y:-10.96, Z:-6.59 [[ 9.38875764e-01 3.37577735e-01 6.74801626e-02 5.57584765e+01] [-3.36665403e-01 9.41297479e-01 -2.48085143e-02 -1.09636730e+01] [-7.18937090e-02 5.73876680e-04 9.97412134e-01 -6.58626166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.721193817 meters 0.06267846711021206 Centerline is valid? [True, True] Translation: X:55.79, Y:-10.98, Z:-6.59 [[ 9.40053480e-01 3.34107242e-01 6.83506031e-02 5.57855069e+01] [-3.33160543e-01 9.42534665e-01 -2.51487133e-02 -1.09815176e+01] [-7.28251800e-02 8.69411471e-04 9.97344342e-01 -6.59380388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.751193817 meters 0.06216845385541732 Centerline is valid? [True, True] Translation: X:55.81, Y:-11.00, Z:-6.59 [[ 9.40874107e-01 3.31527580e-01 6.96087474e-02 5.58146396e+01] [-3.30536626e-01 9.43444870e-01 -2.56381770e-02 -1.09958925e+01] [-7.41717784e-02 1.11405639e-03 9.97244858e-01 -6.59234962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.781193817 meters 0.06291482017687608 Centerline is valid? [True, True] Translation: X:55.84, Y:-11.01, Z:-6.60 [[ 9.41607205e-01 3.29108720e-01 7.11570164e-02 5.58415212e+01] [-3.28064229e-01 9.44291059e-01 -2.62346623e-02 -1.10110390e+01] [-7.58269905e-02 1.35867536e-03 9.97120064e-01 -6.59727143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.811193817 meters 0.06309021484819871 Centerline is valid? [True, True] Translation: X:55.87, Y:-11.03, Z:-6.60 [[ 9.42155339e-01 3.27237447e-01 7.25187589e-02 5.58702469e+01] [-3.26145237e-01 9.44940855e-01 -2.67593771e-02 -1.10252004e+01] [-7.72826083e-02 1.55984227e-03 9.97008007e-01 -6.59873259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.841193817000004 meters 0.06312383419493849 Centerline is valid? [True, True] Translation: X:55.90, Y:-11.04, Z:-6.60 [[ 9.42680789e-01 3.25384452e-01 7.40127541e-02 5.59000546e+01] [-3.24238414e-01 9.45580137e-01 -2.73432732e-02 -1.10392651e+01] [-7.88820662e-02 1.77820032e-03 9.96882369e-01 -6.59886398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.871193817 meters 0.06380179914703106 Centerline is valid? [True, True] Translation: X:55.93, Y:-11.06, Z:-6.60 [[ 9.43756211e-01 3.21725193e-01 7.62700076e-02 5.59284768e+01] [-3.20495882e-01 9.46830647e-01 -2.81800617e-02 -1.10560349e+01] [-8.12810164e-02 2.15088495e-03 9.96688903e-01 -6.59974115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.901193817 meters 0.0642251989547736 Centerline is valid? [True, True] Translation: X:55.96, Y:-11.07, Z:-6.60 [[ 9.43909462e-01 3.21181996e-01 7.66619338e-02 5.59586638e+01] [-3.19936156e-01 9.47014857e-01 -2.83498901e-02 -1.10694928e+01] [-8.17054646e-02 2.23280514e-03 9.96654018e-01 -6.60336978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.931193817 meters 0.0641399518975634 Centerline is valid? [True, True] Translation: X:55.99, Y:-11.08, Z:-6.61 [[ 9.43958756e-01 3.20986694e-01 7.68726882e-02 5.59894991e+01] [-3.19730912e-01 9.47080950e-01 -2.84572966e-02 -1.10808001e+01] [-8.19390721e-02 2.28393958e-03 9.96634724e-01 -6.60678197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.961193817 meters 0.0651349321006222 Centerline is valid? [True, True] Translation: X:56.02, Y:-11.09, Z:-6.61 [[ 9.43559388e-01 3.22014009e-01 7.74768336e-02 5.60183606e+01] [-3.20739088e-01 9.46732245e-01 -2.87139839e-02 -1.10897522e+01] [-8.25961217e-02 2.24350011e-03 9.96580577e-01 -6.61470730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.991193817 meters 0.06382740012354103 Centerline is valid? [True, True] Translation: X:56.05, Y:-11.09, Z:-6.62 [[ 9.42914530e-01 3.23637994e-01 7.85534133e-02 5.60506065e+01] [-3.22330851e-01 9.46178528e-01 -2.91378628e-02 -1.10947868e+01] [-8.37556725e-02 2.15432565e-03 9.96483992e-01 -6.61632387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.021193817000004 meters 0.06340664894755259 Centerline is valid? [True, True] Translation: X:56.08, Y:-11.10, Z:-6.62 [[ 9.42087423e-01 3.25871624e-01 7.92399643e-02 5.60815215e+01] [-3.24547055e-01 9.45411915e-01 -2.94197123e-02 -1.11024712e+01] [-8.45014558e-02 1.99884391e-03 9.96421351e-01 -6.61972372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.051193817 meters 0.062353044527983195 Centerline is valid? [True, True] Translation: X:56.11, Y:-11.11, Z:-6.62 [[ 9.41264912e-01 3.27895820e-01 8.06517050e-02 5.61130498e+01] [-3.26528583e-01 9.44712027e-01 -2.99711723e-02 -1.11104424e+01] [-8.60200578e-02 1.87572591e-03 9.96291640e-01 -6.62003312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.081193817 meters 0.06314193279998231 Centerline is valid? [True, True] Translation: X:56.14, Y:-11.12, Z:-6.62 [[ 9.41190470e-01 3.27758679e-01 8.20655070e-02 5.61410651e+01] [-3.26339826e-01 9.44759465e-01 -3.05265774e-02 -1.11246057e+01] [-8.75375151e-02 1.95008047e-03 9.96159315e-01 -6.62429093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.111193817 meters 0.06386413696288237 Centerline is valid? [True, True] Translation: X:56.17, Y:-11.14, Z:-6.63 [[ 9.41958017e-01 3.25358973e-01 8.28047857e-02 5.61698589e+01] [-3.23902768e-01 9.45587975e-01 -3.08282130e-02 -1.11378199e+01] [-8.83294454e-02 2.21818311e-03 9.96088846e-01 -6.62823513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.141193817 meters 0.06414571896649254 Centerline is valid? [True, True] Translation: X:56.20, Y:-11.15, Z:-6.63 [[ 9.42975427e-01 3.22472885e-01 8.25141310e-02 5.61999073e+01] [-3.21012987e-01 9.46575371e-01 -3.07527024e-02 -1.11496771e+01] [-8.80227568e-02 2.51093506e-03 9.96115299e-01 -6.63161254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.171193817 meters 0.06607799425351053 Centerline is valid? [True, True] Translation: X:56.23, Y:-11.16, Z:-6.64 [[ 9.43967720e-01 3.19386752e-01 8.31687785e-02 5.62268240e+01] [-3.17890746e-01 9.47620226e-01 -3.10061420e-02 -1.11635630e+01] [-8.87153677e-02 2.83021206e-03 9.96052997e-01 -6.63754823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.201193817000004 meters 0.06767635210589967 Centerline is valid? [True, True] Translation: X:56.26, Y:-11.17, Z:-6.64 [[ 9.45624025e-01 3.13967955e-01 8.49666220e-02 5.62555044e+01] [-3.12384179e-01 9.49427436e-01 -3.16807387e-02 -1.11741090e+01] [-9.06163787e-02 3.41583917e-03 9.95880015e-01 -6.64088426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.231193817000005 meters 0.06729959644159322 Centerline is valid? [True, True] Translation: X:56.29, Y:-11.18, Z:-6.64 [[ 9.45604895e-01 3.13845849e-01 8.56280689e-02 5.62864161e+01] [-3.12237056e-01 9.49467678e-01 -3.19241204e-02 -1.11843086e+01] [-9.13203364e-02 3.45134840e-03 9.95815588e-01 -6.64256468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.261193817 meters 0.06734072532677543 Centerline is valid? [True, True] Translation: X:56.32, Y:-11.20, Z:-6.64 [[ 9.45667273e-01 3.13472466e-01 8.63042441e-02 5.63171281e+01] [-3.11833393e-01 9.49590663e-01 -3.22103825e-02 -1.11956060e+01] [-9.20507723e-02 3.54775936e-03 9.95747995e-01 -6.64419121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.291193817 meters 0.06723074184965451 Centerline is valid? [True, True] Translation: X:56.35, Y:-11.20, Z:-6.65 [[ 9.45289661e-01 3.14739761e-01 8.58273786e-02 5.63483954e+01] [-3.13120815e-01 9.49171776e-01 -3.20670294e-02 -1.12023537e+01] [-9.15576946e-02 3.43829260e-03 9.95793837e-01 -6.64683396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.321193817 meters 0.06720044956875505 Centerline is valid? [True, True] Translation: X:56.38, Y:-11.21, Z:-6.65 [[ 9.45154817e-01 3.15444399e-01 8.47183778e-02 5.63805931e+01] [-3.13867466e-01 9.48938140e-01 -3.16799586e-02 -1.12088636e+01] [-9.03857654e-02 3.35212294e-03 9.95901188e-01 -6.65189021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.351193817 meters 0.06680287009466289 Centerline is valid? [True, True] Translation: X:56.41, Y:-11.21, Z:-6.66 [[ 9.44883790e-01 3.16691197e-01 8.30741218e-02 5.64131520e+01] [-3.15177009e-01 9.48523298e-01 -3.10967062e-02 -1.12135077e+01] [-8.86457932e-02 3.19972034e-03 9.96058073e-01 -6.65808861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.381193817 meters 0.06662107738631708 Centerline is valid? [True, True] Translation: X:56.44, Y:-11.22, Z:-6.66 [[ 9.44510849e-01 3.17770528e-01 8.31934295e-02 5.64443332e+01] [-3.16253041e-01 9.48162463e-01 -3.11762445e-02 -1.12190841e+01] [-8.87877787e-02 3.13612611e-03 9.96045629e-01 -6.66282911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.411193817000004 meters 0.06698135952265652 Centerline is valid? [True, True] Translation: X:56.48, Y:-11.22, Z:-6.67 [[ 9.44431548e-01 3.17599885e-01 8.47311330e-02 5.64769221e+01] [-3.16022497e-01 9.48219298e-01 -3.17796225e-02 -1.12220782e+01] [-9.04368999e-02 3.23673383e-03 9.95896928e-01 -6.66613718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.441193817 meters 0.06755675577929235 Centerline is valid? [True, True] Translation: X:56.51, Y:-11.23, Z:-6.67 [[ 9.44809269e-01 3.16223484e-01 8.56630217e-02 5.65081301e+01] [-3.14602776e-01 9.48678511e-01 -3.21586260e-02 -1.12310620e+01] [-9.14359806e-02 3.43394355e-03 9.95805036e-01 -6.66910641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.471193817 meters 0.06811534452248781 Centerline is valid? [True, True] Translation: X:56.54, Y:-11.24, Z:-6.67 [[ 9.45177541e-01 3.14999504e-01 8.61088184e-02 5.65392197e+01] [-3.13354045e-01 9.49085011e-01 -3.23555967e-02 -1.12399031e+01] [-9.19165858e-02 3.59923679e-03 9.95760205e-01 -6.67187915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.501193817 meters 0.06975413755846642 Centerline is valid? [True, True] Translation: X:56.57, Y:-11.25, Z:-6.68 [[ 9.45822185e-01 3.12693112e-01 8.74266089e-02 5.65684102e+01] [-3.10984033e-01 9.49846152e-01 -3.28818752e-02 -1.12495689e+01] [-9.33237639e-02 3.91212757e-03 9.95628129e-01 -6.67560365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.531193817 meters 0.07025181220322951 Centerline is valid? [True, True] Translation: X:56.60, Y:-11.25, Z:-6.68 [[ 9.46931317e-01 3.09111031e-01 8.81558356e-02 5.66009682e+01] [-3.07354641e-01 9.51016087e-01 -3.31892747e-02 -1.12519719e+01] [-9.40967887e-02 4.33285842e-03 9.95553625e-01 -6.67831328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.561193817 meters 0.07187881427636499 Centerline is valid? [True, True] Translation: X:56.63, Y:-11.26, Z:-6.68 [[ 9.47236068e-01 3.07899964e-01 8.91147739e-02 5.66300886e+01] [-3.06099746e-01 9.51408086e-01 -3.35499459e-02 -1.12615775e+01] [-9.51145437e-02 4.50170918e-03 9.95456156e-01 -6.68251761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.591193817000004 meters 0.07108555124062328 Centerline is valid? [True, True] Translation: X:56.66, Y:-11.27, Z:-6.68 [[ 9.46871540e-01 3.08743587e-01 9.00648930e-02 5.66622690e+01] [-3.06905653e-01 9.51134699e-01 -3.39367556e-02 -1.12680704e+01] [-9.61416006e-02 4.49232318e-03 9.95357530e-01 -6.68412220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.621193817 meters 0.06967587549265537 Centerline is valid? [True, True] Translation: X:56.69, Y:-11.27, Z:-6.69 [[ 9.46453931e-01 3.09892898e-01 9.05060674e-02 5.66948875e+01] [-3.08039056e-01 9.50761165e-01 -3.41342629e-02 -1.12721126e+01] [-9.66276198e-02 4.42710379e-03 9.95310757e-01 -6.68657138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.651193817 meters 0.07069761215002499 Centerline is valid? [True, True] Translation: X:56.72, Y:-11.28, Z:-6.69 [[ 9.45637822e-01 3.12417746e-01 9.03563037e-02 5.67241610e+01] [-3.10577898e-01 9.49935540e-01 -3.41150827e-02 -1.12795459e+01] [-9.64908214e-02 4.19784157e-03 9.95325022e-01 -6.69163440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.681193817 meters 0.06736009279029338 Centerline is valid? [True, True] Translation: X:56.76, Y:-11.27, Z:-6.70 [[ 9.44179811e-01 3.16904979e-01 8.99762095e-02 5.67610904e+01] [-3.15100705e-01 9.48449975e-01 -3.39733718e-02 -1.12702237e+01] [-9.61042644e-02 3.72540474e-03 9.95364301e-01 -6.69542114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.711193817 meters 0.0668671408586145 Centerline is valid? [True, True] Translation: X:56.79, Y:-11.27, Z:-6.70 [[ 9.43388413e-01 3.19190795e-01 9.01972254e-02 5.67925074e+01] [-3.17388019e-01 9.47684007e-01 -3.40568405e-02 -1.12740604e+01] [-9.63490980e-02 3.50131007e-03 9.95341445e-01 -6.69987395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.741193817 meters 0.06634956558967826 Centerline is valid? [True, True] Translation: X:56.82, Y:-11.28, Z:-6.70 [[ 9.42975020e-01 3.20631607e-01 8.94062900e-02 5.68241591e+01] [-3.18864141e-01 9.47198048e-01 -3.37863574e-02 -1.12791005e+01] [-9.55184374e-02 3.35123118e-03 9.95422020e-01 -6.70415946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.771193817000004 meters 0.06654531427463488 Centerline is valid? [True, True] Translation: X:56.85, Y:-11.29, Z:-6.71 [[ 9.42458393e-01 3.22370149e-01 8.85983330e-02 5.68541002e+01] [-3.20639282e-01 9.46608369e-01 -3.35118953e-02 -1.12864233e+01] [-9.46711582e-02 3.17546107e-03 9.95503535e-01 -6.70971413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.801193817 meters 0.06676859456497024 Centerline is valid? [True, True] Translation: X:56.89, Y:-11.29, Z:-6.72 [[ 9.42129641e-01 3.24275539e-01 8.50712351e-02 5.68857875e+01] [-3.22685479e-01 9.45958261e-01 -3.22032629e-02 -1.12891866e+01] [-9.09165681e-02 2.88839624e-03 9.95854324e-01 -6.71698642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.831193817 meters 0.06667062359166369 Centerline is valid? [True, True] Translation: X:56.92, Y:-11.30, Z:-6.72 [[ 9.41872939e-01 3.25420009e-01 8.35295412e-02 5.69176504e+01] [-3.23889457e-01 9.45565572e-01 -3.16443976e-02 -1.12951815e+01] [-8.92803785e-02 2.75066398e-03 9.96002735e-01 -6.72195982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.861193817 meters 0.06661655986144747 Centerline is valid? [True, True] Translation: X:56.95, Y:-11.30, Z:-6.73 [[ 9.41746019e-01 3.25849089e-01 8.32874898e-02 5.69500920e+01] [-3.24326503e-01 9.45417855e-01 -3.15816153e-02 -1.13014521e+01] [-8.90323206e-02 2.72952019e-03 9.96024997e-01 -6.72633074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.891193817 meters 0.06613087171422857 Centerline is valid? [True, True] Translation: X:56.98, Y:-11.31, Z:-6.73 [[ 9.41712317e-01 3.26294907e-01 8.19118202e-02 5.69819808e+01] [-3.24821231e-01 9.45264244e-01 -3.10914154e-02 -1.13061744e+01] [-8.75732853e-02 2.67247054e-03 9.96154495e-01 -6.73058660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.921193817 meters 0.06687133736959011 Centerline is valid? [True, True] Translation: X:57.01, Y:-11.31, Z:-6.74 [[ 9.41888878e-01 3.26506515e-01 7.89863143e-02 5.70129413e+01] [-3.25134318e-01 9.45191404e-01 -3.00147430e-02 -1.13092183e+01] [-8.44571944e-02 2.58939114e-03 9.96423744e-01 -6.73752212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.951193817000004 meters 0.06713842886365942 Centerline is valid? [True, True] Translation: X:57.04, Y:-11.32, Z:-6.74 [[ 9.41834292e-01 3.26579498e-01 7.93347189e-02 5.70448147e+01] [-3.25195855e-01 9.45166190e-01 -3.01418153e-02 -1.13179085e+01] [-8.48281929e-02 2.58927361e-03 9.96392229e-01 -6.74205512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.981193817000005 meters 0.06672381866070434 Centerline is valid? [True, True] Translation: X:57.08, Y:-11.33, Z:-6.74 [[ 9.41753829e-01 3.26796546e-01 7.93961149e-02 5.70775425e+01] [-3.25408937e-01 9.45091136e-01 -3.01955060e-02 -1.13251059e+01] [-8.49043515e-02 2.60052803e-03 9.96385713e-01 -6.74453911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.011193817 meters 0.06587732978696988 Centerline is valid? [True, True] Translation: X:57.11, Y:-11.33, Z:-6.75 [[ 9.41234340e-01 3.28034029e-01 8.04462065e-02 5.71101757e+01] [-3.26611025e-01 9.44662455e-01 -3.06281500e-02 -1.13304438e+01] [-8.60415864e-02 2.55364854e-03 9.96288274e-01 -6.74597127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.041193817 meters 0.06504382881793601 Centerline is valid? [True, True] Translation: X:57.14, Y:-11.33, Z:-6.75 [[ 9.40248538e-01 3.30173338e-01 8.31760417e-02 5.71435944e+01] [-3.28656923e-01 9.43917076e-01 -3.17045729e-02 -1.13298691e+01] [-8.89792908e-02 2.47379643e-03 9.96030404e-01 -6.74815109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.071193817 meters 0.06439459734666306 Centerline is valid? [True, True] Translation: X:57.18, Y:-11.34, Z:-6.75 [[ 9.39540988e-01 3.32013888e-01 8.38421701e-02 5.71759197e+01] [-3.30480562e-01 9.43271655e-01 -3.19559449e-02 -1.13353986e+01] [-8.96957601e-02 2.31571258e-03 9.95966520e-01 -6.75021794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.101193817 meters 0.06387019510049531 Centerline is valid? [True, True] Translation: X:57.21, Y:-11.34, Z:-6.75 [[ 9.38612871e-01 3.34298402e-01 8.51496147e-02 5.72069279e+01] [-3.32723345e-01 9.42464809e-01 -3.24847683e-02 -1.13408901e+01] [-9.11101215e-02 2.15935693e-03 9.95838482e-01 -6.75354717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.131193817 meters 0.06302676953644115 Centerline is valid? [True, True] Translation: X:57.24, Y:-11.35, Z:-6.76 [[ 9.37479215e-01 3.37399528e-01 8.54065531e-02 5.72389392e+01] [-3.35825308e-01 9.41359650e-01 -3.26093923e-02 -1.13464548e+01] [-9.14006765e-02 1.88894554e-03 9.95812406e-01 -6.75604145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.161193817000004 meters 0.06169143242126014 Centerline is valid? [True, True] Translation: X:57.27, Y:-11.35, Z:-6.76 [[ 9.35509655e-01 3.42553206e-01 8.64811357e-02 5.72724390e+01] [-3.40957667e-01 9.39497332e-01 -3.30550006e-02 -1.13470060e+01] [-9.25718927e-02 1.43686596e-03 9.95704966e-01 -6.75875537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.191193817 meters 0.06169143242126014 Centerline is valid? [True, True] Translation: X:57.30, Y:-11.36, Z:-6.76 [[ 9.35396486e-01 3.42861895e-01 8.64819911e-02 5.73024999e+01] [-3.41267878e-01 9.39384772e-01 -3.30527664e-02 -1.13587859e+01] [-9.25723996e-02 1.40391597e-03 9.95704966e-01 -6.76246692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.221193817 meters 0.06113419173721178 Centerline is valid? [True, True] Translation: X:57.33, Y:-11.37, Z:-6.77 [[ 9.34560952e-01 3.45168519e-01 8.63395602e-02 5.73343917e+01] [-3.43586436e-01 9.38539951e-01 -3.30321124e-02 -1.13659525e+01] [-9.24347719e-02 1.20542063e-03 9.95718012e-01 -6.76573717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.251193817 meters 0.060545300242954715 Centerline is valid? [True, True] Translation: X:57.37, Y:-11.37, Z:-6.77 [[ 9.33364243e-01 3.48203010e-01 8.70968033e-02 5.73660061e+01] [-3.46603393e-01 9.37418678e-01 -3.33513006e-02 -1.13725704e+01] [-9.32591935e-02 9.40863858e-04 9.95641420e-01 -6.76897573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.281193817 meters 0.0602738633674231 Centerline is valid? [True, True] Translation: X:57.39, Y:-11.38, Z:-6.77 [[ 9.32126810e-01 3.51365548e-01 8.76462341e-02 5.73948761e+01] [-3.49756286e-01 9.36238118e-01 -3.35965187e-02 -1.13790384e+01] [-9.38624045e-02 6.61394459e-04 9.95584960e-01 -6.77230123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.311193817 meters 0.05970877546373491 Centerline is valid? [True, True] Translation: X:57.43, Y:-11.38, Z:-6.77 [[ 9.29507059e-01 3.58347315e-01 8.71999369e-02 5.74261481e+01] [-3.56784647e-01 9.33588346e-01 -3.34292603e-02 -1.13828564e+01] [-9.33881305e-02 -3.88653128e-05 9.95629778e-01 -6.77449434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.341193817000004 meters 0.059816175750803134 Centerline is valid? [True, True] Translation: X:57.46, Y:-11.39, Z:-6.78 [[ 9.27952913e-01 3.62610929e-01 8.61202908e-02 5.74550203e+01] [-3.61104996e-01 9.31940503e-01 -3.30163639e-02 -1.13902194e+01] [-9.22310815e-02 -4.60836188e-04 9.95737523e-01 -6.77874445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.371193817 meters 0.06023175504198063 Centerline is valid? [True, True] Translation: X:57.48, Y:-11.40, Z:-6.78 [[ 9.26531779e-01 3.66679396e-01 8.41729416e-02 5.74838456e+01] [-3.65258016e-01 9.30346978e-01 -3.22658065e-02 -1.13973234e+01] [-9.01412483e-02 -8.49546606e-04 9.95928629e-01 -6.78449914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.401193817 meters 0.06205650901687264 Centerline is valid? [True, True] Translation: X:57.51, Y:-11.40, Z:-6.80 [[ 9.24386781e-01 3.72529411e-01 8.20421701e-02 5.75121492e+01] [-3.71202439e-01 9.28019351e-01 -3.14457196e-02 -1.14000767e+01] [-8.78511769e-02 -1.38624614e-03 9.96132646e-01 -6.79514104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.431193817 meters 0.061643951959746326 Centerline is valid? [True, True] Translation: X:57.54, Y:-11.41, Z:-6.80 [[ 9.24226227e-01 3.73541728e-01 7.91988519e-02 5.75384577e+01] [-3.72309460e-01 9.27612266e-01 -3.03504569e-02 -1.14133008e+01] [-8.48029886e-02 -1.43579356e-03 9.96396704e-01 -6.79710617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.461193817 meters 0.06208515619993282 Centerline is valid? [True, True] Translation: X:57.56, Y:-11.43, Z:-6.80 [[ 9.24648227e-01 3.72987749e-01 7.68491701e-02 5.75625616e+01] [-3.71826040e-01 9.27835289e-01 -2.94460869e-02 -1.14255972e+01] [-8.22864017e-02 -1.34725052e-03 9.96607813e-01 -6.80387385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.491193817 meters 0.06239236632440163 Centerline is valid? [True, True] Translation: X:57.59, Y:-11.44, Z:-6.81 [[ 9.24992163e-01 3.72528605e-01 7.49128550e-02 5.75876744e+01] [-3.71424046e-01 9.28019824e-01 -2.86946642e-02 -1.14389871e+01] [-8.02101978e-02 -1.28209617e-03 9.96777147e-01 -6.80940173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.521193817000004 meters 0.062294754690093226 Centerline is valid? [True, True] Translation: X:57.61, Y:-11.46, Z:-6.82 [[ 9.26478418e-01 3.69512272e-01 7.14032304e-02 5.76113291e+01] [-3.68500543e-01 9.29225334e-01 -2.73427963e-02 -1.14577606e+01] [-7.64531894e-02 -9.79618539e-04 9.97072691e-01 -6.81560173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.551193817 meters 0.062092747175742306 Centerline is valid? [True, True] Translation: X:57.64, Y:-11.47, Z:-6.82 [[ 9.27226100e-01 3.67694296e-01 7.10820868e-02 5.76360128e+01] [-3.66686587e-01 9.29946352e-01 -2.72163521e-02 -1.14731754e+01] [-7.61098247e-02 -8.29135760e-04 9.97099096e-01 -6.81868900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.581193817 meters 0.06167920160019875 Centerline is valid? [True, True] Translation: X:57.66, Y:-11.49, Z:-6.82 [[ 9.28010338e-01 3.65591573e-01 7.16910987e-02 5.76625492e+01] [-3.64561021e-01 9.30775134e-01 -2.74392280e-02 -1.14903471e+01] [-7.67598425e-02 -6.71892877e-04 9.97049385e-01 -6.82039250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.611193817 meters 0.06147191313273831 Centerline is valid? [True, True] Translation: X:57.69, Y:-11.51, Z:-6.82 [[ 9.28841623e-01 3.63392561e-01 7.21046850e-02 5.76885451e+01] [-3.62343790e-01 9.31635980e-01 -2.75930867e-02 -1.15063712e+01] [-7.72024413e-02 -4.97077350e-04 9.97015314e-01 -6.82391590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.641193817 meters 0.061643007847912906 Centerline is valid? [True, True] Translation: X:57.71, Y:-11.53, Z:-6.83 [[ 9.30196544e-01 3.59057254e-01 7.62382969e-02 5.77127442e+01] [-3.57868897e-01 9.33315526e-01 -2.91887227e-02 -1.15268902e+01] [-8.16348088e-02 -1.32066301e-04 9.96662300e-01 -6.83033478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.671193817 meters 0.060522080736547954 Centerline is valid? [True, True] Translation: X:57.74, Y:-11.54, Z:-6.82 [[ 9.30907524e-01 3.56854220e-01 7.78861167e-02 5.77414766e+01] [-3.55606733e-01 9.34160084e-01 -2.98125600e-02 -1.15446547e+01] [-8.33968392e-02 5.59088970e-05 9.96516414e-01 -6.82322493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.701193817000004 meters 0.06045572972290698 Centerline is valid? [True, True] Translation: X:57.77, Y:-11.56, Z:-6.83 [[ 9.31492111e-01 3.55184120e-01 7.85282609e-02 5.77694185e+01] [-3.53907764e-01 9.34796334e-01 -3.00850068e-02 -1.15612670e+01] [-8.40936471e-02 2.32185296e-04 9.96457829e-01 -6.82543744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.731193817000005 meters 0.06048133734106458 Centerline is valid? [True, True] Translation: X:57.80, Y:-11.58, Z:-6.83 [[ 9.33006818e-01 3.51093683e-01 7.89398772e-02 5.77957708e+01] [-3.49787090e-01 9.36340126e-01 -3.02681486e-02 -1.15843548e+01] [-8.45415304e-02 6.28239135e-04 9.96419758e-01 -6.82637833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.761193817 meters 0.06075393407076333 Centerline is valid? [True, True] Translation: X:57.82, Y:-11.60, Z:-6.83 [[ 9.33695548e-01 3.49022343e-01 7.99751625e-02 5.78240553e+01] [-3.47670846e-01 9.37114011e-01 -3.06971208e-02 -1.16026559e+01] [-8.56598264e-02 8.56732693e-04 9.96324074e-01 -6.82929135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.791193817 meters 0.06150089621420127 Centerline is valid? [True, True] Translation: X:57.85, Y:-11.62, Z:-6.83 [[ 9.34987936e-01 3.45545651e-01 7.99735117e-02 5.78501857e+01] [-3.44178613e-01 9.38401165e-01 -3.07300615e-02 -1.16211834e+01] [-8.56658756e-02 1.20706442e-03 9.96323191e-01 -6.83415639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.821193817 meters 0.062453979391044065 Centerline is valid? [True, True] Translation: X:57.88, Y:-11.64, Z:-6.84 [[ 9.36063468e-01 3.42786623e-01 7.92623231e-02 5.78766808e+01] [-3.41431821e-01 9.39412140e-01 -3.04818339e-02 -1.16396338e+01] [-8.49087535e-02 1.47025185e-03 9.96387646e-01 -6.83819793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.851193817 meters 0.0626865882950124 Centerline is valid? [True, True] Translation: X:57.90, Y:-11.66, Z:-6.84 [[ 9.36746981e-01 3.40868107e-01 7.94608509e-02 5.79047187e+01] [-3.39497590e-01 9.40109644e-01 -3.05817511e-02 -1.16560347e+01] [-8.51262559e-02 1.67059565e-03 9.96368772e-01 -6.84098824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.881193817 meters 0.06304005663241526 Centerline is valid? [True, True] Translation: X:57.93, Y:-11.67, Z:-6.84 [[ 9.37438259e-01 3.39107457e-01 7.88393452e-02 5.79319562e+01] [-3.37749876e-01 9.40745844e-01 -3.03690368e-02 -1.16747919e+01] [-8.44661531e-02 1.84111789e-03 9.96424648e-01 -6.84471482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.911193817000004 meters 0.06313368078874677 Centerline is valid? [True, True] Translation: X:57.96, Y:-11.69, Z:-6.85 [[ 9.37450891e-01 3.39068265e-01 7.88577180e-02 5.79603939e+01] [-3.37707388e-01 9.40759907e-01 -3.04058683e-02 -1.16885570e+01] [-8.44958445e-02 1.87317434e-03 9.96422071e-01 -6.84832988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.941193817 meters 0.0628788951284543 Centerline is valid? [True, True] Translation: X:57.99, Y:-11.70, Z:-6.85 [[ 9.36890933e-01 3.40394797e-01 7.97919923e-02 5.79889256e+01] [-3.39004665e-01 9.40280901e-01 -3.07841620e-02 -1.17012236e+01] [-8.55056550e-02 1.79154461e-03 9.96336074e-01 -6.85156819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.971193817 meters 0.061838016806832985 Centerline is valid? [True, True] Translation: X:58.02, Y:-11.71, Z:-6.85 [[ 9.36080758e-01 3.42625813e-01 7.97519120e-02 5.80189692e+01] [-3.41243117e-01 9.39470575e-01 -3.07924248e-02 -1.17119850e+01] [-8.54748542e-02 1.60940536e-03 9.96339028e-01 -6.85312815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.001193817 meters 0.061043970932163745 Centerline is valid? [True, True] Translation: X:58.05, Y:-11.72, Z:-6.86 [[ 9.33359076e-01 3.50337362e-01 7.81317400e-02 5.80478758e+01] [-3.49034954e-01 9.36623138e-01 -3.01943529e-02 -1.17217693e+01] [-8.37582055e-02 9.11465037e-04 9.96485691e-01 -6.86014450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.031193817 meters 0.06030952951988324 Centerline is valid? [True, True] Translation: X:58.08, Y:-11.73, Z:-6.86 [[ 9.32013010e-01 3.54142037e-01 7.70400299e-02 5.80794192e+01] [-3.52886932e-01 9.35191466e-01 -2.97948917e-02 -1.17303663e+01] [-8.25988021e-02 5.82806920e-04 9.96582710e-01 -6.86314025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.061193817 meters 0.05991774968664745 Centerline is valid? [True, True] Translation: X:58.11, Y:-11.74, Z:-6.87 [[ 9.30773951e-01 3.57540476e-01 7.63194670e-02 5.81105378e+01] [-3.56317768e-01 9.33897593e-01 -2.95454519e-02 -1.17392969e+01] [-8.18382614e-02 3.06154801e-04 9.96645577e-01 -6.86716496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.091193817000004 meters 0.05992252874156773 Centerline is valid? [True, True] Translation: X:58.14, Y:-11.75, Z:-6.87 [[ 9.29864287e-01 3.59901389e-01 7.63111936e-02 5.81402806e+01] [-3.58684371e-01 9.32990340e-01 -2.95727550e-02 -1.17489447e+01] [-8.18408821e-02 1.27016282e-04 9.96645400e-01 -6.87207764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.121193817 meters 0.05975950039293655 Centerline is valid? [True, True] Translation: X:58.17, Y:-11.76, Z:-6.87 [[ 9.29232490e-01 3.61604886e-01 7.59531886e-02 5.81703806e+01] [-3.60402807e-01 9.32331436e-01 -2.94603184e-02 -1.17628383e+01] [-8.14665404e-02 1.74268249e-06 9.96676077e-01 -6.87466118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.151193817 meters 0.0601046472570202 Centerline is valid? [True, True] Translation: X:58.20, Y:-11.78, Z:-6.88 [[ 9.29248802e-01 3.61742875e-01 7.50916509e-02 5.81981315e+01] [-3.60565859e-01 9.32277905e-01 -2.91576690e-02 -1.17756677e+01] [-8.05538660e-02 1.92434003e-05 9.96750257e-01 -6.88130945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.181193817 meters 0.05989777754328424 Centerline is valid? [True, True] Translation: X:58.23, Y:-11.79, Z:-6.88 [[ 9.29115583e-01 3.62119886e-01 7.49227696e-02 5.82284706e+01] [-3.60947682e-01 9.32131529e-01 -2.91132760e-02 -1.17895123e+01] [-8.03803720e-02 6.39842479e-06 9.96764263e-01 -6.88281282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.211193817 meters 0.0598352742670597 Centerline is valid? [True, True] Translation: X:58.26, Y:-11.81, Z:-6.89 [[ 9.29011950e-01 3.62251402e-01 7.55692940e-02 5.82556696e+01] [-3.61056726e-01 9.32080426e-01 -2.93959147e-02 -1.18059417e+01] [-8.10853711e-02 2.43541763e-05 9.96707160e-01 -6.88632273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.241193817 meters 0.0597324736712099 Centerline is valid? [True, True] Translation: X:58.28, Y:-11.82, Z:-6.89 [[ 9.28840359e-01 3.62585659e-01 7.60738363e-02 5.82843260e+01] [-3.61373961e-01 9.31950449e-01 -2.96179103e-02 -1.18202349e+01] [-8.16360755e-02 1.92068795e-05 9.96662205e-01 -6.88955994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.271193817000004 meters 0.05966414806041217 Centerline is valid? [True, True] Translation: X:58.31, Y:-11.83, Z:-6.89 [[ 9.28828462e-01 3.62280384e-01 7.76570082e-02 5.83122410e+01] [-3.61014275e-01 9.32069159e-01 -3.02617848e-02 -1.18336398e+01] [-8.33449534e-02 7.27185691e-05 9.96520754e-01 -6.89263548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.301193817 meters 0.05950955745624272 Centerline is valid? [True, True] Translation: X:58.34, Y:-11.85, Z:-6.90 [[ 9.29069272e-01 3.61803296e-01 7.69978109e-02 5.83411590e+01] [-3.60555108e-01 9.32254449e-01 -3.00276140e-02 -1.18467407e+01] [-8.26456415e-02 1.35779500e-04 9.96578988e-01 -6.89510899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.331193817 meters 0.059838314206008894 Centerline is valid? [True, True] Translation: X:58.37, Y:-11.86, Z:-6.90 [[ 9.29483614e-01 3.60910693e-01 7.61819133e-02 5.83687028e+01] [-3.59683400e-01 9.32600351e-01 -2.97395039e-02 -1.18592887e+01] [-8.17805840e-02 2.41011938e-04 9.96650329e-01 -6.90062839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.361193817 meters 0.05969152644832798 Centerline is valid? [True, True] Translation: X:58.40, Y:-11.87, Z:-6.90 [[ 9.29715568e-01 3.60181869e-01 7.67983359e-02 5.83985479e+01] [-3.58931449e-01 9.32882052e-01 -2.99882105e-02 -1.18723741e+01] [-8.24449989e-02 3.15168203e-04 9.96595566e-01 -6.90247282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.391193817 meters 0.05969547288247138 Centerline is valid? [True, True] Translation: X:58.43, Y:-11.89, Z:-6.90 [[ 9.29661572e-01 3.60330454e-01 7.67549735e-02 5.84269876e+01] [-3.59079980e-01 9.32824667e-01 -2.99951525e-02 -1.18886587e+01] [-8.24070995e-02 3.24166269e-04 9.96598698e-01 -6.90483603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.421193817 meters 0.05988842333469783 Centerline is valid? [True, True] Translation: X:58.46, Y:-11.90, Z:-6.91 [[ 9.29395108e-01 3.61095580e-01 7.63853054e-02 5.84553900e+01] [-3.59857293e-01 9.32528767e-01 -2.98802083e-02 -1.19041020e+01] [-8.20211058e-02 2.82710217e-04 9.96630553e-01 -6.90945023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.451193817000004 meters 0.060001248001130235 Centerline is valid? [True, True] Translation: X:58.48, Y:-11.92, Z:-6.91 [[ 9.29482688e-01 3.61201829e-01 7.48008790e-02 5.84836786e+01] [-3.60012704e-01 9.32487616e-01 -2.92865103e-02 -1.19187290e+01] [-8.03292344e-02 2.92037609e-04 9.96768343e-01 -6.91386563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.481193817000005 meters 0.06006940919238292 Centerline is valid? [True, True] Translation: X:58.51, Y:-11.93, Z:-6.92 [[ 9.29511886e-01 3.61196202e-01 7.44644710e-02 5.85120667e+01] [-3.60015861e-01 9.32489789e-01 -2.91783207e-02 -1.19340099e+01] [-7.99764575e-02 3.13205289e-04 9.96796704e-01 -6.91950384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.511193817 meters 0.05998265424832966 Centerline is valid? [True, True] Translation: X:58.54, Y:-11.95, Z:-6.92 [[ 9.29725513e-01 3.60342020e-01 7.59216648e-02 5.85402946e+01] [-3.59109754e-01 9.32820160e-01 -2.97780669e-02 -1.19476992e+01] [-8.15515483e-02 4.21218161e-04 9.96669036e-01 -6.92269431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.541193817 meters 0.05989767669091798 Centerline is valid? [True, True] Translation: X:58.57, Y:-11.96, Z:-6.93 [[ 9.29753536e-01 3.59899830e-01 7.76561314e-02 5.85685883e+01] [-3.58607037e-01 9.32990820e-01 -3.04815094e-02 -1.19622962e+01] [-8.34227478e-02 4.92255944e-04 9.96514126e-01 -6.92535718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.571193817 meters 0.05940343991412528 Centerline is valid? [True, True] Translation: X:58.60, Y:-11.98, Z:-6.93 [[ 9.29935730e-01 3.59346373e-01 7.80366714e-02 5.85984965e+01] [-3.58036986e-01 9.33204085e-01 -3.06537504e-02 -1.19773199e+01] [-8.38394545e-02 5.66003082e-04 9.96479114e-01 -6.92650992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.601193817 meters 0.05970330980518873 Centerline is valid? [True, True] Translation: X:58.63, Y:-11.99, Z:-6.93 [[ 9.30180682e-01 3.58802780e-01 7.76174191e-02 5.86252095e+01] [-3.57502894e-01 9.33413174e-01 -3.05209411e-02 -1.19922970e+01] [-8.34001201e-02 6.41537889e-04 9.96515935e-01 -6.93121292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.631193817 meters 0.060576564025643806 Centerline is valid? [True, True] Translation: X:58.65, Y:-12.01, Z:-6.94 [[ 9.31432491e-01 3.55882815e-01 7.60324669e-02 5.86491229e+01] [-3.54623306e-01 9.34530142e-01 -2.99286414e-02 -1.20140941e+01] [-8.17057213e-02 9.13624154e-04 9.96656079e-01 -6.93669261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.661193817000004 meters 0.06059172612619136 Centerline is valid? [True, True] Translation: X:58.68, Y:-12.03, Z:-6.94 [[ 9.32099674e-01 3.54306330e-01 7.52145097e-02 5.86773637e+01] [-3.53069136e-01 9.35128843e-01 -2.96012285e-02 -1.20294511e+01] [-8.08231600e-02 1.03537352e-03 9.96727919e-01 -6.93957233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.691193817 meters 0.061174251775569816 Centerline is valid? [True, True] Translation: X:58.70, Y:-12.04, Z:-6.95 [[ 9.32284538e-01 3.53938085e-01 7.46550219e-02 5.87049887e+01] [-3.52716006e-01 9.35268228e-01 -2.94068263e-02 -1.20438756e+01] [-8.02306659e-02 1.08350836e-03 9.96775735e-01 -6.94539355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.721193817 meters 0.0616534683672617 Centerline is valid? [True, True] Translation: X:58.73, Y:-12.06, Z:-6.95 [[ 9.32761486e-01 3.52727894e-01 7.44247465e-02 5.87329492e+01] [-3.51507309e-01 9.35725157e-01 -2.93435172e-02 -1.20567351e+01] [-7.99913846e-02 1.20966037e-03 9.96794821e-01 -6.95016231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.751193817 meters 0.061654916085814734 Centerline is valid? [True, True] Translation: X:58.76, Y:-12.07, Z:-6.95 [[ 9.32621201e-01 3.53329680e-01 7.33200642e-02 5.87630222e+01] [-3.52146375e-01 9.35498166e-01 -2.89155884e-02 -1.20673320e+01] [-7.88075213e-02 1.14789592e-03 9.96889190e-01 -6.95474989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.781193817 meters 0.061837502473201494 Centerline is valid? [True, True] Translation: X:58.79, Y:-12.08, Z:-6.96 [[ 9.32497969e-01 3.53760000e-01 7.28107105e-02 5.87922340e+01] [-3.52592500e-01 9.35335551e-01 -2.87391012e-02 -1.20782969e+01] [-7.82691905e-02 1.12664301e-03 9.96931625e-01 -6.95927543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.811193817 meters 0.061288026704438885 Centerline is valid? [True, True] Translation: X:58.82, Y:-12.09, Z:-6.96 [[ 9.32074757e-01 3.54345021e-01 7.53409122e-02 5.88226459e+01] [-3.53094168e-01 9.35114055e-01 -2.97693286e-02 -1.20877876e+01] [-8.10009592e-02 1.14480305e-03 9.96713366e-01 -6.95940539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.841193817000004 meters 0.06118310892766505 Centerline is valid? [True, True] Translation: X:58.85, Y:-12.10, Z:-6.96 [[ 9.31934599e-01 3.54289352e-01 7.73107891e-02 5.88519977e+01] [-3.52972270e-01 9.35135109e-01 -3.05434948e-02 -1.20992674e+01] [-8.31172682e-02 1.17597487e-03 9.96539079e-01 -6.96111646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.871193817 meters 0.061304523035038354 Centerline is valid? [True, True] Translation: X:58.88, Y:-12.11, Z:-6.96 [[ 9.32104975e-01 3.53683377e-01 7.80281060e-02 5.88807080e+01] [-3.52337369e-01 9.35364349e-01 -3.08530728e-02 -1.21114043e+01] [-8.38969276e-02 1.26608498e-03 9.96473634e-01 -6.96339015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.901193817 meters 0.06067788507216423 Centerline is valid? [True, True] Translation: X:58.91, Y:-12.12, Z:-6.96 [[ 9.32088125e-01 3.53572821e-01 7.87273017e-02 5.89116063e+01] [-3.52200261e-01 9.35406088e-01 -3.11516830e-02 -1.21217358e+01] [-8.46563857e-02 1.30833758e-03 9.96409346e-01 -6.96291845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.931193817 meters 0.061532158257584006 Centerline is valid? [True, True] Translation: X:58.94, Y:-12.13, Z:-6.97 [[ 9.32267321e-01 3.52946320e-01 7.94137052e-02 5.89403302e+01] [-3.51545172e-01 9.35642523e-01 -3.14493498e-02 -1.21343087e+01] [-8.54027717e-02 1.40169643e-03 9.96345523e-01 -6.96885205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.961193817 meters 0.06288713209804044 Centerline is valid? [True, True] Translation: X:58.97, Y:-12.15, Z:-6.97 [[ 9.33396765e-01 3.50077045e-01 7.88450427e-02 5.89684232e+01] [-3.48683206e-01 9.36719403e-01 -3.12535090e-02 -1.21475234e+01] [-8.47968174e-02 1.67998196e-03 9.96396847e-01 -6.97483715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.991193817 meters 0.06266592069664786 Centerline is valid? [True, True] Translation: X:59.00, Y:-12.16, Z:-6.98 [[ 9.33881651e-01 3.48810543e-01 7.87163676e-02 5.89984609e+01] [-3.47414939e-01 9.37191507e-01 -3.12240275e-02 -1.21594610e+01] [-8.46635811e-02 1.81230428e-03 9.96407945e-01 -6.97620921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.021193817000004 meters 0.0627923387403251 Centerline is valid? [True, True] Translation: X:59.03, Y:-12.17, Z:-6.98 [[ 9.34021242e-01 3.48409794e-01 7.88348626e-02 5.90286467e+01] [-3.47006509e-01 9.37340442e-01 -3.12950330e-02 -1.21731177e+01] [-8.47986009e-02 1.87401514e-03 9.96396350e-01 -6.97928863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.051193817000005 meters 0.06300822418917593 Centerline is valid? [True, True] Translation: X:59.06, Y:-12.19, Z:-6.98 [[ 9.34254967e-01 3.47867723e-01 7.84582994e-02 5.90579218e+01] [-3.46473372e-01 9.37541612e-01 -3.11757536e-02 -1.21867540e+01] [-8.44029589e-02 1.94239109e-03 9.96429811e-01 -6.98228695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.081193817 meters 0.06300822418917593 Centerline is valid? [True, True] Translation: X:59.09, Y:-12.20, Z:-6.99 [[ 9.34144096e-01 3.48167209e-01 7.84499967e-02 5.90878015e+01] [-3.46772161e-01 9.37430445e-01 -3.11966298e-02 -1.21989132e+01] [-8.44030588e-02 1.93787276e-03 9.96429811e-01 -6.98600205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.111193817 meters 0.06334129774381064 Centerline is valid? [True, True] Translation: X:59.12, Y:-12.21, Z:-6.99 [[ 9.34263277e-01 3.47814863e-01 7.85935770e-02 5.91165907e+01] [-3.46410910e-01 9.37561099e-01 -3.12836469e-02 -1.22132981e+01] [-8.45671978e-02 2.00148991e-03 9.96415768e-01 -6.98940531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.141193817 meters 0.06295228888842193 Centerline is valid? [True, True] Translation: X:59.15, Y:-12.22, Z:-6.99 [[ 9.33709561e-01 3.49202886e-01 7.90177239e-02 5.91460671e+01] [-3.47786261e-01 9.37045189e-01 -3.14806242e-02 -1.22240295e+01] [-8.50363029e-02 1.91248105e-03 9.96376018e-01 -6.99333162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.171193817 meters 0.06260106900624092 Centerline is valid? [True, True] Translation: X:59.18, Y:-12.23, Z:-7.00 [[ 9.33043660e-01 3.50933790e-01 7.92149210e-02 5.91754427e+01] [-3.49514117e-01 9.36398577e-01 -3.15845958e-02 -1.22348839e+01] [-8.52608413e-02 1.78307375e-03 9.96357069e-01 -6.99749886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.201193817000004 meters 0.06228025799564135 Centerline is valid? [True, True] Translation: X:59.21, Y:-12.25, Z:-7.00 [[ 9.32317495e-01 3.53041838e-01 7.83935506e-02 5.92052582e+01] [-3.51656871e-01 9.35606173e-01 -3.12815268e-02 -1.22456459e+01] [-8.43891776e-02 1.59668397e-03 9.96431592e-01 -7.00264230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.231193817000005 meters 0.06150109157195318 Centerline is valid? [True, True] Translation: X:59.24, Y:-12.25, Z:-7.01 [[ 9.30684718e-01 3.57708031e-01 7.66219323e-02 5.92351689e+01] [-3.56398588e-01 9.33832742e-01 -3.06015829e-02 -1.22519818e+01] [-8.24985011e-02 1.17247710e-03 9.96590499e-01 -7.01110722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.261193817 meters 0.06111221200362755 Centerline is valid? [True, True] Translation: X:59.27, Y:-12.26, Z:-7.02 [[ 9.29609445e-01 3.60600397e-01 7.61159193e-02 5.92653597e+01] [-3.59317096e-01 9.32719952e-01 -3.04091328e-02 -1.22609632e+01] [-8.19603820e-02 9.18865993e-04 9.96635165e-01 -7.01623255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.291193817 meters 0.06076255156211664 Centerline is valid? [True, True] Translation: X:59.30, Y:-12.27, Z:-7.02 [[ 9.28959164e-01 3.62277853e-01 7.60896119e-02 5.92953537e+01] [-3.60999151e-01 9.32069809e-01 -3.04217567e-02 -1.22715262e+01] [-8.19419587e-02 7.92284352e-04 9.96636788e-01 -7.01984307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.321193817 meters 0.060117410095834385 Centerline is valid? [True, True] Translation: X:59.33, Y:-12.28, Z:-7.02 [[ 9.28513281e-01 3.63027139e-01 7.79383357e-02 5.93260709e+01] [-3.61685581e-01 9.31778247e-01 -3.11903750e-02 -1.22835311e+01] [-8.39441984e-02 7.71505160e-04 9.96470158e-01 -7.01950265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.351193817 meters 0.060126672333569595 Centerline is valid? [True, True] Translation: X:59.35, Y:-12.30, Z:-7.02 [[ 9.28978185e-01 3.61542095e-01 7.92896265e-02 5.93546424e+01] [-3.60147800e-01 9.32355328e-01 -3.17349167e-02 -1.22977175e+01] [-8.53996140e-02 9.25060818e-04 9.96346351e-01 -7.02209550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.381193817 meters 0.06063516842284734 Centerline is valid? [True, True] Translation: X:59.38, Y:-12.31, Z:-7.03 [[ 9.29614276e-01 3.59789000e-01 7.98070966e-02 5.93839837e+01] [-3.58367906e-01 9.33033028e-01 -3.19658136e-02 -1.23133335e+01] [-8.59636051e-02 1.11557458e-03 9.96297653e-01 -7.02585136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.411193817000004 meters 0.06139513822982267 Centerline is valid? [True, True] Translation: X:59.41, Y:-12.33, Z:-7.03 [[ 9.30511527e-01 3.57582537e-01 7.92655500e-02 5.94125828e+01] [-3.56170239e-01 9.33880581e-01 -3.17776785e-02 -1.23282561e+01] [-8.53877008e-02 1.33746628e-03 9.96346903e-01 -7.03038425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.441193817 meters 0.06187286002670192 Centerline is valid? [True, True] Translation: X:59.44, Y:-12.34, Z:-7.03 [[ 9.31881303e-01 3.54472341e-01 7.71141766e-02 5.94423561e+01] [-3.53122749e-01 9.35065122e-01 -3.09441879e-02 -1.23395430e+01] [-8.30756356e-02 1.60554016e-03 9.96541951e-01 -7.03449922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.471193817 meters 0.06252791513365527 Centerline is valid? [True, True] Translation: X:59.47, Y:-12.35, Z:-7.04 [[ 9.31911417e-01 3.54479772e-01 7.67150695e-02 5.94703851e+01] [-3.53144090e-01 9.35062318e-01 -3.07849325e-02 -1.23506391e+01] [-8.26460066e-02 1.59735670e-03 9.96577687e-01 -7.04086221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.501193817 meters 0.06258469110297873 Centerline is valid? [True, True] Translation: X:59.50, Y:-12.36, Z:-7.05 [[ 9.31973334e-01 3.54542567e-01 7.56655262e-02 5.95003750e+01] [-3.53241699e-01 9.35038523e-01 -3.03852296e-02 -1.23602455e+01] [-8.15230391e-02 1.59000471e-03 9.96670189e-01 -7.04524281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.531193817 meters 0.06297232974827595 Centerline is valid? [True, True] Translation: X:59.53, Y:-12.37, Z:-7.05 [[ 9.31921116e-01 3.54924241e-01 7.45105087e-02 5.95291030e+01] [-3.53662110e-01 9.34893771e-01 -2.99457688e-02 -1.23704423e+01] [-8.02878897e-02 1.55555062e-03 9.96770503e-01 -7.05030821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.561193817 meters 0.06285772165999681 Centerline is valid? [True, True] Translation: X:59.56, Y:-12.38, Z:-7.05 [[ 9.31624283e-01 3.55775694e-01 7.41609772e-02 5.95597682e+01] [-3.54526509e-01 9.34570182e-01 -2.98249838e-02 -1.23808608e+01] [-7.99196422e-02 1.49364681e-03 9.96800191e-01 -7.05352936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.591193817000004 meters 0.062013679073996054 Centerline is valid? [True, True] Translation: X:59.59, Y:-12.39, Z:-7.05 [[ 9.31357871e-01 3.56414285e-01 7.44404007e-02 5.95917094e+01] [-3.55155421e-01 9.34326867e-01 -2.99655168e-02 -1.23894645e+01] [-8.02318046e-02 1.47070808e-03 9.96775147e-01 -7.05295640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.621193817 meters 0.06179064492850183 Centerline is valid? [True, True] Translation: X:59.62, Y:-12.40, Z:-7.06 [[ 9.31347294e-01 3.56350520e-01 7.48767369e-02 5.96227391e+01] [-3.55074716e-01 9.34351131e-01 -3.01647172e-02 -1.24003746e+01] [-8.07103765e-02 1.50699168e-03 9.96736457e-01 -7.05536165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.651193817 meters 0.06218561815119845 Centerline is valid? [True, True] Translation: X:59.65, Y:-12.41, Z:-7.06 [[ 9.31591723e-01 3.55189982e-01 7.73106681e-02 5.96524147e+01] [-3.53822936e-01 9.34792606e-01 -3.11787539e-02 -1.24099283e+01] [-8.33438219e-02 1.69158147e-03 9.96519416e-01 -7.05892542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.681193817 meters 0.0617549920573849 Centerline is valid? [True, True] Translation: X:59.68, Y:-12.42, Z:-7.06 [[ 9.31483032e-01 3.55326389e-01 7.79905007e-02 5.96829151e+01] [-3.53933610e-01 9.34740718e-01 -3.14768006e-02 -1.24192428e+01] [-8.40854345e-02 1.71664618e-03 9.96457070e-01 -7.06071745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.711193817 meters 0.06394099040387378 Centerline is valid? [True, True] Translation: X:59.71, Y:-12.43, Z:-7.07 [[ 9.31385482e-01 3.55427583e-01 7.86912826e-02 5.97098706e+01] [-3.54007680e-01 9.34702186e-01 -3.17865638e-02 -1.24345651e+01] [-8.48507354e-02 1.74822565e-03 9.96392140e-01 -7.07051530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.741193817 meters 0.06108687522926414 Centerline is valid? [True, True] Translation: X:59.74, Y:-12.44, Z:-7.07 [[ 9.30711568e-01 3.57032263e-01 7.93973533e-02 5.97438566e+01] [-3.55589760e-01 9.34090601e-01 -3.21040663e-02 -1.24397343e+01] [-8.56265089e-02 1.64674002e-03 9.96325945e-01 -7.06605053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.771193817000004 meters 0.060007157294123585 Centerline is valid? [True, True] Translation: X:59.78, Y:-12.45, Z:-7.07 [[ 9.28896483e-01 3.61681752e-01 7.96092633e-02 5.97751896e+01] [-3.60248191e-01 9.32300814e-01 -3.21936704e-02 -1.24468151e+01] [-8.58636441e-02 1.22549405e-03 9.96306144e-01 -7.06939710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.801193817000005 meters 0.06049145318416045 Centerline is valid? [True, True] Translation: X:59.80, Y:-12.46, Z:-7.08 [[ 9.27940684e-01 3.64114350e-01 7.96669813e-02 5.98028981e+01] [-3.62685187e-01 9.31353684e-01 -3.22454781e-02 -1.24581301e+01] [-8.59391778e-02 1.02785694e-03 9.96299855e-01 -7.07799449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.831193817 meters 0.06013694991543639 Centerline is valid? [True, True] Translation: X:59.83, Y:-12.47, Z:-7.08 [[ 9.27035523e-01 3.66628123e-01 7.86699309e-02 5.98340604e+01] [-3.65241577e-01 9.30367222e-01 -3.18656880e-02 -1.24670452e+01] [-8.48747824e-02 8.07095131e-04 9.96391299e-01 -7.08321715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.861193817 meters 0.05945415645719084 Centerline is valid? [True, True] Translation: X:59.87, Y:-12.47, Z:-7.08 [[ 9.26330244e-01 3.68932819e-01 7.61633426e-02 5.98659271e+01] [-3.67638971e-01 9.29455869e-01 -3.08767497e-02 -1.24742246e+01] [-8.21819121e-02 6.01454145e-04 9.96617164e-01 -7.08481120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.891193817 meters 0.06028330595458552 Centerline is valid? [True, True] Translation: X:59.89, Y:-12.48, Z:-7.10 [[ 9.26023522e-01 3.69945589e-01 7.49713093e-02 5.98948307e+01] [-3.68693186e-01 9.29053272e-01 -3.04196064e-02 -1.24837044e+01] [-8.09059394e-02 5.27860195e-04 9.96721601e-01 -7.09554633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.921193817 meters 0.05967810656038877 Centerline is valid? [True, True] Translation: X:59.93, Y:-12.49, Z:-7.10 [[ 9.25184057e-01 3.72045111e-01 7.49459532e-02 5.99271547e+01] [-3.70798546e-01 9.28214577e-01 -3.04324960e-02 -1.24911937e+01] [-8.08881876e-02 3.65809628e-04 9.96723115e-01 -7.09602999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.951193817000004 meters 0.059614583676746956 Centerline is valid? [True, True] Translation: X:59.96, Y:-12.50, Z:-7.10 [[ 9.24403650e-01 3.74149767e-01 7.40934810e-02 5.99577063e+01] [-3.72936238e-01 9.27368272e-01 -3.01106457e-02 -1.25020875e+01] [-7.99778345e-02 2.02246746e-04 9.96796622e-01 -7.09943687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.981193817000005 meters 0.05988759025264868 Centerline is valid? [True, True] Translation: X:59.99, Y:-12.51, Z:-7.11 [[ 9.23561070e-01 3.76561298e-01 7.23639347e-02 5.99866575e+01] [-3.75409302e-01 9.26391704e-01 -2.94324237e-02 -1.25124825e+01] [-7.81204604e-02 1.65464937e-05 9.96943927e-01 -7.10543859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.011193817 meters 0.060190301968244195 Centerline is valid? [True, True] Translation: X:60.02, Y:-12.52, Z:-7.11 [[ 9.22865594e-01 3.78358017e-01 7.18631139e-02 6.00151830e+01] [-3.77225608e-01 9.25659332e-01 -2.92513623e-02 -1.25229268e+01] [-7.75882494e-02 -1.13530974e-04 9.96985482e-01 -7.11129708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.041193817 meters 0.060200262020691314 Centerline is valid? [True, True] Translation: X:60.05, Y:-12.53, Z:-7.12 [[ 9.22455315e-01 3.79461026e-01 7.13128485e-02 6.00454174e+01] [-3.78347603e-01 9.25207704e-01 -2.90481703e-02 -1.25337809e+01] [-7.70018453e-02 -1.85406182e-04 9.97030933e-01 -7.11645536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.071193817 meters 0.059868723355163314 Centerline is valid? [True, True] Translation: X:60.08, Y:-12.54, Z:-7.12 [[ 9.21814330e-01 3.81170754e-01 7.04783488e-02 6.00758376e+01] [-3.80086568e-01 9.24504605e-01 -2.87304126e-02 -1.25433518e+01] [-7.61087510e-02 -3.03767667e-04 9.97099476e-01 -7.11723386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.101193817 meters 0.060194039549958334 Centerline is valid? [True, True] Translation: X:60.10, Y:-12.55, Z:-7.12 [[ 9.21654555e-01 3.81357998e-01 7.15468975e-02 6.01047709e+01] [-3.80239450e-01 9.24427382e-01 -2.91886190e-02 -1.25546528e+01] [-7.72712245e-02 -3.03129298e-04 9.97010063e-01 -7.12389390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.131193817 meters 0.05978262069956878 Centerline is valid? [True, True] Translation: X:60.14, Y:-12.57, Z:-7.12 [[ 9.21507605e-01 3.81755033e-01 7.13219995e-02 6.01351455e+01] [-3.80642990e-01 9.24263488e-01 -2.91190456e-02 -1.25690898e+01] [-7.70366622e-02 -3.14797147e-04 9.97028211e-01 -7.12416277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.161193817000004 meters 0.05964630411593566 Centerline is valid? [True, True] Translation: X:60.16, Y:-12.59, Z:-7.13 [[ 9.21882077e-01 3.80646866e-01 7.23975151e-02 6.01625391e+01] [-3.79495193e-01 9.24720457e-01 -2.95884059e-02 -1.25865499e+01] [-7.82101973e-02 -1.97487935e-04 9.96936872e-01 -7.12605928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.191193817 meters 0.05991879193161588 Centerline is valid? [True, True] Translation: X:60.19, Y:-12.60, Z:-7.13 [[ 9.22262573e-01 3.79724144e-01 7.23969608e-02 6.01909180e+01] [-3.78567760e-01 9.25099759e-01 -2.96122656e-02 -1.26016941e+01] [-7.82189032e-02 -9.68710196e-05 9.96936203e-01 -7.13183615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.221193817 meters 0.05992599344913752 Centerline is valid? [True, True] Translation: X:60.22, Y:-12.62, Z:-7.14 [[ 9.22631442e-01 3.78777821e-01 7.26538705e-02 6.02190031e+01] [-3.77608089e-01 9.25487635e-01 -2.97450670e-02 -1.26165135e+01] [-7.85070304e-02 9.04481500e-06 9.96913560e-01 -7.13593542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.251193817 meters 0.05965683567131774 Centerline is valid? [True, True] Translation: X:60.25, Y:-12.63, Z:-7.14 [[ 9.22678429e-01 3.78079664e-01 7.56325633e-02 6.02466209e+01] [-3.76806752e-01 9.25773059e-01 -3.09986229e-02 -1.26330055e+01] [-8.17385384e-02 1.02900158e-04 9.96653802e-01 -7.13693455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.281193817 meters 0.05953522006698482 Centerline is valid? [True, True] Translation: X:60.27, Y:-12.65, Z:-7.14 [[ 9.22471498e-01 3.78449676e-01 7.63031999e-02 6.02748042e+01] [-3.77155422e-01 9.25621866e-01 -3.12721816e-02 -1.26470978e+01] [-8.24628572e-02 6.95306280e-05 9.96594136e-01 -7.13930503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.311193817 meters 0.05950089837346851 Centerline is valid? [True, True] Translation: X:60.30, Y:-12.66, Z:-7.14 [[ 9.22361787e-01 3.78484703e-01 7.74471716e-02 6.03026891e+01] [-3.77149405e-01 9.25607542e-01 -3.17648322e-02 -1.26615651e+01] [-8.37081892e-02 8.95126977e-05 9.96490307e-01 -7.14266683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.341193817000004 meters 0.058911679376942964 Centerline is valid? [True, True] Translation: X:60.33, Y:-12.68, Z:-7.14 [[ 9.22404706e-01 3.78096101e-01 7.88219331e-02 6.03321441e+01] [-3.76709530e-01 9.25766340e-01 -3.23514170e-02 -1.26766857e+01] [-8.52026371e-02 1.48125965e-04 9.96363633e-01 -7.14062277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.371193817 meters 0.0588737684991679 Centerline is valid? [True, True] Translation: X:60.36, Y:-12.69, Z:-7.14 [[ 9.22717768e-01 3.77119003e-01 7.98321858e-02 6.03609951e+01] [-3.75690558e-01 9.26164773e-01 -3.27935649e-02 -1.26914348e+01] [-8.63048347e-02 2.67006538e-04 9.96268741e-01 -7.14326903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.401193817 meters 0.059367762116268215 Centerline is valid? [True, True] Translation: X:60.39, Y:-12.71, Z:-7.15 [[ 9.24173725e-01 3.73380484e-01 8.05601612e-02 6.03876985e+01] [-3.71908980e-01 9.27678065e-01 -3.31227911e-02 -1.27104816e+01] [-8.71012982e-02 6.50165929e-04 9.96199248e-01 -7.14747651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.431193817 meters 0.059979586676771154 Centerline is valid? [True, True] Translation: X:60.41, Y:-12.73, Z:-7.15 [[ 9.25104037e-01 3.71047106e-01 8.06632903e-02 6.04139754e+01] [-3.69561384e-01 9.28613621e-01 -3.31832293e-02 -1.27267409e+01] [-8.72175713e-02 8.87902182e-04 9.96188891e-01 -7.15194840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.461193817 meters 0.06071482942131544 Centerline is valid? [True, True] Translation: X:60.44, Y:-12.74, Z:-7.16 [[ 9.26347778e-01 3.68136117e-01 7.97219753e-02 6.04409753e+01] [-3.66672157e-01 9.29771171e-01 -3.28191873e-02 -1.27441231e+01] [-8.62051225e-02 1.17015256e-03 9.96276722e-01 -7.15645850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.491193817 meters 0.061975924738864645 Centerline is valid? [True, True] Translation: X:60.47, Y:-12.76, Z:-7.16 [[ 9.28041404e-01 3.63768195e-01 8.00740503e-02 6.04664344e+01] [-3.62272662e-01 9.31488118e-01 -3.29909768e-02 -1.27624144e+01] [-8.65890945e-02 1.60835306e-03 9.96242813e-01 -7.16062552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.521193817000004 meters 0.06403285629242111 Centerline is valid? [True, True] Translation: X:60.49, Y:-12.78, Z:-7.16 [[ 9.30107575e-01 3.58456973e-01 8.00530901e-02 6.04918584e+01] [-3.56940474e-01 9.33543830e-01 -3.30063048e-02 -1.27813412e+01] [-8.65644085e-02 2.12522624e-03 9.96243989e-01 -7.16479170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.551193817000005 meters 0.06880634594370068 Centerline is valid? [True, True] Translation: X:60.52, Y:-12.80, Z:-7.17 [[ 9.35273465e-01 3.45465349e-01 7.69235903e-02 6.05155974e+01] [-3.44018941e-01 9.38425961e-01 -3.17440382e-02 -1.28048844e+01] [-8.31535594e-02 3.22618447e-03 9.96531523e-01 -7.16931947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.581193817 meters 0.07474562588985842 Centerline is valid? [True, True] Translation: X:60.54, Y:-12.83, Z:-7.18 [[ 9.37655395e-01 3.39340829e-01 7.51675658e-02 6.05378283e+01] [-3.37939768e-01 9.40656260e-01 -3.10244019e-02 -1.28266678e+01] [-8.12346876e-02 3.68808806e-03 9.96688178e-01 -7.17720991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.611193817 meters 0.07312230876410758 Centerline is valid? [True, True] Translation: X:60.57, Y:-12.84, Z:-7.18 [[ 9.39660819e-01 3.33917508e-01 7.44086169e-02 6.05675928e+01] [-3.32527212e-01 9.42593294e-01 -3.07170247e-02 -1.28351607e+01] [-8.03940156e-02 4.12069462e-03 9.96754645e-01 -7.17593218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.641193817 meters 0.07546241581117735 Centerline is valid? [True, True] Translation: X:60.60, Y:-12.85, Z:-7.18 [[ 9.41028571e-01 3.30275656e-01 7.33704240e-02 6.05956770e+01] [-3.28912871e-01 9.43874404e-01 -3.02891630e-02 -1.28486212e+01] [-7.92562384e-02 4.37049101e-03 9.96844696e-01 -7.18025188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.671193817 meters 0.07810778011258955 Centerline is valid? [True, True] Translation: X:60.63, Y:-12.86, Z:-7.18 [[ 9.42068570e-01 3.26770549e-01 7.56823454e-02 6.06273509e+01] [-3.25308939e-01 9.45091436e-01 -3.12453361e-02 -1.28564183e+01] [-8.17367922e-02 4.81510557e-03 9.96642319e-01 -7.18341583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.701193817000004 meters 0.07847479376735007 Centerline is valid? [True, True] Translation: X:60.66, Y:-12.86, Z:-7.19 [[ 9.41507011e-01 3.28206198e-01 7.64541604e-02 6.06581314e+01] [-3.26718942e-01 9.44594199e-01 -3.15678879e-02 -1.28631671e+01] [-8.25789329e-02 4.74236542e-03 9.96573244e-01 -7.18701030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.731193817000005 meters 0.07685181819910639 Centerline is valid? [True, True] Translation: X:60.69, Y:-12.87, Z:-7.19 [[ 9.40804516e-01 3.30282153e-01 7.61614210e-02 6.06913235e+01] [-3.28811067e-01 9.43871208e-01 -3.14710348e-02 -1.28655751e+01] [-8.22808935e-02 4.56537357e-03 9.96598722e-01 -7.19027506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.761193817 meters 0.07506745066846633 Centerline is valid? [True, True] Translation: X:60.73, Y:-12.86, Z:-7.20 [[ 9.39701235e-01 3.33568630e-01 7.54556637e-02 6.07278959e+01] [-3.32132443e-01 9.42716146e-01 -3.12139131e-02 -1.28595286e+01] [-8.15452547e-02 4.27047878e-03 9.96660491e-01 -7.19593316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.791193817 meters 0.0768325134672027 Centerline is valid? [True, True] Translation: X:60.76, Y:-12.87, Z:-7.20 [[ 9.39115162e-01 3.35292369e-01 7.51115138e-02 6.07581797e+01] [-3.33874910e-01 9.42105204e-01 -3.10697468e-02 -1.28671045e+01] [-8.11803971e-02 4.10022035e-03 9.96690991e-01 -7.20306190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.821193817 meters 0.07358998532626719 Centerline is valid? [True, True] Translation: X:60.79, Y:-12.87, Z:-7.21 [[ 9.38610463e-01 3.36966162e-01 7.39202585e-02 6.07925604e+01] [-3.35596779e-01 9.41508625e-01 -3.05991876e-02 -1.28670581e+01] [-7.99074517e-02 3.91331697e-03 9.96794605e-01 -7.20507620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.851193817 meters 0.07586227607049438 Centerline is valid? [True, True] Translation: X:60.82, Y:-12.88, Z:-7.21 [[ 9.38277577e-01 3.38130280e-01 7.28224042e-02 6.08226369e+01] [-3.36802913e-01 9.41091719e-01 -3.01690988e-02 -1.28766457e+01] [-7.87336474e-02 3.78019107e-03 9.96888521e-01 -7.21246053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.881193817 meters 0.07215040673873171 Centerline is valid? [True, True] Translation: X:60.86, Y:-12.87, Z:-7.21 [[ 9.36912669e-01 3.41807431e-01 7.32279417e-02 6.08599095e+01] [-3.40473295e-01 9.39763394e-01 -3.03759458e-02 -1.28683820e+01] [-7.91996630e-02 3.52744987e-03 9.96852532e-01 -7.21298183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.911193817000004 meters 0.07123720331839996 Centerline is valid? [True, True] Translation: X:60.89, Y:-12.87, Z:-7.22 [[ 9.35984506e-01 3.43989629e-01 7.48608092e-02 6.08933474e+01] [-3.42602127e-01 9.38967225e-01 -3.10536951e-02 -1.28708205e+01] [-8.09739953e-02 3.41830494e-03 9.96710353e-01 -7.21529473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.941193817 meters 0.06975079705049385 Centerline is valid? [True, True] Translation: X:60.93, Y:-12.87, Z:-7.22 [[ 9.34714854e-01 3.47234359e-01 7.57392967e-02 6.09261102e+01] [-3.45824112e-01 9.37772992e-01 -3.14244948e-02 -1.28726252e+01] [-8.19379312e-02 3.18046711e-03 9.96632360e-01 -7.21808267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.971193817 meters 0.06975079705049385 Centerline is valid? [True, True] Translation: X:60.96, Y:-12.89, Z:-7.22 [[ 9.34600747e-01 3.47540876e-01 7.57415506e-02 6.09558389e+01] [-3.46132071e-01 9.37659550e-01 -3.14190680e-02 -1.28852583e+01] [-8.19391986e-02 3.14770462e-03 9.96632359e-01 -7.22179614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.001193817 meters 0.06816538729633867 Centerline is valid? [True, True] Translation: X:60.99, Y:-12.89, Z:-7.22 [[ 9.33359745e-01 3.50759995e-01 7.62037557e-02 6.09887749e+01] [-3.49341307e-01 9.36460837e-01 -3.16504767e-02 -1.28874050e+01] [-8.24635539e-02 2.92016124e-03 9.96589803e-01 -7.22442715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.031193817 meters 0.0661575130941098 Centerline is valid? [True, True] Translation: X:61.02, Y:-12.89, Z:-7.23 [[ 9.32078183e-01 3.54032071e-01 7.67564599e-02 6.10220421e+01] [-3.52603420e-01 9.35229518e-01 -3.18838031e-02 -1.28895655e+01] [-8.30727959e-02 2.65360698e-03 9.96539949e-01 -7.22637500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.061193817 meters 0.06487440930770082 Centerline is valid? [True, True] Translation: X:61.05, Y:-12.89, Z:-7.23 [[ 9.31002906e-01 3.56649467e-01 7.76836382e-02 6.10545818e+01] [-3.55194766e-01 9.34235056e-01 -3.22728841e-02 -1.28933686e+01] [-8.40848850e-02 2.45332719e-03 9.96455575e-01 -7.22876222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.091193817000004 meters 0.06562944417338491 Centerline is valid? [True, True] Translation: X:61.09, Y:-12.90, Z:-7.23 [[ 9.29903298e-01 3.58763299e-01 8.10478324e-02 6.10857156e+01] [-3.57187424e-01 9.33425579e-01 -3.36724237e-02 -1.28971233e+01] [-8.77325498e-02 2.36283144e-03 9.96141263e-01 -7.23332769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.121193817 meters 0.06385685871140277 Centerline is valid? [True, True] Translation: X:61.12, Y:-12.90, Z:-7.23 [[ 9.29575354e-01 3.59694416e-01 8.06820190e-02 6.11192197e+01] [-3.58135627e-01 9.33067397e-01 -3.35276670e-02 -1.29007257e+01] [-8.73414761e-02 2.27138744e-03 9.96175842e-01 -7.23403293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.151193817 meters 0.06372823267480493 Centerline is valid? [True, True] Translation: X:61.15, Y:-12.91, Z:-7.24 [[ 9.29426093e-01 3.60276717e-01 7.97986498e-02 6.11493631e+01] [-3.58750972e-01 9.32842823e-01 -3.31964997e-02 -1.29072030e+01] [-8.63995237e-02 2.22584989e-03 9.96258083e-01 -7.23923015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.181193817 meters 0.06444554032180787 Centerline is valid? [True, True] Translation: X:61.18, Y:-12.92, Z:-7.25 [[ 9.29442276e-01 3.60627551e-01 7.80052815e-02 6.11776026e+01] [-3.59170925e-01 9.32707442e-01 -3.24511239e-02 -1.29155008e+01] [-8.44588759e-02 2.14421744e-03 9.96424659e-01 -7.24644072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.211193817 meters 0.0645855384474109 Centerline is valid? [True, True] Translation: X:61.21, Y:-12.92, Z:-7.25 [[ 9.29748015e-01 3.60481710e-01 7.49770960e-02 6.12067523e+01] [-3.59135734e-01 9.32763978e-01 -3.11911095e-02 -1.29197635e+01] [-8.11797589e-02 2.07291777e-03 9.96697321e-01 -7.25307189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.241193817 meters 0.06456386098461957 Centerline is valid? [True, True] Translation: X:61.23, Y:-12.93, Z:-7.26 [[ 9.29729774e-01 3.60689196e-01 7.42014269e-02 6.12341774e+01] [-3.59372005e-01 9.32683862e-01 -3.08638133e-02 -1.29281992e+01] [-8.03387174e-02 2.02909056e-03 9.96765556e-01 -7.25732830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.271193817000004 meters 0.06533794625093296 Centerline is valid? [True, True] Translation: X:61.26, Y:-12.93, Z:-7.27 [[ 9.28465844e-01 3.64164817e-01 7.30421915e-02 6.12612528e+01] [-3.62899731e-01 9.31332975e-01 -3.03755625e-02 -1.29329282e+01] [-7.90883127e-02 1.69568063e-03 9.96866171e-01 -7.26772738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.301193817000005 meters 0.06394339767685844 Centerline is valid? [True, True] Translation: X:61.29, Y:-12.94, Z:-7.27 [[ 9.27824918e-01 3.66027936e-01 7.18642613e-02 6.12913307e+01] [-3.64809734e-01 9.30602650e-01 -2.98758429e-02 -1.29369078e+01] [-7.78124651e-02 1.50276941e-03 9.96966881e-01 -7.26814893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.331193817 meters 0.06295011157689057 Centerline is valid? [True, True] Translation: X:61.32, Y:-12.94, Z:-7.27 [[ 9.27516589e-01 3.67076781e-01 7.04813094e-02 6.13198896e+01] [-3.65908578e-01 9.30189619e-01 -2.92947879e-02 -1.29423668e+01] [-7.63144189e-02 1.38168605e-03 9.97082845e-01 -7.26936783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.361193817 meters 0.06308727046980565 Centerline is valid? [True, True] Translation: X:61.35, Y:-12.95, Z:-7.27 [[ 9.27428601e-01 3.67452715e-01 6.96756296e-02 6.13473858e+01] [-3.66312674e-01 9.30041255e-01 -2.89532113e-02 -1.29515899e+01] [-7.54401461e-02 1.32897000e-03 9.97149446e-01 -7.27407787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.391193817 meters 0.06342828119670905 Centerline is valid? [True, True] Translation: X:61.37, Y:-12.96, Z:-7.28 [[ 9.27787762e-01 3.66534564e-01 6.97300712e-02 6.13724328e+01] [-3.65390604e-01 9.30403383e-01 -2.89698203e-02 -1.29643681e+01] [-7.54955346e-02 1.39913186e-03 9.97145158e-01 -7.27748667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.421193817 meters 0.0630791600556665 Centerline is valid? [True, True] Translation: X:61.40, Y:-12.97, Z:-7.28 [[ 9.27376823e-01 3.67351880e-01 7.08859928e-02 6.13992547e+01] [-3.66172743e-01 9.30081064e-01 -2.94404041e-02 -1.29746867e+01] [-7.67447073e-02 1.34583002e-03 9.97049868e-01 -7.28000050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.451193817000004 meters 0.06255275594966743 Centerline is valid? [True, True] Translation: X:61.43, Y:-12.98, Z:-7.28 [[ 9.26985014e-01 3.68234291e-01 7.14303213e-02 6.14268886e+01] [-3.67040095e-01 9.29732154e-01 -2.96595700e-02 -1.29826505e+01] [-7.73327372e-02 1.27618499e-03 9.97004523e-01 -7.28165467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.481193817000005 meters 0.06148685875599907 Centerline is valid? [True, True] Translation: X:61.46, Y:-12.99, Z:-7.28 [[ 9.25721857e-01 3.71102277e-01 7.29530238e-02 6.14555842e+01] [-3.69865991e-01 9.28591402e-01 -3.02845888e-02 -1.29881599e+01] [-7.89822306e-02 1.05226338e-03 9.96875469e-01 -7.28253860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.511193817 meters 0.0603771936283476 Centerline is valid? [True, True] Translation: X:61.49, Y:-12.99, Z:-7.28 [[ 9.22590800e-01 3.78259036e-01 7.58044683e-02 6.14854406e+01] [-3.76948781e-01 9.25699681e-01 -3.14597712e-02 -1.29905311e+01] [-8.20721148e-02 4.50093565e-04 9.96626292e-01 -7.28490425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.541193817 meters 0.06016216391037449 Centerline is valid? [True, True] Translation: X:61.51, Y:-13.00, Z:-7.29 [[ 9.20834970e-01 3.82308759e-01 7.68307920e-02 6.15124399e+01] [-3.80977141e-01 9.24034634e-01 -3.18812359e-02 -1.29982793e+01] [-8.31827885e-02 8.65814245e-05 9.96534303e-01 -7.28822374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.571193817 meters 0.060069831259121624 Centerline is valid? [True, True] Translation: X:61.54, Y:-13.01, Z:-7.29 [[ 9.19466771e-01 3.85612377e-01 7.67069187e-02 6.15390845e+01] [-3.84296645e-01 9.22660853e-01 -3.18282779e-02 -1.30070535e+01] [-8.30478489e-02 -2.13167603e-04 9.96545538e-01 -7.29103206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.601193817 meters 0.060309687838653425 Centerline is valid? [True, True] Translation: X:61.57, Y:-13.02, Z:-7.29 [[ 9.17462774e-01 3.90245494e-01 7.72690883e-02 6.15652296e+01] [-3.88929740e-01 9.20710598e-01 -3.20258000e-02 -1.30160256e+01] [-8.36403927e-02 -6.69767092e-04 9.96495778e-01 -7.29420379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.631193817 meters 0.05996903277472193 Centerline is valid? [True, True] Translation: X:61.59, Y:-13.03, Z:-7.30 [[ 9.17304242e-01 3.90404903e-01 7.83386206e-02 6.15914217e+01] [-3.89053275e-01 9.20642996e-01 -3.24657275e-02 -1.30287443e+01] [-8.47966815e-02 -6.96947367e-04 9.96398031e-01 -7.29593332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.661193817000004 meters 0.05989283184343746 Centerline is valid? [True, True] Translation: X:61.62, Y:-13.04, Z:-7.30 [[ 9.17618061e-01 3.89630826e-01 7.85169598e-02 6.16164981e+01] [-3.88272253e-01 9.20970900e-01 -3.25155264e-02 -1.30419907e+01] [-8.49808865e-02 -6.49122637e-04 9.96382370e-01 -7.29951393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.691193817 meters 0.05936511445266591 Centerline is valid? [True, True] Translation: X:61.64, Y:-13.06, Z:-7.30 [[ 9.18340260e-01 3.87911346e-01 7.85872440e-02 6.16415843e+01] [-3.86547087e-01 9.21696541e-01 -3.25090091e-02 -1.30581349e+01] [-8.50442045e-02 -5.23338436e-04 9.96377042e-01 -7.29822208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.721193817 meters 0.06000291744164451 Centerline is valid? [True, True] Translation: X:61.66, Y:-13.07, Z:-7.31 [[ 9.19248652e-01 3.85935439e-01 7.76901079e-02 6.16642502e+01] [-3.84595602e-01 9.22525729e-01 -3.21325712e-02 -1.30725656e+01] [-8.40722214e-02 -3.41451035e-04 9.96459605e-01 -7.30931697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.751193817 meters 0.05989300852009352 Centerline is valid? [True, True] Translation: X:61.68, Y:-13.10, Z:-7.31 [[ 9.20877180e-01 3.82177842e-01 7.69760770e-02 6.16840944e+01] [-3.80850781e-01 9.24088793e-01 -3.18211431e-02 -1.30988681e+01] [-8.32940658e-02 -1.30345242e-05 9.96525011e-01 -7.31057009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.781193817 meters 0.059618992443128994 Centerline is valid? [True, True] Translation: X:61.71, Y:-13.12, Z:-7.31 [[ 9.21187048e-01 3.81406697e-01 7.70931480e-02 6.17075112e+01] [-3.80073558e-01 9.24407339e-01 -3.18616098e-02 -1.31160892e+01] [-8.34177032e-02 4.94352788e-05 9.96514668e-01 -7.31091136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.811193817 meters 0.05950113874205878 Centerline is valid? [True, True] Translation: X:61.73, Y:-13.13, Z:-7.31 [[ 9.20945565e-01 3.81785557e-01 7.80964393e-02 6.17313598e+01] [-3.80419788e-01 9.24250934e-01 -3.22644798e-02 -1.31300360e+01] [-8.44988194e-02 4.39872955e-06 9.96423579e-01 -7.31323284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.841193817000004 meters 0.059286761915996584 Centerline is valid? [True, True] Translation: X:61.76, Y:-13.14, Z:-7.31 [[ 9.20252146e-01 3.83594718e-01 7.74020648e-02 6.17581005e+01] [-3.82260342e-01 9.23501523e-01 -3.19682250e-02 -1.31421079e+01] [-8.37437670e-02 -1.68912150e-04 9.96487307e-01 -7.31452808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.871193817 meters 0.06026459769002609 Centerline is valid? [True, True] Translation: X:61.78, Y:-13.15, Z:-7.32 [[ 9.17947376e-01 3.89612309e-01 7.46650142e-02 6.17838939e+01] [-3.88391158e-01 9.20978698e-01 -3.08309349e-02 -1.31514910e+01] [-8.07769993e-02 -6.98055543e-04 9.96731954e-01 -7.32340655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.901193817 meters 0.06056181235660751 Centerline is valid? [True, True] Translation: X:61.81, Y:-13.16, Z:-7.33 [[ 9.16782951e-01 3.92692908e-01 7.28100346e-02 6.18104177e+01] [-3.91542111e-01 9.19669165e-01 -3.00566598e-02 -1.31642457e+01] [-7.87641809e-02 -9.52761382e-04 9.96892821e-01 -7.32574507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.931193817 meters 0.06124598490514736 Centerline is valid? [True, True] Translation: X:61.84, Y:-13.18, Z:-7.33 [[ 9.15525448e-01 3.95750997e-01 7.20715151e-02 6.18359848e+01] [-3.94633045e-01 9.18357064e-01 -2.97500021e-02 -1.31764755e+01] [-7.79609780e-02 -1.20491752e-03 9.96955683e-01 -7.33056074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.961193817 meters 0.06198933079224808 Centerline is valid? [True, True] Translation: X:61.86, Y:-13.19, Z:-7.33 [[ 9.14375508e-01 3.98571916e-01 7.11186143e-02 6.18618700e+01] [-3.97492504e-01 9.17135962e-01 -2.93485318e-02 -1.31904409e+01] [-7.69229393e-02 -1.43353740e-03 9.97036011e-01 -7.33446806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.991193817 meters 0.06279910526316683 Centerline is valid? [True, True] Translation: X:61.89, Y:-13.21, Z:-7.34 [[ 9.12643672e-01 4.02490903e-01 7.12923672e-02 6.18851127e+01] [-4.01418185e-01 9.15422277e-01 -2.94193119e-02 -1.32086949e+01] [-7.71036265e-02 -1.76870385e-03 9.97021516e-01 -7.33609498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.021193817000004 meters 0.062011341267670744 Centerline is valid? [True, True] Translation: X:61.91, Y:-13.23, Z:-7.34 [[ 9.12456123e-01 4.02780991e-01 7.20506510e-02 6.19093991e+01] [-4.01686920e-01 9.15294574e-01 -2.97230635e-02 -1.32269290e+01] [-7.79194549e-02 -1.82081278e-03 9.96957995e-01 -7.33557988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.051193817000005 meters 0.061696013283377565 Centerline is valid? [True, True] Translation: X:61.93, Y:-13.24, Z:-7.34 [[ 9.13013458e-01 4.01405496e-01 7.26639784e-02 6.19320249e+01] [-4.00288848e-01 9.15898824e-01 -2.99696885e-02 -1.32445311e+01] [-7.85828501e-02 -1.72385133e-03 9.96906096e-01 -7.33918830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.081193817 meters 0.060717673559069575 Centerline is valid? [True, True] Translation: X:61.96, Y:-13.27, Z:-7.34 [[ 9.14291904e-01 3.98551537e-01 7.22979064e-02 6.19565185e+01] [-3.97438326e-01 9.17144738e-01 -2.98044740e-02 -1.32667563e+01] [-7.81862633e-02 -1.48396959e-03 9.96937664e-01 -7.34193457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.111193817 meters 0.05979146863725555 Centerline is valid? [True, True] Translation: X:61.98, Y:-13.30, Z:-7.35 [[ 9.17454837e-01 3.91397768e-01 7.13050455e-02 6.19773298e+01] [-3.90293770e-01 9.20221189e-01 -2.93893929e-02 -1.32972833e+01] [-7.71193566e-02 -8.66474315e-04 9.97021491e-01 -7.34875708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.141193817 meters 0.05965660324379271 Centerline is valid? [True, True] Translation: X:62.00, Y:-13.32, Z:-7.35 [[ 9.19011560e-01 3.87826903e-01 7.07675505e-02 6.20015980e+01] [-3.86727187e-01 9.21732065e-01 -2.91904557e-02 -1.33180041e+01] [-7.65495646e-02 -5.41369504e-04 9.97065630e-01 -7.35449511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.171193817 meters 0.059165721025092155 Centerline is valid? [True, True] Translation: X:62.03, Y:-13.34, Z:-7.35 [[ 9.20383145e-01 3.84469648e-01 7.12597750e-02 6.20272484e+01] [-3.83342859e-01 9.23137601e-01 -2.94146573e-02 -1.33403230e+01] [-7.70916207e-02 -2.44171150e-04 9.97023983e-01 -7.35471261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.201193817000004 meters 0.059611601196880803 Centerline is valid? [True, True] Translation: X:62.05, Y:-13.37, Z:-7.36 [[ 9.22887876e-01 3.78069279e-01 7.30861665e-02 6.20469860e+01] [-3.76861651e-01 9.25777249e-01 -3.01957055e-02 -1.33736939e+01] [-7.90775788e-02 3.23877194e-04 9.96868412e-01 -7.35972921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.231193817000005 meters 0.05929879649829233 Centerline is valid? [True, True] Translation: X:62.07, Y:-13.39, Z:-7.36 [[ 9.23870891e-01 3.75574822e-01 7.35263826e-02 6.20744115e+01] [-3.74342975e-01 9.26791907e-01 -3.03989929e-02 -1.33946014e+01] [-7.95607527e-02 5.60659901e-04 9.96829861e-01 -7.35844072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.261193817 meters 0.05925569322412138 Centerline is valid? [True, True] Translation: X:62.10, Y:-13.41, Z:-7.36 [[ 9.25136953e-01 3.72414696e-01 7.36811522e-02 6.21015632e+01] [-3.71165214e-01 9.28066027e-01 -3.04931646e-02 -1.34129686e+01] [-7.97370768e-02 8.62472678e-04 9.96815557e-01 -7.36006627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.291193817 meters 0.060530242514667314 Centerline is valid? [True, True] Translation: X:62.13, Y:-13.43, Z:-7.37 [[ 9.26553775e-01 3.68880914e-01 7.36544141e-02 6.21270509e+01] [-3.67618681e-01 9.29475896e-01 -3.05133309e-02 -1.34310566e+01] [-7.97157879e-02 1.19550331e-03 9.96816916e-01 -7.36687336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.321193817 meters 0.061039019992873436 Centerline is valid? [True, True] Translation: X:62.15, Y:-13.45, Z:-7.37 [[ 9.28265948e-01 3.64554623e-01 7.36359685e-02 6.21547239e+01] [-3.63278715e-01 9.31180673e-01 -3.05144098e-02 -1.34477952e+01] [-7.96925599e-02 1.57510746e-03 9.96818246e-01 -7.36750821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.351193817 meters 0.06478163582659985 Centerline is valid? [True, True] Translation: X:62.18, Y:-13.47, Z:-7.37 [[ 9.31900631e-01 3.55150375e-01 7.36846376e-02 6.21761309e+01] [-3.53840542e-01 9.34806065e-01 -3.05694658e-02 -1.34738901e+01] [-7.97376033e-02 2.41509237e-03 9.96812962e-01 -7.37159206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.381193817 meters 0.06693564038143376 Centerline is valid? [True, True] Translation: X:62.20, Y:-13.49, Z:-7.37 [[ 9.34233854e-01 3.49036429e-01 7.33530983e-02 6.22017539e+01] [-3.47719397e-01 9.37104589e-01 -3.04337173e-02 -1.34921165e+01] [-7.93620011e-02 2.92591392e-03 9.96841568e-01 -7.37353729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.411193817000004 meters 0.06864972534249877 Centerline is valid? [True, True] Translation: X:62.23, Y:-13.51, Z:-7.38 [[ 9.36531578e-01 3.42775948e-01 7.35748188e-02 6.22284578e+01] [-3.41431548e-01 9.39410783e-01 -3.05266897e-02 -1.35080115e+01] [-7.95807932e-02 3.46844465e-03 9.96822385e-01 -7.37508691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.441193817 meters 0.07474197085418434 Centerline is valid? [True, True] Translation: X:62.25, Y:-13.53, Z:-7.38 [[ 9.38851908e-01 3.36406091e-01 7.34032532e-02 6.22508030e+01] [-3.35048099e-01 9.41708503e-01 -3.04609032e-02 -1.35292556e+01] [-7.93717011e-02 4.00465664e-03 9.96837046e-01 -7.38239806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.471193817 meters 0.08147257503508108 Centerline is valid? [True, True] Translation: X:62.28, Y:-13.55, Z:-7.39 [[ 9.42744197e-01 3.25623599e-01 7.21294033e-02 6.22754756e+01] [-3.24281017e-01 9.45487162e-01 -2.99307354e-02 -1.35496627e+01] [-7.79435786e-02 4.82683085e-03 9.96946087e-01 -7.38628458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.501193817 meters 0.08603329568173863 Centerline is valid? [True, True] Translation: X:62.30, Y:-13.57, Z:-7.39 [[ 9.44094728e-01 3.21626797e-01 7.23971548e-02 6.23006865e+01] [-3.20262369e-01 9.46852360e-01 -3.00436904e-02 -1.35653305e+01] [-7.82122728e-02 5.17800546e-03 9.96923281e-01 -7.39034342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.531193817 meters 0.08339185850199239 Centerline is valid? [True, True] Translation: X:62.33, Y:-13.57, Z:-7.39 [[ 9.44961684e-01 3.18850449e-01 7.33607948e-02 6.23323436e+01] [-3.17440521e-01 9.47789157e-01 -3.04504411e-02 -1.35698576e+01] [-7.92397026e-02 5.48681122e-03 9.96840491e-01 -7.38917543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.561193817 meters 0.0839961302399087 Centerline is valid? [True, True] Translation: X:62.36, Y:-13.58, Z:-7.39 [[ 9.45210496e-01 3.17919796e-01 7.41897691e-02 6.23638310e+01] [-3.16475560e-01 9.48100952e-01 -3.07864494e-02 -1.35778054e+01] [-8.01270123e-02 5.62042640e-03 9.96768816e-01 -7.39233046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.591193817000004 meters 0.0821768696857335 Centerline is valid? [True, True] Translation: X:62.40, Y:-13.58, Z:-7.40 [[ 9.45096250e-01 3.18414678e-01 7.35198733e-02 6.23982317e+01] [-3.16996108e-01 9.47935279e-01 -3.05315341e-02 -1.35811532e+01] [-7.94137703e-02 5.54972468e-03 9.96826291e-01 -7.39500193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.621193817000005 meters 0.07938249945940772 Centerline is valid? [True, True] Translation: X:62.43, Y:-13.57, Z:-7.40 [[ 9.43580268e-01 3.23153239e-01 7.23067218e-02 6.24344317e+01] [-3.21791796e-01 9.46332886e-01 -3.00684157e-02 -1.35731447e+01] [-7.81429347e-02 5.10425387e-03 9.96929099e-01 -7.39840821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.651193817 meters 0.07765149975279055 Centerline is valid? [True, True] Translation: X:62.47, Y:-13.57, Z:-7.40 [[ 9.42186583e-01 3.27078931e-01 7.28273046e-02 6.24669456e+01] [-3.25709291e-01 9.44984756e-01 -3.02864446e-02 -1.35738337e+01] [-7.87267506e-02 4.81495194e-03 9.96884605e-01 -7.40244129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.681193817 meters 0.07177712410654352 Centerline is valid? [True, True] Translation: X:62.51, Y:-13.56, Z:-7.40 [[ 9.39143701e-01 3.35959847e-01 7.16944216e-02 6.25061978e+01] [-3.34658072e-01 9.41867774e-01 -2.98172811e-02 -1.35596071e+01] [-7.75440745e-02 4.00959476e-03 9.96980862e-01 -7.40495524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.711193817 meters 0.07127812442800174 Centerline is valid? [True, True] Translation: X:62.54, Y:-13.56, Z:-7.41 [[ 9.37576372e-01 3.40119335e-01 7.25905289e-02 6.25370980e+01] [-3.38797009e-01 9.40374951e-01 -3.01917056e-02 -1.35612986e+01] [-7.85310979e-02 3.71357571e-03 9.96904748e-01 -7.41041056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.741193817 meters 0.06766682348478188 Centerline is valid? [True, True] Translation: X:62.57, Y:-13.56, Z:-7.41 [[ 9.36132832e-01 3.44113378e-01 7.23968509e-02 6.25723701e+01] [-3.42810124e-01 9.38922062e-01 -3.01094618e-02 -1.35579947e+01] [-7.83360692e-02 3.36808230e-03 9.96921319e-01 -7.41171950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.771193817000004 meters 0.06812781046246938 Centerline is valid? [True, True] Translation: X:62.60, Y:-13.56, Z:-7.42 [[ 9.35189189e-01 3.46597736e-01 7.27405697e-02 6.26036113e+01] [-3.45289239e-01 9.38008478e-01 -3.02561777e-02 -1.35613294e+01] [-7.87179938e-02 3.17871432e-03 9.96891856e-01 -7.41840412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.801193817000005 meters 0.0646099874324919 Centerline is valid? [True, True] Translation: X:62.64, Y:-13.55, Z:-7.42 [[ 9.33614138e-01 3.50822061e-01 7.27222228e-02 6.26418457e+01] [-3.49526685e-01 9.36437877e-01 -3.02522618e-02 -1.35514036e+01] [-7.87130047e-02 2.82558192e-03 9.96893314e-01 -7.41939651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.831193817 meters 0.0640116607239617 Centerline is valid? [True, True] Translation: X:62.68, Y:-13.56, Z:-7.42 [[ 9.32979265e-01 3.52737760e-01 7.15944394e-02 6.26751034e+01] [-3.51487860e-01 9.35718542e-01 -2.97841210e-02 -1.35555787e+01] [-7.74982286e-02 2.62339106e-03 9.96989038e-01 -7.42445378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.861193817 meters 0.06460885358644478 Centerline is valid? [True, True] Translation: X:62.70, Y:-13.56, Z:-7.43 [[ 9.32342910e-01 3.54772146e-01 6.98099055e-02 6.27048380e+01] [-3.53589455e-01 9.34949727e-01 -2.90431539e-02 -1.35619380e+01] [-7.55724541e-02 2.39413214e-03 9.97137439e-01 -7.43317576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.891193817 meters 0.06394786323041485 Centerline is valid? [True, True] Translation: X:62.73, Y:-13.57, Z:-7.44 [[ 9.31465041e-01 3.57137363e-01 6.94678414e-02 6.27335455e+01] [-3.55970082e-01 9.34049224e-01 -2.89369747e-02 -1.35663285e+01] [-7.52208581e-02 2.22530712e-03 9.97164415e-01 -7.43787898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.921193817 meters 0.06394786323041485 Centerline is valid? [True, True] Translation: X:62.76, Y:-13.58, Z:-7.44 [[ 9.31493590e-01 3.57062613e-01 6.94692919e-02 6.27596064e+01] [-3.55895385e-01 9.34077796e-01 -2.89334919e-02 -1.35770645e+01] [-7.52207913e-02 2.22756188e-03 9.97164415e-01 -7.44111813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.951193817000004 meters 0.061267755947388494 Centerline is valid? [True, True] Translation: X:62.79, Y:-13.57, Z:-7.44 [[ 9.30421185e-01 3.59960490e-01 6.88829753e-02 6.27920291e+01] [-3.58821290e-01 9.32965467e-01 -2.86830947e-02 -1.35741096e+01] [-7.45902181e-02 1.97068092e-03 9.97212322e-01 -7.44133993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.981193817000005 meters 0.06031814320468567 Centerline is valid? [True, True] Translation: X:62.82, Y:-13.58, Z:-7.44 [[ 9.29670684e-01 3.61751527e-01 6.96293868e-02 6.28216501e+01] [-3.60593006e-01 9.32272732e-01 -2.89868624e-02 -1.35782452e+01] [-7.53996204e-02 1.84036631e-03 9.97151699e-01 -7.44331314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.011193817 meters 0.05970416997183327 Centerline is valid? [True, True] Translation: X:62.85, Y:-13.58, Z:-7.45 [[ 9.28842016e-01 3.64029762e-01 6.88101934e-02 6.28496290e+01] [-3.62905006e-01 9.31385888e-01 -2.86406035e-02 -1.35818587e+01] [-7.45148751e-02 1.63103225e-03 9.97218568e-01 -7.44623079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.041193817 meters 0.05866262624498154 Centerline is valid? [True, True] Translation: X:62.88, Y:-13.58, Z:-7.45 [[ 9.26588200e-01 3.70482795e-01 6.46282164e-02 6.28812712e+01] [-3.69507120e-01 9.28838752e-01 -2.68898080e-02 -1.35798540e+01] [-6.99914031e-02 1.03519268e-03 9.97547057e-01 -7.45291647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07119381700001 meters 0.058316968428221004 Centerline is valid? [True, True] Translation: X:62.91, Y:-13.59, Z:-7.46 [[ 9.25313086e-01 3.73831648e-01 6.36049715e-02 6.29093925e+01] [-3.72894833e-01 9.27496260e-01 -2.64599810e-02 -1.35851378e+01] [-6.88849515e-02 7.65801410e-04 9.97624317e-01 -7.45793866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.101193817 meters 0.05749398200190085 Centerline is valid? [True, True] Translation: X:62.94, Y:-13.59, Z:-7.46 [[ 9.24129717e-01 3.76749732e-01 6.35917133e-02 6.29386529e+01] [-3.75820254e-01 9.26314925e-01 -2.64536879e-02 -1.35910119e+01] [-6.88723730e-02 5.47585281e-04 9.97625329e-01 -7.45906239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.131193817 meters 0.057056241876853854 Centerline is valid? [True, True] Translation: X:62.97, Y:-13.60, Z:-7.46 [[ 9.23172831e-01 3.78941206e-01 6.44630668e-02 6.29674623e+01] [-3.77993095e-01 9.25420676e-01 -2.67916498e-02 -1.35978906e+01] [-6.98079150e-02 3.66729086e-04 9.97560384e-01 -7.46123966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.161193817 meters 0.05661258642219664 Centerline is valid? [True, True] Translation: X:63.00, Y:-13.60, Z:-7.46 [[ 9.21325286e-01 3.83020749e-01 6.67444676e-02 6.29957441e+01] [-3.82017147e-01 9.23739739e-01 -2.77091081e-02 -1.36022154e+01] [-7.22676804e-02 3.15708831e-05 9.97385272e-01 -7.46256616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.191193817 meters 0.056706339605168715 Centerline is valid? [True, True] Translation: X:63.02, Y:-13.61, Z:-7.47 [[ 9.20805600e-01 3.84101557e-01 6.76981605e-02 6.30215826e+01] [-3.83072582e-01 9.23290848e-01 -2.80963867e-02 -1.36109053e+01] [-7.32969579e-02 -6.19989125e-05 9.97310158e-01 -7.46626454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.221193817 meters 0.05634225099944035 Centerline is valid? [True, True] Translation: X:63.05, Y:-13.62, Z:-7.47 [[ 9.20408139e-01 3.84732053e-01 6.94989510e-02 6.30480460e+01] [-3.83649416e-01 9.23028295e-01 -2.88425417e-02 -1.36228421e+01] [-7.52461486e-02 -1.16321834e-04 9.97164983e-01 -7.46723995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.251193817 meters 0.055654508674423744 Centerline is valid? [True, True] Translation: X:63.07, Y:-13.64, Z:-7.46 [[ 9.20678158e-01 3.83880667e-01 7.06212632e-02 6.30731867e+01] [-3.82762005e-01 9.23382710e-01 -2.92851324e-02 -1.36398796e+01] [-7.64524496e-02 -6.89545140e-05 9.97073226e-01 -7.46349419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.281193817 meters 0.056222816739107846 Centerline is valid? [True, True] Translation: X:63.10, Y:-13.65, Z:-7.47 [[ 9.20676518e-01 3.83767999e-01 7.12521683e-02 6.30977350e+01] [-3.82631468e-01 9.23429540e-01 -2.95134710e-02 -1.36519517e+01] [-7.71226827e-02 -9.09620926e-05 9.97021606e-01 -7.47177256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.311193817 meters 0.05551896062851947 Centerline is valid? [True, True] Translation: X:63.12, Y:-13.66, Z:-7.47 [[ 9.20604650e-01 3.83901536e-01 7.14611038e-02 6.31245970e+01] [-3.82759470e-01 9.23374030e-01 -2.95903674e-02 -1.36642842e+01] [-7.73451149e-02 -1.11384418e-04 9.97004374e-01 -7.46819339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.341193817 meters 0.055544396729042475 Centerline is valid? [True, True] Translation: X:63.15, Y:-13.68, Z:-7.47 [[ 9.20505427e-01 3.84254437e-01 7.08398604e-02 6.31508714e+01] [-3.83133090e-01 9.23227225e-01 -2.93347388e-02 -1.36760545e+01] [-7.66732912e-02 -1.38308344e-04 9.97056261e-01 -7.47193106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.371193817 meters 0.05617828324479593 Centerline is valid? [True, True] Translation: X:63.18, Y:-13.69, Z:-7.48 [[ 9.20519983e-01 3.84774685e-01 6.77598834e-02 6.31759169e+01] [-3.83752758e-01 9.23010509e-01 -2.80253677e-02 -1.36922103e+01] [-7.33265365e-02 -2.05131127e-04 9.97307965e-01 -7.47881470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.401193817 meters 0.05640861367123256 Centerline is valid? [True, True] Translation: X:63.20, Y:-13.71, Z:-7.48 [[ 9.20776817e-01 3.84392377e-01 6.64270599e-02 6.32006236e+01] [-3.83409404e-01 9.23169795e-01 -2.74728616e-02 -1.37075580e+01] [-7.18838138e-02 -1.72385382e-04 9.97412998e-01 -7.48270211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43119381700001 meters 0.05677647641719046 Centerline is valid? [True, True] Translation: X:63.23, Y:-13.72, Z:-7.49 [[ 9.21046072e-01 3.83863504e-01 6.57491018e-02 6.32252439e+01] [-3.82899640e-01 9.23389838e-01 -2.71859093e-02 -1.37236722e+01] [-7.11477308e-02 -1.35832434e-04 9.97465780e-01 -7.48747648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46119381700001 meters 0.0569521370270665 Centerline is valid? [True, True] Translation: X:63.25, Y:-13.74, Z:-7.49 [[ 9.21752495e-01 3.82326900e-01 6.47956772e-02 6.32493274e+01] [-3.81387467e-01 9.24027132e-01 -2.67854219e-02 -1.37403545e+01] [-7.01137511e-02 -2.27296778e-05 9.97539002e-01 -7.49196033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.491193817 meters 0.05854812999389951 Centerline is valid? [True, True] Translation: X:63.27, Y:-13.76, Z:-7.50 [[ 9.23302517e-01 3.79094244e-01 6.16442731e-02 6.32695729e+01] [-3.78237241e-01 9.25358045e-01 -2.54770200e-02 -1.37626396e+01] [-6.67012157e-02 2.06836962e-04 9.97772973e-01 -7.50341171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.521193817 meters 0.05865336304835499 Centerline is valid? [True, True] Translation: X:63.29, Y:-13.78, Z:-7.51 [[ 9.24110185e-01 3.77358860e-01 6.01718962e-02 6.32935303e+01] [-3.76539049e-01 9.26067054e-01 -2.48627433e-02 -1.37795640e+01] [-6.51053871e-02 3.18845746e-04 9.97878343e-01 -7.50512701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.551193817 meters 0.05870203056002185 Centerline is valid? [True, True] Translation: X:63.32, Y:-13.80, Z:-7.51 [[ 9.24481753e-01 3.76482474e-01 5.99535989e-02 6.33180101e+01] [-3.75667138e-01 9.26423665e-01 -2.47668101e-02 -1.37957152e+01] [-6.48667028e-02 3.73867154e-04 9.97893868e-01 -7.50791608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.581193817 meters 0.058501816815900186 Centerline is valid? [True, True] Translation: X:63.34, Y:-13.81, Z:-7.51 [[ 9.24358998e-01 3.76477805e-01 6.18458207e-02 6.33410524e+01] [-3.75610477e-01 9.26425559e-01 -2.55431549e-02 -1.38140876e+01] [-6.69119799e-02 3.81106835e-04 9.97758809e-01 -7.50805633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.611193817 meters 0.05840538679712578 Centerline is valid? [True, True] Translation: X:63.37, Y:-13.83, Z:-7.51 [[ 9.24341653e-01 3.76320816e-01 6.30488035e-02 6.33662240e+01] [-3.75419691e-01 9.26489336e-01 -2.60300873e-02 -1.38298000e+01] [-6.82097078e-02 3.90931591e-04 9.97670929e-01 -7.51003427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.641193817 meters 0.05780689403092424 Centerline is valid? [True, True] Translation: X:63.39, Y:-13.85, Z:-7.51 [[ 9.24820603e-01 3.75068498e-01 6.34860091e-02 6.33909950e+01] [-3.74152100e-01 9.26996973e-01 -2.62072098e-02 -1.38463334e+01] [-6.86808371e-02 4.83543945e-04 9.97638566e-01 -7.50867008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.671193817 meters 0.05844000985625204 Centerline is valid? [True, True] Translation: X:63.41, Y:-13.86, Z:-7.51 [[ 9.25795091e-01 3.72619844e-01 6.37016512e-02 6.34143358e+01] [-3.71691920e-01 9.27983844e-01 -2.62888082e-02 -1.38644444e+01] [-6.89098348e-02 6.60660600e-04 9.97622673e-01 -7.51255383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.701193817 meters 0.058507358413428974 Centerline is valid? [True, True] Translation: X:63.44, Y:-13.88, Z:-7.51 [[ 9.26979485e-01 3.69611996e-01 6.40000545e-02 6.34411361e+01] [-3.68669734e-01 9.29185783e-01 -2.63895403e-02 -1.38840175e+01] [-6.92218314e-02 8.67679354e-04 9.97600915e-01 -7.51216779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.731193817 meters 0.06126812385467124 Centerline is valid? [True, True] Translation: X:63.46, Y:-13.91, Z:-7.52 [[ 9.29808533e-01 3.61942791e-01 6.67346120e-02 6.34623521e+01] [-3.60896492e-01 9.32199060e-01 -2.75433119e-02 -1.39122213e+01] [-7.21790458e-02 1.52571907e-03 9.97390524e-01 -7.51674177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.761193817 meters 0.061331056218696035 Centerline is valid? [True, True] Translation: X:63.49, Y:-13.93, Z:-7.52 [[ 9.31280955e-01 3.58034526e-01 6.72834328e-02 6.34907348e+01] [-3.56959199e-01 9.33706488e-01 -2.77907341e-02 -1.39290067e+01] [-7.27730201e-02 1.86354114e-03 9.97346788e-01 -7.51548544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.791193817 meters 0.06489369464938602 Centerline is valid? [True, True] Translation: X:63.52, Y:-13.95, Z:-7.52 [[ 9.32704258e-01 3.54304117e-01 6.73153680e-02 6.35150625e+01] [-3.53216241e-01 9.35127715e-01 -2.78288314e-02 -1.39500818e+01] [-7.28083358e-02 2.17918830e-03 9.97343570e-01 -7.52445781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82119381700001 meters 0.0650785932203288 Centerline is valid? [True, True] Translation: X:63.54, Y:-13.97, Z:-7.52 [[ 9.33890595e-01 3.51067377e-01 6.78236856e-02 6.35431870e+01] [-3.49952791e-01 9.36346938e-01 -2.80616357e-02 -1.39652026e+01] [-7.33580252e-02 2.47140959e-03 9.97302608e-01 -7.52469226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.851193817 meters 0.06567206851873486 Centerline is valid? [True, True] Translation: X:63.57, Y:-13.98, Z:-7.53 [[ 9.34819645e-01 3.48665949e-01 6.74113363e-02 6.35720559e+01] [-3.47556494e-01 9.37243255e-01 -2.79206884e-02 -1.39800062e+01] [-7.29158136e-02 2.67156033e-03 9.97334521e-01 -7.52650057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.881193817 meters 0.06655855304232576 Centerline is valid? [True, True] Translation: X:63.60, Y:-13.99, Z:-7.53 [[ 9.35619975e-01 3.46330988e-01 6.83381947e-02 6.36012684e+01] [-3.45184730e-01 9.38107931e-01 -2.83021552e-02 -1.39936972e+01] [-7.39105159e-02 2.89076041e-03 9.97260688e-01 -7.52912322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.911193817 meters 0.06648903299742132 Centerline is valid? [True, True] Translation: X:63.63, Y:-14.01, Z:-7.53 [[ 9.35649596e-01 3.46220502e-01 6.84923112e-02 6.36323143e+01] [-3.45067106e-01 9.38148600e-01 -2.83883026e-02 -1.40054146e+01] [-7.40845783e-02 2.92706018e-03 9.97247666e-01 -7.53207057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.941193817 meters 0.06556494216533106 Centerline is valid? [True, True] Translation: X:63.66, Y:-14.01, Z:-7.53 [[ 9.35133652e-01 3.47603602e-01 6.85331272e-02 6.36628398e+01] [-3.46450331e-01 9.37637260e-01 -2.84347953e-02 -1.40143473e+01] [-7.41432508e-02 2.84700939e-03 9.97243537e-01 -7.53495719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.971193817 meters 0.06386474312143682 Centerline is valid? [True, True] Translation: X:63.69, Y:-14.02, Z:-7.54 [[ 9.32830657e-01 3.53399074e-01 7.02571004e-02 6.36943086e+01] [-3.52200315e-01 9.35469360e-01 -2.91892938e-02 -1.40152776e+01] [-7.60388342e-02 2.48409525e-03 9.97101763e-01 -7.53876929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.001193817 meters 0.06214365078217004 Centerline is valid? [True, True] Translation: X:63.73, Y:-14.02, Z:-7.54 [[ 9.31133571e-01 3.57599755e-01 7.15030659e-02 6.37267559e+01] [-3.56370589e-01 9.33872409e-01 -2.97039872e-02 -1.40194194e+01] [-7.73968790e-02 2.17678994e-03 9.96997986e-01 -7.54165828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.031193817 meters 0.06153703430736732 Centerline is valid? [True, True] Translation: X:63.76, Y:-14.03, Z:-7.55 [[ 9.29355838e-01 3.62080501e-01 7.20793765e-02 6.37569117e+01] [-3.60844320e-01 9.32145043e-01 -2.99498797e-02 -1.40256328e+01] [-7.80327010e-02 1.82466196e-03 9.96949130e-01 -7.54729876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.061193817 meters 0.059199592674546345 Centerline is valid? [True, True] Translation: X:63.79, Y:-14.03, Z:-7.55 [[ 9.26093393e-01 3.70495332e-01 7.13038338e-02 6.37903962e+01] [-3.69310114e-01 9.28833666e-01 -2.96320739e-02 -1.40252058e+01] [-7.72079464e-02 1.10884090e-03 9.97014395e-01 -7.55071256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.091193817 meters 0.05888588272556336 Centerline is valid? [True, True] Translation: X:63.82, Y:-14.03, Z:-7.56 [[ 9.24918729e-01 3.73505798e-01 7.08432299e-02 6.38186600e+01] [-3.72344342e-01 9.27627450e-01 -2.94449456e-02 -1.40326920e+01] [-7.67139826e-02 8.56105803e-04 9.97052773e-01 -7.55584944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.121193817 meters 0.05866284455812395 Centerline is valid? [True, True] Translation: X:63.85, Y:-14.04, Z:-7.56 [[ 9.24106141e-01 3.75666224e-01 7.00194894e-02 6.38458718e+01] [-3.74537974e-01 9.26754791e-01 -2.91009166e-02 -1.40404883e+01] [-7.58231287e-02 6.67378036e-04 9.97121060e-01 -7.55990067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.151193817 meters 0.05852709651982796 Centerline is valid? [True, True] Translation: X:63.87, Y:-14.05, Z:-7.56 [[ 9.23616859e-01 3.76720992e-01 7.08039013e-02 6.38732667e+01] [-3.75570920e-01 9.26326593e-01 -2.94198388e-02 -1.40489374e+01] [-7.66706075e-02 5.80772713e-04 9.97056308e-01 -7.56405139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18119381700001 meters 0.05854109246844693 Centerline is valid? [True, True] Translation: X:63.90, Y:-14.06, Z:-7.57 [[ 9.22747900e-01 3.78738675e-01 7.13675599e-02 6.39005453e+01] [-3.77576685e-01 9.25503564e-01 -2.96479266e-02 -1.40553078e+01] [-7.72797475e-02 4.10835342e-04 9.97009364e-01 -7.56979875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21119381700001 meters 0.058777669392103604 Centerline is valid? [True, True] Translation: X:63.93, Y:-14.07, Z:-7.57 [[ 9.22494102e-01 3.79493742e-01 7.06337884e-02 6.39268506e+01] [-3.78358505e-01 9.25194243e-01 -2.93335013e-02 -1.40659938e+01] [-7.64818546e-02 3.35087351e-04 9.97070917e-01 -7.57485678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.241193817 meters 0.05891480744268431 Centerline is valid? [True, True] Translation: X:63.95, Y:-14.08, Z:-7.58 [[ 9.22348808e-01 3.79954579e-01 7.00513689e-02 6.39522979e+01] [-3.78839743e-01 9.25005100e-01 -2.90863293e-02 -1.40766175e+01] [-7.58493574e-02 2.89498576e-04 9.97119246e-01 -7.57940543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.271193817 meters 0.05883682597412303 Centerline is valid? [True, True] Translation: X:63.98, Y:-14.09, Z:-7.58 [[ 9.21885872e-01 3.80965266e-01 7.06534228e-02 6.39788195e+01] [-3.79834946e-01 9.24589329e-01 -2.93255284e-02 -1.40876977e+01] [-7.64974085e-02 1.98151309e-04 9.97069760e-01 -7.58191203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.301193817 meters 0.059027013582837656 Centerline is valid? [True, True] Translation: X:64.00, Y:-14.10, Z:-7.59 [[ 9.21562814e-01 3.81503483e-01 7.19518771e-02 6.40028894e+01] [-3.80333296e-01 9.24367389e-01 -2.98582320e-02 -1.41008947e+01] [-7.79009883e-02 1.50541733e-04 9.96961089e-01 -7.58507263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.331193817 meters 0.059282064828140274 Centerline is valid? [True, True] Translation: X:64.03, Y:-14.11, Z:-7.59 [[ 9.22096219e-01 3.80416568e-01 7.08646382e-02 6.40269480e+01] [-3.79278892e-01 9.24815214e-01 -2.93996815e-02 -1.41137187e+01] [-7.67208215e-02 2.31873711e-04 9.97052587e-01 -7.58898632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.361193817 meters 0.05954707401417823 Centerline is valid? [True, True] Translation: X:64.05, Y:-14.13, Z:-7.59 [[ 9.22803117e-01 3.78599055e-01 7.13944247e-02 6.40523108e+01] [-3.77439731e-01 9.25560703e-01 -2.96080137e-02 -1.41276957e+01] [-7.72894399e-02 3.75274907e-04 9.97008627e-01 -7.59258634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.391193817 meters 0.059076419172114765 Centerline is valid? [True, True] Translation: X:64.08, Y:-14.14, Z:-7.59 [[ 9.24761636e-01 3.72879822e-01 7.60036505e-02 6.40793345e+01] [-3.71547217e-01 9.27879210e-01 -3.15093062e-02 -1.41445901e+01] [-8.22713917e-02 8.99652707e-04 9.96609557e-01 -7.58738911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.421193817 meters 0.060421033732524485 Centerline is valid? [True, True] Translation: X:64.11, Y:-14.16, Z:-7.59 [[ 9.25753826e-01 3.69921733e-01 7.83438834e-02 6.41052377e+01] [-3.68495781e-01 9.29062158e-01 -3.24710038e-02 -1.41626408e+01] [-8.47980673e-02 1.19076549e-03 9.96397446e-01 -7.59238322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.451193817 meters 0.06050724914477543 Centerline is valid? [True, True] Translation: X:64.13, Y:-14.18, Z:-7.59 [[ 9.27091062e-01 3.66369785e-01 7.92170653e-02 6.41334601e+01] [-3.64896727e-01 9.30468033e-01 -3.28575445e-02 -1.41795981e+01] [-8.57469584e-02 1.55588794e-03 9.96315732e-01 -7.59050443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.481193817 meters 0.06187421878563924 Centerline is valid? [True, True] Translation: X:64.16, Y:-14.20, Z:-7.59 [[ 9.30824794e-01 3.56857912e-01 7.88519768e-02 6.41586809e+01] [-3.55361277e-01 9.34155449e-01 -3.27407875e-02 -1.42013222e+01] [-8.53438128e-02 2.45499758e-03 9.96348537e-01 -7.58868594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.511193817 meters 0.06465657269728961 Centerline is valid? [True, True] Translation: X:64.18, Y:-14.22, Z:-7.60 [[ 9.32789539e-01 3.51810263e-01 7.83148410e-02 6.41827620e+01] [-3.50316265e-01 9.36066850e-01 -3.25171786e-02 -1.42192941e+01] [-8.47478037e-02 2.89672146e-03 9.96398223e-01 -7.59540411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.541193817 meters 0.067205937386879 Centerline is valid? [True, True] Translation: X:64.21, Y:-14.24, Z:-7.60 [[ 9.34693825e-01 3.46850493e-01 7.77315239e-02 6.42087850e+01] [-3.45360634e-01 9.37914512e-01 -3.22862421e-02 -1.42350037e+01] [-8.41040233e-02 3.33234272e-03 9.96451408e-01 -7.60108996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57119381700001 meters 0.07111353789497153 Centerline is valid? [True, True] Translation: X:64.23, Y:-14.25, Z:-7.61 [[ 9.35927209e-01 3.43655556e-01 7.70786550e-02 6.42332326e+01] [-3.42179329e-01 9.39088886e-01 -3.20214249e-02 -1.42516830e+01] [-8.33880488e-02 3.59500037e-03 9.96510667e-01 -7.60858361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.601193817 meters 0.06881979822043263 Centerline is valid? [True, True] Translation: X:64.27, Y:-14.26, Z:-7.61 [[ 9.36832379e-01 3.41231597e-01 7.68510945e-02 6.42654340e+01] [-3.39756209e-01 9.39971586e-01 -3.19239218e-02 -1.42591329e+01] [-8.31312960e-02 3.79672710e-03 9.96531371e-01 -7.60775969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.631193817 meters 0.06929822434512102 Centerline is valid? [True, True] Translation: X:64.29, Y:-14.27, Z:-7.61 [[ 9.36591204e-01 3.42064347e-01 7.60848110e-02 6.42947885e+01] [-3.40621063e-01 9.39669305e-01 -3.16052042e-02 -1.42714546e+01] [-8.23055750e-02 3.68506706e-03 9.96600327e-01 -7.61291281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.661193817 meters 0.06954666942412793 Centerline is valid? [True, True] Translation: X:64.32, Y:-14.28, Z:-7.62 [[ 9.36303373e-01 3.43125759e-01 7.48378719e-02 6.43240020e+01] [-3.41730569e-01 9.39282730e-01 -3.11154684e-02 -1.42826398e+01] [-8.09704393e-02 3.55912947e-03 9.96710149e-01 -7.61859924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.691193817 meters 0.06976525333990627 Centerline is valid? [True, True] Translation: X:64.35, Y:-14.29, Z:-7.62 [[ 9.36216479e-01 3.43247695e-01 7.53639431e-02 6.43542815e+01] [-3.41830755e-01 9.39238015e-01 -3.13637794e-02 -1.42932032e+01] [-8.15502253e-02 3.60157355e-03 9.96662726e-01 -7.62282039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.721193817 meters 0.0683176115166681 Centerline is valid? [True, True] Translation: X:64.39, Y:-14.30, Z:-7.62 [[ 9.35209825e-01 3.45606589e-01 7.70627564e-02 6.43866515e+01] [-3.44129859e-01 9.38372946e-01 -3.21069192e-02 -1.42971244e+01] [-8.34099686e-02 3.50711081e-03 9.96509146e-01 -7.62430312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.751193817 meters 0.07074432408378042 Centerline is valid? [True, True] Translation: X:64.41, Y:-14.31, Z:-7.63 [[ 9.33782114e-01 3.49119527e-01 7.85271923e-02 6.44128943e+01] [-3.47597916e-01 9.37072532e-01 -3.27224484e-02 -1.43098777e+01] [-8.50097206e-02 3.25974859e-03 9.96374790e-01 -7.63277789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.781193817 meters 0.07074432408378042 Centerline is valid? [True, True] Translation: X:64.44, Y:-14.32, Z:-7.64 [[ 9.33677614e-01 3.49398145e-01 7.85305620e-02 6.44426022e+01] [-3.47878195e-01 9.36968800e-01 -3.27143652e-02 -1.43225664e+01] [-8.50110249e-02 3.22560031e-03 9.96374789e-01 -7.63649098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.811193817 meters 0.06585202453904511 Centerline is valid? [True, True] Translation: X:64.48, Y:-14.32, Z:-7.64 [[ 9.32332165e-01 3.53207507e-01 7.74673544e-02 6.44770976e+01] [-3.51738750e-01 9.35540600e-01 -3.23053811e-02 -1.43228848e+01] [-8.38843583e-02 2.87107547e-03 9.96471360e-01 -7.63615267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.841193817 meters 0.06450275235963701 Centerline is valid? [True, True] Translation: X:64.51, Y:-14.33, Z:-7.64 [[ 9.30882011e-01 3.57184448e-01 7.66678030e-02 6.45078179e+01] [-3.55758579e-01 9.34030536e-01 -3.19810914e-02 -1.43285028e+01] [-8.30332177e-02 2.49539399e-03 9.96543656e-01 -7.64158304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.871193817 meters 0.06227180061829797 Centerline is valid? [True, True] Translation: X:64.54, Y:-14.33, Z:-7.65 [[ 9.28559015e-01 3.63109077e-01 7.70061914e-02 6.45409370e+01] [-3.61690462e-01 9.31744536e-01 -3.21267593e-02 -1.43282982e+01] [-8.34156160e-02 1.97918709e-03 9.96512879e-01 -7.64539151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.901193817 meters 0.06208799303856395 Centerline is valid? [True, True] Translation: X:64.57, Y:-14.34, Z:-7.65 [[ 9.27737408e-01 3.64919653e-01 7.83386784e-02 6.45686120e+01] [-3.63457460e-01 9.31037172e-01 -3.26873010e-02 -1.43354429e+01] [-8.48644601e-02 1.85245484e-03 9.96390783e-01 -7.65016537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93119381700001 meters 0.060557802977662445 Centerline is valid? [True, True] Translation: X:64.60, Y:-14.34, Z:-7.65 [[ 9.27366216e-01 3.65476418e-01 8.01179676e-02 6.45999113e+01] [-3.63949676e-01 9.30818790e-01 -3.34217647e-02 -1.43409355e+01] [-8.67901765e-02 1.83530713e-03 9.96224923e-01 -7.64851960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96119381700001 meters 0.060971934105176456 Centerline is valid? [True, True] Translation: X:64.63, Y:-14.35, Z:-7.65 [[ 9.27213477e-01 3.65458668e-01 8.19458932e-02 6.46277283e+01] [-3.63861242e-01 9.30825671e-01 -3.41842965e-02 -1.43514345e+01] [-8.87702886e-02 1.87920594e-03 9.96050352e-01 -7.65221845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.991193817 meters 0.06126871291395607 Centerline is valid? [True, True] Translation: X:64.66, Y:-14.36, Z:-7.65 [[ 9.27783733e-01 3.63522111e-01 8.40774636e-02 6.46550458e+01] [-3.61832370e-01 9.31583161e-01 -3.50734959e-02 -1.43643578e+01] [-9.10751406e-02 2.11867096e-03 9.95841770e-01 -7.65289287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.021193817 meters 0.06153344946500873 Centerline is valid? [True, True] Translation: X:64.68, Y:-14.38, Z:-7.66 [[ 9.28139968e-01 3.62498353e-01 8.45644356e-02 6.46823872e+01] [-3.60784696e-01 9.31981739e-01 -3.52766396e-02 -1.43767226e+01] [-9.16002335e-02 2.23210491e-03 9.95793360e-01 -7.65596988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.051193817 meters 0.062015276872487715 Centerline is valid? [True, True] Translation: X:64.71, Y:-14.39, Z:-7.66 [[ 9.28039842e-01 3.62744147e-01 8.46093142e-02 6.47089850e+01] [-3.61029638e-01 9.31886153e-01 -3.52958697e-02 -1.43875034e+01] [-9.16496185e-02 2.20950320e-03 9.95788866e-01 -7.66114038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.081193817 meters 0.06156005904913381 Centerline is valid? [True, True] Translation: X:64.74, Y:-14.40, Z:-7.67 [[ 9.27574520e-01 3.64123241e-01 8.37840964e-02 6.47380088e+01] [-3.62447835e-01 9.31348515e-01 -3.49501121e-02 -1.43952143e+01] [-9.07583419e-02 2.05146914e-03 9.95870832e-01 -7.66604838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.111193817 meters 0.06063867396381638 Centerline is valid? [True, True] Translation: X:64.77, Y:-14.40, Z:-7.67 [[ 9.26610592e-01 3.66844890e-01 8.25689843e-02 6.47675461e+01] [-3.65228953e-01 9.30280466e-01 -3.44393189e-02 -1.44009872e+01] [-8.94462014e-02 1.75525401e-03 9.95990108e-01 -7.67033070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.141193817 meters 0.05926336132176594 Centerline is valid? [True, True] Translation: X:64.80, Y:-14.40, Z:-7.68 [[ 9.23515558e-01 3.74887456e-01 8.11074008e-02 6.47983205e+01] [-3.73359424e-01 9.27069835e-01 -3.38269404e-02 -1.44008158e+01] [-8.78735202e-02 9.57493265e-04 9.96131180e-01 -7.67707478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.171193817 meters 0.05899321790013225 Centerline is valid? [True, True] Translation: X:64.83, Y:-14.41, Z:-7.68 [[ 9.22107447e-01 3.78087169e-01 8.22675502e-02 6.48255143e+01] [-3.76528403e-01 9.25769768e-01 -3.43030254e-02 -1.44077625e+01] [-8.91303446e-02 6.55005869e-04 9.96019755e-01 -7.68226557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.201193817 meters 0.058676172509098574 Centerline is valid? [True, True] Translation: X:64.85, Y:-14.42, Z:-7.68 [[ 9.21156629e-01 3.80114977e-01 8.35647574e-02 6.48533803e+01] [-3.78515886e-01 9.24939131e-01 -3.48328505e-02 -1.44162155e+01] [-9.05328022e-02 4.55923001e-04 9.95893370e-01 -7.68458544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.231193817 meters 0.058402960173956915 Centerline is valid? [True, True] Translation: X:64.88, Y:-14.43, Z:-7.68 [[ 9.20917764e-01 3.80343571e-01 8.51424689e-02 6.48797778e+01] [-3.78685123e-01 9.24845165e-01 -3.54823663e-02 -1.44282620e+01] [-9.22390906e-02 4.34155166e-04 9.95736793e-01 -7.68457743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.261193817 meters 0.058982826235675856 Centerline is valid? [True, True] Translation: X:64.90, Y:-14.45, Z:-7.68 [[ 9.23226740e-01 3.74026817e-01 8.80700146e-02 6.49006987e+01] [-3.72224163e-01 9.27417242e-01 -3.66937431e-02 -1.44507065e+01] [-9.54020940e-02 1.09485735e-03 9.95438216e-01 -7.68495356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.291193817 meters 0.06008194104121706 Centerline is valid? [True, True] Translation: X:64.92, Y:-14.47, Z:-7.69 [[ 9.25259573e-01 3.68891721e-01 8.83946827e-02 6.49247867e+01] [-3.67053555e-01 9.29470967e-01 -3.68158889e-02 -1.44697812e+01] [-9.57413678e-02 1.61867108e-03 9.95404928e-01 -7.68944182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32119381700001 meters 0.06432991177906343 Centerline is valid? [True, True] Translation: X:64.94, Y:-14.50, Z:-7.70 [[ 9.30277969e-01 3.57029667e-01 8.43369280e-02 6.49440051e+01] [-3.55308274e-01 9.34089121e-01 -3.51218488e-02 -1.44969886e+01] [-9.13177490e-02 2.70747387e-03 9.95818125e-01 -7.69840494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.351193817 meters 0.06563960804494351 Centerline is valid? [True, True] Translation: X:64.97, Y:-14.51, Z:-7.70 [[ 9.32215288e-01 3.52051322e-01 8.38720659e-02 6.49700719e+01] [-3.50329253e-01 9.35975320e-01 -3.49229849e-02 -1.45139024e+01] [-9.07968667e-02 3.17290228e-03 9.95864379e-01 -7.70252250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.381193817 meters 0.06834734734125275 Centerline is valid? [True, True] Translation: X:64.99, Y:-14.53, Z:-7.71 [[ 9.33661603e-01 3.48248103e-01 8.36616414e-02 6.49948380e+01] [-3.46519257e-01 9.37395730e-01 -3.48374735e-02 -1.45324817e+01] [-9.05561495e-02 3.53604157e-03 9.95885074e-01 -7.70837049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.411193817 meters 0.06997012383168037 Centerline is valid? [True, True] Translation: X:65.02, Y:-14.55, Z:-7.71 [[ 9.34647452e-01 3.45694398e-01 8.32437632e-02 6.50221681e+01] [-3.43973106e-01 9.38339619e-01 -3.46592149e-02 -1.45488534e+01] [-9.00924176e-02 3.76053114e-03 9.95926310e-01 -7.71312982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.441193817 meters 0.07069495642110958 Centerline is valid? [True, True] Translation: X:65.05, Y:-14.56, Z:-7.72 [[ 9.35055858e-01 3.44851521e-01 8.21460297e-02 6.50512543e+01] [-3.43170006e-01 9.38649500e-01 -3.42266487e-02 -1.45624060e+01] [-8.89094416e-02 3.81377490e-03 9.96032412e-01 -7.71768424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.471193817 meters 0.0700917360335931 Centerline is valid? [True, True] Translation: X:65.08, Y:-14.57, Z:-7.72 [[ 9.33962251e-01 3.48065331e-01 8.10249295e-02 6.50809683e+01] [-3.46438582e-01 9.37463779e-01 -3.37930833e-02 -1.45703194e+01] [-8.77201373e-02 3.49130241e-03 9.96139041e-01 -7.72304041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.501193817 meters 0.06806082685762599 Centerline is valid? [True, True] Translation: X:65.11, Y:-14.58, Z:-7.73 [[ 9.32671997e-01 3.51702512e-01 8.01766147e-02 6.51125596e+01] [-3.50122769e-01 9.36106623e-01 -3.34430300e-02 -1.45757878e+01] [-8.68158577e-02 3.11971924e-03 9.96219491e-01 -7.72723353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.531193817 meters 0.06614424020449776 Centerline is valid? [True, True] Translation: X:65.14, Y:-14.58, Z:-7.73 [[ 9.30935800e-01 3.56455080e-01 7.93619115e-02 6.51445382e+01] [-3.54924261e-01 9.34308697e-01 -3.31063157e-02 -1.45803958e+01] [-8.59494385e-02 2.65238672e-03 9.96295970e-01 -7.73177292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.561193817 meters 0.06272666714063424 Centerline is valid? [True, True] Translation: X:65.18, Y:-14.57, Z:-7.74 [[ 9.26839949e-01 3.66790422e-01 8.02028426e-02 6.51782752e+01] [-3.65264622e-01 9.30302006e-01 -3.34654162e-02 -1.45749382e+01] [-8.68876595e-02 1.72182364e-03 9.96216628e-01 -7.73563620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.591193817 meters 0.0604224427572078 Centerline is valid? [True, True] Translation: X:65.21, Y:-14.58, Z:-7.73 [[ 9.24772687e-01 3.71522174e-01 8.22602648e-02 6.52105060e+01] [-3.69935720e-01 9.28423158e-01 -3.43220366e-02 -1.45766306e+01] [-8.91237325e-02 1.30907176e-03 9.96019702e-01 -7.73302223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.621193817 meters 0.059789116832629094 Centerline is valid? [True, True] Translation: X:65.24, Y:-14.58, Z:-7.73 [[ 9.23270195e-01 3.74771940e-01 8.43690701e-02 6.52394548e+01] [-3.73116746e-01 9.27116474e-01 -3.51985426e-02 -1.45826876e+01] [-9.14113809e-02 1.01825241e-03 9.95812695e-01 -7.73499052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.651193817 meters 0.059023327425029325 Centerline is valid? [True, True] Translation: X:65.27, Y:-14.59, Z:-7.74 [[ 9.21644973e-01 3.77946873e-01 8.79016843e-02 6.52681808e+01] [-3.76165100e-01 9.25827001e-01 -3.66630760e-02 -1.45894320e+01] [-9.52384477e-02 7.24793823e-04 9.95454224e-01 -7.73542510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68119381700001 meters 0.05880016780927865 Centerline is valid? [True, True] Translation: X:65.30, Y:-14.60, Z:-7.74 [[ 9.21255254e-01 3.78432442e-01 8.98757128e-02 6.52956190e+01] [-3.76572782e-01 9.25628664e-01 -3.74768790e-02 -1.45999612e+01] [-9.73740028e-02 6.81024465e-04 9.95247627e-01 -7.73667766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71119381700001 meters 0.05880334732643674 Centerline is valid? [True, True] Translation: X:65.32, Y:-14.61, Z:-7.74 [[ 9.21153859e-01 3.78620965e-01 9.01206583e-02 6.53220741e+01] [-3.76752660e-01 9.25551583e-01 -3.75725943e-02 -1.46101514e+01] [-9.76370899e-02 6.56942432e-04 9.95221868e-01 -7.73977648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.741193817 meters 0.05870827730823216 Centerline is valid? [True, True] Translation: X:65.35, Y:-14.62, Z:-7.74 [[ 9.20939830e-01 3.79230589e-01 8.97440242e-02 6.53476513e+01] [-3.77381590e-01 9.25302016e-01 -3.74074149e-02 -1.46198449e+01] [-9.72263625e-02 5.82235836e-04 9.95262124e-01 -7.74362976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.771193817 meters 0.058928546782352785 Centerline is valid? [True, True] Translation: X:65.37, Y:-14.63, Z:-7.75 [[ 9.20427310e-01 3.81192968e-01 8.66342235e-02 6.53729170e+01] [-3.79480021e-01 9.24495429e-01 -3.60986899e-02 -1.46294801e+01] [-9.38535104e-02 3.50263126e-04 9.95585956e-01 -7.75112285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.801193817 meters 0.059031992083779836 Centerline is valid? [True, True] Translation: X:65.40, Y:-14.64, Z:-7.76 [[ 9.19849099e-01 3.82698282e-01 8.61374467e-02 6.53986574e+01] [-3.81012827e-01 9.23873363e-01 -3.58780552e-02 -1.46398544e+01] [-9.33105627e-02 1.82924705e-04 9.95637035e-01 -7.75624414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.831193817 meters 0.059048732541879936 Centerline is valid? [True, True] Translation: X:65.42, Y:-14.65, Z:-7.76 [[ 9.18874406e-01 3.85135408e-01 8.56769694e-02 6.54248955e+01] [-3.83479534e-01 9.22860072e-01 -3.56754084e-02 -1.46500628e+01] [-9.28077171e-02 -7.41445719e-05 9.95684047e-01 -7.75973987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.861193817 meters 0.059023107519440995 Centerline is valid? [True, True] Translation: X:65.45, Y:-14.66, Z:-7.76 [[ 9.17645313e-01 3.88139869e-01 8.52908012e-02 6.54519097e+01] [-3.86512610e-01 9.21600399e-01 -3.55064373e-02 -1.46610791e+01] [-9.23855004e-02 -3.83654393e-04 9.95723241e-01 -7.76181197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.891193817 meters 0.05974967263193553 Centerline is valid? [True, True] Translation: X:65.48, Y:-14.67, Z:-7.77 [[ 9.14548749e-01 3.95129329e-01 8.64488234e-02 6.54791311e+01] [-3.93489212e-01 9.18624832e-01 -3.59813628e-02 -1.46686463e+01] [-9.36313275e-02 -1.10996910e-03 9.95606319e-01 -7.76545112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.921193817 meters 0.06016052144741754 Centerline is valid? [True, True] Translation: X:65.51, Y:-14.68, Z:-7.77 [[ 9.12910385e-01 3.98757988e-01 8.71016399e-02 6.55058100e+01] [-3.97111089e-01 9.17054954e-01 -3.62352642e-02 -1.46791213e+01] [-9.43260914e-02 -1.50947809e-03 9.95540210e-01 -7.76714018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.951193817 meters 0.06103558436959475 Centerline is valid? [True, True] Translation: X:65.53, Y:-14.69, Z:-7.77 [[ 9.11534379e-01 4.01767618e-01 8.76804301e-02 6.55315792e+01] [-4.00113397e-01 9.15739806e-01 -3.64674763e-02 -1.46882348e+01] [-9.49439112e-02 -1.84075634e-03 9.95480922e-01 -7.77038892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.981193817 meters 0.06190712459184906 Centerline is valid? [True, True] Translation: X:65.56, Y:-14.70, Z:-7.77 [[ 9.10149819e-01 4.04889617e-01 8.77023621e-02 6.55565704e+01] [-4.03249797e-01 9.14362986e-01 -3.64682179e-02 -1.47031016e+01] [-9.49573964e-02 -2.17441785e-03 9.95478962e-01 -7.77393821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.011193817 meters 0.06142494276476633 Centerline is valid? [True, True] Translation: X:65.58, Y:-14.72, Z:-7.78 [[ 9.10180665e-01 4.04806424e-01 8.77662611e-02 6.55801865e+01] [-4.03164531e-01 9.14399821e-01 -3.64873729e-02 -1.47196409e+01] [-9.50237764e-02 -2.17414217e-03 9.95472629e-01 -7.77604838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.041193817 meters 0.062110390636342216 Centerline is valid? [True, True] Translation: X:65.60, Y:-14.73, Z:-7.78 [[ 9.10469578e-01 4.04448005e-01 8.64115663e-02 6.56044867e+01] [-4.02856131e-01 9.14558547e-01 -3.59110249e-02 -1.47326329e+01] [-9.35525789e-02 -2.11553361e-03 9.95612093e-01 -7.78333150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07119381700001 meters 0.06158729812350977 Centerline is valid? [True, True] Translation: X:65.63, Y:-14.76, Z:-7.79 [[ 9.11219619e-01 4.03402574e-01 8.33376788e-02 6.56250173e+01] [-4.01918714e-01 9.15020534e-01 -3.46232549e-02 -1.47563915e+01] [-9.02227975e-02 -1.94558350e-03 9.95919706e-01 -7.78876454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.101193817 meters 0.061763568512043024 Centerline is valid? [True, True] Translation: X:65.65, Y:-14.77, Z:-7.80 [[ 9.11763176e-01 4.02763322e-01 8.04339325e-02 6.56484721e+01] [-4.01379420e-01 9.15302345e-01 -3.34092533e-02 -1.47741964e+01] [-8.70773889e-02 -1.82319835e-03 9.96199882e-01 -7.79500453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.131193817 meters 0.06279171469417894 Centerline is valid? [True, True] Translation: X:65.67, Y:-14.79, Z:-7.81 [[ 9.12539585e-01 4.01527910e-01 7.77614578e-02 6.56708772e+01] [-4.00230613e-01 9.15845294e-01 -3.22932436e-02 -1.47891682e+01] [-8.41841038e-02 -1.65365282e-03 9.96448846e-01 -7.80529167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.161193817 meters 0.062461222639084414 Centerline is valid? [True, True] Translation: X:65.69, Y:-14.81, Z:-7.81 [[ 9.13612721e-01 3.99498093e-01 7.55848444e-02 6.56932526e+01] [-3.98266587e-01 9.16732900e-01 -3.13769944e-02 -1.48082337e+01] [-8.18261630e-02 -1.43649680e-03 9.96645582e-01 -7.81139493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.191193817 meters 0.061351344974652895 Centerline is valid? [True, True] Translation: X:65.71, Y:-14.84, Z:-7.82 [[ 9.16334856e-01 3.93528250e-01 7.39320529e-02 6.57138142e+01] [-3.92331391e-01 9.19312092e-01 -3.06815446e-02 -1.48376545e+01] [-8.00406847e-02 -8.91296418e-04 9.96791199e-01 -7.81553054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.221193817 meters 0.06068653729334059 Centerline is valid? [True, True] Translation: X:65.74, Y:-14.86, Z:-7.82 [[ 9.17555748e-01 3.90532436e-01 7.46717260e-02 6.57400090e+01] [-3.89302400e-01 9.20588942e-01 -3.09780805e-02 -1.48595855e+01] [-8.08399105e-02 -6.45766321e-04 9.96726889e-01 -7.81665861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.251193817 meters 0.060524532287202025 Centerline is valid? [True, True] Translation: X:65.77, Y:-14.88, Z:-7.82 [[ 9.18427708e-01 3.88423673e-01 7.49506222e-02 6.57655778e+01] [-3.87174954e-01 9.21480799e-01 -3.11238358e-02 -1.48802003e+01] [-8.11547938e-02 -4.34010492e-04 9.96701415e-01 -7.81887760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.281193817 meters 0.06016800423880894 Centerline is valid? [True, True] Translation: X:65.79, Y:-14.90, Z:-7.82 [[ 9.19388014e-01 3.86015634e-01 7.56148797e-02 6.57922776e+01] [-3.84735132e-01 9.22492215e-01 -3.14164210e-02 -1.49013750e+01] [-8.18813675e-02 -2.07819815e-04 9.96642061e-01 -7.81976036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.311193817 meters 0.05969090116745176 Centerline is valid? [True, True] Translation: X:65.81, Y:-14.93, Z:-7.82 [[ 9.20443039e-01 3.82674047e-01 7.96566762e-02 6.58147408e+01] [-3.81239113e-01 9.23883414e-01 -3.31085581e-02 -1.49279083e+01] [-8.62632679e-02 1.06301285e-04 9.96272371e-01 -7.81831108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.341193817 meters 0.059380039246879866 Centerline is valid? [True, True] Translation: X:65.84, Y:-14.95, Z:-7.82 [[ 9.20508257e-01 3.82144755e-01 8.14244113e-02 6.58418799e+01] [-3.80643701e-01 9.24102463e-01 -3.38380039e-02 -1.49452739e+01] [-8.81755148e-02 1.54472680e-04 9.96104942e-01 -7.81963151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.371193817 meters 0.05887874269033568 Centerline is valid? [True, True] Translation: X:65.87, Y:-14.96, Z:-7.82 [[ 9.20345414e-01 3.81946325e-01 8.41505996e-02 6.58708016e+01] [-3.80339421e-01 9.24184485e-01 -3.49994649e-02 -1.49609500e+01] [-9.11385956e-02 2.05806675e-04 9.95838197e-01 -7.81814214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.401193817 meters 0.05877303833769384 Centerline is valid? [True, True] Translation: X:65.90, Y:-14.98, Z:-7.82 [[ 9.20835072e-01 3.80680254e-01 8.45299615e-02 6.58987497e+01] [-3.79050832e-01 9.24706665e-01 -3.51859542e-02 -1.49789435e+01] [-9.15600167e-02 3.59308420e-04 9.95799495e-01 -7.82126511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43119381700001 meters 0.059091158724514266 Centerline is valid? [True, True] Translation: X:65.92, Y:-14.99, Z:-7.83 [[ 9.21692057e-01 3.78720519e-01 8.39911924e-02 6.59249912e+01] [-3.77100529e-01 9.25510901e-01 -3.49966058e-02 -1.49946617e+01] [-9.09886969e-02 5.82970467e-04 9.95851755e-01 -7.82678165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46119381700001 meters 0.05942465034487839 Centerline is valid? [True, True] Translation: X:65.95, Y:-15.01, Z:-7.83 [[ 9.22760478e-01 3.75960814e-01 8.46555735e-02 6.59530966e+01] [-3.74301032e-01 9.26635139e-01 -3.52995314e-02 -1.50122538e+01] [-9.17160696e-02 8.86343983e-04 9.95784805e-01 -7.83100819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.491193817 meters 0.060050303862240695 Centerline is valid? [True, True] Translation: X:65.98, Y:-15.03, Z:-7.84 [[ 9.24175553e-01 3.72506928e-01 8.44874938e-02 6.59799373e+01] [-3.70836110e-01 9.28028557e-01 -3.52643883e-02 -1.50291770e+01] [-9.15430359e-02 1.25947202e-03 9.95800325e-01 -7.83539751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.521193817 meters 0.06145082712415284 Centerline is valid? [True, True] Translation: X:66.01, Y:-15.05, Z:-7.84 [[ 9.26854873e-01 3.65852709e-01 8.42130676e-02 6.60058926e+01] [-3.64162395e-01 9.30670742e-01 -3.51812574e-02 -1.50508076e+01] [-9.12457964e-02 1.94068745e-03 9.95826510e-01 -7.83879385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.551193817 meters 0.0626424539621818 Centerline is valid? [True, True] Translation: X:66.03, Y:-15.07, Z:-7.84 [[ 9.28420348e-01 3.62100685e-01 8.31790287e-02 6.60331721e+01] [-3.60435941e-01 9.32136178e-01 -3.47574090e-02 -1.50681508e+01] [-9.01198635e-02 2.28877433e-03 9.95928296e-01 -7.84257183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.581193817 meters 0.06363179567291695 Centerline is valid? [True, True] Translation: X:66.06, Y:-15.08, Z:-7.85 [[ 9.29585180e-01 3.59327206e-01 8.21909505e-02 6.60608714e+01] [-3.57690317e-01 9.33208194e-01 -3.43526296e-02 -1.50834208e+01] [-8.90451029e-02 2.53478822e-03 9.96024369e-01 -7.84640244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.611193817 meters 0.06445257664078152 Centerline is valid? [True, True] Translation: X:66.09, Y:-15.10, Z:-7.85 [[ 9.30353362e-01 3.57343564e-01 8.21474254e-02 6.60891572e+01] [-3.55700126e-01 9.33969019e-01 -3.43408249e-02 -1.50962626e+01] [-8.89946231e-02 2.72925233e-03 9.96028367e-01 -7.85048884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.641193817 meters 0.0641291790824284 Centerline is valid? [True, True] Translation: X:66.12, Y:-15.10, Z:-7.85 [[ 9.30579134e-01 3.56758611e-01 8.21326330e-02 6.61208454e+01] [-3.55112516e-01 9.34192422e-01 -3.43455950e-02 -1.51026180e+01] [-8.89807701e-02 2.79496814e-03 9.96029423e-01 -7.85315774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.671193817 meters 0.06449934218266967 Centerline is valid? [True, True] Translation: X:66.15, Y:-15.11, Z:-7.86 [[ 9.30183138e-01 3.58031560e-01 8.10723844e-02 6.61503084e+01] [-3.56430122e-01 9.33705682e-01 -3.39303284e-02 -1.51137434e+01] [-8.78458743e-02 2.66477945e-03 9.96130514e-01 -7.85902393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.701193817 meters 0.06414552300176861 Centerline is valid? [True, True] Translation: X:66.18, Y:-15.12, Z:-7.86 [[ 9.29707256e-01 3.59613775e-01 7.95132097e-02 6.61816192e+01] [-3.58076714e-01 9.33097912e-01 -3.33069536e-02 -1.51229548e+01] [-8.61712492e-02 2.49388759e-03 9.96277219e-01 -7.86459263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.731193817 meters 0.06414552300176861 Centerline is valid? [True, True] Translation: X:66.21, Y:-15.14, Z:-7.87 [[ 9.29585184e-01 3.59931742e-01 7.95017424e-02 6.62112769e+01] [-3.58393505e-01 9.32975305e-01 -3.33342987e-02 -1.51356574e+01] [-8.61712346e-02 2.49416205e-03 9.96277219e-01 -7.86830916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.761193817 meters 0.06349495643677054 Centerline is valid? [True, True] Translation: X:66.24, Y:-15.14, Z:-7.87 [[ 9.28892106e-01 3.62213459e-01 7.72066404e-02 6.62434494e+01] [-3.60768296e-01 9.32092471e-01 -3.24015601e-02 -1.51441717e+01] [-8.37000094e-02 2.24384528e-03 9.96488471e-01 -7.87311127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.791193817 meters 0.06235579028592123 Centerline is valid? [True, True] Translation: X:66.28, Y:-15.15, Z:-7.88 [[ 9.26861274e-01 3.67573036e-01 7.62774044e-02 6.62767347e+01] [-3.66177333e-01 9.29992963e-01 -3.20507515e-02 -1.51459524e+01] [-8.27184413e-02 1.77554387e-03 9.96571376e-01 -7.87991839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82119381700001 meters 0.0621520095515064 Centerline is valid? [True, True] Translation: X:66.31, Y:-15.15, Z:-7.88 [[ 9.26031090e-01 3.69687638e-01 7.61411311e-02 6.63069287e+01] [-3.68303920e-01 9.29154743e-01 -3.19950875e-02 -1.51542748e+01] [-8.25750815e-02 1.58536873e-03 9.96583585e-01 -7.88436501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.851193817 meters 0.06237533586781541 Centerline is valid? [True, True] Translation: X:66.34, Y:-15.16, Z:-7.89 [[ 9.25069220e-01 3.71954270e-01 7.67916640e-02 6.63359923e+01] [-3.70552381e-01 9.28249970e-01 -3.22943646e-02 -1.51634909e+01] [-8.32938866e-02 1.41918876e-03 9.96524016e-01 -7.89100260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.881193817 meters 0.061175295764987196 Centerline is valid? [True, True] Translation: X:66.37, Y:-15.17, Z:-7.89 [[ 9.24270331e-01 3.73875737e-01 7.70797567e-02 6.63686432e+01] [-3.72467935e-01 9.27477931e-01 -3.24395619e-02 -1.51702507e+01] [-8.36181384e-02 1.27318680e-03 9.96497058e-01 -7.89075401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.911193817 meters 0.060575768455953964 Centerline is valid? [True, True] Translation: X:66.40, Y:-15.18, Z:-7.89 [[ 9.22762685e-01 3.77339779e-01 7.82541885e-02 6.64003389e+01] [-3.75898704e-01 9.26074344e-01 -3.29616969e-02 -1.51769820e+01] [-8.49069558e-02 1.00017588e-03 9.96388382e-01 -7.89203981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.941193817 meters 0.06050172132033717 Centerline is valid? [True, True] Translation: X:66.43, Y:-15.19, Z:-7.90 [[ 9.22013158e-01 3.79383850e-01 7.71986495e-02 6.64308458e+01] [-3.77986475e-01 9.25239004e-01 -3.25424412e-02 -1.51883044e+01] [-8.37732782e-02 8.24513569e-04 9.96484500e-01 -7.89695512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.971193817 meters 0.06014650324413592 Centerline is valid? [True, True] Translation: X:66.46, Y:-15.20, Z:-7.90 [[ 9.20871480e-01 3.82285331e-01 7.65091000e-02 6.64618378e+01] [-3.80920332e-01 9.24044147e-01 -3.22818213e-02 -1.51984372e+01] [-8.30386527e-02 5.83536837e-04 9.96546156e-01 -7.90095482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.001193817 meters 0.06011760611756232 Centerline is valid? [True, True] Translation: X:66.49, Y:-15.21, Z:-7.91 [[ 9.19721755e-01 3.85195559e-01 7.57381996e-02 6.64922106e+01] [-3.83865266e-01 9.22834905e-01 -3.19874383e-02 -1.52073316e+01] [-8.22152734e-02 3.46278752e-04 9.96614534e-01 -7.90631529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.031193817 meters 0.05992436719090598 Centerline is valid? [True, True] Translation: X:66.53, Y:-15.21, Z:-7.91 [[ 9.16007459e-01 3.93865830e-01 7.61580084e-02 6.65263655e+01] [-3.92548061e-01 9.19167854e-01 -3.21943561e-02 -1.52094419e+01] [-8.26822500e-02 -4.05408126e-04 9.96575878e-01 -7.91026091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.061193817 meters 0.06014334015548781 Centerline is valid? [True, True] Translation: X:66.56, Y:-15.22, Z:-7.91 [[ 9.13788215e-01 3.98956408e-01 7.63209142e-02 6.65572798e+01] [-3.97648468e-01 9.16969506e-01 -3.22896567e-02 -1.52174310e+01] [-8.28661164e-02 -8.42986816e-04 9.96560332e-01 -7.91269756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.091193817 meters 0.06110210061665193 Centerline is valid? [True, True] Translation: X:66.59, Y:-15.22, Z:-7.92 [[ 9.11773781e-01 4.03682580e-01 7.55575769e-02 6.65875125e+01] [-4.02414886e-01 9.14898270e-01 -3.19908665e-02 -1.52239541e+01] [-8.20416519e-02 -1.23706045e-03 9.96628134e-01 -7.91936068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.121193817 meters 0.06278467991077526 Centerline is valid? [True, True] Translation: X:66.62, Y:-15.23, Z:-7.92 [[ 9.08310573e-01 4.11524087e-01 7.49655175e-02 6.66183684e+01] [-4.10300006e-01 9.11396908e-01 -3.17739021e-02 -1.52281639e+01] [-8.13990669e-02 -1.89778106e-03 9.96679783e-01 -7.92340953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.151193817 meters 0.06362630272914864 Centerline is valid? [True, True] Translation: X:66.65, Y:-15.24, Z:-7.93 [[ 9.06993086e-01 4.14544364e-01 7.42732263e-02 6.66462571e+01] [-4.13353046e-01 9.10026564e-01 -3.14787458e-02 -1.52384041e+01] [-8.06399456e-02 -2.15005951e-03 9.96740978e-01 -7.92769229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18119381700001 meters 0.06447424516793047 Centerline is valid? [True, True] Translation: X:66.67, Y:-15.25, Z:-7.93 [[ 9.06098715e-01 4.16644203e-01 7.34351816e-02 6.66725949e+01] [-4.15486545e-01 9.09066702e-01 -3.11233363e-02 -1.52499962e+01] [-7.97248361e-02 -2.31051482e-03 9.96814231e-01 -7.93233399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21119381700001 meters 0.0647860193725356 Centerline is valid? [True, True] Translation: X:66.70, Y:-15.26, Z:-7.94 [[ 9.06031428e-01 4.17033016e-01 7.20452265e-02 6.66971811e+01] [-4.15920382e-01 9.08888417e-01 -3.05299981e-02 -1.52634501e+01] [-7.82130891e-02 -2.30394030e-03 9.96934002e-01 -7.93708168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.241193817 meters 0.06478033445027744 Centerline is valid? [True, True] Translation: X:66.72, Y:-15.28, Z:-7.94 [[ 9.06764631e-01 4.15726116e-01 7.03541063e-02 6.67196847e+01] [-4.14661922e-01 9.09487320e-01 -2.98044632e-02 -1.52840805e+01] [-7.63766613e-02 -2.14753590e-03 9.97076724e-01 -7.94272210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.271193817 meters 0.06424077942471251 Centerline is valid? [True, True] Translation: X:66.75, Y:-15.30, Z:-7.95 [[ 9.07432791e-01 4.14237937e-01 7.05170976e-02 6.67450645e+01] [-4.13164624e-01 9.10166363e-01 -2.98694728e-02 -1.53030463e+01] [-7.65553590e-02 -2.03063099e-03 9.97063265e-01 -7.94624170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.301193817 meters 0.06353686831380381 Centerline is valid? [True, True] Translation: X:66.77, Y:-15.32, Z:-7.95 [[ 9.08252748e-01 4.12308807e-01 7.12628427e-02 6.67712889e+01] [-4.11207175e-01 9.11042185e-01 -3.01794039e-02 -1.53230773e+01] [-7.73666900e-02 -1.89326571e-03 9.97000908e-01 -7.94929913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.331193817 meters 0.06211659056737368 Centerline is valid? [True, True] Translation: X:66.79, Y:-15.35, Z:-7.95 [[ 9.10179333e-01 4.07637862e-01 7.35184026e-02 6.67928302e+01] [-4.06447261e-01 9.13142425e-01 -3.11694629e-02 -1.53490416e+01] [-7.98386256e-02 -1.51155243e-03 9.96806656e-01 -7.95177650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.361193817 meters 0.06108771662107413 Centerline is valid? [True, True] Translation: X:66.82, Y:-15.37, Z:-7.95 [[ 9.11324994e-01 4.05086492e-01 7.34281268e-02 6.68188907e+01] [-4.03891373e-01 9.14277450e-01 -3.11207954e-02 -1.53699623e+01] [-7.97402943e-02 -1.29582824e-03 9.96814830e-01 -7.95370832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.391193817 meters 0.06100199175388502 Centerline is valid? [True, True] Translation: X:66.84, Y:-15.39, Z:-7.96 [[ 9.12539697e-01 4.02241987e-01 7.39775999e-02 6.68438668e+01] [-4.01017213e-01 9.15532810e-01 -3.13826215e-02 -1.53892068e+01] [-8.03523279e-02 -1.02840295e-03 9.96765993e-01 -7.95925661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.421193817 meters 0.060427064137789366 Centerline is valid? [True, True] Translation: X:66.87, Y:-15.41, Z:-7.96 [[ 9.13904268e-01 3.98801380e-01 7.57393454e-02 6.68677228e+01] [-3.97504059e-01 9.17037040e-01 -3.21494877e-02 -1.54110077e+01] [-8.22770452e-02 -7.25143224e-04 9.96609232e-01 -7.96157734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.451193817 meters 0.059543926073284 Centerline is valid? [True, True] Translation: X:66.89, Y:-15.45, Z:-7.96 [[ 9.16826058e-01 3.91948300e-01 7.62004605e-02 6.68887599e+01] [-3.90612018e-01 9.19987237e-01 -3.23378220e-02 -1.54459960e+01] [-8.27782054e-02 -1.16657830e-04 9.96567988e-01 -7.95691266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.481193817 meters 0.059730192137983466 Centerline is valid? [True, True] Translation: X:66.91, Y:-15.47, Z:-7.96 [[ 9.17783115e-01 3.89880985e-01 7.52792872e-02 6.69146636e+01] [-3.88567861e-01 9.20865250e-01 -3.19719849e-02 -1.54657633e+01] [-8.17873487e-02 9.22363091e-05 9.96649799e-01 -7.96107256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.511193817 meters 0.06006844855802723 Centerline is valid? [True, True] Translation: X:66.94, Y:-15.48, Z:-7.97 [[ 9.18682076e-01 3.87961643e-01 7.42226861e-02 6.69406264e+01] [-3.86676530e-01 9.21675475e-01 -3.15528074e-02 -1.54818415e+01] [-8.06505085e-02 2.86827885e-04 9.96742401e-01 -7.96670334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.541193817 meters 0.060305645643855495 Centerline is valid? [True, True] Translation: X:66.97, Y:-15.50, Z:-7.97 [[ 9.19072425e-01 3.87478425e-01 7.18773092e-02 6.69686275e+01] [-3.86270812e-01 9.21878712e-01 -3.05695924e-02 -1.54962858e+01] [-7.81072187e-02 3.31562841e-04 9.96944909e-01 -7.97285105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57119381700001 meters 0.06014980574295132 Centerline is valid? [True, True] Translation: X:67.00, Y:-15.51, Z:-7.98 [[ 9.17576931e-01 3.90651992e-01 7.37807334e-02 6.69972617e+01] [-3.89389701e-01 9.20538439e-01 -3.13790324e-02 -1.55108070e+01] [-8.01762826e-02 6.32185082e-05 9.96780698e-01 -7.97542879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.601193817 meters 0.059442609068230054 Centerline is valid? [True, True] Translation: X:67.03, Y:-15.52, Z:-7.97 [[ 9.16165647e-01 3.93789314e-01 7.46356733e-02 6.70273634e+01] [-3.92505389e-01 9.19200708e-01 -3.17738537e-02 -1.55245595e+01] [-8.11173678e-02 -1.84790724e-04 9.96704539e-01 -7.97328200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.631193817 meters 0.05936185565980438 Centerline is valid? [True, True] Translation: X:67.06, Y:-15.54, Z:-7.98 [[ 9.14814483e-01 3.96724008e-01 7.56605812e-02 6.70561497e+01] [-3.95413903e-01 9.17937832e-01 -3.22177138e-02 -1.55370768e+01] [-8.22332504e-02 -4.44014534e-04 9.96613012e-01 -7.97611632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.661193817 meters 0.060150327919461545 Centerline is valid? [True, True] Translation: X:67.09, Y:-15.55, Z:-7.98 [[ 9.11599884e-01 4.04353942e-01 7.40509391e-02 6.70856562e+01] [-4.03123253e-01 9.14601928e-01 -3.15429345e-02 -1.55458957e+01] [-8.04816415e-02 -1.09712004e-03 9.96755487e-01 -7.98227993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.691193817 meters 0.06069493484519118 Centerline is valid? [True, True] Translation: X:67.11, Y:-15.56, Z:-7.99 [[ 9.10382164e-01 4.07321459e-01 7.27567553e-02 6.71149705e+01] [-4.06140585e-01 9.13283919e-01 -3.10210842e-02 -1.55572261e+01] [-7.90831279e-02 -1.30842944e-03 9.96867166e-01 -7.98823949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.721193817 meters 0.06130661746267198 Centerline is valid? [True, True] Translation: X:67.14, Y:-15.57, Z:-7.99 [[ 9.09744750e-01 4.08896645e-01 7.18889749e-02 6.71429824e+01] [-4.07748054e-01 9.12579595e-01 -3.06595476e-02 -1.55683111e+01] [-7.81409977e-02 -1.42022714e-03 9.96941306e-01 -7.99423710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.751193817 meters 0.06093580595151637 Centerline is valid? [True, True] Translation: X:67.17, Y:-15.58, Z:-8.00 [[ 9.09533632e-01 4.09540672e-01 7.08873055e-02 6.71714967e+01] [-4.08426386e-01 9.12290690e-01 -3.02255578e-02 -1.55833694e+01] [-7.70484241e-02 -1.46108466e-03 9.97026281e-01 -7.99691922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.781193817 meters 0.06113394253989638 Centerline is valid? [True, True] Translation: X:67.20, Y:-15.60, Z:-8.00 [[ 9.09979352e-01 4.08399469e-01 7.17457554e-02 6.71976702e+01] [-4.07252466e-01 9.12802295e-01 -3.06169739e-02 -1.56016039e+01] [-7.79936461e-02 -1.35782176e-03 9.96952931e-01 -8.00219128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.811193817 meters 0.060622438246600824 Centerline is valid? [True, True] Translation: X:67.22, Y:-15.62, Z:-8.00 [[ 9.10678950e-01 4.06853931e-01 7.16500383e-02 6.72248801e+01] [-4.05703307e-01 9.13492439e-01 -3.06005123e-02 -1.56209794e+01] [-7.79017069e-02 -1.20141506e-03 9.96960321e-01 -8.00330482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.841193817 meters 0.06043337134539473 Centerline is valid? [True, True] Translation: X:67.25, Y:-15.64, Z:-8.00 [[ 9.11027795e-01 4.06054003e-01 7.17530704e-02 6.72517579e+01] [-4.04895675e-01 9.13848406e-01 -3.06689241e-02 -1.56398151e+01] [-7.80246684e-02 -1.11226561e-03 9.96950808e-01 -8.00459611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.871193817 meters 0.06019158215494319 Centerline is valid? [True, True] Translation: X:67.28, Y:-15.66, Z:-8.01 [[ 9.11076027e-01 4.06083694e-01 7.09683468e-02 6.72772257e+01] [-4.04948844e-01 9.13835251e-01 -3.03573411e-02 -1.56612004e+01] [-7.71809982e-02 -1.08070424e-03 9.97016512e-01 -8.00621617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.901193817 meters 0.060961915513228424 Centerline is valid? [True, True] Translation: X:67.31, Y:-15.67, Z:-8.01 [[ 9.10396376e-01 4.07214243e-01 7.31778524e-02 6.73052583e+01] [-4.06008961e-01 9.13331894e-01 -3.13300990e-02 -1.56721333e+01] [-7.95937291e-02 -1.18805522e-03 9.96826678e-01 -8.01406948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93119381700001 meters 0.06060541212346032 Centerline is valid? [True, True] Translation: X:67.33, Y:-15.69, Z:-8.01 [[ 9.09900793e-01 4.08283217e-01 7.33850262e-02 6.73341930e+01] [-4.07072461e-01 9.12854438e-01 -3.14449834e-02 -1.56873181e+01] [-7.98283058e-02 -1.26120789e-03 9.96807831e-01 -8.01489314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96119381700001 meters 0.06048297537598394 Centerline is valid? [True, True] Translation: X:67.36, Y:-15.70, Z:-8.01 [[ 9.08159257e-01 4.11627242e-01 7.62218994e-02 6.73621917e+01] [-4.10331302e-01 9.11350894e-01 -3.26767609e-02 -1.57042311e+01] [-8.29155411e-02 -1.60052824e-03 9.96555293e-01 -8.01444289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.991193817 meters 0.06072102198192772 Centerline is valid? [True, True] Translation: X:67.39, Y:-15.72, Z:-8.02 [[ 9.07282190e-01 4.13332596e-01 7.74286258e-02 6.73910970e+01] [-4.11999231e-01 9.10578423e-01 -3.32199985e-02 -1.57197635e+01] [-8.42357442e-02 -1.76062134e-03 9.96444298e-01 -8.01700094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.021193817 meters 0.06094734014153691 Centerline is valid? [True, True] Translation: X:67.42, Y:-15.73, Z:-8.02 [[ 9.06649846e-01 4.14365747e-01 7.92911395e-02 6.74182649e+01] [-4.12968114e-01 9.10108531e-01 -3.40558251e-02 -1.57339721e+01] [-8.62751099e-02 -1.86800374e-03 9.96269600e-01 -8.02032553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.051193817 meters 0.060872357395124754 Centerline is valid? [True, True] Translation: X:67.45, Y:-15.75, Z:-8.02 [[ 9.06462896e-01 4.14819577e-01 7.90552752e-02 6.74465183e+01] [-4.13431094e-01 9.09901711e-01 -3.39647904e-02 -1.57509402e+01] [-8.60217902e-02 -1.89608666e-03 9.96291452e-01 -8.02319349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.081193817 meters 0.06053223550772148 Centerline is valid? [True, True] Translation: X:67.47, Y:-15.77, Z:-8.03 [[ 9.06944478e-01 4.13872421e-01 7.84941552e-02 6.74724812e+01] [-4.12497439e-01 9.10333182e-01 -3.37544096e-02 -1.57708747e+01] [-8.54258533e-02 -1.76526254e-03 9.96342967e-01 -8.02688490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.111193817 meters 0.06101524792138691 Centerline is valid? [True, True] Translation: X:67.50, Y:-15.78, Z:-8.03 [[ 9.07135272e-01 4.13361151e-01 7.89820085e-02 6.75002659e+01] [-4.11964646e-01 9.10565572e-01 -3.39921992e-02 -1.57840559e+01] [-8.59693523e-02 -1.70227234e-03 9.96296328e-01 -8.03375256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.141193817 meters 0.061063328197563625 Centerline is valid? [True, True] Translation: X:67.53, Y:-15.80, Z:-8.04 [[ 9.07452129e-01 4.12752638e-01 7.85231959e-02 6.75280830e+01] [-4.11368004e-01 9.10841730e-01 -3.38187442e-02 -1.57994392e+01] [-8.54809795e-02 -1.61303898e-03 9.96338497e-01 -8.03851537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.171193817 meters 0.06081963880855993 Centerline is valid? [True, True] Translation: X:67.55, Y:-15.82, Z:-8.04 [[ 9.07756783e-01 4.12506692e-01 7.62617313e-02 6.75540760e+01] [-4.11197804e-01 9.10953301e-01 -3.28701908e-02 -1.58201005e+01] [-8.30300496e-02 -1.52051781e-03 9.96545884e-01 -8.04133731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.201193817 meters 0.06110070266841783 Centerline is valid? [True, True] Translation: X:67.58, Y:-15.84, Z:-8.05 [[ 9.07834884e-01 4.12769002e-01 7.38753954e-02 6.75814899e+01] [-4.11539752e-01 9.10834551e-01 -3.18661709e-02 -1.58354624e+01] [-8.04416302e-02 -1.47344031e-03 9.96758232e-01 -8.04731473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.231193817 meters 0.061410829893064706 Centerline is valid? [True, True] Translation: X:67.61, Y:-15.85, Z:-8.05 [[ 9.07892723e-01 4.12813754e-01 7.29082132e-02 6.76093833e+01] [-4.11614961e-01 9.10814326e-01 -3.14704338e-02 -1.58514213e+01] [-7.93972729e-02 -1.43833343e-03 9.96842016e-01 -8.05313949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.261193817 meters 0.06147400481743742 Centerline is valid? [True, True] Translation: X:67.64, Y:-15.87, Z:-8.06 [[ 9.08067387e-01 4.12492476e-01 7.25505128e-02 6.76375704e+01] [-4.11302628e-01 9.10959958e-01 -3.13385271e-02 -1.58685052e+01] [-7.90175187e-02 -1.38272209e-03 9.96872269e-01 -8.05832019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.291193817 meters 0.06101639577718753 Centerline is valid? [True, True] Translation: X:67.66, Y:-15.89, Z:-8.06 [[ 9.09359427e-01 4.09460979e-01 7.35332490e-02 6.76618248e+01] [-4.08226323e-01 9.12326960e-01 -3.17928855e-02 -1.58917307e+01] [-8.01043115e-02 -1.10704776e-03 9.96785872e-01 -8.06038579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32119381700001 meters 0.06054483746794065 Centerline is valid? [True, True] Translation: X:67.69, Y:-15.91, Z:-8.06 [[ 9.10185681e-01 4.07192195e-01 7.58718801e-02 6.76888912e+01] [-4.05866989e-01 9.13342047e-01 -3.28373509e-02 -1.59097540e+01] [-8.26680913e-02 -9.05804901e-04 9.96576724e-01 -8.06173536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35119381700001 meters 0.06028597975403213 Centerline is valid? [True, True] Translation: X:67.72, Y:-15.93, Z:-8.06 [[ 9.10702585e-01 4.05831833e-01 7.69501519e-02 6.77161796e+01] [-4.04463912e-01 9.13947423e-01 -3.33024341e-02 -1.59272574e+01] [-8.38435808e-02 -7.94946657e-04 9.96478611e-01 -8.06464527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.381193817 meters 0.06013273629088412 Centerline is valid? [True, True] Translation: X:67.74, Y:-15.95, Z:-8.07 [[ 9.11852035e-01 4.03327523e-01 7.65034374e-02 6.77424132e+01] [-4.01964725e-01 9.15055527e-01 -3.31321915e-02 -1.59482154e+01] [-8.33680180e-02 -5.40026971e-04 9.96518681e-01 -8.06883465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.411193817 meters 0.060331709616453906 Centerline is valid? [True, True] Translation: X:67.77, Y:-15.96, Z:-8.07 [[ 9.12116239e-01 4.02862964e-01 7.57984079e-02 6.77703739e+01] [-4.01521160e-01 9.15260190e-01 -3.28563996e-02 -1.59644894e+01] [-8.26118917e-02 -4.65809075e-04 9.96581687e-01 -8.07358775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.441193817 meters 0.06080930679120287 Centerline is valid? [True, True] Translation: X:67.80, Y:-15.98, Z:-8.08 [[ 9.12670389e-01 4.01975354e-01 7.38144671e-02 6.77963598e+01] [-4.00697495e-01 9.15650422e-01 -3.20284565e-02 -1.59805826e+01] [-8.04628981e-02 -3.45848223e-04 9.96757544e-01 -8.07981818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.471193817 meters 0.060655358748279375 Centerline is valid? [True, True] Translation: X:67.82, Y:-16.00, Z:-8.08 [[ 9.14006725e-01 3.98606842e-01 7.55267602e-02 6.78217355e+01] [-3.97257789e-01 9.17121902e-01 -3.27668598e-02 -1.60030718e+01] [-8.23283404e-02 -5.44635164e-05 9.96605259e-01 -8.08047956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.501193817 meters 0.06065395432590649 Centerline is valid? [True, True] Translation: X:67.85, Y:-16.02, Z:-8.08 [[ 9.14837202e-01 3.96410395e-01 7.70174787e-02 6.78489478e+01] [-3.94997499e-01 9.18073401e-01 -3.34395906e-02 -1.60197644e+01] [-8.39634999e-02 1.70070001e-04 9.96468816e-01 -8.08280383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.531193817 meters 0.060759031065898104 Centerline is valid? [True, True] Translation: X:67.88, Y:-16.04, Z:-8.09 [[ 9.15495798e-01 3.94765692e-01 7.76369289e-02 6.78775156e+01] [-3.93321381e-01 9.18781761e-01 -3.37396956e-02 -1.60355129e+01] [-8.46506685e-02 3.52285442e-04 9.96410628e-01 -8.08591966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.561193817 meters 0.061476447235685426 Centerline is valid? [True, True] Translation: X:67.90, Y:-16.05, Z:-8.09 [[ 9.16779886e-01 3.91841843e-01 7.72956037e-02 6.79046700e+01] [-3.90399510e-01 9.20032381e-01 -3.35952479e-02 -1.60512051e+01] [-8.42784821e-02 6.23281717e-04 9.96442045e-01 -8.09108946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.591193817 meters 0.06266578454938068 Centerline is valid? [True, True] Translation: X:67.93, Y:-16.07, Z:-8.10 [[ 9.18471658e-01 3.88399509e-01 7.45361289e-02 6.79300629e+01] [-3.87045015e-01 9.21490616e-01 -3.24222215e-02 -1.60671642e+01] [-8.12771183e-02 9.30054453e-04 9.96691108e-01 -8.09763691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.621193817 meters 0.06266578454938068 Centerline is valid? [True, True] Translation: X:67.96, Y:-16.08, Z:-8.10 [[ 9.18353175e-01 3.88679718e-01 7.45353836e-02 6.79594976e+01] [-3.87326006e-01 9.21372484e-01 -3.24239380e-02 -1.60802473e+01] [-8.12773786e-02 9.07133968e-04 9.96691108e-01 -8.10134388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.651193817 meters 0.06321713654157025 Centerline is valid? [True, True] Translation: X:67.99, Y:-16.09, Z:-8.10 [[ 9.18834175e-01 3.87704194e-01 7.36832241e-02 6.79883014e+01] [-3.86375925e-01 9.21783295e-01 -3.20811875e-02 -1.60949431e+01] [-8.03579760e-02 1.00786765e-03 9.96765559e-01 -8.10495671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68119381700001 meters 0.06353294532360564 Centerline is valid? [True, True] Translation: X:68.02, Y:-16.11, Z:-8.11 [[ 9.19192623e-01 3.86805470e-01 7.39354420e-02 6.80180151e+01] [-3.85463382e-01 9.22160666e-01 -3.22131440e-02 -1.61087707e+01] [-8.06405768e-02 1.11067886e-03 9.96742627e-01 -8.10861118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71119381700001 meters 0.06361764617134484 Centerline is valid? [True, True] Translation: X:68.05, Y:-16.12, Z:-8.11 [[ 9.19180896e-01 3.86750323e-01 7.43684698e-02 6.80472930e+01] [-3.85389934e-01 9.22183750e-01 -3.24303803e-02 -1.61205115e+01] [-8.11238544e-02 1.14852628e-03 9.96703367e-01 -8.11296748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.741193817 meters 0.0632950755834399 Centerline is valid? [True, True] Translation: X:68.08, Y:-16.13, Z:-8.12 [[ 9.19520026e-01 3.85844695e-01 7.48785162e-02 6.80799177e+01] [-3.84460756e-01 9.22562892e-01 -3.26747093e-02 -1.61271120e+01] [-8.16875037e-02 1.25719862e-03 9.96657198e-01 -8.11716142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.771193817 meters 0.0635814163086364 Centerline is valid? [True, True] Translation: X:68.11, Y:-16.14, Z:-8.12 [[ 9.19537096e-01 3.85624206e-01 7.57990848e-02 6.81089037e+01] [-3.84202407e-01 9.22654984e-01 -3.31102912e-02 -1.61367652e+01] [-8.27045331e-02 1.32395016e-03 9.96573232e-01 -8.12203247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.801193817 meters 0.06351145274510811 Centerline is valid? [True, True] Translation: X:68.14, Y:-16.15, Z:-8.13 [[ 9.19442950e-01 3.85819311e-01 7.59481465e-02 6.81392773e+01] [-3.84391834e-01 9.22573425e-01 -3.31842446e-02 -1.61476056e+01] [-8.28708640e-02 1.31717251e-03 9.96559424e-01 -8.12608951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.831193817 meters 0.06279467171108621 Centerline is valid? [True, True] Translation: X:68.17, Y:-16.16, Z:-8.13 [[ 9.19664166e-01 3.85548194e-01 7.46351902e-02 6.81696567e+01] [-3.84166553e-01 9.22686720e-01 -3.26385733e-02 -1.61576359e+01] [-8.14486418e-02 1.34418254e-03 9.96676634e-01 -8.12536773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.861193817 meters 0.06429874781181502 Centerline is valid? [True, True] Translation: X:68.20, Y:-16.17, Z:-8.13 [[ 9.19625663e-01 3.85522082e-01 7.52420337e-02 6.81969784e+01] [-3.84115426e-01 9.22697572e-01 -3.29322057e-02 -1.61715561e+01] [-8.21217343e-02 1.38367574e-03 9.96621345e-01 -8.13252494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.891193817 meters 0.06289716493358585 Centerline is valid? [True, True] Translation: X:68.23, Y:-16.18, Z:-8.13 [[ 9.19421823e-01 3.85967730e-01 7.54481390e-02 6.82284469e+01] [-3.84553963e-01 9.22511284e-01 -3.30330265e-02 -1.61798274e+01] [-8.23514418e-02 1.35740458e-03 9.96602427e-01 -8.13042302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.921193817 meters 0.062072460772351436 Centerline is valid? [True, True] Translation: X:68.26, Y:-16.19, Z:-8.13 [[ 9.18721488e-01 3.87592103e-01 7.56517585e-02 6.82600134e+01] [-3.86174042e-01 9.21830151e-01 -3.31478857e-02 -1.61880940e+01] [-8.25859307e-02 1.23892953e-03 9.96583177e-01 -8.13191727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.951193817 meters 0.06203379990197329 Centerline is valid? [True, True] Translation: X:68.29, Y:-16.19, Z:-8.14 [[ 9.15882885e-01 3.93977244e-01 7.70744559e-02 6.82922888e+01] [-3.92524648e-01 9.19119920e-01 -3.38079027e-02 -1.61885204e+01] [-8.41602120e-02 7.10455815e-04 9.96451983e-01 -8.14407241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.981193817 meters 0.06057450444956501 Centerline is valid? [True, True] Translation: X:68.33, Y:-16.19, Z:-8.14 [[ 9.13881187e-01 3.98455559e-01 7.78096644e-02 6.83255928e+01] [-3.96991534e-01 9.17187592e-01 -3.41268682e-02 -1.61929888e+01] [-8.49640991e-02 2.98124814e-04 9.96383969e-01 -8.14260064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.011193817 meters 0.060141089333523565 Centerline is valid? [True, True] Translation: X:68.36, Y:-16.20, Z:-8.14 [[ 9.11670623e-01 4.03295977e-01 7.87974014e-02 6.83575037e+01] [-4.01810182e-01 9.15069581e-01 -3.45866999e-02 -1.62000956e+01] [-8.60537820e-02 -1.29919883e-04 9.96290485e-01 -8.14453528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.041193817 meters 0.060281123621605426 Centerline is valid? [True, True] Translation: X:68.39, Y:-16.20, Z:-8.15 [[ 9.07961992e-01 4.11484636e-01 7.92806111e-02 6.83903616e+01] [-4.10009184e-01 9.11416267e-01 -3.48261178e-02 -1.62031517e+01] [-8.65880510e-02 -8.84987331e-04 9.96243809e-01 -8.14832695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07119381700001 meters 0.06065348030608223 Centerline is valid? [True, True] Translation: X:68.42, Y:-16.21, Z:-8.15 [[ 9.06401191e-01 4.14875505e-01 7.94682024e-02 6.84201123e+01] [-4.13403896e-01 9.09877410e-01 -3.49330519e-02 -1.62109004e+01] [-8.67991898e-02 -1.18910456e-03 9.96225118e-01 -8.15386373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10119381700001 meters 0.06098740739478572 Centerline is valid? [True, True] Translation: X:68.45, Y:-16.22, Z:-8.16 [[ 9.05334278e-01 4.17316138e-01 7.88484944e-02 6.84505438e+01] [-4.15874632e-01 9.08760313e-01 -3.46840469e-02 -1.62205786e+01] [-8.61285950e-02 -1.39043206e-03 9.96283058e-01 -8.15873820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.131193817 meters 0.061219491849570776 Centerline is valid? [True, True] Translation: X:68.48, Y:-16.23, Z:-8.16 [[ 9.04481546e-01 4.19274114e-01 7.82454461e-02 6.84807026e+01] [-4.17859739e-01 9.07858381e-01 -3.44441268e-02 -1.62309608e+01] [-8.54773149e-02 -1.54154461e-03 9.96338924e-01 -8.16382913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.161193817 meters 0.06160810269437948 Centerline is valid? [True, True] Translation: X:68.51, Y:-16.24, Z:-8.17 [[ 9.03816828e-01 4.20744875e-01 7.80313449e-02 6.85099281e+01] [-4.19341431e-01 9.07177503e-01 -3.43764728e-02 -1.62414249e+01] [-8.52520054e-02 -1.65174127e-03 9.96358052e-01 -8.16849406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.191193817 meters 0.061762353271188924 Centerline is valid? [True, True] Translation: X:68.54, Y:-16.25, Z:-8.17 [[ 9.03475815e-01 4.21219915e-01 7.94055112e-02 6.85383441e+01] [-4.19766174e-01 9.06956934e-01 -3.50068543e-02 -1.62544355e+01] [-8.67629631e-02 -1.70390138e-03 9.96227527e-01 -8.17224878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.221193817 meters 0.0609060583514869 Centerline is valid? [True, True] Translation: X:68.57, Y:-16.27, Z:-8.17 [[ 9.03809606e-01 4.20176296e-01 8.11176736e-02 6.85665915e+01] [-4.18652241e-01 9.07441063e-01 -3.57913072e-02 -1.62717203e+01] [-8.86481668e-02 -1.61156855e-03 9.96061698e-01 -8.17173640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.251193817 meters 0.06110211278326855 Centerline is valid? [True, True] Translation: X:68.59, Y:-16.29, Z:-8.18 [[ 9.04686644e-01 4.18182922e-01 8.16401824e-02 6.85940055e+01] [-4.16630507e-01 9.08361727e-01 -3.60276750e-02 -1.62855878e+01] [-8.92249755e-02 -1.42003416e-03 9.96010486e-01 -8.17836774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.281193817 meters 0.060875681312737094 Centerline is valid? [True, True] Translation: X:68.62, Y:-16.30, Z:-8.18 [[ 9.05531347e-01 4.16341830e-01 8.16851222e-02 6.86208459e+01] [-4.14777847e-01 9.09207349e-01 -3.60740022e-02 -1.63026668e+01] [-8.92878295e-02 -1.21503926e-03 9.96005124e-01 -8.18214842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.311193817 meters 0.060864421223025524 Centerline is valid? [True, True] Translation: X:68.65, Y:-16.32, Z:-8.19 [[ 9.07482827e-01 4.12590373e-01 7.90196274e-02 6.86452591e+01] [-4.11110616e-01 9.10916325e-01 -3.49214816e-02 -1.63230418e+01] [-8.63885358e-02 -7.95162854e-04 9.96261205e-01 -8.18936924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.341193817 meters 0.060532715579677786 Centerline is valid? [True, True] Translation: X:68.67, Y:-16.34, Z:-8.19 [[ 9.07983889e-01 4.11581805e-01 7.85218169e-02 6.86736762e+01] [-4.10115158e-01 9.11372570e-01 -3.47217008e-02 -1.63400396e+01] [-8.58534504e-02 -6.76242460e-04 9.96307547e-01 -8.19074367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.371193817 meters 0.060554173269626296 Centerline is valid? [True, True] Translation: X:68.70, Y:-16.35, Z:-8.19 [[ 9.07962780e-01 4.11536716e-01 7.90007727e-02 6.87015824e+01] [-4.10049128e-01 9.11392952e-01 -3.49656829e-02 -1.63548228e+01] [-8.63904098e-02 -6.46659364e-04 9.96261150e-01 -8.19452271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.401193817 meters 0.06090272954601078 Centerline is valid? [True, True] Translation: X:68.73, Y:-16.37, Z:-8.20 [[ 9.08644081e-01 4.09990858e-01 7.92049944e-02 6.87271423e+01] [-4.08487306e-01 9.12089508e-01 -3.50834810e-02 -1.63714269e+01] [-8.66259508e-02 -4.75837525e-04 9.96240793e-01 -8.20298996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43119381700001 meters 0.06061349130888788 Centerline is valid? [True, True] Translation: X:68.76, Y:-16.39, Z:-8.20 [[ 9.09118070e-01 4.09004524e-01 7.88646570e-02 6.87561570e+01] [-4.07508227e-01 9.12532284e-01 -3.49553303e-02 -1.63884645e+01] [-8.62634338e-02 -3.59474083e-04 9.96272297e-01 -8.20307886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46119381700001 meters 0.06054082676633142 Centerline is valid? [True, True] Translation: X:68.78, Y:-16.40, Z:-8.21 [[ 9.09801053e-01 4.07386466e-01 7.93618965e-02 6.87834337e+01] [-4.05862306e-01 9.13255843e-01 -3.52072868e-02 -1.64046816e+01] [-8.68206879e-02 -1.78375713e-04 9.96223939e-01 -8.20661534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.491193817 meters 0.06076512942300799 Centerline is valid? [True, True] Translation: X:68.81, Y:-16.42, Z:-8.21 [[ 9.10760112e-01 4.05343240e-01 7.88217961e-02 6.88110192e+01] [-4.03829930e-01 9.14164567e-01 -3.49933062e-02 -1.64220621e+01] [-8.62403933e-02 3.99070090e-05 9.96274356e-01 -8.21098037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.521193817 meters 0.0610035608684721 Centerline is valid? [True, True] Translation: X:68.84, Y:-16.45, Z:-8.21 [[ 9.12806497e-01 4.00315636e-01 8.08188788e-02 6.88364585e+01] [-3.98702093e-01 9.16377151e-01 -3.59104272e-02 -1.64454855e+01] [-8.84360794e-02 5.56615118e-04 9.96081698e-01 -8.21184670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.551193817 meters 0.061513108463363955 Centerline is valid? [True, True] Translation: X:68.86, Y:-16.46, Z:-8.22 [[ 9.13402550e-01 3.99164916e-01 7.97693603e-02 6.88622013e+01] [-3.97587733e-01 9.16878902e-01 -3.54552332e-02 -1.64624701e+01] [-8.72913287e-02 6.69581320e-04 9.96182602e-01 -8.21691057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.581193817 meters 0.06158048741676854 Centerline is valid? [True, True] Translation: X:68.89, Y:-16.48, Z:-8.22 [[ 9.13632843e-01 3.98763840e-01 7.91354994e-02 6.88910535e+01] [-3.97208095e-01 9.17053365e-01 -3.51973634e-02 -1.64770136e+01] [-8.66069118e-02 7.24206297e-04 9.96242299e-01 -8.22114641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.611193817 meters 0.0608751118853199 Centerline is valid? [True, True] Translation: X:68.92, Y:-16.49, Z:-8.22 [[ 9.12481600e-01 4.01549524e-01 7.83282230e-02 6.89221683e+01] [-4.00033637e-01 9.15837187e-01 -3.48616760e-02 -1.64878456e+01] [-8.57345888e-02 4.76713972e-04 9.96317898e-01 -8.22481945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.641193817 meters 0.060829836375097396 Centerline is valid? [True, True] Translation: X:68.95, Y:-16.50, Z:-8.23 [[ 9.11550205e-01 4.03639173e-01 7.84324005e-02 6.89503661e+01] [-4.02124053e-01 9.14918204e-01 -3.49417404e-02 -1.64995870e+01] [-8.58630862e-02 3.11595839e-04 9.96306897e-01 -8.22967950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.671193817 meters 0.060682468391774026 Centerline is valid? [True, True] Translation: X:68.98, Y:-16.51, Z:-8.23 [[ 9.10492082e-01 4.06086533e-01 7.80890300e-02 6.89809416e+01] [-4.04591662e-01 9.13834622e-01 -3.48119186e-02 -1.65124086e+01] [-8.54971106e-02 1.01805781e-04 9.96338413e-01 -8.23304645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.701193817 meters 0.060379156104743474 Centerline is valid? [True, True] Translation: X:69.01, Y:-16.52, Z:-8.24 [[ 9.09251750e-01 4.08617831e-01 7.93266894e-02 6.90095369e+01] [-4.07081743e-01 9.12705569e-01 -3.53977185e-02 -1.65244030e+01] [-8.68660502e-02 -1.07009426e-04 9.96219995e-01 -8.23566503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.731193817 meters 0.059974652082513846 Centerline is valid? [True, True] Translation: X:69.04, Y:-16.54, Z:-8.24 [[ 9.07364539e-01 4.12511494e-01 8.07704233e-02 6.90392608e+01] [-4.10931884e-01 9.10952278e-01 -3.60684674e-02 -1.65351837e+01] [-8.84566584e-02 -4.63893988e-04 9.96079919e-01 -8.23640013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.761193817 meters 0.06011417916916106 Centerline is valid? [True, True] Translation: X:69.07, Y:-16.55, Z:-8.24 [[ 9.06416592e-01 4.14510595e-01 8.11783714e-02 6.90687331e+01] [-4.12920756e-01 9.10044261e-01 -3.62752165e-02 -1.65468485e+01] [-8.89123726e-02 -6.39776446e-04 9.96039247e-01 -8.24125070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.791193817 meters 0.06001842932607039 Centerline is valid? [True, True] Translation: X:69.10, Y:-16.56, Z:-8.24 [[ 9.05391904e-01 4.16928621e-01 8.02248359e-02 6.90989595e+01] [-4.15382899e-01 9.08938842e-01 -3.58779705e-02 -1.65585900e+01] [-8.78780222e-02 -8.40400857e-04 9.96130888e-01 -8.24429394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82119381700001 meters 0.06035461653576516 Centerline is valid? [True, True] Translation: X:69.13, Y:-16.57, Z:-8.25 [[ 9.03241863e-01 4.21563378e-01 8.02399824e-02 6.91297406e+01] [-4.20032896e-01 9.06798056e-01 -3.59117187e-02 -1.65677047e+01] [-8.79005255e-02 -1.26646446e-03 9.96128452e-01 -8.24795318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85119381700001 meters 0.0605965065569379 Centerline is valid? [True, True] Translation: X:69.16, Y:-16.58, Z:-8.25 [[ 9.02221396e-01 4.23721566e-01 8.03528905e-02 6.91583102e+01] [-4.22192702e-01 9.05791326e-01 -3.59916050e-02 -1.65781044e+01] [-8.80333704e-02 -1.45200789e-03 9.96116468e-01 -8.25206212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.881193817 meters 0.06109725084901951 Centerline is valid? [True, True] Translation: X:69.19, Y:-16.59, Z:-8.26 [[ 9.00695172e-01 4.26932326e-01 8.04797912e-02 6.91883066e+01] [-4.25409620e-01 9.04281884e-01 -3.60683960e-02 -1.65884216e+01] [-8.81751814e-02 -1.75024732e-03 9.96103445e-01 -8.25555600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.911193817 meters 0.061609058288492474 Centerline is valid? [True, True] Translation: X:69.22, Y:-16.60, Z:-8.26 [[ 8.98885201e-01 4.30563748e-01 8.13649466e-02 6.92183062e+01] [-4.29019625e-01 9.02557716e-01 -3.64928786e-02 -1.65996290e+01] [-8.91490709e-02 -2.10425040e-03 9.96016072e-01 -8.25828756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.941193817 meters 0.06348565479809395 Centerline is valid? [True, True] Translation: X:69.25, Y:-16.61, Z:-8.26 [[ 8.95435135e-01 4.37534828e-01 8.22143170e-02 6.92476707e+01] [-4.35984417e-01 8.99197117e-01 -3.69070844e-02 -1.66071728e+01] [-9.00750117e-02 -2.79626099e-03 9.95931058e-01 -8.26133836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.971193817 meters 0.06452387295718703 Centerline is valid? [True, True] Translation: X:69.28, Y:-16.62, Z:-8.27 [[ 8.93834303e-01 4.40756286e-01 8.24265435e-02 6.92772816e+01] [-4.39211035e-01 8.97621376e-01 -3.70071925e-02 -1.66180632e+01] [-9.02989801e-02 -3.12434935e-03 9.95909801e-01 -8.26563264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.001193817 meters 0.0649223304108282 Centerline is valid? [True, True] Translation: X:69.31, Y:-16.63, Z:-8.27 [[ 8.92513919e-01 4.43512737e-01 8.19472793e-02 6.93056954e+01] [-4.41994778e-01 8.96261767e-01 -3.68165774e-02 -1.66309461e+01] [-8.97748344e-02 -3.36096170e-03 9.95956416e-01 -8.26970762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.031193817 meters 0.06679750357408458 Centerline is valid? [True, True] Translation: X:69.33, Y:-16.65, Z:-8.28 [[ 8.92053195e-01 4.44983823e-01 7.89334846e-02 6.93313749e+01] [-4.43578730e-01 8.95532336e-01 -3.54929029e-02 -1.66455473e+01] [-8.64812554e-02 -3.35165743e-03 9.96247840e-01 -8.27906139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.061193817 meters 0.0650141776264501 Centerline is valid? [True, True] Translation: X:69.36, Y:-16.67, Z:-8.28 [[ 8.92450154e-01 4.44362787e-01 7.79386678e-02 6.93568288e+01] [-4.42991240e-01 8.95841006e-01 -3.50378857e-02 -1.66694658e+01] [-8.53901871e-02 -3.25658059e-03 9.96342266e-01 -8.28031248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.091193817 meters 0.06507279848543034 Centerline is valid? [True, True] Translation: X:69.38, Y:-16.69, Z:-8.29 [[ 8.93002776e-01 4.43271362e-01 7.78237914e-02 6.93828402e+01] [-4.41896726e-01 8.96382056e-01 -3.50213148e-02 -1.66874223e+01] [-8.52837961e-02 -3.11594728e-03 9.96351828e-01 -8.28549485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.121193817 meters 0.06528126831303321 Centerline is valid? [True, True] Translation: X:69.41, Y:-16.70, Z:-8.29 [[ 8.94001291e-01 4.41032223e-01 7.90713013e-02 6.94083250e+01] [-4.39602688e-01 8.97486481e-01 -3.56018771e-02 -1.67045817e+01] [-8.66669989e-02 -2.93183257e-03 9.96233023e-01 -8.29049309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.151193817 meters 0.06416454519344213 Centerline is valid? [True, True] Translation: X:69.43, Y:-16.73, Z:-8.29 [[ 8.95854442e-01 4.37003258e-01 8.04547756e-02 6.94301612e+01] [-4.35506567e-01 8.99456215e-01 -3.62290913e-02 -1.67293031e+01] [-8.81977789e-02 -2.58259079e-03 9.96099635e-01 -8.29300875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18119381700001 meters 0.06340332243338251 Centerline is valid? [True, True] Translation: X:69.46, Y:-16.75, Z:-8.30 [[ 8.96835789e-01 4.34977862e-01 8.04973760e-02 6.94567144e+01] [-4.33471407e-01 9.00437990e-01 -3.62486540e-02 -1.67496257e+01] [-8.82502575e-02 -2.38422062e-03 9.96095481e-01 -8.29626162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21119381700001 meters 0.06287041536888743 Centerline is valid? [True, True] Translation: X:69.48, Y:-16.77, Z:-8.30 [[ 8.97954143e-01 4.32674799e-01 8.04417519e-02 6.94826032e+01] [-4.31160833e-01 9.01547495e-01 -3.62277581e-02 -1.67693192e+01] [-8.81968978e-02 -2.15246726e-03 9.96100735e-01 -8.30033148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.241193817 meters 0.061211685897131884 Centerline is valid? [True, True] Translation: X:69.51, Y:-16.79, Z:-8.30 [[ 8.99056294e-01 4.30476652e-01 7.99226634e-02 6.95077973e+01] [-4.28971141e-01 9.02599714e-01 -3.60210510e-02 -1.67936503e+01] [-8.76443946e-02 -1.89956349e-03 9.96150015e-01 -8.29952444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.271193817 meters 0.06073839304893586 Centerline is valid? [True, True] Translation: X:69.53, Y:-16.82, Z:-8.30 [[ 9.01845055e-01 4.24610740e-01 7.98825165e-02 6.95293674e+01] [-4.23082187e-01 9.05375059e-01 -3.60203481e-02 -1.68192096e+01] [-8.76182648e-02 -1.31209698e-03 9.96153260e-01 -8.30461416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.301193817 meters 0.06058084392786127 Centerline is valid? [True, True] Translation: X:69.56, Y:-16.84, Z:-8.31 [[ 9.03032637e-01 4.22172395e-01 7.93884501e-02 6.95551538e+01] [-4.20653295e-01 9.06514935e-01 -3.57977466e-02 -1.68387084e+01] [-8.70796361e-02 -1.06847959e-03 9.96200781e-01 -8.30914314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.331193817 meters 0.06050666121642381 Centerline is valid? [True, True] Translation: X:69.58, Y:-16.86, Z:-8.31 [[ 9.04632977e-01 4.19105125e-01 7.73955495e-02 6.95810358e+01] [-4.17648096e-01 9.07937421e-01 -3.49243009e-02 -1.68583826e+01] [-8.49072691e-02 -7.30429591e-04 9.96388590e-01 -8.31424129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.361193817 meters 0.06100335219800363 Centerline is valid? [True, True] Translation: X:69.60, Y:-16.89, Z:-8.32 [[ 9.09072815e-01 4.09574475e-01 7.63895714e-02 6.96036697e+01] [-4.08119383e-01 9.12276667e-01 -3.44942343e-02 -1.68882507e+01] [-8.38163815e-02 1.81705965e-04 9.96481200e-01 -8.31854948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.391193817 meters 0.06175672221819862 Centerline is valid? [True, True] Translation: X:69.63, Y:-16.91, Z:-8.32 [[ 9.11386378e-01 4.04446984e-01 7.61413659e-02 6.96280460e+01] [-4.02980537e-01 9.14561190e-01 -3.44168070e-02 -1.69091072e+01] [-8.35557119e-02 6.83520580e-04 9.96502873e-01 -8.32236812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.421193817 meters 0.06299417123823405 Centerline is valid? [True, True] Translation: X:69.65, Y:-16.93, Z:-8.33 [[ 9.13918469e-01 3.98603409e-01 7.66051821e-02 6.96541053e+01] [-3.97097652e-01 9.17122564e-01 -3.46360667e-02 -1.69290695e+01] [-8.40623953e-02 1.23480305e-03 9.96459728e-01 -8.32601475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.451193817 meters 0.06447764798582696 Centerline is valid? [True, True] Translation: X:69.68, Y:-16.95, Z:-8.33 [[ 9.16115204e-01 3.93573756e-01 7.63716668e-02 6.96798999e+01] [-3.92057515e-01 9.19291442e-01 -3.45564709e-02 -1.69476186e+01] [-8.38083397e-02 1.71562250e-03 9.96480416e-01 -8.32951719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.481193817 meters 0.06843305460208894 Centerline is valid? [True, True] Translation: X:69.70, Y:-16.97, Z:-8.33 [[ 9.21069540e-01 3.81647217e-01 7.73065652e-02 6.97037167e+01] [-3.80049350e-01 9.24303640e-01 -3.50039036e-02 -1.69717063e+01] [-8.48138820e-02 2.86071954e-03 9.96392705e-01 -8.33002782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.511193817 meters 0.0711786685514307 Centerline is valid? [True, True] Translation: X:69.73, Y:-16.99, Z:-8.33 [[ 9.23426721e-01 3.75675582e-01 7.84279733e-02 6.97300208e+01] [-3.74007311e-01 9.26744696e-01 -3.55358971e-02 -1.69903561e+01] [-8.60326771e-02 3.48216154e-03 9.96286230e-01 -8.33151123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.541193817 meters 0.0711786685514307 Centerline is valid? [True, True] Translation: X:69.76, Y:-17.00, Z:-8.34 [[ 9.23307635e-01 3.75969871e-01 7.84198143e-02 6.97592428e+01] [-3.74301132e-01 9.26625374e-01 -3.55538917e-02 -1.70038670e+01] [-8.60329818e-02 3.47455439e-03 9.96286231e-01 -8.33522555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57119381700001 meters 0.07194323918376261 Centerline is valid? [True, True] Translation: X:69.79, Y:-17.02, Z:-8.33 [[ 9.25499500e-01 3.70278666e-01 7.96516454e-02 6.97875077e+01] [-3.68533052e-01 9.28911683e-01 -3.61451847e-02 -1.70178486e+01] [-8.73731348e-02 4.09808636e-03 9.96167225e-01 -8.33388459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60119381700001 meters 0.07610946509495585 Centerline is valid? [True, True] Translation: X:69.81, Y:-17.03, Z:-8.33 [[ 9.28371025e-01 3.62680946e-01 8.11774107e-02 6.98141586e+01] [-3.60835947e-01 9.31900302e-01 -3.68679527e-02 -1.70325720e+01] [-8.90205575e-02 4.93541110e-03 9.96017561e-01 -8.33353232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.631193817 meters 0.07692899451765918 Centerline is valid? [True, True] Translation: X:69.84, Y:-17.04, Z:-8.34 [[ 9.28899280e-01 3.61149352e-01 8.19589761e-02 6.98447804e+01] [-3.59261915e-01 9.32493826e-01 -3.72309130e-02 -1.70424808e+01] [-8.98721593e-02 5.13902955e-03 9.95940051e-01 -8.33598686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.661193817 meters 0.0772331004294768 Centerline is valid? [True, True] Translation: X:69.88, Y:-17.05, Z:-8.34 [[ 9.29197958e-01 3.60458127e-01 8.16155255e-02 6.98763094e+01] [-3.58581418e-01 9.32760849e-01 -3.71021084e-02 -1.70499678e+01] [-8.95015233e-02 5.20939249e-03 9.95973062e-01 -8.33982874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.691193817 meters 0.07650543374083649 Centerline is valid? [True, True] Translation: X:69.91, Y:-17.05, Z:-8.34 [[ 9.29650628e-01 3.59262565e-01 8.17319914e-02 6.99118710e+01] [-3.57372950e-01 9.33221115e-01 -3.71876959e-02 -1.70472414e+01] [-8.96341672e-02 5.36276206e-03 9.95960319e-01 -8.34436788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.721193817 meters 0.07707975403021591 Centerline is valid? [True, True] Translation: X:69.94, Y:-17.05, Z:-8.35 [[ 9.30020705e-01 3.58376986e-01 8.14089913e-02 6.99432229e+01] [-3.56497938e-01 9.33561126e-01 -3.70519060e-02 -1.70546400e+01] [-8.92788200e-02 5.43690223e-03 9.95991833e-01 -8.34808965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.751193817 meters 0.07967998864050573 Centerline is valid? [True, True] Translation: X:69.97, Y:-17.06, Z:-8.35 [[ 9.30437827e-01 3.57320450e-01 8.12868182e-02 6.99724207e+01] [-3.55440039e-01 9.33965292e-01 -3.70298720e-02 -1.70644677e+01] [-8.91505974e-02 5.56140380e-03 9.96002631e-01 -8.35322668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.781193817 meters 0.07956677630535179 Centerline is valid? [True, True] Translation: X:70.00, Y:-17.07, Z:-8.36 [[ 9.30988062e-01 3.55989591e-01 8.08247446e-02 7.00042206e+01] [-3.54124583e-01 9.34472739e-01 -3.68304187e-02 -1.70702378e+01] [-8.86397662e-02 5.66665116e-03 9.96047630e-01 -8.35642324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.811193817 meters 0.08126020753678788 Centerline is valid? [True, True] Translation: X:70.04, Y:-17.07, Z:-8.36 [[ 9.31698118e-01 3.54114112e-01 8.08814765e-02 7.00387334e+01] [-3.52236739e-01 9.35183750e-01 -3.68867770e-02 -1.70675358e+01] [-8.87011708e-02 5.87791318e-03 9.96040939e-01 -8.36206536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.841193817 meters 0.08187584655538373 Centerline is valid? [True, True] Translation: X:70.07, Y:-17.07, Z:-8.37 [[ 9.31613749e-01 3.54261585e-01 8.12068437e-02 7.00706646e+01] [-3.52368180e-01 9.35127740e-01 -3.70509836e-02 -1.70712056e+01] [-8.90645124e-02 5.90249799e-03 9.96008370e-01 -8.36763898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.871193817 meters 0.08171528181161916 Centerline is valid? [True, True] Translation: X:70.10, Y:-17.07, Z:-8.37 [[ 9.31118065e-01 3.55870093e-01 7.98475175e-02 7.01041998e+01] [-3.54044510e-01 9.34518276e-01 -3.64427891e-02 -1.70746393e+01] [-8.75878631e-02 5.66296401e-03 9.96140701e-01 -8.37317738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.901193817 meters 0.07969578401106758 Centerline is valid? [True, True] Translation: X:70.14, Y:-17.08, Z:-8.38 [[ 9.30551262e-01 3.57681446e-01 7.83475028e-02 7.01384674e+01] [-3.55928030e-01 9.33827969e-01 -3.57849467e-02 -1.70756785e+01] [-8.59627009e-02 5.41365502e-03 9.96283648e-01 -8.37832922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93119381700001 meters 0.07985849498116636 Centerline is valid? [True, True] Translation: X:70.17, Y:-17.07, Z:-8.39 [[ 9.29091367e-01 3.61677719e-01 7.73205008e-02 7.01727039e+01] [-3.59980651e-01 9.32289711e-01 -3.53528581e-02 -1.70708163e+01] [-8.48714485e-02 5.01215100e-03 9.96379303e-01 -8.38539867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96119381700001 meters 0.08059860282721475 Centerline is valid? [True, True] Translation: X:70.20, Y:-17.08, Z:-8.39 [[ 9.27994131e-01 3.64367525e-01 7.78665491e-02 7.02035800e+01] [-3.62656091e-01 9.31242879e-01 -3.55985807e-02 -1.70751016e+01] [-8.54836361e-02 4.79649560e-03 9.96328029e-01 -8.39224447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.991193817 meters 0.0773645304839976 Centerline is valid? [True, True] Translation: X:70.24, Y:-17.07, Z:-8.40 [[ 9.26885948e-01 3.67249657e-01 7.75250203e-02 7.02386698e+01] [-3.65562056e-01 9.30111404e-01 -3.54564373e-02 -1.70730627e+01] [-8.51282699e-02 4.52386770e-03 9.96359730e-01 -8.39578942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.021193817 meters 0.0716661836379317 Centerline is valid? [True, True] Translation: X:70.28, Y:-17.06, Z:-8.40 [[ 9.24688095e-01 3.73179381e-01 7.54259623e-02 7.02798624e+01] [-3.71601377e-01 9.27751122e-01 -3.45003303e-02 -1.70569223e+01] [-8.28513331e-02 3.87365330e-03 9.96554390e-01 -8.39809857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.051193817 meters 0.07133980323326308 Centerline is valid? [True, True] Translation: X:70.31, Y:-17.06, Z:-8.40 [[ 9.23327597e-01 3.76560124e-01 7.52902524e-02 7.03114535e+01] [-3.74998714e-01 9.26385314e-01 -3.44414792e-02 -1.70598866e+01] [-8.27170718e-02 3.56702039e-03 9.96566687e-01 -8.40403511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.081193817 meters 0.06984701424492827 Centerline is valid? [True, True] Translation: X:70.35, Y:-17.06, Z:-8.41 [[ 9.22176571e-01 3.79396208e-01 7.51590951e-02 7.03450873e+01] [-3.77849510e-01 9.25228390e-01 -3.43827613e-02 -1.70611765e+01] [-8.25840179e-02 3.30814960e-03 9.96578615e-01 -8.40740495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.111193817 meters 0.06860497017712515 Centerline is valid? [True, True] Translation: X:70.38, Y:-17.06, Z:-8.41 [[ 9.21162174e-01 3.81866063e-01 7.50903452e-02 7.03791779e+01] [-3.80330789e-01 9.24212545e-01 -3.43462242e-02 -1.70629840e+01] [-8.25150965e-02 3.07927232e-03 9.96585058e-01 -8.41114519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.141193817 meters 0.06842540387800941 Centerline is valid? [True, True] Translation: X:70.41, Y:-17.06, Z:-8.42 [[ 9.20024319e-01 3.84773885e-01 7.41910387e-02 7.04139865e+01] [-3.83282092e-01 9.23006577e-01 -3.39661122e-02 -1.70596940e+01] [-8.15480896e-02 2.81355266e-03 9.96665437e-01 -8.41713076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.171193817 meters 0.06670974770368615 Centerline is valid? [True, True] Translation: X:70.45, Y:-17.06, Z:-8.42 [[ 9.19272673e-01 3.86669601e-01 7.36503404e-02 7.04484745e+01] [-3.85204753e-01 9.22214549e-01 -3.37286786e-02 -1.70621928e+01] [-8.09632702e-02 2.63539134e-03 9.96713602e-01 -8.41863293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.201193817 meters 0.06740721666785417 Centerline is valid? [True, True] Translation: X:70.48, Y:-17.07, Z:-8.43 [[ 9.18681147e-01 3.87787776e-01 7.51371520e-02 7.04796255e+01] [-3.86264418e-01 9.21744977e-01 -3.44383099e-02 -1.70687401e+01] [-8.26120480e-02 2.61501779e-03 9.96578352e-01 -8.42500789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.231193817 meters 0.06558694306882339 Centerline is valid? [True, True] Translation: X:70.52, Y:-17.07, Z:-8.43 [[ 9.17530833e-01 3.90426697e-01 7.55259262e-02 7.05170531e+01] [-3.88893536e-01 9.20630832e-01 -3.46509478e-02 -1.70657252e+01] [-8.30601514e-02 2.42176845e-03 9.96541593e-01 -8.42501815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.261193817 meters 0.06536298056133383 Centerline is valid? [True, True] Translation: X:70.55, Y:-17.07, Z:-8.43 [[ 9.16890876e-01 3.91806722e-01 7.61486358e-02 7.05469406e+01] [-3.90252500e-01 9.20044624e-01 -3.49410286e-02 -1.70742886e+01] [-8.37502729e-02 2.31991477e-03 9.96484074e-01 -8.42808864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.291193817 meters 0.06559779953771978 Centerline is valid? [True, True] Translation: X:70.58, Y:-17.08, Z:-8.43 [[ 9.16758127e-01 3.92061201e-01 7.64365875e-02 7.05769900e+01] [-3.90493539e-01 9.19936178e-01 -3.51030519e-02 -1.70838849e+01] [-8.40793269e-02 2.33301455e-03 9.96456333e-01 -8.43221352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32119381700001 meters 0.06554448283794208 Centerline is valid? [True, True] Translation: X:70.61, Y:-17.09, Z:-8.44 [[ 9.16782109e-01 3.92185575e-01 7.55052269e-02 7.06103599e+01] [-3.90655499e-01 9.19883238e-01 -3.46858709e-02 -1.70870080e+01] [-8.30592909e-02 2.30285380e-03 9.96541946e-01 -8.43576664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35119381700001 meters 0.06530110503518455 Centerline is valid? [True, True] Translation: X:70.64, Y:-17.10, Z:-8.44 [[ 9.16180208e-01 3.93443932e-01 7.62607261e-02 7.06415319e+01] [-3.91884997e-01 9.19345892e-01 -3.50610981e-02 -1.70951162e+01] [-8.39045615e-02 2.23684980e-03 9.96471285e-01 -8.44003636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.381193817 meters 0.06553546201197201 Centerline is valid? [True, True] Translation: X:70.67, Y:-17.10, Z:-8.45 [[ 9.15555414e-01 3.94912940e-01 7.61712104e-02 7.06712325e+01] [-3.93360353e-01 9.18716088e-01 -3.50482919e-02 -1.71045772e+01] [-8.38207404e-02 2.12591919e-03 9.96478582e-01 -8.44606541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.411193817 meters 0.06547384610181214 Centerline is valid? [True, True] Translation: X:70.70, Y:-17.11, Z:-8.45 [[ 9.15050385e-01 3.96326130e-01 7.48891962e-02 7.07019437e+01] [-3.94828310e-01 9.18107654e-01 -3.44810227e-02 -1.71149070e+01] [-8.24220745e-02 1.98349827e-03 9.96595539e-01 -8.45095991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.441193817 meters 0.06418373909875189 Centerline is valid? [True, True] Translation: X:70.73, Y:-17.12, Z:-8.45 [[ 9.13735218e-01 3.99172250e-01 7.58252385e-02 7.07344569e+01] [-3.97643779e-01 9.16874230e-01 -3.49438349e-02 -1.71203765e+01] [-8.34708163e-02 1.77797817e-03 9.96508636e-01 -8.45287840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.471193817 meters 0.06373441910378391 Centerline is valid? [True, True] Translation: X:70.76, Y:-17.13, Z:-8.46 [[ 9.12858506e-01 4.01150048e-01 7.59472587e-02 7.07646551e+01] [-3.99621156e-01 9.16010916e-01 -3.50276214e-02 -1.71305794e+01] [-8.36198500e-02 1.62513084e-03 9.96496402e-01 -8.45586628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.501193817 meters 0.06313459997063196 Centerline is valid? [True, True] Translation: X:70.79, Y:-17.14, Z:-8.46 [[ 9.12215705e-01 4.02515112e-01 7.64466678e-02 7.07946909e+01] [-4.00968447e-01 9.15412053e-01 -3.52856488e-02 -1.71415815e+01] [-8.41832080e-02 1.53542132e-03 9.96449111e-01 -8.45763799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.531193817 meters 0.06256987911472897 Centerline is valid? [True, True] Translation: X:70.83, Y:-17.15, Z:-8.46 [[ 9.11153324e-01 4.04916678e-01 7.64336561e-02 7.08264747e+01] [-4.03376653e-01 9.14352608e-01 -3.53069984e-02 -1.71497964e+01] [-8.41837054e-02 1.33853663e-03 9.96449352e-01 -8.46125578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.561193817 meters 0.06198280544897823 Centerline is valid? [True, True] Translation: X:70.86, Y:-17.16, Z:-8.46 [[ 9.10449583e-01 4.06300696e-01 7.74680627e-02 7.08573154e+01] [-4.04720831e-01 9.13738565e-01 -3.58173779e-02 -1.71607226e+01] [-8.53381819e-02 1.25697811e-03 9.96351251e-01 -8.46382627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.591193817 meters 0.06191490753781581 Centerline is valid? [True, True] Translation: X:70.89, Y:-17.17, Z:-8.47 [[ 9.09962922e-01 4.07323765e-01 7.78127992e-02 7.08869625e+01] [-4.05732553e-01 9.13283070e-01 -3.59879099e-02 -1.71725394e+01] [-8.57238431e-02 1.17647802e-03 9.96318242e-01 -8.46761278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.621193817 meters 0.06188715041053167 Centerline is valid? [True, True] Translation: X:70.92, Y:-17.19, Z:-8.47 [[ 9.09676164e-01 4.07764803e-01 7.88488576e-02 7.09150839e+01] [-4.06129670e-01 9.13086235e-01 -3.64995568e-02 -1.71850933e+01] [-8.68790411e-02 1.17991623e-03 9.96218169e-01 -8.47129726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.651193817 meters 0.06259383278360861 Centerline is valid? [True, True] Translation: X:70.94, Y:-17.20, Z:-8.48 [[ 9.10394407e-01 4.06230364e-01 7.84787562e-02 7.09420074e+01] [-4.04603769e-01 9.13769729e-01 -3.63410610e-02 -1.72002059e+01] [-8.64743542e-02 1.33189809e-03 9.96253187e-01 -8.47683167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68119381700001 meters 0.0631013603585404 Centerline is valid? [True, True] Translation: X:70.97, Y:-17.21, Z:-8.48 [[ 9.11143056e-01 4.04549451e-01 7.84733871e-02 7.09695370e+01] [-4.02914620e-01 9.14514870e-01 -3.63642964e-02 -1.72146787e+01] [-8.64762355e-02 1.51500118e-03 9.96252762e-01 -8.48146393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71119381700001 meters 0.06393928324948876 Centerline is valid? [True, True] Translation: X:71.00, Y:-17.23, Z:-8.49 [[ 9.11766651e-01 4.03545046e-01 7.63738816e-02 7.09970178e+01] [-4.01991155e-01 9.14958399e-01 -3.54152486e-02 -1.72281530e+01] [-8.41705725e-02 1.58881772e-03 9.96450094e-01 -8.48733960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.741193817 meters 0.06485818444219305 Centerline is valid? [True, True] Translation: X:71.03, Y:-17.24, Z:-8.49 [[ 9.12813098e-01 4.01101400e-01 7.67457791e-02 7.10254496e+01] [-3.99521283e-01 9.16031794e-01 -3.56159650e-02 -1.72405492e+01] [-8.45871871e-02 1.84914726e-03 9.96414366e-01 -8.49177855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.771193817 meters 0.06529482985318173 Centerline is valid? [True, True] Translation: X:71.05, Y:-17.25, Z:-8.49 [[ 9.13002041e-01 4.00529629e-01 7.74809028e-02 7.10545868e+01] [-3.98916160e-01 9.16281777e-01 -3.59666882e-02 -1.72539688e+01] [-8.54000636e-02 1.92927545e-03 9.96344874e-01 -8.49449449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.801193817 meters 0.06537649258034299 Centerline is valid? [True, True] Translation: X:71.08, Y:-17.27, Z:-8.50 [[ 9.12847535e-01 4.00756173e-01 7.81272497e-02 7.10834259e+01] [-3.99113913e-01 9.16182669e-01 -3.62960261e-02 -1.72667340e+01] [-8.61246887e-02 1.95106561e-03 9.96282456e-01 -8.49708677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.831193817 meters 0.06525466439063973 Centerline is valid? [True, True] Translation: X:71.11, Y:-17.28, Z:-8.50 [[ 9.12675383e-01 4.00856087e-01 7.96118234e-02 7.11130442e+01] [-3.99148670e-01 9.16138844e-01 -3.70129299e-02 -1.72799362e+01] [-8.77723421e-02 2.00383647e-03 9.96138545e-01 -8.49877969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.861193817 meters 0.06444712629290118 Centerline is valid? [True, True] Translation: X:71.14, Y:-17.29, Z:-8.50 [[ 9.11499905e-01 4.03212574e-01 8.11636790e-02 7.11425558e+01] [-4.01444059e-01 9.15104488e-01 -3.77682939e-02 -1.72895140e+01] [-8.95018979e-02 1.84311958e-03 9.95984946e-01 -8.50050252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.891193817 meters 0.06335151536700627 Centerline is valid? [True, True] Translation: X:71.17, Y:-17.30, Z:-8.50 [[ 9.10226614e-01 4.06162518e-01 8.07435430e-02 7.11712532e+01] [-4.04423339e-01 9.13799543e-01 -3.75786999e-02 -1.72965752e+01] [-8.90464721e-02 1.55055954e-03 9.96026266e-01 -8.50439715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.921193817 meters 0.06139397744666971 Centerline is valid? [True, True] Translation: X:71.20, Y:-17.30, Z:-8.51 [[ 9.08041879e-01 4.10931571e-01 8.12107712e-02 7.12036701e+01] [-4.09191629e-01 9.11665546e-01 -3.77907868e-02 -1.73009154e+01] [-8.95664894e-02 1.08484931e-03 9.95980254e-01 -8.50518045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.951193817 meters 0.06076258266279513 Centerline is valid? [True, True] Translation: X:71.23, Y:-17.31, Z:-8.51 [[ 9.05480735e-01 4.16477138e-01 8.15563145e-02 7.12327205e+01] [-4.14744333e-01 9.09146027e-01 -3.79557646e-02 -1.73053773e+01] [-8.99543075e-02 5.43194406e-04 9.95945745e-01 -8.51157002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.981193817 meters 0.059683113884343095 Centerline is valid? [True, True] Translation: X:71.27, Y:-17.30, Z:-8.51 [[ 8.99924105e-01 4.28149924e-01 8.26090058e-02 7.12654860e+01] [-4.26421287e-01 9.03707498e-01 -3.84401339e-02 -1.73036667e+01] [-9.11125183e-02 -6.33035427e-04 9.95840403e-01 -8.50994750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.011193817 meters 0.060289191353786686 Centerline is valid? [True, True] Translation: X:71.29, Y:-17.31, Z:-8.52 [[ 8.97902204e-01 4.32534305e-01 8.17661712e-02 7.12920819e+01] [-4.30859639e-01 9.01616838e-01 -3.80400883e-02 -1.73114900e+01] [-9.01753999e-02 -1.07346387e-03 9.95925321e-01 -8.51586437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.041193817 meters 0.0605557113569761 Centerline is valid? [True, True] Translation: X:71.32, Y:-17.32, Z:-8.52 [[ 8.96207585e-01 4.36050933e-01 8.16795516e-02 7.13183085e+01] [-4.34395353e-01 8.99920843e-01 -3.79888560e-02 -1.73229464e+01] [-9.00702070e-02 -1.43531680e-03 9.95934384e-01 -8.51809089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07119381700001 meters 0.06151436947055711 Centerline is valid? [True, True] Translation: X:71.34, Y:-17.33, Z:-8.52 [[ 8.95293699e-01 4.38174172e-01 8.03280061e-02 7.13430523e+01] [-4.36582200e-01 8.98888617e-01 -3.73528800e-02 -1.73338569e+01] [-8.85729975e-02 -1.62797949e-03 9.96068358e-01 -8.52474852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10119381700001 meters 0.06315253024857344 Centerline is valid? [True, True] Translation: X:71.37, Y:-17.35, Z:-8.54 [[ 8.94648710e-01 4.39672783e-01 7.93191582e-02 7.13657600e+01] [-4.38127357e-01 8.98156299e-01 -3.68738668e-02 -1.73491949e+01] [-8.74534372e-02 -1.76273582e-03 9.96167049e-01 -8.53522382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.131193817 meters 0.06214001373905105 Centerline is valid? [True, True] Translation: X:71.39, Y:-17.37, Z:-8.53 [[ 8.94513909e-01 4.40005875e-01 7.89917477e-02 7.13892083e+01] [-4.38475360e-01 8.97993097e-01 -3.67118138e-02 -1.73682705e+01] [-8.70874579e-02 -1.79670688e-03 9.96199050e-01 -8.53491221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.161193817 meters 0.06271351167071616 Centerline is valid? [True, True] Translation: X:71.41, Y:-17.38, Z:-8.54 [[ 8.94348893e-01 4.40533596e-01 7.79115413e-02 7.14127944e+01] [-4.39047293e-01 8.97734263e-01 -3.62031463e-02 -1.73823769e+01] [-8.58925623e-02 -1.82860746e-03 9.96302727e-01 -8.54037333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.191193817 meters 0.06285281966101097 Centerline is valid? [True, True] Translation: X:71.44, Y:-17.40, Z:-8.54 [[ 8.93884164e-01 4.41576062e-01 7.73413427e-02 7.14365455e+01] [-4.40116172e-01 8.97221758e-01 -3.59287113e-02 -1.73986613e+01] [-8.52575943e-02 -1.92306961e-03 9.96357087e-01 -8.54336732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.221193817 meters 0.06405615282844095 Centerline is valid? [True, True] Translation: X:71.46, Y:-17.42, Z:-8.55 [[ 8.93456060e-01 4.42791775e-01 7.53107695e-02 7.14583231e+01] [-4.41412584e-01 8.96622259e-01 -3.49779200e-02 -1.74178090e+01] [-8.30132476e-02 -1.99188676e-03 9.96546453e-01 -8.55171998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.251193817 meters 0.06281396405570847 Centerline is valid? [True, True] Translation: X:71.48, Y:-17.44, Z:-8.55 [[ 8.93522481e-01 4.42640134e-01 7.54141113e-02 7.14811180e+01] [-4.41257102e-01 8.96697144e-01 -3.50200225e-02 -1.74388148e+01] [-8.31248857e-02 -1.98583483e-03 9.96537159e-01 -8.55096205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.281193817 meters 0.06346728296320209 Centerline is valid? [True, True] Translation: X:71.50, Y:-17.45, Z:-8.56 [[ 8.93877166e-01 4.41967306e-01 7.51565863e-02 7.15045817e+01] [-4.40591634e-01 8.97029105e-01 -3.48969505e-02 -1.74544266e+01] [-8.28409565e-02 -1.91977592e-03 9.96560932e-01 -8.55822845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.311193817 meters 0.06211364540976619 Centerline is valid? [True, True] Translation: X:71.53, Y:-17.48, Z:-8.56 [[ 8.95671634e-01 4.38703333e-01 7.28814763e-02 7.15269276e+01] [-4.37400365e-01 8.98630557e-01 -3.38237019e-02 -1.74842564e+01] [-8.03320925e-02 -1.58345398e-03 9.96766897e-01 -8.56259341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.341193817 meters 0.06152165613423617 Centerline is valid? [True, True] Translation: X:71.55, Y:-17.51, Z:-8.57 [[ 8.96930252e-01 4.36337291e-01 7.15953266e-02 7.15526430e+01] [-4.35070360e-01 8.99782205e-01 -3.32530482e-02 -1.75070723e+01] [-7.89297458e-02 -1.32333958e-03 9.96879303e-01 -8.56620914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.371193817 meters 0.06121649437674634 Centerline is valid? [True, True] Translation: X:71.58, Y:-17.53, Z:-8.57 [[ 8.98372271e-01 4.33211379e-01 7.24925120e-02 7.15769684e+01] [-4.31899760e-01 9.01291758e-01 -3.37010910e-02 -1.75276904e+01] [-7.99365997e-02 -1.03337291e-03 9.96799414e-01 -8.57115901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.401193817 meters 0.05995310817301747 Centerline is valid? [True, True] Translation: X:71.60, Y:-17.56, Z:-8.57 [[ 9.01303297e-01 4.26181305e-01 7.76006584e-02 7.15972019e+01] [-4.24648919e-01 9.04637679e-01 -3.61104620e-02 -1.75598818e+01] [-8.55900833e-02 -4.06557238e-04 9.96330353e-01 -8.56677549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43119381700001 meters 0.05995310817301747 Centerline is valid? [True, True] Translation: X:71.63, Y:-17.57, Z:-8.57 [[ 9.01171535e-01 4.26459338e-01 7.76034635e-02 7.16263389e+01] [-4.24928500e-01 9.04506628e-01 -3.61044376e-02 -1.75737195e+01] [-8.55899216e-02 -4.39631875e-04 9.96330353e-01 -8.57048351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46119381700001 meters 0.05946314325136653 Centerline is valid? [True, True] Translation: X:71.65, Y:-17.60, Z:-8.57 [[ 9.02645535e-01 4.23259701e-01 7.79888693e-02 7.16510885e+01] [-4.21699025e-01 9.06008396e-01 -3.63141673e-02 -1.75968401e+01] [-8.60288940e-02 -1.09009239e-04 9.96292636e-01 -8.56974013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.491193817 meters 0.05965226307508182 Centerline is valid? [True, True] Translation: X:71.68, Y:-17.62, Z:-8.57 [[ 9.03688939e-01 4.20731564e-01 7.95691624e-02 7.16755175e+01] [-4.19094497e-01 9.07185166e-01 -3.70793381e-02 -1.76176697e+01] [-8.77844117e-02 1.61189585e-04 9.96139484e-01 -8.57357539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.521193817 meters 0.0599024755921643 Centerline is valid? [True, True] Translation: X:71.70, Y:-17.64, Z:-8.58 [[ 9.04609583e-01 4.18837554e-01 7.90987142e-02 7.17007774e+01] [-4.17210333e-01 9.08061104e-01 -3.68858932e-02 -1.76365679e+01] [-8.72756630e-02 3.66531593e-04 9.96184132e-01 -8.57822124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.551193817 meters 0.0595658834527084 Centerline is valid? [True, True] Translation: X:71.73, Y:-17.66, Z:-8.58 [[ 9.04640086e-01 4.18685433e-01 7.95539002e-02 7.17270925e+01] [-4.17036677e-01 9.08131237e-01 -3.71223197e-02 -1.76557523e+01] [-8.77879563e-02 4.05444360e-04 9.96139102e-01 -8.57874829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.581193817 meters 0.059427667034155904 Centerline is valid? [True, True] Translation: X:71.75, Y:-17.67, Z:-8.58 [[ 9.03909489e-01 4.20462631e-01 7.84780954e-02 7.17547077e+01] [-4.18862600e-01 9.07309821e-01 -3.66471159e-02 -1.76711597e+01] [-8.66126895e-02 2.54136678e-04 9.96242028e-01 -8.58209089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.611193817 meters 0.05934888313589476 Centerline is valid? [True, True] Translation: X:71.78, Y:-17.69, Z:-8.59 [[ 9.02829585e-01 4.22703117e-01 7.88721503e-02 7.17819482e+01] [-4.21092947e-01 9.06268211e-01 -3.68600019e-02 -1.76861072e+01] [-8.70601602e-02 6.57940009e-05 9.96203054e-01 -8.58627197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.641193817 meters 0.059256237387083896 Centerline is valid? [True, True] Translation: X:71.81, Y:-17.70, Z:-8.59 [[ 9.00540450e-01 4.27856150e-01 7.72399757e-02 7.18091270e+01] [-4.26328807e-01 9.03846754e-01 -3.61219217e-02 -1.77012019e+01] [-8.52680877e-02 -4.00375103e-04 9.96357964e-01 -8.59188802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.671193817 meters 0.059269523114875426 Centerline is valid? [True, True] Translation: X:71.84, Y:-17.72, Z:-8.60 [[ 8.99620018e-01 4.29931764e-01 7.64362551e-02 7.18375671e+01] [-4.28441579e-01 9.02861204e-01 -3.57695327e-02 -1.77167760e+01] [-8.43897877e-02 -5.69482121e-04 9.96432657e-01 -8.59502219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.701193817 meters 0.05944213502769627 Centerline is valid? [True, True] Translation: X:71.86, Y:-17.73, Z:-8.60 [[ 8.99065068e-01 4.31288604e-01 7.53136355e-02 7.18646454e+01] [-4.29844436e-01 9.02213778e-01 -3.52712251e-02 -1.77323633e+01] [-8.31610771e-02 -6.62020781e-04 9.96535898e-01 -8.60016376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.731193817 meters 0.059693426834614725 Centerline is valid? [True, True] Translation: X:71.89, Y:-17.75, Z:-8.61 [[ 8.98480393e-01 4.32559079e-01 7.50041782e-02 7.18915584e+01] [-4.31129142e-01 9.01605277e-01 -3.51509305e-02 -1.77472971e+01] [-8.28290170e-02 -7.54065139e-04 9.96563488e-01 -8.60608142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.761193817 meters 0.0595865002120355 Centerline is valid? [True, True] Translation: X:71.92, Y:-17.77, Z:-8.61 [[ 8.98741181e-01 4.31725891e-01 7.66618832e-02 7.19167102e+01] [-4.30226482e-01 9.02004607e-01 -3.59564019e-02 -1.77660193e+01] [-8.46726815e-02 -6.66473245e-04 9.96408597e-01 -8.61047733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.791193817 meters 0.0590845879925474 Centerline is valid? [True, True] Translation: X:71.94, Y:-17.79, Z:-8.61 [[ 8.98983537e-01 4.31210870e-01 7.67188796e-02 7.19440951e+01] [-4.29706589e-01 9.02250970e-01 -3.59921394e-02 -1.77854570e+01] [-8.47398853e-02 -6.10267303e-04 9.96402920e-01 -8.60873241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82119381700001 meters 0.05928392273574935 Centerline is valid? [True, True] Translation: X:71.97, Y:-17.80, Z:-8.61 [[ 8.99205894e-01 4.30815163e-01 7.63351600e-02 7.19704498e+01] [-4.29321562e-01 9.02440029e-01 -3.58467634e-02 -1.78032638e+01] [-8.43312332e-02 -5.38709220e-04 9.96437631e-01 -8.61474057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85119381700001 meters 0.05939286787189869 Centerline is valid? [True, True] Translation: X:72.00, Y:-17.82, Z:-8.62 [[ 8.99463859e-01 4.30598823e-01 7.44944331e-02 7.19974026e+01] [-4.29174519e-01 9.02543302e-01 -3.49974365e-02 -1.78212806e+01] [-8.23043066e-02 -4.92183239e-04 9.96607124e-01 -8.61778492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.881193817 meters 0.05975962084044926 Centerline is valid? [True, True] Translation: X:72.02, Y:-17.84, Z:-8.63 [[ 8.98971804e-01 4.32223567e-01 7.09400040e-02 7.20228964e+01] [-4.30934499e-01 9.01766296e-01 -3.33617245e-02 -1.78354042e+01] [-7.83910282e-02 -5.79245385e-04 9.96922520e-01 -8.62586550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.911193817 meters 0.06001687191799887 Centerline is valid? [True, True] Translation: X:72.05, Y:-17.85, Z:-8.63 [[ 8.97813933e-01 4.34776310e-01 6.99978729e-02 7.20518757e+01] [-4.33529923e-01 9.00538127e-01 -3.29072590e-02 -1.78479975e+01] [-7.73430500e-02 -8.01576797e-04 9.97004218e-01 -8.63095371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.941193817 meters 0.0599114034045116 Centerline is valid? [True, True] Translation: X:72.08, Y:-17.86, Z:-8.63 [[ 8.96600608e-01 4.37230713e-01 7.02613221e-02 7.20806404e+01] [-4.35980580e-01 8.99348827e-01 -3.30548213e-02 -1.78616810e+01] [-7.76420207e-02 -9.95599098e-04 9.96980805e-01 -8.63246910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.971193817 meters 0.06101495141106818 Centerline is valid? [True, True] Translation: X:72.11, Y:-17.87, Z:-8.64 [[ 8.94131509e-01 4.42488641e-01 6.87942367e-02 7.21095385e+01] [-4.41303835e-01 8.96773018e-01 -3.23894881e-02 -1.78721497e+01] [-7.60247959e-02 -1.39869861e-03 9.97104946e-01 -8.64092582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.001193817 meters 0.061397677313446274 Centerline is valid? [True, True] Translation: X:72.14, Y:-17.88, Z:-8.64 [[ 8.92830912e-01 4.44962496e-01 6.97233094e-02 7.21389625e+01] [-4.43751215e-01 8.95547755e-01 -3.28493127e-02 -1.78849740e+01] [-7.70572654e-02 -1.61092139e-03 9.97025367e-01 -8.64436628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.031193817 meters 0.0615547649819457 Centerline is valid? [True, True] Translation: X:72.17, Y:-17.90, Z:-8.65 [[ 8.91835611e-01 4.46688411e-01 7.14052195e-02 7.21680603e+01] [-4.45421251e-01 8.94687824e-01 -3.36690946e-02 -1.78992053e+01] [-7.89249748e-02 -1.77810462e-03 9.96878973e-01 -8.64739973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.061193817 meters 0.06072650834658274 Centerline is valid? [True, True] Translation: X:72.20, Y:-17.92, Z:-8.64 [[ 8.90972757e-01 4.48050913e-01 7.36065537e-02 7.21952024e+01] [-4.46706933e-01 8.94005946e-01 -3.47315975e-02 -1.79173952e+01] [-8.13662207e-02 -1.93565069e-03 9.96682392e-01 -8.64470463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.091193817 meters 0.06046267145402576 Centerline is valid? [True, True] Translation: X:72.22, Y:-17.94, Z:-8.65 [[ 8.90252235e-01 4.49058344e-01 7.61417222e-02 7.22211721e+01] [-4.47621343e-01 8.93500032e-01 -3.59558918e-02 -1.79380378e+01] [-8.41789244e-02 -2.07284690e-03 9.96448499e-01 -8.64510941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.121193817 meters 0.060558373654551044 Centerline is valid? [True, True] Translation: X:72.25, Y:-17.96, Z:-8.65 [[ 8.90241774e-01 4.48958971e-01 7.68467744e-02 7.22474966e+01] [-4.47492444e-01 8.93550003e-01 -3.63167273e-02 -1.79553883e+01] [-8.49711560e-02 -2.05768312e-03 9.96381287e-01 -8.64896253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.151193817 meters 0.06102655130120856 Centerline is valid? [True, True] Translation: X:72.27, Y:-17.97, Z:-8.66 [[ 8.90631189e-01 4.47999241e-01 7.79279525e-02 7.22738582e+01] [-4.46485196e-01 8.94031764e-01 -3.68534139e-02 -1.79706442e+01] [-8.61803663e-02 -1.97087735e-03 9.96277602e-01 -8.65564953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18119381700001 meters 0.06079737446185255 Centerline is valid? [True, True] Translation: X:72.30, Y:-17.99, Z:-8.66 [[ 8.90766686e-01 4.47821308e-01 7.74001736e-02 7.23008079e+01] [-4.46325091e-01 8.94121016e-01 -3.66267951e-02 -1.79903619e+01] [-8.56073811e-02 -1.91971064e-03 9.96327100e-01 -8.65926870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21119381700001 meters 0.060389609137410996 Centerline is valid? [True, True] Translation: X:72.32, Y:-18.02, Z:-8.66 [[ 8.90988270e-01 4.47454260e-01 7.69713463e-02 7.23246239e+01] [-4.45970886e-01 8.94304906e-01 -3.64513921e-02 -1.80183890e+01] [-8.51461834e-02 -1.84921673e-03 9.96366754e-01 -8.65993392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.241193817 meters 0.05972757976697075 Centerline is valid? [True, True] Translation: X:72.35, Y:-18.04, Z:-8.66 [[ 8.91025446e-01 4.47305385e-01 7.74050867e-02 7.23499571e+01] [-4.45801995e-01 8.94379443e-01 -3.66877704e-02 -1.80400576e+01] [-8.56401556e-02 -1.81760516e-03 9.96324475e-01 -8.66002043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.271193817 meters 0.06012356205496015 Centerline is valid? [True, True] Translation: X:72.38, Y:-18.06, Z:-8.67 [[ 8.91183699e-01 4.47049773e-01 7.70591695e-02 7.23766401e+01] [-4.45556604e-01 8.94507350e-01 -3.65501673e-02 -1.80575747e+01] [-8.52697374e-02 -1.76130858e-03 9.96356347e-01 -8.66577712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.301193817 meters 0.05957822435977727 Centerline is valid? [True, True] Translation: X:72.40, Y:-18.08, Z:-8.67 [[ 8.92826970e-01 4.43913898e-01 7.61607111e-02 7.23995476e+01] [-4.42441578e-01 8.96068323e-01 -3.61526039e-02 -1.80825931e+01] [-8.42938440e-02 -1.41864546e-03 9.96439931e-01 -8.67014681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.331193817 meters 0.059753565019972026 Centerline is valid? [True, True] Translation: X:72.43, Y:-18.10, Z:-8.68 [[ 8.93913450e-01 4.41828928e-01 7.55376892e-02 7.24250641e+01] [-4.40370988e-01 8.97098538e-01 -3.58832327e-02 -1.81009783e+01] [-8.36190008e-02 -1.18810242e-03 9.96497090e-01 -8.67700954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.361193817 meters 0.05948289255015173 Centerline is valid? [True, True] Translation: X:72.45, Y:-18.12, Z:-8.68 [[ 8.95040767e-01 4.39506663e-01 7.57358396e-02 7.24506316e+01] [-4.38030271e-01 8.98238830e-01 -3.60067451e-02 -1.81231904e+01] [-8.38540763e-02 -9.47085611e-04 9.96477595e-01 -8.67940142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.391193817 meters 0.05922657336063869 Centerline is valid? [True, True] Translation: X:72.48, Y:-18.15, Z:-8.68 [[ 8.96446828e-01 4.36782488e-01 7.48608212e-02 7.24765996e+01] [-4.35330501e-01 8.99566891e-01 -3.55916255e-02 -1.81463644e+01] [-8.28881149e-02 -6.83199003e-04 9.96558625e-01 -8.67998519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.421193817 meters 0.05928929319828003 Centerline is valid? [True, True] Translation: X:72.50, Y:-18.17, Z:-8.68 [[ 8.97637087e-01 4.34156108e-01 7.58691903e-02 7.25008928e+01] [-4.32652444e-01 9.00837555e-01 -3.61048674e-02 -1.81670852e+01] [-8.40209646e-02 -4.15922633e-04 9.96463900e-01 -8.68408517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.451193817 meters 0.05974846288244633 Centerline is valid? [True, True] Translation: X:72.52, Y:-18.19, Z:-8.69 [[ 9.00558866e-01 4.28337915e-01 7.42991238e-02 7.25237722e+01] [-4.26874201e-01 9.03618620e-01 -3.53808871e-02 -1.81924848e+01] [-8.22930471e-02 1.46192478e-04 9.96608164e-01 -8.68764869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.481193817 meters 0.06068451760679023 Centerline is valid? [True, True] Translation: X:72.55, Y:-18.21, Z:-8.69 [[ 9.02425183e-01 4.24687842e-01 7.25880611e-02 7.25490131e+01] [-4.23277006e-01 9.05339713e-01 -3.45916259e-02 -1.82114869e+01] [-8.04074974e-02 4.91497051e-04 9.96761954e-01 -8.69463651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.511193817 meters 0.06182875718739373 Centerline is valid? [True, True] Translation: X:72.57, Y:-18.23, Z:-8.70 [[ 9.04610090e-01 4.20296057e-01 7.09352462e-02 7.25740726e+01] [-4.18933565e-01 9.07386602e-01 -3.38263620e-02 -1.82308423e+01] [-7.85827786e-02 8.82512818e-04 9.96907201e-01 -8.70140247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.541193817 meters 0.0635434989705075 Centerline is valid? [True, True] Translation: X:72.60, Y:-18.25, Z:-8.71 [[ 9.06705250e-01 4.15910602e-01 7.00282799e-02 7.25985991e+01] [-4.14567569e-01 9.09404615e-01 -3.34212050e-02 -1.82510314e+01] [-7.75842745e-02 1.27172825e-03 9.96984986e-01 -8.70732062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57119381700001 meters 0.06616158916077512 Centerline is valid? [True, True] Translation: X:72.62, Y:-18.28, Z:-8.71 [[ 9.10624774e-01 4.07001526e-01 7.15002001e-02 7.26217197e+01] [-4.05572658e-01 9.13425090e-01 -3.41382994e-02 -1.82752837e+01] [-7.92044167e-02 2.08865495e-03 9.96856207e-01 -8.70710514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60119381700001 meters 0.06836250072542129 Centerline is valid? [True, True] Translation: X:72.65, Y:-18.29, Z:-8.71 [[ 9.12031052e-01 4.03598990e-01 7.28506361e-02 7.26472316e+01] [-4.02104302e-01 9.14932747e-01 -3.47879289e-02 -1.82931877e+01] [-8.06938055e-02 2.43411723e-03 9.96735965e-01 -8.71146610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.631193817 meters 0.06712812961013427 Centerline is valid? [True, True] Translation: X:72.68, Y:-18.30, Z:-8.71 [[ 9.13474640e-01 4.00321758e-01 7.28462224e-02 7.26781847e+01] [-3.98815616e-01 9.16370556e-01 -3.48009928e-02 -1.83040364e+01] [-8.06857279e-02 2.73761330e-03 9.96735832e-01 -8.70920890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.661193817 meters 0.06916217310425017 Centerline is valid? [True, True] Translation: X:72.71, Y:-18.31, Z:-8.71 [[ 9.15133283e-01 3.96449912e-01 7.32020617e-02 7.27065630e+01] [-3.94916155e-01 9.18051120e-01 -3.49767173e-02 -1.83146831e+01] [-8.10697513e-02 3.09968133e-03 9.96703611e-01 -8.71351346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.691193817 meters 0.07016535568857918 Centerline is valid? [True, True] Translation: X:72.74, Y:-18.33, Z:-8.72 [[ 9.15569880e-01 3.95443628e-01 7.31855966e-02 7.27350472e+01] [-3.93906353e-01 9.18484676e-01 -3.49811957e-02 -1.83250978e+01] [-8.10529400e-02 3.19945762e-03 9.96704663e-01 -8.71859672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.721193817 meters 0.07043186832758618 Centerline is valid? [True, True] Translation: X:72.77, Y:-18.33, Z:-8.72 [[ 9.15480929e-01 3.95810903e-01 7.23076656e-02 7.27652572e+01] [-3.94310857e-01 9.18326682e-01 -3.45695467e-02 -1.83341940e+01] [-8.00850621e-02 3.13606313e-03 9.96783100e-01 -8.72358781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.751193817 meters 0.0719656145186287 Centerline is valid? [True, True] Translation: X:72.79, Y:-18.35, Z:-8.73 [[ 9.15204953e-01 3.96507021e-01 7.19866466e-02 7.27944892e+01] [-3.95020685e-01 9.18026517e-01 -3.44379428e-02 -1.83451380e+01] [-7.97405366e-02 3.08156133e-03 9.96810890e-01 -8.73129460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.781193817 meters 0.0717299649580492 Centerline is valid? [True, True] Translation: X:72.83, Y:-18.35, Z:-8.74 [[ 9.14666904e-01 3.97743609e-01 7.20033003e-02 7.28269499e+01] [-3.96258130e-01 9.17491699e-01 -3.44742869e-02 -1.83506759e+01] [-7.97743576e-02 3.00059613e-03 9.96808431e-01 -8.73546152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.811193817 meters 0.07100635240610526 Centerline is valid? [True, True] Translation: X:72.86, Y:-18.36, Z:-8.74 [[ 9.14604332e-01 3.97766778e-01 7.26670979e-02 7.28581529e+01] [-3.96251821e-01 9.17481495e-01 -3.48166649e-02 -1.83597945e+01] [-8.05196303e-02 3.04900259e-03 9.96748360e-01 -8.73615474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.841193817 meters 0.0693979158394503 Centerline is valid? [True, True] Translation: X:72.89, Y:-18.37, Z:-8.74 [[ 9.14041070e-01 3.98865093e-01 7.37262495e-02 7.28905640e+01] [-3.97306488e-01 9.17004627e-01 -3.53563086e-02 -1.83674931e+01] [-8.17097093e-02 3.02520087e-03 9.96651580e-01 -8.73754741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.871193817 meters 0.06819500721704391 Centerline is valid? [True, True] Translation: X:72.92, Y:-18.37, Z:-8.74 [[ 9.12879433e-01 4.01472080e-01 7.39682993e-02 7.29241065e+01] [-3.99910773e-01 9.15866946e-01 -3.54839547e-02 -1.83681571e+01] [-8.19909375e-02 2.81185273e-03 9.96629108e-01 -8.74181640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.901193817 meters 0.06767770323937766 Centerline is valid? [True, True] Translation: X:72.95, Y:-18.37, Z:-8.75 [[ 9.11884989e-01 4.03848120e-01 7.32970823e-02 7.29548824e+01] [-4.02323063e-01 9.14822435e-01 -3.51577174e-02 -1.83743749e+01] [-8.12521934e-02 2.57068807e-03 9.96690259e-01 -8.74737595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93119381700001 meters 0.06682641272276009 Centerline is valid? [True, True] Translation: X:72.99, Y:-18.38, Z:-8.75 [[ 9.10862879e-01 4.06127867e-01 7.34096078e-02 7.29863656e+01] [-4.04603651e-01 9.13813129e-01 -3.52342278e-02 -1.83815974e+01] [-8.13922652e-02 2.39175482e-03 9.96679276e-01 -8.75144985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96119381700001 meters 0.06504268783117152 Centerline is valid? [True, True] Translation: X:73.02, Y:-18.39, Z:-8.75 [[ 9.09572826e-01 4.08972163e-01 7.36141615e-02 7.30193297e+01] [-4.07446129e-01 9.12544274e-01 -3.53638265e-02 -1.83882328e+01] [-8.16390022e-02 2.17217039e-03 9.96659598e-01 -8.75294464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.991193817 meters 0.0629608587848611 Centerline is valid? [True, True] Translation: X:73.05, Y:-18.39, Z:-8.76 [[ 9.06396196e-01 4.16025660e-01 7.32706352e-02 7.30539396e+01] [-4.14535897e-01 9.09351570e-01 -3.52095593e-02 -1.83885912e+01] [-8.12768473e-02 1.54050213e-03 9.96690374e-01 -8.75635619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.021193817 meters 0.06198211764470855 Centerline is valid? [True, True] Translation: X:73.09, Y:-18.39, Z:-8.76 [[ 9.04906095e-01 4.19306526e-01 7.29862733e-02 7.30868255e+01] [-4.17838635e-01 9.07843868e-01 -3.50768735e-02 -1.83949494e+01] [-8.09681026e-02 1.24479181e-03 9.96715916e-01 -8.76044830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.051193817 meters 0.061743210988435895 Centerline is valid? [True, True] Translation: X:73.12, Y:-18.40, Z:-8.77 [[ 9.03668806e-01 4.21843020e-01 7.36963736e-02 7.31175936e+01] [-4.20354186e-01 9.06668295e-01 -3.54254421e-02 -1.84025126e+01] [-8.17621408e-02 1.03428779e-03 9.96651335e-01 -8.76634700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.081193817 meters 0.061173478709120904 Centerline is valid? [True, True] Translation: X:73.15, Y:-18.41, Z:-8.77 [[ 9.02772818e-01 4.23826664e-01 7.32952847e-02 7.31495130e+01] [-4.22359825e-01 9.05742912e-01 -3.52413905e-02 -1.84108701e+01] [-8.13229256e-02 8.57985828e-04 9.96687436e-01 -8.76953532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.111193817 meters 0.060710204856933354 Centerline is valid? [True, True] Translation: X:73.18, Y:-18.42, Z:-8.77 [[ 9.02256075e-01 4.24838645e-01 7.37976970e-02 7.31825895e+01] [-4.23352427e-01 9.05268737e-01 -3.55138950e-02 -1.84168373e+01] [-8.18944229e-02 8.00193338e-04 9.96640689e-01 -8.77186227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.141193817 meters 0.061047703920168186 Centerline is valid? [True, True] Translation: X:73.21, Y:-18.43, Z:-8.78 [[ 9.01993044e-01 4.25254115e-01 7.46155895e-02 7.32118204e+01] [-4.23733826e-01 9.05073645e-01 -3.59352414e-02 -1.84273255e+01] [-8.28142129e-02 7.96188577e-04 9.96564685e-01 -8.77806334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.171193817 meters 0.0609031377092435 Centerline is valid? [True, True] Translation: X:73.24, Y:-18.44, Z:-8.78 [[ 9.01690742e-01 4.25946949e-01 7.43169101e-02 7.32432962e+01] [-4.24439333e-01 9.04747829e-01 -3.58136514e-02 -1.84371947e+01] [-8.24927787e-02 7.49818150e-04 9.96591380e-01 -8.78156372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.201193817 meters 0.061133063197331604 Centerline is valid? [True, True] Translation: X:73.28, Y:-18.44, Z:-8.79 [[ 9.01267978e-01 4.27186621e-01 7.23022998e-02 7.32752720e+01] [-4.25761431e-01 9.04163246e-01 -3.48716024e-02 -1.84436707e+01] [-8.02697641e-02 6.45127937e-04 9.96772968e-01 -8.78807153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.231193817 meters 0.060939574093510154 Centerline is valid? [True, True] Translation: X:73.31, Y:-18.46, Z:-8.79 [[ 9.01031873e-01 4.27714229e-01 7.21255979e-02 7.33060158e+01] [-4.26295881e-01 9.03913800e-01 -3.48089726e-02 -1.84553269e+01] [-8.00836161e-02 6.17148503e-04 9.96787958e-01 -8.79075864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.261193817 meters 0.06136111298860077 Centerline is valid? [True, True] Translation: X:73.33, Y:-18.47, Z:-8.80 [[ 9.01173724e-01 4.27600990e-01 7.10162833e-02 7.33344729e+01] [-4.26223300e-01 9.03967355e-01 -3.43033608e-02 -1.84669353e+01] [-7.88645528e-02 6.44492846e-04 9.96885132e-01 -8.79607724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.291193817 meters 0.061480242911581606 Centerline is valid? [True, True] Translation: X:73.36, Y:-18.48, Z:-8.80 [[ 9.01088239e-01 4.27983290e-01 6.97874522e-02 7.33647771e+01] [-4.26652468e-01 9.03786435e-01 -3.37305766e-02 -1.84779052e+01] [-7.75090758e-02 6.19237088e-04 9.96991454e-01 -8.80118846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32119381700001 meters 0.06199160688267392 Centerline is valid? [True, True] Translation: X:73.40, Y:-18.49, Z:-8.81 [[ 9.02026855e-01 4.26322388e-01 6.77995139e-02 7.33954651e+01] [-4.25059427e-01 9.04570966e-01 -3.28001736e-02 -1.84876867e+01] [-7.53129201e-02 7.67814916e-04 9.97159653e-01 -8.80657539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35119381700001 meters 0.06199160688267392 Centerline is valid? [True, True] Translation: X:73.42, Y:-18.50, Z:-8.81 [[ 9.01890087e-01 4.26611415e-01 6.78009682e-02 7.34243818e+01] [-4.25349495e-01 9.04434714e-01 -3.27971731e-02 -1.85019613e+01] [-7.53131977e-02 7.40337700e-04 9.97159653e-01 -8.81028447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.381193817 meters 0.0625935050771004 Centerline is valid? [True, True] Translation: X:73.45, Y:-18.52, Z:-8.82 [[ 9.02209677e-01 4.26190736e-01 6.61751943e-02 7.34531549e+01] [-4.24985553e-01 9.04632990e-01 -3.20379956e-02 -1.85155309e+01] [-7.35185607e-02 7.81488096e-04 9.97293543e-01 -8.81607025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.411193817 meters 0.06285522309270992 Centerline is valid? [True, True] Translation: X:73.48, Y:-18.53, Z:-8.82 [[ 9.02573872e-01 4.25399322e-01 6.63009916e-02 7.34824163e+01] [-4.24185840e-01 9.05005340e-01 -3.21202071e-02 -1.85309495e+01] [-7.36666658e-02 8.66917848e-04 9.97282543e-01 -8.82043807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.441193817 meters 0.06365701734513328 Centerline is valid? [True, True] Translation: X:73.51, Y:-18.55, Z:-8.83 [[ 9.03169155e-01 4.24171131e-01 6.60630712e-02 7.35094098e+01] [-4.22960944e-01 9.05581510e-01 -3.20338524e-02 -1.85464522e+01] [-7.34133312e-02 9.89888387e-04 9.97301109e-01 -8.82618525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.471193817 meters 0.06305154747541238 Centerline is valid? [True, True] Translation: X:73.54, Y:-18.56, Z:-8.82 [[ 9.04014581e-01 4.21968569e-01 6.85577385e-02 7.35384394e+01] [-4.20657121e-01 9.06609622e-01 -3.32653037e-02 -1.85613504e+01] [-7.61920180e-02 1.23301865e-03 9.97092401e-01 -8.82401127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.501193817 meters 0.06281818022759798 Centerline is valid? [True, True] Translation: X:73.57, Y:-18.58, Z:-8.83 [[ 9.04173336e-01 4.21484643e-01 6.94354007e-02 7.35666643e+01] [-4.20135994e-01 9.06834589e-01 -3.37160874e-02 -1.85758074e+01] [-7.71772362e-02 1.31287612e-03 9.97016525e-01 -8.82533707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.531193817 meters 0.0634548091487022 Centerline is valid? [True, True] Translation: X:73.59, Y:-18.59, Z:-8.83 [[ 9.04413811e-01 4.20945974e-01 6.95711515e-02 7.35937923e+01] [-4.19588241e-01 9.07084650e-01 -3.38104368e-02 -1.85913413e+01] [-7.73392908e-02 1.38738896e-03 9.97003866e-01 -8.83019737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.561193817 meters 0.06392350369358396 Centerline is valid? [True, True] Translation: X:73.62, Y:-18.61, Z:-8.83 [[ 9.04924095e-01 4.19693818e-01 7.04945448e-02 7.36207157e+01] [-4.18294806e-01 9.07664456e-01 -3.42737493e-02 -1.86088295e+01] [-7.83698734e-02 1.52763962e-03 9.96923181e-01 -8.83331768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.591193817 meters 0.06308048410547402 Centerline is valid? [True, True] Translation: X:73.65, Y:-18.62, Z:-8.83 [[ 9.04691473e-01 4.20114930e-01 7.09702999e-02 7.36504220e+01] [-4.18696090e-01 9.07469623e-01 -3.45321211e-02 -1.86225591e+01] [-7.89108510e-02 1.52592846e-03 9.96880509e-01 -8.83374528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.621193817 meters 0.06340123535616478 Centerline is valid? [True, True] Translation: X:73.68, Y:-18.64, Z:-8.84 [[ 9.04329222e-01 4.21005802e-01 7.03048615e-02 7.36787750e+01] [-4.19614267e-01 9.07056775e-01 -3.42326365e-02 -1.86372501e+01] [-7.81826395e-02 1.45665058e-03 9.96937989e-01 -8.83919285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.651193817 meters 0.06327310810146249 Centerline is valid? [True, True] Translation: X:73.71, Y:-18.65, Z:-8.84 [[ 9.03885934e-01 4.21871216e-01 7.08159281e-02 7.37080422e+01] [-4.20459741e-01 9.06654657e-01 -3.45099859e-02 -1.86501810e+01] [-7.87643607e-02 1.41784407e-03 9.96892254e-01 -8.84246891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68119381700001 meters 0.062147533064090744 Centerline is valid? [True, True] Translation: X:73.74, Y:-18.66, Z:-8.84 [[ 9.02852343e-01 4.23752774e-01 7.27408714e-02 7.37401387e+01] [-4.22266748e-01 9.05776931e-01 -3.54816267e-02 -1.86572106e+01] [-8.09224410e-02 1.31861860e-03 9.96719529e-01 -8.84402334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71119381700001 meters 0.06181855871413985 Centerline is valid? [True, True] Translation: X:73.77, Y:-18.67, Z:-8.85 [[ 9.02833139e-01 4.23760306e-01 7.29350854e-02 7.37709313e+01] [-4.22266497e-01 9.05773405e-01 -3.55744918e-02 -1.86697130e+01] [-8.11377182e-02 1.31978714e-03 9.96702026e-01 -8.84620110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.741193817 meters 0.06210155666450775 Centerline is valid? [True, True] Translation: X:73.80, Y:-18.68, Z:-8.85 [[ 9.03120316e-01 4.23055220e-01 7.34709185e-02 7.37986725e+01] [-4.21534392e-01 9.06102785e-01 -3.58677965e-02 -1.86845813e+01] [-8.17462624e-02 1.42241676e-03 9.96652159e-01 -8.84942752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.771193817 meters 0.06268113109371391 Centerline is valid? [True, True] Translation: X:73.83, Y:-18.70, Z:-8.85 [[ 9.03786104e-01 4.21662655e-01 7.32890381e-02 7.38250323e+01] [-4.20142315e-01 9.06751418e-01 -3.58092257e-02 -1.87004990e+01] [-8.15543524e-02 1.57205438e-03 9.96667656e-01 -8.85221821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.801193817 meters 0.06459834726474166 Centerline is valid? [True, True] Translation: X:73.85, Y:-18.72, Z:-8.85 [[ 9.06285156e-01 4.16134675e-01 7.40212658e-02 7.38508403e+01] [-4.14563231e-01 9.09300535e-01 -3.61920411e-02 -1.87186779e+01] [-8.23683399e-02 2.11381454e-03 9.96599713e-01 -8.85421870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.831193817 meters 0.06557365695916137 Centerline is valid? [True, True] Translation: X:73.88, Y:-18.73, Z:-8.86 [[ 9.07695649e-01 4.12840373e-01 7.51760337e-02 7.38792241e+01] [-4.11206076e-01 9.10800038e-01 -3.67811591e-02 -1.87332713e+01] [-8.36550818e-02 2.47325622e-03 9.96491701e-01 -8.85684627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.861193817 meters 0.06909777093994314 Centerline is valid? [True, True] Translation: X:73.90, Y:-18.75, Z:-8.86 [[ 9.10687521e-01 4.06164956e-01 7.53542779e-02 7.39044815e+01] [-4.04497009e-01 9.13794422e-01 -3.69042441e-02 -1.87481261e+01] [-8.38475295e-02 3.12765452e-03 9.96473687e-01 -8.86128535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.891193817 meters 0.07135525621278611 Centerline is valid? [True, True] Translation: X:73.93, Y:-18.76, Z:-8.87 [[ 9.12251959e-01 4.02823621e-01 7.43605671e-02 7.39312323e+01] [-4.01188321e-01 9.15271346e-01 -3.64183176e-02 -1.87630442e+01] [-8.27302550e-02 3.39009050e-03 9.96566211e-01 -8.86673674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.921193817 meters 0.07029323129064485 Centerline is valid? [True, True] Translation: X:73.96, Y:-18.77, Z:-8.87 [[ 9.13779937e-01 3.99494392e-01 7.35558162e-02 7.39614870e+01] [-3.97883197e-01 9.16728348e-01 -3.60291224e-02 -1.87727279e+01] [-8.18241342e-02 3.65606589e-03 9.96640078e-01 -8.86720504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.951193817 meters 0.07353000909938162 Centerline is valid? [True, True] Translation: X:73.99, Y:-18.79, Z:-8.87 [[ 9.15360852e-01 3.95918501e-01 7.32328580e-02 7.39865936e+01] [-3.94309587e-01 9.18277099e-01 -3.58764299e-02 -1.87881200e+01] [-8.14521988e-02 3.96346142e-03 9.96669369e-01 -8.87282200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.981193817 meters 0.0810474193053076 Centerline is valid? [True, True] Translation: X:74.01, Y:-18.81, Z:-8.88 [[ 9.18410588e-01 3.89054601e-01 7.18227697e-02 7.40110011e+01] [-3.87486252e-01 9.21203784e-01 -3.51851277e-02 -1.88060548e+01] [-7.98523430e-02 4.48405792e-03 9.96796617e-01 -8.88047755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.011193817 meters 0.08324718735836581 Centerline is valid? [True, True] Translation: X:74.04, Y:-18.82, Z:-8.89 [[ 9.19116795e-01 3.87338156e-01 7.20657339e-02 7.40389051e+01] [-3.85754188e-01 9.21926011e-01 -3.53006579e-02 -1.88178611e+01] [-8.01125663e-02 4.64576891e-03 9.96774996e-01 -8.88508083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.041193817 meters 0.08326796401036038 Centerline is valid? [True, True] Translation: X:74.07, Y:-18.83, Z:-8.89 [[ 9.19092370e-01 3.87456466e-01 7.17405270e-02 7.40701332e+01] [-3.85886591e-01 9.21876421e-01 -3.51483090e-02 -1.88262790e+01] [-7.97543398e-02 4.62083519e-03 9.96803839e-01 -8.88839053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07119381700001 meters 0.08306360898958223 Centerline is valid? [True, True] Translation: X:74.10, Y:-18.83, Z:-8.89 [[ 9.18475905e-01 3.88926720e-01 7.16799707e-02 7.41024816e+01] [-3.87361615e-01 9.21257623e-01 -3.51478388e-02 -1.88337087e+01] [-7.97056531e-02 4.51637383e-03 9.96808212e-01 -8.89254791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10119381700001 meters 0.07691349794628856 Centerline is valid? [True, True] Translation: X:74.14, Y:-18.83, Z:-8.89 [[ 9.16480644e-01 3.93195913e-01 7.38931939e-02 7.41415839e+01] [-3.91544691e-01 9.19444700e-01 -3.62518906e-02 -1.88251623e+01] [-8.21948007e-02 4.29166824e-03 9.96607042e-01 -8.89005951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.131193817 meters 0.07276366767403658 Centerline is valid? [True, True] Translation: X:74.18, Y:-18.83, Z:-8.89 [[ 9.15333729e-01 3.95723115e-01 7.46148836e-02 7.41766559e+01] [-3.94047753e-01 9.18360695e-01 -3.66060354e-02 -1.88261789e+01] [-8.30092307e-02 4.10491166e-03 9.96540324e-01 -8.88926353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.161193817 meters 0.07371455725561253 Centerline is valid? [True, True] Translation: X:74.21, Y:-18.83, Z:-8.89 [[ 9.14296736e-01 3.97987929e-01 7.52800554e-02 7.42058730e+01] [-3.96289484e-01 9.17382185e-01 -3.69401159e-02 -1.88348553e+01] [-8.37623020e-02 3.94153308e-03 9.96477968e-01 -8.89459405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.191193817 meters 0.07072958451984176 Centerline is valid? [True, True] Translation: X:74.24, Y:-18.83, Z:-8.90 [[ 9.12705755e-01 4.01559953e-01 7.56161980e-02 7.42426689e+01] [-3.99858345e-01 9.15825538e-01 -3.71064362e-02 -1.88306791e+01] [-8.41517041e-02 3.63149005e-03 9.96446337e-01 -8.89879459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.221193817 meters 0.07149645030231123 Centerline is valid? [True, True] Translation: X:74.27, Y:-18.84, Z:-8.91 [[ 9.11863545e-01 4.03677184e-01 7.44956746e-02 7.42721947e+01] [-4.02033112e-01 9.14895239e-01 -3.65523979e-02 -1.88398767e+01] [-8.29111071e-02 3.38107126e-03 9.96551211e-01 -8.90579610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.251193817 meters 0.0709670456740191 Centerline is valid? [True, True] Translation: X:74.30, Y:-18.85, Z:-8.91 [[ 9.10955179e-01 4.05775743e-01 7.42071975e-02 7.43026963e+01] [-4.04149198e-01 9.13967066e-01 -3.64366297e-02 -1.88467435e+01] [-8.26080351e-02 3.20135722e-03 9.96576973e-01 -8.91111443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.281193817 meters 0.06874442899462843 Centerline is valid? [True, True] Translation: X:74.34, Y:-18.85, Z:-8.91 [[ 9.09777837e-01 4.08602990e-01 7.31292269e-02 7.43365501e+01] [-4.07030153e-01 9.12707522e-01 -3.59365267e-02 -1.88516470e+01] [-8.14293678e-02 2.92845517e-03 9.96674813e-01 -8.91443001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.311193817 meters 0.06564477864556606 Centerline is valid? [True, True] Translation: X:74.37, Y:-18.85, Z:-8.92 [[ 9.06060665e-01 4.17143089e-01 7.10331951e-02 7.43728480e+01] [-4.15684393e-01 9.08838373e-01 -3.49184522e-02 -1.88471413e+01] [-7.91236845e-02 2.11084547e-03 9.96862572e-01 -8.92096959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.341193817 meters 0.06450231956492265 Centerline is valid? [True, True] Translation: X:74.40, Y:-18.85, Z:-8.93 [[ 9.03917792e-01 4.22163370e-01 6.86346425e-02 7.44029748e+01] [-4.20815709e-01 9.06518321e-01 -3.37442263e-02 -1.88497704e+01] [-7.64641372e-02 1.61947076e-03 9.97071017e-01 -8.92776393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.371193817 meters 0.06438816559199223 Centerline is valid? [True, True] Translation: X:74.43, Y:-18.85, Z:-8.94 [[ 9.02402692e-01 4.25856106e-01 6.56959608e-02 7.44313715e+01] [-4.24631315e-01 9.04790039e-01 -3.22990954e-02 -1.88541573e+01] [-7.31958179e-02 1.25022838e-03 9.97316805e-01 -8.93667601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.401193817 meters 0.06354405730269012 Centerline is valid? [True, True] Translation: X:74.46, Y:-18.86, Z:-8.94 [[ 9.01059156e-01 4.29086032e-01 6.30680076e-02 7.44605344e+01] [-4.27965875e-01 9.03263135e-01 -3.09986744e-02 -1.88588552e+01] [-7.02681045e-02 9.40684350e-04 9.97527698e-01 -8.94192226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43119381700001 meters 0.0632513584725661 Centerline is valid? [True, True] Translation: X:74.49, Y:-18.86, Z:-8.95 [[ 8.99743325e-01 4.32397561e-01 5.91125846e-02 7.44924661e+01] [-4.31421196e-01 9.01682842e-01 -2.90483038e-02 -1.88589388e+01] [-6.58612190e-02 6.33595466e-04 9.97828592e-01 -8.94836680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46119381700001 meters 0.06408026044642956 Centerline is valid? [True, True] Translation: X:74.52, Y:-18.87, Z:-8.96 [[ 8.99558623e-01 4.32918534e-01 5.81018576e-02 7.45179981e+01] [-4.31976458e-01 9.01432860e-01 -2.85506374e-02 -1.88670195e+01] [-6.47350237e-02 5.84337474e-04 9.97902317e-01 -8.95706189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49119381700001 meters 0.06415028898236601 Centerline is valid? [True, True] Translation: X:74.54, Y:-18.88, Z:-8.96 [[ 8.99456558e-01 4.33065013e-01 5.85883504e-02 7.45449319e+01] [-4.32108150e-01 9.01362508e-01 -2.87780354e-02 -1.88776255e+01] [-6.52721028e-02 5.68089016e-04 9.97867341e-01 -8.96075813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.521193817 meters 0.06338771054187807 Centerline is valid? [True, True] Translation: X:74.57, Y:-18.89, Z:-8.96 [[ 8.99680961e-01 4.32516612e-01 5.91907775e-02 7.45714520e+01] [-4.31538870e-01 9.01625757e-01 -2.90722989e-02 -1.88913426e+01] [-6.59421818e-02 6.12672579e-04 9.97823258e-01 -8.95833176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.551193817 meters 0.06339352441308832 Centerline is valid? [True, True] Translation: X:74.60, Y:-18.90, Z:-8.96 [[ 9.00036308e-01 4.31583091e-01 6.05861354e-02 7.45959305e+01] [-4.30557555e-01 9.02072929e-01 -2.97426217e-02 -1.89048507e+01] [-6.74895252e-02 6.83621121e-04 9.97719749e-01 -8.95988910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.581193817 meters 0.06306156786056395 Centerline is valid? [True, True] Translation: X:74.62, Y:-18.92, Z:-8.96 [[ 9.00165472e-01 4.31033285e-01 6.25494157e-02 7.46211470e+01] [-4.29939384e-01 9.02335724e-01 -3.06980019e-02 -1.89166236e+01] [-6.96724329e-02 7.40824114e-04 9.97569648e-01 -8.96059619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.611193817 meters 0.0639306505044546 Centerline is valid? [True, True] Translation: X:74.65, Y:-18.93, Z:-8.97 [[ 9.01005526e-01 4.28955404e-01 6.47016469e-02 7.46454830e+01] [-4.27780156e-01 9.03325194e-01 -3.17447861e-02 -1.89289724e+01] [-7.20637253e-02 9.24147144e-04 9.97399602e-01 -8.96589809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.641193817 meters 0.06328515790163362 Centerline is valid? [True, True] Translation: X:74.67, Y:-18.94, Z:-8.96 [[ 9.01265972e-01 4.28291816e-01 6.54657831e-02 7.46720893e+01] [-4.27087329e-01 9.03639947e-01 -3.21132234e-02 -1.89409507e+01] [-7.29113276e-02 9.82949090e-04 9.97337943e-01 -8.96490453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.671193817 meters 0.06321932677211142 Centerline is valid? [True, True] Translation: X:74.70, Y:-18.95, Z:-8.97 [[ 9.01335802e-01 4.27944202e-01 6.67647502e-02 7.46972130e+01] [-4.26690923e-01 9.03804575e-01 -3.27436631e-02 -1.89545478e+01] [-7.43547474e-02 1.02512299e-03 9.97231328e-01 -8.96718095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.701193817 meters 0.06359181255721955 Centerline is valid? [True, True] Translation: X:74.72, Y:-18.97, Z:-8.97 [[ 9.01673204e-01 4.27160098e-01 6.72285950e-02 7.47206669e+01] [-4.25887581e-01 9.04175347e-01 -3.29652893e-02 -1.89691633e+01] [-7.48678945e-02 1.09209434e-03 9.97192863e-01 -8.97064722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.731193817 meters 0.0641204937489318 Centerline is valid? [True, True] Translation: X:74.74, Y:-18.99, Z:-8.97 [[ 9.03238443e-01 4.23302507e-01 7.05358288e-02 7.47425447e+01] [-4.21890463e-01 9.05987206e-01 -3.45777448e-02 -1.89876330e+01] [-7.85414045e-02 1.47355493e-03 9.96909763e-01 -8.97049937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.761193817 meters 0.0648622920729032 Centerline is valid? [True, True] Translation: X:74.77, Y:-19.00, Z:-8.97 [[ 9.04455946e-01 4.20462761e-01 7.19062492e-02 7.47663191e+01] [-4.18987019e-01 9.07308118e-01 -3.52399880e-02 -1.90043669e+01] [-8.00582263e-02 1.74523170e-03 9.96788661e-01 -8.97148747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.791193817 meters 0.0665370972089975 Centerline is valid? [True, True] Translation: X:74.79, Y:-19.02, Z:-8.98 [[ 9.06197248e-01 4.16639082e-01 7.22386563e-02 7.47885139e+01] [-4.15138002e-01 9.09069589e-01 -3.53966314e-02 -1.90225031e+01] [-8.04175856e-02 2.08731850e-03 9.96759076e-01 -8.97501402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82119381700001 meters 0.06782598185814025 Centerline is valid? [True, True] Translation: X:74.81, Y:-19.04, Z:-8.98 [[ 9.08366633e-01 4.11707420e-01 7.32602242e-02 7.48127459e+01] [-4.10148360e-01 9.11312513e-01 -3.58863069e-02 -1.90406897e+01] [-8.15376178e-02 2.55036301e-03 9.96667002e-01 -8.97637870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85119381700001 meters 0.0745167929680371 Centerline is valid? [True, True] Translation: X:74.83, Y:-19.07, Z:-8.98 [[ 9.12245816e-01 4.03127128e-01 7.27742383e-02 7.48321104e+01] [-4.01561818e-01 9.15138068e-01 -3.56429954e-02 -1.90666873e+01] [-8.09671342e-02 3.29181794e-03 9.96711336e-01 -8.98363261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.881193817 meters 0.07536096722943021 Centerline is valid? [True, True] Translation: X:74.86, Y:-19.08, Z:-8.99 [[ 9.13757197e-01 3.99732020e-01 7.25403126e-02 7.48594738e+01] [-3.98166145e-01 9.16625054e-01 -3.55278923e-02 -1.90823033e+01] [-8.06939042e-02 3.58077068e-03 9.96732498e-01 -8.98528340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.911193817 meters 0.07882071381367364 Centerline is valid? [True, True] Translation: X:74.88, Y:-19.10, Z:-8.99 [[ 9.14653251e-01 3.97726763e-01 7.22693008e-02 7.48842282e+01] [-3.96166360e-01 9.17496272e-01 -3.53950078e-02 -1.91006982e+01] [-8.03843559e-02 3.74349308e-03 9.96756912e-01 -8.99117821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.941193817 meters 0.08291096641757503 Centerline is valid? [True, True] Translation: X:74.91, Y:-19.12, Z:-9.00 [[ 9.15149747e-01 3.96524386e-01 7.25903085e-02 7.49068826e+01] [-3.94944751e-01 9.18015973e-01 -3.55712939e-02 -1.91177684e+01] [-8.07439481e-02 3.88389928e-03 9.96727310e-01 -8.99779061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.971193817 meters 0.07449590559592469 Centerline is valid? [True, True] Translation: X:74.94, Y:-19.12, Z:-8.99 [[ 9.15414518e-01 3.96097785e-01 7.15737753e-02 7.49446631e+01] [-3.94562297e-01 9.18200264e-01 -3.50552327e-02 -1.91157901e+01] [-7.96043593e-02 3.84975577e-03 9.96819104e-01 -8.99313904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.001193817 meters 0.07498690024068001 Centerline is valid? [True, True] Translation: X:74.97, Y:-19.13, Z:-9.00 [[ 9.15539778e-01 3.96224207e-01 6.92336155e-02 7.49743027e+01] [-3.94785535e-01 9.18146162e-01 -3.39412288e-02 -1.91277805e+01] [-7.70149148e-02 3.74211518e-03 9.97022918e-01 -9.00007681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.031193817 meters 0.07421345677978622 Centerline is valid? [True, True] Translation: X:75.01, Y:-19.14, Z:-9.00 [[ 9.15151494e-01 3.97281412e-01 6.83024385e-02 7.50058736e+01] [-3.95884468e-01 9.17689772e-01 -3.34808815e-02 -1.91377288e+01] [-7.59817811e-02 3.60020413e-03 9.97102707e-01 -9.00457203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.061193817 meters 0.07498296006600422 Centerline is valid? [True, True] Translation: X:75.03, Y:-19.15, Z:-9.01 [[ 9.14652891e-01 3.98247456e-01 6.93473342e-02 7.50347999e+01] [-3.96807326e-01 9.17270925e-01 -3.40293400e-02 -1.91490268e+01] [-7.71623915e-02 3.60750395e-03 9.97012012e-01 -9.00964591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.091193817 meters 0.07383739252175388 Centerline is valid? [True, True] Translation: X:75.06, Y:-19.16, Z:-9.01 [[ 9.14163059e-01 3.99363684e-01 6.93869488e-02 7.50647581e+01] [-3.97923406e-01 9.16785770e-01 -3.40707386e-02 -1.91560382e+01] [-7.72195829e-02 3.53551962e-03 9.97007842e-01 -9.01260043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.121193817 meters 0.07186109740636623 Centerline is valid? [True, True] Translation: X:75.10, Y:-19.16, Z:-9.02 [[ 9.12028866e-01 4.04601423e-01 6.70897673e-02 7.50959829e+01] [-4.03269159e-01 9.14488245e-01 -3.29429094e-02 -1.91557185e+01] [-7.46815516e-02 2.98965024e-03 9.97202952e-01 -9.01878325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.151193817 meters 0.07077352576409929 Centerline is valid? [True, True] Translation: X:75.12, Y:-19.16, Z:-9.02 [[ 9.10546487e-01 4.08121940e-01 6.58906431e-02 7.51240613e+01] [-4.06846276e-01 9.12923576e-01 -3.23519900e-02 -1.91606921e+01] [-7.33566785e-02 2.65062802e-03 9.97302247e-01 -9.02373612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18119381700001 meters 0.06920457671198521 Centerline is valid? [True, True] Translation: X:75.15, Y:-19.17, Z:-9.03 [[ 9.08617939e-01 4.12479983e-01 6.53735786e-02 7.51543337e+01] [-4.11236491e-01 9.10963839e-01 -3.20847587e-02 -1.91650821e+01] [-7.27872869e-02 2.26878620e-03 9.97344907e-01 -9.02780205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21119381700001 meters 0.06757986795978278 Centerline is valid? [True, True] Translation: X:75.18, Y:-19.17, Z:-9.03 [[ 9.06918415e-01 4.15949247e-01 6.69717314e-02 7.51847510e+01] [-4.14653797e-01 9.09385549e-01 -3.28656526e-02 -1.91704417e+01] [-7.45735681e-02 2.03638283e-03 9.97213436e-01 -9.03006233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24119381700001 meters 0.06757986795978278 Centerline is valid? [True, True] Translation: X:75.21, Y:-19.18, Z:-9.03 [[ 9.06967714e-01 4.15841754e-01 6.69716535e-02 7.52093839e+01] [-4.14546000e-01 9.09434688e-01 -3.28658120e-02 -1.91823434e+01] [-7.45733217e-02 2.04539929e-03 9.97213436e-01 -9.03320646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.271193817 meters 0.06507129866996418 Centerline is valid? [True, True] Translation: X:75.24, Y:-19.18, Z:-9.03 [[ 9.04328211e-01 4.20893094e-01 7.09893677e-02 7.52421090e+01] [-4.19453607e-01 9.07108629e-01 -3.48225077e-02 -1.91817925e+01] [-7.90516211e-02 1.71422973e-03 9.96869050e-01 -9.03221383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.301193817 meters 0.06481073865865929 Centerline is valid? [True, True] Translation: X:75.27, Y:-19.19, Z:-9.03 [[ 9.03772356e-01 4.21730286e-01 7.30691031e-02 7.52690847e+01] [-4.20207805e-01 9.06719754e-01 -3.58425591e-02 -1.91901923e+01] [-8.13690919e-02 1.68930670e-03 9.96682606e-01 -9.03490119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.331193817 meters 0.06447682049302986 Centerline is valid? [True, True] Translation: X:75.30, Y:-19.20, Z:-9.04 [[ 9.03687660e-01 4.21770899e-01 7.38777537e-02 7.52967303e+01] [-4.20214848e-01 9.06700840e-01 -3.62362935e-02 -1.92001208e+01] [-8.22684354e-02 1.70176225e-03 9.96608754e-01 -9.03630094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.361193817 meters 0.06438394113367897 Centerline is valid? [True, True] Translation: X:75.32, Y:-19.21, Z:-9.04 [[ 9.03530321e-01 4.21985145e-01 7.45754484e-02 7.53239653e+01] [-4.20402351e-01 9.06601198e-01 -3.65531370e-02 -1.92106141e+01] [-8.30350717e-02 1.67517372e-03 9.96545218e-01 -9.03931800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.391193817 meters 0.0634741061335318 Centerline is valid? [True, True] Translation: X:75.35, Y:-19.22, Z:-9.04 [[ 9.02013251e-01 4.24883236e-01 7.64613026e-02 7.53503503e+01] [-4.23232310e-01 9.05247056e-01 -3.74456979e-02 -1.92194441e+01] [-8.51264183e-02 1.41562198e-03 9.96369153e-01 -9.04084653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.421193817 meters 0.06154956390107518 Centerline is valid? [True, True] Translation: X:75.38, Y:-19.23, Z:-9.04 [[ 9.00861450e-01 4.27259683e-01 7.67972051e-02 7.53791249e+01] [-4.25603013e-01 9.04128164e-01 -3.76076856e-02 -1.92275041e+01] [-8.55027639e-02 1.19419221e-03 9.96337218e-01 -9.03738941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.451193817 meters 0.061532673356731925 Centerline is valid? [True, True] Translation: X:75.41, Y:-19.23, Z:-9.05 [[ 8.98320894e-01 4.32464891e-01 7.74189182e-02 7.54055717e+01] [-4.30803494e-01 9.01650522e-01 -3.78772325e-02 -1.92345463e+01] [-8.61853812e-02 6.73568912e-04 9.96278890e-01 -9.04828352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.481193817 meters 0.060774096685624036 Centerline is valid? [True, True] Translation: X:75.43, Y:-19.24, Z:-9.05 [[ 8.97209246e-01 4.35094187e-01 7.55553933e-02 7.54341044e+01] [-4.33521526e-01 9.00384852e-01 -3.69622105e-02 -1.92426053e+01] [-8.41109745e-02 4.07947662e-04 9.96456310e-01 -9.04816756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.511193817 meters 0.06159725559531701 Centerline is valid? [True, True] Translation: X:75.46, Y:-19.25, Z:-9.06 [[ 8.96785564e-01 4.36135058e-01 7.45779070e-02 7.54589996e+01] [-4.34609239e-01 8.99881178e-01 -3.64509938e-02 -1.92535278e+01] [-8.30088111e-02 2.76477678e-04 9.96548775e-01 -9.05946717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.541193817 meters 0.061775381784828234 Centerline is valid? [True, True] Translation: X:75.48, Y:-19.27, Z:-9.06 [[ 8.96609112e-01 4.36501052e-01 7.45582392e-02 7.54838326e+01] [-4.34977541e-01 8.99703715e-01 -3.64385010e-02 -1.92658100e+01] [-8.29857688e-02 2.39932505e-04 9.96550703e-01 -9.06335838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57119381700001 meters 0.06116333146205324 Centerline is valid? [True, True] Translation: X:75.51, Y:-19.28, Z:-9.06 [[ 8.96060664e-01 4.37890180e-01 7.29895635e-02 7.55082586e+01] [-4.36436888e-01 8.99028466e-01 -3.56463175e-02 -1.92827415e+01] [-8.12288677e-02 8.59249609e-05 9.96695472e-01 -9.06003181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60119381700001 meters 0.06120253333642338 Centerline is valid? [True, True] Translation: X:75.53, Y:-19.30, Z:-9.06 [[ 8.95368213e-01 4.39441607e-01 7.21584263e-02 7.55333637e+01] [-4.38028395e-01 8.98271155e-01 -3.52144366e-02 -1.92972166e+01] [-8.02925216e-02 -7.75525077e-05 9.96771340e-01 -9.06396596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.631193817 meters 0.06151004941343975 Centerline is valid? [True, True] Translation: X:75.56, Y:-19.31, Z:-9.07 [[ 8.94448570e-01 4.41524341e-01 7.08379286e-02 7.55588203e+01] [-4.40170995e-01 8.97249228e-01 -3.45444460e-02 -1.93106414e+01] [-7.88114905e-02 -2.82571172e-04 9.96889497e-01 -9.06892921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.661193817 meters 0.06163557902931869 Centerline is valid? [True, True] Translation: X:75.58, Y:-19.32, Z:-9.07 [[ 8.93919781e-01 4.42739300e-01 6.99238016e-02 7.55841210e+01] [-4.41426372e-01 8.96650292e-01 -3.40736227e-02 -1.93242581e+01] [-7.77829290e-02 -4.07124690e-04 9.96970235e-01 -9.07279718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.691193817 meters 0.06150785637186819 Centerline is valid? [True, True] Translation: X:75.61, Y:-19.34, Z:-9.08 [[ 8.94133464e-01 4.41916358e-01 7.23552378e-02 7.56059415e+01] [-4.40510573e-01 8.97056179e-01 -3.52228062e-02 -1.93434046e+01] [-8.04722474e-02 -3.79357531e-04 9.96756777e-01 -9.07580762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.721193817 meters 0.06120950689682321 Centerline is valid? [True, True] Translation: X:75.63, Y:-19.36, Z:-9.08 [[ 8.95420069e-01 4.38991425e-01 7.42255313e-02 7.56292735e+01] [-4.37501970e-01 8.98491243e-01 -3.61318697e-02 -1.93627641e+01] [-8.25525709e-02 -1.20614920e-04 9.96586704e-01 -9.07667900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.751193817 meters 0.06116691078918453 Centerline is valid? [True, True] Translation: X:75.65, Y:-19.38, Z:-9.08 [[ 8.96709253e-01 4.36283791e-01 7.46255267e-02 7.56513777e+01] [-4.34771461e-01 8.99809115e-01 -3.62950900e-02 -1.93826512e+01] [-8.29836886e-02 1.01093757e-04 9.96550900e-01 -9.07771809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.781193817 meters 0.06197045167146971 Centerline is valid? [True, True] Translation: X:75.67, Y:-19.41, Z:-9.08 [[ 8.99875443e-01 4.29829332e-01 7.39657457e-02 7.56682186e+01] [-4.28322409e-01 9.02909894e-01 -3.59671812e-02 -1.94108803e+01] [-8.22441530e-02 6.84796803e-04 9.96611976e-01 -9.08174166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.811193817 meters 0.06263682860355185 Centerline is valid? [True, True] Translation: X:75.69, Y:-19.43, Z:-9.09 [[ 9.01308314e-01 4.26755476e-01 7.43174692e-02 7.56897126e+01] [-4.25224536e-01 9.04366541e-01 -3.61282931e-02 -1.94305654e+01] [-8.26281794e-02 9.61119513e-04 9.96579982e-01 -9.08645956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.841193817 meters 0.0636143672316003 Centerline is valid? [True, True] Translation: X:75.71, Y:-19.45, Z:-9.09 [[ 9.02376470e-01 4.24390493e-01 7.48960331e-02 7.57107448e+01] [-4.22828272e-01 9.05478504e-01 -3.63995936e-02 -1.94496204e+01] [-8.32643895e-02 1.17797651e-03 9.96526795e-01 -9.09250375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.871193817 meters 0.06438502232800147 Centerline is valid? [True, True] Translation: X:75.73, Y:-19.47, Z:-9.10 [[ 9.03562247e-01 4.21864443e-01 7.48709434e-02 7.57341778e+01] [-4.20295468e-01 9.06657835e-01 -3.63770609e-02 -1.94677742e+01] [-8.32285160e-02 1.40102068e-03 9.96529503e-01 -9.09553592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.901193817 meters 0.06467786606042455 Centerline is valid? [True, True] Translation: X:75.76, Y:-19.49, Z:-9.10 [[ 9.05086335e-01 4.18668256e-01 7.44017301e-02 7.57579640e+01] [-4.17108828e-01 9.08137699e-01 -3.61406422e-02 -1.94876385e+01] [-8.26979556e-02 1.67678291e-03 9.96573247e-01 -9.09547806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93119381700001 meters 0.06517789552607305 Centerline is valid? [True, True] Translation: X:75.78, Y:-19.50, Z:-9.10 [[ 9.05528754e-01 4.17551219e-01 7.52904673e-02 7.57816568e+01] [-4.15950661e-01 9.08651611e-01 -3.65690865e-02 -1.95044037e+01] [-8.36822710e-02 1.79723974e-03 9.96490867e-01 -9.09901641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96119381700001 meters 0.06514876370804101 Centerline is valid? [True, True] Translation: X:75.81, Y:-19.52, Z:-9.10 [[ 9.05575292e-01 4.17503873e-01 7.49927129e-02 7.58060173e+01] [-4.15916178e-01 9.08673380e-01 -3.64200805e-02 -1.95190637e+01] [-8.33494065e-02 1.79044253e-03 9.96518776e-01 -9.10087040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99119381700001 meters 0.06462424178035162 Centerline is valid? [True, True] Translation: X:75.83, Y:-19.53, Z:-9.10 [[ 9.04796452e-01 4.18829935e-01 7.69731489e-02 7.58300081e+01] [-4.17162767e-01 9.08063095e-01 -3.73716664e-02 -1.95336222e+01] [-8.55488484e-02 1.70341938e-03 9.96332521e-01 -9.10160484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.021193817 meters 0.06338596537126667 Centerline is valid? [True, True] Translation: X:75.86, Y:-19.54, Z:-9.10 [[ 9.04323067e-01 4.19834469e-01 7.70636762e-02 7.58586943e+01] [-4.18167900e-01 9.07599282e-01 -3.74052300e-02 -1.95441989e+01] [-8.56469421e-02 1.60085663e-03 9.96324264e-01 -9.10007515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.051193817 meters 0.06390906088998685 Centerline is valid? [True, True] Translation: X:75.88, Y:-19.56, Z:-9.11 [[ 9.03994587e-01 4.20193141e-01 7.89399225e-02 7.58833152e+01] [-4.18445950e-01 9.07433280e-01 -3.83122558e-02 -1.95580470e+01] [-8.77312599e-02 1.60198105e-03 9.96142891e-01 -9.10575652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.081193817 meters 0.06314938043162016 Centerline is valid? [True, True] Translation: X:75.91, Y:-19.57, Z:-9.10 [[ 9.04097067e-01 4.19894501e-01 7.93542742e-02 7.59113108e+01] [-4.18128340e-01 9.07571452e-01 -3.85065061e-02 -1.95694402e+01] [-8.81883440e-02 1.63334823e-03 9.96102479e-01 -9.10483423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.111193817 meters 0.06310295181775095 Centerline is valid? [True, True] Translation: X:75.94, Y:-19.58, Z:-9.11 [[ 9.03938099e-01 4.20210235e-01 7.94938471e-02 7.59377251e+01] [-4.18439425e-01 9.07425365e-01 -3.85701270e-02 -1.95826737e+01] [-8.83422953e-02 1.60164758e-03 9.96088888e-01 -9.10923860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.141193817 meters 0.06345338719697152 Centerline is valid? [True, True] Translation: X:75.96, Y:-19.60, Z:-9.11 [[ 9.04504462e-01 4.19143368e-01 7.86798297e-02 7.59630193e+01] [-4.17405029e-01 9.07918498e-01 -3.81712345e-02 -1.95978190e+01] [-8.74340926e-02 1.68469527e-03 9.96168882e-01 -9.11434385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.171193817 meters 0.06343713460786457 Centerline is valid? [True, True] Translation: X:75.99, Y:-19.61, Z:-9.12 [[ 9.05334816e-01 4.17430584e-01 7.82341333e-02 7.59913417e+01] [-4.15706792e-01 9.08706978e-01 -3.79406342e-02 -1.96134664e+01] [-8.69294840e-02 1.82651654e-03 9.96212793e-01 -9.11630295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.201193817 meters 0.06417894233372856 Centerline is valid? [True, True] Translation: X:76.02, Y:-19.63, Z:-9.12 [[ 9.06207632e-01 4.15629187e-01 7.77181296e-02 7.60180978e+01] [-4.13918983e-01 9.09531929e-01 -3.77193116e-02 -1.96305323e+01] [-8.63643671e-02 2.01251881e-03 9.96261585e-01 -9.12128957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.231193817 meters 0.06582309197007305 Centerline is valid? [True, True] Translation: X:76.04, Y:-19.65, Z:-9.13 [[ 9.07138574e-01 4.13977504e-01 7.56454532e-02 7.60427207e+01] [-4.12348727e-01 9.10284587e-01 -3.67491301e-02 -1.96480334e+01] [-8.40722032e-02 2.14424711e-03 9.96457358e-01 -9.12985075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.261193817 meters 0.06809663790414168 Centerline is valid? [True, True] Translation: X:76.07, Y:-19.66, Z:-9.14 [[ 9.08661939e-01 4.11411828e-01 7.12305325e-02 7.60661524e+01] [-4.09959661e-01 9.11446795e-01 -3.46094849e-02 -1.96649326e+01] [-7.91615920e-02 2.24667671e-03 9.96859265e-01 -9.14176398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.291193817 meters 0.06873985737862187 Centerline is valid? [True, True] Translation: X:76.09, Y:-19.68, Z:-9.15 [[ 9.09237348e-01 4.10380889e-01 6.98209913e-02 7.60933654e+01] [-4.08982813e-01 9.11911338e-01 -3.39230034e-02 -1.96801466e+01] [-7.75919059e-02 2.28847618e-03 9.96982577e-01 -9.14706378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32119381700001 meters 0.0678814121017523 Centerline is valid? [True, True] Translation: X:76.12, Y:-19.69, Z:-9.15 [[ 9.09633491e-01 4.09565681e-01 6.94468499e-02 7.61232244e+01] [-4.08180754e-01 9.12277635e-01 -3.37340908e-02 -1.96930251e+01] [-7.71711339e-02 2.33879119e-03 9.97015118e-01 -9.14822606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35119381700001 meters 0.06697945611670691 Centerline is valid? [True, True] Translation: X:76.15, Y:-19.70, Z:-9.15 [[ 9.08751874e-01 4.11552089e-01 6.92452908e-02 7.61533307e+01] [-4.10179017e-01 9.11383616e-01 -3.36612249e-02 -1.97048413e+01] [-7.69623710e-02 2.18673592e-03 9.97031600e-01 -9.15067430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.381193817 meters 0.06676890738160492 Centerline is valid? [True, True] Translation: X:76.18, Y:-19.72, Z:-9.16 [[ 9.07711223e-01 4.13935602e-01 6.86851755e-02 7.61818818e+01] [-4.12589134e-01 9.10303977e-01 -3.34196874e-02 -1.97164100e+01] [-7.63579869e-02 1.99666827e-03 9.97078468e-01 -9.15574999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.411193817 meters 0.0659592562196323 Centerline is valid? [True, True] Translation: X:76.21, Y:-19.73, Z:-9.16 [[ 9.06695890e-01 4.16126857e-01 6.88549322e-02 7.62104890e+01] [-4.14778210e-01 9.09304712e-01 -3.35257609e-02 -1.97254836e+01] [-7.65610839e-02 1.83814410e-03 9.97063198e-01 -9.15988907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.441193817 meters 0.06563732980236212 Centerline is valid? [True, True] Translation: X:76.24, Y:-19.74, Z:-9.16 [[ 9.05726820e-01 4.18014992e-01 7.01597706e-02 7.62374172e+01] [-4.16620534e-01 9.08438522e-01 -3.41581902e-02 -1.97354195e+01] [-7.80144740e-02 1.70798791e-03 9.96950763e-01 -9.16370935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.471193817 meters 0.06492709183321678 Centerline is valid? [True, True] Translation: X:76.27, Y:-19.75, Z:-9.17 [[ 9.05237889e-01 4.18780104e-01 7.18859510e-02 7.62651178e+01] [-4.17318925e-01 9.08086125e-01 -3.49929125e-02 -1.97457356e+01] [-7.99329702e-02 1.67754243e-03 9.96798829e-01 -9.16526211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.501193817 meters 0.064961229361783 Centerline is valid? [True, True] Translation: X:76.29, Y:-19.76, Z:-9.17 [[ 9.05829294e-01 4.17005420e-01 7.46978577e-02 7.62910257e+01] [-4.15421889e-01 9.08902010e-01 -3.63564429e-02 -1.97588847e+01] [-8.30538668e-02 1.90160588e-03 9.96543245e-01 -9.16540627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.531193817 meters 0.06452856842877375 Centerline is valid? [True, True] Translation: X:76.32, Y:-19.77, Z:-9.16 [[ 9.06393758e-01 4.15459454e-01 7.64447345e-02 7.63187735e+01] [-4.13796258e-01 9.09609316e-01 -3.71960811e-02 -1.97716737e+01] [-8.49883063e-02 2.08175060e-03 9.96379774e-01 -9.16493684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.561193817 meters 0.0644573442102736 Centerline is valid? [True, True] Translation: X:76.35, Y:-19.79, Z:-9.17 [[ 9.06683110e-01 4.14582234e-01 7.77644485e-02 7.63488926e+01] [-4.12858698e-01 9.10009212e-01 -3.78276208e-02 -1.97861223e+01] [-8.64490241e-02 2.19193594e-03 9.96253864e-01 -9.16671790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.591193817 meters 0.06522455303748972 Centerline is valid? [True, True] Translation: X:76.38, Y:-19.80, Z:-9.17 [[ 9.07251980e-01 4.13050839e-01 7.92644302e-02 7.63763448e+01] [-4.11251067e-01 9.10704765e-01 -3.85926206e-02 -1.98017395e+01] [-8.81272086e-02 2.41564993e-03 9.96106299e-01 -9.17053360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.621193817 meters 0.06767419495335136 Centerline is valid? [True, True] Translation: X:76.40, Y:-19.82, Z:-9.18 [[ 9.09494800e-01 4.08294195e-01 7.81988465e-02 7.64012592e+01] [-4.06521529e-01 9.12845872e-01 -3.81137823e-02 -1.98178413e+01] [-8.69451303e-02 2.87477222e-03 9.96208954e-01 -9.17712934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.651193817 meters 0.06794686435159315 Centerline is valid? [True, True] Translation: X:76.43, Y:-19.83, Z:-9.18 [[ 9.10576588e-01 4.05955032e-01 7.77868159e-02 7.64301668e+01] [-4.04192748e-01 9.13887865e-01 -3.79103244e-02 -1.98318055e+01] [-8.64783140e-02 3.07938696e-03 9.96248974e-01 -9.17935149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68119381700001 meters 0.06884412348096206 Centerline is valid? [True, True] Translation: X:76.46, Y:-19.85, Z:-9.18 [[ 9.11095392e-01 4.04439938e-01 7.95834339e-02 7.64574360e+01] [-4.02589067e-01 9.14558603e-01 -3.87892354e-02 -1.98465819e+01] [-8.84716301e-02 3.30127322e-03 9.96073226e-01 -9.18169553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71119381700001 meters 0.06967345826078392 Centerline is valid? [True, True] Translation: X:76.49, Y:-19.86, Z:-9.18 [[ 9.11025547e-01 4.04173346e-01 8.17089961e-02 7.64869407e+01] [-4.02218394e-01 9.14675928e-01 -3.98536088e-02 -1.98582823e+01] [-9.08450182e-02 3.44279460e-03 9.95859091e-01 -9.18388450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74119381700001 meters 0.06876066148437805 Centerline is valid? [True, True] Translation: X:76.52, Y:-19.87, Z:-9.19 [[ 9.10659700e-01 4.05286350e-01 8.02613559e-02 7.65184442e+01] [-4.03402104e-01 9.14183846e-01 -3.91744501e-02 -1.98681254e+01] [-8.92505049e-02 3.29699316e-03 9.96003754e-01 -9.18762963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.771193817 meters 0.06852633557991261 Centerline is valid? [True, True] Translation: X:76.55, Y:-19.88, Z:-9.19 [[ 9.10289296e-01 4.06549567e-01 7.80438786e-02 7.65488836e+01] [-4.04769351e-01 9.13623394e-01 -3.81322280e-02 -1.98770023e+01] [-8.68053540e-02 3.12158892e-03 9.96220400e-01 -9.19415737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.801193817 meters 0.06871651624627043 Centerline is valid? [True, True] Translation: X:76.58, Y:-19.88, Z:-9.20 [[ 9.09440108e-01 4.08928449e-01 7.54732633e-02 7.65758956e+01] [-4.07271357e-01 9.12562137e-01 -3.68834201e-02 -1.98843018e+01] [-8.39567222e-02 2.80516315e-03 9.96465453e-01 -9.20240735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.831193817 meters 0.06589254614010283 Centerline is valid? [True, True] Translation: X:76.61, Y:-19.88, Z:-9.21 [[ 9.07048485e-01 4.15050149e-01 7.06853574e-02 7.66098401e+01] [-4.13615789e-01 9.09796129e-01 -3.45395939e-02 -1.98796991e+01] [-7.86449281e-02 2.09250645e-03 9.96900495e-01 -9.20885121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.861193817 meters 0.06518710237491143 Centerline is valid? [True, True] Translation: X:76.64, Y:-19.89, Z:-9.21 [[ 9.06043700e-01 4.17552346e-01 6.88102588e-02 7.66385264e+01] [-4.16200921e-01 9.08651049e-01 -3.36164191e-02 -1.98866039e+01] [-7.65611285e-02 1.81905169e-03 9.97063230e-01 -9.21367956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.891193817 meters 0.06520615626635423 Centerline is valid? [True, True] Translation: X:76.66, Y:-19.90, Z:-9.22 [[ 9.05389596e-01 4.18952897e-01 6.89068189e-02 7.66644343e+01] [-4.17602215e-01 9.08006382e-01 -3.36570936e-02 -1.98958943e+01] [-7.66685682e-02 1.69714221e-03 9.97055189e-01 -9.21853273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.921193817 meters 0.06481014268160236 Centerline is valid? [True, True] Translation: X:76.69, Y:-19.91, Z:-9.22 [[ 9.05077277e-01 4.19453668e-01 6.99552862e-02 7.66921286e+01] [-4.18063869e-01 9.07775210e-01 -3.41580061e-02 -1.99060156e+01] [-7.78313756e-02 1.66985752e-03 9.96965139e-01 -9.22062064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.951193817 meters 0.06503178316646402 Centerline is valid? [True, True] Translation: X:76.72, Y:-19.92, Z:-9.22 [[ 9.05075898e-01 4.19208938e-01 7.14246870e-02 7.67178680e+01] [-4.17759613e-01 9.07888153e-01 -3.48712939e-02 -1.99169216e+01] [-7.94639852e-02 1.72281800e-03 9.96836249e-01 -9.22435225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.981193817 meters 0.06329342366859736 Centerline is valid? [True, True] Translation: X:76.75, Y:-19.92, Z:-9.22 [[ 9.04201109e-01 4.20727583e-01 7.35435613e-02 7.67490316e+01] [-4.19196718e-01 9.07185567e-01 -3.58950999e-02 -1.99201767e+01] [-8.18197160e-02 1.62716956e-03 9.96645818e-01 -9.22188663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.011193817 meters 0.06314292201492483 Centerline is valid? [True, True] Translation: X:76.78, Y:-19.93, Z:-9.23 [[ 9.03348563e-01 4.22504438e-01 7.38334112e-02 7.67763555e+01] [-4.20967823e-01 9.06359667e-01 -3.60311640e-02 -1.99288290e+01] [-8.21429527e-02 1.46720983e-03 9.96619477e-01 -9.22598898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.041193817 meters 0.06350750406888533 Centerline is valid? [True, True] Translation: X:76.80, Y:-19.94, Z:-9.23 [[ 9.03012509e-01 4.23434449e-01 7.26063045e-02 7.68012673e+01] [-4.21952712e-01 9.05925744e-01 -3.54182902e-02 -1.99398767e+01] [-8.07732446e-02 1.34673202e-03 9.96731593e-01 -9.23274842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07119381700001 meters 0.06372015759280789 Centerline is valid? [True, True] Translation: X:76.82, Y:-19.95, Z:-9.24 [[ 9.02921780e-01 4.23646260e-01 7.24989978e-02 7.68246702e+01] [-4.22170805e-01 9.05826763e-01 -3.53509173e-02 -1.99519661e+01] [-8.06478164e-02 1.31215295e-03 9.96741796e-01 -9.23766722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10119381700001 meters 0.0637142337819338 Centerline is valid? [True, True] Translation: X:76.85, Y:-19.97, Z:-9.24 [[ 9.03524984e-01 4.21851608e-01 7.53911421e-02 7.68495931e+01] [-4.20250981e-01 9.06663620e-01 -3.67449698e-02 -1.99668688e+01] [-8.38553304e-02 1.51679683e-03 9.96476785e-01 -9.23708752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.131193817 meters 0.0637142337819338 Centerline is valid? [True, True] Translation: X:76.87, Y:-19.98, Z:-9.24 [[ 9.03577872e-01 4.21737867e-01 7.53936465e-02 7.68742431e+01] [-4.20137273e-01 9.06716525e-01 -3.67398306e-02 -1.99787003e+01] [-8.38552429e-02 1.52161685e-03 9.96476785e-01 -9.24022957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.161193817 meters 0.06348986297091745 Centerline is valid? [True, True] Translation: X:76.90, Y:-19.99, Z:-9.24 [[ 9.03658407e-01 4.21290829e-01 7.69124224e-02 7.69011328e+01] [-4.19624524e-01 9.06924216e-01 -3.74663243e-02 -1.99904265e+01] [-8.55379572e-02 1.58242027e-03 9.96333656e-01 -9.24085247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.191193817 meters 0.06423573107394695 Centerline is valid? [True, True] Translation: X:76.93, Y:-20.00, Z:-9.25 [[ 9.03879610e-01 4.20645666e-01 7.78387703e-02 7.69256531e+01] [-4.18937181e-01 9.07223501e-01 -3.79098674e-02 -2.00032843e+01] [-8.65637831e-02 1.65640116e-03 9.96244934e-01 -9.24525401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.221193817 meters 0.06385755332021285 Centerline is valid? [True, True] Translation: X:76.95, Y:-20.01, Z:-9.24 [[ 9.04660111e-01 4.18686012e-01 7.93228025e-02 7.69522485e+01] [-4.16904972e-01 9.08129135e-01 -3.86227744e-02 -2.00126606e+01] [-8.82061634e-02 1.87041260e-03 9.96100484e-01 -9.24336540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.251193817 meters 0.06413818093918036 Centerline is valid? [True, True] Translation: X:76.98, Y:-20.03, Z:-9.24 [[ 9.05297660e-01 4.16985515e-01 8.09890583e-02 7.69776625e+01] [-4.15123196e-01 9.08910783e-01 -3.94198078e-02 -2.00269835e+01] [-9.00493173e-02 2.06622301e-03 9.95935164e-01 -9.24477343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.281193817 meters 0.06498216423853674 Centerline is valid? [True, True] Translation: X:77.00, Y:-20.04, Z:-9.25 [[ 9.06047314e-01 4.15018551e-01 8.26913987e-02 7.70010915e+01] [-4.13069542e-01 9.09810037e-01 -4.02399082e-02 -2.00426722e+01] [-9.19337729e-02 2.30196253e-03 9.95762463e-01 -9.24723195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.311193817 meters 0.06544189381870344 Centerline is valid? [True, True] Translation: X:77.03, Y:-20.06, Z:-9.25 [[ 9.07195203e-01 4.12386357e-01 8.32727885e-02 7.70259712e+01] [-4.10399777e-01 9.11005408e-01 -4.05113397e-02 -2.00568010e+01] [-9.25682845e-02 2.57655921e-03 9.95703005e-01 -9.24962316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.341193817 meters 0.06692567254082964 Centerline is valid? [True, True] Translation: X:77.05, Y:-20.07, Z:-9.25 [[ 9.09256840e-01 4.08081063e-01 8.19868541e-02 7.70495330e+01] [-4.06138849e-01 9.12940898e-01 -3.98767021e-02 -2.00738095e+01] [-9.11220792e-02 2.96011753e-03 9.95835330e-01 -9.25422646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.371193817 meters 0.06759011641561258 Centerline is valid? [True, True] Translation: X:77.07, Y:-20.09, Z:-9.26 [[ 9.10012970e-01 4.06340745e-01 8.22410697e-02 7.70745254e+01] [-4.04379903e-01 9.13716229e-01 -3.99943252e-02 -2.00875222e+01] [-9.13963239e-02 3.13871884e-03 9.95809651e-01 -9.25743779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.401193817 meters 0.06840723071887368 Centerline is valid? [True, True] Translation: X:77.10, Y:-20.10, Z:-9.26 [[ 9.10798254e-01 4.04841340e-01 8.09322575e-02 7.70990862e+01] [-4.02937360e-01 9.14381245e-01 -3.93500037e-02 -2.00996357e+01] [-8.99334466e-02 3.22928451e-03 9.95942542e-01 -9.26309900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43119381700001 meters 0.06792317047689164 Centerline is valid? [True, True] Translation: X:77.13, Y:-20.11, Z:-9.27 [[ 9.11391016e-01 4.03735339e-01 7.97758826e-02 7.71273633e+01] [-4.01882348e-01 9.14869948e-01 -3.87757168e-02 -2.01091077e+01] [-8.86396847e-02 3.27932089e-03 9.96058358e-01 -9.26623426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46119381700001 meters 0.06923853030146768 Centerline is valid? [True, True] Translation: X:77.15, Y:-20.12, Z:-9.27 [[ 9.12191078e-01 4.02645929e-01 7.60505941e-02 7.71517438e+01] [-4.00958845e-01 9.15350136e-01 -3.69612431e-02 -2.01215383e+01] [-8.44952157e-02 3.22255785e-03 9.96418674e-01 -9.27451272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49119381700001 meters 0.06954407935309065 Centerline is valid? [True, True] Translation: X:77.18, Y:-20.13, Z:-9.28 [[ 9.11943464e-01 4.03479721e-01 7.45870855e-02 7.71756980e+01] [-4.01860122e-01 9.14983399e-01 -3.62466954e-02 -2.01337640e+01] [-8.28707515e-02 3.08136175e-03 9.96555540e-01 -9.27984349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.521193817 meters 0.06862659662630596 Centerline is valid? [True, True] Translation: X:77.20, Y:-20.14, Z:-9.28 [[ 9.10972613e-01 4.05868929e-01 7.34800062e-02 7.72026299e+01] [-4.04305370e-01 9.13926958e-01 -3.57027178e-02 -2.01431477e+01] [-8.16459823e-02 2.81583706e-03 9.96657416e-01 -9.28402488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.551193817 meters 0.06602907858576709 Centerline is valid? [True, True] Translation: X:77.23, Y:-20.14, Z:-9.29 [[ 9.06931036e-01 4.15283558e-01 7.08213390e-02 7.72341240e+01] [-4.13860483e-01 9.09690053e-01 -3.44021370e-02 -2.01433256e+01] [-7.87121095e-02 1.89021213e-03 9.96895597e-01 -9.29178447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.581193817 meters 0.06435034543910552 Centerline is valid? [True, True] Translation: X:77.26, Y:-20.15, Z:-9.29 [[ 9.04528250e-01 4.20509232e-01 7.07151407e-02 7.72642565e+01] [-4.19106474e-01 9.07287129e-01 -3.43486342e-02 -2.01469729e+01] [-7.86028548e-02 1.43213669e-03 9.96904981e-01 -9.29344295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.611193817 meters 0.06351307075998562 Centerline is valid? [True, True] Translation: X:77.29, Y:-20.15, Z:-9.30 [[ 9.02284594e-01 4.25324237e-01 7.05819032e-02 7.72919737e+01] [-4.23941970e-01 9.05040487e-01 -3.42771453e-02 -2.01527007e+01] [-7.84583807e-02 1.00510904e-03 9.96916883e-01 -9.29734728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.641193817 meters 0.06270764743308942 Centerline is valid? [True, True] Translation: X:77.32, Y:-20.16, Z:-9.30 [[ 9.00401699e-01 4.28844082e-01 7.32770976e-02 7.73198310e+01] [-4.27366637e-01 9.03378239e-01 -3.55740745e-02 -2.01614330e+01] [-8.14526667e-02 7.14770362e-04 9.96676955e-01 -9.29858128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.671193817 meters 0.061876263582569084 Centerline is valid? [True, True] Translation: X:77.35, Y:-20.17, Z:-9.30 [[ 8.99253187e-01 4.30362841e-01 7.83040887e-02 7.73470357e+01] [-4.28681702e-01 9.02655777e-01 -3.80071846e-02 -2.01739310e+01] [-8.70385180e-02 6.10551940e-04 9.96204760e-01 -9.29604802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.701193817 meters 0.06179449126470101 Centerline is valid? [True, True] Translation: X:77.37, Y:-20.19, Z:-9.30 [[ 8.99438203e-01 4.29865255e-01 7.89099638e-02 7.73712781e+01] [-4.28156242e-01 9.02892809e-01 -3.82989275e-02 -2.01865768e+01] [-8.77106171e-02 6.61724986e-04 9.96145777e-01 -9.29878069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.731193817 meters 0.06185656337676686 Centerline is valid? [True, True] Translation: X:77.40, Y:-20.20, Z:-9.30 [[ 8.99710198e-01 4.29113933e-01 7.98923757e-02 7.73957535e+01] [-4.27359997e-01 9.03250072e-01 -3.87652002e-02 -2.01984895e+01] [-8.87974816e-02 7.34640526e-04 9.96049430e-01 -9.30209611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.761193817 meters 0.06187868438803544 Centerline is valid? [True, True] Translation: X:77.42, Y:-20.21, Z:-9.31 [[ 8.99927990e-01 4.28673954e-01 7.98013481e-02 7.74211017e+01] [-4.26923208e-01 9.03458938e-01 -3.87107509e-02 -2.02089526e+01] [-8.86915318e-02 7.67840653e-04 9.96058845e-01 -9.30542604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.791193817 meters 0.06180639322914579 Centerline is valid? [True, True] Translation: X:77.45, Y:-20.22, Z:-9.31 [[ 8.99592856e-01 4.29321084e-01 8.01005681e-02 7.74468280e+01] [-4.27560173e-01 9.03151656e-01 -3.88507918e-02 -2.02215220e+01] [-8.90224248e-02 7.02081953e-04 9.96029375e-01 -9.30891635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82119381700001 meters 0.0616210672248328 Centerline is valid? [True, True] Translation: X:77.47, Y:-20.23, Z:-9.31 [[ 8.99071301e-01 4.30567655e-01 7.92608981e-02 7.74725212e+01] [-4.28850792e-01 9.02558139e-01 -3.84161897e-02 -2.02334129e+01] [-8.80783374e-02 5.47794757e-04 9.96113400e-01 -9.31101812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85119381700001 meters 0.06149923197242659 Centerline is valid? [True, True] Translation: X:77.50, Y:-20.24, Z:-9.32 [[ 8.98015082e-01 4.32965856e-01 7.81631627e-02 7.74975957e+01] [-4.31308298e-01 9.01410278e-01 -3.78505260e-02 -2.02445792e+01] [-8.68450637e-02 2.77922556e-04 9.96221791e-01 -9.31593164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.881193817 meters 0.06199580636609327 Centerline is valid? [True, True] Translation: X:77.52, Y:-20.25, Z:-9.33 [[ 8.96303350e-01 4.37068486e-01 7.49095658e-02 7.75237850e+01] [-4.35561377e-01 8.99428220e-01 -3.62651747e-02 -2.02532309e+01] [-8.32261424e-02 -1.23116041e-04 9.96530679e-01 -9.32566419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.911193817 meters 0.06189107957902106 Centerline is valid? [True, True] Translation: X:77.55, Y:-20.27, Z:-9.33 [[ 8.95753198e-01 4.38225322e-01 7.47313525e-02 7.75502325e+01] [-4.36729451e-01 8.98865126e-01 -3.61783397e-02 -2.02650375e+01] [-8.30276711e-02 -2.30519029e-04 9.96547215e-01 -9.32800032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.941193817 meters 0.06179461951512511 Centerline is valid? [True, True] Translation: X:77.58, Y:-20.28, Z:-9.33 [[ 8.95433540e-01 4.38704489e-01 7.57439587e-02 7.75756499e+01] [-4.37171734e-01 8.98631337e-01 -3.66414432e-02 -2.02774896e+01] [-8.41406605e-02 -3.03140602e-04 9.96453841e-01 -9.33039072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.971193817 meters 0.061718430424439405 Centerline is valid? [True, True] Translation: X:77.60, Y:-20.30, Z:-9.33 [[ 8.95334991e-01 4.38922104e-01 7.56481358e-02 7.75981485e+01] [-4.37396106e-01 8.98525051e-01 -3.65701872e-02 -2.02956405e+01] [-8.40232086e-02 -3.45631862e-04 9.96463738e-01 -9.33115695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.001193817 meters 0.06196086395815968 Centerline is valid? [True, True] Translation: X:77.62, Y:-20.31, Z:-9.34 [[ 8.94958847e-01 4.39581899e-01 7.62654304e-02 7.76216775e+01] [-4.38036591e-01 8.98202402e-01 -3.68292085e-02 -2.03107945e+01] [-8.46912461e-02 -4.46423137e-04 9.96407142e-01 -9.33599186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.031193817 meters 0.06207931736356797 Centerline is valid? [True, True] Translation: X:77.65, Y:-20.33, Z:-9.34 [[ 8.94765537e-01 4.40181078e-01 7.50683249e-02 7.76462072e+01] [-4.38686371e-01 8.97908888e-01 -3.62477278e-02 -2.03259996e+01] [-8.33600800e-02 -4.98233350e-04 9.96519367e-01 -9.33930513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.061193817 meters 0.061859401033583096 Centerline is valid? [True, True] Translation: X:77.67, Y:-20.34, Z:-9.34 [[ 8.94613878e-01 4.40583311e-01 7.45141274e-02 7.76705523e+01] [-4.39114085e-01 8.97711557e-01 -3.59552672e-02 -2.03416765e+01] [-8.27334840e-02 -5.54121910e-04 9.96571555e-01 -9.33996862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.091193817 meters 0.0623113806718586 Centerline is valid? [True, True] Translation: X:77.69, Y:-20.36, Z:-9.35 [[ 8.94186920e-01 4.41753136e-01 7.26905773e-02 7.76924512e+01] [-4.40360996e-01 8.97136400e-01 -3.50495893e-02 -2.03618419e+01] [-8.06966287e-02 -6.69210743e-04 9.96738484e-01 -9.34665297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.121193817 meters 0.0625046931061623 Centerline is valid? [True, True] Translation: X:77.72, Y:-20.38, Z:-9.35 [[ 8.94603478e-01 4.41033582e-01 7.19305043e-02 7.77152953e+01] [-4.39670858e-01 8.97490381e-01 -3.46489889e-02 -2.03808155e+01] [-7.98383034e-02 -6.28640549e-04 9.96807629e-01 -9.35163919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.151193817 meters 0.06273729359114145 Centerline is valid? [True, True] Translation: X:77.74, Y:-20.40, Z:-9.36 [[ 8.95256366e-01 4.39998375e-01 7.01246720e-02 7.77374584e+01] [-4.38700688e-01 8.97998413e-01 -3.37721141e-02 -2.04011415e+01] [-7.78315195e-02 -5.29041733e-04 9.96966386e-01 -9.35715687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18119381700001 meters 0.06298928722838848 Centerline is valid? [True, True] Translation: X:77.76, Y:-20.42, Z:-9.36 [[ 8.96275695e-01 4.38142002e-01 6.87129110e-02 7.77582773e+01] [-4.36891125e-01 8.98905697e-01 -3.30861471e-02 -2.04220269e+01] [-7.62628579e-02 -3.65751522e-04 9.97087681e-01 -9.36265200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21119381700001 meters 0.06303686846654728 Centerline is valid? [True, True] Translation: X:77.78, Y:-20.45, Z:-9.37 [[ 8.98469338e-01 4.33384417e-01 7.02196299e-02 7.77752758e+01] [-4.32064197e-01 9.01209158e-01 -3.38021257e-02 -2.04495682e+01] [-7.79318881e-02 3.07854375e-05 9.96958685e-01 -9.36587920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24119381700001 meters 0.06259785192547462 Centerline is valid? [True, True] Translation: X:77.80, Y:-20.47, Z:-9.37 [[ 8.99737938e-01 4.30680867e-01 7.06090182e-02 7.77981161e+01] [-4.29338390e-01 9.02504252e-01 -3.39797352e-02 -2.04683484e+01] [-7.83593609e-02 2.57694730e-04 9.96925145e-01 -9.36525734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.271193817 meters 0.06358593603082066 Centerline is valid? [True, True] Translation: X:77.82, Y:-20.49, Z:-9.37 [[ 9.01041064e-01 4.28306751e-01 6.83983005e-02 7.78196030e+01] [-4.27040823e-01 9.03633294e-01 -3.29090470e-02 -2.04868957e+01] [-7.59021486e-02 4.43536212e-04 9.97115172e-01 -9.37330968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.301193817 meters 0.06418898982847478 Centerline is valid? [True, True] Translation: X:77.84, Y:-20.51, Z:-9.38 [[ 9.03289489e-01 4.24021349e-01 6.53757993e-02 7.78420031e+01] [-4.22854623e-01 9.05651877e-01 -3.14427452e-02 -2.05122209e+01] [-7.25401106e-02 7.57442303e-04 9.97365208e-01 -9.37694365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.331193817 meters 0.06458547022215326 Centerline is valid? [True, True] Translation: X:77.87, Y:-20.53, Z:-9.38 [[ 9.04413887e-01 4.21417288e-01 6.66557653e-02 7.78674283e+01] [-4.20197856e-01 9.06866314e-01 -3.20507325e-02 -2.05322670e+01] [-7.39546010e-02 9.78517908e-04 9.97261129e-01 -9.37936935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.361193817 meters 0.06495459495317729 Centerline is valid? [True, True] Translation: X:77.89, Y:-20.55, Z:-9.38 [[ 9.05597599e-01 4.18584329e-01 6.84116155e-02 7.78935306e+01] [-4.17289683e-01 9.08177053e-01 -3.29205415e-02 -2.05520133e+01] [-7.59098821e-02 1.26530200e-03 9.97113880e-01 -9.38009152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.391193817 meters 0.06570469758224916 Centerline is valid? [True, True] Translation: X:77.92, Y:-20.57, Z:-9.38 [[ 9.06997166e-01 4.15342770e-01 6.96169750e-02 7.79199300e+01] [-4.13990464e-01 9.09663598e-01 -3.35266053e-02 -2.05719739e+01] [-7.72530611e-02 1.58777224e-03 9.97010252e-01 -9.38205435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.421193817 meters 0.06739621085340514 Centerline is valid? [True, True] Translation: X:77.94, Y:-20.59, Z:-9.38 [[ 9.10465342e-01 4.07609327e-01 7.00535299e-02 7.79436752e+01] [-4.06214186e-01 9.13153535e-01 -3.37735977e-02 -2.05948317e+01] [-7.77360619e-02 2.29295259e-03 9.96971337e-01 -9.38243700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.451193817 meters 0.07023494710729501 Centerline is valid? [True, True] Translation: X:77.97, Y:-20.61, Z:-9.39 [[ 9.12270214e-01 4.03579178e-01 6.99063982e-02 7.79667758e+01] [-4.02178203e-01 9.14940945e-01 -3.37010471e-02 -2.06146005e+01] [-7.75612669e-02 2.62963188e-03 9.96984120e-01 -9.38863314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.481193817 meters 0.07202034018591036 Centerline is valid? [True, True] Translation: X:77.99, Y:-20.63, Z:-9.39 [[ 9.13880811e-01 4.00050331e-01 6.91490844e-02 7.79919016e+01] [-3.98668531e-01 9.16488554e-01 -3.33486419e-02 -2.06315356e+01] [-7.67154796e-02 2.90911996e-03 9.97048781e-01 -9.39290378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.511193817 meters 0.07264027357179118 Centerline is valid? [True, True] Translation: X:78.02, Y:-20.65, Z:-9.39 [[ 9.14982334e-01 3.97625524e-01 6.85658229e-02 7.80199154e+01] [-3.96260255e-01 9.17542601e-01 -3.30663953e-02 -2.06474904e+01] [-7.60601062e-02 3.08525710e-03 9.97098461e-01 -9.39490334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.541193817 meters 0.07265221432914253 Centerline is valid? [True, True] Translation: X:78.05, Y:-20.66, Z:-9.40 [[ 9.15176673e-01 3.96891211e-01 7.02070026e-02 7.80493760e+01] [-3.95457614e-01 9.17860006e-01 -3.38568239e-02 -2.06611539e+01] [-7.78776757e-02 3.22108173e-03 9.96957718e-01 -9.39615292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57119381700001 meters 0.07137366509539997 Centerline is valid? [True, True] Translation: X:78.08, Y:-20.67, Z:-9.40 [[ 9.14039653e-01 3.99278840e-01 7.14697236e-02 7.80790987e+01] [-3.97797448e-01 9.16824279e-01 -3.45026325e-02 -2.06714096e+01] [-7.93013489e-02 3.10630054e-03 9.96845849e-01 -9.39816868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60119381700001 meters 0.07054323529603868 Centerline is valid? [True, True] Translation: X:78.11, Y:-20.68, Z:-9.40 [[ 9.12674595e-01 4.02324332e-01 7.18346422e-02 7.81080646e+01] [-4.00837083e-01 9.15492747e-01 -3.46794462e-02 -2.06810361e+01] [-7.97164789e-02 2.85706109e-03 9.96813483e-01 -9.40156594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.631193817 meters 0.06932126700267895 Centerline is valid? [True, True] Translation: X:78.14, Y:-20.69, Z:-9.41 [[ 9.11192837e-01 4.05728262e-01 7.14995857e-02 7.81384696e+01] [-4.04264171e-01 9.13990164e-01 -3.45320023e-02 -2.06892458e+01] [-7.93605274e-02 2.56059235e-03 9.96842691e-01 -9.40553635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.661193817 meters 0.06840910157659433 Centerline is valid? [True, True] Translation: X:78.17, Y:-20.70, Z:-9.41 [[ 9.09715098e-01 4.08926719e-01 7.20928427e-02 7.81673554e+01] [-4.07447820e-01 9.12564313e-01 -3.48231082e-02 -2.06981735e+01] [-8.00294549e-02 2.30503572e-03 9.96789834e-01 -9.41004867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.691193817 meters 0.06600364079867184 Centerline is valid? [True, True] Translation: X:78.20, Y:-20.70, Z:-9.41 [[ 9.07269300e-01 4.14107685e-01 7.33296830e-02 7.81994536e+01] [-4.12594189e-01 9.10225951e-01 -3.54224898e-02 -2.07027285e+01] [-8.14153057e-02 1.88233642e-03 9.96678486e-01 -9.41157353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.721193817 meters 0.06569679126242739 Centerline is valid? [True, True] Translation: X:78.23, Y:-20.71, Z:-9.42 [[ 9.05910175e-01 4.17219362e-01 7.24897131e-02 7.82283412e+01] [-4.15750927e-01 9.08804443e-01 -3.50093077e-02 -2.07123408e+01] [-8.04855344e-02 1.57762268e-03 9.96754528e-01 -9.41839280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.751193817 meters 0.06551352047616449 Centerline is valid? [True, True] Translation: X:78.26, Y:-20.72, Z:-9.42 [[ 9.04933700e-01 4.19505115e-01 7.14874557e-02 7.82558062e+01] [-4.18081372e-01 9.07751912e-01 -3.45605715e-02 -2.07198390e+01] [-7.93912111e-02 1.38745231e-03 9.96842571e-01 -9.42469469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.781193817 meters 0.06483688029935282 Centerline is valid? [True, True] Translation: X:78.29, Y:-20.72, Z:-9.43 [[ 9.03568629e-01 4.22547844e-01 7.08311511e-02 7.82850516e+01] [-4.21159668e-01 9.06339943e-01 -3.42409431e-02 -2.07239640e+01] [-7.86655382e-02 1.10781800e-03 9.96900449e-01 -9.43003627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.811193817 meters 0.06448527823653236 Centerline is valid? [True, True] Translation: X:78.31, Y:-20.73, Z:-9.43 [[ 9.03121973e-01 4.23575501e-01 7.03881878e-02 7.83118066e+01] [-4.22208301e-01 9.05860245e-01 -3.40201000e-02 -2.07338307e+01] [-7.81719419e-02 1.00582264e-03 9.96939384e-01 -9.43254164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.841193817 meters 0.06410802227763204 Centerline is valid? [True, True] Translation: X:78.34, Y:-20.74, Z:-9.43 [[ 9.02947441e-01 4.24084013e-01 6.95605425e-02 7.83383818e+01] [-4.22750844e-01 9.05622359e-01 -3.36134899e-02 -2.07443846e+01] [-7.72505263e-02 9.44436701e-04 9.97011266e-01 -9.43387229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.871193817 meters 0.06403415715261675 Centerline is valid? [True, True] Translation: X:78.37, Y:-20.75, Z:-9.44 [[ 9.02600849e-01 4.24732306e-01 7.01011781e-02 7.83653172e+01] [-4.23380866e-01 9.05318551e-01 -3.38668503e-02 -2.07548970e+01] [-7.78482424e-02 8.88750360e-04 9.96964824e-01 -9.43762609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.901193817 meters 0.06348110077668564 Centerline is valid? [True, True] Translation: X:78.39, Y:-20.76, Z:-9.44 [[ 9.02388859e-01 4.25064749e-01 7.08117723e-02 7.83932235e+01] [-4.23687098e-01 9.05162533e-01 -3.42057230e-02 -2.07628449e+01] [-7.86358102e-02 8.64829019e-04 9.96903035e-01 -9.43823983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93119381700001 meters 0.06321486991373969 Centerline is valid? [True, True] Translation: X:78.42, Y:-20.77, Z:-9.44 [[ 9.02255540e-01 4.25346247e-01 7.08202688e-02 7.84205879e+01] [-4.23969836e-01 9.05030318e-01 -3.42008901e-02 -2.07738552e+01] [-7.86417107e-02 8.32284843e-04 9.96902597e-01 -9.43960759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96119381700001 meters 0.06345251984926528 Centerline is valid? [True, True] Translation: X:78.45, Y:-20.78, Z:-9.44 [[ 9.02284335e-01 4.25336012e-01 7.05142275e-02 7.84461499e+01] [-4.23971553e-01 9.05035132e-01 -3.40518920e-02 -2.07846893e+01] [-7.83013491e-02 8.28462207e-04 9.96929392e-01 -9.44499977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99119381700001 meters 0.06320590996215895 Centerline is valid? [True, True] Translation: X:78.48, Y:-20.79, Z:-9.45 [[ 9.01366268e-01 4.27257826e-01 7.06371122e-02 7.84752577e+01] [-4.25895303e-01 9.04129594e-01 -3.41008376e-02 -2.07902261e+01] [-7.84349533e-02 6.53330447e-04 9.96919019e-01 -9.44974021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.021193817 meters 0.06320590996215895 Centerline is valid? [True, True] Translation: X:78.50, Y:-20.80, Z:-9.45 [[ 9.01418228e-01 4.27147832e-01 7.06392802e-02 7.84999555e+01] [-4.25785325e-01 9.04181562e-01 -3.40963460e-02 -2.08019701e+01] [-7.84349150e-02 6.57898927e-04 9.96919019e-01 -9.45288255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.051193817 meters 0.06347140007237516 Centerline is valid? [True, True] Translation: X:78.53, Y:-20.81, Z:-9.46 [[ 9.01028893e-01 4.28388002e-01 6.80489053e-02 7.85270098e+01] [-4.27128197e-01 9.03594738e-01 -3.28337043e-02 -2.08116066e+01] [-7.55541977e-02 5.18510002e-04 9.97141562e-01 -9.45936304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.081193817 meters 0.06300891942522731 Centerline is valid? [True, True] Translation: X:78.55, Y:-20.82, Z:-9.46 [[ 9.00845019e-01 4.28934794e-01 6.70312982e-02 7.85544111e+01] [-4.27714231e-01 9.03335336e-01 -3.23389426e-02 -2.08217797e+01] [-7.44230379e-02 4.62135237e-04 9.97226653e-01 -9.45993749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.111193817 meters 0.06350587760699501 Centerline is valid? [True, True] Translation: X:78.58, Y:-20.83, Z:-9.47 [[ 9.00571220e-01 4.29516380e-01 6.69862434e-02 7.85784508e+01] [-4.28299388e-01 9.03058975e-01 -3.23128841e-02 -2.08332913e+01] [-7.43714413e-02 4.09886438e-04 9.97230525e-01 -9.46734700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.141193817 meters 0.06322563894170143 Centerline is valid? [True, True] Translation: X:78.60, Y:-20.85, Z:-9.47 [[ 9.01406369e-01 4.27334109e-01 6.96571365e-02 7.86037156e+01] [-4.26012753e-01 9.04093580e-01 -3.35847237e-02 -2.08475562e+01] [-7.73284679e-02 5.98655310e-04 9.97005491e-01 -9.46774115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.171193817 meters 0.06352632710307785 Centerline is valid? [True, True] Translation: X:78.63, Y:-20.86, Z:-9.47 [[ 9.02579156e-01 4.24524390e-01 7.16233918e-02 7.86275784e+01] [-4.23118944e-01 9.05416096e-01 -3.45261045e-02 -2.08612733e+01] [-7.95061453e-02 8.57328333e-04 9.96834007e-01 -9.46972626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.201193817 meters 0.06414069737008685 Centerline is valid? [True, True] Translation: X:78.65, Y:-20.88, Z:-9.47 [[ 9.03949268e-01 4.21557039e-01 7.18706060e-02 7.86521924e+01] [-4.20133261e-01 9.06801204e-01 -3.46355343e-02 -2.08766496e+01] [-7.97732054e-02 1.11353382e-03 9.96812418e-01 -9.47357784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.231193817 meters 0.06508826652245531 Centerline is valid? [True, True] Translation: X:78.68, Y:-20.89, Z:-9.48 [[ 9.05401040e-01 4.18414583e-01 7.19596603e-02 7.86757184e+01] [-4.16977911e-01 9.08255094e-01 -3.46713962e-02 -2.08929690e+01] [-7.98647458e-02 1.38592937e-03 9.96804746e-01 -9.47776360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.261193817 meters 0.06681369180786502 Centerline is valid? [True, True] Translation: X:78.70, Y:-20.91, Z:-9.48 [[ 9.08437241e-01 4.11918710e-01 7.11670990e-02 7.86994328e+01] [-4.10494392e-01 9.11218559e-01 -3.42796187e-02 -2.09144090e+01] [-7.89691977e-02 1.92718716e-03 9.96875194e-01 -9.47989297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.291193817 meters 0.06801996294849537 Centerline is valid? [True, True] Translation: X:78.72, Y:-20.93, Z:-9.48 [[ 9.09965719e-01 4.08442779e-01 7.16720772e-02 7.87241331e+01] [-4.06987241e-01 9.12781162e-01 -3.45244212e-02 -2.09310859e+01] [-7.95221724e-02 2.24641879e-03 9.96830566e-01 -9.48254863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32119381700001 meters 0.06789893984805594 Centerline is valid? [True, True] Translation: X:78.75, Y:-20.95, Z:-9.48 [[ 9.11247746e-01 4.05402218e-01 7.26401187e-02 7.87528509e+01] [-4.03898637e-01 9.14134909e-01 -3.49751180e-02 -2.09452910e+01] [-8.05818587e-02 2.53175248e-03 9.96744779e-01 -9.48203831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35119381700001 meters 0.0691464293325349 Centerline is valid? [True, True] Translation: X:78.78, Y:-20.96, Z:-9.48 [[ 9.12489140e-01 4.02390247e-01 7.37947090e-02 7.87793736e+01] [-4.00826075e-01 9.15463735e-01 -3.55613319e-02 -2.09614567e+01] [-8.18659130e-02 2.87048555e-03 9.96639219e-01 -9.48440248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.381193817 meters 0.0710105020305211 Centerline is valid? [True, True] Translation: X:78.81, Y:-20.98, Z:-9.49 [[ 9.15441945e-01 3.95751869e-01 7.31197969e-02 7.88052171e+01] [-3.94193506e-01 9.18350995e-01 -3.52551956e-02 -2.09788521e+01] [-8.11019478e-02 3.45073571e-03 9.96699838e-01 -9.48711985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.411193817 meters 0.0767237220565613 Centerline is valid? [True, True] Translation: X:78.83, Y:-21.00, Z:-9.50 [[ 9.16725288e-01 3.93107838e-01 7.12809485e-02 7.88261450e+01] [-3.91619205e-01 9.19485368e-01 -3.43665030e-02 -2.10014085e+01] [-7.90515309e-02 3.58965401e-03 9.96864068e-01 -9.49756159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.441193817 meters 0.07454905732008955 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.01, Z:-9.50 [[ 9.18035023e-01 3.90105694e-01 7.09171642e-02 7.88564419e+01] [-3.88622385e-01 9.20762079e-01 -3.42028587e-02 -2.10101076e+01] [-7.86405655e-02 3.83942470e-03 9.96895642e-01 -9.49665424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.471193817 meters 0.07556225383910466 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.02, Z:-9.50 [[ 9.18728291e-01 3.88665749e-01 6.98374088e-02 7.88852503e+01] [-3.87223263e-01 9.21370564e-01 -3.36812834e-02 -2.10239353e+01] [-7.74368940e-02 3.90127858e-03 9.96989623e-01 -9.50180680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.501193817 meters 0.07662318527923712 Centerline is valid? [True, True] Translation: X:78.91, Y:-21.03, Z:-9.51 [[ 9.19634394e-01 3.86717987e-01 6.87152070e-02 7.89149264e+01] [-3.85315401e-01 9.22189313e-01 -3.31498649e-02 -2.10324034e+01] [-7.61880785e-02 4.00872837e-03 9.97085406e-01 -9.50756402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.531193817 meters 0.07661536792743642 Centerline is valid? [True, True] Translation: X:78.95, Y:-21.04, Z:-9.51 [[ 9.19264632e-01 3.87622447e-01 6.85665746e-02 7.89450316e+01] [-3.86229180e-01 9.21809905e-01 -3.30683911e-02 -2.10428356e+01] [-7.60233983e-02 3.91619052e-03 9.97098343e-01 -9.51185072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.561193817 meters 0.07667565092588124 Centerline is valid? [True, True] Translation: X:78.97, Y:-21.05, Z:-9.52 [[ 9.18759101e-01 3.88810537e-01 6.86154532e-02 7.89743926e+01] [-3.87416589e-01 9.21309712e-01 -3.31179994e-02 -2.10527856e+01] [-7.60927105e-02 3.84469858e-03 9.97093334e-01 -9.51615019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.591193817 meters 0.07588779353781351 Centerline is valid? [True, True] Translation: X:79.01, Y:-21.06, Z:-9.52 [[ 9.18221915e-01 3.90018496e-01 6.89498910e-02 7.90054159e+01] [-3.88612571e-01 9.20799249e-01 -3.33018466e-02 -2.10617323e+01] [-7.64773439e-02 3.78369095e-03 9.97064140e-01 -9.51912701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.621193817 meters 0.07324543201237978 Centerline is valid? [True, True] Translation: X:79.04, Y:-21.06, Z:-9.52 [[ 9.15572777e-01 3.96272433e-01 6.85175022e-02 7.90382814e+01] [-3.94898599e-01 9.18127128e-01 -3.31311486e-02 -2.10608071e+01] [-7.60367383e-02 3.27651207e-03 9.97099633e-01 -9.52327005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.651193817 meters 0.07225894752913971 Centerline is valid? [True, True] Translation: X:79.07, Y:-21.07, Z:-9.53 [[ 9.14198231e-01 3.99673843e-01 6.71000264e-02 7.90665366e+01] [-3.98365385e-01 9.16652725e-01 -3.24469018e-02 -2.10651166e+01] [-7.44756000e-02 2.93257239e-03 9.97218524e-01 -9.52883966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68119381700001 meters 0.0709778515726938 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.07, Z:-9.54 [[ 9.12659199e-01 4.03470661e-01 6.53039957e-02 7.90960328e+01] [-4.02241772e-01 9.14989046e-01 -3.15690085e-02 -2.10701654e+01] [-7.24896094e-02 2.54375106e-03 9.97365924e-01 -9.53500839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71119381700001 meters 0.06984866886203199 Centerline is valid? [True, True] Translation: X:79.12, Y:-21.08, Z:-9.54 [[ 9.11300357e-01 4.06652717e-01 6.45385791e-02 7.91246870e+01] [-4.05460724e-01 9.13580023e-01 -3.11952258e-02 -2.10765999e+01] [-7.16467799e-02 2.26036139e-03 9.97427506e-01 -9.53994777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74119381700001 meters 0.06895492466349117 Centerline is valid? [True, True] Translation: X:79.15, Y:-21.08, Z:-9.55 [[ 9.09862521e-01 4.09910676e-01 6.42139376e-02 7.91530873e+01] [-4.08739133e-01 9.12123501e-01 -3.10328821e-02 -2.10815668e+01] [-7.12917513e-02 1.98890717e-03 9.97453523e-01 -9.54514099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.771193817 meters 0.06869490935613648 Centerline is valid? [True, True] Translation: X:79.18, Y:-21.09, Z:-9.55 [[ 9.09470653e-01 4.10630140e-01 6.51614892e-02 7.91787781e+01] [-4.09426162e-01 9.11799908e-01 -3.14824771e-02 -2.10912855e+01] [-7.23418938e-02 1.95357055e-03 9.97377979e-01 -9.54760011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.801193817 meters 0.06830558498859193 Centerline is valid? [True, True] Translation: X:79.21, Y:-21.10, Z:-9.55 [[ 9.09228234e-01 4.10980168e-01 6.63273666e-02 7.92055732e+01] [-4.09734261e-01 9.11642195e-01 -3.20365945e-02 -2.11015561e+01] [-7.36332310e-02 1.95198166e-03 9.97283479e-01 -9.54876314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.831193817 meters 0.06677854647905425 Centerline is valid? [True, True] Translation: X:79.24, Y:-21.11, Z:-9.55 [[ 9.07782689e-01 4.13743662e-01 6.88968231e-02 7.92368808e+01] [-4.12407766e-01 9.10391666e-01 -3.32693304e-02 -2.11057085e+01] [-7.64880682e-02 1.78773733e-03 9.97068894e-01 -9.54892842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.861193817 meters 0.0661056117756402 Centerline is valid? [True, True] Translation: X:79.26, Y:-21.11, Z:-9.55 [[ 9.06600716e-01 4.16146314e-01 6.99813366e-02 7.92640226e+01] [-4.14775268e-01 9.09296244e-01 -3.37907915e-02 -2.11132934e+01] [-7.76956799e-02 1.60822805e-03 9.96975825e-01 -9.55257621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.891193817 meters 0.06450160813036593 Centerline is valid? [True, True] Translation: X:79.29, Y:-21.12, Z:-9.55 [[ 9.05402814e-01 4.18619646e-01 7.07342671e-02 7.92930467e+01] [-4.17226573e-01 9.08160562e-01 -3.41523145e-02 -2.11215001e+01] [-7.85349015e-02 1.40938582e-03 9.96910369e-01 -9.55151395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.921193817 meters 0.06360389498810755 Centerline is valid? [True, True] Translation: X:79.32, Y:-21.13, Z:-9.55 [[ 9.04625826e-01 4.20100700e-01 7.18854351e-02 7.93205939e+01] [-4.18668370e-01 9.07476590e-01 -3.46847786e-02 -2.11323981e+01] [-7.98054493e-02 1.28058852e-03 9.96809636e-01 -9.55169537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.951193817 meters 0.06297994776393086 Centerline is valid? [True, True] Translation: X:79.35, Y:-21.14, Z:-9.55 [[ 9.03714307e-01 4.22120650e-01 7.15164849e-02 7.93481397e+01] [-4.20711104e-01 9.06539022e-01 -3.44843144e-02 -2.11415974e+01] [-7.93890254e-02 1.07618898e-03 9.96843129e-01 -9.55474273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.981193817 meters 0.06433656236078922 Centerline is valid? [True, True] Translation: X:79.37, Y:-21.16, Z:-9.57 [[ 9.03871021e-01 4.21863312e-01 7.10529685e-02 7.93709649e+01] [-4.20473869e-01 9.06658822e-01 -3.42272647e-02 -2.11551584e+01] [-7.88600280e-02 1.06111610e-03 9.96885134e-01 -9.56633524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.011193817 meters 0.0635705826692793 Centerline is valid? [True, True] Translation: X:79.40, Y:-21.17, Z:-9.56 [[ 9.04403239e-01 4.20822839e-01 7.04479871e-02 7.93973179e+01] [-4.19453966e-01 9.07142126e-01 -3.39342408e-02 -2.11668917e+01] [-7.81866404e-02 1.14054968e-03 9.96938087e-01 -9.56447663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.041193817 meters 0.06371903987356418 Centerline is valid? [True, True] Translation: X:79.42, Y:-21.18, Z:-9.57 [[ 9.05106631e-01 4.19238147e-01 7.08615744e-02 7.94207656e+01] [-4.17850178e-01 9.07875422e-01 -3.41093461e-02 -2.11814063e+01] [-7.86334208e-02 1.26307380e-03 9.96902799e-01 -9.56692494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07119381700001 meters 0.06450858688632795 Centerline is valid? [True, True] Translation: X:79.44, Y:-21.20, Z:-9.57 [[ 9.06648773e-01 4.15680316e-01 7.20963040e-02 7.94431958e+01] [-4.14235459e-01 9.09509446e-01 -3.46634040e-02 -2.11999681e+01] [-7.99811642e-02 1.56268708e-03 9.96795150e-01 -9.57043884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10119381700001 meters 0.06544310073059961 Centerline is valid? [True, True] Translation: X:79.47, Y:-21.22, Z:-9.57 [[ 9.07861519e-01 4.13064495e-01 7.18692206e-02 7.94673380e+01] [-4.11621142e-01 9.10700034e-01 -3.45468377e-02 -2.12162938e+01] [-7.97213737e-02 1.78085396e-03 9.96815595e-01 -9.57455172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.131193817 meters 0.06589232844498699 Centerline is valid? [True, True] Translation: X:79.49, Y:-21.23, Z:-9.58 [[ 9.08838394e-01 4.11031431e-01 7.11753903e-02 7.94911896e+01] [-4.09610132e-01 9.11619121e-01 -3.42069986e-02 -2.12318157e+01] [-7.89449983e-02 1.93447263e-03 9.96877096e-01 -9.57748854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.161193817 meters 0.06783278110827826 Centerline is valid? [True, True] Translation: X:79.51, Y:-21.25, Z:-9.58 [[ 9.10676001e-01 4.07187082e-01 6.97703433e-02 7.95131928e+01] [-4.05810900e-01 9.13342092e-01 -3.35221827e-02 -2.12492281e+01] [-7.73739911e-02 2.21428155e-03 9.96999680e-01 -9.58428188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.191193817 meters 0.06782793282789337 Centerline is valid? [True, True] Translation: X:79.54, Y:-21.26, Z:-9.59 [[ 9.11884696e-01 4.04557424e-01 6.92790882e-02 7.95397489e+01] [-4.03193593e-01 9.14509413e-01 -3.32785131e-02 -2.12611009e+01] [-7.68194478e-02 2.41328226e-03 9.97042100e-01 -9.58633132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.221193817 meters 0.07035660659831466 Centerline is valid? [True, True] Translation: X:79.56, Y:-21.28, Z:-9.59 [[ 9.13041829e-01 4.02064818e-01 6.85456039e-02 7.95633693e+01] [-4.00723150e-01 9.15607543e-01 -3.29208891e-02 -2.12773958e+01] [-7.59972032e-02 2.59033852e-03 9.97104666e-01 -9.59374179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.251193817 meters 0.07212508130221232 Centerline is valid? [True, True] Translation: X:79.59, Y:-21.29, Z:-9.60 [[ 9.14360553e-01 3.99487874e-01 6.59864982e-02 7.95889037e+01] [-3.98238465e-01 9.16734523e-01 -3.16850160e-02 -2.12929098e+01] [-7.31498806e-02 2.69316699e-03 9.97317323e-01 -9.60043087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.281193817 meters 0.07499227603243074 Centerline is valid? [True, True] Translation: X:79.61, Y:-21.31, Z:-9.61 [[ 9.16512369e-01 3.95001476e-01 6.30786056e-02 7.96130276e+01] [-3.93849459e-01 9.18675862e-01 -3.02863520e-02 -2.13117797e+01] [-6.99119461e-02 2.91434149e-03 9.97548909e-01 -9.60813862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.311193817 meters 0.07626451322467913 Centerline is valid? [True, True] Translation: X:79.64, Y:-21.33, Z:-9.61 [[ 9.17285828e-01 3.93446607e-01 6.15343618e-02 7.96379686e+01] [-3.92346692e-01 9.19342700e-01 -2.95478100e-02 -2.13261150e+01] [-6.81966519e-02 2.96098404e-03 9.97667504e-01 -9.61285150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.341193817 meters 0.07706840137539851 Centerline is valid? [True, True] Translation: X:79.66, Y:-21.34, Z:-9.62 [[ 9.17743792e-01 3.92358352e-01 6.16543348e-02 7.96633589e+01] [-3.91251930e-01 9.19807401e-01 -2.96019118e-02 -2.13388860e+01] [-6.83246707e-02 3.04459330e-03 9.97658494e-01 -9.61705201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.371193817 meters 0.07719241132049844 Centerline is valid? [True, True] Translation: X:79.69, Y:-21.35, Z:-9.62 [[ 9.17708897e-01 3.92296932e-01 6.25579532e-02 7.96900299e+01] [-3.91158081e-01 9.19833452e-01 -3.00295970e-02 -2.13499056e+01] [-6.93234168e-02 3.08837944e-03 9.97589458e-01 -9.61991546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.401193817 meters 0.0727817877264467 Centerline is valid? [True, True] Translation: X:79.72, Y:-21.35, Z:-9.61 [[ 9.16830143e-01 3.93950604e-01 6.50031630e-02 7.97236315e+01] [-3.92725545e-01 9.19126477e-01 -3.11955984e-02 -2.13508617e+01] [-7.20356531e-02 3.07266226e-03 9.97397325e-01 -9.61496242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43119381700001 meters 0.07164136236623966 Centerline is valid? [True, True] Translation: X:79.75, Y:-21.36, Z:-9.62 [[ 9.16168426e-01 3.95484248e-01 6.50201868e-02 7.97524091e+01] [-3.94262655e-01 9.18468023e-01 -3.12001408e-02 -2.13583461e+01] [-7.20581267e-02 2.94955241e-03 9.97396073e-01 -9.61718398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46119381700001 meters 0.07098385232937188 Centerline is valid? [True, True] Translation: X:79.78, Y:-21.37, Z:-9.62 [[ 9.15293571e-01 3.97660166e-01 6.40630186e-02 7.97791613e+01] [-3.96479681e-01 9.17528693e-01 -3.07401922e-02 -2.13660409e+01] [-7.10038077e-02 2.73661511e-03 9.97472290e-01 -9.62083642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49119381700001 meters 0.07031610890513718 Centerline is valid? [True, True] Translation: X:79.81, Y:-21.38, Z:-9.62 [[ 9.14238174e-01 4.00023502e-01 6.44186180e-02 7.98069131e+01] [-3.98836175e-01 9.16501303e-01 -3.09041736e-02 -2.13753086e+01] [-7.14021431e-02 2.56130008e-03 9.97444321e-01 -9.62471939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.521193817 meters 0.06945379384082266 Centerline is valid? [True, True] Translation: X:79.83, Y:-21.38, Z:-9.63 [[ 9.12883596e-01 4.02955089e-01 6.53508693e-02 7.98339127e+01] [-4.01742911e-01 9.15216770e-01 -3.13192619e-02 -2.13841557e+01] [-7.24304676e-02 2.33659196e-03 9.97370727e-01 -9.62848572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.551193817 meters 0.06725996853973328 Centerline is valid? [True, True] Translation: X:79.87, Y:-21.39, Z:-9.63 [[ 9.10705862e-01 4.07704864e-01 6.62689770e-02 7.98651715e+01] [-4.06471165e-01 9.13111610e-01 -3.17550113e-02 -2.13871179e+01] [-7.34576449e-02 1.98304670e-03 9.97296366e-01 -9.63084856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.581193817 meters 0.06694256190149395 Centerline is valid? [True, True] Translation: X:79.89, Y:-21.40, Z:-9.63 [[ 9.10376632e-01 4.08383347e-01 6.66140408e-02 7.98926942e+01] [-4.07137998e-01 9.12808445e-01 -3.19279388e-02 -2.13957368e+01] [-7.38446975e-02 1.94534220e-03 9.97267856e-01 -9.63401057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.611193817 meters 0.0660423621067358 Centerline is valid? [True, True] Translation: X:79.92, Y:-21.40, Z:-9.63 [[ 9.10395120e-01 4.08048789e-01 6.83879553e-02 7.99209577e+01] [-4.06737057e-01 9.12957926e-01 -3.27534939e-02 -2.14045802e+01] [-7.58003494e-02 2.00270531e-03 9.97121004e-01 -9.63371646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.641193817 meters 0.06620499035025404 Centerline is valid? [True, True] Translation: X:79.95, Y:-21.42, Z:-9.63 [[ 9.10945594e-01 4.06340082e-01 7.11748722e-02 7.99471797e+01] [-4.04916132e-01 9.13719250e-01 -3.40596196e-02 -2.14178524e+01] [-7.88736394e-02 2.20660646e-03 9.96882180e-01 -9.63428084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.671193817 meters 0.06803994132391594 Centerline is valid? [True, True] Translation: X:79.97, Y:-21.44, Z:-9.63 [[ 9.13049244e-01 4.00407927e-01 7.75536559e-02 7.99699215e+01] [-3.98698357e-01 9.16332303e-01 -3.70773562e-02 -2.14357282e+01] [-8.59109875e-02 2.93293689e-03 9.96298500e-01 -9.63140308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.701193817 meters 0.06865880215520202 Centerline is valid? [True, True] Translation: X:80.00, Y:-21.45, Z:-9.63 [[ 9.14292533e-01 3.97094314e-01 7.99078879e-02 7.99962074e+01] [-3.95267517e-01 9.17771756e-01 -3.81915501e-02 -2.14481129e+01] [-8.85028499e-02 3.33325662e-03 9.96070346e-01 -9.63171649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.731193817 meters 0.06903578302957465 Centerline is valid? [True, True] Translation: X:80.02, Y:-21.46, Z:-9.63 [[ 9.15023581e-01 3.95157077e-01 8.11340361e-02 8.00229902e+01] [-3.93266817e-01 9.18606640e-01 -3.87692240e-02 -2.14587933e+01] [-8.98501974e-02 3.56743003e-03 9.95948902e-01 -9.63268736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.761193817 meters 0.06883747217813191 Centerline is valid? [True, True] Translation: X:80.05, Y:-21.47, Z:-9.63 [[ 9.14858612e-01 3.95220258e-01 8.26720550e-02 8.00523360e+01] [-3.93258535e-01 9.18579248e-01 -3.94954406e-02 -2.14652899e+01] [-9.15502323e-02 3.62125270e-03 9.95793875e-01 -9.63397756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.791193817 meters 0.06847169913037841 Centerline is valid? [True, True] Translation: X:80.08, Y:-21.47, Z:-9.64 [[ 9.14068312e-01 3.96893133e-01 8.33964084e-02 8.00795011e+01] [-3.94904395e-01 9.17858239e-01 -3.98343112e-02 -2.14731391e+01] [-9.23560451e-02 3.47767340e-03 9.95719974e-01 -9.63712110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82119381700001 meters 0.0677362104952284 Centerline is valid? [True, True] Translation: X:80.11, Y:-21.48, Z:-9.64 [[ 9.13305169e-01 3.98775838e-01 8.27737861e-02 8.01079682e+01] [-3.96825429e-01 9.17042666e-01 -3.95263054e-02 -2.14798513e+01] [-9.16692290e-02 3.25283587e-03 9.95784199e-01 -9.64185620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85119381700001 meters 0.06706922146801521 Centerline is valid? [True, True] Translation: X:80.14, Y:-21.49, Z:-9.65 [[ 9.12532535e-01 4.00814954e-01 8.14355254e-02 8.01366830e+01] [-3.98937855e-01 9.16154209e-01 -3.88593885e-02 -2.14854062e+01] [-9.01829234e-02 2.97274243e-03 9.95920782e-01 -9.64707897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.881193817 meters 0.06528683379468808 Centerline is valid? [True, True] Translation: X:80.17, Y:-21.48, Z:-9.65 [[ 9.11174514e-01 4.04563033e-01 7.80368926e-02 8.01685492e+01] [-4.02855520e-01 9.14506781e-01 -3.72125943e-02 -2.14838875e+01] [-8.64201075e-02 2.46957468e-03 9.96255723e-01 -9.65328059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.911193817 meters 0.0660708835129248 Centerline is valid? [True, True] Translation: X:80.19, Y:-21.49, Z:-9.66 [[ 9.10724552e-01 4.05956781e-01 7.60255356e-02 8.01934424e+01] [-4.04343783e-01 9.13889510e-01 -3.62224803e-02 -2.14937078e+01] [-8.41837010e-02 2.24824950e-03 9.96447716e-01 -9.66268264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.941193817 meters 0.0660708835129248 Centerline is valid? [True, True] Translation: X:80.22, Y:-21.51, Z:-9.67 [[ 9.10851587e-01 4.05671003e-01 7.60290960e-02 8.02182286e+01] [-4.04057635e-01 9.14016357e-01 -3.62150068e-02 -2.15052228e+01] [-8.41832155e-02 2.26635967e-03 9.96447716e-01 -9.66582379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.971193817 meters 0.06482845272563985 Centerline is valid? [True, True] Translation: X:80.25, Y:-21.51, Z:-9.67 [[ 9.10424475e-01 4.06920044e-01 7.44536966e-02 8.02469496e+01] [-4.05379498e-01 9.13461412e-01 -3.54360044e-02 -2.15115354e+01] [-8.24301993e-02 2.07980352e-03 9.96594670e-01 -9.66856890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.001193817 meters 0.06555807592480693 Centerline is valid? [True, True] Translation: X:80.27, Y:-21.52, Z:-9.68 [[ 9.10270424e-01 4.07456403e-01 7.33964158e-02 8.02719423e+01] [-4.05963809e-01 9.13222531e-01 -3.48997848e-02 -2.15225631e+01] [-8.12474014e-02 1.97195343e-03 9.96692014e-01 -9.67617520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.031193817 meters 0.06521612968028678 Centerline is valid? [True, True] Translation: X:80.30, Y:-21.53, Z:-9.68 [[ 9.09851471e-01 4.08333076e-01 7.37183741e-02 8.02990995e+01] [-4.06830468e-01 9.12831032e-01 -3.50496524e-02 -2.15317690e+01] [-8.16043519e-02 1.89909721e-03 9.96662994e-01 -9.67911178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.061193817 meters 0.06391307797063342 Centerline is valid? [True, True] Translation: X:80.33, Y:-21.54, Z:-9.68 [[ 9.08257478e-01 4.11649982e-01 7.49175948e-02 8.03296255e+01] [-4.10111475e-01 9.11340619e-01 -3.55929074e-02 -2.15363305e+01] [-8.29272669e-02 1.60295900e-03 9.96554313e-01 -9.67974837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.091193817 meters 0.06320770784450337 Centerline is valid? [True, True] Translation: X:80.36, Y:-21.54, Z:-9.68 [[ 9.07203535e-01 4.14176109e-01 7.37556566e-02 8.03574109e+01] [-4.12695066e-01 9.10195791e-01 -3.50200612e-02 -2.15429754e+01] [-8.16365608e-02 1.33172775e-03 9.96661276e-01 -9.68293480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.121193817 meters 0.0627359732501895 Centerline is valid? [True, True] Translation: X:80.38, Y:-21.55, Z:-9.69 [[ 9.05798227e-01 4.17294354e-01 7.34506269e-02 8.03845433e+01] [-4.15838697e-01 9.08770815e-01 -3.48394062e-02 -2.15507332e+01] [-8.12880736e-02 1.01385935e-03 9.96690133e-01 -9.68710293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.151193817 meters 0.06264332050916732 Centerline is valid? [True, True] Translation: X:80.41, Y:-21.56, Z:-9.69 [[ 9.05159274e-01 4.18761804e-01 7.29742398e-02 8.04098902e+01] [-4.17330865e-01 9.08095702e-01 -3.45997726e-02 -2.15601279e+01] [-8.07566568e-02 8.63902383e-04 9.96733473e-01 -9.69172032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18119381700001 meters 0.06288361535976038 Centerline is valid? [True, True] Translation: X:80.43, Y:-21.57, Z:-9.70 [[ 9.05961438e-01 4.17061992e-01 7.27541588e-02 8.04344470e+01] [-4.15634805e-01 9.08877485e-01 -3.44880585e-02 -2.15747918e+01] [-8.05082753e-02 1.00569047e-03 9.96753433e-01 -9.69550484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21119381700001 meters 0.0631184779556865 Centerline is valid? [True, True] Translation: X:80.46, Y:-21.59, Z:-9.70 [[ 9.07507334e-01 4.13636918e-01 7.30406709e-02 8.04592327e+01] [-4.12189354e-01 9.10441008e-01 -3.45992272e-02 -2.15907248e+01] [-8.08107397e-02 1.29246549e-03 9.96728626e-01 -9.69670580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24119381700001 meters 0.06452795992576625 Centerline is valid? [True, True] Translation: X:80.48, Y:-21.61, Z:-9.70 [[ 9.09354707e-01 4.09367841e-01 7.41079434e-02 8.04808542e+01] [-4.07866197e-01 9.12367906e-01 -3.50709239e-02 -2.16088754e+01] [-8.19706175e-02 1.66578473e-03 9.96633354e-01 -9.70161291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.271193817 meters 0.06592020295052316 Centerline is valid? [True, True] Translation: X:80.50, Y:-21.63, Z:-9.70 [[ 9.12997795e-01 4.00827061e-01 7.59782410e-02 8.05048118e+01] [-3.99219845e-01 9.16150364e-01 -3.59447610e-02 -2.16273371e+01] [-8.40151261e-02 2.48546596e-03 9.96461380e-01 -9.69973907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.301193817 meters 0.06788294909134196 Centerline is valid? [True, True] Translation: X:80.53, Y:-21.64, Z:-9.70 [[ 9.14649812e-01 3.97120154e-01 7.55731791e-02 8.05277725e+01] [-3.95517907e-01 9.17762339e-01 -3.57473625e-02 -2.16444049e+01] [-8.35542157e-02 2.80577281e-03 9.96499283e-01 -9.70495112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.331193817 meters 0.06859340655262426 Centerline is valid? [True, True] Translation: X:80.55, Y:-21.66, Z:-9.71 [[ 9.16043590e-01 3.94075460e-01 7.46235338e-02 8.05537429e+01] [-3.92503737e-01 9.19073064e-01 -3.52919203e-02 -2.16593200e+01] [-8.24921596e-02 3.03892143e-03 9.96587080e-01 -9.70731500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.361193817 meters 0.06884117490164088 Centerline is valid? [True, True] Translation: X:80.58, Y:-21.67, Z:-9.71 [[ 9.16922661e-01 3.92056232e-01 7.44630406e-02 8.05788639e+01] [-3.90484757e-01 9.19935646e-01 -3.52145246e-02 -2.16720221e+01] [-8.23072792e-02 3.21231332e-03 9.96601823e-01 -9.70971290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.391193817 meters 0.07080175374855233 Centerline is valid? [True, True] Translation: X:80.60, Y:-21.68, Z:-9.72 [[ 9.17352130e-01 3.91086767e-01 7.42711954e-02 8.06036167e+01] [-3.89521018e-01 9.20347961e-01 -3.51141981e-02 -2.16837516e+01] [-8.20880415e-02 3.28189273e-03 9.96619678e-01 -9.71525981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.421193817 meters 0.06854495474291 Centerline is valid? [True, True] Translation: X:80.63, Y:-21.69, Z:-9.72 [[ 9.16826975e-01 3.92560569e-01 7.29691558e-02 8.06332102e+01] [-3.91054160e-01 9.19720956e-01 -3.44964902e-02 -2.16880802e+01] [-8.06532236e-02 3.09242086e-03 9.96737425e-01 -9.71605168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.451193817 meters 0.06833306406059571 Centerline is valid? [True, True] Translation: X:80.66, Y:-21.70, Z:-9.72 [[ 9.15710899e-01 3.95370934e-01 7.18009392e-02 8.06599589e+01] [-3.93923069e-01 9.18517348e-01 -3.39189745e-02 -2.16966906e+01] [-7.93609849e-02 2.77592834e-03 9.96842078e-01 -9.72215798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.481193817 meters 0.06719295508156627 Centerline is valid? [True, True] Translation: X:80.69, Y:-21.70, Z:-9.73 [[ 9.14616223e-01 3.98127390e-01 7.05106097e-02 8.06877383e+01] [-3.96741246e-01 9.17326816e-01 -3.32850835e-02 -2.17040579e+01] [-7.79329765e-02 2.46861022e-03 9.96955544e-01 -9.72599578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.511193817 meters 0.06509957887809861 Centerline is valid? [True, True] Translation: X:80.72, Y:-21.71, Z:-9.73 [[ 9.11620943e-01 4.05040090e-01 6.99269775e-02 8.07178245e+01] [-4.03699742e-01 9.14297092e-01 -3.29749238e-02 -2.17075102e+01] [-7.72901983e-02 1.83112832e-03 9.97006957e-01 -9.72919548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.541193817 meters 0.0645781257039181 Centerline is valid? [True, True] Translation: X:80.75, Y:-21.72, Z:-9.73 [[ 9.10164188e-01 4.08191211e-01 7.05768060e-02 8.07450166e+01] [-4.06835325e-01 9.12895091e-01 -3.32801888e-02 -2.17152038e+01] [-7.80139003e-02 1.57729820e-03 9.96951024e-01 -9.73292755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57119381700001 meters 0.06337296780172269 Centerline is valid? [True, True] Translation: X:80.77, Y:-21.72, Z:-9.73 [[ 9.08735222e-01 4.11344553e-01 7.06820756e-02 8.07739297e+01] [-4.09994236e-01 9.11478990e-01 -3.33283206e-02 -2.17218410e+01] [-7.81346501e-02 1.30737528e-03 9.96941958e-01 -9.73449598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60119381700001 meters 0.06198357404449287 Centerline is valid? [True, True] Translation: X:80.80, Y:-21.73, Z:-9.74 [[ 9.05258110e-01 4.18521986e-01 7.31238840e-02 8.08039388e+01] [-4.17102792e-01 9.08206411e-01 -3.44438140e-02 -2.17255803e+01] [-8.08270737e-02 6.80365753e-04 9.96727907e-01 -9.73591053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63119381700001 meters 0.0613888918178993 Centerline is valid? [True, True] Translation: X:80.83, Y:-21.73, Z:-9.74 [[ 9.03791185e-01 4.21507494e-01 7.41142839e-02 8.08316048e+01] [-4.20059104e-01 9.06824819e-01 -3.49155690e-02 -2.17345103e+01] [-8.19258461e-02 4.24003774e-04 9.96638338e-01 -9.73669358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.661193817 meters 0.061070832050277246 Centerline is valid? [True, True] Translation: X:80.86, Y:-21.75, Z:-9.74 [[ 9.02625802e-01 4.23833154e-01 7.50474496e-02 8.08586609e+01] [-4.22358206e-01 9.05740261e-01 -3.53288213e-02 -2.17452897e+01] [-8.29470224e-02 1.91799460e-04 9.96553940e-01 -9.73914485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.691193817 meters 0.06088789221378401 Centerline is valid? [True, True] Translation: X:80.89, Y:-21.76, Z:-9.74 [[ 9.01333057e-01 4.26463062e-01 7.56833959e-02 8.08854312e+01] [-4.24974464e-01 9.04504976e-01 -3.56013111e-02 -2.17561799e+01] [-8.36386523e-02 -7.48721027e-05 9.96496147e-01 -9.74137849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.721193817 meters 0.061120725464867715 Centerline is valid? [True, True] Translation: X:80.91, Y:-21.77, Z:-9.75 [[ 8.98720867e-01 4.32030125e-01 7.51716314e-02 8.09116565e+01] [-4.30583820e-01 9.01858962e-01 -3.53268400e-02 -2.17659357e+01] [-8.30564686e-02 -6.18719945e-04 9.96544650e-01 -9.74636772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.751193817 meters 0.061346653208378676 Centerline is valid? [True, True] Translation: X:80.94, Y:-21.78, Z:-9.75 [[ 8.97616251e-01 4.34296871e-01 7.53079951e-02 8.09384089e+01] [-4.32853538e-01 9.00769412e-01 -3.53875700e-02 -2.17772839e+01] [-8.32038495e-02 -8.32874217e-04 9.96532200e-01 -9.74987597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.781193817 meters 0.06202515786903635 Centerline is valid? [True, True] Translation: X:80.96, Y:-21.79, Z:-9.76 [[ 8.96949620e-01 4.35931862e-01 7.37888281e-02 8.09629865e+01] [-4.34554530e-01 8.99979123e-01 -3.46401209e-02 -2.17884986e+01] [-8.15091372e-02 -9.94826303e-04 9.96672098e-01 -9.75679206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.811193817 meters 0.06207265806315009 Centerline is valid? [True, True] Translation: X:80.99, Y:-21.80, Z:-9.76 [[ 8.96716585e-01 4.36539683e-01 7.30237655e-02 8.09882802e+01] [-4.35193002e-01 8.99684401e-01 -3.42787126e-02 -2.18028252e+01] [-8.06623610e-02 -1.04114161e-03 9.96740939e-01 -9.76034806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.841193817 meters 0.0628456657667455 Centerline is valid? [True, True] Translation: X:81.01, Y:-21.82, Z:-9.77 [[ 8.97992507e-01 4.34271065e-01 7.08385485e-02 8.10089002e+01] [-4.32999221e-01 9.00781848e-01 -3.32225406e-02 -2.18213036e+01] [-7.82376667e-02 -8.39443794e-04 9.96934382e-01 -9.77218671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.871193817 meters 0.06175576848184347 Centerline is valid? [True, True] Translation: X:81.03, Y:-21.84, Z:-9.77 [[ 8.99496094e-01 4.31206982e-01 7.04791776e-02 8.10310105e+01] [-4.29939237e-01 9.02252850e-01 -3.30461285e-02 -2.18427969e+01] [-7.78397602e-02 -5.76900324e-04 9.96965716e-01 -9.77058087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.901193817 meters 0.0613171005428094 Centerline is valid? [True, True] Translation: X:81.05, Y:-21.87, Z:-9.77 [[ 9.01965482e-01 4.25839683e-01 7.15460338e-02 8.10524781e+01] [-4.24518428e-01 9.04798621e-01 -3.35195330e-02 -2.18651298e+01] [-7.90087001e-02 -1.39148054e-04 9.96873917e-01 -9.77326881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93119381700001 meters 0.06152506785420533 Centerline is valid? [True, True] Translation: X:81.07, Y:-21.90, Z:-9.77 [[ 9.07215987e-01 4.13874548e-01 7.52795504e-02 8.10677915e+01] [-4.12373172e-01 9.10333461e-01 -3.52328831e-02 -2.18993621e+01] [-8.31114873e-02 9.20567823e-04 9.96539830e-01 -9.77237053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96119381700001 meters 0.06241974753907814 Centerline is valid? [True, True] Translation: X:81.09, Y:-21.92, Z:-9.77 [[ 9.10131251e-01 4.06899618e-01 7.80628368e-02 8.10898768e+01] [-4.05259667e-01 9.13471457e-01 -3.65308116e-02 -2.19217030e+01] [-8.61725465e-02 1.61211401e-03 9.96278923e-01 -9.77204668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99119381700001 meters 0.06416924891585055 Centerline is valid? [True, True] Translation: X:81.11, Y:-21.94, Z:-9.77 [[ 9.12831829e-01 4.00408637e-01 8.00685639e-02 8.11107899e+01] [-3.98661100e-01 9.16333917e-01 -3.74363382e-02 -2.19430346e+01] [-8.83593740e-02 2.25285924e-03 9.96086114e-01 -9.77348142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.021193817 meters 0.06452270174453786 Centerline is valid? [True, True] Translation: X:81.14, Y:-21.96, Z:-9.77 [[ 9.14676892e-01 3.95930521e-01 8.12724141e-02 8.11361270e+01] [-3.94113920e-01 9.18276473e-01 -3.79807431e-02 -2.19598471e+01] [-8.96682812e-02 2.70951842e-03 9.95968000e-01 -9.77340994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.051193817 meters 0.06579154970456447 Centerline is valid? [True, True] Translation: X:81.16, Y:-21.98, Z:-9.78 [[ 9.16009363e-01 3.92941274e-01 8.07712925e-02 8.11592908e+01] [-3.91135727e-01 9.19558736e-01 -3.77435170e-02 -2.19779875e+01] [-8.91049333e-02 2.98087670e-03 9.96017784e-01 -9.77687705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.081193817 meters 0.06731120222702185 Centerline is valid? [True, True] Translation: X:81.18, Y:-22.00, Z:-9.78 [[ 9.16731569e-01 3.91452670e-01 7.97999804e-02 8.11799447e+01] [-3.89685436e-01 9.20193087e-01 -3.72819549e-02 -2.19985737e+01] [-8.80255111e-02 3.08065486e-03 9.96113457e-01 -9.78395220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.111193817 meters 0.06659198636056551 Centerline is valid? [True, True] Translation: X:81.21, Y:-22.01, Z:-9.79 [[ 9.16690816e-01 3.91794483e-01 7.85813661e-02 8.12058917e+01] [-3.90083080e-01 9.20047898e-01 -3.67022621e-02 -2.20105297e+01] [-8.66783646e-02 2.99136529e-03 9.96231857e-01 -9.78755083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.141193817 meters 0.06612403759663447 Centerline is valid? [True, True] Translation: X:81.23, Y:-22.02, Z:-9.79 [[ 9.16235796e-01 3.93312585e-01 7.62704186e-02 8.12316948e+01] [-3.91706237e-01 9.19400674e-01 -3.56177486e-02 -2.20212290e+01] [-8.41319831e-02 2.75865757e-03 9.96450801e-01 -9.79291560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.171193817 meters 0.06601358187670174 Centerline is valid? [True, True] Translation: X:81.26, Y:-22.03, Z:-9.80 [[ 9.15562103e-01 3.95446683e-01 7.32663384e-02 8.12570510e+01] [-3.93972652e-01 9.18485674e-01 -3.41996518e-02 -2.20303999e+01] [-8.08182211e-02 2.44697155e-03 9.96725854e-01 -9.80077440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.201193817 meters 0.0656987573053441 Centerline is valid? [True, True] Translation: X:81.29, Y:-22.03, Z:-9.82 [[ 9.13408436e-01 4.01997666e-01 6.38976191e-02 8.12853888e+01] [-4.00893614e-01 9.15639261e-01 -2.98170176e-02 -2.20346748e+01] [-7.04935402e-02 1.61896794e-03 9.97510922e-01 -9.81615706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.231193817 meters 0.06443990482814282 Centerline is valid? [True, True] Translation: X:81.31, Y:-22.04, Z:-9.82 [[ 9.11719927e-01 4.06022991e-01 6.25468274e-02 8.13137275e+01] [-4.04973971e-01 9.13861953e-01 -2.91961081e-02 -2.20418834e+01] [-6.90134570e-02 1.28883643e-03 9.97614896e-01 -9.81938940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.261193817 meters 0.06361765114898002 Centerline is valid? [True, True] Translation: X:81.34, Y:-22.05, Z:-9.82 [[ 9.09895965e-01 4.09887881e-01 6.38847144e-02 8.13403876e+01] [-4.08805243e-01 9.12135379e-01 -2.97879754e-02 -2.20506837e+01] [-7.04812383e-02 9.87552444e-04 9.97512616e-01 -9.82267203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.291193817 meters 0.0617148379243312 Centerline is valid? [True, True] Translation: X:81.37, Y:-22.06, Z:-9.82 [[ 9.08256922e-01 4.13053849e-01 6.67523879e-02 8.13698843e+01] [-4.11881069e-01 9.10706282e-01 -3.11135495e-02 -2.20598881e+01] [-7.36433904e-02 7.65051871e-04 9.97284345e-01 -9.81753591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32119381700001 meters 0.06069878796865972 Centerline is valid? [True, True] Translation: X:81.40, Y:-22.07, Z:-9.82 [[ 9.05948579e-01 4.16915421e-01 7.37475667e-02 8.13968174e+01] [-4.15496659e-01 9.08945151e-01 -3.43691666e-02 -2.20716105e+01] [-8.13615287e-02 4.94830065e-04 9.96684532e-01 -9.81737240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35119381700001 meters 0.05993659469451397 Centerline is valid? [True, True] Translation: X:81.42, Y:-22.09, Z:-9.81 [[ 9.06195797e-01 4.15876846e-01 7.65220714e-02 8.14231381e+01] [-4.14344992e-01 9.09420734e-01 -3.56673092e-02 -2.20852017e+01] [-8.44239664e-02 6.15028642e-04 9.96429734e-01 -9.81448911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38119381700001 meters 0.059676132842694345 Centerline is valid? [True, True] Translation: X:81.45, Y:-22.10, Z:-9.81 [[ 9.06880038e-01 4.13739176e-01 7.99280310e-02 8.14477689e+01] [-4.12061946e-01 9.10395088e-01 -3.72254877e-02 -2.21005738e+01] [-8.81677294e-02 8.23751728e-04 9.96105302e-01 -9.81466286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.411193817 meters 0.05992529194195519 Centerline is valid? [True, True] Translation: X:81.47, Y:-22.12, Z:-9.82 [[ 9.08293457e-01 4.10186517e-01 8.21584942e-02 8.14715580e+01] [-4.08402292e-01 9.12000900e-01 -3.82351592e-02 -2.21173062e+01] [-9.06121674e-02 1.17502766e-03 9.95885563e-01 -9.81556570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.441193817 meters 0.062109738590382595 Centerline is valid? [True, True] Translation: X:81.49, Y:-22.14, Z:-9.82 [[ 9.12106484e-01 4.01147464e-01 8.45131563e-02 8.14927220e+01] [-3.99223854e-01 9.16011080e-01 -3.92939540e-02 -2.21427788e+01] [-9.31776576e-02 2.10060223e-03 9.95647283e-01 -9.81721259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.471193817 meters 0.06288062214333599 Centerline is valid? [True, True] Translation: X:81.52, Y:-22.16, Z:-9.82 [[ 9.14088352e-01 3.96333226e-01 8.58047738e-02 8.15166718e+01] [-3.94329209e-01 9.18102966e-01 -3.98925805e-02 -2.21588560e+01] [-9.45883725e-02 2.63001453e-03 9.95512995e-01 -9.81885774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.501193817 meters 0.06620874230228456 Centerline is valid? [True, True] Translation: X:81.54, Y:-22.18, Z:-9.82 [[ 9.17748541e-01 3.88152667e-01 8.41137440e-02 8.15390123e+01] [-3.86194433e-01 9.21588860e-01 -3.90875096e-02 -2.21784384e+01] [-9.26902105e-02 3.38824522e-03 9.95689231e-01 -9.82471071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.531193817 meters 0.06778733984253936 Centerline is valid? [True, True] Translation: X:81.56, Y:-22.19, Z:-9.83 [[ 9.19141477e-01 3.85592525e-01 8.06061365e-02 8.15649795e+01] [-3.83784971e-01 9.22662569e-01 -3.74550239e-02 -2.21927204e+01] [-8.88146423e-02 3.49104222e-03 9.96042053e-01 -9.83173319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.561193817 meters 0.06880591390265517 Centerline is valid? [True, True] Translation: X:81.59, Y:-22.20, Z:-9.84 [[ 9.20320380e-01 3.83487312e-01 7.71225038e-02 8.15917279e+01] [-3.81825725e-01 9.23539392e-01 -3.58344454e-02 -2.22041892e+01] [-8.49677254e-02 3.53181441e-03 9.96377445e-01 -9.83922838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.591193817 meters 0.07021763381457224 Centerline is valid? [True, True] Translation: X:81.62, Y:-22.22, Z:-9.85 [[ 9.20824224e-01 3.82819156e-01 7.43790452e-02 8.16172934e+01] [-3.81271765e-01 9.23816806e-01 -3.45593728e-02 -2.22155552e+01] [-8.19426019e-02 3.46447780e-03 9.96631029e-01 -9.84674007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.621193817 meters 0.06989777229301394 Centerline is valid? [True, True] Translation: X:81.64, Y:-22.22, Z:-9.85 [[ 9.20396144e-01 3.83933049e-01 7.39347792e-02 8.16448242e+01] [-3.82408101e-01 9.23354891e-01 -3.43480738e-02 -2.22237649e+01] [-8.14554007e-02 3.34057616e-03 9.96671389e-01 -9.85147947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.651193817 meters 0.0675487402681038 Centerline is valid? [True, True] Translation: X:81.68, Y:-22.22, Z:-9.85 [[ 9.18325701e-01 3.88722627e-01 7.46500225e-02 8.16777336e+01] [-3.87184454e-01 9.21350150e-01 -3.46713211e-02 -2.22236000e+01] [-8.22563364e-02 2.93623711e-03 9.96606880e-01 -9.85281880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68119381700001 meters 0.065166794622034 Centerline is valid? [True, True] Translation: X:81.71, Y:-22.23, Z:-9.85 [[ 9.16734368e-01 3.91990538e-01 7.70812330e-02 8.17096669e+01] [-3.90362144e-01 9.19965208e-01 -3.57968149e-02 -2.22274980e+01] [-8.49440653e-02 2.72657512e-03 9.96381991e-01 -9.85212836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71119381700001 meters 0.06381324976675529 Centerline is valid? [True, True] Translation: X:81.74, Y:-22.23, Z:-9.85 [[ 9.15581655e-01 3.94417123e-01 7.83923871e-02 8.17394572e+01] [-3.92741801e-01 9.18928000e-01 -3.64034168e-02 -2.22327597e+01] [-8.63950904e-02 2.54233332e-03 9.96257710e-01 -9.85291690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74119381700001 meters 0.06316892992414205 Centerline is valid? [True, True] Translation: X:81.77, Y:-22.24, Z:-9.86 [[ 9.14546378e-01 3.96526347e-01 7.98234257e-02 8.17674223e+01] [-3.94798519e-01 9.18020277e-01 -3.70526749e-02 -2.22398188e+01] [-8.79718852e-02 2.37221936e-03 9.96120133e-01 -9.85560624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.771193817 meters 0.06228620333916363 Centerline is valid? [True, True] Translation: X:81.80, Y:-22.25, Z:-9.86 [[ 9.14246703e-01 3.96879908e-01 8.14819252e-02 8.17955858e+01] [-3.95081023e-01 9.17867448e-01 -3.78197437e-02 -2.22470030e+01] [-8.97995031e-02 2.38461372e-03 9.95957009e-01 -9.85603239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.801193817 meters 0.062009460364906885 Centerline is valid? [True, True] Translation: X:81.82, Y:-22.25, Z:-9.86 [[ 9.14089015e-01 3.96570307e-01 8.46951254e-02 8.18238949e+01] [-3.94628090e-01 9.18000999e-01 -3.92789571e-02 -2.22535115e+01] [-9.33270778e-02 2.48138762e-03 9.95632412e-01 -9.85801301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.831193817 meters 0.062009460364906885 Centerline is valid? [True, True] Translation: X:81.85, Y:-22.26, Z:-9.86 [[ 9.14222906e-01 3.96259129e-01 8.47064388e-02 8.18487875e+01] [-3.94317840e-01 9.18135351e-01 -3.92545424e-02 -2.22647817e+01] [-9.33269466e-02 2.48614182e-03 9.95632412e-01 -9.86115328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.861193817 meters 0.06180600317203666 Centerline is valid? [True, True] Translation: X:81.88, Y:-22.27, Z:-9.86 [[ 9.14125741e-01 3.96400895e-01 8.50908894e-02 8.18754177e+01] [-3.94445925e-01 9.18074251e-01 -3.93964820e-02 -2.22745627e+01] [-9.37365553e-02 2.44958370e-03 9.95594023e-01 -9.86487365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.891193817 meters 0.06170011207914209 Centerline is valid? [True, True] Translation: X:81.90, Y:-22.28, Z:-9.87 [[ 9.13872506e-01 3.97256833e-01 8.38096168e-02 8.19012242e+01] [-3.95366683e-01 9.17704594e-01 -3.87745413e-02 -2.22846840e+01] [-9.23159218e-02 2.29945702e-03 9.95727113e-01 -9.87098917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.921193817 meters 0.061342492483106574 Centerline is valid? [True, True] Translation: X:81.93, Y:-22.29, Z:-9.88 [[ 9.13491461e-01 3.98823580e-01 8.04555916e-02 8.19281277e+01] [-3.97090943e-01 9.17025437e-01 -3.71904726e-02 -2.22930559e+01] [-8.86122614e-02 2.02499247e-03 9.96064138e-01 -9.87808864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.951193817 meters 0.061367627069272956 Centerline is valid? [True, True] Translation: X:81.96, Y:-22.30, Z:-9.89 [[ 9.12794895e-01 4.02032857e-01 7.19379067e-02 8.19581698e+01] [-4.00660792e-01 9.15624011e-01 -3.32204805e-02 -2.22972387e+01] [-7.92237994e-02 1.50078635e-03 9.96855725e-01 -9.88914653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.981193817 meters 0.06160950209818597 Centerline is valid? [True, True] Translation: X:81.99, Y:-22.31, Z:-9.90 [[ 9.12611371e-01 4.03174539e-01 6.77552734e-02 8.19856511e+01] [-4.01960738e-01 9.15122150e-01 -3.12892337e-02 -2.23061963e+01] [-7.46193739e-02 1.31995079e-03 9.97211215e-01 -9.89618208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.011193817 meters 0.06255897823440093 Centerline is valid? [True, True] Translation: X:82.01, Y:-22.32, Z:-9.90 [[ 9.12566264e-01 4.03737745e-01 6.49511094e-02 8.20114358e+01] [-4.02624164e-01 9.14873954e-01 -2.99905197e-02 -2.23168913e+01] [-7.15303831e-02 1.21745039e-03 9.97437678e-01 -9.90499695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.041193817 meters 0.06254548526570936 Centerline is valid? [True, True] Translation: X:82.04, Y:-22.33, Z:-9.91 [[ 9.12493605e-01 4.04284929e-01 6.25229327e-02 8.20384167e+01] [-4.03255019e-01 9.14632405e-01 -2.88609461e-02 -2.23284097e+01] [-6.88535458e-02 1.12274233e-03 9.97626147e-01 -9.90854457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07119381700001 meters 0.06229493283444152 Centerline is valid? [True, True] Translation: X:82.07, Y:-22.34, Z:-9.91 [[ 9.12552013e-01 4.03787431e-01 6.48423737e-02 8.20653644e+01] [-4.02677799e-01 9.14852035e-01 -2.99390140e-02 -2.23400735e+01] [-7.14101751e-02 1.21032321e-03 9.97446300e-01 -9.90983667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10119381700001 meters 0.06262644212904635 Centerline is valid? [True, True] Translation: X:82.09, Y:-22.35, Z:-9.91 [[ 9.12860048e-01 4.02752642e-01 6.69092122e-02 8.20904663e+01] [-4.01570555e-01 9.15307931e-01 -3.08622832e-02 -2.23521888e+01] [-7.36723987e-02 1.30417578e-03 9.97281644e-01 -9.91222125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13119381700001 meters 0.06277898256635231 Centerline is valid? [True, True] Translation: X:82.12, Y:-22.36, Z:-9.91 [[ 9.13471413e-01 4.00955313e-01 6.93167676e-02 8.21160759e+01] [-3.99681468e-01 9.16096385e-01 -3.19708729e-02 -2.23641292e+01] [-7.63197316e-02 1.49985102e-03 9.97082268e-01 -9.91332531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.161193817 meters 0.061889000818336704 Centerline is valid? [True, True] Translation: X:82.14, Y:-22.37, Z:-9.91 [[ 9.14628273e-01 3.97293562e-01 7.49196102e-02 8.21437688e+01] [-3.95795714e-01 9.17689566e-01 -3.45197467e-02 -2.23747859e+01] [-8.24674177e-02 1.91987566e-03 9.96591912e-01 -9.90594328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.191193817 meters 0.06199216403699436 Centerline is valid? [True, True] Translation: X:82.17, Y:-22.39, Z:-9.91 [[ 9.14810623e-01 3.96333082e-01 7.77278089e-02 8.21703189e+01] [-3.94717304e-01 9.18104438e-01 -3.58118719e-02 -2.23861403e+01] [-8.55556759e-02 2.08056964e-03 9.96331219e-01 -9.90719635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.221193817 meters 0.0618661599383245 Centerline is valid? [True, True] Translation: X:82.20, Y:-22.40, Z:-9.91 [[ 9.14949196e-01 3.95509898e-01 8.02489167e-02 8.21969304e+01] [-3.93786866e-01 9.18459078e-01 -3.69435541e-02 -2.23975726e+01] [-8.83168874e-02 2.20050573e-03 9.96089999e-01 -9.90807304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.251193817 meters 0.062059133899692906 Centerline is valid? [True, True] Translation: X:82.22, Y:-22.41, Z:-9.91 [[ 9.15280706e-01 3.94365123e-01 8.20815379e-02 8.22232250e+01] [-3.92560455e-01 9.18950864e-01 -3.77570983e-02 -2.24097232e+01] [-9.03189829e-02 2.33637782e-03 9.95910148e-01 -9.91047738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.281193817 meters 0.062331079829524405 Centerline is valid? [True, True] Translation: X:82.25, Y:-22.42, Z:-9.91 [[ 9.15928638e-01 3.92950322e-01 8.16380691e-02 8.22501658e+01] [-3.91162109e-01 9.19556475e-01 -3.75245873e-02 -2.24197540e+01] [-8.98161137e-02 2.43612489e-03 9.95955386e-01 -9.91458212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.311193817 meters 0.06273200679107414 Centerline is valid? [True, True] Translation: X:82.28, Y:-22.43, Z:-9.92 [[ 9.16088864e-01 3.92836088e-01 8.03803567e-02 8.22762618e+01] [-3.91105178e-01 9.19605432e-01 -3.69132735e-02 -2.24291650e+01] [-8.84190786e-02 2.37866507e-03 9.96080523e-01 -9.92084183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.341193817 meters 0.06338943007257242 Centerline is valid? [True, True] Translation: X:82.30, Y:-22.44, Z:-9.93 [[ 9.16537272e-01 3.92428355e-01 7.71972561e-02 8.23034523e+01] [-3.90831597e-01 9.19779672e-01 -3.54403439e-02 -2.24402235e+01] [-8.49122627e-02 2.31126921e-03 9.96385751e-01 -9.92836983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.371193817 meters 0.06413932470922115 Centerline is valid? [True, True] Translation: X:82.33, Y:-22.45, Z:-9.94 [[ 9.17400475e-01 3.91400673e-01 7.19852834e-02 8.23297585e+01] [-3.90009772e-01 9.20217637e-01 -3.30435903e-02 -2.24527168e+01] [-7.91754108e-02 2.23924147e-03 9.96858185e-01 -9.93578616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.401193817 meters 0.06446980043792806 Centerline is valid? [True, True] Translation: X:82.35, Y:-22.46, Z:-9.94 [[ 9.17484350e-01 3.91352809e-01 7.11719536e-02 8.23538994e+01] [-3.89992891e-01 9.20238040e-01 -3.26725355e-02 -2.24647947e+01] [-7.82816276e-02 2.21998399e-03 9.96928813e-01 -9.94052495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43119381700001 meters 0.06457272759783438 Centerline is valid? [True, True] Translation: X:82.38, Y:-22.48, Z:-9.94 [[ 9.17706260e-01 3.90896786e-01 7.08161165e-02 8.23803987e+01] [-3.89549414e-01 9.20431783e-01 -3.25051766e-02 -2.24764730e+01] [-7.78875735e-02 2.24382744e-03 9.96959624e-01 -9.94486467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46119381700001 meters 0.065571371820903 Centerline is valid? [True, True] Translation: X:82.41, Y:-22.49, Z:-9.95 [[ 9.18183266e-01 3.89975790e-01 6.97020329e-02 8.24056541e+01] [-3.88670304e-01 9.20822345e-01 -3.19625258e-02 -2.24868197e+01] [-7.66478007e-02 2.25634604e-03 9.97055677e-01 -9.95001852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49119381700001 meters 0.06555560121482251 Centerline is valid? [True, True] Translation: X:82.43, Y:-22.50, Z:-9.95 [[ 9.18487637e-01 3.89231844e-01 6.98500682e-02 8.24314566e+01] [-3.87918610e-01 9.21136891e-01 -3.20309391e-02 -2.24979077e+01] [-7.68089361e-02 2.32388026e-03 9.97043122e-01 -9.95292677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.521193817 meters 0.06486587010687228 Centerline is valid? [True, True] Translation: X:82.46, Y:-22.51, Z:-9.95 [[ 9.18424232e-01 3.89293692e-01 7.03374034e-02 8.24579771e+01] [-3.87964482e-01 9.21110794e-01 -3.22252456e-02 -2.25090157e+01] [-7.73336263e-02 2.30803214e-03 9.97002599e-01 -9.95449519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.551193817 meters 0.06541941112667463 Centerline is valid? [True, True] Translation: X:82.48, Y:-22.52, Z:-9.96 [[ 9.18192208e-01 3.89673064e-01 7.12598905e-02 8.24818504e+01] [-3.88312418e-01 9.20950446e-01 -3.26150672e-02 -2.25219838e+01] [-7.83360411e-02 2.27580020e-03 9.96924413e-01 -9.95951850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.581193817 meters 0.06407187940435265 Centerline is valid? [True, True] Translation: X:82.51, Y:-22.53, Z:-9.96 [[ 9.16579029e-01 3.93267554e-01 7.22738815e-02 8.25096649e+01] [-3.91879825e-01 9.19421928e-01 -3.30684251e-02 -2.25297248e+01] [-7.94549301e-02 1.98714894e-03 9.96836479e-01 -9.96216412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.611193817 meters 0.06280020739311104 Centerline is valid? [True, True] Translation: X:82.54, Y:-22.54, Z:-9.97 [[ 9.15007682e-01 3.97026050e-01 7.16327942e-02 8.25371716e+01] [-3.95674490e-01 9.17805868e-01 -3.27732668e-02 -2.25357903e+01] [-7.87568395e-02 1.64452152e-03 9.96892500e-01 -9.96595078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.641193817 meters 0.061383847890192446 Centerline is valid? [True, True] Translation: X:82.57, Y:-22.54, Z:-9.97 [[ 9.12576040e-01 4.02714382e-01 7.08949740e-02 8.25662010e+01] [-4.01408219e-01 9.15324990e-01 -3.24284555e-02 -2.25403058e+01] [-7.79513468e-02 1.13560623e-03 9.96956518e-01 -9.97035938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.671193817 meters 0.06064396470659649 Centerline is valid? [True, True] Translation: X:82.59, Y:-22.54, Z:-9.98 [[ 9.10148420e-01 4.08549078e-01 6.86840970e-02 8.25941913e+01] [-4.07341889e-01 9.12736162e-01 -3.13892321e-02 -2.25447299e+01] [-7.55145010e-02 5.90950230e-04 9.97144529e-01 -9.97541245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.701193817 meters 0.06018119649693366 Centerline is valid? [True, True] Translation: X:82.62, Y:-22.55, Z:-9.98 [[ 9.06299298e-01 4.17175799e-01 6.77195300e-02 8.26239521e+01] [-4.16026697e-01 9.08825801e-01 -3.09427076e-02 -2.25458315e+01] [-7.44538048e-02 -1.29778139e-04 9.97224455e-01 -9.97931821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.731193817 meters 0.05929836046336899 Centerline is valid? [True, True] Translation: X:82.65, Y:-22.56, Z:-9.98 [[ 9.05340795e-01 4.18923636e-01 6.97211013e-02 8.26517256e+01] [-4.17711258e-01 9.08021423e-01 -3.18496659e-02 -2.25570412e+01] [-7.66508314e-02 -2.88487079e-04 9.97057956e-01 -9.97587975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.761193817 meters 0.05870045575371091 Centerline is valid? [True, True] Translation: X:82.68, Y:-22.57, Z:-9.97 [[ 9.04951145e-01 4.19356868e-01 7.21335125e-02 8.26773746e+01] [-4.18062237e-01 9.07821397e-01 -3.29283560e-02 -2.25708283e+01] [-7.92930783e-02 -3.57744076e-04 9.96851283e-01 -9.97370695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.791193817 meters 0.05849229774084233 Centerline is valid? [True, True] Translation: X:82.70, Y:-22.59, Z:-9.98 [[ 9.04965459e-01 4.18961092e-01 7.42234595e-02 8.27010045e+01] [-4.17591679e-01 9.08004114e-01 -3.38484581e-02 -2.25864045e+01] [-8.15763936e-02 -3.63413636e-04 9.96667026e-01 -9.97584343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82119381700001 meters 0.05773294778464183 Centerline is valid? [True, True] Translation: X:82.72, Y:-22.61, Z:-9.97 [[ 9.06388447e-01 4.15097085e-01 7.84499341e-02 8.27238282e+01] [-4.13553564e-01 9.09777121e-01 -3.57636778e-02 -2.26102575e+01] [-8.62173536e-02 -2.74654138e-05 9.96276351e-01 -9.97465805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85119381700001 meters 0.05790816552197907 Centerline is valid? [True, True] Translation: X:82.75, Y:-22.63, Z:-9.98 [[ 9.07080473e-01 4.13155903e-01 8.06673096e-02 8.27467937e+01] [-4.11516029e-01 9.10660296e-01 -3.67747766e-02 -2.26274230e+01] [-8.86542321e-02 1.61790854e-04 9.96062448e-01 -9.97945714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88119381700001 meters 0.05761270470968758 Centerline is valid? [True, True] Translation: X:82.77, Y:-22.64, Z:-9.98 [[ 9.07593986e-01 4.11635201e-01 8.26415013e-02 8.27710880e+01] [-4.09910376e-01 9.11348658e-01 -3.76444832e-02 -2.26437270e+01] [-9.08110157e-02 2.90297702e-04 9.95868101e-01 -9.97842163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.911193817 meters 0.057689978137164755 Centerline is valid? [True, True] Translation: X:82.79, Y:-22.66, Z:-9.98 [[ 9.07696847e-01 4.11342043e-01 8.29708244e-02 8.27943453e+01] [-4.09605310e-01 9.11481015e-01 -3.77604278e-02 -2.26598392e+01] [-9.11587827e-02 2.89731027e-04 9.95836328e-01 -9.98194283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.941193817 meters 0.057678231093522304 Centerline is valid? [True, True] Translation: X:82.82, Y:-22.68, Z:-9.99 [[ 9.07437164e-01 4.11751527e-01 8.37763286e-02 8.28182155e+01] [-4.09983140e-01 9.11296121e-01 -3.81209274e-02 -2.26752383e+01] [-9.20413933e-02 2.45463968e-04 9.95755151e-01 -9.98586435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.971193817 meters 0.05766644964596651 Centerline is valid? [True, True] Translation: X:82.84, Y:-22.69, Z:-9.99 [[ 9.05977897e-01 4.15165243e-01 8.27156029e-02 8.28400363e+01] [-4.13458602e-01 9.09746011e-01 -3.76055884e-02 -2.26926809e+01] [-9.08627230e-02 -1.29645610e-04 9.95863419e-01 -9.99076530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.001193817 meters 0.05800443411936807 Centerline is valid? [True, True] Translation: X:82.86, Y:-22.71, Z:-10.00 [[ 9.05929736e-01 4.15687248e-01 8.05942025e-02 8.28638635e+01] [-4.14070095e-01 9.09507601e-01 -3.66316693e-02 -2.27074874e+01] [-8.85283576e-02 -1.85930663e-04 9.96073640e-01 -9.99613938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.031193817 meters 0.058468642387434336 Centerline is valid? [True, True] Translation: X:82.89, Y:-22.72, Z:-10.00 [[ 9.06142984e-01 4.15564084e-01 7.88123350e-02 8.28862243e+01] [-4.14018117e-01 9.09563885e-01 -3.58125379e-02 -2.27232596e+01] [-8.65672580e-02 -1.78454582e-04 9.96245993e-01 -1.00031325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.061193817 meters 0.059127105209652045 Centerline is valid? [True, True] Translation: X:82.91, Y:-22.75, Z:-10.01 [[ 9.06612195e-01 4.15368300e-01 7.43202832e-02 8.29075617e+01] [-4.13994014e-01 9.09653313e-01 -3.37610146e-02 -2.27458912e+01] [-8.16289471e-02 -1.60004838e-04 9.96662776e-01 -1.00111140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.091193817 meters 0.059549720935870784 Centerline is valid? [True, True] Translation: X:82.93, Y:-22.76, Z:-10.02 [[ 9.06373803e-01 4.16106815e-01 7.30865838e-02 8.29306438e+01] [-4.14780345e-01 9.09315715e-01 -3.31993492e-02 -2.27621884e+01] [-8.02732546e-02 -2.23858070e-04 9.96772870e-01 -1.00159133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.121193817 meters 0.05998556068287451 Centerline is valid? [True, True] Translation: X:82.95, Y:-22.78, Z:-10.02 [[ 9.06002324e-01 4.17160161e-01 7.16741794e-02 8.29542212e+01] [-4.15888015e-01 9.08832934e-01 -3.25554546e-02 -2.27788546e+01] [-7.87206935e-02 -3.13114620e-04 9.96896662e-01 -1.00217038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.151193817 meters 0.06047238376329183 Centerline is valid? [True, True] Translation: X:82.98, Y:-22.80, Z:-10.03 [[ 9.05660007e-01 4.18163235e-01 7.01388603e-02 8.29781774e+01] [-4.16949604e-01 9.08371808e-01 -3.18384523e-02 -2.27957038e+01] [-7.70258336e-02 -4.09557089e-04 9.97029013e-01 -1.00269491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18119381700001 meters 0.059764672108900005 Centerline is valid? [True, True] Translation: X:83.00, Y:-22.81, Z:-10.02 [[ 9.05257181e-01 4.19263601e-01 6.87565943e-02 8.30025881e+01] [-4.18102089e-01 9.07864401e-01 -3.11909054e-02 -2.28138821e+01] [-7.54988756e-02 -5.11484563e-04 9.97145756e-01 -1.00230039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21119381700001 meters 0.06019418585052509 Centerline is valid? [True, True] Translation: X:83.02, Y:-22.84, Z:-10.03 [[ 9.04966250e-01 4.19759725e-01 6.95547276e-02 8.30222378e+01] [-4.18574981e-01 9.07635074e-01 -3.15207656e-02 -2.28363337e+01] [-7.63614582e-02 -5.88639760e-04 9.97080027e-01 -1.00275694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24119381700001 meters 0.05997052369641041 Centerline is valid? [True, True] Translation: X:83.05, Y:-22.86, Z:-10.03 [[ 9.05422880e-01 4.18591749e-01 7.06424555e-02 8.30450433e+01] [-4.17366719e-01 9.08174373e-01 -3.20051444e-02 -2.28554362e+01] [-7.75527571e-02 -5.05619869e-04 9.96988121e-01 -1.00284558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.271193817 meters 0.059851109730988554 Centerline is valid? [True, True] Translation: X:83.07, Y:-22.88, Z:-10.03 [[ 9.06332208e-01 4.16320995e-01 7.23792717e-02 8.30659877e+01] [-4.15030402e-01 9.09217634e-01 -3.27575717e-02 -2.28755597e+01] [-7.94461750e-02 -3.50355991e-04 9.96839096e-01 -1.00312618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.301193817 meters 0.059902039895833384 Centerline is valid? [True, True] Translation: X:83.08, Y:-22.91, Z:-10.03 [[ 9.09732422e-01 4.08417124e-01 7.47152813e-02 8.30832166e+01] [-4.07015963e-01 9.12795342e-01 -3.38034016e-02 -2.29090815e+01] [-8.20056488e-02 3.41738184e-04 9.96631806e-01 -1.00311854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.331193817 meters 0.060820763288220676 Centerline is valid? [True, True] Translation: X:83.10, Y:-22.93, Z:-10.03 [[ 9.12434344e-01 4.02360077e-01 7.46320019e-02 8.31033947e+01] [-4.00942165e-01 9.15481071e-01 -3.37607566e-02 -2.29324415e+01] [-8.19081656e-02 8.81357362e-04 9.96639491e-01 -1.00343460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.361193817 meters 0.06251982451677617 Centerline is valid? [True, True] Translation: X:83.12, Y:-22.96, Z:-10.04 [[ 9.15097455e-01 3.96614192e-01 7.27587223e-02 8.31246871e+01] [-3.95249388e-01 9.17984400e-01 -3.29023361e-02 -2.29563370e+01] [-7.98409055e-02 1.35100358e-03 9.96806704e-01 -1.00400694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.391193817 meters 0.06433924520931707 Centerline is valid? [True, True] Translation: X:83.15, Y:-22.98, Z:-10.05 [[ 9.17500362e-01 3.91415325e-01 7.06196045e-02 8.31479661e+01] [-3.90114183e-01 9.20212461e-01 -3.19366710e-02 -2.29787051e+01] [-7.74855425e-02 1.75219794e-03 9.96991936e-01 -1.00453027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.421193817 meters 0.06773845645156572 Centerline is valid? [True, True] Translation: X:83.17, Y:-23.00, Z:-10.05 [[ 9.20496666e-01 3.84914760e-01 6.72793808e-02 8.31688356e+01] [-3.83716467e-01 9.22949522e-01 -3.04278357e-02 -2.30033640e+01] [-7.38075954e-02 2.19251510e-03 9.97270090e-01 -1.00529440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.451193817 meters 0.06828718299066718 Centerline is valid? [True, True] Translation: X:83.20, Y:-23.02, Z:-10.06 [[ 9.20442669e-01 3.85347022e-01 6.55207346e-02 8.31970719e+01] [-3.84212539e-01 9.22769365e-01 -2.96213377e-02 -2.30172978e+01] [-7.18750209e-02 2.09085526e-03 9.97411455e-01 -1.00587352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.481193817 meters 0.0679808451612636 Centerline is valid? [True, True] Translation: X:83.23, Y:-23.03, Z:-10.06 [[ 9.19671008e-01 3.87437508e-01 6.40110445e-02 8.32268146e+01] [-3.86358325e-01 9.21894006e-01 -2.89600948e-02 -2.30284308e+01] [-7.02316252e-02 1.90255964e-03 9.97528896e-01 -1.00638314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.511193817 meters 0.06700789081222157 Centerline is valid? [True, True] Translation: X:83.26, Y:-23.04, Z:-10.07 [[ 9.18172953e-01 3.91149991e-01 6.29294260e-02 8.32551629e+01] [-3.90113205e-01 9.20325511e-01 -2.85068732e-02 -2.30368055e+01] [-6.90660193e-02 1.62463987e-03 9.97610769e-01 -1.00681402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.541193817 meters 0.06491234654949872 Centerline is valid? [True, True] Translation: X:83.29, Y:-23.04, Z:-10.07 [[ 9.15344698e-01 3.97665034e-01 6.32977444e-02 8.32856998e+01] [-3.96631605e-01 9.17529957e-01 -2.86731360e-02 -2.30409685e+01] [-6.94798803e-02 1.13991709e-03 9.97582702e-01 -1.00700822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57119381700001 meters 0.06450641491112183 Centerline is valid? [True, True] Translation: X:83.31, Y:-23.05, Z:-10.07 [[ 9.14536619e-01 3.99504923e-01 6.33923425e-02 8.33130354e+01] [-3.98472888e-01 9.16730503e-01 -2.87148546e-02 -2.30502661e+01] [-6.95854198e-02 1.00065627e-03 9.97575495e-01 -1.00730031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60119381700001 meters 0.06364912721026744 Centerline is valid? [True, True] Translation: X:83.34, Y:-23.06, Z:-10.07 [[ 9.13864519e-01 4.01058535e-01 6.32747384e-02 8.33407588e+01] [-4.00034457e-01 9.16052010e-01 -2.86556736e-02 -2.30587110e+01] [-6.94555537e-02 8.75327745e-04 9.97584663e-01 -1.00735263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63119381700001 meters 0.06300574022266099 Centerline is valid? [True, True] Translation: X:83.37, Y:-23.07, Z:-10.07 [[ 9.13063283e-01 4.02754817e-01 6.40624563e-02 8.33687887e+01] [-4.01709667e-01 9.15307596e-01 -2.90060011e-02 -2.30677323e+01] [-7.03191596e-02 7.49806565e-04 9.97524262e-01 -1.00748790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.661193817 meters 0.06293796341287146 Centerline is valid? [True, True] Translation: X:83.40, Y:-23.08, Z:-10.08 [[ 9.11617840e-01 4.05622870e-01 6.65056500e-02 8.33964674e+01] [-4.04504635e-01 9.14040368e-01 -3.01032378e-02 -2.30768294e+01] [-7.29994105e-02 5.40804969e-04 9.97331837e-01 -1.00795347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.691193817 meters 0.062151001033090555 Centerline is valid? [True, True] Translation: X:83.42, Y:-23.09, Z:-10.08 [[ 9.11579253e-01 4.05619051e-01 6.70555779e-02 8.34225588e+01] [-4.04482318e-01 9.14042061e-01 -3.03506961e-02 -2.30893339e+01] [-7.36024391e-02 5.44269295e-04 9.97287514e-01 -1.00766523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.721193817 meters 0.06252512554856182 Centerline is valid? [True, True] Translation: X:83.45, Y:-23.11, Z:-10.08 [[ 9.12894859e-01 4.02602282e-01 6.73377939e-02 8.34475230e+01] [-4.01448384e-01 9.15374672e-01 -3.04697411e-02 -2.31058436e+01] [-7.39064983e-02 7.83021445e-04 9.97264868e-01 -1.00794086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.751193817 meters 0.06252512554856182 Centerline is valid? [True, True] Translation: X:83.47, Y:-23.12, Z:-10.08 [[ 9.12911798e-01 4.02563659e-01 6.73390669e-02 8.34739705e+01] [-4.01409864e-01 9.15391658e-01 -3.04669275e-02 -2.31177511e+01] [-7.39064979e-02 7.83051910e-04 9.97264868e-01 -1.00827419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.781193817 meters 0.06548423641396049 Centerline is valid? [True, True] Translation: X:83.49, Y:-23.14, Z:-10.09 [[ 9.17382444e-01 3.92166609e-01 6.79323319e-02 8.34945803e+01] [-3.90964500e-01 9.19892766e-01 -3.07255507e-02 -2.31430746e+01] [-7.45399957e-02 1.62795060e-03 9.97216696e-01 -1.00880678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.811193817 meters 0.0671846122823738 Centerline is valid? [True, True] Translation: X:83.52, Y:-23.16, Z:-10.09 [[ 9.19974684e-01 3.86261365e-01 6.66988626e-02 8.35198981e+01] [-3.85086189e-01 9.22387030e-01 -3.01793568e-02 -2.31615627e+01] [-7.31792854e-02 2.07943348e-03 9.97316634e-01 -1.00911851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.841193817 meters 0.06988246567235948 Centerline is valid? [True, True] Translation: X:83.54, Y:-23.18, Z:-10.10 [[ 9.22570803e-01 3.80181599e-01 6.57652307e-02 8.35446565e+01] [-3.79023570e-01 9.24908407e-01 -2.97585533e-02 -2.31805723e+01] [-7.21404691e-02 2.52779991e-03 9.97391279e-01 -1.00957837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.871193817 meters 0.07473149621391216 Centerline is valid? [True, True] Translation: X:83.57, Y:-23.20, Z:-10.10 [[ 9.24239340e-01 3.76114457e-01 6.57233373e-02 8.35675932e+01] [-3.74947513e-01 9.26568842e-01 -2.97412600e-02 -2.32017528e+01] [-7.20833144e-02 2.84524063e-03 9.97394556e-01 -1.01040404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.901193817 meters 0.07139338417724918 Centerline is valid? [True, True] Translation: X:83.60, Y:-23.21, Z:-10.10 [[ 9.25864283e-01 3.71791368e-01 6.74277915e-02 8.36005854e+01] [-3.70552309e-01 9.28310605e-01 -3.05025849e-02 -2.32088658e+01] [-7.39345317e-02 3.25573008e-03 9.97257783e-01 -1.00954790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93119381700001 meters 0.07566401121699345 Centerline is valid? [True, True] Translation: X:83.63, Y:-23.23, Z:-10.11 [[ 9.25628991e-01 3.72474026e-01 6.68884939e-02 8.36266082e+01] [-3.71254965e-01 9.28037118e-01 -3.02796885e-02 -2.32258191e+01] [-7.33534026e-02 3.19507201e-03 9.97300892e-01 -1.01054999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96119381700001 meters 0.07470765235736122 Centerline is valid? [True, True] Translation: X:83.66, Y:-23.23, Z:-10.11 [[ 9.24598625e-01 3.75032515e-01 6.68430641e-02 8.36576592e+01] [-3.73818881e-01 9.27006716e-01 -3.02983893e-02 -2.32330370e+01] [-7.33268505e-02 3.02664967e-03 9.97303370e-01 -1.01101774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99119381700001 meters 0.0697477444227616 Centerline is valid? [True, True] Translation: X:83.69, Y:-23.23, Z:-10.11 [[ 9.23337443e-01 3.78116949e-01 6.68994682e-02 8.36932667e+01] [-3.76909271e-01 9.25753648e-01 -3.03246465e-02 -2.32328788e+01] [-7.33986896e-02 2.78485178e-03 9.97298790e-01 -1.01071671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.021193817 meters 0.06712562008692766 Centerline is valid? [True, True] Translation: X:83.73, Y:-23.23, Z:-10.11 [[ 9.20385953e-01 3.85315342e-01 6.64965020e-02 8.37295478e+01] [-3.84140082e-01 9.22782321e-01 -3.01527146e-02 -2.32276453e+01] [-7.29801000e-02 2.20816320e-03 9.97330953e-01 -1.01118400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.051193817 meters 0.06533021870210846 Centerline is valid? [True, True] Translation: X:83.76, Y:-23.23, Z:-10.12 [[ 9.18366269e-01 3.90151824e-01 6.62189549e-02 8.37615418e+01] [-3.88998620e-01 9.20748740e-01 -3.00305183e-02 -2.32294267e+01] [-7.26874808e-02 1.81993300e-03 9.97353106e-01 -1.01150816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.081193817 meters 0.06453660166188264 Centerline is valid? [True, True] Translation: X:83.79, Y:-23.23, Z:-10.12 [[ 9.16333430e-01 3.94998639e-01 6.56438897e-02 8.37900158e+01] [-3.93877628e-01 9.18680599e-01 -2.97719771e-02 -2.32322949e+01] [-7.20656584e-02 1.42539829e-03 9.97398872e-01 -1.01203950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.111193817 meters 0.06329325959781568 Centerline is valid? [True, True] Translation: X:83.82, Y:-23.24, Z:-10.12 [[ 9.14334556e-01 3.99556571e-01 6.59307706e-02 8.38199717e+01] [-3.98438227e-01 9.16707924e-01 -2.98924998e-02 -2.32354145e+01] [-7.23830046e-02 1.06240620e-03 9.97376344e-01 -1.01229358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.141193817 meters 0.06213260609880796 Centerline is valid? [True, True] Translation: X:83.85, Y:-23.23, Z:-10.13 [[ 9.10405634e-01 4.08428453e-01 6.59377012e-02 8.38537039e+01] [-4.07333294e-01 9.12790268e-01 -2.98917259e-02 -2.32312200e+01] [-7.23959233e-02 3.54974616e-04 9.97375909e-01 -1.01264343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.171193817 meters 0.06198557547746909 Centerline is valid? [True, True] Translation: X:83.88, Y:-23.24, Z:-10.13 [[ 9.08997562e-01 4.11608899e-01 6.55861733e-02 8.38822927e+01] [-4.10533847e-01 9.11360579e-01 -2.97297111e-02 -2.32367274e+01] [-7.20096665e-02 9.88908510e-05 9.97403929e-01 -1.01295875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.201193817 meters 0.06218137774929099 Centerline is valid? [True, True] Translation: X:83.91, Y:-23.24, Z:-10.13 [[ 9.07503412e-01 4.14995230e-01 6.49347107e-02 8.39093399e+01] [-4.13952783e-01 9.09823565e-01 -2.93968525e-02 -2.32434784e+01] [-7.12786835e-02 -2.02160298e-04 9.97456419e-01 -1.01338120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.231193817 meters 0.06262201403047638 Centerline is valid? [True, True] Translation: X:83.94, Y:-23.25, Z:-10.14 [[ 9.04917146e-01 4.20542571e-01 6.53368626e-02 8.39373897e+01] [-4.19501544e-01 9.07272580e-01 -2.95790550e-02 -2.32499223e+01] [-7.17175957e-02 -6.42320749e-04 9.97424771e-01 -1.01372679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.261193817 meters 0.06331456555613305 Centerline is valid? [True, True] Translation: X:83.96, Y:-23.26, Z:-10.14 [[ 9.03577690e-01 4.23196657e-01 6.67229145e-02 8.39641351e+01] [-4.22119927e-01 9.06037412e-01 -3.01823641e-02 -2.32585546e+01] [-7.32265324e-02 -8.92961046e-04 9.97314934e-01 -1.01424679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.291193817 meters 0.06303930274607933 Centerline is valid? [True, True] Translation: X:83.99, Y:-23.27, Z:-10.14 [[ 9.02155808e-01 4.26187071e-01 6.69289076e-02 8.39907337e+01] [-4.25113580e-01 9.04634310e-01 -3.02524135e-02 -2.32695849e+01] [-7.34393737e-02 -1.15999695e-03 9.97299009e-01 -1.01410251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32119381700001 meters 0.06421770898068335 Centerline is valid? [True, True] Translation: X:84.02, Y:-23.28, Z:-10.15 [[ 9.01102920e-01 4.28181007e-01 6.83707075e-02 8.40164964e+01] [-4.27068965e-01 9.03691937e-01 -3.08704176e-02 -2.32789161e+01] [-7.50041836e-02 -1.38158389e-03 9.97182262e-01 -1.01472580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35119381700001 meters 0.06413450770030456 Centerline is valid? [True, True] Translation: X:84.04, Y:-23.30, Z:-10.15 [[ 8.99794370e-01 4.30691550e-01 6.98203466e-02 8.40400924e+01] [-4.29539296e-01 9.02497729e-01 -3.15252770e-02 -2.32955761e+01] [-7.65903747e-02 -1.62431579e-03 9.97061320e-01 -1.01452266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38119381700001 meters 0.0642507205857283 Centerline is valid? [True, True] Translation: X:84.06, Y:-23.31, Z:-10.15 [[ 8.99580568e-01 4.31260184e-01 6.90612430e-02 8.40645485e+01] [-4.30136756e-01 9.02226041e-01 -3.11535159e-02 -2.33117604e+01] [-7.57441229e-02 -1.68068156e-03 9.97125871e-01 -1.01484299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.411193817 meters 0.06475725021068855 Centerline is valid? [True, True] Translation: X:84.09, Y:-23.33, Z:-10.15 [[ 8.99419487e-01 4.31778131e-01 6.79134123e-02 8.40872561e+01] [-4.30695626e-01 9.01978200e-01 -3.06040012e-02 -2.33279697e+01] [-7.44705558e-02 -1.72417452e-03 9.97221722e-01 -1.01536702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.441193817 meters 0.06436779125679014 Centerline is valid? [True, True] Translation: X:84.11, Y:-23.35, Z:-10.16 [[ 9.00295388e-01 4.30087413e-01 6.70300782e-02 8.41088261e+01] [-4.29028080e-01 9.02785899e-01 -3.02080666e-02 -2.33464429e+01] [-7.35059186e-02 -1.56160271e-03 9.97293558e-01 -1.01578746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.471193817 meters 0.06343214721172534 Centerline is valid? [True, True] Translation: X:84.13, Y:-23.37, Z:-10.16 [[ 9.03192175e-01 4.24141666e-01 6.59374140e-02 8.41273741e+01] [-4.23103485e-01 9.05595192e-01 -2.96780877e-02 -2.33741771e+01] [-7.23003187e-02 -1.09333306e-03 9.97382308e-01 -1.01633737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.501193817 meters 0.06285143594626802 Centerline is valid? [True, True] Translation: X:84.15, Y:-23.40, Z:-10.17 [[ 9.05444826e-01 4.19250431e-01 6.63230270e-02 8.41488182e+01] [-4.18187410e-01 9.07870348e-01 -2.98449478e-02 -2.33955179e+01] [-7.27252168e-02 -7.12501338e-04 9.97351761e-01 -1.01669268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.531193817 meters 0.06276178586251784 Centerline is valid? [True, True] Translation: X:84.17, Y:-23.42, Z:-10.17 [[ 9.07926636e-01 4.13745945e-01 6.69590694e-02 8.41691546e+01] [-4.12647855e-01 9.10392341e-01 -3.01252800e-02 -2.34170384e+01] [-7.34232364e-02 -2.78972296e-04 9.97300833e-01 -1.01724107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.561193817 meters 0.06209495092401528 Centerline is valid? [True, True] Translation: X:84.19, Y:-23.44, Z:-10.17 [[ 9.10274661e-01 4.08435539e-01 6.76790393e-02 8.41925247e+01] [-4.07299892e-01 9.12787155e-01 -3.04369302e-02 -2.34397884e+01] [-7.42080818e-02 1.40300878e-04 9.97242769e-01 -1.01700943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.591193817 meters 0.06298585891157293 Centerline is valid? [True, True] Translation: X:84.21, Y:-23.47, Z:-10.17 [[ 9.13945908e-01 3.99984742e-01 6.86664659e-02 8.42120136e+01] [-3.98792704e-01 9.16521423e-01 -3.08684235e-02 -2.34704034e+01] [-7.52811855e-02 8.28383689e-04 9.97162001e-01 -1.01744600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.621193817 meters 0.0635774742212091 Centerline is valid? [True, True] Translation: X:84.24, Y:-23.49, Z:-10.18 [[ 9.15441346e-01 3.96645564e-01 6.81134303e-02 8.42377751e+01] [-3.95462226e-01 9.17971169e-01 -3.06359538e-02 -2.34912514e+01] [-7.46777804e-02 1.10913005e-03 9.97207099e-01 -1.01771442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.651193817 meters 0.06432214200520446 Centerline is valid? [True, True] Translation: X:84.26, Y:-23.51, Z:-10.18 [[ 9.16626926e-01 3.93982688e-01 6.76218838e-02 8.42619122e+01] [-3.92806572e-01 9.19116871e-01 -3.04495422e-02 -2.35114866e+01] [-7.41490068e-02 1.34854996e-03 9.97246262e-01 -1.01816154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68119381700001 meters 0.0644150675391626 Centerline is valid? [True, True] Translation: X:84.29, Y:-23.53, Z:-10.18 [[ 9.17527091e-01 3.91731688e-01 6.84859206e-02 8.42892715e+01] [-3.90519571e-01 9.20078204e-01 -3.08311924e-02 -2.35298322e+01] [-7.50899579e-02 1.54336194e-03 9.97175569e-01 -1.01823798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71119381700001 meters 0.06494486091838814 Centerline is valid? [True, True] Translation: X:84.32, Y:-23.55, Z:-10.18 [[ 9.18403676e-01 3.89191884e-01 7.11643534e-02 8.43154693e+01] [-3.87872826e-01 9.21154850e-01 -3.20688948e-02 -2.35474124e+01] [-7.80343429e-02 1.84947207e-03 9.96948956e-01 -1.01848220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74119381700001 meters 0.06523443661449344 Centerline is valid? [True, True] Translation: X:84.34, Y:-23.56, Z:-10.19 [[ 9.18651007e-01 3.88576535e-01 7.13344528e-02 8.43436927e+01] [-3.87248536e-01 9.21414461e-01 -3.21552953e-02 -2.35613811e+01] [-7.82233895e-02 1.91533196e-03 9.96934016e-01 -1.01885266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.771193817 meters 0.06558417648279848 Centerline is valid? [True, True] Translation: X:84.37, Y:-23.58, Z:-10.19 [[ 9.18924859e-01 3.87996723e-01 7.09622895e-02 8.43716919e+01] [-3.86678895e-01 9.21658631e-01 -3.20124973e-02 -2.35760595e+01] [-7.78237507e-02 1.97745987e-03 9.96965172e-01 -1.01928265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.801193817 meters 0.0668384191437592 Centerline is valid? [True, True] Translation: X:84.40, Y:-23.60, Z:-10.20 [[ 9.19785250e-01 3.85803416e-01 7.17691985e-02 8.43965319e+01] [-3.84446631e-01 9.22578360e-01 -3.24030649e-02 -2.35952866e+01] [-7.87139226e-02 2.21243458e-03 9.96894791e-01 -1.01970004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.831193817 meters 0.0679862213585986 Centerline is valid? [True, True] Translation: X:84.42, Y:-23.61, Z:-10.20 [[ 9.20900641e-01 3.83215797e-01 7.13278579e-02 8.44236281e+01] [-3.81865557e-01 9.23655600e-01 -3.22339766e-02 -2.36126820e+01] [-7.82349444e-02 2.44663749e-03 9.96931947e-01 -1.02015821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.861193817 meters 0.06879528034125855 Centerline is valid? [True, True] Translation: X:84.45, Y:-23.63, Z:-10.21 [[ 9.21646054e-01 3.81357670e-01 7.16580668e-02 8.44511826e+01] [-3.79989334e-01 9.24423867e-01 -3.23824080e-02 -2.36288700e+01] [-7.85917069e-02 2.61581746e-03 9.96903456e-01 -1.02059568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.891193817 meters 0.0688417114560618 Centerline is valid? [True, True] Translation: X:84.48, Y:-23.64, Z:-10.21 [[ 9.22744986e-01 3.78947391e-01 7.02891558e-02 8.44798112e+01] [-3.77621383e-01 9.25413987e-01 -3.17969189e-02 -2.36422166e+01] [-7.70959274e-02 2.79775932e-03 9.97019754e-01 -1.02080541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.921193817 meters 0.07198334507014714 Centerline is valid? [True, True] Translation: X:84.50, Y:-23.66, Z:-10.22 [[ 9.23809059e-01 3.76628110e-01 6.87611017e-02 8.45043761e+01] [-3.75352749e-01 9.26359920e-01 -3.11064852e-02 -2.36583551e+01] [-7.54131054e-02 2.92678424e-03 9.97148082e-01 -1.02173462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.951193817 meters 0.07046512944733205 Centerline is valid? [True, True] Translation: X:84.54, Y:-23.67, Z:-10.22 [[ 9.24424615e-01 3.75290598e-01 6.77945348e-02 8.45357748e+01] [-3.74046641e-01 9.26902346e-01 -3.06781881e-02 -2.36676329e+01] [-7.43521489e-02 3.00135416e-03 9.97227532e-01 -1.02177502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.981193817 meters 0.07105952284965271 Centerline is valid? [True, True] Translation: X:84.56, Y:-23.68, Z:-10.22 [[ 9.24728912e-01 3.74421251e-01 6.84482744e-02 8.45646257e+01] [-3.73150921e-01 9.27253537e-01 -3.09720562e-02 -2.36810142e+01] [-7.50655006e-02 3.09921916e-03 9.97173789e-01 -1.02217626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.011193817 meters 0.07136814438716403 Centerline is valid? [True, True] Translation: X:84.59, Y:-23.69, Z:-10.23 [[ 9.24826694e-01 3.74192979e-01 6.83754411e-02 8.45935594e+01] [-3.72922865e-01 9.27345551e-01 -3.09639553e-02 -2.36938765e+01] [-7.49941558e-02 3.13752708e-03 9.97179037e-01 -1.02253772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.041193817 meters 0.0706604424436604 Centerline is valid? [True, True] Translation: X:84.63, Y:-23.70, Z:-10.23 [[ 9.24989201e-01 3.73512511e-01 6.98811973e-02 8.46252593e+01] [-3.72181839e-01 9.27619317e-01 -3.16714474e-02 -2.37032071e+01] [-7.66528305e-02 3.28723430e-03 9.97052425e-01 -1.02255271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07119381700001 meters 0.07051880038398371 Centerline is valid? [True, True] Translation: X:84.66, Y:-23.71, Z:-10.23 [[ 9.24684690e-01 3.73829991e-01 7.21759063e-02 8.46554740e+01] [-3.72409076e-01 9.27491032e-01 -3.27393515e-02 -2.37141346e+01] [-7.91814573e-02 3.39461452e-03 9.96854439e-01 -1.02271109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10119381700001 meters 0.07084716102979065 Centerline is valid? [True, True] Translation: X:84.68, Y:-23.72, Z:-10.23 [[ 9.24506433e-01 3.74044341e-01 7.33395270e-02 8.46848869e+01] [-3.72575531e-01 9.27404376e-01 -3.32955977e-02 -2.37246925e+01] [-8.04694282e-02 3.45748104e-03 9.96751081e-01 -1.02300238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13119381700001 meters 0.07112369074280855 Centerline is valid? [True, True] Translation: X:84.71, Y:-23.73, Z:-10.23 [[ 9.23456502e-01 3.76371822e-01 7.46481077e-02 8.47149066e+01] [-3.74854729e-01 9.26462659e-01 -3.39245356e-02 -2.37313414e+01] [-8.19269236e-02 3.34563688e-03 9.96632724e-01 -1.02344604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.161193817 meters 0.06997885612992058 Centerline is valid? [True, True] Translation: X:84.75, Y:-23.74, Z:-10.24 [[ 9.22220627e-01 3.79188018e-01 7.56674432e-02 8.47457083e+01] [-3.77638448e-01 9.25314320e-01 -3.43891225e-02 -2.37379533e+01] [-8.30561120e-02 3.13942228e-03 9.96539927e-01 -1.02376432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.191193817 meters 0.06851112526090997 Centerline is valid? [True, True] Translation: X:84.78, Y:-23.74, Z:-10.24 [[ 9.20585439e-01 3.83196243e-01 7.53862681e-02 8.47782830e+01] [-3.81671390e-01 9.23662800e-01 -3.42634184e-02 -2.37429300e+01] [-8.27611047e-02 2.76962235e-03 9.96565567e-01 -1.02420572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.221193817 meters 0.06521539604657577 Centerline is valid? [True, True] Translation: X:84.81, Y:-23.74, Z:-10.24 [[ 9.18657205e-01 3.87879461e-01 7.49564076e-02 8.48130236e+01] [-3.86386717e-01 9.21707129e-01 -3.40774478e-02 -2.37420830e+01] [-8.23057974e-02 2.34333269e-03 9.96604367e-01 -1.02424926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.251193817 meters 0.06305391607886962 Centerline is valid? [True, True] Translation: X:84.85, Y:-23.74, Z:-10.25 [[ 9.14819736e-01 3.96906776e-01 7.46315105e-02 8.48481071e+01] [-3.95456365e-01 9.17857651e-01 -3.39351751e-02 -2.37355669e+01] [-8.19702039e-02 1.53106203e-03 9.96633604e-01 -1.02480336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.281193817 meters 0.062155855605236544 Centerline is valid? [True, True] Translation: X:84.88, Y:-23.74, Z:-10.25 [[ 9.12929848e-01 4.01412894e-01 7.36666963e-02 8.48783335e+01] [-4.00014166e-01 9.15896525e-01 -3.34995808e-02 -2.37377653e+01] [-8.09182349e-02 1.11504514e-03 9.96720119e-01 -1.02519497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.311193817 meters 0.061779589846244876 Centerline is valid? [True, True] Translation: X:84.91, Y:-23.74, Z:-10.26 [[ 9.11251616e-01 4.05297318e-01 7.31749745e-02 8.49081308e+01] [-4.03930314e-01 9.14184614e-01 -3.32684902e-02 -2.37415420e+01] [-8.03790656e-02 7.58375035e-04 9.96764080e-01 -1.02562421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.341193817 meters 0.0614393767219315 Centerline is valid? [True, True] Translation: X:84.94, Y:-23.75, Z:-10.26 [[ 9.09791149e-01 4.08553123e-01 7.32421357e-02 8.49369698e+01] [-4.07194723e-01 9.12734425e-01 -3.32915597e-02 -2.37472734e+01] [-8.04519893e-02 4.64555275e-04 9.96758377e-01 -1.02593351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.371193817 meters 0.060883615397014895 Centerline is valid? [True, True] Translation: X:84.97, Y:-23.75, Z:-10.26 [[ 9.08124284e-01 4.11937366e-01 7.49525991e-02 8.49660116e+01] [-4.10526808e-01 9.11212149e-01 -3.40611131e-02 -2.37524879e+01] [-8.23287641e-02 1.61672671e-04 9.96605212e-01 -1.02605006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.401193817 meters 0.06069596920662873 Centerline is valid? [True, True] Translation: X:84.99, Y:-23.76, Z:-10.26 [[ 9.07444670e-01 4.13211437e-01 7.61608799e-02 8.49929068e+01] [-4.11760109e-01 9.10635112e-01 -3.46021191e-02 -2.37626492e+01] [-8.36527627e-02 3.94963178e-05 9.96494964e-01 -1.02629395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43119381700001 meters 0.060846912043065755 Centerline is valid? [True, True] Translation: X:85.02, Y:-23.77, Z:-10.27 [[ 9.07330366e-01 4.13452580e-01 7.62139784e-02 8.50177992e+01] [-4.12000554e-01 9.10525652e-01 -3.46205194e-02 -2.37722246e+01] [-8.37087255e-02 1.20472169e-05 9.96490265e-01 -1.02672486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46119381700001 meters 0.061064887628135105 Centerline is valid? [True, True] Translation: X:85.04, Y:-23.78, Z:-10.27 [[ 9.07575790e-01 4.13228676e-01 7.44865537e-02 8.50436015e+01] [-4.11842309e-01 9.10627290e-01 -3.38208673e-02 -2.37837080e+01] [-8.18052407e-02 1.82860727e-05 9.96648334e-01 -1.02728883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49119381700001 meters 0.06141193621742986 Centerline is valid? [True, True] Translation: X:85.07, Y:-23.80, Z:-10.28 [[ 9.08420236e-01 4.11789621e-01 7.21247684e-02 8.50676699e+01] [-4.10485933e-01 9.11278931e-01 -3.27415599e-02 -2.38001745e+01] [-7.92084163e-02 1.36892734e-04 9.96858068e-01 -1.02784673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.521193817 meters 0.06134775085590771 Centerline is valid? [True, True] Translation: X:85.09, Y:-23.82, Z:-10.28 [[ 9.09070013e-01 4.10209353e-01 7.29383121e-02 8.50917574e+01] [-4.08871564e-01 9.11991345e-01 -3.31033388e-02 -2.38162768e+01] [-8.00984085e-02 2.70850951e-04 9.96786924e-01 -1.02809459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.551193817 meters 0.061337657829582025 Centerline is valid? [True, True] Translation: X:85.12, Y:-23.83, Z:-10.28 [[ 9.09640925e-01 4.08807064e-01 7.36897074e-02 8.51153827e+01] [-4.07437537e-01 9.12620749e-01 -3.34368312e-02 -2.38326124e+01] [-8.09199687e-02 3.91557091e-04 9.96720525e-01 -1.02837857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.581193817 meters 0.061457867080458375 Centerline is valid? [True, True] Translation: X:85.14, Y:-23.85, Z:-10.29 [[ 9.10706837e-01 4.06464434e-01 7.34827867e-02 8.51378359e+01] [-4.05095579e-01 9.13666413e-01 -3.33355291e-02 -2.38531967e+01] [-8.06884611e-02 5.91342220e-04 9.96739195e-01 -1.02866743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.611193817 meters 0.061595089322894855 Centerline is valid? [True, True] Translation: X:85.16, Y:-23.87, Z:-10.29 [[ 9.11236898e-01 4.05385642e-01 7.28683541e-02 8.51625167e+01] [-4.04036763e-01 9.14145517e-01 -3.30494693e-02 -2.38684047e+01] [-8.00100595e-02 6.74401945e-04 9.96793828e-01 -1.02911382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.641193817 meters 0.061595089322894855 Centerline is valid? [True, True] Translation: X:85.19, Y:-23.88, Z:-10.29 [[ 9.11270531e-01 4.05309533e-01 7.28711293e-02 8.51882164e+01] [-4.03960901e-01 9.14179265e-01 -3.30433488e-02 -2.38799432e+01] [-8.00100596e-02 6.74343012e-04 9.96793828e-01 -1.02943752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.671193817 meters 0.06241149057824973 Centerline is valid? [True, True] Translation: X:85.21, Y:-23.90, Z:-10.30 [[ 9.12007979e-01 4.03800280e-01 7.20193055e-02 8.52115280e+01] [-4.02478971e-01 9.14846823e-01 -3.26491620e-02 -2.38961584e+01] [-7.90703736e-02 7.90040231e-04 9.96868723e-01 -1.03024528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.701193817 meters 0.06417575131315446 Centerline is valid? [True, True] Translation: X:85.23, Y:-23.92, Z:-10.31 [[ 9.14484444e-01 3.98410724e-01 7.06193848e-02 8.52321887e+01] [-3.97124688e-01 9.17206296e-01 -3.20092720e-02 -2.39180819e+01] [-7.75253815e-02 1.22728013e-03 9.96989623e-01 -1.03091826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.731193817 meters 0.06385715403335737 Centerline is valid? [True, True] Translation: X:85.26, Y:-23.93, Z:-10.31 [[ 9.15246924e-01 3.96773086e-01 6.99584628e-02 8.52591930e+01] [-3.95506828e-01 9.17915740e-01 -3.17024320e-02 -2.39330037e+01] [-7.67946459e-02 1.34650371e-03 9.97046022e-01 -1.03099396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.761193817 meters 0.06432801626299092 Centerline is valid? [True, True] Translation: X:85.29, Y:-23.95, Z:-10.31 [[ 9.16029873e-01 3.95009048e-01 6.96930728e-02 8.52856415e+01] [-3.93747294e-01 9.18676023e-01 -3.15821677e-02 -2.39477857e+01] [-7.65005970e-02 1.48875025e-03 9.97068424e-01 -1.03133961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.791193817 meters 0.06455365255803887 Centerline is valid? [True, True] Translation: X:85.31, Y:-23.96, Z:-10.32 [[ 9.16512563e-01 3.93796668e-01 7.02061644e-02 8.53127142e+01] [-3.92512684e-01 9.19196181e-01 -3.18146807e-02 -2.39611941e+01] [-7.70617534e-02 1.60174453e-03 9.97025035e-01 -1.03160084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82119381700001 meters 0.0644601842977735 Centerline is valid? [True, True] Translation: X:85.34, Y:-23.97, Z:-10.32 [[ 9.16070676e-01 3.94803464e-01 7.03188555e-02 8.53389151e+01] [-3.93518118e-01 9.18764338e-01 -3.18681905e-02 -2.39722230e+01] [-7.71881287e-02 1.52177118e-03 9.97015385e-01 -1.03196734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85119381700001 meters 0.06412659721672322 Centerline is valid? [True, True] Translation: X:85.37, Y:-23.98, Z:-10.32 [[ 9.15551094e-01 3.96168180e-01 6.94043770e-02 8.53666230e+01] [-3.94920328e-01 9.18176920e-01 -3.14496207e-02 -2.39812931e+01] [-7.61848361e-02 1.38453534e-03 9.97092751e-01 -1.03230198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88119381700001 meters 0.0637244233184016 Centerline is valid? [True, True] Translation: X:85.39, Y:-23.99, Z:-10.33 [[ 9.14698850e-01 3.98157189e-01 6.92594192e-02 8.53945418e+01] [-3.96920746e-01 9.17316406e-01 -3.13772834e-02 -2.39893816e+01] [-7.60258925e-02 1.21026475e-03 9.97105109e-01 -1.03261307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.911193817 meters 0.06247979122610821 Centerline is valid? [True, True] Translation: X:85.42, Y:-23.99, Z:-10.33 [[ 9.12007893e-01 4.04042299e-01 7.06500050e-02 8.54245769e+01] [-4.02773871e-01 9.14740013e-01 -3.19986984e-02 -2.39931066e+01] [-7.75552141e-02 7.27089504e-04 9.96987793e-01 -1.03284706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.941193817 meters 0.06181921126594482 Centerline is valid? [True, True] Translation: X:85.45, Y:-24.00, Z:-10.33 [[ 9.10663577e-01 4.06800784e-01 7.21454855e-02 8.54522188e+01] [-4.05486797e-01 9.13516760e-01 -3.26739429e-02 -2.40011499e+01] [-7.91978957e-02 5.00927925e-04 9.96858788e-01 -1.03302264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.971193817 meters 0.06131991852687095 Centerline is valid? [True, True] Translation: X:85.48, Y:-24.01, Z:-10.33 [[ 9.09183196e-01 4.09866616e-01 7.34525284e-02 8.54796502e+01] [-4.08514992e-01 9.12145440e-01 -3.32595616e-02 -2.40087455e+01] [-8.06313727e-02 2.32575457e-04 9.96743963e-01 -1.03324075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.001193817 meters 0.06077477188053618 Centerline is valid? [True, True] Translation: X:85.51, Y:-24.02, Z:-10.33 [[ 9.08014320e-01 4.12364792e-01 7.39274807e-02 8.55079774e+01] [-4.11004601e-01 9.11018814e-01 -3.34654931e-02 -2.40177861e+01] [-8.11493169e-02 2.61224496e-06 9.96701956e-01 -1.03303127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.031193817 meters 0.06146752720773601 Centerline is valid? [True, True] Translation: X:85.53, Y:-24.02, Z:-10.34 [[ 9.05472548e-01 4.17849827e-01 7.43033420e-02 8.55348609e+01] [-4.16494558e-01 9.08515975e-01 -3.36304430e-02 -2.40242667e+01] [-8.15582480e-02 -4.95494638e-04 9.96668454e-01 -1.03378757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.061193817 meters 0.06088333760253864 Centerline is valid? [True, True] Translation: X:85.56, Y:-24.04, Z:-10.33 [[ 9.04351798e-01 4.20371011e-01 7.37294923e-02 8.55614327e+01] [-4.19046057e-01 9.07352016e-01 -3.33574707e-02 -2.40356205e+01] [-8.09211171e-02 -7.29164451e-04 9.96720242e-01 -1.03344536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.091193817 meters 0.061164248530254324 Centerline is valid? [True, True] Translation: X:85.59, Y:-24.05, Z:-10.34 [[ 9.03422538e-01 4.22390598e-01 7.35792145e-02 8.55876770e+01] [-4.21078907e-01 9.06413445e-01 -3.32749270e-02 -2.40466827e+01] [-8.07482057e-02 -9.21336228e-04 9.96734106e-01 -1.03384655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.121193817 meters 0.06174946257521522 Centerline is valid? [True, True] Translation: X:85.61, Y:-24.06, Z:-10.34 [[ 9.02899098e-01 4.23732785e-01 7.22754837e-02 8.56127580e+01] [-4.22471905e-01 9.05786659e-01 -3.26805367e-02 -2.40579269e+01] [-7.93139837e-02 -1.02713420e-03 9.96849155e-01 -1.03444180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.151193817 meters 0.06266244797801326 Centerline is valid? [True, True] Translation: X:85.64, Y:-24.07, Z:-10.35 [[ 9.01879459e-01 4.25860482e-01 7.25002910e-02 8.56354878e+01] [-4.24599655e-01 9.04788007e-01 -3.27688251e-02 -2.40721272e+01] [-7.95523415e-02 -1.23006832e-03 9.96829931e-01 -1.03526649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18119381700001 meters 0.06254370861324461 Centerline is valid? [True, True] Translation: X:85.66, Y:-24.09, Z:-10.36 [[ 9.01953364e-01 4.25672844e-01 7.26825857e-02 8.56598847e+01] [-4.24406044e-01 9.04876302e-01 -3.28388085e-02 -2.40880123e+01] [-7.97473384e-02 -1.22785487e-03 9.96814353e-01 -1.03560884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21119381700001 meters 0.06204481835757364 Centerline is valid? [True, True] Translation: X:85.68, Y:-24.11, Z:-10.36 [[ 9.02059845e-01 4.25580349e-01 7.18985535e-02 8.56833900e+01] [-4.24340986e-01 9.04919829e-01 -3.24781603e-02 -2.41062008e+01] [-7.88844936e-02 -1.21225886e-03 9.96883026e-01 -1.03564814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24119381700001 meters 0.06203284327370697 Centerline is valid? [True, True] Translation: X:85.70, Y:-24.13, Z:-10.36 [[ 9.02304253e-01 4.25131036e-01 7.14887239e-02 8.57035415e+01] [-4.23904860e-01 9.05131056e-01 -3.22868552e-02 -2.41285760e+01] [-7.84328084e-02 -1.17185079e-03 9.96918714e-01 -1.03601350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.271193817 meters 0.06203459921964385 Centerline is valid? [True, True] Translation: X:85.73, Y:-24.15, Z:-10.36 [[ 9.02664174e-01 4.24329605e-01 7.17061726e-02 8.57257984e+01] [-4.23094103e-01 9.05507121e-01 -3.23764322e-02 -2.41460121e+01] [-7.86687286e-02 -1.11341333e-03 9.96900191e-01 -1.03642924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.301193817 meters 0.0614034093376246 Centerline is valid? [True, True] Translation: X:85.75, Y:-24.17, Z:-10.36 [[ 9.02742392e-01 4.24151348e-01 7.17760914e-02 8.57502502e+01] [-4.22913727e-01 9.05590639e-01 -3.23971441e-02 -2.41655228e+01] [-7.87410488e-02 -1.10881894e-03 9.96894487e-01 -1.03646306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.331193817 meters 0.061438531617524765 Centerline is valid? [True, True] Translation: X:85.77, Y:-24.18, Z:-10.37 [[ 9.02837546e-01 4.23829177e-01 7.24789275e-02 8.57743991e+01] [-4.22566621e-01 9.05741478e-01 -3.27081791e-02 -2.41822712e+01] [-7.95098515e-02 -1.09700338e-03 9.96833477e-01 -1.03688539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.361193817 meters 0.06106784575291115 Centerline is valid? [True, True] Translation: X:85.80, Y:-24.21, Z:-10.37 [[ 9.03496771e-01 4.22440678e-01 7.23702926e-02 8.57985509e+01] [-4.21178008e-01 9.06390045e-01 -3.26522747e-02 -2.42061977e+01] [-7.93893619e-02 -9.79550920e-04 9.96843202e-01 -1.03730920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.391193817 meters 0.06099378828091513 Centerline is valid? [True, True] Translation: X:85.82, Y:-24.23, Z:-10.38 [[ 9.04018416e-01 4.21456042e-01 7.15926560e-02 8.58246661e+01] [-4.20215468e-01 9.06848423e-01 -3.23248931e-02 -2.42256701e+01] [-7.85472087e-02 -8.62042785e-04 9.96910022e-01 -1.03772403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.421193817 meters 0.06094646306969177 Centerline is valid? [True, True] Translation: X:85.85, Y:-24.25, Z:-10.38 [[ 9.04636762e-01 4.20093730e-01 7.17884889e-02 8.58501563e+01] [-4.18839813e-01 9.07480435e-01 -3.24418187e-02 -2.42450601e+01] [-7.87752537e-02 -7.19815420e-04 9.96892141e-01 -1.03821138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.451193817 meters 0.060289217259156314 Centerline is valid? [True, True] Translation: X:85.87, Y:-24.27, Z:-10.38 [[ 9.05129882e-01 4.18704973e-01 7.36616749e-02 8.58741047e+01] [-4.17379236e-01 9.08122117e-01 -3.32985568e-02 -2.42707631e+01] [-8.08360674e-02 -6.05334839e-04 9.96727226e-01 -1.03821769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.481193817 meters 0.060064461477170254 Centerline is valid? [True, True] Translation: X:85.90, Y:-24.29, Z:-10.38 [[ 9.05323935e-01 4.18070092e-01 7.48730279e-02 8.59008320e+01] [-4.16696096e-01 9.08414615e-01 -3.38711006e-02 -2.42894583e+01] [-8.21762470e-02 -5.34980353e-04 9.96617669e-01 -1.03842597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.511193817 meters 0.0597138426788832 Centerline is valid? [True, True] Translation: X:85.93, Y:-24.31, Z:-10.39 [[ 9.05437158e-01 4.17589764e-01 7.61731075e-02 8.59268382e+01] [-4.16163424e-01 9.08635551e-01 -3.44882543e-02 -2.43064326e+01] [-8.36155355e-02 -4.73514223e-04 9.96497977e-01 -1.03862842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.541193817 meters 0.05935820200940947 Centerline is valid? [True, True] Translation: X:85.96, Y:-24.32, Z:-10.39 [[ 9.05261397e-01 4.17919031e-01 7.64557818e-02 8.59553795e+01] [-4.16482507e-01 9.08484142e-01 -3.46249246e-02 -2.43232381e+01] [-8.39292803e-02 -4.97888044e-04 9.96471589e-01 -1.03870240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57119381700001 meters 0.05937457475343011 Centerline is valid? [True, True] Translation: X:85.98, Y:-24.34, Z:-10.39 [[ 9.05423834e-01 4.17166603e-01 7.86111042e-02 8.59817973e+01] [-4.15642156e-01 9.08829938e-01 -3.56334304e-02 -2.43405035e+01] [-8.63092021e-02 -4.10731653e-04 9.96268314e-01 -1.03930235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60119381700001 meters 0.058996579293502716 Centerline is valid? [True, True] Translation: X:86.01, Y:-24.36, Z:-10.39 [[ 9.05498128e-01 4.16955622e-01 7.88742710e-02 8.60089361e+01] [-4.15417867e-01 9.08926771e-01 -3.57787904e-02 -2.43600426e+01] [-8.66091042e-02 -3.68153733e-04 9.96242304e-01 -1.03913130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63119381700001 meters 0.0589302379425917 Centerline is valid? [True, True] Translation: X:86.04, Y:-24.38, Z:-10.40 [[ 9.05749735e-01 4.16367107e-01 7.90939346e-02 8.60350602e+01] [-4.14816172e-01 9.09196541e-01 -3.59053479e-02 -2.43797612e+01] [-8.68617375e-02 -2.88183842e-04 9.96220335e-01 -1.03951802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.661193817 meters 0.05892544065975874 Centerline is valid? [True, True] Translation: X:86.06, Y:-24.40, Z:-10.40 [[ 9.05974537e-01 4.16009421e-01 7.83983393e-02 8.60612832e+01] [-4.14482124e-01 9.09360275e-01 -3.56154373e-02 -2.43983812e+01] [-8.61086928e-02 -2.28030890e-04 9.96285723e-01 -1.03995803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.691193817 meters 0.05885315153931576 Centerline is valid? [True, True] Translation: X:86.09, Y:-24.42, Z:-10.40 [[ 9.06271686e-01 4.15507002e-01 7.76245027e-02 8.60880528e+01] [-4.14005690e-01 9.09589967e-01 -3.52899623e-02 -2.44157508e+01] [-8.52696953e-02 -1.54692144e-04 9.96357895e-01 -1.04022503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.721193817 meters 0.059091426198635305 Centerline is valid? [True, True] Translation: X:86.11, Y:-24.43, Z:-10.41 [[ 9.06408193e-01 4.15390072e-01 7.66503481e-02 8.61136623e+01] [-4.13923793e-01 9.09643377e-01 -3.48714813e-02 -2.44331748e+01] [-8.42097486e-02 -1.19606489e-04 9.96448044e-01 -1.04097568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.751193817 meters 0.05919596917789402 Centerline is valid? [True, True] Translation: X:86.14, Y:-24.45, Z:-10.41 [[ 9.06154944e-01 4.16143196e-01 7.55516872e-02 8.61417819e+01] [-4.14719411e-01 9.09299078e-01 -3.43947253e-02 -2.44487198e+01] [-8.30122104e-02 -1.65800801e-04 9.96548516e-01 -1.04144838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.781193817 meters 0.05940614833181786 Centerline is valid? [True, True] Translation: X:86.17, Y:-24.46, Z:-10.42 [[ 9.05640121e-01 4.17569543e-01 7.38352821e-02 8.61695798e+01] [-4.16212547e-01 9.08644928e-01 -3.36379286e-02 -2.44644865e+01] [-8.11362291e-02 -2.67313116e-04 9.96702985e-01 -1.04194546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.811193817 meters 0.059340293232064766 Centerline is valid? [True, True] Translation: X:86.20, Y:-24.48, Z:-10.42 [[ 9.05016861e-01 4.18906118e-01 7.39063344e-02 8.61984351e+01] [-4.17548998e-01 9.08029477e-01 -3.36942753e-02 -2.44812576e+01] [-8.12238682e-02 -3.65628560e-04 9.96695816e-01 -1.04229740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.841193817 meters 0.059365823809506245 Centerline is valid? [True, True] Translation: X:86.23, Y:-24.50, Z:-10.43 [[ 9.04357794e-01 4.20331808e-01 7.38793018e-02 8.62262841e+01] [-4.18978063e-01 9.07370350e-01 -3.37109786e-02 -2.44995227e+01] [-8.12056846e-02 -4.67020577e-04 9.96697255e-01 -1.04264077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.871193817 meters 0.05950856731749839 Centerline is valid? [True, True] Translation: X:86.25, Y:-24.51, Z:-10.43 [[ 9.03832753e-01 4.21532199e-01 7.34639988e-02 8.62534683e+01] [-4.20195151e-01 9.06813271e-01 -3.35518391e-02 -2.45132641e+01] [-8.07613095e-02 -5.43964971e-04 9.96733322e-01 -1.04322022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.901193817 meters 0.05937804134479146 Centerline is valid? [True, True] Translation: X:86.28, Y:-24.53, Z:-10.43 [[ 9.03045310e-01 4.22948343e-01 7.49924455e-02 8.62825264e+01] [-4.21557398e-01 9.06153556e-01 -3.42796386e-02 -2.45279536e+01] [-8.24531875e-02 -6.57553311e-04 9.96594722e-01 -1.04345546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93119381700001 meters 0.05906379472831527 Centerline is valid? [True, True] Translation: X:86.31, Y:-24.54, Z:-10.43 [[ 9.02449057e-01 4.24117657e-01 7.55639595e-02 8.63112820e+01] [-4.22709284e-01 9.05606771e-01 -3.45432861e-02 -2.45434869e+01] [-8.30816509e-02 -7.68031233e-04 9.96542447e-01 -1.04338025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96119381700001 meters 0.05969702182377592 Centerline is valid? [True, True] Translation: X:86.34, Y:-24.56, Z:-10.44 [[ 9.00566929e-01 4.27850610e-01 7.69614320e-02 8.63399276e+01] [-4.26400890e-01 9.03848785e-01 -3.52087247e-02 -2.45571571e+01] [-8.46255711e-02 -1.10861004e-03 9.96412206e-01 -1.04398118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99119381700001 meters 0.05933386818768859 Centerline is valid? [True, True] Translation: X:86.37, Y:-24.57, Z:-10.44 [[ 8.99776492e-01 4.29310579e-01 7.80685077e-02 8.63679025e+01] [-4.27821687e-01 9.03156076e-01 -3.57450289e-02 -2.45728066e+01] [-8.58537662e-02 -1.23686397e-03 9.96306981e-01 -1.04393266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.021193817 meters 0.0593797557115252 Centerline is valid? [True, True] Translation: X:86.40, Y:-24.59, Z:-10.44 [[ 8.98599166e-01 4.31585748e-01 7.90776898e-02 8.63966933e+01] [-4.30064575e-01 9.02070751e-01 -3.62328761e-02 -2.45881006e+01] [-8.69712640e-02 -1.44968077e-03 9.96209766e-01 -1.04409471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.051193817 meters 0.05964384228805341 Centerline is valid? [True, True] Translation: X:86.43, Y:-24.60, Z:-10.44 [[ 8.97207106e-01 4.34233052e-01 8.03807572e-02 8.64260582e+01] [-4.32669000e-01 9.00798950e-01 -3.68617572e-02 -2.46025658e+01] [-8.84134950e-02 -1.70563131e-03 9.96082399e-01 -1.04425211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.081193817 meters 0.0602524113839584 Centerline is valid? [True, True] Translation: X:86.46, Y:-24.61, Z:-10.44 [[ 8.94543679e-01 4.39220995e-01 8.29248073e-02 8.64557329e+01] [-4.37574387e-01 8.98376264e-01 -3.80623742e-02 -2.46148512e+01] [-9.12154725e-02 -2.23731543e-03 9.95828666e-01 -1.04438525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.111193817 meters 0.060797102038752424 Centerline is valid? [True, True] Translation: X:86.48, Y:-24.63, Z:-10.45 [[ 8.93454950e-01 4.41511911e-01 8.24953553e-02 8.64845905e+01] [-4.39889465e-01 8.97252091e-01 -3.78938442e-02 -2.46268157e+01] [-9.07497136e-02 -2.43239500e-03 9.95870761e-01 -1.04483558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.141193817 meters 0.062378029407803716 Centerline is valid? [True, True] Translation: X:86.51, Y:-24.64, Z:-10.45 [[ 8.91637745e-01 4.45270046e-01 8.19555837e-02 8.65114475e+01] [-4.43681929e-01 8.95392046e-01 -3.76753220e-02 -2.46414654e+01] [-9.01580701e-02 -2.76947226e-03 9.95923618e-01 -1.04547127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.171193817 meters 0.06264616152195268 Centerline is valid? [True, True] Translation: X:86.54, Y:-24.66, Z:-10.46 [[ 8.91580377e-01 4.45560332e-01 8.09964248e-02 8.65382173e+01] [-4.44009599e-01 8.95247668e-01 -3.72436475e-02 -2.46581769e+01] [-8.91061523e-02 -2.75748485e-03 9.96018318e-01 -1.04586273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.201193817 meters 0.06244898416177082 Centerline is valid? [True, True] Translation: X:86.57, Y:-24.68, Z:-10.46 [[ 8.91871825e-01 4.45194180e-01 7.97921656e-02 8.65658155e+01] [-4.43685866e-01 8.95430101e-01 -3.67122055e-02 -2.46767292e+01] [-8.77923671e-02 -2.66007442e-03 9.96135244e-01 -1.04637099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.231193817 meters 0.06172005017244645 Centerline is valid? [True, True] Translation: X:86.59, Y:-24.70, Z:-10.47 [[ 8.92029604e-01 4.45119997e-01 7.84306920e-02 8.65919324e+01] [-4.43659926e-01 8.95467213e-01 -3.61156441e-02 -2.46953075e+01] [-8.63079086e-02 -2.58033136e-03 9.96265169e-01 -1.04676911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.261193817 meters 0.0622462154699624 Centerline is valid? [True, True] Translation: X:86.62, Y:-24.71, Z:-10.48 [[ 8.93478965e-01 4.42473850e-01 7.68910344e-02 8.66162291e+01] [-4.41058590e-01 8.96778573e-01 -3.54332023e-02 -2.47146301e+01] [-8.46324975e-02 -2.25463025e-03 9.96409683e-01 -1.04779426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.291193817 meters 0.0615396017369315 Centerline is valid? [True, True] Translation: X:86.64, Y:-24.74, Z:-10.48 [[ 8.95024489e-01 4.39698442e-01 7.48093854e-02 8.66412541e+01] [-4.38347323e-01 8.98143421e-01 -3.44966706e-02 -2.47362315e+01] [-8.23576896e-02 -1.91712880e-03 9.96600991e-01 -1.04826856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32119381700001 meters 0.06017066801985345 Centerline is valid? [True, True] Translation: X:86.67, Y:-24.76, Z:-10.48 [[ 8.97058436e-01 4.35601546e-01 7.44140859e-02 8.66655544e+01] [-4.34248155e-01 9.00138337e-01 -3.43440445e-02 -2.47617827e+01] [-8.19432904e-02 -1.50556470e-03 9.96635856e-01 -1.04836104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35119381700001 meters 0.05999726694979669 Centerline is valid? [True, True] Translation: X:86.69, Y:-24.78, Z:-10.49 [[ 8.99234856e-01 4.31236828e-01 7.35627036e-02 8.66894974e+01] [-4.29899417e-01 9.02238109e-01 -3.39541709e-02 -2.47831595e+01] [-8.10133636e-02 -1.09178939e-03 9.96712417e-01 -1.04896503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38119381700001 meters 0.05990675131878543 Centerline is valid? [True, True] Translation: X:86.71, Y:-24.82, Z:-10.49 [[ 9.04254919e-01 4.21042709e-01 7.10357537e-02 8.67108991e+01] [-4.19762666e-01 9.07040800e-01 -3.28068623e-02 -2.48154145e+01] [-7.82454171e-02 -1.52390786e-04 9.96934116e-01 -1.04947476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.411193817 meters 0.060652661214700546 Centerline is valid? [True, True] Translation: X:86.73, Y:-24.84, Z:-10.50 [[ 9.06898779e-01 4.15500691e-01 6.99555610e-02 8.67344908e+01] [-4.14240552e-01 9.09592796e-01 -3.23374418e-02 -2.48380904e+01] [-7.70673037e-02 3.48356280e-04 9.97025832e-01 -1.04995859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.441193817 meters 0.0617040025519755 Centerline is valid? [True, True] Translation: X:86.76, Y:-24.86, Z:-10.50 [[ 9.09312098e-01 4.10428334e-01 6.85572115e-02 8.67593411e+01] [-4.09201515e-01 9.11892515e-01 -3.17200419e-02 -2.48612743e+01] [-7.55356119e-02 7.89703084e-04 9.97142792e-01 -1.05030123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.471193817 meters 0.06325966390219259 Centerline is valid? [True, True] Translation: X:86.78, Y:-24.89, Z:-10.50 [[ 9.12968499e-01 4.02123718e-01 6.91739530e-02 8.67815584e+01] [-4.00850881e-01 9.15584127e-01 -3.20043418e-02 -2.48887534e+01] [-7.62042783e-02 1.49051589e-03 9.97091112e-01 -1.05026385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.501193817 meters 0.0647834843802537 Centerline is valid? [True, True] Translation: X:86.81, Y:-24.91, Z:-10.51 [[ 9.14386514e-01 3.98939866e-01 6.88787777e-02 8.68069606e+01] [-3.97667159e-01 9.16975383e-01 -3.18900792e-02 -2.49067483e+01] [-7.58823676e-02 1.76903055e-03 9.97115207e-01 -1.05083040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.531193817 meters 0.06791305804043378 Centerline is valid? [True, True] Translation: X:86.83, Y:-24.93, Z:-10.52 [[ 9.15751729e-01 3.95889486e-01 6.83394906e-02 8.68310727e+01] [-3.94626118e-01 9.18295916e-01 -3.16676137e-02 -2.49257051e+01] [-7.52927504e-02 2.03112407e-03 9.97159404e-01 -1.05176815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.561193817 meters 0.06791305804043378 Centerline is valid? [True, True] Translation: X:86.86, Y:-24.94, Z:-10.52 [[ 9.15632526e-01 3.96165409e-01 6.83377410e-02 8.68602022e+01] [-3.94902526e-01 9.18176954e-01 -3.16713914e-02 -2.49395002e+01] [-7.52932486e-02 2.01260957e-03 9.97159404e-01 -1.05213921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.591193817 meters 0.0696047489655452 Centerline is valid? [True, True] Translation: X:86.89, Y:-24.96, Z:-10.52 [[ 9.16939144e-01 3.93018153e-01 6.89879539e-02 8.68859746e+01] [-3.91720034e-01 9.19527789e-01 -3.20009452e-02 -2.49567940e+01] [-7.60132931e-02 2.31895561e-03 9.97104108e-01 -1.05245049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.621193817 meters 0.06772298627265975 Centerline is valid? [True, True] Translation: X:86.92, Y:-24.97, Z:-10.52 [[ 9.18335522e-01 3.89121376e-01 7.24183927e-02 8.69174562e+01] [-3.87677036e-01 9.21182262e-01 -3.36118469e-02 -2.49691229e+01] [-7.97896269e-02 2.79200513e-03 9.96807815e-01 -1.05168253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.651193817 meters 0.06747688298016113 Centerline is valid? [True, True] Translation: X:86.95, Y:-24.98, Z:-10.52 [[ 9.18600118e-01 3.87979926e-01 7.51358718e-02 8.69474893e+01] [-3.86418383e-01 9.21662840e-01 -3.49062054e-02 -2.49817700e+01] [-8.27928480e-02 3.03096233e-03 9.96562169e-01 -1.05163456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68119381700001 meters 0.06800535140753283 Centerline is valid? [True, True] Translation: X:86.98, Y:-24.99, Z:-10.52 [[ 9.18843676e-01 3.87351909e-01 7.53975948e-02 8.69760031e+01] [-3.85775019e-01 9.21926645e-01 -3.50556181e-02 -2.49937841e+01] [-8.30899122e-02 3.12412441e-03 9.96537158e-01 -1.05187960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71119381700001 meters 0.07016437374168528 Centerline is valid? [True, True] Translation: X:87.00, Y:-25.01, Z:-10.52 [[ 9.18700881e-01 3.87397812e-01 7.68870982e-02 8.70029566e+01] [-3.85755816e-01 9.21907076e-01 -3.57742148e-02 -2.50075705e+01] [-8.47416124e-02 3.20615738e-03 9.96397802e-01 -1.05246603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74119381700001 meters 0.07018402813912664 Centerline is valid? [True, True] Translation: X:87.03, Y:-25.02, Z:-10.53 [[ 9.18445407e-01 3.88034011e-01 7.67309623e-02 8.70333435e+01] [-3.86398794e-01 9.21639623e-01 -3.57264142e-02 -2.50165948e+01] [-8.45813590e-02 3.16400975e-03 9.96411553e-01 -1.05293208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77119381700001 meters 0.06886743138893991 Centerline is valid? [True, True] Translation: X:87.07, Y:-25.02, Z:-10.53 [[ 9.18261768e-01 3.88625287e-01 7.59322891e-02 8.70681352e+01] [-3.87024048e-01 9.21390680e-01 -3.53779829e-02 -2.50181144e+01] [-8.37120822e-02 3.09862719e-03 9.96485166e-01 -1.05332046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.801193817 meters 0.06932434738658692 Centerline is valid? [True, True] Translation: X:87.10, Y:-25.03, Z:-10.54 [[ 9.18223632e-01 3.88979491e-01 7.45675329e-02 8.70978051e+01] [-3.87434252e-01 9.21241409e-01 -3.47701989e-02 -2.50263933e+01] [-8.22195933e-02 3.03680201e-03 9.96609611e-01 -1.05390310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.831193817 meters 0.0691912426913404 Centerline is valid? [True, True] Translation: X:87.13, Y:-25.03, Z:-10.54 [[ 9.18283843e-01 3.88876035e-01 7.43653995e-02 8.71287643e+01] [-3.87336974e-01 9.21285012e-01 -3.46986326e-02 -2.50344254e+01] [-8.20051946e-02 3.05872485e-03 9.96627208e-01 -1.05441295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.861193817 meters 0.07071117678684034 Centerline is valid? [True, True] Translation: X:87.16, Y:-25.05, Z:-10.55 [[ 9.18645471e-01 3.88289759e-01 7.29490306e-02 8.71576425e+01] [-3.86804995e-01 9.21532207e-01 -3.40629914e-02 -2.50456644e+01] [-8.04511919e-02 3.07476342e-03 9.96753807e-01 -1.05505313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.891193817 meters 0.07139616747807 Centerline is valid? [True, True] Translation: X:87.19, Y:-25.06, Z:-10.55 [[ 9.19184333e-01 3.87114197e-01 7.24069089e-02 8.71878040e+01] [-3.85646059e-01 9.22026313e-01 -3.38318635e-02 -2.50571663e+01] [-7.98578700e-02 3.17427981e-03 9.96801206e-01 -1.05543970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.921193817 meters 0.07097138212698001 Centerline is valid? [True, True] Translation: X:87.22, Y:-25.06, Z:-10.56 [[ 9.19612947e-01 3.86389063e-01 7.08203271e-02 8.72200656e+01] [-3.84980698e-01 9.22330381e-01 -3.31139002e-02 -2.50624159e+01] [-7.81145881e-02 3.18751240e-03 9.96939291e-01 -1.05573995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.951193817 meters 0.07057049776317564 Centerline is valid? [True, True] Translation: X:87.25, Y:-25.07, Z:-10.56 [[ 9.19284679e-01 3.87036092e-01 7.15453898e-02 8.72519197e+01] [-3.85598421e-01 9.22059045e-01 -3.34809741e-02 -2.50708789e+01] [-7.89274192e-02 3.19075717e-03 9.96875259e-01 -1.05615161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.981193817 meters 0.07017562963899736 Centerline is valid? [True, True] Translation: X:87.28, Y:-25.08, Z:-10.57 [[ 9.18349708e-01 3.89376582e-01 7.08497803e-02 8.72825385e+01] [-3.87973004e-01 9.21073864e-01 -3.31645099e-02 -2.50776718e+01] [-7.81713645e-02 2.96881580e-03 9.96935516e-01 -1.05669585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.011193817 meters 0.06643005516954725 Centerline is valid? [True, True] Translation: X:87.32, Y:-25.07, Z:-10.57 [[ 9.15890742e-01 3.95212740e-01 7.03636113e-02 8.73188150e+01] [-3.93842977e-01 9.18586261e-01 -3.29695494e-02 -2.50729642e+01] [-7.76650325e-02 2.48429089e-03 9.96976414e-01 -1.05683380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.041193817 meters 0.06491211251121887 Centerline is valid? [True, True] Translation: X:87.35, Y:-25.08, Z:-10.57 [[ 9.14402502e-01 3.98681087e-01 7.01530823e-02 8.73520914e+01] [-3.97330024e-01 9.17087041e-01 -3.28665634e-02 -2.50783079e+01] [-7.74397599e-02 2.17934198e-03 9.96994651e-01 -1.05715922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07119381700001 meters 0.06419925116600309 Centerline is valid? [True, True] Translation: X:87.38, Y:-25.08, Z:-10.58 [[ 9.12603686e-01 4.02743000e-01 7.03746312e-02 8.73828541e+01] [-4.01393909e-01 9.15311216e-01 -3.29895021e-02 -2.50844708e+01] [-7.77009803e-02 1.85839282e-03 9.96974977e-01 -1.05770541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10119381700001 meters 0.06289967772648652 Centerline is valid? [True, True] Translation: X:87.42, Y:-25.08, Z:-10.58 [[ 9.09462815e-01 4.09824888e-01 7.01494838e-02 8.74155187e+01] [-4.08505029e-01 9.12163356e-01 -3.28885083e-02 -2.50844353e+01] [-7.74663177e-02 1.25445842e-03 9.96994181e-01 -1.05839056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13119381700001 meters 0.06221519402815945 Centerline is valid? [True, True] Translation: X:87.45, Y:-25.09, Z:-10.59 [[ 9.07731772e-01 4.13449506e-01 7.12919029e-02 8.74464160e+01] [-4.12097975e-01 9.10526549e-01 -3.34165117e-02 -2.50911940e+01] [-7.87292105e-02 9.53980645e-04 9.96895582e-01 -1.05878517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.161193817 meters 0.06131406127023068 Centerline is valid? [True, True] Translation: X:87.48, Y:-25.10, Z:-10.59 [[ 9.05875084e-01 4.17291061e-01 7.25155348e-02 8.74792790e+01] [-4.15903062e-01 9.08772659e-01 -3.40131994e-02 -2.50975157e+01] [-8.00935395e-02 6.52276923e-04 9.96787138e-01 -1.05894319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.191193817 meters 0.060522060129398786 Centerline is valid? [True, True] Translation: X:87.51, Y:-25.10, Z:-10.59 [[ 9.03787055e-01 4.21442402e-01 7.45336245e-02 8.75115044e+01] [-4.19987072e-01 9.06855113e-01 -3.49951987e-02 -2.51037533e+01] [-8.23396590e-02 3.25048867e-04 9.96604272e-01 -1.05896127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.221193817 meters 0.0601715719580414 Centerline is valid? [True, True] Translation: X:87.55, Y:-25.10, Z:-10.59 [[ 8.99693126e-01 4.29713132e-01 7.68043199e-02 8.75475159e+01] [-4.28197385e-01 9.02965353e-01 -3.60634243e-02 -2.51039996e+01] [-8.48485668e-02 -4.41394001e-04 9.96393760e-01 -1.05901934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.251193817 meters 0.06013332674609019 Centerline is valid? [True, True] Translation: X:87.58, Y:-25.11, Z:-10.59 [[ 8.97563589e-01 4.33937491e-01 7.79606127e-02 8.75801287e+01] [-4.32391291e-01 9.00942579e-01 -3.66093016e-02 -2.51121852e+01] [-8.61241840e-02 -8.50313793e-04 9.96284047e-01 -1.05920485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.281193817 meters 0.060519450138639644 Centerline is valid? [True, True] Translation: X:87.61, Y:-25.12, Z:-10.59 [[ 8.95600591e-01 4.37784318e-01 7.90219768e-02 8.76110606e+01] [-4.36207283e-01 8.99079220e-01 -3.71451480e-02 -2.51192549e+01] [-8.73085806e-02 -1.20274529e-03 9.96180589e-01 -1.05948747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.311193817 meters 0.061040367393416554 Centerline is valid? [True, True] Translation: X:87.64, Y:-25.13, Z:-10.60 [[ 8.93905102e-01 4.41122520e-01 7.96529365e-02 8.76423192e+01] [-4.39532301e-01 8.97445587e-01 -3.74536335e-02 -2.51286618e+01] [-8.80058176e-02 -1.53004440e-03 9.96118786e-01 -1.05988776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.341193817 meters 0.062092946586336364 Centerline is valid? [True, True] Translation: X:87.67, Y:-25.14, Z:-10.61 [[ 8.92522206e-01 4.44255741e-01 7.77235451e-02 8.76718644e+01] [-4.42750715e-01 8.95898279e-01 -3.65797662e-02 -2.51371054e+01] [-8.58831614e-02 -1.76390146e-03 9.96303654e-01 -1.06054262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.371193817 meters 0.06255890454466136 Centerline is valid? [True, True] Translation: X:87.70, Y:-25.15, Z:-10.61 [[ 8.92260489e-01 4.45101809e-01 7.58656685e-02 8.76995069e+01] [-4.43670733e-01 8.95478167e-01 -3.57090029e-02 -2.51490839e+01] [-8.38301915e-02 -1.79764441e-03 9.96478433e-01 -1.06114897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.401193817 meters 0.06281320999372521 Centerline is valid? [True, True] Translation: X:87.73, Y:-25.16, Z:-10.62 [[ 8.91611034e-01 4.46422119e-01 7.57433554e-02 8.77280077e+01] [-4.45000765e-01 8.94820427e-01 -3.56472021e-02 -2.51629003e+01] [-8.36904011e-02 -1.92241234e-03 9.96489950e-01 -1.06165699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43119381700001 meters 0.06339454583870655 Centerline is valid? [True, True] Translation: X:87.76, Y:-25.18, Z:-10.62 [[ 8.90985214e-01 4.47839550e-01 7.47334367e-02 8.77562066e+01] [-4.46458830e-01 8.94111690e-01 -3.51965724e-02 -2.51768251e+01] [-8.25824566e-02 -2.00577712e-03 9.96582217e-01 -1.06218127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46119381700001 meters 0.06420764834556146 Centerline is valid? [True, True] Translation: X:87.78, Y:-25.19, Z:-10.63 [[ 8.90188750e-01 4.49809261e-01 7.23575708e-02 8.77839209e+01] [-4.48519621e-01 8.93122182e-01 -3.41015830e-02 -2.51910894e+01] [-7.99633594e-02 -2.09694463e-03 9.96795598e-01 -1.06282322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49119381700001 meters 0.06560229328363618 Centerline is valid? [True, True] Translation: X:87.81, Y:-25.21, Z:-10.64 [[ 8.88642755e-01 4.53392114e-01 6.89176634e-02 8.78087849e+01] [-4.52230806e-01 8.91308255e-01 -3.25098821e-02 -2.52081951e+01] [-7.61666065e-02 -2.27701930e-03 9.97092505e-01 -1.06366500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52119381700001 meters 0.06681669147353692 Centerline is valid? [True, True] Translation: X:87.84, Y:-25.22, Z:-10.64 [[ 8.87915714e-01 4.55033184e-01 6.74572940e-02 8.78360031e+01] [-4.53925993e-01 8.90471317e-01 -3.18123736e-02 -2.52223611e+01] [-7.45444711e-02 -2.37391278e-03 9.97214865e-01 -1.06435779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.551193817 meters 0.06698876474958597 Centerline is valid? [True, True] Translation: X:87.86, Y:-25.24, Z:-10.65 [[ 8.87203999e-01 4.56586198e-01 6.63182279e-02 8.78633242e+01] [-4.55518425e-01 8.89675842e-01 -3.13027416e-02 -2.52385876e+01] [-7.32941250e-02 -2.43725715e-03 9.97307390e-01 -1.06476650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.581193817 meters 0.06748401340135826 Centerline is valid? [True, True] Translation: X:87.89, Y:-25.26, Z:-10.65 [[ 8.86472050e-01 4.58108319e-01 6.56054278e-02 8.78903171e+01] [-4.57067741e-01 8.88892754e-01 -3.09637202e-02 -2.52560391e+01] [-7.25009272e-02 -2.53765215e-03 9.97365117e-01 -1.06518309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.611193817 meters 0.06779880573940326 Centerline is valid? [True, True] Translation: X:87.91, Y:-25.28, Z:-10.65 [[ 8.85399828e-01 4.60252726e-01 6.50736021e-02 8.79134374e+01] [-4.59232590e-01 8.87783942e-01 -3.07424772e-02 -2.52820531e+01] [-7.19206080e-02 -2.66453484e-03 9.97406801e-01 -1.06544900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.641193817 meters 0.06858306743599477 Centerline is valid? [True, True] Translation: X:87.94, Y:-25.30, Z:-10.66 [[ 8.85302210e-01 4.60556450e-01 6.42475936e-02 8.79381928e+01] [-4.59563030e-01 8.87626440e-01 -3.03500265e-02 -2.53013052e+01] [-7.10057632e-02 -2.65687318e-03 9.97472367e-01 -1.06601201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.671193817 meters 0.06883530494572401 Centerline is valid? [True, True] Translation: X:87.96, Y:-25.32, Z:-10.66 [[ 8.85717057e-01 4.59626463e-01 6.51828877e-02 8.79624439e+01] [-4.58599834e-01 8.88108523e-01 -3.08130490e-02 -2.53214303e+01] [-7.20519708e-02 -2.60121843e-03 9.97397487e-01 -1.06645702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.701193817 meters 0.06573544689690947 Centerline is valid? [True, True] Translation: X:87.98, Y:-25.35, Z:-10.66 [[ 8.87927362e-01 4.54764712e-01 6.90945453e-02 8.79810509e+01] [-4.53593785e-01 8.90608624e-01 -3.26949231e-02 -2.53548563e+01] [-7.64046952e-02 -2.31013948e-03 9.97074213e-01 -1.06617615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.731193817 meters 0.06376712051864876 Centerline is valid? [True, True] Translation: X:88.00, Y:-25.38, Z:-10.66 [[ 8.89446470e-01 4.51527375e-01 7.07672742e-02 8.80043352e+01] [-4.50288875e-01 8.92254836e-01 -3.34848783e-02 -2.53804142e+01] [-7.82617818e-02 -2.08270951e-03 9.96930668e-01 -1.06611996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.761193817 meters 0.06316406911841496 Centerline is valid? [True, True] Translation: X:88.03, Y:-25.40, Z:-10.66 [[ 8.90942949e-01 4.48396126e-01 7.18441096e-02 8.80276602e+01] [-4.47108932e-01 8.93833075e-01 -3.40005264e-02 -2.54023859e+01] [-7.94623458e-02 -1.82961386e-03 9.96836189e-01 -1.06640539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.791193817 meters 0.06230420083090812 Centerline is valid? [True, True] Translation: X:88.05, Y:-25.43, Z:-10.67 [[ 8.92451193e-01 4.45335618e-01 7.21599339e-02 8.80518711e+01] [-4.44027505e-01 8.95362344e-01 -3.41445247e-02 -2.54261518e+01] [-7.98150605e-02 -1.56867356e-03 9.96808455e-01 -1.06664530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82119381700001 meters 0.06175232990398624 Centerline is valid? [True, True] Translation: X:88.08, Y:-25.45, Z:-10.67 [[ 8.93745840e-01 4.42711927e-01 7.22808633e-02 8.80767928e+01] [-4.41388497e-01 8.96662943e-01 -3.42310090e-02 -2.54496307e+01] [-7.99660475e-02 -1.31011973e-03 9.96796727e-01 -1.06692319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85119381700001 meters 0.06170121386456103 Centerline is valid? [True, True] Translation: X:88.10, Y:-25.48, Z:-10.68 [[ 8.96424396e-01 4.37007054e-01 7.38115016e-02 8.80967760e+01] [-4.35606049e-01 8.99457722e-01 -3.49739504e-02 -2.54784090e+01] [-8.16741881e-02 -8.01234208e-04 9.96658761e-01 -1.06751312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88119381700001 meters 0.061517724051488955 Centerline is valid? [True, True] Translation: X:88.12, Y:-25.50, Z:-10.68 [[ 8.97625570e-01 4.34518798e-01 7.39036539e-02 8.81213610e+01] [-4.33106133e-01 9.00662578e-01 -3.50142553e-02 -2.54986488e+01] [-8.17766076e-02 -5.78434870e-04 9.96650516e-01 -1.06784616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.911193817 meters 0.06146122868555487 Centerline is valid? [True, True] Translation: X:88.14, Y:-25.53, Z:-10.68 [[ 9.01042350e-01 4.27591767e-01 7.27183923e-02 8.81431924e+01] [-4.26199982e-01 9.03971945e-01 -3.44717125e-02 -2.55269567e+01] [-8.04752070e-02 6.78953899e-05 9.96756608e-01 -1.06802425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.941193817 meters 0.061747198648044885 Centerline is valid? [True, True] Translation: X:88.17, Y:-25.55, Z:-10.68 [[ 9.02970537e-01 4.23665887e-01 7.17734287e-02 8.81691882e+01] [-4.22295853e-01 9.05818430e-01 -3.40467992e-02 -2.55474852e+01] [-7.94381619e-02 4.33635253e-04 9.96839701e-01 -1.06825017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.971193817 meters 0.06287398531085416 Centerline is valid? [True, True] Translation: X:88.19, Y:-25.57, Z:-10.69 [[ 9.05330621e-01 4.18921090e-01 6.98683495e-02 8.81929823e+01] [-4.17606155e-01 9.08022237e-01 -3.31770536e-02 -2.55674216e+01] [-7.73405824e-02 8.58749780e-04 9.97004362e-01 -1.06885506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.001193817 meters 0.06416629018820716 Centerline is valid? [True, True] Translation: X:88.22, Y:-25.59, Z:-10.69 [[ 9.07644461e-01 4.14066621e-01 6.87776578e-02 8.82182344e+01] [-4.12778401e-01 9.10245714e-01 -3.26608579e-02 -2.55880336e+01] [-7.61283393e-02 1.25451515e-03 9.97097238e-01 -1.06928644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.031193817 meters 0.06897210433545067 Centerline is valid? [True, True] Translation: X:88.24, Y:-25.62, Z:-10.70 [[ 9.12682284e-01 4.02763278e-01 6.92299833e-02 8.82370454e+01] [-4.01424921e-01 9.15301488e-01 -3.28819031e-02 -2.56171985e+01] [-7.66099298e-02 2.22008985e-03 9.97058669e-01 -1.06974611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.061193817 meters 0.0695662065878898 Centerline is valid? [True, True] Translation: X:88.26, Y:-25.63, Z:-10.70 [[ 9.14697223e-01 3.97905829e-01 7.07102625e-02 8.82645488e+01] [-3.96494264e-01 9.17422313e-01 -3.35946098e-02 -2.56349786e+01] [-7.82386637e-02 2.69268279e-03 9.96931021e-01 -1.06964638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.091193817 meters 0.07110156584261751 Centerline is valid? [True, True] Translation: X:88.29, Y:-25.65, Z:-10.70 [[ 9.16114060e-01 3.94516358e-01 7.13573633e-02 8.82914658e+01] [-3.93067956e-01 9.18883967e-01 -3.39092564e-02 -2.56525736e+01] [-7.89468934e-02 3.01645358e-03 9.96874259e-01 -1.06988678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.121193817 meters 0.07265686742839646 Centerline is valid? [True, True] Translation: X:88.32, Y:-25.67, Z:-10.70 [[ 9.17375649e-01 3.91596597e-01 7.12321783e-02 8.83189310e+01] [-3.90143920e-01 9.20131197e-01 -3.38570912e-02 -2.56688888e+01] [-7.88012712e-02 3.26886976e-03 9.96884985e-01 -1.07030697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.151193817 meters 0.072778103435808 Centerline is valid? [True, True] Translation: X:88.35, Y:-25.68, Z:-10.71 [[ 9.19208425e-01 3.87884821e-01 6.78324213e-02 8.83477211e+01] [-3.86557809e-01 9.21701533e-01 -3.22388571e-02 -2.56806746e+01] [-7.50262100e-02 3.41307689e-03 9.97175721e-01 -1.07070688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18119381700001 meters 0.07602183418165867 Centerline is valid? [True, True] Translation: X:88.37, Y:-25.70, Z:-10.72 [[ 9.19526913e-01 3.87248048e-01 6.71506222e-02 8.83731179e+01] [-3.85944453e-01 9.21969120e-01 -3.19346420e-02 -2.56969783e+01] [-7.42774279e-02 3.44835263e-03 9.97231654e-01 -1.07157283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21119381700001 meters 0.07358020673807912 Centerline is valid? [True, True] Translation: X:88.41, Y:-25.70, Z:-10.72 [[ 9.19336855e-01 3.87634089e-01 6.75245125e-02 8.84056612e+01] [-3.86314684e-01 9.21806819e-01 -3.21426840e-02 -2.57047884e+01] [-7.47041561e-02 3.46424331e-03 9.97199723e-01 -1.07166612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24119381700001 meters 0.0720168741105547 Centerline is valid? [True, True] Translation: X:88.44, Y:-25.71, Z:-10.72 [[ 9.17033300e-01 3.93052367e-01 6.75260282e-02 8.84369923e+01] [-3.91746574e-01 9.19511080e-01 -3.21557970e-02 -2.57077898e+01] [-7.47298433e-02 3.03484640e-03 9.97199198e-01 -1.07228815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27119381700001 meters 0.07036976277475632 Centerline is valid? [True, True] Translation: X:88.47, Y:-25.71, Z:-10.73 [[ 9.15246674e-01 3.97344914e-01 6.66374157e-02 8.84685925e+01] [-3.96084558e-01 9.17665514e-01 -3.17336768e-02 -2.57136846e+01] [-7.37600735e-02 2.65009077e-03 9.97272495e-01 -1.07273101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.301193817 meters 0.0689025646041624 Centerline is valid? [True, True] Translation: X:88.50, Y:-25.72, Z:-10.73 [[ 9.13362811e-01 4.01613558e-01 6.68948805e-02 8.85006509e+01] [-4.00354567e-01 9.15806299e-01 -3.18597297e-02 -2.57190648e+01] [-7.40580523e-02 2.31782139e-03 9.97251238e-01 -1.07312123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.331193817 meters 0.06771101578139564 Centerline is valid? [True, True] Translation: X:88.53, Y:-25.72, Z:-10.74 [[ 9.11551792e-01 4.05758072e-01 6.65861606e-02 8.85312794e+01] [-4.04521386e-01 9.13978382e-01 -3.17169725e-02 -2.57238314e+01] [-7.37277289e-02 1.97613713e-03 9.97276450e-01 -1.07359109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.361193817 meters 0.06591796478476321 Centerline is valid? [True, True] Translation: X:88.57, Y:-25.72, Z:-10.74 [[ 9.09541084e-01 4.10263448e-01 6.64749503e-02 8.85660257e+01] [-4.09042889e-01 9.11965633e-01 -3.16638385e-02 -2.57239534e+01] [-7.36133857e-02 1.60845627e-03 9.97285557e-01 -1.07394077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.391193817 meters 0.0654066718495985 Centerline is valid? [True, True] Translation: X:88.60, Y:-25.73, Z:-10.74 [[ 9.08960267e-01 4.11323948e-01 6.78516211e-02 8.85976950e+01] [-4.10054915e-01 9.11487896e-01 -3.23230894e-02 -2.57332108e+01] [-7.51411921e-02 1.55751321e-03 9.97171688e-01 -1.07422160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.421193817 meters 0.06559396222352838 Centerline is valid? [True, True] Translation: X:88.63, Y:-25.74, Z:-10.75 [[ 9.08873190e-01 4.11454966e-01 6.82226948e-02 8.86275263e+01] [-4.10172293e-01 9.11428763e-01 -3.25007675e-02 -2.57434882e+01] [-7.55527285e-02 1.55601706e-03 9.97140594e-01 -1.07462258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.451193817 meters 0.06463022884981322 Centerline is valid? [True, True] Translation: X:88.66, Y:-25.75, Z:-10.75 [[ 9.08569255e-01 4.11977113e-01 6.91141652e-02 8.86589576e+01] [-4.10660325e-01 9.11192868e-01 -3.29492726e-02 -2.57525178e+01] [-7.65506807e-02 1.55425051e-03 9.97064480e-01 -1.07457837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.481193817 meters 0.06463022884981322 Centerline is valid? [True, True] Translation: X:88.69, Y:-25.77, Z:-10.75 [[ 9.08433854e-01 4.12277073e-01 6.91053329e-02 8.86879391e+01] [-4.10959744e-01 9.11057196e-01 -3.29677837e-02 -2.57666108e+01] [-7.65507722e-02 1.54954087e-03 9.97064480e-01 -1.07494988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.511193817 meters 0.0653766473715892 Centerline is valid? [True, True] Translation: X:88.72, Y:-25.78, Z:-10.76 [[ 9.08158197e-01 4.12432192e-01 7.17521837e-02 8.87166177e+01] [-4.11008999e-01 9.10986837e-01 -3.42722279e-02 -2.57773188e+01] [-7.95002649e-02 1.63381154e-03 9.96833506e-01 -1.07552108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.541193817 meters 0.06352795686393067 Centerline is valid? [True, True] Translation: X:88.75, Y:-25.78, Z:-10.75 [[ 9.07746423e-01 4.13162163e-01 7.27561580e-02 8.87494153e+01] [-4.11701587e-01 9.10656087e-01 -3.47461405e-02 -2.57833832e+01] [-8.06116287e-02 1.58685912e-03 9.96744324e-01 -1.07530873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57119381700001 meters 0.06298407541313884 Centerline is valid? [True, True] Translation: X:88.78, Y:-25.79, Z:-10.76 [[ 9.06847389e-01 4.15011192e-01 7.34406187e-02 8.87833911e+01] [-4.13526812e-01 9.09815134e-01 -3.50998248e-02 -2.57873927e+01] [-8.13842064e-02 1.46051954e-03 9.96681733e-01 -1.07556605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60119381700001 meters 0.06338131814975045 Centerline is valid? [True, True] Translation: X:88.81, Y:-25.80, Z:-10.76 [[ 9.06485863e-01 4.15878945e-01 7.29937167e-02 8.88134062e+01] [-4.14413340e-01 9.09418908e-01 -3.49117981e-02 -2.57969875e+01] [-8.09009479e-02 1.39748154e-03 9.96721166e-01 -1.07624858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63119381700001 meters 0.06289780001293699 Centerline is valid? [True, True] Translation: X:88.85, Y:-25.80, Z:-10.77 [[ 9.05672662e-01 4.17514792e-01 7.37456931e-02 8.88459370e+01] [-4.16021212e-01 9.08669200e-01 -3.53077413e-02 -2.58042313e+01] [-8.17519442e-02 1.29748347e-03 9.96651863e-01 -1.07665409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.661193817 meters 0.06259157286599341 Centerline is valid? [True, True] Translation: X:88.88, Y:-25.81, Z:-10.77 [[ 9.05206528e-01 4.18739467e-01 7.25148256e-02 8.88781540e+01] [-4.17299188e-01 9.08105662e-01 -3.47202269e-02 -2.58105689e+01] [-8.03898530e-02 1.16859821e-03 9.96762813e-01 -1.07709710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.691193817 meters 0.06267846121602882 Centerline is valid? [True, True] Translation: X:88.91, Y:-25.81, Z:-10.78 [[ 9.03942583e-01 4.21725663e-01 7.09596530e-02 8.89108194e+01] [-4.20353782e-01 9.06723024e-01 -3.40008014e-02 -2.58136552e+01] [-7.86797617e-02 9.06613718e-04 9.96899530e-01 -1.07791239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.721193817 meters 0.06281549033268749 Centerline is valid? [True, True] Translation: X:88.94, Y:-25.82, Z:-10.78 [[ 9.03453743e-01 4.23028292e-01 6.94146844e-02 8.89400201e+01] [-4.21717730e-01 9.06116124e-01 -3.32825091e-02 -2.58237278e+01] [-7.69772078e-02 7.95804289e-04 9.97032535e-01 -1.07844248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.751193817 meters 0.06277972145109459 Centerline is valid? [True, True] Translation: X:88.97, Y:-25.83, Z:-10.79 [[ 9.02376029e-01 4.25589591e-01 6.77569385e-02 8.89717118e+01] [-4.24346565e-01 9.04916107e-01 -3.25089598e-02 -2.58289957e+01] [-7.51498199e-02 5.82881948e-04 9.97172084e-01 -1.07905115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.781193817 meters 0.06277332412719668 Centerline is valid? [True, True] Translation: X:89.00, Y:-25.84, Z:-10.80 [[ 9.01798699e-01 4.26872967e-01 6.73689545e-02 8.90031366e+01] [-4.25646333e-01 9.04311467e-01 -3.23414526e-02 -2.58382444e+01] [-7.47282100e-02 4.90131441e-04 9.97203818e-01 -1.07957692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.811193817 meters 0.062227912819555885 Centerline is valid? [True, True] Translation: X:89.04, Y:-25.85, Z:-10.80 [[ 9.00705935e-01 4.29191032e-01 6.72597719e-02 8.90354201e+01] [-4.27972898e-01 9.03213682e-01 -3.23147463e-02 -2.58476353e+01] [-7.46191455e-02 3.20724299e-04 9.97212054e-01 -1.07983463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.841193817 meters 0.06249044335871538 Centerline is valid? [True, True] Translation: X:89.06, Y:-25.86, Z:-10.81 [[ 8.99935444e-01 4.30755244e-01 6.75730461e-02 8.90643010e+01] [-4.29527871e-01 9.02468765e-01 -3.24951645e-02 -2.58582038e+01] [-7.49800259e-02 2.19043661e-04 9.97185012e-01 -1.08053377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.871193817 meters 0.0621788350526316 Centerline is valid? [True, True] Translation: X:89.10, Y:-25.87, Z:-10.81 [[ 8.97866501e-01 4.35057155e-01 6.75353186e-02 8.90959211e+01] [-4.33841747e-01 9.00402831e-01 -3.24973984e-02 -2.58665982e+01] [-7.49472177e-02 -1.21315242e-04 9.97187495e-01 -1.08085221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.901193817 meters 0.06192215790682774 Centerline is valid? [True, True] Translation: X:89.13, Y:-25.88, Z:-10.81 [[ 8.97021518e-01 4.36830852e-01 6.73142143e-02 8.91263086e+01] [-4.35626696e-01 8.99543631e-01 -3.24135246e-02 -2.58796048e+01] [-7.47113003e-02 -2.48239757e-04 9.97205174e-01 -1.08095398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93119381700001 meters 0.061982248255957835 Centerline is valid? [True, True] Translation: X:89.16, Y:-25.89, Z:-10.81 [[ 8.96486337e-01 4.37974295e-01 6.70131690e-02 8.91550942e+01] [-4.36781996e-01 8.98987440e-01 -3.22966243e-02 -2.58929014e+01] [-7.43890885e-02 -3.16663259e-04 9.97229243e-01 -1.08143125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96119381700001 meters 0.062096823068464244 Centerline is valid? [True, True] Translation: X:89.18, Y:-25.91, Z:-10.82 [[ 8.95775718e-01 4.39289671e-01 6.79002793e-02 8.91824264e+01] [-4.38067465e-01 8.98345378e-01 -3.27487197e-02 -2.59064086e+01] [-7.53840763e-02 -4.09395357e-04 9.97154488e-01 -1.08184713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99119381700001 meters 0.061478968604874056 Centerline is valid? [True, True] Translation: X:89.21, Y:-25.92, Z:-10.82 [[ 8.95606566e-01 4.39327511e-01 6.98585474e-02 8.92107428e+01] [-4.38032089e-01 8.98326875e-01 -3.37151995e-02 -2.59218418e+01] [-7.75678252e-02 -4.04731358e-04 9.96986995e-01 -1.08184663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02119381700001 meters 0.06149062266944329 Centerline is valid? [True, True] Translation: X:89.24, Y:-25.94, Z:-10.82 [[ 8.95444890e-01 4.39437597e-01 7.12253252e-02 8.92389427e+01] [-4.38089219e-01 8.98273031e-01 -3.44005410e-02 -2.59351327e+01] [-7.90966799e-02 -3.99258469e-04 9.96866870e-01 -1.08222200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.051193817 meters 0.061037412631826465 Centerline is valid? [True, True] Translation: X:89.27, Y:-25.95, Z:-10.82 [[ 8.95097017e-01 4.39988762e-01 7.21887820e-02 8.92688973e+01] [-4.38603078e-01 8.98003177e-01 -3.48946065e-02 -2.59484016e+01] [-8.01789903e-02 -4.28163773e-04 9.96780390e-01 -1.08230680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.081193817 meters 0.06129046186941169 Centerline is valid? [True, True] Translation: X:89.30, Y:-25.96, Z:-10.83 [[ 8.95225606e-01 4.39593262e-01 7.29991686e-02 8.92969855e+01] [-4.38174657e-01 8.98196865e-01 -3.52896733e-02 -2.59613544e+01] [-8.10807269e-02 -3.94166521e-04 9.96707460e-01 -1.08295627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.111193817 meters 0.06119478589539324 Centerline is valid? [True, True] Translation: X:89.33, Y:-25.98, Z:-10.83 [[ 8.95928412e-01 4.38206010e-01 7.27170847e-02 8.93259229e+01] [-4.36792079e-01 8.98874536e-01 -3.51745440e-02 -2.59769806e+01] [-8.07772323e-02 -2.48373223e-04 9.96732149e-01 -1.08335739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.141193817 meters 0.06061785630853156 Centerline is valid? [True, True] Translation: X:89.35, Y:-25.99, Z:-10.83 [[ 8.96589317e-01 4.36929631e-01 7.22502207e-02 8.93546757e+01] [-4.35526957e-01 8.99495685e-01 -3.49826055e-02 -2.59926968e+01] [-8.02736987e-02 -1.01888337e-04 9.96772854e-01 -1.08310864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.171193817 meters 0.0609894061691394 Centerline is valid? [True, True] Translation: X:89.38, Y:-26.01, Z:-10.84 [[ 8.97370799e-01 4.35192011e-01 7.30312377e-02 8.93814458e+01] [-4.33752763e-01 9.00337665e-01 -3.53642488e-02 -2.60074924e+01] [-8.11430126e-02 5.73430453e-05 9.96702467e-01 -1.08365603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.201193817 meters 0.06120928812056853 Centerline is valid? [True, True] Translation: X:89.41, Y:-26.02, Z:-10.84 [[ 8.98115349e-01 4.33268241e-01 7.52824837e-02 8.94084394e+01] [-4.31729690e-01 9.01264979e-01 -3.64816708e-02 -2.60234235e+01] [-8.36558154e-02 2.63065171e-04 9.96494674e-01 -1.08398364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.231193817 meters 0.06125502608386955 Centerline is valid? [True, True] Translation: X:89.44, Y:-26.04, Z:-10.84 [[ 8.99013548e-01 4.31101490e-01 7.69814569e-02 8.94355859e+01] [-4.29482494e-01 9.02303307e-01 -3.73300200e-02 -2.60397323e+01] [-8.55536504e-02 4.98005666e-04 9.96333441e-01 -1.08410870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.261193817 meters 0.061522622278786916 Centerline is valid? [True, True] Translation: X:89.46, Y:-26.06, Z:-10.84 [[ 9.01635300e-01 4.25442543e-01 7.77973518e-02 8.94629942e+01] [-4.23765937e-01 9.04984808e-01 -3.77482060e-02 -2.60572144e+01] [-8.64651143e-02 1.06724737e-03 9.96254307e-01 -1.08393076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.291193817 meters 0.06243298985215846 Centerline is valid? [True, True] Translation: X:89.49, Y:-26.07, Z:-10.84 [[ 9.02986738e-01 4.22723815e-01 7.69384588e-02 8.94910886e+01] [-4.21071977e-01 9.06257573e-01 -3.73577471e-02 -2.60726535e+01] [-8.55180703e-02 1.33692125e-03 9.96335723e-01 -1.08448350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32119381700001 meters 0.06417397600208997 Centerline is valid? [True, True] Translation: X:89.52, Y:-26.09, Z:-10.85 [[ 9.04578552e-01 4.19372786e-01 7.65774787e-02 8.95167887e+01] [-4.17721797e-01 9.07812570e-01 -3.72134117e-02 -2.60894575e+01] [-8.51242899e-02 1.67437208e-03 9.96368934e-01 -1.08526966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35119381700001 meters 0.06433295253423607 Centerline is valid? [True, True] Translation: X:89.55, Y:-26.10, Z:-10.85 [[ 9.06425255e-01 4.15330148e-01 7.67732104e-02 8.95456874e+01] [-4.13654867e-01 9.09668383e-01 -3.73240389e-02 -2.61046963e+01] [-8.53399608e-02 2.07383939e-03 9.96349733e-01 -1.08531172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38119381700001 meters 0.06964373114558155 Centerline is valid? [True, True] Translation: X:89.57, Y:-26.13, Z:-10.86 [[ 9.11254020e-01 4.04590800e-01 7.69571067e-02 8.95668223e+01] [-4.02868198e-01 9.14492581e-01 -3.74237104e-02 -2.61293790e+01] [-8.55179921e-02 3.09893565e-03 9.96331807e-01 -1.08582462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.411193817 meters 0.07147713186505557 Centerline is valid? [True, True] Translation: X:89.59, Y:-26.15, Z:-10.86 [[ 9.13267506e-01 3.99624797e-01 7.90093916e-02 8.95936322e+01] [-3.97790356e-01 9.16671494e-01 -3.84214254e-02 -2.61463605e+01] [-8.77798113e-02 3.65986534e-03 9.96133179e-01 -1.08592517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.441193817 meters 0.0748695762511165 Centerline is valid? [True, True] Translation: X:89.62, Y:-26.16, Z:-10.86 [[ 9.14973091e-01 3.95616939e-01 7.94448252e-02 8.96184928e+01] [-3.93746700e-01 9.18406588e-01 -3.86377399e-02 -2.61640234e+01] [-8.82483953e-02 4.07135461e-03 9.96090179e-01 -1.08627136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.471193817 meters 0.07677100423679634 Centerline is valid? [True, True] Translation: X:89.65, Y:-26.17, Z:-10.87 [[ 9.17962112e-01 3.89040418e-01 7.74152111e-02 8.96474690e+01] [-3.87241196e-01 9.21209274e-01 -3.76527357e-02 -2.61741314e+01] [-8.59640464e-02 4.58542579e-03 9.96287688e-01 -1.08661033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.501193817 meters 0.07932727661842598 Centerline is valid? [True, True] Translation: X:89.67, Y:-26.19, Z:-10.87 [[ 9.18876439e-01 3.87274340e-01 7.53967807e-02 8.96742416e+01] [-3.85561861e-01 9.21952912e-01 -3.66725950e-02 -2.61859100e+01] [-8.37146366e-02 4.62746046e-03 9.96479024e-01 -1.08729228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.531193817 meters 0.07893057688223641 Centerline is valid? [True, True] Translation: X:89.71, Y:-26.19, Z:-10.88 [[ 9.18761868e-01 3.87684201e-01 7.46832704e-02 8.97055524e+01] [-3.86006213e-01 9.21781087e-01 -3.63157077e-02 -2.61949290e+01] [-8.29206524e-02 4.53728107e-03 9.96545824e-01 -1.08778344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.561193817 meters 0.07835517073770416 Centerline is valid? [True, True] Translation: X:89.74, Y:-26.20, Z:-10.88 [[ 9.18817533e-01 3.87683337e-01 7.39998067e-02 8.97375039e+01] [-3.86033881e-01 9.21781540e-01 -3.60088178e-02 -2.62021177e+01] [-8.21716744e-02 4.51910062e-03 9.96607944e-01 -1.08811367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.591193817 meters 0.07691792603369703 Centerline is valid? [True, True] Translation: X:89.77, Y:-26.20, Z:-10.89 [[ 9.17648112e-01 3.90278304e-01 7.48651317e-02 8.97715492e+01] [-3.88595537e-01 9.20686561e-01 -3.64659525e-02 -2.62026815e+01] [-8.31591907e-02 4.37065641e-03 9.96526691e-01 -1.08850686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.621193817 meters 0.07636783141186435 Centerline is valid? [True, True] Translation: X:89.80, Y:-26.21, Z:-10.89 [[ 9.17178805e-01 3.91749433e-01 7.29069362e-02 8.98041802e+01] [-3.90158923e-01 9.20062723e-01 -3.55049273e-02 -2.62102444e+01] [-8.09879895e-02 4.11907504e-03 9.96706566e-01 -1.08897544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.651193817 meters 0.07563561109001737 Centerline is valid? [True, True] Translation: X:89.84, Y:-26.22, Z:-10.89 [[ 9.16400065e-01 3.93907429e-01 7.10482856e-02 8.98362168e+01] [-3.92401174e-01 9.19142030e-01 -3.46301497e-02 -2.62164755e+01] [-7.89445387e-02 3.85564080e-03 9.96871553e-01 -1.08949228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68119381700001 meters 0.07488986281595887 Centerline is valid? [True, True] Translation: X:89.87, Y:-26.22, Z:-10.90 [[ 9.15018390e-01 3.97217411e-01 7.04249593e-02 8.98707931e+01] [-3.95744465e-01 9.17717588e-01 -3.43619970e-02 -2.62150098e+01] [-7.82794073e-02 3.57157134e-03 9.96925062e-01 -1.09015236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71119381700001 meters 0.07401270281111041 Centerline is valid? [True, True] Translation: X:89.90, Y:-26.22, Z:-10.91 [[ 9.14111922e-01 3.99352657e-01 7.01202534e-02 8.99034958e+01] [-3.97899202e-01 9.16791203e-01 -3.42069390e-02 -2.62203671e+01] [-7.79462635e-02 3.36817791e-03 9.96951872e-01 -1.09054452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74119381700001 meters 0.07421130048159119 Centerline is valid? [True, True] Translation: X:89.94, Y:-26.23, Z:-10.91 [[ 9.13543926e-01 4.00842537e-01 6.90127207e-02 8.99352564e+01] [-3.99437057e-01 9.16141334e-01 -3.36911629e-02 -2.62275471e+01] [-7.67302572e-02 3.21211921e-03 9.97046714e-01 -1.09110251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77119381700001 meters 0.07376247322793289 Centerline is valid? [True, True] Translation: X:89.97, Y:-26.23, Z:-10.92 [[ 9.12700328e-01 4.02884792e-01 6.82785164e-02 8.99674172e+01] [-4.01512965e-01 9.15245685e-01 -3.33567905e-02 -2.62339590e+01] [-7.59305611e-02 3.03004406e-03 9.97108504e-01 -1.09157782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.801193817 meters 0.07532020766337559 Centerline is valid? [True, True] Translation: X:90.00, Y:-26.24, Z:-10.92 [[ 9.12167816e-01 4.04038620e-01 6.85760121e-02 8.99990896e+01] [-4.02656079e-01 9.14737104e-01 -3.35277813e-02 -2.62383671e+01] [-7.62755412e-02 2.97041485e-03 9.97082353e-01 -1.09229326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.831193817 meters 0.07371767184014108 Centerline is valid? [True, True] Translation: X:90.03, Y:-26.24, Z:-10.92 [[ 9.12254217e-01 4.03909498e-01 6.81862229e-02 9.00314730e+01] [-4.02540691e-01 9.14794084e-01 -3.33582889e-02 -2.62446388e+01] [-7.58500831e-02 2.98351044e-03 9.97114770e-01 -1.09235407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.861193817 meters 0.0751428015767083 Centerline is valid? [True, True] Translation: X:90.06, Y:-26.25, Z:-10.93 [[ 9.12395403e-01 4.03552351e-01 6.84114666e-02 9.00609694e+01] [-4.02171521e-01 9.14951484e-01 -3.34940236e-02 -2.62546810e+01] [-7.61097648e-02 3.04664962e-03 9.97094791e-01 -1.09289094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.891193817 meters 0.07610407471593932 Centerline is valid? [True, True] Translation: X:90.09, Y:-26.26, Z:-10.93 [[ 9.12432819e-01 4.03421365e-01 6.86844424e-02 9.00910518e+01] [-4.02027485e-01 9.15009103e-01 -3.36488060e-02 -2.62648503e+01] [-7.64215373e-02 3.08924131e-03 9.97070813e-01 -1.09336691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.921193817 meters 0.07474647033215824 Centerline is valid? [True, True] Translation: X:90.12, Y:-26.27, Z:-10.93 [[ 9.12230554e-01 4.03825305e-01 6.89966669e-02 9.01249345e+01] [-4.02416921e-01 9.14830851e-01 -3.38398516e-02 -2.62650647e+01] [-7.67856679e-02 3.10432031e-03 9.97042790e-01 -1.09348276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.951193817 meters 0.0749130778192855 Centerline is valid? [True, True] Translation: X:90.15, Y:-26.27, Z:-10.94 [[ 9.11350889e-01 4.05575618e-01 7.03418378e-02 9.01531335e+01] [-4.04116753e-01 9.14056519e-01 -3.45011673e-02 -2.62733274e+01] [-7.82892477e-02 3.01635438e-03 9.96926123e-01 -1.09385065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.981193817 meters 0.07099929996923804 Centerline is valid? [True, True] Translation: X:90.19, Y:-26.27, Z:-10.94 [[ 9.10180752e-01 4.07980666e-01 7.15735646e-02 9.01863816e+01] [-4.06477850e-01 9.12986101e-01 -3.51018108e-02 -2.62744226e+01] [-7.96665298e-02 2.85592394e-03 9.96817480e-01 -1.09352978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.011193817 meters 0.06784858165860577 Centerline is valid? [True, True] Translation: X:90.22, Y:-26.27, Z:-10.94 [[ 9.06039821e-01 4.16985370e-01 7.22152539e-02 9.02219292e+01] [-4.15484190e-01 9.08910817e-01 -3.54120773e-02 -2.62692155e+01] [-8.04035435e-02 2.08045597e-03 9.96760223e-01 -1.09384999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.041193817 meters 0.06636864881870748 Centerline is valid? [True, True] Translation: X:90.25, Y:-26.27, Z:-10.94 [[ 9.03538508e-01 4.22461414e-01 7.17253014e-02 9.02525756e+01] [-4.20997577e-01 9.06379524e-01 -3.51738243e-02 -2.62727074e+01] [-7.98699282e-02 1.58472660e-03 9.96804035e-01 -1.09420576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07119381700001 meters 0.06545135415258549 Centerline is valid? [True, True] Translation: X:90.28, Y:-26.28, Z:-10.95 [[ 9.01428727e-01 4.27092630e-01 7.08388052e-02 9.02823901e+01] [-4.25680124e-01 9.04207149e-01 -3.47255514e-02 -2.62772019e+01] [-7.88839811e-02 1.14793817e-03 9.96883142e-01 -1.09467533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10119381700001 meters 0.06424523215114647 Centerline is valid? [True, True] Translation: X:90.31, Y:-26.28, Z:-10.95 [[ 8.99241782e-01 4.31706327e-01 7.06672801e-02 9.03123419e+01] [-4.30315394e-01 9.02013917e-01 -3.46346117e-02 -2.62825639e+01] [-7.86948511e-02 7.35671547e-04 9.96898480e-01 -1.09480152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13119381700001 meters 0.0636700360445872 Centerline is valid? [True, True] Translation: X:90.34, Y:-26.29, Z:-10.95 [[ 8.97360986e-01 4.35726290e-01 6.98989299e-02 9.03411186e+01] [-4.34377372e-01 9.00079138e-01 -3.42614134e-02 -2.62860660e+01] [-7.78431671e-02 3.82342213e-04 9.96965544e-01 -1.09508922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.161193817 meters 0.06430712342355749 Centerline is valid? [True, True] Translation: X:90.37, Y:-26.30, Z:-10.96 [[ 8.97157766e-01 4.36183089e-01 6.96581352e-02 9.03660195e+01] [-4.34847921e-01 8.99857888e-01 -3.41037586e-02 -2.62964355e+01] [-7.75579052e-02 3.05756647e-04 9.96987802e-01 -1.09604173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.191193817 meters 0.06410955218584632 Centerline is valid? [True, True] Translation: X:90.39, Y:-26.31, Z:-10.96 [[ 8.97694071e-01 4.35043160e-01 6.98770596e-02 9.03911710e+01] [-4.33696151e-01 9.00409510e-01 -3.42105788e-02 -2.63083403e+01] [-7.78010472e-02 4.05221962e-04 9.96968822e-01 -1.09618241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.221193817 meters 0.06397079826081016 Centerline is valid? [True, True] Translation: X:90.42, Y:-26.32, Z:-10.96 [[ 8.98736581e-01 4.32919285e-01 6.96667030e-02 9.04166249e+01] [-4.31576276e-01 9.01432514e-01 -3.40784483e-02 -2.63224405e+01] [-7.75530488e-02 5.61051925e-04 9.96988069e-01 -1.09623800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.251193817 meters 0.06383977045420412 Centerline is valid? [True, True] Translation: X:90.44, Y:-26.34, Z:-10.96 [[ 9.00087447e-01 4.29636582e-01 7.24913455e-02 9.04388732e+01] [-4.28174590e-01 9.03001491e-01 -3.54235519e-02 -2.63414891e+01] [-8.06790469e-02 8.45342238e-04 9.96739774e-01 -1.09636773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.281193817 meters 0.06393819740652051 Centerline is valid? [True, True] Translation: X:90.46, Y:-26.36, Z:-10.97 [[ 9.01052614e-01 4.27477482e-01 7.32611034e-02 9.04619029e+01] [-4.25977608e-01 9.04025394e-01 -3.57933668e-02 -2.63574300e+01] [-8.15307562e-02 1.04411711e-03 9.96670279e-01 -1.09658729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.311193817 meters 0.06406919885700085 Centerline is valid? [True, True] Translation: X:90.49, Y:-26.37, Z:-10.97 [[ 9.02220343e-01 4.24935041e-01 7.36794710e-02 9.04864325e+01] [-4.23410565e-01 9.05222956e-01 -3.59846353e-02 -2.63736530e+01] [-8.19874809e-02 1.26940354e-03 9.96632551e-01 -1.09677984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.341193817 meters 0.06446270899199634 Centerline is valid? [True, True] Translation: X:90.51, Y:-26.39, Z:-10.97 [[ 9.03307437e-01 4.22547923e-01 7.40872983e-02 9.05102966e+01] [-4.20999138e-01 9.06339363e-01 -3.61757352e-02 -2.63897452e+01] [-8.24342165e-02 1.48712188e-03 9.96595399e-01 -1.09704929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.371193817 meters 0.06645620158871451 Centerline is valid? [True, True] Translation: X:90.53, Y:-26.41, Z:-10.98 [[ 9.05849053e-01 4.16749673e-01 7.58762350e-02 9.05306462e+01] [-4.15105301e-01 9.09018963e-01 -3.70420536e-02 -2.64109448e+01] [-8.44102002e-02 2.05788179e-03 9.96428965e-01 -1.09755294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.401193817 meters 0.06645620158871451 Centerline is valid? [True, True] Translation: X:90.56, Y:-26.42, Z:-10.98 [[ 9.05900106e-01 4.16637835e-01 7.58809143e-02 9.05552937e+01] [-4.14993874e-01 9.09070229e-01 -3.70324650e-02 -2.64227952e+01] [-8.44102062e-02 2.05759936e-03 9.96428966e-01 -1.09786714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43119381700001 meters 0.06653135301439068 Centerline is valid? [True, True] Translation: X:90.58, Y:-26.44, Z:-10.98 [[ 9.07019611e-01 4.14254971e-01 7.55529272e-02 9.05806163e+01] [-4.12618035e-01 9.10158075e-01 -3.68596798e-02 -2.64366028e+01] [-8.40344123e-02 2.25795204e-03 9.96460295e-01 -1.09802130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46119381700001 meters 0.06660513533068241 Centerline is valid? [True, True] Translation: X:90.61, Y:-26.45, Z:-10.98 [[ 9.07698585e-01 4.12582791e-01 7.65422744e-02 9.06064331e+01] [-4.10897377e-01 9.10916846e-01 -3.73342362e-02 -2.64497625e+01] [-8.51271105e-02 2.43721359e-03 9.96367119e-01 -1.09825726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49119381700001 meters 0.06719885897275375 Centerline is valid? [True, True] Translation: X:90.63, Y:-26.46, Z:-10.99 [[ 9.08566470e-01 4.10910344e-01 7.52307056e-02 9.06324682e+01] [-4.09277370e-01 9.11672218e-01 -3.66851568e-02 -2.64636179e+01] [-8.36600547e-02 2.54067807e-03 9.96491114e-01 -1.09874972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52119381700001 meters 0.06758622910830386 Centerline is valid? [True, True] Translation: X:90.66, Y:-26.48, Z:-10.99 [[ 9.08267442e-01 4.11885965e-01 7.34860977e-02 9.06567888e+01] [-4.10331296e-01 9.11232259e-01 -3.58329251e-02 -2.64750841e+01] [-8.17219817e-02 2.39223353e-03 9.96652294e-01 -1.09938659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.551193817 meters 0.06700142745914224 Centerline is valid? [True, True] Translation: X:90.68, Y:-26.48, Z:-11.00 [[ 9.07299406e-01 4.14091704e-01 7.30468921e-02 9.06835975e+01] [-4.12563573e-01 9.10232579e-01 -3.56082947e-02 -2.64847730e+01] [-8.12347604e-02 2.17089785e-03 9.96692631e-01 -1.09974803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.581193817 meters 0.06651214201354665 Centerline is valid? [True, True] Translation: X:90.71, Y:-26.49, Z:-11.00 [[ 9.06461388e-01 4.15789538e-01 7.38025209e-02 9.07101248e+01] [-4.14235684e-01 9.09458587e-01 -3.59704821e-02 -2.64940447e+01] [-8.20764865e-02 2.03421535e-03 9.96623957e-01 -1.10002398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.611193817 meters 0.06581332413358708 Centerline is valid? [True, True] Translation: X:90.74, Y:-26.50, Z:-11.00 [[ 9.05932529e-01 4.16968105e-01 7.36468116e-02 9.07374178e+01] [-4.15425769e-01 9.08919109e-01 -3.58815358e-02 -2.65027100e+01] [-8.19004503e-02 1.91146716e-03 9.96638682e-01 -1.10022321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.641193817 meters 0.06603496583177555 Centerline is valid? [True, True] Translation: X:90.76, Y:-26.51, Z:-11.01 [[ 9.05479666e-01 4.18167086e-01 7.24076197e-02 9.07644933e+01] [-4.16680661e-01 9.08368410e-01 -3.52712175e-02 -2.65090776e+01] [-8.05220566e-02 1.76651535e-03 9.96751262e-01 -1.10091698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.671193817 meters 0.06586817750497002 Centerline is valid? [True, True] Translation: X:90.79, Y:-26.52, Z:-11.01 [[ 9.06083206e-01 4.17012849e-01 7.15087934e-02 9.07911865e+01] [-4.15560291e-01 9.08898733e-01 -3.48243793e-02 -2.65190561e+01] [-7.95164654e-02 1.83757022e-03 9.96831859e-01 -1.10107530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.701193817 meters 0.06798097252545587 Centerline is valid? [True, True] Translation: X:90.81, Y:-26.53, Z:-11.02 [[ 9.07489531e-01 4.14023622e-01 7.10435899e-02 9.08132024e+01] [-4.12581392e-01 9.10263763e-01 -3.45901112e-02 -2.65346358e+01] [-7.89895286e-02 2.07890059e-03 9.96873278e-01 -1.10181510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.731193817 meters 0.0693995954731341 Centerline is valid? [True, True] Translation: X:90.84, Y:-26.55, Z:-11.02 [[ 9.09562777e-01 4.09475062e-01 7.08923739e-02 9.08384604e+01] [-4.08026489e-01 9.12318011e-01 -3.44997235e-02 -2.65509072e+01] [-7.88031659e-02 2.45369787e-03 9.96887175e-01 -1.10204204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.761193817 meters 0.07356440123888582 Centerline is valid? [True, True] Translation: X:90.86, Y:-26.57, Z:-11.02 [[ 9.15229198e-01 3.96180977e-01 7.34584810e-02 9.08621918e+01] [-3.94582928e-01 9.18164875e-01 -3.57431947e-02 -2.65730570e+01] [-8.16077708e-02 3.72775292e-03 9.96657552e-01 -1.10190137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.791193817 meters 0.07824965265184677 Centerline is valid? [True, True] Translation: X:90.88, Y:-26.59, Z:-11.02 [[ 9.18426557e-01 3.88722041e-01 7.34018732e-02 9.08849853e+01] [-3.87102598e-01 9.21344622e-01 -3.57164684e-02 -2.65930706e+01] [-8.15121996e-02 4.38889729e-03 9.96662681e-01 -1.10229184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82119381700001 meters 0.08429623114250624 Centerline is valid? [True, True] Translation: X:90.91, Y:-26.61, Z:-11.03 [[ 9.21145016e-01 3.82248681e-01 7.33335172e-02 9.09074774e+01] [-3.80612248e-01 9.24046220e-01 -3.56777250e-02 -2.66139175e+01] [-8.14013227e-02 4.95272371e-03 9.96669100e-01 -1.10279238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85119381700001 meters 0.08936942988880321 Centerline is valid? [True, True] Translation: X:90.93, Y:-26.63, Z:-11.03 [[ 9.24479913e-01 3.73472677e-01 7.65182951e-02 9.09344908e+01] [-3.71659703e-01 9.27621852e-01 -3.72392828e-02 -2.66290791e+01] [-8.48878973e-02 5.98820208e-03 9.96372514e-01 -1.10264249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88119381700001 meters 0.08787947504053856 Centerline is valid? [True, True] Translation: X:90.97, Y:-26.64, Z:-11.03 [[ 9.24705608e-01 3.72625065e-01 7.79108460e-02 9.09669798e+01] [-3.70743124e-01 9.27961478e-01 -3.79081992e-02 -2.66362764e+01] [-8.64238090e-02 6.16901395e-03 9.96239363e-01 -1.10267987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.911193817 meters 0.08664271913436633 Centerline is valid? [True, True] Translation: X:91.00, Y:-26.64, Z:-11.03 [[ 9.23943174e-01 3.74262269e-01 7.90997178e-02 9.09982386e+01] [-3.72325186e-01 9.27302563e-01 -3.85215924e-02 -2.66424375e+01] [-8.77665496e-02 6.14094519e-03 9.96122142e-01 -1.10292395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.941193817 meters 0.08503540086115126 Centerline is valid? [True, True] Translation: X:91.03, Y:-26.65, Z:-11.03 [[ 9.22531517e-01 3.77602286e-01 7.97001537e-02 9.10291293e+01] [-3.75647727e-01 9.25949271e-01 -3.88166606e-02 -2.66482740e+01] [-8.84555590e-02 5.87041118e-03 9.96062826e-01 -1.10327038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.971193817 meters 0.0793011950142381 Centerline is valid? [True, True] Translation: X:91.07, Y:-26.64, Z:-11.04 [[ 9.18232300e-01 3.88253056e-01 7.81601468e-02 9.10657281e+01] [-3.86411664e-01 9.21540550e-01 -3.80662521e-02 -2.66395915e+01] [-8.68070834e-02 4.75166975e-03 9.96213808e-01 -1.10393520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.001193817 meters 0.0742777167990265 Centerline is valid? [True, True] Translation: X:91.10, Y:-26.64, Z:-11.04 [[ 9.15440307e-01 3.95207846e-01 7.60250158e-02 9.11008676e+01] [-3.93489767e-01 9.18583106e-01 -3.70254130e-02 -2.66361966e+01] [-8.44680288e-02 3.97948968e-03 9.96418243e-01 -1.10437172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.031193817 meters 0.07225487230470176 Centerline is valid? [True, True] Translation: X:91.13, Y:-26.64, Z:-11.05 [[ 9.12513630e-01 4.02165100e-01 7.47135031e-02 9.11333165e+01] [-4.00529024e-01 9.15561294e-01 -3.63870634e-02 -2.66359200e+01] [-8.30383985e-02 3.27876482e-03 9.96540955e-01 -1.10515703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.061193817 meters 0.06612300540399704 Centerline is valid? [True, True] Translation: X:91.17, Y:-26.62, Z:-11.06 [[ 9.07398558e-01 4.13788322e-01 7.35328584e-02 9.11746045e+01] [-4.12241639e-01 9.10370512e-01 -3.58100897e-02 -2.66201856e+01] [-8.17599429e-02 2.18071772e-03 9.96649666e-01 -1.10554757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.091193817 meters 0.06612093883742784 Centerline is valid? [True, True] Translation: X:91.20, Y:-26.63, Z:-11.06 [[ 9.05570498e-01 4.17960425e-01 7.24648594e-02 9.12024855e+01] [-4.16471851e-01 9.08463498e-01 -3.52883872e-02 -2.66251158e+01] [-8.05808290e-02 1.77654832e-03 9.96746494e-01 -1.10632867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.121193817 meters 0.06530542444130537 Centerline is valid? [True, True] Translation: X:91.23, Y:-26.63, Z:-11.07 [[ 9.03922942e-01 4.21534795e-01 7.23307057e-02 9.12308686e+01] [-4.20063876e-01 9.06811073e-01 -3.52138921e-02 -2.66290210e+01] [-8.04341656e-02 1.44712840e-03 9.96758873e-01 -1.10682929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.151193817 meters 0.06419756675849317 Centerline is valid? [True, True] Translation: X:91.26, Y:-26.63, Z:-11.07 [[ 9.02737783e-01 4.24390621e-01 7.04066439e-02 9.12613930e+01] [-4.23005745e-01 9.05478467e-01 -3.42766071e-02 -2.66327288e+01] [-7.82983705e-02 1.16037343e-03 9.96929295e-01 -1.10711033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18119381700001 meters 0.06394711608364859 Centerline is valid? [True, True] Translation: X:91.29, Y:-26.63, Z:-11.08 [[ 9.00477477e-01 4.29655680e-01 6.73521391e-02 9.12920199e+01] [-4.28405379e-01 9.02992569e-01 -3.27605236e-02 -2.66326275e+01] [-7.48942261e-02 6.46094966e-04 9.97191274e-01 -1.10789053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21119381700001 meters 0.06321377992068729 Centerline is valid? [True, True] Translation: X:91.32, Y:-26.64, Z:-11.08 [[ 8.99766791e-01 4.31282597e-01 6.64457971e-02 9.13216585e+01] [-4.30070128e-01 9.02216752e-01 -3.23205558e-02 -2.66388621e+01] [-7.38878045e-02 5.04610306e-04 9.97266433e-01 -1.10783595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24119381700001 meters 0.06348110743571163 Centerline is valid? [True, True] Translation: X:91.35, Y:-26.65, Z:-11.08 [[ 8.99121780e-01 4.32633244e-01 6.63965416e-02 9.13478676e+01] [-4.31428229e-01 9.01569931e-01 -3.22698491e-02 -2.66451835e+01] [-7.38221349e-02 3.69181857e-04 9.97271355e-01 -1.10823730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27119381700001 meters 0.06314658632595893 Centerline is valid? [True, True] Translation: X:91.38, Y:-26.66, Z:-11.08 [[ 8.99152419e-01 4.32463409e-01 6.70844814e-02 9.13751473e+01] [-4.31233996e-01 9.01651408e-01 -3.25880243e-02 -2.66555363e+01] [-7.45799452e-02 3.72491830e-04 9.97214968e-01 -1.10838503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.301193817 meters 0.06296716064408146 Centerline is valid? [True, True] Translation: X:91.40, Y:-26.67, Z:-11.09 [[ 8.98398497e-01 4.33711352e-01 6.90985054e-02 9.14003449e+01] [-4.32413223e-01 9.01051831e-01 -3.35321026e-02 -2.66704389e+01] [-7.68045884e-02 2.46083099e-04 9.97046135e-01 -1.10851333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.331193817 meters 0.06268740367603456 Centerline is valid? [True, True] Translation: X:91.43, Y:-26.68, Z:-11.09 [[ 8.98415599e-01 4.33723732e-01 6.87977890e-02 9.14257500e+01] [-4.32436777e-01 9.01045872e-01 -3.33881721e-02 -2.66844812e+01] [-7.64712064e-02 2.45760464e-04 9.97071760e-01 -1.10866074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.361193817 meters 0.06248029760377175 Centerline is valid? [True, True] Translation: X:91.45, Y:-26.70, Z:-11.09 [[ 8.98377385e-01 4.33572842e-01 7.02329322e-02 9.14504151e+01] [-4.32233600e-01 9.01118491e-01 -3.40526058e-02 -2.66971915e+01] [-7.80524790e-02 2.35057818e-04 9.96949224e-01 -1.10887737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.391193817 meters 0.062474872792524214 Centerline is valid? [True, True] Translation: X:91.47, Y:-26.71, Z:-11.09 [[ 8.99597411e-01 4.30912837e-01 7.09832702e-02 9.14733211e+01] [-4.29537585e-01 9.02393438e-01 -3.44027117e-02 -2.67128360e+01] [-7.88794073e-02 4.58607992e-04 9.96884060e-01 -1.10908453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.421193817 meters 0.06273015476172647 Centerline is valid? [True, True] Translation: X:91.50, Y:-26.73, Z:-11.09 [[ 9.00585542e-01 4.28782991e-01 7.13500462e-02 9.14961642e+01] [-4.27387324e-01 9.03407291e-01 -3.45737050e-02 -2.67292242e+01] [-7.92827686e-02 6.42473534e-04 9.96851960e-01 -1.10932119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.451193817 meters 0.0632463855590547 Centerline is valid? [True, True] Translation: X:91.52, Y:-26.75, Z:-11.10 [[ 9.02071758e-01 4.25647548e-01 7.13492062e-02 9.15170694e+01] [-4.24245010e-01 9.04888602e-01 -3.45367826e-02 -2.67487066e+01] [-7.92635802e-02 8.85111437e-04 9.96853300e-01 -1.10982947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.481193817 meters 0.06384072488153482 Centerline is valid? [True, True] Translation: X:91.54, Y:-26.77, Z:-11.10 [[ 9.03751609e-01 4.22014114e-01 7.16736864e-02 9.15396237e+01] [-4.20588044e-01 9.06588464e-01 -3.46850672e-02 -2.67684271e+01] [-7.96161252e-02 1.20158970e-03 9.96824874e-01 -1.11017608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.511193817 meters 0.0655796909650709 Centerline is valid? [True, True] Translation: X:91.56, Y:-26.80, Z:-11.10 [[ 9.07640799e-01 4.13648259e-01 7.12972579e-02 9.15604563e+01] [-4.12214129e-01 9.10434803e-01 -3.44670948e-02 -2.67952237e+01] [-7.91687587e-02 1.89400440e-03 9.96859429e-01 -1.11034767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.541193817 meters 0.0675121014332664 Centerline is valid? [True, True] Translation: X:91.58, Y:-26.82, Z:-11.11 [[ 9.08990250e-01 4.10319438e-01 7.33122360e-02 9.15816553e+01] [-4.08791831e-01 9.11939087e-01 -3.54449007e-02 -2.68153772e+01] [-8.14000253e-02 2.24962598e-03 9.96678973e-01 -1.11076024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57119381700001 meters 0.06783889569690742 Centerline is valid? [True, True] Translation: X:91.61, Y:-26.83, Z:-11.11 [[ 9.09973286e-01 4.07987908e-01 7.41247962e-02 9.16060623e+01] [-4.06418744e-01 9.12983956e-01 -3.58343548e-02 -2.68316493e+01] [-8.22947331e-02 2.48259900e-03 9.96604944e-01 -1.11077886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60119381700001 meters 0.06774230029549656 Centerline is valid? [True, True] Translation: X:91.63, Y:-26.85, Z:-11.11 [[ 9.10429347e-01 4.06680974e-01 7.56900925e-02 9.16308894e+01] [-4.05042412e-01 9.13566450e-01 -3.65648251e-02 -2.68460718e+01] [-8.40181478e-02 2.63199219e-03 9.96460749e-01 -1.11078550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63119381700001 meters 0.06658444520278188 Centerline is valid? [True, True] Translation: X:91.66, Y:-26.86, Z:-11.11 [[ 9.10248421e-01 4.06844090e-01 7.69785614e-02 9.16579728e+01] [-4.05152003e-01 9.13493804e-01 -3.71608032e-02 -2.68561704e+01] [-8.54380920e-02 2.63754408e-03 9.96339990e-01 -1.11082213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.661193817 meters 0.06657967133198821 Centerline is valid? [True, True] Translation: X:91.68, Y:-26.87, Z:-11.11 [[ 9.10019907e-01 4.07298607e-01 7.72762211e-02 9.16845742e+01] [-4.05597408e-01 9.13291405e-01 -3.72766922e-02 -2.68671904e+01] [-8.57584534e-02 2.57949699e-03 9.96312619e-01 -1.11118467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.691193817 meters 0.0662683800759969 Centerline is valid? [True, True] Translation: X:91.71, Y:-26.88, Z:-11.12 [[ 9.09776207e-01 4.08094012e-01 7.59376740e-02 9.17108765e+01] [-4.06456229e-01 9.12936654e-01 -3.66060095e-02 -2.68769518e+01] [-8.42649792e-02 2.43793593e-03 9.96440399e-01 -1.11165787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.721193817 meters 0.06787192502624767 Centerline is valid? [True, True] Translation: X:91.74, Y:-26.89, Z:-11.13 [[ 9.08904674e-01 4.10944834e-01 7.08282170e-02 9.17355725e+01] [-4.09531928e-01 9.11658035e-01 -3.41061292e-02 -2.68877908e+01] [-7.85868507e-02 1.99280397e-03 9.96905279e-01 -1.11313121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.751193817 meters 0.06536560306498784 Centerline is valid? [True, True] Translation: X:91.77, Y:-26.89, Z:-11.13 [[ 9.08428316e-01 4.12355470e-01 6.87092510e-02 9.17658009e+01] [-4.11029611e-01 9.11021217e-01 -3.30908072e-02 -2.68928362e+01] [-7.62407608e-02 1.81908953e-03 9.97087778e-01 -1.11287526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.781193817 meters 0.0653319259721959 Centerline is valid? [True, True] Translation: X:91.79, Y:-26.90, Z:-11.13 [[ 9.08023724e-01 4.13349523e-01 6.80814864e-02 9.17920231e+01] [-4.12052326e-01 9.10570857e-01 -3.27657665e-02 -2.69026629e+01] [-7.55367314e-02 1.69895846e-03 9.97141573e-01 -1.11328109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.811193817 meters 0.06594352601749252 Centerline is valid? [True, True] Translation: X:91.82, Y:-26.91, Z:-11.14 [[ 9.07306589e-01 4.14889404e-01 6.82754366e-02 9.18162910e+01] [-4.13592121e-01 9.09870547e-01 -3.28198911e-02 -2.69145779e+01] [-7.57384338e-02 1.53952079e-03 9.97126531e-01 -1.11404782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.841193817 meters 0.06518561366651546 Centerline is valid? [True, True] Translation: X:91.84, Y:-26.92, Z:-11.14 [[ 9.07118040e-01 4.15230706e-01 6.87045983e-02 9.18439526e+01] [-4.13918113e-01 9.09714874e-01 -3.30248918e-02 -2.69246861e+01] [-7.62145441e-02 1.51939749e-03 9.97090284e-01 -1.11411016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.871193817 meters 0.06525697086744303 Centerline is valid? [True, True] Translation: X:91.87, Y:-26.93, Z:-11.15 [[ 9.06073388e-01 4.17613979e-01 6.80410224e-02 9.18701690e+01] [-4.16335194e-01 9.08623638e-01 -3.26816585e-02 -2.69342411e+01] [-7.54719987e-02 1.28410879e-03 9.97147095e-01 -1.11473679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.901193817 meters 0.06444932816895246 Centerline is valid? [True, True] Translation: X:91.90, Y:-26.95, Z:-11.15 [[ 9.05400864e-01 4.18974401e-01 6.86274557e-02 9.18965769e+01] [-4.17679211e-01 9.07997307e-01 -3.29388430e-02 -2.69456120e+01] [-7.61140769e-02 1.15859536e-03 9.97098443e-01 -1.11474422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93119381700001 meters 0.06448820142731702 Centerline is valid? [True, True] Translation: X:91.92, Y:-26.96, Z:-11.15 [[ 9.04661397e-01 4.20541725e-01 6.87925462e-02 9.19205050e+01] [-4.19247297e-01 9.07272648e-01 -3.29855371e-02 -2.69585837e+01] [-7.62853902e-02 9.99653012e-04 9.97085523e-01 -1.11526653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96119381700001 meters 0.06402957275605277 Centerline is valid? [True, True] Translation: X:91.95, Y:-26.97, Z:-11.15 [[ 9.04103931e-01 4.21582491e-01 6.97444289e-02 9.19466165e+01] [-4.20255145e-01 9.06789585e-01 -3.34404187e-02 -2.69705898e+01] [-7.73414167e-02 9.23158887e-04 9.97004239e-01 -1.11536596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99119381700001 meters 0.06358707640640501 Centerline is valid? [True, True] Translation: X:91.97, Y:-26.99, Z:-11.15 [[ 9.03852651e-01 4.21892272e-01 7.11146722e-02 9.19713595e+01] [-4.20515141e-01 9.06645530e-01 -3.40719817e-02 -2.69854399e+01] [-7.88505055e-02 8.91254534e-04 9.96886053e-01 -1.11540154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02119381700001 meters 0.06377028220287308 Centerline is valid? [True, True] Translation: X:91.99, Y:-27.00, Z:-11.16 [[ 9.04216679e-01 4.21010589e-01 7.17096988e-02 9.19944324e+01] [-4.19609985e-01 9.07055227e-01 -3.43260126e-02 -2.70004478e+01] [-7.94962719e-02 9.48047530e-04 9.96834712e-01 -1.11574565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.051193817 meters 0.06357679662004773 Centerline is valid? [True, True] Translation: X:92.02, Y:-27.02, Z:-11.16 [[ 9.04950220e-01 4.19504457e-01 7.12819102e-02 9.20187095e+01] [-4.18116491e-01 9.07752649e-01 -3.41134486e-02 -2.70168711e+01] [-7.90170866e-02 1.06683063e-03 9.96872691e-01 -1.11579246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.081193817 meters 0.0648577160821923 Centerline is valid? [True, True] Translation: X:92.04, Y:-27.04, Z:-11.16 [[ 9.06628431e-01 4.15653609e-01 7.25049385e-02 9.20366508e+01] [-4.14207982e-01 9.09521924e-01 -3.46643578e-02 -2.70427835e+01] [-8.03531966e-02 1.39556806e-03 9.96765477e-01 -1.11636228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.111193817 meters 0.0653175749884571 Centerline is valid? [True, True] Translation: X:92.06, Y:-27.06, Z:-11.17 [[ 9.07358262e-01 4.14200087e-01 7.16887133e-02 9.20585737e+01] [-4.12782858e-01 9.10184615e-01 -3.42677345e-02 -2.70598089e+01] [-7.94436626e-02 1.50124004e-03 9.96838227e-01 -1.11676882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.141193817 meters 0.06546000116454052 Centerline is valid? [True, True] Translation: X:92.08, Y:-27.08, Z:-11.17 [[ 9.07957468e-01 4.13007416e-01 7.09796471e-02 9.20833702e+01] [-4.11615339e-01 9.10726292e-01 -3.39180526e-02 -2.70752605e+01] [-7.86514381e-02 1.57983763e-03 9.96900926e-01 -1.11707658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.171193817 meters 0.06565268461031495 Centerline is valid? [True, True] Translation: X:92.11, Y:-27.09, Z:-11.18 [[ 9.07523194e-01 4.14022941e-01 7.06162662e-02 9.21078724e+01] [-4.12650655e-01 9.10265284e-01 -3.37127643e-02 -2.70885778e+01] [-7.82373934e-02 1.45526707e-03 9.96933695e-01 -1.11760327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.201193817 meters 0.06453034511057029 Centerline is valid? [True, True] Translation: X:92.14, Y:-27.10, Z:-11.18 [[ 9.06039085e-01 4.17201708e-01 7.09641642e-02 9.21350561e+01] [-4.15825688e-01 9.08813144e-01 -3.38772395e-02 -2.70988315e+01] [-7.86268073e-02 1.18538066e-03 9.96903416e-01 -1.11770943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.231193817 meters 0.06407962025501326 Centerline is valid? [True, True] Translation: X:92.16, Y:-27.11, Z:-11.18 [[ 9.04793319e-01 4.19876140e-01 7.10849954e-02 9.21614729e+01] [-4.18505606e-01 9.07580937e-01 -3.39101802e-02 -2.71099347e+01] [-7.87534624e-02 9.32235426e-04 9.96893687e-01 -1.11799804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.261193817 meters 0.06317801556108121 Centerline is valid? [True, True] Translation: X:92.19, Y:-27.12, Z:-11.18 [[ 9.03414793e-01 4.22997964e-01 7.01030290e-02 9.21884582e+01] [-4.21676111e-01 9.06130412e-01 -3.34205720e-02 -2.71195840e+01] [-7.76593204e-02 6.31866510e-04 9.96979754e-01 -1.11792904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.291193817 meters 0.06317801556108121 Centerline is valid? [True, True] Translation: X:92.21, Y:-27.13, Z:-11.18 [[ 9.03561063e-01 4.22683505e-01 7.01146158e-02 9.22132440e+01] [-4.21362594e-01 9.06277141e-01 -3.33962408e-02 -2.71311072e+01] [-7.76593136e-02 6.31866456e-04 9.96979755e-01 -1.11824309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32119381700001 meters 0.06334129090906739 Centerline is valid? [True, True] Translation: X:92.24, Y:-27.14, Z:-11.19 [[ 9.00731831e-01 4.28615765e-01 7.05031591e-02 9.22402491e+01] [-4.27301357e-01 9.03486867e-01 -3.35414893e-02 -2.71370725e+01] [-7.80750894e-02 8.57915514e-05 9.96947478e-01 -1.11900318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35119381700001 meters 0.063375044707524 Centerline is valid? [True, True] Translation: X:92.27, Y:-27.15, Z:-11.19 [[ 8.99678619e-01 4.30806284e-01 7.05997673e-02 9.22664071e+01] [-4.29495065e-01 9.02444422e-01 -3.35865265e-02 -2.71460853e+01] [-7.81816529e-02 -1.05171821e-04 9.96939125e-01 -1.11929196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38119381700001 meters 0.06359382701060076 Centerline is valid? [True, True] Translation: X:92.29, Y:-27.16, Z:-11.20 [[ 8.98479372e-01 4.33288263e-01 7.06830903e-02 9.22928437e+01] [-4.31983774e-01 9.01255325e-01 -3.35984872e-02 -2.71554527e+01] [-7.82613417e-02 -3.46400387e-04 9.96932817e-01 -1.11974214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.411193817 meters 0.06394560693354925 Centerline is valid? [True, True] Translation: X:92.32, Y:-27.17, Z:-11.20 [[ 8.97833646e-01 4.34758342e-01 6.98564905e-02 9.23186396e+01] [-4.33490842e-01 9.00547023e-01 -3.31775530e-02 -2.71666190e+01] [-7.73332725e-02 -4.94225541e-04 9.97005176e-01 -1.12024747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.441193817 meters 0.0644058624741098 Centerline is valid? [True, True] Translation: X:92.34, Y:-27.18, Z:-11.21 [[ 8.97916879e-01 4.34917412e-01 6.77652083e-02 9.23423101e+01] [-4.33726869e-01 9.00470201e-01 -3.21624193e-02 -2.71825027e+01] [-7.50085469e-02 -5.12412467e-04 9.97182759e-01 -1.12091977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.471193817 meters 0.064285037040161 Centerline is valid? [True, True] Translation: X:92.37, Y:-27.20, Z:-11.21 [[ 8.99131552e-01 4.32423397e-01 6.76199589e-02 9.23650637e+01] [-4.31232480e-01 9.01670617e-01 -3.20725084e-02 -2.71991024e+01] [-7.48398331e-02 -3.22518400e-04 9.97195515e-01 -1.12129358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.501193817 meters 0.06417740763190492 Centerline is valid? [True, True] Translation: X:92.39, Y:-27.22, Z:-11.22 [[ 9.00135113e-01 4.30216837e-01 6.83392440e-02 9.23877945e+01] [-4.28996746e-01 9.02725564e-01 -3.23782083e-02 -2.72162871e+01] [-7.56212329e-02 -1.72551097e-04 9.97136600e-01 -1.12171171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.531193817 meters 0.06433093537259123 Centerline is valid? [True, True] Translation: X:92.41, Y:-27.23, Z:-11.22 [[ 9.01367237e-01 4.27559934e-01 6.87721300e-02 9.24091861e+01] [-4.26317209e-01 9.03987002e-01 -3.25750999e-02 -2.72344254e+01] [-7.60969192e-02 4.33852942e-05 9.97100425e-01 -1.12219643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.561193817 meters 0.06493606396213489 Centerline is valid? [True, True] Translation: X:92.43, Y:-27.26, Z:-11.22 [[ 9.04720492e-01 4.20573760e-01 6.78125640e-02 9.24265413e+01] [-4.19345892e-01 9.07258135e-01 -3.21200583e-02 -2.72646863e+01] [-7.50323541e-02 6.22754760e-04 9.97180905e-01 -1.12248353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.591193817 meters 0.06563817554866319 Centerline is valid? [True, True] Translation: X:92.45, Y:-27.29, Z:-11.23 [[ 9.06281937e-01 4.17289828e-01 6.72476840e-02 9.24483764e+01] [-4.16074903e-01 9.08773044e-01 -3.18312530e-02 -2.72857965e+01] [-7.43957406e-02 8.68016031e-04 9.97228419e-01 -1.12279790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.621193817 meters 0.0653467345459422 Centerline is valid? [True, True] Translation: X:92.47, Y:-27.31, Z:-11.22 [[ 9.09334063e-01 4.10471616e-01 6.80045123e-02 9.24705199e+01] [-4.09212297e-01 9.11872276e-01 -3.21597181e-02 -2.73077601e+01] [-7.52120809e-02 1.41564447e-03 9.97166555e-01 -1.12217238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.651193817 meters 0.06578246557291001 Centerline is valid? [True, True] Translation: X:92.49, Y:-27.32, Z:-11.22 [[ 9.10662033e-01 4.07433759e-01 6.85010470e-02 9.24940939e+01] [-4.06147902e-01 9.13233231e-01 -3.23874509e-02 -2.73247822e+01] [-7.57531734e-02 1.67246537e-03 9.97125198e-01 -1.12226441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68119381700001 meters 0.06644527051195429 Centerline is valid? [True, True] Translation: X:92.52, Y:-27.34, Z:-11.23 [[ 9.11705876e-01 4.04990184e-01 6.91038827e-02 9.25181775e+01] [-4.03675095e-01 9.14319088e-01 -3.26653087e-02 -2.73410584e+01] [-7.64121285e-02 1.88563748e-03 9.97074536e-01 -1.12250831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71119381700001 meters 0.06757492026456298 Centerline is valid? [True, True] Translation: X:92.54, Y:-27.36, Z:-11.23 [[ 9.12919456e-01 4.02317725e-01 6.86914446e-02 9.25402212e+01] [-4.01011153e-01 9.15497718e-01 -3.24651109e-02 -2.73577707e+01] [-7.59481503e-02 2.09199600e-03 9.97109574e-01 -1.12291914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74119381700001 meters 0.0688182271187978 Centerline is valid? [True, True] Translation: X:92.56, Y:-27.37, Z:-11.23 [[ 9.14162942e-01 3.99544319e-01 6.83407162e-02 9.25635838e+01] [-3.98244269e-01 9.16710996e-01 -3.22870189e-02 -2.73736539e+01] [-7.55487810e-02 2.29929757e-03 9.97139456e-01 -1.12329022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77119381700001 meters 0.07132983241485331 Centerline is valid? [True, True] Translation: X:92.59, Y:-27.39, Z:-11.23 [[ 9.17057867e-01 3.92406895e-01 7.08639395e-02 9.25876054e+01] [-3.90988163e-01 9.19786876e-01 -3.34717607e-02 -2.73921137e+01] [-7.83142712e-02 2.98857992e-03 9.96924242e-01 -1.12333796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.801193817 meters 0.07271916814766251 Centerline is valid? [True, True] Translation: X:92.61, Y:-27.41, Z:-11.24 [[ 9.18036826e-01 3.89876844e-01 7.21417476e-02 9.26117088e+01] [-3.88398915e-01 9.20861241e-01 -3.40713625e-02 -2.74058120e+01] [-7.97161745e-02 3.25898902e-03 9.96812274e-01 -1.12355682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.831193817 meters 0.07385022102392104 Centerline is valid? [True, True] Translation: X:92.64, Y:-27.42, Z:-11.24 [[ 9.18857398e-01 3.87475258e-01 7.45922660e-02 9.26365249e+01] [-3.85887913e-01 9.21873163e-01 -3.52191787e-02 -2.74182798e+01] [-8.24111685e-02 3.57714911e-03 9.96591994e-01 -1.12367878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.861193817 meters 0.07534981532450846 Centerline is valid? [True, True] Translation: X:92.66, Y:-27.43, Z:-11.24 [[ 9.19884532e-01 3.84820745e-01 7.56666475e-02 9.26628915e+01] [-3.83179078e-01 9.22983251e-01 -3.57171256e-02 -2.74265267e+01] [-8.35837391e-02 3.86175509e-03 9.96493274e-01 -1.12397299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.891193817 meters 0.07533622456491315 Centerline is valid? [True, True] Translation: X:92.69, Y:-27.43, Z:-11.24 [[ 9.19789280e-01 3.84983296e-01 7.59969821e-02 9.26899509e+01] [-3.83328515e-01 9.22915486e-01 -3.58644071e-02 -2.74344597e+01] [-8.39459893e-02 3.85588686e-03 9.96462846e-01 -1.12427681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.921193817 meters 0.07515637310671505 Centerline is valid? [True, True] Translation: X:92.72, Y:-27.44, Z:-11.25 [[ 9.19208775e-01 3.86463315e-01 7.55071833e-02 9.27172480e+01] [-3.84835681e-01 9.22297410e-01 -3.56228347e-02 -2.74416882e+01] [-8.34069984e-02 3.68696395e-03 9.96508745e-01 -1.12469867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.951193817 meters 0.07094869169102568 Centerline is valid? [True, True] Translation: X:92.75, Y:-27.44, Z:-11.25 [[ 9.16481648e-01 3.92521308e-01 7.73848259e-02 9.27531926e+01] [-3.90834080e-01 9.19737333e-01 -3.64960332e-02 -2.74378975e+01] [-8.54991841e-02 3.20331746e-03 9.96333091e-01 -1.12491337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.981193817 meters 0.06727182104249674 Centerline is valid? [True, True] Translation: X:92.79, Y:-27.44, Z:-11.25 [[ 9.14375773e-01 3.97496103e-01 7.69011995e-02 9.27869572e+01] [-3.95847229e-01 9.17599820e-01 -3.62703869e-02 -2.74373652e+01] [-8.49818643e-02 2.72363632e-03 9.96378776e-01 -1.12501205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.011193817 meters 0.06724180416799731 Centerline is valid? [True, True] Translation: X:92.81, Y:-27.44, Z:-11.26 [[ 9.12048401e-01 4.03170351e-01 7.49758849e-02 9.28145867e+01] [-4.01622152e-01 9.15122442e-01 -3.53633028e-02 -2.74416137e+01] [-8.28695501e-02 2.14106749e-03 9.96558103e-01 -1.12608609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.041193817 meters 0.06447566388015016 Centerline is valid? [True, True] Translation: X:92.85, Y:-27.44, Z:-11.26 [[ 9.09817335e-01 4.08518453e-01 7.31101220e-02 9.28470618e+01] [-4.07063844e-01 9.12748639e-01 -3.44811397e-02 -2.74392385e+01] [-8.08173462e-02 1.61105134e-03 9.96727626e-01 -1.12634278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07119381700001 meters 0.06372927616979315 Centerline is valid? [True, True] Translation: X:92.88, Y:-27.44, Z:-11.27 [[ 9.07602602e-01 4.13840067e-01 7.06676378e-02 9.28764247e+01] [-4.12498916e-01 9.10348962e-01 -3.33078274e-02 -2.74401072e+01] [-7.81163242e-02 1.07994678e-03 9.96943666e-01 -1.12701064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10119381700001 meters 0.06292885211052839 Centerline is valid? [True, True] Translation: X:92.91, Y:-27.44, Z:-11.27 [[ 9.04544662e-01 4.20783820e-01 6.88471609e-02 9.29084354e+01] [-4.19532920e-01 9.07160834e-01 -3.24245348e-02 -2.74380079e+01] [-7.60991674e-02 4.45789380e-04 9.97100154e-01 -1.12739180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13119381700001 meters 0.06333634805979597 Centerline is valid? [True, True] Translation: X:92.94, Y:-27.45, Z:-11.28 [[ 9.03721493e-01 4.22951589e-01 6.63280957e-02 9.29352734e+01] [-4.21799304e-01 9.06152253e-01 -3.12000306e-02 -2.74466955e+01] [-7.32994558e-02 2.18993622e-04 9.97309953e-01 -1.12813630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.161193817 meters 0.06390128090266235 Centerline is valid? [True, True] Translation: X:92.96, Y:-27.46, Z:-11.29 [[ 9.02928524e-01 4.24702618e-01 6.59376055e-02 9.29609927e+01] [-4.23568770e-01 9.05332912e-01 -3.10131586e-02 -2.74566326e+01] [-7.28668540e-02 7.35550363e-05 9.97341675e-01 -1.12892258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.191193817 meters 0.06445820584078359 Centerline is valid? [True, True] Translation: X:92.99, Y:-27.47, Z:-11.30 [[ 9.01286650e-01 4.28069859e-01 6.66225968e-02 9.29860326e+01] [-4.26922101e-01 9.03745624e-01 -3.13267816e-02 -2.74663145e+01] [-7.36199313e-02 -2.08248929e-04 9.97286349e-01 -1.12964665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.221193817 meters 0.06417315340450161 Centerline is valid? [True, True] Translation: X:93.01, Y:-27.48, Z:-11.30 [[ 9.00965561e-01 4.28767339e-01 6.64802750e-02 9.30121227e+01] [-4.27626390e-01 9.03414910e-01 -3.12597456e-02 -2.74783233e+01] [-7.34624295e-02 -2.64765789e-04 9.97297950e-01 -1.12976586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.251193817 meters 0.06364234174674106 Centerline is valid? [True, True] Translation: X:93.04, Y:-27.49, Z:-11.30 [[ 9.00832489e-01 4.28890277e-01 6.74830131e-02 9.30388913e+01] [-4.27716606e-01 9.03356542e-01 -3.17090487e-02 -2.74909153e+01] [-7.45609240e-02 -2.99064062e-04 9.97216415e-01 -1.12962635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.281193817 meters 0.06336239144525926 Centerline is valid? [True, True] Translation: X:93.07, Y:-27.50, Z:-11.30 [[ 9.00613464e-01 4.29217726e-01 6.83193359e-02 9.30651221e+01] [-4.28017531e-01 9.03200985e-01 -3.20776275e-02 -2.75035118e+01] [-7.54743778e-02 -3.52330237e-04 9.97147679e-01 -1.12983363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.311193817 meters 0.06320296772057186 Centerline is valid? [True, True] Translation: X:93.09, Y:-27.52, Z:-11.30 [[ 9.01369743e-01 4.27309958e-01 7.02764996e-02 9.30883852e+01] [-4.26036689e-01 9.04105164e-01 -3.29634940e-02 -2.75201128e+01] [-7.76229754e-02 -2.28071027e-04 9.96982759e-01 -1.13000560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.341193817 meters 0.0627335997122789 Centerline is valid? [True, True] Translation: X:93.11, Y:-27.54, Z:-11.30 [[ 9.02614893e-01 4.24457453e-01 7.15697332e-02 9.31124364e+01] [-4.23128071e-01 9.05447884e-01 -3.35673133e-02 -2.75379734e+01] [-7.90505598e-02 1.51937227e-05 9.96870608e-01 -1.13018755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.371193817 meters 0.062651742460491 Centerline is valid? [True, True] Translation: X:93.13, Y:-27.56, Z:-11.30 [[ 9.04262895e-01 4.20607674e-01 7.34697273e-02 9.31348234e+01] [-4.19195885e-01 9.07242564e-01 -3.44345874e-02 -2.75567073e+01] [-8.11383154e-02 3.39712412e-04 9.96702793e-01 -1.13049000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.401193817 meters 0.06269833737196659 Centerline is valid? [True, True] Translation: X:93.16, Y:-27.58, Z:-11.31 [[ 9.06250379e-01 4.16039398e-01 7.49764593e-02 9.31572171e+01] [-4.14555567e-01 9.09346288e-01 -3.51142592e-02 -2.75760130e+01] [-8.27884801e-02 7.40402127e-04 9.96566866e-01 -1.13058872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43119381700001 meters 0.06473708153254186 Centerline is valid? [True, True] Translation: X:93.17, Y:-27.61, Z:-11.31 [[ 9.10934014e-01 4.05426913e-01 7.63429155e-02 9.31748073e+01] [-4.03853876e-01 9.14125868e-01 -3.57203599e-02 -2.76063598e+01] [-8.42690292e-02 1.70750846e-03 9.96441576e-01 -1.13086377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46119381700001 meters 0.06647628902150518 Centerline is valid? [True, True] Translation: X:93.20, Y:-27.63, Z:-11.31 [[ 9.13251912e-01 4.00108290e-01 7.67092068e-02 9.31976739e+01] [-3.98501854e-01 9.16465220e-01 -3.58855433e-02 -2.76278375e+01] [-8.46594234e-02 2.20377982e-03 9.96407510e-01 -1.13117530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49119381700001 meters 0.06775428512737613 Centerline is valid? [True, True] Translation: X:93.22, Y:-27.65, Z:-11.31 [[ 9.15423449e-01 3.95303043e-01 7.57325069e-02 9.32217333e+01] [-3.93721133e-01 9.18547049e-01 -3.54258152e-02 -2.76456337e+01] [-8.35678032e-02 2.61213349e-03 9.96498670e-01 -1.13143976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52119381700001 meters 0.06942116351486857 Centerline is valid? [True, True] Translation: X:93.25, Y:-27.66, Z:-11.32 [[ 9.17157182e-01 3.91364920e-01 7.52077344e-02 9.32457232e+01] [-3.89792042e-01 9.20230850e-01 -3.51759362e-02 -2.76628618e+01] [-8.29751048e-02 2.94648615e-03 9.96547264e-01 -1.13179799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.551193817 meters 0.07185987839199012 Centerline is valid? [True, True] Translation: X:93.27, Y:-27.68, Z:-11.32 [[ 9.19608416e-01 3.85578357e-01 7.51644274e-02 9.32701474e+01] [-3.83988817e-01 9.22668615e-01 -3.51456323e-02 -2.76820691e+01] [-8.29032533e-02 3.45791971e-03 9.96551601e-01 -1.13211042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.581193817 meters 0.0710142589330355 Centerline is valid? [True, True] Translation: X:93.30, Y:-27.69, Z:-11.32 [[ 9.20468351e-01 3.83554183e-01 7.49946958e-02 9.32963849e+01] [-3.81965099e-01 9.23511232e-01 -3.50666217e-02 -2.76943263e+01] [-8.27083933e-02 3.63235902e-03 9.96567172e-01 -1.13210315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.611193817 meters 0.07452886132314443 Centerline is valid? [True, True] Translation: X:93.32, Y:-27.71, Z:-11.33 [[ 9.20821675e-01 3.82515659e-01 7.59553350e-02 9.33172756e+01] [-3.80882567e-01 9.23941328e-01 -3.55090589e-02 -2.77138798e+01] [-8.37610442e-02 3.76744811e-03 9.96478747e-01 -1.13276590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.641193817 meters 0.07216357845685296 Centerline is valid? [True, True] Translation: X:93.35, Y:-27.72, Z:-11.33 [[ 9.21786398e-01 3.79692632e-01 7.83794684e-02 9.33461623e+01] [-3.77944283e-01 9.25103425e-01 -3.66301961e-02 -2.77218374e+01] [-8.64173303e-02 4.14214452e-03 9.96250414e-01 -1.13252878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.671193817 meters 0.07311323542362783 Centerline is valid? [True, True] Translation: X:93.37, Y:-27.73, Z:-11.33 [[ 9.22619275e-01 3.77568959e-01 7.88375225e-02 9.33729950e+01] [-3.75793165e-01 9.25971214e-01 -3.68348736e-02 -2.77334724e+01] [-8.69089813e-02 4.35796224e-03 9.96206724e-01 -1.13290889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.701193817 meters 0.0769515694775961 Centerline is valid? [True, True] Translation: X:93.40, Y:-27.74, Z:-11.34 [[ 9.23937905e-01 3.74524242e-01 7.79123876e-02 9.33991142e+01] [-3.72779625e-01 9.27205787e-01 -3.63975340e-02 -2.77445796e+01] [-8.58725755e-02 4.58491061e-03 9.96295578e-01 -1.13358590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.731193817 meters 0.07592076701749896 Centerline is valid? [True, True] Translation: X:93.43, Y:-27.75, Z:-11.34 [[ 9.24469796e-01 3.73394709e-01 7.70193992e-02 9.34279806e+01] [-3.71685951e-01 9.27660979e-01 -3.59814016e-02 -2.77521700e+01] [-8.48831563e-02 4.63669035e-03 9.96380124e-01 -1.13387508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.761193817 meters 0.0749500094614829 Centerline is valid? [True, True] Translation: X:93.46, Y:-27.76, Z:-11.34 [[ 9.25299332e-01 3.71415791e-01 7.66254285e-02 9.34563854e+01] [-3.69718068e-01 9.28454288e-01 -3.57936422e-02 -2.77611344e+01] [-8.44375316e-02 4.79002785e-03 9.96417261e-01 -1.13401947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.791193817 meters 0.07811503112168229 Centerline is valid? [True, True] Translation: X:93.48, Y:-27.78, Z:-11.35 [[ 9.26016604e-01 3.69372080e-01 7.78300385e-02 9.34799023e+01] [-3.67613553e-01 9.29267853e-01 -3.63528869e-02 -2.77771846e+01] [-8.57526943e-02 5.05199991e-03 9.96303645e-01 -1.13450134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82119381700001 meters 0.07728847373991671 Centerline is valid? [True, True] Translation: X:93.51, Y:-27.79, Z:-11.35 [[ 9.26276779e-01 3.68460266e-01 7.90465713e-02 9.35076426e+01] [-3.66643393e-01 9.29628886e-01 -3.69155206e-02 -2.77861799e+01] [-8.70858786e-02 5.21208640e-03 9.96187173e-01 -1.13454631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85119381700001 meters 0.07847962546234943 Centerline is valid? [True, True] Translation: X:93.53, Y:-27.80, Z:-11.35 [[ 9.26003650e-01 3.69019213e-01 7.96370529e-02 9.35336493e+01] [-3.67177742e-01 9.29407268e-01 -3.71838115e-02 -2.77962434e+01] [-8.77367966e-02 5.19139187e-03 9.96130164e-01 -1.13493081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88119381700001 meters 0.07712923050235876 Centerline is valid? [True, True] Translation: X:93.57, Y:-27.79, Z:-11.36 [[ 9.24627586e-01 3.73233679e-01 7.58976156e-02 9.35664734e+01] [-3.71576458e-01 9.27726185e-01 -3.54268596e-02 -2.77934343e+01] [-8.36347025e-02 4.55488454e-03 9.96486071e-01 -1.13567902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91119381700001 meters 0.07612760537813519 Centerline is valid? [True, True] Translation: X:93.60, Y:-27.80, Z:-11.36 [[ 9.23527923e-01 3.76318543e-01 7.40306017e-02 9.35950565e+01] [-3.74751976e-01 9.26480965e-01 -3.45539954e-02 -2.77960028e+01] [-8.15912525e-02 4.16846529e-03 9.96657158e-01 -1.13631520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.941193817 meters 0.07197921322016414 Centerline is valid? [True, True] Translation: X:93.63, Y:-27.80, Z:-11.37 [[ 9.22073477e-01 3.80056360e-01 7.30593371e-02 9.36283922e+01] [-3.78543280e-01 9.24955620e-01 -3.40893953e-02 -2.77960374e+01] [-8.05325359e-02 3.77680620e-03 9.96744825e-01 -1.13653220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.971193817 meters 0.07056053412629128 Centerline is valid? [True, True] Translation: X:93.66, Y:-27.80, Z:-11.37 [[ 9.20482021e-01 3.84073165e-01 7.21155518e-02 9.36579855e+01] [-3.82611332e-01 9.23296474e-01 -3.36480321e-02 -2.78007852e+01] [-7.95073409e-02 3.38018119e-03 9.96828550e-01 -1.13704339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.001193817 meters 0.06741783405342848 Centerline is valid? [True, True] Translation: X:93.69, Y:-27.80, Z:-11.38 [[ 9.16890361e-01 3.92603593e-01 7.19338866e-02 9.36918689e+01] [-3.91175504e-01 9.19704025e-01 -3.35593664e-02 -2.77964126e+01] [-7.93334129e-02 2.63148532e-03 9.96844664e-01 -1.13752470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.031193817 meters 0.0662421714847147 Centerline is valid? [True, True] Translation: X:93.72, Y:-27.80, Z:-11.38 [[ 9.15611237e-01 3.95556842e-01 7.20475353e-02 9.37223313e+01] [-3.94133250e-01 9.18438413e-01 -3.36134489e-02 -2.77998722e+01] [-7.94672536e-02 2.38052237e-03 9.96834635e-01 -1.13786527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.061193817 meters 0.06500621066498817 Centerline is valid? [True, True] Translation: X:93.75, Y:-27.80, Z:-11.38 [[ 9.14350765e-01 3.98380497e-01 7.24959202e-02 9.37531344e+01] [-3.96948495e-01 9.17217744e-01 -3.38157039e-02 -2.78031490e+01] [-7.99660613e-02 2.14226825e-03 9.96795285e-01 -1.13806680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.091193817 meters 0.06402615031433938 Centerline is valid? [True, True] Translation: X:93.78, Y:-27.81, Z:-11.38 [[ 9.12790193e-01 4.01644496e-01 7.41334111e-02 9.37827158e+01] [-4.00160293e-01 9.15793756e-01 -3.45475876e-02 -2.78078300e+01] [-8.17667634e-02 1.86945157e-03 9.96649739e-01 -1.13836073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.121193817 meters 0.06171348784822714 Centerline is valid? [True, True] Translation: X:93.82, Y:-27.81, Z:-11.39 [[ 9.09391641e-01 4.09039149e-01 7.54573982e-02 9.38164984e+01] [-4.07527032e-01 9.12516015e-01 -3.51602106e-02 -2.78071547e+01] [-8.32379869e-02 1.22347214e-03 9.96528946e-01 -1.13851120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.151193817 meters 0.061148805937872794 Centerline is valid? [True, True] Translation: X:93.84, Y:-27.82, Z:-11.39 [[ 9.08085493e-01 4.11779801e-01 7.62766825e-02 9.38438077e+01] [-4.10243692e-01 9.11282841e-01 -3.55485040e-02 -2.78150020e+01] [-8.41477878e-02 9.89052917e-04 9.96452794e-01 -1.13890933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18119381700001 meters 0.05973166629352355 Centerline is valid? [True, True] Translation: X:93.87, Y:-27.82, Z:-11.39 [[ 9.05724729e-01 4.16423620e-01 7.90827637e-02 9.38725506e+01] [-4.14792714e-01 9.09170538e-01 -3.68230416e-02 -2.78226390e+01] [-8.72337031e-02 5.48585227e-04 9.96187723e-01 -1.13866106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21119381700001 meters 0.05973166629352355 Centerline is valid? [True, True] Translation: X:93.90, Y:-27.83, Z:-11.39 [[ 9.05861967e-01 4.16124960e-01 7.90829588e-02 9.38974076e+01] [-4.14492955e-01 9.09307255e-01 -3.68226260e-02 -2.78339287e+01] [-8.72335220e-02 5.76887121e-04 9.96187723e-01 -1.13897489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24119381700001 meters 0.059618484745933835 Centerline is valid? [True, True] Translation: X:93.92, Y:-27.84, Z:-11.39 [[ 9.04676712e-01 4.18596521e-01 7.96052777e-02 9.39230222e+01] [-4.16955824e-01 9.08172263e-01 -3.70267700e-02 -2.78434597e+01] [-8.77945823e-02 3.05372388e-04 9.96138554e-01 -1.13935435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27119381700001 meters 0.059544498051380526 Centerline is valid? [True, True] Translation: X:93.95, Y:-27.85, Z:-11.40 [[ 9.03297962e-01 4.21441112e-01 8.02507346e-02 9.39500274e+01] [-4.19785281e-01 9.06855771e-01 -3.73219723e-02 -2.78523497e+01] [-8.85048553e-02 2.47844025e-05 9.96075745e-01 -1.13970172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.301193817 meters 0.0598044671143512 Centerline is valid? [True, True] Translation: X:93.98, Y:-27.86, Z:-11.40 [[ 9.01660388e-01 4.25165025e-01 7.90142156e-02 9.39766210e+01] [-4.23576828e-01 9.05115777e-01 -3.67164966e-02 -2.78618167e+01] [-8.71275833e-02 -3.62780243e-04 9.96197095e-01 -1.14006732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.331193817 meters 0.06024066383330413 Centerline is valid? [True, True] Translation: X:94.00, Y:-27.87, Z:-11.41 [[ 9.00069421e-01 4.28689768e-01 7.81032597e-02 9.40026773e+01] [-4.27152139e-01 9.03451485e-01 -3.62831159e-02 -2.78725014e+01] [-8.61167066e-02 -7.04651260e-04 9.96284807e-01 -1.14051044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.361193817 meters 0.061708838065991464 Centerline is valid? [True, True] Translation: X:94.03, Y:-27.89, Z:-11.41 [[ 8.97497719e-01 4.34345426e-01 7.64322945e-02 9.40266110e+01] [-4.32896206e-01 9.00745518e-01 -3.54737371e-02 -2.78866724e+01] [-8.42539022e-02 -1.24965211e-03 9.96443535e-01 -1.14126575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.391193817 meters 0.06154633739258076 Centerline is valid? [True, True] Translation: X:94.05, Y:-27.90, Z:-11.41 [[ 8.96940783e-01 4.35550838e-01 7.61097781e-02 9.40501435e+01] [-4.34118220e-01 9.00163110e-01 -3.53234586e-02 -2.79036632e+01] [-8.38963765e-02 -1.35759072e-03 9.96473560e-01 -1.14137361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.421193817 meters 0.06130994279227388 Centerline is valid? [True, True] Translation: X:94.07, Y:-27.92, Z:-11.42 [[ 8.96804877e-01 4.35759602e-01 7.65152458e-02 9.40720934e+01] [-4.34314585e-01 9.00061991e-01 -3.54859553e-02 -2.79217543e+01] [-8.43318102e-02 -1.40770952e-03 9.96436734e-01 -1.14151978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.451193817 meters 0.06160224458264608 Centerline is valid? [True, True] Translation: X:94.09, Y:-27.95, Z:-11.42 [[ 8.97386231e-01 4.34449964e-01 7.71439004e-02 9.40900603e+01] [-4.32979667e-01 9.00694985e-01 -3.57372634e-02 -2.79474062e+01] [-8.50091770e-02 -1.33161221e-03 9.96379279e-01 -1.14216551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.481193817 meters 0.0607462609755602 Centerline is valid? [True, True] Translation: X:94.11, Y:-27.97, Z:-11.42 [[ 8.97860148e-01 4.33368218e-01 7.77119216e-02 9.41124360e+01] [-4.31872476e-01 9.01216092e-01 -3.59961102e-02 -2.79686232e+01] [-8.56348045e-02 -1.24216719e-03 9.96325819e-01 -1.14212931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.511193817 meters 0.060575912182628505 Centerline is valid? [True, True] Translation: X:94.13, Y:-27.99, Z:-11.42 [[ 8.98136874e-01 4.32799691e-01 7.76825761e-02 9.41348785e+01] [-4.31305248e-01 9.01489301e-01 -3.59558622e-02 -2.79875983e+01] [-8.55916973e-02 -1.21161704e-03 9.96329561e-01 -1.14241556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.541193817 meters 0.06134816936527324 Centerline is valid? [True, True] Translation: X:94.15, Y:-28.01, Z:-11.43 [[ 8.97660382e-01 4.34085916e-01 7.59951056e-02 9.41533718e+01] [-4.32663220e-01 9.00870487e-01 -3.51411994e-02 -2.80135550e+01] [-8.37160475e-02 -1.33542454e-03 9.96488756e-01 -1.14300479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57119381700001 meters 0.06170963796430933 Centerline is valid? [True, True] Translation: X:94.18, Y:-28.03, Z:-11.43 [[ 8.96733849e-01 4.36220935e-01 7.46973838e-02 9.41756979e+01] [-4.34855176e-01 8.99838306e-01 -3.45253239e-02 -2.80323504e+01] [-8.22762364e-02 -1.52251744e-03 9.96608400e-01 -1.14333215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60119381700001 meters 0.06450693362947547 Centerline is valid? [True, True] Translation: X:94.20, Y:-28.04, Z:-11.44 [[ 8.94998245e-01 4.39938448e-01 7.37041646e-02 9.42003639e+01] [-4.38622184e-01 8.98026028e-01 -3.40563045e-02 -2.80441315e+01] [-8.11709359e-02 -1.84794894e-03 9.96698482e-01 -1.14438308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63119381700001 meters 0.06467498786840664 Centerline is valid? [True, True] Translation: X:94.22, Y:-28.06, Z:-11.44 [[ 8.93302981e-01 4.43582119e-01 7.24202174e-02 9.42247234e+01] [-4.42323993e-01 8.96231158e-01 -3.34543947e-02 -2.80626183e+01] [-7.97450266e-02 -2.14828919e-03 9.96812979e-01 -1.14440643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66119381700001 meters 0.06843228920588963 Centerline is valid? [True, True] Translation: X:94.25, Y:-28.08, Z:-11.45 [[ 8.89036404e-01 4.52099684e-01 7.22505901e-02 9.42496428e+01] [-4.50875665e-01 8.91962682e-01 -3.33722724e-02 -2.80775786e+01] [-7.95324240e-02 -2.90686778e-03 9.96828041e-01 -1.14480946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.691193817 meters 0.0681672066107048 Centerline is valid? [True, True] Translation: X:94.27, Y:-28.10, Z:-11.45 [[ 8.87182057e-01 4.55673329e-01 7.25934885e-02 9.42739075e+01] [-4.54449747e-01 8.90141163e-01 -3.35281482e-02 -2.80960127e+01] [-7.98963352e-02 -3.24452099e-03 9.96797898e-01 -1.14479151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.721193817 meters 0.07010103859438427 Centerline is valid? [True, True] Translation: X:94.30, Y:-28.11, Z:-11.45 [[ 8.85820123e-01 4.58320804e-01 7.25586018e-02 9.42980978e+01] [-4.57107405e-01 8.88780011e-01 -3.35098994e-02 -2.81105999e+01] [-7.98469188e-02 -3.48333096e-03 9.96801051e-01 -1.14519688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.751193817 meters 0.06918297912061804 Centerline is valid? [True, True] Translation: X:94.32, Y:-28.14, Z:-11.45 [[ 8.85818957e-01 4.58404205e-01 7.20441594e-02 9.43161075e+01] [-4.57208172e-01 8.88737069e-01 -3.32732482e-02 -2.81409844e+01] [-7.92809120e-02 -3.46510439e-03 9.96846292e-01 -1.14525938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.781193817 meters 0.06777226485361097 Centerline is valid? [True, True] Translation: X:94.34, Y:-28.16, Z:-11.45 [[ 8.86991310e-01 4.56148668e-01 7.19361416e-02 9.43370305e+01] [-4.54951483e-01 8.89897511e-01 -3.31898840e-02 -2.81640426e+01] [-7.91553148e-02 -3.28831561e-03 9.96856872e-01 -1.14547963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.811193817 meters 0.06680937012148479 Centerline is valid? [True, True] Translation: X:94.36, Y:-28.19, Z:-11.46 [[ 8.88847051e-01 4.52559944e-01 7.16966996e-02 9.43578632e+01] [-4.51359711e-01 8.91729052e-01 -3.30712891e-02 -2.81861229e+01] [-7.89007707e-02 -2.96568383e-03 9.96878063e-01 -1.14585087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.841193817 meters 0.06511880332467047 Centerline is valid? [True, True] Translation: X:94.38, Y:-28.21, Z:-11.46 [[ 8.90620092e-01 4.49033134e-01 7.18685993e-02 9.43794799e+01] [-4.47816106e-01 8.93511133e-01 -3.31449759e-02 -2.82113282e+01] [-7.90985860e-02 -2.66433475e-03 9.96863238e-01 -1.14611633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.871193817 meters 0.06265636268902204 Centerline is valid? [True, True] Translation: X:94.40, Y:-28.25, Z:-11.46 [[ 8.94730701e-01 4.40431635e-01 7.40064061e-02 9.43957162e+01] [-4.39112088e-01 8.97784001e-01 -3.41242050e-02 -2.82459678e+01] [-8.14711468e-02 -1.96513364e-03 9.96673763e-01 -1.14644832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.901193817 meters 0.0615178385026278 Centerline is valid? [True, True] Translation: X:94.42, Y:-28.27, Z:-11.47 [[ 8.96814913e-01 4.36204238e-01 7.38164973e-02 9.44177620e+01] [-4.34877445e-01 8.99846302e-01 -3.40329372e-02 -2.82705226e+01] [-8.12688136e-02 -1.57988411e-03 9.96690967e-01 -1.14672710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93119381700001 meters 0.06099666359319867 Centerline is valid? [True, True] Translation: X:94.44, Y:-28.29, Z:-11.47 [[ 8.98477660e-01 4.32781142e-01 7.37453581e-02 9.44411033e+01] [-4.31445706e-01 9.01498122e-01 -3.39961544e-02 -2.82944891e+01] [-8.11941964e-02 -1.27233284e-03 9.96697489e-01 -1.14714929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96119381700001 meters 0.06034593930381478 Centerline is valid? [True, True] Translation: X:94.46, Y:-28.33, Z:-11.48 [[ 9.01464857e-01 4.26746286e-01 7.24480407e-02 9.44599337e+01] [-4.25436636e-01 9.04371117e-01 -3.34148304e-02 -2.83307550e+01] [-7.97795703e-02 -6.99755372e-04 9.96812284e-01 -1.14762145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99119381700001 meters 0.06021583133049507 Centerline is valid? [True, True] Translation: X:94.48, Y:-28.35, Z:-11.48 [[ 9.02610391e-01 4.24401542e-01 7.19570232e-02 9.44847032e+01] [-4.23102078e-01 9.05473961e-01 -3.31894355e-02 -2.83532667e+01] [-7.92408584e-02 -4.88036690e-04 9.96855380e-01 -1.14809594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02119381700001 meters 0.060140223137834826 Centerline is valid? [True, True] Translation: X:94.51, Y:-28.37, Z:-11.49 [[ 9.03704773e-01 4.22109274e-01 7.17038685e-02 9.45109287e+01] [-4.20809678e-01 9.06544920e-01 -3.30986801e-02 -2.83746915e+01] [-7.89740376e-02 -2.62246622e-04 9.96876639e-01 -1.14851973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.051193817 meters 0.06007750832172562 Centerline is valid? [True, True] Translation: X:94.54, Y:-28.40, Z:-11.49 [[ 9.04818923e-01 4.19502958e-01 7.29382331e-02 9.45364373e+01] [-4.18147214e-01 9.07753969e-01 -3.36992383e-02 -2.83951106e+01] [-8.03469008e-02 -7.21046994e-06 9.96766961e-01 -1.14874015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.081193817 meters 0.06026679871246196 Centerline is valid? [True, True] Translation: X:94.56, Y:-28.42, Z:-11.49 [[ 9.06257367e-01 4.16410714e-01 7.27990498e-02 9.45622231e+01] [-4.15048308e-01 9.09176569e-01 -3.36580975e-02 -2.84162452e+01] [-8.02027828e-02 2.87776317e-04 9.96778526e-01 -1.14911824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.111193817 meters 0.06094668172133724 Centerline is valid? [True, True] Translation: X:94.58, Y:-28.45, Z:-11.49 [[ 9.09665894e-01 4.09045395e-01 7.20404478e-02 9.45838969e+01] [-4.07685248e-01 9.12513528e-01 -3.33436429e-02 -2.84458392e+01] [-7.93769468e-02 9.61746875e-04 9.96844208e-01 -1.14916482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.141193817 meters 0.0613713496520356 Centerline is valid? [True, True] Translation: X:94.61, Y:-28.47, Z:-11.49 [[ 9.11155762e-01 4.05675406e-01 7.22678451e-02 9.46099536e+01] [-4.04296111e-01 9.14016346e-01 -3.34480852e-02 -2.84661223e+01] [-7.96230573e-02 1.25880682e-03 9.96824249e-01 -1.14937998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.171193817 meters 0.06259308352016335 Centerline is valid? [True, True] Translation: X:94.63, Y:-28.49, Z:-11.50 [[ 9.12643985e-01 4.02385619e-01 7.18802545e-02 9.46347938e+01] [-4.01008768e-01 9.15468936e-01 -3.32955803e-02 -2.84852952e+01] [-7.92018028e-02 1.56239878e-03 9.96857379e-01 -1.14986826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.201193817 meters 0.06450496646368566 Centerline is valid? [True, True] Translation: X:94.66, Y:-28.50, Z:-11.50 [[ 9.15495683e-01 3.95929206e-01 7.14683031e-02 9.46599380e+01] [-3.94545772e-01 9.18278543e-01 -3.31383759e-02 -2.85045564e+01] [-7.87482601e-02 2.14052326e-03 9.96892236e-01 -1.15019312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.231193817 meters 0.06505456067118663 Centerline is valid? [True, True] Translation: X:94.69, Y:-28.52, Z:-11.50 [[ 9.16488668e-01 3.93511756e-01 7.20903571e-02 9.46882448e+01] [-3.92097322e-01 9.19316553e-01 -3.34180462e-02 -2.85197432e+01] [-7.94242526e-02 2.36082464e-03 9.96838109e-01 -1.15033686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.261193817 meters 0.06556742308628326 Centerline is valid? [True, True] Translation: X:94.72, Y:-28.53, Z:-11.51 [[ 9.17625510e-01 3.90853741e-01 7.20886737e-02 9.47174388e+01] [-3.89428457e-01 9.20449062e-01 -3.34514809e-02 -2.85339902e+01] [-7.94285885e-02 2.62255129e-03 9.96837109e-01 -1.15051895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.291193817 meters 0.06659203672993674 Centerline is valid? [True, True] Translation: X:94.75, Y:-28.55, Z:-11.51 [[ 9.18421616e-01 3.88980088e-01 7.20848616e-02 9.47463162e+01] [-3.87549240e-01 9.21241956e-01 -3.34491518e-02 -2.85472773e+01] [-7.94186529e-02 2.78399074e-03 9.96837463e-01 -1.15094182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32119381700001 meters 0.06807348189648296 Centerline is valid? [True, True] Translation: X:94.77, Y:-28.56, Z:-11.51 [[ 9.19426449e-01 3.86877683e-01 7.05738135e-02 9.47736851e+01] [-3.85497202e-01 9.22126362e-01 -3.27853569e-02 -2.85582033e+01] [-7.77618969e-02 2.93771668e-03 9.96967631e-01 -1.15146911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35119381700001 meters 0.06877582023390987 Centerline is valid? [True, True] Translation: X:94.81, Y:-28.57, Z:-11.52 [[ 9.19490157e-01 3.86609460e-01 7.12107906e-02 9.48056854e+01] [-3.85204086e-01 9.22238728e-01 -3.30687331e-02 -2.85652042e+01] [-7.84580340e-02 2.97568714e-03 9.96912976e-01 -1.15182240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38119381700001 meters 0.0679673357835113 Centerline is valid? [True, True] Translation: X:94.84, Y:-28.57, Z:-11.52 [[ 9.19083889e-01 3.87200420e-01 7.32163909e-02 9.48367956e+01] [-3.85713334e-01 9.21990546e-01 -3.40390500e-02 -2.85732556e+01] [-8.06847547e-02 3.04420426e-03 9.96735022e-01 -1.15190781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41119381700001 meters 0.06717656161592611 Centerline is valid? [True, True] Translation: X:94.87, Y:-28.58, Z:-11.52 [[ 9.18423415e-01 3.88466026e-01 7.47835345e-02 9.48686348e+01] [-3.86918844e-01 9.21458182e-01 -3.47652983e-02 -2.85811883e+01] [-8.24150371e-02 2.99410522e-03 9.96593597e-01 -1.15206853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.441193817 meters 0.06700792478950894 Centerline is valid? [True, True] Translation: X:94.90, Y:-28.59, Z:-11.52 [[ 9.17946970e-01 3.89549424e-01 7.49973805e-02 9.48995956e+01] [-3.87994667e-01 9.21000899e-01 -3.48924339e-02 -2.85898633e+01] [-8.26649824e-02 2.93082025e-03 9.96573084e-01 -1.15243683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.471193817 meters 0.06729121403395204 Centerline is valid? [True, True] Translation: X:94.93, Y:-28.59, Z:-11.53 [[ 9.17238667e-01 3.91673999e-01 7.25582913e-02 9.49314995e+01] [-3.90223427e-01 9.20100173e-01 -3.37838459e-02 -2.85933342e+01] [-7.99931504e-02 2.67390466e-03 9.96791827e-01 -1.15321327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.501193817 meters 0.06744944837833818 Centerline is valid? [True, True] Translation: X:94.96, Y:-28.60, Z:-11.54 [[ 9.16693670e-01 3.92944192e-01 7.25780800e-02 9.49625061e+01] [-3.91494863e-01 9.19558685e-01 -3.38171303e-02 -2.86022544e+01] [-8.00280487e-02 2.58600380e-03 9.96789258e-01 -1.15377188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.531193817 meters 0.06754130214345314 Centerline is valid? [True, True] Translation: X:94.99, Y:-28.61, Z:-11.54 [[ 9.16332323e-01 3.93831956e-01 7.23288587e-02 9.49924398e+01] [-3.92393255e-01 9.19178993e-01 -3.37270354e-02 -2.86105804e+01] [-7.97659518e-02 2.52381639e-03 9.96810425e-01 -1.15426093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.561193817 meters 0.06543435785999137 Centerline is valid? [True, True] Translation: X:95.03, Y:-28.61, Z:-11.54 [[ 9.16084433e-01 3.94197008e-01 7.34712869e-02 9.50273993e+01] [-3.92711750e-01 9.19022417e-01 -3.42823309e-02 -2.86111270e+01] [-8.10357520e-02 2.55247206e-03 9.96707927e-01 -1.15425858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.591193817 meters 0.06608515717681585 Centerline is valid? [True, True] Translation: X:95.06, Y:-28.62, Z:-11.55 [[ 9.16259218e-01 3.93862228e-01 7.30861943e-02 9.50561905e+01] [-3.92389153e-01 9.19165824e-01 -3.41312111e-02 -2.86221349e+01] [-8.06213268e-02 2.59480684e-03 9.96741425e-01 -1.15470685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.621193817 meters 0.06903294792220063 Centerline is valid? [True, True] Translation: X:95.08, Y:-28.64, Z:-11.56 [[ 9.16784499e-01 3.92553571e-01 7.35382632e-02 9.50820526e+01] [-3.91055854e-01 9.19725028e-01 -3.43684790e-02 -2.86379251e+01] [-8.11264503e-02 2.75092050e-03 9.96700021e-01 -1.15550426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.651193817 meters 0.06738587022132396 Centerline is valid? [True, True] Translation: X:95.11, Y:-28.65, Z:-11.55 [[ 9.17083979e-01 3.91926592e-01 7.31472625e-02 9.51146048e+01] [-3.90440829e-01 9.19992189e-01 -3.42100899e-02 -2.86456372e+01] [-8.07027541e-02 2.81384747e-03 9.96734241e-01 -1.15536372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68119381700001 meters 0.06910767184691295 Centerline is valid? [True, True] Translation: X:95.14, Y:-28.66, Z:-11.56 [[ 9.18388381e-01 3.88371699e-01 7.56981157e-02 9.51447466e+01] [-3.86765721e-01 9.21497026e-01 -3.54331420e-02 -2.86551958e+01] [-8.35168181e-02 3.26394961e-03 9.96501022e-01 -1.15565041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71119381700001 meters 0.06893277467191965 Centerline is valid? [True, True] Translation: X:95.18, Y:-28.66, Z:-11.56 [[ 9.19246962e-01 3.86273204e-01 7.60133898e-02 9.51753323e+01] [-3.84644471e-01 9.22377803e-01 -3.56064542e-02 -2.86645456e+01] [-8.38668826e-02 3.49299469e-03 9.96470845e-01 -1.15578416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74119381700001 meters 0.07068348254786964 Centerline is valid? [True, True] Translation: X:95.20, Y:-28.68, Z:-11.56 [[ 9.20424588e-01 3.83505842e-01 7.57749773e-02 9.52037493e+01] [-3.81875740e-01 9.23530803e-01 -3.55214692e-02 -2.86761785e+01] [-8.36032167e-02 3.75820812e-03 9.96492036e-01 -1.15616505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77119381700001 meters 0.07405036777134992 Centerline is valid? [True, True] Translation: X:95.23, Y:-28.68, Z:-11.57 [[ 9.23356943e-01 3.77023716e-01 7.25608298e-02 9.52339043e+01] [-3.75506604e-01 9.26194123e-01 -3.40475667e-02 -2.86838217e+01] [-8.00421543e-02 4.19098628e-03 9.96782669e-01 -1.15690759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.801193817 meters 0.07665582895151506 Centerline is valid? [True, True] Translation: X:95.26, Y:-28.69, Z:-11.57 [[ 9.24839715e-01 3.73509644e-01 7.18473895e-02 9.52612246e+01] [-3.72011619e-01 9.27615613e-01 -3.37139377e-02 -2.86949790e+01] [-7.92392411e-02 4.45192486e-03 9.96845687e-01 -1.15746329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.831193817 meters 0.07781203615239694 Centerline is valid? [True, True] Translation: X:95.29, Y:-28.70, Z:-11.58 [[ 9.26263769e-01 3.70082724e-01 7.12334734e-02 9.52914297e+01] [-3.68599467e-01 9.28986851e-01 -3.34344592e-02 -2.87037763e+01] [-7.85484759e-02 4.71250783e-03 9.96899157e-01 -1.15782800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.861193817 meters 0.07969662774107163 Centerline is valid? [True, True] Translation: X:95.32, Y:-28.71, Z:-11.58 [[ 9.27403719e-01 3.67025948e-01 7.22100801e-02 9.53204651e+01] [-3.65492175e-01 9.30197033e-01 -3.38961653e-02 -2.87134836e+01] [-7.96103745e-02 5.04321047e-03 9.96813300e-01 -1.15816301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.891193817 meters 0.07964488057708281 Centerline is valid? [True, True] Translation: X:95.35, Y:-28.72, Z:-11.58 [[ 9.28091947e-01 3.65148437e-01 7.28831739e-02 9.53530814e+01] [-3.63579790e-01 9.30934468e-01 -3.42162620e-02 -2.87201043e+01] [-8.03434732e-02 5.25698810e-03 9.96753375e-01 -1.15836961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.921193817 meters 0.07983476004887131 Centerline is valid? [True, True] Translation: X:95.39, Y:-28.72, Z:-11.59 [[ 9.27998376e-01 3.65355072e-01 7.30389243e-02 9.53902657e+01] [-3.63780475e-01 9.30853437e-01 -3.42876743e-02 -2.87169931e+01] [-8.05157094e-02 5.24877156e-03 9.96739520e-01 -1.15871974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.951193817 meters 0.07831959181551214 Centerline is valid? [True, True] Translation: X:95.42, Y:-28.72, Z:-11.59 [[ 9.27338405e-01 3.66877587e-01 7.37856267e-02 9.54248102e+01] [-3.65272080e-01 9.30254657e-01 -3.46782429e-02 -2.87183213e+01] [-8.13620930e-02 5.20663718e-03 9.96671009e-01 -1.15899861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.981193817 meters 0.07672204523533746 Centerline is valid? [True, True] Translation: X:95.46, Y:-28.72, Z:-11.59 [[ 9.26095496e-01 3.70057496e-01 7.35158552e-02 9.54580028e+01] [-3.68472732e-01 9.28995825e-01 -3.45630321e-02 -2.87187469e+01] [-8.10862316e-02 4.92008033e-03 9.96694946e-01 -1.15929189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.011193817 meters 0.07335911709786257 Centerline is valid? [True, True] Translation: X:95.50, Y:-28.71, Z:-11.60 [[ 9.22854187e-01 3.77936055e-01 7.41922439e-02 9.54952960e+01] [-3.76346999e-01 9.25821854e-01 -3.48830942e-02 -2.87065424e+01] [-8.18723798e-02 4.26998122e-03 9.96633674e-01 -1.15976063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.041193817 meters 0.07136906195691943 Centerline is valid? [True, True] Translation: X:95.53, Y:-28.71, Z:-11.60 [[ 9.21529889e-01 3.81315769e-01 7.33549410e-02 9.55278761e+01] [-3.79773498e-01 9.24436540e-01 -3.44843936e-02 -2.87074689e+01] [-8.09614309e-02 3.92013687e-03 9.96709526e-01 -1.16023458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07119381700001 meters 0.07095174496269771 Centerline is valid? [True, True] Translation: X:95.56, Y:-28.71, Z:-11.61 [[ 9.20628055e-01 3.83688008e-01 7.23014243e-02 9.55561910e+01] [-3.82197363e-01 9.23455552e-01 -3.39855894e-02 -2.87111611e+01] [-7.98070148e-02 3.65467342e-03 9.96803633e-01 -1.16073150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10119381700001 meters 0.07095174496269771 Centerline is valid? [True, True] Translation: X:95.58, Y:-28.72, Z:-11.61 [[ 9.20676057e-01 3.83572192e-01 7.23047105e-02 9.55810245e+01] [-3.82081739e-01 9.23503655e-01 -3.39785963e-02 -2.87226591e+01] [-7.98069090e-02 3.65697062e-03 9.96803634e-01 -1.16104599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13119381700001 meters 0.07033720502519028 Centerline is valid? [True, True] Translation: X:95.61, Y:-28.72, Z:-11.61 [[ 9.20649353e-01 3.83672056e-01 7.21146510e-02 9.56135124e+01] [-3.82190625e-01 9.23462283e-01 -3.38783000e-02 -2.87198226e+01] [-7.95933172e-02 3.62849149e-03 9.96820815e-01 -1.16132372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16119381700001 meters 0.07106868762411471 Centerline is valid? [True, True] Translation: X:95.64, Y:-28.73, Z:-11.62 [[ 9.20900838e-01 3.82985645e-01 7.25509680e-02 9.56404502e+01] [-3.81485055e-01 9.23746888e-01 -3.40711039e-02 -2.87262409e+01] [-8.00674746e-02 3.69899815e-03 9.96782583e-01 -1.16169049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.191193817 meters 0.07267611105805154 Centerline is valid? [True, True] Translation: X:95.67, Y:-28.73, Z:-11.62 [[ 9.21618162e-01 3.81149675e-01 7.31087432e-02 9.56669739e+01] [-3.79620887e-01 9.24505205e-01 -3.43235885e-02 -2.87343033e+01] [-8.06718382e-02 3.87963661e-03 9.96733165e-01 -1.16207756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.221193817 meters 0.07198429367776507 Centerline is valid? [True, True] Translation: X:95.70, Y:-28.74, Z:-11.62 [[ 9.22560006e-01 3.78830678e-01 7.32826850e-02 9.56969932e+01] [-3.77288225e-01 9.25456999e-01 -3.43938771e-02 -2.87402087e+01] [-8.08494295e-02 4.08172130e-03 9.96717969e-01 -1.16207879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.251193817 meters 0.0757749426838012 Centerline is valid? [True, True] Translation: X:95.72, Y:-28.75, Z:-11.62 [[ 9.24309158e-01 3.74183832e-01 7.50935448e-02 9.57246292e+01] [-3.72549148e-01 9.27343161e-01 -3.52390863e-02 -2.87503851e+01] [-8.28233816e-02 4.59577398e-03 9.96553644e-01 -1.16233906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.281193817 meters 0.07420041368922635 Centerline is valid? [True, True] Translation: X:95.75, Y:-28.76, Z:-11.62 [[ 9.25147210e-01 3.72001794e-01 7.56128609e-02 9.57540278e+01] [-3.70336507e-01 9.28219437e-01 -3.54901215e-02 -2.87551956e+01] [-8.33877161e-02 4.83138408e-03 9.96505467e-01 -1.16237037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.311193817 meters 0.0747032543924297 Centerline is valid? [True, True] Translation: X:95.78, Y:-28.76, Z:-11.63 [[ 9.25537376e-01 3.70979555e-01 7.58599749e-02 9.57815108e+01] [-3.69302762e-01 9.28628063e-01 -3.55723386e-02 -2.87630959e+01] [-8.36423119e-02 4.90823065e-03 9.96483754e-01 -1.16266523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.341193817 meters 0.07450065686859954 Centerline is valid? [True, True] Translation: X:95.81, Y:-28.76, Z:-11.63 [[ 9.25731857e-01 3.70927510e-01 7.37109982e-02 9.58131326e+01] [-3.69344580e-01 9.28649569e-01 -3.45623928e-02 -2.87630537e+01] [-8.12718290e-02 4.77075043e-03 9.96680556e-01 -1.16305282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.371193817 meters 0.07404675751164255 Centerline is valid? [True, True] Translation: X:95.84, Y:-28.77, Z:-11.63 [[ 9.25025816e-01 3.72860611e-01 7.28162391e-02 9.58418533e+01] [-3.71324552e-01 9.27876386e-01 -3.41099643e-02 -2.87670247e+01] [-8.02827309e-02 4.51414017e-03 9.96761910e-01 -1.16346064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.401193817 meters 0.07147993569308837 Centerline is valid? [True, True] Translation: X:95.88, Y:-28.76, Z:-11.64 [[ 9.22504663e-01 3.79339990e-01 7.13184340e-02 9.58780170e+01] [-3.77886778e-01 9.25249312e-01 -3.33960028e-02 -2.87603079e+01] [-7.86557714e-02 3.85767511e-03 9.96894372e-01 -1.16408098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43119381700001 meters 0.07010428408617964 Centerline is valid? [True, True] Translation: X:95.91, Y:-28.76, Z:-11.64 [[ 9.21177203e-01 3.82705629e-01 7.04908643e-02 9.59087465e+01] [-3.81295790e-01 9.23863598e-01 -3.30086733e-02 -2.87634375e+01] [-7.77565486e-02 3.52896752e-03 9.96966131e-01 -1.16449715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46119381700001 meters 0.06818297133446856 Centerline is valid? [True, True] Translation: X:95.94, Y:-28.77, Z:-11.65 [[ 9.19962780e-01 3.85781777e-01 6.95765999e-02 9.59396427e+01] [-3.84416622e-01 9.22584400e-01 -3.25866017e-02 -2.87659080e+01] [-7.67616028e-02 3.23205924e-03 9.97044237e-01 -1.16473009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49119381700001 meters 0.067217761350766 Centerline is valid? [True, True] Translation: X:95.97, Y:-28.77, Z:-11.65 [[ 9.18731710e-01 3.88656673e-01 6.98429366e-02 9.59697266e+01] [-3.87291806e-01 9.21377853e-01 -3.26788622e-02 -2.87708453e+01] [-7.70525928e-02 2.97350990e-03 9.97022596e-01 -1.16514160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52119381700001 meters 0.06520068120667484 Centerline is valid? [True, True] Translation: X:96.00, Y:-28.77, Z:-11.66 [[ 9.16014807e-01 3.95026975e-01 6.97894174e-02 9.60030733e+01] [-3.93682919e-01 9.18666301e-01 -3.26494607e-02 -2.87703815e+01] [-7.70106036e-02 2.43248790e-03 9.97027307e-01 -1.16550446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.551193817 meters 0.06450605010788692 Centerline is valid? [True, True] Translation: X:96.03, Y:-28.78, Z:-11.66 [[ 9.14987966e-01 3.97486771e-01 6.92913420e-02 9.60306361e+01] [-3.96168174e-01 9.17605224e-01 -3.24257800e-02 -2.87771686e+01] [-7.64709160e-02 2.21817407e-03 9.97069345e-01 -1.16597842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.581193817 meters 0.06338169445931158 Centerline is valid? [True, True] Translation: X:96.06, Y:-28.78, Z:-11.66 [[ 9.13923360e-01 3.99872853e-01 6.96117307e-02 9.60595369e+01] [-3.98550841e-01 9.16568427e-01 -3.25506560e-02 -2.87845338e+01] [-7.68200382e-02 2.00499106e-03 9.97042959e-01 -1.16613647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.611193817 meters 0.06273902355281315 Centerline is valid? [True, True] Translation: X:96.09, Y:-28.79, Z:-11.66 [[ 9.12914341e-01 4.01979362e-01 7.07106747e-02 9.60863101e+01] [-4.00623981e-01 9.15646903e-01 -3.30329224e-02 -2.87942177e+01] [-7.80245634e-02 1.82783655e-03 9.96949761e-01 -1.16635535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.641193817 meters 0.06253525663587847 Centerline is valid? [True, True] Translation: X:96.11, Y:-28.81, Z:-11.67 [[ 9.12146879e-01 4.03153794e-01 7.38585733e-02 9.61122112e+01] [-4.01679437e-01 9.15130478e-01 -3.44940199e-02 -2.88076601e+01] [-8.14966264e-02 1.79614243e-03 9.96671999e-01 -1.16654323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.671193817 meters 0.06215766860665335 Centerline is valid? [True, True] Translation: X:96.14, Y:-28.82, Z:-11.67 [[ 9.12291137e-01 4.02473093e-01 7.57647099e-02 9.61378144e+01] [-4.00918804e-01 9.15429825e-01 -3.53885289e-02 -2.88212349e+01] [-8.36002058e-02 1.90914444e-03 9.96497547e-01 -1.16652650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.701193817 meters 0.06236717155668821 Centerline is valid? [True, True] Translation: X:96.16, Y:-28.84, Z:-11.67 [[ 9.12876636e-01 4.01056348e-01 7.62237076e-02 9.61625674e+01] [-3.99480446e-01 9.16051144e-01 -3.55763382e-02 -2.88359419e+01] [-8.40929307e-02 2.02692725e-03 9.96455855e-01 -1.16672541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.731193817 meters 0.06325337379535463 Centerline is valid? [True, True] Translation: X:96.18, Y:-28.85, Z:-11.67 [[ 9.13277125e-01 3.99804622e-01 7.79817787e-02 9.61849120e+01] [-3.98153382e-01 9.16597837e-01 -3.63633107e-02 -2.88520584e+01] [-8.60161493e-02 2.16107094e-03 9.96291399e-01 -1.16717220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.761193817 meters 0.06281719820037038 Centerline is valid? [True, True] Translation: X:96.21, Y:-28.87, Z:-11.67 [[ 9.13858893e-01 3.98210687e-01 7.93106098e-02 9.62101213e+01] [-3.96496878e-01 9.17290977e-01 -3.69795748e-02 -2.88652668e+01] [-8.74765687e-02 2.34770405e-03 9.96163811e-01 -1.16713135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.791193817 meters 0.0629767385908353 Centerline is valid? [True, True] Translation: X:96.23, Y:-28.88, Z:-11.67 [[ 9.15157018e-01 3.94988309e-01 8.04479234e-02 9.62325889e+01] [-3.93215750e-01 9.18682295e-01 -3.74728506e-02 -2.88841772e+01] [-8.87074208e-02 2.66015169e-03 9.96054174e-01 -1.16720945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82119381700001 meters 0.06432223072329891 Centerline is valid? [True, True] Translation: X:96.25, Y:-28.90, Z:-11.68 [[ 9.15707542e-01 3.93859843e-01 7.97127373e-02 9.62540033e+01] [-3.92116824e-01 9.19166459e-01 -3.71135702e-02 -2.89022151e+01] [-8.78868194e-02 2.72847075e-03 9.96126730e-01 -1.16791844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85119381700001 meters 0.06366914772192267 Centerline is valid? [True, True] Translation: X:96.28, Y:-28.91, Z:-11.68 [[ 9.16043352e-01 3.93250475e-01 7.88583575e-02 9.62796720e+01] [-3.91542809e-01 9.19427259e-01 -3.67116404e-02 -2.89147860e+01] [-8.69413936e-02 2.75303138e-03 9.96209624e-01 -1.16823321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88119381700001 meters 0.06378953911612427 Centerline is valid? [True, True] Translation: X:96.30, Y:-28.93, Z:-11.69 [[ 9.15948322e-01 3.94219623e-01 7.50303953e-02 9.63034134e+01] [-3.92679907e-01 9.19012857e-01 -3.48978466e-02 -2.89292189e+01] [-8.27113138e-02 2.50169536e-03 9.96570409e-01 -1.16900983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91119381700001 meters 0.06425144539690796 Centerline is valid? [True, True] Translation: X:96.33, Y:-28.94, Z:-11.70 [[ 9.16203582e-01 3.93968881e-01 7.32087302e-02 9.63273338e+01] [-3.92502937e-01 9.19120497e-01 -3.40434433e-02 -2.89421275e+01] [-8.06997018e-02 2.45608306e-03 9.96735434e-01 -1.16954059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.941193817 meters 0.06480174817042543 Centerline is valid? [True, True] Translation: X:96.35, Y:-28.96, Z:-11.70 [[ 9.16391335e-01 3.94011821e-01 7.05804951e-02 9.63525237e+01] [-3.92650834e-01 9.19102372e-01 -3.28047639e-02 -2.89554590e+01] [-7.77961652e-02 2.34851108e-03 9.96966520e-01 -1.17017370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.971193817 meters 0.0646823431433375 Centerline is valid? [True, True] Translation: X:96.38, Y:-28.97, Z:-11.71 [[ 9.16593076e-01 3.93822936e-01 6.89972975e-02 9.63778190e+01] [-3.92521532e-01 9.19183406e-01 -3.20735692e-02 -2.89680121e+01] [-7.60524781e-02 2.31548655e-03 9.97101128e-01 -1.17052834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.001193817 meters 0.06567855148292993 Centerline is valid? [True, True] Translation: X:96.40, Y:-28.99, Z:-11.71 [[ 9.17613671e-01 3.91878250e-01 6.64574228e-02 9.64013395e+01] [-3.90668245e-01 9.20014068e-01 -3.08615647e-02 -2.89860111e+01] [-7.32357399e-02 2.35618887e-03 9.97311874e-01 -1.17114865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.031193817 meters 0.06599814662976017 Centerline is valid? [True, True] Translation: X:96.43, Y:-29.00, Z:-11.71 [[ 9.18320572e-01 3.90339515e-01 6.57448850e-02 9.64260719e+01] [-3.89151254e-01 9.20667714e-01 -3.05329782e-02 -2.90005629e+01] [-7.24474209e-02 2.45435753e-03 9.97369213e-01 -1.17143726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.061193817 meters 0.06681630207857382 Centerline is valid? [True, True] Translation: X:96.45, Y:-29.02, Z:-11.72 [[ 9.18850220e-01 3.89219499e-01 6.49804103e-02 9.64497258e+01] [-3.88058240e-01 9.21141690e-01 -3.01461361e-02 -2.90153573e+01] [-7.15896290e-02 2.48360012e-03 9.97431079e-01 -1.17187890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.091193817 meters 0.06703552546019056 Centerline is valid? [True, True] Translation: X:96.47, Y:-29.03, Z:-11.72 [[ 9.19430042e-01 3.87890909e-01 6.47227977e-02 9.64747002e+01] [-3.86735514e-01 9.21701687e-01 -3.00273644e-02 -2.90288738e+01] [-7.13024535e-02 2.57745651e-03 9.97451411e-01 -1.17221203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.121193817 meters 0.06768853906224835 Centerline is valid? [True, True] Translation: X:96.50, Y:-29.05, Z:-11.73 [[ 9.19681400e-01 3.87523510e-01 6.33375992e-02 9.64973875e+01] [-3.86418235e-01 9.21856367e-01 -2.93562001e-02 -2.90452294e+01] [-6.97643867e-02 2.52354794e-03 9.97560305e-01 -1.17274128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.151193817 meters 0.06747624388639689 Centerline is valid? [True, True] Translation: X:96.52, Y:-29.06, Z:-11.73 [[ 9.19393077e-01 3.88145658e-01 6.37127802e-02 9.65230867e+01] [-3.87029117e-01 9.21594688e-01 -2.95244694e-02 -2.90582307e+01] [-7.01771544e-02 2.48589176e-03 9.97531447e-01 -1.17297759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18119381700001 meters 0.06819904158058969 Centerline is valid? [True, True] Translation: X:96.55, Y:-29.07, Z:-11.73 [[ 9.18725129e-01 3.89337254e-01 6.60351380e-02 9.65476506e+01] [-3.88143392e-01 9.21092016e-01 -3.05647625e-02 -2.90734035e+01] [-7.27244391e-02 2.44951291e-03 9.97349064e-01 -1.17348299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21119381700001 meters 0.06652232127996115 Centerline is valid? [True, True] Translation: X:96.58, Y:-29.09, Z:-11.73 [[ 9.18076572e-01 3.90365758e-01 6.89201162e-02 9.65751874e+01] [-3.89068298e-01 9.20656548e-01 -3.18963883e-02 -2.90852306e+01] [-7.59030141e-02 2.46869456e-03 9.97112149e-01 -1.17318875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24119381700001 meters 0.0655409619005273 Centerline is valid? [True, True] Translation: X:96.60, Y:-29.10, Z:-11.73 [[ 9.18402334e-01 3.89432555e-01 6.98529734e-02 9.66018656e+01] [-3.88096455e-01 9.21051352e-01 -3.23349246e-02 -2.90964023e+01] [-7.69304480e-02 2.58677884e-03 9.97033106e-01 -1.17313235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27119381700001 meters 0.06510025756217859 Centerline is valid? [True, True] Translation: X:96.63, Y:-29.11, Z:-11.73 [[ 9.18529637e-01 3.88944842e-01 7.08887513e-02 9.66279345e+01] [-3.87569298e-01 9.21257251e-01 -3.27889703e-02 -2.91096517e+01] [-7.80598771e-02 2.64333739e-03 9.96945168e-01 -1.17324817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.301193817 meters 0.0661209115704392 Centerline is valid? [True, True] Translation: X:96.65, Y:-29.13, Z:-11.74 [[ 9.19161087e-01 3.87269106e-01 7.18716612e-02 9.66508904e+01] [-3.85852469e-01 9.21962486e-01 -3.32121454e-02 -2.91257557e+01] [-7.91250133e-02 2.79545367e-03 9.96860782e-01 -1.17356652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.331193817 meters 0.06785099012368219 Centerline is valid? [True, True] Translation: X:96.67, Y:-29.15, Z:-11.74 [[ 9.21066546e-01 3.82012939e-01 7.55151147e-02 9.66725340e+01] [-3.80431991e-01 9.24150709e-01 -3.48850424e-02 -2.91480456e+01] [-8.31138844e-02 3.40308002e-03 9.96534245e-01 -1.17357298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.361193817 meters 0.0683153318032244 Centerline is valid? [True, True] Translation: X:96.70, Y:-29.16, Z:-11.74 [[ 9.22300462e-01 3.78714175e-01 7.70547322e-02 9.66963426e+01] [-3.77059344e-01 9.25506103e-01 -3.55626790e-02 -2.91645388e+01] [-8.47827155e-02 3.74526849e-03 9.96392425e-01 -1.17363021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.391193817 meters 0.06825372554118073 Centerline is valid? [True, True] Translation: X:96.72, Y:-29.18, Z:-11.74 [[ 9.23521861e-01 3.75432315e-01 7.84726039e-02 9.67217331e+01] [-3.73705123e-01 9.26840699e-01 -3.62049731e-02 -2.91801247e+01] [-8.63241199e-02 4.11047007e-03 9.96258626e-01 -1.17364714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.421193817 meters 0.07113738565697918 Centerline is valid? [True, True] Translation: X:96.74, Y:-29.20, Z:-11.74 [[ 9.24883163e-01 3.71938701e-01 7.90742548e-02 9.67442686e+01] [-3.70172447e-01 9.28246542e-01 -3.64789876e-02 -2.91995772e+01] [-8.69683508e-02 4.46769102e-03 9.96201057e-01 -1.17405507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.451193817 meters 0.07460820388139067 Centerline is valid? [True, True] Translation: X:96.77, Y:-29.22, Z:-11.74 [[ 9.27338469e-01 3.65682930e-01 7.94943912e-02 9.67669751e+01] [-3.63875496e-01 9.30725648e-01 -3.66659479e-02 -2.92189494e+01] [-8.73955801e-02 5.07568298e-03 9.96160755e-01 -1.17440257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.481193817 meters 0.07684994135171602 Centerline is valid? [True, True] Translation: X:96.79, Y:-29.23, Z:-11.75 [[ 9.28799571e-01 3.62018037e-01 7.92104600e-02 9.67922224e+01] [-3.60210666e-01 9.32155467e-01 -3.65302888e-02 -2.92343101e+01] [-8.70610868e-02 5.39686401e-03 9.96188356e-01 -1.17485460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.511193817 meters 0.08194228820507114 Centerline is valid? [True, True] Translation: X:96.82, Y:-29.25, Z:-11.76 [[ 9.30263382e-01 3.58550589e-01 7.77914921e-02 9.68151846e+01] [-3.56795650e-01 9.33493401e-01 -3.58738605e-02 -2.92541360e+01] [-8.54804384e-02 5.61647282e-03 9.96324019e-01 -1.17553148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.541193817 meters 0.08021847518926795 Centerline is valid? [True, True] Translation: X:96.84, Y:-29.26, Z:-11.76 [[ 9.31606161e-01 3.55513722e-01 7.56303788e-02 9.68439088e+01] [-3.53845323e-01 9.34653504e-01 -3.48757129e-02 -2.92632884e+01] [-8.30869931e-02 5.72897315e-03 9.96525830e-01 -1.17579551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57119381700001 meters 0.08487288245130553 Centerline is valid? [True, True] Translation: X:96.87, Y:-29.28, Z:-11.77 [[ 9.33626692e-01 3.50926465e-01 7.20542541e-02 9.68671974e+01] [-3.49398805e-01 9.36384772e-01 -3.32270043e-02 -2.92796680e+01] [-7.91307414e-02 5.84594779e-03 9.96847105e-01 -1.17667472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60119381700001 meters 0.08527792140317458 Centerline is valid? [True, True] Translation: X:96.89, Y:-29.29, Z:-11.77 [[ 9.34024403e-01 3.50127024e-01 7.07776938e-02 9.68936959e+01] [-3.48651024e-01 9.36684235e-01 -3.26359828e-02 -2.92905017e+01] [-7.77230895e-02 5.80608892e-03 9.96958079e-01 -1.17723150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63119381700001 meters 0.08462282198871826 Centerline is valid? [True, True] Translation: X:96.92, Y:-29.30, Z:-11.78 [[ 9.34384144e-01 3.49547612e-01 6.88675392e-02 9.69215582e+01] [-3.48149148e-01 9.36901318e-01 -3.17504441e-02 -2.92995006e+01] [-7.56203802e-02 5.69093640e-03 9.97120440e-01 -1.17766055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66119381700001 meters 0.08660027318166186 Centerline is valid? [True, True] Translation: X:96.95, Y:-29.31, Z:-11.78 [[ 9.34240920e-01 3.49852647e-01 6.92605849e-02 9.69460991e+01] [-3.48439094e-01 9.36787418e-01 -3.19301124e-02 -2.93113740e+01] [-7.60532788e-02 5.69732210e-03 9.97087478e-01 -1.17816521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.691193817 meters 0.08402221122430854 Centerline is valid? [True, True] Translation: X:96.98, Y:-29.31, Z:-11.78 [[ 9.33865940e-01 3.50863662e-01 6.92032955e-02 9.69774394e+01] [-3.49455779e-01 9.36409790e-01 -3.18961432e-02 -2.93130434e+01] [-7.59938410e-02 5.60323023e-03 9.97092543e-01 -1.17834793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.721193817 meters 0.08283200100361097 Centerline is valid? [True, True] Translation: X:97.01, Y:-29.32, Z:-11.79 [[ 9.33595686e-01 3.51569494e-01 6.92674992e-02 9.70065202e+01] [-3.50162586e-01 9.36145451e-01 -3.19038886e-02 -2.93197660e+01] [-7.60608883e-02 5.53044611e-03 9.97087837e-01 -1.17853315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.751193817 meters 0.08128331130867825 Centerline is valid? [True, True] Translation: X:97.04, Y:-29.33, Z:-11.79 [[ 9.33611969e-01 3.51554147e-01 6.91257732e-02 9.70357241e+01] [-3.50154563e-01 9.36151391e-01 -3.18175353e-02 -2.93257832e+01] [-7.58977752e-02 5.50052688e-03 9.97100432e-01 -1.17873097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.781193817 meters 0.08141196922233711 Centerline is valid? [True, True] Translation: X:97.06, Y:-29.33, Z:-11.79 [[ 9.33559191e-01 3.51567782e-01 6.97662680e-02 9.70631096e+01] [-3.50144043e-01 9.36146112e-01 -3.20874675e-02 -2.93343356e+01] [-7.65923404e-02 5.52730708e-03 9.97047172e-01 -1.17903719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.811193817 meters 0.08140846998823532 Centerline is valid? [True, True] Translation: X:97.09, Y:-29.34, Z:-11.79 [[ 9.33299521e-01 3.51967544e-01 7.12099125e-02 9.70920795e+01] [-3.50487946e-01 9.35995588e-01 -3.27178633e-02 -2.93405291e+01] [-7.81677899e-02 5.57735009e-03 9.96924616e-01 -1.17925201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.841193817 meters 0.07945153949851073 Centerline is valid? [True, True] Translation: X:97.12, Y:-29.35, Z:-11.79 [[ 9.33280717e-01 3.51567912e-01 7.33969149e-02 9.71217217e+01] [-3.49994599e-01 9.36144510e-01 -3.37229508e-02 -2.93463461e+01] [-8.05660264e-02 5.78445590e-03 9.96732489e-01 -1.17924568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.871193817 meters 0.07958559825959766 Centerline is valid? [True, True] Translation: X:97.15, Y:-29.35, Z:-11.79 [[ 9.33160286e-01 3.51730866e-01 7.41436367e-02 9.71481438e+01] [-3.50128559e-01 9.36083213e-01 -3.40324993e-02 -2.93543204e+01] [-8.13748941e-02 5.79797210e-03 9.96666700e-01 -1.17944375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.901193817 meters 0.08052391534397754 Centerline is valid? [True, True] Translation: X:97.18, Y:-29.36, Z:-11.79 [[ 9.33328933e-01 3.50464423e-01 7.79217026e-02 9.71788659e+01] [-3.48690298e-01 9.36555476e-01 -3.57619401e-02 -2.93574755e+01] [-8.55112850e-02 6.20711168e-03 9.96317867e-01 -1.17947925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93119381700001 meters 0.08172188551663265 Centerline is valid? [True, True] Translation: X:97.21, Y:-29.37, Z:-11.80 [[ 9.33629053e-01 3.49331941e-01 7.93976450e-02 9.72058991e+01] [-3.47488693e-01 9.36977183e-01 -3.64055936e-02 -2.93656291e+01] [-8.71114184e-02 6.39953592e-03 9.96178020e-01 -1.17968473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96119381700001 meters 0.08239499700800636 Centerline is valid? [True, True] Translation: X:97.23, Y:-29.37, Z:-11.80 [[ 9.33724677e-01 3.48733321e-01 8.08906547e-02 9.72335202e+01] [-3.46818163e-01 9.37198949e-01 -3.70849249e-02 -2.93738692e+01] [-8.87433855e-02 6.57276129e-03 9.96032836e-01 -1.17995759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99119381700001 meters 0.0832264105504311 Centerline is valid? [True, True] Translation: X:97.26, Y:-29.38, Z:-11.80 [[ 9.34465682e-01 3.46833878e-01 8.04993776e-02 9.72639529e+01] [-3.44933256e-01 9.37902727e-01 -3.68717123e-02 -2.93785878e+01] [-8.82889447e-02 6.68843735e-03 9.96072451e-01 -1.18037608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02119381700001 meters 0.0832264105504311 Centerline is valid? [True, True] Translation: X:97.29, Y:-29.39, Z:-11.81 [[ 9.34575423e-01 3.46538410e-01 8.04978800e-02 9.72889346e+01] [-3.44636421e-01 9.38011712e-01 -3.68749852e-02 -2.93897798e+01] [-8.82865530e-02 6.71995363e-03 9.96072451e-01 -1.18069074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.051193817 meters 0.08165062692145587 Centerline is valid? [True, True] Translation: X:97.32, Y:-29.39, Z:-11.81 [[ 9.34887482e-01 3.45862615e-01 7.97774876e-02 9.73181699e+01] [-3.43994911e-01 9.38261293e-01 -3.65136664e-02 -2.93948303e+01] [-8.74808408e-02 6.69311989e-03 9.96143717e-01 -1.18108167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.081193817 meters 0.0824620160901817 Centerline is valid? [True, True] Translation: X:97.35, Y:-29.40, Z:-11.82 [[ 9.35001730e-01 3.45758640e-01 7.88842756e-02 9.73452650e+01] [-3.43935076e-01 9.38300297e-01 -3.60723786e-02 -2.94025240e+01] [-8.64894758e-02 6.59666705e-03 9.96230924e-01 -1.18155782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.111193817 meters 0.08078572791212406 Centerline is valid? [True, True] Translation: X:97.38, Y:-29.41, Z:-11.82 [[ 9.34534006e-01 3.47061883e-01 7.87035034e-02 9.73751541e+01] [-3.45252153e-01 9.37820040e-01 -3.59794881e-02 -2.94061165e+01] [-8.62968316e-02 6.45150111e-03 9.96248581e-01 -1.18186075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.141193817 meters 0.08051619466602719 Centerline is valid? [True, True] Translation: X:97.40, Y:-29.41, Z:-11.82 [[ 9.33684046e-01 3.49582929e-01 7.76265261e-02 9.74038475e+01] [-3.47831834e-01 9.36885403e-01 -3.54789708e-02 -2.94111693e+01] [-8.51300017e-02 6.12517204e-03 9.96351025e-01 -1.18239920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.171193817 meters 0.07493060244713991 Centerline is valid? [True, True] Translation: X:97.44, Y:-29.40, Z:-11.83 [[ 9.29756216e-01 3.60193798e-01 7.62483262e-02 9.74408024e+01] [-3.58540305e-01 9.32863793e-01 -3.48424081e-02 -2.94012522e+01] [-8.36793221e-02 5.05684737e-03 9.96479904e-01 -1.18299956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.201193817 meters 0.07212225353948501 Centerline is valid? [True, True] Translation: X:97.47, Y:-29.40, Z:-11.84 [[ 9.26891335e-01 3.67952986e-01 7.40476406e-02 9.74714384e+01] [-3.66418401e-01 9.29834776e-01 -3.38355452e-02 -2.94019750e+01] [-8.13019612e-02 4.22945558e-03 9.96680542e-01 -1.18351427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.231193817 meters 0.0697417758471415 Centerline is valid? [True, True] Translation: X:97.50, Y:-29.40, Z:-11.84 [[ 9.23811816e-01 3.75734006e-01 7.34553300e-02 9.75020712e+01] [-3.74248684e-01 9.26720894e-01 -3.35605111e-02 -2.94031148e+01] [-8.06824144e-02 3.51303612e-03 9.96733669e-01 -1.18412342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.261193817 meters 0.0656407158758504 Centerline is valid? [True, True] Translation: X:97.54, Y:-29.40, Z:-11.84 [[ 9.20528608e-01 3.83962738e-01 7.21089316e-02 9.75361194e+01] [-3.82556953e-01 9.23344533e-01 -3.29400941e-02 -2.94007380e+01] [-7.92291565e-02 2.73652579e-03 9.96852673e-01 -1.18437765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.291193817 meters 0.0607722583436707 Centerline is valid? [True, True] Translation: X:97.57, Y:-29.39, Z:-11.84 [[ 9.14383878e-01 3.98231431e-01 7.28961616e-02 9.75749904e+01] [-3.96839819e-01 9.17283719e-01 -3.32977078e-02 -2.93895686e+01] [-8.01266560e-02 1.51878763e-03 9.96783533e-01 -1.18429166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32119381700001 meters 0.06006483596640034 Centerline is valid? [True, True] Translation: X:97.60, Y:-29.39, Z:-11.85 [[ 9.11935125e-01 4.03541891e-01 7.43523431e-02 9.76043632e+01] [-4.02111568e-01 9.14960539e-01 -3.39631989e-02 -2.93936309e+01] [-8.17350334e-02 1.07429680e-03 9.96653516e-01 -1.18467708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35119381700001 meters 0.05971569576933352 Centerline is valid? [True, True] Translation: X:97.63, Y:-29.40, Z:-11.85 [[ 9.10274490e-01 4.07412920e-01 7.35871366e-02 9.76330934e+01] [-4.06024325e-01 9.13243775e-01 -3.36163031e-02 -2.93994175e+01] [-8.08987106e-02 7.21895748e-04 9.96722066e-01 -1.18500947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38119381700001 meters 0.05972420689750144 Centerline is valid? [True, True] Translation: X:97.66, Y:-29.41, Z:-11.86 [[ 9.08762052e-01 4.10693858e-01 7.40411218e-02 9.76592972e+01] [-4.09301522e-01 9.11773213e-01 -3.37915866e-02 -2.94072586e+01] [-8.13867086e-02 4.03367671e-04 9.96682518e-01 -1.18554108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41119381700001 meters 0.0593437613055449 Centerline is valid? [True, True] Translation: X:97.69, Y:-29.42, Z:-11.86 [[ 9.06961964e-01 4.14434203e-01 7.52614644e-02 9.76857425e+01] [-4.13008607e-01 9.10079275e-01 -3.43453598e-02 -2.94187549e+01] [-8.27277908e-02 6.63023748e-05 9.96572179e-01 -1.18566358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.441193817 meters 0.05930302035482217 Centerline is valid? [True, True] Translation: X:97.71, Y:-29.43, Z:-11.86 [[ 9.06529491e-01 4.15119321e-01 7.66826646e-02 9.77104097e+01] [-4.13643958e-01 9.09766975e-01 -3.49675073e-02 -2.94323336e+01] [-8.42790437e-02 -2.02442889e-05 9.96442192e-01 -1.18598273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.471193817 meters 0.0591483959731943 Centerline is valid? [True, True] Translation: X:97.74, Y:-29.45, Z:-11.86 [[ 9.06503945e-01 4.14938257e-01 7.79540971e-02 9.77350469e+01] [-4.13415084e-01 9.09849571e-01 -3.55207857e-02 -2.94476465e+01] [-8.56654347e-02 -2.76672316e-05 9.96323960e-01 -1.18614807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.501193817 meters 0.058823625992560816 Centerline is valid? [True, True] Translation: X:97.76, Y:-29.46, Z:-11.86 [[ 9.06440891e-01 4.14823048e-01 7.92890327e-02 9.77592601e+01] [-4.13249061e-01 9.09902103e-01 -3.61022947e-02 -2.94635976e+01] [-8.71213216e-02 -4.15221723e-05 9.96197708e-01 -1.18620778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.531193817 meters 0.05925116861186757 Centerline is valid? [True, True] Translation: X:97.78, Y:-29.48, Z:-11.87 [[ 9.06376697e-01 4.14827443e-01 7.99967210e-02 9.77819341e+01] [-4.13228063e-01 9.09900097e-01 -3.63920475e-02 -2.94791413e+01] [-8.78854442e-02 -7.19862281e-05 9.96130586e-01 -1.18677281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.561193817 meters 0.058659529336068036 Centerline is valid? [True, True] Translation: X:97.80, Y:-29.50, Z:-11.86 [[ 9.06255272e-01 4.14998318e-01 8.04846495e-02 9.78034120e+01] [-4.13380369e-01 9.09822174e-01 -3.66098749e-02 -2.95018492e+01] [-8.84197552e-02 -9.28820213e-05 9.96083299e-01 -1.18646255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.591193817 meters 0.05889775159772911 Centerline is valid? [True, True] Translation: X:97.83, Y:-29.52, Z:-11.87 [[ 9.06384949e-01 4.14846366e-01 7.98048654e-02 9.78254279e+01] [-4.13258059e-01 9.09891466e-01 -3.62670107e-02 -2.95198333e+01] [-8.76590036e-02 -1.08131129e-04 9.96150535e-01 -1.18706537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.621193817 meters 0.058973087513627565 Centerline is valid? [True, True] Translation: X:97.85, Y:-29.54, Z:-11.87 [[ 9.06782695e-01 4.14293633e-01 7.81404493e-02 9.78481080e+01] [-4.12769281e-01 9.10143276e-01 -3.55068751e-02 -2.95394027e+01] [-8.58292767e-02 -5.69571801e-05 9.96309857e-01 -1.18745432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.651193817 meters 0.05959221845372621 Centerline is valid? [True, True] Translation: X:97.87, Y:-29.57, Z:-11.88 [[ 9.08080035e-01 4.11746290e-01 7.65221769e-02 9.78650001e+01] [-4.10278236e-01 9.11298508e-01 -3.47390066e-02 -2.95683176e+01] [-8.40382027e-02 1.50414526e-04 9.96462522e-01 -1.18832295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68119381700001 meters 0.05960388598872829 Centerline is valid? [True, True] Translation: X:97.89, Y:-29.59, Z:-11.89 [[ 9.09035600e-01 4.09820838e-01 7.55060109e-02 9.78872447e+01] [-4.08385194e-01 9.12165981e-01 -3.42747152e-02 -2.95892254e+01] [-8.29205071e-02 3.21399332e-04 9.96556113e-01 -1.18870476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71119381700001 meters 0.06023780886215171 Centerline is valid? [True, True] Translation: X:97.91, Y:-29.61, Z:-11.89 [[ 9.10196451e-01 4.07426612e-01 7.44713119e-02 9.79078220e+01] [-4.06024710e-01 9.13237813e-01 -3.37732402e-02 -2.96104633e+01] [-8.17701349e-02 5.03090493e-04 9.96651088e-01 -1.18946010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74119381700001 meters 0.06138291141350574 Centerline is valid? [True, True] Translation: X:97.92, Y:-29.64, Z:-11.90 [[ 9.12618443e-01 4.02473441e-01 7.17126748e-02 9.79242699e+01] [-4.01159069e-01 9.15431217e-01 -3.25128980e-02 -2.96410491e+01] [-7.87335991e-02 9.03680439e-04 9.96895282e-01 -1.19014825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77119381700001 meters 0.06129752303980036 Centerline is valid? [True, True] Translation: X:97.95, Y:-29.66, Z:-11.90 [[ 9.13779511e-01 4.00025044e-01 7.06184805e-02 9.79472857e+01] [-3.98743071e-01 9.16503549e-01 -3.20188743e-02 -2.96612033e+01] [-7.75304396e-02 1.09956157e-03 9.96989379e-01 -1.19020642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.801193817 meters 0.0615391418937126 Centerline is valid? [True, True] Translation: X:97.97, Y:-29.68, Z:-11.91 [[ 9.14333215e-01 3.98917236e-01 6.97123360e-02 9.79692264e+01] [-3.97666596e-01 9.16986206e-01 -3.15844439e-02 -2.96810380e+01] [-7.65248295e-02 1.15643880e-03 9.97067005e-01 -1.19061335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.831193817 meters 0.0617494661264384 Centerline is valid? [True, True] Translation: X:97.99, Y:-29.70, Z:-11.91 [[ 9.15219989e-01 3.96966012e-01 6.92124051e-02 9.79914384e+01] [-3.95730097e-01 9.17832416e-01 -3.13264527e-02 -2.97003666e+01] [-7.59609260e-02 1.28116392e-03 9.97109972e-01 -1.19094170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.861193817 meters 0.062085005885998516 Centerline is valid? [True, True] Translation: X:98.01, Y:-29.72, Z:-11.91 [[ 9.15341326e-01 3.96865687e-01 6.81753806e-02 9.80139062e+01] [-3.95666940e-01 9.17875827e-01 -3.08486630e-02 -2.97180672e+01] [-7.48193097e-02 1.26231192e-03 9.97196308e-01 -1.19143528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.891193817 meters 0.06255581878747482 Centerline is valid? [True, True] Translation: X:98.03, Y:-29.74, Z:-11.92 [[ 9.14900698e-01 3.98162874e-01 6.65059318e-02 9.80337259e+01] [-3.97026205e-01 9.17314052e-01 -3.00852552e-02 -2.97394595e+01] [-7.29856575e-02 1.12042330e-03 9.97332361e-01 -1.19221331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.921193817 meters 0.06200543767215326 Centerline is valid? [True, True] Translation: X:98.06, Y:-29.75, Z:-11.92 [[ 9.14429629e-01 3.99284011e-01 6.62626026e-02 9.80574622e+01] [-3.98158439e-01 9.16826712e-01 -2.99772888e-02 -2.97538756e+01] [-7.27207762e-02 1.02910666e-03 9.97351808e-01 -1.19241799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.951193817 meters 0.06181917128819968 Centerline is valid? [True, True] Translation: X:98.08, Y:-29.77, Z:-11.93 [[ 9.13714076e-01 4.00885278e-01 6.64648885e-02 9.80823729e+01] [-3.99759109e-01 9.16127842e-01 -3.00405183e-02 -2.97688796e+01] [-7.29331364e-02 8.78499856e-04 9.97336446e-01 -1.19276826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.981193817 meters 0.06105196083222749 Centerline is valid? [True, True] Translation: X:98.11, Y:-29.79, Z:-11.93 [[ 9.12544768e-01 4.03358730e-01 6.75557636e-02 9.81061872e+01] [-4.02203821e-01 9.15041686e-01 -3.05090205e-02 -2.97874480e+01] [-7.41224196e-02 6.69660818e-04 9.97248925e-01 -1.19282143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.011193817 meters 0.06099255338321172 Centerline is valid? [True, True] Translation: X:98.13, Y:-29.80, Z:-11.93 [[ 9.11912822e-01 4.04473472e-01 6.93989594e-02 9.81293596e+01] [-4.03260123e-01 9.14549555e-01 -3.13110887e-02 -2.98027405e+01] [-7.61332922e-02 5.67150344e-04 9.97097488e-01 -1.19308257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.041193817 meters 0.06035633599189623 Centerline is valid? [True, True] Translation: X:98.15, Y:-29.82, Z:-11.93 [[ 9.11148989e-01 4.05685223e-01 7.22981250e-02 9.81537997e+01] [-4.04372837e-01 9.14012731e-01 -3.26088360e-02 -2.98173321e+01] [-7.93103296e-02 4.76110075e-04 9.96849861e-01 -1.19308809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07119381700001 meters 0.059515939928035284 Centerline is valid? [True, True] Translation: X:98.18, Y:-29.83, Z:-11.93 [[ 9.10254693e-01 4.07314500e-01 7.43726578e-02 9.81798836e+01] [-4.05931000e-01 9.13287895e-01 -3.35446520e-02 -2.98309470e+01] [-8.15868712e-02 3.44009570e-04 9.96666175e-01 -1.19283480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10119381700001 meters 0.059332004591746014 Centerline is valid? [True, True] Translation: X:98.20, Y:-29.84, Z:-11.93 [[ 9.07806551e-01 4.12168904e-01 7.74858657e-02 9.82039852e+01] [-4.10687368e-01 9.11107446e-01 -3.49157214e-02 -2.98444800e+01] [-8.49891239e-02 -1.25745594e-04 9.96381871e-01 -1.19299391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13119381700001 meters 0.05927845085909394 Centerline is valid? [True, True] Translation: X:98.23, Y:-29.86, Z:-11.93 [[ 9.06540432e-01 4.14818524e-01 7.81667231e-02 9.82290775e+01] [-4.13321334e-01 9.09904085e-01 -3.52140738e-02 -2.98560456e+01] [-8.57316708e-02 -3.84992547e-04 9.96318188e-01 -1.19317705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16119381700001 meters 0.059488393376721335 Centerline is valid? [True, True] Translation: X:98.25, Y:-29.87, Z:-11.93 [[ 9.05158725e-01 4.17631601e-01 7.91929826e-02 9.82544734e+01] [-4.16108215e-01 9.08616185e-01 -3.56452140e-02 -2.98678185e+01] [-8.68425935e-02 -6.88274196e-04 9.96221808e-01 -1.19341085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.191193817 meters 0.05988993045787891 Centerline is valid? [True, True] Translation: X:98.28, Y:-29.88, Z:-11.94 [[ 9.03622662e-01 4.20681469e-01 8.05803130e-02 9.82795655e+01] [-4.19119623e-01 9.07207823e-01 -3.62313187e-02 -2.98794615e+01] [-8.83449347e-02 -1.03334973e-03 9.96089406e-01 -1.19357732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.221193817 meters 0.05969286438650659 Centerline is valid? [True, True] Translation: X:98.30, Y:-29.89, Z:-11.93 [[ 9.02145608e-01 4.23635702e-01 8.16461528e-02 9.83047812e+01] [-4.22044652e-01 9.05831654e-01 -3.67059531e-02 -2.98944993e+01] [-8.95076219e-02 -1.34420775e-03 9.95985230e-01 -1.19347015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.251193817 meters 0.06025327125498373 Centerline is valid? [True, True] Translation: X:98.33, Y:-29.91, Z:-11.94 [[ 9.00882966e-01 4.26067541e-01 8.29236555e-02 9.83274116e+01] [-4.24439251e-01 9.04689873e-01 -3.72499069e-02 -2.99141861e+01] [-9.08911676e-02 -1.63824764e-03 9.95859484e-01 -1.19380332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.281193817 meters 0.0602673112291608 Centerline is valid? [True, True] Translation: X:98.35, Y:-29.93, Z:-11.94 [[ 9.01357710e-01 4.25036497e-01 8.30557341e-02 9.83508806e+01] [-4.23401352e-01 9.05174862e-01 -3.72795393e-02 -2.99321012e+01] [-9.10251275e-02 -1.56370992e-03 9.95847368e-01 -1.19429710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.311193817 meters 0.059935445179110966 Centerline is valid? [True, True] Translation: X:98.37, Y:-29.95, Z:-11.95 [[ 9.02342428e-01 4.22909883e-01 8.32188255e-02 9.83733802e+01] [-4.21261982e-01 9.06170696e-01 -3.73230901e-02 -2.99518995e+01] [-9.11947647e-02 -1.37871959e-03 9.95832121e-01 -1.19463412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.341193817 meters 0.0593538179201525 Centerline is valid? [True, True] Translation: X:98.40, Y:-29.97, Z:-11.95 [[ 9.03964357e-01 4.19539921e-01 8.26722228e-02 9.83953296e+01] [-4.17902198e-01 9.07736270e-01 -3.70488537e-02 -2.99735622e+01] [-9.05880483e-02 -1.05806043e-03 9.95887888e-01 -1.19501911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.371193817 meters 0.05911529369403859 Centerline is valid? [True, True] Translation: X:98.42, Y:-30.00, Z:-11.95 [[ 9.05650620e-01 4.15936821e-01 8.24227786e-02 9.84156218e+01] [-4.14297138e-01 9.09393223e-01 -3.69032190e-02 -2.99956058e+01] [-9.03041239e-02 -7.26098120e-04 9.95913971e-01 -1.19545455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.401193817 meters 0.05908404499725007 Centerline is valid? [True, True] Translation: X:98.43, Y:-30.03, Z:-11.96 [[ 9.09411790e-01 4.08090265e-01 8.02030631e-02 9.84323434e+01] [-4.06508190e-01 9.12941583e-01 -3.58992727e-02 -3.00286421e+01] [-8.78708551e-02 4.40198288e-05 9.96131874e-01 -1.19603427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43119381700001 meters 0.05967776524736752 Centerline is valid? [True, True] Translation: X:98.45, Y:-30.05, Z:-11.97 [[ 9.11296433e-01 4.04253195e-01 7.82187021e-02 9.84524891e+01] [-4.02735044e-01 9.14647034e-01 -3.50041172e-02 -3.00498410e+01] [-8.56930300e-02 3.97714706e-04 9.96321508e-01 -1.19674116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46119381700001 meters 0.06167357468169387 Centerline is valid? [True, True] Translation: X:98.47, Y:-30.08, Z:-11.98 [[ 9.15210523e-01 3.96065675e-01 7.43080121e-02 9.84686657e+01] [-3.94669724e-01 9.18221531e-01 -3.32419890e-02 -3.00835202e+01] [-8.13972274e-02 1.09629550e-03 9.96681137e-01 -1.19765131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49119381700001 meters 0.06271503616163511 Centerline is valid? [True, True] Translation: X:98.49, Y:-30.11, Z:-11.98 [[ 9.17157510e-01 3.91817071e-01 7.28112928e-02 9.84911368e+01] [-3.90463471e-01 9.20042008e-01 -3.25726966e-02 -3.01062307e+01] [-7.97519867e-02 1.44414316e-03 9.96813691e-01 -1.19799216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52119381700001 meters 0.06404491792422173 Centerline is valid? [True, True] Translation: X:98.51, Y:-30.13, Z:-11.98 [[ 9.18800884e-01 3.88096147e-01 7.20160779e-02 9.85142599e+01] [-3.86760980e-01 9.21617243e-01 -3.22118397e-02 -3.01283040e+01] [-7.88725501e-02 1.74325795e-03 9.96883184e-01 -1.19842205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.551193817 meters 0.06563036823054813 Centerline is valid? [True, True] Translation: X:98.54, Y:-30.15, Z:-11.99 [[ 9.20496115e-01 3.84084691e-01 7.18738602e-02 9.85389911e+01] [-3.82742830e-01 9.23295523e-01 -3.21450367e-02 -3.01511051e+01] [-7.87072298e-02 2.08017680e-03 9.96895604e-01 -1.19882706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.581193817 meters 0.06995602740296404 Centerline is valid? [True, True] Translation: X:98.56, Y:-30.18, Z:-11.99 [[ 9.24536741e-01 3.74269261e-01 7.17937048e-02 9.85576151e+01] [-3.72900143e-01 9.27315473e-01 -3.21169341e-02 -3.01804162e+01] [-7.85957945e-02 2.92140283e-03 9.96902285e-01 -1.19913727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.611193817 meters 0.07125685232354374 Centerline is valid? [True, True] Translation: X:98.58, Y:-30.20, Z:-11.99 [[ 9.26408555e-01 3.69827466e-01 7.06741503e-02 9.85833670e+01] [-3.68487323e-01 9.29094753e-01 -3.16232928e-02 -3.01973490e+01] [-7.73581445e-02 3.25356051e-03 9.96998060e-01 -1.19943389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.641193817 meters 0.07502250387778499 Centerline is valid? [True, True] Translation: X:98.61, Y:-30.22, Z:-12.00 [[ 9.27859594e-01 3.66405246e-01 6.94533640e-02 9.86072534e+01] [-3.65101384e-01 9.30448865e-01 -3.10787431e-02 -3.02170535e+01] [-7.60102182e-02 3.47919068e-03 9.97100969e-01 -1.20016691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.671193817 meters 0.0729933310852962 Centerline is valid? [True, True] Translation: X:98.64, Y:-30.23, Z:-12.00 [[ 9.29039115e-01 3.63484423e-01 6.90318581e-02 9.86366944e+01] [-3.62188269e-01 9.31592943e-01 -3.08908772e-02 -3.02289981e+01] [-7.55379446e-02 3.69630403e-03 9.97136077e-01 -1.19998154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.701193817 meters 0.07540821101563673 Centerline is valid? [True, True] Translation: X:98.66, Y:-30.25, Z:-12.00 [[ 9.30528725e-01 3.59098037e-01 7.18671852e-02 9.86613871e+01] [-3.57680382e-01 9.33290325e-01 -3.21545162e-02 -3.02503084e+01] [-7.86195723e-02 4.21521875e-03 9.96895779e-01 -1.20001670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.731193817 meters 0.07669421354540971 Centerline is valid? [True, True] Translation: X:98.69, Y:-30.27, Z:-12.00 [[ 9.31609647e-01 3.56082628e-01 7.28603360e-02 9.86884566e+01] [-3.54613648e-01 9.34443334e-01 -3.26315073e-02 -3.02655324e+01] [-7.97033681e-02 4.56255746e-03 9.96808184e-01 -1.20027038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.761193817 meters 0.08113629373356572 Centerline is valid? [True, True] Translation: X:98.71, Y:-30.28, Z:-12.01 [[ 9.33463390e-01 3.50919606e-01 7.41722986e-02 9.87123506e+01] [-3.49380236e-01 9.36391691e-01 -3.32272750e-02 -3.02844396e+01] [-8.11144264e-02 5.10210958e-03 9.96691737e-01 -1.20061015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.791193817 meters 0.08229380193208174 Centerline is valid? [True, True] Translation: X:98.74, Y:-30.30, Z:-12.01 [[ 9.34084366e-01 3.49151638e-01 7.46962528e-02 9.87414963e+01] [-3.47585096e-01 9.37051309e-01 -3.34581118e-02 -3.02983053e+01] [-8.16761760e-02 5.28939494e-03 9.96644884e-01 -1.20093907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82119381700001 meters 0.08411103581877459 Centerline is valid? [True, True] Translation: X:98.77, Y:-30.31, Z:-12.01 [[ 9.34006428e-01 3.49312745e-01 7.49172752e-02 9.87699384e+01] [-3.47737448e-01 9.36991257e-01 -3.35566932e-02 -3.03119663e+01] [-8.19186125e-02 5.29062503e-03 9.96624980e-01 -1.20136232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85119381700001 meters 0.08272094067857044 Centerline is valid? [True, True] Translation: X:98.80, Y:-30.32, Z:-12.02 [[ 9.33722448e-01 3.49939690e-01 7.55288201e-02 9.88019629e+01] [-3.48337663e-01 9.36757174e-01 -3.38654730e-02 -3.03203757e+01] [-8.26030372e-02 5.31141964e-03 9.96568376e-01 -1.20161321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88119381700001 meters 0.08220353442825289 Centerline is valid? [True, True] Translation: X:98.83, Y:-30.33, Z:-12.02 [[ 9.33025541e-01 3.51768612e-01 7.56451164e-02 9.88319678e+01] [-3.50166672e-01 9.36072719e-01 -3.39288524e-02 -3.03291201e+01] [-8.27444351e-02 5.16808719e-03 9.96557399e-01 -1.20210346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91119381700001 meters 0.08220353442825289 Centerline is valid? [True, True] Translation: X:98.86, Y:-30.34, Z:-12.02 [[ 9.32912355e-01 3.52068195e-01 7.56473628e-02 9.88613534e+01] [-3.50467638e-01 9.35960259e-01 -3.39238488e-02 -3.03426042e+01] [-8.27464335e-02 5.13602511e-03 9.96557399e-01 -1.20247515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.941193817 meters 0.07774444996462532 Centerline is valid? [True, True] Translation: X:98.90, Y:-30.34, Z:-12.03 [[ 9.31518485e-01 3.55881809e-01 7.49763353e-02 9.88959539e+01] [-3.54318597e-01 9.34518688e-01 -3.36623375e-02 -3.03405652e+01] [-8.20466001e-02 4.79157973e-03 9.96616976e-01 -1.20271127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.971193817 meters 0.07972780148422699 Centerline is valid? [True, True] Translation: X:98.92, Y:-30.35, Z:-12.03 [[ 9.30779874e-01 3.57665847e-01 7.56569091e-02 9.89238188e+01] [-3.56079765e-01 9.33837916e-01 -3.39698100e-02 -3.03511085e+01] [-8.28011312e-02 4.67852110e-03 9.96555108e-01 -1.20332374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.001193817 meters 0.0787566719313177 Centerline is valid? [True, True] Translation: X:98.96, Y:-30.36, Z:-12.04 [[ 9.29920101e-01 3.59953525e-01 7.53794714e-02 9.89554893e+01] [-3.58386500e-01 9.32959580e-01 -3.38458159e-02 -3.03571707e+01] [-8.25089207e-02 4.45891963e-03 9.96580351e-01 -1.20371999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.031193817 meters 0.07706425956237055 Centerline is valid? [True, True] Translation: X:98.99, Y:-30.36, Z:-12.04 [[ 9.27144087e-01 3.66932158e-01 7.59251889e-02 9.89875438e+01] [-3.65364865e-01 9.30239637e-01 -3.40988759e-02 -3.03557005e+01] [-8.31405943e-02 3.87417483e-03 9.96530297e-01 -1.20432411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.061193817 meters 0.06857118228220971 Centerline is valid? [True, True] Translation: X:99.03, Y:-30.35, Z:-12.04 [[ 9.25524568e-01 3.71136188e-01 7.52476209e-02 9.90257149e+01] [-3.69610947e-01 9.28571994e-01 -3.37905392e-02 -3.03484364e+01] [-8.24137253e-02 3.46162981e-03 9.96592191e-01 -1.20388915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.091193817 meters 0.06886462302855467 Centerline is valid? [True, True] Translation: X:99.06, Y:-30.35, Z:-12.05 [[ 9.23909197e-01 3.75275180e-01 7.45676577e-02 9.90555904e+01] [-3.73790525e-01 9.26908370e-01 -3.34890725e-02 -3.03549969e+01] [-8.16850037e-02 3.06817813e-03 9.96653474e-01 -1.20466619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.121193817 meters 0.06666930936265017 Centerline is valid? [True, True] Translation: X:99.09, Y:-30.36, Z:-12.05 [[ 9.22252945e-01 3.79294200e-01 7.47356371e-02 9.90879015e+01] [-3.77815359e-01 9.25272112e-01 -3.35719028e-02 -3.03563525e+01] [-8.18844288e-02 2.72551465e-03 9.96638105e-01 -1.20499507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.151193817 meters 0.06415099346815957 Centerline is valid? [True, True] Translation: X:99.12, Y:-30.35, Z:-12.06 [[ 9.19162809e-01 3.86760517e-01 7.45388047e-02 9.91229674e+01] [-3.85314325e-01 9.22177909e-01 -3.34779709e-02 -3.03483746e+01] [-8.16859964e-02 2.05083651e-03 9.96656005e-01 -1.20550376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18119381700001 meters 0.06277153171158438 Centerline is valid? [True, True] Translation: X:99.15, Y:-30.35, Z:-12.06 [[ 9.17762111e-01 3.90197571e-01 7.38820929e-02 9.91530764e+01] [-3.88788057e-01 9.20729532e-01 -3.31809668e-02 -3.03509141e+01] [-8.09725574e-02 1.72775884e-03 9.96714834e-01 -1.20574730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21119381700001 meters 0.06244473910643934 Centerline is valid? [True, True] Translation: X:99.18, Y:-30.36, Z:-12.06 [[ 9.16638590e-01 3.92922111e-01 7.33887632e-02 9.91814018e+01] [-3.91540683e-01 9.19570581e-01 -3.29520965e-02 -3.03562993e+01] [-8.04337549e-02 1.47047675e-03 9.96758872e-01 -1.20628139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24119381700001 meters 0.06139413323885338 Centerline is valid? [True, True] Translation: X:99.21, Y:-30.36, Z:-12.07 [[ 9.14697919e-01 3.97463905e-01 7.31448011e-02 9.92125715e+01] [-3.96106072e-01 9.17617187e-01 -3.28432307e-02 -3.03574638e+01] [-8.01729253e-02 1.06853492e-03 9.96780397e-01 -1.20658649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27119381700001 meters 0.06097058663875328 Centerline is valid? [True, True] Translation: X:99.24, Y:-30.36, Z:-12.07 [[ 9.13866547e-01 3.99178983e-01 7.41894413e-02 9.92395073e+01] [-3.97790397e-01 9.16872580e-01 -3.32786976e-02 -3.03646742e+01] [-8.13064212e-02 9.00441195e-04 9.96688745e-01 -1.20687235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.301193817 meters 0.06093688673098711 Centerline is valid? [True, True] Translation: X:99.27, Y:-30.37, Z:-12.07 [[ 9.13464749e-01 3.99998090e-01 7.47240265e-02 9.92661274e+01] [-3.98592899e-01 9.16515601e-01 -3.35090050e-02 -3.03730797e+01] [-8.18892741e-02 8.24828519e-04 9.96641092e-01 -1.20719710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.331193817 meters 0.06060114729178945 Centerline is valid? [True, True] Translation: X:99.29, Y:-30.38, Z:-12.07 [[ 9.13150994e-01 4.00765649e-01 7.44456620e-02 9.92933523e+01] [-3.99373545e-01 9.16180293e-01 -3.33832668e-02 -3.03804986e+01] [-8.15845149e-02 7.52335304e-04 9.96666143e-01 -1.20745145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.361193817 meters 0.06062351105652027 Centerline is valid? [True, True] Translation: X:99.32, Y:-30.39, Z:-12.08 [[ 9.12679095e-01 4.01781665e-01 7.47553603e-02 9.93198321e+01] [-4.00384478e-01 9.15735277e-01 -3.34839084e-02 -3.03891311e+01] [-8.19093411e-02 6.29177373e-04 9.96639586e-01 -1.20789232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.391193817 meters 0.0608314732307869 Centerline is valid? [True, True] Translation: X:99.35, Y:-30.40, Z:-12.08 [[ 9.13174033e-01 4.00631915e-01 7.48816008e-02 9.93452521e+01] [-3.99226902e-01 9.16238802e-01 -3.35311456e-02 -3.04005865e+01] [-8.20430753e-02 7.25021985e-04 9.96628521e-01 -1.20827015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.421193817 meters 0.06103400101014031 Centerline is valid? [True, True] Translation: X:99.37, Y:-30.42, Z:-12.08 [[ 9.14508137e-01 3.97604315e-01 7.47373782e-02 9.93701951e+01] [-3.96194818e-01 9.17556442e-01 -3.34640438e-02 -3.04158068e+01] [-8.18812110e-02 9.92578354e-04 9.96641602e-01 -1.20848614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.451193817 meters 0.0618137432975788 Centerline is valid? [True, True] Translation: X:99.39, Y:-30.43, Z:-12.09 [[ 9.15849084e-01 3.94296557e-01 7.58332422e-02 9.93933532e+01] [-3.92836618e-01 9.18982367e-01 -3.39234595e-02 -3.04322530e+01] [-8.30653157e-02 1.27869492e-03 9.96543285e-01 -1.20888207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.481193817 meters 0.06298470709117457 Centerline is valid? [True, True] Translation: X:99.42, Y:-30.45, Z:-12.09 [[ 9.17722879e-01 3.89921516e-01 7.58019030e-02 9.94159485e+01] [-3.88449180e-01 9.20846598e-01 -3.38936311e-02 -3.04492403e+01] [-8.30177805e-02 1.65977360e-03 9.96546684e-01 -1.20922011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.511193817 meters 0.0657190361754014 Centerline is valid? [True, True] Translation: X:99.44, Y:-30.47, Z:-12.10 [[ 9.20777223e-01 3.82512634e-01 7.65074547e-02 9.94366893e+01] [-3.80987994e-01 9.23947296e-01 -3.41985819e-02 -3.04728782e+01] [-8.37702455e-02 2.34085360e-03 9.96482346e-01 -1.20955601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.541193817 meters 0.06669243947926023 Centerline is valid? [True, True] Translation: X:99.46, Y:-30.49, Z:-12.10 [[ 9.22134489e-01 3.79185163e-01 7.67241548e-02 9.94611847e+01] [-3.77640809e-01 9.25317033e-01 -3.42900568e-02 -3.04896304e+01] [-8.39964480e-02 2.64587209e-03 9.96462541e-01 -1.20979826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57119381700001 meters 0.06718209209700338 Centerline is valid? [True, True] Translation: X:99.49, Y:-30.50, Z:-12.10 [[ 9.23017772e-01 3.76888131e-01 7.74178836e-02 9.94855968e+01] [-3.75308017e-01 9.26254318e-01 -3.45952342e-02 -3.05046982e+01] [-8.47471821e-02 2.87646363e-03 9.96398335e-01 -1.20998557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60119381700001 meters 0.07072928492927372 Centerline is valid? [True, True] Translation: X:99.51, Y:-30.52, Z:-12.11 [[ 9.24448997e-01 3.73866005e-01 7.49550692e-02 9.95083464e+01] [-3.72375777e-01 9.27477729e-01 -3.34864556e-02 -3.05224640e+01] [-8.20386048e-02 3.04506817e-03 9.96624500e-01 -1.21093268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63119381700001 meters 0.07052770107701194 Centerline is valid? [True, True] Translation: X:99.54, Y:-30.53, Z:-12.12 [[ 9.24976226e-01 3.73305086e-01 7.11498013e-02 9.95354974e+01] [-3.71961117e-01 9.27703994e-01 -3.17840616e-02 -3.05317559e+01] [-7.78711067e-02 2.93454178e-03 9.96959116e-01 -1.21151844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66119381700001 meters 0.07357339378221786 Centerline is valid? [True, True] Translation: X:99.56, Y:-30.55, Z:-12.13 [[ 9.25359306e-01 3.73508293e-01 6.48206022e-02 9.95594345e+01] [-3.72394062e-01 9.27623053e-01 -2.89505611e-02 -3.05470062e+01] [-7.09423595e-02 2.65086383e-03 9.97476894e-01 -1.21314346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.691193817 meters 0.07377266333796566 Centerline is valid? [True, True] Translation: X:99.59, Y:-30.56, Z:-12.14 [[ 9.25241249e-01 3.74222241e-01 6.23405544e-02 9.95859352e+01] [-3.73193325e-01 9.27335689e-01 -2.78435319e-02 -3.05589981e+01] [-6.82302899e-02 2.49690546e-03 9.97666474e-01 -1.21379920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.721193817 meters 0.0726653669228848 Centerline is valid? [True, True] Translation: X:99.61, Y:-30.57, Z:-12.14 [[ 9.24613676e-01 3.75868204e-01 6.17466047e-02 9.96135537e+01] [-3.74862538e-01 9.26670147e-01 -2.75774549e-02 -3.05678689e+01] [-6.75842237e-02 2.35200294e-03 9.97710800e-01 -1.21409979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.751193817 meters 0.07139868668599088 Centerline is valid? [True, True] Translation: X:99.64, Y:-30.58, Z:-12.14 [[ 9.23257580e-01 3.79155669e-01 6.19388392e-02 9.96429238e+01] [-3.78151549e-01 9.25330492e-01 -2.76566043e-02 -3.05753337e+01] [-6.78000548e-02 2.11190162e-03 9.97696694e-01 -1.21446675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.781193817 meters 0.06938625234695218 Centerline is valid? [True, True] Translation: X:99.67, Y:-30.58, Z:-12.15 [[ 9.21509978e-01 3.83268062e-01 6.26494422e-02 9.96734404e+01] [-3.82250595e-01 9.23635351e-01 -2.79682108e-02 -3.05807828e+01] [-6.85845615e-02 1.82519877e-03 9.97643637e-01 -1.21472040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.811193817 meters 0.06731156034672173 Centerline is valid? [True, True] Translation: X:99.70, Y:-30.58, Z:-12.15 [[ 9.20021638e-01 3.86758886e-01 6.30694002e-02 9.97030084e+01] [-3.85735791e-01 9.22179526e-01 -2.81570981e-02 -3.05846441e+01] [-6.90513174e-02 1.57701455e-03 9.97611863e-01 -1.21482438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.841193817 meters 0.06332749001209814 Centerline is valid? [True, True] Translation: X:99.74, Y:-30.59, Z:-12.14 [[ 9.17366127e-01 3.92824512e-01 6.42517753e-02 9.97368534e+01] [-3.91778061e-01 9.19612753e-01 -2.86763851e-02 -3.05855662e+01] [-7.03515390e-02 1.13430836e-03 9.97521616e-01 -1.21411793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.871193817 meters 0.06437816924641711 Centerline is valid? [True, True] Translation: X:99.76, Y:-30.60, Z:-12.15 [[ 9.16345376e-01 3.94821490e-01 6.65367867e-02 9.97620991e+01] [-3.93704489e-01 9.18757291e-01 -2.96953749e-02 -3.05985760e+01] [-7.28555301e-02 1.01538790e-03 9.97341988e-01 -1.21514969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.901193817 meters 0.06197675774535235 Centerline is valid? [True, True] Translation: X:99.79, Y:-30.61, Z:-12.14 [[ 9.15690755e-01 3.95911100e-01 6.90278377e-02 9.97912667e+01] [-3.94711386e-01 9.18288332e-01 -3.08133146e-02 -3.06084519e+01] [-7.55867912e-02 9.69393828e-04 9.97138755e-01 -1.21427657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93119381700001 meters 0.06255318194808815 Centerline is valid? [True, True] Translation: X:99.82, Y:-30.62, Z:-12.15 [[ 9.14919502e-01 3.97027321e-01 7.27434675e-02 9.98155203e+01] [-3.95700975e-01 9.17806357e-01 -3.24380919e-02 -3.06224126e+01] [-7.96432256e-02 8.93581829e-04 9.96823033e-01 -1.21496131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96119381700001 meters 0.06061407080230185 Centerline is valid? [True, True] Translation: X:99.84, Y:-30.63, Z:-12.14 [[ 9.13629324e-01 3.99028064e-01 7.78335513e-02 9.98446769e+01] [-3.97517091e-01 9.16938395e-01 -3.47007378e-02 -3.06322432e+01] [-8.52151399e-02 7.63444751e-04 9.96362282e-01 -1.21421820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99119381700001 meters 0.05987983306550513 Centerline is valid? [True, True] Translation: X:99.87, Y:-30.64, Z:-12.14 [[ 9.13106327e-01 4.00022863e-01 7.88577498e-02 9.98724888e+01] [-3.98475138e-01 9.16504906e-01 -3.51613746e-02 -3.06413082e+01] [-8.63388683e-02 6.83220906e-04 9.96265594e-01 -1.21416276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02119381700001 meters 0.06004504105181989 Centerline is valid? [True, True] Translation: X:99.90, Y:-30.65, Z:-12.15 [[ 9.12480582e-01 4.01511155e-01 7.85364890e-02 9.98967795e+01] [-3.99984086e-01 9.15853989e-01 -3.49885926e-02 -3.06515534e+01] [-8.59762669e-02 5.13065522e-04 9.96297053e-01 -1.21472143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05119381700001 meters 0.060186420550360095 Centerline is valid? [True, True] Translation: X:99.92, Y:-30.67, Z:-12.15 [[ 9.12314995e-01 4.02095014e-01 7.74658000e-02 9.99210389e+01] [-4.00613096e-01 9.15597844e-01 -3.44925433e-02 -3.06677822e+01] [-8.47967991e-02 4.34250500e-04 9.96398171e-01 -1.21512640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.081193817 meters 0.060284147339100015 Centerline is valid? [True, True] Translation: X:99.94, Y:-30.68, Z:-12.15 [[ 9.13065935e-01 4.00426899e-01 7.72586366e-02 9.99448253e+01] [-3.98949174e-01 9.16328534e-01 -3.43740514e-02 -3.06842917e+01] [-8.45585879e-02 5.63506156e-04 9.96418350e-01 -1.21539150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.111193817 meters 0.060467345101114754 Centerline is valid? [True, True] Translation: X:99.97, Y:-30.70, Z:-12.16 [[ 9.14188478e-01 3.97628544e-01 7.84281079e-02 9.99672088e+01] [-3.96098289e-01 9.17546127e-01 -3.48604370e-02 -3.07015469e+01] [-8.58229114e-02 8.03770479e-04 9.96310083e-01 -1.21567153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.141193817 meters 0.06095349246312578 Centerline is valid? [True, True] Translation: X:99.99, Y:-30.72, Z:-12.16 [[ 9.15696775e-01 3.93882192e-01 7.97260010e-02 9.99910385e+01] [-3.92287515e-01 9.19160194e-01 -3.54265773e-02 -3.07185653e+01] [-8.72348645e-02 1.16448770e-03 9.96187092e-01 -1.21592787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.171193817 meters 0.062365123981836905 Centerline is valid? [True, True] Translation: X:100.01, Y:-30.74, Z:-12.16 [[ 9.18067151e-01 3.88301694e-01 7.98404700e-02 1.00013040e+02] [-3.86681830e-01 9.21530754e-01 -3.54715718e-02 -3.07372609e+01] [-8.73491199e-02 1.69242582e-03 9.96176323e-01 -1.21630862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.201193817 meters 0.06305500383784113 Centerline is valid? [True, True] Translation: X:100.04, Y:-30.75, Z:-12.17 [[ 9.19056709e-01 3.85951569e-01 7.98508175e-02 1.00037702e+02] [-3.84323910e-01 9.22517086e-01 -3.54592414e-02 -3.07531770e+01] [-8.73492933e-02 1.90047531e-03 9.96175933e-01 -1.21660622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.231193817 meters 0.06385436960475432 Centerline is valid? [True, True] Translation: X:100.06, Y:-30.77, Z:-12.17 [[ 9.20148023e-01 3.83209642e-01 8.04859385e-02 1.00061779e+02] [-3.81546151e-01 9.23658843e-01 -3.57334228e-02 -3.07690802e+01] [-8.80349410e-02 2.17093836e-03 9.96115022e-01 -1.21689291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.261193817 meters 0.06691185079081638 Centerline is valid? [True, True] Translation: X:100.08, Y:-30.79, Z:-12.17 [[ 9.22922764e-01 3.76734942e-01 7.92739243e-02 1.00082675e+02] [-3.75098143e-01 9.26317052e-01 -3.51866774e-02 -3.07934548e+01] [-8.66888387e-02 2.73908377e-03 9.96231671e-01 -1.21746582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.291193817 meters 0.06936006360509259 Centerline is valid? [True, True] Translation: X:100.11, Y:-30.81, Z:-12.18 [[ 9.24855566e-01 3.72525178e-01 7.65974797e-02 1.00106954e+02] [-3.70983178e-01 9.28017160e-01 -3.39945886e-02 -3.08123568e+01] [-8.37476158e-02 3.02370802e-03 9.96482410e-01 -1.21813136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32119381700001 meters 0.07132081861528669 Centerline is valid? [True, True] Translation: X:100.13, Y:-30.83, Z:-12.19 [[ 9.26362606e-01 3.69522412e-01 7.28389303e-02 1.00132192e+02] [-3.68119162e-01 9.29216543e-01 -3.23249123e-02 -3.08278973e+01] [-7.96279185e-02 3.13118406e-03 9.96819738e-01 -1.21883276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35119381700001 meters 0.07340364537960975 Centerline is valid? [True, True] Translation: X:100.16, Y:-30.84, Z:-12.20 [[ 9.27496149e-01 3.66951150e-01 7.13985059e-02 1.00157184e+02] [-3.65595364e-01 9.30234412e-01 -3.16854577e-02 -3.08412842e+01] [-7.80443623e-02 3.28517724e-03 9.96944474e-01 -1.21954358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38119381700001 meters 0.07361363286510382 Centerline is valid? [True, True] Translation: X:100.19, Y:-30.85, Z:-12.20 [[ 9.28648138e-01 3.64722896e-01 6.77483974e-02 1.00186039e+02] [-3.63496913e-01 9.31110301e-01 -3.00599648e-02 -3.08498584e+01] [-7.40447882e-02 3.28879704e-03 9.97249494e-01 -1.22007245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41119381700001 meters 0.07167038523964196 Centerline is valid? [True, True] Translation: X:100.21, Y:-30.86, Z:-12.20 [[ 9.28629973e-01 3.64840181e-01 6.73647940e-02 1.00214916e+02] [-3.63628418e-01 9.31064452e-01 -2.98891373e-02 -3.08580691e+01] [-7.36257232e-02 3.26019528e-03 9.97280614e-01 -1.22008294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.441193817 meters 0.07567370345090549 Centerline is valid? [True, True] Translation: X:100.24, Y:-30.88, Z:-12.21 [[ 9.28495621e-01 3.65258413e-01 6.69490405e-02 1.00238751e+02] [-3.64063119e-01 9.30900663e-01 -2.96985132e-02 -3.08766947e+01] [-7.31705379e-02 3.20126299e-03 9.97314306e-01 -1.22114688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.471193817 meters 0.07152500351852664 Centerline is valid? [True, True] Translation: X:100.27, Y:-30.88, Z:-12.21 [[ 9.28415314e-01 3.65581029e-01 6.62986847e-02 1.00269599e+02] [-3.64409375e-01 9.30774191e-01 -2.94144955e-02 -3.08817983e+01] [-7.24624862e-02 3.14900591e-03 9.97366167e-01 -1.22083489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.501193817 meters 0.06989759631321012 Centerline is valid? [True, True] Translation: X:100.30, Y:-30.89, Z:-12.21 [[ 9.27141573e-01 3.68870428e-01 6.59022810e-02 1.00299478e+02] [-3.67721270e-01 9.29476391e-01 -2.92353667e-02 -3.08864950e+01] [-7.20386765e-02 2.87165344e-03 9.97397705e-01 -1.22112594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.531193817 meters 0.07230206434025456 Centerline is valid? [True, True] Translation: X:100.33, Y:-30.90, Z:-12.22 [[ 9.25456564e-01 3.73044016e-01 6.60931914e-02 1.00325107e+02] [-3.71899017e-01 9.27810138e-01 -2.93166906e-02 -3.08973571e+01] [-7.22583491e-02 2.55133083e-03 9.97382686e-01 -1.22232341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.561193817 meters 0.06521288162038454 Centerline is valid? [True, True] Translation: X:100.36, Y:-30.89, Z:-12.22 [[ 9.20390949e-01 3.85012813e-01 6.81589028e-02 1.00362771e+02] [-3.83827863e-01 9.22909732e-01 -3.02290749e-02 -3.08869457e+01] [-7.45430959e-02 1.66128094e-03 9.97216409e-01 -1.22191737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.591193817 meters 0.06264407290238028 Centerline is valid? [True, True] Translation: X:100.39, Y:-30.89, Z:-12.22 [[ 9.17313901e-01 3.91922849e-01 7.02259817e-02 1.00394345e+02] [-3.90685174e-01 9.19997391e-01 -3.11431363e-02 -3.08895070e+01] [-7.68134267e-02 1.13178199e-03 9.97044842e-01 -1.22184275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.621193817 meters 0.06193320767881999 Centerline is valid? [True, True] Translation: X:100.42, Y:-30.89, Z:-12.22 [[ 9.14976520e-01 3.97224499e-01 7.09271796e-02 1.00422454e+02] [-3.95977894e-01 9.17721209e-01 -3.14529792e-02 -3.08948248e+01] [-7.75852709e-02 6.93142258e-04 9.96985479e-01 -1.22219098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.651193817 meters 0.06132150436626405 Centerline is valid? [True, True] Translation: X:100.45, Y:-30.90, Z:-12.22 [[ 9.13103706e-01 4.01219026e-01 7.25597386e-02 1.00450836e+02] [-3.99927651e-01 9.15982079e-01 -3.21668298e-02 -3.09006279e+01] [-7.93693643e-02 3.53005661e-04 9.96845213e-01 -1.22242452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68119381700001 meters 0.0604706161391154 Centerline is valid? [True, True] Translation: X:100.48, Y:-30.91, Z:-12.22 [[ 9.11826720e-01 4.03845093e-01 7.40349489e-02 1.00478992e+02] [-4.02509178e-01 9.14827374e-01 -3.28212929e-02 -3.09085603e+01] [-8.09839160e-02 1.27585511e-04 9.96715400e-01 -1.22220124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71119381700001 meters 0.060365157620258146 Centerline is valid? [True, True] Translation: X:100.50, Y:-30.92, Z:-12.22 [[ 9.11812924e-01 4.03674146e-01 7.51290565e-02 1.00504995e+02] [-4.02300020e-01 9.14902820e-01 -3.32794876e-02 -3.09211538e+01] [-8.21698543e-02 1.20246019e-04 9.96618332e-01 -1.22248164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74119381700001 meters 0.0606684317058564 Centerline is valid? [True, True] Translation: X:100.53, Y:-30.94, Z:-12.23 [[ 9.12772479e-01 4.01607227e-01 7.45522456e-02 1.00530041e+02] [-4.00249379e-01 9.15811966e-01 -3.29981548e-02 -3.09352343e+01] [-8.15281360e-02 2.80317533e-04 9.96671001e-01 -1.22288742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77119381700001 meters 0.06053555841879131 Centerline is valid? [True, True] Translation: X:100.56, Y:-30.95, Z:-12.23 [[ 9.13555654e-01 3.99668000e-01 7.53761059e-02 1.00555337e+02] [-3.98275487e-01 9.16659861e-01 -3.33366886e-02 -3.09493486e+01] [-8.24178584e-02 4.34464990e-04 9.96597766e-01 -1.22311392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80119381700001 meters 0.06090575699679077 Centerline is valid? [True, True] Translation: X:100.58, Y:-30.97, Z:-12.24 [[ 9.14539425e-01 3.97517671e-01 7.48153762e-02 1.00577477e+02] [-3.96141366e-01 9.17594327e-01 -3.30555439e-02 -3.09663916e+01] [-8.17903276e-02 5.93132840e-04 9.96649382e-01 -1.22355664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.831193817 meters 0.06090575699679077 Centerline is valid? [True, True] Translation: X:100.60, Y:-30.98, Z:-12.24 [[ 9.14672380e-01 3.97211565e-01 7.48158352e-02 1.00602590e+02] [-3.95834322e-01 9.17726860e-01 -3.30545092e-02 -3.09771862e+01] [-8.17901348e-02 6.19371205e-04 9.96649382e-01 -1.22387077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.861193817 meters 0.060966785827358566 Centerline is valid? [True, True] Translation: X:100.63, Y:-30.99, Z:-12.24 [[ 9.14859386e-01 3.96954843e-01 7.38860987e-02 1.00627608e+02] [-3.95613329e-01 9.17837941e-01 -3.26130134e-02 -3.09912206e+01] [-8.07613583e-02 6.05995946e-04 9.96733282e-01 -1.22421817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.891193817 meters 0.06095148592418469 Centerline is valid? [True, True] Translation: X:100.65, Y:-31.00, Z:-12.25 [[ 9.14660043e-01 3.97624254e-01 7.27458516e-02 1.00653239e+02] [-3.96327995e-01 9.17548193e-01 -3.20847773e-02 -3.10036076e+01] [-7.95055104e-02 5.15446212e-04 9.96834293e-01 -1.22465251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.921193817 meters 0.060903241092086426 Centerline is valid? [True, True] Translation: X:100.68, Y:-31.01, Z:-12.25 [[ 9.13338863e-01 4.00610857e-01 7.29593196e-02 1.00679312e+02] [-3.99319120e-01 9.16248269e-01 -3.21457598e-02 -3.10130512e+01] [-7.97267907e-02 2.25920424e-04 9.96816727e-01 -1.22508263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.951193817 meters 0.060696185687866104 Centerline is valid? [True, True] Translation: X:100.71, Y:-31.03, Z:-12.25 [[ 9.13060068e-01 4.01060457e-01 7.39717632e-02 1.00705087e+02] [-3.99734251e-01 9.16051568e-01 -3.25891661e-02 -3.10252791e+01] [-8.08321755e-02 1.86818843e-04 9.96727708e-01 -1.22523837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.981193817 meters 0.060518719098197 Centerline is valid? [True, True] Translation: X:100.73, Y:-31.04, Z:-12.25 [[ 9.12508054e-01 4.01975679e-01 7.57931710e-02 1.00729624e+02] [-4.00589197e-01 9.15650341e-01 -3.33578764e-02 -3.10387957e+01] [-8.28090979e-02 7.74054224e-05 9.96565426e-01 -1.22548818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.011193817 meters 0.06034890837075111 Centerline is valid? [True, True] Translation: X:100.75, Y:-31.05, Z:-12.26 [[ 9.12686994e-01 4.01723312e-01 7.49722069e-02 1.00754793e+02] [-4.00366090e-01 9.15761089e-01 -3.29942772e-02 -3.10535998e+01] [-8.19112001e-02 9.71183039e-05 9.96639627e-01 -1.22563468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.041193817 meters 0.0606512943629048 Centerline is valid? [True, True] Translation: X:100.78, Y:-31.07, Z:-12.26 [[ 9.12816602e-01 4.01351729e-01 7.53832920e-02 1.00778453e+02] [-3.99981060e-01 9.15924003e-01 -3.31417062e-02 -3.10679613e+01] [-8.23468476e-02 1.00410580e-04 9.96603726e-01 -1.22623320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07119381700001 meters 0.0605955806088675 Centerline is valid? [True, True] Translation: X:100.80, Y:-31.08, Z:-12.27 [[ 9.12461431e-01 4.01951846e-01 7.64777836e-02 1.00802080e+02] [-4.00543939e-01 9.15660806e-01 -3.36131039e-02 -3.10833705e+01] [-8.35385581e-02 3.79482002e-05 9.96504545e-01 -1.22662255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10119381700001 meters 0.06039439801966748 Centerline is valid? [True, True] Translation: X:100.83, Y:-31.10, Z:-12.27 [[ 9.12368255e-01 4.01954318e-01 7.75686390e-02 1.00827497e+02] [-4.00506759e-01 9.15659721e-01 -3.40824138e-02 -3.10971759e+01] [-8.47260518e-02 2.89482243e-05 9.96404283e-01 -1.22674523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13119381700001 meters 0.06063876278220421 Centerline is valid? [True, True] Translation: X:100.85, Y:-31.11, Z:-12.27 [[ 9.12564688e-01 4.01844879e-01 7.58048990e-02 1.00852503e+02] [-4.00462715e-01 9.15707755e-01 -3.33004750e-02 -3.11119529e+01] [-8.27967592e-02 3.18019008e-05 9.96566453e-01 -1.22724881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16119381700001 meters 0.06073704230775866 Centerline is valid? [True, True] Translation: X:100.88, Y:-31.13, Z:-12.28 [[ 9.13186627e-01 4.00576062e-01 7.50266802e-02 1.00876780e+02] [-3.99218468e-01 9.16263499e-01 -3.29517255e-02 -3.11279326e+01] [-8.19438809e-02 1.39038726e-04 9.96636935e-01 -1.22757055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.191193817 meters 0.061849766650686214 Centerline is valid? [True, True] Translation: X:100.90, Y:-31.15, Z:-12.28 [[ 9.16184057e-01 3.94800802e-01 6.88411229e-02 1.00898835e+02] [-3.93642449e-01 9.18766550e-01 -3.02266262e-02 -3.11507856e+01] [-7.51824173e-02 5.94364792e-04 9.97169620e-01 -1.22835537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.221193817 meters 0.0627950298046912 Centerline is valid? [True, True] Translation: X:100.92, Y:-31.17, Z:-12.29 [[ 9.18203866e-01 3.90318281e-01 6.74781365e-02 1.00922837e+02] [-3.89193347e-01 9.20679506e-01 -2.96274652e-02 -3.11691172e+01] [-7.36898786e-02 9.42011275e-04 9.97280760e-01 -1.22890667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.251193817 meters 0.0669582064430632 Centerline is valid? [True, True] Translation: X:100.94, Y:-31.20, Z:-12.30 [[ 9.22843768e-01 3.79653466e-01 6.49817296e-02 1.00940694e+02] [-3.78584237e-01 9.25127167e-01 -2.85254318e-02 -3.11991064e+01] [-7.09461425e-02 1.72345848e-03 9.97478659e-01 -1.22986648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.281193817 meters 0.06863649810179219 Centerline is valid? [True, True] Translation: X:100.97, Y:-31.22, Z:-12.30 [[ 9.25289861e-01 3.73874992e-01 6.36880127e-02 1.00965505e+02] [-3.72834259e-01 9.27476673e-01 -2.79577447e-02 -3.12204281e+01] [-6.95218477e-02 2.12394466e-03 9.97578168e-01 -1.23007783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.311193817 meters 0.07048671888385735 Centerline is valid? [True, True] Translation: X:100.99, Y:-31.24, Z:-12.30 [[ 9.26869875e-01 3.70191355e-01 6.22141099e-02 1.00990158e+02] [-3.69189734e-01 9.28952553e-01 -2.73147395e-02 -3.12402079e+01] [-6.79056367e-02 2.34839847e-03 9.97688984e-01 -1.23048467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.341193817 meters 0.07188374528822618 Centerline is valid? [True, True] Translation: X:101.02, Y:-31.26, Z:-12.31 [[ 9.27831187e-01 3.67673968e-01 6.28103654e-02 1.01016133e+02] [-3.66648008e-01 9.29951271e-01 -2.75657907e-02 -3.12571995e+01] [-6.85458027e-02 2.54710495e-03 9.97644719e-01 -1.23082526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.371193817 meters 0.0711453704722828 Centerline is valid? [True, True] Translation: X:101.05, Y:-31.27, Z:-12.31 [[ 9.27767512e-01 3.67352940e-01 6.55687452e-02 1.01045531e+02] [-3.66231655e-01 9.30077658e-01 -2.88084070e-02 -3.12698492e+01] [-7.15668780e-02 2.71415407e-03 9.97432111e-01 -1.23077092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.401193817 meters 0.06948591222768374 Centerline is valid? [True, True] Translation: X:101.08, Y:-31.28, Z:-12.31 [[ 9.25941120e-01 3.71255677e-01 6.92983702e-02 1.01075129e+02] [-3.70013185e-01 9.28527153e-01 -3.04560310e-02 -3.12764994e+01] [-7.56523928e-02 2.55918079e-03 9.97130967e-01 -1.23075961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43119381700001 meters 0.06640389122956356 Centerline is valid? [True, True] Translation: X:101.11, Y:-31.28, Z:-12.31 [[ 9.24471820e-01 3.74606299e-01 7.08658865e-02 1.01107860e+02] [-3.73317142e-01 9.27181042e-01 -3.11388351e-02 -3.12821701e+01] [-7.73703103e-02 2.33152539e-03 9.96999699e-01 -1.23064425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46119381700001 meters 0.06667780197065301 Centerline is valid? [True, True] Translation: X:101.14, Y:-31.29, Z:-12.31 [[ 9.23007047e-01 3.78078932e-01 7.15144200e-02 1.01135503e+02] [-3.76775532e-01 9.25771050e-01 -3.14350339e-02 -3.12924710e+01] [-7.80909037e-02 2.06987410e-03 9.96944094e-01 -1.23135615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49119381700001 meters 0.06372323695767587 Centerline is valid? [True, True] Translation: X:101.17, Y:-31.30, Z:-12.31 [[ 9.21057512e-01 3.82516960e-01 7.30331090e-02 1.01168032e+02] [-3.81171251e-01 9.23946847e-01 -3.21045456e-02 -3.12965810e+01] [-7.97592440e-02 1.73201135e-03 9.96812652e-01 -1.23115185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52119381700001 meters 0.06274396155994116 Centerline is valid? [True, True] Translation: X:101.20, Y:-31.30, Z:-12.32 [[ 9.17497386e-01 3.90944062e-01 7.32208130e-02 1.01197099e+02] [-3.89617753e-01 9.20413888e-01 -3.21913081e-02 -3.13006258e+01] [-7.99784539e-02 1.00731238e-03 9.96796084e-01 -1.23209445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55119381700001 meters 0.062358361109670704 Centerline is valid? [True, True] Translation: X:101.23, Y:-31.31, Z:-12.33 [[ 9.16190505e-01 3.94217606e-01 7.20238674e-02 1.01225204e+02] [-3.92944631e-01 9.19016854e-01 -3.16629016e-02 -3.13085331e+01] [-7.86732213e-02 7.07857875e-04 9.96900207e-01 -1.23258026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.581193817 meters 0.06204775629123819 Centerline is valid? [True, True] Translation: X:101.25, Y:-31.32, Z:-12.33 [[ 9.14970194e-01 3.97079912e-01 7.18128684e-02 1.01252569e+02] [-3.95823708e-01 9.17783927e-01 -3.15635090e-02 -3.13170135e+01] [-7.84419318e-02 4.54434048e-04 9.96918581e-01 -1.23304645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.611193817 meters 0.061209696051569715 Centerline is valid? [True, True] Translation: X:101.28, Y:-31.33, Z:-12.33 [[ 9.13422606e-01 4.00595642e-01 7.19880083e-02 1.01281242e+02] [-3.99344678e-01 9.16254937e-01 -3.16341309e-02 -3.13252634e+01] [-7.86318630e-02 1.47302321e-04 9.96903711e-01 -1.23294699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.641193817 meters 0.06126173317213935 Centerline is valid? [True, True] Translation: X:101.31, Y:-31.34, Z:-12.33 [[ 9.13068554e-01 4.01523222e-01 7.13086116e-02 1.01307662e+02] [-4.00299166e-01 9.15848840e-01 -3.13285615e-02 -3.13354399e+01] [-7.78870542e-02 6.03465191e-05 9.96962187e-01 -1.23341173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.671193817 meters 0.06160281074108103 Centerline is valid? [True, True] Translation: X:101.33, Y:-31.35, Z:-12.34 [[ 9.12908689e-01 4.02038346e-01 7.04478083e-02 1.01333582e+02] [-4.00845774e-01 9.15622831e-01 -3.09434414e-02 -3.13467895e+01] [-7.69440717e-02 9.83027214e-06 9.97035410e-01 -1.23393696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.701193817 meters 0.061347085377670314 Centerline is valid? [True, True] Translation: X:101.36, Y:-31.36, Z:-12.34 [[ 9.12770651e-01 4.02129300e-01 7.17060957e-02 1.01358187e+02] [-4.00894527e-01 9.15582889e-01 -3.14889215e-02 -3.13626651e+01] [-7.83154922e-02 -4.41791052e-06 9.96928625e-01 -1.23407028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.731193817 meters 0.061642209340230694 Centerline is valid? [True, True] Translation: X:101.38, Y:-31.38, Z:-12.35 [[ 9.12850153e-01 4.01917434e-01 7.18816668e-02 1.01381746e+02] [-4.00676451e-01 9.15675912e-01 -3.15595575e-02 -3.13765452e+01] [-7.85046472e-02 7.85579320e-06 9.96913748e-01 -1.23455419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.761193817 meters 0.06118711792516078 Centerline is valid? [True, True] Translation: X:101.41, Y:-31.39, Z:-12.34 [[ 9.12951728e-01 4.01637461e-01 7.21560246e-02 1.01407720e+02] [-4.00386938e-01 9.15798749e-01 -3.16693937e-02 -3.13910279e+01] [-7.88000120e-02 2.22979659e-05 9.96890444e-01 -1.23447789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.791193817 meters 0.061157113216828526 Centerline is valid? [True, True] Translation: X:101.43, Y:-31.41, Z:-12.35 [[ 9.12775393e-01 4.01739901e-01 7.37979326e-02 1.01431655e+02] [-4.00432404e-01 9.15753816e-01 -3.23857652e-02 -3.14050343e+01] [-8.05913926e-02 9.84601444e-06 9.96747223e-01 -1.23479795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82119381700001 meters 0.06086822256545156 Centerline is valid? [True, True] Translation: X:101.46, Y:-31.42, Z:-12.35 [[ 9.12717692e-01 4.01815699e-01 7.40983058e-02 1.01458673e+02] [-4.00498707e-01 9.15720560e-01 -3.25060180e-02 -3.14181323e+01] [-8.09147704e-02 -7.45793559e-06 9.96721024e-01 -1.23488878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85119381700001 meters 0.06138999300938789 Centerline is valid? [True, True] Translation: X:101.48, Y:-31.43, Z:-12.36 [[ 9.12589738e-01 4.02234644e-01 7.33979699e-02 1.01483757e+02] [-4.00944060e-01 9.15536613e-01 -3.21958392e-02 -3.14308440e+01] [-8.01488106e-02 -4.68875674e-05 9.96782908e-01 -1.23560334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88119381700001 meters 0.06162464949946902 Centerline is valid? [True, True] Translation: X:101.51, Y:-31.44, Z:-12.36 [[ 9.12679765e-01 4.02200199e-01 7.24613434e-02 1.01507565e+02] [-4.00942543e-01 9.15551745e-01 -3.17817565e-02 -3.14437778e+01] [-7.91247382e-02 -4.62692206e-05 9.96864722e-01 -1.23610305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91119381700001 meters 0.06183872977735173 Centerline is valid? [True, True] Translation: X:101.53, Y:-31.46, Z:-12.37 [[ 9.13257233e-01 4.01009873e-01 7.17795841e-02 1.01531437e+02] [-3.99773056e-01 9.16073730e-01 -3.14710008e-02 -3.14612445e+01] [-7.83755734e-02 4.55753759e-05 9.96923903e-01 -1.23653322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.941193817 meters 0.06151576063602301 Centerline is valid? [True, True] Translation: X:101.56, Y:-31.48, Z:-12.37 [[ 9.13987658e-01 3.99216207e-01 7.24774451e-02 1.01558422e+02] [-3.97950410e-01 9.16856795e-01 -3.17661408e-02 -3.14772720e+01] [-7.91329963e-02 1.91431639e-04 9.96864049e-01 -1.23655872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.971193817 meters 0.06255766133477807 Centerline is valid? [True, True] Translation: X:101.58, Y:-31.50, Z:-12.37 [[ 9.16808400e-01 3.92922394e-01 7.12344742e-02 1.01581466e+02] [-3.91680935e-01 9.19571354e-01 -3.12181125e-02 -3.14997717e+01] [-7.77714773e-02 7.19842251e-04 9.96970952e-01 -1.23717354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.001193817 meters 0.06369200531161595 Centerline is valid? [True, True] Translation: X:101.61, Y:-31.52, Z:-12.38 [[ 9.18498278e-01 3.89178028e-01 7.00098269e-02 1.01606798e+02] [-3.87967536e-01 9.21161989e-01 -3.06884515e-02 -3.15191452e+01] [-7.64336624e-02 1.02574986e-03 9.97074141e-01 -1.23777689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.031193817 meters 0.06503429847849276 Centerline is valid? [True, True] Translation: X:101.63, Y:-31.54, Z:-12.38 [[ 9.20304890e-01 3.84899597e-01 6.99371810e-02 1.01631986e+02] [-3.83677541e-01 9.22957387e-01 -3.06790786e-02 -3.15388060e+01] [-7.63574028e-02 1.40078043e-03 9.97079528e-01 -1.23824752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.061193817 meters 0.06720862060730468 Centerline is valid? [True, True] Translation: X:101.66, Y:-31.56, Z:-12.39 [[ 9.22093196e-01 3.80454954e-01 7.06977007e-02 1.01656685e+02] [-3.79191343e-01 9.24797683e-01 -3.10349921e-02 -3.15596480e+01] [-7.71884863e-02 1.80919904e-03 9.97014877e-01 -1.23870967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.091193817 meters 0.06823073493652229 Centerline is valid? [True, True] Translation: X:101.68, Y:-31.58, Z:-12.39 [[ 9.23936589e-01 3.75953854e-01 7.07098234e-02 1.01684207e+02] [-3.74674407e-01 9.26635745e-01 -3.10690384e-02 -3.15776385e+01] [-7.72027746e-02 2.21266026e-03 9.97012957e-01 -1.23876539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.121193817 meters 0.07197057250542527 Centerline is valid? [True, True] Translation: X:101.71, Y:-31.60, Z:-12.39 [[ 9.27233156e-01 3.67243584e-01 7.32859090e-02 1.01708875e+02] [-3.65841057e-01 9.30119785e-01 -3.22103535e-02 -3.15991170e+01] [-7.99937195e-02 3.05551333e-03 9.96790684e-01 -1.23875493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.151193817 meters 0.06960697250077327 Centerline is valid? [True, True] Translation: X:101.74, Y:-31.61, Z:-12.38 [[ 9.28507835e-01 3.63852178e-01 7.40593911e-02 1.01740682e+02] [-3.62409726e-01 9.31450587e-01 -3.25421931e-02 -3.16070688e+01] [-8.08232111e-02 3.37583757e-03 9.96722736e-01 -1.23834080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18119381700001 meters 0.07635897635076547 Centerline is valid? [True, True] Translation: X:101.76, Y:-31.63, Z:-12.39 [[ 9.29549714e-01 3.61059386e-01 7.46555357e-02 1.01763726e+02] [-3.59582425e-01 9.32535592e-01 -3.28306275e-02 -3.16294687e+01] [-8.14727503e-02 3.67288192e-03 9.96668802e-01 -1.23936422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21119381700001 meters 0.07213955299989937 Centerline is valid? [True, True] Translation: X:101.80, Y:-31.63, Z:-12.39 [[ 9.29949005e-01 3.59926200e-01 7.51530369e-02 1.01798117e+02] [-3.58423652e-01 9.32972951e-01 -3.30750503e-02 -3.16336353e+01] [-8.20203278e-02 3.82148422e-03 9.96623330e-01 -1.23902305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24119381700001 meters 0.07683851415219126 Centerline is valid? [True, True] Translation: X:101.83, Y:-31.65, Z:-12.40 [[ 9.29924623e-01 3.59809804e-01 7.60072420e-02 1.01825465e+02] [-3.58270041e-01 9.33017510e-01 -3.34798989e-02 -3.16473445e+01] [-8.29624835e-02 3.90266467e-03 9.96545029e-01 -1.23991224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27119381700001 meters 0.07270166745289586 Centerline is valid? [True, True] Translation: X:101.86, Y:-31.65, Z:-12.40 [[ 9.29404449e-01 3.61350828e-01 7.50529758e-02 1.01860822e+02] [-3.59852583e-01 9.32422431e-01 -3.30836465e-02 -3.16482727e+01] [-8.19358812e-02 3.74008104e-03 9.96630585e-01 -1.23995738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30119381700001 meters 0.07173876081570651 Centerline is valid? [True, True] Translation: X:101.90, Y:-31.65, Z:-12.40 [[ 9.28524132e-01 3.63393712e-01 7.60785552e-02 1.01895209e+02] [-3.61857989e-01 9.31628543e-01 -3.35716085e-02 -3.16480819e+01] [-8.30766650e-02 3.64241562e-03 9.96536502e-01 -1.24029304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.331193817 meters 0.0721499640253543 Centerline is valid? [True, True] Translation: X:101.93, Y:-31.66, Z:-12.41 [[ 9.28330505e-01 3.63666848e-01 7.71290928e-02 1.01925633e+02] [-3.62089617e-01 9.31521871e-01 -3.40310712e-02 -3.16577818e+01] [-8.42234092e-02 3.66443788e-03 9.96440158e-01 -1.24068255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.361193817 meters 0.07279133285083418 Centerline is valid? [True, True] Translation: X:101.96, Y:-31.67, Z:-12.41 [[ 9.28516385e-01 3.63142074e-01 7.73637886e-02 1.01955082e+02] [-3.61551050e-01 9.31726235e-01 -3.41622802e-02 -3.16670691e+01] [-8.44876328e-02 3.74927787e-03 9.96417474e-01 -1.24106219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.391193817 meters 0.07319236858908675 Centerline is valid? [True, True] Translation: X:101.99, Y:-31.67, Z:-12.42 [[ 9.28716505e-01 3.62610940e-01 7.74529476e-02 1.01986481e+02] [-3.61012342e-01 9.31932765e-01 -3.42258772e-02 -3.16749888e+01] [-8.45916171e-02 3.82466702e-03 9.96408365e-01 -1.24151938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.421193817 meters 0.07368886495610828 Centerline is valid? [True, True] Translation: X:102.02, Y:-31.67, Z:-12.42 [[ 9.28933276e-01 3.62254282e-01 7.65166910e-02 1.02020737e+02] [-3.60690756e-01 9.32071418e-01 -3.38385890e-02 -3.16747120e+01] [-8.35771945e-02 3.83492818e-03 9.96493927e-01 -1.24209416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.451193817 meters 0.07413677057869707 Centerline is valid? [True, True] Translation: X:102.05, Y:-31.68, Z:-12.43 [[ 9.28779865e-01 3.62788454e-01 7.58452392e-02 1.02051480e+02] [-3.61252114e-01 9.31863876e-01 -3.35652577e-02 -3.16821147e+01] [-8.28545265e-02 3.77548245e-03 9.96554501e-01 -1.24261742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.481193817 meters 0.07397327889723013 Centerline is valid? [True, True] Translation: X:102.08, Y:-31.69, Z:-12.43 [[ 9.28218901e-01 3.64135788e-01 7.62548282e-02 1.02080558e+02] [-3.62584475e-01 9.31338493e-01 -3.37803330e-02 -3.16877683e+01] [-8.33196849e-02 3.70672672e-03 9.96515976e-01 -1.24309855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.511193817 meters 0.07314789816584136 Centerline is valid? [True, True] Translation: X:102.11, Y:-31.69, Z:-12.43 [[ 9.27634682e-01 3.65720777e-01 7.57773748e-02 1.02110154e+02] [-3.64194316e-01 9.30717886e-01 -3.35666085e-02 -3.16911256e+01] [-8.28033643e-02 3.53986099e-03 9.96559618e-01 -1.24348141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.541193817 meters 0.06957699393877671 Centerline is valid? [True, True] Translation: X:102.15, Y:-31.68, Z:-12.44 [[ 9.25086999e-01 3.72323518e-01 7.47612378e-02 1.02146484e+02] [-3.70859902e-01 9.28098473e-01 -3.31082687e-02 -3.16811666e+01] [-8.17127778e-02 2.90208362e-03 9.96651694e-01 -1.24396722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57119381700001 meters 0.06857317652338388 Centerline is valid? [True, True] Translation: X:102.18, Y:-31.68, Z:-12.44 [[ 9.23721447e-01 3.75902022e-01 7.37316585e-02 1.02176193e+02] [-3.74490027e-01 9.26655911e-01 -3.26503001e-02 -3.16827863e+01] [-8.05971911e-02 2.54801169e-03 9.96743498e-01 -1.24448504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60119381700001 meters 0.06764110170937614 Centerline is valid? [True, True] Translation: X:102.21, Y:-31.68, Z:-12.45 [[ 9.21870915e-01 3.80362922e-01 7.40139485e-02 1.02206204e+02] [-3.78955020e-01 9.24834788e-01 -3.27674831e-02 -3.16846512e+01] [-8.09142100e-02 2.15943223e-03 9.96718730e-01 -1.24508654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63119381700001 meters 0.06552255395682953 Centerline is valid? [True, True] Translation: X:102.24, Y:-31.68, Z:-12.45 [[ 9.19506785e-01 3.86029222e-01 7.40858411e-02 1.02241710e+02] [-3.84637417e-01 9.22485065e-01 -3.27927267e-02 -3.16783483e+01] [-8.10020326e-02 1.65694816e-03 9.96712559e-01 -1.24546360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66119381700001 meters 0.06474727130456179 Centerline is valid? [True, True] Translation: X:102.27, Y:-31.68, Z:-12.46 [[ 9.19093446e-01 3.86908415e-01 7.46265092e-02 1.02271263e+02] [-3.85498491e-01 9.22116764e-01 -3.30391831e-02 -3.16823326e+01] [-8.15974931e-02 1.59768999e-03 9.96664084e-01 -1.24557342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.691193817 meters 0.06474727130456179 Centerline is valid? [True, True] Translation: X:102.30, Y:-31.69, Z:-12.46 [[ 9.19211108e-01 3.86627187e-01 7.46348271e-02 1.02296365e+02] [-3.85217864e-01 9.22234705e-01 -3.30203802e-02 -3.16931433e+01] [-8.15974044e-02 1.60203159e-03 9.96664084e-01 -1.24588749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.721193817 meters 0.06506749099880801 Centerline is valid? [True, True] Translation: X:102.32, Y:-31.70, Z:-12.46 [[ 9.19083640e-01 3.86942885e-01 7.45685385e-02 1.02322933e+02] [-3.85539945e-01 9.22102397e-01 -3.29563392e-02 -3.16996885e+01] [-8.15120490e-02 1.54048195e-03 9.96671166e-01 -1.24638514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.751193817 meters 0.06441955531951289 Centerline is valid? [True, True] Translation: X:102.35, Y:-31.71, Z:-12.46 [[ 9.19303040e-01 3.86245073e-01 7.54762546e-02 1.02351604e+02] [-3.84805569e-01 9.22394775e-01 -3.33549658e-02 -3.17069043e+01] [-8.25020940e-02 1.61963832e-03 9.96589575e-01 -1.24640744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.781193817 meters 0.0647316948122133 Centerline is valid? [True, True] Translation: X:102.38, Y:-31.72, Z:-12.47 [[ 9.20067923e-01 3.84430035e-01 7.54225839e-02 1.02379295e+02] [-3.82988501e-01 9.23152455e-01 -3.33069454e-02 -3.17151131e+01] [-8.24307337e-02 1.75866968e-03 9.96595244e-01 -1.24659279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.811193817 meters 0.06416940486721537 Centerline is valid? [True, True] Translation: X:102.41, Y:-31.72, Z:-12.47 [[ 9.20197731e-01 3.84190938e-01 7.50563746e-02 1.02407544e+02] [-3.82764590e-01 9.23252005e-01 -3.31210675e-02 -3.17219819e+01] [-8.20207623e-02 1.74900871e-03 9.96629086e-01 -1.24671758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.841193817 meters 0.06529139621551863 Centerline is valid? [True, True] Translation: X:102.43, Y:-31.73, Z:-12.48 [[ 9.20181541e-01 3.84480919e-01 7.37587545e-02 1.02433321e+02] [-3.83107016e-01 9.23131439e-01 -3.25170808e-02 -3.17306981e+01] [-8.05912223e-02 1.66412116e-03 9.96745848e-01 -1.24756858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.871193817 meters 0.06449529319520943 Centerline is valid? [True, True] Translation: X:102.46, Y:-31.74, Z:-12.48 [[ 9.19965930e-01 3.85163614e-01 7.28812582e-02 1.02462908e+02] [-3.83824560e-01 9.22846945e-01 -3.21282293e-02 -3.17355290e+01] [-7.96328714e-02 1.58325946e-03 9.96823003e-01 -1.24768244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.901193817 meters 0.0640558400155046 Centerline is valid? [True, True] Translation: X:102.49, Y:-31.74, Z:-12.48 [[ 9.18913096e-01 3.87790175e-01 7.22322790e-02 1.02492260e+02] [-3.86484862e-01 9.21746729e-01 -3.18185303e-02 -3.17401059e+01] [-7.89187804e-02 1.32178183e-03 9.96880173e-01 -1.24814116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93119381700001 meters 0.06301646312390788 Centerline is valid? [True, True] Translation: X:102.52, Y:-31.75, Z:-12.48 [[ 9.18207015e-01 3.89343803e-01 7.28510891e-02 1.02520840e+02] [-3.88022751e-01 9.21091754e-01 -3.20675291e-02 -3.17480622e+01] [-7.95878311e-02 1.17675024e-03 9.96827163e-01 -1.24810078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96119381700001 meters 0.06321467233204309 Centerline is valid? [True, True] Translation: X:102.55, Y:-31.76, Z:-12.49 [[ 9.17380900e-01 3.91053971e-01 7.40882980e-02 1.02546641e+02] [-3.89695827e-01 9.20367188e-01 -3.25791641e-02 -3.17578573e+01] [-8.09286500e-02 1.01560237e-03 9.96719380e-01 -1.24864935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99119381700001 meters 0.06248021522893343 Centerline is valid? [True, True] Translation: X:102.58, Y:-31.76, Z:-12.49 [[ 9.15447419e-01 3.94842615e-01 7.78160195e-02 1.02575281e+02] [-3.93358769e-01 9.18748504e-01 -3.42062149e-02 -3.17648892e+01] [-8.49994228e-02 7.04377467e-04 9.96380752e-01 -1.24887762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02119381700001 meters 0.06166667334705899 Centerline is valid? [True, True] Translation: X:102.60, Y:-31.77, Z:-12.49 [[ 9.15174997e-01 3.95291419e-01 7.87363866e-02 1.02603130e+02] [-3.93773535e-01 9.18555518e-01 -3.46144928e-02 -3.17744584e+01] [-8.60065543e-02 6.74013046e-04 9.96294343e-01 -1.24859346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05119381700001 meters 0.06137515873192717 Centerline is valid? [True, True] Translation: X:102.63, Y:-31.79, Z:-12.49 [[ 9.15160588e-01 3.95399183e-01 7.83618833e-02 1.02628823e+02] [-3.93898189e-01 9.18509161e-01 -3.44258407e-02 -3.17852505e+01] [-8.55880570e-02 6.38568682e-04 9.96330405e-01 -1.24872024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.081193817 meters 0.06252346425623158 Centerline is valid? [True, True] Translation: X:102.65, Y:-31.80, Z:-12.50 [[ 9.15692872e-01 3.94557893e-01 7.63585826e-02 1.02650801e+02] [-3.93132984e-01 9.18870844e-01 -3.35086443e-02 -3.18012362e+01] [-8.33847753e-02 6.64549245e-04 9.96517204e-01 -1.24976661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.111193817 meters 0.062034443235632085 Centerline is valid? [True, True] Translation: X:102.68, Y:-31.81, Z:-12.50 [[ 9.16296494e-01 3.93265098e-01 7.57845483e-02 1.02676224e+02] [-3.91857398e-01 9.19424801e-01 -3.32538049e-02 -3.18149194e+01] [-8.27557540e-02 7.73608957e-04 9.96569559e-01 -1.24964491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.141193817 meters 0.06355824656915013 Centerline is valid? [True, True] Translation: X:102.70, Y:-31.83, Z:-12.51 [[ 9.16736913e-01 3.92241338e-01 7.57638786e-02 1.02697968e+02] [-3.90833602e-01 9.19861965e-01 -3.32123704e-02 -3.18323148e+01] [-8.27195748e-02 8.35936286e-04 9.96572513e-01 -1.25086130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.171193817 meters 0.06261689613014286 Centerline is valid? [True, True] Translation: X:102.72, Y:-31.85, Z:-12.50 [[ 9.17650653e-01 3.90184043e-01 7.53239176e-02 1.02724016e+02] [-3.88785936e-01 9.20736328e-01 -3.30168071e-02 -3.18469192e+01] [-8.22360986e-02 1.01301472e-03 9.96612361e-01 -1.25041696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.201193817 meters 0.06366450118999979 Centerline is valid? [True, True] Translation: X:102.74, Y:-31.87, Z:-12.51 [[ 9.19083098e-01 3.87319704e-01 7.25927343e-02 1.02744680e+02] [-3.86014809e-01 9.21944694e-01 -3.17891274e-02 -3.18680235e+01] [-7.92390416e-02 1.19497922e-03 9.96854927e-01 -1.25110176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.231193817 meters 0.06378044209781036 Centerline is valid? [True, True] Translation: X:102.77, Y:-31.88, Z:-12.51 [[ 9.19259289e-01 3.86960848e-01 7.22749069e-02 1.02769810e+02] [-3.85666339e-01 9.22095339e-01 -3.16490263e-02 -3.18816249e+01] [-7.88912888e-02 1.21966272e-03 9.96882479e-01 -1.25149160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.261193817 meters 0.06384884041472623 Centerline is valid? [True, True] Translation: X:102.79, Y:-31.89, Z:-12.52 [[ 9.19497030e-01 3.86404345e-01 7.22280726e-02 1.02794867e+02] [-3.85111577e-01 9.22328645e-01 -3.16060619e-02 -3.18939135e+01] [-7.88307400e-02 1.24581306e-03 9.96887237e-01 -1.25182519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.291193817 meters 0.06394027739433941 Centerline is valid? [True, True] Translation: X:102.82, Y:-31.91, Z:-12.52 [[ 9.19492201e-01 3.86291562e-01 7.28897902e-02 1.02819584e+02] [-3.84977477e-01 9.22375904e-01 -3.18596104e-02 -3.19069285e+01] [-7.95388847e-02 1.23373578e-03 9.96831001e-01 -1.25206790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32119381700001 meters 0.06367737116436707 Centerline is valid? [True, True] Translation: X:102.84, Y:-31.92, Z:-12.52 [[ 9.19423213e-01 3.85827641e-01 7.61445146e-02 1.02844836e+02] [-3.84392117e-01 9.22569927e-01 -3.32780844e-02 -3.19228370e+01] [-8.30882440e-02 1.32729211e-03 9.96541310e-01 -1.25202354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35119381700001 meters 0.06319149424068254 Centerline is valid? [True, True] Translation: X:102.87, Y:-31.94, Z:-12.52 [[ 9.19502459e-01 3.85251355e-01 7.80808714e-02 1.02871105e+02] [-3.83741669e-01 9.22810627e-01 -3.41010061e-02 -3.19358122e+01] [-8.51913167e-02 1.39307510e-03 9.96363638e-01 -1.25202132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38119381700001 meters 0.06331728858594844 Centerline is valid? [True, True] Translation: X:102.90, Y:-31.95, Z:-12.52 [[ 9.19553671e-01 3.84756349e-01 7.98974284e-02 1.02895660e+02] [-3.83176412e-01 9.23017048e-01 -3.48621118e-02 -3.19495223e+01] [-8.71601073e-02 1.44277291e-03 9.96193271e-01 -1.25229569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41119381700001 meters 0.0643678258936607 Centerline is valid? [True, True] Translation: X:102.92, Y:-31.97, Z:-12.53 [[ 9.21149710e-01 3.81075783e-01 7.91483408e-02 1.02919187e+02] [-3.79512145e-01 9.24542109e-01 -3.45314353e-02 -3.19680040e+01] [-8.63350677e-02 1.77086505e-03 9.96264583e-01 -1.25259973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.441193817 meters 0.06398939465928176 Centerline is valid? [True, True] Translation: X:102.95, Y:-31.98, Z:-12.53 [[ 9.22130683e-01 3.78784724e-01 7.87218876e-02 1.02945539e+02] [-3.77231683e-01 9.25482751e-01 -3.43210693e-02 -3.19805809e+01] [-8.58560459e-02 1.95212097e-03 9.96305640e-01 -1.25268837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.471193817 meters 0.06666579530080581 Centerline is valid? [True, True] Translation: X:102.97, Y:-32.00, Z:-12.54 [[ 9.23566669e-01 3.75844641e-01 7.59303237e-02 1.02967120e+02] [-3.74392709e-01 9.26680271e-01 -3.30722580e-02 -3.19992664e+01] [-8.27931639e-02 2.11667555e-03 9.96564505e-01 -1.25375750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.501193817 meters 0.06660133334686172 Centerline is valid? [True, True] Translation: X:102.99, Y:-32.01, Z:-12.54 [[ 9.24737704e-01 3.73347706e-01 7.39707344e-02 1.02993597e+02] [-3.71962743e-01 9.27688707e-01 -3.22083847e-02 -3.20129855e+01] [-8.06467415e-02 2.26995042e-03 9.96740162e-01 -1.25401141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.531193817 meters 0.07181666921398205 Centerline is valid? [True, True] Translation: X:103.01, Y:-32.04, Z:-12.55 [[ 9.27236589e-01 3.67682936e-01 7.10039943e-02 1.03012877e+02] [-3.66390803e-01 9.29947445e-01 -3.09116204e-02 -3.20385041e+01] [-7.73956585e-02 2.64717499e-03 9.96996943e-01 -1.25520366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.561193817 meters 0.07319738713304512 Centerline is valid? [True, True] Translation: X:103.04, Y:-32.05, Z:-12.56 [[ 9.28129437e-01 3.65547138e-01 7.03636106e-02 1.03037838e+02] [-3.64271919e-01 9.30788610e-01 -3.06354680e-02 -3.20532624e+01] [-7.66923550e-02 2.80219218e-03 9.97050867e-01 -1.25564628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.591193817 meters 0.0697124892955923 Centerline is valid? [True, True] Translation: X:103.07, Y:-32.06, Z:-12.55 [[ 9.29066182e-01 3.63429413e-01 6.89571689e-02 1.03068856e+02] [-3.62199294e-01 9.31617184e-01 -3.00182188e-02 -3.20591799e+01] [-7.51511872e-02 2.91267405e-03 9.97167897e-01 -1.25509221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.621193817 meters 0.06962200721069159 Centerline is valid? [True, True] Translation: X:103.10, Y:-32.07, Z:-12.55 [[ 9.29648739e-01 3.61869239e-01 6.93099931e-02 1.03095201e+02] [-3.60622282e-01 9.32223864e-01 -3.01701267e-02 -3.20706070e+01] [-7.55300704e-02 3.05289240e-03 9.97138851e-01 -1.25528428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.651193817 meters 0.07649450141629467 Centerline is valid? [True, True] Translation: X:103.11, Y:-32.09, Z:-12.57 [[ 9.30302235e-01 3.60384080e-01 6.82720056e-02 1.03114645e+02] [-3.59170848e-01 9.32798794e-01 -2.97104651e-02 -3.20933671e+01] [-7.43912232e-02 3.11839796e-03 9.97224258e-01 -1.25674984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68119381700001 meters 0.0773000358196135 Centerline is valid? [True, True] Translation: X:103.14, Y:-32.11, Z:-12.57 [[ 9.30207426e-01 3.60477290e-01 6.90671328e-02 1.03139530e+02] [-3.59236161e-01 9.32762693e-01 -3.00522557e-02 -3.21058437e+01] [-7.52564006e-02 3.14341969e-03 9.97159262e-01 -1.25713288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71119381700001 meters 0.07006353034001694 Centerline is valid? [True, True] Translation: X:103.17, Y:-32.10, Z:-12.56 [[ 9.28896441e-01 3.63573976e-01 7.04653525e-02 1.03174661e+02] [-3.62291687e-01 9.31560685e-01 -3.06500069e-02 -3.21027592e+01] [-7.67862969e-02 2.94167096e-03 9.97043234e-01 -1.25631161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74119381700001 meters 0.06882265620215049 Centerline is valid? [True, True] Translation: X:103.20, Y:-32.11, Z:-12.57 [[ 9.27505518e-01 3.67243270e-01 6.97559650e-02 1.03203576e+02] [-3.65996807e-01 9.30121254e-01 -3.03445406e-02 -3.21093557e+01] [-7.60253339e-02 2.61426841e-03 9.97102459e-01 -1.25668471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77119381700001 meters 0.06672419759320947 Centerline is valid? [True, True] Translation: X:103.23, Y:-32.11, Z:-12.57 [[ 9.25646668e-01 3.71796781e-01 7.03235336e-02 1.03234456e+02] [-3.70544243e-01 9.28311434e-01 -3.05752475e-02 -3.21134375e+01] [-7.66499189e-02 2.24389550e-03 9.97055543e-01 -1.25686602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80119381700001 meters 0.0650063321070057 Centerline is valid? [True, True] Translation: X:103.27, Y:-32.12, Z:-12.57 [[ 9.23324728e-01 3.77433639e-01 7.08187459e-02 1.03265329e+02] [-3.76179942e-01 9.26034908e-01 -3.07896251e-02 -3.21168327e+01] [-7.72016711e-02 1.78823050e-03 9.97013894e-01 -1.25704810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.831193817 meters 0.06266750269702738 Centerline is valid? [True, True] Translation: X:103.30, Y:-32.11, Z:-12.57 [[ 9.18122116e-01 3.89464602e-01 7.32741696e-02 1.03299337e+02] [-3.88160681e-01 9.21041085e-01 -3.18528826e-02 -3.21118843e+01] [-7.98940909e-02 8.02684365e-04 9.96803035e-01 -1.25727485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.861193817 meters 0.06204574516600656 Centerline is valid? [True, True] Translation: X:103.33, Y:-32.12, Z:-12.57 [[ 9.15947264e-01 3.94239119e-01 7.49408211e-02 1.03329387e+02] [-3.92890562e-01 9.19007811e-01 -3.25829597e-02 -3.21164305e+01] [-8.17166772e-02 4.00731494e-04 9.96655519e-01 -1.25746859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.891193817 meters 0.061808102532444585 Centerline is valid? [True, True] Translation: X:103.36, Y:-32.12, Z:-12.58 [[ 9.14436213e-01 3.97473349e-01 7.62977644e-02 1.03358289e+02] [-3.96088730e-01 9.17613714e-01 -3.31479900e-02 -3.21235918e+01] [-8.31873176e-02 9.10378015e-05 9.96533924e-01 -1.25762791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.921193817 meters 0.06178746829970431 Centerline is valid? [True, True] Translation: X:103.38, Y:-32.13, Z:-12.58 [[ 9.13425297e-01 3.99627377e-01 7.71504102e-02 1.03384322e+02] [-3.98221814e-01 9.16677665e-01 -3.34879956e-02 -3.21322771e+01] [-8.41047777e-02 -1.34193949e-04 9.96456907e-01 -1.25793823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.951193817 meters 0.06142321753633196 Centerline is valid? [True, True] Translation: X:103.41, Y:-32.14, Z:-12.58 [[ 9.13037122e-01 4.00218118e-01 7.86681124e-02 1.03410998e+02] [-3.98759107e-01 9.16419893e-01 -3.41431573e-02 -3.21447374e+01] [-8.57577333e-02 -1.95656127e-04 9.96316001e-01 -1.25787101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.981193817 meters 0.061460982975470486 Centerline is valid? [True, True] Translation: X:103.44, Y:-32.16, Z:-12.58 [[ 9.12684265e-01 4.00680863e-01 8.03883027e-02 1.03435739e+02] [-3.99162125e-01 9.16217643e-01 -3.48543891e-02 -3.21573805e+01] [-8.76186679e-02 -2.76913322e-04 9.96154051e-01 -1.25817948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.011193817 meters 0.06142016180778572 Centerline is valid? [True, True] Translation: X:103.46, Y:-32.17, Z:-12.59 [[ 9.12037179e-01 4.01611883e-01 8.30426332e-02 1.03460109e+02] [-3.99995720e-01 9.15809885e-01 -3.59955368e-02 -3.21699770e+01] [-9.05074997e-02 -3.87430012e-04 9.95895699e-01 -1.25854286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.041193817 meters 0.06136307358165286 Centerline is valid? [True, True] Translation: X:103.49, Y:-32.18, Z:-12.59 [[ 9.11550312e-01 4.02551127e-01 8.38368547e-02 1.03485224e+02] [-4.00908905e-01 9.15397369e-01 -3.63277613e-02 -3.21834066e+01] [-9.13678175e-02 -4.96359380e-04 9.95817089e-01 -1.25866676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07119381700001 meters 0.061504313753044895 Centerline is valid? [True, True] Translation: X:103.51, Y:-32.20, Z:-12.59 [[ 9.11485582e-01 4.02782620e-01 8.34277800e-02 1.03509853e+02] [-4.01160080e-01 9.15295507e-01 -3.61209820e-02 -3.21983430e+01] [-9.09099759e-02 -5.44140608e-04 9.95858966e-01 -1.25910229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10119381700001 meters 0.061777300582910435 Centerline is valid? [True, True] Translation: X:103.53, Y:-32.21, Z:-12.60 [[ 9.11843551e-01 4.02327179e-01 8.16956470e-02 1.03533856e+02] [-4.00772127e-01 9.15495809e-01 -3.53429708e-02 -3.22144867e+01] [-8.90114602e-02 -5.14078211e-04 9.96030469e-01 -1.25975302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13119381700001 meters 0.06186826242855679 Centerline is valid? [True, True] Translation: X:103.55, Y:-32.24, Z:-12.60 [[ 9.13572118e-01 3.98764411e-01 7.98306281e-02 1.03552570e+02] [-3.97268779e-01 9.17053383e-01 -3.45052025e-02 -3.22401205e+01] [-8.69683944e-02 -1.91225249e-04 9.96211053e-01 -1.26038893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16119381700001 meters 0.06181234668436015 Centerline is valid? [True, True] Translation: X:103.58, Y:-32.26, Z:-12.61 [[ 9.14935576e-01 3.95819314e-01 7.88667382e-02 1.03575326e+02] [-3.94349592e-01 9.18328408e-01 -3.40783593e-02 -3.22601929e+01] [-8.59144389e-02 7.84372726e-05 9.96302516e-01 -1.26079000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.191193817 meters 0.06199177813816613 Centerline is valid? [True, True] Translation: X:103.60, Y:-32.28, Z:-12.61 [[ 9.16369164e-01 3.92446477e-01 7.90779176e-02 1.03595319e+02] [-3.90958845e-01 9.19774769e-01 -3.41402232e-02 -3.22805370e+01] [-8.61320837e-02 3.68836450e-04 9.96283658e-01 -1.26116090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.221193817 meters 0.06295584292771128 Centerline is valid? [True, True] Translation: X:103.61, Y:-32.31, Z:-12.62 [[ 9.18746215e-01 3.87321923e-01 7.67275692e-02 1.03613070e+02] [-3.85905744e-01 9.21944188e-01 -3.31009388e-02 -3.23090735e+01] [-8.35592557e-02 8.01752590e-04 9.96502488e-01 -1.26187973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.251193817 meters 0.06328500986571903 Centerline is valid? [True, True] Translation: X:103.64, Y:-32.33, Z:-12.62 [[ 9.19412290e-01 3.86194357e-01 7.43973126e-02 1.03636314e+02] [-3.84859883e-01 9.22417021e-01 -3.20890889e-02 -3.23266502e+01] [-8.10179725e-02 8.70561696e-04 9.96712261e-01 -1.26233987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.281193817 meters 0.06341342603839153 Centerline is valid? [True, True] Translation: X:103.66, Y:-32.34, Z:-12.63 [[ 9.19620932e-01 3.86207428e-01 7.17019115e-02 1.03661222e+02] [-3.84968722e-01 9.22411586e-01 -3.09184360e-02 -3.23437795e+01] [-7.80796035e-02 8.30247715e-04 9.96946782e-01 -1.26276879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.311193817 meters 0.06352535538644788 Centerline is valid? [True, True] Translation: X:103.68, Y:-32.36, Z:-12.63 [[ 9.19549064e-01 3.86443273e-01 7.13520486e-02 1.03684814e+02] [-3.85217502e-01 9.22312826e-01 -3.07656708e-02 -3.23613856e+01] [-7.76980961e-02 8.04485929e-04 9.96976609e-01 -1.26325547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.341193817 meters 0.06332031401162129 Centerline is valid? [True, True] Translation: X:103.71, Y:-32.38, Z:-12.64 [[ 9.18826070e-01 3.87984298e-01 7.22968634e-02 1.03706756e+02] [-3.86731139e-01 9.21665735e-01 -3.11656783e-02 -3.23814199e+01] [-7.87253355e-02 6.76389377e-04 9.96896115e-01 -1.26362266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.371193817 meters 0.06284258006757282 Centerline is valid? [True, True] Translation: X:103.73, Y:-32.40, Z:-12.64 [[ 9.18637953e-01 3.88148687e-01 7.37896225e-02 1.03732529e+02] [-3.86844288e-01 9.21596522e-01 -3.18017024e-02 -3.23953089e+01] [-8.03480485e-02 6.69156770e-04 9.96766644e-01 -1.26371819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.401193817 meters 0.06297944598066132 Centerline is valid? [True, True] Translation: X:103.76, Y:-32.41, Z:-12.64 [[ 9.18368215e-01 3.88625423e-01 7.46331126e-02 1.03756542e+02] [-3.87293102e-01 9.21395618e-01 -3.21584819e-02 -3.24092322e+01] [-8.12642266e-02 6.28437961e-04 9.96692395e-01 -1.26417692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43119381700001 meters 0.06304121692844472 Centerline is valid? [True, True] Translation: X:103.78, Y:-32.42, Z:-12.65 [[ 9.18597601e-01 3.88143155e-01 7.43191687e-02 1.03781388e+02] [-3.86821260e-01 9.21598859e-01 -3.20133739e-02 -3.24247183e+01] [-8.09182330e-02 6.59173989e-04 9.96720525e-01 -1.26459638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46119381700001 meters 0.06352077562280052 Centerline is valid? [True, True] Translation: X:103.80, Y:-32.45, Z:-12.65 [[ 9.19434742e-01 3.86280230e-01 7.36704812e-02 1.03802602e+02] [-3.84975989e-01 9.22381120e-01 -3.17263013e-02 -3.24459324e+01] [-8.02075039e-02 8.08897265e-04 9.96777860e-01 -1.26512162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49119381700001 meters 0.06394041790986973 Centerline is valid? [True, True] Translation: X:103.83, Y:-32.46, Z:-12.65 [[ 9.20108100e-01 3.84546805e-01 7.43292695e-02 1.03826292e+02] [-3.83213919e-01 9.23104993e-01 -3.20041376e-02 -3.24634213e+01] [-8.09208086e-02 9.63255570e-04 9.96720068e-01 -1.26547669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52119381700001 meters 0.06368047958824641 Centerline is valid? [True, True] Translation: X:103.85, Y:-32.48, Z:-12.66 [[ 9.20720729e-01 3.82760400e-01 7.59461301e-02 1.03853439e+02] [-3.81363352e-01 9.23846947e-01 -3.26926869e-02 -3.24811828e+01] [-8.26760664e-02 1.13776379e-03 9.96575824e-01 -1.26550458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55119381700001 meters 0.0635905539571668 Centerline is valid? [True, True] Translation: X:103.88, Y:-32.50, Z:-12.66 [[ 9.20425672e-01 3.82971686e-01 7.84172865e-02 1.03878863e+02] [-3.81482865e-01 9.23759359e-01 -3.37560347e-02 -3.25005242e+01] [-8.53663079e-02 1.15506978e-03 9.96348965e-01 -1.26578228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.581193817 meters 0.06244477041391791 Centerline is valid? [True, True] Translation: X:103.91, Y:-32.51, Z:-12.66 [[ 9.19685462e-01 3.84629223e-01 7.89874146e-02 1.03909665e+02] [-3.83122728e-01 9.23070582e-01 -3.40246298e-02 -3.25123196e+01] [-8.59978257e-02 1.03008367e-03 9.96294792e-01 -1.26561654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.611193817 meters 0.06244477041391791 Centerline is valid? [True, True] Translation: X:103.94, Y:-32.53, Z:-12.66 [[ 9.19556123e-01 3.84940307e-01 7.89778267e-02 1.03939204e+02] [-3.83433048e-01 9.22940902e-01 -3.40468682e-02 -3.25253285e+01] [-8.59978785e-02 1.02529736e-03 9.96294793e-01 -1.26598798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.641193817 meters 0.06189411819533506 Centerline is valid? [True, True] Translation: X:103.97, Y:-32.54, Z:-12.66 [[ 9.18438419e-01 3.87540886e-01 7.92649452e-02 1.03968754e+02] [-3.86029411e-01 9.21852156e-01 -3.42037583e-02 -3.25367751e+01] [-8.63259154e-02 8.15445627e-04 9.96266617e-01 -1.26622398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.671193817 meters 0.06170241707082439 Centerline is valid? [True, True] Translation: X:104.00, Y:-32.55, Z:-12.67 [[ 9.17428598e-01 3.89993432e-01 7.89296578e-02 1.03997810e+02] [-3.88501055e-01 9.20817435e-01 -3.40907754e-02 -3.25480677e+01] [-8.59749836e-02 6.11596959e-04 9.96297108e-01 -1.26661819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.701193817 meters 0.06133922970025597 Centerline is valid? [True, True] Translation: X:104.03, Y:-32.56, Z:-12.67 [[ 9.16212441e-01 3.92625620e-01 7.99992812e-02 1.04027982e+02] [-3.91101016e-01 9.19698306e-01 -3.45690837e-02 -3.25603165e+01] [-8.71479113e-02 3.84824472e-04 9.96195309e-01 -1.26686918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.731193817 meters 0.06143331498406722 Centerline is valid? [True, True] Translation: X:104.06, Y:-32.57, Z:-12.67 [[ 9.14801077e-01 3.96066662e-01 7.91845197e-02 1.04055633e+02] [-3.94584862e-01 9.18221757e-01 -3.42285290e-02 -3.25744691e+01] [-8.62657281e-02 6.72824651e-05 9.96272161e-01 -1.26746925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.761193817 meters 0.06134946830229394 Centerline is valid? [True, True] Translation: X:104.08, Y:-32.59, Z:-12.68 [[ 9.14650747e-01 3.96374958e-01 7.93782332e-02 1.04083351e+02] [-3.94884912e-01 9.18088715e-01 -3.43368186e-02 -3.25900606e+01] [-8.64865152e-02 6.09301351e-05 9.96253020e-01 -1.26785847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.791193817 meters 0.061154803022005336 Centerline is valid? [True, True] Translation: X:104.11, Y:-32.61, Z:-12.68 [[ 9.15058730e-01 3.95427375e-01 7.94022192e-02 1.04112469e+02] [-3.93930744e-01 9.18497230e-01 -3.43716129e-02 -3.26066519e+01] [-8.65221951e-02 1.73069090e-04 9.96249908e-01 -1.26802628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82119381700001 meters 0.06125117801407302 Centerline is valid? [True, True] Translation: X:104.14, Y:-32.62, Z:-12.69 [[ 9.15493504e-01 3.94709663e-01 7.79482268e-02 1.04139196e+02] [-3.93261674e-01 9.18805860e-01 -3.37793796e-02 -3.26214047e+01] [-8.49523351e-02 2.70752388e-04 9.96384980e-01 -1.26858496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85119381700001 meters 0.06142533437331316 Centerline is valid? [True, True] Translation: X:104.17, Y:-32.64, Z:-12.69 [[ 9.16183246e-01 3.93156215e-01 7.76945917e-02 1.04166277e+02] [-3.91711205e-01 9.19471594e-01 -3.36796786e-02 -3.26391692e+01] [-8.46793451e-02 4.22915202e-04 9.96408164e-01 -1.26908340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88119381700001 meters 0.06169761541101492 Centerline is valid? [True, True] Translation: X:104.19, Y:-32.66, Z:-12.70 [[ 9.16905523e-01 3.91446064e-01 7.78089981e-02 1.04193690e+02] [-3.89988307e-01 9.20200853e-01 -3.37566224e-02 -3.26556272e+01] [-8.48138034e-02 6.07034080e-04 9.96396633e-01 -1.26967290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91119381700001 meters 0.06173104539440084 Centerline is valid? [True, True] Translation: X:104.22, Y:-32.67, Z:-12.70 [[ 9.17852071e-01 3.89282872e-01 7.75011076e-02 1.04221373e+02] [-3.87826392e-01 9.21117883e-01 -3.36531627e-02 -3.26729514e+01] [-8.44882559e-02 8.31650077e-04 9.96424128e-01 -1.26987474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.941193817 meters 0.06332010058847663 Centerline is valid? [True, True] Translation: X:104.24, Y:-32.70, Z:-12.70 [[ 9.21335651e-01 3.80909482e-01 7.77726461e-02 1.04244338e+02] [-3.79410490e-01 9.24610892e-01 -3.37990909e-02 -3.26985092e+01] [-8.47838299e-02 1.63254962e-03 9.96398031e-01 -1.27029043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.971193817 meters 0.06453402371585257 Centerline is valid? [True, True] Translation: X:104.27, Y:-32.72, Z:-12.71 [[ 9.23111872e-01 3.76550574e-01 7.79367506e-02 1.04270510e+02] [-3.75027552e-01 9.26393770e-01 -3.38956973e-02 -3.27165920e+01] [-8.49635645e-02 2.06109183e-03 9.96381927e-01 -1.27074721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.001193817 meters 0.06664078703049221 Centerline is valid? [True, True] Translation: X:104.29, Y:-32.73, Z:-12.71 [[ 9.25283534e-01 3.71370008e-01 7.70369963e-02 1.04294967e+02] [-3.69861481e-01 9.28481494e-01 -3.35350731e-02 -3.27339907e+01] [-8.39813457e-02 2.53643343e-03 9.96464099e-01 -1.27124879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.031193817 meters 0.06991936417399774 Centerline is valid? [True, True] Translation: X:104.32, Y:-32.75, Z:-12.71 [[ 9.28285556e-01 3.63433699e-01 7.87519694e-02 1.04320088e+02] [-3.61827519e-01 9.31614080e-01 -3.42936306e-02 -3.27542010e+01] [-8.58299045e-02 3.33965222e-03 9.96304208e-01 -1.27142485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.061193817 meters 0.07142842564678015 Centerline is valid? [True, True] Translation: X:104.35, Y:-32.77, Z:-12.72 [[ 9.28937488e-01 3.61549136e-01 7.97330874e-02 1.04347262e+02] [-3.59896142e-01 9.32346287e-01 -3.47155256e-02 -3.27693978e+01] [-8.68902163e-02 3.55292260e-03 9.96211557e-01 -1.27177126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.091193817 meters 0.07144942343158142 Centerline is valid? [True, True] Translation: X:104.38, Y:-32.78, Z:-12.72 [[ 9.28917585e-01 3.61174795e-01 8.16387685e-02 1.04377426e+02] [-3.59437857e-01 9.32490796e-01 -3.55716570e-02 -3.27811695e+01] [-8.89749861e-02 3.69907368e-03 9.96026992e-01 -1.27194171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.121193817 meters 0.07201354541134922 Centerline is valid? [True, True] Translation: X:104.41, Y:-32.79, Z:-12.72 [[ 9.28972680e-01 3.61001595e-01 8.17778020e-02 1.04406371e+02] [-3.59255222e-01 9.32557651e-01 -3.56638741e-02 -3.27907997e+01] [-8.91372305e-02 3.75166224e-03 9.96012289e-01 -1.27234146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.151193817 meters 0.071889074809934 Centerline is valid? [True, True] Translation: X:104.44, Y:-32.80, Z:-12.73 [[ 9.28716342e-01 3.61705567e-01 8.15784221e-02 1.04437117e+02] [-3.59969544e-01 9.32285101e-01 -3.55867714e-02 -3.27991398e+01] [-8.89262807e-02 3.68426877e-03 9.96031396e-01 -1.27275890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18119381700001 meters 0.07157535589681215 Centerline is valid? [True, True] Translation: X:104.47, Y:-32.80, Z:-12.73 [[ 9.28838441e-01 3.61463773e-01 8.12594036e-02 1.04469701e+02] [-3.59738040e-01 9.32378742e-01 -3.54742610e-02 -3.28042694e+01] [-8.85872007e-02 3.71775874e-03 9.96061487e-01 -1.27323409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21119381700001 meters 0.07124777538834695 Centerline is valid? [True, True] Translation: X:104.50, Y:-32.81, Z:-12.74 [[ 9.28911266e-01 3.61513123e-01 8.02005041e-02 1.04500582e+02] [-3.59830028e-01 9.32359722e-01 -3.50385381e-02 -3.28144406e+01] [-8.74426111e-02 3.68914317e-03 9.96162728e-01 -1.27356024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24119381700001 meters 0.07287361722468028 Centerline is valid? [True, True] Translation: X:104.53, Y:-32.83, Z:-12.74 [[ 9.29457253e-01 3.59916656e-01 8.10506950e-02 1.04528901e+02] [-3.58188692e-01 9.32976263e-01 -3.54422475e-02 -3.28265524e+01] [-8.83746298e-02 3.91061156e-03 9.96079631e-01 -1.27400853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27119381700001 meters 0.07670285150581105 Centerline is valid? [True, True] Translation: X:104.56, Y:-32.83, Z:-12.75 [[ 9.31791193e-01 3.53964545e-01 8.04628659e-02 1.04557222e+02] [-3.52237879e-01 9.35248207e-01 -3.52032328e-02 -3.28340898e+01] [-8.77134474e-02 4.45999309e-03 9.96135764e-01 -1.27455860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30119381700001 meters 0.07578776096701026 Centerline is valid? [True, True] Translation: X:104.59, Y:-32.84, Z:-12.75 [[ 9.33041655e-01 3.50674934e-01 8.03763736e-02 1.04589053e+02] [-3.48939665e-01 9.36485118e-01 -3.51672294e-02 -3.28396158e+01] [-8.76035435e-02 4.76598498e-03 9.96144018e-01 -1.27479120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.331193817 meters 0.08166249220421211 Centerline is valid? [True, True] Translation: X:104.61, Y:-32.86, Z:-12.76 [[ 9.34502482e-01 3.47129043e-01 7.87815908e-02 1.04613954e+02] [-3.45449114e-01 9.37804037e-01 -3.44745914e-02 -3.28553110e+01] [-8.58488258e-02 5.00156042e-03 9.96295621e-01 -1.27557023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.361193817 meters 0.08431500912606352 Centerline is valid? [True, True] Translation: X:104.64, Y:-32.87, Z:-12.76 [[ 9.35882239e-01 3.43521013e-01 7.82160373e-02 1.04642316e+02] [-3.41852671e-01 9.39130071e-01 -3.42266215e-02 -3.28664945e+01] [-8.52125963e-02 5.29372591e-03 9.96348729e-01 -1.27598163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.391193817 meters 0.0805601973088593 Centerline is valid? [True, True] Translation: X:104.68, Y:-32.87, Z:-12.76 [[ 9.36954320e-01 3.40411076e-01 7.89740634e-02 1.04675686e+02] [-3.38699092e-01 9.40259847e-01 -3.45593063e-02 -3.28677761e+01] [-8.60205114e-02 5.63204777e-03 9.96277447e-01 -1.27581689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.421193817 meters 0.08133105317827251 Centerline is valid? [True, True] Translation: X:104.71, Y:-32.87, Z:-12.76 [[ 9.37888070e-01 3.37001290e-01 8.24384589e-02 1.04710161e+02] [-3.35122182e-01 9.41483710e-01 -3.60769543e-02 -3.28682799e+01] [-8.97724463e-02 6.20918882e-03 9.95942947e-01 -1.27582645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.451193817 meters 0.08188644752490937 Centerline is valid? [True, True] Translation: X:104.74, Y:-32.87, Z:-12.76 [[ 9.37877894e-01 3.36962822e-01 8.27110153e-02 1.04741466e+02] [-3.35071251e-01 9.41497329e-01 -3.61944312e-02 -3.28740522e+01] [-9.00683777e-02 6.23187354e-03 9.95916086e-01 -1.27618298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.481193817 meters 0.08128590487639943 Centerline is valid? [True, True] Translation: X:104.78, Y:-32.87, Z:-12.77 [[ 9.37120876e-01 3.39781721e-01 7.97047353e-02 1.04776252e+02] [-3.38032844e-01 9.40486609e-01 -3.49103914e-02 -3.28694586e+01] [-8.68231490e-02 5.77243825e-03 9.96207017e-01 -1.27704009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.511193817 meters 0.07864174158504571 Centerline is valid? [True, True] Translation: X:104.81, Y:-32.87, Z:-12.78 [[ 9.36421116e-01 3.42225435e-01 7.74418881e-02 1.04810626e+02] [-3.40583349e-01 9.39602456e-01 -3.39147151e-02 -3.28700862e+01] [-8.43710664e-02 5.38303776e-03 9.96419864e-01 -1.27757608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.541193817 meters 0.07734459488458272 Centerline is valid? [True, True] Translation: X:104.84, Y:-32.87, Z:-12.78 [[ 9.35963564e-01 3.43776048e-01 7.60936017e-02 1.04844112e+02] [-3.42193679e-01 9.39037400e-01 -3.33503836e-02 -3.28729272e+01] [-8.29198010e-02 5.17599439e-03 9.96542782e-01 -1.27811217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57119381700001 meters 0.0784552897766492 Centerline is valid? [True, True] Translation: X:104.87, Y:-32.88, Z:-12.79 [[ 9.35581337e-01 3.45131161e-01 7.46461251e-02 1.04874880e+02] [-3.43610323e-01 9.38541209e-01 -3.27466702e-02 -3.28797725e+01] [-8.13603609e-02 4.98799430e-03 9.96672269e-01 -1.27881642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60119381700001 meters 0.07512248576752434 Centerline is valid? [True, True] Translation: X:104.91, Y:-32.87, Z:-12.79 [[ 9.33740017e-01 3.50041410e-01 7.48371047e-02 1.04911608e+02] [-3.48526638e-01 9.36722968e-01 -3.28521522e-02 -3.28724227e+01] [-8.16012485e-02 4.59264465e-03 9.96654476e-01 -1.27914071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63119381700001 meters 0.07370006524770983 Centerline is valid? [True, True] Translation: X:104.94, Y:-32.87, Z:-12.79 [[ 9.32443112e-01 3.53336863e-01 7.55175711e-02 1.04942173e+02] [-3.51805061e-01 9.35486071e-01 -3.31513206e-02 -3.28740210e+01] [-8.23592195e-02 4.34425687e-03 9.96593240e-01 -1.27944855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66119381700001 meters 0.07240674461004022 Centerline is valid? [True, True] Translation: X:104.97, Y:-32.88, Z:-12.80 [[ 9.31312121e-01 3.56391887e-01 7.51169465e-02 1.04974126e+02] [-3.54886464e-01 9.34327793e-01 -3.29723127e-02 -3.28759803e+01] [-8.19349155e-02 4.04952695e-03 9.96629455e-01 -1.27982557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.691193817 meters 0.07127289649291152 Centerline is valid? [True, True] Translation: X:105.01, Y:-32.88, Z:-12.80 [[ 9.30323279e-01 3.59239214e-01 7.37955497e-02 1.05005302e+02] [-3.57795694e-01 9.33238071e-01 -3.23874160e-02 -3.28772413e+01] [-8.05036463e-02 3.72703707e-03 9.96747346e-01 -1.28026588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.721193817 meters 0.07033104560180316 Centerline is valid? [True, True] Translation: X:105.04, Y:-32.88, Z:-12.81 [[ 9.29436194e-01 3.61776015e-01 7.25704865e-02 1.05037658e+02] [-3.60387600e-01 9.32258657e-01 -3.18523847e-02 -3.28752775e+01] [-7.91778932e-02 3.45125580e-03 9.96854528e-01 -1.28081273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.751193817 meters 0.07086772050876222 Centerline is valid? [True, True] Translation: X:105.06, Y:-32.88, Z:-12.81 [[ 9.29872419e-01 3.60857932e-01 7.15460546e-02 1.05064878e+02] [-3.59507498e-01 9.32614383e-01 -3.13810641e-02 -3.28832491e+01] [-7.80489855e-02 3.45904294e-03 9.96943524e-01 -1.28127426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.781193817 meters 0.07101096649587847 Centerline is valid? [True, True] Translation: X:105.09, Y:-32.89, Z:-12.82 [[ 9.30147691e-01 3.59966351e-01 7.24534289e-02 1.05092131e+02] [-3.58580574e-01 9.32958507e-01 -3.17552394e-02 -3.28904618e+01] [-7.90268606e-02 3.55667042e-03 9.96866142e-01 -1.28153748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.811193817 meters 0.0713253893262194 Centerline is valid? [True, True] Translation: X:105.12, Y:-32.90, Z:-12.82 [[ 9.30436475e-01 3.58835069e-01 7.43327600e-02 1.05120173e+02] [-3.57375323e-01 9.33393576e-01 -3.25470548e-02 -3.28982440e+01] [-8.10607453e-02 3.71827283e-03 9.96702227e-01 -1.28162952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.841193817 meters 0.07086697454138047 Centerline is valid? [True, True] Translation: X:105.15, Y:-32.90, Z:-12.81 [[ 9.31240995e-01 3.56024791e-01 7.76952809e-02 1.05151145e+02] [-3.54422319e-01 9.34467439e-01 -3.39915394e-02 -3.29005990e+01] [-8.47055409e-02 4.11737332e-03 9.96397520e-01 -1.28137350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.871193817 meters 0.07266912349075531 Centerline is valid? [True, True] Translation: X:105.18, Y:-32.91, Z:-12.82 [[ 9.31705910e-01 3.54843845e-01 7.75238166e-02 1.05176348e+02] [-3.53247215e-01 9.34916221e-01 -3.38831158e-02 -3.29118096e+01] [-8.45014887e-02 4.18402690e-03 9.96414569e-01 -1.28179547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.901193817 meters 0.07188687302028152 Centerline is valid? [True, True] Translation: X:105.21, Y:-32.92, Z:-12.82 [[ 9.32085865e-01 3.53841786e-01 7.75366388e-02 1.05205362e+02] [-3.52241484e-01 9.35295536e-01 -3.38850663e-02 -3.29184564e+01] [-8.45096245e-02 4.27217059e-03 9.96413504e-01 -1.28196192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93119381700001 meters 0.07234619591521545 Centerline is valid? [True, True] Translation: X:105.23, Y:-32.93, Z:-12.82 [[ 9.32378800e-01 3.53180785e-01 7.70266644e-02 1.05232549e+02] [-3.51601495e-01 9.35545310e-01 -3.36357109e-02 -3.29274573e+01] [-8.39414214e-02 4.27853337e-03 9.96461505e-01 -1.28242198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96119381700001 meters 0.07259592854966472 Centerline is valid? [True, True] Translation: X:105.26, Y:-32.94, Z:-12.83 [[ 9.32436781e-01 3.53351443e-01 7.55275272e-02 1.05260123e+02] [-3.51835800e-01 9.35481420e-01 -3.29557809e-02 -3.29365779e+01] [-8.22995711e-02 4.15589430e-03 9.96598971e-01 -1.28289354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99119381700001 meters 0.07286206608829564 Centerline is valid? [True, True] Translation: X:105.29, Y:-32.94, Z:-12.84 [[ 9.31774486e-01 3.55797991e-01 7.21394211e-02 1.05287409e+02] [-3.54425209e-01 9.34555429e-01 -3.14471228e-02 -3.29422878e+01] [-7.86071107e-02 3.73359729e-03 9.96898682e-01 -1.28373332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02119381700001 meters 0.07193593306393146 Centerline is valid? [True, True] Translation: X:105.32, Y:-32.95, Z:-12.84 [[ 9.30976123e-01 3.58160175e-01 7.07442433e-02 1.05316330e+02] [-3.56847008e-01 9.33653732e-01 -3.08370053e-02 -3.29482931e+01] [-7.70952140e-02 3.46364413e-03 9.97017719e-01 -1.28423705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05119381700001 meters 0.07037128301982905 Centerline is valid? [True, True] Translation: X:105.35, Y:-32.95, Z:-12.85 [[ 9.29511798e-01 3.62055498e-01 7.01686049e-02 1.05346629e+02] [-3.60777094e-01 9.32151433e-01 -3.05547750e-02 -3.29534540e+01] [-7.64702899e-02 3.08579844e-03 9.97067085e-01 -1.28466451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.081193817 meters 0.06864810075572285 Centerline is valid? [True, True] Translation: X:105.38, Y:-32.96, Z:-12.85 [[ 9.27892910e-01 3.66392094e-01 6.90766345e-02 1.05376901e+02] [-3.65165249e-01 9.30456675e-01 -3.00785229e-02 -3.29574316e+01] [-7.52933486e-02 2.68526172e-03 9.97157811e-01 -1.28507987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.111193817 meters 0.06363769093808169 Centerline is valid? [True, True] Translation: X:105.41, Y:-32.95, Z:-12.85 [[ 9.23636614e-01 3.76519886e-01 7.16113207e-02 1.05412483e+02] [-3.75231724e-01 9.26406532e-01 -3.11783650e-02 -3.29515597e+01] [-7.80804698e-02 1.92664020e-03 9.96945198e-01 -1.28469541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.141193817 meters 0.0621869045475067 Centerline is valid? [True, True] Translation: X:105.44, Y:-32.96, Z:-12.85 [[ 9.21496136e-01 3.81277411e-01 7.39757212e-02 1.05442804e+02] [-3.79918165e-01 9.24459337e-01 -3.22043698e-02 -3.29569029e+01] [-8.06663449e-02 1.57148212e-03 9.96739922e-01 -1.28477812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.171193817 meters 0.0610977276625328 Centerline is valid? [True, True] Translation: X:105.47, Y:-32.96, Z:-12.85 [[ 9.19417535e-01 3.85797565e-01 7.63651521e-02 1.05471774e+02] [-3.84364501e-01 9.22582662e-01 -3.32439866e-02 -3.29626173e+01] [-8.32786143e-02 1.21305064e-03 9.96525565e-01 -1.28491426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.201193817 meters 0.059880904698467366 Centerline is valid? [True, True] Translation: X:105.50, Y:-32.97, Z:-12.85 [[ 9.15512563e-01 3.94598532e-01 7.82863062e-02 1.05503407e+02] [-3.93124928e-01 9.18853538e-01 -3.40729687e-02 -3.29655448e+01] [-8.53787929e-02 4.17932422e-04 9.96348477e-01 -1.28509386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.231193817 meters 0.059618083555627116 Centerline is valid? [True, True] Translation: X:105.53, Y:-32.98, Z:-12.85 [[ 9.14256082e-01 3.97334500e-01 7.91271832e-02 1.05529769e+02] [-3.95838664e-01 9.17673834e-01 -3.44454151e-02 -3.29758866e+01] [-8.62992974e-02 1.70331812e-04 9.96269242e-01 -1.28534129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.261193817 meters 0.0595125542157738 Centerline is valid? [True, True] Translation: X:105.56, Y:-32.99, Z:-12.86 [[ 9.13263510e-01 3.99688436e-01 7.87331953e-02 1.05556046e+02] [-3.98218601e-01 9.16651050e-01 -3.42461352e-02 -3.29880092e+01] [-8.58586504e-02 -7.72772381e-05 9.96307325e-01 -1.28567362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.291193817 meters 0.05960961135508153 Centerline is valid? [True, True] Translation: X:105.58, Y:-33.00, Z:-12.86 [[ 9.12282602e-01 4.01647509e-01 8.01232361e-02 1.05579318e+02] [-4.00135817e-01 9.15794294e-01 -3.48157742e-02 -3.30034251e+01] [-8.73600714e-02 -2.98351512e-04 9.96176756e-01 -1.28615351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32119381700001 meters 0.059577599997585794 Centerline is valid? [True, True] Translation: X:105.60, Y:-33.02, Z:-12.86 [[ 9.12319542e-01 4.01443172e-01 8.07244297e-02 1.05604081e+02] [-3.99908312e-01 9.15883889e-01 -3.50719849e-02 -3.30189968e+01] [-8.80136135e-02 -2.85513257e-04 9.96119231e-01 -1.28647502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35119381700001 meters 0.05938049885059029 Centerline is valid? [True, True] Translation: X:105.63, Y:-33.04, Z:-12.87 [[ 9.12549305e-01 4.00984889e-01 8.04045010e-02 1.05627045e+02] [-3.99462704e-01 9.16084630e-01 -3.49070087e-02 -3.30356174e+01] [-8.76545106e-02 -2.64232905e-04 9.96150901e-01 -1.28663378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38119381700001 meters 0.059559262425846755 Centerline is valid? [True, True] Translation: X:105.65, Y:-33.05, Z:-12.87 [[ 9.12388606e-01 4.01278128e-01 8.07644469e-02 1.05649493e+02] [-3.99746953e-01 9.15956197e-01 -3.50231114e-02 -3.30522815e+01] [-8.80307042e-02 -3.30653787e-04 9.96117707e-01 -1.28714477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41119381700001 meters 0.05955514578369125 Centerline is valid? [True, True] Translation: X:105.67, Y:-33.07, Z:-12.87 [[ 9.12433965e-01 4.01264910e-01 8.03164493e-02 1.05672483e+02] [-3.99751054e-01 9.15961987e-01 -3.48243156e-02 -3.30700950e+01] [-8.75405903e-02 -3.31696914e-04 9.96160898e-01 -1.28746320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.441193817 meters 0.05978230889187545 Centerline is valid? [True, True] Translation: X:105.69, Y:-33.10, Z:-12.88 [[ 9.13239251e-01 3.99981270e-01 7.75180890e-02 1.05692067e+02] [-3.98568859e-01 9.16523285e-01 -3.35846993e-02 -3.30965677e+01] [-8.44803843e-02 -2.25430710e-04 9.96425117e-01 -1.28805503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.471193817 meters 0.05990801461000641 Centerline is valid? [True, True] Translation: X:105.71, Y:-33.12, Z:-12.89 [[ 9.14442968e-01 3.97409643e-01 7.65482403e-02 1.05713789e+02] [-3.96025651e-01 9.17641311e-01 -3.31377198e-02 -3.31169261e+01] [-8.34130770e-02 -1.25118329e-05 9.96515057e-01 -1.28855247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.501193817 meters 0.05990801461000641 Centerline is valid? [True, True] Translation: X:105.74, Y:-33.13, Z:-12.89 [[ 9.14579765e-01 3.97092902e-01 7.65576936e-02 1.05738950e+02] [-3.95709632e-01 9.17778419e-01 -3.31158628e-02 -3.31275365e+01] [-8.34130731e-02 -7.51871863e-06 9.96515057e-01 -1.28886645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.531193817 meters 0.059913896442624535 Centerline is valid? [True, True] Translation: X:105.76, Y:-33.15, Z:-12.89 [[ 9.15729055e-01 3.94421467e-01 7.66290026e-02 1.05760002e+02] [-3.93028899e-01 9.18929629e-01 -3.31152652e-02 -3.31480604e+01] [-8.34780325e-02 2.07197946e-04 9.96509596e-01 -1.28916239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.561193817 meters 0.06019099879509251 Centerline is valid? [True, True] Translation: X:105.78, Y:-33.17, Z:-12.89 [[ 9.17363940e-01 3.90601777e-01 7.66397644e-02 1.05781981e+02] [-3.89198255e-01 9.20559600e-01 -3.30868903e-02 -3.31694573e+01] [-8.34752690e-02 5.24657454e-04 9.96509711e-01 -1.28946769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.591193817 meters 0.061176743531200804 Centerline is valid? [True, True] Translation: X:105.80, Y:-33.20, Z:-12.90 [[ 9.20402825e-01 3.83180862e-01 7.76599409e-02 1.05799805e+02] [-3.81715599e-01 9.23672569e-01 -3.34990671e-02 -3.32003789e+01] [-8.45685585e-02 1.18862515e-03 9.96416954e-01 -1.28971134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.621193817 meters 0.06233584653513825 Centerline is valid? [True, True] Translation: X:105.82, Y:-33.22, Z:-12.90 [[ 9.22189792e-01 3.78949262e-01 7.72233423e-02 1.05819467e+02] [-3.77488271e-01 9.25416171e-01 -3.32793775e-02 -3.32226829e+01] [-8.40749252e-02 1.53899627e-03 9.96458247e-01 -1.29017246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.651193817 meters 0.06367025356593822 Centerline is valid? [True, True] Translation: X:105.84, Y:-33.25, Z:-12.91 [[ 9.23560138e-01 3.75497161e-01 7.77081271e-02 1.05839200e+02] [-3.74007200e-01 9.26821704e-01 -3.34685268e-02 -3.32451310e+01] [-8.45889156e-02 1.84679820e-03 9.96414223e-01 -1.29065013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68119381700001 meters 0.06566806307851654 Centerline is valid? [True, True] Translation: X:105.86, Y:-33.27, Z:-12.91 [[ 9.26509770e-01 3.68833012e-01 7.44436324e-02 1.05859762e+02] [-3.67445458e-01 9.29492731e-01 -3.20483703e-02 -3.32731404e+01] [-8.10153122e-02 2.33915361e-03 9.96710112e-01 -1.29114289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71119381700001 meters 0.06669038137678303 Centerline is valid? [True, True] Translation: X:105.88, Y:-33.29, Z:-12.92 [[ 9.27754833e-01 3.66012849e-01 7.28392988e-02 1.05884098e+02] [-3.64675906e-01 9.30606360e-01 -3.13573990e-02 -3.32905572e+01] [-7.92619257e-02 2.52924119e-03 9.96850616e-01 -1.29156538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74119381700001 meters 0.06744248450109586 Centerline is valid? [True, True] Translation: X:105.91, Y:-33.31, Z:-12.92 [[ 9.28785258e-01 3.63603683e-01 7.17656307e-02 1.05908771e+02] [-3.62299028e-01 9.31549848e-01 -3.08916685e-02 -3.33069576e+01] [-7.80855868e-02 2.69110806e-03 9.96943027e-01 -1.29197471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77119381700001 meters 0.06902699837813521 Centerline is valid? [True, True] Translation: X:105.93, Y:-33.32, Z:-12.93 [[ 9.29578093e-01 3.61862772e-01 7.02844489e-02 1.05932426e+02] [-3.60606875e-01 9.32227245e-01 -3.02497192e-02 -3.33246024e+01] [-7.64673254e-02 2.77442087e-03 9.97068228e-01 -1.29262821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80119381700001 meters 0.06970711357597956 Centerline is valid? [True, True] Translation: X:105.96, Y:-33.34, Z:-12.93 [[ 9.30075557e-01 3.61200800e-01 6.70331241e-02 1.05957068e+02] [-3.60057027e-01 9.32484165e-01 -2.88482124e-02 -3.33424399e+01] [-7.29273242e-02 2.69526981e-03 9.97333616e-01 -1.29331325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.831193817 meters 0.06917001951406086 Centerline is valid? [True, True] Translation: X:105.98, Y:-33.35, Z:-12.94 [[ 9.29580275e-01 3.62711442e-01 6.57337225e-02 1.05983775e+02] [-3.61615204e-01 9.31898070e-01 -2.82919021e-02 -3.33531976e+01] [-7.15189257e-02 2.52928064e-03 9.97436036e-01 -1.29370914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.861193817 meters 0.06879759948183706 Centerline is valid? [True, True] Translation: X:106.01, Y:-33.36, Z:-12.94 [[ 9.28737527e-01 3.64883184e-01 6.56267336e-02 1.06009850e+02] [-3.63796320e-01 9.31050334e-01 -2.82402670e-02 -3.33630018e+01] [-7.14061908e-02 2.35303158e-03 9.97444544e-01 -1.29415353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.891193817 meters 0.06735921756408447 Centerline is valid? [True, True] Translation: X:106.04, Y:-33.37, Z:-12.94 [[ 9.27533105e-01 3.67861043e-01 6.60347737e-02 1.06037613e+02] [-3.66768779e-01 9.29878337e-01 -2.84067070e-02 -3.33708839e+01] [-7.18540264e-02 2.12866783e-03 9.97412887e-01 -1.29431783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.921193817 meters 0.0660691690465244 Centerline is valid? [True, True] Translation: X:106.07, Y:-33.38, Z:-12.94 [[ 9.25966656e-01 3.71594791e-01 6.71048653e-02 1.06065366e+02] [-3.70477192e-01 9.28393154e-01 -2.88583206e-02 -3.33796373e+01] [-7.30232991e-02 1.86102053e-03 9.97328499e-01 -1.29447924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.951193817 meters 0.06284903664858055 Centerline is valid? [True, True] Translation: X:106.10, Y:-33.39, Z:-12.94 [[ 9.22564385e-01 3.78762547e-01 7.35791326e-02 1.06095715e+02] [-3.77441509e-01 9.25492802e-01 -3.16382866e-02 -3.33871393e+01] [-8.00803556e-02 1.41653764e-03 9.96787405e-01 -1.29399956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.981193817 meters 0.061453215429361566 Centerline is valid? [True, True] Translation: X:106.12, Y:-33.40, Z:-12.94 [[ 9.20785580e-01 3.82391361e-01 7.70114454e-02 1.06124086e+02] [-3.80956900e-01 9.23999743e-01 -3.31106470e-02 -3.33969609e+01] [-8.38197812e-02 1.14976482e-03 9.96480267e-01 -1.29393877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.011193817 meters 0.06067288499819935 Centerline is valid? [True, True] Translation: X:106.15, Y:-33.41, Z:-12.94 [[ 9.19682172e-01 3.84445730e-01 7.99136020e-02 1.06151506e+02] [-3.82908940e-01 9.23147057e-01 -3.43548331e-02 -3.34073593e+01] [-8.69795754e-02 9.95894914e-04 9.96209597e-01 -1.29395416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.041193817 meters 0.060044024412041964 Centerline is valid? [True, True] Translation: X:106.18, Y:-33.42, Z:-12.94 [[ 9.18765864e-01 3.85956194e-01 8.31089891e-02 1.06178603e+02] [-3.84300478e-01 9.22516687e-01 -3.57226001e-02 -3.34182853e+01] [-9.04567881e-02 8.81881239e-04 9.95899991e-01 -1.29393320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07119381700001 meters 0.06007835731808637 Centerline is valid? [True, True] Translation: X:106.20, Y:-33.43, Z:-12.94 [[ 9.19095211e-01 3.84755875e-01 8.50112272e-02 1.06203333e+02] [-3.83018910e-01 9.23017814e-01 -3.65325944e-02 -3.34315127e+01] [-9.25230074e-02 1.01602503e-03 9.95710028e-01 -1.29417139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10119381700001 meters 0.06027502093015411 Centerline is valid? [True, True] Translation: X:106.23, Y:-33.45, Z:-12.94 [[ 9.19615565e-01 3.83037677e-01 8.71168778e-02 1.06228566e+02] [-3.81207180e-01 9.23731935e-01 -3.74218872e-02 -3.34465918e+01] [-9.48066349e-02 1.20417059e-03 9.95494978e-01 -1.29441818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13119381700001 meters 0.06050705371514015 Centerline is valid? [True, True] Translation: X:106.25, Y:-33.46, Z:-12.95 [[ 9.20433845e-01 3.81073891e-01 8.70874684e-02 1.06253532e+02] [-3.79236665e-01 9.24543528e-01 -3.74007652e-02 -3.34617097e+01] [-9.47686104e-02 1.39816903e-03 9.95498345e-01 -1.29456136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16119381700001 meters 0.062100994358004986 Centerline is valid? [True, True] Translation: X:106.28, Y:-33.48, Z:-12.96 [[ 9.22532007e-01 3.76961394e-01 8.26728671e-02 1.06276309e+02] [-3.75290672e-01 9.26227380e-01 -3.54930010e-02 -3.34829206e+01] [-8.99533642e-02 1.71707360e-03 9.95944498e-01 -1.29557261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19119381700001 meters 0.06266302754400488 Centerline is valid? [True, True] Translation: X:106.30, Y:-33.50, Z:-12.96 [[ 9.23215943e-01 3.76018911e-01 7.92597034e-02 1.06302659e+02] [-3.74479438e-01 9.26610354e-01 -3.40353170e-02 -3.34965640e+01] [-8.62407846e-02 1.74081814e-03 9.96272802e-01 -1.29619255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.221193817 meters 0.0627494140912923 Centerline is valid? [True, True] Translation: X:106.33, Y:-33.51, Z:-12.97 [[ 9.23364629e-01 3.76139719e-01 7.69199172e-02 1.06330238e+02] [-3.74690602e-01 9.26561441e-01 -3.30280047e-02 -3.35084892e+01] [-8.36941737e-02 1.67572133e-03 9.96490079e-01 -1.29681437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.251193817 meters 0.06314250481764756 Centerline is valid? [True, True] Translation: X:106.36, Y:-33.52, Z:-12.98 [[ 9.22932719e-01 3.78100825e-01 7.23530452e-02 1.06356201e+02] [-3.76824960e-01 9.25763351e-01 -3.10671363e-02 -3.35202277e+01] [-7.87283075e-02 1.40844325e-03 9.96895115e-01 -1.29764991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.281193817 meters 0.06314627520189232 Centerline is valid? [True, True] Translation: X:106.38, Y:-33.53, Z:-12.98 [[ 9.22845013e-01 3.78427603e-01 7.17609258e-02 1.06382304e+02] [-3.77173310e-01 9.25629875e-01 -3.08160315e-02 -3.35326665e+01] [-7.80856937e-02 1.37211506e-03 9.96945707e-01 -1.29802422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.311193817 meters 0.06310511497230842 Centerline is valid? [True, True] Translation: X:106.41, Y:-33.54, Z:-12.98 [[ 9.22728718e-01 3.78502487e-01 7.28531417e-02 1.06407250e+02] [-3.77210427e-01 9.25599245e-01 -3.12783021e-02 -3.35444574e+01] [-7.92717281e-02 1.38042291e-03 9.96852089e-01 -1.29829801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.341193817 meters 0.06242304532118214 Centerline is valid? [True, True] Translation: X:106.43, Y:-33.55, Z:-12.98 [[ 9.22029814e-01 3.80045244e-01 7.36657005e-02 1.06434002e+02] [-3.78729870e-01 9.24967050e-01 -3.16171172e-02 -3.35547113e+01] [-8.01542807e-02 1.25252355e-03 9.96781682e-01 -1.29840682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.371193817 meters 0.06206858533956142 Centerline is valid? [True, True] Translation: X:106.46, Y:-33.56, Z:-12.99 [[ 9.20897873e-01 3.82726358e-01 7.39435024e-02 1.06460081e+02] [-3.81410193e-01 9.23861191e-01 -3.17295463e-02 -3.35645069e+01] [-8.04572659e-02 1.01686616e-03 9.96757540e-01 -1.29882609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.401193817 meters 0.061308818262396515 Centerline is valid? [True, True] Translation: X:106.49, Y:-33.57, Z:-12.99 [[ 9.19017696e-01 3.87213975e-01 7.39716989e-02 1.06488126e+02] [-3.85912115e-01 9.21989674e-01 -3.17313710e-02 -3.35722279e+01] [-8.04879729e-02 6.15116665e-04 9.96755390e-01 -1.29918940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43119381700001 meters 0.060546894530671 Centerline is valid? [True, True] Translation: X:106.52, Y:-33.58, Z:-12.99 [[ 9.15070471e-01 3.96335510e-01 7.45935392e-02 1.06516624e+02] [-3.95042373e-01 9.18105727e-01 -3.19905845e-02 -3.35771611e+01] [-8.11637601e-02 -1.93969528e-04 9.96700761e-01 -1.29949529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46119381700001 meters 0.060459030943606946 Centerline is valid? [True, True] Translation: X:106.54, Y:-33.59, Z:-13.00 [[ 9.13471356e-01 3.99709872e-01 7.61715185e-02 1.06544495e+02] [-3.98373746e-01 9.16641564e-01 -3.26588696e-02 -3.35866001e+01] [-8.28760524e-02 -5.11791235e-04 9.96559731e-01 -1.29970655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49119381700001 meters 0.06016863419383877 Centerline is valid? [True, True] Translation: X:106.57, Y:-33.60, Z:-13.00 [[ 9.12527766e-01 4.01375557e-01 7.86812417e-02 1.06571009e+02] [-3.99956404e-01 9.15913307e-01 -3.37296394e-02 -3.35981919e+01] [-8.56034491e-02 -6.89834010e-04 9.96329049e-01 -1.29978902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52119381700001 meters 0.060119761662905336 Centerline is valid? [True, True] Translation: X:106.60, Y:-33.61, Z:-13.00 [[ 9.12586394e-01 4.01042337e-01 7.96938961e-02 1.06596580e+02] [-3.99585782e-01 9.16059272e-01 -3.41557298e-02 -3.36122662e+01] [-8.67022261e-02 -6.74493506e-04 9.96234043e-01 -1.30005366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55119381700001 meters 0.060390438153109606 Centerline is valid? [True, True] Translation: X:106.62, Y:-33.64, Z:-13.01 [[ 9.14516956e-01 3.96975316e-01 7.79059431e-02 1.06615921e+02] [-3.95569319e-01 9.17829241e-01 -3.33825994e-02 -3.36355512e+01] [-8.47564206e-02 -2.88247686e-04 9.96401659e-01 -1.30071446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.581193817 meters 0.06045822205589035 Centerline is valid? [True, True] Translation: X:106.64, Y:-33.66, Z:-13.01 [[ 9.15716786e-01 3.94476194e-01 7.64937862e-02 1.06638950e+02] [-3.93112948e-01 9.18906158e-01 -3.27670957e-02 -3.36556160e+01] [-8.32164504e-02 -6.53181925e-05 9.96531494e-01 -1.30099215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.611193817 meters 0.06082951775476676 Centerline is valid? [True, True] Translation: X:106.66, Y:-33.67, Z:-13.02 [[ 9.16511561e-01 3.92731390e-01 7.59513982e-02 1.06661538e+02] [-3.91381918e-01 9.19653222e-01 -3.25291625e-02 -3.36739624e+01] [-8.26241713e-02 8.73496327e-05 9.96580774e-01 -1.30158053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.641193817 meters 0.06100342585577086 Centerline is valid? [True, True] Translation: X:106.69, Y:-33.70, Z:-13.02 [[ 9.17033919e-01 3.91851571e-01 7.41696508e-02 1.06686635e+02] [-3.90563366e-01 9.20028437e-01 -3.17479475e-02 -3.36967228e+01] [-8.06786710e-02 1.45996251e-04 9.96740152e-01 -1.30186861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.671193817 meters 0.061049274599481465 Centerline is valid? [True, True] Translation: X:106.71, Y:-33.71, Z:-13.02 [[ 9.16327676e-01 3.93534039e-01 7.39902122e-02 1.06713565e+02] [-3.92255117e-01 9.19310046e-01 -3.17011574e-02 -3.37116830e+01] [-8.04954298e-02 2.56085302e-05 9.96754977e-01 -1.30228232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.701193817 meters 0.06094983461639806 Centerline is valid? [True, True] Translation: X:106.74, Y:-33.73, Z:-13.03 [[ 9.15401513e-01 3.95786714e-01 7.34366878e-02 1.06742065e+02] [-3.94533367e-01 9.18342447e-01 -3.14733506e-02 -3.37270324e+01] [-7.98967616e-02 -1.62470951e-04 9.96803131e-01 -1.30253048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.731193817 meters 0.061124212176740675 Centerline is valid? [True, True] Translation: X:106.77, Y:-33.74, Z:-13.03 [[ 9.13254319e-01 4.00405899e-01 7.51110222e-02 1.06768408e+02] [-3.99107931e-01 9.16337716e-01 -3.22187815e-02 -3.37445205e+01] [-8.17276527e-02 -5.53463294e-04 9.96654546e-01 -1.30298275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.761193817 meters 0.06087173374134134 Centerline is valid? [True, True] Translation: X:106.79, Y:-33.76, Z:-13.03 [[ 9.12981216e-01 4.00816727e-01 7.62315572e-02 1.06794739e+02] [-3.99478264e-01 9.16158081e-01 -3.27335838e-02 -3.37599394e+01] [-8.29603251e-02 -5.67702947e-04 9.96552689e-01 -1.30314325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.791193817 meters 0.06088522880202294 Centerline is valid? [True, True] Translation: X:106.82, Y:-33.78, Z:-13.04 [[ 9.12956085e-01 4.00964015e-01 7.57564918e-02 1.06820902e+02] [-3.99642715e-01 9.16093623e-01 -3.25295923e-02 -3.37751101e+01] [-8.24432350e-02 -5.77440877e-04 9.96595595e-01 -1.30354092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82119381700001 meters 0.06061877250918502 Centerline is valid? [True, True] Translation: X:106.85, Y:-33.79, Z:-13.04 [[ 9.13251141e-01 4.00241632e-01 7.60196688e-02 1.06849019e+02] [-3.98908911e-01 9.16409498e-01 -3.26391253e-02 -3.37927175e+01] [-8.27286833e-02 -5.17204879e-04 9.96571973e-01 -1.30362289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85119381700001 meters 0.06055544529688247 Centerline is valid? [True, True] Translation: X:106.88, Y:-33.81, Z:-13.04 [[ 9.13563248e-01 3.99598472e-01 7.56521891e-02 1.06877392e+02] [-3.98276307e-01 9.16690162e-01 -3.24827664e-02 -3.38106922e+01] [-8.23296813e-02 -4.55412894e-04 9.96605045e-01 -1.30406459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88119381700001 meters 0.06079777838597365 Centerline is valid? [True, True] Translation: X:106.90, Y:-33.83, Z:-13.05 [[ 9.14398424e-01 3.97574943e-01 7.62212974e-02 1.06900475e+02] [-3.96223129e-01 9.17569673e-01 -3.27586259e-02 -3.38343638e+01] [-8.29623597e-02 -2.46205037e-04 9.96552651e-01 -1.30474681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91119381700001 meters 0.06062645978288248 Centerline is valid? [True, True] Translation: X:106.93, Y:-33.85, Z:-13.05 [[ 9.14910689e-01 3.96484087e-01 7.57548652e-02 1.06927754e+02] [-3.95143251e-01 9.18041586e-01 -3.25800362e-02 -3.38533001e+01] [-8.24635825e-02 -1.26200306e-04 9.96594071e-01 -1.30489108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94119381700001 meters 0.06085088754874522 Centerline is valid? [True, True] Translation: X:106.95, Y:-33.87, Z:-13.05 [[ 9.15802625e-01 3.94576262e-01 7.49341471e-02 1.06954276e+02] [-3.93255798e-01 9.18863194e-01 -3.22538119e-02 -3.38716238e+01] [-8.15808182e-02 6.98377230e-05 9.96666727e-01 -1.30537603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.971193817 meters 0.06109916363707989 Centerline is valid? [True, True] Translation: X:106.98, Y:-33.89, Z:-13.06 [[ 9.16492390e-01 3.93176630e-01 7.38500958e-02 1.06981464e+02] [-3.91887732e-01 9.19462937e-01 -3.18105953e-02 -3.38895493e+01] [-8.04096087e-02 2.13222000e-04 9.96761882e-01 -1.30588234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.001193817 meters 0.06217950246427313 Centerline is valid? [True, True] Translation: X:107.00, Y:-33.91, Z:-13.07 [[ 9.18636416e-01 3.88314705e-01 7.29302768e-02 1.07004476e+02] [-3.87040529e-01 9.21526594e-01 -3.14382856e-02 -3.39127238e+01] [-7.94151381e-02 6.53381065e-04 9.96841416e-01 -1.30656348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.031193817 meters 0.06279080770543681 Centerline is valid? [True, True] Translation: X:107.03, Y:-33.93, Z:-13.07 [[ 9.19544455e-01 3.86230603e-01 7.25528542e-02 1.07031043e+02] [-3.84961477e-01 9.22401866e-01 -3.12963131e-02 -3.39315422e+01] [-7.90104820e-02 8.48297266e-04 9.96873424e-01 -1.30697839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.061193817 meters 0.062252141523560324 Centerline is valid? [True, True] Translation: X:107.06, Y:-33.95, Z:-13.07 [[ 9.20226674e-01 3.84520996e-01 7.29826856e-02 1.07060024e+02] [-3.83229721e-01 9.23115682e-01 -3.15026780e-02 -3.39489665e+01] [-7.94849028e-02 1.02047036e-03 9.96835548e-01 -1.30680590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.091193817 meters 0.06218203881103764 Centerline is valid? [True, True] Translation: X:107.09, Y:-33.97, Z:-13.07 [[ 9.20559102e-01 3.83545991e-01 7.39149017e-02 1.07087893e+02] [-3.82215854e-01 9.23521065e-01 -3.19356282e-02 -3.39656031e+01] [-8.05107509e-02 1.14718594e-03 9.96753080e-01 -1.30692492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.121193817 meters 0.06166829799179137 Centerline is valid? [True, True] Translation: X:107.12, Y:-33.98, Z:-13.07 [[ 9.20188667e-01 3.83647678e-01 7.78927275e-02 1.07115240e+02] [-3.82167469e-01 9.23478715e-01 -3.36910816e-02 -3.39818629e+01] [-8.48577811e-02 1.23408493e-03 9.96392309e-01 -1.30685657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.151193817 meters 0.06130314535416377 Centerline is valid? [True, True] Translation: X:107.14, Y:-33.99, Z:-13.07 [[ 9.19615137e-01 3.84955843e-01 7.82112481e-02 1.07144579e+02] [-3.83468532e-01 9.22934319e-01 -3.38249550e-02 -3.39943866e+01] [-8.52049591e-02 1.11438807e-03 9.96362822e-01 -1.30711426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18119381700001 meters 0.06202894145566957 Centerline is valid? [True, True] Translation: X:107.17, Y:-34.01, Z:-13.08 [[ 9.18836625e-01 3.86762706e-01 7.84465764e-02 1.07171761e+02] [-3.85270330e-01 9.22178753e-01 -3.39576267e-02 -3.40076827e+01] [-8.54753096e-02 9.78372695e-04 9.96339809e-01 -1.30809892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21119381700001 meters 0.06076086286041266 Centerline is valid? [True, True] Translation: X:107.20, Y:-34.02, Z:-13.08 [[ 9.18067430e-01 3.88859683e-01 7.70736102e-02 1.07202712e+02] [-3.87425678e-01 9.21296662e-01 -3.33737093e-02 -3.40169608e+01] [-8.39853498e-02 7.79019837e-04 9.96466685e-01 -1.30792821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24119381700001 meters 0.060451194752168196 Centerline is valid? [True, True] Translation: X:107.23, Y:-34.03, Z:-13.08 [[ 9.16449360e-01 3.92770355e-01 7.64984919e-02 1.07231931e+02] [-3.91369057e-01 9.19636479e-01 -3.31512954e-02 -3.40286509e+01] [-8.33716498e-02 4.42340784e-04 9.96518425e-01 -1.30847154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27119381700001 meters 0.06059397669165272 Centerline is valid? [True, True] Translation: X:107.26, Y:-34.04, Z:-13.09 [[ 9.16055177e-01 3.93844146e-01 7.56947841e-02 1.07259943e+02] [-3.92473628e-01 9.19177162e-01 -3.28298091e-02 -3.40422161e+01] [-8.25067450e-02 3.65709979e-04 9.96590439e-01 -1.30897861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30119381700001 meters 0.06062415898840157 Centerline is valid? [True, True] Translation: X:107.29, Y:-34.06, Z:-13.09 [[ 9.16104960e-01 3.93905377e-01 7.47680151e-02 1.07288134e+02] [-3.92566565e-01 9.19150919e-01 -3.24512117e-02 -3.40561675e+01] [-8.15057966e-02 3.77293123e-04 9.96672796e-01 -1.30939330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.331193817 meters 0.06091607875577076 Centerline is valid? [True, True] Translation: X:107.32, Y:-34.07, Z:-13.10 [[ 9.16155495e-01 3.93917330e-01 7.40826977e-02 1.07316641e+02] [-3.92601194e-01 9.19145789e-01 -3.21763986e-02 -3.40703517e+01] [-8.07676406e-02 3.93628824e-04 9.96732880e-01 -1.30987461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.361193817 meters 0.06118984023860541 Centerline is valid? [True, True] Translation: X:107.34, Y:-34.08, Z:-13.10 [[ 9.16260452e-01 3.94029836e-01 7.21614313e-02 1.07344871e+02] [-3.92779656e-01 9.19097564e-01 -3.13657508e-02 -3.40844163e+01] [-7.86824374e-02 3.95654843e-04 9.96899653e-01 -1.31041029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.391193817 meters 0.061646604109109916 Centerline is valid? [True, True] Translation: X:107.37, Y:-34.10, Z:-13.11 [[ 9.16497302e-01 3.93729929e-01 7.07773784e-02 1.07372139e+02] [-3.92524151e-01 9.19226060e-01 -3.07935451e-02 -3.40971409e+01] [-7.71847510e-02 4.40370638e-04 9.97016710e-01 -1.31109949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.421193817 meters 0.061646604109109916 Centerline is valid? [True, True] Translation: X:107.40, Y:-34.11, Z:-13.11 [[ 9.16372102e-01 3.94021557e-01 7.07755864e-02 1.07401619e+02] [-3.92816329e-01 9.19101102e-01 -3.07976662e-02 -3.41102492e+01] [-7.71848639e-02 4.20316103e-04 9.97016710e-01 -1.31147066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.451193817 meters 0.061878280343518395 Centerline is valid? [True, True] Translation: X:107.43, Y:-34.12, Z:-13.12 [[ 9.16403495e-01 3.94067390e-01 7.01108158e-02 1.07430536e+02] [-3.92882717e-01 9.19081444e-01 -3.05363768e-02 -3.41235025e+01] [-7.64709401e-02 4.38314603e-04 9.97071714e-01 -1.31192999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.481193817 meters 0.06149907290556833 Centerline is valid? [True, True] Translation: X:107.46, Y:-34.14, Z:-13.12 [[ 9.16586961e-01 3.93812486e-01 6.91380349e-02 1.07460315e+02] [-3.92658148e-01 9.19190678e-01 -3.01343168e-02 -3.41358994e+01] [-7.54183073e-02 4.73109138e-04 9.97151872e-01 -1.31193569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.511193817 meters 0.061920592854905296 Centerline is valid? [True, True] Translation: X:107.49, Y:-34.15, Z:-13.12 [[ 9.16720004e-01 3.93306504e-01 7.02454911e-02 1.07488269e+02] [-3.92111388e-01 9.19407252e-01 -3.06425252e-02 -3.41499434e+01] [-7.66361184e-02 5.46558786e-04 9.97058979e-01 -1.31243038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.541193817 meters 0.062143800400100195 Centerline is valid? [True, True] Translation: X:107.52, Y:-34.17, Z:-13.13 [[ 9.17065543e-01 3.92518045e-01 7.01453816e-02 1.07517075e+02] [-3.91322250e-01 9.19744086e-01 -3.06220978e-02 -3.41651378e+01] [-7.65355258e-02 6.33022185e-04 9.97066654e-01 -1.31267560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57119381700001 meters 0.062380216014636586 Centerline is valid? [True, True] Translation: X:107.54, Y:-34.18, Z:-13.13 [[ 9.17252218e-01 3.91724113e-01 7.21151069e-02 1.07544303e+02] [-3.90455231e-01 9.20082421e-01 -3.15127162e-02 -3.41806178e+01] [-7.86961329e-02 7.47388081e-04 9.96898370e-01 -1.31315682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60119381700001 meters 0.062276370867879106 Centerline is valid? [True, True] Translation: X:107.57, Y:-34.20, Z:-13.13 [[ 9.18443175e-01 3.88526909e-01 7.42224788e-02 1.07573416e+02] [-3.87169567e-01 9.21436743e-01 -3.24662162e-02 -3.41961741e+01] [-8.10053178e-02 1.08168969e-03 9.96713082e-01 -1.31308978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63119381700001 meters 0.0629065956230163 Centerline is valid? [True, True] Translation: X:107.60, Y:-34.21, Z:-13.14 [[ 9.19002525e-01 3.87209118e-01 7.41852990e-02 1.07602348e+02] [-3.85848653e-01 9.21991139e-01 -3.24523728e-02 -3.42097472e+01] [-8.09640429e-02 1.19951485e-03 9.96716301e-01 -1.31356387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66119381700001 meters 0.063339828572385 Centerline is valid? [True, True] Translation: X:107.63, Y:-34.22, Z:-13.14 [[ 9.19305863e-01 3.86561510e-01 7.38033150e-02 1.07630456e+02] [-3.85210941e-01 9.22262749e-01 -3.23102567e-02 -3.42226477e+01] [-8.05559498e-02 1.27316400e-03 9.96749275e-01 -1.31410135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69119381700001 meters 0.06289937945735154 Centerline is valid? [True, True] Translation: X:107.66, Y:-34.24, Z:-13.14 [[ 9.19885535e-01 3.85391081e-01 7.26933005e-02 1.07659780e+02] [-3.84075647e-01 9.22752311e-01 -3.18444584e-02 -3.42366004e+01] [-7.93504813e-02 1.37353018e-03 9.96845833e-01 -1.31407776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.721193817 meters 0.06359103884299684 Centerline is valid? [True, True] Translation: X:107.69, Y:-34.25, Z:-13.15 [[ 9.20054016e-01 3.85202405e-01 7.15521879e-02 1.07687044e+02] [-3.83925404e-01 9.22831062e-01 -3.13706009e-02 -3.42506840e+01] [-7.81146125e-02 1.39194471e-03 9.96943414e-01 -1.31472607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.751193817 meters 0.0638635485931352 Centerline is valid? [True, True] Translation: X:107.72, Y:-34.26, Z:-13.15 [[ 9.20185788e-01 3.85240035e-01 6.96292412e-02 1.07715926e+02] [-3.84029322e-01 9.22815385e-01 -3.05490509e-02 -3.42643440e+01] [-7.60236525e-02 1.37113216e-03 9.97105072e-01 -1.31518047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.781193817 meters 0.0640307531343963 Centerline is valid? [True, True] Translation: X:107.75, Y:-34.28, Z:-13.16 [[ 9.20214200e-01 3.85098391e-01 7.00361006e-02 1.07746156e+02] [-3.83871310e-01 9.22874442e-01 -3.07503191e-02 -3.42774215e+01] [-7.64764256e-02 1.41203056e-03 9.97070390e-01 -1.31566332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.811193817 meters 0.0645037695373371 Centerline is valid? [True, True] Translation: X:107.78, Y:-34.29, Z:-13.16 [[ 9.20740825e-01 3.83987321e-01 6.92103308e-02 1.07776255e+02] [-3.82783732e-01 9.23337126e-01 -3.04165617e-02 -3.42889134e+01] [-7.55840420e-02 1.51318145e-03 9.97138287e-01 -1.31615936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.841193817 meters 0.0647975362122692 Centerline is valid? [True, True] Translation: X:107.81, Y:-34.30, Z:-13.17 [[ 9.21453061e-01 3.82464633e-01 6.81546869e-02 1.07805621e+02] [-3.81291645e-01 9.23968686e-01 -2.99757989e-02 -3.43018365e+01] [-7.44374795e-02 1.63447896e-03 9.97224343e-01 -1.31651509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.871193817 meters 0.06570459620220694 Centerline is valid? [True, True] Translation: X:107.83, Y:-34.32, Z:-13.17 [[ 9.21890999e-01 3.81530354e-01 6.74653593e-02 1.07833007e+02] [-3.80376710e-01 9.24354719e-01 -2.96969962e-02 -3.43160072e+01] [-7.36922287e-02 1.71514218e-03 9.97279556e-01 -1.31702816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.901193817 meters 0.06717493147416477 Centerline is valid? [True, True] Translation: X:107.86, Y:-34.33, Z:-13.18 [[ 9.22704678e-01 3.79660735e-01 6.68864957e-02 1.07859401e+02] [-3.78520330e-01 9.25123902e-01 -2.94639581e-02 -3.43323801e+01] [-7.30646039e-02 1.86863357e-03 9.97325459e-01 -1.31762590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93119381700001 meters 0.06716989382902983 Centerline is valid? [True, True] Translation: X:107.89, Y:-34.35, Z:-13.18 [[ 9.23207573e-01 3.78508303e-01 6.64773742e-02 1.07887847e+02] [-3.77377358e-01 9.25595806e-01 -2.93041581e-02 -3.43471105e+01] [-7.26230460e-02 1.96676488e-03 9.97357521e-01 -1.31775245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96119381700001 meters 0.0669911966373786 Centerline is valid? [True, True] Translation: X:107.92, Y:-34.36, Z:-13.18 [[ 9.23150587e-01 3.78442914e-01 6.76310142e-02 1.07916911e+02] [-3.77270356e-01 9.25622410e-01 -2.98367738e-02 -3.43611424e+01] [-7.38922980e-02 2.02865845e-03 9.97264164e-01 -1.31790036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99119381700001 meters 0.06559861593103734 Centerline is valid? [True, True] Translation: X:107.95, Y:-34.37, Z:-13.18 [[ 9.21492805e-01 3.81920155e-01 7.06258109e-02 1.07947126e+02] [-3.80648528e-01 9.24193445e-01 -3.11957286e-02 -3.43669664e+01] [-7.71861890e-02 1.86302854e-03 9.97014955e-01 -1.31802878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02119381700001 meters 0.06485455771455981 Centerline is valid? [True, True] Translation: X:107.98, Y:-34.37, Z:-13.18 [[ 9.20257604e-01 3.84900095e-01 7.05539418e-02 1.07978543e+02] [-3.83640099e-01 9.22956842e-01 -3.11599600e-02 -3.43746807e+01] [-7.71117149e-02 1.60786898e-03 9.97021162e-01 -1.31841992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05119381700001 meters 0.0641171546543326 Centerline is valid? [True, True] Translation: X:108.01, Y:-34.38, Z:-13.19 [[ 9.18969299e-01 3.87683028e-01 7.20922791e-02 1.08009740e+02] [-3.86375110e-01 9.21791663e-01 -3.18497241e-02 -3.43827319e+01] [-7.88016593e-02 1.41425638e-03 9.96889311e-01 -1.31869034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.081193817 meters 0.06289261411060026 Centerline is valid? [True, True] Translation: X:108.04, Y:-34.39, Z:-13.19 [[ 9.16853847e-01 3.92284987e-01 7.41047429e-02 1.08039913e+02] [-3.90917299e-01 9.19843127e-01 -3.27458090e-02 -3.43892386e+01] [-8.10104277e-02 1.05429498e-03 9.96712696e-01 -1.31885205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.111193817 meters 0.06207445253727796 Centerline is valid? [True, True] Translation: X:108.07, Y:-34.40, Z:-13.19 [[ 9.15937972e-01 3.93984323e-01 7.63805266e-02 1.08069852e+02] [-3.92536967e-01 9.19116686e-01 -3.37527346e-02 -3.43997249e+01] [-8.35006648e-02 9.33230963e-04 9.96507285e-01 -1.31884863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.141193817 meters 0.06093497798531403 Centerline is valid? [True, True] Translation: X:108.10, Y:-34.41, Z:-13.19 [[ 9.14969473e-01 3.95825914e-01 7.84392009e-02 1.08102069e+02] [-3.94305925e-01 9.18325228e-01 -3.46642851e-02 -3.44083066e+01] [-8.57537194e-02 7.87721015e-04 9.96316054e-01 -1.31865413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.171193817 meters 0.06044236976179699 Centerline is valid? [True, True] Translation: X:108.13, Y:-34.42, Z:-13.19 [[ 9.13676740e-01 3.98528168e-01 7.98129979e-02 1.08133765e+02] [-3.96964231e-01 9.17155930e-01 -3.52760624e-02 -3.44162147e+01] [-8.72594688e-02 5.48012364e-04 9.96185467e-01 -1.31886263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.201193817 meters 0.059961788838187605 Centerline is valid? [True, True] Translation: X:108.17, Y:-34.42, Z:-13.19 [[ 9.10497919e-01 4.05547611e-01 8.07754537e-02 1.08168339e+02] [-4.03970678e-01 9.14073917e-01 -3.57290711e-02 -3.44181542e+01] [-8.83245748e-02 -9.96698389e-05 9.96091743e-01 -1.31915990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.231193817 meters 0.06014366464119119 Centerline is valid? [True, True] Translation: X:108.20, Y:-34.43, Z:-13.20 [[ 9.08826677e-01 4.09726692e-01 7.84736227e-02 1.08199163e+02] [-4.08251829e-01 9.12208210e-01 -3.47365153e-02 -3.44264545e+01] [-8.58167605e-02 -4.67528222e-04 9.96310828e-01 -1.31960865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.261193817 meters 0.060429529035826046 Centerline is valid? [True, True] Translation: X:108.23, Y:-34.44, Z:-13.20 [[ 9.07339773e-01 4.13113205e-01 7.79231493e-02 1.08230177e+02] [-4.11669168e-01 9.10679365e-01 -3.45194170e-02 -3.44354974e+01] [-8.52234311e-02 -7.57718017e-04 9.96361577e-01 -1.32009677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.291193817 meters 0.06084472064262075 Centerline is valid? [True, True] Translation: X:108.26, Y:-34.44, Z:-13.21 [[ 9.06017012e-01 4.16229665e-01 7.67205300e-02 1.08260370e+02] [-4.14838849e-01 9.09258954e-01 -3.40130006e-02 -3.44437227e+01] [-8.39160487e-02 -1.01029920e-03 9.96472316e-01 -1.32061844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32119381700001 meters 0.0612717591439845 Centerline is valid? [True, True] Translation: X:108.29, Y:-34.45, Z:-13.21 [[ 9.05401389e-01 4.17595920e-01 7.65635181e-02 1.08289852e+02] [-4.16213652e-01 9.08632164e-01 -3.39674283e-02 -3.44528597e+01] [-8.37527346e-02 -1.11262467e-03 9.96485946e-01 -1.32126104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35119381700001 meters 0.061172809852553287 Centerline is valid? [True, True] Translation: X:108.32, Y:-34.47, Z:-13.22 [[ 9.06145255e-01 4.16189451e-01 7.54129842e-02 1.08317553e+02] [-4.14841797e-01 9.09277429e-01 -3.34789622e-02 -3.44687969e+01] [-8.25049153e-02 -9.47655177e-04 9.96590207e-01 -1.32171393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38119381700001 meters 0.06104891140940969 Centerline is valid? [True, True] Translation: X:108.34, Y:-34.49, Z:-13.22 [[ 9.07070441e-01 4.14252682e-01 7.49528562e-02 1.08344073e+02] [-4.12912877e-01 9.10161612e-01 -3.32985768e-02 -3.44866986e+01] [-8.20132372e-02 -7.44844783e-04 9.96630962e-01 -1.32213184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41119381700001 meters 0.06076128742490912 Centerline is valid? [True, True] Translation: X:108.37, Y:-34.51, Z:-13.22 [[ 9.08144691e-01 4.11934140e-01 7.47227178e-02 1.08370696e+02] [-4.10592528e-01 9.11213479e-01 -3.32230428e-02 -3.45052518e+01] [-8.17740532e-02 -5.09259657e-04 9.96650764e-01 -1.32242057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44119381700001 meters 0.06040448522322665 Centerline is valid? [True, True] Translation: X:108.40, Y:-34.52, Z:-13.23 [[ 9.08378806e-01 4.11198283e-01 7.59204603e-02 1.08396967e+02] [-4.09808501e-01 9.11545824e-01 -3.37816840e-02 -3.45242025e+01] [-8.30959491e-02 -4.26284230e-04 9.96541460e-01 -1.32261302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.471193817 meters 0.060482304196769685 Centerline is valid? [True, True] Translation: X:108.43, Y:-34.54, Z:-13.23 [[ 9.08220725e-01 4.11540644e-01 7.59566528e-02 1.08425957e+02] [-4.10148662e-01 9.11391304e-01 -3.38225617e-02 -3.45397106e+01] [-8.31455916e-02 -4.35167996e-04 9.96537316e-01 -1.32313907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.501193817 meters 0.060502744702683964 Centerline is valid? [True, True] Translation: X:108.45, Y:-34.56, Z:-13.24 [[ 9.08167312e-01 4.11733234e-01 7.55504928e-02 1.08453948e+02] [-4.10354337e-01 9.11304321e-01 -3.36712590e-02 -3.45561918e+01] [-8.27130669e-02 -4.23335643e-04 9.96573314e-01 -1.32361342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.531193817 meters 0.06082512158046934 Centerline is valid? [True, True] Translation: X:108.48, Y:-34.58, Z:-13.24 [[ 9.08501682e-01 4.11361736e-01 7.35269756e-02 1.08477746e+02] [-4.10052169e-01 9.11472105e-01 -3.27996932e-02 -3.45780448e+01] [-8.05103260e-02 -3.51319400e-04 9.96753713e-01 -1.32421927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.561193817 meters 0.060775227521118046 Centerline is valid? [True, True] Translation: X:108.51, Y:-34.60, Z:-13.25 [[ 9.08481956e-01 4.11404539e-01 7.35312289e-02 1.08505155e+02] [-4.10093262e-01 9.11452792e-01 -3.28226103e-02 -3.45957048e+01] [-8.05236148e-02 -3.35912361e-04 9.96752645e-01 -1.32461456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.591193817 meters 0.060265399149415776 Centerline is valid? [True, True] Translation: X:108.53, Y:-34.61, Z:-13.24 [[ 9.08621378e-01 4.11040036e-01 7.38463342e-02 1.08532898e+02] [-4.09713932e-01 9.11617250e-01 -3.29921571e-02 -3.46132825e+01] [-8.08806896e-02 -2.78492737e-04 9.96723751e-01 -1.32448399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.621193817 meters 0.06022423594196172 Centerline is valid? [True, True] Translation: X:108.56, Y:-34.63, Z:-13.25 [[ 9.08570429e-01 4.11102891e-01 7.41227956e-02 1.08559396e+02] [-4.09764490e-01 9.11588914e-01 -3.31468785e-02 -3.46293336e+01] [-8.11962963e-02 -2.56615946e-04 9.96698097e-01 -1.32483106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.651193817 meters 0.06045241289728335 Centerline is valid? [True, True] Translation: X:108.59, Y:-34.65, Z:-13.25 [[ 9.08211583e-01 4.11830880e-01 7.44784957e-02 1.08586157e+02] [-4.10481114e-01 9.11260242e-01 -3.33170737e-02 -3.46450105e+01] [-8.15902918e-02 -3.13063606e-04 9.96665905e-01 -1.32539162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68119381700001 meters 0.060130601732750755 Centerline is valid? [True, True] Translation: X:108.61, Y:-34.66, Z:-13.25 [[ 9.06578213e-01 4.15218616e-01 7.55608639e-02 1.08613863e+02] [-4.13838976e-01 9.09721460e-01 -3.38255279e-02 -3.46620372e+01] [-8.27843283e-02 -6.04543875e-04 9.96567303e-01 -1.32525355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71119381700001 meters 0.060086374283105454 Centerline is valid? [True, True] Translation: X:108.64, Y:-34.68, Z:-13.25 [[ 9.04974451e-01 4.18390239e-01 7.72712865e-02 1.08643628e+02] [-4.16956492e-01 9.08266930e-01 -3.46188859e-02 -3.46752012e+01] [-8.46671581e-02 -8.89557329e-04 9.96408892e-01 -1.32542201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74119381700001 meters 0.060527733645956344 Centerline is valid? [True, True] Translation: X:108.67, Y:-34.69, Z:-13.26 [[ 9.03123945e-01 4.22496771e-01 7.65742692e-02 1.08673043e+02] [-4.21101251e-01 9.06363584e-01 -3.43335239e-02 -3.46867690e+01] [-8.39099321e-02 -1.23809298e-03 9.96472574e-01 -1.32585222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77119381700001 meters 0.061020536240832854 Centerline is valid? [True, True] Translation: X:108.70, Y:-34.70, Z:-13.26 [[ 9.01410789e-01 4.26289885e-01 7.57332353e-02 1.08702439e+02] [-4.24935461e-01 9.04585293e-01 -3.39897223e-02 -3.46986158e+01] [-8.29966457e-02 -1.54303483e-03 9.96548632e-01 -1.32620463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80119381700001 meters 0.06330006066261813 Centerline is valid? [True, True] Translation: X:108.73, Y:-34.71, Z:-13.27 [[ 8.97877706e-01 4.33794533e-01 7.50861389e-02 1.08730961e+02] [-4.32488650e-01 9.01009113e-01 -3.37067655e-02 -3.47064904e+01] [-8.22751061e-02 -2.20934955e-03 9.96607207e-01 -1.32692261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.831193817 meters 0.06397148508248333 Centerline is valid? [True, True] Translation: X:108.76, Y:-34.72, Z:-13.27 [[ 8.96841898e-01 4.35995697e-01 7.47152103e-02 1.08760209e+02] [-4.34710222e-01 8.99945555e-01 -3.35413382e-02 -3.47194834e+01] [-8.18635005e-02 -2.39818832e-03 9.96640665e-01 -1.32733535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.861193817 meters 0.0647627752366404 Centerline is valid? [True, True] Translation: X:108.79, Y:-34.73, Z:-13.28 [[ 8.96330451e-01 4.37230830e-01 7.36269323e-02 1.08787405e+02] [-4.35984380e-01 8.99345990e-01 -3.30818772e-02 -3.47326357e+01] [-8.06805029e-02 -2.44789854e-03 9.96737009e-01 -1.32788539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.891193817 meters 0.06431782010634411 Centerline is valid? [True, True] Translation: X:108.81, Y:-34.75, Z:-13.29 [[ 8.97777275e-01 4.34777401e-01 7.04597424e-02 1.08811744e+02] [-4.33628039e-01 9.00535448e-01 -3.16643565e-02 -3.47542544e+01] [-7.72184423e-02 -2.12578024e-03 9.97011932e-01 -1.32869200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.921193817 meters 0.06395304829949365 Centerline is valid? [True, True] Translation: X:108.84, Y:-34.77, Z:-13.29 [[ 8.98360061e-01 4.33558281e-01 7.05437268e-02 1.08837899e+02] [-4.32400646e-01 9.01123302e-01 -3.17250005e-02 -3.47726720e+01] [-7.73232328e-02 -2.00267967e-03 9.97004066e-01 -1.32913587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.951193817 meters 0.06338815903641203 Centerline is valid? [True, True] Translation: X:108.86, Y:-34.79, Z:-13.30 [[ 8.99495066e-01 4.31456450e-01 6.89489562e-02 1.08864799e+02] [-4.30342948e-01 9.02132044e-01 -3.10277530e-02 -3.47931320e+01] [-7.55881870e-02 -1.76238638e-03 9.97137563e-01 -1.32954554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.981193817 meters 0.06214629956722355 Centerline is valid? [True, True] Translation: X:108.89, Y:-34.82, Z:-13.30 [[ 9.00662906e-01 4.29004615e-01 6.90026732e-02 1.08890569e+02] [-4.27879555e-01 9.03301008e-01 -3.10865878e-02 -3.48159051e+01] [-7.56664739e-02 -1.52629660e-03 9.97132015e-01 -1.32957663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.011193817 meters 0.06103963800582216 Centerline is valid? [True, True] Translation: X:108.91, Y:-34.85, Z:-13.30 [[ 9.04706656e-01 4.20305256e-01 6.96373367e-02 1.08910230e+02] [-4.19132928e-01 9.07382420e-01 -3.13804502e-02 -3.48456865e+01] [-7.63770633e-02 -7.97198735e-04 9.97078687e-01 -1.32987677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.041193817 meters 0.06063982500061142 Centerline is valid? [True, True] Translation: X:108.93, Y:-34.87, Z:-13.30 [[ 9.07317880e-01 4.14358363e-01 7.12840257e-02 1.08933408e+02] [-4.13110306e-01 9.10113764e-01 -3.21373891e-02 -3.48682654e+01] [-7.81929688e-02 -2.89337942e-04 9.96938201e-01 -1.33013551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07119381700001 meters 0.06062155871171892 Centerline is valid? [True, True] Translation: X:108.96, Y:-34.89, Z:-13.30 [[ 9.09697676e-01 4.08917438e-01 7.23648155e-02 1.08957540e+02] [-4.07614610e-01 9.12571366e-01 -3.26164217e-02 -3.48920999e+01] [-7.93754822e-02 1.74127004e-04 9.96844774e-01 -1.33031041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10119381700001 meters 0.061058041310025714 Centerline is valid? [True, True] Translation: X:108.98, Y:-34.92, Z:-13.31 [[ 9.12038570e-01 4.03378675e-01 7.39681857e-02 1.08982571e+02] [-4.01997031e-01 9.15032875e-01 -3.33650297e-02 -3.49154802e+01] [-8.11420630e-02 6.95202883e-04 9.96702304e-01 -1.33052310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13119381700001 meters 0.06250978054137678 Centerline is valid? [True, True] Translation: X:109.00, Y:-34.94, Z:-13.31 [[ 9.14942184e-01 3.96287705e-01 7.63993062e-02 1.09004148e+02] [-3.94786190e-01 9.18125319e-01 -3.44929422e-02 -3.49439388e+01] [-8.38132663e-02 1.39765689e-03 9.96480498e-01 -1.33071829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16119381700001 meters 0.06220018617915487 Centerline is valid? [True, True] Translation: X:109.03, Y:-34.96, Z:-13.31 [[ 9.15521275e-01 3.94813460e-01 7.70916803e-02 1.09032171e+02] [-3.93278580e-01 9.18759987e-01 -3.48144198e-02 -3.49618697e+01] [-8.45739528e-02 1.55483545e-03 9.96415992e-01 -1.33060666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19119381700001 meters 0.06211322860155987 Centerline is valid? [True, True] Translation: X:109.06, Y:-34.98, Z:-13.31 [[ 9.14855578e-01 3.96088232e-01 7.84435057e-02 1.09058486e+02] [-3.94500719e-01 9.18211241e-01 -3.54584232e-02 -3.49782702e+01] [-8.60723729e-02 1.49331682e-03 9.96287768e-01 -1.33090298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.221193817 meters 0.06189360476110025 Centerline is valid? [True, True] Translation: X:109.09, Y:-34.99, Z:-13.31 [[ 9.14042175e-01 3.97806792e-01 7.92253728e-02 1.09087238e+02] [-3.96191592e-01 9.17468192e-01 -3.58376792e-02 -3.49899925e+01] [-8.69432317e-02 1.36872362e-03 9.96212327e-01 -1.33138964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.251193817 meters 0.06106812813842597 Centerline is valid? [True, True] Translation: X:109.12, Y:-35.00, Z:-13.32 [[ 9.13078178e-01 4.00005316e-01 7.92716060e-02 1.09117719e+02] [-3.98394436e-01 9.16512057e-01 -3.58820624e-02 -3.49997937e+01] [-8.70063984e-02 1.18176145e-03 9.96207052e-01 -1.33172196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.281193817 meters 0.06070430559134267 Centerline is valid? [True, True] Translation: X:109.15, Y:-35.01, Z:-13.32 [[ 9.12053714e-01 4.02594362e-01 7.79474350e-02 1.09148688e+02] [-4.01044338e-01 9.15378006e-01 -3.53064311e-02 -3.50107898e+01] [-8.55655377e-02 9.40984159e-04 9.96332100e-01 -1.33216626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.311193817 meters 0.06070430559134267 Centerline is valid? [True, True] Translation: X:109.18, Y:-35.02, Z:-13.33 [[ 9.11926781e-01 4.02883959e-01 7.79362674e-02 1.09177936e+02] [-4.01332887e-01 9.15250583e-01 -3.53310621e-02 -3.50243125e+01] [-8.55655324e-02 9.40954529e-04 9.96332100e-01 -1.33253776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.341193817 meters 0.06063949196764128 Centerline is valid? [True, True] Translation: X:109.21, Y:-35.04, Z:-13.33 [[ 9.11076985e-01 4.04887314e-01 7.74918677e-02 1.09206252e+02] [-4.03358192e-01 9.14366258e-01 -3.51641087e-02 -3.50356684e+01] [-8.50934506e-02 7.80230493e-04 9.96372669e-01 -1.33306819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.371193817 meters 0.06035570465113191 Centerline is valid? [True, True] Translation: X:109.24, Y:-35.05, Z:-13.33 [[ 9.11051172e-01 4.04931181e-01 7.75661066e-02 1.09236449e+02] [-4.03398495e-01 9.14346828e-01 -3.52069949e-02 -3.50495798e+01] [-8.51787336e-02 7.85323345e-04 9.96365378e-01 -1.33326539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.401193817 meters 0.06098121968620776 Centerline is valid? [True, True] Translation: X:109.26, Y:-35.07, Z:-13.34 [[ 9.12212995e-01 4.02396516e-01 7.71005550e-02 1.09263637e+02] [-4.00870536e-01 9.15464884e-01 -3.50265691e-02 -3.50661542e+01] [-8.46774200e-02 1.04435076e-03 9.96407870e-01 -1.33374799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43119381700001 meters 0.06295105272390225 Centerline is valid? [True, True] Translation: X:109.29, Y:-35.08, Z:-13.34 [[ 9.14087853e-01 3.98425720e-01 7.55006178e-02 1.09288561e+02] [-3.96946876e-01 9.17199524e-01 -3.43250593e-02 -3.50846534e+01] [-8.29251172e-02 1.40638537e-03 9.96554789e-01 -1.33448903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46119381700001 meters 0.06345682544936203 Centerline is valid? [True, True] Translation: X:109.32, Y:-35.10, Z:-13.35 [[ 9.15806966e-01 3.94491493e-01 7.53263757e-02 1.09316791e+02] [-3.93003729e-01 9.18897857e-01 -3.42753086e-02 -3.51010397e+01] [-8.27385629e-02 1.78601980e-03 9.96569687e-01 -1.33464706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49119381700001 meters 0.06556782390758531 Centerline is valid? [True, True] Translation: X:109.34, Y:-35.12, Z:-13.35 [[ 9.18022794e-01 3.89577394e-01 7.39161975e-02 1.09342271e+02] [-3.88128251e-01 9.20991115e-01 -3.36426464e-02 -3.51174555e+01] [-8.11825756e-02 2.19575179e-03 9.96696829e-01 -1.33525957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52119381700001 meters 0.06948182372966664 Centerline is valid? [True, True] Translation: X:109.37, Y:-35.14, Z:-13.36 [[ 9.21636318e-01 3.81723685e-01 6.98106429e-02 1.09367278e+02] [-3.80408628e-01 9.24272460e-01 -3.17757004e-02 -3.51350783e+01] [-7.66535921e-02 2.72906863e-03 9.97054050e-01 -1.33601606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55119381700001 meters 0.07090964250864822 Centerline is valid? [True, True] Translation: X:109.40, Y:-35.15, Z:-13.36 [[ 9.22459577e-01 3.79823562e-01 6.92992837e-02 1.09395427e+02] [-3.78522478e-01 9.25054515e-01 -3.15416762e-02 -3.51503056e+01] [-7.60858871e-02 2.86458470e-03 9.97097153e-01 -1.33641617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.581193817 meters 0.07163300711513716 Centerline is valid? [True, True] Translation: X:109.42, Y:-35.16, Z:-13.37 [[ 9.22565898e-01 3.79702342e-01 6.85441051e-02 1.09423796e+02] [-3.78429253e-01 9.25104347e-01 -3.11969030e-02 -3.51636197e+01] [-7.52559868e-02 2.84210433e-03 9.97160197e-01 -1.33683059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.611193817 meters 0.0711368883678489 Centerline is valid? [True, True] Translation: X:109.45, Y:-35.17, Z:-13.37 [[ 9.21943696e-01 3.81323322e-01 6.79142563e-02 1.09452776e+02] [-3.80076398e-01 9.24437782e-01 -3.09308689e-02 -3.51734096e+01] [-7.45771661e-02 2.70391369e-03 9.97211580e-01 -1.33719280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.641193817 meters 0.06826251981420975 Centerline is valid? [True, True] Translation: X:109.49, Y:-35.17, Z:-13.38 [[ 9.19024406e-01 3.88499842e-01 6.67983155e-02 1.09485666e+02] [-3.87310114e-01 9.21446359e-01 -3.04546157e-02 -3.51713582e+01] [-7.33826780e-02 2.11687185e-03 9.97301610e-01 -1.33775367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.671193817 meters 0.0650714885908896 Centerline is valid? [True, True] Translation: X:109.52, Y:-35.17, Z:-13.38 [[ 9.16579605e-01 3.93864128e-01 6.89411100e-02 1.09519215e+02] [-3.92612074e-01 9.19167027e-01 -3.14282818e-02 -3.51724818e+01] [-7.57468679e-02 1.73940993e-03 9.97125562e-01 -1.33784437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.701193817 meters 0.06158260696744145 Centerline is valid? [True, True] Translation: X:109.55, Y:-35.17, Z:-13.38 [[ 9.13702608e-01 4.00322577e-01 6.99240964e-02 1.09554590e+02] [-3.99053334e-01 9.16373473e-01 -3.18762465e-02 -3.51729229e+01] [-7.68373682e-02 1.22196578e-03 9.97042891e-01 -1.33755707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.731193817 meters 0.06064094480999857 Centerline is valid? [True, True] Translation: X:109.59, Y:-35.17, Z:-13.38 [[ 9.09407026e-01 4.09644358e-01 7.19052146e-02 1.09587553e+02] [-4.08330441e-01 9.12245193e-01 -3.27865625e-02 -3.51721652e+01] [-7.90260167e-02 4.55242351e-04 9.96872450e-01 -1.33837804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.761193817 meters 0.060193808209702555 Centerline is valid? [True, True] Translation: X:109.62, Y:-35.18, Z:-13.39 [[ 9.07889895e-01 4.12729701e-01 7.34175269e-02 1.09619261e+02] [-4.11370404e-01 9.10853534e-01 -3.34698591e-02 -3.51802072e+01] [-8.06866188e-02 1.85149178e-04 9.96739502e-01 -1.33877410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.791193817 meters 0.05934854220796711 Centerline is valid? [True, True] Translation: X:109.65, Y:-35.19, Z:-13.39 [[ 9.06931985e-01 4.14802950e-01 7.35723300e-02 1.09651549e+02] [-4.13442991e-01 9.09911266e-01 -3.35615940e-02 -3.51898112e+01] [-8.08657401e-02 2.01188281e-05 9.96725003e-01 -1.33871273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82119381700001 meters 0.05980495456127786 Centerline is valid? [True, True] Translation: X:109.68, Y:-35.20, Z:-13.40 [[ 9.06041431e-01 4.16417790e-01 7.53999305e-02 1.09680858e+02] [-4.14992274e-01 9.09173369e-01 -3.44266994e-02 -3.52000904e+01] [-8.28874989e-02 -9.83726638e-05 9.96558906e-01 -1.33954872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85119381700001 meters 0.058801568641850446 Centerline is valid? [True, True] Translation: X:109.71, Y:-35.21, Z:-13.39 [[ 9.05727446e-01 4.17253818e-01 7.45455875e-02 1.09711399e+02] [-4.15861369e-01 9.08789980e-01 -3.40601433e-02 -3.52121815e+01] [-8.19580078e-02 -1.51423451e-04 9.96635772e-01 -1.33893022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88119381700001 meters 0.059828766955607744 Centerline is valid? [True, True] Translation: X:109.74, Y:-35.22, Z:-13.40 [[ 9.05392599e-01 4.18032497e-01 7.42500737e-02 1.09740200e+02] [-4.16651609e-01 9.08432052e-01 -3.39506139e-02 -3.52231923e+01] [-8.16436066e-02 -1.97778124e-04 9.96661569e-01 -1.34027506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91119381700001 meters 0.05913562580609375 Centerline is valid? [True, True] Translation: X:109.77, Y:-35.24, Z:-13.40 [[ 9.05163796e-01 4.18773604e-01 7.28503403e-02 1.09770483e+02] [-4.17444534e-01 9.08090642e-01 -3.33383740e-02 -3.52362099e+01] [-8.01159434e-02 -2.34287182e-04 9.96785524e-01 -1.34002405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94119381700001 meters 0.05933415578082021 Centerline is valid? [True, True] Translation: X:109.80, Y:-35.25, Z:-13.41 [[ 9.04850666e-01 4.19714398e-01 7.13098641e-02 1.09799503e+02] [-4.18442051e-01 9.07656180e-01 -3.26574625e-02 -3.52491625e+01] [-7.84316461e-02 -2.88919113e-04 9.96919452e-01 -1.34054702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.971193817 meters 0.059594620595123195 Centerline is valid? [True, True] Translation: X:109.83, Y:-35.26, Z:-13.41 [[ 9.05343019e-01 4.18891444e-01 6.98854516e-02 1.09826975e+02] [-4.17665134e-01 9.08036300e-01 -3.20298932e-02 -3.52639522e+01] [-7.68755751e-02 -1.90676259e-04 9.97040676e-01 -1.34106010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.001193817 meters 0.05972589980000102 Centerline is valid? [True, True] Translation: X:109.85, Y:-35.28, Z:-13.42 [[ 9.05638210e-01 4.18194100e-01 7.02362212e-02 1.09854452e+02] [-4.16951546e-01 9.08357684e-01 -3.22137515e-02 -3.52783270e+01] [-7.72712121e-02 -1.11096770e-04 9.97010104e-01 -1.34155763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.031193817 meters 0.059824466179872325 Centerline is valid? [True, True] Translation: X:109.88, Y:-35.29, Z:-13.42 [[ 9.06318466e-01 4.16792437e-01 6.97918579e-02 1.09882662e+02] [-4.15559802e-01 9.09001685e-01 -3.20310335e-02 -3.52941357e+01] [-7.67912090e-02 2.76264764e-05 9.97047195e-01 -1.34198400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.061193817 meters 0.06005109866239832 Centerline is valid? [True, True] Translation: X:109.91, Y:-35.31, Z:-13.42 [[ 9.07524339e-01 4.14152068e-01 6.98400905e-02 1.09910208e+02] [-4.12908192e-01 9.10207664e-01 -3.20754511e-02 -3.53124881e+01] [-7.68531000e-02 2.71707123e-04 9.97042390e-01 -1.34246276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.091193817 meters 0.06046468642777843 Centerline is valid? [True, True] Translation: X:109.94, Y:-35.33, Z:-13.43 [[ 9.09363693e-01 4.10247713e-01 6.89527993e-02 1.09936788e+02] [-4.09021958e-01 9.11973920e-01 -3.16955542e-02 -3.53319369e+01] [-7.58861833e-02 6.19577195e-04 9.97116294e-01 -1.34271699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.121193817 meters 0.06227662178486174 Centerline is valid? [True, True] Translation: X:109.96, Y:-35.36, Z:-13.43 [[ 9.13780084e-01 4.00520770e-01 6.77426849e-02 1.09959416e+02] [-3.99308331e-01 9.16286555e-01 -3.11737897e-02 -3.53563613e+01] [-7.45574617e-02 1.43576973e-03 9.97215686e-01 -1.34308221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.151193817 meters 0.0635252189961977 Centerline is valid? [True, True] Translation: X:109.99, Y:-35.38, Z:-13.43 [[ 9.15589452e-01 3.96368834e-01 6.77325793e-02 1.09985407e+02] [-3.95146085e-01 9.18089664e-01 -3.11599316e-02 -3.53750778e+01] [-7.45354068e-02 1.76544115e-03 9.97216805e-01 -1.34340436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18119381700001 meters 0.06483869091077799 Centerline is valid? [True, True] Translation: X:110.01, Y:-35.39, Z:-13.44 [[ 9.17164146e-01 3.92826090e-01 6.70640906e-02 1.10012630e+02] [-3.91615693e-01 9.19610469e-01 -3.08825757e-02 -3.53924463e+01] [-7.38043213e-02 2.06104084e-03 9.97270612e-01 -1.34385358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21119381700001 meters 0.06604491770220916 Centerline is valid? [True, True] Translation: X:110.04, Y:-35.41, Z:-13.44 [[ 9.18125877e-01 3.90646785e-01 6.66330467e-02 1.10040120e+02] [-3.89445703e-01 9.20537954e-01 -3.06906979e-02 -3.54083714e+01] [-7.33274709e-02 2.22797019e-03 9.97305429e-01 -1.34430865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24119381700001 meters 0.06800845356193215 Centerline is valid? [True, True] Translation: X:110.07, Y:-35.42, Z:-13.45 [[ 9.19868749e-01 3.86770121e-01 6.51947715e-02 1.10065635e+02] [-3.85609943e-01 9.22172796e-01 -3.00384239e-02 -3.54234709e+01] [-7.17388095e-02 2.49165531e-03 9.97420340e-01 -1.34479615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27119381700001 meters 0.06887987440753601 Centerline is valid? [True, True] Translation: X:110.09, Y:-35.44, Z:-13.45 [[ 9.20611755e-01 3.85068872e-01 6.47762349e-02 1.10094307e+02] [-3.83919636e-01 9.22884166e-01 -2.98417358e-02 -3.54379244e+01] [-7.12720851e-02 2.60378426e-03 9.97453513e-01 -1.34515948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30119381700001 meters 0.06975328926784347 Centerline is valid? [True, True] Translation: X:110.12, Y:-35.45, Z:-13.46 [[ 9.21120870e-01 3.83998725e-01 6.38852270e-02 1.10123532e+02] [-3.82877926e-01 9.23329805e-01 -2.94374665e-02 -3.54512530e+01] [-7.02910838e-02 2.65522149e-03 9.97522989e-01 -1.34568966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.331193817 meters 0.0708739144104781 Centerline is valid? [True, True] Translation: X:110.15, Y:-35.46, Z:-13.46 [[ 9.21463185e-01 3.83531976e-01 6.17156568e-02 1.10153324e+02] [-3.82484672e-01 9.23523925e-01 -2.84435398e-02 -3.54616990e+01] [-6.79048926e-02 2.60438200e-03 9.97688400e-01 -1.34642186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.361193817 meters 0.07101286049923906 Centerline is valid? [True, True] Translation: X:110.18, Y:-35.47, Z:-13.47 [[ 9.21133736e-01 3.84429694e-01 6.10446679e-02 1.10183461e+02] [-3.83407481e-01 9.23150875e-01 -2.81276482e-02 -3.54734561e+01] [-6.71665418e-02 2.50434334e-03 9.97738635e-01 -1.34690912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.391193817 meters 0.0725681111458111 Centerline is valid? [True, True] Translation: X:110.21, Y:-35.49, Z:-13.48 [[ 9.20383185e-01 3.86064923e-01 6.20376312e-02 1.10210658e+02] [-3.85010163e-01 9.22468331e-01 -2.86243232e-02 -3.54862954e+01] [-6.82785973e-02 2.46022726e-03 9.97663260e-01 -1.34772245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.421193817 meters 0.0695238698361993 Centerline is valid? [True, True] Translation: X:110.24, Y:-35.49, Z:-13.48 [[ 9.19470076e-01 3.88251574e-01 6.19313795e-02 1.10243701e+02] [-3.87205980e-01 9.21550591e-01 -2.85663741e-02 -3.54916218e+01] [-6.81638391e-02 2.28572565e-03 9.97671522e-01 -1.34764197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.451193817 meters 0.06764574850558253 Centerline is valid? [True, True] Translation: X:110.28, Y:-35.49, Z:-13.48 [[ 9.17662003e-01 3.92245231e-01 6.35620005e-02 1.10276254e+02] [-3.91150813e-01 9.19858344e-01 -2.93541759e-02 -3.54936761e+01] [-6.99820720e-02 2.07488365e-03 9.97546091e-01 -1.34779629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.481193817 meters 0.06715191747446239 Centerline is valid? [True, True] Translation: X:110.31, Y:-35.50, Z:-13.48 [[ 9.17034885e-01 3.93509943e-01 6.47838330e-02 1.10305868e+02] [-3.92376264e-01 9.19318152e-01 -2.99166035e-02 -3.55028655e+01] [-7.13294346e-02 2.01493066e-03 9.97450777e-01 -1.34804996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.511193817 meters 0.06727104749783686 Centerline is valid? [True, True] Translation: X:110.34, Y:-35.51, Z:-13.48 [[ 9.16796168e-01 3.93931707e-01 6.55941762e-02 1.10335368e+02] [-3.92770985e-01 9.19137533e-01 -3.02844508e-02 -3.55137557e+01] [-7.22200748e-02 2.00117925e-03 9.97386713e-01 -1.34834918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.541193817 meters 0.06712897081170702 Centerline is valid? [True, True] Translation: X:110.37, Y:-35.53, Z:-13.48 [[ 9.16578123e-01 3.94085687e-01 6.76831962e-02 1.10365271e+02] [-3.92847959e-01 9.19071349e-01 -3.12783601e-02 -3.55250440e+01] [-7.45320405e-02 2.07985512e-03 9.97216451e-01 -1.34849333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57119381700001 meters 0.06565212042744689 Centerline is valid? [True, True] Translation: X:110.40, Y:-35.53, Z:-13.48 [[ 9.17544975e-01 3.91414689e-01 7.00411316e-02 1.10399439e+02] [-3.90081763e-01 9.20211343e-01 -3.23620601e-02 -3.55303706e+01] [-7.71196294e-02 2.37187754e-03 9.97019025e-01 -1.34811054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60119381700001 meters 0.0666029464630852 Centerline is valid? [True, True] Translation: X:110.43, Y:-35.54, Z:-13.48 [[ 9.18350633e-01 3.89440809e-01 7.04838367e-02 1.10429191e+02] [-3.88082806e-01 9.21047877e-01 -3.25966900e-02 -3.55418865e+01] [-7.76134694e-02 2.58162577e-03 9.96980183e-01 -1.34843081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63119381700001 meters 0.06737839661113619 Centerline is valid? [True, True] Translation: X:110.46, Y:-35.55, Z:-13.49 [[ 9.18584405e-01 3.88541905e-01 7.23731853e-02 1.10458367e+02] [-3.87105134e-01 9.21426941e-01 -3.34963756e-02 -3.55539399e+01] [-7.97013483e-02 2.75321668e-03 9.96814985e-01 -1.34871140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66119381700001 meters 0.06691186126014313 Centerline is valid? [True, True] Translation: X:110.49, Y:-35.56, Z:-13.49 [[ 9.18457604e-01 3.88216162e-01 7.56560760e-02 1.10491356e+02] [-3.86641862e-01 9.21563653e-01 -3.50500116e-02 -3.55592115e+01] [-8.33288708e-02 2.94014357e-03 9.96517764e-01 -1.34859319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69119381700001 meters 0.0664518433337533 Centerline is valid? [True, True] Translation: X:110.52, Y:-35.57, Z:-13.49 [[ 9.17511685e-01 3.90234250e-01 7.67433249e-02 1.10521355e+02] [-3.88620469e-01 9.20711332e-01 -3.55636729e-02 -3.55668421e+01] [-8.45366121e-02 2.80605850e-03 9.96416423e-01 -1.34884381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.721193817 meters 0.06405476856004241 Centerline is valid? [True, True] Translation: X:110.55, Y:-35.57, Z:-13.49 [[ 9.16034033e-01 3.93611589e-01 7.71464058e-02 1.10554751e+02] [-3.91992596e-01 9.19273421e-01 -3.57516747e-02 -3.55699049e+01] [-8.49909138e-02 2.50893087e-03 9.96378568e-01 -1.34888831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.751193817 meters 0.06308175877299958 Centerline is valid? [True, True] Translation: X:110.59, Y:-35.57, Z:-13.49 [[ 9.14389561e-01 3.97587604e-01 7.62615779e-02 1.10586947e+02] [-3.96019682e-01 9.17561790e-01 -3.53379854e-02 -3.55738951e+01] [-8.40246548e-02 2.11159915e-03 9.96461439e-01 -1.34939393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.781193817 meters 0.06126759959233716 Centerline is valid? [True, True] Translation: X:110.62, Y:-35.57, Z:-13.50 [[ 9.10759385e-01 4.06369824e-01 7.33546759e-02 1.10624737e+02] [-4.04945920e-01 9.13707802e-01 -3.40125784e-02 -3.55654557e+01] [-8.08464251e-02 1.27259826e-03 9.96725758e-01 -1.35035966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.811193817 meters 0.06106549388074412 Centerline is valid? [True, True] Translation: X:110.66, Y:-35.57, Z:-13.51 [[ 9.09649910e-01 4.09125405e-01 7.17874967e-02 1.10657460e+02] [-4.07768455e-01 9.12477587e-01 -3.33097617e-02 -3.55707644e+01] [-7.91323515e-02 1.02754508e-03 9.96863589e-01 -1.35106168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.841193817 meters 0.06103603785785165 Centerline is valid? [True, True] Translation: X:110.69, Y:-35.58, Z:-13.52 [[ 9.08792049e-01 4.11176240e-01 7.09303233e-02 1.10688318e+02] [-4.09856011e-01 9.11555462e-01 -3.29346252e-02 -3.55786636e+01] [-7.81988590e-02 8.59506252e-04 9.96937410e-01 -1.35163031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.871193817 meters 0.06114297261171469 Centerline is valid? [True, True] Translation: X:110.72, Y:-35.59, Z:-13.52 [[ 9.08417083e-01 4.12115887e-01 7.02773000e-02 1.10718471e+02] [-4.10820696e-01 9.11131091e-01 -3.26571843e-02 -3.55888064e+01] [-7.74903774e-02 7.94974864e-04 9.96992783e-01 -1.35214859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.901193817 meters 0.06135036238853931 Centerline is valid? [True, True] Translation: X:110.75, Y:-35.60, Z:-13.53 [[ 9.08170053e-01 4.12825629e-01 6.92975872e-02 1.10748340e+02] [-4.11566697e-01 9.10809775e-01 -3.22243368e-02 -3.56008229e+01] [-7.64199519e-02 7.44598529e-04 9.97075442e-01 -1.35267956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93119381700001 meters 0.061292416984675156 Centerline is valid? [True, True] Translation: X:110.78, Y:-35.61, Z:-13.53 [[ 9.07043714e-01 4.15587322e-01 6.75194693e-02 1.10779657e+02] [-4.14398311e-01 9.09553137e-01 -3.14186303e-02 -3.56086598e+01] [-7.44697295e-02 5.18117153e-04 9.97223140e-01 -1.35341720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96119381700001 meters 0.06194944070134564 Centerline is valid? [True, True] Translation: X:110.81, Y:-35.62, Z:-13.54 [[ 9.05975377e-01 4.18277469e-01 6.52117638e-02 1.10807883e+02] [-4.17173257e-01 9.08319250e-01 -3.03745614e-02 -3.56173794e+01] [-7.19380951e-02 3.14000877e-04 9.97409049e-01 -1.35426976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99119381700001 meters 0.06209323480595341 Centerline is valid? [True, True] Translation: X:110.84, Y:-35.62, Z:-13.55 [[ 9.04256629e-01 4.22197802e-01 6.37884425e-02 1.10835722e+02] [-4.21150153e-01 9.06503732e-01 -2.97242795e-02 -3.56244225e+01] [-7.03739867e-02 1.38644497e-05 9.97520677e-01 -1.35490931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02119381700001 meters 0.06154050704855349 Centerline is valid? [True, True] Translation: X:110.87, Y:-35.63, Z:-13.55 [[ 9.02452003e-01 4.26152405e-01 6.30437199e-02 1.10865099e+02] [-4.25139308e-01 9.04651336e-01 -2.93688538e-02 -3.56330594e+01] [-6.95481931e-02 -2.98382591e-04 9.97578548e-01 -1.35489373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05119381700001 meters 0.06316254096349531 Centerline is valid? [True, True] Translation: X:110.89, Y:-35.64, Z:-13.56 [[ 8.98459961e-01 4.34111164e-01 6.57053701e-02 1.10893053e+02] [-4.33031626e-01 9.00858810e-01 -3.06107144e-02 -3.56375341e+01] [-7.24797144e-02 -9.50001981e-04 9.97369434e-01 -1.35554863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.081193817 meters 0.06354456076586866 Centerline is valid? [True, True] Translation: X:110.92, Y:-35.65, Z:-13.56 [[ 8.97652620e-01 4.35678488e-01 6.63628619e-02 1.10919470e+02] [-4.34582171e-01 9.00101691e-01 -3.09076307e-02 -3.56494397e+01] [-7.31991140e-02 -1.09580090e-03 9.97316745e-01 -1.35584524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.111193817 meters 0.06406470631239408 Centerline is valid? [True, True] Translation: X:110.94, Y:-35.66, Z:-13.56 [[ 8.96713613e-01 4.37475347e-01 6.72310679e-02 1.10944567e+02] [-4.36355549e-01 8.99229517e-01 -3.13067230e-02 -3.56609438e+01] [-7.41520803e-02 -1.26348485e-03 9.97246144e-01 -1.35620633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.141193817 meters 0.06295700310522018 Centerline is valid? [True, True] Translation: X:110.97, Y:-35.68, Z:-13.56 [[ 8.96553753e-01 4.37710622e-01 6.78290384e-02 1.10968446e+02] [-4.36572076e-01 8.99114963e-01 -3.15769924e-02 -3.56784605e+01] [-7.48076884e-02 -1.30179305e-03 9.97197130e-01 -1.35605030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.171193817 meters 0.06274107272880416 Centerline is valid? [True, True] Translation: X:110.99, Y:-35.69, Z:-13.56 [[ 8.97242521e-01 4.36256900e-01 6.80865368e-02 1.10992773e+02] [-4.35105973e-01 8.99821371e-01 -3.16905726e-02 -3.56943762e+01] [-7.50909518e-02 -1.19072964e-03 9.97175978e-01 -1.35646766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.201193817 meters 0.061377501232614 Centerline is valid? [True, True] Translation: X:111.02, Y:-35.72, Z:-13.56 [[ 8.98054913e-01 4.34447235e-01 6.89418108e-02 1.11018935e+02] [-4.33263476e-01 9.00696648e-01 -3.20672516e-02 -3.57159142e+01] [-7.60271866e-02 -1.07181579e-03 9.97105169e-01 -1.35621225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.231193817 meters 0.06077598976541856 Centerline is valid? [True, True] Translation: X:111.04, Y:-35.74, Z:-13.56 [[ 8.98881334e-01 4.32387137e-01 7.10894639e-02 1.11044228e+02] [-4.31119168e-01 9.01687621e-01 -3.31013271e-02 -3.57353855e+01] [-7.84130776e-02 -8.93865435e-04 9.96920554e-01 -1.35637685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.261193817 meters 0.06077598976541856 Centerline is valid? [True, True] Translation: X:111.07, Y:-35.75, Z:-13.57 [[ 8.98743024e-01 4.32674072e-01 7.10923658e-02 1.11073379e+02] [-4.31407492e-01 9.01549938e-01 -3.30951001e-02 -3.57492397e+01] [-7.84127097e-02 -9.25788901e-04 9.96920553e-01 -1.35674790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.291193817 meters 0.05952109693317627 Centerline is valid? [True, True] Translation: X:111.10, Y:-35.77, Z:-13.56 [[ 9.00019866e-01 4.29369735e-01 7.48723683e-02 1.11098111e+02] [-4.27949958e-01 9.03128577e-01 -3.48942383e-02 -3.57727157e+01] [-8.26019052e-02 -6.36119170e-04 9.96582420e-01 -1.35633739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32119381700001 meters 0.05950575264432288 Centerline is valid? [True, True] Translation: X:111.12, Y:-35.79, Z:-13.57 [[ 9.00308346e-01 4.28612491e-01 7.57378108e-02 1.11124577e+02] [-4.27156750e-01 9.03488244e-01 -3.53001964e-02 -3.57885905e+01] [-8.35583268e-02 -5.70855669e-04 9.96502725e-01 -1.35670159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35119381700001 meters 0.05953141023099294 Centerline is valid? [True, True] Translation: X:111.15, Y:-35.80, Z:-13.57 [[ 9.00379639e-01 4.28444370e-01 7.58414618e-02 1.11151628e+02] [-4.26981742e-01 9.03568005e-01 -3.53758790e-02 -3.58048560e+01] [-8.36845146e-02 -5.31198259e-04 9.96492157e-01 -1.35717933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38119381700001 meters 0.059729268432271075 Centerline is valid? [True, True] Translation: X:111.18, Y:-35.82, Z:-13.58 [[ 9.00564948e-01 4.28409137e-01 7.38131847e-02 1.11178873e+02] [-4.27022446e-01 9.03584729e-01 -3.44451624e-02 -3.58217626e+01] [-8.14530887e-02 -4.99780802e-04 9.96677051e-01 -1.35769751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41119381700001 meters 0.059701599858278394 Centerline is valid? [True, True] Translation: X:111.20, Y:-35.84, Z:-13.58 [[ 9.01140730e-01 4.27416477e-01 7.25295816e-02 1.11204648e+02] [-4.26072537e-01 9.04054761e-01 -3.38700921e-02 -3.58427678e+01] [-8.00473490e-02 -3.81143357e-04 9.96790989e-01 -1.35808702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44119381700001 meters 0.05992750857272309 Centerline is valid? [True, True] Translation: X:111.23, Y:-35.86, Z:-13.59 [[ 9.01936456e-01 4.25605874e-01 7.32821188e-02 1.11230085e+02] [-4.24225701e-01 9.04908615e-01 -3.42484074e-02 -3.58610556e+01] [-8.08899440e-02 -1.98271049e-04 9.96723020e-01 -1.35857906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.471193817 meters 0.05982748900399319 Centerline is valid? [True, True] Translation: X:111.26, Y:-35.88, Z:-13.59 [[ 9.02920862e-01 4.23620625e-01 7.26600486e-02 1.11256063e+02] [-4.22255585e-01 9.05839702e-01 -3.39802117e-02 -3.58812941e+01] [-8.02130753e-02 3.30716650e-07 9.96777740e-01 -1.35881769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.501193817 meters 0.060031446175280966 Centerline is valid? [True, True] Translation: X:111.28, Y:-35.90, Z:-13.59 [[ 9.04396784e-01 4.20532807e-01 7.22399871e-02 1.11281352e+02] [-4.19171631e-01 9.07277284e-01 -3.38093600e-02 -3.59012945e+01] [-7.97596444e-02 2.96123217e-04 9.96814081e-01 -1.35920943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.531193817 meters 0.06209205006878547 Centerline is valid? [True, True] Translation: X:111.30, Y:-35.93, Z:-13.60 [[ 9.08393116e-01 4.11895398e-01 7.18618634e-02 1.11302062e+02] [-4.10519511e-01 9.11230505e-01 -3.36555922e-02 -3.59284620e+01] [-7.93453056e-02 1.07181126e-03 9.96846615e-01 -1.36013457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.561193817 meters 0.06274240410741096 Centerline is valid? [True, True] Translation: X:111.33, Y:-35.95, Z:-13.60 [[ 9.10877001e-01 4.06823002e-01 6.92685634e-02 1.11327173e+02] [-4.05527715e-01 9.13505792e-01 -3.24721601e-02 -3.59486715e+01] [-7.64876555e-02 1.48782164e-03 9.97069418e-01 -1.36019979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.591193817 meters 0.06473340602125008 Centerline is valid? [True, True] Translation: X:111.35, Y:-35.97, Z:-13.61 [[ 9.13131423e-01 4.01764022e-01 6.91134934e-02 1.11350480e+02] [-4.00460272e-01 9.15741253e-01 -3.23964302e-02 -3.59715588e+01] [-7.63057971e-02 1.90499009e-03 9.97082643e-01 -1.36064089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.621193817 meters 0.06589253135534077 Centerline is valid? [True, True] Translation: X:111.38, Y:-35.99, Z:-13.61 [[ 9.14821956e-01 3.98036176e-01 6.83226930e-02 1.11375985e+02] [-3.96750600e-01 9.17367070e-01 -3.20409084e-02 -3.59914482e+01] [-7.54304294e-02 2.20465707e-03 9.97148630e-01 -1.36090270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.651193817 meters 0.06944871519837972 Centerline is valid? [True, True] Translation: X:111.40, Y:-36.01, Z:-13.62 [[ 9.15707572e-01 3.95961254e-01 6.85151713e-02 1.11399522e+02] [-3.94662698e-01 9.18264131e-01 -3.21300452e-02 -3.60120092e+01] [-7.56372773e-02 2.38134330e-03 9.97132555e-01 -1.36184254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68119381700001 meters 0.06849711178091801 Centerline is valid? [True, True] Translation: X:111.43, Y:-36.02, Z:-13.62 [[ 9.15304123e-01 3.96993929e-01 6.79277842e-02 1.11430850e+02] [-3.95720004e-01 9.17818401e-01 -3.18600425e-02 -3.60232080e+01] [-7.49936137e-02 2.28124520e-03 9.97181405e-01 -1.36215390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71119381700001 meters 0.06703504174399816 Centerline is valid? [True, True] Translation: X:111.46, Y:-36.03, Z:-13.62 [[ 9.14801912e-01 3.98217956e-01 6.75271913e-02 1.11462221e+02] [-3.96960376e-01 9.17288206e-01 -3.16986859e-02 -3.60331142e+01] [-7.45648821e-02 2.19239922e-03 9.97213754e-01 -1.36231284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74119381700001 meters 0.06504346091472864 Centerline is valid? [True, True] Translation: X:111.49, Y:-36.04, Z:-13.62 [[ 9.13798531e-01 4.00562514e-01 6.72452072e-02 1.11494100e+02] [-3.99319647e-01 9.16267208e-01 -3.15946627e-02 -3.60424730e+01] [-7.42702158e-02 2.01882393e-03 9.97236110e-01 -1.36231663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77119381700001 meters 0.06299902222559776 Centerline is valid? [True, True] Translation: X:111.53, Y:-36.05, Z:-13.62 [[ 9.10850899e-01 4.07039453e-01 6.83339185e-02 1.11525729e+02] [-4.05772593e-01 9.13409290e-01 -3.21258638e-02 -3.60474851e+01] [-7.54933300e-02 1.53384059e-03 9.97145127e-01 -1.36247587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80119381700001 meters 0.06266121516515333 Centerline is valid? [True, True] Translation: X:111.56, Y:-36.06, Z:-13.63 [[ 9.08588862e-01 4.12021345e-01 6.85907511e-02 1.11556192e+02] [-4.10759772e-01 9.11173510e-01 -3.22373108e-02 -3.60552194e+01] [-7.57805356e-02 1.11614030e-03 9.97123896e-01 -1.36319708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.831193817 meters 0.061040470208458056 Centerline is valid? [True, True] Translation: X:111.59, Y:-36.06, Z:-13.63 [[ 9.06285726e-01 4.17100054e-01 6.83646716e-02 1.11589927e+02] [-4.15859345e-01 9.08860297e-01 -3.21553574e-02 -3.60600574e+01] [-7.55459370e-02 7.11853875e-04 9.97142068e-01 -1.36329439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.861193817 meters 0.0609859411369198 Centerline is valid? [True, True] Translation: X:111.62, Y:-36.07, Z:-13.64 [[ 9.04066603e-01 4.21820238e-01 6.87841815e-02 1.11621148e+02] [-4.20575941e-01 9.06679419e-01 -3.23775997e-02 -3.60660005e+01] [-7.60227285e-02 3.42534799e-04 9.97106026e-01 -1.36414422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.891193817 meters 0.06021891838598766 Centerline is valid? [True, True] Translation: X:111.66, Y:-36.07, Z:-13.64 [[ 9.00820528e-01 4.28984641e-01 6.70414416e-02 1.11656336e+02] [-4.27820758e-01 9.03311753e-01 -3.15796757e-02 -3.60670038e+01] [-7.41065180e-02 -2.34100244e-04 9.97250304e-01 -1.36422378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.921193817 meters 0.06028575576158049 Centerline is valid? [True, True] Translation: X:111.69, Y:-36.08, Z:-13.65 [[ 8.99358389e-01 4.32051967e-01 6.69745153e-02 1.11686760e+02] [-4.30897024e-01 9.01848592e-01 -3.15732732e-02 -3.60761852e+01] [-7.40421672e-02 -4.63431206e-04 9.97255004e-01 -1.36458902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.951193817 meters 0.06034097020855551 Centerline is valid? [True, True] Translation: X:111.72, Y:-36.09, Z:-13.65 [[ 8.98416755e-01 4.34107267e-01 6.63190383e-02 1.11716537e+02] [-4.32978906e-01 9.00860983e-01 -3.12850804e-02 -3.60875533e+01] [-7.33253148e-02 -6.07704189e-04 9.97307891e-01 -1.36487056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.981193817 meters 0.060923190436243134 Centerline is valid? [True, True] Translation: X:111.74, Y:-36.10, Z:-13.66 [[ 8.97752343e-01 4.35486466e-01 6.62741871e-02 1.11744994e+02] [-4.34361683e-01 9.00195006e-01 -3.12870415e-02 -3.60996035e+01] [-7.32847755e-02 -6.98952610e-04 9.97310811e-01 -1.36558780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.011193817 meters 0.060326448097655194 Centerline is valid? [True, True] Translation: X:111.77, Y:-36.12, Z:-13.66 [[ 8.97980667e-01 4.34697949e-01 6.83258023e-02 1.11773251e+02] [-4.33497903e-01 9.00576092e-01 -3.22842112e-02 -3.61158979e+01] [-7.55664644e-02 -6.28494541e-04 9.97140569e-01 -1.36559663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.041193817 meters 0.05999882829771856 Centerline is valid? [True, True] Translation: X:111.80, Y:-36.13, Z:-13.66 [[ 8.98317833e-01 4.33784795e-01 6.96837373e-02 1.11801532e+02] [-4.32531835e-01 9.01016348e-01 -3.29507402e-02 -3.61312190e+01] [-7.70797166e-02 -5.40197254e-04 9.97024787e-01 -1.36581095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07119381700001 meters 0.059741423152925494 Centerline is valid? [True, True] Translation: X:111.83, Y:-36.15, Z:-13.66 [[ 8.98405849e-01 4.33353640e-01 7.12148330e-02 1.11828668e+02] [-4.32041427e-01 9.01223825e-01 -3.37019679e-02 -3.61463364e+01] [-7.87853747e-02 -4.89713016e-04 9.96891481e-01 -1.36597152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10119381700001 meters 0.059751854449619335 Centerline is valid? [True, True] Translation: X:111.85, Y:-36.17, Z:-13.66 [[ 8.99114296e-01 4.31383392e-01 7.41744707e-02 1.11852357e+02] [-4.29950106e-01 9.02168654e-01 -3.51372552e-02 -3.61664791e+01] [-8.20755108e-02 -2.98913094e-04 9.96626069e-01 -1.36632354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13119381700001 meters 0.05938188096536552 Centerline is valid? [True, True] Translation: X:111.88, Y:-36.19, Z:-13.66 [[ 8.98868012e-01 4.31857964e-01 7.43975604e-02 1.11880003e+02] [-4.30418395e-01 9.01941559e-01 -3.52339278e-02 -3.61852284e+01] [-8.23183039e-02 -3.51427877e-04 9.96606027e-01 -1.36630878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16119381700001 meters 0.05952513252935927 Centerline is valid? [True, True] Translation: X:111.91, Y:-36.20, Z:-13.67 [[ 8.99039532e-01 4.31686600e-01 7.33116635e-02 1.11907263e+02] [-4.30285760e-01 9.02023607e-01 -3.47502173e-02 -3.62018380e+01] [-8.11300543e-02 -3.03145748e-04 9.96703478e-01 -1.36677646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19119381700001 meters 0.059684818300367766 Centerline is valid? [True, True] Translation: X:111.94, Y:-36.22, Z:-13.67 [[ 8.99031572e-01 4.31788933e-01 7.28048747e-02 1.11935422e+02] [-4.30405691e-01 9.01974631e-01 -3.45355800e-02 -3.62164562e+01] [-8.05802313e-02 -2.87055601e-04 9.96748084e-01 -1.36739276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.221193817 meters 0.06062529094136519 Centerline is valid? [True, True] Translation: X:111.96, Y:-36.23, Z:-13.69 [[ 8.99337926e-01 4.31940008e-01 6.79641484e-02 1.11961569e+02] [-4.30733031e-01 9.01902304e-01 -3.22690359e-02 -3.62288006e+01] [-7.52353096e-02 -2.53635834e-04 9.97165776e-01 -1.36850952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.251193817 meters 0.06090348194113693 Centerline is valid? [True, True] Translation: X:111.99, Y:-36.24, Z:-13.69 [[ 8.99159967e-01 4.32541383e-01 6.64778596e-02 1.11988413e+02] [-4.31388367e-01 9.01614032e-01 -3.15628486e-02 -3.62428368e+01] [-7.35896093e-02 -2.97725412e-04 9.97288564e-01 -1.36914992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.281193817 meters 0.06126039547281315 Centerline is valid? [True, True] Translation: X:112.02, Y:-36.26, Z:-13.70 [[ 8.98887739e-01 4.33273027e-01 6.53859083e-02 1.12016096e+02] [-4.32158136e-01 9.01262655e-01 -3.10640106e-02 -3.62584505e+01] [-7.23890752e-02 -3.33993991e-04 9.97376414e-01 -1.36965787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.311193817 meters 0.06145390671033374 Centerline is valid? [True, True] Translation: X:112.04, Y:-36.27, Z:-13.70 [[ 8.98806100e-01 4.33587550e-01 6.44160783e-02 1.12043839e+02] [-4.32504803e-01 9.01111383e-01 -3.06246710e-02 -3.62748176e+01] [-7.13245375e-02 -3.34622165e-04 9.97453106e-01 -1.37009800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.341193817 meters 0.06164479985281254 Centerline is valid? [True, True] Translation: X:112.07, Y:-36.29, Z:-13.70 [[ 8.98976323e-01 4.33410958e-01 6.32179660e-02 1.12070218e+02] [-4.32366283e-01 9.01196346e-01 -3.00756275e-02 -3.62930084e+01] [-7.00069064e-02 -2.96039944e-04 9.97546463e-01 -1.37045569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.371193817 meters 0.062157321079441503 Centerline is valid? [True, True] Translation: X:112.10, Y:-36.31, Z:-13.71 [[ 8.98877756e-01 4.33775420e-01 6.21101097e-02 1.12096949e+02] [-4.32766426e-01 9.01020974e-01 -2.95706717e-02 -3.63073080e+01] [-6.87895421e-02 -2.98751171e-04 9.97631149e-01 -1.37113840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.401193817 meters 0.06196373864806912 Centerline is valid? [True, True] Translation: X:112.13, Y:-36.32, Z:-13.71 [[ 8.98630749e-01 4.34329679e-01 6.18102498e-02 1.12125351e+02] [-4.33330470e-01 9.00753921e-01 -2.94461935e-02 -3.63220400e+01] [-6.84651807e-02 -3.23009625e-04 9.97653454e-01 -1.37141735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43119381700001 meters 0.06274895388786321 Centerline is valid? [True, True] Translation: X:112.15, Y:-36.33, Z:-13.72 [[ 8.98314701e-01 4.35162383e-01 6.05342697e-02 1.12152324e+02] [-4.34204094e-01 9.00351918e-01 -2.88657120e-02 -3.63346816e+01] [-6.70634178e-02 -3.53734231e-04 9.97748652e-01 -1.37233432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46119381700001 meters 0.06221037983877798 Centerline is valid? [True, True] Translation: X:112.18, Y:-36.35, Z:-13.72 [[ 8.97548483e-01 4.36805184e-01 6.00662206e-02 1.12181098e+02] [-4.35865173e-01 8.99556007e-01 -2.86450990e-02 -3.63496924e+01] [-6.65452574e-02 -4.70408455e-04 9.97783297e-01 -1.37233619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49119381700001 meters 0.06246555283671701 Centerline is valid? [True, True] Translation: X:112.21, Y:-36.36, Z:-13.73 [[ 8.97492995e-01 4.37022400e-01 5.93105806e-02 1.12208470e+02] [-4.36104983e-01 8.99450504e-01 -2.83060869e-02 -3.63649267e+01] [-6.57173257e-02 -4.61125029e-04 9.97838173e-01 -1.37280280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52119381700001 meters 0.0625299041999373 Centerline is valid? [True, True] Translation: X:112.24, Y:-36.38, Z:-13.73 [[ 8.96951966e-01 4.38077091e-01 5.97129264e-02 1.12236863e+02] [-4.37148287e-01 8.98937254e-01 -2.85164777e-02 -3.63798402e+01] [-6.61705896e-02 -5.25492734e-04 9.97808186e-01 -1.37311883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55119381700001 meters 0.06238733081720751 Centerline is valid? [True, True] Translation: X:112.27, Y:-36.39, Z:-13.73 [[ 8.96337744e-01 4.39099260e-01 6.14042961e-02 1.12265885e+02] [-4.38117294e-01 8.98438363e-01 -2.93554976e-02 -3.63943694e+01] [-6.80579525e-02 -5.89843468e-04 9.97681195e-01 -1.37340623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.581193817 meters 0.06152923899658212 Centerline is valid? [True, True] Translation: X:112.29, Y:-36.41, Z:-13.73 [[ 8.95203748e-01 4.40575523e-01 6.71078024e-02 1.12293657e+02] [-4.39405530e-01 8.97715232e-01 -3.20958330e-02 -3.64060916e+01] [-7.43843348e-02 -7.55229406e-04 9.97229362e-01 -1.37321191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.611193817 meters 0.061076912931883394 Centerline is valid? [True, True] Translation: X:112.32, Y:-36.42, Z:-13.73 [[ 8.94303625e-01 4.41893480e-01 7.03646175e-02 1.12322860e+02] [-4.40611254e-01 8.97067069e-01 -3.36511004e-02 -3.64189839e+01] [-7.79919830e-02 -9.09141286e-04 9.96953572e-01 -1.37322402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.641193817 meters 0.06080404725789251 Centerline is valid? [True, True] Translation: X:112.35, Y:-36.43, Z:-13.73 [[ 8.94040023e-01 4.42150392e-01 7.20795932e-02 1.12350749e+02] [-4.40805790e-01 8.96940420e-01 -3.44693918e-02 -3.64331481e+01] [-7.98917557e-02 -9.56086126e-04 9.96803087e-01 -1.37339745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.671193817 meters 0.0605530770608583 Centerline is valid? [True, True] Translation: X:112.38, Y:-36.45, Z:-13.74 [[ 8.93918554e-01 4.42101523e-01 7.38638113e-02 1.12377816e+02] [-4.40687332e-01 8.96964510e-01 -3.53460370e-02 -3.64481240e+01] [-8.18797541e-02 -9.54367624e-04 9.96641759e-01 -1.37356108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.701193817 meters 0.060638147672092836 Centerline is valid? [True, True] Translation: X:112.40, Y:-36.47, Z:-13.74 [[ 8.94994530e-01 4.39524904e-01 7.61751284e-02 1.12401986e+02] [-4.38008672e-01 8.98230121e-01 -3.64835853e-02 -3.64661324e+01] [-8.44582391e-02 -7.12757600e-04 9.96426765e-01 -1.37410574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.731193817 meters 0.05998647352964579 Centerline is valid? [True, True] Translation: X:112.43, Y:-36.49, Z:-13.74 [[ 8.95685081e-01 4.38205487e-01 7.56583585e-02 1.12429161e+02] [-4.36705728e-01 8.98874631e-01 -3.62285089e-02 -3.64859062e+01] [-8.38829105e-02 -5.91103633e-04 9.96475443e-01 -1.37409872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.761193817 meters 0.059539404701103096 Centerline is valid? [True, True] Translation: X:112.46, Y:-36.51, Z:-13.74 [[ 8.96676440e-01 4.36290709e-01 7.49785176e-02 1.12456648e+02] [-4.34808975e-01 8.99805684e-01 -3.59289101e-02 -3.65053314e+01] [-8.31415460e-02 -3.84725190e-04 9.96537674e-01 -1.37409166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.791193817 meters 0.06023893076971793 Centerline is valid? [True, True] Translation: X:112.48, Y:-36.53, Z:-13.75 [[ 8.98753379e-01 4.31964673e-01 7.51590600e-02 1.12479768e+02] [-4.30457627e-01 9.01890525e-01 -3.60515224e-02 -3.65260205e+01] [-8.33582281e-02 4.86369748e-05 9.96519645e-01 -1.37508568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82119381700001 meters 0.060718214424657614 Centerline is valid? [True, True] Translation: X:112.51, Y:-36.54, Z:-13.76 [[ 9.00021163e-01 4.29434289e-01 7.44855464e-02 1.12505046e+02] [-4.27944530e-01 9.03098060e-01 -3.57403621e-02 -3.65445485e+01] [-8.26158894e-02 2.91400182e-04 9.96581422e-01 -1.37558839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85119381700001 meters 0.061229388627961415 Centerline is valid? [True, True] Translation: X:112.53, Y:-36.56, Z:-13.76 [[ 9.00919237e-01 4.27667668e-01 7.37895307e-02 1.12531508e+02] [-4.26198026e-01 9.03935919e-01 -3.54273372e-02 -3.65629648e+01] [-8.18521340e-02 4.68217305e-04 9.96644374e-01 -1.37617652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88119381700001 meters 0.06091665372894042 Centerline is valid? [True, True] Translation: X:112.56, Y:-36.58, Z:-13.76 [[ 9.01752890e-01 4.26234294e-01 7.18752511e-02 1.12559422e+02] [-4.24833828e-01 9.04612605e-01 -3.45290317e-02 -3.65800337e+01] [-7.97367155e-02 6.01616054e-04 9.96815777e-01 -1.37620242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91119381700001 meters 0.061954961698693155 Centerline is valid? [True, True] Translation: X:112.58, Y:-36.60, Z:-13.77 [[ 9.02933508e-01 4.24055133e-01 6.99165543e-02 1.12583298e+02] [-4.22721729e-01 9.05636027e-01 -3.36113852e-02 -3.66011842e+01] [-7.75720309e-02 7.93599240e-04 9.96986434e-01 -1.37688858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94119381700001 meters 0.062086660732077144 Centerline is valid? [True, True] Translation: X:112.61, Y:-36.62, Z:-13.77 [[ 9.02559417e-01 4.25075918e-01 6.85343893e-02 1.12611194e+02] [-4.23796160e-01 9.05157422e-01 -3.29674882e-02 -3.66173874e+01] [-7.60480965e-02 7.10505869e-04 9.97103897e-01 -1.37734699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.971193817 meters 0.06196545194103732 Centerline is valid? [True, True] Translation: X:112.64, Y:-36.63, Z:-13.78 [[ 9.01692898e-01 4.27009379e-01 6.79183861e-02 1.12640582e+02] [-4.25756419e-01 9.04247021e-01 -3.26924583e-02 -3.66323729e+01] [-7.53749846e-02 5.61868582e-04 9.97155101e-01 -1.37785737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.001193817 meters 0.06178722971377368 Centerline is valid? [True, True] Translation: X:112.67, Y:-36.64, Z:-13.78 [[ 9.00509798e-01 4.29741897e-01 6.63626763e-02 1.12669657e+02] [-4.28551179e-01 9.02951704e-01 -3.19704187e-02 -3.66449458e+01] [-7.36613200e-02 3.49872199e-04 9.97283253e-01 -1.37834327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.031193817 meters 0.061956883441764754 Centerline is valid? [True, True] Translation: X:112.70, Y:-36.65, Z:-13.79 [[ 8.97375886e-01 4.36639444e-01 6.37378723e-02 1.12699479e+02] [-4.35556970e-01 8.99636572e-01 -3.07272676e-02 -3.66530688e+01] [-7.07576580e-02 -1.87565557e-04 9.97493518e-01 -1.37919989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.061193817 meters 0.06138418641682163 Centerline is valid? [True, True] Translation: X:112.73, Y:-36.67, Z:-13.79 [[ 8.95773538e-01 4.39891492e-01 6.39159168e-02 1.12730728e+02] [-4.38810006e-01 8.98050828e-01 -3.08299961e-02 -3.66652186e+01] [-7.09615950e-02 -4.30249204e-04 9.97478956e-01 -1.37928155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.091193817 meters 0.061318902902950286 Centerline is valid? [True, True] Translation: X:112.76, Y:-36.68, Z:-13.80 [[ 8.93987470e-01 4.43221083e-01 6.58898736e-02 1.12760611e+02] [-4.42078550e-01 8.96412068e-01 -3.18113034e-02 -3.66761066e+01] [-7.31639182e-02 -6.89593159e-04 9.97319691e-01 -1.37961842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.121193817 meters 0.06132572524345496 Centerline is valid? [True, True] Translation: X:112.79, Y:-36.69, Z:-13.80 [[ 8.92492349e-01 4.45996790e-01 6.74112071e-02 1.12789631e+02] [-4.44806859e-01 8.95034091e-01 -3.25704477e-02 -3.66868986e+01] [-7.48616436e-02 -9.16091940e-04 9.97193509e-01 -1.37989473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.151193817 meters 0.06132572524345496 Centerline is valid? [True, True] Translation: X:112.82, Y:-36.70, Z:-13.80 [[ 8.92354624e-01 4.46273388e-01 6.74039212e-02 1.12818559e+02] [-4.45083107e-01 8.94896202e-01 -3.25855171e-02 -3.67011537e+01] [-7.48615621e-02 -9.22509822e-04 9.97193510e-01 -1.38026619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18119381700001 meters 0.06127291943972203 Centerline is valid? [True, True] Translation: X:112.85, Y:-36.71, Z:-13.80 [[ 8.90060022e-01 4.50146845e-01 7.18399325e-02 1.12846740e+02] [-4.48803767e-01 8.92953607e-01 -3.47711609e-02 -3.67129651e+01] [-7.98018553e-02 -1.29361211e-03 9.96809907e-01 -1.38016649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21119381700001 meters 0.061180076721216475 Centerline is valid? [True, True] Translation: X:112.87, Y:-36.73, Z:-13.80 [[ 8.89146565e-01 4.51487361e-01 7.46829867e-02 1.12874588e+02] [-4.50040906e-01 8.92276295e-01 -3.61413482e-02 -3.67273646e+01] [-8.29552206e-02 -1.47544342e-03 9.96552184e-01 -1.38026240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24119381700001 meters 0.06135069271573985 Centerline is valid? [True, True] Translation: X:112.90, Y:-36.74, Z:-13.80 [[ 8.88251258e-01 4.53085497e-01 7.56520695e-02 1.12903917e+02] [-4.51605180e-01 8.91465583e-01 -3.66316206e-02 -3.67424686e+01] [-8.40384723e-02 -1.62678335e-03 9.96461183e-01 -1.38048874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27119381700001 meters 0.0612710460331425 Centerline is valid? [True, True] Translation: X:112.93, Y:-36.76, Z:-13.80 [[ 8.87192467e-01 4.54541189e-01 7.92580232e-02 1.12930997e+02] [-4.52919021e-01 8.90723860e-01 -3.84104906e-02 -3.67580062e+01] [-8.80561624e-02 -1.81996838e-03 9.96113849e-01 -1.38046954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30119381700001 meters 0.06146319151456339 Centerline is valid? [True, True] Translation: X:112.96, Y:-36.77, Z:-13.81 [[ 8.86813247e-01 4.55159858e-01 7.99485341e-02 1.12957805e+02] [-4.53509602e-01 8.90407762e-01 -3.87692930e-02 -3.67731606e+01] [-8.88330213e-02 -1.87630527e-03 9.96044765e-01 -1.38068792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33119381700001 meters 0.061368930219812934 Centerline is valid? [True, True] Translation: X:112.99, Y:-36.79, Z:-13.81 [[ 8.86939698e-01 4.54967182e-01 7.96419195e-02 1.12985551e+02] [-4.53326873e-01 8.90506324e-01 -3.86423749e-02 -3.67904700e+01] [-8.85026454e-02 -1.83036597e-03 9.96074260e-01 -1.38112414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.361193817 meters 0.06156096449753521 Centerline is valid? [True, True] Translation: X:113.01, Y:-36.81, Z:-13.82 [[ 8.87171344e-01 4.54759042e-01 7.82382269e-02 1.13011842e+02] [-4.53172780e-01 8.90612793e-01 -3.79905951e-02 -3.68065313e+01] [-8.69565325e-02 -1.75126746e-03 9.96210567e-01 -1.38176189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.391193817 meters 0.062129939021151645 Centerline is valid? [True, True] Translation: X:113.04, Y:-36.82, Z:-13.83 [[ 8.87474585e-01 4.54593211e-01 7.57223446e-02 1.13036912e+02] [-4.53105108e-01 8.90697624e-01 -3.67900046e-02 -3.68240802e+01] [-8.41701987e-02 -1.65998707e-03 9.96450010e-01 -1.38271053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.421193817 meters 0.062416934449018406 Centerline is valid? [True, True] Translation: X:113.06, Y:-36.84, Z:-13.83 [[ 8.87526549e-01 4.54701262e-01 7.44539317e-02 1.13062699e+02] [-4.53260748e-01 8.90642547e-01 -3.62014891e-02 -3.68405965e+01] [-8.27727021e-02 -1.61726207e-03 9.96567140e-01 -1.38318339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.451193817 meters 0.06236764474411174 Centerline is valid? [True, True] Translation: X:113.09, Y:-36.86, Z:-13.84 [[ 8.87457065e-01 4.54902066e-01 7.40544968e-02 1.13089263e+02] [-4.53478039e-01 8.90539977e-01 -3.60030319e-02 -3.68586452e+01] [-8.23263435e-02 -1.63094292e-03 9.96604090e-01 -1.38358708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.481193817 meters 0.06276279309570353 Centerline is valid? [True, True] Translation: X:113.12, Y:-36.87, Z:-13.84 [[ 8.87043129e-01 4.55784874e-01 7.35842132e-02 1.13115320e+02] [-4.54379761e-01 8.90088384e-01 -3.58008460e-02 -3.68746016e+01] [-8.18139376e-02 -1.67828279e-03 9.96646208e-01 -1.38403523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.511193817 meters 0.06306895115328899 Centerline is valid? [True, True] Translation: X:113.14, Y:-36.89, Z:-13.84 [[ 8.86504008e-01 4.56782508e-01 7.38944171e-02 1.13143329e+02] [-4.55368387e-01 8.89576642e-01 -3.59587287e-02 -3.68910582e+01] [-8.21600657e-02 -1.77162438e-03 9.96617572e-01 -1.38447045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.541193817 meters 0.06433302249819378 Centerline is valid? [True, True] Translation: X:113.17, Y:-36.91, Z:-13.85 [[ 8.84938295e-01 4.60010988e-01 7.26230351e-02 1.13170489e+02] [-4.58653297e-01 8.87910958e-01 -3.53734990e-02 -3.69062642e+01] [-8.07549869e-02 -2.00543056e-03 9.96731965e-01 -1.38508762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57119381700001 meters 0.06571654642038623 Centerline is valid? [True, True] Translation: X:113.20, Y:-36.92, Z:-13.86 [[ 8.83525733e-01 4.62837655e-01 7.18580878e-02 1.13196633e+02] [-4.61517418e-01 8.86440244e-01 -3.50052320e-02 -3.69194795e+01] [-7.98996404e-02 -2.23573591e-03 9.96800406e-01 -1.38561764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60119381700001 meters 0.06710780222287434 Centerline is valid? [True, True] Translation: X:113.22, Y:-36.93, Z:-13.86 [[ 8.81955311e-01 4.65843795e-01 7.17243950e-02 1.13224760e+02] [-4.64538578e-01 8.84863425e-01 -3.49374930e-02 -3.69343072e+01] [-7.97417082e-02 -2.50544092e-03 9.96812411e-01 -1.38604834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63119381700001 meters 0.06973349858864973 Centerline is valid? [True, True] Translation: X:113.25, Y:-36.95, Z:-13.86 [[ 8.79376359e-01 4.70635110e-01 7.21097331e-02 1.13250895e+02] [-4.69331121e-01 8.82323017e-01 -3.51339193e-02 -3.69483018e+01] [-8.01593332e-02 -2.94740390e-03 9.96777705e-01 -1.38648204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66119381700001 meters 0.0691727622445837 Centerline is valid? [True, True] Translation: X:113.28, Y:-36.97, Z:-13.87 [[ 8.78361485e-01 4.72348546e-01 7.32663145e-02 1.13277586e+02] [-4.71008991e-01 8.81406181e-01 -3.56885875e-02 -3.69666789e+01] [-8.14348349e-02 -3.16161210e-03 9.96673654e-01 -1.38653932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69119381700001 meters 0.06598272229367287 Centerline is valid? [True, True] Translation: X:113.30, Y:-36.99, Z:-13.86 [[ 8.77213842e-01 4.74528858e-01 7.29262536e-02 1.13301541e+02] [-4.73207488e-01 8.80233650e-01 -3.55442674e-02 -3.69916909e+01] [-8.10589230e-02 -3.32932586e-03 9.96703751e-01 -1.38609462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.721193817 meters 0.07289904836751458 Centerline is valid? [True, True] Translation: X:113.33, Y:-37.00, Z:-13.88 [[ 8.76681982e-01 4.75386326e-01 7.37329206e-02 1.13334079e+02] [-4.74036678e-01 8.79770482e-01 -3.59600856e-02 -3.69954965e+01] [-8.19629800e-02 -3.42654958e-03 9.96629484e-01 -1.38754840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.751193817 meters 0.06707375753630923 Centerline is valid? [True, True] Translation: X:113.36, Y:-37.03, Z:-13.87 [[ 8.75948556e-01 4.76627220e-01 7.44353433e-02 1.13355870e+02] [-4.75253801e-01 8.79098333e-01 -3.63310479e-02 -3.70263539e+01] [-8.27523526e-02 -3.55155093e-03 9.96563814e-01 -1.38676564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.781193817 meters 0.0668269153357911 Centerline is valid? [True, True] Translation: X:113.38, Y:-37.05, Z:-13.87 [[ 8.75769682e-01 4.76639947e-01 7.64318396e-02 1.13381282e+02] [-4.75189049e-01 8.79091153e-01 -3.73378112e-02 -3.70493350e+01] [-8.49872463e-02 -3.62025013e-03 9.96375462e-01 -1.38679951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.811193817 meters 0.06571946111789177 Centerline is valid? [True, True] Translation: X:113.41, Y:-37.07, Z:-13.87 [[ 8.75481357e-01 4.77017867e-01 7.73715011e-02 1.13406780e+02] [-4.75532168e-01 8.78885813e-01 -3.78005810e-02 -3.70701059e+01] [-8.60322672e-02 -3.69893369e-03 9.96285485e-01 -1.38679241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.841193817 meters 0.06679634227339143 Centerline is valid? [True, True] Translation: X:113.43, Y:-37.09, Z:-13.87 [[ 8.75317334e-01 4.77295776e-01 7.75132688e-02 1.13434347e+02] [-4.75803160e-01 8.78734886e-01 -3.78992571e-02 -3.70857168e+01] [-8.62027687e-02 -3.70718158e-03 9.96270716e-01 -1.38734107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.871193817 meters 0.0678028692694646 Centerline is valid? [True, True] Translation: X:113.46, Y:-37.11, Z:-13.88 [[ 8.74495944e-01 4.78943032e-01 7.66186384e-02 1.13459527e+02] [-4.77489574e-01 8.77837718e-01 -3.74786296e-02 -3.71050443e+01] [-8.52088592e-02 -3.80969143e-03 9.96355828e-01 -1.38781290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.901193817 meters 0.06731893617589792 Centerline is valid? [True, True] Translation: X:113.49, Y:-37.12, Z:-13.88 [[ 8.74040825e-01 4.79783465e-01 7.65536611e-02 1.13486130e+02] [-4.78333742e-01 8.77378404e-01 -3.74695632e-02 -3.71242658e+01] [-8.51438059e-02 -3.86827125e-03 9.96361164e-01 -1.38813106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93119381700001 meters 0.06763732455913708 Centerline is valid? [True, True] Translation: X:113.51, Y:-37.14, Z:-13.89 [[ 8.73758654e-01 4.80516640e-01 7.51636391e-02 1.13512629e+02] [-4.79119786e-01 8.76977176e-01 -3.68139001e-02 -3.71422356e+01] [-8.36064875e-02 -3.84592286e-03 9.96491427e-01 -1.38871480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96119381700001 meters 0.06727218396613874 Centerline is valid? [True, True] Translation: X:113.54, Y:-37.17, Z:-13.89 [[ 8.73561220e-01 4.81160597e-01 7.33162670e-02 1.13535287e+02] [-4.79831387e-01 8.76624300e-01 -3.59399103e-02 -3.71685518e+01] [-8.15636899e-02 -3.78373423e-03 9.96660949e-01 -1.38905228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99119381700001 meters 0.06982280935797759 Centerline is valid? [True, True] Translation: X:113.56, Y:-37.18, Z:-13.90 [[ 8.73509826e-01 4.81368986e-01 7.25567549e-02 1.13563096e+02] [-4.80067860e-01 8.76509977e-01 -3.55683812e-02 -3.71815197e+01] [-8.07182352e-02 -3.76283555e-03 9.96729857e-01 -1.38985342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02119381700001 meters 0.06708015584255189 Centerline is valid? [True, True] Translation: X:113.59, Y:-37.21, Z:-13.90 [[ 8.73594312e-01 4.81270919e-01 7.21892010e-02 1.13587711e+02] [-4.79981074e-01 8.76564020e-01 -3.54074475e-02 -3.72056034e+01] [-8.03190310e-02 -3.71770543e-03 9.96762275e-01 -1.38984149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05119381700001 meters 0.0678620045180954 Centerline is valid? [True, True] Translation: X:113.61, Y:-37.22, Z:-13.90 [[ 8.73140048e-01 4.81978168e-01 7.29623339e-02 1.13614821e+02] [-4.80660689e-01 8.76174990e-01 -3.58146376e-02 -3.72219991e+01] [-8.11896456e-02 -3.79893134e-03 9.96691431e-01 -1.39040411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08119381700001 meters 0.06687685724673789 Centerline is valid? [True, True] Translation: X:113.64, Y:-37.25, Z:-13.91 [[ 8.71980146e-01 4.84133015e-01 7.25661680e-02 1.13637846e+02] [-4.82834633e-01 8.74985501e-01 -3.56523610e-02 -3.72471732e+01] [-8.07548298e-02 -3.94930814e-03 9.96726171e-01 -1.39065555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.111193817 meters 0.06679558829701478 Centerline is valid? [True, True] Translation: X:113.66, Y:-37.27, Z:-13.91 [[ 8.70880983e-01 4.86347804e-01 7.09374873e-02 1.13662878e+02] [-4.85114472e-01 8.73755869e-01 -3.48515416e-02 -3.72667292e+01] [-7.89320166e-02 -4.06125689e-03 9.96871728e-01 -1.39102627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.141193817 meters 0.07161512352508677 Centerline is valid? [True, True] Translation: X:113.69, Y:-37.28, Z:-13.92 [[ 8.69763925e-01 4.88233620e-01 7.16843524e-02 1.13691874e+02] [-4.86978781e-01 8.72702584e-01 -3.52401309e-02 -3.72753055e+01] [-7.97645363e-02 -4.25816401e-03 9.96804638e-01 -1.39206925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.171193817 meters 0.07269171830488969 Centerline is valid? [True, True] Translation: X:113.72, Y:-37.30, Z:-13.92 [[ 8.67932060e-01 4.91042531e-01 7.46402857e-02 1.13716486e+02] [-4.89690161e-01 8.71123019e-01 -3.67182733e-02 -3.72983328e+01] [-8.30511049e-02 -4.68164693e-03 9.96534293e-01 -1.39220811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.201193817 meters 0.07396518420712063 Centerline is valid? [True, True] Translation: X:113.74, Y:-37.32, Z:-13.93 [[ 8.67070208e-01 4.92357450e-01 7.59828617e-02 1.13743342e+02] [-4.90958872e-01 8.70379453e-01 -3.74031278e-02 -3.73154039e+01] [-8.45496302e-02 -4.87332221e-03 9.96407352e-01 -1.39254096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.231193817 meters 0.07496457773069357 Centerline is valid? [True, True] Translation: X:113.77, Y:-37.33, Z:-13.93 [[ 8.66247910e-01 4.93485299e-01 7.80180659e-02 1.13771320e+02] [-4.92013138e-01 8.69739203e-01 -3.84290221e-02 -3.73327441e+01] [-8.68195280e-02 -5.09685339e-03 9.96211018e-01 -1.39282642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.261193817 meters 0.0715152209358031 Centerline is valid? [True, True] Translation: X:113.80, Y:-37.36, Z:-13.93 [[ 8.65604851e-01 4.94419418e-01 7.92318198e-02 1.13795762e+02] [-4.92902446e-01 8.69207629e-01 -3.90547897e-02 -3.73585831e+01] [-8.81783486e-02 -5.24754231e-03 9.96090880e-01 -1.39275980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.291193817 meters 0.07204884027104728 Centerline is valid? [True, True] Translation: X:113.82, Y:-37.38, Z:-13.93 [[ 8.65394355e-01 4.94491529e-01 8.10600911e-02 1.13819291e+02] [-4.92900972e-01 8.69165992e-01 -3.99888733e-02 -3.73838177e+01] [-9.02288336e-02 -5.34845251e-03 9.95906698e-01 -1.39301833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32119381700001 meters 0.07653873978111754 Centerline is valid? [True, True] Translation: X:113.85, Y:-37.40, Z:-13.94 [[ 8.65419340e-01 4.94266022e-01 8.21612167e-02 1.13847293e+02] [-4.92628291e-01 8.69294097e-01 -4.05603118e-02 -3.73956623e+01] [-9.14698447e-02 -5.37326152e-03 9.95793350e-01 -1.39366498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35119381700001 meters 0.07514749860020403 Centerline is valid? [True, True] Translation: X:113.87, Y:-37.42, Z:-13.94 [[ 8.65604602e-01 4.93898206e-01 8.24210834e-02 1.13872334e+02] [-4.92245743e-01 8.69503419e-01 -4.07177252e-02 -3.74183454e+01] [-9.17758253e-02 -5.32597711e-03 9.95765450e-01 -1.39391425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38119381700001 meters 0.07103372414269524 Centerline is valid? [True, True] Translation: X:113.90, Y:-37.45, Z:-13.94 [[ 8.66219798e-01 4.92854685e-01 8.22041433e-02 1.13895166e+02] [-4.91205431e-01 8.70096135e-01 -4.06194611e-02 -3.74456496e+01] [-9.15449991e-02 -5.19374018e-03 9.95787396e-01 -1.39405970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41119381700001 meters 0.07203503561630833 Centerline is valid? [True, True] Translation: X:113.92, Y:-37.47, Z:-13.95 [[ 8.67625892e-01 4.90372248e-01 8.22214673e-02 1.13918012e+02] [-4.88710540e-01 8.71499162e-01 -4.06351837e-02 -3.74679027e+01] [-9.15823062e-02 -4.92636018e-03 9.95785324e-01 -1.39472869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44119381700001 meters 0.07042030676281477 Centerline is valid? [True, True] Translation: X:113.94, Y:-37.49, Z:-13.95 [[ 8.67879588e-01 4.89801151e-01 8.29448813e-02 1.13942666e+02] [-4.88105624e-01 8.71820451e-01 -4.10122093e-02 -3.74911113e+01] [-9.24008711e-02 -4.89220371e-03 9.95709870e-01 -1.39493049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.471193817 meters 0.06953806859357449 Centerline is valid? [True, True] Translation: X:113.97, Y:-37.51, Z:-13.95 [[ 8.68613962e-01 4.88350092e-01 8.38091451e-02 1.13967399e+02] [-4.86609598e-01 8.72634806e-01 -4.14679905e-02 -3.75116107e+01] [-9.33856741e-02 -4.76265886e-03 9.95618618e-01 -1.39520112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.501193817 meters 0.06896874104891786 Centerline is valid? [True, True] Translation: X:113.99, Y:-37.53, Z:-13.96 [[ 8.69324966e-01 4.86947700e-01 8.45933919e-02 1.13992881e+02] [-4.85165230e-01 8.73418849e-01 -4.18833316e-02 -3.75316784e+01] [-9.42804550e-02 -4.63154662e-03 9.95534904e-01 -1.39556460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.531193817 meters 0.068475728350069 Centerline is valid? [True, True] Translation: X:114.02, Y:-37.55, Z:-13.96 [[ 8.70913205e-01 4.84392322e-01 8.29112108e-02 1.14015194e+02] [-4.82668268e-01 8.74840498e-01 -4.10541869e-02 -3.75541991e+01] [-9.24204178e-02 -4.26397704e-03 9.95710944e-01 -1.39626871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.561193817 meters 0.06766712350478968 Centerline is valid? [True, True] Translation: X:114.04, Y:-37.57, Z:-13.97 [[ 8.71944764e-01 4.82601668e-01 8.25103598e-02 1.14041177e+02] [-4.80884405e-01 8.75830656e-01 -4.08760330e-02 -3.75733520e+01] [-9.19919442e-02 -4.03630241e-03 9.95751571e-01 -1.39681229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.591193817 meters 0.06687815222032228 Centerline is valid? [True, True] Translation: X:114.07, Y:-37.59, Z:-13.97 [[ 8.72972157e-01 4.80986368e-01 8.10661928e-02 1.14066476e+02] [-4.79321153e-01 8.76719877e-01 -4.01682624e-02 -3.75931495e+01] [-9.03927292e-02 -3.79096640e-03 9.95898982e-01 -1.39728876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.621193817 meters 0.06649027311110246 Centerline is valid? [True, True] Translation: X:114.09, Y:-37.61, Z:-13.98 [[ 8.73752148e-01 4.79715062e-01 8.01912885e-02 1.14092827e+02] [-4.78077659e-01 8.77416974e-01 -3.97643801e-02 -3.76125898e+01] [-8.94367698e-02 -3.59345098e-03 9.95986020e-01 -1.39775749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.651193817 meters 0.06507897827148071 Centerline is valid? [True, True] Translation: X:114.12, Y:-37.64, Z:-13.98 [[ 8.76017769e-01 4.75823221e-01 7.86455977e-02 1.14115623e+02] [-4.74231912e-01 8.79535387e-01 -3.90076450e-02 -3.76380820e+01] [-8.77323295e-02 -3.12486198e-03 9.96139184e-01 -1.39811675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68119381700001 meters 0.06441869227569211 Centerline is valid? [True, True] Translation: X:114.14, Y:-37.66, Z:-13.98 [[ 8.77052342e-01 4.74045015e-01 7.78492928e-02 1.14141677e+02] [-4.72478899e-01 8.80495776e-01 -3.86118919e-02 -3.76580310e+01] [-8.68497484e-02 -2.91749790e-03 9.96217150e-01 -1.39847339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71119381700001 meters 0.0640128306274743 Centerline is valid? [True, True] Translation: X:114.17, Y:-37.68, Z:-13.99 [[ 8.77930468e-01 4.72569678e-01 7.69154870e-02 1.14166866e+02] [-4.71032994e-01 8.81289131e-01 -3.81757278e-02 -3.76759849e+01] [-8.58254742e-02 -2.71409753e-03 9.96306490e-01 -1.39899019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74119381700001 meters 0.0637341556020954 Centerline is valid? [True, True] Translation: X:114.19, Y:-37.69, Z:-14.00 [[ 8.78931350e-01 4.70889035e-01 7.57839028e-02 1.14192857e+02] [-4.69390190e-01 8.82188898e-01 -3.76244246e-02 -3.76929311e+01] [-8.45726467e-02 -2.50293428e-03 9.96414172e-01 -1.39964442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77119381700001 meters 0.06343472689260492 Centerline is valid? [True, True] Translation: X:114.22, Y:-37.71, Z:-14.00 [[ 8.79471495e-01 4.70017203e-01 7.49247566e-02 1.14220059e+02] [-4.68547435e-01 8.82654061e-01 -3.72170731e-02 -3.77112052e+01] [-8.36253052e-02 -2.37444762e-03 9.96494441e-01 -1.40023237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80119381700001 meters 0.06211230306573311 Centerline is valid? [True, True] Translation: X:114.24, Y:-37.74, Z:-14.00 [[ 8.81063689e-01 4.66987674e-01 7.51617466e-02 1.14243161e+02] [-4.65495224e-01 8.84261405e-01 -3.73625947e-02 -3.77359378e+01] [-8.39105029e-02 -2.06860856e-03 9.96471148e-01 -1.40046659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83119381700001 meters 0.06256153887180589 Centerline is valid? [True, True] Translation: X:114.27, Y:-37.75, Z:-14.01 [[ 8.81656426e-01 4.65808411e-01 7.55279504e-02 1.14269177e+02] [-4.64295074e-01 8.84883462e-01 -3.75678619e-02 -3.77519475e+01] [-8.43328602e-02 -1.94530841e-03 9.96435740e-01 -1.40115999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.861193817 meters 0.061656724410687584 Centerline is valid? [True, True] Translation: X:114.29, Y:-37.77, Z:-14.01 [[ 8.82913786e-01 4.63282514e-01 7.63711974e-02 1.14293770e+02] [-4.61723745e-01 8.86209012e-01 -3.80101287e-02 -3.77745966e+01] [-8.52902713e-02 -1.70272865e-03 9.96354691e-01 -1.40126697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.891193817 meters 0.061320534552783426 Centerline is valid? [True, True] Translation: X:114.32, Y:-37.79, Z:-14.01 [[ 8.83263542e-01 4.62385043e-01 7.77533817e-02 1.14319817e+02] [-4.60763780e-01 8.86677749e-01 -3.87208974e-02 -3.77916654e+01] [-8.68461573e-02 -1.62518510e-03 9.96220409e-01 -1.40148003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.921193817 meters 0.060689858091858354 Centerline is valid? [True, True] Translation: X:114.35, Y:-37.81, Z:-14.01 [[ 8.83060610e-01 4.62511996e-01 7.92881613e-02 1.14346848e+02] [-4.60824598e-01 8.86611486e-01 -3.95064932e-02 -3.78107188e+01] [-8.85700215e-02 -1.65130715e-03 9.96068584e-01 -1.40132052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.951193817 meters 0.06060849710347295 Centerline is valid? [True, True] Translation: X:114.37, Y:-37.83, Z:-14.01 [[ 8.82624547e-01 4.63042329e-01 8.10290718e-02 1.14374422e+02] [-4.61279771e-01 8.86334500e-01 -4.03995996e-02 -3.78269564e+01] [-9.05255865e-02 -1.71939343e-03 9.95892646e-01 -1.40133228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.981193817 meters 0.060680838282234674 Centerline is valid? [True, True] Translation: X:114.40, Y:-37.84, Z:-14.01 [[ 8.81971011e-01 4.63959639e-01 8.28769529e-02 1.14402575e+02] [-4.62117219e-01 8.85854445e-01 -4.13470570e-02 -3.78417518e+01] [-9.26002828e-02 -1.83196130e-03 9.95701678e-01 -1.40142977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.011193817 meters 0.06045840002421716 Centerline is valid? [True, True] Translation: X:114.43, Y:-37.86, Z:-14.01 [[ 8.80387853e-01 4.66599212e-01 8.48669810e-02 1.14432595e+02] [-4.64676844e-01 8.84466283e-01 -4.23653807e-02 -3.78565521e+01] [-9.48296365e-02 -2.13775432e-03 9.95491220e-01 -1.40136973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.041193817 meters 0.06118705331345618 Centerline is valid? [True, True] Translation: X:114.46, Y:-37.87, Z:-14.02 [[ 8.79884151e-01 4.67469493e-01 8.53003741e-02 1.14461680e+02] [-4.65528106e-01 8.84006437e-01 -4.26169092e-02 -3.78672820e+01] [-9.53281848e-02 -2.21177862e-03 9.95443441e-01 -1.40190393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07119381700001 meters 0.06118705331345618 Centerline is valid? [True, True] Translation: X:114.49, Y:-37.88, Z:-14.02 [[ 8.79751608e-01 4.67719798e-01 8.52953614e-02 1.14490357e+02] [-4.65778613e-01 8.83873989e-01 -4.26269398e-02 -3.78818266e+01] [-9.53278150e-02 -2.22763626e-03 9.95443442e-01 -1.40227449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10119381700001 meters 0.06104473501432302 Centerline is valid? [True, True] Translation: X:114.52, Y:-37.90, Z:-14.03 [[ 8.79492310e-01 4.68299426e-01 8.47875215e-02 1.14518316e+02] [-4.66381105e-01 8.83566968e-01 -4.24037419e-02 -3.78968108e+01] [-9.47731013e-02 -2.24953304e-03 9.95496358e-01 -1.40265114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13119381700001 meters 0.06172000110383736 Centerline is valid? [True, True] Translation: X:114.55, Y:-37.91, Z:-14.03 [[ 8.79208177e-01 4.69099384e-01 8.32991590e-02 1.14546376e+02] [-4.67248794e-01 8.83142470e-01 -4.16886310e-02 -3.79081509e+01] [-9.31211361e-02 -2.26844631e-03 9.95652202e-01 -1.40325294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16119381700001 meters 0.06177949174339817 Centerline is valid? [True, True] Translation: X:114.57, Y:-37.92, Z:-14.04 [[ 8.79457576e-01 4.68813698e-01 8.22683906e-02 1.14573252e+02] [-4.67006440e-01 8.83294331e-01 -4.11838574e-02 -3.79219952e+01] [-9.19747595e-02 -2.20041281e-03 9.95758907e-01 -1.40372293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19119381700001 meters 0.06152998781002064 Centerline is valid? [True, True] Translation: X:114.60, Y:-37.94, Z:-14.04 [[ 8.79855326e-01 4.68234958e-01 8.13057709e-02 1.14601825e+02] [-4.66465707e-01 8.83601505e-01 -4.07200782e-02 -3.79378310e+01] [-9.09084656e-02 -2.09857617e-03 9.95857041e-01 -1.40419336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.221193817 meters 0.06138604125708929 Centerline is valid? [True, True] Translation: X:114.63, Y:-37.95, Z:-14.05 [[ 8.80322930e-01 4.67495323e-01 8.04963432e-02 1.14630553e+02] [-4.65755534e-01 8.83993335e-01 -4.03431160e-02 -3.79532078e+01] [-9.00184490e-02 -1.97664717e-03 9.95938136e-01 -1.40474820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.251193817 meters 0.06113248050004605 Centerline is valid? [True, True] Translation: X:114.66, Y:-37.97, Z:-14.05 [[ 8.81410326e-01 4.66026689e-01 7.70387140e-02 1.14657930e+02] [-4.64425480e-01 8.84768984e-01 -3.86370221e-02 -3.79681463e+01] [-8.61673482e-02 -1.72367146e-03 9.96279186e-01 -1.40549681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.281193817 meters 0.0611943018485496 Centerline is valid? [True, True] Translation: X:114.69, Y:-37.98, Z:-14.06 [[ 8.81752189e-01 4.65637521e-01 7.54637375e-02 1.14685891e+02] [-4.64097847e-01 8.84974034e-01 -3.78701497e-02 -3.79825912e+01] [-8.44172108e-02 -1.63047063e-03 9.96429163e-01 -1.40613069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.311193817 meters 0.06090949778898548 Centerline is valid? [True, True] Translation: X:114.71, Y:-38.00, Z:-14.06 [[ 8.81925305e-01 4.65333975e-01 7.53130069e-02 1.14714754e+02] [-4.63797473e-01 8.85133775e-01 -3.78167105e-02 -3.79984492e+01] [-8.42594863e-02 -1.57846838e-03 9.96442596e-01 -1.40648709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.341193817 meters 0.060881377353551584 Centerline is valid? [True, True] Translation: X:114.74, Y:-38.01, Z:-14.07 [[ 8.82168296e-01 4.64821511e-01 7.56310851e-02 1.14741129e+02] [-4.63267607e-01 8.85403119e-01 -3.80058020e-02 -3.80137115e+01] [-8.46299129e-02 -1.50991828e-03 9.96411310e-01 -1.40686269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.371193817 meters 0.060458579130709046 Centerline is valid? [True, True] Translation: X:114.77, Y:-38.03, Z:-14.07 [[ 8.82934289e-01 4.63194678e-01 7.66663633e-02 1.14768616e+02] [-4.61589392e-01 8.86255534e-01 -3.85533526e-02 -3.80314523e+01] [-8.58036965e-02 -1.34830303e-03 9.96311150e-01 -1.40715191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.401193817 meters 0.05966055223320397 Centerline is valid? [True, True] Translation: X:114.79, Y:-38.05, Z:-14.07 [[ 8.85147166e-01 4.59107215e-01 7.57301766e-02 1.14794161e+02] [-4.57525743e-01 8.88380373e-01 -3.80855338e-02 -3.80515041e+01] [-8.47625459e-02 -9.37203025e-04 9.96400739e-01 -1.40740379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43119381700001 meters 0.05951269982714821 Centerline is valid? [True, True] Translation: X:114.82, Y:-38.07, Z:-14.08 [[ 8.86135640e-01 4.57105664e-01 7.62760807e-02 1.14821520e+02] [-4.55491795e-01 8.89412098e-01 -3.83841705e-02 -3.80679211e+01] [-8.53864907e-02 -7.29547412e-04 9.96347638e-01 -1.40774892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46119381700001 meters 0.05929454958506109 Centerline is valid? [True, True] Translation: X:114.85, Y:-38.08, Z:-14.08 [[ 8.86835094e-01 4.55579837e-01 7.72691983e-02 1.14848660e+02] [-4.53915629e-01 8.90194748e-01 -3.89090179e-02 -3.80833130e+01] [-8.65107985e-02 -5.67814216e-04 9.96250751e-01 -1.40817966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49119381700001 meters 0.0589998399911774 Centerline is valid? [True, True] Translation: X:114.88, Y:-38.10, Z:-14.08 [[ 8.87508347e-01 4.54058417e-01 7.84849516e-02 1.14876004e+02] [-4.52333165e-01 8.90971824e-01 -3.95463869e-02 -3.81004001e+01] [-8.78842503e-02 -4.03598054e-04 9.96130612e-01 -1.40822018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52119381700001 meters 0.05898575345995628 Centerline is valid? [True, True] Translation: X:114.90, Y:-38.12, Z:-14.09 [[ 8.87959533e-01 4.53010898e-01 7.94291756e-02 1.14902686e+02] [-4.51237281e-01 8.91504934e-01 -4.00483270e-02 -3.81159101e+01] [-8.89538306e-02 -2.80111500e-04 9.96035711e-01 -1.40874569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55119381700001 meters 0.05859780407124465 Centerline is valid? [True, True] Translation: X:114.93, Y:-38.13, Z:-14.08 [[ 8.89351909e-01 4.49992415e-01 8.09938761e-02 1.14929888e+02] [-4.48133390e-01 8.93032376e-01 -4.08612295e-02 -3.81336228e+01] [-9.07173970e-02 4.39522341e-05 9.95876675e-01 -1.40848559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58119381700001 meters 0.05846156628360281 Centerline is valid? [True, True] Translation: X:114.96, Y:-38.15, Z:-14.09 [[ 8.89723002e-01 4.49174452e-01 8.14572937e-02 1.14958383e+02] [-4.47288315e-01 8.93444060e-01 -4.11202383e-02 -3.81479870e+01] [-9.12476957e-02 1.50726193e-04 9.95828216e-01 -1.40864722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.611193817 meters 0.058550171882975684 Centerline is valid? [True, True] Translation: X:114.99, Y:-38.16, Z:-14.09 [[ 8.90062680e-01 4.48462636e-01 8.16681718e-02 1.14986634e+02] [-4.46561370e-01 8.93801546e-01 -4.12521467e-02 -3.81613738e+01] [-9.14951846e-02 2.47145565e-04 9.95805488e-01 -1.40915163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.641193817 meters 0.05848306348296979 Centerline is valid? [True, True] Translation: X:115.02, Y:-38.17, Z:-14.10 [[ 8.90512350e-01 4.47471003e-01 8.22037469e-02 1.15015673e+02] [-4.45537773e-01 8.94298361e-01 -4.15515835e-02 -3.81721766e+01] [-9.21078049e-02 3.77324023e-04 9.95748969e-01 -1.40951023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.671193817 meters 0.05836651494043553 Centerline is valid? [True, True] Translation: X:115.05, Y:-38.18, Z:-14.10 [[ 8.90383520e-01 4.47697930e-01 8.23635267e-02 1.15046751e+02] [-4.45756138e-01 8.94184781e-01 -4.16538385e-02 -3.81846169e+01] [-9.22965495e-02 3.73843796e-04 9.95731494e-01 -1.40961395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.701193817 meters 0.058272376117938104 Centerline is valid? [True, True] Translation: X:115.08, Y:-38.20, Z:-14.10 [[ 8.89792209e-01 4.48953323e-01 8.19191019e-02 1.15077360e+02] [-4.47035086e-01 8.93555170e-01 -4.14582940e-02 -3.81957470e+01] [-9.18120759e-02 2.68554249e-04 9.95776316e-01 -1.40989990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.731193817 meters 0.05822700077806652 Centerline is valid? [True, True] Translation: X:115.11, Y:-38.20, Z:-14.10 [[ 8.88259751e-01 4.52011537e-01 8.17324057e-02 1.15110664e+02] [-4.50112170e-01 8.92012091e-01 -4.13940127e-02 -3.82026016e+01] [-9.16168653e-02 -2.01150762e-05 9.95794331e-01 -1.41022273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.761193817 meters 0.05822610262791365 Centerline is valid? [True, True] Translation: X:115.14, Y:-38.21, Z:-14.11 [[ 8.87055624e-01 4.54599766e-01 8.04448449e-02 1.15141582e+02] [-4.52767726e-01 8.90695789e-01 -4.07725217e-02 -3.82114776e+01] [-9.01870634e-02 -2.55334774e-04 9.95924811e-01 -1.41068849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.791193817 meters 0.0585640489161882 Centerline is valid? [True, True] Translation: X:115.17, Y:-38.22, Z:-14.11 [[ 8.85777293e-01 4.57134838e-01 8.01643819e-02 1.15171633e+02] [-4.55323532e-01 8.89397269e-01 -4.06568471e-02 -3.82189297e+01] [-8.98836436e-02 -4.87817561e-04 9.95952154e-01 -1.41135748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82119381700001 meters 0.058648573903791905 Centerline is valid? [True, True] Translation: X:115.20, Y:-38.23, Z:-14.12 [[ 8.84604491e-01 4.59452914e-01 7.98618402e-02 1.15202953e+02] [-4.57662589e-01 8.88201852e-01 -4.05268329e-02 -3.82280877e+01] [-8.95536059e-02 -6.99558177e-04 9.95981758e-01 -1.41173197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85119381700001 meters 0.05957838357832359 Centerline is valid? [True, True] Translation: X:115.24, Y:-38.23, Z:-14.12 [[ 8.81833628e-01 4.64898125e-01 7.89885160e-02 1.15235625e+02] [-4.63166017e-01 8.85363351e-01 -4.01120620e-02 -3.82317240e+01] [-8.85815596e-02 -1.21263123e-03 9.96068189e-01 -1.41219294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88119381700001 meters 0.06005208224775009 Centerline is valid? [True, True] Translation: X:115.27, Y:-38.24, Z:-14.13 [[ 8.80439339e-01 4.67800267e-01 7.73917391e-02 1.15265586e+02] [-4.66148036e-01 8.83832993e-01 -3.93096419e-02 -3.82424537e+01] [-8.67904334e-02 -1.46625212e-03 9.96225512e-01 -1.41256776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91119381700001 meters 0.06040396255611356 Centerline is valid? [True, True] Translation: X:115.30, Y:-38.25, Z:-14.13 [[ 8.79105194e-01 4.70232517e-01 7.78167005e-02 1.15296404e+02] [-4.68569745e-01 8.82540933e-01 -3.95461057e-02 -3.82522021e+01] [-8.72722883e-02 -1.69736464e-03 9.96183049e-01 -1.41297462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94119381700001 meters 0.06119594169368137 Centerline is valid? [True, True] Translation: X:115.33, Y:-38.26, Z:-14.13 [[ 8.77169044e-01 4.73787566e-01 7.81012808e-02 1.15327459e+02] [-4.72124336e-01 8.80636815e-01 -3.97166328e-02 -3.82586711e+01] [-8.75961099e-02 -2.03531450e-03 9.96153994e-01 -1.41348422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.971193817 meters 0.06164997990346439 Centerline is valid? [True, True] Translation: X:115.36, Y:-38.27, Z:-14.14 [[ 8.76533208e-01 4.74930720e-01 7.82965372e-02 1.15356094e+02] [-4.73261632e-01 8.80020600e-01 -3.98393200e-02 -3.82705391e+01] [-8.78234825e-02 -2.13426003e-03 9.96133767e-01 -1.41392308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.001193817 meters 0.061786567691170156 Centerline is valid? [True, True] Translation: X:115.38, Y:-38.28, Z:-14.14 [[ 8.75892327e-01 4.76102389e-01 7.83527076e-02 1.15384824e+02] [-4.74433579e-01 8.79387018e-01 -3.98905010e-02 -3.82843407e+01] [-8.78943167e-02 -2.23337176e-03 9.96127302e-01 -1.41420103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.031193817 meters 0.06197989738654755 Centerline is valid? [True, True] Translation: X:115.41, Y:-38.30, Z:-14.15 [[ 8.75411301e-01 4.76893638e-01 7.89145859e-02 1.15414312e+02] [-4.75201801e-01 8.78957981e-01 -4.02009533e-02 -3.82989867e+01] [-8.85341839e-02 -2.30798456e-03 9.96070465e-01 -1.41452950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.061193817 meters 0.061623255633565466 Centerline is valid? [True, True] Translation: X:115.44, Y:-38.32, Z:-14.15 [[ 8.74741912e-01 4.78115486e-01 7.89440866e-02 1.15441890e+02] [-4.76424738e-01 8.78293681e-01 -4.02452360e-02 -3.83166234e+01] [-8.85779630e-02 -2.40672111e-03 9.96066339e-01 -1.41452943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.091193817 meters 0.06205588397119915 Centerline is valid? [True, True] Translation: X:115.47, Y:-38.33, Z:-14.15 [[ 8.74555437e-01 4.78429939e-01 7.91048724e-02 1.15470564e+02] [-4.76731009e-01 8.78122398e-01 -4.03559136e-02 -3.83302388e+01] [-8.87712376e-02 -2.41826192e-03 9.96049105e-01 -1.41507166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.121193817 meters 0.06192827267792746 Centerline is valid? [True, True] Translation: X:115.50, Y:-38.35, Z:-14.15 [[ 8.74479598e-01 4.78462800e-01 7.97419674e-02 1.15498939e+02] [-4.76734521e-01 8.78104483e-01 -4.07027579e-02 -3.83461400e+01] [-8.94965345e-02 -2.42201725e-03 9.95984189e-01 -1.41534623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.151193817 meters 0.0624717087774292 Centerline is valid? [True, True] Translation: X:115.53, Y:-38.36, Z:-14.16 [[ 8.74080602e-01 4.79226480e-01 7.95303800e-02 1.15526391e+02] [-4.77510060e-01 8.77687750e-01 -4.05999638e-02 -3.83606830e+01] [-8.92594180e-02 -2.48891567e-03 9.96005302e-01 -1.41585806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18119381700001 meters 0.06222268871284681 Centerline is valid? [True, True] Translation: X:115.55, Y:-38.38, Z:-14.16 [[ 8.74159955e-01 4.79156421e-01 7.90790541e-02 1.15554703e+02] [-4.77457207e-01 8.77726114e-01 -4.03916436e-02 -3.83778303e+01] [-8.87636662e-02 -2.44810690e-03 9.96049707e-01 -1.41630884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21119381700001 meters 0.06230453894744617 Centerline is valid? [True, True] Translation: X:115.58, Y:-38.39, Z:-14.17 [[ 8.74166250e-01 4.79127917e-01 7.91821148e-02 1.15581455e+02] [-4.77421355e-01 8.77741749e-01 -4.04755576e-02 -3.83928442e+01] [-8.88944176e-02 -2.42086621e-03 9.96038113e-01 -1.41673959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24119381700001 meters 0.062498685991663847 Centerline is valid? [True, True] Translation: X:115.61, Y:-38.41, Z:-14.17 [[ 8.74172245e-01 4.79191908e-01 7.87273893e-02 1.15608992e+02] [-4.77503183e-01 8.77706891e-01 -4.02656579e-02 -3.84075823e+01] [-8.83945495e-02 -2.39345848e-03 9.96082665e-01 -1.41727402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27119381700001 meters 0.06207871935932324 Centerline is valid? [True, True] Translation: X:115.63, Y:-38.42, Z:-14.18 [[ 8.74946300e-01 4.77559279e-01 8.00381656e-02 1.15634538e+02] [-4.75804273e-01 8.78596676e-01 -4.09655432e-02 -3.84249749e+01] [-8.98847415e-02 -2.23985069e-03 9.95949656e-01 -1.41759126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30119381700001 meters 0.06134293902977465 Centerline is valid? [True, True] Translation: X:115.66, Y:-38.44, Z:-14.18 [[ 8.75490160e-01 4.76607044e-01 7.97665615e-02 1.15661001e+02] [-4.74858064e-01 8.79113900e-01 -4.08481266e-02 -3.84431746e+01] [-8.95923979e-02 -2.11566209e-03 9.95976268e-01 -1.41778856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33119381700001 meters 0.061513818167616405 Centerline is valid? [True, True] Translation: X:115.69, Y:-38.46, Z:-14.18 [[ 8.76108220e-01 4.75567782e-01 7.91812560e-02 1.15687765e+02] [-4.73837816e-01 8.79676872e-01 -4.05749274e-02 -3.84573954e+01] [-8.89500478e-02 -1.97104600e-03 9.96034138e-01 -1.41843580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.361193817 meters 0.06083223007232289 Centerline is valid? [True, True] Translation: X:115.72, Y:-38.48, Z:-14.19 [[ 8.76985215e-01 4.74146683e-01 7.79862545e-02 1.15715137e+02] [-4.72461120e-01 8.80444067e-01 -3.99841883e-02 -3.84762743e+01] [-8.76209053e-02 -1.77993119e-03 9.96152302e-01 -1.41869321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.391193817 meters 0.060494612254136354 Centerline is valid? [True, True] Translation: X:115.74, Y:-38.49, Z:-14.19 [[ 8.78494340e-01 4.71412280e-01 7.75767835e-02 1.15741602e+02] [-4.69731100e-01 8.81911727e-01 -3.98045152e-02 -3.84927474e+01] [-8.71802124e-02 -1.47218658e-03 9.96191469e-01 -1.41924504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.421193817 meters 0.06004626165334707 Centerline is valid? [True, True] Translation: X:115.77, Y:-38.51, Z:-14.19 [[ 8.79613827e-01 4.69409462e-01 7.70342331e-02 1.15768103e+02] [-4.67741926e-01 8.82979735e-01 -3.95509458e-02 -3.85108179e+01] [-8.65852549e-02 -1.24258175e-03 9.96243670e-01 -1.41947685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.451193817 meters 0.05943449830718581 Centerline is valid? [True, True] Translation: X:115.79, Y:-38.53, Z:-14.20 [[ 8.82284274e-01 4.64453636e-01 7.65328718e-02 1.15794118e+02] [-4.62786959e-01 8.85597137e-01 -3.93184540e-02 -3.85306860e+01] [-8.60388911e-02 -7.28361380e-04 9.96291513e-01 -1.41978685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.481193817 meters 0.05934785419474033 Centerline is valid? [True, True] Translation: X:115.82, Y:-38.55, Z:-14.20 [[ 8.83486059e-01 4.62165687e-01 7.65196731e-02 1.15819883e+02] [-4.60488758e-01 8.86793463e-01 -3.93377519e-02 -3.85471481e+01] [-8.60377050e-02 -4.82093840e-04 9.96291765e-01 -1.42034075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.511193817 meters 0.05910615747505322 Centerline is valid? [True, True] Translation: X:115.85, Y:-38.57, Z:-14.21 [[ 8.85085293e-01 4.59170596e-01 7.60683034e-02 1.15846372e+02] [-4.57500454e-01 8.88348093e-01 -3.91279924e-02 -3.85656165e+01] [-8.55415559e-02 -1.69672755e-04 9.96334589e-01 -1.42073264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.541193817 meters 0.059018663525641044 Centerline is valid? [True, True] Translation: X:115.87, Y:-38.58, Z:-14.21 [[ 8.86739860e-01 4.55822748e-01 7.69288201e-02 1.15872856e+02] [-4.54099613e-01 8.90070554e-01 -3.95973610e-02 -3.85842747e+01] [-8.65214554e-02 1.79210916e-04 9.96249971e-01 -1.42092680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57119381700001 meters 0.05944472785895599 Centerline is valid? [True, True] Translation: X:115.90, Y:-38.61, Z:-14.21 [[ 8.91121970e-01 4.46849189e-01 7.89141163e-02 1.15895811e+02] [-4.44998111e-01 8.94608620e-01 -4.06459993e-02 -3.86079032e+01] [-8.87598805e-02 1.10391028e-03 9.96052441e-01 -1.42116894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60119381700001 meters 0.059586061877438305 Centerline is valid? [True, True] Translation: X:115.92, Y:-38.63, Z:-14.21 [[ 8.93380079e-01 4.42222454e-01 7.94439172e-02 1.15922561e+02] [-4.40326035e-01 8.96903984e-01 -4.09417549e-02 -3.86261711e+01] [-8.93589292e-02 1.59532319e-03 9.95998211e-01 -1.42104051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63119381700001 meters 0.06104654737044801 Centerline is valid? [True, True] Translation: X:115.95, Y:-38.65, Z:-14.21 [[ 8.97835801e-01 4.32915420e-01 8.04680927e-02 1.15947039e+02] [-4.30929749e-01 9.01430850e-01 -4.14966794e-02 -3.86490544e+01] [-9.05009736e-02 2.58110945e-03 9.95893022e-01 -1.42115178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66119381700001 meters 0.06248305438150302 Centerline is valid? [True, True] Translation: X:115.97, Y:-38.67, Z:-14.22 [[ 8.99697889e-01 4.28921831e-01 8.10541287e-02 1.15971943e+02] [-4.26888259e-01 9.03336524e-01 -4.18274938e-02 -3.86673325e+01] [-9.11598802e-02 3.03105201e-03 9.95831657e-01 -1.42153145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69119381700001 meters 0.06316557527303981 Centerline is valid? [True, True] Translation: X:116.00, Y:-38.68, Z:-14.22 [[ 9.01144539e-01 4.25847260e-01 8.11950115e-02 1.15999147e+02] [-4.23792075e-01 9.04788795e-01 -4.19227085e-02 -3.86831272e+01] [-9.13170072e-02 3.36861738e-03 9.95816176e-01 -1.42180319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.721193817 meters 0.06340397411433742 Centerline is valid? [True, True] Translation: X:116.03, Y:-38.70, Z:-14.22 [[ 9.01924412e-01 4.24232954e-01 8.09861511e-02 1.16027829e+02] [-4.22179663e-01 9.05546153e-01 -4.18389426e-02 -3.86965972e+01] [-9.10861558e-02 3.54485771e-03 9.95836707e-01 -1.42199740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.751193817 meters 0.06459594341120496 Centerline is valid? [True, True] Translation: X:116.06, Y:-38.71, Z:-14.22 [[ 9.02385693e-01 4.23192154e-01 8.12924448e-02 1.16055405e+02] [-4.21116544e-01 9.06032446e-01 -4.20245509e-02 -3.87098608e+01] [-9.14380529e-02 3.68876011e-03 9.95803934e-01 -1.42247779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.781193817 meters 0.06420459122706863 Centerline is valid? [True, True] Translation: X:116.09, Y:-38.71, Z:-14.23 [[ 9.01802216e-01 4.24517487e-01 8.08558328e-02 1.16088668e+02] [-4.22468476e-01 9.05412799e-01 -4.18096953e-02 -3.87141707e+01] [-9.09568526e-02 3.54503537e-03 9.95848524e-01 -1.42289514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.811193817 meters 0.06384463156438414 Centerline is valid? [True, True] Translation: X:116.12, Y:-38.72, Z:-14.23 [[ 9.00789468e-01 4.26697464e-01 8.06697502e-02 1.16119985e+02] [-4.24664271e-01 9.04388255e-01 -4.17389671e-02 -3.87226689e+01] [-9.07666860e-02 3.34046127e-03 9.95866582e-01 -1.42326719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.841193817 meters 0.06271939833133697 Centerline is valid? [True, True] Translation: X:116.15, Y:-38.73, Z:-14.23 [[ 8.99617074e-01 4.29264903e-01 8.01296647e-02 1.16152485e+02] [-4.27266772e-01 9.03173369e-01 -4.14845784e-02 -3.87290685e+01] [-9.01788528e-02 3.08349186e-03 9.95920813e-01 -1.42346147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.871193817 meters 0.061127976722502204 Centerline is valid? [True, True] Translation: X:116.19, Y:-38.73, Z:-14.24 [[ 8.96945878e-01 4.34922572e-01 7.95641176e-02 1.16188696e+02] [-4.32972387e-01 9.00464325e-01 -4.12178557e-02 -3.87280333e+01] [-8.95712253e-02 2.52111980e-03 9.95977228e-01 -1.42365603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.901193817 meters 0.06130387341086335 Centerline is valid? [True, True] Translation: X:116.22, Y:-38.74, Z:-14.24 [[ 8.95395983e-01 4.38243496e-01 7.87951218e-02 1.16218701e+02] [-4.36341575e-01 8.98853628e-01 -4.08434316e-02 -3.87364686e+01] [-8.87246494e-02 2.18945705e-03 9.96053785e-01 -1.42431862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93119381700001 meters 0.06075412267945375 Centerline is valid? [True, True] Translation: X:116.25, Y:-38.74, Z:-14.25 [[ 8.93975684e-01 4.41168839e-01 7.85972723e-02 1.16251328e+02] [-4.39285627e-01 8.97422077e-01 -4.07646061e-02 -3.87427348e+01] [-8.85190013e-02 1.91591459e-03 9.96072646e-01 -1.42464410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96119381700001 meters 0.06075412267945375 Centerline is valid? [True, True] Translation: X:116.28, Y:-38.76, Z:-14.25 [[ 8.93853036e-01 4.41418979e-01 7.85877527e-02 1.16279798e+02] [-4.39535120e-01 8.97299075e-01 -4.07829487e-02 -3.87577188e+01] [-8.85190854e-02 1.91188514e-03 9.96072646e-01 -1.42501542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99119381700001 meters 0.059711748147545284 Centerline is valid? [True, True] Translation: X:116.31, Y:-38.76, Z:-14.25 [[ 8.92395149e-01 4.44411701e-01 7.82888086e-02 1.16313849e+02] [-4.42551153e-01 8.95821170e-01 -4.06559782e-02 -3.87613861e+01] [-8.82007646e-02 1.63439520e-03 9.96101377e-01 -1.42510444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02119381700001 meters 0.059343805237077996 Centerline is valid? [True, True] Translation: X:116.35, Y:-38.77, Z:-14.25 [[ 8.91003615e-01 4.47090037e-01 7.88863555e-02 1.16345860e+02] [-4.45209018e-01 8.94487858e-01 -4.09927051e-02 -3.87678825e+01] [-8.88903173e-02 1.40373154e-03 9.96040431e-01 -1.42549517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05119381700001 meters 0.058440939115726995 Centerline is valid? [True, True] Translation: X:116.38, Y:-38.77, Z:-14.26 [[ 8.87955491e-01 4.52810522e-01 8.06081729e-02 1.16382289e+02] [-4.50866868e-01 8.91606337e-01 -4.19190601e-02 -3.87662175e+01] [-9.08521492e-02 8.78705068e-04 9.95864004e-01 -1.42567053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08119381700001 meters 0.05836786718433158 Centerline is valid? [True, True] Translation: X:116.41, Y:-38.77, Z:-14.26 [[ 8.86217137e-01 4.56303697e-01 8.00382606e-02 1.16413649e+02] [-4.54401230e-01 8.89823951e-01 -4.16276075e-02 -3.87731887e+01] [-9.02147925e-02 5.21615061e-04 9.95922195e-01 -1.42602896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.111193817 meters 0.058328565531514324 Centerline is valid? [True, True] Translation: X:116.45, Y:-38.78, Z:-14.26 [[ 8.84259122e-01 4.60306752e-01 7.87622996e-02 1.16445839e+02] [-4.58478351e-01 8.87759921e-01 -4.09868895e-02 -3.87805978e+01] [-8.87885549e-02 1.32221698e-04 9.96050488e-01 -1.42632793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.141193817 meters 0.058496375911682004 Centerline is valid? [True, True] Translation: X:116.48, Y:-38.79, Z:-14.27 [[ 8.82200740e-01 4.64288133e-01 7.84753746e-02 1.16477618e+02] [-4.62486533e-01 8.85684182e-01 -4.08624196e-02 -3.87870317e+01] [-8.84763344e-02 -2.44947035e-04 9.96078249e-01 -1.42693032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.171193817 meters 0.059136967318903146 Centerline is valid? [True, True] Translation: X:116.51, Y:-38.79, Z:-14.28 [[ 8.77870656e-01 4.72788301e-01 7.62517827e-02 1.16513589e+02] [-4.71116600e-01 8.81175432e-01 -3.97367228e-02 -3.87855639e+01] [-8.59782552e-02 -1.03977772e-03 9.96296471e-01 -1.42758703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.201193817 meters 0.05948075021401416 Centerline is valid? [True, True] Translation: X:116.55, Y:-38.79, Z:-14.28 [[ 8.75660369e-01 4.76958645e-01 7.56925969e-02 1.16545109e+02] [-4.75326605e-01 8.78924566e-01 -3.94490316e-02 -3.87938758e+01] [-8.53436396e-02 -1.43475155e-03 9.96350543e-01 -1.42787926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.231193817 meters 0.060582544066221246 Centerline is valid? [True, True] Translation: X:116.58, Y:-38.80, Z:-14.28 [[ 8.73307676e-01 4.81579227e-01 7.35877185e-02 1.16575702e+02] [-4.80052579e-01 8.76400657e-01 -3.83589614e-02 -3.88010239e+01] [-8.29652038e-02 -1.82679864e-03 9.96550770e-01 -1.42845329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.261193817 meters 0.062342399396603625 Centerline is valid? [True, True] Translation: X:116.61, Y:-38.81, Z:-14.29 [[ 8.69761562e-01 4.88130023e-01 7.24148240e-02 1.16607774e+02] [-4.86672554e-01 8.72767642e-01 -3.77686192e-02 -3.88067911e+01] [-8.16373121e-02 -2.39261412e-03 9.96659232e-01 -1.42905481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.291193817 meters 0.0626042087879274 Centerline is valid? [True, True] Translation: X:116.64, Y:-38.82, Z:-14.29 [[ 8.68563427e-01 4.90295483e-01 7.21658703e-02 1.16637067e+02] [-4.88853882e-01 8.71552485e-01 -3.76582994e-02 -3.88195840e+01] [-8.13600377e-02 -2.56994433e-03 9.96681463e-01 -1.42931028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32119381700001 meters 0.06338576598754933 Centerline is valid? [True, True] Translation: X:116.67, Y:-38.83, Z:-14.30 [[ 8.67755481e-01 4.91727539e-01 7.21418929e-02 1.16665193e+02] [-4.90289424e-01 8.70745002e-01 -3.76752201e-02 -3.88311174e+01] [-8.13431359e-02 -2.67752843e-03 9.96682560e-01 -1.42974436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35119381700001 meters 0.06409160265048026 Centerline is valid? [True, True] Translation: X:116.69, Y:-38.84, Z:-14.30 [[ 8.67115212e-01 4.92839035e-01 7.22557563e-02 1.16693106e+02] [-4.91399586e-01 8.70116061e-01 -3.77423779e-02 -3.88439303e+01] [-8.14718112e-02 -2.77945873e-03 9.96671771e-01 -1.43021571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38119381700001 meters 0.06430112116113613 Centerline is valid? [True, True] Translation: X:116.72, Y:-38.86, Z:-14.31 [[ 8.66836761e-01 4.93298809e-01 7.24590522e-02 1.16722116e+02] [-4.91851163e-01 8.69855375e-01 -3.78689882e-02 -3.88595924e+01] [-8.17096228e-02 -2.81283801e-03 9.96652209e-01 -1.43063824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41119381700001 meters 0.06365954434187046 Centerline is valid? [True, True] Translation: X:116.75, Y:-38.88, Z:-14.31 [[ 8.67565608e-01 4.92070555e-01 7.20866536e-02 1.16748721e+02] [-4.90630747e-01 8.70551279e-01 -3.77086270e-02 -3.88787489e+01] [-8.13104335e-02 -2.65322080e-03 9.96685293e-01 -1.43100799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44119381700001 meters 0.06486957164887583 Centerline is valid? [True, True] Translation: X:116.78, Y:-38.89, Z:-14.32 [[ 8.67550398e-01 4.92110527e-01 7.19967793e-02 1.16776955e+02] [-4.90674309e-01 8.70528687e-01 -3.76633308e-02 -3.88923124e+01] [-8.12097833e-02 -2.65213232e-03 9.96693502e-01 -1.43172218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.471193817 meters 0.06332494658554773 Centerline is valid? [True, True] Translation: X:116.80, Y:-38.91, Z:-14.32 [[ 8.67579687e-01 4.91966493e-01 7.26254505e-02 1.16802542e+02] [-4.90502360e-01 8.70610135e-01 -3.80187804e-02 -3.89131992e+01] [-8.19324193e-02 -2.63863318e-03 9.96634394e-01 -1.43162857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.501193817 meters 0.06321535245699629 Centerline is valid? [True, True] Translation: X:116.83, Y:-38.93, Z:-14.32 [[ 8.67568344e-01 4.91727318e-01 7.43600266e-02 1.16828321e+02] [-4.90189249e-01 8.70745191e-01 -3.89526894e-02 -3.89337103e+01] [-8.39027371e-02 -2.65636539e-03 9.96470408e-01 -1.43172905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.531193817 meters 0.06322065672039892 Centerline is valid? [True, True] Translation: X:116.86, Y:-38.95, Z:-14.32 [[ 8.67622539e-01 4.91588306e-01 7.46462845e-02 1.16855142e+02] [-4.90035697e-01 8.70823757e-01 -3.91280049e-02 -3.89498080e+01] [-8.42386276e-02 -2.63100512e-03 9.96442137e-01 -1.43220809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.561193817 meters 0.06286396089887439 Centerline is valid? [True, True] Translation: X:116.88, Y:-38.97, Z:-14.33 [[ 8.67848565e-01 4.91108242e-01 7.51768762e-02 1.16882569e+02] [-4.89529023e-01 8.71094748e-01 -3.94369884e-02 -3.89673468e+01] [-8.48540121e-02 -2.57592895e-03 9.96390065e-01 -1.43258584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.591193817 meters 0.06244636227800447 Centerline is valid? [True, True] Translation: X:116.91, Y:-38.99, Z:-14.33 [[ 8.68396329e-01 4.89962914e-01 7.63161732e-02 1.16907651e+02] [-4.88330632e-01 8.71739698e-01 -4.00386308e-02 -3.89885810e+01] [-8.61452820e-02 -2.49812513e-03 9.96279454e-01 -1.43290298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.621193817 meters 0.06213086145858581 Centerline is valid? [True, True] Translation: X:116.93, Y:-39.01, Z:-14.33 [[ 8.69049806e-01 4.88874444e-01 7.58565261e-02 1.16932940e+02] [-4.87255458e-01 8.72350984e-01 -3.98230884e-02 -3.90086862e+01] [-8.56420055e-02 -2.35325915e-03 9.96323195e-01 -1.43320570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.651193817 meters 0.062231879037813013 Centerline is valid? [True, True] Translation: X:116.96, Y:-39.03, Z:-14.34 [[ 8.70192105e-01 4.86794277e-01 7.61382418e-02 1.16958444e+02] [-4.85152968e-01 8.73514042e-01 -3.99976933e-02 -3.90264039e+01] [-8.59784716e-02 -2.13301708e-03 9.96294712e-01 -1.43377208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68119381700001 meters 0.06116716189152888 Centerline is valid? [True, True] Translation: X:116.98, Y:-39.05, Z:-14.34 [[ 8.71526223e-01 4.84571857e-01 7.50477056e-02 1.16983717e+02] [-4.82967165e-01 8.74749468e-01 -3.94472436e-02 -3.90475979e+01] [-8.47629647e-02 -1.86627041e-03 9.96399396e-01 -1.43403207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71119381700001 meters 0.06042374683405414 Centerline is valid? [True, True] Translation: X:117.01, Y:-39.07, Z:-14.35 [[ 8.74432962e-01 4.79344844e-01 7.48031720e-02 1.17006263e+02] [-4.77729124e-01 8.77625633e-01 -3.93463112e-02 -3.90692428e+01] [-8.45096326e-02 -1.32994244e-03 9.96421775e-01 -1.43461212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74119381700001 meters 0.06002087240695444 Centerline is valid? [True, True] Translation: X:117.03, Y:-39.09, Z:-14.35 [[ 8.75937572e-01 4.76580227e-01 7.48642608e-02 1.17031424e+02] [-4.74950372e-01 8.79130358e-01 -3.93948907e-02 -3.90892000e+01] [-8.45902703e-02 -1.04934368e-03 9.96415267e-01 -1.43497460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77119381700001 meters 0.05973742224270687 Centerline is valid? [True, True] Translation: X:117.06, Y:-39.11, Z:-14.35 [[ 8.77433085e-01 4.73927997e-01 7.41851432e-02 1.17056686e+02] [-4.72316081e-01 8.80563268e-01 -3.90621321e-02 -3.91089412e+01] [-8.38373502e-02 -7.64428996e-04 9.96479159e-01 -1.43537259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80119381700001 meters 0.05939611089228996 Centerline is valid? [True, True] Translation: X:117.08, Y:-39.13, Z:-14.36 [[ 8.79109375e-01 4.70788201e-01 7.43315380e-02 1.17081518e+02] [-4.69156585e-01 8.82246152e-01 -3.91640842e-02 -3.91295179e+01] [-8.40167022e-02 -4.43616933e-04 9.96464248e-01 -1.43566386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83119381700001 meters 0.059203690054056075 Centerline is valid? [True, True] Translation: X:117.10, Y:-39.16, Z:-14.36 [[ 8.82821624e-01 4.63621051e-01 7.53757331e-02 1.17103322e+02] [-4.61914807e-01 8.86033549e-01 -3.97399196e-02 -3.91555026e+01] [-8.52096916e-02 2.66093205e-04 9.96363005e-01 -1.43592122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.861193817 meters 0.05909203326495494 Centerline is valid? [True, True] Translation: X:117.13, Y:-39.18, Z:-14.36 [[ 8.84434664e-01 4.60315421e-01 7.67140055e-02 1.17129234e+02] [-4.58533230e-01 8.87755220e-01 -4.04715477e-02 -3.91756581e+01] [-8.67329364e-02 6.18518932e-04 9.96231406e-01 -1.43615857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.891193817 meters 0.05929274632657142 Centerline is valid? [True, True] Translation: X:117.15, Y:-39.20, Z:-14.37 [[ 8.85700003e-01 4.57763211e-01 7.73844051e-02 1.17154738e+02] [-4.55937746e-01 8.89073695e-01 -4.08501744e-02 -3.91951209e+01] [-8.75001460e-02 8.98528362e-04 9.96164101e-01 -1.43665241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.921193817 meters 0.05911242707505039 Centerline is valid? [True, True] Translation: X:117.18, Y:-39.21, Z:-14.37 [[ 8.86716251e-01 4.55639782e-01 7.82731069e-02 1.17183194e+02] [-4.53761424e-01 8.90163512e-01 -4.13459979e-02 -3.92123503e+01] [-8.85147452e-02 1.14485181e-03 9.96074209e-01 -1.43672017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.951193817 meters 0.05902326161974214 Centerline is valid? [True, True] Translation: X:117.21, Y:-39.23, Z:-14.37 [[ 8.88280859e-01 4.52022638e-01 8.14410856e-02 1.17210696e+02] [-4.49970532e-01 8.92005036e-01 -4.30527100e-02 -3.92291640e+01] [-9.21066581e-02 1.59680960e-03 9.95747867e-01 -1.43690420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.981193817 meters 0.05922839410142553 Centerline is valid? [True, True] Translation: X:117.24, Y:-39.25, Z:-14.37 [[ 8.88877424e-01 4.50760670e-01 8.19252271e-02 1.17238660e+02] [-4.48676086e-01 8.92643103e-01 -4.33365890e-02 -3.92454786e+01] [-9.26644189e-02 1.76302541e-03 9.95695836e-01 -1.43713202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.011193817 meters 0.05953272329900985 Centerline is valid? [True, True] Translation: X:117.27, Y:-39.26, Z:-14.37 [[ 8.89159743e-01 4.50133510e-01 8.23090236e-02 1.17265752e+02] [-4.48024050e-01 8.92959326e-01 -4.35671153e-02 -3.92619827e+01] [-9.31096288e-02 1.86170294e-03 9.95654122e-01 -1.43741599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.041193817 meters 0.06044752373047227 Centerline is valid? [True, True] Translation: X:117.29, Y:-39.28, Z:-14.38 [[ 8.89569793e-01 4.49018975e-01 8.39496533e-02 1.17290721e+02] [-4.46816199e-01 8.93519873e-01 -4.44693177e-02 -3.92798982e+01] [-9.49782510e-02 2.04849678e-03 9.95477240e-01 -1.43784543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07119381700001 meters 0.06028610577755285 Centerline is valid? [True, True] Translation: X:117.32, Y:-39.29, Z:-14.38 [[ 8.91187881e-01 4.45452394e-01 8.57690296e-02 1.17321205e+02] [-4.43134988e-01 8.95302151e-01 -4.54471173e-02 -3.92915614e+01] [-9.70337239e-02 2.49466222e-03 9.95277968e-01 -1.43769464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10119381700001 meters 0.06060050825061115 Centerline is valid? [True, True] Translation: X:117.35, Y:-39.30, Z:-14.38 [[ 8.91845064e-01 4.44254498e-01 8.51488307e-02 1.17349958e+02] [-4.41962412e-01 8.95896767e-01 -4.51465182e-02 -3.93042176e+01] [-9.63411060e-02 2.63111679e-03 9.95344899e-01 -1.43812416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13119381700001 meters 0.06082846858409584 Centerline is valid? [True, True] Translation: X:117.38, Y:-39.32, Z:-14.39 [[ 8.91847548e-01 4.44265755e-01 8.50640389e-02 1.17380000e+02] [-4.41975896e-01 8.95891131e-01 -4.51263636e-02 -3.93166907e+01] [-9.62562160e-02 2.64958189e-03 9.95353063e-01 -1.43855088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16119381700001 meters 0.060736334163951244 Centerline is valid? [True, True] Translation: X:117.41, Y:-39.33, Z:-14.39 [[ 8.91298360e-01 4.45506719e-01 8.43267270e-02 1.17410223e+02] [-4.43258959e-01 8.95275042e-01 -4.47671029e-02 -3.93277292e+01] [-9.54396592e-02 2.52226816e-03 9.95432022e-01 -1.43901250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19119381700001 meters 0.06028647918385404 Centerline is valid? [True, True] Translation: X:117.44, Y:-39.33, Z:-14.40 [[ 8.88876011e-01 4.50888878e-01 8.12321176e-02 1.17443694e+02] [-4.48823416e-01 8.92578077e-01 -4.31499363e-02 -3.93291620e+01] [-9.19618337e-02 1.89606674e-03 9.95760727e-01 -1.43967772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.221193817 meters 0.060165686515865034 Centerline is valid? [True, True] Translation: X:117.47, Y:-39.34, Z:-14.40 [[ 8.87110752e-01 4.54792015e-01 7.87320587e-02 1.17474804e+02] [-4.52865267e-01 8.90596471e-01 -4.18446620e-02 -3.93357518e+01] [-8.91491118e-02 1.46583475e-03 9.96017212e-01 -1.44018592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.251193817 meters 0.05969589658591736 Centerline is valid? [True, True] Translation: X:117.51, Y:-39.34, Z:-14.40 [[ 8.84921532e-01 4.59424260e-01 7.64410370e-02 1.17508589e+02] [-4.57623704e-01 8.88216400e-01 -4.06469216e-02 -3.93421284e+01] [-8.65703645e-02 9.88105600e-04 9.96245249e-01 -1.44048890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.281193817 meters 0.05977515021474988 Centerline is valid? [True, True] Translation: X:117.54, Y:-39.35, Z:-14.41 [[ 8.83139856e-01 4.63157864e-01 7.44901940e-02 1.17539350e+02] [-4.61459003e-01 8.86275575e-01 -3.96382968e-02 -3.93488865e+01] [-8.43776283e-02 6.31989049e-04 9.96433649e-01 -1.44106550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.311193817 meters 0.05972832540011708 Centerline is valid? [True, True] Translation: X:117.57, Y:-39.36, Z:-14.41 [[ 8.80559148e-01 4.68294284e-01 7.29112451e-02 1.17572257e+02] [-4.66682619e-01 8.83572543e-01 -3.88187352e-02 -3.93553077e+01] [-8.26009661e-02 1.55781606e-04 9.96582689e-01 -1.44147217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.341193817 meters 0.05979411684147485 Centerline is valid? [True, True] Translation: X:117.61, Y:-39.35, Z:-14.42 [[ 8.75855635e-01 4.76957155e-01 7.34082989e-02 1.17610856e+02] [-4.75351756e-01 8.78926310e-01 -3.91056324e-02 -3.93532024e+01] [-8.31721964e-02 -6.43875232e-04 9.96534982e-01 -1.44167590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.371193817 meters 0.05999425194700179 Centerline is valid? [True, True] Translation: X:117.64, Y:-39.36, Z:-14.42 [[ 8.73432561e-01 4.81263316e-01 7.41699567e-02 1.17642775e+02] [-4.79637314e-01 8.76575463e-01 -3.95411734e-02 -3.93610163e+01] [-8.40452804e-02 -1.03813052e-03 9.96461396e-01 -1.44180613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.401193817 meters 0.062142783021308545 Centerline is valid? [True, True] Translation: X:117.68, Y:-39.36, Z:-14.42 [[ 8.68703866e-01 4.89674492e-01 7.46490748e-02 1.17678162e+02] [-4.88055607e-01 8.71903392e-01 -3.98271168e-02 -3.93579951e+01] [-8.45891047e-02 -1.83492917e-03 9.96414229e-01 -1.44243147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43119381700001 meters 0.06337220925295986 Centerline is valid? [True, True] Translation: X:117.71, Y:-39.36, Z:-14.43 [[ 8.66405985e-01 4.93652184e-01 7.51544426e-02 1.17709438e+02] [-4.92025482e-01 8.69656567e-01 -4.01046256e-02 -3.93648559e+01] [-8.51562906e-02 -2.23101322e-03 9.96365108e-01 -1.44293365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46119381700001 meters 0.06316948720694948 Centerline is valid? [True, True] Translation: X:117.74, Y:-39.38, Z:-14.43 [[ 8.64392706e-01 4.97338128e-01 7.40272680e-02 1.17738337e+02] [-4.95771581e-01 8.67553085e-01 -3.95244794e-02 -3.93775092e+01] [-8.38796153e-02 -2.53594397e-03 9.96472669e-01 -1.44288444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49119381700001 meters 0.06413237982651823 Centerline is valid? [True, True] Translation: X:117.77, Y:-39.39, Z:-14.43 [[ 8.62207160e-01 5.01151016e-01 7.38002189e-02 1.17767867e+02] [-4.99606315e-01 8.65355050e-01 -3.94229282e-02 -3.93880317e+01] [-8.36202326e-02 -2.88032444e-03 9.96493533e-01 -1.44322730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52119381700001 meters 0.06579359794999515 Centerline is valid? [True, True] Translation: X:117.80, Y:-39.40, Z:-14.44 [[ 8.59561936e-01 5.05615651e-01 7.42030396e-02 1.17797234e+02] [-5.04068757e-01 8.62752474e-01 -3.96592517e-02 -3.93981622e+01] [-8.40711944e-02 -3.31385078e-03 9.96454240e-01 -1.44359341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55119381700001 meters 0.0654810549601568 Centerline is valid? [True, True] Translation: X:117.82, Y:-39.41, Z:-14.44 [[ 8.58564765e-01 5.07267622e-01 7.44721656e-02 1.17824427e+02] [-5.05714024e-01 8.61781590e-01 -3.98223342e-02 -3.94147611e+01] [-8.43793220e-02 -3.47156549e-03 9.96427658e-01 -1.44381930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58119381700001 meters 0.06609905238572815 Centerline is valid? [True, True] Translation: X:117.85, Y:-39.43, Z:-14.44 [[ 8.57776048e-01 5.08690657e-01 7.38516531e-02 1.17851605e+02] [-5.07165939e-01 8.60942014e-01 -3.95165682e-02 -3.94291396e+01] [-8.36837000e-02 -3.55867732e-03 9.96486013e-01 -1.44423391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.611193817 meters 0.06704475684439015 Centerline is valid? [True, True] Translation: X:117.88, Y:-39.44, Z:-14.45 [[ 8.57138371e-01 5.09975514e-01 7.23794727e-02 1.17879087e+02] [-5.08513761e-01 8.60181424e-01 -3.87514137e-02 -3.94432883e+01] [-8.20217500e-02 -3.59063423e-03 9.96624071e-01 -1.44480787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.641193817 meters 0.06692336337710113 Centerline is valid? [True, True] Translation: X:117.90, Y:-39.46, Z:-14.45 [[ 8.55852605e-01 5.12302101e-01 7.11538849e-02 1.17903918e+02] [-5.10895690e-01 8.58797211e-01 -3.81175093e-02 -3.94624955e+01] [-8.06344380e-02 -3.72924349e-03 9.96736766e-01 -1.44528627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.671193817 meters 0.06746210558162585 Centerline is valid? [True, True] Translation: X:117.93, Y:-39.48, Z:-14.46 [[ 8.55927538e-01 5.12031622e-01 7.21918733e-02 1.17930148e+02] [-5.10580753e-01 8.58958474e-01 -3.86992804e-02 -3.94778974e+01] [-8.18250766e-02 -3.73600120e-03 9.96639704e-01 -1.44585774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.701193817 meters 0.07002862850862483 Centerline is valid? [True, True] Translation: X:117.96, Y:-39.49, Z:-14.47 [[ 8.55313908e-01 5.13047587e-01 7.22515853e-02 1.17958053e+02] [-5.11597007e-01 8.58351635e-01 -3.87424043e-02 -3.94905966e+01] [-8.18939634e-02 -3.82677754e-03 9.96633701e-01 -1.44667854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.731193817 meters 0.0692339287960721 Centerline is valid? [True, True] Translation: X:117.98, Y:-39.52, Z:-14.47 [[ 8.54359460e-01 5.14435006e-01 7.36650341e-02 1.17981809e+02] [-5.12930311e-01 8.57519956e-01 -3.95224098e-02 -3.95160716e+01] [-8.35009479e-02 -4.01868422e-03 9.96499595e-01 -1.44691754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.761193817 meters 0.06897211458505823 Centerline is valid? [True, True] Translation: X:118.01, Y:-39.54, Z:-14.47 [[ 8.53748875e-01 5.15446743e-01 7.36716661e-02 1.18007543e+02] [-5.13943083e-01 8.56911841e-01 -3.95550766e-02 -3.95359502e+01] [-8.35186584e-02 -4.09294113e-03 9.96497808e-01 -1.44723757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.791193817 meters 0.07060810085687183 Centerline is valid? [True, True] Translation: X:118.03, Y:-39.55, Z:-14.48 [[ 8.53068663e-01 5.16524361e-01 7.40029747e-02 1.18034042e+02] [-5.15008988e-01 8.56262217e-01 -3.97587541e-02 -3.95514005e+01] [-8.39023163e-02 -4.19524990e-03 9.96465153e-01 -1.44781317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82119381700001 meters 0.06977059084161424 Centerline is valid? [True, True] Translation: X:118.06, Y:-39.57, Z:-14.48 [[ 8.52468235e-01 5.17530888e-01 7.38897010e-02 1.18059230e+02] [-5.16022059e-01 8.55653878e-01 -3.97199736e-02 -3.95727904e+01] [-8.37803224e-02 -4.26869984e-03 9.96475105e-01 -1.44793939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85119381700001 meters 0.0729781552774047 Centerline is valid? [True, True] Translation: X:118.08, Y:-39.59, Z:-14.49 [[ 8.51340482e-01 5.19377816e-01 7.39328619e-02 1.18084851e+02] [-5.17871634e-01 8.54533254e-01 -3.97729685e-02 -3.95885070e+01] [-8.38352865e-02 -4.42739382e-03 9.96469790e-01 -1.44869155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88119381700001 meters 0.0729781552774047 Centerline is valid? [True, True] Translation: X:118.11, Y:-39.60, Z:-14.49 [[ 8.51192394e-01 5.19620905e-01 7.39298545e-02 1.18113151e+02] [-5.18115150e-01 8.54385368e-01 -3.97785589e-02 -3.96039601e+01] [-8.38343568e-02 -4.44497093e-03 9.96469790e-01 -1.44906280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91119381700001 meters 0.07364060396894694 Centerline is valid? [True, True] Translation: X:118.14, Y:-39.62, Z:-14.49 [[ 8.50764567e-01 5.20398178e-01 7.33851985e-02 1.18139567e+02] [-5.18915081e-01 8.53912062e-01 -3.95136505e-02 -3.96221316e+01] [-8.32273379e-02 -4.46387243e-03 9.96520589e-01 -1.44946328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94119381700001 meters 0.07152934974118681 Centerline is valid? [True, True] Translation: X:118.16, Y:-39.64, Z:-14.50 [[ 8.50758428e-01 5.20293872e-01 7.41915359e-02 1.18163825e+02] [-5.18775547e-01 8.53975523e-01 -3.99717161e-02 -3.96441772e+01] [-8.41547946e-02 -4.48248026e-03 9.96442611e-01 -1.44959102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.971193817 meters 0.07140546492183761 Centerline is valid? [True, True] Translation: X:118.19, Y:-39.66, Z:-14.50 [[ 8.50921092e-01 5.19953715e-01 7.47089652e-02 1.18189789e+02] [-5.18410651e-01 8.54182801e-01 -4.02758001e-02 -3.96629652e+01] [-8.47566651e-02 -4.45839545e-03 9.96391705e-01 -1.44996295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.001193817 meters 0.07095056453341525 Centerline is valid? [True, True] Translation: X:118.21, Y:-39.69, Z:-14.50 [[ 8.51795963e-01 5.18255467e-01 7.65173707e-02 1.18211562e+02] [-5.16627176e-01 8.55214708e-01 -4.12815359e-02 -3.96865298e+01] [-8.68331624e-02 -4.36750749e-03 9.96213294e-01 -1.45019525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.031193817 meters 0.07033725284886394 Centerline is valid? [True, True] Translation: X:118.24, Y:-39.71, Z:-14.50 [[ 8.52540545e-01 5.16992456e-01 7.67686103e-02 1.18236653e+02] [-5.15347619e-01 8.55979424e-01 -4.14253281e-02 -3.97062726e+01] [-8.71289329e-02 -4.24574874e-03 9.96187996e-01 -1.45049355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.061193817 meters 0.07003489063150051 Centerline is valid? [True, True] Translation: X:118.26, Y:-39.73, Z:-14.51 [[ 8.53165873e-01 5.15905808e-01 7.71309882e-02 1.18261709e+02] [-5.14239050e-01 8.56635332e-01 -4.16426046e-02 -3.97250287e+01] [-8.75567913e-02 -4.13571700e-03 9.96150944e-01 -1.45095865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.091193817 meters 0.06947560250991854 Centerline is valid? [True, True] Translation: X:118.29, Y:-39.74, Z:-14.51 [[ 8.54000135e-01 5.14561923e-01 7.68752020e-02 1.18287019e+02] [-5.12898808e-01 8.57444054e-01 -4.15271832e-02 -3.97449908e+01] [-8.72844921e-02 -3.96497940e-03 9.96175535e-01 -1.45138864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.121193817 meters 0.06607365128702519 Centerline is valid? [True, True] Translation: X:118.31, Y:-39.77, Z:-14.52 [[ 8.56971059e-01 5.09820402e-01 7.53907299e-02 1.18307387e+02] [-5.08200149e-01 8.60274188e-01 -4.07545111e-02 -3.97738235e+01] [-8.56341802e-02 -3.38814361e-03 9.96320886e-01 -1.45184059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.151193817 meters 0.06489582626549344 Centerline is valid? [True, True] Translation: X:118.33, Y:-39.79, Z:-14.52 [[ 8.59066606e-01 5.06241637e-01 7.56569279e-02 1.18330899e+02] [-5.04595751e-01 8.62386323e-01 -4.09018114e-02 -3.97939329e+01] [-8.59516998e-02 -3.03878399e-03 9.96294671e-01 -1.45232742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18119381700001 meters 0.06346663716723916 Centerline is valid? [True, True] Translation: X:118.35, Y:-39.82, Z:-14.53 [[ 8.61379957e-01 5.02150954e-01 7.66093229e-02 1.18354353e+02] [-5.00445199e-01 8.64775940e-01 -4.14388175e-02 -3.98157387e+01] [-8.70584410e-02 -2.64420096e-03 9.96199697e-01 -1.45273708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21119381700001 meters 0.06173851044429857 Centerline is valid? [True, True] Translation: X:118.38, Y:-39.84, Z:-14.53 [[ 8.64859667e-01 4.96220905e-01 7.60432167e-02 1.18376120e+02] [-4.94515523e-01 8.68193967e-01 -4.11537710e-02 -3.98395040e+01] [-8.64416234e-02 -2.01231444e-03 9.96254885e-01 -1.45312968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24119381700001 meters 0.059174588058863366 Centerline is valid? [True, True] Translation: X:118.39, Y:-39.87, Z:-14.53 [[ 8.71909993e-01 4.83716213e-01 7.61024856e-02 1.18392339e+02] [-4.81958437e-01 8.75224579e-01 -4.12068223e-02 -3.98748890e+01] [-8.65391739e-02 -7.49594879e-04 9.96248167e-01 -1.45325355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27119381700001 meters 0.05870758311075345 Centerline is valid? [True, True] Translation: X:118.41, Y:-39.90, Z:-14.54 [[ 8.75432869e-01 4.77205521e-01 7.67605496e-02 1.18414049e+02] [-4.75390157e-01 8.78791718e-01 -4.15850368e-02 -3.98989424e+01] [-8.73011443e-02 -8.63016843e-05 9.96181963e-01 -1.45352768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30119381700001 meters 0.058854684917959546 Centerline is valid? [True, True] Translation: X:118.44, Y:-39.92, Z:-14.54 [[ 8.78926644e-01 4.70657073e-01 7.72649591e-02 1.18437509e+02] [-4.68790436e-01 8.82316028e-01 -4.18802335e-02 -3.99227082e+01] [-8.78833399e-02 5.88579186e-04 9.96130600e-01 -1.45390235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33119381700001 meters 0.05938668576437193 Centerline is valid? [True, True] Translation: X:118.46, Y:-39.94, Z:-14.54 [[ 8.82103099e-01 4.64581306e-01 7.78352977e-02 1.18461534e+02] [-4.62660870e-01 8.85529617e-01 -4.22163080e-02 -3.99447899e+01] [-8.85383688e-02 1.22778955e-03 9.96072010e-01 -1.45414946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.361193817 meters 0.06058298817310802 Centerline is valid? [True, True] Translation: X:118.48, Y:-39.97, Z:-14.54 [[ 8.86373348e-01 4.56142132e-01 7.92252689e-02 1.18484804e+02] [-4.54116203e-01 8.89904379e-01 -4.29961617e-02 -3.99688204e+01] [-9.01152747e-02 2.13317352e-03 9.95929057e-01 -1.45426366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.391193817 meters 0.06048607364828905 Centerline is valid? [True, True] Translation: X:118.51, Y:-39.98, Z:-14.54 [[ 8.87637330e-01 4.53577303e-01 7.97972422e-02 1.18513314e+02] [-4.51509474e-01 8.91213619e-01 -4.33298904e-02 -3.99841548e+01] [-9.07698439e-02 2.43201733e-03 9.95868927e-01 -1.45442631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.421193817 meters 0.0609475061138348 Centerline is valid? [True, True] Translation: X:118.54, Y:-40.00, Z:-14.55 [[ 8.88317717e-01 4.52111366e-01 8.05415798e-02 1.18541069e+02] [-4.49996166e-01 8.91957618e-01 -4.37613774e-02 -3.99996929e+01] [-9.16246918e-02 2.63060475e-03 9.95790136e-01 -1.45476668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.451193817 meters 0.06126889074618779 Centerline is valid? [True, True] Translation: X:118.57, Y:-40.01, Z:-14.55 [[ 8.88758622e-01 4.51234709e-01 8.05937344e-02 1.18569720e+02] [-4.49110686e-01 8.92401082e-01 -4.38166626e-02 -4.00141622e+01] [-9.16935349e-02 2.74692930e-03 9.95783486e-01 -1.45519429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.481193817 meters 0.06145780519588464 Centerline is valid? [True, True] Translation: X:118.60, Y:-40.02, Z:-14.56 [[ 8.88735891e-01 4.51223894e-01 8.09043482e-02 1.18600627e+02] [-4.49080933e-01 8.92406440e-01 -4.40120547e-02 -4.00238381e+01] [-9.20588521e-02 2.78249245e-03 9.95749680e-01 -1.45572489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.511193817 meters 0.06076675713029504 Centerline is valid? [True, True] Translation: X:118.63, Y:-40.03, Z:-14.56 [[ 8.88776044e-01 4.51090713e-01 8.12053749e-02 1.18632632e+02] [-4.48928568e-01 8.92473612e-01 -4.42039925e-02 -4.00336698e+01] [-9.24136648e-02 2.83203688e-03 9.95716674e-01 -1.45596667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.541193817 meters 0.061726004853519256 Centerline is valid? [True, True] Translation: X:118.66, Y:-40.05, Z:-14.57 [[ 8.88733999e-01 4.51063307e-01 8.18154711e-02 1.18659728e+02] [-4.48865009e-01 8.92487283e-01 -4.45719014e-02 -4.00471231e+01] [-9.31240167e-02 2.88846204e-03 9.95650327e-01 -1.45660390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57119381700001 meters 0.061890655964740596 Centerline is valid? [True, True] Translation: X:118.69, Y:-40.06, Z:-14.57 [[ 8.88504006e-01 4.51578009e-01 8.14735102e-02 1.18689962e+02] [-4.49399120e-01 8.92227142e-01 -4.43977225e-02 -4.00590025e+01] [-9.27419123e-02 2.83343049e-03 9.95686150e-01 -1.45695014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60119381700001 meters 0.06228540621981284 Centerline is valid? [True, True] Translation: X:118.72, Y:-40.07, Z:-14.58 [[ 8.88515424e-01 4.52039571e-01 7.87436855e-02 1.18720893e+02] [-4.50003596e-01 8.91993741e-01 -4.29409916e-02 -4.00651947e+01] [-8.96499020e-02 2.71879169e-03 9.95969630e-01 -1.45754849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63119381700001 meters 0.061303275290892106 Centerline is valid? [True, True] Translation: X:118.75, Y:-40.07, Z:-14.58 [[ 8.88110145e-01 4.53212089e-01 7.65452355e-02 1.18752745e+02] [-4.51291565e-01 8.91399098e-01 -4.17560876e-02 -4.00726675e+01] [-8.71567175e-02 2.53978584e-03 9.96191375e-01 -1.45788281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66119381700001 meters 0.061745163067288715 Centerline is valid? [True, True] Translation: X:118.78, Y:-40.08, Z:-14.59 [[ 8.87230886e-01 4.55367230e-01 7.39056208e-02 1.18782182e+02] [-4.53582523e-01 8.90300813e-01 -4.03405165e-02 -4.00827165e+01] [-8.41679835e-02 2.26905425e-03 9.96448996e-01 -1.45861066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69119381700001 meters 0.060473026387298776 Centerline is valid? [True, True] Translation: X:118.82, Y:-40.08, Z:-14.59 [[ 8.84547360e-01 4.61158136e-01 7.00652643e-02 1.18819800e+02] [-4.59571042e-01 8.87316442e-01 -3.82620943e-02 -4.00817037e+01] [-7.98149371e-02 1.64466794e-03 9.96808342e-01 -1.45903785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.721193817 meters 0.060428738221257404 Centerline is valid? [True, True] Translation: X:118.85, Y:-40.09, Z:-14.60 [[ 8.82941201e-01 4.64309121e-01 6.95116995e-02 1.18850814e+02] [-4.62754539e-01 8.85672147e-01 -3.79879549e-02 -4.00898100e+01] [-7.92027301e-02 1.37427605e-03 9.96857582e-01 -1.45960118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.751193817 meters 0.06013781131464278 Centerline is valid? [True, True] Translation: X:118.88, Y:-40.10, Z:-14.60 [[ 8.81404488e-01 4.67231262e-01 6.94339762e-02 1.18882734e+02] [-4.65687325e-01 8.84134417e-01 -3.79690336e-02 -4.00976261e+01] [-7.91292875e-02 1.13155395e-03 9.96863720e-01 -1.45998521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.781193817 meters 0.06038731885176684 Centerline is valid? [True, True] Translation: X:118.92, Y:-40.10, Z:-14.61 [[ 8.78747311e-01 4.72135487e-01 6.99374444e-02 1.18916526e+02] [-4.70582704e-01 8.81525706e-01 -3.82668065e-02 -4.00991061e+01] [-7.97187724e-02 7.15501640e-04 9.96817137e-01 -1.46073647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.811193817 meters 0.05911122046560728 Centerline is valid? [True, True] Translation: X:118.95, Y:-40.11, Z:-14.60 [[ 8.77404202e-01 4.74575274e-01 7.02863859e-02 1.18949471e+02] [-4.73012862e-01 8.80214770e-01 -3.84810373e-02 -4.01063370e+01] [-8.01292638e-02 5.17059249e-04 9.96784347e-01 -1.46033176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.841193817 meters 0.05886216717269177 Centerline is valid? [True, True] Translation: X:118.98, Y:-40.12, Z:-14.60 [[ 8.76788793e-01 4.75671195e-01 7.05572613e-02 1.18980487e+02] [-4.74098150e-01 8.79623055e-01 -3.86552113e-02 -4.01160763e+01] [-8.04509644e-02 4.41389047e-04 9.96758470e-01 -1.46036529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.871193817 meters 0.05892868615910139 Centerline is valid? [True, True] Translation: X:119.01, Y:-40.13, Z:-14.61 [[ 8.76350328e-01 4.76333529e-01 7.15295158e-02 1.19010055e+02] [-4.74716656e-01 8.79264580e-01 -3.92160182e-02 -4.01264668e+01] [-8.15732740e-02 4.10717881e-04 9.96667263e-01 -1.46057083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.901193817 meters 0.058746724261393726 Centerline is valid? [True, True] Translation: X:119.04, Y:-40.14, Z:-14.61 [[ 8.76286535e-01 4.76402873e-01 7.18485346e-02 1.19040755e+02] [-4.74769226e-01 8.79226998e-01 -3.94216655e-02 -4.01379153e+01] [-8.19517661e-02 4.33201535e-04 9.96636203e-01 -1.46074842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93119381700001 meters 0.058518237671085264 Centerline is valid? [True, True] Translation: X:119.07, Y:-40.15, Z:-14.61 [[ 8.76225722e-01 4.76174763e-01 7.40680671e-02 1.19074352e+02] [-4.74436758e-01 8.79350537e-01 -4.06496671e-02 -4.01452781e+01] [-8.44881402e-02 4.77670293e-04 9.96424370e-01 -1.46060904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96119381700001 meters 0.05851851613806564 Centerline is valid? [True, True] Translation: X:119.10, Y:-40.16, Z:-14.61 [[ 8.75781208e-01 4.76773651e-01 7.54596746e-02 1.19103392e+02] [-4.74971363e-01 8.79025995e-01 -4.14186576e-02 -4.01562801e+01] [-8.60783402e-02 4.32497483e-04 9.96288278e-01 -1.46073344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99119381700001 meters 0.0582953062562459 Centerline is valid? [True, True] Translation: X:119.13, Y:-40.17, Z:-14.61 [[ 8.75461541e-01 4.77284226e-01 7.59398337e-02 1.19134270e+02] [-4.75458578e-01 8.78748884e-01 -4.17077863e-02 -4.01676022e+01] [-8.66385126e-02 4.07317501e-04 9.96239731e-01 -1.46090438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02119381700001 meters 0.057993815705430954 Centerline is valid? [True, True] Translation: X:119.17, Y:-40.17, Z:-14.61 [[ 8.73596632e-01 4.80610544e-01 7.64357867e-02 1.19166748e+02] [-4.78771031e-01 8.76934145e-01 -4.20095931e-02 -4.01721161e+01] [-8.72194046e-02 1.04198589e-04 9.96189121e-01 -1.46127360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05119381700001 meters 0.057945993977969415 Centerline is valid? [True, True] Translation: X:119.20, Y:-40.18, Z:-14.62 [[ 8.72376698e-01 4.82885305e-01 7.60307738e-02 1.19197479e+02] [-4.81071706e-01 8.75683603e-01 -4.18119791e-02 -4.01823539e+01] [-8.67692922e-02 -1.00457818e-04 9.96228428e-01 -1.46169078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08119381700001 meters 0.05793591963551838 Centerline is valid? [True, True] Translation: X:119.23, Y:-40.19, Z:-14.62 [[ 8.71070293e-01 4.85392132e-01 7.50401364e-02 1.19228503e+02] [-4.83632368e-01 8.74296503e-01 -4.12959758e-02 -4.01927901e+01] [-8.56520706e-02 -3.20141149e-04 9.96325058e-01 -1.46211293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.111193817 meters 0.05815785337836937 Centerline is valid? [True, True] Translation: X:119.26, Y:-40.20, Z:-14.63 [[ 8.70117186e-01 4.87217284e-01 7.42657410e-02 1.19257687e+02] [-4.85498014e-01 8.73280652e-01 -4.08972116e-02 -4.02026042e+01] [-8.47806631e-02 -4.70503102e-04 9.96399527e-01 -1.46279145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.141193817 meters 0.05843611633909979 Centerline is valid? [True, True] Translation: X:119.29, Y:-40.21, Z:-14.63 [[ 8.69644120e-01 4.88392571e-01 7.20541570e-02 1.19287529e+02] [-4.86776482e-01 8.72623858e-01 -3.97021387e-02 -4.02140483e+01] [-8.22664061e-02 -5.47537604e-04 9.96610224e-01 -1.46347954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.171193817 meters 0.05894616804803546 Centerline is valid? [True, True] Translation: X:119.32, Y:-40.22, Z:-14.64 [[ 8.69299407e-01 4.89392202e-01 6.93816535e-02 1.19316824e+02] [-4.87894863e-01 8.72063599e-01 -3.82581067e-02 -4.02230211e+01] [-7.92284336e-02 -5.93202879e-04 9.96856310e-01 -1.46435472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.201193817 meters 0.05902823680276075 Centerline is valid? [True, True] Translation: X:119.34, Y:-40.24, Z:-14.65 [[ 8.69494742e-01 4.89289667e-01 6.76351590e-02 1.19344697e+02] [-4.87866127e-01 8.72121152e-01 -3.73006495e-02 -4.02380143e+01] [-7.72368751e-02 -5.64184479e-04 9.97012611e-01 -1.46475252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.231193817 meters 0.05943630360750223 Centerline is valid? [True, True] Translation: X:119.37, Y:-40.25, Z:-14.65 [[ 8.70189437e-01 4.88366073e-01 6.53369881e-02 1.19372251e+02] [-4.87032747e-01 8.72638749e-01 -3.60654478e-02 -4.02535004e+01] [-7.46287287e-02 -4.37481051e-04 9.97211292e-01 -1.46535053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.261193817 meters 0.06015741115235124 Centerline is valid? [True, True] Translation: X:119.40, Y:-40.27, Z:-14.66 [[ 8.72935324e-01 4.83702864e-01 6.33676515e-02 1.19397102e+02] [-4.82436656e-01 8.75232277e-01 -3.49762014e-02 -4.02716356e+01] [-7.23795027e-02 -3.89161520e-05 9.97377163e-01 -1.46606978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.291193817 meters 0.060441095328946065 Centerline is valid? [True, True] Translation: X:119.42, Y:-40.29, Z:-14.66 [[ 8.74883142e-01 4.80124563e-01 6.37172782e-02 1.19424048e+02] [-4.78833430e-01 8.77200278e-01 -3.51883355e-02 -4.02903911e+01] [-7.27875984e-02 2.75718650e-04 9.97347427e-01 -1.46644214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32119381700001 meters 0.06068406986624854 Centerline is valid? [True, True] Translation: X:119.45, Y:-40.31, Z:-14.67 [[ 8.77601116e-01 4.75137317e-01 6.37244906e-02 1.19450403e+02] [-4.73830690e-01 8.79911370e-01 -3.52201409e-02 -4.03087509e+01] [-7.28063071e-02 7.14615575e-04 9.97345843e-01 -1.46651450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35119381700001 meters 0.06310621809507648 Centerline is valid? [True, True] Translation: X:119.47, Y:-40.33, Z:-14.67 [[ 8.83124308e-01 4.64574016e-01 6.52873703e-02 1.19471662e+02] [-4.63171373e-01 8.85532753e-01 -3.61112607e-02 -4.03342300e+01] [-7.45904581e-02 1.65149114e-03 9.97212884e-01 -1.46660770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38119381700001 meters 0.06491396552783388 Centerline is valid? [True, True] Translation: X:119.50, Y:-40.36, Z:-14.67 [[ 8.86024521e-01 4.58862551e-01 6.63755056e-02 1.19496577e+02] [-4.57394162e-01 8.88504546e-01 -3.67457754e-02 -4.03562306e+01] [-7.58361987e-02 2.19788926e-03 9.97117867e-01 -1.46670936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41119381700001 meters 0.06635988633060097 Centerline is valid? [True, True] Translation: X:119.52, Y:-40.38, Z:-14.67 [[ 8.88042620e-01 4.54759823e-01 6.76299442e-02 1.19521494e+02] [-4.53223443e-01 8.90610330e-01 -3.74399618e-02 -4.03758428e+01] [-7.72581174e-02 2.59680564e-03 9.97007743e-01 -1.46679015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44119381700001 meters 0.0675126184015686 Centerline is valid? [True, True] Translation: X:119.55, Y:-40.39, Z:-14.67 [[ 8.89990235e-01 4.50750524e-01 6.88574308e-02 1.19548228e+02] [-4.49143212e-01 8.92644832e-01 -3.81520629e-02 -4.03939043e+01] [-7.86622920e-02 3.02811581e-03 9.96896722e-01 -1.46686323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.471193817 meters 0.06975155327886827 Centerline is valid? [True, True] Translation: X:119.58, Y:-40.41, Z:-14.67 [[ 8.91731040e-01 4.46959864e-01 7.10114958e-02 1.19575134e+02] [-4.45238134e-01 8.94547283e-01 -3.93466978e-02 -4.04096693e+01] [-8.11095354e-02 3.46964580e-03 9.96699155e-01 -1.46714413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.501193817 meters 0.0698746022360249 Centerline is valid? [True, True] Translation: X:119.60, Y:-40.42, Z:-14.68 [[ 8.91497506e-01 4.47372025e-01 7.13475161e-02 1.19604827e+02] [-4.45633258e-01 8.94341226e-01 -3.95571902e-02 -4.04226465e+01] [-8.15058053e-02 3.47031041e-03 9.96666825e-01 -1.46751947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.531193817 meters 0.06937629824495554 Centerline is valid? [True, True] Translation: X:119.63, Y:-40.43, Z:-14.68 [[ 8.90751502e-01 4.48760743e-01 7.19413476e-02 1.19634858e+02] [-4.46995129e-01 8.93645492e-01 -3.99135291e-02 -4.04338042e+01] [-8.22016860e-02 3.39560406e-03 9.96609930e-01 -1.46785650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.561193817 meters 0.06813680853337195 Centerline is valid? [True, True] Translation: X:119.67, Y:-40.44, Z:-14.68 [[ 8.89696529e-01 4.50596429e-01 7.35047322e-02 1.19665460e+02] [-4.48756237e-01 8.92721554e-01 -4.08174782e-02 -4.04427928e+01] [-8.40114687e-02 3.32946159e-03 9.96459225e-01 -1.46810079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.591193817 meters 0.06598437114168018 Centerline is valid? [True, True] Translation: X:119.70, Y:-40.45, Z:-14.68 [[ 8.86788597e-01 4.55924222e-01 7.57567700e-02 1.19697954e+02] [-4.53988177e-01 8.90013817e-01 -4.20730445e-02 -4.04462982e+01] [-8.66066921e-02 2.91721822e-03 9.96238310e-01 -1.46818655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.621193817 meters 0.06497849345278953 Centerline is valid? [True, True] Translation: X:119.73, Y:-40.46, Z:-14.69 [[ 8.85211649e-01 4.59166666e-01 7.46076997e-02 1.19729362e+02] [-4.57301085e-01 8.88346469e-01 -4.14278700e-02 -4.04559061e+01] [-8.52997835e-02 2.55425107e-03 9.96352058e-01 -1.46861481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.651193817 meters 0.06417701438429038 Centerline is valid? [True, True] Translation: X:119.76, Y:-40.46, Z:-14.69 [[ 8.83857229e-01 4.61972989e-01 7.33304647e-02 1.19760200e+02] [-4.60178292e-01 8.86891096e-01 -4.07446038e-02 -4.04648212e+01] [-8.38590426e-02 2.26732462e-03 9.96475047e-01 -1.46911053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68119381700001 meters 0.06347477977953545 Centerline is valid? [True, True] Translation: X:119.79, Y:-40.47, Z:-14.70 [[ 8.82683875e-01 4.64381322e-01 7.22437846e-02 1.19790843e+02] [-4.62645382e-01 8.85633028e-01 -4.01670237e-02 -4.04731755e+01] [-8.26342973e-02 2.03153080e-03 9.96577867e-01 -1.46969825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71119381700001 meters 0.06148862769409191 Centerline is valid? [True, True] Translation: X:119.83, Y:-40.47, Z:-14.70 [[ 8.81005298e-01 4.67708394e-01 7.12637554e-02 1.19827170e+02] [-4.66027816e-01 8.83881154e-01 -3.96507388e-02 -4.04741712e+01] [-8.15336737e-02 1.72161864e-03 9.96669101e-01 -1.47006107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74119381700001 meters 0.061355888841276275 Centerline is valid? [True, True] Translation: X:119.86, Y:-40.49, Z:-14.71 [[ 8.80120024e-01 4.69561434e-01 7.00057317e-02 1.19858303e+02] [-4.67945583e-01 8.82898488e-01 -3.89511352e-02 -4.04852125e+01] [-8.00979056e-02 1.52280114e-03 9.96785838e-01 -1.47064234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77119381700001 meters 0.061355888841276275 Centerline is valid? [True, True] Translation: X:119.89, Y:-40.50, Z:-14.71 [[ 8.79964492e-01 4.69854785e-01 6.99926633e-02 1.19886333e+02] [-4.68237994e-01 8.82742409e-01 -3.89746003e-02 -4.05010876e+01] [-8.00978947e-02 1.52304012e-03 9.96785838e-01 -1.47101396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80119381700001 meters 0.06300329865946541 Centerline is valid? [True, True] Translation: X:119.91, Y:-40.51, Z:-14.72 [[ 8.79511935e-01 4.70931299e-01 6.84285607e-02 1.19913480e+02] [-4.69386852e-01 8.82168744e-01 -3.81351491e-02 -4.05148119e+01] [-7.83245728e-02 1.42085209e-03 9.96926899e-01 -1.47215336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83119381700001 meters 0.06210964711324843 Centerline is valid? [True, True] Translation: X:119.94, Y:-40.53, Z:-14.72 [[ 8.79772478e-01 4.70600478e-01 6.73466989e-02 1.19943888e+02] [-4.69101867e-01 8.82345225e-01 -3.75545212e-02 -4.05261572e+01] [-7.70962138e-02 1.44697203e-03 9.97022608e-01 -1.47210587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.861193817 meters 0.06534037898641941 Centerline is valid? [True, True] Translation: X:119.97, Y:-40.54, Z:-14.73 [[ 8.81762475e-01 4.66775414e-01 6.79385822e-02 1.19969270e+02] [-4.65236874e-01 8.84374014e-01 -3.79111464e-02 -4.05433063e+01] [-7.77791077e-02 1.82109264e-03 9.96968953e-01 -1.47292637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.891193817 meters 0.06429305448685943 Centerline is valid? [True, True] Translation: X:120.00, Y:-40.56, Z:-14.73 [[ 8.83396484e-01 4.63460302e-01 6.93916413e-02 1.19999199e+02] [-4.61843003e-01 8.86115002e-01 -3.87458996e-02 -4.05564058e+01] [-7.94461607e-02 2.17994747e-03 9.96836775e-01 -1.47259903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.921193817 meters 0.06810781796787048 Centerline is valid? [True, True] Translation: X:120.02, Y:-40.58, Z:-14.73 [[ 8.84960309e-01 4.60330029e-01 7.02959129e-02 1.20023185e+02] [-4.58658149e-01 8.87744290e-01 -3.92782052e-02 -4.05757699e+01] [-8.04857326e-02 2.51785930e-03 9.96752581e-01 -1.47331489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.951193817 meters 0.06789740327819904 Centerline is valid? [True, True] Translation: X:120.05, Y:-40.58, Z:-14.73 [[ 8.87397127e-01 4.55560309e-01 7.06480232e-02 1.20054146e+02] [-4.53853866e-01 8.90199885e-01 -3.95073781e-02 -4.05847440e+01] [-8.08888555e-02 2.99485536e-03 9.96718628e-01 -1.47315076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.981193817 meters 0.07261887861124303 Centerline is valid? [True, True] Translation: X:120.08, Y:-40.60, Z:-14.74 [[ 8.88363462e-01 4.53616048e-01 7.10129573e-02 1.20078322e+02] [-4.51885931e-01 8.91191523e-01 -3.97086212e-02 -4.06041148e+01] [-8.12986134e-02 3.18593189e-03 9.96684697e-01 -1.47399824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.011193817 meters 0.06939415625185565 Centerline is valid? [True, True] Translation: X:120.11, Y:-40.61, Z:-14.74 [[ 8.89351683e-01 4.51649130e-01 7.11803844e-02 1.20111140e+02] [-4.49902061e-01 8.92189160e-01 -3.98326327e-02 -4.06118018e+01] [-8.14967412e-02 3.40101732e-03 9.96667805e-01 -1.47376979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.041193817 meters 0.07586365799037369 Centerline is valid? [True, True] Translation: X:120.13, Y:-40.63, Z:-14.75 [[ 8.90088200e-01 4.50180809e-01 7.12757643e-02 1.20133847e+02] [-4.48424276e-01 8.92930400e-01 -3.98869516e-02 -4.06326891e+01] [-8.16006369e-02 3.54112191e-03 9.96658817e-01 -1.47482690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07119381700001 meters 0.07355562694549433 Centerline is valid? [True, True] Translation: X:120.17, Y:-40.63, Z:-14.75 [[ 8.92491130e-01 4.45547445e-01 7.03353183e-02 1.20168322e+02] [-4.43820020e-01 8.95249648e-01 -3.93936110e-02 -4.06349225e+01] [-8.05193917e-02 3.94222598e-03 9.96745246e-01 -1.47477507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10119381700001 meters 0.07260752395757458 Centerline is valid? [True, True] Translation: X:120.20, Y:-40.64, Z:-14.75 [[ 8.93684375e-01 4.43327627e-01 6.92015345e-02 1.20199679e+02] [-4.41648842e-01 8.96350379e-01 -3.87595008e-02 -4.06435838e+01] [-7.92119792e-02 4.07598266e-03 9.96849461e-01 -1.47492698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13119381700001 meters 0.07696959675320722 Centerline is valid? [True, True] Translation: X:120.23, Y:-40.66, Z:-14.76 [[ 8.94200260e-01 4.42313725e-01 6.90251006e-02 1.20225559e+02] [-4.40640926e-01 8.96850792e-01 -3.86552830e-02 -4.06597928e+01] [-7.90029784e-02 4.15027985e-03 9.96865741e-01 -1.47568772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16119381700001 meters 0.07692464157690954 Centerline is valid? [True, True] Translation: X:120.26, Y:-40.67, Z:-14.76 [[ 8.94292640e-01 4.41903615e-01 7.04405417e-02 1.20256880e+02] [-4.40157479e-01 8.97052221e-01 -3.94804666e-02 -4.06703892e+01] [-8.06354053e-02 4.30215945e-03 9.96734379e-01 -1.47596747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19119381700001 meters 0.07468723240452155 Centerline is valid? [True, True] Translation: X:120.29, Y:-40.67, Z:-14.76 [[ 8.93519658e-01 4.43601334e-01 6.95735372e-02 1.20293931e+02] [-4.41902582e-01 8.96214827e-01 -3.90011691e-02 -4.06699683e+01] [-7.96538063e-02 4.10358550e-03 9.96814141e-01 -1.47626215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22119381700001 meters 0.07365309165338536 Centerline is valid? [True, True] Translation: X:120.33, Y:-40.68, Z:-14.77 [[ 8.92433164e-01 4.46098424e-01 6.75221811e-02 1.20326030e+02] [-4.44505060e-01 8.94975958e-01 -3.78587806e-02 -4.06769296e+01] [-7.73194710e-02 3.77248015e-03 9.96999232e-01 -1.47674667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.251193817 meters 0.07280127269547254 Centerline is valid? [True, True] Translation: X:120.36, Y:-40.68, Z:-14.77 [[ 8.91050674e-01 4.48941499e-01 6.69345023e-02 1.20356891e+02] [-4.47380993e-01 8.93554188e-01 -3.75654022e-02 -4.06832780e+01] [-7.66742728e-02 3.52745283e-03 9.97049955e-01 -1.47729658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.281193817 meters 0.06721096735970702 Centerline is valid? [True, True] Translation: X:120.40, Y:-40.68, Z:-14.77 [[ 8.88010748e-01 4.54950685e-01 6.67591650e-02 1.20395920e+02] [-4.53415011e-01 8.90511567e-01 -3.74696730e-02 -4.06767969e+01] [-7.64966620e-02 3.00386477e-03 9.97065313e-01 -1.47712258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.311193817 meters 0.06594351717307212 Centerline is valid? [True, True] Translation: X:120.43, Y:-40.69, Z:-14.77 [[ 8.86374959e-01 4.58036557e-01 6.73939500e-02 1.20427296e+02] [-4.56480578e-01 8.88929067e-01 -3.78232140e-02 -4.06853825e+01] [-7.72328558e-02 2.76152056e-03 9.97009258e-01 -1.47745596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.341193817 meters 0.06522700837216885 Centerline is valid? [True, True] Translation: X:120.46, Y:-40.70, Z:-14.78 [[ 8.85048916e-01 4.60641804e-01 6.70637359e-02 1.20458755e+02] [-4.59108837e-01 8.87582553e-01 -3.76335929e-02 -4.06951056e+01] [-7.68602081e-02 2.51801684e-03 9.97038699e-01 -1.47783424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.371193817 meters 0.0644043688527465 Centerline is valid? [True, True] Translation: X:120.49, Y:-40.70, Z:-14.78 [[ 8.83673540e-01 4.63244135e-01 6.72751486e-02 1.20490291e+02] [-4.61706923e-01 8.86227666e-01 -3.77788376e-02 -4.07042092e+01] [-7.71219228e-02 2.32275727e-03 9.97018964e-01 -1.47824969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.401193817 meters 0.06358585083674476 Centerline is valid? [True, True] Translation: X:120.52, Y:-40.71, Z:-14.79 [[ 8.82112777e-01 4.66315386e-01 6.65357847e-02 1.20523702e+02] [-4.64818489e-01 8.84616152e-01 -3.73903180e-02 -4.07067065e+01] [-7.62943104e-02 2.05541435e-03 9.97083223e-01 -1.47880638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43119381700001 meters 0.06336929932039333 Centerline is valid? [True, True] Translation: X:120.55, Y:-40.72, Z:-14.79 [[ 8.81092037e-01 4.68303983e-01 6.60923797e-02 1.20553954e+02] [-4.66830844e-01 8.83565393e-01 -3.71639455e-02 -4.07172156e+01] [-7.58009631e-02 1.89089502e-03 9.97121175e-01 -1.47932631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46119381700001 meters 0.06269554879618024 Centerline is valid? [True, True] Translation: X:120.58, Y:-40.73, Z:-14.80 [[ 8.79700233e-01 4.70972448e-01 6.56692682e-02 1.20584735e+02] [-4.69523667e-01 8.82146335e-01 -3.69509250e-02 -4.07279919e+01] [-7.53327718e-02 1.67246173e-03 9.97157047e-01 -1.47972586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49119381700001 meters 0.06201779358514643 Centerline is valid? [True, True] Translation: X:120.62, Y:-40.74, Z:-14.80 [[ 8.78421012e-01 4.73379939e-01 6.54825117e-02 1.20615305e+02] [-4.71944185e-01 8.80857100e-01 -3.68707887e-02 -4.07387625e+01] [-7.51346271e-02 1.48398488e-03 9.97172295e-01 -1.48004706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52119381700001 meters 0.06096322697688997 Centerline is valid? [True, True] Translation: X:120.65, Y:-40.74, Z:-14.80 [[ 8.76113765e-01 4.77399241e-01 6.71910380e-02 1.20647500e+02] [-4.75896216e-01 8.78685675e-01 -3.78718392e-02 -4.07429852e+01] [-7.71197898e-02 1.20407889e-03 9.97021107e-01 -1.48029734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55119381700001 meters 0.060436515798157085 Centerline is valid? [True, True] Translation: X:120.68, Y:-40.75, Z:-14.81 [[ 8.75115508e-01 4.79050441e-01 6.84362617e-02 1.20675860e+02] [-4.77495871e-01 8.77786708e-01 -3.85770404e-02 -4.07505758e+01] [-7.85527891e-02 1.08133396e-03 9.96909369e-01 -1.48063159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58119381700001 meters 0.059980043651280485 Centerline is valid? [True, True] Translation: X:120.70, Y:-40.76, Z:-14.81 [[ 8.74370128e-01 4.80420792e-01 6.83574565e-02 1.20704251e+02] [-4.78874556e-01 8.77037604e-01 -3.85253237e-02 -4.07585904e+01] [-7.84604264e-02 9.50745625e-04 9.96916776e-01 -1.48093290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.611193817 meters 0.05997362622923452 Centerline is valid? [True, True] Translation: X:120.73, Y:-40.77, Z:-14.81 [[ 8.73886145e-01 4.81425187e-01 6.74744037e-02 1.20730504e+02] [-4.79922190e-01 8.76486781e-01 -3.80212298e-02 -4.07674824e+01] [-7.74448005e-02 8.43762383e-04 9.96996284e-01 -1.48136226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.641193817 meters 0.060058642894304126 Centerline is valid? [True, True] Translation: X:120.76, Y:-40.77, Z:-14.82 [[ 8.72836095e-01 4.83393457e-01 6.69919237e-02 1.20757562e+02] [-4.81918258e-01 8.75402955e-01 -3.77420107e-02 -4.07742912e+01] [-7.68891690e-02 6.57958057e-04 9.97039429e-01 -1.48184011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.671193817 meters 0.05997304505269386 Centerline is valid? [True, True] Translation: X:120.78, Y:-40.78, Z:-14.82 [[ 8.72883613e-01 4.83220464e-01 6.76179036e-02 1.20783222e+02] [-4.81718014e-01 8.75498450e-01 -3.80817411e-02 -4.07844366e+01] [-7.76012464e-02 6.68165597e-04 9.96984253e-01 -1.48219757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.701193817 meters 0.0598587940320655 Centerline is valid? [True, True] Translation: X:120.81, Y:-40.79, Z:-14.82 [[ 8.72805468e-01 4.83344559e-01 6.77396007e-02 1.20810000e+02] [-4.81838229e-01 8.75429964e-01 -3.81352859e-02 -4.07948973e+01] [-7.77337591e-02 6.45156842e-04 9.96973945e-01 -1.48248550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.731193817 meters 0.0596248132425856 Centerline is valid? [True, True] Translation: X:120.84, Y:-40.81, Z:-14.83 [[ 8.73686659e-01 4.81720119e-01 6.79510684e-02 1.20836194e+02] [-4.80200005e-01 8.76324774e-01 -3.82471730e-02 -4.08072707e+01] [-7.79716374e-02 7.85941383e-04 9.96955268e-01 -1.48258939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.761193817 meters 0.06194832331384212 Centerline is valid? [True, True] Translation: X:120.86, Y:-40.83, Z:-14.83 [[ 8.77239671e-01 4.75229740e-01 6.78767546e-02 1.20856948e+02] [-4.73694149e-01 8.79860704e-01 -3.81967814e-02 -4.08266839e+01] [-7.78743355e-02 1.35491040e-03 9.96962262e-01 -1.48342795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.791193817 meters 0.06396219135187059 Centerline is valid? [True, True] Translation: X:120.88, Y:-40.85, Z:-14.84 [[ 8.79935455e-01 4.70195257e-01 6.80442205e-02 1.20877640e+02] [-4.68637409e-01 8.82560580e-01 -3.82857953e-02 -4.08466408e+01] [-7.80549461e-02 1.80096158e-03 9.96947432e-01 -1.48379266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82119381700001 meters 0.06380781044861615 Centerline is valid? [True, True] Translation: X:120.90, Y:-40.86, Z:-14.83 [[ 8.83218402e-01 4.63904132e-01 6.86892413e-02 1.20903367e+02] [-4.62298361e-01 8.85882236e-01 -3.86379334e-02 -4.08648792e+01] [-7.87748756e-02 2.37081016e-03 9.96889612e-01 -1.48334468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85119381700001 meters 0.06618401380586253 Centerline is valid? [True, True] Translation: X:120.93, Y:-40.89, Z:-14.83 [[ 8.86688312e-01 4.57113266e-01 6.95075501e-02 1.20926852e+02] [-4.55447895e-01 8.89403387e-01 -3.91002445e-02 -4.08859414e+01] [-7.96934910e-02 3.01266241e-03 9.96814863e-01 -1.48349378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88119381700001 meters 0.07235853522785012 Centerline is valid? [True, True] Translation: X:120.95, Y:-40.91, Z:-14.84 [[ 8.92710824e-01 4.45077613e-01 7.05216547e-02 1.20947698e+02] [-4.43325459e-01 8.95482375e-01 -3.96718180e-02 -4.09095651e+01] [-8.08079369e-02 4.15141635e-03 9.96721046e-01 -1.48371706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91119381700001 meters 0.07379820336586755 Centerline is valid? [True, True] Translation: X:120.97, Y:-40.93, Z:-14.84 [[ 8.94384679e-01 4.41670822e-01 7.07314062e-02 1.20974417e+02] [-4.39897264e-01 8.97166008e-01 -3.97938547e-02 -4.09253774e+01] [-8.10335979e-02 4.47646185e-03 9.96701318e-01 -1.48394220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94119381700001 meters 0.07547918233788883 Centerline is valid? [True, True] Translation: X:121.00, Y:-40.94, Z:-14.84 [[ 8.94884024e-01 4.40645366e-01 7.08113399e-02 1.21000847e+02] [-4.38864857e-01 8.97669629e-01 -3.98356047e-02 -4.09409372e+01] [-8.11185638e-02 4.57163762e-03 9.96693974e-01 -1.48432823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97119381700001 meters 0.07774278945313197 Centerline is valid? [True, True] Translation: X:121.03, Y:-40.96, Z:-14.85 [[ 8.94570272e-01 4.41231924e-01 7.11225481e-02 1.21027476e+02] [-4.39435428e-01 8.97381513e-01 -4.00365500e-02 -4.09570627e+01] [-8.14894638e-02 4.56174014e-03 9.96663764e-01 -1.48486463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.001193817 meters 0.07402989558087816 Centerline is valid? [True, True] Translation: X:121.06, Y:-40.96, Z:-14.85 [[ 8.93937959e-01 4.42787286e-01 6.93854784e-02 1.21062918e+02] [-4.41080470e-01 8.96616225e-01 -3.90815156e-02 -4.09596271e+01] [-7.95169439e-02 4.33187087e-03 9.96824102e-01 -1.48508576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03119381700003 meters 0.0732763896539224 Centerline is valid? [True, True] Translation: X:121.09, Y:-40.97, Z:-14.86 [[ 8.93457193e-01 4.43855504e-01 6.87498141e-02 1.21094412e+02] [-4.42180312e-01 8.96088395e-01 -3.87577118e-02 -4.09694989e+01] [-7.88087342e-02 4.22854214e-03 9.96880787e-01 -1.48558948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06119381700003 meters 0.07236194074072554 Centerline is valid? [True, True] Translation: X:121.13, Y:-40.97, Z:-14.86 [[ 8.92420929e-01 4.46386467e-01 6.57571814e-02 1.21126832e+02] [-4.44859852e-01 8.94832023e-01 -3.70858757e-02 -4.09711031e+01] [-7.53962647e-02 3.84348167e-03 9.97146244e-01 -1.48639188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09119381700003 meters 0.07167443939252889 Centerline is valid? [True, True] Translation: X:121.16, Y:-40.98, Z:-14.87 [[ 8.91697007e-01 4.47815132e-01 6.58639083e-02 1.21155424e+02] [-4.46287562e-01 8.94118401e-01 -3.71442612e-02 -4.09788623e+01] [-7.55238946e-02 3.72718347e-03 9.97137026e-01 -1.48673137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12119381700003 meters 0.07132999279208352 Centerline is valid? [True, True] Translation: X:121.18, Y:-40.99, Z:-14.87 [[ 8.91059446e-01 4.48974072e-01 6.65983884e-02 1.21182807e+02] [-4.47415919e-01 8.93537274e-01 -3.75517647e-02 -4.09868620e+01] [-7.63679111e-02 3.66367551e-03 9.97072976e-01 -1.48704426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15119381700003 meters 0.07042376548871175 Centerline is valid? [True, True] Translation: X:121.21, Y:-41.00, Z:-14.87 [[ 8.90243768e-01 4.50445068e-01 6.75668133e-02 1.21211569e+02] [-4.48846290e-01 8.92796971e-01 -3.80864497e-02 -4.09952013e+01] [-7.74792997e-02 3.57911103e-03 9.96987537e-01 -1.48720181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.181193817 meters 0.0697567645292724 Centerline is valid? [True, True] Translation: X:121.24, Y:-41.00, Z:-14.87 [[ 8.89205878e-01 4.52317151e-01 6.87175404e-02 1.21239945e+02] [-4.50669443e-01 8.91850415e-01 -3.87284110e-02 -4.10037910e+01] [-7.88032915e-02 3.46863503e-03 9.96884151e-01 -1.48742501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.211193817 meters 0.06709011033831205 Centerline is valid? [True, True] Translation: X:121.28, Y:-41.00, Z:-14.88 [[ 8.86333219e-01 4.57928775e-01 6.86633916e-02 1.21275052e+02] [-4.56300754e-01 8.88983943e-01 -3.86932877e-02 -4.10029077e+01] [-7.87594225e-02 2.96398886e-03 9.96889246e-01 -1.48782166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.241193817 meters 0.06577994570428153 Centerline is valid? [True, True] Translation: X:121.31, Y:-41.01, Z:-14.88 [[ 8.84664123e-01 4.61140804e-01 6.86916857e-02 1.21305026e+02] [-4.59520438e-01 8.87322907e-01 -3.87172530e-02 -4.10083895e+01] [-7.88058114e-02 2.68653121e-03 9.96886366e-01 -1.48826431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.271193817 meters 0.06453418157003542 Centerline is valid? [True, True] Translation: X:121.33, Y:-41.01, Z:-14.89 [[ 8.82792887e-01 4.64629276e-01 6.92557175e-02 1.21334434e+02] [-4.62995463e-01 8.85502140e-01 -3.90020804e-02 -4.10145798e+01] [-7.94475944e-02 2.36567624e-03 9.96836237e-01 -1.48867625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.301193817 meters 0.061981692230839366 Centerline is valid? [True, True] Translation: X:121.37, Y:-41.01, Z:-14.89 [[ 8.78979091e-01 4.71742272e-01 6.96777313e-02 1.21368289e+02] [-4.70110950e-01 8.81734785e-01 -3.92360019e-02 -4.10130702e+01] [-7.99465601e-02 1.73136087e-03 9.96797647e-01 -1.48908900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.331193817 meters 0.060753077640987085 Centerline is valid? [True, True] Translation: X:121.40, Y:-41.02, Z:-14.89 [[ 8.77286222e-01 4.74738571e-01 7.06553163e-02 1.21396943e+02] [-4.73070935e-01 8.80125620e-01 -3.97842138e-02 -4.10201958e+01] [-8.10726549e-02 1.47716606e-03 9.96707100e-01 -1.48929613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36119381700001 meters 0.05995915426508945 Centerline is valid? [True, True] Translation: X:121.42, Y:-41.03, Z:-14.90 [[ 8.75479159e-01 4.78118535e-01 7.02773671e-02 1.21424999e+02] [-4.76479550e-01 8.78294555e-01 -3.95716252e-02 -4.10274568e+01] [-8.06441563e-02 1.15840490e-03 9.96742283e-01 -1.48974804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39119381700002 meters 0.0593507429782299 Centerline is valid? [True, True] Translation: X:121.46, Y:-41.03, Z:-14.91 [[ 8.71532007e-01 4.85512096e-01 6.86291900e-02 1.21455373e+02] [-4.83974297e-01 8.74229839e-01 -3.86143565e-02 -4.10287510e+01] [-7.87454229e-02 4.38883612e-04 9.96894661e-01 -1.49052623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42119381700002 meters 0.05950653595607703 Centerline is valid? [True, True] Translation: X:121.48, Y:-41.04, Z:-14.91 [[ 8.70070951e-01 4.88352771e-01 6.69933674e-02 1.21481726e+02] [-4.86896443e-01 8.72646286e-01 -3.76870341e-02 -4.10400651e+01] [-7.68660808e-02 1.71561309e-04 9.97041411e-01 -1.49107427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45119381700002 meters 0.05982490626306656 Centerline is valid? [True, True] Translation: X:121.51, Y:-41.05, Z:-14.92 [[ 8.68916808e-01 4.90672585e-01 6.49922725e-02 1.21506011e+02] [-4.89310809e-01 8.71344025e-01 -3.65311000e-02 -4.10536518e+01] [-7.45554377e-02 -5.89346752e-05 9.97216869e-01 -1.49158085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48119381700002 meters 0.0601755899835709 Centerline is valid? [True, True] Translation: X:121.53, Y:-41.07, Z:-14.92 [[ 8.68306410e-01 4.91792746e-01 6.46828699e-02 1.21529109e+02] [-4.90447636e-01 8.70712277e-01 -3.63489603e-02 -4.10679404e+01] [-7.41963239e-02 -1.61525420e-04 9.97243641e-01 -1.49209250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51119381700002 meters 0.060139434081166156 Centerline is valid? [True, True] Translation: X:121.55, Y:-41.08, Z:-14.92 [[ 8.67676595e-01 4.92893866e-01 6.47530894e-02 1.21552292e+02] [-4.91549374e-01 8.70089402e-01 -3.63819304e-02 -4.10812166e+01] [-7.42734073e-02 -2.61591039e-04 9.97237882e-01 -1.49230944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54119381700002 meters 0.05975003916650398 Centerline is valid? [True, True] Translation: X:121.58, Y:-41.10, Z:-14.92 [[ 8.67921530e-01 4.92452694e-01 6.48271780e-02 1.21576093e+02] [-4.91104117e-01 8.70339183e-01 -3.64204981e-02 -4.10966563e+01] [-7.43570056e-02 -2.26759630e-04 9.97231660e-01 -1.49234792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57119381700002 meters 0.060206556990428824 Centerline is valid? [True, True] Translation: X:121.60, Y:-41.11, Z:-14.93 [[ 8.68126373e-01 4.92011694e-01 6.54300670e-02 1.21597721e+02] [-4.90639463e-01 8.70588561e-01 -3.67215784e-02 -4.11136589e+01] [-7.50301138e-02 -2.23602243e-04 9.97181243e-01 -1.49293771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60119381700002 meters 0.05975294434917367 Centerline is valid? [True, True] Translation: X:121.62, Y:-41.13, Z:-14.93 [[ 8.68967762e-01 4.90534622e-01 6.53514622e-02 1.21618357e+02] [-4.89161424e-01 8.71421698e-01 -3.66786797e-02 -4.11338547e+01] [-7.49408444e-02 -9.48241770e-05 9.97187977e-01 -1.49290189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63119381700002 meters 0.060397983497864516 Centerline is valid? [True, True] Translation: X:121.63, Y:-41.16, Z:-14.93 [[ 8.71522857e-01 4.85823867e-01 6.65062373e-02 1.21634090e+02] [-4.84390191e-01 8.74056684e-01 -3.72968760e-02 -4.11628637e+01] [-7.62499338e-02 2.90110971e-04 9.97088694e-01 -1.49348044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66119381700003 meters 0.0600965058072593 Centerline is valid? [True, True] Translation: X:121.66, Y:-41.18, Z:-14.93 [[ 8.73736061e-01 4.81916740e-01 6.58904555e-02 1.21656253e+02] [-4.80500166e-01 8.76216805e-01 -3.69283233e-02 -4.11837941e+01] [-7.55307016e-02 6.05232931e-04 9.97143293e-01 -1.49335478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69119381700003 meters 0.0600965058072593 Centerline is valid? [True, True] Translation: X:121.68, Y:-41.20, Z:-14.94 [[ 8.73887456e-01 4.81640866e-01 6.58998494e-02 1.21680251e+02] [-4.80224773e-01 8.76368475e-01 -3.69115497e-02 -4.11969192e+01] [-7.55306613e-02 6.09800031e-04 9.97143293e-01 -1.49366889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72119381700003 meters 0.06121494264899451 Centerline is valid? [True, True] Translation: X:121.70, Y:-41.22, Z:-14.94 [[ 8.76673402e-01 4.76424802e-01 6.68068449e-02 1.21699144e+02] [-4.74957119e-01 8.79214606e-01 -3.73819680e-02 -4.12190815e+01] [-7.65472505e-02 1.04139048e-03 9.97065411e-01 -1.49410035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75119381700003 meters 0.061836440111581494 Centerline is valid? [True, True] Translation: X:121.72, Y:-41.24, Z:-14.94 [[ 8.79761933e-01 4.70685555e-01 6.68883389e-02 1.21720401e+02] [-4.69197704e-01 8.82299681e-01 -3.74270987e-02 -4.12410624e+01] [-7.66319548e-02 1.54308170e-03 9.97058254e-01 -1.49402520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78119381700003 meters 0.06819227497130513 Centerline is valid? [True, True] Translation: X:121.73, Y:-41.28, Z:-14.95 [[ 8.85818095e-01 4.58880802e-01 6.89544204e-02 1.21732480e+02] [-4.57266516e-01 8.88493994e-01 -3.85454993e-02 -4.12785973e+01] [-7.89533780e-02 2.61375317e-03 9.96874883e-01 -1.49453461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81119381700003 meters 0.07126092677791675 Centerline is valid? [True, True] Translation: X:121.75, Y:-41.30, Z:-14.95 [[ 8.88229355e-01 4.54118228e-01 6.94640018e-02 1.21752302e+02] [-4.52465378e-01 8.90936175e-01 -3.88305678e-02 -4.13020891e+01] [-7.95216607e-02 3.06039441e-03 9.96828440e-01 -1.49481104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84119381700003 meters 0.07076595197849764 Centerline is valid? [True, True] Translation: X:121.78, Y:-41.32, Z:-14.95 [[ 8.90328469e-01 4.50023047e-01 6.92421442e-02 1.21777461e+02] [-4.48369162e-01 8.93010443e-01 -3.86968204e-02 -4.13194202e+01] [-7.92484189e-02 3.40683872e-03 9.96849077e-01 -1.49467628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87119381700003 meters 0.07631842519187414 Centerline is valid? [True, True] Translation: X:121.80, Y:-41.34, Z:-14.96 [[ 8.91765760e-01 4.47219629e-01 6.89088681e-02 1.21795793e+02] [-4.45573260e-01 8.94416772e-01 -3.85111443e-02 -4.13427126e+01] [-7.88561870e-02 3.63897091e-03 9.96879361e-01 -1.49553402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90119381700003 meters 0.07844152972187003 Centerline is valid? [True, True] Translation: X:121.82, Y:-41.36, Z:-14.96 [[ 8.92816685e-01 4.45297434e-01 6.77389301e-02 1.21818190e+02] [-4.43701587e-01 8.95374907e-01 -3.78507365e-02 -4.13596057e+01] [-7.75065740e-02 3.73789826e-03 9.96984834e-01 -1.49613799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.931193817 meters 0.070113844160145 Centerline is valid? [True, True] Translation: X:121.85, Y:-41.36, Z:-14.96 [[ 8.91980907e-01 4.46990431e-01 6.75989299e-02 1.21852052e+02] [-4.45406680e-01 8.94531592e-01 -3.77640190e-02 -4.13607972e+01] [-7.73495335e-02 3.57576899e-03 9.96997625e-01 -1.49550739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.961193817 meters 0.0699846284099143 Centerline is valid? [True, True] Translation: X:121.88, Y:-41.37, Z:-14.96 [[ 8.91062409e-01 4.48760839e-01 6.79815639e-02 1.21876940e+02] [-4.47164479e-01 8.93645280e-01 -3.79742336e-02 -4.13720620e+01] [-7.77927526e-02 3.43847148e-03 9.96963622e-01 -1.49596312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.991193817 meters 0.06906284483091424 Centerline is valid? [True, True] Translation: X:121.90, Y:-41.38, Z:-14.96 [[ 8.90317144e-01 4.50267276e-01 6.77846849e-02 1.21904345e+02] [-4.48685470e-01 8.92887776e-01 -3.78519207e-02 -4.13827641e+01] [-7.75675978e-02 3.28621069e-03 9.96981679e-01 -1.49622740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.021193817 meters 0.06865311397905548 Centerline is valid? [True, True] Translation: X:121.93, Y:-41.39, Z:-14.96 [[ 8.89944622e-01 4.50859717e-01 6.87319832e-02 1.21932126e+02] [-4.49235251e-01 8.92588802e-01 -3.83786298e-02 -4.13932300e+01] [-7.86527767e-02 3.27802548e-03 9.96896682e-01 -1.49638942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.051193817 meters 0.06982494881409047 Centerline is valid? [True, True] Translation: X:121.96, Y:-41.41, Z:-14.97 [[ 8.90296768e-01 4.50048887e-01 6.94813937e-02 1.21955432e+02] [-4.48387506e-01 8.92997550e-01 -3.87816949e-02 -4.14073267e+01] [-7.95003730e-02 3.37262877e-03 9.96829131e-01 -1.49681143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.081193817 meters 0.06787259466820285 Centerline is valid? [True, True] Translation: X:121.98, Y:-41.42, Z:-14.97 [[ 8.91195834e-01 4.48379558e-01 6.87441488e-02 1.21984302e+02] [-4.46749266e-01 8.93836509e-01 -3.83586685e-02 -4.14169475e+01] [-7.86452728e-02 3.47368750e-03 9.96896612e-01 -1.49674139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11119381700001 meters 0.07027188567597394 Centerline is valid? [True, True] Translation: X:122.01, Y:-41.43, Z:-14.97 [[ 8.92276496e-01 4.46180966e-01 6.90304258e-02 1.22008220e+02] [-4.44530732e-01 8.94935195e-01 -3.85152712e-02 -4.14322436e+01] [-7.89625384e-02 3.68012555e-03 9.96870791e-01 -1.49729258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14119381700002 meters 0.07213478911842235 Centerline is valid? [True, True] Translation: X:122.04, Y:-41.44, Z:-14.97 [[ 8.95702605e-01 4.39073173e-01 7.02252950e-02 1.22036411e+02] [-4.37344077e-01 8.98440653e-01 -3.91733470e-02 -4.14435806e+01] [-8.02932257e-02 4.37505213e-03 9.96761685e-01 -1.49733574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17119381700002 meters 0.07800069364662252 Centerline is valid? [True, True] Translation: X:122.06, Y:-41.46, Z:-14.98 [[ 8.97586693e-01 4.35077931e-01 7.10304390e-02 1.22058424e+02] [-4.33296277e-01 9.00380065e-01 -3.96241838e-02 -4.14629083e+01] [-8.11939991e-02 4.78891536e-03 9.96686812e-01 -1.49790782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20119381700002 meters 0.07735061465997166 Centerline is valid? [True, True] Translation: X:122.09, Y:-41.47, Z:-14.98 [[ 8.99137493e-01 4.31716643e-01 7.19201592e-02 1.22087824e+02] [-4.29879743e-01 9.01994567e-01 -4.01149224e-02 -4.14733586e+01] [-8.21898725e-02 5.15181118e-03 9.96603373e-01 -1.49795051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23119381700002 meters 0.07975141103293962 Centerline is valid? [True, True] Translation: X:122.11, Y:-41.49, Z:-14.98 [[ 9.00603231e-01 4.28807205e-01 7.09802882e-02 1.22114520e+02] [-4.27009046e-01 9.03380203e-01 -3.95914610e-02 -4.14869791e+01] [-8.10992909e-02 5.34697254e-03 9.96691685e-01 -1.49844493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26119381700002 meters 0.080283601019861 Centerline is valid? [True, True] Translation: X:122.15, Y:-41.49, Z:-14.99 [[ 9.02592798e-01 4.24886787e-01 6.92636924e-02 1.22145296e+02] [-4.23163442e-01 9.05229430e-01 -3.86313379e-02 -4.14927879e+01] [-7.91134778e-02 5.55850486e-03 9.96850119e-01 -1.49882443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29119381700002 meters 0.08455918455899503 Centerline is valid? [True, True] Translation: X:122.17, Y:-41.51, Z:-15.00 [[ 9.02973524e-01 4.24147974e-01 6.88281323e-02 1.22168903e+02] [-4.22443754e-01 9.05575631e-01 -3.83933734e-02 -4.15068955e+01] [-7.86135509e-02 5.59218510e-03 9.96889481e-01 -1.49957337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32119381700002 meters 0.08518593661928635 Centerline is valid? [True, True] Translation: X:122.20, Y:-41.52, Z:-15.00 [[ 9.02909027e-01 4.24286650e-01 6.88195318e-02 1.22196433e+02] [-4.22584248e-01 9.05510815e-01 -3.83759954e-02 -4.15155722e+01] [-7.85992528e-02 5.56798254e-03 9.96890744e-01 -1.50002818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35119381700002 meters 0.07957328162744692 Centerline is valid? [True, True] Translation: X:122.24, Y:-41.51, Z:-15.00 [[ 9.01677407e-01 4.26585653e-01 7.07285959e-02 1.22235443e+02] [-4.24795043e-01 9.04430389e-01 -3.94315080e-02 -4.15088705e+01] [-8.07900071e-02 5.50934292e-03 9.96715918e-01 -1.49990810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38119381700002 meters 0.08214756739241888 Centerline is valid? [True, True] Translation: X:122.26, Y:-41.52, Z:-15.00 [[ 9.00629865e-01 4.28446673e-01 7.27962605e-02 1.22262404e+02] [-4.26555986e-01 9.03550354e-01 -4.05801473e-02 -4.15202550e+01] [-8.31615160e-02 5.49601189e-03 9.96520926e-01 -1.50032805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41119381700003 meters 0.07879460940755464 Centerline is valid? [True, True] Translation: X:122.29, Y:-41.52, Z:-15.00 [[ 9.00302398e-01 4.28972501e-01 7.37440553e-02 1.22294030e+02] [-4.27034133e-01 9.03300704e-01 -4.11058012e-02 -4.15228250e+01] [-8.42463155e-02 5.51642272e-03 9.96429690e-01 -1.50034140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44119381700003 meters 0.07737275511527242 Centerline is valid? [True, True] Translation: X:122.32, Y:-41.53, Z:-15.01 [[ 8.99693786e-01 4.30133497e-01 7.44060828e-02 1.22323499e+02] [-4.28164717e-01 9.02748846e-01 -4.14668043e-02 -4.15282257e+01] [-8.50062670e-02 5.44936676e-03 9.96365515e-01 -1.50061931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47119381700003 meters 0.08129595760730814 Centerline is valid? [True, True] Translation: X:122.35, Y:-41.53, Z:-15.01 [[ 8.99261779e-01 4.30875976e-01 7.53269273e-02 1.22350835e+02] [-4.28861292e-01 9.02394762e-01 -4.19724527e-02 -4.15349595e+01] [-8.60595462e-02 5.43941908e-03 9.96275146e-01 -1.50116921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50119381700003 meters 0.07821820461044322 Centerline is valid? [True, True] Translation: X:122.38, Y:-41.54, Z:-15.01 [[ 8.99172965e-01 4.31010557e-01 7.56166521e-02 1.22381615e+02] [-4.28981167e-01 9.02330465e-01 -4.21294570e-02 -4.15388764e+01] [-8.63894495e-02 5.44354916e-03 9.96246571e-01 -1.50123563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53119381700003 meters 0.07650347865721928 Centerline is valid? [True, True] Translation: X:122.41, Y:-41.54, Z:-15.02 [[ 8.99228722e-01 4.31056451e-01 7.46862897e-02 1.22411057e+02] [-4.29079110e-01 9.02309107e-01 -4.15859678e-02 -4.15441659e+01] [-8.53160191e-02 5.34896997e-03 9.96339583e-01 -1.50155178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56119381700003 meters 0.07476838916151896 Centerline is valid? [True, True] Translation: X:122.44, Y:-41.54, Z:-15.02 [[ 8.97986013e-01 4.34089942e-01 7.20211333e-02 1.22444722e+02] [-4.32264306e-01 9.00856510e-01 -4.00639261e-02 -4.15415293e+01] [-8.22720541e-02 4.84468001e-03 9.96598133e-01 -1.50213202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59119381700003 meters 0.0776673690903695 Centerline is valid? [True, True] Translation: X:122.47, Y:-41.55, Z:-15.03 [[ 8.96729036e-01 4.36846151e-01 7.10104007e-02 1.22470413e+02] [-4.35080744e-01 8.99524882e-01 -3.94934646e-02 -4.15525785e+01] [-8.11281903e-02 4.51967852e-03 9.96693428e-01 -1.50303983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62119381700003 meters 0.07311397904638878 Centerline is valid? [True, True] Translation: X:122.50, Y:-41.55, Z:-15.03 [[ 8.94792360e-01 4.41149286e-01 6.88036314e-02 1.22504092e+02] [-4.39505265e-01 8.97424845e-01 -3.82592567e-02 -4.15539724e+01] [-7.86241319e-02 3.99453240e-03 9.96896328e-01 -1.50334505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65119381700003 meters 0.07064299950724702 Centerline is valid? [True, True] Translation: X:122.53, Y:-41.56, Z:-15.04 [[ 8.92224889e-01 4.46434187e-01 6.80533966e-02 1.22534869e+02] [-4.44841224e-01 8.94809666e-01 -3.78410811e-02 -4.15578307e+01] [-7.77883893e-02 3.48979817e-03 9.96963785e-01 -1.50378926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.681193817 meters 0.06482200584766647 Centerline is valid? [True, True] Translation: X:122.57, Y:-41.55, Z:-15.04 [[ 8.86063215e-01 4.58711178e-01 6.69031692e-02 1.22573028e+02] [-4.57206581e-01 8.88582259e-01 -3.71982670e-02 -4.15500277e+01] [-7.65122301e-02 2.37144684e-03 9.97065823e-01 -1.50416382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.711193817 meters 0.06295484306078086 Centerline is valid? [True, True] Translation: X:122.60, Y:-41.55, Z:-15.05 [[ 8.83038432e-01 4.64514035e-01 6.68568480e-02 1.22604364e+02] [-4.63028345e-01 8.85563794e-01 -3.71687800e-02 -4.15544931e+01] [-7.64714240e-02 1.86484555e-03 9.97070029e-01 -1.50459031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.741193817 meters 0.06155693090738905 Centerline is valid? [True, True] Translation: X:122.63, Y:-41.56, Z:-15.05 [[ 8.80512031e-01 4.69368377e-01 6.62713397e-02 1.22634919e+02] [-4.67921666e-01 8.83001278e-01 -3.68518331e-02 -4.15592214e+01] [-7.58147627e-02 1.43868674e-03 9.97120881e-01 -1.50497473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.771193817 meters 0.06039473413692732 Centerline is valid? [True, True] Translation: X:122.66, Y:-41.56, Z:-15.05 [[ 8.77810789e-01 4.74175909e-01 6.78632967e-02 1.22664988e+02] [-4.72675555e-01 8.80429535e-01 -3.77048184e-02 -4.15644912e+01] [-7.76275673e-02 1.02037493e-03 9.96981905e-01 -1.50521815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.801193817 meters 0.05923408616069331 Centerline is valid? [True, True] Translation: X:122.70, Y:-41.57, Z:-15.05 [[ 8.74543382e-01 4.79538584e-01 7.22261700e-02 1.22695775e+02] [-4.77857270e-01 8.77520605e-01 -4.01250111e-02 -4.15692309e+01] [-8.26214434e-02 5.77262468e-04 9.96580837e-01 -1.50519950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.831193817 meters 0.05888570989012174 Centerline is valid? [True, True] Translation: X:122.72, Y:-41.58, Z:-15.05 [[ 8.73790284e-01 4.80621035e-01 7.41212546e-02 1.22721303e+02] [-4.78853778e-01 8.76928264e-01 -4.11810482e-02 -4.15827289e+01] [-8.47915012e-02 4.90357031e-04 9.96398595e-01 -1.50534843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86119381700001 meters 0.05866447396668254 Centerline is valid? [True, True] Translation: X:122.74, Y:-41.60, Z:-15.05 [[ 8.73597380e-01 4.80593145e-01 7.65365703e-02 1.22744786e+02] [-4.78710936e-01 8.76943552e-01 -4.24952520e-02 -4.16004608e+01] [-8.75411787e-02 4.84847639e-04 9.96160784e-01 -1.50537838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89119381700002 meters 0.058655969287998135 Centerline is valid? [True, True] Translation: X:122.77, Y:-41.62, Z:-15.06 [[ 8.73356848e-01 4.80947701e-01 7.70527403e-02 1.22768006e+02] [-4.79044204e-01 8.76749183e-01 -4.27495250e-02 -4.16151456e+01] [-8.81162129e-02 4.23921744e-04 9.96110111e-01 -1.50572416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92119381700002 meters 0.05878404811969877 Centerline is valid? [True, True] Translation: X:122.79, Y:-41.63, Z:-15.06 [[ 8.73165995e-01 4.81380719e-01 7.65097855e-02 1.22792077e+02] [-4.79506492e-01 8.76511533e-01 -4.24388677e-02 -4.16295760e+01] [-8.74909620e-02 3.69237336e-04 9.96165245e-01 -1.50612249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95119381700002 meters 0.05880759692818263 Centerline is valid? [True, True] Translation: X:122.82, Y:-41.64, Z:-15.07 [[ 8.72655229e-01 4.82565927e-01 7.48530373e-02 1.22817099e+02] [-4.80776757e-01 8.75859616e-01 -4.15167735e-02 -4.16435155e+01] [-8.55953328e-02 2.42228968e-04 9.96329956e-01 -1.50652158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98119381700002 meters 0.05898709714723156 Centerline is valid? [True, True] Translation: X:122.84, Y:-41.66, Z:-15.07 [[ 8.70415299e-01 4.86828470e-01 7.33160813e-02 1.22841104e+02] [-4.85129299e-01 8.73497569e-01 -4.06393850e-02 -4.16594807e+01] [-8.38258284e-02 -1.94636649e-04 9.96480403e-01 -1.50678874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01119381700002 meters 0.05959107454010853 Centerline is valid? [True, True] Translation: X:122.86, Y:-41.67, Z:-15.08 [[ 8.69272539e-01 4.88789780e-01 7.38227915e-02 1.22863854e+02] [-4.87076641e-01 8.72401502e-01 -4.08896820e-02 -4.16728584e+01] [-8.43895728e-02 -4.13079574e-04 9.96432752e-01 -1.50758710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04119381700002 meters 0.059946186642958546 Centerline is valid? [True, True] Translation: X:122.89, Y:-41.69, Z:-15.08 [[ 8.68243183e-01 4.90595960e-01 7.39552583e-02 1.22888362e+02] [-4.88884971e-01 8.71386960e-01 -4.09420358e-02 -4.16882084e+01] [-8.45296451e-02 -6.07970832e-04 9.96420779e-01 -1.50793566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07119381700002 meters 0.05972403358623904 Centerline is valid? [True, True] Translation: X:122.91, Y:-41.71, Z:-15.08 [[ 8.67585804e-01 4.91774407e-01 7.38431182e-02 1.22911522e+02] [-4.90074945e-01 8.70722333e-01 -4.08554458e-02 -4.17055039e+01] [-8.43885148e-02 -7.43057328e-04 9.96432650e-01 -1.50798271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10119381700002 meters 0.06001253002943629 Centerline is valid? [True, True] Translation: X:122.93, Y:-41.73, Z:-15.09 [[ 8.67137869e-01 4.92619046e-01 7.34737503e-02 1.22931905e+02] [-4.90941830e-01 8.70244657e-01 -4.06245843e-02 -4.17269960e+01] [-8.39525826e-02 -8.44221966e-04 9.96469393e-01 -1.50850162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13119381700002 meters 0.05953051326744612 Centerline is valid? [True, True] Translation: X:122.95, Y:-41.75, Z:-15.09 [[ 8.67974109e-01 4.91154176e-01 7.34065480e-02 1.22953532e+02] [-4.89476928e-01 8.71072357e-01 -4.05621214e-02 -4.17468119e+01] [-8.38646701e-02 -7.23940439e-04 9.96476890e-01 -1.50862298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16119381700003 meters 0.0593791224569152 Centerline is valid? [True, True] Translation: X:122.97, Y:-41.77, Z:-15.09 [[ 8.69614166e-01 4.88278041e-01 7.31830380e-02 1.22974295e+02] [-4.86603406e-01 8.72687992e-01 -4.04078419e-02 -4.17675030e+01] [-8.35962204e-02 -4.71883816e-04 9.96499598e-01 -1.50908083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19119381700003 meters 0.05986376532997626 Centerline is valid? [True, True] Translation: X:122.99, Y:-41.80, Z:-15.10 [[ 8.74301659e-01 4.80126690e-01 7.12388212e-02 1.22987340e+02] [-4.78515385e-01 8.77199114e-01 -3.93031790e-02 -4.18005392e+01] [-8.13611361e-02 2.73962641e-04 9.96684649e-01 -1.50990085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22119381700003 meters 0.06048933987105167 Centerline is valid? [True, True] Translation: X:123.01, Y:-41.83, Z:-15.10 [[ 8.76831293e-01 4.75617184e-01 7.03930249e-02 1.23006249e+02] [-4.74030183e-01 8.79652111e-01 -3.88271651e-02 -4.18256636e+01] [-8.03882399e-02 6.76454898e-04 9.96763399e-01 -1.51041115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25119381700003 meters 0.06070268531049292 Centerline is valid? [True, True] Translation: X:123.03, Y:-41.85, Z:-15.10 [[ 8.78965598e-01 4.71703001e-01 7.01124547e-02 1.23026947e+02] [-4.70118127e-01 8.81756916e-01 -3.86482451e-02 -4.18488242e+01] [-8.00526351e-02 1.00934199e-03 9.96790127e-01 -1.51044738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28119381700003 meters 0.06343905840136882 Centerline is valid? [True, True] Translation: X:123.04, Y:-41.87, Z:-15.12 [[ 8.80806743e-01 4.68077152e-01 7.12969972e-02 1.23043548e+02] [-4.66429126e-01 8.83686601e-01 -3.92665519e-02 -4.18745894e+01] [-8.13839768e-02 1.33124755e-03 9.96681933e-01 -1.51165933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31119381700003 meters 0.06613459374754518 Centerline is valid? [True, True] Translation: X:123.06, Y:-41.90, Z:-15.12 [[ 8.83966874e-01 4.61836223e-01 7.28688442e-02 1.23060360e+02] [-4.60094348e-01 8.86963103e-01 -4.01203873e-02 -4.19038773e+01] [-8.31610242e-02 1.93854997e-03 9.96534237e-01 -1.51179448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34119381700003 meters 0.06311747495890953 Centerline is valid? [True, True] Translation: X:123.09, Y:-41.92, Z:-15.11 [[ 8.85472249e-01 4.58928573e-01 7.29620516e-02 1.23087283e+02] [-4.57172461e-01 8.88470407e-01 -4.01705936e-02 -4.19163913e+01] [-8.32600568e-02 2.21370517e-03 9.96525395e-01 -1.51087464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37119381700003 meters 0.06421109557098396 Centerline is valid? [True, True] Translation: X:123.11, Y:-41.94, Z:-15.11 [[ 8.87054222e-01 4.55674615e-01 7.41313184e-02 1.23108674e+02] [-4.53851800e-01 8.90142782e-01 -4.07967098e-02 -4.19358016e+01] [-8.45774831e-02 2.54426139e-03 9.96413657e-01 -1.51112877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40119381700003 meters 0.0652029501614725 Centerline is valid? [True, True] Translation: X:123.13, Y:-41.95, Z:-15.11 [[ 8.88375850e-01 4.53139212e-01 7.38458141e-02 1.23131602e+02] [-4.51322672e-01 8.91435478e-01 -4.06280073e-02 -4.19541867e+01] [-8.42389218e-02 2.76465043e-03 9.96441750e-01 -1.51143657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.431193817 meters 0.06591059492554803 Centerline is valid? [True, True] Translation: X:123.15, Y:-41.97, Z:-15.11 [[ 8.90415649e-01 4.48914014e-01 7.50745001e-02 1.23154132e+02] [-4.47021929e-01 8.93569186e-01 -4.12977645e-02 -4.19744947e+01] [-8.56234051e-02 3.21222793e-03 9.96322395e-01 -1.51137400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.461193817 meters 0.06701110685396586 Centerline is valid? [True, True] Translation: X:123.18, Y:-41.99, Z:-15.12 [[ 8.91248344e-01 4.47200344e-01 7.54204315e-02 1.23175854e+02] [-4.45285067e-01 8.94427400e-01 -4.14829513e-02 -4.19914943e+01] [-8.60092906e-02 3.38801978e-03 9.96288574e-01 -1.51171968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.491193817 meters 0.06890903388243516 Centerline is valid? [True, True] Translation: X:123.20, Y:-42.01, Z:-15.12 [[ 8.91843842e-01 4.45899181e-01 7.60820781e-02 1.23197173e+02] [-4.43946295e-01 8.95076212e-01 -4.18361407e-02 -4.20093894e+01] [-8.67539591e-02 3.53494773e-03 9.96223496e-01 -1.51214516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.521193817 meters 0.06879437043657333 Centerline is valid? [True, True] Translation: X:123.22, Y:-42.02, Z:-15.12 [[ 8.93010185e-01 4.43471449e-01 7.65890519e-02 1.23223385e+02] [-4.41483911e-01 8.96280478e-01 -4.21101080e-02 -4.20221640e+01] [-8.73199027e-02 3.79192119e-03 9.96173105e-01 -1.51230202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.551193817 meters 0.06900413781537347 Centerline is valid? [True, True] Translation: X:123.25, Y:-42.04, Z:-15.13 [[ 8.93601514e-01 4.42377032e-01 7.60190455e-02 1.23248895e+02] [-4.40417588e-01 8.96820934e-01 -4.17679505e-02 -4.20354062e+01] [-8.66526533e-02 3.84377916e-03 9.96231169e-01 -1.51261058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.581193817 meters 0.06900413781537347 Centerline is valid? [True, True] Translation: X:123.27, Y:-42.05, Z:-15.13 [[ 8.93749552e-01 4.42075844e-01 7.60308204e-02 1.23272997e+02] [-4.40117134e-01 8.96969418e-01 -4.17465032e-02 -4.20483609e+01] [-8.66524414e-02 3.84845177e-03 9.96231170e-01 -1.51292487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61119381700001 meters 0.06917728491953237 Centerline is valid? [True, True] Translation: X:123.30, Y:-42.06, Z:-15.13 [[ 8.93940179e-01 4.41722984e-01 7.58403709e-02 1.23298000e+02] [-4.39775817e-01 8.97143269e-01 -4.16075161e-02 -4.20622247e+01] [-8.64186744e-02 3.84186929e-03 9.96251501e-01 -1.51332997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64119381700002 meters 0.07115446277414517 Centerline is valid? [True, True] Translation: X:123.32, Y:-42.08, Z:-15.14 [[ 8.94029704e-01 4.41537997e-01 7.58622758e-02 1.23318960e+02] [-4.39591961e-01 8.97234375e-01 -4.15858640e-02 -4.20782510e+01] [-8.64279807e-02 3.83055115e-03 9.96250737e-01 -1.51391400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67119381700002 meters 0.06879654414620327 Centerline is valid? [True, True] Translation: X:123.35, Y:-42.08, Z:-15.14 [[ 8.93423550e-01 4.42888901e-01 7.51251074e-02 1.23347904e+02] [-4.40986129e-01 8.96569049e-01 -4.11724975e-02 -4.20846168e+01] [-8.55896883e-02 3.65534853e-03 9.96323764e-01 -1.51416082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70119381700002 meters 0.06808448959050586 Centerline is valid? [True, True] Translation: X:123.38, Y:-42.09, Z:-15.15 [[ 8.92936647e-01 4.44049540e-01 7.40550527e-02 1.23375344e+02] [-4.42206998e-01 8.95995522e-01 -4.05585516e-02 -4.20938932e+01] [-8.43630018e-02 3.46855457e-03 9.96429051e-01 -1.51461922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73119381700002 meters 0.07049204317147091 Centerline is valid? [True, True] Translation: X:123.40, Y:-42.11, Z:-15.16 [[ 8.92483696e-01 4.45407249e-01 7.13108284e-02 1.23398067e+02] [-4.43705974e-01 8.95322417e-01 -3.90227801e-02 -4.21074950e+01] [-8.12272124e-02 3.18615444e-03 9.96690518e-01 -1.51565942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76119381700002 meters 0.06746118445409499 Centerline is valid? [True, True] Translation: X:123.43, Y:-42.11, Z:-15.16 [[ 8.92264920e-01 4.46162534e-01 6.92986793e-02 1.23428454e+02] [-4.44558452e-01 8.94946829e-01 -3.79203912e-02 -4.21129873e+01] [-7.89372912e-02 3.02772121e-03 9.96874986e-01 -1.51574687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79119381700002 meters 0.06811187949859027 Centerline is valid? [True, True] Translation: X:123.45, Y:-42.12, Z:-15.16 [[ 8.92316787e-01 4.46002813e-01 6.96580356e-02 1.23454299e+02] [-4.44384111e-01 8.95026434e-01 -3.80846962e-02 -4.21226819e+01] [-7.93316648e-02 3.02868952e-03 9.96843676e-01 -1.51618992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82119381700002 meters 0.0680828692192375 Centerline is valid? [True, True] Translation: X:123.48, Y:-42.13, Z:-15.16 [[ 8.92828328e-01 4.44897502e-01 7.01697223e-02 1.23480891e+02] [-4.43252215e-01 8.95575983e-01 -3.83553457e-02 -4.21338704e+01] [-7.99065155e-02 3.14185431e-03 9.96797410e-01 -1.51639440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85119381700002 meters 0.06824507994201111 Centerline is valid? [True, True] Translation: X:123.51, Y:-42.15, Z:-15.17 [[ 8.93263087e-01 4.43893055e-01 7.09930570e-02 1.23506164e+02] [-4.42207786e-01 8.96073889e-01 -3.87796291e-02 -4.21453277e+01] [-8.08290327e-02 3.24672865e-03 9.96722693e-01 -1.51652087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88119381700002 meters 0.06842243369576904 Centerline is valid? [True, True] Translation: X:123.53, Y:-42.16, Z:-15.17 [[ 8.93853122e-01 4.42350727e-01 7.31603052e-02 1.23532414e+02] [-4.40558513e-01 8.96835474e-01 -3.99290469e-02 -4.21584213e+01] [-8.32754000e-02 3.45930795e-03 9.96520567e-01 -1.51661708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91119381700003 meters 0.06892665690780285 Centerline is valid? [True, True] Translation: X:123.56, Y:-42.17, Z:-15.17 [[ 8.94465166e-01 4.40767632e-01 7.52061336e-02 1.23557318e+02] [-4.38870416e-01 8.97613687e-01 -4.10173969e-02 -4.21710909e+01] [-8.55851957e-02 3.68288558e-03 9.96324049e-01 -1.51669740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94119381700003 meters 0.07094508882494895 Centerline is valid? [True, True] Translation: X:123.58, Y:-42.18, Z:-15.17 [[ 8.95411122e-01 4.38196132e-01 7.88864500e-02 1.23581607e+02] [-4.36101926e-01 8.98870098e-01 -4.29843833e-02 -4.21838103e+01] [-8.97442615e-02 4.08616220e-03 9.95956460e-01 -1.51677592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97119381700003 meters 0.07069533938253092 Centerline is valid? [True, True] Translation: X:123.61, Y:-42.19, Z:-15.17 [[ 8.95767268e-01 4.37652091e-01 7.78565880e-02 1.23608043e+02] [-4.35611441e-01 8.99135165e-01 -4.24102167e-02 -4.21946619e+01] [-8.85645161e-02 4.07446344e-03 9.96062109e-01 -1.51716286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00119381700003 meters 0.06896198780796961 Centerline is valid? [True, True] Translation: X:123.64, Y:-42.20, Z:-15.17 [[ 8.95505616e-01 4.38314336e-01 7.71377643e-02 1.23636170e+02] [-4.36316148e-01 8.98813087e-01 -4.19911104e-02 -4.22027326e+01] [-8.77377377e-02 3.94682298e-03 9.96135790e-01 -1.51740677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03119381700003 meters 0.07048722926909087 Centerline is valid? [True, True] Translation: X:123.66, Y:-42.22, Z:-15.18 [[ 8.94436303e-01 4.40621468e-01 7.63964828e-02 1.23659831e+02] [-4.38672951e-01 8.97685565e-01 -4.15532021e-02 -4.22161383e+01] [-8.68892527e-02 3.65362188e-03 9.96211277e-01 -1.51814425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06119381700003 meters 0.06748866227236987 Centerline is valid? [True, True] Translation: X:123.69, Y:-42.22, Z:-15.19 [[ 8.91016085e-01 4.47765961e-01 7.48062918e-02 1.23691424e+02] [-4.45923893e-01 8.94146140e-01 -4.06763180e-02 -4.22176925e+01] [-8.51012276e-02 2.88534076e-03 9.96368133e-01 -1.51876044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09119381700003 meters 0.06416736642266256 Centerline is valid? [True, True] Translation: X:123.72, Y:-42.22, Z:-15.19 [[ 8.88782320e-01 4.52275296e-01 7.42498741e-02 1.23723838e+02] [-4.50476495e-01 8.91875068e-01 -4.03706529e-02 -4.22206972e+01] [-8.44802606e-02 2.43289948e-03 9.96422183e-01 -1.51884477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12119381700003 meters 0.06204990443723738 Centerline is valid? [True, True] Translation: X:123.76, Y:-42.22, Z:-15.19 [[ 8.85828913e-01 4.58100720e-01 7.38299918e-02 1.23755033e+02] [-4.56342682e-01 8.88898338e-01 -4.01385305e-02 -4.22249618e+01] [-8.40148468e-02 1.86409440e-03 9.96462759e-01 -1.51907431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15119381700003 meters 0.05993804650101041 Centerline is valid? [True, True] Translation: X:123.79, Y:-42.22, Z:-15.19 [[ 8.80076558e-01 4.68991805e-01 7.42424320e-02 1.23788317e+02] [-4.67252794e-01 8.83202128e-01 -4.03587244e-02 -4.22246472e+01] [-8.44989850e-02 8.28783454e-04 9.96423221e-01 -1.51941575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.181193817 meters 0.05943939697112056 Centerline is valid? [True, True] Translation: X:123.82, Y:-42.24, Z:-15.20 [[ 8.78399168e-01 4.72012896e-01 7.49581721e-02 1.23815923e+02] [-4.70250779e-01 8.81591474e-01 -4.07514096e-02 -4.22352201e+01] [-8.53176763e-02 5.46865414e-04 9.96353650e-01 -1.51964502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.211193817 meters 0.0593630837504971 Centerline is valid? [True, True] Translation: X:123.84, Y:-42.25, Z:-15.20 [[ 8.77470908e-01 4.73809135e-01 7.44963725e-02 1.23840768e+02] [-4.72077879e-01 8.80627496e-01 -4.04683664e-02 -4.22468875e+01] [-8.47778356e-02 3.41724640e-04 9.96399820e-01 -1.52006163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.241193817 meters 0.05939833844572083 Centerline is valid? [True, True] Translation: X:123.86, Y:-42.26, Z:-15.21 [[ 8.77387317e-01 4.73898727e-01 7.49098958e-02 1.23864569e+02] [-4.72149220e-01 8.80579292e-01 -4.06844483e-02 -4.22603581e+01] [-8.52444113e-02 3.27370105e-04 9.96360017e-01 -1.52050882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.271193817 meters 0.059573487480227345 Centerline is valid? [True, True] Translation: X:123.89, Y:-42.27, Z:-15.21 [[ 8.77673926e-01 4.73469961e-01 7.42608588e-02 1.23887836e+02] [-4.71750576e-01 8.80809896e-01 -4.03152777e-02 -4.22746187e+01] [-8.44977723e-02 3.51065193e-04 9.96423606e-01 -1.52107690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.301193817 meters 0.059603291444779924 Centerline is valid? [True, True] Translation: X:123.91, Y:-42.29, Z:-15.21 [[ 8.77784332e-01 4.73406842e-01 7.33527717e-02 1.23912363e+02] [-4.71729352e-01 8.80843823e-01 -3.98193229e-02 -4.22892009e+01] [-8.34630757e-02 3.50122280e-04 9.96510809e-01 -1.52145601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.331193817 meters 0.05991232030627456 Centerline is valid? [True, True] Translation: X:123.94, Y:-42.31, Z:-15.22 [[ 8.78184391e-01 4.72968022e-01 7.13682411e-02 1.23935443e+02] [-4.71380852e-01 8.81079521e-01 -3.87165420e-02 -4.23054239e+01] [-8.11927820e-02 3.58640572e-04 9.96698351e-01 -1.52205415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36119381700001 meters 0.06044156383565055 Centerline is valid? [True, True] Translation: X:123.96, Y:-42.32, Z:-15.23 [[ 8.78558128e-01 4.72532486e-01 6.96323504e-02 1.23957074e+02] [-4.71022932e-01 8.81313179e-01 -3.77422617e-02 -4.23232598e+01] [-7.92023528e-02 3.60337020e-04 9.96858494e-01 -1.52279743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39119381700002 meters 0.06084411718453831 Centerline is valid? [True, True] Translation: X:123.98, Y:-42.35, Z:-15.23 [[ 8.80334253e-01 4.69299417e-01 6.90627310e-02 1.23976528e+02] [-4.67804679e-01 8.83038867e-01 -3.74318151e-02 -4.23464191e+01] [-7.85518048e-02 6.44640201e-04 9.96909825e-01 -1.52326772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42119381700002 meters 0.06121824348086447 Centerline is valid? [True, True] Translation: X:124.00, Y:-42.36, Z:-15.24 [[ 8.81255015e-01 4.67542984e-01 6.92326194e-02 1.23998372e+02] [-4.66037883e-01 8.83969997e-01 -3.74931419e-02 -4.23636583e+01] [-7.87292138e-02 7.75995960e-04 9.96895736e-01 -1.52363542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45119381700002 meters 0.06124650617235059 Centerline is valid? [True, True] Translation: X:124.02, Y:-42.39, Z:-15.24 [[ 8.83477344e-01 4.63181836e-01 7.02165827e-02 1.24019201e+02] [-4.61620470e-01 8.86262494e-01 -3.80175455e-02 -4.23867879e+01] [-7.98393602e-02 1.17422819e-03 9.96807051e-01 -1.52360771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48119381700002 meters 0.06178657268009082 Centerline is valid? [True, True] Translation: X:124.04, Y:-42.41, Z:-15.24 [[ 8.85019122e-01 4.59959220e-01 7.19629720e-02 1.24040703e+02] [-4.58310736e-01 8.87938813e-01 -3.89349987e-02 -4.24077244e+01] [-8.18072276e-02 1.47681568e-03 9.96647077e-01 -1.52374944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51119381700002 meters 0.0633644793727489 Centerline is valid? [True, True] Translation: X:124.06, Y:-42.43, Z:-15.24 [[ 8.86602119e-01 4.56527087e-01 7.42946965e-02 1.24058860e+02] [-4.54760811e-01 8.89707651e-01 -4.01609306e-02 -4.24311826e+01] [-8.44351126e-02 1.82044979e-03 9.96427317e-01 -1.52419936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54119381700002 meters 0.06322398319490659 Centerline is valid? [True, True] Translation: X:124.08, Y:-42.45, Z:-15.24 [[ 8.88411817e-01 4.52852293e-01 7.51614547e-02 1.24081811e+02] [-4.51031686e-01 8.91582860e-01 -4.06253805e-02 -4.24503760e+01] [-8.54099615e-02 2.19187048e-03 9.96343482e-01 -1.52400394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57119381700002 meters 0.06577306312082415 Centerline is valid? [True, True] Translation: X:124.10, Y:-42.48, Z:-15.24 [[ 8.91721486e-01 4.46140021e-01 7.61043546e-02 1.24100851e+02] [-4.44252183e-01 8.94958675e-01 -4.10970667e-02 -4.24761431e+01] [-8.64452985e-02 2.83761173e-03 9.96252558e-01 -1.52426133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60119381700002 meters 0.06826960838727754 Centerline is valid? [True, True] Translation: X:124.12, Y:-42.49, Z:-15.25 [[ 8.92598862e-01 4.44491130e-01 7.54646090e-02 1.24121524e+02] [-4.42628884e-01 8.95778315e-01 -4.07539063e-02 -4.24947268e+01] [-8.57143102e-02 2.97407476e-03 9.96315318e-01 -1.52496636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63119381700002 meters 0.06635709981833911 Centerline is valid? [True, True] Translation: X:124.15, Y:-42.51, Z:-15.25 [[ 8.93219556e-01 4.43369103e-01 7.47172205e-02 1.24148353e+02] [-4.41540529e-01 8.96333968e-01 -4.03407941e-02 -4.25052388e+01] [-8.48574444e-02 3.04250511e-03 9.96388457e-01 -1.52483744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66119381700003 meters 0.0697037278248705 Centerline is valid? [True, True] Translation: X:124.17, Y:-42.53, Z:-15.26 [[ 8.93636774e-01 4.42691772e-01 7.37381260e-02 1.24167966e+02] [-4.40909430e-01 8.96668640e-01 -3.98023143e-02 -4.25250825e+01] [-8.37388222e-02 3.05697658e-03 9.96483048e-01 -1.52573269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69119381700003 meters 0.0692528620969039 Centerline is valid? [True, True] Translation: X:124.19, Y:-42.54, Z:-15.26 [[ 8.94493536e-01 4.41115898e-01 7.27879080e-02 1.24192424e+02] [-4.39375062e-01 8.97444610e-01 -3.92775675e-02 -4.25416459e+01] [-8.26490752e-02 3.15233865e-03 9.96573727e-01 -1.52593589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72119381700003 meters 0.07011614444111341 Centerline is valid? [True, True] Translation: X:124.22, Y:-42.56, Z:-15.26 [[ 8.95167266e-01 4.39961941e-01 7.14776669e-02 1.24216811e+02] [-4.38279237e-01 8.98010702e-01 -3.85757552e-02 -4.25564713e+01] [-8.11595739e-02 3.20457593e-03 9.96695969e-01 -1.52646067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75119381700003 meters 0.06988053918089894 Centerline is valid? [True, True] Translation: X:124.24, Y:-42.57, Z:-15.27 [[ 8.95248527e-01 4.39962475e-01 7.04492458e-02 1.24242443e+02] [-4.38329881e-01 8.98010682e-01 -3.79964633e-02 -4.25685409e+01] [-7.99811933e-02 3.13626835e-03 9.96791439e-01 -1.52690266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78119381700003 meters 0.06709394283312602 Centerline is valid? [True, True] Translation: X:124.27, Y:-42.58, Z:-15.27 [[ 8.93446444e-01 4.43644893e-01 7.02329070e-02 1.24272425e+02] [-4.42036355e-01 8.96198387e-01 -3.78459119e-02 -4.25759051e+01] [-7.97327635e-02 2.76779726e-03 9.96812433e-01 -1.52700360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81119381700003 meters 0.06736572796909515 Centerline is valid? [True, True] Translation: X:124.30, Y:-42.59, Z:-15.28 [[ 8.91683916e-01 4.46962646e-01 7.15834285e-02 1.24297332e+02] [-4.45302428e-01 8.94549082e-01 -3.85705485e-02 -4.25887573e+01] [-8.12744847e-02 2.51646316e-03 9.96688580e-01 -1.52762157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84119381700003 meters 0.06421481526972801 Centerline is valid? [True, True] Translation: X:124.33, Y:-42.60, Z:-15.27 [[ 8.89809381e-01 4.50530987e-01 7.25334118e-02 1.24327976e+02] [-4.48838614e-01 8.92758043e-01 -3.90765207e-02 -4.25957273e+01] [-8.23599702e-02 2.21485866e-03 9.96600185e-01 -1.52747841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87119381700003 meters 0.06337824026919027 Centerline is valid? [True, True] Translation: X:124.36, Y:-42.61, Z:-15.28 [[ 8.88547470e-01 4.52911954e-01 7.31720963e-02 1.24355248e+02] [-4.51198015e-01 8.91552988e-01 -3.94159991e-02 -4.26051157e+01] [-8.30887782e-02 2.00788168e-03 9.96540126e-01 -1.52778316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90119381700003 meters 0.060891607875065944 Centerline is valid? [True, True] Translation: X:124.39, Y:-42.61, Z:-15.28 [[ 8.85910666e-01 4.57990107e-01 7.35347157e-02 1.24385641e+02] [-4.56277131e-01 8.88955967e-01 -3.96039026e-02 -4.26102052e+01] [-8.35073199e-02 1.53331065e-03 9.96505984e-01 -1.52770581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.931193817 meters 0.060475066978487056 Centerline is valid? [True, True] Translation: X:124.41, Y:-42.62, Z:-15.28 [[ 8.85118639e-01 4.59381739e-01 7.43869196e-02 1.24411429e+02] [-4.57633748e-01 8.88237811e-01 -4.00617460e-02 -4.26215907e+01] [-8.44769092e-02 1.41743324e-03 9.96424429e-01 -1.52804181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.961193817 meters 0.06041156666415385 Centerline is valid? [True, True] Translation: X:124.44, Y:-42.63, Z:-15.28 [[ 8.84537270e-01 4.60437519e-01 7.47737160e-02 1.24436089e+02] [-4.58678047e-01 8.87691175e-01 -4.02346550e-02 -4.26333718e+01] [-8.49015125e-02 1.29198991e-03 9.96388511e-01 -1.52839395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.991193817 meters 0.05994588184994862 Centerline is valid? [True, True] Translation: X:124.46, Y:-42.65, Z:-15.29 [[ 8.84205168e-01 4.60950063e-01 7.55397963e-02 1.24463033e+02] [-4.59156514e-01 8.87425193e-01 -4.06426293e-02 -4.26450333e+01] [-8.57701408e-02 1.25183335e-03 9.96314165e-01 -1.52855511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.021193817 meters 0.05999242826384031 Centerline is valid? [True, True] Translation: X:124.49, Y:-42.66, Z:-15.29 [[ 8.84146718e-01 4.61128614e-01 7.51330929e-02 1.24487194e+02] [-4.59357319e-01 8.87332492e-01 -4.03968049e-02 -4.26579844e+01] [-8.52961573e-02 1.20376641e-03 9.96354915e-01 -1.52897731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.051193817 meters 0.05967962212205328 Centerline is valid? [True, True] Translation: X:124.51, Y:-42.67, Z:-15.29 [[ 8.84161685e-01 4.60999478e-01 7.57469160e-02 1.24512646e+02] [-4.59201536e-01 8.87399601e-01 -4.06927237e-02 -4.26717632e+01] [-8.59771073e-02 1.19584697e-03 9.96296395e-01 -1.52913186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.081193817 meters 0.05969513389829122 Centerline is valid? [True, True] Translation: X:124.54, Y:-42.68, Z:-15.29 [[ 8.83847096e-01 4.61263252e-01 7.77851070e-02 1.24536655e+02] [-4.59371195e-01 8.87262555e-01 -4.17524030e-02 -4.26848812e+01] [-8.82746620e-02 1.17050262e-03 9.96095484e-01 -1.52940515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11119381700001 meters 0.05920162762404907 Centerline is valid? [True, True] Translation: X:124.56, Y:-42.70, Z:-15.30 [[ 8.83537432e-01 4.61897655e-01 7.75381333e-02 1.24562648e+02] [-4.60020950e-01 8.86932555e-01 -4.16097047e-02 -4.26964279e+01] [-8.79905197e-02 1.09456592e-03 9.96120711e-01 -1.52951427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14119381700002 meters 0.05906731823036471 Centerline is valid? [True, True] Translation: X:124.59, Y:-42.71, Z:-15.30 [[ 8.83018428e-01 4.62812947e-01 7.79912254e-02 1.24587174e+02] [-4.60921355e-01 8.86455430e-01 -4.18123881e-02 -4.27091937e+01] [-8.84870598e-02 9.73287961e-04 9.96076851e-01 -1.52987256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17119381700002 meters 0.05905764389405525 Centerline is valid? [True, True] Translation: X:124.61, Y:-42.72, Z:-15.30 [[ 8.82300010e-01 4.64233438e-01 7.76788722e-02 1.24611994e+02] [-4.62363402e-01 8.85712507e-01 -4.16345961e-02 -4.27215791e+01] [-8.81293203e-02 8.18336997e-04 9.96108706e-01 -1.53036334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20119381700002 meters 0.05872811842106696 Centerline is valid? [True, True] Translation: X:124.64, Y:-42.73, Z:-15.31 [[ 8.80909369e-01 4.67223712e-01 7.55028895e-02 1.24638492e+02] [-4.65468431e-01 8.84138989e-01 -4.04646567e-02 -4.27317272e+01] [-8.56610955e-02 5.01483713e-04 9.96324207e-01 -1.53085231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23119381700002 meters 0.05864943890213536 Centerline is valid? [True, True] Translation: X:124.66, Y:-42.74, Z:-15.31 [[ 8.80382763e-01 4.68322756e-01 7.48330575e-02 1.24664320e+02] [-4.66605288e-01 8.83557392e-01 -4.00729313e-02 -4.27430071e+01] [-8.48863667e-02 3.62017638e-04 9.96390573e-01 -1.53120839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26119381700002 meters 0.0586024475753623 Centerline is valid? [True, True] Translation: X:124.69, Y:-42.75, Z:-15.32 [[ 8.79519709e-01 4.70232587e-01 7.29821562e-02 1.24690453e+02] [-4.68605933e-01 8.82542512e-01 -3.90793422e-02 -4.27543922e+01] [-8.27862356e-02 1.71180288e-04 9.96567313e-01 -1.53161305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29119381700002 meters 0.059186425684564684 Centerline is valid? [True, True] Translation: X:124.72, Y:-42.77, Z:-15.33 [[ 8.78567823e-01 4.72279749e-01 7.12068738e-02 1.24715091e+02] [-4.70740676e-01 8.81448715e-01 -3.80969701e-02 -4.27661546e+01] [-8.07576349e-02 -4.91997866e-05 9.96733767e-01 -1.53255906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32119381700002 meters 0.05972541052401879 Centerline is valid? [True, True] Translation: X:124.74, Y:-42.78, Z:-15.33 [[ 8.78312987e-01 4.73048843e-01 6.92176908e-02 1.24739153e+02] [-4.71597763e-01 8.81036195e-01 -3.70239492e-02 -4.27813897e+01] [-7.84974272e-02 -1.24292767e-04 9.96914308e-01 -1.53321475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35119381700002 meters 0.06002337078623644 Centerline is valid? [True, True] Translation: X:124.76, Y:-42.80, Z:-15.34 [[ 8.78382423e-01 4.73070000e-01 6.81842719e-02 1.24762522e+02] [-4.71664459e-01 8.81024831e-01 -3.64401726e-02 -4.27957667e+01] [-7.73107890e-02 -1.51690639e-04 9.97007031e-01 -1.53379445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38119381700002 meters 0.059887125343696085 Centerline is valid? [True, True] Translation: X:124.79, Y:-42.81, Z:-15.34 [[ 8.78516384e-01 4.72901058e-01 6.76280398e-02 1.24787470e+02] [-4.71517960e-01 8.81115526e-01 -3.61419917e-02 -4.28104671e+01] [-7.66797020e-02 -1.36503513e-04 9.97055768e-01 -1.53404620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41119381700003 meters 0.0592644225395847 Centerline is valid? [True, True] Translation: X:124.81, Y:-42.83, Z:-15.34 [[ 8.78788341e-01 4.72411892e-01 6.75133769e-02 1.24811677e+02] [-4.71033626e-01 8.81377894e-01 -3.60601103e-02 -4.28254641e+01] [-7.65400229e-02 -1.11866196e-04 9.97066503e-01 -1.53377815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44119381700003 meters 0.05915419605207387 Centerline is valid? [True, True] Translation: X:124.84, Y:-42.84, Z:-15.34 [[ 8.78929084e-01 4.72112119e-01 6.77776668e-02 1.24835097e+02] [-4.70724423e-01 8.81538504e-01 -3.61715737e-02 -4.28406754e+01] [-7.68256613e-02 -1.12354980e-04 9.97044535e-01 -1.53403426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47119381700003 meters 0.060047632728898986 Centerline is valid? [True, True] Translation: X:124.86, Y:-42.86, Z:-15.35 [[ 8.79448033e-01 4.71137562e-01 6.78273945e-02 1.24855247e+02] [-4.69747846e-01 8.82059745e-01 -3.61602904e-02 -4.28584961e+01] [-7.68642854e-02 -6.06761906e-05 9.97041563e-01 -1.53504517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50119381700003 meters 0.060047632728898986 Centerline is valid? [True, True] Translation: X:124.88, Y:-42.87, Z:-15.35 [[ 8.79587603e-01 4.70876555e-01 6.78300766e-02 1.24879503e+02] [-4.69486453e-01 8.82199109e-01 -3.61552603e-02 -4.28710967e+01] [-7.68642976e-02 -4.35833072e-05 9.97041563e-01 -1.53535928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53119381700003 meters 0.05887291207098036 Centerline is valid? [True, True] Translation: X:124.90, Y:-42.89, Z:-15.35 [[ 8.80038598e-01 4.69763687e-01 6.96716862e-02 1.24904166e+02] [-4.68295750e-01 8.82792205e-01 -3.71081230e-02 -4.28890934e+01] [-7.89376702e-02 2.96259812e-05 9.96879553e-01 -1.53475633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56119381700003 meters 0.05867074415957413 Centerline is valid? [True, True] Translation: X:124.93, Y:-42.91, Z:-15.35 [[ 8.80497804e-01 4.68915602e-01 6.95828701e-02 1.24927407e+02] [-4.67450474e-01 8.83242974e-01 -3.70392138e-02 -4.29053810e+01] [-7.88268464e-02 8.64007857e-05 9.96888319e-01 -1.53497559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59119381700003 meters 0.05874636988037554 Centerline is valid? [True, True] Translation: X:124.95, Y:-42.92, Z:-15.35 [[ 8.80674409e-01 4.68400070e-01 7.08093193e-02 1.24950156e+02] [-4.66884302e-01 8.83516477e-01 -3.76521474e-02 -4.29208534e+01] [-8.01974688e-02 9.95230524e-05 9.96778991e-01 -1.53526577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62119381700003 meters 0.05808818765983768 Centerline is valid? [True, True] Translation: X:124.97, Y:-42.94, Z:-15.35 [[ 8.80589463e-01 4.68099883e-01 7.37881908e-02 1.24974373e+02] [-4.66453541e-01 8.83675554e-01 -3.92251073e-02 -4.29370249e+01] [-8.35660885e-02 1.22453253e-04 9.96502230e-01 -1.53510453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65119381700003 meters 0.05793097493932573 Centerline is valid? [True, True] Translation: X:125.00, Y:-42.95, Z:-15.35 [[ 8.80243521e-01 4.68645344e-01 7.44505583e-02 1.24997977e+02] [-4.66971818e-01 8.83386403e-01 -3.95699894e-02 -4.29512460e+01] [-8.43129023e-02 6.49142441e-05 9.96439326e-01 -1.53532234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.681193817 meters 0.05778235432776878 Centerline is valid? [True, True] Translation: X:125.02, Y:-42.97, Z:-15.35 [[ 8.80246759e-01 4.68408496e-01 7.58888991e-02 1.25022182e+02] [-4.66669066e-01 8.83512011e-01 -4.03300003e-02 -4.29679632e+01] [-8.59396686e-02 8.53503210e-05 9.96300339e-01 -1.53549811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.711193817 meters 0.05774573619325677 Centerline is valid? [True, True] Translation: X:125.05, Y:-42.98, Z:-15.36 [[ 8.80725794e-01 4.67608546e-01 7.52616954e-02 1.25045788e+02] [-4.65897141e-01 8.83935647e-01 -3.99703101e-02 -4.29846208e+01] [-8.52169540e-02 1.38674363e-04 9.96362410e-01 -1.53582354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.741193817 meters 0.05782451215252363 Centerline is valid? [True, True] Translation: X:125.07, Y:-43.00, Z:-15.36 [[ 8.81528464e-01 4.66148174e-01 7.49229334e-02 1.25066723e+02] [-4.64449656e-01 8.84706628e-01 -3.97580213e-02 -4.30033104e+01] [-8.48179448e-02 2.49896860e-04 9.96396434e-01 -1.53616834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.771193817 meters 0.05787539112626903 Centerline is valid? [True, True] Translation: X:125.09, Y:-43.02, Z:-15.37 [[ 8.81876269e-01 4.65501136e-01 7.48527829e-02 1.25090251e+02] [-4.63803677e-01 8.85047228e-01 -3.97184137e-02 -4.30190199e+01] [-8.47372147e-02 3.09730480e-04 9.96403286e-01 -1.53652842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.801193817 meters 0.057924252034212954 Centerline is valid? [True, True] Translation: X:125.11, Y:-43.03, Z:-15.37 [[ 8.82154322e-01 4.64977777e-01 7.48292704e-02 1.25112099e+02] [-4.63282506e-01 8.85322291e-01 -3.96706476e-02 -4.30341476e+01] [-8.46939906e-02 3.28541275e-04 9.96406955e-01 -1.53690406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.831193817 meters 0.05733438862212146 Centerline is valid? [True, True] Translation: X:125.14, Y:-43.05, Z:-15.37 [[ 8.82767862e-01 4.63891423e-01 7.43347109e-02 1.25136561e+02] [-4.62215274e-01 8.85891962e-01 -3.94014251e-02 -4.30507556e+01] [-8.41305061e-02 4.23673077e-04 9.96454654e-01 -1.53662329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86119381700001 meters 0.05765756241909509 Centerline is valid? [True, True] Translation: X:125.16, Y:-43.07, Z:-15.37 [[ 8.83734425e-01 4.62307416e-01 7.27001989e-02 1.25158256e+02] [-4.60701163e-01 8.86719552e-01 -3.85081123e-02 -4.30707165e+01] [-8.22672737e-02 5.37878350e-04 9.96610158e-01 -1.53724652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89119381700002 meters 0.05802973275822683 Centerline is valid? [True, True] Translation: X:125.18, Y:-43.09, Z:-15.38 [[ 8.83524741e-01 4.63120903e-01 7.00218679e-02 1.25182511e+02] [-4.61636264e-01 8.86295017e-01 -3.70553933e-02 -4.30858417e+01] [-7.92211599e-02 4.14723274e-04 9.96856979e-01 -1.53791115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92119381700002 meters 0.0591891852753967 Centerline is valid? [True, True] Translation: X:125.21, Y:-43.10, Z:-15.39 [[ 8.82979507e-01 4.64364187e-01 6.86519599e-02 1.25205018e+02] [-4.62941193e-01 8.85644294e-01 -3.63268106e-02 -4.31002487e+01] [-7.76700864e-02 2.94009117e-04 9.96979073e-01 -1.53919215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95119381700002 meters 0.05799110695769763 Centerline is valid? [True, True] Translation: X:125.23, Y:-43.12, Z:-15.39 [[ 8.81323172e-01 4.67590577e-01 6.80332230e-02 1.25230231e+02] [-4.66202802e-01 8.83945163e-01 -3.59985528e-02 -4.31150141e+01] [-7.69702226e-02 9.07958435e-06 9.97033392e-01 -1.53878146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98119381700002 meters 0.057965417318532865 Centerline is valid? [True, True] Translation: X:125.25, Y:-43.13, Z:-15.39 [[ 8.80562577e-01 4.68985936e-01 6.82769439e-02 1.25254622e+02] [-4.67594235e-01 8.83205624e-01 -3.61034228e-02 -4.31290999e+01] [-7.72345783e-02 -1.34582398e-04 9.97012940e-01 -1.53905860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01119381700002 meters 0.057836638200898204 Centerline is valid? [True, True] Translation: X:125.28, Y:-43.14, Z:-15.39 [[ 8.79907597e-01 4.70150331e-01 6.87116186e-02 1.25279491e+02] [-4.68746807e-01 8.82586310e-01 -3.63020132e-02 -4.31436693e+01] [-7.77113375e-02 -2.65934590e-04 9.96975866e-01 -1.53935361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04119381700002 meters 0.05771859362628697 Centerline is valid? [True, True] Translation: X:125.30, Y:-43.16, Z:-15.40 [[ 8.78652079e-01 4.72348842e-01 6.96928583e-02 1.25302236e+02] [-4.70914449e-01 8.81411552e-01 -3.67866488e-02 -4.31596193e+01] [-7.88042214e-02 -4.96708488e-04 9.96889988e-01 -1.53953330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07119381700002 meters 0.05879866524979567 Centerline is valid? [True, True] Translation: X:125.33, Y:-43.17, Z:-15.41 [[ 8.78330185e-01 4.72893101e-01 7.00585547e-02 1.25325731e+02] [-4.71446054e-01 8.81119631e-01 -3.69704380e-02 -4.31727223e+01] [-7.92130330e-02 -5.56577506e-04 9.96857555e-01 -1.54064295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10119381700002 meters 0.05732164781554947 Centerline is valid? [True, True] Translation: X:125.35, Y:-43.19, Z:-15.40 [[ 8.78668854e-01 4.72327510e-01 6.96259204e-02 1.25350298e+02] [-4.70896600e-01 8.81422980e-01 -3.67412873e-02 -4.31905509e+01] [-7.87238070e-02 -5.03184433e-04 9.96896338e-01 -1.53992073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13119381700002 meters 0.05780250379640566 Centerline is valid? [True, True] Translation: X:125.37, Y:-43.20, Z:-15.41 [[ 8.79074065e-01 4.71548616e-01 6.97903389e-02 1.25373254e+02] [-4.70111231e-01 8.81839944e-01 -3.67932644e-02 -4.32044878e+01] [-7.88937214e-02 -4.65217669e-04 9.96882924e-01 -1.54071985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16119381700003 meters 0.05766524479247859 Centerline is valid? [True, True] Translation: X:125.39, Y:-43.23, Z:-15.41 [[ 8.80895320e-01 4.68025197e-01 7.05397085e-02 1.25393418e+02] [-4.66546221e-01 8.83715107e-01 -3.71784056e-02 -4.32261568e+01] [-7.97374366e-02 -1.59750959e-04 9.96815889e-01 -1.54104711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19119381700003 meters 0.057635623050290755 Centerline is valid? [True, True] Translation: X:125.42, Y:-43.25, Z:-15.41 [[ 8.82216323e-01 4.65595848e-01 7.01061047e-02 1.25416224e+02] [-4.64127503e-01 8.84997459e-01 -3.69480470e-02 -4.32453741e+01] [-7.92465818e-02 5.79988962e-05 9.96855043e-01 -1.54131151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22119381700003 meters 0.05772899573360126 Centerline is valid? [True, True] Translation: X:125.44, Y:-43.26, Z:-15.42 [[ 8.83288182e-01 4.63564933e-01 7.00681070e-02 1.25438172e+02] [-4.62093618e-01 8.86062924e-01 -3.69050682e-02 -4.32631078e+01] [-7.91926472e-02 2.19785516e-04 9.96859306e-01 -1.54163448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25119381700003 meters 0.05732112055284575 Centerline is valid? [True, True] Translation: X:125.46, Y:-43.28, Z:-15.42 [[ 8.84340006e-01 4.61549571e-01 7.01052626e-02 1.25462387e+02] [-4.60073262e-01 8.87114343e-01 -3.68881498e-02 -4.32807286e+01] [-7.92170938e-02 3.68109793e-04 9.96857320e-01 -1.54151473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28119381700003 meters 0.057646704998610854 Centerline is valid? [True, True] Translation: X:125.48, Y:-43.30, Z:-15.42 [[ 8.86496904e-01 4.57120943e-01 7.18587612e-02 1.25483765e+02] [-4.55555757e-01 8.89404205e-01 -3.78036161e-02 -4.32996038e+01] [-8.11923090e-02 7.77116335e-04 9.96698151e-01 -1.54175859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31119381700003 meters 0.05801176057950256 Centerline is valid? [True, True] Translation: X:125.51, Y:-43.32, Z:-15.42 [[ 8.87322471e-01 4.55488438e-01 7.20355173e-02 1.25506847e+02] [-4.53910812e-01 8.90241222e-01 -3.78885429e-02 -4.33158284e+01] [-8.13867802e-02 9.21655313e-04 9.96682167e-01 -1.54210224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34119381700003 meters 0.05802798210408928 Centerline is valid? [True, True] Translation: X:125.53, Y:-43.33, Z:-15.42 [[ 8.88125060e-01 4.53845828e-01 7.25109828e-02 1.25530569e+02] [-4.52243109e-01 8.91079587e-01 -3.81227015e-02 -4.33322041e+01] [-8.19148856e-02 1.06513423e-03 9.96638760e-01 -1.54223838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37119381700003 meters 0.059995164276783135 Centerline is valid? [True, True] Translation: X:125.55, Y:-43.36, Z:-15.43 [[ 8.90561651e-01 4.48853159e-01 7.36938796e-02 1.25548907e+02] [-4.47181136e-01 8.93604196e-01 -3.87372220e-02 -4.33568567e+01] [-8.32404845e-02 1.54337164e-03 9.96528294e-01 -1.54281610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40119381700003 meters 0.06204654545924947 Centerline is valid? [True, True] Translation: X:125.57, Y:-43.38, Z:-15.43 [[ 8.92213571e-01 4.45444421e-01 7.43922829e-02 1.25569392e+02] [-4.43729523e-01 8.95307640e-01 -3.90939949e-02 -4.33773682e+01] [-8.40181811e-02 1.87014062e-03 9.96462467e-01 -1.54339017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.431193817 meters 0.06128291993778155 Centerline is valid? [True, True] Translation: X:125.60, Y:-43.39, Z:-15.43 [[ 8.93688013e-01 4.42666038e-01 7.32701480e-02 1.25595134e+02] [-4.40994203e-01 8.96684123e-01 -3.84928236e-02 -4.33932998e+01] [-8.27396440e-02 2.08886452e-03 9.96569008e-01 -1.54328895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.461193817 meters 0.061729701800016856 Centerline is valid? [True, True] Translation: X:125.62, Y:-43.41, Z:-15.44 [[ 8.94970753e-01 4.40162381e-01 7.26940870e-02 1.25621029e+02] [-4.38509574e-01 8.97915269e-01 -3.81775134e-02 -4.34117762e+01] [-8.20774359e-02 2.29070477e-03 9.96623323e-01 -1.54354263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.491193817 meters 0.06364513449527417 Centerline is valid? [True, True] Translation: X:125.64, Y:-43.43, Z:-15.44 [[ 8.97342129e-01 4.35665870e-01 7.05149225e-02 1.25644641e+02] [-4.34094248e-01 9.00104560e-01 -3.70670337e-02 -4.34311780e+01] [-7.96196447e-02 2.65168867e-03 9.96821790e-01 -1.54412515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.521193817 meters 0.06568786541089774 Centerline is valid? [True, True] Translation: X:125.67, Y:-43.45, Z:-15.45 [[ 8.98006107e-01 4.34289368e-01 7.05533617e-02 1.25669653e+02] [-4.32712481e-01 9.00769164e-01 -3.70786026e-02 -4.34486152e+01] [-7.96551354e-02 2.76749140e-03 9.96818640e-01 -1.54484296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.551193817 meters 0.06605814285107983 Centerline is valid? [True, True] Translation: X:125.70, Y:-43.46, Z:-15.45 [[ 8.98492552e-01 4.33452716e-01 6.94973172e-02 1.25697462e+02] [-4.31918259e-01 9.01171892e-01 -3.65491205e-02 -4.34636547e+01] [-7.84713444e-02 2.82195227e-03 9.96912376e-01 -1.54521662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.581193817 meters 0.06727803939751585 Centerline is valid? [True, True] Translation: X:125.72, Y:-43.48, Z:-15.46 [[ 8.99250812e-01 4.32115334e-01 6.80023268e-02 1.25723445e+02] [-4.30640135e-01 9.01813680e-01 -3.57933147e-02 -4.34797632e+01] [-7.67922687e-02 2.90263609e-03 9.97042889e-01 -1.54584948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61119381700001 meters 0.06867859404272025 Centerline is valid? [True, True] Translation: X:125.75, Y:-43.50, Z:-15.46 [[ 9.00601205e-01 4.29633860e-01 6.58195673e-02 1.25749076e+02] [-4.28244090e-01 9.02998100e-01 -3.46616683e-02 -4.34967198e+01] [-7.43267706e-02 3.02949961e-03 9.97229338e-01 -1.54631851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64119381700002 meters 0.06873692195656195 Centerline is valid? [True, True] Translation: X:125.78, Y:-43.51, Z:-15.47 [[ 9.00913680e-01 4.28789561e-01 6.70376966e-02 1.25778212e+02] [-4.27346361e-01 9.03398923e-01 -3.52912671e-02 -4.35118756e+01] [-7.56943098e-02 3.14606968e-03 9.97126107e-01 -1.54651959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67119381700002 meters 0.0679991814325224 Centerline is valid? [True, True] Translation: X:125.81, Y:-43.52, Z:-15.46 [[ 9.01025316e-01 4.28248869e-01 6.89658366e-02 1.25809970e+02] [-4.26717188e-01 9.03654761e-01 -3.63388667e-02 -4.35214744e+01] [-7.78833852e-02 3.31333096e-03 9.96956970e-01 -1.54647547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70119381700002 meters 0.07200332395413651 Centerline is valid? [True, True] Translation: X:125.84, Y:-43.54, Z:-15.47 [[ 9.00714401e-01 4.28687651e-01 7.02884469e-02 1.25835106e+02] [-4.27095281e-01 9.03446486e-01 -3.70684255e-02 -4.35389371e+01] [-7.93926266e-02 3.36820075e-03 9.96837733e-01 -1.54726102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73119381700002 meters 0.06766472995179089 Centerline is valid? [True, True] Translation: X:125.87, Y:-43.54, Z:-15.47 [[ 8.99965719e-01 4.30110228e-01 7.11821322e-02 1.25869091e+02] [-4.28480569e-01 9.02770369e-01 -3.75508003e-02 -4.35442050e+01] [-8.04121030e-02 3.29427247e-03 9.96756260e-01 -1.54701614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76119381700002 meters 0.06796429333364143 Centerline is valid? [True, True] Translation: X:125.90, Y:-43.56, Z:-15.47 [[ 8.99432070e-01 4.31096173e-01 7.19586045e-02 1.25897470e+02] [-4.29430803e-01 9.02300041e-01 -3.79976570e-02 -4.35555227e+01] [-8.13088963e-02 3.27507003e-03 9.96683569e-01 -1.54746096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79119381700002 meters 0.06611076220719356 Centerline is valid? [True, True] Translation: X:125.93, Y:-43.56, Z:-15.48 [[ 8.98913492e-01 4.32219047e-01 7.17023725e-02 1.25927792e+02] [-4.30568879e-01 9.01763096e-01 -3.78650175e-02 -4.35627674e+01] [-8.10245352e-02 3.16456494e-03 9.96707083e-01 -1.54768151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82119381700002 meters 0.06777557710239418 Centerline is valid? [True, True] Translation: X:125.96, Y:-43.57, Z:-15.48 [[ 8.97700132e-01 4.34549877e-01 7.28071277e-02 1.25955584e+02] [-4.32855874e-01 9.00642768e-01 -3.84499205e-02 -4.35712924e+01] [-8.22816213e-02 3.00150575e-03 9.96604599e-01 -1.54841999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85119381700002 meters 0.06635230692647164 Centerline is valid? [True, True] Translation: X:125.98, Y:-43.58, Z:-15.49 [[ 8.97163345e-01 4.35457987e-01 7.39883327e-02 1.25984311e+02] [-4.33711771e-01 9.00204177e-01 -3.90709623e-02 -4.35793993e+01] [-8.36183687e-02 2.96342444e-03 9.96493445e-01 -1.54850845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88119381700002 meters 0.06563630817043312 Centerline is valid? [True, True] Translation: X:126.01, Y:-43.59, Z:-15.49 [[ 8.97066151e-01 4.35679676e-01 7.38616375e-02 1.26011594e+02] [-4.33940811e-01 9.00097011e-01 -3.89967099e-02 -4.35883245e+01] [-8.34727130e-02 2.93104958e-03 9.96505753e-01 -1.54875345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91119381700003 meters 0.06490981708800657 Centerline is valid? [True, True] Translation: X:126.04, Y:-43.60, Z:-15.49 [[ 8.97008093e-01 4.35854625e-01 7.35338484e-02 1.26038821e+02] [-4.34132271e-01 9.00012420e-01 -3.88177055e-02 -4.35969053e+01] [-8.31002534e-02 2.89637939e-03 9.96536983e-01 -1.54902067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94119381700003 meters 0.06528058070617077 Centerline is valid? [True, True] Translation: X:126.07, Y:-43.60, Z:-15.49 [[ 8.97004670e-01 4.35981645e-01 7.28191444e-02 1.26066734e+02] [-4.34294079e-01 8.99951059e-01 -3.84284395e-02 -4.36035934e+01] [-8.22877603e-02 2.84556638e-03 9.96604549e-01 -1.54947470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97119381700003 meters 0.06431621260972943 Centerline is valid? [True, True] Translation: X:126.10, Y:-43.61, Z:-15.50 [[ 8.96692569e-01 4.36590966e-01 7.30120934e-02 1.26095077e+02] [-4.34897285e-01 8.99655799e-01 -3.85200662e-02 -4.36115892e+01] [-8.25032661e-02 2.78789595e-03 9.96586895e-01 -1.54962445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00119381700003 meters 0.061853781939694714 Centerline is valid? [True, True] Translation: X:126.13, Y:-43.61, Z:-15.50 [[ 8.95125832e-01 4.39474374e-01 7.49134138e-02 1.26127927e+02] [-4.37702069e-01 8.98251424e-01 -3.95130048e-02 -4.36149163e+01] [-8.46560337e-02 2.57935507e-03 9.96406896e-01 -1.54959380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03119381700003 meters 0.06210018570903448 Centerline is valid? [True, True] Translation: X:126.15, Y:-43.62, Z:-15.50 [[ 8.94076522e-01 4.41373854e-01 7.62646229e-02 1.26153542e+02] [-4.39543742e-01 8.97319981e-01 -4.02262319e-02 -4.36247155e+01] [-8.61885770e-02 2.44369181e-03 9.96275844e-01 -1.54998522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06119381700003 meters 0.06002052814233573 Centerline is valid? [True, True] Translation: X:126.18, Y:-43.63, Z:-15.50 [[ 8.92983121e-01 4.43576001e-01 7.62986124e-02 1.26183320e+02] [-4.41753206e-01 8.96234005e-01 -4.02332287e-02 -4.36297363e+01] [-8.62279056e-02 2.22243748e-03 9.96272959e-01 -1.55001016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09119381700003 meters 0.06014708797535022 Centerline is valid? [True, True] Translation: X:126.21, Y:-43.64, Z:-15.51 [[ 8.91505510e-01 4.46580841e-01 7.60491783e-02 1.26209743e+02] [-4.44781574e-01 8.94741232e-01 -4.00933773e-02 -4.36390365e+01] [-8.59492697e-02 1.91819361e-03 9.96297668e-01 -1.55070676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12119381700003 meters 0.057888436712074665 Centerline is valid? [True, True] Translation: X:126.24, Y:-43.64, Z:-15.51 [[ 8.88802497e-01 4.52132400e-01 7.48759952e-02 1.26242403e+02] [-4.50407995e-01 8.91949799e-01 -3.94739706e-02 -4.36387326e+01] [-8.46330899e-02 1.35981679e-03 9.96411256e-01 -1.55100803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15119381700003 meters 0.05751015191359598 Centerline is valid? [True, True] Translation: X:126.27, Y:-43.65, Z:-15.52 [[ 8.87399954e-01 4.54918655e-01 7.46347005e-02 1.26268628e+02] [-4.53218123e-01 8.90532366e-01 -3.93120707e-02 -4.36475414e+01] [-8.43484108e-02 1.05973081e-03 9.96435759e-01 -1.55152105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.181193817 meters 0.05702052161055408 Centerline is valid? [True, True] Translation: X:126.30, Y:-43.66, Z:-15.52 [[ 8.86178888e-01 4.57192840e-01 7.52441712e-02 1.26296166e+02] [-4.55472884e-01 8.89367185e-01 -3.96290506e-02 -4.36570223e+01] [-8.50378149e-02 8.46748320e-04 9.96377365e-01 -1.55186418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.211193817 meters 0.05675689137440811 Centerline is valid? [True, True] Translation: X:126.32, Y:-43.67, Z:-15.52 [[ 8.85243284e-01 4.59153918e-01 7.43102187e-02 1.26323479e+02] [-4.57485659e-01 8.88356510e-01 -3.91098974e-02 -4.36669281e+01] [-8.39714291e-02 6.25914659e-04 9.96467966e-01 -1.55222650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.241193817 meters 0.05652495771535167 Centerline is valid? [True, True] Translation: X:126.35, Y:-43.67, Z:-15.53 [[ 8.83406128e-01 4.62584683e-01 7.48934133e-02 1.26351162e+02] [-4.60905326e-01 8.86575060e-01 -3.93820103e-02 -4.36731008e+01] [-8.46161472e-02 2.71536161e-04 9.96413586e-01 -1.55263514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.271193817 meters 0.05669508650034049 Centerline is valid? [True, True] Translation: X:126.38, Y:-43.68, Z:-15.53 [[ 8.83276629e-01 4.62974737e-01 7.40053326e-02 1.26377552e+02] [-4.61336685e-01 8.86371446e-01 -3.89117286e-02 -4.36844926e+01] [-8.36113610e-02 2.28445627e-04 9.96498414e-01 -1.55316721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.301193817 meters 0.05692416342436844 Centerline is valid? [True, True] Translation: X:126.40, Y:-43.70, Z:-15.54 [[ 8.83384747e-01 4.62856335e-01 7.34533980e-02 1.26402651e+02] [-4.61244500e-01 8.86433284e-01 -3.85946104e-02 -4.36972205e+01] [-8.29752968e-02 2.13914306e-04 9.96551581e-01 -1.55365833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.331193817 meters 0.057262463684520475 Centerline is valid? [True, True] Translation: X:126.43, Y:-43.71, Z:-15.54 [[ 8.83889503e-01 4.62030335e-01 7.25762743e-02 1.26425375e+02] [-4.60456705e-01 8.86864083e-01 -3.81014552e-02 -4.37117576e+01] [-8.19693191e-02 2.59244133e-04 9.96634820e-01 -1.55418536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36119381700001 meters 0.057719681334375814 Centerline is valid? [True, True] Translation: X:126.45, Y:-43.73, Z:-15.54 [[ 8.86212953e-01 4.57495558e-01 7.29686008e-02 1.26446794e+02] [-4.55889936e-01 8.89211648e-01 -3.83015793e-02 -4.37334945e+01] [-8.24073321e-02 6.77704885e-04 9.96598501e-01 -1.55441271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39119381700002 meters 0.057719681334375814 Centerline is valid? [True, True] Translation: X:126.47, Y:-43.75, Z:-15.55 [[ 8.86357257e-01 4.57214305e-01 7.29787075e-02 1.26471129e+02] [-4.55609318e-01 8.89356292e-01 -3.82823104e-02 -4.37459590e+01] [-8.24072926e-02 6.82024518e-04 9.96598501e-01 -1.55472674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42119381700002 meters 0.05836344432620837 Centerline is valid? [True, True] Translation: X:126.49, Y:-43.76, Z:-15.55 [[ 8.88255926e-01 4.53408368e-01 7.36360105e-02 1.26492551e+02] [-4.51764355e-01 8.91302322e-01 -3.85893536e-02 -4.37646844e+01] [-8.31286829e-02 1.01109723e-03 9.96538308e-01 -1.55494454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45119381700002 meters 0.059132165178407796 Centerline is valid? [True, True] Translation: X:126.51, Y:-43.78, Z:-15.55 [[ 8.90373668e-01 4.48909203e-01 7.55993345e-02 1.26514146e+02] [-4.47160185e-01 8.93576171e-01 -3.96155912e-02 -4.37834386e+01] [-8.53375674e-02 1.46766685e-03 9.96351015e-01 -1.55500574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48119381700002 meters 0.06102765996506975 Centerline is valid? [True, True] Translation: X:126.54, Y:-43.81, Z:-15.55 [[ 8.95158821e-01 4.39040252e-01 7.70346855e-02 1.26536493e+02] [-4.37191031e-01 8.98464136e-01 -4.03261598e-02 -4.38073974e+01] [-8.69177095e-02 2.41944407e-03 9.96212557e-01 -1.55476460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51119381700002 meters 0.0631508074302668 Centerline is valid? [True, True] Translation: X:126.56, Y:-43.83, Z:-15.55 [[ 8.96754344e-01 4.35532474e-01 7.83780016e-02 1.26558266e+02] [-4.33604404e-01 9.00168630e-01 -4.10324081e-02 -4.38259481e+01] [-8.84243645e-02 2.81094357e-03 9.96078928e-01 -1.55517688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54119381700002 meters 0.06374493596182215 Centerline is valid? [True, True] Translation: X:126.58, Y:-43.84, Z:-15.55 [[ 8.98143013e-01 4.32678725e-01 7.82831377e-02 1.26583529e+02] [-4.30745546e-01 9.01542927e-01 -4.09710350e-02 -4.38404993e+01] [-8.83029043e-02 3.07773590e-03 9.96088914e-01 -1.55533054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57119381700002 meters 0.06412228205313131 Centerline is valid? [True, True] Translation: X:126.61, Y:-43.85, Z:-15.56 [[ 8.99064480e-01 4.30560425e-01 7.93774582e-02 1.26608840e+02] [-4.28564987e-01 9.02555623e-01 -4.15379389e-02 -4.38549369e+01] [-8.95271638e-02 3.32688610e-03 9.95978824e-01 -1.55556095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60119381700002 meters 0.06501525989453162 Centerline is valid? [True, True] Translation: X:126.63, Y:-43.87, Z:-15.56 [[ 8.98991726e-01 4.31116311e-01 7.71531137e-02 1.26632202e+02] [-4.29234063e-01 9.02290786e-01 -4.03665277e-02 -4.38691752e+01] [-8.70172121e-02 3.17242997e-03 9.96201757e-01 -1.55617498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63119381700002 meters 0.06461573196512874 Centerline is valid? [True, True] Translation: X:126.66, Y:-43.88, Z:-15.57 [[ 8.98482009e-01 4.32499261e-01 7.53290745e-02 1.26657619e+02] [-4.30710762e-01 9.01629436e-01 -3.94030334e-02 -4.38791545e+01] [-8.49606938e-02 2.95787348e-03 9.96379913e-01 -1.55669668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66119381700003 meters 0.06318243781745553 Centerline is valid? [True, True] Translation: X:126.69, Y:-43.89, Z:-15.57 [[ 8.97469213e-01 4.34774770e-01 7.42960973e-02 1.26686177e+02] [-4.33043910e-01 9.00535200e-01 -3.88500548e-02 -4.38863661e+01] [-8.37972744e-02 2.69325567e-03 9.96479184e-01 -1.55704324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69119381700003 meters 0.062076268954268626 Centerline is valid? [True, True] Translation: X:126.71, Y:-43.89, Z:-15.57 [[ 8.96084243e-01 4.37737255e-01 7.36147116e-02 1.26714844e+02] [-4.36048657e-01 8.99099771e-01 -3.84859810e-02 -4.38933771e+01] [-8.30337179e-02 2.38708496e-03 9.96543879e-01 -1.55746018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72119381700003 meters 0.06032576119592151 Centerline is valid? [True, True] Translation: X:126.75, Y:-43.90, Z:-15.58 [[ 8.93573539e-01 4.43155586e-01 7.16900038e-02 1.26745806e+02] [-4.41571618e-01 8.96442837e-01 -3.74799483e-02 -4.38955596e+01] [-8.08754389e-02 1.83481910e-03 9.96722528e-01 -1.55798431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75119381700003 meters 0.05971044332899664 Centerline is valid? [True, True] Translation: X:126.77, Y:-43.90, Z:-15.58 [[ 8.92374205e-01 4.45518281e-01 7.19843079e-02 1.26773842e+02] [-4.43931100e-01 8.95271406e-01 -3.76070193e-02 -4.39049323e+01] [-8.12001072e-02 1.60346090e-03 9.96696529e-01 -1.55836268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78119381700003 meters 0.05929196706481847 Centerline is valid? [True, True] Translation: X:126.80, Y:-43.91, Z:-15.59 [[ 8.91431732e-01 4.47323966e-01 7.24619662e-02 1.26799491e+02] [-4.45724156e-01 8.94370869e-01 -3.78249213e-02 -4.39147963e+01] [-8.17278655e-02 1.42028640e-03 9.96653670e-01 -1.55872269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81119381700003 meters 0.05885235677154834 Centerline is valid? [True, True] Translation: X:126.83, Y:-43.92, Z:-15.59 [[ 8.90213704e-01 4.49643730e-01 7.30758332e-02 1.26826965e+02] [-4.48024709e-01 8.93207165e-01 -3.81421009e-02 -4.39246390e+01] [-8.24222143e-02 1.21484203e-03 9.96596760e-01 -1.55904758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84119381700003 meters 0.0583451545085581 Centerline is valid? [True, True] Translation: X:126.85, Y:-43.93, Z:-15.59 [[ 8.89656743e-01 4.50988475e-01 7.15560956e-02 1.26854942e+02] [-4.49442569e-01 8.92529161e-01 -3.73238994e-02 -4.39341188e+01] [-8.06985505e-02 1.04510328e-03 9.96738006e-01 -1.55928616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87119381700003 meters 0.0587044070090139 Centerline is valid? [True, True] Translation: X:126.88, Y:-43.94, Z:-15.60 [[ 8.88969336e-01 4.52406534e-01 7.11466608e-02 1.26879705e+02] [-4.50885193e-01 8.91811384e-01 -3.70809648e-02 -4.39430264e+01] [-8.02250728e-02 8.84864738e-04 9.96776381e-01 -1.56004162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90119381700003 meters 0.0584819257408054 Centerline is valid? [True, True] Translation: X:126.91, Y:-43.96, Z:-15.60 [[ 8.88588455e-01 4.52994283e-01 7.21577236e-02 1.26906148e+02] [-4.51433259e-01 8.91513042e-01 -3.75833547e-02 -4.39553902e+01] [-8.13545965e-02 8.21738795e-04 9.96684882e-01 -1.56040001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.931193817 meters 0.058440051266440925 Centerline is valid? [True, True] Translation: X:126.93, Y:-43.97, Z:-15.61 [[ 8.88370908e-01 4.53401218e-01 7.22804608e-02 1.26931258e+02] [-4.51836827e-01 8.91306192e-01 -3.76397780e-02 -4.39676868e+01] [-8.14899435e-02 7.79109731e-04 9.96673859e-01 -1.56080151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.961193817 meters 0.05864461333794601 Centerline is valid? [True, True] Translation: X:126.96, Y:-43.98, Z:-15.61 [[ 8.87767042e-01 4.54671799e-01 7.17163472e-02 1.26955333e+02] [-4.53138740e-01 8.90658837e-01 -3.73111187e-02 -4.39795706e+01] [-8.08391118e-02 6.26126245e-04 9.96726967e-01 -1.56138713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.991193817 meters 0.05841044344031738 Centerline is valid? [True, True] Translation: X:126.98, Y:-43.99, Z:-15.61 [[ 8.87654792e-01 4.55055823e-01 7.06623495e-02 1.26981075e+02] [-4.53569514e-01 8.90462727e-01 -3.67536085e-02 -4.39926478e+01] [-7.96471320e-02 5.74229178e-04 9.96822956e-01 -1.56149109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.021193817 meters 0.058948542936156666 Centerline is valid? [True, True] Translation: X:127.01, Y:-44.01, Z:-15.62 [[ 8.87299927e-01 4.55843547e-01 7.00392779e-02 1.27005112e+02] [-4.54388427e-01 8.90059796e-01 -3.63966705e-02 -4.40059928e+01] [-7.89303327e-02 4.69725825e-04 9.96880024e-01 -1.56224431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.051193817 meters 0.05855692747729535 Centerline is valid? [True, True] Translation: X:127.03, Y:-44.02, Z:-15.62 [[ 8.87243102e-01 4.55994185e-01 6.97780871e-02 1.27029981e+02] [-4.54550383e-01 8.89982638e-01 -3.62608908e-02 -4.40186470e+01] [-7.86360414e-02 4.54568975e-04 9.96903288e-01 -1.56231965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.081193817 meters 0.05859038995624841 Centerline is valid? [True, True] Translation: X:127.05, Y:-44.03, Z:-15.62 [[ 8.88063209e-01 4.54475032e-01 6.92544746e-02 1.27054607e+02] [-4.53050564e-01 8.90759302e-01 -3.59590441e-02 -4.40333324e+01] [-7.80315552e-02 5.58125289e-04 9.96950733e-01 -1.56247084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11119381700001 meters 0.05904667586535038 Centerline is valid? [True, True] Translation: X:127.08, Y:-44.05, Z:-15.63 [[ 8.89264032e-01 4.52278819e-01 6.82154848e-02 1.27078467e+02] [-4.50892305e-01 8.91876312e-01 -3.53945410e-02 -4.40488595e+01] [-7.68479762e-02 7.17255049e-04 9.97042564e-01 -1.56292529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14119381700002 meters 0.0595752390934205 Centerline is valid? [True, True] Translation: X:127.10, Y:-44.07, Z:-15.63 [[ 8.91047777e-01 4.48694359e-01 6.86092720e-02 1.27101875e+02] [-4.47283177e-01 8.93684706e-01 -3.55725402e-02 -4.40663661e+01] [-7.72762552e-02 1.00905969e-03 9.97009209e-01 -1.56324035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17119381700002 meters 0.06024239644313519 Centerline is valid? [True, True] Translation: X:127.12, Y:-44.09, Z:-15.63 [[ 8.92872872e-01 4.44976090e-01 6.90964068e-02 1.27124799e+02] [-4.43535680e-01 8.95541481e-01 -3.57988301e-02 -4.40855274e+01] [-7.78083220e-02 1.31708247e-03 9.96967467e-01 -1.56349858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20119381700002 meters 0.0627588340025423 Centerline is valid? [True, True] Translation: X:127.14, Y:-44.11, Z:-15.64 [[ 8.97295972e-01 4.35842275e-01 7.00103597e-02 1.27144151e+02] [-4.34338451e-01 9.00020597e-01 -3.62358162e-02 -4.41126839e+01] [-7.88038664e-02 2.10606074e-03 9.96887915e-01 -1.56362344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23119381700002 meters 0.0639383133302489 Centerline is valid? [True, True] Translation: X:127.17, Y:-44.13, Z:-15.64 [[ 8.99390551e-01 4.31410340e-01 7.05815459e-02 1.27166791e+02] [-4.29868426e-01 9.02152318e-01 -3.65284950e-02 -4.41325705e+01] [-7.94340757e-02 2.51260520e-03 9.96836955e-01 -1.56375211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26119381700002 meters 0.06644053129254632 Centerline is valid? [True, True] Translation: X:127.19, Y:-44.15, Z:-15.64 [[ 9.01318670e-01 4.27326518e-01 7.08286810e-02 1.27187794e+02] [-4.25761634e-01 9.04092786e-01 -3.66505837e-02 -4.41532222e+01] [-7.96974659e-02 2.87772038e-03 9.96814944e-01 -1.56422079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29119381700002 meters 0.06819219704993018 Centerline is valid? [True, True] Translation: X:127.21, Y:-44.17, Z:-15.64 [[ 9.04282415e-01 4.20973002e-01 7.10988450e-02 1.27211407e+02] [-4.19377092e-01 9.07066626e-01 -3.67830228e-02 -4.41729069e+01] [-7.99760489e-02 3.44501382e-03 9.96790832e-01 -1.56418301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32119381700002 meters 0.0714472477566483 Centerline is valid? [True, True] Translation: X:127.23, Y:-44.19, Z:-15.65 [[ 9.05492174e-01 4.18391449e-01 7.09402437e-02 1.27233575e+02] [-4.16794787e-01 9.08259415e-01 -3.67006772e-02 -4.41912731e+01] [-7.97873938e-02 3.66465224e-03 9.96805168e-01 -1.56475991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35119381700002 meters 0.0707634125827672 Centerline is valid? [True, True] Translation: X:127.26, Y:-44.20, Z:-15.65 [[ 9.06627337e-01 4.15927150e-01 7.09329125e-02 1.27260151e+02] [-4.14323704e-01 9.09389673e-01 -3.66918302e-02 -4.42039022e+01] [-7.97667864e-02 3.87662923e-03 9.96806015e-01 -1.56478068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38119381700002 meters 0.07417495598605474 Centerline is valid? [True, True] Translation: X:127.28, Y:-44.22, Z:-15.65 [[ 9.07257899e-01 4.14459814e-01 7.14574505e-02 1.27281363e+02] [-4.12828483e-01 9.10058692e-01 -3.69570083e-02 -4.42228623e+01] [-8.03476687e-02 4.02986678e-03 9.96758753e-01 -1.56540010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41119381700003 meters 0.07173072628331946 Centerline is valid? [True, True] Translation: X:127.31, Y:-44.23, Z:-15.65 [[ 9.07838761e-01 4.13413859e-01 7.01267741e-02 1.27309708e+02] [-4.11840620e-01 9.10534294e-01 -3.62574521e-02 -4.42337770e+01] [-7.88421660e-02 4.03486629e-03 9.96878946e-01 -1.56541448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44119381700003 meters 0.07254659537115067 Centerline is valid? [True, True] Translation: X:127.33, Y:-44.25, Z:-15.66 [[ 9.07760578e-01 4.13318109e-01 7.16859432e-02 1.27334239e+02] [-4.11673833e-01 9.10577326e-01 -3.70619669e-02 -4.42467241e+01] [-8.05939765e-02 4.13216553e-03 9.96738449e-01 -1.56570342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47119381700003 meters 0.07112431848904828 Centerline is valid? [True, True] Translation: X:127.36, Y:-44.26, Z:-15.66 [[ 9.07145813e-01 4.14580523e-01 7.21766176e-02 1.27362376e+02] [-4.12918445e-01 9.10003672e-01 -3.73051553e-02 -4.42555929e+01] [-8.11469778e-02 4.03815867e-03 9.96693966e-01 -1.56589487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50119381700003 meters 0.07041052636113711 Centerline is valid? [True, True] Translation: X:127.39, Y:-44.26, Z:-15.66 [[ 9.06601854e-01 4.15747457e-01 7.22988881e-02 1.27389940e+02] [-4.14084049e-01 9.09471594e-01 -3.73606857e-02 -4.42642777e+01] [-8.12863951e-02 3.93345065e-03 9.96683024e-01 -1.56623707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53119381700003 meters 0.06933400417414187 Centerline is valid? [True, True] Translation: X:127.42, Y:-44.27, Z:-15.67 [[ 9.05163210e-01 4.19075353e-01 7.11014250e-02 1.27419576e+02] [-4.17477556e-01 9.07944452e-01 -3.67336774e-02 -4.42695626e+01] [-7.99503231e-02 3.56672422e-03 9.96792468e-01 -1.56682777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56119381700003 meters 0.06901315433402115 Centerline is valid? [True, True] Translation: X:127.45, Y:-44.28, Z:-15.67 [[ 9.05054074e-01 4.19461233e-01 7.02096574e-02 1.27446906e+02] [-4.17904857e-01 9.07766565e-01 -3.62683689e-02 -4.42790457e+01] [-7.89471542e-02 3.48387829e-03 9.96872715e-01 -1.56725258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59119381700003 meters 0.06984599854808146 Centerline is valid? [True, True] Translation: X:127.47, Y:-44.29, Z:-15.68 [[ 9.04525495e-01 4.20496462e-01 7.08262267e-02 1.27473484e+02] [-4.18916287e-01 9.07287743e-01 -3.65800025e-02 -4.42881327e+01] [-7.96415289e-02 3.41728500e-03 9.96817711e-01 -1.56766956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62119381700003 meters 0.06992629473361314 Centerline is valid? [True, True] Translation: X:127.50, Y:-44.30, Z:-15.68 [[ 9.04303092e-01 4.20845952e-01 7.15863288e-02 1.27499665e+02] [-4.19233498e-01 9.07125696e-01 -3.69627657e-02 -4.42979244e+01] [-8.04934286e-02 3.41415624e-03 9.96749292e-01 -1.56794671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65119381700003 meters 0.06775206202948285 Centerline is valid? [True, True] Translation: X:127.53, Y:-44.30, Z:-15.68 [[ 9.04387848e-01 4.20625930e-01 7.18084001e-02 1.27528272e+02] [-4.19003407e-01 9.07227653e-01 -3.70692749e-02 -4.43036939e+01] [-8.07388645e-02 3.43703739e-03 9.96729363e-01 -1.56786007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.681193817 meters 0.06929495353317672 Centerline is valid? [True, True] Translation: X:127.55, Y:-44.32, Z:-15.68 [[ 9.04610807e-01 4.19935129e-01 7.30326994e-02 1.27553708e+02] [-4.18255510e-01 9.07547192e-01 -3.76884974e-02 -4.43153541e+01] [-8.21073453e-02 3.54709311e-03 9.96617179e-01 -1.56832338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.711193817 meters 0.06928767345029788 Centerline is valid? [True, True] Translation: X:127.58, Y:-44.32, Z:-15.68 [[ 9.05956224e-01 4.17003779e-01 7.31516829e-02 1.27583967e+02] [-4.15310062e-01 9.08896771e-01 -3.77387442e-02 -4.43209182e+01] [-8.22245273e-02 3.80902023e-03 9.96606551e-01 -1.56842310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.741193817 meters 0.07049459640034801 Centerline is valid? [True, True] Translation: X:127.61, Y:-44.33, Z:-15.69 [[ 9.06892103e-01 4.14895224e-01 7.35436353e-02 1.27608351e+02] [-4.13176503e-01 9.09860314e-01 -3.79392544e-02 -4.43332334e+01] [-8.26552505e-02 4.02030817e-03 9.96570091e-01 -1.56872383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.771193817 meters 0.07391845799717185 Centerline is valid? [True, True] Translation: X:127.63, Y:-44.35, Z:-15.69 [[ 9.07470702e-01 4.13270268e-01 7.55288800e-02 1.27630365e+02] [-4.11453486e-01 9.10598439e-01 -3.89424138e-02 -4.43504392e+01] [-8.48702220e-02 4.26247857e-03 9.96382897e-01 -1.56916111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.801193817 meters 0.07163027596920853 Centerline is valid? [True, True] Translation: X:127.66, Y:-44.36, Z:-15.69 [[ 9.08506446e-01 4.10788099e-01 7.66105497e-02 1.27659937e+02] [-4.08911054e-01 9.11719503e-01 -3.94879356e-02 -4.43590312e+01] [-8.60685063e-02 4.54814333e-03 9.96278840e-01 -1.56899655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.831193817 meters 0.07411771673604321 Centerline is valid? [True, True] Translation: X:127.69, Y:-44.37, Z:-15.69 [[ 9.09452169e-01 4.08449426e-01 7.78833729e-02 1.27686204e+02] [-4.06501024e-01 9.12768082e-01 -4.01415703e-02 -4.43682163e+01] [-8.74852582e-02 4.84716733e-03 9.96154022e-01 -1.56934572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86119381700001 meters 0.07342955851823371 Centerline is valid? [True, True] Translation: X:127.72, Y:-44.38, Z:-15.70 [[ 9.09645340e-01 4.08020773e-01 7.78742836e-02 1.27715364e+02] [-4.06072236e-01 9.12959614e-01 -4.01258315e-02 -4.43751138e+01] [-8.74682487e-02 4.87769116e-03 9.96155366e-01 -1.56965764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89119381700002 meters 0.0730072595458302 Centerline is valid? [True, True] Translation: X:127.74, Y:-44.38, Z:-15.70 [[ 9.09661666e-01 4.08037218e-01 7.75969235e-02 1.27742939e+02] [-4.06103223e-01 9.12952399e-01 -3.99760978e-02 -4.43829324e+01] [-8.71540333e-02 4.85236301e-03 9.96183030e-01 -1.57008655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92119381700002 meters 0.07437227870118537 Centerline is valid? [True, True] Translation: X:127.77, Y:-44.39, Z:-15.71 [[ 9.09762914e-01 4.07995717e-01 7.66220256e-02 1.27767697e+02] [-4.06111067e-01 9.12971311e-01 -3.94611985e-02 -4.43940406e+01] [-8.60537111e-02 4.78328234e-03 9.96279017e-01 -1.57061818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95119381700002 meters 0.07562747847240413 Centerline is valid? [True, True] Translation: X:127.80, Y:-44.40, Z:-15.71 [[ 9.11162340e-01 4.04886766e-01 7.64846180e-02 1.27797399e+02] [-4.02999124e-01 9.14352857e-01 -3.93771453e-02 -4.44027378e+01] [-8.58772139e-02 5.05573783e-03 9.96292901e-01 -1.57104131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98119381700002 meters 0.07663891489400859 Centerline is valid? [True, True] Translation: X:127.82, Y:-44.41, Z:-15.71 [[ 9.12207269e-01 4.02686633e-01 7.56397724e-02 1.27824900e+02] [-4.00832913e-01 9.15323100e-01 -3.89435405e-02 -4.44137033e+01] [-8.49168741e-02 5.20567042e-03 9.96374440e-01 -1.57146952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01119381700002 meters 0.0802546480872469 Centerline is valid? [True, True] Translation: X:127.85, Y:-44.43, Z:-15.72 [[ 9.13684001e-01 3.99482925e-01 7.47993248e-02 1.27849938e+02] [-3.97659964e-01 9.16724507e-01 -3.85062450e-02 -4.44275806e+01] [-8.39529616e-02 5.43784320e-03 9.96454881e-01 -1.57207440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04119381700002 meters 0.08118450132295384 Centerline is valid? [True, True] Translation: X:127.88, Y:-44.44, Z:-15.73 [[ 9.15251471e-01 3.96218642e-01 7.29762465e-02 1.27878114e+02] [-3.94473501e-01 9.18139144e-01 -3.75655484e-02 -4.44375448e+01] [-8.18865190e-02 5.59472798e-03 9.96625956e-01 -1.57254042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07119381700002 meters 0.0837389056917224 Centerline is valid? [True, True] Translation: X:127.91, Y:-44.44, Z:-15.73 [[ 9.17328840e-01 3.91770699e-01 7.08767802e-02 1.27909033e+02] [-3.90111573e-01 9.20044493e-01 -3.64841277e-02 -4.44437348e+01] [-7.95032035e-02 5.81809033e-03 9.96817631e-01 -1.57309694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10119381700002 meters 0.08466386876803508 Centerline is valid? [True, True] Translation: X:127.94, Y:-44.45, Z:-15.73 [[ 9.18300833e-01 3.89479993e-01 7.09148501e-02 1.27939031e+02] [-3.87812389e-01 9.21015261e-01 -3.65026122e-02 -4.44520724e+01] [-7.95306963e-02 6.01872176e-03 9.96814247e-01 -1.57340649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13119381700002 meters 0.08650255176854185 Centerline is valid? [True, True] Translation: X:127.97, Y:-44.46, Z:-15.74 [[ 9.19354181e-01 3.86747664e-01 7.22089666e-02 1.27967185e+02] [-3.85010032e-01 9.22163570e-01 -3.71702274e-02 -4.44619471e+01] [-8.09639771e-02 6.37142744e-03 9.96696664e-01 -1.57367646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16119381700003 meters 0.09028829470386301 Centerline is valid? [True, True] Translation: X:128.00, Y:-44.47, Z:-15.74 [[ 9.21183840e-01 3.82234854e-01 7.29167339e-02 1.27995810e+02] [-3.80449427e-01 9.24039978e-01 -3.75280350e-02 -4.44696161e+01] [-8.17225001e-02 6.82908972e-03 9.96631726e-01 -1.57397155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19119381700003 meters 0.09182662382755864 Centerline is valid? [True, True] Translation: X:128.02, Y:-44.48, Z:-15.74 [[ 9.21899567e-01 3.80377445e-01 7.35811625e-02 1.28023316e+02] [-3.78552836e-01 9.24804355e-01 -3.78768410e-02 -4.44791918e+01] [-8.24556755e-02 7.06428557e-03 9.96569695e-01 -1.57432302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22119381700003 meters 0.09347524799540888 Centerline is valid? [True, True] Translation: X:128.05, Y:-44.49, Z:-15.75 [[ 9.22613862e-01 3.78738449e-01 7.30811145e-02 1.28051109e+02] [-3.76933966e-01 9.25476079e-01 -3.76140017e-02 -4.44879657e+01] [-8.18806919e-02 7.15644511e-03 9.96616445e-01 -1.57474978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25119381700003 meters 0.09500786390658938 Centerline is valid? [True, True] Translation: X:128.08, Y:-44.50, Z:-15.75 [[ 9.23166701e-01 3.77421578e-01 7.29122350e-02 1.28079437e+02] [-3.75621820e-01 9.26013159e-01 -3.75216947e-02 -4.44959934e+01] [-8.16791862e-02 7.25135268e-03 9.96632293e-01 -1.57516312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28119381700003 meters 0.09646105446685434 Centerline is valid? [True, True] Translation: X:128.11, Y:-44.50, Z:-15.76 [[ 9.23421075e-01 3.76982174e-01 7.19580327e-02 1.28109929e+02] [-3.75228298e-01 9.26192601e-01 -3.70268792e-02 -4.44961663e+01] [-8.06054709e-02 7.19071046e-03 9.96720147e-01 -1.57576734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31119381700003 meters 0.09646105446685434 Centerline is valid? [True, True] Translation: X:128.13, Y:-44.51, Z:-15.76 [[ 9.23535395e-01 3.76701957e-01 7.19583882e-02 1.28134424e+02] [-3.74947293e-01 9.26306423e-01 -3.70261916e-02 -4.45084988e+01] [-8.06033559e-02 7.21439564e-03 9.96720147e-01 -1.57608256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34119381700003 meters 0.09240053075316958 Centerline is valid? [True, True] Translation: X:128.17, Y:-44.51, Z:-15.76 [[ 9.23211626e-01 3.77538359e-01 7.17292230e-02 1.28167027e+02] [-3.75799741e-01 9.25966794e-01 -3.68788748e-02 -4.45093169e+01] [-8.03420685e-02 7.09118254e-03 9.96742127e-01 -1.57628128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37119381700003 meters 0.0910794421676805 Centerline is valid? [True, True] Translation: X:128.20, Y:-44.51, Z:-15.77 [[ 9.22545843e-01 3.79007468e-01 7.25431347e-02 1.28198122e+02] [-3.77236225e-01 9.25367042e-01 -3.72648393e-02 -4.45145145e+01] [-8.12526784e-02 7.01262431e-03 9.96668864e-01 -1.57662161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40119381700003 meters 0.09053268308909034 Centerline is valid? [True, True] Translation: X:128.23, Y:-44.52, Z:-15.77 [[ 9.21652056e-01 3.81165590e-01 7.25966993e-02 1.28228400e+02] [-3.79398432e-01 9.24481580e-01 -3.72912555e-02 -4.45194220e+01] [-8.13284547e-02 6.82648848e-03 9.96663976e-01 -1.57699812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.431193817 meters 0.08867720489352507 Centerline is valid? [True, True] Translation: X:128.26, Y:-44.51, Z:-15.77 [[ 9.20085200e-01 3.85063504e-01 7.18980036e-02 1.28264305e+02] [-3.83342375e-01 9.22867781e-01 -3.69280848e-02 -4.45144628e+01] [-8.05720087e-02 6.41543288e-03 9.96728144e-01 -1.57740152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.461193817 meters 0.08516597373295537 Centerline is valid? [True, True] Translation: X:128.30, Y:-44.52, Z:-15.78 [[ 9.19167228e-01 3.87358146e-01 7.13111025e-02 1.28297343e+02] [-3.85672026e-01 9.21908726e-01 -3.66249695e-02 -4.45155728e+01] [-7.99293079e-02 6.16177434e-03 9.96781490e-01 -1.57760211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.491193817 meters 0.08443548979562521 Centerline is valid? [True, True] Translation: X:128.33, Y:-44.52, Z:-15.78 [[ 9.18511780e-01 3.88847308e-01 7.16511037e-02 1.28327707e+02] [-3.87149614e-01 9.21282283e-01 -3.67985204e-02 -4.45212882e+01] [-8.03198980e-02 6.06017735e-03 9.96750715e-01 -1.57790841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.521193817 meters 0.08374361192989663 Centerline is valid? [True, True] Translation: X:128.36, Y:-44.53, Z:-15.78 [[ 9.17425596e-01 3.91226555e-01 7.26089469e-02 1.28358226e+02] [-3.89490814e-01 9.20275316e-01 -3.72860348e-02 -4.45279546e+01] [-8.14075085e-02 5.92664484e-03 9.96663279e-01 -1.57820733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.551193817 meters 0.08271615075969116 Centerline is valid? [True, True] Translation: X:128.39, Y:-44.53, Z:-15.79 [[ 9.16450380e-01 3.93514959e-01 7.25580966e-02 1.28390849e+02] [-3.91788791e-01 9.19300424e-01 -3.72595550e-02 -4.45265661e+01] [-8.13648812e-02 5.71908444e-03 9.96667973e-01 -1.57857438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.581193817 meters 0.08201124526371371 Centerline is valid? [True, True] Translation: X:128.42, Y:-44.53, Z:-15.79 [[ 9.16641374e-01 3.93004152e-01 7.29131560e-02 1.28419683e+02] [-3.91259095e-01 9.19518427e-01 -3.74457268e-02 -4.45318786e+01] [-8.17613167e-02 5.79636705e-03 9.96635083e-01 -1.57885660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61119381700001 meters 0.08300157114569735 Centerline is valid? [True, True] Translation: X:128.45, Y:-44.54, Z:-15.79 [[ 9.17174097e-01 3.91770023e-01 7.28555035e-02 1.28447110e+02] [-3.90026940e-01 9.20044470e-01 -3.73786013e-02 -4.45408347e+01] [-8.16741186e-02 5.86707582e-03 9.96641819e-01 -1.57921526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64119381700002 meters 0.08554281130032092 Centerline is valid? [True, True] Translation: X:128.47, Y:-44.55, Z:-15.79 [[ 9.17887412e-01 3.89482836e-01 7.60645770e-02 1.28474927e+02] [-3.87575083e-01 9.21011935e-01 -3.90201344e-02 -4.45465472e+01] [-8.52540559e-02 6.33535543e-03 9.96339104e-01 -1.57939365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67119381700002 meters 0.08787121653520558 Centerline is valid? [True, True] Translation: X:128.50, Y:-44.56, Z:-15.80 [[ 9.18390546e-01 3.88209549e-01 7.64993549e-02 1.28500725e+02] [-3.86277107e-01 9.21548394e-01 -3.92244153e-02 -4.45571252e+01] [-8.57251501e-02 6.47338271e-03 9.96297794e-01 -1.57971190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70119381700002 meters 0.0878364550319942 Centerline is valid? [True, True] Translation: X:128.53, Y:-44.57, Z:-15.80 [[ 9.18914333e-01 3.86900409e-01 7.68408903e-02 1.28528684e+02] [-3.84946435e-01 9.22097733e-01 -3.93956108e-02 -4.45654081e+01] [-8.60969887e-02 6.62156464e-03 9.96264756e-01 -1.58001214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73119381700002 meters 0.08603232811577573 Centerline is valid? [True, True] Translation: X:128.56, Y:-44.57, Z:-15.80 [[ 9.19562238e-01 3.85525420e-01 7.59963252e-02 1.28558139e+02] [-3.83612294e-01 9.22673276e-01 -3.89311333e-02 -4.45717392e+01] [-8.51287199e-02 6.64647542e-03 9.96347793e-01 -1.58031105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76119381700002 meters 0.08373650714354319 Centerline is valid? [True, True] Translation: X:128.59, Y:-44.57, Z:-15.81 [[ 9.20281973e-01 3.83851377e-01 7.57575759e-02 1.28589515e+02] [-3.81945121e-01 9.23370035e-01 -3.88033815e-02 -4.45737467e+01] [-8.48470070e-02 6.77481601e-03 9.96370959e-01 -1.58059060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79119381700002 meters 0.09375827652670511 Centerline is valid? [True, True] Translation: X:128.61, Y:-44.60, Z:-15.81 [[ 9.20592600e-01 3.83026681e-01 7.61565959e-02 1.28607939e+02] [-3.81097841e-01 9.23711636e-01 -3.90031909e-02 -4.45970697e+01] [-8.52859965e-02 6.88293467e-03 9.96332738e-01 -1.58146517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82119381700002 meters 0.09291768221975644 Centerline is valid? [True, True] Translation: X:128.64, Y:-44.61, Z:-15.82 [[ 9.20791756e-01 3.82573806e-01 7.60251654e-02 1.28635474e+02] [-3.80650489e-01 9.23899104e-01 -3.89313687e-02 -4.46056979e+01] [-8.51337040e-02 6.90866693e-03 9.96345584e-01 -1.58172163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85119381700002 meters 0.09366970705410348 Centerline is valid? [True, True] Translation: X:128.66, Y:-44.62, Z:-15.82 [[ 9.20970691e-01 3.82120725e-01 7.61363120e-02 1.28662187e+02] [-3.80192331e-01 9.24086368e-01 -3.89637834e-02 -4.46166664e+01] [-8.52453971e-02 6.93806056e-03 9.96335830e-01 -1.58212996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88119381700002 meters 0.08566239262421449 Centerline is valid? [True, True] Translation: X:128.70, Y:-44.61, Z:-15.82 [[ 9.20285912e-01 3.83773850e-01 7.61017192e-02 1.28698328e+02] [-3.81855469e-01 9.23402420e-01 -3.89149394e-02 -4.46116701e+01] [-8.52070478e-02 6.75301283e-03 9.96340382e-01 -1.58216732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91119381700003 meters 0.08375674799677033 Centerline is valid? [True, True] Translation: X:128.73, Y:-44.62, Z:-15.82 [[ 9.20054177e-01 3.84286028e-01 7.63188082e-02 1.28727122e+02] [-3.82358077e-01 9.23189568e-01 -3.90297709e-02 -4.46178030e+01] [-8.54553232e-02 6.72839091e-03 9.96319284e-01 -1.58236325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94119381700003 meters 0.0830903247817783 Centerline is valid? [True, True] Translation: X:128.75, Y:-44.63, Z:-15.83 [[ 9.19570319e-01 3.85360591e-01 7.67309766e-02 1.28754912e+02] [-3.83418280e-01 9.22742221e-01 -3.92073405e-02 -4.46259196e+01] [-8.59118757e-02 6.63384758e-03 9.96280654e-01 -1.58261156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97119381700003 meters 0.08184083614730327 Centerline is valid? [True, True] Translation: X:128.79, Y:-44.63, Z:-15.83 [[ 9.18102766e-01 3.89067170e-01 7.55913192e-02 1.28785036e+02] [-3.87195427e-01 9.21188624e-01 -3.86163168e-02 -4.46296427e+01] [-8.46582045e-02 6.18513418e-03 9.96390853e-01 -1.58305319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00119381700003 meters 0.08125068180502641 Centerline is valid? [True, True] Translation: X:128.81, Y:-44.64, Z:-15.84 [[ 9.16511269e-01 3.92974780e-01 7.46854534e-02 1.28812105e+02] [-3.91160928e-01 9.19531270e-01 -3.81493365e-02 -4.46388755e+01] [-8.36673370e-02 5.75026554e-03 9.96477150e-01 -1.58363695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03119381700003 meters 0.07801119844622097 Centerline is valid? [True, True] Translation: X:128.84, Y:-44.64, Z:-15.84 [[ 9.14844608e-01 3.97066690e-01 7.34669154e-02 1.28842233e+02] [-3.95324913e-01 9.17774537e-01 -3.75248107e-02 -4.46446476e+01] [-8.23259167e-02 5.28606875e-03 9.96591441e-01 -1.58409171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06119381700003 meters 0.07498087108807519 Centerline is valid? [True, True] Translation: X:128.87, Y:-44.65, Z:-15.85 [[ 9.12896729e-01 4.01685989e-01 7.25804992e-02 1.28872665e+02] [-4.00000634e-01 9.15764834e-01 -3.70710276e-02 -4.46508552e+01] [-8.13575812e-02 4.80977415e-03 9.96673372e-01 -1.58450318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09119381700003 meters 0.07137434860326812 Centerline is valid? [True, True] Translation: X:128.90, Y:-44.65, Z:-15.85 [[ 9.08331029e-01 4.11956388e-01 7.22957528e-02 1.28904235e+02] [-4.10316740e-01 9.11195331e-01 -3.69220872e-02 -4.46522247e+01] [-8.10858421e-02 3.87331982e-03 9.96699595e-01 -1.58503779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12119381700003 meters 0.06838229464348497 Centerline is valid? [True, True] Translation: X:128.94, Y:-44.66, Z:-15.85 [[ 9.06018599e-01 4.16993515e-01 7.24341582e-02 1.28935648e+02] [-4.15363974e-01 9.08903008e-01 -3.69877213e-02 -4.46567511e+01] [-8.12592642e-02 3.42502366e-03 9.96687113e-01 -1.58509763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15119381700003 meters 0.06789375278719527 Centerline is valid? [True, True] Translation: X:128.96, Y:-44.67, Z:-15.85 [[ 9.03969062e-01 4.21156793e-01 7.39384195e-02 1.28963196e+02] [-4.19472752e-01 9.06982505e-01 -3.77537566e-02 -4.46656312e+01] [-8.29611040e-02 3.11307564e-03 9.96547924e-01 -1.58544282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.181193817 meters 0.06526654598771944 Centerline is valid? [True, True] Translation: X:128.99, Y:-44.67, Z:-15.85 [[ 9.01992758e-01 4.25170461e-01 7.50942338e-02 1.28994591e+02] [-4.23447186e-01 9.05109007e-01 -3.83427320e-02 -4.46709794e+01] [-8.42706645e-02 2.78642455e-03 9.96439005e-01 -1.58526138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.211193817 meters 0.0649237036416282 Centerline is valid? [True, True] Translation: X:129.02, Y:-44.68, Z:-15.85 [[ 9.02012558e-01 4.24735772e-01 7.72843443e-02 1.29019986e+02] [-4.22909509e-01 9.05312711e-01 -3.94517893e-02 -4.46840204e+01] [-8.67230854e-02 2.90172525e-03 9.96228230e-01 -1.58538770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.241193817 meters 0.06537155995145043 Centerline is valid? [True, True] Translation: X:129.04, Y:-44.70, Z:-15.86 [[ 9.03014959e-01 4.22402971e-01 7.83563229e-02 1.29044511e+02] [-4.20519313e-01 9.06402695e-01 -3.99707556e-02 -4.46999494e+01] [-8.79061482e-02 3.14384324e-03 9.96123800e-01 -1.58559177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.271193817 meters 0.06674141123885509 Centerline is valid? [True, True] Translation: X:129.07, Y:-44.72, Z:-15.86 [[ 9.04078336e-01 4.19718367e-01 8.04913353e-02 1.29066314e+02] [-4.17722923e-01 9.07647768e-01 -4.10254658e-02 -4.47175058e+01] [-9.02769223e-02 3.46715900e-03 9.95910667e-01 -1.58590618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.301193817 meters 0.06795787848205101 Centerline is valid? [True, True] Translation: X:129.09, Y:-44.73, Z:-15.86 [[ 9.05694487e-01 4.16110053e-01 8.10550439e-02 1.29090143e+02] [-4.14073104e-01 9.09306136e-01 -4.13015275e-02 -4.47346764e+01] [-9.08898295e-02 3.84385213e-03 9.95853535e-01 -1.58608474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.331193817 meters 0.06858007936581118 Centerline is valid? [True, True] Translation: X:129.11, Y:-44.75, Z:-15.87 [[ 9.06026791e-01 4.15474125e-01 8.06021487e-02 1.29113484e+02] [-4.13457869e-01 9.09596717e-01 -4.10658319e-02 -4.47488303e+01] [-9.03772405e-02 3.88115122e-03 9.95900041e-01 -1.58651736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36119381700001 meters 0.06751555309223828 Centerline is valid? [True, True] Translation: X:129.14, Y:-44.76, Z:-15.87 [[ 9.05925742e-01 4.16055042e-01 7.87194483e-02 1.29139285e+02] [-4.14134624e-01 9.09331783e-01 -4.01026347e-02 -4.47602434e+01] [-8.82669997e-02 3.72955996e-03 9.96089869e-01 -1.58688427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39119381700002 meters 0.06565628903344772 Centerline is valid? [True, True] Translation: X:129.17, Y:-44.77, Z:-15.87 [[ 9.03961950e-01 4.20365453e-01 7.83943765e-02 1.29166566e+02] [-4.18479808e-01 9.07349005e-01 -3.99053143e-02 -4.47716697e+01] [-8.79058750e-02 3.26642216e-03 9.96123430e-01 -1.58731124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42119381700002 meters 0.06401041221969522 Centerline is valid? [True, True] Translation: X:129.19, Y:-44.78, Z:-15.88 [[ 9.01880754e-01 4.24881223e-01 7.80195572e-02 1.29194865e+02] [-4.23031910e-01 9.05244784e-01 -3.96973988e-02 -4.47810217e+01] [-8.74934766e-02 2.79755765e-03 9.96161164e-01 -1.58751427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45119381700002 meters 0.06269035320265409 Centerline is valid? [True, True] Translation: X:129.22, Y:-44.79, Z:-15.88 [[ 8.99145953e-01 4.30586557e-01 7.83056379e-02 1.29222912e+02] [-4.28745495e-01 9.02546489e-01 -3.98388751e-02 -4.47901299e+01] [-8.78285626e-02 2.24777385e-03 9.96133069e-01 -1.58777750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48119381700002 meters 0.06095979013406397 Centerline is valid? [True, True] Translation: X:129.25, Y:-44.80, Z:-15.88 [[ 8.95610031e-01 4.37797913e-01 7.88394530e-02 1.29252261e+02] [-4.35959233e-01 8.99072062e-01 -4.01120206e-02 -4.47975980e+01] [-8.84433085e-02 1.55394055e-03 9.96080000e-01 -1.58798785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51119381700002 meters 0.05980893693620233 Centerline is valid? [True, True] Translation: X:129.28, Y:-44.80, Z:-15.89 [[ 8.88975355e-01 4.51471459e-01 7.67876262e-02 1.29280683e+02] [-4.49780228e-01 8.92285545e-01 -3.90416827e-02 -4.48013700e+01] [-8.61426944e-02 1.69537724e-04 9.96282795e-01 -1.58864421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54119381700002 meters 0.060133426379665025 Centerline is valid? [True, True] Translation: X:129.31, Y:-44.81, Z:-15.89 [[ 8.86259302e-01 4.56873209e-01 7.62320203e-02 1.29307157e+02] [-4.55226630e-01 8.89531756e-01 -3.87552745e-02 -4.48112879e+01] [-8.55170495e-02 -3.55623190e-04 9.96336644e-01 -1.58919295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57119381700002 meters 0.0606411464920735 Centerline is valid? [True, True] Translation: X:129.33, Y:-44.82, Z:-15.90 [[ 8.84190489e-01 4.60929400e-01 7.58371094e-02 1.29332741e+02] [-4.59317005e-01 8.87436476e-01 -3.85277822e-02 -4.48239784e+01] [-8.50592046e-02 -7.67375393e-04 9.96375603e-01 -1.58969343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60119381700002 meters 0.06105658761391054 Centerline is valid? [True, True] Translation: X:129.36, Y:-44.84, Z:-15.90 [[ 8.82634683e-01 4.64008329e-01 7.51816907e-02 1.29356940e+02] [-4.62437103e-01 8.85830180e-01 -3.81682834e-02 -4.48385660e+01] [-8.43086120e-02 -1.07815246e-03 9.96439108e-01 -1.59009630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63119381700002 meters 0.06178859715223559 Centerline is valid? [True, True] Translation: X:129.38, Y:-44.86, Z:-15.91 [[ 8.80858107e-01 4.67288723e-01 7.56983847e-02 1.29377064e+02] [-4.65710547e-01 8.84103617e-01 -3.83989671e-02 -4.48600822e+01] [-8.48686201e-02 -1.42949469e-03 9.96391125e-01 -1.59058688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66119381700003 meters 0.06202539463586785 Centerline is valid? [True, True] Translation: X:129.40, Y:-44.88, Z:-15.91 [[ 8.80426970e-01 4.67931219e-01 7.67380234e-02 1.29399182e+02] [-4.66312687e-01 8.83763576e-01 -3.89155357e-02 -4.48786647e+01] [-8.60280640e-02 -1.52162674e-03 9.96291552e-01 -1.59095324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69119381700003 meters 0.062192493306021675 Centerline is valid? [True, True] Translation: X:129.42, Y:-44.90, Z:-15.91 [[ 8.80495438e-01 4.67933379e-01 7.59350740e-02 1.29420046e+02] [-4.66351199e-01 8.83762413e-01 -3.84779978e-02 -4.48977073e+01] [-8.51137038e-02 -1.53271126e-03 9.96370066e-01 -1.59136449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72119381700003 meters 0.06148373426310248 Centerline is valid? [True, True] Translation: X:129.44, Y:-44.93, Z:-15.92 [[ 8.82144821e-01 4.64967980e-01 7.50019484e-02 1.29436167e+02] [-4.63414562e-01 8.85326631e-01 -3.79960694e-02 -4.49300306e+01] [-8.40681779e-02 -1.23895921e-03 9.96459235e-01 -1.59172189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75119381700003 meters 0.061251235158306286 Centerline is valid? [True, True] Translation: X:129.45, Y:-44.95, Z:-15.92 [[ 8.83382771e-01 4.62744849e-01 7.41760380e-02 1.29454320e+02] [-4.61220016e-01 8.86490903e-01 -3.75496439e-02 -4.49523672e+01] [-8.31322872e-02 -1.04076495e-03 9.96537977e-01 -1.59213575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78119381700003 meters 0.06111748330633085 Centerline is valid? [True, True] Translation: X:129.47, Y:-44.98, Z:-15.93 [[ 8.84671770e-01 4.60253122e-01 7.43163735e-02 1.29472651e+02] [-4.58715781e-01 8.87787348e-01 -3.75959812e-02 -4.49767050e+01] [-8.32808038e-02 -8.29990105e-04 9.96525774e-01 -1.59262446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81119381700003 meters 0.06085494963286225 Centerline is valid? [True, True] Translation: X:129.49, Y:-45.00, Z:-15.93 [[ 8.86599642e-01 4.56657849e-01 7.35165544e-02 1.29490682e+02] [-4.55141215e-01 8.89642271e-01 -3.71900908e-02 -4.50027773e+01] [-8.23865813e-02 -4.87692746e-04 9.96600328e-01 -1.59303530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84119381700003 meters 0.06071894235202873 Centerline is valid? [True, True] Translation: X:129.50, Y:-45.04, Z:-15.93 [[ 8.90326289e-01 4.49619513e-01 7.18428354e-02 1.29502914e+02] [-4.48150615e-01 8.93220172e-01 -3.63146105e-02 -4.50418365e+01] [-8.04992273e-02 1.35441532e-04 9.96754662e-01 -1.59344851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87119381700003 meters 0.06114659088874444 Centerline is valid? [True, True] Translation: X:129.52, Y:-45.07, Z:-15.94 [[ 8.92288413e-01 4.45717053e-01 7.18171071e-02 1.29520766e+02] [-4.44239098e-01 8.95173781e-01 -3.62701750e-02 -4.50672587e+01] [-8.04550267e-02 4.59489973e-04 9.96758134e-01 -1.59392856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90119381700003 meters 0.06111913804280213 Centerline is valid? [True, True] Translation: X:129.54, Y:-45.09, Z:-15.94 [[ 8.94234059e-01 4.41701619e-01 7.24232560e-02 1.29540928e+02] [-4.40185572e-01 8.97161634e-01 -3.65740927e-02 -4.50925674e+01] [-8.11302026e-02 8.26126941e-04 9.96703169e-01 -1.59390164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93119381700004 meters 0.061833538538221426 Centerline is valid? [True, True] Translation: X:129.56, Y:-45.12, Z:-15.94 [[ 8.95932728e-01 4.37995086e-01 7.39246362e-02 1.29559625e+02] [-4.36405537e-01 8.98976622e-01 -3.72993311e-02 -4.51171061e+01] [-8.27934434e-02 1.15657090e-03 9.96566058e-01 -1.59424697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.961193817 meters 0.062466869637824614 Centerline is valid? [True, True] Translation: X:129.58, Y:-45.15, Z:-15.94 [[ 8.98956786e-01 4.31682521e-01 7.43431055e-02 1.29575908e+02] [-4.30053505e-01 9.02023920e-01 -3.75077450e-02 -4.51496374e+01] [-8.32506973e-02 1.74632875e-03 9.96527105e-01 -1.59409242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.991193817 meters 0.06291432860720465 Centerline is valid? [True, True] Translation: X:129.60, Y:-45.17, Z:-15.94 [[ 9.00236763e-01 4.28833002e-01 7.53394060e-02 1.29596705e+02] [-4.27152310e-01 9.03381540e-01 -3.79828427e-02 -4.51720569e+01] [-8.43485251e-02 2.01215009e-03 9.96434282e-01 -1.59427723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.021193817 meters 0.06473491736559951 Centerline is valid? [True, True] Translation: X:129.61, Y:-45.20, Z:-15.95 [[ 9.01412274e-01 4.25992675e-01 7.73702387e-02 1.29611756e+02] [-4.24212425e-01 9.04723663e-01 -3.89732204e-02 -4.52042118e+01] [-8.66009922e-02 2.30952270e-03 9.96240400e-01 -1.59478019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.051193817 meters 0.06499403904553305 Centerline is valid? [True, True] Translation: X:129.63, Y:-45.22, Z:-15.95 [[ 9.01675270e-01 4.25185503e-01 7.87336954e-02 1.29634185e+02] [-4.23339847e-01 9.05103000e-01 -3.96476114e-02 -4.52228891e+01] [-8.81196935e-02 2.41816014e-03 9.96106958e-01 -1.59507266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.081193817 meters 0.0644496917476231 Centerline is valid? [True, True] Translation: X:129.66, Y:-45.24, Z:-15.95 [[ 9.01546495e-01 4.25313613e-01 7.95125641e-02 1.29658275e+02] [-4.23434055e-01 9.05042841e-01 -4.00132057e-02 -4.52387821e+01] [-8.89804380e-02 2.40543793e-03 9.96030469e-01 -1.59527895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11119381700001 meters 0.06498215009699973 Centerline is valid? [True, True] Translation: X:129.68, Y:-45.26, Z:-15.96 [[ 9.01591667e-01 4.25323972e-01 7.89429154e-02 1.29680091e+02] [-4.23474157e-01 9.05038097e-01 -3.96948540e-02 -4.52562246e+01] [-8.83295189e-02 2.35826509e-03 9.96088517e-01 -1.59577544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14119381700002 meters 0.0645387481627469 Centerline is valid? [True, True] Translation: X:129.70, Y:-45.27, Z:-15.96 [[ 9.01699342e-01 4.24982124e-01 7.95518093e-02 1.29704631e+02] [-4.23102706e-01 9.05198545e-01 -3.99961884e-02 -4.52724387e+01] [-8.90078471e-02 2.40595101e-03 9.96028019e-01 -1.59587715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17119381700002 meters 0.06455439506393258 Centerline is valid? [True, True] Translation: X:129.73, Y:-45.29, Z:-15.96 [[ 9.02556683e-01 4.23075626e-01 7.99903071e-02 1.29726736e+02] [-4.21170329e-01 9.06090690e-01 -4.01897552e-02 -4.52927963e+01] [-8.94817784e-02 2.58398824e-03 9.95985107e-01 -1.59600142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20119381700002 meters 0.06455439506393258 Centerline is valid? [True, True] Translation: X:129.75, Y:-45.30, Z:-15.96 [[ 9.02691299e-01 4.22786299e-01 8.00010280e-02 1.29751258e+02] [-4.20881760e-01 9.06225713e-01 -4.01684013e-02 -4.53048278e+01] [-8.94816384e-02 2.58869285e-03 9.95985108e-01 -1.59631546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23119381700002 meters 0.06411420490422243 Centerline is valid? [True, True] Translation: X:129.78, Y:-45.32, Z:-15.96 [[ 9.03252124e-01 4.21764169e-01 7.90606526e-02 1.29775846e+02] [-4.19903172e-01 9.06701756e-01 -3.96642463e-02 -4.53198898e+01] [-8.84133904e-02 2.62899592e-03 9.96080399e-01 -1.59646404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26119381700002 meters 0.06574566226195 Centerline is valid? [True, True] Translation: X:129.80, Y:-45.34, Z:-15.97 [[ 9.03542376e-01 4.21023431e-01 7.96896792e-02 1.29796710e+02] [-4.19132860e-01 9.07045768e-01 -3.99452128e-02 -4.53390488e+01] [-8.91000569e-02 2.69162932e-03 9.96019043e-01 -1.59706680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29119381700002 meters 0.06489895169655702 Centerline is valid? [True, True] Translation: X:129.82, Y:-45.36, Z:-15.97 [[ 9.04567916e-01 4.19177188e-01 7.77648346e-02 1.29821950e+02] [-4.17371227e-01 9.07900150e-01 -3.89689109e-02 -4.53551208e+01] [-8.69375835e-02 2.79322206e-03 9.96209845e-01 -1.59724500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32119381700002 meters 0.06730468711659957 Centerline is valid? [True, True] Translation: X:129.84, Y:-45.37, Z:-15.98 [[ 9.04905022e-01 4.18555696e-01 7.71882748e-02 1.29843018e+02] [-4.16774396e-01 9.08186722e-01 -3.86779139e-02 -4.53740957e+01] [-8.62902274e-02 2.82974193e-03 9.96266023e-01 -1.59817782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35119381700002 meters 0.06564648291872231 Centerline is valid? [True, True] Translation: X:129.87, Y:-45.38, Z:-15.98 [[ 9.05252400e-01 4.18037476e-01 7.59128562e-02 1.29870426e+02] [-4.16313164e-01 9.08425380e-01 -3.80352219e-02 -4.53842662e+01] [-8.48613134e-02 2.82795454e-03 9.96388760e-01 -1.59823340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38119381700002 meters 0.06538532221348806 Centerline is valid? [True, True] Translation: X:129.90, Y:-45.40, Z:-15.99 [[ 9.05370449e-01 4.18071569e-01 7.43001600e-02 1.29896193e+02] [-4.16422722e-01 9.08409976e-01 -3.71945020e-02 -4.53953965e+01] [-8.30449704e-02 2.73452807e-03 9.96542049e-01 -1.59867553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41119381700003 meters 0.0652363245937683 Centerline is valid? [True, True] Translation: X:129.92, Y:-45.41, Z:-15.99 [[ 9.05060508e-01 4.18627815e-01 7.49415025e-02 1.29922351e+02] [-4.16952531e-01 9.08153866e-01 -3.75119117e-02 -4.54076103e+01] [-8.37619448e-02 2.70350078e-03 9.96482126e-01 -1.59902775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44119381700003 meters 0.06481379751284957 Centerline is valid? [True, True] Translation: X:129.95, Y:-45.42, Z:-15.99 [[ 9.04705308e-01 4.19432443e-01 7.47310524e-02 1.29948105e+02] [-4.17771590e-01 9.07782839e-01 -3.73793645e-02 -4.54192724e+01] [-8.35176851e-02 2.59679889e-03 9.96502912e-01 -1.59938177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47119381700003 meters 0.06451561112682752 Centerline is valid? [True, True] Translation: X:129.97, Y:-45.43, Z:-16.00 [[ 9.04453718e-01 4.19948699e-01 7.48769863e-02 1.29974063e+02] [-4.18285433e-01 9.07544321e-01 -3.74246072e-02 -4.54316483e+01] [-8.36705988e-02 2.52887241e-03 9.96490259e-01 -1.59967731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50119381700003 meters 0.06457755704243191 Centerline is valid? [True, True] Translation: X:130.00, Y:-45.44, Z:-16.00 [[ 9.04004181e-01 4.21397342e-01 7.21160276e-02 1.29998885e+02] [-4.19861905e-01 9.06873254e-01 -3.60122501e-02 -4.54418271e+01] [-8.05755631e-02 2.27645189e-03 9.96745904e-01 -1.60047679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53119381700003 meters 0.0648267767192925 Centerline is valid? [True, True] Translation: X:130.03, Y:-45.45, Z:-16.01 [[ 9.04031414e-01 4.21856944e-01 6.90211745e-02 1.30025120e+02] [-4.20452865e-01 9.06659907e-01 -3.44557878e-02 -4.54537134e+01] [-7.71141450e-02 2.12896401e-03 9.97019998e-01 -1.60121820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56119381700003 meters 0.0651452104576218 Centerline is valid? [True, True] Translation: X:130.05, Y:-45.47, Z:-16.02 [[ 9.04320009e-01 4.21618403e-01 6.66576610e-02 1.30051179e+02] [-4.20307769e-01 9.06770967e-01 -3.32835183e-02 -4.54657393e+01] [-7.44761756e-02 2.08221872e-03 9.97220619e-01 -1.60178172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59119381700003 meters 0.06486729388457198 Centerline is valid? [True, True] Translation: X:130.08, Y:-45.48, Z:-16.02 [[ 9.03684176e-01 4.22959469e-01 6.67847104e-02 1.30078004e+02] [-4.21649722e-01 9.06146507e-01 -3.33169635e-02 -4.54768852e+01] [-7.46084573e-02 1.94825812e-03 9.97211002e-01 -1.60219904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62119381700003 meters 0.06343202835054278 Centerline is valid? [True, True] Translation: X:130.11, Y:-45.49, Z:-16.02 [[ 9.01941263e-01 4.26277075e-01 6.92084719e-02 1.30106361e+02] [-4.24881519e-01 9.04591013e-01 -3.45078743e-02 -4.54859427e+01] [-7.73152774e-02 1.71867503e-03 9.97005213e-01 -1.60222399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65119381700003 meters 0.06259259636381871 Centerline is valid? [True, True] Translation: X:130.13, Y:-45.50, Z:-16.02 [[ 9.01425837e-01 4.26999267e-01 7.14358857e-02 1.30132907e+02] [-4.25514714e-01 9.04250357e-01 -3.56163041e-02 -4.54972115e+01] [-7.98040609e-02 1.70843629e-03 9.96809106e-01 -1.60221472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68119381700004 meters 0.062132922959810086 Centerline is valid? [True, True] Translation: X:130.16, Y:-45.51, Z:-16.02 [[ 9.01070086e-01 4.27349904e-01 7.37886161e-02 1.30158035e+02] [-4.25767421e-01 9.04084661e-01 -3.67835402e-02 -4.55090138e+01] [-8.24305983e-02 1.72775890e-03 9.96595310e-01 -1.60236184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.711193817 meters 0.06177735887798348 Centerline is valid? [True, True] Translation: X:130.18, Y:-45.52, Z:-16.03 [[ 9.00604863e-01 4.28149652e-01 7.48248410e-02 1.30183901e+02] [-4.26525808e-01 9.03706305e-01 -3.72914104e-02 -4.55206845e+01] [-8.35859850e-02 1.67009981e-03 9.96499169e-01 -1.60253209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.741193817 meters 0.060870343568241066 Centerline is valid? [True, True] Translation: X:130.21, Y:-45.53, Z:-16.03 [[ 8.99911456e-01 4.29241283e-01 7.68849267e-02 1.30211297e+02] [-4.27532986e-01 9.03188465e-01 -3.82902457e-02 -4.55314909e+01] [-8.58773331e-02 1.58698848e-03 9.96304454e-01 -1.60253671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.771193817 meters 0.06044159116741079 Centerline is valid? [True, True] Translation: X:130.24, Y:-45.54, Z:-16.03 [[ 8.99661222e-01 4.29916100e-01 7.60383645e-02 1.30237699e+02] [-4.28249729e-01 9.02867623e-01 -3.78447541e-02 -4.55432705e+01] [-8.49226465e-02 1.48404869e-03 9.96386442e-01 -1.60280893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.801193817 meters 0.06049179913907181 Centerline is valid? [True, True] Translation: X:130.26, Y:-45.56, Z:-16.03 [[ 8.99671413e-01 4.30118789e-01 7.47607929e-02 1.30262500e+02] [-4.28511531e-01 9.02771200e-01 -3.71756407e-02 -4.55562016e+01] [-8.34818322e-02 1.40999940e-03 9.96508302e-01 -1.60324634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.831193817 meters 0.06072846715315511 Centerline is valid? [True, True] Translation: X:130.29, Y:-45.57, Z:-16.04 [[ 9.00021939e-01 4.29556784e-01 7.37663767e-02 1.30287597e+02] [-4.27990422e-01 9.03038701e-01 -3.66783671e-02 -4.55697545e+01] [-8.23693344e-02 1.44003240e-03 9.96600832e-01 -1.60376745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86119381700001 meters 0.060799355654863954 Centerline is valid? [True, True] Translation: X:130.31, Y:-45.59, Z:-16.04 [[ 9.00818783e-01 4.27996290e-01 7.31074275e-02 1.30311573e+02] [-4.26454847e-01 9.03779171e-01 -3.63245703e-02 -4.55852492e+01] [-8.16197515e-02 1.54483838e-03 9.96662345e-01 -1.60402399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89119381700002 meters 0.06281553139590101 Centerline is valid? [True, True] Translation: X:130.33, Y:-45.60, Z:-16.05 [[ 9.02093325e-01 4.25466394e-01 7.21524757e-02 1.30331702e+02] [-4.23959607e-01 9.04972589e-01 -3.58170947e-02 -4.56037600e+01] [-8.05349828e-02 1.72062682e-03 9.96750298e-01 -1.60503077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92119381700002 meters 0.06195772071618075 Centerline is valid? [True, True] Translation: X:130.36, Y:-45.62, Z:-16.05 [[ 9.03950157e-01 4.21783702e-01 7.05168207e-02 1.30357819e+02] [-4.20334417e-01 9.06694297e-01 -3.49918616e-02 -4.56175950e+01] [-7.86961961e-02 1.99025205e-03 9.96896658e-01 -1.60476345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95119381700002 meters 0.06498710787805881 Centerline is valid? [True, True] Translation: X:130.38, Y:-45.64, Z:-16.06 [[ 9.06011383e-01 4.17560132e-01 6.91874963e-02 1.30377837e+02] [-4.16153116e-01 9.08646360e-01 -3.43275018e-02 -4.56388516e+01] [-7.72007628e-02 2.30851524e-03 9.97012895e-01 -1.60573268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98119381700002 meters 0.06759955966703284 Centerline is valid? [True, True] Translation: X:130.40, Y:-45.66, Z:-16.06 [[ 9.10198717e-01 4.08459582e-01 6.85497314e-02 1.30400585e+02] [-4.07053411e-01 9.12771333e-01 -3.40002079e-02 -4.56615950e+01] [-7.64579405e-02 3.04354363e-03 9.97068162e-01 -1.60591125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01119381700002 meters 0.06908662750558775 Centerline is valid? [True, True] Translation: X:130.42, Y:-45.68, Z:-16.06 [[ 9.12164665e-01 4.03879931e-01 6.95458557e-02 1.30424773e+02] [-4.02419155e-01 9.14805389e-01 -3.44952749e-02 -4.56794430e+01] [-7.75528728e-02 3.47878638e-03 9.96982171e-01 -1.60601224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04119381700002 meters 0.07758115540874254 Centerline is valid? [True, True] Translation: X:130.44, Y:-45.71, Z:-16.07 [[ 9.13549000e-01 4.00565018e-01 7.05399917e-02 1.30441489e+02] [-3.99052419e-01 9.16260406e-01 -3.49862150e-02 -4.57068803e+01] [-7.86472553e-02 3.81246741e-03 9.96895217e-01 -1.60717970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07119381700002 meters 0.07061654305224899 Centerline is valid? [True, True] Translation: X:130.47, Y:-45.71, Z:-16.06 [[ 9.14111866e-01 3.99037634e-01 7.18920264e-02 1.30473578e+02] [-3.97461655e-01 9.16925735e-01 -3.56571043e-02 -4.57094472e+01] [-8.01481757e-02 4.02025841e-03 9.96774853e-01 -1.60635879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10119381700002 meters 0.06857652891447118 Centerline is valid? [True, True] Translation: X:130.50, Y:-45.72, Z:-16.07 [[ 9.12093085e-01 4.03411177e-01 7.31137909e-02 1.30501824e+02] [-4.01798059e-01 9.15011472e-01 -3.62260465e-02 -4.57173935e+01] [-8.15139495e-02 3.66454717e-03 9.96665464e-01 -1.60653161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13119381700002 meters 0.06605908559540584 Centerline is valid? [True, True] Translation: X:130.53, Y:-45.72, Z:-16.07 [[ 9.09418162e-01 4.09252380e-01 7.39668630e-02 1.30532598e+02] [-4.07620869e-01 9.12415701e-01 -3.66444645e-02 -4.57230283e+01] [-8.24853615e-02 3.17470461e-03 9.96587220e-01 -1.60682356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16119381700003 meters 0.06349490257913246 Centerline is valid? [True, True] Translation: X:130.56, Y:-45.73, Z:-16.07 [[ 9.06299631e-01 4.16121445e-01 7.39183416e-02 1.30564050e+02] [-4.14514783e-01 9.09305475e-01 -3.66203103e-02 -4.57267767e+01] [-8.24528491e-02 2.54872835e-03 9.96591708e-01 -1.60718514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19119381700003 meters 0.0609622969663671 Centerline is valid? [True, True] Translation: X:130.60, Y:-45.73, Z:-16.07 [[ 9.02591580e-01 4.23719745e-01 7.60921670e-02 1.30595481e+02] [-4.22044187e-01 9.05791334e-01 -3.76930250e-02 -4.57305583e+01] [-8.48949044e-02 1.90715022e-03 9.96388086e-01 -1.60739383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22119381700003 meters 0.05848287223502047 Centerline is valid? [True, True] Translation: X:130.63, Y:-45.73, Z:-16.08 [[ 8.97466832e-01 4.34374769e-01 7.66279643e-02 1.30629328e+02] [-4.32714260e-01 9.00731780e-01 -3.79556289e-02 -4.57301358e+01] [-8.55082102e-02 9.05905088e-04 9.96337054e-01 -1.60764342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25119381700003 meters 0.05855033293299085 Centerline is valid? [True, True] Translation: X:130.65, Y:-45.74, Z:-16.08 [[ 8.96100068e-01 4.37348527e-01 7.57029299e-02 1.30654527e+02] [-4.35738325e-01 8.99291880e-01 -3.74996851e-02 -4.57386843e+01] [-8.44794622e-02 6.16802508e-04 9.96425030e-01 -1.60834247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28119381700003 meters 0.05857434112639714 Centerline is valid? [True, True] Translation: X:130.68, Y:-45.75, Z:-16.09 [[ 8.96047333e-01 4.37508815e-01 7.54003610e-02 1.30680093e+02] [-4.35912717e-01 8.99213927e-01 -3.73418898e-02 -4.57504357e+01] [-8.41384607e-02 5.92124548e-04 9.96453897e-01 -1.60875102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31119381700003 meters 0.05864751695393412 Centerline is valid? [True, True] Translation: X:130.70, Y:-45.77, Z:-16.09 [[ 8.97528710e-01 4.34244088e-01 7.66439027e-02 1.30703478e+02] [-4.32585748e-01 9.00794811e-01 -3.79246476e-02 -4.57680588e+01] [-8.55089838e-02 8.83400112e-04 9.96337008e-01 -1.60897098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34119381700003 meters 0.05882684099531732 Centerline is valid? [True, True] Translation: X:130.73, Y:-45.78, Z:-16.09 [[ 8.98137423e-01 4.32815755e-01 7.75866750e-02 1.30726437e+02] [-4.31113970e-01 9.01481847e-01 -3.83565402e-02 -4.57839858e+01] [-8.65442940e-02 1.00074463e-03 9.96247501e-01 -1.60937422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37119381700003 meters 0.05855308764796525 Centerline is valid? [True, True] Translation: X:130.75, Y:-45.80, Z:-16.09 [[ 8.98592976e-01 4.31805750e-01 7.79388085e-02 1.30751380e+02] [-4.30084927e-01 9.01965955e-01 -3.85275502e-02 -4.57969502e+01] [-8.69345695e-02 1.10027923e-03 9.96213416e-01 -1.60941239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40119381700003 meters 0.05890014603593667 Centerline is valid? [True, True] Translation: X:130.77, Y:-45.81, Z:-16.10 [[ 8.99083861e-01 4.30989847e-01 7.67851718e-02 1.30774595e+02] [-4.29320048e-01 9.02356073e-01 -3.79185155e-02 -4.58109002e+01] [-8.56300613e-02 1.12651170e-03 9.96326364e-01 -1.60997510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43119381700004 meters 0.05935074856905997 Centerline is valid? [True, True] Translation: X:130.80, Y:-45.83, Z:-16.11 [[ 8.99608594e-01 4.30369795e-01 7.40690005e-02 1.30798753e+02] [-4.28814363e-01 9.02651947e-01 -3.65746347e-02 -4.58266685e+01] [-8.25991456e-02 1.14100446e-03 9.96582199e-01 -1.61056782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.461193817 meters 0.0594456297617931 Centerline is valid? [True, True] Translation: X:130.82, Y:-45.84, Z:-16.11 [[ 9.00191124e-01 4.29372005e-01 7.27710264e-02 1.30823382e+02] [-4.27869509e-01 9.03126940e-01 -3.59083907e-02 -4.58411791e+01] [-8.11395321e-02 1.18791125e-03 9.96702044e-01 -1.61093970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.491193817 meters 0.05974532254411841 Centerline is valid? [True, True] Translation: X:130.85, Y:-45.86, Z:-16.11 [[ 9.00558337e-01 4.28663279e-01 7.24049444e-02 1.30847332e+02] [-4.27175731e-01 9.03463503e-01 -3.57014555e-02 -4.58567613e+01] [-8.07191277e-02 1.22160837e-03 9.96736139e-01 -1.61142617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.521193817 meters 0.06017726115506332 Centerline is valid? [True, True] Translation: X:130.87, Y:-45.87, Z:-16.12 [[ 9.01208572e-01 4.27435676e-01 7.15671201e-02 1.30869627e+02] [-4.25981102e-01 9.04044847e-01 -3.52564133e-02 -4.58726269e+01] [-7.97697351e-02 1.28714113e-03 9.96812486e-01 -1.61190233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.551193817 meters 0.060201132362270385 Centerline is valid? [True, True] Translation: X:130.89, Y:-45.89, Z:-16.12 [[ 9.01712496e-01 4.26369626e-01 7.15787445e-02 1.30892671e+02] [-4.24911597e-01 9.04547978e-01 -3.52574843e-02 -4.58898427e+01] [-7.97791290e-02 1.37747556e-03 9.96811614e-01 -1.61218428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.581193817 meters 0.06000966907477309 Centerline is valid? [True, True] Translation: X:130.92, Y:-45.90, Z:-16.13 [[ 9.00858634e-01 4.28049431e-01 7.23008045e-02 1.30916969e+02] [-4.26569883e-01 9.03754512e-01 -3.55797219e-02 -4.59028228e+01] [-8.05720580e-02 1.21095394e-03 9.96748051e-01 -1.61262857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61119381700001 meters 0.05902015784177872 Centerline is valid? [True, True] Translation: X:130.94, Y:-45.91, Z:-16.13 [[ 8.98438534e-01 4.33083538e-01 7.24351396e-02 1.30944240e+02] [-4.31615023e-01 9.01353468e-01 -3.56426404e-02 -4.59132150e+01] [-8.07259050e-02 7.58627157e-04 9.96736050e-01 -1.61289923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64119381700002 meters 0.05889695670134862 Centerline is valid? [True, True] Translation: X:130.97, Y:-45.92, Z:-16.13 [[ 8.96923376e-01 4.36145880e-01 7.28369967e-02 1.30969242e+02] [-4.34673383e-01 8.99875858e-01 -3.58118826e-02 -4.59236738e+01] [-8.11634599e-02 4.60210888e-04 9.96700698e-01 -1.61339858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67119381700002 meters 0.05857089029765039 Centerline is valid? [True, True] Translation: X:130.99, Y:-45.93, Z:-16.14 [[ 8.95978296e-01 4.38116615e-01 7.26410691e-02 1.30994764e+02] [-4.36659054e-01 8.98918103e-01 -3.57087403e-02 -4.59348060e+01] [-8.09429645e-02 2.74875810e-04 9.96718697e-01 -1.61358926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70119381700002 meters 0.05866667540225011 Centerline is valid? [True, True] Translation: X:131.02, Y:-45.95, Z:-16.14 [[ 8.95005300e-01 4.39941662e-01 7.35992350e-02 1.31018802e+02] [-4.38454689e-01 8.98026352e-01 -3.61407941e-02 -4.59468484e+01] [-8.19938935e-02 7.62725787e-05 9.96632829e-01 -1.61419520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73119381700002 meters 0.05839118693291321 Centerline is valid? [True, True] Translation: X:131.04, Y:-45.96, Z:-16.14 [[ 8.94122278e-01 4.41870601e-01 7.27717312e-02 1.31044036e+02] [-4.40424034e-01 8.97078793e-01 -3.57254798e-02 -4.59601771e+01] [-8.10680160e-02 -1.07471998e-04 9.96708566e-01 -1.61422334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76119381700002 meters 0.058952808844743194 Centerline is valid? [True, True] Translation: X:131.07, Y:-45.97, Z:-16.15 [[ 8.92356432e-01 4.45403994e-01 7.29059689e-02 1.31066922e+02] [-4.43964608e-01 8.95329599e-01 -3.57817764e-02 -4.59749048e+01] [-8.12122180e-02 -4.37571613e-04 9.96696736e-01 -1.61505263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79119381700002 meters 0.0586131222057793 Centerline is valid? [True, True] Translation: X:131.09, Y:-45.99, Z:-16.15 [[ 8.91447095e-01 4.47069220e-01 7.38321665e-02 1.31092317e+02] [-4.45598925e-01 8.94499163e-01 -3.62331965e-02 -4.59899129e+01] [-8.22415581e-02 -5.99556242e-04 9.96612245e-01 -1.61494823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82119381700002 meters 0.05882697850265391 Centerline is valid? [True, True] Translation: X:131.12, Y:-46.00, Z:-16.15 [[ 8.90291758e-01 4.49211348e-01 7.47646293e-02 1.31117099e+02] [-4.47713982e-01 8.93425130e-01 -3.66568864e-02 -4.60030245e+01] [-8.32632880e-02 -8.37846033e-04 9.96527231e-01 -1.61524553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85119381700002 meters 0.05848174256129358 Centerline is valid? [True, True] Translation: X:131.14, Y:-46.02, Z:-16.15 [[ 8.89076427e-01 4.51406351e-01 7.59961428e-02 1.31141732e+02] [-4.49867334e-01 8.92317868e-01 -3.72586086e-02 -4.60172854e+01] [-8.46314886e-02 -1.06243158e-03 9.96411753e-01 -1.61510668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88119381700002 meters 0.05899882852772382 Centerline is valid? [True, True] Translation: X:131.16, Y:-46.03, Z:-16.15 [[ 8.86714112e-01 4.55614297e-01 7.84454976e-02 1.31164416e+02] [-4.53994233e-01 8.90175948e-01 -3.84189808e-02 -4.60330111e+01] [-8.73345321e-02 -1.54715106e-03 9.96177838e-01 -1.61519361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91119381700003 meters 0.0591863170288222 Centerline is valid? [True, True] Translation: X:131.19, Y:-46.05, Z:-16.16 [[ 8.86179709e-01 4.56583507e-01 7.88481047e-02 1.31188194e+02] [-4.54951480e-01 8.89679012e-01 -3.86057953e-02 -4.60493629e+01] [-8.77762733e-02 -1.66038948e-03 9.96138830e-01 -1.61553138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94119381700003 meters 0.05951123550256075 Centerline is valid? [True, True] Translation: X:131.21, Y:-46.07, Z:-16.16 [[ 8.86029855e-01 4.56944002e-01 7.84428199e-02 1.31211683e+02] [-4.55332647e-01 8.89493814e-01 -3.83788362e-02 -4.60667621e+01] [-8.73113821e-02 -1.71278216e-03 9.96179597e-01 -1.61596813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97119381700003 meters 0.06035698111286814 Centerline is valid? [True, True] Translation: X:131.23, Y:-46.09, Z:-16.17 [[ 8.86021182e-01 4.57568087e-01 7.48191929e-02 1.31230751e+02] [-4.56107326e-01 8.89172922e-01 -3.65735154e-02 -4.60896948e+01] [-8.32620739e-02 -1.72067266e-03 9.96526200e-01 -1.61686679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00119381700003 meters 0.0605631362707089 Centerline is valid? [True, True] Translation: X:131.25, Y:-46.11, Z:-16.17 [[ 8.85933919e-01 4.58176467e-01 7.20792449e-02 1.31253673e+02] [-4.56823520e-01 8.88859590e-01 -3.52264373e-02 -4.61084648e+01] [-8.02082525e-02 -1.71919875e-03 9.96776645e-01 -1.61734243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03119381700003 meters 0.06128920945005416 Centerline is valid? [True, True] Translation: X:131.28, Y:-46.12, Z:-16.18 [[ 8.85670942e-01 4.58801765e-01 7.13296728e-02 1.31275904e+02] [-4.57479182e-01 8.88536910e-01 -3.48562459e-02 -4.61248306e+01] [-7.93711542e-02 -1.76067617e-03 9.96843578e-01 -1.61800079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06119381700003 meters 0.06165850338234079 Centerline is valid? [True, True] Translation: X:131.30, Y:-46.14, Z:-16.18 [[ 8.85278089e-01 4.59653404e-01 7.07209492e-02 1.31299714e+02] [-4.58356178e-01 8.88096518e-01 -3.45570352e-02 -4.61415839e+01] [-7.86912876e-02 -1.82279790e-03 9.96897366e-01 -1.61842893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09119381700003 meters 0.062023663738124166 Centerline is valid? [True, True] Translation: X:131.32, Y:-46.16, Z:-16.19 [[ 8.84433611e-01 4.61244837e-01 7.09252318e-02 1.31320506e+02] [-4.59947162e-01 8.87270664e-01 -3.46320179e-02 -4.61645766e+01] [-7.89037170e-02 -1.99213847e-03 9.96880251e-01 -1.61869768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12119381700003 meters 0.062023663738124166 Centerline is valid? [True, True] Translation: X:131.35, Y:-46.18, Z:-16.19 [[ 8.84582205e-01 4.60958383e-01 7.09344235e-02 1.31345196e+02] [-4.59661298e-01 8.87419528e-01 -3.46131784e-02 -4.61763392e+01] [-7.89038274e-02 -1.98760748e-03 9.96880251e-01 -1.61901183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15119381700003 meters 0.06159964054954193 Centerline is valid? [True, True] Translation: X:131.37, Y:-46.20, Z:-16.19 [[ 8.84793978e-01 4.60575656e-01 7.07791075e-02 1.31367442e+02] [-4.59285240e-01 8.87618256e-01 -3.45094142e-02 -4.61950184e+01] [-7.87190240e-02 -1.97407758e-03 9.96894888e-01 -1.61920434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18119381700004 meters 0.060804436485568734 Centerline is valid? [True, True] Translation: X:131.39, Y:-46.21, Z:-16.19 [[ 8.84820781e-01 4.60460344e-01 7.11931010e-02 1.31389113e+02] [-4.59156681e-01 8.87678020e-01 -3.46824797e-02 -4.62148688e+01] [-7.91664575e-02 -2.00100917e-03 9.96859402e-01 -1.61921867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.211193817 meters 0.06047819244083984 Centerline is valid? [True, True] Translation: X:131.41, Y:-46.24, Z:-16.19 [[ 8.84472018e-01 4.60914601e-01 7.25739645e-02 1.31409690e+02] [-4.59564010e-01 8.87441984e-01 -3.53220390e-02 -4.62384216e+01] [-8.06856265e-02 -2.11102698e-03 9.96737364e-01 -1.61935335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.241193817 meters 0.06120099001926617 Centerline is valid? [True, True] Translation: X:131.43, Y:-46.25, Z:-16.20 [[ 8.84323386e-01 4.61004896e-01 7.38013238e-02 1.31432706e+02] [-4.59611392e-01 8.87394897e-01 -3.58840512e-02 -4.62544285e+01] [-8.20336414e-02 -2.18682351e-03 9.96627162e-01 -1.61976812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.271193817 meters 0.060199652311685434 Centerline is valid? [True, True] Translation: X:131.45, Y:-46.28, Z:-16.20 [[ 8.84570814e-01 4.60366129e-01 7.48164590e-02 1.31454997e+02] [-4.58932593e-01 8.87726497e-01 -3.63667773e-02 -4.62752060e+01] [-8.31585855e-02 -2.16672176e-03 9.96533971e-01 -1.61977884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.301193817 meters 0.05890790769769653 Centerline is valid? [True, True] Translation: X:131.47, Y:-46.30, Z:-16.20 [[ 8.86318538e-01 4.56827725e-01 7.58147688e-02 1.31473651e+02] [-4.55343358e-01 8.89553229e-01 -3.68439839e-02 -4.63029892e+01] [-8.42726257e-02 -1.86624549e-03 9.96440988e-01 -1.61991837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.331193817 meters 0.05844833834460714 Centerline is valid? [True, True] Translation: X:131.50, Y:-46.32, Z:-16.20 [[ 8.87851776e-01 4.53867806e-01 7.56520886e-02 1.31495337e+02] [-4.52379695e-01 8.91067614e-01 -3.67575681e-02 -4.63220935e+01] [-8.40942029e-02 -1.58819664e-03 9.96456543e-01 -1.62030064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36119381700001 meters 0.057940251468210524 Centerline is valid? [True, True] Translation: X:131.52, Y:-46.34, Z:-16.21 [[ 8.89382495e-01 4.50758838e-01 7.62577745e-02 1.31517301e+02] [-4.49236324e-01 8.92644801e-01 -3.70403060e-02 -4.63436316e+01] [-8.47673513e-02 -1.31476257e-03 9.96399903e-01 -1.62066313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39119381700002 meters 0.05712715266213325 Centerline is valid? [True, True] Translation: X:131.54, Y:-46.38, Z:-16.21 [[ 8.93866485e-01 4.41959697e-01 7.53281728e-02 1.31535948e+02] [-4.40444243e-01 8.97034776e-01 -3.65715731e-02 -4.63761849e+01] [-8.37351519e-02 -4.87756605e-04 9.96487926e-01 -1.62116759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42119381700002 meters 0.0571738600396605 Centerline is valid? [True, True] Translation: X:131.56, Y:-46.40, Z:-16.22 [[ 8.96156332e-01 4.37376063e-01 7.48732832e-02 1.31559657e+02] [-4.35860894e-01 8.99278699e-01 -3.63744768e-02 -4.63995468e+01] [-8.32412741e-02 -3.71184741e-05 9.96529422e-01 -1.62168926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45119381700002 meters 0.057914921529245496 Centerline is valid? [True, True] Translation: X:131.58, Y:-46.42, Z:-16.22 [[ 8.98941655e-01 4.31930782e-01 7.30732560e-02 1.31583345e+02] [-4.30467406e-01 9.01906629e-01 -3.55280837e-02 -4.64236016e+01] [-8.12509270e-02 4.82019370e-04 9.96693561e-01 -1.62226178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48119381700002 meters 0.059263486177660106 Centerline is valid? [True, True] Translation: X:131.61, Y:-46.45, Z:-16.23 [[ 9.01972666e-01 4.25929937e-01 7.09154256e-02 1.31606082e+02] [-4.24530581e-01 9.04755569e-01 -3.45129811e-02 -4.64475863e+01] [-7.88612381e-02 1.02399875e-03 9.96885077e-01 -1.62289321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51119381700002 meters 0.06159652840716888 Centerline is valid? [True, True] Translation: X:131.63, Y:-46.48, Z:-16.23 [[ 9.07011362e-01 4.15351892e-01 6.93771910e-02 1.31626228e+02] [-4.13981348e-01 9.09658820e-01 -3.37679461e-02 -4.64776374e+01] [-7.71351540e-02 1.90704778e-03 9.97018822e-01 -1.62307211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54119381700002 meters 0.06334375292092288 Centerline is valid? [True, True] Translation: X:131.65, Y:-46.50, Z:-16.24 [[ 9.08735106e-01 4.11517615e-01 6.96689349e-02 1.31650726e+02] [-4.10124337e-01 9.11399051e-01 -3.39086669e-02 -4.64976231e+01] [-7.74502149e-02 2.24107022e-03 9.96993702e-01 -1.62351972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57119381700002 meters 0.06496547013763565 Centerline is valid? [True, True] Translation: X:131.68, Y:-46.52, Z:-16.24 [[ 9.10174386e-01 4.08255556e-01 7.00713015e-02 1.31676456e+02] [-4.06835854e-01 9.12864145e-01 -3.41121831e-02 -4.65163643e+01] [-7.78920670e-02 2.54051756e-03 9.96958561e-01 -1.62386394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60119381700002 meters 0.06625383373418374 Centerline is valid? [True, True] Translation: X:131.70, Y:-46.53, Z:-16.24 [[ 9.11609169e-01 4.04857951e-01 7.11249831e-02 1.31703577e+02] [-4.03382298e-01 9.14374984e-01 -3.46570295e-02 -4.65343070e+01] [-7.90660792e-02 2.90310673e-03 9.96865150e-01 -1.62416493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63119381700002 meters 0.07064484508736699 Centerline is valid? [True, True] Translation: X:131.73, Y:-46.56, Z:-16.25 [[ 9.14081715e-01 3.99363904e-01 7.04492044e-02 1.31725755e+02] [-3.97899067e-01 9.16786347e-01 -3.43384110e-02 -4.65562414e+01] [-7.83003906e-02 3.35644097e-03 9.96924161e-01 -1.62472044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66119381700003 meters 0.07111638783814885 Centerline is valid? [True, True] Translation: X:131.75, Y:-46.57, Z:-16.25 [[ 9.15129980e-01 3.96822829e-01 7.11952440e-02 1.31754441e+02] [-3.95319341e-01 9.17888129e-01 -3.46987167e-02 -4.65715399e+01] [-7.91185123e-02 3.60897905e-03 9.96858684e-01 -1.62488079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69119381700003 meters 0.07051012146195429 Centerline is valid? [True, True] Translation: X:131.78, Y:-46.58, Z:-16.25 [[ 9.16165765e-01 3.94667772e-01 6.98401107e-02 1.31783213e+02] [-3.93214217e-01 9.18816324e-01 -3.40461686e-02 -4.65825305e+01] [-7.76071594e-02 3.72980966e-03 9.96977040e-01 -1.62505318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72119381700003 meters 0.07397319648115569 Centerline is valid? [True, True] Translation: X:131.81, Y:-46.60, Z:-16.26 [[ 9.16937819e-01 3.92918854e-01 6.95687474e-02 1.31808631e+02] [-3.91471128e-01 9.19565013e-01 -3.39196567e-02 -4.65986792e+01] [-7.73006587e-02 3.86805995e-03 9.97000324e-01 -1.62579794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75119381700003 meters 0.07099495581788123 Centerline is valid? [True, True] Translation: X:131.84, Y:-46.60, Z:-16.26 [[ 9.17366323e-01 3.92087362e-01 6.86041476e-02 1.31842845e+02] [-3.90677780e-01 9.19919817e-01 -3.34425212e-02 -4.66010854e+01] [-7.62227048e-02 3.87692666e-03 9.97083281e-01 -1.62575082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78119381700003 meters 0.07244851424221221 Centerline is valid? [True, True] Translation: X:131.87, Y:-46.61, Z:-16.26 [[ 9.17216525e-01 3.92362098e-01 6.90350000e-02 1.31871650e+02] [-3.90933560e-01 9.19802566e-01 -3.36777465e-02 -4.66127436e+01] [-7.67124414e-02 3.90168725e-03 9.97045625e-01 -1.62630625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81119381700003 meters 0.07190935325972854 Centerline is valid? [True, True] Translation: X:131.90, Y:-46.62, Z:-16.27 [[ 9.16551037e-01 3.93941868e-01 6.88767045e-02 1.31902859e+02] [-3.92522497e-01 9.19127573e-01 -3.36243122e-02 -4.66214579e+01] [-7.65525026e-02 3.78274217e-03 9.97058376e-01 -1.62663307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84119381700003 meters 0.07604368802917595 Centerline is valid? [True, True] Translation: X:131.93, Y:-46.64, Z:-16.28 [[ 9.16255381e-01 3.94633224e-01 6.88527052e-02 1.31929110e+02] [-3.93214726e-01 9.18831088e-01 -3.36394378e-02 -4.66357405e+01] [-7.65392458e-02 3.74841830e-03 9.97059523e-01 -1.62755317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87119381700003 meters 0.07067628521171128 Centerline is valid? [True, True] Translation: X:131.96, Y:-46.64, Z:-16.27 [[ 9.15730877e-01 3.95782991e-01 6.92299378e-02 1.31964482e+02] [-3.94350390e-01 9.18336639e-01 -3.38465319e-02 -4.66374706e+01] [-7.69722700e-02 3.69346138e-03 9.97026393e-01 -1.62722716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90119381700003 meters 0.07067532443358646 Centerline is valid? [True, True] Translation: X:132.00, Y:-46.64, Z:-16.27 [[ 9.15714076e-01 3.95501395e-01 7.10378641e-02 1.31998299e+02] [-3.93989791e-01 9.18457346e-01 -3.47584173e-02 -4.66413266e+01] [-7.89922507e-02 3.84057871e-03 9.96867832e-01 -1.62742396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93119381700004 meters 0.0728110768173697 Centerline is valid? [True, True] Translation: X:132.03, Y:-46.65, Z:-16.28 [[ 9.16048023e-01 3.94684206e-01 7.12769015e-02 1.32027168e+02] [-3.93157721e-01 9.18808345e-01 -3.49031677e-02 -4.66527446e+01] [-7.92655410e-02 3.94991367e-03 9.96845711e-01 -1.62796258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.961193817 meters 0.07371253887929204 Centerline is valid? [True, True] Translation: X:132.06, Y:-46.66, Z:-16.28 [[ 9.17044006e-01 3.92246118e-01 7.19254824e-02 1.32057559e+02] [-3.90681594e-01 9.19850586e-01 -3.52532459e-02 -4.66628183e+01] [-7.99886460e-02 4.22881572e-03 9.96786805e-01 -1.62828121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.991193817 meters 0.07319844507650022 Centerline is valid? [True, True] Translation: X:132.09, Y:-46.67, Z:-16.28 [[ 9.18093579e-01 3.89664256e-01 7.25668553e-02 1.32089300e+02] [-3.88063013e-01 9.20945987e-01 -3.55750914e-02 -4.66711051e+01] [-8.06924957e-02 4.50075041e-03 9.96728882e-01 -1.62830474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.021193817 meters 0.07784102977698416 Centerline is valid? [True, True] Translation: X:132.12, Y:-46.68, Z:-16.29 [[ 9.20706471e-01 3.82951930e-01 7.51492764e-02 1.32117824e+02] [-3.81211155e-01 9.23753164e-01 -3.68530377e-02 -4.66799811e+01] [-8.35323238e-02 5.28308780e-03 9.96491064e-01 -1.62863181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.051193817 meters 0.0761939208781623 Centerline is valid? [True, True] Translation: X:132.15, Y:-46.68, Z:-16.29 [[ 9.22214188e-01 3.79127639e-01 7.60475162e-02 1.32149689e+02] [-3.77332261e-01 9.25326865e-01 -3.72901814e-02 -4.66849619e+01] [-8.45065482e-02 5.69435317e-03 9.96406653e-01 -1.62869550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.081193817 meters 0.08049700318347179 Centerline is valid? [True, True] Translation: X:132.18, Y:-46.70, Z:-16.29 [[ 9.23577330e-01 3.75861453e-01 7.57171305e-02 1.32176400e+02] [-3.74070262e-01 9.26656622e-01 -3.71341315e-02 -4.66984547e+01] [-8.41210690e-02 5.97271519e-03 9.96437641e-01 -1.62916163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11119381700001 meters 0.07934305448447078 Centerline is valid? [True, True] Translation: X:132.21, Y:-46.70, Z:-16.29 [[ 9.25222183e-01 3.71938360e-01 7.50051262e-02 1.32210942e+02] [-3.70167986e-01 9.28236257e-01 -3.67846760e-02 -4.66977325e+01] [-8.33041097e-02 6.26950167e-03 9.96504450e-01 -1.62935724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14119381700002 meters 0.0833151446132478 Centerline is valid? [True, True] Translation: X:132.24, Y:-46.71, Z:-16.30 [[ 9.25209883e-01 3.72195968e-01 7.38703778e-02 1.32238475e+02] [-3.70480310e-01 9.28133833e-01 -3.62205574e-02 -4.67098566e+01] [-8.20427423e-02 6.14409724e-03 9.96609873e-01 -1.63005782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17119381700002 meters 0.08285028393531998 Centerline is valid? [True, True] Translation: X:132.27, Y:-46.72, Z:-16.31 [[ 9.24663848e-01 3.73673130e-01 7.32472557e-02 1.32271803e+02] [-3.71988946e-01 9.27541144e-01 -3.59395290e-02 -4.67152308e+01] [-8.13694797e-02 5.98481369e-03 9.96666037e-01 -1.63054342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20119381700002 meters 0.07884588606575069 Centerline is valid? [True, True] Translation: X:132.31, Y:-46.71, Z:-16.31 [[ 9.22671368e-01 3.78890281e-01 7.15520854e-02 1.32310777e+02] [-3.77297215e-01 9.25425756e-01 -3.51280721e-02 -4.67051596e+01] [-7.95258278e-02 5.41526383e-03 9.96818097e-01 -1.63112220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23119381700002 meters 0.07792972318442634 Centerline is valid? [True, True] Translation: X:132.34, Y:-46.71, Z:-16.31 [[ 9.21319075e-01 3.81945786e-01 7.27226083e-02 1.32341553e+02] [-3.80309330e-01 9.24169884e-01 -3.57048910e-02 -4.67079422e+01] [-8.08453772e-02 5.23851074e-03 9.96712889e-01 -1.63145249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26119381700002 meters 0.07469094995743239 Centerline is valid? [True, True] Translation: X:132.38, Y:-46.71, Z:-16.32 [[ 9.20088321e-01 3.84751702e-01 7.35092434e-02 1.32375069e+02] [-3.83088759e-01 9.23006335e-01 -3.60875138e-02 -4.67071490e+01] [-8.17342297e-02 5.04313520e-03 9.96641401e-01 -1.63152895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29119381700002 meters 0.07506894731156594 Centerline is valid? [True, True] Translation: X:132.40, Y:-46.71, Z:-16.32 [[ 9.18907132e-01 3.87334130e-01 7.47124761e-02 1.32404830e+02] [-3.85624997e-01 9.21926444e-01 -3.66741545e-02 -4.67114464e+01] [-8.30845591e-02 4.88914372e-03 9.96530507e-01 -1.63198895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32119381700002 meters 0.07184687594434037 Centerline is valid? [True, True] Translation: X:132.44, Y:-46.70, Z:-16.32 [[ 9.17275508e-01 3.91250844e-01 7.43533398e-02 1.32441776e+02] [-3.89571230e-01 9.20273027e-01 -3.64940043e-02 -4.67032469e+01] [-8.27036831e-02 4.50913429e-03 9.96563981e-01 -1.63227231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35119381700002 meters 0.07174084295889184 Centerline is valid? [True, True] Translation: X:132.47, Y:-46.71, Z:-16.33 [[ 9.17083109e-01 3.91948966e-01 7.30382063e-02 1.32470163e+02] [-3.90330616e-01 9.19976599e-01 -3.58478432e-02 -4.67076288e+01] [-8.12439657e-02 4.36640344e-03 9.96684681e-01 -1.63278196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38119381700002 meters 0.07082210128054366 Centerline is valid? [True, True] Translation: X:132.50, Y:-46.71, Z:-16.33 [[ 9.16901845e-01 3.92448970e-01 7.26279053e-02 1.32500250e+02] [-3.90850739e-01 9.19763760e-01 -3.56416180e-02 -4.67115719e+01] [-8.07880315e-02 4.29319481e-03 9.96722059e-01 -1.63313183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41119381700003 meters 0.07008150046677068 Centerline is valid? [True, True] Translation: X:132.53, Y:-46.72, Z:-16.34 [[ 9.16445234e-01 3.93666258e-01 7.17984047e-02 1.32530023e+02] [-3.92110179e-01 9.19244229e-01 -3.52087407e-02 -4.67162505e+01] [-7.98607624e-02 4.11399733e-03 9.96797539e-01 -1.63350343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44119381700003 meters 0.06811642705503239 Centerline is valid? [True, True] Translation: X:132.56, Y:-46.71, Z:-16.34 [[ 9.14430338e-01 3.98177883e-01 7.26053083e-02 1.32564442e+02] [-3.96603699e-01 9.17300645e-01 -3.55672926e-02 -4.67137086e+01] [-8.07630054e-02 3.72827756e-03 9.96726360e-01 -1.63374130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47119381700003 meters 0.06749103156545844 Centerline is valid? [True, True] Translation: X:132.59, Y:-46.72, Z:-16.34 [[ 9.13484642e-01 4.00381313e-01 7.23920786e-02 1.32592903e+02] [-3.98823113e-01 9.16341847e-01 -3.54646943e-02 -4.67185549e+01] [-8.05352919e-02 3.52481947e-03 9.96745525e-01 -1.63417516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50119381700003 meters 0.06627815073870212 Centerline is valid? [True, True] Translation: X:132.62, Y:-46.72, Z:-16.35 [[ 9.12113851e-01 4.03536065e-01 7.21593179e-02 1.32623434e+02] [-4.01998636e-01 9.14958054e-01 -3.53391529e-02 -4.67236285e+01] [-8.02833718e-02 3.22538347e-03 9.96766862e-01 -1.63452976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53119381700003 meters 0.06344448485735615 Centerline is valid? [True, True] Translation: X:132.66, Y:-46.72, Z:-16.35 [[ 9.10205188e-01 4.07967418e-01 7.13379420e-02 1.32658479e+02] [-4.06478733e-01 9.12992198e-01 -3.49325748e-02 -4.67209978e+01] [-7.93823368e-02 2.79845450e-03 9.96840315e-01 -1.63459752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56119381700003 meters 0.06254104734191843 Centerline is valid? [True, True] Translation: X:132.69, Y:-46.73, Z:-16.35 [[ 9.09351367e-01 4.09884503e-01 7.12375314e-02 1.32687043e+02] [-4.08405171e-01 9.12133624e-01 -3.48922351e-02 -4.67269619e+01] [-7.92799342e-02 2.63552548e-03 9.96848908e-01 -1.63487490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59119381700003 meters 0.06191678509044082 Centerline is valid? [True, True] Translation: X:132.72, Y:-46.73, Z:-16.35 [[ 9.08208105e-01 4.12214460e-01 7.23690314e-02 1.32715738e+02] [-4.10697724e-01 9.11083575e-01 -3.54132476e-02 -4.67342825e+01] [-8.05320886e-02 2.44080202e-03 9.96749028e-01 -1.63515089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62119381700003 meters 0.061087145883659724 Centerline is valid? [True, True] Translation: X:132.74, Y:-46.74, Z:-16.35 [[ 9.07467440e-01 4.13766439e-01 7.28023328e-02 1.32744399e+02] [-4.12236978e-01 9.10380137e-01 -3.56185369e-02 -4.67414566e+01] [-8.10155528e-02 2.31084883e-03 9.96710159e-01 -1.63532036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65119381700003 meters 0.060163686163599475 Centerline is valid? [True, True] Translation: X:132.77, Y:-46.74, Z:-16.36 [[ 9.05586168e-01 4.17815156e-01 7.31039536e-02 1.32773698e+02] [-4.16288885e-01 9.08530014e-01 -3.57320336e-02 -4.67447518e+01] [-8.13465212e-02 1.92607202e-03 9.96684019e-01 -1.63571519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68119381700004 meters 0.05997827665514428 Centerline is valid? [True, True] Translation: X:132.80, Y:-46.75, Z:-16.36 [[ 9.04966468e-01 4.19338609e-01 7.20473565e-02 1.32800588e+02] [-4.17861072e-01 9.07828191e-01 -3.52150671e-02 -4.67532348e+01] [-8.01736585e-02 1.76266932e-03 9.96779352e-01 -1.63617882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.711193817 meters 0.059896249718030085 Centerline is valid? [True, True] Translation: X:132.83, Y:-46.76, Z:-16.37 [[ 9.04576369e-01 4.20322347e-01 7.12089698e-02 1.32826283e+02] [-4.18885081e-01 9.07373404e-01 -3.47677179e-02 -4.67626345e+01] [-7.92267741e-02 1.62168099e-03 9.96855300e-01 -1.63661015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.741193817 meters 0.06089131902430293 Centerline is valid? [True, True] Translation: X:132.85, Y:-46.77, Z:-16.37 [[ 9.04361138e-01 4.20927342e-01 7.03640919e-02 1.32850088e+02] [-4.19526560e-01 9.07093047e-01 -3.43463335e-02 -4.67748019e+01] [-7.82840894e-02 1.54188382e-03 9.96929899e-01 -1.63739934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.771193817 meters 0.05975753798318957 Centerline is valid? [True, True] Translation: X:132.88, Y:-46.78, Z:-16.37 [[ 9.03585148e-01 4.22633209e-01 7.01074276e-02 1.32878424e+02] [-4.21247876e-01 9.06299754e-01 -3.42196093e-02 -4.67838265e+01] [-7.80006877e-02 1.38772573e-03 9.96952339e-01 -1.63740437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.801193817 meters 0.059455658690032366 Centerline is valid? [True, True] Translation: X:132.90, Y:-46.79, Z:-16.38 [[ 9.02612989e-01 4.24766801e-01 6.97349042e-02 1.32903510e+02] [-4.23404977e-01 9.05302049e-01 -3.40062608e-02 -4.67947679e+01] [-7.75758823e-02 1.16838715e-03 9.96985766e-01 -1.63776136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.831193817 meters 0.05930599932435498 Centerline is valid? [True, True] Translation: X:132.93, Y:-46.81, Z:-16.38 [[ 9.01874587e-01 4.26222806e-01 7.04013511e-02 1.32928839e+02] [-4.24839357e-01 9.04617607e-01 -3.43293824e-02 -4.68066533e+01] [-7.83182674e-02 1.05153280e-03 9.96927853e-01 -1.63815317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86119381700001 meters 0.05848332681701135 Centerline is valid? [True, True] Translation: X:132.96, Y:-46.82, Z:-16.38 [[ 9.00314586e-01 4.29381645e-01 7.11691644e-02 1.32955112e+02] [-4.27979604e-01 9.03122816e-01 -3.46790689e-02 -4.68176927e+01] [-7.91650518e-02 7.63120744e-04 9.96861230e-01 -1.63827775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89119381700002 meters 0.058183002547563666 Centerline is valid? [True, True] Translation: X:132.98, Y:-46.83, Z:-16.38 [[ 8.99603597e-01 4.30637652e-01 7.25574255e-02 1.32980736e+02] [-4.29186418e-01 9.02524681e-01 -3.53301401e-02 -4.68305224e+01] [-8.06993559e-02 6.42459518e-04 9.96738281e-01 -1.63846559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92119381700002 meters 0.05814095484974794 Centerline is valid? [True, True] Translation: X:133.01, Y:-46.84, Z:-16.39 [[ 8.99253191e-01 4.31280030e-01 7.30837466e-02 1.33006046e+02] [-4.29811786e-01 9.02217942e-01 -3.55614004e-02 -4.68448575e+01] [-8.12743892e-02 5.66447124e-04 9.96691604e-01 -1.63876752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95119381700002 meters 0.05816986943531913 Centerline is valid? [True, True] Translation: X:133.03, Y:-46.86, Z:-16.39 [[ 8.99437409e-01 4.30798545e-01 7.36543375e-02 1.33028139e+02] [-4.29308216e-01 9.02447932e-01 -3.58076215e-02 -4.68636234e+01] [-8.18950758e-02 5.86302121e-04 9.96640784e-01 -1.63906677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98119381700002 meters 0.05854222726607815 Centerline is valid? [True, True] Translation: X:133.05, Y:-46.88, Z:-16.39 [[ 9.00390376e-01 4.28792307e-01 7.37179021e-02 1.33051136e+02] [-4.27292900e-01 9.03402772e-01 -3.58358551e-02 -4.68810648e+01] [-8.19630961e-02 7.67122868e-04 9.96635070e-01 -1.63940929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01119381700002 meters 0.05854222726607815 Centerline is valid? [True, True] Translation: X:133.08, Y:-46.89, Z:-16.40 [[ 9.00520832e-01 4.28516704e-01 7.37269672e-02 1.33075808e+02] [-4.27017903e-01 9.03533530e-01 -3.58171930e-02 -4.68927558e+01] [-8.19630524e-02 7.71393497e-04 9.96635070e-01 -1.63972327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04119381700002 meters 0.059268703707001394 Centerline is valid? [True, True] Translation: X:133.10, Y:-46.91, Z:-16.40 [[ 9.01740276e-01 4.26049917e-01 7.31159520e-02 1.33096847e+02] [-4.24570646e-01 9.04699152e-01 -3.54853693e-02 -4.69114236e+01] [-8.12664784e-02 9.55699685e-04 9.96691951e-01 -1.64021143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07119381700002 meters 0.06055306691952326 Centerline is valid? [True, True] Translation: X:133.12, Y:-46.93, Z:-16.41 [[ 9.03762801e-01 4.22172261e-01 7.05930689e-02 1.33118965e+02] [-4.20782438e-01 9.06514765e-01 -3.42508529e-02 -4.69326277e+01] [-7.84534192e-02 1.25032316e-03 9.96916996e-01 -1.64071211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10119381700002 meters 0.06375998084564921 Centerline is valid? [True, True] Translation: X:133.14, Y:-46.96, Z:-16.41 [[ 9.07364112e-01 4.14654012e-01 6.89377927e-02 1.33136186e+02] [-4.13307202e-01 9.09977260e-01 -3.34446350e-02 -4.69629081e+01] [-7.65997758e-02 1.85397529e-03 9.97060197e-01 -1.64134511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13119381700002 meters 0.06553593845802815 Centerline is valid? [True, True] Translation: X:133.16, Y:-46.98, Z:-16.42 [[ 9.08974442e-01 4.11055812e-01 6.92718110e-02 1.33157794e+02] [-4.09685645e-01 9.11607607e-01 -3.36042027e-02 -4.69828924e+01] [-7.69619127e-02 2.16569477e-03 9.97031681e-01 -1.64167538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16119381700003 meters 0.06762844355658762 Centerline is valid? [True, True] Translation: X:133.18, Y:-47.00, Z:-16.42 [[ 9.10634632e-01 4.07607730e-01 6.78270242e-02 1.33181911e+02] [-4.06285152e-01 9.13153974e-01 -3.28967461e-02 -4.70024899e+01] [-7.53454847e-02 2.39980344e-03 9.97154601e-01 -1.64208089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19119381700003 meters 0.06496230506362784 Centerline is valid? [True, True] Translation: X:133.21, Y:-47.01, Z:-16.41 [[ 9.11879319e-01 4.04680579e-01 6.86275155e-02 1.33209953e+02] [-4.03317396e-01 9.14454169e-01 -3.32964073e-02 -4.70127337e+01] [-7.62311270e-02 2.68363434e-03 9.97086563e-01 -1.64149335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22119381700003 meters 0.06682533396396932 Centerline is valid? [True, True] Translation: X:133.23, Y:-47.03, Z:-16.42 [[ 9.13934031e-01 3.99753339e-01 7.01559369e-02 1.33233732e+02] [-3.98316962e-01 9.16617403e-01 -3.40019749e-02 -4.70323148e+01] [-7.78985557e-02 3.13126235e-03 9.96956373e-01 -1.64154681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25119381700003 meters 0.06818104090040204 Centerline is valid? [True, True] Translation: X:133.26, Y:-47.05, Z:-16.42 [[ 9.14923533e-01 3.97581217e-01 6.95996030e-02 1.33257295e+02] [-3.96161510e-01 9.17561098e-01 -3.37296354e-02 -4.70483961e+01] [-7.72721577e-02 3.28735336e-03 9.97004617e-01 -1.64188500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28119381700003 meters 0.06964155840873398 Centerline is valid? [True, True] Translation: X:133.28, Y:-47.06, Z:-16.42 [[ 9.15744500e-01 3.95706542e-01 6.94862757e-02 1.33280246e+02] [-3.94286362e-01 9.18370580e-01 -3.36710899e-02 -4.70642427e+01] [-7.71380219e-02 3.43662448e-03 9.97014501e-01 -1.64226781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31119381700003 meters 0.070892520088099 Centerline is valid? [True, True] Translation: X:133.31, Y:-47.08, Z:-16.43 [[ 9.16669261e-01 3.93667289e-01 6.88733030e-02 1.33305527e+02] [-3.92267205e-01 9.19246076e-01 -3.33630154e-02 -4.70801071e+01] [-7.64454414e-02 3.56611251e-03 9.97067389e-01 -1.64271310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34119381700003 meters 0.07247490093043873 Centerline is valid? [True, True] Translation: X:133.33, Y:-47.10, Z:-16.43 [[ 9.17507671e-01 3.91829200e-01 6.81876204e-02 1.33330857e+02] [-3.90452096e-01 9.20030621e-01 -3.30275295e-02 -4.70956063e+01] [-7.56758491e-02 3.67901241e-03 9.97125685e-01 -1.64320130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37119381700003 meters 0.07391691511605251 Centerline is valid? [True, True] Translation: X:133.36, Y:-47.11, Z:-16.44 [[ 9.18375264e-01 3.89779265e-01 6.82568605e-02 1.33356880e+02] [-3.88393972e-01 9.20900272e-01 -3.30577045e-02 -4.71092867e+01] [-7.57429692e-02 3.84882496e-03 9.97119947e-01 -1.64355557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40119381700003 meters 0.07177544809851678 Centerline is valid? [True, True] Translation: X:133.39, Y:-47.12, Z:-16.44 [[ 9.18673892e-01 3.89054557e-01 6.83727400e-02 1.33385205e+02] [-3.87661995e-01 9.21206366e-01 -3.31211177e-02 -4.71177037e+01] [-7.58713252e-02 3.92199333e-03 9.97109904e-01 -1.64353260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43119381700004 meters 0.07380552073222324 Centerline is valid? [True, True] Translation: X:133.41, Y:-47.13, Z:-16.44 [[ 9.18761538e-01 3.88606840e-01 6.97277595e-02 1.33408587e+02] [-3.87159743e-01 9.21394957e-01 -3.37441276e-02 -4.71323441e+01] [-7.73600048e-02 4.00702512e-03 9.96995172e-01 -1.64395936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.461193817 meters 0.07067922436536167 Centerline is valid? [True, True] Translation: X:133.44, Y:-47.14, Z:-16.44 [[ 9.19262579e-01 3.87281478e-01 7.04937348e-02 1.33437314e+02] [-3.85799007e-01 9.21952151e-01 -3.41080245e-02 -4.71390618e+01] [-7.82012566e-02 4.15781775e-03 9.96928922e-01 -1.64374378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.491193817 meters 0.07170432381115471 Centerline is valid? [True, True] Translation: X:133.46, Y:-47.15, Z:-16.44 [[ 9.20037085e-01 3.85300366e-01 7.12417694e-02 1.33462610e+02] [-3.83781000e-01 9.22780896e-01 -3.44610286e-02 -4.71520679e+01] [-7.90183907e-02 4.36418680e-03 9.96863605e-01 -1.64400491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.521193817 meters 0.07203711309540684 Centerline is valid? [True, True] Translation: X:133.49, Y:-47.16, Z:-16.44 [[ 9.20601579e-01 3.84065573e-01 7.06142227e-02 1.33488401e+02] [-3.82571294e-01 9.23295302e-01 -3.41319643e-02 -4.71638090e+01] [-7.83066925e-02 4.40696571e-03 9.96919576e-01 -1.64435507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.551193817 meters 0.07722495178672954 Centerline is valid? [True, True] Translation: X:133.51, Y:-47.18, Z:-16.45 [[ 9.21015686e-01 3.83237834e-01 6.97055844e-02 1.33509206e+02] [-3.81782054e-01 9.23639271e-01 -3.36594666e-02 -4.71820844e+01] [-7.72823963e-02 4.38855545e-03 9.96999585e-01 -1.64531184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.581193817 meters 0.07810005934718638 Centerline is valid? [True, True] Translation: X:133.54, Y:-47.19, Z:-16.46 [[ 9.21578330e-01 3.82295784e-01 6.74041232e-02 1.33536146e+02] [-3.80932987e-01 9.24029957e-01 -3.25376373e-02 -4.71928710e+01] [-7.47224307e-02 4.30952748e-03 9.97195059e-01 -1.64587566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61119381700001 meters 0.07493141193167605 Centerline is valid? [True, True] Translation: X:133.57, Y:-47.20, Z:-16.46 [[ 9.22070018e-01 3.81314498e-01 6.62279002e-02 1.33565032e+02] [-3.79995968e-01 9.24435294e-01 -3.19758094e-02 -4.71984260e+01] [-7.34162481e-02 4.31760012e-03 9.97292040e-01 -1.64587604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64119381700002 meters 0.07530957641099127 Centerline is valid? [True, True] Translation: X:133.59, Y:-47.21, Z:-16.46 [[ 9.22114348e-01 3.81391896e-01 6.51563554e-02 1.33591067e+02] [-3.80118069e-01 9.24403842e-01 -3.14291414e-02 -4.72082278e+01] [-7.22176051e-02 4.21415420e-03 9.97379997e-01 -1.64633974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67119381700002 meters 0.07394772507169631 Centerline is valid? [True, True] Translation: X:133.62, Y:-47.21, Z:-16.47 [[ 9.21492931e-01 3.83011597e-01 6.44429546e-02 1.33619815e+02] [-3.81769906e-01 9.23734713e-01 -3.10792460e-02 -4.72144934e+01] [-7.14319058e-02 4.03692473e-03 9.97437309e-01 -1.64665004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70119381700002 meters 0.07163480874172802 Centerline is valid? [True, True] Translation: X:133.65, Y:-47.22, Z:-16.47 [[ 9.20011823e-01 3.86522649e-01 6.46412170e-02 1.33650451e+02] [-3.85284442e-01 9.22272318e-01 -3.11395353e-02 -4.72187213e+01] [-7.16529407e-02 3.74348547e-03 9.97422600e-01 -1.64684690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73119381700002 meters 0.06784273275445557 Centerline is valid? [True, True] Translation: X:133.68, Y:-47.21, Z:-16.47 [[ 9.15762773e-01 3.96582304e-01 6.40392006e-02 1.33684433e+02] [-3.95391730e-01 9.17994504e-01 -3.08459248e-02 -4.72149123e+01] [-7.10205821e-02 2.92697932e-03 9.97470556e-01 -1.64722825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76119381700002 meters 0.06530829310409228 Centerline is valid? [True, True] Translation: X:133.71, Y:-47.22, Z:-16.48 [[ 9.12791358e-01 4.03430822e-01 6.36828728e-02 1.33714683e+02] [-4.02270222e-01 9.15007055e-01 -3.06717675e-02 -4.72187556e+01] [-7.06442143e-02 2.37920095e-03 9.97498739e-01 -1.64760861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79119381700002 meters 0.06069217100648882 Centerline is valid? [True, True] Translation: X:133.75, Y:-47.21, Z:-16.47 [[ 9.06956639e-01 4.15719183e-01 6.78764723e-02 1.33751182e+02] [-4.14434863e-01 9.09491761e-01 -3.26876286e-02 -4.72124934e+01] [-7.53219666e-02 1.51588527e-03 9.97158114e-01 -1.64737118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82119381700002 meters 0.0595038152253076 Centerline is valid? [True, True] Translation: X:133.78, Y:-47.22, Z:-16.48 [[ 9.04911627e-01 4.19841404e-01 6.97720798e-02 1.33781718e+02] [-4.18496677e-01 9.07596688e-01 -3.35973678e-02 -4.72170062e+01] [-7.74304746e-02 1.20326517e-03 9.96997028e-01 -1.64751307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85119381700002 meters 0.05903266386495815 Centerline is valid? [True, True] Translation: X:133.81, Y:-47.22, Z:-16.48 [[ 9.03833587e-01 4.22017086e-01 7.06146227e-02 1.33810453e+02] [-4.20645762e-01 9.06587286e-01 -3.40093483e-02 -4.72238916e+01] [-7.83708452e-02 1.03504948e-03 9.96923738e-01 -1.64776829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88119381700002 meters 0.05899249937000077 Centerline is valid? [True, True] Translation: X:133.84, Y:-47.23, Z:-16.48 [[ 9.03767343e-01 4.22189625e-01 7.04308913e-02 1.33836694e+02] [-4.20827829e-01 9.06506993e-01 -3.38970394e-02 -4.72341727e+01] [-7.81570739e-02 9.95758161e-04 9.96940560e-01 -1.64809969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91119381700003 meters 0.05966156179517984 Centerline is valid? [True, True] Translation: X:133.86, Y:-47.25, Z:-16.48 [[ 9.05537118e-01 4.18214777e-01 7.14067864e-02 1.33859945e+02] [-4.16805078e-01 9.08347199e-01 -3.43350003e-02 -4.72507010e+01] [-7.92215589e-02 1.32890600e-03 9.96856147e-01 -1.64849535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94119381700003 meters 0.06041312977515314 Centerline is valid? [True, True] Translation: X:133.88, Y:-47.27, Z:-16.49 [[ 9.07210383e-01 4.14583326e-01 7.13441522e-02 1.33883388e+02] [-4.13166911e-01 9.10009910e-01 -3.42792405e-02 -4.72671965e+01] [-7.91354871e-02 1.62143995e-03 9.96862551e-01 -1.64889137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97119381700003 meters 0.06142891804005553 Centerline is valid? [True, True] Translation: X:133.91, Y:-47.28, Z:-16.49 [[ 9.08892076e-01 4.10795640e-01 7.18480062e-02 1.33907293e+02] [-4.09349359e-01 9.11725382e-01 -3.44953702e-02 -4.72840479e+01] [-7.96761986e-02 1.94163337e-03 9.96818907e-01 -1.64926027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00119381700003 meters 0.06216144214609936 Centerline is valid? [True, True] Translation: X:133.93, Y:-47.30, Z:-16.49 [[ 9.10218668e-01 4.07439346e-01 7.41293211e-02 1.33930678e+02] [-4.05890596e-01 9.13229416e-01 -3.55648542e-02 -4.72991298e+01] [-8.21875975e-02 2.28339991e-03 9.96614261e-01 -1.64937624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03119381700003 meters 0.06379816391371042 Centerline is valid? [True, True] Translation: X:133.95, Y:-47.31, Z:-16.50 [[ 9.11786511e-01 4.03887295e-01 7.42994751e-02 1.33954647e+02] [-4.02322806e-01 9.14805129e-01 -3.56080768e-02 -4.73135580e+01] [-8.23511907e-02 2.57459084e-03 9.96600047e-01 -1.64974512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06119381700003 meters 0.0631064615591879 Centerline is valid? [True, True] Translation: X:133.98, Y:-47.32, Z:-16.50 [[ 9.11912724e-01 4.03851133e-01 7.29345407e-02 1.33982052e+02] [-4.02343565e-01 9.14821217e-01 -3.49542045e-02 -4.73234620e+01] [-8.08383604e-02 2.53044069e-03 9.96724012e-01 -1.65002445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09119381700003 meters 0.06368847692296542 Centerline is valid? [True, True] Translation: X:134.01, Y:-47.34, Z:-16.51 [[ 9.11349523e-01 4.05283002e-01 7.20259355e-02 1.34005921e+02] [-4.03819876e-01 9.14188271e-01 -3.44864074e-02 -4.73360501e+01] [-7.98220202e-02 2.34366655e-03 9.96806377e-01 -1.65070882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12119381700003 meters 0.06270409947144714 Centerline is valid? [True, True] Translation: X:134.03, Y:-47.34, Z:-16.52 [[ 9.09420441e-01 4.10139132e-01 6.88502271e-02 1.34032345e+02] [-4.08816870e-01 9.12021140e-01 -3.29576409e-02 -4.73446553e+01] [-7.63100809e-02 1.82521796e-03 9.97082464e-01 -1.65151405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15119381700003 meters 0.061946050688174166 Centerline is valid? [True, True] Translation: X:134.06, Y:-47.35, Z:-16.52 [[ 9.08307008e-01 4.12680973e-01 6.83578419e-02 1.34058361e+02] [-4.11385233e-01 9.10874235e-01 -3.27157133e-02 -4.73530009e+01] [-7.57665494e-02 1.59450498e-03 9.97124309e-01 -1.65195099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18119381700004 meters 0.06073465818101763 Centerline is valid? [True, True] Translation: X:134.09, Y:-47.36, Z:-16.52 [[ 9.07169177e-01 4.15065921e-01 6.90243859e-02 1.34087250e+02] [-4.13752213e-01 9.09790259e-01 -3.30271254e-02 -4.73605163e+01] [-7.65061481e-02 1.40219770e-03 9.97068124e-01 -1.65208613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.211193817 meters 0.060160290730624684 Centerline is valid? [True, True] Translation: X:134.11, Y:-47.37, Z:-16.52 [[ 9.05745244e-01 4.18001153e-01 7.00042084e-02 1.34114431e+02] [-4.16660887e-01 9.08445776e-01 -3.34660536e-02 -4.73684014e+01] [-7.75838764e-02 1.14370326e-03 9.96985172e-01 -1.65249809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.241193817 meters 0.05888894882226982 Centerline is valid? [True, True] Translation: X:134.14, Y:-47.37, Z:-16.52 [[ 9.03733042e-01 4.22116993e-01 7.13009999e-02 1.34144954e+02] [-4.20739851e-01 9.06541012e-01 -3.40789102e-02 -4.73721640e+01] [-7.90225677e-02 7.99065174e-04 9.96872507e-01 -1.65248721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.271193817 meters 0.058026605556917805 Centerline is valid? [True, True] Translation: X:134.17, Y:-47.38, Z:-16.52 [[ 9.02580944e-01 4.24465803e-01 7.19473551e-02 1.34173071e+02] [-4.23070904e-01 9.05443771e-01 -3.43887791e-02 -4.73808845e+01] [-7.97411453e-02 5.99824168e-04 9.96815424e-01 -1.65243321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.301193817 meters 0.05795728194390579 Centerline is valid? [True, True] Translation: X:134.20, Y:-47.39, Z:-16.53 [[ 9.01678426e-01 4.26261148e-01 7.26460574e-02 1.34199170e+02] [-4.24846903e-01 9.04600053e-01 -3.46965829e-02 -4.73910893e+01] [-8.05054327e-02 4.21707711e-04 9.96754081e-01 -1.65287690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.331193817 meters 0.05767750213663863 Centerline is valid? [True, True] Translation: X:134.23, Y:-47.40, Z:-16.53 [[ 9.01097704e-01 4.27347137e-01 7.34666760e-02 1.34225510e+02] [-4.25906448e-01 9.04087569e-01 -3.50623173e-02 -4.74028724e+01] [-8.14040894e-02 3.04642613e-04 9.96681133e-01 -1.65311168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36119381700001 meters 0.057888230263414095 Centerline is valid? [True, True] Translation: X:134.25, Y:-47.42, Z:-16.54 [[ 9.00285461e-01 4.29150968e-01 7.29077201e-02 1.34249416e+02] [-4.27740624e-01 9.03232769e-01 -3.47638356e-02 -4.74164515e+01] [-8.07715755e-02 1.11782142e-04 9.96732632e-01 -1.65380489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39119381700002 meters 0.057923444061734566 Centerline is valid? [True, True] Translation: X:134.27, Y:-47.43, Z:-16.54 [[ 9.00614668e-01 4.28449064e-01 7.29699959e-02 1.34273675e+02] [-4.27034103e-01 9.03565919e-01 -3.47923141e-02 -4.74298407e+01] [-8.08399358e-02 1.73791627e-04 9.96727081e-01 -1.65412607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42119381700002 meters 0.05760238676064063 Centerline is valid? [True, True] Translation: X:134.30, Y:-47.44, Z:-16.54 [[ 9.00973931e-01 4.27688654e-01 7.29958330e-02 1.34298420e+02] [-4.26272397e-01 9.03926086e-01 -3.47775154e-02 -4.74441912e+01] [-8.08567864e-02 2.17526062e-04 9.96725706e-01 -1.65413512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45119381700002 meters 0.05825393515420012 Centerline is valid? [True, True] Translation: X:134.32, Y:-47.46, Z:-16.55 [[ 9.01643455e-01 4.26484534e-01 7.17636644e-02 1.34320867e+02] [-4.25114741e-01 9.04494809e-01 -3.41554909e-02 -4.74596908e+01] [-7.94766505e-02 2.88283180e-04 9.96836686e-01 -1.65493019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48119381700002 meters 0.0579455551968238 Centerline is valid? [True, True] Translation: X:134.34, Y:-47.48, Z:-16.55 [[ 9.02228713e-01 4.25263825e-01 7.16521368e-02 1.34341946e+02] [-4.23894971e-01 9.05069350e-01 -3.40958435e-02 -4.74803540e+01] [-7.93498816e-02 3.89268576e-04 9.96846751e-01 -1.65480597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51119381700002 meters 0.05846076546350215 Centerline is valid? [True, True] Translation: X:134.36, Y:-47.50, Z:-16.55 [[ 9.02798675e-01 4.23837788e-01 7.29114635e-02 1.34363698e+02] [-4.22418649e-01 9.05737981e-01 -3.46582622e-02 -4.74984048e+01] [-8.07281629e-02 4.90271266e-04 9.96736035e-01 -1.65549851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54119381700002 meters 0.05821178735805947 Centerline is valid? [True, True] Translation: X:134.39, Y:-47.51, Z:-16.56 [[ 9.03005390e-01 4.23023956e-01 7.50466418e-02 1.34387916e+02] [-4.21518431e-01 9.06118319e-01 -3.56623647e-02 -4.75147863e+01] [-8.30871715e-02 5.69764863e-04 9.96542120e-01 -1.65559962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57119381700002 meters 0.05793558526480702 Centerline is valid? [True, True] Translation: X:134.41, Y:-47.53, Z:-16.56 [[ 9.03299557e-01 4.22067375e-01 7.68702917e-02 1.34412520e+02] [-4.20486348e-01 9.06564232e-01 -3.65037527e-02 -4.75302484e+01] [-8.50949000e-02 6.50915440e-04 9.96372638e-01 -1.65562700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60119381700002 meters 0.05789775578993702 Centerline is valid? [True, True] Translation: X:134.44, Y:-47.55, Z:-16.56 [[ 9.03548043e-01 4.21468097e-01 7.72371460e-02 1.34435858e+02] [-4.19871780e-01 9.06842968e-01 -3.66540564e-02 -4.75454309e+01] [-8.54904782e-02 6.89003005e-04 9.96338749e-01 -1.65587003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63119381700002 meters 0.05839497609954861 Centerline is valid? [True, True] Translation: X:134.46, Y:-47.57, Z:-16.56 [[ 9.04159055e-01 4.20221840e-01 7.68765747e-02 1.34455725e+02] [-4.18638872e-01 9.07421076e-01 -3.64483940e-02 -4.75669604e+01] [-8.50758354e-02 7.71623005e-04 9.96374180e-01 -1.65649038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66119381700003 meters 0.05891641816269721 Centerline is valid? [True, True] Translation: X:134.48, Y:-47.58, Z:-16.57 [[ 9.04598525e-01 4.19460256e-01 7.58590970e-02 1.34478237e+02] [-4.17917028e-01 9.07773328e-01 -3.59575216e-02 -4.75835888e+01] [-8.39456161e-02 8.24312643e-04 9.96469997e-01 -1.65714537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69119381700003 meters 0.05881038200822917 Centerline is valid? [True, True] Translation: X:134.50, Y:-47.60, Z:-16.57 [[ 9.05479372e-01 4.18025952e-01 7.32216511e-02 1.34503414e+02] [-4.16584444e-01 9.08434624e-01 -3.46977589e-02 -4.75997284e+01] [-8.10216468e-02 9.15104125e-04 9.96711922e-01 -1.65732614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72119381700003 meters 0.06041424418602432 Centerline is valid? [True, True] Translation: X:134.52, Y:-47.62, Z:-16.58 [[ 9.07570819e-01 4.14017007e-01 7.00366035e-02 1.34523816e+02] [-4.12686742e-01 9.10268336e-01 -3.31844660e-02 -4.76238970e+01] [-7.74910358e-02 1.21407525e-03 9.96992310e-01 -1.65821721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75119381700003 meters 0.061643978336363835 Centerline is valid? [True, True] Translation: X:134.54, Y:-47.64, Z:-16.59 [[ 9.08727250e-01 4.11501182e-01 6.98681748e-02 1.34544969e+02] [-4.10169771e-01 9.11408109e-01 -3.31061520e-02 -4.76428793e+01] [-7.73016418e-02 1.42664925e-03 9.97006731e-01 -1.65878711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78119381700003 meters 0.06143019648080423 Centerline is valid? [True, True] Translation: X:134.57, Y:-47.66, Z:-16.59 [[ 9.10081958e-01 4.08457852e-01 7.00928862e-02 1.34569033e+02] [-4.07108888e-01 9.12775617e-01 -3.32118317e-02 -4.76592214e+01] [-7.75447109e-02 1.69005186e-03 9.96987443e-01 -1.65872906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81119381700003 meters 0.06340973473004131 Centerline is valid? [True, True] Translation: X:134.59, Y:-47.68, Z:-16.59 [[ 9.12431777e-01 4.03015681e-01 7.10395203e-02 1.34589147e+02] [-4.01616092e-01 9.15190543e-01 -3.36271288e-02 -4.76830757e+01] [-7.85669574e-02 2.15184637e-03 9.96906517e-01 -1.65894735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84119381700003 meters 0.06249594765358043 Centerline is valid? [True, True] Translation: X:134.61, Y:-47.70, Z:-16.59 [[ 9.13158663e-01 4.01087882e-01 7.25931656e-02 1.34614303e+02] [-3.99620038e-01 9.16036511e-01 -3.43647348e-02 -4.76966821e+01] [-8.02812689e-02 2.37077163e-03 9.96769430e-01 -1.65865957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87119381700003 meters 0.0645182288241832 Centerline is valid? [True, True] Translation: X:134.64, Y:-47.72, Z:-16.59 [[ 9.13691934e-01 3.99571423e-01 7.42275448e-02 1.34635453e+02] [-3.98034899e-01 9.16698591e-01 -3.50986088e-02 -4.77152805e+01] [-8.20686867e-02 2.52416243e-03 9.96623479e-01 -1.65915409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90119381700003 meters 0.06447356215073848 Centerline is valid? [True, True] Translation: X:134.66, Y:-47.73, Z:-16.59 [[ 9.13827715e-01 3.98880423e-01 7.62450965e-02 1.34660419e+02] [-3.97257042e-01 9.16999111e-01 -3.60481996e-02 -4.77308332e+01] [-8.42956068e-02 2.65294241e-03 9.96437260e-01 -1.65926129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93119381700004 meters 0.06447356215073848 Centerline is valid? [True, True] Translation: X:134.69, Y:-47.74, Z:-16.60 [[ 9.13952257e-01 3.98593179e-01 7.62545045e-02 1.34685246e+02] [-3.96970460e-01 9.17123992e-01 -3.60282851e-02 -4.77422728e+01] [-8.42954643e-02 2.65734676e-03 9.96437260e-01 -1.65957543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.961193817 meters 0.06315110025404955 Centerline is valid? [True, True] Translation: X:134.71, Y:-47.75, Z:-16.59 [[ 9.14170172e-01 3.97744476e-01 7.80527340e-02 1.34711889e+02] [-3.96043815e-01 9.17492044e-01 -3.68462447e-02 -4.77547895e+01] [-8.62681527e-02 2.77143534e-03 9.96268099e-01 -1.65936300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.991193817 meters 0.06337520668430227 Centerline is valid? [True, True] Translation: X:134.74, Y:-47.77, Z:-16.59 [[ 9.14321929e-01 3.97074492e-01 7.96696789e-02 1.34735441e+02] [-3.95302503e-01 9.17781906e-01 -3.75806368e-02 -4.77720223e+01] [-8.80417020e-02 2.86717690e-03 9.96112663e-01 -1.65945467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.021193817 meters 0.06459035191057524 Centerline is valid? [True, True] Translation: X:134.76, Y:-47.79, Z:-16.60 [[ 9.14274920e-01 3.97176310e-01 7.97016256e-02 1.34758392e+02] [-3.95406207e-01 9.17737970e-01 -3.75626208e-02 -4.77877944e+01] [-8.80641912e-02 2.82804473e-03 9.96110787e-01 -1.65998989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.051193817 meters 0.06382586574388008 Centerline is valid? [True, True] Translation: X:134.78, Y:-47.80, Z:-16.60 [[ 9.14479078e-01 3.96730376e-01 7.95803037e-02 1.34784974e+02] [-3.94964402e-01 9.17930725e-01 -3.75007383e-02 -4.77993081e+01] [-8.79268878e-02 2.86225352e-03 9.96122819e-01 -1.66011872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.081193817 meters 0.0626263593142993 Centerline is valid? [True, True] Translation: X:134.81, Y:-47.81, Z:-16.60 [[ 9.14847856e-01 3.95705004e-01 8.04422127e-02 1.34811353e+02] [-3.93898847e-01 9.18372873e-01 -3.78809228e-02 -4.78096769e+01] [-8.88656167e-02 2.96918614e-03 9.96039199e-01 -1.66015936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11119381700001 meters 0.06255183950711418 Centerline is valid? [True, True] Translation: X:134.84, Y:-47.82, Z:-16.60 [[ 9.15368679e-01 3.94646431e-01 7.97143412e-02 1.34837196e+02] [-3.92871861e-01 9.18828122e-01 -3.75044429e-02 -4.78222112e+01] [-8.80447729e-02 3.01287076e-03 9.96111962e-01 -1.66042076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14119381700002 meters 0.06445564172660927 Centerline is valid? [True, True] Translation: X:134.86, Y:-47.84, Z:-16.61 [[ 9.16307421e-01 3.92894554e-01 7.75537218e-02 1.34860802e+02] [-3.91211812e-01 9.19578432e-01 -3.64530727e-02 -4.78381876e+01] [-8.56389436e-02 3.06228902e-03 9.96321531e-01 -1.66108688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17119381700002 meters 0.06546774889179108 Centerline is valid? [True, True] Translation: X:134.88, Y:-47.85, Z:-16.62 [[ 9.16540425e-01 3.92509989e-01 7.67434548e-02 1.34884603e+02] [-3.90861343e-01 9.19742647e-01 -3.60676309e-02 -4.78508469e+01] [-8.47411336e-02 3.06139188e-03 9.96398298e-01 -1.66167223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20119381700002 meters 0.06539353760027265 Centerline is valid? [True, True] Translation: X:134.91, Y:-47.86, Z:-16.62 [[ 9.16295334e-01 3.93274714e-01 7.57486647e-02 1.34910855e+02] [-3.91671396e-01 9.19416281e-01 -3.55980225e-02 -4.78602897e+01] [-8.36443577e-02 2.94971673e-03 9.96491305e-01 -1.66219078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23119381700002 meters 0.06359549461475204 Centerline is valid? [True, True] Translation: X:134.94, Y:-47.87, Z:-16.62 [[ 9.15645371e-01 3.94958002e-01 7.48447213e-02 1.34939605e+02] [-3.93400846e-01 9.18695105e-01 -3.51436903e-02 -4.78667785e+01] [-8.26397608e-02 2.73518072e-03 9.96575732e-01 -1.66237040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26119381700002 meters 0.06090182464975794 Centerline is valid? [True, True] Translation: X:134.97, Y:-47.87, Z:-16.63 [[ 9.13271053e-01 4.00291087e-01 7.55184039e-02 1.34970856e+02] [-3.98726845e-01 9.16385303e-01 -3.54242643e-02 -4.78710445e+01] [-8.33839727e-02 2.24074018e-03 9.96514973e-01 -1.66253947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29119381700002 meters 0.06130519548181233 Centerline is valid? [True, True] Translation: X:135.00, Y:-47.88, Z:-16.63 [[ 9.12350404e-01 4.02234303e-01 7.63171371e-02 1.34996466e+02] [-4.00642940e-01 9.15534375e-01 -3.58056269e-02 -4.78819208e+01] [-8.42732138e-02 2.09135606e-03 9.96440491e-01 -1.66314597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32119381700002 meters 0.059399004924951204 Centerline is valid? [True, True] Translation: X:135.03, Y:-47.89, Z:-16.63 [[ 9.11529112e-01 4.03956631e-01 7.70306358e-02 1.35025968e+02] [-4.02343732e-01 9.14776110e-01 -3.61135664e-02 -4.78877437e+01] [-8.50541000e-02 1.92577365e-03 9.96374474e-01 -1.66308610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35119381700002 meters 0.059017538561073855 Centerline is valid? [True, True] Translation: X:135.05, Y:-47.89, Z:-16.63 [[ 9.10926602e-01 4.05270851e-01 7.72545326e-02 1.35053809e+02] [-4.03656116e-01 9.14194934e-01 -3.61851146e-02 -4.78943909e+01] [-8.52904745e-02 1.77771894e-03 9.96354543e-01 -1.66340348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38119381700002 meters 0.05891184992518775 Centerline is valid? [True, True] Translation: X:135.08, Y:-47.90, Z:-16.64 [[ 9.11147496e-01 4.04799480e-01 7.71208315e-02 1.35080347e+02] [-4.03188967e-01 9.14403678e-01 -3.61188409e-02 -4.79048478e+01] [-8.51404600e-02 1.81532303e-03 9.96367305e-01 -1.66368478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41119381700003 meters 0.05937162553298733 Centerline is valid? [True, True] Translation: X:135.11, Y:-47.92, Z:-16.64 [[ 9.11472548e-01 4.04105251e-01 7.69203537e-02 1.35105440e+02] [-4.02503329e-01 9.14710630e-01 -3.59935147e-02 -4.79165243e+01] [-8.49050335e-02 1.84640217e-03 9.96387337e-01 -1.66414481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44119381700003 meters 0.05977610246441172 Centerline is valid? [True, True] Translation: X:135.13, Y:-47.93, Z:-16.65 [[ 9.12093871e-01 4.02799953e-01 7.64000529e-02 1.35131057e+02] [-4.01215938e-01 9.15285973e-01 -3.57401479e-02 -4.79287209e+01] [-8.43240267e-02 1.94545091e-03 9.96436488e-01 -1.66455227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47119381700003 meters 0.06092586436472202 Centerline is valid? [True, True] Translation: X:135.16, Y:-47.94, Z:-16.65 [[ 9.13690797e-01 3.99482991e-01 7.47159105e-02 1.35155685e+02] [-3.97959710e-01 9.16738032e-01 -3.49206300e-02 -4.79440716e+01] [-8.24451145e-02 2.17273620e-03 9.96593238e-01 -1.66502735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50119381700003 meters 0.0618139521851714 Centerline is valid? [True, True] Translation: X:135.18, Y:-47.96, Z:-16.65 [[ 9.14389654e-01 3.97993539e-01 7.41127733e-02 1.35179010e+02] [-3.96490450e-01 9.17385379e-01 -3.46321902e-02 -4.79581289e+01] [-8.17733626e-02 2.28230957e-03 9.96648337e-01 -1.66549418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53119381700003 meters 0.06209621144224485 Centerline is valid? [True, True] Translation: X:135.20, Y:-47.97, Z:-16.66 [[ 9.14756490e-01 3.97280183e-01 7.34099418e-02 1.35204364e+02] [-3.95803623e-01 9.17694436e-01 -3.42989108e-02 -4.79707858e+01] [-8.09941727e-02 2.31923033e-03 9.96711877e-01 -1.66581129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56119381700003 meters 0.06003090969035046 Centerline is valid? [True, True] Translation: X:135.23, Y:-47.98, Z:-16.66 [[ 9.14062712e-01 3.98836258e-01 7.36138458e-02 1.35233502e+02] [-3.97358476e-01 9.17019602e-01 -3.43699052e-02 -4.79775424e+01] [-8.12133040e-02 2.16516315e-03 9.96694392e-01 -1.66577129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59119381700003 meters 0.06055844545614784 Centerline is valid? [True, True] Translation: X:135.26, Y:-47.99, Z:-16.67 [[ 9.12825782e-01 4.01664789e-01 7.35832123e-02 1.35258160e+02] [-4.00199591e-01 9.15784818e-01 -3.43286322e-02 -4.79896766e+01] [-8.11749915e-02 1.88808915e-03 9.96698077e-01 -1.66654505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62119381700003 meters 0.05796662644107321 Centerline is valid? [True, True] Translation: X:135.29, Y:-48.00, Z:-16.66 [[ 9.11311279e-01 4.05086855e-01 7.35961498e-02 1.35288227e+02] [-4.03634390e-01 9.14276877e-01 -3.43084799e-02 -4.79950989e+01] [-8.11851722e-02 1.55976766e-03 9.96697815e-01 -1.66621742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65119381700003 meters 0.058384873749894345 Centerline is valid? [True, True] Translation: X:135.31, Y:-48.01, Z:-16.67 [[ 9.09772329e-01 4.08368285e-01 7.44959998e-02 1.35312547e+02] [-4.06893878e-01 9.12816400e-01 -3.46928275e-02 -4.80060503e+01] [-8.21686208e-02 1.25060822e-03 9.96617657e-01 -1.66707932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68119381700004 meters 0.05656812259761425 Centerline is valid? [True, True] Translation: X:135.34, Y:-48.01, Z:-16.67 [[ 9.06704535e-01 4.15434981e-01 7.28056507e-02 1.35342915e+02] [-4.14049702e-01 9.09622681e-01 -3.39031200e-02 -4.80095383e+01] [-8.03102132e-02 5.94954678e-04 9.96769741e-01 -1.66713531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.711193817 meters 0.05636651505163217 Centerline is valid? [True, True] Translation: X:135.37, Y:-48.02, Z:-16.67 [[ 9.05789929e-01 4.17638994e-01 7.15700662e-02 1.35369899e+02] [-4.16309181e-01 9.08612972e-01 -3.33036381e-02 -4.80192473e+01] [-7.89383884e-02 3.70824337e-04 9.96879428e-01 -1.66735839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.741193817 meters 0.05646297489379448 Centerline is valid? [True, True] Translation: X:135.40, Y:-48.03, Z:-16.68 [[ 9.05074668e-01 4.19375656e-01 7.04549765e-02 1.35395016e+02] [-4.18094867e-01 9.07812770e-01 -3.27514517e-02 -4.80295721e+01] [-7.76950889e-02 1.85645233e-04 9.96977151e-01 -1.66795183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.771193817 meters 0.05641138027286738 Centerline is valid? [True, True] Translation: X:135.42, Y:-48.04, Z:-16.68 [[ 9.04637587e-01 4.20294947e-01 7.05903223e-02 1.35420088e+02] [-4.19012011e-01 9.07387539e-01 -3.28144519e-02 -4.80412075e+01] [-7.78445272e-02 1.06993613e-04 9.96965505e-01 -1.66824149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.801193817 meters 0.056359161893046454 Centerline is valid? [True, True] Translation: X:135.44, Y:-48.06, Z:-16.69 [[ 9.04733753e-01 4.19807666e-01 7.22382129e-02 1.35443270e+02] [-4.18465084e-01 9.07613083e-01 -3.35479515e-02 -4.80592498e+01] [-7.96480344e-02 1.22794257e-04 9.96823041e-01 -1.66852381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.831193817 meters 0.05619602871443109 Centerline is valid? [True, True] Translation: X:135.47, Y:-48.08, Z:-16.69 [[ 9.05087045e-01 4.18950429e-01 7.27872258e-02 1.35467171e+02] [-4.17586700e-01 9.08009090e-01 -3.37763342e-02 -4.80755762e+01] [-8.02420723e-02 1.75545101e-04 9.96775390e-01 -1.66881731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86119381700001 meters 0.055968694504640135 Centerline is valid? [True, True] Translation: X:135.49, Y:-48.09, Z:-16.69 [[ 9.05575602e-01 4.17838262e-01 7.31027724e-02 1.35490817e+02] [-4.16461024e-01 9.08521394e-01 -3.38982610e-02 -4.80918993e+01] [-8.05794231e-02 2.52982650e-04 9.96748159e-01 -1.66892164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89119381700002 meters 0.05612808261086618 Centerline is valid? [True, True] Translation: X:135.51, Y:-48.11, Z:-16.69 [[ 9.06441498e-01 4.15701478e-01 7.45391978e-02 1.35513829e+02] [-4.14265057e-01 9.09501019e-01 -3.45305469e-02 -4.81086993e+01] [-8.21478758e-02 4.20935661e-04 9.96620063e-01 -1.66935839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92119381700002 meters 0.056240616766027984 Centerline is valid? [True, True] Translation: X:135.54, Y:-48.12, Z:-16.70 [[ 9.07122900e-01 4.14271986e-01 7.42075836e-02 1.35537801e+02] [-4.12845791e-01 9.10152981e-01 -3.43497344e-02 -4.81249334e+01] [-8.17703861e-02 5.23142109e-04 9.96651057e-01 -1.66958920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95119381700002 meters 0.05589422521837199 Centerline is valid? [True, True] Translation: X:135.56, Y:-48.14, Z:-16.70 [[ 9.06788911e-01 4.14944673e-01 7.45304566e-02 1.35561621e+02] [-4.13510449e-01 9.09846539e-01 -3.44729469e-02 -4.81423136e+01] [-8.21156436e-02 4.40563419e-04 9.96622710e-01 -1.66964225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98119381700002 meters 0.055504894378665945 Centerline is valid? [True, True] Translation: X:135.59, Y:-48.16, Z:-16.70 [[ 9.06002711e-01 4.16469468e-01 7.55795631e-02 1.35586343e+02] [-4.15002670e-01 9.09149661e-01 -3.49238906e-02 -4.81555075e+01] [-8.32578684e-02 2.75419137e-04 9.96527998e-01 -1.66981436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01119381700002 meters 0.05519534008245617 Centerline is valid? [True, True] Translation: X:135.61, Y:-48.17, Z:-16.70 [[ 9.04976058e-01 4.18554811e-01 7.63557701e-02 1.35612456e+02] [-4.17065376e-01 9.08191535e-01 -3.52790080e-02 -4.81685208e+01] [-8.41118626e-02 8.13095753e-05 9.96456315e-01 -1.66999473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04119381700002 meters 0.05533396415072903 Centerline is valid? [True, True] Translation: X:135.64, Y:-48.18, Z:-16.71 [[ 9.03701562e-01 4.21346406e-01 7.60966099e-02 1.35636298e+02] [-4.19879624e-01 9.06899754e-01 -3.51274511e-02 -4.81825825e+01] [-8.38128220e-02 -2.06683456e-04 9.96481494e-01 -1.67053020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07119381700002 meters 0.05556541121237555 Centerline is valid? [True, True] Translation: X:135.66, Y:-48.20, Z:-16.71 [[ 9.03337508e-01 4.22393829e-01 7.45975905e-02 1.35660580e+02] [-4.20989221e-01 9.06412354e-01 -3.44197514e-02 -4.81969384e+01] [-8.21548682e-02 -3.12129039e-04 9.96619526e-01 -1.67092785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10119381700002 meters 0.05571516184095729 Centerline is valid? [True, True] Translation: X:135.68, Y:-48.21, Z:-16.71 [[ 9.02999881e-01 4.23266052e-01 7.37364535e-02 1.35684572e+02] [-4.21896830e-01 9.06005352e-01 -3.40200944e-02 -4.82123341e+01] [-8.12051725e-02 -3.89034849e-04 9.96697330e-01 -1.67140954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13119381700002 meters 0.055909984731553126 Centerline is valid? [True, True] Translation: X:135.71, Y:-48.23, Z:-16.72 [[ 9.03021281e-01 4.23583980e-01 7.16182817e-02 1.35708136e+02] [-4.22295873e-01 9.05856734e-01 -3.30116997e-02 -4.82280684e+01] [-7.88591300e-02 -4.33837431e-04 9.96885675e-01 -1.67187179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16119381700003 meters 0.056371034646437994 Centerline is valid? [True, True] Translation: X:135.73, Y:-48.24, Z:-16.72 [[ 9.02849575e-01 4.24234048e-01 6.99150743e-02 1.35731835e+02] [-4.23009176e-01 9.05552448e-01 -3.22180334e-02 -4.82418203e+01] [-7.69797534e-02 -4.86680233e-04 9.97032537e-01 -1.67249212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19119381700003 meters 0.05659939635890366 Centerline is valid? [True, True] Translation: X:135.76, Y:-48.26, Z:-16.73 [[ 9.01975013e-01 4.26440560e-01 6.77460237e-02 1.35756545e+02] [-4.25297627e-01 9.04515344e-01 -3.12077024e-02 -4.82590244e+01] [-7.45855481e-02 -6.63655278e-04 9.97214398e-01 -1.67292584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22119381700003 meters 0.056453163805700875 Centerline is valid? [True, True] Translation: X:135.78, Y:-48.27, Z:-16.73 [[ 9.01843408e-01 4.26810970e-01 6.71629598e-02 1.35780939e+02] [-4.25688065e-01 9.04340606e-01 -3.09473535e-02 -4.82746255e+01] [-7.39468618e-02 -6.80803683e-04 9.97261951e-01 -1.67303136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25119381700003 meters 0.05661884226381122 Centerline is valid? [True, True] Translation: X:135.80, Y:-48.30, Z:-16.73 [[ 9.02148273e-01 4.26160872e-01 6.71967546e-02 1.35800468e+02] [-4.25037092e-01 9.04647160e-01 -3.09351861e-02 -4.82952954e+01] [-7.39727192e-02 -6.52988478e-04 9.97260052e-01 -1.67345265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28119381700003 meters 0.05595378145706738 Centerline is valid? [True, True] Translation: X:135.82, Y:-48.31, Z:-16.74 [[ 9.02983095e-01 4.24180224e-01 6.85030478e-02 1.35824224e+02] [-4.23007962e-01 9.05577645e-01 -3.15181520e-02 -4.83141501e+01] [-7.54042055e-02 -5.16976173e-04 9.97152916e-01 -1.67350425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31119381700003 meters 0.05548866295757106 Centerline is valid? [True, True] Translation: X:135.85, Y:-48.33, Z:-16.74 [[ 9.04194538e-01 4.21339917e-01 7.00350690e-02 1.35847642e+02] [-4.20107925e-01 9.06902740e-01 -3.21986372e-02 -4.83336973e+01] [-7.70815671e-02 -3.08455692e-04 9.97024742e-01 -1.67367396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34119381700003 meters 0.05542623330341124 Centerline is valid? [True, True] Translation: X:135.87, Y:-48.35, Z:-16.74 [[ 9.05607549e-01 4.18141857e-01 7.09390879e-02 1.35869448e+02] [-4.16870442e-01 9.08381739e-01 -3.25829900e-02 -4.83526845e+01] [-7.80640840e-02 -6.50072066e-05 9.96948341e-01 -1.67402884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37119381700003 meters 0.05511224092242867 Centerline is valid? [True, True] Translation: X:135.89, Y:-48.38, Z:-16.74 [[ 9.08576758e-01 4.11042737e-01 7.43783802e-02 1.35889762e+02] [-4.09621968e-01 9.11615902e-01 -3.41510041e-02 -4.83797380e+01] [-8.18420364e-02 5.61790177e-04 9.96645155e-01 -1.67375424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40119381700003 meters 0.05519648142951778 Centerline is valid? [True, True] Translation: X:135.91, Y:-48.40, Z:-16.74 [[ 9.10167258e-01 4.07146532e-01 7.63365209e-02 1.35913074e+02] [-4.05636592e-01 9.13362378e-01 -3.50445632e-02 -4.83990580e+01] [-8.39911786e-02 9.31527763e-04 9.96466063e-01 -1.67378221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43119381700004 meters 0.05566976339800251 Centerline is valid? [True, True] Translation: X:135.94, Y:-48.42, Z:-16.74 [[ 9.11536300e-01 4.03643487e-01 7.85716793e-02 1.35936651e+02] [-4.02031512e-01 9.14915456e-01 -3.60606766e-02 -4.84185490e+01] [-8.64421010e-02 1.28232464e-03 9.96256051e-01 -1.67403387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.461193817 meters 0.056556882308608274 Centerline is valid? [True, True] Translation: X:135.96, Y:-48.44, Z:-16.74 [[ 9.12895013e-01 4.00310223e-01 7.98399727e-02 1.35960560e+02] [-3.98633373e-01 9.16378253e-01 -3.66378409e-02 -4.84375714e+01] [-8.78301170e-02 1.61962458e-03 9.96134151e-01 -1.67433554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.491193817 meters 0.061025446810485016 Centerline is valid? [True, True] Translation: X:135.98, Y:-48.46, Z:-16.75 [[ 9.15960263e-01 3.93311560e-01 7.95161227e-02 1.35980451e+02] [-3.91622213e-01 9.19402426e-01 -3.64858973e-02 -4.84649630e+01] [-8.74576413e-02 2.27935216e-03 9.96165632e-01 -1.67529614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.521193817 meters 0.05978464898940609 Centerline is valid? [True, True] Translation: X:136.01, Y:-48.48, Z:-16.75 [[ 9.17411014e-01 3.90190094e-01 7.81583140e-02 1.36010985e+02] [-3.88546760e-01 9.20730838e-01 -3.58627869e-02 -4.84769370e+01] [-8.59560742e-02 2.53275604e-03 9.96295708e-01 -1.67521896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.551193817 meters 0.061128554193232786 Centerline is valid? [True, True] Translation: X:136.04, Y:-48.49, Z:-16.76 [[ 9.18273645e-01 3.88260256e-01 7.76368919e-02 1.36037161e+02] [-3.86631118e-01 9.21545800e-01 -3.56330904e-02 -4.84926016e+01] [-8.53808644e-02 2.70408945e-03 9.96344717e-01 -1.67578413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.581193817 meters 0.06222552271400836 Centerline is valid? [True, True] Translation: X:136.06, Y:-48.51, Z:-16.76 [[ 9.19560907e-01 3.85703765e-01 7.51022196e-02 1.36064962e+02] [-3.84170639e-01 9.22618281e-01 -3.44735825e-02 -4.85064958e+01] [-8.25872713e-02 2.84849107e-03 9.96579765e-01 -1.67626695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61119381700001 meters 0.06213741185830027 Centerline is valid? [True, True] Translation: X:136.09, Y:-48.52, Z:-16.77 [[ 9.19866459e-01 3.85223578e-01 7.38139002e-02 1.36094225e+02] [-3.83741628e-01 9.22818915e-01 -3.38764366e-02 -4.85186096e+01] [-8.11668655e-02 2.83633160e-03 9.96696491e-01 -1.67662825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64119381700002 meters 0.06246627170524161 Centerline is valid? [True, True] Translation: X:136.12, Y:-48.53, Z:-16.77 [[ 9.19868219e-01 3.85213025e-01 7.38470461e-02 1.36123403e+02] [-3.83727215e-01 9.22823226e-01 -3.39222281e-02 -4.85316639e+01] [-8.12150534e-02 2.86685816e-03 9.96692478e-01 -1.67708898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67119381700002 meters 0.06302632099878773 Centerline is valid? [True, True] Translation: X:136.15, Y:-48.54, Z:-16.77 [[ 9.20027351e-01 3.84795718e-01 7.40400451e-02 1.36152346e+02] [-3.83299410e-01 9.22997123e-01 -3.40275363e-02 -4.85446252e+01] [-8.14323989e-02 2.92675850e-03 9.96674570e-01 -1.67745870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70119381700002 meters 0.06360589535400589 Centerline is valid? [True, True] Translation: X:136.18, Y:-48.56, Z:-16.78 [[ 9.20387654e-01 3.83911427e-01 7.41524293e-02 1.36181269e+02] [-3.82405414e-01 9.23364934e-01 -3.41071481e-02 -4.85569028e+01] [-8.15638769e-02 3.03550756e-03 9.96663494e-01 -1.67787089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73119381700002 meters 0.06551487816246591 Centerline is valid? [True, True] Translation: X:136.21, Y:-48.57, Z:-16.78 [[ 9.22178125e-01 3.79237915e-01 7.59349061e-02 1.36210053e+02] [-3.77639777e-01 9.25292331e-01 -3.49614336e-02 -4.85693620e+01] [-8.35206874e-02 3.56462831e-03 9.96499668e-01 -1.67813518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76119381700002 meters 0.0671174716680204 Centerline is valid? [True, True] Translation: X:136.24, Y:-48.58, Z:-16.79 [[ 9.23598911e-01 3.75692038e-01 7.62924874e-02 1.36237655e+02] [-3.74066379e-01 9.26736329e-01 -3.51300591e-02 -4.85833988e+01] [-8.39011032e-02 3.90762989e-03 9.96466425e-01 -1.67854687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79119381700002 meters 0.06907927676060206 Centerline is valid? [True, True] Translation: X:136.26, Y:-48.60, Z:-16.79 [[ 9.24966061e-01 3.72572193e-01 7.50183101e-02 1.36264416e+02] [-3.70989883e-01 9.27994046e-01 -3.45479017e-02 -4.85976964e+01] [-8.24881326e-02 4.12460243e-03 9.96583512e-01 -1.67900894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82119381700002 meters 0.06907927676060206 Centerline is valid? [True, True] Translation: X:136.29, Y:-48.61, Z:-16.79 [[ 9.24840127e-01 3.72883992e-01 7.50217864e-02 1.36293659e+02] [-3.71303313e-01 9.27868963e-01 -3.45403582e-02 -4.86114544e+01] [-8.24899338e-02 4.08847145e-03 9.96583511e-01 -1.67938043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85119381700002 meters 0.07268809674569025 Centerline is valid? [True, True] Translation: X:136.32, Y:-48.63, Z:-16.80 [[ 9.27102847e-01 3.67193541e-01 7.51612583e-02 1.36319016e+02] [-3.65584717e-01 9.30132965e-01 -3.46479701e-02 -4.86253266e+01] [-8.26324749e-02 4.64442436e-03 9.96569267e-01 -1.67980299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88119381700002 meters 0.07374333864369985 Centerline is valid? [True, True] Translation: X:136.35, Y:-48.64, Z:-16.80 [[ 9.27565399e-01 3.65928230e-01 7.56238078e-02 1.36348155e+02] [-3.64296259e-01 9.30630818e-01 -3.48499088e-02 -4.86373300e+01] [-8.31304115e-02 4.77609928e-03 9.96527232e-01 -1.68016196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91119381700003 meters 0.07508784984850402 Centerline is valid? [True, True] Translation: X:136.38, Y:-48.65, Z:-16.81 [[ 9.28224031e-01 3.64222775e-01 7.57754510e-02 1.36378542e+02] [-3.62575976e-01 9.31298604e-01 -3.49510032e-02 -4.86483169e+01] [-8.32995231e-02 4.96800300e-03 9.96512172e-01 -1.68056952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94119381700003 meters 0.07592922466181584 Centerline is valid? [True, True] Translation: X:136.41, Y:-48.66, Z:-16.81 [[ 9.28545660e-01 3.63172722e-01 7.68669677e-02 1.36408881e+02] [-3.61474297e-01 9.31707669e-01 -3.54563401e-02 -4.86575223e+01] [-8.44943189e-02 5.13739763e-03 9.96410717e-01 -1.68095139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97119381700003 meters 0.0767239525545557 Centerline is valid? [True, True] Translation: X:136.44, Y:-48.66, Z:-16.81 [[ 9.29245590e-01 3.60959088e-01 7.88109790e-02 1.36442167e+02] [-3.59162781e-01 9.32565406e-01 -3.63848907e-02 -4.86614118e+01] [-8.66298496e-02 5.50452888e-03 9.96225361e-01 -1.68114624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00119381700003 meters 0.07875315957357283 Centerline is valid? [True, True] Translation: X:136.47, Y:-48.67, Z:-16.82 [[ 9.29432193e-01 3.60273769e-01 7.97408894e-02 1.36470975e+02] [-3.58431966e-01 9.32829584e-01 -3.68170130e-02 -4.86722340e+01] [-8.76488647e-02 5.63723333e-03 9.96135482e-01 -1.68155949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03119381700003 meters 0.07846539938477526 Centerline is valid? [True, True] Translation: X:136.50, Y:-48.68, Z:-16.82 [[ 9.29548600e-01 3.59963709e-01 7.97842582e-02 1.36503005e+02] [-3.58116544e-01 9.32948935e-01 -3.68622381e-02 -4.86798136e+01] [-8.77037067e-02 5.69317898e-03 9.96130337e-01 -1.68191024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06119381700003 meters 0.07989652634045799 Centerline is valid? [True, True] Translation: X:136.53, Y:-48.69, Z:-16.82 [[ 9.29209394e-01 3.60838979e-01 7.97817797e-02 1.36533327e+02] [-3.58992731e-01 9.32611102e-01 -3.68883707e-02 -4.86889489e+01] [-8.77161355e-02 5.63594164e-03 9.96129568e-01 -1.68238581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09119381700003 meters 0.07973878386078309 Centerline is valid? [True, True] Translation: X:136.57, Y:-48.69, Z:-16.83 [[ 9.28718210e-01 3.61731304e-01 8.14429298e-02 1.36565415e+02] [-3.59807163e-01 9.32264946e-01 -3.76945024e-02 -4.86863709e+01] [-8.95616701e-02 5.70382131e-03 9.95964946e-01 -1.68253466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12119381700003 meters 0.0789802360161792 Centerline is valid? [True, True] Translation: X:136.60, Y:-48.69, Z:-16.83 [[ 9.28212430e-01 3.62996826e-01 8.15781158e-02 1.36595780e+02] [-3.61071958e-01 9.31773653e-01 -3.77478614e-02 -4.86902399e+01] [-8.97146928e-02 5.58246419e-03 9.95951861e-01 -1.68286876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15119381700003 meters 0.07759142720673538 Centerline is valid? [True, True] Translation: X:136.63, Y:-48.69, Z:-16.83 [[ 9.27259241e-01 3.65164457e-01 8.27358446e-02 1.36627458e+02] [-3.63193616e-01 9.30927113e-01 -3.82767250e-02 -4.86937119e+01] [-9.09983405e-02 5.44331636e-03 9.95836167e-01 -1.68313307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18119381700004 meters 0.07607434654084488 Centerline is valid? [True, True] Translation: X:136.66, Y:-48.70, Z:-16.84 [[ 9.26215976e-01 3.68040723e-01 8.16700265e-02 1.36659153e+02] [-3.66131725e-01 9.29795729e-01 -3.77817785e-02 -4.86966304e+01] [-8.98416748e-02 5.09209910e-03 9.95943043e-01 -1.68355042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.211193817 meters 0.07105380041659233 Centerline is valid? [True, True] Translation: X:136.69, Y:-48.69, Z:-16.84 [[ 9.25127812e-01 3.70894314e-01 8.10921671e-02 1.36693605e+02] [-3.69023350e-01 9.28662785e-01 -3.75126485e-02 -4.86934675e+01] [-8.92205057e-02 4.77909129e-03 9.96000433e-01 -1.68368918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.241193817 meters 0.0694176735969244 Centerline is valid? [True, True] Translation: X:136.73, Y:-48.69, Z:-16.84 [[ 9.22177997e-01 3.78455935e-01 7.97423745e-02 1.36727779e+02] [-3.76675046e-01 9.25610755e-01 -3.68868465e-02 -4.86875088e+01] [-8.77704455e-02 3.97927564e-03 9.96132779e-01 -1.68445617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.271193817 meters 0.06736035892620997 Centerline is valid? [True, True] Translation: X:136.76, Y:-48.69, Z:-16.85 [[ 9.20581751e-01 3.82786432e-01 7.74841085e-02 1.36758770e+02] [-3.81120729e-01 9.23830376e-01 -3.58389011e-02 -4.86898599e+01] [-8.53008182e-02 3.46183840e-03 9.96349229e-01 -1.68509731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.301193817 meters 0.06384961948235653 Centerline is valid? [True, True] Translation: X:136.79, Y:-48.69, Z:-16.86 [[ 9.19259321e-01 3.86440791e-01 7.50054426e-02 1.36790570e+02] [-3.84891849e-01 9.22309250e-01 -3.46974269e-02 -4.86893977e+01] [-8.25867146e-02 3.02694963e-03 9.96579285e-01 -1.68550191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.331193817 meters 0.06317427931674337 Centerline is valid? [True, True] Translation: X:136.82, Y:-48.69, Z:-16.87 [[ 9.16598970e-01 3.93063021e-01 7.31285859e-02 1.36822242e+02] [-3.91614384e-01 9.19508558e-01 -3.37962336e-02 -4.86878642e+01] [-8.05264103e-02 2.33938674e-03 9.96749730e-01 -1.68652153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36119381700001 meters 0.060791633954642765 Centerline is valid? [True, True] Translation: X:136.85, Y:-48.69, Z:-16.86 [[ 9.15937315e-01 3.94536549e-01 7.34829696e-02 1.36853484e+02] [-3.93077989e-01 9.18877550e-01 -3.39667795e-02 -4.86905204e+01] [-8.09229870e-02 2.22690288e-03 9.96717869e-01 -1.68645024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39119381700002 meters 0.06018018763361063 Centerline is valid? [True, True] Translation: X:136.88, Y:-48.70, Z:-16.87 [[ 9.15569125e-01 3.95255097e-01 7.42063767e-02 1.36882614e+02] [-3.93771806e-01 9.18568846e-01 -3.42788694e-02 -4.86967039e+01] [-8.17125637e-02 2.16429551e-03 9.96653587e-01 -1.68660230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42119381700002 meters 0.05929261340321409 Centerline is valid? [True, True] Translation: X:136.91, Y:-48.70, Z:-16.87 [[ 9.15680734e-01 3.94683859e-01 7.58514715e-02 1.36911559e+02] [-3.93134118e-01 9.18814251e-01 -3.50133829e-02 -4.87035154e+01] [-8.35126301e-02 2.24127876e-03 9.96504198e-01 -1.68657658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45119381700002 meters 0.06025914489042052 Centerline is valid? [True, True] Translation: X:136.94, Y:-48.71, Z:-16.87 [[ 9.16987626e-01 3.91058293e-01 7.87851864e-02 1.36937728e+02] [-3.89375118e-01 9.20362107e-01 -3.63402025e-02 -4.87135080e+01] [-8.67220377e-02 2.64652473e-03 9.96229032e-01 -1.68656131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48119381700002 meters 0.06091799603785297 Centerline is valid? [True, True] Translation: X:136.96, Y:-48.73, Z:-16.87 [[ 9.18128341e-01 3.88207674e-01 7.95936617e-02 1.36963542e+02] [-3.86481883e-01 9.21567306e-01 -3.66804360e-02 -4.87256732e+01] [-8.75905431e-02 2.91583957e-03 9.96152295e-01 -1.68672476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51119381700002 meters 0.06277468060664516 Centerline is valid? [True, True] Translation: X:136.99, Y:-48.74, Z:-16.87 [[ 9.19169013e-01 3.85501495e-01 8.07274620e-02 1.36986988e+02] [-3.83718644e-01 9.22701702e-01 -3.71694894e-02 -4.87403794e+01] [-8.88162603e-02 3.18841059e-03 9.96042924e-01 -1.68712401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54119381700002 meters 0.06509997794766227 Centerline is valid? [True, True] Translation: X:137.01, Y:-48.75, Z:-16.88 [[ 9.20940040e-01 3.81556158e-01 7.92738328e-02 1.37013940e+02] [-3.79823565e-01 9.24339060e-01 -3.64878381e-02 -4.87542306e+01] [-8.71980594e-02 3.49304131e-03 9.96184871e-01 -1.68761156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57119381700002 meters 0.06539034179813961 Centerline is valid? [True, True] Translation: X:137.04, Y:-48.76, Z:-16.88 [[ 9.21606838e-01 3.80110752e-01 7.84643396e-02 1.37040812e+02] [-3.78407824e-01 9.24933987e-01 -3.61197826e-02 -4.87630211e+01] [-8.63038521e-02 3.59671867e-03 9.96262369e-01 -1.68796724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60119381700002 meters 0.06617562100638424 Centerline is valid? [True, True] Translation: X:137.07, Y:-48.77, Z:-16.89 [[ 9.21925391e-01 3.79656515e-01 7.69058109e-02 1.37066435e+02] [-3.78020415e-01 9.25120701e-01 -3.53872158e-02 -4.87729582e+01] [-8.45821448e-02 3.55240621e-03 9.96410177e-01 -1.68854912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63119381700002 meters 0.06658054183080737 Centerline is valid? [True, True] Translation: X:137.09, Y:-48.78, Z:-16.89 [[ 9.22168163e-01 3.79047623e-01 7.69985638e-02 1.37092775e+02] [-3.77405744e-01 9.25370127e-01 -3.54264394e-02 -4.87828235e+01] [-8.46804784e-02 3.60943424e-03 9.96401620e-01 -1.68898015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66119381700003 meters 0.06775950659805953 Centerline is valid? [True, True] Translation: X:137.12, Y:-48.79, Z:-16.90 [[ 9.22451189e-01 3.78638532e-01 7.56086423e-02 1.37118240e+02] [-3.77056603e-01 9.25537809e-01 -3.47574837e-02 -4.87915234e+01] [-8.31391797e-02 3.55334434e-03 9.96531610e-01 -1.68957384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69119381700003 meters 0.06723039576377009 Centerline is valid? [True, True] Translation: X:137.15, Y:-48.80, Z:-16.90 [[ 9.22669808e-01 3.78219788e-01 7.50347746e-02 1.37145764e+02] [-3.76660860e-01 9.25708985e-01 -3.44887161e-02 -4.87999078e+01] [-8.25046799e-02 3.55903431e-03 9.96584322e-01 -1.68985965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72119381700003 meters 0.06937381805831631 Centerline is valid? [True, True] Translation: X:137.17, Y:-48.81, Z:-16.90 [[ 9.23098967e-01 3.77336834e-01 7.41971148e-02 1.37169446e+02] [-3.75812144e-01 9.26069204e-01 -3.40743584e-02 -4.88126671e+01] [-8.15691736e-02 3.56982822e-03 9.96661290e-01 -1.69045391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75119381700003 meters 0.06553732443715161 Centerline is valid? [True, True] Translation: X:137.20, Y:-48.82, Z:-16.90 [[ 9.23525468e-01 3.76536845e-01 7.29432196e-02 1.37199750e+02] [-3.75061131e-01 9.26394743e-01 -3.34951978e-02 -4.88172409e+01] [-8.01863913e-02 3.57550188e-03 9.96773474e-01 -1.69023350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78119381700003 meters 0.07283570283468106 Centerline is valid? [True, True] Translation: X:137.22, Y:-48.84, Z:-16.91 [[ 9.24931648e-01 3.72982650e-01 7.33852123e-02 1.37219865e+02] [-3.71480471e-01 9.27830218e-01 -3.36652243e-02 -4.88383172e+01] [-8.06455621e-02 3.87685819e-03 9.96735303e-01 -1.69116682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81119381700003 meters 0.06944391172586964 Centerline is valid? [True, True] Translation: X:137.25, Y:-48.84, Z:-16.91 [[ 9.25607670e-01 3.71201824e-01 7.38894228e-02 1.37249362e+02] [-3.69673939e-01 9.28543369e-01 -3.38879203e-02 -4.88431638e+01] [-8.11887914e-02 4.05192500e-03 9.96690505e-01 -1.69093227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84119381700003 meters 0.0699759445739506 Centerline is valid? [True, True] Translation: X:137.28, Y:-48.85, Z:-16.91 [[ 9.26781547e-01 3.68381616e-01 7.32867629e-02 1.37276200e+02] [-3.66870544e-01 9.29664927e-01 -3.36024896e-02 -4.88547156e+01] [-8.05106725e-02 4.25541275e-03 9.96744663e-01 -1.69119047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87119381700003 meters 0.0702174332256276 Centerline is valid? [True, True] Translation: X:137.30, Y:-48.87, Z:-16.91 [[ 9.28042472e-01 3.65457468e-01 7.19583822e-02 1.37303724e+02] [-3.63992880e-01 9.30817560e-01 -3.29826216e-02 -4.88677856e+01] [-7.90338711e-02 4.41693489e-03 9.96862146e-01 -1.69141095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90119381700003 meters 0.07419553707096765 Centerline is valid? [True, True] Translation: X:137.33, Y:-48.89, Z:-16.92 [[ 9.30735172e-01 3.58359397e-01 7.28737439e-02 1.37326590e+02] [-3.56835601e-01 9.33569867e-01 -3.34014629e-02 -4.88874365e+01] [-8.00024595e-02 5.08397006e-03 9.96781701e-01 -1.69174639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93119381700004 meters 0.08910539507059212 Centerline is valid? [True, True] Translation: X:137.34, Y:-48.92, Z:-16.93 [[ 9.32168803e-01 3.54365922e-01 7.40683184e-02 1.37341850e+02] [-3.52778795e-01 9.35090542e-01 -3.39529152e-02 -4.89206209e+01] [-8.12923401e-02 5.52011620e-03 9.96675014e-01 -1.69290710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.961193817 meters 0.08011681048518081 Centerline is valid? [True, True] Translation: X:137.38, Y:-48.92, Z:-16.92 [[ 9.33622170e-01 3.50281631e-01 7.51825982e-02 1.37375718e+02] [-3.48633471e-01 9.36625457e-01 -3.44594961e-02 -4.89203672e+01] [-8.24884638e-02 5.96097930e-03 9.96574192e-01 -1.69225341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.991193817 meters 0.08284108113053515 Centerline is valid? [True, True] Translation: X:137.40, Y:-48.94, Z:-16.92 [[ 9.35067009e-01 3.46142364e-01 7.63881662e-02 1.37402349e+02] [-3.44427343e-01 9.38159995e-01 -3.50089962e-02 -4.89355867e+01] [-8.37824183e-02 6.42558430e-03 9.96463355e-01 -1.69240667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.021193817 meters 0.08820957182485495 Centerline is valid? [True, True] Translation: X:137.43, Y:-48.95, Z:-16.93 [[ 9.37605344e-01 3.39110902e-01 7.68115613e-02 1.37427376e+02] [-3.37353494e-01 9.40719670e-01 -3.52011762e-02 -4.89507579e+01] [-8.41952492e-02 7.09216232e-03 9.96424037e-01 -1.69268287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.051193817 meters 0.08479577947380466 Centerline is valid? [True, True] Translation: X:137.46, Y:-48.96, Z:-16.93 [[ 9.38384668e-01 3.36849664e-01 7.72432418e-02 1.37458076e+02] [-3.35064806e-01 9.41529861e-01 -3.53990911e-02 -4.89563007e+01] [-8.46509907e-02 7.33647246e-03 9.96383654e-01 -1.69277708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.081193817 meters 0.08897932161656054 Centerline is valid? [True, True] Translation: X:137.48, Y:-48.97, Z:-16.93 [[ 9.38719443e-01 3.35738032e-01 7.80114127e-02 1.37480911e+02] [-3.33913564e-01 9.41925447e-01 -3.57516978e-02 -4.89717919e+01] [-8.54841394e-02 7.51174500e-03 9.96311214e-01 -1.69325499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11119381700001 meters 0.08510514218575593 Centerline is valid? [True, True] Translation: X:137.51, Y:-48.98, Z:-16.93 [[ 9.39078833e-01 3.34552867e-01 7.87738872e-02 1.37510342e+02] [-3.32688715e-01 9.42345602e-01 -3.60968975e-02 -4.89764507e+01] [-8.63085467e-02 7.69064904e-03 9.96238771e-01 -1.69334213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14119381700002 meters 0.08713410054234727 Centerline is valid? [True, True] Translation: X:137.54, Y:-48.98, Z:-16.94 [[ 9.39433860e-01 3.33688544e-01 7.82047266e-02 1.37536941e+02] [-3.31851010e-01 9.42652062e-01 -3.58049785e-02 -4.89835499e+01] [-8.56675579e-02 7.68409162e-03 9.96294145e-01 -1.69394598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17119381700002 meters 0.08643921787913275 Centerline is valid? [True, True] Translation: X:137.57, Y:-48.99, Z:-16.94 [[ 9.39277225e-01 3.34178204e-01 7.79950125e-02 1.37565599e+02] [-3.32353087e-01 9.42479193e-01 -3.56986803e-02 -4.89897069e+01] [-8.54383973e-02 7.60907419e-03 9.96314399e-01 -1.69430735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20119381700002 meters 0.08657595162937043 Centerline is valid? [True, True] Translation: X:137.59, Y:-49.00, Z:-16.95 [[ 9.39169576e-01 3.34494716e-01 7.79345400e-02 1.37593963e+02] [-3.32675800e-01 9.42367389e-01 -3.56442955e-02 -4.89967922e+01] [-8.53657975e-02 7.54910244e-03 9.96321079e-01 -1.69478783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23119381700002 meters 0.08697233887916518 Centerline is valid? [True, True] Translation: X:137.62, Y:-49.00, Z:-16.95 [[ 9.39092182e-01 3.34822991e-01 7.74560445e-02 1.37621725e+02] [-3.33029722e-01 9.42251607e-01 -3.53993441e-02 -4.90040654e+01] [-8.48355967e-02 7.44808235e-03 9.96367125e-01 -1.69519061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26119381700002 meters 0.08175474884566404 Centerline is valid? [True, True] Translation: X:137.66, Y:-49.00, Z:-16.95 [[ 9.38007048e-01 3.37381488e-01 7.94764697e-02 1.37657260e+02] [-3.35505402e-01 9.41339139e-01 -3.62870566e-02 -4.89989872e+01] [-8.70568927e-02 7.37272997e-03 9.96176059e-01 -1.69526142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29119381700002 meters 0.08377067788153036 Centerline is valid? [True, True] Translation: X:137.68, Y:-49.01, Z:-16.96 [[ 9.37524549e-01 3.38620511e-01 7.98991173e-02 1.37683029e+02] [-3.36728683e-01 9.40894727e-01 -3.64815935e-02 -4.90083750e+01] [-8.75300740e-02 7.29806499e-03 9.96135144e-01 -1.69570715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32119381700002 meters 0.08579368191715116 Centerline is valid? [True, True] Translation: X:137.71, Y:-49.02, Z:-16.96 [[ 9.37205019e-01 3.39587920e-01 7.95411597e-02 1.37708745e+02] [-3.37717359e-01 9.40547019e-01 -3.63082728e-02 -4.90182096e+01] [-8.71420515e-02 7.16586516e-03 9.96170123e-01 -1.69610042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35119381700002 meters 0.08169401364340549 Centerline is valid? [True, True] Translation: X:137.74, Y:-49.02, Z:-16.96 [[ 9.37233436e-01 3.39531057e-01 7.94490268e-02 1.37741454e+02] [-3.37664983e-01 9.40567600e-01 -3.62622321e-02 -4.90165918e+01] [-8.70393344e-02 7.15902212e-03 9.96179152e-01 -1.69635272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38119381700002 meters 0.0862524106822774 Centerline is valid? [True, True] Translation: X:137.76, Y:-49.03, Z:-16.97 [[ 9.37552047e-01 3.38305385e-01 8.09050436e-02 1.37764725e+02] [-3.36368526e-01 9.41007472e-01 -3.68938043e-02 -4.90306218e+01] [-8.86136232e-02 7.37595150e-03 9.96038765e-01 -1.69679906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41119381700003 meters 0.0875289980586176 Centerline is valid? [True, True] Translation: X:137.79, Y:-49.04, Z:-16.97 [[ 9.38132848e-01 3.36618758e-01 8.12069703e-02 1.37791982e+02] [-3.34662335e-01 9.41610746e-01 -3.70178897e-02 -4.90407949e+01] [-8.89262719e-02 7.55078403e-03 9.96009590e-01 -1.69711438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44119381700003 meters 0.08908187125749097 Centerline is valid? [True, True] Translation: X:137.82, Y:-49.05, Z:-16.98 [[ 9.38886019e-01 3.34635996e-01 8.06956842e-02 1.37819374e+02] [-3.32697529e-01 9.42316145e-01 -3.67782094e-02 -4.90518881e+01] [-8.83481588e-02 7.68329182e-03 9.96060023e-01 -1.69751905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47119381700003 meters 0.08652202480925579 Centerline is valid? [True, True] Translation: X:137.85, Y:-49.06, Z:-16.98 [[ 9.39881413e-01 3.32128530e-01 7.94579717e-02 1.37849795e+02] [-3.30240481e-01 9.43201926e-01 -3.62125866e-02 -4.90576677e+01] [-8.69721451e-02 7.79529824e-03 9.96180244e-01 -1.69783070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50119381700003 meters 0.09378254753320496 Centerline is valid? [True, True] Translation: X:137.87, Y:-49.07, Z:-16.98 [[ 9.42203373e-01 3.25673142e-01 7.86753389e-02 1.37874181e+02] [-3.23800178e-01 9.45445939e-01 -3.58527731e-02 -4.90738762e+01] [-8.60595649e-02 8.30551502e-03 9.96255374e-01 -1.69838713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53119381700003 meters 0.09415395047782402 Centerline is valid? [True, True] Translation: X:137.90, Y:-49.08, Z:-16.99 [[ 9.43241177e-01 3.22788703e-01 7.81251308e-02 1.37903094e+02] [-3.20932236e-01 9.46432818e-01 -3.56008546e-02 -4.90835650e+01] [-8.54317414e-02 8.50731908e-03 9.96307705e-01 -1.69876492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56119381700003 meters 0.09343221393611024 Centerline is valid? [True, True] Translation: X:137.93, Y:-49.09, Z:-16.99 [[ 9.44206241e-01 3.19841559e-01 7.85872268e-02 1.37932587e+02] [-3.17952996e-01 9.47429937e-01 -3.58107185e-02 -4.90907244e+01] [-8.59096474e-02 8.82565969e-03 9.96263841e-01 -1.69894375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59119381700003 meters 0.09581059221134196 Centerline is valid? [True, True] Translation: X:137.96, Y:-49.10, Z:-16.99 [[ 9.45057334e-01 3.16997232e-01 7.98710901e-02 1.37960285e+02] [-3.15036367e-01 9.48381521e-01 -3.63947421e-02 -4.91012779e+01] [-8.72852984e-02 9.23281986e-03 9.96140568e-01 -1.69915099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62119381700003 meters 0.09679214337796999 Centerline is valid? [True, True] Translation: X:137.99, Y:-49.11, Z:-16.99 [[ 9.46141437e-01 3.13342704e-01 8.14415816e-02 1.37991457e+02] [-3.11290506e-01 9.49589973e-01 -3.71093505e-02 -4.91053827e+01] [-8.89640536e-02 9.75870306e-03 9.95987030e-01 -1.69919302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65119381700003 meters 0.09866043349696295 Centerline is valid? [True, True] Translation: X:138.02, Y:-49.11, Z:-16.99 [[ 9.46385611e-01 3.12322116e-01 8.25177044e-02 1.38018036e+02] [-3.10211274e-01 9.49923766e-01 -3.76005931e-02 -4.91136461e+01] [-9.01290254e-02 9.98673806e-03 9.95880025e-01 -1.69949709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68119381700004 meters 0.09450869340274035 Centerline is valid? [True, True] Translation: X:138.05, Y:-49.11, Z:-17.00 [[ 9.46290916e-01 3.12472771e-01 8.30317416e-02 1.38049464e+02] [-3.10337084e-01 9.49873826e-01 -3.78233970e-02 -4.91136950e+01] [-9.06884597e-02 1.00241084e-02 9.95828861e-01 -1.69967076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.711193817 meters 0.09404225135184129 Centerline is valid? [True, True] Translation: X:138.08, Y:-49.12, Z:-17.00 [[ 9.46237348e-01 3.12600908e-01 8.31598123e-02 1.38078854e+02] [-3.10461689e-01 9.49831915e-01 -3.78533024e-02 -4.91180997e+01] [-9.08208204e-02 1.00002727e-02 9.95817038e-01 -1.69994479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.741193817 meters 0.09404225135184129 Centerline is valid? [True, True] Translation: X:138.10, Y:-49.13, Z:-17.00 [[ 9.46336875e-01 3.12296732e-01 8.31701224e-02 1.38103900e+02] [-3.10158322e-01 9.49931923e-01 -3.78306338e-02 -4.91292829e+01] [-9.08203376e-02 1.00046182e-02 9.95817038e-01 -1.70026052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.771193817 meters 0.08970405089999797 Centerline is valid? [True, True] Translation: X:138.14, Y:-49.12, Z:-17.00 [[ 9.45482880e-01 3.14819427e-01 8.33717738e-02 1.38139310e+02] [-3.12683903e-01 9.49101524e-01 -3.78823797e-02 -4.91232703e+01] [-9.10543866e-02 9.74812987e-03 9.95798209e-01 -1.70049573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.801193817 meters 0.09329790019643526 Centerline is valid? [True, True] Translation: X:138.17, Y:-49.13, Z:-17.01 [[ 9.44578549e-01 3.17315395e-01 8.41564281e-02 1.38166037e+02] [-3.15149198e-01 9.48271500e-01 -3.82379965e-02 -4.91332194e+01] [-9.19366473e-02 9.59696042e-03 9.95718610e-01 -1.70091709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.831193817 meters 0.09065449616465704 Centerline is valid? [True, True] Translation: X:138.20, Y:-49.13, Z:-17.01 [[ 9.43317206e-01 3.20867253e-01 8.48342800e-02 1.38198451e+02] [-3.18680366e-01 9.47078291e-01 -3.85426331e-02 -4.91345947e+01] [-9.27117738e-02 9.32290955e-03 9.95649341e-01 -1.70113149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86119381700001 meters 0.08552835801121524 Centerline is valid? [True, True] Translation: X:138.23, Y:-49.13, Z:-17.01 [[ 9.42262279e-01 3.23978715e-01 8.47324635e-02 1.38233101e+02] [-3.21809805e-01 9.46021534e-01 -3.84929354e-02 -4.91324100e+01] [-9.26296269e-02 9.00270355e-03 9.95659934e-01 -1.70125707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89119381700002 meters 0.08912153033774084 Centerline is valid? [True, True] Translation: X:138.26, Y:-49.14, Z:-17.02 [[ 9.39784304e-01 3.31190228e-01 8.43711716e-02 1.38262986e+02] [-3.29068914e-01 9.43527919e-01 -3.83238312e-02 -4.91363490e+01] [-9.22990344e-02 8.25220525e-03 9.95697137e-01 -1.70176774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92119381700002 meters 0.08079745906052144 Centerline is valid? [True, True] Translation: X:138.30, Y:-49.13, Z:-17.02 [[ 9.38544556e-01 3.35006645e-01 8.30943067e-02 1.38297936e+02] [-3.32964252e-01 9.42183857e-01 -3.77410434e-02 -4.91310413e+01] [-9.09336146e-02 7.75421713e-03 9.95826767e-01 -1.70193175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95119381700002 meters 0.081737672944654 Centerline is valid? [True, True] Translation: X:138.33, Y:-49.14, Z:-17.02 [[ 9.37329040e-01 3.38424909e-01 8.29629575e-02 1.38325881e+02] [-3.36402397e-01 9.40964232e-01 -3.76794447e-02 -4.91391383e+01] [-9.08168383e-02 7.40909989e-03 9.95840051e-01 -1.70232891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98119381700002 meters 0.07781514364910239 Centerline is valid? [True, True] Translation: X:138.36, Y:-49.14, Z:-17.03 [[ 9.35279912e-01 3.44164658e-01 8.24752959e-02 1.38359926e+02] [-3.42188386e-01 9.38884630e-01 -3.74534548e-02 -4.91366214e+01] [-9.03249431e-02 6.80737554e-03 9.95889082e-01 -1.70258882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01119381700002 meters 0.07623077218145242 Centerline is valid? [True, True] Translation: X:138.39, Y:-49.14, Z:-17.03 [[ 9.34574824e-01 3.46009194e-01 8.27498379e-02 1.38389872e+02] [-3.44026959e-01 9.38207551e-01 -3.75771625e-02 -4.91421314e+01] [-9.06385664e-02 6.65049493e-03 9.95861648e-01 -1.70284752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04119381700002 meters 0.07536455819418023 Centerline is valid? [True, True] Translation: X:138.42, Y:-49.15, Z:-17.03 [[ 9.33986455e-01 3.47689023e-01 8.23507444e-02 1.38418514e+02] [-3.45732641e-01 9.37587702e-01 -3.73930842e-02 -4.91487958e+01] [-9.02122101e-02 6.45329382e-03 9.95901658e-01 -1.70306194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07119381700002 meters 0.07176482582034215 Centerline is valid? [True, True] Translation: X:138.45, Y:-49.15, Z:-17.03 [[ 9.33599493e-01 3.48712713e-01 8.24101348e-02 1.38449938e+02] [-3.46757710e-01 9.37208110e-01 -3.74172435e-02 -4.91509089e+01] [-9.02833151e-02 6.35636999e-03 9.95895838e-01 -1.70311689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10119381700002 meters 0.07045382358038942 Centerline is valid? [True, True] Translation: X:138.48, Y:-49.15, Z:-17.03 [[ 9.33197791e-01 3.50089866e-01 8.11108391e-02 1.38480267e+02] [-3.48203528e-01 9.36696248e-01 -3.68027422e-02 -4.91530762e+01] [-8.88604857e-02 6.10115743e-03 9.96025396e-01 -1.70334408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13119381700002 meters 0.06992410186604309 Centerline is valid? [True, True] Translation: X:138.51, Y:-49.16, Z:-17.04 [[ 9.32954441e-01 3.50979804e-01 8.00574109e-02 1.38508163e+02] [-3.49147800e-01 9.36364358e-01 -3.62988068e-02 -4.91610427e+01] [-8.77030542e-02 5.91326413e-03 9.96129112e-01 -1.70377923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16119381700003 meters 0.07271214196626685 Centerline is valid? [True, True] Translation: X:138.53, Y:-49.17, Z:-17.04 [[ 9.33001856e-01 3.51017137e-01 7.93379309e-02 1.38531900e+02] [-3.49220939e-01 9.36350911e-01 -3.59403290e-02 -4.91746795e+01] [-8.69038152e-02 5.82592691e-03 9.96199671e-01 -1.70440294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19119381700003 meters 0.0724542361296031 Centerline is valid? [True, True] Translation: X:138.56, Y:-49.18, Z:-17.05 [[ 9.33031428e-01 3.51046971e-01 7.88566977e-02 1.38557330e+02] [-3.49272922e-01 9.36339982e-01 -3.57192401e-02 -4.91840255e+01] [-8.63758100e-02 5.78466430e-03 9.96245832e-01 -1.70489630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22119381700003 meters 0.07299058217973636 Centerline is valid? [True, True] Translation: X:138.59, Y:-49.19, Z:-17.05 [[ 9.34048736e-01 3.48531811e-01 7.79649647e-02 1.38586345e+02] [-3.46792326e-01 9.37278302e-01 -3.52770099e-02 -4.91932682e+01] [-8.53700299e-02 5.91279506e-03 9.96331770e-01 -1.70516714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25119381700003 meters 0.07405384081989061 Centerline is valid? [True, True] Translation: X:138.61, Y:-49.20, Z:-17.06 [[ 9.34829977e-01 3.46605856e-01 7.71835149e-02 1.38613599e+02] [-3.44894638e-01 9.37991500e-01 -3.49232714e-02 -4.92046799e+01] [-8.45020913e-02 6.02714053e-03 9.96405073e-01 -1.70552523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28119381700003 meters 0.07510785748017723 Centerline is valid? [True, True] Translation: X:138.64, Y:-49.22, Z:-17.06 [[ 9.35574116e-01 3.44724064e-01 7.65923916e-02 1.38640904e+02] [-3.43033055e-01 9.38683944e-01 -3.46522271e-02 -4.92163163e+01] [-8.38415048e-02 6.14600467e-03 9.96460149e-01 -1.70589067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31119381700003 meters 0.07543621883616966 Centerline is valid? [True, True] Translation: X:138.67, Y:-49.22, Z:-17.06 [[ 9.36758076e-01 3.42237324e-01 7.31978196e-02 1.38669825e+02] [-3.40685950e-01 9.39593867e-01 -3.31126794e-02 -4.92243680e+01] [-8.01086171e-02 6.08110119e-03 9.96767591e-01 -1.70632844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34119381700003 meters 0.07537952081127844 Centerline is valid? [True, True] Translation: X:138.70, Y:-49.23, Z:-17.07 [[ 9.36874505e-01 3.42086230e-01 7.24097538e-02 1.38696634e+02] [-3.40567137e-01 9.39649186e-01 -3.27632700e-02 -4.92348280e+01] [-7.92476298e-02 6.03468982e-03 9.96836695e-01 -1.70674214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37119381700003 meters 0.07535932243267517 Centerline is valid? [True, True] Translation: X:138.72, Y:-49.25, Z:-17.07 [[ 9.36664883e-01 3.42557669e-01 7.28912837e-02 1.38722753e+02] [-3.41021587e-01 9.39477564e-01 -3.29572965e-02 -4.92453387e+01] [-7.97695004e-02 6.01244101e-03 9.96795203e-01 -1.70709891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40119381700003 meters 0.07469729127585946 Centerline is valid? [True, True] Translation: X:138.75, Y:-49.26, Z:-17.07 [[ 9.36286575e-01 3.43542972e-01 7.31141309e-02 1.38749988e+02] [-3.42002402e-01 9.39118276e-01 -3.30336417e-02 -4.92551473e+01] [-8.00112920e-02 5.92374684e-03 9.96776355e-01 -1.70744657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43119381700004 meters 0.07512793345197118 Centerline is valid? [True, True] Translation: X:138.78, Y:-49.27, Z:-17.08 [[ 9.35463369e-01 3.45573293e-01 7.40768820e-02 1.38777113e+02] [-3.44000556e-01 9.38373850e-01 -3.34385370e-02 -4.92651357e+01] [-8.10672743e-02 5.79803795e-03 9.96691768e-01 -1.70767114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.461193817 meters 0.07332022355421611 Centerline is valid? [True, True] Translation: X:138.81, Y:-49.27, Z:-17.08 [[ 9.35565244e-01 3.45063869e-01 7.51571731e-02 1.38805193e+02] [-3.43442827e-01 9.38560459e-01 -3.39306381e-02 -4.92726726e+01] [-8.22477882e-02 5.93213370e-03 9.96594256e-01 -1.70776121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.491193817 meters 0.07441382836582142 Centerline is valid? [True, True] Translation: X:138.83, Y:-49.29, Z:-17.08 [[ 9.35777039e-01 3.44384216e-01 7.56362703e-02 1.38829970e+02] [-3.42742580e-01 9.38809604e-01 -3.41181940e-02 -4.92850595e+01] [-8.27578245e-02 6.00325215e-03 9.96551606e-01 -1.70810864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.521193817 meters 0.07408953369461065 Centerline is valid? [True, True] Translation: X:138.86, Y:-49.30, Z:-17.08 [[ 9.36133150e-01 3.43506877e-01 7.52180260e-02 1.38856314e+02] [-3.41881263e-01 9.39130744e-01 -3.39212026e-02 -4.92969788e+01] [-8.22917271e-02 6.03912857e-03 9.96589986e-01 -1.70844321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.551193817 meters 0.0779973775183219 Centerline is valid? [True, True] Translation: X:138.88, Y:-49.32, Z:-17.09 [[ 9.37263487e-01 3.40391251e-01 7.53057284e-02 1.38879167e+02] [-3.38754506e-01 9.40262854e-01 -3.39286100e-02 -4.93162830e+01] [-8.23561811e-02 6.28989249e-03 9.96583111e-01 -1.70899807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.581193817 meters 0.07623470811746165 Centerline is valid? [True, True] Translation: X:138.91, Y:-49.33, Z:-17.09 [[ 9.37952558e-01 3.38688614e-01 7.43977259e-02 1.38907496e+02] [-3.37086116e-01 9.40877034e-01 -3.35165374e-02 -4.93255550e+01] [-8.13507813e-02 6.35848155e-03 9.96665250e-01 -1.70912178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61119381700001 meters 0.08358981006491542 Centerline is valid? [True, True] Translation: X:138.93, Y:-49.35, Z:-17.10 [[ 9.39342731e-01 3.35227308e-01 7.25112782e-02 1.38928421e+02] [-3.33695255e-01 9.42114958e-01 -3.26631776e-02 -4.93475157e+01] [-7.92635489e-02 6.48524898e-03 9.96832599e-01 -1.70970510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64119381700002 meters 0.08358981006491542 Centerline is valid? [True, True] Translation: X:138.95, Y:-49.36, Z:-17.10 [[ 9.39439048e-01 3.34957884e-01 7.25085582e-02 1.38953426e+02] [-3.33424574e-01 9.42210579e-01 -3.26692202e-02 -4.93585498e+01] [-7.92611435e-02 6.51460596e-03 9.96832599e-01 -1.71001933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67119381700002 meters 0.0799927094859816 Centerline is valid? [True, True] Translation: X:138.98, Y:-49.37, Z:-17.10 [[ 9.39913732e-01 3.33494490e-01 7.30999447e-02 1.38982301e+02] [-3.31933761e-01 9.42728472e-01 -3.29090697e-02 -4.93658985e+01] [-7.98883926e-02 6.66734697e-03 9.96781516e-01 -1.70998409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70119381700002 meters 0.0832835369030789 Centerline is valid? [True, True] Translation: X:139.01, Y:-49.38, Z:-17.10 [[ 9.40678376e-01 3.31337664e-01 7.30721937e-02 1.39005725e+02] [-3.29774208e-01 9.43487608e-01 -3.28649546e-02 -4.93836380e+01] [-7.98321066e-02 6.81802728e-03 9.96785007e-01 -1.71037501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73119381700002 meters 0.08130667196853077 Centerline is valid? [True, True] Translation: X:139.03, Y:-49.39, Z:-17.11 [[ 9.41025784e-01 3.30196302e-01 7.37622903e-02 1.39033237e+02] [-3.28599292e-01 9.43886443e-01 -3.31796437e-02 -4.93925143e+01] [-8.05790214e-02 6.98466395e-03 9.96723751e-01 -1.71050182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76119381700002 meters 0.08279493225791848 Centerline is valid? [True, True] Translation: X:139.06, Y:-49.41, Z:-17.11 [[ 9.41434386e-01 3.28971671e-01 7.40198425e-02 1.39059659e+02] [-3.27362331e-01 9.44313221e-01 -3.32632756e-02 -4.94058399e+01] [-8.08405912e-02 7.08388325e-03 9.96701870e-01 -1.71079535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79119381700002 meters 0.08281318625811603 Centerline is valid? [True, True] Translation: X:139.09, Y:-49.42, Z:-17.11 [[ 9.41846218e-01 3.28068126e-01 7.27805356e-02 1.39086887e+02] [-3.26509866e-01 9.44627845e-01 -3.27038525e-02 -4.94155201e+01] [-7.94796121e-02 7.03843685e-03 9.96811643e-01 -1.71111312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82119381700002 meters 0.08395763749636918 Centerline is valid? [True, True] Translation: X:139.11, Y:-49.43, Z:-17.12 [[ 9.41972623e-01 3.27755451e-01 7.25530265e-02 1.39111695e+02] [-3.26206302e-01 9.44736372e-01 -3.25980830e-02 -4.94266029e+01] [-7.92276824e-02 7.03924728e-03 9.96831693e-01 -1.71150986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85119381700002 meters 0.08102076565182727 Centerline is valid? [True, True] Translation: X:139.14, Y:-49.43, Z:-17.12 [[ 9.41901335e-01 3.27967444e-01 7.25205596e-02 1.39140729e+02] [-3.26420427e-01 9.44662967e-01 -3.25819634e-02 -4.94322697e+01] [-7.91933102e-02 7.01680277e-03 9.96834582e-01 -1.71162112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88119381700002 meters 0.08117967236882283 Centerline is valid? [True, True] Translation: X:139.17, Y:-49.44, Z:-17.12 [[ 9.41560714e-01 3.28907444e-01 7.26864227e-02 1.39167912e+02] [-3.27358572e-01 9.44336777e-01 -3.26254171e-02 -4.94418141e+01] [-7.93712047e-02 6.92428749e-03 9.96821080e-01 -1.71197172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91119381700003 meters 0.08020916891595699 Centerline is valid? [True, True] Translation: X:139.20, Y:-49.45, Z:-17.12 [[ 9.40290973e-01 3.32402325e-01 7.32228216e-02 1.39196759e+02] [-3.30841568e-01 9.43114092e-01 -3.28582842e-02 -4.94477540e+01] [-7.99796449e-02 6.67119483e-03 9.96774173e-01 -1.71230579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94119381700003 meters 0.0782876904856995 Centerline is valid? [True, True] Translation: X:139.23, Y:-49.46, Z:-17.12 [[ 9.39256100e-01 3.35109219e-01 7.41605753e-02 1.39225861e+02] [-3.33516867e-01 9.42156732e-01 -3.32744868e-02 -4.94550631e+01] [-8.10214726e-02 6.51946195e-03 9.96691034e-01 -1.71246452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97119381700003 meters 0.07638754624445196 Centerline is valid? [True, True] Translation: X:139.25, Y:-49.46, Z:-17.13 [[ 9.37989596e-01 3.38412485e-01 7.51831564e-02 1.39254856e+02] [-3.36786667e-01 9.40976666e-01 -3.37291288e-02 -4.94623275e+01] [-8.21599541e-02 6.31688722e-03 9.96599137e-01 -1.71270327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00119381700003 meters 0.07564267632280539 Centerline is valid? [True, True] Translation: X:139.28, Y:-49.47, Z:-17.13 [[ 9.36891380e-01 3.41317603e-01 7.57419107e-02 1.39282085e+02] [-3.39677008e-01 9.39928194e-01 -3.39782486e-02 -4.94706985e+01] [-8.27893316e-02 6.10614261e-03 9.96548364e-01 -1.71307021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03119381700003 meters 0.0723672375059943 Centerline is valid? [True, True] Translation: X:139.31, Y:-49.47, Z:-17.13 [[ 9.34906768e-01 3.46987689e-01 7.44907915e-02 1.39312938e+02] [-3.45419260e-01 9.37853523e-01 -3.34111427e-02 -4.94746009e+01] [-8.14547064e-02 5.50574934e-03 9.96661837e-01 -1.71341703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06119381700003 meters 0.0687800136446924 Centerline is valid? [True, True] Translation: X:139.34, Y:-49.48, Z:-17.14 [[ 9.33929908e-01 3.49501162e-01 7.49924348e-02 1.39342985e+02] [-3.47919757e-01 9.36920827e-01 -3.36334068e-02 -4.94799489e+01] [-8.20168888e-02 5.31989476e-03 9.96616741e-01 -1.71356618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09119381700003 meters 0.06831051075144405 Centerline is valid? [True, True] Translation: X:139.37, Y:-49.49, Z:-17.14 [[ 9.32991786e-01 3.51937576e-01 7.52746346e-02 1.39370257e+02] [-3.50352402e-01 9.36009461e-01 -3.37562268e-02 -4.94902567e+01] [-8.23378548e-02 5.12163327e-03 9.96591314e-01 -1.71394891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12119381700003 meters 0.06936810866161994 Centerline is valid? [True, True] Translation: X:139.40, Y:-49.50, Z:-17.15 [[ 9.31605370e-01 3.55655778e-01 7.49693412e-02 1.39395206e+02] [-3.54095627e-01 9.34604838e-01 -3.36167112e-02 -4.95028388e+01] [-8.20226865e-02 4.77119274e-03 9.96619042e-01 -1.71463138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15119381700003 meters 0.06506400918361054 Centerline is valid? [True, True] Translation: X:139.43, Y:-49.51, Z:-17.15 [[ 9.30182154e-01 3.59470002e-01 7.44478242e-02 1.39426322e+02] [-3.57944114e-01 9.33146274e-01 -3.33772847e-02 -4.95068974e+01] [-8.14688424e-02 4.39879405e-03 9.96666182e-01 -1.71472164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18119381700004 meters 0.06344435584643797 Centerline is valid? [True, True] Translation: X:139.45, Y:-49.52, Z:-17.15 [[ 9.28389407e-01 3.64006410e-01 7.47826351e-02 1.39453493e+02] [-3.62481783e-01 9.31387792e-01 -3.35222019e-02 -4.95153873e+01] [-8.18539297e-02 4.01431423e-03 9.96636252e-01 -1.71506174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.211193817 meters 0.05867700718075513 Centerline is valid? [True, True] Translation: X:139.48, Y:-49.52, Z:-17.15 [[ 9.24870394e-01 3.73073780e-01 7.36933453e-02 1.39484592e+02] [-3.71622229e-01 9.27796290e-01 -3.30297296e-02 -4.95174845e+01] [-8.06949384e-02 3.16213377e-03 9.96733830e-01 -1.71533922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.241193817 meters 0.0577435322986673 Centerline is valid? [True, True] Translation: X:139.51, Y:-49.53, Z:-17.16 [[ 9.23114888e-01 3.77711080e-01 7.20641626e-02 1.39510127e+02] [-3.76337245e-01 9.25919585e-01 -3.22986122e-02 -4.95270215e+01] [-7.89251632e-02 2.69490141e-03 9.96876901e-01 -1.71586946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.271193817 meters 0.05654616565814629 Centerline is valid? [True, True] Translation: X:139.54, Y:-49.54, Z:-17.17 [[ 9.19590833e-01 3.86113532e-01 7.25881517e-02 1.39536688e+02] [-3.84746309e-01 9.22449139e-01 -3.25248135e-02 -4.95370764e+01] [-7.95171486e-02 1.98149689e-03 9.96831529e-01 -1.71659117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.301193817 meters 0.055730580935539245 Centerline is valid? [True, True] Translation: X:139.56, Y:-49.55, Z:-17.17 [[ 9.18363318e-01 3.88990991e-01 7.27655467e-02 1.39563860e+02] [-3.87626149e-01 9.21239923e-01 -3.26032671e-02 -4.95475254e+01] [-7.97169038e-02 1.73581600e-03 9.96816032e-01 -1.71682556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.331193817 meters 0.05508318415943943 Centerline is valid? [True, True] Translation: X:139.59, Y:-49.56, Z:-17.17 [[ 9.17382357e-01 3.91347305e-01 7.25044627e-02 1.39590432e+02] [-3.90001274e-01 9.20241826e-01 -3.24651756e-02 -4.95582493e+01] [-7.94267981e-02 1.50614648e-03 9.96839563e-01 -1.71709634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36119381700001 meters 0.055028603762331166 Centerline is valid? [True, True] Translation: X:139.62, Y:-49.57, Z:-17.18 [[ 9.16502796e-01 3.93492233e-01 7.20172668e-02 1.39615056e+02] [-3.92173316e-01 9.19327046e-01 -3.22160467e-02 -4.95700345e+01] [-7.88841853e-02 1.28284661e-03 9.96882962e-01 -1.71754899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39119381700002 meters 0.054548349063599795 Centerline is valid? [True, True] Translation: X:139.64, Y:-49.58, Z:-17.18 [[ 9.14758386e-01 3.97393024e-01 7.27727942e-02 1.39641111e+02] [-3.96059146e-01 9.17648017e-01 -3.25464380e-02 -4.95834789e+01] [-7.97135377e-02 9.49796416e-04 9.96817360e-01 -1.71778598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42119381700002 meters 0.0545787633350713 Centerline is valid? [True, True] Translation: X:139.67, Y:-49.60, Z:-17.18 [[ 9.13800302e-01 3.99281483e-01 7.44533769e-02 1.39665194e+02] [-3.97892524e-01 9.16828049e-01 -3.32846541e-02 -4.95969175e+01] [-8.15508904e-02 7.91084934e-04 9.96668865e-01 -1.71818579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45119381700002 meters 0.054068441529405604 Centerline is valid? [True, True] Translation: X:139.69, Y:-49.61, Z:-17.18 [[ 9.13294211e-01 4.00140416e-01 7.60350680e-02 1.39690662e+02] [-3.98694951e-01 9.16453555e-01 -3.39884770e-02 -4.96109672e+01] [-8.32827717e-02 7.26681596e-04 9.96525691e-01 -1.71816383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48119381700002 meters 0.05366502551615283 Centerline is valid? [True, True] Translation: X:139.72, Y:-49.63, Z:-17.18 [[ 9.12969428e-01 4.00617412e-01 7.74113195e-02 1.39715039e+02] [-3.99122955e-01 9.16245184e-01 -3.45778791e-02 -4.96262167e+01] [-8.47802492e-02 6.71911895e-04 9.96399447e-01 -1.71820448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51119381700002 meters 0.05354588771926152 Centerline is valid? [True, True] Translation: X:139.74, Y:-49.65, Z:-17.18 [[ 9.12861433e-01 4.00272687e-01 8.04100739e-02 1.39736322e+02] [-3.98661640e-01 9.16395813e-01 -3.58832965e-02 -4.96489010e+01] [-8.80505585e-02 7.00065514e-04 9.96115761e-01 -1.71843309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54119381700002 meters 0.053612962885352736 Centerline is valid? [True, True] Translation: X:139.76, Y:-49.67, Z:-17.19 [[ 9.13656998e-01 3.98282752e-01 8.12510963e-02 1.39759026e+02] [-3.96629981e-01 9.17262252e-01 -3.62576828e-02 -4.96673706e+01] [-8.89693732e-02 9.00464903e-04 9.96033955e-01 -1.71863949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57119381700002 meters 0.05430476210224696 Centerline is valid? [True, True] Translation: X:139.78, Y:-49.69, Z:-17.19 [[ 9.14784205e-01 3.95922563e-01 8.00948264e-02 1.39779610e+02] [-3.94310861e-01 9.18283267e-01 -3.57041427e-02 -4.96879875e+01] [-8.76858146e-02 1.07932581e-03 9.96147596e-01 -1.71932375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60119381700002 meters 0.054583327081799776 Centerline is valid? [True, True] Translation: X:139.80, Y:-49.72, Z:-17.19 [[ 9.16689343e-01 3.91517258e-01 7.99680287e-02 1.39798212e+02] [-3.89894753e-01 9.20169559e-01 -3.56379687e-02 -4.97162017e+01] [-8.75370255e-02 1.48983133e-03 9.96160153e-01 -1.71944093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63119381700002 meters 0.054583327081799776 Centerline is valid? [True, True] Translation: X:139.82, Y:-49.73, Z:-17.20 [[ 9.16819002e-01 3.91213286e-01 7.99692616e-02 1.39823164e+02] [-3.89589867e-01 9.20298792e-01 -3.56352048e-02 -4.97270781e+01] [-8.75365805e-02 1.51581889e-03 9.96160152e-01 -1.71975413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66119381700003 meters 0.05588107540185507 Centerline is valid? [True, True] Translation: X:139.84, Y:-49.75, Z:-17.20 [[ 9.18019416e-01 3.88426681e-01 7.97813562e-02 1.39843054e+02] [-3.86803763e-01 9.21477986e-01 -3.55129492e-02 -4.97501647e+01] [-8.73109405e-02 1.74184812e-03 9.96179585e-01 -1.72044298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69119381700003 meters 0.05580578395155618 Centerline is valid? [True, True] Translation: X:139.87, Y:-49.77, Z:-17.21 [[ 9.19083976e-01 3.86006844e-01 7.92676604e-02 1.39866463e+02] [-3.84396169e-01 9.22493844e-01 -3.52801977e-02 -4.97689104e+01] [-8.67423266e-02 1.95527934e-03 9.96228862e-01 -1.72055850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72119381700003 meters 0.056387997262866474 Centerline is valid? [True, True] Translation: X:139.89, Y:-49.79, Z:-17.21 [[ 9.19864197e-01 3.84203850e-01 7.89763305e-02 1.39888302e+02] [-3.82600752e-01 9.23245918e-01 -3.51232164e-02 -4.97905953e+01] [-8.64090497e-02 2.09218584e-03 9.96257546e-01 -1.72105678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75119381700003 meters 0.05691809215911834 Centerline is valid? [True, True] Translation: X:139.91, Y:-49.81, Z:-17.22 [[ 9.20498210e-01 3.82972389e-01 7.75576871e-02 1.39909456e+02] [-3.81424711e-01 9.23757312e-01 -3.44618451e-02 -4.98116569e+01] [-8.48424157e-02 2.13964836e-03 9.96392085e-01 -1.72160138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78119381700003 meters 0.05755094072585941 Centerline is valid? [True, True] Translation: X:139.93, Y:-49.84, Z:-17.22 [[ 9.20720672e-01 3.82547332e-01 7.70128776e-02 1.39927453e+02] [-3.81021223e-01 9.23933397e-01 -3.42038865e-02 -4.98388842e+01] [-8.42393751e-02 2.14868457e-03 9.96443230e-01 -1.72208731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81119381700003 meters 0.056997298869295235 Centerline is valid? [True, True] Translation: X:139.95, Y:-49.85, Z:-17.22 [[ 9.20875014e-01 3.82101115e-01 7.73818223e-02 1.39950893e+02] [-3.80558920e-01 9.24117907e-01 -3.43657085e-02 -4.98547929e+01] [-8.46411031e-02 2.19817953e-03 9.96409078e-01 -1.72212122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84119381700003 meters 0.05763451343592432 Centerline is valid? [True, True] Translation: X:139.97, Y:-49.87, Z:-17.23 [[ 9.20863410e-01 3.82109248e-01 7.74796937e-02 1.39972856e+02] [-3.80566455e-01 9.24114624e-01 -3.43705641e-02 -4.98737460e+01] [-8.47334284e-02 2.16442248e-03 9.96401305e-01 -1.72257432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87119381700003 meters 0.05769413166990899 Centerline is valid? [True, True] Translation: X:140.00, Y:-49.89, Z:-17.23 [[ 9.20642848e-01 3.82704912e-01 7.71601964e-02 1.39995798e+02] [-3.81177248e-01 9.23868254e-01 -3.42250511e-02 -4.98916929e+01] [-8.43839512e-02 2.09733725e-03 9.96431106e-01 -1.72295662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90119381700003 meters 0.057713781431351675 Centerline is valid? [True, True] Translation: X:140.01, Y:-49.91, Z:-17.23 [[ 9.20230998e-01 3.83914626e-01 7.60557063e-02 1.40014705e+02] [-3.82437074e-01 9.23366577e-01 -3.37053327e-02 -4.99146118e+01] [-8.31672674e-02 1.93017012e-03 9.96533733e-01 -1.72332693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93119381700004 meters 0.057538928101252815 Centerline is valid? [True, True] Translation: X:140.04, Y:-49.93, Z:-17.23 [[ 9.20092397e-01 3.84148481e-01 7.65501487e-02 1.40038827e+02] [-3.82653112e-01 9.23269344e-01 -3.39162939e-02 -4.99315971e+01] [-8.37052983e-02 1.91397156e-03 9.96488715e-01 -1.72345306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.961193817 meters 0.05700885895201231 Centerline is valid? [True, True] Translation: X:140.06, Y:-49.95, Z:-17.24 [[ 9.19569174e-01 3.85244627e-01 7.73247208e-02 1.40063907e+02] [-3.83725242e-01 9.22812723e-01 -3.42288900e-02 -4.99471575e+01] [-8.45427321e-02 1.80438485e-03 9.96418221e-01 -1.72359516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.991193817 meters 0.056267518847667154 Centerline is valid? [True, True] Translation: X:140.09, Y:-49.96, Z:-17.24 [[ 9.18532017e-01 3.87724253e-01 7.72582504e-02 1.40089642e+02] [-3.86217004e-01 9.21774077e-01 -3.41902931e-02 -4.99608332e+01] [-8.44710584e-02 1.56642893e-03 9.96424702e-01 -1.72371830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.021193817 meters 0.05562396709365381 Centerline is valid? [True, True] Translation: X:140.11, Y:-49.98, Z:-17.24 [[ 9.15798843e-01 3.94177434e-01 7.70495247e-02 1.40112187e+02] [-3.92703845e-01 9.19033878e-01 -3.40649654e-02 -4.99772218e+01] [-8.42387642e-02 9.39011312e-04 9.96445156e-01 -1.72421445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.051193817 meters 0.055237360002117 Centerline is valid? [True, True] Translation: X:140.14, Y:-49.99, Z:-17.24 [[ 9.14442356e-01 3.97123200e-01 7.80278202e-02 1.40136947e+02] [-3.95622913e-01 9.17765063e-01 -3.44934681e-02 -4.99922457e+01] [-8.53093638e-02 6.72694729e-04 9.96354284e-01 -1.72440111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.081193817 meters 0.0550535711324965 Centerline is valid? [True, True] Translation: X:140.16, Y:-50.01, Z:-17.25 [[ 9.13074847e-01 3.99969693e-01 7.94894203e-02 1.40160382e+02] [-3.98426249e-01 9.16528285e-01 -3.51059403e-02 -5.00070697e+01] [-8.68956142e-02 3.83679485e-04 9.96217348e-01 -1.72460649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11119381700001 meters 0.05480440183608411 Centerline is valid? [True, True] Translation: X:140.19, Y:-50.02, Z:-17.25 [[ 9.11533693e-01 4.03055566e-01 8.15630929e-02 1.40185366e+02] [-4.01443157e-01 9.15175504e-01 -3.60165087e-02 -5.00210910e+01] [-8.91611990e-02 8.73156729e-05 9.96017205e-01 -1.72471888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14119381700002 meters 0.05475811299832997 Centerline is valid? [True, True] Translation: X:140.21, Y:-50.03, Z:-17.25 [[ 9.10025470e-01 4.06128184e-01 8.31477190e-02 1.40211046e+02] [-4.04467814e-01 9.13816086e-01 -3.66871792e-02 -5.00348095e+01] [-9.08814206e-02 -2.44308654e-04 9.95861691e-01 -1.72488227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17119381700002 meters 0.05548656321146314 Centerline is valid? [True, True] Translation: X:140.23, Y:-50.05, Z:-17.25 [[ 9.07485305e-01 4.11650116e-01 8.37532320e-02 1.40234781e+02] [-4.09991463e-01 9.11341591e-01 -3.69256596e-02 -5.00514864e+01] [-9.15282558e-02 -8.28616674e-04 9.95802135e-01 -1.72516985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20119381700002 meters 0.05623061968237561 Centerline is valid? [True, True] Translation: X:140.26, Y:-50.07, Z:-17.26 [[ 9.06591393e-01 4.13918201e-01 8.22421384e-02 1.40258624e+02] [-4.12330787e-01 9.10313458e-01 -3.62316241e-02 -5.00671678e+01] [-8.98630541e-02 -1.06368708e-03 9.95953563e-01 -1.72578338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23119381700002 meters 0.057564610514951715 Centerline is valid? [True, True] Translation: X:140.28, Y:-50.09, Z:-17.27 [[ 9.05668956e-01 4.16699534e-01 7.82639137e-02 1.40278741e+02] [-4.15275418e-01 9.09043342e-01 -3.44460468e-02 -5.00927364e+01] [-8.54989413e-02 -1.30436425e-03 9.96337408e-01 -1.72671987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26119381700002 meters 0.05829907913118984 Centerline is valid? [True, True] Translation: X:140.30, Y:-50.11, Z:-17.27 [[ 9.05171864e-01 4.18110144e-01 7.64709329e-02 1.40302219e+02] [-4.16755269e-01 9.08395259e-01 -3.36615378e-02 -5.01105962e+01] [-8.35400634e-02 -1.40018728e-03 9.96503436e-01 -1.72725535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29119381700002 meters 0.05923036171089349 Centerline is valid? [True, True] Translation: X:140.32, Y:-50.13, Z:-17.28 [[ 9.04594272e-01 4.19504829e-01 7.56630849e-02 1.40324856e+02] [-4.18186002e-01 9.07751795e-01 -3.32738129e-02 -5.01269002e+01] [-8.26418263e-02 -1.54194244e-03 9.96578121e-01 -1.72779037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32119381700002 meters 0.05956582601964091 Centerline is valid? [True, True] Translation: X:140.35, Y:-50.15, Z:-17.28 [[ 9.04339694e-01 4.20195053e-01 7.48721232e-02 1.40348291e+02] [-4.18906265e-01 9.07432415e-01 -3.29234372e-02 -5.01452340e+01] [-8.17756571e-02 -1.59043034e-03 9.96649493e-01 -1.72815623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35119381700002 meters 0.06035147301196589 Centerline is valid? [True, True] Translation: X:140.37, Y:-50.16, Z:-17.29 [[ 9.03958835e-01 4.21095284e-01 7.44122694e-02 1.40370280e+02] [-4.19827930e-01 9.07014831e-01 -3.26895252e-02 -5.01631187e+01] [-8.12584369e-02 -1.69036390e-03 9.96691632e-01 -1.72871805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38119381700002 meters 0.06062938532545192 Centerline is valid? [True, True] Translation: X:140.39, Y:-50.18, Z:-17.29 [[ 9.03787091e-01 4.21569878e-01 7.38087517e-02 1.40392669e+02] [-4.20324782e-01 9.06794286e-01 -3.24222311e-02 -5.01833653e+01] [-8.05975902e-02 -1.72085354e-03 9.96745237e-01 -1.72912789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41119381700003 meters 0.06097057107954775 Centerline is valid? [True, True] Translation: X:140.41, Y:-50.21, Z:-17.29 [[ 9.03167056e-01 4.22732988e-01 7.47401504e-02 1.40410739e+02] [-4.21462163e-01 9.06252352e-01 -3.28073178e-02 -5.02122953e+01] [-8.16021725e-02 -1.86965681e-03 9.96663228e-01 -1.72949730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44119381700003 meters 0.06118934015135711 Centerline is valid? [True, True] Translation: X:140.43, Y:-50.23, Z:-17.30 [[ 9.03181644e-01 4.22615208e-01 7.52283393e-02 1.40432051e+02] [-4.21330366e-01 9.06307209e-01 -3.29843347e-02 -5.02316750e+01] [-8.21196677e-02 -1.90513802e-03 9.96620655e-01 -1.72983556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47119381700003 meters 0.061274237106152034 Centerline is valid? [True, True] Translation: X:140.45, Y:-50.25, Z:-17.30 [[ 9.02936687e-01 4.22923482e-01 7.64268758e-02 1.40454771e+02] [-4.21598711e-01 9.06163262e-01 -3.35062648e-02 -5.02516815e+01] [-8.34258133e-02 -1.96743656e-03 9.96512049e-01 -1.73011593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50119381700003 meters 0.06097257625437806 Centerline is valid? [True, True] Translation: X:140.48, Y:-50.27, Z:-17.30 [[ 9.02845888e-01 4.22987008e-01 7.71446296e-02 1.40476997e+02] [-4.21639582e-01 9.06133506e-01 -3.37954488e-02 -5.02721602e+01] [-8.41983694e-02 -2.01514742e-03 9.96446975e-01 -1.73033688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53119381700003 meters 0.060099699278917805 Centerline is valid? [True, True] Translation: X:140.49, Y:-50.30, Z:-17.31 [[ 9.03630397e-01 4.21566132e-01 7.57238492e-02 1.40494929e+02] [-4.20264992e-01 9.06795732e-01 -3.31487011e-02 -5.03032282e+01] [-8.26404330e-02 -1.86990894e-03 9.96577675e-01 -1.73061546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56119381700003 meters 0.059751111854507516 Centerline is valid? [True, True] Translation: X:140.52, Y:-50.32, Z:-17.31 [[ 9.04471828e-01 4.19706290e-01 7.60088308e-02 1.40515380e+02] [-4.18391489e-01 9.07658314e-01 -3.32407289e-02 -5.03245384e+01] [-8.29413903e-02 -1.73614510e-03 9.96552915e-01 -1.73098608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59119381700003 meters 0.05889111391333085 Centerline is valid? [True, True] Translation: X:140.54, Y:-50.35, Z:-17.31 [[ 9.05413946e-01 4.17536241e-01 7.67403049e-02 1.40536632e+02] [-4.16188457e-01 9.08658940e-01 -3.35573980e-02 -5.03480966e+01] [-8.37421939e-02 -1.55509297e-03 9.96486240e-01 -1.73119583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62119381700003 meters 0.05832635289159045 Centerline is valid? [True, True] Translation: X:140.56, Y:-50.37, Z:-17.32 [[ 9.06449023e-01 4.15258472e-01 7.68802347e-02 1.40556591e+02] [-4.13900342e-01 9.09702427e-01 -3.35857321e-02 -5.03702810e+01] [-8.38848958e-02 -1.37700139e-03 9.96474499e-01 -1.73155798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65119381700003 meters 0.057137531133153556 Centerline is valid? [True, True] Translation: X:140.57, Y:-50.40, Z:-17.32 [[ 9.09183238e-01 4.09286770e-01 7.66171022e-02 1.40573721e+02] [-4.07916970e-01 9.12405425e-01 -3.34676954e-02 -5.04034559e+01] [-8.36037446e-02 -8.25148540e-04 9.96498737e-01 -1.73172862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68119381700004 meters 0.05682279312375887 Centerline is valid? [True, True] Translation: X:140.59, Y:-50.43, Z:-17.32 [[ 9.10663951e-01 4.05931092e-01 7.68837895e-02 1.40594097e+02] [-4.04542403e-01 9.13903523e-01 -3.35528734e-02 -5.04250264e+01] [-8.38845206e-02 -5.47360694e-04 9.96475332e-01 -1.73202045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.711193817 meters 0.05687351124251186 Centerline is valid? [True, True] Translation: X:140.61, Y:-50.45, Z:-17.32 [[ 9.12147871e-01 4.02648016e-01 7.65561004e-02 1.40614738e+02] [-4.01260903e-01 9.15354854e-01 -3.33942920e-02 -5.04470881e+01] [-8.35221435e-02 -2.58437696e-04 9.96505888e-01 -1.73238393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.741193817 meters 0.0571149572005792 Centerline is valid? [True, True] Translation: X:140.63, Y:-50.48, Z:-17.33 [[ 9.14333069e-01 3.97947643e-01 7.50514003e-02 1.40631660e+02] [-3.96599487e-01 9.17408114e-01 -3.27291751e-02 -5.04784830e+01] [-8.18772617e-02 1.60020243e-04 9.96642407e-01 -1.73267211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.771193817 meters 0.056782795147462733 Centerline is valid? [True, True] Translation: X:140.66, Y:-50.50, Z:-17.33 [[ 9.14462371e-01 3.97611421e-01 7.52577571e-02 1.40655534e+02] [-3.96255474e-01 9.17553881e-01 -3.28096771e-02 -5.04975887e+01] [-8.20985495e-02 1.81916914e-04 9.96624200e-01 -1.73264824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.801193817 meters 0.05690197543360975 Centerline is valid? [True, True] Translation: X:140.68, Y:-50.51, Z:-17.33 [[ 9.14290314e-01 3.97965052e-01 7.54787300e-02 1.40678233e+02] [-3.96602880e-01 9.17400565e-01 -3.28992277e-02 -5.05141010e+01] [-8.23369724e-02 1.44363580e-04 9.96604536e-01 -1.73299215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.831193817 meters 0.05653829877204503 Centerline is valid? [True, True] Translation: X:140.70, Y:-50.53, Z:-17.33 [[ 9.13792085e-01 3.99186433e-01 7.50614253e-02 1.40702654e+02] [-3.97844151e-01 9.16869779e-01 -3.27084105e-02 -5.05297207e+01] [-8.18783061e-02 2.59375700e-05 9.96642334e-01 -1.73291521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86119381700001 meters 0.05697441296691866 Centerline is valid? [True, True] Translation: X:140.73, Y:-50.54, Z:-17.34 [[ 9.13051430e-01 4.00843284e-01 7.52445787e-02 1.40725995e+02] [-3.99500832e-01 9.16146628e-01 -3.27786695e-02 -5.05440541e+01] [-8.20741766e-02 -1.31660728e-04 9.96626215e-01 -1.73360483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89119381700002 meters 0.056642066789847914 Centerline is valid? [True, True] Translation: X:140.75, Y:-50.56, Z:-17.34 [[ 9.11935920e-01 4.03244283e-01 7.59402771e-02 1.40749382e+02] [-4.01886009e-01 9.15092301e-01 -3.30714011e-02 -5.05638383e+01] [-8.28282163e-02 -3.60336328e-04 9.96563775e-01 -1.73351299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92119381700002 meters 0.05652718987540443 Centerline is valid? [True, True] Translation: X:140.77, Y:-50.58, Z:-17.34 [[ 9.11443666e-01 4.04276175e-01 7.63624137e-02 1.40774409e+02] [-4.02907037e-01 9.14636845e-01 -3.32469702e-02 -5.05794939e+01] [-8.32848351e-02 -4.64213429e-04 9.96525675e-01 -1.73379249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95119381700002 meters 0.0565003510322809 Centerline is valid? [True, True] Translation: X:140.80, Y:-50.60, Z:-17.34 [[ 9.11213739e-01 4.04913863e-01 7.57250681e-02 1.40798586e+02] [-4.03570119e-01 9.14354685e-01 -3.29646569e-02 -5.05951261e+01] [-8.25874173e-02 -5.22526541e-04 9.96583687e-01 -1.73402119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98119381700002 meters 0.05668506383808155 Centerline is valid? [True, True] Translation: X:140.82, Y:-50.61, Z:-17.34 [[ 9.11030494e-01 4.05446542e-01 7.50768966e-02 1.40822891e+02] [-4.04128241e-01 9.14118577e-01 -3.26740234e-02 -5.06113558e+01] [-8.18767557e-02 -5.73662499e-04 9.96642297e-01 -1.73440382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01119381700002 meters 0.05664684852499728 Centerline is valid? [True, True] Translation: X:140.85, Y:-50.64, Z:-17.35 [[ 9.11516037e-01 4.04245731e-01 7.56564804e-02 1.40845747e+02] [-4.02903498e-01 9.14650295e-01 -3.29182242e-02 -5.06354668e+01] [-8.25062737e-02 -4.76771365e-04 9.96590431e-01 -1.73467157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04119381700002 meters 0.056512617543320064 Centerline is valid? [True, True] Translation: X:140.87, Y:-50.65, Z:-17.35 [[ 9.12025398e-01 4.03095070e-01 7.56573737e-02 1.40872442e+02] [-4.01749692e-01 9.15158029e-01 -3.29084498e-02 -5.06540602e+01] [-8.25036869e-02 -3.81984584e-04 9.96590686e-01 -1.73508477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07119381700002 meters 0.05628676623197154 Centerline is valid? [True, True] Translation: X:140.90, Y:-50.67, Z:-17.35 [[ 9.12808258e-01 4.01064579e-01 7.69953793e-02 1.40899550e+02] [-3.99661564e-01 9.16049765e-01 -3.35180855e-02 -5.06728190e+01] [-8.39745160e-02 -1.76508502e-04 9.96467887e-01 -1.73543151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10119381700002 meters 0.056301772506709105 Centerline is valid? [True, True] Translation: X:140.93, Y:-50.69, Z:-17.36 [[ 9.13572210e-01 3.99171177e-01 7.77700947e-02 1.40925525e+02] [-3.97730184e-01 9.16876420e-01 -3.38870209e-02 -5.06912290e+01] [-8.48322880e-02 2.67264579e-05 9.96395244e-01 -1.73576655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13119381700002 meters 0.05661719392838581 Centerline is valid? [True, True] Translation: X:140.95, Y:-50.72, Z:-17.36 [[ 9.15759261e-01 3.93892808e-01 7.89520832e-02 1.40948601e+02] [-3.92386902e-01 9.19156227e-01 -3.44143839e-02 -5.07171406e+01] [-8.61248772e-02 5.35527372e-04 9.96284206e-01 -1.73604124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16119381700003 meters 0.057141578559894594 Centerline is valid? [True, True] Translation: X:140.98, Y:-50.74, Z:-17.36 [[ 9.17119511e-01 3.90897051e-01 7.80467679e-02 1.40975056e+02] [-3.89412454e-01 9.20434030e-01 -3.40461128e-02 -5.07369898e+01] [-8.51454262e-02 8.31970950e-04 9.96368187e-01 -1.73649259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19119381700003 meters 0.05785689569345095 Centerline is valid? [True, True] Translation: X:141.00, Y:-50.76, Z:-17.37 [[ 9.18668683e-01 3.87208099e-01 7.82159753e-02 1.41000806e+02] [-3.85701407e-01 9.21991564e-01 -3.41464429e-02 -5.07565278e+01] [-8.53362487e-02 1.20125595e-03 9.96351485e-01 -1.73695160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22119381700003 meters 0.060618121420928706 Centerline is valid? [True, True] Translation: X:141.02, Y:-50.78, Z:-17.38 [[ 9.22994832e-01 3.77407564e-01 7.51270309e-02 1.41021882e+02] [-3.75982452e-01 9.26044978e-01 -3.28313151e-02 -5.07828334e+01] [-8.19617963e-02 2.05668888e-03 9.96633350e-01 -1.73754914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25119381700003 meters 0.06422171907075891 Centerline is valid? [True, True] Translation: X:141.04, Y:-50.80, Z:-17.38 [[ 9.25058298e-01 3.72560351e-01 7.39319293e-02 1.41044266e+02] [-3.71164723e-01 9.28004737e-01 -3.23103155e-02 -5.08044706e+01] [-8.06467231e-02 2.44800137e-03 9.96739742e-01 -1.73842536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28119381700003 meters 0.06473803190375713 Centerline is valid? [True, True] Translation: X:141.07, Y:-50.82, Z:-17.39 [[ 9.26562162e-01 3.68987050e-01 7.30144957e-02 1.41071368e+02] [-3.67614747e-01 9.29430539e-01 -3.19103547e-02 -5.08205993e+01] [-7.96364097e-02 2.72572188e-03 9.96820251e-01 -1.73864807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31119381700003 meters 0.0680559947337119 Centerline is valid? [True, True] Translation: X:141.10, Y:-50.84, Z:-17.39 [[ 9.28106849e-01 3.65251442e-01 7.21738259e-02 1.41095495e+02] [-3.63898994e-01 9.30904019e-01 -3.15472653e-02 -5.08392368e+01] [-7.87095888e-02 3.01525040e-03 9.96893028e-01 -1.73940323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34119381700003 meters 0.06838348742439378 Centerline is valid? [True, True] Translation: X:141.12, Y:-50.85, Z:-17.40 [[ 9.29179355e-01 3.62636950e-01 7.15553524e-02 1.41123482e+02] [-3.61299816e-01 9.31924964e-01 -3.12778477e-02 -5.08529781e+01] [-7.80267226e-02 3.20979476e-03 9.96946101e-01 -1.73965266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37119381700003 meters 0.06891960064183295 Centerline is valid? [True, True] Translation: X:141.15, Y:-50.87, Z:-17.40 [[ 9.29548814e-01 3.61531801e-01 7.23447223e-02 1.41152274e+02] [-3.60162080e-01 9.32353819e-01 -3.16169628e-02 -5.08669127e+01] [-7.88814156e-02 3.33368462e-03 9.96878432e-01 -1.74005340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40119381700003 meters 0.06897315804884882 Centerline is valid? [True, True] Translation: X:141.18, Y:-50.88, Z:-17.40 [[ 9.29381032e-01 3.61950695e-01 7.24057396e-02 1.41182669e+02] [-3.60578057e-01 9.32191317e-01 -3.16672165e-02 -5.08788378e+01] [-7.89579728e-02 3.32298943e-03 9.96872407e-01 -1.74025159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43119381700004 meters 0.06882704668470352 Centerline is valid? [True, True] Translation: X:141.21, Y:-50.89, Z:-17.41 [[ 9.28903746e-01 3.63158587e-01 7.24822151e-02 1.41212908e+02] [-3.61784330e-01 9.31721668e-01 -3.17306123e-02 -5.08895760e+01] [-7.90564947e-02 3.25175494e-03 9.96864834e-01 -1.74066551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.461193817 meters 0.06852235734468812 Centerline is valid? [True, True] Translation: X:141.24, Y:-50.90, Z:-17.41 [[ 9.28361522e-01 3.64511542e-01 7.26375935e-02 1.41242584e+02] [-3.63133480e-01 9.31193484e-01 -3.18240616e-02 -5.08993476e+01] [-7.92398915e-02 3.16709221e-03 9.96850545e-01 -1.74106047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.491193817 meters 0.07010250672936018 Centerline is valid? [True, True] Translation: X:141.27, Y:-50.91, Z:-17.42 [[ 9.27915898e-01 3.65249607e-01 7.45976584e-02 1.41270277e+02] [-3.63795714e-01 9.30904056e-01 -3.27156913e-02 -5.09112778e+01] [-8.13926562e-02 3.21910173e-03 9.96676915e-01 -1.74155573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.521193817 meters 0.06507380254152555 Centerline is valid? [True, True] Translation: X:141.31, Y:-50.91, Z:-17.41 [[ 9.26427788e-01 3.68703844e-01 7.60856669e-02 1.41305871e+02] [-3.67202634e-01 9.29542153e-01 -3.33708170e-02 -5.09072814e+01] [-8.30287831e-02 2.97679488e-03 9.96542703e-01 -1.74125321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.551193817 meters 0.06507380254152555 Centerline is valid? [True, True] Translation: X:141.34, Y:-50.92, Z:-17.42 [[ 9.26306672e-01 3.69007171e-01 7.60897914e-02 1.41335322e+02] [-3.67507752e-01 9.29421900e-01 -3.33614172e-02 -5.09205016e+01] [-8.30301207e-02 2.93931517e-03 9.96542703e-01 -1.74162424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.581193817 meters 0.06691595010391836 Centerline is valid? [True, True] Translation: X:141.36, Y:-50.93, Z:-17.42 [[ 9.25253824e-01 3.71640832e-01 7.60818876e-02 1.41363867e+02] [-3.70147909e-01 9.28372567e-01 -3.33901436e-02 -5.09319823e+01] [-8.30414781e-02 2.73280640e-03 9.96542345e-01 -1.74242240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61119381700001 meters 0.06327432083787848 Centerline is valid? [True, True] Translation: X:141.40, Y:-50.93, Z:-17.42 [[ 9.24070595e-01 3.74330154e-01 7.72688288e-02 1.41398041e+02] [-3.72796871e-01 9.27291962e-01 -3.39427506e-02 -5.09346574e+01] [-8.43565589e-02 2.55992016e-03 9.96432345e-01 -1.74229200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64119381700002 meters 0.060972240422084184 Centerline is valid? [True, True] Translation: X:141.43, Y:-50.93, Z:-17.43 [[ 9.21653005e-01 3.79954566e-01 7.86782480e-02 1.41431638e+02] [-3.78384499e-01 9.25002789e-01 -3.45689252e-02 -5.09341650e+01] [-8.59122198e-02 2.08992436e-03 9.96300518e-01 -1.74250063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67119381700002 meters 0.059598546928856334 Centerline is valid? [True, True] Translation: X:141.46, Y:-50.94, Z:-17.43 [[ 9.20470177e-01 3.82838383e-01 7.85456862e-02 1.41463957e+02] [-3.81284613e-01 9.23813557e-01 -3.45044184e-02 -5.09395283e+01] [-8.57711855e-02 1.81202657e-03 9.96313214e-01 -1.74280327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70119381700002 meters 0.05933515017865205 Centerline is valid? [True, True] Translation: X:141.49, Y:-50.95, Z:-17.43 [[ 9.19247603e-01 3.85777113e-01 7.84848021e-02 1.41494478e+02] [-3.84234101e-01 9.22590689e-01 -3.45047210e-02 -5.09468625e+01] [-8.57204793e-02 1.56184461e-03 9.96318001e-01 -1.74336496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73119381700002 meters 0.05822992896871983 Centerline is valid? [True, True] Translation: X:141.53, Y:-50.95, Z:-17.44 [[ 9.18224055e-01 3.88175132e-01 7.86425614e-02 1.41525082e+02] [-3.86631876e-01 9.21584607e-01 -3.46064209e-02 -5.09518425e+01] [-8.59091261e-02 1.37072704e-03 9.96302034e-01 -1.74360837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76119381700002 meters 0.05687595071610473 Centerline is valid? [True, True] Translation: X:141.56, Y:-50.95, Z:-17.44 [[ 9.16586586e-01 3.92167670e-01 7.79329815e-02 1.41559538e+02] [-3.90666682e-01 9.19893225e-01 -3.42928292e-02 -5.09503315e+01] [-8.51385606e-02 9.86527894e-04 9.96368633e-01 -1.74378541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79119381700002 meters 0.056647733667594444 Centerline is valid? [True, True] Translation: X:141.59, Y:-50.96, Z:-17.44 [[ 9.16008748e-01 3.93565824e-01 7.76782847e-02 1.41588582e+02] [-3.92079100e-01 9.19296037e-01 -3.41873751e-02 -5.09567055e+01] [-8.48643217e-02 8.59902691e-04 9.96392145e-01 -1.74419588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82119381700002 meters 0.05752362676198444 Centerline is valid? [True, True] Translation: X:141.62, Y:-50.97, Z:-17.45 [[ 9.15913353e-01 3.93899638e-01 7.71090416e-02 1.41615140e+02] [-3.92436114e-01 9.19153090e-01 -3.39336672e-02 -5.09652571e+01] [-8.42414731e-02 8.19926264e-04 9.96445032e-01 -1.74509162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85119381700002 meters 0.05751375843939024 Centerline is valid? [True, True] Translation: X:141.64, Y:-50.97, Z:-17.45 [[ 9.15870249e-01 3.93992922e-01 7.71444381e-02 1.41641404e+02] [-3.92528729e-01 9.19113118e-01 -3.39451427e-02 -5.09736342e+01] [-8.42786111e-02 8.07938035e-04 9.96441901e-01 -1.74542748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88119381700002 meters 0.057721239325592165 Centerline is valid? [True, True] Translation: X:141.67, Y:-50.98, Z:-17.46 [[ 9.15964758e-01 3.93592564e-01 7.80605839e-02 1.41667387e+02] [-3.92092898e-01 9.19284603e-01 -3.43362489e-02 -5.09841623e+01] [-8.52743851e-02 8.43793347e-04 9.96357148e-01 -1.74582559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91119381700003 meters 0.05700379196382893 Centerline is valid? [True, True] Translation: X:141.70, Y:-50.99, Z:-17.46 [[ 9.16836831e-01 3.91444248e-01 7.86233136e-02 1.41695784e+02] [-3.89915549e-01 9.20201233e-01 -3.45768109e-02 -5.09927747e+01] [-8.58841638e-02 1.04484127e-03 9.96304581e-01 -1.74551994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94119381700003 meters 0.05748379258380575 Centerline is valid? [True, True] Translation: X:141.72, Y:-51.00, Z:-17.46 [[ 9.17412291e-01 3.90208028e-01 7.80537193e-02 1.41721120e+02] [-3.88697571e-01 9.20726008e-01 -3.43193275e-02 -5.10033886e+01] [-8.52577665e-02 1.14568178e-03 9.96358269e-01 -1.74603282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97119381700003 meters 0.058128581511128416 Centerline is valid? [True, True] Translation: X:141.75, Y:-51.01, Z:-17.47 [[ 9.18533213e-01 3.87894147e-01 7.63863067e-02 1.41748161e+02] [-3.86440598e-01 9.21702982e-01 -3.35749682e-02 -5.10148443e+01] [-8.34290203e-02 1.32095345e-03 9.96512847e-01 -1.74658733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00119381700003 meters 0.05903324345954379 Centerline is valid? [True, True] Translation: X:141.77, Y:-51.03, Z:-17.47 [[ 9.19667494e-01 3.85153397e-01 7.66065409e-02 1.41774413e+02] [-3.83682139e-01 9.22851228e-01 -3.36693768e-02 -5.10267162e+01] [-8.36643152e-02 1.57206992e-03 9.96492755e-01 -1.74711683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03119381700003 meters 0.0626089308709057 Centerline is valid? [True, True] Translation: X:141.80, Y:-51.04, Z:-17.48 [[ 9.21604423e-01 3.80309593e-01 7.75235588e-02 1.41797192e+02] [-3.78786397e-01 9.24857015e-01 -3.40641726e-02 -5.10437894e+01] [-8.46531388e-02 2.02882262e-03 9.96408415e-01 -1.74791523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06119381700003 meters 0.06074232188135809 Centerline is valid? [True, True] Translation: X:141.83, Y:-51.05, Z:-17.48 [[ 9.22541000e-01 3.78172547e-01 7.68350679e-02 1.41826270e+02] [-3.76669449e-01 9.25732514e-01 -3.37555861e-02 -5.10523709e+01] [-8.38941565e-02 2.19948951e-03 9.96472244e-01 -1.74760478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09119381700003 meters 0.06301108612673721 Centerline is valid? [True, True] Translation: X:141.85, Y:-51.07, Z:-17.48 [[ 9.23675345e-01 3.75484473e-01 7.63889237e-02 1.41851606e+02] [-3.73990286e-01 9.26825519e-01 -3.35517881e-02 -5.10691437e+01] [-8.33973794e-02 2.42224399e-03 9.96513427e-01 -1.74830818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12119381700003 meters 0.06293714040171064 Centerline is valid? [True, True] Translation: X:141.88, Y:-51.08, Z:-17.49 [[ 9.24739235e-01 3.73181532e-01 7.47856360e-02 1.41880878e+02] [-3.71742019e-01 9.27754772e-01 -3.28474419e-02 -5.10814206e+01] [-8.16407894e-02 2.57435498e-03 9.96658494e-01 -1.74851104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15119381700003 meters 0.06805223007454923 Centerline is valid? [True, True] Translation: X:141.90, Y:-51.10, Z:-17.49 [[ 9.26953657e-01 3.67747607e-01 7.42873828e-02 1.41904912e+02] [-3.66307061e-01 9.29920592e-01 -3.26623682e-02 -5.10990092e+01] [-8.10928747e-02 3.06450876e-03 9.96701838e-01 -1.74948152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18119381700004 meters 0.067167300369636 Centerline is valid? [True, True] Translation: X:141.94, Y:-51.11, Z:-17.49 [[ 9.28289844e-01 3.64399928e-01 7.40989756e-02 1.41935164e+02] [-3.62956111e-01 9.31236535e-01 -3.25787841e-02 -5.11076483e+01] [-8.08753799e-02 3.34787841e-03 9.96718599e-01 -1.74949631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21119381700004 meters 0.07298079509152347 Centerline is valid? [True, True] Translation: X:141.96, Y:-51.13, Z:-17.50 [[ 9.29730970e-01 3.60722265e-01 7.40254726e-02 1.41958463e+02] [-3.59269478e-01 9.32666072e-01 -3.25490307e-02 -5.11264639e+01] [-8.07822069e-02 3.66674897e-03 9.96725032e-01 -1.75032367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.241193817 meters 0.06929496769399845 Centerline is valid? [True, True] Translation: X:141.99, Y:-51.13, Z:-17.50 [[ 9.30817408e-01 3.57832614e-01 7.43960570e-02 1.41990852e+02] [-3.56356814e-01 9.33777484e-01 -3.27021628e-02 -5.11324390e+01] [-8.11712633e-02 3.92820052e-03 9.96692428e-01 -1.74998148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.271193817 meters 0.07569610455227037 Centerline is valid? [True, True] Translation: X:142.02, Y:-51.15, Z:-17.51 [[ 9.33869329e-01 3.49781134e-01 7.44394750e-02 1.42015130e+02] [-3.48275330e-01 9.36819839e-01 -3.27548871e-02 -5.11517769e+01] [-8.11934186e-02 4.66335165e-03 9.96687454e-01 -1.75052729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.301193817 meters 0.07556594778132565 Centerline is valid? [True, True] Translation: X:142.04, Y:-51.16, Z:-17.51 [[ 9.35482183e-01 3.45368515e-01 7.47908678e-02 1.42044296e+02] [-3.43834299e-01 9.38453444e-01 -3.29106032e-02 -5.11623302e+01] [-8.15540337e-02 5.07161737e-03 9.96656018e-01 -1.75064632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.331193817 meters 0.08247510862023685 Centerline is valid? [True, True] Translation: X:142.07, Y:-51.18, Z:-17.51 [[ 9.36938343e-01 3.41394570e-01 7.48083447e-02 1.42067523e+02] [-3.39846841e-01 9.39904441e-01 -3.29206059e-02 -5.11815091e+01] [-8.15516115e-02 5.42119828e-03 9.96654376e-01 -1.75134450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36119381700001 meters 0.08616549774258474 Centerline is valid? [True, True] Translation: X:142.10, Y:-51.19, Z:-17.52 [[ 9.38868535e-01 3.35890561e-01 7.55208928e-02 1.42096794e+02] [-3.34295621e-01 9.41882201e-01 -3.32318711e-02 -5.11912558e+01] [-8.22940566e-02 5.95405433e-03 9.96590306e-01 -1.75166597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39119381700002 meters 0.08218669972307535 Centerline is valid? [True, True] Translation: X:142.13, Y:-51.19, Z:-17.52 [[ 9.39332161e-01 3.34695104e-01 7.50618315e-02 1.42130966e+02] [-3.33115696e-01 9.42307232e-01 -3.30305083e-02 -5.11944723e+01] [-8.17864560e-02 6.02234454e-03 9.96631681e-01 -1.75172627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42119381700002 meters 0.08356612240514151 Centerline is valid? [True, True] Translation: X:142.16, Y:-51.21, Z:-17.52 [[ 9.39416979e-01 3.34381896e-01 7.53955314e-02 1.42159725e+02] [-3.32786973e-01 9.42418041e-01 -3.31823212e-02 -5.12050163e+01] [-8.21496765e-02 6.08138523e-03 9.96601449e-01 -1.75213388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45119381700002 meters 0.08797491031816888 Centerline is valid? [True, True] Translation: X:142.19, Y:-51.22, Z:-17.53 [[ 9.38941096e-01 3.35525621e-01 7.62376251e-02 1.42186548e+02] [-3.33897611e-01 9.42011596e-01 -3.35639570e-02 -5.12202482e+01] [-8.30782943e-02 6.05901766e-03 9.96524603e-01 -1.75280762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48119381700002 meters 0.08415868422570444 Centerline is valid? [True, True] Translation: X:142.22, Y:-51.22, Z:-17.53 [[ 9.38536843e-01 3.36688984e-01 7.60862803e-02 1.42219553e+02] [-3.35069309e-01 9.41597013e-01 -3.35204955e-02 -5.12241492e+01] [-8.29285958e-02 5.96604266e-03 9.96537633e-01 -1.75301145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51119381700002 meters 0.0804277523057995 Centerline is valid? [True, True] Translation: X:142.25, Y:-51.22, Z:-17.53 [[ 9.37117629e-01 3.40565690e-01 7.63253549e-02 1.42253311e+02] [-3.38945654e-01 9.40203606e-01 -3.36603980e-02 -5.12223488e+01] [-8.32249506e-02 5.67360503e-03 9.96514635e-01 -1.75334301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54119381700002 meters 0.08055456804262161 Centerline is valid? [True, True] Translation: X:142.28, Y:-51.23, Z:-17.54 [[ 9.36404184e-01 3.42266165e-01 7.74666140e-02 1.42282779e+02] [-3.40603042e-01 9.39586322e-01 -3.41630204e-02 -5.12312105e+01] [-8.44794169e-02 5.60503089e-03 9.96409460e-01 -1.75377701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57119381700002 meters 0.07610434491340519 Centerline is valid? [True, True] Translation: X:142.32, Y:-51.23, Z:-17.54 [[ 9.35784052e-01 3.43793794e-01 7.81922912e-02 1.42316134e+02] [-3.42104268e-01 9.39028930e-01 -3.44867806e-02 -5.12335110e+01] [-8.52811647e-02 5.52226271e-03 9.96341622e-01 -1.75379820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60119381700002 meters 0.07951104412669498 Centerline is valid? [True, True] Translation: X:142.34, Y:-51.25, Z:-17.54 [[ 9.35406789e-01 3.44543057e-01 7.93991249e-02 1.42342897e+02] [-3.42803070e-01 9.38754147e-01 -3.50243770e-02 -5.12464671e+01] [-8.66036637e-02 5.54377628e-03 9.96227420e-01 -1.75431219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63119381700002 meters 0.08166810886961222 Centerline is valid? [True, True] Translation: X:142.37, Y:-51.25, Z:-17.55 [[ 9.35777898e-01 3.43165165e-01 8.09777478e-02 1.42370157e+02] [-3.41349714e-01 9.39257243e-01 -3.57240066e-02 -5.12521713e+01] [-8.83181707e-02 5.78800476e-03 9.96075499e-01 -1.75452935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66119381700003 meters 0.07684939526433053 Centerline is valid? [True, True] Translation: X:142.40, Y:-51.25, Z:-17.54 [[ 9.36003965e-01 3.42382854e-01 8.16734849e-02 1.42402207e+02] [-3.40534250e-01 9.39542002e-01 -3.60173687e-02 -5.12543435e+01] [-8.90673990e-02 5.89978103e-03 9.96008128e-01 -1.75445472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69119381700003 meters 0.07795007016780982 Centerline is valid? [True, True] Translation: X:142.43, Y:-51.27, Z:-17.55 [[ 9.36226546e-01 3.41567731e-01 8.25308411e-02 1.42428765e+02] [-3.39677191e-01 9.39837772e-01 -3.63918792e-02 -5.12653421e+01] [-8.99958934e-02 6.03719915e-03 9.95923838e-01 -1.75474213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72119381700003 meters 0.07938483995163231 Centerline is valid? [True, True] Translation: X:142.46, Y:-51.28, Z:-17.55 [[ 9.36494763e-01 3.40872359e-01 8.23625759e-02 1.42455401e+02] [-3.38987412e-01 9.40089888e-01 -3.63116597e-02 -5.12760873e+01] [-8.98058658e-02 6.08580270e-03 9.95940696e-01 -1.75510712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75119381700003 meters 0.08541423013465516 Centerline is valid? [True, True] Translation: X:142.48, Y:-51.29, Z:-17.56 [[ 9.37248458e-01 3.38783606e-01 8.24074968e-02 1.42481606e+02] [-3.36889111e-01 9.40843335e-01 -3.63255520e-02 -5.12867593e+01] [-8.98390456e-02 6.28387925e-03 9.95936473e-01 -1.75567441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78119381700003 meters 0.07966601760772424 Centerline is valid? [True, True] Translation: X:142.51, Y:-51.28, Z:-17.56 [[ 9.37568099e-01 3.38060820e-01 8.17370260e-02 1.42513814e+02] [-3.36194793e-01 9.41103200e-01 -3.60253713e-02 -5.12843506e+01] [-8.91017433e-02 6.29667637e-03 9.96002626e-01 -1.75572800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81119381700003 meters 0.08101218949227036 Centerline is valid? [True, True] Translation: X:142.54, Y:-51.29, Z:-17.56 [[ 9.37934526e-01 3.37386594e-01 8.03063517e-02 1.42539965e+02] [-3.35583810e-01 9.41345498e-01 -3.53858644e-02 -5.12920138e+01] [-8.75347390e-02 6.24011247e-03 9.96141923e-01 -1.75625543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84119381700003 meters 0.07984078531063167 Centerline is valid? [True, True] Translation: X:142.57, Y:-51.29, Z:-17.57 [[ 9.38193323e-01 3.37514158e-01 7.66647440e-02 1.42571056e+02] [-3.35873023e-01 9.41301763e-01 -3.37683810e-02 -5.12935303e+01] [-8.35619654e-02 5.93165027e-03 9.96484929e-01 -1.75692825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87119381700003 meters 0.07999702190536068 Centerline is valid? [True, True] Translation: X:142.60, Y:-51.30, Z:-17.57 [[ 9.38225955e-01 3.37766314e-01 7.51396942e-02 1.42599050e+02] [-3.36190938e-01 9.41212200e-01 -3.30945189e-02 -5.13013993e+01] [-8.19006106e-02 5.78885233e-03 9.96623690e-01 -1.75741046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90119381700003 meters 0.07951044634405081 Centerline is valid? [True, True] Translation: X:142.63, Y:-51.31, Z:-17.58 [[ 9.38222766e-01 3.37799980e-01 7.50280951e-02 1.42627345e+02] [-3.36229987e-01 9.41200231e-01 -3.30381615e-02 -5.13080978e+01] [-8.17767507e-02 5.77045975e-03 9.96633967e-01 -1.75775225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93119381700004 meters 0.08010826130080778 Centerline is valid? [True, True] Translation: X:142.65, Y:-51.32, Z:-17.58 [[ 9.38340170e-01 3.37375037e-01 7.54705887e-02 1.42654101e+02] [-3.35785623e-01 9.41352235e-01 -3.32262836e-02 -5.13155324e+01] [-8.22541260e-02 5.83561795e-03 9.96594303e-01 -1.75803970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96119381700004 meters 0.07851113772487153 Centerline is valid? [True, True] Translation: X:142.69, Y:-51.32, Z:-17.58 [[ 9.38465262e-01 3.36892443e-01 7.60686093e-02 1.42685985e+02] [-3.35276930e-01 9.41524556e-01 -3.34797167e-02 -5.13153639e+01] [-8.28995271e-02 5.91550136e-03 9.96540353e-01 -1.75814539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.991193817 meters 0.0820458613627302 Centerline is valid? [True, True] Translation: X:142.71, Y:-51.33, Z:-17.59 [[ 9.38745268e-01 3.36036424e-01 7.63992388e-02 1.42710855e+02] [-3.34404566e-01 9.41829810e-01 -3.36183692e-02 -5.13269724e+01] [-8.32520772e-02 6.01083066e-03 9.96510392e-01 -1.75864404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.021193817 meters 0.08324983762260747 Centerline is valid? [True, True] Translation: X:142.74, Y:-51.34, Z:-17.59 [[ 9.39293780e-01 3.34700741e-01 7.55156147e-02 1.42738541e+02] [-3.33103081e-01 9.42305066e-01 -3.32189762e-02 -5.13358548e+01] [-8.22771623e-02 6.04789381e-03 9.96591136e-01 -1.75897933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.051193817 meters 0.08451429808463772 Centerline is valid? [True, True] Translation: X:142.77, Y:-51.34, Z:-17.59 [[ 9.40007621e-01 3.32720093e-01 7.53857588e-02 1.42767977e+02] [-3.31122048e-01 9.43005212e-01 -3.31565807e-02 -5.13407423e+01] [-8.21210241e-02 6.20555167e-03 9.96603045e-01 -1.75938028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.081193817 meters 0.08035951125094146 Centerline is valid? [True, True] Translation: X:142.80, Y:-51.34, Z:-17.59 [[ 9.40099305e-01 3.32450922e-01 7.54299775e-02 1.42799520e+02] [-3.30850505e-01 9.43099989e-01 -3.31715826e-02 -5.13419798e+01] [-8.21659342e-02 6.22853568e-03 9.96599200e-01 -1.75941333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11119381700001 meters 0.08018504218461592 Centerline is valid? [True, True] Translation: X:142.83, Y:-51.35, Z:-17.60 [[ 9.40067747e-01 3.32477068e-01 7.57075383e-02 1.42827664e+02] [-3.30865524e-01 9.43090681e-01 -3.32862087e-02 -5.13483204e+01] [-8.24659749e-02 6.24227686e-03 9.96574331e-01 -1.75969563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14119381700002 meters 0.07950861095140072 Centerline is valid? [True, True] Translation: X:142.86, Y:-51.35, Z:-17.60 [[ 9.39683812e-01 3.33432314e-01 7.62707345e-02 1.42856460e+02] [-3.31799880e-01 9.42753632e-01 -3.35325151e-02 -5.13547717e+01] [-8.30853360e-02 6.20334108e-03 9.96523128e-01 -1.76001738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17119381700002 meters 0.0844171173840502 Centerline is valid? [True, True] Translation: X:142.88, Y:-51.37, Z:-17.61 [[ 9.39278786e-01 3.34519585e-01 7.64984299e-02 1.42880175e+02] [-3.32883436e-01 9.42369073e-01 -3.36028009e-02 -5.13693883e+01] [-8.33305495e-02 6.09733782e-03 9.96503308e-01 -1.76062918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20119381700002 meters 0.08247984866635061 Centerline is valid? [True, True] Translation: X:142.91, Y:-51.37, Z:-17.61 [[ 9.39067756e-01 3.35024364e-01 7.68792877e-02 1.42910843e+02] [-3.33373839e-01 9.42189852e-01 -3.37663457e-02 -5.13712992e+01] [-8.37474331e-02 6.07934321e-03 9.96468469e-01 -1.76096053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23119381700002 meters 0.07813787815549056 Centerline is valid? [True, True] Translation: X:142.94, Y:-51.37, Z:-17.61 [[ 9.39536320e-01 3.33872791e-01 7.61607699e-02 1.42941742e+02] [-3.32251253e-01 9.42598394e-01 -3.34271330e-02 -5.13724756e+01] [-8.29494295e-02 6.10149430e-03 9.96535079e-01 -1.76102738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26119381700002 meters 0.07911017782351054 Centerline is valid? [True, True] Translation: X:142.97, Y:-51.38, Z:-17.61 [[ 9.40185519e-01 3.32163299e-01 7.56223070e-02 1.42969327e+02] [-3.30561944e-01 9.43201675e-01 -3.31572370e-02 -5.13812195e+01] [-8.23407038e-02 6.17609726e-03 9.96585101e-01 -1.76143822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29119381700002 meters 0.08124947682290015 Centerline is valid? [True, True] Translation: X:143.00, Y:-51.39, Z:-17.62 [[ 9.40927779e-01 3.30142461e-01 7.52387527e-02 1.42995321e+02] [-3.28551281e-01 9.43909983e-01 -3.29848405e-02 -5.13909003e+01] [-8.19083062e-02 6.31656421e-03 9.96619853e-01 -1.76182989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32119381700002 meters 0.08505645465786797 Centerline is valid? [True, True] Translation: X:143.02, Y:-51.40, Z:-17.62 [[ 9.42149155e-01 3.26350642e-01 7.64867811e-02 1.43023302e+02] [-3.24694702e-01 9.45224708e-01 -3.35201854e-02 -5.13997851e+01] [-8.32365293e-02 6.74616175e-03 9.96506984e-01 -1.76209041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35119381700002 meters 0.08644555565868169 Centerline is valid? [True, True] Translation: X:143.05, Y:-51.41, Z:-17.62 [[ 9.42836120e-01 3.24273706e-01 7.68545074e-02 1.43051053e+02] [-3.22594938e-01 9.45937673e-01 -3.36812375e-02 -5.14099042e+01] [-8.36215136e-02 6.96301222e-03 9.96473261e-01 -1.76234426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38119381700002 meters 0.0874350136259938 Centerline is valid? [True, True] Translation: X:143.08, Y:-51.42, Z:-17.63 [[ 9.43195656e-01 3.22961162e-01 7.79617967e-02 1.43078617e+02] [-3.21228801e-01 9.46384940e-01 -3.41702049e-02 -5.14190827e+01] [-8.48175193e-02 7.18561437e-03 9.96370591e-01 -1.76258847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41119381700003 meters 0.08882353671064815 Centerline is valid? [True, True] Translation: X:143.11, Y:-51.43, Z:-17.63 [[ 9.43302458e-01 3.22675177e-01 7.78537245e-02 1.43105349e+02] [-3.20949294e-01 9.46482591e-01 -3.40918653e-02 -5.14275729e+01] [-8.46877935e-02 7.17184246e-03 9.96381725e-01 -1.76291422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44119381700003 meters 0.08882353671064815 Centerline is valid? [True, True] Translation: X:143.13, Y:-51.44, Z:-17.63 [[ 9.43401583e-01 3.22385056e-01 7.78545393e-02 1.43130540e+02] [-3.20658348e-01 9.46581267e-01 -3.40900074e-02 -5.14383425e+01] [-8.46857574e-02 7.19585905e-03 9.96381725e-01 -1.76322916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47119381700003 meters 0.08770004690738714 Centerline is valid? [True, True] Translation: X:143.16, Y:-51.44, Z:-17.64 [[ 9.42761928e-01 3.24336642e-01 7.74963855e-02 1.43162118e+02] [-3.22635484e-01 9.45916170e-01 -3.38960738e-02 -5.14376048e+01] [-8.42988229e-02 6.95284407e-03 9.96416262e-01 -1.76358661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50119381700003 meters 0.08830863453175868 Centerline is valid? [True, True] Translation: X:143.19, Y:-51.44, Z:-17.64 [[ 9.42305953e-01 3.25712691e-01 7.72705233e-02 1.43189238e+02] [-3.24026180e-01 9.45444283e-01 -3.37955892e-02 -5.14435528e+01] [-8.40626268e-02 6.80811241e-03 9.96437215e-01 -1.76398069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53119381700003 meters 0.08666994475519355 Centerline is valid? [True, True] Translation: X:143.22, Y:-51.45, Z:-17.64 [[ 9.41591554e-01 3.27727413e-01 7.74602295e-02 1.43219609e+02] [-3.26040231e-01 9.44749026e-01 -3.38680511e-02 -5.14479151e+01] [-8.42799652e-02 6.63471977e-03 9.96420026e-01 -1.76433866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56119381700003 meters 0.07916193849439354 Centerline is valid? [True, True] Translation: X:143.26, Y:-51.44, Z:-17.64 [[ 9.39933745e-01 3.32044879e-01 7.91880834e-02 1.43256928e+02] [-3.30296866e-01 9.43241978e-01 -3.46200876e-02 -5.14394714e+01] [-8.61889473e-02 6.38501283e-03 9.96258349e-01 -1.76422166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59119381700003 meters 0.08255553876706083 Centerline is valid? [True, True] Translation: X:143.28, Y:-51.45, Z:-17.65 [[ 9.39300090e-01 3.33526954e-01 8.04680727e-02 1.43282937e+02] [-3.31727580e-01 9.42719198e-01 -3.51756569e-02 -5.14509727e+01] [-8.75908267e-02 6.34701873e-03 9.96136317e-01 -1.76461234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62119381700003 meters 0.0830869285383216 Centerline is valid? [True, True] Translation: X:143.31, Y:-51.46, Z:-17.65 [[ 9.38416082e-01 3.35764139e-01 8.14720828e-02 1.43310975e+02] [-3.33928397e-01 9.41925627e-01 -3.56081444e-02 -5.14589193e+01] [-8.86965806e-02 6.20941341e-03 9.96039336e-01 -1.76493255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65119381700003 meters 0.08181883087730969 Centerline is valid? [True, True] Translation: X:143.34, Y:-51.46, Z:-17.65 [[ 9.37613244e-01 3.37800252e-01 8.22945579e-02 1.43341113e+02] [-3.35935317e-01 9.41198223e-01 -3.59634277e-02 -5.14647309e+01] [-8.96039465e-02 6.07413771e-03 9.95958954e-01 -1.76519051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68119381700004 meters 0.08096311432915904 Centerline is valid? [True, True] Translation: X:143.37, Y:-51.47, Z:-17.66 [[ 9.36893057e-01 3.40032881e-01 8.12960003e-02 1.43370760e+02] [-3.38221533e-01 9.40395739e-01 -3.55253232e-02 -5.14707069e+01] [-8.85301903e-02 5.78737078e-03 9.96056681e-01 -1.76565823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71119381700004 meters 0.07869239644491136 Centerline is valid? [True, True] Translation: X:143.40, Y:-51.47, Z:-17.66 [[ 9.35330102e-01 3.44628028e-01 7.99319894e-02 1.43401073e+02] [-3.42893844e-01 9.38724583e-01 -3.49280412e-02 -5.14717105e+01] [-8.70713054e-02 5.26106119e-03 9.96188190e-01 -1.76634199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.741193817 meters 0.07021747827951534 Centerline is valid? [True, True] Translation: X:143.43, Y:-51.47, Z:-17.66 [[ 9.34638854e-01 3.46749415e-01 7.88356312e-02 1.43434857e+02] [-3.45070220e-01 9.37944520e-01 -3.44473489e-02 -5.14673763e+01] [-8.58880463e-02 4.99200207e-03 9.96292288e-01 -1.76628327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.771193817 meters 0.06867482502516847 Centerline is valid? [True, True] Translation: X:143.46, Y:-51.47, Z:-17.67 [[ 9.33898084e-01 3.48886778e-01 7.81817369e-02 1.43464063e+02] [-3.47242967e-01 9.37152825e-01 -3.41599966e-02 -5.14731807e+01] [-8.51862067e-02 4.75389706e-03 9.96353708e-01 -1.76664755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.801193817 meters 0.06780546790294564 Centerline is valid? [True, True] Translation: X:143.49, Y:-51.48, Z:-17.67 [[ 9.32577026e-01 3.52346176e-01 7.84363656e-02 1.43494447e+02] [-3.50706468e-01 9.35859289e-01 -3.42398189e-02 -5.14759661e+01] [-8.54696706e-02 4.42312775e-03 9.96330955e-01 -1.76708214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.831193817 meters 0.06775621877113491 Centerline is valid? [True, True] Translation: X:143.52, Y:-51.48, Z:-17.67 [[ 9.32262134e-01 3.53296997e-01 7.79008660e-02 1.43521322e+02] [-3.51683109e-01 9.35501311e-01 -3.40042206e-02 -5.14842452e+01] [-8.48899513e-02 4.30442845e-03 9.96381036e-01 -1.76746113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86119381700001 meters 0.07363719068047728 Centerline is valid? [True, True] Translation: X:143.54, Y:-51.50, Z:-17.68 [[ 9.32117097e-01 3.53597306e-01 7.82729996e-02 1.43542816e+02] [-3.51969766e-01 9.35387914e-01 -3.41574914e-02 -5.15020547e+01] [-8.52936147e-02 4.28905230e-03 9.96346628e-01 -1.76847171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89119381700002 meters 0.06644645609000378 Centerline is valid? [True, True] Translation: X:143.58, Y:-51.50, Z:-17.68 [[ 9.32394442e-01 3.53049855e-01 7.74364498e-02 1.43576941e+02] [-3.51455346e-01 9.35594676e-01 -3.37896782e-02 -5.14983143e+01] [-8.43785711e-02 4.28985389e-03 9.96424535e-01 -1.76812094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92119381700002 meters 0.0668294614893279 Centerline is valid? [True, True] Translation: X:143.60, Y:-51.51, Z:-17.69 [[ 9.32741044e-01 3.52257935e-01 7.68667093e-02 1.43603551e+02] [-3.50686312e-01 9.35893055e-01 -3.35156573e-02 -5.15084889e+01] [-8.37451757e-02 4.30532632e-03 9.96477902e-01 -1.76853151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95119381700002 meters 0.0669617910095106 Centerline is valid? [True, True] Translation: X:143.63, Y:-51.52, Z:-17.69 [[ 9.32888440e-01 3.51732550e-01 7.74814242e-02 1.43629578e+02] [-3.50135924e-01 9.36090362e-01 -3.37589892e-02 -5.15177917e+01] [-8.44037498e-02 4.36434074e-03 9.96422079e-01 -1.76883968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98119381700002 meters 0.06725626256624834 Centerline is valid? [True, True] Translation: X:143.66, Y:-51.53, Z:-17.69 [[ 9.32843780e-01 3.51640226e-01 7.84323490e-02 1.43655627e+02] [-3.50006455e-01 9.36124894e-01 -3.41418323e-02 -5.15281890e+01] [-8.54281160e-02 4.39716747e-03 9.96334634e-01 -1.76916698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01119381700002 meters 0.06687505251364997 Centerline is valid? [True, True] Translation: X:143.68, Y:-51.54, Z:-17.69 [[ 9.32093937e-01 3.53520860e-01 7.88916645e-02 1.43682656e+02] [-3.51877270e-01 9.35417121e-01 -3.43102834e-02 -5.15358143e+01] [-8.59260146e-02 4.22022358e-03 9.96292582e-01 -1.76940508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04119381700002 meters 0.06632452130270516 Centerline is valid? [True, True] Translation: X:143.71, Y:-51.54, Z:-17.70 [[ 9.31506081e-01 3.54872925e-01 7.97598162e-02 1.43710503e+02] [-3.53198235e-01 9.34905395e-01 -3.46829791e-02 -5.15445823e+01] [-8.68759327e-02 4.13637965e-03 9.96210551e-01 -1.76962937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07119381700002 meters 0.06476551632509256 Centerline is valid? [True, True] Translation: X:143.74, Y:-51.55, Z:-17.70 [[ 9.30782943e-01 3.56705340e-01 8.00275822e-02 1.43738757e+02] [-3.55028621e-01 9.34208587e-01 -3.47706009e-02 -5.15519366e+01] [-8.71653135e-02 3.95180012e-03 9.96186022e-01 -1.76978765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10119381700002 meters 0.06450438382990435 Centerline is valid? [True, True] Translation: X:143.77, Y:-51.56, Z:-17.70 [[ 9.29074961e-01 3.61311360e-01 7.92074397e-02 1.43765599e+02] [-3.59686275e-01 9.32438749e-01 -3.44058715e-02 -5.15625498e+01] [-8.62873181e-02 3.47580482e-03 9.96264231e-01 -1.77042000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13119381700002 meters 0.06350103495337182 Centerline is valid? [True, True] Translation: X:143.79, Y:-51.57, Z:-17.71 [[ 9.28141320e-01 3.63864267e-01 7.84632761e-02 1.43791166e+02] [-3.62278880e-01 9.31446464e-01 -3.40807519e-02 -5.15719311e+01] [-8.54851089e-02 3.20616627e-03 9.96334290e-01 -1.77081184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16119381700003 meters 0.06278242364727174 Centerline is valid? [True, True] Translation: X:143.82, Y:-51.58, Z:-17.71 [[ 9.27434626e-01 3.65569495e-01 7.88920656e-02 1.43817353e+02] [-3.63973637e-01 9.30779027e-01 -3.42577617e-02 -5.15821542e+01] [-8.59546727e-02 3.05720241e-03 9.96294358e-01 -1.77114557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19119381700003 meters 0.060843941730662224 Centerline is valid? [True, True] Translation: X:143.85, Y:-51.59, Z:-17.71 [[ 9.26821811e-01 3.67169364e-01 7.86637703e-02 1.43845910e+02] [-3.65588609e-01 9.30149587e-01 -3.41572216e-02 -5.15899252e+01] [-8.57105588e-02 2.89907963e-03 9.96315861e-01 -1.77119369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22119381700003 meters 0.06072162805633903 Centerline is valid? [True, True] Translation: X:143.87, Y:-51.60, Z:-17.72 [[ 9.26167923e-01 3.68997645e-01 7.78056328e-02 1.43871527e+02] [-3.67460012e-01 9.29426482e-01 -3.37572907e-02 -5.16002634e+01] [-8.47709763e-02 2.67446108e-03 9.96396873e-01 -1.77159037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25119381700003 meters 0.058350753759814473 Centerline is valid? [True, True] Translation: X:143.90, Y:-51.61, Z:-17.71 [[ 9.26467093e-01 3.68482281e-01 7.66781186e-02 1.43900082e+02] [-3.66987893e-01 9.29630925e-01 -3.32600439e-02 -5.16065181e+01] [-8.35380871e-02 2.67439503e-03 9.96500996e-01 -1.77143871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28119381700003 meters 0.05857597596204328 Centerline is valid? [True, True] Translation: X:143.93, Y:-51.62, Z:-17.72 [[ 9.26747978e-01 3.68074647e-01 7.52279160e-02 1.43925031e+02] [-3.66635767e-01 9.29792464e-01 -3.26218934e-02 -5.16196259e+01] [-8.19536413e-02 2.65102901e-03 9.96632617e-01 -1.77184550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31119381700003 meters 0.058931149265269336 Centerline is valid? [True, True] Translation: X:143.95, Y:-51.64, Z:-17.72 [[ 9.27661550e-01 3.65730324e-01 7.54014469e-02 1.43948588e+02] [-3.64277278e-01 9.30716464e-01 -3.26944599e-02 -5.16374808e+01] [-8.21347235e-02 2.86235951e-03 9.96617125e-01 -1.77223748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34119381700003 meters 0.06087522528462972 Centerline is valid? [True, True] Translation: X:143.97, Y:-51.66, Z:-17.73 [[ 9.28233838e-01 3.64028503e-01 7.65845304e-02 1.43970481e+02] [-3.62526513e-01 9.31382885e-01 -3.31730294e-02 -5.16557052e+01] [-8.34054491e-02 3.02840568e-03 9.96511094e-01 -1.77275842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37119381700003 meters 0.06044305295647887 Centerline is valid? [True, True] Translation: X:144.00, Y:-51.67, Z:-17.73 [[ 9.29022811e-01 3.62005503e-01 7.66070022e-02 1.43996804e+02] [-3.60496047e-01 9.32170438e-01 -3.31794404e-02 -5.16683993e+01] [-8.34219228e-02 3.20793558e-03 9.96509153e-01 -1.77276579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40119381700003 meters 0.06272486320852258 Centerline is valid? [True, True] Translation: X:144.02, Y:-51.69, Z:-17.73 [[ 9.29858543e-01 3.59824375e-01 7.67431376e-02 1.44019026e+02] [-3.58304926e-01 9.33013936e-01 -3.32050467e-02 -5.16858189e+01] [-8.35504020e-02 3.37855208e-03 9.96497825e-01 -1.77329591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43119381700004 meters 0.061939934121027766 Centerline is valid? [True, True] Translation: X:144.05, Y:-51.70, Z:-17.73 [[ 9.30735716e-01 3.57766605e-01 7.57237313e-02 1.44046303e+02] [-3.56281485e-01 9.33804461e-01 -3.27525853e-02 -5.16974828e+01] [-8.24289393e-02 3.50503750e-03 9.96590781e-01 -1.77338416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46119381700004 meters 0.06403885316150104 Centerline is valid? [True, True] Translation: X:144.07, Y:-51.72, Z:-17.74 [[ 9.31998320e-01 3.55001603e-01 7.31641503e-02 1.44069553e+02] [-3.53607225e-01 9.34858691e-01 -3.16410972e-02 -5.17162953e+01] [-7.96307820e-02 3.61807724e-03 9.96817861e-01 -1.77406779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.491193817 meters 0.06483842175162223 Centerline is valid? [True, True] Translation: X:144.09, Y:-51.73, Z:-17.75 [[ 9.32481673e-01 3.53889474e-01 7.23890246e-02 1.44093066e+02] [-3.52521051e-01 9.35280029e-01 -3.13077519e-02 -5.17302511e+01] [-7.87834929e-02 3.67524981e-03 9.96884975e-01 -1.77453042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.521193817 meters 0.06677481587308728 Centerline is valid? [True, True] Translation: X:144.12, Y:-51.75, Z:-17.75 [[ 9.32728175e-01 3.53468619e-01 7.12607022e-02 1.44115222e+02] [-3.52141806e-01 9.35439272e-01 -3.08142281e-02 -5.17462061e+01] [-7.75519220e-02 3.64742633e-03 9.96981643e-01 -1.77518345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.551193817 meters 0.06460912712283917 Centerline is valid? [True, True] Translation: X:144.14, Y:-51.76, Z:-17.75 [[ 9.32985989e-01 3.52781487e-01 7.12907223e-02 1.44142305e+02] [-3.51452949e-01 9.35698462e-01 -3.08093039e-02 -5.17555401e+01] [-7.75755712e-02 3.68931424e-03 9.96979649e-01 -1.77514005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.581193817 meters 0.06643254327647836 Centerline is valid? [True, True] Translation: X:144.17, Y:-51.77, Z:-17.76 [[ 9.32385883e-01 3.54572021e-01 7.02513167e-02 1.44165240e+02] [-3.53287723e-01 9.35022229e-01 -3.03515420e-02 -5.17715768e+01] [-7.64483503e-02 3.48042157e-03 9.97067468e-01 -1.77589048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61119381700001 meters 0.0652422804344889 Centerline is valid? [True, True] Translation: X:144.19, Y:-51.78, Z:-17.76 [[ 9.31777304e-01 3.56410172e-01 6.90133658e-02 1.44192668e+02] [-3.55175897e-01 9.34323872e-01 -2.98158480e-02 -5.17810890e+01] [-7.51075067e-02 3.26984635e-03 9.97170081e-01 -1.77622661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64119381700002 meters 0.06343203413799342 Centerline is valid? [True, True] Translation: X:144.22, Y:-51.79, Z:-17.77 [[ 9.30627155e-01 3.59659318e-01 6.76629340e-02 1.44221051e+02] [-3.58483142e-01 9.33079098e-01 -2.92101718e-02 -5.17888389e+01] [-7.36405799e-02 2.92775796e-03 9.97280549e-01 -1.77650982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67119381700002 meters 0.06123513578869546 Centerline is valid? [True, True] Translation: X:144.25, Y:-51.80, Z:-17.77 [[ 9.29358487e-01 3.63100403e-01 6.67150660e-02 1.44249120e+02] [-3.61967881e-01 9.31746415e-01 -2.87727568e-02 -5.17958827e+01] [-7.26089231e-02 2.59149463e-03 9.97357122e-01 -1.77665544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70119381700002 meters 0.05939086263725714 Centerline is valid? [True, True] Translation: X:144.28, Y:-51.81, Z:-17.77 [[ 9.26464217e-01 3.70379585e-01 6.69553402e-02 1.44276065e+02] [-3.69258498e-01 9.28878292e-01 -2.88665788e-02 -5.18051464e+01] [-7.28849536e-02 2.02002392e-03 9.97338309e-01 -1.77700579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73119381700002 meters 0.05812643200102868 Centerline is valid? [True, True] Translation: X:144.30, Y:-51.82, Z:-17.77 [[ 9.25492531e-01 3.72686419e-01 6.75900006e-02 1.44303268e+02] [-3.71549938e-01 9.27955485e-01 -2.91420959e-02 -5.18154972e+01] [-7.35813751e-02 1.85773162e-03 9.97287486e-01 -1.77703987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76119381700002 meters 0.057990158075445386 Centerline is valid? [True, True] Translation: X:144.33, Y:-51.83, Z:-17.77 [[ 9.24607381e-01 3.74691959e-01 6.86085087e-02 1.44328168e+02] [-3.73526882e-01 9.27147768e-01 -2.95750652e-02 -5.18274308e+01] [-7.46917648e-02 1.71820120e-03 9.97205189e-01 -1.77740572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79119381700002 meters 0.0578417554543692 Centerline is valid? [True, True] Translation: X:144.35, Y:-51.84, Z:-17.78 [[ 9.23927112e-01 3.76161200e-01 6.97240512e-02 1.44352745e+02] [-3.74962726e-01 9.26552824e-01 -3.00469294e-02 -5.18411309e+01] [-7.59055056e-02 1.61725239e-03 9.97113704e-01 -1.77768842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82119381700002 meters 0.05761799016172792 Centerline is valid? [True, True] Translation: X:144.38, Y:-51.85, Z:-17.78 [[ 9.23862150e-01 3.76248687e-01 7.01117268e-02 1.44378109e+02] [-3.75037156e-01 9.26517300e-01 -3.02129850e-02 -5.18546113e+01] [-7.63273237e-02 1.61813068e-03 9.97081502e-01 -1.77796777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85119381700002 meters 0.05747458349532923 Centerline is valid? [True, True] Translation: X:144.40, Y:-51.87, Z:-17.78 [[ 9.24210746e-01 3.75372135e-01 7.02157910e-02 1.44402741e+02] [-3.74156117e-01 9.26872678e-01 -3.02363886e-02 -5.18672346e+01] [-7.64309959e-02 1.67312752e-03 9.97073469e-01 -1.77812756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88119381700002 meters 0.05832939878558904 Centerline is valid? [True, True] Translation: X:144.42, Y:-51.88, Z:-17.79 [[ 9.24618421e-01 3.74268062e-01 7.07403255e-02 1.44424992e+02] [-3.73033053e-01 9.27318912e-01 -3.04298773e-02 -5.18820804e+01] [-7.69877728e-02 1.74754550e-03 9.97030506e-01 -1.77868201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91119381700003 meters 0.0587201914580035 Centerline is valid? [True, True] Translation: X:144.45, Y:-51.90, Z:-17.79 [[ 9.25320655e-01 3.72382522e-01 7.15048385e-02 1.44449304e+02] [-3.71116920e-01 9.28077388e-01 -3.07342393e-02 -5.18971679e+01] [-7.78069173e-02 1.90237100e-03 9.96966632e-01 -1.77885409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94119381700003 meters 0.0595783631471675 Centerline is valid? [True, True] Translation: X:144.47, Y:-51.92, Z:-17.79 [[ 9.27021139e-01 3.67607069e-01 7.41407541e-02 1.44472212e+02] [-3.66231727e-01 9.29978159e-01 -3.18582292e-02 -5.19161391e+01] [-8.06605922e-02 2.38055551e-03 9.96738783e-01 -1.77881012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97119381700003 meters 0.06033422364169475 Centerline is valid? [True, True] Translation: X:144.50, Y:-51.93, Z:-17.79 [[ 9.28029273e-01 3.65163270e-01 7.36033576e-02 1.44497672e+02] [-3.63801035e-01 9.30939962e-01 -3.16163704e-02 -5.19319122e+01] [-8.00654441e-02 2.56393960e-03 9.96786312e-01 -1.77910225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00119381700003 meters 0.062058158722360125 Centerline is valid? [True, True] Translation: X:144.52, Y:-51.95, Z:-17.80 [[ 9.29133796e-01 3.62380020e-01 7.34241834e-02 1.44521305e+02] [-3.61015905e-01 9.32026238e-01 -3.15374103e-02 -5.19487404e+01] [-7.98617928e-02 2.79517574e-03 9.96802027e-01 -1.77963079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03119381700003 meters 0.06510073962510471 Centerline is valid? [True, True] Translation: X:144.54, Y:-51.97, Z:-17.80 [[ 9.31252624e-01 3.57334064e-01 7.12805540e-02 1.44542760e+02] [-3.56034487e-01 9.33971412e-01 -3.06079356e-02 -5.19706706e+01] [-7.75112577e-02 3.12538485e-03 9.96986578e-01 -1.78026321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06119381700003 meters 0.06660222754859517 Centerline is valid? [True, True] Translation: X:144.57, Y:-51.99, Z:-17.81 [[ 9.32120111e-01 3.55214293e-01 7.05330078e-02 1.44567447e+02] [-3.53935876e-01 9.34779192e-01 -3.02862811e-02 -5.19865722e+01] [-7.66909080e-02 3.26628982e-03 9.97049565e-01 -1.78079336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09119381700003 meters 0.0675016850994434 Centerline is valid? [True, True] Translation: X:144.59, Y:-52.00, Z:-17.81 [[ 9.32755721e-01 3.53550591e-01 7.04893301e-02 1.44592662e+02] [-3.52268734e-01 9.35409209e-01 -3.02712761e-02 -5.20007885e+01] [-7.66387961e-02 3.40451891e-03 9.97053110e-01 -1.78115562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12119381700003 meters 0.06854408403180569 Centerline is valid? [True, True] Translation: X:144.62, Y:-52.02, Z:-17.81 [[ 9.33611809e-01 3.51037844e-01 7.17037150e-02 1.44617283e+02] [-3.49705797e-01 9.36354152e-01 -3.07694069e-02 -5.20157893e+01] [-7.79412976e-02 3.65147682e-03 9.96951263e-01 -1.78143313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15119381700003 meters 0.06911335796151022 Centerline is valid? [True, True] Translation: X:144.64, Y:-52.03, Z:-17.82 [[ 9.33956559e-01 3.50134632e-01 7.16301915e-02 1.44642495e+02] [-3.48804453e-01 9.36692072e-01 -3.07150801e-02 -5.20287425e+01] [-7.78498458e-02 3.70162071e-03 9.96958224e-01 -1.78174855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18119381700004 meters 0.06800889215015633 Centerline is valid? [True, True] Translation: X:144.67, Y:-52.04, Z:-17.82 [[ 9.34156562e-01 3.49558446e-01 7.18359908e-02 1.44668545e+02] [-3.48220541e-01 9.36907092e-01 -3.07823870e-02 -5.20380205e+01] [-7.80638926e-02 3.74080120e-03 9.96941340e-01 -1.78189144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21119381700004 meters 0.06739204292841616 Centerline is valid? [True, True] Translation: X:144.70, Y:-52.05, Z:-17.82 [[ 9.34150967e-01 3.49518308e-01 7.21035599e-02 1.44695223e+02] [-3.48172507e-01 9.36922104e-01 -3.08687068e-02 -5.20483711e+01] [-7.83445972e-02 3.73155501e-03 9.96919355e-01 -1.78214649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.241193817 meters 0.07201751452226623 Centerline is valid? [True, True] Translation: X:144.72, Y:-52.07, Z:-17.83 [[ 9.34569709e-01 3.48700260e-01 7.06228614e-02 1.44717419e+02] [-3.47409357e-01 9.37227025e-01 -3.02033383e-02 -5.20669939e+01] [-7.67215662e-02 3.69208219e-03 9.97045721e-01 -1.78318017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.271193817 meters 0.07158616195003588 Centerline is valid? [True, True] Translation: X:144.74, Y:-52.08, Z:-17.83 [[ 9.35023742e-01 3.47653804e-01 6.97670044e-02 1.44744284e+02] [-3.46390878e-01 9.37615529e-01 -2.98408993e-02 -5.20772576e+01] [-7.57889289e-02 3.73529537e-03 9.97116887e-01 -1.78336917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.301193817 meters 0.07232482175774274 Centerline is valid? [True, True] Translation: X:144.77, Y:-52.09, Z:-17.84 [[ 9.35750594e-01 3.45690875e-01 6.97756761e-02 1.44770351e+02] [-3.44423825e-01 9.38340453e-01 -2.98231862e-02 -5.20897353e+01] [-7.57829429e-02 3.87465896e-03 9.97116810e-01 -1.78374081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.331193817 meters 0.07638793194479232 Centerline is valid? [True, True] Translation: X:144.79, Y:-52.11, Z:-17.84 [[ 9.36770419e-01 3.42963887e-01 6.95482161e-02 1.44793519e+02] [-3.41699886e-01 9.39339843e-01 -2.96959229e-02 -5.21073759e+01] [-7.55140395e-02 4.05364465e-03 9.97136499e-01 -1.78437475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36119381700001 meters 0.07638793194479232 Centerline is valid? [True, True] Translation: X:144.82, Y:-52.12, Z:-17.85 [[ 9.36868332e-01 3.42696702e-01 6.95463802e-02 1.44818762e+02] [-3.41431650e-01 9.39437238e-01 -2.97002276e-02 -5.21178680e+01] [-7.55126294e-02 4.07986735e-03 9.97136499e-01 -1.78468901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39119381700002 meters 0.07648776328179309 Centerline is valid? [True, True] Translation: X:144.85, Y:-52.13, Z:-17.85 [[ 9.38807954e-01 3.37434850e-01 6.91183606e-02 1.44845713e+02] [-3.36173767e-01 9.41338401e-01 -2.94824054e-02 -5.21315943e+01] [-7.50121581e-02 4.44253705e-03 9.97172723e-01 -1.78467979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42119381700002 meters 0.07270925799910358 Centerline is valid? [True, True] Translation: X:144.88, Y:-52.14, Z:-17.84 [[ 9.39663230e-01 3.34990975e-01 6.93834381e-02 1.44875644e+02] [-3.33713446e-01 9.42209828e-01 -2.95968977e-02 -5.21372574e+01] [-7.52884509e-02 4.65693028e-03 9.97150922e-01 -1.78433450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45119381700002 meters 0.07716793633375368 Centerline is valid? [True, True] Translation: X:144.90, Y:-52.15, Z:-17.85 [[ 9.40153406e-01 3.33472275e-01 7.00558062e-02 1.44897895e+02] [-3.32165897e-01 9.42747576e-01 -2.98801658e-02 -5.21537150e+01] [-7.60091484e-02 4.82178994e-03 9.97095462e-01 -1.78497028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48119381700002 meters 0.07547734149994272 Centerline is valid? [True, True] Translation: X:144.93, Y:-52.16, Z:-17.85 [[ 9.40517693e-01 3.32437815e-01 7.00825863e-02 1.44927603e+02] [-3.31127665e-01 9.43112415e-01 -2.98904832e-02 -5.21585979e+01] [-7.60324841e-02 4.90624508e-03 9.97093271e-01 -1.78501903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51119381700002 meters 0.07376377318599321 Centerline is valid? [True, True] Translation: X:144.96, Y:-52.17, Z:-17.85 [[ 9.39982310e-01 3.33504378e-01 7.21670741e-02 1.44956308e+02] [-3.32120773e-01 9.42735650e-01 -3.07455273e-02 -5.21663484e+01] [-7.82882414e-02 4.93206734e-03 9.96918565e-01 -1.78514119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54119381700002 meters 0.07335586543551759 Centerline is valid? [True, True] Translation: X:144.98, Y:-52.18, Z:-17.85 [[ 9.39430370e-01 3.34476942e-01 7.48047785e-02 1.44984657e+02] [-3.32993562e-01 9.42390536e-01 -3.18647977e-02 -5.21771148e+01] [-8.11533554e-02 5.02524904e-03 9.96688958e-01 -1.78523229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57119381700002 meters 0.07278462830919138 Centerline is valid? [True, True] Translation: X:145.01, Y:-52.19, Z:-17.85 [[ 9.39131736e-01 3.34877726e-01 7.67365086e-02 1.45011817e+02] [-3.33317895e-01 9.42247679e-01 -3.26877905e-02 -5.21875043e+01] [-8.32512101e-02 5.12048989e-03 9.96515437e-01 -1.78532500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60119381700002 meters 0.0746182275179542 Centerline is valid? [True, True] Translation: X:145.04, Y:-52.20, Z:-17.86 [[ 9.39473935e-01 3.33273567e-01 7.94824153e-02 1.45036652e+02] [-3.31594771e-01 9.42814445e-01 -3.38501145e-02 -5.22002363e+01] [-8.62185177e-02 5.44534697e-03 9.96261369e-01 -1.78566906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63119381700002 meters 0.07266553193421332 Centerline is valid? [True, True] Translation: X:145.06, Y:-52.21, Z:-17.86 [[ 9.39874873e-01 3.32398644e-01 7.83987527e-02 1.45064451e+02] [-3.30762664e-01 9.43123255e-01 -3.33854110e-02 -5.22075535e+01] [-8.50369522e-02 5.44672862e-03 9.96362911e-01 -1.78594468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66119381700003 meters 0.07690378422969467 Centerline is valid? [True, True] Translation: X:145.09, Y:-52.22, Z:-17.87 [[ 9.40412885e-01 3.30993110e-01 7.78920169e-02 1.45087835e+02] [-3.29376306e-01 9.43617108e-01 -3.31361189e-02 -5.22246107e+01] [-8.44680668e-02 5.50584835e-03 9.96410975e-01 -1.78668018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69119381700003 meters 0.07852921398513787 Centerline is valid? [True, True] Translation: X:145.11, Y:-52.24, Z:-17.87 [[ 9.40912670e-01 3.29711870e-01 7.72879645e-02 1.45113737e+02] [-3.28116331e-01 9.44065170e-01 -3.28728946e-02 -5.22380356e+01] [-8.38034590e-02 5.57107966e-03 9.96466730e-01 -1.78718600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72119381700003 meters 0.07680521459536895 Centerline is valid? [True, True] Translation: X:145.14, Y:-52.25, Z:-17.87 [[ 9.41742651e-01 3.27485405e-01 7.66426107e-02 1.45141914e+02] [-3.25909413e-01 9.44838938e-01 -3.25950180e-02 -5.22472549e+01] [-8.30893156e-02 5.71757033e-03 9.96525702e-01 -1.78747366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75119381700003 meters 0.08085840636563107 Centerline is valid? [True, True] Translation: X:145.17, Y:-52.26, Z:-17.88 [[ 9.43263104e-01 3.23246062e-01 7.59387953e-02 1.45165880e+02] [-3.21685563e-01 9.46295726e-01 -3.22923774e-02 -5.22640893e+01] [-8.22989413e-02 6.03179397e-03 9.96589435e-01 -1.78784116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78119381700003 meters 0.08429086666198661 Centerline is valid? [True, True] Translation: X:145.19, Y:-52.28, Z:-17.88 [[ 9.43951710e-01 3.21159897e-01 7.62331220e-02 1.45190008e+02] [-3.19580720e-01 9.47004456e-01 -3.24148585e-02 -5.22788932e+01] [-8.26034589e-02 6.23542505e-03 9.96562988e-01 -1.78826444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81119381700003 meters 0.08041922687483363 Centerline is valid? [True, True] Translation: X:145.22, Y:-52.28, Z:-17.88 [[ 9.44281511e-01 3.20114366e-01 7.65455434e-02 1.45219262e+02] [-3.18518946e-01 9.47357618e-01 -3.25457377e-02 -5.22839350e+01] [-8.29343618e-02 6.35113261e-03 9.96534773e-01 -1.78833804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84119381700003 meters 0.08081361751331367 Centerline is valid? [True, True] Translation: X:145.25, Y:-52.30, Z:-17.89 [[ 9.44529139e-01 3.19514936e-01 7.59928429e-02 1.45245920e+02] [-3.17942668e-01 9.47560074e-01 -3.22856923e-02 -5.22952386e+01] [-8.23235447e-02 6.33340991e-03 9.96585532e-01 -1.78869889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87119381700003 meters 0.08106678620654692 Centerline is valid? [True, True] Translation: X:145.27, Y:-52.30, Z:-17.89 [[ 9.43973867e-01 3.21288287e-01 7.54133648e-02 1.45272142e+02] [-3.19748121e-01 9.46961776e-01 -3.20083401e-02 -5.23041445e+01] [-8.16974786e-02 6.10175488e-03 9.96638495e-01 -1.78921252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90119381700003 meters 0.07995106182981321 Centerline is valid? [True, True] Translation: X:145.30, Y:-52.31, Z:-17.90 [[ 9.43210458e-01 3.23555352e-01 7.52726085e-02 1.45300772e+02] [-3.22028982e-01 9.46190949e-01 -3.19378035e-02 -5.23118092e+01] [-8.15559081e-02 5.88410878e-03 9.96651399e-01 -1.78959204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93119381700004 meters 0.07837023423091977 Centerline is valid? [True, True] Translation: X:145.33, Y:-52.32, Z:-17.90 [[ 9.41992078e-01 3.27139548e-01 7.50376022e-02 1.45329601e+02] [-3.25634286e-01 9.44959724e-01 -3.18344304e-02 -5.23188929e+01] [-8.13218131e-02 5.55296516e-03 9.96672427e-01 -1.79004459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96119381700004 meters 0.07674250192875828 Centerline is valid? [True, True] Translation: X:145.36, Y:-52.33, Z:-17.90 [[ 9.40877638e-01 3.30369800e-01 7.48669828e-02 1.45359127e+02] [-3.28881760e-01 9.43836922e-01 -3.17592861e-02 -5.23258605e+01] [-8.11545316e-02 5.25921702e-03 9.96687656e-01 -1.79048062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.991193817 meters 0.07350026980171764 Centerline is valid? [True, True] Translation: X:145.39, Y:-52.33, Z:-17.91 [[ 9.38489944e-01 3.37282974e-01 7.40055417e-02 1.45388538e+02] [-3.35850603e-01 9.41392048e-01 -3.13908407e-02 -5.23293049e+01] [-8.02558245e-02 4.60518251e-03 9.96763661e-01 -1.79100732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.021193817 meters 0.07164681957636099 Centerline is valid? [True, True] Translation: X:145.42, Y:-52.34, Z:-17.91 [[ 9.37055152e-01 3.41010749e-01 7.50953493e-02 1.45417473e+02] [-3.39548128e-01 9.40049357e-01 -3.18476759e-02 -5.23370669e+01] [-8.14537347e-02 4.34454349e-03 9.96667655e-01 -1.79140633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.051193817 meters 0.06971430455900973 Centerline is valid? [True, True] Translation: X:145.45, Y:-52.34, Z:-17.92 [[ 9.35580141e-01 3.44978337e-01 7.53640933e-02 1.45447332e+02] [-3.43518223e-01 9.38602076e-01 -3.19589252e-02 -5.23443241e+01] [-8.17620313e-02 4.01119631e-03 9.96643808e-01 -1.79172716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.081193817 meters 0.06488532034722848 Centerline is valid? [True, True] Translation: X:145.48, Y:-52.34, Z:-17.92 [[ 9.31946242e-01 3.54447480e-01 7.64407354e-02 1.45479293e+02] [-3.52976973e-01 9.35070358e-01 -3.24142381e-02 -5.23435641e+01] [-8.29666108e-02 3.22650802e-03 9.96547104e-01 -1.79203464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11119381700001 meters 0.06271857970632322 Centerline is valid? [True, True] Translation: X:145.51, Y:-52.35, Z:-17.92 [[ 9.30075142e-01 3.59272693e-01 7.67030820e-02 1.45508307e+02] [-3.57808621e-01 9.33228414e-01 -3.25225678e-02 -5.23492882e+01] [-8.32659661e-02 2.80340791e-03 9.96523417e-01 -1.79233855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14119381700002 meters 0.05977211882127583 Centerline is valid? [True, True] Translation: X:145.54, Y:-52.35, Z:-17.92 [[ 9.28349931e-01 3.63705496e-01 7.67119179e-02 1.45539077e+02] [-3.62256480e-01 9.31510891e-01 -3.25223575e-02 -5.23542857e+01] [-8.32865471e-02 2.40273906e-03 9.96522743e-01 -1.79245188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17119381700002 meters 0.05762727308623827 Centerline is valid? [True, True] Translation: X:145.57, Y:-52.36, Z:-17.93 [[ 9.26927724e-01 3.67272471e-01 7.69150554e-02 1.45568321e+02] [-3.65827457e-01 9.30111040e-01 -3.26147873e-02 -5.23602862e+01] [-8.35180557e-02 2.09391143e-03 9.96504064e-01 -1.79260937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20119381700002 meters 0.05556466942963882 Centerline is valid? [True, True] Translation: X:145.60, Y:-52.37, Z:-17.93 [[ 9.24652920e-01 3.72770522e-01 7.78403227e-02 1.45599168e+02] [-3.71312587e-01 9.27922205e-01 -3.29748974e-02 -5.23651415e+01] [-8.45218336e-02 1.58724357e-03 9.96420363e-01 -1.79259088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23119381700002 meters 0.054767975847198974 Centerline is valid? [True, True] Translation: X:145.63, Y:-52.37, Z:-17.93 [[ 9.23156329e-01 3.76272451e-01 7.87491869e-02 1.45627456e+02] [-3.74792751e-01 9.26508174e-01 -3.33616244e-02 -5.23733831e+01] [-8.55148255e-02 1.28337027e-03 9.96336072e-01 -1.79279498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26119381700002 meters 0.05492338899331032 Centerline is valid? [True, True] Translation: X:145.65, Y:-52.38, Z:-17.94 [[ 9.21783700e-01 3.79550239e-01 7.90975734e-02 1.45652795e+02] [-3.78070644e-01 9.25170619e-01 -3.34949862e-02 -5.23833787e+01] [-8.58917809e-02 9.70661846e-04 9.96304000e-01 -1.79363044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29119381700002 meters 0.05399645533396579 Centerline is valid? [True, True] Translation: X:145.68, Y:-52.39, Z:-17.94 [[ 9.20309366e-01 3.83120432e-01 7.90531770e-02 1.45680857e+02] [-3.81655974e-01 9.23698183e-01 -3.34721499e-02 -5.23914936e+01] [-8.58451405e-02 6.33615822e-04 9.96308291e-01 -1.79359344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32119381700002 meters 0.05373735456388786 Centerline is valid? [True, True] Translation: X:145.71, Y:-52.40, Z:-17.94 [[ 9.17480722e-01 3.90152403e-01 7.75256621e-02 1.45707708e+02] [-3.88771231e-01 9.20750292e-01 -3.27998392e-02 -5.23996556e+01] [-8.41787121e-02 -4.65269314e-05 9.96450672e-01 -1.79415933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35119381700002 meters 0.05394419953439855 Centerline is valid? [True, True] Translation: X:145.73, Y:-52.41, Z:-17.95 [[ 9.16472295e-01 3.92503713e-01 7.75845883e-02 1.45733413e+02] [-3.91130980e-01 9.19750376e-01 -3.27994387e-02 -5.24095558e+01] [-8.42323557e-02 -2.85959150e-04 9.96446099e-01 -1.79454264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38119381700002 meters 0.054328723701674186 Centerline is valid? [True, True] Translation: X:145.76, Y:-52.42, Z:-17.95 [[ 9.14981612e-01 3.96007779e-01 7.73724043e-02 1.45759328e+02] [-3.94657718e-01 9.18246936e-01 -3.26779810e-02 -5.24213318e+01] [-8.39877078e-02 -6.35864790e-04 9.96466588e-01 -1.79490937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41119381700003 meters 0.05443175210529414 Centerline is valid? [True, True] Translation: X:145.78, Y:-52.44, Z:-17.95 [[ 9.15050097e-01 3.95798625e-01 7.76322691e-02 1.45783467e+02] [-3.94441472e-01 9.18337099e-01 -3.27551221e-02 -5.24357344e+01] [-8.42570251e-02 -6.48808854e-04 9.96443843e-01 -1.79527965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44119381700003 meters 0.05411094855188464 Centerline is valid? [True, True] Translation: X:145.81, Y:-52.45, Z:-17.95 [[ 9.15326463e-01 3.94833766e-01 7.92701960e-02 1.45807039e+02] [-3.93415385e-01 9.18752396e-01 -3.34420217e-02 -5.24529876e+01] [-8.60337219e-02 -5.75747235e-04 9.96292059e-01 -1.79539983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47119381700003 meters 0.0540613068377257 Centerline is valid? [True, True] Translation: X:145.83, Y:-52.47, Z:-17.96 [[ 9.16279043e-01 3.92559937e-01 7.95575936e-02 1.45830061e+02] [-3.91125021e-01 9.19726342e-01 -3.35361545e-02 -5.24716175e+01] [-8.63361653e-02 -3.88489939e-04 9.96265986e-01 -1.79576627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50119381700003 meters 0.054127512111176466 Centerline is valid? [True, True] Translation: X:145.85, Y:-52.49, Z:-17.96 [[ 9.17614512e-01 3.89433093e-01 7.95328470e-02 1.45851829e+02] [-3.87990018e-01 9.21054749e-01 -3.34947090e-02 -5.24909170e+01] [-8.62980546e-02 -1.22719655e-04 9.96269357e-01 -1.79619997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53119381700003 meters 0.05452889921532948 Centerline is valid? [True, True] Translation: X:145.87, Y:-52.52, Z:-17.97 [[ 9.20969890e-01 3.81531436e-01 7.90457141e-02 1.45869416e+02] [-3.80077634e-01 9.24355665e-01 -3.32805794e-02 -5.25225140e+01] [-8.57639409e-02 6.06903587e-04 9.96315301e-01 -1.79652926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56119381700003 meters 0.05513614181685173 Centerline is valid? [True, True] Translation: X:145.89, Y:-52.54, Z:-17.97 [[ 9.22929433e-01 3.76540086e-01 8.01175682e-02 1.45891072e+02] [-3.75030044e-01 9.26399718e-01 -3.37050133e-02 -5.25444039e+01] [-8.69121812e-02 1.06085372e-03 9.96215412e-01 -1.79677303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59119381700003 meters 0.056308343467807234 Centerline is valid? [True, True] Translation: X:145.91, Y:-52.57, Z:-17.97 [[ 9.25099720e-01 3.71164542e-01 8.01710072e-02 1.45911623e+02] [-3.69634931e-01 9.28565837e-01 -3.36972453e-02 -5.25666204e+01] [-8.69512810e-02 1.53930756e-03 9.96211376e-01 -1.79708364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62119381700003 meters 0.060110534075755034 Centerline is valid? [True, True] Translation: X:145.93, Y:-52.60, Z:-17.97 [[ 9.29332967e-01 3.60258983e-01 8.09549355e-02 1.45929390e+02] [-3.58659382e-01 9.32848787e-01 -3.40086389e-02 -5.26013215e+01] [-8.77706311e-02 2.57010211e-03 9.96137396e-01 -1.79739307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65119381700003 meters 0.06280447301067944 Centerline is valid? [True, True] Translation: X:145.95, Y:-52.62, Z:-17.98 [[ 9.31506576e-01 3.54703405e-01 8.05046130e-02 1.45952412e+02] [-3.53101068e-01 9.34973819e-01 -3.38170643e-02 -5.26243879e+01] [-8.72647333e-02 3.07455288e-03 9.96180412e-01 -1.79785661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68119381700004 meters 0.06497397687477446 Centerline is valid? [True, True] Translation: X:145.98, Y:-52.65, Z:-17.98 [[ 9.33847272e-01 3.48805102e-01 7.91471601e-02 1.45975614e+02] [-3.47235262e-01 9.37188503e-01 -3.32472894e-02 -5.26459469e+01] [-8.57726327e-02 3.56520564e-03 9.96308358e-01 -1.79823926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71119381700004 meters 0.07151047945658223 Centerline is valid? [True, True] Translation: X:145.99, Y:-52.68, Z:-17.99 [[ 9.37827080e-01 3.38606996e-01 7.63260763e-02 1.45992581e+02] [-3.37113652e-01 9.40917900e-01 -3.20607498e-02 -5.26789505e+01] [-8.26725656e-02 4.33687702e-03 9.96567328e-01 -1.79901312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.741193817 meters 0.07087597479213528 Centerline is valid? [True, True] Translation: X:146.02, Y:-52.69, Z:-17.99 [[ 9.39272423e-01 3.34984924e-01 7.45145327e-02 1.46019474e+02] [-3.33550416e-01 9.42212528e-01 -3.12997246e-02 -5.26932469e+01] [-8.06934620e-02 4.54461474e-03 9.96728605e-01 -1.79920990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.771193817 meters 0.0723274318133061 Centerline is valid? [True, True] Translation: X:146.05, Y:-52.71, Z:-18.00 [[ 9.40318919e-01 3.32481787e-01 7.24995962e-02 1.46045395e+02] [-3.31116741e-01 9.43098322e-01 -3.04509191e-02 -5.27093698e+01] [-7.84986235e-02 4.62774527e-03 9.96903481e-01 -1.79965029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.801193817 meters 0.07715821065487635 Centerline is valid? [True, True] Translation: X:146.07, Y:-52.73, Z:-18.00 [[ 9.40651490e-01 3.31644827e-01 7.20172457e-02 1.46067024e+02] [-3.30295171e-01 9.43392761e-01 -3.02522654e-02 -5.27288691e+01] [-7.79735556e-02 4.66989006e-03 9.96944490e-01 -1.80044656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.831193817 meters 0.07631170685050748 Centerline is valid? [True, True] Translation: X:146.09, Y:-52.74, Z:-18.01 [[ 9.39882257e-01 3.33587705e-01 7.30793081e-02 1.46092697e+02] [-3.32204595e-01 9.42708016e-01 -3.06871917e-02 -5.27418551e+01] [-7.91293194e-02 4.56506503e-03 9.96853907e-01 -1.80050296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86119381700001 meters 0.06916722256390553 Centerline is valid? [True, True] Translation: X:146.12, Y:-52.74, Z:-18.00 [[ 9.38771727e-01 3.36376277e-01 7.45563181e-02 1.46124836e+02] [-3.34945592e-01 9.41717319e-01 -3.13040364e-02 -5.27435196e+01] [-8.07409111e-02 4.41503424e-03 9.96725345e-01 -1.80004096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89119381700002 meters 0.07278924007283953 Centerline is valid? [True, True] Translation: X:146.15, Y:-52.76, Z:-18.01 [[ 9.37306747e-01 3.40111828e-01 7.60263565e-02 1.46148614e+02] [-3.38636580e-01 9.40375748e-01 -3.19173955e-02 -5.27610074e+01] [-8.23488256e-02 4.17108480e-03 9.96594839e-01 -1.80077086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92119381700002 meters 0.06516839781792177 Centerline is valid? [True, True] Translation: X:146.18, Y:-52.76, Z:-18.00 [[ 9.35676183e-01 3.44390350e-01 7.68463828e-02 1.46181894e+02] [-3.42897691e-01 9.38818725e-01 -3.22579410e-02 -5.27598813e+01] [-8.32541468e-02 3.83253987e-03 9.96520978e-01 -1.80036808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95119381700002 meters 0.06314083613118814 Centerline is valid? [True, True] Translation: X:146.21, Y:-52.76, Z:-18.01 [[ 9.32492393e-01 3.52302081e-01 7.96315292e-02 1.46210812e+02] [-3.50727987e-01 9.35880740e-01 -3.34233459e-02 -5.27649750e+01] [-8.63007288e-02 3.23800986e-03 9.96263870e-01 -1.80074840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98119381700002 meters 0.06065187413780886 Centerline is valid? [True, True] Translation: X:146.24, Y:-52.77, Z:-18.01 [[ 9.30826344e-01 3.56414068e-01 8.08166409e-02 1.46240590e+02] [-3.54808579e-01 9.34323623e-01 -3.39151821e-02 -5.27710955e+01] [-8.75967447e-02 2.89470740e-03 9.96151811e-01 -1.80078497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01119381700002 meters 0.05947910642548008 Centerline is valid? [True, True] Translation: X:146.27, Y:-52.78, Z:-18.01 [[ 9.29262159e-01 3.60150160e-01 8.22417297e-02 1.46267946e+02] [-3.58502294e-01 9.32890766e-01 -3.45097636e-02 -5.27795479e+01] [-8.91512471e-02 2.58476862e-03 9.96014746e-01 -1.80109367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04119381700002 meters 0.05734618682775049 Centerline is valid? [True, True] Translation: X:146.30, Y:-52.78, Z:-18.01 [[ 9.26914627e-01 3.65438877e-01 8.53446048e-02 1.46297695e+02] [-3.63686942e-01 9.30832856e-01 -3.58050545e-02 -5.27844339e+01] [-9.25261212e-02 2.14951043e-03 9.95707937e-01 -1.80114684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07119381700002 meters 0.0567050157490756 Centerline is valid? [True, True] Translation: X:146.32, Y:-52.79, Z:-18.01 [[ 9.26103884e-01 3.67471787e-01 8.54171058e-02 1.46324279e+02] [-3.65725723e-01 9.30032634e-01 -3.58328903e-02 -5.27914537e+01] [-9.26082721e-02 1.94574610e-03 9.95700719e-01 -1.80147979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10119381700002 meters 0.056308913368825465 Centerline is valid? [True, True] Translation: X:146.35, Y:-52.80, Z:-18.02 [[ 9.25435578e-01 3.69421925e-01 8.42403254e-02 1.46351824e+02] [-3.67732271e-01 9.29260178e-01 -3.53341057e-02 -5.27990039e+01] [-9.13343731e-02 1.72155229e-03 9.95818793e-01 -1.80202168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13119381700002 meters 0.055877287876503166 Centerline is valid? [True, True] Translation: X:146.38, Y:-52.81, Z:-18.03 [[ 9.24715458e-01 3.71474851e-01 8.31129196e-02 1.46378890e+02] [-3.69840847e-01 9.28441846e-01 -3.48351191e-02 -5.28073055e+01] [-9.01058833e-02 1.47402049e-03 9.95931101e-01 -1.80253302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16119381700003 meters 0.054753297018608676 Centerline is valid? [True, True] Translation: X:146.41, Y:-52.81, Z:-18.03 [[ 9.24030766e-01 3.73507775e-01 8.16032246e-02 1.46406028e+02] [-3.71942703e-01 9.27626233e-01 -3.41789104e-02 -5.28142000e+01] [-8.84633806e-02 1.23064078e-03 9.96078669e-01 -1.80269148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19119381700003 meters 0.054256290889744145 Centerline is valid? [True, True] Translation: X:146.43, Y:-52.82, Z:-18.03 [[ 9.22772104e-01 3.76940518e-01 8.00468038e-02 1.46432012e+02] [-3.75450224e-01 9.26237072e-01 -3.34965174e-02 -5.28221153e+01] [-8.67685118e-02 8.56061471e-04 9.96228133e-01 -1.80325394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22119381700003 meters 0.054848424140479544 Centerline is valid? [True, True] Translation: X:146.46, Y:-52.83, Z:-18.04 [[ 9.22457280e-01 3.77882400e-01 7.92304088e-02 1.46455976e+02] [-3.76429148e-01 9.25853318e-01 -3.31169079e-02 -5.28335949e+01] [-8.58700335e-02 7.24297527e-04 9.96306084e-01 -1.80420112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25119381700003 meters 0.054848424140479544 Centerline is valid? [True, True] Translation: X:146.48, Y:-52.84, Z:-18.05 [[ 9.22570574e-01 3.77605441e-01 7.92317258e-02 1.46481268e+02] [-3.76151440e-01 9.25966292e-01 -3.31137590e-02 -5.28438624e+01] [-8.58698430e-02 7.46651912e-04 9.96306084e-01 -1.80451493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28119381700003 meters 0.0540387274155096 Centerline is valid? [True, True] Translation: X:146.51, Y:-52.85, Z:-18.04 [[ 9.22385089e-01 3.78061609e-01 7.92159538e-02 1.46507812e+02] [-3.76612164e-01 9.25780189e-01 -3.30805032e-02 -5.28532396e+01] [-8.58430290e-02 6.79271158e-04 9.96308443e-01 -1.80427583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31119381700003 meters 0.05505980063322051 Centerline is valid? [True, True] Translation: X:146.53, Y:-52.87, Z:-18.05 [[ 9.22809138e-01 3.77208523e-01 7.83391688e-02 1.46530971e+02] [-3.75791304e-01 9.26128080e-01 -3.26752909e-02 -5.28673980e+01] [-8.48775022e-02 7.13878586e-04 9.96391138e-01 -1.80540755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34119381700003 meters 0.054479088578663536 Centerline is valid? [True, True] Translation: X:146.56, Y:-52.88, Z:-18.05 [[ 9.23852283e-01 3.74652753e-01 7.83088322e-02 1.46556990e+02] [-3.73227774e-01 9.27164722e-01 -3.26589457e-02 -5.28811225e+01] [-8.48409506e-02 9.45010350e-04 9.96394059e-01 -1.80505431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37119381700003 meters 0.054685794326331076 Centerline is valid? [True, True] Translation: X:146.58, Y:-52.89, Z:-18.05 [[ 9.24289912e-01 3.73687875e-01 7.77530083e-02 1.46582360e+02] [-3.72281974e-01 9.27553971e-01 -3.24000233e-02 -5.28945776e+01] [-8.42276075e-02 1.00097120e-03 9.96446039e-01 -1.80543836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40119381700003 meters 0.05525954509912254 Centerline is valid? [True, True] Translation: X:146.61, Y:-52.91, Z:-18.06 [[ 9.24590295e-01 3.73252005e-01 7.62609178e-02 1.46606094e+02] [-3.71900859e-01 9.27729465e-01 -3.17457278e-02 -5.29090719e+01] [-8.25986570e-02 9.90290933e-04 9.96582401e-01 -1.80609873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43119381700004 meters 0.05504163303922854 Centerline is valid? [True, True] Translation: X:146.63, Y:-52.92, Z:-18.06 [[ 9.24484076e-01 3.73746141e-01 7.51200049e-02 1.46631502e+02] [-3.72436988e-01 9.27530570e-01 -3.12687167e-02 -5.29221126e+01] [-8.13626631e-02 9.29962333e-04 9.96684129e-01 -1.80637426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46119381700004 meters 0.05491123050224884 Centerline is valid? [True, True] Translation: X:146.66, Y:-52.94, Z:-18.07 [[ 9.23306776e-01 3.77023528e-01 7.31973820e-02 1.46655311e+02] [-3.75793495e-01 9.26203490e-01 -3.04358964e-02 -5.29368802e+01] [-7.92707198e-02 5.94569381e-04 9.96852948e-01 -1.80705466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.491193817 meters 0.05483761165279772 Centerline is valid? [True, True] Translation: X:146.68, Y:-52.95, Z:-18.07 [[ 9.22525081e-01 3.79090844e-01 7.23713130e-02 1.46680807e+02] [-3.77895519e-01 9.25359373e-01 -3.00833430e-02 -5.29486449e+01] [-7.83737927e-02 4.03843559e-04 9.96923962e-01 -1.80745310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.521193817 meters 0.05469362205474457 Centerline is valid? [True, True] Translation: X:146.71, Y:-52.96, Z:-18.08 [[ 9.21862426e-01 3.80487208e-01 7.34789168e-02 1.46706494e+02] [-3.79259553e-01 9.24786138e-01 -3.05416039e-02 -5.29607042e+01] [-7.95729733e-02 2.87575935e-04 9.96829002e-01 -1.80766961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.551193817 meters 0.05449779979054066 Centerline is valid? [True, True] Translation: X:146.73, Y:-52.97, Z:-18.08 [[ 9.20959488e-01 3.82463886e-01 7.45318627e-02 1.46731324e+02] [-3.81209904e-01 9.23970437e-01 -3.09457692e-02 -5.29733505e+01] [-8.07008769e-02 8.75155308e-05 9.96738361e-01 -1.80796285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.581193817 meters 0.0543758253171011 Centerline is valid? [True, True] Translation: X:146.76, Y:-52.99, Z:-18.08 [[ 9.19076993e-01 3.86702476e-01 7.58859377e-02 1.46755056e+02] [-3.85417626e-01 9.22204482e-01 -3.14983743e-02 -5.29886150e+01] [-8.21628512e-02 -2.98346781e-04 9.96618872e-01 -1.80814280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61119381700001 meters 0.05437444332645471 Centerline is valid? [True, True] Translation: X:146.78, Y:-53.00, Z:-18.08 [[ 9.18143549e-01 3.88737633e-01 7.67820074e-02 1.46781150e+02] [-3.87429575e-01 9.21348367e-01 -3.18670803e-02 -5.30014225e+01] [-8.31309105e-02 -4.89066322e-04 9.96538515e-01 -1.80838152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64119381700002 meters 0.054395758572779 Centerline is valid? [True, True] Translation: X:146.81, Y:-53.01, Z:-18.09 [[ 9.17617525e-01 3.89850050e-01 7.74274908e-02 1.46806348e+02] [-3.88525967e-01 9.20878144e-01 -3.21094492e-02 -5.30145311e+01] [-8.38191544e-02 -6.18397506e-04 9.96480791e-01 -1.80866697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67119381700002 meters 0.05434953317816103 Centerline is valid? [True, True] Translation: X:146.83, Y:-53.03, Z:-18.09 [[ 9.16534677e-01 3.91960528e-01 7.95684023e-02 1.46830507e+02] [-3.90572935e-01 9.19981628e-01 -3.29634069e-02 -5.30331139e+01] [-8.61218226e-02 -8.65158904e-04 9.96284238e-01 -1.80870342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70119381700002 meters 0.05393738799590665 Centerline is valid? [True, True] Translation: X:146.86, Y:-53.05, Z:-18.09 [[ 9.16391112e-01 3.92049824e-01 8.07729204e-02 1.46855567e+02] [-3.90622331e-01 9.19943535e-01 -3.34378018e-02 -5.30496368e+01] [-8.74158103e-02 -9.09602038e-04 9.96171496e-01 -1.80864072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73119381700002 meters 0.05365290589023012 Centerline is valid? [True, True] Translation: X:146.88, Y:-53.06, Z:-18.09 [[ 9.16553556e-01 3.91441489e-01 8.18726993e-02 1.46880085e+02] [-3.89975030e-01 9.20202568e-01 -3.38631001e-02 -5.30648435e+01] [-8.85948905e-02 -8.90963510e-04 9.96067343e-01 -1.80882313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76119381700002 meters 0.05349265347905849 Centerline is valid? [True, True] Translation: X:146.90, Y:-53.08, Z:-18.09 [[ 9.16999124e-01 3.90361924e-01 8.20376455e-02 1.46903986e+02] [-3.88887710e-01 9.20661124e-01 -3.39034493e-02 -5.30798582e+01] [-8.87634867e-02 -8.13998734e-04 9.96052399e-01 -1.80904569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79119381700002 meters 0.053329608601687076 Centerline is valid? [True, True] Translation: X:146.93, Y:-53.10, Z:-18.10 [[ 9.19256048e-01 3.85099838e-01 8.16482317e-02 1.46926249e+02] [-3.83621989e-01 9.22874857e-01 -3.37070973e-02 -5.31018141e+01] [-8.83316978e-02 -3.36603942e-04 9.96091059e-01 -1.80952654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82119381700002 meters 0.05334256691815154 Centerline is valid? [True, True] Translation: X:146.95, Y:-53.12, Z:-18.10 [[ 9.20946319e-01 3.81315247e-01 8.03527198e-02 1.46949629e+02] [-3.79871826e-01 9.24445067e-01 -3.31468463e-02 -5.31204528e+01] [-8.69210733e-02 2.73168132e-06 9.96215201e-01 -1.80987953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85119381700002 meters 0.05384344106354175 Centerline is valid? [True, True] Translation: X:146.97, Y:-53.14, Z:-18.10 [[ 9.23109416e-01 3.76234425e-01 7.94774389e-02 1.46972286e+02] [-3.74805908e-01 9.26524395e-01 -3.27578550e-02 -5.31406150e+01] [-8.59624187e-02 4.50470803e-04 9.96298278e-01 -1.81036546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88119381700002 meters 0.054667323765680696 Centerline is valid? [True, True] Translation: X:146.99, Y:-53.16, Z:-18.11 [[ 9.25423391e-01 3.70778864e-01 7.81957944e-02 1.46993072e+02] [-3.69379387e-01 9.28720734e-01 -3.21973067e-02 -5.31608665e+01] [-8.45601364e-02 9.12226139e-04 9.96417960e-01 -1.81081027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91119381700003 meters 0.058312755096168706 Centerline is valid? [True, True] Translation: X:147.01, Y:-53.19, Z:-18.11 [[ 9.30726344e-01 3.57358522e-01 7.77390403e-02 1.47012405e+02] [-3.55929642e-01 9.33964903e-01 -3.19945186e-02 -5.31925808e+01] [-8.40390492e-02 2.10851260e-03 9.96460231e-01 -1.81113266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94119381700003 meters 0.06038404048754767 Centerline is valid? [True, True] Translation: X:147.04, Y:-53.21, Z:-18.11 [[ 9.33038364e-01 3.51205463e-01 7.80649391e-02 1.47036325e+02] [-3.49743213e-01 9.36294601e-01 -3.21263793e-02 -5.32123494e+01] [-8.43747410e-02 2.67246174e-03 9.96430510e-01 -1.81133115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97119381700003 meters 0.06284217655682134 Centerline is valid? [True, True] Translation: X:147.06, Y:-53.23, Z:-18.12 [[ 9.35063230e-01 3.45459240e-01 7.94648934e-02 1.47060237e+02] [-3.43923578e-01 9.38428144e-01 -3.26984853e-02 -5.32319090e+01] [-8.58680863e-02 3.24530081e-03 9.96301229e-01 -1.81153744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00119381700003 meters 0.06504136580687249 Centerline is valid? [True, True] Translation: X:147.09, Y:-53.25, Z:-18.12 [[ 9.36772773e-01 3.40439394e-01 8.09801894e-02 1.47085151e+02] [-3.38826164e-01 9.40258893e-01 -3.33173223e-02 -5.32504655e+01] [-8.74848723e-02 3.77255342e-03 9.96158705e-01 -1.81164762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03119381700003 meters 0.06678572109808535 Centerline is valid? [True, True] Translation: X:147.11, Y:-53.27, Z:-18.12 [[ 9.38154337e-01 3.36036709e-01 8.33412873e-02 1.47112271e+02] [-3.34310816e-01 9.41839061e-01 -3.42850003e-02 -5.32675145e+01] [-9.00150984e-02 4.30272791e-03 9.95931106e-01 -1.81173600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06119381700003 meters 0.072264151561078 Centerline is valid? [True, True] Translation: X:147.13, Y:-53.29, Z:-18.12 [[ 9.40306348e-01 3.29565255e-01 8.49159253e-02 1.47134933e+02] [-3.27746605e-01 9.44119447e-01 -3.49375464e-02 -5.32889810e+01] [-9.16849778e-02 5.02109051e-03 9.95775403e-01 -1.81201562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09119381700003 meters 0.07146006698532117 Centerline is valid? [True, True] Translation: X:147.16, Y:-53.30, Z:-18.12 [[ 9.41047623e-01 3.27462957e-01 8.48373868e-02 1.47164517e+02] [-3.25639547e-01 9.44849613e-01 -3.49012047e-02 -5.33002369e+01] [-9.15874238e-02 5.21728757e-03 9.95783372e-01 -1.81220910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12119381700003 meters 0.07259309575220231 Centerline is valid? [True, True] Translation: X:147.19, Y:-53.31, Z:-18.13 [[ 9.42146334e-01 3.24545126e-01 8.38495479e-02 1.47193586e+02] [-3.22749596e-01 9.45854413e-01 -3.45272070e-02 -5.33107552e+01] [-9.05151016e-02 5.46727377e-03 9.95880076e-01 -1.81261388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15119381700003 meters 0.07892345587357591 Centerline is valid? [True, True] Translation: X:147.22, Y:-53.33, Z:-18.13 [[ 9.42464468e-01 3.23680274e-01 8.36170282e-02 1.47219082e+02] [-3.21891728e-01 9.46150354e-01 -3.44270809e-02 -5.33289127e+01] [-9.02576478e-02 5.53067083e-03 9.95903092e-01 -1.81342999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18119381700004 meters 0.0738953076588092 Centerline is valid? [True, True] Translation: X:147.25, Y:-53.33, Z:-18.14 [[ 9.42581420e-01 3.23533052e-01 8.28651412e-02 1.47253583e+02] [-3.21773750e-01 9.46200776e-01 -3.41430268e-02 -5.33301585e+01] [-8.94534585e-02 5.51875548e-03 9.95975714e-01 -1.81355766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21119381700004 meters 0.07469217966627564 Centerline is valid? [True, True] Translation: X:147.28, Y:-53.34, Z:-18.14 [[ 9.42647572e-01 3.23483112e-01 8.23057157e-02 1.47283755e+02] [-3.21744862e-01 9.46217887e-01 -3.39404569e-02 -5.33392079e+01] [-8.88583050e-02 5.51244820e-03 9.96029023e-01 -1.81409982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.241193817 meters 0.07528746902158301 Centerline is valid? [True, True] Translation: X:147.32, Y:-53.34, Z:-18.15 [[ 9.43125535e-01 3.22961979e-01 7.88021940e-02 1.47315133e+02] [-3.21364352e-01 9.46396799e-01 -3.25277235e-02 -5.33423268e+01] [-8.50833621e-02 5.35351061e-03 9.96359454e-01 -1.81484852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.271193817 meters 0.07465004783193166 Centerline is valid? [True, True] Translation: X:147.35, Y:-53.35, Z:-18.15 [[ 9.43342803e-01 3.22707343e-01 7.72290576e-02 1.47346590e+02] [-3.21172343e-01 9.46484145e-01 -3.18761608e-02 -5.33488547e+01] [-8.33827498e-02 5.26630954e-03 9.96503679e-01 -1.81538468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.301193817 meters 0.07569016325844355 Centerline is valid? [True, True] Translation: X:147.38, Y:-53.36, Z:-18.16 [[ 9.43502614e-01 3.22513614e-01 7.60774970e-02 1.47376031e+02] [-3.21020703e-01 9.46550340e-01 -3.14350408e-02 -5.33576915e+01] [-8.21494093e-02 5.23659166e-03 9.96606268e-01 -1.81596739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.331193817 meters 0.0756597200889123 Centerline is valid? [True, True] Translation: X:147.41, Y:-53.36, Z:-18.16 [[ 9.43969940e-01 3.21517178e-01 7.44812506e-02 1.47406606e+02] [-3.20082957e-01 9.46889386e-01 -3.07797372e-02 -5.33636670e+01] [-8.04217199e-02 5.21496775e-03 9.96747285e-01 -1.81645652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36119381700001 meters 0.07651446074558553 Centerline is valid? [True, True] Translation: X:147.43, Y:-53.37, Z:-18.17 [[ 9.44114908e-01 3.21354537e-01 7.33369052e-02 1.47434419e+02] [-3.19963257e-01 9.46944936e-01 -3.03117531e-02 -5.33698639e+01] [-7.91868304e-02 5.15266297e-03 9.96846476e-01 -1.81702077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39119381700002 meters 0.078135951451973 Centerline is valid? [True, True] Translation: X:147.46, Y:-53.37, Z:-18.18 [[ 9.43938674e-01 3.22308312e-01 7.13941989e-02 1.47463703e+02] [-3.20992879e-01 9.46621892e-01 -2.95053594e-02 -5.33710737e+01] [-7.70931342e-02 4.93422038e-03 9.97011686e-01 -1.81768398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42119381700002 meters 0.07532089811927821 Centerline is valid? [True, True] Translation: X:147.50, Y:-53.37, Z:-18.18 [[ 9.43191847e-01 3.24512427e-01 7.12799054e-02 1.47495158e+02] [-3.23208314e-01 9.45869576e-01 -2.94470817e-02 -5.33729204e+01] [-7.69774378e-02 4.73598930e-03 9.97021587e-01 -1.81789278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45119381700002 meters 0.0736820808318784 Centerline is valid? [True, True] Translation: X:147.53, Y:-53.38, Z:-18.18 [[ 9.42024758e-01 3.27969472e-01 7.08899270e-02 1.47525615e+02] [-3.26689597e-01 9.44677954e-01 -2.92825936e-02 -5.33765610e+01] [-7.65719479e-02 4.42592643e-03 9.97054235e-01 -1.81824018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48119381700002 meters 0.06871320690046863 Centerline is valid? [True, True] Translation: X:147.56, Y:-53.37, Z:-18.18 [[ 9.38424064e-01 3.37850534e-01 7.22308334e-02 1.47560849e+02] [-3.36551070e-01 9.41192559e-01 -2.98319356e-02 -5.33691506e+01] [-7.80618582e-02 3.68564194e-03 9.96941705e-01 -1.81842702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51119381700002 meters 0.06472728690462314 Centerline is valid? [True, True] Translation: X:147.59, Y:-53.37, Z:-18.18 [[ 9.36298447e-01 3.43465582e-01 7.33253862e-02 1.47594406e+02] [-3.42143597e-01 9.39159587e-01 -3.02824915e-02 -5.33679896e+01] [-7.92652330e-02 3.26563838e-03 9.96848212e-01 -1.81845956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54119381700002 meters 0.06089125625545781 Centerline is valid? [True, True] Translation: X:147.63, Y:-53.37, Z:-18.18 [[ 9.34020864e-01 3.49359911e-01 7.45162915e-02 1.47628530e+02] [-3.48013245e-01 9.36984393e-01 -3.07738383e-02 -5.33656611e+01] [-8.05717476e-02 2.81075066e-03 9.96744849e-01 -1.81838979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57119381700002 meters 0.05891921664418432 Centerline is valid? [True, True] Translation: X:147.66, Y:-53.37, Z:-18.19 [[ 9.31705284e-01 3.54979681e-01 7.69070178e-02 1.47659916e+02] [-3.53564129e-01 9.34870935e-01 -3.17606740e-02 -5.33671495e+01] [-8.31725296e-02 2.40002502e-03 9.96532273e-01 -1.81858400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60119381700002 meters 0.05741179003439503 Centerline is valid? [True, True] Translation: X:147.69, Y:-53.37, Z:-18.19 [[ 9.28865797e-01 3.62162655e-01 7.77595104e-02 1.47690325e+02] [-3.60740771e-01 9.32113224e-01 -3.21097224e-02 -5.33678826e+01] [-8.41096102e-02 1.77459724e-03 9.96454928e-01 -1.81909250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63119381700002 meters 0.05617696169529838 Centerline is valid? [True, True] Translation: X:147.72, Y:-53.37, Z:-18.19 [[ 9.28230887e-01 3.63599239e-01 7.86321419e-02 1.47719019e+02] [-3.62150009e-01 9.31553979e-01 -3.24739219e-02 -5.33741785e+01] [-8.50575779e-02 1.66666640e-03 9.96374644e-01 -1.81914049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66119381700003 meters 0.055668012961499806 Centerline is valid? [True, True] Translation: X:147.75, Y:-53.38, Z:-18.19 [[ 9.28106753e-01 3.63595194e-01 8.01023674e-02 1.47747048e+02] [-3.62093526e-01 9.31555547e-01 -3.30536152e-02 -5.33818911e+01] [-8.66379403e-02 1.67273486e-03 9.96238460e-01 -1.81926394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69119381700003 meters 0.056173097317509774 Centerline is valid? [True, True] Translation: X:147.77, Y:-53.39, Z:-18.20 [[ 9.28387568e-01 3.62659414e-01 8.10843558e-02 1.47773294e+02] [-3.61120030e-01 9.31920107e-01 -3.34251149e-02 -5.33913817e+01] [-8.76860741e-02 1.75027616e-03 9.96146620e-01 -1.81962488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72119381700003 meters 0.05710580910747645 Centerline is valid? [True, True] Translation: X:147.80, Y:-53.40, Z:-18.20 [[ 9.29951441e-01 3.58333092e-01 8.23875791e-02 1.47799862e+02] [-3.56727200e-01 9.33591241e-01 -3.39573295e-02 -5.34021424e+01] [-8.90843570e-02 2.18877712e-03 9.96021680e-01 -1.81986748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75119381700003 meters 0.05815882809298213 Centerline is valid? [True, True] Translation: X:147.83, Y:-53.42, Z:-18.20 [[ 9.31263568e-01 3.54961964e-01 8.21594274e-02 1.47825250e+02] [-3.53354369e-01 9.34877459e-01 -3.38352964e-02 -5.34156617e+01] [-8.88192400e-02 2.47818618e-03 9.96044678e-01 -1.82029630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78119381700003 meters 0.05894436557741562 Centerline is valid? [True, True] Translation: X:147.85, Y:-53.43, Z:-18.21 [[ 9.32466926e-01 3.51944490e-01 8.14893086e-02 1.47851538e+02] [-3.50354611e-01 9.36016949e-01 -3.35248994e-02 -5.34291976e+01] [-8.80742776e-02 2.71070488e-03 9.96110222e-01 -1.82066095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81119381700003 meters 0.06182814255616865 Centerline is valid? [True, True] Translation: X:147.88, Y:-53.45, Z:-18.21 [[ 9.34742425e-01 3.46527325e-01 7.85837851e-02 1.47875099e+02] [-3.45030268e-01 9.38034749e-01 -3.23252826e-02 -5.34470058e+01] [-8.49159148e-02 3.10202863e-03 9.96383292e-01 -1.82143434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84119381700003 meters 0.06299318763179063 Centerline is valid? [True, True] Translation: X:147.90, Y:-53.46, Z:-18.22 [[ 9.35846520e-01 3.43770332e-01 7.75451460e-02 1.47900994e+02] [-3.42303355e-01 9.39047937e-01 -3.18964873e-02 -5.34608054e+01] [-8.37836754e-02 3.30625298e-03 9.96478482e-01 -1.82187191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87119381700003 meters 0.06425748975880499 Centerline is valid? [True, True] Translation: X:147.93, Y:-53.47, Z:-18.22 [[ 9.36940954e-01 3.40839667e-01 7.72655788e-02 1.47927154e+02] [-3.39373644e-01 9.40114730e-01 -3.17777474e-02 -5.34746457e+01] [-8.34696256e-02 3.55197192e-03 9.96503992e-01 -1.82226856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90119381700003 meters 0.06525115857458817 Centerline is valid? [True, True] Translation: X:147.95, Y:-53.49, Z:-18.23 [[ 9.37945125e-01 3.38187249e-01 7.67354339e-02 1.47953032e+02] [-3.36732714e-01 9.41071333e-01 -3.15567080e-02 -5.34876968e+01] [-8.28855933e-02 3.75912947e-03 9.96551979e-01 -1.82257659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93119381700004 meters 0.06656178763044078 Centerline is valid? [True, True] Translation: X:147.98, Y:-53.50, Z:-18.23 [[ 9.38800729e-01 3.35844203e-01 7.65628010e-02 1.47979268e+02] [-3.34388976e-01 9.41909263e-01 -3.14794066e-02 -5.35015850e+01] [-8.26873877e-02 3.95113323e-03 9.96567702e-01 -1.82296413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96119381700004 meters 0.06941671772404374 Centerline is valid? [True, True] Translation: X:148.00, Y:-53.52, Z:-18.24 [[ 9.40363982e-01 3.31575859e-01 7.59804693e-02 1.48004004e+02] [-3.30129178e-01 9.43418808e-01 -3.12358410e-02 -5.35189653e+01] [-8.20384547e-02 4.28968992e-03 9.96619933e-01 -1.82352093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.991193817 meters 0.06930652113713875 Centerline is valid? [True, True] Translation: X:148.03, Y:-53.53, Z:-18.24 [[ 9.41143482e-01 3.29274389e-01 7.63369000e-02 1.48030238e+02] [-3.27805985e-01 9.44223472e-01 -3.13890207e-02 -5.35301763e+01] [-8.24146934e-02 4.51787957e-03 9.96587882e-01 -1.82368510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.021193817 meters 0.07035747109494364 Centerline is valid? [True, True] Translation: X:148.06, Y:-53.54, Z:-18.24 [[ 9.41698387e-01 3.27678198e-01 7.63619418e-02 1.48055991e+02] [-3.26206359e-01 9.44778061e-01 -3.13660249e-02 -5.35429423e+01] [-8.24230498e-02 4.62758405e-03 9.96586688e-01 -1.82408401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.051193817 meters 0.07169003595698933 Centerline is valid? [True, True] Translation: X:148.08, Y:-53.56, Z:-18.24 [[ 9.42934452e-01 3.24315939e-01 7.54572138e-02 1.48082193e+02] [-3.22868877e-01 9.45936366e-01 -3.09851616e-02 -5.35569553e+01] [-8.14267044e-02 4.85419053e-03 9.96667512e-01 -1.82443529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.081193817 meters 0.07318189569544098 Centerline is valid? [True, True] Translation: X:148.11, Y:-53.57, Z:-18.25 [[ 9.43417973e-01 3.22802879e-01 7.59001348e-02 1.48106369e+02] [-3.21333701e-01 9.46452925e-01 -3.11691148e-02 -5.35698736e+01] [-8.18973846e-02 5.01623187e-03 9.96628143e-01 -1.82476417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11119381700001 meters 0.0736832320012741 Centerline is valid? [True, True] Translation: X:148.13, Y:-53.58, Z:-18.25 [[ 9.44128957e-01 3.20510648e-01 7.67687240e-02 1.48133161e+02] [-3.19001548e-01 9.47230320e-01 -3.15076781e-02 -5.35821211e+01] [-8.28162093e-02 5.25796948e-03 9.96550967e-01 -1.82492186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14119381700002 meters 0.07660803353942669 Centerline is valid? [True, True] Translation: X:148.16, Y:-53.60, Z:-18.25 [[ 9.44718294e-01 3.18634745e-01 7.73255754e-02 1.48157241e+02] [-3.17097582e-01 9.47861852e-01 -3.17337851e-02 -5.35970702e+01] [-8.34054496e-02 5.45973436e-03 9.96500739e-01 -1.82533054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17119381700002 meters 0.07660803353942669 Centerline is valid? [True, True] Translation: X:148.18, Y:-53.61, Z:-18.26 [[ 9.44756693e-01 3.18520347e-01 7.73277468e-02 1.48182635e+02] [-3.16983234e-01 9.47900276e-01 -3.17284930e-02 -5.36073237e+01] [-8.34051631e-02 5.46410692e-03 9.96500739e-01 -1.82564530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20119381700002 meters 0.07607573633794526 Centerline is valid? [True, True] Translation: X:148.21, Y:-53.62, Z:-18.26 [[ 9.45424264e-01 3.16114247e-01 7.90236936e-02 1.48210249e+02] [-3.14501545e-01 9.48703464e-01 -3.24116628e-02 -5.36173434e+01] [-8.52158403e-02 5.78969877e-03 9.96345693e-01 -1.82565624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23119381700002 meters 0.07793983923237725 Centerline is valid? [True, True] Translation: X:148.24, Y:-53.63, Z:-18.26 [[ 9.47006504e-01 3.11076166e-01 8.00643558e-02 1.48238240e+02] [-3.09403590e-01 9.50363995e-01 -3.28282836e-02 -5.36309212e+01] [-8.63023776e-02 6.31639889e-03 9.96248966e-01 -1.82570468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26119381700002 meters 0.08036506443354219 Centerline is valid? [True, True] Translation: X:148.26, Y:-53.64, Z:-18.26 [[ 9.47861476e-01 3.08025536e-01 8.17244827e-02 1.48264050e+02] [-3.06271410e-01 9.51354269e-01 -3.35093909e-02 -5.36445974e+01] [-8.80706836e-02 6.73238823e-03 9.96091477e-01 -1.82599144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29119381700002 meters 0.08527896233933985 Centerline is valid? [True, True] Translation: X:148.29, Y:-53.66, Z:-18.26 [[ 9.48837136e-01 3.04989774e-01 8.17883009e-02 1.48287999e+02] [-3.03222116e-01 9.52329786e-01 -3.35309787e-02 -5.36613676e+01] [-8.81160408e-02 7.01541608e-03 9.96085512e-01 -1.82642310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32119381700002 meters 0.08400170693241865 Centerline is valid? [True, True] Translation: X:148.32, Y:-53.67, Z:-18.27 [[ 9.49606563e-01 3.02328681e-01 8.27329666e-02 1.48317233e+02] [-3.00510046e-01 9.53175443e-01 -3.39158897e-02 -5.36708487e+01] [-8.91127782e-02 7.34466379e-03 9.95994462e-01 -1.82655969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35119381700002 meters 0.08974719501006671 Centerline is valid? [True, True] Translation: X:148.34, Y:-53.69, Z:-18.27 [[ 9.50677652e-01 2.98737081e-01 8.34755010e-02 1.48340689e+02] [-2.96871784e-01 9.54303971e-01 -3.42209713e-02 -5.36895128e+01] [-8.98840752e-02 7.75159174e-03 9.95922068e-01 -1.82701628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38119381700002 meters 0.08748932105471918 Centerline is valid? [True, True] Translation: X:148.37, Y:-53.70, Z:-18.27 [[ 9.51127848e-01 2.97204756e-01 8.38161636e-02 1.48370208e+02] [-2.95318476e-01 9.54780865e-01 -3.43583820e-02 -5.36956193e+01] [-9.02375437e-02 7.92675226e-03 9.95888725e-01 -1.82722327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41119381700003 meters 0.08818795383780126 Centerline is valid? [True, True] Translation: X:148.40, Y:-53.70, Z:-18.28 [[ 9.51398663e-01 2.96729534e-01 8.24146100e-02 1.48396871e+02] [-2.94904407e-01 9.54929416e-01 -3.37816526e-02 -5.37046761e+01] [-8.87241495e-02 7.83538739e-03 9.96025417e-01 -1.82762046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44119381700003 meters 0.08849180210276301 Centerline is valid? [True, True] Translation: X:148.42, Y:-53.71, Z:-18.28 [[ 9.51504825e-01 2.97188566e-01 7.94828545e-02 1.48424651e+02] [-2.95493693e-01 9.54789318e-01 -3.25704683e-02 -5.37102663e+01] [-8.55689512e-02 7.50427547e-03 9.96303990e-01 -1.82833564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47119381700003 meters 0.09350680084437529 Centerline is valid? [True, True] Translation: X:148.45, Y:-53.73, Z:-18.29 [[ 9.51329722e-01 2.98013828e-01 7.84825953e-02 1.48447858e+02] [-2.96364784e-01 9.54533412e-01 -3.21539968e-02 -5.37254307e+01] [-8.44965952e-02 7.32957543e-03 9.96396810e-01 -1.82908900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50119381700003 meters 0.08424740026628981 Centerline is valid? [True, True] Translation: X:148.48, Y:-53.72, Z:-18.29 [[ 9.50916234e-01 2.99314525e-01 7.85438102e-02 1.48481042e+02] [-2.97668113e-01 9.54127258e-01 -3.21693829e-02 -5.37217295e+01] [-8.45695539e-02 7.21040063e-03 9.96391490e-01 -1.82905110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53119381700003 meters 0.09141784404044745 Centerline is valid? [True, True] Translation: X:148.51, Y:-53.74, Z:-18.30 [[ 9.49515858e-01 3.03501768e-01 7.94122914e-02 1.48505337e+02] [-3.01833959e-01 9.52805858e-01 -3.25155122e-02 -5.37381066e+01] [-8.55330119e-02 6.90466812e-03 9.96311412e-01 -1.82983756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56119381700003 meters 0.08121410378828336 Centerline is valid? [True, True] Translation: X:148.54, Y:-53.73, Z:-18.30 [[ 9.48777474e-01 3.05598797e-01 8.01915182e-02 1.48540353e+02] [-3.03905656e-01 9.52136236e-01 -3.28319934e-02 -5.37328890e+01] [-8.63866680e-02 6.77959979e-03 9.96238616e-01 -1.82962874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59119381700003 meters 0.08360413783701581 Centerline is valid? [True, True] Translation: X:148.57, Y:-53.75, Z:-18.30 [[ 9.47943135e-01 3.07946000e-01 8.10744990e-02 1.48565822e+02] [-3.06223939e-01 9.51380688e-01 -3.31916451e-02 -5.37451563e+01] [-8.73539469e-02 6.63683966e-03 9.96155229e-01 -1.83006602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62119381700003 meters 0.07910305285799756 Centerline is valid? [True, True] Translation: X:148.60, Y:-53.75, Z:-18.30 [[ 9.47109157e-01 3.10344117e-01 8.16748051e-02 1.48597321e+02] [-3.08605450e-01 9.50602325e-01 -3.34349357e-02 -5.37482248e+01] [-8.80165953e-02 6.46124377e-03 9.96098053e-01 -1.83021623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65119381700003 meters 0.08269804223813355 Centerline is valid? [True, True] Translation: X:148.62, Y:-53.76, Z:-18.31 [[ 9.46523891e-01 3.11882118e-01 8.25958089e-02 1.48621817e+02] [-3.10109803e-01 9.50099322e-01 -3.38110659e-02 -5.37622115e+01] [-8.90192889e-02 6.38921165e-03 9.96009410e-01 -1.83077004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68119381700004 meters 0.08154877925135294 Centerline is valid? [True, True] Translation: X:148.65, Y:-53.77, Z:-18.31 [[ 9.46042295e-01 3.13797762e-01 8.08389804e-02 1.48649997e+02] [-3.12107609e-01 9.49470435e-01 -3.30867477e-02 -5.37679103e+01] [-8.71367693e-02 6.07100180e-03 9.96177859e-01 -1.83127601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71119381700004 meters 0.07881036105677827 Centerline is valid? [True, True] Translation: X:148.68, Y:-53.77, Z:-18.32 [[ 9.46204059e-01 3.13728306e-01 7.91986597e-02 1.48678826e+02] [-3.12106024e-01 9.49494137e-01 -3.24147052e-02 -5.37731209e+01] [-8.53680736e-02 5.95254695e-03 9.96331701e-01 -1.83161090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.741193817 meters 0.07984923260738132 Centerline is valid? [True, True] Translation: X:148.70, Y:-53.78, Z:-18.32 [[ 9.46354793e-01 3.13476317e-01 7.83913510e-02 1.48704945e+02] [-3.11888645e-01 9.49577777e-01 -3.20549335e-02 -5.37824134e+01] [-8.44871473e-02 5.88596766e-03 9.96407185e-01 -1.83212550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.771193817 meters 0.08098953368026654 Centerline is valid? [True, True] Translation: X:148.73, Y:-53.79, Z:-18.32 [[ 9.46635652e-01 3.12764188e-01 7.78428235e-02 1.48731992e+02] [-3.11197086e-01 9.49812490e-01 -3.18215002e-02 -5.37924875e+01] [-8.38887117e-02 5.89890672e-03 9.96457669e-01 -1.83248254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.801193817 meters 0.08175880691491907 Centerline is valid? [True, True] Translation: X:148.76, Y:-53.80, Z:-18.33 [[ 9.46761437e-01 3.12299788e-01 7.81768713e-02 1.48758283e+02] [-3.10720071e-01 9.49965043e-01 -3.19288995e-02 -5.38014730e+01] [-8.42366835e-02 5.93792777e-03 9.96428082e-01 -1.83283074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.831193817 meters 0.08303581640186597 Centerline is valid? [True, True] Translation: X:148.78, Y:-53.81, Z:-18.33 [[ 9.46927025e-01 3.11847621e-01 7.79760924e-02 1.48783867e+02] [-3.10275758e-01 9.50113507e-01 -3.18320204e-02 -5.38111417e+01] [-8.40128785e-02 5.94850911e-03 9.96446914e-01 -1.83322306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86119381700001 meters 0.07833106586452718 Centerline is valid? [True, True] Translation: X:148.82, Y:-53.81, Z:-18.33 [[ 9.47272524e-01 3.10378545e-01 7.96236435e-02 1.48815173e+02] [-3.08734529e-01 9.50592792e-01 -3.25012839e-02 -5.38105992e+01] [-8.57773628e-02 6.20500509e-03 9.96295007e-01 -1.83306670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89119381700002 meters 0.085731106697398 Centerline is valid? [True, True] Translation: X:148.84, Y:-53.83, Z:-18.34 [[ 9.47648586e-01 3.08933544e-01 8.07602820e-02 1.48836497e+02] [-3.07239745e-01 9.51062119e-01 -3.29330299e-02 -5.38295439e+01] [-8.69821625e-02 6.39617074e-03 9.96189336e-01 -1.83361533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92119381700002 meters 0.0883115548697474 Centerline is valid? [True, True] Translation: X:148.86, Y:-53.84, Z:-18.34 [[ 9.48205719e-01 3.06890909e-01 8.19992959e-02 1.48862005e+02] [-3.05138159e-01 9.51721303e-01 -3.34255053e-02 -5.38416026e+01] [-8.82984605e-02 6.67314106e-03 9.96071710e-01 -1.83390753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95119381700002 meters 0.08237025522774935 Centerline is valid? [True, True] Translation: X:148.89, Y:-53.84, Z:-18.34 [[ 9.48698777e-01 3.05116630e-01 8.29124349e-02 1.48893822e+02] [-3.03318614e-01 9.52289948e-01 -3.37886701e-02 -5.38421647e+01] [-8.92661634e-02 6.90638519e-03 9.95983862e-01 -1.83380153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98119381700002 meters 0.08205338284493693 Centerline is valid? [True, True] Translation: X:148.92, Y:-53.85, Z:-18.34 [[ 9.49659170e-01 3.01495046e-01 8.51363539e-02 1.48924476e+02] [-2.99585217e-01 9.53438745e-01 -3.46880025e-02 -5.38475521e+01] [-9.16305593e-02 7.43618662e-03 9.95765306e-01 -1.83378984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01119381700002 meters 0.09443991010488477 Centerline is valid? [True, True] Translation: X:148.94, Y:-53.87, Z:-18.34 [[ 9.49818744e-01 3.00482973e-01 8.69156849e-02 1.48943469e+02] [-2.98488000e-01 9.53756153e-01 -3.54134823e-02 -5.38721421e+01] [-9.35375177e-02 7.69310034e-03 9.95586033e-01 -1.83434644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04119381700002 meters 0.0894722473690842 Centerline is valid? [True, True] Translation: X:148.97, Y:-53.87, Z:-18.34 [[ 9.50173377e-01 2.99186768e-01 8.75090371e-02 1.48974705e+02] [-2.97160497e-01 9.54162207e-01 -3.56387628e-02 -5.38730252e+01] [-9.41604623e-02 7.85877470e-03 9.95526015e-01 -1.83440090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07119381700002 meters 0.08521113919452364 Centerline is valid? [True, True] Translation: X:149.01, Y:-53.87, Z:-18.35 [[ 9.50791524e-01 2.97942457e-01 8.50045299e-02 1.49006997e+02] [-2.96028745e-01 9.54552598e-01 -3.45878667e-02 -5.38713665e+01] [-9.14464889e-02 7.72206624e-03 9.95780051e-01 -1.83488427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10119381700002 meters 0.09938418966340924 Centerline is valid? [True, True] Translation: X:149.03, Y:-53.90, Z:-18.36 [[ 9.51050057e-01 2.97589646e-01 8.33318227e-02 1.49025541e+02] [-2.95749570e-01 9.54663628e-01 -3.39050034e-02 -5.38971736e+01] [-8.96436381e-02 7.60000465e-03 9.95944907e-01 -1.83598160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13119381700002 meters 0.08613909336715186 Centerline is valid? [True, True] Translation: X:149.06, Y:-53.89, Z:-18.36 [[ 9.51242527e-01 2.97474021e-01 8.15282937e-02 1.49061839e+02] [-2.95712883e-01 9.54700916e-01 -3.31670162e-02 -5.38852481e+01] [-8.77014624e-02 7.44090951e-03 9.96119012e-01 -1.83594208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16119381700003 meters 0.08720795642771675 Centerline is valid? [True, True] Translation: X:149.09, Y:-53.89, Z:-18.36 [[ 9.51148343e-01 2.98105427e-01 8.03117971e-02 1.49088958e+02] [-2.96401041e-01 9.54505440e-01 -3.26464174e-02 -5.38925951e+01] [-8.63901214e-02 7.24708550e-03 9.96235026e-01 -1.83649659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19119381700003 meters 0.0866445852007718 Centerline is valid? [True, True] Translation: X:149.12, Y:-53.90, Z:-18.37 [[ 9.50655186e-01 2.99661782e-01 8.03587742e-02 1.49119077e+02] [-2.97963808e-01 9.54019246e-01 -3.26320044e-02 -5.38983339e+01] [-8.64423817e-02 7.07777779e-03 9.96231710e-01 -1.83688686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22119381700003 meters 0.08544181303643293 Centerline is valid? [True, True] Translation: X:149.15, Y:-53.90, Z:-18.37 [[ 9.50240592e-01 3.00866160e-01 8.07611974e-02 1.49148623e+02] [-2.99154968e-01 9.53640624e-01 -3.28003915e-02 -5.39023845e+01] [-8.68856866e-02 7.00815000e-03 9.96193637e-01 -1.83719420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25119381700003 meters 0.08584127754198817 Centerline is valid? [True, True] Translation: X:149.18, Y:-53.90, Z:-18.38 [[ 9.49436015e-01 3.03085811e-01 8.19160867e-02 1.49178974e+02] [-3.01336092e-01 9.52938477e-01 -3.32388087e-02 -5.39043755e+01] [-8.81352022e-02 6.87384862e-03 9.96084804e-01 -1.83764620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28119381700003 meters 0.08588576464943141 Centerline is valid? [True, True] Translation: X:149.21, Y:-53.91, Z:-18.38 [[ 9.49531041e-01 3.02998295e-01 8.11346701e-02 1.49206705e+02] [-3.01281214e-01 9.52966697e-01 -3.29257514e-02 -5.39095570e+01] [-8.72950851e-02 6.81967110e-03 9.96159154e-01 -1.83804819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31119381700003 meters 0.086638731962334 Centerline is valid? [True, True] Translation: X:149.23, Y:-53.92, Z:-18.38 [[ 9.49712593e-01 3.02631228e-01 8.03761777e-02 1.49234442e+02] [-3.00947424e-01 9.53083748e-01 -3.25885960e-02 -5.39161338e+01] [-8.64675555e-02 6.76079640e-03 9.96231727e-01 -1.83846814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34119381700003 meters 0.08704666914122604 Centerline is valid? [True, True] Translation: X:149.26, Y:-53.92, Z:-18.39 [[ 9.50107790e-01 3.01512458e-01 7.99088607e-02 1.49263491e+02] [-2.99846994e-01 9.53438041e-01 -3.23679047e-02 -5.39230080e+01] [-8.59474742e-02 6.79256670e-03 9.96276514e-01 -1.83885448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37119381700003 meters 0.09008795786337483 Centerline is valid? [True, True] Translation: X:149.29, Y:-53.93, Z:-18.39 [[ 9.50939560e-01 2.98838682e-01 8.00586976e-02 1.49292104e+02] [-2.97157911e-01 9.54277648e-01 -3.24244683e-02 -5.39290729e+01] [-8.60879110e-02 7.04363426e-03 9.96262645e-01 -1.83935376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40119381700003 meters 0.09008238632973119 Centerline is valid? [True, True] Translation: X:149.32, Y:-53.94, Z:-18.40 [[ 9.51593417e-01 2.96758532e-01 8.00271362e-02 1.49321263e+02] [-2.95071937e-01 9.54925200e-01 -3.24101066e-02 -5.39361682e+01] [-8.60379047e-02 7.22748206e-03 9.96265649e-01 -1.83958886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43119381700004 meters 0.09192622622666376 Centerline is valid? [True, True] Translation: X:149.35, Y:-53.95, Z:-18.40 [[ 9.52144340e-01 2.94779103e-01 8.07863664e-02 1.49348773e+02] [-2.93053277e-01 9.55536175e-01 -3.27168834e-02 -5.39458613e+01] [-8.68385491e-02 7.47648595e-03 9.96194343e-01 -1.83995135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46119381700004 meters 0.08999624666061493 Centerline is valid? [True, True] Translation: X:149.38, Y:-53.95, Z:-18.40 [[ 9.53469916e-01 2.90393038e-01 8.10370441e-02 1.49381231e+02] [-2.88641365e-01 9.56874896e-01 -3.28115371e-02 -5.39474655e+01] [-8.70705551e-02 7.89417049e-03 9.96170869e-01 -1.83999012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.491193817 meters 0.09992230805074669 Centerline is valid? [True, True] Translation: X:149.40, Y:-53.97, Z:-18.41 [[ 9.53689837e-01 2.89176130e-01 8.27820056e-02 1.49402372e+02] [-2.87343250e-01 9.57240948e-01 -3.35205142e-02 -5.39676365e+01] [-8.89356581e-02 8.18132317e-03 9.96003772e-01 -1.84059468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.521193817 meters 0.09054264367277731 Centerline is valid? [True, True] Translation: X:149.44, Y:-53.96, Z:-18.41 [[ 9.54219291e-01 2.87490745e-01 8.25506935e-02 1.49436940e+02] [-2.85662854e-01 9.57747413e-01 -3.34159655e-02 -5.39621510e+01] [-8.86694939e-02 8.30449221e-03 9.96026484e-01 -1.84052074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.551193817 meters 0.095805427245017 Centerline is valid? [True, True] Translation: X:149.46, Y:-53.98, Z:-18.41 [[ 9.54579035e-01 2.86436508e-01 8.20548148e-02 1.49461735e+02] [-2.84627004e-01 9.58062853e-01 -3.32120323e-02 -5.39762700e+01] [-8.81268084e-02 8.34849366e-03 9.96074279e-01 -1.84101791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.581193817 meters 0.09338787145354636 Centerline is valid? [True, True] Translation: X:149.49, Y:-53.98, Z:-18.41 [[ 9.54700604e-01 2.86165620e-01 8.15842807e-02 1.49492008e+02] [-2.84375848e-01 9.58143999e-01 -3.30220243e-02 -5.39764072e+01] [-8.76192571e-02 8.32554757e-03 9.96119245e-01 -1.84137922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61119381700001 meters 0.09521071649939383 Centerline is valid? [True, True] Translation: X:149.52, Y:-53.99, Z:-18.42 [[ 9.54529098e-01 2.86924858e-01 8.09217313e-02 1.49517335e+02] [-2.85169430e-01 9.57918342e-01 -3.27237815e-02 -5.39859536e+01] [-8.69056771e-02 8.15939760e-03 9.96183130e-01 -1.84198354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64119381700002 meters 0.0848801342255953 Centerline is valid? [True, True] Translation: X:149.55, Y:-53.98, Z:-18.42 [[ 9.54498102e-01 2.87332061e-01 7.98352061e-02 1.49551798e+02] [-2.85625221e-01 9.57797541e-01 -3.22816267e-02 -5.39784748e+01] [-8.57415104e-02 8.00980307e-03 9.96285218e-01 -1.84189956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67119381700002 meters 0.09095604854741865 Centerline is valid? [True, True] Translation: X:149.58, Y:-53.99, Z:-18.43 [[ 9.54048689e-01 2.89152030e-01 7.86269870e-02 1.49577865e+02] [-2.87505558e-01 9.57252267e-01 -3.17592685e-02 -5.39893442e+01] [-8.44491185e-02 7.69419269e-03 9.96398086e-01 -1.84267388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70119381700002 meters 0.09342544898513422 Centerline is valid? [True, True] Translation: X:149.60, Y:-54.00, Z:-18.43 [[ 9.53852542e-01 2.89742165e-01 7.88340451e-02 1.49603632e+02] [-2.88089041e-01 9.57074072e-01 -3.18421992e-02 -5.39991108e+01] [-8.46760483e-02 7.66153818e-03 9.96379078e-01 -1.84315045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73119381700002 meters 0.08989380392617942 Centerline is valid? [True, True] Translation: X:149.63, Y:-54.00, Z:-18.43 [[ 9.53574225e-01 2.90551083e-01 7.92228888e-02 1.49633910e+02] [-2.88885589e-01 9.56829194e-01 -3.19845307e-02 -5.40011649e+01] [-8.50959129e-02 7.61327309e-03 9.96343677e-01 -1.84334120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76119381700002 meters 0.08658050339570189 Centerline is valid? [True, True] Translation: X:149.67, Y:-54.00, Z:-18.44 [[ 9.52953034e-01 2.92389382e-01 7.99309981e-02 1.49666086e+02] [-2.90701068e-01 9.56269880e-01 -3.22615158e-02 -5.40016047e+01] [-8.58685306e-02 7.50768291e-03 9.96278189e-01 -1.84352388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79119381700002 meters 0.0835165599785018 Centerline is valid? [True, True] Translation: X:149.70, Y:-54.01, Z:-18.44 [[ 9.52495313e-01 2.93745962e-01 8.04113677e-02 1.49696333e+02] [-2.92042131e-01 9.55854655e-01 -3.24541698e-02 -5.40052128e+01] [-8.63948614e-02 7.42893745e-03 9.96233275e-01 -1.84368302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82119381700002 meters 0.09205719576202075 Centerline is valid? [True, True] Translation: X:149.72, Y:-54.02, Z:-18.44 [[ 9.52206105e-01 2.94433117e-01 8.13183450e-02 1.49718496e+02] [-2.92693251e-01 9.55643067e-01 -3.28175226e-02 -5.40242291e+01] [-8.73738780e-02 7.44771462e-03 9.96147749e-01 -1.84437799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85119381700002 meters 0.08939934515410225 Centerline is valid? [True, True] Translation: X:149.75, Y:-54.03, Z:-18.44 [[ 9.51916404e-01 2.95172206e-01 8.20276076e-02 1.49748513e+02] [-2.93405175e-01 9.55415122e-01 -3.30960488e-02 -5.40276222e+01] [-8.81394505e-02 7.43734719e-03 9.96080380e-01 -1.84443517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88119381700002 meters 0.08462906927403868 Centerline is valid? [True, True] Translation: X:149.78, Y:-54.03, Z:-18.44 [[ 9.51811880e-01 2.95328574e-01 8.26751363e-02 1.49780121e+02] [-2.93534253e-01 9.55366468e-01 -3.33549745e-02 -5.40276728e+01] [-8.88357300e-02 7.47967663e-03 9.96018206e-01 -1.84446136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91119381700003 meters 0.0857200452097176 Centerline is valid? [True, True] Translation: X:149.81, Y:-54.03, Z:-18.45 [[ 9.52042448e-01 2.94452617e-01 8.31434512e-02 1.49807489e+02] [-2.92637114e-01 9.55636041e-01 -3.35153140e-02 -5.40333421e+01] [-8.93235505e-02 7.57714194e-03 9.95973840e-01 -1.84476727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94119381700003 meters 0.08729439484571724 Centerline is valid? [True, True] Translation: X:149.83, Y:-54.04, Z:-18.45 [[ 9.52307027e-01 2.93395271e-01 8.38483212e-02 1.49832954e+02] [-2.91545572e-01 9.55959946e-01 -3.37899531e-02 -5.40440070e+01] [-9.00694490e-02 7.73280301e-03 9.95905466e-01 -1.84514503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97119381700003 meters 0.0877921915461582 Centerline is valid? [True, True] Translation: X:149.86, Y:-54.05, Z:-18.46 [[ 9.52876255e-01 2.91560963e-01 8.37797538e-02 1.49860548e+02] [-2.89708198e-01 9.56519709e-01 -3.37521234e-02 -5.40533810e+01] [-8.99777873e-02 7.88991545e-03 9.95912520e-01 -1.84552656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00119381700003 meters 0.09117259970532292 Centerline is valid? [True, True] Translation: X:149.89, Y:-54.06, Z:-18.46 [[ 9.53888893e-01 2.88446089e-01 8.30351310e-02 1.49887763e+02] [-2.86615085e-01 9.57461838e-01 -3.34457961e-02 -5.40632434e+01] [-8.91502783e-02 8.10445227e-03 9.95985214e-01 -1.84605172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03119381700003 meters 0.09443587448452569 Centerline is valid? [True, True] Translation: X:149.91, Y:-54.07, Z:-18.47 [[ 9.54602681e-01 2.86483319e-01 8.16151252e-02 1.49913715e+02] [-2.84707668e-01 9.58050626e-01 -3.28715990e-02 -5.40749379e+01] [-8.76085866e-02 8.14286455e-03 9.96121694e-01 -1.84650896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06119381700003 meters 0.09443587448452569 Centerline is valid? [True, True] Translation: X:149.94, Y:-54.08, Z:-18.47 [[ 9.54686610e-01 2.86204110e-01 8.16130195e-02 1.49939184e+02] [-2.84427008e-01 9.58133806e-01 -3.28768306e-02 -5.40849532e+01] [-8.76056771e-02 8.17412302e-03 9.96121694e-01 -1.84682356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09119381700003 meters 0.08836211726492126 Centerline is valid? [True, True] Translation: X:149.97, Y:-54.08, Z:-18.47 [[ 9.55213703e-01 2.84761941e-01 8.04824137e-02 1.49971484e+02] [-2.83031802e-01 9.58563559e-01 -3.23867510e-02 -5.40840641e+01] [-8.63700230e-02 8.15718575e-03 9.96229732e-01 -1.84694958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12119381700003 meters 0.0885915766854916 Centerline is valid? [True, True] Translation: X:150.00, Y:-54.09, Z:-18.47 [[ 9.55878894e-01 2.82844362e-01 7.93385618e-02 1.50000377e+02] [-2.81157000e-01 9.59130704e-01 -3.19223064e-02 -5.40918925e+01] [-8.51250950e-02 8.20726687e-03 9.96336469e-01 -1.84734920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15119381700003 meters 0.09227003148153942 Centerline is valid? [True, True] Translation: X:150.03, Y:-54.10, Z:-18.48 [[ 9.56434526e-01 2.81185552e-01 7.85345946e-02 1.50026327e+02] [-2.79526870e-01 9.59617797e-01 -3.15976702e-02 -5.41043663e+01] [-8.42480030e-02 8.26857330e-03 9.96410510e-01 -1.84793392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18119381700004 meters 0.08626947178349861 Centerline is valid? [True, True] Translation: X:150.06, Y:-54.10, Z:-18.48 [[ 9.57572282e-01 2.77658758e-01 7.72071197e-02 1.50060768e+02] [-2.76044806e-01 9.60642786e-01 -3.10596703e-02 -5.40997816e+01] [-8.27924520e-02 8.42925496e-03 9.96531162e-01 -1.84793826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21119381700004 meters 0.08713831262556951 Centerline is valid? [True, True] Translation: X:150.09, Y:-54.11, Z:-18.48 [[ 9.57908332e-01 2.76458801e-01 7.73444095e-02 1.50088820e+02] [-2.74834695e-01 9.60987696e-01 -3.11213520e-02 -5.41074584e+01] [-8.29307976e-02 8.55447526e-03 9.96518592e-01 -1.84828664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.241193817 meters 0.09057148933713316 Centerline is valid? [True, True] Translation: X:150.11, Y:-54.12, Z:-18.49 [[ 9.57949066e-01 2.76216208e-01 7.77058146e-02 1.50114350e+02] [-2.74578711e-01 9.61057178e-01 -3.12351042e-02 -5.41184125e+01] [-8.33073730e-02 8.58527649e-03 9.96486916e-01 -1.84868393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.271193817 meters 0.09046294328007644 Centerline is valid? [True, True] Translation: X:150.14, Y:-54.12, Z:-18.49 [[ 9.57967790e-01 2.75944901e-01 7.84354770e-02 1.50142664e+02] [-2.74275843e-01 9.61134201e-01 -3.15247509e-02 -5.41249682e+01] [-8.40861138e-02 8.68673944e-03 9.96420627e-01 -1.84893518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.301193817 meters 0.08923013152986715 Centerline is valid? [True, True] Translation: X:150.17, Y:-54.13, Z:-18.49 [[ 9.57496389e-01 2.76522701e-01 8.20722919e-02 1.50173838e+02] [-2.74699964e-01 9.60965182e-01 -3.29522178e-02 -5.41274956e+01] [-8.79806512e-02 9.00637385e-03 9.96081468e-01 -1.84892789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.331193817 meters 0.08736504829353532 Centerline is valid? [True, True] Translation: X:150.20, Y:-54.13, Z:-18.49 [[ 9.57257381e-01 2.76924267e-01 8.34940514e-02 1.50203019e+02] [-2.75039415e-01 9.60848435e-01 -3.35202118e-02 -5.41322087e+01] [-8.95076887e-02 9.12331516e-03 9.95944345e-01 -1.84901552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36119381700001 meters 0.09162958656658658 Centerline is valid? [True, True] Translation: X:150.23, Y:-54.14, Z:-18.49 [[ 9.57082751e-01 2.77206057e-01 8.45541796e-02 1.50228108e+02] [-2.75274268e-01 9.60766346e-01 -3.39426964e-02 -5.41449976e+01] [-9.06459312e-02 9.21037938e-03 9.95840592e-01 -1.84936223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39119381700002 meters 0.08891717391259517 Centerline is valid? [True, True] Translation: X:150.26, Y:-54.15, Z:-18.50 [[ 9.56233320e-01 2.80347366e-01 8.38044877e-02 1.50260073e+02] [-2.78464648e-01 9.59858267e-01 -3.36087280e-02 -5.41451275e+01] [-8.98625487e-02 8.80119836e-03 9.95915288e-01 -1.84963436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42119381700002 meters 0.08662126616759076 Centerline is valid? [True, True] Translation: X:150.29, Y:-54.15, Z:-18.50 [[ 9.55443078e-01 2.83237055e-01 8.30981063e-02 1.50290563e+02] [-2.81396993e-01 9.59012660e-01 -3.33234126e-02 -5.41490863e+01] [-8.91305613e-02 8.45506670e-03 9.95984064e-01 -1.84998015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45119381700002 meters 0.08513167931384795 Centerline is valid? [True, True] Translation: X:150.32, Y:-54.15, Z:-18.50 [[ 9.54475171e-01 2.86715345e-01 8.22888699e-02 1.50320858e+02] [-2.84923929e-01 9.57982005e-01 -3.29974811e-02 -5.41544494e+01] [-8.82921408e-02 8.04920836e-03 9.96062101e-01 -1.85039441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48119381700002 meters 0.07922777044767183 Centerline is valid? [True, True] Translation: X:150.35, Y:-54.15, Z:-18.51 [[ 9.53192474e-01 2.91206041e-01 8.13827329e-02 1.50353674e+02] [-2.89470349e-01 9.56630595e-01 -3.26316138e-02 -5.41538259e+01] [-8.73557352e-02 7.54632057e-03 9.96148598e-01 -1.85072500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51119381700002 meters 0.0714592787615489 Centerline is valid? [True, True] Translation: X:150.39, Y:-54.15, Z:-18.51 [[ 9.49775248e-01 3.02133564e-01 8.15002292e-02 1.50389090e+02] [-3.00432586e-01 9.53243087e-01 -3.26783948e-02 -5.41470820e+01] [-8.75627700e-02 6.55180592e-03 9.96137458e-01 -1.85090395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54119381700002 meters 0.06765476399916642 Centerline is valid? [True, True] Translation: X:150.42, Y:-54.15, Z:-18.51 [[ 9.47576851e-01 3.08828124e-01 8.19957366e-02 1.50421111e+02] [-3.07131449e-01 9.51099145e-01 -3.28738288e-02 -5.41486686e+01] [-8.81384379e-02 5.96700979e-03 9.96090363e-01 -1.85116090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57119381700002 meters 0.06260780920138108 Centerline is valid? [True, True] Translation: X:150.45, Y:-54.14, Z:-18.51 [[ 9.43071230e-01 3.22140872e-01 8.27158570e-02 1.50454162e+02] [-3.20465198e-01 9.46679761e-01 -3.31585172e-02 -5.41438973e+01] [-8.89871414e-02 4.76329015e-03 9.96021385e-01 -1.85126213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60119381700002 meters 0.06014669638996699 Centerline is valid? [True, True] Translation: X:150.48, Y:-54.15, Z:-18.52 [[ 9.40702877e-01 3.28831743e-01 8.33533513e-02 1.50484522e+02] [-3.27156506e-01 9.44379365e-01 -3.34101245e-02 -5.41471242e+01] [-8.97034944e-02 4.15940912e-03 9.95959830e-01 -1.85154252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63119381700002 meters 0.05834629435620084 Centerline is valid? [True, True] Translation: X:150.51, Y:-54.15, Z:-18.52 [[ 9.38598064e-01 3.34763105e-01 8.34705838e-02 1.50514695e+02] [-3.33106878e-01 9.42295468e-01 -3.34523290e-02 -5.41524186e+01] [-8.98525584e-02 3.59366562e-03 9.95948595e-01 -1.85187492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66119381700003 meters 0.05691826083000613 Centerline is valid? [True, True] Translation: X:150.54, Y:-54.16, Z:-18.52 [[ 9.36682163e-01 3.39918334e-01 8.41549247e-02 1.50544628e+02] [-3.38255578e-01 9.40449768e-01 -3.37253242e-02 -5.41583395e+01] [-9.06073354e-02 3.12403695e-03 9.95881796e-01 -1.85210717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69119381700003 meters 0.056339200556296286 Centerline is valid? [True, True] Translation: X:150.57, Y:-54.17, Z:-18.53 [[ 9.34974153e-01 3.44357403e-01 8.50958969e-02 1.50572235e+02] [-3.42675906e-01 9.38834693e-01 -3.40975517e-02 -5.41675125e+01] [-9.16327246e-02 2.72001590e-03 9.95789157e-01 -1.85254242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72119381700003 meters 0.055137770949440425 Centerline is valid? [True, True] Translation: X:150.60, Y:-54.17, Z:-18.53 [[ 9.33711097e-01 3.47704527e-01 8.53530903e-02 1.50598813e+02] [-3.46028129e-01 9.37601127e-01 -3.41856737e-02 -5.41748208e+01] [-9.19136672e-02 2.38497278e-03 9.95764124e-01 -1.85279591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75119381700003 meters 0.05495148176923609 Centerline is valid? [True, True] Translation: X:150.62, Y:-54.19, Z:-18.53 [[ 9.32425521e-01 3.51284491e-01 8.47458216e-02 1.50623388e+02] [-3.49647185e-01 9.36266606e-01 -3.39365274e-02 -5.41880546e+01] [-9.12660585e-02 2.01214623e-03 9.95824512e-01 -1.85338648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78119381700003 meters 0.05478082613201335 Centerline is valid? [True, True] Translation: X:150.65, Y:-54.20, Z:-18.54 [[ 9.32104649e-01 3.52205841e-01 8.44509815e-02 1.50647991e+02] [-3.50586271e-01 9.35920658e-01 -3.37903624e-02 -5.42008365e+01] [-9.09405812e-02 1.88879923e-03 9.95854529e-01 -1.85386742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81119381700003 meters 0.05427417176385322 Centerline is valid? [True, True] Translation: X:150.67, Y:-54.21, Z:-18.54 [[ 9.32180399e-01 3.52026376e-01 8.43631065e-02 1.50673735e+02] [-3.50410380e-01 9.35988163e-01 -3.37450006e-02 -5.42122593e+01] [-9.08419994e-02 1.89471990e-03 9.95863515e-01 -1.85399650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84119381700003 meters 0.05500259442749514 Centerline is valid? [True, True] Translation: X:150.70, Y:-54.23, Z:-18.55 [[ 9.32532976e-01 3.51128645e-01 8.42076168e-02 1.50695050e+02] [-3.49517894e-01 9.36325199e-01 -3.36505966e-02 -5.42327564e+01] [-9.06614019e-02 1.94822210e-03 9.95879870e-01 -1.85463190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87119381700003 meters 0.05540053827322097 Centerline is valid? [True, True] Translation: X:150.72, Y:-54.25, Z:-18.55 [[ 9.33188295e-01 3.49440428e-01 8.39701867e-02 1.50719079e+02] [-3.47834365e-01 9.36956272e-01 -3.35290742e-02 -5.42488667e+01] [-9.03928072e-02 2.08122303e-03 9.95904016e-01 -1.85496130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90119381700003 meters 0.05584132756456979 Centerline is valid? [True, True] Translation: X:150.74, Y:-54.27, Z:-18.55 [[ 9.33735633e-01 3.47977329e-01 8.39615703e-02 1.50741738e+02] [-3.46368523e-01 9.37500383e-01 -3.34944555e-02 -5.42656359e+01] [-9.03693155e-02 2.19332149e-03 9.95905907e-01 -1.85533631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93119381700004 meters 0.05643717282099632 Centerline is valid? [True, True] Translation: X:150.77, Y:-54.28, Z:-18.56 [[ 9.34564942e-01 3.45746858e-01 8.39492704e-02 1.50765463e+02] [-3.44129994e-01 9.38324747e-01 -3.34845733e-02 -5.42829167e+01] [-9.03488639e-02 2.40404635e-03 9.95907276e-01 -1.85569009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96119381700004 meters 0.058024810958027875 Centerline is valid? [True, True] Translation: X:150.79, Y:-54.31, Z:-18.56 [[ 9.36456447e-01 3.41064175e-01 8.20033573e-02 1.50786710e+02] [-3.39506397e-01 9.40035962e-01 -3.26771408e-02 -5.43079051e+01] [-8.82311070e-02 2.76005482e-03 9.96096207e-01 -1.85618305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.991193817 meters 0.05908849208790063 Centerline is valid? [True, True] Translation: X:150.81, Y:-54.33, Z:-18.57 [[ 9.37137312e-01 3.39215101e-01 8.18948979e-02 1.50808759e+02] [-3.37654575e-01 9.40704278e-01 -3.26320194e-02 -5.43252378e+01] [-8.81081546e-02 2.92849602e-03 9.96106609e-01 -1.85665369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.021193817 meters 0.05905177506029076 Centerline is valid? [True, True] Translation: X:150.83, Y:-54.34, Z:-18.57 [[ 9.38040820e-01 3.36615777e-01 8.22753840e-02 1.50833977e+02] [-3.35031298e-01 9.41636712e-01 -3.27770063e-02 -5.43404010e+01] [-8.85067796e-02 3.18134119e-03 9.96070494e-01 -1.85679326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.051193817 meters 0.06088893893662411 Centerline is valid? [True, True] Translation: X:150.86, Y:-54.36, Z:-18.57 [[ 9.40110393e-01 3.30696260e-01 8.26585333e-02 1.50856382e+02] [-3.29077072e-01 9.43729891e-01 -3.28964126e-02 -5.43648229e+01] [-8.88860492e-02 3.72523122e-03 9.96034835e-01 -1.85693319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.081193817 meters 0.06432829664435066 Centerline is valid? [True, True] Translation: X:150.88, Y:-54.39, Z:-18.57 [[ 9.41095443e-01 3.27596369e-01 8.37853566e-02 1.50878086e+02] [-3.25920690e-01 9.44809004e-01 -3.33414156e-02 -5.43865314e+01] [-9.00836860e-02 4.07007308e-03 9.95925883e-01 -1.85741740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11119381700001 meters 0.06773169521819933 Centerline is valid? [True, True] Translation: X:150.90, Y:-54.41, Z:-18.58 [[ 9.42121208e-01 3.24323514e-01 8.49816902e-02 1.50900225e+02] [-3.22586807e-01 9.45935801e-01 -3.38114199e-02 -5.44079709e+01] [-9.13530618e-02 4.44048366e-03 9.95808666e-01 -1.85783249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14119381700002 meters 0.06755249119509428 Centerline is valid? [True, True] Translation: X:150.92, Y:-54.43, Z:-18.58 [[ 9.44490016e-01 3.17667241e-01 8.38220352e-02 1.50924833e+02] [-3.15952154e-01 9.48189028e-01 -3.33437039e-02 -5.44269798e+01] [-9.00713365e-02 5.00904279e-03 9.95922720e-01 -1.85795988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17119381700002 meters 0.06891011944087683 Centerline is valid? [True, True] Translation: X:150.95, Y:-54.44, Z:-18.58 [[ 9.45383129e-01 3.15199247e-01 8.30672870e-02 1.50949884e+02] [-3.13505612e-01 9.49011297e-01 -3.30422419e-02 -5.44439949e+01] [-8.92466835e-02 5.19551736e-03 9.95996002e-01 -1.85841831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20119381700002 meters 0.0659471943765288 Centerline is valid? [True, True] Translation: X:150.98, Y:-54.45, Z:-18.58 [[ 9.45962495e-01 3.13586647e-01 8.25734352e-02 1.50977674e+02] [-3.11907302e-01 9.49544728e-01 -3.28427305e-02 -5.44530984e+01] [-8.87062118e-02 5.31273389e-03 9.96043665e-01 -1.85847356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23119381700002 meters 0.07001255626266832 Centerline is valid? [True, True] Translation: X:151.00, Y:-54.47, Z:-18.59 [[ 9.46678840e-01 3.11333195e-01 8.28903865e-02 1.50999914e+02] [-3.09632797e-01 9.50284667e-01 -3.29633479e-02 -5.44733815e+01] [-8.90320478e-02 5.54012176e-03 9.96013354e-01 -1.85904622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26119381700002 meters 0.07263815278766124 Centerline is valid? [True, True] Translation: X:151.02, Y:-54.49, Z:-18.59 [[ 9.47262818e-01 3.09588120e-01 8.27547500e-02 1.51021646e+02] [-3.07887457e-01 9.50853753e-01 -3.29006623e-02 -5.44948767e+01] [-8.88733189e-02 5.68642455e-03 9.96026705e-01 -1.85945289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29119381700002 meters 0.06908204495569918 Centerline is valid? [True, True] Translation: X:151.05, Y:-54.50, Z:-18.59 [[ 9.47404033e-01 3.08928315e-01 8.35996021e-02 1.51048545e+02] [-3.07190270e-01 9.51067605e-01 -3.32347527e-02 -5.45025118e+01] [-8.97760295e-02 5.80575444e-03 9.95945058e-01 -1.85939868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32119381700002 meters 0.07369995493376652 Centerline is valid? [True, True] Translation: X:151.07, Y:-54.52, Z:-18.60 [[ 9.47427189e-01 3.08555279e-01 8.47075053e-02 1.51069658e+02] [-3.06772781e-01 9.51188224e-01 -3.36366277e-02 -5.45233326e+01] [-9.09515406e-02 5.88229865e-03 9.95837947e-01 -1.85998078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35119381700002 meters 0.06826696631982 Centerline is valid? [True, True] Translation: X:151.10, Y:-54.53, Z:-18.60 [[ 9.46894755e-01 3.10262070e-01 8.44261255e-02 1.51098229e+02] [-3.08499105e-01 9.50634041e-01 -3.35145133e-02 -5.45291027e+01] [-9.06566311e-02 5.68933270e-03 9.95865958e-01 -1.85995488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38119381700002 meters 0.0679932445119745 Centerline is valid? [True, True] Translation: X:151.12, Y:-54.54, Z:-18.60 [[ 9.46273655e-01 3.12338730e-01 8.37298526e-02 1.51124105e+02] [-3.10613588e-01 9.49955238e-01 -3.32301753e-02 -5.45401754e+01] [-8.99186829e-02 5.43720947e-03 9.95934269e-01 -1.86026868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41119381700003 meters 0.06635857677039195 Centerline is valid? [True, True] Translation: X:151.15, Y:-54.55, Z:-18.61 [[ 9.45528167e-01 3.15024017e-01 8.20753003e-02 1.51151530e+02] [-3.13377270e-01 9.49070150e-01 -3.25658926e-02 -5.45489135e+01] [-8.81542558e-02 5.07143519e-03 9.96093925e-01 -1.86059564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44119381700003 meters 0.0649475572850127 Centerline is valid? [True, True] Translation: X:151.18, Y:-54.56, Z:-18.61 [[ 9.44487451e-01 3.18330056e-01 8.12984063e-02 1.51179731e+02] [-3.16727406e-01 9.47968251e-01 -3.22481794e-02 -5.45589048e+01] [-8.73338727e-02 4.70856743e-03 9.96167970e-01 -1.86102007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47119381700003 meters 0.06385913742186997 Centerline is valid? [True, True] Translation: X:151.21, Y:-54.57, Z:-18.61 [[ 9.43275781e-01 3.22186626e-01 8.01659492e-02 1.51206845e+02] [-3.20642367e-01 9.46666456e-01 -3.17976955e-02 -5.45687995e+01] [-8.61352072e-02 4.28939633e-03 9.96274223e-01 -1.86147159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50119381700003 meters 0.06266678692828467 Centerline is valid? [True, True] Translation: X:151.24, Y:-54.58, Z:-18.62 [[ 9.42140933e-01 3.25561212e-01 7.98771529e-02 1.51235135e+02] [-3.24040523e-01 9.45512663e-01 -3.16787467e-02 -5.45782110e+01] [-8.58382308e-02 3.96240957e-03 9.96301208e-01 -1.86184554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53119381700003 meters 0.06004027698666884 Centerline is valid? [True, True] Translation: X:151.26, Y:-54.59, Z:-18.62 [[ 9.39330844e-01 3.33394835e-01 8.06563652e-02 1.51263718e+02] [-3.31873040e-01 9.42781595e-01 -3.19867134e-02 -5.45850933e+01] [-8.67055417e-02 3.27843340e-03 9.96228589e-01 -1.86200699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56119381700003 meters 0.05857443077309816 Centerline is valid? [True, True] Translation: X:151.29, Y:-54.59, Z:-18.62 [[ 9.37827785e-01 3.37478888e-01 8.11606180e-02 1.51292104e+02] [-3.35953620e-01 9.41328585e-01 -3.21816675e-02 -5.45931906e+01] [-8.72594431e-02 2.91465847e-03 9.96181356e-01 -1.86228567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59119381700003 meters 0.058426514354459926 Centerline is valid? [True, True] Translation: X:151.32, Y:-54.60, Z:-18.63 [[ 9.36908879e-01 3.39958759e-01 8.14235532e-02 1.51317521e+02] [-3.38433080e-01 9.40436496e-01 -3.22838505e-02 -5.46034420e+01] [-8.75488588e-02 2.69060226e-03 9.96156593e-01 -1.86277228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62119381700003 meters 0.05722226438856635 Centerline is valid? [True, True] Translation: X:151.34, Y:-54.61, Z:-18.63 [[ 9.36119871e-01 3.42275846e-01 8.07888152e-02 1.51344613e+02] [-3.40782857e-01 9.39596317e-01 -3.20282057e-02 -5.46118732e+01] [-8.68713544e-02 2.45079651e-03 9.96216523e-01 -1.86301225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65119381700003 meters 0.056250294313648995 Centerline is valid? [True, True] Translation: X:151.37, Y:-54.62, Z:-18.63 [[ 9.34842250e-01 3.45538579e-01 8.16887853e-02 1.51369721e+02] [-3.44027238e-01 9.38402100e-01 -3.23536494e-02 -5.46233296e+01] [-8.78363617e-02 2.14239126e-03 9.96132614e-01 -1.86339626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68119381700004 meters 0.05583231622503503 Centerline is valid? [True, True] Translation: X:151.40, Y:-54.63, Z:-18.64 [[ 9.34832025e-01 3.45532192e-01 8.18326976e-02 1.51395246e+02] [-3.44015759e-01 9.38404448e-01 -3.24075496e-02 -5.46346557e+01] [-8.79900190e-02 2.14387765e-03 9.96119049e-01 -1.86359071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71119381700004 meters 0.056664393927436156 Centerline is valid? [True, True] Translation: X:151.42, Y:-54.65, Z:-18.64 [[ 9.35192896e-01 3.44482800e-01 8.21331150e-02 1.51419495e+02] [-3.42954253e-01 9.38790009e-01 -3.24915199e-02 -5.46490226e+01] [-8.82985175e-02 2.21793753e-03 9.96091588e-01 -1.86406860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.741193817 meters 0.05701109691879436 Centerline is valid? [True, True] Translation: X:151.44, Y:-54.66, Z:-18.64 [[ 9.35702577e-01 3.43037767e-01 8.23758305e-02 1.51444967e+02] [-3.41495518e-01 9.39318669e-01 -3.25768181e-02 -5.46623875e+01] [-8.85522344e-02 2.35123573e-03 9.96068759e-01 -1.86439335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.771193817 meters 0.05808803903231211 Centerline is valid? [True, True] Translation: X:151.47, Y:-54.68, Z:-18.65 [[ 9.36540649e-01 3.40968164e-01 8.14390745e-02 1.51467594e+02] [-3.39455685e-01 9.40071547e-01 -3.21764746e-02 -5.46798377e+01] [-8.75297102e-02 2.48961966e-03 9.96158798e-01 -1.86486999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.801193817 meters 0.05716814666767254 Centerline is valid? [True, True] Translation: X:151.49, Y:-54.69, Z:-18.65 [[ 9.37353206e-01 3.38906553e-01 8.06927176e-02 1.51494348e+02] [-3.37414370e-01 9.40816295e-01 -3.18785490e-02 -5.46908886e+01] [-8.67208728e-02 2.65457767e-03 9.96229112e-01 -1.86488230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.831193817 meters 0.058072635263921334 Centerline is valid? [True, True] Translation: X:151.52, Y:-54.71, Z:-18.65 [[ 9.38212843e-01 3.36701375e-01 7.99302485e-02 1.51518653e+02] [-3.35231593e-01 9.41607300e-01 -3.15510964e-02 -5.47065829e+01] [-8.58862031e-02 2.80649932e-03 9.96301001e-01 -1.86533754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86119381700001 meters 0.05931187076104948 Centerline is valid? [True, True] Translation: X:151.54, Y:-54.73, Z:-18.66 [[ 9.40214119e-01 3.31370071e-01 7.86847336e-02 1.51542306e+02] [-3.29930070e-01 9.43495401e-01 -3.10254373e-02 -5.47273020e+01] [-8.45195856e-02 3.21009454e-03 9.96416647e-01 -1.86563006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89119381700002 meters 0.06150489017355989 Centerline is valid? [True, True] Translation: X:151.56, Y:-54.75, Z:-18.66 [[ 9.41048829e-01 3.28984486e-01 7.87166448e-02 1.51564944e+02] [-3.27534931e-01 9.44329110e-01 -3.10387169e-02 -5.47451669e+01] [-8.45456754e-02 3.42649734e-03 9.96413713e-01 -1.86616131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92119381700002 meters 0.0652097870222686 Centerline is valid? [True, True] Translation: X:151.59, Y:-54.77, Z:-18.67 [[ 9.42026438e-01 3.26147516e-01 7.88288471e-02 1.51587432e+02] [-3.24684830e-01 9.45311738e-01 -3.10721523e-02 -5.47652430e+01] [-8.46519398e-02 3.67625815e-03 9.96403801e-01 -1.86680070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95119381700002 meters 0.06396901390435883 Centerline is valid? [True, True] Translation: X:151.62, Y:-54.78, Z:-18.67 [[ 9.42772006e-01 3.24042790e-01 7.85952567e-02 1.51615389e+02] [-3.22581997e-01 9.46034599e-01 -3.09740623e-02 -5.47766264e+01] [-8.43907537e-02 3.84806399e-03 9.96425307e-01 -1.86680554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98119381700002 meters 0.06396901390435883 Centerline is valid? [True, True] Translation: X:151.64, Y:-54.79, Z:-18.67 [[ 9.42874369e-01 3.23745257e-01 7.85934602e-02 1.51640858e+02] [-3.22283055e-01 9.46136331e-01 -3.09786255e-02 -5.47864134e+01] [-8.43893111e-02 3.87961155e-03 9.96425307e-01 -1.86711922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01119381700002 meters 0.06642689865711363 Centerline is valid? [True, True] Translation: X:151.66, Y:-54.81, Z:-18.68 [[ 9.43755719e-01 3.21230218e-01 7.83344770e-02 1.51663363e+02] [-3.19772077e-01 9.46992445e-01 -3.08403614e-02 -5.48069248e+01] [-8.40890139e-02 4.05658905e-03 9.96449990e-01 -1.86756304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04119381700002 meters 0.06372370635166004 Centerline is valid? [True, True] Translation: X:151.69, Y:-54.82, Z:-18.67 [[ 9.44046381e-01 3.20453046e-01 7.80145847e-02 1.51691656e+02] [-3.19004240e-01 9.47255493e-01 -3.07136178e-02 -5.48150051e+01] [-8.37420162e-02 4.10809648e-03 9.96479000e-01 -1.86746168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07119381700002 meters 0.06741376948857133 Centerline is valid? [True, True] Translation: X:151.71, Y:-54.83, Z:-18.68 [[ 9.44050726e-01 3.20247024e-01 7.88039959e-02 1.51713322e+02] [-3.18770613e-01 9.47325031e-01 -3.09932621e-02 -5.48336897e+01] [-8.45784978e-02 4.13881346e-03 9.96408224e-01 -1.86818952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10119381700002 meters 0.06436793816784814 Centerline is valid? [True, True] Translation: X:151.74, Y:-54.84, Z:-18.68 [[ 9.44206672e-01 3.20050642e-01 7.77261036e-02 1.51741951e+02] [-3.18614532e-01 9.47391606e-01 -3.05601924e-02 -5.48407212e+01] [-8.34178673e-02 4.09047152e-03 9.96506261e-01 -1.86818742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13119381700002 meters 0.06509741407201099 Centerline is valid? [True, True] Translation: X:151.77, Y:-54.85, Z:-18.69 [[ 9.44227420e-01 3.20306474e-01 7.64090443e-02 1.51766900e+02] [-3.18922113e-01 9.47305659e-01 -3.00112454e-02 -5.48529039e+01] [-8.19955162e-02 3.96890690e-03 9.96624796e-01 -1.86866704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16119381700003 meters 0.06362119406493628 Centerline is valid? [True, True] Translation: X:151.79, Y:-54.86, Z:-18.69 [[ 9.44281175e-01 3.20109248e-01 7.65710919e-02 1.51793573e+02] [-3.18718434e-01 9.47372219e-01 -3.00738877e-02 -5.48613782e+01] [-8.21682548e-02 3.99358752e-03 9.96610470e-01 -1.86886048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19119381700003 meters 0.06613025756486146 Centerline is valid? [True, True] Translation: X:151.82, Y:-54.88, Z:-18.70 [[ 9.44468845e-01 3.19676765e-01 7.60615965e-02 1.51816359e+02] [-3.18306077e-01 9.47518345e-01 -2.98366821e-02 -5.48774394e+01] [-8.16078521e-02 3.96894827e-03 9.96656614e-01 -1.86954669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22119381700003 meters 0.06371269090203857 Centerline is valid? [True, True] Translation: X:151.84, Y:-54.89, Z:-18.69 [[ 9.44800960e-01 3.18399663e-01 7.72838942e-02 1.51843521e+02] [-3.16980346e-01 9.47947511e-01 -3.03146306e-02 -5.48856662e+01] [-8.29132433e-02 4.14381659e-03 9.96548154e-01 -1.86938508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25119381700003 meters 0.06390566479206648 Centerline is valid? [True, True] Translation: X:151.87, Y:-54.90, Z:-18.70 [[ 9.44648816e-01 3.18508438e-01 7.86828414e-02 1.51869179e+02] [-3.17040845e-01 9.47910843e-01 -3.08242897e-02 -5.48960654e+01] [-8.44021148e-02 4.17245419e-03 9.96423040e-01 -1.86959119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28119381700003 meters 0.06411066881506151 Centerline is valid? [True, True] Translation: X:151.90, Y:-54.91, Z:-18.70 [[ 9.44931453e-01 3.17527623e-01 7.92512325e-02 1.51896120e+02] [-3.16035593e-01 9.48239330e-01 -3.10431546e-02 -5.49061341e+01] [-8.50061947e-02 4.28744298e-03 9.96371198e-01 -1.86974138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31119381700003 meters 0.06491161053808212 Centerline is valid? [True, True] Translation: X:151.92, Y:-54.92, Z:-18.70 [[ 9.45862885e-01 3.14447533e-01 8.04123899e-02 1.51923843e+02] [-3.12903313e-01 9.49263717e-01 -3.14628612e-02 -5.49179848e+01] [-8.62259832e-02 4.59824945e-03 9.96264993e-01 -1.86975214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34119381700003 meters 0.06663121217294624 Centerline is valid? [True, True] Translation: X:151.95, Y:-54.93, Z:-18.70 [[ 9.46475470e-01 3.12728073e-01 7.99083011e-02 1.51948558e+02] [-3.11197374e-01 9.49830962e-01 -3.12624041e-02 -5.49320358e+01] [-8.56760099e-02 4.72184514e-03 9.96311862e-01 -1.87016031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37119381700003 meters 0.06746785042977066 Centerline is valid? [True, True] Translation: X:151.97, Y:-54.95, Z:-18.71 [[ 9.46863786e-01 3.11353269e-01 8.06728728e-02 1.51974364e+02] [-3.09788036e-01 9.50281639e-01 -3.15623066e-02 -5.49450088e+01] [-8.64889772e-02 4.89371428e-03 9.96240788e-01 -1.87053973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40119381700003 meters 0.06888131597237951 Centerline is valid? [True, True] Translation: X:152.00, Y:-54.96, Z:-18.71 [[ 9.47062193e-01 3.10747262e-01 8.06804958e-02 1.51998537e+02] [-3.09182338e-01 9.50479850e-01 -3.15331103e-02 -5.49576692e+01] [-8.64840132e-02 4.91883227e-03 9.96241096e-01 -1.87094183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43119381700004 meters 0.06535711528468183 Centerline is valid? [True, True] Translation: X:152.03, Y:-54.96, Z:-18.71 [[ 9.46701603e-01 3.11772685e-01 8.09559674e-02 1.52028669e+02] [-3.10201140e-01 9.50144405e-01 -3.16364102e-02 -5.49611551e+01] [-8.67832280e-02 4.83760687e-03 9.96215473e-01 -1.87098472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46119381700004 meters 0.06469202437682103 Centerline is valid? [True, True] Translation: X:152.06, Y:-54.97, Z:-18.71 [[ 9.45984378e-01 3.13869095e-01 8.12388360e-02 1.52056778e+02] [-3.12296480e-01 9.49454944e-01 -3.17209460e-02 -5.49691082e+01] [-8.70888391e-02 4.63691687e-03 9.96189758e-01 -1.87133543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.491193817 meters 0.06498796688180991 Centerline is valid? [True, True] Translation: X:152.08, Y:-54.98, Z:-18.72 [[ 9.44994248e-01 3.16751042e-01 8.15760337e-02 1.52083609e+02] [-3.15178842e-01 9.48498697e-01 -3.18201021e-02 -5.49789735e+01] [-8.74538122e-02 4.35877359e-03 9.96159039e-01 -1.87181295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.521193817 meters 0.062004999953538684 Centerline is valid? [True, True] Translation: X:152.11, Y:-54.98, Z:-18.72 [[ 9.43686191e-01 3.20382986e-01 8.25294860e-02 1.52114144e+02] [-3.18787948e-01 9.47279375e-01 -3.21874039e-02 -5.49835883e+01] [-8.84907765e-02 4.06540305e-03 9.96068700e-01 -1.87195952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.551193817 meters 0.06001347619011426 Centerline is valid? [True, True] Translation: X:152.14, Y:-54.99, Z:-18.72 [[ 9.40880259e-01 3.28216689e-01 8.37743546e-02 1.52143024e+02] [-3.26604011e-01 9.44596415e-01 -3.26715885e-02 -5.49879347e+01] [-8.98563156e-02 3.37901238e-03 9.95949007e-01 -1.87229956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.581193817 meters 0.05769809342945344 Centerline is valid? [True, True] Translation: X:152.17, Y:-54.99, Z:-18.73 [[ 9.39226126e-01 3.32826353e-01 8.41480946e-02 1.52173238e+02] [-3.31218125e-01 9.42983530e-01 -3.28118314e-02 -5.49923888e+01] [-9.02709094e-02 2.94635524e-03 9.95912889e-01 -1.87257169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61119381700001 meters 0.05637030882989159 Centerline is valid? [True, True] Translation: X:152.20, Y:-55.00, Z:-18.73 [[ 9.37633524e-01 3.37720149e-01 8.23921996e-02 1.52200883e+02] [-3.36197258e-01 9.41243447e-01 -3.21275189e-02 -5.49977248e+01] [-8.84012284e-02 2.42380720e-03 9.96081999e-01 -1.87302355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64119381700002 meters 0.05410585808796902 Centerline is valid? [True, True] Translation: X:152.23, Y:-55.00, Z:-18.74 [[ 9.33674306e-01 3.48953892e-01 8.05200022e-02 1.52231130e+02] [-3.47541974e-01 9.37138963e-01 -3.13869547e-02 -5.49974359e+01] [-8.64110314e-02 1.32111266e-03 9.96258695e-01 -1.87370235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67119381700002 meters 0.053148262674376015 Centerline is valid? [True, True] Translation: X:152.26, Y:-55.00, Z:-18.74 [[ 9.31696921e-01 3.54519213e-01 7.91010476e-02 1.52260673e+02] [-3.53176589e-01 9.35048395e-01 -3.08349960e-02 -5.50017966e+01] [-8.48949061e-02 7.92232705e-04 9.96389596e-01 -1.87395084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70119381700002 meters 0.05300539970712358 Centerline is valid? [True, True] Translation: X:152.29, Y:-55.01, Z:-18.74 [[ 9.29542332e-01 3.60295765e-01 7.83454821e-02 1.52288522e+02] [-3.59001658e-01 9.32838092e-01 -3.05107106e-02 -5.50066213e+01] [-8.40765299e-02 2.34839143e-04 9.96459273e-01 -1.87446847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73119381700002 meters 0.05312451126873645 Centerline is valid? [True, True] Translation: X:152.32, Y:-55.01, Z:-18.75 [[ 9.27486815e-01 3.65684950e-01 7.77349685e-02 1.52317484e+02] [-3.64430080e-01 9.30738660e-01 -3.02698552e-02 -5.50118886e+01] [-8.34201709e-02 -2.54069178e-04 9.96514431e-01 -1.87479229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76119381700002 meters 0.054250792987532784 Centerline is valid? [True, True] Translation: X:152.35, Y:-55.02, Z:-18.75 [[ 9.23709106e-01 3.75248441e-01 7.71368634e-02 1.52346946e+02] [-3.74048790e-01 9.26923573e-01 -3.00032031e-02 -5.50173384e+01] [-8.27586323e-02 -1.13871846e-03 9.96568970e-01 -1.87521247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79119381700002 meters 0.055050558163335726 Centerline is valid? [True, True] Translation: X:152.37, Y:-55.03, Z:-18.76 [[ 9.22786804e-01 3.77638310e-01 7.65102734e-02 1.52372211e+02] [-3.76466264e-01 9.25952217e-01 -2.97597812e-02 -5.50279369e+01] [-8.20832907e-02 -1.34160341e-03 9.96624570e-01 -1.87581790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82119381700002 meters 0.055004397125145654 Centerline is valid? [True, True] Translation: X:152.40, Y:-55.04, Z:-18.76 [[ 9.22566804e-01 3.78371349e-01 7.55355147e-02 1.52397167e+02] [-3.77232144e-01 9.25652836e-01 -2.93723820e-02 -5.50428803e+01] [-8.10333312e-02 -1.39643954e-03 9.96710414e-01 -1.87608798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85119381700002 meters 0.05509825559242992 Centerline is valid? [True, True] Translation: X:152.42, Y:-55.06, Z:-18.77 [[ 9.22892346e-01 3.77611183e-01 7.53625409e-02 1.52420737e+02] [-3.76476652e-01 9.25963268e-01 -2.92806475e-02 -5.50583693e+01] [-8.08396446e-02 -1.34935160e-03 9.96726207e-01 -1.87650418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88119381700002 meters 0.05436404116071575 Centerline is valid? [True, True] Translation: X:152.44, Y:-55.08, Z:-18.77 [[ 9.24353195e-01 3.73676407e-01 7.70526686e-02 1.52441013e+02] [-3.72479917e-01 9.27558521e-01 -2.98981756e-02 -5.50832990e+01] [-8.26431022e-02 -1.06409744e-03 9.96578640e-01 -1.87679709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91119381700003 meters 0.05397374130424548 Centerline is valid? [True, True] Translation: X:152.46, Y:-55.10, Z:-18.77 [[ 9.25565215e-01 3.70490662e-01 7.78826175e-02 1.52464178e+02] [-3.69257231e-01 9.28835854e-01 -3.02167854e-02 -5.51025982e+01] [-8.35352043e-02 -7.91114225e-04 9.96504513e-01 -1.87708516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94119381700003 meters 0.05376157701924718 Centerline is valid? [True, True] Translation: X:152.49, Y:-55.12, Z:-18.77 [[ 9.26770627e-01 3.67525096e-01 7.75983840e-02 1.52487249e+02] [-3.66292456e-01 9.30013444e-01 -3.00804022e-02 -5.51226318e+01] [-8.32228430e-02 -5.46069425e-04 9.96530812e-01 -1.87746828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97119381700003 meters 0.05396325786484172 Centerline is valid? [True, True] Translation: X:152.50, Y:-55.16, Z:-18.78 [[ 9.30142520e-01 3.59183838e-01 7.63011342e-02 1.52503592e+02] [-3.57966634e-01 9.33266812e-01 -2.95456799e-02 -5.51569555e+01] [-8.18216470e-02 1.68433032e-04 9.96646973e-01 -1.87807923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00119381700003 meters 0.054574015096569894 Centerline is valid? [True, True] Translation: X:152.52, Y:-55.18, Z:-18.78 [[ 9.32368205e-01 3.53440741e-01 7.59550792e-02 1.52524030e+02] [-3.52216103e-01 9.35456682e-01 -2.94043125e-02 -5.51810823e+01] [-8.14453683e-02 6.63044108e-04 9.96677587e-01 -1.87849939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03119381700003 meters 0.055604731557054435 Centerline is valid? [True, True] Translation: X:152.55, Y:-55.21, Z:-18.79 [[ 9.34715654e-01 3.46945651e-01 7.70412929e-02 1.52545453e+02] [-3.45664372e-01 9.37884418e-01 -2.98154389e-02 -5.52055233e+01] [-8.26001650e-02 1.23852730e-03 9.96581998e-01 -1.87884069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06119381700003 meters 0.05724090965619068 Centerline is valid? [True, True] Translation: X:152.57, Y:-55.23, Z:-18.79 [[ 9.36941412e-01 3.40772692e-01 7.75549023e-02 1.52566549e+02] [-3.39455818e-01 9.40144063e-01 -2.99814608e-02 -5.52292927e+01] [-8.31296441e-02 1.76440942e-03 9.96537179e-01 -1.87911780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09119381700003 meters 0.06117466520317016 Centerline is valid? [True, True] Translation: X:152.58, Y:-55.26, Z:-18.79 [[ 9.40576015e-01 3.30383030e-01 7.85099650e-02 1.52584890e+02] [-3.28997737e-01 9.43843049e-01 -3.03445006e-02 -5.52633832e+01] [-8.41263928e-02 2.71170862e-03 9.96451402e-01 -1.87934201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12119381700003 meters 0.06301210713489587 Centerline is valid? [True, True] Translation: X:152.61, Y:-55.28, Z:-18.80 [[ 9.41838975e-01 3.26538599e-01 7.94473976e-02 1.52608334e+02] [-3.25106612e-01 9.45178821e-01 -3.07032104e-02 -5.52844283e+01] [-8.51177809e-02 3.08860594e-03 9.96366109e-01 -1.87956311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15119381700003 meters 0.06488250958878586 Centerline is valid? [True, True] Translation: X:152.63, Y:-55.30, Z:-18.80 [[ 9.42896952e-01 3.23343613e-01 7.99640292e-02 1.52631932e+02] [-3.21881747e-01 9.46275529e-01 -3.08992678e-02 -5.53046471e+01] [-8.56590849e-02 3.39586403e-03 9.96318719e-01 -1.87988153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18119381700004 meters 0.06472683255237692 Centerline is valid? [True, True] Translation: X:152.66, Y:-55.32, Z:-18.80 [[ 9.44490481e-01 3.18763417e-01 7.95463128e-02 1.52657077e+02] [-3.17300953e-01 9.47826744e-01 -3.07338234e-02 -5.53235595e+01] [-8.51929412e-02 3.78768282e-03 9.96357273e-01 -1.87992677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21119381700004 meters 0.0651422131535882 Centerline is valid? [True, True] Translation: X:152.68, Y:-55.34, Z:-18.80 [[ 9.44864807e-01 3.17528050e-01 8.00401984e-02 1.52682183e+02] [-3.16042861e-01 9.48240760e-01 -3.09252445e-02 -5.53367828e+01] [-8.57170111e-02 3.92404187e-03 9.96311797e-01 -1.88020860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.241193817 meters 0.06616484576531609 Centerline is valid? [True, True] Translation: X:152.71, Y:-55.35, Z:-18.81 [[ 9.45323588e-01 3.16180784e-01 7.99563952e-02 1.52706171e+02] [-3.14694676e-01 9.48690383e-01 -3.08839411e-02 -5.53497358e+01] [-8.56187719e-02 4.03346607e-03 9.96319807e-01 -1.88057854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.271193817 meters 0.06543715627829948 Centerline is valid? [True, True] Translation: X:152.73, Y:-55.36, Z:-18.81 [[ 9.46209829e-01 3.13891792e-01 7.84786732e-02 1.52733178e+02] [-3.12453509e-01 9.49449698e-01 -3.02997724e-02 -5.53616460e+01] [-8.40224024e-02 4.14900561e-03 9.96455228e-01 -1.88083067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.301193817 meters 0.06692686207722803 Centerline is valid? [True, True] Translation: X:152.76, Y:-55.38, Z:-18.81 [[ 9.46509959e-01 3.12952274e-01 7.86115205e-02 1.52756877e+02] [-3.11506037e-01 9.49759398e-01 -3.03491945e-02 -5.53763939e+01] [-8.41598798e-02 4.23785161e-03 9.96443252e-01 -1.88135235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.331193817 meters 0.06829043847151638 Centerline is valid? [True, True] Translation: X:152.78, Y:-55.39, Z:-18.82 [[ 9.47234009e-01 3.10763692e-01 7.85726434e-02 1.52782709e+02] [-3.09312378e-01 9.50476933e-01 -3.03224758e-02 -5.53909879e+01] [-8.41046097e-02 4.41898916e-03 9.96447132e-01 -1.88176055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36119381700001 meters 0.06863107703242455 Centerline is valid? [True, True] Translation: X:152.81, Y:-55.40, Z:-18.82 [[ 9.47938523e-01 3.08431124e-01 7.92641085e-02 1.52809862e+02] [-3.06946304e-01 9.51235247e-01 -3.05854774e-02 -5.54029491e+01] [-8.48323270e-02 4.66332714e-03 9.96384328e-01 -1.88198437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39119381700002 meters 0.07043035743453524 Centerline is valid? [True, True] Translation: X:152.84, Y:-55.42, Z:-18.82 [[ 9.48683418e-01 3.06075436e-01 7.94833282e-02 1.52835376e+02] [-3.04574352e-01 9.51994728e-01 -3.06676203e-02 -5.54158925e+01] [-8.50543146e-02 4.88527970e-03 9.96364340e-01 -1.88235378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42119381700002 meters 0.07064856859329136 Centerline is valid? [True, True] Translation: X:152.86, Y:-55.43, Z:-18.83 [[ 9.49290563e-01 3.04092298e-01 7.98454832e-02 1.52862909e+02] [-3.02571327e-01 9.52629046e-01 -3.07976157e-02 -5.54267906e+01] [-8.54284442e-02 5.07693212e-03 9.96331373e-01 -1.88254669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45119381700002 meters 0.07269182386797883 Centerline is valid? [True, True] Translation: X:152.89, Y:-55.44, Z:-18.83 [[ 9.49886513e-01 3.02329325e-01 7.94518145e-02 1.52887821e+02] [-3.00817489e-01 9.53189316e-01 -3.06425626e-02 -5.54406521e+01] [-8.49967660e-02 5.20646162e-03 9.96367624e-01 -1.88299475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48119381700002 meters 0.07206809316551413 Centerline is valid? [True, True] Translation: X:152.91, Y:-55.45, Z:-18.83 [[ 9.49781632e-01 3.02743984e-01 7.91260508e-02 1.52914886e+02] [-3.01246406e-01 9.53058040e-01 -3.05118870e-02 -5.54492033e+01] [-8.46490091e-02 5.14319139e-03 9.96397558e-01 -1.88328849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51119381700002 meters 0.07590960869823742 Centerline is valid? [True, True] Translation: X:152.94, Y:-55.46, Z:-18.84 [[ 9.49470229e-01 3.03660291e-01 7.93518247e-02 1.52938252e+02] [-3.02157909e-01 9.52766881e-01 -3.05919838e-02 -5.54635514e+01] [-8.48933612e-02 5.06939651e-03 9.96377147e-01 -1.88400235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54119381700002 meters 0.06841187479099918 Centerline is valid? [True, True] Translation: X:152.97, Y:-55.46, Z:-18.84 [[ 9.47772251e-01 3.09197677e-01 7.82595544e-02 1.52972764e+02] [-3.07756206e-01 9.50987148e-01 -3.01589395e-02 -5.54576413e+01] [-8.37489045e-02 4.49894244e-03 9.96476734e-01 -1.88401768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57119381700002 meters 0.06721281359608963 Centerline is valid? [True, True] Translation: X:153.00, Y:-55.46, Z:-18.84 [[ 9.46667903e-01 3.12591028e-01 7.81455781e-02 1.53002496e+02] [-3.11165360e-01 9.49878561e-01 -3.01137628e-02 -5.54634379e+01] [-8.36421013e-02 4.19153578e-03 9.96487045e-01 -1.88447052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60119381700002 meters 0.06556249747945622 Centerline is valid? [True, True] Translation: X:153.03, Y:-55.47, Z:-18.85 [[ 9.45600622e-01 3.15798304e-01 7.81722147e-02 1.53032693e+02] [-3.14382718e-01 9.48818298e-01 -3.01221535e-02 -5.54682203e+01] [-8.36837527e-02 3.90753374e-03 9.96484702e-01 -1.88475188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63119381700002 meters 0.062341880701707465 Centerline is valid? [True, True] Translation: X:153.06, Y:-55.47, Z:-18.85 [[ 9.42890033e-01 3.23262999e-01 8.03705120e-02 1.53064658e+02] [-3.21793584e-01 9.46303283e-01 -3.09675078e-02 -5.54676637e+01] [-8.60655288e-02 3.33623929e-03 9.96283892e-01 -1.88478864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66119381700003 meters 0.06119710275737843 Centerline is valid? [True, True] Translation: X:153.09, Y:-55.47, Z:-18.85 [[ 9.41606729e-01 3.26587034e-01 8.19614402e-02 1.53094497e+02] [-3.25071554e-01 9.45162082e-01 -3.15772641e-02 -5.54732571e+01] [-8.77795705e-02 3.09003159e-03 9.96135131e-01 -1.88496647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69119381700003 meters 0.0587990851381477 Centerline is valid? [True, True] Translation: X:153.13, Y:-55.48, Z:-18.85 [[ 9.40305901e-01 3.30032045e-01 8.30882785e-02 1.53125563e+02] [-3.28488025e-01 9.43965559e-01 -3.20100045e-02 -5.54756831e+01] [-8.89968005e-02 2.80569164e-03 9.96027960e-01 -1.88497334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72119381700003 meters 0.05836832481658499 Centerline is valid? [True, True] Translation: X:153.15, Y:-55.48, Z:-18.85 [[ 9.39453108e-01 3.32298199e-01 8.37004473e-02 1.53152803e+02] [-3.30740475e-01 9.43170772e-01 -3.22433335e-02 -5.54813321e+01] [-8.96582171e-02 2.60797412e-03 9.95969178e-01 -1.88524971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75119381700003 meters 0.05757685244600125 Centerline is valid? [True, True] Translation: X:153.18, Y:-55.48, Z:-18.86 [[ 9.38703479e-01 3.34957980e-01 8.14796241e-02 1.53182598e+02] [-3.33492342e-01 9.42230290e-01 -3.13837166e-02 -5.54830514e+01] [-8.72847962e-02 2.28717329e-03 9.96180773e-01 -1.88573660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78119381700003 meters 0.057474636685236995 Centerline is valid? [True, True] Translation: X:153.21, Y:-55.49, Z:-18.86 [[ 9.38324503e-01 3.36194443e-01 8.07491400e-02 1.53209932e+02] [-3.34761928e-01 9.41790195e-01 -3.10753791e-02 -5.54900627e+01] [-8.64961181e-02 2.12705186e-03 9.96249917e-01 -1.88625817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81119381700003 meters 0.057193733384688375 Centerline is valid? [True, True] Translation: X:153.24, Y:-55.50, Z:-18.87 [[ 9.38186666e-01 3.36663299e-01 8.03965308e-02 1.53237200e+02] [-3.35247214e-01 9.41622864e-01 -3.09141904e-02 -5.54973968e+01] [-8.61108849e-02 2.05056825e-03 9.96283449e-01 -1.88664626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84119381700003 meters 0.05724043493905803 Centerline is valid? [True, True] Translation: X:153.26, Y:-55.51, Z:-18.87 [[ 9.37874412e-01 3.37615051e-01 8.00478905e-02 1.53263723e+02] [-3.36217932e-01 9.41282314e-01 -3.07426122e-02 -5.55060471e+01] [-8.57268321e-02 1.91917315e-03 9.96316831e-01 -1.88707824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87119381700003 meters 0.05724043493905803 Centerline is valid? [True, True] Translation: X:153.29, Y:-55.52, Z:-18.87 [[ 9.37984537e-01 3.37308762e-01 8.00487793e-02 1.53289287e+02] [-3.35910727e-01 9.41392064e-01 -3.07403010e-02 -5.55155953e+01] [-8.57262584e-02 1.94468335e-03 9.96316831e-01 -1.88739200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90119381700003 meters 0.056453840622502444 Centerline is valid? [True, True] Translation: X:153.32, Y:-55.52, Z:-18.88 [[ 9.37034448e-01 3.39991207e-01 7.98274516e-02 1.53318052e+02] [-3.38613281e-01 9.40427140e-01 -3.06241737e-02 -5.55212589e+01] [-8.54838518e-02 1.66527043e-03 9.96338164e-01 -1.88773483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93119381700004 meters 0.056209330517397155 Centerline is valid? [True, True] Translation: X:153.35, Y:-55.53, Z:-18.88 [[ 9.36609615e-01 3.41235843e-01 7.95017555e-02 1.53345744e+02] [-3.39875879e-01 9.39976482e-01 -3.04729312e-02 -5.55293722e+01] [-8.51282368e-02 1.52051132e-03 9.96368843e-01 -1.88810482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96119381700004 meters 0.0558532227763921 Centerline is valid? [True, True] Translation: X:153.37, Y:-55.54, Z:-18.88 [[ 9.36110652e-01 3.42644825e-01 7.93181610e-02 1.53372906e+02] [-3.41298432e-01 9.39464029e-01 -3.03762713e-02 -5.55372694e+01] [-8.49248313e-02 1.36438716e-03 9.96386427e-01 -1.88848662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.991193817 meters 0.05593308573495081 Centerline is valid? [True, True] Translation: X:153.40, Y:-55.55, Z:-18.89 [[ 9.35578990e-01 3.44155103e-01 7.90520043e-02 1.53399256e+02] [-3.42825686e-01 9.38912050e-01 -3.02441983e-02 -5.55462752e+01] [-8.46315746e-02 1.19477890e-03 9.96411596e-01 -1.88896802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.021193817 meters 0.05505389223883813 Centerline is valid? [True, True] Translation: X:153.43, Y:-55.55, Z:-18.89 [[ 9.33583403e-01 3.49562511e-01 7.89181831e-02 1.53427810e+02] [-3.48257641e-01 9.36912786e-01 -3.01835646e-02 -5.55521549e+01] [-8.44904974e-02 6.95014626e-04 9.96424043e-01 -1.88926113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.051193817 meters 0.05497418772441604 Centerline is valid? [True, True] Translation: X:153.45, Y:-55.56, Z:-18.90 [[ 9.32456700e-01 3.52599643e-01 7.87273424e-02 1.53453784e+02] [-3.51314566e-01 9.35774193e-01 -3.00788258e-02 -5.55603715e+01] [-8.42767985e-02 3.89140554e-04 9.96442306e-01 -1.88981434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.081193817 meters 0.05504637948610594 Centerline is valid? [True, True] Translation: X:153.48, Y:-55.57, Z:-18.90 [[ 9.31550691e-01 3.55220874e-01 7.76623461e-02 1.53480731e+02] [-3.53979709e-01 9.34782386e-01 -2.96691285e-02 -5.55693158e+01] [-8.31364870e-02 1.47402508e-04 9.96538159e-01 -1.89015912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11119381700001 meters 0.05517630217441379 Centerline is valid? [True, True] Translation: X:153.51, Y:-55.58, Z:-18.91 [[ 9.30444464e-01 3.58393933e-01 7.63340593e-02 1.53506977e+02] [-3.57208088e-01 9.33570438e-01 -2.91310714e-02 -5.55782366e+01] [-8.17036204e-02 -1.62299329e-04 9.96656657e-01 -1.89061443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14119381700002 meters 0.05555017742799398 Centerline is valid? [True, True] Translation: X:153.53, Y:-55.59, Z:-18.91 [[ 9.28836277e-01 3.62379302e-01 7.71000162e-02 1.53531604e+02] [-3.61183926e-01 9.32030560e-01 -2.94143991e-02 -5.55897622e+01] [-8.25187407e-02 -5.26125615e-04 9.96589374e-01 -1.89099961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17119381700002 meters 0.055595407144183415 Centerline is valid? [True, True] Translation: X:153.56, Y:-55.60, Z:-18.91 [[ 9.28348319e-01 3.63432350e-01 7.80149102e-02 1.53557889e+02] [-3.62212363e-01 9.31620379e-01 -2.97602744e-02 -5.56024354e+01] [-8.34961266e-02 -6.30064269e-04 9.96507903e-01 -1.89127889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20119381700002 meters 0.055822052576750776 Centerline is valid? [True, True] Translation: X:153.58, Y:-55.62, Z:-18.92 [[ 9.27789526e-01 3.64753883e-01 7.84933194e-02 1.53580458e+02] [-3.63526086e-01 9.31103643e-01 -2.99130431e-02 -5.56176185e+01] [-8.39963143e-02 -7.81361094e-04 9.96465759e-01 -1.89156146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23119381700002 meters 0.055950822774156486 Centerline is valid? [True, True] Translation: X:153.61, Y:-55.63, Z:-18.92 [[ 9.27881898e-01 3.64474437e-01 7.86992196e-02 1.53605055e+02] [-3.63239762e-01 9.31213080e-01 -2.99845884e-02 -5.56316687e+01] [-8.42143586e-02 -7.64528970e-04 9.96447368e-01 -1.89193908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26119381700002 meters 0.05598620791155874 Centerline is valid? [True, True] Translation: X:153.63, Y:-55.65, Z:-18.92 [[ 9.28091452e-01 3.64018586e-01 7.83372500e-02 1.53630330e+02] [-3.62796091e-01 9.31391384e-01 -2.98175374e-02 -5.56465001e+01] [-8.38167775e-02 -7.47046488e-04 9.96480903e-01 -1.89234758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29119381700002 meters 0.056067934138817985 Centerline is valid? [True, True] Translation: X:153.65, Y:-55.66, Z:-18.93 [[ 9.28446798e-01 3.63134295e-01 7.82306013e-02 1.53654671e+02] [-3.61913943e-01 9.31736557e-01 -2.97537758e-02 -5.56616198e+01] [-8.36949275e-02 -6.87947473e-04 9.96491187e-01 -1.89272817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32119381700002 meters 0.05600908594234132 Centerline is valid? [True, True] Translation: X:153.68, Y:-55.68, Z:-18.93 [[ 9.28841015e-01 3.62133745e-01 7.81889973e-02 1.53678471e+02] [-3.60913475e-01 9.32125937e-01 -2.97102947e-02 -5.56774223e+01] [-8.36410927e-02 -6.23322353e-04 9.96495750e-01 -1.89312246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35119381700002 meters 0.05526428592884902 Centerline is valid? [True, True] Translation: X:153.70, Y:-55.70, Z:-18.93 [[ 9.30904266e-01 3.57098996e-01 7.67955375e-02 1.53699399e+02] [-3.55906944e-01 9.34066523e-01 -2.91543742e-02 -5.57037661e+01] [-8.21431385e-02 -1.92133746e-04 9.96620524e-01 -1.89300928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38119381700002 meters 0.05577219956217414 Centerline is valid? [True, True] Translation: X:153.72, Y:-55.72, Z:-18.94 [[ 9.32369866e-01 3.53209940e-01 7.70011079e-02 1.53721614e+02] [-3.52000997e-01 9.35544079e-01 -2.91988816e-02 -5.57224907e+01] [-8.23512658e-02 1.19690582e-04 9.96603359e-01 -1.89380713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41119381700003 meters 0.056049458788434446 Centerline is valid? [True, True] Translation: X:153.74, Y:-55.74, Z:-18.94 [[ 9.34228459e-01 3.48049951e-01 7.79642048e-02 1.53742986e+02] [-3.46793253e-01 9.37475814e-01 -2.95556685e-02 -5.57433653e+01] [-8.33764053e-02 5.74286425e-04 9.96517960e-01 -1.89408538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44119381700003 meters 0.05602251553027787 Centerline is valid? [True, True] Translation: X:153.77, Y:-55.76, Z:-18.94 [[ 9.36550130e-01 3.41498895e-01 7.90718648e-02 1.53766905e+02] [-3.40183525e-01 9.39881452e-01 -2.99670753e-02 -5.57639245e+01] [-8.45519022e-02 1.16672253e-03 9.96418393e-01 -1.89366241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47119381700003 meters 0.06203293773077209 Centerline is valid? [True, True] Translation: X:153.78, Y:-55.81, Z:-18.94 [[ 9.41412997e-01 3.27369301e-01 8.10611431e-02 1.53782334e+02] [-3.25937560e-01 9.44893257e-01 -3.06828848e-02 -5.58050013e+01] [-8.66387621e-02 2.46439537e-03 9.96236745e-01 -1.89435631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50119381700003 meters 0.06586022273306914 Centerline is valid? [True, True] Translation: X:153.81, Y:-55.83, Z:-18.95 [[ 9.43909020e-01 3.19856025e-01 8.20236879e-02 1.53805206e+02] [-3.18361838e-01 9.47460788e-01 -3.10450628e-02 -5.58290676e+01] [-8.76441783e-02 3.19050276e-03 9.96146736e-01 -1.89457960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53119381700003 meters 0.07522649188547324 Centerline is valid? [True, True] Translation: X:153.82, Y:-55.86, Z:-18.95 [[ 9.48488440e-01 3.05833282e-01 8.26781838e-02 1.53823070e+02] [-3.04261984e-01 9.52074339e-01 -3.12905455e-02 -5.58649315e+01] [-8.82854674e-02 4.52289247e-03 9.96084946e-01 -1.89491981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56119381700003 meters 0.07230499006403476 Centerline is valid? [True, True] Translation: X:153.85, Y:-55.87, Z:-18.95 [[ 9.50516343e-01 2.99806726e-01 8.14531054e-02 1.53852714e+02] [-2.98259733e-01 9.53986822e-01 -3.08265218e-02 -5.58747488e+01] [-8.69471878e-02 5.00693136e-03 9.96200340e-01 -1.89475804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59119381700003 meters 0.07460968549838819 Centerline is valid? [True, True] Translation: X:153.88, Y:-55.89, Z:-18.95 [[ 9.51998274e-01 2.94845970e-01 8.22504768e-02 1.53878635e+02] [-2.93250056e-01 9.55528886e-01 -3.11280065e-02 -5.58919647e+01] [-8.77706738e-02 5.51385152e-03 9.96125447e-01 -1.89507294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62119381700003 meters 0.07779362236849727 Centerline is valid? [True, True] Translation: X:153.90, Y:-55.91, Z:-18.95 [[ 9.52979377e-01 2.91539899e-01 8.26728137e-02 1.53903333e+02] [-2.89915216e-01 9.56540794e-01 -3.12869989e-02 -5.59094591e+01] [-8.82013273e-02 5.84775808e-03 9.96085503e-01 -1.89548072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65119381700003 meters 0.07891427954636525 Centerline is valid? [True, True] Translation: X:153.93, Y:-55.92, Z:-18.96 [[ 9.54054767e-01 2.88176447e-01 8.20599567e-02 1.53930419e+02] [-2.86562613e-01 9.57557756e-01 -3.10646594e-02 -5.59236495e+01] [-8.75292512e-02 6.12207071e-03 9.96143138e-01 -1.89582008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68119381700004 meters 0.07825376871470881 Centerline is valid? [True, True] Translation: X:153.96, Y:-55.93, Z:-18.96 [[ 9.54160785e-01 2.87667782e-01 8.26101952e-02 1.53960759e+02] [-2.86030786e-01 9.57710157e-01 -3.12673047e-02 -5.59334113e+01] [-8.81112192e-02 6.20497695e-03 9.96091317e-01 -1.89617447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71119381700004 meters 0.08243122996259304 Centerline is valid? [True, True] Translation: X:153.99, Y:-55.95, Z:-18.97 [[ 9.54241499e-01 2.87449401e-01 8.24378808e-02 1.53987285e+02] [-2.85815929e-01 9.57775502e-01 -3.12304689e-02 -5.59489875e+01] [-8.79341623e-02 6.23934996e-03 9.96106748e-01 -1.89673691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.741193817 meters 0.0832598823548065 Centerline is valid? [True, True] Translation: X:154.02, Y:-55.96, Z:-18.97 [[ 9.54255535e-01 2.87651309e-01 8.15665245e-02 1.54016703e+02] [-2.86050781e-01 9.57715273e-01 -3.09258114e-02 -5.59586303e+01] [-8.70133564e-02 6.17895863e-03 9.96187982e-01 -1.89720708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.771193817 meters 0.08047399797394812 Centerline is valid? [True, True] Translation: X:154.05, Y:-55.96, Z:-18.98 [[ 9.54156253e-01 2.88101261e-01 8.11388246e-02 1.54050508e+02] [-2.86517140e-01 9.57580345e-01 -3.07865493e-02 -5.59602105e+01] [-8.65665873e-02 6.12751447e-03 9.96227223e-01 -1.89751513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.801193817 meters 0.07868429988373196 Centerline is valid? [True, True] Translation: X:154.08, Y:-55.97, Z:-18.98 [[ 9.53981326e-01 2.88615366e-01 8.13682999e-02 1.54081692e+02] [-2.87021158e-01 9.57425499e-01 -3.09074319e-02 -5.59651987e+01] [-8.68244449e-02 6.13068922e-03 9.96204763e-01 -1.89780344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.831193817 meters 0.07845766987056313 Centerline is valid? [True, True] Translation: X:154.11, Y:-55.97, Z:-18.98 [[ 9.53916882e-01 2.89024447e-01 8.06687743e-02 1.54111934e+02] [-2.87458723e-01 9.57302635e-01 -3.06455156e-02 -5.59719033e+01] [-8.60817333e-02 6.04433180e-03 9.96269743e-01 -1.89819168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86119381700001 meters 0.07915130026593414 Centerline is valid? [True, True] Translation: X:154.14, Y:-55.98, Z:-18.99 [[ 9.54291257e-01 2.88279383e-01 7.88872209e-02 1.54142023e+02] [-2.86779262e-01 9.57527666e-01 -2.99737009e-02 -5.59752676e+01] [-8.41774965e-02 5.98042173e-03 9.96432829e-01 -1.89863799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89119381700002 meters 0.08000361619286406 Centerline is valid? [True, True] Translation: X:154.17, Y:-55.98, Z:-18.99 [[ 9.54654412e-01 2.87463927e-01 7.74560806e-02 1.54170102e+02] [-2.86015085e-01 9.57773026e-01 -2.94312958e-02 -5.59830405e+01] [-8.26457806e-02 5.94310892e-03 9.96561265e-01 -1.89916170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92119381700002 meters 0.08008269028319355 Centerline is valid? [True, True] Translation: X:154.20, Y:-55.99, Z:-19.00 [[ 9.54956883e-01 2.86850524e-01 7.59876892e-02 1.54198699e+02] [-2.85454567e-01 9.57957317e-01 -2.88698782e-02 -5.59904342e+01] [-8.10743026e-02 5.87845596e-03 9.96690725e-01 -1.89967857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95119381700002 meters 0.08086124863169218 Centerline is valid? [True, True] Translation: X:154.23, Y:-56.00, Z:-19.00 [[ 9.55600899e-01 2.85099795e-01 7.44649523e-02 1.54227580e+02] [-2.83754456e-01 9.58479675e-01 -2.82863967e-02 -5.59989675e+01] [-7.94375892e-02 5.90074403e-03 9.96822377e-01 -1.90014560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98119381700002 meters 0.08401812284940399 Centerline is valid? [True, True] Translation: X:154.26, Y:-56.01, Z:-19.01 [[ 9.56693445e-01 2.81610860e-01 7.37087216e-02 1.54255371e+02] [-2.80282403e-01 9.59509129e-01 -2.80001200e-02 -5.60068573e+01] [-7.86093291e-02 6.12827363e-03 9.96886662e-01 -1.90052614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01119381700002 meters 0.08543561488058028 Centerline is valid? [True, True] Translation: X:154.28, Y:-56.01, Z:-19.01 [[ 9.56976225e-01 2.80530524e-01 7.41561178e-02 1.54283127e+02] [-2.79182716e-01 9.59824730e-01 -2.81691214e-02 -5.60147830e+01] [-7.90791741e-02 6.25407308e-03 9.96848720e-01 -1.90087980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04119381700002 meters 0.08885270972014184 Centerline is valid? [True, True] Translation: X:154.31, Y:-56.02, Z:-19.01 [[ 9.57258198e-01 2.79628536e-01 7.39230940e-02 1.54309642e+02] [-2.78286943e-01 9.60087572e-01 -2.80754676e-02 -5.60248967e+01] [-7.88233457e-02 6.30363969e-03 9.96868670e-01 -1.90138526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07119381700002 meters 0.08500977946921616 Centerline is valid? [True, True] Translation: X:154.34, Y:-56.03, Z:-19.01 [[ 9.57134050e-01 2.79830074e-01 7.47632213e-02 1.54341000e+02] [-2.78458772e-01 9.60028519e-01 -2.83893559e-02 -5.60257309e+01] [-7.97190202e-02 6.35394441e-03 9.96797123e-01 -1.90132587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10119381700002 meters 0.08382795359612322 Centerline is valid? [True, True] Translation: X:154.37, Y:-56.02, Z:-19.01 [[ 9.56095112e-01 2.83082246e-01 7.58061958e-02 1.54372775e+02] [-2.81682998e-01 9.59075843e-01 -2.87787301e-02 -5.60248431e+01] [-8.08506387e-02 6.16188670e-03 9.96707181e-01 -1.90149699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13119381700002 meters 0.08502751243084157 Centerline is valid? [True, True] Translation: X:154.40, Y:-56.03, Z:-19.02 [[ 9.55081313e-01 2.86007289e-01 7.75855414e-02 1.54401273e+02] [-2.84551176e-01 9.58208330e-01 -2.94520796e-02 -5.60316675e+01] [-8.27666214e-02 6.05207376e-03 9.96550580e-01 -1.90175977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16119381700003 meters 0.08123128689925305 Centerline is valid? [True, True] Translation: X:154.43, Y:-56.03, Z:-19.02 [[ 9.53944742e-01 2.89513503e-01 7.85580074e-02 1.54433663e+02] [-2.88032554e-01 9.57156245e-01 -2.98189533e-02 -5.60314290e+01] [-8.38252770e-02 5.81837020e-03 9.96463481e-01 -1.90181587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19119381700003 meters 0.07834582037731941 Centerline is valid? [True, True] Translation: X:154.47, Y:-56.03, Z:-19.02 [[ 9.52870813e-01 2.92650929e-01 7.99540391e-02 1.54465886e+02] [-2.91127905e-01 9.56202714e-01 -3.03465430e-02 -5.60317256e+01] [-8.53332131e-02 5.63948321e-03 9.96336509e-01 -1.90188152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22119381700003 meters 0.07244679749929876 Centerline is valid? [True, True] Translation: X:154.50, Y:-56.02, Z:-19.02 [[ 9.50949087e-01 2.98598171e-01 8.08391387e-02 1.54502173e+02] [-2.97062474e-01 9.54364959e-01 -3.06824389e-02 -5.60213118e+01] [-8.63117614e-02 5.16316269e-03 9.96254798e-01 -1.90191900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25119381700003 meters 0.07150242390817242 Centerline is valid? [True, True] Translation: X:154.53, Y:-56.02, Z:-19.02 [[ 9.50149275e-01 3.00894483e-01 8.17243284e-02 1.54532533e+02] [-2.99333569e-01 9.53644296e-01 -3.10156558e-02 -5.60243528e+01] [-8.72683793e-02 5.00666799e-03 9.96172256e-01 -1.90221279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28119381700003 meters 0.07016364715043902 Centerline is valid? [True, True] Translation: X:154.56, Y:-56.03, Z:-19.03 [[ 9.49699282e-01 3.02283740e-01 8.18279575e-02 1.54562258e+02] [-3.00724210e-01 9.53205486e-01 -3.10523748e-02 -5.60264672e+01] [-8.73854860e-02 4.88277016e-03 9.96162605e-01 -1.90252344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31119381700003 meters 0.06707396863825252 Centerline is valid? [True, True] Translation: X:154.59, Y:-56.02, Z:-19.03 [[ 9.48952651e-01 3.04939620e-01 8.06268783e-02 1.54594987e+02] [-3.03435796e-01 9.52360756e-01 -3.05893522e-02 -5.60203651e+01] [-8.61137802e-02 4.56276585e-03 9.96274861e-01 -1.90277505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34119381700003 meters 0.06604660493976047 Centerline is valid? [True, True] Translation: X:154.63, Y:-56.02, Z:-19.03 [[ 9.48379692e-01 3.06705976e-01 8.06684827e-02 1.54625046e+02] [-3.05207134e-01 9.51794127e-01 -3.06030171e-02 -5.60236066e+01] [-8.61659164e-02 4.40268359e-03 9.96271073e-01 -1.90307506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37119381700003 meters 0.0672099382959911 Centerline is valid? [True, True] Translation: X:154.65, Y:-56.03, Z:-19.04 [[ 9.47654476e-01 3.09064820e-01 8.01868545e-02 1.54651730e+02] [-3.07594848e-01 9.51031989e-01 -3.03902154e-02 -5.60301620e+01] [-8.56528102e-02 4.13436030e-03 9.96316467e-01 -1.90365417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40119381700003 meters 0.06259073600475175 Centerline is valid? [True, True] Translation: X:154.69, Y:-56.02, Z:-19.04 [[ 9.45369030e-01 3.16428419e-01 7.84248234e-02 1.54687093e+02] [-3.15048657e-01 9.48610370e-01 -2.97104403e-02 -5.60220488e+01] [-8.37958284e-02 3.37969485e-03 9.96477213e-01 -1.90401747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43119381700004 meters 0.061496438836023896 Centerline is valid? [True, True] Translation: X:154.72, Y:-56.02, Z:-19.05 [[ 9.43973284e-01 3.21057313e-01 7.63979136e-02 1.54715327e+02] [-3.19763026e-01 9.47055347e-01 -2.89443947e-02 -5.60242110e+01] [-8.16458621e-02 2.89350729e-03 9.96657203e-01 -1.90465815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46119381700004 meters 0.059596848506813585 Centerline is valid? [True, True] Translation: X:154.75, Y:-56.03, Z:-19.05 [[ 9.42231155e-01 3.26371759e-01 7.53785459e-02 1.54746037e+02] [-3.25129651e-01 9.45238468e-01 -2.85473118e-02 -5.60253483e+01] [-8.05677376e-02 2.39036619e-03 9.96746270e-01 -1.90507696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49119381700004 meters 0.05619668393016528 Centerline is valid? [True, True] Translation: X:154.78, Y:-56.02, Z:-19.05 [[ 9.38571451e-01 3.37361503e-01 7.26006006e-02 1.54780472e+02] [-3.36242331e-01 9.41374144e-01 -2.74921016e-02 -5.60181438e+01] [-7.76191050e-02 1.39190647e-03 9.96982115e-01 -1.90535988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.521193817 meters 0.05570645788784625 Centerline is valid? [True, True] Translation: X:154.81, Y:-56.02, Z:-19.06 [[ 9.36756161e-01 3.42509708e-01 7.19374362e-02 1.54808049e+02] [-3.41425963e-01 9.39513801e-01 -2.72420491e-02 -5.60223091e+01] [-7.69168804e-02 9.57848902e-04 9.97037048e-01 -1.90591234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.551193817 meters 0.05503366536832841 Centerline is valid? [True, True] Translation: X:154.84, Y:-56.03, Z:-19.06 [[ 9.35063168e-01 3.47135388e-01 7.17906323e-02 1.54836451e+02] [-3.46070232e-01 9.37814853e-01 -2.71789612e-02 -5.60274269e+01] [-7.67611005e-02 5.69444716e-04 9.97049351e-01 -1.90627796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.581193817 meters 0.0544278817945217 Centerline is valid? [True, True] Translation: X:154.87, Y:-56.03, Z:-19.06 [[ 9.32125760e-01 3.54694337e-01 7.30307755e-02 1.54866155e+02] [-3.53617001e-01 9.34982311e-01 -2.76241675e-02 -5.60312355e+01] [-7.80806191e-02 -7.57256886e-05 9.96947045e-01 -1.90624971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61119381700001 meters 0.054544793253903205 Centerline is valid? [True, True] Translation: X:154.89, Y:-56.04, Z:-19.07 [[ 9.31338576e-01 3.56826305e-01 7.26873134e-02 1.54892217e+02] [-3.55768089e-01 9.34170706e-01 -2.74619507e-02 -5.60395467e+01] [-7.77015052e-02 -2.83452567e-04 9.96976627e-01 -1.90661446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64119381700002 meters 0.05459702769564014 Centerline is valid? [True, True] Translation: X:154.92, Y:-56.05, Z:-19.07 [[ 9.30690399e-01 3.58352295e-01 7.34779813e-02 1.54919185e+02] [-3.57275786e-01 9.33586343e-01 -2.77588500e-02 -5.60495790e+01] [-7.85454874e-02 -4.17008348e-04 9.96910444e-01 -1.90696439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67119381700002 meters 0.05475733330783871 Centerline is valid? [True, True] Translation: X:154.94, Y:-56.06, Z:-19.07 [[ 9.30329953e-01 3.59270483e-01 7.35588147e-02 1.54943982e+02] [-3.58196305e-01 9.33233332e-01 -2.77660627e-02 -5.60616511e+01] [-7.86230645e-02 -5.16895869e-04 9.96904282e-01 -1.90729013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70119381700002 meters 0.05484038378258524 Centerline is valid? [True, True] Translation: X:154.97, Y:-56.07, Z:-19.08 [[ 9.30195905e-01 3.59633427e-01 7.34804492e-02 1.54968875e+02] [-3.58564934e-01 9.33093494e-01 -2.77077403e-02 -5.60749580e+01] [-7.85287587e-02 -5.73885851e-04 9.96911684e-01 -1.90772832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73119381700002 meters 0.054742002456356964 Centerline is valid? [True, True] Translation: X:154.99, Y:-56.09, Z:-19.08 [[ 9.30642842e-01 3.58516487e-01 7.32791150e-02 1.54991176e+02] [-3.57452601e-01 9.33523258e-01 -2.76037012e-02 -5.60948501e+01] [-7.83041402e-02 -5.04623231e-04 9.96929389e-01 -1.90805265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76119381700002 meters 0.054862840476657106 Centerline is valid? [True, True] Translation: X:155.02, Y:-56.11, Z:-19.09 [[ 9.31284053e-01 3.57102417e-01 7.20269127e-02 1.55015207e+02] [-3.56073196e-01 9.34065144e-01 -2.70958685e-02 -5.61102921e+01] [-7.69538288e-02 -4.12902723e-04 9.97034572e-01 -1.90852663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79119381700002 meters 0.054862840476657106 Centerline is valid? [True, True] Translation: X:155.04, Y:-56.12, Z:-19.09 [[ 9.31402881e-01 3.56792409e-01 7.20267287e-02 1.55040822e+02] [-3.55762223e-01 9.34183616e-01 -2.70963640e-02 -5.61196530e+01] [-7.69539668e-02 -3.86757652e-04 9.97034572e-01 -1.90884027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82119381700002 meters 0.05497245958872783 Centerline is valid? [True, True] Translation: X:155.07, Y:-56.14, Z:-19.09 [[ 9.32443002e-01 3.54331014e-01 7.07077141e-02 1.55065230e+02] [-3.53333321e-01 9.35120041e-01 -2.65720560e-02 -5.61364983e+01] [-7.55355040e-02 -2.06463719e-04 9.97143092e-01 -1.90934743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85119381700002 meters 0.05533971198638151 Centerline is valid? [True, True] Translation: X:155.09, Y:-56.16, Z:-19.10 [[ 9.35129677e-01 3.47801104e-01 6.75786941e-02 1.55086890e+02] [-3.46875111e-01 9.37568299e-01 -2.53641969e-02 -5.61627619e+01] [-7.21813370e-02 2.77446222e-04 9.97391487e-01 -1.90979995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88119381700002 meters 0.05560577121159753 Centerline is valid? [True, True] Translation: X:155.11, Y:-56.18, Z:-19.10 [[ 9.36825667e-01 3.42997499e-01 6.86322474e-02 1.55109802e+02] [-3.42028904e-01 9.39336081e-01 -2.57673269e-02 -5.61821479e+01] [-7.33068750e-02 6.65280863e-04 9.97309210e-01 -1.91008728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91119381700003 meters 0.05644944079555967 Centerline is valid? [True, True] Translation: X:155.13, Y:-56.20, Z:-19.10 [[ 9.38600508e-01 3.37850045e-01 6.99030265e-02 1.55131836e+02] [-3.36833341e-01 9.41199357e-01 -2.62120346e-02 -5.62031720e+01] [-7.46484207e-02 1.05695903e-03 9.97209354e-01 -1.91042026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94119381700003 meters 0.05748722670944832 Centerline is valid? [True, True] Translation: X:155.15, Y:-56.22, Z:-19.11 [[ 9.40538579e-01 3.32269453e-01 7.05988054e-02 1.55154599e+02] [-3.31216728e-01 9.43183289e-01 -2.64719150e-02 -5.62246112e+01] [-7.53834223e-02 1.51435205e-03 9.97153472e-01 -1.91064736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97119381700003 meters 0.05876724329963697 Centerline is valid? [True, True] Translation: X:155.18, Y:-56.25, Z:-19.11 [[ 9.42288325e-01 3.26807332e-01 7.27301862e-02 1.55175806e+02] [-3.25675988e-01 9.45088903e-01 -2.72418050e-02 -5.62457014e+01] [-7.76393136e-02 1.98315961e-03 9.96979540e-01 -1.91081378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00119381700003 meters 0.06288959013040603 Centerline is valid? [True, True] Translation: X:155.19, Y:-56.28, Z:-19.11 [[ 9.45113465e-01 3.18051688e-01 7.48576164e-02 1.55194930e+02] [-3.16827267e-01 9.48069348e-01 -2.80177312e-02 -5.62768219e+01] [-7.98812983e-02 2.76300098e-03 9.96800554e-01 -1.91112121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03119381700003 meters 0.06253562419088607 Centerline is valid? [True, True] Translation: X:155.22, Y:-56.29, Z:-19.11 [[ 9.46205667e-01 3.15098524e-01 7.35374421e-02 1.55221499e+02] [-3.13908341e-01 9.49054362e-01 -2.75203607e-02 -5.62907374e+01] [-7.84626552e-02 2.95590484e-03 9.96912671e-01 -1.91119678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06119381700003 meters 0.06315167251286632 Centerline is valid? [True, True] Translation: X:155.25, Y:-56.31, Z:-19.12 [[ 9.47102241e-01 3.12562409e-01 7.28154158e-02 1.55247245e+02] [-3.11388307e-01 9.49892064e-01 -2.72468155e-02 -5.63061861e+01] [-7.76831159e-02 3.13165093e-03 9.96973182e-01 -1.91151655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09119381700003 meters 0.06385268573165778 Centerline is valid? [True, True] Translation: X:155.27, Y:-56.32, Z:-19.12 [[ 9.47598927e-01 3.11053641e-01 7.28141859e-02 1.55272087e+02] [-3.09874645e-01 9.50386761e-01 -2.72526675e-02 -5.63211846e+01] [-7.76786798e-02 3.26132842e-03 9.96973112e-01 -1.91189075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12119381700003 meters 0.0644121064550481 Centerline is valid? [True, True] Translation: X:155.30, Y:-56.34, Z:-19.12 [[ 9.48534518e-01 3.08288582e-01 7.23907382e-02 1.55297276e+02] [-3.07117887e-01 9.51286682e-01 -2.70601579e-02 -5.63380831e+01] [-7.72066829e-02 3.43500328e-03 9.97009192e-01 -1.91214261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15119381700003 meters 0.06670783288591357 Centerline is valid? [True, True] Translation: X:155.32, Y:-56.35, Z:-19.13 [[ 9.49058310e-01 3.06665544e-01 7.24193894e-02 1.55320937e+02] [-3.05489293e-01 9.51810652e-01 -2.70698112e-02 -5.63540516e+01] [-7.72309246e-02 3.56748120e-03 9.97006849e-01 -1.91267288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18119381700004 meters 0.06951286361959191 Centerline is valid? [True, True] Translation: X:155.35, Y:-56.37, Z:-19.13 [[ 9.49538908e-01 3.05376494e-01 7.15615809e-02 1.55345050e+02] [-3.04225136e-01 9.52224817e-01 -2.67388204e-02 -5.63706824e+01] [-7.63081205e-02 3.61871860e-03 9.97077718e-01 -1.91333383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21119381700004 meters 0.06788457405135528 Centerline is valid? [True, True] Translation: X:155.37, Y:-56.38, Z:-19.13 [[ 9.50053986e-01 3.03485131e-01 7.27612456e-02 1.55372061e+02] [-3.02289585e-01 9.52828476e-01 -2.71827324e-02 -5.63820161e+01] [-7.75785418e-02 3.83009648e-03 9.96978887e-01 -1.91322902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24119381700004 meters 0.06783059319921891 Centerline is valid? [True, True] Translation: X:155.40, Y:-56.39, Z:-19.13 [[ 9.50159862e-01 3.02608010e-01 7.49975283e-02 1.55398530e+02] [-3.01335571e-01 9.53106641e-01 -2.80107864e-02 -5.63927497e+01] [-7.99569306e-02 4.01530193e-03 9.96790232e-01 -1.91327116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.271193817 meters 0.06727505678064052 Centerline is valid? [True, True] Translation: X:155.43, Y:-56.40, Z:-19.13 [[ 9.50204037e-01 3.02060303e-01 7.66280769e-02 1.55426433e+02] [-3.00730657e-01 9.53279816e-01 -2.86122996e-02 -5.64018550e+01] [-8.16906389e-02 4.14311063e-03 9.96649123e-01 -1.91331775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.301193817 meters 0.06946124099892434 Centerline is valid? [True, True] Translation: X:155.45, Y:-56.41, Z:-19.14 [[ 9.50532673e-01 3.00727463e-01 7.77858069e-02 1.55451330e+02] [-2.99353389e-01 9.53700355e-01 -2.90375701e-02 -5.64144778e+01] [-8.29167465e-02 4.31571413e-03 9.96547133e-01 -1.91372561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.331193817 meters 0.06917009072853864 Centerline is valid? [True, True] Translation: X:155.48, Y:-56.42, Z:-19.14 [[ 9.50585613e-01 3.00480413e-01 7.80929869e-02 1.55477710e+02] [-2.99095347e-01 9.53778084e-01 -2.91434434e-02 -5.64230935e+01] [-8.32404133e-02 4.34608896e-03 9.96520017e-01 -1.91401359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36119381700001 meters 0.06970899518802814 Centerline is valid? [True, True] Translation: X:155.50, Y:-56.43, Z:-19.14 [[ 9.50665678e-01 3.00434134e-01 7.72923003e-02 1.55503165e+02] [-2.99078116e-01 9.53792894e-01 -2.88339373e-02 -5.64319542e+01] [-8.23835457e-02 4.29499899e-03 9.96591443e-01 -1.91446744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39119381700002 meters 0.06791536899488321 Centerline is valid? [True, True] Translation: X:155.53, Y:-56.44, Z:-19.15 [[ 9.50610349e-01 3.01066842e-01 7.54898692e-02 1.55532642e+02] [-2.99776363e-01 9.53594097e-01 -2.81501315e-02 -5.64353080e+01] [-8.04617648e-02 4.12972792e-03 9.96749141e-01 -1.91482311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42119381700002 meters 0.06999250879639274 Centerline is valid? [True, True] Translation: X:155.56, Y:-56.45, Z:-19.15 [[ 9.50565157e-01 3.01080567e-01 7.60024621e-02 1.55558111e+02] [-2.99773051e-01 9.53589674e-01 -2.83346466e-02 -5.64464545e+01] [-8.10061745e-02 4.15043790e-03 9.96704958e-01 -1.91537249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45119381700002 meters 0.0696717093445146 Centerline is valid? [True, True] Translation: X:155.59, Y:-56.45, Z:-19.16 [[ 9.50144279e-01 3.02340371e-01 7.62636814e-02 1.55585652e+02] [-3.01028683e-01 9.53191438e-01 -2.84220782e-02 -5.64532681e+01] [-8.12870298e-02 4.04751944e-03 9.96682515e-01 -1.91569995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48119381700002 meters 0.06618505832939822 Centerline is valid? [True, True] Translation: X:155.62, Y:-56.45, Z:-19.16 [[ 9.49544537e-01 3.04260343e-01 7.60974108e-02 1.55616386e+02] [-3.02961062e-01 9.52581062e-01 -2.83533894e-02 -5.64544129e+01] [-8.11157644e-02 3.86825361e-03 9.96697180e-01 -1.91572399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51119381700002 meters 0.0647897161381752 Centerline is valid? [True, True] Translation: X:155.65, Y:-56.46, Z:-19.16 [[ 9.48480880e-01 3.07856515e-01 7.48891567e-02 1.55645761e+02] [-3.06609810e-01 9.51426363e-01 -2.78980526e-02 -5.64584674e+01] [-7.98401152e-02 3.49901944e-03 9.96801541e-01 -1.91611999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54119381700002 meters 0.0607640951858521 Centerline is valid? [True, True] Translation: X:155.68, Y:-56.46, Z:-19.16 [[ 9.45512718e-01 3.16771780e-01 7.52418718e-02 1.55678789e+02] [-3.15542575e-01 9.48497813e-01 -2.80139547e-02 -5.64563909e+01] [-8.02407812e-02 2.74553641e-03 9.96771729e-01 -1.91632770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57119381700002 meters 0.06105453175553422 Centerline is valid? [True, True] Translation: X:155.71, Y:-56.47, Z:-19.17 [[ 9.43852782e-01 3.21206157e-01 7.72562663e-02 1.55705870e+02] [-3.19925029e-01 9.47006174e-01 -2.87625197e-02 -5.64652018e+01] [-8.24008596e-02 2.43137098e-03 9.96596301e-01 -1.91695514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60119381700002 meters 0.0592478230882557 Centerline is valid? [True, True] Translation: X:155.74, Y:-56.47, Z:-19.17 [[ 9.42377164e-01 3.25156637e-01 7.87301911e-02 1.55735280e+02] [-3.23840115e-01 9.45657790e-01 -2.93073950e-02 -5.64689718e+01] [-8.39813125e-02 2.12262561e-03 9.96465069e-01 -1.91714639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63119381700002 meters 0.05664015318407033 Centerline is valid? [True, True] Translation: X:155.77, Y:-56.47, Z:-19.17 [[ 9.41280959e-01 3.28284387e-01 7.88639195e-02 1.55766407e+02] [-3.26973995e-01 9.44577121e-01 -2.93610210e-02 -5.64700423e+01] [-8.41318187e-02 1.85051919e-03 9.96452915e-01 -1.91697709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66119381700003 meters 0.05586808333164924 Centerline is valid? [True, True] Translation: X:155.79, Y:-56.47, Z:-19.17 [[ 9.40089023e-01 3.31556308e-01 7.93917080e-02 1.55794348e+02] [-3.30242401e-01 9.43434174e-01 -2.95282200e-02 -5.64745412e+01] [-8.46911181e-02 1.54064728e-03 9.96406062e-01 -1.91735332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69119381700003 meters 0.05552932304718048 Centerline is valid? [True, True] Translation: X:155.82, Y:-56.48, Z:-19.18 [[ 9.39077869e-01 3.34902640e-01 7.72850425e-02 1.55821255e+02] [-3.33669666e-01 9.42251976e-01 -2.87361661e-02 -5.64788791e+01] [-8.24458019e-02 1.19782328e-03 9.96594830e-01 -1.91804156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72119381700003 meters 0.055513251809774344 Centerline is valid? [True, True] Translation: X:155.85, Y:-56.49, Z:-19.18 [[ 9.39221481e-01 3.34456116e-01 7.74733192e-02 1.55846751e+02] [-3.33215723e-01 9.42410511e-01 -2.88046802e-02 -5.64896211e+01] [-8.26455718e-02 1.23864629e-03 9.96578233e-01 -1.91840239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75119381700003 meters 0.05587157879157634 Centerline is valid? [True, True] Translation: X:155.87, Y:-56.51, Z:-19.19 [[ 9.40787507e-01 3.29883657e-01 7.80745778e-02 1.55871630e+02] [-3.28610604e-01 9.44020196e-01 -2.89989808e-02 -5.65065695e+01] [-8.32702681e-02 1.62574469e-03 9.96525674e-01 -1.91851716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78119381700003 meters 0.05677447768527724 Centerline is valid? [True, True] Translation: X:155.90, Y:-56.52, Z:-19.19 [[ 9.42070501e-01 3.26240746e-01 7.79111521e-02 1.55896544e+02] [-3.24962771e-01 9.45284769e-01 -2.89119964e-02 -5.65213781e+01] [-8.30804966e-02 1.91891502e-03 9.96540992e-01 -1.91897061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81119381700003 meters 0.05776444047615779 Centerline is valid? [True, True] Translation: X:155.92, Y:-56.54, Z:-19.19 [[ 9.43192427e-01 3.23071403e-01 7.75429864e-02 1.55921361e+02] [-3.21797503e-01 9.46372134e-01 -2.87428389e-02 -5.65354904e+01] [-8.26705108e-02 2.15688860e-03 9.96574601e-01 -1.91939289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84119381700003 meters 0.05835870201910397 Centerline is valid? [True, True] Translation: X:155.95, Y:-56.55, Z:-19.20 [[ 9.44127843e-01 3.20358973e-01 7.74128194e-02 1.55946556e+02] [-3.19081024e-01 9.47293226e-01 -2.86852501e-02 -5.65484983e+01] [-8.25222167e-02 2.38158164e-03 9.96586380e-01 -1.91969043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87119381700003 meters 0.06104443827191201 Centerline is valid? [True, True] Translation: X:155.97, Y:-56.57, Z:-19.20 [[ 9.45487439e-01 3.16335852e-01 7.73636322e-02 1.55969597e+02] [-3.15046980e-01 9.48643361e-01 -2.86561466e-02 -5.65664394e+01] [-8.24554626e-02 2.72084800e-03 9.96591036e-01 -1.92035097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90119381700003 meters 0.05978398574153129 Centerline is valid? [True, True] Translation: X:156.00, Y:-56.57, Z:-19.20 [[ 9.46236249e-01 3.14315660e-01 7.64370832e-02 1.55997961e+02] [-3.13050704e-01 9.49314204e-01 -2.83160489e-02 -5.65746448e+01] [-8.14629864e-02 2.86498916e-03 9.96672250e-01 -1.92027065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93119381700004 meters 0.060901958061395284 Centerline is valid? [True, True] Translation: X:156.02, Y:-56.59, Z:-19.21 [[ 9.46727287e-01 3.13034926e-01 7.56080652e-02 1.56021930e+02] [-3.11795692e-01 9.49737145e-01 -2.79785909e-02 -5.65874567e+01] [-8.05660641e-02 2.91382640e-03 9.96745012e-01 -1.92079952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96119381700004 meters 0.06094566483625207 Centerline is valid? [True, True] Translation: X:156.05, Y:-56.60, Z:-19.21 [[ 9.47275662e-01 3.11405623e-01 7.54675925e-02 1.56047538e+02] [-3.10167245e-01 9.50272254e-01 -2.79092156e-02 -5.65992358e+01] [-8.04058459e-02 3.03014541e-03 9.96757603e-01 -1.92114715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99119381700004 meters 0.06270908283972072 Centerline is valid? [True, True] Translation: X:156.07, Y:-56.61, Z:-19.21 [[ 9.48143480e-01 3.08409875e-01 7.68589022e-02 1.56071534e+02] [-3.07116861e-01 9.51247741e-01 -2.84072139e-02 -5.66145659e+01] [-8.18729224e-02 3.32944987e-03 9.96637216e-01 -1.92143622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.021193817 meters 0.06290655541241033 Centerline is valid? [True, True] Translation: X:156.10, Y:-56.63, Z:-19.22 [[ 9.48784968e-01 3.06211755e-01 7.77267327e-02 1.56098268e+02] [-3.04882216e-01 9.51956782e-01 -2.87249000e-02 -5.66257241e+01] [-8.27883924e-02 3.55625480e-03 9.96560804e-01 -1.92165680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.051193817 meters 0.06457507826288983 Centerline is valid? [True, True] Translation: X:156.12, Y:-56.64, Z:-19.22 [[ 9.49481891e-01 3.03951195e-01 7.80884770e-02 1.56122361e+02] [-3.02604345e-01 9.52680264e-01 -2.88257522e-02 -5.66385818e+01] [-8.31549728e-02 3.73961725e-03 9.96529611e-01 -1.92205885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.081193817 meters 0.06720929195552436 Centerline is valid? [True, True] Translation: X:156.15, Y:-56.66, Z:-19.22 [[ 9.51076222e-01 2.98871068e-01 7.82949775e-02 1.56148210e+02] [-2.97501134e-01 9.54284341e-01 -2.88872386e-02 -5.66556192e+01] [-8.33492308e-02 4.18112113e-03 9.96511628e-01 -1.92240532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11119381700001 meters 0.06861061614472097 Centerline is valid? [True, True] Translation: X:156.17, Y:-56.67, Z:-19.23 [[ 9.51737961e-01 2.96488876e-01 7.93044770e-02 1.56172751e+02] [-2.95075078e-01 9.55025954e-01 -2.92596124e-02 -5.66685266e+01] [-8.44129834e-02 4.44670909e-03 9.96420933e-01 -1.92274832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14119381700002 meters 0.07047695152610302 Centerline is valid? [True, True] Translation: X:156.20, Y:-56.68, Z:-19.23 [[ 9.52470463e-01 2.94249766e-01 7.88485416e-02 1.56198306e+02] [-2.92845468e-01 9.55717448e-01 -2.90807790e-02 -5.66818882e+01] [-8.39139394e-02 4.60814498e-03 9.96462350e-01 -1.92308036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17119381700002 meters 0.07191765160577472 Centerline is valid? [True, True] Translation: X:156.23, Y:-56.69, Z:-19.23 [[ 9.53608172e-01 2.90795537e-01 7.79064221e-02 1.56226688e+02] [-2.89413807e-01 9.56772947e-01 -2.87258936e-02 -5.66924802e+01] [-8.28921187e-02 4.84605262e-03 9.96546744e-01 -1.92339640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20119381700002 meters 0.07075103507959832 Centerline is valid? [True, True] Translation: X:156.26, Y:-56.70, Z:-19.24 [[ 9.53716131e-01 2.90409698e-01 7.80240277e-02 1.56255351e+02] [-2.89022268e-01 9.56889909e-01 -2.87720361e-02 -5.66990752e+01] [-8.30160831e-02 4.88967350e-03 9.96536212e-01 -1.92354049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23119381700002 meters 0.07048646531741568 Centerline is valid? [True, True] Translation: X:156.28, Y:-56.71, Z:-19.24 [[ 9.53590116e-01 2.90809138e-01 7.80764708e-02 1.56282715e+02] [-2.89421793e-01 9.56768788e-01 -2.87838889e-02 -5.67073510e+01] [-8.30717482e-02 4.85099977e-03 9.96531762e-01 -1.92374121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26119381700002 meters 0.06896551370795222 Centerline is valid? [True, True] Translation: X:156.31, Y:-56.71, Z:-19.24 [[ 9.51986970e-01 2.95252525e-01 8.09120190e-02 1.56311691e+02] [-2.93779125e-01 9.55408094e-01 -2.98194532e-02 -5.67138079e+01] [-8.61082667e-02 4.61746878e-03 9.96275085e-01 -1.92386668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29119381700002 meters 0.06577666828539487 Centerline is valid? [True, True] Translation: X:156.34, Y:-56.72, Z:-19.24 [[ 9.50810705e-01 2.98776617e-01 8.18018115e-02 1.56342708e+02] [-2.97283742e-01 9.54313191e-01 -3.01448349e-02 -5.67171637e+01] [-8.70711195e-02 4.34368310e-03 9.96192628e-01 -1.92392592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32119381700002 meters 0.06375481155937894 Centerline is valid? [True, True] Translation: X:156.37, Y:-56.72, Z:-19.24 [[ 9.49364696e-01 3.02870104e-01 8.35246887e-02 1.56372975e+02] [-3.01329409e-01 9.53023235e-01 -3.07782383e-02 -5.67208971e+01] [-8.89227773e-02 4.05132773e-03 9.96030284e-01 -1.92401741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35119381700002 meters 0.06344829778296203 Centerline is valid? [True, True] Translation: X:156.40, Y:-56.73, Z:-19.24 [[ 9.47604061e-01 3.07893656e-01 8.51354275e-02 1.56401041e+02] [-3.06313510e-01 9.51413798e-01 -3.13658677e-02 -5.67267906e+01] [-9.06563721e-02 3.64429192e-03 9.95875565e-01 -1.92444583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38119381700002 meters 0.05793904733149715 Centerline is valid? [True, True] Translation: X:156.44, Y:-56.72, Z:-19.25 [[ 9.43957038e-01 3.18259440e-01 8.74987966e-02 1.56435927e+02] [-3.16633920e-01 9.47999727e-01 -3.22409540e-02 -5.67201691e+01] [-9.32098232e-02 2.72898853e-03 9.95642748e-01 -1.92450452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41119381700003 meters 0.05642699177166251 Centerline is valid? [True, True] Translation: X:156.47, Y:-56.72, Z:-19.25 [[ 9.42179102e-01 3.23077309e-01 8.89920942e-02 1.56465312e+02] [-3.21417530e-01 9.46369812e-01 -3.27864209e-02 -5.67245009e+01] [-9.48119801e-02 2.28706147e-03 9.95492570e-01 -1.92485223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44119381700003 meters 0.05526466695103846 Centerline is valid? [True, True] Translation: X:156.49, Y:-56.73, Z:-19.25 [[ 9.40685140e-01 3.27594462e-01 8.82798712e-02 1.56494003e+02] [-3.25981320e-01 9.44816690e-01 -3.25208004e-02 -5.67284967e+01] [-9.40619298e-02 1.81424477e-03 9.95564695e-01 -1.92531980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47119381700003 meters 0.054224014474438066 Centerline is valid? [True, True] Translation: X:156.52, Y:-56.73, Z:-19.26 [[ 9.39586176e-01 3.31244033e-01 8.63435477e-02 1.56522699e+02] [-3.29716645e-01 9.43544058e-01 -3.18047815e-02 -5.67320815e+01] [-9.20040855e-02 1.41442822e-03 9.95757625e-01 -1.92579971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50119381700003 meters 0.053908214400936585 Centerline is valid? [True, True] Translation: X:156.55, Y:-56.74, Z:-19.27 [[ 9.37517025e-01 3.38129960e-01 8.20363246e-02 1.56550015e+02] [-3.36780443e-01 9.41099186e-01 -3.01870079e-02 -5.67354806e+01] [-8.74114501e-02 6.72604094e-04 9.96172066e-01 -1.92696393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53119381700003 meters 0.05345818679577069 Centerline is valid? [True, True] Translation: X:156.58, Y:-56.74, Z:-19.27 [[ 9.36508782e-01 3.41183271e-01 8.09028883e-02 1.56578263e+02] [-3.39882533e-01 9.39996719e-01 -2.97662784e-02 -5.67418181e+01] [-8.62042058e-02 3.78902462e-04 9.96277417e-01 -1.92723882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56119381700003 meters 0.05355438656789311 Centerline is valid? [True, True] Translation: X:156.61, Y:-56.75, Z:-19.28 [[ 9.35848245e-01 3.43295022e-01 7.96027067e-02 1.56606285e+02] [-3.42045695e-01 9.39227610e-01 -2.92615617e-02 -5.67493021e+01] [-8.48104085e-02 1.56618049e-04 9.96397095e-01 -1.92766290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59119381700003 meters 0.05362838206147933 Centerline is valid? [True, True] Translation: X:156.63, Y:-56.76, Z:-19.28 [[ 9.35193520e-01 3.45186501e-01 7.91161117e-02 1.56633648e+02] [-3.43961402e-01 9.38534111e-01 -2.90564212e-02 -5.67573169e+01] [-8.42830539e-02 -3.95118934e-05 9.96441852e-01 -1.92811845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62119381700003 meters 0.054011782887544636 Centerline is valid? [True, True] Translation: X:156.66, Y:-56.77, Z:-19.29 [[ 9.33648246e-01 3.49241527e-01 7.95695145e-02 1.56658413e+02] [-3.48019163e-01 9.37032641e-01 -2.91974755e-02 -5.67655395e+01] [-8.47562032e-02 -4.31544003e-04 9.96401626e-01 -1.92867350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65119381700003 meters 0.053807628636072524 Centerline is valid? [True, True] Translation: X:156.69, Y:-56.78, Z:-19.29 [[ 9.32744563e-01 3.51659439e-01 7.95186648e-02 1.56685108e+02] [-3.50450013e-01 9.36127757e-01 -2.91481004e-02 -5.67765362e+01] [-8.46898339e-02 -6.79584941e-04 9.96407131e-01 -1.92873620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68119381700004 meters 0.053807628636072524 Centerline is valid? [True, True] Translation: X:156.71, Y:-56.79, Z:-19.29 [[ 9.32864911e-01 3.51338169e-01 7.95270320e-02 1.56710811e+02] [-3.50129524e-01 9.36248384e-01 -2.91252502e-02 -5.67856812e+01] [-8.46898673e-02 -6.74838013e-04 9.96407131e-01 -1.92905012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71119381700004 meters 0.05448611072378603 Centerline is valid? [True, True] Translation: X:156.74, Y:-56.80, Z:-19.30 [[ 9.32137846e-01 3.53079161e-01 8.03376811e-02 1.56736320e+02] [-3.51855502e-01 9.35593039e-01 -2.93831693e-02 -5.67955318e+01] [-8.55379600e-02 -8.78090941e-04 9.96334525e-01 -1.92974302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74119381700004 meters 0.054129835759591946 Centerline is valid? [True, True] Translation: X:156.76, Y:-56.81, Z:-19.30 [[ 9.32257528e-01 3.52495351e-01 8.15041684e-02 1.56761021e+02] [-3.51234029e-01 9.35813186e-01 -2.98049815e-02 -5.68127678e+01] [-8.67787930e-02 -8.41119116e-04 9.96227250e-01 -1.92993334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.771193817 meters 0.05354093373247853 Centerline is valid? [True, True] Translation: X:156.79, Y:-56.83, Z:-19.30 [[ 9.33134664e-01 3.50032133e-01 8.20804713e-02 1.56785793e+02] [-3.48745647e-01 9.36737474e-01 -2.99896372e-02 -5.68293342e+01] [-8.73851900e-02 -6.40837018e-04 9.96174391e-01 -1.92998250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.801193817 meters 0.05307502804009062 Centerline is valid? [True, True] Translation: X:156.81, Y:-56.85, Z:-19.30 [[ 9.34628481e-01 3.45671105e-01 8.35529198e-02 1.56809638e+02] [-3.44323136e-01 9.38355699e-01 -3.04985374e-02 -5.68477529e+01] [-8.89448216e-02 -2.64401724e-04 9.96036520e-01 -1.93005108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.831193817 meters 0.05370959958208258 Centerline is valid? [True, True] Translation: X:156.83, Y:-56.88, Z:-19.30 [[ 9.39077985e-01 3.33270253e-01 8.40444889e-02 1.56827548e+02] [-3.31859683e-01 9.42830926e-01 -3.06430422e-02 -5.68799229e+01] [-8.94521577e-02 8.85228837e-04 9.95990727e-01 -1.93039630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86119381700001 meters 0.05506271602299885 Centerline is valid? [True, True] Translation: X:156.85, Y:-56.90, Z:-19.31 [[ 9.41511569e-01 3.26345577e-01 8.39912474e-02 1.56849689e+02] [-3.24910261e-01 9.45249288e-01 -3.06121761e-02 -5.69019541e+01] [-8.93828151e-02 1.53209983e-03 9.95996167e-01 -1.93072013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89119381700002 meters 0.05653128743062958 Centerline is valid? [True, True] Translation: X:156.87, Y:-56.92, Z:-19.31 [[ 9.43745205e-01 3.19676061e-01 8.45707070e-02 1.56873317e+02] [-3.18194601e-01 9.47524401e-01 -3.08172828e-02 -5.69220364e+01] [-8.99843561e-02 2.17372047e-03 9.95940807e-01 -1.93091947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92119381700002 meters 0.05857197876278774 Centerline is valid? [True, True] Translation: X:156.90, Y:-56.94, Z:-19.31 [[ 9.45719508e-01 3.13557932e-01 8.54168383e-02 1.56897506e+02] [-3.12022185e-01 9.49565006e-01 -3.11200015e-02 -5.69413231e+01] [-9.08667639e-02 2.77884395e-03 9.95859181e-01 -1.93114772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95119381700002 meters 0.06094132922906909 Centerline is valid? [True, True] Translation: X:156.92, Y:-56.96, Z:-19.31 [[ 9.47487488e-01 3.07930560e-01 8.62915385e-02 1.56919849e+02] [-3.06340657e-01 9.51402956e-01 -3.14295646e-02 -5.69623754e+01] [-9.17761482e-02 3.34451262e-03 9.95774047e-01 -1.93123903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98119381700002 meters 0.061013444657719 Centerline is valid? [True, True] Translation: X:156.95, Y:-56.97, Z:-19.32 [[ 9.47356097e-01 3.08192846e-01 8.67962871e-02 1.56945058e+02] [-3.06585970e-01 9.51318068e-01 -3.16065931e-02 -5.69740124e+01] [-9.23118020e-02 3.33217477e-03 9.95724574e-01 -1.93152265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01119381700002 meters 0.059883961740060866 Centerline is valid? [True, True] Translation: X:156.97, Y:-56.98, Z:-19.32 [[ 9.46704718e-01 3.10041956e-01 8.73164522e-02 1.56972710e+02] [-3.08425089e-01 9.50717640e-01 -3.17794616e-02 -5.69835184e+01] [-9.28662578e-02 3.15518167e-03 9.95673593e-01 -1.93176808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04119381700002 meters 0.05738552367702931 Centerline is valid? [True, True] Translation: X:157.00, Y:-56.99, Z:-19.32 [[ 9.45323147e-01 3.13866784e-01 8.86103304e-02 1.57002364e+02] [-3.12218915e-01 9.49462859e-01 -3.22432681e-02 -5.69903784e+01] [-9.42523085e-02 2.81448643e-03 9.95544364e-01 -1.93184981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07119381700002 meters 0.05792969448440628 Centerline is valid? [True, True] Translation: X:157.03, Y:-57.00, Z:-19.32 [[ 9.44878379e-01 3.15164845e-01 8.87466558e-02 1.57026967e+02] [-3.13517629e-01 9.49033135e-01 -3.22925053e-02 -5.70019337e+01] [-9.44009794e-02 2.68884901e-03 9.95530625e-01 -1.93235882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10119381700002 meters 0.05808345985736087 Centerline is valid? [True, True] Translation: X:157.05, Y:-57.01, Z:-19.33 [[ 9.44890874e-01 3.15295308e-01 8.81482006e-02 1.57053616e+02] [-3.13671895e-01 9.48989917e-01 -3.20636924e-02 -5.70129771e+01] [-9.37612853e-02 2.64707716e-03 9.95591188e-01 -1.93277717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13119381700002 meters 0.05857538831694846 Centerline is valid? [True, True] Translation: X:157.08, Y:-57.02, Z:-19.33 [[ 9.45226002e-01 3.14217349e-01 8.84039725e-02 1.57079804e+02] [-3.12580532e-01 9.49347076e-01 -3.21487189e-02 -5.70248028e+01] [-9.40277380e-02 2.75444422e-03 9.95565768e-01 -1.93317795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16119381700003 meters 0.057686477742941375 Centerline is valid? [True, True] Translation: X:157.11, Y:-57.03, Z:-19.33 [[ 9.46002909e-01 3.12220840e-01 8.71587208e-02 1.57106869e+02] [-3.10622173e-01 9.50005113e-01 -3.16883409e-02 -5.70337295e+01] [-9.26949908e-02 2.90383145e-03 9.95690317e-01 -1.93335681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19119381700003 meters 0.06260082654545517 Centerline is valid? [True, True] Translation: X:157.13, Y:-57.06, Z:-19.34 [[ 9.48000981e-01 3.06891107e-01 8.43326016e-02 1.57128270e+02] [-3.05374428e-01 9.51738896e-01 -3.06517961e-02 -5.70571027e+01] [-8.96693807e-02 3.30491277e-03 9.95966104e-01 -1.93446919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22119381700003 meters 0.0612815364561418 Centerline is valid? [True, True] Translation: X:157.16, Y:-57.07, Z:-19.35 [[ 9.48817441e-01 3.04533555e-01 8.36945450e-02 1.57156953e+02] [-3.03031006e-01 9.52495189e-01 -3.04158657e-02 -5.70655638e+01] [-8.89813032e-02 3.49706169e-03 9.96027157e-01 -1.93464977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25119381700003 meters 0.06208895453337491 Centerline is valid? [True, True] Translation: X:157.18, Y:-57.08, Z:-19.35 [[ 9.49392667e-01 3.03086263e-01 8.24152942e-02 1.57182832e+02] [-3.01624152e-01 9.52956420e-01 -2.99488320e-02 -5.70766380e+01] [-8.76152633e-02 3.57475832e-03 9.96147974e-01 -1.93501242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28119381700003 meters 0.06179428251143095 Centerline is valid? [True, True] Translation: X:157.21, Y:-57.08, Z:-19.35 [[ 9.49243755e-01 3.04174142e-01 8.00898504e-02 1.57210402e+02] [-3.02798258e-01 9.52610498e-01 -2.90938885e-02 -5.70847915e+01] [-8.51440409e-02 3.36612478e-03 9.96362967e-01 -1.93549633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31119381700003 meters 0.06045413872581953 Centerline is valid? [True, True] Translation: X:157.24, Y:-57.09, Z:-19.36 [[ 9.48623684e-01 3.06147583e-01 7.99172227e-02 1.57238252e+02] [-3.04785263e-01 9.51978770e-01 -2.90235437e-02 -5.70922949e+01] [-8.49649871e-02 3.17482925e-03 9.96378879e-01 -1.93571722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34119381700003 meters 0.059947332614570324 Centerline is valid? [True, True] Translation: X:157.26, Y:-57.10, Z:-19.36 [[ 9.47731155e-01 3.08695392e-01 8.07019971e-02 1.57264609e+02] [-3.07315886e-01 9.51156316e-01 -2.93020319e-02 -5.71011069e+01] [-8.58056165e-02 2.96944286e-03 9.96307472e-01 -1.93608719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37119381700003 meters 0.058362655094893696 Centerline is valid? [True, True] Translation: X:157.29, Y:-57.11, Z:-19.36 [[ 9.46561381e-01 3.11994740e-01 8.17363654e-02 1.57294240e+02] [-3.10593195e-01 9.50080021e-01 -2.96617758e-02 -5.71071870e+01] [-8.69104058e-02 2.68993259e-03 9.96212500e-01 -1.93632246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40119381700003 meters 0.05549104373529649 Centerline is valid? [True, True] Translation: X:157.33, Y:-57.11, Z:-19.36 [[ 9.44269165e-01 3.18276599e-01 8.39985170e-02 1.57325804e+02] [-3.16821083e-01 9.47995410e-01 -3.04811948e-02 -5.71077309e+01] [-8.93316596e-02 2.16995124e-03 9.95999571e-01 -1.93619730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43119381700004 meters 0.05493068056689122 Centerline is valid? [True, True] Translation: X:157.35, Y:-57.11, Z:-19.36 [[ 9.43056313e-01 3.21384791e-01 8.57706579e-02 1.57352507e+02] [-3.19880125e-01 9.46946755e-01 -3.11215308e-02 -5.71147021e+01] [-9.12222328e-02 1.91302731e-03 9.95828723e-01 -1.93646718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46119381700004 meters 0.05366413898422573 Centerline is valid? [True, True] Translation: X:157.38, Y:-57.12, Z:-19.37 [[ 9.42275722e-01 3.23544405e-01 8.62292390e-02 1.57381307e+02] [-3.22033582e-01 9.46211455e-01 -3.12770501e-02 -5.71206518e+01] [-9.17106083e-02 1.70289417e-03 9.95784246e-01 -1.93650974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49119381700004 meters 0.05295428028125985 Centerline is valid? [True, True] Translation: X:157.41, Y:-57.13, Z:-19.37 [[ 9.41200232e-01 3.26764830e-01 8.58304643e-02 1.57407443e+02] [-3.25282037e-01 9.45104679e-01 -3.11246313e-02 -5.71297477e+01] [-9.12892083e-02 1.37540193e-03 9.95823473e-01 -1.93694001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.521193817 meters 0.0533866124171038 Centerline is valid? [True, True] Translation: X:157.43, Y:-57.14, Z:-19.38 [[ 9.41346120e-01 3.26602062e-01 8.48444152e-02 1.57432633e+02] [-3.25153475e-01 9.45160954e-01 -3.07569356e-02 -5.71411148e+01] [-9.02369070e-02 1.36546554e-03 9.95919392e-01 -1.93752148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.551193817 meters 0.0534955841460127 Centerline is valid? [True, True] Translation: X:157.46, Y:-57.15, Z:-19.38 [[ 9.41327641e-01 3.27058714e-01 8.32758631e-02 1.57458685e+02] [-3.25665960e-01 9.45003142e-01 -3.01785272e-02 -5.71510211e+01] [-8.85661026e-02 1.28776799e-03 9.96069469e-01 -1.93810510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.581193817 meters 0.05345346239785487 Centerline is valid? [True, True] Translation: X:157.49, Y:-57.16, Z:-19.39 [[ 9.41181128e-01 3.27696687e-01 8.24194481e-02 1.57486195e+02] [-3.26335298e-01 9.44782205e-01 -2.98640036e-02 -5.71599938e+01] [-8.76547629e-02 1.21106148e-03 9.96150177e-01 -1.93856088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61119381700001 meters 0.053395852862328654 Centerline is valid? [True, True] Translation: X:157.51, Y:-57.17, Z:-19.39 [[ 9.40418277e-01 3.30520919e-01 7.98084340e-02 1.57512336e+02] [-3.29257161e-01 9.43798246e-01 -2.88893218e-02 -5.71680548e+01] [-8.48715852e-02 8.90547875e-04 9.96391500e-01 -1.93917364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64119381700002 meters 0.05300333579384626 Centerline is valid? [True, True] Translation: X:157.54, Y:-57.18, Z:-19.39 [[ 9.40481571e-01 3.30846605e-01 7.76848721e-02 1.57539792e+02] [-3.29651064e-01 9.43684181e-01 -2.81130272e-02 -5.71780560e+01] [-8.26110845e-02 8.30883163e-04 9.96581516e-01 -1.93931394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67119381700002 meters 0.05344858232854119 Centerline is valid? [True, True] Translation: X:157.56, Y:-57.19, Z:-19.40 [[ 9.40670634e-01 3.30579247e-01 7.65252922e-02 1.57563898e+02] [-3.29420934e-01 9.43777889e-01 -2.76612410e-02 -5.71905045e+01] [-8.13671110e-02 8.11083857e-04 9.96683869e-01 -1.93992642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70119381700002 meters 0.05361269349474115 Centerline is valid? [True, True] Translation: X:157.59, Y:-57.21, Z:-19.40 [[ 9.41690476e-01 3.27669367e-01 7.64972825e-02 1.57588143e+02] [-3.26503123e-01 9.44791870e-01 -2.76411445e-02 -5.72083441e+01] [-8.13311669e-02 1.05280087e-03 9.96686577e-01 -1.94011349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73119381700002 meters 0.05379784686490211 Centerline is valid? [True, True] Translation: X:157.61, Y:-57.22, Z:-19.40 [[ 9.42128382e-01 3.26071161e-01 7.79211763e-02 1.57614167e+02] [-3.24856193e-01 9.45344458e-01 -2.81480050e-02 -5.72217859e+01] [-8.28406048e-02 1.20585778e-03 9.96562080e-01 -1.94032324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76119381700002 meters 0.053842215244147125 Centerline is valid? [True, True] Translation: X:157.64, Y:-57.23, Z:-19.40 [[ 9.42700238e-01 3.24205880e-01 7.87833061e-02 1.57639675e+02] [-3.22957845e-01 9.45985542e-01 -2.84531985e-02 -5.72349072e+01] [-8.37525628e-02 1.37915017e-03 9.96485628e-01 -1.94045871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79119381700002 meters 0.05400682964784181 Centerline is valid? [True, True] Translation: X:157.67, Y:-57.25, Z:-19.41 [[ 9.42908925e-01 3.23133933e-01 8.06673404e-02 1.57665221e+02] [-3.21822611e-01 9.46352059e-01 -2.91202188e-02 -5.72483897e+01] [-8.57494346e-02 1.49714013e-03 9.96315609e-01 -1.94064166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82119381700002 meters 0.05456976254713172 Centerline is valid? [True, True] Translation: X:157.69, Y:-57.27, Z:-19.41 [[ 9.43694937e-01 3.20424578e-01 8.22675860e-02 1.57689048e+02] [-3.19050984e-01 9.47272376e-01 -2.96903344e-02 -5.72654878e+01] [-8.74433245e-02 1.77106395e-03 9.96167922e-01 -1.94088774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85119381700002 meters 0.05459848050973581 Centerline is valid? [True, True] Translation: X:157.72, Y:-57.28, Z:-19.41 [[ 9.44093487e-01 3.19043315e-01 8.30593291e-02 1.57715595e+02] [-3.17638701e-01 9.47738216e-01 -2.99654800e-02 -5.72775407e+01] [-8.82787864e-02 1.90735710e-03 9.96093980e-01 -1.94111650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88119381700002 meters 0.05529151906968024 Centerline is valid? [True, True] Translation: X:157.74, Y:-57.29, Z:-19.42 [[ 9.44820219e-01 3.17456090e-01 8.08479090e-02 1.57741808e+02] [-3.16120380e-01 9.48270880e-01 -2.91589369e-02 -5.72905308e+01] [-8.59223999e-02 1.99228150e-03 9.96299840e-01 -1.94161171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91119381700003 meters 0.05621240230917273 Centerline is valid? [True, True] Translation: X:157.77, Y:-57.30, Z:-19.42 [[ 9.45624479e-01 3.15372768e-01 7.95887043e-02 1.57767499e+02] [-3.14071262e-01 9.48965445e-01 -2.87023849e-02 -5.73037288e+01] [-8.45788808e-02 2.14515304e-03 9.96414478e-01 -1.94211727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94119381700003 meters 0.05831656982095785 Centerline is valid? [True, True] Translation: X:157.79, Y:-57.32, Z:-19.43 [[ 9.47289773e-01 3.10930607e-01 7.72285188e-02 1.57792158e+02] [-3.09691300e-01 9.50429439e-01 -2.78420587e-02 -5.73214134e+01] [-8.20572060e-02 2.45749711e-03 9.96624591e-01 -1.94275291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97119381700003 meters 0.05972494799878838 Centerline is valid? [True, True] Translation: X:157.82, Y:-57.34, Z:-19.43 [[ 9.48184595e-01 3.08137300e-01 7.74427453e-02 1.57816600e+02] [-3.06881747e-01 9.51338044e-01 -2.79198749e-02 -5.73354652e+01] [-8.22773847e-02 2.70743025e-03 9.96605791e-01 -1.94314466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00119381700003 meters 0.060902732246803516 Centerline is valid? [True, True] Translation: X:157.84, Y:-57.35, Z:-19.44 [[ 9.48966391e-01 3.06004431e-01 7.63156422e-02 1.57842634e+02] [-3.04779191e-01 9.52025851e-01 -2.75031458e-02 -5.73489222e+01] [-8.10705488e-02 2.84014133e-03 9.96704319e-01 -1.94356727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03119381700003 meters 0.06151875917787948 Centerline is valid? [True, True] Translation: X:157.87, Y:-57.36, Z:-19.44 [[ 9.49693151e-01 3.04128259e-01 7.47590847e-02 1.57869588e+02] [-3.02947217e-01 9.52626577e-01 -2.69367292e-02 -5.73605573e+01] [-7.94097116e-02 2.93357056e-03 9.96837746e-01 -1.94387247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06119381700003 meters 0.06193441562474428 Centerline is valid? [True, True] Translation: X:157.90, Y:-57.37, Z:-19.44 [[ 9.49922167e-01 3.03520876e-01 7.43165855e-02 1.57897377e+02] [-3.02352223e-01 9.52820181e-01 -2.67738008e-02 -5.73713058e+01] [-7.89367499e-02 2.96324207e-03 9.96875222e-01 -1.94415408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09119381700003 meters 0.061269405938157655 Centerline is valid? [True, True] Translation: X:157.93, Y:-57.38, Z:-19.44 [[ 9.49499805e-01 3.04627668e-01 7.51804730e-02 1.57925297e+02] [-3.03435176e-01 9.52467087e-01 -2.70839895e-02 -5.73797286e+01] [-7.98574587e-02 2.90384274e-03 9.96802064e-01 -1.94438984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12119381700003 meters 0.059344073063049604 Centerline is valid? [True, True] Translation: X:157.95, Y:-57.39, Z:-19.44 [[ 9.49005371e-01 3.06007275e-01 7.58179029e-02 1.57954036e+02] [-3.04799678e-01 9.52025052e-01 -2.73030574e-02 -5.73858030e+01] [-8.05354771e-02 2.80147576e-03 9.96747806e-01 -1.94437459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15119381700003 meters 0.05753185737599696 Centerline is valid? [True, True] Translation: X:157.98, Y:-57.39, Z:-19.45 [[ 9.47225005e-01 3.10735361e-01 7.87929237e-02 1.57983840e+02] [-3.09448072e-01 9.50493220e-01 -2.83642463e-02 -5.73920771e+01] [-8.37059140e-02 2.48500506e-03 9.96487403e-01 -1.94454540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18119381700004 meters 0.05680555630179695 Centerline is valid? [True, True] Translation: X:158.01, Y:-57.40, Z:-19.45 [[ 9.46472530e-01 3.12686512e-01 8.01055254e-02 1.58010416e+02] [-3.11362793e-01 9.49853469e-01 -2.88374371e-02 -5.73999391e+01] [-8.51055889e-02 2.35196195e-03 9.96369162e-01 -1.94477573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21119381700004 meters 0.05618037567206056 Centerline is valid? [True, True] Translation: X:158.04, Y:-57.41, Z:-19.45 [[ 9.45939609e-01 3.14444303e-01 7.95175190e-02 1.58037981e+02] [-3.13147033e-01 9.49273448e-01 -2.86156523e-02 -5.74082286e+01] [-8.44818983e-02 2.16800375e-03 9.96422656e-01 -1.94509787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24119381700004 meters 0.05609178381702738 Centerline is valid? [True, True] Translation: X:158.07, Y:-57.42, Z:-19.45 [[ 9.45689482e-01 3.15075669e-01 7.99920335e-02 1.58065268e+02] [-3.13765804e-01 9.49064194e-01 -2.87780572e-02 -5.74182972e+01] [-8.49848404e-02 2.11634127e-03 9.96379997e-01 -1.94545199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.271193817 meters 0.056397333237843725 Centerline is valid? [True, True] Translation: X:158.09, Y:-57.43, Z:-19.46 [[ 9.45853359e-01 3.14404271e-01 8.06931049e-02 1.58090159e+02] [-3.13069251e-01 9.49286654e-01 -2.90257188e-02 -5.74297074e+01] [-8.57266976e-02 2.19154366e-03 9.96316280e-01 -1.94578949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.301193817 meters 0.0566965629766037 Centerline is valid? [True, True] Translation: X:158.12, Y:-57.44, Z:-19.46 [[ 9.46192615e-01 3.13376089e-01 8.07153149e-02 1.58115833e+02] [-3.12037417e-01 9.49626371e-01 -2.90242190e-02 -5.74413404e+01] [-8.57448878e-02 2.27630331e-03 9.96314525e-01 -1.94613072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.331193817 meters 0.0570675912052706 Centerline is valid? [True, True] Translation: X:158.14, Y:-57.45, Z:-19.46 [[ 9.46910317e-01 3.11492136e-01 7.95832885e-02 1.58142867e+02] [-3.10185132e-01 9.50245695e-01 -2.86060009e-02 -5.74538864e+01] [-8.45342216e-02 2.40176458e-03 9.96417682e-01 -1.94643720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36119381700001 meters 0.05855429886182675 Centerline is valid? [True, True] Translation: X:158.17, Y:-57.47, Z:-19.47 [[ 9.47726988e-01 3.09170671e-01 7.89116794e-02 1.58168027e+02] [-3.07877906e-01 9.51003060e-01 -2.83615032e-02 -5.74684397e+01] [-8.38137935e-02 2.58379939e-03 9.96478084e-01 -1.94690932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39119381700002 meters 0.060993366335645 Centerline is valid? [True, True] Translation: X:158.19, Y:-57.49, Z:-19.47 [[ 9.49212520e-01 3.04300528e-01 7.99798748e-02 1.58192921e+02] [-3.02955801e-01 9.52571203e-01 -2.87382384e-02 -5.74854752e+01] [-8.49315867e-02 3.04832865e-03 9.96382122e-01 -1.94722534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42119381700002 meters 0.06254951539733544 Centerline is valid? [True, True] Translation: X:158.22, Y:-57.50, Z:-19.48 [[ 9.50112803e-01 3.01323305e-01 8.05600856e-02 1.58219815e+02] [-2.99948438e-01 9.53516193e-01 -2.89448376e-02 -5.74987595e+01] [-8.55371002e-02 3.33698889e-03 9.96329398e-01 -1.94752466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45119381700002 meters 0.06460170500462559 Centerline is valid? [True, True] Translation: X:158.25, Y:-57.51, Z:-19.48 [[ 9.50512811e-01 2.99932707e-01 8.10294197e-02 1.58245792e+02] [-2.98536863e-01 9.53954011e-01 -2.91116065e-02 -5.75123355e+01] [-8.60298629e-02 3.48068622e-03 9.96286479e-01 -1.94797321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48119381700002 meters 0.06191366621437372 Centerline is valid? [True, True] Translation: X:158.28, Y:-57.52, Z:-19.48 [[ 9.51091449e-01 2.97945985e-01 8.15674230e-02 1.58277842e+02] [-2.96525137e-01 9.54575657e-01 -2.92943261e-02 -5.75176554e+01] [-8.65904033e-02 3.67479178e-03 9.96237220e-01 -1.94787107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51119381700002 meters 0.0655944243676899 Centerline is valid? [True, True] Translation: X:158.30, Y:-57.54, Z:-19.49 [[ 9.51202485e-01 2.97641108e-01 8.13855273e-02 1.58304208e+02] [-2.96223270e-01 9.54670593e-01 -2.92546196e-02 -5.75352083e+01] [-8.64037470e-02 3.71877982e-03 9.96253263e-01 -1.94863874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54119381700002 meters 0.06609285301250903 Centerline is valid? [True, True] Translation: X:158.33, Y:-57.55, Z:-19.49 [[ 9.51436573e-01 2.96854350e-01 8.15226496e-02 1.58332949e+02] [-2.95426022e-01 9.54915097e-01 -2.93363670e-02 -5.75468053e+01] [-8.65558371e-02 3.82778036e-03 9.96239647e-01 -1.94910917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57119381700002 meters 0.06340073776669201 Centerline is valid? [True, True] Translation: X:158.37, Y:-57.55, Z:-19.49 [[ 9.51756701e-01 2.96107528e-01 8.04954322e-02 1.58365269e+02] [-2.94712766e-01 9.55146884e-01 -2.89623027e-02 -5.75525254e+01] [-8.54609172e-02 3.84203417e-03 9.96334116e-01 -1.94920923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60119381700002 meters 0.06340073776669201 Centerline is valid? [True, True] Translation: X:158.40, Y:-57.56, Z:-19.50 [[ 9.51655560e-01 2.96434662e-01 8.04871736e-02 1.58395604e+02] [-2.95039131e-01 9.55045427e-01 -2.89852324e-02 -5.75637157e+01] [-8.54611347e-02 3.83709189e-03 9.96334116e-01 -1.94958105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63119381700002 meters 0.07120804569185579 Centerline is valid? [True, True] Translation: X:158.42, Y:-57.58, Z:-19.51 [[ 9.52684950e-01 2.93530132e-01 7.89395123e-02 1.58418907e+02] [-2.92174552e-01 9.55941213e-01 -2.84680301e-02 -5.75848139e+01] [-8.38177577e-02 4.05694726e-03 9.96472842e-01 -1.95086392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66119381700003 meters 0.06990996344017358 Centerline is valid? [True, True] Translation: X:158.45, Y:-57.59, Z:-19.51 [[ 9.53489582e-01 2.91308825e-01 7.74389087e-02 1.58449465e+02] [-2.89996947e-01 9.56619965e-01 -2.79287257e-02 -5.75914919e+01] [-8.22154904e-02 4.17270186e-03 9.96605841e-01 -1.95106578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69119381700003 meters 0.06794193706712863 Centerline is valid? [True, True] Translation: X:158.48, Y:-57.60, Z:-19.51 [[ 9.54415126e-01 2.88608424e-01 7.61376685e-02 1.58480275e+02] [-2.87331751e-01 9.57437422e-01 -2.74599409e-02 -5.75974384e+01] [-8.08222233e-02 4.33141331e-03 9.96719121e-01 -1.95110509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72119381700003 meters 0.07062288175955103 Centerline is valid? [True, True] Translation: X:158.51, Y:-57.61, Z:-19.52 [[ 9.55586012e-01 2.84980698e-01 7.51090930e-02 1.58506732e+02] [-2.83726913e-01 9.58522320e-01 -2.70924584e-02 -5.76109027e+01] [-7.97145697e-02 4.57870317e-03 9.96807214e-01 -1.95157168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75119381700003 meters 0.07394821551706345 Centerline is valid? [True, True] Translation: X:158.53, Y:-57.63, Z:-19.52 [[ 9.56745258e-01 2.80898815e-01 7.57256066e-02 1.58533109e+02] [-2.79610911e-01 9.59724532e-01 -2.73232594e-02 -5.76267045e+01] [-8.03507935e-02 4.96769297e-03 9.96754269e-01 -1.95193150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78119381700003 meters 0.07536720534953995 Centerline is valid? [True, True] Translation: X:158.56, Y:-57.64, Z:-19.52 [[ 9.59193816e-01 2.71974648e-01 7.73111562e-02 1.58561766e+02] [-2.70603094e-01 9.62286706e-01 -2.78973154e-02 -5.76396549e+01] [-8.19828604e-02 5.83829437e-03 9.96616639e-01 -1.95171265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81119381700003 meters 0.07618351523515361 Centerline is valid? [True, True] Translation: X:158.59, Y:-57.65, Z:-19.52 [[ 9.59762359e-01 2.68929587e-01 8.08275429e-02 1.58591703e+02] [-2.67419928e-01 9.63138764e-01 -2.91599763e-02 -5.76504411e+01] [-8.56901201e-02 6.37175196e-03 9.96301462e-01 -1.95170420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84119381700003 meters 0.08239830205876303 Centerline is valid? [True, True] Translation: X:158.62, Y:-57.67, Z:-19.52 [[ 9.60186548e-01 2.66681350e-01 8.32036658e-02 1.58618027e+02] [-2.65070021e-01 9.63760769e-01 -3.00510074e-02 -5.76669837e+01] [-8.82024722e-02 6.79977563e-03 9.96079358e-01 -1.95207883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87119381700003 meters 0.07965434533056288 Centerline is valid? [True, True] Translation: X:158.65, Y:-57.67, Z:-19.52 [[ 9.60086796e-01 2.66072745e-01 8.62475414e-02 1.58652099e+02] [-2.64338825e-01 9.63926760e-01 -3.11478229e-02 -5.76709124e+01] [-9.14238998e-02 7.10603977e-03 9.95786711e-01 -1.95209526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90119381700003 meters 0.07637327226640889 Centerline is valid? [True, True] Translation: X:158.69, Y:-57.67, Z:-19.52 [[ 9.59367869e-01 2.67812755e-01 8.88235376e-02 1.58685676e+02] [-2.65976837e-01 9.63444153e-01 -3.21198774e-02 -5.76682387e+01] [-9.41786308e-02 7.18977475e-03 9.95529353e-01 -1.95214548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93119381700004 meters 0.07996872983378078 Centerline is valid? [True, True] Translation: X:158.71, Y:-57.68, Z:-19.53 [[ 9.58812917e-01 2.69825643e-01 8.87238055e-02 1.58713236e+02] [-2.68002651e-01 9.62883887e-01 -3.20811341e-02 -5.76793921e+01] [-9.40870354e-02 6.98159068e-03 9.95539496e-01 -1.95275242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96119381700004 meters 0.0723797160770224 Centerline is valid? [True, True] Translation: X:158.75, Y:-57.67, Z:-19.53 [[ 9.57725385e-01 2.74031786e-01 8.75709294e-02 1.58749496e+02] [-2.72272064e-01 9.61698693e-01 -3.16788160e-02 -5.76685068e+01] [-9.28978509e-02 6.49648861e-03 9.95654451e-01 -1.95301743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99119381700004 meters 0.07473982727407567 Centerline is valid? [True, True] Translation: X:158.78, Y:-57.68, Z:-19.54 [[ 9.57224261e-01 2.76527327e-01 8.51724770e-02 1.58778193e+02] [-2.74872454e-01 9.60986792e-01 -3.08142707e-02 -5.76765533e+01] [-9.03706134e-02 6.08459973e-03 9.95889617e-01 -1.95383377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.021193817 meters 0.07361453250244507 Centerline is valid? [True, True] Translation: X:158.81, Y:-57.68, Z:-19.54 [[ 9.56605520e-01 2.79094843e-01 8.37373746e-02 1.58809450e+02] [-2.77504945e-01 9.60246354e-01 -3.02976218e-02 -5.76786667e+01] [-8.88644187e-02 5.74533669e-03 9.96027161e-01 -1.95442054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.051193817 meters 0.07134403174089382 Centerline is valid? [True, True] Translation: X:158.84, Y:-57.68, Z:-19.55 [[ 9.56136721e-01 2.81145760e-01 8.22169855e-02 1.58840872e+02] [-2.79620640e-01 9.59649578e-01 -2.97487074e-02 -5.76782773e+01] [-8.72632184e-02 5.45426546e-03 9.96170358e-01 -1.95484566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.081193817 meters 0.06975616180942389 Centerline is valid? [True, True] Translation: X:158.87, Y:-57.67, Z:-19.55 [[ 9.55591269e-01 2.83489088e-01 8.04938687e-02 1.58873162e+02] [-2.82035894e-01 9.58961758e-01 -2.91221787e-02 -5.76733875e+01] [-8.54463617e-02 5.12673953e-03 9.96329582e-01 -1.95547874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11119381700001 meters 0.06993726398788636 Centerline is valid? [True, True] Translation: X:158.90, Y:-57.68, Z:-19.56 [[ 9.55562686e-01 2.83753727e-01 7.98985383e-02 1.58902071e+02] [-2.82323218e-01 9.58883831e-01 -2.89032660e-02 -5.76790776e+01] [-8.48148259e-02 5.06167010e-03 9.96383874e-01 -1.95582357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14119381700002 meters 0.07071736174660676 Centerline is valid? [True, True] Translation: X:158.93, Y:-57.69, Z:-19.56 [[ 9.55679924e-01 2.83305323e-01 8.00873116e-02 1.58930177e+02] [-2.81867620e-01 9.59016203e-01 -2.89580140e-02 -5.76859419e+01] [-8.50089891e-02 5.10057268e-03 9.96367129e-01 -1.95621215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17119381700002 meters 0.06934767197799108 Centerline is valid? [True, True] Translation: X:158.96, Y:-57.69, Z:-19.56 [[ 9.55823683e-01 2.82671009e-01 8.06113419e-02 1.58958931e+02] [-2.81212791e-01 9.59202914e-01 -2.91399429e-02 -5.76899312e+01] [-8.55596511e-02 5.18370708e-03 9.96319565e-01 -1.95636258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20119381700002 meters 0.06958720119870039 Centerline is valid? [True, True] Translation: X:158.99, Y:-57.69, Z:-19.57 [[ 9.56122947e-01 2.81261733e-01 8.19801714e-02 1.58987965e+02] [-2.79749002e-01 9.59615941e-01 -2.96267015e-02 -5.76941813e+01] [-8.70023367e-02 5.39289797e-03 9.96193510e-01 -1.95656998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23119381700002 meters 0.07024663588829423 Centerline is valid? [True, True] Translation: X:159.02, Y:-57.70, Z:-19.57 [[ 9.56175373e-01 2.81104181e-01 8.19090700e-02 1.59016036e+02] [-2.79594196e-01 9.59662094e-01 -2.95930892e-02 -5.77020642e+01] [-8.69237708e-02 5.39488248e-03 9.96200358e-01 -1.95688107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26119381700002 meters 0.07070770386164049 Centerline is valid? [True, True] Translation: X:159.04, Y:-57.71, Z:-19.57 [[ 9.55997755e-01 2.81611345e-01 8.22395511e-02 1.59042854e+02] [-2.80091576e-01 9.59513563e-01 -2.97057404e-02 -5.77091878e+01] [-8.72754383e-02 5.36401565e-03 9.96169777e-01 -1.95726517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29119381700002 meters 0.07348024337501438 Centerline is valid? [True, True] Translation: X:159.07, Y:-57.72, Z:-19.58 [[ 9.55512126e-01 2.83645025e-01 8.08831075e-02 1.59069532e+02] [-2.82183394e-01 9.58915893e-01 -2.92034779e-02 -5.77168123e+01] [-8.58435184e-02 5.08040743e-03 9.96295679e-01 -1.95805476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32119381700002 meters 0.06979563033671891 Centerline is valid? [True, True] Translation: X:159.10, Y:-57.72, Z:-19.58 [[ 9.55050874e-01 2.85372161e-01 8.02530832e-02 1.59100092e+02] [-2.83939953e-01 9.58404362e-01 -2.89686561e-02 -5.77173182e+01] [-8.51817530e-02 4.87948365e-03 9.96353481e-01 -1.95816766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35119381700002 meters 0.06921445455624305 Centerline is valid? [True, True] Translation: X:159.13, Y:-57.72, Z:-19.59 [[ 9.54336238e-01 2.87745296e-01 8.02806944e-02 1.59129286e+02] [-2.86321186e-01 9.57695630e-01 -2.89699705e-02 -5.77230706e+01] [-8.52204429e-02 4.66102903e-03 9.96351219e-01 -1.95861140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38119381700002 meters 0.06816809387782218 Centerline is valid? [True, True] Translation: X:159.16, Y:-57.73, Z:-19.59 [[ 9.53448505e-01 2.90633299e-01 8.04253356e-02 1.59157867e+02] [-2.89214518e-01 9.56824359e-01 -2.90190966e-02 -5.77281839e+01] [-8.53868360e-02 4.40803964e-03 9.96338124e-01 -1.95892398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41119381700003 meters 0.0643323258575205 Centerline is valid? [True, True] Translation: X:159.19, Y:-57.73, Z:-19.59 [[ 9.52335565e-01 2.94456500e-01 7.97015705e-02 1.59190168e+02] [-2.93077011e-01 9.55656416e-01 -2.87520410e-02 -5.77256320e+01] [-8.46335426e-02 4.02289321e-03 9.96404024e-01 -1.95902443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44119381700003 meters 0.06382019753348302 Centerline is valid? [True, True] Translation: X:159.22, Y:-57.73, Z:-19.59 [[ 9.52119761e-01 2.94856408e-01 8.07939260e-02 1.59218908e+02] [-2.93439878e-01 9.55533008e-01 -2.91497657e-02 -5.77310937e+01] [-8.57962584e-02 4.04590820e-03 9.96304488e-01 -1.95919037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47119381700003 meters 0.06358303437497638 Centerline is valid? [True, True] Translation: X:159.25, Y:-57.74, Z:-19.59 [[ 9.51633556e-01 2.95863248e-01 8.28161408e-02 1.59247038e+02] [-2.94381569e-01 9.55221839e-01 -2.98451045e-02 -5.77366513e+01] [-8.79378558e-02 4.02205748e-03 9.96117843e-01 -1.95936651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50119381700003 meters 0.06245092253449444 Centerline is valid? [True, True] Translation: X:159.28, Y:-57.74, Z:-19.59 [[ 9.51239721e-01 2.96811252e-01 8.39408989e-02 1.59276257e+02] [-2.95292846e-01 9.54927847e-01 -3.02480175e-02 -5.77402464e+01] [-8.91354538e-02 3.98596884e-03 9.96011538e-01 -1.95944344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53119381700003 meters 0.060904829282121396 Centerline is valid? [True, True] Translation: X:159.31, Y:-57.74, Z:-19.60 [[ 9.50116623e-01 2.99845396e-01 8.58553533e-02 1.59307385e+02] [-2.98272265e-01 9.53980425e-01 -3.09031563e-02 -5.77420680e+01] [-9.11704955e-02 3.75333177e-03 9.95828225e-01 -1.95955630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56119381700003 meters 0.06057452020171958 Centerline is valid? [True, True] Translation: X:159.33, Y:-57.75, Z:-19.60 [[ 9.49411618e-01 3.01736398e-01 8.70214086e-02 1.59334517e+02] [-3.00128432e-01 9.53384532e-01 -3.13186651e-02 -5.77489768e+01] [-9.24148461e-02 3.61670558e-03 9.95714023e-01 -1.95985362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59119381700003 meters 0.05996473983038725 Centerline is valid? [True, True] Translation: X:159.36, Y:-57.75, Z:-19.60 [[ 9.48635793e-01 3.04269204e-01 8.66624752e-02 1.59362057e+02] [-3.02685980e-01 9.52580209e-01 -3.11792115e-02 -5.77542670e+01] [-9.20398326e-02 3.34619980e-03 9.95749704e-01 -1.96025977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62119381700003 meters 0.05888192860068072 Centerline is valid? [True, True] Translation: X:159.39, Y:-57.76, Z:-19.61 [[ 9.47674570e-01 3.07360629e-01 8.62690788e-02 1.59391563e+02] [-3.05805093e-01 9.51588296e-01 -3.10315884e-02 -5.77578300e+01] [-9.16305342e-02 3.02632346e-03 9.95788475e-01 -1.96068880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65119381700003 meters 0.05854804145989552 Centerline is valid? [True, True] Translation: X:159.42, Y:-57.76, Z:-19.61 [[ 9.46708979e-01 3.10666026e-01 8.50219328e-02 1.59419349e+02] [-3.09170723e-01 9.50515455e-01 -3.05587019e-02 -5.77622294e+01] [-9.03082116e-02 2.64390509e-03 9.95910356e-01 -1.96136400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68119381700004 meters 0.05656326095073299 Centerline is valid? [True, True] Translation: X:159.45, Y:-57.76, Z:-19.62 [[ 9.45227734e-01 3.15938151e-01 8.20220393e-02 1.59450108e+02] [-3.14568646e-01 9.48777592e-01 -2.94558581e-02 -5.77605910e+01] [-8.71269023e-02 2.04093214e-03 9.96195130e-01 -1.96185563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71119381700004 meters 0.05632993428797187 Centerline is valid? [True, True] Translation: X:159.48, Y:-57.77, Z:-19.62 [[ 9.44640092e-01 3.17824479e-01 8.15027434e-02 1.59477991e+02] [-3.16481541e-01 9.48147799e-01 -2.92435449e-02 -5.77676787e+01] [-8.65709612e-02 1.83051113e-03 9.96244005e-01 -1.96234427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74119381700004 meters 0.056250507520010484 Centerline is valid? [True, True] Translation: X:159.50, Y:-57.78, Z:-19.63 [[ 9.44327838e-01 3.19092390e-01 8.01559747e-02 1.59504149e+02] [-3.17800703e-01 9.47722164e-01 -2.87299897e-02 -5.77760624e+01] [-8.51331149e-02 1.65690398e-03 9.96368209e-01 -1.96279846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.771193817 meters 0.056391575456684655 Centerline is valid? [True, True] Translation: X:159.53, Y:-57.79, Z:-19.63 [[ 9.44305185e-01 3.19061456e-01 8.05450526e-02 1.59530668e+02] [-3.17757376e-01 9.47732566e-01 -2.88657610e-02 -5.77873903e+01] [-8.55451212e-02 1.66430321e-03 9.96332907e-01 -1.96323136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.801193817 meters 0.05690529687925502 Centerline is valid? [True, True] Translation: X:159.55, Y:-57.80, Z:-19.64 [[ 9.44632310e-01 3.17910499e-01 8.12570840e-02 1.59554593e+02] [-3.16581544e-01 9.48119102e-01 -2.90911430e-02 -5.77990179e+01] [-8.62897733e-02 1.75594045e-03 9.96268534e-01 -1.96356842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.831193817 meters 0.057255041968608145 Centerline is valid? [True, True] Translation: X:159.58, Y:-57.81, Z:-19.64 [[ 9.45054387e-01 3.16461387e-01 8.20024142e-02 1.59580236e+02] [-3.15103667e-01 9.48603505e-01 -2.93439898e-02 -5.78110981e+01] [-8.70740172e-02 1.89240488e-03 9.96200047e-01 -1.96381640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86119381700001 meters 0.05805596245024984 Centerline is valid? [True, True] Translation: X:159.61, Y:-57.82, Z:-19.64 [[ 9.45722789e-01 3.14754041e-01 8.08597575e-02 1.59606132e+02] [-3.13428047e-01 9.49171124e-01 -2.89315714e-02 -5.78230944e+01] [-8.58560759e-02 2.01753049e-03 9.96305507e-01 -1.96432353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89119381700002 meters 0.0598853724994 Centerline is valid? [True, True] Translation: X:159.63, Y:-57.84, Z:-19.65 [[ 9.46944079e-01 3.11508369e-01 7.91166659e-02 1.59629941e+02] [-3.10230226e-01 9.50240784e-01 -2.82782613e-02 -5.78391769e+01] [-8.39887977e-02 2.23355100e-03 9.96464196e-01 -1.96493741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92119381700002 meters 0.06107167927578474 Centerline is valid? [True, True] Translation: X:159.65, Y:-57.85, Z:-19.65 [[ 9.47777213e-01 3.09213806e-01 7.81356270e-02 1.59654953e+02] [-3.07959475e-01 9.50989502e-01 -2.79272112e-02 -5.78534774e+01] [-8.29416403e-02 2.40616777e-03 9.96551501e-01 -1.96547939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95119381700002 meters 0.06265958965799416 Centerline is valid? [True, True] Translation: X:159.68, Y:-57.87, Z:-19.66 [[ 9.48815779e-01 3.05968484e-01 7.83064761e-02 1.59680337e+02] [-3.04700205e-01 9.52037908e-01 -2.79572352e-02 -5.78698454e+01] [-8.31047665e-02 2.66626657e-03 9.96537249e-01 -1.96593232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98119381700002 meters 0.06443087098354841 Centerline is valid? [True, True] Translation: X:159.71, Y:-57.89, Z:-19.66 [[ 9.49757492e-01 3.03095612e-01 7.80625165e-02 1.59705263e+02] [-3.01825778e-01 9.52955720e-01 -2.78674496e-02 -5.78856272e+01] [-8.28366233e-02 2.90603919e-03 9.96558904e-01 -1.96635755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01119381700002 meters 0.0680462787165882 Centerline is valid? [True, True] Translation: X:159.73, Y:-57.91, Z:-19.67 [[ 9.51708531e-01 2.96609742e-01 7.92056352e-02 1.59729746e+02] [-2.95280464e-01 9.54992302e-01 -2.82692406e-02 -5.79056272e+01] [-8.40257040e-02 3.51620071e-03 9.96457384e-01 -1.96668867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04119381700002 meters 0.06901993154565343 Centerline is valid? [True, True] Translation: X:159.76, Y:-57.92, Z:-19.67 [[ 9.52621280e-01 2.93610482e-01 7.94076974e-02 1.59756473e+02] [-2.92264098e-01 9.55917635e-01 -2.83403050e-02 -5.79184400e+01] [-8.42282289e-02 3.78955859e-03 9.96439283e-01 -1.96690648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07119381700002 meters 0.07269484357839295 Centerline is valid? [True, True] Translation: X:159.78, Y:-57.94, Z:-19.68 [[ 9.53637285e-01 2.90547332e-01 7.84740515e-02 1.59780344e+02] [-2.89222425e-01 9.56852222e-01 -2.80038026e-02 -5.79353822e+01] [-8.32245008e-02 4.00901476e-03 9.96522760e-01 -1.96759865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10119381700002 meters 0.07121223273456678 Centerline is valid? [True, True] Translation: X:159.81, Y:-57.95, Z:-19.67 [[ 9.55147177e-01 2.85444362e-01 7.88377216e-02 1.59808789e+02] [-2.84090120e-01 9.58384853e-01 -2.81296365e-02 -5.79460403e+01] [-8.35863244e-02 4.47092504e-03 9.96490510e-01 -1.96743699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13119381700002 meters 0.06901886864053682 Centerline is valid? [True, True] Translation: X:159.84, Y:-57.95, Z:-19.67 [[ 9.55614709e-01 2.83756597e-01 7.92636254e-02 1.59837454e+02] [-2.82381847e-01 9.58885096e-01 -2.82818831e-02 -5.79528573e+01] [-8.40298799e-02 4.64397449e-03 9.96452414e-01 -1.96743133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16119381700003 meters 0.07742577929184898 Centerline is valid? [True, True] Translation: X:159.86, Y:-57.98, Z:-19.68 [[ 9.56069087e-01 2.82231963e-01 7.92276444e-02 1.59857205e+02] [-2.80853653e-01 9.59334329e-01 -2.82643144e-02 -5.79760288e+01] [-8.39828920e-02 4.77126392e-03 9.96455774e-01 -1.96849063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19119381700003 meters 0.0777568857881644 Centerline is valid? [True, True] Translation: X:159.88, Y:-57.99, Z:-19.69 [[ 9.56045335e-01 2.82221457e-01 7.95510305e-02 1.59882817e+02] [-2.80833339e-01 9.59337404e-01 -2.83616187e-02 -5.79861239e+01] [-8.43205364e-02 4.77441173e-03 9.96427244e-01 -1.96882604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22119381700003 meters 0.068676929523021 Centerline is valid? [True, True] Translation: X:159.92, Y:-57.98, Z:-19.68 [[ 9.55393025e-01 2.84666936e-01 7.86695799e-02 1.59915628e+02] [-2.83318402e-01 9.58615922e-01 -2.80392046e-02 -5.79819573e+01] [-8.33957463e-02 4.49992086e-03 9.96506347e-01 -1.96849994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25119381700003 meters 0.06783955359299797 Centerline is valid? [True, True] Translation: X:159.94, Y:-57.99, Z:-19.69 [[ 9.54647281e-01 2.86955867e-01 7.94033986e-02 1.59943840e+02] [-2.85590632e-01 9.57934009e-01 -2.82917878e-02 -5.79907581e+01] [-8.41817105e-02 4.33181148e-03 9.96441004e-01 -1.96877937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28119381700003 meters 0.06696925944248991 Centerline is valid? [True, True] Translation: X:159.97, Y:-58.00, Z:-19.69 [[ 9.53451120e-01 2.90505060e-01 8.08564912e-02 1.59971619e+02] [-2.89102314e-01 9.56864719e-01 -2.88055698e-02 -5.79987887e+01] [-8.57368875e-02 4.08890407e-03 9.96309423e-01 -1.96910618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31119381700003 meters 0.06403287228208634 Centerline is valid? [True, True] Translation: X:160.00, Y:-58.00, Z:-19.69 [[ 9.51985491e-01 2.95034288e-01 8.17214363e-02 1.60002759e+02] [-2.93618290e-01 9.55479438e-01 -2.91091758e-02 -5.80023277e+01] [-8.66713570e-02 3.71660467e-03 9.96230025e-01 -1.96919515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34119381700003 meters 0.06124943070917466 Centerline is valid? [True, True] Translation: X:160.03, Y:-58.00, Z:-19.70 [[ 9.48862361e-01 3.04848854e-01 8.20207087e-02 1.60033250e+02] [-3.03458980e-01 9.52396537e-01 -2.92144291e-02 -5.80028721e+01] [-8.70222242e-02 2.83055154e-03 9.96202349e-01 -1.96961690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37119381700003 meters 0.059988150828352016 Centerline is valid? [True, True] Translation: X:160.06, Y:-58.01, Z:-19.70 [[ 9.47274926e-01 3.09728406e-01 8.20885428e-02 1.60062534e+02] [-3.08354818e-01 9.50822090e-01 -2.92345575e-02 -5.80084358e+01] [-8.71063728e-02 2.38076559e-03 9.96196171e-01 -1.97006624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40119381700003 meters 0.05871694145280049 Centerline is valid? [True, True] Translation: X:160.09, Y:-58.01, Z:-19.70 [[ 9.45553245e-01 3.14516727e-01 8.37155250e-02 1.60091443e+02] [-3.13107074e-01 9.49249877e-01 -2.98099382e-02 -5.80146449e+01] [-8.88426760e-02 1.97496076e-03 9.96043713e-01 -1.97041361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43119381700004 meters 0.057008927562088745 Centerline is valid? [True, True] Translation: X:160.12, Y:-58.02, Z:-19.71 [[ 9.42873382e-01 3.21826634e-01 8.61243426e-02 1.60121888e+02] [-3.20365269e-01 9.46797695e-01 -3.06629964e-02 -5.80190826e+01] [-9.14104980e-02 1.32007488e-03 9.95812421e-01 -1.97058814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46119381700004 meters 0.056733129113693985 Centerline is valid? [True, True] Translation: X:160.15, Y:-58.03, Z:-19.71 [[ 9.42095579e-01 3.23970686e-01 8.65962707e-02 1.60149184e+02] [-3.22501854e-01 9.46066454e-01 -3.08353560e-02 -5.80267497e+01] [-9.19155782e-02 1.12239467e-03 9.95766171e-01 -1.97096900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49119381700004 meters 0.056733129113693985 Centerline is valid? [True, True] Translation: X:160.17, Y:-58.04, Z:-19.71 [[ 9.42203450e-01 3.23654511e-01 8.66049421e-02 1.60174970e+02] [-3.22186587e-01 9.46174660e-01 -3.08109796e-02 -5.80356598e+01] [-9.19155142e-02 1.12726056e-03 9.95766171e-01 -1.97128288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.521193817 meters 0.05641831934539304 Centerline is valid? [True, True] Translation: X:160.20, Y:-58.04, Z:-19.72 [[ 9.41329424e-01 3.25705501e-01 8.84015974e-02 1.60202498e+02] [-3.24188219e-01 9.45470831e-01 -3.14150562e-02 -5.80435977e+01] [-9.38131883e-02 9.13160304e-04 9.95589399e-01 -1.97156162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.551193817 meters 0.05654181034138078 Centerline is valid? [True, True] Translation: X:160.23, Y:-58.05, Z:-19.72 [[ 9.40708869e-01 3.27715407e-01 8.75753222e-02 1.60227915e+02] [-3.26237671e-01 9.44776243e-01 -3.10939193e-02 -5.80526675e+01] [-9.29290403e-02 6.79956485e-04 9.95672502e-01 -1.97214428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.581193817 meters 0.05669720200152011 Centerline is valid? [True, True] Translation: X:160.25, Y:-58.06, Z:-19.73 [[ 9.40531964e-01 3.28207303e-01 8.76332794e-02 1.60253539e+02] [-3.26733254e-01 9.44605532e-01 -3.10768356e-02 -5.80639626e+01] [-9.29785249e-02 5.96050710e-04 9.95667936e-01 -1.97263622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61119381700001 meters 0.056678128788351434 Centerline is valid? [True, True] Translation: X:160.28, Y:-58.08, Z:-19.73 [[ 9.40738056e-01 3.27865819e-01 8.66943709e-02 1.60279721e+02] [-3.26422293e-01 9.44724099e-01 -3.07386430e-02 -5.80756078e+01] [-9.19804117e-02 6.18035959e-04 9.95760625e-01 -1.97290936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64119381700002 meters 0.05675409942686813 Centerline is valid? [True, True] Translation: X:160.30, Y:-58.09, Z:-19.73 [[ 9.40751066e-01 3.27957263e-01 8.62059507e-02 1.60304693e+02] [-3.26532896e-01 9.44692382e-01 -3.05380170e-02 -5.80873117e+01] [-9.14532694e-02 5.79593351e-04 9.95809200e-01 -1.97338202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67119381700002 meters 0.057123289049124205 Centerline is valid? [True, True] Translation: X:160.33, Y:-58.10, Z:-19.74 [[ 9.41008449e-01 3.27574180e-01 8.48425334e-02 1.60328003e+02] [-3.26196530e-01 9.44825291e-01 -3.00165308e-02 -5.81024808e+01] [-8.99940118e-02 5.70469065e-04 9.95942143e-01 -1.97401332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70119381700002 meters 0.05727313900594221 Centerline is valid? [True, True] Translation: X:160.35, Y:-58.11, Z:-19.75 [[ 9.41085581e-01 3.27809724e-01 8.30584975e-02 1.60353452e+02] [-3.26490835e-01 9.44743617e-01 -2.93808258e-02 -5.81143720e+01] [-8.81003058e-02 5.32033261e-04 9.96111466e-01 -1.97455668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73119381700002 meters 0.05736679095664942 Centerline is valid? [True, True] Translation: X:160.38, Y:-58.13, Z:-19.75 [[ 9.41054682e-01 3.28059349e-01 8.24205639e-02 1.60379538e+02] [-3.26764023e-01 9.44656993e-01 -2.91279757e-02 -5.81266816e+01] [-8.74148668e-02 4.78942843e-04 9.96171879e-01 -1.97505690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76119381700002 meters 0.05755367032495329 Centerline is valid? [True, True] Translation: X:160.40, Y:-58.14, Z:-19.75 [[ 9.41180192e-01 3.28022590e-01 8.11235313e-02 1.60404731e+02] [-3.26770413e-01 9.44669775e-01 -2.86376309e-02 -5.81395207e+01] [-8.60287379e-02 4.44401103e-04 9.96292557e-01 -1.97549921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79119381700002 meters 0.057726239007386014 Centerline is valid? [True, True] Translation: X:160.43, Y:-58.15, Z:-19.76 [[ 9.41586881e-01 3.26909191e-01 8.08982480e-02 1.60430267e+02] [-3.25660202e-01 9.45055601e-01 -2.85542388e-02 -5.81532741e+01] [-8.57879854e-02 5.40956840e-04 9.96313268e-01 -1.97594428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82119381700002 meters 0.05800747905255032 Centerline is valid? [True, True] Translation: X:160.46, Y:-58.17, Z:-19.76 [[ 9.42233781e-01 3.25273659e-01 7.99534165e-02 1.60455055e+02] [-3.24050082e-01 9.45619699e-01 -2.81944847e-02 -5.81684436e+01] [-8.47764489e-02 6.56884743e-04 9.96399780e-01 -1.97634544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85119381700002 meters 0.058523897672503225 Centerline is valid? [True, True] Translation: X:160.48, Y:-58.19, Z:-19.77 [[ 9.44156216e-01 3.19709311e-01 7.97182293e-02 1.60477209e+02] [-3.18475327e-01 9.47515004e-01 -2.80852875e-02 -5.81920850e+01] [-8.45133463e-02 1.12860968e-03 9.96421708e-01 -1.97658663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88119381700002 meters 0.058971244397782195 Centerline is valid? [True, True] Translation: X:160.50, Y:-58.21, Z:-19.77 [[ 9.44908166e-01 3.17441984e-01 7.98695531e-02 1.60500443e+02] [-3.16198045e-01 9.48276801e-01 -2.81052607e-02 -5.82091867e+01] [-8.46602340e-02 1.30229381e-03 9.96409027e-01 -1.97690010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91119381700003 meters 0.059344308742599446 Centerline is valid? [True, True] Translation: X:160.53, Y:-58.23, Z:-19.77 [[ 9.45890234e-01 3.14297948e-01 8.06750554e-02 1.60525014e+02] [-3.13018207e-01 9.49323060e-01 -2.83783401e-02 -5.82261562e+01] [-8.55059445e-02 1.59003361e-03 9.96336392e-01 -1.97711081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94119381700003 meters 0.059914871466111894 Centerline is valid? [True, True] Translation: X:160.55, Y:-58.24, Z:-19.77 [[ 9.46661463e-01 3.11790372e-01 8.13562395e-02 1.60548366e+02] [-3.10480143e-01 9.50149161e-01 -2.86121158e-02 -5.82428054e+01] [-8.62215449e-02 1.82649054e-03 9.96274314e-01 -1.97741917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97119381700003 meters 0.06022249279530753 Centerline is valid? [True, True] Translation: X:160.57, Y:-58.26, Z:-19.78 [[ 9.46931976e-01 3.10685951e-01 8.24261694e-02 1.60571546e+02] [-3.09338305e-01 9.50510648e-01 -2.89710418e-02 -5.82630145e+01] [-8.73478474e-02 1.93603427e-03 9.96175991e-01 -1.97765722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00119381700003 meters 0.059996018828857585 Centerline is valid? [True, True] Translation: X:160.60, Y:-58.28, Z:-19.78 [[ 9.46669420e-01 3.11222597e-01 8.34116571e-02 1.60597344e+02] [-3.09845259e-01 9.50335141e-01 -2.93093208e-02 -5.82751381e+01] [-8.83907519e-02 1.90153123e-03 9.96084062e-01 -1.97784248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03119381700003 meters 0.05895555292891448 Centerline is valid? [True, True] Translation: X:160.62, Y:-58.29, Z:-19.78 [[ 9.44995335e-01 3.15885901e-01 8.48523081e-02 1.60624223e+02] [-3.14479984e-01 9.48796026e-01 -2.98067298e-02 -5.82869403e+01] [-8.99230584e-02 1.48286814e-03 9.95947611e-01 -1.97816960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06119381700003 meters 0.05839160887703452 Centerline is valid? [True, True] Translation: X:160.65, Y:-58.30, Z:-19.78 [[ 9.44003724e-01 3.19075370e-01 8.39516411e-02 1.60651916e+02] [-3.17712299e-01 9.47728632e-01 -2.94844837e-02 -5.82960680e+01] [-8.89711466e-02 1.16099346e-03 9.96033527e-01 -1.97849787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09119381700003 meters 0.05790198309141246 Centerline is valid? [True, True] Translation: X:160.68, Y:-58.30, Z:-19.79 [[ 9.42626022e-01 3.22779773e-01 8.52607782e-02 1.60677984e+02] [-3.21389338e-01 9.46473743e-01 -2.99390559e-02 -5.83038036e+01] [-9.03608096e-02 8.19428117e-04 9.95908757e-01 -1.97890359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12119381700003 meters 0.057354441290904175 Centerline is valid? [True, True] Translation: X:160.71, Y:-58.31, Z:-19.79 [[ 9.41339729e-01 3.26291343e-01 8.61015395e-02 1.60706255e+02] [-3.24888505e-01 9.45269130e-01 -3.02279906e-02 -5.83117851e+01] [-9.12522590e-02 4.81408061e-04 9.95827693e-01 -1.97909743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15119381700003 meters 0.05705085027805328 Centerline is valid? [True, True] Translation: X:160.73, Y:-58.32, Z:-19.79 [[ 9.40010430e-01 3.29685931e-01 8.76788330e-02 1.60734272e+02] [-3.28248363e-01 9.44090658e-01 -3.07545495e-02 -5.83201583e+01] [-9.29161094e-02 1.29163949e-04 9.95673933e-01 -1.97935989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18119381700004 meters 0.056813802214186714 Centerline is valid? [True, True] Translation: X:160.76, Y:-58.33, Z:-19.79 [[ 9.38005441e-01 3.34839014e-01 8.96026113e-02 1.60761593e+02] [-3.33363972e-01 9.42275256e-01 -3.13975089e-02 -5.83290792e+01] [-9.49434345e-02 -4.19248162e-04 9.95482581e-01 -1.97944198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21119381700004 meters 0.05683092508390077 Centerline is valid? [True, True] Translation: X:160.79, Y:-58.34, Z:-19.80 [[ 9.37584203e-01 3.35895986e-01 9.00541443e-02 1.60787796e+02] [-3.34411600e-01 9.41898933e-01 -3.15481015e-02 -5.83393722e+01] [-9.54187831e-02 -5.36148869e-04 9.95437074e-01 -1.97970054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24119381700004 meters 0.05701259064982721 Centerline is valid? [True, True] Translation: X:160.81, Y:-58.35, Z:-19.80 [[ 9.37513774e-01 3.36519671e-01 8.84445264e-02 1.60812877e+02] [-3.35092033e-01 9.41676244e-01 -3.09706405e-02 -5.83496032e+01] [-9.37083392e-02 -6.01654042e-04 9.95599510e-01 -1.98019904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.271193817 meters 0.05714198577742791 Centerline is valid? [True, True] Translation: X:160.84, Y:-58.36, Z:-19.81 [[ 9.37727203e-01 3.36167353e-01 8.75168727e-02 1.60837374e+02] [-3.34769045e-01 9.41802094e-01 -3.06349733e-02 -5.83611611e+01] [-9.27220519e-02 -5.70692060e-04 9.95691868e-01 -1.98072951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.301193817 meters 0.0572362400108008 Centerline is valid? [True, True] Translation: X:160.86, Y:-58.38, Z:-19.81 [[ 9.38315081e-01 3.35196492e-01 8.49006559e-02 1.60860993e+02] [-3.33877674e-01 9.42148126e-01 -2.97087247e-02 -5.83802492e+01] [-8.99472541e-02 -4.70289082e-04 9.95946419e-01 -1.98134649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.331193817 meters 0.05737539008467496 Centerline is valid? [True, True] Translation: X:160.88, Y:-58.39, Z:-19.82 [[ 9.38598034e-01 3.34450908e-01 8.47131713e-02 1.60884627e+02] [-3.33135485e-01 9.42413087e-01 -2.96364911e-02 -5.83940086e+01] [-8.97467526e-02 -4.04211164e-04 9.95964536e-01 -1.98178048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36119381700001 meters 0.05721075946529021 Centerline is valid? [True, True] Translation: X:160.91, Y:-58.41, Z:-19.82 [[ 9.38835763e-01 3.33659012e-01 8.52001997e-02 1.60910429e+02] [-3.32326606e-01 9.42693770e-01 -2.97906560e-02 -5.84085140e+01] [-9.02576184e-02 -3.45759893e-04 9.95918392e-01 -1.98204108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39119381700002 meters 0.05708153345899775 Centerline is valid? [True, True] Translation: X:160.93, Y:-58.42, Z:-19.82 [[ 9.39061086e-01 3.33013455e-01 8.52426851e-02 1.60934148e+02] [-3.31677670e-01 9.42922030e-01 -2.97988009e-02 -5.84211692e+01] [-9.03006074e-02 -2.90200876e-04 9.95914512e-01 -1.98245885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42119381700002 meters 0.057277784473102215 Centerline is valid? [True, True] Translation: X:160.96, Y:-58.44, Z:-19.83 [[ 9.39517591e-01 3.31950959e-01 8.43519825e-02 1.60957280e+02] [-3.30640089e-01 9.43296624e-01 -2.94722082e-02 -5.84376549e+01] [-8.93522680e-02 -2.00488916e-04 9.96000066e-01 -1.98289325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45119381700002 meters 0.057344009602430246 Centerline is valid? [True, True] Translation: X:160.98, Y:-58.45, Z:-19.83 [[ 9.39582013e-01 3.31927429e-01 8.37246806e-02 1.60982855e+02] [-3.30636860e-01 9.43304902e-01 -2.92425674e-02 -5.84512643e+01] [-8.86843119e-02 -2.06675210e-04 9.96059762e-01 -1.98329297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48119381700002 meters 0.05740719062323863 Centerline is valid? [True, True] Translation: X:161.01, Y:-58.46, Z:-19.84 [[ 9.39580615e-01 3.32071712e-01 8.31663731e-02 1.61007078e+02] [-3.30799534e-01 9.43254116e-01 -2.90403345e-02 -5.84647898e+01] [-8.80904973e-02 -2.25662032e-04 9.96112450e-01 -1.98364131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51119381700002 meters 0.057296929880812794 Centerline is valid? [True, True] Translation: X:161.03, Y:-58.48, Z:-19.84 [[ 9.39505102e-01 3.32232762e-01 8.33759893e-02 1.61032422e+02] [-3.30955708e-01 9.43197396e-01 -2.91031057e-02 -5.84791189e+01] [-8.83090213e-02 -2.51243314e-04 9.96093095e-01 -1.98396258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54119381700002 meters 0.05712599730934896 Centerline is valid? [True, True] Translation: X:161.06, Y:-58.50, Z:-19.84 [[ 9.39228672e-01 3.32935463e-01 8.36867953e-02 1.61056134e+02] [-3.31652265e-01 9.42949560e-01 -2.92045072e-02 -5.84963888e+01] [-8.86356429e-02 -3.25204771e-04 9.96064063e-01 -1.98431092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57119381700002 meters 0.0571281285956396 Centerline is valid? [True, True] Translation: X:161.08, Y:-58.51, Z:-19.85 [[ 9.39408067e-01 3.32499899e-01 8.34044354e-02 1.61081040e+02] [-3.31224571e-01 9.43103245e-01 -2.90955687e-02 -5.85087716e+01] [-8.83332674e-02 -2.92986429e-04 9.96090934e-01 -1.98473792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60119381700002 meters 0.05701047445607281 Centerline is valid? [True, True] Translation: X:161.11, Y:-58.52, Z:-19.85 [[ 9.39529352e-01 3.32073963e-01 8.37345828e-02 1.61107625e+02] [-3.30787576e-01 9.43253314e-01 -2.92021413e-02 -5.85210440e+01] [-8.86801935e-02 -2.62090795e-04 9.96060116e-01 -1.98506278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63119381700002 meters 0.05657807129992953 Centerline is valid? [True, True] Translation: X:161.14, Y:-58.54, Z:-19.85 [[ 9.39745756e-01 3.31091083e-01 8.51857294e-02 1.61135460e+02] [-3.29757060e-01 9.43598781e-01 -2.96921198e-02 -5.85352398e+01] [-9.02119466e-02 -1.87552130e-04 9.95922572e-01 -1.98502514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66119381700003 meters 0.05645723204456517 Centerline is valid? [True, True] Translation: X:161.16, Y:-58.55, Z:-19.85 [[ 9.40468559e-01 3.28586995e-01 8.68877230e-02 1.61161583e+02] [-3.27188941e-01 9.44473708e-01 -3.02789119e-02 -5.85548381e+01] [-9.20124266e-02 4.76625482e-05 9.95757858e-01 -1.98549024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69119381700003 meters 0.05652529449369826 Centerline is valid? [True, True] Translation: X:161.19, Y:-58.57, Z:-19.86 [[ 9.41149929e-01 3.26447154e-01 8.75732117e-02 1.61186421e+02] [-3.25014408e-01 9.45215410e-01 -3.05526387e-02 -5.85707834e+01] [-9.27493711e-02 2.92058111e-04 9.95689444e-01 -1.98582990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72119381700003 meters 0.05637468978350703 Centerline is valid? [True, True] Translation: X:161.22, Y:-58.59, Z:-19.86 [[ 9.42057704e-01 3.23886030e-01 8.73219461e-02 1.61215267e+02] [-3.22451843e-01 9.46095957e-01 -3.04507771e-02 -5.85871373e+01] [-9.24775215e-02 5.29266714e-04 9.95714632e-01 -1.98571754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75119381700003 meters 0.05690689755591185 Centerline is valid? [True, True] Translation: X:161.24, Y:-58.60, Z:-19.86 [[ 9.42755611e-01 3.22163316e-01 8.61548423e-02 1.61241728e+02] [-3.20757346e-01 9.46683835e-01 -3.00739432e-02 -5.86037894e+01] [-9.12501178e-02 7.17580123e-04 9.95827747e-01 -1.98637033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78119381700003 meters 0.057242806799079275 Centerline is valid? [True, True] Translation: X:161.27, Y:-58.62, Z:-19.87 [[ 9.44308767e-01 3.18149498e-01 8.40348110e-02 1.61268869e+02] [-3.16793323e-01 9.48039909e-01 -2.93653258e-02 -5.86222358e+01] [-8.90109182e-02 1.10826763e-03 9.96030034e-01 -1.98673367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81119381700003 meters 0.057517981252316726 Centerline is valid? [True, True] Translation: X:161.30, Y:-58.64, Z:-19.87 [[ 9.44823838e-01 3.16712471e-01 8.36727278e-02 1.61297468e+02] [-3.15362151e-01 9.48520781e-01 -2.92410918e-02 -5.86364041e+01] [-8.86263395e-02 1.24046917e-03 9.96064171e-01 -1.98714261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84119381700003 meters 0.057725410678187976 Centerline is valid? [True, True] Translation: X:161.33, Y:-58.65, Z:-19.88 [[ 9.45035950e-01 3.15975374e-01 8.40631687e-02 1.61326968e+02] [-3.14606967e-01 9.48766441e-01 -2.94057106e-02 -5.86502303e+01] [-8.90477938e-02 1.34259507e-03 9.96026449e-01 -1.98751783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87119381700003 meters 0.057731354421648264 Centerline is valid? [True, True] Translation: X:161.36, Y:-58.67, Z:-19.88 [[ 9.45399496e-01 3.14762231e-01 8.45253318e-02 1.61355975e+02] [-3.13370808e-01 9.49169371e-01 -2.96013690e-02 -5.86653460e+01] [-8.95462490e-02 1.49734784e-03 9.95981540e-01 -1.98781354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90119381700003 meters 0.05786193509421088 Centerline is valid? [True, True] Translation: X:161.39, Y:-58.68, Z:-19.88 [[ 9.45492293e-01 3.14628912e-01 8.39819731e-02 1.61385704e+02] [-3.13252024e-01 9.49213520e-01 -2.94425377e-02 -5.86783563e+01] [-8.89802979e-02 1.53016938e-03 9.96032211e-01 -1.98814756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93119381700004 meters 0.058636903655338975 Centerline is valid? [True, True] Translation: X:161.41, Y:-58.69, Z:-19.89 [[ 9.45866778e-01 3.13791235e-01 8.28920889e-02 1.61412718e+02] [-3.12444078e-01 9.49490626e-01 -2.90903752e-02 -5.86921848e+01] [-8.78335661e-02 1.61647715e-03 9.96133852e-01 -1.98886808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96119381700004 meters 0.058773220854976854 Centerline is valid? [True, True] Translation: X:161.44, Y:-58.71, Z:-19.89 [[ 9.46944753e-01 3.10164226e-01 8.42246290e-02 1.61441386e+02] [-3.08757050e-01 9.50680878e-01 -2.95795899e-02 -5.87080753e+01] [-8.92452749e-02 2.00528946e-03 9.96007660e-01 -1.98896163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99119381700004 meters 0.05923946686432398 Centerline is valid? [True, True] Translation: X:161.47, Y:-58.72, Z:-19.89 [[ 9.47540110e-01 3.08275447e-01 8.44629381e-02 1.61469811e+02] [-3.06850092e-01 9.51294554e-01 -2.96933111e-02 -5.87227503e+01] [-8.95028518e-02 2.21814296e-03 9.95984096e-01 -1.98914081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.021193817 meters 0.059743549703873945 Centerline is valid? [True, True] Translation: X:161.50, Y:-58.74, Z:-19.89 [[ 9.48069327e-01 3.06304151e-01 8.56873295e-02 1.61498999e+02] [-3.04826512e-01 9.51930505e-01 -3.01514767e-02 -5.87369364e+01] [-9.08039053e-02 2.46592050e-03 9.95865739e-01 -1.98944052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.051193817 meters 0.06005962854301538 Centerline is valid? [True, True] Translation: X:161.53, Y:-58.75, Z:-19.90 [[ 9.48466050e-01 3.04947424e-01 8.61349029e-02 1.61528243e+02] [-3.03445925e-01 9.52365533e-01 -3.03391212e-02 -5.87494281e+01] [-9.12837495e-02 2.63834112e-03 9.95821428e-01 -1.98979039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.081193817 meters 0.06063228628323977 Centerline is valid? [True, True] Translation: X:161.56, Y:-58.76, Z:-19.90 [[ 9.48621096e-01 3.04420965e-01 8.62895839e-02 1.61556612e+02] [-3.02908805e-01 9.52533698e-01 -3.04271271e-02 -5.87608912e+01] [-9.14563918e-02 2.72593984e-03 9.95805351e-01 -1.99022375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11119381700001 meters 0.06033632395459694 Centerline is valid? [True, True] Translation: X:161.59, Y:-58.77, Z:-19.91 [[ 9.48489300e-01 3.04930426e-01 8.59388314e-02 1.61588047e+02] [-3.03431570e-01 9.52370867e-01 -3.03152487e-02 -5.87701533e+01] [-9.10896810e-02 2.67713448e-03 9.95839095e-01 -1.99064572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14119381700002 meters 0.060016191581091186 Centerline is valid? [True, True] Translation: X:161.62, Y:-58.78, Z:-19.91 [[ 9.47722061e-01 3.07140539e-01 8.65308288e-02 1.61618583e+02] [-3.05626805e-01 9.51660842e-01 -3.05597350e-02 -5.87778548e+01] [-9.17341349e-02 2.51599433e-03 9.95780356e-01 -1.99103020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17119381700002 meters 0.0593638728911337 Centerline is valid? [True, True] Translation: X:161.65, Y:-58.79, Z:-19.91 [[ 9.46950668e-01 3.09326394e-01 8.71872423e-02 1.61649833e+02] [-3.07795983e-01 9.50953025e-01 -3.08216892e-02 -5.87862602e+01] [-9.24449338e-02 2.35073621e-03 9.95715024e-01 -1.99133423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20119381700002 meters 0.05847029577790067 Centerline is valid? [True, True] Translation: X:161.68, Y:-58.79, Z:-19.92 [[ 9.46121059e-01 3.11611896e-01 8.80509390e-02 1.61681982e+02] [-3.10057717e-01 9.50206963e-01 -3.11598940e-02 -5.87927851e+01] [-9.33764090e-02 2.18015880e-03 9.95628492e-01 -1.99160251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23119381700002 meters 0.05801700067949637 Centerline is valid? [True, True] Translation: X:161.71, Y:-58.80, Z:-19.92 [[ 9.45477619e-01 3.13539683e-01 8.81188955e-02 1.61713604e+02] [-3.11989814e-01 9.49572975e-01 -3.12012876e-02 -5.87999473e+01] [-9.34581637e-02 2.00792127e-03 9.95621183e-01 -1.99199760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26119381700002 meters 0.057147294467979545 Centerline is valid? [True, True] Translation: X:161.75, Y:-58.80, Z:-19.93 [[ 9.44185611e-01 3.17756108e-01 8.68595859e-02 1.61745176e+02] [-3.16267527e-01 9.48171176e-01 -3.07615363e-02 -5.88019081e+01] [-9.21324217e-02 1.57373352e-03 9.95745520e-01 -1.99260920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29119381700002 meters 0.0568025996321623 Centerline is valid? [True, True] Translation: X:161.78, Y:-58.81, Z:-19.93 [[ 9.43618828e-01 3.19612431e-01 8.62055785e-02 1.61776464e+02] [-3.18151604e-01 9.47547316e-01 -3.05555265e-02 -5.88088004e+01] [-9.14497907e-02 1.40632702e-03 9.95808696e-01 -1.99298532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32119381700002 meters 0.05617460613003476 Centerline is valid? [True, True] Translation: X:161.81, Y:-58.82, Z:-19.93 [[ 9.42992961e-01 3.21302753e-01 8.67687551e-02 1.61808064e+02] [-3.19827230e-01 9.46975664e-01 -3.07836785e-02 -5.88161270e+01] [-9.20587802e-02 1.27778149e-03 9.95752755e-01 -1.99321040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35119381700002 meters 0.05587219995756022 Centerline is valid? [True, True] Translation: X:161.84, Y:-58.82, Z:-19.94 [[ 9.42574462e-01 3.22131659e-01 8.82302571e-02 1.61839474e+02] [-3.20606699e-01 9.46694060e-01 -3.13321243e-02 -5.88243674e+01] [-9.36201295e-02 1.24564874e-03 9.95607212e-01 -1.99351859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38119381700002 meters 0.05568609182505242 Centerline is valid? [True, True] Translation: X:161.87, Y:-58.83, Z:-19.94 [[ 9.41944890e-01 3.23618774e-01 8.95025904e-02 1.61869727e+02] [-3.22053099e-01 9.46186863e-01 -3.18154195e-02 -5.88311259e+01] [-9.49822423e-02 1.14378526e-03 9.95478310e-01 -1.99391830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41119381700003 meters 0.05568609182505242 Centerline is valid? [True, True] Translation: X:161.90, Y:-58.84, Z:-19.94 [[ 9.41839715e-01 3.23927118e-01 8.94939856e-02 1.61900054e+02] [-3.22360533e-01 9.46081353e-01 -3.18396036e-02 -5.88421975e+01] [-9.49823020e-02 1.13847426e-03 9.95478310e-01 -1.99428966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44119381700003 meters 0.055236089469765146 Centerline is valid? [True, True] Translation: X:161.93, Y:-58.85, Z:-19.95 [[ 9.41479200e-01 3.24978765e-01 8.94746851e-02 1.61932453e+02] [-3.23414500e-01 9.45720716e-01 -3.18651698e-02 -5.88505935e+01] [-9.49735668e-02 1.06298409e-03 9.95479227e-01 -1.99452864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47119381700003 meters 0.055319126909946635 Centerline is valid? [True, True] Translation: X:161.96, Y:-58.86, Z:-19.95 [[ 9.41476435e-01 3.25354276e-01 8.81289779e-02 1.61962446e+02] [-3.23835165e-01 9.45591618e-01 -3.14209829e-02 -5.88604255e+01] [-9.35569740e-02 1.04285286e-03 9.95613381e-01 -1.99500874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50119381700003 meters 0.05570492702723689 Centerline is valid? [True, True] Translation: X:161.99, Y:-58.87, Z:-19.96 [[ 9.41975445e-01 3.24741986e-01 8.49994279e-02 1.61991985e+02] [-3.23324040e-01 9.45802015e-01 -3.03333636e-02 -5.88713480e+01] [-9.02431469e-02 1.09092521e-03 9.95919166e-01 -1.99572593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53119381700003 meters 0.05606234478454543 Centerline is valid? [True, True] Translation: X:162.02, Y:-58.88, Z:-19.96 [[ 9.42275299e-01 3.23955362e-01 8.46769372e-02 1.62019938e+02] [-3.22542066e-01 9.46071615e-01 -3.02508677e-02 -5.88832747e+01] [-8.99103776e-02 1.19277116e-03 9.95949146e-01 -1.99624099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56119381700003 meters 0.056350743266943615 Centerline is valid? [True, True] Translation: X:162.05, Y:-58.90, Z:-19.97 [[ 9.42626612e-01 3.23050495e-01 8.42226063e-02 1.62049772e+02] [-3.21647673e-01 9.46380859e-01 -3.01005683e-02 -5.88952943e+01] [-8.94306659e-02 1.28359134e-03 9.95992223e-01 -1.99660672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59119381700003 meters 0.0566592593290633 Centerline is valid? [True, True] Translation: X:162.08, Y:-58.91, Z:-19.97 [[ 9.43110444e-01 3.21698607e-01 8.39803351e-02 1.62079070e+02] [-3.20295957e-01 9.46841036e-01 -3.00425174e-02 -5.89077428e+01] [-8.91806635e-02 1.43485019e-03 9.96014433e-01 -1.99702404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62119381700003 meters 0.056755682949324496 Centerline is valid? [True, True] Translation: X:162.11, Y:-58.92, Z:-19.97 [[ 9.43906382e-01 3.19299184e-01 8.41948565e-02 1.62109240e+02] [-3.17877295e-01 9.47652450e-01 -3.01472878e-02 -5.89193670e+01] [-8.94134664e-02 1.69258417e-03 9.95993156e-01 -1.99712161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65119381700003 meters 0.05685859255156426 Centerline is valid? [True, True] Translation: X:162.14, Y:-58.93, Z:-19.97 [[ 9.43993912e-01 3.19182630e-01 8.36537039e-02 1.62138867e+02] [-3.17775931e-01 9.47691663e-01 -2.99828081e-02 -5.89311863e+01] [-8.88479093e-02 1.72045472e-03 9.96043718e-01 -1.99744038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68119381700004 meters 0.05748834130907266 Centerline is valid? [True, True] Translation: X:162.17, Y:-58.94, Z:-19.98 [[ 9.44126881e-01 3.18625939e-01 8.42730286e-02 1.62167944e+02] [-3.17193423e-01 9.47878800e-01 -3.02342881e-02 -5.89443441e+01] [-8.95140457e-02 1.81415365e-03 9.95983908e-01 -1.99793027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71119381700004 meters 0.05816008826422287 Centerline is valid? [True, True] Translation: X:162.20, Y:-58.96, Z:-19.98 [[ 9.44212209e-01 3.18538194e-01 8.36464189e-02 1.62196490e+02] [-3.17123663e-01 9.47908241e-01 -3.00424685e-02 -5.89565838e+01] [-8.88588035e-02 1.84020679e-03 9.96042533e-01 -1.99845173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74119381700004 meters 0.05711234118840648 Centerline is valid? [True, True] Translation: X:162.23, Y:-58.96, Z:-19.98 [[ 9.44569733e-01 3.17686253e-01 8.28460308e-02 1.62227643e+02] [-3.16293257e-01 9.48193934e-01 -2.97798323e-02 -5.89643696e+01] [-8.80147473e-02 1.92548731e-03 9.96117311e-01 -1.99841494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.771193817 meters 0.05747043712719282 Centerline is valid? [True, True] Translation: X:162.26, Y:-58.98, Z:-19.99 [[ 9.44608530e-01 3.17508167e-01 8.30860320e-02 1.62257529e+02] [-3.16104019e-01 9.48253484e-01 -2.98927830e-02 -5.89753226e+01] [-8.82778221e-02 1.97314913e-03 9.96093938e-01 -1.99885094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.801193817 meters 0.05742239179822895 Centerline is valid? [True, True] Translation: X:162.29, Y:-58.99, Z:-19.99 [[ 9.44614923e-01 3.17412921e-01 8.33767636e-02 1.62288998e+02] [-3.15995716e-01 9.48285274e-01 -3.00291026e-02 -5.89859730e+01] [-8.85965822e-02 2.01923835e-03 9.96065544e-01 -1.99908944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.831193817 meters 0.05767510674133976 Centerline is valid? [True, True] Translation: X:162.32, Y:-59.00, Z:-19.99 [[ 9.44424399e-01 3.17770954e-01 8.41675465e-02 1.62317962e+02] [-3.16324591e-01 9.48165308e-01 -3.03529514e-02 -5.89963852e+01] [-8.94500340e-02 2.04180319e-03 9.95989218e-01 -1.99945790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86119381700001 meters 0.05729595785666635 Centerline is valid? [True, True] Translation: X:162.35, Y:-59.01, Z:-20.00 [[ 9.44397078e-01 3.17477688e-01 8.55691309e-02 1.62348937e+02] [-3.15980160e-01 9.48263378e-01 -3.08723963e-02 -5.90062938e+01] [-9.09433701e-02 2.11765320e-03 9.95853814e-01 -1.99957077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89119381700002 meters 0.057442904985453694 Centerline is valid? [True, True] Translation: X:162.38, Y:-59.02, Z:-20.00 [[ 9.44185994e-01 3.17923863e-01 8.62393541e-02 1.62377520e+02] [-3.16401685e-01 9.48113874e-01 -3.11457109e-02 -5.90171293e+01] [-9.16666929e-02 2.12106707e-03 9.95787487e-01 -1.99989155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92119381700002 meters 0.05711975982694185 Centerline is valid? [True, True] Translation: X:162.41, Y:-59.03, Z:-20.00 [[ 9.44321639e-01 3.17731493e-01 8.54595802e-02 1.62408125e+02] [-3.16233557e-01 9.48178303e-01 -3.08908175e-02 -5.90255462e+01] [-9.08459053e-02 2.14568039e-03 9.95862650e-01 -2.00014050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95119381700002 meters 0.057674321159293815 Centerline is valid? [True, True] Translation: X:162.44, Y:-59.04, Z:-20.01 [[ 9.44574797e-01 3.16912039e-01 8.57042128e-02 1.62437562e+02] [-3.15399290e-01 9.48452239e-01 -3.10102868e-02 -5.90372603e+01] [-9.11138857e-02 2.26048746e-03 9.95837914e-01 -2.00053391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98119381700002 meters 0.059158133189973046 Centerline is valid? [True, True] Translation: X:162.47, Y:-59.05, Z:-20.01 [[ 9.46006557e-01 3.12433099e-01 8.63548107e-02 1.62465239e+02] [-3.10875155e-01 9.49935790e-01 -3.12831257e-02 -5.90500037e+01] [-9.18054092e-02 2.74847687e-03 9.95773173e-01 -2.00088143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01119381700002 meters 0.06011123253538177 Centerline is valid? [True, True] Translation: X:162.49, Y:-59.06, Z:-20.01 [[ 9.46708872e-01 3.10432989e-01 8.58700768e-02 1.62494213e+02] [-3.08884461e-01 9.50590767e-01 -3.11059968e-02 -5.90625909e+01] [-9.12836298e-02 2.92439080e-03 9.95820640e-01 -2.00123280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04119381700002 meters 0.061339967795968814 Centerline is valid? [True, True] Translation: X:162.52, Y:-59.08, Z:-20.02 [[ 9.47412107e-01 3.08210283e-01 8.61203855e-02 1.62522542e+02] [-3.06640949e-01 9.51312957e-01 -3.12247594e-02 -5.90754602e+01] [-9.15512306e-02 3.17467833e-03 9.95795307e-01 -2.00165918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07119381700002 meters 0.06254962556610441 Centerline is valid? [True, True] Translation: X:162.55, Y:-59.09, Z:-20.02 [[ 9.48232748e-01 3.05673916e-01 8.61284697e-02 1.62551334e+02] [-3.04091007e-01 9.52130011e-01 -3.12586251e-02 -5.90886294e+01] [-9.15604472e-02 3.44955886e-03 9.95793545e-01 -2.00196498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10119381700002 meters 0.06428977961755167 Centerline is valid? [True, True] Translation: X:162.58, Y:-59.10, Z:-20.02 [[ 9.49905681e-01 3.00621719e-01 8.54738553e-02 1.62579274e+02] [-2.99040856e-01 9.53735388e-01 -3.10383121e-02 -5.91010579e+01] [-9.08502313e-02 3.92329411e-03 9.95856839e-01 -2.00228814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13119381700002 meters 0.06638430241737739 Centerline is valid? [True, True] Translation: X:162.61, Y:-59.11, Z:-20.03 [[ 9.50533846e-01 2.98775494e-01 8.49624099e-02 1.62607157e+02] [-2.97206595e-01 9.54314745e-01 -3.08481237e-02 -5.91145950e+01] [-9.02975440e-02 4.07079707e-03 9.95906513e-01 -2.00289748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16119381700003 meters 0.06717811812142822 Centerline is valid? [True, True] Translation: X:162.64, Y:-59.13, Z:-20.03 [[ 9.51101850e-01 2.97210443e-01 8.40905661e-02 1.62636557e+02] [-2.95664871e-01 9.54802741e-01 -3.05615722e-02 -5.91252849e+01] [-8.93731214e-02 4.20454156e-03 9.95989341e-01 -2.00330861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19119381700003 meters 0.06732519063020344 Centerline is valid? [True, True] Translation: X:162.67, Y:-59.13, Z:-20.04 [[ 9.51609101e-01 2.95715931e-01 8.36194212e-02 1.62666871e+02] [-2.94181042e-01 9.55266110e-01 -3.04002355e-02 -5.91336344e+01] [-8.88686331e-02 4.32989231e-03 9.96033944e-01 -2.00366609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22119381700003 meters 0.06780923295556163 Centerline is valid? [True, True] Translation: X:162.70, Y:-59.14, Z:-20.04 [[ 9.51663352e-01 2.95248479e-01 8.46475063e-02 1.62698224e+02] [-2.93671350e-01 9.55410127e-01 -3.07997926e-02 -5.91428699e+01] [-8.99666767e-02 4.45248647e-03 9.95934823e-01 -2.00396460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25119381700003 meters 0.06739063657646999 Centerline is valid? [True, True] Translation: X:162.73, Y:-59.15, Z:-20.04 [[ 9.51587895e-01 2.95520879e-01 8.45451817e-02 1.62730741e+02] [-2.93945677e-01 9.55325904e-01 -3.07954084e-02 -5.91502276e+01] [-8.98688883e-02 4.45284723e-03 9.95943651e-01 -2.00419215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28119381700003 meters 0.06697241841715948 Centerline is valid? [True, True] Translation: X:162.76, Y:-59.15, Z:-20.05 [[ 9.50920886e-01 2.97883909e-01 8.37534765e-02 1.62762401e+02] [-2.96344193e-01 9.54592765e-01 -3.05413183e-02 -5.91543722e+01] [-8.90482300e-02 4.22252104e-03 9.96018365e-01 -2.00461205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31119381700003 meters 0.06656282918681825 Centerline is valid? [True, True] Translation: X:162.79, Y:-59.16, Z:-20.05 [[ 9.50435573e-01 2.99074492e-01 8.50098170e-02 1.62793790e+02] [-2.97490411e-01 9.54220528e-01 -3.10264282e-02 -5.91627943e+01] [-9.03973258e-02 4.19901573e-03 9.95896928e-01 -2.00490761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34119381700003 meters 0.06454271689950022 Centerline is valid? [True, True] Translation: X:162.83, Y:-59.17, Z:-20.05 [[ 9.49819339e-01 3.00735426e-01 8.60315424e-02 1.62826186e+02] [-2.99117051e-01 9.53698719e-01 -3.14283660e-02 -5.91678549e+01] [-9.14997948e-02 4.11776854e-03 9.95796581e-01 -2.00498834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37119381700003 meters 0.06430990670099482 Centerline is valid? [True, True] Translation: X:162.86, Y:-59.18, Z:-20.05 [[ 9.49179499e-01 3.02449819e-01 8.70768916e-02 1.62857094e+02] [-3.00796082e-01 9.53156788e-01 -3.18410865e-02 -5.91752376e+01] [-9.26282611e-02 4.03051871e-03 9.95692603e-01 -2.00524032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40119381700003 meters 0.06215629644432567 Centerline is valid? [True, True] Translation: X:162.89, Y:-59.17, Z:-20.05 [[ 9.48065335e-01 3.05531069e-01 8.84470856e-02 1.62891408e+02] [-3.03834622e-01 9.52174430e-01 -3.23786626e-02 -5.91727594e+01] [-9.41097406e-02 3.82380078e-03 9.95554486e-01 -2.00531044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43119381700004 meters 0.06054898151002881 Centerline is valid? [True, True] Translation: X:162.92, Y:-59.18, Z:-20.06 [[ 9.47205582e-01 3.08268932e-01 8.81581050e-02 1.62923974e+02] [-3.06595014e-01 9.51292650e-01 -3.22767927e-02 -5.91761236e+01] [-9.38140898e-02 3.54392273e-03 9.95583426e-01 -2.00561419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46119381700004 meters 0.060057994909615206 Centerline is valid? [True, True] Translation: X:162.95, Y:-59.18, Z:-20.06 [[ 9.46022492e-01 3.12007672e-01 8.77077898e-02 1.62953423e+02] [-3.10366129e-01 9.50074313e-01 -3.21195656e-02 -5.91820820e+01] [-9.33504690e-02 3.16430434e-03 9.95628283e-01 -2.00608332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49119381700004 meters 0.058483381275113364 Centerline is valid? [True, True] Translation: X:162.98, Y:-59.18, Z:-20.07 [[ 9.44489127e-01 3.17513338e-01 8.44130836e-02 1.62983273e+02] [-3.16014587e-01 9.48250443e-01 -3.09172709e-02 -5.91822493e+01] [-8.98613898e-02 2.52526049e-03 9.95951080e-01 -2.00674824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.521193817 meters 0.05813304343773528 Centerline is valid? [True, True] Translation: X:163.01, Y:-59.19, Z:-20.07 [[ 9.44065673e-01 3.19090337e-01 8.31947246e-02 1.63011280e+02] [-3.17641211e-01 9.47721426e-01 -3.04657101e-02 -5.91880206e+01] [-8.85667367e-02 2.33555810e-03 9.96067507e-01 -2.00713488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.551193817 meters 0.057428581294707 Centerline is valid? [True, True] Translation: X:163.04, Y:-59.19, Z:-20.07 [[ 9.43733237e-01 3.20206125e-01 8.26777837e-02 1.63039929e+02] [-3.18779958e-01 9.47345321e-01 -3.02684937e-02 -5.91937390e+01] [-8.80165686e-02 2.20936305e-03 9.96116561e-01 -2.00748628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.581193817 meters 0.057414523403387326 Centerline is valid? [True, True] Translation: X:163.07, Y:-59.20, Z:-20.08 [[ 9.43839613e-01 3.20009776e-01 8.22224315e-02 1.63067544e+02] [-3.18599278e-01 9.47411669e-01 -3.00936953e-02 -5.92013040e+01] [-8.75287678e-02 2.20761446e-03 9.96159546e-01 -2.00781238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61119381700001 meters 0.05866076294045047 Centerline is valid? [True, True] Translation: X:163.09, Y:-59.21, Z:-20.08 [[ 9.44479267e-01 3.18076121e-01 8.23801853e-02 1.63092646e+02] [-3.16653527e-01 9.48062180e-01 -3.01437632e-02 -5.92116786e+01] [-8.76895493e-02 2.38418313e-03 9.96144999e-01 -2.00833943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64119381700002 meters 0.05940839141951028 Centerline is valid? [True, True] Translation: X:163.12, Y:-59.22, Z:-20.09 [[ 9.45236363e-01 3.16100556e-01 8.12936405e-02 1.63118742e+02] [-3.14708857e-01 9.48722333e-01 -2.97366679e-02 -5.92218370e+01] [-8.65248696e-02 2.52435113e-03 9.96246493e-01 -2.00871242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67119381700002 meters 0.061002909924245285 Centerline is valid? [True, True] Translation: X:163.15, Y:-59.24, Z:-20.09 [[ 9.47246848e-01 3.10368258e-01 7.99684490e-02 1.63145636e+02] [-3.09002445e-01 9.50611716e-01 -2.92379054e-02 -5.92350730e+01] [-8.50934623e-02 2.98506747e-03 9.96368502e-01 -2.00900434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70119381700002 meters 0.06228797432650991 Centerline is valid? [True, True] Translation: X:163.17, Y:-59.25, Z:-20.10 [[ 9.48122632e-01 3.07887474e-01 7.91756105e-02 1.63172201e+02] [-3.06540169e-01 9.51417483e-01 -2.89464622e-02 -5.92482218e+01] [-8.42413132e-02 3.17429092e-03 9.96440327e-01 -2.00950600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73119381700002 meters 0.06351495685653939 Centerline is valid? [True, True] Translation: X:163.20, Y:-59.26, Z:-20.10 [[ 9.48953252e-01 3.05262754e-01 7.93875054e-02 1.63199213e+02] [-3.03899268e-01 9.52262041e-01 -2.90213780e-02 -5.92609726e+01] [-8.44568537e-02 3.41412633e-03 9.96421288e-01 -2.00984554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76119381700002 meters 0.06588766654904821 Centerline is valid? [True, True] Translation: X:163.23, Y:-59.27, Z:-20.10 [[ 9.50550822e-01 3.00259848e-01 7.93546388e-02 1.63226038e+02] [-2.98880534e-01 9.53849665e-01 -2.90042071e-02 -5.92731056e+01] [-8.44011944e-02 3.85241608e-03 9.96424406e-01 -2.01023368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79119381700002 meters 0.06729159483255051 Centerline is valid? [True, True] Translation: X:163.25, Y:-59.28, Z:-20.11 [[ 9.51447725e-01 2.97445288e-01 7.92056024e-02 1.63254321e+02] [-2.96061441e-01 9.54730085e-01 -2.89497341e-02 -5.92839446e+01] [-8.42309336e-02 4.09443385e-03 9.96437848e-01 -2.01059864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82119381700002 meters 0.06860088855213067 Centerline is valid? [True, True] Translation: X:163.28, Y:-59.29, Z:-20.11 [[ 9.52286047e-01 2.95149797e-01 7.77038093e-02 1.63283175e+02] [-2.93810484e-01 9.55441695e-01 -2.84001352e-02 -5.92948139e+01] [-8.26237534e-02 4.21485866e-03 9.96571899e-01 -2.01102560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85119381700002 meters 0.06833942787284043 Centerline is valid? [True, True] Translation: X:163.31, Y:-59.30, Z:-20.11 [[ 9.53277752e-01 2.92208697e-01 7.66524893e-02 1.63313016e+02] [-2.90895840e-01 9.56344406e-01 -2.80176183e-02 -5.93035937e+01] [-8.14931711e-02 4.41068194e-03 9.96664141e-01 -2.01122765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88119381700002 meters 0.07788810491669919 Centerline is valid? [True, True] Translation: X:163.34, Y:-59.33, Z:-20.12 [[ 9.55194595e-01 2.85814583e-01 7.68980421e-02 1.63335368e+02] [-2.84472443e-01 9.58272025e-01 -2.81096873e-02 -5.93260252e+01] [-8.17234011e-02 4.97484747e-03 9.96642632e-01 -2.01211232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91119381700003 meters 0.07404801216850669 Centerline is valid? [True, True] Translation: X:163.37, Y:-59.33, Z:-20.12 [[ 9.55870348e-01 2.83435513e-01 7.73058126e-02 1.63368435e+02] [-2.82071353e-01 9.58977169e-01 -2.82584684e-02 -5.93291713e+01] [-8.21439628e-02 5.20567689e-03 9.96606879e-01 -2.01186556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94119381700003 meters 0.07447079283374962 Centerline is valid? [True, True] Translation: X:163.40, Y:-59.34, Z:-20.12 [[ 9.56239714e-01 2.81700668e-01 7.90591093e-02 1.63399359e+02] [-2.80268243e-01 9.59486728e-01 -2.88951764e-02 -5.93385107e+01] [-8.39959565e-02 5.47295754e-03 9.96451066e-01 -2.01198793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97119381700003 meters 0.07587194118221643 Centerline is valid? [True, True] Translation: X:163.43, Y:-59.35, Z:-20.12 [[ 9.56655081e-01 2.80224217e-01 7.92807928e-02 1.63428296e+02] [-2.78775768e-01 9.59917937e-01 -2.90107753e-02 -5.93481800e+01] [-8.42325769e-02 5.65174176e-03 9.96430093e-01 -2.01225088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00119381700003 meters 0.08031541379463013 Centerline is valid? [True, True] Translation: X:163.46, Y:-59.36, Z:-20.13 [[ 9.57204497e-01 2.78598136e-01 7.83749291e-02 1.63455362e+02] [-2.77176892e-01 9.60390659e-01 -2.86836709e-02 -5.93618598e+01] [-8.32617671e-02 5.73241956e-03 9.96511223e-01 -2.01278897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03119381700003 meters 0.08255915732273142 Centerline is valid? [True, True] Translation: X:163.48, Y:-59.37, Z:-20.13 [[ 9.57209800e-01 2.78535735e-01 7.85317986e-02 1.63484396e+02] [-2.77109057e-01 9.60408690e-01 -2.87353097e-02 -5.93723770e+01] [-8.34264325e-02 5.74384741e-03 9.96497385e-01 -2.01323650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06119381700003 meters 0.07819403394620143 Centerline is valid? [True, True] Translation: X:163.52, Y:-59.37, Z:-20.13 [[ 9.57518281e-01 2.77445797e-01 7.86293334e-02 1.63519345e+02] [-2.76009314e-01 9.60723322e-01 -2.88020302e-02 -5.93679633e+01] [-8.35320366e-02 5.87604212e-03 9.96487768e-01 -2.01306379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09119381700003 meters 0.0781949413534342 Centerline is valid? [True, True] Translation: X:163.55, Y:-59.37, Z:-20.13 [[ 9.57370772e-01 2.77954504e-01 7.86288705e-02 1.63549259e+02] [-2.76519740e-01 9.60576538e-01 -2.88018607e-02 -5.93735000e+01] [-8.35346552e-02 5.83162473e-03 9.96487809e-01 -2.01341927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12119381700003 meters 0.07795896861783903 Centerline is valid? [True, True] Translation: X:163.58, Y:-59.38, Z:-20.14 [[ 9.57136664e-01 2.78775899e-01 7.85710176e-02 1.63579094e+02] [-2.77345889e-01 9.60338928e-01 -2.87819755e-02 -5.93784254e+01] [-8.34785279e-02 5.75693537e-03 9.96492947e-01 -2.01375038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15119381700003 meters 0.07619643005182729 Centerline is valid? [True, True] Translation: X:163.61, Y:-59.38, Z:-20.14 [[ 9.56646619e-01 2.80544566e-01 7.82431678e-02 1.63609574e+02] [-2.79132660e-01 9.59824806e-01 -2.86583338e-02 -5.93806136e+01] [-8.31396732e-02 5.57567462e-03 9.96522306e-01 -2.01399009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18119381700004 meters 0.06995391847389942 Centerline is valid? [True, True] Translation: X:163.65, Y:-59.37, Z:-20.14 [[ 9.55592156e-01 2.84152363e-01 7.81093231e-02 1.63645367e+02] [-2.82757606e-01 9.58764770e-01 -2.86051057e-02 -5.93704806e+01] [-8.30166756e-02 5.24880945e-03 9.96534335e-01 -2.01407571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21119381700004 meters 0.0741299944712638 Centerline is valid? [True, True] Translation: X:163.67, Y:-59.38, Z:-20.15 [[ 9.55018859e-01 2.86190878e-01 7.76772813e-02 1.63670370e+02] [-2.84818157e-01 9.58159348e-01 -2.84478705e-02 -5.93809548e+01] [-8.25687342e-02 5.04435269e-03 9.96572606e-01 -2.01490825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24119381700004 meters 0.06918375698464853 Centerline is valid? [True, True] Translation: X:163.70, Y:-59.38, Z:-20.15 [[ 9.54501710e-01 2.87996430e-01 7.73598193e-02 1.63702656e+02] [-2.86641668e-01 9.57619159e-01 -2.83213866e-02 -5.93768308e+01] [-8.22377034e-02 4.85826427e-03 9.96600902e-01 -2.01480750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.271193817 meters 0.0673778724612941 Centerline is valid? [True, True] Translation: X:163.74, Y:-59.37, Z:-20.15 [[ 9.53237131e-01 2.91838960e-01 7.85429463e-02 1.63735030e+02] [-2.90456020e-01 9.56456464e-01 -2.87460105e-02 -5.93714928e+01] [-8.35121145e-02 4.58849296e-03 9.96496198e-01 -2.01500125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.301193817 meters 0.0673778724612941 Centerline is valid? [True, True] Translation: X:163.76, Y:-59.38, Z:-20.15 [[ 9.53273650e-01 2.91719340e-01 7.85440944e-02 1.63760779e+02] [-2.90336254e-01 9.56492921e-01 -2.87428734e-02 -5.93807548e+01] [-8.35117223e-02 4.59562578e-03 9.96496198e-01 -2.01531579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.331193817 meters 0.06965458652245043 Centerline is valid? [True, True] Translation: X:163.79, Y:-59.39, Z:-20.16 [[ 9.52273891e-01 2.94674352e-01 7.96333027e-02 1.63788428e+02] [-2.93264031e-01 9.55587678e-01 -2.91272539e-02 -5.93890234e+01] [-8.46796575e-02 4.38354007e-03 9.96398585e-01 -2.01599265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36119381700001 meters 0.06500351086534209 Centerline is valid? [True, True] Translation: X:163.82, Y:-59.39, Z:-20.16 [[ 9.51291211e-01 2.97874464e-01 7.94722363e-02 1.63821744e+02] [-2.96481332e-01 9.54596306e-01 -2.90639544e-02 -5.93861400e+01] [-8.45213130e-02 4.08624997e-03 9.96413293e-01 -2.01605201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39119381700002 meters 0.0650493180497402 Centerline is valid? [True, True] Translation: X:163.85, Y:-59.39, Z:-20.17 [[ 9.49175911e-01 3.04564081e-01 7.94091340e-02 1.63851835e+02] [-3.03196569e-01 9.52485466e-01 -2.90392355e-02 -5.93869009e+01] [-8.44803540e-02 3.48676581e-03 9.96419045e-01 -2.01699394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42119381700002 meters 0.06095650840844142 Centerline is valid? [True, True] Translation: X:163.88, Y:-59.38, Z:-20.17 [[ 9.48373842e-01 3.07243348e-01 7.86675397e-02 1.63884025e+02] [-3.05910040e-01 9.51625525e-01 -2.87733992e-02 -5.93847614e+01] [-8.37024742e-02 3.22274894e-03 9.96485579e-01 -2.01693199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45119381700002 meters 0.059445000589720715 Centerline is valid? [True, True] Translation: X:163.91, Y:-59.39, Z:-20.17 [[ 9.47373218e-01 3.10247927e-01 7.89316795e-02 1.63913885e+02] [-3.08918061e-01 9.50651122e-01 -2.88457405e-02 -5.93876894e+01] [-8.39858208e-02 2.94426063e-03 9.96462600e-01 -2.01725000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48119381700002 meters 0.058465089840865764 Centerline is valid? [True, True] Translation: X:163.94, Y:-59.39, Z:-20.18 [[ 9.46394492e-01 3.13258755e-01 7.87808256e-02 1.63943008e+02] [-3.11946900e-01 9.49664133e-01 -2.87604979e-02 -5.93917140e+01] [-8.38248022e-02 2.64334247e-03 9.96477002e-01 -2.01760584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51119381700002 meters 0.057771815466847315 Centerline is valid? [True, True] Translation: X:163.97, Y:-59.40, Z:-20.18 [[ 9.45728833e-01 3.15643225e-01 7.72420229e-02 1.63971017e+02] [-3.14390142e-01 9.48874950e-01 -2.81987259e-02 -5.93966326e+01] [-8.21937574e-02 2.38421760e-03 9.96613517e-01 -2.01809157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54119381700002 meters 0.05734645468959373 Centerline is valid? [True, True] Translation: X:164.00, Y:-59.40, Z:-20.19 [[ 9.45100073e-01 3.17605231e-01 7.68945376e-02 1.63997872e+02] [-3.16372345e-01 9.48220537e-01 -2.80419904e-02 -5.94027553e+01] [-8.18192626e-02 2.17518201e-03 9.96644810e-01 -2.01856991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57119381700002 meters 0.0570443700345137 Centerline is valid? [True, True] Translation: X:164.03, Y:-59.41, Z:-20.19 [[ 9.43985869e-01 3.21387447e-01 7.48384117e-02 1.64025098e+02] [-3.20232714e-01 9.46946105e-01 -2.72778986e-02 -5.94071273e+01] [-7.96347166e-02 1.78424313e-03 9.96822516e-01 -2.01931690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60119381700002 meters 0.056682830108780315 Centerline is valid? [True, True] Translation: X:164.05, Y:-59.41, Z:-20.20 [[ 9.43524822e-01 3.22975770e-01 7.38076013e-02 1.64051508e+02] [-3.21857553e-01 9.46405835e-01 -2.69018828e-02 -5.94138252e+01] [-7.85406008e-02 1.62706027e-03 9.96909588e-01 -2.01977913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63119381700002 meters 0.05622483325562119 Centerline is valid? [True, True] Translation: X:164.08, Y:-59.42, Z:-20.20 [[ 9.42756925e-01 3.25308259e-01 7.33751774e-02 1.64078875e+02] [-3.24212321e-01 9.45606991e-01 -2.67168399e-02 -5.94213824e+01] [-7.80752894e-02 1.39834919e-03 9.96946485e-01 -2.02018798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66119381700003 meters 0.05501385790992808 Centerline is valid? [True, True] Translation: X:164.11, Y:-59.43, Z:-20.20 [[ 9.41845755e-01 3.27872695e-01 7.36618632e-02 1.64107643e+02] [-3.26778145e-01 9.44721197e-01 -2.67937319e-02 -5.94285490e+01] [-7.83748566e-02 1.16447565e-03 9.96923280e-01 -2.02022405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69119381700003 meters 0.05475389870671871 Centerline is valid? [True, True] Translation: X:164.13, Y:-59.44, Z:-20.21 [[ 9.40965410e-01 3.30276469e-01 7.41724409e-02 1.64133739e+02] [-3.29175275e-01 9.43883752e-01 -2.69647997e-02 -5.94374674e+01] [-7.89160007e-02 9.57210139e-04 9.96880810e-01 -2.02059802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72119381700003 meters 0.053872586227009564 Centerline is valid? [True, True] Translation: X:164.16, Y:-59.45, Z:-20.21 [[ 9.39705993e-01 3.33682160e-01 7.48923447e-02 1.64161215e+02] [-3.32570428e-01 9.42685398e-01 -2.72240773e-02 -5.94472938e+01] [-7.96841087e-02 6.75649472e-04 9.96819937e-01 -2.02069461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75119381700003 meters 0.05365406345848139 Centerline is valid? [True, True] Translation: X:164.19, Y:-59.46, Z:-20.21 [[ 9.39570274e-01 3.34065138e-01 7.48878056e-02 1.64187071e+02] [-3.32956427e-01 9.42549784e-01 -2.72015234e-02 -5.94577163e+01] [-7.96725656e-02 6.23366652e-04 9.96820893e-01 -2.02081178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78119381700003 meters 0.05370880391394116 Centerline is valid? [True, True] Translation: X:164.21, Y:-59.47, Z:-20.21 [[ 9.39678494e-01 3.33558735e-01 7.57819152e-02 1.64212221e+02] [-3.32424279e-01 9.42729100e-01 -2.74944238e-02 -5.94707541e+01] [-8.06128219e-02 6.44170188e-04 9.96745282e-01 -2.02114018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81119381700003 meters 0.054010840124089736 Centerline is valid? [True, True] Translation: X:164.23, Y:-59.50, Z:-20.21 [[ 9.41221674e-01 3.28732355e-01 7.76968357e-02 1.64234316e+02] [-3.27525531e-01 9.44422531e-01 -2.81622119e-02 -5.94950928e+01] [-8.26364725e-02 1.05918684e-03 9.96579195e-01 -2.02137323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84119381700003 meters 0.05469912291783329 Centerline is valid? [True, True] Translation: X:164.26, Y:-59.51, Z:-20.22 [[ 9.42694183e-01 3.24352651e-01 7.82498242e-02 1.64257606e+02] [-3.23115629e-01 9.45935154e-01 -2.83368188e-02 -5.95149458e+01] [-8.32103818e-02 1.42921305e-03 9.96530978e-01 -2.02170157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87119381700003 meters 0.0554522330927577 Centerline is valid? [True, True] Translation: X:164.28, Y:-59.53, Z:-20.22 [[ 9.44502638e-01 3.18977187e-01 7.85386617e-02 1.64281160e+02] [-3.17714927e-01 9.47760525e-01 -2.84114802e-02 -5.95337311e+01] [-8.34984573e-02 1.88181278e-03 9.96506130e-01 -2.02181302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90119381700003 meters 0.05645542737196012 Centerline is valid? [True, True] Translation: X:164.31, Y:-59.55, Z:-20.22 [[ 9.46273552e-01 3.13583141e-01 7.89428825e-02 1.64305644e+02] [-3.12290592e-01 9.49557832e-01 -2.85396218e-02 -5.95528429e+01] [-8.39103767e-02 2.35316976e-03 9.96470527e-01 -2.02200795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93119381700004 meters 0.05852212496650573 Centerline is valid? [True, True] Translation: X:164.33, Y:-59.57, Z:-20.22 [[ 9.47607103e-01 3.09385165e-01 7.95084816e-02 1.64328359e+02] [-3.08059510e-01 9.50932859e-01 -2.87408344e-02 -5.95729598e+01] [-8.44992155e-02 2.74167500e-03 9.96419774e-01 -2.02247346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96119381700004 meters 0.06209348015565991 Centerline is valid? [True, True] Translation: X:164.35, Y:-59.60, Z:-20.23 [[ 9.50258695e-01 3.01169393e-01 7.94066039e-02 1.64349811e+02] [-2.99819131e-01 9.53564375e-01 -2.86961944e-02 -5.95990765e+01] [-8.43617240e-02 3.46118927e-03 9.96429184e-01 -2.02289163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99119381700004 meters 0.062452285936114224 Centerline is valid? [True, True] Translation: X:164.38, Y:-59.61, Z:-20.23 [[ 9.51265304e-01 2.98198689e-01 7.85612128e-02 1.64376022e+02] [-2.96866861e-01 9.54496702e-01 -2.83921356e-02 -5.96130749e+01] [-8.34529161e-02 3.68623287e-03 9.96504903e-01 -2.02317191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.021193817 meters 0.06435003294419078 Centerline is valid? [True, True] Translation: X:164.40, Y:-59.63, Z:-20.24 [[ 9.52098686e-01 2.95893656e-01 7.71688860e-02 1.64399830e+02] [-2.94601314e-01 9.55213260e-01 -2.78871473e-02 -5.96289732e+01] [-8.19643732e-02 3.81726113e-03 9.96627950e-01 -2.02369961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.051193817 meters 0.06477323978599289 Centerline is valid? [True, True] Translation: X:164.43, Y:-59.64, Z:-20.24 [[ 9.52607346e-01 2.94280788e-01 7.70588221e-02 1.64425535e+02] [-2.92987590e-01 9.55710876e-01 -2.78387194e-02 -5.96419582e+01] [-8.18383546e-02 3.94208998e-03 9.96637820e-01 -2.02404651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.081193817 meters 0.06474778257114841 Centerline is valid? [True, True] Translation: X:164.45, Y:-59.65, Z:-20.24 [[ 9.52767310e-01 2.94020005e-01 7.60702920e-02 1.64452125e+02] [-2.92759584e-01 9.55791282e-01 -2.74745375e-02 -5.96538551e+01] [-8.07853856e-02 3.90653412e-03 9.96723864e-01 -2.02434597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11119381700001 meters 0.0639739154802132 Centerline is valid? [True, True] Translation: X:164.48, Y:-59.66, Z:-20.25 [[ 9.52469990e-01 2.94978143e-01 7.60842531e-02 1.64479296e+02] [-2.93720884e-01 9.55496368e-01 -2.74724030e-02 -5.96623883e+01] [-8.08019860e-02 3.81910538e-03 9.96722857e-01 -2.02458193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14119381700002 meters 0.06366182282457086 Centerline is valid? [True, True] Translation: X:164.51, Y:-59.67, Z:-20.25 [[ 9.52229885e-01 2.95664645e-01 7.64242312e-02 1.64505887e+02] [-2.94398902e-01 9.55284355e-01 -2.75878159e-02 -5.96720788e+01] [-8.11636142e-02 3.77073304e-03 9.96693659e-01 -2.02483795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17119381700002 meters 0.06336039690269235 Centerline is valid? [True, True] Translation: X:164.53, Y:-59.68, Z:-20.25 [[ 9.51926764e-01 2.96431549e-01 7.72254708e-02 1.64531866e+02] [-2.95142143e-01 9.55046787e-01 -2.78702497e-02 -5.96817552e+01] [-8.20155591e-02 3.73794567e-03 9.96624039e-01 -2.02514888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20119381700002 meters 0.06345004320523955 Centerline is valid? [True, True] Translation: X:164.56, Y:-59.69, Z:-20.25 [[ 9.51869045e-01 2.96143824e-01 7.90199709e-02 1.64558684e+02] [-2.94793546e-01 9.55135636e-01 -2.85075911e-02 -5.96920527e+01] [-8.39171372e-02 3.84091619e-03 9.96465334e-01 -2.02529156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23119381700002 meters 0.06367331295638666 Centerline is valid? [True, True] Translation: X:164.58, Y:-59.70, Z:-20.26 [[ 9.51830604e-01 2.96066822e-01 7.97680338e-02 1.64584912e+02] [-2.94691123e-01 9.55159359e-01 -2.87704947e-02 -5.97014390e+01] [-8.47091729e-02 3.87770588e-03 9.96398173e-01 -2.02557376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26119381700002 meters 0.06305027514253633 Centerline is valid? [True, True] Translation: X:164.61, Y:-59.71, Z:-20.26 [[ 9.51528568e-01 2.96994018e-01 7.99245700e-02 1.64612692e+02] [-2.95617016e-01 9.54871806e-01 -2.88169051e-02 -5.97093976e+01] [-8.48761669e-02 3.79304559e-03 9.96384288e-01 -2.02592910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29119381700002 meters 0.06246556412146267 Centerline is valid? [True, True] Translation: X:164.64, Y:-59.72, Z:-20.26 [[ 9.51145849e-01 2.98486731e-01 7.89128947e-02 1.64640130e+02] [-2.97150166e-01 9.54406971e-01 -2.84449057e-02 -5.97168817e+01] [-8.38054438e-02 3.60627423e-03 9.96475611e-01 -2.02630980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32119381700002 meters 0.061417223271516316 Centerline is valid? [True, True] Translation: X:164.67, Y:-59.72, Z:-20.27 [[ 9.50559407e-01 3.00530048e-01 7.82208681e-02 1.64667824e+02] [-2.99224359e-01 9.53766326e-01 -2.81882589e-02 -5.97233796e+01] [-8.30758487e-02 3.38902553e-03 9.96537464e-01 -2.02674781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35119381700002 meters 0.0589704674464465 Centerline is valid? [True, True] Translation: X:164.70, Y:-59.73, Z:-20.27 [[ 9.48396517e-01 3.07433378e-01 7.76451188e-02 1.64697140e+02] [-3.06170541e-01 9.51565614e-01 -2.79728646e-02 -5.97255851e+01] [-8.24842175e-02 2.75671931e-03 9.96588558e-01 -2.02721322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38119381700002 meters 0.057719600974205656 Centerline is valid? [True, True] Translation: X:164.73, Y:-59.73, Z:-20.28 [[ 9.47095074e-01 3.11257231e-01 7.82933979e-02 1.64727118e+02] [-3.09986758e-01 9.50322573e-01 -2.81995844e-02 -5.97311347e+01] [-8.31813079e-02 2.43777093e-03 9.96531448e-01 -2.02760221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41119381700003 meters 0.056182451655659445 Centerline is valid? [True, True] Translation: X:164.76, Y:-59.74, Z:-20.28 [[ 9.45920598e-01 3.14610429e-01 7.90854043e-02 1.64756452e+02] [-3.13325233e-01 9.49218397e-01 -2.84909157e-02 -5.97362253e+01] [-8.40328600e-02 2.17069125e-03 9.96460620e-01 -2.02780394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44119381700003 meters 0.055189013704984136 Centerline is valid? [True, True] Translation: X:164.79, Y:-59.74, Z:-20.28 [[ 9.45013732e-01 3.17317893e-01 7.91100605e-02 1.64785016e+02] [-3.16043363e-01 9.48317307e-01 -2.84759251e-02 -5.97427789e+01] [-8.40573600e-02 1.90793071e-03 9.96459091e-01 -2.02806512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47119381700003 meters 0.05390608907152301 Centerline is valid? [True, True] Translation: X:164.81, Y:-59.75, Z:-20.28 [[ 9.43836101e-01 3.20534100e-01 8.01954195e-02 1.64814311e+02] [-3.19237949e-01 9.47235590e-01 -2.88421232e-02 -5.97480709e+01] [-8.52088395e-02 1.62081584e-03 9.96361795e-01 -2.02830951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50119381700003 meters 0.05396888509431233 Centerline is valid? [True, True] Translation: X:164.84, Y:-59.76, Z:-20.29 [[ 9.43769028e-01 3.20784778e-01 7.99821682e-02 1.64839682e+02] [-3.19498870e-01 9.47150818e-01 -2.87367420e-02 -5.97564684e+01] [-8.49734854e-02 1.56663467e-03 9.96381981e-01 -2.02870875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53119381700003 meters 0.05422262713571857 Centerline is valid? [True, True] Translation: X:164.87, Y:-59.77, Z:-20.29 [[ 9.44139479e-01 3.19680851e-01 8.00299841e-02 1.64865080e+02] [-3.18390684e-01 9.47523836e-01 -2.87393823e-02 -5.97663871e+01] [-8.50177477e-02 1.65318404e-03 9.96378066e-01 -2.02908907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56119381700003 meters 0.05427935314035704 Centerline is valid? [True, True] Translation: X:164.89, Y:-59.78, Z:-20.29 [[ 9.44622004e-01 3.18075574e-01 8.07291696e-02 1.64891293e+02] [-3.16757079e-01 9.48063631e-01 -2.89879994e-02 -5.97773455e+01] [-8.57567643e-02 1.81116610e-03 9.96314457e-01 -2.02931078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59119381700003 meters 0.05648690695726889 Centerline is valid? [True, True] Translation: X:164.91, Y:-59.80, Z:-20.30 [[ 9.46479767e-01 3.12347784e-01 8.13321093e-02 1.64914137e+02] [-3.10991656e-01 9.49965009e-01 -2.91662781e-02 -5.97957837e+01] [-8.63726803e-02 2.31168474e-03 9.96260215e-01 -2.02984183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62119381700003 meters 0.05756946182594947 Centerline is valid? [True, True] Translation: X:164.94, Y:-59.81, Z:-20.30 [[ 9.47801076e-01 3.08384357e-01 8.10691624e-02 1.64940217e+02] [-3.07023229e-01 9.51258130e-01 -2.90638267e-02 -5.98093893e+01] [-8.60805294e-02 2.65661021e-03 9.96284640e-01 -2.03009479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65119381700003 meters 0.05930529888670142 Centerline is valid? [True, True] Translation: X:164.97, Y:-59.82, Z:-20.30 [[ 9.49172320e-01 3.04042269e-01 8.14260783e-02 1.64966535e+02] [-3.02653688e-01 9.52653634e-01 -2.91856012e-02 -5.98241930e+01] [-8.64445057e-02 3.05826189e-03 9.96251973e-01 -2.03042889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68119381700004 meters 0.0612685789544364 Centerline is valid? [True, True] Translation: X:164.99, Y:-59.84, Z:-20.31 [[ 9.50489715e-01 3.00121113e-01 8.06016038e-02 1.64992429e+02] [-2.98746813e-01 9.53895128e-01 -2.88864483e-02 -5.98388404e+01] [-8.55549102e-02 3.37679981e-03 9.96327735e-01 -2.03086536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71119381700004 meters 0.0636637264673692 Centerline is valid? [True, True] Translation: X:165.02, Y:-59.85, Z:-20.31 [[ 9.51847688e-01 2.95905665e-01 8.01611883e-02 1.65018268e+02] [-2.94531811e-01 9.55209880e-01 -2.87245182e-02 -5.98536229e+01] [-8.50705067e-02 3.73134625e-03 9.96367947e-01 -2.03122333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74119381700004 meters 0.06794651564431285 Centerline is valid? [True, True] Translation: X:165.04, Y:-59.87, Z:-20.32 [[ 9.53967686e-01 2.88987183e-01 8.02001356e-02 1.65042452e+02] [-2.87587779e-01 9.57323088e-01 -2.87362824e-02 -5.98719062e+01] [-8.50818588e-02 4.34890593e-03 9.96364474e-01 -2.03162205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.771193817 meters 0.06578507937963773 Centerline is valid? [True, True] Translation: X:165.07, Y:-59.88, Z:-20.32 [[ 9.54949533e-01 2.85608070e-01 8.06189865e-02 1.65071330e+02] [-2.84181960e-01 9.58335107e-01 -2.88866171e-02 -5.98787697e+01] [-8.55102560e-02 4.67479987e-03 9.96326323e-01 -2.03150455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.801193817 meters 0.0677888160094442 Centerline is valid? [True, True] Translation: X:165.10, Y:-59.89, Z:-20.32 [[ 9.55899062e-01 2.82222523e-01 8.12861099e-02 1.65097744e+02] [-2.80761235e-01 9.59335885e-01 -2.91168196e-02 -5.98919213e+01] [-8.61981044e-02 5.01075194e-03 9.96265416e-01 -2.03178695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.831193817 meters 0.0722047656646891 Centerline is valid? [True, True] Translation: X:165.12, Y:-59.91, Z:-20.32 [[ 9.56646488e-01 2.79473102e-01 8.19895286e-02 1.65122472e+02] [-2.77976841e-01 9.60138902e-01 -2.93626378e-02 -5.99065039e+01] [-8.69274035e-02 5.29847418e-03 9.96200558e-01 -2.03214334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86119381700001 meters 0.0730464551370365 Centerline is valid? [True, True] Translation: X:165.15, Y:-59.91, Z:-20.33 [[ 9.56872630e-01 2.79080523e-01 8.06773329e-02 1.65148902e+02] [-2.77630792e-01 9.60253380e-01 -2.88892682e-02 -5.99146233e+01] [-8.55331136e-02 5.24483819e-03 9.96321523e-01 -2.03255064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89119381700002 meters 0.06898504742073022 Centerline is valid? [True, True] Translation: X:165.18, Y:-59.92, Z:-20.33 [[ 9.56566449e-01 2.80082092e-01 8.08371887e-02 1.65178828e+02] [-2.78630961e-01 9.59962203e-01 -2.89370996e-02 -5.99158635e+01] [-8.57054092e-02 5.15651502e-03 9.96307178e-01 -2.03264787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92119381700002 meters 0.06869359497644265 Centerline is valid? [True, True] Translation: X:165.21, Y:-59.92, Z:-20.33 [[ 9.56260135e-01 2.81308146e-01 8.02015036e-02 1.65206257e+02] [-2.79884718e-01 9.59604466e-01 -2.87021422e-02 -5.99228321e+01] [-8.50358674e-02 4.99953912e-03 9.96365348e-01 -2.03306933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95119381700002 meters 0.06611516889304205 Centerline is valid? [True, True] Translation: X:165.24, Y:-59.93, Z:-20.33 [[ 9.55317377e-01 2.84584310e-01 7.98779030e-02 1.65236994e+02] [-2.83184539e-01 9.58639592e-01 -2.85770629e-02 -5.99266353e+01] [-8.47067041e-02 4.67997756e-03 9.96394938e-01 -2.03335621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98119381700002 meters 0.0625530478173623 Centerline is valid? [True, True] Translation: X:165.27, Y:-59.92, Z:-20.34 [[ 9.52882797e-01 2.92731944e-01 7.95134277e-02 1.65268804e+02] [-2.91373180e-01 9.56186439e-01 -2.84458113e-02 -5.99231615e+01] [-8.43566588e-02 3.93744388e-03 9.96427845e-01 -2.03378398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01119381700002 meters 0.06070965935545656 Centerline is valid? [True, True] Translation: X:165.30, Y:-59.93, Z:-20.34 [[ 9.51393768e-01 2.97305195e-01 8.03711398e-02 1.65299574e+02] [-2.95933621e-01 9.54775844e-01 -2.87468355e-02 -5.99252889e+01] [-8.52830063e-02 3.56503773e-03 9.96350390e-01 -2.03410254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04119381700002 meters 0.058929472893266846 Centerline is valid? [True, True] Translation: X:165.33, Y:-59.93, Z:-20.34 [[ 9.49828853e-01 3.02221089e-01 8.05454150e-02 1.65330299e+02] [-3.00861238e-01 9.53232720e-01 -2.88079252e-02 -5.99268390e+01] [-8.54848876e-02 3.12960529e-03 9.96334552e-01 -2.03441723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07119381700002 meters 0.05497521622971135 Centerline is valid? [True, True] Translation: X:165.36, Y:-59.92, Z:-20.35 [[ 9.46118067e-01 3.13268721e-01 8.19958089e-02 1.65363813e+02] [-3.11900903e-01 9.49662049e-01 -2.93226765e-02 -5.99213071e+01] [-8.70541853e-02 2.16814717e-03 9.96201219e-01 -2.03463681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10119381700002 meters 0.053535080120505105 Centerline is valid? [True, True] Translation: X:165.39, Y:-59.92, Z:-20.35 [[ 9.44445957e-01 3.18224311e-01 8.21895505e-02 1.65392862e+02] [-3.16868869e-01 9.48013898e-01 -2.93899522e-02 -5.99244321e+01] [-8.72694334e-02 1.71391167e-03 9.96183271e-01 -2.03493805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13119381700002 meters 0.05221611590098292 Centerline is valid? [True, True] Translation: X:165.42, Y:-59.93, Z:-20.35 [[ 9.42783251e-01 3.23045704e-01 8.24694777e-02 1.65422842e+02] [-3.21699551e-01 9.46382512e-01 -2.94879550e-02 -5.99272866e+01] [-8.75736286e-02 1.27035619e-03 9.96157239e-01 -2.03509370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16119381700003 meters 0.05181038117537669 Centerline is valid? [True, True] Translation: X:165.45, Y:-59.93, Z:-20.36 [[ 9.41162814e-01 3.27714987e-01 8.25557108e-02 1.65450652e+02] [-3.26386602e-01 9.44776288e-01 -2.94881649e-02 -5.99315402e+01] [-8.76603916e-02 8.08086298e-04 9.96150090e-01 -2.03556014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19119381700003 meters 0.05148779694301571 Centerline is valid? [True, True] Translation: X:165.48, Y:-59.94, Z:-20.36 [[ 9.39577690e-01 3.32175841e-01 8.27826956e-02 1.65480205e+02] [-3.30857848e-01 9.43217398e-01 -2.95639059e-02 -5.99352553e+01] [-8.79024940e-02 3.88281899e-04 9.96129008e-01 -2.03589170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22119381700003 meters 0.05148779694301571 Centerline is valid? [True, True] Translation: X:165.51, Y:-59.94, Z:-20.36 [[ 9.39687362e-01 3.31863623e-01 8.27900868e-02 1.65505985e+02] [-3.30546245e-01 9.43327292e-01 -2.95431911e-02 -5.99441873e+01] [-8.79024588e-02 3.95410891e-04 9.96129008e-01 -2.03620557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25119381700003 meters 0.05179177747333733 Centerline is valid? [True, True] Translation: X:165.54, Y:-59.94, Z:-20.36 [[ 9.36688204e-01 3.39800574e-01 8.45622797e-02 1.65535872e+02] [-3.38461273e-01 9.40497432e-01 -3.01421041e-02 -5.99449373e+01] [-8.97729111e-02 -3.87303535e-04 9.95962185e-01 -2.03639600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28119381700003 meters 0.05209177833319143 Centerline is valid? [True, True] Translation: X:165.56, Y:-59.95, Z:-20.37 [[ 9.35624009e-01 3.42432579e-01 8.57183961e-02 1.65562177e+02] [-3.41070279e-01 9.39542159e-01 -3.05220635e-02 -5.99531129e+01] [-9.09877959e-02 -6.78821866e-04 9.95851776e-01 -2.03666220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31119381700003 meters 0.052096546542541866 Centerline is valid? [True, True] Translation: X:165.59, Y:-59.97, Z:-20.37 [[ 9.35328194e-01 3.43014996e-01 8.66134039e-02 1.65588625e+02] [-3.41627636e-01 9.39329624e-01 -3.08288035e-02 -5.99658330e+01] [-9.19332780e-02 -7.54483274e-04 9.95764883e-01 -2.03683762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34119381700003 meters 0.05234456277382579 Centerline is valid? [True, True] Translation: X:165.61, Y:-59.98, Z:-20.37 [[ 9.35402791e-01 3.42628253e-01 8.73355548e-02 1.65612721e+02] [-3.41219208e-01 9.39470760e-01 -3.10506423e-02 -5.99793798e+01] [-9.26880274e-02 -7.55711403e-04 9.95694912e-01 -2.03740843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37119381700003 meters 0.05205076611116108 Centerline is valid? [True, True] Translation: X:165.63, Y:-60.00, Z:-20.38 [[ 9.36538218e-01 3.39200269e-01 8.85400705e-02 1.65634337e+02] [-3.37737367e-01 9.40714087e-01 -3.14718530e-02 -6.00033075e+01] [-9.39661526e-02 -4.28697140e-04 9.95575300e-01 -2.03770918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40119381700003 meters 0.0519919702300329 Centerline is valid? [True, True] Translation: X:165.66, Y:-60.02, Z:-20.38 [[ 9.37264141e-01 3.37011080e-01 8.92158106e-02 1.65659204e+02] [-3.35518658e-01 9.41500650e-01 -3.16820983e-02 -6.00198540e+01] [-9.46739619e-02 -2.39074366e-04 9.95508304e-01 -2.03804511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43119381700004 meters 0.052050775414037166 Centerline is valid? [True, True] Translation: X:165.68, Y:-60.04, Z:-20.39 [[ 9.37875914e-01 3.35080546e-01 9.00544175e-02 1.65682802e+02] [-3.33554258e-01 9.42189483e-01 -3.19458230e-02 -6.00356690e+01] [-9.55527489e-02 -7.68163773e-05 9.95424365e-01 -2.03854497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46119381700004 meters 0.05202753963934216 Centerline is valid? [True, True] Translation: X:165.71, Y:-60.05, Z:-20.39 [[ 9.38401254e-01 3.33519742e-01 9.03751546e-02 1.65706697e+02] [-3.31975894e-01 9.42743112e-01 -3.20535481e-02 -6.00510564e+01] [-9.58910456e-02 7.67169502e-05 9.95391833e-01 -2.03863772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49119381700004 meters 0.0522869964060844 Centerline is valid? [True, True] Translation: X:165.73, Y:-60.07, Z:-20.39 [[ 9.39210631e-01 3.31157326e-01 9.06543707e-02 1.65727395e+02] [-3.29596659e-01 9.43575511e-01 -3.21138103e-02 -6.00729464e+01] [-9.61739678e-02 2.82254278e-04 9.95364500e-01 -2.03904254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.521193817 meters 0.052518556126166675 Centerline is valid? [True, True] Translation: X:165.75, Y:-60.09, Z:-20.40 [[ 9.39617410e-01 3.30169326e-01 9.00407635e-02 1.65752235e+02] [-3.28626381e-01 9.43921649e-01 -3.18845113e-02 -6.00887297e+01] [-9.55187135e-02 3.69471661e-04 9.95427566e-01 -2.03954122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.551193817 meters 0.052803081480064275 Centerline is valid? [True, True] Translation: X:165.78, Y:-60.11, Z:-20.40 [[ 9.40563351e-01 3.27675744e-01 8.92703217e-02 1.65776745e+02] [-3.26150743e-01 9.44790061e-01 -3.15821738e-02 -6.01050964e+01] [-9.46904250e-02 5.89453510e-04 9.95506593e-01 -2.04002421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.581193817 meters 0.05317926533070145 Centerline is valid? [True, True] Translation: X:165.80, Y:-60.12, Z:-20.41 [[ 9.41571514e-01 3.25265686e-01 8.74375095e-02 1.65800698e+02] [-3.23795452e-01 9.45622345e-01 -3.09012286e-02 -6.01210372e+01] [-9.27339721e-02 7.83848706e-04 9.95690613e-01 -2.04052003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61119381700001 meters 0.054662968501624255 Centerline is valid? [True, True] Translation: X:165.82, Y:-60.15, Z:-20.41 [[ 9.43958711e-01 3.18282268e-01 8.73976536e-02 1.65820905e+02] [-3.16784312e-01 9.47994864e-01 -3.08777738e-02 -6.01457675e+01] [-9.26803746e-02 1.46113800e-03 9.95694839e-01 -2.04110290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64119381700002 meters 0.05561738274821139 Centerline is valid? [True, True] Translation: X:165.84, Y:-60.16, Z:-20.41 [[ 9.45377270e-01 3.14171411e-01 8.69375801e-02 1.65844754e+02] [-3.12673404e-01 9.49364495e-01 -3.06985106e-02 -6.01633878e+01] [-9.21800462e-02 1.83860502e-03 9.95740658e-01 -2.04146186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67119381700002 meters 0.05663115568896598 Centerline is valid? [True, True] Translation: X:165.87, Y:-60.18, Z:-20.42 [[ 9.46698827e-01 3.09827621e-01 8.81372579e-02 1.65869346e+02] [-3.08269873e-01 9.50789999e-01 -3.11137078e-02 -6.01805738e+01] [-9.34399095e-02 2.28524940e-03 9.95622298e-01 -2.04169764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70119381700002 meters 0.05802624791357898 Centerline is valid? [True, True] Translation: X:165.89, Y:-60.20, Z:-20.42 [[ 9.47861280e-01 3.05823928e-01 8.96142825e-02 1.65892142e+02] [-3.04196320e-01 9.52084208e-01 -3.16268662e-02 -6.01977044e+01] [-9.49925957e-02 2.71754688e-03 9.95474270e-01 -2.04190248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73119381700002 meters 0.05934809330339889 Centerline is valid? [True, True] Translation: X:165.92, Y:-60.21, Z:-20.42 [[ 9.48939098e-01 3.01853698e-01 9.16456917e-02 1.65917580e+02] [-3.00133975e-01 9.53348974e-01 -3.23315692e-02 -6.02145893e+01] [-9.71297299e-02 3.17470439e-03 9.95266666e-01 -2.04201914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76119381700002 meters 0.06273909120441372 Centerline is valid? [True, True] Translation: X:165.94, Y:-60.24, Z:-20.42 [[ 9.50913950e-01 2.94890963e-01 9.38188623e-02 1.65941388e+02] [-2.93055155e-01 9.55522644e-01 -3.30931109e-02 -6.02367522e+01] [-9.94049066e-02 3.97459960e-03 9.95039128e-01 -2.04215484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79119381700002 meters 0.06382138717164591 Centerline is valid? [True, True] Translation: X:165.97, Y:-60.25, Z:-20.43 [[ 9.51556487e-01 2.92828318e-01 9.37647541e-02 1.65969911e+02] [-2.90984782e-01 9.56155871e-01 -3.30727545e-02 -6.02511232e+01] [-9.93383592e-02 4.18647758e-03 9.95044905e-01 -2.04255085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82119381700002 meters 0.06362251077621117 Centerline is valid? [True, True] Translation: X:166.00, Y:-60.26, Z:-20.43 [[ 9.52205937e-01 2.91228617e-01 9.21398142e-02 1.65999473e+02] [-2.89440344e-01 9.56643889e-01 -3.25078006e-02 -6.02623027e+01] [-9.76121920e-02 4.28514120e-03 9.95215302e-01 -2.04300781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85119381700002 meters 0.06678468042988264 Centerline is valid? [True, True] Translation: X:166.03, Y:-60.28, Z:-20.44 [[ 9.52635506e-01 2.90187686e-01 9.09763702e-02 1.66025706e+02] [-2.88439206e-01 9.56959908e-01 -3.21023148e-02 -6.02795104e+01] [-9.63764353e-02 4.34065284e-03 9.95335492e-01 -2.04365821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88119381700002 meters 0.06876392918169481 Centerline is valid? [True, True] Translation: X:166.05, Y:-60.29, Z:-20.44 [[ 9.53359844e-01 2.88115959e-01 8.99677845e-02 1.66052942e+02] [-2.86394326e-01 9.57584833e-01 -3.17738528e-02 -6.02947287e+01] [-9.53063400e-02 4.52565239e-03 9.95437703e-01 -2.04422842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91119381700003 meters 0.06967772983949087 Centerline is valid? [True, True] Translation: X:166.08, Y:-60.31, Z:-20.45 [[ 9.53575823e-01 2.87268064e-01 9.03892074e-02 1.66081953e+02] [-2.85523933e-01 9.57838906e-01 -3.19486064e-02 -6.03072207e+01] [-9.57561139e-02 4.65713669e-03 9.95393931e-01 -2.04460691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94119381700003 meters 0.06952901485931143 Centerline is valid? [True, True] Translation: X:166.11, Y:-60.32, Z:-20.45 [[ 9.53597339e-01 2.87200551e-01 9.03767604e-02 1.66112156e+02] [-2.85454188e-01 9.57859004e-01 -3.19692851e-02 -6.03178817e+01] [-9.57497900e-02 4.68740047e-03 9.95394397e-01 -2.04492305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97119381700003 meters 0.06940729749521773 Centerline is valid? [True, True] Translation: X:166.14, Y:-60.33, Z:-20.45 [[ 9.53067247e-01 2.88884507e-01 9.06011316e-02 1.66142235e+02] [-2.87134300e-01 9.57353111e-01 -3.20766931e-02 -6.03268644e+01] [-9.60037349e-02 4.55655311e-03 9.95370544e-01 -2.04529306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00119381700003 meters 0.0687918497740657 Centerline is valid? [True, True] Translation: X:166.17, Y:-60.33, Z:-20.46 [[ 9.52685200e-01 2.90277915e-01 9.01645213e-02 1.66173108e+02] [-2.88547766e-01 9.56932156e-01 -3.19536427e-02 -6.03345271e+01] [-9.55567665e-02 4.42499132e-03 9.95414147e-01 -2.04566337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03119381700003 meters 0.06477361621253498 Centerline is valid? [True, True] Translation: X:166.21, Y:-60.34, Z:-20.46 [[ 9.52089364e-01 2.92342457e-01 8.97871385e-02 1.66206592e+02] [-2.90635389e-01 9.56304450e-01 -3.18256021e-02 -6.03355272e+01] [-9.51678148e-02 4.20549734e-03 9.95452360e-01 -2.04580836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06119381700003 meters 0.06526510535114871 Centerline is valid? [True, True] Translation: X:166.23, Y:-60.34, Z:-20.46 [[ 9.51222890e-01 2.95075854e-01 9.00291813e-02 1.66234904e+02] [-2.93371232e-01 9.55465675e-01 -3.19165298e-02 -6.03442169e+01] [-9.54375897e-02 3.94776194e-03 9.95427587e-01 -2.04634003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09119381700003 meters 0.0626567020891867 Centerline is valid? [True, True] Translation: X:166.27, Y:-60.35, Z:-20.47 [[ 9.50201500e-01 2.98079515e-01 9.09159634e-02 1.66265202e+02] [-2.96353195e-01 9.54533881e-01 -3.22467652e-02 -6.03471573e+01] [-9.63944675e-02 3.69768846e-03 9.95336342e-01 -2.04652494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12119381700003 meters 0.06056569301102513 Centerline is valid? [True, True] Translation: X:166.29, Y:-60.35, Z:-20.47 [[ 9.48122308e-01 3.04806520e-01 9.03165172e-02 1.66294952e+02] [-3.03133693e-01 9.52409598e-01 -3.20300041e-02 -6.03479539e+01] [-9.57812720e-02 2.99038203e-03 9.95397913e-01 -2.04706757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15119381700003 meters 0.05835119887544207 Centerline is valid? [True, True] Translation: X:166.33, Y:-60.35, Z:-20.47 [[ 9.47288374e-01 3.07664978e-01 8.93700032e-02 1.66325230e+02] [-3.06040129e-01 9.51491007e-01 -3.16907550e-02 -6.03497019e+01] [-9.47848897e-02 2.66947648e-03 9.95494198e-01 -2.04730416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18119381700004 meters 0.057709282524051574 Centerline is valid? [True, True] Translation: X:166.35, Y:-60.35, Z:-20.48 [[ 9.46432497e-01 3.10091822e-01 9.00477155e-02 1.66353085e+02] [-3.08453701e-01 9.50703483e-01 -3.19249434e-02 -6.03549731e+01] [-9.55083406e-02 2.43925278e-03 9.95425641e-01 -2.04770248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21119381700004 meters 0.05721186770051444 Centerline is valid? [True, True] Translation: X:166.38, Y:-60.36, Z:-20.48 [[ 9.45954956e-01 3.11578991e-01 8.99319437e-02 1.66381683e+02] [-3.09952609e-01 9.50217524e-01 -3.18753379e-02 -6.03610904e+01] [-9.53865946e-02 2.27799331e-03 9.95437697e-01 -2.04804396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24119381700004 meters 0.0569530946439169 Centerline is valid? [True, True] Translation: X:166.41, Y:-60.37, Z:-20.48 [[ 9.45216655e-01 3.13043554e-01 9.25700182e-02 1.66408524e+02] [-3.11327958e-01 9.49736258e-01 -3.28015740e-02 -6.03681732e+01] [-9.81854240e-02 2.18495927e-03 9.95165739e-01 -2.04823699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.271193817 meters 0.05688089616222036 Centerline is valid? [True, True] Translation: X:166.44, Y:-60.38, Z:-20.48 [[ 9.45225215e-01 3.12761548e-01 9.34318268e-02 1.66435828e+02] [-3.11013546e-01 9.49829073e-01 -3.30954229e-02 -6.03771894e+01] [-9.90952411e-02 2.22406444e-03 9.95075468e-01 -2.04842531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.301193817 meters 0.05686411402346636 Centerline is valid? [True, True] Translation: X:166.46, Y:-60.39, Z:-20.49 [[ 9.45383535e-01 3.12183322e-01 9.37632434e-02 1.66462609e+02] [-3.10420897e-01 9.50019134e-01 -3.32040974e-02 -6.03862000e+01] [-9.94426407e-02 2.28453687e-03 9.95040674e-01 -2.04869806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.331193817 meters 0.057414724380321816 Centerline is valid? [True, True] Translation: X:166.49, Y:-60.40, Z:-20.49 [[ 9.45659060e-01 3.11171592e-01 9.43460783e-02 1.66487967e+02] [-3.09382975e-01 9.50350720e-01 -3.34018556e-02 -6.03968357e+01] [-1.00055572e-01 2.39769702e-03 9.94978961e-01 -2.04904088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36119381700001 meters 0.05796659018730142 Centerline is valid? [True, True] Translation: X:166.51, Y:-60.41, Z:-20.49 [[ 9.46411986e-01 3.09228607e-01 9.31773620e-02 1.66514937e+02] [-3.07475853e-01 9.50984287e-01 -3.29770404e-02 -6.04066446e+01] [-9.88076515e-02 2.56007744e-03 9.95103258e-01 -2.04949553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39119381700002 meters 0.057695080245389684 Centerline is valid? [True, True] Translation: X:166.54, Y:-60.41, Z:-20.50 [[ 9.46844533e-01 3.08355747e-01 9.16633107e-02 1.66541887e+02] [-3.06656337e-01 9.51267561e-01 -3.24332943e-02 -6.04148672e+01] [-9.71973267e-02 2.60015231e-03 9.95261734e-01 -2.04981012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42119381700002 meters 0.05781366996175384 Centerline is valid? [True, True] Translation: X:166.57, Y:-60.43, Z:-20.50 [[ 9.47151893e-01 3.07532581e-01 9.12524094e-02 1.66568913e+02] [-3.05845705e-01 9.51533829e-01 -3.22765841e-02 -6.04253038e+01] [-9.67558558e-02 2.66167028e-03 9.95304586e-01 -2.05020446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45119381700002 meters 0.0592732511511289 Centerline is valid? [True, True] Translation: X:166.59, Y:-60.44, Z:-20.51 [[ 9.48124045e-01 3.05369520e-01 8.83756299e-02 1.66592608e+02] [-3.03779106e-01 9.52229866e-01 -3.12495974e-02 -6.04410294e+01] [-9.36965888e-02 2.78182489e-03 9.95596912e-01 -2.05098451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48119381700002 meters 0.06011656471990142 Centerline is valid? [True, True] Translation: X:166.62, Y:-60.45, Z:-20.52 [[ 9.48658635e-01 3.04410730e-01 8.59121767e-02 1.66617554e+02] [-3.02904248e-01 9.52536773e-01 -3.03761830e-02 -6.04529096e+01] [-9.10813436e-02 2.79346501e-03 9.95839538e-01 -2.05174346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51119381700002 meters 0.06091262216868917 Centerline is valid? [True, True] Translation: X:166.64, Y:-60.46, Z:-20.52 [[ 9.49353228e-01 3.02800300e-01 8.39072467e-02 1.66644117e+02] [-3.01357986e-01 9.53049705e-01 -2.96584566e-02 -6.04649382e+01] [-8.89483662e-02 2.87023268e-03 9.96032103e-01 -2.05237081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54119381700002 meters 0.0613385565309263 Centerline is valid? [True, True] Translation: X:166.67, Y:-60.48, Z:-20.53 [[ 9.49886555e-01 3.01489154e-01 8.25822181e-02 1.66671062e+02] [-3.00087526e-01 9.53465068e-01 -2.91863131e-02 -6.04763682e+01] [-8.75386170e-02 2.94179287e-03 9.96156783e-01 -2.05281629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57119381700002 meters 0.06274302644681935 Centerline is valid? [True, True] Translation: X:166.70, Y:-60.49, Z:-20.53 [[ 9.50871109e-01 2.98990887e-01 8.03030789e-02 1.66696624e+02] [-2.97657202e-01 9.54250997e-01 -2.83764754e-02 -6.04930824e+01] [-8.51136007e-02 3.07958091e-03 9.96366494e-01 -2.05338714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60119381700002 meters 0.06408301414740127 Centerline is valid? [True, True] Translation: X:166.72, Y:-60.51, Z:-20.54 [[ 9.51293028e-01 2.97762065e-01 7.98706888e-02 1.66722086e+02] [-2.96438576e-01 9.54634852e-01 -2.82217965e-02 -6.05078281e+01] [-8.46507236e-02 3.17044495e-03 9.96405642e-01 -2.05387955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63119381700002 meters 0.06503270919791589 Centerline is valid? [True, True] Translation: X:166.75, Y:-60.52, Z:-20.54 [[ 9.51866517e-01 2.95945396e-01 7.97900738e-02 1.66748867e+02] [-2.94618324e-01 9.55199063e-01 -2.81920642e-02 -6.05212544e+01] [-8.45587153e-02 3.32746419e-03 9.96412942e-01 -2.05423544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66119381700003 meters 0.06517706528832617 Centerline is valid? [True, True] Translation: X:166.78, Y:-60.53, Z:-20.54 [[ 9.52499827e-01 2.93812432e-01 8.01145058e-02 1.66776629e+02] [-2.92467422e-01 9.55856589e-01 -2.83017405e-02 -6.05335066e+01] [-8.48933814e-02 3.52651999e-03 9.96383800e-01 -2.05438626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69119381700003 meters 0.06620396415709973 Centerline is valid? [True, True] Translation: X:166.80, Y:-60.55, Z:-20.55 [[ 9.53243609e-01 2.91498025e-01 7.97215318e-02 1.66804952e+02] [-2.90158857e-01 9.56564251e-01 -2.81544173e-02 -6.05476234e+01] [-8.44657244e-02 3.70610980e-03 9.96419493e-01 -2.05467138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72119381700003 meters 0.06847495402971028 Centerline is valid? [True, True] Translation: X:166.83, Y:-60.56, Z:-20.55 [[ 9.54670860e-01 2.85780729e-01 8.32641891e-02 1.66831857e+02] [-2.84294936e-01 9.58284781e-01 -2.94392104e-02 -6.05649289e+01] [-8.82039643e-02 4.43316892e-03 9.96092570e-01 -2.05461078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75119381700003 meters 0.07107584327154748 Centerline is valid? [True, True] Translation: X:166.86, Y:-60.58, Z:-20.55 [[ 9.55562955e-01 2.82263325e-01 8.50109097e-02 1.66858380e+02] [-2.80700329e-01 9.59324653e-01 -3.00588516e-02 -6.05808524e+01] [-9.00375729e-02 4.86053473e-03 9.95926509e-01 -2.05467588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78119381700003 meters 0.07232105003751277 Centerline is valid? [True, True] Translation: X:166.89, Y:-60.59, Z:-20.55 [[ 9.56374249e-01 2.78911521e-01 8.69290499e-02 1.66886644e+02] [-2.77263028e-01 9.60302201e-01 -3.07391763e-02 -6.05937208e+01] [-9.20516683e-02 5.29594513e-03 9.95740148e-01 -2.05475999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81119381700003 meters 0.07551168556310098 Centerline is valid? [True, True] Translation: X:166.91, Y:-60.61, Z:-20.55 [[ 9.57329942e-01 2.75435099e-01 8.74922143e-02 1.66913585e+02] [-2.73750543e-01 9.61302957e-01 -3.09397089e-02 -6.06084345e+01] [-9.26284061e-02 5.66846853e-03 9.95684612e-01 -2.05505014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84119381700003 meters 0.07537059868325768 Centerline is valid? [True, True] Translation: X:166.94, Y:-60.61, Z:-20.55 [[ 9.58740226e-01 2.70552249e-01 8.72849399e-02 1.66944020e+02] [-2.68855011e-01 9.62685767e-01 -3.08722749e-02 -6.06147900e+01] [-9.23805327e-02 6.13149829e-03 9.95704897e-01 -2.05514133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87119381700003 meters 0.07380955874330866 Centerline is valid? [True, True] Translation: X:166.98, Y:-60.62, Z:-20.55 [[ 9.59194674e-01 2.68819208e-01 8.76459465e-02 1.66975704e+02] [-2.67100815e-01 9.63169897e-01 -3.09984656e-02 -6.06206192e+01] [-9.27509201e-02 6.32325935e-03 9.95669264e-01 -2.05542474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90119381700003 meters 0.07932171397741847 Centerline is valid? [True, True] Translation: X:167.00, Y:-60.64, Z:-20.56 [[ 9.59843324e-01 2.66573970e-01 8.74020161e-02 1.67001170e+02] [-2.64855150e-01 9.63792343e-01 -3.09203798e-02 -6.06361254e+01] [-9.24799622e-02 6.52984605e-03 9.95693134e-01 -2.05608867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93119381700004 meters 0.08501181440946952 Centerline is valid? [True, True] Translation: X:167.03, Y:-60.65, Z:-20.57 [[ 9.60240667e-01 2.65232610e-01 8.71178752e-02 1.67027761e+02] [-2.63518906e-01 9.64161567e-01 -3.08262696e-02 -6.06522919e+01] [-9.21718390e-02 6.64343046e-03 9.95720953e-01 -2.05670396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96119381700004 meters 0.0762735272381149 Centerline is valid? [True, True] Translation: X:167.06, Y:-60.64, Z:-20.57 [[ 9.60583319e-01 2.63887298e-01 8.74252915e-02 1.67064909e+02] [-2.62153149e-01 9.64529371e-01 -3.09648159e-02 -6.06443957e+01] [-9.24954830e-02 6.82547021e-03 9.95689710e-01 -2.05660889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99119381700004 meters 0.07794999097058898 Centerline is valid? [True, True] Translation: X:167.09, Y:-60.65, Z:-20.57 [[ 9.60389415e-01 2.64488314e-01 8.77388383e-02 1.67093871e+02] [-2.62743747e-01 9.64364942e-01 -3.10802420e-02 -6.06542840e+01] [-9.28326205e-02 6.79630428e-03 9.95658533e-01 -2.05698945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.021193817 meters 0.0784941066667589 Centerline is valid? [True, True] Translation: X:167.12, Y:-60.66, Z:-20.57 [[ 9.60238486e-01 2.64974970e-01 8.79222089e-02 1.67124365e+02] [-2.63222499e-01 9.64231380e-01 -3.11730839e-02 -6.06616619e+01] [-9.30374397e-02 6.79049130e-03 9.95639455e-01 -2.05738768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.051193817 meters 0.07562384604203215 Centerline is valid? [True, True] Translation: X:167.16, Y:-60.66, Z:-20.58 [[ 9.59869355e-01 2.66592746e-01 8.70581915e-02 1.67157954e+02] [-2.64878862e-01 9.63786720e-01 -3.08925127e-02 -6.06634952e+01] [-9.21412487e-02 6.59290159e-03 9.95724120e-01 -2.05767901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.081193817 meters 0.07420121583600715 Centerline is valid? [True, True] Translation: X:167.19, Y:-60.66, Z:-20.58 [[ 9.58797039e-01 2.71337376e-01 8.41680865e-02 1.67188864e+02] [-2.69750606e-01 9.62465808e-01 -2.99028382e-02 -6.06625572e+01] [-8.91226630e-02 5.96636041e-03 9.96002788e-01 -2.05840079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11119381700001 meters 0.07420121583600715 Centerline is valid? [True, True] Translation: X:167.22, Y:-60.67, Z:-20.59 [[ 9.58705382e-01 2.71659917e-01 8.41717270e-02 1.67219297e+02] [-2.70075276e-01 9.62375071e-01 -2.98925947e-02 -6.06736238e+01] [-8.91253916e-02 5.92548899e-03 9.96002788e-01 -2.05877296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14119381700002 meters 0.07163737032265581 Centerline is valid? [True, True] Translation: X:167.25, Y:-60.68, Z:-20.59 [[ 9.57787700e-01 2.75143679e-01 8.32987271e-02 1.67251129e+02] [-2.73601917e-01 9.61386952e-01 -2.96162065e-02 -6.06760450e+01] [-8.82310213e-02 5.57534686e-03 9.96084435e-01 -2.05923813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17119381700002 meters 0.0711204908429498 Centerline is valid? [True, True] Translation: X:167.28, Y:-60.68, Z:-20.60 [[ 9.57083354e-01 2.77675900e-01 8.29912493e-02 1.67280910e+02] [-2.76152217e-01 9.60659902e-01 -2.95382065e-02 -6.06804097e+01] [-8.79284135e-02 5.35230828e-03 9.96112417e-01 -2.05970118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20119381700002 meters 0.06902100041630925 Centerline is valid? [True, True] Translation: X:167.31, Y:-60.68, Z:-20.60 [[ 9.56222655e-01 2.80726694e-01 8.26483968e-02 1.67312204e+02] [-2.79226872e-01 9.59774456e-01 -2.94167793e-02 -6.06823378e+01] [-8.75818954e-02 5.05133752e-03 9.96144515e-01 -2.05997424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23119381700002 meters 0.06990838083459473 Centerline is valid? [True, True] Translation: X:167.34, Y:-60.69, Z:-20.60 [[ 9.55270240e-01 2.83767107e-01 8.32766336e-02 1.67340589e+02] [-2.82255948e-01 9.58881178e-01 -2.96389287e-02 -6.06889453e+01] [-8.82629495e-02 4.80786130e-03 9.96085607e-01 -2.06047037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26119381700002 meters 0.06505945483954823 Centerline is valid? [True, True] Translation: X:167.38, Y:-60.68, Z:-20.61 [[ 9.53179672e-01 2.90532266e-01 8.39018212e-02 1.67375097e+02] [-2.89024754e-01 9.56855939e-01 -2.98563702e-02 -6.06821737e+01] [-8.89561948e-02 4.20878186e-03 9.96026647e-01 -2.06055648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29119381700002 meters 0.06337973796538966 Centerline is valid? [True, True] Translation: X:167.41, Y:-60.68, Z:-20.61 [[ 9.52239746e-01 2.93378677e-01 8.46665101e-02 1.67406367e+02] [-2.91854678e-01 9.55988032e-01 -3.01285603e-02 -6.06846621e+01] [-8.97792475e-02 3.97929556e-03 9.95953740e-01 -2.06076721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32119381700002 meters 0.06247504757869437 Centerline is valid? [True, True] Translation: X:167.44, Y:-60.69, Z:-20.61 [[ 9.51269101e-01 2.96367127e-01 8.51682066e-02 1.67435500e+02] [-2.94836976e-01 9.55066856e-01 -3.03060806e-02 -6.06880477e+01] [-9.03230573e-02 3.71850150e-03 9.95905577e-01 -2.06106198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35119381700002 meters 0.0620477432490806 Centerline is valid? [True, True] Translation: X:167.46, Y:-60.69, Z:-20.61 [[ 9.50644408e-01 2.98149435e-01 8.59192826e-02 1.67463524e+02] [-2.96599842e-01 9.54512509e-01 -3.05680383e-02 -6.06916727e+01] [-9.11248734e-02 3.57568905e-03 9.95833054e-01 -2.06134411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38119381700002 meters 0.06054178937890874 Centerline is valid? [True, True] Translation: X:167.49, Y:-60.69, Z:-20.62 [[ 9.49990774e-01 3.00190711e-01 8.60410774e-02 1.67494353e+02] [-2.98646028e-01 9.53873236e-01 -3.06006616e-02 -6.06902084e+01] [-9.12583153e-02 3.37452017e-03 9.95821536e-01 -2.06152741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41119381700003 meters 0.060842819062776735 Centerline is valid? [True, True] Translation: X:167.52, Y:-60.70, Z:-20.62 [[ 9.50215589e-01 2.99524587e-01 8.58799004e-02 1.67520778e+02] [-2.97983693e-01 9.54082436e-01 -3.05356298e-02 -6.06971566e+01] [-9.10826765e-02 3.42462157e-03 9.95837446e-01 -2.06189787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44119381700003 meters 0.06148684293180693 Centerline is valid? [True, True] Translation: X:167.55, Y:-60.71, Z:-20.62 [[ 9.50370708e-01 2.99142252e-01 8.54952108e-02 1.67547365e+02] [-2.97614544e-01 9.54202341e-01 -3.03887442e-02 -6.07052246e+01] [-9.06702876e-02 3.43595414e-03 9.95875039e-01 -2.06234763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47119381700003 meters 0.061295614368776674 Centerline is valid? [True, True] Translation: X:167.58, Y:-60.71, Z:-20.63 [[ 9.50779070e-01 2.97874744e-01 8.53803088e-02 1.67575803e+02] [-2.96346528e-01 9.54598374e-01 -3.03427069e-02 -6.07112543e+01] [-9.05422300e-02 3.54705257e-03 9.95886300e-01 -2.06255102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50119381700003 meters 0.06297801771050081 Centerline is valid? [True, True] Translation: X:167.60, Y:-60.72, Z:-20.63 [[ 9.51709181e-01 2.95395250e-01 8.36138819e-02 1.67602565e+02] [-2.93923133e-01 9.55368074e-01 -2.96822339e-02 -6.07189023e+01] [-8.86500242e-02 3.67280039e-03 9.96056065e-01 -2.06312501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53119381700003 meters 0.06170059428547342 Centerline is valid? [True, True] Translation: X:167.63, Y:-60.72, Z:-20.63 [[ 9.51996947e-01 2.94522786e-01 8.34154706e-02 1.67631552e+02] [-2.93055007e-01 9.55637148e-01 -2.96041394e-02 -6.07234495e+01] [-8.84340160e-02 3.73772904e-03 9.96075024e-01 -2.06321700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56119381700003 meters 0.06399164017868376 Centerline is valid? [True, True] Translation: X:167.66, Y:-60.73, Z:-20.63 [[ 9.52295391e-01 2.92798287e-01 8.60386603e-02 1.67657510e+02] [-2.91230245e-01 9.56165809e-01 -3.05268698e-02 -6.07332174e+01] [-9.12054405e-02 4.01353728e-03 9.95824010e-01 -2.06339599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59119381700003 meters 0.06399164017868376 Centerline is valid? [True, True] Translation: X:167.68, Y:-60.74, Z:-20.64 [[ 9.52330885e-01 2.92681900e-01 8.60418003e-02 1.67683328e+02] [-2.91114183e-01 9.56201434e-01 -3.05180167e-02 -6.07422145e+01] [-9.12053640e-02 4.01526142e-03 9.95824010e-01 -2.06371032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62119381700003 meters 0.06340656170515628 Centerline is valid? [True, True] Translation: X:167.71, Y:-60.75, Z:-20.64 [[ 9.52166166e-01 2.92469881e-01 8.85492004e-02 1.67711261e+02] [-2.90809147e-01 9.56265749e-01 -3.13983518e-02 -6.07489846e+01] [-9.38596397e-02 4.14553082e-03 9.95576809e-01 -2.06377446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65119381700003 meters 0.0654357953194463 Centerline is valid? [True, True] Translation: X:167.74, Y:-60.76, Z:-20.64 [[ 9.52214230e-01 2.91709834e-01 9.05175800e-02 1.67736556e+02] [-2.89974069e-01 9.56497272e-01 -3.20625589e-02 -6.07616856e+01] [-9.59327821e-02 4.28267378e-03 9.95378601e-01 -2.06398597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68119381700004 meters 0.06258610686986056 Centerline is valid? [True, True] Translation: X:167.77, Y:-60.77, Z:-20.64 [[ 9.52165977e-01 2.91805622e-01 9.07162084e-02 1.67766138e+02] [-2.90063684e-01 9.56468101e-01 -3.21221326e-02 -6.07655800e+01] [-9.61405785e-02 4.27212422e-03 9.95358598e-01 -2.06414880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71119381700004 meters 0.06345700373098931 Centerline is valid? [True, True] Translation: X:167.79, Y:-60.78, Z:-20.65 [[ 9.52255899e-01 2.91493996e-01 9.07741857e-02 1.67791858e+02] [-2.89749207e-01 9.56563000e-01 -3.21344682e-02 -6.07760904e+01] [-9.61982319e-02 4.29848861e-03 9.95352914e-01 -2.06453934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74119381700004 meters 0.06276626816508216 Centerline is valid? [True, True] Translation: X:167.82, Y:-60.78, Z:-20.65 [[ 9.51783638e-01 2.93347213e-01 8.97514328e-02 1.67820179e+02] [-2.91650853e-01 9.55997373e-01 -3.17616667e-02 -6.07813729e+01] [-9.51193303e-02 4.05415270e-03 9.95457622e-01 -2.06502806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77119381700004 meters 0.06226552293064099 Centerline is valid? [True, True] Translation: X:167.85, Y:-60.79, Z:-20.66 [[ 9.51528055e-01 2.94641502e-01 8.82085370e-02 1.67847461e+02] [-2.93008985e-01 9.55600093e-01 -3.12121349e-02 -6.07881523e+01] [-9.34884764e-02 3.85332810e-03 9.95612905e-01 -2.06554570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.801193817 meters 0.06190134197037393 Centerline is valid? [True, True] Translation: X:167.88, Y:-60.80, Z:-20.66 [[ 9.51217125e-01 2.95945082e-01 8.71922544e-02 1.67875198e+02] [-2.94358110e-01 9.55197963e-01 -3.08245753e-02 -6.07950546e+01] [-9.24082453e-02 3.65511668e-03 9.95714495e-01 -2.06599452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.831193817 meters 0.061756699485934444 Centerline is valid? [True, True] Translation: X:167.90, Y:-60.80, Z:-20.66 [[ 9.51031542e-01 2.96834623e-01 8.61870780e-02 1.67902067e+02] [-2.95290671e-01 9.54922499e-01 -3.04374785e-02 -6.08021388e+01] [-9.13368773e-02 3.49676205e-03 9.95813912e-01 -2.06647566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86119381700001 meters 0.060914262952575716 Centerline is valid? [True, True] Translation: X:167.93, Y:-60.81, Z:-20.67 [[ 9.51077145e-01 2.96636667e-01 8.63652294e-02 1.67930249e+02] [-2.95085886e-01 9.54983929e-01 -3.04961530e-02 -6.08070629e+01] [-9.15236832e-02 3.51903389e-03 9.95796682e-01 -2.06668500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89119381700002 meters 0.06240792941323095 Centerline is valid? [True, True] Translation: X:167.96, Y:-60.82, Z:-20.67 [[ 9.51234759e-01 2.96322388e-01 8.57057534e-02 1.67955004e+02] [-2.94797416e-01 9.55081615e-01 -3.02256929e-02 -6.08182573e+01] [-9.08125389e-02 3.48589506e-03 9.95861904e-01 -2.06724445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92119381700002 meters 0.06301294927680236 Centerline is valid? [True, True] Translation: X:167.98, Y:-60.83, Z:-20.68 [[ 9.51654779e-01 2.95300040e-01 8.45639833e-02 1.67981567e+02] [-2.93811972e-01 9.55398044e-01 -2.98178213e-02 -6.08274519e+01] [-8.95974681e-02 3.53036144e-03 9.95971802e-01 -2.06774457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95119381700002 meters 0.06337579157572552 Centerline is valid? [True, True] Translation: X:168.01, Y:-60.84, Z:-20.68 [[ 9.51956011e-01 2.94377328e-01 8.43904126e-02 1.68008508e+02] [-2.92894101e-01 9.55682551e-01 -2.97305680e-02 -6.08354812e+01] [-8.94024499e-02 3.58473885e-03 9.95989132e-01 -2.06816965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98119381700002 meters 0.06528440845376932 Centerline is valid? [True, True] Translation: X:168.04, Y:-60.84, Z:-20.69 [[ 9.52857180e-01 2.91825022e-01 8.30743681e-02 1.68035702e+02] [-2.90380808e-01 9.56464430e-01 -2.92366380e-02 -6.08434697e+01] [-8.79896607e-02 3.73513832e-03 9.96114385e-01 -2.06873139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01119381700002 meters 0.06652770132383284 Centerline is valid? [True, True] Translation: X:168.06, Y:-60.85, Z:-20.69 [[ 9.53269264e-01 2.90344331e-01 8.35337008e-02 1.68061711e+02] [-2.88879066e-01 9.56914347e-01 -2.93907877e-02 -6.08526472e+01] [-8.84680453e-02 3.88619713e-03 9.96071434e-01 -2.06919651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04119381700002 meters 0.0656406290721824 Centerline is valid? [True, True] Translation: X:168.09, Y:-60.86, Z:-20.69 [[ 9.53822698e-01 2.88734745e-01 8.27919537e-02 1.68089842e+02] [-2.87290168e-01 9.57400814e-01 -2.91211444e-02 -6.08581743e+01] [-8.76733700e-02 3.99109423e-03 9.96141281e-01 -2.06939701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07119381700002 meters 0.06863563784813365 Centerline is valid? [True, True] Translation: X:168.11, Y:-60.87, Z:-20.70 [[ 9.54311181e-01 2.87165055e-01 8.26220317e-02 1.68114196e+02] [-2.85721238e-01 9.57872258e-01 -2.90536054e-02 -6.08708634e+01] [-8.74845323e-02 4.11931134e-03 9.96157361e-01 -2.06998333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10119381700002 meters 0.06644909085541728 Centerline is valid? [True, True] Translation: X:168.15, Y:-60.87, Z:-20.70 [[ 9.55474075e-01 2.82707384e-01 8.45330003e-02 1.68145059e+02] [-2.81179994e-01 9.59195091e-01 -2.97083937e-02 -6.08741365e+01] [-8.94824211e-02 4.61661142e-03 9.95977702e-01 -2.06965062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13119381700002 meters 0.06817205956623179 Centerline is valid? [True, True] Translation: X:168.17, Y:-60.88, Z:-20.70 [[ 9.55931722e-01 2.80694038e-01 8.60546323e-02 1.68170162e+02] [-2.79103095e-01 9.59784842e-01 -3.02410280e-02 -6.08849074e+01] [-9.10824079e-02 4.89024379e-03 9.95831351e-01 -2.06992017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16119381700003 meters 0.06829800024442519 Centerline is valid? [True, True] Translation: X:168.20, Y:-60.89, Z:-20.70 [[ 9.56417593e-01 2.78658081e-01 8.72643162e-02 1.68197422e+02] [-2.77014328e-01 9.60376578e-01 -3.06576266e-02 -6.08931996e+01] [-9.23496007e-02 5.14802747e-03 9.95713337e-01 -2.07010043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19119381700003 meters 0.07496319949919317 Centerline is valid? [True, True] Translation: X:168.22, Y:-60.91, Z:-20.71 [[ 9.56734705e-01 2.77081486e-01 8.87950103e-02 1.68219762e+02] [-2.75375665e-01 9.60831456e-01 -3.11633673e-02 -6.09123781e+01] [-9.39518312e-02 5.36308995e-03 9.95562299e-01 -2.07061387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22119381700003 meters 0.07129287711750491 Centerline is valid? [True, True] Translation: X:168.25, Y:-60.91, Z:-20.71 [[ 9.57178118e-01 2.75293307e-01 8.95748069e-02 1.68249457e+02] [-2.73550737e-01 9.61344116e-01 -3.14242631e-02 -6.09145497e+01] [-9.47631029e-02 5.57536257e-03 9.95484239e-01 -2.07057379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25119381700003 meters 0.07365693525184927 Centerline is valid? [True, True] Translation: X:168.28, Y:-60.93, Z:-20.71 [[ 9.58009392e-01 2.72965670e-01 8.77937781e-02 1.68276330e+02] [-2.71285194e-01 9.62007136e-01 -3.07670861e-02 -6.09260169e+01] [-9.28565993e-02 5.65800532e-03 9.95663416e-01 -2.07119974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28119381700003 meters 0.07498919864709266 Centerline is valid? [True, True] Translation: X:168.30, Y:-60.94, Z:-20.72 [[ 9.58424764e-01 2.71795332e-01 8.68865331e-02 1.68303027e+02] [-2.70144818e-01 9.62338137e-01 -3.04481062e-02 -6.09367466e+01] [-9.18898776e-02 5.71027229e-03 9.95752802e-01 -2.07168965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31119381700003 meters 0.07189249235140083 Centerline is valid? [True, True] Translation: X:168.33, Y:-60.94, Z:-20.72 [[ 9.58911356e-01 2.70468623e-01 8.56489095e-02 1.68332513e+02] [-2.68860146e-01 9.62711629e-01 -3.00090356e-02 -6.09402691e+01] [-9.05717036e-02 5.74842674e-03 9.95873346e-01 -2.07187387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34119381700003 meters 0.07671253933889721 Centerline is valid? [True, True] Translation: X:168.36, Y:-60.96, Z:-20.72 [[ 9.59353992e-01 2.68845072e-01 8.58035305e-02 1.68355715e+02] [-2.67224591e-01 9.63165305e-01 -3.00601552e-02 -6.09556991e+01] [-9.07245082e-02 5.90951649e-03 9.95858495e-01 -2.07243476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37119381700003 meters 0.07939647417465774 Centerline is valid? [True, True] Translation: X:168.38, Y:-60.97, Z:-20.73 [[ 9.59845302e-01 2.66900074e-01 8.63790886e-02 1.68382457e+02] [-2.65251767e-01 9.63704809e-01 -3.02413799e-02 -6.09662094e+01] [-9.13153696e-02 6.11484053e-03 9.95803250e-01 -2.07278655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40119381700003 meters 0.07299416613061332 Centerline is valid? [True, True] Translation: X:168.41, Y:-60.96, Z:-20.73 [[ 9.60119637e-01 2.65782074e-01 8.67765653e-02 1.68414009e+02] [-2.64114442e-01 9.64012908e-01 -3.03755735e-02 -6.09635652e+01] [-9.17270120e-02 6.24524044e-03 9.95764607e-01 -2.07271645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43119381700004 meters 0.07861410611281376 Centerline is valid? [True, True] Translation: X:168.44, Y:-60.98, Z:-20.73 [[ 9.60310715e-01 2.64932354e-01 8.72592649e-02 1.68437305e+02] [-2.63243302e-01 9.64246063e-01 -3.05367663e-02 -6.09796848e+01] [-9.22295800e-02 6.35436683e-03 9.95717493e-01 -2.07324829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46119381700004 meters 0.07373645886126681 Centerline is valid? [True, True] Translation: X:168.47, Y:-60.98, Z:-20.73 [[ 9.60400244e-01 2.64469475e-01 8.76770625e-02 1.68468085e+02] [-2.62763231e-01 9.64372691e-01 -3.06724232e-02 -6.09798234e+01] [-9.26652844e-02 6.41949447e-03 9.95676622e-01 -2.07332316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49119381700004 meters 0.08048007184359664 Centerline is valid? [True, True] Translation: X:168.49, Y:-61.00, Z:-20.74 [[ 9.60441399e-01 2.64103482e-01 8.83270612e-02 1.68491964e+02] [-2.62370973e-01 9.64472478e-01 -3.08919489e-02 -6.09954218e+01] [-9.33476908e-02 6.49544967e-03 9.95612383e-01 -2.07391706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52119381700004 meters 0.07382979439340831 Centerline is valid? [True, True] Translation: X:168.52, Y:-60.99, Z:-20.74 [[ 9.60394565e-01 2.64226593e-01 8.84679965e-02 1.68523811e+02] [-2.62490056e-01 9.64438837e-01 -3.09305600e-02 -6.09920757e+01] [-9.34946482e-02 6.48357243e-03 9.95598671e-01 -2.07390405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.551193817 meters 0.07339073682170276 Centerline is valid? [True, True] Translation: X:168.55, Y:-61.00, Z:-20.74 [[ 9.60138019e-01 2.64988425e-01 8.89725710e-02 1.68551889e+02] [-2.63235992e-01 9.64230099e-01 -3.10987007e-02 -6.09986518e+01] [-9.40308266e-02 6.43826200e-03 9.95548468e-01 -2.07419637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.581193817 meters 0.07508854091241367 Centerline is valid? [True, True] Translation: X:168.58, Y:-61.01, Z:-20.75 [[ 9.59440851e-01 2.67539517e-01 8.88586485e-02 1.68579057e+02] [-2.65803248e-01 9.63527121e-01 -3.10502843e-02 -6.10062054e+01] [-9.39248959e-02 6.17199377e-03 9.95560154e-01 -2.07473759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61119381700001 meters 0.07464270499012253 Centerline is valid? [True, True] Translation: X:168.61, Y:-61.01, Z:-20.75 [[ 9.59076541e-01 2.68802856e-01 8.89787234e-02 1.68606828e+02] [-2.67067820e-01 9.63176209e-01 -3.10864821e-02 -6.10125421e+01] [-9.40583247e-02 6.05096209e-03 9.95548300e-01 -2.07503422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64119381700002 meters 0.07275938603614295 Centerline is valid? [True, True] Translation: X:168.64, Y:-61.02, Z:-20.75 [[ 9.59069034e-01 2.69061919e-01 8.82738460e-02 1.68635446e+02] [-2.67355731e-01 9.63104351e-01 -3.08370195e-02 -6.10164528e+01] [-9.33139928e-02 5.97431181e-03 9.95618806e-01 -2.07527851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67119381700002 meters 0.07157842214253668 Centerline is valid? [True, True] Translation: X:168.66, Y:-61.02, Z:-20.76 [[ 9.58794698e-01 2.69828357e-01 8.89122282e-02 1.68664299e+02] [-2.68103290e-01 9.62890268e-01 -3.10315722e-02 -6.10218716e+01] [-9.39859173e-02 5.91524598e-03 9.95555954e-01 -2.07559204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70119381700002 meters 0.07305627779588442 Centerline is valid? [True, True] Translation: X:168.69, Y:-61.03, Z:-20.76 [[ 9.58877003e-01 2.69305922e-01 8.96058828e-02 1.68689684e+02] [-2.67554325e-01 9.63036087e-01 -3.12438398e-02 -6.10329555e+01] [-9.47078498e-02 5.98455795e-03 9.95487121e-01 -2.07597937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73119381700002 meters 0.07269469838014428 Centerline is valid? [True, True] Translation: X:168.72, Y:-61.04, Z:-20.76 [[ 9.59216041e-01 2.67969329e-01 8.99834720e-02 1.68716568e+02] [-2.66198014e-01 9.63407924e-01 -3.13654269e-02 -6.10415995e+01] [-9.50957624e-02 6.13279913e-03 9.95449238e-01 -2.07624343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76119381700002 meters 0.07332260394886242 Centerline is valid? [True, True] Translation: X:168.74, Y:-61.05, Z:-20.77 [[ 9.59795647e-01 2.65858913e-01 9.00630564e-02 1.68743435e+02] [-2.64076266e-01 9.63991121e-01 -3.13822404e-02 -6.10520504e+01] [-9.51632350e-02 6.33702210e-03 9.95441511e-01 -2.07656795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79119381700002 meters 0.07805418822428221 Centerline is valid? [True, True] Translation: X:168.77, Y:-61.07, Z:-20.77 [[ 9.60350665e-01 2.63908385e-01 8.98830594e-02 1.68767337e+02] [-2.62124974e-01 9.64525773e-01 -3.13134265e-02 -6.10687643e+01] [-9.49584032e-02 6.51127534e-03 9.95459946e-01 -2.07717943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82119381700002 meters 0.07608928946205658 Centerline is valid? [True, True] Translation: X:168.80, Y:-61.07, Z:-20.78 [[ 9.60896180e-01 2.62380882e-01 8.85144261e-02 1.68796471e+02] [-2.60645680e-01 9.64942133e-01 -3.08303325e-02 -6.10748457e+01] [-9.35005889e-02 6.55384599e-03 9.95597653e-01 -2.07754760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85119381700002 meters 0.07781611585983965 Centerline is valid? [True, True] Translation: X:168.82, Y:-61.08, Z:-20.78 [[ 9.61452526e-01 2.61026322e-01 8.64540337e-02 1.68822927e+02] [-2.59366049e-01 9.65309628e-01 -3.01093967e-02 -6.10846182e+01] [-9.13142561e-02 6.52551447e-03 9.95800745e-01 -2.07817102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88119381700002 meters 0.07874529502873157 Centerline is valid? [True, True] Translation: X:168.85, Y:-61.09, Z:-20.78 [[ 9.61652302e-01 2.60290030e-01 8.64520173e-02 1.68849354e+02] [-2.58627323e-01 9.65507982e-01 -3.01038765e-02 -6.10933952e+01] [-9.13058517e-02 6.59060833e-03 9.95801087e-01 -2.07846649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91119381700003 meters 0.07953193011262996 Centerline is valid? [True, True] Translation: X:168.88, Y:-61.10, Z:-20.79 [[ 9.61523267e-01 2.60620008e-01 8.68919990e-02 1.68876002e+02] [-2.58942505e-01 9.65419011e-01 -3.02475119e-02 -6.11017788e+01] [-9.17702946e-02 6.58365456e-03 9.95758439e-01 -2.07877823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94119381700003 meters 0.0763247835894899 Centerline is valid? [True, True] Translation: X:168.91, Y:-61.10, Z:-20.79 [[ 9.61217176e-01 2.61450238e-01 8.77799143e-02 1.68905486e+02] [-2.59742536e-01 9.65194652e-01 -3.05466764e-02 -6.11042896e+01] [-9.27111396e-02 6.56181245e-03 9.95671425e-01 -2.07885190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97119381700003 meters 0.07138780650994764 Centerline is valid? [True, True] Translation: X:168.94, Y:-61.10, Z:-20.79 [[ 9.59871269e-01 2.65851067e-01 8.92768596e-02 1.68939114e+02] [-2.64104271e-01 9.63993963e-01 -3.10575691e-02 -6.11016842e+01] [-9.43190416e-02 6.23286832e-03 9.95522511e-01 -2.07894989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00119381700003 meters 0.07600283016483121 Centerline is valid? [True, True] Translation: X:168.96, Y:-61.12, Z:-20.80 [[ 9.58909813e-01 2.69004774e-01 9.01576521e-02 1.68964406e+02] [-2.67236841e-01 9.63120254e-01 -3.13663539e-02 -6.11157352e+01] [-9.52703596e-02 5.98405847e-03 9.95433448e-01 -2.07958753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03119381700003 meters 0.07600283016483121 Centerline is valid? [True, True] Translation: X:168.99, Y:-61.12, Z:-20.80 [[ 9.58990001e-01 2.68718870e-01 9.01573424e-02 1.68990291e+02] [-2.66949599e-01 9.63199879e-01 -3.13672466e-02 -6.11244846e+01] [-9.52685124e-02 6.01340951e-03 9.95433448e-01 -2.07990163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06119381700003 meters 0.07416908030802344 Centerline is valid? [True, True] Translation: X:169.02, Y:-61.13, Z:-20.80 [[ 9.57998746e-01 2.71990482e-01 9.08822381e-02 1.69020439e+02] [-2.70210632e-01 9.62283062e-01 -3.15835868e-02 -6.11279971e+01] [-9.60448734e-02 5.69968951e-03 9.95360686e-01 -2.08012566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09119381700003 meters 0.07184744232689826 Centerline is valid? [True, True] Translation: X:169.05, Y:-61.13, Z:-20.80 [[ 9.56898919e-01 2.75732328e-01 9.11928835e-02 1.69051115e+02] [-2.73957529e-01 9.61219633e-01 -3.16873742e-02 -6.11308628e+01] [-9.63936235e-02 5.33863706e-03 9.95328975e-01 -2.08048295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12119381700003 meters 0.06435343996469335 Centerline is valid? [True, True] Translation: X:169.09, Y:-61.12, Z:-20.81 [[ 9.55146540e-01 2.81587754e-01 9.16701943e-02 1.69087106e+02] [-2.79821243e-01 9.59523617e-01 -3.18512311e-02 -6.11205889e+01] [-9.69286330e-02 4.77132543e-03 9.95279898e-01 -2.08053252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15119381700003 meters 0.06304452181875264 Centerline is valid? [True, True] Translation: X:169.12, Y:-61.13, Z:-20.81 [[ 9.54086711e-01 2.84775582e-01 9.28515807e-02 1.69117284e+02] [-2.82978217e-01 9.58583631e-01 -3.22606787e-02 -6.11252505e+01] [-9.81930590e-02 4.50451004e-03 9.95157190e-01 -2.08077042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18119381700004 meters 0.06143988993102579 Centerline is valid? [True, True] Translation: X:169.15, Y:-61.13, Z:-20.81 [[ 9.53366044e-01 2.87114224e-01 9.30516454e-02 1.69146552e+02] [-2.85320272e-01 9.57886827e-01 -3.23290821e-02 -6.11288613e+01] [-9.84150847e-02 4.27192828e-03 9.95136283e-01 -2.08100418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21119381700004 meters 0.05942308298777783 Centerline is valid? [True, True] Translation: X:169.18, Y:-61.13, Z:-20.81 [[ 9.51713195e-01 2.92140741e-01 9.43174517e-02 1.69176531e+02] [-2.90322993e-01 9.56367809e-01 -3.27593358e-02 -6.11319161e+01] [-9.97725112e-02 3.79496723e-03 9.95003037e-01 -2.08133853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24119381700004 meters 0.06003180922629089 Centerline is valid? [True, True] Translation: X:169.20, Y:-61.14, Z:-20.82 [[ 9.50703735e-01 2.95691495e-01 9.34288387e-02 1.69202202e+02] [-2.93925328e-01 9.55277483e-01 -3.24473687e-02 -6.11419374e+01] [-9.88448769e-02 3.38673255e-03 9.95097091e-01 -2.08195245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27119381700004 meters 0.05762387467165462 Centerline is valid? [True, True] Translation: X:169.23, Y:-61.14, Z:-20.82 [[ 9.49306790e-01 3.00370544e-01 9.27046682e-02 1.69232600e+02] [-2.98655088e-01 9.53818286e-01 -3.21840858e-02 -6.11445265e+01] [-9.80905591e-02 2.86585031e-03 9.95173366e-01 -2.08233292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.301193817 meters 0.055762323030751425 Centerline is valid? [True, True] Translation: X:169.26, Y:-61.15, Z:-20.83 [[ 9.47461550e-01 3.06346430e-01 9.20243241e-02 1.69262962e+02] [-3.04684569e-01 9.51917488e-01 -3.19438349e-02 -6.11465923e+01] [-9.73854433e-02 2.22716381e-03 9.95244249e-01 -2.08268699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.331193817 meters 0.054337202118693334 Centerline is valid? [True, True] Translation: X:169.29, Y:-61.15, Z:-20.83 [[ 9.45397467e-01 3.12947464e-01 9.10357851e-02 1.69292850e+02] [-3.11351979e-01 9.49769209e-01 -3.15973897e-02 -6.11481924e+01] [-9.63513086e-02 1.52792028e-03 9.95346217e-01 -2.08298978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36119381700001 meters 0.05348377981028601 Centerline is valid? [True, True] Translation: X:169.32, Y:-61.14, Z:-20.84 [[ 9.40532776e-01 3.27722297e-01 8.94214328e-02 1.69323269e+02] [-3.26250042e-01 9.44774098e-01 -3.10292549e-02 -6.11446414e+01] [-9.46520322e-02 1.02850860e-05 9.95510418e-01 -2.08352484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39119381700002 meters 0.054148508186595494 Centerline is valid? [True, True] Translation: X:169.35, Y:-61.15, Z:-20.84 [[ 9.38431994e-01 3.34034226e-01 8.81279059e-02 1.69351483e+02] [-3.32632620e-01 9.42560740e-01 -3.05743598e-02 -6.11496929e+01] [-9.32787868e-02 -6.22258823e-04 9.95639835e-01 -2.08408177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42119381700002 meters 0.05511536647796908 Centerline is valid? [True, True] Translation: X:169.38, Y:-61.16, Z:-20.85 [[ 9.36598938e-01 3.39530289e-01 8.66118419e-02 1.69377842e+02] [-3.38202886e-01 9.40594383e-01 -3.00169019e-02 -6.11556754e+01] [-9.16582594e-02 -1.17857641e-03 9.95789824e-01 -2.08457789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45119381700002 meters 0.05591834528995627 Centerline is valid? [True, True] Translation: X:169.41, Y:-61.16, Z:-20.85 [[ 9.35327055e-01 3.43289567e-01 8.55311276e-02 1.69405195e+02] [-3.42011461e-01 9.39228364e-01 -2.96351320e-02 -6.11649060e+01] [-9.05066927e-02 -1.53408517e-03 9.95894666e-01 -2.08495313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48119381700002 meters 0.05745558060038655 Centerline is valid? [True, True] Translation: X:169.43, Y:-61.18, Z:-20.85 [[ 9.33520792e-01 3.48604853e-01 8.37471630e-02 1.69430768e+02] [-3.47403857e-01 9.37267575e-01 -2.89836879e-02 -6.11792876e+01] [-8.85973546e-02 -2.03721217e-03 9.96065439e-01 -2.08546643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51119381700002 meters 0.057304904960318453 Centerline is valid? [True, True] Translation: X:169.46, Y:-61.20, Z:-20.86 [[ 9.33204388e-01 3.49537492e-01 8.33853224e-02 1.69455477e+02] [-3.48350507e-01 9.36919989e-01 -2.88592934e-02 -6.11954368e+01] [-8.82127804e-02 -2.11570009e-03 9.96099407e-01 -2.08570009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54119381700002 meters 0.05887135607280456 Centerline is valid? [True, True] Translation: X:169.48, Y:-61.21, Z:-20.86 [[ 9.33125800e-01 3.49742931e-01 8.34033793e-02 1.69479739e+02] [-3.48559305e-01 9.36843200e-01 -2.88310455e-02 -6.12076009e+01] [-8.82193431e-02 -2.16803150e-03 9.96098714e-01 -2.08643902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57119381700002 meters 0.05781373932834386 Centerline is valid? [True, True] Translation: X:169.50, Y:-61.23, Z:-20.87 [[ 9.33607248e-01 3.48535877e-01 8.30677432e-02 1.69503519e+02] [-3.47357430e-01 9.37293198e-01 -2.87102098e-02 -6.12273470e+01] [-8.78653689e-02 -2.05013789e-03 9.96130249e-01 -2.08659300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60119381700002 meters 0.05680913906692053 Centerline is valid? [True, True] Translation: X:169.52, Y:-61.26, Z:-20.87 [[ 9.34977245e-01 3.44639248e-01 8.39126951e-02 1.69523577e+02] [-3.43424037e-01 9.38733607e-01 -2.89680192e-02 -6.12553952e+01] [-8.87551833e-02 -1.73319772e-03 9.96051963e-01 -2.08689652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63119381700002 meters 0.056473717629891146 Centerline is valid? [True, True] Translation: X:169.55, Y:-61.27, Z:-20.87 [[ 9.35831312e-01 3.42413982e-01 8.35010227e-02 1.69546860e+02] [-3.41202023e-01 9.39547958e-01 -2.88238503e-02 -6.12748598e+01] [-8.83229047e-02 -1.51645620e-03 9.96090741e-01 -2.08721646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66119381700003 meters 0.05597793861830409 Centerline is valid? [True, True] Translation: X:169.57, Y:-61.29, Z:-20.88 [[ 9.36573143e-01 3.40156549e-01 8.44053941e-02 1.69570870e+02] [-3.38911893e-01 9.40367856e-01 -2.91036823e-02 -6.12945768e+01] [-8.92719276e-02 -1.34826473e-03 9.96006378e-01 -2.08757573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69119381700003 meters 0.055736313314566285 Centerline is valid? [True, True] Translation: X:169.59, Y:-61.32, Z:-20.88 [[ 9.38206715e-01 3.36128142e-01 8.23773757e-02 1.69589810e+02] [-3.34927899e-01 9.41815784e-01 -2.83959717e-02 -6.13229971e+01] [-8.71289979e-02 -9.49190050e-04 9.96196585e-01 -2.08816599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72119381700003 meters 0.055516517577278116 Centerline is valid? [True, True] Translation: X:169.61, Y:-61.34, Z:-20.89 [[ 9.39237871e-01 3.33473629e-01 8.14098365e-02 1.69612571e+02] [-3.32294129e-01 9.42759150e-01 -2.80320529e-02 -6.13424740e+01] [-8.60978187e-02 -7.23244991e-04 9.96286426e-01 -2.08858696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75119381700003 meters 0.055279742376022505 Centerline is valid? [True, True] Translation: X:169.63, Y:-61.36, Z:-20.89 [[ 9.40063471e-01 3.30992056e-01 8.20056707e-02 1.69634831e+02] [-3.29789095e-01 9.43633388e-01 -2.81989491e-02 -6.13623405e+01] [-8.67169171e-02 -5.35773960e-04 9.96232849e-01 -2.08895469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78119381700003 meters 0.05497026400067766 Centerline is valid? [True, True] Translation: X:169.66, Y:-61.38, Z:-20.89 [[ 9.41385129e-01 3.27232883e-01 8.19309443e-02 1.69658594e+02] [-3.26018243e-01 9.44943704e-01 -2.81691693e-02 -6.13828142e+01] [-8.66380085e-02 -1.92945432e-04 9.96239840e-01 -2.08922518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81119381700003 meters 0.05490602213681029 Centerline is valid? [True, True] Translation: X:169.68, Y:-61.41, Z:-20.89 [[ 9.43577850e-01 3.20724229e-01 8.24427673e-02 1.69677679e+02] [-3.19472347e-01 9.47172543e-01 -2.83124101e-02 -6.14139843e+01] [-8.71680015e-02 3.76778616e-04 9.96193554e-01 -2.08949154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84119381700003 meters 0.05501702406726553 Centerline is valid? [True, True] Translation: X:169.70, Y:-61.44, Z:-20.90 [[ 9.44679304e-01 3.16946213e-01 8.44162988e-02 1.69700711e+02] [-3.15618910e-01 9.48443226e-01 -2.89853545e-02 -6.14351607e+01] [-8.92508651e-02 7.38484270e-04 9.96008904e-01 -2.08956277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87119381700003 meters 0.05566905733942331 Centerline is valid? [True, True] Translation: X:169.72, Y:-61.46, Z:-20.90 [[ 9.45984947e-01 3.12808484e-01 8.52251896e-02 1.69722636e+02] [-3.11441871e-01 9.49815574e-01 -2.92290218e-02 -6.14566520e+01] [-9.00912985e-02 1.10752217e-03 9.95932895e-01 -2.08992915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90119381700003 meters 0.05621719522669377 Centerline is valid? [True, True] Translation: X:169.75, Y:-61.48, Z:-20.90 [[ 9.47156589e-01 3.08773086e-01 8.69113231e-02 1.69746119e+02] [-3.07335788e-01 9.51134533e-01 -2.97962077e-02 -6.14770257e+01] [-9.18646277e-02 1.51071442e-03 9.95770359e-01 -2.09009635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93119381700004 meters 0.058295283347033836 Centerline is valid? [True, True] Translation: X:169.77, Y:-61.51, Z:-20.90 [[ 9.49781656e-01 3.00166087e-01 8.84032005e-02 1.69766683e+02] [-2.98642471e-01 9.53883995e-01 -3.02985044e-02 -6.15064703e+01] [-9.34209815e-02 2.37601339e-03 9.95623862e-01 -2.09035982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96119381700004 meters 0.06115416487145157 Centerline is valid? [True, True] Translation: X:169.79, Y:-61.53, Z:-20.91 [[ 9.50970572e-01 2.96243574e-01 8.88522180e-02 1.69789147e+02] [-2.94687883e-01 9.55108409e-01 -3.04463285e-02 -6.15285842e+01] [-9.38830297e-02 2.76989044e-03 9.95579381e-01 -2.09100090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99119381700004 meters 0.06077866549216483 Centerline is valid? [True, True] Translation: X:169.82, Y:-61.54, Z:-20.91 [[ 9.51901302e-01 2.93408596e-01 8.82910331e-02 1.69815580e+02] [-2.91861161e-01 9.55982354e-01 -3.02456732e-02 -6.15412211e+01] [-9.32790102e-02 3.02217232e-03 9.95635422e-01 -2.09112494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02119381700004 meters 0.0625395276188268 Centerline is valid? [True, True] Translation: X:169.84, Y:-61.56, Z:-20.92 [[ 9.52797592e-01 2.90420398e-01 8.85027757e-02 1.69839963e+02] [-2.88853250e-01 9.56893407e-01 -3.03118577e-02 -6.15584639e+01] [-9.34909043e-02 3.31675069e-03 9.95614609e-01 -2.09160109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.051193817 meters 0.0627203324592524 Centerline is valid? [True, True] Translation: X:169.87, Y:-61.57, Z:-20.92 [[ 9.53575770e-01 2.88008592e-01 8.80017109e-02 1.69866405e+02] [-2.86449521e-01 9.57621329e-01 -3.01340529e-02 -6.15718719e+01] [-9.29511815e-02 3.52705474e-03 9.95664420e-01 -2.09186546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.081193817 meters 0.06567978976436567 Centerline is valid? [True, True] Translation: X:169.89, Y:-61.59, Z:-20.92 [[ 9.55334629e-01 2.82038717e-01 8.82604564e-02 1.69890949e+02] [-2.80445660e-01 9.59394204e-01 -3.02157910e-02 -6.15931414e+01] [-9.31985932e-02 4.11392960e-03 9.95639040e-01 -2.09217941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11119381700001 meters 0.06736247054746917 Centerline is valid? [True, True] Translation: X:169.92, Y:-61.61, Z:-20.93 [[ 9.56297243e-01 2.78867820e-01 8.79108796e-02 1.69918301e+02] [-2.77273221e-01 9.60319351e-01 -3.01048906e-02 -6.16075148e+01] [-9.28178041e-02 4.41389117e-03 9.95673326e-01 -2.09261294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14119381700002 meters 0.06893445568857151 Centerline is valid? [True, True] Translation: X:169.95, Y:-61.62, Z:-20.93 [[ 9.57260009e-01 2.75693007e-01 8.74450718e-02 1.69946817e+02] [-2.74101968e-01 9.61234255e-01 -2.99469085e-02 -6.16207962e+01] [-9.23113517e-02 4.69811164e-03 9.95719108e-01 -2.09299259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17119381700002 meters 0.07266141912322038 Centerline is valid? [True, True] Translation: X:169.97, Y:-61.64, Z:-20.93 [[ 9.58862813e-01 2.69808237e-01 8.82361711e-02 1.69972430e+02] [-2.68162872e-01 9.62899388e-01 -3.02232170e-02 -6.16364311e+01] [-9.31170281e-02 5.31825386e-03 9.95640967e-01 -2.09336191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20119381700002 meters 0.07408946646361393 Centerline is valid? [True, True] Translation: X:170.00, Y:-61.65, Z:-20.94 [[ 9.59430932e-01 2.67756833e-01 8.83094798e-02 1.70002442e+02] [-2.66100438e-01 9.63470719e-01 -3.02445114e-02 -6.16482316e+01] [-9.31817726e-02 5.51832855e-03 9.95633821e-01 -2.09375448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23119381700002 meters 0.07511453950097341 Centerline is valid? [True, True] Translation: X:170.03, Y:-61.66, Z:-20.94 [[ 9.59627365e-01 2.66875614e-01 8.88410160e-02 1.70032209e+02] [-2.65195054e-01 9.63714470e-01 -3.04303214e-02 -6.16591084e+01] [-9.37384833e-02 5.64157114e-03 9.95580870e-01 -2.09406199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26119381700002 meters 0.07581286425288976 Centerline is valid? [True, True] Translation: X:170.06, Y:-61.67, Z:-20.94 [[ 9.59893336e-01 2.66017551e-01 8.85406488e-02 1.70062766e+02] [-2.64342144e-01 9.63951140e-01 -3.03550919e-02 -6.16685279e+01] [-9.34238465e-02 5.73262550e-03 9.95609925e-01 -2.09445781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29119381700002 meters 0.07325806389924591 Centerline is valid? [True, True] Translation: X:170.10, Y:-61.67, Z:-20.95 [[ 9.59667402e-01 2.66701014e-01 8.89328258e-02 1.70096286e+02] [-2.65010995e-01 9.63762352e-01 -3.05172315e-02 -6.16693749e+01] [-9.38490860e-02 5.71821566e-03 9.95570013e-01 -2.09474649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32119381700002 meters 0.0755744091261993 Centerline is valid? [True, True] Translation: X:170.12, Y:-61.68, Z:-20.95 [[ 9.59188031e-01 2.68282662e-01 8.93461497e-02 1.70124487e+02] [-2.66580588e-01 9.63323838e-01 -3.06915859e-02 -6.16790538e+01] [-9.43032963e-02 5.62105279e-03 9.95527645e-01 -2.09521777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35119381700002 meters 0.07153836217605548 Centerline is valid? [True, True] Translation: X:170.16, Y:-61.68, Z:-20.95 [[ 9.58449932e-01 2.70813271e-01 8.96320289e-02 1.70158223e+02] [-2.69109993e-01 9.62616740e-01 -3.08029879e-02 -6.16780784e+01] [-9.46231494e-02 5.40224700e-03 9.95498506e-01 -2.09537670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38119381700002 meters 0.0695418473495764 Centerline is valid? [True, True] Translation: X:170.19, Y:-61.68, Z:-20.96 [[ 9.57248244e-01 2.74780132e-01 9.03973356e-02 1.70189652e+02] [-2.73064378e-01 9.61493768e-01 -3.10737937e-02 -6.16800868e+01] [-9.54549359e-02 5.06104227e-03 9.95420886e-01 -2.09568599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41119381700003 meters 0.06708874965542751 Centerline is valid? [True, True] Translation: X:170.22, Y:-61.68, Z:-20.96 [[ 9.54505404e-01 2.84298323e-01 8.99660855e-02 1.70221479e+02] [-2.82641003e-01 9.58727146e-01 -3.09244852e-02 -6.16762559e+01] [-9.50447076e-02 4.08948367e-03 9.95464605e-01 -2.09626286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44119381700003 meters 0.06317022227658363 Centerline is valid? [True, True] Translation: X:170.25, Y:-61.67, Z:-20.96 [[ 9.52885049e-01 2.89905091e-01 8.92475255e-02 1.70254290e+02] [-2.88299010e-01 9.57049005e-01 -3.06738247e-02 -6.16730595e+01] [-9.43067534e-02 3.49865568e-03 9.95537039e-01 -2.09646766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47119381700003 meters 0.062025949734433636 Centerline is valid? [True, True] Translation: X:170.28, Y:-61.67, Z:-20.97 [[ 9.51290413e-01 2.95224649e-01 8.88197959e-02 1.70284484e+02] [-2.93657177e-01 9.55423293e-01 -3.05252835e-02 -6.16738862e+01] [-9.38723181e-02 2.95583905e-03 9.95579857e-01 -2.09702679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50119381700003 meters 0.057228500705150724 Centerline is valid? [True, True] Translation: X:170.32, Y:-61.66, Z:-20.97 [[ 9.48481537e-01 3.04584285e-01 8.72421206e-02 1.70321150e+02] [-3.03111883e-01 9.52483308e-01 -2.99789014e-02 -6.16595855e+01] [-9.22277659e-02 1.99031106e-03 9.95735948e-01 -2.09709456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53119381700003 meters 0.057175205952566165 Centerline is valid? [True, True] Translation: X:170.35, Y:-61.66, Z:-20.98 [[ 9.47364476e-01 3.08248782e-01 8.65057122e-02 1.70348625e+02] [-3.06816412e-01 9.51304402e-01 -2.97258319e-02 -6.16636906e+01] [-9.14562163e-02 1.61982493e-03 9.95807781e-01 -2.09776032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56119381700003 meters 0.05656398708664722 Centerline is valid? [True, True] Translation: X:170.38, Y:-61.67, Z:-20.98 [[ 9.46629622e-01 3.10573205e-01 8.62359676e-02 1.70377068e+02] [-3.09159926e-01 9.50548455e-01 -2.96272707e-02 -6.16674086e+01] [-9.11729022e-02 1.38534674e-03 9.95834114e-01 -2.09815790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59119381700003 meters 0.055862416765735785 Centerline is valid? [True, True] Translation: X:170.41, Y:-61.67, Z:-20.98 [[ 9.46387297e-01 3.11356241e-01 8.60719167e-02 1.70405087e+02] [-3.09953790e-01 9.50292398e-01 -2.95466864e-02 -6.16715051e+01] [-9.09930334e-02 1.28429189e-03 9.95850701e-01 -2.09824971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62119381700003 meters 0.05604856823530968 Centerline is valid? [True, True] Translation: X:170.43, Y:-61.68, Z:-20.99 [[ 9.46199858e-01 3.11836864e-01 8.63921225e-02 1.70431062e+02] [-3.10429381e-01 9.50134893e-01 -2.96190064e-02 -6.16790931e+01] [-9.13204681e-02 1.20684652e-03 9.95820825e-01 -2.09877910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65119381700003 meters 0.055961634141833104 Centerline is valid? [True, True] Translation: X:170.46, Y:-61.69, Z:-20.99 [[ 9.46489538e-01 3.11276505e-01 8.52319870e-02 1.70458123e+02] [-3.09905240e-01 9.50318585e-01 -2.92118068e-02 -6.16871127e+01] [-9.00904904e-02 1.23483010e-03 9.95932818e-01 -2.09904301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68119381700004 meters 0.056524555634739126 Centerline is valid? [True, True] Translation: X:170.48, Y:-61.70, Z:-20.99 [[ 9.47058194e-01 3.09384975e-01 8.58004317e-02 1.70483209e+02] [-3.07988487e-01 9.50935821e-01 -2.93965341e-02 -6.16977381e+01] [-9.06855500e-02 1.41468331e-03 9.95878572e-01 -2.09942873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71119381700004 meters 0.056557220033585424 Centerline is valid? [True, True] Translation: X:170.51, Y:-61.71, Z:-21.00 [[ 9.47245861e-01 3.08827845e-01 8.57358792e-02 1.70510108e+02] [-3.07431594e-01 9.51116829e-01 -2.93699188e-02 -6.17058638e+01] [-9.06150863e-02 1.46261596e-03 9.95884916e-01 -2.09966442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74119381700004 meters 0.056573793051664316 Centerline is valid? [True, True] Translation: X:170.54, Y:-61.71, Z:-21.00 [[ 9.47112633e-01 3.09189154e-01 8.59053401e-02 1.70538009e+02] [-3.07791783e-01 9.50999530e-01 -2.93957753e-02 -6.17138451e+01] [-9.07847929e-02 1.40015230e-03 9.95869550e-01 -2.10009853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77119381700004 meters 0.0561989850756111 Centerline is valid? [True, True] Translation: X:170.57, Y:-61.72, Z:-21.00 [[ 9.46942800e-01 3.09900425e-01 8.52118583e-02 1.70565796e+02] [-3.08530471e-01 9.50768130e-01 -2.91360862e-02 -6.17201654e+01] [-9.00460047e-02 1.29975232e-03 9.95936759e-01 -2.10029401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.801193817 meters 0.05638392609304957 Centerline is valid? [True, True] Translation: X:170.59, Y:-61.73, Z:-21.01 [[ 9.46475518e-01 3.11223741e-01 8.55796558e-02 1.70590776e+02] [-3.09850721e-01 9.50335981e-01 -2.92242031e-02 -6.17301544e+01] [-9.04246920e-02 1.14307470e-03 9.95902640e-01 -2.10088520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.831193817 meters 0.05589781399788187 Centerline is valid? [True, True] Translation: X:170.62, Y:-61.74, Z:-21.01 [[ 9.46638259e-01 3.10702883e-01 8.56722003e-02 1.70617752e+02] [-3.09325118e-01 9.50506340e-01 -2.92518324e-02 -6.17391827e+01] [-9.05205982e-02 1.19034021e-03 9.95893872e-01 -2.10085901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86119381700001 meters 0.05595098334863379 Centerline is valid? [True, True] Translation: X:170.64, Y:-61.75, Z:-21.01 [[ 9.47016462e-01 3.09190484e-01 8.69543828e-02 1.70644504e+02] [-3.07767848e-01 9.50999209e-01 -2.96556383e-02 -6.17510332e+01] [-9.18627904e-02 1.32261447e-03 9.95770796e-01 -2.10107295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89119381700002 meters 0.056783597137818345 Centerline is valid? [True, True] Translation: X:170.67, Y:-61.77, Z:-21.01 [[ 9.48471398e-01 3.04365513e-01 8.81115284e-02 1.70669699e+02] [-3.02886592e-01 9.52553643e-01 -3.00211518e-02 -6.17670908e+01] [-9.30683607e-02 1.78640331e-03 9.95658119e-01 -2.10124867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92119381700002 meters 0.056783597137818345 Centerline is valid? [True, True] Translation: X:170.70, Y:-61.78, Z:-21.02 [[ 9.48573269e-01 3.04045385e-01 8.81201329e-02 1.70695612e+02] [-3.02567433e-01 9.52655865e-01 -2.99958716e-02 -6.17756587e+01] [-9.30682677e-02 1.79099962e-03 9.95658119e-01 -2.10156259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95119381700002 meters 0.05732416356470682 Centerline is valid? [True, True] Translation: X:170.72, Y:-61.79, Z:-21.02 [[ 9.49286808e-01 3.01560321e-01 8.89715084e-02 1.70721319e+02] [-3.00046363e-01 9.53444966e-01 -3.02469389e-02 -6.17876908e+01] [-9.39507134e-02 2.01744256e-03 9.95574806e-01 -2.10180294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98119381700002 meters 0.05826700079775017 Centerline is valid? [True, True] Translation: X:170.75, Y:-61.80, Z:-21.02 [[ 9.49964957e-01 2.99119196e-01 8.99682583e-02 1.70745606e+02] [-2.97560983e-01 9.54213041e-01 -3.05766885e-02 -6.18004791e+01] [-9.49949598e-02 2.27573921e-03 9.95475152e-01 -2.10218317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01119381700002 meters 0.05917518825781973 Centerline is valid? [True, True] Translation: X:170.77, Y:-61.81, Z:-21.03 [[ 9.50810952e-01 2.96546596e-01 8.95469200e-02 1.70770417e+02] [-2.94993469e-01 9.55015108e-01 -3.04137607e-02 -6.18133344e+01] [-9.45377587e-02 2.50198024e-03 9.95518133e-01 -2.10253648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04119381700002 meters 0.060512571726839194 Centerline is valid? [True, True] Translation: X:170.80, Y:-61.83, Z:-21.03 [[ 9.52189930e-01 2.92747916e-01 8.73670129e-02 1.70795577e+02] [-2.91254690e-01 9.56185560e-01 -2.96627712e-02 -6.18290410e+01] [-9.22227906e-02 2.79853978e-03 9.95734465e-01 -2.10306969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07119381700002 meters 0.060412687206563134 Centerline is valid? [True, True] Translation: X:170.82, Y:-61.84, Z:-21.03 [[ 9.52514255e-01 2.91684221e-01 8.73894114e-02 1.70822816e+02] [-2.90186272e-01 9.56510284e-01 -2.96648710e-02 -6.18395491e+01] [-9.22416454e-02 2.89700494e-03 9.95732437e-01 -2.10331900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10119381700002 meters 0.06074272308294141 Centerline is valid? [True, True] Translation: X:170.85, Y:-61.85, Z:-21.04 [[ 9.52707824e-01 2.91345874e-01 8.64024574e-02 1.70848832e+02] [-2.89880994e-01 9.56613421e-01 -2.93218761e-02 -6.18506705e+01] [-9.11965579e-02 2.88875052e-03 9.95828722e-01 -2.10382670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13119381700002 meters 0.06093380959458654 Centerline is valid? [True, True] Translation: X:170.87, Y:-61.86, Z:-21.04 [[ 9.52693353e-01 2.92043270e-01 8.41789922e-02 1.70874336e+02] [-2.90656327e-01 9.56401176e-01 -2.85602866e-02 -6.18615277e+01] [-8.88497267e-02 2.74203852e-03 9.96041268e-01 -2.10438089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16119381700003 meters 0.06120506725154447 Centerline is valid? [True, True] Translation: X:170.90, Y:-61.87, Z:-21.05 [[ 9.52688375e-01 2.92207680e-01 8.36632051e-02 1.70901022e+02] [-2.90839249e-01 9.56351076e-01 -2.83751784e-02 -6.18719637e+01] [-8.83028413e-02 2.70015885e-03 9.96090015e-01 -2.10479579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19119381700003 meters 0.0612663266905473 Centerline is valid? [True, True] Translation: X:170.93, Y:-61.88, Z:-21.05 [[ 9.52812898e-01 2.92118651e-01 8.25486190e-02 1.70927789e+02] [-2.90786831e-01 9.56378373e-01 -2.79897776e-02 -6.18817109e+01] [-8.71240500e-02 2.66496986e-03 9.96193906e-01 -2.10514549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22119381700003 meters 0.061455026154001606 Centerline is valid? [True, True] Translation: X:170.95, Y:-61.89, Z:-21.05 [[ 9.52931696e-01 2.91693869e-01 8.26793209e-02 1.70954332e+02] [-2.90356888e-01 9.56507915e-01 -2.80265092e-02 -6.18920958e+01] [-8.72585858e-02 2.70083854e-03 9.96182034e-01 -2.10544153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25119381700003 meters 0.06233621216890274 Centerline is valid? [True, True] Translation: X:170.98, Y:-61.91, Z:-21.06 [[ 9.53441778e-01 2.89866941e-01 8.32221900e-02 1.70979614e+02] [-2.88506034e-01 9.57062623e-01 -2.82029234e-02 -6.19069450e+01] [-8.78239426e-02 2.87974146e-03 9.96131850e-01 -2.10574175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28119381700003 meters 0.062048830093926054 Centerline is valid? [True, True] Translation: X:171.01, Y:-61.92, Z:-21.06 [[ 9.53849011e-01 2.88103418e-01 8.46669052e-02 1.71006241e+02] [-2.86688503e-01 9.57594322e-01 -2.86847906e-02 -6.19177636e+01] [-8.93407339e-02 3.08793084e-03 9.95996334e-01 -2.10578788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31119381700003 meters 0.0627983792827691 Centerline is valid? [True, True] Translation: X:171.03, Y:-61.93, Z:-21.06 [[ 9.54222413e-01 2.86259717e-01 8.66888751e-02 1.71031553e+02] [-2.84769322e-01 9.58146268e-01 -2.93625968e-02 -6.19297333e+01] [-9.14659508e-02 3.33211577e-03 9.95802629e-01 -2.10600927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34119381700003 meters 0.06352472037074251 Centerline is valid? [True, True] Translation: X:171.06, Y:-61.94, Z:-21.06 [[ 9.54434893e-01 2.84888524e-01 8.88401019e-02 1.71056468e+02] [-2.83318339e-01 9.58554126e-01 -3.00783348e-02 -6.19406671e+01] [-9.37270187e-02 3.53778222e-03 9.95591648e-01 -2.10613358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37119381700003 meters 0.0643745515229049 Centerline is valid? [True, True] Translation: X:171.08, Y:-61.95, Z:-21.06 [[ 9.54578532e-01 2.83932122e-01 9.03458720e-02 1.71081527e+02] [-2.82305255e-01 9.58837322e-01 -3.05733873e-02 -6.19503035e+01] [-9.53077607e-02 3.67958474e-03 9.95441054e-01 -2.10635303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40119381700003 meters 0.062188326847382756 Centerline is valid? [True, True] Translation: X:171.11, Y:-61.95, Z:-21.06 [[ 9.54536535e-01 2.84117538e-01 9.02065886e-02 1.71111034e+02] [-2.82497983e-01 9.58782546e-01 -3.05109675e-02 -6.19537400e+01] [-9.51572037e-02 3.64065377e-03 9.95455600e-01 -2.10641792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43119381700004 meters 0.06046563619202713 Centerline is valid? [True, True] Translation: X:171.14, Y:-61.96, Z:-21.07 [[ 9.53185366e-01 2.88674358e-01 9.00265184e-02 1.71140777e+02] [-2.87082400e-01 9.57422092e-01 -3.04406417e-02 -6.19566960e+01] [-9.49808103e-02 3.17054524e-03 9.95474055e-01 -2.10686918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46119381700004 meters 0.06108236735194499 Centerline is valid? [True, True] Translation: X:171.17, Y:-61.97, Z:-21.08 [[ 9.52185104e-01 2.92009695e-01 8.98546942e-02 1.71167260e+02] [-2.90438937e-01 9.56411174e-01 -3.03791129e-02 -6.19653854e+01] [-9.48090290e-02 2.82923696e-03 9.95491458e-01 -2.10752256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49119381700004 meters 0.05867459590796739 Centerline is valid? [True, True] Translation: X:171.20, Y:-61.97, Z:-21.08 [[ 9.51151429e-01 2.95377422e-01 8.97949776e-02 1.71197637e+02] [-2.93824515e-01 9.55377417e-01 -3.03503777e-02 -6.19663194e+01] [-9.47529101e-02 2.48383936e-03 9.95497723e-01 -2.10766392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52119381700004 meters 0.05920032704478097 Centerline is valid? [True, True] Translation: X:171.22, Y:-61.97, Z:-21.08 [[ 9.50420833e-01 2.97589775e-01 9.02250841e-02 1.71224151e+02] [-2.96032667e-01 9.54691149e-01 -3.04871991e-02 -6.19749368e+01] [-9.52097680e-02 2.26609690e-03 9.95454652e-01 -2.10826701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.551193817 meters 0.057229039859412786 Centerline is valid? [True, True] Translation: X:171.25, Y:-61.98, Z:-21.08 [[ 9.49446454e-01 3.00458632e-01 9.09727484e-02 1.71254776e+02] [-2.98889145e-01 9.53792770e-01 -3.07348326e-02 -6.19762103e+01] [-9.60036955e-02 1.99031086e-03 9.95378988e-01 -2.10823698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.581193817 meters 0.0574864121383309 Centerline is valid? [True, True] Translation: X:171.28, Y:-61.98, Z:-21.09 [[ 9.49478160e-01 3.00290168e-01 9.11977996e-02 1.71280152e+02] [-2.98715015e-01 9.53845837e-01 -3.07808255e-02 -6.19843798e+01] [-9.62318208e-02 1.98356948e-03 9.95356972e-01 -2.10859638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61119381700001 meters 0.05768672684830207 Centerline is valid? [True, True] Translation: X:171.31, Y:-61.99, Z:-21.09 [[ 9.49839545e-01 2.99169069e-01 9.11191943e-02 1.71307413e+02] [-2.97593026e-01 9.54197852e-01 -3.07384080e-02 -6.19937091e+01] [-9.61417204e-02 2.08011877e-03 9.95365482e-01 -2.10890107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64119381700002 meters 0.05773463479295972 Centerline is valid? [True, True] Translation: X:171.33, Y:-62.00, Z:-21.09 [[ 9.50052258e-01 2.98341274e-01 9.16143652e-02 1.71334450e+02] [-2.96744993e-01 9.54456801e-01 -3.08969826e-02 -6.20038851e+01] [-9.66597991e-02 2.16764390e-03 9.95315118e-01 -2.10918828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67119381700002 meters 0.05798014598497006 Centerline is valid? [True, True] Translation: X:171.36, Y:-62.01, Z:-21.10 [[ 9.50278649e-01 2.97856619e-01 9.08401037e-02 1.71360156e+02] [-2.96285839e-01 9.54608106e-01 -3.06278469e-02 -6.20145377e+01] [-9.58394063e-02 2.19035258e-03 9.95394400e-01 -2.10963769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70119381700002 meters 0.05785728278453618 Centerline is valid? [True, True] Translation: X:171.39, Y:-62.02, Z:-21.10 [[ 9.50639093e-01 2.97163862e-01 8.93249896e-02 1.71387600e+02] [-2.95643117e-01 9.54823934e-01 -3.01065027e-02 -6.20235645e+01] [-9.42362026e-02 2.21210000e-03 9.95547410e-01 -2.10999644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73119381700002 meters 0.05830587671659301 Centerline is valid? [True, True] Translation: X:171.41, Y:-62.03, Z:-21.11 [[ 9.50877279e-01 2.96866685e-01 8.77642917e-02 1.71412550e+02] [-2.95398197e-01 9.54916412e-01 -2.95728027e-02 -6.20338040e+01] [-9.25867424e-02 2.19469265e-03 9.95702204e-01 -2.11059965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76119381700002 meters 0.05931237331365719 Centerline is valid? [True, True] Translation: X:171.44, Y:-62.05, Z:-21.12 [[ 9.51399217e-01 2.96430526e-01 8.34773827e-02 1.71437858e+02] [-2.95101478e-01 9.55052071e-01 -2.81186674e-02 -6.20461583e+01] [-8.80604786e-02 2.11777916e-03 9.96112879e-01 -2.11156715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79119381700002 meters 0.057995223355187205 Centerline is valid? [True, True] Translation: X:171.47, Y:-62.05, Z:-21.12 [[ 9.51266458e-01 2.97298080e-01 8.18900338e-02 1.71466066e+02] [-2.96023078e-01 9.54782639e-01 -2.75762529e-02 -6.20527103e+01] [-8.63855497e-02 1.99102453e-03 9.96259792e-01 -2.11161509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82119381700002 meters 0.05794887388300218 Centerline is valid? [True, True] Translation: X:171.49, Y:-62.06, Z:-21.12 [[ 9.50838231e-01 2.98821950e-01 8.13148305e-02 1.71491985e+02] [-2.97570869e-01 9.54307119e-01 -2.73769997e-02 -6.20616299e+01] [-8.57801701e-02 1.83417324e-03 9.96312400e-01 -2.11210918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85119381700002 meters 0.057035015908534645 Centerline is valid? [True, True] Translation: X:171.52, Y:-62.07, Z:-21.12 [[ 9.50096665e-01 3.01309204e-01 8.08027907e-02 1.71520009e+02] [-3.00084244e-01 9.53525173e-01 -2.71880659e-02 -6.20685695e+01] [-8.52395095e-02 1.58364635e-03 9.96359231e-01 -2.11229029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88119381700002 meters 0.055713738251634 Centerline is valid? [True, True] Translation: X:171.55, Y:-62.07, Z:-21.13 [[ 9.48111344e-01 3.07247938e-01 8.17531920e-02 1.71548206e+02] [-3.06016614e-01 9.51628915e-01 -2.74998341e-02 -6.20736558e+01] [-8.62479687e-02 1.05506973e-03 9.96273143e-01 -2.11251412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91119381700003 meters 0.0553034846439725 Centerline is valid? [True, True] Translation: X:171.58, Y:-62.08, Z:-21.13 [[ 9.47305712e-01 3.09596087e-01 8.22322925e-02 1.71576079e+02] [-3.08359233e-01 9.50867788e-01 -2.76592546e-02 -6.20805150e+01] [-8.67552350e-02 8.44683268e-04 9.96229299e-01 -2.11277495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94119381700003 meters 0.05497860447478411 Centerline is valid? [True, True] Translation: X:171.60, Y:-62.09, Z:-21.13 [[ 9.46515687e-01 3.11837353e-01 8.28584292e-02 1.71604341e+02] [-3.10592614e-01 9.50135298e-01 -2.78414087e-02 -6.20883431e+01] [-8.74087095e-02 6.17114042e-04 9.96172343e-01 -2.11300140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97119381700003 meters 0.05485051073998573 Centerline is valid? [True, True] Translation: X:171.63, Y:-62.10, Z:-21.13 [[ 9.46183634e-01 3.12804095e-01 8.30068005e-02 1.71630855e+02] [-3.11560698e-01 9.49817531e-01 -2.78673504e-02 -6.20964730e+01] [-8.75583356e-02 5.05974198e-04 9.96159265e-01 -2.11333572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00119381700003 meters 0.054790927880198376 Centerline is valid? [True, True] Translation: X:171.66, Y:-62.11, Z:-21.14 [[ 9.46112669e-01 3.12867971e-01 8.35730285e-02 1.71656900e+02] [-3.11611156e-01 9.49796512e-01 -2.80191425e-02 -6.21060529e+01] [-8.81436633e-02 4.66977652e-04 9.96107663e-01 -2.11363656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03119381700003 meters 0.05497932605811764 Centerline is valid? [True, True] Translation: X:171.68, Y:-62.12, Z:-21.14 [[ 9.47137310e-01 3.09808004e-01 8.33661541e-02 1.71681636e+02] [-3.08545978e-01 9.50798845e-01 -2.79452170e-02 -6.21213518e+01] [-8.79220950e-02 7.45666173e-04 9.96127075e-01 -2.11398004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06119381700003 meters 0.05531096031382089 Centerline is valid? [True, True] Translation: X:171.71, Y:-62.14, Z:-21.14 [[ 9.47791194e-01 3.07771040e-01 8.34795692e-02 1.71707375e+02] [-3.06500068e-01 9.51460014e-01 -2.79562090e-02 -6.21352265e+01] [-8.80315836e-02 9.10155026e-04 9.96117268e-01 -2.11441152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09119381700003 meters 0.05563377891284847 Centerline is valid? [True, True] Translation: X:171.73, Y:-62.15, Z:-21.15 [[ 9.48699203e-01 3.05616010e-01 8.10473722e-02 1.71732733e+02] [-3.04412982e-01 9.52154271e-01 -2.71105155e-02 -6.21488495e+01] [-8.54550092e-02 1.04785217e-03 9.96341479e-01 -2.11488735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12119381700003 meters 0.05691632458898474 Centerline is valid? [True, True] Translation: X:171.76, Y:-62.17, Z:-21.16 [[ 9.50307544e-01 3.01183343e-01 7.87665267e-02 1.71755416e+02] [-3.00032562e-01 9.53565224e-01 -2.63405709e-02 -6.21682677e+01] [-8.30423619e-02 1.39912048e-03 9.96545036e-01 -2.11551435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15119381700003 meters 0.057374214660809414 Centerline is valid? [True, True] Translation: X:171.78, Y:-62.18, Z:-21.16 [[ 9.51006955e-01 2.99298118e-01 7.75010174e-02 1.71780747e+02] [-2.98178404e-01 9.54158420e-01 -2.59104008e-02 -6.21815698e+01] [-8.17031825e-02 1.53184161e-03 9.96655529e-01 -2.11594139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18119381700004 meters 0.05816072860423015 Centerline is valid? [True, True] Translation: X:171.81, Y:-62.20, Z:-21.16 [[ 9.51489064e-01 2.98135252e-01 7.60521698e-02 1.71805445e+02] [-2.97053874e-01 9.54522303e-01 -2.54198558e-02 -6.21951112e+01] [-8.01720474e-02 1.59512319e-03 9.96779764e-01 -2.11645273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21119381700004 meters 0.05860396031425582 Centerline is valid? [True, True] Translation: X:171.83, Y:-62.21, Z:-21.17 [[ 9.51975527e-01 2.96735799e-01 7.54351474e-02 1.71830151e+02] [-2.95668228e-01 9.54958118e-01 -2.52050029e-02 -6.22079189e+01] [-7.95166330e-02 1.69076962e-03 9.96832105e-01 -2.11681174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24119381700004 meters 0.058653599804768614 Centerline is valid? [True, True] Translation: X:171.86, Y:-62.22, Z:-21.17 [[ 9.52533448e-01 2.94722523e-01 7.62801755e-02 1.71855509e+02] [-2.93625163e-01 9.55581045e-01 -2.54780118e-02 -6.22247964e+01] [-8.04008338e-02 1.87087939e-03 9.96760857e-01 -2.11685401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27119381700004 meters 0.058933681597551815 Centerline is valid? [True, True] Translation: X:171.88, Y:-62.24, Z:-21.17 [[ 9.52792929e-01 2.93663458e-01 7.71194333e-02 1.71881097e+02] [-2.92538894e-01 9.55906832e-01 -2.57511813e-02 -6.22384728e+01] [-8.12811742e-02 1.97510975e-03 9.96689254e-01 -2.11709315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.301193817 meters 0.059021400467297785 Centerline is valid? [True, True] Translation: X:171.91, Y:-62.25, Z:-21.17 [[ 9.53179982e-01 2.92387795e-01 7.71835494e-02 1.71907256e+02] [-2.91257753e-01 9.56297577e-01 -2.57655948e-02 -6.22514840e+01] [-8.13439867e-02 2.07894197e-03 9.96683919e-01 -2.11732195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.331193817 meters 0.0590797342761459 Centerline is valid? [True, True] Translation: X:171.93, Y:-62.27, Z:-21.17 [[ 9.53960252e-01 2.89690368e-01 7.77131159e-02 1.71932304e+02] [-2.88536386e-01 9.57117609e-01 -2.59352379e-02 -6.22671768e+01] [-8.18937803e-02 2.31812447e-03 9.96638367e-01 -2.11737224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36119381700001 meters 0.05954369938837423 Centerline is valid? [True, True] Translation: X:171.96, Y:-62.28, Z:-21.18 [[ 9.54331205e-01 2.88175623e-01 7.87830038e-02 1.71957131e+02] [-2.86985010e-01 9.57574374e-01 -2.62853829e-02 -6.22792673e+01] [-8.30153921e-02 2.47541997e-03 9.96545191e-01 -2.11758783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39119381700002 meters 0.06130619921779453 Centerline is valid? [True, True] Translation: X:171.98, Y:-62.29, Z:-21.18 [[ 9.54244588e-01 2.88021331e-01 8.03802124e-02 1.71981846e+02] [-2.86782238e-01 9.57620654e-01 -2.68073061e-02 -6.22936816e+01] [-8.46948275e-02 2.52910958e-03 9.96403728e-01 -2.11827109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42119381700002 meters 0.06146182758742281 Centerline is valid? [True, True] Translation: X:172.01, Y:-62.30, Z:-21.18 [[ 9.54307676e-01 2.87617020e-01 8.10759424e-02 1.72008554e+02] [-2.86355333e-01 9.57742022e-01 -2.70340820e-02 -6.23046471e+01] [-8.54252991e-02 2.58230347e-03 9.96341232e-01 -2.11848176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45119381700002 meters 0.059715905621183084 Centerline is valid? [True, True] Translation: X:172.04, Y:-62.31, Z:-21.19 [[ 9.54215605e-01 2.88218983e-01 8.00149851e-02 1.72036962e+02] [-2.86992941e-01 9.57561293e-01 -2.66724871e-02 -6.23134613e+01] [-8.43067697e-02 2.48756749e-03 9.96436742e-01 -2.11852283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48119381700002 meters 0.06049994466807102 Centerline is valid? [True, True] Translation: X:172.06, Y:-62.33, Z:-21.19 [[ 9.54285681e-01 2.88283172e-01 7.89408151e-02 1.72062422e+02] [-2.87090356e-01 9.57542078e-01 -2.63115136e-02 -6.23252115e+01] [-8.31743188e-02 2.44555400e-03 9.96532013e-01 -2.11907730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51119381700002 meters 0.06016634464155013 Centerline is valid? [True, True] Translation: X:172.09, Y:-62.33, Z:-21.19 [[ 9.54118226e-01 2.89029821e-01 7.82315412e-02 1.72089906e+02] [-2.87861271e-01 9.57317199e-01 -2.60704772e-02 -6.23347305e+01] [-8.24275453e-02 2.35448660e-03 9.96594279e-01 -2.11935408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54119381700002 meters 0.060345399825089095 Centerline is valid? [True, True] Translation: X:172.12, Y:-62.34, Z:-21.20 [[ 9.54152245e-01 2.89109048e-01 7.75206525e-02 1.72117202e+02] [-2.87962501e-01 9.57293360e-01 -2.58267294e-02 -6.23442240e+01] [-8.16767471e-02 2.31959082e-03 9.96656174e-01 -2.11980587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57119381700002 meters 0.06048868672182416 Centerline is valid? [True, True] Translation: X:172.14, Y:-62.35, Z:-21.20 [[ 9.53933463e-01 2.89806349e-01 7.76094540e-02 1.72142967e+02] [-2.88659980e-01 9.57082644e-01 -2.58501040e-02 -6.23530731e+01] [-8.17701857e-02 2.25653577e-03 9.96648657e-01 -2.12017577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60119381700002 meters 0.059068068156024306 Centerline is valid? [True, True] Translation: X:172.17, Y:-62.36, Z:-21.20 [[ 9.53693610e-01 2.90669567e-01 7.73285254e-02 1.72172134e+02] [-2.89535068e-01 9.56821045e-01 -2.57474778e-02 -6.23584464e+01] [-8.14735687e-02 2.16588516e-03 9.96673149e-01 -2.12015241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63119381700002 meters 0.05862110465432346 Centerline is valid? [True, True] Translation: X:172.20, Y:-62.37, Z:-21.20 [[ 9.53555032e-01 2.90919412e-01 7.80941559e-02 1.72199724e+02] [-2.89763720e-01 9.56745125e-01 -2.59952408e-02 -6.23661999e+01] [-8.22787231e-02 2.15903951e-03 9.96607019e-01 -2.12034433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66119381700003 meters 0.060027584082435886 Centerline is valid? [True, True] Translation: X:172.22, Y:-62.38, Z:-21.21 [[ 9.53359473e-01 2.91351365e-01 7.88675885e-02 1.72224499e+02] [-2.90174657e-01 9.56613724e-01 -2.62459678e-02 -6.23779286e+01] [-8.30926161e-02 2.13646657e-03 9.96539539e-01 -2.12104957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69119381700003 meters 0.05884968527498454 Centerline is valid? [True, True] Translation: X:172.25, Y:-62.39, Z:-21.21 [[ 9.53083864e-01 2.92243752e-01 7.88970008e-02 1.72252825e+02] [-2.91070030e-01 9.56341668e-01 -2.62459739e-02 -6.23854552e+01] [-8.31227112e-02 2.05006184e-03 9.96537211e-01 -2.12122205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72119381700003 meters 0.057995163216478955 Centerline is valid? [True, True] Translation: X:172.28, Y:-62.39, Z:-21.21 [[ 9.53186872e-01 2.92406834e-01 7.70261601e-02 1.72280755e+02] [-2.91289338e-01 9.56291965e-01 -2.56164019e-02 -6.23937778e+01] [-8.11499089e-02 1.98031886e-03 9.96699940e-01 -2.12143858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75119381700003 meters 0.05866827522737422 Centerline is valid? [True, True] Translation: X:172.31, Y:-62.41, Z:-21.22 [[ 9.53163379e-01 2.92458611e-01 7.71202600e-02 1.72306096e+02] [-2.91338855e-01 9.56276143e-01 -2.56439154e-02 -6.24050068e+01] [-8.12480487e-02 1.97471277e-03 9.96691956e-01 -2.12204265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78119381700003 meters 0.0584882662777635 Centerline is valid? [True, True] Translation: X:172.33, Y:-62.41, Z:-21.22 [[ 9.53391451e-01 2.91999355e-01 7.60336645e-02 1.72333525e+02] [-2.90910423e-01 9.56416477e-01 -2.52714919e-02 -6.24146810e+01] [-8.00991088e-02 1.97463892e-03 9.96784949e-01 -2.12231522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81119381700003 meters 0.05967958085464353 Centerline is valid? [True, True] Translation: X:172.36, Y:-62.43, Z:-21.23 [[ 9.53720402e-01 2.91016335e-01 7.56762009e-02 1.72359025e+02] [-2.89934969e-01 9.56715904e-01 -2.51474107e-02 -6.24270984e+01] [-7.97189323e-02 2.04242167e-03 9.96815289e-01 -2.12292013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84119381700003 meters 0.05967958085464353 Centerline is valid? [True, True] Translation: X:172.39, Y:-62.44, Z:-21.23 [[ 9.53743684e-01 2.90939665e-01 7.56775812e-02 1.72385794e+02] [-2.89858388e-01 9.56739218e-01 -2.51432562e-02 -6.24358786e+01] [-7.97188804e-02 2.04444008e-03 9.96815289e-01 -2.12324392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87119381700003 meters 0.06022530174387915 Centerline is valid? [True, True] Translation: X:172.41, Y:-62.45, Z:-21.24 [[ 9.54497366e-01 2.88767467e-01 7.44857577e-02 1.72412673e+02] [-2.87714063e-01 9.57396775e-01 -2.47393115e-02 -6.24491918e+01] [-7.84563325e-02 2.18300765e-03 9.96915161e-01 -2.12361096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90119381700003 meters 0.060635652389871036 Centerline is valid? [True, True] Translation: X:172.44, Y:-62.46, Z:-21.24 [[ 9.54996329e-01 2.87167823e-01 7.42741774e-02 1.72439565e+02] [-2.86115840e-01 9.57877513e-01 -2.46656768e-02 -6.24613899e+01] [-7.82287530e-02 2.30461210e-03 9.96932772e-01 -2.12391409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93119381700004 meters 0.060976224664945455 Centerline is valid? [True, True] Translation: X:172.47, Y:-62.47, Z:-21.24 [[ 9.55253619e-01 2.86325220e-01 7.42185424e-02 1.72467591e+02] [-2.85272667e-01 9.58129566e-01 -2.46422424e-02 -6.24741574e+01] [-7.81666753e-02 2.36706972e-03 9.96937494e-01 -2.12416942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96119381700004 meters 0.061395740775564804 Centerline is valid? [True, True] Translation: X:172.49, Y:-62.49, Z:-21.25 [[ 9.55401887e-01 2.85822253e-01 7.42487318e-02 1.72494693e+02] [-2.84767266e-01 9.58279621e-01 -2.46530376e-02 -6.24863684e+01] [-7.81974333e-02 2.40995031e-03 9.96934980e-01 -2.12455649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99119381700004 meters 0.06072406682168405 Centerline is valid? [True, True] Translation: X:172.52, Y:-62.50, Z:-21.24 [[ 9.55642365e-01 2.84526909e-01 7.61059029e-02 1.72524225e+02] [-2.83414611e-01 9.58664595e-01 -2.52656506e-02 -6.24991110e+01] [-8.01487921e-02 2.57540126e-03 9.96779584e-01 -2.12449541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02119381700004 meters 0.060764500970941784 Centerline is valid? [True, True] Translation: X:172.55, Y:-62.51, Z:-21.25 [[ 9.55572543e-01 2.84327867e-01 7.77095811e-02 1.72553942e+02] [-2.83167854e-01 9.58723465e-01 -2.57931093e-02 -6.25109673e+01] [-8.18356986e-02 2.64233180e-03 9.96642331e-01 -2.12468377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.051193817 meters 0.06172899870066883 Centerline is valid? [True, True] Translation: X:172.58, Y:-62.52, Z:-21.25 [[ 9.55723067e-01 2.83795801e-01 7.78033634e-02 1.72582248e+02] [-2.82629034e-01 9.58880891e-01 -2.58508572e-02 -6.25239209e+01] [-8.19405231e-02 2.71677104e-03 9.96633518e-01 -2.12517739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.081193817 meters 0.063356931023648 Centerline is valid? [True, True] Translation: X:172.61, Y:-62.54, Z:-21.26 [[ 9.55998269e-01 2.82858976e-01 7.78338541e-02 1.72610457e+02] [-2.81686220e-01 9.59157359e-01 -2.58850121e-02 -6.25365895e+01] [-8.19767220e-02 2.82130263e-03 9.96630251e-01 -2.12572719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11119381700001 meters 0.06122831830691821 Centerline is valid? [True, True] Translation: X:172.64, Y:-62.54, Z:-21.26 [[ 9.55916505e-01 2.82877143e-01 7.87664780e-02 1.72642884e+02] [-2.81674260e-01 9.59151841e-01 -2.62174843e-02 -6.25423189e+01] [-8.29653395e-02 2.87523652e-03 9.96548286e-01 -2.12562972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14119381700002 meters 0.060994488678688286 Centerline is valid? [True, True] Translation: X:172.67, Y:-62.55, Z:-21.26 [[ 9.55402768e-01 2.84293917e-01 7.98906781e-02 1.72672697e+02] [-2.83058973e-01 9.58733031e-01 -2.66194094e-02 -6.25513092e+01] [-8.41615681e-02 2.81848411e-03 9.96448135e-01 -2.12595115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17119381700002 meters 0.06026699334920967 Centerline is valid? [True, True] Translation: X:172.70, Y:-62.56, Z:-21.26 [[ 9.54794348e-01 2.86490572e-01 7.93152249e-02 1.72703486e+02] [-2.85278983e-01 9.58079456e-01 -2.64510517e-02 -6.25595354e+01] [-8.35682645e-02 2.62834796e-03 9.96498589e-01 -2.12630915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20119381700002 meters 0.05963030833469715 Centerline is valid? [True, True] Translation: X:172.73, Y:-62.57, Z:-21.27 [[ 9.54036135e-01 2.89383777e-01 7.79235678e-02 1.72732442e+02] [-2.88221220e-01 9.57210234e-01 -2.60210742e-02 -6.25672218e+01] [-8.21193133e-02 2.36581935e-03 9.96619697e-01 -2.12678951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23119381700002 meters 0.05908599027359394 Centerline is valid? [True, True] Translation: X:172.76, Y:-62.57, Z:-21.27 [[ 9.53336335e-01 2.92198374e-01 7.59601338e-02 1.72762202e+02] [-2.91102479e-01 9.56355487e-01 -2.53678792e-02 -6.25738836e+01] [-8.00573438e-02 2.07193772e-03 9.96788106e-01 -2.12737393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26119381700002 meters 0.05783852772540293 Centerline is valid? [True, True] Translation: X:172.79, Y:-62.57, Z:-21.28 [[ 9.51528522e-01 2.98484740e-01 7.41642167e-02 1.72790993e+02] [-2.97458865e-01 9.54413212e-01 -2.47718512e-02 -6.25746020e+01] [-7.81773278e-02 1.51031922e-03 9.96938325e-01 -2.12793182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29119381700002 meters 0.05694656231844063 Centerline is valid? [True, True] Translation: X:172.82, Y:-62.58, Z:-21.28 [[ 9.50370174e-01 3.01878300e-01 7.52730016e-02 1.72819857e+02] [-3.00832801e-01 9.53345662e-01 -2.51331395e-02 -6.25795725e+01] [-7.93483389e-02 1.24119824e-03 9.96846177e-01 -2.12814959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32119381700002 meters 0.05606721952187323 Centerline is valid? [True, True] Translation: X:172.85, Y:-62.59, Z:-21.28 [[ 9.49123973e-01 3.05582281e-01 7.60470547e-02 1.72847802e+02] [-3.04527551e-01 9.52165215e-01 -2.53845353e-02 -6.25853046e+01] [-8.01664243e-02 9.34647655e-04 9.96781055e-01 -2.12832282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35119381700002 meters 0.05510014196849437 Centerline is valid? [True, True] Translation: X:172.88, Y:-62.59, Z:-21.28 [[ 9.47813495e-01 3.09160978e-01 7.79042292e-02 1.72876714e+02] [-3.08066713e-01 9.51009506e-01 -2.59965465e-02 -6.25917931e+01] [-8.21247802e-02 6.40177770e-04 9.96621849e-01 -2.12830152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38119381700002 meters 0.0539681562138625 Centerline is valid? [True, True] Translation: X:172.91, Y:-62.60, Z:-21.28 [[ 9.45403620e-01 3.15437316e-01 8.19224951e-02 1.72906159e+02] [-3.14251075e-01 9.48946411e-01 -2.73307811e-02 -6.25983575e+01] [-8.63612059e-02 9.43872372e-05 9.96263887e-01 -2.12813797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41119381700003 meters 0.05401182337796542 Centerline is valid? [True, True] Translation: X:172.93, Y:-62.61, Z:-21.28 [[ 9.44416976e-01 3.18312527e-01 8.21809566e-02 1.72934090e+02] [-3.17129861e-01 9.47985815e-01 -2.74143325e-02 -6.26067384e+01] [-8.66327066e-02 -1.71474322e-04 9.96240305e-01 -2.12840753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44119381700003 meters 0.05401345288849848 Centerline is valid? [True, True] Translation: X:172.96, Y:-62.62, Z:-21.29 [[ 9.43556787e-01 3.20796846e-01 8.24012902e-02 1.72961646e+02] [-3.19617948e-01 9.47147938e-01 -2.74800003e-02 -6.26155893e+01] [-8.68617096e-02 -4.07990413e-04 9.96220295e-01 -2.12872073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47119381700003 meters 0.05468495286237129 Centerline is valid? [True, True] Translation: X:172.99, Y:-62.63, Z:-21.29 [[ 9.41949119e-01 3.25383767e-01 8.28085806e-02 1.72987854e+02] [-3.24211471e-01 9.45581671e-01 -2.76084519e-02 -6.26251479e+01] [-8.72856181e-02 -8.41734779e-04 9.96182971e-01 -2.12923007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50119381700003 meters 0.05486240197710188 Centerline is valid? [True, True] Translation: X:173.01, Y:-62.64, Z:-21.30 [[ 9.41281275e-01 3.27242943e-01 8.30759788e-02 1.73014069e+02] [-3.26071182e-01 9.44939681e-01 -2.76872369e-02 -6.26359779e+01] [-8.75622418e-02 -1.02720493e-03 9.96158521e-01 -2.12956355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53119381700003 meters 0.05580328672417179 Centerline is valid? [True, True] Translation: X:173.04, Y:-62.65, Z:-21.30 [[ 9.41042233e-01 3.28057801e-01 8.25687314e-02 1.73039033e+02] [-3.26904086e-01 9.44657008e-01 -2.75110172e-02 -6.26463241e+01] [-8.70243345e-02 -1.10302665e-03 9.96205575e-01 -2.13036781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56119381700003 meters 0.055377768998738995 Centerline is valid? [True, True] Translation: X:173.06, Y:-62.66, Z:-21.30 [[ 9.40911493e-01 3.28632288e-01 8.17702959e-02 1.73064729e+02] [-3.27503854e-01 9.44457244e-01 -2.72348969e-02 -6.26619269e+01] [-8.61788148e-02 -1.15445954e-03 9.96279017e-01 -2.13043678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59119381700003 meters 0.05539981282246736 Centerline is valid? [True, True] Translation: X:173.09, Y:-62.68, Z:-21.31 [[ 9.41115330e-01 3.28191770e-01 8.11917409e-02 1.73089535e+02] [-3.27078276e-01 9.44610461e-01 -2.70347631e-02 -6.26771135e+01] [-8.55671545e-02 -1.11322467e-03 9.96331783e-01 -2.13082673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62119381700003 meters 0.05505980461337729 Centerline is valid? [True, True] Translation: X:173.11, Y:-62.70, Z:-21.31 [[ 9.42396555e-01 3.24819033e-01 7.98832162e-02 1.73111389e+02] [-3.23729645e-01 9.45775849e-01 -2.65925032e-02 -6.26989125e+01] [-8.41893677e-02 -7.99881836e-04 9.96449452e-01 -2.13127195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65119381700003 meters 0.054780907774330506 Centerline is valid? [True, True] Translation: X:173.14, Y:-62.72, Z:-21.32 [[ 9.43432896e-01 3.21738074e-01 8.01185549e-02 1.73135715e+02] [-3.20631973e-01 9.46828561e-01 -2.66610763e-02 -6.27164624e+01] [-8.44364195e-02 -5.35633940e-04 9.96428725e-01 -2.13163287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68119381700004 meters 0.054631432788735716 Centerline is valid? [True, True] Translation: X:173.16, Y:-62.74, Z:-21.32 [[ 9.44948949e-01 3.17167655e-01 8.04746118e-02 1.73159659e+02] [-3.16035896e-01 9.48369474e-01 -2.67703620e-02 -6.27357472e+01] [-8.48103583e-02 -1.36240651e-04 9.96397102e-01 -2.13206503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71119381700004 meters 0.05476454260952528 Centerline is valid? [True, True] Translation: X:173.19, Y:-62.76, Z:-21.32 [[ 9.46397670e-01 3.12798964e-01 8.05497278e-02 1.73185910e+02] [-3.11650210e-01 9.49819324e-01 -2.67842993e-02 -6.27569756e+01] [-8.48857890e-02 2.45258841e-04 9.96390658e-01 -2.13236242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74119381700004 meters 0.0557027920604526 Centerline is valid? [True, True] Translation: X:173.21, Y:-62.79, Z:-21.33 [[ 9.49299488e-01 3.03886724e-01 8.05191983e-02 1.73209561e+02] [-3.02704650e-01 9.52707574e-01 -2.67987602e-02 -6.27867635e+01] [-8.48550375e-02 1.06651354e-03 9.96392736e-01 -2.13255376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77119381700004 meters 0.057138301282649746 Centerline is valid? [True, True] Translation: X:173.23, Y:-62.81, Z:-21.33 [[ 9.50564445e-01 3.00233955e-01 7.92893925e-02 1.73234814e+02] [-2.99072576e-01 9.53864567e-01 -2.64193511e-02 -6.28067279e+01] [-8.35633283e-02 1.40001298e-03 9.96501485e-01 -2.13316320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.801193817 meters 0.057887640971284855 Centerline is valid? [True, True] Translation: X:173.26, Y:-62.82, Z:-21.33 [[ 9.51503210e-01 2.97426308e-01 7.86080988e-02 1.73262299e+02] [-2.96274625e-01 9.54743370e-01 -2.62000892e-02 -6.28244262e+01] [-8.28431569e-02 1.63988402e-03 9.96561249e-01 -2.13347261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.831193817 meters 0.05809015745063155 Centerline is valid? [True, True] Translation: X:173.29, Y:-62.84, Z:-21.34 [[ 9.52105311e-01 2.95486538e-01 7.86332146e-02 1.73290406e+02] [-2.94325370e-01 9.55345143e-01 -2.62342201e-02 -6.28400824e+01] [-8.28737185e-02 1.83399034e-03 9.96558369e-01 -2.13371379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86119381700001 meters 0.06029030167554399 Centerline is valid? [True, True] Translation: X:173.32, Y:-62.86, Z:-21.34 [[ 9.53199387e-01 2.92210420e-01 7.76144199e-02 1.73315582e+02] [-2.91066402e-01 9.56351714e-01 -2.59181239e-02 -6.28622428e+01] [-8.18002293e-02 2.11418991e-03 9.96646503e-01 -2.13438504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89119381700002 meters 0.06072725781601628 Centerline is valid? [True, True] Translation: X:173.34, Y:-62.88, Z:-21.35 [[ 9.53416106e-01 2.91282515e-01 7.84361218e-02 1.73344886e+02] [-2.90109053e-01 9.56634456e-01 -2.62155542e-02 -6.28777587e+01] [-8.26708292e-02 2.23930257e-03 9.96574392e-01 -2.13469879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92119381700002 meters 0.06103086039911997 Centerline is valid? [True, True] Translation: X:173.37, Y:-62.89, Z:-21.35 [[ 9.53537161e-01 2.91040314e-01 7.78615277e-02 1.73374197e+02] [-2.89880805e-01 9.56708093e-01 -2.60527064e-02 -6.28919474e+01] [-8.20731415e-02 2.27166139e-03 9.96623720e-01 -2.13503704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95119381700002 meters 0.06109141466726869 Centerline is valid? [True, True] Translation: X:173.40, Y:-62.91, Z:-21.35 [[ 9.54225322e-01 2.88812719e-01 7.77254670e-02 1.73403119e+02] [-2.87647910e-01 9.57382396e-01 -2.60312846e-02 -6.29075132e+01] [-8.19311599e-02 2.48214277e-03 9.96634900e-01 -2.13512955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98119381700002 meters 0.06202732234567941 Centerline is valid? [True, True] Translation: X:173.43, Y:-62.92, Z:-21.36 [[ 9.54610921e-01 2.87411653e-01 7.81826784e-02 1.73431145e+02] [-2.86226191e-01 9.57803505e-01 -2.62109292e-02 -6.29210947e+01] [-8.24169699e-02 2.64330905e-03 9.96594429e-01 -2.13552735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01119381700002 meters 0.06147047760959319 Centerline is valid? [True, True] Translation: X:173.46, Y:-62.93, Z:-21.36 [[ 9.54849130e-01 2.86283292e-01 7.94041355e-02 1.73462195e+02] [-2.85054657e-01 9.58140912e-01 -2.66427376e-02 -6.29332488e+01] [-8.37077214e-02 2.80527622e-03 9.96486401e-01 -2.13556345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04119381700002 meters 0.062107940783298995 Centerline is valid? [True, True] Translation: X:173.49, Y:-62.95, Z:-21.36 [[ 9.55272109e-01 2.84543310e-01 8.05624173e-02 1.73491510e+02] [-2.83269505e-01 9.58658388e-01 -2.70644097e-02 -6.29469594e+01] [-8.49328339e-02 3.03299964e-03 9.96382063e-01 -2.13582493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07119381700002 meters 0.06525381342447283 Centerline is valid? [True, True] Translation: X:173.52, Y:-62.97, Z:-21.36 [[ 9.56520208e-01 2.79419833e-01 8.36280336e-02 1.73517204e+02] [-2.78024204e-01 9.60162059e-01 -2.81311567e-02 -6.29666016e+01] [-8.81568680e-02 3.65740243e-03 9.96099890e-01 -2.13602594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10119381700002 meters 0.06452813108878892 Centerline is valid? [True, True] Translation: X:173.55, Y:-62.98, Z:-21.36 [[ 9.57114522e-01 2.77291172e-01 8.39130391e-02 1.73547333e+02] [-2.75878053e-01 9.60778160e-01 -2.82245896e-02 -6.29763431e+01] [-8.84482448e-02 3.86439874e-03 9.96073278e-01 -2.13615764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13119381700002 meters 0.06964774318365485 Centerline is valid? [True, True] Translation: X:173.57, Y:-62.99, Z:-21.37 [[ 9.57747076e-01 2.75021274e-01 8.41655313e-02 1.73573118e+02] [-2.73588491e-01 9.61429346e-01 -2.83363778e-02 -6.29949025e+01] [-8.87123184e-02 4.11236230e-03 9.96048801e-01 -2.13699330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16119381700003 meters 0.07153869608963348 Centerline is valid? [True, True] Translation: X:173.60, Y:-63.01, Z:-21.37 [[ 9.58330132e-01 2.73095866e-01 8.37974157e-02 1.73601891e+02] [-2.71665903e-01 9.61977223e-01 -2.82393132e-02 -6.30073953e+01] [-8.83232449e-02 4.29768411e-03 9.96082594e-01 -2.13744678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19119381700003 meters 0.07105397849475825 Centerline is valid? [True, True] Translation: X:173.63, Y:-63.01, Z:-21.38 [[ 9.58949827e-01 2.70955725e-01 8.36553857e-02 1.73633464e+02] [-2.69520000e-01 9.62581224e-01 -2.82197758e-02 -6.30149314e+01] [-8.81714135e-02 4.51454952e-03 9.96095086e-01 -2.13772418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22119381700003 meters 0.07032936335818064 Centerline is valid? [True, True] Translation: X:173.67, Y:-63.02, Z:-21.38 [[ 9.59926141e-01 2.67374022e-01 8.39817612e-02 1.73665207e+02] [-2.65912620e-01 9.63580513e-01 -2.83385559e-02 -6.30189668e+01] [-8.85001822e-02 4.87111042e-03 9.96064250e-01 -2.13786284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25119381700003 meters 0.07220966070707222 Centerline is valid? [True, True] Translation: X:173.69, Y:-63.03, Z:-21.38 [[ 9.60376209e-01 2.65843923e-01 8.36931671e-02 1.73693912e+02] [-2.64386999e-01 9.64003155e-01 -2.82388353e-02 -6.30295691e+01] [-8.81876000e-02 4.99252030e-03 9.96091372e-01 -2.13829351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28119381700003 meters 0.07320724987833503 Centerline is valid? [True, True] Translation: X:173.72, Y:-63.04, Z:-21.39 [[ 9.60843922e-01 2.64133551e-01 8.37402213e-02 1.73724307e+02] [-2.62665806e-01 9.64472194e-01 -2.82853542e-02 -6.30390576e+01] [-8.82362260e-02 5.18211797e-03 9.96086098e-01 -2.13865697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31119381700003 meters 0.07466120918952311 Centerline is valid? [True, True] Translation: X:173.75, Y:-63.05, Z:-21.39 [[ 9.61503036e-01 2.61777858e-01 8.35719146e-02 1.73754157e+02] [-2.60306381e-01 9.65113069e-01 -2.82374357e-02 -6.30480455e+01] [-8.80482824e-02 5.39607757e-03 9.96101592e-01 -2.13904984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34119381700003 meters 0.07674089576718689 Centerline is valid? [True, True] Translation: X:173.78, Y:-63.05, Z:-21.39 [[ 9.62130605e-01 2.59178134e-01 8.44475781e-02 1.73784631e+02] [-2.57665408e-01 9.65812742e-01 -2.85356729e-02 -6.30511156e+01] [-8.89563694e-02 5.69582458e-03 9.96019238e-01 -2.13938367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37119381700003 meters 0.07722074302851083 Centerline is valid? [True, True] Translation: X:173.82, Y:-63.06, Z:-21.40 [[ 9.62136427e-01 2.59101478e-01 8.46163037e-02 1.73816365e+02] [-2.57581961e-01 9.65833172e-01 -2.85974997e-02 -6.30562937e+01] [-8.91348875e-02 5.71906271e-03 9.96003145e-01 -2.13972734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40119381700003 meters 0.0783179108312151 Centerline is valid? [True, True] Translation: X:173.85, Y:-63.06, Z:-21.40 [[ 9.61988835e-01 2.59726638e-01 8.43774587e-02 1.73846845e+02] [-2.58215673e-01 9.65665527e-01 -2.85439463e-02 -6.30623520e+01] [-8.88940263e-02 5.67137532e-03 9.96024943e-01 -2.14016408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43119381700004 meters 0.07811671291154028 Centerline is valid? [True, True] Translation: X:173.88, Y:-63.06, Z:-21.41 [[ 9.61580770e-01 2.61086328e-01 8.48313116e-02 1.73880677e+02] [-2.59562081e-01 9.65299215e-01 -2.87219685e-02 -6.30618410e+01] [-8.93865118e-02 5.59950080e-03 9.95981273e-01 -2.14052375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46119381700004 meters 0.07535253707138095 Centerline is valid? [True, True] Translation: X:173.91, Y:-63.06, Z:-21.41 [[ 9.61355433e-01 2.61737237e-01 8.53776929e-02 1.73914443e+02] [-2.60193431e-01 9.65122923e-01 -2.89330695e-02 -6.30620877e+01] [-8.99728302e-02 5.60024878e-03 9.95928475e-01 -2.14071906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49119381700004 meters 0.07513723815046594 Centerline is valid? [True, True] Translation: X:173.95, Y:-63.07, Z:-21.41 [[ 9.61061615e-01 2.62778747e-01 8.54862729e-02 1.73947197e+02] [-2.61232211e-01 9.64840210e-01 -2.90017459e-02 -6.30660741e+01] [-9.01016359e-02 5.54069668e-03 9.95917163e-01 -2.14114755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52119381700004 meters 0.07508042297710167 Centerline is valid? [True, True] Translation: X:173.98, Y:-63.07, Z:-21.42 [[ 9.60760823e-01 2.63612741e-01 8.62957925e-02 1.73979656e+02] [-2.62039537e-01 9.64612799e-01 -2.92818769e-02 -6.30697025e+01] [-9.09611018e-02 5.51997058e-03 9.95839148e-01 -2.14156396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.551193817 meters 0.07512083058410687 Centerline is valid? [True, True] Translation: X:174.01, Y:-63.07, Z:-21.42 [[ 9.60546744e-01 2.64509910e-01 8.59328839e-02 1.74011223e+02] [-2.62951019e-01 9.64367632e-01 -2.91861551e-02 -6.30733182e+01] [-9.05909191e-02 5.43852682e-03 9.95873339e-01 -2.14207037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.581193817 meters 0.07492592745441254 Centerline is valid? [True, True] Translation: X:174.04, Y:-63.07, Z:-21.43 [[ 9.60318896e-01 2.65937931e-01 8.40513793e-02 1.74044405e+02] [-2.64449825e-01 9.63976063e-01 -2.85734141e-02 -6.30701355e+01] [-8.86222723e-02 5.21221689e-03 9.96051668e-01 -2.14272924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61119381700001 meters 0.07489880259806475 Centerline is valid? [True, True] Translation: X:174.08, Y:-63.07, Z:-21.43 [[ 9.60061429e-01 2.66969456e-01 8.37219359e-02 1.74076395e+02] [-2.65495892e-01 9.63691454e-01 -2.84730329e-02 -6.30749739e+01] [-8.82835442e-02 5.10803056e-03 9.96082288e-01 -2.14326431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64119381700002 meters 0.07415933863179439 Centerline is valid? [True, True] Translation: X:174.11, Y:-63.08, Z:-21.44 [[ 9.59907358e-01 2.67735045e-01 8.30410111e-02 1.74108743e+02] [-2.66286064e-01 9.63479497e-01 -2.82664441e-02 -6.30785319e+01] [-8.75762293e-02 5.02050369e-03 9.96145169e-01 -2.14364346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67119381700002 meters 0.07271415294327419 Centerline is valid? [True, True] Translation: X:174.14, Y:-63.07, Z:-21.44 [[ 9.59411367e-01 2.69330207e-01 8.36126128e-02 1.74142868e+02] [-2.67864307e-01 9.63035220e-01 -2.84934736e-02 -6.30747329e+01] [-8.81960441e-02 4.94012786e-03 9.96090886e-01 -2.14409320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70119381700002 meters 0.06903455595067345 Centerline is valid? [True, True] Translation: X:174.18, Y:-63.07, Z:-21.44 [[ 9.59063126e-01 2.70609579e-01 8.34767979e-02 1.74177656e+02] [-2.69153557e-01 9.62677155e-01 -2.84439288e-02 -6.30736074e+01] [-8.80584059e-02 4.81144619e-03 9.96103693e-01 -2.14422736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73119381700002 meters 0.06903455595067345 Centerline is valid? [True, True] Translation: X:174.21, Y:-63.08, Z:-21.45 [[ 9.58972130e-01 2.70934347e-01 8.34687531e-02 1.74208193e+02] [-2.69477503e-01 9.62585828e-01 -2.84675138e-02 -6.30842775e+01] [-8.80586660e-02 4.80660123e-03 9.96103693e-01 -2.14459934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76119381700002 meters 0.06742440126482778 Centerline is valid? [True, True] Translation: X:174.24, Y:-63.09, Z:-21.45 [[ 9.58395120e-01 2.72825816e-01 8.39337087e-02 1.74240522e+02] [-2.71356327e-01 9.62051978e-01 -2.86659176e-02 -6.30855324e+01] [-8.85693928e-02 4.69733268e-03 9.96058933e-01 -2.14490409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79119381700002 meters 0.06494117026753783 Centerline is valid? [True, True] Translation: X:174.27, Y:-63.08, Z:-21.45 [[ 9.56390481e-01 2.79347757e-01 8.53350969e-02 1.74274446e+02] [-2.77853921e-01 9.60180949e-01 -2.91503669e-02 -6.30780731e+01] [-9.00802240e-02 4.16844215e-03 9.95925789e-01 -2.14521434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82119381700002 meters 0.06298268036933206 Centerline is valid? [True, True] Translation: X:174.31, Y:-63.08, Z:-21.46 [[ 9.54960986e-01 2.84111426e-01 8.56166646e-02 1.74306696e+02] [-2.82627012e-01 9.58784019e-01 -2.92434187e-02 -6.30784718e+01] [-9.03962791e-02 3.72874181e-03 9.95898895e-01 -2.14553354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85119381700002 meters 0.06330901023197397 Centerline is valid? [True, True] Translation: X:174.33, Y:-63.08, Z:-21.46 [[ 9.53394079e-01 2.89141886e-01 8.62363074e-02 1.74334814e+02] [-2.87655997e-01 9.57280636e-01 -2.94586403e-02 -6.30834383e+01] [-9.10700740e-02 3.27930228e-03 9.95839087e-01 -2.14621858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88119381700002 meters 0.05918653977449931 Centerline is valid? [True, True] Translation: X:174.37, Y:-63.08, Z:-21.46 [[ 9.51696266e-01 2.94534519e-01 8.67388910e-02 1.74367673e+02] [-2.93053878e-01 9.55636809e-01 -2.96262379e-02 -6.30790580e+01] [-9.16168267e-02 2.77601161e-03 9.95790465e-01 -2.14621462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91119381700003 meters 0.056140408667697664 Centerline is valid? [True, True] Translation: X:174.40, Y:-63.07, Z:-21.46 [[ 9.48435975e-01 3.04815235e-01 8.69302786e-02 1.74402850e+02] [-3.03371393e-01 9.52409833e-01 -2.96868223e-02 -6.30692949e+01] [-9.18422479e-02 1.78389050e-03 9.95771972e-01 -2.14647638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94119381700003 meters 0.05535071659259006 Centerline is valid? [True, True] Translation: X:174.43, Y:-63.07, Z:-21.47 [[ 9.47150416e-01 3.08865088e-01 8.66512999e-02 1.74432104e+02] [-3.07447328e-01 9.51104848e-01 -2.95923778e-02 -6.30699862e+01] [-9.15545238e-02 1.38772232e-03 9.95799098e-01 -2.14689886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97119381700003 meters 0.05477393534004367 Centerline is valid? [True, True] Translation: X:174.46, Y:-63.07, Z:-21.47 [[ 9.45862083e-01 3.12568478e-01 8.74406403e-02 1.74460632e+02] [-3.11141234e-01 9.49894669e-01 -2.98538032e-02 -6.30729787e+01] [-9.23907559e-02 1.03119183e-03 9.95722293e-01 -2.14730976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00119381700003 meters 0.05419269518649927 Centerline is valid? [True, True] Translation: X:174.49, Y:-63.08, Z:-21.48 [[ 9.44329720e-01 3.16685532e-01 8.91720427e-02 1.74489065e+02] [-3.15220015e-01 9.48530374e-01 -3.04379875e-02 -6.30752837e+01] [-9.42216613e-02 6.34683610e-04 9.95551041e-01 -2.14753409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03119381700003 meters 0.05389295235991003 Centerline is valid? [True, True] Translation: X:174.52, Y:-63.08, Z:-21.48 [[ 9.43876967e-01 3.17804479e-01 8.99810262e-02 1.74517208e+02] [-3.16318406e-01 9.48156130e-01 -3.07021082e-02 -6.30821531e+01] [-9.50733290e-02 5.16357955e-04 9.95470138e-01 -2.14765879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06119381700003 meters 0.05382135068010841 Centerline is valid? [True, True] Translation: X:174.54, Y:-63.09, Z:-21.48 [[ 9.43634128e-01 3.18048114e-01 9.16516695e-02 1.74543533e+02] [-3.16510602e-01 9.48074457e-01 -3.12387864e-02 -6.30903939e+01] [-9.68280439e-02 4.69259859e-04 9.95301015e-01 -2.14787663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09119381700003 meters 0.05361195203329195 Centerline is valid? [True, True] Translation: X:174.57, Y:-63.10, Z:-21.48 [[ 9.43509457e-01 3.18018482e-01 9.30276828e-02 1.74570655e+02] [-3.16434935e-01 9.48084396e-01 -3.17003206e-02 -6.30998300e+01] [-9.82793823e-02 4.72343487e-04 9.95158751e-01 -2.14797536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12119381700003 meters 0.05373549804560023 Centerline is valid? [True, True] Translation: X:174.59, Y:-63.11, Z:-21.48 [[ 9.43907275e-01 3.16829980e-01 9.30474033e-02 1.74594116e+02] [-3.15243368e-01 9.48482180e-01 -3.16729061e-02 -6.31148075e+01] [-9.82887302e-02 5.63709724e-04 9.95157780e-01 -2.14842540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15119381700003 meters 0.05389055840862719 Centerline is valid? [True, True] Translation: X:174.62, Y:-63.13, Z:-21.49 [[ 9.44273404e-01 3.15729348e-01 9.30737217e-02 1.74619874e+02] [-3.14137613e-01 9.48849057e-01 -3.16706022e-02 -6.31279236e+01] [-9.83122517e-02 6.67750618e-04 9.95155393e-01 -2.14887295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18119381700004 meters 0.0540867509106264 Centerline is valid? [True, True] Translation: X:174.65, Y:-63.14, Z:-21.49 [[ 9.44605674e-01 3.14847460e-01 9.26887160e-02 1.74645240e+02] [-3.13265509e-01 9.49141990e-01 -3.15310005e-02 -6.31407891e+01] [-9.79022078e-02 7.48184200e-04 9.95195759e-01 -2.14927628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21119381700004 meters 0.05461121820222047 Centerline is valid? [True, True] Translation: X:174.67, Y:-63.16, Z:-21.50 [[ 9.45683889e-01 3.12166964e-01 9.07401108e-02 1.74668788e+02] [-3.10639456e-01 9.50026733e-01 -3.08599165e-02 -6.31583246e+01] [-9.58389774e-02 9.96267168e-04 9.95396352e-01 -2.14989832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24119381700004 meters 0.05495510536048512 Centerline is valid? [True, True] Translation: X:174.69, Y:-63.17, Z:-21.50 [[ 9.46072038e-01 3.11266252e-01 8.97831755e-02 1.74693270e+02] [-3.09767479e-01 9.50322144e-01 -3.05275638e-02 -6.31718966e+01] [-9.48251401e-02 1.06936655e-03 9.95493370e-01 -2.15043258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27119381700004 meters 0.05530714542977667 Centerline is valid? [True, True] Translation: X:174.72, Y:-63.19, Z:-21.51 [[ 9.46536666e-01 3.10358047e-01 8.80126242e-02 1.74718333e+02] [-3.08915510e-01 9.50619074e-01 -2.99095989e-02 -6.31855819e+01] [-9.29491640e-02 1.12206731e-03 9.95670223e-01 -2.15098782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.301193817 meters 0.05580680309973204 Centerline is valid? [True, True] Translation: X:174.74, Y:-63.20, Z:-21.52 [[ 9.46941465e-01 3.09382844e-01 8.70868383e-02 1.74743525e+02] [-3.07967160e-01 9.50936813e-01 -2.95872742e-02 -6.31996506e+01] [-9.19678755e-02 1.19753051e-03 9.95761254e-01 -2.15157066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.331193817 meters 0.05613356025512729 Centerline is valid? [True, True] Translation: X:174.77, Y:-63.22, Z:-21.52 [[ 9.47956396e-01 3.06885495e-01 8.48525997e-02 1.74767866e+02] [-3.05532327e-01 9.51745420e-01 -2.88210481e-02 -6.32179154e+01] [-8.96028348e-02 1.39588466e-03 9.95976598e-01 -2.15191641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36119381700001 meters 0.056560171089795434 Centerline is valid? [True, True] Translation: X:174.79, Y:-63.23, Z:-21.52 [[ 9.48546909e-01 3.05070034e-01 8.47999789e-02 1.74793309e+02] [-3.03712029e-01 9.52328643e-01 -2.87951244e-02 -6.32323745e+01] [-8.95419785e-02 1.55875261e-03 9.95981829e-01 -2.15239964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39119381700002 meters 0.05719065794961028 Centerline is valid? [True, True] Translation: X:174.82, Y:-63.25, Z:-21.53 [[ 9.49213020e-01 3.03342392e-01 8.35346432e-02 1.74818482e+02] [-3.02018704e-01 9.52880130e-01 -2.83577125e-02 -6.32472647e+01] [-8.82005980e-02 1.68848525e-03 9.96101302e-01 -2.15285408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42119381700002 meters 0.057407089148950305 Centerline is valid? [True, True] Translation: X:174.84, Y:-63.26, Z:-21.53 [[ 9.49889334e-01 3.01385377e-01 8.29283327e-02 1.74844233e+02] [-3.00074155e-01 9.53500622e-01 -2.81436373e-02 -6.32619063e+01] [-8.75542976e-02 1.84869149e-03 9.96158033e-01 -2.15317099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45119381700002 meters 0.05898886046233284 Centerline is valid? [True, True] Translation: X:174.87, Y:-63.29, Z:-21.54 [[ 9.51316060e-01 2.97007378e-01 8.23672971e-02 1.74868257e+02] [-2.95698275e-01 9.54872585e-01 -2.79441633e-02 -6.32853902e+01] [-8.69498966e-02 2.22786363e-03 9.96210195e-01 -2.15367365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48119381700002 meters 0.06052352465722411 Centerline is valid? [True, True] Translation: X:174.89, Y:-63.30, Z:-21.54 [[ 9.51927806e-01 2.95014608e-01 8.24611067e-02 1.74894786e+02] [-2.93695285e-01 9.55489703e-01 -2.79733382e-02 -6.33034659e+01] [-8.70432818e-02 2.41016024e-03 9.96201615e-01 -2.15425001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51119381700002 meters 0.0618277533171612 Centerline is valid? [True, True] Translation: X:174.92, Y:-63.32, Z:-21.54 [[ 9.53629497e-01 2.89558046e-01 8.21396441e-02 1.74920577e+02] [-2.88225963e-01 9.57155976e-01 -2.78968065e-02 -6.33234254e+01] [-8.66981960e-02 2.92843959e-03 9.96230318e-01 -2.15445370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54119381700002 meters 0.06230587119422269 Centerline is valid? [True, True] Translation: X:174.95, Y:-63.34, Z:-21.55 [[ 9.54475423e-01 2.86822011e-01 8.19133733e-02 1.74948975e+02] [-2.85487716e-01 9.57978669e-01 -2.78142579e-02 -6.33383782e+01] [-8.64490057e-02 3.16276368e-03 9.96251257e-01 -2.15455764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57119381700002 meters 0.065743954375116 Centerline is valid? [True, True] Translation: X:174.97, Y:-63.36, Z:-21.55 [[ 9.55221136e-01 2.83838092e-01 8.35973646e-02 1.74974403e+02] [-2.82434440e-01 9.58865723e-01 -2.84132229e-02 -6.33581486e+01] [-8.82234025e-02 3.53013613e-03 9.96094458e-01 -2.15514964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60119381700002 meters 0.06468094611053023 Centerline is valid? [True, True] Translation: X:175.00, Y:-63.37, Z:-21.55 [[ 9.56183183e-01 2.80527154e-01 8.37749202e-02 1.75004675e+02] [-2.79101941e-01 9.59838266e-01 -2.85063145e-02 -6.33681028e+01] [-8.84071694e-02 3.87551569e-03 9.96076881e-01 -2.15510448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63119381700002 meters 0.06621248934823308 Centerline is valid? [True, True] Translation: X:175.03, Y:-63.38, Z:-21.55 [[ 9.56901935e-01 2.77581231e-01 8.53659617e-02 1.75033904e+02] [-2.76089267e-01 9.60692857e-01 -2.90508301e-02 -6.33830411e+01] [-9.00744349e-02 4.23016975e-03 9.95926052e-01 -2.15530594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66119381700003 meters 0.07006611416952561 Centerline is valid? [True, True] Translation: X:175.06, Y:-63.40, Z:-21.56 [[ 9.58113878e-01 2.73166918e-01 8.60094902e-02 1.75058966e+02] [-2.71633640e-01 9.61955213e-01 -2.92802705e-02 -6.34008645e+01] [-9.07356787e-02 4.69076266e-03 9.95863963e-01 -2.15573522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69119381700003 meters 0.06991235447204334 Centerline is valid? [True, True] Translation: X:175.09, Y:-63.41, Z:-21.56 [[ 9.58445266e-01 2.72019201e-01 8.59547930e-02 1.75088984e+02] [-2.70483942e-01 9.62279905e-01 -2.92544216e-02 -6.34113703e+01] [-9.06703345e-02 4.78937069e-03 9.95869445e-01 -2.15607905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72119381700003 meters 0.07044920727121916 Centerline is valid? [True, True] Translation: X:175.12, Y:-63.42, Z:-21.56 [[ 9.58659821e-01 2.70919173e-01 8.70295911e-02 1.75119303e+02] [-2.69337998e-01 9.62589202e-01 -2.96491428e-02 -6.34229275e+01] [-9.18062658e-02 4.98306610e-03 9.95764419e-01 -2.15633139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75119381700003 meters 0.06997926779623141 Centerline is valid? [True, True] Translation: X:175.15, Y:-63.43, Z:-21.57 [[ 9.58546535e-01 2.70826453e-01 8.85526558e-02 1.75151409e+02] [-2.69186229e-01 9.62614640e-01 -3.01965161e-02 -6.34324550e+01] [-9.34200982e-02 5.10761041e-03 9.95613679e-01 -2.15652057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78119381700003 meters 0.07057866878944091 Centerline is valid? [True, True] Translation: X:175.18, Y:-63.44, Z:-21.57 [[ 9.57833254e-01 2.72603250e-01 9.07905591e-02 1.75181398e+02] [-2.70882820e-01 9.62113018e-01 -3.10006085e-02 -6.34398325e+01] [-9.58016455e-02 5.09981100e-03 9.95387380e-01 -2.15675850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81119381700003 meters 0.06836354684219502 Centerline is valid? [True, True] Translation: X:175.21, Y:-63.44, Z:-21.57 [[ 9.57210278e-01 2.74921172e-01 9.03705327e-02 1.75213785e+02] [-2.73227010e-01 9.61454565e-01 -3.08564534e-02 -6.34439701e+01] [-9.53702536e-02 4.84444387e-03 9.95430081e-01 -2.15711953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84119381700003 meters 0.06773420571626053 Centerline is valid? [True, True] Translation: X:175.24, Y:-63.45, Z:-21.58 [[ 9.56600690e-01 2.77006259e-01 9.04580095e-02 1.75243533e+02] [-2.75314710e-01 9.60856741e-01 -3.09214149e-02 -6.34493798e+01] [-9.54826137e-02 4.67502621e-03 9.95420120e-01 -2.15760045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87119381700003 meters 0.06492001073417214 Centerline is valid? [True, True] Translation: X:175.28, Y:-63.45, Z:-21.58 [[ 9.55349995e-01 2.81952247e-01 8.83703404e-02 1.75276254e+02] [-2.80358931e-01 9.59419741e-01 -3.02097708e-02 -6.34474974e+01] [-9.33019619e-02 4.08549021e-03 9.95629476e-01 -2.15815630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90119381700003 meters 0.06587502518759772 Centerline is valid? [True, True] Translation: X:175.31, Y:-63.46, Z:-21.59 [[ 9.54729868e-01 2.84609627e-01 8.65346114e-02 1.75305676e+02] [-2.83093223e-01 9.58636197e-01 -2.95781653e-02 -6.34559581e+01] [-9.13734415e-02 3.74179579e-03 9.95809667e-01 -2.15883861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93119381700004 meters 0.06509122024213579 Centerline is valid? [True, True] Translation: X:175.34, Y:-63.46, Z:-21.59 [[ 9.53953237e-01 2.87574355e-01 8.52889969e-02 1.75336781e+02] [-2.86110848e-01 9.57752164e-01 -2.91783372e-02 -6.34609069e+01] [-9.00766628e-02 3.43266192e-03 9.95928919e-01 -2.15936633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96119381700004 meters 0.06160786483670374 Centerline is valid? [True, True] Translation: X:175.37, Y:-63.46, Z:-21.59 [[ 9.53064900e-01 2.90683725e-01 8.46774425e-02 1.75371341e+02] [-2.89250881e-01 9.56814033e-01 -2.89971532e-02 -6.34607213e+01] [-8.94495658e-02 3.14314403e-03 9.95986393e-01 -2.15948447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99119381700004 meters 0.0608390529869688 Centerline is valid? [True, True] Translation: X:175.40, Y:-63.47, Z:-21.60 [[ 9.52177013e-01 2.93581038e-01 8.46706003e-02 1.75402713e+02] [-2.92158821e-01 9.55929846e-01 -2.90060944e-02 -6.34662189e+01] [-8.94547931e-02 2.88167356e-03 9.95986715e-01 -2.15989030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02119381700004 meters 0.0598570356754281 Centerline is valid? [True, True] Translation: X:175.43, Y:-63.47, Z:-21.61 [[ 9.49964105e-01 3.00471915e-01 8.53512059e-02 1.75432479e+02] [-2.99053545e-01 9.53787985e-01 -2.92482018e-02 -6.34667527e+01] [-9.01952179e-02 2.26016114e-03 9.95921540e-01 -2.16052493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.051193817 meters 0.05859795452425498 Centerline is valid? [True, True] Translation: X:175.46, Y:-63.47, Z:-21.61 [[ 9.48825581e-01 3.04342579e-01 8.42947848e-02 1.75462338e+02] [-3.02974664e-01 9.52560818e-01 -2.88832124e-02 -6.34686966e+01] [-8.90863005e-02 1.86594671e-03 9.96022163e-01 -2.16091128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.081193817 meters 0.05700227420079197 Centerline is valid? [True, True] Translation: X:175.49, Y:-63.47, Z:-21.61 [[ 9.47419408e-01 3.08807068e-01 8.38728874e-02 1.75492507e+02] [-3.07470914e-01 9.51123622e-01 -2.87313998e-02 -6.34688184e+01] [-8.86459437e-02 1.43221250e-03 9.96062169e-01 -2.16101000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11119381700001 meters 0.05642439201212987 Centerline is valid? [True, True] Translation: X:175.52, Y:-63.47, Z:-21.61 [[ 9.45963137e-01 3.13383053e-01 8.33355006e-02 1.75521161e+02] [-3.12082385e-01 9.49626286e-01 -2.85394871e-02 -6.34714977e+01] [-8.80813735e-02 9.89760970e-04 9.96112791e-01 -2.16146681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14119381700002 meters 0.05568606156704612 Centerline is valid? [True, True] Translation: X:175.55, Y:-63.47, Z:-21.62 [[ 9.43455436e-01 3.20609280e-01 8.42705716e-02 1.75551994e+02] [-3.19308653e-01 9.47211483e-01 -2.88511922e-02 -6.34709308e+01] [-8.90720130e-02 3.11491364e-04 9.96025140e-01 -2.16185166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17119381700002 meters 0.05569354188435348 Centerline is valid? [True, True] Translation: X:175.58, Y:-63.48, Z:-21.62 [[ 9.42365665e-01 3.23770535e-01 8.43776925e-02 1.75580181e+02] [-3.22479705e-01 9.46135635e-01 -2.88825112e-02 -6.34765940e+01] [-8.91840478e-02 7.79352459e-06 9.96015163e-01 -2.16215180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20119381700002 meters 0.055586113162112184 Centerline is valid? [True, True] Translation: X:175.61, Y:-63.48, Z:-21.62 [[ 9.41663685e-01 3.25552305e-01 8.53533896e-02 1.75608488e+02] [-3.24239407e-01 9.45524017e-01 -2.92085497e-02 -6.34840736e+01] [-9.02125905e-02 -1.70301867e-04 9.95922517e-01 -2.16237729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23119381700002 meters 0.05566914752512883 Centerline is valid? [True, True] Translation: X:175.63, Y:-63.49, Z:-21.63 [[ 9.41319180e-01 3.26529556e-01 8.54204290e-02 1.75634152e+02] [-3.25219197e-01 9.45186953e-01 -2.92249583e-02 -6.34923543e+01] [-9.02810877e-02 -2.70349549e-04 9.95916288e-01 -2.16274331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26119381700002 meters 0.05557222237773997 Centerline is valid? [True, True] Translation: X:175.66, Y:-63.51, Z:-21.63 [[ 9.41695847e-01 3.25419128e-01 8.55062794e-02 1.75659271e+02] [-3.24102972e-01 9.45569860e-01 -2.92387422e-02 -6.35065203e+01] [-9.03670066e-02 -1.78837206e-04 9.95908516e-01 -2.16300436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29119381700002 meters 0.055688419673623576 Centerline is valid? [True, True] Translation: X:175.68, Y:-63.52, Z:-21.63 [[ 9.42111315e-01 3.24279870e-01 8.52574658e-02 1.75684418e+02] [-3.22967420e-01 9.45961183e-01 -2.91459403e-02 -6.35189877e+01] [-9.01016950e-02 -7.66635677e-05 9.95932567e-01 -2.16348426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32119381700002 meters 0.055798547424847196 Centerline is valid? [True, True] Translation: X:175.71, Y:-63.53, Z:-21.64 [[ 9.42905940e-01 3.22244439e-01 8.41837892e-02 1.75708771e+02] [-3.20957690e-01 9.46656490e-01 -2.87689177e-02 -6.35319493e+01] [-8.89637541e-02 1.06948868e-04 9.96034858e-01 -2.16403775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35119381700002 meters 0.05594791735321344 Centerline is valid? [True, True] Translation: X:175.73, Y:-63.55, Z:-21.64 [[ 9.43915722e-01 3.19307559e-01 8.40582644e-02 1.75732967e+02] [-3.18013955e-01 9.47651066e-01 -2.87155236e-02 -6.35493386e+01] [-8.88269876e-02 3.73333139e-04 9.96047000e-01 -2.16435436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38119381700002 meters 0.05612628239370128 Centerline is valid? [True, True] Translation: X:175.76, Y:-63.56, Z:-21.65 [[ 9.44348246e-01 3.18051934e-01 8.39604545e-02 1.75757425e+02] [-3.16757060e-01 9.48073169e-01 -2.86745794e-02 -6.35632754e+01] [-8.87206596e-02 4.83722067e-04 9.96056429e-01 -2.16478557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41119381700003 meters 0.056255035502185906 Centerline is valid? [True, True] Translation: X:175.78, Y:-63.58, Z:-21.65 [[ 9.44798960e-01 3.16787786e-01 8.36685390e-02 1.75782491e+02] [-3.15497898e-01 9.48496257e-01 -2.85644148e-02 -6.35772975e+01] [-8.84081538e-02 5.90381155e-04 9.96084158e-01 -2.16509552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44119381700003 meters 0.056711813602814236 Centerline is valid? [True, True] Translation: X:175.81, Y:-63.59, Z:-21.66 [[ 9.45597189e-01 3.14553524e-01 8.30784946e-02 1.75806099e+02] [-3.13273826e-01 9.49239412e-01 -2.83557498e-02 -6.35922964e+01] [-8.77807824e-02 7.86799454e-04 9.96139506e-01 -2.16572695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47119381700003 meters 0.05777733323471247 Centerline is valid? [True, True] Translation: X:175.83, Y:-63.61, Z:-21.66 [[ 9.47326674e-01 3.09916797e-01 8.07697448e-02 1.75829014e+02] [-3.08691416e-01 9.50762959e-01 -2.75573243e-02 -6.36137970e+01] [-8.53333593e-02 1.17286152e-03 9.96351766e-01 -2.16637803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50119381700003 meters 0.05765694393861231 Centerline is valid? [True, True] Translation: X:175.86, Y:-63.63, Z:-21.66 [[ 9.47941711e-01 3.08255210e-01 7.99076872e-02 1.75856547e+02] [-3.07050621e-01 9.51302808e-01 -2.72559091e-02 -6.36279101e+01] [-8.44181832e-02 1.30130812e-03 9.96429564e-01 -2.16643205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53119381700003 meters 0.058259113361481665 Centerline is valid? [True, True] Translation: X:175.88, Y:-63.64, Z:-21.67 [[ 9.48526853e-01 3.06707419e-01 7.89136776e-02 1.75883328e+02] [-3.05528092e-01 9.51802797e-01 -2.69076360e-02 -6.36437007e+01] [-8.33630307e-02 1.41226998e-03 9.96518244e-01 -2.16694045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56119381700003 meters 0.05934224655020598 Centerline is valid? [True, True] Translation: X:175.91, Y:-63.66, Z:-21.67 [[ 9.49705905e-01 3.03171516e-01 7.83946788e-02 1.75908481e+02] [-3.01992936e-01 9.52934413e-01 -2.67632477e-02 -6.36643113e+01] [-8.28188416e-02 1.74257518e-03 9.96563095e-01 -2.16743149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59119381700003 meters 0.059551612818949974 Centerline is valid? [True, True] Translation: X:175.94, Y:-63.68, Z:-21.68 [[ 9.49806968e-01 3.02977826e-01 7.79176444e-02 1.75937089e+02] [-3.01813328e-01 9.52996010e-01 -2.65954819e-02 -6.36792321e+01] [-8.23130456e-02 1.74399048e-03 9.96604997e-01 -2.16783085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62119381700003 meters 0.05942054788392204 Centerline is valid? [True, True] Translation: X:175.97, Y:-63.69, Z:-21.68 [[ 9.49715579e-01 3.03349321e-01 7.75854920e-02 1.75966999e+02] [-3.02193997e-01 9.52877854e-01 -2.65062869e-02 -6.36935350e+01] [-8.19701612e-02 1.72756375e-03 9.96633287e-01 -2.16816388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65119381700003 meters 0.05942054788392204 Centerline is valid? [True, True] Translation: X:176.00, Y:-63.70, Z:-21.69 [[ 9.49609605e-01 3.03683278e-01 7.75761904e-02 1.75997486e+02] [-3.02526845e-01 9.52771474e-01 -2.65334761e-02 -6.37042310e+01] [-8.19701543e-02 1.72756360e-03 9.96633287e-01 -2.16853547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68119381700004 meters 0.06091335016476298 Centerline is valid? [True, True] Translation: X:176.02, Y:-63.72, Z:-21.70 [[ 9.49393752e-01 3.04577806e-01 7.67063494e-02 1.76023842e+02] [-3.03447522e-01 9.52486009e-01 -2.62679358e-02 -6.37201640e+01] [-8.10623549e-02 1.66226249e-03 9.96707646e-01 -2.16955263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71119381700004 meters 0.058731767523825806 Centerline is valid? [True, True] Translation: X:176.06, Y:-63.73, Z:-21.69 [[ 9.48104003e-01 3.08892372e-01 7.53943052e-02 1.76055105e+02] [-3.07812307e-01 9.51096121e-01 -2.58408931e-02 -6.37280399e+01] [-7.96892860e-02 1.29255919e-03 9.96818914e-01 -2.16944338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74119381700004 meters 0.05835864307059007 Centerline is valid? [True, True] Translation: X:176.08, Y:-63.74, Z:-21.70 [[ 9.47226384e-01 3.11510298e-01 7.56538972e-02 1.76084151e+02] [-3.10428942e-01 9.50242138e-01 -2.59567334e-02 -6.37380535e+01] [-7.99753108e-02 1.10174350e-03 9.96796236e-01 -2.16980498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77119381700004 meters 0.05779092652258333 Centerline is valid? [True, True] Translation: X:176.12, Y:-63.75, Z:-21.70 [[ 9.46314918e-01 3.14064935e-01 7.64937386e-02 1.76115026e+02] [-3.12965237e-01 9.49401054e-01 -2.62754533e-02 -6.37483434e+01] [-8.08754346e-02 9.24972404e-04 9.96723787e-01 -2.17008892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.801193817 meters 0.057003156737248144 Centerline is valid? [True, True] Translation: X:176.14, Y:-63.76, Z:-21.70 [[ 9.44404143e-01 3.19171403e-01 7.89330762e-02 1.76143686e+02] [-3.18016967e-01 9.47696866e-01 -2.71267362e-02 -6.37570251e+01] [-8.34627073e-02 5.16544616e-04 9.96510767e-01 -2.17020186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.831193817 meters 0.05672273489802879 Centerline is valid? [True, True] Translation: X:176.17, Y:-63.77, Z:-21.70 [[ 9.43432237e-01 3.22003440e-01 7.90531438e-02 1.76173787e+02] [-3.20856217e-01 9.46738464e-01 -2.71582276e-02 -6.37670542e+01] [-8.35876946e-02 2.57254732e-04 9.96500392e-01 -2.17042379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86119381700001 meters 0.056676358610509424 Centerline is valid? [True, True] Translation: X:176.20, Y:-63.78, Z:-21.71 [[ 9.42388623e-01 3.24949399e-01 7.94454044e-02 1.76204331e+02] [-3.23798895e-01 9.45731404e-01 -2.73201040e-02 -6.37775932e+01] [-8.40116652e-02 2.18211004e-05 9.96464771e-01 -2.17083694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89119381700002 meters 0.056501823665562514 Centerline is valid? [True, True] Translation: X:176.23, Y:-63.79, Z:-21.71 [[ 9.41737746e-01 3.26695817e-01 7.99991373e-02 1.76233029e+02] [-3.25532427e-01 9.45129533e-01 -2.75464255e-02 -6.37880605e+01] [-8.46088492e-02 -1.00804696e-04 9.96414237e-01 -2.17110170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92119381700002 meters 0.056279517010279695 Centerline is valid? [True, True] Translation: X:176.26, Y:-63.80, Z:-21.71 [[ 9.40873100e-01 3.28683645e-01 8.20053162e-02 1.76260867e+02] [-3.27468363e-01 9.44440036e-01 -2.82398668e-02 -6.38004753e+01] [-8.67310861e-02 -2.84015664e-04 9.96231719e-01 -2.17122801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95119381700002 meters 0.05607591318031414 Centerline is valid? [True, True] Translation: X:176.29, Y:-63.81, Z:-21.71 [[ 9.40895172e-01 3.28231123e-01 8.35500185e-02 1.76290130e+02] [-3.26968465e-01 9.44597409e-01 -2.87638212e-02 -6.38139312e+01] [-8.83623123e-02 -2.54480828e-04 9.96088368e-01 -2.17145230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98119381700002 meters 0.05595393183164397 Centerline is valid? [True, True] Translation: X:176.32, Y:-63.83, Z:-21.72 [[ 9.41222736e-01 3.27319447e-01 8.34370497e-02 1.76319723e+02] [-3.26054347e-01 9.44913731e-01 -2.87507198e-02 -6.38292135e+01] [-8.82514836e-02 -1.44181645e-04 9.96098215e-01 -2.17165631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01119381700002 meters 0.05594762828924312 Centerline is valid? [True, True] Translation: X:176.35, Y:-63.85, Z:-21.72 [[ 9.41597432e-01 3.25764388e-01 8.52750837e-02 1.76347077e+02] [-3.24433204e-01 9.45450984e-01 -2.94199557e-02 -6.38453290e+01] [-9.02073856e-02 3.56861042e-05 9.95923002e-01 -2.17197372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04119381700002 meters 0.055749205814078724 Centerline is valid? [True, True] Translation: X:176.37, Y:-63.87, Z:-21.72 [[ 9.43098131e-01 3.20970703e-01 8.68546078e-02 1.76372765e+02] [-3.19566815e-01 9.47088976e-01 -2.99920501e-02 -6.38691806e+01] [-9.18856109e-02 5.29596039e-04 9.95769428e-01 -2.17196071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07119381700002 meters 0.055895701830574906 Centerline is valid? [True, True] Translation: X:176.40, Y:-63.89, Z:-21.72 [[ 9.43782741e-01 3.18710084e-01 8.77383684e-02 1.76401561e+02] [-3.17264939e-01 9.47851922e-01 -3.03264315e-02 -6.38859906e+01] [-9.28283207e-02 7.85254538e-04 9.95681820e-01 -2.17224789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10119381700002 meters 0.0563443170275128 Centerline is valid? [True, True] Translation: X:176.43, Y:-63.90, Z:-21.73 [[ 9.44639717e-01 3.15956897e-01 8.84705792e-02 1.76428910e+02] [-3.14471967e-01 9.48772907e-01 -3.06162123e-02 -6.39028008e+01] [-9.36118921e-02 1.09977306e-03 9.95608158e-01 -2.17260384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13119381700002 meters 0.056918300212277256 Centerline is valid? [True, True] Translation: X:176.46, Y:-63.92, Z:-21.73 [[ 9.45761723e-01 3.12265281e-01 8.95832422e-02 1.76455242e+02] [-3.10723390e-01 9.49993742e-01 -3.10300761e-02 -6.39232784e+01] [-9.47931349e-02 1.51144953e-03 9.95495845e-01 -2.17287371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16119381700003 meters 0.05680019631241129 Centerline is valid? [True, True] Translation: X:176.49, Y:-63.94, Z:-21.73 [[ 9.45782635e-01 3.12074783e-01 9.00251974e-02 1.76485304e+02] [-3.10514164e-01 9.50056253e-01 -3.12100939e-02 -6.39371311e+01] [-9.52688850e-02 1.56386591e-03 9.95450347e-01 -2.17315790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19119381700003 meters 0.056933590803687525 Centerline is valid? [True, True] Translation: X:176.51, Y:-63.95, Z:-21.74 [[ 9.45808918e-01 3.11954192e-01 9.01669158e-02 1.76514195e+02] [-3.10384582e-01 9.50095773e-01 -3.12958947e-02 -6.39511172e+01] [-9.54300911e-02 1.61351591e-03 9.95434827e-01 -2.17353690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22119381700003 meters 0.05739527936170217 Centerline is valid? [True, True] Translation: X:176.54, Y:-63.96, Z:-21.74 [[ 9.45869217e-01 3.12026725e-01 8.92790377e-02 1.76541755e+02] [-3.10485061e-01 9.50071940e-01 -3.10215515e-02 -6.39649036e+01] [-9.45010617e-02 1.62252316e-03 9.95523439e-01 -2.17401670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25119381700003 meters 0.057789245182362746 Centerline is valid? [True, True] Translation: X:176.57, Y:-63.98, Z:-21.75 [[ 9.45973669e-01 3.12425009e-01 8.67434796e-02 1.76568479e+02] [-3.10968991e-01 9.49941139e-01 -3.01681723e-02 -6.39794353e+01] [-9.18264913e-02 1.56376436e-03 9.95773795e-01 -2.17471651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28119381700003 meters 0.05789778143073881 Centerline is valid? [True, True] Translation: X:176.60, Y:-63.99, Z:-21.75 [[ 9.46032713e-01 3.13079486e-01 8.36859753e-02 1.76597554e+02] [-3.11725346e-01 9.49725796e-01 -2.91242234e-02 -6.39912186e+01] [-8.85969264e-02 1.46542841e-03 9.96066482e-01 -2.17531664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31119381700003 meters 0.05834794515456372 Centerline is valid? [True, True] Translation: X:176.63, Y:-64.00, Z:-21.76 [[ 9.46151726e-01 3.13126535e-01 8.21503781e-02 1.76626415e+02] [-3.11819538e-01 9.49710293e-01 -2.86170311e-02 -6.40037024e+01] [-8.69798115e-02 1.45996040e-03 9.96209005e-01 -2.17590848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34119381700003 meters 0.058229225518667445 Centerline is valid? [True, True] Translation: X:176.66, Y:-64.02, Z:-21.76 [[ 9.46043945e-01 3.13514072e-01 8.19132567e-02 1.76656326e+02] [-3.12213786e-01 9.49582455e-01 -2.85607015e-02 -6.40161116e+01] [-8.67375732e-02 1.44523067e-03 9.96230146e-01 -2.17630776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37119381700003 meters 0.058435487521573674 Centerline is valid? [True, True] Translation: X:176.68, Y:-64.03, Z:-21.77 [[ 9.46173314e-01 3.13310406e-01 8.11951288e-02 1.76684982e+02] [-3.12029315e-01 9.49649616e-01 -2.83427793e-02 -6.40307509e+01] [-8.59870106e-02 1.48192092e-03 9.96295156e-01 -2.17671994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40119381700003 meters 0.05891798420949943 Centerline is valid? [True, True] Translation: X:176.71, Y:-64.04, Z:-21.77 [[ 9.46504167e-01 3.12430653e-01 8.07276208e-02 1.76712663e+02] [-3.11158669e-01 9.49939256e-01 -2.82080051e-02 -6.40447855e+01] [-8.54993815e-02 1.57989536e-03 9.96336971e-01 -2.17726409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43119381700004 meters 0.059985382569732855 Centerline is valid? [True, True] Translation: X:176.74, Y:-64.06, Z:-21.78 [[ 9.47552115e-01 3.09920739e-01 7.80648754e-02 1.76739766e+02] [-3.08720417e-01 9.50760739e-01 -2.73078824e-02 -6.40626080e+01] [-8.26842977e-02 1.77542084e-03 9.96574209e-01 -2.17785461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46119381700004 meters 0.06077755007991593 Centerline is valid? [True, True] Translation: X:176.77, Y:-64.08, Z:-21.78 [[ 9.48230175e-01 3.08014779e-01 7.73720282e-02 1.76768059e+02] [-3.06829380e-01 9.51379626e-01 -2.70654422e-02 -6.40769612e+01] [-8.19467274e-02 1.92425752e-03 9.96634853e-01 -2.17833811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49119381700004 meters 0.06131190165646017 Centerline is valid? [True, True] Translation: X:176.80, Y:-64.09, Z:-21.79 [[ 9.48835856e-01 3.06169630e-01 7.72701473e-02 1.76796903e+02] [-3.04979110e-01 9.51974644e-01 -2.70558633e-02 -6.40905272e+01] [-8.18429047e-02 2.10579250e-03 9.96643018e-01 -2.17871157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52119381700004 meters 0.06248479261101809 Centerline is valid? [True, True] Translation: X:176.82, Y:-64.11, Z:-21.79 [[ 9.49571162e-01 3.03729192e-01 7.78664608e-02 1.76824610e+02] [-3.02509698e-01 9.52755480e-01 -2.72924471e-02 -6.41055692e+01] [-8.24772101e-02 2.36076118e-03 9.96590155e-01 -2.17910000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.551193817 meters 0.06496128709907269 Centerline is valid? [True, True] Translation: X:176.85, Y:-64.12, Z:-21.79 [[ 9.51447109e-01 2.97881200e-01 7.75576545e-02 1.76850504e+02] [-2.96649247e-01 9.54598580e-01 -2.72171907e-02 -6.41225404e+01] [-8.21439163e-02 2.88829753e-03 9.96616293e-01 -2.17949059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.581193817 meters 0.06597197799930182 Centerline is valid? [True, True] Translation: X:176.88, Y:-64.14, Z:-21.80 [[ 9.52267626e-01 2.95345768e-01 7.71831950e-02 1.76879639e+02] [-2.94117428e-01 9.55385430e-01 -2.70854065e-02 -6.41355732e+01] [-8.17392601e-02 3.09163295e-03 9.96648953e-01 -2.17988624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61119381700001 meters 0.06691641390501005 Centerline is valid? [True, True] Translation: X:176.91, Y:-64.15, Z:-21.80 [[ 9.52811336e-01 2.93610321e-01 7.70943403e-02 1.76908977e+02] [-2.92379146e-01 9.55919715e-01 -2.70542512e-02 -6.41487736e+01] [-8.16394072e-02 3.23681983e-03 9.96656676e-01 -2.18020638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64119381700002 meters 0.06774941262009224 Centerline is valid? [True, True] Translation: X:176.94, Y:-64.16, Z:-21.81 [[ 9.53214865e-01 2.92379056e-01 7.67848212e-02 1.76938214e+02] [-2.91151675e-01 9.56296628e-01 -2.69714949e-02 -6.41609961e+01] [-8.13149658e-02 3.35360054e-03 9.96682813e-01 -2.18055650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67119381700002 meters 0.06827021280903438 Centerline is valid? [True, True] Translation: X:176.97, Y:-64.17, Z:-21.81 [[ 9.53340440e-01 2.91598044e-01 7.81830278e-02 1.76969604e+02] [-2.90320717e-01 9.56534515e-01 -2.74882316e-02 -6.41706807e+01] [-8.28002791e-02 3.50749008e-03 9.96559989e-01 -2.18073343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70119381700002 meters 0.06892765960381106 Centerline is valid? [True, True] Translation: X:177.00, Y:-64.18, Z:-21.81 [[ 9.53293653e-01 2.91119567e-01 8.05022240e-02 1.76999354e+02] [-2.89760530e-01 9.56679568e-01 -2.83379393e-02 -6.41799922e+01] [-8.52645615e-02 3.68801060e-03 9.96351521e-01 -2.18096427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73119381700002 meters 0.0681884334976225 Centerline is valid? [True, True] Translation: X:177.03, Y:-64.19, Z:-21.81 [[ 9.53105381e-01 2.91346743e-01 8.18975457e-02 1.77031304e+02] [-2.89938702e-01 9.56610144e-01 -2.88545037e-02 -6.41872552e+01] [-8.67506887e-02 3.75611466e-03 9.96222972e-01 -2.18110693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76119381700002 meters 0.06670530040148061 Centerline is valid? [True, True] Translation: X:177.06, Y:-64.19, Z:-21.81 [[ 9.52798722e-01 2.91754744e-01 8.39866891e-02 1.77064250e+02] [-2.90272308e-01 9.56485425e-01 -2.96246473e-02 -6.41923927e+01] [-8.89751754e-02 3.84731597e-03 9.96026413e-01 -2.18114554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79119381700002 meters 0.06712620654119467 Centerline is valid? [True, True] Translation: X:177.09, Y:-64.20, Z:-21.81 [[ 9.52508416e-01 2.92397808e-01 8.50366929e-02 1.77094148e+02] [-2.90880011e-01 9.56289063e-01 -3.00007835e-02 -6.42021942e+01] [-9.00918228e-02 3.84052461e-03 9.95926058e-01 -2.18144622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82119381700002 meters 0.06642214256474303 Centerline is valid? [True, True] Translation: X:177.13, Y:-64.21, Z:-21.82 [[ 9.52349806e-01 2.92591627e-01 8.61393447e-02 1.77125690e+02] [-2.91032160e-01 9.56229535e-01 -3.04197132e-02 -6.42093035e+01] [-9.12695389e-02 3.90088839e-03 9.95818585e-01 -2.18165164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85119381700002 meters 0.06697867880699787 Centerline is valid? [True, True] Translation: X:177.16, Y:-64.22, Z:-21.82 [[ 9.52172070e-01 2.93126771e-01 8.62846693e-02 1.77155455e+02] [-2.91561416e-01 9.56065688e-01 -3.05014910e-02 -6.42175581e+01] [-9.14346153e-02 3.88538745e-03 9.95803502e-01 -2.18205230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88119381700002 meters 0.06667732633173945 Centerline is valid? [True, True] Translation: X:177.19, Y:-64.22, Z:-21.83 [[ 9.52115638e-01 2.93680183e-01 8.50162513e-02 1.77187956e+02] [-2.92160475e-01 9.55896180e-01 -3.00790477e-02 -6.42206150e+01] [-9.01003301e-02 3.80034327e-03 9.95925443e-01 -2.18252230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91119381700003 meters 0.07085537604687003 Centerline is valid? [True, True] Translation: X:177.21, Y:-64.24, Z:-21.83 [[ 9.52288379e-01 2.93288854e-01 8.44303947e-02 1.77214473e+02] [-2.91785804e-01 9.56016162e-01 -2.99022057e-02 -6.42352799e+01] [-8.94868056e-02 3.83993241e-03 9.95980606e-01 -2.18338535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94119381700003 meters 0.06741843361628183 Centerline is valid? [True, True] Translation: X:177.25, Y:-64.24, Z:-21.83 [[ 9.52383188e-01 2.93261914e-01 8.34488672e-02 1.77248107e+02] [-2.91791785e-01 9.56024519e-01 -2.95748832e-02 -6.42371696e+01] [-8.84523499e-02 3.81692769e-03 9.96073096e-01 -2.18342030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97119381700003 meters 0.06772402435183482 Centerline is valid? [True, True] Translation: X:177.28, Y:-64.25, Z:-21.84 [[ 9.52434300e-01 2.93372899e-01 8.24696717e-02 1.77278846e+02] [-2.91935116e-01 9.55990581e-01 -2.92557229e-02 -6.42454667e+01] [-8.74230656e-02 3.78836074e-03 9.96164071e-01 -2.18387329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00119381700003 meters 0.0699226635124609 Centerline is valid? [True, True] Translation: X:177.31, Y:-64.25, Z:-21.84 [[ 9.53226895e-01 2.91056068e-01 8.15159606e-02 1.77308972e+02] [-2.89640181e-01 9.56697696e-01 -2.89496692e-02 -6.42522680e+01] [-8.64121086e-02 3.98530571e-03 9.96251507e-01 -2.18443813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03119381700003 meters 0.06945861083921061 Centerline is valid? [True, True] Translation: X:177.34, Y:-64.26, Z:-21.85 [[ 9.53572640e-01 2.89993690e-01 8.12581079e-02 1.77340419e+02] [-2.88582258e-01 9.57019878e-01 -2.88657968e-02 -6.42590343e+01] [-8.61365235e-02 4.07598581e-03 9.96275005e-01 -2.18468636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06119381700003 meters 0.07601550711076582 Centerline is valid? [True, True] Translation: X:177.37, Y:-64.28, Z:-21.86 [[ 9.54015500e-01 2.88792690e-01 8.03318593e-02 1.77366270e+02] [-2.87406714e-01 9.57382605e-01 -2.85644732e-02 -6.42772025e+01] [-8.51575357e-02 4.16303443e-03 9.96358802e-01 -2.18571331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09119381700003 meters 0.0727517751074037 Centerline is valid? [True, True] Translation: X:177.40, Y:-64.28, Z:-21.86 [[ 9.54442575e-01 2.87280614e-01 8.06797326e-02 1.77399427e+02] [-2.85875009e-01 9.57836626e-01 -2.87137130e-02 -6.42795043e+01] [-8.55268960e-02 4.34127089e-03 9.96326404e-01 -2.18561997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12119381700003 meters 0.0728307740590164 Centerline is valid? [True, True] Translation: X:177.43, Y:-64.28, Z:-21.86 [[ 9.55681633e-01 2.82535462e-01 8.27425475e-02 1.77431205e+02] [-2.81036244e-01 9.59244233e-01 -2.94810333e-02 -6.42832258e+01] [-8.76997489e-02 4.92082720e-03 9.96134800e-01 -2.18559095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15119381700003 meters 0.07405141306993505 Centerline is valid? [True, True] Translation: X:177.46, Y:-64.29, Z:-21.86 [[ 9.56080768e-01 2.80834566e-01 8.39137134e-02 1.77461737e+02] [-2.79286446e-01 9.59742404e-01 -2.98931194e-02 -6.42922391e+01] [-8.89305703e-02 5.14427383e-03 9.96024543e-01 -2.18593623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18119381700004 meters 0.07499207409681515 Centerline is valid? [True, True] Translation: X:177.49, Y:-64.30, Z:-21.86 [[ 9.56810165e-01 2.78270708e-01 8.41410771e-02 1.77491588e+02] [-2.76701146e-01 9.60487332e-01 -3.00093645e-02 -6.42997199e+01] [-8.91671657e-02 5.43133253e-03 9.96001866e-01 -2.18620578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21119381700004 meters 0.07757321453620464 Centerline is valid? [True, True] Translation: X:177.52, Y:-64.31, Z:-21.87 [[ 9.57618361e-01 2.75378282e-01 8.44622814e-02 1.77520046e+02] [-2.73785309e-01 9.61318901e-01 -3.01259786e-02 -6.43091716e+01] [-8.94912278e-02 5.72465845e-03 9.95971158e-01 -2.18661255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24119381700004 meters 0.07906969766222179 Centerline is valid? [True, True] Translation: X:177.55, Y:-64.32, Z:-21.87 [[ 9.58197499e-01 2.73192566e-01 8.49904421e-02 1.77549975e+02] [-2.71570872e-01 9.61940855e-01 -3.03158821e-02 -6.43176218e+01] [-9.00378522e-02 5.96767396e-03 9.95920465e-01 -2.18696996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27119381700004 meters 0.08151345603103619 Centerline is valid? [True, True] Translation: X:177.58, Y:-64.32, Z:-21.87 [[ 9.58971792e-01 2.70365089e-01 8.52984272e-02 1.77579214e+02] [-2.68720225e-01 9.62737528e-01 -3.04284832e-02 -6.43237407e+01] [-9.03467966e-02 6.25864448e-03 9.95890700e-01 -2.18723487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.301193817 meters 0.07798185394270452 Centerline is valid? [True, True] Translation: X:177.61, Y:-64.32, Z:-21.87 [[ 9.59074066e-01 2.69889516e-01 8.56538722e-02 1.77613413e+02] [-2.68228648e-01 9.62870466e-01 -3.05590943e-02 -6.43243532e+01] [-9.07211631e-02 6.33361249e-03 9.95856192e-01 -2.18737492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.331193817 meters 0.08058560417475555 Centerline is valid? [True, True] Translation: X:177.64, Y:-64.33, Z:-21.88 [[ 9.58993047e-01 2.70199943e-01 8.55822763e-02 1.77643353e+02] [-2.68540465e-01 9.62783446e-01 -3.05623290e-02 -6.43329933e+01] [-9.06551384e-02 6.32675679e-03 9.95862249e-01 -2.18796211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36119381700001 meters 0.07935439586493045 Centerline is valid? [True, True] Translation: X:177.68, Y:-64.33, Z:-21.88 [[ 9.58831233e-01 2.71088419e-01 8.45797621e-02 1.77678772e+02] [-2.69468347e-01 9.62534489e-01 -3.02351972e-02 -6.43287325e+01] [-8.96073499e-02 6.19888274e-03 9.95957879e-01 -2.18838790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39119381700002 meters 0.07979869530782248 Centerline is valid? [True, True] Translation: X:177.71, Y:-64.33, Z:-21.89 [[ 9.58849682e-01 2.71254384e-01 8.38352402e-02 1.77710233e+02] [-2.69660949e-01 9.62488012e-01 -2.99966636e-02 -6.43341566e+01] [-8.88271402e-02 6.15520096e-03 9.96028038e-01 -2.18886775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42119381700002 meters 0.07867571378281892 Centerline is valid? [True, True] Translation: X:177.74, Y:-64.34, Z:-21.89 [[ 9.59181029e-01 2.70423029e-01 8.27232679e-02 1.77743423e+02] [-2.68865770e-01 9.62721762e-01 -2.96311801e-02 -6.43370199e+01] [-8.76524437e-02 6.18021061e-03 9.96131946e-01 -2.18928788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45119381700002 meters 0.0799042487920003 Centerline is valid? [True, True] Translation: X:177.78, Y:-64.34, Z:-21.90 [[ 9.59643125e-01 2.69129951e-01 8.15729235e-02 1.77775258e+02] [-2.67610496e-01 9.63083802e-01 -2.92268997e-02 -6.43434530e+01] [-8.64273954e-02 6.21762284e-03 9.96238750e-01 -2.18972259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48119381700002 meters 0.08069055568553642 Centerline is valid? [True, True] Translation: X:177.81, Y:-64.34, Z:-21.90 [[ 9.60717988e-01 2.65759758e-01 7.99543502e-02 1.77808401e+02] [-2.64287735e-01 9.64018045e-01 -2.86566232e-02 -6.43417519e+01] [-8.46932136e-02 6.39997931e-03 9.96386521e-01 -2.19015167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51119381700002 meters 0.08401002625813844 Centerline is valid? [True, True] Translation: X:177.84, Y:-64.35, Z:-21.91 [[ 9.61254473e-01 2.63940744e-01 7.95306337e-02 1.77837427e+02] [-2.62478067e-01 9.64516819e-01 -2.85056273e-02 -6.43496462e+01] [-8.42324303e-02 6.52611469e-03 9.96424763e-01 -2.19070221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54119381700002 meters 0.08401002625813844 Centerline is valid? [True, True] Translation: X:177.87, Y:-64.36, Z:-21.91 [[ 9.61167271e-01 2.64257368e-01 7.95331398e-02 1.77867843e+02] [-2.62796341e-01 9.64430356e-01 -2.84986407e-02 -6.43608083e+01] [-8.42351501e-02 6.49094265e-03 9.96424762e-01 -2.19107461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57119381700002 meters 0.08454290918152825 Centerline is valid? [True, True] Translation: X:177.90, Y:-64.36, Z:-21.92 [[ 9.61553928e-01 2.62996907e-01 7.90358870e-02 1.77899679e+02] [-2.61546915e-01 9.64774140e-01 -2.83561218e-02 -6.43648755e+01] [-8.37093523e-02 6.59434788e-03 9.96468393e-01 -2.19151465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60119381700002 meters 0.08638264636540763 Centerline is valid? [True, True] Translation: X:177.93, Y:-64.37, Z:-21.92 [[ 9.62078328e-01 2.61369223e-01 7.80475540e-02 1.77929144e+02] [-2.59948948e-01 9.65215893e-01 -2.80147048e-02 -6.43699146e+01] [-8.26549212e-02 6.66396077e-03 9.96555947e-01 -2.19201278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63119381700002 meters 0.0833758150854122 Centerline is valid? [True, True] Translation: X:177.97, Y:-64.36, Z:-21.92 [[ 9.62447248e-01 2.60385047e-01 7.67783966e-02 1.77965759e+02] [-2.59006891e-01 9.65481980e-01 -2.75676730e-02 -6.43626642e+01] [-8.13063682e-02 6.64629730e-03 9.96666996e-01 -2.19225448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66119381700003 meters 0.08539429867304538 Centerline is valid? [True, True] Translation: X:178.00, Y:-64.37, Z:-21.93 [[ 9.62369041e-01 2.60710314e-01 7.66548247e-02 1.77996543e+02] [-2.59337678e-01 9.65394466e-01 -2.75226274e-02 -6.43695024e+01] [-8.11775763e-02 6.60744034e-03 9.96677753e-01 -2.19267242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69119381700003 meters 0.08538137995236988 Centerline is valid? [True, True] Translation: X:178.03, Y:-64.37, Z:-21.93 [[ 9.62237971e-01 2.60997330e-01 7.73206406e-02 1.78029364e+02] [-2.59599225e-01 9.65316487e-01 -2.77906937e-02 -6.43724973e+01] [-8.18921860e-02 6.66888236e-03 9.96618882e-01 -2.19300712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72119381700003 meters 0.0850348517946667 Centerline is valid? [True, True] Translation: X:178.06, Y:-64.36, Z:-21.93 [[ 9.61898805e-01 2.61931735e-01 7.83738184e-02 1.78063332e+02] [-2.60495191e-01 9.65063039e-01 -2.82061456e-02 -6.43647605e+01] [-8.30237600e-02 6.71545498e-03 9.96524941e-01 -2.19316336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75119381700003 meters 0.08611094948293394 Centerline is valid? [True, True] Translation: X:178.09, Y:-64.37, Z:-21.93 [[ 9.61741230e-01 2.62136824e-01 7.96121294e-02 1.78092860e+02] [-2.60655432e-01 9.65006755e-01 -2.86480262e-02 -6.43682730e+01] [-8.43359452e-02 6.80065403e-03 9.96414171e-01 -2.19345507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78119381700003 meters 0.08848363813980493 Centerline is valid? [True, True] Translation: X:178.12, Y:-64.37, Z:-21.94 [[ 9.61640155e-01 2.62217009e-01 8.05633427e-02 1.78120593e+02] [-2.60700365e-01 9.64984453e-01 -2.89883508e-02 -6.43740891e+01] [-8.53436119e-02 6.87346931e-03 9.96327869e-01 -2.19375856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81119381700003 meters 0.0857486216588165 Centerline is valid? [True, True] Translation: X:178.15, Y:-64.37, Z:-21.94 [[ 9.61208492e-01 2.63295579e-01 8.21807388e-02 1.78154578e+02] [-2.61722142e-01 9.64690506e-01 -2.95592329e-02 -6.43678486e+01] [-8.70617938e-02 6.90406665e-03 9.96178989e-01 -2.19379012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84119381700003 meters 0.08112136089314922 Centerline is valid? [True, True] Translation: X:178.19, Y:-64.36, Z:-21.94 [[ 9.61285623e-01 2.63197373e-01 8.15910193e-02 1.78186879e+02] [-2.61646346e-01 9.64717613e-01 -2.93447816e-02 -6.43638782e+01] [-8.64357628e-02 6.86072459e-03 9.96233803e-01 -2.19388249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87119381700003 meters 0.0821457272485582 Centerline is valid? [True, True] Translation: X:178.21, Y:-64.37, Z:-21.94 [[ 9.61093170e-01 2.63898111e-01 8.15947666e-02 1.78214476e+02] [-2.62350062e-01 9.64526655e-01 -2.93390104e-02 -6.43675704e+01] [-8.64428367e-02 6.79113046e-03 9.96233666e-01 -2.19429582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90119381700003 meters 0.08509701573548334 Centerline is valid? [True, True] Translation: X:178.24, Y:-64.37, Z:-21.95 [[ 9.60734400e-01 2.64971413e-01 8.23381046e-02 1.78241150e+02] [-2.63399716e-01 9.64232666e-01 -2.95965497e-02 -6.43741486e+01] [-8.72353297e-02 6.74659002e-03 9.96164886e-01 -2.19476978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93119381700004 meters 0.07912647300387468 Centerline is valid? [True, True] Translation: X:178.28, Y:-64.36, Z:-21.95 [[ 9.59636268e-01 2.68791066e-01 8.27622867e-02 1.78278886e+02] [-2.67218236e-01 9.63177104e-01 -2.97368574e-02 -6.43598124e+01] [-8.77077412e-02 6.42097461e-03 9.96125556e-01 -2.19491522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96119381700004 meters 0.07583028030709663 Centerline is valid? [True, True] Translation: X:178.31, Y:-64.36, Z:-21.95 [[ 9.59004624e-01 2.71305688e-01 8.18740172e-02 1.78311006e+02] [-2.69775583e-01 9.62473748e-01 -2.94180070e-02 -6.43570621e+01] [-8.67828648e-02 6.12439397e-03 9.96208425e-01 -2.19522396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99119381700004 meters 0.07583203635792464 Centerline is valid? [True, True] Translation: X:178.34, Y:-64.36, Z:-21.96 [[ 9.58255378e-01 2.74193295e-01 8.10226347e-02 1.78339997e+02] [-2.72705500e-01 9.61657123e-01 -2.91081975e-02 -6.43605295e+01] [-8.58972663e-02 5.79776868e-03 9.96287130e-01 -2.19569761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02119381700004 meters 0.07400475206794634 Centerline is valid? [True, True] Translation: X:178.37, Y:-64.36, Z:-21.96 [[ 9.56662731e-01 2.79979854e-01 8.00481117e-02 1.78372418e+02] [-2.78548110e-01 9.59991732e-01 -2.87545675e-02 -6.43560255e+01] [-8.48962250e-02 5.21117279e-03 9.96376171e-01 -2.19622677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.051193817 meters 0.07127207105203276 Centerline is valid? [True, True] Translation: X:178.40, Y:-64.36, Z:-21.97 [[ 9.55653885e-01 2.83626065e-01 7.92584886e-02 1.78403735e+02] [-2.82235153e-01 9.58922762e-01 -2.84684872e-02 -6.43555649e+01] [-8.40771738e-02 4.83648875e-03 9.96447509e-01 -2.19662255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.081193817 meters 0.06938936297050664 Centerline is valid? [True, True] Translation: X:178.43, Y:-64.36, Z:-21.97 [[ 9.54947709e-01 2.86560595e-01 7.71874302e-02 1.78434579e+02] [-2.85250747e-01 9.58051730e-01 -2.77289486e-02 -6.43558382e+01] [-8.18955750e-02 4.46192382e-03 9.96630928e-01 -2.19697346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11119381700001 meters 0.06816649231084157 Centerline is valid? [True, True] Translation: X:178.47, Y:-64.36, Z:-21.97 [[ 9.54113343e-01 2.89396890e-01 7.69231416e-02 1.78465983e+02] [-2.88107793e-01 9.57200096e-01 -2.76021059e-02 -6.43575949e+01] [-8.16188021e-02 4.17338094e-03 9.96654882e-01 -2.19732637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14119381700002 meters 0.06791957976881459 Centerline is valid? [True, True] Translation: X:178.50, Y:-64.36, Z:-21.98 [[ 9.52875089e-01 2.92873786e-01 7.90823055e-02 1.78496107e+02] [-2.91523104e-01 9.56142807e-01 -2.83762578e-02 -6.43574804e+01] [-8.39246396e-02 3.98470992e-03 9.96464137e-01 -2.19764815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17119381700002 meters 0.06633051903275118 Centerline is valid? [True, True] Translation: X:178.53, Y:-64.36, Z:-21.98 [[ 9.52884118e-01 2.92770260e-01 7.93563675e-02 1.78525050e+02] [-2.91409675e-01 9.56174408e-01 -2.84763428e-02 -6.43611732e+01] [-8.42155540e-02 4.00944152e-03 9.96439494e-01 -2.19773630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20119381700002 meters 0.06806120786574894 Centerline is valid? [True, True] Translation: X:178.55, Y:-64.37, Z:-21.98 [[ 9.53126844e-01 2.92117125e-01 7.88467200e-02 1.78549707e+02] [-2.90774378e-01 9.56374140e-01 -2.82624199e-02 -6.43718263e+01] [-8.36629009e-02 4.01106504e-03 9.96486041e-01 -2.19831064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23119381700002 meters 0.06697739380185673 Centerline is valid? [True, True] Translation: X:178.58, Y:-64.38, Z:-21.99 [[ 9.53319025e-01 2.91426159e-01 7.90798969e-02 1.78577811e+02] [-2.90073561e-01 9.56584634e-01 -2.83402153e-02 -6.43771496e+01] [-8.39056943e-02 4.07827913e-03 9.96465354e-01 -2.19854381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26119381700002 meters 0.06892073276727126 Centerline is valid? [True, True] Translation: X:178.60, Y:-64.38, Z:-21.99 [[ 9.53540340e-01 2.90797210e-01 7.87261198e-02 1.78604038e+02] [-2.89457211e-01 9.56775991e-01 -2.81820207e-02 -6.43847716e+01] [-8.35185143e-02 4.08485053e-03 9.96497853e-01 -2.19907996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29119381700002 meters 0.0688039555962192 Centerline is valid? [True, True] Translation: X:178.63, Y:-64.39, Z:-21.99 [[ 9.53453732e-01 2.91056830e-01 7.88156251e-02 1.78631046e+02] [-2.89715299e-01 9.56697153e-01 -2.82064365e-02 -6.43913028e+01] [-8.36123601e-02 4.05943982e-03 9.96490087e-01 -2.19938633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32119381700002 meters 0.06888726937576636 Centerline is valid? [True, True] Translation: X:178.66, Y:-64.40, Z:-22.00 [[ 9.53420532e-01 2.91125241e-01 7.89644475e-02 1.78658320e+02] [-2.89779613e-01 9.56676367e-01 -2.82507577e-02 -6.43987114e+01] [-8.37679294e-02 4.05256539e-03 9.96477050e-01 -2.19966909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35119381700002 meters 0.06764309731800945 Centerline is valid? [True, True] Translation: X:178.69, Y:-64.40, Z:-22.00 [[ 9.53067232e-01 2.92079502e-01 7.97020390e-02 1.78687679e+02] [-2.90713978e-01 9.56385751e-01 -2.84899568e-02 -6.44031750e+01] [-8.45472268e-02 3.98234747e-03 9.96411515e-01 -2.19979189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38119381700002 meters 0.06700163001371777 Centerline is valid? [True, True] Translation: X:178.72, Y:-64.41, Z:-22.00 [[ 9.52643222e-01 2.93406291e-01 7.98976854e-02 1.78715427e+02] [-2.92040720e-01 9.55980082e-01 -2.85359749e-02 -6.44098818e+01] [-8.47532304e-02 3.85122557e-03 9.96394529e-01 -2.20012382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41119381700003 meters 0.06608960874940271 Centerline is valid? [True, True] Translation: X:178.74, Y:-64.42, Z:-22.01 [[ 9.51932060e-01 2.95995280e-01 7.88171716e-02 1.78743129e+02] [-2.94677797e-01 9.55182831e-01 -2.81203581e-02 -6.44157870e+01] [-8.36083024e-02 3.54299993e-03 9.96492398e-01 -2.20056648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44119381700003 meters 0.06430413241506831 Centerline is valid? [True, True] Translation: X:178.77, Y:-64.42, Z:-22.01 [[ 9.50922523e-01 2.99430491e-01 7.80239493e-02 1.78772332e+02] [-2.98151032e-01 9.54112726e-01 -2.78364579e-02 -6.44199533e+01] [-8.27787272e-02 3.20739377e-03 9.96562790e-01 -2.20094950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47119381700003 meters 0.05966844419550244 Centerline is valid? [True, True] Translation: X:178.81, Y:-64.41, Z:-22.01 [[ 9.47987215e-01 3.08683934e-01 7.76818500e-02 1.78805776e+02] [-3.07449008e-01 9.51161738e-01 -2.76849485e-02 -6.44145609e+01] [-8.24339022e-02 2.36176945e-03 9.96593736e-01 -2.20111944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50119381700003 meters 0.059030966375043084 Centerline is valid? [True, True] Translation: X:178.83, Y:-64.42, Z:-22.02 [[ 9.46748274e-01 3.12733300e-01 7.65871367e-02 1.78832750e+02] [-3.11546167e-01 9.49838911e-01 -2.72952103e-02 -6.44194225e+01] [-8.12815637e-02 1.98126436e-03 9.96689210e-01 -2.20162657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53119381700003 meters 0.05789328698229273 Centerline is valid? [True, True] Translation: X:178.86, Y:-64.42, Z:-22.02 [[ 9.45592398e-01 3.16314154e-01 7.61601828e-02 1.78861095e+02] [-3.15151987e-01 9.48653041e-01 -2.71409711e-02 -6.44242258e+01] [-8.08346623e-02 1.66226296e-03 9.96726138e-01 -2.20185997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56119381700003 meters 0.057673884065578114 Centerline is valid? [True, True] Translation: X:178.89, Y:-64.43, Z:-22.02 [[ 9.44666557e-01 3.18969731e-01 7.65728800e-02 1.78887985e+02] [-3.17805666e-01 9.47763840e-01 -2.72628253e-02 -6.44320783e+01] [-8.12690229e-02 1.41898423e-03 9.96691192e-01 -2.20231962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59119381700003 meters 0.05673670899583045 Centerline is valid? [True, True] Translation: X:178.92, Y:-64.44, Z:-22.02 [[ 9.43414841e-01 3.22259690e-01 7.82120848e-02 1.78916177e+02] [-3.21058648e-01 9.46650624e-01 -2.78197840e-02 -6.44402361e+01] [-8.30047139e-02 1.13493092e-03 9.96548508e-01 -2.20243947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62119381700003 meters 0.05630248978768457 Centerline is valid? [True, True] Translation: X:178.94, Y:-64.45, Z:-22.03 [[ 9.43110345e-01 3.22891225e-01 7.92725321e-02 1.78942947e+02] [-3.21661533e-01 9.46435475e-01 -2.81735782e-02 -6.44509070e+01] [-8.41233377e-02 1.07186882e-03 9.96454773e-01 -2.20256494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65119381700003 meters 0.056269676807598645 Centerline is valid? [True, True] Translation: X:178.97, Y:-64.46, Z:-22.03 [[ 9.43287616e-01 3.22234869e-01 7.98320949e-02 1.78968790e+02] [-3.20987631e-01 9.46659099e-01 -2.83459174e-02 -6.44632965e+01] [-8.47078220e-02 1.11323783e-03 9.96405212e-01 -2.20284257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68119381700004 meters 0.056449184394973415 Centerline is valid? [True, True] Translation: X:178.99, Y:-64.48, Z:-22.03 [[ 9.43863948e-01 3.20571184e-01 7.97180226e-02 1.78993013e+02] [-3.19323799e-01 9.47223621e-01 -2.82793776e-02 -6.44807560e+01] [-8.45763476e-02 1.23602320e-03 9.96416235e-01 -2.20314617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71119381700004 meters 0.05690362216007273 Centerline is valid? [True, True] Translation: X:179.02, Y:-64.50, Z:-22.04 [[ 9.44235628e-01 3.19388650e-01 8.00622849e-02 1.79016798e+02] [-3.18128998e-01 9.47622898e-01 -2.83687170e-02 -6.44954981e+01] [-8.49295007e-02 1.31661882e-03 9.96386093e-01 -2.20365504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74119381700004 meters 0.05710719044088622 Centerline is valid? [True, True] Translation: X:179.04, Y:-64.51, Z:-22.04 [[ 9.44791502e-01 3.17931579e-01 7.93002403e-02 1.79041468e+02] [-3.16691496e-01 9.48112588e-01 -2.80894279e-02 -6.45103359e+01] [-8.41160723e-02 1.42494106e-03 9.96454944e-01 -2.20396655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77119381700004 meters 0.0574489674793343 Centerline is valid? [True, True] Translation: X:179.07, Y:-64.53, Z:-22.04 [[ 9.45281925e-01 3.16542140e-01 7.90136388e-02 1.79065274e+02] [-3.15306958e-01 9.48577208e-01 -2.79786040e-02 -6.45251639e+01] [-8.38069441e-02 1.53411855e-03 9.96480829e-01 -2.20442382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.801193817 meters 0.05780356165941417 Centerline is valid? [True, True] Translation: X:179.09, Y:-64.54, Z:-22.05 [[ 9.45952391e-01 3.14478967e-01 7.92278526e-02 1.79089160e+02] [-3.13230121e-01 9.49262886e-01 -2.80511105e-02 -6.45439306e+01] [-8.40295442e-02 1.71846523e-03 9.96461782e-01 -2.20475794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.831193817 meters 0.057948922818468356 Centerline is valid? [True, True] Translation: X:179.11, Y:-64.56, Z:-22.05 [[ 9.46260747e-01 3.13844407e-01 7.80531043e-02 1.79114940e+02] [-3.12632311e-01 9.49472861e-01 -2.76102127e-02 -6.45572264e+01] [-8.27746151e-02 1.72453817e-03 9.96566801e-01 -2.20510522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86119381700001 meters 0.05811920101481034 Centerline is valid? [True, True] Translation: X:179.14, Y:-64.57, Z:-22.06 [[ 9.46243735e-01 3.13775335e-01 7.85355570e-02 1.79140430e+02] [-3.12550094e-01 9.49495704e-01 -2.77551265e-02 -6.45701754e+01] [-8.32780481e-02 1.71681875e-03 9.96524871e-01 -2.20550495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89119381700002 meters 0.058262634559594774 Centerline is valid? [True, True] Translation: X:179.17, Y:-64.58, Z:-22.06 [[ 9.46414257e-01 3.13095387e-01 7.91917513e-02 1.79165757e+02] [-3.11849352e-01 9.49720041e-01 -2.79611345e-02 -6.45836912e+01] [-8.39644955e-02 1.76692000e-03 9.96467180e-01 -2.20587655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92119381700002 meters 0.05873063382421104 Centerline is valid? [True, True] Translation: X:179.19, Y:-64.60, Z:-22.06 [[ 9.46966498e-01 3.11204757e-01 8.00378106e-02 1.79188719e+02] [-3.09927869e-01 9.50340935e-01 -2.82280458e-02 -6.46027038e+01] [-8.48479099e-02 1.92506557e-03 9.96392055e-01 -2.20621376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95119381700002 meters 0.05893698235610878 Centerline is valid? [True, True] Translation: X:179.21, Y:-64.62, Z:-22.06 [[ 9.47323832e-01 3.09895988e-01 8.08828347e-02 1.79213329e+02] [-3.08587419e-01 9.50768230e-01 -2.85232780e-02 -6.46162016e+01] [-8.57400791e-02 2.06135585e-03 9.96315407e-01 -2.20646861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98119381700002 meters 0.0597163550998242 Centerline is valid? [True, True] Translation: X:179.24, Y:-64.63, Z:-22.07 [[ 9.48088017e-01 3.07555038e-01 8.08641458e-02 1.79238448e+02] [-3.06241178e-01 9.51527648e-01 -2.84864270e-02 -6.46310566e+01] [-8.57056146e-02 2.24370881e-03 9.96317978e-01 -2.20679199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01119381700002 meters 0.06096155716994198 Centerline is valid? [True, True] Translation: X:179.26, Y:-64.65, Z:-22.07 [[ 9.49088867e-01 3.04490643e-01 8.07203307e-02 1.79262765e+02] [-3.03173101e-01 9.52512083e-01 -2.84042685e-02 -6.46471230e+01] [-8.55359244e-02 2.48594208e-03 9.96331986e-01 -2.20721116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04119381700002 meters 0.06305983187191011 Centerline is valid? [True, True] Translation: X:179.29, Y:-64.67, Z:-22.07 [[ 9.50961693e-01 2.98339848e-01 8.16406343e-02 1.79286677e+02] [-2.96969949e-01 9.54454777e-01 -2.87215702e-02 -6.46698196e+01] [-8.64910823e-02 3.06829804e-03 9.96247900e-01 -2.20741111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07119381700002 meters 0.06464951074493373 Centerline is valid? [True, True] Translation: X:179.31, Y:-64.69, Z:-22.08 [[ 9.51958587e-01 2.95175417e-01 8.15249769e-02 1.79311310e+02] [-2.93797901e-01 9.55437203e-01 -2.86800454e-02 -6.46863722e+01] [-8.63576402e-02 3.35034840e-03 9.96258567e-01 -2.20780517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10119381700002 meters 0.06714873524517956 Centerline is valid? [True, True] Translation: X:179.33, Y:-64.70, Z:-22.08 [[ 9.52955606e-01 2.91928135e-01 8.15694613e-02 1.79334865e+02] [-2.90537710e-01 9.56433324e-01 -2.86903583e-02 -6.47043876e+01] [-8.63912738e-02 3.64163327e-03 9.96254629e-01 -2.20823330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13119381700002 meters 0.06833007055618417 Centerline is valid? [True, True] Translation: X:179.36, Y:-64.72, Z:-22.09 [[ 9.53814303e-01 2.89007718e-01 8.19317679e-02 1.79360235e+02] [-2.87594606e-01 9.57318747e-01 -2.88124807e-02 -6.47194809e+01] [-8.67618467e-02 3.91862170e-03 9.96221374e-01 -2.20851848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16119381700003 meters 0.07144028920210771 Centerline is valid? [True, True] Translation: X:179.38, Y:-64.74, Z:-22.09 [[ 9.55185304e-01 2.84076641e-01 8.31955398e-02 1.79383588e+02] [-2.82601376e-01 9.58791347e-01 -2.92508995e-02 -6.47408731e+01] [-8.80766610e-02 4.42885528e-03 9.96103854e-01 -2.20877738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19119381700003 meters 0.07253665022046385 Centerline is valid? [True, True] Translation: X:179.41, Y:-64.76, Z:-22.09 [[ 9.55871100e-01 2.81728715e-01 8.33028943e-02 1.79409332e+02] [-2.80241020e-01 9.59482842e-01 -2.92856115e-02 -6.47559080e+01] [-8.81782955e-02 4.64838159e-03 9.96093861e-01 -2.20902883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22119381700003 meters 0.07439017906054637 Centerline is valid? [True, True] Translation: X:179.43, Y:-64.77, Z:-22.09 [[ 9.56434105e-01 2.79659236e-01 8.38123810e-02 1.79434066e+02] [-2.78145813e-01 9.60087004e-01 -2.94593198e-02 -6.47718286e+01] [-8.87057486e-02 4.86383526e-03 9.96046000e-01 -2.20940551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25119381700003 meters 0.07064258707630151 Centerline is valid? [True, True] Translation: X:179.46, Y:-64.78, Z:-22.09 [[ 9.57120504e-01 2.77416844e-01 8.34280229e-02 1.79463514e+02] [-2.75909327e-01 9.60736418e-01 -2.93185758e-02 -6.47778467e+01] [-8.82858066e-02 5.04284043e-03 9.96082419e-01 -2.20936653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28119381700003 meters 0.0799197730545612 Centerline is valid? [True, True] Translation: X:179.48, Y:-64.81, Z:-22.10 [[ 9.58383024e-01 2.73059681e-01 8.33090040e-02 1.79483340e+02] [-2.71540428e-01 9.61981754e-01 -2.92728757e-02 -6.48054067e+01] [-8.81349839e-02 5.43286447e-03 9.96093725e-01 -2.21023331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31119381700003 meters 0.08173144884081525 Centerline is valid? [True, True] Translation: X:179.51, Y:-64.82, Z:-22.11 [[ 9.59179338e-01 2.70400174e-01 8.28175361e-02 1.79510013e+02] [-2.68889359e-01 9.62731501e-01 -2.90958692e-02 -6.48197284e+01] [-8.75985789e-02 5.63940237e-03 9.96139893e-01 -2.21066019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34119381700003 meters 0.0801331222119894 Centerline is valid? [True, True] Translation: X:179.54, Y:-64.83, Z:-22.11 [[ 9.59862609e-01 2.67875782e-01 8.31043743e-02 1.79537498e+02] [-2.66345108e-01 9.63435455e-01 -2.91960097e-02 -6.48291348e+01] [-8.78866047e-02 5.88971451e-03 9.96113074e-01 -2.21078125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37119381700003 meters 0.0771440496148885 Centerline is valid? [True, True] Translation: X:179.57, Y:-64.84, Z:-22.11 [[ 9.60767764e-01 2.64668904e-01 8.29196922e-02 1.79566589e+02] [-2.63133730e-01 9.64319650e-01 -2.91247974e-02 -6.48368800e+01] [-8.76695167e-02 6.16319863e-03 9.96130549e-01 -2.21085024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40119381700003 meters 0.07759184815735874 Centerline is valid? [True, True] Translation: X:179.59, Y:-64.85, Z:-22.11 [[ 9.60536328e-01 2.65399482e-01 8.32651020e-02 1.79593200e+02] [-2.63854083e-01 9.64119091e-01 -2.92472531e-02 -6.48454438e+01] [-8.80396802e-02 6.12321197e-03 9.96098148e-01 -2.21119661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43119381700004 meters 0.07572395175451103 Centerline is valid? [True, True] Translation: X:179.62, Y:-64.85, Z:-22.11 [[ 9.59935307e-01 2.67807545e-01 8.24822706e-02 1.79623460e+02] [-2.66301296e-01 9.63454778e-01 -2.89570334e-02 -6.48495013e+01] [-8.72228498e-02 5.83174317e-03 9.96171755e-01 -2.21147573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46119381700004 meters 0.07572395175451103 Centerline is valid? [True, True] Translation: X:179.65, Y:-64.86, Z:-22.12 [[ 9.59967968e-01 2.67690546e-01 8.24819557e-02 1.79649341e+02] [-2.66183792e-01 9.63487222e-01 -2.89579311e-02 -6.48584296e+01] [-8.72220748e-02 5.84332650e-03 9.96171755e-01 -2.21179041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49119381700004 meters 0.0745356206581101 Centerline is valid? [True, True] Translation: X:179.68, Y:-64.86, Z:-22.12 [[ 9.58995041e-01 2.71119462e-01 8.25999299e-02 1.79678585e+02] [-2.69622210e-01 9.62529842e-01 -2.89856232e-02 -6.48627585e+01] [-8.73634641e-02 5.52629320e-03 9.96161174e-01 -2.21209620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52119381700004 meters 0.07519120029950942 Centerline is valid? [True, True] Translation: X:179.71, Y:-64.87, Z:-22.13 [[ 9.57885528e-01 2.74898527e-01 8.29826209e-02 1.79705891e+02] [-2.73401703e-01 9.61459167e-01 -2.91166354e-02 -6.48704509e+01] [-8.77885218e-02 5.20281377e-03 9.96125547e-01 -2.21253541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.551193817 meters 0.06993869054883936 Centerline is valid? [True, True] Translation: X:179.74, Y:-64.87, Z:-22.13 [[ 9.55690312e-01 2.81743386e-01 8.53035257e-02 1.79738945e+02] [-2.80189092e-01 9.59478295e-01 -2.99244709e-02 -6.48664267e+01] [-9.02779031e-02 4.69740953e-03 9.95905535e-01 -2.21258692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.581193817 meters 0.06886139586176437 Centerline is valid? [True, True] Translation: X:179.77, Y:-64.87, Z:-22.13 [[ 9.54852556e-01 2.84024363e-01 8.71019993e-02 1.79768519e+02] [-2.82413402e-01 9.58806153e-01 -3.05520971e-02 -6.48718354e+01] [-9.21914729e-02 4.57397609e-03 9.95730792e-01 -2.21282923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61119381700001 meters 0.06714969805351269 Centerline is valid? [True, True] Translation: X:179.80, Y:-64.87, Z:-22.13 [[ 9.54821976e-01 2.83750194e-01 8.83222614e-02 1.79798355e+02] [-2.82092356e-01 9.58886880e-01 -3.09815190e-02 -6.48729927e+01] [-9.34820697e-02 4.66680040e-03 9.95610026e-01 -2.21296089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64119381700002 meters 0.0673021144130043 Centerline is valid? [True, True] Translation: X:179.83, Y:-64.88, Z:-22.13 [[ 9.55203013e-01 2.82321273e-01 8.87800862e-02 1.79825658e+02] [-2.80643098e-01 9.59307905e-01 -3.11094076e-02 -6.48799976e+01] [-9.39502861e-02 4.80028144e-03 9.95565317e-01 -2.21330226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67119381700002 meters 0.06870746048382677 Centerline is valid? [True, True] Translation: X:179.85, Y:-64.89, Z:-22.14 [[ 9.55670059e-01 2.80946117e-01 8.81136665e-02 1.79851301e+02] [-2.79288243e-01 9.59711094e-01 -3.08657477e-02 -6.48892278e+01] [-9.32352752e-02 4.88835987e-03 9.95632104e-01 -2.21372161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70119381700002 meters 0.07063442147191931 Centerline is valid? [True, True] Translation: X:179.88, Y:-64.90, Z:-22.14 [[ 9.56422646e-01 2.78582724e-01 8.74493448e-02 1.79877472e+02] [-2.76941003e-01 9.60398859e-01 -3.06221051e-02 -6.48991946e+01] [-9.25170404e-02 5.06936550e-03 9.95698197e-01 -2.21427588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73119381700002 meters 0.0712492091624601 Centerline is valid? [True, True] Translation: X:179.91, Y:-64.91, Z:-22.15 [[ 9.57288105e-01 2.76048272e-01 8.60048545e-02 1.79905923e+02] [-2.74450875e-01 9.61129598e-01 -3.01100022e-02 -6.49075672e+01] [-9.09736253e-02 5.21983939e-03 9.95839622e-01 -2.21467809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76119381700002 meters 0.0755485272228932 Centerline is valid? [True, True] Translation: X:179.93, Y:-64.92, Z:-22.15 [[ 9.58608018e-01 2.71756009e-01 8.49666937e-02 1.79932454e+02] [-2.70180623e-01 9.62350151e-01 -2.97425335e-02 -6.49202335e+01] [-8.98504227e-02 5.55507685e-03 9.95939779e-01 -2.21525749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79119381700002 meters 0.0749020294359708 Centerline is valid? [True, True] Translation: X:179.96, Y:-64.93, Z:-22.15 [[ 9.59022832e-01 2.70249719e-01 8.50899424e-02 1.79960968e+02] [-2.68663522e-01 9.62773342e-01 -2.97893384e-02 -6.49264878e+01] [-8.99728885e-02 5.70809210e-03 9.95927857e-01 -2.21548798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82119381700002 meters 0.07469929637909054 Centerline is valid? [True, True] Translation: X:179.99, Y:-64.93, Z:-22.16 [[ 9.58863450e-01 2.71020157e-01 8.44331627e-02 1.79989075e+02] [-2.69464208e-01 9.62557606e-01 -2.95278957e-02 -6.49332681e+01] [-8.92744378e-02 5.56150464e-03 9.95991538e-01 -2.21586265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85119381700002 meters 0.07389608301748775 Centerline is valid? [True, True] Translation: X:180.02, Y:-64.94, Z:-22.16 [[ 9.58630568e-01 2.72111054e-01 8.35644006e-02 1.80017920e+02] [-2.70591379e-01 9.62250697e-01 -2.92215880e-02 -6.49387938e+01] [-8.83614198e-02 5.40090106e-03 9.96073838e-01 -2.21616609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88119381700002 meters 0.07136638738476013 Centerline is valid? [True, True] Translation: X:180.05, Y:-64.94, Z:-22.17 [[ 9.56587871e-01 2.79334482e-01 8.31377925e-02 1.80048781e+02] [-2.77860088e-01 9.60182452e-01 -2.90418739e-02 -6.49387689e+01] [-8.79398463e-02 4.68042994e-03 9.96114791e-01 -2.21665303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91119381700003 meters 0.06847213866658818 Centerline is valid? [True, True] Translation: X:180.08, Y:-64.94, Z:-22.17 [[ 9.55018307e-01 2.84637354e-01 8.31962179e-02 1.80080571e+02] [-2.83181171e-01 9.58626101e-01 -2.90589473e-02 -6.49404858e+01] [-8.80253279e-02 4.19222428e-03 9.96109415e-01 -2.21696510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94119381700003 meters 0.06591210784703919 Centerline is valid? [True, True] Translation: X:180.11, Y:-64.94, Z:-22.17 [[ 9.53087348e-01 2.90958103e-01 8.34738811e-02 1.80110947e+02] [-2.89516368e-01 9.56728947e-01 -2.91546558e-02 -6.49416341e+01] [-8.83446618e-02 3.61987868e-03 9.96083389e-01 -2.21733814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97119381700003 meters 0.06325576623172477 Centerline is valid? [True, True] Translation: X:180.14, Y:-64.94, Z:-22.18 [[ 9.51036611e-01 2.97581252e-01 8.35150473e-02 1.80141784e+02] [-2.96163720e-01 9.54691769e-01 -2.91663819e-02 -6.49418941e+01] [-8.84104967e-02 3.00416998e-03 9.96079595e-01 -2.21774478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00119381700003 meters 0.06073569662490188 Centerline is valid? [True, True] Translation: X:180.17, Y:-64.94, Z:-22.18 [[ 9.48863018e-01 3.04532175e-01 8.31812902e-02 1.80172758e+02] [-3.03152792e-01 9.52499163e-01 -2.90470168e-02 -6.49420004e+01] [-8.80758605e-02 2.34499960e-03 9.96111010e-01 -2.21811451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03119381700003 meters 0.05699910118631076 Centerline is valid? [True, True] Translation: X:180.21, Y:-64.94, Z:-22.18 [[ 9.44926079e-01 3.16645752e-01 8.27657774e-02 1.80206825e+02] [-3.15326661e-01 9.48543098e-01 -2.88978993e-02 -6.49360864e+01] [-8.76573040e-02 1.20812246e-03 9.96149957e-01 -2.21841325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06119381700003 meters 0.05621655054138101 Centerline is valid? [True, True] Translation: X:180.24, Y:-64.94, Z:-22.19 [[ 9.43400327e-01 3.21212742e-01 8.25723736e-02 1.80235310e+02] [-3.19916766e-01 9.47006734e-01 -2.88358922e-02 -6.49408491e+01] [-8.74590499e-02 7.87503377e-04 9.96167804e-01 -2.21870804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09119381700003 meters 0.05629166357393625 Centerline is valid? [True, True] Translation: X:180.26, Y:-64.95, Z:-22.19 [[ 9.42337301e-01 3.24357192e-01 8.24185820e-02 1.80261685e+02] [-3.23080716e-01 9.45934562e-01 -2.87516207e-02 -6.49472213e+01] [-8.72883802e-02 4.65870201e-04 9.96182976e-01 -2.21930015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12119381700003 meters 0.05627843783805513 Centerline is valid? [True, True] Translation: X:180.29, Y:-64.96, Z:-22.20 [[ 9.41157730e-01 3.28213569e-01 8.06100451e-02 1.80289059e+02] [-3.27007001e-01 9.44603537e-01 -2.81172396e-02 -6.49552202e+01] [-8.53729933e-02 1.02708332e-04 9.96349056e-01 -2.21980256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15119381700003 meters 0.05621333054829253 Centerline is valid? [True, True] Translation: X:180.32, Y:-64.97, Z:-22.20 [[ 9.41119255e-01 3.28470242e-01 8.00115509e-02 1.80315286e+02] [-3.27284445e-01 9.44514318e-01 -2.78853928e-02 -6.49667907e+01] [-8.47315771e-02 5.69440644e-05 9.96403812e-01 -2.22001205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18119381700004 meters 0.05632568498704744 Centerline is valid? [True, True] Translation: X:180.34, Y:-64.98, Z:-22.20 [[ 9.40860347e-01 3.29310270e-01 7.96024731e-02 1.80341457e+02] [-3.28141689e-01 9.44221767e-01 -2.77180018e-02 -6.49780352e+01] [-8.42902104e-02 -4.21211006e-05 9.96441247e-01 -2.22039487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21119381700004 meters 0.05646914742040257 Centerline is valid? [True, True] Translation: X:180.37, Y:-64.99, Z:-22.21 [[ 9.40537226e-01 3.30370648e-01 7.90250639e-02 1.80367144e+02] [-3.29224759e-01 9.43851264e-01 -2.74927011e-02 -6.49894902e+01] [-8.36706880e-02 -1.59098791e-04 9.96493447e-01 -2.22080697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24119381700004 meters 0.0570092025744965 Centerline is valid? [True, True] Translation: X:180.39, Y:-65.00, Z:-22.21 [[ 9.39332175e-01 3.34147803e-01 7.74616729e-02 1.80391758e+02] [-3.33062097e-01 9.42520547e-01 -2.69194577e-02 -6.50012293e+01] [-8.20042960e-02 -5.13234457e-04 9.96631844e-01 -2.22134123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27119381700004 meters 0.0573650443609786 Centerline is valid? [True, True] Translation: X:180.42, Y:-65.01, Z:-22.22 [[ 9.38673045e-01 3.36100453e-01 7.70025906e-02 1.80418534e+02] [-3.35034348e-01 9.41825897e-01 -2.67575372e-02 -6.50122575e+01] [-8.15162543e-02 -6.81933788e-04 9.96671779e-01 -2.22173423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.301193817 meters 0.057613575318117574 Centerline is valid? [True, True] Translation: X:180.44, Y:-65.02, Z:-22.22 [[ 9.38375603e-01 3.36948738e-01 7.69205761e-02 1.80444586e+02] [-3.35889660e-01 9.41522673e-01 -2.67056572e-02 -6.50243929e+01] [-8.14209040e-02 -7.76888967e-04 9.96679504e-01 -2.22212556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.331193817 meters 0.05715345905525461 Centerline is valid? [True, True] Translation: X:180.47, Y:-65.05, Z:-22.22 [[ 9.38752336e-01 3.35992754e-01 7.65043809e-02 1.80466795e+02] [-3.34943660e-01 9.41864303e-01 -2.65401572e-02 -6.50462058e+01] [-8.09740459e-02 -7.10022775e-04 9.96715957e-01 -2.22223347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36119381700001 meters 0.057379481872272535 Centerline is valid? [True, True] Translation: X:180.49, Y:-65.06, Z:-22.23 [[ 9.39641297e-01 3.33319782e-01 7.72797282e-02 1.80489918e+02] [-3.32243254e-01 9.42813690e-01 -2.67724971e-02 -6.50635944e+01] [-8.17841886e-02 -5.19124476e-04 9.96649927e-01 -2.22292139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39119381700002 meters 0.056885325819705755 Centerline is valid? [True, True] Translation: X:180.51, Y:-65.08, Z:-22.23 [[ 9.41276083e-01 3.28428939e-01 7.83183732e-02 1.80513054e+02] [-3.27306597e-01 9.44528677e-01 -2.71287521e-02 -6.50845809e+01] [-8.28838167e-02 -9.84747659e-05 9.96559212e-01 -2.22313697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42119381700002 meters 0.05666481085660163 Centerline is valid? [True, True] Translation: X:180.54, Y:-65.11, Z:-22.23 [[ 9.43279520e-01 3.22739024e-01 7.78670003e-02 1.80535883e+02] [-3.21612095e-01 9.46487918e-01 -2.69496004e-02 -6.51060631e+01] [-8.23978628e-02 3.78037070e-04 9.96599443e-01 -2.22319432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45119381700002 meters 0.058657902564735374 Centerline is valid? [True, True] Translation: X:180.55, Y:-65.14, Z:-22.24 [[ 9.47536113e-01 3.10093109e-01 7.75730490e-02 1.80554170e+02] [-3.08934802e-01 9.50705095e-01 -2.68162354e-02 -6.51420141e+01] [-8.20646227e-02 1.44433691e-03 9.96625964e-01 -2.22352323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48119381700002 meters 0.06059126543576131 Centerline is valid? [True, True] Translation: X:180.58, Y:-65.17, Z:-22.24 [[ 9.49452305e-01 3.04162436e-01 7.76243117e-02 1.80576083e+02] [-3.02983141e-01 9.52618178e-01 -2.68295337e-02 -6.51654057e+01] [-8.21068667e-02 1.95450481e-03 9.96621614e-01 -2.22400216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51119381700002 meters 0.062440578133009156 Centerline is valid? [True, True] Translation: X:180.60, Y:-65.19, Z:-22.24 [[ 9.51034539e-01 2.99316839e-01 7.70891445e-02 1.80599795e+02] [-2.98138589e-01 9.54150887e-01 -2.66358193e-02 -6.51874858e+01] [-8.15272248e-02 2.34833541e-03 9.96668349e-01 -2.22436331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54119381700002 meters 0.06545130488219572 Centerline is valid? [True, True] Translation: X:180.62, Y:-65.22, Z:-22.25 [[ 9.53026435e-01 2.92750409e-01 7.77033551e-02 1.80621610e+02] [-2.91531796e-01 9.56184403e-01 -2.68439723e-02 -6.52151266e+01] [-8.21573201e-02 2.93001657e-03 9.96615066e-01 -2.22467707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57119381700002 meters 0.06673165547510189 Centerline is valid? [True, True] Translation: X:180.65, Y:-65.23, Z:-22.25 [[ 9.53708992e-01 2.90669781e-01 7.71377730e-02 1.80645939e+02] [-2.89462118e-01 9.56818454e-01 -2.66482450e-02 -6.52315196e+01] [-8.15526842e-02 3.08620776e-03 9.96664254e-01 -2.22503192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60119381700002 meters 0.06734649171347375 Centerline is valid? [True, True] Translation: X:180.67, Y:-65.25, Z:-22.25 [[ 9.53993729e-01 2.89732694e-01 7.71422819e-02 1.80671120e+02] [-2.88522187e-01 9.57102380e-01 -2.66454849e-02 -6.52459813e+01] [-8.15531298e-02 3.16236563e-03 9.96663979e-01 -2.22534594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63119381700002 meters 0.06797301622884491 Centerline is valid? [True, True] Translation: X:180.70, Y:-65.26, Z:-22.26 [[ 9.54232302e-01 2.88885354e-01 7.73690210e-02 1.80696655e+02] [-2.87665475e-01 9.57358223e-01 -2.67171727e-02 -6.52599520e+01] [-8.17880684e-02 3.23799304e-03 9.96644484e-01 -2.22568707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66119381700003 meters 0.06822378047874418 Centerline is valid? [True, True] Translation: X:180.72, Y:-65.27, Z:-22.26 [[ 9.54274175e-01 2.88904151e-01 7.67801386e-02 1.80721854e+02] [-2.87703392e-01 9.57352661e-01 -2.65073842e-02 -6.52747679e+01] [-8.11637633e-02 3.20540581e-03 9.96695625e-01 -2.22607390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69119381700003 meters 0.0678957255638136 Centerline is valid? [True, True] Translation: X:180.75, Y:-65.29, Z:-22.26 [[ 9.54110381e-01 2.89375353e-01 7.70408072e-02 1.80748937e+02] [-2.88168471e-01 9.57210456e-01 -2.65908963e-02 -6.52850363e+01] [-8.14390162e-02 3.16991865e-03 9.96673286e-01 -2.22636979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72119381700003 meters 0.06762175572677358 Centerline is valid? [True, True] Translation: X:180.78, Y:-65.29, Z:-22.27 [[ 9.53927567e-01 2.90092158e-01 7.66076834e-02 1.80775368e+02] [-2.88901661e-01 9.56993742e-01 -2.64349695e-02 -6.52946538e+01] [-8.09816509e-02 3.08495918e-03 9.96710818e-01 -2.22674099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75119381700003 meters 0.06563226377503853 Centerline is valid? [True, True] Translation: X:180.80, Y:-65.30, Z:-22.27 [[ 9.53391184e-01 2.91494619e-01 7.79495803e-02 1.80804084e+02] [-2.90267038e-01 9.56567722e-01 -2.68931355e-02 -6.53011548e+01] [-8.24032567e-02 3.01348453e-03 9.96594512e-01 -2.22684172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78119381700003 meters 0.06457556402784205 Centerline is valid? [True, True] Translation: X:180.83, Y:-65.31, Z:-22.27 [[ 9.52477184e-01 2.94929444e-01 7.61829179e-02 1.80830652e+02] [-2.93768754e-01 9.55515373e-01 -2.62733790e-02 -6.53072629e+01] [-8.05427423e-02 2.64463313e-03 9.96747647e-01 -2.22727811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81119381700003 meters 0.06398588244599492 Centerline is valid? [True, True] Translation: X:180.86, Y:-65.32, Z:-22.28 [[ 9.51950389e-01 2.96600041e-01 7.62815334e-02 1.80858222e+02] [-2.95442849e-01 9.54998535e-01 -2.62929910e-02 -6.53151363e+01] [-8.06472548e-02 2.49278943e-03 9.96739588e-01 -2.22769467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84119381700003 meters 0.0641598538327058 Centerline is valid? [True, True] Translation: X:180.88, Y:-65.32, Z:-22.28 [[ 9.51901404e-01 2.97080705e-01 7.50118129e-02 1.80884558e+02] [-2.95963583e-01 9.54849339e-01 -2.58514571e-02 -6.53239309e+01] [-7.93049491e-02 2.40727341e-03 9.96847496e-01 -2.22815918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87119381700003 meters 0.06139275958541692 Centerline is valid? [True, True] Translation: X:180.91, Y:-65.33, Z:-22.28 [[ 9.51906111e-01 2.97087993e-01 7.49231611e-02 1.80913374e+02] [-2.95974515e-01 9.54847110e-01 -2.58085894e-02 -6.53276338e+01] [-7.92075858e-02 2.39200771e-03 9.96855274e-01 -2.22787032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90119381700003 meters 0.06476599486577173 Centerline is valid? [True, True] Translation: X:180.94, Y:-65.35, Z:-22.29 [[ 9.51944137e-01 2.96313017e-01 7.74658408e-02 1.80936468e+02] [-2.95121042e-01 9.55087538e-01 -2.66714181e-02 -6.53450132e+01] [-8.18897476e-02 2.52790037e-03 9.96638189e-01 -2.22868348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93119381700004 meters 0.06608601251014776 Centerline is valid? [True, True] Translation: X:180.96, Y:-65.36, Z:-22.29 [[ 9.52644913e-01 2.93649648e-01 7.89781932e-02 1.80962779e+02] [-2.92402118e-01 9.55909005e-01 -2.71841163e-02 -6.53576226e+01] [-8.34785722e-02 2.80341909e-03 9.96505629e-01 -2.22888493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96119381700004 meters 0.0677923770573128 Centerline is valid? [True, True] Translation: X:180.99, Y:-65.37, Z:-22.29 [[ 9.53552151e-01 2.90356642e-01 8.01954881e-02 1.80988976e+02] [-2.89059224e-01 9.56913372e-01 -2.75964237e-02 -6.53705998e+01] [-8.47529399e-02 3.13338352e-03 9.96397070e-01 -2.22910162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99119381700004 meters 0.06923329370039526 Centerline is valid? [True, True] Translation: X:181.02, Y:-65.38, Z:-22.29 [[ 9.54252309e-01 2.87708765e-01 8.14014583e-02 1.81015041e+02] [-2.86362921e-01 9.57711865e-01 -2.80046557e-02 -6.53835302e+01] [-8.60163274e-02 3.41314801e-03 9.96287881e-01 -2.22929826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02119381700004 meters 0.065081337350035 Centerline is valid? [True, True] Translation: X:181.05, Y:-65.39, Z:-22.29 [[ 9.55362841e-01 2.83981580e-01 8.14635131e-02 1.81046469e+02] [-2.82620808e-01 9.58822424e-01 -2.80185425e-02 -6.53867287e+01] [-8.60657931e-02 3.74459047e-03 9.96282418e-01 -2.22875014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.051193817 meters 0.07526492138682664 Centerline is valid? [True, True] Translation: X:181.07, Y:-65.42, Z:-22.30 [[ 9.56899037e-01 2.78258250e-01 8.31659732e-02 1.81065846e+02] [-2.76818672e-01 9.60496467e-01 -2.85999820e-02 -6.54158179e+01] [-8.78388044e-02 4.34540097e-03 9.96125224e-01 -2.22973028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.081193817 meters 0.06798402829975596 Centerline is valid? [True, True] Translation: X:181.10, Y:-65.41, Z:-22.29 [[ 9.57161549e-01 2.77470228e-01 8.27770565e-02 1.81098292e+02] [-2.76041421e-01 9.60724187e-01 -2.84635031e-02 -6.54128702e+01] [-8.74236950e-02 4.39427442e-03 9.96161527e-01 -2.22933645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11119381700001 meters 0.06917321073147525 Centerline is valid? [True, True] Translation: X:181.12, Y:-65.42, Z:-22.30 [[ 9.57329246e-01 2.77130181e-01 8.19730283e-02 1.81123979e+02] [-2.75728433e-01 9.60822419e-01 -2.81799757e-02 -6.54226439e+01] [-8.65710451e-02 4.37522025e-03 9.96236072e-01 -2.22977576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14119381700002 meters 0.06729055690273365 Centerline is valid? [True, True] Translation: X:181.15, Y:-65.42, Z:-22.30 [[ 9.56309660e-01 2.81474387e-01 7.90190043e-02 1.81153515e+02] [-2.80187600e-01 9.59561104e-01 -2.71550465e-02 -6.54242789e+01] [-8.34670131e-02 3.82848814e-03 9.96503186e-01 -2.23031191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17119381700002 meters 0.06576192322132356 Centerline is valid? [True, True] Translation: X:181.18, Y:-65.43, Z:-22.31 [[ 9.55132657e-01 2.86162020e-01 7.63734610e-02 1.81182755e+02] [-2.84975635e-01 9.58175574e-01 -2.62384732e-02 -6.54280974e+01] [-8.06876393e-02 3.29664710e-03 9.96733985e-01 -2.23086947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20119381700002 meters 0.06334904853366927 Centerline is valid? [True, True] Translation: X:181.21, Y:-65.43, Z:-22.31 [[ 9.53535769e-01 2.91585216e-01 7.58129221e-02 1.81213684e+02] [-2.90433714e-01 9.56540724e-01 -2.60403967e-02 -6.54297575e+01] [-8.01111421e-02 2.81182117e-03 9.96781971e-01 -2.23125958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23119381700002 meters 0.062274971704320704 Centerline is valid? [True, True] Translation: X:181.24, Y:-65.43, Z:-22.32 [[ 9.51968033e-01 2.97105590e-01 7.40616819e-02 1.81241678e+02] [-2.96023571e-01 9.54841882e-01 -2.54366842e-02 -6.54318497e+01] [-7.82745768e-02 2.29090669e-03 9.96929206e-01 -2.23187993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26119381700002 meters 0.059258128744613885 Centerline is valid? [True, True] Translation: X:181.28, Y:-65.43, Z:-22.32 [[ 9.48424628e-01 3.08820735e-01 7.15575215e-02 1.81275261e+02] [-3.07844777e-01 9.51119415e-01 -2.45652495e-02 -6.54250820e+01] [-7.56460064e-02 1.26967831e-03 9.97133928e-01 -2.23240741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29119381700002 meters 0.057946380369821776 Centerline is valid? [True, True] Translation: X:181.31, Y:-65.43, Z:-22.33 [[ 9.46593044e-01 3.14269363e-01 7.20858955e-02 1.81305657e+02] [-3.13294020e-01 9.49333475e-01 -2.47550038e-02 -6.54270280e+01] [-7.62132930e-02 8.48834425e-04 9.97091176e-01 -2.23261240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32119381700002 meters 0.05793248966505658 Centerline is valid? [True, True] Translation: X:181.33, Y:-65.43, Z:-22.33 [[ 9.45105111e-01 3.18602323e-01 7.25871087e-02 1.81332966e+02] [-3.17628310e-01 9.47888355e-01 -2.48982651e-02 -6.54310681e+01] [-7.67371201e-02 4.75756943e-04 9.97051246e-01 -2.23324333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35119381700002 meters 0.05793248966505658 Centerline is valid? [True, True] Translation: X:181.36, Y:-65.44, Z:-22.34 [[ 9.45205179e-01 3.18305331e-01 7.25870989e-02 1.81358878e+02] [-3.17330440e-01 9.47988115e-01 -2.48982993e-02 -6.54396695e+01] [-7.67369685e-02 4.99905366e-04 9.97051246e-01 -2.23355720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38119381700002 meters 0.05707042629890246 Centerline is valid? [True, True] Translation: X:181.39, Y:-65.44, Z:-22.33 [[ 9.42985131e-01 3.24543026e-01 7.38299812e-02 1.81388585e+02] [-3.23555623e-01 9.45870934e-01 -2.52969599e-02 -6.54421918e+01] [-7.80435852e-02 -3.34484357e-05 9.96949947e-01 -2.23349322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41119381700003 meters 0.05722400087766783 Centerline is valid? [True, True] Translation: X:181.42, Y:-65.45, Z:-22.34 [[ 9.42243828e-01 3.26512046e-01 7.46086675e-02 1.81415155e+02] [-3.25512336e-01 9.45193013e-01 -2.55320938e-02 -6.54493797e+01] [-7.88561274e-02 -2.28583886e-04 9.96885981e-01 -2.23396200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44119381700003 meters 0.05768233180298834 Centerline is valid? [True, True] Translation: X:181.44, Y:-65.46, Z:-22.35 [[ 9.41713357e-01 3.28087860e-01 7.43929416e-02 1.81441706e+02] [-3.27099520e-01 9.44647141e-01 -2.54496246e-02 -6.54572490e+01] [-7.86247925e-02 -3.67644032e-04 9.96904211e-01 -2.23457757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47119381700003 meters 0.057367019223970785 Centerline is valid? [True, True] Translation: X:181.47, Y:-65.47, Z:-22.35 [[ 9.41858662e-01 3.27569627e-01 7.48358199e-02 1.81468425e+02] [-3.26567965e-01 9.44826985e-01 -2.55994599e-02 -6.54686534e+01] [-7.90925076e-02 -3.27908414e-04 9.96867227e-01 -2.23470319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50119381700003 meters 0.05691562107493725 Centerline is valid? [True, True] Translation: X:181.49, Y:-65.49, Z:-22.35 [[ 9.42737030e-01 3.24580579e-01 7.67746069e-02 1.81491097e+02] [-3.23518933e-01 9.45858042e-01 -2.62309821e-02 -6.54875728e+01] [-8.11319467e-02 -1.09120716e-04 9.96703364e-01 -2.23480641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53119381700003 meters 0.057156514272668754 Centerline is valid? [True, True] Translation: X:181.52, Y:-65.50, Z:-22.35 [[ 9.43579849e-01 3.21801824e-01 7.81066832e-02 1.81515011e+02] [-3.20694188e-01 9.46807040e-01 -2.66770916e-02 -6.55037051e+01] [-8.25366943e-02 1.23606769e-04 9.96588019e-01 -2.23527802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56119381700003 meters 0.0563243237201146 Centerline is valid? [True, True] Translation: X:181.54, Y:-65.52, Z:-22.35 [[ 9.44514352e-01 3.18838722e-01 7.89589054e-02 1.81540454e+02] [-3.17696600e-01 9.47808906e-01 -2.69656896e-02 -6.55202938e+01] [-8.34356597e-02 3.84504978e-04 9.96513092e-01 -2.23481565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59119381700003 meters 0.056676486154417505 Centerline is valid? [True, True] Translation: X:181.56, Y:-65.54, Z:-22.35 [[ 9.45493948e-01 3.15777173e-01 7.95359785e-02 1.81562975e+02] [-3.14610103e-01 9.48833168e-01 -2.71312120e-02 -6.55369109e+01] [-8.40337918e-02 6.29574389e-04 9.96462707e-01 -2.23520934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62119381700003 meters 0.057023769696387124 Centerline is valid? [True, True] Translation: X:181.58, Y:-65.56, Z:-22.35 [[ 9.47641948e-01 3.09206279e-01 7.97885648e-02 1.81584851e+02] [-3.08009690e-01 9.50994232e-01 -2.72029615e-02 -6.55616921e+01] [-8.42897914e-02 1.20301640e-03 9.96440557e-01 -2.23502386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65119381700003 meters 0.057512966244685666 Centerline is valid? [True, True] Translation: X:181.61, Y:-65.58, Z:-22.35 [[ 9.48368319e-01 3.06315360e-01 8.22704781e-02 1.81608088e+02] [-3.05033065e-01 9.51928917e-01 -2.80386480e-02 -6.55779062e+01] [-8.69043157e-02 1.49574933e-03 9.96215540e-01 -2.23532079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68119381700004 meters 0.057970210929150584 Centerline is valid? [True, True] Translation: X:181.63, Y:-65.59, Z:-22.36 [[ 9.48966201e-01 3.04445900e-01 8.23155105e-02 1.81632932e+02] [-3.03156098e-01 9.52528186e-01 -2.80434335e-02 -6.55933889e+01] [-8.69455522e-02 1.65782155e-03 9.96211686e-01 -2.23554507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71119381700004 meters 0.05754070934173716 Centerline is valid? [True, True] Translation: X:181.66, Y:-65.61, Z:-22.36 [[ 9.48644773e-01 3.05405996e-01 8.24637615e-02 1.81657404e+02] [-3.04115840e-01 9.52220945e-01 -2.80860813e-02 -6.56106988e+01] [-8.71013785e-02 1.56517810e-03 9.96198223e-01 -2.23577037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74119381700004 meters 0.057535776624011464 Centerline is valid? [True, True] Translation: X:181.68, Y:-65.62, Z:-22.36 [[ 9.48033131e-01 3.07537861e-01 8.15698827e-02 1.81682283e+02] [-3.06284013e-01 9.51534890e-01 -2.77751192e-02 -6.56224910e+01] [-8.61584901e-02 1.34818219e-03 9.96280531e-01 -2.23641876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77119381700004 meters 0.05727010177267908 Centerline is valid? [True, True] Translation: X:181.71, Y:-65.63, Z:-22.37 [[ 9.47331164e-01 3.10246623e-01 7.94399048e-02 1.81707991e+02] [-3.09068033e-01 9.50655514e-01 -2.70378282e-02 -6.56321770e+01] [-8.39083785e-02 1.06144213e-03 9.96472908e-01 -2.23696803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80119381700004 meters 0.05692782952389856 Centerline is valid? [True, True] Translation: X:181.73, Y:-65.64, Z:-22.37 [[ 9.46327067e-01 3.13865974e-01 7.71571911e-02 1.81734794e+02] [-3.12767023e-01 9.49467032e-01 -2.62515392e-02 -6.56405848e+01] [-8.14976742e-02 7.10317090e-04 9.96673279e-01 -2.23745686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.831193817 meters 0.05742275689268795 Centerline is valid? [True, True] Translation: X:181.76, Y:-65.65, Z:-22.38 [[ 9.44850794e-01 3.19501912e-01 7.19409868e-02 1.81761125e+02] [-3.18563563e-01 9.47585610e-01 -2.44697497e-02 -6.56504718e+01] [-7.59883757e-02 2.02485268e-04 9.97108683e-01 -2.23833175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86119381700001 meters 0.057588713125995034 Centerline is valid? [True, True] Translation: X:181.79, Y:-65.66, Z:-22.39 [[ 9.44143675e-01 3.21614407e-01 7.18115241e-02 1.81785257e+02] [-3.20685665e-01 9.46870726e-01 -2.44239991e-02 -6.56603922e+01] [-7.58513400e-02 3.08378843e-05 9.97119137e-01 -2.23888475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89119381700002 meters 0.05723248293640624 Centerline is valid? [True, True] Translation: X:181.81, Y:-65.67, Z:-22.39 [[ 9.43647737e-01 3.22753553e-01 7.32058277e-02 1.81811724e+02] [-3.21792917e-01 9.46483037e-01 -2.48833326e-02 -6.56722928e+01] [-7.73192581e-02 -7.60163090e-05 9.97006382e-01 -2.23898101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92119381700002 meters 0.056624768782928346 Centerline is valid? [True, True] Translation: X:181.84, Y:-65.69, Z:-22.39 [[ 9.42783097e-01 3.24683796e-01 7.57658539e-02 1.81837390e+02] [-3.23661509e-01 9.45822589e-01 -2.57460255e-02 -6.56882482e+01] [-8.00203734e-02 -2.49572873e-04 9.96793197e-01 -2.23884016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95119381700002 meters 0.05674868256036596 Centerline is valid? [True, True] Translation: X:181.86, Y:-65.70, Z:-22.39 [[ 9.42262628e-01 3.25884540e-01 7.70740290e-02 1.81862377e+02] [-3.24831175e-01 9.45409506e-01 -2.61834554e-02 -6.56994202e+01] [-8.13993030e-02 -3.64355874e-04 9.96681504e-01 -2.23928159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98119381700002 meters 0.056583683080026946 Centerline is valid? [True, True] Translation: X:181.89, Y:-65.71, Z:-22.39 [[ 9.41795540e-01 3.26928730e-01 7.83502788e-02 1.81889099e+02] [-3.25844678e-01 9.45048878e-01 -2.66057077e-02 -6.57118012e+01] [-8.27430134e-02 -4.72884513e-04 9.96570805e-01 -2.23947979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01119381700002 meters 0.0566511097742771 Centerline is valid? [True, True] Translation: X:181.91, Y:-65.73, Z:-22.40 [[ 9.41060015e-01 3.28968269e-01 7.86506636e-02 1.81912884e+02] [-3.27883337e-01 9.44340746e-01 -2.67034389e-02 -6.57268448e+01] [-8.30576104e-02 -6.58703413e-04 9.96544530e-01 -2.23973512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04119381700002 meters 0.05656490623242177 Centerline is valid? [True, True] Translation: X:181.94, Y:-65.74, Z:-22.40 [[ 9.40551880e-01 3.30378266e-01 7.88185409e-02 1.81938768e+02] [-3.29294455e-01 9.43848277e-01 -2.67505378e-02 -6.57388325e+01] [-8.32305404e-02 -7.94239844e-04 9.96530003e-01 -2.23995041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07119381700002 meters 0.05649761819993462 Centerline is valid? [True, True] Translation: X:181.96, Y:-65.75, Z:-22.40 [[ 9.40035292e-01 3.31572565e-01 7.99580131e-02 1.81964635e+02] [-3.30462105e-01 9.43429270e-01 -2.71295119e-02 -6.57508797e+01] [-8.44301317e-02 -9.20394644e-04 9.96428977e-01 -2.24011794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10119381700002 meters 0.05647483083998926 Centerline is valid? [True, True] Translation: X:181.99, Y:-65.76, Z:-22.40 [[ 9.39566360e-01 3.32425547e-01 8.19042830e-02 1.81990809e+02] [-3.31264213e-01 9.43128939e-01 -2.77817340e-02 -6.57639491e+01] [-8.64816577e-02 -1.02917523e-03 9.96252912e-01 -2.24036110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13119381700002 meters 0.056118141722246766 Centerline is valid? [True, True] Translation: X:182.02, Y:-65.79, Z:-22.40 [[ 9.39510238e-01 3.32309386e-01 8.30119542e-02 1.82015228e+02] [-3.31116732e-01 9.43169862e-01 -2.81482119e-02 -6.57852968e+01] [-8.76482884e-02 -1.04111370e-03 9.96150939e-01 -2.24047253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16119381700003 meters 0.0560794253094629 Centerline is valid? [True, True] Translation: X:182.04, Y:-65.80, Z:-22.41 [[ 9.39858735e-01 3.31364179e-01 8.28452707e-02 1.82040679e+02] [-3.30172951e-01 9.43502449e-01 -2.80882888e-02 -6.57999257e+01] [-8.74721686e-02 -9.54243906e-04 9.96166507e-01 -2.24087928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19119381700003 meters 0.05613906659862802 Centerline is valid? [True, True] Translation: X:182.07, Y:-65.82, Z:-22.41 [[ 9.40269644e-01 3.30497579e-01 8.16354538e-02 1.82067488e+02] [-3.29338351e-01 9.43806440e-01 -2.76704498e-02 -6.58154173e+01] [-8.61930837e-02 -8.68001761e-04 9.96278073e-01 -2.24128906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22119381700003 meters 0.05651598565397688 Centerline is valid? [True, True] Translation: X:182.09, Y:-65.84, Z:-22.42 [[ 9.40531417e-01 3.30260748e-01 7.95518132e-02 1.82092167e+02] [-3.29159619e-01 9.43889374e-01 -2.69591403e-02 -6.58371282e+01] [-8.39916570e-02 -8.29326094e-04 9.96466113e-01 -2.24189522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25119381700003 meters 0.05651811785898156 Centerline is valid? [True, True] Translation: X:182.12, Y:-65.85, Z:-22.42 [[ 9.40151389e-01 3.31419801e-01 7.92229847e-02 1.82120198e+02] [-3.30331079e-01 9.43482946e-01 -2.68572013e-02 -6.58530299e+01] [-8.36465433e-02 -9.19978958e-04 9.96495062e-01 -2.24222979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28119381700003 meters 0.056745419337070974 Centerline is valid? [True, True] Translation: X:182.15, Y:-65.87, Z:-22.43 [[ 9.39531011e-01 3.33219979e-01 7.90311631e-02 1.82149363e+02] [-3.32140690e-01 9.42848523e-01 -2.68183680e-02 -6.58679008e+01] [-8.34508314e-02 -1.05277659e-03 9.96511340e-01 -2.24260648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31119381700003 meters 0.05690160238803052 Centerline is valid? [True, True] Translation: X:182.18, Y:-65.88, Z:-22.43 [[ 9.38812700e-01 3.35165727e-01 7.93388285e-02 1.82179102e+02] [-3.34082837e-01 9.42158415e-01 -2.69477154e-02 -6.58823591e+01] [-8.37816956e-02 -1.20688343e-03 9.96483402e-01 -2.24300146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34119381700003 meters 0.05771066248738664 Centerline is valid? [True, True] Translation: X:182.21, Y:-65.90, Z:-22.43 [[ 9.37746696e-01 3.38481658e-01 7.78543620e-02 1.82207601e+02] [-3.37447296e-01 9.40971889e-01 -2.64806993e-02 -6.58976139e+01] [-8.22219970e-02 -1.43955563e-03 9.96613000e-01 -2.24344695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37119381700003 meters 0.0579586989240238 Centerline is valid? [True, True] Translation: X:182.24, Y:-65.91, Z:-22.44 [[ 9.37109304e-01 3.40538766e-01 7.65473783e-02 1.82237052e+02] [-3.39545775e-01 9.40229127e-01 -2.60356616e-02 -6.59107455e+01] [-8.08382267e-02 -1.59307816e-03 9.96725962e-01 -2.24387345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40119381700003 meters 0.05817509310477971 Centerline is valid? [True, True] Translation: X:182.27, Y:-65.92, Z:-22.44 [[ 9.36716515e-01 3.41825652e-01 7.56134570e-02 1.82265390e+02] [-3.40858939e-01 9.39761922e-01 -2.57432228e-02 -6.59248938e+01] [-7.98583416e-02 -1.65942078e-03 9.96804841e-01 -2.24427823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43119381700004 meters 0.05892932353447522 Centerline is valid? [True, True] Translation: X:182.29, Y:-65.94, Z:-22.45 [[ 9.36719421e-01 3.41969781e-01 7.49225958e-02 1.82292689e+02] [-3.41019295e-01 9.39709528e-01 -2.55312120e-02 -6.59383557e+01] [-7.91363801e-02 -1.63446873e-03 9.96862459e-01 -2.24501298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46119381700004 meters 0.05812613333843488 Centerline is valid? [True, True] Translation: X:182.32, Y:-65.96, Z:-22.45 [[ 9.37183344e-01 3.40799398e-01 7.44523272e-02 1.82319974e+02] [-3.39855405e-01 9.40134833e-01 -2.53928965e-02 -6.59571979e+01] [-7.86491100e-02 -1.50522609e-03 9.96901225e-01 -2.24506488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49119381700004 meters 0.05751271999848721 Centerline is valid? [True, True] Translation: X:182.34, Y:-65.98, Z:-22.46 [[ 9.39405362e-01 3.34961153e-01 7.29286753e-02 1.82344079e+02] [-3.34036020e-01 9.42231437e-01 -2.48969285e-02 -6.59839263e+01] [-7.70551944e-02 -9.72496304e-04 9.97026354e-01 -2.24559450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52119381700004 meters 0.057265842339952876 Centerline is valid? [True, True] Translation: X:182.37, Y:-66.00, Z:-22.46 [[ 9.41169035e-01 3.30012761e-01 7.27490530e-02 1.82369511e+02] [-3.29075478e-01 9.43976315e-01 -2.48605243e-02 -6.60037524e+01] [-7.68776733e-02 -5.41973679e-04 9.97040385e-01 -2.24609164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55119381700004 meters 0.05699112423472765 Centerline is valid? [True, True] Translation: X:182.40, Y:-66.03, Z:-22.46 [[ 9.42804523e-01 3.25110248e-01 7.36407319e-02 1.82396197e+02] [-3.24133148e-01 9.45676113e-01 -2.51871188e-02 -6.60252208e+01] [-7.78288715e-02 -1.22872767e-04 9.96966725e-01 -2.24622384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.581193817 meters 0.057391737501192634 Centerline is valid? [True, True] Translation: X:182.42, Y:-66.05, Z:-22.46 [[ 9.45077840e-01 3.18315103e-01 7.41847095e-02 1.82423243e+02] [-3.17300687e-01 9.47984853e-01 -2.53967236e-02 -6.60472963e+01] [-7.84101416e-02 4.63021456e-04 9.96921078e-01 -2.24648916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61119381700001 meters 0.060776364238974534 Centerline is valid? [True, True] Translation: X:182.44, Y:-66.08, Z:-22.47 [[ 9.49445498e-01 3.04383562e-01 7.68368013e-02 1.82444452e+02] [-3.03246719e-01 9.52548023e-01 -2.63380052e-02 -6.60810561e+01] [-8.12075990e-02 1.70599256e-03 9.96695749e-01 -2.24696775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64119381700002 meters 0.06191195012348285 Centerline is valid? [True, True] Translation: X:182.47, Y:-66.10, Z:-22.47 [[ 9.51438191e-01 2.97619131e-01 7.86652562e-02 1.82472027e+02] [-2.96401674e-01 9.54681749e-01 -2.69964121e-02 -6.60997175e+01] [-8.31349331e-02 2.36890383e-03 9.96535484e-01 -2.24691628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67119381700002 meters 0.06471764923193278 Centerline is valid? [True, True] Translation: X:182.50, Y:-66.12, Z:-22.47 [[ 9.53381156e-01 2.91175546e-01 7.92538516e-02 1.82496952e+02] [-2.89916690e-01 9.56665053e-01 -2.72082692e-02 -6.61197053e+01] [-8.37417727e-02 2.96283685e-03 9.96483084e-01 -2.24723125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70119381700002 meters 0.067296701690611 Centerline is valid? [True, True] Translation: X:182.52, Y:-66.14, Z:-22.48 [[ 9.55132592e-01 2.85455274e-01 7.89747977e-02 1.82523072e+02] [-2.84185604e-01 9.58385807e-01 -2.71143592e-02 -6.61382625e+01] [-8.34282621e-02 3.45430766e-03 9.96507799e-01 -2.24757305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73119381700002 meters 0.07315578826085588 Centerline is valid? [True, True] Translation: X:182.55, Y:-66.16, Z:-22.48 [[ 9.58032908e-01 2.75950390e-01 7.76165550e-02 1.82547202e+02] [-2.74692842e-01 9.61162659e-01 -2.66493166e-02 -6.61620396e+01] [-8.19560236e-02 4.21021013e-03 9.96627054e-01 -2.24815714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76119381700002 meters 0.07545008503214928 Centerline is valid? [True, True] Translation: X:182.57, Y:-66.18, Z:-22.49 [[ 9.58875878e-01 2.73059530e-01 7.74308986e-02 1.82573673e+02] [-2.71798537e-01 9.61986857e-01 -2.65865134e-02 -6.61762989e+01] [-8.17472076e-02 4.44756134e-03 9.96643172e-01 -2.24858884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79119381700002 meters 0.0740554613881122 Centerline is valid? [True, True] Translation: X:182.60, Y:-66.18, Z:-22.49 [[ 9.59097340e-01 2.72568108e-01 7.64128150e-02 1.82604530e+02] [-2.71338469e-01 9.62126286e-01 -2.62382372e-02 -6.61848165e+01] [-8.06704846e-02 4.43128729e-03 9.96730975e-01 -2.24883914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82119381700002 meters 0.07462588108014445 Centerline is valid? [True, True] Translation: X:182.63, Y:-66.20, Z:-22.49 [[ 9.59198761e-01 2.72598964e-01 7.50169463e-02 1.82634778e+02] [-2.71412043e-01 9.62117818e-01 -2.57838415e-02 -6.61951776e+01] [-7.92037892e-02 4.37132617e-03 9.96848861e-01 -2.24932828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85119381700002 meters 0.0737688550397926 Centerline is valid? [True, True] Translation: X:182.67, Y:-66.20, Z:-22.50 [[ 9.58308077e-01 2.76278409e-01 7.29100175e-02 1.82665227e+02] [-2.75165314e-01 9.61069383e-01 -2.50936292e-02 -6.61994374e+01] [-7.70044135e-02 3.98511973e-03 9.97022788e-01 -2.25002481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88119381700002 meters 0.07243963593087124 Centerline is valid? [True, True] Translation: X:182.70, Y:-66.21, Z:-22.50 [[ 9.57466243e-01 2.79276413e-01 7.25470750e-02 1.82696376e+02] [-2.78182831e-01 9.60203518e-01 -2.49703278e-02 -6.62053669e+01] [-7.66335802e-02 3.72689528e-03 9.97052358e-01 -2.25042568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91119381700003 meters 0.07139308169918744 Centerline is valid? [True, True] Translation: X:182.73, Y:-66.21, Z:-22.51 [[ 9.56668477e-01 2.82025999e-01 7.24345325e-02 1.82727217e+02] [-2.80943086e-01 9.59400348e-01 -2.49390372e-02 -6.62123921e+01] [-7.65271725e-02 3.50840964e-03 9.97061324e-01 -2.25080502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94119381700003 meters 0.06896581095694665 Centerline is valid? [True, True] Translation: X:182.76, Y:-66.21, Z:-22.51 [[ 9.54986675e-01 2.88175770e-01 7.03930182e-02 1.82760437e+02] [-2.87169167e-01 9.57573023e-01 -2.42440965e-02 -6.62129570e+01] [-7.43930164e-02 2.93808475e-03 9.97224672e-01 -2.25138687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97119381700003 meters 0.0676223801272613 Centerline is valid? [True, True] Translation: X:182.79, Y:-66.22, Z:-22.52 [[ 9.53785916e-01 2.92162020e-01 7.02408714e-02 1.82791341e+02] [-2.91170111e-01 9.56365230e-01 -2.41973917e-02 -6.62158340e+01] [-7.42454859e-02 2.62708911e-03 9.97236535e-01 -2.25192749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00119381700003 meters 0.0656190648449502 Centerline is valid? [True, True] Translation: X:182.82, Y:-66.22, Z:-22.52 [[ 9.52335340e-01 2.96980608e-01 6.97131231e-02 1.82823968e+02] [-2.96016258e-01 9.54880890e-01 -2.40179147e-02 -6.62172600e+01] [-7.37005840e-02 2.23689117e-03 9.97277905e-01 -2.25239462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03119381700003 meters 0.06375844985949933 Centerline is valid? [True, True] Translation: X:182.86, Y:-66.22, Z:-22.53 [[ 9.50754475e-01 3.01881711e-01 7.02378861e-02 1.82856645e+02] [-3.00915720e-01 9.53343544e-01 -2.42036458e-02 -6.62201425e+01] [-7.42674732e-02 1.87604046e-03 9.97236593e-01 -2.25268204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06119381700003 meters 0.06150153929207931 Centerline is valid? [True, True] Translation: X:182.89, Y:-66.22, Z:-22.53 [[ 9.48343843e-01 3.09249149e-01 7.07737207e-02 1.82888766e+02] [-3.08288206e-01 9.50980142e-01 -2.43957380e-02 -6.62183339e+01] [-7.48487642e-02 1.31684451e-03 9.97194027e-01 -2.25303697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09119381700003 meters 0.06067832318809602 Centerline is valid? [True, True] Translation: X:182.92, Y:-66.22, Z:-22.53 [[ 9.47624681e-01 3.10890607e-01 7.31744106e-02 1.82920181e+02] [-3.09868395e-01 9.50444912e-01 -2.52199797e-02 -6.62241590e+01] [-7.73889010e-02 1.22463813e-03 9.97000230e-01 -2.25322184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12119381700003 meters 0.060162590055875084 Centerline is valid? [True, True] Translation: X:182.95, Y:-66.23, Z:-22.53 [[ 9.47290472e-01 3.11253452e-01 7.59081702e-02 1.82949806e+02] [-3.10153943e-01 9.50326121e-01 -2.61685939e-02 -6.62307284e+01] [-8.02825821e-02 1.24604135e-03 9.96771365e-01 -2.25331828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15119381700003 meters 0.06093628511755927 Centerline is valid? [True, True] Translation: X:182.98, Y:-66.24, Z:-22.53 [[ 9.48162220e-01 3.07864419e-01 7.87902512e-02 1.82979754e+02] [-3.06667446e-01 9.51428897e-01 -2.71685695e-02 -6.62390838e+01] [-8.33275576e-02 1.59780605e-03 9.96520931e-01 -2.25340983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18119381700004 meters 0.06266650139115701 Centerline is valid? [True, True] Translation: X:183.01, Y:-66.25, Z:-22.54 [[ 9.49436000e-01 3.03367343e-01 8.08673977e-02 1.83008016e+02] [-3.02087977e-01 9.52871438e-01 -2.79083598e-02 -6.62528322e+01] [-8.55227185e-02 2.06813295e-03 9.96334074e-01 -2.25362056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21119381700004 meters 0.0655425079128755 Centerline is valid? [True, True] Translation: X:183.03, Y:-66.27, Z:-22.54 [[ 9.51057762e-01 2.98013408e-01 8.17137836e-02 1.83034099e+02] [-2.96684690e-01 9.54558127e-01 -2.82307670e-02 -6.62678283e+01] [-8.64137034e-02 2.60586148e-03 9.96255932e-01 -2.25390515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24119381700004 meters 0.0639247055947436 Centerline is valid? [True, True] Translation: X:183.07, Y:-66.27, Z:-22.53 [[ 9.52869279e-01 2.92077291e-01 8.20426264e-02 1.83065295e+02] [-2.90715913e-01 9.56389508e-01 -2.83437364e-02 -6.62747898e+01] [-8.67432689e-02 3.15677866e-03 9.96225697e-01 -2.25349589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27119381700004 meters 0.0639247055947436 Centerline is valid? [True, True] Translation: X:183.10, Y:-66.29, Z:-22.54 [[ 9.52766492e-01 2.92411758e-01 8.20449637e-02 1.83095721e+02] [-2.91052196e-01 9.56287423e-01 -2.83369768e-02 -6.62855796e+01] [-8.67446321e-02 3.11915515e-03 9.96225697e-01 -2.25386697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30119381700004 meters 0.07116091224428667 Centerline is valid? [True, True] Translation: X:183.12, Y:-66.31, Z:-22.55 [[ 9.56606693e-01 2.80275170e-01 7.96835248e-02 1.83119931e+02] [-2.78947437e-01 9.59910781e-01 -2.75611818e-02 -6.63051284e+01] [-8.42137895e-02 4.13769594e-03 9.96439119e-01 -2.25460561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.331193817 meters 0.07856223984616068 Centerline is valid? [True, True] Translation: X:183.14, Y:-66.32, Z:-22.56 [[ 9.58124982e-01 2.75455620e-01 7.82350369e-02 1.83144459e+02] [-2.74159250e-01 9.61303329e-01 -2.70668739e-02 -6.63240082e+01] [-8.26633240e-02 4.48458907e-03 9.96567440e-01 -2.25555374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36119381700001 meters 0.07492403359112237 Centerline is valid? [True, True] Translation: X:183.18, Y:-66.33, Z:-22.56 [[ 9.59300424e-01 2.71625349e-01 7.72163579e-02 1.83176778e+02] [-2.70350361e-01 9.62391347e-01 -2.67128526e-02 -6.63252837e+01] [-8.15682427e-02 4.75018057e-03 9.96656439e-01 -2.25554911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39119381700002 meters 0.07652179188021012 Centerline is valid? [True, True] Translation: X:183.21, Y:-66.33, Z:-22.56 [[ 9.60090847e-01 2.68998706e-01 7.65849953e-02 1.83206595e+02] [-2.67736122e-01 9.63127902e-01 -2.64955177e-02 -6.63345758e+01] [-8.08884059e-02 4.93353440e-03 9.96710954e-01 -2.25594181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42119381700002 meters 0.07861199490719602 Centerline is valid? [True, True] Translation: X:183.24, Y:-66.34, Z:-22.56 [[ 9.60640674e-01 2.67358934e-01 7.54234404e-02 1.83235838e+02] [-2.66129307e-01 9.63584063e-01 -2.60949515e-02 -6.63398443e+01] [-7.96535435e-02 4.99548394e-03 9.96810091e-01 -2.25648760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45119381700002 meters 0.07878817871079892 Centerline is valid? [True, True] Translation: X:183.27, Y:-66.35, Z:-22.57 [[ 9.60593445e-01 2.67941816e-01 7.39419805e-02 1.83265596e+02] [-2.66761537e-01 9.63422873e-01 -2.55861469e-02 -6.63462010e+01] [-7.80929939e-02 4.85300863e-03 9.96934267e-01 -2.25703754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48119381700002 meters 0.07764897949063468 Centerline is valid? [True, True] Translation: X:183.30, Y:-66.35, Z:-22.58 [[ 9.60399097e-01 2.69189421e-01 7.19070944e-02 1.83297433e+02] [-2.68075637e-01 9.63076100e-01 -2.48973742e-02 -6.63506977e+01] [-7.59541138e-02 4.63487555e-03 9.97100542e-01 -2.25750515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51119381700002 meters 0.07842640185528499 Centerline is valid? [True, True] Translation: X:183.33, Y:-66.36, Z:-22.58 [[ 9.59897398e-01 2.71431342e-01 7.01570562e-02 1.83327273e+02] [-2.70375420e-01 9.62447879e-01 -2.43148397e-02 -6.63571273e+01] [-7.41223196e-02 4.37100780e-03 9.97239578e-01 -2.25814486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54119381700002 meters 0.07751110841047013 Centerline is valid? [True, True] Translation: X:183.36, Y:-66.36, Z:-22.59 [[ 9.59170527e-01 2.74231183e-01 6.92037382e-02 1.83357901e+02] [-2.73208731e-01 9.61654935e-01 -2.40161575e-02 -6.63603033e+01] [-7.31360957e-02 4.12852498e-03 9.97313425e-01 -2.25871232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57119381700002 meters 0.07197281277324179 Centerline is valid? [True, True] Translation: X:183.39, Y:-66.35, Z:-22.59 [[ 9.56612843e-01 2.83490144e-01 6.72696631e-02 1.83393998e+02] [-2.82546710e-01 9.58969378e-01 -2.33471572e-02 -6.63500711e+01] [-7.11282359e-02 3.32736844e-03 9.97461630e-01 -2.25916777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60119381700002 meters 0.0693214783088944 Centerline is valid? [True, True] Translation: X:183.43, Y:-66.35, Z:-22.59 [[ 9.54843336e-01 2.89062840e-01 6.86795341e-02 1.83426158e+02] [-2.88093683e-01 9.57305504e-01 -2.38370022e-02 -6.63496756e+01] [-7.26376875e-02 2.97446280e-03 9.97353959e-01 -2.25949958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63119381700002 meters 0.06665384723174488 Centerline is valid? [True, True] Translation: X:183.46, Y:-66.35, Z:-22.60 [[ 9.52831652e-01 2.95337699e-01 6.99105576e-02 1.83457981e+02] [-2.94350143e-01 9.55389543e-01 -2.42655119e-02 -6.63489571e+01] [-7.39583361e-02 2.54276515e-03 9.97258090e-01 -2.25985754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66119381700003 meters 0.06331288698116389 Centerline is valid? [True, True] Translation: X:183.49, Y:-66.34, Z:-22.60 [[ 9.49795624e-01 3.04454887e-01 7.20797765e-02 1.83491652e+02] [-3.03431174e-01 9.52524881e-01 -2.50174767e-02 -6.63412429e+01] [-7.62744736e-02 1.89023876e-03 9.97085067e-01 -2.26022773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69119381700003 meters 0.06054999885403184 Centerline is valid? [True, True] Translation: X:183.53, Y:-66.34, Z:-22.60 [[ 9.49000149e-01 3.06490443e-01 7.39075459e-02 1.83525188e+02] [-3.05420552e-01 9.51872096e-01 -2.56475934e-02 -6.63422886e+01] [-7.82112729e-02 1.76668647e-03 9.96935241e-01 -2.25979084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72119381700003 meters 0.06044319388903901 Centerline is valid? [True, True] Translation: X:183.56, Y:-66.35, Z:-22.60 [[ 9.48676508e-01 3.06810337e-01 7.66831169e-02 1.83555215e+02] [-3.05659823e-01 9.51768969e-01 -2.66064400e-02 -6.63501141e+01] [-8.11477419e-02 1.80195665e-03 9.96700455e-01 -2.26001534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75119381700003 meters 0.06240711081757009 Centerline is valid? [True, True] Translation: X:183.58, Y:-66.36, Z:-22.61 [[ 9.48906700e-01 3.05504759e-01 7.90121347e-02 1.83582956e+02] [-3.04276421e-01 9.52188454e-01 -2.74409804e-02 -6.63623292e+01] [-8.36177925e-02 1.99740057e-03 9.96495898e-01 -2.26066618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78119381700003 meters 0.06323349028298247 Centerline is valid? [True, True] Translation: X:183.61, Y:-66.37, Z:-22.60 [[ 9.50879254e-01 2.98371172e-01 8.24820414e-02 1.83614196e+02] [-2.97002671e-01 9.54445890e-01 -2.86784862e-02 -6.63722345e+01] [-8.72814790e-02 2.77239094e-03 9.96179832e-01 -2.26028296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81119381700003 meters 0.06504247859329572 Centerline is valid? [True, True] Translation: X:183.64, Y:-66.39, Z:-22.60 [[ 9.52505444e-01 2.92820025e-01 8.36050908e-02 1.83642971e+02] [-2.91391768e-01 9.56161759e-01 -2.90779531e-02 -6.63853274e+01] [-8.84545976e-02 3.33507336e-03 9.96074626e-01 -2.26047340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84119381700003 meters 0.06740587111146604 Centerline is valid? [True, True] Translation: X:183.67, Y:-66.40, Z:-22.61 [[ 9.53956034e-01 2.87894370e-01 8.41707638e-02 1.83670090e+02] [-2.86427211e-01 9.57654545e-01 -2.92784084e-02 -6.63990381e+01] [-8.90356035e-02 3.82151724e-03 9.96021113e-01 -2.26073633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87119381700003 meters 0.07024576865304624 Centerline is valid? [True, True] Translation: X:183.70, Y:-66.41, Z:-22.61 [[ 9.55451066e-01 2.82895811e-01 8.41618771e-02 1.83697451e+02] [-2.81409109e-01 9.59141039e-01 -2.92810566e-02 -6.64119170e+01] [-8.90065985e-02 4.29269792e-03 9.96021786e-01 -2.26111735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90119381700003 meters 0.07148571063188802 Centerline is valid? [True, True] Translation: X:183.73, Y:-66.42, Z:-22.61 [[ 9.57445107e-01 2.75997020e-01 8.44068218e-02 1.83727174e+02] [-2.74474641e-01 9.61145735e-01 -2.93691434e-02 -6.64181840e+01] [-8.92330529e-02 4.95181046e-03 9.95998465e-01 -2.26134935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93119381700004 meters 0.07599191249386499 Centerline is valid? [True, True] Translation: X:183.75, Y:-66.43, Z:-22.62 [[ 9.57890491e-01 2.74460254e-01 8.43645473e-02 1.83754375e+02] [-2.72933980e-01 9.61584989e-01 -2.93487736e-02 -6.64321786e+01] [-8.91787542e-02 5.08695943e-03 9.96002647e-01 -2.26199607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96119381700004 meters 0.07304843728999302 Centerline is valid? [True, True] Translation: X:183.79, Y:-66.43, Z:-22.62 [[ 9.57881008e-01 2.74778249e-01 8.34319423e-02 1.83787492e+02] [-2.73285960e-01 9.61494571e-01 -2.90340143e-02 -6.64349502e+01] [-8.81972752e-02 5.01035242e-03 9.96090426e-01 -2.26219548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99119381700004 meters 0.0719437301637611 Centerline is valid? [True, True] Translation: X:183.82, Y:-66.44, Z:-22.63 [[ 9.57085798e-01 2.78309626e-01 8.08116804e-02 1.83820236e+02] [-2.76919540e-01 9.60480549e-01 -2.81546310e-02 -6.64363762e+01] [-8.54537520e-02 4.56806410e-03 9.96331666e-01 -2.26284974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02119381700004 meters 0.06961599670525516 Centerline is valid? [True, True] Translation: X:183.85, Y:-66.44, Z:-22.63 [[ 9.56153595e-01 2.81641358e-01 8.03022291e-02 1.83852093e+02] [-2.80279937e-01 9.59510338e-01 -2.79833543e-02 -6.64387231e+01] [-8.49320889e-02 4.24928106e-03 9.96377681e-01 -2.26322958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05119381700004 meters 0.068123397718887 Centerline is valid? [True, True] Translation: X:183.88, Y:-66.44, Z:-22.64 [[ 9.54831740e-01 2.86579887e-01 7.85386325e-02 1.83883284e+02] [-2.85294039e-01 9.58049090e-01 -2.73724726e-02 -6.64421768e+01] [-8.30882655e-02 3.72950192e-03 9.96535213e-01 -2.26377254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.081193817 meters 0.06613583765449102 Centerline is valid? [True, True] Translation: X:183.92, Y:-66.44, Z:-22.64 [[ 9.53398940e-01 2.91738809e-01 7.69345778e-02 1.83915289e+02] [-2.90521481e-01 9.56492616e-01 -2.68168737e-02 -6.64443460e+01] [-8.14108783e-02 3.21603148e-03 9.96675437e-01 -2.26438119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11119381700001 meters 0.06297582971912409 Centerline is valid? [True, True] Translation: X:183.95, Y:-66.44, Z:-22.65 [[ 9.50920383e-01 2.99833996e-01 7.64852987e-02 1.83947547e+02] [-2.98656423e-01 9.53988077e-01 -2.66662690e-02 -6.64395936e+01] [-8.09615171e-02 2.51467303e-03 9.96714056e-01 -2.26484037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14119381700002 meters 0.06135081881414848 Centerline is valid? [True, True] Translation: X:183.98, Y:-66.44, Z:-22.65 [[ 9.49940058e-01 3.02798056e-01 7.69884594e-02 1.83976902e+02] [-3.01614635e-01 9.53052020e-01 -2.68413674e-02 -6.64424464e+01] [-8.15015207e-02 2.27684406e-03 9.96670617e-01 -2.26498980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17119381700002 meters 0.06063105433852177 Centerline is valid? [True, True] Translation: X:184.01, Y:-66.45, Z:-22.65 [[ 9.49223702e-01 3.04944487e-01 7.73512932e-02 1.84005763e+02] [-3.03757576e-01 9.52367822e-01 -2.69604588e-02 -6.64475305e+01] [-8.18883260e-02 2.09546524e-03 9.96639308e-01 -2.26528121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20119381700002 meters 0.059911312456605886 Centerline is valid? [True, True] Translation: X:184.03, Y:-66.45, Z:-22.66 [[ 9.48598308e-01 3.06737069e-01 7.79334382e-02 1.84034556e+02] [-3.05538898e-01 9.51792297e-01 -2.71552045e-02 -6.64533747e+01] [-8.25059541e-02 1.94768420e-03 9.96588668e-01 -2.26558438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23119381700002 meters 0.059732013232855215 Centerline is valid? [True, True] Translation: X:184.06, Y:-66.46, Z:-22.66 [[ 9.48319590e-01 3.07639107e-01 7.77697589e-02 1.84062088e+02] [-3.06449399e-01 9.51501297e-01 -2.70933198e-02 -6.64605427e+01] [-8.23329912e-02 1.86063006e-03 9.96603139e-01 -2.26598768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26119381700002 meters 0.0589837348537747 Centerline is valid? [True, True] Translation: X:184.09, Y:-66.47, Z:-22.66 [[ 9.47587269e-01 3.09721092e-01 7.84296638e-02 1.84090626e+02] [-3.08518809e-01 9.50825956e-01 -2.73156622e-02 -6.64666216e+01] [-8.30331968e-02 1.68694736e-03 9.96545354e-01 -2.26618191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29119381700002 meters 0.058781092352092154 Centerline is valid? [True, True] Translation: X:184.12, Y:-66.47, Z:-22.67 [[ 9.47266802e-01 3.10592340e-01 7.88543165e-02 1.84117975e+02] [-3.09380626e-01 9.50541845e-01 -2.74559460e-02 -6.64738275e+01] [-8.34819340e-02 1.61210833e-03 9.96507987e-01 -2.26652003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32119381700002 meters 0.058183500797526086 Centerline is valid? [True, True] Translation: X:184.15, Y:-66.48, Z:-22.67 [[ 9.46957361e-01 3.11472235e-01 7.90999614e-02 1.84145689e+02] [-3.10256632e-01 9.50254018e-01 -2.75340402e-02 -6.64811545e+01] [-8.37411452e-02 1.53227449e-03 9.96486364e-01 -2.26670065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35119381700002 meters 0.05875616146489029 Centerline is valid? [True, True] Translation: X:184.17, Y:-66.49, Z:-22.67 [[ 9.47225837e-01 3.10724963e-01 7.88239229e-02 1.84170871e+02] [-3.09515786e-01 9.50498543e-01 -2.74317082e-02 -6.64907403e+01] [-8.34457404e-02 1.58677431e-03 9.96511059e-01 -2.26717921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38119381700002 meters 0.05946984519436269 Centerline is valid? [True, True] Translation: X:184.20, Y:-66.50, Z:-22.67 [[ 9.48371356e-01 3.07185380e-01 7.89234620e-02 1.84196473e+02] [-3.05961965e-01 9.51647821e-01 -2.74536076e-02 -6.65034448e+01] [-8.35406875e-02 1.88863763e-03 9.96502577e-01 -2.26746819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41119381700003 meters 0.06065811209708979 Centerline is valid? [True, True] Translation: X:184.22, Y:-66.52, Z:-22.68 [[ 9.49120770e-01 3.04842595e-01 7.89984582e-02 1.84221234e+02] [-3.03609330e-01 9.52400453e-01 -2.74727512e-02 -6.65156528e+01] [-8.36130321e-02 2.09028978e-03 9.96496107e-01 -2.26784671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44119381700003 meters 0.060767422641375815 Centerline is valid? [True, True] Translation: X:184.25, Y:-66.53, Z:-22.68 [[ 9.49528156e-01 3.03310993e-01 7.99920190e-02 1.84248255e+02] [-3.02041898e-01 9.52888980e-01 -2.78079729e-02 -6.65257421e+01] [-8.46579773e-02 2.24351192e-03 9.96407544e-01 -2.26799549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47119381700003 meters 0.061341882388367165 Centerline is valid? [True, True] Translation: X:184.27, Y:-66.54, Z:-22.68 [[ 9.49497666e-01 3.02852013e-01 8.20660752e-02 1.84274312e+02] [-3.01515040e-01 9.53034730e-01 -2.85216571e-02 -6.65361830e+01] [-8.68496611e-02 2.33709094e-03 9.96218688e-01 -2.26818638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50119381700003 meters 0.059626891764921225 Centerline is valid? [True, True] Translation: X:184.30, Y:-66.54, Z:-22.68 [[ 9.48808367e-01 3.05065430e-01 8.18398858e-02 1.84303321e+02] [-3.03744909e-01 9.52329036e-01 -2.84330221e-02 -6.65407206e+01] [-8.66124317e-02 2.11904062e-03 9.96239829e-01 -2.26824457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53119381700003 meters 0.05892412167400753 Centerline is valid? [True, True] Translation: X:184.33, Y:-66.55, Z:-22.69 [[ 9.48084873e-01 3.07366846e-01 8.16130829e-02 1.84331155e+02] [-3.06062810e-01 9.51589211e-01 -2.83466095e-02 -6.65465537e+01] [-8.63749371e-02 1.89626220e-03 9.96260897e-01 -2.26866155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56119381700003 meters 0.05822279373885911 Centerline is valid? [True, True] Translation: X:184.36, Y:-66.55, Z:-22.69 [[ 9.47298443e-01 3.10161147e-01 8.01606114e-02 1.84359709e+02] [-3.08913807e-01 9.50682643e-01 -2.78347467e-02 -6.65527761e+01] [-8.48405589e-02 1.60509258e-03 9.96393247e-01 -2.26907105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59119381700003 meters 0.057249647882104876 Centerline is valid? [True, True] Translation: X:184.39, Y:-66.56, Z:-22.70 [[ 9.45088110e-01 3.17031935e-01 7.93676058e-02 1.84387354e+02] [-3.15833891e-01 9.48414364e-01 -2.75526275e-02 -6.65553635e+01] [-8.40084402e-02 9.72680903e-04 9.96464568e-01 -2.26971594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62119381700003 meters 0.05644027045968758 Centerline is valid? [True, True] Translation: X:184.42, Y:-66.56, Z:-22.70 [[ 9.44051232e-01 3.20269234e-01 7.87076209e-02 1.84415832e+02] [-3.19103100e-01 9.47326327e-01 -2.73137847e-02 -6.65607336e+01] [-8.33095663e-02 6.69766305e-04 9.96523491e-01 -2.26991976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65119381700003 meters 0.05628822453156528 Centerline is valid? [True, True] Translation: X:184.44, Y:-66.57, Z:-22.70 [[ 9.42975752e-01 3.23478151e-01 7.84768525e-02 1.84442655e+02] [-3.22330502e-01 9.46235564e-01 -2.72269254e-02 -6.65673503e+01] [-8.30649042e-02 3.78847233e-04 9.96544067e-01 -2.27034143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68119381700004 meters 0.056500533093880825 Centerline is valid? [True, True] Translation: X:184.47, Y:-66.57, Z:-22.71 [[ 9.41866556e-01 3.26897759e-01 7.76224615e-02 1.84469089e+02] [-3.25787329e-01 9.45059707e-01 -2.69214653e-02 -6.65749318e+01] [-8.21584274e-02 6.80133127e-05 9.96619279e-01 -2.27099691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71119381700004 meters 0.05617850667134278 Centerline is valid? [True, True] Translation: X:184.50, Y:-66.59, Z:-22.71 [[ 9.39863037e-01 3.32836489e-01 7.66638346e-02 1.84496559e+02] [-3.31773808e-01 9.42984446e-01 -2.65795971e-02 -6.65850812e+01] [-8.11394634e-02 -4.53871492e-04 9.96702655e-01 -2.27094318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74119381700004 meters 0.05685365157247841 Centerline is valid? [True, True] Translation: X:184.52, Y:-66.59, Z:-22.72 [[ 9.39301333e-01 3.34265882e-01 7.73261033e-02 1.84522127e+02] [-3.33189984e-01 9.42478634e-01 -2.68040880e-02 -6.65947943e+01] [-8.18378923e-02 -5.87167549e-04 9.96645481e-01 -2.27171080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77119381700004 meters 0.05666281236487305 Centerline is valid? [True, True] Translation: X:184.55, Y:-66.61, Z:-22.72 [[ 9.39232495e-01 3.33933920e-01 7.95641691e-02 1.84548432e+02] [-3.32794533e-01 9.42596305e-01 -2.75681862e-02 -6.66076569e+01] [-8.42028442e-02 -5.85584138e-04 9.96448462e-01 -2.27188634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80119381700004 meters 0.05587722568988466 Centerline is valid? [True, True] Translation: X:184.57, Y:-66.62, Z:-22.72 [[ 9.39251794e-01 3.33696018e-01 8.03307874e-02 1.84574583e+02] [-3.32536317e-01 9.42680544e-01 -2.78026853e-02 -6.66229585e+01] [-8.50039157e-02 -5.99182181e-04 9.96380437e-01 -2.27151190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.831193817 meters 0.05593465336781018 Centerline is valid? [True, True] Translation: X:184.60, Y:-66.64, Z:-22.72 [[ 9.39021139e-01 3.33922568e-01 8.20671629e-02 1.84598410e+02] [-3.32713691e-01 9.42600290e-01 -2.83952924e-02 -6.66415940e+01] [-8.68383606e-02 -6.41088838e-04 9.96222208e-01 -2.27178107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86119381700001 meters 0.056570255906788346 Centerline is valid? [True, True] Translation: X:184.62, Y:-66.65, Z:-22.73 [[ 9.38878935e-01 3.34376285e-01 8.18464801e-02 1.84623038e+02] [-3.33176150e-01 9.42439403e-01 -2.83129838e-02 -6.66524595e+01] [-8.66025382e-02 -6.86831069e-04 9.96242706e-01 -2.27259057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89119381700002 meters 0.05611447109816463 Centerline is valid? [True, True] Translation: X:184.65, Y:-66.67, Z:-22.72 [[ 9.38472720e-01 3.35325861e-01 8.26167128e-02 1.84649010e+02] [-3.34108132e-01 9.42101869e-01 -2.85626600e-02 -6.66669232e+01] [-8.74111581e-02 -7.97638377e-04 9.96172000e-01 -2.27242008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92119381700002 meters 0.05612672046940617 Centerline is valid? [True, True] Translation: X:184.67, Y:-66.68, Z:-22.73 [[ 9.37822614e-01 3.36766778e-01 8.41242007e-02 1.84672360e+02] [-3.35510589e-01 9.41587607e-01 -2.90761392e-02 -6.66836772e+01] [-8.90021826e-02 -9.56299250e-04 9.96030972e-01 -2.27260802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95119381700002 meters 0.05607134576695762 Centerline is valid? [True, True] Translation: X:184.70, Y:-66.70, Z:-22.73 [[ 9.37949516e-01 3.36154937e-01 8.51502443e-02 1.84697509e+02] [-3.34866317e-01 9.41806250e-01 -2.94200130e-02 -6.66979435e+01] [-9.00847150e-02 -9.19461700e-04 9.95933682e-01 -2.27289039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98119381700002 meters 0.05584556581225823 Centerline is valid? [True, True] Translation: X:184.72, Y:-66.71, Z:-22.73 [[ 9.38518092e-01 3.34636960e-01 8.48639801e-02 1.84722277e+02] [-3.33351513e-01 9.42346804e-01 -2.93133032e-02 -6.67127434e+01] [-8.97806151e-02 -7.78470718e-04 9.95961262e-01 -2.27328547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01119381700002 meters 0.055680509702487065 Centerline is valid? [True, True] Translation: X:184.75, Y:-66.73, Z:-22.74 [[ 9.39423054e-01 3.32001247e-01 8.52026890e-02 1.84747573e+02] [-3.30695387e-01 9.43278795e-01 -2.94223845e-02 -6.67288810e+01] [-9.01381581e-02 -5.36069830e-04 9.95929127e-01 -2.27351239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04119381700002 meters 0.055711850685531764 Centerline is valid? [True, True] Translation: X:184.77, Y:-66.75, Z:-22.74 [[ 9.40698759e-01 3.28585480e-01 8.43648492e-02 1.84771404e+02] [-3.27292300e-01 9.44474212e-01 -2.91241141e-02 -6.67455584e+01] [-8.92501854e-02 -2.14947570e-04 9.96009216e-01 -2.27397943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07119381700002 meters 0.05618607205486196 Centerline is valid? [True, True] Translation: X:184.80, Y:-66.77, Z:-22.74 [[ 9.43267938e-01 3.21468634e-01 8.30873895e-02 1.84795710e+02] [-3.20187952e-01 9.46920126e-01 -2.86696896e-02 -6.67735121e+01] [-8.78935273e-02 4.39617903e-04 9.96129778e-01 -2.27435448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10119381700002 meters 0.05717925369225048 Centerline is valid? [True, True] Translation: X:184.82, Y:-66.79, Z:-22.75 [[ 9.44395540e-01 3.18103947e-01 8.32282567e-02 1.84821812e+02] [-3.16803334e-01 9.48055520e-01 -2.87468152e-02 -6.67923131e+01] [-8.80494836e-02 7.81374893e-04 9.96115795e-01 -2.27497393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13119381700002 meters 0.057425998255488594 Centerline is valid? [True, True] Translation: X:184.85, Y:-66.81, Z:-22.75 [[ 9.45515258e-01 3.14798019e-01 8.30849190e-02 1.84850032e+02] [-3.13486926e-01 9.49158033e-01 -2.87223786e-02 -6.68091501e+01] [-8.79024662e-02 1.11141133e-03 9.96128466e-01 -2.27508168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16119381700003 meters 0.057425998255488594 Centerline is valid? [True, True] Translation: X:184.88, Y:-66.82, Z:-22.75 [[ 9.45409381e-01 3.15117995e-01 8.30767808e-02 1.84880463e+02] [-3.13806069e-01 9.49051856e-01 -2.87458953e-02 -6.68199542e+01] [-8.79025219e-02 1.10664109e-03 9.96128467e-01 -2.27545311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19119381700003 meters 0.05746958131484678 Centerline is valid? [True, True] Translation: X:184.91, Y:-66.84, Z:-22.75 [[ 9.46372633e-01 3.12041991e-01 8.37175928e-02 1.84909128e+02] [-3.10694795e-01 9.50067229e-01 -2.90000895e-02 -6.68355868e+01] [-8.85865871e-02 1.43427068e-03 9.96067447e-01 -2.27545124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22119381700003 meters 0.05822233240423382 Centerline is valid? [True, True] Translation: X:184.94, Y:-66.85, Z:-22.76 [[ 9.47284123e-01 3.09437225e-01 8.30746270e-02 1.84937357e+02] [-3.08098081e-01 9.50918365e-01 -2.88068704e-02 -6.68526614e+01] [-8.79111065e-02 1.69315785e-03 9.96126885e-01 -2.27585386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25119381700003 meters 0.059560043344658774 Centerline is valid? [True, True] Translation: X:184.96, Y:-66.87, Z:-22.76 [[ 9.48719195e-01 3.05290865e-01 8.20327762e-02 1.84963097e+02] [-3.03966605e-01 9.52256866e-01 -2.84809299e-02 -6.68747260e+01] [-8.68112421e-02 2.08518043e-03 9.96222596e-01 -2.27636747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28119381700003 meters 0.06037018674354246 Centerline is valid? [True, True] Translation: X:184.99, Y:-66.89, Z:-22.77 [[ 9.49462797e-01 3.03395544e-01 8.04458853e-02 1.84991366e+02] [-3.02114661e-01 9.52862113e-01 -2.79378846e-02 -6.68905228e+01] [-8.51300659e-02 2.22210068e-03 9.96367369e-01 -2.27682869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31119381700003 meters 0.06121757908740514 Centerline is valid? [True, True] Translation: X:185.02, Y:-66.91, Z:-22.77 [[ 9.50145476e-01 3.01453488e-01 7.96829330e-02 1.85018993e+02] [-3.00189877e-01 9.53477926e-01 -2.76745964e-02 -6.69065834e+01] [-8.43185213e-02 2.37488268e-03 9.96436022e-01 -2.27734915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34119381700003 meters 0.06235406306282833 Centerline is valid? [True, True] Translation: X:185.05, Y:-66.92, Z:-22.78 [[ 9.50898103e-01 2.99034191e-01 7.98207392e-02 1.85046424e+02] [-2.97755469e-01 9.54238803e-01 -2.77486431e-02 -6.69234207e+01] [-8.44658396e-02 2.61907043e-03 9.96422934e-01 -2.27771514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37119381700003 meters 0.06516091968024686 Centerline is valid? [True, True] Translation: X:185.07, Y:-66.94, Z:-22.78 [[ 9.52837960e-01 2.92933594e-01 7.93078310e-02 1.85070521e+02] [-2.91647263e-01 9.56127523e-01 -2.76049459e-02 -6.69441725e+01] [-8.39148161e-02 3.17312841e-03 9.96467880e-01 -2.27808241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40119381700003 meters 0.06487876067719753 Centerline is valid? [True, True] Translation: X:185.10, Y:-66.96, Z:-22.78 [[ 9.53258253e-01 2.91444906e-01 7.97406478e-02 1.85100131e+02] [-2.90140106e-01 9.56581879e-01 -2.77457615e-02 -6.69556771e+01] [-8.43648195e-02 3.31291606e-03 9.96429426e-01 -2.27826964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43119381700004 meters 0.06565327997520959 Centerline is valid? [True, True] Translation: X:185.13, Y:-66.97, Z:-22.79 [[ 9.53231061e-01 2.91595889e-01 7.95134088e-02 1.85128916e+02] [-2.90296465e-01 9.56535843e-01 -2.76973635e-02 -6.69703156e+01] [-8.41338628e-02 3.31952571e-03 9.96448932e-01 -2.27864139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46119381700004 meters 0.06515962669195624 Centerline is valid? [True, True] Translation: X:185.16, Y:-66.98, Z:-22.79 [[ 9.52745098e-01 2.93165101e-01 7.95675965e-02 1.85158961e+02] [-2.91867905e-01 9.56056476e-01 -2.77333819e-02 -6.69807784e+01] [-8.42015757e-02 3.19961593e-03 9.96443605e-01 -2.27900484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49119381700004 meters 0.06425305312172395 Centerline is valid? [True, True] Translation: X:185.19, Y:-66.99, Z:-22.79 [[ 9.51752396e-01 2.96025801e-01 8.08461618e-02 1.85188757e+02] [-2.94693659e-01 9.55175141e-01 -2.82151933e-02 -6.69885859e+01] [-8.55746692e-02 3.02902663e-03 9.96327156e-01 -2.27932053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52119381700004 meters 0.06314839759671861 Centerline is valid? [True, True] Translation: X:185.22, Y:-66.99, Z:-22.80 [[ 9.50896660e-01 2.98541214e-01 8.16620186e-02 1.85219659e+02] [-2.97190878e-01 9.54392532e-01 -2.85039777e-02 -6.69945919e+01] [-8.64472329e-02 2.83513018e-03 9.96252397e-01 -2.27955713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55119381700004 meters 0.0613814795789412 Centerline is valid? [True, True] Translation: X:185.25, Y:-67.00, Z:-22.80 [[ 9.49095008e-01 3.03358679e-01 8.48067085e-02 1.85250526e+02] [-3.01920742e-01 9.52873174e-01 -2.96070737e-02 -6.69960784e+01] [-8.97916003e-02 2.49502145e-03 9.95957451e-01 -2.27969998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.581193817 meters 0.06070991491857773 Centerline is valid? [True, True] Translation: X:185.28, Y:-67.00, Z:-22.80 [[ 9.48465890e-01 3.04991469e-01 8.59805803e-02 1.85282094e+02] [-3.03520697e-01 9.52352143e-01 -3.00096946e-02 -6.70041701e+01] [-9.10364907e-02 2.36628603e-03 9.95844746e-01 -2.27991366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61119381700001 meters 0.060454758698057276 Centerline is valid? [True, True] Translation: X:185.31, Y:-67.01, Z:-22.80 [[ 9.47951479e-01 3.06162676e-01 8.74780502e-02 1.85312159e+02] [-3.04642278e-01 9.51976378e-01 -3.05623763e-02 -6.70130674e+01] [-9.26340962e-02 2.32213731e-03 9.95697510e-01 -2.28018623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64119381700002 meters 0.06012387707162094 Centerline is valid? [True, True] Translation: X:185.34, Y:-67.02, Z:-22.80 [[ 9.47712689e-01 3.06428291e-01 8.91199254e-02 1.85343402e+02] [-3.04848730e-01 9.51890806e-01 -3.11632136e-02 -6.70215889e+01] [-9.43817279e-02 2.36567683e-03 9.95533271e-01 -2.28037680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67119381700002 meters 0.059866888451556195 Centerline is valid? [True, True] Translation: X:185.38, Y:-67.03, Z:-22.81 [[ 9.47828523e-01 3.05956494e-01 8.95081808e-02 1.85375516e+02] [-3.04358285e-01 9.52042341e-01 -3.13275683e-02 -6.70302286e+01] [-9.48004510e-02 2.45060642e-03 9.95493279e-01 -2.28061600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70119381700002 meters 0.060905985839974815 Centerline is valid? [True, True] Translation: X:185.41, Y:-67.04, Z:-22.81 [[ 9.48769733e-01 3.03255780e-01 8.87238719e-02 1.85406155e+02] [-3.01669987e-01 9.52905270e-01 -3.10928472e-02 -6.70391231e+01] [-9.39745307e-02 2.73462302e-03 9.95570846e-01 -2.28112283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73119381700002 meters 0.062159978637159545 Centerline is valid? [True, True] Translation: X:185.43, Y:-67.05, Z:-22.82 [[ 9.49449013e-01 3.01235341e-01 8.83393467e-02 1.85434498e+02] [-2.99653904e-01 9.53545328e-01 -3.09652404e-02 -6.70509190e+01] [-9.35633960e-02 2.92868690e-03 9.95609016e-01 -2.28164658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76119381700002 meters 0.06297882373075733 Centerline is valid? [True, True] Translation: X:185.46, Y:-67.06, Z:-22.82 [[ 9.50189780e-01 2.99355438e-01 8.67508115e-02 1.85463923e+02] [-2.97821611e-01 9.54136733e-01 -3.04201054e-02 -6.70615909e+01] [-9.18785599e-02 3.06860678e-03 9.95765491e-01 -2.28216381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79119381700002 meters 0.06431939776050974 Centerline is valid? [True, True] Translation: X:185.49, Y:-67.07, Z:-22.83 [[ 9.50968705e-01 2.97248025e-01 8.54525249e-02 1.85492148e+02] [-2.95748480e-01 9.54794756e-01 -2.99968550e-02 -6.70731298e+01] [-9.05061285e-02 3.25361600e-03 9.95890584e-01 -2.28266677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82119381700002 meters 0.06552688083805902 Centerline is valid? [True, True] Translation: X:185.52, Y:-67.09, Z:-22.83 [[ 9.51802863e-01 2.94755288e-01 8.47975836e-02 1.85521619e+02] [-2.93268566e-01 9.55566483e-01 -2.97698712e-02 -6.70852001e+01] [-8.98045556e-02 3.46658285e-03 9.95953375e-01 -2.28310945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85119381700002 meters 0.06860612152986416 Centerline is valid? [True, True] Translation: X:185.55, Y:-67.10, Z:-22.84 [[ 9.53484509e-01 2.89261891e-01 8.48224533e-02 1.85547828e+02] [-2.87751681e-01 9.57241660e-01 -2.97888363e-02 -6.70992077e+01] [-8.98123611e-02 3.99539042e-03 9.95950690e-01 -2.28355038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88119381700002 meters 0.0698317120985786 Centerline is valid? [True, True] Translation: X:185.58, Y:-67.11, Z:-22.84 [[ 9.54006746e-01 2.87667704e-01 8.43707291e-02 1.85576948e+02] [-2.86167994e-01 9.57721435e-01 -2.96231835e-02 -6.71106239e+01] [-8.93252889e-02 4.11651467e-03 9.95994000e-01 -2.28397079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91119381700003 meters 0.07090097607257667 Centerline is valid? [True, True] Translation: X:185.61, Y:-67.12, Z:-22.84 [[ 9.54238314e-01 2.86903405e-01 8.43544676e-02 1.85606771e+02] [-2.85399022e-01 9.57950258e-01 -2.96428811e-02 -6.71186564e+01] [-8.93120276e-02 4.21169032e-03 9.95994791e-01 -2.28442350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94119381700003 meters 0.06760988619591847 Centerline is valid? [True, True] Translation: X:185.64, Y:-67.12, Z:-22.85 [[ 9.53794874e-01 2.88820629e-01 8.28129337e-02 1.85639733e+02] [-2.87376020e-01 9.57374954e-01 -2.91242178e-02 -6.71210478e+01] [-8.76947035e-02 3.98007833e-03 9.96139447e-01 -2.28460113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97119381700003 meters 0.06728406289625263 Centerline is valid? [True, True] Translation: X:185.67, Y:-67.13, Z:-22.85 [[ 9.52955079e-01 2.91368395e-01 8.35528270e-02 1.85669083e+02] [-2.89904305e-01 9.56603318e-01 -2.94208289e-02 -6.71284832e+01] [-8.84992113e-02 3.81440408e-03 9.96068943e-01 -2.28509314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00119381700003 meters 0.06646564250512631 Centerline is valid? [True, True] Translation: X:185.70, Y:-67.13, Z:-22.86 [[ 9.52211523e-01 2.94374093e-01 8.14684582e-02 1.85700488e+02] [-2.92993778e-01 9.55684078e-01 -2.86808172e-02 -6.71346383e+01] [-8.63009979e-02 3.44045327e-03 9.96263169e-01 -2.28562093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03119381700003 meters 0.06410746773644976 Centerline is valid? [True, True] Translation: X:185.73, Y:-67.13, Z:-22.86 [[ 9.50310689e-01 3.00586501e-01 8.09774601e-02 1.85732629e+02] [-2.99242204e-01 9.53750169e-01 -2.85432693e-02 -6.71337762e+01] [-8.58119877e-02 2.89310031e-03 9.96307148e-01 -2.28610871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06119381700003 meters 0.0630010746188156 Centerline is valid? [True, True] Translation: X:185.76, Y:-67.14, Z:-22.86 [[ 9.49334959e-01 3.03634824e-01 8.10495490e-02 1.85763954e+02] [-3.02299299e-01 9.52784884e-01 -2.85674371e-02 -6.71391672e+01] [-8.58968539e-02 2.61884486e-03 9.96300593e-01 -2.28646219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09119381700003 meters 0.06091237232360525 Centerline is valid? [True, True] Translation: X:185.80, Y:-67.14, Z:-22.87 [[ 9.48298906e-01 3.06866856e-01 8.10056640e-02 1.85796916e+02] [-3.05544880e-01 9.51749623e-01 -2.85478718e-02 -6.71425642e+01] [-8.58575058e-02 2.32104969e-03 9.96304723e-01 -2.28665361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12119381700003 meters 0.06069395202325935 Centerline is valid? [True, True] Translation: X:185.83, Y:-67.15, Z:-22.87 [[ 9.47198336e-01 3.10233761e-01 8.10575468e-02 1.85827721e+02] [-3.08919967e-01 9.50658107e-01 -2.85940230e-02 -6.71490989e+01] [-8.59288453e-02 2.04391626e-03 9.96299180e-01 -2.28721363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15119381700003 meters 0.059292028937332306 Centerline is valid? [True, True] Translation: X:185.86, Y:-67.15, Z:-22.88 [[ 9.45902433e-01 3.14250929e-01 8.07151828e-02 1.85860512e+02] [-3.12960454e-01 9.49338438e-01 -2.85005982e-02 -6.71532697e+01] [-8.55823650e-02 1.69812492e-03 9.96329652e-01 -2.28751922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18119381700004 meters 0.05770428060486869 Centerline is valid? [True, True] Translation: X:185.89, Y:-67.15, Z:-22.88 [[ 9.43482118e-01 3.21147030e-01 8.18906512e-02 1.85892852e+02] [-3.19841275e-01 9.47028681e-01 -2.89523194e-02 -6.71518275e+01] [-8.68507467e-02 1.12398535e-03 9.96220701e-01 -2.28787972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21119381700004 meters 0.05712426649112593 Centerline is valid? [True, True] Translation: X:185.92, Y:-67.16, Z:-22.88 [[ 9.42336982e-01 3.24463062e-01 8.20044721e-02 1.85922749e+02] [-3.23166077e-01 9.45898011e-01 -2.89937738e-02 -6.71562885e+01] [-8.69752757e-02 8.20841731e-04 9.96210132e-01 -2.28825788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24119381700004 meters 0.05681082311566688 Centerline is valid? [True, True] Translation: X:185.95, Y:-67.16, Z:-22.89 [[ 9.41543602e-01 3.26797593e-01 8.18472868e-02 1.85949886e+02] [-3.25514561e-01 9.45094160e-01 -2.89361414e-02 -6.71609365e+01] [-8.68096541e-02 6.02155234e-04 9.96224734e-01 -2.28868789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27119381700004 meters 0.05650710350233464 Centerline is valid? [True, True] Translation: X:185.98, Y:-67.17, Z:-22.89 [[ 9.40427408e-01 3.30264738e-01 8.07557597e-02 1.85978654e+02] [-3.29029359e-01 9.43888304e-01 -2.85403259e-02 -6.71655181e+01] [-8.56502803e-02 2.69088837e-04 9.96325227e-01 -2.28894199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30119381700004 meters 0.056447701074404805 Centerline is valid? [True, True] Translation: X:186.01, Y:-67.17, Z:-22.89 [[ 9.40394297e-01 3.30653184e-01 7.95426820e-02 1.86005644e+02] [-3.29456721e-01 9.43752310e-01 -2.81042164e-02 -6.71745799e+01] [-8.43613385e-02 2.23173624e-04 9.96435203e-01 -2.28922431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.331193817 meters 0.05646827025402036 Centerline is valid? [True, True] Translation: X:186.03, Y:-67.18, Z:-22.90 [[ 9.40520933e-01 3.30473970e-01 7.87866054e-02 1.86033543e+02] [-3.29300313e-01 9.43815079e-01 -2.78280592e-02 -6.71849915e+01] [-8.35564354e-02 2.28418411e-04 9.96503021e-01 -2.28962817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36119381700001 meters 0.05674164698208926 Centerline is valid? [True, True] Translation: X:186.06, Y:-67.20, Z:-22.90 [[ 9.40859722e-01 3.29660541e-01 7.81467315e-02 1.86059057e+02] [-3.28503300e-01 9.44099486e-01 -2.75996778e-02 -6.71962623e+01] [-8.28768138e-02 2.95965976e-04 9.96559755e-01 -2.29011673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39119381700002 meters 0.05721100563561899 Centerline is valid? [True, True] Translation: X:186.08, Y:-67.21, Z:-22.91 [[ 9.41359741e-01 3.28234340e-01 7.81284561e-02 1.86082961e+02] [-3.27073437e-01 9.44596235e-01 -2.75847757e-02 -6.72119962e+01] [-8.28541161e-02 4.13454636e-04 9.96561601e-01 -2.29071261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42119381700002 meters 0.05717926668762328 Centerline is valid? [True, True] Translation: X:186.11, Y:-67.22, Z:-22.91 [[ 9.41613375e-01 3.27605824e-01 7.77089207e-02 1.86110212e+02] [-3.26455759e-01 9.44814380e-01 -2.74303692e-02 -6.72245146e+01] [-8.24068544e-02 4.60277860e-04 9.96598665e-01 -2.29089511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45119381700002 meters 0.057204144899282806 Centerline is valid? [True, True] Translation: X:186.14, Y:-67.24, Z:-22.91 [[ 9.41902184e-01 3.26748456e-01 7.78185254e-02 1.86137131e+02] [-3.25592527e-01 9.45111191e-01 -2.74653090e-02 -6.72366181e+01] [-8.25214066e-02 5.32504160e-04 9.96589150e-01 -2.29124638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48119381700002 meters 0.05698545143778518 Centerline is valid? [True, True] Translation: X:186.17, Y:-67.25, Z:-22.91 [[ 9.42012039e-01 3.26368933e-01 7.80809706e-02 1.86166497e+02] [-3.25205184e-01 9.45242304e-01 -2.75422300e-02 -6.72499088e+01] [-8.27943648e-02 5.52775858e-04 9.96566499e-01 -2.29128090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51119381700002 meters 0.057315612724062416 Centerline is valid? [True, True] Translation: X:186.19, Y:-67.27, Z:-22.92 [[ 9.42803273e-01 3.23761853e-01 7.93741139e-02 1.86192526e+02] [-3.22547423e-01 9.46138248e-01 -2.80281116e-02 -6.72682754e+01] [-8.41733185e-02 8.23079507e-04 9.96450789e-01 -2.29163729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54119381700002 meters 0.058079290040506604 Centerline is valid? [True, True] Translation: X:186.22, Y:-67.28, Z:-22.92 [[ 9.43508166e-01 3.21673865e-01 7.94875171e-02 1.86219520e+02] [-3.20446027e-01 9.46849959e-01 -2.80980400e-02 -6.72843289e+01] [-8.43011574e-02 1.03927115e-03 9.96439780e-01 -2.29218618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57119381700002 meters 0.05822722373693184 Centerline is valid? [True, True] Translation: X:186.25, Y:-67.30, Z:-22.92 [[ 9.44560407e-01 3.18518094e-01 7.96985633e-02 1.86248083e+02] [-3.17271572e-01 9.47915841e-01 -2.81834599e-02 -6.73003152e+01] [-8.45244726e-02 1.33489188e-03 9.96420509e-01 -2.29226933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60119381700002 meters 0.05948472772055634 Centerline is valid? [True, True] Translation: X:186.27, Y:-67.32, Z:-22.93 [[ 9.45661183e-01 3.15074664e-01 8.03298392e-02 1.86274667e+02] [-3.13793408e-01 9.49065394e-01 -2.84354536e-02 -6.73180741e+01] [-8.51975615e-02 1.68333064e-03 9.96362656e-01 -2.29269876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63119381700002 meters 0.060838356527334346 Centerline is valid? [True, True] Translation: X:186.30, Y:-67.34, Z:-22.93 [[ 9.47148620e-01 3.10615494e-01 8.01717367e-02 1.86301919e+02] [-3.09321155e-01 9.50533316e-01 -2.84049079e-02 -6.73358806e+01] [-8.50289112e-02 2.10485514e-03 9.96376261e-01 -2.29298703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66119381700003 meters 0.06532663305340149 Centerline is valid? [True, True] Translation: X:186.32, Y:-67.36, Z:-22.93 [[ 9.50621735e-01 2.99699992e-01 8.06116097e-02 1.86324123e+02] [-2.98349151e-01 9.54028354e-01 -2.85951634e-02 -6.73609003e+01] [-8.54757316e-02 3.13277857e-03 9.96335328e-01 -2.29330808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69119381700003 meters 0.0675015438368861 Centerline is valid? [True, True] Translation: X:186.35, Y:-67.38, Z:-22.94 [[ 9.52289014e-01 2.94265117e-01 8.09547664e-02 1.86351237e+02] [-2.92883333e-01 9.55716921e-01 -2.87144415e-02 -6.73773260e+01] [-8.58194986e-02 3.63414540e-03 9.96304073e-01 -2.29358052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72119381700003 meters 0.07011429802668094 Centerline is valid? [True, True] Translation: X:186.38, Y:-67.39, Z:-22.94 [[ 9.53846118e-01 2.89225424e-01 8.07851261e-02 1.86378107e+02] [-2.87831243e-01 9.57252317e-01 -2.86561833e-02 -6.73935267e+01] [-8.56198460e-02 4.08110591e-03 9.96319520e-01 -2.29394968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75119381700003 meters 0.07444085083774422 Centerline is valid? [True, True] Translation: X:186.40, Y:-67.41, Z:-22.94 [[ 9.56098416e-01 2.81765254e-01 8.05242927e-02 1.86404620e+02] [-2.80353552e-01 9.59471684e-01 -2.85652362e-02 -6.74116526e+01] [-8.53094698e-02 4.73590561e-03 9.96343247e-01 -2.29427069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78119381700003 meters 0.07641116495579031 Centerline is valid? [True, True] Translation: X:186.43, Y:-67.42, Z:-22.95 [[ 9.56852940e-01 2.79385872e-01 7.98497718e-02 1.86432346e+02] [-2.77989270e-01 9.60166357e-01 -2.83290092e-02 -6.74237917e+01] [-8.45837895e-02 4.90931602e-03 9.96404276e-01 -2.29470036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81119381700003 meters 0.07393100128502472 Centerline is valid? [True, True] Translation: X:186.46, Y:-67.43, Z:-22.95 [[ 9.57398613e-01 2.77727908e-01 7.90892181e-02 1.86464359e+02] [-2.76352765e-01 9.60646761e-01 -2.80526336e-02 -6.74288848e+01] [-8.37678005e-02 5.00102840e-03 9.96472752e-01 -2.29480341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84119381700003 meters 0.0764620612166201 Centerline is valid? [True, True] Translation: X:186.49, Y:-67.44, Z:-22.95 [[ 9.57533430e-01 2.77456526e-01 7.84066772e-02 1.86493466e+02] [-2.76102112e-01 9.60725157e-01 -2.78351563e-02 -6.74385605e+01] [-8.30503131e-02 5.00484351e-03 9.96532788e-01 -2.29544095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87119381700003 meters 0.0776854966104491 Centerline is valid? [True, True] Translation: X:186.52, Y:-67.45, Z:-22.96 [[ 9.57373832e-01 2.78002612e-01 7.84212600e-02 1.86523395e+02] [-2.76647452e-01 9.60567397e-01 -2.78650738e-02 -6.74477677e+01] [-8.30754689e-02 4.98225065e-03 9.96530804e-01 -2.29590924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90119381700003 meters 0.07801338190490921 Centerline is valid? [True, True] Translation: X:186.55, Y:-67.46, Z:-22.96 [[ 9.56926183e-01 2.79420540e-01 7.88444126e-02 1.86552681e+02] [-2.78052792e-01 9.60156233e-01 -2.80473341e-02 -6.74553199e+01] [-8.35399554e-02 4.91631932e-03 9.96492301e-01 -2.29636629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93119381700004 meters 0.07532489063947957 Centerline is valid? [True, True] Translation: X:186.59, Y:-67.46, Z:-22.97 [[ 9.56442301e-01 2.81145543e-01 7.85831297e-02 1.86585443e+02] [-2.79793231e-01 9.59653420e-01 -2.79474829e-02 -6.74583449e+01] [-8.32698795e-02 4.74312713e-03 9.96515745e-01 -2.29660675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96119381700004 meters 0.07310133046152623 Centerline is valid? [True, True] Translation: X:186.62, Y:-67.46, Z:-22.97 [[ 9.55179295e-01 2.85349209e-01 7.87930432e-02 1.86617569e+02] [-2.84000884e-01 9.58413412e-01 -2.80576171e-02 -6.74554198e+01] [-8.35225283e-02 4.42276098e-03 9.96496074e-01 -2.29696874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99119381700004 meters 0.07199059808354888 Centerline is valid? [True, True] Translation: X:186.65, Y:-67.46, Z:-22.97 [[ 9.54519316e-01 2.87358871e-01 7.94843023e-02 1.86649987e+02] [-2.85994034e-01 9.57813426e-01 -2.82993594e-02 -6.74589503e+01] [-8.42632039e-02 4.28024884e-03 9.96434339e-01 -2.29728153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02119381700004 meters 0.06918660374232131 Centerline is valid? [True, True] Translation: X:186.68, Y:-67.46, Z:-22.97 [[ 9.53907749e-01 2.89053453e-01 8.06728423e-02 1.86683276e+02] [-2.87652895e-01 9.57303751e-01 -2.87287380e-02 -6.74592330e+01] [-8.55325555e-02 4.19878919e-03 9.96326529e-01 -2.29737092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05119381700004 meters 0.06865216974607755 Centerline is valid? [True, True] Translation: X:186.72, Y:-67.46, Z:-22.98 [[ 9.53406248e-01 2.90732930e-01 8.05660599e-02 1.86715281e+02] [-2.89342376e-01 9.56795720e-01 -2.86869333e-02 -6.74637294e+01] [-8.54254974e-02 4.03912619e-03 9.96336374e-01 -2.29780385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.081193817 meters 0.06865216974607755 Centerline is valid? [True, True] Translation: X:186.75, Y:-67.47, Z:-22.98 [[ 9.53309092e-01 2.91053559e-01 8.05580583e-02 1.86745651e+02] [-2.89662253e-01 9.56698255e-01 -2.87093824e-02 -6.74748186e+01] [-8.54257217e-02 4.03428656e-03 9.96336374e-01 -2.29817570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11119381700001 meters 0.06771498441189949 Centerline is valid? [True, True] Translation: X:186.78, Y:-67.48, Z:-22.99 [[ 9.53117874e-01 2.91662888e-01 8.06168580e-02 1.86779702e+02] [-2.90268996e-01 9.56512758e-01 -2.87620296e-02 -6.74756616e+01] [-8.54998698e-02 4.01303005e-03 9.96330100e-01 -2.29856353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14119381700002 meters 0.06870450996132516 Centerline is valid? [True, True] Translation: X:186.81, Y:-67.48, Z:-22.99 [[ 9.53523241e-01 2.90318589e-01 8.06755627e-02 1.86809819e+02] [-2.88915479e-01 9.56920991e-01 -2.88108098e-02 -6.74844229e+01] [-8.55644531e-02 4.16335789e-03 9.96323939e-01 -2.29898949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17119381700002 meters 0.07151377895858071 Centerline is valid? [True, True] Translation: X:186.84, Y:-67.50, Z:-22.99 [[ 9.54028709e-01 2.88441341e-01 8.14298180e-02 1.86838881e+02] [-2.87002795e-01 9.57487472e-01 -2.91056165e-02 -6.74954523e+01] [-8.63632937e-02 4.39700836e-03 9.96254008e-01 -2.29949185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20119381700002 meters 0.07566343552818196 Centerline is valid? [True, True] Translation: X:186.87, Y:-67.50, Z:-23.00 [[ 9.55886591e-01 2.82358928e-01 8.09583846e-02 1.86867830e+02] [-2.80912433e-01 9.59296061e-01 -2.89701939e-02 -6.75018272e+01] [-8.58430524e-02 4.95000313e-03 9.96296376e-01 -2.30004175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23119381700002 meters 0.07899789566522329 Centerline is valid? [True, True] Translation: X:186.90, Y:-67.51, Z:-23.01 [[ 9.56895975e-01 2.79386286e-01 7.93309345e-02 1.86895888e+02] [-2.77987542e-01 9.60165196e-01 -2.83852494e-02 -6.75121681e+01] [-8.41012518e-02 5.10871944e-03 9.96444118e-01 -2.30059501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26119381700002 meters 0.07645691550034339 Centerline is valid? [True, True] Translation: X:186.93, Y:-67.51, Z:-23.01 [[ 9.57970229e-01 2.76001775e-01 7.82052509e-02 1.86928366e+02] [-2.74631171e-01 9.61142345e-01 -2.79841518e-02 -6.75140599e+01] [-8.28900538e-02 5.33038466e-03 9.96544443e-01 -2.30072400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29119381700002 meters 0.08267796144865001 Centerline is valid? [True, True] Translation: X:186.95, Y:-67.53, Z:-23.02 [[ 9.58741845e-01 2.73701131e-01 7.68229475e-02 1.86953928e+02] [-2.72371352e-01 9.61799460e-01 -2.74890177e-02 -6.75285182e+01] [-8.14120446e-02 5.43050150e-03 9.96665736e-01 -2.30157493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32119381700002 meters 0.07874866841858702 Centerline is valid? [True, True] Translation: X:186.99, Y:-67.53, Z:-23.02 [[ 9.59333953e-01 2.71992507e-01 7.54880335e-02 1.86987424e+02] [-2.70702687e-01 9.62283729e-01 -2.70199816e-02 -6.75278555e+01] [-7.99901389e-02 5.48637226e-03 9.96780556e-01 -2.30166721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35119381700002 meters 0.0796471903485014 Centerline is valid? [True, True] Translation: X:187.02, Y:-67.53, Z:-23.02 [[ 9.59208978e-01 2.73058732e-01 7.31919741e-02 1.87020024e+02] [-2.71849836e-01 9.61983163e-01 -2.61927592e-02 -6.75287380e+01] [-7.75616084e-02 5.22710369e-03 9.96973858e-01 -2.30224963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38119381700002 meters 0.07957152981671052 Centerline is valid? [True, True] Translation: X:187.05, Y:-67.53, Z:-23.03 [[ 9.58454971e-01 2.75818976e-01 7.27183730e-02 1.87050021e+02] [-2.74631129e-01 9.61196584e-01 -2.60551351e-02 -6.75322999e+01] [-7.70831524e-02 5.00194493e-03 9.97012120e-01 -2.30272065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41119381700003 meters 0.07569545314706659 Centerline is valid? [True, True] Translation: X:187.08, Y:-67.53, Z:-23.03 [[ 9.57428594e-01 2.79219873e-01 7.32581110e-02 1.87083499e+02] [-2.78024117e-01 9.60215374e-01 -2.62493154e-02 -6.75290555e+01] [-7.76728949e-02 4.76432354e-03 9.96967513e-01 -2.30287584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44119381700003 meters 0.07501414379228678 Centerline is valid? [True, True] Translation: X:187.11, Y:-67.53, Z:-23.03 [[ 9.56001706e-01 2.84171604e-01 7.28507917e-02 1.87114327e+02] [-2.83003527e-01 9.58763628e-01 -2.61018836e-02 -6.75296379e+01] [-7.72641035e-02 4.33641425e-03 9.97001231e-01 -2.30340448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47119381700003 meters 0.0712564303829525 Centerline is valid? [True, True] Translation: X:187.15, Y:-67.53, Z:-23.04 [[ 9.54411279e-01 2.89529949e-01 7.26052244e-02 1.87147651e+02] [-2.88385378e-01 9.57161063e-01 -2.60110133e-02 -6.75260153e+01] [-7.70258612e-02 3.88691931e-03 9.97021519e-01 -2.30367400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50119381700003 meters 0.06741994350389631 Centerline is valid? [True, True] Translation: X:187.18, Y:-67.52, Z:-23.04 [[ 9.51050110e-01 2.99827426e-01 7.48812624e-02 1.87181975e+02] [-2.98641489e-01 9.53988253e-01 -2.68267628e-02 -6.75180572e+01] [-7.94792439e-02 3.15094400e-03 9.96831541e-01 -2.30401729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53119381700003 meters 0.06339248653453365 Centerline is valid? [True, True] Translation: X:187.22, Y:-67.52, Z:-23.04 [[ 9.49419876e-01 3.04493388e-01 7.67181554e-02 1.87215460e+02] [-3.03263793e-01 9.52510256e-01 -2.74824287e-02 -6.75151074e+01] [-8.14430476e-02 2.82652520e-03 9.96673989e-01 -2.30386670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56119381700003 meters 0.06206985226413823 Centerline is valid? [True, True] Translation: X:187.25, Y:-67.52, Z:-23.04 [[ 9.48166103e-01 3.08039533e-01 7.80556680e-02 1.87246158e+02] [-3.06778668e-01 9.51370099e-01 -2.79603927e-02 -6.75166290e+01] [-8.28727349e-02 2.56528274e-03 9.96556837e-01 -2.30403313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59119381700003 meters 0.060857675236654966 Centerline is valid? [True, True] Translation: X:187.28, Y:-67.52, Z:-23.04 [[ 9.47307988e-01 3.10475356e-01 7.88202346e-02 1.87276796e+02] [-3.09198065e-01 9.50578462e-01 -2.82337386e-02 -6.75179555e+01] [-8.36906974e-02 2.37498212e-03 9.96488950e-01 -2.30417538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62119381700003 meters 0.05994525384054945 Centerline is valid? [True, True] Translation: X:187.31, Y:-67.52, Z:-23.04 [[ 9.46158175e-01 3.13927131e-01 7.89586227e-02 1.87307145e+02] [-3.12658512e-01 9.49444845e-01 -2.82690994e-02 -6.75184353e+01] [-8.38412946e-02 2.05995400e-03 9.96476991e-01 -2.30444173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65119381700003 meters 0.05984356010365631 Centerline is valid? [True, True] Translation: X:187.33, Y:-67.53, Z:-23.05 [[ 9.45765476e-01 3.14978477e-01 7.94746769e-02 1.87333574e+02] [-3.13697468e-01 9.49096763e-01 -2.84470196e-02 -6.75254839e+01] [-8.43893575e-02 1.97320412e-03 9.96430902e-01 -2.30481453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68119381700004 meters 0.060072638541945146 Centerline is valid? [True, True] Translation: X:187.36, Y:-67.53, Z:-23.05 [[ 9.45962762e-01 3.14438959e-01 7.92628128e-02 1.87361763e+02] [-3.13163178e-01 9.49275561e-01 -2.83678387e-02 -6.75324738e+01] [-8.41622047e-02 2.01272469e-03 9.96450035e-01 -2.30524259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71119381700004 meters 0.06052082366745577 Centerline is valid? [True, True] Translation: X:187.39, Y:-67.54, Z:-23.06 [[ 9.46252591e-01 3.13850728e-01 7.81265252e-02 1.87388667e+02] [-3.12611378e-01 9.49470206e-01 -2.79366003e-02 -6.75414270e+01] [-8.29467304e-02 2.01183971e-03 9.96551952e-01 -2.30568976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74119381700004 meters 0.06040334416436469 Centerline is valid? [True, True] Translation: X:187.42, Y:-67.55, Z:-23.06 [[ 9.46373635e-01 3.13637370e-01 7.75147963e-02 1.87415659e+02] [-3.12418678e-01 9.49540749e-01 -2.76935961e-02 -6.75501107e+01] [-8.22892044e-02 1.99141896e-03 9.96606503e-01 -2.30607362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77119381700004 meters 0.06102107870526373 Centerline is valid? [True, True] Translation: X:187.44, Y:-67.56, Z:-23.07 [[ 9.46489384e-01 3.13479667e-01 7.67355515e-02 1.87441176e+02] [-3.12287425e-01 9.49592900e-01 -2.73840890e-02 -6.75607256e+01] [-8.14518899e-02 1.95520170e-03 9.96675357e-01 -2.30670470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80119381700004 meters 0.061175262047305966 Centerline is valid? [True, True] Translation: X:187.47, Y:-67.57, Z:-23.07 [[ 9.46849545e-01 3.13117674e-01 7.37106572e-02 1.87469283e+02] [-3.12017447e-01 9.49712441e-01 -2.62943295e-02 -6.75694482e+01] [-7.82371474e-02 1.89776281e-03 9.96932970e-01 -2.30719132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.831193817 meters 0.06169191120897076 Centerline is valid? [True, True] Translation: X:187.50, Y:-67.58, Z:-23.08 [[ 9.47179677e-01 3.12395508e-01 7.25238287e-02 1.87495242e+02] [-3.11328283e-01 9.49950175e-01 -2.58721018e-02 -6.75789379e+01] [-7.69763521e-02 1.92680992e-03 9.97031057e-01 -2.30769324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86119381700001 meters 0.06222649954505612 Centerline is valid? [True, True] Translation: X:187.52, Y:-67.59, Z:-23.08 [[ 9.47555145e-01 3.11720243e-01 7.04963676e-02 1.87521641e+02] [-3.10710547e-01 9.50171986e-01 -2.51426486e-02 -6.75887875e+01] [-7.48211462e-02 1.92008113e-03 9.97195121e-01 -2.30828288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89119381700002 meters 0.06273247299522697 Centerline is valid? [True, True] Translation: X:187.55, Y:-67.60, Z:-23.09 [[ 9.47918754e-01 3.11014088e-01 6.87042464e-02 1.87548184e+02] [-3.10054838e-01 9.50403392e-01 -2.44824530e-02 -6.75989245e+01] [-7.29111366e-02 1.90529240e-03 9.97336621e-01 -2.30881879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92119381700002 meters 0.06349775319666837 Centerline is valid? [True, True] Translation: X:187.57, Y:-67.61, Z:-23.09 [[ 9.48396647e-01 3.09788217e-01 6.76391923e-02 1.87573448e+02] [-3.08857335e-01 9.50803600e-01 -2.40761465e-02 -6.76094948e+01] [-7.17700940e-02 1.94287600e-03 9.97419309e-01 -2.30937087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95119381700002 meters 0.06237476762890621 Centerline is valid? [True, True] Translation: X:187.60, Y:-67.62, Z:-23.09 [[ 9.48678997e-01 3.08903387e-01 6.77263475e-02 1.87601935e+02] [-3.07968210e-01 9.51091303e-01 -2.41021782e-02 -6.76172229e+01] [-7.18591845e-02 2.00766826e-03 9.97412767e-01 -2.30929568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98119381700002 meters 0.06391494492598082 Centerline is valid? [True, True] Translation: X:187.63, Y:-67.63, Z:-23.10 [[ 9.49027408e-01 3.07528473e-01 6.90884758e-02 1.87627133e+02] [-3.06553952e-01 9.51536509e-01 -2.45549959e-02 -6.76292546e+01] [-7.32915674e-02 2.12401887e-03 9.97308295e-01 -2.30988754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01119381700002 meters 0.06438166135223096 Centerline is valid? [True, True] Translation: X:187.65, Y:-67.64, Z:-23.10 [[ 9.49354651e-01 3.06400371e-01 6.96028724e-02 1.87652950e+02] [-3.05408186e-01 9.51900125e-01 -2.47384780e-02 -6.76394427e+01] [-7.38348617e-02 2.22830220e-03 9.97267992e-01 -2.31018920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04119381700002 meters 0.06347007760450633 Centerline is valid? [True, True] Translation: X:187.68, Y:-67.65, Z:-23.10 [[ 9.49617872e-01 3.05482216e-01 7.00465057e-02 1.87679837e+02] [-3.04476650e-01 9.52195026e-01 -2.48717241e-02 -6.76481064e+01] [-7.42958037e-02 2.29110830e-03 9.97233616e-01 -2.31015363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07119381700002 meters 0.06409705583380283 Centerline is valid? [True, True] Translation: X:187.70, Y:-67.66, Z:-23.10 [[ 9.49838907e-01 3.04238652e-01 7.24216382e-02 1.87704782e+02] [-3.03162855e-01 9.52592733e-01 -2.56781535e-02 -6.76604707e+01] [-7.68006131e-02 2.43455867e-03 9.97043499e-01 -2.31037436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10119381700002 meters 0.0636721807043471 Centerline is valid? [True, True] Translation: X:187.73, Y:-67.67, Z:-23.10 [[ 9.50488160e-01 3.01538586e-01 7.51447908e-02 1.87731336e+02] [-3.00371965e-01 9.53450006e-01 -2.66415065e-02 -6.76717142e+01] [-7.96802434e-02 2.75104801e-03 9.96816679e-01 -2.31015593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13119381700002 meters 0.06364015868758995 Centerline is valid? [True, True] Translation: X:187.76, Y:-67.68, Z:-23.10 [[ 9.50814943e-01 2.99983685e-01 7.72057883e-02 1.87757832e+02] [-2.98749071e-01 9.53939813e-01 -2.73463963e-02 -6.76827215e+01] [-8.18531480e-02 2.93620475e-03 9.96640076e-01 -2.31020183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16119381700003 meters 0.06387323217078855 Centerline is valid? [True, True] Translation: X:187.78, Y:-67.69, Z:-23.10 [[ 9.51260619e-01 2.98110112e-01 7.89531232e-02 1.87783237e+02] [-2.96814551e-01 9.54526311e-01 -2.79400273e-02 -6.76938666e+01] [-8.36920380e-02 3.14381190e-03 9.96486708e-01 -2.31031410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19119381700003 meters 0.06428511050808788 Centerline is valid? [True, True] Translation: X:187.81, Y:-67.71, Z:-23.10 [[ 9.51907216e-01 2.95535041e-01 8.08188878e-02 1.87809159e+02] [-2.94171474e-01 9.55325803e-01 -2.85614116e-02 -6.77081219e+01] [-8.56492669e-02 3.41320243e-03 9.96319504e-01 -2.31037470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22119381700003 meters 0.06526443297144384 Centerline is valid? [True, True] Translation: X:187.83, Y:-67.72, Z:-23.11 [[ 9.52355747e-01 2.94031302e-01 8.10192808e-02 1.87833375e+02] [-2.92656084e-01 9.55789194e-01 -2.86257409e-02 -6.77207091e+01] [-8.58542169e-02 3.55110339e-03 9.96301382e-01 -2.31078591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25119381700003 meters 0.06536695898270588 Centerline is valid? [True, True] Translation: X:187.86, Y:-67.73, Z:-23.11 [[ 9.52966585e-01 2.92102886e-01 8.08120732e-02 1.87859937e+02] [-2.90728893e-01 9.56379732e-01 -2.85397851e-02 -6.77320636e+01] [-8.56235824e-02 3.70305696e-03 9.96320676e-01 -2.31107254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28119381700003 meters 0.06735886182229314 Centerline is valid? [True, True] Translation: X:187.88, Y:-67.75, Z:-23.12 [[ 9.53546545e-01 2.90404436e-01 8.00890115e-02 1.87884364e+02] [-2.89049702e-01 9.56896402e-01 -2.82762269e-02 -6.77467250e+01] [-8.48484287e-02 3.81299360e-03 9.96386574e-01 -2.31170868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31119381700003 meters 0.06922236641639289 Centerline is valid? [True, True] Translation: X:187.91, Y:-67.76, Z:-23.12 [[ 9.55139648e-01 2.86041022e-01 7.67384333e-02 1.87911598e+02] [-2.84784036e-01 9.58208952e-01 -2.70860894e-02 -6.77611429e+01] [-8.12791864e-02 4.01711709e-03 9.96683278e-01 -2.31227882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34119381700003 meters 0.06912064924824239 Centerline is valid? [True, True] Translation: X:187.94, Y:-67.77, Z:-23.13 [[ 9.55965412e-01 2.83689570e-01 7.51688760e-02 1.87939549e+02] [-2.82476235e-01 9.58907273e-01 -2.65333376e-02 -6.77701729e+01] [-7.96072130e-02 4.13153188e-03 9.96817748e-01 -2.31263826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37119381700003 meters 0.07105804695597402 Centerline is valid? [True, True] Translation: X:187.96, Y:-67.78, Z:-23.13 [[ 9.56660104e-01 2.81701825e-01 7.37938128e-02 1.87964698e+02] [-2.80526877e-01 9.59492737e-01 -2.60453151e-02 -6.77830932e+01] [-7.81416402e-02 4.21536597e-03 9.96933355e-01 -2.31321942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40119381700003 meters 0.07237595128006635 Centerline is valid? [True, True] Translation: X:187.99, Y:-67.80, Z:-23.14 [[ 9.57681647e-01 2.78296867e-01 7.34623446e-02 1.87992216e+02] [-2.77123026e-01 9.60484724e-01 -2.59214956e-02 -6.77954271e+01] [-7.77733308e-02 4.46643341e-03 9.96961062e-01 -2.31364869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43119381700004 meters 0.07345300568196407 Centerline is valid? [True, True] Translation: X:188.02, Y:-67.81, Z:-23.14 [[ 9.58287558e-01 2.75927908e-01 7.44899021e-02 1.88019787e+02] [-2.74713889e-01 9.61166728e-01 -2.62830628e-02 -6.78056126e+01] [-7.88494461e-02 4.72332142e-03 9.96875346e-01 -2.31396706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46119381700004 meters 0.07327450917323781 Centerline is valid? [True, True] Translation: X:188.05, Y:-67.81, Z:-23.14 [[ 9.58978693e-01 2.73554270e-01 7.43500373e-02 1.88048033e+02] [-2.72337923e-01 9.61844055e-01 -2.62310879e-02 -6.78129531e+01] [-7.86887675e-02 4.90671956e-03 9.96887156e-01 -2.31411142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49119381700004 meters 0.07461648395912107 Centerline is valid? [True, True] Translation: X:188.08, Y:-67.82, Z:-23.14 [[ 9.59595654e-01 2.71059931e-01 7.55161888e-02 1.88075649e+02] [-2.69797875e-01 9.62548503e-01 -2.66361812e-02 -6.78228713e+01] [-7.99079959e-02 5.18585647e-03 9.96788753e-01 -2.31434040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52119381700004 meters 0.07784418006288643 Centerline is valid? [True, True] Translation: X:188.10, Y:-67.83, Z:-23.14 [[ 9.60636698e-01 2.66478466e-01 7.85261896e-02 1.88102503e+02] [-2.65098670e-01 9.63823502e-01 -2.76939173e-02 -6.78334543e+01] [-8.30652196e-02 5.78660484e-03 9.96527312e-01 -2.31441783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55119381700004 meters 0.07808903303942648 Centerline is valid? [True, True] Translation: X:188.13, Y:-67.84, Z:-23.14 [[ 9.60984728e-01 2.64479351e-01 8.09878076e-02 1.88129932e+02] [-2.63004609e-01 9.64371767e-01 -2.85599331e-02 -6.78413155e+01] [-8.56558678e-02 6.14549289e-03 9.96305829e-01 -2.31449808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.581193817 meters 0.07943989672001713 Centerline is valid? [True, True] Translation: X:188.16, Y:-67.85, Z:-23.15 [[ 9.61566801e-01 2.62199657e-01 8.14900502e-02 1.88157203e+02] [-2.60699281e-01 9.64992568e-01 -2.87267807e-02 -6.78508350e+01] [-8.61694448e-02 6.37832113e-03 9.96260078e-01 -2.31483700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61119381700001 meters 0.07923258469432061 Centerline is valid? [True, True] Translation: X:188.19, Y:-67.86, Z:-23.15 [[ 9.61956318e-01 2.60726377e-01 8.16198421e-02 1.88185531e+02] [-2.59216622e-01 9.65390768e-01 -2.87647026e-02 -6.78576743e+01] [-8.62947588e-02 6.51316764e-03 9.96248359e-01 -2.31509024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64119381700002 meters 0.08062326110752209 Centerline is valid? [True, True] Translation: X:188.21, Y:-67.87, Z:-23.15 [[ 9.62257585e-01 2.59530388e-01 8.18799005e-02 1.88212886e+02] [-2.58007124e-01 9.65712137e-01 -2.88512001e-02 -6.78664758e+01] [-8.65601768e-02 6.63668851e-03 9.96224518e-01 -2.31543945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67119381700002 meters 0.08356147823896644 Centerline is valid? [True, True] Translation: X:188.24, Y:-67.87, Z:-23.16 [[ 9.62008496e-01 2.60043400e-01 8.31690116e-02 1.88239427e+02] [-2.58474207e-01 9.65573767e-01 -2.92981928e-02 -6.78732588e+01] [-8.79246176e-02 6.68806603e-03 9.96104679e-01 -2.31590484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70119381700002 meters 0.08307870738858777 Centerline is valid? [True, True] Translation: X:188.27, Y:-67.88, Z:-23.16 [[ 9.61701367e-01 2.61351411e-01 8.26191264e-02 1.88268562e+02] [-2.59808662e-01 9.65221737e-01 -2.90939564e-02 -6.78777745e+01] [-8.73495233e-02 6.51453298e-03 9.96156424e-01 -2.31630916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73119381700002 meters 0.07929783248727679 Centerline is valid? [True, True] Translation: X:188.30, Y:-67.88, Z:-23.17 [[ 9.61127462e-01 2.63942074e-01 8.10468002e-02 1.88299747e+02] [-2.62467258e-01 9.64518906e-01 -2.85345111e-02 -6.78773875e+01] [-8.57026291e-02 6.15317072e-03 9.96301760e-01 -2.31662235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76119381700002 meters 0.07850544766968623 Centerline is valid? [True, True] Translation: X:188.33, Y:-67.88, Z:-23.17 [[ 9.60459389e-01 2.66572241e-01 8.03554709e-02 1.88329810e+02] [-2.65132028e-01 9.63797104e-01 -2.82869130e-02 -6.78813263e+01] [-8.49868760e-02 5.86362216e-03 9.96364817e-01 -2.31712617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79119381700002 meters 0.07432074716515542 Centerline is valid? [True, True] Translation: X:188.36, Y:-67.88, Z:-23.17 [[ 9.59093027e-01 2.71798720e-01 7.91582009e-02 1.88363531e+02] [-2.70419048e-01 9.62339431e-01 -2.78632204e-02 -6.78752790e+01] [-8.37502456e-02 5.31753507e-03 9.96472589e-01 -2.31749566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82119381700002 meters 0.07508229100871415 Centerline is valid? [True, True] Translation: X:188.39, Y:-67.88, Z:-23.18 [[ 9.58356461e-01 2.74479856e-01 7.88270358e-02 1.88391577e+02] [-2.73120672e-01 9.61579523e-01 -2.77474311e-02 -6.78819876e+01] [-8.34145743e-02 5.06263684e-03 9.96502071e-01 -2.31807841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85119381700002 meters 0.07186490426025657 Centerline is valid? [True, True] Translation: X:188.42, Y:-67.88, Z:-23.18 [[ 9.57945770e-01 2.76103390e-01 7.81461395e-02 1.88422717e+02] [-2.74772677e-01 9.61115540e-01 -2.75117278e-02 -6.78817455e+01] [-8.27035503e-02 4.88231940e-03 9.96562234e-01 -2.31824699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88119381700002 meters 0.07225831340773396 Centerline is valid? [True, True] Translation: X:188.45, Y:-67.89, Z:-23.19 [[ 9.57359929e-01 2.78051763e-01 7.84167225e-02 1.88450321e+02] [-2.76720772e-01 9.60554585e-01 -2.75772435e-02 -6.78875425e+01] [-8.29914435e-02 4.70181187e-03 9.96539168e-01 -2.31865314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91119381700003 meters 0.06801902732172099 Centerline is valid? [True, True] Translation: X:188.48, Y:-67.88, Z:-23.18 [[ 9.56438653e-01 2.80432382e-01 8.11343467e-02 1.88484376e+02] [-2.79016594e-01 9.59862550e-01 -2.85241200e-02 -6.78815080e+01] [-8.58769079e-02 4.64374178e-03 9.96294932e-01 -2.31842732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94119381700003 meters 0.06840642294536153 Centerline is valid? [True, True] Translation: X:188.51, Y:-67.89, Z:-23.19 [[ 9.56195482e-01 2.81048040e-01 8.18669578e-02 1.88511615e+02] [-2.79608937e-01 9.59682541e-01 -2.87795639e-02 -6.78868250e+01] [-8.66547301e-02 4.62815599e-03 9.96227654e-01 -2.31870783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97119381700003 meters 0.06840642294536153 Centerline is valid? [True, True] Translation: X:188.54, Y:-67.90, Z:-23.19 [[ 9.56288055e-01 2.80732615e-01 8.18679100e-02 1.88537457e+02] [-2.79292593e-01 9.59774734e-01 -2.87768583e-02 -6.78956694e+01] [-8.66533543e-02 4.65386505e-03 9.96227654e-01 -2.31902190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00119381700003 meters 0.06813011811526562 Centerline is valid? [True, True] Translation: X:188.57, Y:-67.90, Z:-23.19 [[ 9.56428488e-01 2.79825625e-01 8.33196701e-02 1.88565791e+02] [-2.78333324e-01 9.60038892e-01 -2.92555459e-02 -6.78995098e+01] [-8.81765752e-02 4.79019672e-03 9.96093342e-01 -2.31923207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03119381700003 meters 0.06863383435188067 Centerline is valid? [True, True] Translation: X:188.59, Y:-67.91, Z:-23.19 [[ 9.56968172e-01 2.77938105e-01 8.34405596e-02 1.88594406e+02] [-2.76437220e-01 9.60586283e-01 -2.92652711e-02 -6.79050895e+01] [-8.82857910e-02 4.93985666e-03 9.96082937e-01 -2.31947820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06119381700003 meters 0.07101074199041991 Centerline is valid? [True, True] Translation: X:188.62, Y:-67.91, Z:-23.20 [[ 9.58202102e-01 2.73772777e-01 8.30493687e-02 1.88623373e+02] [-2.72273444e-01 9.61779987e-01 -2.90934351e-02 -6.79112186e+01] [-8.78402113e-02 5.26525297e-03 9.96120663e-01 -2.31981206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09119381700003 meters 0.07250967372864196 Centerline is valid? [True, True] Translation: X:188.65, Y:-67.92, Z:-23.20 [[ 9.58602109e-01 2.72412465e-01 8.29062509e-02 1.88649770e+02] [-2.70913301e-01 9.62165529e-01 -2.90427041e-02 -6.79196870e+01] [-8.76811313e-02 5.37999125e-03 9.96134065e-01 -2.32027872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12119381700003 meters 0.07322705196558114 Centerline is valid? [True, True] Translation: X:188.68, Y:-67.93, Z:-23.21 [[ 9.58765559e-01 2.71768797e-01 8.31283540e-02 1.88676364e+02] [-2.70260010e-01 9.62347173e-01 -2.91109276e-02 -6.79266735e+01] [-8.79097783e-02 5.44428501e-03 9.96113563e-01 -2.32065171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15119381700003 meters 0.07245298477926067 Centerline is valid? [True, True] Translation: X:188.70, Y:-67.93, Z:-23.21 [[ 9.58892957e-01 2.71478096e-01 8.26071414e-02 1.88704874e+02] [-2.69987498e-01 9.62429286e-01 -2.89243806e-02 -6.79311391e+01] [-8.73558679e-02 5.43248946e-03 9.96162356e-01 -2.32092911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18119381700004 meters 0.07196324936900239 Centerline is valid? [True, True] Translation: X:188.73, Y:-67.93, Z:-23.21 [[ 9.58361338e-01 2.73472328e-01 8.21975175e-02 1.88734457e+02] [-2.72006599e-01 9.61865850e-01 -2.87488669e-02 -6.79310629e+01] [-8.69250046e-02 5.19353540e-03 9.96201320e-01 -2.32133781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21119381700004 meters 0.0713808540477668 Centerline is valid? [True, True] Translation: X:188.76, Y:-67.93, Z:-23.22 [[ 9.57741201e-01 2.75868232e-01 8.14156614e-02 1.88762884e+02] [-2.74439558e-01 9.61182864e-01 -2.84680580e-02 -6.79349083e+01] [-8.61087715e-02 4.92135392e-03 9.96273587e-01 -2.32174527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24119381700004 meters 0.07024885354857749 Centerline is valid? [True, True] Translation: X:188.79, Y:-67.94, Z:-23.22 [[ 9.57186661e-01 2.77813182e-01 8.13236294e-02 1.88791794e+02] [-2.76395344e-01 9.60623456e-01 -2.84286675e-02 -6.79381764e+01] [-8.60192445e-02 4.73406870e-03 9.96282228e-01 -2.32203255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27119381700004 meters 0.06989224814451818 Centerline is valid? [True, True] Translation: X:188.82, Y:-67.94, Z:-23.22 [[ 9.56607222e-01 2.79676108e-01 8.17551065e-02 1.88819276e+02] [-2.78250506e-01 9.60083464e-01 -2.85726752e-02 -6.79437596e+01] [-8.64828204e-02 4.58442765e-03 9.96242794e-01 -2.32235941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30119381700004 meters 0.06845316336280899 Centerline is valid? [True, True] Translation: X:188.85, Y:-67.95, Z:-23.23 [[ 9.55507711e-01 2.83472016e-01 8.15391331e-02 1.88848562e+02] [-2.82068574e-01 9.58971224e-01 -2.84870449e-02 -6.79454106e+01] [-8.62689624e-02 4.21996410e-03 9.96262946e-01 -2.32273535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.331193817 meters 0.06686913391481164 Centerline is valid? [True, True] Translation: X:188.88, Y:-67.95, Z:-23.23 [[ 9.54961019e-01 2.85546481e-01 8.07010553e-02 1.88877878e+02] [-2.84179109e-01 9.58356549e-01 -2.81950299e-02 -6.79492856e+01] [-8.53913764e-02 3.99160050e-03 9.96339490e-01 -2.32310101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36119381700001 meters 0.06631407652265309 Centerline is valid? [True, True] Translation: X:188.91, Y:-67.95, Z:-23.24 [[ 9.54523541e-01 2.87447712e-01 7.91114570e-02 1.88906645e+02] [-2.86142166e-01 9.57789091e-01 -2.76173552e-02 -6.79546354e+01] [-8.37106360e-02 3.72429205e-03 9.96483145e-01 -2.32354344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39119381700002 meters 0.0656354265285514 Centerline is valid? [True, True] Translation: X:188.93, Y:-67.96, Z:-23.24 [[ 9.53972025e-01 2.89697992e-01 7.75399827e-02 1.88934864e+02] [-2.88453037e-01 9.57111940e-01 -2.70477138e-02 -6.79596259e+01] [-8.20501117e-02 3.43611877e-03 9.96622282e-01 -2.32409311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42119381700002 meters 0.06499493498445126 Centerline is valid? [True, True] Translation: X:188.96, Y:-67.96, Z:-23.25 [[ 9.53180649e-01 2.92537257e-01 7.66068153e-02 1.88963038e+02] [-2.91333660e-01 9.56249020e-01 -2.66929035e-02 -6.79624050e+01] [-8.10638608e-02 3.12501522e-03 9.96704011e-01 -2.32463142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45119381700002 meters 0.0653734348040283 Centerline is valid? [True, True] Translation: X:188.99, Y:-67.97, Z:-23.25 [[ 9.53330798e-01 2.92248748e-01 7.58357407e-02 1.88989883e+02] [-2.91068553e-01 9.56337263e-01 -2.64222671e-02 -6.79711660e+01] [-8.02464192e-02 3.11576168e-03 9.96770186e-01 -2.32500689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48119381700002 meters 0.0661632809531629 Centerline is valid? [True, True] Translation: X:189.02, Y:-67.98, Z:-23.25 [[ 9.53879836e-01 2.90311550e-01 7.63705633e-02 1.89016852e+02] [-2.89110309e-01 9.56926563e-01 -2.65853652e-02 -6.79817685e+01] [-8.07990592e-02 3.27972661e-03 9.96725015e-01 -2.32534454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51119381700002 meters 0.06759825263208212 Centerline is valid? [True, True] Translation: X:189.04, Y:-67.99, Z:-23.26 [[ 9.54586642e-01 2.87662641e-01 7.75535164e-02 1.89041500e+02] [-2.86417348e-01 9.57725288e-01 -2.69699104e-02 -6.79938642e+01] [-8.20331995e-02 3.53244376e-03 9.96623337e-01 -2.32562952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54119381700002 meters 0.06874351633917714 Centerline is valid? [True, True] Translation: X:189.07, Y:-68.01, Z:-23.26 [[ 9.56370418e-01 2.81310182e-01 7.88682790e-02 1.89069190e+02] [-2.80002317e-01 9.59608013e-01 -2.74073695e-02 -6.80058427e+01] [-8.33926047e-02 4.12829656e-03 9.96508219e-01 -2.32550743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57119381700002 meters 0.07215530247560514 Centerline is valid? [True, True] Translation: X:189.09, Y:-68.02, Z:-23.26 [[ 9.57026441e-01 2.78672313e-01 8.02629054e-02 1.89093838e+02] [-2.77308486e-01 9.60376005e-01 -2.78914621e-02 -6.80205652e+01] [-8.48551466e-02 4.43528194e-03 9.96383426e-01 -2.32596253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60119381700002 meters 0.0691663530899134 Centerline is valid? [True, True] Translation: X:189.12, Y:-68.02, Z:-23.26 [[ 9.57702730e-01 2.76040224e-01 8.12851535e-02 1.89123664e+02] [-2.74631801e-01 9.61134447e-01 -2.82479923e-02 -6.80241490e+01] [-8.59235431e-02 4.72969121e-03 9.96290507e-01 -2.32571960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63119381700002 meters 0.07361561560032329 Centerline is valid? [True, True] Translation: X:189.15, Y:-68.04, Z:-23.26 [[ 9.58196378e-01 2.74375701e-01 8.11028762e-02 1.89146988e+02] [-2.72970425e-01 9.61610408e-01 -2.81526170e-02 -6.80413286e+01] [-8.57137639e-02 4.83704906e-03 9.96308062e-01 -2.32640894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66119381700003 meters 0.07273841838464458 Centerline is valid? [True, True] Translation: X:189.18, Y:-68.05, Z:-23.27 [[ 9.59362255e-01 2.70378336e-01 8.07441545e-02 1.89176048e+02] [-2.68972195e-01 9.62740311e-01 -2.80187697e-02 -6.80505877e+01] [-8.53113207e-02 5.16221765e-03 9.96340971e-01 -2.32667159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69119381700003 meters 0.08134261431475898 Centerline is valid? [True, True] Translation: X:189.20, Y:-68.07, Z:-23.28 [[ 9.60155439e-01 2.67556371e-01 8.07162986e-02 1.89198059e+02] [-2.66141268e-01 9.63527013e-01 -2.80092821e-02 -6.80733610e+01] [-8.52663960e-02 5.41132647e-03 9.96343495e-01 -2.32757561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72119381700003 meters 0.0808188505375539 Centerline is valid? [True, True] Translation: X:189.23, Y:-68.08, Z:-23.28 [[ 9.60933952e-01 2.64832585e-01 8.04340822e-02 1.89227059e+02] [-2.63417900e-01 9.64277953e-01 -2.79112931e-02 -6.80810504e+01] [-8.49526320e-02 5.63313216e-03 9.96369067e-01 -2.32777738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75119381700003 meters 0.0774424106131449 Centerline is valid? [True, True] Translation: X:189.26, Y:-68.08, Z:-23.28 [[ 9.61583528e-01 2.62923663e-01 7.89193721e-02 1.89258223e+02] [-2.61555646e-01 9.64799861e-01 -2.73838014e-02 -6.80841488e+01] [-8.33412486e-02 5.69000499e-03 9.96504822e-01 -2.32782518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78119381700003 meters 0.0783156476593775 Centerline is valid? [True, True] Translation: X:189.29, Y:-68.09, Z:-23.28 [[ 9.61973348e-01 2.61453985e-01 7.90511949e-02 1.89286044e+02] [-2.60076547e-01 9.65198358e-01 -2.74284299e-02 -6.80938343e+01] [-8.34713558e-02 5.82605667e-03 9.96493146e-01 -2.32814880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81119381700003 meters 0.07999987557470191 Centerline is valid? [True, True] Translation: X:189.31, Y:-68.10, Z:-23.28 [[ 9.62273676e-01 2.60412752e-01 7.88325523e-02 1.89311839e+02] [-2.59039549e-01 9.65479363e-01 -2.73516293e-02 -6.81024821e+01] [-8.32339155e-02 5.89900406e-03 9.96512577e-01 -2.32846865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84119381700003 meters 0.07932675130239081 Centerline is valid? [True, True] Translation: X:189.34, Y:-68.11, Z:-23.29 [[ 9.62242719e-01 2.60296283e-01 7.95914204e-02 1.89340123e+02] [-2.58896532e-01 9.65510390e-01 -2.76092886e-02 -6.81089604e+01] [-8.40329385e-02 5.96089423e-03 9.96445148e-01 -2.32868758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87119381700003 meters 0.076036100261489 Centerline is valid? [True, True] Translation: X:189.37, Y:-68.11, Z:-23.29 [[ 9.62065762e-01 2.60845938e-01 7.99303810e-02 1.89369694e+02] [-2.59438131e-01 9.65362321e-01 -2.77028138e-02 -6.81112285e+01] [-8.43879445e-02 5.91494006e-03 9.96415420e-01 -2.32873633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90119381700003 meters 0.07627531707425562 Centerline is valid? [True, True] Translation: X:189.40, Y:-68.12, Z:-23.29 [[ 9.61834343e-01 2.61471195e-01 8.06691421e-02 1.89395938e+02] [-2.60042048e-01 9.65193343e-01 -2.79274646e-02 -6.81189435e+01] [-8.51635466e-02 5.88422565e-03 9.96349610e-01 -2.32900131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93119381700004 meters 0.07500282056851225 Centerline is valid? [True, True] Translation: X:189.43, Y:-68.12, Z:-23.29 [[ 9.61074748e-01 2.64178182e-01 8.09025141e-02 1.89425934e+02] [-2.62751236e-01 9.64457344e-01 -2.79967813e-02 -6.81228326e+01] [-8.54231627e-02 5.64976394e-03 9.96328743e-01 -2.32935586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96119381700004 meters 0.0730230670462522 Centerline is valid? [True, True] Translation: X:189.46, Y:-68.13, Z:-23.30 [[ 9.60953668e-01 2.64684906e-01 8.06842573e-02 1.89455626e+02] [-2.63266952e-01 9.64318721e-01 -2.79269743e-02 -6.81263493e+01] [-8.51971884e-02 5.59502985e-03 9.96348400e-01 -2.32959544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99119381700004 meters 0.07451995612037601 Centerline is valid? [True, True] Translation: X:189.48, Y:-68.14, Z:-23.30 [[ 9.60923112e-01 2.64886676e-01 8.03854601e-02 1.89481168e+02] [-2.63482266e-01 9.64263693e-01 -2.77961352e-02 -6.81358401e+01] [-8.48756065e-02 5.52980551e-03 9.96376210e-01 -2.33006239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02119381700004 meters 0.07132461407519985 Centerline is valid? [True, True] Translation: X:189.51, Y:-68.14, Z:-23.30 [[ 9.60986668e-01 2.64987736e-01 7.92850791e-02 1.89510777e+02] [-2.63622562e-01 9.64236450e-01 -2.74082599e-02 -6.81361475e+01] [-8.37124159e-02 5.43763667e-03 9.96475119e-01 -2.33026831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05119381700004 meters 0.07285294623838662 Centerline is valid? [True, True] Translation: X:189.54, Y:-68.15, Z:-23.31 [[ 9.60887289e-01 2.65564266e-01 7.85572278e-02 1.89536805e+02] [-2.64228573e-01 9.64078548e-01 -2.71258934e-02 -6.81460527e+01] [-8.29390061e-02 5.30786194e-03 9.96540490e-01 -2.33078149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.081193817 meters 0.07294168314264339 Centerline is valid? [True, True] Translation: X:189.56, Y:-68.15, Z:-23.31 [[ 9.60457531e-01 2.67284585e-01 7.79761669e-02 1.89564078e+02] [-2.65976919e-01 9.63604195e-01 -2.68929944e-02 -6.81529659e+01] [-8.23262444e-02 5.08971834e-03 9.96592436e-01 -2.33126013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11119381700001 meters 0.07199770084797792 Centerline is valid? [True, True] Translation: X:189.59, Y:-68.16, Z:-23.32 [[ 9.59880570e-01 2.69766363e-01 7.65205859e-02 1.89592572e+02] [-2.68515541e-01 9.62913948e-01 -2.63843128e-02 -6.81574346e+01] [-8.08003396e-02 4.77882269e-03 9.96718851e-01 -2.33170494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14119381700002 meters 0.06729514690839343 Centerline is valid? [True, True] Translation: X:189.63, Y:-68.15, Z:-23.32 [[ 9.58017903e-01 2.76654454e-01 7.52596239e-02 1.89626145e+02] [-2.75466388e-01 9.60960631e-01 -2.59409690e-02 -6.81522793e+01] [-7.94982204e-02 4.12041593e-03 9.96826492e-01 -2.33190064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17119381700002 meters 0.06609726595790687 Centerline is valid? [True, True] Translation: X:189.66, Y:-68.16, Z:-23.32 [[ 9.56911809e-01 2.80320698e-01 7.57634159e-02 1.89656084e+02] [-2.79128226e-01 9.59898725e-01 -2.61126667e-02 -6.81566343e+01] [-8.00451273e-02 3.83981126e-03 9.96783845e-01 -2.33219487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20119381700002 meters 0.06503751496465375 Centerline is valid? [True, True] Translation: X:189.68, Y:-68.16, Z:-23.32 [[ 9.55763844e-01 2.83965441e-01 7.66753028e-02 1.89684840e+02] [-2.82755731e-01 9.58827843e-01 -2.64265969e-02 -6.81603367e+01] [-8.10226554e-02 3.57720463e-03 9.96705841e-01 -2.33249323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23119381700002 meters 0.06387026044496545 Centerline is valid? [True, True] Translation: X:189.71, Y:-68.16, Z:-23.33 [[ 9.53171318e-01 2.91801105e-01 7.94767525e-02 1.89714719e+02] [-2.90528764e-01 9.56474273e-01 -2.73861806e-02 -6.81617265e+01] [-8.40087868e-02 3.01343914e-03 9.96460457e-01 -2.33293767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26119381700002 meters 0.060472818552402184 Centerline is valid? [True, True] Translation: X:189.75, Y:-68.16, Z:-23.33 [[ 9.52014541e-01 2.95268342e-01 8.05290033e-02 1.89746460e+02] [-2.93974801e-01 9.55410438e-01 -2.77436783e-02 -6.81616469e+01] [-8.51300802e-02 2.73888748e-03 9.96366081e-01 -2.33276309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29119381700002 meters 0.05966864876069593 Centerline is valid? [True, True] Translation: X:189.77, Y:-68.17, Z:-23.33 [[ 9.51060350e-01 2.98115521e-01 8.13101889e-02 1.89774824e+02] [-2.96807290e-01 9.54526509e-01 -2.80103000e-02 -6.81677318e+01] [-8.59630359e-02 2.50602886e-03 9.96295175e-01 -2.33310708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32119381700002 meters 0.05969527077401079 Centerline is valid? [True, True] Translation: X:189.80, Y:-68.18, Z:-23.34 [[ 9.50780820e-01 2.99210604e-01 8.05533711e-02 1.89800891e+02] [-2.97931141e-01 9.54184132e-01 -2.77430554e-02 -6.81756967e+01] [-8.51637649e-02 2.37820721e-03 9.96364129e-01 -2.33357345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35119381700002 meters 0.05876039620141448 Centerline is valid? [True, True] Translation: X:189.83, Y:-68.18, Z:-23.34 [[ 9.50418174e-01 2.99915930e-01 8.21932439e-02 1.89829289e+02] [-2.98586713e-01 9.53962721e-01 -2.83037617e-02 -6.81809110e+01] [-8.68980395e-02 2.35859902e-03 9.96214419e-01 -2.33357258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38119381700002 meters 0.059082129396625674 Centerline is valid? [True, True] Translation: X:189.85, Y:-68.19, Z:-23.34 [[ 9.50610549e-01 2.99080963e-01 8.30070025e-02 1.89853891e+02] [-2.97724765e-01 9.54224645e-01 -2.85533016e-02 -6.81913326e+01] [-8.77470764e-02 2.42982943e-03 9.96139823e-01 -2.33388713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41119381700003 meters 0.06016953185964308 Centerline is valid? [True, True] Translation: X:189.88, Y:-68.21, Z:-23.34 [[ 9.51237347e-01 2.96676178e-01 8.44437959e-02 1.89878331e+02] [-2.95264370e-01 9.54974367e-01 -2.90329127e-02 -6.82055535e+01] [-8.92550341e-02 2.68394665e-03 9.96005188e-01 -2.33425686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44119381700003 meters 0.061509324110084654 Centerline is valid? [True, True] Translation: X:189.90, Y:-68.22, Z:-23.35 [[ 9.52290916e-01 2.93069008e-01 8.51620064e-02 1.89904188e+02] [-2.91619636e-01 9.56086466e-01 -2.92687016e-02 -6.82216409e+01] [-8.99999911e-02 3.03740539e-03 9.95937134e-01 -2.33458251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47119381700003 meters 0.06201516590550399 Centerline is valid? [True, True] Translation: X:189.93, Y:-68.24, Z:-23.35 [[ 9.53504461e-01 2.89099147e-01 8.51523738e-02 1.89930212e+02] [-2.87634592e-01 9.57293091e-01 -2.92622421e-02 -6.82353135e+01] [-8.99754683e-02 3.40891000e-03 9.95938148e-01 -2.33475390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50119381700003 meters 0.06496091974044599 Centerline is valid? [True, True] Translation: X:189.96, Y:-68.26, Z:-23.35 [[ 9.56009961e-01 2.81010541e-01 8.41310293e-02 1.89955197e+02] [-2.79550329e-01 9.59695864e-01 -2.89043674e-02 -6.82561756e+01] [-8.88626328e-02 4.11400619e-03 9.96035395e-01 -2.33510293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53119381700003 meters 0.06865208875023356 Centerline is valid? [True, True] Translation: X:189.98, Y:-68.28, Z:-23.36 [[ 9.56904886e-01 2.78149079e-01 8.34633348e-02 1.89977614e+02] [-2.76701047e-01 9.60528085e-01 -2.86762848e-02 -6.82754955e+01] [-8.81451593e-02 4.34608501e-03 9.96098159e-01 -2.33586899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56119381700003 meters 0.06808781933429806 Centerline is valid? [True, True] Translation: X:190.00, Y:-68.29, Z:-23.36 [[ 9.57682974e-01 2.75865582e-01 8.21066501e-02 1.90003997e+02] [-2.74456748e-01 9.61185814e-01 -2.82014837e-02 -6.82872055e+01] [-8.66995661e-02 4.47335655e-03 9.96224460e-01 -2.33620731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59119381700003 meters 0.06891818548768298 Centerline is valid? [True, True] Translation: X:190.03, Y:-68.30, Z:-23.37 [[ 9.58124430e-01 2.74667597e-01 8.09647298e-02 1.90029766e+02] [-2.73294227e-01 9.61528666e-01 -2.78008967e-02 -6.83006357e+01] [-8.54859141e-02 4.50952504e-03 9.96329174e-01 -2.33665045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62119381700003 meters 0.06843468919535284 Centerline is valid? [True, True] Translation: X:190.06, Y:-68.31, Z:-23.37 [[ 9.57769801e-01 2.75516109e-01 8.22671348e-02 1.90056802e+02] [-2.74101640e-01 9.61285918e-01 -2.82431386e-02 -6.83098689e+01] [-8.68636778e-02 4.50086868e-03 9.96210040e-01 -2.33671664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65119381700003 meters 0.06849477270411845 Centerline is valid? [True, True] Translation: X:190.08, Y:-68.32, Z:-23.37 [[ 9.57250019e-01 2.77381410e-01 8.20484913e-02 1.90083383e+02] [-2.75981909e-01 9.60750202e-01 -2.81608869e-02 -6.83186464e+01] [-8.66394111e-02 4.31311028e-03 9.96230400e-01 -2.33707887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68119381700004 meters 0.06736270888774375 Centerline is valid? [True, True] Translation: X:190.11, Y:-68.33, Z:-23.37 [[ 9.56660308e-01 2.79473094e-01 8.18281372e-02 1.90111130e+02] [-2.78089348e-01 9.60144746e-01 -2.80781323e-02 -6.83257763e+01] [-8.64139385e-02 4.10570133e-03 9.96250859e-01 -2.33744567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71119381700004 meters 0.06705030776974434 Centerline is valid? [True, True] Translation: X:190.14, Y:-68.33, Z:-23.38 [[ 9.56294230e-01 2.81029918e-01 8.07683743e-02 1.90137235e+02] [-2.79687924e-01 9.59691054e-01 -2.77082477e-02 -6.83347675e+01] [-8.52995328e-02 3.90729856e-03 9.96347692e-01 -2.33797748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74119381700004 meters 0.0658410973915986 Centerline is valid? [True, True] Translation: X:190.17, Y:-68.34, Z:-23.38 [[ 9.55385243e-01 2.83991461e-01 8.11658086e-02 1.90165448e+02] [-2.82647726e-01 9.58819858e-01 -2.78342091e-02 -6.83432107e+01] [-8.57280668e-02 3.65106147e-03 9.96311883e-01 -2.33840683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77119381700004 meters 0.06332986134159468 Centerline is valid? [True, True] Translation: X:190.20, Y:-68.35, Z:-23.38 [[ 9.55345795e-01 2.83884662e-01 8.19994594e-02 1.90195311e+02] [-2.82512454e-01 9.58851291e-01 -2.81232260e-02 -6.83470633e+01] [-8.66090400e-02 3.70153725e-03 9.96235501e-01 -2.33831839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80119381700004 meters 0.06625446469400832 Centerline is valid? [True, True] Translation: X:190.22, Y:-68.36, Z:-23.39 [[ 9.55328017e-01 2.83697026e-01 8.28515356e-02 1.90219429e+02] [-2.82297857e-01 9.58906712e-01 -2.83872881e-02 -6.83620521e+01] [-8.75002828e-02 3.73036064e-03 9.96157510e-01 -2.33896986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.831193817 meters 0.06694423191989801 Centerline is valid? [True, True] Translation: X:190.25, Y:-68.37, Z:-23.39 [[ 9.55706171e-01 2.82138144e-01 8.38080095e-02 1.90245809e+02] [-2.80701450e-01 9.59365833e-01 -2.87035485e-02 -6.83730577e+01] [-8.85009067e-02 3.90712861e-03 9.96068433e-01 -2.33916958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86119381700001 meters 0.06518155762281384 Centerline is valid? [True, True] Translation: X:190.27, Y:-68.38, Z:-23.39 [[ 9.56147568e-01 2.81039400e-01 8.24541370e-02 1.90274730e+02] [-2.79646793e-01 9.59688219e-01 -2.82168998e-02 -6.83786424e+01] [-8.70603245e-02 3.92148512e-03 9.96195323e-01 -2.33930874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89119381700002 meters 0.06518155762281384 Centerline is valid? [True, True] Translation: X:190.30, Y:-68.39, Z:-23.40 [[ 9.56236024e-01 2.80736088e-01 8.24615935e-02 1.90300604e+02] [-2.79344235e-01 9.59776972e-01 -2.81950893e-02 -6.83872577e+01] [-8.70601176e-02 3.92598935e-03 9.96195323e-01 -2.33962289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92119381700002 meters 0.0639827817167361 Centerline is valid? [True, True] Translation: X:190.33, Y:-68.39, Z:-23.40 [[ 9.56309348e-01 2.80534719e-01 8.22964296e-02 1.90327818e+02] [-2.79150202e-01 9.59835920e-01 -2.81099907e-02 -6.83932353e+01] [-8.68768975e-02 3.90878189e-03 9.96211386e-01 -2.33979467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95119381700002 meters 0.06407926109845183 Centerline is valid? [True, True] Translation: X:190.35, Y:-68.40, Z:-23.40 [[ 9.55276183e-01 2.84020345e-01 8.23398941e-02 1.90354588e+02] [-2.82650619e-01 9.58811657e-01 -2.80861874e-02 -6.84041747e+01] [-8.69254990e-02 3.55664386e-03 9.96208466e-01 -2.34029341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98119381700002 meters 0.06308255052616397 Centerline is valid? [True, True] Translation: X:190.38, Y:-68.41, Z:-23.41 [[ 9.54313485e-01 2.87267407e-01 8.22387319e-02 1.90383191e+02] [-2.85913385e-01 9.57844900e-01 -2.80478748e-02 -6.84121221e+01] [-8.68291902e-02 3.25331093e-03 9.96217902e-01 -2.34066106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01119381700002 meters 0.0602913036723973 Centerline is valid? [True, True] Translation: X:190.41, Y:-68.42, Z:-23.41 [[ 9.53042060e-01 2.91277853e-01 8.28736684e-02 1.90413402e+02] [-2.89918200e-01 9.56634079e-01 -2.82608741e-02 -6.84157316e+01] [-8.75115422e-02 2.90721693e-03 9.96159263e-01 -2.34063415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04119381700002 meters 0.05900817502287491 Centerline is valid? [True, True] Translation: X:190.44, Y:-68.42, Z:-23.41 [[ 9.51582236e-01 2.95624762e-01 8.42451637e-02 1.90442639e+02] [-2.94236940e-01 9.55300748e-01 -2.87246276e-02 -6.84220047e+01] [-8.89711791e-02 2.54580617e-03 9.96030947e-01 -2.34086013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07119381700002 meters 0.05732148894193896 Centerline is valid? [True, True] Translation: X:190.47, Y:-68.43, Z:-23.41 [[ 9.48819966e-01 3.04519847e-01 8.37158039e-02 1.90471377e+02] [-3.03184254e-01 9.52504478e-01 -2.85399435e-02 -6.84255173e+01] [-8.84306573e-02 1.69795469e-03 9.96080888e-01 -2.34123051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10119381700002 meters 0.05660413871497653 Centerline is valid? [True, True] Translation: X:190.50, Y:-68.43, Z:-23.42 [[ 9.47591106e-01 3.08309021e-01 8.37654057e-02 1.90499483e+02] [-3.06986205e-01 9.51285302e-01 -2.85612204e-02 -6.84317395e+01] [-8.84904812e-02 1.34953443e-03 9.96076108e-01 -2.34155884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13119381700002 meters 0.05612572096145291 Centerline is valid? [True, True] Translation: X:190.53, Y:-68.44, Z:-23.42 [[ 9.46262892e-01 3.12294635e-01 8.40154734e-02 1.90527186e+02] [-3.10981909e-01 9.49984815e-01 -2.86199759e-02 -6.84383714e+01] [-8.87512889e-02 9.54728810e-04 9.96053361e-01 -2.34184764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16119381700003 meters 0.05585294900807808 Centerline is valid? [True, True] Translation: X:190.55, Y:-68.45, Z:-23.42 [[ 9.45047105e-01 3.15648182e-01 8.51598174e-02 1.90553248e+02] [-3.14315808e-01 9.48876094e-01 -2.89781030e-02 -6.84464497e+01] [-8.99530004e-02 6.18595567e-04 9.95945819e-01 -2.34223399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19119381700003 meters 0.055654408103856946 Centerline is valid? [True, True] Translation: X:190.58, Y:-68.46, Z:-23.43 [[ 9.43463222e-01 3.20350725e-01 8.51619692e-02 1.90579639e+02] [-3.19037815e-01 9.47298995e-01 -2.89739075e-02 -6.84570496e+01] [-8.99556601e-02 1.65927613e-04 9.95945757e-01 -2.34253411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22119381700003 meters 0.05545786615320608 Centerline is valid? [True, True] Translation: X:190.61, Y:-68.47, Z:-23.43 [[ 9.43090113e-01 3.21252239e-01 8.58955019e-02 1.90606044e+02] [-3.19922727e-01 9.46993662e-01 -2.91967970e-02 -6.84686102e+01] [-9.07220323e-02 5.52873791e-05 9.95876252e-01 -2.34276433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25119381700003 meters 0.055478774745377823 Centerline is valid? [True, True] Translation: X:190.63, Y:-68.48, Z:-23.43 [[ 9.43002659e-01 3.21376191e-01 8.63905600e-02 1.90630552e+02] [-3.20034644e-01 9.46951606e-01 -2.93339855e-02 -6.84811442e+01] [-9.12349240e-02 1.40542169e-05 9.95829397e-01 -2.34309015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28119381700003 meters 0.055421879632425945 Centerline is valid? [True, True] Translation: X:190.66, Y:-68.49, Z:-23.43 [[ 9.43257716e-01 3.20543340e-01 8.66997647e-02 1.90655080e+02] [-3.19189045e-01 9.47233846e-01 -2.94345818e-02 -6.84948082e+01] [-9.15600107e-02 9.07813455e-05 9.95799556e-01 -2.34333703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31119381700003 meters 0.05536852990626305 Centerline is valid? [True, True] Translation: X:190.68, Y:-68.51, Z:-23.44 [[ 9.43833188e-01 3.18693976e-01 8.72528637e-02 1.90679571e+02] [-3.17317233e-01 9.47857632e-01 -2.95919412e-02 -6.85100583e+01] [-9.21340661e-02 2.43018918e-04 9.95746582e-01 -2.34358440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34119381700003 meters 0.055324781611435225 Centerline is valid? [True, True] Translation: X:190.70, Y:-68.53, Z:-23.44 [[ 9.45509959e-01 3.13464675e-01 8.80387184e-02 1.90700908e+02] [-3.12043097e-01 9.49599580e-01 -2.98285544e-02 -6.85346200e+01] [-9.29517282e-02 7.31320891e-04 9.95670348e-01 -2.34354078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37119381700003 meters 0.05593766187652422 Centerline is valid? [True, True] Translation: X:190.72, Y:-68.55, Z:-23.44 [[ 9.46268322e-01 3.11082341e-01 8.83404787e-02 1.90722717e+02] [-3.09644176e-01 9.50382506e-01 -2.98927489e-02 -6.85537462e+01] [-9.32563518e-02 9.32446538e-04 9.95641694e-01 -2.34425027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40119381700003 meters 0.05637752194903191 Centerline is valid? [True, True] Translation: X:190.75, Y:-68.57, Z:-23.45 [[ 9.47322294e-01 3.08137200e-01 8.73609613e-02 1.90746807e+02] [-3.06718896e-01 9.51341168e-01 -2.95550404e-02 -6.85716909e+01] [-9.22170864e-02 1.20289110e-03 9.95738200e-01 -2.34471260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43119381700004 meters 0.05723183241951812 Centerline is valid? [True, True] Translation: X:190.77, Y:-68.59, Z:-23.45 [[ 9.48319700e-01 3.05816622e-01 8.46518736e-02 1.90771304e+02] [-3.04478503e-01 9.52089468e-01 -2.86091970e-02 -6.85893290e+01] [-8.93453252e-02 1.35598937e-03 9.95999786e-01 -2.34534264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46119381700004 meters 0.05902744912471053 Centerline is valid? [True, True] Translation: X:190.79, Y:-68.62, Z:-23.46 [[ 9.50089416e-01 3.01150649e-01 8.14763064e-02 1.90793348e+02] [-2.99894415e-01 9.53575018e-01 -2.75322471e-02 -6.86152472e+01] [-8.59851244e-02 1.72380732e-03 9.96294930e-01 -2.34622535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49119381700004 meters 0.058695953128233155 Centerline is valid? [True, True] Translation: X:190.82, Y:-68.63, Z:-23.46 [[ 9.50851808e-01 2.98982452e-01 8.05625998e-02 1.90818633e+02] [-2.97746446e-01 9.54256719e-01 -2.72243912e-02 -6.86292847e+01] [-8.50170175e-02 1.89913387e-03 9.96377689e-01 -2.34621131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52119381700004 meters 0.061463329364676376 Centerline is valid? [True, True] Translation: X:190.84, Y:-68.65, Z:-23.47 [[ 9.51965319e-01 2.95446194e-01 8.04585429e-02 1.90839328e+02] [-2.94201539e-01 9.55356839e-01 -2.71802186e-02 -6.86513029e+01] [-8.48969113e-02 2.20359833e-03 9.96387304e-01 -2.34720030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55119381700004 meters 0.0599852743681272 Centerline is valid? [True, True] Translation: X:190.87, Y:-68.66, Z:-23.47 [[ 9.52976467e-01 2.92049993e-01 8.08866835e-02 1.90866163e+02] [-2.90780088e-01 9.56399743e-01 -2.73216507e-02 -6.86637595e+01] [-8.53392912e-02 2.51665326e-03 9.96348770e-01 -2.34677338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.581193817 meters 0.062491306189716565 Centerline is valid? [True, True] Translation: X:190.89, Y:-68.69, Z:-23.47 [[ 9.55661359e-01 2.83238719e-01 8.05431287e-02 1.90888962e+02] [-2.81951266e-01 9.59043909e-01 -2.71710213e-02 -6.86918493e+01] [-8.49402822e-02 3.25705807e-03 9.96380720e-01 -2.34702268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61119381700001 meters 0.06384253278043749 Centerline is valid? [True, True] Translation: X:190.91, Y:-68.71, Z:-23.47 [[ 9.56958793e-01 2.78801911e-01 8.06186270e-02 1.90913876e+02] [-2.77496309e-01 9.60341677e-01 -2.71967125e-02 -6.87100248e+01] [-8.50039229e-02 3.65476167e-03 9.96373914e-01 -2.34731263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64119381700002 meters 0.06573139323853013 Centerline is valid? [True, True] Translation: X:190.94, Y:-68.73, Z:-23.48 [[ 9.58055755e-01 2.74997562e-01 8.06567521e-02 1.90937589e+02] [-2.73677548e-01 9.61436639e-01 -2.72064189e-02 -6.87281517e+01] [-8.50280555e-02 3.99132398e-03 9.96370563e-01 -2.34769355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67119381700002 meters 0.06727265736561766 Centerline is valid? [True, True] Translation: X:190.96, Y:-68.75, Z:-23.48 [[ 9.59242923e-01 2.70943423e-01 8.02662789e-02 1.90963093e+02] [-2.69622623e-01 9.62585567e-01 -2.70678469e-02 -6.87452893e+01] [-8.45970167e-02 4.32303596e-03 9.96405869e-01 -2.34800194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70119381700002 meters 0.07052419559327759 Centerline is valid? [True, True] Translation: X:190.99, Y:-68.77, Z:-23.48 [[ 9.60729717e-01 2.65775854e-01 7.97596748e-02 1.90985876e+02] [-2.64454101e-01 9.64023167e-01 -2.68953753e-02 -6.87698756e+01] [-8.40383156e-02 4.74641314e-03 9.96451220e-01 -2.34832165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73119381700002 meters 0.07061099123122222 Centerline is valid? [True, True] Translation: X:191.01, Y:-68.78, Z:-23.48 [[ 9.60956656e-01 2.64846243e-01 8.01172407e-02 1.91011696e+02] [-2.63509430e-01 9.64278464e-01 -2.70152562e-02 -6.87830345e+01] [-8.44102190e-02 4.84884182e-03 9.96419291e-01 -2.34849993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76119381700002 meters 0.06928985961637547 Centerline is valid? [True, True] Translation: X:191.04, Y:-68.79, Z:-23.49 [[ 9.60060827e-01 2.67488671e-01 8.20549812e-02 1.91039202e+02] [-2.66096632e-01 9.63549443e-01 -2.76595994e-02 -6.87946946e+01] [-8.64626609e-02 4.72034373e-03 9.96243909e-01 -2.34852160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79119381700002 meters 0.06874578334577224 Centerline is valid? [True, True] Translation: X:191.07, Y:-68.80, Z:-23.49 [[ 9.58687735e-01 2.72203450e-01 8.26021081e-02 1.91066965e+02] [-2.70810494e-01 9.62230023e-01 -2.78398851e-02 -6.88038314e+01] [-8.70603412e-02 4.32023875e-03 9.96193672e-01 -2.34886800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82119381700002 meters 0.06492788591201135 Centerline is valid? [True, True] Translation: X:191.10, Y:-68.81, Z:-23.49 [[ 9.56968082e-01 2.78030933e-01 8.31317618e-02 1.91097978e+02] [-2.76642119e-01 9.60564556e-01 -2.80155444e-02 -6.88055467e+01] [-8.76426118e-02 3.81223501e-03 9.96144688e-01 -2.34897851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85119381700002 meters 0.061740532449564324 Centerline is valid? [True, True] Translation: X:191.13, Y:-68.81, Z:-23.49 [[ 9.55119428e-01 2.84326789e-01 8.30972630e-02 1.91128901e+02] [-2.82963063e-01 9.58721981e-01 -2.80012065e-02 -6.88074533e+01] [-8.76286657e-02 3.23104029e-03 9.96147970e-01 -2.34913103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88119381700002 meters 0.06018426209364175 Centerline is valid? [True, True] Translation: X:191.16, Y:-68.81, Z:-23.49 [[ 9.53187516e-01 2.90544331e-01 8.37708197e-02 1.91158086e+02] [-2.89182363e-01 9.56857778e-01 -2.82268272e-02 -6.88117058e+01] [-8.83579050e-02 2.68041570e-03 9.96085185e-01 -2.34948382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91119381700003 meters 0.05787281498312919 Centerline is valid? [True, True] Translation: X:191.19, Y:-68.81, Z:-23.50 [[ 9.50159689e-01 2.99907645e-01 8.51584975e-02 1.91188837e+02] [-2.98537850e-01 9.53966472e-01 -2.86901199e-02 -6.88131584e+01] [-8.98427377e-02 1.83716067e-03 9.95954270e-01 -2.34976245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94119381700003 meters 0.05728225140241815 Centerline is valid? [True, True] Translation: X:191.22, Y:-68.82, Z:-23.50 [[ 9.49172798e-01 3.02981887e-01 8.52817425e-02 1.91217158e+02] [-3.01620213e-01 9.52995052e-01 -2.87346160e-02 -6.88201389e+01] [-8.99791469e-02 1.55141859e-03 9.95942441e-01 -2.35013904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97119381700003 meters 0.05693331335182249 Centerline is valid? [True, True] Translation: X:191.24, Y:-68.83, Z:-23.51 [[ 9.48322143e-01 3.05751668e-01 8.48588846e-02 1.91244040e+02] [-3.04417171e-01 9.52110468e-01 -2.85629456e-02 -6.88271376e+01] [-8.95282006e-02 1.25437221e-03 9.95983498e-01 -2.35059774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00119381700003 meters 0.05657743731176524 Centerline is valid? [True, True] Translation: X:191.27, Y:-68.83, Z:-23.51 [[ 9.47235891e-01 3.09592612e-01 8.30456545e-02 1.91271248e+02] [-3.08329618e-01 9.50868897e-01 -2.79497437e-02 -6.88326712e+01] [-8.76185640e-02 8.69565442e-04 9.96153719e-01 -2.35113736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03119381700003 meters 0.05630239862755368 Centerline is valid? [True, True] Translation: X:191.30, Y:-68.84, Z:-23.51 [[ 9.46996539e-01 3.10527122e-01 8.22828166e-02 1.91298524e+02] [-3.09293408e-01 9.50564226e-01 -2.76629710e-02 -6.88402470e+01] [-8.68052047e-02 7.47205013e-04 9.96225024e-01 -2.35133864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06119381700003 meters 0.05666155286925231 Centerline is valid? [True, True] Translation: X:191.32, Y:-68.85, Z:-23.52 [[ 9.46613379e-01 3.11574216e-01 8.27322046e-02 1.91323979e+02] [-3.10333867e-01 9.50221616e-01 -2.77807755e-02 -6.88500920e+01] [-8.72697025e-02 6.23048830e-04 9.96184527e-01 -2.35204298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09119381700003 meters 0.05615502223310668 Centerline is valid? [True, True] Translation: X:191.35, Y:-68.86, Z:-23.52 [[ 9.46444201e-01 3.11930390e-01 8.33235072e-02 1.91350841e+02] [-3.10673994e-01 9.50104775e-01 -2.79747353e-02 -6.88625144e+01] [-8.78922321e-02 5.90079188e-04 9.96129815e-01 -2.35197352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12119381700003 meters 0.05612498136223814 Centerline is valid? [True, True] Translation: X:191.38, Y:-68.87, Z:-23.52 [[ 9.46335722e-01 3.12205949e-01 8.35233353e-02 1.91375466e+02] [-3.10947207e-01 9.50014293e-01 -2.80121047e-02 -6.88742311e+01] [-8.80939081e-02 5.37507430e-04 9.96112029e-01 -2.35232467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15119381700003 meters 0.056062834625504064 Centerline is valid? [True, True] Translation: X:191.40, Y:-68.89, Z:-23.53 [[ 9.46059051e-01 3.12846362e-01 8.42580905e-02 1.91402002e+02] [-3.11569679e-01 9.49803632e-01 -2.82381929e-02 -6.88857474e+01] [-8.88628563e-02 4.62731711e-04 9.96043763e-01 -2.35268163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18119381700004 meters 0.05610117118426696 Centerline is valid? [True, True] Translation: X:191.43, Y:-68.90, Z:-23.53 [[ 9.45680642e-01 3.14097914e-01 8.38488159e-02 1.91427897e+02] [-3.12840853e-01 9.49390541e-01 -2.80749374e-02 -6.88964909e+01] [-8.84235519e-02 3.18589731e-04 9.96082915e-01 -2.35309362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21119381700004 meters 0.05611078454720957 Centerline is valid? [True, True] Translation: X:191.45, Y:-68.91, Z:-23.53 [[ 9.44139470e-01 3.18841984e-01 8.33093615e-02 1.91453889e+02] [-3.17622296e-01 9.47807874e-01 -2.78623671e-02 -6.89093251e+01] [-8.78449612e-02 -1.54950196e-04 9.96134147e-01 -2.35346066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24119381700004 meters 0.056414500719374025 Centerline is valid? [True, True] Translation: X:191.48, Y:-68.92, Z:-23.54 [[ 9.43327651e-01 3.21023382e-01 8.41244971e-02 1.91479315e+02] [-3.19791296e-01 9.47071187e-01 -2.81014907e-02 -6.89197617e+01] [-8.86931229e-02 -3.93368738e-04 9.96058922e-01 -2.35398407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27119381700004 meters 0.05646717338869295 Centerline is valid? [True, True] Translation: X:191.51, Y:-68.93, Z:-23.54 [[ 9.42683464e-01 3.23085922e-01 8.34468318e-02 1.91505841e+02] [-3.21882097e-01 9.46369454e-01 -2.78706454e-02 -6.89312051e+01] [-8.79761458e-02 -5.86844671e-04 9.96122409e-01 -2.35425425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30119381700004 meters 0.056724722158106665 Centerline is valid? [True, True] Translation: X:191.53, Y:-68.94, Z:-23.55 [[ 9.42321818e-01 3.24198814e-01 8.32149067e-02 1.91532020e+02] [-3.23008412e-01 9.45988699e-01 -2.77659418e-02 -6.89434427e+01] [-8.77220467e-02 -7.14662133e-04 9.96144734e-01 -2.35461158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.331193817 meters 0.05717926176993365 Centerline is valid? [True, True] Translation: X:191.55, Y:-68.96, Z:-23.55 [[ 9.42029433e-01 3.24867376e-01 8.39150511e-02 1.91554711e+02] [-3.23662291e-01 9.45759233e-01 -2.79677500e-02 -6.89607898e+01] [-8.84492438e-02 -8.13694090e-04 9.96080353e-01 -2.35527575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36119381700001 meters 0.05691146700629182 Centerline is valid? [True, True] Translation: X:191.58, Y:-68.98, Z:-23.56 [[ 9.42553438e-01 3.23646582e-01 8.27399940e-02 1.91579635e+02] [-3.22471307e-01 9.46177785e-01 -2.75654752e-02 -6.89772779e+01] [-8.72082161e-02 -6.99340498e-04 9.96189860e-01 -2.35552520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39119381700002 meters 0.05703334523706421 Centerline is valid? [True, True] Translation: X:191.60, Y:-68.99, Z:-23.56 [[ 9.42952454e-01 3.22477760e-01 8.27572542e-02 1.91603094e+02] [-3.21300310e-01 9.46576836e-01 -2.75391247e-02 -6.89925931e+01] [-8.72168551e-02 -6.21846169e-04 9.96189155e-01 -2.35617628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42119381700002 meters 0.05630872158055789 Centerline is valid? [True, True] Translation: X:191.62, Y:-69.02, Z:-23.56 [[ 9.44681664e-01 3.17557599e-01 8.20592799e-02 1.91623804e+02] [-3.16381606e-01 9.48238970e-01 -2.73045008e-02 -6.90182074e+01] [-8.64825588e-02 -1.67985589e-04 9.96253351e-01 -2.35620946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45119381700002 meters 0.05642229449864982 Centerline is valid? [True, True] Translation: X:191.65, Y:-69.04, Z:-23.57 [[ 9.45536853e-01 3.14903095e-01 8.24384656e-02 1.91647035e+02] [-3.13709299e-01 9.49123827e-01 -2.73941006e-02 -6.90351113e+01] [-8.68707991e-02 4.04183679e-05 9.96219586e-01 -2.35678803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48119381700002 meters 0.05625522775931204 Centerline is valid? [True, True] Translation: X:191.67, Y:-69.05, Z:-23.57 [[ 9.46360780e-01 3.12444876e-01 8.23375629e-02 1.91672136e+02] [-3.11246155e-01 9.49935859e-01 -2.73439880e-02 -6.90518019e+01] [-8.67588925e-02 2.50027921e-04 9.96229307e-01 -2.35693621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51119381700002 meters 0.0565287192893255 Centerline is valid? [True, True] Translation: X:191.69, Y:-69.08, Z:-23.57 [[ 9.47756397e-01 3.07739443e-01 8.39895634e-02 1.91693590e+02] [-3.06474236e-01 9.51470421e-01 -2.78851295e-02 -6.90752678e+01] [-8.84949395e-02 6.87672609e-04 9.96076389e-01 -2.35729816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54119381700002 meters 0.0564017933626539 Centerline is valid? [True, True] Translation: X:191.72, Y:-69.09, Z:-23.57 [[ 9.48472188e-01 3.05621696e-01 8.36414163e-02 1.91718715e+02] [-3.04359646e-01 9.52152623e-01 -2.77594574e-02 -6.90905929e+01] [-8.81232864e-02 8.72001462e-04 9.96109194e-01 -2.35731873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57119381700002 meters 0.05680328937106302 Centerline is valid? [True, True] Translation: X:191.74, Y:-69.11, Z:-23.58 [[ 9.49305903e-01 3.03010223e-01 8.36845692e-02 1.91743013e+02] [-3.01737439e-01 9.52986662e-01 -2.77657946e-02 -6.91074171e+01] [-8.81635979e-02 1.10746503e-03 9.96105393e-01 -2.35768136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60119381700002 meters 0.057595306278427065 Centerline is valid? [True, True] Translation: X:191.77, Y:-69.12, Z:-23.58 [[ 9.50184348e-01 3.00186379e-01 8.38918539e-02 1.91766429e+02] [-2.98896904e-01 9.53879590e-01 -2.78274857e-02 -6.91245625e+01] [-8.83761593e-02 1.36622595e-03 9.96086235e-01 -2.35821090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63119381700002 meters 0.05784131832263261 Centerline is valid? [True, True] Translation: X:191.79, Y:-69.14, Z:-23.58 [[ 9.50929135e-01 2.97815875e-01 8.39016419e-02 1.91791117e+02] [-2.96517954e-01 9.54622032e-01 -2.78187002e-02 -6.91400890e+01] [-8.83792064e-02 1.57526932e-03 9.96085656e-01 -2.35847249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66119381700003 meters 0.058229467246966364 Centerline is valid? [True, True] Translation: X:191.82, Y:-69.16, Z:-23.59 [[ 9.51623028e-01 2.95437974e-01 8.44394199e-02 1.91816128e+02] [-2.94114782e-01 9.55360229e-01 -2.79880054e-02 -6.91592063e+01] [-8.89387831e-02 1.79914890e-03 9.96035469e-01 -2.35869617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69119381700003 meters 0.05808433024997642 Centerline is valid? [True, True] Translation: X:191.84, Y:-69.17, Z:-23.59 [[ 9.51600682e-01 2.95475293e-01 8.45605894e-02 1.91843765e+02] [-2.94148900e-01 9.55348698e-01 -2.80230146e-02 -6.91717718e+01] [-8.90649575e-02 1.79331546e-03 9.96024205e-01 -2.35899666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72119381700003 meters 0.05793293511369446 Centerline is valid? [True, True] Translation: X:191.87, Y:-69.19, Z:-23.59 [[ 9.51469971e-01 2.95708932e-01 8.52122139e-02 1.91872297e+02] [-2.94363006e-01 9.55276423e-01 -2.82378514e-02 -6.91850752e+01] [-8.97514037e-02 1.78414424e-03 9.95962601e-01 -2.35931902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75119381700003 meters 0.05834891885822929 Centerline is valid? [True, True] Translation: X:191.90, Y:-69.20, Z:-23.60 [[ 9.51314569e-01 2.96066395e-01 8.57046143e-02 1.91899614e+02] [-2.94706441e-01 9.55165743e-01 -2.83992582e-02 -6.92005851e+01] [-9.02701775e-02 1.75892618e-03 9.95915760e-01 -2.35981016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78119381700003 meters 0.05834891885822929 Centerline is valid? [True, True] Translation: X:191.93, Y:-69.21, Z:-23.60 [[ 9.51314397e-01 2.96069839e-01 8.56946242e-02 1.91927919e+02] [-2.94707187e-01 9.55164617e-01 -2.84293713e-02 -6.92099625e+01] [-9.02695523e-02 1.79044859e-03 9.95915761e-01 -2.36015301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81119381700003 meters 0.05810183280948194 Centerline is valid? [True, True] Translation: X:191.96, Y:-69.23, Z:-23.60 [[ 9.51434347e-01 2.95379615e-01 8.67384922e-02 1.91956560e+02] [-2.93981376e-01 9.55378136e-01 -2.87674708e-02 -6.92272355e+01] [-9.13653835e-02 1.87085854e-03 9.95815679e-01 -2.36030740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84119381700003 meters 0.05845729988995262 Centerline is valid? [True, True] Translation: X:191.98, Y:-69.24, Z:-23.61 [[ 9.51719017e-01 2.94455065e-01 8.67590255e-02 1.91984840e+02] [-2.93049156e-01 9.55663247e-01 -2.88088535e-02 -6.92411634e+01] [-9.13953249e-02 1.99327443e-03 9.95812694e-01 -2.36070183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87119381700003 meters 0.058943729173063536 Centerline is valid? [True, True] Translation: X:192.01, Y:-69.26, Z:-23.61 [[ 9.51975924e-01 2.93545328e-01 8.70228758e-02 1.92012773e+02] [-2.92124582e-01 9.55942821e-01 -2.89232020e-02 -6.92550840e+01] [-9.16791642e-02 2.11267080e-03 9.95786356e-01 -2.36105042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90119381700003 meters 0.05942713269865163 Centerline is valid? [True, True] Translation: X:192.04, Y:-69.27, Z:-23.61 [[ 9.52359789e-01 2.92141991e-01 8.75436371e-02 1.92042060e+02] [-2.90695816e-01 9.56372223e-01 -2.91223893e-02 -6.92689175e+01] [-9.22321757e-02 2.28642355e-03 9.95734903e-01 -2.36139501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93119381700004 meters 0.05926487808867889 Centerline is valid? [True, True] Translation: X:192.07, Y:-69.28, Z:-23.62 [[ 9.52642101e-01 2.91068454e-01 8.80464768e-02 1.92071932e+02] [-2.89598354e-01 9.56699139e-01 -2.93180948e-02 -6.92809290e+01] [-9.27675611e-02 2.43153668e-03 9.95684823e-01 -2.36156685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96119381700004 meters 0.06064897502386197 Centerline is valid? [True, True] Translation: X:192.10, Y:-69.30, Z:-23.62 [[ 9.53397846e-01 2.88399705e-01 8.86462508e-02 1.92099101e+02] [-2.86895086e-01 9.57506192e-01 -2.95482990e-02 -6.92968944e+01] [-9.34010547e-02 2.73911089e-03 9.95624799e-01 -2.36195933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99119381700004 meters 0.06166554995665292 Centerline is valid? [True, True] Translation: X:192.13, Y:-69.31, Z:-23.62 [[ 9.53572195e-01 2.87790933e-01 8.87493528e-02 1.92126851e+02] [-2.86277480e-01 9.57689079e-01 -2.96113521e-02 -6.93098169e+01] [-9.35161646e-02 2.82962095e-03 9.95613740e-01 -2.36237740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02119381700004 meters 0.06002096238517996 Centerline is valid? [True, True] Translation: X:192.16, Y:-69.32, Z:-23.62 [[ 9.53516465e-01 2.87637676e-01 8.98382845e-02 1.92159225e+02] [-2.86084119e-01 9.57734911e-01 -2.99952945e-02 -6.93172854e+01] [-9.46690382e-02 2.89970073e-03 9.95504578e-01 -2.36241937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05119381700004 meters 0.059291718325003115 Centerline is valid? [True, True] Translation: X:192.19, Y:-69.32, Z:-23.63 [[ 9.53210576e-01 2.88763805e-01 8.94710172e-02 1.92190556e+02] [-2.87224519e-01 9.57396242e-01 -2.99083747e-02 -6.93233415e+01] [-9.42956717e-02 2.81070927e-03 9.95540269e-01 -2.36275952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.081193817 meters 0.06018695102877867 Centerline is valid? [True, True] Translation: X:192.22, Y:-69.33, Z:-23.63 [[ 9.52920084e-01 2.89885340e-01 8.89370719e-02 1.92219737e+02] [-2.88366301e-01 9.57057534e-01 -2.97615935e-02 -6.93337412e+01] [-9.37453444e-02 2.71396572e-03 9.95592509e-01 -2.36343538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11119381700001 meters 0.0600320036646619 Centerline is valid? [True, True] Translation: X:192.25, Y:-69.34, Z:-23.64 [[ 9.52487159e-01 2.91066185e-01 8.97144816e-02 1.92249531e+02] [-2.89522805e-01 9.56699252e-01 -3.00514121e-02 -6.93414543e+01] [-9.45767273e-02 2.64919580e-03 9.95514050e-01 -2.36379370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14119381700002 meters 0.05865387998636252 Centerline is valid? [True, True] Translation: X:192.28, Y:-69.35, Z:-23.64 [[ 9.51971809e-01 2.92759285e-01 8.96753949e-02 1.92282285e+02] [-2.91222255e-01 9.56182893e-01 -3.00644706e-02 -6.93463922e+01] [-9.45477315e-02 2.50505767e-03 9.95517178e-01 -2.36395618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17119381700002 meters 0.0582577763801187 Centerline is valid? [True, True] Translation: X:192.31, Y:-69.35, Z:-23.64 [[ 9.50663243e-01 2.96584264e-01 9.09789653e-02 1.92312420e+02] [-2.95015986e-01 9.55004174e-01 -3.05384399e-02 -6.93520989e+01] [-9.59425123e-02 2.19152315e-03 9.95384464e-01 -2.36437319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20119381700002 meters 0.05732143230187954 Centerline is valid? [True, True] Translation: X:192.34, Y:-69.36, Z:-23.65 [[ 9.49626866e-01 2.99759149e-01 9.13962134e-02 1.92343813e+02] [-2.98191091e-01 9.54013061e-01 -3.06782136e-02 -6.93585081e+01] [-9.63892566e-02 1.87931924e-03 9.95341941e-01 -2.36469743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23119381700002 meters 0.056676038869271556 Centerline is valid? [True, True] Translation: X:192.37, Y:-69.36, Z:-23.65 [[ 9.48623352e-01 3.03223937e-01 9.03824120e-02 1.92374855e+02] [-3.01703377e-01 9.52918085e-01 -3.03676860e-02 -6.93649711e+01] [-9.53352442e-02 1.53881719e-03 9.95444033e-01 -2.36511035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26119381700002 meters 0.05607203747577916 Centerline is valid? [True, True] Translation: X:192.41, Y:-69.37, Z:-23.66 [[ 9.47550447e-01 3.06600237e-01 9.02465801e-02 1.92405503e+02] [-3.05096081e-01 9.51837579e-01 -3.03579260e-02 -6.93703859e+01] [-9.52078336e-02 1.23178839e-03 9.95456655e-01 -2.36551710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29119381700002 meters 0.055372954778301245 Centerline is valid? [True, True] Translation: X:192.44, Y:-69.37, Z:-23.66 [[ 9.45665642e-01 3.12406949e-01 9.01021169e-02 1.92435667e+02] [-3.10933598e-01 9.49948144e-01 -3.03120581e-02 -6.93710613e+01] [-9.50620363e-02 6.49296503e-04 9.95471139e-01 -2.36602837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32119381700002 meters 0.05532666206298489 Centerline is valid? [True, True] Translation: X:192.46, Y:-69.38, Z:-23.66 [[ 9.44965809e-01 3.14698749e-01 8.94668552e-02 1.92463554e+02] [-3.13257188e-01 9.49191515e-01 -3.00899085e-02 -6.93774207e+01] [-9.43904364e-02 4.07799149e-04 9.95535172e-01 -2.36645313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35119381700002 meters 0.055420713123054174 Centerline is valid? [True, True] Translation: X:192.49, Y:-69.38, Z:-23.67 [[ 9.43903676e-01 3.18374879e-01 8.76543647e-02 1.92491758e+02] [-3.17007817e-01 9.47964892e-01 -2.94721672e-02 -6.93836675e+01] [-9.24764580e-02 3.17681735e-05 9.95714871e-01 -2.36709106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38119381700002 meters 0.05561738590879467 Centerline is valid? [True, True] Translation: X:192.52, Y:-69.39, Z:-23.68 [[ 9.43385502e-01 3.20201829e-01 8.65712634e-02 1.92517551e+02] [-3.18876853e-01 9.47349337e-01 -2.90996127e-02 -6.93913182e+01] [-9.13309781e-02 -1.53419257e-04 9.95820581e-01 -2.36763940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41119381700003 meters 0.05593294247883813 Centerline is valid? [True, True] Translation: X:192.54, Y:-69.40, Z:-23.68 [[ 9.43050208e-01 3.21709184e-01 8.46138700e-02 1.92543889e+02] [-3.20450176e-01 9.46838483e-01 -2.84354178e-02 -6.94000250e+01] [-8.92636033e-02 -2.98502790e-04 9.96007992e-01 -2.36817788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44119381700003 meters 0.05632283311836874 Centerline is valid? [True, True] Translation: X:192.57, Y:-69.41, Z:-23.69 [[ 9.42511870e-01 3.23482144e-01 8.38491292e-02 1.92570112e+02] [-3.22253688e-01 9.46234157e-01 -2.81687775e-02 -6.94093428e+01] [-8.84530066e-02 -4.71283992e-04 9.96080240e-01 -2.36874361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47119381700003 meters 0.05617782091120727 Centerline is valid? [True, True] Translation: X:192.60, Y:-69.42, Z:-23.69 [[ 9.41985794e-01 3.25166787e-01 8.32425715e-02 1.92597121e+02] [-3.23963505e-01 9.45656470e-01 -2.79551197e-02 -6.94200147e+01] [-8.78089527e-02 -6.34229622e-04 9.96137132e-01 -2.36888128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50119381700003 meters 0.05646771159800384 Centerline is valid? [True, True] Translation: X:192.62, Y:-69.43, Z:-23.69 [[ 9.41308876e-01 3.27210834e-01 8.28895007e-02 1.92623315e+02] [-3.26026268e-01 9.44950996e-01 -2.78296249e-02 -6.94287634e+01] [-8.74326710e-02 -8.27881620e-04 9.96170087e-01 -2.36930590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53119381700003 meters 0.05692552741583566 Centerline is valid? [True, True] Translation: X:192.65, Y:-69.44, Z:-23.70 [[ 9.39853244e-01 3.31197978e-01 8.35690085e-02 1.92651179e+02] [-3.30010669e-01 9.43560497e-01 -2.80454594e-02 -6.94370040e+01] [-8.81410146e-02 -1.22004843e-03 9.96107260e-01 -2.36957314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56119381700003 meters 0.057170963664571195 Centerline is valid? [True, True] Translation: X:192.68, Y:-69.45, Z:-23.70 [[ 9.39576152e-01 3.32111869e-01 8.30563726e-02 1.92677783e+02] [-3.30943352e-01 9.43239102e-01 -2.78656430e-02 -6.94472548e+01] [-8.75965290e-02 -1.30506081e-03 9.96155181e-01 -2.36995532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59119381700003 meters 0.05784864268489552 Centerline is valid? [True, True] Translation: X:192.70, Y:-69.46, Z:-23.71 [[ 9.39563324e-01 3.32127296e-01 8.31397599e-02 1.92701973e+02] [-3.30956930e-01 9.43233660e-01 -2.78885937e-02 -6.94569136e+01] [-8.76827832e-02 -1.31257999e-03 9.96147583e-01 -2.37057035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62119381700003 meters 0.05721629060619827 Centerline is valid? [True, True] Translation: X:192.73, Y:-69.47, Z:-23.71 [[ 9.39947485e-01 3.30955491e-01 8.34696841e-02 1.92727170e+02] [-3.29772926e-01 9.43645568e-01 -2.79796248e-02 -6.94734528e+01] [-8.80258079e-02 -1.22666400e-03 9.96117439e-01 -2.37062839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65119381700003 meters 0.05623990470462882 Centerline is valid? [True, True] Translation: X:192.75, Y:-69.50, Z:-23.71 [[ 9.41915667e-01 3.25095470e-01 8.43078428e-02 1.92748431e+02] [-3.23866270e-01 9.45680948e-01 -2.82521592e-02 -6.94998270e+01] [-8.89129697e-02 -6.93315163e-04 9.96039157e-01 -2.37077284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68119381700004 meters 0.05583918550999259 Centerline is valid? [True, True] Translation: X:192.77, Y:-69.52, Z:-23.71 [[ 9.43250190e-01 3.20962286e-01 8.52190736e-02 1.92773076e+02] [-3.19690090e-01 9.47091924e-01 -2.85505529e-02 -6.95181895e+01] [-8.98739471e-02 -3.13378836e-04 9.95953099e-01 -2.37099603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71119381700004 meters 0.05583652725339667 Centerline is valid? [True, True] Translation: X:192.80, Y:-69.54, Z:-23.71 [[ 9.44744817e-01 3.16398411e-01 8.57279249e-02 1.92800212e+02] [-3.15093024e-01 9.48626393e-01 -2.87115530e-02 -6.95374748e+01] [-9.04080619e-02 1.12819768e-04 9.95904799e-01 -2.37131726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74119381700004 meters 0.05600598876407383 Centerline is valid? [True, True] Translation: X:192.83, Y:-69.56, Z:-23.72 [[ 9.46027838e-01 3.12289031e-01 8.66423215e-02 1.92827379e+02] [-3.10935888e-01 9.49986986e-01 -2.90448051e-02 -6.95559412e+01] [-9.13794519e-02 5.36987015e-04 9.95816001e-01 -2.37159793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77119381700004 meters 0.05735656327324359 Centerline is valid? [True, True] Translation: X:192.85, Y:-69.58, Z:-23.72 [[ 9.48491047e-01 3.04622808e-01 8.70039001e-02 1.92852037e+02] [-3.03223291e-01 9.52472166e-01 -2.91960370e-02 -6.95812301e+01] [-9.17625719e-02 1.31057083e-03 9.95780052e-01 -2.37190264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80119381700004 meters 0.05811341831653534 Centerline is valid? [True, True] Translation: X:192.88, Y:-69.60, Z:-23.72 [[ 9.49187398e-01 3.02459953e-01 8.69555055e-02 1.92878825e+02] [-3.01050646e-01 9.53160845e-01 -2.92046545e-02 -6.95982157e+01] [-9.17158215e-02 1.54267888e-03 9.95784027e-01 -2.37228402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.831193817 meters 0.0588821227122867 Centerline is valid? [True, True] Translation: X:192.91, Y:-69.62, Z:-23.73 [[ 9.49767677e-01 3.00548885e-01 8.72452208e-02 1.92906782e+02] [-2.99119847e-01 9.53764794e-01 -2.93263398e-02 -6.96154155e+01] [-9.20254188e-02 1.75643250e-03 9.95755109e-01 -2.37263300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86119381700001 meters 0.06007195198720514 Centerline is valid? [True, True] Translation: X:192.93, Y:-69.64, Z:-23.73 [[ 9.50598944e-01 2.97731890e-01 8.78485644e-02 1.92932673e+02] [-2.96268404e-01 9.54647285e-01 -2.95566382e-02 -6.96359322e+01] [-9.26643472e-02 2.06975504e-03 9.95695252e-01 -2.37286863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89119381700002 meters 0.061017286250640894 Centerline is valid? [True, True] Translation: X:192.96, Y:-69.65, Z:-23.73 [[ 9.51130095e-01 2.96403770e-01 8.65814506e-02 1.92960113e+02] [-2.94974376e-01 9.55060206e-01 -2.91568145e-02 -6.96504893e+01] [-9.13326878e-02 2.19261439e-03 9.95818022e-01 -2.37340140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92119381700002 meters 0.06181677079113984 Centerline is valid? [True, True] Translation: X:192.99, Y:-69.66, Z:-23.74 [[ 9.51734214e-01 2.95007254e-01 8.46918261e-02 1.92988872e+02] [-2.93632909e-01 9.55492271e-01 -2.85348171e-02 -6.96642233e+01] [-8.93403632e-02 2.28925449e-03 9.95998524e-01 -2.37395786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95119381700002 meters 0.06282981735267211 Centerline is valid? [True, True] Translation: X:193.02, Y:-69.68, Z:-23.75 [[ 9.52357767e-01 2.93362905e-01 8.33839920e-02 1.93017611e+02] [-2.92023863e-01 9.55998110e-01 -2.81011840e-02 -6.96777893e+01] [-8.79587837e-02 2.41226544e-03 9.96121194e-01 -2.37453499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98119381700002 meters 0.0655152236068625 Centerline is valid? [True, True] Translation: X:193.04, Y:-69.70, Z:-23.75 [[ 9.53889476e-01 2.88713597e-01 8.20933989e-02 1.93042957e+02] [-2.87397792e-01 9.57411399e-01 -2.76752973e-02 -6.96954996e+01] [-8.65873905e-02 2.80571324e-03 9.96240308e-01 -2.37513707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01119381700002 meters 0.06664977347215298 Centerline is valid? [True, True] Translation: X:193.07, Y:-69.71, Z:-23.76 [[ 9.54312637e-01 2.87503173e-01 8.14206189e-02 1.93071270e+02] [-2.86205123e-01 9.57775342e-01 -2.74412494e-02 -6.97098082e+01] [-8.58721074e-02 2.88453283e-03 9.96301993e-01 -2.37559337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04119381700002 meters 0.06755922177172041 Centerline is valid? [True, True] Translation: X:193.10, Y:-69.72, Z:-23.76 [[ 9.54483641e-01 2.86905635e-01 8.15238383e-02 1.93099519e+02] [-2.85600200e-01 9.57954266e-01 -2.74981958e-02 -6.97232697e+01] [-8.59854960e-02 2.96335348e-03 9.96291982e-01 -2.37606004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07119381700002 meters 0.06777576381556309 Centerline is valid? [True, True] Translation: X:193.13, Y:-69.73, Z:-23.77 [[ 9.54458264e-01 2.87415441e-01 8.00111601e-02 1.93129427e+02] [-2.86158154e-01 9.57801678e-01 -2.70084361e-02 -6.97347525e+01] [-8.43974650e-02 2.88257910e-03 9.96428000e-01 -2.37657974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10119381700002 meters 0.06558814787993823 Centerline is valid? [True, True] Translation: X:193.16, Y:-69.74, Z:-23.77 [[ 9.52954953e-01 2.92419350e-01 7.97983810e-02 1.93159424e+02] [-2.91183644e-01 9.56287017e-01 -2.69671264e-02 -6.97393761e+01] [-8.41958653e-02 2.46247334e-03 9.96446181e-01 -2.37706155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13119381700002 meters 0.0638954681488148 Centerline is valid? [True, True] Translation: X:193.19, Y:-69.74, Z:-23.78 [[ 9.51790904e-01 2.96429453e-01 7.88901459e-02 1.93191932e+02] [-2.95235554e-01 9.55052480e-01 -2.66594751e-02 -6.97439004e+01] [-8.32468831e-02 2.08307003e-03 9.96526777e-01 -2.37763799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16119381700003 meters 0.061897728944449504 Centerline is valid? [True, True] Translation: X:193.22, Y:-69.75, Z:-23.78 [[ 9.50157162e-01 3.01696293e-01 7.86175200e-02 1.93223429e+02] [-3.00527804e-01 9.53402698e-01 -2.65769589e-02 -6.97461502e+01] [-8.29723256e-02 1.62553727e-03 9.96550526e-01 -2.37808547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19119381700003 meters 0.059904690115874355 Centerline is valid? [True, True] Translation: X:193.26, Y:-69.75, Z:-23.78 [[ 9.48495719e-01 3.06593127e-01 7.97278266e-02 1.93256162e+02] [-3.05408340e-01 9.51839888e-01 -2.69550140e-02 -6.97484050e+01] [-8.41523476e-02 1.21717212e-03 9.96452157e-01 -2.37835383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22119381700003 meters 0.05841464186154805 Centerline is valid? [True, True] Translation: X:193.29, Y:-69.75, Z:-23.78 [[ 9.47012954e-01 3.10623168e-01 8.17295045e-02 1.93287064e+02] [-3.09392450e-01 9.50532725e-01 -2.76378519e-02 -6.97517847e+01] [-8.62715257e-02 8.86912189e-04 9.96271267e-01 -2.37848050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25119381700003 meters 0.056436743706665925 Centerline is valid? [True, True] Translation: X:193.32, Y:-69.76, Z:-23.78 [[ 9.45647327e-01 3.14274917e-01 8.35608134e-02 1.93320821e+02] [-3.13003030e-01 9.49331850e-01 -2.82514014e-02 -6.97553624e+01] [-8.82056484e-02 5.61074452e-04 9.96102128e-01 -2.37783500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28119381700003 meters 0.055998285838494574 Centerline is valid? [True, True] Translation: X:193.35, Y:-69.76, Z:-23.78 [[ 9.44006265e-01 3.18746719e-01 8.51627865e-02 1.93352578e+02] [-3.17441074e-01 9.47839912e-01 -2.88212739e-02 -6.97598624e+01] [-8.99073746e-02 1.73296716e-04 9.95950116e-01 -2.37813522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31119381700003 meters 0.05685588411406846 Centerline is valid? [True, True] Translation: X:193.38, Y:-69.77, Z:-23.79 [[ 9.43592121e-01 3.20138929e-01 8.45279516e-02 1.93382299e+02] [-3.18855926e-01 9.47370604e-01 -2.86327952e-02 -6.97684869e+01] [-8.92457690e-02 6.54416925e-05 9.96009633e-01 -2.37925338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34119381700003 meters 0.05602995602449195 Centerline is valid? [True, True] Translation: X:193.41, Y:-69.78, Z:-23.79 [[ 9.43404953e-01 3.20442463e-01 8.54618171e-02 1.93413370e+02] [-3.19129505e-01 9.47267979e-01 -2.89781826e-02 -6.97783465e+01] [-9.02410830e-02 6.47736168e-05 9.95919948e-01 -2.37891061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37119381700003 meters 0.05609497036923923 Centerline is valid? [True, True] Translation: X:193.44, Y:-69.79, Z:-23.79 [[ 9.43933586e-01 3.19019875e-01 8.49453058e-02 1.93442558e+02] [-3.17714731e-01 9.47747999e-01 -2.88284620e-02 -6.97911650e+01] [-8.97035959e-02 2.23778524e-04 9.95968481e-01 -2.37912583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40119381700003 meters 0.05630532402040379 Centerline is valid? [True, True] Translation: X:193.47, Y:-69.80, Z:-23.80 [[ 9.44114053e-01 3.18632668e-01 8.43912177e-02 1.93470901e+02] [-3.17340222e-01 9.47878231e-01 -2.86713050e-02 -6.98032914e+01] [-8.91282125e-02 2.88254244e-04 9.96020120e-01 -2.37957358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43119381700004 meters 0.056368600765958836 Centerline is valid? [True, True] Translation: X:193.50, Y:-69.81, Z:-23.80 [[ 9.44088147e-01 3.19060673e-01 8.30533434e-02 1.93500251e+02] [-3.17809322e-01 9.47734256e-01 -2.82314469e-02 -6.98144530e+01] [-8.77200431e-02 2.57847672e-04 9.96145134e-01 -2.38003394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46119381700004 meters 0.056809988789679716 Centerline is valid? [True, True] Translation: X:193.53, Y:-69.83, Z:-23.81 [[ 9.44020265e-01 3.20105168e-01 7.97397115e-02 1.93529718e+02] [-3.18954261e-01 9.47382000e-01 -2.71205872e-02 -6.98253783e+01] [-8.42254074e-02 1.69063114e-04 9.96446713e-01 -2.38068804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49119381700004 meters 0.05753306308265414 Centerline is valid? [True, True] Translation: X:193.56, Y:-69.84, Z:-23.82 [[ 9.43738246e-01 3.21633318e-01 7.68773795e-02 1.93558045e+02] [-3.20568718e-01 9.46864303e-01 -2.61474495e-02 -6.98354078e+01] [-8.12023373e-02 3.18651750e-05 9.96697637e-01 -2.38168716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52119381700004 meters 0.05768598521812455 Centerline is valid? [True, True] Translation: X:193.59, Y:-69.85, Z:-23.82 [[ 9.43218222e-01 3.23347887e-01 7.60626664e-02 1.93587729e+02] [-3.22309452e-01 9.46280157e-01 -2.58936616e-02 -6.98465695e+01] [-8.03492527e-02 -9.23429167e-05 9.96766768e-01 -2.38220003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55119381700004 meters 0.057754122797377454 Centerline is valid? [True, True] Translation: X:193.62, Y:-69.86, Z:-23.83 [[ 9.42710856e-01 3.24811872e-01 7.61149732e-02 1.93617985e+02] [-3.23774963e-01 9.45778626e-01 -2.59338299e-02 -6.98582510e+01] [-8.04115306e-02 -1.96019647e-04 9.96761730e-01 -2.38259653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.581193817 meters 0.05761744178465569 Centerline is valid? [True, True] Translation: X:193.65, Y:-69.87, Z:-23.83 [[ 9.42215177e-01 3.26596634e-01 7.46002587e-02 1.93646620e+02] [-3.25604101e-01 9.45163763e-01 -2.54446553e-02 -6.98735806e+01] [-7.88196000e-02 -3.15809795e-04 9.96888846e-01 -2.38270244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61119381700001 meters 0.05767141707470406 Centerline is valid? [True, True] Translation: X:193.68, Y:-69.89, Z:-23.83 [[ 9.42090793e-01 3.27057869e-01 7.41490952e-02 1.93675824e+02] [-3.26076816e-01 9.45004255e-01 -2.53153670e-02 -6.98870634e+01] [-7.83508004e-02 -3.28926645e-04 9.96925797e-01 -2.38313888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64119381700002 meters 0.05770001040937894 Centerline is valid? [True, True] Translation: X:193.71, Y:-69.90, Z:-23.83 [[ 9.41891057e-01 3.27665270e-01 7.40047817e-02 1.93705411e+02] [-3.26688126e-01 9.44793810e-01 -2.52888249e-02 -6.99004725e+01] [-7.82055293e-02 -3.57165441e-04 9.96937193e-01 -2.38348869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67119381700002 meters 0.05788471672261316 Centerline is valid? [True, True] Translation: X:193.74, Y:-69.91, Z:-23.84 [[ 9.41766156e-01 3.28212814e-01 7.31632151e-02 1.93735022e+02] [-3.27257164e-01 9.44603733e-01 -2.50307224e-02 -6.99131918e+01] [-7.73256499e-02 -3.70099091e-04 9.97005821e-01 -2.38399721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70119381700002 meters 0.05788471672261316 Centerline is valid? [True, True] Translation: X:193.77, Y:-69.92, Z:-23.84 [[ 9.41654039e-01 3.28535893e-01 7.31562590e-02 1.93765485e+02] [-3.27579638e-01 9.44491412e-01 -2.50510322e-02 -6.99238893e+01] [-7.73256216e-02 -3.75095165e-04 9.97005821e-01 -2.38436871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73119381700002 meters 0.058541219563713394 Centerline is valid? [True, True] Translation: X:193.79, Y:-69.94, Z:-23.85 [[ 9.40899453e-01 3.30761625e-01 7.28352030e-02 1.93793671e+02] [-3.29817725e-01 9.43714191e-01 -2.49758676e-02 -6.99367939e+01] [-7.69966732e-02 -5.22560781e-04 9.97031213e-01 -2.38513694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76119381700002 meters 0.05854220643800762 Centerline is valid? [True, True] Translation: X:193.82, Y:-69.95, Z:-23.85 [[ 9.40197237e-01 3.32529685e-01 7.38455376e-02 1.93823775e+02] [-3.31564103e-01 9.43092553e-01 -2.53314610e-02 -6.99484536e+01] [-7.80666393e-02 -6.67959793e-04 9.96947919e-01 -2.38539135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79119381700002 meters 0.05817821297987796 Centerline is valid? [True, True] Translation: X:193.85, Y:-69.96, Z:-23.85 [[ 9.39605395e-01 3.33991407e-01 7.47759464e-02 1.93853553e+02] [-3.33004053e-01 9.42575799e-01 -2.56742008e-02 -6.99617006e+01] [-7.90569598e-02 -7.77075559e-04 9.96869798e-01 -2.38538462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82119381700002 meters 0.0583629387036246 Centerline is valid? [True, True] Translation: X:193.88, Y:-69.97, Z:-23.86 [[ 9.38850407e-01 3.35738617e-01 7.64165878e-02 1.93882484e+02] [-3.34711009e-01 9.41954742e-01 -2.62641360e-02 -6.99732359e+01] [-8.07988520e-02 -9.19378438e-04 9.96730004e-01 -2.38564447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85119381700002 meters 0.05797118988670818 Centerline is valid? [True, True] Translation: X:193.91, Y:-69.99, Z:-23.86 [[ 9.38079719e-01 3.37207814e-01 7.93557293e-02 1.93911831e+02] [-3.36102698e-01 9.41429636e-01 -2.72986562e-02 -6.99887937e+01] [-8.39131555e-02 -1.06335902e-03 9.96472504e-01 -2.38550955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88119381700002 meters 0.057558957394425896 Centerline is valid? [True, True] Translation: X:193.94, Y:-70.00, Z:-23.86 [[ 9.38028908e-01 3.36908418e-01 8.12064389e-02 1.93941744e+02] [-3.35747609e-01 9.41536853e-01 -2.79624264e-02 -7.00018024e+01] [-8.58796318e-02 -1.03530338e-03 9.96304982e-01 -2.38565977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91119381700003 meters 0.05740269776455718 Centerline is valid? [True, True] Translation: X:193.97, Y:-70.02, Z:-23.86 [[ 9.38231751e-01 3.35909501e-01 8.29818568e-02 1.93971529e+02] [-3.34690526e-01 9.41893802e-01 -2.86062401e-02 -7.00155270e+01] [-8.77692045e-02 -9.33958535e-04 9.96140399e-01 -2.38588981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94119381700003 meters 0.05714674880328673 Centerline is valid? [True, True] Translation: X:194.00, Y:-70.03, Z:-23.86 [[ 9.38571693e-01 3.34815188e-01 8.35581703e-02 1.94000288e+02] [-3.33574450e-01 9.42283448e-01 -2.88095534e-02 -7.00300298e+01] [-8.83813568e-02 -8.33039355e-04 9.96086363e-01 -2.38614350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97119381700003 meters 0.05709578946824298 Centerline is valid? [True, True] Translation: X:194.03, Y:-70.05, Z:-23.87 [[ 9.40349981e-01 3.29919274e-01 8.30372546e-02 1.94025163e+02] [-3.28672302e-01 9.44009087e-01 -2.86594263e-02 -7.00510072e+01] [-8.78432200e-02 -3.42154632e-04 9.96134254e-01 -2.38680411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00119381700003 meters 0.057115386061385935 Centerline is valid? [True, True] Translation: X:194.05, Y:-70.07, Z:-23.87 [[ 9.41370471e-01 3.27290765e-01 8.18681302e-02 1.94052864e+02] [-3.26067850e-01 9.44923673e-01 -2.82667517e-02 -7.00679144e+01] [-8.66105811e-02 -8.50798584e-05 9.96242240e-01 -2.38724843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03119381700003 meters 0.057681224178387704 Centerline is valid? [True, True] Translation: X:194.08, Y:-70.08, Z:-23.88 [[ 9.42151306e-01 3.25375329e-01 8.05097042e-02 1.94079952e+02] [-3.24183589e-01 9.45584942e-01 -2.78229842e-02 -7.00841629e+01] [-8.51816766e-02 1.13536056e-04 9.96365429e-01 -2.38794935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06119381700003 meters 0.0581408900659043 Centerline is valid? [True, True] Translation: X:194.11, Y:-70.10, Z:-23.89 [[ 9.42846182e-01 3.23729380e-01 7.89959860e-02 1.94108081e+02] [-3.22574508e-01 9.46149677e-01 -2.73217096e-02 -7.00998282e+01] [-8.35868668e-02 2.78078241e-04 9.96500456e-01 -2.38853940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09119381700003 meters 0.058339089472676034 Centerline is valid? [True, True] Translation: X:194.14, Y:-70.12, Z:-23.89 [[ 9.43338322e-01 3.22614122e-01 7.76719924e-02 1.94136287e+02] [-3.21492068e-01 9.46530493e-01 -2.68863459e-02 -7.01160531e+01] [-8.21928242e-02 3.91990991e-04 9.96616369e-01 -2.38903172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12119381700003 meters 0.05844268953790853 Centerline is valid? [True, True] Translation: X:194.17, Y:-70.13, Z:-23.90 [[ 9.43115644e-01 3.23324629e-01 7.74213525e-02 1.94166615e+02] [-3.22210348e-01 9.46288044e-01 -2.68222014e-02 -7.01284485e+01] [-8.19351785e-02 3.50476851e-04 9.96637599e-01 -2.38952282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15119381700003 meters 0.05901971012271451 Centerline is valid? [True, True] Translation: X:194.19, Y:-70.14, Z:-23.90 [[ 9.43149721e-01 3.23414323e-01 7.66275432e-02 1.94194742e+02] [-3.22320748e-01 9.46257387e-01 -2.65761866e-02 -7.01409835e+01] [-8.11044981e-02 3.66675878e-04 9.96705536e-01 -2.39022309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18119381700004 meters 0.058880428138136445 Centerline is valid? [True, True] Translation: X:194.22, Y:-70.15, Z:-23.90 [[ 9.43084182e-01 3.23749702e-01 7.60155016e-02 1.94223746e+02] [-3.22672959e-01 9.46142698e-01 -2.63847881e-02 -7.01538936e+01] [-8.04635791e-02 3.54929496e-04 9.96757486e-01 -2.39046076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21119381700004 meters 0.058856633445711785 Centerline is valid? [True, True] Translation: X:194.25, Y:-70.17, Z:-23.91 [[ 9.43022996e-01 3.24048791e-01 7.54984095e-02 1.94253073e+02] [-3.22985807e-01 9.46040305e-01 -2.62280134e-02 -7.01676960e+01] [-7.99236944e-02 3.48705074e-04 9.96800924e-01 -2.39075321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24119381700004 meters 0.058553536630166825 Centerline is valid? [True, True] Translation: X:194.28, Y:-70.18, Z:-23.91 [[ 9.42896088e-01 3.24393119e-01 7.56047114e-02 1.94283617e+02] [-3.23326548e-01 9.45922295e-01 -2.62860096e-02 -7.01792900e+01] [-8.00431828e-02 3.39965271e-04 9.96791339e-01 -2.39096199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27119381700004 meters 0.05920195909160881 Centerline is valid? [True, True] Translation: X:194.31, Y:-70.19, Z:-23.92 [[ 9.42949443e-01 3.24196448e-01 7.57826625e-02 1.94312402e+02] [-3.23121900e-01 9.45989701e-01 -2.63765524e-02 -7.01924481e+01] [-8.02408028e-02 3.84717479e-04 9.96775434e-01 -2.39176442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30119381700004 meters 0.059442545810598005 Centerline is valid? [True, True] Translation: X:194.34, Y:-70.21, Z:-23.92 [[ 9.43700141e-01 3.21734618e-01 7.69212599e-02 1.94340336e+02] [-3.20616991e-01 9.46829678e-01 -2.68012465e-02 -7.02096723e+01] [-8.14542205e-02 6.30077265e-04 9.96676885e-01 -2.39198692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.331193817 meters 0.05983187915641953 Centerline is valid? [True, True] Translation: X:194.37, Y:-70.22, Z:-23.92 [[ 9.44296021e-01 3.19870702e-01 7.73806063e-02 1.94370336e+02] [-3.18731608e-01 9.47460853e-01 -2.69832400e-02 -7.02245780e+01] [-8.19462431e-02 8.16521124e-04 9.96636416e-01 -2.39235832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36119381700001 meters 0.058887133835091095 Centerline is valid? [True, True] Translation: X:194.40, Y:-70.24, Z:-23.92 [[ 9.44840505e-01 3.18242514e-01 7.74475444e-02 1.94401051e+02] [-3.17093821e-01 9.48008826e-01 -2.70328357e-02 -7.02362600e+01] [-8.20239533e-02 9.83580385e-04 9.96629873e-01 -2.39204270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39119381700002 meters 0.061184283211378955 Centerline is valid? [True, True] Translation: X:194.43, Y:-70.25, Z:-23.93 [[ 9.45666481e-01 3.15996600e-01 7.65575297e-02 1.94426981e+02] [-3.14864367e-01 9.48759571e-01 -2.67526992e-02 -7.02527840e+01] [-8.10884510e-02 1.19389279e-03 9.96706194e-01 -2.39329175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42119381700002 meters 0.06046209385060179 Centerline is valid? [True, True] Translation: X:194.46, Y:-70.27, Z:-23.93 [[ 9.47108562e-01 3.11530455e-01 7.70334153e-02 1.94456736e+02] [-3.10368621e-01 9.50234831e-01 -2.69274174e-02 -7.02672361e+01] [-8.15885450e-02 1.59443267e-03 9.96664822e-01 -2.39274673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45119381700002 meters 0.06441947136309989 Centerline is valid? [True, True] Translation: X:194.48, Y:-70.29, Z:-23.94 [[ 9.47792362e-01 3.08997280e-01 7.88055781e-02 1.94482259e+02] [-3.07770280e-01 9.51061063e-01 -2.75737001e-02 -7.02879154e+01] [-8.34691153e-02 1.88012750e-03 9.96508591e-01 -2.39396308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48119381700002 meters 0.06196283499177234 Centerline is valid? [True, True] Translation: X:194.52, Y:-70.30, Z:-23.93 [[ 9.48699513e-01 3.06303402e-01 7.84057367e-02 1.94515075e+02] [-3.05077243e-01 9.51931548e-01 -2.74627747e-02 -7.02954283e+01] [-8.30488356e-02 2.13411499e-03 9.96543193e-01 -2.39332179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51119381700002 meters 0.06314210524751401 Centerline is valid? [True, True] Translation: X:194.54, Y:-70.31, Z:-23.94 [[ 9.49402551e-01 3.04287281e-01 7.77434689e-02 1.94542760e+02] [-3.03072562e-01 9.52577488e-01 -2.72608108e-02 -7.03084741e+01] [-8.23517963e-02 2.31957104e-03 9.96600623e-01 -2.39377794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54119381700002 meters 0.06496885843307976 Centerline is valid? [True, True] Translation: X:194.57, Y:-70.32, Z:-23.94 [[ 9.50391772e-01 3.01669655e-01 7.58346770e-02 1.94570096e+02] [-3.00504292e-01 9.53409236e-01 -2.66082655e-02 -7.03204673e+01] [-8.03283877e-02 2.49963070e-03 9.96765319e-01 -2.39440991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57119381700002 meters 0.06540960610536337 Centerline is valid? [True, True] Translation: X:194.60, Y:-70.33, Z:-23.95 [[ 9.50589656e-01 3.01398157e-01 7.44208151e-02 1.94600065e+02] [-3.00275746e-01 9.53495183e-01 -2.61038912e-02 -7.03313873e+01] [-7.88275533e-02 2.46732323e-03 9.96885214e-01 -2.39484488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60119381700002 meters 0.06561112601287747 Centerline is valid? [True, True] Translation: X:194.63, Y:-70.34, Z:-23.95 [[ 9.50612479e-01 3.01412575e-01 7.40700624e-02 1.94630173e+02] [-3.00298905e-01 9.53490599e-01 -2.60047048e-02 -7.03426272e+01] [-7.84632532e-02 2.47723827e-03 9.96913929e-01 -2.39515533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63119381700002 meters 0.06595004728739662 Centerline is valid? [True, True] Translation: X:194.66, Y:-70.35, Z:-23.96 [[ 9.50368243e-01 3.02142233e-01 7.42312133e-02 1.94659255e+02] [-3.01023950e-01 9.53259716e-01 -2.60862928e-02 -7.03525687e+01] [-7.86433961e-02 2.44621124e-03 9.96899811e-01 -2.39553026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66119381700003 meters 0.0646244020257776 Centerline is valid? [True, True] Translation: X:194.69, Y:-70.36, Z:-23.96 [[ 9.50119068e-01 3.02629670e-01 7.54257186e-02 1.94692610e+02] [-3.01474258e-01 9.53105015e-01 -2.65349229e-02 -7.03561181e+01] [-7.99188856e-02 2.47242371e-03 9.96798304e-01 -2.39572650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69119381700003 meters 0.06547198606911186 Centerline is valid? [True, True] Translation: X:194.72, Y:-70.37, Z:-23.96 [[ 9.50122962e-01 3.02802212e-01 7.46805005e-02 1.94721101e+02] [-3.01669882e-01 9.53050306e-01 -2.62753836e-02 -7.03664719e+01] [-7.91305181e-02 2.43598755e-03 9.96861288e-01 -2.39629464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72119381700003 meters 0.06612358446993735 Centerline is valid? [True, True] Translation: X:194.75, Y:-70.38, Z:-23.97 [[ 9.50415453e-01 3.02197614e-01 7.33966536e-02 1.94750491e+02] [-3.01100488e-01 9.53242116e-01 -2.58449970e-02 -7.03781975e+01] [-7.77750779e-02 2.46371633e-03 9.96967887e-01 -2.39675256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75119381700003 meters 0.06678332424132732 Centerline is valid? [True, True] Translation: X:194.78, Y:-70.39, Z:-23.97 [[ 9.50921460e-01 3.00546395e-01 7.36222889e-02 1.94779473e+02] [-2.99435631e-01 9.53763569e-01 -2.59491329e-02 -7.03909439e+01] [-7.80171753e-02 2.63045080e-03 9.96948545e-01 -2.39704708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78119381700003 meters 0.06810526772288451 Centerline is valid? [True, True] Translation: X:194.81, Y:-70.40, Z:-23.97 [[ 9.51395514e-01 2.98973177e-01 7.39027487e-02 1.94807635e+02] [-2.97847409e-01 9.54257432e-01 -2.60705737e-02 -7.04042496e+01] [-7.83166494e-02 2.79168466e-03 9.96924625e-01 -2.39739346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81119381700003 meters 0.06788963804041862 Centerline is valid? [True, True] Translation: X:194.84, Y:-70.41, Z:-23.98 [[ 9.52119818e-01 2.97006791e-01 7.24901174e-02 1.94838520e+02] [-2.95916435e-01 9.54870912e-01 -2.55930585e-02 -7.04112987e+01] [-7.68200167e-02 2.91664117e-03 9.97040710e-01 -2.39768105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84119381700003 meters 0.06796003662194382 Centerline is valid? [True, True] Translation: X:194.87, Y:-70.42, Z:-23.98 [[ 9.52200878e-01 2.96909409e-01 7.18212463e-02 1.94869042e+02] [-2.95837230e-01 9.54901194e-01 -2.53779967e-02 -7.04205226e+01] [-7.61171599e-02 2.91755216e-03 9.97094612e-01 -2.39812227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87119381700003 meters 0.0692356442933038 Centerline is valid? [True, True] Translation: X:194.90, Y:-70.43, Z:-23.99 [[ 9.52596866e-01 2.95922966e-01 7.06315060e-02 1.94897794e+02] [-2.94881549e-01 9.55207192e-01 -2.49818567e-02 -7.04313381e+01] [-7.48604276e-02 2.96971046e-03 9.97189599e-01 -2.39866103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90119381700003 meters 0.0703192643746169 Centerline is valid? [True, True] Translation: X:194.93, Y:-70.44, Z:-23.99 [[ 9.53291618e-01 2.93409771e-01 7.17342131e-02 1.94928322e+02] [-2.92326732e-01 9.55981287e-01 -2.53941113e-02 -7.04421787e+01] [-7.60274457e-02 3.23816534e-03 9.97100467e-01 -2.39887107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93119381700004 meters 0.07136558699588234 Centerline is valid? [True, True] Translation: X:194.96, Y:-70.45, Z:-23.99 [[ 9.53739200e-01 2.91427260e-01 7.38355581e-02 1.94958053e+02] [-2.90271765e-01 9.56586511e-01 -2.61638846e-02 -7.04546580e+01] [-7.82549681e-02 3.52114462e-03 9.96927160e-01 -2.39895218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96119381700004 meters 0.07229056876127668 Centerline is valid? [True, True] Translation: X:194.99, Y:-70.47, Z:-23.99 [[ 9.54241099e-01 2.89096498e-01 7.64666004e-02 1.94987677e+02] [-2.87847360e-01 9.57292133e-01 -2.71232395e-02 -7.04663915e+01] [-8.10421085e-02 3.87140084e-03 9.96703160e-01 -2.39902117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99119381700004 meters 0.07382859200870298 Centerline is valid? [True, True] Translation: X:195.02, Y:-70.48, Z:-23.99 [[ 9.54590381e-01 2.87405238e-01 7.84565738e-02 1.95017201e+02] [-2.86082151e-01 9.57800104e-01 -2.78561413e-02 -7.04781343e+01] [-8.31517155e-02 4.14617919e-03 9.96528274e-01 -2.39919084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02119381700004 meters 0.0754523207710087 Centerline is valid? [True, True] Translation: X:195.05, Y:-70.48, Z:-23.99 [[ 9.55036844e-01 2.85729893e-01 7.91394668e-02 1.95048059e+02] [-2.84375302e-01 9.58300279e-01 -2.81293941e-02 -7.04848752e+01] [-8.38767819e-02 4.35929801e-03 9.96466599e-01 -2.39945364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05119381700004 meters 0.07537474222787394 Centerline is valid? [True, True] Translation: X:195.08, Y:-70.49, Z:-24.00 [[ 9.54942131e-01 2.86052250e-01 7.91178625e-02 1.95080558e+02] [-2.84698880e-01 9.58204207e-01 -2.81291057e-02 -7.04917156e+01] [-8.38574627e-02 4.33690137e-03 9.96468322e-01 -2.39985828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08119381700004 meters 0.0754856744164856 Centerline is valid? [True, True] Translation: X:195.11, Y:-70.50, Z:-24.00 [[ 9.54708323e-01 2.86926934e-01 7.87715170e-02 1.95110828e+02] [-2.85585745e-01 9.57942946e-01 -2.80373641e-02 -7.04972147e+01] [-8.35032940e-02 4.27148252e-03 9.96498346e-01 -2.40032516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11119381700001 meters 0.07358860363320642 Centerline is valid? [True, True] Translation: X:195.14, Y:-70.50, Z:-24.01 [[ 9.54118699e-01 2.88930357e-01 7.85923480e-02 1.95144494e+02] [-2.87599775e-01 9.57341284e-01 -2.80006398e-02 -7.04996137e+01] [-8.33299342e-02 4.11279242e-03 9.96513526e-01 -2.40062757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14119381700002 meters 0.0695895484856016 Centerline is valid? [True, True] Translation: X:195.18, Y:-70.49, Z:-24.01 [[ 9.51966435e-01 2.96106055e-01 7.79814814e-02 1.95179914e+02] [-2.94818479e-01 9.55148743e-01 -2.78018551e-02 -7.04897468e+01] [-8.27162115e-02 3.47605116e-03 9.96567080e-01 -2.40104442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17119381700002 meters 0.06988635093842453 Centerline is valid? [True, True] Translation: X:195.21, Y:-70.49, Z:-24.02 [[ 9.50628563e-01 3.00510598e-01 7.74513749e-02 1.95210011e+02] [-2.99255288e-01 9.53773538e-01 -2.76099972e-02 -7.04933052e+01] [-8.21681686e-02 3.06911852e-03 9.96613753e-01 -2.40187220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20119381700002 meters 0.06731291884476652 Centerline is valid? [True, True] Translation: X:195.24, Y:-70.49, Z:-24.02 [[ 9.49332489e-01 3.04662715e-01 7.71262306e-02 1.95243324e+02] [-3.03430443e-01 9.52456443e-01 -2.75079954e-02 -7.04920118e+01] [-8.18400358e-02 2.71178740e-03 9.96641789e-01 -2.40216394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23119381700002 meters 0.06470249080982118 Centerline is valid? [True, True] Translation: X:195.28, Y:-70.49, Z:-24.02 [[ 9.48174662e-01 3.08610441e-01 7.56598008e-02 1.95277468e+02] [-3.07437666e-01 9.51185688e-01 -2.69790493e-02 -7.04910395e+01] [-8.02925360e-02 2.32017844e-03 9.96768642e-01 -2.40234956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26119381700002 meters 0.06182211973681331 Centerline is valid? [True, True] Translation: X:195.31, Y:-70.48, Z:-24.03 [[ 9.45643801e-01 3.16526311e-01 7.46250309e-02 1.95313769e+02] [-3.15407336e-01 9.48582282e-01 -2.66433129e-02 -7.04830139e+01] [-7.92212917e-02 1.65780145e-03 9.96855676e-01 -2.40265148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29119381700002 meters 0.06117403836239677 Centerline is valid? [True, True] Translation: X:195.35, Y:-70.49, Z:-24.03 [[ 9.44188382e-01 3.20832846e-01 7.46631364e-02 1.95345537e+02] [-3.19726017e-01 9.47134942e-01 -2.66585183e-02 -7.04853086e+01] [-7.92689936e-02 1.29891604e-03 9.96852416e-01 -2.40308499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32119381700002 meters 0.061316608614984176 Centerline is valid? [True, True] Translation: X:195.38, Y:-70.49, Z:-24.04 [[ 9.42647920e-01 3.25292778e-01 7.48298539e-02 1.95376135e+02] [-3.24194115e-01 9.45612886e-01 -2.67291035e-02 -7.04890128e+01] [-7.94548585e-02 9.36735615e-04 9.96838025e-01 -2.40406462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35119381700002 meters 0.06071725402399007 Centerline is valid? [True, True] Translation: X:195.41, Y:-70.49, Z:-24.05 [[ 9.40409421e-01 3.31884915e-01 7.40440769e-02 1.95409598e+02] [-3.30827383e-01 9.43319798e-01 -2.64764272e-02 -7.04866334e+01] [-7.86343704e-02 4.02873396e-04 9.96903442e-01 -2.40466994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38119381700002 meters 0.060232417276081744 Centerline is valid? [True, True] Translation: X:195.44, Y:-70.49, Z:-24.05 [[ 9.39748651e-01 3.33907809e-01 7.33351832e-02 1.95440777e+02] [-3.32876000e-01 9.42605707e-01 -2.62307211e-02 -7.04943023e+01] [-7.78848048e-02 2.38762341e-04 9.96962336e-01 -2.40471522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41119381700003 meters 0.060689289445401896 Centerline is valid? [True, True] Translation: X:195.47, Y:-70.50, Z:-24.05 [[ 9.39311459e-01 3.35238634e-01 7.28631754e-02 1.95469437e+02] [-3.34222159e-01 9.42133237e-01 -2.60866375e-02 -7.05034451e+01] [-7.73920680e-02 1.50989758e-04 9.97000725e-01 -2.40543101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44119381700003 meters 0.06095371801095717 Centerline is valid? [True, True] Translation: X:195.50, Y:-70.51, Z:-24.06 [[ 9.39160175e-01 3.35675920e-01 7.28000148e-02 1.95497462e+02] [-3.34660058e-01 9.41977524e-01 -2.60957923e-02 -7.05130492e+01] [-7.73357068e-02 1.44871734e-04 9.97005099e-01 -2.40607040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47119381700003 meters 0.06004765614248736 Centerline is valid? [True, True] Translation: X:195.53, Y:-70.52, Z:-24.06 [[ 9.38966355e-01 3.35942275e-01 7.40606001e-02 1.95527991e+02] [-3.34892389e-01 9.41882569e-01 -2.65389098e-02 -7.05237005e+01] [-7.86719300e-02 1.16812144e-04 9.96900554e-01 -2.40575470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50119381700003 meters 0.060078593459646584 Centerline is valid? [True, True] Translation: X:195.56, Y:-70.54, Z:-24.06 [[ 9.38870561e-01 3.36142987e-01 7.43637192e-02 1.95557740e+02] [-3.35083114e-01 9.41810956e-01 -2.66726444e-02 -7.05365304e+01] [-7.90023879e-02 1.24133955e-04 9.96874419e-01 -2.40603738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53119381700003 meters 0.059983188444692706 Centerline is valid? [True, True] Translation: X:195.59, Y:-70.55, Z:-24.06 [[ 9.38609576e-01 3.36558442e-01 7.57659515e-02 1.95587534e+02] [-3.35457396e-01 9.41662573e-01 -2.72017223e-02 -7.05487893e+01] [-8.05009301e-02 1.15548239e-04 9.96754527e-01 -2.40631327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56119381700003 meters 0.05966056863811774 Centerline is valid? [True, True] Translation: X:195.62, Y:-70.56, Z:-24.07 [[ 9.38181093e-01 3.37424909e-01 7.72053618e-02 1.95617615e+02] [-3.36282294e-01 9.41352445e-01 -2.77451435e-02 -7.05608887e+01] [-8.20393586e-02 6.71729440e-05 9.96629088e-01 -2.40652885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59119381700003 meters 0.05966056863811774 Centerline is valid? [True, True] Translation: X:195.65, Y:-70.57, Z:-24.07 [[ 9.38066011e-01 3.37746503e-01 7.71975253e-02 1.95647913e+02] [-3.36603182e-01 9.41237109e-01 -2.77669271e-02 -7.05720563e+01] [-8.20393581e-02 6.22779112e-05 9.96629088e-01 -2.40690030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62119381700003 meters 0.05961612493798779 Centerline is valid? [True, True] Translation: X:195.68, Y:-70.58, Z:-24.07 [[ 9.37705213e-01 3.38719737e-01 7.73167062e-02 1.95677940e+02] [-3.37573703e-01 9.40887315e-01 -2.78398177e-02 -7.05848101e+01] [-8.21762038e-02 5.45539211e-06 9.96617816e-01 -2.40716282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65119381700003 meters 0.059687918068761676 Centerline is valid? [True, True] Translation: X:195.71, Y:-70.60, Z:-24.07 [[ 9.37719639e-01 3.38722929e-01 7.71275302e-02 1.95707387e+02] [-3.37580096e-01 9.40886166e-01 -2.78011166e-02 -7.05997477e+01] [-8.19851018e-02 3.29339181e-05 9.96633555e-01 -2.40748536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68119381700004 meters 0.06021095325206962 Centerline is valid? [True, True] Translation: X:195.74, Y:-70.61, Z:-24.08 [[ 9.37932183e-01 3.38335418e-01 7.62388724e-02 1.95735011e+02] [-3.37214642e-01 9.41025576e-01 -2.75163599e-02 -7.06127385e+01] [-8.10524880e-02 9.96154241e-05 9.96709830e-01 -2.40824553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71119381700004 meters 0.0602396542868563 Centerline is valid? [True, True] Translation: X:195.76, Y:-70.63, Z:-24.09 [[ 9.38248216e-01 3.37726842e-01 7.50390986e-02 1.95764412e+02] [-3.36638495e-01 9.41244153e-01 -2.70918446e-02 -7.06262907e+01] [-7.97797559e-02 1.57825587e-04 9.96812503e-01 -2.40852463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74119381700004 meters 0.061203324697573946 Centerline is valid? [True, True] Translation: X:195.79, Y:-70.64, Z:-24.09 [[ 9.39242753e-01 3.35375355e-01 7.31192366e-02 1.95790350e+02] [-3.34332334e-01 9.42084511e-01 -2.64322468e-02 -7.06424634e+01] [-7.77492244e-02 3.80171205e-04 9.96972875e-01 -2.40948941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77119381700004 meters 0.06102428235104959 Centerline is valid? [True, True] Translation: X:195.82, Y:-70.66, Z:-24.10 [[ 9.39803658e-01 3.33820498e-01 7.30271178e-02 1.95819576e+02] [-3.32775900e-01 9.42636527e-01 -2.63927677e-02 -7.06567131e+01] [-7.76484756e-02 5.02354851e-04 9.96980673e-01 -2.40959478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80119381700004 meters 0.06104799764914578 Centerline is valid? [True, True] Translation: X:195.85, Y:-70.67, Z:-24.10 [[ 9.40276163e-01 3.32513321e-01 7.29083608e-02 1.95848671e+02] [-3.31466365e-01 9.43098347e-01 -2.63733995e-02 -7.06708368e+01] [-7.75292612e-02 6.31609520e-04 9.96989877e-01 -2.40980320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83119381700004 meters 0.06153906897143853 Centerline is valid? [True, True] Translation: X:195.88, Y:-70.69, Z:-24.10 [[ 9.40822598e-01 3.31171703e-01 7.19593115e-02 1.95876512e+02] [-3.30146017e-01 9.43570205e-01 -2.60552659e-02 -7.06850649e+01] [-7.65274290e-02 7.56302874e-04 9.97067190e-01 -2.41042640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86119381700001 meters 0.06230698928489051 Centerline is valid? [True, True] Translation: X:195.90, Y:-70.70, Z:-24.11 [[ 9.41609100e-01 3.29367275e-01 6.99249634e-02 1.95902637e+02] [-3.28391547e-01 9.44201449e-01 -2.53498847e-02 -7.07013017e+01] [-7.43726742e-02 9.06915235e-04 9.97230105e-01 -2.41102110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89119381700002 meters 0.06255584233903937 Centerline is valid? [True, True] Translation: X:195.93, Y:-70.71, Z:-24.11 [[ 9.41680570e-01 3.28987230e-01 7.07467756e-02 1.95930915e+02] [-3.27987772e-01 9.44333900e-01 -2.56418971e-02 -7.07147761e+01] [-7.52444352e-02 9.42399016e-04 9.97164674e-01 -2.41149736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92119381700002 meters 0.061852054802717306 Centerline is valid? [True, True] Translation: X:195.96, Y:-70.73, Z:-24.11 [[ 9.41417665e-01 3.29713365e-01 7.08651972e-02 1.95961142e+02] [-3.28711089e-01 9.44080652e-01 -2.57049061e-02 -7.07262573e+01] [-7.53777127e-02 9.04876495e-04 9.97154643e-01 -2.41145637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95119381700002 meters 0.061418563378108366 Centerline is valid? [True, True] Translation: X:195.99, Y:-70.74, Z:-24.12 [[ 9.41076682e-01 3.30488097e-01 7.17795003e-02 1.95990798e+02] [-3.29460128e-01 9.43809753e-01 -2.60609900e-02 -7.07376991e+01] [-7.63590394e-02 8.76906659e-04 9.97080001e-01 -2.41164368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98119381700002 meters 0.06174683966686019 Centerline is valid? [True, True] Translation: X:196.02, Y:-70.75, Z:-24.12 [[ 9.40248432e-01 3.32404402e-01 7.37577104e-02 1.96018729e+02] [-3.31322596e-01 9.43136642e-01 -2.68069599e-02 -7.07509351e+01] [-7.84743507e-02 7.67605978e-04 9.96915838e-01 -2.41232127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01119381700002 meters 0.06076181954953532 Centerline is valid? [True, True] Translation: X:196.05, Y:-70.76, Z:-24.12 [[ 9.39704452e-01 3.33977512e-01 7.35837250e-02 1.96049855e+02] [-3.32903955e-01 9.42580815e-01 -2.67649807e-02 -7.07615759e+01] [-7.82975091e-02 6.54858432e-04 9.96929823e-01 -2.41224411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04119381700002 meters 0.06066443581665129 Centerline is valid? [True, True] Translation: X:196.08, Y:-70.77, Z:-24.13 [[ 9.39110101e-01 3.35281258e-01 7.52243114e-02 1.96079065e+02] [-3.34160818e-01 9.42117897e-01 -2.73937238e-02 -7.07735561e+01] [-8.00547722e-02 5.88705248e-04 9.96790292e-01 -2.41257766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07119381700002 meters 0.05993200891589728 Centerline is valid? [True, True] Translation: X:196.11, Y:-70.79, Z:-24.13 [[ 9.37905541e-01 3.37806835e-01 7.88653142e-02 1.96108478e+02] [-3.36580980e-01 9.41215364e-01 -2.87555697e-02 -7.07861954e+01] [-8.39430734e-02 4.25443459e-04 9.96470461e-01 -2.41259616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10119381700002 meters 0.0596662984337133 Centerline is valid? [True, True] Translation: X:196.14, Y:-70.80, Z:-24.13 [[ 9.37482634e-01 3.38761613e-01 7.97927338e-02 1.96138680e+02] [-3.37509908e-01 9.40872175e-01 -2.90966191e-02 -7.07983576e+01] [-8.49315806e-02 3.46736883e-04 9.96386725e-01 -2.41288297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13119381700002 meters 0.05946066817508858 Centerline is valid? [True, True] Translation: X:196.17, Y:-70.81, Z:-24.13 [[ 9.36989759e-01 3.39680917e-01 8.16521074e-02 1.96168813e+02] [-3.38372586e-01 9.40540694e-01 -2.97858522e-02 -7.08101240e+01] [-8.69148153e-02 2.80203735e-04 9.96215708e-01 -2.41313578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16119381700003 meters 0.0594581125858398 Centerline is valid? [True, True] Translation: X:196.20, Y:-70.82, Z:-24.14 [[ 9.36481196e-01 3.40825675e-01 8.27093068e-02 1.96197319e+02] [-3.39485107e-01 9.40126490e-01 -3.02000718e-02 -7.08211383e+01] [-8.80501702e-02 2.03221486e-04 9.96116020e-01 -2.41355879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19119381700003 meters 0.059372124180402955 Centerline is valid? [True, True] Translation: X:196.23, Y:-70.83, Z:-24.14 [[ 9.35134989e-01 3.44325661e-01 8.34409455e-02 1.96226879e+02] [-3.42972837e-01 9.38850269e-01 -3.04927000e-02 -7.08322214e+01] [-8.88379733e-02 -1.03187100e-04 9.96046085e-01 -2.41387219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22119381700003 meters 0.05947640442225542 Centerline is valid? [True, True] Translation: X:196.26, Y:-70.84, Z:-24.14 [[ 9.34501727e-01 3.46066315e-01 8.33344357e-02 1.96256646e+02] [-3.44721528e-01 9.38210023e-01 -3.04798636e-02 -7.08434053e+01] [-8.87332568e-02 -2.43688789e-04 9.96055395e-01 -2.41434353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25119381700003 meters 0.059606673003904646 Centerline is valid? [True, True] Translation: X:196.29, Y:-70.85, Z:-24.15 [[ 9.33926919e-01 3.47967769e-01 8.18470603e-02 1.96286893e+02] [-3.46675496e-01 9.37506416e-01 -2.99636634e-02 -7.08546001e+01] [-8.71585332e-02 -3.90498371e-04 9.96194377e-01 -2.41476321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28119381700003 meters 0.060198535991086745 Centerline is valid? [True, True] Translation: X:196.32, Y:-70.86, Z:-24.15 [[ 9.32860096e-01 3.51187964e-01 8.02437236e-02 1.96316176e+02] [-3.49955550e-01 9.36304751e-01 -2.94028162e-02 -7.08644793e+01] [-8.54584948e-02 -6.53022527e-04 9.96341517e-01 -2.41546285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31119381700003 meters 0.06053500855760027 Centerline is valid? [True, True] Translation: X:196.35, Y:-70.88, Z:-24.16 [[ 9.32474269e-01 3.52460849e-01 7.91396673e-02 1.96345746e+02] [-3.51264806e-01 9.35826269e-01 -2.90211965e-02 -7.08751289e+01] [-8.42898152e-02 -7.37460868e-04 9.96441008e-01 -2.41602301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34119381700003 meters 0.06087105145819684 Centerline is valid? [True, True] Translation: X:196.37, Y:-70.89, Z:-24.17 [[ 9.32433940e-01 3.52950678e-01 7.74129560e-02 1.96373826e+02] [-3.51805726e-01 9.35641637e-01 -2.84158002e-02 -7.08862043e+01] [-8.24601608e-02 -7.38464661e-04 9.96594088e-01 -2.41664846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37119381700003 meters 0.060808052592358955 Centerline is valid? [True, True] Translation: X:196.40, Y:-70.90, Z:-24.17 [[ 9.32599995e-01 3.52762973e-01 7.62596514e-02 1.96402490e+02] [-3.51650732e-01 9.35712450e-01 -2.79995357e-02 -7.08996085e+01] [-8.12343047e-02 -7.04395420e-04 9.96694784e-01 -2.41692055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40119381700003 meters 0.060890237559717425 Centerline is valid? [True, True] Translation: X:196.43, Y:-70.92, Z:-24.18 [[ 9.34137003e-01 3.48907193e-01 7.51786605e-02 1.96428480e+02] [-3.47812185e-01 9.37157218e-01 -2.76230335e-02 -7.09197108e+01] [-8.00920994e-02 -3.44356433e-04 9.96787408e-01 -2.41753407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43119381700004 meters 0.06100500491045387 Centerline is valid? [True, True] Translation: X:196.46, Y:-70.94, Z:-24.18 [[ 9.35383179e-01 3.45599662e-01 7.49612023e-02 1.96455985e+02] [-3.44498411e-01 9.38382050e-01 -2.75675905e-02 -7.09383784e+01] [-7.98695966e-02 -3.77546615e-05 9.96805320e-01 -2.41797087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46119381700004 meters 0.061296316953671416 Centerline is valid? [True, True] Translation: X:196.48, Y:-70.96, Z:-24.18 [[ 9.36973494e-01 3.41339726e-01 7.46181115e-02 1.96483166e+02] [-3.40232821e-01 9.39939928e-01 -2.74692445e-02 -7.09575397e+01] [-7.95128868e-02 3.50423434e-04 9.96833777e-01 -2.41833734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49119381700004 meters 0.06227872416023816 Centerline is valid? [True, True] Translation: X:196.51, Y:-70.98, Z:-24.19 [[ 9.38400145e-01 3.37520716e-01 7.40603364e-02 1.96508840e+02] [-3.36416577e-01 9.41317847e-01 -2.72873291e-02 -7.09770828e+01] [-7.89243553e-02 6.91308679e-04 9.96880368e-01 -2.41896781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52119381700004 meters 0.062627659408754 Centerline is valid? [True, True] Translation: X:196.54, Y:-70.99, Z:-24.19 [[ 9.39635646e-01 3.34017014e-01 7.42797896e-02 1.96536178e+02] [-3.32893736e-01 9.42566506e-01 -2.73887358e-02 -7.09947642e+01] [-7.91619455e-02 1.00815579e-03 9.96861259e-01 -2.41911334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55119381700004 meters 0.06409244900593958 Centerline is valid? [True, True] Translation: X:196.56, Y:-71.02, Z:-24.19 [[ 9.41986727e-01 3.27346421e-01 7.41978875e-02 1.96561324e+02] [-3.26203069e-01 9.44903060e-01 -2.73818261e-02 -7.10179256e+01] [-7.90731537e-02 1.58973814e-03 9.96867548e-01 -2.41933483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58119381700004 meters 0.06524764980458654 Centerline is valid? [True, True] Translation: X:196.59, Y:-71.04, Z:-24.20 [[ 9.42970288e-01 3.24473849e-01 7.43219798e-02 1.96589136e+02] [-3.23316061e-01 9.45892850e-01 -2.74488727e-02 -7.10353023e+01] [-7.92070707e-02 1.85398168e-03 9.96856460e-01 -2.41981608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61119381700001 meters 0.06633732615855877 Centerline is valid? [True, True] Translation: X:196.62, Y:-71.05, Z:-24.20 [[ 9.43834736e-01 3.21930213e-01 7.44105393e-02 1.96616610e+02] [-3.20759827e-01 9.46761087e-01 -2.75059483e-02 -7.10515619e+01] [-7.93039989e-02 2.09315782e-03 9.96848281e-01 -2.42020103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64119381700002 meters 0.06828034319794549 Centerline is valid? [True, True] Translation: X:196.64, Y:-71.07, Z:-24.21 [[ 9.44431221e-01 3.20202973e-01 7.42948521e-02 1.96643057e+02] [-3.19029168e-01 9.47346277e-01 -2.74849168e-02 -7.10676628e+01] [-7.91837036e-02 2.25538868e-03 9.96857489e-01 -2.42082084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67119381700002 meters 0.0678371948808301 Centerline is valid? [True, True] Translation: X:196.67, Y:-71.08, Z:-24.21 [[ 9.44424984e-01 3.20016764e-01 7.51712796e-02 1.96673174e+02] [-3.18812734e-01 9.47409044e-01 -2.78306457e-02 -7.10792008e+01] [-8.01242232e-02 2.31839595e-03 9.96782190e-01 -2.42093406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70119381700002 meters 0.06532905896722656 Centerline is valid? [True, True] Translation: X:196.71, Y:-71.09, Z:-24.21 [[ 9.43792026e-01 3.21894878e-01 7.51019306e-02 1.96705152e+02] [-3.20697231e-01 9.46772911e-01 -2.78269928e-02 -7.10854155e+01] [-8.00618399e-02 2.17791267e-03 9.96787519e-01 -2.42073110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73119381700002 meters 0.06634254906554346 Centerline is valid? [True, True] Translation: X:196.73, Y:-71.10, Z:-24.22 [[ 9.42845158e-01 3.24744321e-01 7.47270620e-02 1.96732791e+02] [-3.23565189e-01 9.45799824e-01 -2.77175284e-02 -7.10969548e+01] [-7.96779520e-02 1.95426148e-03 9.96818742e-01 -2.42160109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76119381700002 meters 0.06350116655307808 Centerline is valid? [True, True] Translation: X:196.77, Y:-71.10, Z:-24.22 [[ 9.40978036e-01 3.30267608e-01 7.40516197e-02 1.96767293e+02] [-3.29126022e-01 9.43886174e-01 -2.74763893e-02 -7.10978995e+01] [-7.89708614e-02 1.48236381e-03 9.96875823e-01 -2.42150194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79119381700002 meters 0.06310718614162178 Centerline is valid? [True, True] Translation: X:196.80, Y:-71.11, Z:-24.22 [[ 9.40103699e-01 3.32830829e-01 7.36795398e-02 1.96798418e+02] [-3.31706675e-01 9.42985680e-01 -2.73621846e-02 -7.11059460e+01] [-7.85857295e-02 1.28329575e-03 9.96906533e-01 -2.42193796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82119381700002 meters 0.062057518752181476 Centerline is valid? [True, True] Translation: X:196.83, Y:-71.11, Z:-24.22 [[ 9.39403160e-01 3.34764804e-01 7.38527538e-02 1.96830056e+02] [-3.33639483e-01 9.42301020e-01 -2.74496484e-02 -7.11132447e+01] [-7.87807014e-02 1.14609183e-03 9.96891312e-01 -2.42198872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85119381700002 meters 0.06183544090993782 Centerline is valid? [True, True] Translation: X:196.86, Y:-71.12, Z:-24.22 [[ 9.38774731e-01 3.36531813e-01 7.38128979e-02 1.96860806e+02] [-3.35411150e-01 9.41671543e-01 -2.74602388e-02 -7.11225816e+01] [-7.87487495e-02 1.02130927e-03 9.96893972e-01 -2.42232343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88119381700002 meters 0.06225554240514721 Centerline is valid? [True, True] Translation: X:196.89, Y:-71.13, Z:-24.23 [[ 9.38010232e-01 3.38349322e-01 7.52099738e-02 1.96889129e+02] [-3.37189369e-01 9.41020141e-01 -2.80075639e-02 -7.11328550e+01] [-8.02504404e-02 9.11377912e-04 9.96774316e-01 -2.42315204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91119381700003 meters 0.06187115547550965 Centerline is valid? [True, True] Translation: X:196.92, Y:-71.14, Z:-24.24 [[ 9.36560930e-01 3.42534595e-01 7.43214352e-02 1.96920754e+02] [-3.41413280e-01 9.39505045e-01 -2.76991561e-02 -7.11378820e+01] [-7.93132825e-02 5.67622450e-04 9.96849578e-01 -2.42375331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94119381700003 meters 0.06092209787543416 Centerline is valid? [True, True] Translation: X:196.95, Y:-71.15, Z:-24.24 [[ 9.35415201e-01 3.45815216e-01 7.35543215e-02 1.96953468e+02] [-3.44725348e-01 9.38302586e-01 -2.74352357e-02 -7.11453285e+01] [-7.85037320e-02 3.07297398e-04 9.96913772e-01 -2.42357082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97119381700003 meters 0.06119490512395983 Centerline is valid? [True, True] Translation: X:196.98, Y:-71.15, Z:-24.24 [[ 9.34479755e-01 3.48412660e-01 7.31861043e-02 1.96983418e+02] [-3.47339305e-01 9.37341243e-01 -2.73276799e-02 -7.11542606e+01] [-7.81216636e-02 1.16752957e-04 9.96943826e-01 -2.42437828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00119381700003 meters 0.06106783561541227 Centerline is valid? [True, True] Translation: X:197.01, Y:-71.16, Z:-24.25 [[ 9.32321668e-01 3.53848273e-01 7.46170746e-02 1.97013633e+02] [-3.52747383e-01 9.35302785e-01 -2.78923700e-02 -7.11621312e+01] [-7.96592246e-02 -3.16316897e-04 9.96822104e-01 -2.42468450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03119381700003 meters 0.06120194895376259 Centerline is valid? [True, True] Translation: X:197.04, Y:-71.17, Z:-24.25 [[ 9.31323568e-01 3.56506882e-01 7.44261749e-02 1.97044162e+02] [-3.55418341e-01 9.34292551e-01 -2.78429834e-02 -7.11720065e+01] [-7.94620360e-02 -5.21600963e-04 9.96837756e-01 -2.42506508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06119381700003 meters 0.06082581613529359 Centerline is valid? [True, True] Translation: X:197.08, Y:-71.18, Z:-24.25 [[ 9.30416866e-01 3.58640445e-01 7.55081877e-02 1.97075132e+02] [-3.57524468e-01 9.33475528e-01 -2.82788362e-02 -7.11830212e+01] [-8.06269798e-02 -6.84918475e-04 9.96744110e-01 -2.42506468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09119381700003 meters 0.060920272126729284 Centerline is valid? [True, True] Translation: X:197.11, Y:-71.19, Z:-24.25 [[ 9.29518350e-01 3.60832664e-01 7.61276906e-02 1.97106181e+02] [-3.59705507e-01 9.32630158e-01 -2.85120315e-02 -7.11939523e+01] [-8.12870524e-02 -8.81093058e-04 9.96690342e-01 -2.42547739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12119381700003 meters 0.06182196287357682 Centerline is valid? [True, True] Translation: X:197.13, Y:-71.20, Z:-24.26 [[ 9.28080242e-01 3.64660487e-01 7.54307191e-02 1.97134989e+02] [-3.63563630e-01 9.31139816e-01 -2.82865835e-02 -7.12047371e+01] [-8.05515452e-02 -1.17164682e-03 9.96749756e-01 -2.42622066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15119381700003 meters 0.06152487623006507 Centerline is valid? [True, True] Translation: X:197.16, Y:-71.22, Z:-24.26 [[ 9.27439266e-01 3.66316989e-01 7.52879233e-02 1.97164226e+02] [-3.65229113e-01 9.30489204e-01 -2.82407000e-02 -7.12189631e+01] [-8.03996480e-02 -1.30580732e-03 9.96761853e-01 -2.42623445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18119381700004 meters 0.062206371088364326 Centerline is valid? [True, True] Translation: X:197.19, Y:-71.23, Z:-24.27 [[ 9.27000293e-01 3.67325327e-01 7.57796905e-02 1.97193497e+02] [-3.66224466e-01 9.30091503e-01 -2.84506082e-02 -7.12301232e+01] [-8.09326751e-02 -1.37865453e-03 9.96718617e-01 -2.42704594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21119381700004 meters 0.061586414619155136 Centerline is valid? [True, True] Translation: X:197.22, Y:-71.25, Z:-24.27 [[ 9.26749239e-01 3.67989898e-01 7.56259387e-02 1.97223491e+02] [-3.66893566e-01 9.29828721e-01 -2.84193879e-02 -7.12458441e+01] [-8.07772175e-02 -1.40902420e-03 9.96731185e-01 -2.42709018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24119381700004 meters 0.061332551073735676 Centerline is valid? [True, True] Translation: X:197.25, Y:-71.26, Z:-24.27 [[ 9.26834282e-01 3.67483462e-01 7.70332340e-02 1.97251993e+02] [-3.66341461e-01 9.30029061e-01 -2.89806648e-02 -7.12605176e+01] [-8.22930613e-02 -1.36019378e-03 9.96607246e-01 -2.42744869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27119381700004 meters 0.060610305536157 Centerline is valid? [True, True] Translation: X:197.28, Y:-71.28, Z:-24.28 [[ 9.28589094e-01 3.62758425e-01 7.82855061e-02 1.97277283e+02] [-3.61559235e-01 9.31882756e-01 -2.94864106e-02 -7.12832923e+01] [-8.36493571e-02 -9.24088404e-04 9.96494822e-01 -2.42772122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30119381700004 meters 0.0604769414302519 Centerline is valid? [True, True] Translation: X:197.30, Y:-71.30, Z:-24.28 [[ 9.30098795e-01 3.58920414e-01 7.80536185e-02 1.97302990e+02] [-3.57714631e-01 9.33367991e-01 -2.94013075e-02 -7.13011981e+01] [-8.34054786e-02 -5.74800671e-04 9.96515527e-01 -2.42832578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33119381700004 meters 0.060387592732909785 Centerline is valid? [True, True] Translation: X:197.33, Y:-71.32, Z:-24.29 [[ 9.31952863e-01 3.54254031e-01 7.72524623e-02 1.97330154e+02] [-3.53056107e-01 9.35149218e-01 -2.91088506e-02 -7.13212496e+01] [-8.25545074e-02 -1.46376922e-04 9.96586540e-01 -2.42871272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36119381700001 meters 0.06101022076834926 Centerline is valid? [True, True] Translation: X:197.35, Y:-71.35, Z:-24.29 [[ 9.36417069e-01 3.42235830e-01 7.74448808e-02 1.97353764e+02] [-3.40988196e-01 9.39613613e-01 -2.92114504e-02 -7.13500065e+01] [-8.27654692e-02 9.46310620e-04 9.96568604e-01 -2.42885505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39119381700002 meters 0.06253623811806594 Centerline is valid? [True, True] Translation: X:197.38, Y:-71.37, Z:-24.29 [[ 9.38758334e-01 3.36095832e-01 7.59761954e-02 1.97377434e+02] [-3.34872377e-01 9.41826613e-01 -2.86901029e-02 -7.13699939e+01] [-8.11990268e-02 1.49074410e-03 9.96696792e-01 -2.42941543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42119381700002 meters 0.06332765174298335 Centerline is valid? [True, True] Translation: X:197.40, Y:-71.39, Z:-24.30 [[ 9.40584095e-01 3.31171840e-01 7.50118153e-02 1.97404311e+02] [-3.29962725e-01 9.43568541e-01 -2.83373967e-02 -7.13875437e+01] [-8.01633369e-02 1.90260164e-03 9.96779925e-01 -2.42960674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45119381700002 meters 0.064787955028316 Centerline is valid? [True, True] Translation: X:197.43, Y:-71.40, Z:-24.30 [[ 9.41621027e-01 3.28286729e-01 7.46837668e-02 1.97430635e+02] [-3.27079529e-01 9.44575709e-01 -2.82083778e-02 -7.14045464e+01] [-7.98049080e-02 2.13407041e-03 9.96808217e-01 -2.43016704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48119381700002 meters 0.06499753425752404 Centerline is valid? [True, True] Translation: X:197.46, Y:-71.42, Z:-24.31 [[ 9.41781730e-01 3.27931138e-01 7.42182001e-02 1.97460472e+02] [-3.26736005e-01 9.44699131e-01 -2.80559353e-02 -7.14162664e+01] [-7.93142839e-02 2.17280909e-03 9.96847292e-01 -2.43061355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51119381700002 meters 0.06499753425752404 Centerline is valid? [True, True] Translation: X:197.49, Y:-71.43, Z:-24.31 [[ 9.41670268e-01 3.28252869e-01 7.42102472e-02 1.97490552e+02] [-3.27057078e-01 9.44587398e-01 -2.80769520e-02 -7.14279065e+01] [-7.93144044e-02 2.16824427e-03 9.96847292e-01 -2.43098512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54119381700002 meters 0.06453586073077018 Centerline is valid? [True, True] Translation: X:197.52, Y:-71.44, Z:-24.31 [[ 9.40943879e-01 3.30099396e-01 7.52263536e-02 1.97520958e+02] [-3.28873920e-01 9.43943909e-01 -2.84928374e-02 -7.14370382e+01] [-8.04149267e-02 2.07017518e-03 9.96759326e-01 -2.43141932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57119381700002 meters 0.06439271619585446 Centerline is valid? [True, True] Translation: X:197.55, Y:-71.45, Z:-24.32 [[ 9.39757518e-01 3.33466826e-01 7.52042770e-02 1.97550567e+02] [-3.32250683e-01 9.42760103e-01 -2.85109116e-02 -7.14461940e+01] [-8.04070351e-02 1.80667112e-03 9.96760475e-01 -2.43197360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60119381700002 meters 0.06263592433918098 Centerline is valid? [True, True] Translation: X:197.58, Y:-71.45, Z:-24.32 [[ 9.38322707e-01 3.37223372e-01 7.63603030e-02 1.97582347e+02] [-3.35979188e-01 9.41423406e-01 -2.89819930e-02 -7.14521920e+01] [-8.16607819e-02 1.53898952e-03 9.96658993e-01 -2.43192695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63119381700002 meters 0.06098574824537606 Centerline is valid? [True, True] Translation: X:197.61, Y:-71.45, Z:-24.32 [[ 9.35924808e-01 3.43034491e-01 7.98253801e-02 1.97614541e+02] [-3.41695229e-01 9.39322182e-01 -3.03019555e-02 -7.14543088e+01] [-8.53763662e-02 1.08440037e-03 9.96348182e-01 -2.43203224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66119381700003 meters 0.06069608134578582 Centerline is valid? [True, True] Translation: X:197.65, Y:-71.46, Z:-24.32 [[ 9.34897836e-01 3.45883515e-01 7.95652608e-02 1.97645688e+02] [-3.44563848e-01 9.38277107e-01 -3.01964422e-02 -7.14630175e+01] [-8.50987143e-02 8.15275986e-04 9.96372192e-01 -2.43246931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69119381700003 meters 0.060804009363874624 Centerline is valid? [True, True] Translation: X:197.68, Y:-71.47, Z:-24.33 [[ 9.34243016e-01 3.47752596e-01 7.91082804e-02 1.97675401e+02] [-3.46452491e-01 9.37586096e-01 -3.00496765e-02 -7.14729562e+01] [-8.46206768e-02 6.66439567e-04 9.96413015e-01 -2.43313747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72119381700003 meters 0.06053316558752942 Centerline is valid? [True, True] Translation: X:197.71, Y:-71.48, Z:-24.33 [[ 9.33871930e-01 3.48759461e-01 7.90572987e-02 1.97707140e+02] [-3.47462212e-01 9.37212076e-01 -3.00588643e-02 -7.14830243e+01] [-8.45767684e-02 6.01705793e-04 9.96416784e-01 -2.43342679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75119381700003 meters 0.060556194295755796 Centerline is valid? [True, True] Translation: X:197.74, Y:-71.49, Z:-24.34 [[ 9.33555127e-01 3.49905672e-01 7.77228738e-02 1.97738054e+02] [-3.48652751e-01 9.36784792e-01 -2.95890802e-02 -7.14916839e+01] [-8.31629931e-02 5.24743744e-04 9.96535820e-01 -2.43408311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78119381700003 meters 0.06050655974921013 Centerline is valid? [True, True] Translation: X:197.77, Y:-71.50, Z:-24.34 [[ 9.33222037e-01 3.50832670e-01 7.75439753e-02 1.97769112e+02] [-3.49588597e-01 9.36438061e-01 -2.95223805e-02 -7.15027861e+01] [-8.29725454e-02 4.42446553e-04 9.96551735e-01 -2.43444279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81119381700003 meters 0.06055781659502096 Centerline is valid? [True, True] Translation: X:197.80, Y:-71.51, Z:-24.35 [[ 9.32936152e-01 3.51760079e-01 7.67787941e-02 1.97798897e+02] [-3.50541022e-01 9.36090112e-01 -2.92625018e-02 -7.15143256e+01] [-8.21652499e-02 3.85928922e-04 9.96618645e-01 -2.43501756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84119381700003 meters 0.06061598590641671 Centerline is valid? [True, True] Translation: X:197.83, Y:-71.53, Z:-24.35 [[ 9.32611280e-01 3.52755659e-01 7.61554035e-02 1.97828672e+02] [-3.51557576e-01 9.35715418e-01 -2.90504367e-02 -7.15263675e+01] [-8.15074912e-02 3.19755880e-04 9.96672678e-01 -2.43535353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87119381700003 meters 0.06059198554520251 Centerline is valid? [True, True] Translation: X:197.86, Y:-71.54, Z:-24.36 [[ 9.32228704e-01 3.53685319e-01 7.65267234e-02 1.97856436e+02] [-3.52476375e-01 9.35364434e-01 -2.92195194e-02 -7.15384011e+01] [-8.19148904e-02 2.65412619e-04 9.96639293e-01 -2.43589487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90119381700003 meters 0.06060183549755348 Centerline is valid? [True, True] Translation: X:197.89, Y:-71.55, Z:-24.36 [[ 9.32156792e-01 3.53870237e-01 7.65478389e-02 1.97886968e+02] [-3.52659386e-01 9.35294490e-01 -2.92502180e-02 -7.15506999e+01] [-8.19455535e-02 2.70475559e-04 9.96636771e-01 -2.43631389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93119381700004 meters 0.06057480637458208 Centerline is valid? [True, True] Translation: X:197.92, Y:-71.56, Z:-24.37 [[ 9.32278985e-01 3.53506144e-01 7.67417701e-02 1.97917442e+02] [-3.52285552e-01 9.35432145e-01 -2.93529081e-02 -7.15632906e+01] [-8.21631520e-02 3.30082552e-04 9.96618838e-01 -2.43670753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96119381700004 meters 0.06053371563819098 Centerline is valid? [True, True] Translation: X:197.95, Y:-71.58, Z:-24.37 [[ 9.32282138e-01 3.53124211e-01 7.84430125e-02 1.97945850e+02] [-3.51844477e-01 9.35576361e-01 -3.00389170e-02 -7.15750561e+01] [-8.39968971e-02 4.05005049e-04 9.96465934e-01 -2.43710757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99119381700004 meters 0.060282191384060824 Centerline is valid? [True, True] Translation: X:197.98, Y:-71.59, Z:-24.37 [[ 9.32656391e-01 3.52017378e-01 7.89672159e-02 1.97975945e+02] [-3.50715718e-01 9.35993322e-01 -3.02487494e-02 -7.15877299e+01] [-8.45608722e-02 5.16645621e-04 9.96418181e-01 -2.43723422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02119381700004 meters 0.06086000631737357 Centerline is valid? [True, True] Translation: X:198.00, Y:-71.60, Z:-24.38 [[ 9.32663391e-01 3.52077590e-01 7.86153324e-02 1.98004733e+02] [-3.50785111e-01 9.35970662e-01 -3.01450614e-02 -7.16011391e+01] [-8.41950453e-02 5.38107087e-04 9.96449148e-01 -2.43806241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05119381700004 meters 0.060751446528323885 Centerline is valid? [True, True] Translation: X:198.03, Y:-71.61, Z:-24.38 [[ 9.33101598e-01 3.50967268e-01 7.83797452e-02 1.98034276e+02] [-3.49676200e-01 9.36387493e-01 -3.00835276e-02 -7.16139913e+01] [-8.39521466e-02 6.63456297e-04 9.96469566e-01 -2.43813171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08119381700004 meters 0.060990957182559834 Centerline is valid? [True, True] Translation: X:198.06, Y:-71.63, Z:-24.38 [[ 9.33626945e-01 3.49613289e-01 7.81746517e-02 1.98062351e+02] [-3.48321986e-01 9.36893748e-01 -3.00316449e-02 -7.16270466e+01] [-8.37408046e-02 8.08402953e-04 9.96487242e-01 -2.43849510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11119381700001 meters 0.061088809922061324 Centerline is valid? [True, True] Translation: X:198.09, Y:-71.64, Z:-24.39 [[ 9.34030138e-01 3.48496705e-01 7.83437826e-02 1.98092092e+02] [-3.47193739e-01 9.37309540e-01 -3.01219770e-02 -7.16404876e+01] [-8.39297846e-02 9.34363465e-04 9.96471233e-01 -2.43872839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14119381700002 meters 0.061102733581964816 Centerline is valid? [True, True] Translation: X:198.12, Y:-71.66, Z:-24.39 [[ 9.34803300e-01 3.46073382e-01 7.98498940e-02 1.98121138e+02] [-3.44709316e-01 9.38206690e-01 -3.07195995e-02 -7.16560297e+01] [-8.55469404e-02 1.19178064e-03 9.96333428e-01 -2.43881868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17119381700002 meters 0.06159026128411314 Centerline is valid? [True, True] Translation: X:198.15, Y:-71.67, Z:-24.39 [[ 9.35235434e-01 3.45110375e-01 7.89525982e-02 1.98149003e+02] [-3.43770566e-01 9.38561211e-01 -3.04080752e-02 -7.16689196e+01] [-8.45959884e-02 1.29713006e-03 9.96414490e-01 -2.43930348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20119381700002 meters 0.06168747729545394 Centerline is valid? [True, True] Translation: X:198.18, Y:-71.68, Z:-24.40 [[ 9.35238783e-01 3.45428505e-01 7.75084931e-02 1.98179259e+02] [-3.44136461e-01 9.38444214e-01 -2.98756470e-02 -7.16800023e+01] [-8.30572969e-02 1.26736520e-03 9.96543968e-01 -2.43974349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23119381700002 meters 0.06156919353635347 Centerline is valid? [True, True] Translation: X:198.21, Y:-71.69, Z:-24.40 [[ 9.34702628e-01 3.46870415e-01 7.75365240e-02 1.98209216e+02] [-3.45580114e-01 9.37912340e-01 -2.99136651e-02 -7.16909390e+01] [-8.30986281e-02 1.16530057e-03 9.96540646e-01 -2.44014104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26119381700002 meters 0.06118227118899488 Centerline is valid? [True, True] Translation: X:198.24, Y:-71.70, Z:-24.41 [[ 9.33796758e-01 3.49410254e-01 7.70460171e-02 1.98239407e+02] [-3.48142671e-01 9.36969346e-01 -2.97510441e-02 -7.17006862e+01] [-8.25850761e-02 9.58422388e-04 9.96583557e-01 -2.44055877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29119381700002 meters 0.06084154138839148 Centerline is valid? [True, True] Translation: X:198.27, Y:-71.71, Z:-24.41 [[ 9.32882922e-01 3.52094236e-01 7.58887497e-02 1.98270874e+02] [-3.50871402e-01 9.35964269e-01 -2.93282637e-02 -7.17093848e+01] [-8.13554707e-02 7.32644378e-04 9.96684880e-01 -2.44097156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32119381700002 meters 0.06041583444724863 Centerline is valid? [True, True] Translation: X:198.30, Y:-71.71, Z:-24.41 [[ 9.30562627e-01 3.58403835e-01 7.48324020e-02 1.98303926e+02] [-3.57232807e-01 9.33566628e-01 -2.89495054e-02 -7.17141285e+01] [-8.02366469e-02 2.06738795e-04 9.96775821e-01 -2.44146893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35119381700002 meters 0.060548427352644554 Centerline is valid? [True, True] Translation: X:198.33, Y:-71.72, Z:-24.42 [[ 9.29231504e-01 3.62057936e-01 7.37757671e-02 1.98333107e+02] [-3.60928770e-01 9.32155591e-01 -2.85723218e-02 -7.17221637e+01] [-7.91153296e-02 -7.74952988e-05 9.96865467e-01 -2.44218615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38119381700002 meters 0.06028181884361819 Centerline is valid? [True, True] Translation: X:198.36, Y:-71.73, Z:-24.42 [[ 9.28288653e-01 3.64679710e-01 7.27247260e-02 1.98363316e+02] [-3.63588440e-01 9.31132985e-01 -2.81923872e-02 -7.17320349e+01] [-7.79975827e-02 -2.71196539e-04 9.96953511e-01 -2.44227258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41119381700003 meters 0.06039001814475427 Centerline is valid? [True, True] Translation: X:198.39, Y:-71.74, Z:-24.43 [[ 9.27658221e-01 3.66368224e-01 7.22810389e-02 1.98393038e+02] [-3.65294737e-01 9.30469861e-01 -2.80284310e-02 -7.17436801e+01] [-7.75240547e-02 -4.03078624e-04 9.96990400e-01 -2.44274564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44119381700003 meters 0.06024139297051749 Centerline is valid? [True, True] Translation: X:198.42, Y:-71.76, Z:-24.43 [[ 9.27400677e-01 3.66761234e-01 7.35811238e-02 1.98420892e+02] [-3.65647800e-01 9.30315012e-01 -2.85598334e-02 -7.17582023e+01] [-7.89282638e-02 -4.18367228e-04 9.96880211e-01 -2.44298409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47119381700003 meters 0.05995050243698948 Centerline is valid? [True, True] Translation: X:198.45, Y:-71.77, Z:-24.43 [[ 9.27793834e-01 3.65567172e-01 7.45603354e-02 1.98449834e+02] [-3.64418105e-01 9.30784913e-01 -2.89636158e-02 -7.17723547e+01] [-7.99877824e-02 -2.98872030e-04 9.96795799e-01 -2.44325298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50119381700003 meters 0.05979926503053552 Centerline is valid? [True, True] Translation: X:198.48, Y:-71.79, Z:-24.44 [[ 9.28103851e-01 3.64521852e-01 7.58093775e-02 1.98478960e+02] [-3.63328233e-01 9.31194815e-01 -2.94756047e-02 -7.17850752e+01] [-8.13378013e-02 -1.87264964e-04 9.96686574e-01 -2.44363821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53119381700003 meters 0.05960386500041788 Centerline is valid? [True, True] Translation: X:198.51, Y:-71.80, Z:-24.44 [[ 9.28167728e-01 3.63876784e-01 7.80919644e-02 1.98508749e+02] [-3.62605478e-01 9.31447086e-01 -3.03906678e-02 -7.17979395e+01] [-8.37969912e-02 -1.08937012e-04 9.96482841e-01 -2.44386242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56119381700003 meters 0.05914552728381418 Centerline is valid? [True, True] Translation: X:198.54, Y:-71.81, Z:-24.44 [[ 9.28257309e-01 3.63342955e-01 7.95001009e-02 1.98538307e+02] [-3.62020469e-01 9.31655460e-01 -3.09723036e-02 -7.18126164e+01] [-8.53202714e-02 -3.03966817e-05 9.96353577e-01 -2.44388145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59119381700003 meters 0.05902542096230765 Centerline is valid? [True, True] Translation: X:198.57, Y:-71.83, Z:-24.44 [[ 9.28123089e-01 3.63546591e-01 8.01336926e-02 1.98568289e+02] [-3.62202812e-01 9.31576017e-01 -3.12289682e-02 -7.18255012e+01] [-8.60038111e-02 -4.03223268e-05 9.96294807e-01 -2.44409004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62119381700003 meters 0.05885221036822426 Centerline is valid? [True, True] Translation: X:198.60, Y:-71.84, Z:-24.44 [[ 9.27836290e-01 3.64371974e-01 7.97049826e-02 1.98598844e+02] [-3.63045383e-01 9.31253484e-01 -3.10644193e-02 -7.18376985e+01] [-8.55445466e-02 -1.13830365e-04 9.96334340e-01 -2.44439496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65119381700003 meters 0.05896687515695112 Centerline is valid? [True, True] Translation: X:198.63, Y:-71.85, Z:-24.45 [[ 9.27586600e-01 3.64986478e-01 7.97995611e-02 1.98628682e+02] [-3.63656161e-01 9.31012809e-01 -3.11343139e-02 -7.18483641e+01] [-8.56580171e-02 -1.39829589e-04 9.96324588e-01 -2.44494536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68119381700004 meters 0.05890310575281476 Centerline is valid? [True, True] Translation: X:198.66, Y:-71.86, Z:-24.45 [[ 9.27111864e-01 3.66334010e-01 7.91390240e-02 1.98658356e+02] [-3.65027981e-01 9.30483390e-01 -3.09068740e-02 -7.18585606e+01] [-8.49597864e-02 -2.33828597e-04 9.96384354e-01 -2.44541747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71119381700004 meters 0.05891813475884071 Centerline is valid? [True, True] Translation: X:198.69, Y:-71.87, Z:-24.46 [[ 9.26913052e-01 3.67121364e-01 7.78080820e-02 1.98688351e+02] [-3.65859627e-01 9.30173009e-01 -3.04122684e-02 -7.18700850e+01] [-8.35399713e-02 -2.77307317e-04 9.96504389e-01 -2.44577519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74119381700004 meters 0.05916079648739791 Centerline is valid? [True, True] Translation: X:198.72, Y:-71.88, Z:-24.46 [[ 9.27064381e-01 3.66958585e-01 7.67660717e-02 1.98716688e+02] [-3.65727644e-01 9.30237250e-01 -3.00324605e-02 -7.18827166e+01] [-8.24313287e-02 -2.33450061e-04 9.96596720e-01 -2.44630910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77119381700004 meters 0.05921020100215442 Centerline is valid? [True, True] Translation: X:198.75, Y:-71.90, Z:-24.47 [[ 9.26991936e-01 3.67115762e-01 7.68893299e-02 1.98746644e+02] [-3.65879483e-01 9.30175234e-01 -3.01037848e-02 -7.18961371e+01] [-8.25721244e-02 -2.26262535e-04 9.96585066e-01 -2.44674498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80119381700004 meters 0.059262810682440166 Centerline is valid? [True, True] Translation: X:198.77, Y:-71.91, Z:-24.47 [[ 9.27013931e-01 3.67028361e-01 7.70412445e-02 1.98774828e+02] [-3.65784298e-01 9.30209732e-01 -3.01943827e-02 -7.19094920e+01] [-8.27467102e-02 -1.89864170e-04 9.96570593e-01 -2.44723090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83119381700004 meters 0.05976549615745298 Centerline is valid? [True, True] Translation: X:198.80, Y:-71.93, Z:-24.48 [[ 9.28046301e-01 3.65351025e-01 7.24478575e-02 1.98801586e+02] [-3.64243257e-01 9.30869823e-01 -2.84292422e-02 -7.19261314e+01] [-7.78261771e-02 -4.99049167e-06 9.96966943e-01 -2.44792802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86119381700001 meters 0.06022071702059962 Centerline is valid? [True, True] Translation: X:198.83, Y:-71.94, Z:-24.49 [[ 9.28691922e-01 3.64166090e-01 7.01025870e-02 1.98828567e+02] [-3.63125358e-01 9.31334016e-01 -2.75122544e-02 -7.19399775e+01] [-7.53079540e-02 9.43814464e-05 9.97160320e-01 -2.44854747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89119381700002 meters 0.06057616908192807 Centerline is valid? [True, True] Translation: X:198.86, Y:-71.95, Z:-24.49 [[ 9.29270327e-01 3.62864046e-01 6.91833997e-02 1.98855932e+02] [-3.61847346e-01 9.31842072e-01 -2.71449940e-02 -7.19545605e+01] [-7.43179449e-02 1.91207945e-04 9.97234579e-01 -2.44920066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92119381700002 meters 0.060897507135942865 Centerline is valid? [True, True] Translation: X:198.88, Y:-71.97, Z:-24.50 [[ 9.30092024e-01 3.60932058e-01 6.82413087e-02 1.98882626e+02] [-3.59936152e-01 9.32592043e-01 -2.67964001e-02 -7.19723293e+01] [-7.33129813e-02 3.60603942e-04 9.97308917e-01 -2.44962272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95119381700002 meters 0.0610692782211165 Centerline is valid? [True, True] Translation: X:198.91, Y:-71.99, Z:-24.50 [[ 9.30365924e-01 3.60228705e-01 6.82240961e-02 1.98910471e+02] [-3.59229952e-01 9.32863919e-01 -2.68095226e-02 -7.19875776e+01] [-7.33013573e-02 4.34527489e-04 9.97309742e-01 -2.45001863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98119381700002 meters 0.06086198135004253 Centerline is valid? [True, True] Translation: X:198.94, Y:-72.00, Z:-24.50 [[ 9.30791855e-01 3.59148573e-01 6.81089270e-02 1.98939592e+02] [-3.58148421e-01 9.33280241e-01 -2.67899232e-02 -7.20021593e+01] [-7.31862785e-02 5.42737644e-04 9.97318141e-01 -2.45029182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01119381700002 meters 0.060776534198120714 Centerline is valid? [True, True] Translation: X:198.97, Y:-72.02, Z:-24.51 [[ 9.30894164e-01 3.58724501e-01 6.89404616e-02 1.98968162e+02] [-3.57696802e-01 9.33443285e-01 -2.71409649e-02 -7.20157962e+01] [-7.40881400e-02 6.05583195e-04 9.97251513e-01 -2.45054170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04119381700002 meters 0.060914479796352054 Centerline is valid? [True, True] Translation: X:198.99, Y:-72.03, Z:-24.51 [[ 9.32031274e-01 3.55218986e-01 7.16740983e-02 1.98994851e+02] [-3.54095583e-01 9.34782637e-01 -2.82442867e-02 -7.20325292e+01] [-7.70326095e-02 9.45076963e-04 9.97028126e-01 -2.45077077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07119381700002 meters 0.061241762143483106 Centerline is valid? [True, True] Translation: X:199.02, Y:-72.05, Z:-24.51 [[ 9.32567110e-01 3.53413058e-01 7.36056701e-02 1.99022188e+02] [-3.52220620e-01 9.35466672e-01 -2.90299924e-02 -7.20468393e+01] [-7.91152297e-02 1.14698138e-03 9.96864818e-01 -2.45107082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10119381700002 meters 0.06173410833756764 Centerline is valid? [True, True] Translation: X:199.05, Y:-72.06, Z:-24.51 [[ 9.33637169e-01 3.50466147e-01 7.41290548e-02 1.99050547e+02] [-3.49245576e-01 9.36574312e-01 -2.92589574e-02 -7.20618402e+01] [-7.96816425e-02 1.42800570e-03 9.96819340e-01 -2.45128900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13119381700002 meters 0.0621608071552099 Centerline is valid? [True, True] Translation: X:199.08, Y:-72.08, Z:-24.51 [[ 9.35734633e-01 3.44215892e-01 7.69162941e-02 1.99079426e+02] [-3.42878318e-01 9.38888266e-01 -3.03855592e-02 -7.20782107e+01] [-8.26749984e-02 2.05989047e-03 9.96574433e-01 -2.45102045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16119381700003 meters 0.06447714149810081 Centerline is valid? [True, True] Translation: X:199.11, Y:-72.10, Z:-24.52 [[ 9.36776754e-01 3.40982261e-01 7.86155867e-02 1.99105705e+02] [-3.39570928e-01 9.40066601e-01 -3.10864958e-02 -7.20951843e+01] [-8.45038311e-02 2.42553891e-03 9.96420202e-01 -2.45158283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19119381700003 meters 0.06358528128136082 Centerline is valid? [True, True] Translation: X:199.14, Y:-72.11, Z:-24.51 [[ 9.37903820e-01 3.38055573e-01 7.78129389e-02 1.99136357e+02] [-3.36660822e-01 9.41122319e-01 -3.07940275e-02 -7.21051098e+01] [-8.36415861e-02 2.68526807e-03 9.96492285e-01 -2.45148072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22119381700003 meters 0.06715888803691833 Centerline is valid? [True, True] Translation: X:199.16, Y:-72.12, Z:-24.52 [[ 9.38977150e-01 3.35091787e-01 7.76878784e-02 1.99162332e+02] [-3.33689218e-01 9.42180809e-01 -3.07705801e-02 -7.21226251e+01] [-8.35069968e-02 2.96926427e-03 9.96502767e-01 -2.45226388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25119381700003 meters 0.06741578732080054 Centerline is valid? [True, True] Translation: X:199.19, Y:-72.13, Z:-24.52 [[ 9.40976373e-01 3.29975437e-01 7.53636315e-02 1.99192130e+02] [-3.28636607e-01 9.43983567e-01 -2.98832073e-02 -7.21304617e+01] [-8.10027541e-02 3.35214384e-03 9.96708241e-01 -2.45242318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28119381700003 meters 0.06866370162768902 Centerline is valid? [True, True] Translation: X:199.22, Y:-72.14, Z:-24.53 [[ 9.41439178e-01 3.28477803e-01 7.61223195e-02 1.99220882e+02] [-3.27107529e-01 9.44505170e-01 -3.01769589e-02 -7.21424901e+01] [-8.18103855e-02 3.50958751e-03 9.96641733e-01 -2.45284514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31119381700003 meters 0.06843720935872462 Centerline is valid? [True, True] Translation: X:199.25, Y:-72.15, Z:-24.53 [[ 9.41866695e-01 3.27442043e-01 7.52916815e-02 1.99251316e+02] [-3.26096316e-01 9.44864473e-01 -2.98717513e-02 -7.21516434e+01] [-8.09217022e-02 3.58286775e-03 9.96714022e-01 -2.45309456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34119381700003 meters 0.06918392842410634 Centerline is valid? [True, True] Translation: X:199.28, Y:-72.16, Z:-24.54 [[ 9.42247266e-01 3.26477066e-01 7.47182366e-02 1.99281518e+02] [-3.25146880e-01 9.45198037e-01 -2.96677654e-02 -7.21623685e+01] [-8.03093756e-02 3.65996933e-03 9.96763266e-01 -2.45350710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37119381700003 meters 0.07029523592008749 Centerline is valid? [True, True] Translation: X:199.31, Y:-72.17, Z:-24.54 [[ 9.42780563e-01 3.25109730e-01 7.39491275e-02 1.99311883e+02] [-3.23800510e-01 9.45668814e-01 -2.93891892e-02 -7.21699127e+01] [-7.94860950e-02 3.76279114e-03 9.96828873e-01 -2.45391318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40119381700003 meters 0.07029523592008749 Centerline is valid? [True, True] Translation: X:199.34, Y:-72.18, Z:-24.54 [[ 9.42667262e-01 3.25439831e-01 7.39415282e-02 1.99341771e+02] [-3.24130129e-01 9.45555293e-01 -2.94082936e-02 -7.21820754e+01] [-7.94864335e-02 3.75555855e-03 9.96828873e-01 -2.45428494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43119381700004 meters 0.07167824882382917 Centerline is valid? [True, True] Translation: X:199.37, Y:-72.19, Z:-24.55 [[ 9.42754274e-01 3.25170232e-01 7.40182340e-02 1.99370930e+02] [-3.23854375e-01 9.45647810e-01 -2.94714028e-02 -7.21930713e+01] [-7.95784038e-02 3.81316207e-03 9.96821317e-01 -2.45478824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46119381700004 meters 0.07183338692137672 Centerline is valid? [True, True] Translation: X:199.40, Y:-72.20, Z:-24.55 [[ 9.43358323e-01 3.23861432e-01 7.20336525e-02 1.99400974e+02] [-3.22609038e-01 9.46096700e-01 -2.87131257e-02 -7.22013288e+01] [-7.74498749e-02 3.84805882e-03 9.96988821e-01 -2.45524363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49119381700004 meters 0.07299995213268778 Centerline is valid? [True, True] Translation: X:199.43, Y:-72.21, Z:-24.56 [[ 9.44100786e-01 3.21625652e-01 7.23232087e-02 1.99432597e+02] [-3.20356531e-01 9.46858251e-01 -2.88295964e-02 -7.22089567e+01] [-7.77521646e-02 4.04883236e-03 9.96964497e-01 -2.45562542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52119381700004 meters 0.07241980686132361 Centerline is valid? [True, True] Translation: X:199.46, Y:-72.22, Z:-24.56 [[ 9.44338033e-01 3.20698030e-01 7.33379377e-02 1.99463752e+02] [-3.19390055e-01 9.47172243e-01 -2.92358354e-02 -7.22166507e+01] [-7.88395338e-02 4.18510328e-03 9.96878535e-01 -2.45579715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55119381700004 meters 0.07442071362328827 Centerline is valid? [True, True] Translation: X:199.49, Y:-72.23, Z:-24.56 [[ 9.44436641e-01 3.19822403e-01 7.58489390e-02 1.99492381e+02] [-3.18417888e-01 9.47467137e-01 -3.02666841e-02 -7.22279549e+01] [-8.15443408e-02 4.43330646e-03 9.96659855e-01 -2.45624161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58119381700004 meters 0.07371256132286655 Centerline is valid? [True, True] Translation: X:199.52, Y:-72.24, Z:-24.56 [[ 9.44659018e-01 3.19072275e-01 7.62379429e-02 1.99524072e+02] [-3.17648797e-01 9.47719487e-01 -3.04469482e-02 -7.22353760e+01] [-8.19669612e-02 4.54509336e-03 9.96624683e-01 -2.45639441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61119381700001 meters 0.0764269929545164 Centerline is valid? [True, True] Translation: X:199.55, Y:-72.24, Z:-24.57 [[ 9.45814841e-01 3.15653052e-01 7.61409032e-02 1.99554496e+02] [-3.14219226e-01 9.48862181e-01 -3.04440331e-02 -7.22422230e+01] [-8.18569755e-02 4.86948259e-03 9.96632191e-01 -2.45672588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64119381700002 meters 0.07973882717223077 Centerline is valid? [True, True] Translation: X:199.58, Y:-72.25, Z:-24.57 [[ 9.46004077e-01 3.14829400e-01 7.71928415e-02 1.99583142e+02] [-3.13353200e-01 9.49135076e-01 -3.08606578e-02 -7.22543858e+01] [-8.29822758e-02 5.00568418e-03 9.96538451e-01 -2.45723490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67119381700002 meters 0.07655346143063857 Centerline is valid? [True, True] Translation: X:199.62, Y:-72.26, Z:-24.57 [[ 9.46453733e-01 3.13639991e-01 7.65198563e-02 1.99617685e+02] [-3.12183045e-01 9.49528304e-01 -3.06226412e-02 -7.22559736e+01] [-8.22622542e-02 5.09471131e-03 9.96597695e-01 -2.45727438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70119381700002 meters 0.07749819679802004 Centerline is valid? [True, True] Translation: X:199.65, Y:-72.26, Z:-24.58 [[ 9.46765745e-01 3.12379971e-01 7.78034600e-02 1.99648964e+02] [-3.10869245e-01 9.49942487e-01 -3.11381337e-02 -7.22628456e+01] [-8.36357416e-02 5.29381550e-03 9.96482332e-01 -2.45755602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73119381700002 meters 0.07785084938635474 Centerline is valid? [True, True] Translation: X:199.68, Y:-72.26, Z:-24.58 [[ 9.47013597e-01 3.11438371e-01 7.85581895e-02 1.99684180e+02] [-3.09892723e-01 9.50250701e-01 -3.14659503e-02 -7.22607107e+01] [-8.44496789e-02 5.45407156e-03 9.96412818e-01 -2.45766944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76119381700002 meters 0.07517401285032371 Centerline is valid? [True, True] Translation: X:199.72, Y:-72.26, Z:-24.58 [[ 9.46785379e-01 3.11967241e-01 7.92078714e-02 1.99719295e+02] [-3.10394782e-01 9.50077029e-01 -3.17603307e-02 -7.22611310e+01] [-8.51617618e-02 5.48450672e-03 9.96352043e-01 -2.45777434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79119381700002 meters 0.07655903171979966 Centerline is valid? [True, True] Translation: X:199.75, Y:-72.27, Z:-24.58 [[ 9.46523720e-01 3.12520880e-01 8.01470356e-02 1.99749945e+02] [-3.10912046e-01 9.49894922e-01 -3.21455562e-02 -7.22670413e+01] [-8.61774197e-02 5.50785264e-03 9.96264581e-01 -2.45816422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82119381700002 meters 0.07633813237978708 Centerline is valid? [True, True] Translation: X:199.78, Y:-72.27, Z:-24.59 [[ 9.46324515e-01 3.13415906e-01 7.89960919e-02 1.99783386e+02] [-3.11855217e-01 9.49600842e-01 -3.16948686e-02 -7.22712062e+01] [-8.49484313e-02 5.35828780e-03 9.96370941e-01 -2.45853916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85119381700002 meters 0.07360595141246296 Centerline is valid? [True, True] Translation: X:199.82, Y:-72.26, Z:-24.59 [[ 9.45574365e-01 3.15926964e-01 7.79697035e-02 1.99821039e+02] [-3.14411728e-01 9.48769783e-01 -3.13235429e-02 -7.22619928e+01] [-8.38712504e-02 5.10415003e-03 9.96463527e-01 -2.45878411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88119381700002 meters 0.07433308433636959 Centerline is valid? [True, True] Translation: X:199.85, Y:-72.27, Z:-24.59 [[ 9.45058857e-01 3.17467734e-01 7.79614990e-02 1.99852450e+02] [-3.15958341e-01 9.48256085e-01 -3.13165128e-02 -7.22662766e+01] [-8.38694482e-02 4.96336183e-03 9.96464390e-01 -2.45929765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91119381700003 meters 0.07295355677495102 Centerline is valid? [True, True] Translation: X:199.89, Y:-72.27, Z:-24.60 [[ 9.44541468e-01 3.18971776e-01 7.80923888e-02 1.99886510e+02] [-3.17460289e-01 9.47751744e-01 -3.13942121e-02 -7.22680169e+01] [-8.40260652e-02 4.86190284e-03 9.96451696e-01 -2.45965755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94119381700003 meters 0.07344287839730687 Centerline is valid? [True, True] Translation: X:199.92, Y:-72.27, Z:-24.60 [[ 9.43991726e-01 3.20652931e-01 7.78544727e-02 1.99918017e+02] [-3.19153934e-01 9.47184972e-01 -3.13272238e-02 -7.22725233e+01] [-8.37877527e-02 4.72507884e-03 9.96472421e-01 -2.46015890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97119381700003 meters 0.07240547765393363 Centerline is valid? [True, True] Translation: X:199.95, Y:-72.27, Z:-24.60 [[ 9.43361109e-01 3.22480129e-01 7.79511727e-02 1.99953524e+02] [-3.20980783e-01 9.46565055e-01 -3.13995790e-02 -7.22673044e+01] [-8.39115963e-02 4.60031322e-03 9.96462584e-01 -2.46049780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00119381700003 meters 0.07161931624337542 Centerline is valid? [True, True] Translation: X:199.99, Y:-72.27, Z:-24.61 [[ 9.43165451e-01 3.23179701e-01 7.74197161e-02 1.99987015e+02] [-3.21703634e-01 9.46326910e-01 -3.11793263e-02 -7.22715398e+01] [-8.33408861e-02 4.50105933e-03 9.96510932e-01 -2.46083000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03119381700003 meters 0.071784430791743 Centerline is valid? [True, True] Translation: X:200.02, Y:-72.28, Z:-24.61 [[ 9.43086909e-01 3.23569190e-01 7.67467357e-02 2.00019514e+02] [-3.22117352e-01 9.46194010e-01 -3.09403667e-02 -7.22767492e+01] [-8.26286510e-02 4.45799955e-03 9.96570435e-01 -2.46123091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06119381700003 meters 0.07094009678478745 Centerline is valid? [True, True] Translation: X:200.05, Y:-72.28, Z:-24.62 [[ 9.42821917e-01 3.24417662e-01 7.64199776e-02 2.00052501e+02] [-3.22978774e-01 9.45903752e-01 -3.08350866e-02 -7.22807067e+01] [-8.22893903e-02 4.38996474e-03 9.96598808e-01 -2.46154595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09119381700003 meters 0.06902834616265023 Centerline is valid? [True, True] Translation: X:200.09, Y:-72.28, Z:-24.62 [[ 9.42158152e-01 3.26248824e-01 7.68096414e-02 2.00089145e+02] [-3.24798991e-01 9.45274250e-01 -3.10194770e-02 -7.22766416e+01] [-8.27262440e-02 4.27755909e-03 9.96563129e-01 -2.46174096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12119381700003 meters 0.06944422340057944 Centerline is valid? [True, True] Translation: X:200.12, Y:-72.28, Z:-24.62 [[ 9.41347261e-01 3.28254190e-01 7.81953983e-02 2.00119774e+02] [-3.26755147e-01 9.44580038e-01 -3.16168551e-02 -7.22822927e+01] [-8.42401774e-02 4.21169105e-03 9.96436578e-01 -2.46213111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15119381700003 meters 0.06843697502658579 Centerline is valid? [True, True] Translation: X:200.15, Y:-72.28, Z:-24.62 [[ 9.40114041e-01 3.31484997e-01 7.93932395e-02 2.00151104e+02] [-3.29950549e-01 9.43452061e-01 -3.21067483e-02 -7.22849105e+01] [-8.55466208e-02 3.98816189e-03 9.96326187e-01 -2.46240807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18119381700004 meters 0.06680310579164409 Centerline is valid? [True, True] Translation: X:200.18, Y:-72.29, Z:-24.63 [[ 9.38670127e-01 3.35329711e-01 8.03266963e-02 2.00182696e+02] [-3.33772779e-01 9.42093640e-01 -3.24854714e-02 -7.22854329e+01] [-8.65686134e-02 3.68227689e-03 9.96239086e-01 -2.46267052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21119381700004 meters 0.062495701938652254 Centerline is valid? [True, True] Translation: X:200.22, Y:-72.27, Z:-24.63 [[ 9.35729821e-01 3.43426397e-01 8.04239528e-02 2.00220816e+02] [-3.41895826e-01 9.39175014e-01 -3.25198079e-02 -7.22734204e+01] [-8.67003274e-02 2.93314030e-03 9.96230119e-01 -2.46285320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24119381700004 meters 0.061582274496105975 Centerline is valid? [True, True] Translation: X:200.25, Y:-72.28, Z:-24.63 [[ 9.34456678e-01 3.47009792e-01 7.98431011e-02 2.00250106e+02] [-3.45514141e-01 9.37857947e-01 -3.22870024e-02 -7.22753188e+01] [-8.60853928e-02 2.58388455e-03 9.96284412e-01 -2.46328672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27119381700004 meters 0.06013915682653541 Centerline is valid? [True, True] Translation: X:200.28, Y:-72.28, Z:-24.64 [[ 9.33197435e-01 3.50320338e-01 8.01137137e-02 2.00280079e+02] [-3.48827350e-01 9.36627176e-01 -3.23884711e-02 -7.22773311e+01] [-8.63830215e-02 2.27898370e-03 9.96259394e-01 -2.46353508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30119381700004 meters 0.059745869463507004 Centerline is valid? [True, True] Translation: X:200.31, Y:-72.28, Z:-24.64 [[ 9.31952210e-01 3.54015640e-01 7.83454226e-02 2.00309789e+02] [-3.52601560e-01 9.35237599e-01 -3.16666042e-02 -7.22765508e+01] [-8.44820581e-02 1.88704357e-03 9.96423214e-01 -2.46418784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33119381700004 meters 0.05964585737427457 Centerline is valid? [True, True] Translation: X:200.34, Y:-72.28, Z:-24.65 [[ 9.31768832e-01 3.54748881e-01 7.72015159e-02 2.00338097e+02] [-3.53378647e-01 9.34959905e-01 -3.12010873e-02 -7.22816309e+01] [-8.32488728e-02 1.79083348e-03 9.96527179e-01 -2.46461694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36119381700001 meters 0.05991036536464411 Centerline is valid? [True, True] Translation: X:200.37, Y:-72.29, Z:-24.65 [[ 9.31918179e-01 3.54626480e-01 7.59510804e-02 2.00365298e+02] [-3.53302582e-01 9.35006430e-01 -3.06636873e-02 -7.22885385e+01] [-8.18889040e-02 1.74233480e-03 9.96639941e-01 -2.46513387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39119381700002 meters 0.06039905108775645 Centerline is valid? [True, True] Translation: X:200.39, Y:-72.30, Z:-24.66 [[ 9.32269719e-01 3.54052314e-01 7.42975730e-02 2.00392368e+02] [-3.52784414e-01 9.35223991e-01 -2.99873998e-02 -7.22964710e+01] [-8.01019810e-02 1.74531903e-03 9.96785146e-01 -2.46557728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42119381700002 meters 0.060233754047487466 Centerline is valid? [True, True] Translation: X:200.42, Y:-72.30, Z:-24.66 [[ 9.32702221e-01 3.53167742e-01 7.30692306e-02 2.00420604e+02] [-3.51939444e-01 9.35558318e-01 -2.94832283e-02 -7.23024283e+01] [-7.87730517e-02 1.78312809e-03 9.96890980e-01 -2.46575470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45119381700002 meters 0.06073523701611692 Centerline is valid? [True, True] Translation: X:200.45, Y:-72.31, Z:-24.66 [[ 9.32704205e-01 3.52834588e-01 7.46365839e-02 2.00446193e+02] [-3.51552509e-01 9.35683898e-01 -3.01077457e-02 -7.23129441e+01] [-8.04593038e-02 1.84294263e-03 9.96756191e-01 -2.46614360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48119381700002 meters 0.06047947859574291 Centerline is valid? [True, True] Translation: X:200.47, Y:-72.32, Z:-24.66 [[ 9.33109707e-01 3.51638373e-01 7.52112309e-02 2.00473272e+02] [-3.50333851e-01 9.36133894e-01 -3.03236974e-02 -7.23221074e+01] [-8.10707580e-02 1.94629632e-03 9.96706448e-01 -2.46611965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51119381700002 meters 0.06153098497707931 Centerline is valid? [True, True] Translation: X:200.50, Y:-72.33, Z:-24.66 [[ 9.33513348e-01 3.50152574e-01 7.71103435e-02 2.00498077e+02] [-3.48776978e-01 9.36690283e-01 -3.10794723e-02 -7.23345618e+01] [-8.31110667e-02 2.11878969e-03 9.96538038e-01 -2.46648404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54119381700002 meters 0.06186235258728791 Centerline is valid? [True, True] Translation: X:200.52, Y:-72.35, Z:-24.66 [[ 9.34814354e-01 3.45887607e-01 8.05225858e-02 2.00524620e+02] [-3.44371831e-01 9.38272334e-01 -3.24510356e-02 -7.23455153e+01] [-8.67765255e-02 2.60598361e-03 9.96224394e-01 -2.46624624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57119381700002 meters 0.06253829980205464 Centerline is valid? [True, True] Translation: X:200.55, Y:-72.36, Z:-24.67 [[ 9.35617146e-01 3.43747704e-01 8.03621351e-02 2.00551197e+02] [-3.42232915e-01 9.39057960e-01 -3.23539801e-02 -7.23569240e+01] [-8.65863090e-02 2.76837073e-03 9.96240507e-01 -2.46655942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60119381700002 meters 0.06248977185560509 Centerline is valid? [True, True] Translation: X:200.58, Y:-72.37, Z:-24.67 [[ 9.36181202e-01 3.42045133e-01 8.10548274e-02 2.00577773e+02] [-3.40500120e-01 9.39678972e-01 -3.26051786e-02 -7.23668499e+01] [-8.73179595e-02 2.92517681e-03 9.96176198e-01 -2.46672824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63119381700002 meters 0.06348286951802247 Centerline is valid? [True, True] Translation: X:200.60, Y:-72.38, Z:-24.67 [[ 9.36804628e-01 3.40315973e-01 8.11303070e-02 2.00602798e+02] [-3.38764434e-01 9.40306164e-01 -3.26033179e-02 -7.23788058e+01] [-8.73827576e-02 3.05887651e-03 9.96170114e-01 -2.46715364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66119381700003 meters 0.06348286951802247 Centerline is valid? [True, True] Translation: X:200.63, Y:-72.39, Z:-24.67 [[ 9.36916858e-01 3.40006059e-01 8.11337211e-02 2.00628246e+02] [-3.38454096e-01 9.40418206e-01 -3.25948211e-02 -7.23887611e+01] [-8.73820651e-02 3.07859709e-03 9.96170114e-01 -2.46746773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69119381700003 meters 0.06366967836390075 Centerline is valid? [True, True] Translation: X:200.65, Y:-72.40, Z:-24.68 [[ 9.36749953e-01 3.40484649e-01 8.10538617e-02 2.00654277e+02] [-3.38940846e-01 9.40245304e-01 -3.25249302e-02 -7.23979065e+01] [-8.72847523e-02 2.99526245e-03 9.96178900e-01 -2.46797013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72119381700003 meters 0.06313128534449018 Centerline is valid? [True, True] Translation: X:200.68, Y:-72.41, Z:-24.68 [[ 9.36527533e-01 3.41288327e-01 8.02400001e-02 2.00681984e+02] [-3.39778711e-01 9.39954224e-01 -3.21944905e-02 -7.24060279e+01] [-8.64095308e-02 2.88718294e-03 9.96255518e-01 -2.46830652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75119381700003 meters 0.06279473805534923 Centerline is valid? [True, True] Translation: X:200.71, Y:-72.41, Z:-24.69 [[ 9.36221687e-01 3.42178360e-01 8.00182645e-02 2.00709416e+02] [-3.40682650e-01 9.39630931e-01 -3.20787474e-02 -7.24143131e+01] [-8.61642895e-02 2.77198467e-03 9.96277086e-01 -2.46869026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78119381700003 meters 0.06176274974222144 Centerline is valid? [True, True] Translation: X:200.74, Y:-72.42, Z:-24.69 [[ 9.34783620e-01 3.45963229e-01 8.05545076e-02 2.00737508e+02] [-3.44464356e-01 9.38244984e-01 -3.22592383e-02 -7.24212718e+01] [-8.67403729e-02 2.40725096e-03 9.96228043e-01 -2.46906441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81119381700003 meters 0.06105929567160804 Centerline is valid? [True, True] Translation: X:200.77, Y:-72.43, Z:-24.69 [[ 9.34159335e-01 3.47558691e-01 8.09277077e-02 2.00765222e+02] [-3.46051557e-01 9.37655476e-01 -3.24118662e-02 -7.24294781e+01] [-8.71473340e-02 2.27268810e-03 9.96192841e-01 -2.46934810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84119381700003 meters 0.0609840668480405 Centerline is valid? [True, True] Translation: X:200.79, Y:-72.44, Z:-24.70 [[ 9.33717763e-01 3.48888281e-01 8.03001014e-02 2.00791575e+02] [-3.47411979e-01 9.37161961e-01 -3.21305898e-02 -7.24374147e+01] [-8.64641868e-02 2.10368527e-03 9.96252738e-01 -2.46982215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87119381700003 meters 0.06021265837531324 Centerline is valid? [True, True] Translation: X:200.82, Y:-72.44, Z:-24.70 [[ 9.33336532e-01 3.50034925e-01 7.97400036e-02 2.00819192e+02] [-3.48584175e-01 9.36734569e-01 -3.18970388e-02 -7.24449214e+01] [-8.58602955e-02 1.97456823e-03 9.96305230e-01 -2.47014333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90119381700003 meters 0.060774611678578144 Centerline is valid? [True, True] Translation: X:200.84, Y:-72.46, Z:-24.71 [[ 9.33153475e-01 3.50824760e-01 7.84001257e-02 2.00843724e+02] [-3.49427892e-01 9.36439321e-01 -3.13296475e-02 -7.24563691e+01] [-8.44081765e-02 1.84017885e-03 9.96429563e-01 -2.47087357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93119381700004 meters 0.06105169823023382 Centerline is valid? [True, True] Translation: X:200.87, Y:-72.47, Z:-24.71 [[ 9.33324727e-01 3.50471811e-01 7.79388400e-02 2.00869792e+02] [-3.49090438e-01 9.36571438e-01 -3.11417324e-02 -7.24679857e+01] [-8.39095908e-02 1.85764510e-03 9.96471640e-01 -2.47129307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96119381700004 meters 0.05954662417019166 Centerline is valid? [True, True] Translation: X:200.90, Y:-72.48, Z:-24.71 [[ 9.33457592e-01 3.50094936e-01 7.80413937e-02 2.00896915e+02] [-3.48710470e-01 9.36712350e-01 -3.11605796e-02 -7.24756358e+01] [-8.40114985e-02 1.87322849e-03 9.96463024e-01 -2.47109205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99119381700004 meters 0.0596084472066506 Centerline is valid? [True, True] Translation: X:200.92, Y:-72.49, Z:-24.71 [[ 9.33738744e-01 3.49272942e-01 7.83605160e-02 2.00922069e+02] [-3.47876883e-01 9.37019052e-01 -3.12565231e-02 -7.24865894e+01] [-8.43423542e-02 1.92561458e-03 9.96434975e-01 -2.47140459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02119381700004 meters 0.05995171771666733 Centerline is valid? [True, True] Translation: X:200.95, Y:-72.50, Z:-24.72 [[ 9.33859338e-01 3.48934563e-01 7.84309042e-02 2.00946929e+02] [-3.47537989e-01 9.37145119e-01 -3.12469456e-02 -7.24964499e+01] [-8.44042784e-02 1.92253324e-03 9.96429737e-01 -2.47179211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05119381700004 meters 0.05960846243805709 Centerline is valid? [True, True] Translation: X:200.97, Y:-72.51, Z:-24.72 [[ 9.34183929e-01 3.48168256e-01 7.79695586e-02 2.00973863e+02] [-3.46786129e-01 9.37429984e-01 -3.10548709e-02 -7.25058512e+01] [-8.39033223e-02 1.97219987e-03 9.96471948e-01 -2.47192841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08119381700004 meters 0.05991108692651988 Centerline is valid? [True, True] Translation: X:201.00, Y:-72.52, Z:-24.72 [[ 9.34192331e-01 3.48290374e-01 7.73207863e-02 2.00998862e+02] [-3.46934416e-01 9.37384742e-01 -3.07628951e-02 -7.25176299e+01] [-8.31937456e-02 1.91321884e-03 9.96531555e-01 -2.47239726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11119381700001 meters 0.06007928263279083 Centerline is valid? [True, True] Translation: X:201.02, Y:-72.53, Z:-24.73 [[ 9.34106364e-01 3.48442176e-01 7.76746444e-02 2.01024130e+02] [-3.47074950e-01 9.37328351e-01 -3.08956661e-02 -7.25297129e+01] [-8.35719995e-02 1.90091501e-03 9.96499928e-01 -2.47283328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14119381700002 meters 0.060022410708384204 Centerline is valid? [True, True] Translation: X:201.05, Y:-72.54, Z:-24.73 [[ 9.33919002e-01 3.48663141e-01 7.89259869e-02 2.01048546e+02] [-3.47253606e-01 9.37246189e-01 -3.13769670e-02 -7.25426221e+01] [-8.49130723e-02 1.89621218e-03 9.96386559e-01 -2.47305045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17119381700002 meters 0.05955387071272578 Centerline is valid? [True, True] Translation: X:201.08, Y:-72.55, Z:-24.73 [[ 9.33827550e-01 3.48683288e-01 7.99129003e-02 2.01075806e+02] [-3.47238626e-01 9.37238657e-01 -3.17653427e-02 -7.25532625e+01] [-8.59735034e-02 1.91450650e-03 9.96295584e-01 -2.47318959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20119381700002 meters 0.059295832350670694 Centerline is valid? [True, True] Translation: X:201.10, Y:-72.56, Z:-24.73 [[ 9.33417672e-01 3.49549360e-01 8.09116440e-02 2.01101705e+02] [-3.48074380e-01 9.36916168e-01 -3.21297243e-02 -7.25642906e+01] [-8.70383521e-02 1.82718214e-03 9.96203286e-01 -2.47340704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23119381700002 meters 0.058129736455761624 Centerline is valid? [True, True] Translation: X:201.13, Y:-72.57, Z:-24.73 [[ 9.32035619e-01 3.52522096e-01 8.38914557e-02 2.01129349e+02] [-3.50949923e-01 9.35802140e-01 -3.32942384e-02 -7.25749329e+01] [-9.02427585e-02 1.58971613e-03 9.95918529e-01 -2.47333588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26119381700002 meters 0.057934057796800685 Centerline is valid? [True, True] Translation: X:201.15, Y:-72.59, Z:-24.74 [[ 9.30965971e-01 3.55078388e-01 8.49805863e-02 2.01154597e+02] [-3.53475905e-01 9.34835545e-01 -3.37236960e-02 -7.25852943e+01] [-9.14174284e-02 1.35702378e-03 9.95811735e-01 -2.47371915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29119381700002 meters 0.05717299806924853 Centerline is valid? [True, True] Translation: X:201.18, Y:-72.59, Z:-24.74 [[ 9.29951776e-01 3.57608234e-01 8.54754100e-02 2.01182199e+02] [-3.55998193e-01 9.33871040e-01 -3.39141061e-02 -7.25936331e+01] [-9.19509737e-02 1.10939165e-03 9.95762917e-01 -2.47378256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32119381700002 meters 0.05717299806924853 Centerline is valid? [True, True] Translation: X:201.21, Y:-72.60, Z:-24.74 [[ 9.30078636e-01 3.57275722e-01 8.54856134e-02 2.01207667e+02] [-3.55666645e-01 9.33998296e-01 -3.38883648e-02 -7.26034757e+01] [-9.19509072e-02 1.11446276e-03 9.95762918e-01 -2.47409646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35119381700002 meters 0.05700139422360526 Centerline is valid? [True, True] Translation: X:201.23, Y:-72.61, Z:-24.75 [[ 9.27380496e-01 3.64517710e-01 8.42155265e-02 2.01233471e+02] [-3.62989571e-01 9.31196388e-01 -3.33445330e-02 -7.26123390e+01] [-9.05758669e-02 3.53711782e-04 9.95889495e-01 -2.47470059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38119381700002 meters 0.05704208810327593 Centerline is valid? [True, True] Translation: X:201.26, Y:-72.62, Z:-24.75 [[ 9.25656417e-01 3.69072364e-01 8.33413975e-02 2.01259878e+02] [-3.67595052e-01 9.29400656e-01 -3.29893522e-02 -7.26207075e+01] [-8.96330077e-02 -9.90798756e-05 9.95974856e-01 -2.47524411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41119381700003 meters 0.057802391936045944 Centerline is valid? [True, True] Translation: X:201.29, Y:-72.63, Z:-24.76 [[ 9.23825069e-01 3.73986060e-01 8.17414795e-02 2.01286227e+02] [-3.72585653e-01 9.27434144e-01 -3.23394539e-02 -7.26271710e+01] [-8.79043440e-02 -5.79704289e-04 9.96128752e-01 -2.47605801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44119381700003 meters 0.05845517083722851 Centerline is valid? [True, True] Translation: X:201.31, Y:-72.64, Z:-24.76 [[ 9.21999254e-01 3.78739488e-01 8.04597761e-02 2.01313825e+02] [-3.77401116e-01 9.25502761e-01 -3.18282522e-02 -7.26354454e+01] [-8.65203609e-02 -1.01998454e-03 9.96249560e-01 -2.47636218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47119381700003 meters 0.059686575234019386 Centerline is valid? [True, True] Translation: X:201.34, Y:-72.64, Z:-24.77 [[ 9.19960550e-01 3.83962982e-01 7.90254029e-02 2.01341596e+02] [-3.82694076e-01 9.23347244e-01 -3.12267847e-02 -7.26441365e+01] [-8.49578173e-02 -1.51514345e-03 9.96383397e-01 -2.47685336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50119381700003 meters 0.06147506891370674 Centerline is valid? [True, True] Translation: X:201.37, Y:-72.66, Z:-24.77 [[ 9.15906627e-01 3.93549654e-01 7.89539158e-02 2.01369168e+02] [-3.92319086e-01 9.19300209e-01 -3.11907042e-02 -7.26577327e+01] [-8.48574422e-02 -2.40735538e-03 9.96390194e-01 -2.47707798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53119381700003 meters 0.06240347086180719 Centerline is valid? [True, True] Translation: X:201.39, Y:-72.67, Z:-24.77 [[ 9.14670322e-01 3.96333024e-01 7.93620587e-02 2.01394285e+02] [-3.95099284e-01 9.18102937e-01 -3.13616322e-02 -7.26715555e+01] [-8.52921897e-02 -2.67033836e-03 9.96352403e-01 -2.47743418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56119381700003 meters 0.06361323840256417 Centerline is valid? [True, True] Translation: X:201.42, Y:-72.68, Z:-24.78 [[ 9.13899744e-01 3.98034068e-01 7.97253997e-02 2.01418491e+02] [-3.96798463e-01 9.17366131e-01 -3.14700067e-02 -7.26842556e+01] [-8.56635162e-02 -2.87448503e-03 9.96319978e-01 -2.47789818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59119381700003 meters 0.06386116754395574 Centerline is valid? [True, True] Translation: X:201.44, Y:-72.70, Z:-24.78 [[ 9.13362810e-01 3.99021382e-01 8.09340151e-02 2.01442727e+02] [-3.97752260e-01 9.16936658e-01 -3.19422003e-02 -7.26998334e+01] [-8.69569863e-02 -3.01686957e-03 9.96207499e-01 -2.47816380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62119381700003 meters 0.06343109832193915 Centerline is valid? [True, True] Translation: X:201.46, Y:-72.72, Z:-24.78 [[ 9.13578671e-01 3.98091228e-01 8.30505062e-02 2.01462824e+02] [-3.96754088e-01 9.17340801e-01 -3.27421615e-02 -7.27249447e+01] [-8.92199851e-02 -3.03808745e-03 9.96007311e-01 -2.47839073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65119381700003 meters 0.06254894629391239 Centerline is valid? [True, True] Translation: X:201.49, Y:-72.75, Z:-24.79 [[ 9.14289566e-01 3.96356381e-01 8.35236977e-02 2.01485447e+02] [-3.94997191e-01 9.18092188e-01 -3.29234340e-02 -7.27454581e+01] [-8.97318676e-02 -2.89007381e-03 9.95961766e-01 -2.47853979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68119381700004 meters 0.06200736440795107 Centerline is valid? [True, True] Translation: X:201.51, Y:-72.77, Z:-24.79 [[ 9.15101116e-01 3.94475548e-01 8.35403480e-02 2.01508127e+02] [-3.93110616e-01 9.18902374e-01 -3.29009226e-02 -7.27662671e+01] [-8.97440336e-02 -2.73292674e-03 9.95961113e-01 -2.47882310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71119381700004 meters 0.06154333145928912 Centerline is valid? [True, True] Translation: X:201.53, Y:-72.79, Z:-24.79 [[ 9.15882234e-01 3.92635563e-01 8.36483555e-02 2.01530948e+02] [-3.91262102e-01 9.19690514e-01 -3.29139138e-02 -7.27871187e+01] [-8.98537721e-02 -2.58316250e-03 9.95951619e-01 -2.47915531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74119381700004 meters 0.06122103017223075 Centerline is valid? [True, True] Translation: X:201.55, Y:-72.81, Z:-24.80 [[ 9.17328284e-01 3.89067561e-01 8.44704218e-02 2.01549898e+02] [-3.87655016e-01 9.21206382e-01 -3.32022643e-02 -7.28143661e+01] [-9.07326156e-02 -2.28800660e-03 9.95872661e-01 -2.47961044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77119381700004 meters 0.06047682002047557 Centerline is valid? [True, True] Translation: X:201.57, Y:-72.84, Z:-24.80 [[ 9.18141380e-01 3.87316389e-01 8.36804732e-02 2.01573190e+02] [-3.85923957e-01 9.21944457e-01 -3.28803530e-02 -7.28351168e+01] [-8.98838480e-02 -2.10548666e-03 9.95950029e-01 -2.47982217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80119381700004 meters 0.06020726655748953 Centerline is valid? [True, True] Translation: X:201.60, Y:-72.85, Z:-24.80 [[ 9.18623243e-01 3.86161686e-01 8.37286716e-02 2.01596563e+02] [-3.84763371e-01 9.22428944e-01 -3.28936371e-02 -7.28537061e+01] [-8.99360125e-02 -1.99886635e-03 9.95945540e-01 -2.48010795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83119381700004 meters 0.05968880898988725 Centerline is valid? [True, True] Translation: X:201.62, Y:-72.88, Z:-24.80 [[ 9.20189942e-01 3.82411469e-01 8.37373230e-02 2.01615390e+02] [-3.80998052e-01 9.23990682e-01 -3.28892660e-02 -7.28808395e+01] [-8.99497388e-02 -1.63938515e-03 9.95944957e-01 -2.48049946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86119381700001 meters 0.059236691803043404 Centerline is valid? [True, True] Translation: X:201.64, Y:-72.90, Z:-24.81 [[ 9.20768119e-01 3.80950751e-01 8.40392617e-02 2.01639550e+02] [-3.79522054e-01 9.24594094e-01 -3.29965597e-02 -7.29006300e+01] [-9.02722692e-02 -1.51257301e-03 9.95915975e-01 -2.48073968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89119381700002 meters 0.05911095363299829 Centerline is valid? [True, True] Translation: X:201.66, Y:-72.92, Z:-24.81 [[ 9.21017300e-01 3.80288739e-01 8.43066323e-02 2.01664292e+02] [-3.78848886e-01 9.24866663e-01 -3.30934756e-02 -7.29191122e+01] [-9.05574698e-02 -1.45981015e-03 9.95890161e-01 -2.48103905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92119381700002 meters 0.05899630099037191 Centerline is valid? [True, True] Translation: X:201.69, Y:-72.94, Z:-24.81 [[ 9.21212341e-01 3.79869828e-01 8.40638877e-02 2.01692262e+02] [-3.78436080e-01 9.25038878e-01 -3.30031454e-02 -7.29386561e+01] [-9.02992635e-02 -1.40990334e-03 9.95913679e-01 -2.48135050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95119381700002 meters 0.059164173574820574 Centerline is valid? [True, True] Translation: X:201.72, Y:-72.96, Z:-24.82 [[ 9.21009585e-01 3.80275993e-01 8.44482896e-02 2.01718684e+02] [-3.78827715e-01 9.24871958e-01 -3.31877114e-02 -7.29566612e+01] [-9.07243448e-02 -1.42515227e-03 9.95875023e-01 -2.48180922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98119381700002 meters 0.0597754865825797 Centerline is valid? [True, True] Translation: X:201.74, Y:-72.98, Z:-24.82 [[ 9.20505460e-01 3.81881069e-01 8.26834138e-02 2.01742650e+02] [-3.80496528e-01 9.24210222e-01 -3.25247372e-02 -7.29785221e+01] [-8.88374376e-02 -1.52155369e-03 9.96044976e-01 -2.48246253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01119381700002 meters 0.06026696407968058 Centerline is valid? [True, True] Translation: X:201.77, Y:-72.99, Z:-24.83 [[ 9.19926147e-01 3.83449171e-01 8.18695179e-02 2.01769636e+02] [-3.82095763e-01 9.23560538e-01 -3.22298164e-02 -7.29938073e+01] [-8.79699523e-02 -1.63294513e-03 9.96121790e-01 -2.48302703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04119381700002 meters 0.06060480078823663 Centerline is valid? [True, True] Translation: X:201.80, Y:-73.02, Z:-24.83 [[ 9.18664908e-01 3.86889135e-01 7.98222006e-02 2.01795802e+02] [-3.85613125e-01 9.22124308e-01 -3.14527804e-02 -7.30152426e+01] [-8.57747305e-02 -1.88592259e-03 9.96312772e-01 -2.48343271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07119381700002 meters 0.06116844304866687 Centerline is valid? [True, True] Translation: X:201.82, Y:-73.03, Z:-24.84 [[ 9.17876645e-01 3.88905955e-01 7.90861788e-02 2.01823523e+02] [-3.87660766e-01 9.21275170e-01 -3.11639331e-02 -7.30310891e+01] [-8.49799721e-02 -2.05396232e-03 9.96380543e-01 -2.48392575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10119381700002 meters 0.06157033076768593 Centerline is valid? [True, True] Translation: X:201.85, Y:-73.05, Z:-24.84 [[ 9.17358449e-01 3.90189606e-01 7.87753030e-02 2.01851687e+02] [-3.88956658e-01 9.20732042e-01 -3.10680588e-02 -7.30476469e+01] [-8.46533792e-02 -2.13963239e-03 9.96408163e-01 -2.48433878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13119381700002 meters 0.06143939523202447 Centerline is valid? [True, True] Translation: X:201.88, Y:-73.07, Z:-24.85 [[ 9.17021044e-01 3.90900359e-01 7.91789993e-02 2.01880195e+02] [-3.89655186e-01 9.20430389e-01 -3.12527719e-02 -7.30657696e+01] [-8.50954768e-02 -2.19305815e-03 9.96370388e-01 -2.48467615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16119381700003 meters 0.06123989934675623 Centerline is valid? [True, True] Translation: X:201.90, Y:-73.09, Z:-24.85 [[ 9.17250540e-01 3.89849674e-01 8.16619826e-02 2.01903133e+02] [-3.88517444e-01 9.20876058e-01 -3.22720017e-02 -7.30893501e+01] [-8.77817939e-02 -2.12559378e-03 9.96137460e-01 -2.48484988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19119381700003 meters 0.06043727633631429 Centerline is valid? [True, True] Translation: X:201.93, Y:-73.11, Z:-24.85 [[ 9.17796985e-01 3.88248966e-01 8.31350340e-02 2.01929821e+02] [-3.86860905e-01 9.21552351e-01 -3.28619012e-02 -7.31096938e+01] [-8.93718852e-02 -2.00114063e-03 9.95996316e-01 -2.48498788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22119381700003 meters 0.05964147867351171 Centerline is valid? [True, True] Translation: X:201.96, Y:-73.13, Z:-24.85 [[ 9.18897506e-01 3.85227987e-01 8.50104245e-02 2.01955772e+02] [-3.83760377e-01 9.22819842e-01 -3.36379576e-02 -7.31294105e+01] [-9.14075892e-02 -1.71379724e-03 9.95812088e-01 -2.48509061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25119381700003 meters 0.058728180279355065 Centerline is valid? [True, True] Translation: X:201.98, Y:-73.15, Z:-24.85 [[ 9.19677840e-01 3.82951618e-01 8.68373726e-02 2.01982929e+02] [-3.81409727e-01 9.23767155e-01 -3.43636912e-02 -7.31499744e+01] [-9.33771438e-02 -1.51709325e-03 9.95629654e-01 -2.48518208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28119381700003 meters 0.057943763889033384 Centerline is valid? [True, True] Translation: X:202.01, Y:-73.18, Z:-24.86 [[ 9.21899835e-01 3.77290866e-01 8.80471231e-02 2.02005485e+02] [-3.75678648e-01 9.26094331e-01 -3.48546118e-02 -7.31764803e+01] [-9.46902682e-02 -9.44963310e-04 9.95506334e-01 -2.48551102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31119381700003 meters 0.05768107254337586 Centerline is valid? [True, True] Translation: X:202.03, Y:-73.20, Z:-24.86 [[ 9.23255186e-01 3.73866508e-01 8.84516548e-02 2.02031042e+02] [-3.72223722e-01 9.27482333e-01 -3.50145953e-02 -7.31961804e+01] [-9.51281317e-02 -5.96397446e-04 9.95464858e-01 -2.48588825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34119381700003 meters 0.05746057910978982 Centerline is valid? [True, True] Translation: X:202.06, Y:-73.22, Z:-24.86 [[ 9.24743196e-01 3.69973343e-01 8.92734402e-02 2.02055926e+02] [-3.68279072e-01 9.29042354e-01 -3.53670684e-02 -7.32163115e+01] [-9.60236796e-02 -1.72083822e-04 9.95379035e-01 -2.48627868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37119381700003 meters 0.05787361974884855 Centerline is valid? [True, True] Translation: X:202.08, Y:-73.25, Z:-24.87 [[ 9.27818993e-01 3.62456399e-01 8.81888565e-02 2.02078961e+02] [-3.60766758e-01 9.32000521e-01 -3.49624887e-02 -7.32451429e+01] [-9.48644380e-02 6.23253212e-04 9.95490005e-01 -2.48657156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40119381700003 meters 0.058120995217705335 Centerline is valid? [True, True] Translation: X:202.11, Y:-73.26, Z:-24.87 [[ 9.29188349e-01 3.59170289e-01 8.72107564e-02 2.02105923e+02] [-3.57500950e-01 9.33271533e-01 -3.46022623e-02 -7.32633166e+01] [-9.38194209e-02 9.74090777e-04 9.95588754e-01 -2.48681358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43119381700004 meters 0.05866524219771134 Centerline is valid? [True, True] Translation: X:202.13, Y:-73.28, Z:-24.87 [[ 9.30351529e-01 3.56549568e-01 8.55478749e-02 2.02132852e+02] [-3.54929632e-01 9.34275582e-01 -3.39719637e-02 -7.32815192e+01] [-9.20379795e-02 1.24239269e-03 9.95754722e-01 -2.48732928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46119381700004 meters 0.05916917717404018 Centerline is valid? [True, True] Translation: X:202.16, Y:-73.30, Z:-24.88 [[ 9.31129567e-01 3.54750514e-01 8.45565076e-02 2.02158905e+02] [-3.53157532e-01 9.34959899e-01 -3.36116636e-02 -7.32977318e+01] [-9.09806988e-02 1.43504620e-03 9.95851622e-01 -2.48784462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49119381700004 meters 0.05987421503171837 Centerline is valid? [True, True] Translation: X:202.19, Y:-73.31, Z:-24.89 [[ 9.32055706e-01 3.52978715e-01 8.17201797e-02 2.02185983e+02] [-3.51482847e-01 9.35630037e-01 -3.24998673e-02 -7.33144639e+01] [-8.79316162e-02 1.56844531e-03 9.96125279e-01 -2.48863194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52119381700004 meters 0.05987054450182287 Centerline is valid? [True, True] Translation: X:202.21, Y:-73.33, Z:-24.89 [[ 9.31918377e-01 3.53629767e-01 8.04619619e-02 2.02214562e+02] [-3.52181999e-01 9.35384297e-01 -3.20008845e-02 -7.33275980e+01] [-8.65793210e-02 1.48495770e-03 9.96243854e-01 -2.48907000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55119381700004 meters 0.05991153662390928 Centerline is valid? [True, True] Translation: X:202.24, Y:-73.34, Z:-24.90 [[ 9.31539581e-01 3.54662544e-01 8.03024870e-02 2.02243334e+02] [-3.53221968e-01 9.34993308e-01 -3.19649042e-02 -7.33409943e+01] [-8.64190422e-02 1.41197100e-03 9.96257876e-01 -2.48951870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58119381700004 meters 0.059737718070598925 Centerline is valid? [True, True] Translation: X:202.27, Y:-73.35, Z:-24.90 [[ 9.30986817e-01 3.56091269e-01 8.03900217e-02 2.02272109e+02] [-3.54650194e-01 9.34450263e-01 -3.20303980e-02 -7.33536467e+01] [-8.65262220e-02 1.30954149e-03 9.96248713e-01 -2.48987893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61119381700001 meters 0.058992117903027795 Centerline is valid? [True, True] Translation: X:202.30, Y:-73.37, Z:-24.90 [[ 9.29681662e-01 3.59190423e-01 8.16960725e-02 2.02302131e+02] [-3.57711436e-01 9.33263685e-01 -3.25794817e-02 -7.33655466e+01] [-8.79462155e-02 1.06492728e-03 9.96124655e-01 -2.49008947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64119381700002 meters 0.058612887994286655 Centerline is valid? [True, True] Translation: X:202.33, Y:-73.38, Z:-24.90 [[ 9.28499107e-01 3.62252423e-01 8.16246869e-02 2.02332225e+02] [-3.60785376e-01 9.32079686e-01 -3.25786954e-02 -7.33760587e+01] [-8.78824240e-02 8.00296291e-04 9.96130533e-01 -2.49041942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67119381700002 meters 0.05823277402505093 Centerline is valid? [True, True] Translation: X:202.36, Y:-73.39, Z:-24.91 [[ 9.27462104e-01 3.64733431e-01 8.23624362e-02 2.02362454e+02] [-3.63246936e-01 9.31111792e-01 -3.29012944e-02 -7.33860151e+01] [-8.86888375e-02 5.96801139e-04 9.96059202e-01 -2.49075002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70119381700002 meters 0.05761329750508881 Centerline is valid? [True, True] Translation: X:202.39, Y:-73.39, Z:-24.91 [[ 9.24521976e-01 3.71604706e-01 8.46702900e-02 2.02393659e+02] [-3.70059490e-01 9.28391050e-01 -3.38531048e-02 -7.33917469e+01] [-9.11871124e-02 -3.51049899e-05 9.95833776e-01 -2.49099084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73119381700002 meters 0.05754135041777851 Centerline is valid? [True, True] Translation: X:202.42, Y:-73.40, Z:-24.91 [[ 9.23472355e-01 3.74341898e-01 8.40651750e-02 2.02423658e+02] [-3.72827745e-01 9.27290713e-01 -3.36363927e-02 -7.34015598e+01] [-9.05443672e-02 -2.79550846e-04 9.95892383e-01 -2.49137223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76119381700002 meters 0.057713767584575866 Centerline is valid? [True, True] Translation: X:202.45, Y:-73.41, Z:-24.92 [[ 9.22611069e-01 3.76620279e-01 8.33425494e-02 2.02454122e+02] [-3.75138940e-01 9.26367606e-01 -3.33741587e-02 -7.34123147e+01] [-8.97752229e-02 -4.73667425e-04 9.95961940e-01 -2.49175784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79119381700002 meters 0.05764180266205287 Centerline is valid? [True, True] Translation: X:202.48, Y:-73.42, Z:-24.92 [[ 9.22425627e-01 3.76955077e-01 8.38798740e-02 2.02482291e+02] [-3.75453342e-01 9.26231416e-01 -3.36177238e-02 -7.34242402e+01] [-9.03645461e-02 -4.83129065e-04 9.95908638e-01 -2.49211416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82119381700002 meters 0.05754245310138667 Centerline is valid? [True, True] Translation: X:202.51, Y:-73.44, Z:-24.92 [[ 9.22638415e-01 3.76123241e-01 8.52623234e-02 2.02510565e+02] [-3.74565559e-01 9.26569566e-01 -3.41976865e-02 -7.34383966e+01] [-9.18640187e-02 -3.84230620e-04 9.95771487e-01 -2.49238305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85119381700002 meters 0.05724169895777582 Centerline is valid? [True, True] Translation: X:202.54, Y:-73.46, Z:-24.92 [[ 9.25079353e-01 3.69381220e-01 8.82366407e-02 2.02537022e+02] [-3.67679216e-01 9.29277897e-01 -3.54201058e-02 -7.34596125e+01] [-9.50798818e-02 3.23629633e-04 9.95469593e-01 -2.49234014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88119381700002 meters 0.057863909344285515 Centerline is valid? [True, True] Translation: X:202.56, Y:-73.48, Z:-24.93 [[ 9.26917604e-01 3.64831058e-01 8.78752209e-02 2.02564305e+02] [-3.63119883e-01 9.31073379e-01 -3.53031704e-02 -7.34778700e+01] [-9.46979719e-02 8.13890250e-04 9.95505717e-01 -2.49270204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91119381700003 meters 0.0597625413950225 Centerline is valid? [True, True] Translation: X:202.59, Y:-73.50, Z:-24.93 [[ 9.30794278e-01 3.55041561e-01 8.69913893e-02 2.02588594e+02] [-3.53318796e-01 9.34848737e-01 -3.49809463e-02 -7.35009765e+01] [-9.37434803e-02 1.82437174e-03 9.95594713e-01 -2.49304768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94119381700003 meters 0.0597625413950225 Centerline is valid? [True, True] Translation: X:202.62, Y:-73.51, Z:-24.93 [[ 9.30679552e-01 3.55342003e-01 8.69921396e-02 2.02618399e+02] [-3.53620721e-01 9.34734641e-01 -3.49790836e-02 -7.35132304e+01] [-9.37441040e-02 1.79209468e-03 9.95594712e-01 -2.49341819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97119381700003 meters 0.06349573665540117 Centerline is valid? [True, True] Translation: X:202.64, Y:-73.54, Z:-24.94 [[ 9.34530496e-01 3.45326377e-01 8.60374654e-02 2.02641804e+02] [-3.43596722e-01 9.38478467e-01 -3.46332097e-02 -7.35350522e+01] [-9.27040695e-02 2.80359956e-03 9.95689759e-01 -2.49395856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00119381700003 meters 0.06438495868059241 Centerline is valid? [True, True] Translation: X:202.67, Y:-73.55, Z:-24.94 [[ 9.35958254e-01 3.41482301e-01 8.58602605e-02 2.02670227e+02] [-3.39743441e-01 9.39882826e-01 -3.45639752e-02 -7.35485260e+01] [-9.25015700e-02 3.17997758e-03 9.95707461e-01 -2.49423769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03119381700003 meters 0.06761858373386598 Centerline is valid? [True, True] Translation: X:202.70, Y:-73.57, Z:-24.95 [[ 9.37153188e-01 3.38148745e-01 8.60193540e-02 2.02695793e+02] [-3.36386633e-01 9.41086004e-01 -3.46578442e-02 -7.35656419e+01] [-9.26711166e-02 3.54394827e-03 9.95690466e-01 -2.49480393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06119381700003 meters 0.06954537029505349 Centerline is valid? [True, True] Translation: X:202.72, Y:-73.58, Z:-24.95 [[ 9.39336999e-01 3.32567183e-01 8.39349257e-02 2.02724019e+02] [-3.30865881e-01 9.43071037e-01 -3.38347139e-02 -7.35775421e+01] [-9.04089130e-02 4.01099544e-03 9.95896651e-01 -2.49522083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09119381700003 meters 0.0710398084862845 Centerline is valid? [True, True] Translation: X:202.75, Y:-73.59, Z:-24.96 [[ 9.40138283e-01 3.30577812e-01 8.28149675e-02 2.02753375e+02] [-3.28914379e-01 9.43769650e-01 -3.33793091e-02 -7.35888839e+01] [-8.91927119e-02 4.14213270e-03 9.96005775e-01 -2.49572334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12119381700003 meters 0.07039068685957425 Centerline is valid? [True, True] Translation: X:202.78, Y:-73.60, Z:-24.96 [[ 9.40846499e-01 3.28990127e-01 8.10762706e-02 2.02784202e+02] [-3.27388001e-01 9.44323912e-01 -3.27023996e-02 -7.35961067e+01] [-8.73210276e-02 4.22454000e-03 9.96171266e-01 -2.49607500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15119381700003 meters 0.07240747354505002 Centerline is valid? [True, True] Translation: X:202.81, Y:-73.61, Z:-24.97 [[ 9.41268894e-01 3.27738775e-01 8.12414031e-02 2.02812024e+02] [-3.26123161e-01 9.44758255e-01 -3.27951739e-02 -7.36085138e+01] [-8.75017364e-02 4.37437384e-03 9.96154763e-01 -2.49658642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18119381700004 meters 0.07290577032279884 Centerline is valid? [True, True] Translation: X:202.84, Y:-73.61, Z:-24.97 [[ 9.41508838e-01 3.27313949e-01 8.01666153e-02 2.02844077e+02] [-3.25737242e-01 9.44905503e-01 -3.23857949e-02 -7.36145856e+01] [-8.63501984e-02 4.37825995e-03 9.96255225e-01 -2.49699889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21119381700004 meters 0.07290577032279884 Centerline is valid? [True, True] Translation: X:202.87, Y:-73.63, Z:-24.97 [[ 9.41401321e-01 3.27625243e-01 8.01576776e-02 2.02873889e+02] [-3.26047782e-01 9.44797635e-01 -3.24078989e-02 -7.36269163e+01] [-8.63504300e-02 4.37360585e-03 9.96255226e-01 -2.49737068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24119381700004 meters 0.0722730170958578 Centerline is valid? [True, True] Translation: X:202.91, Y:-73.63, Z:-24.98 [[ 9.40972888e-01 3.28559123e-01 8.13567877e-02 2.02906355e+02] [-3.26934103e-01 9.44473208e-01 -3.29310200e-02 -7.36329393e+01] [-8.76590933e-02 4.38888857e-03 9.96140864e-01 -2.49774784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27119381700004 meters 0.07148836945460413 Centerline is valid? [True, True] Translation: X:202.94, Y:-73.64, Z:-24.98 [[ 9.40107208e-01 3.30954037e-01 8.16569807e-02 2.02937851e+02] [-3.29324938e-01 9.43637564e-01 -3.30640776e-02 -7.36377227e+01] [-8.79972843e-02 4.19209757e-03 9.96111893e-01 -2.49821287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30119381700004 meters 0.06944004794682772 Centerline is valid? [True, True] Translation: X:202.97, Y:-73.63, Z:-24.99 [[ 9.37969117e-01 3.36743166e-01 8.25710382e-02 2.02971413e+02] [-3.35099135e-01 9.41589286e-01 -3.34393064e-02 -7.36323995e+01] [-8.90084628e-02 3.69555322e-03 9.96024014e-01 -2.49871615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33119381700004 meters 0.06542005737169143 Centerline is valid? [True, True] Translation: X:203.01, Y:-73.63, Z:-24.99 [[ 9.36835137e-01 3.39720633e-01 8.32455299e-02 2.03005744e+02] [-3.38061376e-01 9.40520100e-01 -3.37112259e-02 -7.36306871e+01] [-8.97464932e-02 3.43976250e-03 9.95958701e-01 -2.49875672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36119381700001 meters 0.06400786470282346 Centerline is valid? [True, True] Translation: X:203.04, Y:-73.63, Z:-24.99 [[ 9.35981747e-01 3.42018755e-01 8.34346517e-02 2.03038775e+02] [-3.40361263e-01 9.39687594e-01 -3.37851405e-02 -7.36340742e+01] [-8.99576588e-02 3.22435143e-03 9.95940371e-01 -2.49905525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39119381700002 meters 0.06837921365262858 Centerline is valid? [True, True] Translation: X:203.07, Y:-73.64, Z:-25.00 [[ 9.35007608e-01 3.44363554e-01 8.47025071e-02 2.03067096e+02] [-3.42661293e-01 9.38831323e-01 -3.43363483e-02 -7.36420151e+01] [-9.13455537e-02 3.08047632e-03 9.95814491e-01 -2.50010609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42119381700002 meters 0.06837921365262858 Centerline is valid? [True, True] Translation: X:203.10, Y:-73.65, Z:-25.00 [[ 9.34910012e-01 3.44628060e-01 8.47040150e-02 2.03096889e+02] [-3.42927217e-01 9.38734358e-01 -3.43326311e-02 -7.36544015e+01] [-9.13465572e-02 3.05060836e-03 9.95814491e-01 -2.50047697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45119381700002 meters 0.06393830479264802 Centerline is valid? [True, True] Translation: X:203.14, Y:-73.65, Z:-25.00 [[ 9.34779795e-01 3.45042535e-01 8.44534454e-02 2.03135547e+02] [-3.43350487e-01 9.38582153e-01 -3.42634655e-02 -7.36466908e+01] [-9.10888496e-02 3.03166361e-03 9.95838155e-01 -2.50019488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48119381700002 meters 0.06438614433240157 Centerline is valid? [True, True] Translation: X:203.17, Y:-73.65, Z:-25.01 [[ 9.34595540e-01 3.45539593e-01 8.44604393e-02 2.03166364e+02] [-3.43848815e-01 9.38399414e-01 -3.42714555e-02 -7.36538909e+01] [-9.10997715e-02 2.98832753e-03 9.95837287e-01 -2.50062233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51119381700002 meters 0.06351743969198713 Centerline is valid? [True, True] Translation: X:203.20, Y:-73.66, Z:-25.01 [[ 9.34223979e-01 3.46194065e-01 8.58791386e-02 2.03198969e+02] [-3.44445558e-01 9.38158110e-01 -3.48800576e-02 -7.36584910e+01] [-9.26434792e-02 3.00509837e-03 9.95694810e-01 -2.50077670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54119381700002 meters 0.06297391598738684 Centerline is valid? [True, True] Translation: X:203.23, Y:-73.66, Z:-25.01 [[ 9.33094873e-01 3.49083123e-01 8.64576829e-02 2.03233460e+02] [-3.47320449e-01 9.37087684e-01 -3.51451009e-02 -7.36567897e+01] [-9.32869913e-02 2.76519217e-03 9.95635421e-01 -2.50110414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57119381700002 meters 0.06205220580716555 Centerline is valid? [True, True] Translation: X:203.27, Y:-73.66, Z:-25.02 [[ 9.31939737e-01 3.52313976e-01 8.58090218e-02 2.03266459e+02] [-3.50588645e-01 9.35878654e-01 -3.49105457e-02 -7.36607148e+01] [-9.26063051e-02 2.45085608e-03 9.95699787e-01 -2.50158257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60119381700002 meters 0.06105736274891081 Centerline is valid? [True, True] Translation: X:203.30, Y:-73.66, Z:-25.02 [[ 9.30536434e-01 3.56116206e-01 8.53416290e-02 2.03299147e+02] [-3.54422915e-01 9.34439343e-01 -3.47492582e-02 -7.36642272e+01] [-9.21213497e-02 2.08842190e-03 9.95745598e-01 -2.50209071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63119381700002 meters 0.05920835034909741 Centerline is valid? [True, True] Translation: X:203.33, Y:-73.66, Z:-25.03 [[ 9.27213036e-01 3.64815764e-01 8.47669982e-02 2.03334921e+02] [-3.63178208e-01 9.31078889e-01 -3.45498500e-02 -7.36578248e+01] [-9.15290924e-02 1.24954481e-03 9.95801619e-01 -2.50255516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66119381700003 meters 0.05868920470738631 Centerline is valid? [True, True] Translation: X:203.37, Y:-73.66, Z:-25.03 [[ 9.25673038e-01 3.68678507e-01 8.48857147e-02 2.03366416e+02] [-3.67052646e-01 9.29556564e-01 -3.45969624e-02 -7.36616737e+01] [-9.16612297e-02 8.67949033e-04 9.95789870e-01 -2.50302277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69119381700003 meters 0.05837624711725855 Centerline is valid? [True, True] Translation: X:203.40, Y:-73.67, Z:-25.04 [[ 9.24542500e-01 3.71750669e-01 8.38009915e-02 2.03399758e+02] [-3.70176605e-01 9.28332433e-01 -3.41785782e-02 -7.36674457e+01] [-9.05010876e-02 5.78381559e-04 9.95896189e-01 -2.50351142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72119381700003 meters 0.05840797357247161 Centerline is valid? [True, True] Translation: X:203.43, Y:-73.67, Z:-25.04 [[ 9.23710746e-01 3.73969552e-01 8.30977299e-02 2.03431704e+02] [-3.72428001e-01 9.27440901e-01 -3.39228544e-02 -7.36747282e+01] [-8.97543481e-02 3.86983700e-04 9.95963858e-01 -2.50403843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75119381700003 meters 0.058461738571717804 Centerline is valid? [True, True] Translation: X:203.46, Y:-73.68, Z:-25.05 [[ 9.22876235e-01 3.76326315e-01 8.17187780e-02 2.03463717e+02] [-3.74842063e-01 9.26487167e-01 -3.33909695e-02 -7.36803643e+01] [-8.82772997e-02 1.84096836e-04 9.96095921e-01 -2.50458633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78119381700003 meters 0.05877261769953789 Centerline is valid? [True, True] Translation: X:203.49, Y:-73.69, Z:-25.05 [[ 9.22916955e-01 3.76573209e-01 8.01056312e-02 2.03492488e+02] [-3.75145687e-01 9.26386844e-01 -3.27586297e-02 -7.36910643e+01] [-8.65448252e-02 1.82212696e-04 9.96247941e-01 -2.50525716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81119381700003 meters 0.05887702081950135 Centerline is valid? [True, True] Translation: X:203.52, Y:-73.70, Z:-25.06 [[ 9.22710353e-01 3.77151069e-01 7.97663858e-02 2.03521959e+02] [-3.75735083e-01 9.26151741e-01 -3.26511960e-02 -7.37015105e+01] [-8.61902105e-02 1.56566949e-04 9.96278687e-01 -2.50577393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84119381700003 meters 0.05902778759454667 Centerline is valid? [True, True] Translation: X:203.55, Y:-73.71, Z:-25.06 [[ 9.22383142e-01 3.77990874e-01 7.95753626e-02 2.03550543e+02] [-3.76584427e-01 9.25809318e-01 -3.25772383e-02 -7.37117226e+01] [-8.59855109e-02 8.18531057e-05 9.96296384e-01 -2.50626502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87119381700003 meters 0.05887853320207116 Centerline is valid? [True, True] Translation: X:203.58, Y:-73.72, Z:-25.07 [[ 9.21788086e-01 3.79147381e-01 8.09567077e-02 2.03578644e+02] [-3.77695725e-01 9.25336297e-01 -3.31462945e-02 -7.37221777e+01] [-8.74795109e-02 -2.31430347e-05 9.96166319e-01 -2.50651876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90119381700003 meters 0.05854695722266566 Centerline is valid? [True, True] Translation: X:203.61, Y:-73.74, Z:-25.06 [[ 9.21699700e-01 3.79325178e-01 8.11299678e-02 2.03609317e+02] [-3.77869254e-01 9.25263425e-01 -3.32027176e-02 -7.37362570e+01] [-8.76612187e-02 -5.35855324e-05 9.96150344e-01 -2.50642238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93119381700004 meters 0.058427145711251606 Centerline is valid? [True, True] Translation: X:203.64, Y:-73.75, Z:-25.07 [[ 9.22047104e-01 3.78295939e-01 8.19836595e-02 2.03638369e+02] [-3.76802042e-01 9.25684707e-01 -3.35863791e-02 -7.37509569e+01] [-8.85966106e-02 7.66132867e-05 9.96067585e-01 -2.50670870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96119381700004 meters 0.05941801600346817 Centerline is valid? [True, True] Translation: X:203.66, Y:-73.77, Z:-25.07 [[ 9.24304967e-01 3.72655045e-01 8.23926334e-02 2.03661890e+02] [-3.71121106e-01 9.27969717e-01 -3.37835529e-02 -7.37739166e+01] [-8.90474802e-02 6.48660502e-04 9.96027171e-01 -2.50746473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99119381700004 meters 0.059803988278721104 Centerline is valid? [True, True] Translation: X:203.69, Y:-73.79, Z:-25.07 [[ 9.26216734e-01 3.67824300e-01 8.26307763e-02 2.03688912e+02] [-3.66259889e-01 9.29894608e-01 -3.39073989e-02 -7.37928150e+01] [-8.93098786e-02 1.14126132e-03 9.96003234e-01 -2.50742953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02119381700004 meters 0.06279423603200945 Centerline is valid? [True, True] Translation: X:203.71, Y:-73.82, Z:-25.08 [[ 9.30534819e-01 3.56476718e-01 8.38409260e-02 2.03710099e+02] [-3.54816770e-01 9.34301381e-01 -3.44382044e-02 -7.38189702e+01] [-9.06091110e-02 2.29778174e-03 9.95883883e-01 -2.50777222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05119381700004 meters 0.06679244042722579 Centerline is valid? [True, True] Translation: X:203.73, Y:-73.84, Z:-25.08 [[ 9.32261433e-01 3.51740260e-01 8.46605536e-02 2.03734250e+02] [-3.50027657e-01 9.36093480e-01 -3.47798137e-02 -7.38414057e+01] [-9.14836530e-02 2.79034368e-03 9.95802669e-01 -2.50845757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08119381700004 meters 0.06638913191730514 Centerline is valid? [True, True] Translation: X:203.76, Y:-73.85, Z:-25.08 [[ 9.33667446e-01 3.47981045e-01 8.47012027e-02 2.03763492e+02] [-3.46248633e-01 9.37496148e-01 -3.48260984e-02 -7.38538844e+01] [-9.15258733e-02 3.18831872e-03 9.95797594e-01 -2.50844870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11119381700001 meters 0.06649882024657879 Centerline is valid? [True, True] Translation: X:203.79, Y:-73.87, Z:-25.09 [[ 9.34405380e-01 3.45889670e-01 8.51288602e-02 2.03791766e+02] [-3.44130117e-01 9.38268960e-01 -3.50117194e-02 -7.38684114e+01] [-9.19839592e-02 3.41973430e-03 9.95754617e-01 -2.50854730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14119381700002 meters 0.06734737058048436 Centerline is valid? [True, True] Translation: X:203.82, Y:-73.88, Z:-25.09 [[ 9.33547718e-01 3.48360305e-01 8.44615722e-02 2.03819583e+02] [-3.46635885e-01 9.37355326e-01 -3.47643003e-02 -7.38816722e+01] [-9.12810067e-02 3.17672138e-03 9.95820107e-01 -2.50921865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17119381700002 meters 0.06572408668501704 Centerline is valid? [True, True] Translation: X:203.85, Y:-73.89, Z:-25.10 [[ 9.32290715e-01 3.52012107e-01 8.31955464e-02 2.03850652e+02] [-3.50350731e-01 9.35991239e-01 -3.42748469e-02 -7.38890198e+01] [-8.99354636e-02 2.80650107e-03 9.95943641e-01 -2.50966266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20119381700002 meters 0.06327048984361093 Centerline is valid? [True, True] Translation: X:203.88, Y:-73.89, Z:-25.10 [[ 9.30358463e-01 3.57134285e-01 8.29953792e-02 2.03882836e+02] [-3.55500624e-01 9.34050190e-01 -3.41986829e-02 -7.38932223e+01] [-8.97353719e-02 2.31212493e-03 9.95962960e-01 -2.50998188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23119381700002 meters 0.06020084313285043 Centerline is valid? [True, True] Translation: X:203.92, Y:-73.89, Z:-25.11 [[ 9.25834618e-01 3.69080959e-01 8.12988702e-02 2.03916225e+02] [-3.67558829e-01 9.29396552e-01 -3.35045689e-02 -7.38890360e+01] [-8.79247881e-02 1.13757228e-03 9.96126467e-01 -2.51055542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26119381700002 meters 0.05919156792089723 Centerline is valid? [True, True] Translation: X:203.95, Y:-73.89, Z:-25.11 [[ 9.22930935e-01 3.76243983e-01 8.14797732e-02 2.03949269e+02] [-3.74743514e-01 9.26520514e-01 -3.35713624e-02 -7.38923546e+01] [-8.81237044e-02 4.50032384e-04 9.96109437e-01 -2.51101087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29119381700002 meters 0.05869470833074097 Centerline is valid? [True, True] Translation: X:203.98, Y:-73.90, Z:-25.11 [[ 9.20411425e-01 3.82239852e-01 8.20701171e-02 2.03981938e+02] [-3.80738874e-01 9.24063140e-01 -3.38411612e-02 -7.38972730e+01] [-8.87734105e-02 -9.94925151e-05 9.96051842e-01 -2.51126155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32119381700002 meters 0.05896894969846341 Centerline is valid? [True, True] Translation: X:204.01, Y:-73.90, Z:-25.12 [[ 9.18336108e-01 3.87103805e-01 8.25193176e-02 2.04011862e+02] [-3.85602786e-01 9.22035982e-01 -3.40608114e-02 -7.39036198e+01] [-8.92708497e-02 -5.40405790e-04 9.96007241e-01 -2.51173901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35119381700002 meters 0.05893542467249966 Centerline is valid? [True, True] Translation: X:204.04, Y:-73.92, Z:-25.12 [[ 9.16358581e-01 3.91705988e-01 8.27850806e-02 2.04042667e+02] [-3.90214477e-01 9.20089901e-01 -3.41648382e-02 -7.39152595e+01] [-8.95522883e-02 -9.96694300e-04 9.95981623e-01 -2.51165624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38119381700002 meters 0.05990231115175147 Centerline is valid? [True, True] Translation: X:204.07, Y:-73.92, Z:-25.12 [[ 9.15080347e-01 3.94775250e-01 8.23435488e-02 2.04071763e+02] [-3.93309341e-01 9.18776855e-01 -3.40125542e-02 -7.39249446e+01] [-8.90826613e-02 -1.26226702e-03 9.96023437e-01 -2.51242740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41119381700003 meters 0.060107834488338514 Centerline is valid? [True, True] Translation: X:204.10, Y:-73.94, Z:-25.13 [[ 9.14323297e-01 3.96259139e-01 8.36158041e-02 2.04096467e+02] [-3.94750344e-01 9.18137653e-01 -3.45747986e-02 -7.39387175e+01] [-9.04713980e-02 -1.39482357e-03 9.95898077e-01 -2.51279777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44119381700003 meters 0.06001344501954871 Centerline is valid? [True, True] Translation: X:204.12, Y:-73.95, Z:-25.13 [[ 9.14629882e-01 3.95431256e-01 8.41801716e-02 2.04122351e+02] [-3.93899059e-01 9.18494616e-01 -3.48018941e-02 -7.39536618e+01] [-9.10807910e-02 -1.32763806e-03 9.95842622e-01 -2.51321115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47119381700003 meters 0.05968923275315268 Centerline is valid? [True, True] Translation: X:204.15, Y:-73.97, Z:-25.14 [[ 9.15269806e-01 3.93951227e-01 8.41642001e-02 2.04148198e+02] [-3.92413797e-01 9.19130582e-01 -3.47905777e-02 -7.39702587e+01] [-9.10636810e-02 -1.18442806e-03 9.95844367e-01 -2.51355209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50119381700003 meters 0.05859973389016429 Centerline is valid? [True, True] Translation: X:204.17, Y:-74.00, Z:-25.14 [[ 9.16906277e-01 3.89750542e-01 8.58917526e-02 2.04172544e+02] [-3.88131015e-01 9.20920137e-01 -3.55023430e-02 -7.39971815e+01] [-9.29365020e-02 -7.84931983e-04 9.95671728e-01 -2.51360914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53119381700003 meters 0.05867209903347532 Centerline is valid? [True, True] Translation: X:204.20, Y:-74.01, Z:-25.14 [[ 9.17663181e-01 3.87948556e-01 8.59662936e-02 2.04198565e+02] [-3.86317697e-01 9.21680835e-01 -3.55397605e-02 -7.40147540e+01] [-9.30210840e-02 -5.96770888e-04 9.95663960e-01 -2.51426306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56119381700003 meters 0.058214747318024465 Centerline is valid? [True, True] Translation: X:204.23, Y:-74.03, Z:-25.14 [[ 9.18547596e-01 3.85835509e-01 8.60306621e-02 2.04225336e+02] [-3.84190117e-01 9.22567523e-01 -3.55966275e-02 -7.40344664e+01] [-9.31035377e-02 -3.54933510e-04 9.95656369e-01 -2.51432120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59119381700003 meters 0.0581743256998725 Centerline is valid? [True, True] Translation: X:204.25, Y:-74.06, Z:-25.15 [[ 9.19823554e-01 3.82844376e-01 8.57602081e-02 2.04249596e+02] [-3.81195836e-01 9.23812850e-01 -3.54901823e-02 -7.40581754e+01] [-9.28135990e-02 -4.67285946e-05 9.95683501e-01 -2.51473373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62119381700003 meters 0.05826117060797497 Centerline is valid? [True, True] Translation: X:204.28, Y:-74.08, Z:-25.15 [[ 9.20020260e-01 3.82353716e-01 8.58391345e-02 2.04277408e+02] [-3.80697171e-01 9.24016036e-01 -3.55531838e-02 -7.40761753e+01] [-9.29106288e-02 3.09337239e-05 9.95674452e-01 -2.51509616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65119381700003 meters 0.057961839249769824 Centerline is valid? [True, True] Translation: X:204.31, Y:-74.09, Z:-25.15 [[ 9.20199907e-01 3.81752510e-01 8.65861022e-02 2.04305618e+02] [-3.80061180e-01 9.24264576e-01 -3.58955902e-02 -7.40931548e+01] [-9.37316986e-02 1.23102578e-04 9.95597486e-01 -2.51512448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68119381700004 meters 0.05792356399837351 Centerline is valid? [True, True] Translation: X:204.33, Y:-74.11, Z:-25.15 [[ 9.20352227e-01 3.81280168e-01 8.70471758e-02 2.04333794e+02] [-3.79565784e-01 9.24459514e-01 -3.61167876e-02 -7.41084417e+01] [-9.42422047e-02 2.00036379e-04 9.95549279e-01 -2.51544620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71119381700004 meters 0.05777476397473902 Centerline is valid? [True, True] Translation: X:204.36, Y:-74.12, Z:-25.16 [[ 9.20205121e-01 3.81280560e-01 8.85870702e-02 2.04360321e+02] [-3.79501326e-01 9.24459344e-01 -3.67921969e-02 -7.41245978e+01] [-9.59232942e-02 2.37457408e-04 9.95388701e-01 -2.51589568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74119381700004 meters 0.05774140730024824 Centerline is valid? [True, True] Translation: X:204.39, Y:-74.14, Z:-25.16 [[ 9.20245688e-01 3.81270610e-01 8.82076850e-02 2.04389369e+02] [-3.79505251e-01 9.24463444e-01 -3.66484011e-02 -7.41403810e+01] [-9.55177385e-02 2.50253513e-04 9.95427697e-01 -2.51618416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77119381700004 meters 0.057728442356637294 Centerline is valid? [True, True] Translation: X:204.42, Y:-74.16, Z:-25.17 [[ 9.20515228e-01 3.80785566e-01 8.74875277e-02 2.04416569e+02] [-3.79043221e-01 9.24663313e-01 -3.63867367e-02 -7.41559188e+01] [-9.47520513e-02 3.32990933e-04 9.95500848e-01 -2.51654364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80119381700004 meters 0.057770253145118924 Centerline is valid? [True, True] Translation: X:204.45, Y:-74.17, Z:-25.17 [[ 9.20402634e-01 3.80954512e-01 8.79354891e-02 2.04445019e+02] [-3.79193761e-01 9.24593722e-01 -3.65860747e-02 -7.41716929e+01] [-9.52422314e-02 3.29330698e-04 9.95454072e-01 -2.51696774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83119381700004 meters 0.057815097002100045 Centerline is valid? [True, True] Translation: X:204.47, Y:-74.19, Z:-25.17 [[ 9.20918808e-01 3.79782412e-01 8.76006252e-02 2.04471808e+02] [-3.78026601e-01 9.25075721e-01 -3.64801259e-02 -7.41917774e+01] [-9.48917217e-02 4.79867448e-04 9.95487484e-01 -2.51731625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86119381700001 meters 0.05806987116191101 Centerline is valid? [True, True] Translation: X:204.50, Y:-74.21, Z:-25.18 [[ 9.21400858e-01 3.78847726e-01 8.65728585e-02 2.04498465e+02] [-3.77125496e-01 9.25458826e-01 -3.60877029e-02 -7.42086610e+01] [-9.37913601e-02 6.02408171e-04 9.95591692e-01 -2.51788509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89119381700002 meters 0.05810461806419676 Centerline is valid? [True, True] Translation: X:204.53, Y:-74.23, Z:-25.18 [[ 9.21758033e-01 3.77999279e-01 8.64793221e-02 2.04526684e+02] [-3.76274572e-01 9.25805615e-01 -3.60750465e-02 -7.42250001e+01] [-9.36993836e-02 7.12493978e-04 9.95600280e-01 -2.51822355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92119381700002 meters 0.05807527827946593 Centerline is valid? [True, True] Translation: X:204.56, Y:-74.24, Z:-25.19 [[ 9.21899448e-01 3.77639696e-01 8.65428619e-02 2.04555638e+02] [-3.75907685e-01 9.25952293e-01 -3.61353389e-02 -7.42410458e+01] [-9.37806998e-02 7.81022156e-04 9.95592572e-01 -2.51862120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95119381700002 meters 0.05825556273097174 Centerline is valid? [True, True] Translation: X:204.58, Y:-74.26, Z:-25.19 [[ 9.21948223e-01 3.77412811e-01 8.70117443e-02 2.04582777e+02] [-3.75657666e-01 9.26044742e-01 -3.63655649e-02 -7.42587176e+01] [-9.43015983e-02 8.40539153e-04 9.95543320e-01 -2.51916191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98119381700002 meters 0.05805923455143398 Centerline is valid? [True, True] Translation: X:204.61, Y:-74.27, Z:-25.19 [[ 9.22072216e-01 3.77085589e-01 8.71165121e-02 2.04612217e+02] [-3.75321834e-01 9.26177975e-01 -3.64400774e-02 -7.42742661e+01] [-9.44264229e-02 9.03653876e-04 9.95531433e-01 -2.51932591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01119381700002 meters 0.05844392243796321 Centerline is valid? [True, True] Translation: X:204.64, Y:-74.29, Z:-25.20 [[ 9.22425465e-01 3.76227601e-01 8.70864779e-02 2.04639691e+02] [-3.74457922e-01 9.26526710e-01 -3.64625900e-02 -7.42908559e+01] [-9.44061806e-02 1.02380004e-03 9.95533236e-01 -2.51979493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04119381700002 meters 0.05887523135608145 Centerline is valid? [True, True] Translation: X:204.67, Y:-74.31, Z:-25.20 [[ 9.23831190e-01 3.72825695e-01 8.68155179e-02 2.04666118e+02] [-3.71048925e-01 9.27900343e-01 -3.63819843e-02 -7.43094959e+01] [-9.41202875e-02 1.39800727e-03 9.95559851e-01 -2.52002654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07119381700002 meters 0.05974762407771601 Centerline is valid? [True, True] Translation: X:204.69, Y:-74.33, Z:-25.21 [[ 9.24615974e-01 3.70966179e-01 8.64256601e-02 2.04692171e+02] [-3.69194639e-01 9.28644989e-01 -3.62464337e-02 -7.43259261e+01] [-9.37049572e-02 1.60614127e-03 9.95598715e-01 -2.52052439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10119381700002 meters 0.06037864702112202 Centerline is valid? [True, True] Translation: X:204.72, Y:-74.34, Z:-25.21 [[ 9.25528927e-01 3.68588874e-01 8.68242282e-02 2.04719889e+02] [-3.66787811e-01 9.29590609e-01 -3.64417425e-02 -7.43410862e+01] [-9.41430081e-02 1.88181822e-03 9.95556906e-01 -2.52089279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13119381700002 meters 0.06037864702112202 Centerline is valid? [True, True] Translation: X:204.75, Y:-74.35, Z:-25.21 [[ 9.25410922e-01 3.68887173e-01 8.68152013e-02 2.04749515e+02] [-3.67085405e-01 9.29472290e-01 -3.64632334e-02 -7.43538009e+01] [-9.41431431e-02 1.87488117e-03 9.95556906e-01 -2.52126406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16119381700003 meters 0.06134036896960029 Centerline is valid? [True, True] Translation: X:204.78, Y:-74.37, Z:-25.22 [[ 9.26398266e-01 3.66285577e-01 8.72990762e-02 2.04777580e+02] [-3.64448837e-01 9.30499924e-01 -3.67006332e-02 -7.43703786e+01] [-9.46746964e-02 2.18335621e-03 9.95505869e-01 -2.52164365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19119381700003 meters 0.06277785403173577 Centerline is valid? [True, True] Translation: X:204.80, Y:-74.39, Z:-25.22 [[ 9.27803790e-01 3.62712015e-01 8.72933026e-02 2.04804791e+02] [-3.60856955e-01 9.31897721e-01 -3.67273228e-02 -7.43869352e+01] [-9.46698709e-02 2.57535390e-03 9.95505391e-01 -2.52199048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22119381700003 meters 0.06574152042061177 Centerline is valid? [True, True] Translation: X:204.83, Y:-74.41, Z:-25.22 [[ 9.30804720e-01 3.54864461e-01 8.76001511e-02 2.04830522e+02] [-3.52958559e-01 9.34911517e-01 -3.68878240e-02 -7.44061253e+01] [-9.49885679e-02 3.41613763e-03 9.95472502e-01 -2.52225473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25119381700003 meters 0.0680889786883438 Centerline is valid? [True, True] Translation: X:204.86, Y:-74.42, Z:-25.23 [[ 9.32543507e-01 3.50497380e-01 8.66844562e-02 2.04856650e+02] [-3.48612056e-01 9.36555906e-01 -3.65057531e-02 -7.44216729e+01] [-9.39800102e-02 3.82395649e-03 9.95566741e-01 -2.52266223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28119381700003 meters 0.07028525435551622 Centerline is valid? [True, True] Translation: X:204.88, Y:-74.44, Z:-25.23 [[ 9.34219217e-01 3.46301519e-01 8.54968631e-02 2.04883885e+02] [-3.44449593e-01 9.38113894e-01 -3.60111140e-02 -7.44355343e+01] [-9.26764986e-02 4.19291499e-03 9.95687444e-01 -2.52308729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31119381700003 meters 0.0720178680340648 Centerline is valid? [True, True] Translation: X:204.91, Y:-74.45, Z:-25.24 [[ 9.35181972e-01 3.43750476e-01 8.52659889e-02 2.04912005e+02] [-3.41897855e-01 9.39050552e-01 -3.59154162e-02 -7.44480689e+01] [-9.24150154e-02 4.43519104e-03 9.95710698e-01 -2.52355224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34119381700003 meters 0.07448254332510107 Centerline is valid? [True, True] Translation: X:204.94, Y:-74.46, Z:-25.24 [[ 9.35877726e-01 3.42803576e-01 8.13547161e-02 2.04940289e+02] [-3.41113475e-01 9.39397156e-01 -3.42721477e-02 -7.44575967e+01] [-8.81730037e-02 4.32334977e-03 9.96095794e-01 -2.52441411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37119381700003 meters 0.07134045433964441 Centerline is valid? [True, True] Translation: X:204.97, Y:-74.46, Z:-25.25 [[ 9.35072625e-01 3.45431421e-01 7.94752787e-02 2.04974100e+02] [-3.43828183e-01 9.38435556e-01 -3.34796641e-02 -7.44609400e+01] [-8.61473553e-02 3.98007673e-03 9.96274456e-01 -2.52476247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40119381700003 meters 0.06960140363875232 Centerline is valid? [True, True] Translation: X:205.01, Y:-74.46, Z:-25.25 [[ 9.33785515e-01 3.49463132e-01 7.69423924e-02 2.05006399e+02] [-3.47973474e-01 9.36943573e-01 -3.24222662e-02 -7.44647389e+01] [-8.34210667e-02 3.50153100e-03 9.96508236e-01 -2.52535030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43119381700004 meters 0.0650535950673411 Centerline is valid? [True, True] Translation: X:205.04, Y:-74.46, Z:-25.25 [[ 9.31611231e-01 3.55244875e-01 7.68218266e-02 2.05040416e+02] [-3.53778553e-01 9.34768496e-01 -3.23819935e-02 -7.44627401e+01] [-8.33141605e-02 2.98951413e-03 9.96518848e-01 -2.52532237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46119381700004 meters 0.06315098195525956 Centerline is valid? [True, True] Translation: X:205.07, Y:-74.46, Z:-25.26 [[ 9.27024050e-01 3.67013345e-01 7.69910121e-02 2.05073317e+02] [-3.65580791e-01 9.30213656e-01 -3.24536633e-02 -7.44579982e+01] [-8.35290184e-02 1.93889127e-03 9.96503459e-01 -2.52627972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49119381700004 meters 0.06016836868224311 Centerline is valid? [True, True] Translation: X:205.11, Y:-74.46, Z:-25.26 [[ 9.24870005e-01 3.72329165e-01 7.73722659e-02 2.05107535e+02] [-3.70901111e-01 9.28099590e-01 -3.26115969e-02 -7.44578408e+01] [-8.39514169e-02 1.46402844e-03 9.96468773e-01 -2.52606022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52119381700004 meters 0.059310690983155015 Centerline is valid? [True, True] Translation: X:205.14, Y:-74.46, Z:-25.26 [[ 9.22800926e-01 3.77202257e-01 7.84659678e-02 2.05138139e+02] [-3.75750593e-01 9.26130323e-01 -3.30774440e-02 -7.44621376e+01] [-8.51465986e-02 1.04026204e-03 9.96367891e-01 -2.52642584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55119381700004 meters 0.058013678701933774 Centerline is valid? [True, True] Translation: X:205.17, Y:-74.46, Z:-25.27 [[ 9.18846643e-01 3.86486878e-01 7.96789841e-02 2.05172333e+02] [-3.85024464e-01 9.22294887e-01 -3.35902333e-02 -7.44608496e+01] [-8.64697041e-02 1.85914950e-04 9.96254463e-01 -2.52666581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58119381700004 meters 0.05798866212426988 Centerline is valid? [True, True] Translation: X:205.20, Y:-74.47, Z:-25.27 [[ 9.17159348e-01 3.90471409e-01 7.96919671e-02 2.05203663e+02] [-3.89023858e-01 9.20615034e-01 -3.35916118e-02 -7.44675377e+01] [-8.64821870e-02 -1.93215756e-04 9.96253378e-01 -2.52712080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61119381700001 meters 0.05801281937599879 Centerline is valid? [True, True] Translation: X:205.23, Y:-74.47, Z:-25.28 [[ 9.15612861e-01 3.94111469e-01 7.95565073e-02 2.05234883e+02] [-3.92679947e-01 9.19062507e-01 -3.35643826e-02 -7.44748854e+01] [-8.63455112e-02 -5.08264677e-04 9.96265123e-01 -2.52757981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64119381700002 meters 0.05813739439095658 Centerline is valid? [True, True] Translation: X:205.27, Y:-74.48, Z:-25.28 [[ 9.14485348e-01 3.96721086e-01 7.95545591e-02 2.05266113e+02] [-3.95297147e-01 9.17938913e-01 -3.35904505e-02 -7.44838611e+01] [-8.63522655e-02 -7.29715355e-04 9.96264400e-01 -2.52795976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67119381700002 meters 0.058716366865849565 Centerline is valid? [True, True] Translation: X:205.30, Y:-74.49, Z:-25.29 [[ 9.13384146e-01 3.99622114e-01 7.76631714e-02 2.05295404e+02] [-3.98273060e-01 9.16679475e-01 -3.28223870e-02 -7.44921577e+01] [-8.43087869e-02 -9.51700970e-04 9.96439222e-01 -2.52863192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70119381700002 meters 0.058484761619355355 Centerline is valid? [True, True] Translation: X:205.32, Y:-74.50, Z:-25.29 [[ 9.13017497e-01 4.00763168e-01 7.60784683e-02 2.05324752e+02] [-3.99472051e-01 9.16181109e-01 -3.21598456e-02 -7.45048764e+01] [-8.25901371e-02 -1.02872000e-03 9.96583068e-01 -2.52881448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73119381700002 meters 0.058715701012933566 Centerline is valid? [True, True] Translation: X:205.36, Y:-74.52, Z:-25.29 [[ 9.12448752e-01 4.01946892e-01 7.66548825e-02 2.05355260e+02] [-4.00638097e-01 9.15662296e-01 -3.24295270e-02 -7.45172007e+01] [-8.32249333e-02 -1.12058477e-03 9.96530157e-01 -2.52925805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76119381700002 meters 0.05906533020593082 Centerline is valid? [True, True] Translation: X:205.38, Y:-74.53, Z:-25.30 [[ 9.12834793e-01 4.01420993e-01 7.47918988e-02 2.05382940e+02] [-4.00170469e-01 9.15893094e-01 -3.16770601e-02 -7.45304087e+01] [-8.12172205e-02 -1.01358667e-03 9.96695909e-01 -2.52996846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79119381700002 meters 0.05886503023253437 Centerline is valid? [True, True] Translation: X:205.41, Y:-74.54, Z:-25.30 [[ 9.12817494e-01 4.01327317e-01 7.55023689e-02 2.05411684e+02] [-4.00051789e-01 9.15934153e-01 -3.19874040e-02 -7.45447054e+01] [-8.19926173e-02 -1.00619577e-03 9.96632429e-01 -2.53022073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82119381700002 meters 0.058972896399796054 Centerline is valid? [True, True] Translation: X:205.44, Y:-74.56, Z:-25.31 [[ 9.12652552e-01 4.01767130e-01 7.51564607e-02 2.05439899e+02] [-4.00502310e-01 9.15741310e-01 -3.18708776e-02 -7.45572470e+01] [-8.16285468e-02 -1.01329834e-03 9.96662307e-01 -2.53060890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85119381700002 meters 0.05878517202008207 Centerline is valid? [True, True] Translation: X:205.47, Y:-74.57, Z:-25.31 [[ 9.12371301e-01 4.02309063e-01 7.56705166e-02 2.05469059e+02] [-4.01027916e-01 9.15503301e-01 -3.20985583e-02 -7.45707407e+01] [-8.21901486e-02 -1.06018610e-03 9.96616102e-01 -2.53083527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88119381700002 meters 0.05923250848366008 Centerline is valid? [True, True] Translation: X:205.50, Y:-74.58, Z:-25.31 [[ 9.10997831e-01 4.05205545e-01 7.67555717e-02 2.05498502e+02] [-4.03895405e-01 9.14224662e-01 -3.25847982e-02 -7.45817128e+01] [-8.33753775e-02 -1.31654224e-03 9.96517342e-01 -2.53124285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91119381700003 meters 0.05961663201152004 Centerline is valid? [True, True] Translation: X:205.53, Y:-74.59, Z:-25.32 [[ 9.10175372e-01 4.07047937e-01 7.67643798e-02 2.05528359e+02] [-4.05741653e-01 9.13405631e-01 -3.26169212e-02 -7.45935593e+01] [-8.33936673e-02 -1.45938800e-03 9.96515613e-01 -2.53169194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94119381700003 meters 0.06002323101142001 Centerline is valid? [True, True] Translation: X:205.56, Y:-74.61, Z:-25.32 [[ 9.09686900e-01 4.08246691e-01 7.61865087e-02 2.05556008e+02] [-4.06962110e-01 9.12870356e-01 -3.23968345e-02 -7.46065934e+01] [-8.27743058e-02 -1.53404643e-03 9.96567138e-01 -2.53215009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97119381700003 meters 0.059769737230293496 Centerline is valid? [True, True] Translation: X:205.58, Y:-74.62, Z:-25.32 [[ 9.09337180e-01 4.09131386e-01 7.56135023e-02 2.05584392e+02] [-4.07867357e-01 9.12474112e-01 -3.21747419e-02 -7.46228689e+01] [-8.21590601e-02 -1.58259030e-03 9.96617973e-01 -2.53236538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00119381700003 meters 0.061273130998298626 Centerline is valid? [True, True] Translation: X:205.61, Y:-74.64, Z:-25.33 [[ 9.08918214e-01 4.10114444e-01 7.53247915e-02 2.05610545e+02] [-4.08861309e-01 9.12032592e-01 -3.20777367e-02 -7.46387400e+01] [-8.18542079e-02 -1.64135368e-03 9.96642962e-01 -2.53347337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03119381700003 meters 0.05975724843028563 Centerline is valid? [True, True] Translation: X:205.64, Y:-74.66, Z:-25.33 [[ 9.08864575e-01 4.10451449e-01 7.41268708e-02 2.05637238e+02] [-4.09237321e-01 9.11881004e-01 -3.15887640e-02 -7.46592476e+01] [-8.05605394e-02 -1.62557349e-03 9.96748392e-01 -2.53324386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06119381700003 meters 0.06003389916185776 Centerline is valid? [True, True] Translation: X:205.66, Y:-74.67, Z:-25.34 [[ 9.08657275e-01 4.11063397e-01 7.32723704e-02 2.05664398e+02] [-4.09877052e-01 9.11605290e-01 -3.12505512e-02 -7.46743913e+01] [-7.96414382e-02 -1.63662246e-03 9.96822232e-01 -2.53379928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09119381700003 meters 0.060261860018442685 Centerline is valid? [True, True] Translation: X:205.69, Y:-74.70, Z:-25.34 [[ 9.07795777e-01 4.12908985e-01 7.35730719e-02 2.05690679e+02] [-4.11717054e-01 9.10770544e-01 -3.14019570e-02 -7.46950307e+01] [-7.99743370e-02 -1.78472446e-03 9.96795325e-01 -2.53419137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12119381700003 meters 0.06048249964604726 Centerline is valid? [True, True] Translation: X:205.72, Y:-74.71, Z:-25.35 [[ 9.07201555e-01 4.14207458e-01 7.36038124e-02 2.05717693e+02] [-4.13016776e-01 9.10180564e-01 -3.14401683e-02 -7.47124989e+01] [-8.00155116e-02 -1.87703972e-03 9.96791851e-01 -2.53452653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15119381700003 meters 0.060504619718677696 Centerline is valid? [True, True] Translation: X:205.74, Y:-74.73, Z:-25.35 [[ 9.06533394e-01 4.15718637e-01 7.33158980e-02 2.05744507e+02] [-4.14540221e-01 9.09491119e-01 -3.13418331e-02 -7.47303524e+01] [-7.97095422e-02 -1.97997014e-03 9.96816166e-01 -2.53489088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18119381700004 meters 0.061207460841519463 Centerline is valid? [True, True] Translation: X:205.77, Y:-74.75, Z:-25.35 [[ 9.05974861e-01 4.17113791e-01 7.22885714e-02 2.05771311e+02] [-4.15970655e-01 9.08851959e-01 -3.09278429e-02 -7.47457973e+01] [-7.86000395e-02 -2.05007626e-03 9.96904123e-01 -2.53542501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21119381700004 meters 0.06127591917187353 Centerline is valid? [True, True] Translation: X:205.80, Y:-74.77, Z:-25.36 [[ 9.05351346e-01 4.18476511e-01 7.22243113e-02 2.05796818e+02] [-4.17337996e-01 9.08225084e-01 -3.09223826e-02 -7.47675255e+01] [-7.85362220e-02 -2.14632866e-03 9.96908950e-01 -2.53579216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24119381700004 meters 0.061363761095456895 Centerline is valid? [True, True] Translation: X:205.82, Y:-74.78, Z:-25.36 [[ 9.05378362e-01 4.18168826e-01 7.36536170e-02 2.05822927e+02] [-4.16981601e-01 9.08366811e-01 -3.15607498e-02 -7.47841998e+01] [-8.01022229e-02 -2.13778321e-03 9.96784362e-01 -2.53616123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27119381700004 meters 0.06030472093090651 Centerline is valid? [True, True] Translation: X:205.85, Y:-74.80, Z:-25.36 [[ 9.06146364e-01 4.16187047e-01 7.54129189e-02 2.05848982e+02] [-4.14932924e-01 9.09276865e-01 -3.23458166e-02 -7.48048762e+01] [-8.20331323e-02 -1.98125889e-03 9.96627633e-01 -2.53623121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30119381700004 meters 0.05958159081223702 Centerline is valid? [True, True] Translation: X:205.87, Y:-74.82, Z:-25.36 [[ 9.07176644e-01 4.13662439e-01 7.69020329e-02 2.05874294e+02] [-4.12348630e-01 9.10428586e-01 -3.29908475e-02 -7.48244398e+01] [-8.36608836e-02 -1.78192163e-03 9.96492690e-01 -2.53642995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33119381700004 meters 0.058416818105549946 Centerline is valid? [True, True] Translation: X:205.90, Y:-74.85, Z:-25.37 [[ 9.09516157e-01 4.08263688e-01 7.81096768e-02 2.05896101e+02] [-4.06888194e-01 9.12863112e-01 -3.35102461e-02 -7.48509410e+01] [-8.49844593e-02 -1.30379506e-03 9.96381424e-01 -2.53662065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36119381700001 meters 0.05779794492421063 Centerline is valid? [True, True] Translation: X:205.92, Y:-74.87, Z:-25.37 [[ 9.10848911e-01 4.05200730e-01 7.85278857e-02 2.05922532e+02] [-4.03798071e-01 9.14227183e-01 -3.37012617e-02 -7.48720162e+01] [-8.54481036e-02 -1.01265119e-03 9.96342108e-01 -2.53678233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39119381700002 meters 0.05758193731981586 Centerline is valid? [True, True] Translation: X:205.95, Y:-74.89, Z:-25.37 [[ 9.12425011e-01 4.01592251e-01 7.87671402e-02 2.05947981e+02] [-4.00167187e-01 9.15818329e-01 -3.38084424e-02 -7.48910139e+01] [-8.57135992e-02 -6.72356453e-04 9.96319591e-01 -2.53721949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42119381700002 meters 0.05712503450394544 Centerline is valid? [True, True] Translation: X:205.97, Y:-74.92, Z:-25.37 [[ 9.16331155e-01 3.92331101e-01 8.00844651e-02 2.05972154e+02] [-3.90819840e-01 9.19824035e-01 -3.44034478e-02 -7.49182493e+01] [-8.71611584e-02 2.26353275e-04 9.96194199e-01 -2.53714081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45119381700002 meters 0.058428931099525926 Centerline is valid? [True, True] Translation: X:206.00, Y:-74.94, Z:-25.38 [[ 9.18724486e-01 3.86546643e-01 8.07899198e-02 2.05995657e+02] [-3.84985711e-01 9.22269522e-01 -3.47121042e-02 -7.49392932e+01] [-8.79279280e-02 7.87895330e-04 9.96126527e-01 -2.53801452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48119381700002 meters 0.05871475137829128 Centerline is valid? [True, True] Translation: X:206.02, Y:-74.96, Z:-25.38 [[ 9.21191741e-01 3.80915009e-01 7.94325611e-02 2.06022705e+02] [-3.79382500e-01 9.24609095e-01 -3.41604942e-02 -7.49583130e+01] [-8.64563134e-02 1.33304147e-03 9.96254751e-01 -2.53787645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51119381700002 meters 0.06090473157098327 Centerline is valid? [True, True] Translation: X:206.05, Y:-74.98, Z:-25.38 [[ 9.23338668e-01 3.75641949e-01 7.96167704e-02 2.06046674e+02] [-3.74082497e-01 9.26763057e-01 -3.42421141e-02 -7.49800976e+01] [-8.66486560e-02 1.83382778e-03 9.96237245e-01 -2.53845688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54119381700002 meters 0.0628403559891716 Centerline is valid? [True, True] Translation: X:206.07, Y:-75.00, Z:-25.38 [[ 9.27365622e-01 3.65499944e-01 8.00174560e-02 2.06071550e+02] [-3.63883975e-01 9.30807063e-01 -3.44479905e-02 -7.50008658e+01] [-8.70715518e-02 2.82881217e-03 9.96198044e-01 -2.53834715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57119381700002 meters 0.0644146215207722 Centerline is valid? [True, True] Translation: X:206.10, Y:-75.02, Z:-25.39 [[ 9.28560133e-01 3.62297904e-01 8.07236495e-02 2.06098315e+02] [-3.60641506e-01 9.32057018e-01 -3.47479335e-02 -7.50171343e+01] [-8.78281475e-02 3.15324725e-03 9.96130651e-01 -2.53864706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60119381700002 meters 0.06655890367434747 Centerline is valid? [True, True] Translation: X:206.12, Y:-75.03, Z:-25.39 [[ 9.29940854e-01 3.58570925e-01 8.14671709e-02 2.06124506e+02] [-3.56866520e-01 9.33495661e-01 -3.51018237e-02 -7.50327423e+01] [-8.86357439e-02 3.56971419e-03 9.96057710e-01 -2.53904732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63119381700002 meters 0.06715429285915167 Centerline is valid? [True, True] Translation: X:206.15, Y:-75.05, Z:-25.39 [[ 9.30611793e-01 3.56666716e-01 8.21616981e-02 2.06153996e+02] [-3.54925896e-01 9.34224041e-01 -3.53984368e-02 -7.50457700e+01] [-8.93828778e-02 3.78088842e-03 9.95990164e-01 -2.53933542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66119381700003 meters 0.0675258351789739 Centerline is valid? [True, True] Translation: X:206.18, Y:-75.06, Z:-25.40 [[ 9.30834997e-01 3.56022690e-01 8.24260456e-02 2.06183322e+02] [-3.54265487e-01 9.34469245e-01 -3.55414535e-02 -7.50572382e+01] [-8.96781685e-02 3.88252556e-03 9.95963228e-01 -2.53970598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69119381700003 meters 0.0686033174636541 Centerline is valid? [True, True] Translation: X:206.21, Y:-75.07, Z:-25.40 [[ 9.31116535e-01 3.55447615e-01 8.17250904e-02 2.06213291e+02] [-3.53715447e-01 9.34687936e-01 -3.52681853e-02 -7.50652995e+01] [-8.89234484e-02 3.93136358e-03 9.96030705e-01 -2.54039878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72119381700003 meters 0.06685949757232267 Centerline is valid? [True, True] Translation: X:206.25, Y:-75.07, Z:-25.41 [[ 9.31045403e-01 3.55645400e-01 8.16750110e-02 2.06245866e+02] [-3.53913951e-01 9.34612691e-01 -3.52708542e-02 -7.50722875e+01] [-8.88784188e-02 3.93284082e-03 9.96034718e-01 -2.54063216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75119381700003 meters 0.068619547144631 Centerline is valid? [True, True] Translation: X:206.27, Y:-75.08, Z:-25.41 [[ 9.30870840e-01 3.56192788e-01 8.12783984e-02 2.06274542e+02] [-3.54477195e-01 9.34404376e-01 -3.51337598e-02 -7.50845718e+01] [-8.84612830e-02 3.89365387e-03 9.96072006e-01 -2.54122691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78119381700003 meters 0.06726830261460072 Centerline is valid? [True, True] Translation: X:206.31, Y:-75.09, Z:-25.42 [[ 9.30986270e-01 3.56028680e-01 8.06730723e-02 2.06306767e+02] [-3.54335195e-01 9.34466850e-01 -3.49038192e-02 -7.50910240e+01] [-8.78130724e-02 3.90966764e-03 9.96129298e-01 -2.54151992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81119381700003 meters 0.07041896910139481 Centerline is valid? [True, True] Translation: X:206.34, Y:-75.10, Z:-25.42 [[ 9.32225873e-01 3.52930074e-01 7.99705225e-02 2.06335884e+02] [-3.51251392e-01 9.35640275e-01 -3.46372059e-02 -7.50969499e+01] [-8.70481533e-02 4.19994212e-03 9.96195252e-01 -2.54217686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84119381700003 meters 0.07068803717374064 Centerline is valid? [True, True] Translation: X:206.37, Y:-75.10, Z:-25.42 [[ 9.32710171e-01 3.51635188e-01 8.00276937e-02 2.06367651e+02] [-3.49950114e-01 9.36127165e-01 -3.46532731e-02 -7.51048222e+01] [-8.71014082e-02 4.31575979e-03 9.96190102e-01 -2.54247534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87119381700003 meters 0.0720974385561415 Centerline is valid? [True, True] Translation: X:206.40, Y:-75.11, Z:-25.43 [[ 9.33446959e-01 3.49652939e-01 8.01223807e-02 2.06398788e+02] [-3.47953581e-01 9.36868307e-01 -3.47286886e-02 -7.51139456e+01] [-8.72071071e-02 4.53851949e-03 9.96179864e-01 -2.54280372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90119381700003 meters 0.07515040531353606 Centerline is valid? [True, True] Translation: X:206.43, Y:-75.12, Z:-25.43 [[ 9.35274200e-01 3.45063556e-01 7.86976088e-02 2.06429919e+02] [-3.43407153e-01 9.38566595e-01 -3.41214476e-02 -7.51161296e+01] [-8.56370148e-02 4.88758779e-03 9.96314415e-01 -2.54324159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93119381700004 meters 0.0775765917876063 Centerline is valid? [True, True] Translation: X:206.46, Y:-75.12, Z:-25.44 [[ 9.36189090e-01 3.42723423e-01 7.80425779e-02 2.06458968e+02] [-3.41086694e-01 9.39422743e-01 -3.38345593e-02 -7.51231535e+01] [-8.49108686e-02 5.05626035e-03 9.96375722e-01 -2.54378037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96119381700004 meters 0.0796805687582388 Centerline is valid? [True, True] Translation: X:206.49, Y:-75.13, Z:-25.44 [[ 9.37223196e-01 3.40328407e-01 7.60871615e-02 2.06489268e+02] [-3.38764046e-01 9.40292530e-01 -3.29981619e-02 -7.51296724e+01] [-8.27744015e-02 5.15104805e-03 9.96554999e-01 -2.54430918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99119381700004 meters 0.0830235182444445 Centerline is valid? [True, True] Translation: X:206.52, Y:-75.13, Z:-25.45 [[ 9.38668612e-01 3.36683750e-01 7.44666989e-02 2.06522124e+02] [-3.35173987e-01 9.41602552e-01 -3.22960103e-02 -7.51283533e+01] [-8.09915756e-02 5.35595086e-03 9.96700396e-01 -2.54487828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02119381700004 meters 0.0830235182444445 Centerline is valid? [True, True] Translation: X:206.55, Y:-75.14, Z:-25.45 [[ 9.38558843e-01 3.36989208e-01 7.44685982e-02 2.06551656e+02] [-3.35480745e-01 9.41493452e-01 -3.22916361e-02 -7.51414634e+01] [-8.09936305e-02 5.32481983e-03 9.96700395e-01 -2.54524979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05119381700004 meters 0.08434493657643385 Centerline is valid? [True, True] Translation: X:206.58, Y:-75.15, Z:-25.46 [[ 9.39090298e-01 3.35491551e-01 7.45307442e-02 2.06584274e+02] [-3.33972794e-01 9.42027192e-01 -3.23564906e-02 -7.51462269e+01] [-8.10653169e-02 5.49442547e-03 9.96693647e-01 -2.54561842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08119381700004 meters 0.08613891000588525 Centerline is valid? [True, True] Translation: X:206.62, Y:-75.15, Z:-25.46 [[ 9.39254671e-01 3.34774441e-01 7.56752052e-02 2.06615694e+02] [-3.33206166e-01 9.42281394e-01 -3.28546093e-02 -7.51509654e+01] [-8.23062213e-02 5.64340028e-03 9.96591109e-01 -2.54609469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11119381700001 meters 0.08311364629769363 Centerline is valid? [True, True] Translation: X:206.65, Y:-75.15, Z:-25.46 [[ 9.39389012e-01 3.34357769e-01 7.58496295e-02 2.06652096e+02] [-3.32779013e-01 9.42428897e-01 -3.29530310e-02 -7.51489264e+01] [-8.25009846e-02 5.71455039e-03 9.96574599e-01 -2.54615802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14119381700002 meters 0.08793009037737876 Centerline is valid? [True, True] Translation: X:206.69, Y:-75.15, Z:-25.47 [[ 9.39711417e-01 3.33310766e-01 7.64616657e-02 2.06686120e+02] [-3.31699978e-01 9.42798639e-01 -3.32543274e-02 -7.51464799e+01] [-8.31719797e-02 5.88713833e-03 9.96517819e-01 -2.54665888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17119381700002 meters 0.08374371681198987 Centerline is valid? [True, True] Translation: X:206.72, Y:-75.14, Z:-25.47 [[ 9.39795682e-01 3.33128745e-01 7.62188666e-02 2.06722749e+02] [-3.31527983e-01 9.42863015e-01 -3.31441039e-02 -7.51434270e+01] [-8.29052041e-02 5.87999858e-03 9.96540091e-01 -2.54676695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20119381700002 meters 0.08966486270954903 Centerline is valid? [True, True] Translation: X:206.75, Y:-75.15, Z:-25.47 [[ 9.39986949e-01 3.32432190e-01 7.68984678e-02 2.06751536e+02] [-3.30798055e-01 9.43107941e-01 -3.34672873e-02 -7.51546403e+01] [-8.36491592e-02 6.02094967e-03 9.96477078e-01 -2.54748160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23119381700002 meters 0.0847757227526589 Centerline is valid? [True, True] Translation: X:206.79, Y:-75.15, Z:-25.48 [[ 9.40189061e-01 3.32054229e-01 7.60560185e-02 2.06787556e+02] [-3.30452667e-01 9.43241155e-01 -3.31233687e-02 -7.51518906e+01] [-8.27379215e-02 6.00931479e-03 9.96553222e-01 -2.54755381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26119381700002 meters 0.08567333003297334 Centerline is valid? [True, True] Translation: X:206.82, Y:-75.15, Z:-25.48 [[ 9.40565003e-01 3.31364512e-01 7.43978149e-02 2.06824351e+02] [-3.29827415e-01 9.43483944e-01 -3.24333755e-02 -7.51474484e+01] [-8.09404135e-02 5.96725889e-03 9.96701079e-01 -2.54806834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29119381700002 meters 0.0858524950152757 Centerline is valid? [True, True] Translation: X:206.86, Y:-75.15, Z:-25.49 [[ 9.40241738e-01 3.32225932e-01 7.46418426e-02 2.06858007e+02] [-3.30680866e-01 9.43181264e-01 -3.25463856e-02 -7.51510049e+01] [-8.12135408e-02 5.91884098e-03 9.96679150e-01 -2.54854876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32119381700002 meters 0.08493295369298604 Centerline is valid? [True, True] Translation: X:206.89, Y:-75.15, Z:-25.49 [[ 9.39597344e-01 3.33964176e-01 7.49983985e-02 2.06891495e+02] [-3.32408913e-01 9.42567884e-01 -3.27123653e-02 -7.51527340e+01] [-8.16158399e-02 5.80631540e-03 9.96646949e-01 -2.54899014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35119381700002 meters 0.08233599389338411 Centerline is valid? [True, True] Translation: X:206.93, Y:-75.14, Z:-25.49 [[ 9.38235626e-01 3.37661784e-01 7.54879490e-02 2.06928224e+02] [-3.36097364e-01 9.41251275e-01 -3.29332572e-02 -7.51447957e+01] [-8.21734306e-02 5.52785449e-03 9.96602714e-01 -2.54933565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38119381700002 meters 0.08092580496357862 Centerline is valid? [True, True] Translation: X:206.96, Y:-75.15, Z:-25.50 [[ 9.37498553e-01 3.39658054e-01 7.56892959e-02 2.06961078e+02] [-3.38091758e-01 9.40533680e-01 -3.30205899e-02 -7.51482020e+01] [-8.24040413e-02 5.36682816e-03 9.96584553e-01 -2.54958471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41119381700003 meters 0.08000455040230625 Centerline is valid? [True, True] Translation: X:206.99, Y:-75.15, Z:-25.50 [[ 9.36697267e-01 3.41545888e-01 7.71014721e-02 2.06993545e+02] [-3.39926499e-01 9.39850145e-01 -3.36404649e-02 -7.51518177e+01] [-8.39535922e-02 5.30209809e-03 9.96455560e-01 -2.54993962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44119381700003 meters 0.07931704043863028 Centerline is valid? [True, True] Translation: X:207.02, Y:-75.15, Z:-25.50 [[ 9.36139044e-01 3.42796594e-01 7.83210392e-02 2.07024916e+02] [-3.41129267e-01 9.39394823e-01 -3.41788015e-02 -7.51539342e+01] [-8.52907554e-02 5.27851183e-03 9.96342122e-01 -2.55020146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47119381700003 meters 0.07858359220173818 Centerline is valid? [True, True] Translation: X:207.06, Y:-75.15, Z:-25.51 [[ 9.35506836e-01 3.44655204e-01 7.77158282e-02 2.07059640e+02] [-3.43020226e-01 9.38715676e-01 -3.39117092e-02 -7.51472911e+01] [-8.46409133e-02 5.06653481e-03 9.96398638e-01 -2.55059767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50119381700003 meters 0.07889795891939554 Centerline is valid? [True, True] Translation: X:207.09, Y:-75.15, Z:-25.51 [[ 9.35396588e-01 3.44897013e-01 7.79696987e-02 2.07087771e+02] [-3.43252506e-01 9.38626909e-01 -3.40182714e-02 -7.51514819e+01] [-8.49172575e-02 5.05728056e-03 9.96375172e-01 -2.55097771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53119381700003 meters 0.07888112705160491 Centerline is valid? [True, True] Translation: X:207.12, Y:-75.16, Z:-25.51 [[ 9.35358245e-01 3.45216091e-01 7.70117207e-02 2.07116894e+02] [-3.43613693e-01 9.38510136e-01 -3.35909877e-02 -7.51565802e+01] [-8.38724299e-02 4.95732556e-03 9.96464169e-01 -2.55131958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56119381700003 meters 0.07312947663734436 Centerline is valid? [True, True] Translation: X:207.15, Y:-75.15, Z:-25.51 [[ 9.35452659e-01 3.45049605e-01 7.66100076e-02 2.07153741e+02] [-3.43463920e-01 9.38571451e-01 -3.34090944e-02 -7.51450942e+01] [-8.34317608e-02 4.93985264e-03 9.96501249e-01 -2.55106013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59119381700003 meters 0.07361950258424532 Centerline is valid? [True, True] Translation: X:207.18, Y:-75.15, Z:-25.51 [[ 9.35409161e-01 3.45064089e-01 7.70744890e-02 2.07181719e+02] [-3.43459728e-01 9.38566009e-01 -3.36044878e-02 -7.51489430e+01] [-8.39351975e-02 4.96196268e-03 9.96458861e-01 -2.55138239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62119381700003 meters 0.07396626895404408 Centerline is valid? [True, True] Translation: X:207.21, Y:-75.15, Z:-25.52 [[ 9.35273008e-01 3.45467617e-01 7.69189585e-02 2.07211215e+02] [-3.43871954e-01 9.38417847e-01 -3.35264633e-02 -7.51535632e+01] [-8.37644308e-02 4.90612359e-03 9.96473507e-01 -2.55169969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65119381700003 meters 0.08112111334775034 Centerline is valid? [True, True] Translation: X:207.24, Y:-75.16, Z:-25.52 [[ 9.35427318e-01 3.44855287e-01 7.77853634e-02 2.07236482e+02] [-3.43221563e-01 9.38642471e-01 -3.39008878e-02 -7.51601636e+01] [-8.47035461e-02 5.01420259e-03 9.96393580e-01 -2.55247688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68119381700004 meters 0.08155959424985883 Centerline is valid? [True, True] Translation: X:207.27, Y:-75.17, Z:-25.53 [[ 9.35479527e-01 3.44495802e-01 7.87445093e-02 2.07265152e+02] [-3.42821928e-01 9.38774058e-01 -3.42986007e-02 -7.51652460e+01] [-8.57390265e-02 5.09029426e-03 9.96304626e-01 -2.55269177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71119381700004 meters 0.07346384075163977 Centerline is valid? [True, True] Translation: X:207.30, Y:-75.16, Z:-25.52 [[ 9.35590780e-01 3.44068588e-01 7.92887131e-02 2.07299329e+02] [-3.42371788e-01 9.38930422e-01 -3.45140687e-02 -7.51580361e+01] [-8.63217917e-02 5.14482593e-03 9.96254023e-01 -2.55229383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74119381700004 meters 0.07367530753826423 Centerline is valid? [True, True] Translation: X:207.33, Y:-75.16, Z:-25.53 [[ 9.35587595e-01 3.43782012e-01 8.05591740e-02 2.07328212e+02] [-3.42032210e-01 9.39034958e-01 -3.50330552e-02 -7.51649179e+01] [-8.76916148e-02 5.22265952e-03 9.96133979e-01 -2.55251790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77119381700004 meters 0.07554800678388586 Centerline is valid? [True, True] Translation: X:207.35, Y:-75.17, Z:-25.53 [[ 9.35459434e-01 3.44155091e-01 8.04544626e-02 2.07353868e+02] [-3.42413856e-01 9.38898676e-01 -3.49575041e-02 -7.51738492e+01] [-8.75693914e-02 5.15260425e-03 9.96145096e-01 -2.55299187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80119381700004 meters 0.07449649815074529 Centerline is valid? [True, True] Translation: X:207.39, Y:-75.17, Z:-25.53 [[ 9.35413691e-01 3.44520366e-01 7.94162728e-02 2.07385004e+02] [-3.42825432e-01 9.38765265e-01 -3.45036361e-02 -7.51725699e+01] [-8.64404437e-02 5.04925559e-03 9.96244224e-01 -2.55332992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83119381700004 meters 0.07588085526234958 Centerline is valid? [True, True] Translation: X:207.41, Y:-75.18, Z:-25.54 [[ 9.35230563e-01 3.45241450e-01 7.84355457e-02 2.07411544e+02] [-3.43593821e-01 9.38501178e-01 -3.40415252e-02 -7.51806261e+01] [-8.53643975e-02 4.88670594e-03 9.96337814e-01 -2.55393130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86119381700001 meters 0.07419214559051988 Centerline is valid? [True, True] Translation: X:207.44, Y:-75.18, Z:-25.54 [[ 9.34916461e-01 3.46386740e-01 7.71196310e-02 2.07441344e+02] [-3.44798179e-01 9.38080034e-01 -3.34673792e-02 -7.51848264e+01] [-8.39370424e-02 4.69849540e-03 9.96459983e-01 -2.55427967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89119381700002 meters 0.0724159156409604 Centerline is valid? [True, True] Translation: X:207.47, Y:-75.19, Z:-25.54 [[ 9.34651802e-01 3.47082225e-01 7.72006377e-02 2.07471176e+02] [-3.45494762e-01 9.37823334e-01 -3.34778086e-02 -7.51892328e+01] [-8.40201118e-02 4.61767823e-03 9.96453360e-01 -2.55448336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92119381700002 meters 0.06887311166178645 Centerline is valid? [True, True] Translation: X:207.51, Y:-75.19, Z:-25.54 [[ 9.33747462e-01 3.48968735e-01 7.96021326e-02 2.07505062e+02] [-3.47290616e-01 9.37123301e-01 -3.44840202e-02 -7.51881044e+01] [-8.66308581e-02 4.55429269e-03 9.96230070e-01 -2.55431333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95119381700002 meters 0.06913675115884742 Centerline is valid? [True, True] Translation: X:207.53, Y:-75.20, Z:-25.55 [[ 9.33387335e-01 3.49362989e-01 8.20584301e-02 2.07532715e+02] [-3.47581008e-01 9.36975884e-01 -3.55476480e-02 -7.51957085e+01] [-8.93058027e-02 4.65777257e-03 9.95993363e-01 -2.55451521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98119381700002 meters 0.07015485396624205 Centerline is valid? [True, True] Translation: X:207.56, Y:-75.21, Z:-25.55 [[ 9.33390251e-01 3.49181892e-01 8.27927877e-02 2.07559071e+02] [-3.47367785e-01 9.37043127e-01 -3.58580467e-02 -7.52053473e+01] [-9.01013933e-02 4.71000393e-03 9.95921460e-01 -2.55487986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01119381700002 meters 0.07000842908594289 Centerline is valid? [True, True] Translation: X:207.59, Y:-75.21, Z:-25.55 [[ 9.33584676e-01 3.48515870e-01 8.34046843e-02 2.07586428e+02] [-3.46672549e-01 9.37290560e-01 -3.61185391e-02 -7.52127740e+01] [-9.07623074e-02 4.80560010e-03 9.95860989e-01 -2.55511332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04119381700002 meters 0.07224622898765488 Centerline is valid? [True, True] Translation: X:207.61, Y:-75.22, Z:-25.56 [[ 9.33648088e-01 3.48223799e-01 8.39132440e-02 2.07610789e+02] [-3.46359923e-01 9.37398982e-01 -3.63036291e-02 -7.52240089e+01] [-9.13019772e-02 4.83062925e-03 9.95811535e-01 -2.55556556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07119381700002 meters 0.06903781958246642 Centerline is valid? [True, True] Translation: X:207.64, Y:-75.22, Z:-25.56 [[ 9.33293444e-01 3.49470734e-01 8.26653171e-02 2.07643001e+02] [-3.47668636e-01 9.36935891e-01 -3.57443071e-02 -7.52223454e+01] [-8.99436918e-02 4.61978938e-03 9.95936137e-01 -2.55589983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10119381700002 meters 0.06696279193492966 Centerline is valid? [True, True] Translation: X:207.67, Y:-75.23, Z:-25.56 [[ 9.32585240e-01 3.51859861e-01 8.04947758e-02 2.07672628e+02] [-3.50162522e-01 9.36043048e-01 -3.47796077e-02 -7.52251126e+01] [-8.75841232e-02 4.24869513e-03 9.96148066e-01 -2.55637025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13119381700002 meters 0.06666656064064701 Centerline is valid? [True, True] Translation: X:207.70, Y:-75.23, Z:-25.57 [[ 9.31168097e-01 3.55944457e-01 7.89273015e-02 2.07700924e+02] [-3.54330234e-01 9.34499560e-01 -3.40684196e-02 -7.52307676e+01] [-8.58839936e-02 3.75709618e-03 9.96298060e-01 -2.55704747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16119381700003 meters 0.0632953548658866 Centerline is valid? [True, True] Translation: X:207.74, Y:-75.22, Z:-25.58 [[ 9.27643279e-01 3.65630511e-01 7.61070040e-02 2.07735623e+02] [-3.64162744e-01 9.30756012e-01 -3.28442035e-02 -7.52245662e+01] [-8.28458945e-02 2.75236920e-03 9.96558569e-01 -2.55784269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19119381700003 meters 0.061619661194301456 Centerline is valid? [True, True] Translation: X:207.77, Y:-75.23, Z:-25.58 [[ 9.26320993e-01 3.69333287e-01 7.43124586e-02 2.07765844e+02] [-3.67945232e-01 9.29293978e-01 -3.20781588e-02 -7.52272198e+01] [-8.09056521e-02 2.37175707e-03 9.96718942e-01 -2.55823615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22119381700003 meters 0.06080690574711087 Centerline is valid? [True, True] Translation: X:207.79, Y:-75.23, Z:-25.59 [[ 9.25251351e-01 3.72065455e-01 7.40083355e-02 2.07794474e+02] [-3.70699508e-01 9.28204118e-01 -3.19216409e-02 -7.52331946e+01] [-8.05717816e-02 2.10068791e-03 9.96746595e-01 -2.55866260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25119381700003 meters 0.06093374363520333 Centerline is valid? [True, True] Translation: X:207.82, Y:-75.24, Z:-25.59 [[ 9.24531969e-01 3.73897950e-01 7.37628691e-02 2.07820563e+02] [-3.72549494e-01 9.27467895e-01 -3.17832998e-02 -7.52420206e+01] [-8.02964036e-02 1.90435712e-03 9.96769212e-01 -2.55928853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28119381700003 meters 0.06029141755988214 Centerline is valid? [True, True] Translation: X:207.85, Y:-75.25, Z:-25.60 [[ 9.23040345e-01 3.77076575e-01 7.62219020e-02 2.07848297e+02] [-3.75648274e-01 9.26180576e-01 -3.28316099e-02 -7.52495018e+01] [-8.29752762e-02 1.67227460e-03 9.96550203e-01 -2.55962883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31119381700003 meters 0.05896404362916136 Centerline is valid? [True, True] Translation: X:207.88, Y:-75.26, Z:-25.59 [[ 9.22324152e-01 3.78726394e-01 7.67103433e-02 2.07877272e+02] [-3.77285182e-01 9.25507406e-01 -3.30443988e-02 -7.52551992e+01] [-8.35107769e-02 1.53597132e-03 9.96505690e-01 -2.55941851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34119381700003 meters 0.05850612418895509 Centerline is valid? [True, True] Translation: X:207.90, Y:-75.26, Z:-25.60 [[ 9.21431796e-01 3.80604290e-01 7.81269451e-02 2.07904552e+02] [-3.79118403e-01 9.24736996e-01 -3.36262547e-02 -7.52640161e+01] [-8.50451733e-02 1.36493755e-03 9.96376162e-01 -2.55961764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37119381700003 meters 0.05819193285380948 Centerline is valid? [True, True] Translation: X:207.93, Y:-75.27, Z:-25.60 [[ 9.20445869e-01 3.82831597e-01 7.88629864e-02 2.07930968e+02] [-3.81328106e-01 9.23817438e-01 -3.39148407e-02 -7.52746859e+01] [-8.58386747e-02 1.14410177e-03 9.96308393e-01 -2.55984714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40119381700003 meters 0.05755002618727871 Centerline is valid? [True, True] Translation: X:207.96, Y:-75.29, Z:-25.60 [[ 9.18430254e-01 3.87238913e-01 8.08201295e-02 2.07955653e+02] [-3.85679778e-01 9.21979125e-01 -3.47217729e-02 -7.52866310e+01] [-8.79600939e-02 7.18837126e-04 9.96123740e-01 -2.56008610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43119381700004 meters 0.05741123274581901 Centerline is valid? [True, True] Translation: X:207.98, Y:-75.30, Z:-25.60 [[ 9.17749427e-01 3.88665013e-01 8.17037181e-02 2.07980968e+02] [-3.87077635e-01 9.21378949e-01 -3.50961129e-02 -7.52989270e+01] [-8.89207170e-02 5.83755505e-04 9.96038536e-01 -2.56040521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46119381700004 meters 0.057325357310664425 Centerline is valid? [True, True] Translation: X:208.01, Y:-75.31, Z:-25.61 [[ 9.17540026e-01 3.89083583e-01 8.20625720e-02 2.08006392e+02] [-3.87486413e-01 9.21202310e-01 -3.52219263e-02 -7.53126090e+01] [-8.93005042e-02 5.19395529e-04 9.96004593e-01 -2.56069795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49119381700004 meters 0.057520872974121715 Centerline is valid? [True, True] Translation: X:208.03, Y:-75.33, Z:-25.61 [[ 9.18076990e-01 3.87395730e-01 8.40189803e-02 2.08027301e+02] [-3.85717393e-01 9.21913283e-01 -3.60276380e-02 -7.53349178e+01] [-9.14151671e-02 6.68563381e-04 9.95812643e-01 -2.56095152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52119381700004 meters 0.057557020543416715 Centerline is valid? [True, True] Translation: X:208.05, Y:-75.35, Z:-25.61 [[ 9.18992173e-01 3.85129442e-01 8.44316234e-02 2.08049677e+02] [-3.83425405e-01 9.22862131e-01 -3.62000902e-02 -7.53531899e+01] [-9.18604684e-02 8.94370179e-04 9.95771487e-01 -2.56110581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55119381700004 meters 0.058077564976493835 Centerline is valid? [True, True] Translation: X:208.07, Y:-75.37, Z:-25.62 [[ 9.20047430e-01 3.82495329e-01 8.49120146e-02 2.08070749e+02] [-3.80764268e-01 9.23956737e-01 -3.63664655e-02 -7.53728638e+01] [-9.23650312e-02 1.12741203e-03 9.95724575e-01 -2.56155893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58119381700004 meters 0.059147059363207174 Centerline is valid? [True, True] Translation: X:208.09, Y:-75.40, Z:-25.62 [[ 9.22269189e-01 3.77435423e-01 8.34388641e-02 2.08089950e+02] [-3.75744385e-01 9.26034533e-01 -3.57239546e-02 -7.54031894e+01] [-9.07507554e-02 1.59541798e-03 9.95872359e-01 -2.56208600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61119381700001 meters 0.059157199360595505 Centerline is valid? [True, True] Translation: X:208.11, Y:-75.42, Z:-25.62 [[ 9.23068322e-01 3.75703267e-01 8.24131563e-02 2.08113186e+02] [-3.74046474e-01 9.26738369e-01 -3.52878357e-02 -7.54213150e+01] [-8.96331892e-02 1.74673274e-03 9.95973313e-01 -2.56232821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64119381700002 meters 0.05981269117747385 Centerline is valid? [True, True] Translation: X:208.13, Y:-75.44, Z:-25.63 [[ 9.23425600e-01 3.75033253e-01 8.14568573e-02 2.08134769e+02] [-3.73415228e-01 9.27009691e-01 -3.48439529e-02 -7.54400912e+01] [-8.85789371e-02 1.75856722e-03 9.96067608e-01 -2.56292836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67119381700002 meters 0.059840099577494546 Centerline is valid? [True, True] Translation: X:208.16, Y:-75.46, Z:-25.63 [[ 9.23547472e-01 3.75229266e-01 7.91395232e-02 2.08158692e+02] [-3.73703230e-01 9.26930501e-01 -3.38488112e-02 -7.54568766e+01] [-8.60579025e-02 1.68628865e-03 9.96288710e-01 -2.56341178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70119381700002 meters 0.05999299415858444 Centerline is valid? [True, True] Translation: X:208.18, Y:-75.48, Z:-25.64 [[ 9.23100299e-01 3.76858335e-01 7.65743703e-02 2.08178862e+02] [-3.75438073e-01 9.26269766e-01 -3.27196145e-02 -7.54787195e+01] [-8.32591835e-02 1.45455192e-03 9.96526865e-01 -2.56414050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73119381700002 meters 0.0596320871495417 Centerline is valid? [True, True] Translation: X:208.20, Y:-75.49, Z:-25.64 [[ 9.23070653e-01 3.77081149e-01 7.58312362e-02 2.08203649e+02] [-3.75689320e-01 9.26179138e-01 -3.23996835e-02 -7.54934674e+01] [-8.24506189e-02 1.41821145e-03 9.96594142e-01 -2.56427474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76119381700002 meters 0.05976633389899781 Centerline is valid? [True, True] Translation: X:208.23, Y:-75.51, Z:-25.65 [[ 9.22751904e-01 3.77627314e-01 7.69839983e-02 2.08226581e+02] [-3.76197579e-01 9.25956677e-01 -3.28574854e-02 -7.55098686e+01] [-8.36917312e-02 1.35811345e-03 9.96490767e-01 -2.56476433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79119381700002 meters 0.05911274106724878 Centerline is valid? [True, True] Translation: X:208.25, Y:-75.52, Z:-25.65 [[ 9.22414029e-01 3.78228811e-01 7.80725704e-02 2.08251658e+02] [-3.76760751e-01 9.25711201e-01 -3.33182874e-02 -7.55244701e+01] [-8.48745891e-02 1.31857544e-03 9.96390769e-01 -2.56477490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82119381700002 meters 0.05925830653330992 Centerline is valid? [True, True] Translation: X:208.27, Y:-75.55, Z:-25.65 [[ 9.22065330e-01 3.78521989e-01 8.07256474e-02 2.08272494e+02] [-3.76956064e-01 9.25591375e-01 -3.44199264e-02 -7.55472250e+01] [-8.77476621e-02 1.30739848e-03 9.96141877e-01 -2.56521476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85119381700002 meters 0.059002245880925654 Centerline is valid? [True, True] Translation: X:208.30, Y:-75.56, Z:-25.65 [[ 9.22126059e-01 3.78227666e-01 8.14086204e-02 2.08297674e+02] [-3.76636494e-01 9.25711667e-01 -3.46822874e-02 -7.55622914e+01] [-8.84787103e-02 1.31998365e-03 9.96077194e-01 -2.56532672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88119381700002 meters 0.0591842645258941 Centerline is valid? [True, True] Translation: X:208.32, Y:-75.58, Z:-25.66 [[ 9.22566182e-01 3.77131915e-01 8.15055779e-02 2.08322456e+02] [-3.75535208e-01 9.26158495e-01 -3.46950970e-02 -7.55782659e+01] [-8.85717117e-02 1.40030897e-03 9.96068818e-01 -2.56565856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91119381700003 meters 0.05967019765189133 Centerline is valid? [True, True] Translation: X:208.35, Y:-75.60, Z:-25.66 [[ 9.23972865e-01 3.73369951e-01 8.28795786e-02 2.08345224e+02] [-3.71706341e-01 9.27680854e-01 -3.52509388e-02 -7.55989167e+01] [-9.00474396e-02 1.76404604e-03 9.95935915e-01 -2.56580243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94119381700003 meters 0.05967019765189133 Centerline is valid? [True, True] Translation: X:208.37, Y:-75.61, Z:-25.66 [[ 9.24100821e-01 3.73050873e-01 8.28898028e-02 2.08370450e+02] [-3.71388139e-01 9.27809203e-01 -3.52268786e-02 -7.56093775e+01] [-9.00473396e-02 1.76889785e-03 9.95935915e-01 -2.56611639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97119381700003 meters 0.060670533675307343 Centerline is valid? [True, True] Translation: X:208.39, Y:-75.63, Z:-25.67 [[ 9.25539332e-01 3.69518612e-01 8.26616054e-02 2.08393919e+02] [-3.67854096e-01 9.29221013e-01 -3.50951909e-02 -7.56278079e+01] [-8.97792269e-02 2.07456943e-03 9.95959531e-01 -2.56652906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00119381700003 meters 0.06176216183578267 Centerline is valid? [True, True] Translation: X:208.42, Y:-75.65, Z:-25.67 [[ 9.26800270e-01 3.66156024e-01 8.34926713e-02 2.08415616e+02] [-3.64447275e-01 9.30550396e-01 -3.54138816e-02 -7.56463229e+01] [-9.06611444e-02 2.39291841e-03 9.95878924e-01 -2.56685412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03119381700003 meters 0.06310037373230748 Centerline is valid? [True, True] Translation: X:208.44, Y:-75.66, Z:-25.67 [[ 9.28405692e-01 3.62084458e-01 8.34129310e-02 2.08439214e+02] [-3.60363787e-01 9.32141160e-01 -3.53666444e-02 -7.56647397e+01] [-9.05583385e-02 2.77559421e-03 9.95887284e-01 -2.56717183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06119381700003 meters 0.06523068510857355 Centerline is valid? [True, True] Translation: X:208.46, Y:-75.69, Z:-25.67 [[ 9.30518281e-01 3.56236352e-01 8.50375858e-02 2.08462078e+02] [-3.54424388e-01 9.34389690e-01 -3.60452726e-02 -7.56864373e+01] [-9.22988798e-02 3.40139080e-03 9.95725538e-01 -2.56739694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09119381700003 meters 0.06659334538269689 Centerline is valid? [True, True] Translation: X:208.49, Y:-75.70, Z:-25.68 [[ 9.31394482e-01 3.53753164e-01 8.58080339e-02 2.08485382e+02] [-3.51897895e-01 9.35331583e-01 -3.63689637e-02 -7.57026261e+01] [-9.31246001e-02 3.67818565e-03 9.95647669e-01 -2.56761648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12119381700003 meters 0.06725438346860532 Centerline is valid? [True, True] Translation: X:208.51, Y:-75.72, Z:-25.68 [[ 9.31906461e-01 3.52283095e-01 8.62958265e-02 2.08510297e+02] [-3.50401385e-01 9.35885624e-01 -3.65645664e-02 -7.57173954e+01] [-9.36441020e-02 3.83657855e-03 9.95598344e-01 -2.56798574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15119381700003 meters 0.06588284223347925 Centerline is valid? [True, True] Translation: X:208.54, Y:-75.73, Z:-25.68 [[ 9.32212272e-01 3.51610966e-01 8.57321907e-02 2.08537160e+02] [-3.49751745e-01 9.36138209e-01 -3.63176383e-02 -7.57274921e+01] [-9.30268593e-02 3.87076476e-03 9.95656075e-01 -2.56816280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18119381700004 meters 0.06764048277091907 Centerline is valid? [True, True] Translation: X:208.56, Y:-75.74, Z:-25.69 [[ 9.32381419e-01 3.51554226e-01 8.41101437e-02 2.08560505e+02] [-3.49765356e-01 9.36159828e-01 -3.56226366e-02 -7.57422870e+01] [-9.12638261e-02 3.79507015e-03 9.95819518e-01 -2.56890322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21119381700004 meters 0.06720785313497979 Centerline is valid? [True, True] Translation: X:208.59, Y:-75.75, Z:-25.69 [[ 9.32411460e-01 3.51718908e-01 8.30823636e-02 2.08587088e+02] [-3.49975238e-01 9.36098262e-01 -3.51763669e-02 -7.57526910e+01] [-9.01454495e-02 3.72207761e-03 9.95921656e-01 -2.56930816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24119381700004 meters 0.06577225159507417 Centerline is valid? [True, True] Translation: X:208.61, Y:-75.76, Z:-25.70 [[ 9.32366057e-01 3.52002183e-01 8.23893095e-02 2.08614236e+02] [-3.50289259e-01 9.35992034e-01 -3.48761695e-02 -7.57612502e+01] [-8.93922252e-02 3.65726647e-03 9.95989786e-01 -2.56953054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27119381700004 meters 0.06688165640707802 Centerline is valid? [True, True] Translation: X:208.64, Y:-75.77, Z:-25.70 [[ 9.32086582e-01 3.52601818e-01 8.29853124e-02 2.08638457e+02] [-3.50867560e-01 9.35766479e-01 -3.51148496e-02 -7.57747494e+01] [-9.00364334e-02 3.61322605e-03 9.95931918e-01 -2.56995821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30119381700004 meters 0.06594407144419859 Centerline is valid? [True, True] Translation: X:208.67, Y:-75.78, Z:-25.70 [[ 9.31661942e-01 3.53825149e-01 8.25456854e-02 2.08666044e+02] [-3.52115046e-01 9.35305165e-01 -3.49176540e-02 -7.57833545e+01] [-8.95601500e-02 3.46587157e-03 9.95975385e-01 -2.57027766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33119381700004 meters 0.06538135422125448 Centerline is valid? [True, True] Translation: X:208.69, Y:-75.79, Z:-25.71 [[ 9.31220342e-01 3.55119200e-01 8.19696843e-02 2.08693638e+02] [-3.53438650e-01 9.34815166e-01 -3.46659054e-02 -7.57914595e+01] [-8.89370327e-02 3.31034166e-03 9.96031749e-01 -2.57073667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36119381700004 meters 0.06490710624800342 Centerline is valid? [True, True] Translation: X:208.72, Y:-75.80, Z:-25.71 [[ 9.30358465e-01 3.57904767e-01 7.96071815e-02 2.08720541e+02] [-3.56330667e-01 9.33753437e-01 -3.36597012e-02 -7.57984625e+01] [-8.63804468e-02 2.94910783e-03 9.96257859e-01 -2.57133767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39119381700002 meters 0.0649093899209593 Centerline is valid? [True, True] Translation: X:208.75, Y:-75.81, Z:-25.72 [[ 9.30106783e-01 3.58615287e-01 7.93501607e-02 2.08747573e+02] [-3.57054843e-01 9.33481052e-01 -3.35405003e-02 -7.58085528e+01] [-8.61000076e-02 2.86388762e-03 9.96282383e-01 -2.57177945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42119381700002 meters 0.06472452552760571 Centerline is valid? [True, True] Translation: X:208.78, Y:-75.82, Z:-25.72 [[ 9.30468785e-01 3.57625538e-01 7.95727034e-02 2.08775182e+02] [-3.56053380e-01 9.33860393e-01 -3.36267375e-02 -7.58178403e+01] [-8.63355761e-02 2.95649961e-03 9.96261726e-01 -2.57199124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45119381700002 meters 0.06529784831171853 Centerline is valid? [True, True] Translation: X:208.80, Y:-75.83, Z:-25.72 [[ 9.30871397e-01 3.56095449e-01 8.16974569e-02 2.08802116e+02] [-3.54432946e-01 9.34444199e-01 -3.45155802e-02 -7.58292072e+01] [-8.86325557e-02 3.17329603e-03 9.96059336e-01 -2.57223982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48119381700002 meters 0.06627690474806361 Centerline is valid? [True, True] Translation: X:208.83, Y:-75.84, Z:-25.73 [[ 9.31663090e-01 3.53990964e-01 8.18186096e-02 2.08827497e+02] [-3.52315734e-01 9.35242752e-01 -3.45632565e-02 -7.58415270e+01] [-8.87553421e-02 3.37532682e-03 9.96047738e-01 -2.57256505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51119381700002 meters 0.06845588755087542 Centerline is valid? [True, True] Translation: X:208.85, Y:-75.86, Z:-25.73 [[ 9.33582756e-01 3.48813109e-01 8.21745275e-02 2.08853894e+02] [-3.47104961e-01 9.37184328e-01 -3.46941111e-02 -7.58573353e+01] [-8.91144401e-02 3.86663763e-03 9.96013888e-01 -2.57286744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54119381700002 meters 0.06879935506115015 Centerline is valid? [True, True] Translation: X:208.88, Y:-75.87, Z:-25.73 [[ 9.33871057e-01 3.47891621e-01 8.28025847e-02 2.08880934e+02] [-3.46153395e-01 9.37526278e-01 -3.49614709e-02 -7.58677795e+01] [-8.97924019e-02 3.98711003e-03 9.95952523e-01 -2.57312981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57119381700002 meters 0.06925093667264487 Centerline is valid? [True, True] Translation: X:208.91, Y:-75.88, Z:-25.73 [[ 9.34056709e-01 3.47272786e-01 8.33047236e-02 2.08907063e+02] [-3.45511612e-01 9.37755349e-01 -3.51657587e-02 -7.58770167e+01] [-9.03315612e-02 4.06406350e-03 9.95903455e-01 -2.57334416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60119381700002 meters 0.06883010412081428 Centerline is valid? [True, True] Translation: X:208.93, Y:-75.89, Z:-25.73 [[ 9.33519283e-01 3.48379760e-01 8.46952855e-02 2.08934105e+02] [-3.46564573e-01 9.37344881e-01 -3.57431151e-02 -7.58851440e+01] [-9.18408702e-02 4.01450176e-03 9.95765604e-01 -2.57348390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63119381700002 meters 0.0666228869445495 Centerline is valid? [True, True] Translation: X:208.96, Y:-75.89, Z:-25.74 [[ 9.31357188e-01 3.53881798e-01 8.56823253e-02 2.08964002e+02] [-3.52048631e-01 9.35283614e-01 -3.61430846e-02 -7.58890346e+01] [-9.29276547e-02 3.49777623e-03 9.95666720e-01 -2.57376497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66119381700003 meters 0.06481525059910943 Centerline is valid? [True, True] Translation: X:208.99, Y:-75.89, Z:-25.74 [[ 9.30171443e-01 3.57227381e-01 8.46739944e-02 2.08993064e+02] [-3.55450774e-01 9.34012211e-01 -3.57202623e-02 -7.58943976e+01] [-9.18468005e-02 3.12853111e-03 9.95768235e-01 -2.57415204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69119381700003 meters 0.06374384385243112 Centerline is valid? [True, True] Translation: X:209.02, Y:-75.90, Z:-25.75 [[ 9.28532412e-01 3.61353938e-01 8.51521685e-02 2.09021416e+02] [-3.59577395e-01 9.32424800e-01 -3.58899550e-02 -7.59011069e+01] [-9.23669702e-02 2.70619152e-03 9.95721356e-01 -2.57459332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72119381700003 meters 0.061699123885823506 Centerline is valid? [True, True] Translation: X:209.05, Y:-75.91, Z:-25.75 [[ 9.26936503e-01 3.65518958e-01 8.47620796e-02 2.09050681e+02] [-3.63776303e-01 9.30801108e-01 -3.57225334e-02 -7.59053865e+01] [-9.19539007e-02 2.27808421e-03 9.95760659e-01 -2.57480106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75119381700003 meters 0.059969138054260185 Centerline is valid? [True, True] Translation: X:209.08, Y:-75.91, Z:-25.75 [[ 9.24380938e-01 3.72447855e-01 8.24771265e-02 2.09079960e+02] [-3.70826213e-01 9.28051844e-01 -3.47518873e-02 -7.59090931e+01] [-8.94863153e-02 1.53930171e-03 9.95986862e-01 -2.57535271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78119381700003 meters 0.06007099654862419 Centerline is valid? [True, True] Translation: X:209.11, Y:-75.92, Z:-25.76 [[ 9.23568689e-01 3.74580950e-01 8.19145182e-02 2.09105577e+02] [-3.72990426e-01 9.27193280e-01 -3.45074424e-02 -7.59191796e+01] [-8.88764214e-02 1.31666231e-03 9.96041790e-01 -2.57603720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81119381700003 meters 0.059960114340103204 Centerline is valid? [True, True] Translation: X:209.13, Y:-75.93, Z:-25.76 [[ 9.23232282e-01 3.75497385e-01 8.15099192e-02 2.09131851e+02] [-3.73926491e-01 9.26822652e-01 -3.43329403e-02 -7.59292007e+01] [-8.84371688e-02 1.21856080e-03 9.96081012e-01 -2.57646446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84119381700003 meters 0.05966805477068367 Centerline is valid? [True, True] Translation: X:209.16, Y:-75.94, Z:-25.77 [[ 9.22987561e-01 3.76072596e-01 8.16294287e-02 2.09158153e+02] [-3.74502080e-01 9.26589505e-01 -3.43523093e-02 -7.59398168e+01] [-8.85559341e-02 1.13636333e-03 9.96070557e-01 -2.57674574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87119381700003 meters 0.06017624046981931 Centerline is valid? [True, True] Translation: X:209.18, Y:-75.95, Z:-25.78 [[ 9.22703414e-01 3.77156728e-01 7.98198774e-02 2.09181530e+02] [-3.75661914e-01 9.26148930e-01 -3.35601785e-02 -7.59541665e+01] [-8.65825412e-02 9.80803297e-04 9.96244198e-01 -2.57756773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90119381700003 meters 0.059527682738442174 Centerline is valid? [True, True] Translation: X:209.21, Y:-75.97, Z:-25.78 [[ 9.22700858e-01 3.77274147e-01 7.92927800e-02 2.09208630e+02] [-3.75799760e-01 9.26101126e-01 -3.33353384e-02 -7.59653030e+01] [-8.60096942e-02 9.60337683e-04 9.96293837e-01 -2.57764342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93119381700004 meters 0.059445047899632134 Centerline is valid? [True, True] Translation: X:209.23, Y:-75.98, Z:-25.78 [[ 9.22435494e-01 3.78244084e-01 7.77442810e-02 2.09234426e+02] [-3.76832937e-01 9.25705534e-01 -3.26527581e-02 -7.59762042e+01] [-8.43190237e-02 8.23457340e-04 9.96438470e-01 -2.57805341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96119381700004 meters 0.05997789240202677 Centerline is valid? [True, True] Translation: X:209.26, Y:-75.99, Z:-25.79 [[ 9.21990301e-01 3.79661939e-01 7.60966327e-02 2.09258634e+02] [-3.78315650e-01 9.25125052e-01 -3.19516236e-02 -7.59876035e+01] [-8.25297167e-02 6.70539971e-04 9.96588379e-01 -2.57890278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99119381700004 meters 0.0594085813802107 Centerline is valid? [True, True] Translation: X:209.29, Y:-76.00, Z:-25.79 [[ 9.20467973e-01 3.83680076e-01 7.43526040e-02 2.09286153e+02] [-3.82408107e-01 9.23466030e-01 -3.12174934e-02 -7.59970682e+01] [-8.06396343e-02 3.01664350e-04 9.96743276e-01 -2.57916572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02119381700004 meters 0.059457500370914976 Centerline is valid? [True, True] Translation: X:209.31, Y:-76.01, Z:-25.80 [[ 9.20241532e-01 3.84259936e-01 7.41608024e-02 2.09312119e+02] [-3.82998362e-01 9.23224918e-01 -3.11127862e-02 -7.60080274e+01] [-8.04224980e-02 2.27812153e-04 9.96760839e-01 -2.57952078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05119381700004 meters 0.05922029624822965 Centerline is valid? [True, True] Translation: X:209.34, Y:-76.02, Z:-25.80 [[ 9.19994026e-01 3.84724344e-01 7.48209336e-02 2.09338003e+02] [-3.83444237e-01 9.23031502e-01 -3.13586236e-02 -7.60197134e+01] [-8.11265046e-02 1.60090543e-04 9.96703800e-01 -2.57969622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08119381700004 meters 0.05918507924104007 Centerline is valid? [True, True] Translation: X:209.36, Y:-76.04, Z:-25.80 [[ 9.21231028e-01 3.81309758e-01 7.70471444e-02 2.09360679e+02] [-3.79943155e-01 9.24447225e-01 -3.22571927e-02 -7.60381536e+01] [-8.35260013e-02 4.42791679e-04 9.96505500e-01 -2.57983756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11119381700004 meters 0.05932558842245042 Centerline is valid? [True, True] Translation: X:209.38, Y:-76.06, Z:-25.80 [[ 9.22478597e-01 3.78048221e-01 7.81842691e-02 2.09384970e+02] [-3.76629532e-01 9.25785605e-01 -3.27293310e-02 -7.60551126e+01] [-8.47551363e-02 7.45602615e-04 9.96401531e-01 -2.58001604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14119381700002 meters 0.059723230518065135 Centerline is valid? [True, True] Translation: X:209.41, Y:-76.07, Z:-25.80 [[ 9.23778910e-01 3.74562528e-01 7.95954628e-02 2.09408096e+02] [-3.73081449e-01 9.27201051e-01 -3.32932991e-02 -7.60725065e+01] [-8.62714190e-02 1.06005696e-03 9.96271107e-01 -2.58018571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17119381700002 meters 0.059854086938021585 Centerline is valid? [True, True] Translation: X:209.43, Y:-76.09, Z:-25.80 [[ 9.24671247e-01 3.72172941e-01 8.04387227e-02 2.09431764e+02] [-3.70654042e-01 9.28162538e-01 -3.36137376e-02 -7.60892663e+01] [-8.71703326e-02 1.26671892e-03 9.96192616e-01 -2.58039450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20119381700002 meters 0.0599571523369608 Centerline is valid? [True, True] Translation: X:209.46, Y:-76.11, Z:-25.80 [[ 9.25094139e-01 3.70852843e-01 8.16639659e-02 2.09455608e+02] [-3.69285623e-01 9.28690625e-01 -3.40859361e-02 -7.61081496e+01] [-8.84814258e-02 1.37537118e-03 9.96076877e-01 -2.58045199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23119381700002 meters 0.05980107729757009 Centerline is valid? [True, True] Translation: X:209.48, Y:-76.12, Z:-25.81 [[ 9.24463960e-01 3.72423232e-01 8.16536756e-02 2.09480925e+02] [-3.70863233e-01 9.28062204e-01 -3.40735676e-02 -7.61203776e+01] [-8.84694783e-02 1.21743909e-03 9.96078144e-01 -2.58085287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26119381700002 meters 0.05929640172609438 Centerline is valid? [True, True] Translation: X:209.51, Y:-76.13, Z:-25.81 [[ 9.23600912e-01 3.74844866e-01 8.03285893e-02 2.09507936e+02] [-3.73344985e-01 9.27087051e-01 -3.35130022e-02 -7.61310915e+01] [-8.70337717e-02 9.62363371e-04 9.96204897e-01 -2.58122143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29119381700002 meters 0.05924170599219207 Centerline is valid? [True, True] Translation: X:209.53, Y:-76.14, Z:-25.82 [[ 9.22644591e-01 3.77445623e-01 7.91312848e-02 2.09533110e+02] [-3.76000357e-01 9.26031485e-01 -3.30063568e-02 -7.61414448e+01] [-8.57361661e-02 6.99745224e-04 9.96317630e-01 -2.58173027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32119381700002 meters 0.059487550619391004 Centerline is valid? [True, True] Translation: X:209.56, Y:-76.16, Z:-25.82 [[ 9.21581574e-01 3.80274023e-01 7.79683850e-02 2.09556564e+02] [-3.78881765e-01 9.24873769e-01 -3.25133819e-02 -7.61555228e+01] [-8.44749087e-02 4.22934425e-04 9.96425517e-01 -2.58249975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35119381700002 meters 0.05952966979160174 Centerline is valid? [True, True] Translation: X:209.58, Y:-76.17, Z:-25.83 [[ 9.21717959e-01 3.80254165e-01 7.64380464e-02 2.09581404e+02] [-3.78916804e-01 9.24881941e-01 -3.18661524e-02 -7.61710179e+01] [-8.28134059e-02 4.07944689e-04 9.96564987e-01 -2.58278622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38119381700002 meters 0.059570520606401736 Centerline is valid? [True, True] Translation: X:209.61, Y:-76.19, Z:-25.83 [[ 9.21945528e-01 3.79879483e-01 7.55514503e-02 2.09605836e+02] [-3.78574460e-01 9.25035899e-01 -3.14637033e-02 -7.61874053e+01] [-8.18402190e-02 4.05971121e-04 9.96645380e-01 -2.58312908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41119381700003 meters 0.06065479939666659 Centerline is valid? [True, True] Translation: X:209.63, Y:-76.21, Z:-25.84 [[ 9.22597555e-01 3.78781905e-01 7.30617478e-02 2.09625419e+02] [-3.77558605e-01 9.25485838e-01 -3.04214308e-02 -7.62087087e+01] [-7.91407004e-02 4.81646106e-04 9.96863339e-01 -2.58421880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44119381700003 meters 0.06097129239784702 Centerline is valid? [True, True] Translation: X:209.65, Y:-76.22, Z:-25.85 [[ 9.22815826e-01 3.78451522e-01 7.20097053e-02 2.09649114e+02] [-3.77263156e-01 9.25620983e-01 -2.99717776e-02 -7.62235239e+01] [-7.79965590e-02 4.91821967e-04 9.96953507e-01 -2.58467152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47119381700003 meters 0.060483055324575985 Centerline is valid? [True, True] Translation: X:209.67, Y:-76.24, Z:-25.85 [[ 9.22935534e-01 3.78212936e-01 7.17284781e-02 2.09674709e+02] [-3.77033811e-01 9.25718490e-01 -2.98459674e-02 -7.62380559e+01] [-7.76885095e-02 5.01842430e-04 9.96977554e-01 -2.58455121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50119381700003 meters 0.06041085445619464 Centerline is valid? [True, True] Translation: X:209.70, Y:-76.26, Z:-25.85 [[ 9.23742820e-01 3.75694054e-01 7.45196625e-02 2.09696079e+02] [-3.74413536e-01 9.26743458e-01 -3.10010979e-02 -7.62592007e+01] [-8.07075378e-02 7.35871319e-04 9.96737554e-01 -2.58462954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53119381700003 meters 0.06059593530167429 Centerline is valid? [True, True] Translation: X:209.72, Y:-76.28, Z:-25.85 [[ 9.24618746e-01 3.73220011e-01 7.60723172e-02 2.09719968e+02] [-3.71878223e-01 9.27742369e-01 -3.16335931e-02 -7.62769135e+01] [-8.23818017e-02 9.59375059e-04 9.96600380e-01 -2.58473990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56119381700003 meters 0.06122940658752384 Centerline is valid? [True, True] Translation: X:209.74, Y:-76.29, Z:-25.85 [[ 9.25850717e-01 3.70014771e-01 7.67432084e-02 2.09743629e+02] [-3.68638799e-01 9.29025032e-01 -3.19049446e-02 -7.62946653e+01] [-8.31016624e-02 1.24869164e-03 9.96540292e-01 -2.58500755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59119381700003 meters 0.061614462702161366 Centerline is valid? [True, True] Translation: X:209.77, Y:-76.31, Z:-25.85 [[ 9.27267933e-01 3.66421842e-01 7.68714094e-02 2.09770216e+02] [-3.65029903e-01 9.30447522e-01 -3.19464828e-02 -7.63122467e+01] [-8.32307015e-02 1.56258592e-03 9.96529081e-01 -2.58513662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62119381700003 meters 0.06413246568975624 Centerline is valid? [True, True] Translation: X:209.79, Y:-76.34, Z:-25.86 [[ 9.30478528e-01 3.58075292e-01 7.74066799e-02 2.09792240e+02] [-3.56634493e-01 9.33689803e-01 -3.21743614e-02 -7.63367961e+01] [-8.37946716e-02 2.33166042e-03 9.96480314e-01 -2.58550042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65119381700003 meters 0.06543653086106721 Centerline is valid? [True, True] Translation: X:209.82, Y:-76.35, Z:-25.86 [[ 9.32001520e-01 3.53940269e-01 7.80989896e-02 2.09818704e+02] [-3.52459784e-01 9.35264074e-01 -3.24532257e-02 -7.63548816e+01] [-8.45296827e-02 2.71970274e-03 9.96417250e-01 -2.58580057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68119381700004 meters 0.06730330424808484 Centerline is valid? [True, True] Translation: X:209.85, Y:-76.37, Z:-25.86 [[ 9.33483495e-01 3.49889051e-01 7.86525098e-02 2.09845112e+02] [-3.48370514e-01 9.36785893e-01 -3.27135372e-02 -7.63734604e+01] [-8.51266701e-02 3.13733177e-03 9.96365198e-01 -2.58618977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71119381700004 meters 0.06839533619545407 Centerline is valid? [True, True] Translation: X:209.87, Y:-76.39, Z:-25.86 [[ 9.35104005e-01 3.45421147e-01 7.91500486e-02 2.09872543e+02] [-3.43865969e-01 9.38440942e-01 -3.29361951e-02 -7.63894960e+01] [-8.56545044e-02 3.58175976e-03 9.96318462e-01 -2.58637223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74119381700004 meters 0.07078522739555965 Centerline is valid? [True, True] Translation: X:209.90, Y:-76.41, Z:-25.87 [[ 9.37043879e-01 3.40203685e-01 7.88049552e-02 2.09897952e+02] [-3.38643198e-01 9.40343065e-01 -3.27979365e-02 -7.64051568e+01] [-8.52616720e-02 4.04634362e-03 9.96350377e-01 -2.58670977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77119381700004 meters 0.07056500797807733 Centerline is valid? [True, True] Translation: X:209.93, Y:-76.42, Z:-25.87 [[ 9.36901864e-01 3.40550212e-01 7.89965263e-02 2.09928789e+02] [-3.38984248e-01 9.40217760e-01 -3.28670552e-02 -7.64164107e+01] [-8.54668196e-02 4.01462715e-03 9.96332929e-01 -2.58705705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80119381700004 meters 0.0705379637678619 Centerline is valid? [True, True] Translation: X:209.96, Y:-76.43, Z:-25.88 [[ 9.36403770e-01 3.42291406e-01 7.73600174e-02 2.09957317e+02] [-3.40792972e-01 9.39586137e-01 -3.22186674e-02 -7.64271292e+01] [-8.37145728e-02 3.80593139e-03 9.96482506e-01 -2.58755127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83119381700004 meters 0.0705379637678619 Centerline is valid? [True, True] Translation: X:209.99, Y:-76.44, Z:-25.88 [[ 9.36288133e-01 3.42609417e-01 7.73519184e-02 2.09987047e+02] [-3.41110462e-01 9.39470254e-01 -3.22380978e-02 -7.64397928e+01] [-8.37149024e-02 3.79859978e-03 9.96482507e-01 -2.58792305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86119381700004 meters 0.06788024667783214 Centerline is valid? [True, True] Translation: X:210.02, Y:-76.44, Z:-25.88 [[ 9.34027670e-01 3.49308836e-01 7.46702720e-02 2.10018638e+02] [-3.47930272e-01 9.37002442e-01 -3.11600642e-02 -7.64439836e+01] [-8.08507129e-02 3.12431410e-03 9.96721326e-01 -2.58846142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89119381700002 meters 0.06682609501757562 Centerline is valid? [True, True] Translation: X:210.05, Y:-76.45, Z:-25.89 [[ 9.32155087e-01 3.54335944e-01 7.43836817e-02 2.10048968e+02] [-3.52983761e-01 9.35114356e-01 -3.10420126e-02 -7.64506478e+01] [-8.05565494e-02 2.67973820e-03 9.96746438e-01 -2.58905563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92119381700002 meters 0.06486417758668749 Centerline is valid? [True, True] Translation: X:210.08, Y:-76.45, Z:-25.89 [[ 9.30238316e-01 3.59583973e-01 7.31849814e-02 2.10081001e+02] [-3.58290974e-01 9.33110153e-01 -3.05453950e-02 -7.64548475e+01] [-7.92732836e-02 2.19297856e-03 9.96850509e-01 -2.58945315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95119381700002 meters 0.06315270180681891 Centerline is valid? [True, True] Translation: X:210.11, Y:-76.46, Z:-25.90 [[ 9.28267990e-01 3.64424416e-01 7.42521712e-02 2.10111354e+02] [-3.63108228e-01 9.31231207e-01 -3.09976623e-02 -7.64589539e+01] [-8.04422440e-02 1.81256343e-03 9.96757624e-01 -2.58968533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98119381700002 meters 0.06217627689947941 Centerline is valid? [True, True] Translation: X:210.14, Y:-76.46, Z:-25.90 [[ 9.26231835e-01 3.69594702e-01 7.41238506e-02 2.10138787e+02] [-3.68299690e-01 9.29192072e-01 -3.09423946e-02 -7.64638400e+01] [-8.03114394e-02 1.36003975e-03 9.96768891e-01 -2.59017072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01119381700002 meters 0.06067968939424314 Centerline is valid? [True, True] Translation: X:210.17, Y:-76.47, Z:-25.90 [[ 9.22836576e-01 3.77574019e-01 7.62267356e-02 2.10169683e+02] [-3.76232324e-01 9.25979159e-01 -3.18093526e-02 -7.64650939e+01] [-8.25947537e-02 6.75872158e-04 9.96582987e-01 -2.59043191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04119381700002 meters 0.060142971953000605 Centerline is valid? [True, True] Translation: X:210.20, Y:-76.47, Z:-25.91 [[ 9.21714826e-01 3.80156984e-01 7.69574397e-02 2.10197529e+02] [-3.78798568e-01 9.24921872e-01 -3.21119349e-02 -7.64726144e+01] [-8.33871954e-02 4.46678513e-04 9.96517123e-01 -2.59052375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07119381700002 meters 0.06034050087986658 Centerline is valid? [True, True] Translation: X:210.22, Y:-76.48, Z:-25.91 [[ 9.20902572e-01 3.82251706e-01 7.63025923e-02 2.10223687e+02] [-3.80924087e-01 9.24058208e-01 -3.18318770e-02 -7.64818208e+01] [-8.26758259e-02 2.48562044e-04 9.96576463e-01 -2.59117803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10119381700002 meters 0.06028380133524847 Centerline is valid? [True, True] Translation: X:210.25, Y:-76.49, Z:-25.92 [[ 9.20190143e-01 3.83840477e-01 7.69193715e-02 2.10250693e+02] [-3.82497681e-01 9.23399415e-01 -3.20787397e-02 -7.64917993e+01] [-8.33404214e-02 9.70589280e-05 9.96521131e-01 -2.59153498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13119381700002 meters 0.060033927965182914 Centerline is valid? [True, True] Translation: X:210.28, Y:-76.50, Z:-25.92 [[ 9.18548678e-01 3.87638926e-01 7.74879947e-02 2.10278319e+02] [-3.86290245e-01 9.21811259e-01 -3.23086576e-02 -7.65005089e+01] [-8.39533993e-02 -2.55781691e-04 9.96469649e-01 -2.59166718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16119381700003 meters 0.0602680626078075 Centerline is valid? [True, True] Translation: X:210.31, Y:-76.51, Z:-25.92 [[ 9.17333640e-01 3.90628196e-01 7.68674542e-02 2.10306090e+02] [-3.89312147e-01 9.20548385e-01 -3.20425042e-02 -7.65092388e+01] [-8.32769165e-02 -5.31766612e-04 9.96526303e-01 -2.59206916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19119381700003 meters 0.060636674552017475 Centerline is valid? [True, True] Translation: X:210.33, Y:-76.52, Z:-25.92 [[ 9.15867123e-01 3.93893225e-01 7.76887427e-02 2.10333122e+02] [-3.92561195e-01 9.19155816e-01 -3.23773680e-02 -7.65182052e+01] [-8.41612856e-02 -8.44218742e-04 9.96451788e-01 -2.59230719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22119381700003 meters 0.0613568352550253 Centerline is valid? [True, True] Translation: X:210.36, Y:-76.53, Z:-25.93 [[ 9.14388496e-01 3.97241593e-01 7.80563613e-02 2.10359467e+02] [-3.95909654e-01 9.17713333e-01 -3.25235945e-02 -7.65269737e+01] [-8.45530880e-02 -1.16406636e-03 9.96418296e-01 -2.59274387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25119381700003 meters 0.061480163059833025 Centerline is valid? [True, True] Translation: X:210.39, Y:-76.54, Z:-25.93 [[ 9.12297606e-01 4.01753007e-01 7.94203953e-02 2.10385339e+02] [-4.00391941e-01 9.15746636e-01 -3.30816108e-02 -7.65399636e+01] [-8.60195964e-02 -1.61901187e-03 9.96292130e-01 -2.59263552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28119381700003 meters 0.06216236963778347 Centerline is valid? [True, True] Translation: X:210.41, Y:-76.55, Z:-25.93 [[ 9.11996983e-01 4.02184776e-01 8.06778064e-02 2.10410528e+02] [-4.00782605e-01 9.15556955e-01 -3.35971164e-02 -7.65501700e+01] [-8.73773755e-02 -1.69379262e-03 9.96173843e-01 -2.59309534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31119381700003 meters 0.06166462214812067 Centerline is valid? [True, True] Translation: X:210.44, Y:-76.57, Z:-25.93 [[ 9.11881560e-01 4.02221652e-01 8.17909715e-02 2.10435081e+02] [-4.00781324e-01 9.15540690e-01 -3.40525322e-02 -7.65655257e+01] [-8.85796283e-02 -1.72841762e-03 9.96067599e-01 -2.59318767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34119381700003 meters 0.06193025241219446 Centerline is valid? [True, True] Translation: X:210.46, Y:-76.58, Z:-25.94 [[ 9.12265401e-01 4.01159799e-01 8.27203380e-02 2.10458992e+02] [-3.99682834e-01 9.16006599e-01 -3.44317134e-02 -7.65796927e+01] [-8.95849947e-02 -1.65103820e-03 9.95977812e-01 -2.59358790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37119381700003 meters 0.061296041985316164 Centerline is valid? [True, True] Translation: X:210.48, Y:-76.60, Z:-25.94 [[ 9.13000357e-01 3.99364553e-01 8.32964673e-02 2.10482245e+02] [-3.97860429e-01 9.16790989e-01 -3.46606556e-02 -7.65981291e+01] [-9.02076879e-02 -1.49517729e-03 9.95921853e-01 -2.59377719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40119381700003 meters 0.05996121319012877 Centerline is valid? [True, True] Translation: X:210.50, Y:-76.63, Z:-25.94 [[ 9.15399458e-01 3.93931396e-01 8.28365150e-02 2.10503865e+02] [-3.92422534e-01 9.19139341e-01 -3.44590622e-02 -7.66266913e+01] [-8.97128062e-02 -9.63108315e-04 9.95967211e-01 -2.59397606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43119381700004 meters 0.05983417682789472 Centerline is valid? [True, True] Translation: X:210.53, Y:-76.65, Z:-25.95 [[ 9.17007705e-01 3.90511840e-01 8.12242028e-02 2.10528745e+02] [-3.89048412e-01 9.20597695e-01 -3.37819039e-02 -7.66459483e+01] [-8.79670474e-02 -6.21880933e-04 9.96123191e-01 -2.59459696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46119381700004 meters 0.05979010979561683 Centerline is valid? [True, True] Translation: X:210.55, Y:-76.67, Z:-25.95 [[ 9.18641429e-01 3.86932945e-01 7.98800474e-02 2.10554284e+02] [-3.85501968e-01 9.22107821e-01 -3.32475444e-02 -7.66673624e+01] [-8.65225867e-02 -2.51343777e-04 9.96249858e-01 -2.59507220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49119381700004 meters 0.060911588050638114 Centerline is valid? [True, True] Translation: X:210.57, Y:-76.70, Z:-25.96 [[ 9.22976144e-01 3.77452635e-01 7.51301976e-02 2.10572513e+02] [-3.76152737e-01 9.26028675e-01 -3.13051346e-02 -7.66995772e+01] [-8.13889229e-02 6.33463010e-04 9.96682217e-01 -2.59598038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52119381700004 meters 0.06170790057083568 Centerline is valid? [True, True] Translation: X:210.60, Y:-76.72, Z:-25.96 [[ 9.25235238e-01 3.72302595e-01 7.30104996e-02 2.10597642e+02] [-3.71059341e-01 9.28110806e-01 -3.04186838e-02 -7.67214677e+01] [-7.90867885e-02 1.05321024e-03 9.96867178e-01 -2.59648689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55119381700004 meters 0.06319078546453126 Centerline is valid? [True, True] Translation: X:210.62, Y:-76.74, Z:-25.97 [[ 9.27368963e-01 3.67455790e-01 7.04489055e-02 2.10622030e+02] [-3.66283747e-01 9.30039901e-01 -2.93598267e-02 -7.67430285e+01] [-7.63087314e-02 1.42310301e-03 9.97083222e-01 -2.59716607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58119381700004 meters 0.06490055720075612 Centerline is valid? [True, True] Translation: X:210.65, Y:-76.77, Z:-25.98 [[ 9.29307860e-01 3.62885929e-01 6.85616822e-02 2.10646279e+02] [-3.61763252e-01 9.31831921e-01 -2.85765879e-02 -7.67650628e+01] [-7.42580056e-02 1.75335066e-03 9.97237522e-01 -2.59775862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61119381700004 meters 0.0686474427132568 Centerline is valid? [True, True] Translation: X:210.67, Y:-76.79, Z:-25.98 [[ 9.33086800e-01 3.53158636e-01 6.80294140e-02 2.10666233e+02] [-3.52027038e-01 9.35560076e-01 -2.83603435e-02 -7.67948026e+01] [-7.36613039e-02 2.51446900e-03 9.97280146e-01 -2.59815053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64119381700002 meters 0.07007466188304023 Centerline is valid? [True, True] Translation: X:210.69, Y:-76.81, Z:-25.98 [[ 9.34324114e-01 3.49746005e-01 6.86744619e-02 2.10693125e+02] [-3.48583970e-01 9.36840360e-01 -2.86243773e-02 -7.68128550e+01] [-7.43482692e-02 2.80562937e-03 9.97228391e-01 -2.59840922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67119381700002 meters 0.07128209633730564 Centerline is valid? [True, True] Translation: X:210.72, Y:-76.83, Z:-25.99 [[ 9.35101734e-01 3.47513172e-01 6.94214889e-02 2.10719928e+02] [-3.46319603e-01 9.37670254e-01 -2.89348818e-02 -7.68288804e+01] [-7.51497177e-02 3.01503562e-03 9.97167704e-01 -2.59866715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70119381700002 meters 0.07188315325475715 Centerline is valid? [True, True] Translation: X:210.75, Y:-76.84, Z:-25.99 [[ 9.35908743e-01 3.45281420e-01 6.96818902e-02 2.10748886e+02] [-3.44070434e-01 9.38493622e-01 -2.90733099e-02 -7.68434153e+01] [-7.54344833e-02 3.23448675e-03 9.97145514e-01 -2.59887367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73119381700002 meters 0.07474450000256248 Centerline is valid? [True, True] Translation: X:210.77, Y:-76.86, Z:-25.99 [[ 9.36832496e-01 3.42814486e-01 6.94485658e-02 2.10774660e+02] [-3.41604529e-01 9.39396877e-01 -2.89802080e-02 -7.68609697e+01] [-7.51746009e-02 3.42565596e-03 9.97164502e-01 -2.59926032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76119381700002 meters 0.07482739900071056 Centerline is valid? [True, True] Translation: X:210.80, Y:-76.87, Z:-25.99 [[ 9.37066172e-01 3.42012351e-01 7.02462974e-02 2.10804592e+02] [-3.40771668e-01 9.39688803e-01 -2.93193223e-02 -7.68737652e+01] [-7.60372295e-02 3.53619710e-03 9.97098709e-01 -2.59945404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79119381700002 meters 0.0743981807697487 Centerline is valid? [True, True] Translation: X:210.84, Y:-76.88, Z:-25.99 [[ 9.37303386e-01 3.41069745e-01 7.16504850e-02 2.10835640e+02] [-3.39774350e-01 9.40030685e-01 -2.99282997e-02 -7.68847484e+01] [-7.75612920e-02 3.70689966e-03 9.96980694e-01 -2.59944275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82119381700002 meters 0.07569363471301112 Centerline is valid? [True, True] Translation: X:210.87, Y:-76.90, Z:-26.00 [[ 9.37735654e-01 3.39243573e-01 7.46032237e-02 2.10865344e+02] [-3.37830663e-01 9.40689860e-01 -3.11934405e-02 -7.68973197e+01] [-8.07606703e-02 4.04794484e-03 9.96725302e-01 -2.59955582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85119381700002 meters 0.07740972687965275 Centerline is valid? [True, True] Translation: X:210.90, Y:-76.91, Z:-25.99 [[ 9.38623666e-01 3.35974940e-01 7.81437978e-02 2.10895780e+02] [-3.34410471e-01 9.41859858e-01 -3.27054391e-02 -7.69069805e+01] [-8.45887143e-02 4.56599495e-03 9.96405490e-01 -2.59939266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88119381700002 meters 0.07814222945518788 Centerline is valid? [True, True] Translation: X:210.93, Y:-76.92, Z:-25.99 [[ 9.38656057e-01 3.35304095e-01 8.05975913e-02 2.10925986e+02] [-3.33634901e-01 9.42097741e-01 -3.37579507e-02 -7.69180660e+01] [-8.72499877e-02 4.79693548e-03 9.96174899e-01 -2.59947566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91119381700003 meters 0.07880952193513742 Centerline is valid? [True, True] Translation: X:210.96, Y:-76.93, Z:-26.00 [[ 9.38470073e-01 3.35300011e-01 8.27515892e-02 2.10955299e+02] [-3.33537596e-01 9.42098384e-01 -3.46887150e-02 -7.69282432e+01] [-8.95912649e-02 4.95355471e-03 9.95966298e-01 -2.59951032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94119381700003 meters 0.07533468523292827 Centerline is valid? [True, True] Translation: X:210.99, Y:-76.92, Z:-25.99 [[ 9.37641955e-01 3.36864459e-01 8.57315631e-02 2.10990880e+02] [-3.34976002e-01 9.41539828e-01 -3.59698536e-02 -7.69244318e+01] [-9.28366464e-02 5.00882756e-03 9.95668755e-01 -2.59946422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97119381700003 meters 0.07714444850421341 Centerline is valid? [True, True] Translation: X:211.02, Y:-76.93, Z:-26.00 [[ 9.36972640e-01 3.38723118e-01 8.57258468e-02 2.11021098e+02] [-3.36842774e-01 9.40873736e-01 -3.59660671e-02 -7.69330223e+01] [-9.28397361e-02 4.82308877e-03 9.95669383e-01 -2.60010662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00119381700003 meters 0.07638022511008612 Centerline is valid? [True, True] Translation: X:211.05, Y:-76.94, Z:-26.01 [[ 9.36182425e-01 3.40979079e-01 8.54150781e-02 2.11052031e+02] [-3.39118525e-01 9.40059556e-01 -3.58699959e-02 -7.69363563e+01] [-9.25261786e-02 4.61502442e-03 9.95699557e-01 -2.60066131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03119381700003 meters 0.0726971180967568 Centerline is valid? [True, True] Translation: X:211.09, Y:-76.94, Z:-26.01 [[ 9.35298684e-01 3.43731411e-01 8.40540798e-02 2.11086394e+02] [-3.41940751e-01 9.39058277e-01 -3.52997973e-02 -7.69355987e+01] [-9.10653285e-02 4.27433878e-03 9.95835747e-01 -2.60098455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06119381700003 meters 0.07194280438571043 Centerline is valid? [True, True] Translation: X:211.12, Y:-76.94, Z:-26.02 [[ 9.34422511e-01 3.46315275e-01 8.31883534e-02 2.11117297e+02] [-3.44571187e-01 9.38109722e-01 -3.49406212e-02 -7.69393704e+01] [-9.01402739e-02 3.98499334e-03 9.95921107e-01 -2.60154460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09119381700003 meters 0.07063212344614977 Centerline is valid? [True, True] Translation: X:211.15, Y:-76.94, Z:-26.02 [[ 9.33450305e-01 3.49321183e-01 8.15183369e-02 2.11149420e+02] [-3.47658450e-01 9.36996074e-01 -3.42339107e-02 -7.69437794e+01] [-8.83409918e-02 3.61511579e-03 9.96083731e-01 -2.60212945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12119381700003 meters 0.07002787426938172 Centerline is valid? [True, True] Translation: X:211.18, Y:-76.94, Z:-26.03 [[ 9.32546435e-01 3.52422109e-01 7.84589344e-02 2.11183030e+02] [-3.50890909e-01 9.35835613e-01 -3.29738704e-02 -7.69426485e+01] [-8.50453859e-02 3.21913855e-03 9.96371878e-01 -2.60299362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15119381700003 meters 0.06985103738237439 Centerline is valid? [True, True] Translation: X:211.21, Y:-76.95, Z:-26.04 [[ 9.32292824e-01 3.53488009e-01 7.66571476e-02 2.11214847e+02] [-3.52028263e-01 9.35434018e-01 -3.22381640e-02 -7.69481434e+01] [-8.31035080e-02 3.06992645e-03 9.96536192e-01 -2.60364830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18119381700004 meters 0.07024821574217566 Centerline is valid? [True, True] Translation: X:211.25, Y:-76.95, Z:-26.04 [[ 9.32344770e-01 3.54000720e-01 7.35983652e-02 2.11245217e+02] [-3.52654493e-01 9.35240555e-01 -3.09824589e-02 -7.69542706e+01] [-7.97999887e-02 2.93153935e-03 9.96806585e-01 -2.60447695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21119381700004 meters 0.07135949606798726 Centerline is valid? [True, True] Translation: X:211.27, Y:-76.96, Z:-26.05 [[ 9.32832821e-01 3.52904128e-01 7.26746550e-02 2.11274173e+02] [-3.51587681e-01 9.35654699e-01 -3.06004571e-02 -7.69585329e+01] [-7.87974100e-02 2.99359730e-03 9.96886155e-01 -2.60509897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24119381700004 meters 0.07174587996326094 Centerline is valid? [True, True] Translation: X:211.30, Y:-76.97, Z:-26.05 [[ 9.33025919e-01 3.52552550e-01 7.18980816e-02 2.11301277e+02] [-3.51263355e-01 9.35787248e-01 -3.02701630e-02 -7.69662943e+01] [-7.79531311e-02 2.98768529e-03 9.96952548e-01 -2.60546255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27119381700004 meters 0.07209312688857321 Centerline is valid? [True, True] Translation: X:211.33, Y:-76.97, Z:-26.06 [[ 9.33146456e-01 3.52073269e-01 7.26780851e-02 2.11328986e+02] [-3.50755151e-01 9.35967465e-01 -3.05896786e-02 -7.69746744e+01] [-7.87941313e-02 3.05243752e-03 9.96886236e-01 -2.60577379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30119381700004 meters 0.072198644772453 Centerline is valid? [True, True] Translation: X:211.36, Y:-76.98, Z:-26.06 [[ 9.33134876e-01 3.52068097e-01 7.28516252e-02 2.11356511e+02] [-3.50744156e-01 9.35969405e-01 -3.06563210e-02 -7.69824404e+01] [-7.89800049e-02 3.05420050e-03 9.96871522e-01 -2.60608337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33119381700004 meters 0.07240725310046112 Centerline is valid? [True, True] Translation: X:211.38, Y:-76.99, Z:-26.06 [[ 9.33073489e-01 3.52173459e-01 7.31280955e-02 2.11383485e+02] [-3.50840209e-01 9.35929775e-01 -3.07669420e-02 -7.69893161e+01] [-7.92780623e-02 3.05154163e-03 9.96847871e-01 -2.60639592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36119381700004 meters 0.07040190778200962 Centerline is valid? [True, True] Translation: X:211.42, Y:-76.99, Z:-26.07 [[ 9.31638774e-01 3.55512959e-01 7.52311883e-02 2.11415228e+02] [-3.54113455e-01 9.34667043e-01 -3.16414069e-02 -7.69883279e+01] [-8.15650425e-02 2.83798548e-03 9.96663980e-01 -2.60652506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39119381700002 meters 0.06836722947189641 Centerline is valid? [True, True] Translation: X:211.45, Y:-76.99, Z:-26.07 [[ 9.30272354e-01 3.58632296e-01 7.73060424e-02 2.11445868e+02] [-3.57165387e-01 9.33475198e-01 -3.25106322e-02 -7.69920205e+01] [-8.38226359e-02 2.63269978e-03 9.96477212e-01 -2.60663350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42119381700002 meters 0.06554740916889662 Centerline is valid? [True, True] Translation: X:211.48, Y:-76.99, Z:-26.07 [[ 9.27877028e-01 3.64933099e-01 7.66032269e-02 2.11477921e+02] [-3.63514435e-01 9.31031505e-01 -3.22116812e-02 -7.69888996e+01] [-8.30751262e-02 2.04210024e-03 9.96541195e-01 -2.60710659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45119381700002 meters 0.06430431138750646 Centerline is valid? [True, True] Translation: X:211.51, Y:-76.99, Z:-26.08 [[ 9.26795868e-01 3.67662654e-01 7.66393602e-02 2.11506653e+02] [-3.66251575e-01 9.29957485e-01 -3.22313501e-02 -7.69929425e+01] [-8.31216104e-02 1.80259568e-03 9.96537781e-01 -2.60752842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48119381700002 meters 0.06349525484289083 Centerline is valid? [True, True] Translation: X:211.54, Y:-77.00, Z:-26.08 [[ 9.25733581e-01 3.70544254e-01 7.55929355e-02 2.11535187e+02] [-3.69182837e-01 9.28813596e-01 -3.17700561e-02 -7.69972095e+01] [-8.19839580e-02 1.50299345e-03 9.96632516e-01 -2.60806396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51119381700002 meters 0.06134526767105863 Centerline is valid? [True, True] Translation: X:211.57, Y:-77.00, Z:-26.08 [[ 9.25092182e-01 3.72449488e-01 7.40664126e-02 2.11565387e+02] [-3.71150267e-01 9.28051571e-01 -3.11088700e-02 -7.69997907e+01] [-8.03239332e-02 1.28880368e-03 9.96767979e-01 -2.60785490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54119381700002 meters 0.06245795723293452 Centerline is valid? [True, True] Translation: X:211.59, Y:-77.01, Z:-26.09 [[ 9.23876245e-01 3.75481783e-01 7.39331774e-02 2.11591169e+02] [-3.74199396e-01 9.26829240e-01 -3.10221048e-02 -7.70063272e+01] [-8.01716658e-02 9.94835328e-04 9.96780575e-01 -2.60915236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57119381700002 meters 0.06227670922583853 Centerline is valid? [True, True] Translation: X:211.62, Y:-77.01, Z:-26.09 [[ 9.23518817e-01 3.76210458e-01 7.46905999e-02 2.11618358e+02] [-3.74904301e-01 9.26533762e-01 -3.13361391e-02 -7.70144032e+01] [-8.09923457e-02 9.37686956e-04 9.96714282e-01 -2.60946341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60119381700002 meters 0.062090515771998284 Centerline is valid? [True, True] Translation: X:211.64, Y:-77.02, Z:-26.10 [[ 9.23436604e-01 3.76397075e-01 7.47668426e-02 2.11644827e+02] [-3.75090467e-01 9.26457999e-01 -3.13483134e-02 -7.70228156e+01] [-8.10677529e-02 9.03850143e-04 9.96708183e-01 -2.60975804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63119381700002 meters 0.0621306254917345 Centerline is valid? [True, True] Translation: X:211.67, Y:-77.03, Z:-26.10 [[ 9.23538002e-01 3.76073097e-01 7.51437630e-02 2.11671983e+02] [-3.74754275e-01 9.26589549e-01 -3.14808122e-02 -7.70332076e+01] [-8.14665120e-02 9.13279941e-04 9.96675661e-01 -2.61009487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66119381700003 meters 0.06278851565889289 Centerline is valid? [True, True] Translation: X:211.70, Y:-77.05, Z:-26.11 [[ 9.24065059e-01 3.74951829e-01 7.42623241e-02 2.11696669e+02] [-3.73662300e-01 9.27043782e-01 -3.10855698e-02 -7.70462074e+01] [-8.05000170e-02 9.76058106e-04 9.96754129e-01 -2.61056254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69119381700003 meters 0.061596811994421526 Centerline is valid? [True, True] Translation: X:211.72, Y:-77.06, Z:-26.10 [[ 9.24582754e-01 3.73894266e-01 7.31423832e-02 2.11723811e+02] [-3.72640107e-01 9.27470739e-01 -3.06166553e-02 -7.70565314e+01] [-7.92848121e-02 1.05184602e-03 9.96851449e-01 -2.61022112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72119381700003 meters 0.06157671548976605 Centerline is valid? [True, True] Translation: X:211.75, Y:-77.07, Z:-26.10 [[ 9.24928273e-01 3.73040340e-01 7.31340905e-02 2.11749829e+02] [-3.71785611e-01 9.27814468e-01 -3.05904029e-02 -7.70693441e+01] [-7.92663216e-02 1.10372599e-03 9.96852864e-01 -2.61049881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75119381700003 meters 0.06157671548976605 Centerline is valid? [True, True] Translation: X:211.78, Y:-77.08, Z:-26.11 [[ 9.25044294e-01 3.72751005e-01 7.31419360e-02 2.11775148e+02] [-3.71496857e-01 9.27930741e-01 -3.05716300e-02 -7.70796367e+01] [-7.92662567e-02 1.10811254e-03 9.96852864e-01 -2.61081286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78119381700003 meters 0.06192114468648338 Centerline is valid? [True, True] Translation: X:211.80, Y:-77.09, Z:-26.11 [[ 9.25392290e-01 3.72072392e-01 7.21889536e-02 2.11800158e+02] [-3.70851396e-01 9.28203040e-01 -3.01390044e-02 -7.70924776e+01] [-7.82198976e-02 1.11902805e-03 9.96935502e-01 -2.61126902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81119381700003 meters 0.06293216580482666 Centerline is valid? [True, True] Translation: X:211.82, Y:-77.11, Z:-26.12 [[ 9.25698763e-01 3.71589600e-01 7.07316730e-02 2.11823365e+02] [-3.70416682e-01 9.28396410e-01 -2.95226552e-02 -7.71072972e+01] [-7.66373430e-02 1.12889379e-03 9.97058395e-01 -2.61211382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84119381700003 meters 0.06271736823075545 Centerline is valid? [True, True] Translation: X:211.85, Y:-77.12, Z:-26.12 [[ 9.25606889e-01 3.71880071e-01 7.04066774e-02 2.11848470e+02] [-3.70718728e-01 9.28280131e-01 -2.93874581e-02 -7.71184433e+01] [-7.62857298e-02 1.10015979e-03 9.97085391e-01 -2.61240332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87119381700003 meters 0.06133136395836637 Centerline is valid? [True, True] Translation: X:211.88, Y:-77.13, Z:-26.12 [[ 9.25403751e-01 3.72378871e-01 7.04405665e-02 2.11876239e+02] [-3.71220466e-01 9.28080234e-01 -2.93674230e-02 -7.71288348e+01] [-7.63103052e-02 1.02774347e-03 9.97083588e-01 -2.61212039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90119381700003 meters 0.06234537625904465 Centerline is valid? [True, True] Translation: X:211.90, Y:-77.14, Z:-26.13 [[ 9.25341422e-01 3.72542028e-01 7.03966587e-02 2.11898837e+02] [-3.71385878e-01 9.28014773e-01 -2.93447058e-02 -7.71422591e+01] [-7.62612754e-02 1.00954689e-03 9.97087358e-01 -2.61299807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93119381700004 meters 0.06198011667687768 Centerline is valid? [True, True] Translation: X:211.92, Y:-77.16, Z:-26.13 [[ 9.24976391e-01 3.73615230e-01 6.95006225e-02 2.11924426e+02] [-3.72492483e-01 9.27583343e-01 -2.89567325e-02 -7.71561321e+01] [-7.52862960e-02 8.95834420e-04 9.97161557e-01 -2.61326844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96119381700004 meters 0.06241044242627428 Centerline is valid? [True, True] Translation: X:211.95, Y:-77.17, Z:-26.14 [[ 9.25164276e-01 3.73165192e-01 6.94175975e-02 2.11948848e+02] [-3.72044293e-01 9.27764454e-01 -2.89164632e-02 -7.71692801e+01] [-7.51937970e-02 9.26057669e-04 9.97168509e-01 -2.61376598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99119381700004 meters 0.06211172307306352 Centerline is valid? [True, True] Translation: X:211.97, Y:-77.18, Z:-26.14 [[ 9.25319627e-01 3.72616006e-01 7.02915428e-02 2.11974661e+02] [-3.71465776e-01 9.27985109e-01 -2.92714003e-02 -7.71823505e+01] [-7.61364973e-02 9.74498761e-04 9.97096928e-01 -2.61391873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02119381700004 meters 0.061132295230994796 Centerline is valid? [True, True] Translation: X:212.00, Y:-77.19, Z:-26.14 [[ 9.25577895e-01 3.71682654e-01 7.18161930e-02 2.12001934e+02] [-3.70479671e-01 9.28359233e-01 -2.98989675e-02 -7.71946661e+01] [-7.77841535e-02 1.06738383e-03 9.96969652e-01 -2.61354086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05119381700004 meters 0.06284582883686153 Centerline is valid? [True, True] Translation: X:212.02, Y:-77.21, Z:-26.15 [[ 9.25978434e-01 3.70249633e-01 7.40212782e-02 2.12024255e+02] [-3.68967284e-01 9.28931494e-01 -3.08127200e-02 -7.72117716e+01] [-8.01690948e-02 1.22048426e-03 9.96780531e-01 -2.61452050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08119381700004 meters 0.06195810980022385 Centerline is valid? [True, True] Translation: X:212.05, Y:-77.23, Z:-26.14 [[ 9.27801236e-01 3.65054688e-01 7.69411528e-02 2.12050209e+02] [-3.63652020e-01 9.30984477e-01 -3.20173786e-02 -7.72276644e+01] [-8.33191131e-02 1.72595785e-03 9.96521423e-01 -2.61362964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11119381700004 meters 0.06300039800384882 Centerline is valid? [True, True] Translation: X:212.08, Y:-77.24, Z:-26.14 [[ 9.29027556e-01 3.61899370e-01 7.70496391e-02 2.12075077e+02] [-3.60482530e-01 9.32215011e-01 -3.20549305e-02 -7.72434744e+01] [-8.34274893e-02 2.00486481e-03 9.96511834e-01 -2.61390938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14119381700002 meters 0.0639380332063884 Centerline is valid? [True, True] Translation: X:212.10, Y:-77.26, Z:-26.14 [[ 9.30147349e-01 3.58705027e-01 7.84640888e-02 2.12099435e+02] [-3.57224897e-01 9.33448065e-01 -3.26355905e-02 -7.72589490e+01] [-8.49487023e-02 2.32658192e-03 9.96382610e-01 -2.61416984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17119381700002 meters 0.06681581312782918 Centerline is valid? [True, True] Translation: X:212.12, Y:-77.28, Z:-26.14 [[ 9.32587653e-01 3.51941976e-01 8.01069008e-02 2.12122382e+02] [-3.50374887e-01 9.36017020e-01 -3.33103163e-02 -7.72780305e+01] [-8.67047211e-02 2.99734345e-03 9.96229545e-01 -2.61435224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20119381700002 meters 0.06848705484629239 Centerline is valid? [True, True] Translation: X:212.15, Y:-77.29, Z:-26.15 [[ 9.33614952e-01 3.48974632e-01 8.11161423e-02 2.12146853e+02] [-3.47357054e-01 9.37126329e-01 -3.37241931e-02 -7.72928620e+01] [-8.77849605e-02 3.30914662e-03 9.96133952e-01 -2.61464126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23119381700002 meters 0.06990590105538831 Centerline is valid? [True, True] Translation: X:212.17, Y:-77.31, Z:-26.15 [[ 9.34650329e-01 3.45958675e-01 8.21057712e-02 2.12173787e+02] [-3.44290351e-01 9.38242730e-01 -3.41281968e-02 -7.73083526e+01] [-8.88420887e-02 3.62970565e-03 9.96039110e-01 -2.61484482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26119381700002 meters 0.07214731348607244 Centerline is valid? [True, True] Translation: X:212.20, Y:-77.32, Z:-26.15 [[ 9.35813364e-01 3.42826901e-01 8.19942845e-02 2.12199674e+02] [-3.41151128e-01 9.39390406e-01 -3.40818561e-02 -7.73237815e+01] [-8.87088214e-02 3.92181379e-03 9.96049880e-01 -2.61522525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29119381700002 meters 0.07696915669341323 Centerline is valid? [True, True] Translation: X:212.22, Y:-77.34, Z:-26.16 [[ 9.38379803e-01 3.36262575e-01 7.98174521e-02 2.12224773e+02] [-3.34651122e-01 9.41757895e-01 -3.31767180e-02 -7.73408918e+01] [-8.63248043e-02 4.42136222e-03 9.96257236e-01 -2.61596567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32119381700002 meters 0.07791717951324097 Centerline is valid? [True, True] Translation: X:212.25, Y:-77.35, Z:-26.16 [[ 9.39743927e-01 3.32804074e-01 7.82483231e-02 2.12252962e+02] [-3.31243493e-01 9.42984550e-01 -3.25251627e-02 -7.73520516e+01] [-8.46114664e-02 4.64607625e-03 9.96403188e-01 -2.61642245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35119381700002 meters 0.08307513120383477 Centerline is valid? [True, True] Translation: X:212.28, Y:-77.37, Z:-26.17 [[ 9.41319817e-01 3.28893049e-01 7.58047837e-02 2.12277130e+02] [-3.27415831e-01 9.44354760e-01 -3.15112910e-02 -7.73687040e+01] [-8.19504529e-02 4.84251648e-03 9.96624640e-01 -2.61727982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38119381700002 meters 0.08650125366486237 Centerline is valid? [True, True] Translation: X:212.30, Y:-77.38, Z:-26.18 [[ 9.42885124e-01 3.24882169e-01 7.36153523e-02 2.12303140e+02] [-3.23476881e-01 9.45741058e-01 -3.06032363e-02 -7.73829469e+01] [-7.95635070e-02 5.04247173e-03 9.96817045e-01 -2.61797256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41119381700003 meters 0.08993028346764795 Centerline is valid? [True, True] Translation: X:212.33, Y:-77.40, Z:-26.18 [[ 9.44346741e-01 3.20698135e-01 7.32252599e-02 2.12329702e+02] [-3.19295375e-01 9.47166262e-01 -3.04390473e-02 -7.73968512e+01] [-7.91182414e-02 5.36452837e-03 9.96850804e-01 -2.61839105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44119381700003 meters 0.08837636044106097 Centerline is valid? [True, True] Translation: X:212.36, Y:-77.40, Z:-26.18 [[ 9.45323944e-01 3.17621972e-01 7.40197584e-02 2.12360783e+02] [-3.16179256e-01 9.48200397e-01 -3.07682541e-02 -7.74042748e+01] [-7.99582379e-02 5.68245514e-03 9.96782017e-01 -2.61832519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47119381700003 meters 0.08998446086401266 Centerline is valid? [True, True] Translation: X:212.39, Y:-77.41, Z:-26.18 [[ 9.46465492e-01 3.13199793e-01 7.81598437e-02 2.12391615e+02] [-3.11575493e-01 9.49665688e-01 -3.24929651e-02 -7.74126626e+01] [-8.44025117e-02 6.40077833e-03 9.96411183e-01 -2.61812903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50119381700003 meters 0.09179680916206004 Centerline is valid? [True, True] Translation: X:212.42, Y:-77.42, Z:-26.18 [[ 9.46728766e-01 3.12116978e-01 7.92946103e-02 2.12421303e+02] [-3.10441528e-01 9.50020825e-01 -3.29619420e-02 -7.74225346e+01] [-8.56195128e-02 6.58967871e-03 9.96306115e-01 -2.61834798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53119381700003 meters 0.09284056831651395 Centerline is valid? [True, True] Translation: X:212.45, Y:-77.43, Z:-26.19 [[ 9.46957026e-01 3.10927520e-01 8.12186474e-02 2.12453086e+02] [-3.09163108e-01 9.50408696e-01 -3.37858508e-02 -7.74303615e+01] [-8.76958595e-02 6.88393932e-03 9.96123510e-01 -2.61853872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56119381700003 meters 0.08886092244583804 Centerline is valid? [True, True] Translation: X:212.49, Y:-77.42, Z:-26.18 [[ 9.47021561e-01 3.09964506e-01 8.40961790e-02 2.12491216e+02] [-3.08066295e-01 9.50720503e-01 -3.50097600e-02 -7.74230336e+01] [-9.08037445e-02 7.24779924e-03 9.95842432e-01 -2.61835967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59119381700003 meters 0.08809854356207583 Centerline is valid? [True, True] Translation: X:212.52, Y:-77.43, Z:-26.19 [[ 9.47083335e-01 3.09472812e-01 8.52040862e-02 2.12524209e+02] [-3.07519534e-01 9.50879351e-01 -3.54992381e-02 -7.74275914e+01] [-9.20048552e-02 7.41881590e-03 9.95730921e-01 -2.61861680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62119381700003 meters 0.09628031207927508 Centerline is valid? [True, True] Translation: X:212.55, Y:-77.44, Z:-26.19 [[ 9.47127682e-01 3.09220081e-01 8.56276597e-02 2.12550793e+02] [-3.07243346e-01 9.50960847e-01 -3.57070639e-02 -7.74444706e+01] [-9.24698930e-02 7.51061999e-03 9.95687154e-01 -2.61928221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65119381700003 meters 0.09249433131783809 Centerline is valid? [True, True] Translation: X:212.59, Y:-77.43, Z:-26.20 [[ 9.47895816e-01 3.07515681e-01 8.32323721e-02 2.12587591e+02] [-3.05640173e-01 9.51513633e-01 -3.47259246e-02 -7.74348104e+01] [-8.98755031e-02 7.47740197e-03 9.95924938e-01 -2.61980773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68119381700004 meters 0.09409966356632361 Centerline is valid? [True, True] Translation: X:212.62, Y:-77.44, Z:-26.20 [[ 9.48190495e-01 3.07012495e-01 8.17197262e-02 2.12615919e+02] [-3.05202621e-01 9.51676793e-01 -3.40975508e-02 -7.74385501e+01] [-8.82391410e-02 7.38989900e-03 9.96071907e-01 -2.62043599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71119381700004 meters 0.10209528408088277 Centerline is valid? [True, False] Translation: X:212.64, Y:-77.43, Z:-26.19 [[ 9.55779267e-01 2.88137773e-01 5.88439950e-02 2.12636597e+02] [-2.88267353e-01 9.57528179e-01 -6.45907734e-03 -7.74338974e+01] [-5.82058875e-02 -1.07893505e-02 9.98246295e-01 -2.61917167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74119381700004 meters 0.09684170958991699 Centerline is valid? [False, True] Translation: X:212.65, Y:-77.42, Z:-26.18 [[ 9.61703170e-01 2.71515223e-01 3.75032938e-02 2.12648612e+02] [-2.72129709e-01 9.62182090e-01 1.22901078e-02 -7.74241106e+01] [-3.27480462e-02 -2.20251961e-02 9.99220925e-01 -2.61809967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77119381700004 meters 0.09552140442212882 Centerline is valid? [True, True] Translation: X:212.68, Y:-77.41, Z:-26.18 [[ 9.61848974e-01 2.72254713e-01 2.69058056e-02 2.12683774e+02] [-2.72074727e-01 9.62221974e-01 -1.02085852e-02 -7.74131085e+01] [-2.86686928e-02 2.49872753e-03 9.99585845e-01 -2.61839201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80119381700004 meters 0.0999226537289527 Centerline is valid? [True, True] Translation: X:212.72, Y:-77.41, Z:-26.19 [[ 9.62695353e-01 2.69322269e-01 2.61375924e-02 2.12716098e+02] [-2.69151422e-01 9.63046841e-01 -9.91433436e-03 -7.74113520e+01] [-2.78418768e-02 2.50951346e-03 9.99609190e-01 -2.61872128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83119381700004 meters 0.09820708156206572 Centerline is valid? [True, True] Translation: X:212.75, Y:-77.41, Z:-26.19 [[ 9.62921201e-01 2.68458679e-01 2.66964097e-02 2.12747226e+02] [-2.68280068e-01 9.63287718e-01 -1.01280575e-02 -7.74093347e+01] [-2.84352885e-02 2.59040663e-03 9.99592279e-01 -2.61873666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86119381700004 meters 0.09172891584808639 Centerline is valid? [True, True] Translation: X:212.78, Y:-77.40, Z:-26.19 [[ 9.63219391e-01 2.67419252e-01 2.63694480e-02 2.12781487e+02] [-2.67244502e-01 9.63576786e-01 -1.00076936e-02 -7.73998686e+01] [-2.80852379e-02 2.59251456e-03 9.99602170e-01 -2.61858108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89119381700002 meters 0.09701613901014913 Centerline is valid? [True, True] Translation: X:212.81, Y:-77.40, Z:-26.19 [[ 9.63275549e-01 2.67199727e-01 2.65428467e-02 2.12812178e+02] [-2.67023008e-01 9.63637659e-01 -1.00586314e-02 -7.73976522e+01] [-2.82653502e-02 2.60168292e-03 9.99597069e-01 -2.61902532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92119381700002 meters 0.09168041124527605 Centerline is valid? [True, True] Translation: X:212.85, Y:-77.39, Z:-26.19 [[ 9.63405046e-01 2.66816570e-01 2.56833500e-02 2.12845579e+02] [-2.66650879e-01 9.63744006e-01 -9.73656658e-03 -7.73903438e+01] [-2.73500519e-02 2.53176954e-03 9.99622711e-01 -2.61893683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95119381700002 meters 0.09711383732826047 Centerline is valid? [True, True] Translation: X:212.87, Y:-77.40, Z:-26.19 [[ 9.63301976e-01 2.67152722e-01 2.60523721e-02 2.12872450e+02] [-2.66982595e-01 9.63650829e-01 -9.86783991e-03 -7.73984394e+01] [-2.77416103e-02 2.55017976e-03 9.99611875e-01 -2.61943340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98119381700002 meters 0.09155612105953162 Centerline is valid? [True, True] Translation: X:212.91, Y:-77.38, Z:-26.19 [[ 9.63205798e-01 2.67391642e-01 2.71348666e-02 2.12910137e+02] [-2.67207449e-01 9.63584320e-01 -1.02683061e-02 -7.73808210e+01] [-2.88923912e-02 2.63985347e-03 9.99579042e-01 -2.61912611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01119381700002 meters 0.09050616013923575 Centerline is valid? [True, True] Translation: X:212.94, Y:-77.38, Z:-26.19 [[ 9.63004573e-01 2.68057970e-01 2.76968947e-02 2.12941340e+02] [-2.67866781e-01 9.63399113e-01 -1.04659903e-02 -7.73795926e+01] [-2.94886559e-02 2.65971848e-03 9.99561576e-01 -2.61919614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04119381700002 meters 0.09071704388214089 Centerline is valid? [True, True] Translation: X:212.97, Y:-77.38, Z:-26.19 [[ 9.62846185e-01 2.68644112e-01 2.75239066e-02 2.12971355e+02] [-2.68455424e-01 9.63235915e-01 -1.04046380e-02 -7.73809287e+01] [-2.93071601e-02 2.62912400e-03 9.99566995e-01 -2.61946176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07119381700002 meters 0.0892974576347883 Centerline is valid? [True, True] Translation: X:213.00, Y:-77.38, Z:-26.20 [[ 9.62531878e-01 2.69732852e-01 2.78670540e-02 2.13002457e+02] [-2.69540332e-01 9.62931647e-01 -1.05191231e-02 -7.73807596e+01] [-2.96714213e-02 2.61369629e-03 9.99556289e-01 -2.61959984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10119381700002 meters 0.09058960760601859 Centerline is valid? [True, True] Translation: X:213.03, Y:-77.38, Z:-26.20 [[ 9.62244569e-01 2.70774143e-01 2.76903054e-02 2.13030901e+02] [-2.70584539e-01 9.62639492e-01 -1.04505827e-02 -7.73845990e+01] [-2.94855291e-02 2.56344787e-03 9.99561920e-01 -2.61981449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13119381700002 meters 0.0882547960769044 Centerline is valid? [True, True] Translation: X:213.06, Y:-77.38, Z:-26.20 [[ 9.61966265e-01 2.71691571e-01 2.83653929e-02 2.13062585e+02] [-2.71492949e-01 9.62380869e-01 -1.07071219e-02 -7.73838095e+01] [-3.02073462e-02 2.59888593e-03 9.99540275e-01 -2.61987894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16119381700003 meters 0.08603695237336972 Centerline is valid? [True, True] Translation: X:213.10, Y:-77.38, Z:-26.20 [[ 9.61064122e-01 2.74711159e-01 2.98250207e-02 2.13098430e+02] [-2.74493528e-01 9.61523234e-01 -1.12415568e-02 -7.73758122e+01] [-3.17656315e-02 2.61708171e-03 9.99491919e-01 -2.61977078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19119381700003 meters 0.08204375517287549 Centerline is valid? [True, True] Translation: X:213.13, Y:-77.37, Z:-26.20 [[ 9.60411123e-01 2.76951312e-01 3.01404209e-02 2.13132012e+02] [-2.76730162e-01 9.60880517e-01 -1.13599626e-02 -7.73727266e+01] [-3.21074998e-02 2.56947091e-03 9.99481119e-01 -2.61972716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22119381700003 meters 0.08495951303686573 Centerline is valid? [True, True] Translation: X:213.16, Y:-77.38, Z:-26.20 [[ 9.59623569e-01 2.79575685e-01 3.09845530e-02 2.13160129e+02] [-2.79343333e-01 9.60120267e-01 -1.16779500e-02 -7.73803527e+01] [-3.30137682e-02 2.55110774e-03 9.99451641e-01 -2.62011697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25119381700003 meters 0.08687102461845668 Centerline is valid? [True, True] Translation: X:213.19, Y:-77.39, Z:-26.21 [[ 9.58947142e-01 2.82001073e-01 2.99294674e-02 2.13188046e+02] [-2.81785477e-01 9.59411130e-01 -1.12795426e-02 -7.73865788e+01] [-3.18955073e-02 2.38279590e-03 9.99488369e-01 -2.62055745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28119381700003 meters 0.07719181367040168 Centerline is valid? [True, True] Translation: X:213.23, Y:-77.37, Z:-26.20 [[ 9.56976855e-01 2.88660464e-01 2.95031494e-02 2.13226335e+02] [-2.88454205e-01 9.57429168e-01 -1.11157612e-02 -7.73712114e+01] [-3.14558566e-02 2.12721863e-03 9.99502878e-01 -2.62043025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31119381700003 meters 0.07606785917533188 Centerline is valid? [True, True] Translation: X:213.26, Y:-77.37, Z:-26.21 [[ 9.55719086e-01 2.92807590e-01 2.94065137e-02 2.13256347e+02] [-2.92604625e-01 9.56169325e-01 -1.10795419e-02 -7.73743251e+01] [-3.13617803e-02 1.98444780e-03 9.99506128e-01 -2.62075949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34119381700003 meters 0.07067197619914273 Centerline is valid? [True, True] Translation: X:213.29, Y:-77.37, Z:-26.21 [[ 9.54002354e-01 2.98457495e-01 2.83307502e-02 2.13290686e+02] [-2.98271604e-01 9.54421354e-01 -1.06737105e-02 -7.73696834e+01] [-3.02251219e-02 1.73248660e-03 9.99541615e-01 -2.62075452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37119381700003 meters 0.0675145170486224 Centerline is valid? [True, True] Translation: X:213.32, Y:-77.36, Z:-26.21 [[ 9.50243648e-01 3.10254449e-01 2.79138974e-02 2.13324805e+02] [-3.10079105e-01 9.50652614e-01 -1.05145668e-02 -7.73606864e+01] [-2.97986107e-02 1.33588399e-03 9.99555030e-01 -2.62106832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40119381700003 meters 0.06429292597420916 Centerline is valid? [True, True] Translation: X:213.36, Y:-77.36, Z:-26.21 [[ 9.48443042e-01 3.15659498e-01 2.85460607e-02 2.13357850e+02] [-3.15478627e-01 9.48871785e-01 -1.07504357e-02 -7.73580194e+01] [-3.04800287e-02 1.19050388e-03 9.99534667e-01 -2.62102060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43119381700004 meters 0.06216557081008498 Centerline is valid? [True, True] Translation: X:213.39, Y:-77.36, Z:-26.21 [[ 9.46892912e-01 3.20306934e-01 2.82361558e-02 2.13389510e+02] [-3.20132029e-01 9.47313257e-01 -1.06337415e-02 -7.73581174e+01] [-3.01545459e-02 1.02971662e-03 9.99544718e-01 -2.62100360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46119381700004 meters 0.06185598266112252 Centerline is valid? [True, True] Translation: X:213.42, Y:-77.36, Z:-26.21 [[ 9.45914520e-01 3.23136104e-01 2.87885098e-02 2.13417053e+02] [-3.22955578e-01 9.46352017e-01 -1.08422759e-02 -7.73639287e+01] [-3.07475951e-02 9.58456394e-04 9.99526721e-01 -2.62133156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49119381700004 meters 0.06154976904377076 Centerline is valid? [True, True] Translation: X:213.44, Y:-77.37, Z:-26.22 [[ 9.45271547e-01 3.24999885e-01 2.89271053e-02 2.13444458e+02] [-3.24818593e-01 9.45713628e-01 -1.08910600e-02 -7.73704149e+01] [-3.08963509e-02 8.98947500e-04 9.99522190e-01 -2.62171670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52119381700004 meters 0.06155257440445576 Centerline is valid? [True, True] Translation: X:213.47, Y:-77.38, Z:-26.22 [[ 9.45354989e-01 3.24732815e-01 2.91983504e-02 2.13471155e+02] [-3.24547874e-01 9.45805346e-01 -1.09965374e-02 -7.73787726e+01] [-3.11868925e-02 9.19368916e-04 9.99513148e-01 -2.62187084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55119381700004 meters 0.06170848359444326 Centerline is valid? [True, True] Translation: X:213.50, Y:-77.39, Z:-26.22 [[ 9.45513121e-01 3.24280331e-01 2.91067767e-02 2.13497789e+02] [-3.24096694e-01 9.45960581e-01 -1.09504834e-02 -7.73881136e+01] [-3.10848897e-02 9.20415638e-04 9.99516324e-01 -2.62210107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58119381700004 meters 0.06204518727287418 Centerline is valid? [True, True] Translation: X:213.52, Y:-77.40, Z:-26.22 [[ 9.45728917e-01 3.23741699e-01 2.80736208e-02 2.13524120e+02] [-3.23570876e-01 9.46145077e-01 -1.05536951e-02 -7.73989513e+01] [-2.99783893e-02 8.97128514e-04 9.99550144e-01 -2.62247114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61119381700004 meters 0.06111361455407814 Centerline is valid? [True, True] Translation: X:213.55, Y:-77.41, Z:-26.22 [[ 9.46086662e-01 3.22759750e-01 2.73161600e-02 2.13551758e+02] [-3.22597826e-01 9.46480502e-01 -1.02616857e-02 -7.74072468e+01] [-2.91662719e-02 8.96310095e-04 9.99574172e-01 -2.62238851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64119381700002 meters 0.06111361455407814 Centerline is valid? [True, True] Translation: X:213.58, Y:-77.42, Z:-26.23 [[ 9.46192822e-01 3.22448188e-01 2.73186772e-02 2.13577445e+02] [-3.22286328e-01 9.46586688e-01 -1.02549776e-02 -7.74166607e+01] [-2.91661951e-02 8.98749984e-04 9.99574172e-01 -2.62255508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67119381700002 meters 0.06263875369905668 Centerline is valid? [True, True] Translation: X:213.60, Y:-77.44, Z:-26.23 [[ 9.47365674e-01 3.19052499e-01 2.65288929e-02 2.13600739e+02] [-3.18899059e-01 9.47736560e-01 -9.93992891e-03 -7.74353989e+01] [-2.83137609e-02 9.56708462e-04 9.99598627e-01 -2.62298692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70119381700002 meters 0.0630715362551736 Centerline is valid? [True, True] Translation: X:213.63, Y:-77.45, Z:-26.23 [[ 9.48254709e-01 3.16395782e-01 2.65841306e-02 2.13626042e+02] [-3.16240497e-01 9.48626702e-01 -9.96635825e-03 -7.74495822e+01] [-2.83717298e-02 1.04366750e-03 9.99596897e-01 -2.62308793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73119381700002 meters 0.06478220529767073 Centerline is valid? [True, True] Translation: X:213.65, Y:-77.47, Z:-26.23 [[ 9.49221000e-01 3.13432109e-01 2.71993706e-02 2.13648786e+02] [-3.13268706e-01 9.49609919e-01 -1.01842592e-02 -7.74662092e+01] [-2.90208659e-02 1.14640108e-03 9.99578149e-01 -2.62331110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76119381700002 meters 0.0652042766409458 Centerline is valid? [True, True] Translation: X:213.67, Y:-77.48, Z:-26.23 [[ 9.50071198e-01 3.10771275e-01 2.80344883e-02 2.13673362e+02] [-3.10596605e-01 9.50483887e-01 -1.04942433e-02 -7.74820876e+01] [-2.99076388e-02 1.26286144e-03 9.99551869e-01 -2.62336126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79119381700002 meters 0.06542635389808488 Centerline is valid? [True, True] Translation: X:213.70, Y:-77.50, Z:-26.23 [[ 9.50370893e-01 3.09861851e-01 2.79427851e-02 2.13698716e+02] [-3.09688189e-01 9.50780731e-01 -1.04512039e-02 -7.74952326e+01] [-2.98058911e-02 1.27896949e-03 9.99554887e-01 -2.62348895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82119381700002 meters 0.0667328796461638 Centerline is valid? [True, True] Translation: X:213.72, Y:-77.51, Z:-26.24 [[ 9.50557755e-01 3.09194573e-01 2.89597983e-02 2.13722714e+02] [-3.09008202e-01 9.50997865e-01 -1.08162455e-02 -7.75109154e+01] [-3.08850308e-02 1.33265084e-03 9.99522055e-01 -2.62387949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85119381700002 meters 0.06420972088065977 Centerline is valid? [True, True] Translation: X:213.75, Y:-77.52, Z:-26.24 [[ 9.50607036e-01 3.09005842e-01 2.93539157e-02 2.13751111e+02] [-3.08814191e-01 9.51059168e-01 -1.09660474e-02 -7.75182836e+01] [-3.13058834e-02 1.35949607e-03 9.99508926e-01 -2.62363523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88119381700002 meters 0.06552738488360035 Centerline is valid? [True, True] Translation: X:213.77, Y:-77.53, Z:-26.24 [[ 9.50325690e-01 3.09774949e-01 3.03408091e-02 2.13774358e+02] [-3.09571105e-01 9.50808930e-01 -1.13185447e-02 -7.75344922e+01] [-3.23545138e-02 1.36366597e-03 9.99475525e-01 -2.62406013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91119381700003 meters 0.06464681943000242 Centerline is valid? [True, True] Translation: X:213.80, Y:-77.54, Z:-26.24 [[ 9.50262001e-01 3.09891474e-01 3.11352512e-02 2.13801503e+02] [-3.09676829e-01 9.50770910e-01 -1.16162638e-02 -7.75444445e+01] [-3.32022723e-02 1.39662817e-03 9.99447677e-01 -2.62405358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94119381700003 meters 0.0654260546112145 Centerline is valid? [True, True] Translation: X:213.83, Y:-77.56, Z:-26.24 [[ 9.50230925e-01 3.09986155e-01 3.11411664e-02 2.13825834e+02] [-3.09771933e-01 9.50740069e-01 -1.16048203e-02 -7.75576834e+01] [-3.32044883e-02 1.38059982e-03 9.99447625e-01 -2.62436015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97119381700003 meters 0.0640455906956384 Centerline is valid? [True, True] Translation: X:213.85, Y:-77.57, Z:-26.24 [[ 9.50364085e-01 3.09606917e-01 3.08490330e-02 2.13853624e+02] [-3.09396532e-01 9.50863636e-01 -1.14948939e-02 -7.75668684e+01] [-3.28921224e-02 1.37975053e-03 9.99457955e-01 -2.62433171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00119381700003 meters 0.06516572331473741 Centerline is valid? [True, True] Translation: X:213.88, Y:-77.58, Z:-26.25 [[ 9.50438471e-01 3.09433198e-01 3.02953508e-02 2.13877497e+02] [-3.09230701e-01 9.50920230e-01 -1.12734550e-02 -7.75809034e+01] [-3.22968432e-02 1.34647278e-03 9.99477414e-01 -2.62471752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03119381700003 meters 0.06523939933443834 Centerline is valid? [True, True] Translation: X:213.90, Y:-77.59, Z:-26.25 [[ 9.50845937e-01 3.08305856e-01 2.89741633e-02 2.13902584e+02] [-3.08120213e-01 9.51286367e-01 -1.07787566e-02 -7.75946951e+01] [-3.08858803e-02 1.32141154e-03 9.99522044e-01 -2.62499540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06119381700003 meters 0.06680713301108285 Centerline is valid? [True, True] Translation: X:213.93, Y:-77.61, Z:-26.25 [[ 9.51448322e-01 3.06496886e-01 2.83857158e-02 2.13927315e+02] [-3.06318040e-01 9.51870707e-01 -1.05553899e-02 -7.76101139e+01] [-3.02547255e-02 1.34785125e-03 9.99541312e-01 -2.62536913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09119381700003 meters 0.06679383450524175 Centerline is valid? [True, True] Translation: X:213.95, Y:-77.62, Z:-26.25 [[ 9.52062264e-01 3.04673968e-01 2.74083593e-02 2.13953915e+02] [-3.04506526e-01 9.52455739e-01 -1.01902222e-02 -7.76222594e+01] [-2.92099446e-02 1.35570178e-03 9.99572379e-01 -2.62548889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12119381700003 meters 0.06813580315045016 Centerline is valid? [True, True] Translation: X:213.98, Y:-77.64, Z:-26.26 [[ 9.52637991e-01 3.02861609e-01 2.74900562e-02 2.13978547e+02] [-3.02692431e-01 9.53033496e-01 -1.02200181e-02 -7.76363578e+01] [-2.92941954e-02 1.41494564e-03 9.99569831e-01 -2.62572329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15119381700003 meters 0.06890854308713337 Centerline is valid? [True, True] Translation: X:214.00, Y:-77.65, Z:-26.26 [[ 9.53270797e-01 3.00828657e-01 2.78730566e-02 2.14004027e+02] [-3.00653789e-01 9.53677025e-01 -1.03648929e-02 -7.76501296e+01] [-2.96999505e-02 1.50040959e-03 9.99557733e-01 -2.62588626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18119381700004 meters 0.07094375473838602 Centerline is valid? [True, True] Translation: X:214.03, Y:-77.67, Z:-26.26 [[ 9.54151475e-01 2.98095553e-01 2.70925144e-02 2.14027639e+02] [-2.97929686e-01 9.54534814e-01 -1.00593732e-02 -7.76688468e+01] [-2.88594026e-02 1.52650145e-03 9.99582315e-01 -2.62624122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21119381700004 meters 0.07098699199906784 Centerline is valid? [True, True] Translation: X:214.05, Y:-77.68, Z:-26.26 [[ 9.54547960e-01 2.96785799e-01 2.75024107e-02 2.14053509e+02] [-2.96614177e-01 9.54942745e-01 -1.02168310e-02 -7.76807967e+01] [-2.92954379e-02 1.59485029e-03 9.99569524e-01 -2.62630504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24119381700004 meters 0.0736285618201855 Centerline is valid? [True, True] Translation: X:214.08, Y:-77.70, Z:-26.27 [[ 9.54551729e-01 2.96708351e-01 2.81984048e-02 2.14076992e+02] [-2.96528345e-01 9.54966763e-01 -1.04605021e-02 -7.76968743e+01] [-3.00322577e-02 1.62346403e-03 9.99547612e-01 -2.62669940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27119381700004 meters 0.07012044615138192 Centerline is valid? [True, True] Translation: X:214.11, Y:-77.70, Z:-26.26 [[ 9.54390225e-01 2.97192141e-01 2.85679874e-02 2.14105133e+02] [-2.97007522e-01 9.54816301e-01 -1.06001425e-02 -7.77036121e+01] [-3.04274591e-02 1.63176524e-03 9.99535646e-01 -2.62630776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30119381700004 meters 0.07141643726942308 Centerline is valid? [True, True] Translation: X:214.13, Y:-77.72, Z:-26.27 [[ 9.54208949e-01 2.97620124e-01 3.01254529e-02 2.14129071e+02] [-2.97415539e-01 9.54682880e-01 -1.11622448e-02 -7.77178584e+01] [-3.20823628e-02 1.69133602e-03 9.99483797e-01 -2.62657796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33119381700004 meters 0.06982928178936464 Centerline is valid? [True, True] Translation: X:214.16, Y:-77.73, Z:-26.27 [[ 9.54119879e-01 2.97888352e-01 3.02950002e-02 2.14155971e+02] [-2.97681530e-01 9.54599215e-01 -1.12269965e-02 -7.77272959e+01] [-3.22639749e-02 1.69363858e-03 9.99477947e-01 -2.62659042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36119381700004 meters 0.07023238595351775 Centerline is valid? [True, True] Translation: X:214.18, Y:-77.74, Z:-26.27 [[ 9.54071983e-01 2.98039126e-01 3.03204805e-02 2.14180627e+02] [-2.97832461e-01 9.54552181e-01 -1.12231470e-02 -7.77403513e+01] [-3.22874177e-02 1.67726684e-03 9.99477218e-01 -2.62679679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39119381700002 meters 0.07098049761775899 Centerline is valid? [True, True] Translation: X:214.20, Y:-77.76, Z:-26.27 [[ 9.54410664e-01 2.96962391e-01 3.02262058e-02 2.14204171e+02] [-2.96756679e-01 9.54887659e-01 -1.11817847e-02 -7.77555072e+01] [-3.21832004e-02 1.70218608e-03 9.99480537e-01 -2.62709914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42119381700002 meters 0.0723635187900281 Centerline is valid? [True, True] Translation: X:214.23, Y:-77.77, Z:-26.27 [[ 9.54807445e-01 2.95757791e-01 2.94969806e-02 2.14228816e+02] [-2.95561414e-01 9.55261455e-01 -1.09088792e-02 -7.77695958e+01] [-3.14037146e-02 1.69770981e-03 9.99505340e-01 -2.62744980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45119381700002 meters 0.07276731943521238 Centerline is valid? [True, True] Translation: X:214.26, Y:-77.78, Z:-26.28 [[ 9.55369296e-01 2.93941329e-01 2.94619104e-02 2.14255728e+02] [-2.93744712e-01 9.55821861e-01 -1.08909799e-02 -7.77828895e+01] [-3.13616471e-02 1.75062738e-03 9.99506569e-01 -2.62755223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48119381700002 meters 0.0747785129985508 Centerline is valid? [True, True] Translation: X:214.28, Y:-77.80, Z:-26.28 [[ 9.56086262e-01 2.91676787e-01 2.87003630e-02 2.14280156e+02] [-2.91489208e-01 9.56515287e-01 -1.06088723e-02 -7.77986710e+01] [-3.05466977e-02 1.77715097e-03 9.99531761e-01 -2.62778931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51119381700002 meters 0.07454608413103696 Centerline is valid? [True, True] Translation: X:214.31, Y:-77.81, Z:-26.28 [[ 9.57788532e-01 2.86012441e-01 2.89484281e-02 2.14306911e+02] [-2.85819124e-01 9.58223876e-01 -1.06973115e-02 -7.78128776e+01] [-3.07986392e-02 1.97174792e-03 9.99523665e-01 -2.62762462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54119381700002 meters 0.07879517711671333 Centerline is valid? [True, True] Translation: X:214.33, Y:-77.83, Z:-26.28 [[ 9.58720170e-01 2.82898818e-01 2.87035521e-02 2.14330477e+02] [-2.82707359e-01 9.59147558e-01 -1.06071585e-02 -7.78314026e+01] [-3.05316945e-02 2.05459135e-03 9.99531687e-01 -2.62806738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57119381700002 meters 0.07962961024031329 Centerline is valid? [True, True] Translation: X:214.36, Y:-77.84, Z:-26.28 [[ 9.59356127e-01 2.80747969e-01 2.85727078e-02 2.14357266e+02] [-2.80557324e-01 9.59779201e-01 -1.05581182e-02 -7.78437195e+01] [-3.03876609e-02 2.11271297e-03 9.99535956e-01 -2.62821486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60119381700002 meters 0.08048313934533274 Centerline is valid? [True, True] Translation: X:214.38, Y:-77.85, Z:-26.28 [[ 9.59980984e-01 2.78304325e-01 3.13562176e-02 2.14384540e+02] [-2.78073494e-01 9.60489946e-01 -1.15842748e-02 -7.78546992e+01] [-3.33412855e-02 2.40135056e-03 9.99441140e-01 -2.62803010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63119381700002 meters 0.08052300225363661 Centerline is valid? [True, True] Translation: X:214.41, Y:-77.86, Z:-26.28 [[ 9.59941815e-01 2.78141622e-01 3.38961557e-02 2.14412392e+02] [-2.77871675e-01 9.60536545e-01 -1.25250885e-02 -7.78639933e+01] [-3.60422447e-02 2.60457465e-03 9.99346873e-01 -2.62804992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66119381700003 meters 0.08087198850583874 Centerline is valid? [True, True] Translation: X:214.44, Y:-77.87, Z:-26.28 [[ 9.59724603e-01 2.78741618e-01 3.50969537e-02 2.14438775e+02] [-2.78453098e-01 9.60362448e-01 -1.29553429e-02 -7.78734598e+01] [-3.73169896e-02 2.66070583e-03 9.99299936e-01 -2.62810720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69119381700003 meters 0.08117439833436252 Centerline is valid? [True, True] Translation: X:214.47, Y:-77.88, Z:-26.28 [[ 9.59558843e-01 2.79166648e-01 3.62327035e-02 2.14465558e+02] [-2.78859692e-01 9.60238806e-01 -1.33681690e-02 -7.78816824e+01] [-3.85239948e-02 2.72370426e-03 9.99253963e-01 -2.62820071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72119381700003 meters 0.07835233341811816 Centerline is valid? [True, True] Translation: X:214.50, Y:-77.88, Z:-26.28 [[ 9.59365887e-01 2.79739569e-01 3.69170534e-02 2.14495436e+02] [-2.79421327e-01 9.60071977e-01 -1.36206099e-02 -7.78846805e+01] [-3.92532520e-02 2.75173642e-03 9.99225505e-01 -2.62819977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75119381700003 meters 0.0786813557460117 Centerline is valid? [True, True] Translation: X:214.52, Y:-77.89, Z:-26.28 [[ 9.59009523e-01 2.80911971e-01 3.72719717e-02 2.14522641e+02] [-2.80589070e-01 9.59729698e-01 -1.37360711e-02 -7.78902589e+01] [-3.96296450e-02 2.71491513e-03 9.99210749e-01 -2.62847690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78119381700003 meters 0.07912089738300092 Centerline is valid? [True, True] Translation: X:214.55, Y:-77.90, Z:-26.29 [[ 9.59038899e-01 2.80984846e-01 3.59430886e-02 2.14549013e+02] [-2.80684577e-01 9.59708639e-01 -1.32475324e-02 -7.78989813e+01] [-3.82172485e-02 2.61622833e-03 9.99266029e-01 -2.62880127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81119381700003 meters 0.07471399747755735 Centerline is valid? [True, True] Translation: X:214.58, Y:-77.90, Z:-26.29 [[ 9.59119363e-01 2.80846133e-01 3.48639921e-02 2.14579158e+02] [-2.80563976e-01 9.59749468e-01 -1.28380207e-02 -7.78993125e+01] [-3.70662063e-02 2.53161402e-03 9.99309605e-01 -2.62890129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84119381700003 meters 0.0754368266901309 Centerline is valid? [True, True] Translation: X:214.61, Y:-77.91, Z:-26.29 [[ 9.59154327e-01 2.80863759e-01 3.37420550e-02 2.14605269e+02] [-2.80600026e-01 9.59744559e-01 -1.24099147e-02 -7.79080259e+01] [-3.58692490e-02 2.43500189e-03 9.99353525e-01 -2.62926692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87119381700003 meters 0.0768222268858832 Centerline is valid? [True, True] Translation: X:214.63, Y:-77.92, Z:-26.30 [[ 9.59339022e-01 2.80475310e-01 3.16582130e-02 2.14631987e+02] [-2.80243055e-01 9.59858497e-01 -1.16402810e-02 -7.79161969e+01] [-3.36522162e-02 2.29498145e-03 9.99430969e-01 -2.62970511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90119381700003 meters 0.08322565315230017 Centerline is valid? [True, True] Translation: X:214.65, Y:-77.93, Z:-26.30 [[ 9.59368076e-01 2.80472160e-01 3.07938562e-02 2.14654927e+02] [-2.80252526e-01 9.59859572e-01 -1.13191423e-02 -7.79337402e+01] [-3.27324819e-02 2.22916779e-03 9.99461663e-01 -2.63045716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93119381700004 meters 0.07664788936329579 Centerline is valid? [True, True] Translation: X:214.69, Y:-77.93, Z:-26.30 [[ 9.59389751e-01 2.80509011e-01 2.97657461e-02 2.14687006e+02] [-2.80303745e-01 9.59848971e-01 -1.09436237e-02 -7.79314765e+01] [-3.16404059e-02 2.15575032e-03 9.99496992e-01 -2.63034539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96119381700004 meters 0.07549186056486222 Centerline is valid? [True, True] Translation: X:214.71, Y:-77.94, Z:-26.31 [[ 9.59284096e-01 2.80971379e-01 2.87942290e-02 2.14714751e+02] [-2.80779755e-01 9.59713931e-01 -1.05782641e-02 -7.79381339e+01] [-3.06064121e-02 2.06272397e-03 9.99529386e-01 -2.63055604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99119381700004 meters 0.07410324252157165 Centerline is valid? [True, True] Translation: X:214.74, Y:-77.94, Z:-26.31 [[ 9.58601049e-01 2.83446040e-01 2.72464809e-02 2.14743778e+02] [-2.83275875e-01 9.58986377e-01 -9.99542592e-03 -7.79420890e+01] [-2.89621679e-02 1.86335507e-03 9.99578772e-01 -2.63093574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02119381700004 meters 0.07335469848928437 Centerline is valid? [True, True] Translation: X:214.77, Y:-77.95, Z:-26.31 [[ 9.57944999e-01 2.85693388e-01 2.68452236e-02 2.14773013e+02] [-2.85529182e-01 9.58319452e-01 -9.84454066e-03 -7.79485012e+01] [-2.85388201e-02 1.76543377e-03 9.99591126e-01 -2.63117147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05119381700004 meters 0.07233197824597551 Centerline is valid? [True, True] Translation: X:214.80, Y:-77.95, Z:-26.31 [[ 9.57428975e-01 2.87436556e-01 2.66455281e-02 2.14802373e+02] [-2.87275279e-01 9.57798159e-01 -9.77757285e-03 -7.79531445e+01] [-2.83314696e-02 1.70673005e-03 9.99597126e-01 -2.63140971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08119381700004 meters 0.07151389118203855 Centerline is valid? [True, True] Translation: X:214.83, Y:-77.96, Z:-26.32 [[ 9.56828230e-01 2.89455314e-01 2.63696856e-02 2.14831140e+02] [-2.89298504e-01 9.57190162e-01 -9.66273775e-03 -7.79585595e+01] [-2.80377344e-02 1.61686966e-03 9.99605558e-01 -2.63165131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11119381700004 meters 0.06989516061980343 Centerline is valid? [True, True] Translation: X:214.86, Y:-77.96, Z:-26.32 [[ 9.55860807e-01 2.92710292e-01 2.55108382e-02 2.14862834e+02] [-2.92564800e-01 9.56200047e-01 -9.34382407e-03 -7.79599084e+01] [-2.71284982e-02 1.46782193e-03 9.99630877e-01 -2.63186419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14119381700002 meters 0.07005972993773411 Centerline is valid? [True, True] Translation: X:214.89, Y:-77.97, Z:-26.32 [[ 9.55375199e-01 2.94305520e-01 2.53473903e-02 2.14889373e+02] [-2.94162387e-01 9.55710342e-01 -9.28617022e-03 -7.79671686e+01] [-2.69577342e-02 1.41552790e-03 9.99635572e-01 -2.63217709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17119381700002 meters 0.06847418810090034 Centerline is valid? [True, True] Translation: X:214.92, Y:-77.97, Z:-26.32 [[ 9.55066048e-01 2.95308716e-01 2.53299625e-02 2.14918924e+02] [-2.95166164e-01 9.55400881e-01 -9.27858626e-03 -7.79717688e+01] [-2.69403159e-02 1.38511485e-03 9.99636084e-01 -2.63222916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20119381700002 meters 0.06867694517021541 Centerline is valid? [True, True] Translation: X:214.95, Y:-77.98, Z:-26.33 [[ 9.54725140e-01 2.96428490e-01 2.51009202e-02 2.14946735e+02] [-2.96288995e-01 9.55054114e-01 -9.19076986e-03 -7.79760974e+01] [-2.66971431e-02 1.33753262e-03 9.99642673e-01 -2.63253043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23119381700002 meters 0.07620472230674728 Centerline is valid? [True, True] Translation: X:214.97, Y:-78.00, Z:-26.34 [[ 9.54511713e-01 2.97103893e-01 2.52322646e-02 2.14968740e+02] [-2.96963161e-01 9.54844238e-01 -9.23916031e-03 -7.79962166e+01] [-2.68378730e-02 1.32583365e-03 9.99638920e-01 -2.63365687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26119381700002 meters 0.06688120398295064 Centerline is valid? [True, True] Translation: X:215.00, Y:-77.99, Z:-26.33 [[ 9.54477603e-01 2.97203711e-01 2.53467876e-02 2.15003441e+02] [-2.97061931e-01 9.54813179e-01 -9.27374630e-03 -7.79873543e+01] [-2.69576386e-02 1.32201747e-03 9.99635703e-01 -2.63257287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29119381700002 meters 0.06747811585366008 Centerline is valid? [True, True] Translation: X:215.03, Y:-78.00, Z:-26.33 [[ 9.54696145e-01 2.96428453e-01 2.61809830e-02 2.15030087e+02] [-2.96277104e-01 9.55054064e-01 -9.57144595e-03 -7.79963147e+01] [-2.78415032e-02 1.38099671e-03 9.99611396e-01 -2.63268632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32119381700002 meters 0.07079855319372584 Centerline is valid? [True, True] Translation: X:215.05, Y:-78.01, Z:-26.33 [[ 9.55000700e-01 2.95339002e-01 2.73594147e-02 2.15054912e+02] [-2.95173790e-01 9.55391409e-01 -9.98444722e-03 -7.80100590e+01] [-2.90877465e-02 1.45937194e-03 9.99575797e-01 -2.63303792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35119381700002 meters 0.07142804920855775 Centerline is valid? [True, True] Translation: X:215.08, Y:-78.02, Z:-26.33 [[ 9.55283456e-01 2.94333771e-01 2.83046071e-02 2.15081474e+02] [-2.94156452e-01 9.55701444e-01 -1.03310971e-02 -7.80200115e+01] [-3.00915447e-02 1.54314338e-03 9.99545956e-01 -2.63319150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38119381700002 meters 0.06964507961445661 Centerline is valid? [True, True] Translation: X:215.11, Y:-78.03, Z:-26.33 [[ 9.55714295e-01 2.92824068e-01 2.93981689e-02 2.15110333e+02] [-2.92632336e-01 9.56164924e-01 -1.07216237e-02 -7.80262866e+01] [-3.12490474e-02 1.64395414e-03 9.99510277e-01 -2.63298840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41119381700003 meters 0.06990978894935457 Centerline is valid? [True, True] Translation: X:215.14, Y:-78.04, Z:-26.33 [[ 9.56111673e-01 2.91604362e-01 2.85895797e-02 2.15136864e+02] [-2.91422906e-01 9.56537640e-01 -1.04131021e-02 -7.80355787e+01] [-3.03835151e-02 1.62443011e-03 9.99536994e-01 -2.63322429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44119381700003 meters 0.0726369569575633 Centerline is valid? [True, True] Translation: X:215.16, Y:-78.05, Z:-26.34 [[ 9.57143887e-01 2.88138362e-01 2.91866947e-02 2.15162843e+02] [-2.87947777e-01 9.57587157e-01 -1.06260766e-02 -7.80483784e+01] [-3.10105843e-02 1.76644045e-03 9.99517495e-01 -2.63350459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47119381700003 meters 0.07174944168627871 Centerline is valid? [True, True] Translation: X:215.19, Y:-78.06, Z:-26.34 [[ 9.57656670e-01 2.86483670e-01 2.86497858e-02 2.15192162e+02] [-2.86299366e-01 9.58083464e-01 -1.04283181e-02 -7.80554667e+01] [-3.04364288e-02 1.78433287e-03 9.99535112e-01 -2.63351494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50119381700003 meters 0.07640254011284049 Centerline is valid? [True, True] Translation: X:215.22, Y:-78.07, Z:-26.34 [[ 9.58175980e-01 2.84816298e-01 2.79010422e-02 2.15216345e+02] [-2.84640815e-01 9.58580449e-01 -1.01552554e-02 -7.80720531e+01] [-2.96377758e-02 1.78874638e-03 9.99559104e-01 -2.63406668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53119381700003 meters 0.07653225082202608 Centerline is valid? [True, True] Translation: X:215.24, Y:-78.08, Z:-26.34 [[ 9.58650238e-01 2.83322738e-01 2.67945411e-02 2.15244205e+02] [-2.83160386e-01 9.59023008e-01 -9.75021643e-03 -7.80819112e+01] [-2.84590394e-02 1.75989471e-03 9.99593410e-01 -2.63434450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56119381700003 meters 0.07653225082202608 Centerline is valid? [True, True] Translation: X:215.27, Y:-78.09, Z:-26.35 [[ 9.58732697e-01 2.83043812e-01 2.67921009e-02 2.15270055e+02] [-2.82881166e-01 9.59105338e-01 -9.75692783e-03 -7.80910736e+01] [-2.84580850e-02 1.77530500e-03 9.99593410e-01 -2.63451100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59119381700003 meters 0.07818772051927464 Centerline is valid? [True, True] Translation: X:215.30, Y:-78.10, Z:-26.35 [[ 9.59232877e-01 2.81376888e-01 2.64449204e-02 2.15295434e+02] [-2.81218268e-01 9.59595675e-01 -9.61380938e-03 -7.81040279e+01] [-2.80815351e-02 1.78508731e-03 9.99604042e-01 -2.63491938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62119381700003 meters 0.08130444327083033 Centerline is valid? [True, True] Translation: X:215.32, Y:-78.12, Z:-26.35 [[ 9.60446618e-01 2.77299914e-01 2.54371980e-02 2.15320520e+02] [-2.77151789e-01 9.60781666e-01 -9.24531666e-03 -7.81183068e+01] [-2.70033190e-02 1.82966818e-03 9.99633669e-01 -2.63540565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65119381700003 meters 0.08253987273903171 Centerline is valid? [True, True] Translation: X:215.35, Y:-78.13, Z:-26.36 [[ 9.60970355e-01 2.75512844e-01 2.50728890e-02 2.15348093e+02] [-2.75368351e-01 9.61295606e-01 -9.11202713e-03 -7.81291288e+01] [-2.66129385e-02 1.85210787e-03 9.99644097e-01 -2.63558696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68119381700004 meters 0.08496225228655395 Centerline is valid? [True, True] Translation: X:215.37, Y:-78.14, Z:-26.36 [[ 9.61570588e-01 2.73421959e-01 2.49486633e-02 2.15373288e+02] [-2.73278174e-01 9.61892311e-01 -9.06766269e-03 -7.81412974e+01] [-2.64772255e-02 1.90127259e-03 9.99647609e-01 -2.63585321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71119381700004 meters 0.08221289252284249 Centerline is valid? [True, True] Translation: X:215.40, Y:-78.15, Z:-26.36 [[ 9.62234254e-01 2.70865766e-01 2.71473335e-02 2.15403562e+02] [-2.70694636e-01 9.62614748e-01 -9.86209298e-03 -7.81461572e+01] [-2.88037270e-02 2.14100610e-03 9.99582794e-01 -2.63555634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74119381700004 meters 0.08404698014653124 Centerline is valid? [True, True] Translation: X:215.43, Y:-78.16, Z:-26.36 [[ 9.62900458e-01 2.68480040e-01 2.72245356e-02 2.15430935e+02] [-2.68307039e-01 9.63282696e-01 -9.88836943e-03 -7.81578803e+01] [-2.88797539e-02 2.21698091e-03 9.99580434e-01 -2.63574262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77119381700004 meters 0.08783974574123117 Centerline is valid? [True, True] Translation: X:215.46, Y:-78.17, Z:-26.36 [[ 9.63402704e-01 2.66622748e-01 2.77045048e-02 2.15455887e+02] [-2.66442810e-01 9.63798194e-01 -1.00633045e-02 -7.81723618e+01] [-2.93846576e-02 2.31334870e-03 9.99565501e-01 -2.63601538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80119381700004 meters 0.08768401951254814 Centerline is valid? [True, True] Translation: X:215.48, Y:-78.18, Z:-26.36 [[ 9.63854986e-01 2.64870687e-01 2.87590871e-02 2.15483662e+02] [-2.64676048e-01 9.64280814e-01 -1.04451575e-02 -7.81809604e+01] [-3.04984519e-02 2.45577560e-03 9.99531797e-01 -2.63610874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83119381700004 meters 0.08550475399242474 Centerline is valid? [True, True] Translation: X:215.52, Y:-78.18, Z:-26.36 [[ 9.64941378e-01 2.60661437e-01 3.07205381e-02 2.15515100e+02] [-2.60437370e-01 9.65426327e-01 -1.11527590e-02 -7.81843504e+01] [-3.25655104e-02 2.76098245e-03 9.99465790e-01 -2.63579077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86119381700004 meters 0.09278630941312707 Centerline is valid? [True, True] Translation: X:215.54, Y:-78.20, Z:-26.36 [[ 9.65515974e-01 2.58429967e-01 3.15096192e-02 2.15538873e+02] [-2.58193043e-01 9.66025614e-01 -1.14396962e-02 -7.82021019e+01] [-3.33954595e-02 2.90964498e-03 9.99437981e-01 -2.63618883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89119381700002 meters 0.08752352327524651 Centerline is valid? [True, True] Translation: X:215.57, Y:-78.20, Z:-26.36 [[ 9.66082735e-01 2.56354425e-01 3.10895078e-02 2.15570930e+02] [-2.56122805e-01 9.66578384e-01 -1.12843635e-02 -7.82015862e+01] [-3.29432427e-02 2.93889676e-03 9.99452903e-01 -2.63608975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92119381700002 meters 0.08879651467870801 Centerline is valid? [True, True] Translation: X:215.60, Y:-78.21, Z:-26.36 [[ 9.66524510e-01 2.54777986e-01 3.03075915e-02 2.15598942e+02] [-2.54557076e-01 9.66995172e-01 -1.10015042e-02 -7.82098985e+01] [-3.21102357e-02 2.91821159e-03 9.99480073e-01 -2.63640072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95119381700002 meters 0.08423524898067472 Centerline is valid? [True, True] Translation: X:215.63, Y:-78.20, Z:-26.36 [[ 9.66983900e-01 2.53131009e-01 2.94419776e-02 2.15632548e+02] [-2.52921907e-01 9.67427710e-01 -1.06833839e-02 -7.82043410e+01] [-3.11872808e-02 2.88413913e-03 9.99509397e-01 -2.63644150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98119381700002 meters 0.08761254656959917 Centerline is valid? [True, True] Translation: X:215.66, Y:-78.21, Z:-26.37 [[ 9.66887983e-01 2.53399931e-01 3.02672024e-02 2.15658578e+02] [-2.53179055e-01 9.67357087e-01 -1.09832676e-02 -7.82143615e+01] [-3.20623520e-02 2.95656774e-03 9.99481498e-01 -2.63675807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01119381700002 meters 0.0881063325231543 Centerline is valid? [True, True] Translation: X:215.69, Y:-78.22, Z:-26.37 [[ 9.66691695e-01 2.54057662e-01 3.10140563e-02 2.15686440e+02] [-2.53826223e-01 9.67184411e-01 -1.12500109e-02 -7.82208566e+01] [-3.28544632e-02 3.00311133e-03 9.99455635e-01 -2.63687974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04119381700002 meters 0.09103922445827793 Centerline is valid? [True, True] Translation: X:215.71, Y:-78.23, Z:-26.37 [[ 9.66387985e-01 2.54957187e-01 3.30317298e-02 2.15713673e+02] [-2.54695309e-01 9.66947172e-01 -1.19777282e-02 -7.82315011e+01] [-3.49937456e-02 3.16210598e-03 9.99382529e-01 -2.63710868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07119381700002 meters 0.08586399947524206 Centerline is valid? [True, True] Translation: X:215.75, Y:-78.23, Z:-26.37 [[ 9.65857395e-01 2.57013575e-01 3.26115766e-02 2.15746809e+02] [-2.56759544e-01 9.66402991e-01 -1.18235200e-02 -7.82276706e+01] [-3.45547303e-02 3.04650074e-03 9.99398164e-01 -2.63721156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10119381700002 meters 0.08536904750819956 Centerline is valid? [True, True] Translation: X:215.78, Y:-78.23, Z:-26.37 [[ 9.65769431e-01 2.57448735e-01 3.17734987e-02 2.15775003e+02] [-2.57207618e-01 9.66287427e-01 -1.15260159e-02 -7.82332983e+01] [-3.36696905e-02 2.95908788e-03 9.99428635e-01 -2.63743844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13119381700002 meters 0.0857157899361534 Centerline is valid? [True, True] Translation: X:215.80, Y:-78.24, Z:-26.38 [[ 9.65754250e-01 2.57567556e-01 3.12679302e-02 2.15803205e+02] [-2.57334418e-01 9.66255944e-01 -1.13334746e-02 -7.82392171e+01] [-3.31319588e-02 2.89903663e-03 9.99446781e-01 -2.63765456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16119381700003 meters 0.08376384266959797 Centerline is valid? [True, True] Translation: X:215.83, Y:-78.24, Z:-26.38 [[ 9.65891222e-01 2.56971512e-01 3.19341504e-02 2.15834050e+02] [-2.56728334e-01 9.66414407e-01 -1.15652743e-02 -7.82372257e+01] [-3.38335690e-02 2.97239568e-03 9.99423061e-01 -2.63766116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19119381700003 meters 0.08553957861020729 Centerline is valid? [True, True] Translation: X:215.86, Y:-78.25, Z:-26.38 [[ 9.66086320e-01 2.56179821e-01 3.23901319e-02 2.15859767e+02] [-2.55929699e-01 9.66624396e-01 -1.17160230e-02 -7.82463226e+01] [-3.43105004e-02 3.02909282e-03 9.99406631e-01 -2.63784133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22119381700003 meters 0.09114581533773915 Centerline is valid? [True, True] Translation: X:215.88, Y:-78.26, Z:-26.38 [[ 9.66147390e-01 2.55765029e-01 3.38152564e-02 2.15883279e+02] [-2.55492339e-01 9.66733770e-01 -1.22262791e-02 -7.82617814e+01] [-3.58174050e-02 3.17284866e-03 9.99353314e-01 -2.63823996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25119381700003 meters 0.08699558697228975 Centerline is valid? [True, True] Translation: X:215.91, Y:-78.26, Z:-26.38 [[ 9.66603402e-01 2.53984931e-01 3.41982100e-02 2.15914184e+02] [-2.53705067e-01 9.67202642e-01 -1.23607306e-02 -7.82625817e+01] [-3.62160384e-02 3.27166508e-03 9.99338629e-01 -2.63819008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28119381700003 meters 0.08587786514928887 Centerline is valid? [True, True] Translation: X:215.95, Y:-78.26, Z:-26.38 [[ 9.67106825e-01 2.52150477e-01 3.35339628e-02 2.15945427e+02] [-2.51880463e-01 9.67682510e-01 -1.21158250e-02 -7.82648259e+01] [-3.55052403e-02 3.27074694e-03 9.99364138e-01 -2.63838479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31119381700003 meters 0.08908901785761685 Centerline is valid? [True, True] Translation: X:215.97, Y:-78.28, Z:-26.39 [[ 9.67333585e-01 2.51337866e-01 3.30909666e-02 2.15970304e+02] [-2.51074390e-01 9.67893927e-01 -1.19580946e-02 -7.82762009e+01] [-3.50340676e-02 3.25917226e-03 9.99380804e-01 -2.63873764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34119381700003 meters 0.08803429280458343 Centerline is valid? [True, True] Translation: X:216.00, Y:-78.28, Z:-26.39 [[ 9.67282801e-01 2.51596227e-01 3.26086202e-02 2.15998549e+02] [-2.51340525e-01 9.67826990e-01 -1.17837736e-02 -7.82816947e+01] [-3.45242557e-02 3.20237385e-03 9.99398730e-01 -2.63897598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37119381700003 meters 0.08846979725423974 Centerline is valid? [True, True] Translation: X:216.03, Y:-78.29, Z:-26.39 [[ 9.67056417e-01 2.52400612e-01 3.31031346e-02 2.16026023e+02] [-2.52138088e-01 9.67617510e-01 -1.19473727e-02 -7.82883127e+01] [-3.50466969e-02 3.20722237e-03 9.99380530e-01 -2.63918144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40119381700003 meters 0.09048999128543452 Centerline is valid? [True, True] Translation: X:216.06, Y:-78.29, Z:-26.40 [[ 9.66112929e-01 2.56063680e-01 3.25146153e-02 2.16055056e+02] [-2.55812584e-01 9.66655209e-01 -1.17314867e-02 -7.82930319e+01] [-3.44344299e-02 3.01629318e-03 9.99402407e-01 -2.63952052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43119381700004 meters 0.08998355676386843 Centerline is valid? [True, True] Translation: X:216.08, Y:-78.30, Z:-26.40 [[ 9.65664862e-01 2.57846347e-01 3.17275230e-02 2.16084492e+02] [-2.57608277e-01 9.66181644e-01 -1.14457604e-02 -7.82984802e+01] [-3.36057979e-02 2.87949612e-03 9.99431018e-01 -2.63983904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46119381700004 meters 0.08036617978404778 Centerline is valid? [True, True] Translation: X:216.12, Y:-78.29, Z:-26.40 [[ 9.65055664e-01 2.60205079e-01 3.09980998e-02 2.16119421e+02] [-2.59979095e-01 9.65549510e-01 -1.11809670e-02 -7.82904667e+01] [-3.28395444e-02 2.73139762e-03 9.99456904e-01 -2.63974962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49119381700004 meters 0.08866754948825623 Centerline is valid? [True, True] Translation: X:216.14, Y:-78.31, Z:-26.41 [[ 9.64568414e-01 2.61969207e-01 3.13034934e-02 2.16142631e+02] [-2.61739654e-01 9.65072461e-01 -1.12915340e-02 -7.83090112e+01] [-3.31681736e-02 2.69809152e-03 9.99446143e-01 -2.64052696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52119381700004 meters 0.086862979092312 Centerline is valid? [True, True] Translation: X:216.17, Y:-78.31, Z:-26.41 [[ 9.63322322e-01 2.66181762e-01 3.40201917e-02 2.16173627e+02] [-2.65913336e-01 9.63918869e-01 -1.22683017e-02 -7.83092879e+01] [-3.60583029e-02 2.77190625e-03 9.99345844e-01 -2.64057805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55119381700004 meters 0.07809553855953896 Centerline is valid? [True, True] Translation: X:216.21, Y:-78.30, Z:-26.40 [[ 9.62824946e-01 2.67756488e-01 3.57013496e-02 2.16207764e+02] [-2.67461989e-01 9.63482415e-01 -1.28732302e-02 -7.83025644e+01] [-3.78445135e-02 2.84591321e-03 9.99279587e-01 -2.64017999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58119381700004 meters 0.07645597848512403 Centerline is valid? [True, True] Translation: X:216.24, Y:-78.31, Z:-26.40 [[ 9.62460303e-01 2.68958120e-01 3.64923837e-02 2.16237332e+02] [-2.68651263e-01 9.63147623e-01 -1.31588435e-02 -7.83073659e+01] [-3.86867304e-02 2.86113951e-03 9.99247292e-01 -2.64017190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61119381700004 meters 0.07619131845845169 Centerline is valid? [True, True] Translation: X:216.27, Y:-78.31, Z:-26.40 [[ 9.61875414e-01 2.70836908e-01 3.79875849e-02 2.16266084e+02] [-2.70506117e-01 9.62620901e-01 -1.36909197e-02 -7.83117719e+01] [-4.02756496e-02 2.89308497e-03 9.99184418e-01 -2.64042562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64119381700002 meters 0.07591789197853566 Centerline is valid? [True, True] Translation: X:216.29, Y:-78.32, Z:-26.41 [[ 9.61858060e-01 2.71004851e-01 3.72215431e-02 2.16293786e+02] [-2.70687307e-01 9.62573821e-01 -1.34171565e-02 -7.83183396e+01] [-3.94645975e-02 2.83000084e-03 9.99216962e-01 -2.64063999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67119381700002 meters 0.07670371379893025 Centerline is valid? [True, True] Translation: X:216.32, Y:-78.33, Z:-26.41 [[ 9.61896787e-01 2.70907666e-01 3.69270617e-02 2.16319437e+02] [-2.70595537e-01 9.62601266e-01 -1.32987828e-02 -7.83266312e+01] [-3.91487786e-02 2.79975833e-03 9.99229470e-01 -2.64099283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70119381700002 meters 0.07547466226614478 Centerline is valid? [True, True] Translation: X:216.35, Y:-78.33, Z:-26.41 [[ 9.62009371e-01 2.70621724e-01 3.60812017e-02 2.16348308e+02] [-2.70323790e-01 9.62681864e-01 -1.29875448e-02 -7.83320805e+01] [-3.82494303e-02 2.74053264e-03 9.99264465e-01 -2.64118957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73119381700002 meters 0.07588679331159118 Centerline is valid? [True, True] Translation: X:216.38, Y:-78.34, Z:-26.41 [[ 9.62227370e-01 2.70025340e-01 3.47102973e-02 2.16375083e+02] [-2.69749716e-01 9.62849579e-01 -1.24811623e-02 -7.83408524e+01] [-3.67910253e-02 2.64662308e-03 9.99319476e-01 -2.64149307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76119381700002 meters 0.08089571754413745 Centerline is valid? [True, True] Translation: X:216.40, Y:-78.36, Z:-26.42 [[ 9.63012581e-01 2.67263343e-01 3.43085205e-02 2.16400699e+02] [-2.66992612e-01 9.63619711e-01 -1.23287445e-02 -7.83550419e+01] [-3.63553881e-02 2.71261461e-03 9.99335243e-01 -2.64196901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79119381700002 meters 0.07668074494953461 Centerline is valid? [True, True] Translation: X:216.43, Y:-78.36, Z:-26.42 [[ 9.63485885e-01 2.65604233e-01 3.39019233e-02 2.16431569e+02] [-2.65338908e-01 9.64078253e-01 -1.21813896e-02 -7.83563390e+01] [-3.59195356e-02 2.74109765e-03 9.99350926e-01 -2.64190483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82119381700002 meters 0.08221691405740117 Centerline is valid? [True, True] Translation: X:216.46, Y:-78.37, Z:-26.42 [[ 9.64163012e-01 2.63127628e-01 3.39637764e-02 2.16455606e+02] [-2.62859900e-01 9.64756865e-01 -1.22010361e-02 -7.83729862e+01] [-3.59772161e-02 2.83607286e-03 9.99348586e-01 -2.64229276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85119381700002 meters 0.08186938602827787 Centerline is valid? [True, True] Translation: X:216.49, Y:-78.38, Z:-26.42 [[ 9.65194975e-01 2.59290941e-01 3.41594662e-02 2.16485100e+02] [-2.59017799e-01 9.65794616e-01 -1.22694317e-02 -7.83808563e+01] [-3.61723810e-02 2.99448410e-03 9.99341079e-01 -2.64236993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88119381700002 meters 0.08681326990129767 Centerline is valid? [True, True] Translation: X:216.51, Y:-78.39, Z:-26.43 [[ 9.67176297e-01 2.51815457e-01 3.40438911e-02 2.16511925e+02] [-2.51539634e-01 9.67769776e-01 -1.22258893e-02 -7.83949820e+01] [-3.60253167e-02 3.26120241e-03 9.99345556e-01 -2.64266572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91119381700003 meters 0.08903770335824447 Centerline is valid? [True, True] Translation: X:216.54, Y:-78.41, Z:-26.43 [[ 9.68246061e-01 2.47714417e-01 3.37214022e-02 2.16539927e+02] [-2.47441358e-01 9.68827197e-01 -1.21093683e-02 -7.84057279e+01] [-3.56698767e-02 3.38077865e-03 9.99357909e-01 -2.64281094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94119381700003 meters 0.0937085583342999 Centerline is valid? [True, True] Translation: X:216.57, Y:-78.42, Z:-26.43 [[ 9.68691588e-01 2.45906007e-01 3.41590766e-02 2.16565034e+02] [-2.45624667e-01 9.69287385e-01 -1.22673558e-02 -7.84194857e+01] [-3.61265785e-02 3.49297249e-03 9.99341118e-01 -2.64312016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97119381700003 meters 0.09487367761439325 Centerline is valid? [True, True] Translation: X:216.59, Y:-78.42, Z:-26.43 [[ 9.68950571e-01 2.44765946e-01 3.49917525e-02 2.16594043e+02] [-2.44469929e-01 9.69575425e-01 -1.25677801e-02 -7.84245104e+01] [-3.70033079e-02 3.62312651e-03 9.99308575e-01 -2.64326314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00119381700003 meters 0.093584002417119 Centerline is valid? [True, True] Translation: X:216.62, Y:-78.43, Z:-26.43 [[ 9.68675035e-01 2.45816478e-01 3.52552959e-02 2.16622942e+02] [-2.45517215e-01 9.69309718e-01 -1.26478670e-02 -7.84284019e+01] [-3.72823550e-02 3.59589095e-03 9.99298302e-01 -2.64333180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03119381700003 meters 0.093035548504957 Centerline is valid? [True, True] Translation: X:216.65, Y:-78.43, Z:-26.43 [[ 9.68006989e-01 2.48300790e-01 3.61826910e-02 2.16652767e+02] [-2.47987445e-01 9.68676335e-01 -1.29763611e-02 -7.84338627e+01] [-3.82713573e-02 3.58835517e-03 9.99260940e-01 -2.64340714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06119381700003 meters 0.09180900988830884 Centerline is valid? [True, True] Translation: X:216.68, Y:-78.44, Z:-26.44 [[ 9.67184063e-01 2.51293504e-01 3.75041662e-02 2.16683544e+02] [-2.50959111e-01 9.67904254e-01 -1.34491284e-02 -7.84379083e+01] [-3.96801206e-02 3.59577039e-03 9.99205964e-01 -2.64354870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09119381700003 meters 0.08977093682108538 Centerline is valid? [True, True] Translation: X:216.71, Y:-78.44, Z:-26.44 [[ 9.66116703e-01 2.55271369e-01 3.81450434e-02 2.16713390e+02] [-2.54928508e-01 9.66863144e-01 -1.36790537e-02 -7.84415612e+01] [-4.03729074e-02 3.49130327e-03 9.99178582e-01 -2.64355792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12119381700003 meters 0.08517636035004209 Centerline is valid? [True, True] Translation: X:216.75, Y:-78.44, Z:-26.44 [[ 9.63551824e-01 2.64747057e-01 3.84301712e-02 2.16745907e+02] [-2.64406554e-01 9.64312855e-01 -1.37801292e-02 -7.84359455e+01] [-4.07069568e-02 3.11667952e-03 9.99166267e-01 -2.64370558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15119381700003 meters 0.07632098248119924 Centerline is valid? [True, True] Translation: X:216.78, Y:-78.43, Z:-26.44 [[ 9.62103979e-01 2.70048725e-01 3.78103267e-02 2.16780781e+02] [-2.69723251e-01 9.62842457e-01 -1.35561977e-02 -7.84275943e+01] [-4.00662217e-02 2.84414754e-03 9.99192979e-01 -2.64363139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18119381700004 meters 0.0733868819019888 Centerline is valid? [True, True] Translation: X:216.81, Y:-78.43, Z:-26.44 [[ 9.60215269e-01 2.76613282e-01 3.83631162e-02 2.16811960e+02] [-2.76283475e-01 9.60977782e-01 -1.37529756e-02 -7.84285091e+01] [-4.06703581e-02 2.60672212e-03 9.99169218e-01 -2.64387572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21119381700004 meters 0.07141959049448389 Centerline is valid? [True, True] Translation: X:216.84, Y:-78.43, Z:-26.44 [[ 9.58466418e-01 2.82723541e-01 3.75436394e-02 2.16841334e+02] [-2.82412385e-01 9.59198690e-01 -1.34580281e-02 -7.84311357e+01] [-3.98167111e-02 2.29627922e-03 9.99204362e-01 -2.64419327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24119381700004 meters 0.06671245888542296 Centerline is valid? [True, True] Translation: X:216.87, Y:-78.43, Z:-26.45 [[ 9.55267347e-01 2.93637100e-01 3.52356361e-02 2.16873761e+02] [-2.93370490e-01 9.55915410e-01 -1.26286791e-02 -7.84259239e+01] [-3.73905362e-02 1.72666893e-03 9.99299238e-01 -2.64453904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27119381700004 meters 0.06360974957071955 Centerline is valid? [True, True] Translation: X:216.90, Y:-78.43, Z:-26.45 [[ 9.53666641e-01 2.98794845e-01 3.52360486e-02 2.16904656e+02] [-2.98531678e-01 9.54316149e-01 -1.26303415e-02 -7.84269189e+01] [-3.74002112e-02 1.52605860e-03 9.99299202e-01 -2.64468073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30119381700004 meters 0.0624650092475619 Centerline is valid? [True, True] Translation: X:216.93, Y:-78.43, Z:-26.45 [[ 9.52334001e-01 3.03169447e-01 3.38856521e-02 2.16933345e+02] [-3.02929183e-01 9.52935787e-01 -1.21365584e-02 -7.84317862e+01] [-3.59702843e-02 1.29310428e-03 9.99352023e-01 -2.64506153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33119381700004 meters 0.06096087301977054 Centerline is valid? [True, True] Translation: X:216.96, Y:-78.44, Z:-26.45 [[ 9.51127077e-01 3.07056989e-01 3.27610924e-02 2.16962267e+02] [-3.06834761e-01 9.51690486e-01 -1.17323720e-02 -7.84361006e+01] [-3.47809268e-02 1.10673469e-03 9.99394348e-01 -2.64522194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36119381700004 meters 0.06001756819748218 Centerline is valid? [True, True] Translation: X:216.99, Y:-78.44, Z:-26.45 [[ 9.50080791e-01 3.10313695e-01 3.24330126e-02 2.16990990e+02] [-3.10097882e-01 9.50633715e-01 -1.16122372e-02 -7.84414574e+01] [-3.44353515e-02 9.75155009e-04 9.99406452e-01 -2.64534886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39119381700002 meters 0.059916609179955324 Centerline is valid? [True, True] Translation: X:217.02, Y:-78.45, Z:-26.46 [[ 9.48979888e-01 3.13750431e-01 3.15885889e-02 2.17017321e+02] [-3.13547681e-01 9.49505126e-01 -1.13078642e-02 -7.84500860e+01] [-3.35413744e-02 8.26406896e-04 9.99436988e-01 -2.64575668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42119381700002 meters 0.05913617934360377 Centerline is valid? [True, True] Translation: X:217.05, Y:-78.46, Z:-26.46 [[ 9.48665124e-01 3.14623870e-01 3.23465983e-02 2.17045582e+02] [-3.14411754e-01 9.49216074e-01 -1.15798524e-02 -7.84583004e+01] [-3.43472090e-02 8.15251444e-04 9.99409628e-01 -2.64559806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45119381700002 meters 0.05913617934360377 Centerline is valid? [True, True] Translation: X:217.07, Y:-78.47, Z:-26.46 [[ 9.48759168e-01 3.14339925e-01 3.23489161e-02 2.17071347e+02] [-3.14127865e-01 9.49310140e-01 -1.15733728e-02 -7.84673240e+01] [-3.43471272e-02 8.18647624e-04 9.99409628e-01 -2.64576449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48119381700002 meters 0.05882595892251612 Centerline is valid? [True, True] Translation: X:217.10, Y:-78.48, Z:-26.46 [[ 9.48529941e-01 3.15023421e-01 3.24221413e-02 2.17096761e+02] [-3.14811209e-01 9.49083573e-01 -1.15876439e-02 -7.84801889e+01] [-3.44217009e-02 7.84373664e-04 9.99407090e-01 -2.64595475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51119381700002 meters 0.05896558347023926 Centerline is valid? [True, True] Translation: X:217.12, Y:-78.49, Z:-26.46 [[ 9.48611181e-01 3.14877944e-01 3.14437400e-02 2.17121560e+02] [-3.14678733e-01 9.49131874e-01 -1.12241179e-02 -7.84930681e+01] [-3.33784830e-02 7.52647482e-04 9.99442500e-01 -2.64626247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54119381700002 meters 0.05899803197004518 Centerline is valid? [True, True] Translation: X:217.15, Y:-78.51, Z:-26.47 [[ 9.48644874e-01 3.14836803e-01 3.08332696e-02 2.17147127e+02] [-3.14645175e-01 9.49145530e-01 -1.10079819e-02 -7.85059735e+01] [-3.27309779e-02 7.41126067e-04 9.99463923e-01 -2.64659036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57119381700002 meters 0.05922580550966326 Centerline is valid? [True, True] Translation: X:217.17, Y:-78.52, Z:-26.47 [[ 9.48785690e-01 3.14542018e-01 2.94793624e-02 2.17173013e+02] [-3.14366961e-01 9.49243285e-01 -1.05166780e-02 -7.85189760e+01] [-3.12910239e-02 7.10736032e-04 9.99510063e-01 -2.64676174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60119381700002 meters 0.059162674941394135 Centerline is valid? [True, True] Translation: X:217.20, Y:-78.54, Z:-26.47 [[ 9.48535659e-01 3.15264594e-01 2.98050129e-02 2.17196896e+02] [-3.15086405e-01 9.49003567e-01 -1.06201464e-02 -7.85350212e+01] [-3.16332197e-02 6.82433197e-04 9.99499312e-01 -2.64696514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63119381700002 meters 0.058605007325345466 Centerline is valid? [True, True] Translation: X:217.22, Y:-78.55, Z:-26.47 [[ 9.48534721e-01 3.15311851e-01 2.93312003e-02 2.17221915e+02] [-3.15139279e-01 9.48987875e-01 -1.04521837e-02 -7.85469537e+01] [-3.11306508e-02 6.70845810e-04 9.99515099e-01 -2.64693166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66119381700003 meters 0.058146337388172646 Centerline is valid? [True, True] Translation: X:217.25, Y:-78.56, Z:-26.47 [[ 9.47692975e-01 3.17709116e-01 3.06421910e-02 2.17248424e+02] [-3.17522446e-01 9.48188035e-01 -1.09062292e-02 -7.85595466e+01] [-3.25195673e-02 6.06173350e-04 9.99470915e-01 -2.64701711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69119381700003 meters 0.057925101675264073 Centerline is valid? [True, True] Translation: X:217.27, Y:-78.57, Z:-26.47 [[ 9.47078024e-01 3.19518389e-01 3.08417813e-02 2.17274048e+02] [-3.19330505e-01 9.47579922e-01 -1.09690809e-02 -7.85718803e+01] [-3.27298758e-02 5.39853819e-04 9.99464088e-01 -2.64718441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72119381700003 meters 0.05743822113705352 Centerline is valid? [True, True] Translation: X:217.30, Y:-78.59, Z:-26.47 [[ 9.45371231e-01 3.24585585e-01 3.02891684e-02 2.17299264e+02] [-3.24407266e-01 9.45856266e-01 -1.07633389e-02 -7.85879028e+01] [-3.21428243e-02 3.49324618e-04 9.99483225e-01 -2.64722463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75119381700003 meters 0.0576857045333842 Centerline is valid? [True, True] Translation: X:217.32, Y:-78.60, Z:-26.48 [[ 9.44723141e-01 3.26530110e-01 2.96019392e-02 2.17322748e+02] [-3.26361035e-01 9.45186762e-01 -1.05099875e-02 -7.86018279e+01] [-3.14111884e-02 2.68108906e-04 9.99506511e-01 -2.64750838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78119381700003 meters 0.05782836783957779 Centerline is valid? [True, True] Translation: X:217.35, Y:-78.62, Z:-26.48 [[ 9.44429193e-01 3.27476480e-01 2.85071004e-02 2.17347623e+02] [-3.27320251e-01 9.44859304e-01 -1.01167143e-02 -7.86167254e+01] [-3.02481851e-02 2.23569086e-04 9.99542394e-01 -2.64769388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81119381700003 meters 0.058132222726473594 Centerline is valid? [True, True] Translation: X:217.37, Y:-78.64, Z:-26.48 [[ 9.44467928e-01 3.27460753e-01 2.73822479e-02 2.17369945e+02] [-3.27316811e-01 9.44864758e-01 -9.71048880e-03 -7.86410846e+01] [-2.90523250e-02 2.08575175e-04 9.99577870e-01 -2.64764875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84119381700003 meters 0.05850947506429899 Centerline is valid? [True, True] Translation: X:217.39, Y:-78.66, Z:-26.48 [[ 9.44735699e-01 3.26736819e-01 2.67863798e-02 2.17393946e+02] [-3.26598999e-01 9.45115339e-01 -9.49160031e-03 -7.86598016e+01] [-2.84174737e-02 2.18648819e-04 9.99596118e-01 -2.64788073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87119381700003 meters 0.05889220795966431 Centerline is valid? [True, True] Translation: X:217.42, Y:-78.68, Z:-26.48 [[ 9.45027990e-01 3.26008481e-01 2.53094527e-02 2.17416461e+02] [-3.25885520e-01 9.45366820e-01 -8.95566853e-03 -7.86782769e+01] [-2.68463407e-02 2.15373278e-04 9.99639549e-01 -2.64809509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90119381700003 meters 0.059623633964153815 Centerline is valid? [True, True] Translation: X:217.44, Y:-78.70, Z:-26.49 [[ 9.45716653e-01 3.24142341e-01 2.34894732e-02 2.17438594e+02] [-3.24035907e-01 9.46008288e-01 -8.30959656e-03 -7.86977567e+01] [-2.49147284e-02 2.47091089e-04 9.99689549e-01 -2.64864161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93119381700004 meters 0.05986989989394436 Centerline is valid? [True, True] Translation: X:217.46, Y:-78.73, Z:-26.49 [[ 9.47005171e-01 3.20486140e-01 2.16758141e-02 2.17460330e+02] [-3.20394641e-01 9.47253153e-01 -7.66404961e-03 -7.87260118e+01] [-2.29887049e-02 3.13079946e-04 9.99735676e-01 -2.64875035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96119381700004 meters 0.060184261363606995 Centerline is valid? [True, True] Translation: X:217.48, Y:-78.75, Z:-26.49 [[ 9.47798664e-01 3.18128040e-01 2.17311372e-02 2.17483682e+02] [-3.18035290e-01 9.48047682e-01 -7.69068401e-03 -7.87455442e+01] [-2.30487765e-02 3.77951509e-04 9.99734270e-01 -2.64902382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99119381700004 meters 0.061011430419535446 Centerline is valid? [True, True] Translation: X:217.51, Y:-78.77, Z:-26.49 [[ 9.48824142e-01 3.15001480e-01 2.25125436e-02 2.17506627e+02] [-3.14901208e-01 9.49091066e-01 -7.96100479e-03 -7.87664597e+01] [-2.38741823e-02 4.64366353e-04 9.99714863e-01 -2.64949982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02119381700004 meters 0.061445691679402115 Centerline is valid? [True, True] Translation: X:217.53, Y:-78.79, Z:-26.50 [[ 9.49883436e-01 3.11692515e-01 2.38586382e-02 2.17529919e+02] [-3.11579017e-01 9.50182849e-01 -8.43023556e-03 -7.87862808e+01] [-2.52977102e-02 5.73890067e-04 9.99679797e-01 -2.64958907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05119381700004 meters 0.06363162800319933 Centerline is valid? [True, True] Translation: X:217.55, Y:-78.82, Z:-26.50 [[ 9.52249504e-01 3.04453329e-01 2.30011286e-02 2.17549710e+02] [-3.04346085e-01 9.52526978e-01 -8.11271257e-03 -7.88157019e+01] [-2.43791379e-02 7.25023094e-04 9.99702522e-01 -2.64990027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08119381700004 meters 0.06549211905305811 Centerline is valid? [True, True] Translation: X:217.57, Y:-78.84, Z:-26.50 [[ 9.53652874e-01 3.00074421e-01 2.23950532e-02 2.17574381e+02] [-2.99971593e-01 9.53915447e-01 -7.89702553e-03 -7.88355787e+01] [-2.37326826e-02 8.13141304e-04 9.99718010e-01 -2.65022297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11119381700004 meters 0.06705653709224109 Centerline is valid? [True, True] Translation: X:217.60, Y:-78.85, Z:-26.50 [[ 9.54950571e-01 2.95924963e-01 2.23119697e-02 2.17598577e+02] [-2.95821757e-01 9.55210753e-01 -7.86800945e-03 -7.88546611e+01] [-2.36409738e-02 9.13194032e-04 9.99720096e-01 -2.65045598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14119381700002 meters 0.0687554858880271 Centerline is valid? [True, True] Translation: X:217.62, Y:-78.87, Z:-26.51 [[ 9.56238879e-01 2.91725355e-01 2.24393433e-02 2.17623818e+02] [-2.91619873e-01 9.56501582e-01 -7.91033261e-03 -7.88735407e+01] [-2.37709119e-02 1.02040914e-03 9.99716911e-01 -2.65063350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17119381700002 meters 0.07070190069538919 Centerline is valid? [True, True] Translation: X:217.65, Y:-78.89, Z:-26.51 [[ 9.57444424e-01 2.87671949e-01 2.33457726e-02 2.17648217e+02] [-2.87556558e-01 9.57728296e-01 -8.23031233e-03 -7.88920799e+01] [-2.47265370e-02 1.16683664e-03 9.99693571e-01 -2.65077809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20119381700002 meters 0.06939856743879542 Centerline is valid? [True, True] Translation: X:217.68, Y:-78.91, Z:-26.50 [[ 9.59095728e-01 2.81888393e-01 2.59676343e-02 2.17675300e+02] [-2.81743589e-01 9.59446090e-01 -9.15155796e-03 -7.89069963e+01] [-2.74942632e-02 1.46100566e-03 9.99620894e-01 -2.65018635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23119381700002 meters 0.07595852317567925 Centerline is valid? [True, True] Translation: X:217.70, Y:-78.93, Z:-26.51 [[ 9.59612958e-01 2.80118997e-01 2.60061380e-02 2.17696569e+02] [-2.79973099e-01 9.59964090e-01 -9.16570237e-03 -7.89309496e+01] [-2.75324460e-02 1.51450771e-03 9.99619763e-01 -2.65098112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26119381700002 meters 0.07115415130282267 Centerline is valid? [True, True] Translation: X:217.73, Y:-78.93, Z:-26.51 [[ 9.59985803e-01 2.78917735e-01 2.51426913e-02 2.17727584e+02] [-2.78781015e-01 9.60313835e-01 -8.85915010e-03 -7.89332112e+01] [-2.66158484e-02 1.49535333e-03 9.99644617e-01 -2.65058778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29119381700002 meters 0.07272422712929633 Centerline is valid? [True, True] Translation: X:217.75, Y:-78.95, Z:-26.51 [[ 9.60727718e-01 2.76258920e-01 2.61392745e-02 2.17753105e+02] [-2.76110180e-01 9.61081864e-01 -9.20970593e-03 -7.89473722e+01] [-2.76662461e-02 1.63069997e-03 9.99615886e-01 -2.65067652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32119381700002 meters 0.07354774372208381 Centerline is valid? [True, True] Translation: X:217.78, Y:-78.96, Z:-26.51 [[ 9.61125542e-01 2.74823580e-01 2.66400637e-02 2.17779365e+02] [-2.74668384e-01 9.61493150e-01 -9.39151762e-03 -7.89591989e+01] [-2.81952492e-02 1.70924423e-03 9.99600974e-01 -2.65075459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35119381700002 meters 0.07478257490708122 Centerline is valid? [True, True] Translation: X:217.81, Y:-78.97, Z:-26.51 [[ 9.61516522e-01 2.73352383e-01 2.76487470e-02 2.17805677e+02] [-2.73184868e-01 9.61912261e-01 -9.73805139e-03 -7.89718039e+01] [-2.92575883e-02 1.81007799e-03 9.99570266e-01 -2.65091039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38119381700002 meters 0.07250635709630661 Centerline is valid? [True, True] Translation: X:217.83, Y:-78.98, Z:-26.51 [[ 9.61963013e-01 2.71683137e-01 2.85558142e-02 2.17833926e+02] [-2.71503974e-01 9.62384856e-01 -1.00489493e-02 -7.89777723e+01] [-3.02118132e-02 1.91370054e-03 9.99541687e-01 -2.65074191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41119381700003 meters 0.07344862787577082 Centerline is valid? [True, True] Translation: X:217.86, Y:-78.99, Z:-26.51 [[ 9.62989404e-01 2.67944601e-01 2.92762565e-02 2.17861394e+02] [-2.67755108e-01 9.63432107e-01 -1.02847662e-02 -7.89895913e+01] [-3.09614331e-02 2.06525360e-03 9.99518446e-01 -2.65076999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44119381700003 meters 0.07464193872368796 Centerline is valid? [True, True] Translation: X:217.89, Y:-79.00, Z:-26.51 [[ 9.63502634e-01 2.66057872e-01 2.95953174e-02 2.17888281e+02] [-2.65863322e-01 9.63954661e-01 -1.03974120e-02 -7.90011027e+01] [-3.12948574e-02 2.14962447e-03 9.99507884e-01 -2.65092641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47119381700003 meters 0.07705019552186562 Centerline is valid? [True, True] Translation: X:217.91, Y:-79.01, Z:-26.51 [[ 9.64089137e-01 2.63896109e-01 2.98492847e-02 2.17913608e+02] [-2.63697219e-01 9.64548515e-01 -1.04851892e-02 -7.90135336e+01] [-3.15580838e-02 2.23748364e-03 9.99499415e-01 -2.65119648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50119381700003 meters 0.07963473827825839 Centerline is valid? [True, True] Translation: X:217.94, Y:-79.03, Z:-26.51 [[ 9.64643913e-01 2.61748079e-01 3.08231038e-02 2.17939831e+02] [-2.61535022e-01 9.65133297e-01 -1.08236747e-02 -7.90259808e+01] [-3.25814798e-02 2.37967078e-03 9.99466250e-01 -2.65142300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53119381700003 meters 0.07833339325714136 Centerline is valid? [True, True] Translation: X:217.97, Y:-79.03, Z:-26.51 [[ 9.65259442e-01 2.59453991e-01 3.09489288e-02 2.17969404e+02] [-2.59238101e-01 9.65752324e-01 -1.08653022e-02 -7.90314922e+01] [-3.27080460e-02 2.46469396e-03 9.99461910e-01 -2.65135497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56119381700003 meters 0.08176396831917263 Centerline is valid? [True, True] Translation: X:218.00, Y:-79.04, Z:-26.52 [[ 9.66499542e-01 2.54836430e-01 3.06109398e-02 2.17995984e+02] [-2.54622980e-01 9.66980704e-01 -1.07450809e-02 -7.90426131e+01] [-3.23384262e-02 2.59086709e-03 9.99473618e-01 -2.65174770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59119381700003 meters 0.08219236908860532 Centerline is valid? [True, True] Translation: X:218.02, Y:-79.05, Z:-26.52 [[ 9.66918546e-01 2.53309195e-01 3.00495769e-02 2.18023906e+02] [-2.53102778e-01 9.67381893e-01 -1.05478322e-02 -7.90506367e+01] [-3.17412795e-02 2.59326320e-03 9.99492754e-01 -2.65197776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62119381700003 meters 0.08410870772007566 Centerline is valid? [True, True] Translation: X:218.05, Y:-79.06, Z:-26.52 [[ 9.67177666e-01 2.52390351e-01 2.94359084e-02 2.18050107e+02] [-2.52191833e-01 9.67622087e-01 -1.03332808e-02 -7.90593693e+01] [-3.10908555e-02 2.57062269e-03 9.99513257e-01 -2.65227031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65119381700003 meters 0.08342285444742129 Centerline is valid? [True, True] Translation: X:218.08, Y:-79.06, Z:-26.52 [[ 9.67279316e-01 2.51995644e-01 2.94774518e-02 2.18078322e+02] [-2.51796383e-01 9.67724911e-01 -1.03478933e-02 -7.90636397e+01] [-3.11336884e-02 2.58698747e-03 9.99511881e-01 -2.65247978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68119381700004 meters 0.08199523125374054 Centerline is valid? [True, True] Translation: X:218.11, Y:-79.06, Z:-26.53 [[ 9.66927912e-01 2.53491861e-01 2.81476380e-02 2.18110021e+02] [-2.53311116e-01 9.67334507e-01 -9.87068462e-03 -7.90618377e+01] [-2.97303197e-02 2.41413088e-03 9.99555041e-01 -2.65268628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71119381700004 meters 0.0820757257126625 Centerline is valid? [True, True] Translation: X:218.14, Y:-79.07, Z:-26.53 [[ 9.66304231e-01 2.56021144e-01 2.66328254e-02 2.18139029e+02] [-2.55860669e-01 9.66668684e-01 -9.32592701e-03 -7.90661817e+01] [-2.81327528e-02 2.19739021e-03 9.99601781e-01 -2.65308077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74119381700004 meters 0.0802482848021761 Centerline is valid? [True, True] Translation: X:218.17, Y:-79.07, Z:-26.53 [[ 9.65497369e-01 2.59208620e-01 2.50144452e-02 2.18170260e+02] [-2.59068163e-01 9.65819336e-01 -8.75764559e-03 -7.90677370e+01] [-2.64294921e-02 1.97503741e-03 9.99648729e-01 -2.65336877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77119381700004 meters 0.07491693498869824 Centerline is valid? [True, True] Translation: X:218.20, Y:-79.06, Z:-26.53 [[ 9.64496340e-01 2.63059284e-01 2.33799910e-02 2.18203950e+02] [-2.62937719e-01 9.64778089e-01 -8.18504669e-03 -7.90633587e+01] [-2.47096555e-02 1.74696607e-03 9.99693143e-01 -2.65336222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80119381700004 meters 0.07487382313738535 Centerline is valid? [True, True] Translation: X:218.23, Y:-79.06, Z:-26.54 [[ 9.61785192e-01 2.72793804e-01 2.35113629e-02 2.18234478e+02] [-2.72673740e-01 9.62071345e-01 -8.23160805e-03 -7.90615620e+01] [-2.48651402e-02 1.50610748e-03 9.99689680e-01 -2.65387529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83119381700004 meters 0.06977269076004965 Centerline is valid? [True, True] Translation: X:218.27, Y:-79.06, Z:-26.54 [[ 9.60661450e-01 2.76716331e-01 2.36146218e-02 2.18268770e+02] [-2.76596430e-01 9.60950616e-01 -8.26611698e-03 -7.90562389e+01] [-2.49798549e-02 1.40921986e-03 9.99686961e-01 -2.65354920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86119381700004 meters 0.06734244092595447 Centerline is valid? [True, True] Translation: X:218.30, Y:-79.06, Z:-26.54 [[ 9.59109509e-01 2.81935910e-01 2.49217297e-02 2.18300026e+02] [-2.81804159e-01 9.59432301e-01 -8.72212750e-03 -7.90561546e+01] [-2.63697935e-02 1.34242835e-03 9.99651355e-01 -2.65363808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89119381700002 meters 0.06357884173431516 Centerline is valid? [True, True] Translation: X:218.33, Y:-79.05, Z:-26.54 [[ 9.56230024e-01 2.91689131e-01 2.32721324e-02 2.18334406e+02] [-2.91577149e-01 9.56512649e-01 -8.14362726e-03 -7.90492238e+01] [-2.46354966e-02 1.00155887e-03 9.99695998e-01 -2.65371075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92119381700002 meters 0.0630670939757737 Centerline is valid? [True, True] Translation: X:218.36, Y:-79.05, Z:-26.54 [[ 9.55210997e-01 2.95090862e-01 2.22111211e-02 2.18362019e+02] [-2.94989711e-01 9.55468795e-01 -7.77509148e-03 -7.90531730e+01] [-2.35163915e-02 8.74800697e-04 9.99723069e-01 -2.65407775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95119381700002 meters 0.0625735052168115 Centerline is valid? [True, True] Translation: X:218.39, Y:-79.06, Z:-26.54 [[ 9.54136067e-01 2.98570588e-01 2.19082252e-02 2.18389591e+02] [-2.98473112e-01 9.54387238e-01 -7.66825096e-03 -7.90582800e+01] [-2.31984448e-02 7.77538653e-04 9.99730578e-01 -2.65441652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98119381700002 meters 0.061432732988227365 Centerline is valid? [True, True] Translation: X:218.42, Y:-79.06, Z:-26.54 [[ 9.53113244e-01 3.01708886e-01 2.33857263e-02 2.18419237e+02] [-3.01598944e-01 9.53399810e-01 -8.17792588e-03 -7.90638962e+01] [-2.47632999e-02 7.41379098e-04 9.99693068e-01 -2.65438884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01119381700002 meters 0.059860927703516933 Centerline is valid? [True, True] Translation: X:218.45, Y:-79.07, Z:-26.54 [[ 9.50727630e-01 3.08961268e-01 2.56886891e-02 2.18448697e+02] [-3.08831266e-01 9.51074428e-01 -8.98230755e-03 -7.90676681e+01] [-2.72070404e-02 6.06257601e-04 9.99629636e-01 -2.65442532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04119381700002 meters 0.05896872458224004 Centerline is valid? [True, True] Translation: X:218.48, Y:-79.07, Z:-26.54 [[ 9.49440318e-01 3.12914909e-01 2.54429368e-02 2.18477919e+02] [-3.12788645e-01 9.49781036e-01 -8.90210693e-03 -7.90727105e+01] [-2.69508209e-02 4.93757487e-04 9.99636639e-01 -2.65428703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07119381700002 meters 0.05836936911662833 Centerline is valid? [True, True] Translation: X:218.51, Y:-79.08, Z:-26.54 [[ 9.47881166e-01 3.17582206e-01 2.57456251e-02 2.18507021e+02] [-3.17454830e-01 9.48230675e-01 -9.00097948e-03 -7.90784695e+01] [-2.72713424e-02 3.58785890e-04 9.99628003e-01 -2.65429093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10119381700002 meters 0.05814024269293179 Centerline is valid? [True, True] Translation: X:218.53, Y:-79.08, Z:-26.54 [[ 9.46203544e-01 3.22495193e-01 2.63761884e-02 2.18533964e+02] [-3.22363770e-01 9.46571078e-01 -9.20835360e-03 -7.90849236e+01] [-2.79365869e-02 2.10249271e-04 9.99609675e-01 -2.65446242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13119381700002 meters 0.058844121036631586 Centerline is valid? [True, True] Translation: X:218.56, Y:-79.09, Z:-26.55 [[ 9.42835052e-01 3.32169391e-01 2.69362422e-02 2.18562402e+02] [-3.32036293e-01 9.43219746e-01 -9.40268087e-03 -7.90901951e+01] [-2.85300783e-02 -7.86329075e-05 9.99592931e-01 -2.65482684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16119381700003 meters 0.059599446469904054 Centerline is valid? [True, True] Translation: X:218.59, Y:-79.10, Z:-26.55 [[ 9.41314436e-01 3.36462458e-01 2.68355524e-02 2.18589098e+02] [-3.36332220e-01 9.41696856e-01 -9.36312727e-03 -7.90984143e+01] [-2.84212961e-02 -2.12014049e-04 9.99596011e-01 -2.65512431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19119381700003 meters 0.06038055644917653 Centerline is valid? [True, True] Translation: X:218.62, Y:-79.11, Z:-26.55 [[ 9.40262810e-01 3.39507023e-01 2.53146264e-02 2.18615904e+02] [-3.39392208e-01 9.40603476e-01 -8.83343692e-03 -7.91092107e+01] [-2.68100394e-02 -2.85834721e-04 9.99640505e-01 -2.65541308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22119381700003 meters 0.06201950487882901 Centerline is valid? [True, True] Translation: X:218.64, Y:-79.13, Z:-26.56 [[ 9.39323554e-01 3.42241272e-01 2.32846072e-02 2.18639317e+02] [-3.42145304e-01 9.39612043e-01 -8.11170639e-03 -7.91261269e+01] [-2.46546580e-02 -3.47202117e-04 9.99695967e-01 -2.65622726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25119381700003 meters 0.06118307177138308 Centerline is valid? [True, True] Translation: X:218.66, Y:-79.14, Z:-26.56 [[ 9.39336729e-01 3.42313750e-01 2.16288227e-02 2.18663796e+02] [-3.42230814e-01 9.39585651e-01 -7.54150865e-03 -7.91436904e+01] [-2.29036936e-02 -3.18033545e-04 9.99737625e-01 -2.65608177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28119381700003 meters 0.061224354426569906 Centerline is valid? [True, True] Translation: X:218.69, Y:-79.16, Z:-26.56 [[ 9.39613602e-01 3.41553955e-01 2.16142112e-02 2.18687010e+02] [-3.41471050e-01 9.39862119e-01 -7.53120149e-03 -7.91601446e+01] [-2.28866900e-02 -3.04208033e-04 9.99738019e-01 -2.65634620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31119381700003 meters 0.06095018880875123 Centerline is valid? [True, True] Translation: X:218.71, Y:-79.18, Z:-26.57 [[ 9.40313737e-01 3.39658419e-01 2.10293863e-02 2.18710514e+02] [-3.39579625e-01 9.40548825e-01 -7.32025091e-03 -7.91775662e+01] [-2.22655494e-02 -2.57818619e-04 9.99752059e-01 -2.65661431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34119381700003 meters 0.0607981855858715 Centerline is valid? [True, True] Translation: X:218.73, Y:-79.20, Z:-26.57 [[ 9.41146210e-01 3.37389388e-01 2.03030218e-02 2.18729758e+02] [-3.37315653e-01 9.41365156e-01 -7.05638395e-03 -7.92031856e+01] [-2.14933063e-02 -2.07438040e-04 9.99768971e-01 -2.65701010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37119381700003 meters 0.0607981855858715 Centerline is valid? [True, True] Translation: X:218.76, Y:-79.21, Z:-26.57 [[ 9.41253781e-01 3.37089150e-01 2.03033035e-02 2.18755668e+02] [-3.37015363e-01 9.41472710e-01 -7.05557784e-03 -7.92119217e+01] [-2.14933649e-02 -2.01435858e-04 9.99768971e-01 -2.65717651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40119381700003 meters 0.06086069649129574 Centerline is valid? [True, True] Translation: X:218.78, Y:-79.23, Z:-26.57 [[ 9.41738276e-01 3.35773240e-01 1.96303499e-02 2.18779433e+02] [-3.35704146e-01 9.41942833e-01 -6.81360126e-03 -7.92304631e+01] [-2.07784924e-02 -1.73360734e-04 9.99784089e-01 -2.65745673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43119381700004 meters 0.06000251730247212 Centerline is valid? [True, True] Translation: X:218.80, Y:-79.25, Z:-26.57 [[ 9.42366060e-01 3.34058819e-01 1.87327019e-02 2.18802582e+02] [-3.33995645e-01 9.42552220e-01 -6.49784004e-03 -7.92510214e+01] [-1.98272105e-02 -1.33296917e-04 9.99803413e-01 -2.65733954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46119381700004 meters 0.06030794229460335 Centerline is valid? [True, True] Translation: X:218.82, Y:-79.27, Z:-26.58 [[ 9.42514142e-01 3.33613177e-01 1.92182179e-02 2.18824889e+02] [-3.33546897e-01 9.42710045e-01 -6.65124060e-03 -7.92698177e+01] [-2.03361485e-02 -1.41288615e-04 9.99793189e-01 -2.65783798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49119381700004 meters 0.0603838489159911 Centerline is valid? [True, True] Translation: X:218.84, Y:-79.30, Z:-26.58 [[ 9.42775872e-01 3.32802133e-01 2.04057803e-02 2.18844494e+02] [-3.32727120e-01 9.42996672e-01 -7.06678277e-03 -7.92990930e+01] [-2.15944233e-02 -1.27164231e-04 9.99766805e-01 -2.65826159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52119381700004 meters 0.06021077756194066 Centerline is valid? [True, True] Translation: X:218.87, Y:-79.32, Z:-26.58 [[ 9.42711865e-01 3.32883354e-01 2.19775270e-02 2.18868592e+02] [-3.32796567e-01 9.42968001e-01 -7.60224020e-03 -7.93180474e+01] [-2.32547639e-02 -1.47323487e-04 9.99729561e-01 -2.65835220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55119381700004 meters 0.060009469806997444 Centerline is valid? [True, True] Translation: X:218.89, Y:-79.34, Z:-26.58 [[ 9.42839907e-01 3.32449819e-01 2.30223255e-02 2.18892117e+02] [-3.32354642e-01 9.43120933e-01 -7.95592920e-03 -7.93368723e+01] [-2.43577843e-02 -1.50409194e-04 9.99703294e-01 -2.65839597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58119381700004 meters 0.06008685169019404 Centerline is valid? [True, True] Translation: X:218.91, Y:-79.36, Z:-26.59 [[ 9.42864769e-01 3.32321018e-01 2.38488807e-02 2.18914878e+02] [-3.32219160e-01 9.43166324e-01 -8.22898346e-03 -7.93558369e+01] [-2.52281253e-02 -1.64236521e-04 9.99681707e-01 -2.65854270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61119381700004 meters 0.0591155483980219 Centerline is valid? [True, True] Translation: X:218.93, Y:-79.39, Z:-26.58 [[ 9.43395691e-01 3.30696779e-01 2.53812886e-02 2.18934024e+02] [-3.30580812e-01 9.43737052e-01 -8.75801885e-03 -7.93894757e+01] [-2.68495111e-02 -1.28289759e-04 9.99639479e-01 -2.65834295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64119381700002 meters 0.05861687995763343 Centerline is valid? [True, True] Translation: X:218.96, Y:-79.41, Z:-26.58 [[ 9.43968244e-01 3.28982917e-01 2.63475927e-02 2.18956979e+02] [-3.28857523e-01 9.44335868e-01 -9.08281016e-03 -7.94117958e+01] [-2.78690662e-02 -9.07197159e-05 9.99611578e-01 -2.65834402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67119381700002 meters 0.05836800937442339 Centerline is valid? [True, True] Translation: X:218.98, Y:-79.43, Z:-26.58 [[ 9.44784403e-01 3.26563645e-01 2.71775119e-02 2.18979904e+02] [-3.26429494e-01 9.45175214e-01 -9.35949709e-03 -7.94332274e+01] [-2.87439821e-02 -2.88345909e-05 9.99586806e-01 -2.65844222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70119381700002 meters 0.058295766454546684 Centerline is valid? [True, True] Translation: X:219.00, Y:-79.45, Z:-26.59 [[ 9.45577589e-01 3.24271673e-01 2.70352593e-02 2.19002164e+02] [-3.24138409e-01 9.45963996e-01 -9.29572869e-03 -7.94538758e+01] [-2.85887234e-02 2.66668039e-05 9.99591259e-01 -2.65856848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73119381700002 meters 0.05856737152692834 Centerline is valid? [True, True] Translation: X:219.02, Y:-79.49, Z:-26.59 [[ 9.47393335e-01 3.18895009e-01 2.74197393e-02 2.19020530e+02] [-3.18755765e-01 9.47790028e-01 -9.42468769e-03 -7.94869202e+01] [-2.89936414e-02 1.88686321e-04 9.99579578e-01 -2.65877978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76119381700002 meters 0.0587123108820221 Centerline is valid? [True, True] Translation: X:219.04, Y:-79.51, Z:-26.59 [[ 9.48253144e-01 3.16324148e-01 2.74774081e-02 2.19043562e+02] [-3.16183153e-01 9.48651127e-01 -9.44740943e-03 -7.95082132e+01] [-2.90549179e-02 2.70642144e-04 9.99577780e-01 -2.65894531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79119381700002 meters 0.05900563218509821 Centerline is valid? [True, True] Translation: X:219.07, Y:-79.53, Z:-26.59 [[ 9.48905776e-01 3.14298352e-01 2.81846470e-02 2.19065777e+02] [-3.14149522e-01 9.49324201e-01 -9.67675148e-03 -7.95277439e+01] [-2.97977545e-02 3.28131995e-04 9.99555894e-01 -2.65921227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82119381700002 meters 0.05907988796788962 Centerline is valid? [True, True] Translation: X:219.09, Y:-79.55, Z:-26.59 [[ 9.49560188e-01 3.12396211e-01 2.72774097e-02 2.19089986e+02] [-3.12255997e-01 9.49951823e-01 -9.36624039e-03 -7.95450841e+01] [-2.88382031e-02 3.76274214e-04 9.99584022e-01 -2.65922554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85119381700002 meters 0.059330749450121456 Centerline is valid? [True, True] Translation: X:219.11, Y:-79.57, Z:-26.59 [[ 9.50081561e-01 3.10945312e-01 2.56522878e-02 2.19112064e+02] [-3.10820968e-01 9.50427726e-01 -8.80137850e-03 -7.95685132e+01] [-2.71173930e-02 3.88758508e-04 9.99632180e-01 -2.65940281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88119381700002 meters 0.059806599367828284 Centerline is valid? [True, True] Translation: X:219.14, Y:-79.58, Z:-26.60 [[ 9.50194905e-01 3.10656038e-01 2.49493152e-02 2.19136058e+02] [-3.10538695e-01 9.50522323e-01 -8.54586389e-03 -7.95843741e+01] [-2.63697052e-02 3.72508548e-04 9.99652189e-01 -2.65977792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91119381700003 meters 0.05988105111280406 Centerline is valid? [True, True] Translation: X:219.16, Y:-79.60, Z:-26.60 [[ 9.49958556e-01 3.11435743e-01 2.42181947e-02 2.19160841e+02] [-3.11325499e-01 9.50267154e-01 -8.29275522e-03 -7.95985180e+01] [-2.55964153e-02 3.38032229e-04 9.99672301e-01 -2.66008943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94119381700003 meters 0.05977253744352039 Centerline is valid? [True, True] Translation: X:219.19, Y:-79.61, Z:-26.60 [[ 9.49671532e-01 3.12370797e-01 2.34193458e-02 2.19187059e+02] [-3.12267880e-01 9.49960205e-01 -8.02369493e-03 -7.96105696e+01] [-2.47538145e-02 3.06765186e-04 9.99693530e-01 -2.66028335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97119381700003 meters 0.060035342198103324 Centerline is valid? [True, True] Translation: X:219.21, Y:-79.63, Z:-26.61 [[ 9.48833921e-01 3.15021702e-01 2.18063585e-02 2.19210818e+02] [-3.14933472e-01 9.49084445e-01 -7.45818973e-03 -7.96268685e+01] [-2.30455673e-02 2.09031205e-04 9.99734394e-01 -2.66071194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00119381700003 meters 0.060044584654001934 Centerline is valid? [True, True] Translation: X:219.24, Y:-79.64, Z:-26.61 [[ 9.48191245e-01 3.16943174e-01 2.19177292e-02 2.19236209e+02] [-3.16854613e-01 9.48444515e-01 -7.49372704e-03 -7.96392245e+01] [-2.31628357e-02 1.60752773e-04 9.99731693e-01 -2.66098421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03119381700003 meters 0.05950213555576771 Centerline is valid? [True, True] Translation: X:219.26, Y:-79.65, Z:-26.61 [[ 9.47796486e-01 3.18076626e-01 2.25628230e-02 2.19262103e+02] [-3.17982985e-01 9.48064998e-01 -7.71889291e-03 -7.96518060e+01] [-2.38462222e-02 1.41345757e-04 9.99715628e-01 -2.66082231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06119381700003 meters 0.059869615093868 Centerline is valid? [True, True] Translation: X:219.29, Y:-79.66, Z:-26.61 [[ 9.47092145e-01 3.20198270e-01 2.21254724e-02 2.19286906e+02] [-3.20109129e-01 9.47350549e-01 -7.55533657e-03 -7.96635853e+01] [-2.33797841e-02 7.30342284e-05 9.99726653e-01 -2.66131646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09119381700003 meters 0.05993150303969069 Centerline is valid? [True, True] Translation: X:219.31, Y:-79.68, Z:-26.61 [[ 9.45621678e-01 3.24569167e-01 2.13189826e-02 2.19313228e+02] [-3.24487410e-01 9.45861964e-01 -7.28462420e-03 -7.96763138e+01] [-2.25291792e-02 -2.92428853e-05 9.99746185e-01 -2.66147950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12119381700003 meters 0.059754883615627086 Centerline is valid? [True, True] Translation: X:219.34, Y:-79.69, Z:-26.61 [[ 9.45016619e-01 3.26298575e-01 2.17446382e-02 2.19339079e+02] [-3.26214094e-01 9.45266753e-01 -7.42502969e-03 -7.96880361e+01] [-2.29772601e-02 -7.66309797e-05 9.99735985e-01 -2.66145874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15119381700003 meters 0.05936018370320458 Centerline is valid? [True, True] Translation: X:219.37, Y:-79.70, Z:-26.61 [[ 9.44365017e-01 3.28058242e-01 2.35054024e-02 2.19365156e+02] [-3.27960347e-01 9.44657488e-01 -8.01501513e-03 -7.97012014e+01] [-2.48339461e-02 -1.39740014e-04 9.99691580e-01 -2.66126042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18119381700004 meters 0.05966102616137324 Centerline is valid? [True, True] Translation: X:219.39, Y:-79.71, Z:-26.62 [[ 9.43592329e-01 3.30131426e-01 2.54314365e-02 2.19390549e+02] [-3.30018019e-01 9.43934950e-01 -8.65543446e-03 -7.97137076e+01] [-2.68630527e-02 -2.25630754e-04 9.99639098e-01 -2.66156885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21119381700004 meters 0.05965436099313287 Centerline is valid? [True, True] Translation: X:219.42, Y:-79.73, Z:-26.62 [[ 9.43010542e-01 3.31659431e-01 2.70765335e-02 2.19416577e+02] [-3.31531433e-01 9.43399142e-01 -9.21781171e-03 -7.97273518e+01] [-2.86011527e-02 -2.84228338e-04 9.99590863e-01 -2.66151409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24119381700004 meters 0.05950202542117233 Centerline is valid? [True, True] Translation: X:219.44, Y:-79.74, Z:-26.61 [[ 9.41440262e-01 3.35845961e-01 2.99620301e-02 2.19441116e+02] [-3.35691678e-01 9.41916808e-01 -1.01893525e-02 -7.97442254e+01] [-3.16437926e-02 -4.65337460e-04 9.99499101e-01 -2.66113094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27119381700004 meters 0.06057161991134003 Centerline is valid? [True, True] Translation: X:219.47, Y:-79.75, Z:-26.61 [[ 9.40627139e-01 3.38028899e-01 3.09361945e-02 2.19466648e+02] [-3.37866128e-01 9.41135557e-01 -1.05044010e-02 -7.97542975e+01] [-3.26659437e-02 -5.71567628e-04 9.99466162e-01 -2.66149086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30119381700004 meters 0.06046874389543525 Centerline is valid? [True, True] Translation: X:219.49, Y:-79.77, Z:-26.61 [[ 9.39887018e-01 3.40024762e-01 3.15524232e-02 2.19492407e+02] [-3.39856511e-01 9.40416257e-01 -1.07152146e-02 -7.97692115e+01] [-3.33158500e-02 -6.52205405e-04 9.99444660e-01 -2.66143316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33119381700004 meters 0.06112342224190173 Centerline is valid? [True, True] Translation: X:219.52, Y:-79.78, Z:-26.62 [[ 9.39305704e-01 3.41622266e-01 3.16073114e-02 2.19517879e+02] [-3.41454675e-01 9.39837065e-01 -1.07236135e-02 -7.97830258e+01] [-3.33691479e-02 -7.19712931e-04 9.99442836e-01 -2.66162936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36119381700004 meters 0.061609959966399334 Centerline is valid? [True, True] Translation: X:219.54, Y:-79.81, Z:-26.62 [[ 9.38420990e-01 3.44231207e-01 2.95113903e-02 2.19541615e+02] [-3.44086890e-01 9.38884592e-01 -9.99672771e-03 -7.98051812e+01] [-3.11489753e-02 -7.73343404e-04 9.99514454e-01 -2.66199952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39119381700002 meters 0.06374448256131705 Centerline is valid? [True, True] Translation: X:219.57, Y:-79.82, Z:-26.63 [[ 9.38471026e-01 3.44191018e-01 2.83668317e-02 2.19566944e+02] [-3.44057637e-01 9.38899352e-01 -9.60980115e-03 -7.98163188e+01] [-2.99412072e-02 -7.41305157e-04 9.99551387e-01 -2.66292330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42119381700002 meters 0.061899643862173524 Centerline is valid? [True, True] Translation: X:219.59, Y:-79.84, Z:-26.63 [[ 9.38877940e-01 3.43140371e-01 2.76206246e-02 2.19589675e+02] [-3.43013329e-01 9.39283885e-01 -9.36159834e-03 -7.98366864e+01] [-2.91559500e-02 -6.84844231e-04 9.99574640e-01 -2.66272102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45119381700002 meters 0.06181622124601681 Centerline is valid? [True, True] Translation: X:219.61, Y:-79.86, Z:-26.63 [[ 9.40114459e-01 3.39882092e-01 2.57869655e-02 2.19610094e+02] [-3.39770582e-01 9.40467889e-01 -8.72366561e-03 -7.98612226e+01] [-2.72168307e-02 -5.60408098e-04 9.99629396e-01 -2.66327537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48119381700002 meters 0.06177331191640827 Centerline is valid? [True, True] Translation: X:219.63, Y:-79.88, Z:-26.64 [[ 9.40968344e-01 3.37574168e-01 2.49450836e-02 2.19633274e+02] [-3.37469084e-01 9.41298810e-01 -8.43605691e-03 -7.98785970e+01] [-2.63285724e-02 -4.80131995e-04 9.99653228e-01 -2.66374173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51119381700002 meters 0.060421548669925614 Centerline is valid? [True, True] Translation: X:219.66, Y:-79.90, Z:-26.64 [[ 9.41836942e-01 3.35228011e-01 2.37772122e-02 2.19656595e+02] [-3.35131623e-01 9.42136948e-01 -8.04772101e-03 -7.98990879e+01] [-2.50992116e-02 -3.88854772e-04 9.99684890e-01 -2.66351298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54119381700002 meters 0.06034295197344306 Centerline is valid? [True, True] Translation: X:219.68, Y:-79.92, Z:-26.64 [[ 9.42476702e-01 3.33486720e-01 2.28970311e-02 2.19681565e+02] [-3.33397053e-01 9.42754736e-01 -7.74026398e-03 -7.99162535e+01] [-2.41675598e-02 -3.38784240e-04 9.99707864e-01 -2.66378616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57119381700002 meters 0.06074071383571073 Centerline is valid? [True, True] Translation: X:219.70, Y:-79.94, Z:-26.64 [[ 9.42673926e-01 3.33086417e-01 2.04769981e-02 2.19704519e+02] [-3.33014715e-01 9.42896256e-01 -6.91734149e-03 -7.99382759e+01] [-2.16117574e-02 -2.98344237e-04 9.99766394e-01 -2.66420043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60119381700002 meters 0.0609257646296313 Centerline is valid? [True, True] Translation: X:219.73, Y:-79.95, Z:-26.64 [[ 9.42264383e-01 3.34241460e-01 2.05055887e-02 2.19730566e+02] [-3.34169975e-01 9.42487420e-01 -6.92035880e-03 -7.99522747e+01] [-2.16393302e-02 -3.31544449e-04 9.99765787e-01 -2.66431479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63119381700002 meters 0.06115639432980516 Centerline is valid? [True, True] Translation: X:219.76, Y:-79.97, Z:-26.64 [[ 9.41624223e-01 3.36033813e-01 2.06179204e-02 2.19755867e+02] [-3.35962288e-01 9.41849842e-01 -6.94374911e-03 -7.99661556e+01] [-2.17523196e-02 -3.88441354e-04 9.99763315e-01 -2.66433509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66119381700003 meters 0.062216105893165286 Centerline is valid? [True, True] Translation: X:219.78, Y:-79.98, Z:-26.65 [[ 9.40731679e-01 3.38482408e-01 2.12971198e-02 2.19781304e+02] [-3.38406782e-01 9.40972606e-01 -7.16969008e-03 -7.99780834e+01] [-2.24668203e-02 -4.62335188e-04 9.99747482e-01 -2.66468250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69119381700003 meters 0.06312019171970837 Centerline is valid? [True, True] Translation: X:219.81, Y:-80.00, Z:-26.65 [[ 9.39513526e-01 3.41883654e-01 2.07340533e-02 2.19805879e+02] [-3.41812888e-01 9.39742137e-01 -6.97612850e-03 -7.99960331e+01] [-2.18696879e-02 -5.32999558e-04 9.99760688e-01 -2.66483988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72119381700003 meters 0.06387222227782456 Centerline is valid? [True, True] Translation: X:219.83, Y:-80.01, Z:-26.65 [[ 9.39111652e-01 3.42984932e-01 2.07519104e-02 2.19831195e+02] [-3.42914264e-01 9.39340740e-01 -6.98439516e-03 -8.00087937e+01] [-2.18886572e-02 -5.56999194e-04 9.99760259e-01 -2.66519442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75119381700003 meters 0.06333709566379281 Centerline is valid? [True, True] Translation: X:219.86, Y:-80.03, Z:-26.65 [[ 9.39119123e-01 3.42981289e-01 2.04721293e-02 2.19856000e+02] [-3.42912645e-01 9.39342072e-01 -6.88407776e-03 -8.00250886e+01] [-2.15914422e-02 -5.55182924e-04 9.99766723e-01 -2.66510990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78119381700003 meters 0.06297515924887814 Centerline is valid? [True, True] Translation: X:219.88, Y:-80.04, Z:-26.65 [[ 9.39542915e-01 3.41743475e-01 2.16911930e-02 2.19880538e+02] [-3.41666135e-01 9.39793107e-01 -7.29166349e-03 -8.00417744e+01] [-2.28771120e-02 -5.60315299e-04 9.99738128e-01 -2.66524734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81119381700003 meters 0.06147565385943903 Centerline is valid? [True, True] Translation: X:219.90, Y:-80.07, Z:-26.65 [[ 9.40641538e-01 3.38536253e-01 2.42219285e-02 2.19903293e+02] [-3.38438879e-01 9.40953192e-01 -8.13726489e-03 -8.00701311e+01] [-2.55464601e-02 -5.43392966e-04 9.99673488e-01 -2.66491782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84119381700003 meters 0.060752667621701915 Centerline is valid? [True, True] Translation: X:219.93, Y:-80.09, Z:-26.65 [[ 9.41659846e-01 3.35527477e-01 2.64205593e-02 2.19927398e+02] [-3.35410439e-01 9.42030285e-01 -8.87575502e-03 -8.00883048e+01] [-2.78670267e-02 -5.03789262e-04 9.99611512e-01 -2.66494614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87119381700003 meters 0.05978777217870623 Centerline is valid? [True, True] Translation: X:219.95, Y:-80.11, Z:-26.65 [[ 9.42726969e-01 3.32354419e-01 2.83972058e-02 2.19952198e+02] [-3.32217810e-01 9.43154465e-01 -9.53846724e-03 -8.01071803e+01] [-2.99531032e-02 -4.41887187e-04 9.99551207e-01 -2.66484677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90119381700003 meters 0.059458876741136084 Centerline is valid? [True, True] Translation: X:219.98, Y:-80.12, Z:-26.65 [[ 9.43778847e-01 3.29277313e-01 2.92905874e-02 2.19978215e+02] [-3.29130685e-01 9.44233192e-01 -9.83215443e-03 -8.01245189e+01] [-3.08946502e-02 -3.61051727e-04 9.99522581e-01 -2.66514514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93119381700004 meters 0.058551373627920726 Centerline is valid? [True, True] Translation: X:220.01, Y:-80.14, Z:-26.65 [[ 9.44712369e-01 3.26478619e-01 3.05000129e-02 2.20006299e+02] [-3.26318022e-01 9.45204547e-01 -1.02427250e-02 -8.01440730e+01] [-3.21727816e-02 -2.76274871e-04 9.99482284e-01 -2.66499921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96119381700004 meters 0.0581470499990302 Centerline is valid? [True, True] Translation: X:220.03, Y:-80.17, Z:-26.65 [[ 9.46791516e-01 3.20396258e-01 3.05297180e-02 2.20031649e+02] [-3.20232251e-01 9.47283607e-01 -1.02505092e-02 -8.01689800e+01] [-3.22045262e-02 -7.15051851e-05 9.99481297e-01 -2.66508724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99119381700004 meters 0.058247516104067955 Centerline is valid? [True, True] Translation: X:220.06, Y:-80.19, Z:-26.65 [[ 9.47546934e-01 3.18251253e-01 2.95118102e-02 2.20059423e+02] [-3.18096674e-01 9.48006403e-01 -9.91796509e-03 -8.01866194e+01] [-3.11337898e-02 1.01287428e-05 9.99515226e-01 -2.66532919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02119381700004 meters 0.058580987187672774 Centerline is valid? [True, True] Translation: X:220.09, Y:-80.20, Z:-26.66 [[ 9.48416463e-01 3.15810323e-01 2.77498038e-02 2.20087077e+02] [-3.15672373e-01 9.48822339e-01 -9.33390061e-03 -8.02043644e+01] [-2.92773759e-02 9.25785869e-05 9.99571321e-01 -2.66561696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05119381700004 meters 0.059015731803108415 Centerline is valid? [True, True] Translation: X:220.11, Y:-80.23, Z:-26.66 [[ 9.49597614e-01 3.12335354e-01 2.66645425e-02 2.20112934e+02] [-3.12206363e-01 9.49971887e-01 -8.97776423e-03 -8.02258641e+01] [-2.81346389e-02 2.00423665e-04 9.99604123e-01 -2.66594726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08119381700004 meters 0.05929408386077279 Centerline is valid? [True, True] Translation: X:220.14, Y:-80.24, Z:-26.66 [[ 9.49844881e-01 3.11647508e-01 2.58946497e-02 2.20141333e+02] [-3.11525400e-01 9.50197759e-01 -8.72604578e-03 -8.02387080e+01] [-2.73244885e-02 2.21548825e-04 9.99626592e-01 -2.66633335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11119381700004 meters 0.05955331802037318 Centerline is valid? [True, True] Translation: X:220.17, Y:-80.25, Z:-26.67 [[ 9.49744999e-01 3.12041680e-01 2.47876498e-02 2.20169739e+02] [-3.11929745e-01 9.50068391e-01 -8.35986209e-03 -8.02504845e+01] [-2.61585879e-02 2.07731936e-04 9.99657784e-01 -2.66669089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14119381700002 meters 0.059544826891806873 Centerline is valid? [True, True] Translation: X:220.20, Y:-80.26, Z:-26.67 [[ 9.49505082e-01 3.12882845e-01 2.33329040e-02 2.20199422e+02] [-3.12783791e-01 9.49791710e-01 -7.87444584e-03 -8.02619295e+01] [-2.46251778e-02 1.78672162e-04 9.99696738e-01 -2.66703303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17119381700002 meters 0.059870576490064074 Centerline is valid? [True, True] Translation: X:220.23, Y:-80.27, Z:-26.67 [[ 9.49401869e-01 3.13335899e-01 2.13706557e-02 2.20228585e+02] [-3.13252782e-01 9.49642348e-01 -7.21844142e-03 -8.02738640e+01] [-2.25562765e-02 1.58784438e-04 9.99745562e-01 -2.66741602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20119381700002 meters 0.06021042634771297 Centerline is valid? [True, True] Translation: X:220.26, Y:-80.29, Z:-26.68 [[ 9.49352640e-01 3.13509155e-01 2.10136917e-02 2.20256009e+02] [-3.13428698e-01 9.49585165e-01 -7.10396769e-03 -8.02885209e+01] [-2.21814488e-02 1.57876456e-04 9.99753949e-01 -2.66786276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23119381700002 meters 0.06032363468009519 Centerline is valid? [True, True] Translation: X:220.29, Y:-80.30, Z:-26.68 [[ 9.49074599e-01 3.14339787e-01 2.11637287e-02 2.20285426e+02] [-3.14258252e-01 9.49310527e-01 -7.16055453e-03 -8.03004183e+01] [-2.23417977e-02 1.45024027e-04 9.99750380e-01 -2.66807337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26119381700002 meters 0.06032363468009519 Centerline is valid? [True, True] Translation: X:220.32, Y:-80.31, Z:-26.68 [[ 9.48973085e-01 3.14646223e-01 2.11622102e-02 2.20316048e+02] [-3.14564665e-01 9.49209004e-01 -7.16503762e-03 -8.03110774e+01] [-2.23418125e-02 1.42544300e-04 9.99750380e-01 -2.66827046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29119381700002 meters 0.06019851190541636 Centerline is valid? [True, True] Translation: X:220.35, Y:-80.32, Z:-26.68 [[ 9.48700044e-01 3.15418100e-01 2.19008788e-02 2.20346193e+02] [-3.15330715e-01 9.48952793e-01 -7.42542973e-03 -8.03227872e+01] [-2.31250150e-02 1.38485736e-04 9.99732571e-01 -2.66843056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32119381700002 meters 0.06030710823396458 Centerline is valid? [True, True] Translation: X:220.38, Y:-80.33, Z:-26.69 [[ 9.48270727e-01 3.16827509e-01 2.00738215e-02 2.20376085e+02] [-3.16754292e-01 9.48483168e-01 -6.81168385e-03 -8.03330873e+01] [-2.11978106e-02 1.00851265e-04 9.99775296e-01 -2.66873261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35119381700002 meters 0.059898441036164346 Centerline is valid? [True, True] Translation: X:220.41, Y:-80.34, Z:-26.69 [[ 9.47685682e-01 3.18596065e-01 1.97077364e-02 2.20406606e+02] [-3.18525831e-01 9.47890576e-01 -6.68968047e-03 -8.03448187e+01] [-2.08120835e-02 6.22912929e-05 9.99783403e-01 -2.66876074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38119381700002 meters 0.06036365665471247 Centerline is valid? [True, True] Translation: X:220.43, Y:-80.36, Z:-26.69 [[ 9.47583391e-01 3.18859462e-01 2.03558344e-02 2.20434932e+02] [-3.18784357e-01 9.47802004e-01 -6.92064853e-03 -8.03569028e+01] [-2.15000149e-02 6.87700367e-05 9.99768846e-01 -2.66930771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41119381700003 meters 0.06061241041267109 Centerline is valid? [True, True] Translation: X:220.46, Y:-80.37, Z:-26.70 [[ 9.47951880e-01 3.17766206e-01 2.02946007e-02 2.20464397e+02] [-3.17691195e-01 9.48169093e-01 -6.90478475e-03 -8.03703916e+01] [-2.14368204e-02 9.79877467e-05 9.99770200e-01 -2.66957811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44119381700003 meters 0.06004517481636867 Centerline is valid? [True, True] Translation: X:220.49, Y:-80.38, Z:-26.69 [[ 9.48768714e-01 3.15230188e-01 2.16299664e-02 2.20494236e+02] [-3.15144125e-01 9.49015226e-01 -7.36761606e-03 -8.03844311e+01] [-2.28496624e-02 1.73606770e-04 9.99738897e-01 -2.66927642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47119381700003 meters 0.06085278758405437 Centerline is valid? [True, True] Translation: X:220.52, Y:-80.40, Z:-26.69 [[ 9.50629799e-01 3.09454697e-01 2.32546055e-02 2.20522477e+02] [-3.09353307e-01 9.50914125e-01 -7.92832565e-03 -8.04046942e+01] [-2.45665905e-02 3.43013486e-04 9.99698137e-01 -2.66938721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50119381700003 meters 0.0619307309358678 Centerline is valid? [True, True] Translation: X:220.55, Y:-80.42, Z:-26.70 [[ 9.51878637e-01 3.05605326e-01 2.30747811e-02 2.20549899e+02] [-3.05504108e-01 9.52158171e-01 -7.87762848e-03 -8.04212903e+01] [-2.43782866e-02 4.49105833e-04 9.99702705e-01 -2.66961180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53119381700003 meters 0.06331828896736609 Centerline is valid? [True, True] Translation: X:220.58, Y:-80.44, Z:-26.70 [[ 9.53117562e-01 3.01696847e-01 2.33650467e-02 2.20578304e+02] [-3.01591729e-01 9.53403743e-01 -7.98327261e-03 -8.04380622e+01] [-2.46848511e-02 5.62292506e-04 9.99695125e-01 -2.66983688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56119381700003 meters 0.06564825033564994 Centerline is valid? [True, True] Translation: X:220.60, Y:-80.46, Z:-26.70 [[ 9.55587562e-01 2.93874425e-01 2.21411962e-02 2.20604501e+02] [-2.93777561e-01 9.55843750e-01 -7.58087603e-03 -8.04559315e+01] [-2.33913496e-02 7.39604231e-04 9.99726111e-01 -2.66995702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59119381700003 meters 0.06641989022020182 Centerline is valid? [True, True] Translation: X:220.63, Y:-80.47, Z:-26.70 [[ 9.56773216e-01 2.90042614e-01 2.14544815e-02 2.20633446e+02] [-2.89950685e-01 9.57013390e-01 -7.34655985e-03 -8.04673123e+01] [-2.26630415e-02 8.08250100e-04 9.99742834e-01 -2.67006616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62119381700003 meters 0.0685391226352857 Centerline is valid? [True, True] Translation: X:220.66, Y:-80.48, Z:-26.70 [[ 9.57982658e-01 2.86110166e-01 2.02533924e-02 2.20661575e+02] [-2.86027356e-01 9.58196351e-01 -6.93568685e-03 -8.04803707e+01] [-2.13910972e-02 8.51243449e-04 9.99770822e-01 -2.67046239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65119381700003 meters 0.07127511158255474 Centerline is valid? [True, True] Translation: X:220.69, Y:-80.49, Z:-26.71 [[ 9.59168264e-01 2.82208302e-01 1.88338729e-02 2.20688751e+02] [-2.82135987e-01 9.59352759e-01 -6.44736406e-03 -8.04936552e+01] [-1.98878276e-02 8.70393672e-04 9.99801839e-01 -2.67087789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68119381700004 meters 0.07376149264497543 Centerline is valid? [True, True] Translation: X:220.72, Y:-80.51, Z:-26.71 [[ 9.60759522e-01 2.76810476e-01 1.78073176e-02 2.20717612e+02] [-2.76744829e-01 9.60924082e-01 -6.09987743e-03 -8.05052891e+01] [-1.87999903e-02 9.32432246e-04 9.99822830e-01 -2.67113083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71119381700004 meters 0.07543595601129266 Centerline is valid? [True, True] Translation: X:220.75, Y:-80.52, Z:-26.71 [[ 9.61168468e-01 2.75398643e-01 1.76284651e-02 2.20746549e+02] [-2.75334270e-01 9.61329654e-01 -6.02795721e-03 -8.05163761e+01] [-1.86068575e-02 9.40161823e-04 9.99826435e-01 -2.67137399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74119381700004 meters 0.07566475725315808 Centerline is valid? [True, True] Translation: X:220.78, Y:-80.52, Z:-26.71 [[ 9.61347072e-01 2.74752621e-01 1.79667450e-02 2.20778117e+02] [-2.74685549e-01 9.61514454e-01 -6.14844231e-03 -8.05241795e+01] [-1.89645856e-02 9.75581800e-04 9.99819680e-01 -2.67148640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77119381700004 meters 0.076914487168495 Centerline is valid? [True, True] Translation: X:220.81, Y:-80.53, Z:-26.72 [[ 9.61252610e-01 2.75100060e-01 1.77024794e-02 2.20808514e+02] [-2.75034919e-01 9.61415122e-01 -6.06265675e-03 -8.05327836e+01] [-1.86872687e-02 9.58944630e-04 9.99824918e-01 -2.67180735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80119381700004 meters 0.07751188798994163 Centerline is valid? [True, True] Translation: X:220.84, Y:-80.54, Z:-26.72 [[ 9.61368669e-01 2.74614863e-01 1.88933631e-02 2.20840778e+02] [-2.74540420e-01 9.61553739e-01 -6.47795349e-03 -8.05405672e+01] [-1.99459262e-02 1.04070969e-03 9.99800519e-01 -2.67198316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83119381700004 meters 0.07638172438689587 Centerline is valid? [True, True] Translation: X:220.87, Y:-80.54, Z:-26.72 [[ 9.61577320e-01 2.73918578e-01 1.83758190e-02 2.20874158e+02] [-2.73847767e-01 9.61752324e-01 -6.31416049e-03 -8.05410260e+01] [-1.94025525e-02 1.03937652e-03 9.99811213e-01 -2.67194250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86119381700004 meters 0.07712419731640183 Centerline is valid? [True, True] Translation: X:220.90, Y:-80.55, Z:-26.72 [[ 9.61934180e-01 2.72647659e-01 1.85980637e-02 2.20904865e+02] [-2.72574922e-01 9.62113349e-01 -6.38873821e-03 -8.05487980e+01] [-1.96353199e-02 1.07617987e-03 9.99806629e-01 -2.67205166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89119381700002 meters 0.07523683523664716 Centerline is valid? [True, True] Translation: X:220.94, Y:-80.55, Z:-26.72 [[ 9.62207325e-01 2.71662158e-01 1.88874587e-02 2.20937580e+02] [-2.71586862e-01 9.62392032e-01 -6.49256150e-03 -8.05519834e+01] [-1.99409230e-02 1.11760458e-03 9.99800535e-01 -2.67187105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92119381700002 meters 0.0755283367070848 Centerline is valid? [True, True] Translation: X:220.97, Y:-80.56, Z:-26.72 [[ 9.62354058e-01 2.71093295e-01 1.95727541e-02 2.20969127e+02] [-2.71012165e-01 9.62552356e-01 -6.73553312e-03 -8.05578824e+01] [-2.06657585e-02 1.17751315e-03 9.99785747e-01 -2.67197827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95119381700002 meters 0.07599267621159016 Centerline is valid? [True, True] Translation: X:221.00, Y:-80.56, Z:-26.72 [[ 9.62402931e-01 2.70902382e-01 1.98115797e-02 2.21001453e+02] [-2.70819071e-01 9.62606073e-01 -6.82480494e-03 -8.05633784e+01] [-2.09196029e-02 1.20285866e-03 9.99780438e-01 -2.67223801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98119381700002 meters 0.07655217966349523 Centerline is valid? [True, True] Translation: X:221.03, Y:-80.56, Z:-26.72 [[ 9.62232629e-01 2.71463980e-01 2.03881112e-02 2.21034701e+02] [-2.71375694e-01 9.62447810e-01 -7.03181860e-03 -8.05616222e+01] [-2.15313785e-02 1.23340746e-03 9.99767412e-01 -2.67239368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01119381700002 meters 0.07603639757438307 Centerline is valid? [True, True] Translation: X:221.07, Y:-80.56, Z:-26.73 [[ 9.61806279e-01 2.72904330e-01 2.12581214e-02 2.21066682e+02] [-2.72808323e-01 9.62040341e-01 -7.34857581e-03 -8.05646780e+01] [-2.24566285e-02 1.26851391e-03 9.99747013e-01 -2.67253794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04119381700002 meters 0.07832358885866127 Centerline is valid? [True, True] Translation: X:221.10, Y:-80.56, Z:-26.73 [[ 9.61173648e-01 2.75080679e-01 2.18137340e-02 2.21099092e+02] [-2.74980119e-01 9.61420333e-01 -7.54175875e-03 -8.05645593e+01] [-2.30467595e-02 1.25059661e-03 9.99733606e-01 -2.67299930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07119381700002 meters 0.07279576786310717 Centerline is valid? [True, True] Translation: X:221.14, Y:-80.56, Z:-26.73 [[ 9.61012303e-01 2.75711421e-01 2.09419446e-02 2.21135971e+02] [-2.75619101e-01 9.61239735e-01 -7.23075165e-03 -8.05585034e+01] [-2.21238301e-02 1.17684135e-03 9.99754545e-01 -2.67257228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10119381700002 meters 0.07288670212043918 Centerline is valid? [True, True] Translation: X:221.17, Y:-80.56, Z:-26.73 [[ 9.60867593e-01 2.76215697e-01 2.09369809e-02 2.21169063e+02] [-2.76123384e-01 9.61094957e-01 -7.23610405e-03 -8.05611402e+01] [-2.21211523e-02 1.17174788e-03 9.99754611e-01 -2.67286778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13119381700002 meters 0.07265499393560278 Centerline is valid? [True, True] Translation: X:221.20, Y:-80.56, Z:-26.73 [[ 9.60802287e-01 2.76441886e-01 2.09487218e-02 2.21203063e+02] [-2.76349407e-01 9.61029921e-01 -7.24539261e-03 -8.05633341e+01] [-2.21352785e-02 1.17222294e-03 9.99754297e-01 -2.67307641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16119381700003 meters 0.07393287850975598 Centerline is valid? [True, True] Translation: X:221.23, Y:-80.57, Z:-26.73 [[ 9.60707761e-01 2.76718681e-01 2.16187371e-02 2.21234200e+02] [-2.76619995e-01 9.60950205e-01 -7.48876656e-03 -8.05682745e+01] [-2.28468115e-02 1.21434121e-03 9.99738240e-01 -2.67339230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19119381700003 meters 0.07286885476555688 Centerline is valid? [True, True] Translation: X:221.27, Y:-80.56, Z:-26.73 [[ 9.60715047e-01 2.76615537e-01 2.25929818e-02 2.21269423e+02] [-2.76507561e-01 9.60979818e-01 -7.83312334e-03 -8.05644463e+01] [-2.38781632e-02 1.27826916e-03 9.99714059e-01 -2.67341824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22119381700003 meters 0.07977904733437446 Centerline is valid? [True, True] Translation: X:221.30, Y:-80.58, Z:-26.74 [[ 9.60542221e-01 2.77186886e-01 2.29362561e-02 2.21295917e+02] [-2.77075553e-01 9.60815155e-01 -7.96089775e-03 -8.05803237e+01] [-2.42441589e-02 1.29170255e-03 9.99705233e-01 -2.67439132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25119381700003 meters 0.07112483301078776 Centerline is valid? [True, True] Translation: X:221.33, Y:-80.57, Z:-26.74 [[ 9.60164996e-01 2.78438292e-01 2.35647613e-02 2.21333016e+02] [-2.78320749e-01 9.60453227e-01 -8.19506074e-03 -8.05712094e+01] [-2.49146698e-02 1.31004843e-03 9.99688723e-01 -2.67359795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.28119381700003 meters 0.07071692912315784 Centerline is valid? [True, True] Translation: X:221.36, Y:-80.57, Z:-26.74 [[ 9.59611199e-01 2.80332290e-01 2.36675806e-02 2.21363954e+02] [-2.80214224e-01 9.59902181e-01 -8.23357730e-03 -8.05733749e+01] [-2.50266998e-02 1.26904026e-03 9.99685978e-01 -2.67388632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.31119381700003 meters 0.06990921764433568 Centerline is valid? [True, True] Translation: X:221.39, Y:-80.57, Z:-26.74 [[ 9.59102205e-01 2.82087593e-01 2.34424753e-02 2.21394761e+02] [-2.81972247e-01 9.59387887e-01 -8.15685173e-03 -8.05740346e+01] [-2.47913735e-02 1.21312706e-03 9.99691911e-01 -2.67414007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.34119381700003 meters 0.06879645917081677 Centerline is valid? [True, True] Translation: X:221.43, Y:-80.57, Z:-26.75 [[ 9.57726169e-01 2.86827212e-01 2.21525570e-02 2.21427390e+02] [-2.86725496e-01 9.57981780e-01 -7.70711443e-03 -8.05679603e+01] [-2.34323562e-02 1.02960227e-03 9.99724894e-01 -2.67465683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.37119381700003 meters 0.06848175985320712 Centerline is valid? [True, True] Translation: X:221.46, Y:-80.57, Z:-26.75 [[ 9.57227495e-01 2.88510886e-01 2.18401348e-02 2.21456339e+02] [-2.88412443e-01 9.57476119e-01 -7.59897976e-03 -8.05709622e+01] [-2.31037959e-02 9.74985727e-04 9.99732596e-01 -2.67492034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.40119381700003 meters 0.06697296999090971 Centerline is valid? [True, True] Translation: X:221.49, Y:-80.57, Z:-26.75 [[ 9.56752391e-01 2.89994599e-01 2.29781195e-02 2.21486613e+02] [-2.89886130e-01 9.57027775e-01 -7.99185900e-03 -8.05728711e+01] [-2.43082945e-02 9.85192074e-04 9.99704024e-01 -2.67493949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.43119381700004 meters 0.0677334698474637 Centerline is valid? [True, True] Translation: X:221.51, Y:-80.58, Z:-26.75 [[ 9.56481153e-01 2.90864563e-01 2.32725147e-02 2.21513995e+02] [-2.90753518e-01 9.56763739e-01 -8.09566737e-03 -8.05788996e+01] [-2.46210409e-02 9.76787726e-04 9.99696379e-01 -2.67524305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.46119381700004 meters 0.06556124426804971 Centerline is valid? [True, True] Translation: X:221.55, Y:-80.58, Z:-26.75 [[ 9.55220389e-01 2.94778306e-01 2.56857896e-02 2.21546566e+02] [-2.94644697e-01 9.55565190e-01 -8.92579132e-03 -8.05762548e+01] [-2.71755761e-02 9.57916155e-04 9.99630217e-01 -2.67513034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.49119381700004 meters 0.06256226966967748 Centerline is valid? [True, True] Translation: X:221.58, Y:-80.57, Z:-26.75 [[ 9.54252735e-01 2.97917279e-01 2.54364530e-02 2.21577865e+02] [-2.97787317e-01 9.54591301e-01 -8.84091571e-03 -8.05737869e+01] [-2.69152784e-02 8.61814890e-04 9.99637347e-01 -2.67496993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.52119381700004 meters 0.06131542466788692 Centerline is valid? [True, True] Translation: X:221.61, Y:-80.57, Z:-26.75 [[ 9.53130608e-01 3.01560009e-01 2.45683813e-02 2.21608507e+02] [-3.01439846e-01 9.53446913e-01 -8.54416477e-03 -8.05743990e+01] [-2.60012257e-02 7.37815871e-04 9.99661639e-01 -2.67516047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.55119381700004 meters 0.06024198266619807 Centerline is valid? [True, True] Translation: X:221.64, Y:-80.57, Z:-26.76 [[ 9.50513795e-01 3.09894916e-01 2.21057954e-02 2.21639628e+02] [-3.09800163e-01 9.50770709e-01 -7.67584789e-03 -8.05690856e+01] [-2.33962490e-02 4.47620292e-04 9.99726170e-01 -2.67576867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.58119381700004 meters 0.059770179175140464 Centerline is valid? [True, True] Translation: X:221.67, Y:-80.57, Z:-26.76 [[ 9.49378719e-01 3.13366019e-01 2.19496398e-02 2.21668310e+02] [-3.13273416e-01 9.49632353e-01 -7.62635247e-03 -8.05722849e+01] [-2.32339278e-02 3.64058103e-04 9.99729990e-01 -2.67611968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.61119381700004 meters 0.05934452076510784 Centerline is valid? [True, True] Translation: X:221.70, Y:-80.58, Z:-26.76 [[ 9.48392487e-01 3.16340178e-01 2.19222015e-02 2.21697516e+02] [-3.16248763e-01 9.48645778e-01 -7.60978812e-03 -8.05761517e+01] [-2.32036856e-02 2.84196790e-04 9.99730718e-01 -2.67622032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64119381700004 meters 0.05932641930792013 Centerline is valid? [True, True] Translation: X:221.73, Y:-80.58, Z:-26.77 [[ 9.47520307e-01 3.19016030e-01 2.08336343e-02 2.21725306e+02] [-3.18934416e-01 9.47749299e-01 -7.21826421e-03 -8.05817498e+01] [-2.20478043e-02 1.94888935e-04 9.99756899e-01 -2.67653860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67119381700002 meters 0.05903308950772859 Centerline is valid? [True, True] Translation: X:221.75, Y:-80.59, Z:-26.77 [[ 9.46590989e-01 3.21725542e-01 2.14050240e-02 2.21753946e+02] [-3.21639971e-01 9.46832961e-01 -7.42110523e-03 -8.05875940e+01] [-2.26545413e-02 1.40040044e-04 9.99743343e-01 -2.67666828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70119381700002 meters 0.05911723272694437 Centerline is valid? [True, True] Translation: X:221.78, Y:-80.59, Z:-26.77 [[ 9.46124910e-01 3.23159630e-01 2.03840244e-02 2.21781967e+02] [-3.23082487e-01 9.46344464e-01 -7.06128175e-03 -8.05943980e+01] [-2.15722299e-02 9.51332464e-05 9.99767288e-01 -2.67691881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73119381700002 meters 0.059502048256139445 Centerline is valid? [True, True] Translation: X:221.81, Y:-80.60, Z:-26.77 [[ 9.45509861e-01 3.25016912e-01 1.93677525e-02 2.21809270e+02] [-3.24947889e-01 9.45708203e-01 -6.69806964e-03 -8.06007784e+01] [-2.04932283e-02 3.95806252e-05 9.99789991e-01 -2.67733508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76119381700002 meters 0.05983288130307486 Centerline is valid? [True, True] Translation: X:221.84, Y:-80.61, Z:-26.78 [[ 9.44671906e-01 3.27520769e-01 1.80315012e-02 2.21837059e+02] [-3.27461334e-01 9.44843980e-01 -6.23934063e-03 -8.06081100e+01] [-1.90804690e-02 -1.04896273e-05 9.99817951e-01 -2.67763298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79119381700002 meters 0.06092300064411718 Centerline is valid? [True, True] Translation: X:221.86, Y:-80.62, Z:-26.78 [[ 9.42848473e-01 3.32823167e-01 1.62940538e-02 2.21864530e+02] [-3.32775662e-01 9.42989250e-01 -5.62436675e-03 -8.06161155e+01] [-1.72370371e-02 -1.19338937e-04 9.99851424e-01 -2.67817350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82119381700002 meters 0.061279188045956175 Centerline is valid? [True, True] Translation: X:221.89, Y:-80.63, Z:-26.78 [[ 9.42082554e-01 3.34964958e-01 1.67014535e-02 2.21890690e+02] [-3.34915196e-01 9.42230574e-01 -5.77558902e-03 -8.06251073e+01] [-1.76712401e-02 -1.52488929e-04 9.99843840e-01 -2.67827098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85119381700002 meters 0.06162941486275497 Centerline is valid? [True, True] Translation: X:221.92, Y:-80.63, Z:-26.78 [[ 9.41168950e-01 3.37474425e-01 1.76640807e-02 2.21917229e+02] [-3.37419486e-01 9.41334670e-01 -6.09333697e-03 -8.06344367e+01] [-1.86841570e-02 -2.25345483e-04 9.99825411e-01 -2.67838202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.88119381700002 meters 0.060545248976401914 Centerline is valid? [True, True] Translation: X:221.94, Y:-80.65, Z:-26.78 [[ 9.40851511e-01 3.38321565e-01 1.83562804e-02 2.21943132e+02] [-3.38262331e-01 9.41030529e-01 -6.33549025e-03 -8.06481598e+01] [-1.94172532e-02 -2.48482629e-04 9.99811436e-01 -2.67776269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.91119381700003 meters 0.06046158045899826 Centerline is valid? [True, True] Translation: X:221.97, Y:-80.67, Z:-26.78 [[ 9.40137958e-01 3.39988880e-01 2.34132812e-02 2.21967775e+02] [-3.39893605e-01 9.40429378e-01 -8.05746039e-03 -8.06655600e+01] [-2.47579844e-02 -3.82900173e-04 9.99693401e-01 -2.67756291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.94119381700003 meters 0.06089694555809325 Centerline is valid? [True, True] Translation: X:221.99, Y:-80.68, Z:-26.78 [[ 9.40273630e-01 3.39497643e-01 2.50370104e-02 2.21992246e+02] [-3.39388498e-01 9.40606823e-01 -8.61699688e-03 -8.06788748e+01] [-2.64754330e-02 -3.94938439e-04 9.99649386e-01 -2.67789175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.97119381700003 meters 0.06012820039365495 Centerline is valid? [True, True] Translation: X:222.02, Y:-80.70, Z:-26.78 [[ 9.40546437e-01 3.38647958e-01 2.62670960e-02 2.22017404e+02] [-3.38527405e-01 9.40913073e-01 -9.04349249e-03 -8.06958990e+01] [-2.77776143e-02 -3.86307201e-04 9.99614053e-01 -2.67775594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.00119381700003 meters 0.06034748040188783 Centerline is valid? [True, True] Translation: X:222.04, Y:-80.71, Z:-26.78 [[ 9.40643600e-01 3.38368215e-01 2.63925715e-02 2.22041617e+02] [-3.38246604e-01 9.41013709e-01 -9.07929865e-03 -8.07104906e+01] [-2.79079177e-02 -3.86813514e-04 9.99610423e-01 -2.67799978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.03119381700003 meters 0.06004850429117517 Centerline is valid? [True, True] Translation: X:222.07, Y:-80.73, Z:-26.78 [[ 9.40978478e-01 3.37547134e-01 2.49286247e-02 2.22066173e+02] [-3.37438598e-01 9.41308562e-01 -8.56641793e-03 -8.07267297e+01] [-2.63570977e-02 -3.51065265e-04 9.99652530e-01 -2.67816007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.06119381700003 meters 0.06057141240139529 Centerline is valid? [True, True] Translation: X:222.09, Y:-80.75, Z:-26.79 [[ 9.41044331e-01 3.37471631e-01 2.34193284e-02 2.22087897e+02] [-3.37376093e-01 9.41335638e-01 -8.03666995e-03 -8.07471059e+01] [-2.47575965e-02 -3.38258809e-04 9.99693427e-01 -2.67859893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.09119381700003 meters 0.060702201878706626 Centerline is valid? [True, True] Translation: X:222.11, Y:-80.76, Z:-26.79 [[ 9.41164555e-01 3.37200653e-01 2.24722223e-02 2.22113566e+02] [-3.37112608e-01 9.41432748e-01 -7.71171306e-03 -8.07621131e+01] [-2.37564806e-02 -3.17678478e-04 9.99717725e-01 -2.67887247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.12119381700003 meters 0.06108393917624785 Centerline is valid? [True, True] Translation: X:222.14, Y:-80.78, Z:-26.79 [[ 9.41126620e-01 3.37369862e-01 2.15002491e-02 2.22139276e+02] [-3.37289460e-01 9.41372125e-01 -7.37176117e-03 -8.07765724e+01] [-2.27267452e-02 -3.14046729e-04 9.99741665e-01 -2.67914321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.15119381700003 meters 0.06148933656800531 Centerline is valid? [True, True] Translation: X:222.16, Y:-80.80, Z:-26.79 [[ 9.40683626e-01 3.38734670e-01 1.93167868e-02 2.22163016e+02] [-3.38670368e-01 9.40881883e-01 -6.60793561e-03 -8.07995527e+01] [-2.04131516e-02 -3.26046446e-04 9.99791577e-01 -2.67938060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.18119381700004 meters 0.06148933656800531 Centerline is valid? [True, True] Translation: X:222.19, Y:-80.81, Z:-26.80 [[ 9.40799092e-01 3.38414049e-01 1.93131890e-02 2.22189098e+02] [-3.38349464e-01 9.40997256e-01 -6.61846444e-03 -8.08081946e+01] [-2.04134392e-02 -3.07961795e-04 9.99791577e-01 -2.67954734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.21119381700004 meters 0.062394177761649926 Centerline is valid? [True, True] Translation: X:222.21, Y:-80.82, Z:-26.80 [[ 9.40542393e-01 3.39213905e-01 1.77181608e-02 2.22213082e+02] [-3.39159911e-01 9.40709217e-01 -6.06000809e-03 -8.08218870e+01] [-1.87232762e-02 -3.09595336e-04 9.99824656e-01 -2.68006311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.24119381700004 meters 0.06228647291696952 Centerline is valid? [True, True] Translation: X:222.24, Y:-80.84, Z:-26.80 [[ 9.40297406e-01 3.39931205e-01 1.69577251e-02 2.22237869e+02] [-3.39881982e-01 9.40450252e-01 -5.79326561e-03 -8.08372139e+01] [-1.79172086e-02 -3.16232590e-04 9.99839424e-01 -2.68013359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.27119381700004 meters 0.06263516662194775 Centerline is valid? [True, True] Translation: X:222.26, Y:-80.85, Z:-26.80 [[ 9.40026863e-01 3.40678569e-01 1.69590505e-02 2.22263630e+02] [-3.40629513e-01 9.40179771e-01 -5.79078351e-03 -8.08512476e+01] [-1.79173521e-02 -3.33261063e-04 9.99839416e-01 -2.68034985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.30119381700004 meters 0.06266353119265988 Centerline is valid? [True, True] Translation: X:222.29, Y:-80.87, Z:-26.81 [[ 9.39989797e-01 3.40769359e-01 1.71879526e-02 2.22288889e+02] [-3.40719016e-01 9.40146865e-01 -5.86723941e-03 -8.08654482e+01] [-1.81585752e-02 -3.41117132e-04 9.99835061e-01 -2.68058390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.33119381700004 meters 0.06272213588435607 Centerline is valid? [True, True] Translation: X:222.31, Y:-80.88, Z:-26.81 [[ 9.39953205e-01 3.40837903e-01 1.78184164e-02 2.22314160e+02] [-3.40783846e-01 9.40122012e-01 -6.08058827e-03 -8.08793825e+01] [-1.88239804e-02 -3.56760023e-04 9.99822750e-01 -2.68080722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.36119381700004 meters 0.06284469437738603 Centerline is valid? [True, True] Translation: X:222.34, Y:-80.90, Z:-26.81 [[ 9.40540294e-01 3.39319397e-01 1.56940170e-02 2.22336613e+02] [-3.39277265e-01 9.40671177e-01 -5.35478927e-03 -8.09019807e+01] [-1.65798933e-02 -2.88228097e-04 9.99862503e-01 -2.68117856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39119381700004 meters 0.06257917169983693 Centerline is valid? [True, True] Translation: X:222.36, Y:-80.92, Z:-26.81 [[ 9.41234036e-01 3.37370081e-01 1.61219831e-02 2.22360712e+02] [-3.37325362e-01 9.41372062e-01 -5.49914354e-03 -8.09193370e+01] [-1.70320310e-02 -2.62372710e-04 9.99854910e-01 -2.68139867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42119381700002 meters 0.061974304541852876 Centerline is valid? [True, True] Translation: X:222.39, Y:-80.94, Z:-26.81 [[ 9.42157934e-01 3.34771584e-01 1.63221785e-02 2.22385011e+02] [-3.34725382e-01 9.42299283e-01 -5.56597575e-03 -8.09382514e+01] [-1.72437076e-02 -2.19419214e-04 9.99851292e-01 -2.68142966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45119381700002 meters 0.06155975903641748 Centerline is valid? [True, True] Translation: X:222.41, Y:-80.96, Z:-26.82 [[ 9.43161407e-01 3.31876476e-01 1.74517863e-02 2.22408671e+02] [-3.31823198e-01 9.43322836e-01 -5.94916672e-03 -8.09563697e+01] [-1.84370570e-02 -1.79883091e-04 9.99830007e-01 -2.68161751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48119381700002 meters 0.06022281986462923 Centerline is valid? [True, True] Translation: X:222.43, Y:-80.98, Z:-26.81 [[ 9.45083654e-01 3.26118018e-01 2.15389189e-02 2.22431935e+02] [-3.26035528e-01 9.45329059e-01 -7.33513606e-03 -8.09838610e+01] [-2.27534860e-02 -9.01356192e-05 9.99741102e-01 -2.68130555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51119381700002 meters 0.05994198807853388 Centerline is valid? [True, True] Translation: X:222.46, Y:-81.00, Z:-26.81 [[ 9.46034514e-01 3.23271062e-01 2.26830328e-02 2.22459530e+02] [-3.23178992e-01 9.46306409e-01 -7.71489692e-03 -8.10022309e+01] [-2.39591022e-02 -3.21209166e-05 9.99712939e-01 -2.68140447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54119381700002 meters 0.06011988955367707 Centerline is valid? [True, True] Translation: X:222.49, Y:-81.02, Z:-26.82 [[ 9.47000549e-01 3.20490583e-01 2.18116384e-02 2.22486762e+02] [-3.20404547e-01 9.47251701e-01 -7.42574874e-03 -8.10195504e+01] [-2.30409941e-02 4.36400081e-05 9.99734520e-01 -2.68170419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57119381700002 meters 0.060248739017808556 Centerline is valid? [True, True] Translation: X:222.52, Y:-81.04, Z:-26.82 [[ 9.48048086e-01 3.17439566e-01 2.09033396e-02 2.22515018e+02] [-3.17359708e-01 9.48278497e-01 -7.12089226e-03 -8.10371776e+01] [-2.20826404e-02 1.17070525e-04 9.99756142e-01 -2.68182094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60119381700002 meters 0.06120423158379144 Centerline is valid? [True, True] Translation: X:222.54, Y:-81.06, Z:-26.82 [[ 9.50294410e-01 3.10593007e-01 2.17375020e-02 2.22539710e+02] [-3.10504646e-01 9.50542948e-01 -7.41406746e-03 -8.10619114e+01] [-2.29651868e-02 2.95951499e-04 9.99736222e-01 -2.68207498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.63119381700002 meters 0.061565979706598356 Centerline is valid? [True, True] Translation: X:222.57, Y:-81.08, Z:-26.82 [[ 9.51370513e-01 3.07153265e-01 2.34738011e-02 2.22569313e+02] [-3.07049023e-01 9.51659970e-01 -8.01237400e-03 -8.10786265e+01] [-2.48001037e-02 4.15128687e-04 9.99692344e-01 -2.68210298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.66119381700003 meters 0.06222508877528633 Centerline is valid? [True, True] Translation: X:222.60, Y:-81.10, Z:-26.82 [[ 9.52288327e-01 3.04156904e-01 2.52095399e-02 2.22598413e+02] [-3.04035322e-01 9.52621796e-01 -8.61608317e-03 -8.10952732e+01] [-2.66357983e-02 5.40404845e-04 9.99645058e-01 -2.68215458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.69119381700003 meters 0.06497528665613897 Centerline is valid? [True, True] Translation: X:222.62, Y:-81.12, Z:-26.82 [[ 9.54842908e-01 2.95820047e-01 2.76680678e-02 2.22623277e+02] [-2.95669649e-01 9.55243296e-01 -9.47118601e-03 -8.11187384e+01] [-2.92315030e-02 8.62886896e-04 9.99572296e-01 -2.68224540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.72119381700003 meters 0.06757650134236277 Centerline is valid? [True, True] Translation: X:222.65, Y:-81.14, Z:-26.83 [[ 9.56040048e-01 2.92030636e-01 2.65618824e-02 2.22649333e+02] [-2.91890117e-01 9.56408488e-01 -9.10844954e-03 -8.11355903e+01] [-2.80639561e-02 9.54891575e-04 9.99605674e-01 -2.68267750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.75119381700003 meters 0.06810784969852275 Centerline is valid? [True, True] Translation: X:222.68, Y:-81.15, Z:-26.83 [[ 9.56864892e-01 2.89417405e-01 2.54390194e-02 2.22678952e+02] [-2.89287820e-01 9.57202489e-01 -8.71502509e-03 -8.11468200e+01] [-2.68725726e-02 9.79903086e-04 9.99638387e-01 -2.68290642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.78119381700003 meters 0.06923599048067185 Centerline is valid? [True, True] Translation: X:222.71, Y:-81.16, Z:-26.83 [[ 9.57863135e-01 2.86201280e-01 2.42289488e-02 2.22707756e+02] [-2.86082321e-01 9.58168962e-01 -8.31544094e-03 -8.11585695e+01] [-2.55953165e-02 1.03358043e-03 9.99671852e-01 -2.68319021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.81119381700003 meters 0.07170694199320345 Centerline is valid? [True, True] Translation: X:222.74, Y:-81.17, Z:-26.84 [[ 9.58618479e-01 2.83696780e-01 2.38064973e-02 2.22735295e+02] [-2.83581235e-01 9.58913434e-01 -8.16760118e-03 -8.11727042e+01] [-2.51454923e-02 1.07853750e-03 9.99683220e-01 -2.68363581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.84119381700003 meters 0.07429264291314033 Centerline is valid? [True, True] Translation: X:222.76, Y:-81.19, Z:-26.84 [[ 9.60099080e-01 2.78701524e-01 2.31347423e-02 2.22763512e+02] [-2.78590771e-01 9.60377041e-01 -7.94485494e-03 -8.11853047e+01] [-2.44323186e-02 1.18272223e-03 9.99700787e-01 -2.68391302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.87119381700003 meters 0.07642026977931661 Centerline is valid? [True, True] Translation: X:222.79, Y:-81.20, Z:-26.84 [[ 9.60669061e-01 2.76783230e-01 2.24943987e-02 2.22791762e+02] [-2.76677981e-01 9.60931635e-01 -7.72574393e-03 -8.11967672e+01] [-2.37539357e-02 1.19817836e-03 9.99717117e-01 -2.68426582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.90119381700003 meters 0.0764851394424701 Centerline is valid? [True, True] Translation: X:222.82, Y:-81.20, Z:-26.84 [[ 9.61072034e-01 2.75495243e-01 2.10455936e-02 2.22822971e+02] [-2.75402827e-01 9.61301747e-01 -7.22731553e-03 -8.12044380e+01] [-2.22222569e-02 1.14995487e-03 9.99752394e-01 -2.68439505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.93119381700004 meters 0.07772189671679687 Centerline is valid? [True, True] Translation: X:222.85, Y:-81.21, Z:-26.85 [[ 9.61275889e-01 2.74786843e-01 2.09965790e-02 2.22853202e+02] [-2.74694829e-01 9.61504473e-01 -7.20414939e-03 -8.12143172e+01] [-2.21679101e-02 1.15752343e-03 9.99753592e-01 -2.68466076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.96119381700004 meters 0.07954203398782621 Centerline is valid? [True, True] Translation: X:222.88, Y:-81.22, Z:-26.85 [[ 9.61582203e-01 2.73778904e-01 2.01191084e-02 2.22884266e+02] [-2.73694062e-01 9.61791982e-01 -6.90963858e-03 -8.12201977e+01] [-2.12421104e-02 1.13770500e-03 9.99773714e-01 -2.68492672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.99119381700004 meters 0.07848894750438541 Centerline is valid? [True, True] Translation: X:222.92, Y:-81.22, Z:-26.85 [[ 9.61689045e-01 2.73349402e-01 2.08394939e-02 2.22917824e+02] [-2.73258185e-01 9.61914073e-01 -7.16110181e-03 -8.12239976e+01] [-2.20032854e-02 1.19219088e-03 9.99757188e-01 -2.68497823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.02119381700004 meters 0.08187421216735853 Centerline is valid? [True, True] Translation: X:222.95, Y:-81.23, Z:-26.85 [[ 9.61682589e-01 2.73237244e-01 2.25390116e-02 2.22946900e+02] [-2.73130210e-01 9.61945792e-01 -7.75764557e-03 -8.12334519e+01] [-2.38009851e-02 1.30430770e-03 9.99715866e-01 -2.68538233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.05119381700004 meters 0.08089136972287651 Centerline is valid? [True, True] Translation: X:222.98, Y:-81.24, Z:-26.85 [[ 9.61215552e-01 2.74745721e-01 2.40717974e-02 2.22978858e+02] [-2.74623677e-01 9.61515946e-01 -8.30194475e-03 -8.12362012e+01] [-2.54263408e-02 1.36927291e-03 9.99675761e-01 -2.68539896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.08119381700004 meters 0.07800665915964201 Centerline is valid? [True, True] Translation: X:223.01, Y:-81.23, Z:-26.85 [[ 9.59928748e-01 2.78977361e-01 2.66163720e-02 2.23013283e+02] [-2.78829687e-01 9.60296669e-01 -9.18222340e-03 -8.12295605e+01] [-2.81212459e-02 1.39284552e-03 9.99603549e-01 -2.68525330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.11119381700004 meters 0.07569145103055981 Centerline is valid? [True, True] Translation: X:223.05, Y:-81.23, Z:-26.85 [[ 9.59358228e-01 2.80812944e-01 2.78546195e-02 2.23046590e+02] [-2.80652014e-01 9.59761496e-01 -9.60818464e-03 -8.12295781e+01] [-2.94318939e-02 1.40023593e-03 9.99565807e-01 -2.68521357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14119381700004 meters 0.07553922874593373 Centerline is valid? [True, True] Translation: X:223.08, Y:-81.23, Z:-26.86 [[ 9.59108642e-01 2.81684876e-01 2.76449708e-02 2.23078411e+02] [-2.81526799e-01 9.59506008e-01 -9.53320233e-03 -8.12318668e+01] [-2.92108745e-02 1.36057662e-03 9.99572345e-01 -2.68553530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17119381700002 meters 0.0776022617305543 Centerline is valid? [True, True] Translation: X:223.11, Y:-81.23, Z:-26.86 [[ 9.59269755e-01 2.81289127e-01 2.60377547e-02 2.23111373e+02] [-2.81148532e-01 9.59622184e-01 -8.98706923e-03 -8.12296342e+01] [-2.75143718e-02 1.30054719e-03 9.99620562e-01 -2.68617948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20119381700002 meters 0.0777570391291288 Centerline is valid? [True, True] Translation: X:223.14, Y:-81.23, Z:-26.86 [[ 9.59905996e-01 2.79204215e-01 2.50097090e-02 2.23142344e+02] [-2.79073754e-01 9.60230855e-01 -8.63394407e-03 -8.12338894e+01] [-2.64257278e-02 1.30822130e-03 9.99649923e-01 -2.68638632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23119381700002 meters 0.08018735543890489 Centerline is valid? [True, True] Translation: X:223.17, Y:-81.24, Z:-26.87 [[ 9.60799315e-01 2.76221688e-01 2.37961071e-02 2.23171833e+02] [-2.76102659e-01 9.61093038e-01 -8.21543747e-03 -8.12423551e+01] [-2.51395548e-02 1.32321826e-03 9.99683076e-01 -2.68676450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26119381700002 meters 0.08278691115520609 Centerline is valid? [True, True] Translation: X:223.20, Y:-81.25, Z:-26.87 [[ 9.61868658e-01 2.72543362e-01 2.29956476e-02 2.23201630e+02] [-2.72431148e-01 9.62142522e-01 -7.93955913e-03 -8.12511545e+01] [-2.42889645e-02 1.37208242e-03 9.99704038e-01 -2.68701142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29119381700002 meters 0.08767966147806211 Centerline is valid? [True, True] Translation: X:223.23, Y:-81.26, Z:-26.87 [[ 9.63613890e-01 2.66353394e-01 2.24530602e-02 2.23230901e+02] [-2.66244789e-01 9.63874291e-01 -7.75001076e-03 -8.12566775e+01] [-2.37061692e-02 1.49000773e-03 9.99717859e-01 -2.68735187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32119381700002 meters 0.08126279408753467 Centerline is valid? [True, True] Translation: X:223.27, Y:-81.25, Z:-26.87 [[ 9.64152228e-01 2.64450740e-01 2.18240222e-02 2.23266218e+02] [-2.64347565e-01 9.64398032e-01 -7.53661297e-03 -8.12514063e+01] [-2.30401069e-02 1.49731505e-03 9.99733420e-01 -2.68686945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35119381700002 meters 0.09026494836244654 Centerline is valid? [True, True] Translation: X:223.29, Y:-81.27, Z:-26.88 [[ 9.64339874e-01 2.63833149e-01 2.09922989e-02 2.23292144e+02] [-2.63737525e-01 9.64567235e-01 -7.25026770e-03 -8.12687832e+01] [-2.21613447e-02 1.45526529e-03 9.99753348e-01 -2.68788886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.38119381700002 meters 0.09022698950766303 Centerline is valid? [True, True] Translation: X:223.32, Y:-81.27, Z:-26.88 [[ 9.64266237e-01 2.64153940e-01 2.03302872e-02 2.23324486e+02] [-2.64064300e-01 9.64479511e-01 -7.02270490e-03 -8.12718430e+01] [-2.14632206e-02 1.40325416e-03 9.99768654e-01 -2.68820006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.41119381700003 meters 0.07975168963459218 Centerline is valid? [True, True] Translation: X:223.36, Y:-81.26, Z:-26.88 [[ 9.63876525e-01 2.65554680e-01 2.05610679e-02 2.23362455e+02] [-2.65463296e-01 9.64094801e-01 -7.10304952e-03 -8.12588694e+01] [-2.17090667e-02 1.38825383e-03 9.99763367e-01 -2.68751270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.44119381700003 meters 0.08131892993663624 Centerline is valid? [True, True] Translation: X:223.39, Y:-81.26, Z:-26.88 [[ 9.63128115e-01 2.68138051e-01 2.20503895e-02 2.23393826e+02] [-2.68033515e-01 9.63379436e-01 -7.62209859e-03 -8.12570398e+01] [-2.32866665e-02 1.43081403e-03 9.99727805e-01 -2.68795560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.47119381700003 meters 0.08714173105583958 Centerline is valid? [True, True] Translation: X:223.42, Y:-81.27, Z:-26.89 [[ 9.62673368e-01 2.69596517e-01 2.40355049e-02 2.23419827e+02] [-2.69472797e-01 9.62972174e-01 -8.30683764e-03 -8.12693531e+01] [-2.53850169e-02 1.51985664e-03 9.99676593e-01 -2.68863851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.50119381700003 meters 0.07638576143419176 Centerline is valid? [True, True] Translation: X:223.46, Y:-81.26, Z:-26.88 [[ 9.62084915e-01 2.71725081e-01 2.36240458e-02 2.23456044e+02] [-2.71606204e-01 9.62373842e-01 -8.16451852e-03 -8.12557679e+01] [-2.49536681e-02 1.43852272e-03 9.99687574e-01 -2.68783592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.53119381700003 meters 0.07469864125509978 Centerline is valid? [True, True] Translation: X:223.49, Y:-81.26, Z:-26.88 [[ 9.61195965e-01 2.74797000e-01 2.42678021e-02 2.23487166e+02] [-2.74672595e-01 9.61501257e-01 -8.38442426e-03 -8.12562845e+01] [-2.56375368e-02 1.39337459e-03 9.99670333e-01 -2.68794354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.56119381700003 meters 0.07122137080597887 Centerline is valid? [True, True] Translation: X:223.52, Y:-81.25, Z:-26.88 [[ 9.58820397e-01 2.82997488e-01 2.39972399e-02 2.23522420e+02] [-2.82878433e-01 9.59119949e-01 -8.28948362e-03 -8.12457663e+01] [-2.53621345e-02 1.15982436e-03 9.99677657e-01 -2.68827260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.59119381700003 meters 0.0687163789320499 Centerline is valid? [True, True] Translation: X:223.56, Y:-81.24, Z:-26.88 [[ 9.57357208e-01 2.87973058e-01 2.32097695e-02 2.23555177e+02] [-2.87863175e-01 9.57637996e-01 -8.01632659e-03 -8.12430916e+01] [-2.45350433e-02 9.93250110e-04 9.99698477e-01 -2.68846956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.62119381700003 meters 0.06706065206478214 Centerline is valid? [True, True] Translation: X:223.59, Y:-81.24, Z:-26.89 [[ 9.55672757e-01 2.93534383e-01 2.29596935e-02 2.23586139e+02] [-2.93428448e-01 9.55948146e-01 -7.93022150e-03 -8.12420512e+01] [-2.42760691e-02 8.41669414e-04 9.99704939e-01 -2.68872066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.65119381700003 meters 0.06501196430572798 Centerline is valid? [True, True] Translation: X:223.62, Y:-81.24, Z:-26.89 [[ 9.53983217e-01 2.98973964e-01 2.30345550e-02 2.23618905e+02] [-2.98868964e-01 9.54261009e-01 -7.95420309e-03 -8.12401838e+01] [-2.43590774e-02 7.03862662e-04 9.99703026e-01 -2.68886766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.68119381700004 meters 0.062396785929349795 Centerline is valid? [True, True] Translation: X:223.65, Y:-81.23, Z:-26.89 [[ 9.51114099e-01 3.07678950e-01 2.67513271e-02 2.23654086e+02] [-3.07540783e-01 9.51490069e-01 -9.23660278e-03 -8.12321834e+01] [-2.82955303e-02 5.57939068e-04 9.99599446e-01 -2.68871020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.71119381700004 meters 0.061790803113056444 Centerline is valid? [True, True] Translation: X:223.68, Y:-81.24, Z:-26.89 [[ 9.50137727e-01 3.10430879e-01 2.95121907e-02 2.23683320e+02] [-3.10264009e-01 9.50595809e-01 -1.01907680e-02 -8.12360386e+01] [-3.12176939e-02 5.26062515e-04 9.99512471e-01 -2.68874829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.74119381700004 meters 0.06126028147628822 Centerline is valid? [True, True] Translation: X:223.71, Y:-81.24, Z:-26.89 [[ 9.49709473e-01 3.11615304e-01 3.07866616e-02 2.23712147e+02] [-3.11434182e-01 9.50208209e-01 -1.06353280e-02 -8.12409199e+01] [-3.25678695e-02 5.12452964e-04 9.99469395e-01 -2.68875468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.77119381700004 meters 0.061022190667029214 Centerline is valid? [True, True] Translation: X:223.74, Y:-81.25, Z:-26.89 [[ 9.49572713e-01 3.11867106e-01 3.24125254e-02 2.23739543e+02] [-3.11667071e-01 9.50125594e-01 -1.11800414e-02 -8.12459207e+01] [-3.42826571e-02 5.14345432e-04 9.99412045e-01 -2.68884997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.80119381700004 meters 0.06089419968973119 Centerline is valid? [True, True] Translation: X:223.77, Y:-81.25, Z:-26.89 [[ 9.50025829e-01 3.10445803e-01 3.27769455e-02 2.23766296e+02] [-3.10240308e-01 9.50590908e-01 -1.13082961e-02 -8.12539166e+01] [-3.46680794e-02 5.74443666e-04 9.99398716e-01 -2.68892077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.83119381700004 meters 0.0612103509590216 Centerline is valid? [True, True] Translation: X:223.79, Y:-81.26, Z:-26.89 [[ 9.50470876e-01 3.09143589e-01 3.21769412e-02 2.23793007e+02] [-3.08945429e-01 9.51015189e-01 -1.10829689e-02 -8.12632306e+01] [-3.40269886e-02 5.93120239e-04 9.99420738e-01 -2.68917181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.86119381700004 meters 0.06190736583949918 Centerline is valid? [True, True] Translation: X:223.82, Y:-81.27, Z:-26.90 [[ 9.50871087e-01 3.07949709e-01 3.17986374e-02 2.23818084e+02] [-3.07755640e-01 9.51402431e-01 -1.09489650e-02 -8.12739228e+01] [-3.36250315e-02 6.24844231e-04 9.99434323e-01 -2.68959415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89119381700004 meters 0.062162260405912335 Centerline is valid? [True, True] Translation: X:223.84, Y:-81.28, Z:-26.90 [[ 9.51199210e-01 3.07046177e-01 3.07035511e-02 2.23844932e+02] [-3.06864718e-01 9.51694405e-01 -1.05737427e-02 -8.12840154e+01] [-3.24670250e-02 6.35899196e-04 9.99472605e-01 -2.68989811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92119381700002 meters 0.0625840837703989 Centerline is valid? [True, True] Translation: X:223.87, Y:-81.29, Z:-26.90 [[ 9.51517664e-01 3.06164479e-01 2.96217221e-02 2.23871455e+02] [-3.05995428e-01 9.51978419e-01 -1.01925506e-02 -8.12943177e+01] [-3.13198371e-02 6.34280397e-04 9.99509212e-01 -2.69021864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95119381700002 meters 0.06253209028545277 Centerline is valid? [True, True] Translation: X:223.90, Y:-81.31, Z:-26.90 [[ 9.52051230e-01 3.04786699e-01 2.65240347e-02 2.23899017e+02] [-3.04651035e-01 9.52420450e-01 -9.11221626e-03 -8.13055478e+01] [-2.80393154e-02 5.94722061e-04 9.99606644e-01 -2.69042483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98119381700002 meters 0.062756007452073 Centerline is valid? [True, True] Translation: X:223.93, Y:-81.32, Z:-26.91 [[ 9.52227082e-01 3.04294260e-01 2.58570579e-02 2.23925409e+02] [-3.04164943e-01 9.52577893e-01 -8.89077638e-03 -8.13166442e+01] [-2.73362739e-02 6.01227525e-04 9.99626113e-01 -2.69067345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01119381700002 meters 0.06296543137658746 Centerline is valid? [True, True] Translation: X:223.95, Y:-81.33, Z:-26.91 [[ 9.52573249e-01 3.03179536e-01 2.61987586e-02 2.23950607e+02] [-3.03046782e-01 9.52933249e-01 -8.99286550e-03 -8.13279451e+01] [-2.76921209e-02 6.26913607e-04 9.99616303e-01 -2.69088255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04119381700002 meters 0.06299149180041701 Centerline is valid? [True, True] Translation: X:223.98, Y:-81.34, Z:-26.91 [[ 9.52832035e-01 3.02285238e-01 2.71062509e-02 2.23977691e+02] [-3.02142680e-01 9.53217276e-01 -9.30729938e-03 -8.13391100e+01] [-2.86516059e-02 6.78337697e-04 9.99589228e-01 -2.69097677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07119381700002 meters 0.06299149180041701 Centerline is valid? [True, True] Translation: X:224.00, Y:-81.35, Z:-26.91 [[ 9.52932984e-01 3.01966648e-01 2.71085246e-02 2.24003732e+02] [-3.01824150e-01 9.53318247e-01 -9.30066987e-03 -8.13477731e+01] [-2.86515432e-02 6.80907697e-04 9.99589228e-01 -2.69114338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10119381700002 meters 0.06328764920687145 Centerline is valid? [True, True] Translation: X:224.03, Y:-81.36, Z:-26.91 [[ 9.53471886e-01 3.00115116e-01 2.86754165e-02 2.24028535e+02] [-2.99955414e-01 9.53902688e-01 -9.81892035e-03 -8.13600400e+01] [-3.03003633e-02 7.60718091e-04 9.99540549e-01 -2.69123024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.13119381700002 meters 0.06366508511039183 Centerline is valid? [True, True] Translation: X:224.05, Y:-81.37, Z:-26.91 [[ 9.53772372e-01 2.99149732e-01 2.87697764e-02 2.24053721e+02] [-2.98988641e-01 9.54205854e-01 -9.84784915e-03 -8.13713958e+01] [-3.03982705e-02 7.90770110e-04 9.99537553e-01 -2.69143162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.16119381700003 meters 0.06378826031844781 Centerline is valid? [True, True] Translation: X:224.08, Y:-81.38, Z:-26.92 [[ 9.54160532e-01 2.97856508e-01 2.93117543e-02 2.24079862e+02] [-2.97688610e-01 9.54610276e-01 -1.00355937e-02 -8.13833104e+01] [-3.09704687e-02 8.49792048e-04 9.99519939e-01 -2.69151267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.19119381700003 meters 0.06405289010144578 Centerline is valid? [True, True] Translation: X:224.11, Y:-81.40, Z:-26.92 [[ 9.54549159e-01 2.96508882e-01 3.03048825e-02 2.24105498e+02] [-2.96329019e-01 9.55029657e-01 -1.03666280e-02 -8.13956675e+01] [-3.20158589e-02 9.15239940e-04 9.99486942e-01 -2.69162740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.22119381700003 meters 0.06373140471640666 Centerline is valid? [True, True] Translation: X:224.13, Y:-81.41, Z:-26.92 [[ 9.54989937e-01 2.95021984e-01 3.09232698e-02 2.24132221e+02] [-2.94834337e-01 9.55489970e-01 -1.05655597e-02 -8.14077518e+01] [-3.26639465e-02 9.72761414e-04 9.99465918e-01 -2.69158119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.25119381700003 meters 0.06335951329411121 Centerline is valid? [True, True] Translation: X:224.16, Y:-81.42, Z:-26.92 [[ 9.55029476e-01 2.94796221e-01 3.18416137e-02 2.24160146e+02] [-2.94597519e-01 9.55559622e-01 -1.08678925e-02 -8.14168028e+01] [-3.36303740e-02 9.98697286e-04 9.99433840e-01 -2.69161430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.28119381700003 meters 0.06272473276007326 Centerline is valid? [True, True] Translation: X:224.19, Y:-81.43, Z:-26.92 [[ 9.54355634e-01 2.97043718e-01 3.11504847e-02 2.24187277e+02] [-2.96855026e-01 9.54863464e-01 -1.06234829e-02 -8.14250575e+01] [-3.29000986e-02 8.91402789e-04 9.99458248e-01 -2.69184176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.31119381700003 meters 0.06252935464220048 Centerline is valid? [True, True] Translation: X:224.21, Y:-81.43, Z:-26.92 [[ 9.54010278e-01 2.98326289e-01 2.94247447e-02 2.24213332e+02] [-2.98158948e-01 9.54463622e-01 -1.00218073e-02 -8.14342836e+01] [-3.10746169e-02 7.87656198e-04 9.99516757e-01 -2.69217363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.34119381700003 meters 0.06251765858104012 Centerline is valid? [True, True] Translation: X:224.24, Y:-81.44, Z:-26.92 [[ 9.53729047e-01 2.99301137e-01 2.86310145e-02 2.24238523e+02] [-2.99143300e-01 9.54158423e-01 -9.74629559e-03 -8.14440071e+01] [-3.02356010e-02 7.30549052e-04 9.99542533e-01 -2.69242221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.37119381700003 meters 0.06259433773700321 Centerline is valid? [True, True] Translation: X:224.27, Y:-81.46, Z:-26.93 [[ 9.53785049e-01 2.99215530e-01 2.76431962e-02 2.24265020e+02] [-2.99068347e-01 9.54185288e-01 -9.41060221e-03 -8.14552528e+01] [-2.91925294e-02 7.08486723e-04 9.99573556e-01 -2.69265729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.40119381700003 meters 0.06293820192788635 Centerline is valid? [True, True] Translation: X:224.29, Y:-81.47, Z:-26.93 [[ 9.54238751e-01 2.97736029e-01 2.79582402e-02 2.24290995e+02] [-2.97585109e-01 9.54647940e-01 -9.50861853e-03 -8.14675881e+01] [-2.95213347e-02 7.53536313e-04 9.99563866e-01 -2.69280983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.43119381700004 meters 0.06336800757928673 Centerline is valid? [True, True] Translation: X:224.32, Y:-81.48, Z:-26.93 [[ 9.54755836e-01 2.96058297e-01 2.81207705e-02 2.24316523e+02] [-2.95905342e-01 9.55169541e-01 -9.54864412e-03 -8.14804054e+01] [-2.96870588e-02 7.95537483e-04 9.99558926e-01 -2.69295389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.46119381700004 meters 0.06408401511232471 Centerline is valid? [True, True] Translation: X:224.34, Y:-81.50, Z:-26.93 [[ 9.56255161e-01 2.90997665e-01 2.99403724e-02 2.24341180e+02] [-2.90821857e-01 9.56723227e-01 -1.01643436e-02 -8.14968371e+01] [-3.16024500e-02 1.01239136e-03 9.99500005e-01 -2.69265737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.49119381700004 meters 0.06421273925185303 Centerline is valid? [True, True] Translation: X:224.37, Y:-81.51, Z:-26.93 [[ 9.56933664e-01 2.88697557e-01 3.05234872e-02 2.24367368e+02] [-2.88513910e-01 9.57419712e-01 -1.03546214e-02 -8.15088129e+01] [-3.22131423e-02 1.10223513e-03 9.99480414e-01 -2.69257847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.52119381700004 meters 0.06482282682035155 Centerline is valid? [True, True] Translation: X:224.39, Y:-81.52, Z:-26.93 [[ 9.57650686e-01 2.86158613e-01 3.19125683e-02 2.24393604e+02] [-2.85956566e-01 9.58181462e-01 -1.08225913e-02 -8.15222694e+01] [-3.36750091e-02 1.23865355e-03 9.99432068e-01 -2.69263749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.55119381700004 meters 0.06626101721091278 Centerline is valid? [True, True] Translation: X:224.42, Y:-81.54, Z:-26.93 [[ 9.58358936e-01 2.83814090e-01 3.15865753e-02 2.24417593e+02] [-2.83614892e-01 9.58878435e-01 -1.07116565e-02 -8.15365634e+01] [-3.33278049e-02 1.30718855e-03 9.99443620e-01 -2.69293126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.58119381700004 meters 0.0662255971061503 Centerline is valid? [True, True] Translation: X:224.44, Y:-81.55, Z:-26.93 [[ 9.59362671e-01 2.80506287e-01 3.06510886e-02 2.24444929e+02] [-2.80317339e-01 9.59851209e-01 -1.03848642e-02 -8.15490550e+01] [-3.23335042e-02 1.37081946e-03 9.99476195e-01 -2.69296272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.61119381700004 meters 0.06709518011919445 Centerline is valid? [True, True] Translation: X:224.47, Y:-81.56, Z:-26.93 [[ 9.59634614e-01 2.79524881e-01 3.11006035e-02 2.24470978e+02] [-2.79329824e-01 9.60137392e-01 -1.05374985e-02 -8.15592929e+01] [-3.28063453e-02 1.42482218e-03 9.99460711e-01 -2.69317911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64119381700004 meters 0.06776601382641542 Centerline is valid? [True, True] Translation: X:224.50, Y:-81.57, Z:-26.93 [[ 9.59723605e-01 2.79189481e-01 3.13661638e-02 2.24496812e+02] [-2.78990987e-01 9.60234941e-01 -1.06248156e-02 -8.15682769e+01] [-3.30852232e-02 1.44600934e-03 9.99451488e-01 -2.69337686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67119381700002 meters 0.06689913142377164 Centerline is valid? [True, True] Translation: X:224.53, Y:-81.57, Z:-26.93 [[ 9.59598899e-01 2.79487260e-01 3.25088360e-02 2.24525310e+02] [-2.79274459e-01 9.60148259e-01 -1.10044661e-02 -8.15745562e+01] [-3.42889103e-02 1.48098600e-03 9.99410865e-01 -2.69334391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70119381700002 meters 0.06604654322701578 Centerline is valid? [True, True] Translation: X:224.55, Y:-81.58, Z:-26.93 [[ 9.58895889e-01 2.81465773e-01 3.59957373e-02 2.24553811e+02] [-2.81206412e-01 9.59570004e-01 -1.21803609e-02 -8.15801880e+01] [-3.79687845e-02 1.55746588e-03 9.99277712e-01 -2.69315796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73119381700002 meters 0.06477983155449125 Centerline is valid? [True, True] Translation: X:224.58, Y:-81.59, Z:-26.93 [[ 9.58390716e-01 2.82898566e-01 3.81528199e-02 2.24583229e+02] [-2.82608354e-01 9.59148515e-01 -1.29090391e-02 -8.15855043e+01] [-4.02461692e-02 1.58959753e-03 9.99188530e-01 -2.69301115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76119381700002 meters 0.06489143443722796 Centerline is valid? [True, True] Translation: X:224.61, Y:-81.59, Z:-26.93 [[ 9.57840506e-01 2.84548595e-01 3.96694191e-02 2.24610066e+02] [-2.84236553e-01 9.58660325e-01 -1.34150026e-02 -8.15932173e+01] [-4.18467183e-02 1.57393398e-03 9.99122803e-01 -2.69306198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79119381700002 meters 0.06380920918997825 Centerline is valid? [True, True] Translation: X:224.64, Y:-81.59, Z:-26.93 [[ 9.57184555e-01 2.86545817e-01 4.11001552e-02 2.24639769e+02] [-2.86212919e-01 9.58065310e-01 -1.38934098e-02 -8.15945876e+01] [-4.33577314e-02 1.53516185e-03 9.99058432e-01 -2.69316346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82119381700002 meters 0.0629564959207866 Centerline is valid? [True, True] Translation: X:224.67, Y:-81.60, Z:-26.93 [[ 9.57162308e-01 2.86682651e-01 4.06617133e-02 2.24667821e+02] [-2.86357062e-01 9.58024414e-01 -1.37424602e-02 -8.15987753e+01] [-4.28946389e-02 1.50999621e-03 9.99078460e-01 -2.69328818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85119381700002 meters 0.06320823905925528 Centerline is valid? [True, True] Translation: X:224.70, Y:-81.61, Z:-26.94 [[ 9.57410927e-01 2.86112168e-01 3.87832875e-02 2.24695526e+02] [-2.85815753e-01 9.58195021e-01 -1.31017729e-02 -8.16057322e+01] [-4.09105296e-02 1.45890599e-03 9.99161749e-01 -2.69365438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.88119381700002 meters 0.0640462473621907 Centerline is valid? [True, True] Translation: X:224.72, Y:-81.61, Z:-26.94 [[ 9.57371192e-01 2.86354765e-01 3.79650985e-02 2.24721199e+02] [-2.86071040e-01 9.58122615e-01 -1.28224070e-02 -8.16146376e+01] [-4.00469769e-02 1.41508790e-03 9.99196796e-01 -2.69403563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.91119381700003 meters 0.06401840038734152 Centerline is valid? [True, True] Translation: X:224.75, Y:-81.62, Z:-26.94 [[ 9.57291798e-01 2.86910452e-01 3.57044369e-02 2.24748633e+02] [-2.86660052e-01 9.57956517e-01 -1.20551080e-02 -8.16214513e+01] [-3.76620345e-02 1.30522031e-03 9.99289682e-01 -2.69436464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.94119381700003 meters 0.06173941993196354 Centerline is valid? [True, True] Translation: X:224.78, Y:-81.62, Z:-26.95 [[ 9.56419149e-01 2.90233117e-01 3.20491634e-02 2.24779811e+02] [-2.90033350e-01 9.56955398e-01 -1.08176695e-02 -8.16201746e+01] [-3.38092659e-02 1.05090002e-03 9.99427751e-01 -2.69464864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.97119381700003 meters 0.06167843038710485 Centerline is valid? [True, True] Translation: X:224.81, Y:-81.63, Z:-26.95 [[ 9.55880511e-01 2.92280589e-01 2.94024684e-02 2.24806538e+02] [-2.92113483e-01 9.56332188e-01 -9.92262306e-03 -8.16259662e+01] [-3.10187171e-02 8.95984551e-04 9.99518402e-01 -2.69513933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.00119381700003 meters 0.06268226922371549 Centerline is valid? [True, True] Translation: X:224.83, Y:-81.63, Z:-26.96 [[ 9.55283292e-01 2.94505593e-01 2.64629615e-02 2.24832788e+02] [-2.94371157e-01 9.55649470e-01 -8.92816210e-03 -8.16339600e+01] [-2.79187088e-02 7.38991487e-04 9.99609924e-01 -2.69602139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.03119381700003 meters 0.06126661164359405 Centerline is valid? [True, True] Translation: X:224.86, Y:-81.64, Z:-26.96 [[ 9.54892205e-01 2.96032336e-01 2.33609141e-02 2.24862667e+02] [-2.95927904e-01 9.55177719e-01 -7.88678160e-03 -8.16363996e+01] [-2.46485670e-02 6.17879919e-04 9.99695987e-01 -2.69602777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.06119381700003 meters 0.060859226110599476 Centerline is valid? [True, True] Translation: X:224.89, Y:-81.64, Z:-26.96 [[ 9.54136873e-01 2.98544792e-01 2.22223866e-02 2.24890746e+02] [-2.98451123e-01 9.54395482e-01 -7.49602092e-03 -8.16416631e+01] [-2.34468434e-02 5.19933712e-04 9.99724950e-01 -2.69636669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.09119381700003 meters 0.0598775684479293 Centerline is valid? [True, True] Translation: X:224.92, Y:-81.65, Z:-26.97 [[ 9.52927658e-01 3.02474975e-01 2.09229048e-02 2.24919934e+02] [-3.02393013e-01 9.53157246e-01 -7.05200895e-03 -8.16463468e+01] [-2.20758746e-02 3.93114147e-04 9.99756221e-01 -2.69651540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.12119381700003 meters 0.059819944334224336 Centerline is valid? [True, True] Translation: X:224.95, Y:-81.65, Z:-26.97 [[ 9.52683123e-01 3.03236898e-01 2.10297845e-02 2.24946801e+02] [-3.03154604e-01 9.52915133e-01 -7.07349761e-03 -8.16532299e+01] [-2.21845453e-02 3.63525806e-04 9.99753827e-01 -2.69670841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.15119381700003 meters 0.05949088751911533 Centerline is valid? [True, True] Translation: X:224.98, Y:-81.66, Z:-26.97 [[ 9.52316590e-01 3.04374528e-01 2.11957223e-02 2.24975465e+02] [-3.04291101e-01 9.52552375e-01 -7.13427839e-03 -8.16592031e+01] [-2.23615283e-02 3.44421992e-04 9.99749890e-01 -2.69684667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.18119381700004 meters 0.05889354617920586 Centerline is valid? [True, True] Translation: X:225.00, Y:-81.67, Z:-26.97 [[ 9.52151302e-01 3.04827105e-01 2.20982658e-02 2.25004373e+02] [-3.04736738e-01 9.52407644e-01 -7.42966442e-03 -8.16654532e+01] [-2.33113203e-02 3.40011215e-04 9.99728196e-01 -2.69670995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.21119381700004 meters 0.05820519517616042 Centerline is valid? [True, True] Translation: X:225.03, Y:-81.67, Z:-26.97 [[ 9.51307499e-01 3.07284853e-01 2.42911751e-02 2.25031752e+02] [-3.07176855e-01 9.51617535e-01 -8.15147159e-03 -8.16716624e+01] [-2.56207319e-02 2.92869298e-04 9.99671692e-01 -2.69659483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.24119381700004 meters 0.057701593969398265 Centerline is valid? [True, True] Translation: X:225.06, Y:-81.68, Z:-26.97 [[ 9.50485516e-01 3.09632340e-01 2.65536734e-02 2.25060156e+02] [-3.09504141e-01 9.50856325e-01 -8.91272473e-03 -8.16788615e+01] [-2.80083961e-02 2.52943877e-04 9.99607656e-01 -2.69661471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.27119381700004 meters 0.05720242744581206 Centerline is valid? [True, True] Translation: X:225.09, Y:-81.69, Z:-26.97 [[ 9.49857209e-01 3.11546867e-01 2.66426653e-02 2.25088197e+02] [-3.11418761e-01 9.50230768e-01 -8.93545088e-03 -8.16856351e+01] [-2.81004921e-02 1.90376618e-04 9.99605085e-01 -2.69655132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.30119381700004 meters 0.05710763876682993 Centerline is valid? [True, True] Translation: X:225.12, Y:-81.69, Z:-26.97 [[ 9.48698368e-01 3.14901828e-01 2.84296472e-02 2.25115272e+02] [-3.14757972e-01 9.49124245e-01 -9.51772517e-03 -8.16923831e+01] [-2.99804165e-02 8.09922440e-05 9.99550483e-01 -2.69695317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.33119381700004 meters 0.057024357512427 Centerline is valid? [True, True] Translation: X:225.14, Y:-81.70, Z:-26.97 [[ 9.48267970e-01 3.16250313e-01 2.78135988e-02 2.25142605e+02] [-3.16113116e-01 9.48675781e-01 -9.31449253e-03 -8.17008381e+01] [-2.93317987e-02 4.03915426e-05 9.99569729e-01 -2.69698488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.36119381700004 meters 0.056765784565221404 Centerline is valid? [True, True] Translation: X:225.17, Y:-81.71, Z:-26.97 [[ 9.47879389e-01 3.17356699e-01 2.84497710e-02 2.25169422e+02] [-3.17213934e-01 9.48306240e-01 -9.51810745e-03 -8.17103728e+01] [-2.99997305e-02 -2.64590146e-06 9.99549907e-01 -2.69697351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39119381700004 meters 0.05675849381866513 Centerline is valid? [True, True] Translation: X:225.20, Y:-81.72, Z:-26.97 [[ 9.47558390e-01 3.18128820e-01 3.04491465e-02 2.25195528e+02] [-3.17966235e-01 9.48047494e-01 -1.01696461e-02 -8.17205994e+01] [-3.21024946e-02 -4.54670206e-05 9.99484581e-01 -2.69718068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42119381700002 meters 0.05662009165362948 Centerline is valid? [True, True] Translation: X:225.22, Y:-81.73, Z:-26.97 [[ 9.47713900e-01 3.17626167e-01 3.08541972e-02 2.25221208e+02] [-3.17458861e-01 9.48216018e-01 -1.03079626e-02 -8.17324318e+01] [-3.25305226e-02 -2.59388650e-05 9.99470742e-01 -2.69727456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45119381700002 meters 0.056574477859432724 Centerline is valid? [True, True] Translation: X:225.24, Y:-81.75, Z:-26.97 [[ 9.48888289e-01 3.14124776e-01 3.06045868e-02 2.25243707e+02] [-3.13958931e-01 9.49381704e-01 -1.02063860e-02 -8.17512244e+01] [-3.22615134e-02 7.61367884e-05 9.99479459e-01 -2.69748885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48119381700002 meters 0.05671700846465922 Centerline is valid? [True, True] Translation: X:225.27, Y:-81.77, Z:-26.98 [[ 9.49630824e-01 3.11895600e-01 3.03715680e-02 2.25268759e+02] [-3.11731065e-01 9.50116367e-01 -1.01307364e-02 -8.17662984e+01] [-3.20162560e-02 1.52698278e-04 9.99487337e-01 -2.69783480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51119381700002 meters 0.05684568270078 Centerline is valid? [True, True] Translation: X:225.29, Y:-81.78, Z:-26.98 [[ 9.50464581e-01 3.09406667e-01 2.97421200e-02 2.25294166e+02] [-3.09247944e-01 9.50929790e-01 -9.91185302e-03 -8.17810931e+01] [-3.13494613e-02 2.23175803e-04 9.99508460e-01 -2.69796953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54119381700002 meters 0.05705800711862931 Centerline is valid? [True, True] Translation: X:225.32, Y:-81.80, Z:-26.98 [[ 9.51298599e-01 3.06883274e-01 2.92169633e-02 2.25319569e+02] [-3.06729201e-01 9.51747115e-01 -9.72762861e-03 -8.17956615e+01] [-3.07924070e-02 2.92183682e-04 9.99525759e-01 -2.69822370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57119381700002 meters 0.05754734568248163 Centerline is valid? [True, True] Translation: X:225.34, Y:-81.81, Z:-26.99 [[ 9.52244807e-01 3.04029189e-01 2.82148811e-02 2.25342617e+02] [-3.03884687e-01 9.52662650e-01 -9.37935461e-03 -8.18144648e+01] [-2.97308610e-02 3.57371396e-04 9.99557876e-01 -2.69857962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60119381700002 meters 0.058221911958570675 Centerline is valid? [True, True] Translation: X:225.37, Y:-81.83, Z:-26.99 [[ 9.52534022e-01 3.03231919e-01 2.70062966e-02 2.25367286e+02] [-3.03099295e-01 9.52916718e-01 -8.97471248e-03 -8.18283494e+01] [-2.84561708e-02 3.63129515e-04 9.99594975e-01 -2.69913700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.63119381700002 meters 0.058318769138122936 Centerline is valid? [True, True] Translation: X:225.39, Y:-81.84, Z:-26.99 [[ 9.52692266e-01 3.02877349e-01 2.53526567e-02 2.25393275e+02] [-3.02760244e-01 9.53029478e-01 -8.42906155e-03 -8.18405841e+01] [-2.67148010e-02 3.54525228e-04 9.99643033e-01 -2.69943149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.66119381700003 meters 0.058918634475016884 Centerline is valid? [True, True] Translation: X:225.42, Y:-81.86, Z:-27.00 [[ 9.53126973e-01 3.01691133e-01 2.30528434e-02 2.25418041e+02] [-3.01594100e-01 9.53405653e-01 -7.65892332e-03 -8.18560816e+01] [-2.42893405e-02 3.47324831e-04 9.99704910e-01 -2.69997955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.69119381700003 meters 0.05875600685573428 Centerline is valid? [True, True] Translation: X:225.44, Y:-81.87, Z:-27.00 [[ 9.53219920e-01 3.01536449e-01 2.11554805e-02 2.25444953e+02] [-3.01454799e-01 9.53454597e-01 -7.02389655e-03 -8.18672867e+01] [-2.22887509e-02 3.17896990e-04 9.99751524e-01 -2.70011095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.72119381700003 meters 0.05883104287883479 Centerline is valid? [True, True] Translation: X:225.47, Y:-81.88, Z:-27.00 [[ 9.53312117e-01 3.01271239e-01 2.07761594e-02 2.25471432e+02] [-3.01192567e-01 9.53538433e-01 -6.89162962e-03 -8.18790507e+01] [-2.18871162e-02 3.12249259e-04 9.99760400e-01 -2.70031517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.75119381700003 meters 0.059360612293844706 Centerline is valid? [True, True] Translation: X:225.50, Y:-81.89, Z:-27.01 [[ 9.53348766e-01 3.01077779e-01 2.18700931e-02 2.25496352e+02] [-3.00990908e-01 9.53599533e-01 -7.23905439e-03 -8.18916766e+01] [-2.30348290e-02 3.18644381e-04 9.99734612e-01 -2.70079117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.78119381700003 meters 0.05851225515880014 Centerline is valid? [True, True] Translation: X:225.52, Y:-81.90, Z:-27.00 [[ 9.53448384e-01 3.00727430e-01 2.23425929e-02 2.25523486e+02] [-3.00636748e-01 9.53710073e-01 -7.39203958e-03 -8.19020431e+01] [-2.35313449e-02 3.30923734e-04 9.99723045e-01 -2.70044617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.81119381700003 meters 0.058571697485280856 Centerline is valid? [True, True] Translation: X:225.55, Y:-81.92, Z:-27.00 [[ 9.53875458e-01 2.99254723e-01 2.38373957e-02 2.25548961e+02] [-2.99151103e-01 9.54173181e-01 -7.88405205e-03 -8.19170790e+01] [-2.51043435e-02 3.89420525e-04 9.99684760e-01 -2.70044759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.84119381700003 meters 0.05857320060481749 Centerline is valid? [True, True] Translation: X:225.57, Y:-81.93, Z:-27.00 [[ 9.54447422e-01 2.97239654e-01 2.60520062e-02 2.25574723e+02] [-2.97115212e-01 9.54802784e-01 -8.61356117e-03 -8.19305343e+01] [-2.74348200e-02 4.80743902e-04 9.99623479e-01 -2.70036825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.87119381700003 meters 0.05866945817067733 Centerline is valid? [True, True] Translation: X:225.60, Y:-81.94, Z:-27.00 [[ 9.55042789e-01 2.95124055e-01 2.81968849e-02 2.25600767e+02] [-2.94977444e-01 9.55458765e-01 -9.31963318e-03 -8.19437089e+01] [-2.96914087e-02 5.83203434e-04 9.99558943e-01 -2.70026284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.90119381700003 meters 0.058771171202843905 Centerline is valid? [True, True] Translation: X:225.63, Y:-81.96, Z:-27.00 [[ 9.55763435e-01 2.92499468e-01 3.09889867e-02 2.25627364e+02] [-2.92321107e-01 9.56265409e-01 -1.02390556e-02 -8.19564061e+01] [-3.26286144e-02 7.27380024e-04 9.99467280e-01 -2.70014132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.93119381700004 meters 0.05963688156591425 Centerline is valid? [True, True] Translation: X:225.65, Y:-81.97, Z:-27.00 [[ 9.57165667e-01 2.87533488e-01 3.40349806e-02 2.25652295e+02] [-2.87315321e-01 9.57770082e-01 -1.12416987e-02 -8.19737158e+01] [-3.58300510e-02 9.81396614e-04 9.99357416e-01 -2.69993110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.96119381700004 meters 0.06021659509367004 Centerline is valid? [True, True] Translation: X:225.68, Y:-81.99, Z:-27.00 [[ 9.57727403e-01 2.85394244e-01 3.61710900e-02 2.25677752e+02] [-2.85146422e-01 9.58409547e-01 -1.19439590e-02 -8.19871449e+01] [-3.80754551e-02 1.12499992e-03 9.99274234e-01 -2.69994722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.99119381700004 meters 0.06021659509367004 Centerline is valid? [True, True] Translation: X:225.70, Y:-82.00, Z:-27.00 [[ 9.57751554e-01 2.85313005e-01 3.61724954e-02 2.25704659e+02] [-2.85065285e-01 9.58433736e-01 -1.19397007e-02 -8.19959161e+01] [-3.80754918e-02 1.12374419e-03 9.99274234e-01 -2.70011895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.02119381700004 meters 0.06099779994074163 Centerline is valid? [True, True] Translation: X:225.73, Y:-82.01, Z:-27.00 [[ 9.58118031e-01 2.83926470e-01 3.73577159e-02 2.25729263e+02] [-2.83661319e-01 9.58845287e-01 -1.23276814e-02 -8.20091247e+01] [-3.93204249e-02 1.21443483e-03 9.99225915e-01 -2.70019102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.05119381700004 meters 0.061167453822943814 Centerline is valid? [True, True] Translation: X:225.76, Y:-82.02, Z:-27.00 [[ 9.58366706e-01 2.82973501e-01 3.82001991e-02 2.25755766e+02] [-2.82695697e-01 9.59126877e-01 -1.26006355e-02 -8.20211510e+01] [-4.02044836e-02 1.27699762e-03 9.99190657e-01 -2.70030334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.08119381700004 meters 0.061985426131307 Centerline is valid? [True, True] Translation: X:225.78, Y:-82.03, Z:-27.01 [[ 9.58390907e-01 2.82921540e-01 3.79772444e-02 2.25781118e+02] [-2.82647051e-01 9.59142217e-01 -1.25240496e-02 -8.20333844e+01] [-3.99689018e-02 1.26877911e-03 9.99200119e-01 -2.70064849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.11119381700004 meters 0.06086145879572054 Centerline is valid? [True, True] Translation: X:225.81, Y:-82.04, Z:-27.01 [[ 9.58428950e-01 2.82938794e-01 3.68725742e-02 2.25809900e+02] [-2.82680272e-01 9.59137183e-01 -1.21543275e-02 -8.20394410e+01] [-3.88047877e-02 1.22591003e-03 9.99246059e-01 -2.70071695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14119381700004 meters 0.0610033456450215 Centerline is valid? [True, True] Translation: X:225.84, Y:-82.05, Z:-27.01 [[ 9.58367342e-01 2.83285498e-01 3.57961467e-02 2.25837040e+02] [-2.83042120e-01 9.59034902e-01 -1.17989188e-02 -8.20484338e+01] [-3.76722167e-02 1.17588117e-03 9.99289458e-01 -2.70110916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17119381700002 meters 0.06104427319619747 Centerline is valid? [True, True] Translation: X:225.86, Y:-82.06, Z:-27.01 [[ 9.58224245e-01 2.83968370e-01 3.41798236e-02 2.25863626e+02] [-2.83747023e-01 9.58833024e-01 -1.12631830e-02 -8.20578599e+01] [-3.59711314e-02 1.09423180e-03 9.99352230e-01 -2.70147736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20119381700002 meters 0.060507992910040914 Centerline is valid? [True, True] Translation: X:225.89, Y:-82.07, Z:-27.02 [[ 9.57557668e-01 2.86739899e-01 2.93861113e-02 2.25890834e+02] [-2.86577665e-01 9.58008095e-01 -9.68155274e-03 -8.20651486e+01] [-3.09282199e-02 8.49241896e-04 9.99521247e-01 -2.70210497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23119381700002 meters 0.060388760239193026 Centerline is valid? [True, True] Translation: X:225.92, Y:-82.07, Z:-27.03 [[ 9.56880849e-01 2.89333313e-01 2.57929111e-02 2.25917895e+02] [-2.89209305e-01 9.57228178e-01 -8.49670025e-03 -8.20724715e+01] [-2.71480797e-02 6.70779878e-04 9.99631198e-01 -2.70268376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26119381700002 meters 0.06007233007313949 Centerline is valid? [True, True] Translation: X:225.95, Y:-82.08, Z:-27.03 [[ 9.56153296e-01 2.91980772e-01 2.27618696e-02 2.25945679e+02] [-2.91885015e-01 9.56424046e-01 -7.49554275e-03 -8.20791954e+01] [-2.39585538e-02 5.23039265e-04 9.99712816e-01 -2.70318063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29119381700002 meters 0.05954027279989896 Centerline is valid? [True, True] Translation: X:225.97, Y:-82.09, Z:-27.04 [[ 9.55237945e-01 2.95100099e-01 2.08901800e-02 2.25973933e+02] [-2.95020221e-01 9.55466256e-01 -6.87769779e-03 -8.20855700e+01] [-2.19894714e-02 4.06812366e-04 9.99758120e-01 -2.70353477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32119381700002 meters 0.05869919004840209 Centerline is valid? [True, True] Translation: X:226.00, Y:-82.09, Z:-27.04 [[ 9.53146668e-01 3.01874363e-01 1.95779866e-02 2.26002373e+02] [-3.01805602e-01 9.53347687e-01 -6.44712721e-03 -8.20887520e+01] [-2.06108507e-02 2.36311778e-04 9.99787546e-01 -2.70393672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35119381700002 meters 0.05806144439887146 Centerline is valid? [True, True] Translation: X:226.03, Y:-82.10, Z:-27.04 [[ 9.52355036e-01 3.04321458e-01 2.02073166e-02 2.26030763e+02] [-3.04248899e-01 9.52569376e-01 -6.64762030e-03 -8.20955031e+01] [-2.12718845e-02 1.82840840e-04 9.99773711e-01 -2.70400043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.38119381700002 meters 0.05747220384864684 Centerline is valid? [True, True] Translation: X:226.06, Y:-82.10, Z:-27.04 [[ 9.51660058e-01 3.06306296e-01 2.27944583e-02 2.26058216e+02] [-3.06214602e-01 9.51932996e-01 -7.49590747e-03 -8.21037113e+01] [-2.39948406e-02 1.53559776e-04 9.99712071e-01 -2.70386136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.41119381700003 meters 0.05758488120449517 Centerline is valid? [True, True] Translation: X:226.08, Y:-82.11, Z:-27.04 [[ 9.51576815e-01 3.06380060e-01 2.51559819e-02 2.26083449e+02] [-3.06268417e-01 9.51909255e-01 -8.27201306e-03 -8.21148240e+01] [-2.64805918e-02 1.66973095e-04 9.99649314e-01 -2.70415282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.44119381700003 meters 0.05680384277402031 Centerline is valid? [True, True] Translation: X:226.11, Y:-82.13, Z:-27.04 [[ 9.51596960e-01 3.06218589e-01 2.63325128e-02 2.26110692e+02] [-3.06096394e-01 9.51961210e-01 -8.65166252e-03 -8.21265389e+01] [-2.77168306e-02 1.72608528e-04 9.99615800e-01 -2.70370131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.47119381700003 meters 0.056596547483521435 Centerline is valid? [True, True] Translation: X:226.14, Y:-82.14, Z:-27.04 [[ 9.52061747e-01 3.04598737e-01 2.82496027e-02 2.26136551e+02] [-3.04457408e-01 9.52480737e-01 -9.28076380e-03 -8.21422451e+01] [-2.97341113e-02 2.35059367e-04 9.99557816e-01 -2.70364723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.50119381700003 meters 0.056383105100669066 Centerline is valid? [True, True] Translation: X:226.16, Y:-82.15, Z:-27.04 [[ 9.52190951e-01 3.04039866e-01 2.98689276e-02 2.26162812e+02] [-3.03881840e-01 9.52659274e-01 -9.80482417e-03 -8.21541120e+01] [-3.14359683e-02 2.59440185e-04 9.99505734e-01 -2.70365663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.53119381700003 meters 0.056236603016554865 Centerline is valid? [True, True] Translation: X:226.19, Y:-82.17, Z:-27.04 [[ 9.52404414e-01 3.03289992e-01 3.06759516e-02 2.26189218e+02] [-3.03123015e-01 9.52898262e-01 -1.00668029e-02 -8.21654552e+01] [-3.22842216e-02 2.89080576e-04 9.99478687e-01 -2.70359623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.56119381700003 meters 0.05617280864585319 Centerline is valid? [True, True] Translation: X:226.21, Y:-82.18, Z:-27.04 [[ 9.52425192e-01 3.03162027e-01 3.12895826e-02 2.26214966e+02] [-3.02988314e-01 9.52938979e-01 -1.02657035e-02 -8.21761158e+01] [-3.29292344e-02 2.96936804e-04 9.99457642e-01 -2.70376009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.59119381700003 meters 0.056277007632675936 Centerline is valid? [True, True] Translation: X:226.24, Y:-82.19, Z:-27.04 [[ 9.52379450e-01 3.03349273e-01 3.08642592e-02 2.26239833e+02] [-3.03180457e-01 9.52879393e-01 -1.01228553e-02 -8.21886343e+01] [-3.24806774e-02 2.83359192e-04 9.99472323e-01 -2.70400433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.62119381700003 meters 0.056396890786267105 Centerline is valid? [True, True] Translation: X:226.27, Y:-82.20, Z:-27.04 [[ 9.52281001e-01 3.03772581e-01 2.97172537e-02 2.26265019e+02] [-3.03616408e-01 9.52744538e-01 -9.74282043e-03 -8.22001386e+01] [-3.12725528e-02 2.55256952e-04 9.99510862e-01 -2.70429970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.65119381700003 meters 0.05607019829960337 Centerline is valid? [True, True] Translation: X:226.29, Y:-82.21, Z:-27.04 [[ 9.52287780e-01 3.03817919e-01 2.90285348e-02 2.26291396e+02] [-3.03669035e-01 9.52730084e-01 -9.51338186e-03 -8.22113445e+01] [-3.05466943e-02 2.44410129e-04 9.99533311e-01 -2.70417663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.68119381700004 meters 0.056250032912170476 Centerline is valid? [True, True] Translation: X:226.32, Y:-82.22, Z:-27.04 [[ 9.52384973e-01 3.03618986e-01 2.78993735e-02 2.26317809e+02] [-3.03481450e-01 9.52793500e-01 -9.14084237e-03 -8.22235345e+01] [-2.93576750e-02 2.38658582e-04 9.99568942e-01 -2.70445482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.71119381700004 meters 0.05633795152377319 Centerline is valid? [True, True] Translation: X:226.34, Y:-82.24, Z:-27.05 [[ 9.52426768e-01 3.03518834e-01 2.75602798e-02 2.26342716e+02] [-3.03384634e-01 9.52825410e-01 -9.02790401e-03 -8.22359496e+01] [-2.90002738e-02 2.37052048e-04 9.99579376e-01 -2.70477479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.74119381700004 meters 0.056444943404205784 Centerline is valid? [True, True] Translation: X:226.37, Y:-82.25, Z:-27.05 [[ 9.52307040e-01 3.04039601e-01 2.59079572e-02 2.26369428e+02] [-3.03921298e-01 9.52659372e-01 -8.48321357e-03 -8.22466371e+01] [-2.72606911e-02 2.04644015e-04 9.99628337e-01 -2.70507911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.77119381700004 meters 0.056365555828087124 Centerline is valid? [True, True] Translation: X:226.40, Y:-82.26, Z:-27.05 [[ 9.51897256e-01 3.05357722e-01 2.54612491e-02 2.26396733e+02] [-3.05243998e-01 9.52237699e-01 -8.33464803e-03 -8.22569589e+01] [-2.67902104e-02 1.61835117e-04 9.99641065e-01 -2.70530509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.80119381700004 meters 0.05618435096332029 Centerline is valid? [True, True] Translation: X:226.42, Y:-82.27, Z:-27.06 [[ 9.51238781e-01 3.07352417e-01 2.60628924e-02 2.26422186e+02] [-3.07234052e-01 9.51595755e-01 -8.52974527e-03 -8.22683894e+01] [-2.74229756e-02 1.06416453e-04 9.99623914e-01 -2.70560780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.83119381700004 meters 0.05602711848610765 Centerline is valid? [True, True] Translation: X:226.45, Y:-82.28, Z:-27.06 [[ 9.51002039e-01 3.08073225e-01 2.61917712e-02 2.26449621e+02] [-3.07954013e-01 9.51362644e-01 -8.56999922e-03 -8.22788533e+01] [-2.75580600e-02 8.42256872e-05 9.99620201e-01 -2.70569575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.86119381700004 meters 0.05601706807647341 Centerline is valid? [True, True] Translation: X:226.47, Y:-82.29, Z:-27.06 [[ 9.51001148e-01 3.08019087e-01 2.68525402e-02 2.26474619e+02] [-3.07893912e-01 9.51380174e-01 -8.78090025e-03 -8.22907957e+01] [-2.82516592e-02 8.29125817e-05 9.99600839e-01 -2.70591921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89119381700004 meters 0.0562069766919663 Centerline is valid? [True, True] Translation: X:226.50, Y:-82.30, Z:-27.06 [[ 9.51169910e-01 3.07626223e-01 2.53359438e-02 2.26500329e+02] [-3.07514744e-01 9.51507278e-01 -8.28146462e-03 -8.23045009e+01] [-2.66549306e-02 8.59036825e-05 9.99644691e-01 -2.70621948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92119381700002 meters 0.05696461223511116 Centerline is valid? [True, True] Translation: X:226.52, Y:-82.32, Z:-27.07 [[ 9.51984882e-01 3.05319878e-01 2.24623309e-02 2.26524840e+02] [-3.05231702e-01 9.52249839e-01 -7.33843913e-03 -8.23243752e+01] [-2.36303223e-02 1.29867606e-04 9.99720757e-01 -2.70686527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95119381700002 meters 0.05742884617399056 Centerline is valid? [True, True] Translation: X:226.55, Y:-82.34, Z:-27.07 [[ 9.52517459e-01 3.03690636e-01 2.19656147e-02 2.26551180e+02] [-3.03605877e-01 9.52770681e-01 -7.17647054e-03 -8.23399433e+01] [-2.31076205e-02 1.66823785e-04 9.99732969e-01 -2.70722756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98119381700002 meters 0.05803106532658201 Centerline is valid? [True, True] Translation: X:226.58, Y:-82.36, Z:-27.08 [[ 9.52985425e-01 3.02350992e-01 2.00663325e-02 2.26577153e+02] [-3.02279976e-01 9.53196645e-01 -6.55528440e-03 -8.23553514e+01] [-2.11091576e-02 1.81439993e-04 9.99777160e-01 -2.70765843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01119381700002 meters 0.05834696415261214 Centerline is valid? [True, True] Translation: X:226.60, Y:-82.37, Z:-27.08 [[ 9.53352673e-01 3.01146885e-01 2.07179709e-02 2.26604029e+02] [-3.01070952e-01 9.53577741e-01 -6.76560185e-03 -8.23704255e+01] [-2.17936358e-02 2.12425384e-04 9.99762468e-01 -2.70786653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04119381700002 meters 0.058147578931732544 Centerline is valid? [True, True] Translation: X:226.63, Y:-82.38, Z:-27.08 [[ 9.53279225e-01 3.01310502e-01 2.16956495e-02 2.26630738e+02] [-3.01227258e-01 9.53526053e-01 -7.08563035e-03 -8.23828579e+01] [-2.28223419e-02 2.19263202e-04 9.99739512e-01 -2.70799381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07119381700002 meters 0.05809510003318764 Centerline is valid? [True, True] Translation: X:226.66, Y:-82.40, Z:-27.08 [[ 9.53178155e-01 3.01599681e-01 2.21141890e-02 2.26659223e+02] [-3.01513300e-01 9.53434626e-01 -7.22107773e-03 -8.23950137e+01] [-2.32623083e-02 2.15251447e-04 9.99729373e-01 -2.70812578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10119381700002 meters 0.05797489702247792 Centerline is valid? [True, True] Translation: X:226.69, Y:-82.41, Z:-27.08 [[ 9.52867947e-01 3.02488084e-01 2.33159621e-02 2.26686691e+02] [-3.02392359e-01 9.53153145e-01 -7.61207728e-03 -8.24100844e+01] [-2.45262453e-02 2.02735681e-04 9.99699166e-01 -2.70822029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.13119381700002 meters 0.05777207564742554 Centerline is valid? [True, True] Translation: X:226.72, Y:-82.42, Z:-27.08 [[ 9.52981132e-01 3.01984876e-01 2.51415282e-02 2.26715228e+02] [-3.01873362e-01 9.53312688e-01 -8.20931381e-03 -8.24238423e+01] [-2.64468264e-02 2.33763514e-04 9.99650194e-01 -2.70816182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.16119381700003 meters 0.05798760261156967 Centerline is valid? [True, True] Translation: X:226.74, Y:-82.44, Z:-27.08 [[ 9.53459067e-01 3.00313550e-01 2.69736873e-02 2.26742699e+02] [-3.00184678e-01 9.53840492e-01 -8.80196130e-03 -8.24390106e+01] [-2.83719434e-02 2.95222171e-04 9.99597392e-01 -2.70819803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.19119381700003 meters 0.05848991814750933 Centerline is valid? [True, True] Translation: X:226.77, Y:-82.46, Z:-27.08 [[ 9.55743047e-01 2.92625989e-01 3.04180604e-02 2.26770175e+02] [-2.92457911e-01 9.56226789e-01 -9.93471204e-03 -8.24606458e+01] [-3.19937191e-02 5.99029566e-04 9.99487890e-01 -2.70757758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.22119381700003 meters 0.06227969641672413 Centerline is valid? [True, True] Translation: X:226.80, Y:-82.48, Z:-27.08 [[ 9.57221799e-01 2.87737594e-01 3.05533185e-02 2.26795411e+02] [-2.87565194e-01 9.57708972e-01 -9.98919326e-03 -8.24824535e+01] [-3.21354537e-02 7.75802575e-04 9.99483222e-01 -2.70822170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.25119381700003 meters 0.06138356175186112 Centerline is valid? [True, True] Translation: X:226.82, Y:-82.49, Z:-27.08 [[ 9.58849307e-01 2.82290483e-01 3.03329711e-02 2.26824591e+02] [-2.82117325e-01 9.59328488e-01 -9.93310025e-03 -8.24938351e+01] [-3.19033029e-02 9.66889627e-04 9.99490492e-01 -2.70773725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.28119381700003 meters 0.06367349314109189 Centerline is valid? [True, True] Translation: X:226.85, Y:-82.51, Z:-27.08 [[ 9.60302543e-01 2.77358076e-01 2.98583932e-02 2.26851226e+02] [-2.77187922e-01 9.60765975e-01 -9.77735753e-03 -8.25112214e+01] [-3.13987573e-02 1.11283537e-03 9.99506318e-01 -2.70802905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.31119381700003 meters 0.06727643664060551 Centerline is valid? [True, True] Translation: X:226.88, Y:-82.53, Z:-27.08 [[ 9.62352576e-01 2.70118258e-01 3.02265683e-02 2.26876848e+02] [-2.69940210e-01 9.62826180e-01 -9.90101494e-03 -8.25306823e+01] [-3.17773762e-02 1.36890103e-03 9.99494034e-01 -2.70825443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.34119381700003 meters 0.0696594715800213 Centerline is valid? [True, True] Translation: X:226.90, Y:-82.54, Z:-27.09 [[ 9.62790249e-01 2.68566505e-01 3.01159104e-02 2.26904898e+02] [-2.68389235e-01 9.63260116e-01 -9.85739164e-03 -8.25440647e+01] [-3.16568206e-02 1.40781441e-03 9.99497806e-01 -2.70866883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.37119381700003 meters 0.07047441334512683 Centerline is valid? [True, True] Translation: X:226.94, Y:-82.55, Z:-27.09 [[ 9.63083003e-01 2.67505774e-01 3.01958786e-02 2.26935279e+02] [-2.67326764e-01 9.63555159e-01 -9.89228455e-03 -8.25546149e+01] [-3.17416378e-02 1.45492462e-03 9.99495048e-01 -2.70888586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.40119381700003 meters 0.06979837201392793 Centerline is valid? [True, True] Translation: X:226.97, Y:-82.56, Z:-27.09 [[ 9.63107257e-01 2.67404987e-01 3.03147649e-02 2.26966585e+02] [-2.67224216e-01 9.63583106e-01 -9.94059213e-03 -8.25619834e+01] [-3.18689592e-02 1.47301715e-03 9.99490970e-01 -2.70908571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.43119381700004 meters 0.06919504058763895 Centerline is valid? [True, True] Translation: X:227.00, Y:-82.57, Z:-27.09 [[ 9.63137093e-01 2.67579867e-01 2.77119843e-02 2.26997844e+02] [-2.67428660e-01 9.63534741e-01 -9.09480568e-03 -8.25679476e+01] [-2.91350465e-02 1.34856588e-03 9.99574575e-01 -2.70944331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.46119381700004 meters 0.071576837905932 Centerline is valid? [True, True] Translation: X:227.03, Y:-82.57, Z:-27.10 [[ 9.63199350e-01 2.67782710e-01 2.32256938e-02 2.27027429e+02] [-2.67676227e-01 9.63478658e-01 -7.63628638e-03 -8.25739746e+01] [-2.44223257e-02 1.13829999e-03 9.99701082e-01 -2.71045707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.49119381700004 meters 0.07052461198586374 Centerline is valid? [True, True] Translation: X:227.06, Y:-82.58, Z:-27.11 [[ 9.63073671e-01 2.68379174e-01 2.14877645e-02 2.27059853e+02] [-2.68288415e-01 9.63312805e-01 -7.05454508e-03 -8.25785180e+01] [-2.25927316e-02 1.02912837e-03 9.99744222e-01 -2.71067250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.52119381700004 meters 0.07090969344903249 Centerline is valid? [True, True] Translation: X:227.09, Y:-82.59, Z:-27.11 [[ 9.62680944e-01 2.69821807e-01 2.10140977e-02 2.27090647e+02] [-2.69735206e-01 9.62909774e-01 -6.90548533e-03 -8.25855033e+01] [-2.20979306e-02 9.79537163e-04 9.99755331e-01 -2.71107731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.55119381700004 meters 0.0700877622236934 Centerline is valid? [True, True] Translation: X:227.12, Y:-82.59, Z:-27.11 [[ 9.62136592e-01 2.71716885e-01 2.15200451e-02 2.27122942e+02] [-2.71626368e-01 9.62376746e-01 -7.07912865e-03 -8.25907643e+01] [-2.26339097e-02 9.65677020e-04 9.99743354e-01 -2.71126324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.58119381700004 meters 0.06957586379365151 Centerline is valid? [True, True] Translation: X:227.15, Y:-82.60, Z:-27.11 [[ 9.61454737e-01 2.73981833e-01 2.32108548e-02 2.27153760e+02] [-2.73876749e-01 9.61734346e-01 -7.65336010e-03 -8.25957538e+01] [-2.44195579e-02 1.00144585e-03 9.99701297e-01 -2.71139148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.61119381700004 meters 0.06698981918293252 Centerline is valid? [True, True] Translation: X:227.19, Y:-82.59, Z:-27.11 [[ 9.60081034e-01 2.78386574e-01 2.73006006e-02 2.27186574e+02] [-2.78242857e-01 9.60468538e-01 -9.00553696e-03 -8.25922005e+01] [-2.87283885e-02 1.04984814e-03 9.99586703e-01 -2.71109303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64119381700004 meters 0.066180544329853 Centerline is valid? [True, True] Translation: X:227.22, Y:-82.60, Z:-27.11 [[ 9.59652747e-01 2.79582874e-01 3.00003514e-02 2.27218606e+02] [-2.79409998e-01 9.60120920e-01 -9.89301557e-03 -8.25970993e+01] [-3.15698827e-02 1.11146146e-03 9.99500929e-01 -2.71099304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67119381700002 meters 0.0656171085431444 Centerline is valid? [True, True] Translation: X:227.25, Y:-82.60, Z:-27.11 [[ 9.59535550e-01 2.79291851e-01 3.58830168e-02 2.27250353e+02] [-2.79044144e-01 9.60205318e-01 -1.18369274e-02 -8.25991403e+01] [-3.77610209e-02 1.34500696e-03 9.99285893e-01 -2.71059016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70119381700002 meters 0.06613464225373594 Centerline is valid? [True, True] Translation: X:227.28, Y:-82.61, Z:-27.11 [[ 9.59762502e-01 2.78196844e-01 3.82420673e-02 2.27282420e+02] [-2.77914825e-01 9.60522952e-01 -1.26098459e-02 -8.26079325e+01] [-4.02404027e-02 1.47441976e-03 9.99188939e-01 -2.71062298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73119381700002 meters 0.0678085155923053 Centerline is valid? [True, True] Translation: X:227.31, Y:-82.62, Z:-27.11 [[ 9.60535315e-01 2.75333242e-01 3.95413043e-02 2.27313033e+02] [-2.75028515e-01 9.61347402e-01 -1.30571316e-02 -8.26186036e+01] [-4.16079925e-02 1.66684985e-03 9.99132622e-01 -2.71073227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76119381700002 meters 0.06943368660785294 Centerline is valid? [True, True] Translation: X:227.34, Y:-82.63, Z:-27.11 [[ 9.61257406e-01 2.72709610e-01 4.01704926e-02 2.27341821e+02] [-2.72392713e-01 9.62094688e-01 -1.32673118e-02 -8.26289467e+01] [-4.22659410e-02 1.81115228e-03 9.99104754e-01 -2.71093272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79119381700002 meters 0.06850033309451682 Centerline is valid? [True, True] Translation: X:227.37, Y:-82.63, Z:-27.11 [[ 9.62203234e-01 2.69564537e-01 3.87285041e-02 2.27373488e+02] [-2.69267151e-01 9.62980479e-01 -1.27984099e-02 -8.26336802e+01] [-4.07447908e-02 1.88635739e-03 9.99167806e-01 -2.71105981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82119381700002 meters 0.06988285332667601 Centerline is valid? [True, True] Translation: X:227.40, Y:-82.64, Z:-27.11 [[ 9.62768210e-01 2.67623642e-01 3.81439457e-02 2.27404156e+02] [-2.67333618e-01 9.63521574e-01 -1.26060439e-02 -8.26426113e+01] [-4.01261901e-02 1.93953933e-03 9.99192738e-01 -2.71143265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85119381700002 meters 0.07082862328181162 Centerline is valid? [True, True] Translation: X:227.44, Y:-82.64, Z:-27.12 [[ 9.62804413e-01 2.67811990e-01 3.58385385e-02 2.27436381e+02] [-2.67556161e-01 9.63469486e-01 -1.18427606e-02 -8.26446455e+01] [-3.77009716e-02 1.81344040e-03 9.99287420e-01 -2.71200581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.88119381700002 meters 0.07082862328181162 Centerline is valid? [True, True] Translation: X:227.47, Y:-82.66, Z:-27.12 [[ 9.62720069e-01 2.68115383e-01 3.58358861e-02 2.27467122e+02] [-2.67859466e-01 9.63385108e-01 -1.18507799e-02 -8.26550917e+01] [-3.77011354e-02 1.81000234e-03 9.99287420e-01 -2.71220304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.91119381700003 meters 0.06885475996345673 Centerline is valid? [True, True] Translation: X:227.50, Y:-82.66, Z:-27.12 [[ 9.62156422e-01 2.70249328e-01 3.49330895e-02 2.27500796e+02] [-2.70006923e-01 9.62788872e-01 -1.15692989e-02 -8.26567675e+01] [-3.67597851e-02 1.69929920e-03 9.99322686e-01 -2.71241185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.94119381700003 meters 0.06673430764017925 Centerline is valid? [True, True] Translation: X:227.53, Y:-82.66, Z:-27.13 [[ 9.61136968e-01 2.73989400e-01 3.38457827e-02 2.27533997e+02] [-2.73764002e-01 9.61731523e-01 -1.12138209e-02 -8.26575949e+01] [-3.56230242e-02 1.51226087e-03 9.99364154e-01 -2.71270251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.97119381700003 meters 0.0652522115083601 Centerline is valid? [True, True] Translation: X:227.57, Y:-82.66, Z:-27.13 [[ 9.59933305e-01 2.78222902e-01 3.34673976e-02 2.27566442e+02] [-2.78004982e-01 9.60515598e-01 -1.10912553e-02 -8.26590441e+01] [-3.52317986e-02 1.34276209e-03 9.99378265e-01 -2.71304626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.00119381700003 meters 0.06301332195674374 Centerline is valid? [True, True] Translation: X:227.60, Y:-82.65, Z:-27.14 [[ 9.57631199e-01 2.86263963e-01 3.15504293e-02 2.27598519e+02] [-2.86074590e-01 9.58150283e-01 -1.04577009e-02 -8.26524588e+01] [-3.32237157e-02 9.88844499e-04 9.99447451e-01 -2.71365302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.03119381700003 meters 0.06155871424784107 Centerline is valid? [True, True] Translation: X:227.63, Y:-82.65, Z:-27.14 [[ 9.56588506e-01 2.89725984e-01 3.15797921e-02 2.27628402e+02] [-2.89538011e-01 9.57109237e-01 -1.04713366e-02 -8.26535899e+01] [-3.32591290e-02 8.73210095e-04 9.99446381e-01 -2.71382223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.06119381700003 meters 0.06136727002901296 Centerline is valid? [True, True] Translation: X:227.66, Y:-82.66, Z:-27.14 [[ 9.56047956e-01 2.91584245e-01 3.08372208e-02 2.27656606e+02] [-2.91406035e-01 9.56544828e-01 -1.02232658e-02 -8.26569401e+01] [-3.24781273e-02 7.87780112e-04 9.99472136e-01 -2.71420044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.09119381700003 meters 0.06057576903543296 Centerline is valid? [True, True] Translation: X:227.69, Y:-82.66, Z:-27.14 [[ 9.55785559e-01 2.92360602e-01 3.16108112e-02 2.27685793e+02] [-2.92173911e-01 9.56307835e-01 -1.04752012e-02 -8.26605130e+01] [-3.32922025e-02 7.76191731e-04 9.99445360e-01 -2.71428643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.12119381700003 meters 0.05924878308657375 Centerline is valid? [True, True] Translation: X:227.72, Y:-82.66, Z:-27.14 [[ 9.55409115e-01 2.93449494e-01 3.28757760e-02 2.27716099e+02] [-2.93248304e-01 9.55974272e-01 -1.08914363e-02 -8.26611146e+01] [-3.46244825e-02 7.65012007e-04 9.99400100e-01 -2.71416358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.15119381700003 meters 0.05915289784237493 Centerline is valid? [True, True] Translation: X:227.74, Y:-82.67, Z:-27.14 [[ 9.55150486e-01 2.94261068e-01 3.31356822e-02 2.27743525e+02] [-2.94057254e-01 9.55724792e-01 -1.09751392e-02 -8.26679042e+01] [-3.48981491e-02 7.39121845e-04 9.99390601e-01 -2.71439481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.18119381700004 meters 0.05892000915269781 Centerline is valid? [True, True] Translation: X:227.77, Y:-82.67, Z:-27.15 [[ 9.54656392e-01 2.95857598e-01 3.31580288e-02 2.27770284e+02] [-2.95654626e-01 9.55231816e-01 -1.09781164e-02 -8.26743186e+01] [-3.49215632e-02 6.77004435e-04 9.99389827e-01 -2.71462414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.21119381700004 meters 0.05841259655446511 Centerline is valid? [True, True] Translation: X:227.80, Y:-82.68, Z:-27.15 [[ 9.53755485e-01 2.98879483e-01 3.19613768e-02 2.27798849e+02] [-2.98692730e-01 9.54290711e-01 -1.05778994e-02 -8.26792892e+01] [-3.36619621e-02 5.42098686e-04 9.99433129e-01 -2.71492798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.24119381700004 meters 0.05815339066524154 Centerline is valid? [True, True] Translation: X:227.83, Y:-82.69, Z:-27.15 [[ 9.53335702e-01 3.00224000e-01 3.18839877e-02 2.27827035e+02] [-3.00039002e-01 9.53868602e-01 -1.05493320e-02 -8.26857489e+01] [-3.35802974e-02 4.90615038e-04 9.99435902e-01 -2.71516856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.27119381700004 meters 0.058178696869902916 Centerline is valid? [True, True] Translation: X:227.86, Y:-82.69, Z:-27.15 [[ 9.53198759e-01 3.00616058e-01 3.22817406e-02 2.27855078e+02] [-3.00426743e-01 9.53745121e-01 -1.06778716e-02 -8.26929740e+01] [-3.39984923e-02 4.79835760e-04 9.99421769e-01 -2.71540617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.30119381700004 meters 0.058230225087576956 Centerline is valid? [True, True] Translation: X:227.88, Y:-82.70, Z:-27.16 [[ 9.53350105e-01 3.00121116e-01 3.24174654e-02 2.27881684e+02] [-2.99929983e-01 9.53900974e-01 -1.07208947e-02 -8.27017419e+01] [-3.41406187e-02 4.97796282e-04 9.99416915e-01 -2.71553760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.33119381700004 meters 0.058194935400547224 Centerline is valid? [True, True] Translation: X:227.91, Y:-82.71, Z:-27.15 [[ 9.54009154e-01 2.97865227e-01 3.38059208e-02 2.27907679e+02] [-2.97656120e-01 9.54607746e-01 -1.11752323e-02 -8.27138706e+01] [-3.56001070e-02 5.98734634e-04 9.99365936e-01 -2.71539355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.36119381700004 meters 0.05846296973338841 Centerline is valid? [True, True] Translation: X:227.93, Y:-82.73, Z:-27.16 [[ 9.54543974e-01 2.96049240e-01 3.46503877e-02 2.27934278e+02] [-2.95828582e-01 9.55172439e-01 -1.14482003e-02 -8.27253324e+01] [-3.64863263e-02 6.77235545e-04 9.99333923e-01 -2.71550469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39119381700004 meters 0.058864036168214035 Centerline is valid? [True, True] Translation: X:227.96, Y:-82.74, Z:-27.16 [[ 9.55190730e-01 2.93883481e-01 3.52585923e-02 2.27960787e+02] [-2.93653656e-01 9.55840942e-01 -1.16457503e-02 -8.27362259e+01] [-3.71240997e-02 7.70098158e-04 9.99310366e-01 -2.71562876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42119381700002 meters 0.0615606356688276 Centerline is valid? [True, True] Translation: X:227.99, Y:-82.75, Z:-27.16 [[ 9.57103841e-01 2.87583669e-01 3.53252179e-02 2.27985525e+02] [-2.87348821e-01 9.57754983e-01 -1.16639397e-02 -8.27516794e+01] [-3.71872621e-02 1.01294170e-03 9.99307801e-01 -2.71601499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45119381700002 meters 0.06183507158796432 Centerline is valid? [True, True] Translation: X:228.01, Y:-82.76, Z:-27.16 [[ 9.58523479e-01 2.82829804e-01 3.52142361e-02 2.28013324e+02] [-2.82593331e-01 9.59169372e-01 -1.16243618e-02 -8.27620066e+01] [-3.70641327e-02 1.19091547e-03 9.99312179e-01 -2.71597009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48119381700002 meters 0.06517611816615278 Centerline is valid? [True, True] Translation: X:228.04, Y:-82.78, Z:-27.16 [[ 9.60117841e-01 2.77549575e-01 3.37633738e-02 2.28037918e+02] [-2.77329031e-01 9.60710389e-01 -1.11425440e-02 -8.27785420e+01] [-3.55294324e-02 1.33459158e-03 9.99367739e-01 -2.71642959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51119381700002 meters 0.07034242068398872 Centerline is valid? [True, True] Translation: X:228.06, Y:-82.80, Z:-27.17 [[ 9.61974364e-01 2.71291859e-01 3.17183074e-02 2.28062351e+02] [-2.71093791e-01 9.62496005e-01 -1.04688245e-02 -8.27983375e+01] [-3.33688510e-02 1.47210455e-03 9.99442021e-01 -2.71705440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54119381700002 meters 0.07062245186231397 Centerline is valid? [True, True] Translation: X:228.09, Y:-82.81, Z:-27.17 [[ 9.64016009e-01 2.64221001e-01 2.93325385e-02 2.28091975e+02] [-2.64048407e-01 9.64460858e-01 -9.67942718e-03 -8.28092973e+01] [-3.08475932e-02 1.58591269e-03 9.99522842e-01 -2.71702495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57119381700002 meters 0.08390861744927958 Centerline is valid? [True, True] Translation: X:228.11, Y:-82.84, Z:-27.18 [[ 9.67072985e-01 2.53154354e-01 2.61288186e-02 2.28112459e+02] [-2.53013372e-01 9.67424358e-01 -8.62234052e-03 -8.28397522e+01] [-2.74604386e-02 1.72749209e-03 9.99621398e-01 -2.71795943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60119381700002 meters 0.08022655112738264 Centerline is valid? [True, True] Translation: X:228.14, Y:-82.84, Z:-27.18 [[ 9.67967849e-01 2.49781347e-01 2.54464667e-02 2.28144062e+02] [-2.49646429e-01 9.68300635e-01 -8.39881979e-03 -8.28420844e+01] [-2.67376984e-02 1.77716797e-03 9.99640904e-01 -2.71768123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.63119381700002 meters 0.08113656477951431 Centerline is valid? [True, True] Translation: X:228.17, Y:-82.85, Z:-27.18 [[ 9.68058717e-01 2.49324949e-01 2.64460077e-02 2.28173881e+02] [-2.49179226e-01 9.68418108e-01 -8.72244016e-03 -8.28513020e+01] [-2.77855147e-02 1.85403851e-03 9.99612189e-01 -2.71777723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.66119381700003 meters 0.07758609329732781 Centerline is valid? [True, True] Translation: X:228.21, Y:-82.85, Z:-27.18 [[ 9.67804335e-01 2.50235424e-01 2.71477716e-02 2.28207262e+02] [-2.50082016e-01 9.68183188e-01 -8.96102956e-03 -8.28531435e+01] [-2.85263831e-02 1.88335380e-03 9.99591266e-01 -2.71759121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.69119381700003 meters 0.07512928544980076 Centerline is valid? [True, True] Translation: X:228.24, Y:-82.85, Z:-27.17 [[ 9.66891261e-01 2.53420125e-01 2.99921740e-02 2.28240741e+02] [-2.53233762e-01 9.67354255e-01 -9.92005721e-03 -8.28511565e+01] [-3.15269993e-02 1.99658555e-03 9.99500906e-01 -2.71746260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.72119381700003 meters 0.07546431065972242 Centerline is valid? [True, True] Translation: X:228.27, Y:-82.86, Z:-27.18 [[ 9.66501762e-01 2.54611337e-01 3.23637421e-02 2.28270737e+02] [-2.54394986e-01 9.67041159e-01 -1.07045800e-02 -8.28570450e+01] [-3.40225781e-02 2.11282170e-03 9.99418831e-01 -2.71755918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.75119381700003 meters 0.07512190947236928 Centerline is valid? [True, True] Translation: X:228.30, Y:-82.86, Z:-27.18 [[ 9.66218049e-01 2.55643823e-01 3.26942882e-02 2.28301575e+02] [-2.55423590e-01 9.66768758e-01 -1.08147007e-02 -8.28622734e+01] [-3.43725278e-02 2.09846654e-03 9.99406887e-01 -2.71767649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.78119381700003 meters 0.07543596178330628 Centerline is valid? [True, True] Translation: X:228.33, Y:-82.87, Z:-27.18 [[ 9.66329957e-01 2.55308259e-01 3.20016673e-02 2.28330625e+02] [-2.55096998e-01 9.66857495e-01 -1.05879848e-02 -8.28675163e+01] [-3.36442519e-02 2.06795766e-03 9.99431732e-01 -2.71800304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.81119381700003 meters 0.07467728096860855 Centerline is valid? [True, True] Translation: X:228.36, Y:-82.87, Z:-27.18 [[ 9.66775248e-01 2.53812947e-01 3.04073741e-02 2.28362745e+02] [-2.53621559e-01 9.67251229e-01 -1.00580761e-02 -8.28674652e+01] [-3.19644399e-02 2.01193336e-03 9.99486982e-01 -2.71835923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.84119381700003 meters 0.07494073808162757 Centerline is valid? [True, True] Translation: X:228.39, Y:-82.87, Z:-27.19 [[ 9.67075951e-01 2.52624338e-01 3.07416369e-02 2.28392419e+02] [-2.52428080e-01 9.67562214e-01 -1.01698771e-02 -8.28729889e+01] [-3.23136047e-02 2.07499125e-03 9.99475625e-01 -2.71854091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.87119381700003 meters 0.07975021628362271 Centerline is valid? [True, True] Translation: X:228.42, Y:-82.89, Z:-27.19 [[ 9.67393404e-01 2.51373257e-01 3.10078488e-02 2.28418176e+02] [-2.51172972e-01 9.67887871e-01 -1.02570791e-02 -8.28853065e+01] [-3.25904762e-02 2.13429715e-03 9.99466511e-01 -2.71904002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.90119381700003 meters 0.0768320549462203 Centerline is valid? [True, True] Translation: X:228.45, Y:-82.89, Z:-27.19 [[ 9.67712440e-01 2.50353880e-01 2.92501115e-02 2.28449462e+02] [-2.50175276e-01 9.68152240e-01 -9.67321102e-03 -8.28856588e+01] [-3.07402868e-02 2.04323191e-03 9.99525317e-01 -2.71913199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.93119381700004 meters 0.08138587242446346 Centerline is valid? [True, True] Translation: X:228.48, Y:-82.90, Z:-27.20 [[ 9.68021080e-01 2.49307690e-01 2.79439555e-02 2.28475845e+02] [-2.49144267e-01 9.68422296e-01 -9.24074858e-03 -8.28969658e+01] [-2.93653392e-02 1.98316312e-03 9.99566778e-01 -2.71973244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.96119381700004 meters 0.07965357071714799 Centerline is valid? [True, True] Translation: X:228.51, Y:-82.89, Z:-27.20 [[ 9.68621659e-01 2.46978299e-01 2.78172812e-02 2.28508121e+02] [-2.46815473e-01 9.69018859e-01 -9.19633226e-03 -8.28938121e+01] [-2.92267646e-02 2.04203118e-03 9.99570721e-01 -2.71964098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.99119381700004 meters 0.07996961892481075 Centerline is valid? [True, True] Translation: X:228.54, Y:-82.90, Z:-27.20 [[ 9.68985342e-01 2.45499182e-01 2.82410806e-02 2.28537211e+02] [-2.45330730e-01 9.69394483e-01 -9.33644268e-03 -8.28988040e+01] [-2.96688368e-02 2.11847118e-03 9.99557538e-01 -2.71973934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.02119381700004 meters 0.08621113533930473 Centerline is valid? [True, True] Translation: X:228.56, Y:-82.91, Z:-27.20 [[ 9.69379209e-01 2.43834254e-01 2.91342717e-02 2.28562777e+02] [-2.43654331e-01 9.69814344e-01 -9.62833643e-03 -8.29127243e+01] [-3.06025528e-02 2.23481767e-03 9.99529134e-01 -2.72012231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.05119381700004 meters 0.08068256727603491 Centerline is valid? [True, True] Translation: X:228.60, Y:-82.91, Z:-27.20 [[ 9.69733312e-01 2.42418140e-01 2.91676026e-02 2.28595729e+02] [-2.42237245e-01 9.70169185e-01 -9.63684851e-03 -8.29092654e+01] [-3.06336561e-02 2.27969334e-03 9.99528080e-01 -2.71984052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.08119381700004 meters 0.0802056514061873 Centerline is valid? [True, True] Translation: X:228.63, Y:-82.91, Z:-27.20 [[ 9.70082570e-01 2.40931277e-01 2.98651427e-02 2.28626998e+02] [-2.40740927e-01 9.70539255e-01 -9.86717982e-03 -8.29063700e+01] [-3.13626055e-02 2.38221704e-03 9.99505234e-01 -2.71994540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.11119381700004 meters 0.08078262662125679 Centerline is valid? [True, True] Translation: X:228.66, Y:-82.91, Z:-27.20 [[ 9.70107705e-01 2.41107827e-01 2.75328250e-02 2.28655578e+02] [-2.40946187e-01 9.70495866e-01 -9.09448593e-03 -8.29102948e+01] [-2.89132446e-02 2.18870167e-03 9.99579529e-01 -2.72026650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14119381700004 meters 0.08595564905359394 Centerline is valid? [True, True] Translation: X:228.68, Y:-82.92, Z:-27.21 [[ 9.70108604e-01 2.41356221e-01 2.52283647e-02 2.28680464e+02] [-2.41220615e-01 9.70434533e-01 -8.33262040e-03 -8.29205329e+01] [-2.64936061e-02 1.99794510e-03 9.99646986e-01 -2.72102745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17119381700002 meters 0.08044867163215771 Centerline is valid? [True, True] Translation: X:228.71, Y:-82.92, Z:-27.21 [[ 9.69712506e-01 2.43128414e-01 2.33715576e-02 2.28712391e+02] [-2.43012638e-01 9.69992436e-01 -7.71569859e-03 -8.29152196e+01] [-2.45461396e-02 1.80242555e-03 9.99697073e-01 -2.72104929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20119381700002 meters 0.07612032146254435 Centerline is valid? [True, True] Translation: X:228.75, Y:-82.90, Z:-27.21 [[ 9.68184206e-01 2.49082125e-01 2.40299595e-02 2.28748316e+02] [-2.48961653e-01 9.68480885e-01 -7.92912345e-03 -8.29019649e+01] [-2.52475593e-02 1.69431365e-03 9.99679794e-01 -2.72111857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23119381700002 meters 0.07337125498591551 Centerline is valid? [True, True] Translation: X:228.78, Y:-82.90, Z:-27.21 [[ 9.67249176e-01 2.52672493e-01 2.42000805e-02 2.28780679e+02] [-2.52551446e-01 9.67550523e-01 -7.98447521e-03 -8.28984423e+01] [-2.54322578e-02 1.61121176e-03 9.99675249e-01 -2.72117162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26119381700002 meters 0.07698828592402004 Centerline is valid? [True, True] Translation: X:228.81, Y:-82.91, Z:-27.22 [[ 9.66257101e-01 2.56364668e-01 2.49874504e-02 2.28808555e+02] [-2.56236881e-01 9.66578873e-01 -8.24278422e-03 -8.29059324e+01] [-2.62655002e-02 1.56194244e-03 9.99653782e-01 -2.72181634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29119381700002 meters 0.0744914663317662 Centerline is valid? [True, True] Translation: X:228.84, Y:-82.90, Z:-27.22 [[ 9.64618408e-01 2.62379604e-01 2.58509203e-02 2.28841633e+02] [-2.62245012e-01 9.64963654e-01 -8.52639930e-03 -8.28987805e+01] [-2.71823518e-02 1.44544682e-03 9.99629447e-01 -2.72202353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32119381700002 meters 0.06880749112219092 Centerline is valid? [True, True] Translation: X:228.87, Y:-82.89, Z:-27.22 [[ 9.63868709e-01 2.65102300e-01 2.60361817e-02 2.28874868e+02] [-2.64966773e-01 9.64219307e-01 -8.58704940e-03 -8.28932628e+01] [-2.73810357e-02 1.37806516e-03 9.99624119e-01 -2.72164796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35119381700002 meters 0.06613998664128198 Centerline is valid? [True, True] Translation: X:228.91, Y:-82.89, Z:-27.22 [[ 9.63105452e-01 2.67786516e-01 2.68005666e-02 2.28906856e+02] [-2.67644002e-01 9.63477343e-01 -8.83724899e-03 -8.28925753e+01] [-2.81882348e-02 1.33819179e-03 9.99601737e-01 -2.72156683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.38119381700002 meters 0.0646492660812185 Centerline is valid? [True, True] Translation: X:228.94, Y:-82.89, Z:-27.22 [[ 9.62150964e-01 2.71050678e-01 2.82321267e-02 2.28937916e+02] [-2.70893950e-01 9.62564189e-01 -9.30858621e-03 -8.28946980e+01] [-2.96983328e-02 1.30835285e-03 9.99558051e-01 -2.72161212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.41119381700003 meters 0.06140967361765831 Centerline is valid? [True, True] Translation: X:228.97, Y:-82.89, Z:-27.22 [[ 9.59943171e-01 2.78644327e-01 2.94354829e-02 2.28971058e+02] [-2.78477531e-01 9.60393715e-01 -9.70447130e-03 -8.28901887e+01] [-3.09737486e-02 1.11862036e-03 9.99519572e-01 -2.72155598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.44119381700003 meters 0.06100042456797148 Centerline is valid? [True, True] Translation: X:229.00, Y:-82.89, Z:-27.22 [[ 9.58927640e-01 2.82093382e-01 2.96834194e-02 2.28999100e+02] [-2.81925364e-01 9.59386413e-01 -9.78774740e-03 -8.28947617e+01] [-3.12389281e-02 1.01723269e-03 9.99511428e-01 -2.72185657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.47119381700003 meters 0.06046500185533009 Centerline is valid? [True, True] Translation: X:229.03, Y:-82.90, Z:-27.22 [[ 9.58064576e-01 2.85011367e-01 2.96780778e-02 2.29026765e+02] [-2.84844874e-01 9.58523695e-01 -9.78380779e-03 -8.28989849e+01] [-3.12356373e-02 9.19871323e-04 9.99511625e-01 -2.72207648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.50119381700003 meters 0.058446623804372155 Centerline is valid? [True, True] Translation: X:229.06, Y:-82.90, Z:-27.22 [[ 9.57305368e-01 2.87450818e-01 3.06342688e-02 2.29056775e+02] [-2.87274797e-01 9.57795010e-01 -1.00950261e-02 -8.29007916e+01] [-3.22431733e-02 8.63569325e-04 9.99479681e-01 -2.72184385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.53119381700003 meters 0.0585773431485527 Centerline is valid? [True, True] Translation: X:229.08, Y:-82.91, Z:-27.22 [[ 9.56471876e-01 2.90084813e-01 3.18174899e-02 2.29083713e+02] [-2.89896489e-01 9.57000605e-01 -1.04817388e-02 -8.29085034e+01] [-3.34899503e-02 8.01709778e-04 9.99438733e-01 -2.72220306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.56119381700003 meters 0.05738822038871639 Centerline is valid? [True, True] Translation: X:229.11, Y:-82.91, Z:-27.22 [[ 9.55437401e-01 2.93187120e-01 3.43611077e-02 2.29113211e+02] [-2.92969643e-01 9.56054789e-01 -1.13150015e-02 -8.29140401e+01] [-3.61685143e-02 7.44014211e-04 9.99345428e-01 -2.72210462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.59119381700003 meters 0.056615965405181226 Centerline is valid? [True, True] Translation: X:229.14, Y:-82.92, Z:-27.22 [[ 9.54860242e-01 2.95032311e-01 3.46100259e-02 2.29141064e+02] [-2.94812704e-01 9.55487032e-01 -1.14018167e-02 -8.29215200e+01] [-3.64333353e-02 6.83666130e-04 9.99335852e-01 -2.72216512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.62119381700003 meters 0.05656896606995611 Centerline is valid? [True, True] Translation: X:229.17, Y:-82.93, Z:-27.23 [[ 9.54303834e-01 2.96971364e-01 3.33496799e-02 2.29166045e+02] [-2.96769142e-01 9.54886213e-01 -1.09725404e-02 -8.29299438e+01] [-3.51036798e-02 5.73981510e-04 9.99383511e-01 -2.72251288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.65119381700003 meters 0.056632334753385354 Centerline is valid? [True, True] Translation: X:229.19, Y:-82.94, Z:-27.23 [[ 9.53876048e-01 2.98378371e-01 3.30277692e-02 2.29192083e+02] [-2.98181051e-01 9.54447529e-01 -1.08616657e-02 -8.29382737e+01] [-3.47641588e-02 5.12427809e-04 9.99395413e-01 -2.72291715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.68119381700004 meters 0.05653423408634706 Centerline is valid? [True, True] Translation: X:229.22, Y:-82.94, Z:-27.23 [[ 9.52519140e-01 3.02868818e-01 3.12692660e-02 2.29218572e+02] [-3.02694583e-01 9.53032200e-01 -1.02769484e-02 -8.29448972e+01] [-3.29131846e-02 3.23952583e-04 9.99458162e-01 -2.72347030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.71119381700004 meters 0.056577209108340014 Centerline is valid? [True, True] Translation: X:229.25, Y:-82.95, Z:-27.24 [[ 9.52081858e-01 3.04388884e-01 2.97916678e-02 2.29245528e+02] [-3.04231393e-01 9.52547815e-01 -9.79388825e-03 -8.29536000e+01] [-3.13591388e-02 2.61022715e-04 9.99508147e-01 -2.72378318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.74119381700004 meters 0.05649056930221864 Centerline is valid? [True, True] Translation: X:229.27, Y:-82.96, Z:-27.24 [[ 9.51663996e-01 3.05829712e-01 2.83518152e-02 2.29272077e+02] [-3.05687948e-01 9.52086209e-01 -9.31287626e-03 -8.29636375e+01] [-2.98415265e-02 1.95920836e-04 9.99554623e-01 -2.72399695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.77119381700004 meters 0.056613200341201306 Centerline is valid? [True, True] Translation: X:229.30, Y:-82.97, Z:-27.24 [[ 9.51427400e-01 3.06672611e-01 2.71627101e-02 2.29299028e+02] [-3.06543060e-01 9.51815048e-01 -8.91439910e-03 -8.29743635e+01] [-2.85876783e-02 1.54863277e-04 9.99591277e-01 -2.72419531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.80119381700004 meters 0.056613200341201306 Centerline is valid? [True, True] Translation: X:229.33, Y:-82.98, Z:-27.24 [[ 9.51530762e-01 3.06351558e-01 2.71648961e-02 2.29325140e+02] [-3.06222067e-01 9.51918430e-01 -8.90773014e-03 -8.29826658e+01] [-2.85876622e-02 1.57488620e-04 9.99591277e-01 -2.72436185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.83119381700004 meters 0.05687213258919541 Centerline is valid? [True, True] Translation: X:229.35, Y:-83.00, Z:-27.25 [[ 9.51158585e-01 3.07594328e-01 2.61357127e-02 2.29349102e+02] [-3.07475354e-01 9.51517587e-01 -8.55498105e-03 -8.29975050e+01] [-2.75000539e-02 1.01056158e-04 9.99621797e-01 -2.72474895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.86119381700004 meters 0.056903923671783554 Centerline is valid? [True, True] Translation: X:229.37, Y:-83.01, Z:-27.25 [[ 9.51311029e-01 3.07061050e-01 2.68484035e-02 2.29374035e+02] [-3.06935476e-01 9.51689812e-01 -8.78150445e-03 -8.30113812e+01] [-2.82478101e-02 1.13214527e-04 9.99600945e-01 -2.72502295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89119381700004 meters 0.056913452646848516 Centerline is valid? [True, True] Translation: X:229.40, Y:-83.02, Z:-27.25 [[ 9.51242214e-01 3.07265088e-01 2.69521123e-02 2.29399457e+02] [-3.07138502e-01 9.51623956e-01 -8.81971518e-03 -8.30249352e+01] [-2.83582662e-02 1.11654009e-04 9.99597817e-01 -2.72515517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92119381700002 meters 0.056717473773816356 Centerline is valid? [True, True] Translation: X:229.42, Y:-83.04, Z:-27.25 [[ 9.51118580e-01 3.07654269e-01 2.68755803e-02 2.29424521e+02] [-3.07528816e-01 9.51498209e-01 -8.78548582e-03 -8.30376093e+01] [-2.82749588e-02 9.10233914e-05 9.99600179e-01 -2.72524003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95119381700002 meters 0.057007620945078004 Centerline is valid? [True, True] Translation: X:229.45, Y:-83.05, Z:-27.26 [[ 9.50632013e-01 3.09281693e-01 2.53694734e-02 2.29447527e+02] [-3.09170893e-01 9.50970469e-01 -8.27798652e-03 -8.30545443e+01] [-2.66858497e-02 2.58162285e-05 9.99643869e-01 -2.72560052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98119381700002 meters 0.057317936974221606 Centerline is valid? [True, True] Translation: X:229.47, Y:-83.07, Z:-27.26 [[ 9.50612112e-01 3.09491583e-01 2.34855710e-02 2.29472893e+02] [-3.09396610e-01 9.50902182e-01 -7.66669636e-03 -8.30683799e+01] [-2.47052587e-02 2.16983551e-05 9.99694778e-01 -2.72598399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01119381700002 meters 0.05811045909920962 Centerline is valid? [True, True] Translation: X:229.50, Y:-83.08, Z:-27.27 [[ 9.50585045e-01 3.09744232e-01 2.11325126e-02 2.29496728e+02] [-3.09667651e-01 9.50819915e-01 -6.88733055e-03 -8.30821732e+01] [-2.22265247e-02 2.93788545e-06 9.99752960e-01 -2.72665874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04119381700002 meters 0.058019355829623136 Centerline is valid? [True, True] Translation: X:229.52, Y:-83.10, Z:-27.27 [[ 9.50939811e-01 3.08662068e-01 2.10048667e-02 2.29521254e+02] [-3.08586032e-01 9.51171765e-01 -6.85082618e-03 -8.30977769e+01] [-2.20938263e-02 3.29148679e-05 9.99755901e-01 -2.72682339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07119381700002 meters 0.05796205949322891 Centerline is valid? [True, True] Translation: X:229.54, Y:-83.13, Z:-27.27 [[ 9.51967492e-01 3.05352593e-01 2.27527538e-02 2.29541218e+02] [-3.05262852e-01 9.52239352e-01 -7.40322274e-03 -8.31262604e+01] [-2.39266608e-02 1.02056880e-04 9.99713711e-01 -2.72703678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10119381700002 meters 0.05707451655013594 Centerline is valid? [True, True] Translation: X:229.57, Y:-83.14, Z:-27.27 [[ 9.52734227e-01 3.02914302e-01 2.32468976e-02 2.29565169e+02] [-3.02819745e-01 9.53017784e-01 -7.57008536e-03 -8.31449793e+01] [-2.44477940e-02 1.72659818e-04 9.99701093e-01 -2.72656793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.13119381700002 meters 0.058108133170892855 Centerline is valid? [True, True] Translation: X:229.59, Y:-83.17, Z:-27.27 [[ 9.53818122e-01 2.99442461e-01 2.37739688e-02 2.29587074e+02] [-2.99342922e-01 9.54114327e-01 -7.72436706e-03 -8.31663210e+01] [-2.49960878e-02 2.51071992e-04 9.99687517e-01 -2.72727073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.16119381700003 meters 0.05758090179341114 Centerline is valid? [True, True] Translation: X:229.61, Y:-83.18, Z:-27.27 [[ 9.54926767e-01 2.95800325e-01 2.48402415e-02 2.29611388e+02] [-2.95690299e-01 9.55249723e-01 -8.07549632e-03 -8.31846418e+01] [-2.61173682e-02 3.66489151e-04 9.99658816e-01 -2.72680272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.19119381700003 meters 0.060894421717961035 Centerline is valid? [True, True] Translation: X:229.63, Y:-83.22, Z:-27.27 [[ 9.57773201e-01 2.86282634e-01 2.66973417e-02 2.29629758e+02] [-2.86152361e-01 9.58144991e-01 -8.66039400e-03 -8.32190592e+01] [-2.80592447e-02 6.55185923e-04 9.99606047e-01 -2.72726597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.22119381700003 meters 0.059896824517854275 Centerline is valid? [True, True] Translation: X:229.66, Y:-83.23, Z:-27.27 [[ 9.58980573e-01 2.81988696e-01 2.89592279e-02 2.29655501e+02] [-2.81833534e-01 9.59417356e-01 -9.39130307e-03 -8.32348927e+01] [-3.04322272e-02 8.44395646e-04 9.99536476e-01 -2.72657402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.25119381700003 meters 0.06015407541726464 Centerline is valid? [True, True] Translation: X:229.68, Y:-83.25, Z:-27.26 [[ 9.60152599e-01 2.77836721e-01 3.02281966e-02 2.29680162e+02] [-2.77665691e-01 9.60627776e-01 -9.80000847e-03 -8.32527557e+01] [-3.17608475e-02 1.01617051e-03 9.99494980e-01 -2.72635738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.28119381700003 meters 0.06184433304435678 Centerline is valid? [True, True] Translation: X:229.70, Y:-83.27, Z:-27.26 [[ 9.61294862e-01 2.73685067e-01 3.17595965e-02 2.29702703e+02] [-2.73494068e-01 9.61818601e-01 -1.02943884e-02 -8.32717484e+01] [-3.33643911e-02 1.20988146e-03 9.99442521e-01 -2.72648580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.31119381700003 meters 0.06495690881895815 Centerline is valid? [True, True] Translation: X:229.73, Y:-83.30, Z:-27.27 [[ 9.63108833e-01 2.67264988e-01 3.14770049e-02 2.29725923e+02] [-2.67074185e-01 9.63622037e-01 -1.01955632e-02 -8.32959189e+01] [-3.30568526e-02 1.41274153e-03 9.99452474e-01 -2.72677647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.34119381700003 meters 0.06435024270264189 Centerline is valid? [True, True] Translation: X:229.75, Y:-83.31, Z:-27.27 [[ 9.63744083e-01 2.65184524e-01 2.95721364e-02 2.29753410e+02] [-2.65015119e-01 9.64196672e-01 -9.57937653e-03 -8.33062110e+01] [-3.10536579e-02 1.39500421e-03 9.99516745e-01 -2.72692488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.37119381700003 meters 0.06664114013398631 Centerline is valid? [True, True] Translation: X:229.78, Y:-83.32, Z:-27.28 [[ 9.64129220e-01 2.64046549e-01 2.70973618e-02 2.29778645e+02] [-2.63903915e-01 9.64509048e-01 -8.77612971e-03 -8.33209341e+01] [-2.84529574e-02 1.31022322e-03 9.99594274e-01 -2.72760621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.40119381700003 meters 0.06583557606300099 Centerline is valid? [True, True] Translation: X:229.81, Y:-83.33, Z:-27.28 [[ 9.64299212e-01 2.63675328e-01 2.45428526e-02 2.29807225e+02] [-2.63558259e-01 9.64610748e-01 -7.94668502e-03 -8.33290813e+01] [-2.57696442e-02 1.19451059e-03 9.99667194e-01 -2.72785038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.43119381700004 meters 0.06667009864558959 Centerline is valid? [True, True] Translation: X:229.83, Y:-83.34, Z:-27.28 [[ 9.63672826e-01 2.66097005e-01 2.29579864e-02 2.29833393e+02] [-2.65995238e-01 9.63945676e-01 -7.43420002e-03 -8.33390460e+01] [-2.41084700e-02 1.05742148e-03 9.99708789e-01 -2.72844735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.46119381700004 meters 0.06508603793436885 Centerline is valid? [True, True] Translation: X:229.86, Y:-83.34, Z:-27.29 [[ 9.63126905e-01 2.68100401e-01 2.25552432e-02 2.29861930e+02] [-2.68002770e-01 9.63390471e-01 -7.30178113e-03 -8.33440090e+01] [-2.36871168e-02 9.87674214e-04 9.99718933e-01 -2.72850817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.49119381700004 meters 0.06388047812693781 Centerline is valid? [True, True] Translation: X:229.89, Y:-83.35, Z:-27.29 [[ 9.62336910e-01 2.70864235e-01 2.32430327e-02 2.29891198e+02] [-2.70761454e-01 9.62617097e-01 -7.52064135e-03 -8.33500106e+01] [-2.44112134e-02 9.44073438e-04 9.99701556e-01 -2.72860778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.52119381700004 meters 0.06096905545024042 Centerline is valid? [True, True] Translation: X:229.92, Y:-83.35, Z:-27.29 [[ 9.60238283e-01 2.78198909e-01 2.34052784e-02 2.29923207e+02] [-2.78096915e-01 9.60523184e-01 -7.57088092e-03 -8.33509889e+01] [-2.45875234e-02 7.60913984e-04 9.99697392e-01 -2.72860726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.55119381700004 meters 0.05965246072311775 Centerline is valid? [True, True] Translation: X:229.95, Y:-83.36, Z:-27.29 [[ 9.59009396e-01 2.82353028e-01 2.40363600e-02 2.29953094e+02] [-2.82246756e-01 9.59310333e-01 -7.77516657e-03 -8.33558329e+01] [-2.52536703e-02 6.72273165e-04 9.99680849e-01 -2.72873514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.58119381700004 meters 0.05874281133082297 Centerline is valid? [True, True] Translation: X:229.98, Y:-83.36, Z:-27.29 [[ 9.58074720e-01 2.85481145e-01 2.43587033e-02 2.29981497e+02] [-2.85372968e-01 9.58384138e-01 -7.88112132e-03 -8.33605871e+01] [-2.55949064e-02 5.99387640e-04 9.99672217e-01 -2.72886888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.61119381700004 meters 0.05837889144923927 Centerline is valid? [True, True] Translation: X:230.01, Y:-83.37, Z:-27.29 [[ 9.57248752e-01 2.88106243e-01 2.58770028e-02 2.30008905e+02] [-2.87985129e-01 9.57598286e-01 -8.37185783e-03 -8.33668449e+01] [-2.71917580e-02 5.61758470e-04 9.99630078e-01 -2.72911135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64119381700004 meters 0.056384686697596706 Centerline is valid? [True, True] Translation: X:230.04, Y:-83.37, Z:-27.29 [[ 9.55756860e-01 2.92873791e-01 2.74548158e-02 2.30039768e+02] [-2.92739676e-01 9.56151006e-01 -8.87334359e-03 -8.33707220e+01] [-2.88497195e-02 4.43645129e-04 9.99583662e-01 -2.72882312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67119381700002 meters 0.056323128580212614 Centerline is valid? [True, True] Translation: X:230.07, Y:-83.38, Z:-27.29 [[ 9.55420142e-01 2.93992424e-01 2.72177721e-02 2.30067374e+02] [-2.93861026e-01 9.55807663e-01 -8.79824078e-03 -8.33795914e+01] [-2.86015713e-02 4.07774018e-04 9.99590808e-01 -2.72911571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70119381700002 meters 0.0566115971788817 Centerline is valid? [True, True] Translation: X:230.09, Y:-83.39, Z:-27.30 [[ 9.54884175e-01 2.95724024e-01 2.72674465e-02 2.30092609e+02] [-2.95592856e-01 9.55273351e-01 -8.81414874e-03 -8.33895773e+01] [-2.86544205e-02 3.56428763e-04 9.99589314e-01 -2.72970204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73119381700002 meters 0.05660747481658609 Centerline is valid? [True, True] Translation: X:230.12, Y:-83.40, Z:-27.30 [[ 9.54825396e-01 2.95930823e-01 2.70815564e-02 2.30118966e+02] [-2.95801499e-01 9.55209310e-01 -8.75480776e-03 -8.33992535e+01] [-2.84593722e-02 3.48547839e-04 9.99594889e-01 -2.72993734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76119381700002 meters 0.056500940334215106 Centerline is valid? [True, True] Translation: X:230.14, Y:-83.41, Z:-27.30 [[ 9.54656458e-01 2.96501830e-01 2.67901326e-02 2.30144568e+02] [-2.96375760e-01 9.55032231e-01 -8.65136080e-03 -8.34095765e+01] [-2.81505844e-02 3.19131563e-04 9.99603643e-01 -2.73025916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79119381700002 meters 0.056140922769106996 Centerline is valid? [True, True] Translation: X:230.17, Y:-83.42, Z:-27.30 [[ 9.54469806e-01 2.97202634e-01 2.56511949e-02 2.30171635e+02] [-2.97087747e-01 9.54814391e-01 -8.26735277e-03 -8.34186248e+01] [-2.69492091e-02 2.70282898e-04 9.99636768e-01 -2.73027547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82119381700002 meters 0.0560511778972625 Centerline is valid? [True, True] Translation: X:230.20, Y:-83.43, Z:-27.30 [[ 9.54146859e-01 2.98235475e-01 2.56782773e-02 2.30198534e+02] [-2.98120781e-01 9.54492297e-01 -8.27378365e-03 -8.34291222e+01] [-2.69772537e-02 2.39176583e-04 9.99636019e-01 -2.73045771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85119381700002 meters 0.05646862196090639 Centerline is valid? [True, True] Translation: X:230.22, Y:-83.44, Z:-27.31 [[ 9.54048698e-01 2.98696606e-01 2.39043769e-02 2.30223974e+02] [-2.98597386e-01 9.54348099e-01 -7.70113003e-03 -8.34401671e+01] [-2.51133980e-02 2.09468634e-04 9.99684587e-01 -2.73080061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.88119381700002 meters 0.05629046417685067 Centerline is valid? [True, True] Translation: X:230.25, Y:-83.45, Z:-27.31 [[ 9.53648032e-01 2.99950973e-01 2.41835768e-02 2.30250203e+02] [-2.99849915e-01 9.53954602e-01 -7.78752414e-03 -8.34510884e+01] [-2.54059098e-02 1.75113622e-04 9.99677202e-01 -2.73098787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.91119381700003 meters 0.05612163731612798 Centerline is valid? [True, True] Translation: X:230.28, Y:-83.46, Z:-27.31 [[ 9.53222787e-01 3.01172611e-01 2.57172550e-02 2.30276132e+02] [-3.01058822e-01 9.53569628e-01 -8.27945056e-03 -8.34606813e+01] [-2.70167370e-02 1.49754446e-04 9.99634970e-01 -2.73111268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.94119381700003 meters 0.05538132246901114 Centerline is valid? [True, True] Translation: X:230.30, Y:-83.47, Z:-27.31 [[ 9.52143140e-01 3.04095286e-01 3.08139253e-02 2.30303649e+02] [-3.03933653e-01 9.52641617e-01 -9.91378351e-03 -8.34720525e+01] [-3.23693625e-02 7.39520569e-05 9.99475972e-01 -2.73085801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.97119381700003 meters 0.05514650568684011 Centerline is valid? [True, True] Translation: X:230.33, Y:-83.48, Z:-27.31 [[ 9.51672910e-01 3.05475576e-01 3.16756026e-02 2.30331282e+02] [-3.05305375e-01 9.52199911e-01 -1.01959171e-02 -8.34820687e+01] [-3.32761096e-02 3.24464143e-05 9.99446196e-01 -2.73087289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.00119381700003 meters 0.0550711303525596 Centerline is valid? [True, True] Translation: X:230.36, Y:-83.49, Z:-27.31 [[ 9.51257207e-01 3.06627035e-01 3.30088896e-02 2.30358840e+02] [-3.06443250e-01 9.51829744e-01 -1.06147632e-02 -8.34921701e+01] [-3.46736163e-02 -1.79814359e-05 9.99398689e-01 -2.73093241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.03119381700003 meters 0.055244173642120614 Centerline is valid? [True, True] Translation: X:230.39, Y:-83.50, Z:-27.31 [[ 9.50519011e-01 3.08827524e-01 3.37515822e-02 2.30385039e+02] [-3.08637219e-01 9.51118051e-01 -1.08406298e-02 -8.35025612e+01] [-3.54496239e-02 -1.12769707e-04 9.99371458e-01 -2.73119442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.06119381700003 meters 0.05545567019131478 Centerline is valid? [True, True] Translation: X:230.41, Y:-83.51, Z:-27.31 [[ 9.50340167e-01 3.09467062e-01 3.29196717e-02 2.30411847e+02] [-3.09286651e-01 9.50910153e-01 -1.05664373e-02 -8.35132188e+01] [-3.45736143e-02 -1.39905156e-04 9.99402144e-01 -2.73145152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.09119381700003 meters 0.05585405592270474 Centerline is valid? [True, True] Translation: X:230.44, Y:-83.52, Z:-27.32 [[ 9.50184700e-01 3.10050207e-01 3.19046316e-02 2.30436609e+02] [-3.09881133e-01 9.50720171e-01 -1.02390980e-02 -8.35249392e+01] [-3.35070113e-02 -1.57609172e-04 9.99438470e-01 -2.73187290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.12119381700003 meters 0.05662718719742277 Centerline is valid? [True, True] Translation: X:230.46, Y:-83.54, Z:-27.32 [[ 9.49837462e-01 3.11432459e-01 2.86115136e-02 2.30460771e+02] [-3.11297265e-01 9.50268271e-01 -9.17745538e-03 -8.35422631e+01] [-3.00467710e-02 -1.89594990e-04 9.99548476e-01 -2.73246991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.15119381700003 meters 0.05633041279124221 Centerline is valid? [True, True] Translation: X:230.49, Y:-83.56, Z:-27.32 [[ 9.49438315e-01 3.12783298e-01 2.70830936e-02 2.30486543e+02] [-3.12662731e-01 9.49824489e-01 -8.68657804e-03 -8.35556985e+01] [-2.84412021e-02 -2.20504014e-04 9.99595443e-01 -2.73233126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.18119381700004 meters 0.05716900210241943 Centerline is valid? [True, True] Translation: X:230.51, Y:-83.57, Z:-27.33 [[ 9.49148910e-01 3.13797900e-01 2.54406056e-02 2.30511377e+02] [-3.13691896e-01 9.49489769e-01 -8.15917365e-03 -8.35668344e+01] [-2.67159263e-02 -2.36241014e-04 9.99643038e-01 -2.73298574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.21119381700004 meters 0.05759982632720208 Centerline is valid? [True, True] Translation: X:230.54, Y:-83.58, Z:-27.33 [[ 9.48561243e-01 3.15717510e-01 2.35376679e-02 2.30537206e+02] [-3.15627452e-01 9.48853192e-01 -7.54531186e-03 -8.35791340e+01] [-2.47159784e-02 -2.71943754e-04 9.99694477e-01 -2.73328483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.24119381700004 meters 0.05817921109920865 Centerline is valid? [True, True] Translation: X:230.56, Y:-83.59, Z:-27.34 [[ 9.48020330e-01 3.17493898e-01 2.13325928e-02 2.30564157e+02] [-3.17420467e-01 9.48260270e-01 -6.83429572e-03 -8.35919614e+01] [-2.23986974e-02 -2.92350291e-04 9.99749075e-01 -2.73361114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.27119381700004 meters 0.05839781166540239 Centerline is valid? [True, True] Translation: X:230.59, Y:-83.61, Z:-27.34 [[ 9.47785159e-01 3.18165158e-01 2.17766868e-02 2.30585962e+02] [-3.18088784e-01 9.48035249e-01 -6.97794725e-03 -8.36136958e+01] [-2.28652064e-02 -3.13324962e-04 9.99738508e-01 -2.73385291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.30119381700004 meters 0.05848589486911481 Centerline is valid? [True, True] Translation: X:230.61, Y:-83.63, Z:-27.34 [[ 9.48050483e-01 3.17311090e-01 2.26705392e-02 2.30610297e+02] [-3.17228159e-01 9.48321453e-01 -7.26071832e-03 -8.36303590e+01] [-2.38028651e-02 -3.08205888e-04 9.99716624e-01 -2.73404159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.33119381700004 meters 0.05713174173511818 Centerline is valid? [True, True] Translation: X:230.64, Y:-83.65, Z:-27.34 [[ 9.48809405e-01 3.14969852e-01 2.35521941e-02 2.30635047e+02] [-3.14879695e-01 9.49101640e-01 -7.54014334e-03 -8.36502127e+01] [-2.47283439e-02 -2.61948795e-04 9.99694173e-01 -2.73378212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.36119381700004 meters 0.05658694070503091 Centerline is valid? [True, True] Translation: X:230.66, Y:-83.67, Z:-27.34 [[ 9.49839303e-01 3.11628700e-01 2.63220586e-02 2.30659129e+02] [-3.11514865e-01 9.50203933e-01 -8.42464725e-03 -8.36693261e+01] [-2.76366855e-02 -1.97651464e-04 9.99618014e-01 -2.73393777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39119381700004 meters 0.055809069658405076 Centerline is valid? [True, True] Translation: X:230.68, Y:-83.69, Z:-27.34 [[ 9.51283145e-01 3.06974250e-01 2.87608707e-02 2.30684898e+02] [-3.06836374e-01 9.51717818e-01 -9.19971069e-03 -8.36910604e+01] [-3.01963074e-02 -7.33515717e-05 9.99543985e-01 -2.73390929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42119381700002 meters 0.05573503197902965 Centerline is valid? [True, True] Translation: X:230.71, Y:-83.73, Z:-27.34 [[ 9.54332310e-01 2.97131512e-01 3.10275274e-02 2.30706831e+02] [-2.96965998e-01 9.54836531e-01 -9.91944427e-03 -8.37263910e+01] [-3.25735961e-02 2.52325527e-04 9.99469308e-01 -2.73389810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45119381700002 meters 0.05671397987966574 Centerline is valid? [True, True] Translation: X:230.73, Y:-83.75, Z:-27.34 [[ 9.56059582e-01 2.91559765e-01 3.07079510e-02 2.30732872e+02] [-2.91394470e-01 9.56552510e-01 -9.82642787e-03 -8.37499955e+01] [-3.22387586e-02 4.46523397e-04 9.99480096e-01 -2.73409721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48119381700002 meters 0.0584460295418479 Centerline is valid? [True, True] Translation: X:230.76, Y:-83.77, Z:-27.34 [[ 9.57826431e-01 2.85789520e-01 2.98810808e-02 2.30756759e+02] [-2.85629764e-01 9.58292202e-01 -9.57566634e-03 -8.37722636e+01] [-3.13714318e-02 6.36900260e-04 9.99507593e-01 -2.73440974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51119381700002 meters 0.060746342526243814 Centerline is valid? [True, True] Translation: X:230.78, Y:-83.79, Z:-27.35 [[ 9.59450584e-01 2.80348869e-01 2.93102255e-02 2.30782863e+02] [-2.80192472e-01 9.59897841e-01 -9.39751146e-03 -8.37937286e+01] [-3.07694039e-02 8.03943330e-04 9.99526186e-01 -2.73472780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54119381700002 meters 0.06441158501547405 Centerline is valid? [True, True] Translation: X:230.81, Y:-83.82, Z:-27.35 [[ 9.61976730e-01 2.71662266e-01 2.82910673e-02 2.30807148e+02] [-2.71512737e-01 9.62392081e-01 -9.07280046e-03 -8.38169938e+01] [-2.96918367e-02 1.04643781e-03 9.99558552e-01 -2.73495802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57119381700002 meters 0.06703773549048049 Centerline is valid? [True, True] Translation: X:230.83, Y:-83.83, Z:-27.35 [[ 9.62710387e-01 2.68986814e-01 2.88929718e-02 2.30834643e+02] [-2.68829757e-01 9.63143173e-01 -9.26225270e-03 -8.38333484e+01] [-3.03194924e-02 1.14957631e-03 9.99539597e-01 -2.73529335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60119381700002 meters 0.06962416430869534 Centerline is valid? [True, True] Translation: X:230.86, Y:-83.85, Z:-27.36 [[ 9.63640223e-01 2.65731370e-01 2.80064386e-02 2.30861315e+02] [-2.65582280e-01 9.64046344e-01 -8.98323138e-03 -8.38469615e+01] [-2.93866311e-02 1.21858927e-03 9.99567377e-01 -2.73554857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.63119381700002 meters 0.0694307651448439 Centerline is valid? [True, True] Translation: X:230.89, Y:-83.85, Z:-27.36 [[ 9.63782780e-01 2.65210600e-01 2.80373021e-02 2.30892044e+02] [-2.65061034e-01 9.64189720e-01 -8.99065845e-03 -8.38548939e+01] [-2.94176964e-02 1.23344552e-03 9.99566445e-01 -2.73564359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.66119381700003 meters 0.06939334512538027 Centerline is valid? [True, True] Translation: X:230.92, Y:-83.86, Z:-27.36 [[ 9.64081203e-01 2.64150865e-01 2.77804762e-02 2.30923072e+02] [-2.64003397e-01 9.64480550e-01 -8.91487947e-03 -8.38624278e+01] [-2.91486021e-02 1.26052764e-03 9.99574294e-01 -2.73576424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.69119381700003 meters 0.06939334512538027 Centerline is valid? [True, True] Translation: X:230.95, Y:-83.87, Z:-27.36 [[ 9.64000225e-01 2.64446448e-01 2.77784473e-02 2.30953871e+02] [-2.64298920e-01 9.64399551e-01 -8.92119454e-03 -8.38726236e+01] [-2.91487003e-02 1.25821991e-03 9.99574294e-01 -2.73596147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.72119381700003 meters 0.06575419473264874 Centerline is valid? [True, True] Translation: X:230.99, Y:-83.87, Z:-27.36 [[ 9.64081487e-01 2.64107807e-01 2.81771480e-02 2.30987406e+02] [-2.63955568e-01 9.64492294e-01 -9.05940419e-03 -8.38736979e+01] [-2.95693015e-02 1.29648875e-03 9.99561892e-01 -2.73564983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.75119381700003 meters 0.0707583466883071 Centerline is valid? [True, True] Translation: X:231.01, Y:-83.89, Z:-27.36 [[ 9.64005211e-01 2.64237384e-01 2.95390924e-02 2.31014286e+02] [-2.64069778e-01 9.64456707e-01 -9.50857818e-03 -8.38891383e+01] [-3.10016976e-02 1.36593733e-03 9.99518399e-01 -2.73634551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.78119381700003 meters 0.0677846918906531 Centerline is valid? [True, True] Translation: X:231.05, Y:-83.89, Z:-27.36 [[ 9.64229450e-01 2.63363736e-01 3.00185009e-02 2.31049229e+02] [-2.63189940e-01 9.64695554e-01 -9.67184337e-03 -8.38866883e+01] [-3.15059271e-02 1.42530878e-03 9.99502549e-01 -2.73606781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.81119381700003 meters 0.06785928465253074 Centerline is valid? [True, True] Translation: X:231.08, Y:-83.89, Z:-27.36 [[ 9.64139956e-01 2.63687906e-01 3.00471789e-02 2.31081373e+02] [-2.63513676e-01 9.64606998e-01 -9.68926977e-03 -8.38931759e+01] [-3.15386623e-02 1.42396957e-03 9.99501518e-01 -2.73630201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.84119381700003 meters 0.06763633271538823 Centerline is valid? [True, True] Translation: X:231.11, Y:-83.90, Z:-27.37 [[ 9.64140548e-01 2.63808608e-01 2.89486201e-02 2.31112740e+02] [-2.63646613e-01 9.64574060e-01 -9.34589333e-03 -8.38988424e+01] [-3.03886152e-02 1.37854908e-03 9.99537209e-01 -2.73662417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.87119381700003 meters 0.0674811839930479 Centerline is valid? [True, True] Translation: X:231.15, Y:-83.91, Z:-27.37 [[ 9.64039882e-01 2.64190396e-01 2.88190823e-02 2.31145474e+02] [-2.64029786e-01 9.64469576e-01 -9.31173847e-03 -8.39054810e+01] [-3.02552000e-02 1.36779112e-03 9.99541271e-01 -2.73696909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.90119381700003 meters 0.06819336511578934 Centerline is valid? [True, True] Translation: X:231.18, Y:-83.91, Z:-27.37 [[ 9.63936485e-01 2.64708761e-01 2.74904477e-02 2.31176058e+02] [-2.64562512e-01 9.64327528e-01 -8.89355188e-03 -8.39127509e+01] [-2.88639966e-02 1.29987725e-03 9.99582503e-01 -2.73741739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.93119381700004 meters 0.07303251896308303 Centerline is valid? [True, True] Translation: X:231.21, Y:-83.92, Z:-27.38 [[ 9.63952572e-01 2.64633210e-01 2.76532577e-02 2.31205064e+02] [-2.64484893e-01 9.64348237e-01 -8.95649029e-03 -8.39239521e+01] [-2.90375551e-02 1.31976295e-03 9.99577450e-01 -2.73836620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.96119381700004 meters 0.06924909305527763 Centerline is valid? [True, True] Translation: X:231.24, Y:-83.92, Z:-27.38 [[ 9.63913990e-01 2.64856899e-01 2.68448079e-02 2.31238939e+02] [-2.64717134e-01 9.64286882e-01 -8.69754722e-03 -8.39240393e+01] [-2.81897015e-02 1.27740682e-03 9.99601775e-01 -2.73813891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.99119381700004 meters 0.06913283873597793 Centerline is valid? [True, True] Translation: X:231.27, Y:-83.93, Z:-27.38 [[ 9.63651202e-01 2.65768452e-01 2.72670466e-02 2.31271070e+02] [-2.65624373e-01 9.64036044e-01 -8.84295158e-03 -8.39301432e+01] [-2.86365933e-02 1.27872878e-03 9.99589071e-01 -2.73836969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.02119381700004 meters 0.06884745507649945 Centerline is valid? [True, True] Translation: X:231.30, Y:-83.94, Z:-27.39 [[ 9.63275375e-01 2.67113240e-01 2.74056304e-02 2.31302178e+02] [-2.66967973e-01 9.63664332e-01 -8.89698437e-03 -8.39357731e+01] [-2.87863309e-02 1.25382036e-03 9.99584801e-01 -2.73861093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.05119381700004 meters 0.0685020264963695 Centerline is valid? [True, True] Translation: X:231.33, Y:-83.94, Z:-27.39 [[ 9.62527167e-01 2.70078148e-01 2.44795378e-02 2.31334158e+02] [-2.69962982e-01 9.62837834e-01 -7.95578739e-03 -8.39360410e+01] [-2.57185095e-02 1.04909246e-03 9.99668674e-01 -2.73926320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.08119381700004 meters 0.0681534716414086 Centerline is valid? [True, True] Translation: X:231.37, Y:-83.94, Z:-27.40 [[ 9.62070742e-01 2.71839456e-01 2.28735160e-02 2.31366764e+02] [-2.71739467e-01 9.62342163e-01 -7.43128890e-03 -8.39406403e+01] [-2.40322664e-02 9.33788581e-04 9.99710747e-01 -2.73976376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.11119381700004 meters 0.06771298520183638 Centerline is valid? [True, True] Translation: X:231.40, Y:-83.94, Z:-27.40 [[ 9.61622492e-01 2.73440856e-01 2.26336183e-02 2.31398780e+02] [-2.73343182e-01 9.61888404e-01 -7.36232300e-03 -8.39445739e+01] [-2.37841749e-02 8.93030134e-04 9.99716718e-01 -2.74007759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14119381700004 meters 0.06375158712811761 Centerline is valid? [True, True] Translation: X:231.44, Y:-83.94, Z:-27.40 [[ 9.60785406e-01 2.76185568e-01 2.47575407e-02 2.31435326e+02] [-2.76069185e-01 9.61103891e-01 -8.06946130e-03 -8.39367786e+01] [-2.60232374e-02 9.18226570e-04 9.99660916e-01 -2.73961340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17119381700002 meters 0.06307590597195366 Centerline is valid? [True, True] Translation: X:231.47, Y:-83.94, Z:-27.40 [[ 9.60357125e-01 2.77527472e-01 2.63191153e-02 2.31467918e+02] [-2.77396600e-01 9.60717250e-01 -8.57277958e-03 -8.39407403e+01] [-2.76644099e-02 9.32096838e-04 9.99616832e-01 -2.73967990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20119381700002 meters 0.06475463067481793 Centerline is valid? [True, True] Translation: X:231.50, Y:-83.95, Z:-27.40 [[ 9.59815344e-01 2.79292653e-01 2.73882940e-02 2.31498232e+02] [-2.79151379e-01 9.60205580e-01 -8.93034340e-03 -8.39491337e+01] [-2.87925721e-02 9.26000566e-04 9.99584979e-01 -2.74027780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23119381700002 meters 0.06216227121281505 Centerline is valid? [True, True] Translation: X:231.53, Y:-83.95, Z:-27.40 [[ 9.59082223e-01 2.81830913e-01 2.70670528e-02 2.31529849e+02] [-2.81693408e-01 9.59463705e-01 -8.84440410e-03 -8.39486893e+01] [-2.84624812e-02 8.57900413e-04 9.99594493e-01 -2.74009512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26119381700002 meters 0.06037881987699439 Centerline is valid? [True, True] Translation: X:231.56, Y:-83.95, Z:-27.40 [[ 9.58194151e-01 2.84799289e-01 2.74469376e-02 2.31560973e+02] [-2.84659146e-01 9.58586854e-01 -8.96734721e-03 -8.39484640e+01] [-2.88641676e-02 7.79437850e-04 9.99583039e-01 -2.74014618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29119381700002 meters 0.05804033539647925 Centerline is valid? [True, True] Translation: X:231.59, Y:-83.94, Z:-27.41 [[ 9.55424487e-01 2.94125203e-01 2.55815144e-02 2.31594319e+02] [-2.94006804e-01 9.55766786e-01 -8.35761793e-03 -8.39375444e+01] [-2.69081478e-02 4.63933552e-04 9.99637803e-01 -2.74060871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32119381700002 meters 0.05710449212847947 Centerline is valid? [True, True] Translation: X:231.63, Y:-83.94, Z:-27.41 [[ 9.53878802e-01 2.99119039e-01 2.53580480e-02 2.31625181e+02] [-2.99004486e-01 9.54215750e-01 -8.28368120e-03 -8.39367244e+01] [-2.66748556e-02 3.19457808e-04 9.99644112e-01 -2.74088088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35119381700002 meters 0.05663145778995343 Centerline is valid? [True, True] Translation: X:231.65, Y:-83.94, Z:-27.41 [[ 9.52407206e-01 3.03756163e-01 2.55481326e-02 2.31653933e+02] [-3.03641550e-01 9.52749787e-01 -8.34578996e-03 -8.39370547e+01] [-2.68760630e-02 1.91115927e-04 9.99638755e-01 -2.74119687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.38119381700002 meters 0.05575312476683777 Centerline is valid? [True, True] Translation: X:231.68, Y:-83.94, Z:-27.41 [[ 9.51088984e-01 3.07845375e-01 2.57093264e-02 2.31683540e+02] [-3.07730967e-01 9.51436398e-01 -8.39236399e-03 -8.39386615e+01] [-2.70443393e-02 7.03290758e-05 9.99634232e-01 -2.74082363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.41119381700003 meters 0.0561610479417199 Centerline is valid? [True, True] Translation: X:231.71, Y:-83.94, Z:-27.41 [[ 9.49925592e-01 3.11264520e-01 2.74912516e-02 2.31712031e+02] [-3.11135196e-01 9.50323312e-01 -8.97175537e-03 -8.39401218e+01] [-2.89181664e-02 -3.09959253e-05 9.99581782e-01 -2.74143492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.44119381700003 meters 0.05625281347494018 Centerline is valid? [True, True] Translation: X:231.74, Y:-83.95, Z:-27.42 [[ 9.49503304e-01 3.12521435e-01 2.78177651e-02 2.31738502e+02] [-3.12389667e-01 9.49910705e-01 -9.07460722e-03 -8.39472235e+01] [-2.92604021e-02 -7.36128436e-05 9.99571820e-01 -2.74155823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.47119381700003 meters 0.05591639634487075 Centerline is valid? [True, True] Translation: X:231.77, Y:-83.96, Z:-27.41 [[ 9.49411727e-01 3.12814055e-01 2.76539200e-02 2.31766052e+02] [-3.12684056e-01 9.49814382e-01 -9.01784839e-03 -8.39567751e+01] [-2.90870007e-02 -8.52888535e-05 9.99576880e-01 -2.74149558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.50119381700003 meters 0.056763075195704435 Centerline is valid? [True, True] Translation: X:231.79, Y:-83.97, Z:-27.42 [[ 9.49416373e-01 3.12862964e-01 2.69316982e-02 2.31792038e+02] [-3.12739732e-01 9.49798272e-01 -8.78076195e-03 -8.39655549e+01] [-2.83268557e-02 -8.60129234e-05 9.99598710e-01 -2.74226739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.53119381700003 meters 0.05595156608835452 Centerline is valid? [True, True] Translation: X:231.82, Y:-83.98, Z:-27.42 [[ 9.48944537e-01 3.14257265e-01 2.73246547e-02 2.31819825e+02] [-3.14131092e-01 9.49337850e-01 -8.90525473e-03 -8.39754971e+01] [-2.87388699e-02 -1.32930777e-04 9.99586945e-01 -2.74184369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.56119381700003 meters 0.05677012942082536 Centerline is valid? [True, True] Translation: X:231.85, Y:-83.98, Z:-27.42 [[ 9.47083902e-01 3.19742976e-01 2.82225297e-02 2.31847303e+02] [-3.19610687e-01 9.47504267e-01 -9.20175756e-03 -8.39838509e+01] [-2.96831646e-02 -3.05385649e-04 9.99559311e-01 -2.74194318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.59119381700003 meters 0.05801666106787452 Centerline is valid? [True, True] Translation: X:231.87, Y:-83.99, Z:-27.42 [[ 9.45966282e-01 3.23147552e-01 2.68970901e-02 2.31874036e+02] [-3.23029116e-01 9.46348507e-01 -8.75751341e-03 -8.39907635e+01] [-2.82839901e-02 -4.04230850e-04 9.99599846e-01 -2.74236451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.62119381700003 meters 0.0597829938873899 Centerline is valid? [True, True] Translation: X:231.90, Y:-84.00, Z:-27.43 [[ 9.43514013e-01 3.30360260e-01 2.53654545e-02 2.31902348e+02] [-3.30257749e-01 9.43854728e-01 -8.25056292e-03 -8.40001829e+01] [-2.66669622e-02 -5.92616173e-04 9.99644198e-01 -2.74257355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.65119381700003 meters 0.06108764404528152 Centerline is valid? [True, True] Translation: X:231.93, Y:-84.01, Z:-27.43 [[ 9.42847057e-01 3.32392338e-01 2.35533777e-02 2.31928556e+02] [-3.32304540e-01 9.43141014e-01 -7.66297304e-03 -8.40095481e+01] [-2.47612701e-02 -6.01882773e-04 9.99693212e-01 -2.74302932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.68119381700004 meters 0.06229238256974283 Centerline is valid? [True, True] Translation: X:231.95, Y:-84.02, Z:-27.44 [[ 9.42852922e-01 3.32508553e-01 2.15969671e-02 2.31953342e+02] [-3.32434718e-01 9.43100078e-01 -7.02864173e-03 -8.40206205e+01] [-2.27051848e-02 -5.52606268e-04 9.99742051e-01 -2.74367314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.71119381700004 meters 0.0603811325307512 Centerline is valid? [True, True] Translation: X:231.98, Y:-84.04, Z:-27.43 [[ 9.43189552e-01 3.31639490e-01 2.02167902e-02 2.31978262e+02] [-3.31574736e-01 9.43406060e-01 -6.57264908e-03 -8.40390734e+01] [-2.12523923e-02 -5.04122915e-04 9.99774015e-01 -2.74340294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.74119381700004 meters 0.06049613992201192 Centerline is valid? [True, True] Translation: X:232.00, Y:-84.06, Z:-27.44 [[ 9.44273762e-01 3.28466611e-01 2.13716702e-02 2.32001188e+02] [-3.28393486e-01 9.44515470e-01 -6.94581829e-03 -8.40595384e+01] [-2.24673425e-02 -4.59563305e-04 9.99747472e-01 -2.74381107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.77119381700004 meters 0.059274432520578776 Centerline is valid? [True, True] Translation: X:232.03, Y:-84.08, Z:-27.44 [[ 9.44996158e-01 3.26356984e-01 2.17572954e-02 2.32025822e+02] [-3.26280685e-01 9.45246499e-01 -7.06901789e-03 -8.40779845e+01] [-2.28730307e-02 -4.18790509e-04 9.99738290e-01 -2.74366962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.80119381700004 meters 0.05908379487816199 Centerline is valid? [True, True] Translation: X:232.05, Y:-84.09, Z:-27.44 [[ 9.45461475e-01 3.25022596e-01 2.15153585e-02 2.32049959e+02] [-3.24947664e-01 9.45706173e-01 -6.98932279e-03 -8.40942138e+01] [-2.26188952e-02 -3.83230047e-04 9.99744087e-01 -2.74387960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.83119381700004 meters 0.059146712585622464 Centerline is valid? [True, True] Translation: X:232.07, Y:-84.11, Z:-27.44 [[ 9.45973980e-01 3.23590663e-01 2.05502458e-02 2.32074824e+02] [-3.23522027e-01 9.46197109e-01 -6.67293772e-03 -8.41104091e+01] [-2.16038835e-02 -3.36031725e-04 9.99766552e-01 -2.74420311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.86119381700004 meters 0.05890962518885642 Centerline is valid? [True, True] Translation: X:232.10, Y:-84.13, Z:-27.45 [[ 9.46708005e-01 3.21431117e-01 2.06395174e-02 2.32096959e+02] [-3.21361392e-01 9.46932919e-01 -6.70087500e-03 -8.41317766e+01] [-2.16981082e-02 -2.88972037e-04 9.99764527e-01 -2.74460565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89119381700004 meters 0.05852869243923822 Centerline is valid? [True, True] Translation: X:232.12, Y:-84.15, Z:-27.45 [[ 9.47135123e-01 3.20141281e-01 2.10860046e-02 2.32122276e+02] [-3.20068260e-01 9.47369774e-01 -6.84255490e-03 -8.41484830e+01] [-2.21668277e-02 -2.68136723e-04 9.99754250e-01 -2.74468881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92119381700002 meters 0.05828839914097222 Centerline is valid? [True, True] Translation: X:232.15, Y:-84.17, Z:-27.45 [[ 9.47921846e-01 3.17795305e-01 2.12206828e-02 2.32146861e+02] [-3.17720803e-01 9.48159321e-01 -6.88434731e-03 -8.41663442e+01] [-2.23084014e-02 -2.16429141e-04 9.99751113e-01 -2.74489697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95119381700002 meters 0.058187797100122625 Centerline is valid? [True, True] Translation: X:232.17, Y:-84.18, Z:-27.45 [[ 9.48718373e-01 3.15398165e-01 2.13880062e-02 2.32171531e+02] [-3.15321951e-01 9.48959415e-01 -6.93518637e-03 -8.41849167e+01] [-2.24836949e-02 -1.64569118e-04 9.99747196e-01 -2.74509820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98119381700002 meters 0.05752025627162397 Centerline is valid? [True, True] Translation: X:232.20, Y:-84.22, Z:-27.45 [[ 9.50855250e-01 3.08839052e-01 2.21976215e-02 2.32195068e+02] [-3.08755474e-01 9.51114315e-01 -7.18455540e-03 -8.42160785e+01] [-2.33313468e-02 -2.21649154e-05 9.99727787e-01 -2.74509401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01119381700002 meters 0.05772270885546475 Centerline is valid? [True, True] Translation: X:232.22, Y:-84.24, Z:-27.45 [[ 9.51788973e-01 3.05938208e-01 2.23509193e-02 2.32222150e+02] [-3.05852439e-01 9.52051369e-01 -7.24406042e-03 -8.42358950e+01] [-2.34954582e-02 5.87336602e-05 9.99723942e-01 -2.74528470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04119381700002 meters 0.05790080234464182 Centerline is valid? [True, True] Translation: X:232.25, Y:-84.25, Z:-27.45 [[ 9.52578181e-01 3.03504897e-01 2.18994711e-02 2.32250241e+02] [-3.03421882e-01 9.52829871e-01 -7.09917543e-03 -8.42548312e+01] [-2.30211048e-02 1.17740884e-04 9.99734972e-01 -2.74539831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07119381700002 meters 0.057508120123746065 Centerline is valid? [True, True] Translation: X:232.28, Y:-84.27, Z:-27.45 [[ 9.52937896e-01 3.02395150e-01 2.15995322e-02 2.32278500e+02] [-3.02313986e-01 9.53182643e-01 -7.00733317e-03 -8.42716931e+01] [-2.27072828e-02 1.47712648e-04 9.99742146e-01 -2.74513441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10119381700002 meters 0.05853393342073643 Centerline is valid? [True, True] Translation: X:232.31, Y:-84.29, Z:-27.46 [[ 9.52960354e-01 3.02314555e-01 2.17364433e-02 2.32305698e+02] [-3.02232194e-01 9.53208207e-01 -7.05801390e-03 -8.42887121e+01] [-2.28530964e-02 1.56554485e-04 9.99738822e-01 -2.74585841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.13119381700002 meters 0.0573580425883058 Centerline is valid? [True, True] Translation: X:232.33, Y:-84.31, Z:-27.45 [[ 9.52503133e-01 3.03627877e-01 2.34071137e-02 2.32334732e+02] [-3.03532509e-01 9.52790686e-01 -7.61080340e-03 -8.43055296e+01] [-2.46129320e-02 1.44494129e-04 9.99697045e-01 -2.74537817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.16119381700003 meters 0.056908234814825764 Centerline is valid? [True, True] Translation: X:232.37, Y:-84.32, Z:-27.45 [[ 9.51950661e-01 3.05370022e-01 2.32182864e-02 2.32365246e+02] [-3.05276577e-01 9.52233763e-01 -7.55464602e-03 -8.43178592e+01] [-2.44161986e-02 1.03651291e-04 9.99701875e-01 -2.74538613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.19119381700003 meters 0.05664721320990717 Centerline is valid? [True, True] Translation: X:232.40, Y:-84.33, Z:-27.45 [[ 9.51189850e-01 3.07774056e-01 2.26495099e-02 2.32396362e+02] [-3.07685634e-01 9.51459473e-01 -7.37716579e-03 -8.43303348e+01] [-2.38205909e-02 4.81564330e-05 9.99716248e-01 -2.74537911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.22119381700003 meters 0.0568875054968906 Centerline is valid? [True, True] Translation: X:232.42, Y:-84.34, Z:-27.46 [[ 9.49519878e-01 3.12939050e-01 2.19351905e-02 2.32424463e+02] [-3.12857276e-01 9.49773208e-01 -7.15394542e-03 -8.43432152e+01] [-2.30722051e-02 -6.97705655e-05 9.99733799e-01 -2.74575377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.25119381700003 meters 0.057416764075510336 Centerline is valid? [True, True] Translation: X:232.45, Y:-84.35, Z:-27.46 [[ 9.48720721e-01 3.15341907e-01 2.21014804e-02 2.32454434e+02] [-3.15259388e-01 9.48978117e-01 -7.21470079e-03 -8.43543995e+01] [-2.32489187e-02 -1.22963036e-04 9.99729700e-01 -2.74632399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.28119381700003 meters 0.057440618747900976 Centerline is valid? [True, True] Translation: X:232.48, Y:-84.37, Z:-27.46 [[ 9.48107849e-01 3.17248311e-01 2.10954269e-02 2.32483892e+02] [-3.17173441e-01 9.48342494e-01 -6.89370629e-03 -8.43665450e+01] [-2.21927064e-02 -1.54932075e-04 9.99753700e-01 -2.74646165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.31119381700003 meters 0.057595300272464074 Centerline is valid? [True, True] Translation: X:232.51, Y:-84.38, Z:-27.47 [[ 9.47415497e-01 3.19352679e-01 2.04387374e-02 2.32513320e+02] [-3.19282765e-01 9.47635916e-01 -6.68480919e-03 -8.43793401e+01] [-2.15032934e-02 -1.92444760e-04 9.99768759e-01 -2.74658225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.34119381700003 meters 0.05790363723403741 Centerline is valid? [True, True] Translation: X:232.54, Y:-84.40, Z:-27.47 [[ 9.46904264e-01 3.20952715e-01 1.90176231e-02 2.32541540e+02] [-3.20892416e-01 9.47095197e-01 -6.22460875e-03 -8.43961710e+01] [-2.00093045e-02 -2.08502452e-04 9.99799772e-01 -2.74687326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.37119381700003 meters 0.05821355084384994 Centerline is valid? [True, True] Translation: X:232.57, Y:-84.41, Z:-27.47 [[ 9.46666423e-01 3.21686440e-01 1.84531186e-02 2.32569640e+02] [-3.21629687e-01 9.46846233e-01 -6.04609995e-03 -8.44086247e+01] [-1.94172142e-02 -2.11430948e-04 9.99811446e-01 -2.74725441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.40119381700003 meters 0.058484057603852314 Centerline is valid? [True, True] Translation: X:232.60, Y:-84.42, Z:-27.47 [[ 9.46527056e-01 3.22164924e-01 1.72132277e-02 2.32599326e+02] [-3.22115563e-01 9.46683538e-01 -5.64299324e-03 -8.44219949e+01] [-1.81134537e-02 -2.03402743e-04 9.99835917e-01 -2.74747975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.43119381700004 meters 0.058517259167512 Centerline is valid? [True, True] Translation: X:232.63, Y:-84.44, Z:-27.48 [[ 9.46499257e-01 3.22224743e-01 1.76173516e-02 2.32627972e+02] [-3.22172920e-01 9.46663179e-01 -5.78237672e-03 -8.44350986e+01] [-1.85409229e-02 -2.02818321e-04 9.99828082e-01 -2.74776726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.46119381700004 meters 0.058778929612072185 Centerline is valid? [True, True] Translation: X:232.66, Y:-84.45, Z:-27.48 [[ 9.46427246e-01 3.22443989e-01 1.74740234e-02 2.32658394e+02] [-3.22393001e-01 9.46588523e-01 -5.73763054e-03 -8.44488831e+01] [-1.83907745e-02 -2.03252964e-04 9.99830855e-01 -2.74810013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.49119381700004 meters 0.058458003604831894 Centerline is valid? [True, True] Translation: X:232.69, Y:-84.47, Z:-27.48 [[ 9.46693543e-01 3.21717593e-01 1.64050753e-02 2.32686483e+02] [-3.21672443e-01 9.46835657e-01 -5.39249574e-03 -8.44665328e+01] [-1.72677710e-02 -1.72019753e-04 9.99850886e-01 -2.74808197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.52119381700004 meters 0.05878722335242214 Centerline is valid? [True, True] Translation: X:232.71, Y:-84.48, Z:-27.49 [[ 9.46962970e-01 3.20848194e-01 1.78204665e-02 2.32714472e+02] [-3.20794607e-01 9.47130619e-01 -5.86599795e-03 -8.44793155e+01] [-1.87604043e-02 -1.61826707e-04 9.99823995e-01 -2.74854599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.55119381700004 meters 0.05793891398537503 Centerline is valid? [True, True] Translation: X:232.74, Y:-84.49, Z:-27.48 [[ 9.47221575e-01 3.20067764e-01 1.81084180e-02 2.32743978e+02] [-3.20012210e-01 9.47394641e-01 -5.96493788e-03 -8.44946949e+01] [-1.90650025e-02 -1.44796993e-04 9.99818236e-01 -2.74811808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.58119381700004 meters 0.05800708884791777 Centerline is valid? [True, True] Translation: X:232.77, Y:-84.52, Z:-27.48 [[ 9.48984734e-01 3.14725050e-01 1.93937767e-02 2.32770078e+02] [-3.14660052e-01 9.49182881e-01 -6.39605169e-03 -8.45161361e+01] [-2.04212386e-02 -3.26913897e-05 9.99791464e-01 -2.74824673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.61119381700004 meters 0.05800708884791777 Centerline is valid? [True, True] Translation: X:232.80, Y:-84.53, Z:-27.48 [[ 9.48881878e-01 3.15035103e-01 1.93923875e-02 2.32800767e+02] [-3.14970085e-01 9.49080019e-01 -6.40025862e-03 -8.45265378e+01] [-2.04212337e-02 -3.49325276e-05 9.99791464e-01 -2.74844383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64119381700004 meters 0.05816486036576219 Centerline is valid? [True, True] Translation: X:232.83, Y:-84.54, Z:-27.49 [[ 9.49723454e-01 3.12489375e-01 1.93842898e-02 2.32829639e+02] [-3.12423737e-01 9.49921254e-01 -6.40458954e-03 -8.45426992e+01] [-2.04149151e-02 2.64766402e-05 9.99791594e-01 -2.74863583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67119381700002 meters 0.058355773762067416 Centerline is valid? [True, True] Translation: X:232.86, Y:-84.56, Z:-27.49 [[ 9.50504091e-01 3.10014574e-01 2.08071312e-02 2.32857332e+02] [-3.09938096e-01 9.50731800e-01 -6.88633595e-03 -8.45585391e+01] [-2.19168658e-02 9.65678533e-05 9.99759792e-01 -2.74877010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70119381700002 meters 0.05835865794410444 Centerline is valid? [True, True] Translation: X:232.89, Y:-84.57, Z:-27.49 [[ 9.51320537e-01 3.07417529e-01 2.19931675e-02 2.32886614e+02] [-3.07331237e-01 9.51574713e-01 -7.28540055e-03 -8.45736478e+01] [-2.31678019e-02 1.71563791e-04 9.99731576e-01 -2.74871386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73119381700002 meters 0.05948873256060741 Centerline is valid? [True, True] Translation: X:232.91, Y:-84.60, Z:-27.49 [[ 9.53432544e-01 3.00757289e-01 2.26149710e-02 2.32913479e+02] [-3.00663985e-01 9.53700650e-01 -7.49917217e-03 -8.45955137e+01] [-2.38233433e-02 3.50447488e-04 9.99716122e-01 -2.74883564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76119381700002 meters 0.06077683759737953 Centerline is valid? [True, True] Translation: X:232.94, Y:-84.61, Z:-27.49 [[ 9.54716897e-01 2.96667875e-01 2.24458957e-02 2.32940688e+02] [-2.96574646e-01 9.54980609e-01 -7.45090614e-03 -8.46116367e+01] [-2.36458397e-02 4.56622397e-04 9.99720294e-01 -2.74909075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79119381700002 meters 0.062196073566044535 Centerline is valid? [True, True] Translation: X:232.97, Y:-84.63, Z:-27.49 [[ 9.55881200e-01 2.92926801e-01 2.20231909e-02 2.32969250e+02] [-2.92835749e-01 9.56134711e-01 -7.32390497e-03 -8.46274806e+01] [-2.32025053e-02 5.51605485e-04 9.99730633e-01 -2.74937746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82119381700002 meters 0.06361171803017057 Centerline is valid? [True, True] Translation: X:233.00, Y:-84.64, Z:-27.50 [[ 9.56864939e-01 2.89752899e-01 2.12778215e-02 2.32996887e+02] [-2.89667244e-01 9.57101298e-01 -7.07054132e-03 -8.46421889e+01] [-2.24137404e-02 6.02065187e-04 9.99748599e-01 -2.74960251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85119381700002 meters 0.06706699882222202 Centerline is valid? [True, True] Translation: X:233.02, Y:-84.66, Z:-27.50 [[ 9.58790968e-01 2.83475513e-01 1.90134866e-02 2.33022123e+02] [-2.83405585e-01 9.58979232e-01 -6.33306738e-03 -8.46608420e+01] [-2.00288083e-02 6.83559508e-04 9.99799170e-01 -2.74997861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.88119381700002 meters 0.06830088239004743 Centerline is valid? [True, True] Translation: X:233.05, Y:-84.67, Z:-27.50 [[ 9.59320165e-01 2.81716612e-01 1.84545966e-02 2.33051704e+02] [-2.81650480e-01 9.59497403e-01 -6.14331358e-03 -8.46732836e+01] [-1.94378110e-02 6.95658598e-04 9.99810826e-01 -2.75018158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.91119381700003 meters 0.06848324610327458 Centerline is valid? [True, True] Translation: X:233.08, Y:-84.68, Z:-27.50 [[ 9.59603176e-01 2.80683903e-01 1.94497045e-02 2.33083376e+02] [-2.80610400e-01 9.59799973e-01 -6.46650182e-03 -8.46833651e+01] [-2.04828688e-02 7.47486331e-04 9.99789925e-01 -2.75026362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.94119381700003 meters 0.06933377938523158 Centerline is valid? [True, True] Translation: X:233.11, Y:-84.69, Z:-27.51 [[ 9.59806127e-01 2.79975462e-01 1.96453468e-02 2.33112627e+02] [-2.79900122e-01 9.60006840e-01 -6.54128233e-03 -8.46929359e+01] [-2.06910658e-02 7.79627879e-04 9.99785613e-01 -2.75051205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.97119381700003 meters 0.06982580513116907 Centerline is valid? [True, True] Translation: X:233.14, Y:-84.70, Z:-27.51 [[ 9.59724326e-01 2.80256911e-01 1.96286018e-02 2.33143968e+02] [-2.80181676e-01 9.59924716e-01 -6.53969309e-03 -8.47001993e+01] [-2.06747742e-02 7.76727970e-04 9.99785952e-01 -2.75067146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.00119381700003 meters 0.06819922779098204 Centerline is valid? [True, True] Translation: X:233.18, Y:-84.71, Z:-27.51 [[ 9.59588157e-01 2.80755971e-01 1.91481897e-02 2.33176616e+02] [-2.80684387e-01 9.59778891e-01 -6.38392116e-03 -8.47052327e+01] [-2.01703522e-02 7.51337263e-04 9.99796275e-01 -2.75062773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.03119381700003 meters 0.06780898736510597 Centerline is valid? [True, True] Translation: X:233.21, Y:-84.71, Z:-27.51 [[ 9.59181893e-01 2.82201829e-01 1.82270055e-02 2.33209013e+02] [-2.82137119e-01 9.59354809e-01 -6.08246251e-03 -8.47113280e+01] [-1.92026475e-02 6.91673075e-04 9.99815373e-01 -2.75094542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.06119381700003 meters 0.067580862922676 Centerline is valid? [True, True] Translation: X:233.24, Y:-84.71, Z:-27.52 [[ 9.58128640e-01 2.85898648e-01 1.58578906e-02 2.33241918e+02] [-2.85850073e-01 9.58259708e-01 -5.29787942e-03 -8.47104730e+01] [-1.67106342e-02 5.43070819e-04 9.99860220e-01 -2.75162974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.09119381700003 meters 0.06498419350574408 Centerline is valid? [True, True] Translation: X:233.28, Y:-84.71, Z:-27.52 [[ 9.57238007e-01 2.88958694e-01 1.40808713e-02 2.33275999e+02] [-2.88920752e-01 9.57341468e-01 -4.70251112e-03 -8.47113766e+01] [-1.48390335e-02 4.33166431e-04 9.99889802e-01 -2.75151278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.12119381700003 meters 0.06455860042270595 Centerline is valid? [True, True] Translation: X:233.31, Y:-84.72, Z:-27.52 [[ 9.56695689e-01 2.90661243e-01 1.57924510e-02 2.33307218e+02] [-2.90613374e-01 9.56825906e-01 -5.29651880e-03 -8.47153187e+01] [-1.66501190e-02 4.77659230e-04 9.99861263e-01 -2.75179112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.15119381700003 meters 0.06379824320751984 Centerline is valid? [True, True] Translation: X:233.34, Y:-84.72, Z:-27.52 [[ 9.55957041e-01 2.93034280e-01 1.66447459e-02 2.33338701e+02] [-2.92981446e-01 9.56101824e-01 -5.58333233e-03 -8.47178168e+01] [-1.75501797e-02 4.60824130e-04 9.99845878e-01 -2.75196464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.18119381700004 meters 0.062369051568335616 Centerline is valid? [True, True] Translation: X:233.37, Y:-84.71, Z:-27.52 [[ 9.54272579e-01 2.98378500e-01 1.82788389e-02 2.33371670e+02] [-2.98315686e-01 9.54447542e-01 -6.13528385e-03 -8.47122032e+01] [-1.92768296e-02 4.01868762e-04 9.99814104e-01 -2.75218127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.21119381700004 meters 0.06167315644965378 Centerline is valid? [True, True] Translation: X:233.40, Y:-84.72, Z:-27.52 [[ 9.53223013e-01 3.01691150e-01 1.86638010e-02 2.33403992e+02] [-3.01626561e-01 9.53405654e-01 -6.25105246e-03 -8.47165511e+01] [-1.96800606e-02 3.29148961e-04 9.99806275e-01 -2.75231511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.24119381700004 meters 0.061024350710953995 Centerline is valid? [True, True] Translation: X:233.43, Y:-84.72, Z:-27.52 [[ 9.52320225e-01 3.04436174e-01 2.01197492e-02 2.33434963e+02] [-3.04361351e-01 9.52532687e-01 -6.75638630e-03 -8.47206280e+01] [-2.12216072e-02 3.10569282e-04 9.99774748e-01 -2.75243696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.27119381700004 meters 0.05975566757451455 Centerline is valid? [True, True] Translation: X:233.47, Y:-84.72, Z:-27.52 [[ 9.51481552e-01 3.07049269e-01 2.00898519e-02 2.33468143e+02] [-3.06975460e-01 9.51693589e-01 -6.73643635e-03 -8.47236702e+01] [-2.11878011e-02 2.42503401e-04 9.99775484e-01 -2.75215211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.30119381700004 meters 0.05960250033711144 Centerline is valid? [True, True] Translation: X:233.50, Y:-84.73, Z:-27.52 [[ 9.51014416e-01 3.08423214e-01 2.11353372e-02 2.33499207e+02] [-3.08341660e-01 9.51249214e-01 -7.09600605e-03 -8.47287656e+01] [-2.22935459e-02 2.31499091e-04 9.99751441e-01 -2.75242124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.33119381700004 meters 0.05987925012308915 Centerline is valid? [True, True] Translation: X:233.53, Y:-84.73, Z:-27.53 [[ 9.50423762e-01 3.10076953e-01 2.33871050e-02 2.33529741e+02] [-3.09977225e-01 9.50711434e-01 -7.86690007e-03 -8.47311990e+01] [-2.46737326e-02 2.27418836e-04 9.99695531e-01 -2.75298601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.36119381700004 meters 0.059694814633744854 Centerline is valid? [True, True] Translation: X:233.56, Y:-84.74, Z:-27.53 [[ 9.50028377e-01 3.11234434e-01 2.40667881e-02 2.33561308e+02] [-3.11129247e-01 9.50333145e-01 -8.09348346e-03 -8.47386809e+01] [-2.53904371e-02 2.01157302e-04 9.99677591e-01 -2.75310105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39119381700004 meters 0.05929213322053769 Centerline is valid? [True, True] Translation: X:233.59, Y:-84.74, Z:-27.53 [[ 9.49569685e-01 3.12620281e-01 2.42068923e-02 2.33593303e+02] [-3.12514140e-01 9.49878166e-01 -8.14752082e-03 -8.47440275e+01] [-2.55406787e-02 1.71642666e-04 9.99673769e-01 -2.75300171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42119381700002 meters 0.05972683139928814 Centerline is valid? [True, True] Translation: X:233.62, Y:-84.75, Z:-27.54 [[ 9.49124834e-01 3.13866703e-01 2.54900301e-02 2.33623459e+02] [-3.13749091e-01 9.49467044e-01 -8.59307029e-03 -8.47522063e+01] [-2.68990222e-02 1.58422653e-04 9.99638143e-01 -2.75366977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45119381700002 meters 0.05921168451561007 Centerline is valid? [True, True] Translation: X:233.66, Y:-84.76, Z:-27.54 [[ 9.48524205e-01 3.15725793e-01 2.48808334e-02 2.33656232e+02] [-3.15614416e-01 9.48850470e-01 -8.38612285e-03 -8.47594742e+01] [-2.62559057e-02 1.01690822e-04 9.99655249e-01 -2.75354598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48119381700002 meters 0.058877771977977805 Centerline is valid? [True, True] Translation: X:233.69, Y:-84.77, Z:-27.54 [[ 9.47921950e-01 3.17508690e-01 2.51437372e-02 2.33687665e+02] [-3.17395296e-01 9.48255360e-01 -8.48518575e-03 -8.47668282e+01] [-2.65368038e-02 6.27899041e-05 9.99647835e-01 -2.75351350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51119381700002 meters 0.05968992583675299 Centerline is valid? [True, True] Translation: X:233.72, Y:-84.77, Z:-27.54 [[ 9.47044875e-01 3.20105462e-01 2.52685179e-02 2.33718529e+02] [-3.19991654e-01 9.47381915e-01 -8.53511167e-03 -8.47733091e+01] [-2.66710727e-02 -2.58106680e-06 9.99644264e-01 -2.75444947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54119381700002 meters 0.060099445641096864 Centerline is valid? [True, True] Translation: X:233.75, Y:-84.78, Z:-27.55 [[ 9.46723579e-01 3.21136680e-01 2.42011893e-02 2.33747597e+02] [-3.21032246e-01 9.47032857e-01 -8.18930891e-03 -8.47822976e+01] [-2.55492089e-02 -1.63503016e-05 9.99673566e-01 -2.75492028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57119381700002 meters 0.0595699629041034 Centerline is valid? [True, True] Translation: X:233.78, Y:-84.79, Z:-27.55 [[ 9.46534453e-01 3.21803662e-01 2.26921283e-02 2.33778328e+02] [-3.21712121e-01 9.46806423e-01 -7.67525737e-03 -8.47927353e+01] [-2.39549787e-02 -3.54371794e-05 9.99713038e-01 -2.75454000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60119381700002 meters 0.059664934597224835 Centerline is valid? [True, True] Translation: X:233.81, Y:-84.80, Z:-27.55 [[ 9.46450550e-01 3.22027998e-01 2.30070481e-02 2.33807265e+02] [-3.21933656e-01 9.46730145e-01 -7.79447001e-03 -8.48025648e+01] [-2.42915035e-02 -2.96626640e-05 9.99704917e-01 -2.75491167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.63119381700002 meters 0.059744085333310014 Centerline is valid? [True, True] Translation: X:233.84, Y:-84.81, Z:-27.55 [[ 9.46498840e-01 3.21862612e-01 2.33325104e-02 2.33837545e+02] [-3.21765536e-01 9.46786385e-01 -7.90450759e-03 -8.48142696e+01] [-2.46350686e-02 -2.59904565e-05 9.99696510e-01 -2.75517815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.66119381700003 meters 0.05958720978069678 Centerline is valid? [True, True] Translation: X:233.87, Y:-84.83, Z:-27.55 [[ 9.46447532e-01 3.21981723e-01 2.37663218e-02 2.33867720e+02] [-3.21880845e-01 9.46745884e-01 -8.05931424e-03 -8.48257282e+01] [-2.50956193e-02 -2.22056688e-05 9.99685055e-01 -2.75522105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.69119381700003 meters 0.05964836126751297 Centerline is valid? [True, True] Translation: X:233.90, Y:-84.84, Z:-27.55 [[ 9.46506201e-01 3.21742621e-01 2.46515130e-02 2.33897384e+02] [-3.21633779e-01 9.46827168e-01 -8.36815559e-03 -8.48372788e+01] [-2.60331146e-02 -8.24814671e-06 9.99661081e-01 -2.75549019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.72119381700003 meters 0.059731701092552394 Centerline is valid? [True, True] Translation: X:233.93, Y:-84.85, Z:-27.56 [[ 9.46092032e-01 3.23002387e-01 2.40691875e-02 2.33927373e+02] [-3.22898849e-01 9.46398149e-01 -8.17780008e-03 -8.48483538e+01] [-2.54204835e-02 -3.49614677e-05 9.99676847e-01 -2.75573309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.75119381700003 meters 0.05974666930934183 Centerline is valid? [True, True] Translation: X:233.96, Y:-84.86, Z:-27.56 [[ 9.45693801e-01 3.24070418e-01 2.53297975e-02 2.33956316e+02] [-3.23955774e-01 9.46032960e-01 -8.61946150e-03 -8.48591072e+01] [-2.67561358e-02 -5.43628727e-05 9.99641989e-01 -2.75596961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.78119381700003 meters 0.06001902769755163 Centerline is valid? [True, True] Translation: X:233.99, Y:-84.87, Z:-27.56 [[ 9.45179425e-01 3.25660349e-01 2.41079324e-02 2.33986928e+02] [-3.25557028e-01 9.45486821e-01 -8.20325189e-03 -8.48689429e+01] [-2.54652062e-02 -9.49619206e-05 9.99675705e-01 -2.75636915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.81119381700003 meters 0.060292584489154165 Centerline is valid? [True, True] Translation: X:234.02, Y:-84.88, Z:-27.57 [[ 9.44852717e-01 3.26632167e-01 2.37649232e-02 2.34015910e+02] [-3.26531874e-01 9.45151530e-01 -8.09447906e-03 -8.48795161e+01] [-2.51053708e-02 -1.11914376e-04 9.99684804e-01 -2.75681236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.84119381700003 meters 0.06053392689126524 Centerline is valid? [True, True] Translation: X:234.05, Y:-84.89, Z:-27.57 [[ 9.44508830e-01 3.27709669e-01 2.25708365e-02 2.34046148e+02] [-3.27619392e-01 9.44778470e-01 -7.69269992e-03 -8.48913779e+01] [-2.38454125e-02 -1.28820726e-04 9.99715649e-01 -2.75709046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.87119381700003 meters 0.06089841731090321 Centerline is valid? [True, True] Translation: X:234.08, Y:-84.90, Z:-27.57 [[ 9.44127868e-01 3.28865193e-01 2.16853355e-02 2.34075093e+02] [-3.28782013e-01 9.44376865e-01 -7.39762411e-03 -8.49035381e+01] [-2.29119502e-02 -1.45445169e-04 9.99737476e-01 -2.75745242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.90119381700003 meters 0.06084860719549201 Centerline is valid? [True, True] Translation: X:234.11, Y:-84.92, Z:-27.58 [[ 9.44141697e-01 3.28783343e-01 2.23152156e-02 2.34105564e+02] [-3.28694934e-01 9.44405366e-01 -7.62534223e-03 -8.49150943e+01] [-2.35816948e-02 -1.35494751e-04 9.99721904e-01 -2.75766816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.93119381700004 meters 0.06092204391282623 Centerline is valid? [True, True] Translation: X:234.14, Y:-84.93, Z:-27.58 [[ 9.43936250e-01 3.29341440e-01 2.27721599e-02 2.34135407e+02] [-3.29249630e-01 9.44210883e-01 -7.77749431e-03 -8.49265566e+01] [-2.40631724e-02 -1.56266421e-04 9.99710428e-01 -2.75791379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.96119381700004 meters 0.060999283319991895 Centerline is valid? [True, True] Translation: X:234.16, Y:-84.94, Z:-27.58 [[ 9.43973306e-01 3.29208226e-01 2.31590555e-02 2.34164281e+02] [-3.29112946e-01 9.44257339e-01 -7.92119970e-03 -8.49392663e+01] [-2.44758323e-02 -1.44543934e-04 9.99700411e-01 -2.75806044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.99119381700004 meters 0.061152486899872766 Centerline is valid? [True, True] Translation: X:234.19, Y:-84.96, Z:-27.58 [[ 9.44576832e-01 3.27523711e-01 2.24238143e-02 2.34190813e+02] [-3.27433914e-01 9.44842955e-01 -7.66959886e-03 -8.49569911e+01] [-2.36989584e-02 -9.77918875e-05 9.99719135e-01 -2.75835795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.02119381700004 meters 0.061148514315251 Centerline is valid? [True, True] Translation: X:234.22, Y:-84.97, Z:-27.59 [[ 9.44805069e-01 3.26837016e-01 2.28242435e-02 2.34219024e+02] [-3.26743538e-01 9.45080716e-01 -7.81667091e-03 -8.49705633e+01] [-2.41255298e-02 -7.24437763e-05 9.99708934e-01 -2.75854377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.05119381700004 meters 0.06093017251873157 Centerline is valid? [True, True] Translation: X:234.25, Y:-84.98, Z:-27.59 [[ 9.44780955e-01 3.26778022e-01 2.45982203e-02 2.34248814e+02] [-3.26669405e-01 9.45101116e-01 -8.42503770e-03 -8.49831169e+01] [-2.60009226e-02 -7.56708057e-05 9.99661916e-01 -2.75867753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.08119381700004 meters 0.06072664150273018 Centerline is valid? [True, True] Translation: X:234.28, Y:-85.00, Z:-27.59 [[ 9.44779093e-01 3.26718702e-01 2.54431755e-02 2.34277902e+02] [-3.26602260e-01 9.45121624e-01 -8.72230140e-03 -8.49959026e+01] [-2.68966343e-02 -6.91506224e-05 9.99638218e-01 -2.75881145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.11119381700004 meters 0.060010778296573995 Centerline is valid? [True, True] Translation: X:234.31, Y:-85.01, Z:-27.58 [[ 9.44334727e-01 3.27805287e-01 2.78499110e-02 2.34307775e+02] [-3.27665808e-01 9.44745301e-01 -9.56209033e-03 -8.50104643e+01] [-2.94455763e-02 -9.56496302e-05 9.99566380e-01 -2.75849175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14119381700004 meters 0.060479963044891234 Centerline is valid? [True, True] Translation: X:234.34, Y:-85.02, Z:-27.59 [[ 9.43605940e-01 3.29849628e-01 2.84086669e-02 2.34336686e+02] [-3.29705377e-01 9.44033472e-01 -9.75538932e-03 -8.50206572e+01] [-3.00365440e-02 -1.61246924e-04 9.99548788e-01 -2.75906751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17119381700002 meters 0.06055926365635829 Centerline is valid? [True, True] Translation: X:234.37, Y:-85.03, Z:-27.59 [[ 9.42952035e-01 3.31648806e-01 2.91638169e-02 2.34366364e+02] [-3.31497573e-01 9.43402894e-01 -1.00169464e-02 -8.50317628e+01] [-3.08353376e-02 -2.22234547e-04 9.99524453e-01 -2.75922811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20119381700002 meters 0.06012628579288714 Centerline is valid? [True, True] Translation: X:234.40, Y:-85.04, Z:-27.59 [[ 9.42026611e-01 3.34350411e-01 2.82075541e-02 2.34395898e+02] [-3.34209937e-01 9.42448787e-01 -9.69546903e-03 -8.50438650e+01] [-2.98258592e-02 -2.93855040e-04 9.99555067e-01 -2.75884990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23119381700002 meters 0.061168521571365944 Centerline is valid? [True, True] Translation: X:234.43, Y:-85.05, Z:-27.59 [[ 9.39334249e-01 3.41823331e-01 2.84249594e-02 2.34425903e+02] [-3.41683835e-01 9.39764083e-01 -9.77875309e-03 -8.50514595e+01] [-3.00553619e-02 -5.26831462e-04 9.99548097e-01 -2.75909787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26119381700002 meters 0.06221761702864149 Centerline is valid? [True, True] Translation: X:234.46, Y:-85.06, Z:-27.59 [[ 9.37736312e-01 3.46182010e-01 2.84363228e-02 2.34455942e+02] [-3.46044150e-01 9.38167140e-01 -9.79105509e-03 -8.50588817e+01] [-3.00675107e-02 -6.58795235e-04 9.99547653e-01 -2.75943563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29119381700002 meters 0.0630809311558825 Centerline is valid? [True, True] Translation: X:234.49, Y:-85.07, Z:-27.60 [[ 9.36379212e-01 3.49887861e-01 2.77931089e-02 2.34486377e+02] [-3.49757451e-01 9.36791291e-01 -9.58134207e-03 -8.50678918e+01] [-2.93887376e-02 -7.49077364e-04 9.99567777e-01 -2.75965349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32119381700002 meters 0.06680245469577606 Centerline is valid? [True, True] Translation: X:234.52, Y:-85.07, Z:-27.61 [[ 9.35401903e-01 3.52431887e-01 2.85490039e-02 2.34516645e+02] [-3.52295337e-01 9.35837083e-01 -9.84624576e-03 -8.50722374e+01] [-3.01873475e-02 -8.47483936e-04 9.99543899e-01 -2.76078899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35119381700002 meters 0.06660389059902426 Centerline is valid? [True, True] Translation: X:234.55, Y:-85.09, Z:-27.61 [[ 9.35868419e-01 3.51305919e-01 2.71007886e-02 2.34546231e+02] [-3.51182423e-01 9.36260411e-01 -9.34602623e-03 -8.50877409e+01] [-2.86567098e-02 -7.70669817e-04 9.99589015e-01 -2.76125592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.38119381700002 meters 0.06317602220477082 Centerline is valid? [True, True] Translation: X:234.57, Y:-85.11, Z:-27.61 [[ 9.36847356e-01 3.48850107e-01 2.49125320e-02 2.34572307e+02] [-3.48744767e-01 9.37178318e-01 -8.59583336e-03 -8.51128134e+01] [-2.63461423e-02 -6.35131426e-04 9.99652678e-01 -2.76073930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.41119381700003 meters 0.0626755337422745 Centerline is valid? [True, True] Translation: X:234.60, Y:-85.13, Z:-27.61 [[ 9.38578302e-01 3.44214962e-01 2.42245999e-02 2.34598882e+02] [-3.44113571e-01 9.38890743e-01 -8.36796801e-03 -8.51316796e+01] [-2.56246324e-02 -4.82020383e-04 9.99671519e-01 -2.76127000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.44119381700003 meters 0.061704948286460615 Centerline is valid? [True, True] Translation: X:234.63, Y:-85.15, Z:-27.61 [[ 9.40500245e-01 3.39019066e-01 2.29207743e-02 2.34625706e+02] [-3.38926597e-01 9.40779450e-01 -7.92392403e-03 -8.51532832e+01] [-2.42497548e-02 -3.16007544e-04 9.99705882e-01 -2.76149278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.47119381700003 meters 0.06039081590459034 Centerline is valid? [True, True] Translation: X:234.65, Y:-85.18, Z:-27.61 [[ 9.44578821e-01 3.27503378e-01 2.26359749e-02 2.34649603e+02] [-3.27409748e-01 9.44850008e-01 -7.83069195e-03 -8.51842217e+01] [-2.39521791e-02 -1.45330628e-05 9.99713105e-01 -2.76111591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.50119381700003 meters 0.06039081590459034 Centerline is valid? [True, True] Translation: X:234.68, Y:-85.20, Z:-27.61 [[ 9.44467216e-01 3.27825216e-01 2.26341662e-02 2.34680130e+02] [-3.27731553e-01 9.44738391e-01 -7.83591394e-03 -8.51950479e+01] [-2.39521760e-02 -1.71666352e-05 9.99713105e-01 -2.76131296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.53119381700003 meters 0.06092641305825725 Centerline is valid? [True, True] Translation: X:234.71, Y:-85.21, Z:-27.62 [[ 9.46110724e-01 3.23020118e-01 2.30759783e-02 2.34707254e+02] [-3.22921082e-01 9.46392091e-01 -7.99902821e-03 -8.52143023e+01] [-2.44227704e-02 1.16246468e-04 9.99701713e-01 -2.76176572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.56119381700003 meters 0.062227515359714526 Centerline is valid? [True, True] Translation: X:234.73, Y:-85.23, Z:-27.62 [[ 9.47547940e-01 3.18740746e-01 2.36058895e-02 2.34733144e+02] [-3.18635507e-01 9.47841906e-01 -8.19362942e-03 -8.52333006e+01] [-2.49862949e-02 2.42182092e-04 9.99687764e-01 -2.76242756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.59119381700003 meters 0.061364171424913676 Centerline is valid? [True, True] Translation: X:234.76, Y:-85.25, Z:-27.62 [[ 9.48618838e-01 3.15447161e-01 2.48070142e-02 2.34762810e+02] [-3.15329671e-01 9.48943078e-01 -8.61588186e-03 -8.52486070e+01] [-2.62582999e-02 3.50800221e-04 9.99655130e-01 -2.76175368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.62119381700003 meters 0.06351671962876079 Centerline is valid? [True, True] Translation: X:234.79, Y:-85.27, Z:-27.63 [[ 9.49275215e-01 3.13384114e-01 2.58256183e-02 2.34789757e+02] [-3.13255596e-01 9.49626350e-01 -8.98485343e-03 -8.52676458e+01] [-2.73403980e-02 4.39079230e-04 9.99626085e-01 -2.76260131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.65119381700003 meters 0.06119179839260096 Centerline is valid? [True, True] Translation: X:234.82, Y:-85.28, Z:-27.62 [[ 9.49467601e-01 3.12622458e-01 2.79011401e-02 2.34820687e+02] [-3.12471980e-01 9.49877332e-01 -9.71160138e-03 -8.52787750e+01] [-2.95387252e-02 5.02526383e-04 9.99563510e-01 -2.76151412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.68119381700004 meters 0.06102662218719915 Centerline is valid? [True, True] Translation: X:234.85, Y:-85.29, Z:-27.62 [[ 9.48884930e-01 3.14260631e-01 2.92855901e-02 2.34850318e+02] [-3.14095284e-01 9.49336622e-01 -1.02044823e-02 -8.52895985e+01] [-3.10087502e-02 4.84413715e-04 9.99518996e-01 -2.76170117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.71119381700004 meters 0.06067879816793235 Centerline is valid? [True, True] Translation: X:234.88, Y:-85.30, Z:-27.62 [[ 9.47989453e-01 3.16764267e-01 3.12473290e-02 2.34880422e+02] [-3.16576985e-01 9.48504193e-01 -1.08999115e-02 -8.52990922e+01] [-3.30909250e-02 4.40815942e-04 9.99452248e-01 -2.76185840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.74119381700004 meters 0.05981949177168315 Centerline is valid? [True, True] Translation: X:234.91, Y:-85.31, Z:-27.62 [[ 9.46765339e-01 3.20263171e-01 3.26633508e-02 2.34911782e+02] [-3.20060208e-01 9.47328551e-01 -1.14052898e-02 -8.53058952e+01] [-3.45956191e-02 3.43894270e-04 9.99401333e-01 -2.76173192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.77119381700004 meters 0.05935923423584591 Centerline is valid? [True, True] Translation: X:234.94, Y:-85.31, Z:-27.62 [[ 9.44096478e-01 3.28014804e-01 3.29868011e-02 2.34943845e+02] [-3.27812124e-01 9.44672580e-01 -1.15294399e-02 -8.53098542e+01] [-3.49435535e-02 7.14302914e-05 9.99389285e-01 -2.76188704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.80119381700004 meters 0.059464442267814506 Centerline is valid? [True, True] Translation: X:234.98, Y:-85.32, Z:-27.62 [[ 9.42802637e-01 3.31810663e-01 3.20136051e-02 2.34975613e+02] [-3.31621617e-01 9.43346003e-01 -1.11992270e-02 -8.53161654e+01] [-3.39159293e-02 -5.77427032e-05 9.99424688e-01 -2.76220267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.83119381700004 meters 0.06010246034955769 Centerline is valid? [True, True] Translation: X:235.01, Y:-85.32, Z:-27.63 [[ 9.40160391e-01 3.39411361e-01 2.99727664e-02 2.35008252e+02] [-3.39249213e-01 9.40637995e-01 -1.04945081e-02 -8.53174014e+01] [-3.17554782e-02 -3.01716583e-04 9.99495622e-01 -2.76273874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.86119381700004 meters 0.060471936307674785 Centerline is valid? [True, True] Translation: X:235.04, Y:-85.32, Z:-27.63 [[ 9.39061232e-01 3.42548693e-01 2.87122908e-02 2.35038533e+02] [-3.42401120e-01 9.39499998e-01 -1.00611586e-02 -8.53242433e+01] [-3.04216339e-02 -3.83076524e-04 9.99537082e-01 -2.76312257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89119381700004 meters 0.06098457177739566 Centerline is valid? [True, True] Translation: X:235.07, Y:-85.33, Z:-27.63 [[ 9.37776116e-01 3.46222417e-01 2.65705655e-02 2.35069291e+02] [-3.46097329e-01 9.38152348e-01 -9.31723890e-03 -8.53323149e+01] [-2.81530754e-02 -4.58517638e-04 9.99603518e-01 -2.76340077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92119381700002 meters 0.062204957333619526 Centerline is valid? [True, True] Translation: X:235.10, Y:-85.34, Z:-27.64 [[ 9.36267361e-01 3.50356536e-01 2.55680600e-02 2.35099313e+02] [-3.50242058e-01 9.36616245e-01 -8.97276816e-03 -8.53396273e+01] [-2.70911284e-02 -5.54099990e-04 9.99632814e-01 -2.76382974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95119381700002 meters 0.06365262855741 Centerline is valid? [True, True] Translation: X:235.13, Y:-85.35, Z:-27.64 [[ 9.34182900e-01 3.56044996e-01 2.31142906e-02 2.35128910e+02] [-3.55952821e-01 9.34468595e-01 -8.12609512e-03 -8.53466318e+01] [-2.44928341e-02 -6.36337822e-04 9.99699803e-01 -2.76441266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98119381700002 meters 0.0635160223957824 Centerline is valid? [True, True] Translation: X:235.16, Y:-85.36, Z:-27.65 [[ 9.33465306e-01 3.58034528e-01 2.13025523e-02 2.35159255e+02] [-3.57956804e-01 9.33708130e-01 -7.48697726e-03 -8.53580333e+01] [-2.25709626e-02 -6.36559996e-04 9.99745041e-01 -2.76452063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01119381700002 meters 0.06498000424130775 Centerline is valid? [True, True] Translation: X:235.19, Y:-85.37, Z:-27.65 [[ 9.32790351e-01 3.59782615e-01 2.14156793e-02 2.35188823e+02] [-3.59704542e-01 9.33035907e-01 -7.52591887e-03 -8.53664315e+01] [-2.26892925e-02 -6.83212602e-04 9.99742331e-01 -2.76510486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04119381700002 meters 0.0656019784953011 Centerline is valid? [True, True] Translation: X:235.22, Y:-85.38, Z:-27.65 [[ 9.32486025e-01 3.60644614e-01 2.01314565e-02 2.35217640e+02] [-3.60575852e-01 9.32703073e-01 -7.07334091e-03 -8.53778507e+01] [-2.13276337e-02 -6.63125534e-04 9.99772320e-01 -2.76546478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07119381700002 meters 0.06398835996946209 Centerline is valid? [True, True] Translation: X:235.24, Y:-85.40, Z:-27.65 [[ 9.33090732e-01 3.59002315e-01 2.14248554e-02 2.35243376e+02] [-3.58923642e-01 9.33336442e-01 -7.54357362e-03 -8.53991268e+01] [-2.27047587e-02 -6.51048511e-04 9.99742002e-01 -2.76519271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10119381700002 meters 0.06332382925011007 Centerline is valid? [True, True] Translation: X:235.27, Y:-85.41, Z:-27.65 [[ 9.33823675e-01 3.57080452e-01 2.16077625e-02 2.35271893e+02] [-3.57000112e-01 9.34073428e-01 -7.59935133e-03 -8.54149716e+01] [-2.28968166e-02 -6.17519445e-04 9.99737643e-01 -2.76522793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.13119381700002 meters 0.06321313172778499 Centerline is valid? [True, True] Translation: X:235.30, Y:-85.43, Z:-27.65 [[ 9.34479491e-01 3.55280375e-01 2.28896327e-02 2.35299098e+02] [-3.55189232e-01 9.34759598e-01 -8.06859786e-03 -8.54297230e+01] [-2.42629183e-02 -5.90211832e-04 9.99705438e-01 -2.76540459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.16119381700003 meters 0.06083644019949118 Centerline is valid? [True, True] Translation: X:235.32, Y:-85.45, Z:-27.65 [[ 9.36519816e-01 3.49735789e-01 2.48094958e-02 2.35324105e+02] [-3.49626757e-01 9.36848250e-01 -8.74568544e-03 -8.54541324e+01] [-2.63014119e-02 -4.83555836e-04 9.99653941e-01 -2.76489596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.19119381700003 meters 0.060684523110704956 Centerline is valid? [True, True] Translation: X:235.35, Y:-85.47, Z:-27.65 [[ 9.37471934e-01 3.47051456e-01 2.64888508e-02 2.35350926e+02] [-3.46926053e-01 9.37845988e-01 -9.33895205e-03 -8.54689165e+01] [-2.80835594e-02 -4.34667018e-04 9.99605485e-01 -2.76513212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.22119381700003 meters 0.060294475817857775 Centerline is valid? [True, True] Translation: X:235.38, Y:-85.49, Z:-27.65 [[ 9.38263442e-01 3.44806599e-01 2.77510889e-02 2.35378590e+02] [-3.44668200e-01 9.38673668e-01 -9.77631343e-03 -8.54850860e+01] [-2.94201538e-02 -3.92160362e-04 9.99567057e-01 -2.76520227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.25119381700003 meters 0.05958702182194626 Centerline is valid? [True, True] Translation: X:235.41, Y:-85.50, Z:-27.65 [[ 9.38888783e-01 3.43047187e-01 2.83985905e-02 2.35406997e+02] [-3.42901184e-01 9.39318111e-01 -1.00131750e-02 -8.55025025e+01] [-3.01103019e-02 -3.36652614e-04 9.99546525e-01 -2.76490756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.28119381700003 meters 0.058957270142694335 Centerline is valid? [True, True] Translation: X:235.43, Y:-85.52, Z:-27.65 [[ 9.40101051e-01 3.39413506e-01 3.17566523e-02 2.35431953e+02] [-3.39228270e-01 9.40637241e-01 -1.12143629e-02 -8.55225480e+01] [-3.36777960e-02 -2.30119815e-04 9.99432716e-01 -2.76477859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.31119381700003 meters 0.058699344828431414 Centerline is valid? [True, True] Translation: X:235.46, Y:-85.54, Z:-27.65 [[ 9.40696971e-01 3.37695922e-01 3.24140863e-02 2.35460556e+02] [-3.37501908e-01 9.41255244e-01 -1.14467025e-02 -8.55381363e+01] [-3.43754335e-02 -1.71937630e-04 9.99408975e-01 -2.76488478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.34119381700003 meters 0.05869523077895586 Centerline is valid? [True, True] Translation: X:235.49, Y:-85.55, Z:-27.65 [[ 9.41270419e-01 3.35985942e-01 3.35178308e-02 2.35488755e+02] [-3.35776998e-01 9.41866995e-01 -1.18478440e-02 -8.55534394e+01] [-3.55500476e-02 -1.02491516e-04 9.99367892e-01 -2.76509174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.37119381700003 meters 0.05868969722453796 Centerline is valid? [True, True] Translation: X:235.52, Y:-85.57, Z:-27.65 [[ 9.41732501e-01 3.34715316e-01 3.32498693e-02 2.35517993e+02] [-3.34508588e-01 9.42319296e-01 -1.17621927e-02 -8.55683501e+01] [-3.52689794e-02 -4.55276704e-05 9.99377855e-01 -2.76528537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.40119381700003 meters 0.05870500984746415 Centerline is valid? [True, True] Translation: X:235.55, Y:-85.59, Z:-27.66 [[ 9.43076640e-01 3.30937045e-01 3.29715411e-02 2.35546061e+02] [-3.30731040e-01 9.43652829e-01 -1.16755486e-02 -8.55886274e+01] [-3.49775595e-02 1.06225069e-04 9.99388092e-01 -2.76550950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.43119381700004 meters 0.05908187164936322 Centerline is valid? [True, True] Translation: X:235.57, Y:-85.60, Z:-27.66 [[ 9.43701779e-01 3.29315093e-01 3.12813295e-02 2.35574149e+02] [-3.29128382e-01 9.44220070e-01 -1.10890551e-02 -8.56038125e+01] [-3.31882523e-02 1.69187714e-04 9.99449104e-01 -2.76582681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.46119381700004 meters 0.0595425679693196 Centerline is valid? [True, True] Translation: X:235.60, Y:-85.62, Z:-27.66 [[ 9.44213325e-01 3.27955922e-01 3.01016777e-02 2.35601499e+02] [-3.27782077e-01 9.44693001e-01 -1.06791163e-02 -8.56190648e+01] [-3.19391237e-02 2.16573446e-04 9.99489793e-01 -2.76612845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.49119381700004 meters 0.05991083644842304 Centerline is valid? [True, True] Translation: X:235.63, Y:-85.63, Z:-27.66 [[ 9.45091269e-01 3.25544038e-01 2.86979704e-02 2.35630133e+02] [-3.25384709e-01 9.45526835e-01 -1.01880355e-02 -8.56344724e+01] [-3.04513553e-02 2.90742605e-04 9.99536208e-01 -2.76639106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.52119381700004 meters 0.061767796399551364 Centerline is valid? [True, True] Translation: X:235.66, Y:-85.65, Z:-27.67 [[ 9.48060146e-01 3.17094428e-01 2.51611534e-02 2.35655711e+02] [-3.16968578e-01 9.48393835e-01 -8.94731416e-03 -8.56537541e+01] [-2.66998262e-02 5.07296965e-04 9.99643367e-01 -2.76687627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.55119381700004 meters 0.06405432883880442 Centerline is valid? [True, True] Translation: X:235.68, Y:-85.67, Z:-27.67 [[ 9.49710983e-01 3.12245429e-01 2.34913031e-02 2.35681306e+02] [-3.12134216e-01 9.50001279e-01 -8.35473604e-03 -8.56705269e+01] [-2.49254961e-02 6.02145108e-04 9.99689130e-01 -2.76742328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.58119381700004 meters 0.0657703504480241 Centerline is valid? [True, True] Translation: X:235.71, Y:-85.69, Z:-27.68 [[ 9.51579742e-01 3.06618519e-01 2.19334903e-02 2.35709008e+02] [-3.06520110e-01 9.51832231e-01 -7.79911143e-03 -8.56864703e+01] [-2.32683550e-02 6.98420585e-04 9.99729011e-01 -2.76758154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.61119381700004 meters 0.06884003815444421 Centerline is valid? [True, True] Translation: X:235.73, Y:-85.70, Z:-27.68 [[ 9.52880714e-01 3.02643833e-01 2.06168479e-02 2.35734649e+02] [-3.02555983e-01 9.53103433e-01 -7.32965388e-03 -8.57032581e+01] [-2.18682630e-02 7.46535147e-04 9.99760582e-01 -2.76810004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64119381700004 meters 0.06707626487469501 Centerline is valid? [True, True] Translation: X:235.77, Y:-85.71, Z:-27.68 [[ 9.53975582e-01 2.99221644e-01 1.99247685e-02 2.35765410e+02] [-2.99138767e-01 9.54183298e-01 -7.08742407e-03 -8.57114681e+01] [-2.11325920e-02 8.00958810e-04 9.99776361e-01 -2.76764271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67119381700005 meters 0.07163878509486973 Centerline is valid? [True, True] Translation: X:235.79, Y:-85.73, Z:-27.68 [[ 9.55168052e-01 2.95321136e-01 2.09623322e-02 2.35791705e+02] [-2.95228534e-01 9.55397593e-01 -7.45331990e-03 -8.57281804e+01] [-2.22284846e-02 9.30494457e-04 9.99752484e-01 -2.76817066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70119381700002 meters 0.07214013816214812 Centerline is valid? [True, True] Translation: X:235.82, Y:-85.74, Z:-27.68 [[ 9.55237696e-01 2.95067397e-01 2.13582550e-02 2.35822896e+02] [-2.94971247e-01 9.55475968e-01 -7.59202936e-03 -8.57369620e+01] [-2.26474597e-02 9.52121529e-04 9.99743060e-01 -2.76838688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73119381700002 meters 0.0719533111840086 Centerline is valid? [True, True] Translation: X:235.86, Y:-85.74, Z:-27.69 [[ 9.54926492e-01 2.96143494e-01 2.03574676e-02 2.35855064e+02] [-2.96056279e-01 9.55143048e-01 -7.24133813e-03 -8.57439684e+01] [-2.15887688e-02 8.87989500e-04 9.99766541e-01 -2.76866957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76119381700002 meters 0.06988540668760067 Centerline is valid? [True, True] Translation: X:235.89, Y:-85.74, Z:-27.69 [[ 9.54780668e-01 2.96648379e-01 1.98397152e-02 2.35890810e+02] [-2.96565530e-01 9.54986387e-01 -7.06305809e-03 -8.57425508e+01] [-2.10419027e-02 8.59895677e-04 9.99778225e-01 -2.76866185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79119381700002 meters 0.0705638033401932 Centerline is valid? [True, True] Translation: X:235.92, Y:-85.75, Z:-27.69 [[ 9.54861247e-01 2.96357705e-01 2.03004826e-02 2.35923041e+02] [-2.96270721e-01 9.55076599e-01 -7.23527864e-03 -8.57500410e+01] [-2.15327464e-02 8.94248586e-04 9.99767744e-01 -2.76896273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82119381700002 meters 0.07012890995160546 Centerline is valid? [True, True] Translation: X:235.96, Y:-85.76, Z:-27.69 [[ 9.54851164e-01 2.96405851e-01 2.00705252e-02 2.35955504e+02] [-2.96320651e-01 9.55061661e-01 -7.16201012e-03 -8.57559452e+01] [-2.12914509e-02 8.91342601e-04 9.99772914e-01 -2.76900248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85119381700002 meters 0.06941488595821903 Centerline is valid? [True, True] Translation: X:235.99, Y:-85.76, Z:-27.69 [[ 9.54679916e-01 2.96979398e-01 1.97356544e-02 2.35990383e+02] [-2.96897054e-01 9.54883493e-01 -7.04664801e-03 -8.57552375e+01] [-2.09379599e-02 8.67835670e-04 9.99780400e-01 -2.76902655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.88119381700002 meters 0.07051692111012269 Centerline is valid? [True, True] Translation: X:236.02, Y:-85.76, Z:-27.69 [[ 9.54495921e-01 2.97575600e-01 1.96544906e-02 2.36021048e+02] [-2.97493754e-01 9.54697865e-01 -7.03224367e-03 -8.57623806e+01] [-2.08567243e-02 8.65159723e-04 9.99782101e-01 -2.76935858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.91119381700003 meters 0.06959406454607747 Centerline is valid? [True, True] Translation: X:236.05, Y:-85.77, Z:-27.69 [[ 9.53988472e-01 2.99123389e-01 2.07652158e-02 2.36052989e+02] [-2.99032183e-01 9.54214027e-01 -7.43930123e-03 -8.57659960e+01] [-2.20397292e-02 8.87539785e-04 9.99756702e-01 -2.76936561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.94119381700003 meters 0.06714926739315649 Centerline is valid? [True, True] Translation: X:236.09, Y:-85.77, Z:-27.69 [[ 9.53478227e-01 3.00723583e-01 2.10854816e-02 2.36086678e+02] [-3.00630143e-01 9.53710961e-01 -7.54458736e-03 -8.57665391e+01] [-2.23782902e-02 8.54668431e-04 9.99749209e-01 -2.76922016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.97119381700003 meters 0.06766569936525377 Centerline is valid? [True, True] Translation: X:236.12, Y:-85.77, Z:-27.70 [[ 9.52742270e-01 3.03042457e-01 2.11527003e-02 2.36117826e+02] [-3.02948806e-01 9.52976711e-01 -7.57681423e-03 -8.57718676e+01] [-2.24541272e-02 8.10565870e-04 9.99747546e-01 -2.76963010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.00119381700003 meters 0.06574694839185899 Centerline is valid? [True, True] Translation: X:236.15, Y:-85.77, Z:-27.70 [[ 9.52353939e-01 3.04272555e-01 2.09806211e-02 2.36151591e+02] [-3.04180601e-01 9.52584696e-01 -7.52052772e-03 -8.57735629e+01] [-2.22741088e-02 7.80306260e-04 9.99751597e-01 -2.76950380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.03119381700003 meters 0.06463241032560649 Centerline is valid? [True, True] Translation: X:236.19, Y:-85.77, Z:-27.69 [[ 9.51721104e-01 3.06069608e-01 2.34165697e-02 2.36185930e+02] [-3.05955105e-01 9.52008763e-01 -8.41366642e-03 -8.57704681e+01] [-2.48679471e-02 8.43044859e-04 9.99690389e-01 -2.76945306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.06119381700003 meters 0.06491433001238713 Centerline is valid? [True, True] Translation: X:236.22, Y:-85.78, Z:-27.70 [[ 9.51517758e-01 3.06667233e-01 2.38571663e-02 2.36217169e+02] [-3.06548757e-01 9.51816426e-01 -8.56447645e-03 -8.57765437e+01] [-2.53340870e-02 8.35866763e-04 9.99678691e-01 -2.76968945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.09119381700003 meters 0.06468171838564134 Centerline is valid? [True, True] Translation: X:236.25, Y:-85.78, Z:-27.70 [[ 9.51545224e-01 3.06613491e-01 2.34489636e-02 2.36249351e+02] [-3.06498866e-01 9.51833746e-01 -8.42406737e-03 -8.57821016e+01] [-2.49024476e-02 8.28800328e-04 9.99689542e-01 -2.76980239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.12119381700003 meters 0.06714778679283119 Centerline is valid? [True, True] Translation: X:236.28, Y:-85.79, Z:-27.70 [[ 9.51510207e-01 3.06731510e-01 2.33260900e-02 2.36279049e+02] [-3.06617945e-01 9.51795721e-01 -8.38694463e-03 -8.57935345e+01] [-2.47742129e-02 8.28065632e-04 9.99692729e-01 -2.77049416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.15119381700003 meters 0.06581110371179708 Centerline is valid? [True, True] Translation: X:236.31, Y:-85.79, Z:-27.70 [[ 9.52031258e-01 3.05131769e-01 2.30453363e-02 2.36313485e+02] [-3.05020232e-01 9.52309745e-01 -8.29500863e-03 -8.57926737e+01] [-2.44773690e-02 8.67813655e-04 9.99700008e-01 -2.77030314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.18119381700004 meters 0.06612303158031994 Centerline is valid? [True, True] Translation: X:236.34, Y:-85.80, Z:-27.71 [[ 9.52149559e-01 3.04688558e-01 2.40020602e-02 2.36344085e+02] [-3.04567078e-01 9.52451584e-01 -8.65305911e-03 -8.57983026e+01] [-2.54972884e-02 9.28769065e-04 9.99674460e-01 -2.77055967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.21119381700004 meters 0.06603864814252695 Centerline is valid? [True, True] Translation: X:236.38, Y:-85.80, Z:-27.71 [[ 9.52356363e-01 3.04012151e-01 2.43715023e-02 2.36376224e+02] [-3.03886681e-01 9.52667669e-01 -8.78619594e-03 -8.58034912e+01] [-2.58890527e-02 9.61414644e-04 9.99664360e-01 -2.77068338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.24119381700004 meters 0.0676510291632266 Centerline is valid? [True, True] Translation: X:236.41, Y:-85.81, Z:-27.71 [[ 9.52287462e-01 3.04216366e-01 2.45151537e-02 2.36406936e+02] [-3.04089280e-01 9.52602469e-01 -8.84564603e-03 -8.58127429e+01] [-2.60441862e-02 9.68802370e-04 9.99660323e-01 -2.77113813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.27119381700004 meters 0.06520019304560755 Centerline is valid? [True, True] Translation: X:236.44, Y:-85.81, Z:-27.71 [[ 9.52024087e-01 3.04755871e-01 2.78207856e-02 2.36441934e+02] [-3.04591802e-01 9.52429862e-01 -1.00593996e-02 -8.58108080e+01] [-2.95630081e-02 1.10280755e-03 9.99562310e-01 -2.77061573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.30119381700004 meters 0.06588812545099068 Centerline is valid? [True, True] Translation: X:236.47, Y:-85.82, Z:-27.71 [[ 9.51860921e-01 3.05276216e-01 2.76987142e-02 2.36473411e+02] [-3.05113992e-01 9.52263238e-01 -1.00088598e-02 -8.58177304e+01] [-2.94319341e-02 1.07577720e-03 9.99566208e-01 -2.77088137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.33119381700004 meters 0.0646409910973625 Centerline is valid? [True, True] Translation: X:236.51, Y:-85.82, Z:-27.71 [[ 9.51546787e-01 3.06173746e-01 2.85718408e-02 2.36506244e+02] [-3.06001185e-01 9.51975023e-01 -1.03358787e-02 -8.58203745e+01] [-3.03642535e-02 1.09205502e-03 9.99538303e-01 -2.77086278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.36119381700004 meters 0.0642756458277858 Centerline is valid? [True, True] Translation: X:236.54, Y:-85.82, Z:-27.71 [[ 9.50990266e-01 3.08060436e-01 2.67634455e-02 2.36539380e+02] [-3.07909594e-01 9.51366292e-01 -9.68816354e-03 -8.58241623e+01] [-2.84463798e-02 9.72627589e-04 9.99594847e-01 -2.77114198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39119381700004 meters 0.0627285755481928 Centerline is valid? [True, True] Translation: X:236.58, Y:-85.82, Z:-27.72 [[ 9.49188227e-01 3.13829401e-01 2.35120654e-02 2.36575825e+02] [-3.13714552e-01 9.49479122e-01 -8.51923142e-03 -8.58167739e+01] [-2.49978005e-02 7.10277080e-04 9.99687254e-01 -2.77162921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42119381700005 meters 0.0627285755481928 Centerline is valid? [True, True] Translation: X:236.61, Y:-85.83, Z:-27.72 [[ 9.49080584e-01 3.14154934e-01 2.35100368e-02 2.36606214e+02] [-3.14040046e-01 9.49371464e-01 -8.52482365e-03 -8.58280714e+01] [-2.49978735e-02 7.07651556e-04 9.99687254e-01 -2.77182636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45119381700002 meters 0.06262197390123705 Centerline is valid? [True, True] Translation: X:236.64, Y:-85.83, Z:-27.72 [[ 9.48098376e-01 3.17211005e-01 2.20600804e-02 2.36638281e+02] [-3.17110447e-01 9.48354797e-01 -8.00892577e-03 -8.58306961e+01] [-2.34613025e-02 5.97767549e-04 9.99724567e-01 -2.77240009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48119381700002 meters 0.06191376539703874 Centerline is valid? [True, True] Translation: X:236.67, Y:-85.83, Z:-27.73 [[ 9.46873696e-01 3.20935687e-01 2.07481935e-02 2.36671658e+02] [-3.20847528e-01 9.47100868e-01 -7.53718155e-03 -8.58323325e+01] [-2.20695826e-02 4.79752348e-04 9.99756322e-01 -2.77272168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51119381700002 meters 0.06149989835372907 Centerline is valid? [True, True] Translation: X:236.71, Y:-85.83, Z:-27.73 [[ 9.45448411e-01 3.25228748e-01 1.88032937e-02 2.36706576e+02] [-3.25157118e-01 9.45635311e-01 -6.83427685e-03 -8.58306548e+01] [-2.00037617e-02 3.47431406e-04 9.99799844e-01 -2.77311610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54119381700002 meters 0.06140123418414546 Centerline is valid? [True, True] Translation: X:236.74, Y:-85.84, Z:-27.73 [[ 9.45046787e-01 3.26410103e-01 1.85206450e-02 2.36739159e+02] [-3.26340725e-01 9.45228195e-01 -6.73728861e-03 -8.58378862e+01] [-1.97053549e-02 3.23012249e-04 9.99805778e-01 -2.77339749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57119381700002 meters 0.06136647464031041 Centerline is valid? [True, True] Translation: X:236.77, Y:-85.85, Z:-27.74 [[ 9.44855996e-01 3.26967275e-01 1.84268508e-02 2.36771532e+02] [-3.26898569e-01 9.45035608e-01 -6.71005010e-03 -8.58455650e+01] [-1.96079970e-02 3.16319911e-04 9.99807695e-01 -2.77364525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60119381700002 meters 0.06135186440161885 Centerline is valid? [True, True] Translation: X:236.80, Y:-85.85, Z:-27.74 [[ 9.44912112e-01 3.26803737e-01 1.84504285e-02 2.36803690e+02] [-3.26734688e-01 9.45092171e-01 -6.72552003e-03 -8.58541760e+01] [-1.96352806e-02 3.26630344e-04 9.99807156e-01 -2.77381760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.63119381700002 meters 0.0624578756954529 Centerline is valid? [True, True] Translation: X:236.83, Y:-85.86, Z:-27.74 [[ 9.46065564e-01 3.23481071e-01 1.78870370e-02 2.36832384e+02] [-3.23415306e-01 9.46234558e-01 -6.53460867e-03 -8.58640982e+01] [-1.90391547e-02 3.97226711e-04 9.99818660e-01 -2.77420877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.66119381700003 meters 0.063767678179668 Centerline is valid? [True, True] Translation: X:236.86, Y:-85.88, Z:-27.74 [[ 9.47487275e-01 3.19294983e-01 1.78487281e-02 2.36861652e+02] [-3.19228648e-01 9.47655252e-01 -6.52633320e-03 -8.58775957e+01] [-1.89982664e-02 4.85792322e-04 9.99819399e-01 -2.77443138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.69119381700003 meters 0.0645256368222703 Centerline is valid? [True, True] Translation: X:236.89, Y:-85.89, Z:-27.74 [[ 9.48873676e-01 3.15200859e-01 1.69459436e-02 2.36890341e+02] [-3.15140338e-01 9.49024828e-01 -6.20030379e-03 -8.58894991e+01] [-1.80364623e-02 5.42954638e-04 9.99837182e-01 -2.77447185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.72119381700003 meters 0.06746642657251566 Centerline is valid? [True, True] Translation: X:236.92, Y:-85.90, Z:-27.75 [[ 9.50380773e-01 3.10654912e-01 1.64289997e-02 2.36917039e+02] [-3.10597341e-01 9.50522569e-01 -6.01152257e-03 -8.59048440e+01] [-1.74836440e-02 6.10431861e-04 9.99846963e-01 -2.77490737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.75119381700003 meters 0.06990889260969482 Centerline is valid? [True, True] Translation: X:236.94, Y:-85.92, Z:-27.75 [[ 9.51996948e-01 3.05671565e-01 1.63311406e-02 2.36944090e+02] [-3.05613922e-01 9.52136758e-01 -5.97706318e-03 -8.59185661e+01] [-1.73764975e-02 6.99121966e-04 9.99848773e-01 -2.77509650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.78119381700003 meters 0.07176347657907457 Centerline is valid? [True, True] Translation: X:236.97, Y:-85.93, Z:-27.75 [[ 9.54965394e-01 2.96381817e-01 1.41037437e-02 2.36973345e+02] [-2.96337834e-01 9.55069243e-01 -5.16040787e-03 -8.59300406e+01] [-1.49995029e-02 7.48538076e-04 9.99887221e-01 -2.77487101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.81119381700003 meters 0.07484230014725918 Centerline is valid? [True, True] Translation: X:237.00, Y:-85.94, Z:-27.75 [[ 9.56331196e-01 2.91951627e-01 1.39603496e-02 2.37000588e+02] [-2.91908066e-01 9.56432743e-01 -5.10775803e-03 -8.59437136e+01] [-1.48433537e-02 8.09569691e-04 9.99889504e-01 -2.77511013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.84119381700003 meters 0.07634729007297217 Centerline is valid? [True, True] Translation: X:237.03, Y:-85.95, Z:-27.75 [[ 9.57333769e-01 2.88604188e-01 1.48215025e-02 2.37029479e+02] [-2.88554655e-01 9.57448058e-01 -5.42477086e-03 -8.59543121e+01] [-1.57564303e-02 9.16502802e-04 9.99875440e-01 -2.77505916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.87119381700003 meters 0.08085161418830374 Centerline is valid? [True, True] Translation: X:237.06, Y:-85.97, Z:-27.75 [[ 9.57835177e-01 2.86844875e-01 1.64860928e-02 2.37057405e+02] [-2.86783521e-01 9.57976479e-01 -6.02319902e-03 -8.59679739e+01] [-1.75210129e-02 1.04129216e-03 9.99845953e-01 -2.77548974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.90119381700003 meters 0.07796257618196158 Centerline is valid? [True, True] Translation: X:237.09, Y:-85.96, Z:-27.75 [[ 9.57989452e-01 2.86265422e-01 1.75590073e-02 2.37094504e+02] [-2.86195652e-01 9.58149699e-01 -6.41903116e-03 -8.59634669e+01] [-1.86617042e-02 1.12405260e-03 9.99825223e-01 -2.77515608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.93119381700004 meters 0.07568878760593263 Centerline is valid? [True, True] Translation: X:237.13, Y:-85.97, Z:-27.75 [[ 9.57705737e-01 2.87123752e-01 1.89650485e-02 2.37128551e+02] [-2.87042321e-01 9.57892738e-01 -6.94325697e-03 -8.59654067e+01] [-2.01600562e-02 1.20582548e-03 9.99796038e-01 -2.77496712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.96119381700004 meters 0.07598814995327312 Centerline is valid? [True, True] Translation: X:237.16, Y:-85.97, Z:-27.75 [[ 9.57123681e-01 2.88990110e-01 1.99743572e-02 2.37159401e+02] [-2.88899796e-01 9.57331272e-01 -7.33106269e-03 -8.59707164e+01] [-2.12406814e-02 1.24614599e-03 9.99773615e-01 -2.77514099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.99119381700004 meters 0.07534554416852678 Centerline is valid? [True, True] Translation: X:237.19, Y:-85.97, Z:-27.75 [[ 9.56504133e-01 2.90949680e-01 2.11690267e-02 2.37193230e+02] [-2.90848762e-01 9.56737510e-01 -7.76747656e-03 -8.59667036e+01] [-2.25131468e-02 1.27263822e-03 9.99745737e-01 -2.77518278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.02119381700004 meters 0.07565296044262712 Centerline is valid? [True, True] Translation: X:237.23, Y:-85.97, Z:-27.75 [[ 9.56328648e-01 2.91488305e-01 2.16814338e-02 2.37225012e+02] [-2.91382632e-01 9.56573525e-01 -7.95322307e-03 -8.59711157e+01] [-2.30581571e-02 1.28830182e-03 9.99733295e-01 -2.77538627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.05119381700004 meters 0.07589868623457274 Centerline is valid? [True, True] Translation: X:237.26, Y:-85.98, Z:-27.76 [[ 9.56432025e-01 2.91087440e-01 2.24918761e-02 2.37257411e+02] [-2.90973452e-01 9.56695496e-01 -8.25701244e-03 -8.59759510e+01] [-2.39213892e-02 1.35273232e-03 9.99712927e-01 -2.77550569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.08119381700004 meters 0.07612492043434245 Centerline is valid? [True, True] Translation: X:237.29, Y:-85.98, Z:-27.76 [[ 9.56497412e-01 2.90854727e-01 2.27206866e-02 2.37288892e+02] [-2.90737941e-01 9.56766220e-01 -8.35758178e-03 -8.59806070e+01] [-2.41692276e-02 1.38823971e-03 9.99706918e-01 -2.77571826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.11119381700004 meters 0.07774921895226256 Centerline is valid? [True, True] Translation: X:237.32, Y:-85.98, Z:-27.76 [[ 9.56559762e-01 2.90802096e-01 2.06775908e-02 2.37320644e+02] [-2.90705292e-01 9.56782386e-01 -7.60916106e-03 -8.59797808e+01] [-2.19967146e-02 1.26753225e-03 9.99757239e-01 -2.77627256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14119381700004 meters 0.07359941858058343 Centerline is valid? [True, True] Translation: X:237.35, Y:-85.98, Z:-27.76 [[ 9.56375603e-01 2.91516552e-01 1.90736778e-02 2.37353302e+02] [-2.91434313e-01 9.56565088e-01 -7.01954150e-03 -8.59776242e+01] [-2.02915268e-02 1.15459404e-03 9.99793439e-01 -2.77621465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17119381700005 meters 0.07293092914330702 Centerline is valid? [True, True] Translation: X:237.38, Y:-85.98, Z:-27.76 [[ 9.56041418e-01 2.92681319e-01 1.79569390e-02 2.37382580e+02] [-2.92608613e-01 9.56209450e-01 -6.60972431e-03 -8.59803625e+01] [-1.91051376e-02 1.06481519e-03 9.99816913e-01 -2.77647045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20119381700002 meters 0.07408600141756273 Centerline is valid? [True, True] Translation: X:237.41, Y:-85.99, Z:-27.77 [[ 9.55647565e-01 2.94019560e-01 1.70361119e-02 2.37410574e+02] [-2.93954356e-01 9.55798897e-01 -6.26940759e-03 -8.59855561e+01] [-1.81264254e-02 9.83504784e-04 9.99835219e-01 -2.77697560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23119381700002 meters 0.07197614315683905 Centerline is valid? [True, True] Translation: X:237.44, Y:-85.99, Z:-27.77 [[ 9.55018685e-01 2.96091611e-01 1.64033254e-02 2.37441299e+02] [-2.96031490e-01 9.55159115e-01 -6.03515093e-03 -8.59858423e+01] [-1.74547433e-02 9.07781045e-04 9.99847242e-01 -2.77704021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26119381700002 meters 0.06814412915689855 Centerline is valid? [True, True] Translation: X:237.48, Y:-85.98, Z:-27.77 [[ 9.53483990e-01 3.00998306e-01 1.63798592e-02 2.37476095e+02] [-3.00939136e-01 9.53624327e-01 -6.02320507e-03 -8.59773593e+01] [-1.74332067e-02 8.13688928e-04 9.99847699e-01 -2.77700774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29119381700002 meters 0.06697976684002138 Centerline is valid? [True, True] Translation: X:237.51, Y:-85.98, Z:-27.77 [[ 9.52339916e-01 3.04612449e-01 1.61226699e-02 2.37505872e+02] [-3.04555651e-01 9.52476097e-01 -5.92788316e-03 -8.59800138e+01] [-1.71621647e-02 7.35109533e-04 9.99852449e-01 -2.77726385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32119381700002 meters 0.06700898878463907 Centerline is valid? [True, True] Translation: X:237.53, Y:-85.98, Z:-27.78 [[ 9.51255424e-01 3.08023084e-01 1.53263962e-02 2.37534027e+02] [-3.07972130e-01 9.51378665e-01 -5.63941222e-03 -8.59841740e+01] [-1.63182755e-02 6.44418587e-04 9.99866640e-01 -2.77774872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35119381700002 meters 0.06583575717336795 Centerline is valid? [True, True] Translation: X:237.56, Y:-85.99, Z:-27.78 [[ 9.50079886e-01 3.11616725e-01 1.55957136e-02 2.37563645e+02] [-3.11564559e-01 9.50207700e-01 -5.73173765e-03 -8.59858289e+01] [-1.66052724e-02 5.86537037e-04 9.99861951e-01 -2.77800918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.38119381700002 meters 0.0633598939517148 Centerline is valid? [True, True] Translation: X:237.60, Y:-85.98, Z:-27.78 [[ 9.48270490e-01 3.17047335e-01 1.62500896e-02 2.37598111e+02] [-3.16991547e-01 9.48409578e-01 -5.96916472e-03 -8.59791545e+01] [-1.73042484e-02 5.09241729e-04 9.99850141e-01 -2.77814115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.41119381700003 meters 0.061226990799794975 Centerline is valid? [True, True] Translation: X:237.63, Y:-85.98, Z:-27.78 [[ 9.47965097e-01 3.17977991e-01 1.58799237e-02 2.37628924e+02] [-3.17924637e-01 9.48097967e-01 -5.84558872e-03 -8.59802832e+01] [-1.69144920e-02 4.92795092e-04 9.99856818e-01 -2.77780107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.44119381700003 meters 0.06306299411757346 Centerline is valid? [True, True] Translation: X:237.66, Y:-85.99, Z:-27.79 [[ 9.47635039e-01 3.18978002e-01 1.55198905e-02 2.37655225e+02] [-3.18927399e-01 9.47762012e-01 -5.69943126e-03 -8.59894053e+01] [-1.65271559e-02 4.51262435e-04 9.99863315e-01 -2.77862143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.47119381700003 meters 0.061620397662710484 Centerline is valid? [True, True] Translation: X:237.68, Y:-85.99, Z:-27.78 [[ 9.47363069e-01 3.19729900e-01 1.66134105e-02 2.37684957e+02] [-3.19671932e-01 9.47508610e-01 -6.10657872e-03 -8.59928219e+01] [-1.76938053e-02 4.74306140e-04 9.99843340e-01 -2.77845439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.50119381700003 meters 0.061187079377131935 Centerline is valid? [True, True] Translation: X:237.71, Y:-86.00, Z:-27.78 [[ 9.47297867e-01 3.19900582e-01 1.70402358e-02 2.37713552e+02] [-3.19839729e-01 9.47450996e-01 -6.25765439e-03 -8.59998192e+01] [-1.81466157e-02 4.77718251e-04 9.99835222e-01 -2.77848078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.53119381700003 meters 0.060609042653108874 Centerline is valid? [True, True] Translation: X:237.74, Y:-86.01, Z:-27.78 [[ 9.47143073e-01 3.20244953e-01 1.90570081e-02 2.37741473e+02] [-3.20169251e-01 9.47334634e-01 -6.98150893e-03 -8.60066074e+01] [-2.02891568e-02 5.11019801e-04 9.99794023e-01 -2.77842421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.56119381700003 meters 0.06044495880603191 Centerline is valid? [True, True] Translation: X:237.77, Y:-86.01, Z:-27.78 [[ 9.47106122e-01 3.20215773e-01 2.12568060e-02 2.37768198e+02] [-3.20121615e-01 9.47344465e-01 -7.78564823e-03 -8.60137712e+01] [-2.26306049e-02 5.69072021e-04 9.99743733e-01 -2.77841437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.59119381700003 meters 0.060333089031243195 Centerline is valid? [True, True] Translation: X:237.80, Y:-86.02, Z:-27.79 [[ 9.47136990e-01 3.20086965e-01 2.18141557e-02 2.37795782e+02] [-3.19987670e-01 9.47387980e-01 -7.99412770e-03 -8.60221675e+01] [-2.32252850e-02 5.91273188e-04 9.99730082e-01 -2.77851479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.62119381700003 meters 0.06060460038423755 Centerline is valid? [True, True] Translation: X:237.82, Y:-86.03, Z:-27.79 [[ 9.47500145e-01 3.19063650e-01 2.10205207e-02 2.37823020e+02] [-3.18971328e-01 9.47733106e-01 -7.69746345e-03 -8.60319421e+01] [-2.23778241e-02 5.88404343e-04 9.99749412e-01 -2.77866393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.65119381700003 meters 0.06158981628340422 Centerline is valid? [True, True] Translation: X:237.85, Y:-86.04, Z:-27.79 [[ 9.48000859e-01 3.17600953e-01 2.05913849e-02 2.37848005e+02] [-3.17512294e-01 9.48224275e-01 -7.52772404e-03 -8.60426544e+01] [-2.19160634e-02 5.98270993e-04 9.99759635e-01 -2.77902652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.68119381700004 meters 0.060169356427693506 Centerline is valid? [True, True] Translation: X:237.88, Y:-86.05, Z:-27.79 [[ 9.48424229e-01 3.16308728e-01 2.09826144e-02 2.37876662e+02] [-3.16216258e-01 9.48656088e-01 -7.67490648e-03 -8.60491085e+01] [-2.23329248e-02 6.44023440e-04 9.99750382e-01 -2.77869709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.71119381700004 meters 0.06332277466927477 Centerline is valid? [True, True] Translation: X:237.90, Y:-86.07, Z:-27.79 [[ 9.49571478e-01 3.12721233e-01 2.27912147e-02 2.37900326e+02] [-3.12611498e-01 9.49844634e-01 -8.32000851e-03 -8.60657639e+01] [-2.42499563e-02 7.75647027e-04 9.99705626e-01 -2.77926836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.74119381700004 meters 0.06400862159906084 Centerline is valid? [True, True] Translation: X:237.93, Y:-86.08, Z:-27.79 [[ 9.50137719e-01 3.10941831e-01 2.35264360e-02 2.37926680e+02] [-3.10824277e-01 9.50428563e-01 -8.59154336e-03 -8.60774975e+01] [-2.50316670e-02 8.50561956e-04 9.99686297e-01 -2.77940037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.77119381700004 meters 0.06304686826282381 Centerline is valid? [True, True] Translation: X:237.95, Y:-86.09, Z:-27.79 [[ 9.50781241e-01 3.08868399e-01 2.48061243e-02 2.37954305e+02] [-3.08737207e-01 9.51104313e-01 -9.05105991e-03 -8.60861171e+01] [-2.63887982e-02 9.47004433e-04 9.99651306e-01 -2.77914660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.80119381700004 meters 0.06290062754332972 Centerline is valid? [True, True] Translation: X:237.98, Y:-86.10, Z:-27.79 [[ 9.51496289e-01 3.06635877e-01 2.50848865e-02 2.37981310e+02] [-3.06501153e-01 9.51826356e-01 -9.14496632e-03 -8.60962719e+01] [-2.66806309e-02 1.01285487e-03 9.99643495e-01 -2.77911376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.83119381700004 meters 0.0635756665486394 Centerline is valid? [True, True] Translation: X:238.01, Y:-86.11, Z:-27.79 [[ 9.52153154e-01 3.04519576e-01 2.59267901e-02 2.38007527e+02] [-3.04375120e-01 9.52505443e-01 -9.44288323e-03 -8.61082316e+01] [-2.75709515e-02 1.09960122e-03 9.99619244e-01 -2.77920374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.86119381700004 meters 0.06585382119905105 Centerline is valid? [True, True] Translation: X:238.03, Y:-86.12, Z:-27.80 [[ 9.53057989e-01 3.01604431e-01 2.67439262e-02 2.38032484e+02] [-3.01450061e-01 9.53432386e-01 -9.72346041e-03 -8.61227830e+01] [-2.84311641e-02 1.20506345e-03 9.99595026e-01 -2.77952064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89119381700004 meters 0.06364845408039477 Centerline is valid? [True, True] Translation: X:238.06, Y:-86.13, Z:-27.79 [[ 9.53092663e-01 3.01464043e-01 2.70888474e-02 2.38061703e+02] [-3.01305435e-01 9.53476752e-01 -9.85485930e-03 -8.61275390e+01] [-2.87994719e-02 1.23057715e-03 9.99584452e-01 -2.77943588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92119381700005 meters 0.06538361286710981 Centerline is valid? [True, True] Translation: X:238.09, Y:-86.14, Z:-27.80 [[ 9.53095833e-01 3.01424580e-01 2.74145305e-02 2.38086849e+02] [-3.01262577e-01 9.53489227e-01 -9.95759199e-03 -8.61398883e+01] [-2.91409225e-02 1.23156732e-03 9.99574554e-01 -2.77987037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95119381700002 meters 0.06588467217289914 Centerline is valid? [True, True] Translation: X:238.11, Y:-86.15, Z:-27.80 [[ 9.53549995e-01 2.99993618e-01 2.73173404e-02 2.38113651e+02] [-2.99832099e-01 9.53940359e-01 -9.92496050e-03 -8.61501485e+01] [-2.90365383e-02 1.27333054e-03 9.99577540e-01 -2.78008159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98119381700002 meters 0.06570734095118001 Centerline is valid? [True, True] Translation: X:238.14, Y:-86.16, Z:-27.80 [[ 9.53700277e-01 2.99547760e-01 2.69614584e-02 2.38140641e+02] [-2.99390482e-01 9.54080471e-01 -9.78739432e-03 -8.61593256e+01] [-2.86551930e-02 1.26223664e-03 9.99588559e-01 -2.78037120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.011193817 meters 0.06689511401297447 Centerline is valid? [True, True] Translation: X:238.17, Y:-86.17, Z:-27.81 [[ 9.53671215e-01 2.99592565e-01 2.74865145e-02 2.38166840e+02] [-2.99429386e-01 9.54066384e-01 -9.96885060e-03 -8.61697640e+01] [-2.92105530e-02 1.27673571e-03 9.99572465e-01 -2.78071187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.041193817 meters 0.06626065459576276 Centerline is valid? [True, True] Translation: X:238.20, Y:-86.18, Z:-27.81 [[ 9.53422648e-01 3.00452449e-01 2.67129284e-02 2.38195025e+02] [-3.00298891e-01 9.53796030e-01 -9.68031318e-03 -8.61762891e+01] [-2.83871588e-02 1.20756706e-03 9.99596274e-01 -2.78095581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.071193817 meters 0.06566874253291538 Centerline is valid? [True, True] Translation: X:238.22, Y:-86.18, Z:-27.81 [[ 9.52563702e-01 3.03278594e-01 2.53867753e-02 2.38223067e+02] [-3.03141264e-01 9.52901349e-01 -9.18655912e-03 -8.61809525e+01] [-2.69771792e-02 1.05500362e-03 9.99635493e-01 -2.78134370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.101193817 meters 0.06413272746611186 Centerline is valid? [True, True] Translation: X:238.25, Y:-86.19, Z:-27.81 [[ 9.51979342e-01 3.05034300e-01 2.62565861e-02 2.38252208e+02] [-3.04887998e-01 9.52340795e-01 -9.50359007e-03 -8.61865780e+01] [-2.79041390e-02 1.04190345e-03 9.99610061e-01 -2.78146923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.131193817 meters 0.06315645524056918 Centerline is valid? [True, True] Translation: X:238.28, Y:-86.19, Z:-27.82 [[ 9.51151254e-01 3.07687842e-01 2.52880203e-02 2.38280711e+02] [-3.07553231e-01 9.51486910e-01 -9.14711003e-03 -8.61929115e+01] [-2.68756748e-02 9.22872840e-04 9.99638358e-01 -2.78172951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.161193817 meters 0.06105782308064014 Centerline is valid? [True, True] Translation: X:238.31, Y:-86.20, Z:-27.82 [[ 9.50446932e-01 3.09944833e-01 2.41832609e-02 2.38309542e+02] [-3.09822615e-01 9.50754193e-01 -8.74139930e-03 -8.61968776e+01] [-2.57016883e-02 8.15715022e-04 9.99669324e-01 -2.78174825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.191193817 meters 0.0594399892355684 Centerline is valid? [True, True] Translation: X:238.34, Y:-86.20, Z:-27.82 [[ 9.48399917e-01 3.16189055e-01 2.37082229e-02 2.38339527e+02] [-3.16073944e-01 9.48695999e-01 -8.55352574e-03 -8.61988419e+01] [-2.51964274e-02 6.18611582e-04 9.99682328e-01 -2.78214563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.221193817 meters 0.05823900029321597 Centerline is valid? [True, True] Translation: X:238.37, Y:-86.20, Z:-27.82 [[ 9.47015877e-01 3.20318396e-01 2.36019757e-02 2.38368489e+02] [-3.20205583e-01 9.47309806e-01 -8.51565342e-03 -8.62025768e+01] [-2.50861034e-02 5.06974613e-04 9.99685166e-01 -2.78233012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.251193817 meters 0.05732267282805924 Centerline is valid? [True, True] Translation: X:238.40, Y:-86.21, Z:-27.83 [[ 9.45225395e-01 3.25514868e-01 2.42698120e-02 2.38396487e+02] [-3.25397330e-01 9.45536846e-01 -8.75499528e-03 -8.62056895e+01] [-2.57978826e-02 3.78111848e-04 9.99667108e-01 -2.78258637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28119381700003 meters 0.05654044120283744 Centerline is valid? [True, True] Translation: X:238.43, Y:-86.21, Z:-27.83 [[ 9.43348035e-01 3.30914367e-01 2.42933331e-02 2.38426446e+02] [-3.30798290e-01 9.43660758e-01 -8.76721909e-03 -8.62082975e+01] [-2.58258639e-02 2.34345859e-04 9.99666429e-01 -2.78278231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.311193817 meters 0.05654044120283744 Centerline is valid? [True, True] Translation: X:238.45, Y:-86.22, Z:-27.83 [[ 9.43451322e-01 3.30619635e-01 2.42952634e-02 2.38452346e+02] [-3.30503599e-01 9.43764060e-01 -8.76186469e-03 -8.62173477e+01] [-2.58258409e-02 2.36720842e-04 9.99666429e-01 -2.78294890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.341193817 meters 0.05615046038384766 Centerline is valid? [True, True] Translation: X:238.48, Y:-86.21, Z:-27.83 [[ 9.39508613e-01 3.41509987e-01 2.63532827e-02 2.38484140e+02] [-3.41378087e-01 9.39878142e-01 -9.49101001e-03 -8.62134563e+01] [-2.80101491e-02 -7.95475837e-05 9.99607636e-01 -2.78294981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.371193817 meters 0.056809502221911355 Centerline is valid? [True, True] Translation: X:238.51, Y:-86.22, Z:-27.83 [[ 9.37808076e-01 3.46143915e-01 2.64651271e-02 2.38512520e+02] [-3.46013100e-01 9.38181399e-01 -9.51829488e-03 -8.62173999e+01] [-2.81237899e-02 -2.30946863e-04 9.99604421e-01 -2.78324288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.401193817 meters 0.057446783185746954 Centerline is valid? [True, True] Translation: X:238.54, Y:-86.22, Z:-27.84 [[ 9.37149727e-01 3.48013521e-01 2.52384504e-02 2.38540650e+02] [-3.47895130e-01 9.37489475e-01 -9.08088857e-03 -8.62245362e+01] [-2.68210537e-02 -2.70181748e-04 9.99640214e-01 -2.78356766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.431193817 meters 0.057697431930989876 Centerline is valid? [True, True] Translation: X:238.57, Y:-86.24, Z:-27.84 [[ 9.37841801e-01 3.46371225e-01 2.19027499e-02 2.38566111e+02] [-3.46281933e-01 9.38097507e-01 -7.86707734e-03 -8.62411113e+01] [-2.32718443e-02 -2.06452598e-04 9.99729153e-01 -2.78416808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.461193817 meters 0.05768370558103235 Centerline is valid? [True, True] Translation: X:238.59, Y:-86.26, Z:-27.85 [[ 9.39326605e-01 3.42362614e-01 2.12924873e-02 2.38588536e+02] [-3.42277059e-01 9.39567896e-01 -7.65403875e-03 -8.62573584e+01] [-2.26261942e-02 -9.82876879e-05 9.99743990e-01 -2.78463722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.491193817 meters 0.05697806148550363 Centerline is valid? [True, True] Translation: X:238.61, Y:-86.28, Z:-27.85 [[ 9.41105089e-01 3.37425735e-01 2.15658265e-02 2.38612198e+02] [-3.37336740e-01 9.41352151e-01 -7.74925046e-03 -8.62759274e+01] [-2.29158337e-02 1.79134251e-05 9.99737398e-01 -2.78458297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.521193817 meters 0.056232727565468765 Centerline is valid? [True, True] Translation: X:238.64, Y:-86.29, Z:-27.84 [[ 9.42879884e-01 3.32430618e-01 2.16196446e-02 2.38636861e+02] [-3.32339996e-01 9.43127704e-01 -7.76282244e-03 -8.62941326e+01] [-2.29706856e-02 1.34336540e-04 9.99736130e-01 -2.78417931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.551193817 meters 0.058467271993399364 Centerline is valid? [True, True] Translation: X:238.66, Y:-86.32, Z:-27.85 [[ 9.45736189e-01 3.24126205e-01 2.29186561e-02 2.38656000e+02] [-3.24022238e-01 9.46013787e-01 -8.21610372e-03 -8.63204273e+01] [-2.43444192e-02 3.44112369e-04 9.99703571e-01 -2.78502803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.581193817 meters 0.057223785481454466 Centerline is valid? [True, True] Translation: X:238.68, Y:-86.33, Z:-27.84 [[ 9.46723780e-01 3.21031676e-01 2.55489242e-02 2.38682445e+02] [-3.20901423e-01 9.47068341e-01 -9.15608339e-03 -8.63338713e+01] [-2.71359700e-02 4.69595750e-04 9.99631641e-01 -2.78422994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.611193817 meters 0.05728768466746994 Centerline is valid? [True, True] Translation: X:238.71, Y:-86.35, Z:-27.84 [[ 9.47675587e-01 3.18026498e-01 2.77511879e-02 2.38707941e+02] [-3.17871834e-01 9.48081639e-01 -9.93497714e-03 -8.63494682e+01] [-2.94699777e-02 5.93814323e-04 9.99565490e-01 -2.78406346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.641193817 meters 0.0578699053988625 Centerline is valid? [True, True] Translation: X:238.73, Y:-86.37, Z:-27.84 [[ 9.48205931e-01 3.16193418e-01 3.04505441e-02 2.38731755e+02] [-3.16006805e-01 9.48694490e-01 -1.08841061e-02 -8.63653790e+01] [-3.23297461e-02 6.97794860e-04 9.99477014e-01 -2.78413348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.671193817 meters 0.05741809581646619 Centerline is valid? [True, True] Translation: X:238.76, Y:-86.38, Z:-27.84 [[ 9.48468879e-01 3.15002280e-01 3.43562154e-02 2.38757234e+02] [-3.14763953e-01 9.49090549e-01 -1.22793839e-02 -8.63819622e+01] [-3.64751933e-02 8.32515295e-04 9.99334212e-01 -2.78383935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.701193817 meters 0.05713093749003036 Centerline is valid? [True, True] Translation: X:238.78, Y:-86.39, Z:-27.84 [[ 9.48197350e-01 3.15692721e-01 3.54949401e-02 2.38784079e+02] [-3.15439208e-01 9.48861122e-01 -1.26758583e-02 -8.63919707e+01] [-3.76814449e-02 8.22719507e-04 9.99289463e-01 -2.78396893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.731193817 meters 0.05673068815709642 Centerline is valid? [True, True] Translation: X:238.81, Y:-86.40, Z:-27.84 [[ 9.47824287e-01 3.16658418e-01 3.68316139e-02 2.38810950e+02] [-3.16386646e-01 9.48539299e-01 -1.31410625e-02 -8.64018956e+01] [-3.90974613e-02 8.02387361e-04 9.99235080e-01 -2.78409004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.761193817 meters 0.05597277686673915 Centerline is valid? [True, True] Translation: X:238.84, Y:-86.41, Z:-27.84 [[ 9.47322667e-01 3.18002892e-01 3.81303761e-02 2.38837579e+02] [-3.17713186e-01 9.48089437e-01 -1.35923230e-02 -8.64126421e+01] [-4.04734048e-02 7.61792365e-04 9.99180326e-01 -2.78405668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.791193817 meters 0.05666317425125029 Centerline is valid? [True, True] Translation: X:238.86, Y:-86.42, Z:-27.85 [[ 9.47247711e-01 3.18367896e-01 3.69277279e-02 2.38862149e+02] [-3.18097022e-01 9.47966972e-01 -1.31493186e-02 -8.64248339e+01] [-3.91925873e-02 7.09061647e-04 9.99231424e-01 -2.78462528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.821193817 meters 0.05593118104485402 Centerline is valid? [True, True] Translation: X:238.89, Y:-86.43, Z:-27.85 [[ 9.47231293e-01 3.18600090e-01 3.53109064e-02 2.38890553e+02] [-3.18352665e-01 9.47888990e-01 -1.25715005e-02 -8.64322073e+01] [-3.74761006e-02 6.66797499e-04 9.99297302e-01 -2.78468994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.851193817 meters 0.0559999997721336 Centerline is valid? [True, True] Translation: X:238.92, Y:-86.44, Z:-27.85 [[ 9.47296121e-01 3.18544579e-01 3.40501178e-02 2.38917424e+02] [-3.18314862e-01 9.47907668e-01 -1.21120059e-02 -8.64421062e+01] [-3.61345816e-02 6.34997649e-04 9.99346731e-01 -2.78507425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.881193817 meters 0.05697602002271806 Centerline is valid? [True, True] Translation: X:238.94, Y:-86.46, Z:-27.86 [[ 9.47953064e-01 3.16807013e-01 3.19108861e-02 2.38941685e+02] [-3.16604776e-01 9.48489801e-01 -1.13363625e-02 -8.64556611e+01] [-3.38585892e-02 6.43200571e-04 9.99426427e-01 -2.78556325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.911193817 meters 0.057455078610517143 Centerline is valid? [True, True] Translation: X:238.97, Y:-86.47, Z:-27.86 [[ 9.48648930e-01 3.14703061e-01 3.20498183e-02 2.38967357e+02] [-3.14497811e-01 9.49189897e-01 -1.13870961e-02 -8.64679165e+01] [-3.40049177e-02 7.22758824e-04 9.99421404e-01 -2.78580650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.941193817 meters 0.05813682934917898 Centerline is valid? [True, True] Translation: X:238.99, Y:-86.48, Z:-27.86 [[ 9.49291461e-01 3.12870891e-01 3.09439305e-02 2.38992809e+02] [-3.12679074e-01 9.49795371e-01 -1.09794828e-02 -8.64803203e+01] [-3.28255625e-02 7.47209741e-04 9.99460817e-01 -2.78608592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.971193817 meters 0.058229531016329904 Centerline is valid? [True, True] Translation: X:239.02, Y:-86.49, Z:-27.86 [[ 9.49553257e-01 3.12053066e-01 3.11688445e-02 2.39019207e+02] [-3.11858148e-01 9.50064356e-01 -1.10550927e-02 -8.64912987e+01] [-3.30621837e-02 7.77141195e-04 9.99452994e-01 -2.78626451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.001193817 meters 0.058975576746986454 Centerline is valid? [True, True] Translation: X:239.04, Y:-86.50, Z:-27.87 [[ 9.49489045e-01 3.12544925e-01 2.80396635e-02 2.39043924e+02] [-3.12387446e-01 9.49902734e-01 -9.94380980e-03 -8.65036603e+01] [-2.97428403e-02 6.82299625e-04 9.99557351e-01 -2.78691502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03119381700003 meters 0.058054489334061044 Centerline is valid? [True, True] Translation: X:239.07, Y:-86.51, Z:-27.87 [[ 9.49141813e-01 3.13716606e-01 2.66779072e-02 2.39071325e+02] [-3.13574610e-01 9.49516465e-01 -9.45757878e-03 -8.65117159e+01] [-2.82981117e-02 6.11069109e-04 9.99599341e-01 -2.78698494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.061193817 meters 0.057617165511533175 Centerline is valid? [True, True] Translation: X:239.10, Y:-86.52, Z:-27.87 [[ 9.48321986e-01 3.16211991e-01 2.63702045e-02 2.39098844e+02] [-3.16074286e-01 9.48688409e-01 -9.34603027e-03 -8.65197655e+01] [-2.79724342e-02 5.28102425e-04 9.99608555e-01 -2.78724470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.091193817 meters 0.05731885187354431 Centerline is valid? [True, True] Translation: X:239.13, Y:-86.53, Z:-27.88 [[ 9.47505084e-01 3.18708653e-01 2.56692418e-02 2.39126337e+02] [-3.18578950e-01 9.47852623e-01 -9.10262292e-03 -8.65265757e+01] [-2.72317428e-02 4.47101413e-04 9.99629047e-01 -2.78757964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.121193817 meters 0.057002279166796746 Centerline is valid? [True, True] Translation: X:239.15, Y:-86.53, Z:-27.88 [[ 9.46828093e-01 3.20698706e-01 2.58631595e-02 2.39154615e+02] [-3.20568014e-01 9.47181182e-01 -9.16277498e-03 -8.65335541e+01] [-2.74355881e-02 3.84671082e-04 9.99623499e-01 -2.78778427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.151193817 meters 0.056484674074809726 Centerline is valid? [True, True] Translation: X:239.18, Y:-86.54, Z:-27.88 [[ 9.46008872e-01 3.23070768e-01 2.63152570e-02 2.39181696e+02] [-3.22936624e-01 9.46374757e-01 -9.31432455e-03 -8.65429159e+01] [-2.79132809e-02 3.13273423e-04 9.99610299e-01 -2.78784290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.181193817 meters 0.05672371912168802 Centerline is valid? [True, True] Translation: X:239.21, Y:-86.56, Z:-27.88 [[ 9.45892357e-01 3.23353537e-01 2.70210748e-02 2.39206373e+02] [-3.23212678e-01 9.46278184e-01 -9.54795384e-03 -8.65550965e+01] [-2.86568182e-02 2.97782628e-04 9.99589265e-01 -2.78806599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.211193817 meters 0.05619269633140863 Centerline is valid? [True, True] Translation: X:239.23, Y:-86.57, Z:-27.88 [[ 9.45986416e-01 3.22963127e-01 2.83640523e-02 2.39233369e+02] [-3.22807870e-01 9.46411494e-01 -1.00181353e-02 -8.65661887e+01] [-3.00795534e-02 3.20880599e-04 9.99547456e-01 -2.78780685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.241193817 meters 0.05620449234286485 Centerline is valid? [True, True] Translation: X:239.26, Y:-86.58, Z:-27.88 [[ 9.46106158e-01 3.22174613e-01 3.29644840e-02 2.39258590e+02] [-3.21964558e-01 9.46680178e-01 -1.16388572e-02 -8.65803891e+01] [-3.49565679e-02 3.98198953e-04 9.99388753e-01 -2.78780987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.271193817 meters 0.05600926022560826 Centerline is valid? [True, True] Translation: X:239.29, Y:-86.59, Z:-27.88 [[ 9.46229589e-01 3.21621934e-01 3.47691798e-02 2.39285601e+02] [-3.21388005e-01 9.46868069e-01 -1.22723379e-02 -8.65917078e+01] [-3.68688792e-02 4.38051920e-04 9.99320016e-01 -2.78763715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.301193817 meters 0.05600794971478826 Centerline is valid? [True, True] Translation: X:239.31, Y:-86.60, Z:-27.88 [[ 9.46225772e-01 3.21548520e-01 3.55434584e-02 2.39312273e+02] [-3.21304134e-01 9.46892998e-01 -1.25421097e-02 -8.66038153e+01] [-3.76887487e-02 4.47407327e-04 9.99289427e-01 -2.78771453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.331193817 meters 0.05609090322320275 Centerline is valid? [True, True] Translation: X:239.34, Y:-86.62, Z:-27.88 [[ 9.46138263e-01 3.21622590e-01 3.71658003e-02 2.39338163e+02] [-3.21355583e-01 9.46867835e-01 -1.31107887e-02 -8.66155071e+01] [-3.94078267e-02 4.61181424e-04 9.99223103e-01 -2.78787954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.361193817 meters 0.05699410959600869 Centerline is valid? [True, True] Translation: X:239.36, Y:-86.63, Z:-27.89 [[ 9.46042450e-01 3.21996767e-01 3.63560693e-02 2.39362147e+02] [-3.21741660e-01 9.46740669e-01 -1.28222447e-02 -8.66306129e+01] [-3.85484907e-02 4.33125760e-04 9.99256637e-01 -2.78870632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.391193817 meters 0.05614540446342569 Centerline is valid? [True, True] Translation: X:239.39, Y:-86.64, Z:-27.88 [[ 9.46030266e-01 3.22064972e-01 3.60678522e-02 2.39389572e+02] [-3.21814116e-01 9.46717474e-01 -1.27161034e-02 -8.66392949e+01] [-3.82414774e-02 4.22674650e-04 9.99268438e-01 -2.78839642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.421193817 meters 0.056456719782671305 Centerline is valid? [True, True] Translation: X:239.42, Y:-86.65, Z:-27.89 [[ 9.46134170e-01 3.21905107e-01 3.47452847e-02 2.39415713e+02] [-3.21672324e-01 9.46771849e-01 -1.22467354e-02 -8.66513962e+01] [-3.68381441e-02 4.10458401e-04 9.99321161e-01 -2.78872763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.451193817 meters 0.05690809431882638 Centerline is valid? [True, True] Translation: X:239.44, Y:-86.66, Z:-27.89 [[ 9.46469527e-01 3.21175232e-01 3.22785430e-02 2.39441649e+02] [-3.20974004e-01 9.47019697e-01 -1.13746234e-02 -8.66642156e+01] [-3.42216633e-02 4.05161210e-04 9.99414185e-01 -2.78912507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.481193817 meters 0.05727653156561447 Centerline is valid? [True, True] Translation: X:239.47, Y:-86.68, Z:-27.90 [[ 9.46733964e-01 3.20523061e-01 3.09801293e-02 2.39466420e+02] [-3.20337421e-01 9.47240624e-01 -1.09149705e-02 -8.66776929e+01] [-3.28441368e-02 4.09478584e-04 9.99460402e-01 -2.78958780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.511193817 meters 0.05717707831732178 Centerline is valid? [True, True] Translation: X:239.49, Y:-86.69, Z:-27.90 [[ 9.46467853e-01 3.21298397e-01 3.10796266e-02 2.39493089e+02] [-3.21112121e-01 9.46977928e-01 -1.09457670e-02 -8.66882184e+01] [-3.29485778e-02 3.79771745e-04 9.99456976e-01 -2.78976526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.541193817 meters 0.05721966565902518 Centerline is valid? [True, True] Translation: X:239.52, Y:-86.70, Z:-27.90 [[ 9.46227902e-01 3.21961037e-01 3.15253613e-02 2.39520106e+02] [-3.21769866e-01 9.46752852e-01 -1.10991539e-02 -8.66995111e+01] [-3.34202209e-02 3.58417843e-04 9.99441324e-01 -2.78999177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.571193817 meters 0.05743207542491196 Centerline is valid? [True, True] Translation: X:239.55, Y:-86.71, Z:-27.90 [[ 9.45980794e-01 3.22857421e-01 2.97224433e-02 2.39546203e+02] [-3.22687976e-01 9.46447564e-01 -1.04632046e-02 -8.67124783e+01] [-3.15088573e-02 3.06915567e-04 9.99503426e-01 -2.79037306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.601193817 meters 0.05775006341531501 Centerline is valid? [True, True] Translation: X:239.57, Y:-86.72, Z:-27.91 [[ 9.46163534e-01 3.22413566e-01 2.87064325e-02 2.39571464e+02] [-3.22255362e-01 9.46598857e-01 -1.01036979e-02 -8.67244862e+01] [-3.04310455e-02 3.08948659e-04 9.99536821e-01 -2.79073278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.631193817 meters 0.05781496613136722 Centerline is valid? [True, True] Translation: X:239.60, Y:-86.74, Z:-27.91 [[ 9.46231718e-01 3.22162675e-01 2.92702493e-02 2.39597696e+02] [-3.21998200e-01 9.46684271e-01 -1.02980604e-02 -8.67364349e+01] [-3.10273353e-02 3.19383778e-04 9.99518485e-01 -2.79090020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.661193817 meters 0.05803180003063737 Centerline is valid? [True, True] Translation: X:239.62, Y:-86.75, Z:-27.91 [[ 9.46246596e-01 3.22084369e-01 2.96485985e-02 2.39621431e+02] [-3.21915601e-01 9.46710913e-01 -1.04303611e-02 -8.67523623e+01] [-3.14281080e-02 3.25347291e-04 9.99505962e-01 -2.79115136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.691193817 meters 0.057838234846218556 Centerline is valid? [True, True] Translation: X:239.65, Y:-86.76, Z:-27.91 [[ 9.46399024e-01 3.21727808e-01 2.86374756e-02 2.39648094e+02] [-3.21570387e-01 9.46832147e-01 -1.00683107e-02 -8.67638507e+01] [-3.03541381e-02 3.19675275e-04 9.99539156e-01 -2.79120666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.721193817 meters 0.05816189703539102 Centerline is valid? [True, True] Translation: X:239.67, Y:-86.78, Z:-27.92 [[ 9.46234929e-01 3.22197101e-01 2.87834635e-02 2.39673324e+02] [-3.22038316e-01 9.46672560e-01 -1.01187094e-02 -8.67752464e+01] [-3.05087339e-02 3.05298184e-04 9.99534454e-01 -2.79165404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.751193817 meters 0.058029233150214125 Centerline is valid? [True, True] Translation: X:239.70, Y:-86.79, Z:-27.92 [[ 9.46183653e-01 3.22398491e-01 2.82082857e-02 2.39700636e+02] [-3.22246260e-01 9.46603999e-01 -9.91045223e-03 -8.67858969e+01] [-2.98971909e-02 2.87093331e-04 9.99552938e-01 -2.79176182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78119381700003 meters 0.058804489472960006 Centerline is valid? [True, True] Translation: X:239.72, Y:-86.80, Z:-27.92 [[ 9.46335992e-01 3.22013940e-01 2.74811417e-02 2.39723661e+02] [-3.21869327e-01 9.46734883e-01 -9.65393616e-03 -8.68019855e+01] [-2.91260575e-02 2.90530663e-04 9.99575704e-01 -2.79239022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.811193817 meters 0.05793717285031869 Centerline is valid? [True, True] Translation: X:239.75, Y:-86.81, Z:-27.92 [[ 9.46602284e-01 3.21281078e-01 2.68809251e-02 2.39750046e+02] [-3.21142551e-01 9.46983832e-01 -9.43842344e-03 -8.68138082e+01] [-2.84881883e-02 3.01824317e-04 9.99594084e-01 -2.79193274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.841193817 meters 0.05869877675993847 Centerline is valid? [True, True] Translation: X:239.77, Y:-86.83, Z:-27.93 [[ 9.46719164e-01 3.20830000e-01 2.81235826e-02 2.39774041e+02] [-3.20678236e-01 9.47136740e-01 -9.87246091e-03 -8.68279433e+01] [-2.98042600e-02 3.27827079e-04 9.99555701e-01 -2.79254584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.871193817 meters 0.0576924683590036 Centerline is valid? [True, True] Translation: X:239.80, Y:-86.84, Z:-27.92 [[ 9.46678282e-01 3.21007979e-01 2.74610291e-02 2.39801196e+02] [-3.20863466e-01 9.47076439e-01 -9.63618236e-03 -8.68381405e+01] [-2.91009851e-02 3.11123584e-04 9.99576428e-01 -2.79210267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.901193817 meters 0.05784468683107424 Centerline is valid? [True, True] Translation: X:239.83, Y:-86.85, Z:-27.92 [[ 9.46420177e-01 3.21867728e-01 2.62681234e-02 2.39825764e+02] [-3.21735876e-01 9.46784607e-01 -9.21597309e-03 -8.68507714e+01] [-2.78365792e-02 2.70785203e-04 9.99612451e-01 -2.79243975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.931193817 meters 0.05784868813064778 Centerline is valid? [True, True] Translation: X:239.85, Y:-86.86, Z:-27.93 [[ 9.46236738e-01 3.22435838e-01 2.59068537e-02 2.39852101e+02] [-3.22307904e-01 9.46591289e-01 -9.08545531e-03 -8.68613150e+01] [-2.74526784e-02 2.47007886e-04 9.99623074e-01 -2.79261577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.961193817 meters 0.057640748418015364 Centerline is valid? [True, True] Translation: X:239.88, Y:-86.87, Z:-27.93 [[ 9.45851390e-01 3.23517545e-01 2.64867118e-02 2.39878397e+02] [-3.23384298e-01 9.46222146e-01 -9.28687180e-03 -8.68702265e+01] [-2.80667793e-02 2.18613890e-04 9.99606026e-01 -2.79272865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.991193817 meters 0.057194928951205724 Centerline is valid? [True, True] Translation: X:239.91, Y:-86.88, Z:-27.93 [[ 9.44655968e-01 3.26829075e-01 2.84228292e-02 2.39906096e+02] [-3.26677231e-01 9.45083457e-01 -9.96227372e-03 -8.68799796e+01] [-3.01179064e-02 1.25830209e-04 9.99546345e-01 -2.79273508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.021193817 meters 0.05710936063558284 Centerline is valid? [True, True] Translation: X:239.93, Y:-86.89, Z:-27.93 [[ 9.43946710e-01 3.28854760e-01 2.86208810e-02 2.39933470e+02] [-3.28701870e-01 9.44380508e-01 -1.00268123e-02 -8.68900352e+01] [-3.03263671e-02 5.70393457e-05 9.99540048e-01 -2.79286016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.051193817 meters 0.05711084069694375 Centerline is valid? [True, True] Translation: X:239.96, Y:-86.90, Z:-27.93 [[ 9.43426309e-01 3.30413154e-01 2.78198917e-02 2.39960809e+02] [-3.30269454e-01 9.43836399e-01 -9.74373563e-03 -8.68999768e+01] [-2.94768848e-02 4.43610904e-06 9.99565462e-01 -2.79308423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.081193817 meters 0.05748407146311277 Centerline is valid? [True, True] Translation: X:239.99, Y:-86.91, Z:-27.94 [[ 9.42833266e-01 3.32178649e-01 2.68845352e-02 2.39986434e+02] [-3.32045216e-01 9.43216488e-01 -9.41445117e-03 -8.69094504e+01] [-2.84852165e-02 -5.06235307e-05 9.99594213e-01 -2.79359111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.111193817 meters 0.057522664313432156 Centerline is valid? [True, True] Translation: X:240.01, Y:-86.92, Z:-27.94 [[ 9.42552930e-01 3.33075327e-01 2.55890736e-02 2.40012658e+02] [-3.32954868e-01 9.42900218e-01 -8.95743677e-03 -8.69205873e+01] [-2.71114442e-02 -7.71483302e-05 9.99632414e-01 -2.79378412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.141193817 meters 0.05770677995604161 Centerline is valid? [True, True] Translation: X:240.04, Y:-86.94, Z:-27.94 [[ 9.42438356e-01 3.33438862e-01 2.50693064e-02 2.40036543e+02] [-3.33323416e-01 9.42771721e-01 -8.77398445e-03 -8.69358494e+01] [-2.65602206e-02 -8.72473544e-05 9.99647211e-01 -2.79406390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.171193817 meters 0.05765354459665138 Centerline is valid? [True, True] Translation: X:240.06, Y:-86.95, Z:-27.94 [[ 9.42560232e-01 3.33105488e-01 2.49187281e-02 2.40062627e+02] [-3.32991403e-01 9.42889563e-01 -8.71767484e-03 -8.69489670e+01] [-2.63995140e-02 -8.07886335e-05 9.99651469e-01 -2.79427996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.201193817 meters 0.05765354459665138 Centerline is valid? [True, True] Translation: X:240.09, Y:-86.96, Z:-27.94 [[ 9.42587686e-01 3.33027740e-01 2.49194477e-02 2.40089379e+02] [-3.32913683e-01 9.42917026e-01 -8.71561721e-03 -8.69582090e+01] [-2.63995138e-02 -8.07916353e-05 9.99651469e-01 -2.79445168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.231193817 meters 0.05777714747603995 Centerline is valid? [True, True] Translation: X:240.11, Y:-86.97, Z:-27.95 [[ 9.42766131e-01 3.32552728e-01 2.45092811e-02 2.40114948e+02] [-3.32442291e-01 9.43084661e-01 -8.56998311e-03 -8.69708006e+01] [-2.59642983e-02 -6.84317451e-05 9.99662868e-01 -2.79470172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.261193817 meters 0.05765248379842978 Centerline is valid? [True, True] Translation: X:240.14, Y:-86.98, Z:-27.95 [[ 9.42633195e-01 3.32938801e-01 2.43806250e-02 2.40141353e+02] [-3.32829746e-01 9.42948433e-01 -8.52127943e-03 -8.69842864e+01] [-2.58267367e-02 -8.21563891e-05 9.99666431e-01 -2.79476888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.291193817 meters 0.0579328564678041 Centerline is valid? [True, True] Translation: X:240.17, Y:-87.00, Z:-27.95 [[ 9.41707276e-01 3.35577931e-01 2.39762108e-02 2.40167551e+02] [-3.35473367e-01 9.42012435e-01 -8.37805268e-03 -8.69988120e+01] [-2.53973783e-02 -1.53706997e-04 9.99677423e-01 -2.79506970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.321193817 meters 0.058175984689359764 Centerline is valid? [True, True] Translation: X:240.19, Y:-87.01, Z:-27.95 [[ 9.40841970e-01 3.37932666e-01 2.48576040e-02 2.40194986e+02] [-3.37821090e-01 9.41170262e-01 -8.68612756e-03 -8.70085181e+01] [-2.63305639e-02 -2.25149517e-04 9.99653265e-01 -2.79528416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.351193817 meters 0.05801241520387327 Centerline is valid? [True, True] Translation: X:240.22, Y:-87.02, Z:-27.95 [[ 9.40190286e-01 3.39693714e-01 2.55030729e-02 2.40223243e+02] [-3.39576986e-01 9.40536071e-01 -8.90900101e-03 -8.70196676e+01] [-2.70128916e-02 -2.84100431e-04 9.99635045e-01 -2.79519716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.381193817 meters 0.05810718856384233 Centerline is valid? [True, True] Translation: X:240.25, Y:-87.03, Z:-27.95 [[ 9.39587208e-01 3.41356927e-01 2.55210995e-02 2.40251301e+02] [-3.41240647e-01 9.39933688e-01 -8.91529827e-03 -8.70318154e+01] [-2.70314400e-02 -3.32136311e-04 9.99634529e-01 -2.79524055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.411193817 meters 0.05801616399346448 Centerline is valid? [True, True] Translation: X:240.28, Y:-87.05, Z:-27.95 [[ 9.38851421e-01 3.43212747e-01 2.76228070e-02 2.40278835e+02] [-3.43077610e-01 9.39257594e-01 -9.63976193e-03 -8.70502255e+01] [-2.92534204e-02 -4.26462414e-04 9.99571936e-01 -2.79516574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.441193817 meters 0.05778680734729041 Centerline is valid? [True, True] Translation: X:240.31, Y:-87.07, Z:-27.95 [[ 9.38928401e-01 3.42914190e-01 2.86934879e-02 2.40305956e+02] [-3.42767901e-01 9.39366637e-01 -1.00243334e-02 -8.70657239e+01] [-3.03911914e-02 -4.23075298e-04 9.99537992e-01 -2.79525017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.471193817 meters 0.05750044298727559 Centerline is valid? [True, True] Translation: X:240.33, Y:-87.08, Z:-27.95 [[ 9.39442786e-01 3.41441643e-01 2.94084336e-02 2.40333563e+02] [-3.41286954e-01 9.39902901e-01 -1.02835583e-02 -8.70815947e+01] [-3.11523071e-02 -3.75900090e-04 9.99514578e-01 -2.79548957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.501193817 meters 0.05718821517240162 Centerline is valid? [True, True] Translation: X:240.36, Y:-87.10, Z:-27.96 [[ 9.40708513e-01 3.38006803e-01 2.86163375e-02 2.40359280e+02] [-3.37858395e-01 9.41143635e-01 -1.00181360e-02 -8.71024229e+01] [-3.03182820e-02 -2.44124017e-04 9.99540265e-01 -2.79575893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53119381700003 meters 0.0570400897647833 Centerline is valid? [True, True] Translation: X:240.39, Y:-87.12, Z:-27.96 [[ 9.40976594e-01 3.37255139e-01 2.86709091e-02 2.40388252e+02] [-3.37105813e-01 9.41413258e-01 -1.00373240e-02 -8.71180782e+01] [-3.03763130e-02 -2.20243156e-04 9.99538509e-01 -2.79604141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.561193817 meters 0.0568643947748621 Centerline is valid? [True, True] Translation: X:240.42, Y:-87.13, Z:-27.96 [[ 9.41034150e-01 3.37115822e-01 2.84191990e-02 2.40417292e+02] [-3.36968638e-01 9.41463160e-01 -9.96265923e-03 -8.71334843e+01] [-3.01141990e-02 -2.01176242e-04 9.99546444e-01 -2.79609318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.591193817 meters 0.05709765724733088 Centerline is valid? [True, True] Translation: X:240.45, Y:-87.15, Z:-27.96 [[ 9.40774454e-01 3.37848941e-01 2.83111369e-02 2.40445953e+02] [-3.37703108e-01 9.41200321e-01 -9.92806763e-03 -8.71470015e+01] [-3.00006383e-02 -2.20686530e-04 9.99549855e-01 -2.79643021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.621193817 meters 0.05725758927879038 Centerline is valid? [True, True] Translation: X:240.47, Y:-87.16, Z:-27.97 [[ 9.39759186e-01 3.40755953e-01 2.71671238e-02 2.40474456e+02] [-3.40622619e-01 9.40151741e-01 -9.53604955e-03 -8.71639471e+01] [-2.87906844e-02 -2.92146693e-04 9.99585420e-01 -2.79653469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.651193817 meters 0.057548765140085466 Centerline is valid? [True, True] Translation: X:240.50, Y:-87.18, Z:-27.97 [[ 9.38830114e-01 3.43294042e-01 2.73352979e-02 2.40504269e+02] [-3.43159865e-01 9.39227911e-01 -9.60408972e-03 -8.71762827e+01] [-2.89711015e-02 -3.63768484e-04 9.99580183e-01 -2.79686045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.681193817 meters 0.05792048822647732 Centerline is valid? [True, True] Translation: X:240.53, Y:-87.19, Z:-27.97 [[ 9.38239945e-01 3.44986477e-01 2.62704471e-02 2.40534075e+02] [-3.44863001e-01 9.38607573e-01 -9.23765988e-03 -8.71892467e+01] [-2.78445084e-02 -3.92563731e-04 9.99612189e-01 -2.79715697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.711193817 meters 0.05875682645026727 Centerline is valid? [True, True] Translation: X:240.56, Y:-87.20, Z:-27.98 [[ 9.37617082e-01 3.46826807e-01 2.41944857e-02 2.40562465e+02] [-3.46722504e-01 9.37929103e-01 -8.51486906e-03 -8.72010222e+01] [-2.56458971e-02 -4.05085997e-04 9.99671008e-01 -2.79771122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.741193817 meters 0.059275719205635395 Centerline is valid? [True, True] Translation: X:240.59, Y:-87.22, Z:-27.98 [[ 9.36676777e-01 3.49454427e-01 2.27644116e-02 2.40590810e+02] [-3.49362560e-01 9.36953261e-01 -8.02424749e-03 -8.72180751e+01] [-2.41332984e-02 -4.36906820e-04 9.99708654e-01 -2.79796851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.771193817 meters 0.059381897701623436 Centerline is valid? [True, True] Translation: X:240.62, Y:-87.23, Z:-27.98 [[ 9.36023253e-01 3.51112714e-01 2.40900785e-02 2.40619745e+02] [-3.51010510e-01 9.36333060e-01 -8.48660252e-03 -8.72316149e+01] [-2.55360909e-02 -5.12213433e-04 9.99673770e-01 -2.79806369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.801193817 meters 0.060973690372678184 Centerline is valid? [True, True] Translation: X:240.65, Y:-87.24, Z:-27.99 [[ 9.35316040e-01 3.53011608e-01 2.38056779e-02 2.40648692e+02] [-3.52912101e-01 9.35618783e-01 -8.39891033e-03 -8.72410243e+01] [-2.52379523e-02 -5.45676275e-04 9.99681323e-01 -2.79867541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.831193817 meters 0.06143610238763704 Centerline is valid? [True, True] Translation: X:240.68, Y:-87.26, Z:-27.99 [[ 9.33389117e-01 3.58083220e-01 2.36888790e-02 2.40676667e+02] [-3.57986132e-01 9.33689432e-01 -8.36504894e-03 -8.72563996e+01] [-2.51134396e-02 -6.72444517e-04 9.99684382e-01 -2.79860413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.861193817 meters 0.062194253567172474 Centerline is valid? [True, True] Translation: X:240.71, Y:-87.27, Z:-27.99 [[ 9.32139704e-01 3.61379847e-01 2.28074176e-02 2.40705570e+02] [-3.61290897e-01 9.32418396e-01 -8.05124394e-03 -8.72695327e+01] [-2.41756130e-02 -7.35228209e-04 9.99707457e-01 -2.79876061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.891193817 meters 0.06271363152216981 Centerline is valid? [True, True] Translation: X:240.73, Y:-87.28, Z:-27.99 [[ 9.31043301e-01 3.64248209e-01 2.19456982e-02 2.40734256e+02] [-3.64166704e-01 9.31301579e-01 -7.74465271e-03 -8.72832048e+01] [-2.32590393e-02 -7.81285569e-04 9.99729167e-01 -2.79894859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.921193817 meters 0.06467956082674915 Centerline is valid? [True, True] Translation: X:240.76, Y:-87.29, Z:-27.99 [[ 9.29893353e-01 3.67141471e-01 2.24831528e-02 2.40763340e+02] [-3.67056598e-01 9.30164710e-01 -7.94143755e-03 -8.72932216e+01] [-2.38286664e-02 -8.67899601e-04 9.99715680e-01 -2.79936013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.951193817 meters 0.06533301041455236 Centerline is valid? [True, True] Translation: X:240.79, Y:-87.31, Z:-27.99 [[ 9.28410714e-01 3.70795443e-01 2.37546815e-02 2.40790684e+02] [-3.70701522e-01 9.28714022e-01 -8.40517020e-03 -8.73118293e+01] [-2.51779046e-02 -1.00244653e-03 9.99682484e-01 -2.79934846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.981193817 meters 0.06316184743629515 Centerline is valid? [True, True] Translation: X:240.82, Y:-87.33, Z:-27.99 [[ 9.28448874e-01 3.70670760e-01 2.42048748e-02 2.40817352e+02] [-3.70573348e-01 9.28763770e-01 -8.55881485e-03 -8.73332299e+01] [-2.56531132e-02 -1.02325949e-03 9.99670381e-01 -2.79907189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.011193817 meters 0.06339560413594308 Centerline is valid? [True, True] Translation: X:240.84, Y:-87.35, Z:-27.99 [[ 9.29043111e-01 3.69165047e-01 2.44144479e-02 2.40844339e+02] [-3.69065091e-01 9.29363336e-01 -8.64569330e-03 -8.73501702e+01] [-2.58815806e-02 -9.78298635e-04 9.99664537e-01 -2.79935478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.041193817 meters 0.06287458243893962 Centerline is valid? [True, True] Translation: X:240.87, Y:-87.37, Z:-28.00 [[ 9.30012706e-01 3.66655666e-01 2.52980174e-02 2.40869657e+02] [-3.66547138e-01 9.30356251e-01 -8.96891182e-03 -8.73688162e+01] [-2.68246710e-02 -9.31713938e-04 9.99639720e-01 -2.79952466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.071193817 meters 0.0591393892448879 Centerline is valid? [True, True] Translation: X:240.89, Y:-87.40, Z:-27.99 [[ 9.33467824e-01 3.57749971e-01 2.55495526e-02 2.40890332e+02] [-3.57635909e-01 9.33817163e-01 -9.05883464e-03 -8.74025528e+01] [-2.70994085e-02 -6.81306781e-04 9.99632511e-01 -2.79927838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.101193817 meters 0.05883645386880026 Centerline is valid? [True, True] Translation: X:240.92, Y:-87.42, Z:-28.00 [[ 9.35092512e-01 3.53504307e-01 2.52329105e-02 2.40916077e+02] [-3.53391636e-01 9.35432732e-01 -8.94177197e-03 -8.74213184e+01] [-2.67646453e-02 -5.55715532e-04 9.99641608e-01 -2.79977521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.131193817 meters 0.05753798442970496 Centerline is valid? [True, True] Translation: X:240.94, Y:-87.44, Z:-28.00 [[ 9.36797262e-01 3.48923383e-01 2.57558369e-02 2.40941572e+02] [-3.48804009e-01 9.37151157e-01 -9.13628479e-03 -8.74428342e+01] [-2.73249757e-02 -4.24892575e-04 9.99626513e-01 -2.79971628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.161193817 meters 0.05724782632466636 Centerline is valid? [True, True] Translation: X:240.97, Y:-87.46, Z:-28.00 [[ 9.38367359e-01 3.44784551e-01 2.42963803e-02 2.40968096e+02] [-3.44677156e-01 9.38681803e-01 -8.60998539e-03 -8.74633122e+01] [-2.57751600e-02 -2.95078002e-04 9.99667722e-01 -2.80003906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.191193817 meters 0.05699723596055804 Centerline is valid? [True, True] Translation: X:240.99, Y:-87.49, Z:-28.00 [[ 9.41221251e-01 3.36931228e-01 2.40812141e-02 2.40991384e+02] [-3.36822927e-01 9.41529257e-01 -8.54246410e-03 -8.74922658e+01] [-2.55513905e-02 -7.07562707e-05 9.99673507e-01 -2.80018880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.221193817 meters 0.05729980835216786 Centerline is valid? [True, True] Translation: X:241.02, Y:-87.51, Z:-28.00 [[ 9.42191989e-01 3.34204115e-01 2.41219017e-02 2.41018489e+02] [-3.34094377e-01 9.42500721e-01 -8.56376788e-03 -8.75099561e+01] [-2.55969562e-02 9.72177267e-06 9.99672344e-01 -2.80042276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.251193817 meters 0.05786133079409158 Centerline is valid? [True, True] Translation: X:241.05, Y:-87.53, Z:-28.01 [[ 9.42901449e-01 3.32132389e-01 2.49986815e-02 2.41045143e+02] [-3.32013514e-01 9.43232776e-01 -8.88575636e-03 -8.75262395e+01] [-2.65308232e-02 7.84924726e-05 9.99647993e-01 -2.80088892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28119381700003 meters 0.057026221253585835 Centerline is valid? [True, True] Translation: X:241.07, Y:-87.54, Z:-28.00 [[ 9.43356039e-01 3.30805725e-01 2.54353339e-02 2.41074982e+02] [-3.30682046e-01 9.43698870e-01 -9.04586249e-03 -8.75416321e+01] [-2.69957189e-02 1.22460768e-04 9.99635542e-01 -2.80034435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.311193817 meters 0.057254066558438836 Centerline is valid? [True, True] Translation: X:241.10, Y:-87.56, Z:-28.00 [[ 9.44045351e-01 3.28730604e-01 2.67313335e-02 2.41102271e+02] [-3.28592813e-01 9.44423712e-01 -9.51917350e-03 -8.75589257e+01] [-2.83749488e-02 2.02807438e-04 9.99597330e-01 -2.80049894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.341193817 meters 0.05711478723278081 Centerline is valid? [True, True] Translation: X:241.13, Y:-87.57, Z:-28.00 [[ 9.44181065e-01 3.28315386e-01 2.70392896e-02 2.41132222e+02] [-3.28174027e-01 9.44568133e-01 -9.63592941e-03 -8.75722450e+01] [-2.87040752e-02 2.24469535e-04 9.99587928e-01 -2.80040887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.371193817 meters 0.05740595928309844 Centerline is valid? [True, True] Translation: X:241.16, Y:-87.59, Z:-28.01 [[ 9.44147154e-01 3.28370458e-01 2.75498563e-02 2.41160178e+02] [-3.28223354e-01 9.44548985e-01 -9.83079876e-03 -8.75851246e+01] [-2.92503327e-02 2.39214430e-04 9.99572089e-01 -2.80078054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.401193817 meters 0.057139409857882996 Centerline is valid? [True, True] Translation: X:241.19, Y:-87.60, Z:-28.01 [[ 9.44058672e-01 3.28557002e-01 2.83464183e-02 2.41189681e+02] [-3.28401091e-01 9.44484110e-01 -1.01236687e-02 -8.75968337e+01] [-3.00989439e-02 2.48342548e-04 9.99546893e-01 -2.80075892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.431193817 meters 0.05716373013955075 Centerline is valid? [True, True] Translation: X:241.22, Y:-87.61, Z:-28.01 [[ 9.43465566e-01 3.30360696e-01 2.71023100e-02 2.41219888e+02] [-3.30218690e-01 9.43854742e-01 -9.68722586e-03 -8.76085365e+01] [-2.87809225e-02 1.89874722e-04 9.99585725e-01 -2.80110015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.461193817 meters 0.057163156210023575 Centerline is valid? [True, True] Translation: X:241.25, Y:-87.62, Z:-28.01 [[ 9.42711845e-01 3.32511837e-01 2.70232292e-02 2.41250788e+02] [-3.32371333e-01 9.43099073e-01 -9.66620820e-03 -8.76188116e+01] [-2.86997110e-02 1.30702273e-04 9.99588070e-01 -2.80135724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.491193817 meters 0.057142210689116894 Centerline is valid? [True, True] Translation: X:241.28, Y:-87.63, Z:-28.02 [[ 9.42122023e-01 3.34222394e-01 2.64855587e-02 2.41280766e+02] [-3.34087676e-01 9.42494235e-01 -9.48904532e-03 -8.76276133e+01] [-2.81339378e-02 9.13398164e-05 9.99604158e-01 -2.80165527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.521193817 meters 0.05699897101212768 Centerline is valid? [True, True] Translation: X:241.31, Y:-87.64, Z:-28.02 [[ 9.41262680e-01 3.36605370e-01 2.68587458e-02 2.41310598e+02] [-3.36467757e-01 9.41645806e-01 -9.62414802e-03 -8.76360491e+01] [-2.85309653e-02 2.17493929e-05 9.99592909e-01 -2.80191274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.551193817 meters 0.05708077266136184 Centerline is valid? [True, True] Translation: X:241.34, Y:-87.64, Z:-28.02 [[ 9.39887804e-01 3.40624469e-01 2.42050897e-02 2.41341959e+02] [-3.40513898e-01 9.40199428e-01 -8.67877968e-03 -8.76415499e+01] [-2.57138162e-02 -8.50902635e-05 9.99669342e-01 -2.80231251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.581193817 meters 0.05720059912264828 Centerline is valid? [True, True] Translation: X:241.37, Y:-87.65, Z:-28.03 [[ 9.39324294e-01 3.42259644e-01 2.29827234e-02 2.41372997e+02] [-3.42160332e-01 9.39605407e-01 -8.24534351e-03 -8.76509827e+01] [-2.44167395e-02 -1.18724802e-04 9.99701860e-01 -2.80254876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.611193817 meters 0.05764939023750307 Centerline is valid? [True, True] Translation: X:241.40, Y:-87.66, Z:-28.03 [[ 9.39010324e-01 3.43127101e-01 2.28780281e-02 2.41403373e+02] [-3.43028791e-01 9.39288973e-01 -8.21427595e-03 -8.76607860e+01] [-2.43076202e-02 -1.34532388e-04 9.99704517e-01 -2.80308878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.641193817 meters 0.057199943121524745 Centerline is valid? [True, True] Translation: X:241.43, Y:-87.67, Z:-28.03 [[ 9.38863686e-01 3.43600720e-01 2.17606021e-02 2.41433093e+02] [-3.43511726e-01 9.39115822e-01 -7.82089115e-03 -8.76718804e+01] [-2.31229896e-02 -1.32271320e-04 9.99732619e-01 -2.80293685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.671193817 meters 0.05770263102745776 Centerline is valid? [True, True] Translation: X:241.46, Y:-87.68, Z:-28.03 [[ 9.39095548e-01 3.42896762e-01 2.28333432e-02 2.41462236e+02] [-3.42798374e-01 9.39373088e-01 -8.21440717e-03 -8.76831673e+01] [-2.42657218e-02 -1.13119745e-04 9.99705538e-01 -2.80344632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.701193817 meters 0.05723048304650402 Centerline is valid? [True, True] Translation: X:241.49, Y:-87.69, Z:-28.03 [[ 9.39042338e-01 3.42921402e-01 2.45845455e-02 2.41492180e+02] [-3.42807128e-01 9.39364093e-01 -8.85292166e-03 -8.76945563e+01] [-2.61296956e-02 -1.14489177e-04 9.99658555e-01 -2.80329629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.731193817 meters 0.05705054874117638 Centerline is valid? [True, True] Translation: X:241.52, Y:-87.70, Z:-28.03 [[ 9.38793226e-01 3.43490905e-01 2.61012963e-02 2.41522464e+02] [-3.43362054e-01 9.39155994e-01 -9.40843477e-03 -8.77046495e+01] [-2.77449006e-02 -1.29619880e-04 9.99615028e-01 -2.80329985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.761193817 meters 0.05713912980214704 Centerline is valid? [True, True] Translation: X:241.55, Y:-87.71, Z:-28.03 [[ 9.38133983e-01 3.45309388e-01 2.58080597e-02 2.41553073e+02] [-3.45183886e-01 9.38488890e-01 -9.31065938e-03 -8.77140106e+01] [-2.74356354e-02 -1.73880370e-04 9.99623557e-01 -2.80346672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.791193817 meters 0.057320047801526906 Centerline is valid? [True, True] Translation: X:241.58, Y:-87.72, Z:-28.04 [[ 9.37900306e-01 3.45985386e-01 2.52414005e-02 2.41582978e+02] [-3.45865380e-01 9.38239884e-01 -9.11368224e-03 -8.77244920e+01] [-2.68356895e-02 -1.82401215e-04 9.99639841e-01 -2.80372862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.821193817 meters 0.05704030261265854 Centerline is valid? [True, True] Translation: X:241.61, Y:-87.74, Z:-28.04 [[ 9.37624327e-01 3.46702287e-01 2.56543584e-02 2.41613026e+02] [-3.46578378e-01 9.37975205e-01 -9.27054443e-03 -8.77359539e+01] [-2.72772710e-02 -1.98957931e-04 9.99627886e-01 -2.80364774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.851193817 meters 0.05681820650334309 Centerline is valid? [True, True] Translation: X:241.64, Y:-87.75, Z:-28.04 [[ 9.38017635e-01 3.45534397e-01 2.69980873e-02 2.41642247e+02] [-3.45396410e-01 9.38406071e-01 -9.76558453e-03 -8.77497585e+01] [-2.87095144e-02 -1.64751923e-04 9.99587783e-01 -2.80363908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.881193817 meters 0.05721995470096985 Centerline is valid? [True, True] Translation: X:241.67, Y:-87.76, Z:-28.04 [[ 9.38136427e-01 3.45170726e-01 2.75175315e-02 2.41670996e+02] [-3.45026929e-01 9.38539902e-01 -9.96343490e-03 -8.77606534e+01] [-2.92653874e-02 -1.47228177e-04 9.99571666e-01 -2.80426121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.911193817 meters 0.0574222460875895 Centerline is valid? [True, True] Translation: X:241.70, Y:-87.77, Z:-28.05 [[ 9.38089445e-01 3.45394536e-01 2.62832317e-02 2.41701351e+02] [-3.45263244e-01 9.38457562e-01 -9.52352433e-03 -8.77718663e+01] [-2.79550708e-02 -1.40716169e-04 9.99609171e-01 -2.80457832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.941193817 meters 0.057547441176357274 Centerline is valid? [True, True] Translation: X:241.73, Y:-87.78, Z:-28.05 [[ 9.38072355e-01 3.45421993e-01 2.65311696e-02 2.41730829e+02] [-3.45287995e-01 9.38447456e-01 -9.62142349e-03 -8.77836052e+01] [-2.82215599e-02 -1.35302960e-04 9.99601683e-01 -2.80485686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.971193817 meters 0.05707428552215135 Centerline is valid? [True, True] Translation: X:241.76, Y:-87.80, Z:-28.05 [[ 9.37547715e-01 3.46908495e-01 2.56666864e-02 2.41760215e+02] [-3.46783452e-01 9.37898965e-01 -9.31501255e-03 -8.77957219e+01] [-2.73042156e-02 -1.67513365e-04 9.99627156e-01 -2.80468339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.001193817 meters 0.05763925184274189 Centerline is valid? [True, True] Translation: X:241.79, Y:-87.80, Z:-28.05 [[ 9.36174823e-01 3.50660403e-01 2.47786771e-02 2.41789935e+02] [-3.50544887e-01 9.36502651e-01 -9.00369841e-03 -8.78045452e+01] [-2.63625374e-02 -2.57002832e-04 9.99652415e-01 -2.80510753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03119381700003 meters 0.05798695896157189 Centerline is valid? [True, True] Translation: X:241.82, Y:-87.81, Z:-28.05 [[ 9.35174004e-01 3.53347641e-01 2.43931523e-02 2.41820531e+02] [-3.53236628e-01 9.35492029e-01 -8.86275534e-03 -8.78132684e+01] [-2.59512333e-02 -3.28336470e-04 9.99663156e-01 -2.80543653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.061193817 meters 0.058828989046374805 Centerline is valid? [True, True] Translation: X:241.85, Y:-87.82, Z:-28.06 [[ 9.33762353e-01 3.57157796e-01 2.29385280e-02 2.41850048e+02] [-3.57060608e-01 9.34043975e-01 -8.34115520e-03 -8.78220175e+01] [-2.44047025e-02 -4.01788061e-04 9.99702080e-01 -2.80600799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.091193817 meters 0.058828989046374805 Centerline is valid? [True, True] Translation: X:241.88, Y:-87.83, Z:-28.06 [[ 9.33652829e-01 3.57444100e-01 2.29371005e-02 2.41880397e+02] [-3.57346902e-01 9.33934447e-01 -8.34507828e-03 -8.78333246e+01] [-2.44046473e-02 -4.05095868e-04 9.99702080e-01 -2.80620503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.121193817 meters 0.05837240860896143 Centerline is valid? [True, True] Translation: X:241.91, Y:-87.85, Z:-28.06 [[ 9.33573108e-01 3.57742430e-01 2.14850149e-02 2.41909402e+02] [-3.57657069e-01 9.33820223e-01 -7.82376778e-03 -8.78481218e+01] [-2.28620351e-02 -3.80208263e-04 9.99738557e-01 -2.80610006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.151193817 meters 0.05865034669519809 Centerline is valid? [True, True] Translation: X:241.94, Y:-87.86, Z:-28.07 [[ 9.33827022e-01 3.57062693e-01 2.17560658e-02 2.41937836e+02] [-3.56974791e-01 9.34080352e-01 -7.93066093e-03 -8.78611851e+01] [-2.31536567e-02 -3.60501567e-04 9.99731853e-01 -2.80651408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.181193817 meters 0.05866290101193909 Centerline is valid? [True, True] Translation: X:241.97, Y:-87.88, Z:-28.07 [[ 9.34624616e-01 3.54971753e-01 2.17228197e-02 2.41965591e+02] [-3.54883395e-01 9.34876978e-01 -7.92542923e-03 -8.78764210e+01] [-2.31214675e-02 -3.01766749e-04 9.99732618e-01 -2.80680707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.211193817 meters 0.05802058984805119 Centerline is valid? [True, True] Translation: X:241.99, Y:-87.90, Z:-28.07 [[ 9.36749117e-01 3.49342911e-01 2.14621263e-02 2.41991223e+02] [-3.49255066e-01 9.36994934e-01 -7.83535077e-03 -8.78994479e+01] [-2.28471279e-02 -1.55998437e-04 9.99738958e-01 -2.80651394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.241193817 meters 0.058094221545939156 Centerline is valid? [True, True] Translation: X:242.02, Y:-87.92, Z:-28.07 [[ 9.37621908e-01 3.47003630e-01 2.12987901e-02 2.42020061e+02] [-3.46916399e-01 9.37863781e-01 -7.78073718e-03 -8.79163019e+01] [-2.26753079e-02 -9.35099312e-05 9.99742878e-01 -2.80672273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.271193817 meters 0.0581922126413206 Centerline is valid? [True, True] Translation: X:242.05, Y:-87.93, Z:-28.07 [[ 9.38215675e-01 3.45397503e-01 2.12582101e-02 2.42049333e+02] [-3.45310015e-01 9.38456479e-01 -7.77371243e-03 -8.79318587e+01] [-2.26349259e-02 -4.72539984e-05 9.99743796e-01 -2.80684028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.301193817 meters 0.0581976272440736 Centerline is valid? [True, True] Translation: X:242.08, Y:-87.95, Z:-28.07 [[ 9.38547481e-01 3.44434918e-01 2.22084167e-02 2.42078596e+02] [-3.44338915e-01 9.38810197e-01 -8.13173403e-03 -8.79457031e+01] [-2.36503412e-02 -1.52036033e-05 9.99720291e-01 -2.80694541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.331193817 meters 0.05779571889272929 Centerline is valid? [True, True] Translation: X:242.11, Y:-87.96, Z:-28.07 [[ 9.38318393e-01 3.44969464e-01 2.35512720e-02 2.42107633e+02] [-3.44861461e-01 9.38613908e-01 -8.63156413e-03 -8.79593684e+01] [-2.50831775e-02 -2.27706962e-05 9.99685367e-01 -2.80683959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.361193817 meters 0.057759800240253185 Centerline is valid? [True, True] Translation: X:242.14, Y:-87.97, Z:-28.07 [[ 9.37918220e-01 3.46064139e-01 2.34312685e-02 2.42137813e+02] [-3.45957430e-01 9.38210855e-01 -8.59346226e-03 -8.79719350e+01] [-2.49573596e-02 -4.62565955e-05 9.99688516e-01 -2.80695846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.391193817 meters 0.05759981702718519 Centerline is valid? [True, True] Translation: X:242.17, Y:-87.98, Z:-28.07 [[ 9.37381027e-01 3.47382691e-01 2.53392168e-02 2.42166707e+02] [-3.47258009e-01 9.37723446e-01 -9.30668500e-03 -8.79836015e+01] [-2.69941590e-02 -7.53360482e-05 9.99635588e-01 -2.80704063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.421193817 meters 0.05748227527685082 Centerline is valid? [True, True] Translation: X:242.20, Y:-87.99, Z:-28.07 [[ 9.36742698e-01 3.49014173e-01 2.64995155e-02 2.42195364e+02] [-3.48878210e-01 9.37117438e-01 -9.74175296e-03 -8.79949127e+01] [-2.82331680e-02 -1.19587577e-04 9.99601358e-01 -2.80709367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.451193817 meters 0.057120049054941315 Centerline is valid? [True, True] Translation: X:242.23, Y:-88.01, Z:-28.07 [[ 9.36025798e-01 3.50898113e-01 2.69484531e-02 2.42226398e+02] [-3.50758118e-01 9.36413629e-01 -9.91255302e-03 -8.80066988e+01] [-2.87131949e-02 -1.73983352e-04 9.99587676e-01 -2.80698606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.481193817 meters 0.05728250473424312 Centerline is valid? [True, True] Translation: X:242.26, Y:-88.02, Z:-28.07 [[ 9.35504595e-01 3.52321623e-01 2.64693469e-02 2.42256642e+02] [-3.52186823e-01 9.35878963e-01 -9.74726582e-03 -8.80180236e+01] [-2.82062775e-02 -2.03543232e-04 9.99602103e-01 -2.80726504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.511193817 meters 0.057916416444967894 Centerline is valid? [True, True] Translation: X:242.29, Y:-88.03, Z:-28.08 [[ 9.34435955e-01 3.55259370e-01 2.49043466e-02 2.42286016e+02] [-3.55140877e-01 9.34767730e-01 -9.17872496e-03 -8.80282764e+01] [-2.65406076e-02 -2.67620897e-04 9.99647700e-01 -2.80781972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.541193817 meters 0.05809686475601375 Centerline is valid? [True, True] Translation: X:242.32, Y:-88.04, Z:-28.08 [[ 9.34064477e-01 3.56303863e-01 2.38979278e-02 2.42315575e+02] [-3.56194924e-01 9.34370098e-01 -8.81455937e-03 -8.80391068e+01] [-2.54701707e-02 -2.78953792e-04 9.99675544e-01 -2.80817582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.571193817 meters 0.058281301790968805 Centerline is valid? [True, True] Translation: X:242.35, Y:-88.05, Z:-28.09 [[ 9.33642228e-01 3.57458406e-01 2.31447373e-02 2.42345737e+02] [-3.57356449e-01 9.33929013e-01 -8.54211555e-03 -8.80505332e+01] [-2.46689927e-02 -2.95641351e-04 9.99695630e-01 -2.80852396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.601193817 meters 0.05867791724882292 Centerline is valid? [True, True] Translation: X:242.37, Y:-88.07, Z:-28.09 [[ 9.33541272e-01 3.57825092e-01 2.14917880e-02 2.42373238e+02] [-3.57737133e-01 9.33788588e-01 -7.93830864e-03 -8.80667013e+01] [-2.29093124e-02 -2.77671892e-04 9.99737509e-01 -2.80886715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.631193817 meters 0.0587014086874291 Centerline is valid? [True, True] Translation: X:242.40, Y:-88.08, Z:-28.09 [[ 9.33910968e-01 3.56854602e-01 2.15661178e-02 2.42401625e+02] [-3.56765648e-01 9.34159906e-01 -7.97130550e-03 -8.80814816e+01] [-2.29907997e-02 -2.49560370e-04 9.99735645e-01 -2.80907085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.661193817 meters 0.05865195678095162 Centerline is valid? [True, True] Translation: X:242.43, Y:-88.10, Z:-28.09 [[ 9.34329951e-01 3.55797123e-01 2.08794175e-02 2.42430127e+02] [-3.55713349e-01 9.34563193e-01 -7.72339925e-03 -8.80962768e+01] [-2.22610983e-02 -2.10884267e-04 9.99752169e-01 -2.80929582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.691193817 meters 0.05869049433012674 Centerline is valid? [True, True] Translation: X:242.46, Y:-88.11, Z:-28.10 [[ 9.34943186e-01 3.54157056e-01 2.13077022e-02 2.42459053e+02] [-3.54069226e-01 9.35185945e-01 -7.88875285e-03 -8.81109338e+01] [-2.27205211e-02 -1.68865913e-04 9.99741841e-01 -2.80969000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.721193817 meters 0.05850885747289934 Centerline is valid? [True, True] Translation: X:242.49, Y:-88.13, Z:-28.10 [[ 9.37006145e-01 3.48745800e-01 1.98959833e-02 2.42485126e+02] [-3.48667916e-01 9.37217352e-01 -7.37012375e-03 -8.81320091e+01] [-2.12171605e-02 -3.12397965e-05 9.99774890e-01 -2.80964669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.751193817 meters 0.05888374541808923 Centerline is valid? [True, True] Translation: X:242.51, Y:-88.15, Z:-28.10 [[ 9.38139402e-01 3.45679480e-01 2.00039726e-02 2.42512902e+02] [-3.45599926e-01 9.38352650e-01 -7.41592459e-03 -8.81493787e+01] [-2.13343137e-02 4.37996142e-05 9.99772397e-01 -2.80997895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78119381700003 meters 0.06024122527569754 Centerline is valid? [True, True] Translation: X:242.54, Y:-88.17, Z:-28.11 [[ 9.39122028e-01 3.43034161e-01 1.94262951e-02 2.42538931e+02] [-3.42958403e-01 9.39322922e-01 -7.20981044e-03 -8.81666966e+01] [-2.07207755e-02 1.08480678e-04 9.99785296e-01 -2.81070492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.811193817 meters 0.06113745948398346 Centerline is valid? [True, True] Translation: X:242.56, Y:-88.19, Z:-28.11 [[ 9.41429818e-01 3.36479367e-01 2.21705431e-02 2.42563495e+02] [-3.36378639e-01 9.41690792e-01 -8.23796841e-03 -8.81899235e+01] [-2.36497026e-02 2.97771998e-04 9.99720262e-01 -2.81053531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.841193817 meters 0.061863058458936124 Centerline is valid? [True, True] Translation: X:242.59, Y:-88.21, Z:-28.11 [[ 9.42279995e-01 3.34030849e-01 2.30608559e-02 2.42592316e+02] [-3.33921014e-01 9.42562066e-01 -8.57363923e-03 -8.82063882e+01] [-2.46001480e-02 3.78264336e-04 9.99697299e-01 -2.81062265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.871193817 meters 0.06270435025712844 Centerline is valid? [True, True] Translation: X:242.62, Y:-88.22, Z:-28.11 [[ 9.43348588e-01 3.30887352e-01 2.46374194e-02 2.42621297e+02] [-3.30760656e-01 9.43670127e-01 -9.16945507e-03 -8.82224720e+01] [-2.62836534e-02 5.00903486e-04 9.99654400e-01 -2.81074252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.901193817 meters 0.06395001216589932 Centerline is valid? [True, True] Translation: X:242.65, Y:-88.24, Z:-28.11 [[ 9.44304945e-01 3.28187400e-01 2.41081245e-02 2.42648750e+02] [-3.28064849e-01 9.44612459e-01 -8.98649024e-03 -8.82371027e+01] [-2.57220877e-02 5.76958931e-04 9.99668966e-01 -2.81095045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.931193817 meters 0.06511848389693463 Centerline is valid? [True, True] Translation: X:242.68, Y:-88.25, Z:-28.11 [[ 9.44906677e-01 3.26454497e-01 2.40589573e-02 2.42676929e+02] [-3.26331904e-01 9.45212714e-01 -8.96740484e-03 -8.82511340e+01] [-2.56682820e-02 6.22155366e-04 9.99670322e-01 -2.81122270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.961193817 meters 0.06550057767735774 Centerline is valid? [True, True] Translation: X:242.71, Y:-88.26, Z:-28.11 [[ 9.46219431e-01 3.22722995e-01 2.27740490e-02 2.42705595e+02] [-3.22611772e-01 9.46493203e-01 -8.50064338e-03 -8.82622233e+01] [-2.42988357e-02 6.96297628e-04 9.99704497e-01 -2.81111920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.991193817 meters 0.06434947419431722 Centerline is valid? [True, True] Translation: X:242.74, Y:-88.27, Z:-28.11 [[ 9.46400844e-01 3.22177148e-01 2.29636232e-02 2.42736808e+02] [-3.22064082e-01 9.46679134e-01 -8.56417454e-03 -8.82712724e+01] [-2.44983642e-02 7.09383797e-04 9.99699618e-01 -2.81093027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.021193817 meters 0.06358822446713905 Centerline is valid? [True, True] Translation: X:242.77, Y:-88.28, Z:-28.11 [[ 9.46973504e-01 3.20506118e-01 2.27378896e-02 2.42768005e+02] [-3.20394623e-01 9.47246147e-01 -8.48656517e-03 -8.82800178e+01] [-2.42583744e-02 7.51454775e-04 9.99705440e-01 -2.81075803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.051193817 meters 0.06570902113151308 Centerline is valid? [True, True] Translation: X:242.80, Y:-88.29, Z:-28.11 [[ 9.47499686e-01 3.18923084e-01 2.30740672e-02 2.42795763e+02] [-3.18807573e-01 9.47780252e-01 -8.62116542e-03 -8.82931217e+01] [-2.46186338e-02 8.12364172e-04 9.99696585e-01 -2.81121215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.081193817 meters 0.0662637303328853 Centerline is valid? [True, True] Translation: X:242.83, Y:-88.30, Z:-28.11 [[ 9.48414205e-01 3.16144032e-01 2.37370248e-02 2.42827529e+02] [-3.16020722e-01 9.48710762e-01 -8.87659734e-03 -8.83005109e+01] [-2.53258541e-02 9.17299307e-04 9.99678828e-01 -2.81134150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.111193817 meters 0.06677080381644171 Centerline is valid? [True, True] Translation: X:242.86, Y:-88.31, Z:-28.12 [[ 9.48904167e-01 3.14725977e-01 2.29878341e-02 2.42857809e+02] [-3.14609739e-01 9.49182117e-01 -8.60354794e-03 -8.83096542e+01] [-2.45274011e-02 9.31746005e-04 9.99698724e-01 -2.81150175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.141193817 meters 0.0682593146978498 Centerline is valid? [True, True] Translation: X:242.89, Y:-88.32, Z:-28.12 [[ 9.49471055e-01 3.12921935e-01 2.41780716e-02 2.42886843e+02] [-3.12792541e-01 9.49778283e-01 -9.05754274e-03 -8.83209620e+01] [-2.57981111e-02 1.03715421e-03 9.99666635e-01 -2.81171452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.171193817 meters 0.06890049147062516 Centerline is valid? [True, True] Translation: X:242.92, Y:-88.33, Z:-28.12 [[ 9.50097604e-01 3.10981687e-01 2.45953955e-02 2.42917360e+02] [-3.10846950e-01 9.50415249e-01 -9.22103287e-03 -8.83303277e+01] [-2.62434113e-02 1.11547755e-03 9.99654960e-01 -2.81183941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.201193817 meters 0.07177482957487305 Centerline is valid? [True, True] Translation: X:242.95, Y:-88.34, Z:-28.12 [[ 9.51612785e-01 3.06252097e-01 2.53527193e-02 2.42946267e+02] [-3.06106834e-01 9.51949560e-01 -9.52055340e-03 -8.83380251e+01] [-2.70501995e-02 1.29923968e-03 9.99633232e-01 -2.81214279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.231193817 meters 0.07329765623037207 Centerline is valid? [True, True] Translation: X:242.98, Y:-88.35, Z:-28.12 [[ 9.52196890e-01 3.04395114e-01 2.57817371e-02 2.42975261e+02] [-3.04244172e-01 9.52544865e-01 -9.68315455e-03 -8.83474182e+01] [-2.75057662e-02 1.37632638e-03 9.99620697e-01 -2.81237877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.261193817 meters 0.07391816376713424 Centerline is valid? [True, True] Translation: X:243.01, Y:-88.36, Z:-28.12 [[ 9.52499408e-01 3.03341855e-01 2.69925488e-02 2.43006496e+02] [-3.03175974e-01 9.52880659e-01 -1.01380231e-02 -8.83561726e+01] [-2.87959644e-02 1.47296878e-03 9.99584225e-01 -2.81249134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.291193817 meters 0.0736869269981797 Centerline is valid? [True, True] Translation: X:243.04, Y:-88.36, Z:-28.13 [[ 9.52081054e-01 3.04504220e-01 2.86154905e-02 2.43039008e+02] [-3.04317762e-01 9.52509740e-01 -1.07654969e-02 -8.83571261e+01] [-3.05346726e-02 1.54142366e-03 9.99532520e-01 -2.81250696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.321193817 meters 0.07067418633417684 Centerline is valid? [True, True] Translation: X:243.07, Y:-88.36, Z:-28.13 [[ 9.51354902e-01 3.06811465e-01 2.81171686e-02 2.43072937e+02] [-3.06632435e-01 9.51769218e-01 -1.05785460e-02 -8.83570168e+01] [-3.00066748e-02 1.44231570e-03 9.99548658e-01 -2.81252365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.351193817 meters 0.07078213089945519 Centerline is valid? [True, True] Translation: X:243.10, Y:-88.36, Z:-28.13 [[ 9.50176190e-01 3.10402822e-01 2.85533900e-02 2.43103445e+02] [-3.10219692e-01 9.50604154e-01 -1.07464457e-02 -8.83605791e+01] [-3.04786982e-02 1.35319296e-03 9.99534501e-01 -2.81299378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.381193817 meters 0.06873074099364417 Centerline is valid? [True, True] Translation: X:243.14, Y:-88.36, Z:-28.13 [[ 9.48696253e-01 3.14945227e-01 2.80164843e-02 2.43136643e+02] [-3.14770897e-01 9.49109109e-01 -1.05442580e-02 -8.83600460e+01] [-2.99115642e-02 1.18452413e-03 9.99551847e-01 -2.81334311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.411193817 meters 0.064152800965765 Centerline is valid? [True, True] Translation: X:243.17, Y:-88.35, Z:-28.13 [[ 9.47195908e-01 3.19575645e-01 2.62929453e-02 2.43172692e+02] [-3.19423936e-01 9.47560268e-01 -9.89385640e-03 -8.83542303e+01] [-2.80759858e-02 9.72824219e-04 9.99605318e-01 -2.81337438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.441193817 meters 0.0610282382256761 Centerline is valid? [True, True] Translation: X:243.21, Y:-88.34, Z:-28.14 [[ 9.43709223e-01 3.29832233e-01 2.49719998e-02 2.43209349e+02] [-3.29698823e-01 9.44039347e-01 -9.40196451e-03 -8.83423656e+01] [-2.66756213e-02 6.39481692e-04 9.99643938e-01 -2.81389510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.471193817 meters 0.06048990482517848 Centerline is valid? [True, True] Translation: X:243.24, Y:-88.34, Z:-28.14 [[ 9.42190818e-01 3.34228422e-01 2.38290551e-02 2.43241946e+02] [-3.34108605e-01 9.42491979e-01 -8.96157727e-03 -8.83443869e+01] [-2.54539071e-02 4.82023468e-04 9.99675881e-01 -2.81440634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.501193817 meters 0.05964834811402941 Centerline is valid? [True, True] Translation: X:243.28, Y:-88.35, Z:-28.15 [[ 9.40870370e-01 3.37972555e-01 2.31840175e-02 2.43275359e+02] [-3.37860125e-01 9.41155891e-01 -8.72498479e-03 -8.83459242e+01] [-2.47685800e-02 3.76124614e-04 9.99693141e-01 -2.81475860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53119381700003 meters 0.05905068745826089 Centerline is valid? [True, True] Translation: X:243.31, Y:-88.34, Z:-28.15 [[ 9.38891827e-01 3.43540972e-01 2.14880964e-02 2.43310308e+02] [-3.43445733e-01 9.39137665e-01 -8.09166943e-03 -8.83415367e+01] [-2.29601007e-02 2.17207268e-04 9.99736359e-01 -2.81533079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.561193817 meters 0.05971591066356183 Centerline is valid? [True, True] Translation: X:243.34, Y:-88.35, Z:-28.16 [[ 9.38110110e-01 3.45596654e-01 2.26356911e-02 2.43340675e+02] [-3.45491307e-01 9.38383140e-01 -8.53455886e-03 -8.83471922e+01] [-2.41904659e-02 1.85921455e-04 9.99707351e-01 -2.81609765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.591193817 meters 0.058421930813327715 Centerline is valid? [True, True] Translation: X:243.37, Y:-88.35, Z:-28.16 [[ 9.37540009e-01 3.47114961e-01 2.30203319e-02 2.43373601e+02] [-3.47006308e-01 9.37822574e-01 -8.68576690e-03 -8.83520259e+01] [-2.46039466e-02 1.55053575e-04 9.99697265e-01 -2.81563765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.621193817 meters 0.05899674452055148 Centerline is valid? [True, True] Translation: X:243.41, Y:-88.35, Z:-28.16 [[ 9.36871320e-01 3.48784736e-01 2.49266413e-02 2.43405350e+02] [-3.48657656e-01 9.37202855e-01 -9.41528535e-03 -8.83544808e+01] [-2.66452272e-02 1.30046464e-04 9.99644944e-01 -2.81626535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.651193817 meters 0.05764092940779807 Centerline is valid? [True, True] Translation: X:243.44, Y:-88.36, Z:-28.16 [[ 9.36327946e-01 3.50240404e-01 2.49326377e-02 2.43437871e+02] [-3.50113655e-01 9.36659837e-01 -9.42218683e-03 -8.83616529e+01] [-2.66534309e-02 9.29999161e-05 9.99644730e-01 -2.81556665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.681193817 meters 0.057459216001920166 Centerline is valid? [True, True] Translation: X:243.47, Y:-88.37, Z:-28.16 [[ 9.36013818e-01 3.51081458e-01 2.48986488e-02 2.43469730e+02] [-3.50955108e-01 9.36344917e-01 -9.41848962e-03 -8.83704391e+01] [-2.66203803e-02 7.75284448e-05 9.99645612e-01 -2.81561728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.711193817 meters 0.05861429073895418 Centerline is valid? [True, True] Translation: X:243.50, Y:-88.38, Z:-28.17 [[ 9.35305652e-01 3.52931291e-01 2.53543160e-02 2.43499133e+02] [-3.52800616e-01 9.35649241e-01 -9.60327418e-03 -8.83782738e+01] [-2.71120425e-02 3.69783378e-05 9.99632400e-01 -2.81670489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.741193817 meters 0.057250996533543964 Centerline is valid? [True, True] Translation: X:243.53, Y:-88.38, Z:-28.16 [[ 9.34188651e-01 3.55791023e-01 2.65388680e-02 2.43533366e+02] [-3.55648584e-01 9.34565539e-01 -1.00666679e-02 -8.83813192e+01] [-2.83839416e-02 -3.43439015e-05 9.99597094e-01 -2.81598350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.771193817 meters 0.05724600904772401 Centerline is valid? [True, True] Translation: X:243.57, Y:-88.39, Z:-28.16 [[ 9.33402736e-01 3.57830036e-01 2.67768058e-02 2.43565182e+02] [-3.57685995e-01 9.33786729e-01 -1.01525145e-02 -8.83890735e+01] [-2.86367005e-02 -1.01303635e-04 9.99589880e-01 -2.81626205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.801193817 meters 0.05726608564578555 Centerline is valid? [True, True] Translation: X:243.60, Y:-88.40, Z:-28.16 [[ 9.32582364e-01 3.59918381e-01 2.73659293e-02 2.43596850e+02] [-3.59768300e-01 9.32983781e-01 -1.03939452e-02 -8.83975255e+01] [-2.92729401e-02 -1.52183835e-04 9.99571444e-01 -2.81643746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.831193817 meters 0.05748116517917228 Centerline is valid? [True, True] Translation: X:243.63, Y:-88.41, Z:-28.17 [[ 9.31532551e-01 3.62686558e-01 2.65625134e-02 2.43627623e+02] [-3.62546380e-01 9.31911157e-01 -1.00855007e-02 -8.84065060e+01] [-2.84117782e-02 -2.35170861e-04 9.99596276e-01 -2.81662164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.861193817 meters 0.05764676079276627 Centerline is valid? [True, True] Translation: X:243.66, Y:-88.42, Z:-28.17 [[ 9.31516698e-01 3.62786845e-01 2.57360883e-02 2.43657378e+02] [-3.62655076e-01 9.31872124e-01 -9.77960890e-03 -8.84190207e+01] [-2.75306567e-02 -2.23454072e-04 9.99620935e-01 -2.81693518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.891193817 meters 0.05758132180974629 Centerline is valid? [True, True] Translation: X:243.69, Y:-88.43, Z:-28.17 [[ 9.31884949e-01 3.61878195e-01 2.51915459e-02 2.43687081e+02] [-3.61751451e-01 9.32225368e-01 -9.57867939e-03 -8.84328441e+01] [-2.69505133e-02 -1.86851119e-04 9.99636751e-01 -2.81714202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.921193817 meters 0.05790760656939556 Centerline is valid? [True, True] Translation: X:243.72, Y:-88.45, Z:-28.18 [[ 9.32196038e-01 3.61145703e-01 2.41728593e-02 2.43715102e+02] [-3.61028484e-01 9.32509388e-01 -9.20189591e-03 -8.84454328e+01] [-2.58646434e-02 -1.49119819e-04 9.99665443e-01 -2.81769130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.951193817 meters 0.058326352839921713 Centerline is valid? [True, True] Translation: X:243.74, Y:-88.46, Z:-28.18 [[ 9.32530576e-01 3.60334348e-01 2.33641295e-02 2.43743100e+02] [-3.60224316e-01 9.32823212e-01 -8.90487704e-03 -8.84588760e+01] [-2.50033354e-02 -1.12257453e-04 9.99687361e-01 -2.81818156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.981193817 meters 0.05813596353051035 Centerline is valid? [True, True] Translation: X:243.77, Y:-88.48, Z:-28.18 [[ 9.34074776e-01 3.56379044e-01 2.23224014e-02 2.43770170e+02] [-3.56277518e-01 9.34341467e-01 -8.50607164e-03 -8.84785234e+01] [-2.38881310e-02 -7.66280570e-06 9.99714638e-01 -2.81823279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.011193817 meters 0.05813596353051035 Centerline is valid? [True, True] Translation: X:243.80, Y:-88.49, Z:-28.18 [[ 9.33960574e-01 3.56678342e-01 2.23205538e-02 2.43800350e+02] [-3.56576785e-01 9.34227253e-01 -8.51091531e-03 -8.84903088e+01] [-2.38881288e-02 -1.01319872e-05 9.99714638e-01 -2.81842985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.041193817 meters 0.058496771773168706 Centerline is valid? [True, True] Translation: X:243.83, Y:-88.51, Z:-28.19 [[ 9.34728360e-01 3.54695158e-01 2.17770232e-02 2.43827805e+02] [-3.54597716e-01 9.34982001e-01 -8.31365859e-03 -8.85053996e+01] [-2.33099392e-02 4.89297596e-05 9.99728285e-01 -2.81879939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.071193817 meters 0.0589550260348654 Centerline is valid? [True, True] Translation: X:243.86, Y:-88.52, Z:-28.19 [[ 9.35546941e-01 3.52616095e-01 2.03423179e-02 2.43855792e+02] [-3.52530491e-01 9.35768070e-01 -7.77000286e-03 -8.85209689e+01] [-2.17755196e-02 9.79151001e-05 9.99762880e-01 -2.81908766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.101193817 meters 0.05971640218154926 Centerline is valid? [True, True] Translation: X:243.88, Y:-88.54, Z:-28.19 [[ 9.36920574e-01 3.49054203e-01 1.84662336e-02 2.43882162e+02] [-3.48982872e-01 9.37102521e-01 -7.05837578e-03 -8.85404736e+01] [-1.97685098e-02 1.68738245e-04 9.99804570e-01 -2.81947339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.131193817 meters 0.05958039738283982 Centerline is valid? [True, True] Translation: X:243.91, Y:-88.56, Z:-28.19 [[ 9.37465874e-01 3.47617673e-01 1.78798301e-02 2.43910457e+02] [-3.47550456e-01 9.37636344e-01 -6.83858780e-03 -8.85554761e+01] [-1.91419925e-02 1.96799601e-04 9.99816756e-01 -2.81937940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.161193817 meters 0.059764379634853204 Centerline is valid? [True, True] Translation: X:243.94, Y:-88.57, Z:-28.20 [[ 9.37623253e-01 3.47182867e-01 1.80746268e-02 2.43940065e+02] [-3.47114036e-01 9.37797426e-01 -6.91620353e-03 -8.85707360e+01] [-1.93515259e-02 2.10836586e-04 9.99812719e-01 -2.81954121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.191193817 meters 0.06037259927661221 Centerline is valid? [True, True] Translation: X:243.97, Y:-88.59, Z:-28.20 [[ 9.37703523e-01 3.46897186e-01 1.93505909e-02 2.43967676e+02] [-3.46817989e-01 9.37903131e-01 -7.41615479e-03 -8.85854820e+01] [-2.07216231e-02 2.43021438e-04 9.99785255e-01 -2.81997649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.221193817 meters 0.060049610055528266 Centerline is valid? [True, True] Translation: X:244.00, Y:-88.60, Z:-28.20 [[ 9.37815597e-01 3.46533438e-01 2.04079101e-02 2.43996885e+02] [-3.46445116e-01 9.38037581e-01 -7.82804714e-03 -8.85991184e+01] [-2.18560667e-02 2.71043928e-04 9.99761091e-01 -2.81989899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.251193817 meters 0.05993021014944629 Centerline is valid? [True, True] Translation: X:244.03, Y:-88.61, Z:-28.20 [[ 9.38021237e-01 3.45943103e-01 2.09649247e-02 2.44026383e+02] [-3.45849623e-01 9.38255445e-01 -8.04719311e-03 -8.86143578e+01] [-2.24543257e-02 2.97726745e-04 9.99747826e-01 -2.81999675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28119381700003 meters 0.06003220820915308 Centerline is valid? [True, True] Translation: X:244.05, Y:-88.63, Z:-28.20 [[ 9.37883971e-01 3.46231424e-01 2.23037558e-02 2.44054960e+02] [-3.46125431e-01 9.38149081e-01 -8.57250087e-03 -8.86277713e+01] [-2.38923172e-02 3.20114076e-04 9.99714487e-01 -2.82019784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.311193817 meters 0.06008889380835324 Centerline is valid? [True, True] Translation: X:244.08, Y:-88.64, Z:-28.20 [[ 9.38079719e-01 3.45652152e-01 2.30440836e-02 2.44082875e+02] [-3.45538516e-01 9.38362649e-01 -8.86975941e-03 -8.86409727e+01] [-2.46895588e-02 3.57922967e-04 9.99695102e-01 -2.82027603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.341193817 meters 0.060115795122948824 Centerline is valid? [True, True] Translation: X:244.11, Y:-88.65, Z:-28.20 [[ 9.37983411e-01 3.45881568e-01 2.35172833e-02 2.44112338e+02] [-3.45763288e-01 9.38278110e-01 -9.05188558e-03 -8.86540452e+01] [-2.51966325e-02 3.59105300e-04 9.99682450e-01 -2.82044145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.371193817 meters 0.06119141160384928 Centerline is valid? [True, True] Translation: X:244.14, Y:-88.67, Z:-28.21 [[ 9.38900018e-01 3.43363747e-01 2.38347082e-02 2.44138877e+02] [-3.43241120e-01 9.39202396e-01 -9.18660104e-03 -8.86705793e+01] [-2.55399608e-02 4.44247940e-04 9.99673703e-01 -2.82063619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.401193817 meters 0.06170521098360748 Centerline is valid? [True, True] Translation: X:244.17, Y:-88.68, Z:-28.21 [[ 9.39405550e-01 3.41961699e-01 2.40709215e-02 2.44168168e+02] [-3.41836177e-01 9.39713765e-01 -9.27732117e-03 -8.86843977e+01] [-2.57922648e-02 4.86855196e-04 9.99667206e-01 -2.82083196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.431193817 meters 0.06113883476217302 Centerline is valid? [True, True] Translation: X:244.20, Y:-88.70, Z:-28.21 [[ 9.40061391e-01 3.40159404e-01 2.40033622e-02 2.44197650e+02] [-3.40033805e-01 9.40367634e-01 -9.25878906e-03 -8.86963091e+01] [-2.57214491e-02 5.41875547e-04 9.99669002e-01 -2.82062180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.461193817 meters 0.06373116755493419 Centerline is valid? [True, True] Translation: X:244.22, Y:-88.71, Z:-28.21 [[ 9.40858758e-01 3.37956523e-01 2.38785696e-02 2.44224065e+02] [-3.37831330e-01 9.41161528e-01 -9.21797436e-03 -8.87131727e+01] [-2.55888656e-02 6.05883003e-04 9.99672368e-01 -2.82134227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.491193817 meters 0.0627131017776273 Centerline is valid? [True, True] Translation: X:244.25, Y:-88.72, Z:-28.21 [[ 9.42545769e-01 3.33097335e-01 2.55663449e-02 2.44254386e+02] [-3.32951811e-01 9.42892109e-01 -9.87734492e-03 -8.87248655e+01] [-2.73964221e-02 7.97488840e-04 9.99624329e-01 -2.82071718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.521193817 meters 0.06354307952238603 Centerline is valid? [True, True] Translation: X:244.28, Y:-88.74, Z:-28.21 [[ 9.43265403e-01 3.30999967e-01 2.62564572e-02 2.44284147e+02] [-3.30845400e-01 9.43630345e-01 -1.01534560e-02 -8.87378992e+01] [-2.81371834e-02 8.90575696e-04 9.99603674e-01 -2.82083077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.551193817 meters 0.06408799939195865 Centerline is valid? [True, True] Translation: X:244.31, Y:-88.75, Z:-28.21 [[ 9.44258882e-01 3.28157884e-01 2.62214854e-02 2.44313541e+02] [-3.28002238e-01 9.44622373e-01 -1.01539962e-02 -8.87498813e+01] [-2.81015157e-02 9.87295217e-04 9.99604587e-01 -2.82092506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.581193817 meters 0.06686753312264346 Centerline is valid? [True, True] Translation: X:244.34, Y:-88.77, Z:-28.21 [[ 9.46460854e-01 3.21725260e-01 2.65463767e-02 2.44341078e+02] [-3.21562969e-01 9.46832306e-01 -1.02879465e-02 -8.87654113e+01] [-2.84448594e-02 1.20080692e-03 9.99594642e-01 -2.82106861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.611193817 meters 0.06838136283019135 Centerline is valid? [True, True] Translation: X:244.37, Y:-88.78, Z:-28.21 [[ 9.47562275e-01 3.18537426e-01 2.56835201e-02 2.44369586e+02] [-3.18384294e-01 9.47909452e-01 -9.95546994e-03 -8.87775418e+01] [-2.75168413e-02 1.25619832e-03 9.99620551e-01 -2.82137006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.641193817 meters 0.07079798200179294 Centerline is valid? [True, True] Translation: X:244.40, Y:-88.79, Z:-28.22 [[ 9.48464316e-01 3.15897867e-01 2.49795589e-02 2.44396919e+02] [-3.15752086e-01 9.48792315e-01 -9.68318209e-03 -8.87908232e+01] [-2.67593100e-02 1.29680486e-03 9.99641064e-01 -2.82179970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.671193817 meters 0.07331448503134978 Centerline is valid? [True, True] Translation: X:244.42, Y:-88.80, Z:-28.22 [[ 9.49555385e-01 3.12721934e-01 2.34427426e-02 2.44424147e+02] [-3.12592621e-01 9.49843831e-01 -9.08569736e-03 -8.88032811e+01] [-2.51082413e-02 1.29934452e-03 9.99683894e-01 -2.82222458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.701193817 meters 0.07475526915797137 Centerline is valid? [True, True] Translation: X:244.45, Y:-88.81, Z:-28.22 [[ 9.50491144e-01 3.09958745e-01 2.21847302e-02 2.44454662e+02] [-3.09842111e-01 9.50749116e-01 -8.60142932e-03 -8.88114491e+01] [-2.37582008e-02 1.30181877e-03 9.99716887e-01 -2.82249005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.731193817 meters 0.07788290270379798 Centerline is valid? [True, True] Translation: X:244.48, Y:-88.82, Z:-28.23 [[ 9.50677600e-01 3.09371956e-01 2.23851131e-02 2.44482619e+02] [-3.09253125e-01 9.50940186e-01 -8.67568524e-03 -8.88236479e+01] [-2.39709174e-02 1.32511342e-03 9.99711778e-01 -2.82297798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.761193817 meters 0.07686139274367154 Centerline is valid? [True, True] Translation: X:244.51, Y:-88.83, Z:-28.23 [[ 9.50269591e-01 3.10618080e-01 2.24524776e-02 2.44514515e+02] [-3.10498898e-01 9.50533917e-01 -8.70103400e-03 -8.88297048e+01] [-2.40445400e-02 1.29685846e-03 9.99710047e-01 -2.82312438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.791193817 meters 0.07633285379425754 Centerline is valid? [True, True] Translation: X:244.55, Y:-88.84, Z:-28.23 [[ 9.49630828e-01 3.12555255e-01 2.25943265e-02 2.44545078e+02] [-3.12434682e-01 9.49898728e-01 -8.77360042e-03 -8.88351518e+01] [-2.42045569e-02 1.27243022e-03 9.99706217e-01 -2.82343311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.821193817 meters 0.07292205370613279 Centerline is valid? [True, True] Translation: X:244.58, Y:-88.83, Z:-28.24 [[ 9.47708211e-01 3.18335767e-01 2.26160734e-02 2.44580013e+02] [-3.18216580e-01 9.47977357e-01 -8.78283167e-03 -8.88308912e+01] [-2.42354149e-02 1.12675217e-03 9.99705644e-01 -2.82361508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.851193817 meters 0.06767922119959445 Centerline is valid? [True, True] Translation: X:244.61, Y:-88.83, Z:-28.23 [[ 9.46270647e-01 3.22493294e-01 2.38733846e-02 2.44614075e+02] [-3.22361779e-01 9.46571135e-01 -9.27200770e-03 -8.88279019e+01] [-2.55880170e-02 1.07796200e-03 9.99671992e-01 -2.82325523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.881193817 meters 0.06616424406717498 Centerline is valid? [True, True] Translation: X:244.64, Y:-88.83, Z:-28.24 [[ 9.44633836e-01 3.27207165e-01 2.45435938e-02 2.44644985e+02] [-3.27069746e-01 9.44952124e-01 -9.53230532e-03 -8.88297856e+01] [-2.63115597e-02 9.77071151e-04 9.99653313e-01 -2.82350888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.911193817 meters 0.06426058982531697 Centerline is valid? [True, True] Translation: X:244.68, Y:-88.83, Z:-28.24 [[ 9.43043171e-01 3.31698913e-01 2.54049129e-02 2.44677488e+02] [-3.31553322e-01 9.43384892e-01 -9.86609162e-03 -8.88306440e+01] [-2.72391829e-02 8.81067057e-04 9.99628556e-01 -2.82368315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.941193817 meters 0.06035058890199188 Centerline is valid? [True, True] Translation: X:244.71, Y:-88.82, Z:-28.24 [[ 9.39644833e-01 3.41149937e-01 2.61592900e-02 2.44714204e+02] [-3.40999190e-01 9.40008685e-01 -1.01599144e-02 -8.88200529e+01] [-2.80560139e-02 6.26414336e-04 9.99606156e-01 -2.82368045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.971193817 meters 0.059284415660490745 Centerline is valid? [True, True] Translation: X:244.75, Y:-88.82, Z:-28.24 [[ 9.37652381e-01 3.46645399e-01 2.53964473e-02 2.44747836e+02] [-3.46505591e-01 9.37996148e-01 -9.85400696e-03 -8.88223427e+01] [-2.72376159e-02 4.39622097e-04 9.99628891e-01 -2.82398600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.001193817 meters 0.058535345961231534 Centerline is valid? [True, True] Translation: X:244.78, Y:-88.82, Z:-28.24 [[ 9.35959834e-01 3.51233514e-01 2.47832190e-02 2.44780927e+02] [-3.51101771e-01 9.36287843e-01 -9.62400067e-03 -8.88248080e+01] [-2.65844982e-02 3.06245979e-04 9.99646523e-01 -2.82422884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03119381700003 meters 0.05802131575643261 Centerline is valid? [True, True] Translation: X:244.81, Y:-88.83, Z:-28.24 [[ 9.34537371e-01 3.55050052e-01 2.40699656e-02 2.44813952e+02] [-3.54926855e-01 9.34847271e-01 -9.35451211e-03 -8.88285231e+01] [-2.58230616e-02 1.99063971e-04 9.99666509e-01 -2.82432600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.061193817 meters 0.05771637713795585 Centerline is valid? [True, True] Translation: X:244.85, Y:-88.83, Z:-28.25 [[ 9.32602295e-01 3.60120808e-01 2.37899925e-02 2.44848186e+02] [-3.60001899e-01 9.32905676e-01 -9.25382762e-03 -8.88295654e+01] [-2.55263149e-02 6.56984114e-05 9.99674148e-01 -2.82454286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.091193817 meters 0.05763176067379677 Centerline is valid? [True, True] Translation: X:244.88, Y:-88.84, Z:-28.25 [[ 9.32215070e-01 3.61030378e-01 2.51421729e-02 2.44878001e+02] [-3.60897609e-01 9.32554054e-01 -9.79044014e-03 -8.88380792e+01] [-2.69810815e-02 5.30457630e-05 9.99635943e-01 -2.82468929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.121193817 meters 0.05753608368480291 Centerline is valid? [True, True] Translation: X:244.91, Y:-88.85, Z:-28.25 [[ 9.32233264e-01 3.60874844e-01 2.66549747e-02 2.44907673e+02] [-3.60725170e-01 9.32614251e-01 -1.03927868e-02 -8.88469967e+01] [-2.86093046e-02 7.33812819e-05 9.99590667e-01 -2.82475420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.151193817 meters 0.05754245207766325 Centerline is valid? [True, True] Translation: X:244.94, Y:-88.86, Z:-28.25 [[ 9.32381173e-01 3.60397303e-01 2.79129254e-02 2.44937308e+02] [-3.60232872e-01 9.32798893e-01 -1.08859021e-02 -8.88568317e+01] [-2.99603957e-02 9.46569178e-05 9.99551082e-01 -2.82488940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.181193817 meters 0.05752474591781684 Centerline is valid? [True, True] Translation: X:244.97, Y:-88.87, Z:-28.25 [[ 9.33467647e-01 3.57404335e-01 3.00049031e-02 2.44967120e+02] [-3.57212458e-01 9.33949729e-01 -1.17116975e-02 -8.88682324e+01] [-3.22088825e-02 2.14365480e-04 9.99481136e-01 -2.82481804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.211193817 meters 0.05805002502577693 Centerline is valid? [True, True] Translation: X:245.00, Y:-88.88, Z:-28.25 [[ 9.34323160e-01 3.55239872e-01 2.90665816e-02 2.44995908e+02] [-3.55058474e-01 9.34775134e-01 -1.13547311e-02 -8.88831356e+01] [-3.12043709e-02 2.88652175e-04 9.99512983e-01 -2.82517567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.241193817 meters 0.05864073385305652 Centerline is valid? [True, True] Translation: X:245.02, Y:-88.90, Z:-28.25 [[ 9.35067772e-01 3.53414337e-01 2.73233880e-02 2.45024784e+02] [-3.53253038e-01 9.35466832e-01 -1.06816430e-02 -8.88978866e+01] [-2.93351690e-02 3.35990306e-04 9.99569575e-01 -2.82549744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.271193817 meters 0.058893687025895605 Centerline is valid? [True, True] Translation: X:245.05, Y:-88.91, Z:-28.26 [[ 9.35733046e-01 3.51714581e-01 2.64673381e-02 2.45053586e+02] [-3.51562297e-01 9.36107208e-01 -1.03559981e-02 -8.89110614e+01] [-2.84186216e-02 3.85531508e-04 9.99596035e-01 -2.82569822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.301193817 meters 0.059515492906625424 Centerline is valid? [True, True] Translation: X:245.08, Y:-88.92, Z:-28.26 [[ 9.36319164e-01 3.50158667e-01 2.63691153e-02 2.45082538e+02] [-3.50006539e-01 9.36690297e-01 -1.03300943e-02 -8.89214678e+01] [-2.83168665e-02 4.42902455e-04 9.99598899e-01 -2.82610726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.331193817 meters 0.059429106954984615 Centerline is valid? [True, True] Translation: X:245.11, Y:-88.93, Z:-28.26 [[ 9.36339505e-01 3.50130835e-01 2.60140240e-02 2.45113182e+02] [-3.49982769e-01 9.36700703e-01 -1.01909126e-02 -8.89322937e+01] [-2.79355073e-02 4.37693874e-04 9.99609632e-01 -2.82627822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.361193817 meters 0.06025143396506916 Centerline is valid? [True, True] Translation: X:245.14, Y:-88.95, Z:-28.27 [[ 9.36335819e-01 3.50122060e-01 2.62635966e-02 2.45141665e+02] [-3.49970790e-01 9.36703975e-01 -1.03009156e-02 -8.89452023e+01] [-2.82077931e-02 4.53624572e-04 9.99601978e-01 -2.82679461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.391193817 meters 0.05999555545560424 Centerline is valid? [True, True] Translation: X:245.17, Y:-88.96, Z:-28.27 [[ 9.36236193e-01 3.50434919e-01 2.56351150e-02 2.45171930e+02] [-3.50290836e-01 9.36586983e-01 -1.00575122e-02 -8.89567833e+01] [-2.75340185e-02 4.36461076e-04 9.99620772e-01 -2.82688666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.421193817 meters 0.060207177437639106 Centerline is valid? [True, True] Translation: X:245.20, Y:-88.97, Z:-28.27 [[ 9.36126597e-01 3.50736089e-01 2.55184421e-02 2.45201146e+02] [-3.50593112e-01 9.36474242e-01 -1.00232028e-02 -8.89694471e+01] [-2.74128627e-02 4.36396671e-04 9.99624102e-01 -2.82721631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.451193817 meters 0.060044146049174796 Centerline is valid? [True, True] Translation: X:245.23, Y:-88.98, Z:-28.27 [[ 9.35850979e-01 3.51480308e-01 2.53877595e-02 2.45231740e+02] [-3.51339021e-01 9.36195183e-01 -9.97349462e-03 -8.89813849e+01] [-2.72733851e-02 4.13994116e-04 9.99627926e-01 -2.82738308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.481193817 meters 0.05973742961908944 Centerline is valid? [True, True] Translation: X:245.26, Y:-88.99, Z:-28.27 [[ 9.35688837e-01 3.51889983e-01 2.56873782e-02 2.45261547e+02] [-3.51745180e-01 9.36041274e-01 -1.01026023e-02 -8.89931452e+01] [-2.75994508e-02 4.17480712e-04 9.99618975e-01 -2.82744757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.511193817 meters 0.05952965086076904 Centerline is valid? [True, True] Translation: X:245.29, Y:-89.01, Z:-28.28 [[ 9.35598902e-01 3.52103963e-01 2.60286999e-02 2.45291494e+02] [-3.51955123e-01 9.35960800e-01 -1.02456150e-02 -8.90057302e+01] [-2.79693644e-02 4.24851825e-04 9.99608691e-01 -2.82754211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.541193817 meters 0.059848780512505806 Centerline is valid? [True, True] Translation: X:245.32, Y:-89.02, Z:-28.28 [[ 9.35708234e-01 3.51869348e-01 2.52599135e-02 2.45319602e+02] [-3.51728731e-01 9.36049024e-01 -9.95608229e-03 -8.90187755e+01] [-2.71477576e-02 4.31350854e-04 9.99631339e-01 -2.82782951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.571193817 meters 0.06014356491254105 Centerline is valid? [True, True] Translation: X:245.35, Y:-89.03, Z:-28.28 [[ 9.35792506e-01 3.51747017e-01 2.37996169e-02 2.45348975e+02] [-3.51622184e-01 9.36095011e-01 -9.37927138e-03 -8.90314661e+01] [-2.55778334e-02 4.08578591e-04 9.99672750e-01 -2.82828314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.601193817 meters 0.0599855107294569 Centerline is valid? [True, True] Translation: X:245.38, Y:-89.04, Z:-28.29 [[ 9.35214035e-01 3.53349445e-01 2.27788958e-02 2.45378628e+02] [-3.53235397e-01 9.35491338e-01 -8.98395757e-03 -8.90430932e+01] [-2.44839361e-02 3.55610927e-04 9.99700160e-01 -2.82850010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.631193817 meters 0.05989159994908131 Centerline is valid? [True, True] Translation: X:245.41, Y:-89.05, Z:-28.29 [[ 9.34359269e-01 3.55625855e-01 2.24278457e-02 2.45407373e+02] [-3.55515751e-01 9.34628355e-01 -8.85373111e-03 -8.90539398e+01] [-2.41103162e-02 2.99113309e-04 9.99709259e-01 -2.82888110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.661193817 meters 0.05906629152392647 Centerline is valid? [True, True] Translation: X:245.44, Y:-89.06, Z:-28.29 [[ 9.31822044e-01 3.62166096e-01 2.33109018e-02 2.45437513e+02] [-3.62048982e-01 9.32113565e-01 -9.21065528e-03 -8.90623694e+01] [-2.50641948e-02 1.43003375e-04 9.99685833e-01 -2.82906210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.691193817 meters 0.05838461199980329 Centerline is valid? [True, True] Translation: X:245.47, Y:-89.07, Z:-28.29 [[ 9.30356798e-01 3.65946864e-01 2.27842082e-02 2.45469128e+02] [-3.65836021e-01 9.30635745e-01 -9.00641479e-03 -8.90723912e+01] [-2.44996679e-02 4.38951551e-05 9.99699837e-01 -2.82898143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.721193817 meters 0.058503624934443964 Centerline is valid? [True, True] Translation: X:245.50, Y:-89.08, Z:-28.29 [[ 9.28704240e-01 3.70103251e-01 2.30655150e-02 2.45499338e+02] [-3.69990664e-01 9.28990625e-01 -9.12843420e-03 -8.90814728e+01] [-2.48061104e-02 -5.64096482e-05 9.99692280e-01 -2.82938752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.751193817 meters 0.058564946420277035 Centerline is valid? [True, True] Translation: X:245.53, Y:-89.09, Z:-28.30 [[ 9.27106983e-01 3.74095638e-01 2.29149635e-02 2.45530421e+02] [-3.73985545e-01 9.27390117e-01 -9.07649725e-03 -8.90904187e+01] [-2.46465887e-02 -1.54981126e-04 9.99696215e-01 -2.82956458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78119381700003 meters 0.05946672556877501 Centerline is valid? [True, True] Translation: X:245.56, Y:-89.09, Z:-28.30 [[ 9.23801885e-01 3.82243600e-01 2.19068163e-02 2.45561980e+02] [-3.82144890e-01 9.24061532e-01 -8.69303651e-03 -8.90948808e+01] [-2.35661038e-02 -3.40934384e-04 9.99722223e-01 -2.82981682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.811193817 meters 0.05999543218595941 Centerline is valid? [True, True] Translation: X:245.59, Y:-89.11, Z:-28.30 [[ 9.22187510e-01 3.86150289e-01 2.14044751e-02 2.45591582e+02] [-3.86057084e-01 9.22435781e-01 -8.49459557e-03 -8.91051688e+01] [-2.30244442e-02 -4.29739291e-04 9.99734810e-01 -2.82991384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.841193817 meters 0.060903002492562634 Centerline is valid? [True, True] Translation: X:245.62, Y:-89.12, Z:-28.30 [[ 9.20669670e-01 3.89794693e-01 2.06750051e-02 2.45620515e+02] [-3.89708612e-01 9.20901648e-01 -8.20681285e-03 -8.91160356e+01] [-2.22386183e-02 -5.01463845e-04 9.99752566e-01 -2.83012507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.871193817 meters 0.06142187709574763 Centerline is valid? [True, True] Translation: X:245.65, Y:-89.13, Z:-28.30 [[ 9.19222070e-01 3.93194763e-01 2.07042233e-02 2.45649891e+02] [-3.93109533e-01 9.19455016e-01 -8.20791076e-03 -8.91292904e+01] [-2.22639095e-02 -5.94134839e-04 9.99751952e-01 -2.83016846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.901193817 meters 0.06142187709574763 Centerline is valid? [True, True] Translation: X:245.68, Y:-89.14, Z:-28.30 [[ 9.19109082e-01 3.93458928e-01 2.07018735e-02 2.45679197e+02] [-3.93373631e-01 9.19342003e-01 -8.21382892e-03 -8.91411355e+01] [-2.22639062e-02 -5.94166404e-04 9.99751952e-01 -2.83036059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.931193817 meters 0.06203465186309001 Centerline is valid? [True, True] Translation: X:245.71, Y:-89.15, Z:-28.30 [[ 9.17810215e-01 3.96424301e-01 2.17297798e-02 2.45707731e+02] [-3.96330731e-01 9.18067159e-01 -8.63967566e-03 -8.91538272e+01] [-2.33743745e-02 -6.82596912e-04 9.99726549e-01 -2.83038302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.961193817 meters 0.06428549781730834 Centerline is valid? [True, True] Translation: X:245.74, Y:-89.16, Z:-28.31 [[ 9.16659781e-01 3.98996466e-01 2.31660468e-02 2.45736005e+02] [-3.98890884e-01 9.16952118e-01 -9.21280359e-03 -8.91647069e+01] [-2.49180318e-02 -7.95718377e-04 9.99689181e-01 -2.83099641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.991193817 meters 0.06289278733310676 Centerline is valid? [True, True] Translation: X:245.76, Y:-89.18, Z:-28.31 [[ 9.16542584e-01 3.99286922e-01 2.27957538e-02 2.45762849e+02] [-3.99185011e-01 9.16825673e-01 -9.05604341e-03 -8.91840044e+01] [-2.45156920e-02 -7.99473804e-04 9.99699126e-01 -2.83100675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.021193817 meters 0.06296470831345508 Centerline is valid? [True, True] Translation: X:245.79, Y:-89.20, Z:-28.31 [[ 9.17058987e-01 3.98136941e-01 2.21311957e-02 2.45789102e+02] [-3.98040280e-01 9.17325697e-01 -8.80344266e-03 -8.92013241e+01] [-2.38064902e-02 -7.35831113e-04 9.99716315e-01 -2.83137545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.051193817 meters 0.06212024306859518 Centerline is valid? [True, True] Translation: X:245.82, Y:-89.22, Z:-28.32 [[ 9.18065460e-01 3.95815649e-01 2.20404853e-02 2.45815051e+02] [-3.95719127e-01 9.18329744e-01 -8.76667807e-03 -8.92219889e+01] [-2.37104216e-02 -6.73457250e-04 9.99718642e-01 -2.83156299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.081193817 meters 0.060948173569159825 Centerline is valid? [True, True] Translation: X:245.84, Y:-89.24, Z:-28.32 [[ 9.19523024e-01 3.92407887e-01 2.22139473e-02 2.45839774e+02] [-3.92308449e-01 9.19791128e-01 -8.85216060e-03 -8.92442056e+01] [-2.39058492e-02 -5.74953717e-04 9.99714049e-01 -2.83170930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.111193817 meters 0.05899275346305076 Centerline is valid? [True, True] Translation: X:245.86, Y:-89.28, Z:-28.32 [[ 9.23148802e-01 3.83659202e-01 2.45337582e-02 2.45859424e+02] [-3.83534727e-01 9.23474673e-01 -9.77967652e-03 -8.92757709e+01] [-2.64083672e-02 -3.81451566e-04 9.99651165e-01 -2.83176809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.141193817 meters 0.058052533651844936 Centerline is valid? [True, True] Translation: X:245.89, Y:-89.30, Z:-28.32 [[ 9.24572991e-01 3.80181473e-01 2.50366025e-02 2.45885047e+02] [-3.80050854e-01 9.24911865e-01 -9.96944510e-03 -8.92977831e+01] [-2.69468491e-02 -2.97702488e-04 9.99636823e-01 -2.83163919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.171193817 meters 0.0578459327982958 Centerline is valid? [True, True] Translation: X:245.91, Y:-89.33, Z:-28.32 [[ 9.27459389e-01 3.73005717e-01 2.61881048e-02 2.45906263e+02] [-3.72859549e-01 9.27829041e-01 -1.04416598e-02 -8.93282169e+01] [-2.81928830e-02 -8.02695013e-05 9.99602498e-01 -2.83182372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.201193817 meters 0.05869008363001895 Centerline is valid? [True, True] Translation: X:245.93, Y:-89.35, Z:-28.32 [[ 9.28817506e-01 3.69595531e-01 2.64042537e-02 2.45930337e+02] [-3.69445505e-01 9.29192737e-01 -1.05297697e-02 -8.93501040e+01] [-2.84263966e-02 2.53015859e-05 9.99595888e-01 -2.83243679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.231193817 meters 0.057724780438972695 Centerline is valid? [True, True] Translation: X:245.96, Y:-89.37, Z:-28.32 [[ 9.30470795e-01 3.65331977e-01 2.75072034e-02 2.45956712e+02] [-3.65167066e-01 9.30877284e-01 -1.09770879e-02 -8.93712752e+01] [-2.96161120e-02 1.69134927e-04 9.99561332e-01 -2.83163086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.261193817 meters 0.058354702579013824 Centerline is valid? [True, True] Translation: X:245.98, Y:-89.39, Z:-28.32 [[ 9.32003888e-01 3.61388027e-01 2.77028369e-02 2.45982058e+02] [-3.61218712e-01 9.32415466e-01 -1.10653397e-02 -8.93907094e+01] [-2.98294349e-02 3.06156600e-04 9.99554957e-01 -2.83186595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.291193817 meters 0.060487295499801544 Centerline is valid? [True, True] Translation: X:246.00, Y:-89.42, Z:-28.32 [[ 9.35241252e-01 3.53149545e-01 2.46819441e-02 2.46003871e+02] [-3.53011932e-01 9.35566742e-01 -9.87150145e-03 -8.94153105e+01] [-2.65777223e-02 5.19214597e-04 9.99646615e-01 -2.83228578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.321193817 meters 0.06208588090533026 Centerline is valid? [True, True] Translation: X:246.03, Y:-89.43, Z:-28.33 [[ 9.36778174e-01 3.49041821e-01 2.48286053e-02 2.46029463e+02] [-3.48901131e-01 9.37106930e-01 -9.92989217e-03 -8.94337104e+01] [-2.67330057e-02 6.39377798e-04 9.99642405e-01 -2.83260808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.351193817 meters 0.0627071418471047 Centerline is valid? [True, True] Translation: X:246.06, Y:-89.45, Z:-28.33 [[ 9.38151918e-01 3.45411998e-01 2.36966113e-02 2.46056707e+02] [-3.45282523e-01 9.38450872e-01 -9.48362202e-03 -8.94498523e+01] [-2.55138624e-02 7.15052434e-04 9.99674213e-01 -2.83262922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.381193817 meters 0.0652810655526267 Centerline is valid? [True, True] Translation: X:246.08, Y:-89.47, Z:-28.33 [[ 9.39398959e-01 3.42041356e-01 2.31798875e-02 2.46082594e+02] [-3.41916600e-01 9.39684574e-01 -9.27044771e-03 -8.94690218e+01] [-2.49526592e-02 7.83060606e-04 9.99688327e-01 -2.83304756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.411193817 meters 0.06550960882361652 Centerline is valid? [True, True] Translation: X:246.11, Y:-89.48, Z:-28.33 [[ 9.40611066e-01 3.38667943e-01 2.35551672e-02 2.46110868e+02] [-3.38537862e-01 9.40905535e-01 -9.42820895e-03 -8.94839735e+01] [-2.53562193e-02 8.93961729e-04 9.99678080e-01 -2.83291016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.441193817 meters 0.0671750306053213 Centerline is valid? [True, True] Translation: X:246.14, Y:-89.50, Z:-28.33 [[ 9.41804992e-01 3.35290511e-01 2.41584377e-02 2.46139365e+02] [-3.35152180e-01 9.42114231e-01 -9.68462669e-03 -8.94999692e+01] [-2.60071714e-02 1.02427668e-03 9.99661232e-01 -2.83307339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.471193817 meters 0.06990248104556525 Centerline is valid? [True, True] Translation: X:246.17, Y:-89.51, Z:-28.33 [[ 9.43468228e-01 3.30526252e-01 2.49017939e-02 2.46165842e+02] [-3.30377560e-01 9.43796044e-01 -9.98474767e-03 -8.95143378e+01] [-2.68024358e-02 1.19329827e-03 9.99640038e-01 -2.83331163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.501193817 meters 0.07030367988885008 Centerline is valid? [True, True] Translation: X:246.20, Y:-89.53, Z:-28.33 [[ 9.43865120e-01 3.29363086e-01 2.52703878e-02 2.46196271e+02] [-3.29209653e-01 9.44202530e-01 -1.01284823e-02 -8.95256686e+01] [-2.71963123e-02 1.24066560e-03 9.99629342e-01 -2.83345381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53119381700003 meters 0.07129421695447223 Centerline is valid? [True, True] Translation: X:246.23, Y:-89.54, Z:-28.34 [[ 9.43994735e-01 3.28959002e-01 2.56888370e-02 2.46225500e+02] [-3.28800026e-01 9.44343333e-01 -1.03059016e-02 -8.95371443e+01] [-2.76493011e-02 1.28222652e-03 9.99616863e-01 -2.83371734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.561193817 meters 0.07143513530055681 Centerline is valid? [True, True] Translation: X:246.26, Y:-89.55, Z:-28.34 [[ 9.44147708e-01 3.28550077e-01 2.52972694e-02 2.46256056e+02] [-3.28395577e-01 9.44485683e-01 -1.01557236e-02 -8.95466958e+01] [-2.72295726e-02 1.28099172e-03 9.99628386e-01 -2.83388535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.591193817 meters 0.07073945862417005 Centerline is valid? [True, True] Translation: X:246.29, Y:-89.55, Z:-28.34 [[ 9.44020249e-01 3.28821458e-01 2.64994108e-02 2.46289144e+02] [-3.28651759e-01 9.44391151e-01 -1.06477794e-02 -8.95493234e+01] [-2.85270274e-02 1.34264137e-03 9.99592120e-01 -2.83394385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.621193817 meters 0.07070053384017157 Centerline is valid? [True, True] Translation: X:246.32, Y:-89.56, Z:-28.34 [[ 9.43905026e-01 3.29027202e-01 2.80071941e-02 2.46321289e+02] [-3.28837228e-01 9.44319364e-01 -1.12701744e-02 -8.95568001e+01] [-3.01559297e-02 1.42816620e-03 9.99544186e-01 -2.83409271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.651193817 meters 0.07211041132102819 Centerline is valid? [True, True] Translation: X:246.35, Y:-89.57, Z:-28.34 [[ 9.43862161e-01 3.29074455e-01 2.88829445e-02 2.46350542e+02] [-3.28872478e-01 9.44302834e-01 -1.16211207e-02 -8.95659906e+01] [-3.10984604e-02 1.46993059e-03 9.99515245e-01 -2.83435822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.681193817 meters 0.07279516270106164 Centerline is valid? [True, True] Translation: X:246.38, Y:-89.57, Z:-28.34 [[ 9.44484966e-01 3.27180429e-01 3.00185855e-02 2.46383673e+02] [-3.26960993e-01 9.44960529e-01 -1.20874904e-02 -8.95686661e+01] [-3.23211687e-02 1.60154642e-03 9.99476251e-01 -2.83449233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.711193817 meters 0.07394055183136009 Centerline is valid? [True, True] Translation: X:246.42, Y:-89.58, Z:-28.35 [[ 9.45135211e-01 3.25256538e-01 3.04568038e-02 2.46415143e+02] [-3.25029118e-01 9.45624276e-01 -1.22801216e-02 -8.95770299e+01] [-3.27948829e-02 1.70702728e-03 9.99460645e-01 -2.83471964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.741193817 meters 0.08085584629586186 Centerline is valid? [True, True] Translation: X:246.44, Y:-89.59, Z:-28.35 [[ 9.45772711e-01 3.23409019e-01 3.03411672e-02 2.46441863e+02] [-3.23182458e-01 9.46257630e-01 -1.22309810e-02 -8.95934899e+01] [-3.26661705e-02 1.76199508e-03 9.99464765e-01 -2.83546536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.771193817 meters 0.07800620098577912 Centerline is valid? [True, True] Translation: X:246.47, Y:-89.59, Z:-28.35 [[ 9.46828606e-01 3.20340370e-01 2.99606051e-02 2.46474771e+02] [-3.20117408e-01 9.47300686e-01 -1.20936256e-02 -8.95948010e+01] [-3.22557782e-02 1.85967946e-03 9.99477917e-01 -2.83540550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.801193817 meters 0.08366729707601224 Centerline is valid? [True, True] Translation: X:246.50, Y:-89.60, Z:-28.36 [[ 9.48599111e-01 3.14990129e-01 3.06748236e-02 2.46503208e+02] [-3.14753571e-01 9.49092642e-01 -1.23833070e-02 -8.96038889e+01] [-3.30138688e-02 2.09178377e-03 9.99452705e-01 -2.83564762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.831193817 meters 0.07754624379273901 Centerline is valid? [True, True] Translation: X:246.54, Y:-89.60, Z:-28.35 [[ 9.49217853e-01 3.13032940e-01 3.15570346e-02 2.46538990e+02] [-3.12781587e-01 9.49739676e-01 -1.27368282e-02 -8.96012647e+01] [-3.39580146e-02 2.21956532e-03 9.99420796e-01 -2.83529982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.861193817 meters 0.08669672970443466 Centerline is valid? [True, True] Translation: X:246.56, Y:-89.62, Z:-28.36 [[ 9.49725539e-01 3.11456868e-01 3.18750685e-02 2.46564742e+02] [-3.11199612e-01 9.50257515e-01 -1.28630317e-02 -8.96197314e+01] [-3.42958030e-02 2.29684078e-03 9.99409087e-01 -2.83604126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.891193817 meters 0.08821857369073517 Centerline is valid? [True, True] Translation: X:246.60, Y:-89.63, Z:-28.36 [[ 9.50233847e-01 3.10011125e-01 3.08016098e-02 2.46596206e+02] [-3.09769604e-01 9.50730182e-01 -1.24464504e-02 -8.96257328e+01] [-3.31425582e-02 2.28563593e-03 9.99448021e-01 -2.83638595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.921193817 meters 0.08950240324931084 Centerline is valid? [True, True] Translation: X:246.63, Y:-89.62, Z:-28.37 [[ 9.50911261e-01 3.08110792e-01 2.89052411e-02 2.46630484e+02] [-3.07897199e-01 9.51347920e-01 -1.16811705e-02 -8.96224965e+01] [-3.10980357e-02 2.20791380e-03 9.99513901e-01 -2.83698628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.951193817 meters 0.0889846136094439 Centerline is valid? [True, True] Translation: X:246.66, Y:-89.63, Z:-28.37 [[ 9.51039433e-01 3.07925389e-01 2.65697563e-02 2.46663465e+02] [-3.07744858e-01 9.51408332e-01 -1.07372228e-02 -8.96265112e+01] [-2.85849511e-02 2.03481641e-03 9.99589296e-01 -2.83732291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.981193817 meters 0.08998964930511678 Centerline is valid? [True, True] Translation: X:246.69, Y:-89.63, Z:-28.38 [[ 9.50814362e-01 3.08758675e-01 2.49024192e-02 2.46694256e+02] [-3.08600495e-01 9.51138554e-01 -1.00591095e-02 -8.96319541e+01] [-2.67914883e-02 1.87944686e-03 9.99639277e-01 -2.83780139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.011193817 meters 0.08240826594768283 Centerline is valid? [True, True] Translation: X:246.73, Y:-89.62, Z:-28.38 [[ 9.50653117e-01 3.09370558e-01 2.34202543e-02 2.46731524e+02] [-3.09230734e-01 9.50939944e-01 -9.46447564e-03 -8.96249530e+01] [-2.51992854e-02 1.75517086e-03 9.99680907e-01 -2.83754260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.041193817 meters 0.08781273822008874 Centerline is valid? [True, True] Translation: X:246.76, Y:-89.64, Z:-28.38 [[ 9.50150439e-01 3.10912941e-01 2.33941715e-02 2.46760073e+02] [-3.10773525e-01 9.50436828e-01 -9.46853612e-03 -8.96351299e+01] [-2.51785726e-02 1.72624460e-03 9.99681479e-01 -2.83818748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.071193817 meters 0.0813694299059968 Centerline is valid? [True, True] Translation: X:246.80, Y:-89.62, Z:-28.38 [[ 9.49197533e-01 3.13633384e-01 2.56542946e-02 2.46800058e+02] [-3.13466485e-01 9.49542406e-01 -1.03914069e-02 -8.96189615e+01] [-2.76189328e-02 1.82173627e-03 9.99616865e-01 -2.83795877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.101193817 meters 0.08004760469358821 Centerline is valid? [True, True] Translation: X:246.83, Y:-89.62, Z:-28.38 [[ 9.48690643e-01 3.15045286e-01 2.70653316e-02 2.46833117e+02] [-3.14860089e-01 9.49074780e-01 -1.09629380e-02 -8.96204492e+01] [-2.91408456e-02 1.87864401e-03 9.99573550e-01 -2.83801732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.131193817 meters 0.08050086991098222 Centerline is valid? [True, True] Translation: X:246.86, Y:-89.63, Z:-28.38 [[ 9.48429007e-01 3.15732490e-01 2.82030702e-02 2.46864784e+02] [-3.15531768e-01 9.48846277e-01 -1.14213120e-02 -8.96252789e+01] [-3.03664574e-02 1.93333902e-03 9.99536963e-01 -2.83810297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.161193817 meters 0.07866749000208062 Centerline is valid? [True, True] Translation: X:246.90, Y:-89.63, Z:-28.38 [[ 9.48272697e-01 3.16011344e-01 3.02608960e-02 2.46898798e+02] [-3.15780304e-01 9.48753158e-01 -1.22573973e-02 -8.96279064e+01] [-3.25835973e-02 2.06756024e-03 9.99466875e-01 -2.83786455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.191193817 meters 0.0808873790630118 Centerline is valid? [True, True] Translation: X:246.93, Y:-89.63, Z:-28.38 [[ 9.48438610e-01 3.15033676e-01 3.48996721e-02 2.46932952e+02] [-3.14725113e-01 9.49077362e-01 -1.41514642e-02 -8.96277344e+01] [-3.75806765e-02 2.43799185e-03 9.99290623e-01 -2.83782478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.221193817 meters 0.08281663718628322 Centerline is valid? [True, True] Translation: X:246.96, Y:-89.63, Z:-28.38 [[ 9.49063970e-01 3.13111958e-01 3.51920720e-02 2.46963085e+02] [-3.12796317e-01 9.49712800e-01 -1.42850456e-02 -8.96330611e+01] [-3.78951798e-02 2.54947158e-03 9.99278467e-01 -2.83802171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.251193817 meters 0.08451285398755416 Centerline is valid? [True, True] Translation: X:246.99, Y:-89.64, Z:-28.38 [[ 9.49685300e-01 3.11232861e-01 3.50989785e-02 2.46993821e+02] [-3.10917389e-01 9.50330062e-01 -1.42531148e-02 -8.96385413e+01] [-3.77916521e-02 2.62309087e-03 9.99282198e-01 -2.83835453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28119381700003 meters 0.08820392035354527 Centerline is valid? [True, True] Translation: X:247.03, Y:-89.64, Z:-28.39 [[ 9.51132781e-01 3.06928026e-01 3.37878791e-02 2.47025470e+02] [-3.06632950e-01 9.51728925e-01 -1.37217900e-02 -8.96390474e+01] [-3.63685038e-02 2.69076727e-03 9.99334825e-01 -2.83880433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.311193817 meters 0.08982208563265762 Centerline is valid? [True, True] Translation: X:247.06, Y:-89.65, Z:-28.39 [[ 9.51680763e-01 3.05263399e-01 3.34362468e-02 2.47056589e+02] [-3.04973439e-01 9.52264056e-01 -1.35782931e-02 -8.96457548e+01] [-3.59850919e-02 2.72503317e-03 9.99348612e-01 -2.83908685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.341193817 meters 0.08933569135714453 Centerline is valid? [True, True] Translation: X:247.09, Y:-89.65, Z:-28.39 [[ 9.52197242e-01 3.03615628e-01 3.37337182e-02 2.47088629e+02] [-3.03319384e-01 9.52790445e-01 -1.37010837e-02 -8.96492356e+01] [-3.63010275e-02 2.81404347e-03 9.99336938e-01 -2.83924418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.371193817 meters 0.09237613330596127 Centerline is valid? [True, True] Translation: X:247.12, Y:-89.66, Z:-28.40 [[ 9.52487400e-01 3.02643659e-01 3.42719778e-02 2.47117458e+02] [-3.02337210e-01 9.53099375e-01 -1.39209753e-02 -8.96570134e+01] [-3.68776955e-02 2.89785937e-03 9.99315585e-01 -2.83952385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.401193817 meters 0.0904407355263475 Centerline is valid? [True, True] Translation: X:247.15, Y:-89.65, Z:-28.40 [[ 9.52118706e-01 3.03766767e-01 3.45792004e-02 2.47151845e+02] [-3.03455462e-01 9.52742067e-01 -1.40476510e-02 -8.96488193e+01] [-3.72122684e-02 2.88178411e-03 9.99303228e-01 -2.83962690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.431193817 meters 0.09122487885746415 Centerline is valid? [True, True] Translation: X:247.18, Y:-89.65, Z:-28.40 [[ 9.51511994e-01 3.05627822e-01 3.48792104e-02 2.47181123e+02] [-3.05312463e-01 9.52146851e-01 -1.41659546e-02 -8.96527255e+01] [-3.75396402e-02 2.83001802e-03 9.99291132e-01 -2.83988992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.461193817 meters 0.08857340371235262 Centerline is valid? [True, True] Translation: X:247.21, Y:-89.65, Z:-28.40 [[ 9.50729868e-01 3.08082785e-01 3.46080378e-02 2.47213504e+02] [-3.07774045e-01 9.51355696e-01 -1.40526634e-02 -8.96522261e+01] [-3.72539376e-02 2.70883105e-03 9.99302160e-01 -2.84007721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.491193817 meters 0.08609352266861196 Centerline is valid? [True, True] Translation: X:247.25, Y:-89.65, Z:-28.40 [[ 9.49815704e-01 3.10884332e-01 3.46563189e-02 2.47246346e+02] [-3.10576609e-01 9.50444192e-01 -1.40715233e-02 -8.96518132e+01] [-3.73135131e-02 2.60191183e-03 9.99300221e-01 -2.84025487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.521193817 meters 0.0825137489765546 Centerline is valid? [True, True] Translation: X:247.28, Y:-89.64, Z:-28.40 [[ 9.47523232e-01 3.17702292e-01 3.55665340e-02 2.47281829e+02] [-3.17382959e-01 9.48187491e-01 -1.44408859e-02 -8.96411248e+01] [-3.83116452e-02 2.39486303e-03 9.99262970e-01 -2.84046853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.551193817 meters 0.08104353148961228 Centerline is valid? [True, True] Translation: X:247.31, Y:-89.64, Z:-28.41 [[ 9.46550138e-01 3.20503148e-01 3.63396371e-02 2.47312646e+02] [-3.20171907e-01 9.47244587e-01 -1.47527323e-02 -8.96429593e+01] [-3.91508216e-02 2.32926989e-03 9.99230598e-01 -2.84060640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.581193817 meters 0.07123792453590602 Centerline is valid? [True, True] Translation: X:247.35, Y:-89.63, Z:-28.40 [[ 9.45769124e-01 3.22733394e-01 3.69313008e-02 2.47349438e+02] [-3.22393023e-01 9.46487187e-01 -1.49914809e-02 -8.96315365e+01] [-3.97932545e-02 2.27208604e-03 9.99205352e-01 -2.84021738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.611193817 meters 0.07554853866594931 Centerline is valid? [True, True] Translation: X:247.38, Y:-89.64, Z:-28.41 [[ 9.45326905e-01 3.23966157e-01 3.74562551e-02 2.47375256e+02] [-3.23617038e-01 9.46065993e-01 -1.52036109e-02 -8.96426461e+01] [-4.03615446e-02 2.25090012e-03 9.99182606e-01 -2.84068384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.641193817 meters 0.071226611583145 Centerline is valid? [True, True] Translation: X:247.41, Y:-89.64, Z:-28.41 [[ 9.45087652e-01 3.24660229e-01 3.74842205e-02 2.47408002e+02] [-3.24311101e-01 9.45828098e-01 -1.52157370e-02 -8.96395698e+01] [-4.03935736e-02 2.22365637e-03 9.99181372e-01 -2.84065627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.671193817 meters 0.07019969951776733 Centerline is valid? [True, True] Translation: X:247.44, Y:-89.64, Z:-28.41 [[ 9.44830852e-01 3.25586743e-01 3.58877977e-02 2.47440485e+02] [-3.25267822e-01 9.45509886e-01 -1.45567786e-02 -8.96363084e+01] [-3.86717616e-02 2.08054777e-03 9.99249802e-01 -2.84095656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.701193817 meters 0.07019641655034062 Centerline is valid? [True, True] Translation: X:247.47, Y:-89.64, Z:-28.41 [[ 9.44838940e-01 3.25666901e-01 3.49349006e-02 2.47468840e+02] [-3.25365137e-01 9.45482427e-01 -1.41600769e-02 -8.96411309e+01] [-3.76418030e-02 2.01239330e-03 9.99289270e-01 -2.84123520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.731193817 meters 0.07925487294588131 Centerline is valid? [True, True] Translation: X:247.49, Y:-89.66, Z:-28.42 [[ 9.44629959e-01 3.26308203e-01 3.46005248e-02 2.47490138e+02] [-3.26013311e-01 9.45261420e-01 -1.40060047e-02 -8.96610462e+01] [-3.72768154e-02 1.95025998e-03 9.99303075e-01 -2.84216184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.761193817 meters 0.06961628245282687 Centerline is valid? [True, True] Translation: X:247.53, Y:-89.65, Z:-28.42 [[ 9.43081168e-01 3.30680685e-01 3.53298204e-02 2.47529060e+02] [-3.30376516e-01 9.43740966e-01 -1.42949711e-02 -8.96467517e+01] [-3.80692696e-02 1.80917509e-03 9.99273465e-01 -2.84169042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.791193817 meters 0.06780589988419995 Centerline is valid? [True, True] Translation: X:247.56, Y:-89.65, Z:-28.42 [[ 9.42220279e-01 3.33163004e-01 3.49765420e-02 2.47558982e+02] [-3.32866567e-01 9.42867726e-01 -1.41527647e-02 -8.96491439e+01] [-3.76934302e-02 1.69250047e-03 9.99287917e-01 -2.84182602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.821193817 meters 0.06780589988419995 Centerline is valid? [True, True] Translation: X:247.58, Y:-89.66, Z:-28.42 [[ 9.42324832e-01 3.32867263e-01 3.49756388e-02 2.47584516e+02] [-3.32570540e-01 9.42972148e-01 -1.41550007e-02 -8.96592128e+01] [-3.76927896e-02 1.70674157e-03 9.99287917e-01 -2.84199263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.851193817 meters 0.06680862484580531 Centerline is valid? [True, True] Translation: X:247.61, Y:-89.66, Z:-28.42 [[ 9.41387831e-01 3.35520727e-01 3.48538768e-02 2.47613952e+02] [-3.35228413e-01 9.42031496e-01 -1.40915322e-02 -8.96640396e+01] [-3.75614508e-02 1.58158715e-03 9.99293068e-01 -2.84221928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.881193817 meters 0.06573633801437337 Centerline is valid? [True, True] Translation: X:247.64, Y:-89.67, Z:-28.42 [[ 9.40353836e-01 3.38448427e-01 3.44575934e-02 2.47641976e+02] [-3.38165200e-01 9.40983849e-01 -1.39173894e-02 -8.96679964e+01] [-3.71343574e-02 1.43491156e-03 9.99309252e-01 -2.84246735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.911193817 meters 0.06446317145046454 Centerline is valid? [True, True] Translation: X:247.67, Y:-89.67, Z:-28.43 [[ 9.39219968e-01 3.41472263e-01 3.55323023e-02 2.47674048e+02] [-3.41173477e-01 9.39890881e-01 -1.43453856e-02 -8.96694267e+01] [-3.82950382e-02 1.35079354e-03 9.99265563e-01 -2.84256709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.941193817 meters 0.06423669952283664 Centerline is valid? [True, True] Translation: X:247.70, Y:-89.68, Z:-28.43 [[ 9.39196388e-01 3.41475279e-01 3.61217160e-02 2.47702335e+02] [-3.41166302e-01 9.39889747e-01 -1.45883022e-02 -8.96764101e+01] [-3.89319750e-02 1.37776853e-03 9.99240913e-01 -2.84260493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.971193817 meters 0.06280033906255306 Centerline is valid? [True, True] Translation: X:247.73, Y:-89.68, Z:-28.43 [[ 9.39463798e-01 3.40569815e-01 3.76825210e-02 2.47731088e+02] [-3.40233276e-01 9.40218087e-01 -1.52074296e-02 -8.96806995e+01] [-4.06089794e-02 1.46598203e-03 9.99174040e-01 -2.84250080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.001193817 meters 0.06291002733666348 Centerline is valid? [True, True] Translation: X:247.76, Y:-89.69, Z:-28.43 [[ 9.39679640e-01 3.39882127e-01 3.85008180e-02 2.47757673e+02] [-3.39530853e-01 9.40466824e-01 -1.55226529e-02 -8.96888008e+01] [-4.14846143e-02 1.51410537e-03 9.99137996e-01 -2.84258988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03119381700003 meters 0.06407569864937075 Centerline is valid? [True, True] Translation: X:247.78, Y:-89.70, Z:-28.43 [[ 9.40173480e-01 3.38518286e-01 3.84603452e-02 2.47783580e+02] [-3.38167403e-01 9.40958529e-01 -1.54872466e-02 -8.96979490e+01] [-4.14323060e-02 1.55466345e-03 9.99140104e-01 -2.84297104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.061193817 meters 0.06455341354920428 Centerline is valid? [True, True] Translation: X:247.81, Y:-89.71, Z:-28.43 [[ 9.40338098e-01 3.38230819e-01 3.69347355e-02 2.47810007e+02] [-3.37907174e-01 9.41061985e-01 -1.48688567e-02 -8.97070750e+01] [-3.97869811e-02 1.50124030e-03 9.99207057e-01 -2.84332888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.091193817 meters 0.06501793359981535 Centerline is valid? [True, True] Translation: X:247.84, Y:-89.72, Z:-28.44 [[ 9.40402181e-01 3.38169961e-01 3.58443248e-02 2.47836224e+02] [-3.37865259e-01 9.41083927e-01 -1.44259561e-02 -8.97153400e+01] [-3.86109430e-02 1.45564850e-03 9.99253259e-01 -2.84376146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.121193817 meters 0.06349984823335307 Centerline is valid? [True, True] Translation: X:247.87, Y:-89.72, Z:-28.44 [[ 9.40397237e-01 3.38301904e-01 3.47110676e-02 2.47865329e+02] [-3.38016223e-01 9.41036581e-01 -1.39709189e-02 -8.97202404e+01] [-3.73907728e-02 1.40530959e-03 9.99299732e-01 -2.84389015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.151193817 meters 0.06375098615601683 Centerline is valid? [True, True] Translation: X:247.89, Y:-89.73, Z:-28.44 [[ 9.39970081e-01 3.39583279e-01 3.37556463e-02 2.47891305e+02] [-3.39314456e-01 9.40575089e-01 -1.35721257e-02 -8.97283823e+01] [-3.63585869e-02 1.30361334e-03 9.99337958e-01 -2.84437788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.181193817 meters 0.06322221774461037 Centerline is valid? [True, True] Translation: X:247.92, Y:-89.74, Z:-28.45 [[ 9.39566017e-01 3.40754555e-01 3.31968913e-02 2.47919125e+02] [-3.40495389e-01 9.40151482e-01 -1.33447213e-02 -8.97372667e+01] [-3.57573811e-02 1.23485820e-03 9.99359737e-01 -2.84462606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.211193817 meters 0.06259711639612645 Centerline is valid? [True, True] Translation: X:247.95, Y:-89.75, Z:-28.45 [[ 9.38913275e-01 3.42538651e-01 3.33036664e-02 2.47947043e+02] [-3.42279295e-01 9.39503020e-01 -1.33775860e-02 -8.97459229e+01] [-3.58712354e-02 1.16123758e-03 9.99355745e-01 -2.84483521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.241193817 meters 0.0622318195215553 Centerline is valid? [True, True] Translation: X:247.97, Y:-89.75, Z:-28.45 [[ 9.38128513e-01 3.44684521e-01 3.32787283e-02 2.47973266e+02] [-3.44427408e-01 9.38717980e-01 -1.33534360e-02 -8.97546291e+01] [-3.58420633e-02 1.06513294e-03 9.99356899e-01 -2.84510922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.271193817 meters 0.0610160169601474 Centerline is valid? [True, True] Translation: X:248.00, Y:-89.76, Z:-28.45 [[ 9.37273983e-01 3.47075206e-01 3.25004831e-02 2.48002268e+02] [-3.46831494e-01 9.37836820e-01 -1.30389316e-02 -8.97608769e+01] [-3.50056396e-02 9.48860279e-04 9.99386664e-01 -2.84527235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.301193817 meters 0.060513862738755676 Centerline is valid? [True, True] Translation: X:248.03, Y:-89.77, Z:-28.46 [[ 9.36102228e-01 3.50296198e-01 3.17047837e-02 2.48028876e+02] [-3.50066169e-01 9.36638630e-01 -1.27182755e-02 -8.97697294e+01] [-3.41510887e-02 8.06833856e-04 9.99416356e-01 -2.84569546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.331193817 meters 0.06016531261184756 Centerline is valid? [True, True] Translation: X:248.06, Y:-89.78, Z:-28.46 [[ 9.36044571e-01 3.50417509e-01 3.20644717e-02 2.48055557e+02] [-3.50182661e-01 9.36593256e-01 -1.28521366e-02 -8.97815225e+01] [-3.45349816e-02 8.01750670e-04 9.99403168e-01 -2.84576883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.361193817 meters 0.05981699981408104 Centerline is valid? [True, True] Translation: X:248.08, Y:-89.79, Z:-28.46 [[ 9.36332327e-01 3.49628912e-01 3.22706791e-02 2.48081107e+02] [-3.49390879e-01 9.36887901e-01 -1.29257495e-02 -8.97942215e+01] [-3.47532246e-02 8.27716199e-04 9.99395581e-01 -2.84571107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.391193817 meters 0.06000531973329586 Centerline is valid? [True, True] Translation: X:248.11, Y:-89.81, Z:-28.46 [[ 9.37033713e-01 3.47725064e-01 3.24823148e-02 2.48106117e+02] [-3.47483230e-01 9.37596121e-01 -1.29969126e-02 -8.98082560e+01] [-3.49746446e-02 8.91485628e-04 9.99387802e-01 -2.84576268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.421193817 meters 0.062342865038417385 Centerline is valid? [True, True] Translation: X:248.13, Y:-89.83, Z:-28.46 [[ 9.38998819e-01 3.42520962e-01 3.09936696e-02 2.48128018e+02] [-3.42298525e-01 9.39509633e-01 -1.23842308e-02 -8.98315634e+01] [-3.33607098e-02 1.01969071e-03 9.99442856e-01 -2.84622786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.451193817 meters 0.06312740607306117 Centerline is valid? [True, True] Translation: X:248.15, Y:-89.85, Z:-28.46 [[ 9.40003131e-01 3.39805928e-01 3.04309906e-02 2.48152863e+02] [-3.39590101e-01 9.40494940e-01 -1.21585735e-02 -8.98474680e+01] [-3.27517480e-02 1.09503395e-03 9.99462918e-01 -2.84646317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.481193817 meters 0.06405538852353722 Centerline is valid? [True, True] Translation: X:248.18, Y:-89.86, Z:-28.47 [[ 9.40980079e-01 3.37236101e-01 2.87802468e-02 2.48177909e+02] [-3.37041936e-01 9.41419440e-01 -1.14965533e-02 -8.98643130e+01] [-3.09713366e-02 1.11787751e-03 9.99519648e-01 -2.84671747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.511193817 meters 0.06459346078963446 Centerline is valid? [True, True] Translation: X:248.20, Y:-89.88, Z:-28.47 [[ 9.41869320e-01 3.34768507e-01 2.84996662e-02 2.48204023e+02] [-3.34577022e-01 9.42299655e-01 -1.13831536e-02 -8.98797645e+01] [-3.06659470e-02 1.18610969e-03 9.99528985e-01 -2.84681681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.541193817 meters 0.0665678750347525 Centerline is valid? [True, True] Translation: X:248.23, Y:-89.90, Z:-28.47 [[ 9.43536922e-01 3.30027562e-01 2.86336305e-02 2.48227443e+02] [-3.29832150e-01 9.43970338e-01 -1.14347127e-02 -8.99013408e+01] [-3.08030682e-02 1.34478169e-03 9.99524568e-01 -2.84695284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.571193817 meters 0.06733047496323499 Centerline is valid? [True, True] Translation: X:248.25, Y:-89.91, Z:-28.47 [[ 9.44259989e-01 3.27943369e-01 2.87440268e-02 2.48253039e+02] [-3.27745248e-01 9.44696308e-01 -1.14864306e-02 -8.99149969e+01] [-3.09212748e-02 1.42545865e-03 9.99520807e-01 -2.84710362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.601193817 meters 0.06871616324972545 Centerline is valid? [True, True] Translation: X:248.28, Y:-89.93, Z:-28.47 [[ 9.44759712e-01 3.26568701e-01 2.79637120e-02 2.48276870e+02] [-3.26381022e-01 9.45172405e-01 -1.11603329e-02 -8.99288678e+01] [-3.00751443e-02 1.41700797e-03 9.99546636e-01 -2.84738171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.631193817 meters 0.06799469701739652 Centerline is valid? [True, True] Translation: X:248.30, Y:-89.94, Z:-28.47 [[ 9.44835667e-01 3.26411963e-01 2.72175160e-02 2.48304107e+02] [-3.26234047e-01 9.45226592e-01 -1.08644895e-02 -8.99378418e+01] [-2.92730192e-02 1.38587676e-03 9.99570493e-01 -2.84749580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.661193817 meters 0.06715980488162075 Centerline is valid? [True, True] Translation: X:248.33, Y:-89.95, Z:-28.48 [[ 9.44571960e-01 3.27147490e-01 2.75378359e-02 2.48331765e+02] [-3.26966086e-01 9.44972303e-01 -1.09783769e-02 -8.99475189e+01] [-2.96140407e-02 1.36592861e-03 9.99560475e-01 -2.84756587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.691193817 meters 0.06662596667254193 Centerline is valid? [True, True] Translation: X:248.36, Y:-89.96, Z:-28.48 [[ 9.43911689e-01 3.29003499e-01 2.80610293e-02 2.48358724e+02] [-3.28816179e-01 9.44327772e-01 -1.11794399e-02 -8.99572871e+01] [-3.01768841e-02 1.32548357e-03 9.99543695e-01 -2.84777023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.721193817 meters 0.06381966378497249 Centerline is valid? [True, True] Translation: X:248.39, Y:-89.96, Z:-28.48 [[ 9.41038737e-01 3.37316346e-01 2.57639039e-02 2.48389621e+02] [-3.37161665e-01 9.41390857e-01 -1.02599399e-02 -8.99615081e+01] [-2.77147490e-02 9.68400134e-04 9.99615403e-01 -2.84810850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.751193817 meters 0.06228998006089188 Centerline is valid? [True, True] Translation: X:248.42, Y:-89.97, Z:-28.48 [[ 9.38935202e-01 3.43149948e-01 2.54715291e-02 2.48419588e+02] [-3.43000909e-01 9.39280306e-01 -1.01431100e-02 -8.99672441e+01] [-2.74055133e-02 7.86965437e-04 9.99624089e-01 -2.84836311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78119381700003 meters 0.06096234214543482 Centerline is valid? [True, True] Translation: X:248.45, Y:-89.97, Z:-28.49 [[ 9.36743932e-01 3.49026898e-01 2.62874654e-02 2.48448458e+02] [-3.48870460e-01 9.37112491e-01 -1.04680676e-02 -8.99726923e+01] [-2.82879494e-02 6.34978638e-04 9.99599614e-01 -2.84861437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.811193817 meters 0.059584585126112505 Centerline is valid? [True, True] Translation: X:248.48, Y:-89.98, Z:-28.49 [[ 9.34883618e-01 3.53870748e-01 2.77148623e-02 2.48478906e+02] [-3.53699044e-01 9.35294194e-01 -1.10343218e-02 -8.99783576e+01] [-2.98262735e-02 5.13086435e-04 9.99554966e-01 -2.84861274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.841193817 meters 0.05887301284369929 Centerline is valid? [True, True] Translation: X:248.51, Y:-89.99, Z:-28.49 [[ 9.33574195e-01 3.57256785e-01 2.84044396e-02 2.48507172e+02] [-3.57077753e-01 9.34006109e-01 -1.13166975e-02 -8.99860229e+01] [-3.05728871e-02 4.22383318e-04 9.99532451e-01 -2.84859292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.871193817 meters 0.05848355905993242 Centerline is valid? [True, True] Translation: X:248.53, Y:-90.00, Z:-28.49 [[ 9.32941483e-01 3.58702441e-01 3.08666151e-02 2.48532524e+02] [-3.58492340e-01 9.33451876e-01 -1.22816015e-02 -8.99967301e+01] [-3.32179402e-02 3.92570452e-04 9.99448055e-01 -2.84861574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.901193817 meters 0.05810270605069187 Centerline is valid? [True, True] Translation: X:248.56, Y:-90.01, Z:-28.48 [[ 9.33365877e-01 3.57268341e-01 3.44597303e-02 2.48556696e+02] [-3.57005590e-01 9.34001654e-01 -1.37083374e-02 -9.00145622e+01] [-3.70830001e-02 4.92577988e-04 9.99312068e-01 -2.84837776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.931193817 meters 0.05869470904286635 Centerline is valid? [True, True] Translation: X:248.58, Y:-90.03, Z:-28.49 [[ 9.34094837e-01 3.55215489e-01 3.58997592e-02 2.48579540e+02] [-3.54929449e-01 9.34784263e-01 -1.42642418e-02 -9.00308527e+01] [-3.86254095e-02 5.82272883e-04 9.99253591e-01 -2.84859711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.961193817 meters 0.05879087125225925 Centerline is valid? [True, True] Translation: X:248.60, Y:-90.05, Z:-28.49 [[ 9.34858746e-01 3.53143931e-01 3.64484429e-02 2.48604486e+02] [-3.52847511e-01 9.35568760e-01 -1.44820519e-02 -9.00456513e+01] [-3.92142732e-02 6.77930531e-04 9.99230595e-01 -2.84865877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.991193817 meters 0.05924021795897237 Centerline is valid? [True, True] Translation: X:248.63, Y:-90.06, Z:-28.49 [[ 9.35324074e-01 3.51995111e-01 3.56134441e-02 2.48628192e+02] [-3.51711884e-01 9.36001580e-01 -1.41347774e-02 -9.00604855e+01] [-3.83096125e-02 6.94926092e-04 9.99265676e-01 -2.84894699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.021193817 meters 0.059893256639608636 Centerline is valid? [True, True] Translation: X:248.65, Y:-90.08, Z:-28.50 [[ 9.35465465e-01 3.51830022e-01 3.34663959e-02 2.48651420e+02] [-3.51579947e-01 9.36063676e-01 -1.32791265e-02 -9.00776120e+01] [-3.59986729e-02 6.56050526e-04 9.99351622e-01 -2.84956802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.051193817 meters 0.05995231284481518 Centerline is valid? [True, True] Translation: X:248.68, Y:-90.09, Z:-28.50 [[ 9.35533229e-01 3.51885849e-01 3.08857133e-02 2.48676816e+02] [-3.51672825e-01 9.36042725e-01 -1.22573135e-02 -9.00902824e+01] [-3.32235224e-02 6.05458070e-04 9.99447763e-01 -2.84998089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.081193817 meters 0.0603543235853677 Centerline is valid? [True, True] Translation: X:248.70, Y:-90.10, Z:-28.51 [[ 9.35462460e-01 3.52232052e-01 2.90270056e-02 2.48700818e+02] [-3.52044448e-01 9.35912540e-01 -1.15075254e-02 -9.01034246e+01] [-3.12200578e-02 5.46061914e-04 9.99512386e-01 -2.85050732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.111193817 meters 0.05983918514926742 Centerline is valid? [True, True] Translation: X:248.73, Y:-90.12, Z:-28.51 [[ 9.35366932e-01 3.52712079e-01 2.61322148e-02 2.48726394e+02] [-3.52560174e-01 9.35731778e-01 -1.03616131e-02 -9.01169796e+01] [-2.81074099e-02 4.78732086e-04 9.99604794e-01 -2.85071351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.141193817 meters 0.06020638556574352 Centerline is valid? [True, True] Translation: X:248.75, Y:-90.13, Z:-28.51 [[ 9.35573505e-01 3.52267060e-01 2.47009177e-02 2.48751747e+02] [-3.52131384e-01 9.35899411e-01 -9.78673706e-03 -9.01304310e+01] [-2.65651195e-02 4.58243556e-04 9.99646980e-01 -2.85111281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.171193817 meters 0.06049741175126117 Centerline is valid? [True, True] Translation: X:248.78, Y:-90.14, Z:-28.51 [[ 9.35961471e-01 3.51261715e-01 2.43173495e-02 2.48776047e+02] [-3.51130266e-01 9.36277198e-01 -9.62002583e-03 -9.01436972e+01] [-2.61469266e-02 4.65416103e-04 9.99658002e-01 -2.85138800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.201193817 meters 0.06122706691644922 Centerline is valid? [True, True] Translation: X:248.80, Y:-90.16, Z:-28.52 [[ 9.36535967e-01 3.49728181e-01 2.43018949e-02 2.48800025e+02] [-3.49596460e-01 9.36851079e-01 -9.61098863e-03 -9.01581077e+01] [-2.61284901e-02 5.05180081e-04 9.99658465e-01 -2.85170091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.231193817 meters 0.061103508674273985 Centerline is valid? [True, True] Translation: X:248.82, Y:-90.17, Z:-28.52 [[ 9.37216985e-01 3.47810412e-01 2.55390163e-02 2.48824606e+02] [-3.47664093e-01 9.37564700e-01 -1.01050104e-02 -9.01712129e+01] [-2.74591080e-02 5.91588484e-04 9.99622753e-01 -2.85161945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.261193817 meters 0.062403110555077274 Centerline is valid? [True, True] Translation: X:248.85, Y:-90.19, Z:-28.52 [[ 9.38836950e-01 3.43405077e-01 2.56541437e-02 2.48846661e+02] [-3.43256320e-01 9.39187124e-01 -1.01313283e-02 -9.01924420e+01] [-2.75731910e-02 7.05718373e-04 9.99619538e-01 -2.85179485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.291193817 meters 0.06346458488008797 Centerline is valid? [True, True] Translation: X:248.87, Y:-90.21, Z:-28.52 [[ 9.39746721e-01 3.40882441e-01 2.59857812e-02 2.48869859e+02] [-3.40728789e-01 9.40105597e-01 -1.02644000e-02 -9.02079814e+01] [-2.79283321e-02 7.91832451e-04 9.99609614e-01 -2.85204390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.321193817 meters 0.06385359153400878 Centerline is valid? [True, True] Translation: X:248.89, Y:-90.22, Z:-28.52 [[ 9.40810036e-01 3.37975909e-01 2.54708019e-02 2.48894941e+02] [-3.37827251e-01 9.41154369e-01 -1.00599408e-02 -9.02222231e+01] [-2.73719741e-02 8.59762234e-04 9.99624948e-01 -2.85209658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.351193817 meters 0.06505064153828544 Centerline is valid? [True, True] Translation: X:248.92, Y:-90.24, Z:-28.52 [[ 9.41674405e-01 3.35621708e-01 2.46451761e-02 2.48919792e+02] [-3.35482142e-01 9.41996438e-01 -9.71821780e-03 -9.02385000e+01] [-2.64773130e-02 8.83380487e-04 9.99649024e-01 -2.85236946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.381193817 meters 0.06775449614594456 Centerline is valid? [True, True] Translation: X:248.94, Y:-90.26, Z:-28.53 [[ 9.43460636e-01 3.30550708e-01 2.48647781e-02 2.48942164e+02] [-3.30406930e-01 9.43787668e-01 -9.80297550e-03 -9.02595718e+01] [-2.67074514e-02 1.03322651e-03 9.99642758e-01 -2.85257509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.411193817 meters 0.06829114341265298 Centerline is valid? [True, True] Translation: X:248.97, Y:-90.27, Z:-28.53 [[ 9.44102155e-01 3.28697359e-01 2.50831975e-02 2.48967724e+02] [-3.28550227e-01 9.44434664e-01 -9.89519351e-03 -9.02729091e+01] [-2.69419652e-02 1.10098329e-03 9.99636393e-01 -2.85270339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.441193817 meters 0.06959144290676211 Centerline is valid? [True, True] Translation: X:248.99, Y:-90.29, Z:-28.53 [[ 9.44991817e-01 3.26111817e-01 2.53288202e-02 2.48993219e+02] [-3.25961089e-01 9.45330468e-01 -9.98369352e-03 -9.02873296e+01] [-2.71999059e-02 1.17829884e-03 9.99629320e-01 -2.85288426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.471193817 meters 0.07084446274160618 Centerline is valid? [True, True] Translation: X:249.02, Y:-90.30, Z:-28.53 [[ 9.45645698e-01 3.24275574e-01 2.44860471e-02 2.49018923e+02] [-3.24134511e-01 9.45961929e-01 -9.63574784e-03 -9.03022860e+01] [-2.62875060e-02 1.17523059e-03 9.99653733e-01 -2.85308429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.501193817 meters 0.06993029398280107 Centerline is valid? [True, True] Translation: X:249.05, Y:-90.31, Z:-28.53 [[ 9.47274841e-01 3.19429557e-01 2.52018495e-02 2.49046369e+02] [-3.19278461e-01 9.47609068e-01 -9.91558999e-03 -9.03148980e+01] [-2.70488336e-02 1.34638121e-03 9.99633207e-01 -2.85279897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53119381700003 meters 0.07655526355941604 Centerline is valid? [True, True] Translation: X:249.07, Y:-90.34, Z:-28.53 [[ 9.48314189e-01 3.16290416e-01 2.57015854e-02 2.49068254e+02] [-3.16132094e-01 9.48661281e-01 -1.01130397e-02 -9.03369094e+01] [-2.75807565e-02 1.46524303e-03 9.99618505e-01 -2.85346295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.561193817 meters 0.07378732944009452 Centerline is valid? [True, True] Translation: X:249.10, Y:-90.34, Z:-28.53 [[ 9.49200770e-01 3.13674241e-01 2.50273719e-02 2.49097739e+02] [-3.13523278e-01 9.49529476e-01 -9.84524041e-03 -9.03432294e+01] [-2.68524256e-02 1.49844609e-03 9.99638286e-01 -2.85318063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.591193817 meters 0.07286842897585981 Centerline is valid? [True, True] Translation: X:249.13, Y:-90.35, Z:-28.53 [[ 9.49879120e-01 3.11598594e-01 2.52184983e-02 2.49125820e+02] [-3.11444598e-01 9.50212532e-01 -9.92003439e-03 -9.03520334e+01] [-2.70540019e-02 1.56866848e-03 9.99632743e-01 -2.85310724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.621193817 meters 0.07796460817418938 Centerline is valid? [True, True] Translation: X:249.15, Y:-90.37, Z:-28.53 [[ 9.51397378e-01 3.06822800e-01 2.65103529e-02 2.49150305e+02] [-3.06650872e-01 9.51764977e-01 -1.04245704e-02 -9.03702938e+01] [-2.84301212e-02 1.78848610e-03 9.99594182e-01 -2.85336746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.651193817 meters 0.0798061722061674 Centerline is valid? [True, True] Translation: X:249.18, Y:-90.38, Z:-28.53 [[ 9.52024787e-01 3.04703708e-01 2.83629327e-02 2.49175089e+02] [-3.04505843e-01 9.52445121e-01 -1.11571552e-02 -9.03819749e+01] [-3.04137634e-02 1.98520955e-03 9.99535423e-01 -2.85337752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.681193817 meters 0.08120138239417829 Centerline is valid? [True, True] Translation: X:249.20, Y:-90.39, Z:-28.53 [[ 9.52779663e-01 3.02176131e-01 3.00083162e-02 2.49202511e+02] [-3.01953731e-01 9.53249627e-01 -1.17937627e-02 -9.03937228e+01] [-3.21692098e-02 2.17573422e-03 9.99480069e-01 -2.85339416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.711193817 meters 0.08120138239417829 Centerline is valid? [True, True] Translation: X:249.23, Y:-90.40, Z:-28.54 [[ 9.52815083e-01 3.02064463e-01 3.00079664e-02 2.49228182e+02] [-3.01841979e-01 9.53285008e-01 -1.17946534e-02 -9.04036433e+01] [-3.21688901e-02 2.18045970e-03 9.99480069e-01 -2.85356117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.741193817 meters 0.07887988325587288 Centerline is valid? [True, True] Translation: X:249.26, Y:-90.41, Z:-28.53 [[ 9.53150409e-01 3.00997058e-01 3.00843678e-02 2.49257115e+02] [-3.00773078e-01 9.53622491e-01 -1.18194889e-02 -9.04085471e+01] [-3.22467612e-02 2.21718280e-03 9.99477479e-01 -2.85349879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.771193817 meters 0.08020405507422353 Centerline is valid? [True, True] Translation: X:249.29, Y:-90.42, Z:-28.54 [[ 9.54068935e-01 2.98123639e-01 2.95764043e-02 2.49286337e+02] [-2.97905933e-01 9.54524562e-01 -1.16153496e-02 -9.04153796e+01] [-3.16942147e-02 2.27085786e-03 9.99495032e-01 -2.85374152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.801193817 meters 0.0866039818179212 Centerline is valid? [True, True] Translation: X:249.31, Y:-90.43, Z:-28.54 [[ 9.54456538e-01 2.96904343e-01 2.93347630e-02 2.49310244e+02] [-2.96689590e-01 9.54904473e-01 -1.15210185e-02 -9.04315947e+01] [-3.14325369e-02 2.29299265e-03 9.99503246e-01 -2.85428916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.831193817 meters 0.08173647536543638 Centerline is valid? [True, True] Translation: X:249.34, Y:-90.43, Z:-28.54 [[ 9.54601876e-01 2.96488707e-01 2.88045893e-02 2.49341183e+02] [-2.96281500e-01 9.55033676e-01 -1.13115146e-02 -9.04311173e+01] [-3.08630891e-02 2.26372612e-03 9.99521058e-01 -2.85419991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.861193817 meters 0.0796584207895803 Centerline is valid? [True, True] Translation: X:249.37, Y:-90.43, Z:-28.54 [[ 9.54644487e-01 2.96353043e-01 2.87884884e-02 2.49370307e+02] [-2.96146046e-01 9.55075777e-01 -1.13039241e-02 -9.04346110e+01] [-3.08451402e-02 2.26563179e-03 9.99521608e-01 -2.85429662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.891193817 meters 0.07908582799214017 Centerline is valid? [True, True] Translation: X:249.40, Y:-90.43, Z:-28.54 [[ 9.54710392e-01 2.96240942e-01 2.77375522e-02 2.49401365e+02] [-2.96048889e-01 9.55110750e-01 -1.08862266e-02 -9.04335334e+01] [-2.97173804e-02 2.18152215e-03 9.99555961e-01 -2.85449515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.921193817 meters 0.08002339545334171 Centerline is valid? [True, True] Translation: X:249.43, Y:-90.44, Z:-28.55 [[ 9.54586328e-01 2.96571090e-01 2.84698204e-02 2.49429186e+02] [-2.96368974e-01 9.55008184e-01 -1.11713768e-02 -9.04383740e+01] [-3.05020189e-02 2.22647206e-03 9.99532225e-01 -2.85468922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.951193817 meters 0.08035586973259509 Centerline is valid? [True, True] Translation: X:249.46, Y:-90.44, Z:-28.55 [[ 9.54628283e-01 2.96397510e-01 2.88679375e-02 2.49458147e+02] [-2.96189551e-01 9.55061979e-01 -1.13298721e-02 -9.04419750e+01] [-3.09288154e-02 2.26543490e-03 9.99519022e-01 -2.85483000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.981193817 meters 0.07775504932197412 Centerline is valid? [True, True] Translation: X:249.49, Y:-90.44, Z:-28.55 [[ 9.54629407e-01 2.96441634e-01 2.83734707e-02 2.49488490e+02] [-2.96240983e-01 9.55048395e-01 -1.11284510e-02 -9.04410234e+01] [-3.03969738e-02 2.21816171e-03 9.99535444e-01 -2.85481267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.011193817 meters 0.07831155470819529 Centerline is valid? [True, True] Translation: X:249.52, Y:-90.44, Z:-28.55 [[ 9.54258269e-01 2.97747134e-01 2.71624846e-02 2.49517811e+02] [-2.97564282e-01 9.54642536e-01 -1.06361000e-02 -9.04414788e+01] [-2.90973315e-02 2.06700113e-03 9.99574446e-01 -2.85517828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.041193817 meters 0.07853589614157666 Centerline is valid? [True, True] Translation: X:249.54, Y:-90.45, Z:-28.56 [[ 9.53887280e-01 2.99108004e-01 2.51685937e-02 2.49544961e+02] [-2.98951511e-01 9.54217419e-01 -9.85448804e-03 -9.04468645e+01] [-2.69638668e-02 1.87588168e-03 9.99634649e-01 -2.85565009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.071193817 meters 0.08001984398214476 Centerline is valid? [True, True] Translation: X:249.57, Y:-90.45, Z:-28.56 [[ 9.53535908e-01 3.00261432e-01 2.47456049e-02 2.49572440e+02] [-3.00110533e-01 9.53855223e-01 -9.68923773e-03 -9.04533532e+01] [-2.65130289e-02 1.81261942e-03 9.99646824e-01 -2.85615332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.101193817 meters 0.0764452856422383 Centerline is valid? [True, True] Translation: X:249.60, Y:-90.45, Z:-28.56 [[ 9.52830250e-01 3.02583281e-01 2.36193425e-02 2.49603929e+02] [-3.02446869e-01 9.53121513e-01 -9.23432103e-03 -9.04522952e+01] [-2.53062546e-02 1.65514423e-03 9.99678375e-01 -2.85622344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.131193817 meters 0.07553408039437921 Centerline is valid? [True, True] Translation: X:249.63, Y:-90.46, Z:-28.56 [[ 9.51947207e-01 3.05327912e-01 2.39035773e-02 2.49633641e+02] [-3.05189155e-01 9.52245931e-01 -9.34163393e-03 -9.04552844e+01] [-2.56143458e-02 1.59762977e-03 9.99670622e-01 -2.85639849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.161193817 meters 0.07100558701905849 Centerline is valid? [True, True] Translation: X:249.67, Y:-90.45, Z:-28.56 [[ 9.49541949e-01 3.12690083e-01 2.43926034e-02 2.49668849e+02] [-3.12548036e-01 9.49854134e-01 -9.53144602e-03 -9.04466795e+01] [-2.61498038e-02 1.42664755e-03 9.99657017e-01 -2.85640414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.191193817 meters 0.06938887167202905 Centerline is valid? [True, True] Translation: X:249.70, Y:-90.45, Z:-28.57 [[ 9.48064274e-01 3.17102569e-01 2.49016775e-02 2.49699002e+02] [-3.16956073e-01 9.48390314e-01 -9.72929472e-03 -9.04487028e+01] [-2.67016941e-02 1.33125881e-03 9.99642560e-01 -2.85654803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.221193817 meters 0.0669936935977518 Centerline is valid? [True, True] Translation: X:249.73, Y:-90.45, Z:-28.57 [[ 9.45966441e-01 3.23415330e-01 2.34524447e-02 2.49732492e+02] [-3.23287362e-01 9.46256492e-01 -9.16152822e-03 -9.04459070e+01] [-2.51550067e-02 1.08461927e-03 9.99682974e-01 -2.85681800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.251193817 meters 0.06606589512574697 Centerline is valid? [True, True] Translation: X:249.76, Y:-90.45, Z:-28.57 [[ 9.45129605e-01 3.25801825e-01 2.41495538e-02 2.49762226e+02] [-3.25666887e-01 9.45437498e-01 -9.43478935e-03 -9.04524233e+01] [-2.59057653e-02 1.05238873e-03 9.99663835e-01 -2.85701063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28119381700003 meters 0.06524500151691641 Centerline is valid? [True, True] Translation: X:249.79, Y:-90.46, Z:-28.57 [[ 9.44556387e-01 3.27434290e-01 2.44952656e-02 2.49790850e+02] [-3.27295861e-01 9.44873394e-01 -9.57545515e-03 -9.04592901e+01] [-2.62802571e-02 1.02735828e-03 9.99654086e-01 -2.85718145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.311193817 meters 0.06486410181709937 Centerline is valid? [True, True] Translation: X:249.82, Y:-90.47, Z:-28.57 [[ 9.44362642e-01 3.27928017e-01 2.53459216e-02 2.49818612e+02] [-3.27780185e-01 9.44702138e-01 -9.90048716e-03 -9.04668491e+01] [-2.71909934e-02 1.04175935e-03 9.99629714e-01 -2.85730846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.341193817 meters 0.06460447715601995 Centerline is valid? [True, True] Translation: X:249.85, Y:-90.47, Z:-28.57 [[ 9.44189322e-01 3.28498033e-01 2.44042111e-02 2.49846432e+02] [-3.28361325e-01 9.44504144e-01 -9.52691269e-03 -9.04714663e+01] [-2.61794506e-02 9.81810134e-04 9.99656777e-01 -2.85748175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.371193817 meters 0.06450777183562538 Centerline is valid? [True, True] Translation: X:249.87, Y:-90.48, Z:-28.58 [[ 9.44122754e-01 3.28747400e-01 2.36087378e-02 2.49873050e+02] [-3.28619742e-01 9.44417424e-01 -9.20834771e-03 -9.04791772e+01] [-2.53237237e-02 9.35513274e-04 9.99678865e-01 -2.85771759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.401193817 meters 0.06479739448207744 Centerline is valid? [True, True] Translation: X:249.90, Y:-90.49, Z:-28.58 [[ 9.44057138e-01 3.28961161e-01 2.32524116e-02 2.49898210e+02] [-3.28837769e-01 9.44343021e-01 -9.05427336e-03 -9.04879166e+01] [-2.49367569e-02 9.01480252e-04 9.99688624e-01 -2.85803860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.431193817 meters 0.06536364507370522 Centerline is valid? [True, True] Translation: X:249.92, Y:-90.50, Z:-28.58 [[ 9.44259190e-01 3.28426662e-01 2.25944766e-02 2.49924337e+02] [-3.28310075e-01 9.44529058e-01 -8.79508786e-03 -9.04980425e+01] [-2.42296810e-02 8.86848254e-04 9.99706025e-01 -2.85836538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.461193817 meters 0.06601112595153173 Centerline is valid? [True, True] Translation: X:249.95, Y:-90.51, Z:-28.59 [[ 9.44518536e-01 3.27687532e-01 2.24859107e-02 2.49950093e+02] [-3.27571992e-01 9.44785732e-01 -8.74710155e-03 -9.05082694e+01] [-2.41106837e-02 8.96045008e-04 9.99708894e-01 -2.85870945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.491193817 meters 0.06588025250827174 Centerline is valid? [True, True] Translation: X:249.98, Y:-90.52, Z:-28.59 [[ 9.44800883e-01 3.26870763e-01 2.25121319e-02 2.49977705e+02] [-3.26754618e-01 9.45068597e-01 -8.76162487e-03 -9.05178364e+01] [-2.41394280e-02 9.22047846e-04 9.99708176e-01 -2.85878633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.521193817 meters 0.06713696565723709 Centerline is valid? [True, True] Translation: X:250.00, Y:-90.53, Z:-28.59 [[ 9.45458026e-01 3.24821357e-01 2.44991399e-02 2.50003108e+02] [-3.24683523e-01 9.45774811e-01 -9.51929827e-03 -9.05293922e+01] [-2.62627408e-02 1.04562988e-03 9.99654528e-01 -2.85899383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.551193817 meters 0.06778868724703885 Centerline is valid? [True, True] Translation: X:250.03, Y:-90.54, Z:-28.59 [[ 9.45957202e-01 3.23391937e-01 2.41376697e-02 2.50029390e+02] [-3.23257744e-01 9.46264507e-01 -9.37624417e-03 -9.05399726e+01] [-2.58728218e-02 1.06683707e-03 9.99664673e-01 -2.85917851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.581193817 meters 0.06894785304138205 Centerline is valid? [True, True] Translation: X:250.06, Y:-90.55, Z:-28.59 [[ 9.46728621e-01 3.21087509e-01 2.46521793e-02 2.50055537e+02] [-3.20946664e-01 9.47048823e-01 -9.57945136e-03 -9.05512438e+01] [-2.64226596e-02 1.15710607e-03 9.99650191e-01 -2.85935150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.611193817 meters 0.07035466296049411 Centerline is valid? [True, True] Translation: X:250.08, Y:-90.56, Z:-28.60 [[ 9.47591358e-01 3.18507270e-01 2.49747503e-02 2.50082245e+02] [-3.18362210e-01 9.47919618e-01 -9.69020546e-03 -9.05632920e+01] [-2.67604567e-02 1.23133824e-03 9.99641116e-01 -2.85954794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.641193817 meters 0.0708983635052276 Centerline is valid? [True, True] Translation: X:250.11, Y:-90.57, Z:-28.60 [[ 9.49478056e-01 3.12877559e-01 2.44755674e-02 2.50110450e+02] [-3.12736482e-01 9.49792497e-01 -9.49238756e-03 -9.05742574e+01] [-2.62166654e-02 1.35841085e-03 9.99655361e-01 -2.85956993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.671193817 meters 0.07633902934892837 Centerline is valid? [True, True] Translation: X:250.13, Y:-90.59, Z:-28.60 [[ 9.50498526e-01 3.09786055e-01 2.41899145e-02 2.50133324e+02] [-3.09647263e-01 9.50805220e-01 -9.38119561e-03 -9.05938632e+01] [-2.59060605e-02 1.42647179e-03 9.99663364e-01 -2.86021677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.701193817 meters 0.07907609657088938 Centerline is valid? [True, True] Translation: X:250.16, Y:-90.61, Z:-28.61 [[ 9.51945503e-01 3.05380058e-01 2.32976328e-02 2.50159589e+02] [-3.05250015e-01 9.52229386e-01 -9.03468399e-03 -9.06085462e+01] [-2.49437029e-02 1.48892404e-03 9.99687749e-01 -2.86052386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.731193817 meters 0.08137849028048037 Centerline is valid? [True, True] Translation: X:250.19, Y:-90.62, Z:-28.61 [[ 9.52736690e-01 3.02937645e-01 2.28381857e-02 2.50186569e+02] [-3.02812003e-01 9.53009165e-01 -8.85564361e-03 -9.06231695e+01] [-2.44477081e-02 1.52141985e-03 9.99699952e-01 -2.86081231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.761193817 meters 0.08387292248740391 Centerline is valid? [True, True] Translation: X:250.21, Y:-90.64, Z:-28.61 [[ 9.53593887e-01 3.00222664e-01 2.29139784e-02 2.50213205e+02] [-3.00095389e-01 9.53867811e-01 -8.88572233e-03 -9.06380418e+01] [-2.45246016e-02 1.59699125e-03 9.99697951e-01 -2.86101063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.791193817 meters 0.07770603663057095 Centerline is valid? [True, True] Translation: X:250.25, Y:-90.64, Z:-28.60 [[ 9.54778426e-01 2.96499562e-01 2.20492013e-02 2.50245573e+02] [-2.96380737e-01 9.55031601e-01 -8.54986489e-03 -9.06392181e+01] [-2.35927152e-02 1.62826800e-03 9.99720327e-01 -2.86046961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.821193817 meters 0.07840910952424848 Centerline is valid? [True, True] Translation: X:250.27, Y:-90.65, Z:-28.61 [[ 9.54953208e-01 2.95814410e-01 2.36263846e-02 2.50270951e+02] [-2.95677698e-01 9.55243800e-01 -9.16410952e-03 -9.06495099e+01] [-2.52798331e-02 1.76550075e-03 9.99678855e-01 -2.86058844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.851193817 meters 0.08698276186414193 Centerline is valid? [True, True] Translation: X:250.29, Y:-90.67, Z:-28.61 [[ 9.54571603e-01 2.96996008e-01 2.42162278e-02 2.50291956e+02] [-2.96852838e-01 9.54877072e-01 -9.38993982e-03 -9.06717518e+01] [-2.59122953e-02 1.77471397e-03 9.99662645e-01 -2.86141169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.881193817 meters 0.07744884363372886 Centerline is valid? [True, True] Translation: X:250.33, Y:-90.67, Z:-28.61 [[ 9.53732672e-01 2.99692456e-01 2.40504026e-02 2.50325836e+02] [-2.99552218e-01 9.54034377e-01 -9.32075523e-03 -9.06668133e+01] [-2.57382709e-02 1.68515734e-03 9.99667295e-01 -2.86087140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.911193817 meters 0.07275760214350827 Centerline is valid? [True, True] Translation: X:250.36, Y:-90.67, Z:-28.61 [[ 9.50873199e-01 3.08583827e-01 2.48230077e-02 2.50358414e+02] [-3.08437484e-01 9.51195985e-01 -9.61850265e-03 -9.06651833e+01] [-2.65796597e-02 1.48963032e-03 9.99645589e-01 -2.86087739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.941193817 meters 0.06941070911312076 Centerline is valid? [True, True] Translation: X:250.39, Y:-90.67, Z:-28.61 [[ 9.49284403e-01 3.13289361e-01 2.66251532e-02 2.50389838e+02] [-3.13122863e-01 9.49656600e-01 -1.03157980e-02 -9.06683404e+01] [-2.85165822e-02 1.45568193e-03 9.99592260e-01 -2.86075158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.971193817 meters 0.06610977993614028 Centerline is valid? [True, True] Translation: X:250.42, Y:-90.67, Z:-28.61 [[ 9.48033166e-01 3.16925103e-01 2.81352887e-02 2.50420702e+02] [-3.16740776e-01 9.48449501e-01 -1.09007246e-02 -9.06710061e+01] [-3.01396137e-02 1.42265525e-03 9.99544686e-01 -2.86051065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.001193817 meters 0.06321589246198807 Centerline is valid? [True, True] Translation: X:250.45, Y:-90.67, Z:-28.60 [[ 9.46033556e-01 3.22411101e-01 3.27351924e-02 2.50452823e+02] [-3.22164900e-01 9.46598637e-01 -1.26806296e-02 -9.06724410e+01] [-3.50754643e-02 1.45017108e-03 9.99383614e-01 -2.86013720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03119381700003 meters 0.06344543659216664 Centerline is valid? [True, True] Translation: X:250.48, Y:-90.68, Z:-28.60 [[ 9.45606881e-01 3.23540332e-01 3.39010395e-02 2.50479267e+02] [-3.23276975e-01 9.46213255e-01 -1.31328773e-02 -9.06806790e+01] [-3.63266284e-02 1.45911366e-03 9.99338905e-01 -2.86029783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.061193817 meters 0.0654084016912654 Centerline is valid? [True, True] Translation: X:250.50, Y:-90.69, Z:-28.61 [[ 9.45736711e-01 3.23116468e-01 3.43194033e-02 2.50503385e+02] [-3.22846405e-01 9.46358033e-01 -1.32918206e-02 -9.06932324e+01] [-3.67732491e-02 1.49066667e-03 9.99322524e-01 -2.86069571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.091193817 meters 0.0649343639910183 Centerline is valid? [True, True] Translation: X:250.53, Y:-90.70, Z:-28.61 [[ 9.46065417e-01 3.22081736e-01 3.49797265e-02 2.50530376e+02] [-3.21800570e-01 9.46710583e-01 -1.35449247e-02 -9.07020566e+01] [-3.74782501e-02 1.55788891e-03 9.99296229e-01 -2.86081991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.121193817 meters 0.06505811582540307 Centerline is valid? [True, True] Translation: X:250.56, Y:-90.71, Z:-28.61 [[ 9.46391481e-01 3.21177140e-01 3.44733037e-02 2.50556926e+02] [-3.20904014e-01 9.47017857e-01 -1.33338561e-02 -9.07119051e+01] [-3.69293640e-02 1.55642634e-03 9.99316666e-01 -2.86098031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.151193817 meters 0.06517071377683097 Centerline is valid? [True, True] Translation: X:250.58, Y:-90.72, Z:-28.61 [[ 9.46677613e-01 3.20285660e-01 3.49083605e-02 2.50584072e+02] [-3.20004975e-01 9.47319639e-01 -1.35025073e-02 -9.07211256e+01] [-3.73940350e-02 1.61167239e-03 9.99299299e-01 -2.86113155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.181193817 meters 0.06514850863321953 Centerline is valid? [True, True] Translation: X:250.61, Y:-90.73, Z:-28.62 [[ 9.45959380e-01 3.22599124e-01 3.30251027e-02 2.50611232e+02] [-3.22349827e-01 9.46534614e-01 -1.27598172e-02 -9.07274284e+01] [-3.53757087e-02 1.42463259e-03 9.99373068e-01 -2.86164281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.211193817 meters 0.0634966383053615 Centerline is valid? [True, True] Translation: X:250.64, Y:-90.73, Z:-28.62 [[ 9.44994272e-01 3.25624524e-01 3.08948942e-02 2.50640403e+02] [-3.25407920e-01 9.45498366e-01 -1.19383825e-02 -9.07327853e+01] [-3.30985021e-02 1.22825984e-03 9.99451340e-01 -2.86198777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.241193817 meters 0.06329655950718333 Centerline is valid? [True, True] Translation: X:250.67, Y:-90.74, Z:-28.62 [[ 9.43967121e-01 3.28797502e-01 2.86055403e-02 2.50667491e+02] [-3.28613646e-01 9.44399893e-01 -1.10415093e-02 -9.07402050e+01] [-3.06454899e-02 1.02265089e-03 9.99529794e-01 -2.86249693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.271193817 meters 0.061537182173634394 Centerline is valid? [True, True] Translation: X:250.70, Y:-90.74, Z:-28.62 [[ 9.43114915e-01 3.31236911e-01 2.85721289e-02 2.50696949e+02] [-3.31054542e-01 9.43547146e-01 -1.10305554e-02 -9.07449014e+01] [-3.06128778e-02 9.44148259e-04 9.99530870e-01 -2.86249586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.301193817 meters 0.06077126009678459 Centerline is valid? [True, True] Translation: X:250.73, Y:-90.75, Z:-28.63 [[ 9.42184046e-01 3.33641768e-01 3.11832367e-02 2.50725147e+02] [-3.33426397e-01 9.42699478e-01 -1.20221126e-02 -9.07519123e+01] [-3.34074999e-02 9.29728413e-04 9.99441381e-01 -2.86253568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.331193817 meters 0.060385926399561675 Centerline is valid? [True, True] Translation: X:250.75, Y:-90.76, Z:-28.62 [[ 9.42144701e-01 3.33642071e-01 3.23470510e-02 2.50752468e+02] [-3.33410189e-01 9.42699332e-01 -1.24745679e-02 -9.07616193e+01] [-3.46555841e-02 9.68011644e-04 9.99398846e-01 -2.86249586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.361193817 meters 0.06042258123692896 Centerline is valid? [True, True] Translation: X:250.78, Y:-90.77, Z:-28.63 [[ 9.42112504e-01 3.33682885e-01 3.28597433e-02 2.50778829e+02] [-3.33443996e-01 9.42684883e-01 -1.26614877e-02 -9.07724811e+01] [-3.52013050e-02 9.71661731e-04 9.99379770e-01 -2.86272130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.391193817 meters 0.06002365580935546 Centerline is valid? [True, True] Translation: X:250.81, Y:-90.78, Z:-28.63 [[ 9.42047781e-01 3.33953669e-01 3.19519074e-02 2.50805287e+02] [-3.33728243e-01 9.42589034e-01 -1.23033404e-02 -9.07812774e+01] [-3.42262632e-02 9.27080576e-04 9.99413680e-01 -2.86292775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.421193817 meters 0.0602334975307901 Centerline is valid? [True, True] Translation: X:250.83, Y:-90.79, Z:-28.64 [[ 9.41027922e-01 3.37185782e-01 2.77884546e-02 2.50830527e+02] [-3.37017143e-01 9.41437875e-01 -1.06851467e-02 -9.07909513e+01] [-2.97639832e-02 6.89835766e-04 9.99556716e-01 -2.86377141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.451193817 meters 0.05965753088992018 Centerline is valid? [True, True] Translation: X:250.86, Y:-90.80, Z:-28.64 [[ 9.40644800e-01 3.38409674e-01 2.58118647e-02 2.50857998e+02] [-3.38264527e-01 9.40998683e-01 -9.92913526e-03 -9.08000109e+01] [-2.76490461e-02 6.08551274e-04 9.99617507e-01 -2.86394239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.481193817 meters 0.05950892860277485 Centerline is valid? [True, True] Translation: X:250.88, Y:-90.81, Z:-28.64 [[ 9.40376942e-01 3.39170354e-01 2.55866583e-02 2.50884205e+02] [-3.39028237e-01 9.40724796e-01 -9.83424192e-03 -9.08105053e+01] [-2.74054872e-02 5.73294690e-04 9.99624235e-01 -2.86419640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.511193817 meters 0.0594472184472045 Centerline is valid? [True, True] Translation: X:250.91, Y:-90.82, Z:-28.64 [[ 9.39912811e-01 3.40469099e-01 2.53909445e-02 2.50910672e+02] [-3.40329846e-01 9.40255560e-01 -9.75076355e-03 -9.08218502e+01] [-2.71938105e-02 5.23571345e-04 9.99630043e-01 -2.86438401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.541193817 meters 0.059615577543171636 Centerline is valid? [True, True] Translation: X:250.93, Y:-90.84, Z:-28.65 [[ 9.39271488e-01 3.42251406e-01 2.51604391e-02 2.50934572e+02] [-3.42115704e-01 9.39608306e-01 -9.64759228e-03 -9.08370527e+01] [-2.69428596e-02 4.53927027e-04 9.99636872e-01 -2.86472822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.571193817 meters 0.058982677287689966 Centerline is valid? [True, True] Translation: X:250.96, Y:-90.85, Z:-28.65 [[ 9.39265443e-01 3.42270721e-01 2.51233383e-02 2.50960059e+02] [-3.42135278e-01 9.39601269e-01 -9.63884088e-03 -9.08487015e+01] [-2.69050135e-02 4.57849812e-04 9.99637890e-01 -2.86453147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.601193817 meters 0.05942209581786141 Centerline is valid? [True, True] Translation: X:250.98, Y:-90.86, Z:-28.65 [[ 9.39022172e-01 3.42936329e-01 2.51403022e-02 2.50984062e+02] [-3.42801424e-01 9.39358555e-01 -9.62746452e-03 -9.08630625e+01] [-2.69173653e-02 4.22271254e-04 9.99637573e-01 -2.86491686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.631193817 meters 0.05942209581786141 Centerline is valid? [True, True] Translation: X:251.01, Y:-90.87, Z:-28.65 [[ 9.39131762e-01 3.42636221e-01 2.51386752e-02 2.51009736e+02] [-3.42501094e-01 9.39468057e-01 -9.63172078e-03 -9.08726265e+01] [-2.69171588e-02 4.35431142e-04 9.99637573e-01 -2.86508324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.661193817 meters 0.05991877835310789 Centerline is valid? [True, True] Translation: X:251.03, Y:-90.89, Z:-28.66 [[ 9.38916077e-01 3.43198613e-01 2.55208364e-02 2.51034090e+02] [-3.43060033e-01 9.39262766e-01 -9.76058979e-03 -9.08867992e+01] [-2.73205922e-02 4.09195695e-04 9.99626639e-01 -2.86553767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.691193817 meters 0.05885184519590294 Centerline is valid? [True, True] Translation: X:251.06, Y:-90.90, Z:-28.65 [[ 9.38663426e-01 3.43896426e-01 2.54208721e-02 2.51060411e+02] [-3.43759037e-01 9.39007505e-01 -9.72780539e-03 -9.08972649e+01] [-2.72157472e-02 3.92480617e-04 9.99629506e-01 -2.86512878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.721193817 meters 0.058762064150745155 Centerline is valid? [True, True] Translation: X:251.08, Y:-90.91, Z:-28.65 [[ 9.37234745e-01 3.47764091e-01 2.55180105e-02 2.51084340e+02] [-3.47627571e-01 9.37582032e-01 -9.74706525e-03 -9.09117224e+01] [-2.73149074e-02 2.64524240e-04 9.99626843e-01 -2.86539027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.751193817 meters 0.05872061584721873 Centerline is valid? [True, True] Translation: X:251.11, Y:-90.92, Z:-28.66 [[ 9.36768174e-01 3.49002110e-01 2.57471255e-02 2.51110410e+02] [-3.48863511e-01 9.37121909e-01 -9.83759274e-03 -9.09248767e+01] [-2.75615361e-02 2.33311181e-04 9.99620081e-01 -2.86566199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78119381700003 meters 0.05870875018435348 Centerline is valid? [True, True] Translation: X:251.14, Y:-90.94, Z:-28.66 [[ 9.36180677e-01 3.50578314e-01 2.57018819e-02 2.51135276e+02] [-3.50440979e-01 9.36533402e-01 -9.81359956e-03 -9.09373085e+01] [-2.75111061e-02 1.80309600e-04 9.99621482e-01 -2.86584042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.811193817 meters 0.05899397572434271 Centerline is valid? [True, True] Translation: X:251.16, Y:-90.95, Z:-28.66 [[ 9.35707836e-01 3.51925715e-01 2.44772804e-02 2.51160249e+02] [-3.51802036e-01 9.36027925e-01 -9.33008131e-03 -9.09500545e+01] [-2.61949136e-02 1.19073091e-04 9.99656847e-01 -2.86619991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.841193817 meters 0.059402136088290376 Centerline is valid? [True, True] Translation: X:251.18, Y:-90.97, Z:-28.67 [[ 9.35806462e-01 3.51734876e-01 2.34274032e-02 2.51182103e+02] [-3.51621581e-01 9.36099655e-01 -8.92749314e-03 -9.09699424e+01] [-2.50704947e-02 1.16825213e-04 9.99685679e-01 -2.86659998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.871193817 meters 0.059109862062968116 Centerline is valid? [True, True] Translation: X:251.21, Y:-90.99, Z:-28.67 [[ 9.36090194e-01 3.50964389e-01 2.36462904e-02 2.51205771e+02] [-3.50848572e-01 9.36388796e-01 -9.01677617e-03 -9.09856086e+01] [-2.53066887e-02 1.44248525e-04 9.99679724e-01 -2.86653323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.901193817 meters 0.05920772105786264 Centerline is valid? [True, True] Translation: X:251.23, Y:-91.00, Z:-28.67 [[ 9.36188351e-01 3.50682286e-01 2.39438072e-02 2.51229444e+02] [-3.50563681e-01 9.36494481e-01 -9.12097755e-03 -9.10005934e+01] [-2.56218086e-02 1.45123736e-04 9.99671697e-01 -2.86670522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.931193817 meters 0.05912115291710795 Centerline is valid? [True, True] Translation: X:251.25, Y:-91.02, Z:-28.67 [[ 9.36190851e-01 3.50644165e-01 2.44000079e-02 2.51253558e+02] [-3.50521439e-01 9.36508757e-01 -9.27730899e-03 -9.10153790e+01] [-2.61038554e-02 1.32605893e-04 9.99659228e-01 -2.86680874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.961193817 meters 0.05917291704463294 Centerline is valid? [True, True] Translation: X:251.28, Y:-91.03, Z:-28.67 [[ 9.36154609e-01 3.50691307e-01 2.51028994e-02 2.51279127e+02] [-3.50561355e-01 9.36491104e-01 -9.54716899e-03 -9.10304526e+01] [-2.68567512e-02 1.37519839e-04 9.99639283e-01 -2.86697071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.991193817 meters 0.059744086568673756 Centerline is valid? [True, True] Translation: X:251.30, Y:-91.05, Z:-28.67 [[ 9.35941240e-01 3.51432636e-01 2.25631971e-02 2.51300416e+02] [-3.51328065e-01 9.36213166e-01 -8.57306289e-03 -9.10504795e+01] [-2.41368163e-02 9.67987231e-05 9.99708660e-01 -2.86747948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.021193817 meters 0.05982308244577097 Centerline is valid? [True, True] Translation: X:251.32, Y:-91.07, Z:-28.68 [[ 9.36108572e-01 3.51058154e-01 2.14222886e-02 2.51324558e+02] [-3.50963945e-01 9.36353653e-01 -8.13301709e-03 -9.10664902e+01] [-2.29140001e-02 9.49361059e-05 9.99737435e-01 -2.86766444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.051193817 meters 0.06005455081746737 Centerline is valid? [True, True] Translation: X:251.35, Y:-91.08, Z:-28.68 [[ 9.36559316e-01 3.49857288e-01 2.13664543e-02 2.51347853e+02] [-3.49763313e-01 9.36803001e-01 -8.10938710e-03 -9.10845180e+01] [-2.28532867e-02 1.21720209e-04 9.99738822e-01 -2.86788309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.081193817 meters 0.05992842373461172 Centerline is valid? [True, True] Translation: X:251.37, Y:-91.10, Z:-28.68 [[ 9.37602059e-01 3.46978711e-01 2.25422562e-02 2.51371223e+02] [-3.46873176e-01 9.37872982e-01 -8.55972515e-03 -9.11032962e+01] [-2.41118154e-02 2.06311944e-04 9.99709247e-01 -2.86790322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.111193817 meters 0.061000054039054105 Centerline is valid? [True, True] Translation: X:251.39, Y:-91.14, Z:-28.68 [[ 9.40517553e-01 3.38846539e-01 2.46932073e-02 2.51388260e+02] [-3.38717509e-01 9.40841554e-01 -9.36053171e-03 -9.11357117e+01] [-2.64041793e-02 4.39722716e-04 9.99651252e-01 -2.86790874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.141193817 meters 0.06264408767973322 Centerline is valid? [True, True] Translation: X:251.41, Y:-91.16, Z:-28.68 [[ 9.42630185e-01 3.32859948e-01 2.55458194e-02 2.51409762e+02] [-3.32719772e-01 9.42976068e-01 -9.67926970e-03 -9.11597463e+01] [-2.73109375e-02 6.24372590e-04 9.99626792e-01 -2.86808832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.171193817 meters 0.06477864165742367 Centerline is valid? [True, True] Translation: X:251.43, Y:-91.18, Z:-28.68 [[ 9.44761204e-01 3.26729963e-01 2.59576378e-02 2.51432212e+02] [-3.26582981e-01 9.45117385e-01 -9.83286396e-03 -9.11836004e+01] [-2.77457061e-02 8.12385643e-04 9.99614684e-01 -2.86822613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.201193817 meters 0.06994521640455614 Centerline is valid? [True, True] Translation: X:251.45, Y:-91.22, Z:-28.68 [[ 9.48498545e-01 3.15709525e-01 2.60385336e-02 2.51451354e+02] [-3.15557522e-01 9.48855207e-01 -9.86140207e-03 -9.12169239e+01] [-2.78201368e-02 1.13687037e-03 9.99612299e-01 -2.86837935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.231193817 meters 0.06946358361583986 Centerline is valid? [True, True] Translation: X:251.48, Y:-91.23, Z:-28.68 [[ 9.49835380e-01 3.11646433e-01 2.62535937e-02 2.51477754e+02] [-3.11490318e-01 9.50197292e-01 -9.94423214e-03 -9.12307315e+01] [-2.80451781e-02 1.26764328e-03 9.99605853e-01 -2.86811990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.261193817 meters 0.0739527307882642 Centerline is valid? [True, True] Translation: X:251.50, Y:-91.25, Z:-28.69 [[ 9.50576347e-01 3.09367949e-01 2.63833490e-02 2.51499502e+02] [-3.09209463e-01 9.50941469e-01 -9.99152055e-03 -9.12526346e+01] [-2.81800769e-02 1.33972191e-03 9.99601965e-01 -2.86875795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.291193817 meters 0.06976238383873898 Centerline is valid? [True, True] Translation: X:251.53, Y:-91.26, Z:-28.68 [[ 9.51015058e-01 3.08066293e-01 2.57976302e-02 2.51527775e+02] [-3.07914294e-01 9.51363938e-01 -9.76956394e-03 -9.12586229e+01] [-2.75526084e-02 1.34754334e-03 9.99619447e-01 -2.86829951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.321193817 meters 0.07540538337744015 Centerline is valid? [True, True] Translation: X:251.55, Y:-91.28, Z:-28.69 [[ 9.50938057e-01 3.08329987e-01 2.54839201e-02 2.51548978e+02] [-3.08181838e-01 9.51278547e-01 -9.64780274e-03 -9.12803390e+01] [-2.72170134e-02 1.32078148e-03 9.99628676e-01 -2.86914009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.351193817 meters 0.07378114108793511 Centerline is valid? [True, True] Translation: X:251.58, Y:-91.29, Z:-28.69 [[ 9.49791016e-01 3.11911807e-01 2.46586813e-02 2.51576894e+02] [-3.11774435e-01 9.50110334e-01 -9.33032901e-03 -9.12886025e+01] [-2.63387077e-02 1.17391625e-03 9.99652387e-01 -2.86936921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.381193817 meters 0.06799505714825434 Centerline is valid? [True, True] Translation: X:251.61, Y:-91.29, Z:-28.69 [[ 9.48509351e-01 3.15819851e-01 2.42452678e-02 2.51609367e+02] [-3.15688360e-01 9.48818596e-01 -9.17232587e-03 -9.12878800e+01] [-2.59011635e-02 1.04608803e-03 9.99663961e-01 -2.86905226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.411193817 meters 0.0696964539680574 Centerline is valid? [True, True] Translation: X:251.64, Y:-91.30, Z:-28.70 [[ 9.47244381e-01 3.19605593e-01 2.40903889e-02 2.51635646e+02] [-3.19476974e-01 9.47550202e-01 -9.11465552e-03 -9.12988165e+01] [-2.57399477e-02 9.37481689e-04 9.99668233e-01 -2.86980989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.441193817 meters 0.06459754408557102 Centerline is valid? [True, True] Translation: X:251.67, Y:-91.30, Z:-28.69 [[ 9.45634478e-01 3.24313428e-01 2.44179277e-02 2.51668710e+02] [-3.24182934e-01 9.45949329e-01 -9.23541696e-03 -9.12973695e+01] [-2.60932921e-02 8.17453227e-04 9.99659178e-01 -2.86938371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.471193817 meters 0.06301403101051078 Centerline is valid? [True, True] Translation: X:251.70, Y:-91.30, Z:-28.70 [[ 9.44153883e-01 3.28627116e-01 2.40346271e-02 2.51697756e+02] [-3.28502038e-01 9.44459498e-01 -9.09215708e-03 -9.13011340e+01] [-2.56876612e-02 6.88971415e-04 9.99669780e-01 -2.86954760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.501193817 meters 0.06115511105113186 Centerline is valid? [True, True] Translation: X:251.73, Y:-91.30, Z:-28.70 [[ 9.41315008e-01 3.36714505e-01 2.34392420e-02 2.51728336e+02] [-3.36598134e-01 9.41606678e-01 -8.86339978e-03 -9.13026595e+01] [-2.50549820e-02 4.53646129e-04 9.99685972e-01 -2.86993290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53119381700003 meters 0.06063874145593356 Centerline is valid? [True, True] Translation: X:251.76, Y:-91.31, Z:-28.70 [[ 9.40460374e-01 3.39076165e-01 2.36989239e-02 2.51756532e+02] [-3.38957752e-01 9.40758838e-01 -8.96940237e-03 -9.13095413e+01] [-2.53362826e-02 4.02433551e-04 9.99678904e-01 -2.87015315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.561193817 meters 0.06020487929592976 Centerline is valid? [True, True] Translation: X:251.78, Y:-91.32, Z:-28.70 [[ 9.39522499e-01 3.41667546e-01 2.36804012e-02 2.51784120e+02] [-3.41550498e-01 9.39820827e-01 -8.94821629e-03 -9.13157338e+01] [-2.53126494e-02 3.18997690e-04 9.99679533e-01 -2.87039946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.591193817 meters 0.05933879866339997 Centerline is valid? [True, True] Translation: X:251.81, Y:-91.32, Z:-28.70 [[ 9.38369313e-01 3.44823519e-01 2.36595512e-02 2.51814060e+02] [-3.44707583e-01 9.38667505e-01 -8.94412464e-03 -9.13195909e+01] [-2.52925964e-02 2.37265374e-04 9.99680063e-01 -2.87035415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.621193817 meters 0.05929349002396248 Centerline is valid? [True, True] Translation: X:251.84, Y:-91.33, Z:-28.71 [[ 9.38194144e-01 3.45312865e-01 2.34685465e-02 2.51839434e+02] [-3.45199244e-01 9.38487603e-01 -8.86010404e-03 -9.13289111e+01] [-2.50844478e-02 2.11173229e-04 9.99685313e-01 -2.87060003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.651193817 meters 0.059493098892140404 Centerline is valid? [True, True] Translation: X:251.87, Y:-91.34, Z:-28.71 [[ 9.38108715e-01 3.45597161e-01 2.26857036e-02 2.51865878e+02] [-3.45491026e-01 9.38382951e-01 -8.56666190e-03 -9.13405977e+01] [-2.42484916e-02 1.98753165e-04 9.99705942e-01 -2.87095753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.681193817 meters 0.05948946712258636 Centerline is valid? [True, True] Translation: X:251.89, Y:-91.35, Z:-28.71 [[ 9.38071229e-01 3.45750737e-01 2.18814320e-02 2.51891762e+02] [-3.45652190e-01 9.38326380e-01 -8.25644330e-03 -9.13520548e+01] [-2.33865962e-02 1.81767032e-04 9.99726480e-01 -2.87121762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.711193817 meters 0.059751379269082 Centerline is valid? [True, True] Translation: X:251.92, Y:-91.36, Z:-28.72 [[ 9.38060631e-01 3.45828954e-01 2.10852224e-02 2.51918387e+02] [-3.45737610e-01 9.38297557e-01 -7.94977429e-03 -9.13637992e+01] [-2.25334748e-02 1.67415893e-04 9.99746075e-01 -2.87154928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.741193817 meters 0.059707912681659495 Centerline is valid? [True, True] Translation: X:251.94, Y:-91.38, Z:-28.72 [[ 9.37990067e-01 3.45999441e-01 2.14247474e-02 2.51943551e+02] [-3.45905343e-01 9.38234705e-01 -8.07048077e-03 -9.13784182e+01] [-2.28938234e-02 1.59096197e-04 9.99737889e-01 -2.87180037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.771193817 meters 0.05960068325784054 Centerline is valid? [True, True] Translation: X:251.97, Y:-91.39, Z:-28.72 [[ 9.37650923e-01 3.46851061e-01 2.24741587e-02 2.51968601e+02] [-3.46748126e-01 9.37920212e-01 -8.45062188e-03 -9.13907903e+01] [-2.40100748e-02 1.30861012e-04 9.99711708e-01 -2.87189650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.801193817 meters 0.05951291798401503 Centerline is valid? [True, True] Translation: X:251.99, Y:-91.40, Z:-28.72 [[ 9.37514846e-01 3.47189184e-01 2.29256299e-02 2.51994905e+02] [-3.47082073e-01 9.37795103e-01 -8.62439319e-03 -9.14037050e+01] [-2.44938395e-02 1.28421484e-04 9.99699973e-01 -2.87202551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.831193817 meters 0.05929323412240738 Centerline is valid? [True, True] Translation: X:252.02, Y:-91.42, Z:-28.72 [[ 9.37333403e-01 3.47589883e-01 2.42355924e-02 2.52020922e+02] [-3.47470536e-01 9.37646660e-01 -9.10860757e-03 -9.14169201e+01] [-2.58904821e-02 1.16647859e-04 9.99664778e-01 -2.87206390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.861193817 meters 0.05872480266023667 Centerline is valid? [True, True] Translation: X:252.05, Y:-91.43, Z:-28.72 [[ 9.37069605e-01 3.48257525e-01 2.48445566e-02 2.52047354e+02] [-3.48132544e-01 9.37398895e-01 -9.32973418e-03 -9.14296419e+01] [-2.65384100e-02 9.34116270e-05 9.99647790e-01 -2.87185391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.891193817 meters 0.05839090001033889 Centerline is valid? [True, True] Translation: X:252.07, Y:-91.45, Z:-28.72 [[ 9.36665924e-01 3.49253811e-01 2.60522919e-02 2.52071995e+02] [-3.49117028e-01 9.37028160e-01 -9.77389053e-03 -9.14458934e+01] [-2.78252996e-02 5.95715091e-05 9.99612800e-01 -2.87178051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.921193817 meters 0.05837669276250039 Centerline is valid? [True, True] Translation: X:252.10, Y:-91.46, Z:-28.72 [[ 9.36566234e-01 3.49441311e-01 2.71009101e-02 2.52098543e+02] [-3.49293672e-01 9.36958253e-01 -1.01568876e-02 -9.14583783e+01] [-2.89416575e-02 4.64215899e-05 9.99581101e-01 -2.87194837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.951193817 meters 0.05841763885776012 Centerline is valid? [True, True] Translation: X:252.12, Y:-91.47, Z:-28.72 [[ 9.36274084e-01 3.50239877e-01 2.68862113e-02 2.52124249e+02] [-3.50095302e-01 9.36660039e-01 -1.00623716e-02 -9.14700885e+01] [-2.87074835e-02 8.40154078e-06 9.99587855e-01 -2.87214040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.981193817 meters 0.058606139309936495 Centerline is valid? [True, True] Translation: X:252.15, Y:-91.49, Z:-28.72 [[ 9.36186921e-01 3.50558497e-01 2.57446954e-02 2.52149514e+02] [-3.50425955e-01 9.36540838e-01 -9.63895687e-03 -9.14855170e+01] [-2.74899768e-02 2.25588780e-06 9.99622079e-01 -2.87248520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.011193817 meters 0.058913688089952995 Centerline is valid? [True, True] Translation: X:252.18, Y:-91.50, Z:-28.73 [[ 9.36434342e-01 3.49970671e-01 2.47235065e-02 2.52175061e+02] [-3.49848432e-01 9.36760657e-01 -9.24908504e-03 -9.14995678e+01] [-2.63969167e-02 1.16808925e-05 9.99651541e-01 -2.87285316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.041193817 meters 0.05896628138285066 Centerline is valid? [True, True] Translation: X:252.20, Y:-91.51, Z:-28.73 [[ 9.36634789e-01 3.49481250e-01 2.40443095e-02 2.52200268e+02] [-3.49365665e-01 9.36943358e-01 -8.98757390e-03 -9.15143874e+01] [-2.56691447e-02 1.78181888e-05 9.99670493e-01 -2.87310363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.071193817 meters 0.059174740461702936 Centerline is valid? [True, True] Translation: X:252.22, Y:-91.53, Z:-28.73 [[ 9.37055786e-01 3.48406227e-01 2.32283151e-02 2.52224667e+02] [-3.48298327e-01 9.37343640e-01 -8.67038049e-03 -9.15298769e+01] [-2.47937280e-02 3.42469219e-05 9.99692588e-01 -2.87333461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.101193817 meters 0.05925085132227943 Centerline is valid? [True, True] Translation: X:252.25, Y:-91.54, Z:-28.74 [[ 9.37302404e-01 3.47780892e-01 2.26418732e-02 2.52248645e+02] [-3.47678329e-01 9.37575837e-01 -8.44569776e-03 -9.15439913e+01] [-2.41657255e-02 4.40841676e-05 9.99707965e-01 -2.87353558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.131193817 meters 0.05922339048328016 Centerline is valid? [True, True] Translation: X:252.27, Y:-91.56, Z:-28.74 [[ 9.37028936e-01 3.48506810e-01 2.27986062e-02 2.52272887e+02] [-3.48402891e-01 9.37306248e-01 -8.51016009e-03 -9.15582367e+01] [-2.43351248e-02 3.11659451e-05 9.99703857e-01 -2.87365283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.161193817 meters 0.059279158434568435 Centerline is valid? [True, True] Translation: X:252.30, Y:-91.57, Z:-28.74 [[ 9.36778381e-01 3.49186926e-01 2.26882281e-02 2.52298580e+02] [-3.49084412e-01 9.37053088e-01 -8.46064826e-03 -9.15699987e+01] [-2.42144219e-02 5.64562063e-06 9.99706788e-01 -2.87387747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.191193817 meters 0.05953682965066225 Centerline is valid? [True, True] Translation: X:252.32, Y:-91.58, Z:-28.74 [[ 9.36284064e-01 3.50577163e-01 2.16287778e-02 2.52323533e+02] [-3.50484745e-01 9.36533849e-01 -8.04936731e-03 -9.15819276e+01] [-2.30780069e-02 -4.40623345e-05 9.99733666e-01 -2.87421865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.221193817 meters 0.05954900729646131 Centerline is valid? [True, True] Translation: X:252.35, Y:-91.59, Z:-28.74 [[ 9.35688746e-01 3.52183600e-01 2.12904117e-02 2.52349354e+02] [-3.52094351e-01 9.35930930e-01 -7.92857714e-03 -9.15941112e+01] [-2.27186697e-02 -7.75532834e-05 9.99741895e-01 -2.87434126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.251193817 meters 0.059868031538659945 Centerline is valid? [True, True] Translation: X:252.37, Y:-91.61, Z:-28.75 [[ 9.34911445e-01 3.54280098e-01 2.06446739e-02 2.52373770e+02] [-3.54196828e-01 9.35139345e-01 -7.68189901e-03 -9.16105309e+01] [-2.20271908e-02 -1.30382713e-04 9.99757364e-01 -2.87458967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28119381700003 meters 0.059826028814949674 Centerline is valid? [True, True] Translation: X:252.40, Y:-91.62, Z:-28.75 [[ 9.35036480e-01 3.53955634e-01 2.05472753e-02 2.52398540e+02] [-3.53873176e-01 9.35262205e-01 -7.64082402e-03 -9.16249925e+01] [-2.19216027e-02 -1.26680381e-04 9.99759685e-01 -2.87465546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.311193817 meters 0.0598456663205642 Centerline is valid? [True, True] Translation: X:252.42, Y:-91.64, Z:-28.75 [[ 9.35347433e-01 3.53059735e-01 2.17716028e-02 2.52422564e+02] [-3.52967300e-01 9.35600774e-01 -8.07947206e-03 -9.16401706e+01] [-2.32220647e-02 -1.27550399e-04 9.99730323e-01 -2.87491732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.341193817 meters 0.05961419971510278 Centerline is valid? [True, True] Translation: X:252.45, Y:-91.66, Z:-28.75 [[ 9.35954132e-01 3.51428864e-01 2.20820515e-02 2.52447724e+02] [-3.51333294e-01 9.36214583e-01 -8.19577481e-03 -9.16565143e+01] [-2.35537704e-02 -8.72905838e-05 9.99722568e-01 -2.87502049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.371193817 meters 0.05883807781530521 Centerline is valid? [True, True] Translation: X:252.47, Y:-91.68, Z:-28.75 [[ 9.37509167e-01 3.47096300e-01 2.45095855e-02 2.52470139e+02] [-3.46977538e-01 9.37829493e-01 -9.07904988e-03 -9.16809298e+01] [-2.61371168e-02 7.41684626e-06 9.99658367e-01 -2.87461363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.401193817 meters 0.05895279845902921 Centerline is valid? [True, True] Translation: X:252.49, Y:-91.70, Z:-28.75 [[ 9.38646051e-01 3.43924105e-01 2.56866089e-02 2.52493250e+02] [-3.43792487e-01 9.38997444e-01 -9.51448495e-03 -9.16989335e+01] [-2.73919208e-02 9.98705805e-05 9.99624766e-01 -2.87480674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.431193817 meters 0.05914824889337494 Centerline is valid? [True, True] Translation: X:252.52, Y:-91.72, Z:-28.75 [[ 9.39892869e-01 3.40463196e-01 2.61955616e-02 2.52516150e+02] [-3.40325035e-01 9.40257822e-01 -9.70050277e-03 -9.17181203e+01] [-2.79332459e-02 2.02427965e-04 9.99609770e-01 -2.87479417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.461193817 meters 0.0597668721954338 Centerline is valid? [True, True] Translation: X:252.54, Y:-91.74, Z:-28.75 [[ 9.41602561e-01 3.35696901e-01 2.63098426e-02 2.52538232e+02] [-3.35555804e-01 9.41969997e-01 -9.73794509e-03 -9.17370482e+01] [-2.80520803e-02 3.40853657e-04 9.99606405e-01 -2.87500911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.491193817 meters 0.06061805822306124 Centerline is valid? [True, True] Translation: X:252.56, Y:-91.75, Z:-28.75 [[ 9.43001747e-01 3.31712565e-01 2.67297320e-02 2.52561276e+02] [-3.31565405e-01 9.43380389e-01 -9.89059172e-03 -9.17546633e+01] [-2.84971385e-02 4.64190874e-04 9.99593766e-01 -2.87512849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.521193817 meters 0.06061805822306124 Centerline is valid? [True, True] Translation: X:252.59, Y:-91.76, Z:-28.75 [[ 9.43028594e-01 3.31636136e-01 2.67309748e-02 2.52587861e+02] [-3.31489040e-01 9.43407261e-01 -9.88723107e-03 -9.17643796e+01] [-2.84971588e-02 4.62916448e-04 9.99593766e-01 -2.87530020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.551193817 meters 0.0625553094666703 Centerline is valid? [True, True] Translation: X:252.61, Y:-91.79, Z:-28.75 [[ 9.45419346e-01 3.24599069e-01 2.85955264e-02 2.52611788e+02] [-3.24427696e-01 9.45851432e-01 -1.05706579e-02 -9.17873257e+01] [-3.04783453e-02 7.16523750e-04 9.99535171e-01 -2.87538869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.581193817 meters 0.06261800382871627 Centerline is valid? [True, True] Translation: X:252.64, Y:-91.80, Z:-28.75 [[ 9.46072327e-01 3.22512688e-01 3.05404264e-02 2.52640171e+02] [-3.22316111e-01 9.46564771e-01 -1.12897789e-02 -9.18014824e+01] [-3.25495886e-02 8.37275931e-04 9.99469771e-01 -2.87518716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.611193817 meters 0.06297800865612513 Centerline is valid? [True, True] Translation: X:252.67, Y:-91.82, Z:-28.75 [[ 9.46242819e-01 3.21835994e-01 3.23437712e-02 2.52667865e+02] [-3.21615271e-01 9.46794999e-01 -1.19518918e-02 -9.18160174e+01] [-3.44694698e-02 9.07141012e-04 9.99405340e-01 -2.87513001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.641193817 meters 0.06309721562749955 Centerline is valid? [True, True] Translation: X:252.70, Y:-91.83, Z:-28.75 [[ 9.46199940e-01 3.21863133e-01 3.33136212e-02 2.52697237e+02] [-3.21628629e-01 9.46785738e-01 -1.23203223e-02 -9.18289167e+01] [-3.55063190e-02 9.42873884e-04 9.99369007e-01 -2.87518908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.671193817 meters 0.06318882662431703 Centerline is valid? [True, True] Translation: X:252.73, Y:-91.84, Z:-28.75 [[ 9.45951860e-01 3.22657897e-01 3.26643595e-02 2.52726762e+02] [-3.22432551e-01 9.46515220e-01 -1.20908149e-02 -9.18396430e+01] [-3.48185104e-02 9.05276116e-04 9.99393242e-01 -2.87549736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.701193817 meters 0.06318976398287789 Centerline is valid? [True, True] Translation: X:252.76, Y:-91.85, Z:-28.76 [[ 9.45759841e-01 3.23358165e-01 3.12701178e-02 2.52756163e+02] [-3.23151543e-01 9.46276262e-01 -1.15894608e-02 -9.18491336e+01] [-3.33377170e-02 8.55859792e-04 9.99443777e-01 -2.87594793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.731193817 meters 0.06331240389474392 Centerline is valid? [True, True] Translation: X:252.79, Y:-91.86, Z:-28.76 [[ 9.45715868e-01 3.23600600e-01 3.00690762e-02 2.52785666e+02] [-3.23409632e-01 9.46193419e-01 -1.11455683e-02 -9.18589293e+01] [-3.20578746e-02 8.15911893e-04 9.99485681e-01 -2.87635026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.761193817 meters 0.06341535043646282 Centerline is valid? [True, True] Translation: X:252.81, Y:-91.87, Z:-28.77 [[ 9.45662489e-01 3.23793591e-01 2.96676264e-02 2.52814183e+02] [-3.23607706e-01 9.46127406e-01 -1.09992366e-02 -9.18684285e+01] [-3.16308368e-02 8.00892931e-04 9.99499299e-01 -2.87670029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.791193817 meters 0.06196366442138589 Centerline is valid? [True, True] Translation: X:252.85, Y:-91.88, Z:-28.77 [[ 9.45701614e-01 3.23779530e-01 2.85529849e-02 2.52845674e+02] [-3.23607641e-01 9.46132250e-01 -1.05763665e-02 -9.18756790e+01] [-3.04393109e-02 7.62122794e-04 9.99536326e-01 -2.87662554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.821193817 meters 0.06363303725115528 Centerline is valid? [True, True] Translation: X:252.87, Y:-91.89, Z:-28.77 [[ 9.46020316e-01 3.22994410e-01 2.68360371e-02 2.52873006e+02] [-3.22841888e-01 9.46400573e-01 -9.95339163e-03 -9.18905464e+01] [-2.86125307e-02 7.52313817e-04 9.99590295e-01 -2.87730904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.851193817 meters 0.065759245970127 Centerline is valid? [True, True] Translation: X:252.90, Y:-91.91, Z:-28.78 [[ 9.46469971e-01 3.21820777e-01 2.50196299e-02 2.52899486e+02] [-3.21687592e-01 9.46800315e-01 -9.28740973e-03 -9.19060885e+01] [-2.66774749e-02 7.41749942e-04 9.99643818e-01 -2.87807800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.881193817 meters 0.06670188415990821 Centerline is valid? [True, True] Translation: X:252.93, Y:-91.92, Z:-28.78 [[ 9.46879679e-01 3.20700905e-01 2.38705472e-02 2.52926303e+02] [-3.20579220e-01 9.47180226e-01 -8.86474523e-03 -9.19188540e+01] [-2.54526421e-02 7.41445733e-04 9.99675754e-01 -2.87846789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.911193817 meters 0.06393417628258723 Centerline is valid? [True, True] Translation: X:252.96, Y:-91.93, Z:-28.78 [[ 9.47223139e-01 3.19684325e-01 2.38800527e-02 2.52958399e+02] [-3.19562569e-01 9.47523805e-01 -8.85458817e-03 -9.19261043e+01] [-2.54575915e-02 7.56099811e-04 9.99675617e-01 -2.87789519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.941193817 meters 0.06476001561325269 Centerline is valid? [True, True] Translation: X:252.99, Y:-91.94, Z:-28.78 [[ 9.47685457e-01 3.18195616e-01 2.53736865e-02 2.52987258e+02] [-3.18057367e-01 9.48024693e-01 -9.41764372e-03 -9.19398469e+01] [-2.70515343e-02 8.54676059e-04 9.99633675e-01 -2.87806965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.971193817 meters 0.06726701396522924 Centerline is valid? [True, True] Translation: X:253.01, Y:-91.96, Z:-28.79 [[ 9.48302956e-01 3.16412224e-01 2.45928627e-02 2.53014010e+02] [-3.16281490e-01 9.48621377e-01 -9.13793127e-03 -9.19574112e+01] [-2.62206684e-02 8.87259986e-04 9.99655785e-01 -2.87861874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.001193817 meters 0.06657599582021051 Centerline is valid? [True, True] Translation: X:253.04, Y:-91.97, Z:-28.79 [[ 9.48483542e-01 3.15883258e-01 2.44282253e-02 2.53044567e+02] [-3.15753918e-01 9.48797635e-01 -9.08350376e-03 -9.19678217e+01] [-2.60467691e-02 9.02245965e-04 9.99660318e-01 -2.87869693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03119381700003 meters 0.06759406979974168 Centerline is valid? [True, True] Translation: X:253.07, Y:-91.98, Z:-28.79 [[ 9.48894084e-01 3.14701280e-01 2.37301887e-02 2.53072705e+02] [-3.14578542e-01 9.49190317e-01 -8.83643670e-03 -9.19808437e+01] [-2.53053033e-02 9.19834344e-04 9.99679346e-01 -2.87904586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.061193817 meters 0.06673798559130388 Centerline is valid? [True, True] Translation: X:253.10, Y:-91.99, Z:-28.79 [[ 9.48818454e-01 3.14985950e-01 2.29650252e-02 2.53102988e+02] [-3.14871112e-01 9.49095925e-01 -8.55038144e-03 -9.19902946e+01] [-2.44892619e-02 8.81736688e-04 9.99699704e-01 -2.87912922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.091193817 meters 0.06677255873170712 Centerline is valid? [True, True] Translation: X:253.13, Y:-92.00, Z:-28.79 [[ 9.48809574e-01 3.14940926e-01 2.39291924e-02 2.53133186e+02] [-3.14816037e-01 9.49110823e-01 -8.91680903e-03 -9.20012499e+01] [-2.55197235e-02 9.27060278e-04 9.99673889e-01 -2.87923867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.121193817 meters 0.06680756745683565 Centerline is valid? [True, True] Translation: X:253.16, Y:-92.01, Z:-28.79 [[ 9.48789561e-01 3.14838733e-01 2.59796305e-02 2.53163743e+02] [-3.14691194e-01 9.49144632e-01 -9.69120118e-03 -9.20123118e+01] [-2.77095924e-02 1.01934957e-03 9.99615496e-01 -2.87931689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.151193817 meters 0.06860535916683995 Centerline is valid? [True, True] Translation: X:253.19, Y:-92.03, Z:-28.80 [[ 9.48661937e-01 3.15188824e-01 2.63919501e-02 2.53191806e+02] [-3.15036319e-01 9.49028413e-01 -9.85849321e-03 -9.20256654e+01] [-2.81539974e-02 1.03795444e-03 9.99603059e-01 -2.87978086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.181193817 meters 0.06693452045856146 Centerline is valid? [True, True] Translation: X:253.22, Y:-92.03, Z:-28.80 [[ 9.48468009e-01 3.15790435e-01 2.61693878e-02 2.53224494e+02] [-3.15640745e-01 9.48828425e-01 -9.77448434e-03 -9.20324796e+01] [-2.79169477e-02 1.01066064e-03 9.99609735e-01 -2.87974437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.211193817 meters 0.06594089781343987 Centerline is valid? [True, True] Translation: X:253.26, Y:-92.04, Z:-28.80 [[ 9.47125539e-01 3.19915016e-01 2.46494535e-02 2.53256502e+02] [-3.19783331e-01 9.47445864e-01 -9.21719265e-03 -9.20359986e+01] [-2.63027411e-02 8.47354196e-04 9.99653664e-01 -2.88008161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.241193817 meters 0.06383053900891858 Centerline is valid? [True, True] Translation: X:253.29, Y:-92.04, Z:-28.80 [[ 9.45810196e-01 3.23815479e-01 2.42200213e-02 2.53287713e+02] [-3.23689185e-01 9.46119964e-01 -9.07337178e-03 -9.20387723e+01] [-2.58531439e-02 7.41928584e-04 9.99665476e-01 -2.88008239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.271193817 meters 0.06289855805398638 Centerline is valid? [True, True] Translation: X:253.32, Y:-92.04, Z:-28.80 [[ 9.44092973e-01 3.28716133e-01 2.51825852e-02 2.53317093e+02] [-3.28581279e-01 9.44428558e-01 -9.43618906e-03 -9.20418113e+01] [-2.68849802e-02 6.34113722e-04 9.99638332e-01 -2.88035573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.301193817 meters 0.061049964620143386 Centerline is valid? [True, True] Translation: X:253.35, Y:-92.04, Z:-28.80 [[ 9.42197190e-01 3.34108442e-01 2.52191260e-02 2.53348194e+02] [-3.33975112e-01 9.42534518e-01 -9.45022529e-03 -9.20424296e+01] [-2.69272969e-02 4.81415258e-04 9.99637279e-01 -2.88040246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.331193817 meters 0.05987271239404081 Centerline is valid? [True, True] Translation: X:253.38, Y:-92.04, Z:-28.81 [[ 9.40235688e-01 3.39531781e-01 2.59811698e-02 2.53378143e+02] [-3.39392482e-01 9.40594525e-01 -9.73052806e-03 -9.20434540e+01] [-2.77415696e-02 3.31176033e-04 9.99615074e-01 -2.88050523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.361193817 meters 0.05897809024301095 Centerline is valid? [True, True] Translation: X:253.41, Y:-92.04, Z:-28.81 [[ 9.36422113e-01 3.49917938e-01 2.59048771e-02 2.53410107e+02] [-3.49783415e-01 9.36780356e-01 -9.70187272e-03 -9.20378114e+01] [-2.76620393e-02 2.39517785e-05 9.99617332e-01 -2.88071338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.391193817 meters 0.059423045051473486 Centerline is valid? [True, True] Translation: X:253.44, Y:-92.04, Z:-28.81 [[ 9.34877123e-01 3.54108114e-01 2.47428347e-02 2.53438976e+02] [-3.53986829e-01 9.35204488e-01 -9.26768573e-03 -9.20424699e+01] [-2.64213728e-02 -9.44902271e-05 9.99650890e-01 -2.88098654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.421193817 meters 0.05971853504343769 Centerline is valid? [True, True] Translation: X:253.47, Y:-92.05, Z:-28.81 [[ 9.33956553e-01 3.56590161e-01 2.38456428e-02 2.53467108e+02] [-3.56478497e-01 9.34260900e-01 -8.92478280e-03 -9.20493112e+01] [-2.54605414e-02 -1.65099519e-04 9.99675814e-01 -2.88128023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.451193817 meters 0.06026061536583372 Centerline is valid? [True, True] Translation: X:253.49, Y:-92.06, Z:-28.82 [[ 9.33626951e-01 3.57555897e-01 2.22372660e-02 2.53492874e+02] [-3.57459380e-01 9.33891720e-01 -8.30951545e-03 -9.20622873e+01] [-2.37383148e-02 -1.90931714e-04 9.99718188e-01 -2.88175050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.481193817 meters 0.060621819366210854 Centerline is valid? [True, True] Translation: X:253.52, Y:-92.08, Z:-28.82 [[ 9.34162581e-01 3.56242917e-01 2.07667337e-02 2.53517457e+02] [-3.56158392e-01 9.34393366e-01 -7.76123857e-03 -9.20766464e+01] [-2.21691845e-02 -1.45987836e-04 9.99754223e-01 -2.88218195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.511193817 meters 0.06048405814162391 Centerline is valid? [True, True] Translation: X:253.54, Y:-92.09, Z:-28.82 [[ 9.35084999e-01 3.53810099e-01 2.08436743e-02 2.53541924e+02] [-3.53724482e-01 9.35317275e-01 -7.78370278e-03 -9.20923954e+01] [-2.22494013e-02 -9.44941997e-05 9.99752447e-01 -2.88243056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.541193817 meters 0.060512403731759416 Centerline is valid? [True, True] Translation: X:253.57, Y:-92.11, Z:-28.83 [[ 9.35886626e-01 3.51684265e-01 2.08423053e-02 2.53565790e+02] [-3.51598155e-01 9.36118676e-01 -7.78216788e-03 -9.21085847e+01] [-2.22477372e-02 -4.48892341e-05 9.99752487e-01 -2.88266507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.571193817 meters 0.05942057182821138 Centerline is valid? [True, True] Translation: X:253.59, Y:-92.13, Z:-28.82 [[ 9.37079048e-01 3.48345880e-01 2.31949489e-02 2.53588553e+02] [-3.48238258e-01 9.37366068e-01 -8.65850284e-03 -9.21332768e+01] [-2.47583119e-02 3.63330128e-05 9.99693465e-01 -2.88194004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.601193817 meters 0.05910503203417948 Centerline is valid? [True, True] Translation: X:253.61, Y:-92.15, Z:-28.82 [[ 9.37040631e-01 3.48347481e-01 2.46756777e-02 2.53614003e+02] [-3.48225837e-01 9.37365474e-01 -9.20513198e-03 -9.21490731e+01] [-2.63367129e-02 3.28741479e-05 9.99653128e-01 -2.88188240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.631193817 meters 0.059285220529384834 Centerline is valid? [True, True] Translation: X:253.64, Y:-92.16, Z:-28.82 [[ 9.36898734e-01 3.48616724e-01 2.62134103e-02 2.53638808e+02] [-3.48479569e-01 9.37265373e-01 -9.77808512e-03 -9.21625360e+01] [-2.79777258e-02 2.62376466e-05 9.99608546e-01 -2.88226624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.661193817 meters 0.059171725926118225 Centerline is valid? [True, True] Translation: X:253.66, Y:-92.17, Z:-28.82 [[ 9.36549685e-01 3.49498093e-01 2.69401177e-02 2.53664625e+02] [-3.49353709e-01 9.36937075e-01 -1.00450446e-02 -9.21746675e+01] [-2.87519191e-02 -3.94666056e-06 9.99586578e-01 -2.88239120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.691193817 meters 0.059283055514265784 Centerline is valid? [True, True] Translation: X:253.69, Y:-92.19, Z:-28.83 [[ 9.35954862e-01 3.51121580e-01 2.64977989e-02 2.53690503e+02] [-3.50982613e-01 9.36329874e-01 -9.87788301e-03 -9.21862767e+01] [-2.82790186e-02 -5.50140781e-05 9.99600067e-01 -2.88262303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.721193817 meters 0.05881339761435787 Centerline is valid? [True, True] Translation: X:253.72, Y:-92.20, Z:-28.82 [[ 9.34655366e-01 3.54579999e-01 2.63129252e-02 2.53716200e+02] [-3.54444389e-01 9.35025667e-01 -9.80697716e-03 -9.22011234e+01] [-2.80806184e-02 -1.60324870e-04 9.99605649e-01 -2.88236036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.751193817 meters 0.05902678405355761 Centerline is valid? [True, True] Translation: X:253.74, Y:-92.21, Z:-28.83 [[ 9.34299363e-01 3.55524619e-01 2.62096616e-02 2.53742205e+02] [-3.55390532e-01 9.34666897e-01 -9.76528430e-03 -9.22141074e+01] [-2.79691021e-02 -1.90966708e-04 9.99608770e-01 -2.88268214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78119381700003 meters 0.05948363050357407 Centerline is valid? [True, True] Translation: X:253.77, Y:-92.23, Z:-28.83 [[ 9.34435475e-01 3.55213041e-01 2.55741811e-02 2.53767916e+02] [-3.55085308e-01 9.34785357e-01 -9.52683921e-03 -9.22271597e+01] [-2.72904276e-02 -1.78799451e-04 9.99627531e-01 -2.88323984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.811193817 meters 0.059115640989803625 Centerline is valid? [True, True] Translation: X:253.79, Y:-92.24, Z:-28.83 [[ 9.34952610e-01 3.53913057e-01 2.46812584e-02 2.53794933e+02] [-3.53793775e-01 9.35278316e-01 -9.18895357e-03 -9.22437613e+01] [-2.63359365e-02 -1.40839466e-04 9.99653139e-01 -2.88327072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.841193817 meters 0.059804450767450355 Centerline is valid? [True, True] Translation: X:253.82, Y:-92.27, Z:-28.84 [[ 9.37599310e-01 3.47030329e-01 2.18514051e-02 2.53818292e+02] [-3.46935150e-01 9.37853906e-01 -8.12725766e-03 -9.22693186e+01] [-2.33138305e-02 3.90906718e-05 9.99728195e-01 -2.88397529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.871193817 meters 0.06000489989054757 Centerline is valid? [True, True] Translation: X:253.85, Y:-92.29, Z:-28.84 [[ 9.39125083e-01 3.42927777e-01 2.10859815e-02 2.53845311e+02] [-3.42838003e-01 9.39361762e-01 -7.84753409e-03 -9.22895720e+01] [-2.24985021e-02 1.40740317e-04 9.99746867e-01 -2.88418731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.901193817 meters 0.06078386925994775 Centerline is valid? [True, True] Translation: X:253.87, Y:-92.31, Z:-28.84 [[ 9.40906802e-01 3.38002807e-01 2.11776290e-02 2.53871409e+02] [-3.37910724e-01 9.41145062e-01 -7.89390489e-03 -9.23100871e+01] [-2.25993830e-02 2.71280835e-04 9.99744565e-01 -2.88437832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.931193817 meters 0.0614509271153433 Centerline is valid? [True, True] Translation: X:253.90, Y:-92.33, Z:-28.84 [[ 9.42816095e-01 3.32677670e-01 2.05761909e-02 2.53898584e+02] [-3.32589342e-01 9.43040515e-01 -7.67568768e-03 -9.23302547e+01] [-2.19577115e-02 3.93340101e-04 9.99758823e-01 -2.88438577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.961193817 meters 0.06492851655771827 Centerline is valid? [True, True] Translation: X:253.92, Y:-92.36, Z:-28.85 [[ 9.46233334e-01 3.22795525e-01 2.11075155e-02 2.53919611e+02] [-3.22700060e-01 9.46468509e-01 -7.87614371e-03 -9.23595218e+01] [-2.25199826e-02 6.41273221e-04 9.99746187e-01 -2.88460643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.991193817 meters 0.06627736177132935 Centerline is valid? [True, True] Translation: X:253.95, Y:-92.38, Z:-28.85 [[ 9.47639001e-01 3.18597462e-01 2.18169985e-02 2.53947144e+02] [-3.18494306e-01 9.47889797e-01 -8.14306880e-03 -9.23776170e+01] [-2.32744714e-02 7.68099776e-04 9.99728818e-01 -2.88472139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.021193817 meters 0.06710479792513338 Centerline is valid? [True, True] Translation: X:253.97, Y:-92.39, Z:-28.85 [[ 9.48818632e-01 3.15086133e-01 2.15390775e-02 2.53974783e+02] [-3.14984602e-01 9.49062702e-01 -8.04291551e-03 -9.23931858e+01] [-2.29761462e-02 8.46790346e-04 9.99735655e-01 -2.88479639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.051193817 meters 0.06991642235408041 Centerline is valid? [True, True] Translation: X:254.00, Y:-92.41, Z:-28.85 [[ 9.49781455e-01 3.12156160e-01 2.17651175e-02 2.54000789e+02] [-3.12051904e-01 9.50030361e-01 -8.11932636e-03 -9.24115215e+01] [-2.32120202e-02 9.19739246e-04 9.99730142e-01 -2.88520994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.081193817 meters 0.0717322167860442 Centerline is valid? [True, True] Translation: X:254.03, Y:-92.43, Z:-28.85 [[ 9.51180158e-01 3.08014854e-01 1.95744014e-02 2.54027711e+02] [-3.07929358e-01 9.51381092e-01 -7.31631684e-03 -9.24286058e+01] [-2.08762496e-02 9.31602540e-04 9.99781633e-01 -2.88546447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.111193817 meters 0.07277540951067958 Centerline is valid? [True, True] Translation: X:254.06, Y:-92.44, Z:-28.86 [[ 9.51537312e-01 3.06824958e-01 2.08612028e-02 2.54055660e+02] [-3.06727753e-01 9.51765423e-01 -7.78882474e-03 -9.24426119e+01] [-2.22447774e-02 1.01264748e-03 9.99752041e-01 -2.88565197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.141193817 meters 0.07374678971468604 Centerline is valid? [True, True] Translation: X:254.08, Y:-92.46, Z:-28.86 [[ 9.51955248e-01 3.05549966e-01 2.05042376e-02 2.54084478e+02] [-3.05455634e-01 9.52175486e-01 -7.66150565e-03 -9.24561933e+01] [-2.18646052e-02 1.03027563e-03 9.99760410e-01 -2.88580430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.171193817 meters 0.07429662777442674 Centerline is valid? [True, True] Translation: X:254.11, Y:-92.47, Z:-28.86 [[ 9.52123498e-01 3.04980351e-01 2.11619796e-02 2.54113663e+02] [-3.04879590e-01 9.52358028e-01 -7.91342301e-03 -9.24686688e+01] [-2.25672196e-02 1.08270034e-03 9.99744742e-01 -2.88591716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.201193817 meters 0.0749953903640578 Centerline is valid? [True, True] Translation: X:254.14, Y:-92.48, Z:-28.86 [[ 9.52190882e-01 3.04750508e-01 2.14395101e-02 2.54143361e+02] [-3.04646863e-01 9.52431571e-01 -8.02441874e-03 -9.24806559e+01] [-2.28651120e-02 1.10929884e-03 9.99737944e-01 -2.88612554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.231193817 meters 0.07383310992215403 Centerline is valid? [True, True] Translation: X:254.17, Y:-92.49, Z:-28.86 [[ 9.51496768e-01 3.06707323e-01 2.41768318e-02 2.54173042e+02] [-3.06575620e-01 9.51803097e-01 -9.06933845e-03 -9.24869951e+01] [-2.57932159e-02 1.21741900e-03 9.99666558e-01 -2.88604803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.261193817 meters 0.07274286501430945 Centerline is valid? [True, True] Translation: X:254.20, Y:-92.49, Z:-28.86 [[ 9.50621629e-01 3.09398218e-01 2.43158603e-02 2.54202629e+02] [-3.09265987e-01 9.50931873e-01 -9.11712199e-03 -9.24936158e+01] [-2.59435479e-02 1.14686482e-03 9.99662752e-01 -2.88623682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.291193817 meters 0.07067899768208862 Centerline is valid? [True, True] Translation: X:254.23, Y:-92.50, Z:-28.86 [[ 9.49409635e-01 3.13028380e-01 2.51908537e-02 2.54234044e+02] [-3.12887538e-01 9.49743144e-01 -9.45242487e-03 -9.24980698e+01] [-2.68837178e-02 1.09231907e-03 9.99637971e-01 -2.88630222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.321193817 meters 0.06711301986761668 Centerline is valid? [True, True] Translation: X:254.27, Y:-92.49, Z:-28.87 [[ 9.46673181e-01 3.21148912e-01 2.59473623e-02 2.54267686e+02] [-3.21002464e-01 9.47028291e-01 -9.73824710e-03 -9.24919255e+01] [-2.77003137e-02 8.89770120e-04 9.99615877e-01 -2.88666238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.351193817 meters 0.06311041686210932 Centerline is valid? [True, True] Translation: X:254.30, Y:-92.49, Z:-28.86 [[ 9.45271313e-01 3.25283847e-01 2.55453342e-02 2.54302058e+02] [-3.25143483e-01 9.45616122e-01 -9.58466636e-03 -9.24906984e+01] [-2.72738170e-02 7.54211213e-04 9.99627716e-01 -2.88641267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.381193817 meters 0.06404293241929279 Centerline is valid? [True, True] Translation: X:254.33, Y:-92.50, Z:-28.87 [[ 9.44008043e-01 3.28933501e-01 2.55258074e-02 2.54331743e+02] [-3.28794871e-01 9.44352868e-01 -9.57044127e-03 -9.24991663e+01] [-2.72534082e-02 6.41818995e-04 9.99628351e-01 -2.88725513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.411193817 meters 0.06169806761320148 Centerline is valid? [True, True] Translation: X:254.37, Y:-92.50, Z:-28.87 [[ 9.43125118e-01 3.31495667e-01 2.50126995e-02 2.54365404e+02] [-3.31363274e-01 9.43456573e-01 -9.38480340e-03 -9.25017874e+01] [-2.67094174e-02 5.62753790e-04 9.99643081e-01 -2.88704552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.441193817 meters 0.06169806761320148 Centerline is valid? [True, True] Translation: X:254.40, Y:-92.51, Z:-28.87 [[ 9.43015513e-01 3.31807500e-01 2.50104955e-02 2.54395665e+02] [-3.31675061e-01 9.43346951e-01 -9.39067120e-03 -9.25134388e+01] [-2.67094698e-02 5.60190991e-04 9.99643082e-01 -2.88724262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.471193817 meters 0.06351494519109625 Centerline is valid? [True, True] Translation: X:254.42, Y:-92.52, Z:-28.88 [[ 9.42521707e-01 3.33243971e-01 2.45211614e-02 2.54424699e+02] [-3.33116896e-01 9.42840489e-01 -9.21663596e-03 -9.25243947e+01] [-2.61909321e-02 5.18466289e-04 9.99656824e-01 -2.88822720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.501193817 meters 0.06397053053227995 Centerline is valid? [True, True] Translation: X:254.46, Y:-92.53, Z:-28.89 [[ 9.42417035e-01 3.33579319e-01 2.39785486e-02 2.54455280e+02] [-3.33457661e-01 9.42721900e-01 -9.02261085e-03 -9.25343800e+01] [-2.56148593e-02 5.07231416e-04 9.99671757e-01 -2.88863783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53119381700003 meters 0.06571129113932836 Centerline is valid? [True, True] Translation: X:254.48, Y:-92.55, Z:-28.89 [[ 9.43432928e-01 3.30786754e-01 2.26811410e-02 2.54483444e+02] [-3.30676755e-01 9.43705359e-01 -8.54863308e-03 -9.25461676e+01] [-2.42320889e-02 5.64935821e-04 9.99706200e-01 -2.88905930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.561193817 meters 0.06669750529168024 Centerline is valid? [True, True] Translation: X:254.51, Y:-92.56, Z:-28.89 [[ 9.43955668e-01 3.29308367e-01 2.24431876e-02 2.54513265e+02] [-3.29200427e-01 9.44222247e-01 -8.45146120e-03 -9.25583656e+01] [-2.39744939e-02 5.89497763e-04 9.99712397e-01 -2.88941201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.591193817 meters 0.06452363723834732 Centerline is valid? [True, True] Translation: X:254.54, Y:-92.57, Z:-28.89 [[ 9.44369741e-01 3.28205644e-01 2.11387514e-02 2.54544928e+02] [-3.28109507e-01 9.44606115e-01 -7.96489412e-03 -9.25654461e+01] [-2.25819170e-02 5.85979698e-04 9.99744824e-01 -2.88891752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.621193817 meters 0.06911250079393438 Centerline is valid? [True, True] Translation: X:254.57, Y:-92.58, Z:-28.90 [[ 9.44726668e-01 3.27228436e-01 2.03242039e-02 2.54570504e+02] [-3.27139111e-01 9.44945076e-01 -7.66849784e-03 -9.25827322e+01] [-2.17146070e-02 5.95792408e-04 9.99764033e-01 -2.89015808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.651193817 meters 0.06431529894464325 Centerline is valid? [True, True] Translation: X:254.61, Y:-92.58, Z:-28.89 [[ 9.44139206e-01 3.28946945e-01 1.98762954e-02 2.54605785e+02] [-3.28861799e-01 9.44348244e-01 -7.50401113e-03 -9.25833408e+01] [-2.12385662e-02 5.48276832e-04 9.99774286e-01 -2.88930898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.681193817 meters 0.06471378996050862 Centerline is valid? [True, True] Translation: X:254.63, Y:-92.59, Z:-28.90 [[ 9.43582054e-01 3.30464721e-01 2.11181566e-02 2.54634915e+02] [-3.30369063e-01 9.43818189e-01 -7.96920126e-03 -9.25935560e+01] [-2.25652402e-02 5.42809663e-04 9.99745225e-01 -2.88962346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.711193817 meters 0.06261530035459843 Centerline is valid? [True, True] Translation: X:254.67, Y:-92.60, Z:-28.89 [[ 9.42920360e-01 3.32225849e-01 2.29604089e-02 2.54666441e+02] [-3.32112874e-01 9.43199698e-01 -8.68147086e-03 -9.26000027e+01] [-2.45404598e-02 5.60488228e-04 9.99698680e-01 -2.88923814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.741193817 meters 0.06272387196611845 Centerline is valid? [True, True] Translation: X:254.70, Y:-92.61, Z:-28.89 [[ 9.42407495e-01 3.33581267e-01 2.43238793e-02 2.54695641e+02] [-3.33455107e-01 9.42721187e-01 -9.18997113e-03 -9.26106284e+01] [-2.59962386e-02 5.49775887e-04 9.99661890e-01 -2.88949588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.771193817 meters 0.0619885883773204 Centerline is valid? [True, True] Translation: X:254.73, Y:-92.62, Z:-28.90 [[ 9.41826071e-01 3.35181304e-01 2.48424004e-02 2.54726556e+02] [-3.35050066e-01 9.42153501e-01 -9.39326287e-03 -9.26187324e+01] [-2.65538006e-02 5.23371975e-04 9.99647249e-01 -2.88956240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.801193817 meters 0.06226402494166354 Centerline is valid? [True, True] Translation: X:254.76, Y:-92.63, Z:-28.90 [[ 9.41594951e-01 3.35763157e-01 2.57303359e-02 2.54755753e+02] [-3.35622313e-01 9.41946292e-01 -9.73888486e-03 -9.26293157e+01] [-2.75065532e-02 5.34409963e-04 9.99621480e-01 -2.88982251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.831193817 meters 0.06214458600852814 Centerline is valid? [True, True] Translation: X:254.79, Y:-92.64, Z:-28.90 [[ 9.41273271e-01 3.36594619e-01 2.66212567e-02 2.54785927e+02] [-3.36443946e-01 9.41649497e-01 -1.00844493e-02 -9.26400701e+01] [-2.84622644e-02 5.35661908e-04 9.99594724e-01 -2.88999035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.861193817 meters 0.06077590287458733 Centerline is valid? [True, True] Translation: X:254.82, Y:-92.65, Z:-28.90 [[ 9.40694303e-01 3.38174256e-01 2.70629226e-02 2.54817247e+02] [-3.38018963e-01 9.41083375e-01 -1.02596931e-02 -9.26475976e+01] [-2.89380306e-02 5.03453855e-04 9.99581081e-01 -2.88978391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.891193817 meters 0.061636591320005193 Centerline is valid? [True, True] Translation: X:254.85, Y:-92.66, Z:-28.90 [[ 9.40232979e-01 3.39434209e-01 2.73196386e-02 2.54845821e+02] [-3.39276189e-01 9.40629677e-01 -1.03672089e-02 -9.26596760e+01] [-2.92166481e-02 4.78688885e-04 9.99572988e-01 -2.89039046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.921193817 meters 0.06038391662934755 Centerline is valid? [True, True] Translation: X:254.88, Y:-92.67, Z:-28.90 [[ 9.39417181e-01 3.41611975e-01 2.82244457e-02 2.54877149e+02] [-3.41444022e-01 9.39840982e-01 -1.07195592e-02 -9.26686206e+01] [-3.01884206e-02 4.33069833e-04 9.99544132e-01 -2.89027664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.951193817 meters 0.060146511196754786 Centerline is valid? [True, True] Translation: X:254.91, Y:-92.68, Z:-28.91 [[ 9.37605158e-01 3.46594036e-01 2.77333924e-02 2.54906599e+02] [-3.46433538e-01 9.38015188e-01 -1.05503886e-02 -9.26766684e+01] [-2.96710451e-02 2.84321559e-04 9.99559677e-01 -2.89087330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.981193817 meters 0.059740741701312355 Centerline is valid? [True, True] Translation: X:254.93, Y:-92.68, Z:-28.91 [[ 9.36547422e-01 3.49423313e-01 2.79691628e-02 2.54934474e+02] [-3.49261221e-01 9.36964945e-01 -1.06438394e-02 -9.26839742e+01] [-2.99253307e-02 1.99916402e-04 9.99552117e-01 -2.89110345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.011193817 meters 0.05875269717947511 Centerline is valid? [True, True] Translation: X:254.97, Y:-92.69, Z:-28.91 [[ 9.33140150e-01 3.58500870e-01 2.69552773e-02 2.54965616e+02] [-3.58354186e-01 9.33529388e-01 -1.02547238e-02 -9.26874682e+01] [-2.88398709e-02 -9.04419604e-05 9.99584040e-01 -2.89078906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.041193817 meters 0.05910288545199764 Centerline is valid? [True, True] Translation: X:254.99, Y:-92.69, Z:-28.91 [[ 9.31317499e-01 3.63191954e-01 2.71904453e-02 2.54993249e+02] [-3.63044692e-01 9.31714306e-01 -1.03442336e-02 -9.26943955e+01] [-2.90906693e-02 -2.37581054e-04 9.99576749e-01 -2.89104046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.071193817 meters 0.05975394335533312 Centerline is valid? [True, True] Translation: X:255.02, Y:-92.70, Z:-28.91 [[ 9.29253962e-01 3.68408181e-01 2.76131485e-02 2.55021115e+02] [-3.68258681e-01 9.29664049e-01 -1.05023590e-02 -9.27015169e+01] [-2.95401064e-02 -4.09422955e-04 9.99563512e-01 -2.89126029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.101193817 meters 0.0606703765496807 Centerline is valid? [True, True] Translation: X:255.05, Y:-92.71, Z:-28.92 [[ 9.27505449e-01 3.72861888e-01 2.66017651e-02 2.55049183e+02] [-3.72725071e-01 9.27886700e-01 -1.01140494e-02 -9.27101757e+01] [-2.84545676e-02 -5.34308900e-04 9.99594944e-01 -2.89151300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.131193817 meters 0.062061363525133494 Centerline is valid? [True, True] Translation: X:255.08, Y:-92.72, Z:-28.92 [[ 9.25652898e-01 3.77443204e-01 2.65205479e-02 2.55076433e+02] [-3.77309094e-01 9.26032491e-01 -1.00832839e-02 -9.27190677e+01] [-2.83647560e-02 -6.72822957e-04 9.99597413e-01 -2.89178248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.161193817 meters 0.0656190321160162 Centerline is valid? [True, True] Translation: X:255.10, Y:-92.73, Z:-28.92 [[ 9.22382028e-01 3.85449226e-01 2.53039365e-02 2.55103841e+02] [-3.85330272e-01 9.22728626e-01 -9.61578942e-03 -9.27289686e+01] [-2.70550652e-02 -8.80941409e-04 9.99633557e-01 -2.89236956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.191193817 meters 0.067555993784551 Centerline is valid? [True, True] Translation: X:255.13, Y:-92.74, Z:-28.93 [[ 9.21167382e-01 3.88358976e-01 2.50591211e-02 2.55130448e+02] [-3.88243329e-01 9.21507674e-01 -9.52489720e-03 -9.27400106e+01] [-2.67912517e-02 -9.55011962e-04 9.99640594e-01 -2.89273416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.221193817 meters 0.06728935624134326 Centerline is valid? [True, True] Translation: X:255.15, Y:-92.76, Z:-28.93 [[ 9.20335028e-01 3.90331388e-01 2.49968633e-02 2.55154721e+02] [-3.90217064e-01 9.20673876e-01 -9.50036102e-03 -9.27567883e+01] [-2.67222482e-02 -1.01068760e-03 9.99642386e-01 -2.89272173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.251193817 meters 0.06828302804373994 Centerline is valid? [True, True] Translation: X:255.18, Y:-92.77, Z:-28.93 [[ 9.19854624e-01 3.91477569e-01 2.47544819e-02 2.55178496e+02] [-3.91365884e-01 9.20187070e-01 -9.40755539e-03 -9.27721233e+01] [-2.64616011e-02 -1.03447637e-03 9.99649295e-01 -2.89305233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28119381700003 meters 0.06846107824961369 Centerline is valid? [True, True] Translation: X:255.20, Y:-92.79, Z:-28.93 [[ 9.19724346e-01 3.91849995e-01 2.36792923e-02 2.55202135e+02] [-3.91748036e-01 9.20028572e-01 -8.99455737e-03 -9.27907709e+01] [-2.53101428e-02 -1.00380288e-03 9.99679143e-01 -2.89326684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.311193817 meters 0.06834140356448772 Centerline is valid? [True, True] Translation: X:255.22, Y:-92.82, Z:-28.94 [[ 9.20260781e-01 3.90592732e-01 2.36095896e-02 2.55222089e+02] [-3.90491030e-01 9.20563077e-01 -8.96530292e-03 -9.28194747e+01] [-2.52358986e-02 -9.68916299e-04 9.99681054e-01 -2.89370446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.341193817 meters 0.06577949326942481 Centerline is valid? [True, True] Translation: X:255.25, Y:-92.85, Z:-28.94 [[ 9.20692887e-01 3.89612269e-01 2.29540324e-02 2.55246569e+02] [-3.89516182e-01 9.20978511e-01 -8.70211990e-03 -9.28463052e+01] [-2.45306233e-02 -9.28987184e-04 9.99698647e-01 -2.89355125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.371193817 meters 0.06759764709785408 Centerline is valid? [True, True] Translation: X:255.27, Y:-92.86, Z:-28.94 [[ 9.20914762e-01 3.89127061e-01 2.22740142e-02 2.55273110e+02] [-3.89036303e-01 9.21183668e-01 -8.45013974e-03 -9.28648724e+01] [-2.38066362e-02 -8.83541730e-04 9.99716191e-01 -2.89423501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.401193817 meters 0.06753168634600809 Centerline is valid? [True, True] Translation: X:255.30, Y:-92.89, Z:-28.94 [[ 9.20958383e-01 3.89018110e-01 2.23733339e-02 2.55297878e+02] [-3.88926184e-01 9.21229694e-01 -8.50138829e-03 -9.28871057e+01] [-2.39181735e-02 -8.72150561e-04 9.99713539e-01 -2.89442979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.431193817 meters 0.06810303610105488 Centerline is valid? [True, True] Translation: X:255.32, Y:-92.92, Z:-28.95 [[ 9.20462455e-01 3.90113799e-01 2.36662571e-02 2.55320104e+02] [-3.90011187e-01 9.20766161e-01 -8.99722221e-03 -9.29168135e+01] [-2.53010292e-02 -9.48499764e-04 9.99679428e-01 -2.89459679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.461193817 meters 0.0688273156793792 Centerline is valid? [True, True] Translation: X:255.35, Y:-92.94, Z:-28.95 [[ 9.19679720e-01 3.91902092e-01 2.45349429e-02 2.55346622e+02] [-3.91792432e-01 9.20006348e-01 -9.32788506e-03 -9.29372055e+01] [-2.62279209e-02 -1.03393822e-03 9.99655454e-01 -2.89473547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.491193817 meters 0.06557743200534534 Centerline is valid? [True, True] Translation: X:255.37, Y:-92.97, Z:-28.94 [[ 9.18981325e-01 3.93576025e-01 2.39005687e-02 2.55370111e+02] [-3.93472202e-01 9.19291481e-01 -9.09939614e-03 -9.29666330e+01] [-2.55528933e-02 -1.04203428e-03 9.99672928e-01 -2.89409324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.521193817 meters 0.0697952794805254 Centerline is valid? [True, True] Translation: X:255.39, Y:-92.99, Z:-28.95 [[ 9.17999116e-01 3.95744712e-01 2.57632667e-02 2.55393219e+02] [-3.95624984e-01 9.18359791e-01 -9.80642127e-03 -9.29910898e+01] [-2.75407876e-02 -1.19030591e-03 9.99619972e-01 -2.89470892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.551193817 meters 0.06650451586788977 Centerline is valid? [True, True] Translation: X:255.42, Y:-93.02, Z:-28.94 [[ 9.18253812e-01 3.95119661e-01 2.62752855e-02 2.55416682e+02] [-3.94994727e-01 9.18628890e-01 -1.00064183e-02 -9.30198678e+01] [-2.80909689e-02 -1.19016748e-03 9.99604662e-01 -2.89435092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.581193817 meters 0.06464548980600425 Centerline is valid? [True, True] Translation: X:255.44, Y:-93.05, Z:-28.94 [[ 9.18815885e-01 3.93707237e-01 2.77845544e-02 2.55440665e+02] [-3.93566378e-01 9.19235105e-01 -1.05984812e-02 -9.30459245e+01] [-2.97132366e-02 -1.19701353e-03 9.99557748e-01 -2.89419601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.611193817 meters 0.06464555066733758 Centerline is valid? [True, True] Translation: X:255.46, Y:-93.07, Z:-28.94 [[ 9.19881337e-01 3.91064868e-01 2.97757543e-02 2.55464990e+02] [-3.90901658e-01 9.20362349e-01 -1.13596243e-02 -9.30688819e+01] [-3.18468332e-02 -1.18988530e-03 9.99492053e-01 -2.89439287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.641193817 meters 0.06205110491714544 Centerline is valid? [True, True] Translation: X:255.48, Y:-93.11, Z:-28.94 [[ 9.22066100e-01 3.85677047e-01 3.23623758e-02 2.55482361e+02] [-3.85480846e-01 9.22633205e-01 -1.23485810e-02 -9.31119391e+01] [-3.46211667e-02 -1.08886808e-03 9.99399915e-01 -2.89404276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.671193817 meters 0.06116367606105443 Centerline is valid? [True, True] Translation: X:255.51, Y:-93.14, Z:-28.94 [[ 9.23573919e-01 3.82055180e-01 3.23273233e-02 2.55505746e+02] [-3.81857166e-01 9.24139023e-01 -1.23357423e-02 -9.31377260e+01] [-3.45878752e-02 -9.51450188e-04 9.99401208e-01 -2.89415392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.701193817 meters 0.06031160275963836 Centerline is valid? [True, True] Translation: X:255.53, Y:-93.16, Z:-28.94 [[ 9.25076498e-01 3.78470781e-01 3.15173058e-02 2.55530005e+02] [-3.78280667e-01 9.25612892e-01 -1.20212933e-02 -9.31640831e+01] [-3.37225328e-02 -8.01771493e-04 9.99430912e-01 -2.89442846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.731193817 meters 0.05991738058903592 Centerline is valid? [True, True] Translation: X:255.55, Y:-93.19, Z:-28.95 [[ 9.26127658e-01 3.75987149e-01 3.03516787e-02 2.55554489e+02] [-3.75809217e-01 9.26624631e-01 -1.15856192e-02 -9.31887887e+01] [-3.24806570e-02 -6.76678271e-04 9.99472135e-01 -2.89484748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.761193817 meters 0.05945971972380958 Centerline is valid? [True, True] Translation: X:255.57, Y:-93.22, Z:-28.96 [[ 9.27538859e-01 3.72543340e-01 2.97174188e-02 2.55573897e+02] [-3.72370697e-01 9.28014640e-01 -1.13530426e-02 -9.32233182e+01] [-3.18077001e-02 -5.35507727e-04 9.99493864e-01 -2.89557004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.791193817 meters 0.05926906396645295 Centerline is valid? [True, True] Translation: X:255.60, Y:-93.25, Z:-28.96 [[ 9.28043398e-01 3.71338429e-01 2.90382982e-02 2.55600467e+02] [-3.71172805e-01 9.28497466e-01 -1.10997945e-02 -9.32460871e+01] [-3.10837666e-02 -4.77135579e-04 9.99516669e-01 -2.89603083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.821193817 meters 0.05897192032579516 Centerline is valid? [True, True] Translation: X:255.63, Y:-93.27, Z:-28.96 [[ 9.28547818e-01 3.70065363e-01 2.91646488e-02 2.55625732e+02] [-3.69897308e-01 9.29005622e-01 -1.11595585e-02 -9.32683087e+01] [-3.12238888e-02 -4.25741403e-04 9.99512325e-01 -2.89639701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.851193817 meters 0.05882830615132962 Centerline is valid? [True, True] Translation: X:255.65, Y:-93.29, Z:-28.97 [[ 9.28932657e-01 3.69153944e-01 2.84514400e-02 2.55651871e+02] [-3.68993369e-01 9.29368184e-01 -1.08936598e-02 -9.32906121e+01] [-3.04633006e-02 -3.78916390e-04 9.99535814e-01 -2.89680872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.881193817 meters 0.05836575965627281 Centerline is valid? [True, True] Translation: X:255.68, Y:-93.31, Z:-28.97 [[ 9.29593074e-01 3.67572338e-01 2.73366475e-02 2.55676440e+02] [-3.67423104e-01 9.29994884e-01 -1.04775435e-02 -9.33134128e+01] [-2.92741975e-02 -3.04264043e-04 9.99571373e-01 -2.89699041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.911193817 meters 0.058263983396095224 Centerline is valid? [True, True] Translation: X:255.70, Y:-93.34, Z:-28.97 [[ 9.30629365e-01 3.64973408e-01 2.68960435e-02 2.55698724e+02] [-3.64827657e-01 9.31017920e-01 -1.03157258e-02 -9.33447357e+01] [-2.88056640e-02 -2.12303211e-04 9.99585008e-01 -2.89741651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.941193817 meters 0.05838281591180183 Centerline is valid? [True, True] Translation: X:255.73, Y:-93.37, Z:-28.98 [[ 9.31139535e-01 3.63690555e-01 2.66147872e-02 2.55726131e+02] [-3.63547135e-01 9.31519808e-01 -1.02141086e-02 -9.33655027e+01] [-2.85069763e-02 -1.64969278e-04 9.99593580e-01 -2.89765488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.971193817 meters 0.058255383219863954 Centerline is valid? [True, True] Translation: X:255.75, Y:-93.39, Z:-28.98 [[ 9.31487182e-01 3.62789491e-01 2.67472589e-02 2.55753017e+02] [-3.62643982e-01 9.31871112e-01 -1.02748804e-02 -9.33857858e+01] [-2.86526165e-02 -1.28813093e-04 9.99589421e-01 -2.89782068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.001193817 meters 0.0581628606774403 Centerline is valid? [True, True] Translation: X:255.78, Y:-93.41, Z:-28.98 [[ 9.31741383e-01 3.62044400e-01 2.79615521e-02 2.55779502e+02] [-3.61884785e-01 9.32160846e-01 -1.07498993e-02 -9.34063756e+01] [-2.99566049e-02 -1.02734265e-04 9.99551195e-01 -2.89796257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03119381700003 meters 0.05808202194730622 Centerline is valid? [True, True] Translation: X:255.80, Y:-93.43, Z:-28.98 [[ 9.32682283e-01 3.59432784e-01 3.01965792e-02 2.55802136e+02] [-3.59244924e-01 9.33170978e-01 -1.16194181e-02 -9.34340273e+01] [-3.23549711e-02 -1.07423739e-05 9.99476441e-01 -2.89822137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.061193817 meters 0.058156888980980474 Centerline is valid? [True, True] Translation: X:255.83, Y:-93.45, Z:-28.98 [[ 9.33273727e-01 3.57872630e-01 3.04521138e-02 2.55829073e+02] [-3.57680533e-01 9.33770410e-01 -1.17242469e-02 -9.34543707e+01] [-3.26310698e-02 4.98032638e-05 9.99467464e-01 -2.89839194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09119381700003 meters 0.05834124118008908 Centerline is valid? [True, True] Translation: X:255.85, Y:-93.47, Z:-28.99 [[ 9.33693748e-01 3.56740353e-01 3.08594535e-02 2.55854732e+02] [-3.56542000e-01 9.34203570e-01 -1.18950852e-02 -9.34740162e+01] [-3.30724685e-02 1.03675379e-04 9.99452951e-01 -2.89869382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.121193817 meters 0.05830104089658006 Centerline is valid? [True, True] Translation: X:255.88, Y:-93.49, Z:-28.99 [[ 9.34120643e-01 3.55568901e-01 3.14544376e-02 2.55881294e+02] [-3.55362096e-01 9.34650060e-01 -1.21262583e-02 -9.34944611e+01] [-3.37106123e-02 1.49673318e-04 9.99431625e-01 -2.89866167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.151193817 meters 0.058395762340029495 Centerline is valid? [True, True] Translation: X:255.91, Y:-93.51, Z:-28.99 [[ 9.34372194e-01 3.54892341e-01 3.16232418e-02 2.55907529e+02] [-3.54682635e-01 9.34907157e-01 -1.21998178e-02 -9.35145093e+01] [-3.38944170e-02 1.82955757e-04 9.99425402e-01 -2.89896021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.181193817 meters 0.0584772578177934 Centerline is valid? [True, True] Translation: X:255.93, Y:-93.54, Z:-28.99 [[ 9.34698380e-01 3.53870188e-01 3.33890381e-02 2.55932387e+02] [-3.53635344e-01 9.35294516e-01 -1.28923536e-02 -9.35383399e+01] [-3.57908038e-02 2.42918066e-04 9.99359274e-01 -2.89892845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.211193817 meters 0.05855509137323648 Centerline is valid? [True, True] Translation: X:255.96, Y:-93.55, Z:-28.99 [[ 9.34448451e-01 3.54400504e-01 3.47329217e-02 2.55959097e+02] [-3.54146331e-01 9.35093698e-01 -1.34220611e-02 -9.35543935e+01] [-3.72353214e-02 2.41687411e-04 9.99306496e-01 -2.89915279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.241193817 meters 0.058523285662398526 Centerline is valid? [True, True] Translation: X:255.99, Y:-93.57, Z:-28.99 [[ 9.33949173e-01 3.55694958e-01 3.49290704e-02 2.55987386e+02] [-3.55438489e-01 9.34602085e-01 -1.35064085e-02 -9.35703157e+01] [-3.74489434e-02 1.99163048e-04 9.99298522e-01 -2.89927973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.271193817 meters 0.05899043783983567 Centerline is valid? [True, True] Translation: X:256.02, Y:-93.59, Z:-29.00 [[ 9.33139632e-01 3.57844178e-01 3.46117283e-02 2.56015484e+02] [-3.57593486e-01 9.33781307e-01 -1.33928742e-02 -9.35857576e+01] [-3.71123469e-02 1.20493136e-04 9.99311092e-01 -2.89989839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.301193817 meters 0.05965258442304223 Centerline is valid? [True, True] Translation: X:256.04, Y:-93.60, Z:-29.00 [[ 9.31318872e-01 3.62749357e-01 3.25278613e-02 2.56042622e+02] [-3.62530583e-01 9.31886742e-01 -1.25966777e-02 -9.36020032e+01] [-3.48817194e-02 -6.08208901e-05 9.99391446e-01 -2.90042255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.331193817 meters 0.05965258442304223 Centerline is valid? [True, True] Translation: X:256.07, Y:-93.61, Z:-29.01 [[ 9.31226763e-01 3.62985947e-01 3.25256622e-02 2.56072676e+02] [-3.62767119e-01 9.31794611e-01 -1.26023524e-02 -9.36138835e+01] [-3.48817136e-02 -6.35929188e-05 9.99391446e-01 -2.90061944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.361193817 meters 0.059833509139076375 Centerline is valid? [True, True] Translation: X:256.10, Y:-93.63, Z:-29.01 [[ 9.30161267e-01 3.65770875e-01 3.18070057e-02 2.56101584e+02] [-3.65562923e-01 9.30704917e-01 -1.23331332e-02 -9.36285166e+01] [-3.41140375e-02 -1.55659199e-04 9.99417935e-01 -2.90050269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.391193817 meters 0.060770827380212965 Centerline is valid? [True, True] Translation: X:256.13, Y:-93.64, Z:-29.01 [[ 9.29515317e-01 3.67544548e-01 3.02039749e-02 2.56129264e+02] [-3.67357703e-01 9.30005895e-01 -1.17198035e-02 -9.36420756e+01] [-3.23974246e-02 -2.01925961e-04 9.99475045e-01 -2.90143525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.421193817 meters 0.061619978977048434 Centerline is valid? [True, True] Translation: X:256.16, Y:-93.66, Z:-29.02 [[ 9.28851090e-01 3.69394313e-01 2.79909654e-02 2.56156718e+02] [-3.69234482e-01 9.29272718e-01 -1.08680136e-02 -9.36567961e+01] [-3.00258229e-02 -2.40463342e-04 9.99549094e-01 -2.90195007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.451193817 meters 0.06201895525626141 Centerline is valid? [True, True] Translation: X:256.18, Y:-93.68, Z:-29.02 [[ 9.27540612e-01 3.72755920e-01 2.68595737e-02 2.56182950e+02] [-3.72610028e-01 9.27929369e-01 -1.04332514e-02 -9.36784520e+01] [-2.88128435e-02 -3.30882119e-04 9.99584769e-01 -2.90181149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.481193817 meters 0.06254627868360911 Centerline is valid? [True, True] Translation: X:256.21, Y:-93.70, Z:-29.02 [[ 9.26938523e-01 3.74205277e-01 2.74842886e-02 2.56210855e+02] [-3.74052856e-01 9.27345820e-01 -1.06860227e-02 -9.36950658e+01] [-2.94862062e-02 -3.75290578e-04 9.99565117e-01 -2.90207146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.511193817 meters 0.062358893144000144 Centerline is valid? [True, True] Translation: X:256.24, Y:-93.71, Z:-29.02 [[ 9.26114045e-01 3.76179866e-01 2.83104866e-02 2.56239379e+02] [-3.76019000e-01 9.26546549e-01 -1.10093064e-02 -9.37144177e+01] [-3.03724630e-02 -4.49407560e-04 9.99538549e-01 -2.90172751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.541193817 meters 0.06292608813672455 Centerline is valid? [True, True] Translation: X:256.27, Y:-93.73, Z:-29.02 [[ 9.25291494e-01 3.78086094e-01 2.97751065e-02 2.56266968e+02] [-3.77908737e-01 9.25770289e-01 -1.15913231e-02 -9.37299916e+01] [-3.19474270e-02 -5.26920194e-04 9.99489412e-01 -2.90192365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.571193817 meters 0.06301499325374317 Centerline is valid? [True, True] Translation: X:256.29, Y:-93.75, Z:-29.02 [[ 9.24587484e-01 3.79841041e-01 2.93047478e-02 2.56294759e+02] [-3.79669905e-01 9.25051597e-01 -1.14152060e-02 -9.37479021e+01] [-3.14443675e-02 -5.71774218e-04 9.99505340e-01 -2.90189688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.601193817 meters 0.06444330609896469 Centerline is valid? [True, True] Translation: X:256.32, Y:-93.77, Z:-29.02 [[ 9.22297533e-01 3.85179362e-01 3.16878604e-02 2.56321802e+02] [-3.84982041e-01 9.22841379e-01 -1.23538403e-02 -9.37677825e+01] [-3.40013131e-02 -8.05340715e-04 9.99421464e-01 -2.90198871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.631193817 meters 0.06537355301611501 Centerline is valid? [True, True] Translation: X:256.35, Y:-93.78, Z:-29.02 [[ 9.21042800e-01 3.88088135e-01 3.26765883e-02 2.56350033e+02] [-3.87879787e-01 9.21621794e-01 -1.27491172e-02 -9.37844856e+01] [-3.50632371e-02 -9.32105457e-04 9.99384661e-01 -2.90218663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.661193817 meters 0.0661441839001513 Centerline is valid? [True, True] Translation: X:256.38, Y:-93.80, Z:-29.02 [[ 9.20099553e-01 3.90269344e-01 3.32663842e-02 2.56377173e+02] [-3.90054464e-01 9.20700163e-01 -1.29894122e-02 -9.38015586e+01] [-3.56977347e-02 -1.02414934e-03 9.99362108e-01 -2.90239985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.691193817 meters 0.06681416675182038 Centerline is valid? [True, True] Translation: X:256.40, Y:-93.82, Z:-29.03 [[ 9.19177296e-01 3.92374320e-01 3.39925220e-02 2.56404121e+02] [-3.92151054e-01 9.19804944e-01 -1.32821462e-02 -9.38191581e+01] [-3.64780629e-02 -1.12155608e-03 9.99333825e-01 -2.90261630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.721193817 meters 0.06787252758122603 Centerline is valid? [True, True] Translation: X:256.43, Y:-93.84, Z:-29.03 [[ 9.18485489e-01 3.94025813e-01 3.35866832e-02 2.56430769e+02] [-3.93808641e-01 9.19098635e-01 -1.31321491e-02 -9.38364578e+01] [-3.60438804e-02 -1.16503769e-03 9.99349529e-01 -2.90297083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.751193817 meters 0.0686253224607173 Centerline is valid? [True, True] Translation: X:256.45, Y:-93.86, Z:-29.04 [[ 9.18114864e-01 3.95165571e-01 3.01540753e-02 2.56453101e+02] [-3.94990939e-01 9.18609278e-01 -1.17963405e-02 -9.38643173e+01] [-3.23613209e-02 -1.08019095e-03 9.99475652e-01 -2.90381182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78119381700003 meters 0.06987488448137429 Centerline is valid? [True, True] Translation: X:256.48, Y:-93.88, Z:-29.04 [[ 9.17674660e-01 3.96338106e-01 2.80949048e-02 2.56479521e+02] [-3.96186858e-01 9.18104039e-01 -1.09975847e-02 -9.38803281e+01] [-3.01528074e-02 -1.03862726e-03 9.99544761e-01 -2.90442437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.811193817 meters 0.06732406618763505 Centerline is valid? [True, True] Translation: X:256.50, Y:-93.91, Z:-29.04 [[ 9.20097172e-01 3.90806279e-01 2.62991553e-02 2.56504104e+02] [-3.90671216e-01 9.20472608e-01 -1.03042936e-02 -9.39068054e+01] [-2.82346347e-02 -7.93371610e-04 9.99601008e-01 -2.90407205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84119381700003 meters 0.06629557658473643 Centerline is valid? [True, True] Translation: X:256.53, Y:-93.93, Z:-29.04 [[ 9.21576465e-01 3.87327225e-01 2.59699915e-02 2.56530396e+02] [-3.87194127e-01 9.21942060e-01 -1.01757616e-02 -9.39250781e+01] [-2.78841769e-02 -6.77685826e-04 9.99610931e-01 -2.90437499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.871193817 meters 0.06587041181906816 Centerline is valid? [True, True] Translation: X:256.56, Y:-93.94, Z:-29.05 [[ 9.22758279e-01 3.84574412e-01 2.48933981e-02 2.56558276e+02] [-3.84451109e-01 9.23093818e-01 -9.75435384e-03 -9.39390311e+01] [-2.67302168e-02 -5.69383740e-04 9.99642522e-01 -2.90481799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.901193817 meters 0.06525506527843287 Centerline is valid? [True, True] Translation: X:256.59, Y:-93.95, Z:-29.05 [[ 9.23730430e-01 3.82319199e-01 2.35398161e-02 2.56588615e+02] [-3.82208131e-01 9.24030197e-01 -9.22709833e-03 -9.39514726e+01] [-2.52791978e-02 -4.73757618e-04 9.99680318e-01 -2.90544589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.931193817 meters 0.06537824319289752 Centerline is valid? [True, True] Translation: X:256.62, Y:-93.96, Z:-29.07 [[ 9.24834295e-01 3.79714968e-01 2.23174834e-02 2.56618338e+02] [-3.79614218e-01 9.25103455e-01 -8.75461657e-03 -9.39608741e+01] [-2.39702400e-02 -3.75464369e-04 9.99712602e-01 -2.90651081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.961193817 meters 0.06534064614278173 Centerline is valid? [True, True] Translation: X:256.65, Y:-93.97, Z:-29.07 [[ 9.24787225e-01 3.79782286e-01 2.31085414e-02 2.56648739e+02] [-3.79674093e-01 9.25075818e-01 -9.07273875e-03 -9.39719135e+01] [-2.48228183e-02 -3.83361608e-04 9.99691793e-01 -2.90663151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.991193817 meters 0.06511971759609407 Centerline is valid? [True, True] Translation: X:256.68, Y:-93.99, Z:-29.07 [[ 9.25261793e-01 3.78540379e-01 2.44498483e-02 2.56676786e+02] [-3.78418617e-01 9.25584707e-01 -9.60731717e-03 -9.39850559e+01] [-2.62671632e-02 -3.62994279e-04 9.99654893e-01 -2.90667129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.021193817 meters 0.06424947950156853 Centerline is valid? [True, True] Translation: X:256.70, Y:-94.00, Z:-29.07 [[ 9.26536852e-01 3.75365748e-01 2.51001336e-02 2.56704840e+02] [-3.75235953e-01 9.26876735e-01 -9.87405349e-03 -9.40031473e+01] [-2.69711114e-02 -2.69798120e-04 9.99636177e-01 -2.90653611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.051193817 meters 0.06251048928127621 Centerline is valid? [True, True] Translation: X:256.73, Y:-94.03, Z:-29.06 [[ 9.29855150e-01 3.66980069e-01 2.63633978e-02 2.56729623e+02] [-3.66833570e-01 9.30228804e-01 -1.03684012e-02 -9.40293155e+01] [-2.83289886e-02 -2.98680487e-05 9.99598653e-01 -2.90571297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.081193817 meters 0.062420151737139884 Centerline is valid? [True, True] Translation: X:256.76, Y:-94.04, Z:-29.06 [[ 9.30872924e-01 3.64299177e-01 2.75990683e-02 2.56757480e+02] [-3.64137185e-01 9.31281969e-01 -1.08630106e-02 -9.40441138e+01] [-2.96599004e-02 6.22353863e-05 9.99560046e-01 -2.90587918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.111193817 meters 0.062197363106696574 Centerline is valid? [True, True] Translation: X:256.79, Y:-94.06, Z:-29.06 [[ 9.32128835e-01 3.61042564e-01 2.80018046e-02 2.56786797e+02] [-3.60874172e-01 9.32549321e-01 -1.10270257e-02 -9.40594498e+01] [-3.00942895e-02 1.73480610e-04 9.99547049e-01 -2.90581289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.141193817 meters 0.06255693470833343 Centerline is valid? [True, True] Translation: X:256.81, Y:-94.07, Z:-29.06 [[ 9.32963702e-01 3.58897858e-01 2.77679380e-02 2.56814212e+02] [-3.58731013e-01 9.33376808e-01 -1.09451128e-02 -9.40728968e+01] [-2.98461268e-02 2.50172438e-04 9.99554474e-01 -2.90616968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.171193817 meters 0.06307167927326117 Centerline is valid? [True, True] Translation: X:256.84, Y:-94.09, Z:-29.06 [[ 9.35287259e-01 3.52731962e-01 2.85990451e-02 2.56841719e+02] [-3.52551872e-01 9.35724289e-01 -1.12797666e-02 -9.40895983e+01] [-3.07395554e-02 4.67175115e-04 9.99527319e-01 -2.90631104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.201193817 meters 0.06512844338230982 Centerline is valid? [True, True] Translation: X:256.87, Y:-94.10, Z:-29.09 [[ 9.31283530e-01 3.62693596e-01 3.41224582e-02 2.56869214e+02] [-3.62443390e-01 9.31908431e-01 -1.34708989e-02 -9.40994039e+01] [-3.66848153e-02 1.77766819e-04 9.99326870e-01 -2.90863007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.231193817 meters 0.06362415775703711 Centerline is valid? [True, True] Translation: X:256.90, Y:-94.12, Z:-29.06 [[ 9.37456203e-01 3.46773185e-01 3.04010891e-02 2.56898219e+02] [-3.46565892e-01 9.37948738e-01 -1.20103086e-02 -9.41173873e+01] [-3.26795161e-02 7.23157762e-04 9.99465620e-01 -2.90643336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.261193817 meters 0.06551685625417746 Centerline is valid? [True, True] Translation: X:256.92, Y:-94.14, Z:-29.07 [[ 9.39794045e-01 3.40297407e-01 3.13819665e-02 2.56923516e+02] [-3.40072750e-01 9.40317344e-01 -1.24023063e-02 -9.41360783e+01] [-3.37294801e-02 9.83461966e-04 9.99430515e-01 -2.90654667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.291193817 meters 0.0655994531497711 Centerline is valid? [True, True] Translation: X:256.95, Y:-94.15, Z:-29.07 [[ 9.40311531e-01 3.38856362e-01 3.14736414e-02 2.56953267e+02] [-3.38629546e-01 9.40837545e-01 -1.24396334e-02 -9.41483802e+01] [-3.38268324e-02 1.03922579e-03 9.99427169e-01 -2.90661978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.321193817 meters 0.0668334098757179 Centerline is valid? [True, True] Translation: X:256.98, Y:-94.16, Z:-29.07 [[ 9.41412116e-01 3.35789000e-01 3.14479712e-02 2.56981031e+02] [-3.35560538e-01 9.41936520e-01 -1.24385249e-02 -9.41629816e+01] [-3.37987124e-02 1.15707994e-03 9.99427991e-01 -2.90688530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.351193817 meters 0.06718796470029702 Centerline is valid? [True, True] Translation: X:257.01, Y:-94.18, Z:-29.07 [[ 9.41896307e-01 3.34423193e-01 3.15035791e-02 2.57010770e+02] [-3.34192906e-01 9.42422226e-01 -1.24679905e-02 -9.41756974e+01] [-3.38592583e-02 1.21528155e-03 9.99425872e-01 -2.90697923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.381193817 meters 0.06797282752833142 Centerline is valid? [True, True] Translation: X:257.04, Y:-94.19, Z:-29.07 [[ 9.42414716e-01 3.32939137e-01 3.17180465e-02 2.57038835e+02] [-3.32704458e-01 9.42947438e-01 -1.25647415e-02 -9.41880366e+01] [-3.40917449e-02 1.28846181e-03 9.99417877e-01 -2.90717497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.411193817 meters 0.06928677040776285 Centerline is valid? [True, True] Translation: X:257.07, Y:-94.20, Z:-29.07 [[ 9.43207770e-01 3.30632302e-01 3.22704791e-02 2.57067334e+02] [-3.30387950e-01 9.43758617e-01 -1.27857652e-02 -9.41987206e+01] [-3.46829297e-02 1.39785567e-03 9.99397389e-01 -2.90743188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.441193817 meters 0.06980407740557462 Centerline is valid? [True, True] Translation: X:257.10, Y:-94.21, Z:-29.08 [[ 9.43411779e-01 3.30012611e-01 3.26479872e-02 2.57096823e+02] [-3.29761886e-01 9.43975419e-01 -1.29424426e-02 -9.42095567e+01] [-3.50900666e-02 1.44399094e-03 9.99383111e-01 -2.90772816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.471193817 meters 0.0700101210594048 Centerline is valid? [True, True] Translation: X:257.13, Y:-94.22, Z:-29.08 [[ 9.43435726e-01 3.29939967e-01 3.26901972e-02 2.57126756e+02] [-3.29688284e-01 9.44000794e-01 -1.29667236e-02 -9.42198207e+01] [-3.51378124e-02 1.45569526e-03 9.99381416e-01 -2.90799834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.501193817 meters 0.06960577029081821 Centerline is valid? [True, True] Translation: X:257.16, Y:-94.23, Z:-29.08 [[ 9.43327382e-01 3.30247219e-01 3.27142862e-02 2.57157914e+02] [-3.29995084e-01 9.43893355e-01 -1.29838344e-02 -9.42297689e+01] [-3.51666726e-02 1.45245292e-03 9.99380406e-01 -2.90809822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53119381700003 meters 0.07027595782075441 Centerline is valid? [True, True] Translation: X:257.19, Y:-94.24, Z:-29.08 [[ 9.43052184e-01 3.31006853e-01 3.29703282e-02 2.57186440e+02] [-3.30750812e-01 9.43627242e-01 -1.30968873e-02 -9.42416975e+01] [-3.54468593e-02 1.44608531e-03 9.99370516e-01 -2.90848949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.561193817 meters 0.07021467811079889 Centerline is valid? [True, True] Translation: X:257.22, Y:-94.25, Z:-29.09 [[ 9.42479283e-01 3.32785405e-01 3.14113941e-02 2.57216046e+02] [-3.32553680e-01 9.43001657e-01 -1.24870187e-02 -9.42506058e+01] [-3.37764943e-02 1.32278173e-03 9.99428536e-01 -2.90895376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59119381700003 meters 0.06997268594623883 Centerline is valid? [True, True] Translation: X:257.25, Y:-94.26, Z:-29.09 [[ 9.42026283e-01 3.34207005e-01 2.98690556e-02 2.57246249e+02] [-3.33998191e-01 9.42498920e-01 -1.18740767e-02 -9.42628688e+01] [-3.21199522e-02 1.20948186e-03 9.99483289e-01 -2.90926728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.621193817 meters 0.06938557385622945 Centerline is valid? [True, True] Translation: X:257.28, Y:-94.27, Z:-29.09 [[ 9.41482451e-01 3.35836438e-01 2.87172633e-02 2.57276433e+02] [-3.35643909e-01 9.41919656e-01 -1.14248932e-02 -9.42744923e+01] [-3.08862502e-02 1.11756194e-03 9.99522281e-01 -2.90949924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.651193817 meters 0.06760705162572676 Centerline is valid? [True, True] Translation: X:257.31, Y:-94.28, Z:-29.10 [[ 9.39730433e-01 3.40618309e-01 2.97637400e-02 2.57307431e+02] [-3.40413615e-01 9.40201128e-01 -1.18494649e-02 -9.42832946e+01] [-3.20200466e-02 1.00332043e-03 9.99486723e-01 -2.90970572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.681193817 meters 0.0665357218245396 Centerline is valid? [True, True] Translation: X:257.34, Y:-94.29, Z:-29.10 [[ 9.39077145e-01 3.42392178e-01 3.00285299e-02 2.57338389e+02] [-3.42184499e-01 9.39556639e-01 -1.19620233e-02 -9.42929587e+01] [-3.23092079e-02 9.57965285e-04 9.99477462e-01 -2.90980263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.711193817 meters 0.06569131430613498 Centerline is valid? [True, True] Translation: X:257.37, Y:-94.30, Z:-29.10 [[ 9.38342637e-01 3.44401611e-01 3.00104441e-02 2.57369043e+02] [-3.44194859e-01 9.38821987e-01 -1.19656097e-02 -9.43038109e+01] [-3.22954401e-02 8.98401178e-04 9.99477962e-01 -2.91002433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.741193817 meters 0.0634774450218572 Centerline is valid? [True, True] Translation: X:257.40, Y:-94.31, Z:-29.10 [[ 9.33963195e-01 3.55975339e-01 3.15326479e-02 2.57400993e+02] [-3.55753537e-01 9.34495201e-01 -1.25753874e-02 -9.43064959e+01] [-3.39436360e-02 5.27097987e-04 9.99423610e-01 -2.91026425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.771193817 meters 0.06204582071700807 Centerline is valid? [True, True] Translation: X:257.43, Y:-94.31, Z:-29.10 [[ 9.31566239e-01 3.62207846e-01 3.14613724e-02 2.57434878e+02] [-3.61990235e-01 9.32097302e-01 -1.25574392e-02 -9.43093161e+01] [-3.38734634e-02 3.09376821e-04 9.99426082e-01 -2.91027267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.801193817 meters 0.06121701119079745 Centerline is valid? [True, True] Translation: X:257.47, Y:-94.31, Z:-29.10 [[ 9.28738701e-01 3.69459301e-01 3.07286460e-02 2.57468861e+02] [-3.69255750e-01 9.29246912e-01 -1.22624661e-02 -9.43112636e+01] [-3.30849815e-02 4.18975820e-05 9.99452541e-01 -2.91004350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.831193817 meters 0.06143277464268401 Centerline is valid? [True, True] Translation: X:257.50, Y:-94.32, Z:-29.10 [[ 9.26603929e-01 3.74828934e-01 3.01401602e-02 2.57500568e+02] [-3.74635665e-01 9.27093982e-01 -1.20360925e-02 -9.43152017e+01] [-3.24542369e-02 -1.38888348e-04 9.99473213e-01 -2.91048053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.861193817 meters 0.06263361209170008 Centerline is valid? [True, True] Translation: X:257.53, Y:-94.31, Z:-29.11 [[ 9.22691263e-01 3.84386371e-01 2.97985109e-02 2.57534654e+02] [-3.84202188e-01 9.23172196e-01 -1.19069277e-02 -9.43149649e+01] [-3.20860175e-02 -4.62234905e-04 9.99485004e-01 -2.91083211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.891193817 meters 0.061838670528998795 Centerline is valid? [True, True] Translation: X:257.56, Y:-94.33, Z:-29.11 [[ 9.23810182e-01 3.81529021e-01 3.17860656e-02 2.57560800e+02] [-3.81317421e-01 9.24356783e-01 -1.27106659e-02 -9.43320277e+01] [-3.42311532e-02 -3.78337940e-04 9.99413871e-01 -2.91068709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.921193817 meters 0.06096603107143091 Centerline is valid? [True, True] Translation: X:257.59, Y:-94.35, Z:-29.10 [[ 9.25625864e-01 3.76962955e-01 3.34019676e-02 2.57588350e+02] [-3.76725922e-01 9.26228312e-01 -1.33676010e-02 -9.43512516e+01] [-3.59769385e-02 -2.09989830e-04 9.99352598e-01 -2.91042780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.951193817 meters 0.06067478244217342 Centerline is valid? [True, True] Translation: X:257.62, Y:-94.37, Z:-29.11 [[ 9.26317060e-01 3.75258586e-01 3.34319817e-02 2.57616766e+02] [-3.75019981e-01 9.26920155e-01 -1.33806223e-02 -9.43660536e+01] [-3.60099711e-02 -1.42962383e-04 9.99351420e-01 -2.91056130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.981193817 meters 0.061030710888297375 Centerline is valid? [True, True] Translation: X:257.64, Y:-94.38, Z:-29.11 [[ 9.27705578e-01 3.71927792e-01 3.21259700e-02 2.57644083e+02] [-3.71705165e-01 9.28261665e-01 -1.28667277e-02 -9.43814563e+01] [-3.46068000e-02 -4.85389847e-06 9.99401005e-01 -2.91124557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.011193817 meters 0.06076745134500174 Centerline is valid? [True, True] Translation: X:257.67, Y:-94.40, Z:-29.11 [[ 9.29083598e-01 3.68568857e-01 3.09946157e-02 2.57672251e+02] [-3.68359427e-01 9.29600442e-01 -1.24238019e-02 -9.43963303e+01] [-3.33916349e-02 1.25591667e-04 9.99442336e-01 -2.91115609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.041193817 meters 0.06095281386781079 Centerline is valid? [True, True] Translation: X:257.70, Y:-94.41, Z:-29.11 [[ 9.29377621e-01 3.67820814e-01 3.10658358e-02 2.57702167e+02] [-3.67609989e-01 9.29896674e-01 -1.24527433e-02 -9.44093797e+01] [-3.34683956e-02 1.53189363e-04 9.99439765e-01 -2.91145638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.071193817 meters 0.06111603868214573 Centerline is valid? [True, True] Translation: X:257.73, Y:-94.42, Z:-29.12 [[ 9.29951045e-01 3.66442522e-01 3.01816378e-02 2.57731252e+02] [-3.66242481e-01 9.30440667e-01 -1.21082286e-02 -9.44219864e+01] [-3.25191931e-02 2.06261918e-04 9.99471090e-01 -2.91187767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.101193817 meters 0.06163321348191872 Centerline is valid? [True, True] Translation: X:257.76, Y:-94.44, Z:-29.12 [[ 9.31050345e-01 3.63725678e-01 2.91356535e-02 2.57757799e+02] [-3.63537687e-01 9.31506061e-01 -1.16964833e-02 -9.44375167e+01] [-3.13943492e-02 2.98106776e-04 9.99507031e-01 -2.91242449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.131193817 meters 0.062038069553625126 Centerline is valid? [True, True] Translation: X:257.78, Y:-94.45, Z:-29.13 [[ 9.32038500e-01 3.61203696e-01 2.89158122e-02 2.57784350e+02] [-3.61017095e-01 9.32486858e-01 -1.16153769e-02 -9.44548157e+01] [-3.11591320e-02 3.86875916e-04 9.99514361e-01 -2.91267292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.161193817 meters 0.06243546178358322 Centerline is valid? [True, True] Translation: X:257.81, Y:-94.47, Z:-29.13 [[ 9.32851955e-01 3.59125335e-01 2.85696199e-02 2.57811209e+02] [-3.58941991e-01 9.33289229e-01 -1.14831367e-02 -9.44725411e+01] [-3.07876039e-02 4.57230278e-04 9.99525845e-01 -2.91274798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.191193817 meters 0.06250130709369131 Centerline is valid? [True, True] Translation: X:257.84, Y:-94.49, Z:-29.13 [[ 9.33511706e-01 3.57475217e-01 2.77013550e-02 2.57839309e+02] [-3.57301950e-01 9.33922490e-01 -1.11399565e-02 -9.44880286e+01] [-2.98531768e-02 5.01531604e-04 9.99554169e-01 -2.91273189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.221193817 meters 0.06205768323016541 Centerline is valid? [True, True] Translation: X:257.87, Y:-94.50, Z:-29.13 [[ 9.33062269e-01 3.58572936e-01 2.86400254e-02 2.57868798e+02] [-3.58387994e-01 9.33501585e-01 -1.15254338e-02 -9.45007569e+01] [-3.08682177e-02 4.89706151e-04 9.99523343e-01 -2.91256408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.251193817 meters 0.06205768323016541 Centerline is valid? [True, True] Translation: X:257.90, Y:-94.51, Z:-29.13 [[ 9.32968808e-01 3.58816224e-01 2.86377637e-02 2.57898662e+02] [-3.58631225e-01 9.33408099e-01 -1.15310494e-02 -9.45130121e+01] [-3.08682482e-02 4.87713156e-04 9.99523343e-01 -2.91276103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28119381700003 meters 0.06204791971650178 Centerline is valid? [True, True] Translation: X:257.93, Y:-94.52, Z:-29.13 [[ 9.32927051e-01 3.58910822e-01 2.88121317e-02 2.57928637e+02] [-3.58723315e-01 9.33371724e-01 -1.16106674e-02 -9.45249439e+01] [-3.10596232e-02 4.96322292e-04 9.99517410e-01 -2.91291747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.311193817 meters 0.06211388956783128 Centerline is valid? [True, True] Translation: X:257.96, Y:-94.54, Z:-29.13 [[ 9.32722739e-01 3.59424201e-01 2.90264682e-02 2.57957460e+02] [-3.59233846e-01 9.33174154e-01 -1.17064657e-02 -9.45359403e+01] [-3.12943370e-02 4.91596944e-04 9.99510091e-01 -2.91324093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34119381700003 meters 0.06160441485156798 Centerline is valid? [True, True] Translation: X:257.99, Y:-94.54, Z:-29.13 [[ 9.32590808e-01 3.59641872e-01 3.05304623e-02 2.57989181e+02] [-3.59431046e-01 9.33090271e-01 -1.23235216e-02 -9.45449232e+01] [-3.29197317e-02 5.19206986e-04 9.99457864e-01 -2.91312499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.371193817 meters 0.061587145965555534 Centerline is valid? [True, True] Translation: X:258.02, Y:-94.56, Z:-29.13 [[ 9.32491496e-01 3.59873582e-01 3.08320317e-02 2.58019788e+02] [-3.59658647e-01 9.33000931e-01 -1.24467194e-02 -9.45555168e+01] [-3.32455597e-02 5.17453191e-04 9.99447080e-01 -2.91338693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.401193817 meters 0.06235827332327055 Centerline is valid? [True, True] Translation: X:258.05, Y:-94.57, Z:-29.14 [[ 9.32596652e-01 3.59661364e-01 3.01195635e-02 2.58047619e+02] [-3.59455780e-01 9.33082756e-01 -1.21701515e-02 -9.45693791e+01] [-3.24811786e-02 5.23191416e-04 9.99472210e-01 -2.91397659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.431193817 meters 0.06227939536813696 Centerline is valid? [True, True] Translation: X:258.08, Y:-94.58, Z:-29.14 [[ 9.32116514e-01 3.60922831e-01 2.98917275e-02 2.58077880e+02] [-3.60720946e-01 9.32595562e-01 -1.20795796e-02 -9.45807683e+01] [-3.22366884e-02 4.77003429e-04 9.99480149e-01 -2.91416685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.461193817 meters 0.06222445760884448 Centerline is valid? [True, True] Translation: X:258.11, Y:-94.59, Z:-29.14 [[ 9.32081832e-01 3.61091319e-01 2.89226178e-02 2.58106806e+02] [-3.60902166e-01 9.32530345e-01 -1.16953592e-02 -9.45927469e+01] [-3.11943115e-02 4.62796445e-04 9.99513232e-01 -2.91441837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.491193817 meters 0.06242486940529157 Centerline is valid? [True, True] Translation: X:258.14, Y:-94.60, Z:-29.15 [[ 9.32092088e-01 3.61110228e-01 2.83503555e-02 2.58135435e+02] [-3.60928219e-01 9.32523024e-01 -1.14730309e-02 -9.46048068e+01] [-3.05803881e-02 4.61477974e-04 9.99532204e-01 -2.91472967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.521193817 meters 0.062426528835892205 Centerline is valid? [True, True] Translation: X:258.16, Y:-94.62, Z:-29.15 [[ 9.33473995e-01 3.57592763e-01 2.74538955e-02 2.58164274e+02] [-3.57420570e-01 9.33877457e-01 -1.11099893e-02 -9.46200879e+01] [-2.96114258e-02 5.58299101e-04 9.99561330e-01 -2.91462219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.551193817 meters 0.06315709448818807 Centerline is valid? [True, True] Translation: X:258.19, Y:-94.64, Z:-29.15 [[ 9.34387930e-01 3.55215215e-01 2.72276785e-02 2.58191329e+02] [-3.55044517e-01 9.34784330e-01 -1.10294124e-02 -9.46362271e+01] [-2.93698223e-02 6.38711797e-04 9.99568410e-01 -2.91486221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.581193817 meters 0.06490187880839099 Centerline is valid? [True, True] Translation: X:258.22, Y:-94.66, Z:-29.15 [[ 9.36626280e-01 3.49269754e-01 2.72369387e-02 2.58215878e+02] [-3.49096314e-01 9.37021852e-01 -1.10368577e-02 -9.46568833e+01] [-2.93764473e-02 8.29096054e-04 9.99568075e-01 -2.91507857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.611193817 meters 0.06570288516193819 Centerline is valid? [True, True] Translation: X:258.24, Y:-94.67, Z:-29.15 [[ 9.37325181e-01 3.47359966e-01 2.76144897e-02 2.58244057e+02] [-3.47180845e-01 9.37731434e-01 -1.11901371e-02 -9.46724436e+01] [-2.97819807e-02 9.01575387e-04 9.99556012e-01 -2.91516929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.641193817 meters 0.06538207405813906 Centerline is valid? [True, True] Translation: X:258.27, Y:-94.68, Z:-29.15 [[ 9.36945459e-01 3.48289891e-01 2.87638470e-02 2.58273770e+02] [-3.48095732e-01 9.37386427e-01 -1.16639867e-02 -9.46835574e+01] [-3.10252884e-02 9.15946966e-04 9.99518180e-01 -2.91515981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.671193817 meters 0.06402073832894564 Centerline is valid? [True, True] Translation: X:258.31, Y:-94.69, Z:-29.15 [[ 9.36510092e-01 3.49362926e-01 2.99064313e-02 2.58305035e+02] [-3.49153315e-01 9.36987030e-01 -1.21354298e-02 -9.46921478e+01] [-3.22616075e-02 9.23022866e-04 9.99479033e-01 -2.91501859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.701193817 meters 0.06379286566227058 Centerline is valid? [True, True] Translation: X:258.33, Y:-94.70, Z:-29.15 [[ 9.35426247e-01 3.51995393e-01 3.28173578e-02 2.58334156e+02] [-3.51744114e-01 9.36001274e-01 -1.33301438e-02 -9.47010865e+01] [-3.54092379e-02 9.26053964e-04 9.99372467e-01 -2.91511723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.731193817 meters 0.0624106666554264 Centerline is valid? [True, True] Translation: X:258.37, Y:-94.71, Z:-29.15 [[ 9.34477671e-01 3.54382937e-01 3.41206264e-02 2.58365766e+02] [-3.54112815e-01 9.35099982e-01 -1.38613895e-02 -9.47079800e+01] [-3.68184371e-02 8.70607925e-04 9.99321592e-01 -2.91497573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.761193817 meters 0.06202595861579632 Centerline is valid? [True, True] Translation: X:258.40, Y:-94.72, Z:-29.15 [[ 9.33567579e-01 3.56775963e-01 3.40952738e-02 2.58395767e+02] [-3.56507515e-01 9.34189648e-01 -1.38598075e-02 -9.47172501e+01] [-3.67962980e-02 7.83845601e-04 9.99322480e-01 -2.91515515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.791193817 meters 0.061732914036012075 Centerline is valid? [True, True] Translation: X:258.43, Y:-94.73, Z:-29.16 [[ 9.32475289e-01 3.59562864e-01 3.47042104e-02 2.58425139e+02] [-3.59286337e-01 9.33120606e-01 -1.41160713e-02 -9.47259788e+01] [-3.74588289e-02 6.94139027e-04 9.99297931e-01 -2.91555772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.821193817 meters 0.06018768303447483 Centerline is valid? [True, True] Translation: X:258.46, Y:-94.73, Z:-29.16 [[ 9.30270356e-01 3.65366683e-01 3.32302945e-02 2.58458619e+02] [-3.65116602e-01 9.30863571e-01 -1.35233255e-02 -9.47284202e+01] [-3.58738432e-02 4.47416623e-04 9.99356226e-01 -2.91564456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.851193817 meters 0.06012512411905513 Centerline is valid? [True, True] Translation: X:258.49, Y:-94.74, Z:-29.16 [[ 9.29127182e-01 3.68311596e-01 3.26993435e-02 2.58489012e+02] [-3.68070968e-01 9.29702348e-01 -1.33156873e-02 -9.47366522e+01] [-3.53049785e-02 3.36288026e-04 9.99376528e-01 -2.91615563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.881193817 meters 0.05973230479047719 Centerline is valid? [True, True] Translation: X:258.52, Y:-94.74, Z:-29.16 [[ 9.27503039e-01 3.72499553e-01 3.13399963e-02 2.58522175e+02] [-3.72280686e-01 9.28032355e-01 -1.27686473e-02 -9.47425528e+01] [-3.38408460e-02 1.75683846e-04 9.99427219e-01 -2.91636038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.911193817 meters 0.05990028214687084 Centerline is valid? [True, True] Translation: X:258.55, Y:-94.75, Z:-29.17 [[ 9.26080046e-01 3.76181663e-01 2.93786410e-02 2.58552435e+02] [-3.75990856e-01 9.26545927e-01 -1.19800652e-02 -9.47485765e+01] [-3.17273410e-02 4.83989866e-05 9.99496560e-01 -2.91695791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.941193817 meters 0.06012252816115583 Centerline is valid? [True, True] Translation: X:258.58, Y:-94.76, Z:-29.17 [[ 9.24679304e-01 3.79722089e-01 2.79162996e-02 2.58584402e+02] [-3.79551313e-01 9.25100606e-01 -1.13872740e-02 -9.47553242e+01] [-3.01493851e-02 -6.60915183e-05 9.99545402e-01 -2.91722645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.971193817 meters 0.06127304696779666 Centerline is valid? [True, True] Translation: X:258.62, Y:-94.76, Z:-29.18 [[ 9.22263761e-01 3.85803027e-01 2.41987408e-02 2.58615535e+02] [-3.85676570e-01 9.22581148e-01 -9.87968029e-03 -9.47583478e+01] [-2.61369126e-02 -2.21216228e-04 9.99658348e-01 -2.91808366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.001193817 meters 0.06191269190448196 Centerline is valid? [True, True] Translation: X:258.65, Y:-94.77, Z:-29.18 [[ 9.21180041e-01 3.88481588e-01 2.25696420e-02 2.58645984e+02] [-3.88372431e-01 9.21456444e-01 -9.21282637e-03 -9.47672475e+01] [-2.43759555e-02 -2.78754967e-04 9.99702823e-01 -2.91849765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03119381700003 meters 0.0624708081730846 Centerline is valid? [True, True] Translation: X:258.68, Y:-94.78, Z:-29.19 [[ 9.20302426e-01 3.90619057e-01 2.14522004e-02 2.58676133e+02] [-3.90520906e-01 9.20552363e-01 -8.76175440e-03 -9.47770317e+01] [-2.31703820e-02 -3.14068884e-04 9.99731481e-01 -2.91881822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.061193817 meters 0.06286336670959124 Centerline is valid? [True, True] Translation: X:258.71, Y:-94.79, Z:-29.19 [[ 9.19369269e-01 3.92853386e-01 2.06486202e-02 2.58706070e+02] [-3.92762891e-01 9.19601052e-01 -8.43905888e-03 -9.47874428e+01] [-2.23038057e-02 -3.51400364e-04 9.99751177e-01 -2.91895501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09119381700003 meters 0.06331435536484081 Centerline is valid? [True, True] Translation: X:258.74, Y:-94.80, Z:-29.19 [[ 9.18320264e-01 3.95236219e-01 2.18225736e-02 2.58735370e+02] [-3.95135660e-01 9.18579419e-01 -8.92526852e-03 -9.47978845e+01] [-2.35733564e-02 -4.26622085e-04 9.99722019e-01 -2.91900511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.121193817 meters 0.06331646367014807 Centerline is valid? [True, True] Translation: X:258.77, Y:-94.81, Z:-29.19 [[ 9.17899906e-01 3.96199442e-01 2.20400496e-02 2.58766029e+02] [-3.96097060e-01 9.18164363e-01 -9.01788219e-03 -9.48102693e+01] [-2.38092680e-02 -4.52485619e-04 9.99716417e-01 -2.91906805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.151193817 meters 0.06334053557203222 Centerline is valid? [True, True] Translation: X:258.80, Y:-94.82, Z:-29.19 [[ 9.17488402e-01 3.97108677e-01 2.27976184e-02 2.58795912e+02] [-3.96999193e-01 9.17771466e-01 -9.33684878e-03 -9.48218125e+01] [-2.46307473e-02 -4.84185653e-04 9.99696500e-01 -2.91912639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.181193817 meters 0.06372495534275809 Centerline is valid? [True, True] Translation: X:258.83, Y:-94.83, Z:-29.19 [[ 9.16465005e-01 3.99391297e-01 2.40517254e-02 2.58827077e+02] [-3.99270062e-01 9.16780381e-01 -9.85652307e-03 -9.48325682e+01] [-2.59867595e-02 -5.69975441e-04 9.99662125e-01 -2.91918231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.211193817 meters 0.06379217748859932 Centerline is valid? [True, True] Translation: X:258.86, Y:-94.84, Z:-29.19 [[ 9.15989480e-01 4.00415730e-01 2.51100637e-02 2.58857157e+02] [-4.00283701e-01 9.16333380e-01 -1.03002469e-02 -9.48442727e+01] [-2.71335704e-02 -6.16231425e-04 9.99631627e-01 -2.91927289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.241193817 meters 0.06372979123302755 Centerline is valid? [True, True] Translation: X:258.89, Y:-94.86, Z:-29.19 [[ 9.15605105e-01 4.01234025e-01 2.60489767e-02 2.58886913e+02] [-4.01092052e-01 9.15975341e-01 -1.06930341e-02 -9.48564586e+01] [-2.81506294e-02 -6.57440880e-04 9.99603476e-01 -2.91932256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.271193817 meters 0.06429875567126882 Centerline is valid? [True, True] Translation: X:258.92, Y:-94.87, Z:-29.20 [[ 9.15510309e-01 4.01421551e-01 2.64879895e-02 2.58916370e+02] [-4.01274610e-01 9.15893167e-01 -1.08809094e-02 -9.48672478e+01] [-2.86280001e-02 -6.67372890e-04 9.99589912e-01 -2.91966576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.301193817 meters 0.06390043934034602 Centerline is valid? [True, True] Translation: X:258.95, Y:-94.88, Z:-29.20 [[ 9.15180109e-01 4.02156645e-01 2.67469737e-02 2.58946335e+02] [-4.02006946e-01 9.15570617e-01 -1.09936464e-02 -9.48817740e+01] [-2.89099112e-02 -6.91302665e-04 9.99581782e-01 -2.91973601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.331193817 meters 0.06373063649579842 Centerline is valid? [True, True] Translation: X:258.98, Y:-94.89, Z:-29.20 [[ 9.15439817e-01 4.01538478e-01 2.71439316e-02 2.58975537e+02] [-4.01383737e-01 9.15841907e-01 -1.11667910e-02 -9.48945804e+01] [-2.93434463e-02 -6.72607567e-04 9.99569162e-01 -2.91996788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.361193817 meters 0.06464401940677875 Centerline is valid? [True, True] Translation: X:259.00, Y:-94.91, Z:-29.21 [[ 9.15855519e-01 4.00596312e-01 2.70418733e-02 2.59003744e+02] [-4.00442089e-01 9.16254438e-01 -1.11328013e-02 -9.49055038e+01] [-2.92369955e-02 -6.32666740e-04 9.99572307e-01 -2.92069319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.391193817 meters 0.06307958423564863 Centerline is valid? [True, True] Translation: X:259.03, Y:-94.92, Z:-29.20 [[ 9.16074310e-01 4.00091816e-01 2.70997558e-02 2.59031304e+02] [-3.99936531e-01 9.16474857e-01 -1.11627740e-02 -9.49230466e+01] [-2.93023794e-02 -6.12251827e-04 9.99570406e-01 -2.92027817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.421193817 meters 0.06260746669365486 Centerline is valid? [True, True] Translation: X:259.06, Y:-94.94, Z:-29.21 [[ 9.17222332e-01 3.97543275e-01 2.57398234e-02 2.59058858e+02] [-3.97402004e-01 9.17583291e-01 -1.06089936e-02 -9.49404646e+01] [-2.78359660e-02 -4.98251524e-04 9.99612380e-01 -2.92061401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.451193817 meters 0.06156787626246366 Centerline is valid? [True, True] Translation: X:259.09, Y:-94.96, Z:-29.21 [[ 9.19087851e-01 3.93165052e-01 2.64341394e-02 2.59086086e+02] [-3.93013941e-01 9.19467840e-01 -1.09056965e-02 -9.49599383e+01] [-2.85930798e-02 -3.65692138e-04 9.99591067e-01 -2.92073848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.481193817 meters 0.06096332025217375 Centerline is valid? [True, True] Translation: X:259.11, Y:-94.98, Z:-29.21 [[ 9.22037678e-01 3.86160253e-01 2.69588446e-02 2.59110272e+02] [-3.85999988e-01 9.22431698e-01 -1.11253027e-02 -9.49814006e+01] [-2.91638425e-02 -1.48165396e-04 9.99574634e-01 -2.92107757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.511193817 meters 0.06235359181543909 Centerline is valid? [True, True] Translation: X:259.13, Y:-95.02, Z:-29.22 [[ 9.29843811e-01 3.66961969e-01 2.70074154e-02 2.59127652e+02] [-3.66792680e-01 9.30235828e-01 -1.11549789e-02 -9.50218423e+01] [-2.92167185e-02 4.66265804e-04 9.99572992e-01 -2.92168073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.541193817 meters 0.06290056018738822 Centerline is valid? [True, True] Translation: X:259.15, Y:-95.04, Z:-29.22 [[ 9.31127803e-01 3.63807630e-01 2.53973141e-02 2.59154935e+02] [-3.63656723e-01 9.31473953e-01 -1.04911155e-02 -9.50389285e+01] [-2.74736844e-02 5.32665312e-04 9.99622385e-01 -2.92156391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.571193817 meters 0.06355495187381767 Centerline is valid? [True, True] Translation: X:259.18, Y:-95.06, Z:-29.22 [[ 9.32242611e-01 3.61002898e-01 2.45075712e-02 2.59182156e+02] [-3.60861274e-01 9.32564501e-01 -1.01287695e-02 -9.50562776e+01] [-2.65114060e-02 5.98637151e-04 9.99648332e-01 -2.92167042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.601193817 meters 0.06470720828967295 Centerline is valid? [True, True] Translation: X:259.21, Y:-95.07, Z:-29.22 [[ 9.33558558e-01 3.57641838e-01 2.36798278e-02 2.59208268e+02] [-3.57508271e-01 9.33858583e-01 -9.79712635e-03 -9.50731427e+01] [-2.56174727e-02 6.80456858e-04 9.99671587e-01 -2.92192050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.631193817 meters 0.06629365174184773 Centerline is valid? [True, True] Translation: X:259.24, Y:-95.09, Z:-29.22 [[ 9.34927378e-01 3.54073036e-01 2.33041250e-02 2.59235458e+02] [-3.53942565e-01 9.35217461e-01 -9.64170152e-03 -9.50867517e+01] [-2.52082912e-02 7.65968952e-04 9.99681927e-01 -2.92233246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.661193817 meters 0.06703695483595469 Centerline is valid? [True, True] Translation: X:259.26, Y:-95.10, Z:-29.23 [[ 9.36587132e-01 3.49600345e-01 2.41690687e-02 2.59264129e+02] [-3.49458278e-01 9.36898467e-01 -1.00087107e-02 -9.50995083e+01] [-2.61430121e-02 9.27948566e-04 9.99657782e-01 -2.92260577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.691193817 meters 0.06828060648758112 Centerline is valid? [True, True] Translation: X:259.29, Y:-95.11, Z:-29.23 [[ 9.37651749e-01 3.46609449e-01 2.59053554e-02 2.59292899e+02] [-3.46445080e-01 9.38008909e-01 -1.07281492e-02 -9.51122285e+01] [-2.80179320e-02 1.08448495e-03 9.99606832e-01 -2.92284234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.721193817 meters 0.0694606098339733 Centerline is valid? [True, True] Translation: X:259.32, Y:-95.12, Z:-29.23 [[ 9.37355388e-01 3.47384240e-01 2.62500654e-02 2.59321238e+02] [-3.47215492e-01 9.37722247e-01 -1.08806714e-02 -9.51248285e+01] [-2.83950441e-02 1.08462659e-03 9.99596191e-01 -2.92316741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.751193817 meters 0.07054411003330247 Centerline is valid? [True, True] Translation: X:259.35, Y:-95.14, Z:-29.23 [[ 9.38215904e-01 3.44948725e-01 2.75915705e-02 2.59350202e+02] [-3.44761178e-01 9.38620738e-01 -1.14385142e-02 -9.51394119e+01] [-2.98437211e-02 1.21929358e-03 9.99553833e-01 -2.92319171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78119381700003 meters 0.0712286238595608 Centerline is valid? [True, True] Translation: X:259.38, Y:-95.15, Z:-29.23 [[ 9.39814966e-01 3.40302115e-01 3.06969136e-02 2.59379767e+02] [-3.40067151e-01 9.40314909e-01 -1.27359496e-02 -9.51520668e+01] [-3.31988361e-02 1.53042404e-03 9.99447595e-01 -2.92286980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.811193817 meters 0.07436457988783227 Centerline is valid? [True, True] Translation: X:259.41, Y:-95.17, Z:-29.23 [[ 9.40849063e-01 3.37242995e-01 3.27139657e-02 2.59406034e+02] [-3.36973974e-01 9.41416000e-01 -1.35814942e-02 -9.51692797e+01] [-3.53777145e-02 1.75438110e-03 9.99372473e-01 -2.92305626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84119381700003 meters 0.07461962680941493 Centerline is valid? [True, True] Translation: X:259.43, Y:-95.18, Z:-29.23 [[ 9.41774778e-01 3.34520139e-01 3.40080092e-02 2.59434830e+02] [-3.34227307e-01 9.42386608e-01 -1.41276118e-02 -9.51823618e+01] [-3.67746631e-02 1.93862310e-03 9.99321703e-01 -2.92311977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.871193817 meters 0.07445665502204545 Centerline is valid? [True, True] Translation: X:259.46, Y:-95.19, Z:-29.23 [[ 9.42891721e-01 3.31208481e-01 3.54421272e-02 2.59464492e+02] [-3.30887654e-01 9.43555113e-01 -1.47346280e-02 -9.51948129e+01] [-3.83218341e-02 2.16579647e-03 9.99263102e-01 -2.92321343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.901193817 meters 0.0756369444012458 Centerline is valid? [True, True] Translation: X:259.49, Y:-95.21, Z:-29.23 [[ 9.44527308e-01 3.26184190e-01 3.83671495e-02 2.59491326e+02] [-3.25803905e-01 9.45302742e-01 -1.59543682e-02 -9.52130553e+01] [-4.14726342e-02 2.56916927e-03 9.99136337e-01 -2.92330864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.931193817 meters 0.07328605300459051 Centerline is valid? [True, True] Translation: X:259.52, Y:-95.22, Z:-29.23 [[ 9.44263526e-01 3.26821860e-01 3.94191119e-02 2.59521455e+02] [-3.26420500e-01 9.45082324e-01 -1.64029754e-02 -9.52239043e+01] [-4.26151568e-02 2.62152517e-03 9.99088122e-01 -2.92311026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.961193817 meters 0.0750933040119614 Centerline is valid? [True, True] Translation: X:259.55, Y:-95.24, Z:-29.23 [[ 9.43469499e-01 3.29040381e-01 3.99716312e-02 2.59547313e+02] [-3.28629070e-01 9.44312355e-01 -1.66466367e-02 -9.52422712e+01] [-4.32231209e-02 2.56975399e-03 9.99062139e-01 -2.92325042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.991193817 meters 0.07157828807530457 Centerline is valid? [True, True] Translation: X:259.58, Y:-95.25, Z:-29.23 [[ 9.41165459e-01 3.35504918e-01 4.05466150e-02 2.59578869e+02] [-3.35087435e-01 9.42035621e-01 -1.68908016e-02 -9.52497816e+01] [-4.38633026e-02 2.31037787e-03 9.99034871e-01 -2.92332361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.021193817 meters 0.07099205268869474 Centerline is valid? [True, True] Translation: X:259.61, Y:-95.26, Z:-29.24 [[ 9.40576585e-01 3.37080822e-01 4.11364542e-02 2.59608828e+02] [-3.36652135e-01 9.41472955e-01 -1.71468807e-02 -9.52610552e+01] [-4.45087437e-02 2.27927930e-03 9.99006395e-01 -2.92370110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.051193817 meters 0.07011668542868935 Centerline is valid? [True, True] Translation: X:259.64, Y:-95.27, Z:-29.24 [[ 9.39614782e-01 3.39777478e-01 4.09307651e-02 2.59638728e+02] [-3.39355119e-01 9.40503396e-01 -1.70723848e-02 -9.52712383e+01] [-4.42963354e-02 2.15140044e-03 9.99016119e-01 -2.92412063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.081193817 meters 0.06929670113515407 Centerline is valid? [True, True] Translation: X:259.67, Y:-95.28, Z:-29.25 [[ 9.38686242e-01 3.42426317e-01 4.01541675e-02 2.59669115e+02] [-3.42021803e-01 9.39542563e-01 -1.67588507e-02 -9.52811056e+01] [-4.34652210e-02 1.99770175e-03 9.99052943e-01 -2.92451260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.111193817 meters 0.0665678610292777 Centerline is valid? [True, True] Translation: X:259.70, Y:-95.29, Z:-29.25 [[ 9.35664725e-01 3.50611633e-01 4.00375506e-02 2.59699790e+02] [-3.50216437e-01 9.36519539e-01 -1.67212621e-02 -9.52872853e+01] [-4.33586175e-02 1.62368676e-03 9.99058254e-01 -2.92472146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.141193817 meters 0.0665678610292777 Centerline is valid? [True, True] Translation: X:259.73, Y:-95.30, Z:-29.25 [[ 9.35571556e-01 3.50860530e-01 4.00343857e-02 2.59729496e+02] [-3.50465238e-01 9.36426326e-01 -1.67288356e-02 -9.52999176e+01] [-4.33587408e-02 1.62036227e-03 9.99058254e-01 -2.92491836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.171193817 meters 0.06595893027327625 Centerline is valid? [True, True] Translation: X:259.76, Y:-95.31, Z:-29.25 [[ 9.34160787e-01 3.54570435e-01 4.02918153e-02 2.59758348e+02] [-3.54172889e-01 9.35028152e-01 -1.68499081e-02 -9.53117387e+01] [-4.36484608e-02 1.47025482e-03 9.99045870e-01 -2.92502479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.201193817 meters 0.06529657749068286 Centerline is valid? [True, True] Translation: X:259.79, Y:-95.32, Z:-29.25 [[ 9.34031478e-01 3.54849128e-01 4.08325114e-02 2.59788545e+02] [-3.54440625e-01 9.34922396e-01 -1.70867611e-02 -9.53234148e+01] [-4.42384517e-02 1.48687185e-03 9.99019894e-01 -2.92514627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.231193817 meters 0.06607259631783277 Centerline is valid? [True, True] Translation: X:259.82, Y:-95.34, Z:-29.26 [[ 9.34582490e-01 3.53436859e-01 4.04716751e-02 2.59816498e+02] [-3.53033662e-01 9.35457096e-01 -1.69486179e-02 -9.53381938e+01] [-4.38497820e-02 1.55201785e-03 9.99036930e-01 -2.92552041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.261193817 meters 0.06654138362211175 Centerline is valid? [True, True] Translation: X:259.84, Y:-95.35, Z:-29.26 [[ 9.34883460e-01 3.52675129e-01 4.01642886e-02 2.59844880e+02] [-3.52277174e-01 9.35744495e-01 -1.68235793e-02 -9.53503074e+01] [-4.35167699e-02 1.57912396e-03 9.99051449e-01 -2.92579469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.291193817 meters 0.06764315415585606 Centerline is valid? [True, True] Translation: X:259.87, Y:-95.37, Z:-29.26 [[ 9.35072288e-01 3.52085880e-01 4.09310378e-02 2.59872353e+02] [-3.51671551e-01 9.35966250e-01 -1.71551538e-02 -9.53653208e+01] [-4.43501574e-02 1.64702736e-03 9.99014690e-01 -2.92591994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.321193817 meters 0.06816262728670097 Centerline is valid? [True, True] Translation: X:259.90, Y:-95.38, Z:-29.26 [[ 9.36005846e-01 3.49556593e-01 4.12703786e-02 2.59901416e+02] [-3.49132461e-01 9.36913540e-01 -1.73073164e-02 -9.53788490e+01] [-4.47166631e-02 1.79092043e-03 9.98998104e-01 -2.92600084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.351193817 meters 0.07140780597427505 Centerline is valid? [True, True] Translation: X:259.93, Y:-95.40, Z:-29.26 [[ 9.38430526e-01 3.42907720e-01 4.19814575e-02 2.59927685e+02] [-3.42461662e-01 9.39366622e-01 -1.76170367e-02 -9.53965821e+01] [-4.54769978e-02 2.15532531e-03 9.98963061e-01 -2.92612223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.381193817 meters 0.07030159232675487 Centerline is valid? [True, True] Translation: X:259.96, Y:-95.41, Z:-29.26 [[ 9.40216893e-01 3.38019018e-01 4.16573928e-02 2.59958260e+02] [-3.37574595e-01 9.41136264e-01 -1.74907282e-02 -9.54063681e+01] [-4.51174818e-02 2.38260064e-03 9.98978847e-01 -2.92630553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.411193817 meters 0.07839146353478964 Centerline is valid? [True, True] Translation: X:259.98, Y:-95.43, Z:-29.27 [[ 9.42743631e-01 3.31032543e-01 4.06435924e-02 2.59980561e+02] [-3.30602517e-01 9.43615584e-01 -1.70764545e-02 -9.54336647e+01] [-4.40047893e-02 2.66184480e-03 9.99027774e-01 -2.92703974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.441193817 meters 0.08202257245946691 Centerline is valid? [True, True] Translation: X:260.01, Y:-95.45, Z:-29.27 [[ 9.44559826e-01 3.25912911e-01 3.98435496e-02 2.60006409e+02] [-3.25494621e-01 9.45395487e-01 -1.67518536e-02 -9.54521694e+01] [-4.31275573e-02 2.85426684e-03 9.99065497e-01 -2.92730171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.471193817 meters 0.08972482951672343 Centerline is valid? [True, True] Translation: X:260.03, Y:-95.48, Z:-29.27 [[ 9.48602984e-01 3.14021850e-01 3.92766652e-02 2.60029131e+02] [-3.13604747e-01 9.49409818e-01 -1.65245521e-02 -9.54792154e+01] [-4.24787219e-02 3.35789084e-03 9.99091729e-01 -2.92741454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.501193817 meters 0.09275437190626432 Centerline is valid? [True, True] Translation: X:260.06, Y:-95.49, Z:-29.27 [[ 9.49596525e-01 3.11018966e-01 3.91617537e-02 2.60056547e+02] [-3.10601584e-01 9.50397311e-01 -1.64804865e-02 -9.54946184e+01] [-4.23449693e-02 3.48610997e-03 9.99096968e-01 -2.92749182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53119381700003 meters 0.08626278151885426 Centerline is valid? [True, True] Translation: X:260.09, Y:-95.50, Z:-29.27 [[ 9.50892465e-01 3.07057669e-01 3.89757340e-02 2.60091222e+02] [-3.06640581e-01 9.51683898e-01 -1.64107488e-02 -9.54957358e+01] [-4.21316247e-02 3.65331568e-03 9.99105390e-01 -2.92738572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.561193817 meters 0.08946899081395433 Centerline is valid? [True, True] Translation: X:260.12, Y:-95.51, Z:-29.28 [[ 9.52040308e-01 3.03607192e-01 3.79726778e-02 2.60118477e+02] [-3.03208176e-01 9.52790036e-01 -1.59984108e-02 -9.55101520e+01] [-4.10372216e-02 3.71750556e-03 9.99150703e-01 -2.92769252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59119381700003 meters 0.09056251225790835 Centerline is valid? [True, True] Translation: X:260.15, Y:-95.52, Z:-29.28 [[ 9.55645462e-01 2.91817224e-01 3.98052630e-02 2.60149413e+02] [-2.91368092e-01 9.56463798e-01 -1.67820743e-02 -9.55188347e+01] [-4.29695914e-02 4.43972961e-03 9.99066516e-01 -2.92787288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.621193817 meters 0.10100219279779966 Centerline is valid? [True, False] Translation: X:260.10, Y:-95.49, Z:-29.28 [[ 9.60740909e-01 2.71965126e-01 5.48805683e-02 2.60096664e+02] [-2.71685496e-01 9.62303123e-01 -1.26369029e-02 -9.54903135e+01] [-5.62485392e-02 -2.76946479e-03 9.98412957e-01 -2.92770325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.651193817 meters 0.10842453976585938 Centerline is valid? [False, False] Translation: X:260.06, Y:-95.47, Z:-29.28 [[ 9.65400679e-01 2.52389640e-01 6.55819978e-02 2.60058431e+02] [-2.52221640e-01 9.67607361e-01 -1.09653748e-02 -9.54677714e+01] [-6.62251709e-02 -5.95521874e-03 9.97786932e-01 -2.92763797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.681193817 meters 0.10366095370376702 Centerline is valid? [False, False] Translation: X:260.03, Y:-95.45, Z:-29.28 [[ 9.69386922e-01 2.34933505e-01 7.13809824e-02 2.60033380e+02] [-2.34744107e-01 9.71993249e-01 -1.11502157e-02 -9.54513502e+01] [-7.20013923e-02 -5.94739171e-03 9.97386800e-01 -2.92751801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.711193817 meters 0.10691703929543805 Centerline is valid? [False, False] Translation: X:260.00, Y:-95.43, Z:-29.27 [[ 9.73163659e-01 2.16305773e-01 7.85130852e-02 2.59995509e+02] [-2.16094747e-01 9.76307279e-01 -1.12764121e-02 -9.54331392e+01] [-7.90920497e-02 -5.99247080e-03 9.96849306e-01 -2.92698392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.741193817 meters 0.10916110760098414 Centerline is valid? [False, False] Translation: X:259.97, Y:-95.42, Z:-29.27 [[ 9.75795571e-01 2.01124535e-01 8.58599176e-02 2.59970545e+02] [-2.01069239e-01 9.79532110e-01 -9.38117712e-03 -9.54185284e+01] [-8.59893312e-02 -8.10967723e-03 9.96263052e-01 -2.92671748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.771193817 meters 0.10874662275126046 Centerline is valid? [False, False] Translation: X:259.94, Y:-95.40, Z:-29.27 [[ 9.77797027e-01 1.87157210e-01 9.42610860e-02 2.59943965e+02] [-1.87243319e-01 9.82280910e-01 -8.00959849e-03 -9.54031374e+01] [-9.40899194e-02 -9.81799703e-03 9.95515291e-01 -2.92658336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.801193817 meters 0.11123334849286032 Centerline is valid? [False, False] Translation: X:259.92, Y:-95.39, Z:-29.26 [[ 9.79600246e-01 1.73356989e-01 1.01640108e-01 2.59919430e+02] [-1.73886898e-01 9.84758713e-01 -3.69103390e-03 -9.53884292e+01] [-1.00730849e-01 -1.40581454e-02 9.94814387e-01 -2.92635910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.831193817 meters 0.10625188936583367 Centerline is valid? [False, False] Translation: X:259.91, Y:-95.38, Z:-29.26 [[ 9.80890703e-01 1.68511693e-01 9.72483322e-02 2.59909849e+02] [-1.69411823e-01 9.85544827e-01 1.01446192e-03 -9.53809310e+01] [-9.56716420e-02 -1.74700935e-02 9.95259631e-01 -2.92628633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.861193817 meters 0.1011651978547081 Centerline is valid? [False, False] Translation: X:259.90, Y:-95.37, Z:-29.26 [[ 9.82544740e-01 1.61233807e-01 9.27873512e-02 2.59899468e+02] [-1.62117000e-01 9.86769494e-01 2.01108914e-03 -9.53723789e+01] [-9.12354720e-02 -1.70183921e-02 9.95683917e-01 -2.92630491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.891193817 meters 0.10231335956182376 Centerline is valid? [False, False] Translation: X:259.89, Y:-95.36, Z:-29.26 [[ 9.84056119e-01 1.54230480e-01 8.85805515e-02 2.59888402e+02] [-1.55115372e-01 9.87891331e-01 3.15280277e-03 -9.53636536e+01] [-8.70217006e-02 -1.68427400e-02 9.96064027e-01 -2.92626621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.921193817 meters 0.09708668956512595 Centerline is valid? [False, True] Translation: X:259.87, Y:-95.35, Z:-29.26 [[ 9.84696209e-01 1.51093971e-01 8.68561339e-02 2.59869994e+02] [-1.52143919e-01 9.88342711e-01 5.55994352e-03 -9.53537513e+01] [-8.50035529e-02 -1.86894879e-02 9.96205350e-01 -2.92591586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.951193817 meters 0.09057207272259464 Centerline is valid? [True, True] Translation: X:259.90, Y:-95.34, Z:-29.28 [[ 9.83120563e-01 1.64017719e-01 8.10687758e-02 2.59903961e+02] [-1.62815403e-01 9.86427245e-01 -2.12705249e-02 -9.53397688e+01] [-8.34571921e-02 7.71224497e-03 9.96481519e-01 -2.92828356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.981193817 meters 0.08786298355909807 Centerline is valid? [True, True] Translation: X:259.94, Y:-95.34, Z:-29.29 [[ 9.82568822e-01 1.67292047e-01 8.10671367e-02 2.59935904e+02] [-1.66099207e-01 9.85879215e-01 -2.12891332e-02 -9.53423522e+01] [-8.34839078e-02 7.45285138e-03 9.96481255e-01 -2.92862118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.011193817 meters 0.08249692250860836 Centerline is valid? [True, True] Translation: X:259.97, Y:-95.34, Z:-29.29 [[ 9.81811584e-01 1.71499926e-01 8.14480686e-02 2.59968981e+02] [-1.70309947e-01 9.85158324e-01 -2.13915630e-02 -9.53400597e+01] [-8.39078942e-02 7.13106820e-03 9.96447998e-01 -2.92879163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.041193817 meters 0.08191120191661568 Centerline is valid? [True, True] Translation: X:260.00, Y:-95.35, Z:-29.29 [[ 9.81394705e-01 1.73584048e-01 8.20549315e-02 2.59999062e+02] [-1.72381971e-01 9.84794023e-01 -2.15682353e-02 -9.53468092e+01] [-8.45511077e-02 7.02216116e-03 9.96394400e-01 -2.92916026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.071193817 meters 0.08318799942542414 Centerline is valid? [True, True] Translation: X:260.03, Y:-95.36, Z:-29.30 [[ 9.81445297e-01 1.73119286e-01 8.24308282e-02 2.60028491e+02] [-1.71903099e-01 9.84875192e-01 -2.16836552e-02 -9.53574630e+01] [-8.49379367e-02 7.11120663e-03 9.96360867e-01 -2.92954538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.101193817 meters 0.0838288778183213 Centerline is valid? [True, True] Translation: X:260.06, Y:-95.37, Z:-29.30 [[ 9.81632650e-01 1.72202196e-01 8.21203079e-02 2.60059052e+02] [-1.70991011e-01 9.85035495e-01 -2.16136113e-02 -9.53674116e+01] [-8.46133295e-02 7.17479208e-03 9.96388030e-01 -2.92997314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.131193817 meters 0.08453227531379989 Centerline is valid? [True, True] Translation: X:260.09, Y:-95.38, Z:-29.30 [[ 9.81350490e-01 1.74659074e-01 8.02833910e-02 2.60087557e+02] [-1.73509332e-01 9.84605412e-01 -2.11351488e-02 -9.53764982e+01] [-8.27389068e-02 6.81107111e-03 9.96547983e-01 -2.93032055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.161193817 meters 0.08078696402204107 Centerline is valid? [True, True] Translation: X:260.12, Y:-95.38, Z:-29.31 [[ 9.81261284e-01 1.75855827e-01 7.87465653e-02 2.60120226e+02] [-1.74753040e-01 9.84393890e-01 -2.07375218e-02 -9.53788258e+01] [-8.11644517e-02 6.58772562e-03 9.96678952e-01 -2.93052513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.191193817 meters 0.0843578556011599 Centerline is valid? [True, True] Translation: X:260.15, Y:-95.39, Z:-29.31 [[ 9.81635426e-01 1.74358074e-01 7.74025398e-02 2.60147114e+02] [-1.73286350e-01 9.84660078e-01 -2.04052058e-02 -9.53937551e+01] [-7.97730032e-02 6.61766927e-03 9.96791089e-01 -2.93112205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.221193817 meters 0.08302980389727158 Centerline is valid? [True, True] Translation: X:260.18, Y:-95.40, Z:-29.32 [[ 9.81475965e-01 1.76571160e-01 7.43475326e-02 2.60178175e+02] [-1.75588089e-01 9.84268402e-01 -1.96095842e-02 -9.53973756e+01] [-7.66404142e-02 6.19179443e-03 9.97039572e-01 -2.93186748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.251193817 meters 0.08372244020357933 Centerline is valid? [True, True] Translation: X:260.21, Y:-95.41, Z:-29.32 [[ 9.81552306e-01 1.76634254e-01 7.31806661e-02 2.60208097e+02] [-1.75681873e-01 9.84257708e-01 -1.93039822e-02 -9.54063478e+01] [-7.54383792e-02 6.09135180e-03 9.97131860e-01 -2.93245072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28119381700003 meters 0.08473039109079039 Centerline is valid? [True, True] Translation: X:260.24, Y:-95.42, Z:-29.33 [[ 9.81810305e-01 1.75321208e-01 7.28766002e-02 2.60237066e+02] [-1.74372552e-01 9.84491926e-01 -1.92317570e-02 -9.54174149e+01] [-7.51181593e-02 6.17425841e-03 9.97155525e-01 -2.93299608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.311193817 meters 0.08591916714256069 Centerline is valid? [True, True] Translation: X:260.27, Y:-95.43, Z:-29.33 [[ 9.82294567e-01 1.72925245e-01 7.20710954e-02 2.60266112e+02] [-1.71989948e-01 9.84914790e-01 -1.90345454e-02 -9.54301707e+01] [-7.42754413e-02 6.30202662e-03 9.97217851e-01 -2.93339465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34119381700003 meters 0.08199825980640853 Centerline is valid? [True, True] Translation: X:260.30, Y:-95.44, Z:-29.33 [[ 9.81663198e-01 1.76916592e-01 7.09780622e-02 2.60297827e+02] [-1.76018713e-01 9.84208021e-01 -1.87612404e-02 -9.54353071e+01] [-7.31763529e-02 5.92375213e-03 9.97301424e-01 -2.93320305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.371193817 meters 0.08025244825229437 Centerline is valid? [True, True] Translation: X:260.33, Y:-95.44, Z:-29.33 [[ 9.81345787e-01 1.78134090e-01 7.23097034e-02 2.60329154e+02] [-1.77203962e-01 9.83988160e-01 -1.91326191e-02 -9.54420352e+01] [-7.45600637e-02 5.96214924e-03 9.97198701e-01 -2.93318197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.401193817 meters 0.0832334967484468 Centerline is valid? [True, True] Translation: X:260.36, Y:-95.46, Z:-29.34 [[ 9.81280003e-01 1.78232960e-01 7.29559236e-02 2.60358529e+02] [-1.77286236e-01 9.83969966e-01 -1.93053713e-02 -9.54561290e+01] [-7.52272911e-02 6.00989374e-03 9.97148302e-01 -2.93357165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.431193817 meters 0.08344459335536344 Centerline is valid? [True, True] Translation: X:260.39, Y:-95.46, Z:-29.34 [[ 9.81303816e-01 1.77808394e-01 7.36681462e-02 2.60389714e+02] [-1.76840276e-01 9.84046082e-01 -1.95147598e-02 -9.54638093e+01] [-7.59627387e-02 6.12241297e-03 9.97091861e-01 -2.93381319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.461193817 meters 0.08464422183409244 Centerline is valid? [True, True] Translation: X:260.42, Y:-95.47, Z:-29.34 [[ 9.81505127e-01 1.76304713e-01 7.45944557e-02 2.60419649e+02] [-1.75306242e-01 9.84315241e-01 -1.97794955e-02 -9.54730733e+01] [-7.69116779e-02 6.33680253e-03 9.97017773e-01 -2.93423838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.491193817 meters 0.08520014153598342 Centerline is valid? [True, True] Translation: X:260.45, Y:-95.48, Z:-29.35 [[ 9.81742907e-01 1.75207588e-01 7.40484006e-02 2.60449654e+02] [-1.74219195e-01 9.84510752e-01 -1.96532954e-02 -9.54817142e+01] [-7.63448530e-02 6.39383058e-03 9.97060972e-01 -2.93458144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.521193817 meters 0.08667146026818207 Centerline is valid? [True, True] Translation: X:260.48, Y:-95.49, Z:-29.35 [[ 9.82398521e-01 1.71613468e-01 7.37696703e-02 2.60479506e+02] [-1.70621832e-01 9.85141874e-01 -1.95877081e-02 -9.54928962e+01] [-7.60351058e-02 6.65621922e-03 9.97082924e-01 -2.93495611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.551193817 meters 0.09258938976551188 Centerline is valid? [True, True] Translation: X:260.51, Y:-95.51, Z:-29.35 [[ 9.83248383e-01 1.66807970e-01 7.34691726e-02 2.60506014e+02] [-1.65811026e-01 9.85964551e-01 -1.95091596e-02 -9.55119619e+01] [-7.56922831e-02 7.00035075e-03 9.97106651e-01 -2.93530436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.581193817 meters 0.09125840560881908 Centerline is valid? [True, True] Translation: X:260.54, Y:-95.52, Z:-29.36 [[ 9.83709564e-01 1.64184179e-01 7.32055249e-02 2.60536660e+02] [-1.63186188e-01 9.86403500e-01 -1.94525643e-02 -9.55181979e+01] [-7.54039893e-02 7.18954302e-03 9.97127148e-01 -2.93550134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.611193817 meters 0.09305205897414255 Centerline is valid? [True, True] Translation: X:260.57, Y:-95.53, Z:-29.36 [[ 9.84183893e-01 1.61618797e-01 7.25357093e-02 2.60566012e+02] [-1.60631940e-01 9.86826110e-01 -1.92771459e-02 -9.55280561e+01] [-7.46956809e-02 7.32070479e-03 9.97179504e-01 -2.93581631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.641193817 meters 0.09760621760240476 Centerline is valid? [True, True] Translation: X:260.59, Y:-95.54, Z:-29.36 [[ 9.84667132e-01 1.59126780e-01 7.14794131e-02 2.60593391e+02] [-1.58161085e-01 9.87230330e-01 -1.90091375e-02 -9.55417927e+01] [-7.35915074e-02 7.41241141e-03 9.97260922e-01 -2.93637677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.671193817 meters 0.09634241228851748 Centerline is valid? [True, True] Translation: X:260.62, Y:-95.54, Z:-29.37 [[ 9.85180429e-01 1.56383028e-01 7.04547405e-02 2.60624430e+02] [-1.55437205e-01 9.87667876e-01 -1.87467935e-02 -9.55444845e+01] [-7.25175642e-02 7.51768610e-03 9.97338803e-01 -2.93681959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.701193817 meters 0.09411070182412777 Centerline is valid? [True, True] Translation: X:260.66, Y:-95.55, Z:-29.37 [[ 9.85159034e-01 1.56980309e-01 6.94180160e-02 2.60657396e+02] [-1.56062541e-01 9.87574171e-01 -1.84862117e-02 -9.55471007e+01] [-7.14574108e-02 7.37830651e-03 9.97416362e-01 -2.93706559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.731193817 meters 0.09785945598813969 Centerline is valid? [True, True] Translation: X:260.69, Y:-95.56, Z:-29.38 [[ 9.84976011e-01 1.58014001e-01 6.96694619e-02 2.60685406e+02] [-1.57091565e-01 9.87409610e-01 -1.85607960e-02 -9.55580160e+01] [-7.17251618e-02 7.33745400e-03 9.97397445e-01 -2.93756523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.761193817 meters 0.0995079451009753 Centerline is valid? [True, True] Translation: X:260.72, Y:-95.56, Z:-29.38 [[ 9.84635543e-01 1.59967706e-01 7.00227119e-02 2.60715060e+02] [-1.59040719e-01 9.87095754e-01 -1.86553526e-02 -9.55626852e+01] [-7.21033756e-02 7.23226080e-03 9.97370943e-01 -2.93800294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.791193817 meters 0.09175451526962107 Centerline is valid? [True, True] Translation: X:260.75, Y:-95.56, Z:-29.38 [[ 9.84623858e-01 1.59676565e-01 7.08466855e-02 2.60750086e+02] [-1.58726458e-01 9.87142062e-01 -1.88801510e-02 -9.55578654e+01] [-7.29504609e-02 7.34460369e-03 9.97308521e-01 -2.93799039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.821193817 meters 0.09326996596296969 Centerline is valid? [True, True] Translation: X:260.78, Y:-95.57, Z:-29.38 [[ 9.84703508e-01 1.59012878e-01 7.12313510e-02 2.60779333e+02] [-1.58049140e-01 9.87248362e-01 -1.90037197e-02 -9.55668087e+01] [-7.33448708e-02 7.45497572e-03 9.97278774e-01 -2.93832673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.851193817 meters 0.09220323492226527 Centerline is valid? [True, True] Translation: X:260.81, Y:-95.57, Z:-29.39 [[ 9.84872353e-01 1.57637869e-01 7.19496461e-02 2.60810373e+02] [-1.56650410e-01 9.87467427e-01 -1.92023545e-02 -9.55714671e+01] [-7.40749502e-02 7.64092649e-03 9.97223404e-01 -2.93859162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.881193817 meters 0.09422502290944912 Centerline is valid? [True, True] Translation: X:260.84, Y:-95.58, Z:-29.39 [[ 9.84957293e-01 1.57428774e-01 7.12412176e-02 2.60839294e+02] [-1.56458826e-01 9.87501108e-01 -1.90315037e-02 -9.55810794e+01] [-7.33468876e-02 7.59890108e-03 9.97277539e-01 -2.93898498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.911193817 meters 0.09561578909492736 Centerline is valid? [True, True] Translation: X:260.87, Y:-95.59, Z:-29.39 [[ 9.84924177e-01 1.57455049e-01 7.16398818e-02 2.60869323e+02] [-1.56473566e-01 9.87496532e-01 -1.91473884e-02 -9.55912055e+01] [-7.37589878e-02 7.64897797e-03 9.97246762e-01 -2.93928927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.941193817 meters 0.09431450117315698 Centerline is valid? [True, True] Translation: X:260.90, Y:-95.60, Z:-29.39 [[ 9.84748493e-01 1.58509618e-01 7.17293988e-02 2.60900555e+02] [-1.57527899e-01 9.87328285e-01 -1.91785825e-02 -9.55979746e+01] [-7.38604541e-02 7.58669868e-03 9.97239728e-01 -2.93948055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.971193817 meters 0.09612411810638216 Centerline is valid? [True, True] Translation: X:260.93, Y:-95.61, Z:-29.40 [[ 9.84673432e-01 1.58928759e-01 7.18323134e-02 2.60929219e+02] [-1.57945350e-01 9.87261065e-01 -1.92056406e-02 -9.56087834e+01] [-7.39695749e-02 7.56570417e-03 9.97231800e-01 -2.93977656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.001193817 meters 0.09829076435857788 Centerline is valid? [True, True] Translation: X:260.96, Y:-95.62, Z:-29.40 [[ 9.84587583e-01 1.58650320e-01 7.36027713e-02 2.60958650e+02] [-1.57615365e-01 9.87304060e-01 -1.96999861e-02 -9.56203507e+01] [-7.57937240e-02 7.79543399e-03 9.97093046e-01 -2.93994168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03119381700003 meters 0.09446678731737386 Centerline is valid? [True, True] Translation: X:260.99, Y:-95.62, Z:-29.40 [[ 9.84150930e-01 1.58969110e-01 7.85860578e-02 2.60991219e+02] [-1.57788503e-01 9.87248521e-01 -2.10510208e-02 -9.56227032e+01] [-8.09304314e-02 8.31740523e-03 9.96685049e-01 -2.93967033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.061193817 meters 0.09446678731737386 Centerline is valid? [True, True] Translation: X:261.02, Y:-95.63, Z:-29.40 [[ 9.84109097e-01 1.59228256e-01 7.85852909e-02 2.61022392e+02] [-1.58048238e-01 9.87206913e-01 -2.10538849e-02 -9.56312607e+01] [-8.09323157e-02 8.29905294e-03 9.96685049e-01 -2.93998663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09119381700003 meters 0.09504961720435702 Centerline is valid? [True, True] Translation: X:261.05, Y:-95.64, Z:-29.40 [[ 9.84157367e-01 1.58304840e-01 7.98364257e-02 2.61053131e+02] [-1.57081704e-01 9.87353398e-01 -2.14150980e-02 -9.56394635e+01] [-8.22168798e-02 8.53498463e-03 9.96577914e-01 -2.94026501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.121193817 meters 0.09612146795002072 Centerline is valid? [True, True] Translation: X:261.08, Y:-95.65, Z:-29.40 [[ 9.84219288e-01 1.57529540e-01 8.06029577e-02 2.61083967e+02] [-1.56279694e-01 9.87476051e-01 -2.16264955e-02 -9.56482211e+01] [-8.30003023e-02 8.68860848e-03 9.96511645e-01 -2.94048578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.151193817 meters 0.09553606216286047 Centerline is valid? [True, True] Translation: X:261.12, Y:-95.65, Z:-29.40 [[ 9.83033354e-01 1.60084038e-01 8.95462185e-02 2.61116240e+02] [-1.58550281e-01 9.87058366e-01 -2.40331149e-02 -9.56532239e+01] [-9.22346622e-02 9.42777548e-03 9.95692666e-01 -2.93963395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.181193817 meters 0.09333502603966808 Centerline is valid? [True, True] Translation: X:261.15, Y:-95.65, Z:-29.39 [[ 9.81633393e-01 1.64584681e-01 9.64767560e-02 2.61148917e+02] [-1.62824111e-01 9.86315105e-01 -2.59002544e-02 -9.56540849e+01] [-9.94192668e-02 9.71581261e-03 9.94998197e-01 -2.93890801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.211193817 meters 0.08985119336334355 Centerline is valid? [True, True] Translation: X:261.18, Y:-95.65, Z:-29.39 [[ 9.80122418e-01 1.71515151e-01 9.97125769e-02 2.61183221e+02] [-1.69667985e-01 9.85137280e-01 -2.67827162e-02 -9.56495007e+01] [-1.02824218e-01 9.33230849e-03 9.94655764e-01 -2.93862630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.241193817 meters 0.07680795367451677 Centerline is valid? [True, True] Translation: X:261.22, Y:-95.63, Z:-29.39 [[ 9.78565576e-01 1.79867573e-01 1.00284944e-01 2.61221791e+02] [-1.78041894e-01 9.83654033e-01 -2.69411802e-02 -9.56255613e+01] [-1.03491534e-01 8.50879016e-03 9.94593939e-01 -2.93887448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.271193817 meters 0.0680541514973421 Centerline is valid? [True, True] Translation: X:261.26, Y:-95.59, Z:-29.39 [[ 9.74344346e-01 2.02427579e-01 9.83675298e-02 2.61263333e+02] [-2.00784218e-01 9.79278834e-01 -2.64322530e-02 -9.55900254e+01] [-1.01679857e-01 6.00346867e-03 9.94799058e-01 -2.93945861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.301193817 meters 0.06287353767258222 Centerline is valid? [True, True] Translation: X:261.30, Y:-95.57, Z:-29.40 [[ 9.71549599e-01 2.15756726e-01 9.76750332e-02 2.61300600e+02] [-2.14202590e-01 9.76436389e-01 -2.62531535e-02 -9.55703170e+01] [-1.01037751e-01 4.58399565e-03 9.94872032e-01 -2.93996499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.331193817 meters 0.0584393969241993 Centerline is valid? [True, True] Translation: X:261.34, Y:-95.55, Z:-29.40 [[ 9.68454331e-01 2.29565211e-01 9.69330828e-02 2.61338774e+02] [-2.28101335e-01 9.73288216e-01 -2.60735370e-02 -9.55475230e+01] [-1.00329404e-01 3.14046420e-03 9.94949319e-01 -2.94040017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.361193817 meters 0.05532863324264639 Centerline is valid? [True, True] Translation: X:261.38, Y:-95.52, Z:-29.41 [[ 9.64580564e-01 2.45898267e-01 9.54902009e-02 2.61377974e+02] [-2.44554997e-01 9.69294566e-01 -2.57079536e-02 -9.55229144e+01] [-9.88796740e-02 1.44478662e-03 9.95098348e-01 -2.94072672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.391193817 meters 0.054500998716527305 Centerline is valid? [True, True] Translation: X:261.42, Y:-95.50, Z:-29.41 [[ 9.60065450e-01 2.63255752e-01 9.47139975e-02 2.61417346e+02] [-2.62017573e-01 9.64726023e-01 -2.55047390e-02 -9.54963576e+01] [-9.80873274e-02 -3.30513019e-04 9.95177756e-01 -2.94085090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.421193817 meters 0.066107768878363 Centerline is valid? [True, True] Translation: X:261.47, Y:-95.41, Z:-29.41 [[ 9.48008537e-01 3.03995510e-01 9.41623239e-02 2.61471238e+02] [-3.02967251e-01 9.52662983e-01 -2.53788235e-02 -9.54149100e+01] [-9.74200088e-02 -4.46875906e-03 9.95233325e-01 -2.94063184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.451193817 meters 0.0727430352346499 Centerline is valid? [True, True] Translation: X:261.51, Y:-95.38, Z:-29.41 [[ 9.40628856e-01 3.26322068e-01 9.34412231e-02 2.61512641e+02] [-3.25416694e-01 9.45234872e-01 -2.51994307e-02 -9.53812301e+01] [-9.65470329e-02 -6.70402222e-03 9.95305846e-01 -2.94077046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.481193817 meters 0.08613757185555317 Centerline is valid? [True, True] Translation: X:261.56, Y:-95.34, Z:-29.41 [[ 9.33239837e-01 3.47118537e-01 9.25857898e-02 2.61555552e+02] [-3.46329613e-01 9.37780375e-01 -2.49753231e-02 -9.53367381e+01] [-9.54945343e-02 -8.75723432e-03 9.95391433e-01 -2.94096296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.511193817 meters 0.09592542290760066 Centerline is valid? [True, True] Translation: X:261.60, Y:-95.30, Z:-29.41 [[ 9.27259363e-01 3.63309217e-01 9.05344525e-02 2.61597766e+02] [-3.62629851e-01 9.31613017e-01 -2.44290517e-02 -9.52998676e+01] [-9.32183741e-02 -1.01784281e-02 9.95593659e-01 -2.94091967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.541193817 meters 0.10409055047449317 Centerline is valid? [True, False] Translation: X:261.59, Y:-95.24, Z:-29.40 [[ 9.27777149e-01 3.67110674e-01 6.67781024e-02 2.61586445e+02] [-3.66937212e-01 9.30120045e-01 -1.52899934e-02 -9.52419087e+01] [-6.77247714e-02 -1.03176642e-02 9.97650691e-01 -2.93994123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.571193817 meters 0.1066786455997035 Centerline is valid? [False, False] Translation: X:261.57, Y:-95.21, Z:-29.39 [[ 9.35834024e-01 3.48192720e-01 5.45573912e-02 2.61569656e+02] [-3.48311826e-01 9.37347769e-01 -7.61786777e-03 -9.52145421e+01] [-5.37917350e-02 -1.18739247e-02 9.98481577e-01 -2.93931874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.601193817 meters 0.08665059603834994 Centerline is valid? [False, True] Translation: X:261.56, Y:-95.20, Z:-29.39 [[ 9.47760559e-01 3.15889746e-01 4.43124312e-02 2.61564008e+02] [-3.16243108e-01 9.48677636e-01 1.02017637e-03 -9.51957889e+01] [-4.17159492e-02 -1.49803839e-02 9.99017201e-01 -2.93906242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.631193817 meters 0.06900291634974008 Centerline is valid? [True, True] Translation: X:261.59, Y:-95.22, Z:-29.40 [[ 9.58309520e-01 2.83292905e-01 3.72557979e-02 2.61590491e+02] [-2.83173820e-01 9.59030531e-01 -8.54571159e-03 -9.52178313e+01] [-3.81503871e-02 -2.36042984e-03 9.99269221e-01 -2.94010037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.661193817 meters 0.06133994947059896 Centerline is valid? [True, True] Translation: X:261.60, Y:-95.30, Z:-29.41 [[ 9.81635813e-01 1.88360037e-01 3.01931541e-02 2.61602349e+02] [-1.88235951e-01 9.82099410e-01 -6.92641440e-03 -9.52971377e+01] [-3.09573385e-02 1.11577936e-03 9.99520084e-01 -2.94121215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.691193817 meters 0.09047983837490334 Centerline is valid? [True, True] Translation: X:261.62, Y:-95.36, Z:-29.41 [[ 9.89266118e-01 1.42280141e-01 3.33002938e-02 2.61618987e+02] [-1.42102937e-01 9.89822393e-01 -7.64104424e-03 -9.53577753e+01] [-3.40485453e-02 2.82695664e-03 9.99416182e-01 -2.94145178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.721193817 meters 0.10418084080092707 Centerline is valid? [True, False] Translation: X:261.62, Y:-95.36, Z:-29.40 [[ 9.95324201e-01 9.50176700e-02 1.73602098e-02 2.61621142e+02] [-9.51104787e-02 9.95456099e-01 4.59914344e-03 -9.53629491e+01] [-1.68443268e-02 -6.22877663e-03 9.99838722e-01 -2.94004845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.751193817 meters 0.1151444031250327 Centerline is valid? [False, False] Translation: X:261.62, Y:-95.37, Z:-29.39 [[ 9.98168773e-01 5.93059521e-02 1.19124013e-02 2.61622290e+02] [-5.94238404e-02 9.98184750e-01 9.79860685e-03 -9.53681762e+01] [-1.13096616e-02 -1.04885440e-02 9.99881034e-01 -2.93921027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4670.34 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%| | 0/9392 [00:00